From c618f43c180554e7512966c015133476bc813529 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 6 Jul 2020 15:17:46 +0300
Subject: [PATCH 001/252] dense: add image mask support

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp |  3 ++
 libs/Common/Types.h                          |  1 +
 libs/MVS/DepthMap.cpp                        | 44 ++++++++++++++++++++
 libs/MVS/DepthMap.h                          |  4 ++
 libs/MVS/Image.h                             |  5 +++
 libs/MVS/Scene.cpp                           |  7 ++++
 libs/MVS/SceneDensify.cpp                    | 13 +++++-
 7 files changed, 76 insertions(+), 1 deletion(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index d82c07294..8191db8f1 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -93,6 +93,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	unsigned nMinViewsFuse;
 	unsigned nEstimateColors;
 	unsigned nEstimateNormals;
+	int nIgnoreMaskLabel;
 	boost::program_options::options_description config("Densify options");
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
@@ -102,6 +103,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("min-resolution", boost::program_options::value(&nMinResolution)->default_value(640), "do not scale images lower than this resolution")
 		("number-views", boost::program_options::value(&nNumViews)->default_value(5), "number of views used for depth-map estimation (0 - all neighbor views available)")
 		("number-views-fuse", boost::program_options::value(&nMinViewsFuse)->default_value(3), "minimum number of images that agrees with an estimate during fusion in order to consider it inlier")
+		("ignore-mask-label", boost::program_options::value(&nIgnoreMaskLabel)->default_value(-1), "integer value for the label to ignore in the segmentation mask (<0 - disabled)")
 		("estimate-colors", boost::program_options::value(&nEstimateColors)->default_value(2), "estimate the colors for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
 		("estimate-normals", boost::program_options::value(&nEstimateNormals)->default_value(2), "estimate the normals for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
 		("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(0.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
@@ -179,6 +181,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	OPTDENSE::nMinViewsFuse = nMinViewsFuse;
 	OPTDENSE::nEstimateColors = nEstimateColors;
 	OPTDENSE::nEstimateNormals = nEstimateNormals;
+	OPTDENSE::nIgnoreMaskLabel = nIgnoreMaskLabel;
 	if (!bValidConfig && !OPT::strDenseConfigFileName.IsEmpty())
 		OPTDENSE::oConfig.Save(OPT::strDenseConfigFileName);
 
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 631f024ce..89d6e4294 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -2179,6 +2179,7 @@ class TImage : public TDMatrix<TYPE>
 };
 /*----------------------------------------------------------------*/
 typedef TImage<uint8_t> Image8U;
+typedef TImage<uint16_t> Image16U;
 typedef TImage<hfloat> Image16F;
 typedef TImage<float> Image32F;
 typedef TImage<double> Image64F;
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index f4068a292..ad54a26a9 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -93,6 +93,7 @@ MDEFVAR_OPTDENSE_float(fOptimizerEps, "Optimizer Eps", "MRF optimizer stop epsil
 MDEFVAR_OPTDENSE_int32(nOptimizerMaxIters, "Optimizer Max Iters", "MRF optimizer max number of iterations", "80")
 MDEFVAR_OPTDENSE_uint32(nSpeckleSize, "Speckle Size", "maximal size of a speckle (small speckles get removed)", "100")
 MDEFVAR_OPTDENSE_uint32(nIpolGapSize, "Interpolate Gap Size", "interpolate small gaps (left<->right, top<->bottom)", "7")
+MDEFVAR_OPTDENSE_int32(nIgnoreMaskLabel, "Ignore Mask Label", "label id used during ignore mask filter (<0 - disabled)", "-1")
 MDEFVAR_OPTDENSE_uint32(nOptimize, "Optimize", "should we filter the extracted depth-maps?", "7") // see DepthFlags
 MDEFVAR_OPTDENSE_uint32(nEstimateColors, "Estimate Colors", "should we estimate the colors for the dense point-cloud?", "2", "0", "1")
 MDEFVAR_OPTDENSE_uint32(nEstimateNormals, "Estimate Normals", "should we estimate the normals for the dense point-cloud?", "0", "1", "2")
@@ -191,6 +192,26 @@ void DepthData::GetNormal(const Point2f& pt, Point3f& N, const TImage<Point3f>*
 /*----------------------------------------------------------------*/
 
 
+// apply mask to the depth map
+void DepthData::ApplyIgnoreMask(const BitMatrix& mask)
+{
+	ASSERT(IsValid() && !IsEmpty() && mask.size() == depthMap.size());
+	for (int r=0; r<depthMap.rows; ++r) {
+		for (int c=0; c<depthMap.cols; ++c) {
+			if (!mask.isSet(r,c))
+				continue;
+			// discard depth-map section ignored by mask
+			depthMap(r,c) = 0;
+			if (!normalMap.empty())
+				normalMap(r,c) = Normal::ZERO;
+			if (!confMap.empty())
+				confMap(r,c) = 0;
+		}
+	}
+} // ApplyIgnoreMask
+/*----------------------------------------------------------------*/
+
+
 bool DepthData::Save(const String& fileName) const
 {
 	ASSERT(IsValid() && !depthMap.empty() && !confMap.empty());
@@ -255,6 +276,29 @@ unsigned DepthData::DecRef()
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+// try to load and apply mask to the depth map
+bool DepthEstimator::ImportIgnoreMask(const Image& image0, const Image8U::Size& size, BitMatrix& bmask, uint16_t nIgnoreMaskLabel)
+{
+	ASSERT(image0.IsValid() && !image0.image.empty());
+	if (image0.maskName.empty())
+		return false;
+	Image16U mask;
+	if (!mask.Load(image0.maskName)) {
+		DEBUG("warning: can not load the segmentation mask '%s'", image0.maskName.c_str());
+		return false;
+	}
+	cv::resize(mask, mask, size, 0, 0, cv::INTER_NEAREST);
+	bmask.create(size);
+	bmask.memset(0xFF);
+	for (int r=0; r<size.height; ++r) {
+		for (int c=0; c<size.width; ++c) {
+			if (mask(r,c) == nIgnoreMaskLabel)
+				bmask.unset(r,c);
+		}
+	}
+	return true;
+} // ImportIgnoreMask
+
 // create the map for converting index to matrix position
 //                         1 2 3
 //  1 2 4 7 5 3 6 8 9 -->  4 5 6
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 6cdb72c30..21a5b5a7d 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -113,6 +113,7 @@ extern float fOptimizerEps;
 extern int nOptimizerMaxIters;
 extern unsigned nSpeckleSize;
 extern unsigned nIpolGapSize;
+extern int nIgnoreMaskLabel;
 extern unsigned nOptimize;
 extern unsigned nEstimateColors;
 extern unsigned nEstimateNormals;
@@ -202,6 +203,8 @@ struct MVS_API DepthData {
 	void GetNormal(const ImageRef& ir, Point3f& N, const TImage<Point3f>* pPointMap=NULL) const;
 	void GetNormal(const Point2f& x, Point3f& N, const TImage<Point3f>* pPointMap=NULL) const;
 
+	void ApplyIgnoreMask(const BitMatrix&);
+
 	bool Save(const String& fileName) const;
 	bool Load(const String& fileName);
 
@@ -423,6 +426,7 @@ struct MVS_API DepthEstimator {
 			normal = RMatrixBaseF(normal.cross(viewDir), MINF((ACOS(cosAngLen/norm(viewDir))-FD2R(90.f))*1.01f, -0.001f)) * normal;
 	}
 
+	static bool ImportIgnoreMask(const Image&, const Image8U::Size&, BitMatrix&, uint16_t nIgnoreMaskLabel);
 	static void MapMatrix2ZigzagIdx(const Image8U::Size& size, DepthEstimator::MapRefArr& coords, const BitMatrix& mask, int rawStride=16);
 
 	const float smoothBonusDepth, smoothBonusNormal;
diff --git a/libs/MVS/Image.h b/libs/MVS/Image.h
index 85a4f5eaf..ad31c8646 100644
--- a/libs/MVS/Image.h
+++ b/libs/MVS/Image.h
@@ -80,6 +80,7 @@ class MVS_API Image
 	uint32_t poseID; // ID of the pose of the associated platform
 	uint32_t ID; // global ID of the image
 	String name; // image file name (relative path)
+	String maskName; // segmentation file name (optional)
 	Camera camera; // view's pose
 	uint32_t width, height; // image size
 	Image8U3 image; // image color pixels
@@ -137,6 +138,8 @@ class MVS_API Image
 		ar & ID;
 		const String relName(MAKE_PATH_REL(WORKING_FOLDER_FULL, name));
 		ar & relName;
+		const String relMaskName(MAKE_PATH_REL(WORKING_FOLDER_FULL, maskName));
+		ar & relMaskName;
 		ar & width & height;
 		ar & neighbors;
 		ar & avgDepth;
@@ -149,6 +152,8 @@ class MVS_API Image
 		ar & ID;
 		ar & name;
 		name = MAKE_PATH_FULL(WORKING_FOLDER_FULL, name);
+		ar & maskName;
+		maskName = MAKE_PATH_FULL(WORKING_FOLDER_FULL, maskName);
 		ar & width & height;
 		ar & neighbors;
 		ar & avgDepth;
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 4039377f2..559500619 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -115,6 +115,11 @@ bool Scene::LoadInterface(const String & fileName)
 		imageData.name = image.name;
 		Util::ensureUnifySlash(imageData.name);
 		imageData.name = MAKE_PATH_FULL(WORKING_FOLDER_FULL, imageData.name);
+		if (!image.maskName.empty()) {
+			imageData.maskName = image.maskName;
+			Util::ensureUnifySlash(imageData.maskName);
+			imageData.maskName = MAKE_PATH_FULL(WORKING_FOLDER_FULL, imageData.maskName);
+		}
 		imageData.poseID = image.poseID;
 		if (imageData.poseID == NO_ID) {
 			DEBUG_EXTRA("warning: uncalibrated image '%s'", image.name.c_str());
@@ -225,6 +230,8 @@ bool Scene::SaveInterface(const String & fileName, int version) const
 		const Image& imageData = images[i];
 		MVS::Interface::Image& image = obj.images[i];
 		image.name = MAKE_PATH_REL(WORKING_FOLDER_FULL, imageData.name);
+		if (!imageData.maskName.empty())
+			image.maskName = MAKE_PATH_REL(WORKING_FOLDER_FULL, imageData.maskName);
 		image.poseID = imageData.poseID;
 		image.platformID = imageData.platformID;
 		image.cameraID = imageData.cameraID;
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 1e97e8806..df013f260 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -545,9 +545,20 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage)
 	cv::integral(image.image, imageSum0, CV_64F);
 	#endif
 	if (prevDepthMapSize != size) {
-		prevDepthMapSize = size;
 		BitMatrix mask;
+		if (OPTDENSE::nIgnoreMaskLabel >= 0 && DepthEstimator::ImportIgnoreMask(*depthData.GetView().pImageData, depthData.depthMap.size(), mask, (uint16_t)OPTDENSE::nIgnoreMaskLabel))
+			depthData.ApplyIgnoreMask(mask);
 		DepthEstimator::MapMatrix2ZigzagIdx(size, coords, mask, MAXF(64,(int)nMaxThreads*8));
+		#if 0
+		// show pixels to be processed
+		Image8U cmask(size);
+		cmask.memset(0);
+		for (const DepthEstimator::MapRef& x: coords)
+			cmask(x.y, x.x) = 255;
+		cmask.Show("cmask");
+		#endif
+		if (mask.empty())
+			prevDepthMapSize = size;
 	}
 
 	// init threads

From 20995451d7882d6a03aee4b436b17bbd4589264c Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 7 Jul 2020 17:09:30 +0300
Subject: [PATCH 002/252] dense: fix bug in mask application

---
 libs/MVS/DepthMap.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index ad54a26a9..791cf2e06 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -198,7 +198,7 @@ void DepthData::ApplyIgnoreMask(const BitMatrix& mask)
 	ASSERT(IsValid() && !IsEmpty() && mask.size() == depthMap.size());
 	for (int r=0; r<depthMap.rows; ++r) {
 		for (int c=0; c<depthMap.cols; ++c) {
-			if (!mask.isSet(r,c))
+			if (mask.isSet(r,c))
 				continue;
 			// discard depth-map section ignored by mask
 			depthMap(r,c) = 0;
@@ -276,7 +276,8 @@ unsigned DepthData::DecRef()
 
 // S T R U C T S ///////////////////////////////////////////////////
 
-// try to load and apply mask to the depth map
+// try to load and apply mask to the depth map;
+// the mask marks as false pixels that should be ignored
 bool DepthEstimator::ImportIgnoreMask(const Image& image0, const Image8U::Size& size, BitMatrix& bmask, uint16_t nIgnoreMaskLabel)
 {
 	ASSERT(image0.IsValid() && !image0.image.empty());

From 39aeea0ed018334d64b44e336e577b245d46f2aa Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 8 Jul 2020 22:40:43 +0300
Subject: [PATCH 003/252] build: update find packages

---
 CMakeLists.txt                 |  30 +++++----
 MvgMvsPipeline.py              |   4 +-
 apps/Viewer/CMakeLists.txt     |  27 +++------
 build/Modules/FindCERES.cmake  | 103 -------------------------------
 build/Modules/FindCGAL.cmake   |  89 ---------------------------
 build/Modules/FindEigen.cmake  |  55 -----------------
 build/Modules/FindEigen3.cmake | 107 +++++++++++++++++++++++++++++++++
 build/Utils.cmake              |   4 +-
 libs/MVS/CMakeLists.txt        |   9 +--
 9 files changed, 140 insertions(+), 288 deletions(-)
 delete mode 100644 build/Modules/FindCERES.cmake
 delete mode 100644 build/Modules/FindCGAL.cmake
 delete mode 100644 build/Modules/FindEigen.cmake
 create mode 100644 build/Modules/FindEigen3.cmake

diff --git a/CMakeLists.txt b/CMakeLists.txt
index fff705bda..c2e497abf 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -45,16 +45,17 @@ ConfigCompilerAndLinker()
 ConfigLibrary()
 
 # List configuration options
+SET(OpenMVS_BUILD_TOOLS ON CACHE BOOL "Build example applications")
 SET(OpenMVS_USE_NONFREE ON CACHE BOOL "Build non-free (patented) functionality")
+SET(OpenMVS_USE_OPENMP ON CACHE BOOL "Enable OpenMP library")
+SET(OpenMVS_USE_OPENGL ON CACHE BOOL "Enable OpenGL library")
+SET(OpenMVS_USE_BREAKPAD ON CACHE BOOL "Enable BreakPad library")
 SET(OpenMVS_USE_CERES OFF CACHE BOOL "Enable CERES optimization library")
+SET(OpenMVS_USE_CUDA OFF CACHE BOOL "Enable CUDA library")
 SET(OpenMVS_USE_FAST_FLOAT2INT ON CACHE BOOL "Use an optimized code to convert real numbers to int")
 SET(OpenMVS_USE_FAST_INVSQRT OFF CACHE BOOL "Use an optimized code to compute the inverse square root (slower in fact on modern compilers)")
 SET(OpenMVS_USE_FAST_CBRT ON CACHE BOOL "Use an optimized code to compute the cubic root")
 SET(OpenMVS_USE_SSE ON CACHE BOOL "Enable SSE optimizations")
-SET(OpenMVS_USE_OPENMP ON CACHE BOOL "Enable OpenMP library")
-SET(OpenMVS_USE_OPENGL ON CACHE BOOL "Enable OpenGL library")
-SET(OpenMVS_USE_CUDA ON CACHE BOOL "Enable CUDA library")
-SET(OpenMVS_USE_BREAKPAD ON CACHE BOOL "Enable BreakPad library")
 SET(OpenMVS_CONFIG_INCLUDE_DIR "${CMAKE_BINARY_DIR}/" CACHE PATH "Where to create the build/platform specific header")
 
 INCLUDE_DIRECTORIES("${OpenMVS_SOURCE_DIR}")
@@ -119,7 +120,7 @@ if(OpenMVS_USE_BREAKPAD)
 	endif()
 endif()
 
-FIND_PACKAGE(Boost ${SYSTEM_PACKAGE_REQUIRED} COMPONENTS iostreams program_options system serialization)
+FIND_PACKAGE(Boost COMPONENTS iostreams program_options system serialization REQUIRED)
 if(Boost_FOUND)
 	INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
 	ADD_DEFINITIONS(${Boost_DEFINITIONS} -D_USE_BOOST)
@@ -127,14 +128,15 @@ if(Boost_FOUND)
 	SET(_USE_BOOST TRUE)
 endif()
 
-FIND_PACKAGE(Eigen ${SYSTEM_PACKAGE_REQUIRED})
-if(EIGEN_FOUND)
-	INCLUDE_DIRECTORIES(${EIGEN_INCLUDE_DIRS})
-	ADD_DEFINITIONS(${EIGEN_DEFINITIONS} -D_USE_EIGEN)
+FIND_PACKAGE(Eigen3 REQUIRED)
+if(EIGEN3_FOUND)
+	INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
+	ADD_DEFINITIONS(${EIGEN3_DEFINITIONS} -D_USE_EIGEN)
 	SET(_USE_EIGEN TRUE)
+	message(STATUS "Eigen ${EIGEN3_VERSION} found (include: ${EIGEN3_INCLUDE_DIR})")
 endif()
 
-FIND_PACKAGE(OpenCV ${SYSTEM_PACKAGE_REQUIRED})
+FIND_PACKAGE(OpenCV REQUIRED)
 if(OpenCV_FOUND)
 	INCLUDE_DIRECTORIES(${OpenCV_INCLUDE_DIRS})
 	ADD_DEFINITIONS(${OpenCV_DEFINITIONS})
@@ -170,7 +172,9 @@ ADD_DEFINITIONS(${OpenMVS_DEFINITIONS})
 
 # Add modules
 ADD_SUBDIRECTORY(libs)
-ADD_SUBDIRECTORY(apps)
+if(OpenMVS_BUILD_TOOLS)
+	ADD_SUBDIRECTORY(apps)
+endif()
 ADD_SUBDIRECTORY(docs)
 
 if(OpenMVS_USE_CERES)
@@ -188,7 +192,7 @@ export(TARGETS Common IO Math MVS FILE "${PROJECT_BINARY_DIR}/OpenMVSTargets.cma
 # Export the package for use from the build-tree
 # (this registers the build-tree with a global CMake-registry)
 export(PACKAGE OpenMVS)
- 
+
 # Create the OpenMVSConfig.cmake and OpenMVSConfigVersion files
 file(RELATIVE_PATH REL_INCLUDE_DIR "${INSTALL_CMAKE_DIR}" "${INSTALL_INCLUDE_DIR}")
 # ... for the build tree
@@ -199,7 +203,7 @@ set(CONF_INCLUDE_DIRS "${INSTALL_CMAKE_DIR}/${REL_INCLUDE_DIR}")
 configure_file("${CMAKE_CURRENT_SOURCE_DIR}/build/OpenMVSConfig.cmake.in" "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/OpenMVSConfig.cmake" @ONLY)
 # ... for both
 configure_file("${CMAKE_CURRENT_SOURCE_DIR}/build/OpenMVSConfigVersion.cmake.in" "${PROJECT_BINARY_DIR}/OpenMVSConfigVersion.cmake" @ONLY)
- 
+
 # Install the OpenMVSConfig.cmake and OpenMVSConfigVersion.cmake
 install(FILES
 	"${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/OpenMVSConfig.cmake"
diff --git a/MvgMvsPipeline.py b/MvgMvsPipeline.py
index 106857f7e..4f30795c0 100644
--- a/MvgMvsPipeline.py
+++ b/MvgMvsPipeline.py
@@ -183,10 +183,10 @@ def __init__(self):
              ["-i", "%input_dir%", "-o", "%matches_dir%", "-d", "%camera_file_params%"]],
             ["Compute features",             # 1
              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeFeatures"),
-             ["-i", "%matches_dir%/sfm_data.json", "-o", "%matches_dir%", "-m", "SIFT", "-n", "4"]],
+             ["-i", "%matches_dir%/sfm_data.json", "-o", "%matches_dir%", "-m", "SIFT"]],
             ["Compute matches",              # 2
              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeMatches"),
-             ["-i", "%matches_dir%/sfm_data.json", "-o", "%matches_dir%", "-n", "HNSWL2", "-r", ".8"]],
+             ["-i", "%matches_dir%/sfm_data.json", "-o", "%matches_dir%", "-n", "AUTO"]],
             ["Incremental reconstruction",   # 3
              os.path.join(OPENMVG_BIN, "openMVG_main_IncrementalSfM"),
              ["-i", "%matches_dir%/sfm_data.json", "-m", "%matches_dir%", "-o", "%reconstruction_dir%"]],
diff --git a/apps/Viewer/CMakeLists.txt b/apps/Viewer/CMakeLists.txt
index c519040d1..c90affca2 100644
--- a/apps/Viewer/CMakeLists.txt
+++ b/apps/Viewer/CMakeLists.txt
@@ -16,27 +16,14 @@ else()
 	MESSAGE("-- Can't find GLEW. Continuing without it.")
 	RETURN()
 endif()
-if(CMAKE_COMPILER_IS_GNUCXX)
-	FIND_PACKAGE(PkgConfig QUIET)
-	pkg_search_module(GLFW QUIET glfw3)
-	if(GLFW_FOUND)
-		INCLUDE_DIRECTORIES(${GLFW_INCLUDE_DIRS})
-		ADD_DEFINITIONS(${GLFW_DEFINITIONS})
-		MESSAGE(STATUS "GLFW3 ${GLFW_VERSION} found (include: ${GLFW_INCLUDE_DIRS})")
-	else()
-		MESSAGE("-- Can't find GLFW3. Continuing without it.")
-		RETURN()
-	endif()
+FIND_PACKAGE(glfw3 QUIET)
+if(glfw3_FOUND)
+	INCLUDE_DIRECTORIES(${glfw3_INCLUDE_DIRS})
+	ADD_DEFINITIONS(${glfw3_DEFINITIONS})
+	MESSAGE(STATUS "GLFW3 ${glfw3_VERSION} found (include: ${glfw3_INCLUDE_DIRS})")
 else()
-	FIND_PACKAGE(glfw3 QUIET)
-	if(glfw3_FOUND)
-		INCLUDE_DIRECTORIES(${glfw3_INCLUDE_DIRS})
-		ADD_DEFINITIONS(${glfw3_DEFINITIONS})
-		MESSAGE(STATUS "GLFW3 ${glfw3_VERSION} found (include: ${glfw3_INCLUDE_DIRS})")
-	else()
-		MESSAGE("-- Can't find GLFW3. Continuing without it.")
-		RETURN()
-	endif()
+	MESSAGE("-- Can't find GLFW3. Continuing without it.")
+	RETURN()
 endif()
 
 # List sources files
diff --git a/build/Modules/FindCERES.cmake b/build/Modules/FindCERES.cmake
deleted file mode 100644
index 6905393be..000000000
--- a/build/Modules/FindCERES.cmake
+++ /dev/null
@@ -1,103 +0,0 @@
-# - try to find CERES headers
-#
-# Users may optionally supply:
-#  CERES_DIR - a prefix to start searching for the toon headers.
-#
-# Cache Variables: (probably not for direct use in your scripts)
-#  CERES_INCLUDE_DIR
-#
-# Non-cache variables you might use in your CMakeLists.txt:
-#  CERES_FOUND
-#  CERES_INCLUDE_DIRS
-#  CERES_LIBS
-#  CERES_DEFINITIONS
-#
-# Requires these CMake modules:
-#  FindPackageHandleStandardArgs (known included with CMake >=2.6.2)
-
-#try to use the Config script
-if(NOT EXISTS "${CERES_DIR}")
-	find_path(CERES_DIR "CeresConfig.cmake"
-		HINTS "${CERES_ROOT}" "$ENV{CERES_ROOT}" "$ENV{CERES_DIR}" "$ENV{CERES_ROOT}/CMake"
-		PATHS "$ENV{PROGRAMFILES}" "$ENV{PROGRAMW6432}" "/usr" "/usr/local" "/usr/share" "/usr/local/share" "/usr/lib/cmake" "/usr/local/lib/cmake" "/usr/include" "/usr/lib/x86_64-linux-gnu/cmake"
-		PATH_SUFFIXES "Ceres"
-		DOC "Root directory of CERES")
-endif()
-
-set(CERES_VERSION "")
-if(EXISTS "${CERES_DIR}")
-
- 	## Include the standard CMake script
-	include("${CERES_DIR}/CeresConfig.cmake")
-	set(CERES_LIBS ${CERES_LIBS} ${CERES_LIBRARIES})
-
-else()
-
-	# Find required packages
-	FIND_PACKAGE(Eigen ${SYSTEM_PACKAGE_QUIET})
-	FIND_PACKAGE(SUITESPARSE ${SYSTEM_PACKAGE_QUIET})
-	if(SUITESPARSE_FOUND)
-		set(CERES_LIBS ${CERES_LIBS} ${SUITESPARSE_LIBS})
-	endif()
-	FIND_PACKAGE(GLOG ${SYSTEM_PACKAGE_QUIET})
-	if(GLOG_FOUND)
-		set(CERES_INCLUDE_DIRS ${CERES_INCLUDE_DIRS} ${GLOG_INCLUDE_DIRS})
-		set(CERES_LIBS ${CERES_LIBS} ${GLOG_LIBS})
-	endif()
-
-	if(NOT CERES_DIR OR "${CERES_DIR}" STREQUAL "")
-		set(CERES_DIR "$ENV{CERES_ROOT}")
-	endif()
-	set(CERES_DIR "${CERES_DIR}" CACHE PATH "Root directory of CERES library")
-
- 	#try to guess path
-	find_path(CERES_INCLUDE_DIR
-		NAMES "ceres/ceres.h"
-		HINTS "${CERES_DIR}" "$ENV{CERES_ROOT}" "/usr" "/usr/local"
-		PATH_SUFFIXES "include")
-
-	set(CERES_FOUND FALSE)
-	if(EXISTS "${CERES_INCLUDE_DIR}" AND NOT "${CERES_INCLUDE_DIR}" STREQUAL "")
-		set(CERES_FOUND TRUE)
-		
-		find_library(CERES_LIBRARY_DEBUG "libceres" "ceres" "ceres_shared" PATHS "${CERES_DIR}/lib${PACKAGE_LIB_SUFFIX_DBG}" "$ENV{OpenCV_ROOT}/lib${PACKAGE_LIB_SUFFIX_DBG}" NO_DEFAULT_PATH)
-		find_library(CERES_LIBRARY_RELEASE "libceres" "ceres" "ceres_shared" PATHS "${CERES_DIR}/lib${PACKAGE_LIB_SUFFIX_REL}" "$ENV{OpenCV_ROOT}/lib${PACKAGE_LIB_SUFFIX_REL}" NO_DEFAULT_PATH)
-		find_library(CERES_LIBRARY_ALL NAMES "ceres" PATH_SUFFIXES "ceres")
-		
-		#Remove the cache value
-		set(CERES_LIBRARY "" CACHE STRING "" FORCE)
-		
-		#both debug/release
-		if(CERES_LIBRARY_DEBUG AND CERES_LIBRARY_RELEASE)
-			set(CERES_LIBRARY debug ${CERES_LIBRARY_DEBUG} optimized ${CERES_LIBRARY_RELEASE} CACHE STRING "" FORCE)
-		#only debug
-		elseif(CERES_LIBRARY_DEBUG)
-			set(CERES_LIBRARY ${CERES_LIBRARY_DEBUG} CACHE STRING "" FORCE)
-		#only release
-		elseif(CERES_LIBRARY_RELEASE)
-			set(CERES_LIBRARY ${CERES_LIBRARY_RELEASE} CACHE STRING "" FORCE)
-		#both debug/release
-		elseif(CERES_LIBRARY_ALL)
-			set(CERES_LIBRARY ${CERES_LIBRARY_ALL} CACHE STRING "" FORCE)
-		#no library found
-		else()
-			message("CERES library NOT found")
-			set(CERES_FOUND FALSE)
-		endif()
-		
-		#Add to the general list
-		if(CERES_LIBRARY)
-			set(CERES_LIBS ${CERES_LIBS} ${CERES_LIBRARY})
-		endif()
-	endif()
-
-endif()
-
-if(CERES_FOUND)
-	set(CERES_INCLUDE_DIRS ${CERES_INCLUDE_DIRS} "${CERES_INCLUDE_DIR}")
-	set(CERES_DIR "${CERES_DIR}" CACHE PATH "" FORCE)
-	mark_as_advanced(CERES_DIR)
-	message(STATUS "CERES ${CERES_VERSION} found (include: ${CERES_INCLUDE_DIRS})")
-else()
-	package_report_not_found(CERES "Please specify CERES directory using CERES_ROOT env. variable")
-endif()
diff --git a/build/Modules/FindCGAL.cmake b/build/Modules/FindCGAL.cmake
deleted file mode 100644
index fcdc7b4fd..000000000
--- a/build/Modules/FindCGAL.cmake
+++ /dev/null
@@ -1,89 +0,0 @@
-###########################################################
-#                  Find CGAL Library
-#----------------------------------------------------------
-#  CGAL_FOUND            - True if headers and requested libraries were found
-#  CGAL_INCLUDE_DIRS     - CGAL include directories
-#  CGAL_LIBRARY_DIRS     - Link directories for CGAL libraries
-#  CGAL_LIBS             - CGAL libraries
-#  CGAL_VERSION          - MAJOR.MINOR
-#----------------------------------------------------------
-
-set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
-
-if(NOT CGAL_DIR)
-  # Get the system search path as a list.
-  if(UNIX)
-    string(REGEX MATCHALL "[^:]+" CGAL_DIR_SEARCH1 "$ENV{PATH}")
-  else()
-    string(REGEX REPLACE "\\\\" "/" CGAL_DIR_SEARCH1 "$ENV{PATH}")
-  endif()
-  string(REGEX REPLACE "/;" ";" CGAL_DIR_SEARCH2 "${CGAL_DIR_SEARCH1}")
-  # Construct a set of paths relative to the system search path.
-  set(CGAL_DIR_SEARCH "")
-  foreach(dir ${CGAL_DIR_SEARCH2})
-    set(CGAL_DIR_SEARCH ${CGAL_DIR_SEARCH} ${dir}/../lib/CGAL)
-  endforeach()
-  set(CGAL_DIR_SEARCH ${CGAL_DIR_SEARCH} "lib" "lib64")
-
-  #
-  # Look for an installation or build tree.
-  #
-  find_path(CGAL_DIR "CGALConfig.cmake"
-    # Look for an environment variable CGAL_DIR.
-    HINTS "${CGAL_ROOT}" "$ENV{CGAL_ROOT}" "$ENV{CGAL_DIR}" "$ENV{PROGRAMFILES}" "$ENV{PROGRAMW6432}"
-
-    # Look in places relative to the system executable search path.
-    ${CGAL_DIR_SEARCH}
-
-    # Look in standard UNIX install locations.
-    PATHS "/usr" "/usr/local" "/usr/share" "/usr/local/share" "/usr/lib/cmake" "/usr/local/lib/cmake" "/usr/include" "/usr/lib/x86_64-linux-gnu/cmake"
-
-    # Read from the CMakeSetup registry entries.  It is likely that
-    # CGAL will have been recently built.
-    [HKEY_CURRENT_USER\\Software\\Kitware\\CMakeSetup\\Settings\\StartPath;WhereBuild1]
-    [HKEY_CURRENT_USER\\Software\\Kitware\\CMakeSetup\\Settings\\StartPath;WhereBuild2]
-    [HKEY_CURRENT_USER\\Software\\Kitware\\CMakeSetup\\Settings\\StartPath;WhereBuild3]
-    [HKEY_CURRENT_USER\\Software\\Kitware\\CMakeSetup\\Settings\\StartPath;WhereBuild4]
-    [HKEY_CURRENT_USER\\Software\\Kitware\\CMakeSetup\\Settings\\StartPath;WhereBuild5]
-    [HKEY_CURRENT_USER\\Software\\Kitware\\CMakeSetup\\Settings\\StartPath;WhereBuild6]
-    [HKEY_CURRENT_USER\\Software\\Kitware\\CMakeSetup\\Settings\\StartPath;WhereBuild7]
-    [HKEY_CURRENT_USER\\Software\\Kitware\\CMakeSetup\\Settings\\StartPath;WhereBuild8]
-    [HKEY_CURRENT_USER\\Software\\Kitware\\CMakeSetup\\Settings\\StartPath;WhereBuild9]
-    [HKEY_CURRENT_USER\\Software\\Kitware\\CMakeSetup\\Settings\\StartPath;WhereBuild10]
-	
-	PATH_SUFFIXES "CGAL" "share" "share/cgal" "share/cmake" "share/cmake/cgal"
-	
-	DOC "Root directory of CGAL library"
-  )
-endif()
-
-##====================================================
-## Include CGAL library
-##----------------------------------------------------
-set(CGAL_VERSION "")
-if(EXISTS "${CGAL_DIR}" AND NOT "${CGAL_DIR}" STREQUAL "")
-	if(EXISTS "${CGAL_DIR}/CGALConfig.cmake")
-		include("${CGAL_DIR}/CGALConfig.cmake")
-		set(CGAL_TARGET_LIBS "")
-		if(TARGET CGAL::CGAL)
-			get_target_property(CGAL_TARGET_LIBS CGAL::CGAL INTERFACE_LINK_LIBRARIES)
-		elseif(TARGET CGAL)
-			get_target_property(CGAL_TARGET_LIBS CGAL INTERFACE_LINK_LIBRARIES)
-		endif()
-		if(NOT CGAL_TARGET_LIBS)
-			set(CGAL_TARGET_LIBS "")
-		endif()
-		set(CGAL_LIBS ${CGAL_LIBS} ${CGAL_LIBRARIES} ${CGAL_LIBRARY} ${CGAL_TARGET_LIBS} ${CGAL_Core_LIBRARY} ${CGAL_ImageIO_LIBRARY} ${CGAL_3RD_PARTY_LIBRARIES} ${CGAL_Core_3RD_PARTY_LIBRARIES} ${CGAL_ImageIO_3RD_PARTY_LIBRARIES} ${MPFR_LIBRARIES} ${GMP_LIBRARIES} ${ZLIB_LIBRARIES})
-		set(CGAL_VERSION "${CGAL_MAJOR_VERSION}.${CGAL_MINOR_VERSION}")
-	else()
-		set(CGAL_INCLUDE_DIRS "${CGAL_DIR}/include" "${CGAL_DIR}/auxiliary/gmp/include")
-		set(CGAL_LIBRARY_DIRS "${CGAL_DIR}/lib${PACKAGE_LIB_SUFFIX}")
-	endif()
-	set(CGAL_FOUND TRUE)
-	set(CGAL_DIR "${CGAL_DIR}" CACHE PATH "" FORCE)
-	mark_as_advanced(CGAL_DIR)
-	message(STATUS "CGAL ${CGAL_VERSION} found (include: ${CGAL_INCLUDE_DIRS})")
-else()
-	package_report_not_found(CGAL "Please specify CGAL directory using CGAL_ROOT env. variable")
-endif()
-##====================================================
diff --git a/build/Modules/FindEigen.cmake b/build/Modules/FindEigen.cmake
deleted file mode 100644
index 0f1d74c02..000000000
--- a/build/Modules/FindEigen.cmake
+++ /dev/null
@@ -1,55 +0,0 @@
-###########################################################
-#                  Find EIGEN Library
-#----------------------------------------------------------
-
-find_path(EIGEN_DIR "Eigen/Core"
-    HINTS "${EIGEN_ROOT}" "$ENV{EIGEN_ROOT}"
-    PATHS "$ENV{PROGRAMFILES}" "$ENV{PROGRAMW6432}" "/usr" "/usr/local" "/usr/share" "/usr/local/share" "/usr/lib/x86_64-linux-gnu/cmake"
-    PATH_SUFFIXES "eigen" "eigen3" "include"
-    DOC "Root directory of EIGEN library")
-
-##====================================================
-## Include EIGEN library
-##----------------------------------------------------
-if(EXISTS "${EIGEN_DIR}" AND NOT "${EIGEN_DIR}" STREQUAL "")
-	set(EIGEN_FOUND TRUE)
-	set(EIGEN_INCLUDE_DIRS ${EIGEN_DIR})
-	set(EIGEN_DIR "${EIGEN_DIR}" CACHE PATH "" FORCE)
-	mark_as_advanced(EIGEN_DIR)
-
-	# Extract Eigen version from Eigen/src/Core/util/Macros.h
-	SET(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIRS}/Eigen/src/Core/util/Macros.h)
-	IF (NOT EXISTS ${EIGEN_VERSION_FILE})
-		EIGEN_REPORT_NOT_FOUND(
-		  "Could not find file: ${EIGEN_VERSION_FILE} "
-		  "containing version information in Eigen install located at: "
-		  "${EIGEN_INCLUDE_DIRS}.")
-	ELSE (NOT EXISTS ${EIGEN_VERSION_FILE})
-		FILE(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS)
-
-		STRING(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+"
-		  EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
-		STRING(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1"
-		  EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}")
-
-		STRING(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+"
-		  EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
-		STRING(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1"
-		  EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}")
-
-		STRING(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+"
-		  EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
-		STRING(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1"
-		  EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}")
-
-		# This is on a single line s/t CMake does not interpret it as a list of
-		# elements and insert ';' separators which would result in 3.;2.;0 nonsense.
-		SET(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}")
-	ENDIF (NOT EXISTS ${EIGEN_VERSION_FILE})
-	set(EIGEN_INCLUDE_DIR ${EIGEN_DIR})
-
-	message(STATUS "Eigen ${EIGEN_VERSION} found (include: ${EIGEN_INCLUDE_DIRS})")
-else()
-	package_report_not_found(EIGEN "Please specify EIGEN directory using EIGEN_ROOT env. variable")
-endif()
-##====================================================
diff --git a/build/Modules/FindEigen3.cmake b/build/Modules/FindEigen3.cmake
new file mode 100644
index 000000000..0b36805e7
--- /dev/null
+++ b/build/Modules/FindEigen3.cmake
@@ -0,0 +1,107 @@
+# - Try to find Eigen3 lib
+#
+# This module supports requiring a minimum version, e.g. you can do
+#   find_package(Eigen3 3.1.2)
+# to require version 3.1.2 or newer of Eigen3.
+#
+# Once done this will define
+#
+#  EIGEN3_FOUND - system has eigen lib with correct version
+#  EIGEN3_INCLUDE_DIR - the eigen include directory
+#  EIGEN3_VERSION - eigen version
+#
+# and the following imported target:
+#
+#  Eigen3::Eigen - The header-only Eigen library
+#
+# This module reads hints about search locations from 
+# the following environment variables:
+#
+# EIGEN3_ROOT
+# EIGEN3_ROOT_DIR
+
+# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
+# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
+# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
+
+if(NOT Eigen3_FIND_VERSION)
+  if(NOT Eigen3_FIND_VERSION_MAJOR)
+    set(Eigen3_FIND_VERSION_MAJOR 2)
+  endif()
+  if(NOT Eigen3_FIND_VERSION_MINOR)
+    set(Eigen3_FIND_VERSION_MINOR 91)
+  endif()
+  if(NOT Eigen3_FIND_VERSION_PATCH)
+    set(Eigen3_FIND_VERSION_PATCH 0)
+  endif()
+
+  set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
+endif()
+
+macro(_eigen3_check_version)
+  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
+
+  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
+  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
+  set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
+  set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
+
+  set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
+  if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+    set(EIGEN3_VERSION_OK FALSE)
+  else()
+    set(EIGEN3_VERSION_OK TRUE)
+  endif()
+
+  if(NOT EIGEN3_VERSION_OK)
+
+    message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
+                   "but at least version ${Eigen3_FIND_VERSION} is required")
+  endif()
+endmacro()
+
+if (EIGEN3_INCLUDE_DIR)
+
+  # in cache already
+  _eigen3_check_version()
+  set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
+  set(Eigen3_FOUND ${EIGEN3_VERSION_OK})
+
+else ()
+  
+  # search first if an Eigen3Config.cmake is available in the system,
+  # if successful this would set EIGEN3_INCLUDE_DIR and the rest of
+  # the script will work as usual
+  find_package(Eigen3 ${Eigen3_FIND_VERSION} NO_MODULE QUIET)
+
+  if(NOT EIGEN3_INCLUDE_DIR)
+    find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
+        HINTS
+        ENV EIGEN3_ROOT 
+        ENV EIGEN3_ROOT_DIR
+        PATHS
+        ${CMAKE_INSTALL_PREFIX}/include
+        ${KDE4_INCLUDE_DIR}
+        PATH_SUFFIXES eigen3 eigen
+      )
+  endif()
+
+  if(EIGEN3_INCLUDE_DIR)
+    _eigen3_check_version()
+  endif()
+
+  include(FindPackageHandleStandardArgs)
+  find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
+
+  mark_as_advanced(EIGEN3_INCLUDE_DIR)
+
+endif()
+
+if(EIGEN3_FOUND AND NOT TARGET Eigen3::Eigen)
+  add_library(Eigen3::Eigen INTERFACE IMPORTED)
+  set_target_properties(Eigen3::Eigen PROPERTIES
+    INTERFACE_INCLUDE_DIRECTORIES "${EIGEN3_INCLUDE_DIR}")
+endif()
diff --git a/build/Utils.cmake b/build/Utils.cmake
index f41c9d89f..671672889 100644
--- a/build/Utils.cmake
+++ b/build/Utils.cmake
@@ -174,9 +174,9 @@ macro(ComposePackageLibSuffix)
 	set(PACKAGE_LIB_SUFFIX_DBG "")
 	set(PACKAGE_LIB_SUFFIX_REL "")
 	if(MSVC)
-		if("${MSVC_VERSION}" STREQUAL "1921")
+		if("${MSVC_VERSION}" STRGREATER "1916")
 			set(PACKAGE_LIB_SUFFIX "/vc16")
-		elseif("${MSVC_VERSION}" STREQUAL "1916")
+		elseif("${MSVC_VERSION}" STRGREATER "1900")
 			set(PACKAGE_LIB_SUFFIX "/vc15")
 		elseif("${MSVC_VERSION}" STREQUAL "1900")
 			set(PACKAGE_LIB_SUFFIX "/vc14")
diff --git a/libs/MVS/CMakeLists.txt b/libs/MVS/CMakeLists.txt
index 14be62072..9d9a687bc 100644
--- a/libs/MVS/CMakeLists.txt
+++ b/libs/MVS/CMakeLists.txt
@@ -1,12 +1,12 @@
 # Find required packages
-FIND_PACKAGE(CGAL ${SYSTEM_PACKAGE_REQUIRED})
+FIND_PACKAGE(CGAL REQUIRED)
 if(CGAL_FOUND)
 	include_directories(${CGAL_INCLUDE_DIRS})
 	add_definitions(${CGAL_DEFINITIONS})
 	link_directories(${CGAL_LIBRARY_DIRS})
 endif()
 
-FIND_PACKAGE(VCG ${SYSTEM_PACKAGE_REQUIRED})
+FIND_PACKAGE(VCG REQUIRED)
 if(VCG_FOUND)
 	include_directories(${VCG_INCLUDE_DIRS})
 	add_definitions(${VCG_DEFINITIONS})
@@ -14,12 +14,13 @@ endif()
 
 set(CERES_LIBS "")
 if(OpenMVS_USE_CERES)
-	FIND_PACKAGE(CERES)
+	FIND_PACKAGE(Ceres)
 	if(CERES_FOUND)
 		include_directories(${CERES_INCLUDE_DIRS})
 		add_definitions(${CERES_DEFINITIONS})
 	else()
 		set(OpenMVS_USE_CERES OFF)
+		message("-- Can't find CERES. Continuing without it.")
 	endif()
 endif()
 
@@ -42,7 +43,7 @@ cxx_library_with_type_no_pch(MVS "Libs" "" "${cxx_default}"
 set_target_pch(MVS Common.h)
 
 # Link its dependencies
-TARGET_LINK_LIBRARIES(MVS PRIVATE Common Math IO ${CERES_LIBS} ${CGAL_LIBS} ${CUDA_CUDA_LIBRARY})
+TARGET_LINK_LIBRARIES(MVS PRIVATE Common Math IO CGAL::CGAL ${CERES_LIBRARIES} ${CUDA_CUDA_LIBRARY})
 
 # Install
 SET_TARGET_PROPERTIES(MVS PROPERTIES

From 8d1b2f463d0bfd06f7fc7021a4b6981df3abbfc2 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 9 Jul 2020 20:44:20 +0300
Subject: [PATCH 004/252] build: fix usage as third-party library

---
 BUILD.md                                      |  29 +++-
 CMakeLists.txt                                | 130 +++++++++---------
 build/OpenMVSConfig.cmake.in                  |  18 ---
 build/OpenMVSConfigVersion.cmake.in           |  11 --
 build/Templates/OpenMVSConfig.cmake.in        |  23 ++++
 .../{ => Templates}/cmake_uninstall.cmake.in  |   0
 build/Utils.cmake                             |  17 ++-
 libs/Common/CMakeLists.txt                    |   8 +-
 libs/IO/CMakeLists.txt                        |   8 +-
 libs/MVS/CMakeLists.txt                       |   8 +-
 libs/Math/CMakeLists.txt                      |  15 +-
 11 files changed, 147 insertions(+), 120 deletions(-)
 delete mode 100644 build/OpenMVSConfig.cmake.in
 delete mode 100644 build/OpenMVSConfigVersion.cmake.in
 create mode 100644 build/Templates/OpenMVSConfig.cmake.in
 rename build/{ => Templates}/cmake_uninstall.cmake.in (100%)

diff --git a/BUILD.md b/BUILD.md
index 52e4dc0b8..f6295c723 100644
--- a/BUILD.md
+++ b/BUILD.md
@@ -82,7 +82,7 @@ sudo apt-get -y install libcgal-dev libcgal-qt5-dev
 #VCGLib (Required)
 git clone https://github.com/cdcseacave/VCG.git vcglib
 
-#Ceres (optional)
+#Ceres (Optional)
 sudo apt-get -y install libatlas-base-dev libsuitesparse-dev
 git clone https://ceres-solver.googlesource.com/ceres-solver ceres-solver
 mkdir ceres_build && cd ceres_build
@@ -128,7 +128,11 @@ git clone https://github.com/cdcseacave/openMVS.git
 
 #Build OpenMVS
 mkdir openMVS_build && cd openMVS_build
-cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_DIR="$main_path/vcglib"
+cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT="$main_path/vcglib"
+
+#Alternatively, build using XCode
+cmake . ../openMVS -G "Xcode" -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT="$main_path/vcglib"
+xcodebuild -configuration Release
 
 #If you want to use OpenMVS as shared library, add to the CMake command:
 -DBUILD_SHARED_LIBS=ON
@@ -136,3 +140,24 @@ cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_DIR="$main_path/vcglib"
 #Install OpenMVS library (optional):
 make && sudo make install
 ```
+
+-------------------
+Library usage
+-------------------
+
+In order to use *OpenMVS* as a third-party libray in your project, first compile it as described above or simply use `vcpgk`:
+```
+vcpkg install openmvs
+```
+
+And inside your project CMake script, use:
+```
+find_package(OpenMVS)
+if(OpenMVS_FOUND)
+	include_directories(${OpenMVS_INCLUDE_DIRS})
+	add_definitions(${OpenMVS_DEFINITIONS})
+endif()
+
+add_executable(your_project source_code.cpp)
+target_link_libraries(your_project PRIVATE OpenMVS::MVS)
+```
diff --git a/CMakeLists.txt b/CMakeLists.txt
index c2e497abf..febcd8de2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,31 +18,10 @@ endif()
 # ${OpenMVS_BINARY_DIR}.
 PROJECT(OpenMVS)
 
-set(OpenMVS_MAJOR_VERSION 1)
-set(OpenMVS_MINOR_VERSION 1)
-set(OpenMVS_PATCH_VERSION 1)
-set(OpenMVS_VERSION ${OpenMVS_MAJOR_VERSION}.${OpenMVS_MINOR_VERSION}.${OpenMVS_PATCH_VERSION})
-
-# Find dependencies:
-SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/build/Modules)
-
-# fix CMake IntDir variable
-if(MSVC AND "${MSVC_VERSION}" STRGREATER "1500")
-	SET(CMAKE_CFG_INTDIR "$(Platform)/$(Configuration)")
-endif()
-SET(COTIRE_INTDIR "cotire")
-
-# Define helper functions and macros.
-INCLUDE(build/Utils.cmake)
-if(ENABLE_PRECOMPILED_HEADERS)
-	INCLUDE(build/Cotire.cmake)
-endif()
-
-# Init session with macros defined in Utils.cmake
-GetOperatingSystemArchitectureBitness(SYSTEM)
-ComposePackageLibSuffix()
-ConfigCompilerAndLinker()
-ConfigLibrary()
+SET(OpenMVS_MAJOR_VERSION 1)
+SET(OpenMVS_MINOR_VERSION 1)
+SET(OpenMVS_PATCH_VERSION 1)
+SET(OpenMVS_VERSION ${OpenMVS_MAJOR_VERSION}.${OpenMVS_MINOR_VERSION}.${OpenMVS_PATCH_VERSION})
 
 # List configuration options
 SET(OpenMVS_BUILD_TOOLS ON CACHE BOOL "Build example applications")
@@ -56,18 +35,32 @@ SET(OpenMVS_USE_FAST_FLOAT2INT ON CACHE BOOL "Use an optimized code to convert r
 SET(OpenMVS_USE_FAST_INVSQRT OFF CACHE BOOL "Use an optimized code to compute the inverse square root (slower in fact on modern compilers)")
 SET(OpenMVS_USE_FAST_CBRT ON CACHE BOOL "Use an optimized code to compute the cubic root")
 SET(OpenMVS_USE_SSE ON CACHE BOOL "Enable SSE optimizations")
-SET(OpenMVS_CONFIG_INCLUDE_DIR "${CMAKE_BINARY_DIR}/" CACHE PATH "Where to create the build/platform specific header")
 
-INCLUDE_DIRECTORIES("${OpenMVS_SOURCE_DIR}")
+# Define helper functions and macros.
+SET(COTIRE_INTDIR "cotire")
+INCLUDE(build/Cotire.cmake)
+INCLUDE(build/Utils.cmake)
+
+# Init session with macros defined in Utils.cmake
+GetOperatingSystemArchitectureBitness(SYSTEM)
+ComposePackageLibSuffix()
+ConfigCompilerAndLinker()
+ConfigLibrary()
+
+# Find dependencies:
+SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build/Modules)
 
 # Find required packages
+SET(OpenMVS_EXTRA_INCLUDES "")
+SET(OpenMVS_DEFINITIONS "")
 SET(OpenMVS_EXTRA_LIBS "")
+
 if(OpenMVS_USE_OPENMP)
 	SET(OpenMP_LIBS "")
 	FIND_PACKAGE(OpenMP)
 	if(OPENMP_FOUND)
 		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
-		ADD_DEFINITIONS(-D_USE_OPENMP)
+		LIST(APPEND OpenMVS_DEFINITIONS -D_USE_OPENMP)
 		SET(_USE_OPENMP TRUE)
 		#cmake only check for separate OpenMP library on AppleClang 7+
 		#https://github.com/Kitware/CMake/blob/42212f7539040139ecec092547b7d58ef12a4d72/Modules/FindOpenMP.cmake#L252
@@ -76,7 +69,7 @@ if(OpenMVS_USE_OPENMP)
 			LIST(APPEND OpenMVS_EXTRA_LIBS ${OpenMP_LIBS})
 		endif()
 	else()
-		message("-- Can't find OpenMP. Continuing without it.")
+		MESSAGE("-- Can't find OpenMP. Continuing without it.")
 	endif()
 endif()
 
@@ -87,7 +80,8 @@ if(OpenMVS_USE_OPENGL)
 	FIND_PACKAGE(OpenGL)
 	if(OPENGL_FOUND)
 		INCLUDE_DIRECTORIES(${OPENGL_INCLUDE_DIR})
-		ADD_DEFINITIONS(${OpenGL_DEFINITIONS} -D_USE_OPENGL)
+		LIST(APPEND OpenMVS_DEFINITIONS -D_USE_OPENGL)
+		ADD_DEFINITIONS(${OpenGL_DEFINITIONS})
 		SET(_USE_OPENGL TRUE)
 	else()
 		MESSAGE("-- Can't find OpenGL. Continuing without it.")
@@ -98,7 +92,7 @@ if(OpenMVS_USE_CUDA)
 	FIND_PACKAGE(CUDA)
 	if(CUDA_FOUND)
 		INCLUDE_DIRECTORIES(${CUDA_INCLUDE_DIRS})
-		ADD_DEFINITIONS(-D_USE_CUDA)
+		LIST(APPEND OpenMVS_DEFINITIONS -D_USE_CUDA)
 		SET(_USE_CUDA TRUE)
 	else()
 		SET(CUDA_CUDA_LIBRARY "")
@@ -112,7 +106,8 @@ if(OpenMVS_USE_BREAKPAD)
 	FIND_PACKAGE(BREAKPAD)
 	if(BREAKPAD_FOUND)
 		INCLUDE_DIRECTORIES(${BREAKPAD_INCLUDE_DIRS})
-		ADD_DEFINITIONS(${BREAKPAD_DEFINITIONS} -D_USE_BREAKPAD)
+		LIST(APPEND OpenMVS_DEFINITIONS -D_USE_BREAKPAD)
+		ADD_DEFINITIONS(${BREAKPAD_DEFINITIONS})
 		SET(_USE_BREAKPAD TRUE)
 		LIST(APPEND OpenMVS_EXTRA_LIBS ${BREAKPAD_LIBS})
 	else()
@@ -122,22 +117,27 @@ endif()
 
 FIND_PACKAGE(Boost COMPONENTS iostreams program_options system serialization REQUIRED)
 if(Boost_FOUND)
+	LIST(APPEND OpenMVS_EXTRA_INCLUDES ${Boost_INCLUDE_DIRS})
 	INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
-	ADD_DEFINITIONS(${Boost_DEFINITIONS} -D_USE_BOOST)
+	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_BOOST)
+	ADD_DEFINITIONS(${Boost_DEFINITIONS})
 	LINK_DIRECTORIES(${Boost_LIBRARY_DIRS})
 	SET(_USE_BOOST TRUE)
 endif()
 
 FIND_PACKAGE(Eigen3 REQUIRED)
 if(EIGEN3_FOUND)
+	LIST(APPEND OpenMVS_EXTRA_INCLUDES ${EIGEN3_INCLUDE_DIR})
 	INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
-	ADD_DEFINITIONS(${EIGEN3_DEFINITIONS} -D_USE_EIGEN)
+	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_EIGEN)
+	ADD_DEFINITIONS(${EIGEN3_DEFINITIONS})
 	SET(_USE_EIGEN TRUE)
-	message(STATUS "Eigen ${EIGEN3_VERSION} found (include: ${EIGEN3_INCLUDE_DIR})")
+	MESSAGE(STATUS "Eigen ${EIGEN3_VERSION} found (include: ${EIGEN3_INCLUDE_DIR})")
 endif()
 
 FIND_PACKAGE(OpenCV REQUIRED)
 if(OpenCV_FOUND)
+	LIST(APPEND OpenMVS_EXTRA_INCLUDES ${OpenCV_INCLUDE_DIRS})
 	INCLUDE_DIRECTORIES(${OpenCV_INCLUDE_DIRS})
 	ADD_DEFINITIONS(${OpenCV_DEFINITIONS})
 	SET(_USE_OPENCV TRUE)
@@ -146,8 +146,10 @@ else()
 	MESSAGE("-- Can't find OpenCV. Please specify OpenCV directory using OpenCV_DIR variable")
 endif()
 
+LIST(REMOVE_DUPLICATES OpenMVS_EXTRA_INCLUDES)
+LIST(REMOVE_DUPLICATES OpenMVS_EXTRA_LIBS)
+
 # Set defines
-SET(OpenMVS_DEFINITIONS "")
 if(OpenMVS_USE_NONFREE)
 	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_NONFREE)
 	SET(_USE_NONFREE TRUE)
@@ -168,8 +170,12 @@ if(OpenMVS_USE_SSE)
 	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_SSE)
 	SET(_USE_SSE TRUE)
 endif()
+
 ADD_DEFINITIONS(${OpenMVS_DEFINITIONS})
 
+INCLUDE_DIRECTORIES("${OpenMVS_SOURCE_DIR}")
+INCLUDE_DIRECTORIES("${CMAKE_BINARY_DIR}")
+
 # Add modules
 ADD_SUBDIRECTORY(libs)
 if(OpenMVS_BUILD_TOOLS)
@@ -181,43 +187,41 @@ if(OpenMVS_USE_CERES)
 	SET(_USE_CERES TRUE)
 endif()
 
-# Set configuration file
-CONFIGURE_FILE("${OpenMVS_SOURCE_DIR}/build/Templates/ConfigLocal.h.in" "${OpenMVS_CONFIG_INCLUDE_DIR}/ConfigLocal.h")
-INSTALL(FILES "${OpenMVS_CONFIG_INCLUDE_DIR}/ConfigLocal.h" DESTINATION "${INSTALL_INCLUDE_DIR}")
-INCLUDE_DIRECTORIES(${OpenMVS_CONFIG_INCLUDE_DIR})
-
-# Add all targets to the build-tree export set
-export(TARGETS Common IO Math MVS FILE "${PROJECT_BINARY_DIR}/OpenMVSTargets.cmake")
-
 # Export the package for use from the build-tree
 # (this registers the build-tree with a global CMake-registry)
 export(PACKAGE OpenMVS)
 
-# Create the OpenMVSConfig.cmake and OpenMVSConfigVersion files
-file(RELATIVE_PATH REL_INCLUDE_DIR "${INSTALL_CMAKE_DIR}" "${INSTALL_INCLUDE_DIR}")
-# ... for the build tree
-set(CONF_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}" "${PROJECT_BINARY_DIR}")
-configure_file("${CMAKE_CURRENT_SOURCE_DIR}/build/OpenMVSConfig.cmake.in" "${PROJECT_BINARY_DIR}/OpenMVSConfig.cmake" @ONLY)
-# ... for the install tree
-set(CONF_INCLUDE_DIRS "${INSTALL_CMAKE_DIR}/${REL_INCLUDE_DIR}")
-configure_file("${CMAKE_CURRENT_SOURCE_DIR}/build/OpenMVSConfig.cmake.in" "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/OpenMVSConfig.cmake" @ONLY)
-# ... for both
-configure_file("${CMAKE_CURRENT_SOURCE_DIR}/build/OpenMVSConfigVersion.cmake.in" "${PROJECT_BINARY_DIR}/OpenMVSConfigVersion.cmake" @ONLY)
+# Install the export set for use with the install-tree
+INSTALL(EXPORT OpenMVSTargets
+	NAMESPACE OpenMVS::
+	DESTINATION "${INSTALL_CMAKE_DIR}")
+
+# Install configuration file
+CONFIGURE_FILE("${CMAKE_CURRENT_SOURCE_DIR}/build/Templates/ConfigLocal.h.in" "${CMAKE_BINARY_DIR}/ConfigLocal.h")
+INSTALL(FILES "${CMAKE_BINARY_DIR}/ConfigLocal.h" DESTINATION "${INSTALL_INCLUDE_DIR}")
 
+# Create the OpenMVSConfig.cmake and OpenMVSConfigVersion files
+INCLUDE(CMakePackageConfigHelpers)
+write_basic_package_version_file("${PROJECT_BINARY_DIR}/OpenMVSConfigVersion.cmake"
+	VERSION ${OpenMVS_VERSION}
+	COMPATIBILITY AnyNewerVersion)
+SET(INSTALL_INCLUDE_DIR_IN ${INSTALL_INCLUDE_DIR_PREFIX} ${OpenMVS_EXTRA_INCLUDES})
+SET(INSTALL_CMAKE_DIR_IN ${INSTALL_CMAKE_DIR_PREFIX})
+configure_package_config_file("${CMAKE_CURRENT_SOURCE_DIR}/build/Templates/OpenMVSConfig.cmake.in"
+	"${PROJECT_BINARY_DIR}/OpenMVSConfig.cmake"
+	INSTALL_DESTINATION ${PROJECT_BINARY_DIR}
+	NO_SET_AND_CHECK_MACRO)
 # Install the OpenMVSConfig.cmake and OpenMVSConfigVersion.cmake
-install(FILES
-	"${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/OpenMVSConfig.cmake"
+INSTALL(FILES
+	"${PROJECT_BINARY_DIR}/OpenMVSConfig.cmake"
 	"${PROJECT_BINARY_DIR}/OpenMVSConfigVersion.cmake"
-	DESTINATION "${INSTALL_CMAKE_DIR}" COMPONENT dev)
-
-# Install the export set for use with the install-tree
-install(EXPORT OpenMVSTargets DESTINATION "${INSTALL_CMAKE_DIR}" COMPONENT dev)
+	DESTINATION "${INSTALL_CMAKE_DIR}")
 
 # uninstall target
-configure_file(
-	"${CMAKE_CURRENT_SOURCE_DIR}/build/cmake_uninstall.cmake.in"
+CONFIGURE_FILE(
+	"${CMAKE_CURRENT_SOURCE_DIR}/build/Templates/cmake_uninstall.cmake.in"
 	"${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
 	IMMEDIATE @ONLY)
 
-add_custom_target(uninstall
+ADD_CUSTOM_TARGET(uninstall
 	COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
diff --git a/build/OpenMVSConfig.cmake.in b/build/OpenMVSConfig.cmake.in
deleted file mode 100644
index 96b8fe2ce..000000000
--- a/build/OpenMVSConfig.cmake.in
+++ /dev/null
@@ -1,18 +0,0 @@
-# - Configure file for the OpenMVS package
-# It defines the following variables
-#  OpenMVS_INCLUDE_DIRS - include directories for OpenMVS
-#  OpenMVS_LIBRARIES    - libraries to link against
-#  OpenMVS_BINARIES     - the binaries
- 
-# Compute paths
-get_filename_component(OpenMVS_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-set(OpenMVS_INCLUDE_DIRS "@CONF_INCLUDE_DIRS@")
- 
-# Our library dependencies (contains definitions for IMPORTED targets)
-if(NOT TARGET MVS AND NOT OpenMVS_BINARY_DIR)
-	include("${OpenMVS_CMAKE_DIR}/OpenMVSTargets.cmake")
-endif()
- 
-# These are IMPORTED targets created by OpenMVSTargets.cmake
-set(OpenMVS_LIBRARIES MVS)
-set(OpenMVS_BINARIES InterfaceVisualSFM DensifyPointCloud ReconstructMesh RefineMesh TextureMesh)
diff --git a/build/OpenMVSConfigVersion.cmake.in b/build/OpenMVSConfigVersion.cmake.in
deleted file mode 100644
index 3c9e7eb61..000000000
--- a/build/OpenMVSConfigVersion.cmake.in
+++ /dev/null
@@ -1,11 +0,0 @@
-set(PACKAGE_VERSION "@OpenMVS_VERSION@")
-
-# Check whether the requested PACKAGE_FIND_VERSION is compatible
-if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
-	set(PACKAGE_VERSION_COMPATIBLE FALSE)
-else()
-	set(PACKAGE_VERSION_COMPATIBLE TRUE)
-	if ("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}")
-		set(PACKAGE_VERSION_EXACT TRUE)
-	endif()
-endif()
diff --git a/build/Templates/OpenMVSConfig.cmake.in b/build/Templates/OpenMVSConfig.cmake.in
new file mode 100644
index 000000000..9747b3e16
--- /dev/null
+++ b/build/Templates/OpenMVSConfig.cmake.in
@@ -0,0 +1,23 @@
+# Configure file for the OpenMVS package, defining the following variables:
+#  OpenMVS_INCLUDE_DIRS - include directories
+#  OpenMVS_DEFINITIONS  - definitions to be used
+#  OpenMVS_LIBRARIES    - libraries to link against
+#  OpenMVS_BINARIES     - binaries
+
+@PACKAGE_INIT@
+
+set(OpenMVS_VERSION "@OpenMVS_VERSION@")
+
+# Compute paths
+set(OpenMVS_PREFIX "@CMAKE_INSTALL_PREFIX@")
+set(OpenMVS_CMAKE_DIR "@INSTALL_CMAKE_DIR_IN@")
+set(OpenMVS_INCLUDE_DIRS "@INSTALL_INCLUDE_DIR_IN@")
+
+set(OpenMVS_DEFINITIONS "@OpenMVS_DEFINITIONS@")
+
+# These are IMPORTED targets created by OpenMVSTargets.cmake
+set(OpenMVS_LIBRARIES MVS)
+set(OpenMVS_BINARIES InterfaceCOLMAP DensifyPointCloud ReconstructMesh RefineMesh TextureMesh)
+
+include("${CMAKE_CURRENT_LIST_DIR}/OpenMVSTargets.cmake")
+check_required_components("OpenMVS")
diff --git a/build/cmake_uninstall.cmake.in b/build/Templates/cmake_uninstall.cmake.in
similarity index 100%
rename from build/cmake_uninstall.cmake.in
rename to build/Templates/cmake_uninstall.cmake.in
diff --git a/build/Utils.cmake b/build/Utils.cmake
index 671672889..bbbc85662 100644
--- a/build/Utils.cmake
+++ b/build/Utils.cmake
@@ -825,22 +825,25 @@ endmacro()
 # Initialize variables needed for a library type project.
 macro(ConfigLibrary)
 	# Offer the user the choice of overriding the installation directories
-	set(INSTALL_LIB_DIR "lib/${PROJECT_NAME}" CACHE PATH "Installation directory for libraries")
-	set(INSTALL_BIN_DIR "bin/${PROJECT_NAME}" CACHE PATH "Installation directory for executables")
-	set(INSTALL_INCLUDE_DIR "include/${PROJECT_NAME}" CACHE PATH "Installation directory for header files")
+	set(INSTALL_LIB_DIR "lib" CACHE PATH "Installation directory for libraries")
+	set(INSTALL_BIN_DIR "bin" CACHE PATH "Installation directory for executables")
+	set(INSTALL_INCLUDE_DIR "include" CACHE PATH "Installation directory for header files")
 	if(WIN32 AND NOT CYGWIN)
 		set(DEF_INSTALL_CMAKE_DIR "CMake")
 	else()
-		set(DEF_INSTALL_CMAKE_DIR "lib/CMake/${PROJECT_NAME}")
+		set(DEF_INSTALL_CMAKE_DIR "lib/cmake")
 	endif()
 	set(INSTALL_CMAKE_DIR ${DEF_INSTALL_CMAKE_DIR} CACHE PATH "Installation directory for CMake files")
-	 
 	# Make relative paths absolute (needed later on)
 	foreach(p LIB BIN INCLUDE CMAKE)
 		set(var INSTALL_${p}_DIR)
-		if(NOT IS_ABSOLUTE "${${var}}")
-			set(${var} "${CMAKE_INSTALL_PREFIX}/${${var}}")
+		set(varp INSTALL_${p}_DIR_PREFIX)
+		if(IS_ABSOLUTE "${${varp}}")
+			set(${varp} "${${varp}}")
+		else()
+			set(${varp} "${CMAKE_INSTALL_PREFIX}/${${var}}")
 		endif()
+		set(${var} "${${varp}}/${PROJECT_NAME}")
 	endforeach()
 endmacro()
 
diff --git a/libs/Common/CMakeLists.txt b/libs/Common/CMakeLists.txt
index 2e6c1a408..b14bf2926 100644
--- a/libs/Common/CMakeLists.txt
+++ b/libs/Common/CMakeLists.txt
@@ -24,7 +24,7 @@ SET_TARGET_PROPERTIES(Common PROPERTIES
 	PUBLIC_HEADER "${LIBRARY_FILES_H}")
 INSTALL(TARGETS Common
 	EXPORT OpenMVSTargets
-	RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
-	LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT shlib
-	ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
-	PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}/Common" COMPONENT dev)
+	LIBRARY DESTINATION "${INSTALL_LIB_DIR}"
+	ARCHIVE DESTINATION "${INSTALL_LIB_DIR}"
+	RUNTIME DESTINATION "${INSTALL_BIN_DIR}"
+	PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}/Common")
diff --git a/libs/IO/CMakeLists.txt b/libs/IO/CMakeLists.txt
index a354376be..fdf4fb92b 100644
--- a/libs/IO/CMakeLists.txt
+++ b/libs/IO/CMakeLists.txt
@@ -50,7 +50,7 @@ SET_TARGET_PROPERTIES(IO PROPERTIES
 	PUBLIC_HEADER "${LIBRARY_FILES_H}")
 INSTALL(TARGETS IO
 	EXPORT OpenMVSTargets
-	RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
-	LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT shlib
-	ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
-	PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}/IO" COMPONENT dev)
+	LIBRARY DESTINATION "${INSTALL_LIB_DIR}"
+	ARCHIVE DESTINATION "${INSTALL_LIB_DIR}"
+	RUNTIME DESTINATION "${INSTALL_BIN_DIR}"
+	PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}/IO")
diff --git a/libs/MVS/CMakeLists.txt b/libs/MVS/CMakeLists.txt
index 9d9a687bc..46188c727 100644
--- a/libs/MVS/CMakeLists.txt
+++ b/libs/MVS/CMakeLists.txt
@@ -50,7 +50,7 @@ SET_TARGET_PROPERTIES(MVS PROPERTIES
 	PUBLIC_HEADER "${LIBRARY_FILES_H}")
 INSTALL(TARGETS MVS
 	EXPORT OpenMVSTargets
-	RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
-	LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT shlib
-	ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
-	PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}/MVS" COMPONENT dev)
+	LIBRARY DESTINATION "${INSTALL_LIB_DIR}"
+	ARCHIVE DESTINATION "${INSTALL_LIB_DIR}"
+	RUNTIME DESTINATION "${INSTALL_BIN_DIR}"
+	PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}/MVS")
diff --git a/libs/Math/CMakeLists.txt b/libs/Math/CMakeLists.txt
index d592bd0d2..0c8474941 100644
--- a/libs/Math/CMakeLists.txt
+++ b/libs/Math/CMakeLists.txt
@@ -37,12 +37,13 @@ set_target_pch(Math Common.h)
 TARGET_LINK_LIBRARIES(Math Common)
 
 # Install
-INSTALL(FILES ${LIBRARY_FILES_H} DESTINATION "${INSTALL_INCLUDE_DIR}/Math" COMPONENT dev)
-INSTALL(FILES ${IBFS_LIBRARY_FILES_H} DESTINATION "${INSTALL_INCLUDE_DIR}/Math/IBFS" COMPONENT dev)
-INSTALL(FILES ${LMFit_LIBRARY_FILES_H} DESTINATION "${INSTALL_INCLUDE_DIR}/Math/LMFit" COMPONENT dev)
-INSTALL(FILES ${TRWS_LIBRARY_FILES_H} DESTINATION "${INSTALL_INCLUDE_DIR}/Math/TRWS" COMPONENT dev)
+INSTALL(FILES ${LIBRARY_FILES_H} DESTINATION "${INSTALL_INCLUDE_DIR}/Math")
+INSTALL(FILES ${IBFS_LIBRARY_FILES_H} DESTINATION "${INSTALL_INCLUDE_DIR}/Math/IBFS")
+INSTALL(FILES ${LMFit_LIBRARY_FILES_H} DESTINATION "${INSTALL_INCLUDE_DIR}/Math/LMFit")
+INSTALL(FILES ${TRWS_LIBRARY_FILES_H} DESTINATION "${INSTALL_INCLUDE_DIR}/Math/TRWS")
 INSTALL(TARGETS Math
 	EXPORT OpenMVSTargets
-	RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
-	LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT shlib
-	ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib)
+	LIBRARY DESTINATION "${INSTALL_LIB_DIR}"
+	ARCHIVE DESTINATION "${INSTALL_LIB_DIR}"
+	RUNTIME DESTINATION "${INSTALL_BIN_DIR}"
+	PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}/Math")

From 486bfad0616d61fe824459dc59ab0550f695e253 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 7 Sep 2020 16:33:24 +0300
Subject: [PATCH 005/252] interface: export and compare camera poses with an
 OpenMVG refined version

---
 MvgOptimizeSfM.py                        | 77 ++++++++++++++++++++++++
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp | 66 +++++++++++++++++++-
 libs/MVS/Interface.h                     |  7 ++-
 3 files changed, 147 insertions(+), 3 deletions(-)
 create mode 100644 MvgOptimizeSfM.py

diff --git a/MvgOptimizeSfM.py b/MvgOptimizeSfM.py
new file mode 100644
index 000000000..930d6805a
--- /dev/null
+++ b/MvgOptimizeSfM.py
@@ -0,0 +1,77 @@
+#!/usr/bin/python3
+# -*- encoding: utf-8 -*-
+"""
+This script is for comparing the poses stored in an OpenMVS project to the poses optimized by OpenMVG
+
+usage: run 'MvgOptimizeSfM.py' in a sub-folder to the OpenMVS project folder containing
+    'scene.mvs' and images stored in 'images' folder; structure ex:
+
+    -OpenMVS_project
+      -images
+      -scene.mvs
+      -mvg
+        -run script here
+"""
+
+import os
+import sys
+import subprocess
+
+if sys.platform.startswith('win'):
+    PATH_DELIM = ';'
+else:
+    PATH_DELIM = ':'
+
+# add this script's directory to PATH
+os.environ['PATH'] += PATH_DELIM + os.path.dirname(os.path.abspath(__file__))
+
+# add current directory to PATH
+os.environ['PATH'] += PATH_DELIM + os.getcwd()
+
+
+def whereis(afile):
+    """
+        return directory in which afile is, None if not found. Look in PATH
+    """
+    if sys.platform.startswith('win'):
+        cmd = "where"
+    else:
+        cmd = "which"
+    try:
+        ret = subprocess.run([cmd, afile], stdout=subprocess.PIPE, stderr=subprocess.STDOUT, check=True)
+        return os.path.split(ret.stdout.decode())[0]
+    except subprocess.CalledProcessError:
+        return None
+
+
+def launch(cmdline):
+    # Launch the current step
+    print('Cmd: ' + ' '.join(cmdline))
+    try:
+        pStep = subprocess.Popen(cmdline)
+        pStep.wait()
+        if pStep.returncode != 0:
+            return
+    except KeyboardInterrupt:
+        sys.exit('\r\nProcess canceled by user, all files remains')
+
+
+# Try to find openMVG and openMVS binaries in PATH
+OPENMVG_BIN = whereis("openMVG_main_SfMInit_ImageListing")
+OPENMVS_BIN = whereis("ReconstructMesh")
+
+# Ask user for openMVG and openMVS directories if not found
+if not OPENMVG_BIN:
+    OPENMVG_BIN = input("openMVG binary folder?\n")
+if not OPENMVS_BIN:
+    OPENMVS_BIN = input("openMVS binary folder?\n")
+
+launch([os.path.join(OPENMVS_BIN, 'InterfaceCOLMAP'), '../scene.mvs', '-o', '../gt_dense_cameras.camera'])
+launch([os.path.join(OPENMVG_BIN, 'openMVG_main_SfMInit_ImageListingFromKnownPoses'), '-i', '../images', '-g', '../gt_dense_cameras', '-t', '1', '-o', '.'])
+launch([os.path.join(OPENMVG_BIN, 'openMVG_main_ComputeFeatures'), '-i', 'sfm_data.json', '-o', '.'])
+launch([os.path.join(OPENMVG_BIN, 'openMVG_main_ComputeMatches'), '-i', 'sfm_data.json', '-o', '.', '-m', '1'])
+launch([os.path.join(OPENMVG_BIN, 'openMVG_main_ComputeStructureFromKnownPoses'), '-i', 'sfm_data.json', '-m', '.', '-o', 'sfm_data_struct.bin', '-b'])
+launch([os.path.join(OPENMVG_BIN, 'openMVG_main_ComputeSfM_DataColor'), '-i', 'sfm_data_struct.bin', '-o', 'scene.ply'])
+launch([os.path.join(OPENMVG_BIN, 'openMVG_main_openMVG2openMVS'), '-i', 'sfm_data_struct.bin', '-o', 'scene.mvs', '-d', 'images'])
+launch([os.path.join(OPENMVS_BIN, 'InterfaceCOLMAP'), 'scene.mvs', '-o', 'cameras.camera'])
+launch([os.path.join(OPENMVG_BIN, 'openMVG_main_evalQuality'), '-i', '..', '-c', 'sfm_data_struct.bin', '-o', 'compare'])
diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index dbe796ca6..8582a5797 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -1025,6 +1025,66 @@ bool ExportImagesLog(const String& fileName, const Interface& scene)
 	return !out.fail();
 }
 
+
+// export poses in Strecha camera format:
+// Strecha model is P = K[R^T|-R^T t]
+// our model is P = K[R|t], t = -RC
+bool ExportImagesCamera(const String& pathName, const Interface& scene)
+{
+	LOG_OUT() << "Writing poses: " << pathName << std::endl;
+	Util::ensureFolder(pathName);
+	for (uint32_t ID=0; ID<(uint32_t)scene.images.size(); ++ID) {
+		const Interface::Image& image = scene.images[ID];
+		String imageFileName(image.name);
+		Util::ensureValidPath(imageFileName);
+		const String fileName(pathName+Util::getFileNameExt(imageFileName)+".camera");
+		std::ofstream out(fileName);
+		if (!out.good()) {
+			VERBOSE("error: unable to open file '%s'", fileName.c_str());
+			return false;
+		}
+		out << std::setprecision(12);
+		KMatrix K(KMatrix::IDENTITY);
+		RMatrix R(RMatrix::IDENTITY);
+		CMatrix t(CMatrix::ZERO);
+		unsigned width(0), height(0);
+		if (image.platformID != NO_ID && image.cameraID != NO_ID) {
+			const Interface::Platform& platform = scene.platforms[image.platformID];
+			const Interface::Platform::Camera& camera = platform.cameras[image.cameraID];
+			if (camera.HasResolution()) {
+				width = camera.width;
+				height = camera.height;
+				K = camera.K;
+			} else {
+				IMAGEPTR pImage = Image::ReadImageHeader(image.name);
+				width = pImage->GetWidth();
+				height = pImage->GetHeight();
+				K = platform.GetFullK(image.cameraID, width, height);
+			}
+			if (image.poseID != NO_ID) {
+				const Interface::Platform::Pose& pose = platform.poses[image.poseID];
+				R = pose.R.t();
+				t = pose.C;
+			}
+		}
+		out << K(0,0) << _T(" ") << K(0,1) << _T(" ") << K(0,2) << _T("\n");
+		out << K(1,0) << _T(" ") << K(1,1) << _T(" ") << K(1,2) << _T("\n");
+		out << K(2,0) << _T(" ") << K(2,1) << _T(" ") << K(2,2) << _T("\n");
+		out << _T("0 0 0") << _T("\n");
+		out << R(0,0) << _T(" ") << R(0,1) << _T(" ") << R(0,2) << _T("\n");
+		out << R(1,0) << _T(" ") << R(1,1) << _T(" ") << R(1,2) << _T("\n");
+		out << R(2,0) << _T(" ") << R(2,1) << _T(" ") << R(2,2) << _T("\n");
+		out << t.x << _T(" ") << t.y << _T(" ") << t.z << _T("\n");
+		out << width << _T(" ") << height << _T("\n");
+		if (out.fail()) {
+			VERBOSE("error: unable to write file '%s'", fileName.c_str());
+			return false;
+		}
+	}
+	return true;
+}
+
+
 int main(int argc, LPCTSTR* argv)
 {
 	#ifdef _DEBUGINFO
@@ -1045,6 +1105,10 @@ int main(int argc, LPCTSTR* argv)
 		if (Util::getFileExt(OPT::strOutputFileName) == _T(".log")) {
 			// write poses in log format
 			ExportImagesLog(MAKE_PATH_SAFE(OPT::strOutputFileName), scene);
+		} else
+		if (Util::getFileExt(OPT::strOutputFileName) == _T(".camera")) {
+			// write poses in Strecha camera format
+			ExportImagesCamera((OPT::strOutputFileName=Util::getFileFullName(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputFileName)))+PATH_SEPARATOR, scene);
 		} else {
 			// write COLMAP input data
 			Util::ensureFolderSlash(OPT::strOutputFileName);
@@ -1058,7 +1122,7 @@ int main(int argc, LPCTSTR* argv)
 			return EXIT_FAILURE;
 		// write MVS input data
 		Util::ensureFolder(Util::getFullPath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputFileName)));
-		if (!ARCHIVE::SerializeSave(scene, MAKE_PATH_SAFE(OPT::strOutputFileName), (uint32_t)OPT::bNormalizeIntrinsics?0:1))
+		if (!ARCHIVE::SerializeSave(scene, MAKE_PATH_SAFE(OPT::strOutputFileName)))
 			return EXIT_FAILURE;
 		VERBOSE("Exported data: %u images & %u vertices (%s)", scene.images.size(), scene.vertices.size(), TD_TIMER_GET_FMT().c_str());
 	}
diff --git a/libs/MVS/Interface.h b/libs/MVS/Interface.h
index 6592a32dd..d43234b1f 100644
--- a/libs/MVS/Interface.h
+++ b/libs/MVS/Interface.h
@@ -441,8 +441,11 @@ struct Interface
 			return K;
 		}
 		Mat33d GetFullK(uint32_t cameraID, uint32_t width, uint32_t height) const {
-			return ScaleK(GetK(cameraID), (double)Camera::GetNormalizationScale(width, height)/
-				(cameras[cameraID].IsNormalized()?1.0:(double)cameras[cameraID].GetNormalizationScale()));
+			const Camera& camera = cameras[cameraID];
+			if (!camera.IsNormalized() && camera.width == width && camera.height == height)
+				return camera.K;
+			return ScaleK(camera.K, (double)Camera::GetNormalizationScale(width, height)/
+				(camera.IsNormalized()?1.0:(double)camera.GetNormalizationScale()));
 		}
 
 		Pose GetPose(uint32_t cameraID, uint32_t poseID) const {

From 4e1e2d5d4ebe4780e217592d5bf51f1f249bb4f9 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 15 Sep 2020 10:10:11 +0300
Subject: [PATCH 006/252] interface: export MVS scene to NVM format

---
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp      |  10 +-
 .../InterfaceVisualSFM/InterfaceVisualSFM.cpp | 127 +++++++++++++++---
 2 files changed, 115 insertions(+), 22 deletions(-)

diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index 8582a5797..a20f35ecf 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -64,7 +64,7 @@ using namespace MVS;
 // S T R U C T S ///////////////////////////////////////////////////
 
 namespace OPT {
-bool b3Dnovator2COLMAP; // conversion direction
+bool bFromOpenMVS; // conversion direction
 bool bNormalizeIntrinsics;
 String strInputFileName;
 String strOutputFileName;
@@ -147,8 +147,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
-	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
-	OPT::b3Dnovator2COLMAP = (strInputFileNameExt == MVS_EXT);
 	const bool bInvalidCommand(OPT::strInputFileName.empty());
 	if (OPT::vm.count("help") || bInvalidCommand) {
 		boost::program_options::options_description visible("Available options");
@@ -166,7 +164,9 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// initialize optional options
 	Util::ensureValidFolderPath(OPT::strImageFolder);
 	Util::ensureValidPath(OPT::strOutputFileName);
-	if (OPT::b3Dnovator2COLMAP) {
+	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
+	OPT::bFromOpenMVS = (strInputFileNameExt == MVS_EXT);
+	if (OPT::bFromOpenMVS) {
 		if (OPT::strOutputFileName.empty())
 			OPT::strOutputFileName = Util::getFilePath(OPT::strInputFileName);
 	} else {
@@ -1097,7 +1097,7 @@ int main(int argc, LPCTSTR* argv)
 
 	TD_TIMER_START();
 
-	if (OPT::b3Dnovator2COLMAP) {
+	if (OPT::bFromOpenMVS) {
 		// read MVS input data
 		Interface scene;
 		if (!ARCHIVE::SerializeLoad(scene, MAKE_PATH_SAFE(OPT::strInputFileName)))
diff --git a/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp b/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
index c686abf8b..f23218800 100644
--- a/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
+++ b/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
@@ -52,6 +52,7 @@ namespace OPT {
 String strInputFileName;
 String strOutputFileName;
 String strOutputImageFolder;
+bool bFromOpenMVS; // conversion direction
 unsigned nArchiveType;
 int nProcessPriority;
 unsigned nMaxThreads;
@@ -145,8 +146,17 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	Util::ensureUnifySlash(OPT::strOutputFileName);
 	Util::ensureUnifySlash(OPT::strOutputImageFolder);
 	Util::ensureFolderSlash(OPT::strOutputImageFolder);
-	if (OPT::strOutputFileName.IsEmpty())
-		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + MVS_EXT;
+	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
+	OPT::bFromOpenMVS = (strInputFileNameExt == MVS_EXT);
+	if (OPT::bFromOpenMVS) {
+		if (OPT::strOutputFileName.empty())
+			OPT::strOutputFileName = Util::getFilePath(OPT::strInputFileName);
+	} else {
+		if (OPT::strOutputFileName.empty())
+			OPT::strOutputFileName = Util::getFilePath(OPT::strInputFileName) + _T("scene") MVS_EXT;
+		else
+			OPT::strOutputImageFolder = Util::getRelativePath(Util::getFilePath(OPT::strOutputFileName), Util::getFilePath(OPT::strInputFileName)+OPT::strOutputImageFolder);
+	}
 
 	// initialize global options
 	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
@@ -275,7 +285,86 @@ void UndistortImage(const Camera& camera, const REAL& k1, const Image8U3 imgIn,
 } // namespace MVS
 
 
-int ImportSceneVSFM()
+bool ExportSceneVSFM()
+{
+	TD_TIMER_START();
+
+	// read MVS input data
+	MVS::Scene scene(OPT::nMaxThreads);
+	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
+		return false;
+
+	// convert and write data from OpenMVS to VisualSFM
+	std::vector<PBA::Camera> cameras;
+	std::vector<PBA::Point3D> vertices;
+	std::vector<PBA::Point2D> measurements; // the array of 2D projections (only inliers)
+	std::vector<int> correspondingPoint; // 3D point index corresponding to each 2D projection
+	std::vector<int> correspondingView; // and camera index
+	std::vector<std::string> names;
+	std::vector<int> ptc;
+	cameras.reserve(scene.images.size());
+	names.reserve(scene.images.size());
+	MVS::IIndexArr mapIdx(scene.images.size());
+	bool bFocalWarning(false), bPrincipalpointWarning(false);
+	FOREACH(idx, scene.images) {
+		const MVS::Image& image = scene.images[idx];
+		if (!image.IsValid()) {
+			mapIdx[idx] = NO_ID;
+			continue;
+		}
+		if (!bFocalWarning && !ISEQUAL(image.camera.K(0, 0), image.camera.K(1, 1))) {
+			DEBUG("warning: fx != fy and NVM format does not support it");
+			bFocalWarning = true;
+		}
+		if (!bPrincipalpointWarning && (!ISEQUAL(REAL(image.width-1)*0.5, image.camera.K(0, 2)) || !ISEQUAL(REAL(image.height-1)*0.5, image.camera.K(1, 2)))) {
+			DEBUG("warning: cx, cy are not the image center and NVM format does not support it");
+			bPrincipalpointWarning = true;
+		}
+		PBA::Camera cameraNVM;
+		cameraNVM.SetFocalLength((image.camera.K(0, 0) + image.camera.K(1, 1)) * 0.5);
+		cameraNVM.SetMatrixRotation(image.camera.R.val);
+		cameraNVM.SetCameraCenterAfterRotation(image.camera.C.ptr());
+		mapIdx[idx] = static_cast<MVS::IIndex>(cameras.size());
+		cameras.emplace_back(cameraNVM);
+		names.emplace_back(MAKE_PATH_REL(WORKING_FOLDER_FULL, image.name));
+	}
+	vertices.reserve(scene.pointcloud.points.size());
+	measurements.reserve(scene.pointcloud.pointViews.size());
+	correspondingPoint.reserve(scene.pointcloud.pointViews.size());
+	correspondingView.reserve(scene.pointcloud.pointViews.size());
+	FOREACH(idx, scene.pointcloud.points) {
+		const MVS::PointCloud::Point& X = scene.pointcloud.points[idx];
+		const MVS::PointCloud::ViewArr& views = scene.pointcloud.pointViews[idx];
+		const size_t prevMeasurements(measurements.size());
+		for (MVS::IIndex idxView: views) {
+			const MVS::Image& image = scene.images[idxView];
+			const Point2f pt(image.camera.TransformPointW2I(Cast<REAL>(X)));
+			if (pt.x < 0 || pt.y < 0 || pt.x > image.width-1 || pt.y > image.height-1)
+				continue;
+			measurements.emplace_back(pt.x, pt.y);
+			correspondingView.emplace_back(static_cast<int>(mapIdx[idxView]));
+			correspondingPoint.emplace_back(static_cast<int>(vertices.size()));
+		}
+		if (prevMeasurements < measurements.size())
+			vertices.emplace_back(PBA::Point3D{X.x, X.y, X.z});
+	}
+	if (!scene.pointcloud.colors.empty()) {
+		ptc.reserve(scene.pointcloud.colors.size()*3);
+		FOREACH(idx, scene.pointcloud.points) {
+			const MVS::PointCloud::Color& c = scene.pointcloud.colors[idx];
+			ptc.emplace_back(c.r);
+			ptc.emplace_back(c.g);
+			ptc.emplace_back(c.b);
+		}
+	}
+	PBA::SaveModelFile(MAKE_PATH_SAFE(OPT::strOutputFileName), cameras, vertices, measurements, correspondingPoint, correspondingView, names, ptc);
+
+	VERBOSE("Input data exported: %u images & %u points (%s)", scene.images.size(), scene.pointcloud.GetSize(), TD_TIMER_GET_FMT().c_str());
+	return true;
+}
+
+
+bool ImportSceneVSFM()
 {
 	TD_TIMER_START();
 
@@ -333,16 +422,16 @@ int ImportSceneVSFM()
 		const PBA::Point3D& X = vertices[idx];
 		scene.pointcloud.points.AddConstruct(X.xyz[0], X.xyz[1], X.xyz[2]);
 	}
-	if (ptc.size() == vertices.size()*3) {
-		scene.pointcloud.colors.Reserve(ptc.size());
-		for (size_t idx=0; idx<ptc.size(); idx+=3)
-			scene.pointcloud.colors.AddConstruct((uint8_t)ptc[idx+0], (uint8_t)ptc[idx+1], (uint8_t)ptc[idx+2]);
-	}
 	scene.pointcloud.pointViews.Resize(vertices.size());
 	for (size_t idx=0; idx<measurements.size(); ++idx) {
 		MVS::PointCloud::ViewArr& views = scene.pointcloud.pointViews[correspondingPoint[idx]];
 		views.InsertSort(correspondingView[idx]);
 	}
+	if (ptc.size() == vertices.size()*3) {
+		scene.pointcloud.colors.Reserve(ptc.size());
+		for (size_t idx=0; idx<ptc.size(); idx+=3)
+			scene.pointcloud.colors.AddConstruct((uint8_t)ptc[idx+0], (uint8_t)ptc[idx+1], (uint8_t)ptc[idx+2]);
+	}
 
 	// undistort images
 	const String pathData(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputImageFolder));
@@ -391,7 +480,7 @@ int ImportSceneVSFM()
 	#endif
 	progress.close();
 
-	VERBOSE("Input data imported: %u cameras, %u poses, %u images, %u vertices (%s)", cameras.size(), cameras.size(), cameras.size(), vertices.size(), TD_TIMER_GET_FMT().c_str());
+	VERBOSE("Input data imported: %u cameras, %u poses, %u images, %u points (%s)", cameras.size(), cameras.size(), cameras.size(), vertices.size(), TD_TIMER_GET_FMT().c_str());
 
 	// write OpenMVS input data
 	return scene.SaveInterface(MAKE_PATH_SAFE(OPT::strOutputFileName));
@@ -508,14 +597,18 @@ int main(int argc, LPCTSTR* argv)
 	if (!Initialize(argc, argv))
 		return EXIT_FAILURE;
 
-	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
-	if (strInputFileNameExt == VSFM_EXT || strInputFileNameExt == BUNDLE_EXT) {
-		if (!ImportSceneVSFM())
-			return EXIT_FAILURE;
-	} else
-	if (strInputFileNameExt == CMPMVS_EXT) {
-		if (!ImportSceneCMPMVS())
-			return EXIT_FAILURE;
+	if (OPT::bFromOpenMVS) {
+		ExportSceneVSFM();
+	} else {
+		const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
+		if (strInputFileNameExt == VSFM_EXT || strInputFileNameExt == BUNDLE_EXT) {
+			if (!ImportSceneVSFM())
+				return EXIT_FAILURE;
+		} else
+		if (strInputFileNameExt == CMPMVS_EXT) {
+			if (!ImportSceneCMPMVS())
+				return EXIT_FAILURE;
+		}
 	}
 
 	Finalize();

From 0af021346007f1ab15af160814977a91a8166f55 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 13 Oct 2020 15:33:34 +0300
Subject: [PATCH 007/252] common: fix camera scaling

---
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp      | 31 +++---
 .../InterfaceVisualSFM/InterfaceVisualSFM.cpp | 12 +--
 libs/MVS/Camera.h                             | 97 ++++++++-----------
 libs/MVS/Interface.h                          | 23 +++--
 libs/MVS/Scene.cpp                            |  8 +-
 5 files changed, 76 insertions(+), 95 deletions(-)

diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index a20f35ecf..25b7ed2c4 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -109,7 +109,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input COLMAP folder containing cameras, images and points files OR input MVS project file")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the MVS project")
 		("image-folder", boost::program_options::value<std::string>(&OPT::strImageFolder)->default_value(COLMAP_IMAGES_FOLDER), "folder to the undistorted images")
-		("normalize,f", boost::program_options::value(&OPT::bNormalizeIntrinsics)->default_value(true), "normalize intrinsics while exporting to MVS format")
+		("normalize,f", boost::program_options::value(&OPT::bNormalizeIntrinsics)->default_value(false), "normalize intrinsics while exporting to MVS format")
 		;
 
 	boost::program_options::options_description cmdline_options;
@@ -627,11 +627,7 @@ bool ImportScene(const String& strFolder, Interface& scene)
 			camera.C = Interface::Pos3d(0,0,0);
 			if (OPT::bNormalizeIntrinsics) {
 				// normalize camera intrinsics
-				const REAL fScale(REAL(1)/Camera::GetNormalizationScale(colmapCamera.width, colmapCamera.height));
-				camera.K(0,0) *= fScale;
-				camera.K(1,1) *= fScale;
-				camera.K(0,2) *= fScale;
-				camera.K(1,2) *= fScale;
+				camera.K = Camera::ScaleK<double>(camera.K, 1.0/Camera::GetNormalizationScale(colmapCamera.width, colmapCamera.height));
 			} else {
 				camera.width = colmapCamera.width;
 				camera.height = colmapCamera.height;
@@ -774,10 +770,6 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 			ASSERT(platform.cameras.size() == 1); // only one camera per platform supported
 			const Interface::Platform::Camera& camera = platform.cameras[0];
 			cam.ID = ID;
-			cam.params[0] = camera.K(0,0);
-			cam.params[1] = camera.K(1,1);
-			cam.params[2] = camera.K(0,2);
-			cam.params[3] = camera.K(1,2);
 			if (camera.width == 0 || camera.height == 0) {
 				// find one image using this camera
 				const Interface::Image* pImage(NULL);
@@ -797,20 +789,23 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 					return false;
 				cam.width = ptrImage->GetWidth();
 				cam.height = ptrImage->GetHeight();
-				// denormalize camera intrinsics
-				const double fScale(MVS::Camera::GetNormalizationScale(cam.width, cam.height));
-				cam.params[0] *= fScale;
-				cam.params[1] *= fScale;
-				cam.params[2] *= fScale;
-				cam.params[3] *= fScale;
+				// unnormalize camera intrinsics
+				const double scale(MVS::Camera::GetNormalizationScale(cam.width, cam.height));
+				cam.params[0] = camera.K(0,0) * scale;
+				cam.params[1] = camera.K(1,1) * scale;
+				cam.params[2] = camera.K(0,2) * scale;
+				cam.params[3] = camera.K(1,2) * scale;
 			} else {
 				cam.width = camera.width;
 				cam.height = camera.height;
+				cam.params[0] = camera.K(0,0);
+				cam.params[1] = camera.K(1,1);
+				cam.params[2] = camera.K(0,2);
+				cam.params[3] = camera.K(1,2);
 			}
 			if (!cam.Write(file))
 				return false;
-			KMatrix& K = Ks.AddEmpty();
-			K = KMatrix::IDENTITY;
+			KMatrix& K = Ks.emplace_back(KMatrix::IDENTITY);
 			K(0,0) = cam.params[0];
 			K(1,1) = cam.params[1];
 			K(0,2) = cam.params[2];
diff --git a/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp b/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
index f23218800..f90e4b612 100644
--- a/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
+++ b/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
@@ -404,11 +404,7 @@ bool ImportSceneVSFM()
 		camera.R = RMatrix::IDENTITY;
 		camera.C = CMatrix::ZERO;
 		// normalize camera intrinsics
-		const REAL fScale(REAL(1)/MVS::Camera::GetNormalizationScale(image.width, image.height));
-		camera.K(0,0) *= fScale;
-		camera.K(1,1) *= fScale;
-		camera.K(0,2) *= fScale;
-		camera.K(1,2) *= fScale;
+		camera.K = camera.GetScaledK(REAL(1)/MVS::Camera::GetNormalizationScale(image.width, image.height));
 		// set pose
 		image.poseID = platform.poses.GetSize();
 		MVS::Platform::Pose& pose = platform.poses.AddEmpty();
@@ -566,11 +562,7 @@ int ImportSceneCMPMVS()
 		camera.R = RMatrix::IDENTITY;
 		camera.C = CMatrix::ZERO;
 		// normalize camera intrinsics
-		const REAL fScale(REAL(1)/MVS::Camera::GetNormalizationScale(image.width, image.height));
-		camera.K(0, 0) *= fScale;
-		camera.K(1, 1) *= fScale;
-		camera.K(0, 2) *= fScale;
-		camera.K(1, 2) *= fScale;
+		camera.K = camera.GetScaledK(REAL(1)/MVS::Camera::GetNormalizationScale(image.width, image.height));
 		// set pose
 		image.poseID = platform.poses.GetSize();
 		MVS::Platform::Pose& pose = platform.poses.AddEmpty();
diff --git a/libs/MVS/Camera.h b/libs/MVS/Camera.h
index fabae38d4..6078f0abf 100644
--- a/libs/MVS/Camera.h
+++ b/libs/MVS/Camera.h
@@ -107,39 +107,6 @@ class MVS_API CameraIntern
 		return float(MAXF(width, height));
 	}
 
-	// return scaled K (assuming standard K format)
-	template<typename TYPE>
-	static inline TMatrix<TYPE,3,3> ScaleK(const TMatrix<TYPE,3,3>& K, TYPE s) {
-		#if 0
-		TMatrix<TYPE,3,3> S(TMatrix<TYPE,3,3>::IDENTITY);
-		S(0,0) = S(1,1) = s;
-		return S*K;
-		#else
-		return TMatrix<TYPE,3,3>(
-			K(0,0)*s, K(0,1)*s, K(0,2)*s,
-			TYPE(0),  K(1,1)*s, K(1,2)*s,
-			TYPE(0), TYPE(0), TYPE(1)
-		);
-		#endif
-	}
-	inline KMatrix GetScaledK(REAL s) const {
-		return ScaleK(K, s);
-	}
-
-	// return K.inv() (assuming standard K format)
-	inline KMatrix GetInvK() const {
-		#if 0
-		return K.inv();
-		#else
-		KMatrix invK(KMatrix::IDENTITY);
-		invK(0,0) = REAL(1)/K(0,0);
-		invK(1,1) = REAL(1)/K(1,1);
-		invK(0,2) = -K(0,2)*invK(0,0);
-		invK(1,2) = -K(1,2)*invK(1,1);
-		return invK;
-		#endif
-	}
-
 	// create K with the supplied focal length and sensor center
 	template<typename TYPE, typename TYPER>
 	static inline TMatrix<TYPE,3,3> ComposeK(const TYPE& fX, const TYPE& fY, TYPER w=TYPER(1), TYPER h=TYPER(1)) {
@@ -162,36 +129,56 @@ class MVS_API CameraIntern
 		return invK;
 	}
 
+	// return scaled K (assuming standard K format)
+	template<typename TYPE>
+	static inline TMatrix<TYPE,3,3> ScaleK(const TMatrix<TYPE,3,3>& K, TYPE s) {
+		return TMatrix<TYPE,3,3>(
+			K(0,0)*s, K(0,1)*s, (K(0,2)+TYPE(0.5))*s-TYPE(0.5),
+			TYPE(0),  K(1,1)*s, (K(1,2)+TYPE(0.5))*s-TYPE(0.5),
+			TYPE(0), TYPE(0), TYPE(1)
+		);
+	}
+	inline KMatrix GetScaledK(REAL s) const {
+		return ScaleK(K, s);
+	}
+
+	// return K.inv() (assuming standard K format and no shear)
+	template<typename TYPE>
+	static inline TMatrix<TYPE,3,3> InvK(const TMatrix<TYPE,3,3>& K) {
+		ASSERT(ISZERO(K(0,1)));
+		TMatrix<TYPE,3,3> invK(TMatrix<TYPE,3,3>::IDENTITY);
+		invK(0,0) = REAL(1)/K(0,0);
+		invK(1,1) = REAL(1)/K(1,1);
+		invK(0,2) = -K(0,2)*invK(0,0);
+		invK(1,2) = -K(1,2)*invK(1,1);
+		return invK;
+	}
+	inline KMatrix GetInvK() const {
+		return InvK(K);
+	}
+
 	// returns full K and the inverse of K (assuming standard K format)
 	template<typename TYPE>
 	inline TMatrix<TYPE,3,3> GetK(uint32_t width, uint32_t height) const {
 		ASSERT(width>0 && height>0);
-		const float fScale(GetNormalizationScale(width, height));
-		if (K(0,2)==0 && K(1,2)==0)
-			return ComposeK(
-				TYPE(K(0,0)*fScale), TYPE(K(1,1)*fScale),
-				width, height );
-		TMatrix<TYPE,3,3> fullK(TMatrix<TYPE,3,3>::IDENTITY);
-		fullK(0,0) = K(0,0)*fScale;
-		fullK(1,1) = K(1,1)*fScale;
-		fullK(0,2) = K(0,2)*fScale;
-		fullK(1,2) = K(1,2)*fScale;
-		return fullK;
+		const float scale(GetNormalizationScale(width, height));
+		if (K(0,2) != 0 || K(1,2) != 0)
+			return GetScaledK(scale);
+		ASSERT(ISZERO(K(0,1)));
+		return ComposeK(
+			TYPE(K(0,0)*scale), TYPE(K(1,1)*scale),
+			width, height );
 	}
 	template<typename TYPE>
 	inline TMatrix<TYPE,3,3> GetInvK(uint32_t width, uint32_t height) const {
 		ASSERT(width>0 && height>0);
-		const float fScale(GetNormalizationScale(width, height));
-		if (K(0,2)==0 && K(1,2)==0)
-			return ComposeInvK(
-				TYPE(K(0,0)*fScale), TYPE(K(1,1)*fScale),
-				width, height );
-		TMatrix<TYPE,3,3> fullInvK(TMatrix<TYPE,3,3>::IDENTITY);
-		fullInvK(0,0) = TYPE(1)/(K(0,0)*fScale);
-		fullInvK(1,1) = TYPE(1)/(K(1,1)*fScale);
-		fullInvK(0,2) = -K(0,2)*fScale*fullInvK(0,0);
-		fullInvK(1,2) = -K(1,2)*fScale*fullInvK(1,1);
-		return fullInvK;
+		const float scale(GetNormalizationScale(width, height));
+		if (K(0,2) != 0 || K(1,2) != 0)
+			return InvK(GetScaledK(scale));
+		ASSERT(ISZERO(K(0,1)));
+		return ComposeInvK(
+			TYPE(K(0,0)*scale), TYPE(K(1,1)*scale),
+			width, height );
 	}
 
 	// normalize inhomogeneous 2D point by the given camera intrinsics K
diff --git a/libs/MVS/Interface.h b/libs/MVS/Interface.h
index d43234b1f..63a799518 100644
--- a/libs/MVS/Interface.h
+++ b/libs/MVS/Interface.h
@@ -376,7 +376,7 @@ struct Interface
 			std::string name; // camera's name
 			std::string bandName; // camera's band name, ex: RGB, BLUE, GREEN, RED, NIR, THERMAL, etc (optional)
 			uint32_t width, height; // image resolution in pixels for all images sharing this camera (optional)
-			Mat33d K; // camera's intrinsics matrix (normalized if image resolution not specified)
+			Mat33d K; // camera's intrinsics matrix (normalized if image resolution not specified), where integer coordinates is by convention the pixel center
 			Mat33d R; // camera's rotation matrix relative to the platform
 			Pos3d C; // camera's translation vector relative to the platform
 
@@ -405,8 +405,8 @@ struct Interface
 
 		// structure describing a pose along the trajectory of a platform
 		struct Pose {
-			Mat33d R; // platform's rotation matrix
-			Pos3d C; // platform's translation vector in the global coordinate system
+			Mat33d R; // platform's rotation matrix that rotates a point from world to camera coordinate system
+			Pos3d C; // platform's translation vector (position) in world coordinate system
 
 			Pose() {}
 			template <typename MAT, typename POS>
@@ -434,12 +434,23 @@ struct Interface
 		static Mat33d ScaleK(const Mat33d& _K, double scale) {
 			Mat33d K(_K);
 			K(0,0) *= scale;
-			K(0,1) *= scale;
-			K(0,2) *= scale;
 			K(1,1) *= scale;
-			K(1,2) *= scale;
+			K(0,2) = (K(0,2)+0.5)*scale-0.5;
+			K(1,2) = (K(1,2)+0.5)*scale-0.5;
+			K(0,1) *= scale;
 			return K;
 		}
+		const Mat33d& SetFullK(uint32_t cameraID, const Mat33d& K, uint32_t width, uint32_t height, bool normalize=false) {
+			Camera& camera = cameras[cameraID];
+			if (normalize) {
+				camera.width = camera.height = 0;
+				camera.K = ScaleK(K, 1.0/(double)Camera::GetNormalizationScale(width, height));
+			} else {
+				camera.width = width; camera.height = height;
+				camera.K = K;
+			}
+			return camera.K;
+		}
 		Mat33d GetFullK(uint32_t cameraID, uint32_t width, uint32_t height) const {
 			const Camera& camera = cameras[cameraID];
 			if (!camera.IsNormalized() && camera.width == width && camera.height == height)
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 559500619..bff522540 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -83,11 +83,7 @@ bool Scene::LoadInterface(const String & fileName)
 			if (!itCamera.IsNormalized()) {
 				// normalize K
 				ASSERT(itCamera.HasResolution());
-				const REAL scale(REAL(1)/camera.GetNormalizationScale(itCamera.width,itCamera.height));
-				camera.K(0,0) *= scale;
-				camera.K(1,1) *= scale;
-				camera.K(0,2) *= scale;
-				camera.K(1,2) *= scale;
+				camera.K = camera.GetScaledK(REAL(1)/Camera::GetNormalizationScale(itCamera.width, itCamera.height));
 			}
 			DEBUG_EXTRA("Camera model loaded: platform %u; camera %2u; f %.3fx%.3f; poses %u", platforms.size()-1, platform.cameras.size()-1, camera.K(0,0), camera.K(1,1), itPlatform.poses.size());
 		}
@@ -305,7 +301,7 @@ bool Scene::LoadDMAP(const String& fileName)
 	// create image
 	Platform& platform = platforms.AddEmpty();
 	platform.name = _T("platform0");
-	platform.cameras.emplace_back(CameraIntern::ScaleK(camera.K, REAL(1)/CameraIntern::GetNormalizationScale((uint32_t)imageSize.width,(uint32_t)imageSize.height)), RMatrix::IDENTITY, CMatrix::ZERO);
+	platform.cameras.emplace_back(camera.GetScaledK(REAL(1)/CameraIntern::GetNormalizationScale((uint32_t)imageSize.width,(uint32_t)imageSize.height)), RMatrix::IDENTITY, CMatrix::ZERO);
 	platform.poses.emplace_back(Platform::Pose{camera.R, camera.C});
 	Image& image = images.AddEmpty();
 	image.name = MAKE_PATH_FULL(WORKING_FOLDER_FULL, imageFileName);

From ac89ffde4653c8a62c25f88f7a54155688d57cc6 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 19 Nov 2020 18:42:53 +0200
Subject: [PATCH 008/252] dense: small code refactor

---
 libs/MVS/DepthMap.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 791cf2e06..494e89f9c 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -1919,15 +1919,15 @@ void MVS::CompareDepthMaps(const DepthMap& depthMap, const DepthMap& depthMapGT,
 			}
 			depths.Insert(depth);
 			depthsGT.Insert(depthGT);
-			const float error(depthGT==0 ? 0 : ABS(depth-depthGT)/depthGT);
+			const float error(depthGT==0 ? 0 : DepthSimilarity(depthGT, depth));
 			errors.Insert(error);
 		}
 	}
-	const float fPSNR((float)ComputePSNR(DMatrix32F((int)depths.GetSize(),1,depths.GetData()), DMatrix32F((int)depthsGT.GetSize(),1,depthsGT.GetData())));
-	const MeanStd<float,double> ms(errors.Begin(), errors.GetSize());
+	const float fPSNR((float)ComputePSNR(DMatrix32F((int)depths.size(),1,depths.data()), DMatrix32F((int)depthsGT.size(),1,depthsGT.data())));
+	const MeanStd<float,double> ms(errors.data(), errors.size());
 	const float mean((float)ms.GetMean());
 	const float stddev((float)ms.GetStdDev());
-	const std::pair<float,float> th(ComputeX84Threshold<float,float>(errors.Begin(), errors.GetSize()));
+	const std::pair<float,float> th(ComputeX84Threshold<float,float>(errors.data(), errors.size()));
 	#if TD_VERBOSE != TD_VERBOSE_OFF
 	IDX idxPixel = 0;
 	Image8U3 errorsVisual(depthMap.size());

From 5d26c25bc7ec27cde93b88c809b4eaf576ead336 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 21 Dec 2020 09:42:44 +0200
Subject: [PATCH 009/252] mvs: view DMAPs with different resolution

---
 libs/MVS/Camera.h  | 18 ++++++++++++++++++
 libs/MVS/Scene.cpp |  9 ++++++---
 2 files changed, 24 insertions(+), 3 deletions(-)

diff --git a/libs/MVS/Camera.h b/libs/MVS/Camera.h
index 6078f0abf..c77c4d66b 100644
--- a/libs/MVS/Camera.h
+++ b/libs/MVS/Camera.h
@@ -141,6 +141,24 @@ class MVS_API CameraIntern
 	inline KMatrix GetScaledK(REAL s) const {
 		return ScaleK(K, s);
 	}
+	// same as above, but for different scale on x and y;
+	// in order to preserve the aspect ratio of the original size, scale both focal lengths by
+	// the smaller of the scale factors, resulting in adding pixels in the dimension that's growing;
+	template<typename TYPE>
+	static inline TMatrix<TYPE,3,3> ScaleK(const TMatrix<TYPE,3,3>& K, const cv::Size& size, const cv::Size& newSize, bool keepAspect=false) {
+		ASSERT(size.area() && newSize.area());
+		cv::Point_<TYPE> s(cv::Point_<TYPE>(newSize) / cv::Point_<TYPE>(size));
+		if (keepAspect)
+			s.x = s.y = MINF(s.x, s.y);
+		return TMatrix<TYPE,3,3>(
+			K(0,0)*s.x, K(0,1)*s.x, (K(0,2)+TYPE(0.5))*s.x-TYPE(0.5),
+			TYPE(0),    K(1,1)*s.y, (K(1,2)+TYPE(0.5))*s.y-TYPE(0.5),
+			TYPE(0),    TYPE(0),    TYPE(1)
+		);
+	}
+	inline KMatrix GetScaledK(const cv::Size& size, const cv::Size& newSize, bool keepAspect=false) const {
+		return ScaleK(K, size, newSize, keepAspect);
+	}
 
 	// return K.inv() (assuming standard K format and no shear)
 	template<typename TYPE>
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index bff522540..5dd3b87e7 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -318,12 +318,14 @@ bool Scene::LoadDMAP(const String& fileName)
 
 	// load image pixels
 	const Image8U3 imageDepth(DepthMap2Image(depthMap));
+	Image8U3 imageColor;
 	if (image.ReloadImage(MAXF(image.width,image.height)))
-		cv::resize(image.image, image.image, depthMap.size());
+		cv::resize(image.image, imageColor, depthMap.size());
 	else
-		image.image = imageDepth;
+		imageColor = imageDepth;
 
 	// create point-cloud
+	camera.K = camera.GetScaledK(imageSize, depthMap.size());
 	pointcloud.points.reserve(depthMap.area());
 	pointcloud.pointViews.reserve(depthMap.area());
 	pointcloud.colors.reserve(depthMap.area());
@@ -338,7 +340,7 @@ bool Scene::LoadDMAP(const String& fileName)
 				continue;
 			pointcloud.points.emplace_back(camera.TransformPointI2W(Point3(c,r,depth)));
 			pointcloud.pointViews.emplace_back(PointCloud::ViewArr{0});
-			pointcloud.colors.emplace_back(image.image(r,c));
+			pointcloud.colors.emplace_back(imageColor(r,c));
 			if (!normalMap.empty())
 				pointcloud.normals.emplace_back(Cast<PointCloud::Normal::Type>(camera.R.t()*Cast<REAL>(normalMap(r,c))));
 			if (!confMap.empty())
@@ -348,6 +350,7 @@ bool Scene::LoadDMAP(const String& fileName)
 
 	// replace color-image with depth-image
 	image.image = imageDepth;
+	cv::resize(image.image, image.image, imageSize);
 
 	DEBUG_EXTRA("Scene loaded from depth-map format - %dx%d size, %.2f%% coverage (%s):\n"
 		"\t1 images (1 calibrated) with a total of %.2f MPixels (%.2f MPixels/image)\n"

From ede33fb540ae99aacdd22dc67e13fc30dc9a4def Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 22 Dec 2020 19:36:19 +0200
Subject: [PATCH 010/252] interface: replace define with constexp

---
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp | 10 +++++-----
 libs/Common/Types.h                      | 16 +++++++++-------
 libs/MVS/Interface.h                     |  8 ++++----
 3 files changed, 18 insertions(+), 16 deletions(-)

diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index 25b7ed2c4..10ae802f0 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -775,7 +775,7 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 				const Interface::Image* pImage(NULL);
 				for (uint32_t i=0; i<(uint32_t)scene.images.size(); ++i) {
 					const Interface::Image& image = scene.images[i];
-					if (image.platformID == ID && image.cameraID == 0 && image.poseID != NO_ID) {
+					if (image.platformID == ID && image.cameraID == 0 && image.poseID != MVS::NO_ID) {
 						pImage = &image;
 						break;
 					}
@@ -826,7 +826,7 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 		cameras.resize(scene.images.size());
 		for (uint32_t ID=0; ID<(uint32_t)scene.images.size(); ++ID) {
 			const Interface::Image& image = scene.images[ID];
-			if (image.poseID == NO_ID)
+			if (image.poseID == MVS::NO_ID)
 				continue;
 			const Interface::Platform& platform = scene.platforms[image.platformID];
 			const Interface::Platform::Pose& pose = platform.poses[image.poseID];
@@ -1002,7 +1002,7 @@ bool ExportImagesLog(const String& fileName, const Interface& scene)
 		const Interface::Image& image = scene.images[ID];
 		Eigen::Matrix3d R(Eigen::Matrix3d::Identity());
 		Eigen::Vector3d t(Eigen::Vector3d::Zero());
-		if (image.poseID != NO_ID) {
+		if (image.poseID != MVS::NO_ID) {
 			const Interface::Platform& platform = scene.platforms[image.platformID];
 			const Interface::Platform::Pose& pose = platform.poses[image.poseID];
 			R = Eigen::Map<const EMat33d>(pose.R.val).transpose();
@@ -1043,7 +1043,7 @@ bool ExportImagesCamera(const String& pathName, const Interface& scene)
 		RMatrix R(RMatrix::IDENTITY);
 		CMatrix t(CMatrix::ZERO);
 		unsigned width(0), height(0);
-		if (image.platformID != NO_ID && image.cameraID != NO_ID) {
+		if (image.platformID != MVS::NO_ID && image.cameraID != MVS::NO_ID) {
 			const Interface::Platform& platform = scene.platforms[image.platformID];
 			const Interface::Platform::Camera& camera = platform.cameras[image.cameraID];
 			if (camera.HasResolution()) {
@@ -1056,7 +1056,7 @@ bool ExportImagesCamera(const String& pathName, const Interface& scene)
 				height = pImage->GetHeight();
 				K = platform.GetFullK(image.cameraID, width, height);
 			}
-			if (image.poseID != NO_ID) {
+			if (image.poseID != MVS::NO_ID) {
 				const Interface::Platform::Pose& pose = platform.poses[image.poseID];
 				R = pose.R.t();
 				t = pose.C;
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 89d6e4294..e3c749dd9 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -268,7 +268,6 @@ int _vscprintf(LPCSTR format, va_list pargs);
 #endif //_MSC_VER
 
 #define DECLARE_NO_INDEX(...) std::numeric_limits<__VA_ARGS__>::max()
-#define NO_ID				DECLARE_NO_INDEX(uint32_t)
 
 #ifndef MAKEWORD
 #define MAKEWORD(a, b)		((WORD)(((BYTE)(((DWORD)(a)) & 0xff)) | ((WORD)((BYTE)(((DWORD)(b)) & 0xff))) << 8))
@@ -311,6 +310,10 @@ int _vscprintf(LPCSTR format, va_list pargs);
 #define MAXF                std::max
 #endif
 
+#ifndef RAND
+#define RAND			    std::rand
+#endif
+
 namespace SEACAVE {
 
 // signed and unsigned types of the size of the architecture
@@ -329,7 +332,10 @@ typedef int64_t     	    size_f_t;
 // type used as the default floating number precision
 typedef double              REAL;
 
-template <typename TYPE, typename REALTYPE=REAL>
+// invalid index
+constexpr uint32_t NO_ID = DECLARE_NO_INDEX(uint32_t);
+
+template<typename TYPE, typename REALTYPE=REAL>
 struct RealType { typedef typename std::conditional<std::is_floating_point<TYPE>::value, TYPE, REALTYPE>::type type; };
 
 template<typename T>
@@ -341,15 +347,11 @@ inline T MAXF3(const T& x1, const T& x2, const T& x3) {
 	return MAXF(MAXF(x1, x2), x3);
 }
 
-#ifndef RAND
-#define RAND			std::rand
-#endif
 template<typename T>
 FORCEINLINE T RANDOM() { return T(RAND())/RAND_MAX; }
 
 template<typename T1, typename T2>
-union TAliasCast
-{
+union TAliasCast {
 	T1 f;
 	T2 i;
 	inline TAliasCast() {}
diff --git a/libs/MVS/Interface.h b/libs/MVS/Interface.h
index 63a799518..b6359c221 100644
--- a/libs/MVS/Interface.h
+++ b/libs/MVS/Interface.h
@@ -7,6 +7,7 @@
 #include <fstream>
 #include <string>
 #include <cctype>
+#include <limits>
 
 
 // D E F I N E S ///////////////////////////////////////////////////
@@ -25,10 +26,6 @@
 #define _USE_CUSTOM_CV
 #endif
 
-#ifndef NO_ID
-#define NO_ID std::numeric_limits<uint32_t>::max()
-#endif
-
 
 // S T R U C T S ///////////////////////////////////////////////////
 
@@ -164,6 +161,9 @@ class Matx
 
 namespace _INTERFACE_NAMESPACE {
 
+// invalid index
+constexpr uint32_t NO_ID = std::numeric_limits<uint32_t>::max();
+
 // custom serialization
 namespace ARCHIVE {
 

From c75a600a50109002e3965eb08fe306aa6713297e Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 5 Jan 2021 14:01:28 +0200
Subject: [PATCH 011/252] interface: small change

---
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index 10ae802f0..a88666a3f 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -977,7 +977,9 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 		file << _T("#   IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME") << std::endl;
 		file << _T("#   POINTS2D[] as (X, Y, POINT3D_ID)") << std::endl;
 		for (const COLMAP::Image& img: images) {
-			if ((bSparsePointCloud && img.projs.empty()) || !img.Write(file))
+			if (bSparsePointCloud && img.projs.empty())
+				continue;
+			if (!img.Write(file))
 				return false;
 		}
 	}

From b586605c68132a2a4b3317e528f5ef4e1da5a2a0 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 18 Jan 2021 10:09:00 +0200
Subject: [PATCH 012/252] common: fix PFM exporter/importer

---
 libs/Common/Types.inl | 16 +++++++++-------
 1 file changed, 9 insertions(+), 7 deletions(-)

diff --git a/libs/Common/Types.inl b/libs/Common/Types.inl
index cbdf89fe1..42bd806c0 100644
--- a/libs/Common/Types.inl
+++ b/libs/Common/Types.inl
@@ -2965,8 +2965,8 @@ bool TImage<TYPE>::Load(const String& fileName)
 		Base::create(h, w);
 		ASSERT(sizeof(float)*Base::channels() == Base::step.p[1]);
 		const size_t rowbytes((size_t)Base::size.p[1]*Base::step.p[1]);
-		for (int i=0; i<rows; ++i)
-			if (fImage.read(cv::Mat::template ptr<float>(i), rowbytes) != rowbytes)
+		for (int i=rows; i>0; )
+			if (fImage.read(cv::Mat::template ptr<float>(--i), rowbytes) != rowbytes)
 				return false;
 		return true;
 	}
@@ -3014,14 +3014,16 @@ bool TImage<TYPE>::Save(const String& fileName) const
 		if (!fImage.isOpen())
 			return false;
 		ASSERT(sizeof(float) == 4);
-		static const uint8_t b[4] = { 255, 0, 0, 0 };
-		static const bool is_little_endian = (*((float*)b) < 1.f);
-		static const double scale = (is_little_endian ? -1.0 : 1.0);
+		#if __BYTE_ORDER == __LITTLE_ENDIAN
+		static const double scale(-1.0);
+		#else
+		static const double scale(1.0);
+		#endif
 		fImage.print("Pf\n%d %d\n%lf\n", width(), height(), scale*Base::channels());
 		ASSERT(sizeof(float)*Base::channels() == Base::step.p[1]);
 		const size_t rowbytes = (size_t)Base::size.p[1]*Base::step.p[1];
-		for (int i=0; i<rows; ++i)
-			fImage.write(cv::Mat::template ptr<const float>(i), rowbytes);
+		for (int i=rows; i>0; )
+			fImage.write(cv::Mat::template ptr<const float>(--i), rowbytes);
 		return true;
 	}
 

From 30d7ec980d5d09d4393726506dd0a9d6b512c53c Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 1 Feb 2021 18:54:28 +0200
Subject: [PATCH 013/252] common: disable CPUID on ARM platforms

---
 libs/Common/Config.h          | 49 ++++++++++++++++++++---------------
 libs/Common/Util.cpp          | 28 ++++++++++++++++++++
 libs/MVS/SceneReconstruct.cpp |  4 +--
 3 files changed, 58 insertions(+), 23 deletions(-)

diff --git a/libs/Common/Config.h b/libs/Common/Config.h
index 521355e27..13104f01a 100644
--- a/libs/Common/Config.h
+++ b/libs/Common/Config.h
@@ -50,6 +50,27 @@
 
 #define _USE_MATH_DEFINES
 
+#if _MSC_VER >= 1400
+#ifndef _CRT_SECURE_NO_WARNINGS
+#define _CRT_SECURE_NO_WARNINGS 1
+#endif
+#ifndef _CRT_SECURE_NO_DEPRECATE
+#define _CRT_SECURE_NO_DEPRECATE 1
+#endif
+#ifndef _ATL_SECURE_NO_DEPRECATE
+#define _ATL_SECURE_NO_DEPRECATE 1
+#endif
+#ifndef _CRT_NON_CONFORMING_SWPRINTFS
+#define _CRT_NON_CONFORMING_SWPRINTFS 1
+#endif
+#ifndef _CRT_SECURE_CPP_OVERLOAD_SECURE_NAMES
+#define _CRT_SECURE_CPP_OVERLOAD_SECURE_NAMES 0 // disable automatically overloading CPP names to secure versions
+#endif
+#if 0 && defined(_DEBUG) && !defined(_ITERATOR_DEBUG_LEVEL) // might not build if linking statically to 3rd party libraries
+#define _ITERATOR_DEBUG_LEVEL 1 // disable std iterator debugging even in Debug, as it is very slow
+#endif
+#endif
+
 
 //----------------------------------------------------------------------
 // For Microsoft Visual C++, externally accessible symbols must be
@@ -120,33 +141,19 @@
 #endif // _MSC_VER
 
 
-#if !defined(_DEBUG) && !defined(_PROFILE)
-#define _RELEASE // exclude code useful only for debug
+#if defined(__arm__) || defined (__arm64__) || defined(__aarch64__) || defined(_M_ARM) || defined(_M_ARMT)
+#define _PLATFORM_ARM 1
+#else
+#define _PLATFORM_X86 1
 #endif
 
 
-#if defined(_MSC_VER) && _MSC_VER >= 1400
-#ifndef _CRT_SECURE_NO_WARNINGS
-#define _CRT_SECURE_NO_WARNINGS 1
-#endif
-#ifndef _CRT_SECURE_NO_DEPRECATE
-#define _CRT_SECURE_NO_DEPRECATE 1
-#endif
-#ifndef _ATL_SECURE_NO_DEPRECATE
-#define _ATL_SECURE_NO_DEPRECATE 1
-#endif
-#ifndef _CRT_NON_CONFORMING_SWPRINTFS
-#define _CRT_NON_CONFORMING_SWPRINTFS 1
-#endif
-#ifndef _CRT_SECURE_CPP_OVERLOAD_SECURE_NAMES
-#define _CRT_SECURE_CPP_OVERLOAD_SECURE_NAMES 0 // disable automatically overloading CPP names to secure versions
-#endif
-#if 0 && defined(_DEBUG) && !defined(_ITERATOR_DEBUG_LEVEL) // might not build if linking statically to 3rd party libraries
-#define _ITERATOR_DEBUG_LEVEL 1 // disable std iterator debugging even in Debug, as it is very slow
-#endif
+#if !defined(_DEBUG) && !defined(_PROFILE)
+#define _RELEASE // exclude code useful only for debug
 #endif
 
 
+
 //optimization flags
 #if defined(_MSC_VER)
 #	define ALIGN(n) __declspec(align(n))
diff --git a/libs/Common/Util.cpp b/libs/Common/Util.cpp
index a32268cf7..445fb7bbf 100644
--- a/libs/Common/Util.cpp
+++ b/libs/Common/Util.cpp
@@ -473,6 +473,7 @@ Flags InitCPU()
 /*----------------------------------------------------------------*/
 
 
+#if _PLATFORM_X86
 #ifdef _MSC_VER
 #include <intrin.h>
 inline void CPUID(int CPUInfo[4], int level) {
@@ -485,6 +486,11 @@ inline void CPUID(int CPUInfo[4], int level) {
 	__get_cpuid((unsigned&)level, p+0, p+1, p+2, p+3);
 }
 #endif
+#else // _PLATFORM_X86
+inline void CPUID(int CPUInfo[4], int level) {
+	memset(CPUInfo, 0, sizeof(int)*4);
+}
+#endif // _PLATFORM_X86
 
 /**
  * Function to detect SSE availability in CPU.
@@ -551,6 +557,7 @@ CPUINFO GetCPUInfo()
 }
 /*----------------------------------------------------------------*/
 
+#if _PLATFORM_X86
 #ifdef _MSC_VER
 // Function to detect SSE availability in operating system.
 bool OSSupportsSSE()
@@ -626,6 +633,21 @@ bool OSSupportsAVX()
 /*----------------------------------------------------------------*/
 #endif // _MSC_VER
 
+#else // _PLATFORM_X86
+
+// Function to detect SSE availability in operating system.
+bool OSSupportsSSE()
+{
+	return false;
+}
+// Function to detect AVX availability in operating system.
+bool OSSupportsAVX()
+{
+	return false;
+}
+/*----------------------------------------------------------------*/
+#endif // _PLATFORM_X86
+
 
 // print details about the current build and PC
 void Util::LogBuild()
@@ -644,6 +666,7 @@ void Util::LogBuild()
 }
 
 // print information about the memory usage
+#if _PLATFORM_X86
 #ifdef _MSC_VER
 #include <Psapi.h>
 #pragma comment(lib, "Psapi.lib")
@@ -679,6 +702,11 @@ void Util::LogMemoryInfo()
 	LOG(_T("} ENDINFO"));
 }
 #endif // _MSC_VER
+#else // _PLATFORM_X86
+void Util::LogMemoryInfo()
+{
+}
+#endif // _PLATFORM_X86
 
 
 // Parses a ASCII command line string and returns an array of pointers to the command line arguments,
diff --git a/libs/MVS/SceneReconstruct.cpp b/libs/MVS/SceneReconstruct.cpp
index 5a87e74f4..005d975e8 100644
--- a/libs/MVS/SceneReconstruct.cpp
+++ b/libs/MVS/SceneReconstruct.cpp
@@ -333,7 +333,7 @@ inline Plane getFacetPlane(const facet_t& facet)
 
 // Check if a point (p) is coplanar with a triangle (a, b, c);
 // return orientation type
-#ifdef __GNUC__
+#if _PLATFORM_X86 && defined(__GNUC__)
 #pragma GCC push_options
 #pragma GCC target ("no-fma")
 #endif
@@ -364,7 +364,7 @@ static inline int orientation(const point_t& a, const point_t& b, const point_t&
 	return CGAL::COPLANAR;
 	#endif
 }
-#ifdef __GNUC__
+#if _PLATFORM_X86 && defined(__GNUC__)
 #pragma GCC pop_options
 #endif
 

From 0a49d561277aed60a50dd1f8e0e491b78cdb81b9 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 13 Feb 2021 21:40:43 +0200
Subject: [PATCH 014/252] dense: add Region-Of-Interest (ROI) support

---
 CMakeLists.txt            | 20 +++++++----
 libs/Common/AABB.h        |  9 +++++
 libs/Common/OBB.h         | 23 ++++++++++--
 libs/Common/OBB.inl       | 73 +++++++++++++++++++++++++++++++--------
 libs/Common/Plane.h       | 17 +++++++++
 libs/Common/Types.inl     | 19 ++++++++++
 libs/MVS/Interface.h      | 29 ++++++++++++++--
 libs/MVS/PointCloud.cpp   |  6 ++++
 libs/MVS/PointCloud.h     |  3 +-
 libs/MVS/Scene.cpp        |  8 +++++
 libs/MVS/Scene.h          |  5 ++-
 libs/MVS/SceneDensify.cpp | 13 ++++---
 12 files changed, 193 insertions(+), 32 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index febcd8de2..3c69b60d2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,12 +4,20 @@
 #
 # Project-wide settings
 CMAKE_MINIMUM_REQUIRED(VERSION 3.8.0)
-if(POLICY CMP0011)
-	cmake_policy(SET CMP0011 NEW)
-endif()
-if(POLICY CMP0074)
-	cmake_policy(SET CMP0074 NEW)
-endif()
+IF(POLICY CMP0011)
+	CMAKE_POLICY(SET CMP0011 NEW)
+ENDIF()
+IF(POLICY CMP0074)
+	CMAKE_POLICY(SET CMP0074 NEW)
+ENDIF()
+
+# Load automatically VCPKG toolchain if available
+IF(NOT DEFINED CMAKE_TOOLCHAIN_FILE AND DEFINED ENV{VCPKG_ROOT})
+	SET(CMAKE_TOOLCHAIN_FILE "$ENV{VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake" CACHE STRING "")
+	IF(NOT DEFINED VCPKG_TARGET_TRIPLET AND DEFINED ENV{VCPKG_DEFAULT_TRIPLET})
+		SET(VCPKG_TARGET_TRIPLET "$ENV{VCPKG_DEFAULT_TRIPLET}" CACHE STRING "")
+	ENDIF()
+ENDIF()
 
 # Name of the project.
 #
diff --git a/libs/Common/AABB.h b/libs/Common/AABB.h
index 63c707181..be2546526 100644
--- a/libs/Common/AABB.h
+++ b/libs/Common/AABB.h
@@ -88,6 +88,15 @@ class TAABB
 
 	inline TYPE& operator [] (BYTE i) { ASSERT(i<numScalar); return ptMin.data()[i]; }
 	inline TYPE operator [] (BYTE i) const { ASSERT(i<numScalar); return ptMin.data()[i]; }
+
+	#ifdef _USE_BOOST
+	// implement BOOST serialization
+	template<class Archive>
+	void serialize(Archive& ar, const unsigned int /*version*/) {
+		ar & ptMin;
+		ar & ptMax;
+	}
+	#endif
 }; // class TAABB
 /*----------------------------------------------------------------*/
 
diff --git a/libs/Common/OBB.h b/libs/Common/OBB.h
index 30ff5fcb9..766257b2c 100644
--- a/libs/Common/OBB.h
+++ b/libs/Common/OBB.h
@@ -42,16 +42,19 @@ class TOBB
 	enum { numCorners = (DIMS==1 ? 2 : (DIMS==2 ? 4 : 8)) }; // 2^DIMS
 	enum { numScalar = (5*DIMS) };
 
-	MATRIX m_rot;	// rotation matrix of the transformation (orthonormal axes)
-	POINT m_pos;	// translation of the transformation (center-point)
-	POINT m_ext;	// bounding box extents (half axis length)
+	MATRIX m_rot;	// rotation matrix from world to local (orthonormal axes)
+	POINT m_pos;	// translation from local to world (center-point)
+	POINT m_ext;	// bounding box extents in local (half axis length)
 
 	//---------------------------------------
 
 	inline TOBB() {}
+	inline TOBB(bool);
+	inline TOBB(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax);
 	inline TOBB(const POINT* pts, size_t n);
 	inline TOBB(const POINT* pts, size_t n, const TRIANGLE* tris, size_t s);
 
+	inline void Set(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax); // build from rotation matrix from world to local, and local min/max corners
 	inline void Set(const POINT* pts, size_t n); // build from points
 	inline void Set(const POINT* pts, size_t n, const TRIANGLE* tris, size_t s); // build from triangles
 	inline void Set(const MATRIX& C, const POINT* pts, size_t n); // build from covariance matrix
@@ -62,6 +65,8 @@ class TOBB
 	inline void BuildAdd(const POINT&); // add a new point to the online build
 	inline void BuildEnd(); // end online build for computing the rotation
 
+	inline bool IsValid() const;
+
 	inline void Enlarge(TYPE);
 	inline void EnlargePercent(TYPE);
 
@@ -79,8 +84,20 @@ class TOBB
 
 	inline TYPE GetVolume() const;
 
+	bool Intersects(const POINT&) const;
+
 	inline TYPE& operator [] (BYTE i) { ASSERT(i<numScalar); return m_rot.data()[i]; }
 	inline TYPE operator [] (BYTE i) const { ASSERT(i<numScalar); return m_rot.data()[i]; }
+
+	#ifdef _USE_BOOST
+	// implement BOOST serialization
+	template<class Archive>
+	void serialize(Archive& ar, const unsigned int /*version*/) {
+		ar & m_rot;
+		ar & m_pos;
+		ar & m_ext;
+	}
+	#endif
 }; // class TOBB
 /*----------------------------------------------------------------*/
 
diff --git a/libs/Common/OBB.inl b/libs/Common/OBB.inl
index 94fe16566..920b6302a 100644
--- a/libs/Common/OBB.inl
+++ b/libs/Common/OBB.inl
@@ -11,6 +11,19 @@
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+template <typename TYPE, int DIMS>
+inline TOBB<TYPE,DIMS>::TOBB(bool)
+	:
+	m_rot(MATRIX::Identity()),
+	m_pos(POINT::Zero()),
+	m_ext(POINT::Zero())
+{
+}
+template <typename TYPE, int DIMS>
+inline TOBB<TYPE,DIMS>::TOBB(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax)
+{
+	Set(rot, ptMin, ptMax);
+}
 template <typename TYPE, int DIMS>
 inline TOBB<TYPE,DIMS>::TOBB(const POINT* pts, size_t n)
 {
@@ -24,6 +37,15 @@ inline TOBB<TYPE,DIMS>::TOBB(const POINT* pts, size_t n, const TRIANGLE* tris, s
 /*----------------------------------------------------------------*/
 
 
+// build from rotation matrix from world to local, and local min/max corners
+template <typename TYPE, int DIMS>
+inline void TOBB<TYPE,DIMS>::Set(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax)
+{
+	m_rot = rot;
+	m_pos = (ptMax + ptMin) * TYPE(0.5);
+	m_ext = (ptMax - ptMin) * TYPE(0.5);
+}
+
 // Inspired from "Fitting Oriented Bounding Boxes" by James Gregson
 // http://jamesgregson.blogspot.ro/2011/03/latex-test.html
 
@@ -235,6 +257,15 @@ inline void TOBB<TYPE,DIMS>::BuildEnd()
 /*----------------------------------------------------------------*/
 
 
+// check if the oriented bounding box has positive size
+template <typename TYPE, int DIMS>
+inline bool TOBB<TYPE,DIMS>::IsValid() const
+{
+	return m_ext.minCoeff() > TYPE(0);
+} // IsValid
+/*----------------------------------------------------------------*/
+
+
 template <typename TYPE, int DIMS>
 inline void TOBB<TYPE,DIMS>::Enlarge(TYPE x)
 {
@@ -248,6 +279,22 @@ inline void TOBB<TYPE,DIMS>::EnlargePercent(TYPE x)
 /*----------------------------------------------------------------*/
 
 
+// Update the box by the given pos delta.
+template <typename TYPE, int DIMS>
+inline void TOBB<TYPE,DIMS>::Translate(const POINT& d)
+{
+	m_pos += d;
+}
+// Update the box by the given transform.
+template <typename TYPE, int DIMS>
+inline void TOBB<TYPE,DIMS>::Transform(const MATRIX& m)
+{
+	m_rot = m * m_rot;
+	m_pos = m * m_pos;
+}
+/*----------------------------------------------------------------*/
+
+
 template <typename TYPE, int DIMS>
 inline typename TOBB<TYPE,DIMS>::POINT TOBB<TYPE,DIMS>::GetCenter() const
 {
@@ -341,20 +388,18 @@ inline TYPE TOBB<TYPE,DIMS>::GetVolume() const
 /*----------------------------------------------------------------*/
 
 
-// Update the box by the given pos delta.
-template <typename TYPE, int DIMS>
-inline void TOBB<TYPE,DIMS>::Translate(const POINT& d)
-{
-	m_pos += d;
-}
-/*----------------------------------------------------------------*/
-
-
-// Update the box by the given transform.
 template <typename TYPE, int DIMS>
-inline void TOBB<TYPE,DIMS>::Transform(const MATRIX& m)
+bool TOBB<TYPE,DIMS>::Intersects(const POINT& pt) const
 {
-	m_rot = m * m_rot;
-	m_pos = m * m_pos;
-}
+	const POINT dist(m_rot * (pt - m_pos));
+	if (DIMS == 2) {
+		return ABS(dist[0]) <= m_ext[0]
+			&& ABS(dist[1]) <= m_ext[1];
+	}
+	if (DIMS == 3) {
+		return ABS(dist[0]) <= m_ext[0]
+			&& ABS(dist[1]) <= m_ext[1]
+			&& ABS(dist[2]) <= m_ext[2];
+	}
+} // Intersects(POINT)
 /*----------------------------------------------------------------*/
diff --git a/libs/Common/Plane.h b/libs/Common/Plane.h
index a293c94d2..7cd439207 100644
--- a/libs/Common/Plane.h
+++ b/libs/Common/Plane.h
@@ -64,6 +64,15 @@ class TPlane
 
 	inline TYPE& operator [] (BYTE i) { ASSERT(i<=DIMS); return m_vN.data()[i]; }
 	inline TYPE operator [] (BYTE i) const { ASSERT(i<=DIMS); return m_vN.data()[i]; }
+
+	#ifdef _USE_BOOST
+	// implement BOOST serialization
+	template<class Archive>
+	void serialize(Archive& ar, const unsigned int /*version*/) {
+		ar & m_vN;
+		ar & m_fD;
+	}
+	#endif
 }; // class TPlane
 /*----------------------------------------------------------------*/
 
@@ -106,6 +115,14 @@ class TFrustum
 
 	inline TYPE& operator [] (BYTE i) { ASSERT(i<DIMS); return m_planes[i]; }
 	inline TYPE operator [] (BYTE i) const { ASSERT(i<DIMS); return m_planes[i]; }
+
+	#ifdef _USE_BOOST
+	// implement BOOST serialization
+	template<class Archive>
+	void serialize(Archive& ar, const unsigned int /*version*/) {
+		ar & m_planes;
+	}
+	#endif
 }; // class TPlane
 /*----------------------------------------------------------------*/
 
diff --git a/libs/Common/Types.inl b/libs/Common/Types.inl
index 42bd806c0..645df52f5 100644
--- a/libs/Common/Types.inl
+++ b/libs/Common/Types.inl
@@ -3708,6 +3708,25 @@ namespace boost {
 			ar & m.distance;
 		}
 
+		#ifdef _USE_EIGEN
+		// Serialization support for Eigen::Matrix
+		// specialization handling fixed sized matrices
+		template<class Archive, class Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+		inline void save(Archive& ar, const Eigen::Matrix<Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols>& M, const unsigned int /*version*/) {
+			ar << make_nvp("data", make_array(M.data(), _Rows*_Cols));
+		}
+		template<class Archive, class Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+		inline void load(Archive& ar, Eigen::Matrix<Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols>& M, const unsigned int /*version*/) {
+			ar >> make_nvp("data", make_array(M.data(), _Rows*_Cols));
+		}
+		// The function that causes boost::serialization to look for separate
+		// save() and load() functions when serializing and Eigen matrix.
+		template<class Archive, class Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+		inline void serialize(Archive& ar, Eigen::Matrix<Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols>& M, const unsigned int version) {
+			split_free(ar, M, version);
+		}
+		#endif // _USE_EIGEN
+
 	} // namespace serialization
 } // namespace boost
 /*----------------------------------------------------------------*/
diff --git a/libs/MVS/Interface.h b/libs/MVS/Interface.h
index b6359c221..209f9f00a 100644
--- a/libs/MVS/Interface.h
+++ b/libs/MVS/Interface.h
@@ -13,7 +13,7 @@
 // D E F I N E S ///////////////////////////////////////////////////
 
 #define MVSI_PROJECT_ID "MVSI" // identifies the project stream
-#define MVSI_PROJECT_VER ((uint32_t)5) // identifies the version of a project stream
+#define MVSI_PROJECT_VER ((uint32_t)6) // identifies the version of a project stream
 
 // set a default namespace name if none given
 #ifndef _INTERFACE_NAMESPACE
@@ -162,7 +162,7 @@ class Matx
 namespace _INTERFACE_NAMESPACE {
 
 // invalid index
-constexpr uint32_t NO_ID = std::numeric_limits<uint32_t>::max();
+constexpr uint32_t NO_ID {std::numeric_limits<uint32_t>::max()};
 
 // custom serialization
 namespace ARCHIVE {
@@ -489,7 +489,7 @@ struct Interface
 		uint32_t ID; // ID of this image in the global space (optional)
 
 		Image() : platformID(NO_ID), cameraID(NO_ID), poseID(NO_ID), ID(NO_ID) {}
-		
+
 		bool IsValid() const { return poseID != NO_ID; }
 
 		template <class Archive>
@@ -589,6 +589,25 @@ struct Interface
 	typedef std::vector<Color> ColorArr;
 	/*----------------------------------------------------------------*/
 
+	// structure describing a Oriented Bounding-Box (optional)
+	struct OBB {
+		Mat33d rot; // rotation from scene to OBB coordinate system
+		Pos3d ptMin; // minimal point represented in OBB coordinate system
+		Pos3d ptMax; // maximal point represented in OBB coordinate system
+
+		OBB() : rot(Mat33d::eye()), ptMin(0, 0, 0), ptMax(0, 0, 0) {}
+
+		bool IsValid() const { return ptMin.x < ptMax.x && ptMin.y < ptMax.y && ptMin.z < ptMax.z; }
+
+		template <class Archive>
+		void serialize(Archive& ar, const unsigned int /*version*/) {
+			ar & rot;
+			ar & ptMin;
+			ar & ptMax;
+		}
+	};
+	/*----------------------------------------------------------------*/
+
 	PlatformArr platforms; // array of platforms
 	ImageArr images; // array of images
 	VertexArr vertices; // array of reconstructed 3D points
@@ -598,6 +617,7 @@ struct Interface
 	NormalArr linesNormal; // array of reconstructed 3D lines' normal (optional)
 	ColorArr linesColor; // array of reconstructed 3D lines' color (optional)
 	Mat44d transform; // transformation used to convert from absolute to relative coordinate system (optional)
+	OBB obb; // minimum oriented bounding box containing the scene (optional)
 
 	Interface() : transform(Mat44d::eye()) {}
 
@@ -624,6 +644,9 @@ struct Interface
 			ar & linesColor;
 			if (version > 1) {
 				ar & transform;
+				if (version > 5) {
+					ar & obb;
+				}
 			}
 		}
 	}
diff --git a/libs/MVS/PointCloud.cpp b/libs/MVS/PointCloud.cpp
index 42e61230c..6605f0027 100644
--- a/libs/MVS/PointCloud.cpp
+++ b/libs/MVS/PointCloud.cpp
@@ -67,6 +67,12 @@ void PointCloud::RemovePoint(IDX idx)
 		colors.RemoveAt(idx);
 	points.RemoveAt(idx);
 }
+void PointCloud::RemovePointsOutside(const OBB3f& obb) {
+	ASSERT(obb.IsValid());
+	RFOREACH(i, points)
+		if (!obb.Intersects(points[i]))
+			RemovePoint(i);
+}
 /*----------------------------------------------------------------*/
 
 
diff --git a/libs/MVS/PointCloud.h b/libs/MVS/PointCloud.h
index ce2a9722d..0014103bb 100644
--- a/libs/MVS/PointCloud.h
+++ b/libs/MVS/PointCloud.h
@@ -86,7 +86,8 @@ class MVS_API PointCloud
 	inline bool IsValid() const { ASSERT(points.GetSize() == pointViews.GetSize() || pointViews.IsEmpty()); return !pointViews.IsEmpty(); }
 	inline size_t GetSize() const { ASSERT(points.GetSize() == pointViews.GetSize() || pointViews.IsEmpty()); return points.GetSize(); }
 
-	void RemovePoint(IDX idx);
+	void RemovePoint(IDX);
+	void RemovePointsOutside(const OBB3f&);
 
 	Box GetAABB() const;
 	Box GetAABB(const Box& bound) const;
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 5dd3b87e7..7ab5c1c21 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -184,6 +184,9 @@ bool Scene::LoadInterface(const String & fileName)
 		}
 	}
 
+	// import region of interest
+	obb.Set(Matrix3x3f(obj.obb.rot), Point3f(obj.obb.ptMin), Point3f(obj.obb.ptMax));
+
 	DEBUG_EXTRA("Scene loaded from interface format (%s):\n"
 				"\t%u images (%u calibrated) with a total of %.2f MPixels (%.2f MPixels/image)\n"
 				"\t%u points, %u vertices, %u faces",
@@ -266,6 +269,11 @@ bool Scene::SaveInterface(const String & fileName, int version) const
 		}
 	}
 
+	// export region of interest
+	obj.obb.rot = Matrix3x3f(obb.m_rot);
+	obj.obb.ptMin = Point3f((obb.m_pos-obb.m_ext).eval());
+	obj.obb.ptMax = Point3f((obb.m_pos+obb.m_ext).eval());
+
 	// serialize out the current state
 	if (!ARCHIVE::SerializeSave(obj, fileName, version>=0?uint32_t(version):MVSI_PROJECT_VER))
 		return false;
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 71b94acab..070e37878 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -56,13 +56,15 @@ class MVS_API Scene
 	ImageArr images; // images, each referencing a platform's camera pose
 	PointCloud pointcloud; // point-cloud (sparse or dense), each containing the point position and the views seeing it
 	Mesh mesh; // mesh, represented as vertices and triangles, constructed from the input point-cloud
+	OBB3f obb; // optional region-of-interest; oriented bounding box containing the entire scene
 
 	unsigned nCalibratedImages; // number of valid images
 
 	unsigned nMaxThreads; // maximum number of threads used to distribute the work load
 
 public:
-	inline Scene(unsigned _nMaxThreads=0) : nMaxThreads(Thread::getMaxThreads(_nMaxThreads)) {}
+	inline Scene(unsigned _nMaxThreads=0)
+		: nMaxThreads(Thread::getMaxThreads(_nMaxThreads)), obb(true) {}
 
 	void Release();
 	bool IsEmpty() const;
@@ -111,6 +113,7 @@ class MVS_API Scene
 		ar & images;
 		ar & pointcloud;
 		ar & mesh;
+		ar & obb;
 	}
 	#endif
 };
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index df013f260..367d3319b 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -1153,10 +1153,8 @@ bool DepthMapsData::FilterDepthMap(DepthData& depthDataRef, const IIndexArr& idx
 		!SaveConfidenceMap(ComposeDepthFilePath(imageRef.GetID(), "filtered.cmap"), newConfMap))
 		return false;
 
-	#if TD_VERBOSE != TD_VERBOSE_OFF
-	DEBUG("Depth map %3u filtered using %u other images: %u/%u depths discarded (%s)", imageRef.GetID(), N, nDiscarded, nProcessed, TD_TIMER_GET_FMT().c_str());
-	#endif
-
+	DEBUG("Depth map %3u filtered using %u other images: %u/%u depths discarded (%s)",
+		imageRef.GetID(), N, nDiscarded, nProcessed, TD_TIMER_GET_FMT().c_str());
 	return true;
 } // FilterDepthMap
 /*----------------------------------------------------------------*/
@@ -1463,6 +1461,13 @@ bool Scene::DenseReconstruction(int nFusionMode)
 	#endif
 
 	if (!pointcloud.IsEmpty()) {
+		if (obb.IsValid()) {
+			TD_TIMER_START();
+			const size_t numPoints = pointcloud.GetSize();
+			pointcloud.RemovePointsOutside(obb);
+			VERBOSE("Point-cloud trimmed to ROI: %u points removed (%s)",
+				numPoints-pointcloud.GetSize(), TD_TIMER_GET_FMT().c_str());
+		}
 		if (pointcloud.colors.IsEmpty() && OPTDENSE::nEstimateColors == 1)
 			EstimatePointColors(images, pointcloud);
 		if (pointcloud.normals.IsEmpty() && OPTDENSE::nEstimateNormals == 1)

From 4629ad26324b61a08561cc991b63f58cb79f07be Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sun, 14 Feb 2021 21:35:32 +0200
Subject: [PATCH 015/252] common: improve octree speed

---
 .gitignore                |   1 +
 apps/Viewer/Scene.cpp     |   8 +-
 apps/Viewer/Scene.h       |   4 +-
 libs/Common/ConfigTable.h |   2 +-
 libs/Common/HalfFloat.h   |   4 -
 libs/Common/Octree.h      | 187 ++++++++++------------
 libs/Common/Octree.inl    | 321 ++++++++++++++++++--------------------
 libs/Common/Rotation.h    |   5 -
 libs/Common/Rotation.inl  |  11 --
 libs/MVS/Mesh.cpp         |  16 ++
 libs/MVS/Mesh.h           |  27 ++++
 libs/MVS/Scene.h          |   2 +-
 libs/MVS/SceneDensify.cpp |   6 +-
 libs/MVS/SceneRefine.cpp  |  42 ++---
 libs/MVS/SceneTexture.cpp |  33 +---
 15 files changed, 310 insertions(+), 359 deletions(-)

diff --git a/.gitignore b/.gitignore
index 1880d2e51..9a2dbda4c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -37,3 +37,4 @@ CMakeSettings.json
 out/
 bin/
 binaries/
+build_wsl/
diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index b40cb1bf2..c5dca5bd5 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -178,12 +178,16 @@ class EVTComputeOctree : public Event
 	bool Run(void*) {
 		MVS::Scene& scene = pScene->scene;
 		if (!scene.mesh.IsEmpty()) {
-			Scene::OctreeMesh octMesh(scene.mesh.vertices);
+			Scene::OctreeMesh octMesh(scene.mesh.vertices, [](Scene::OctreeMesh::IDX_TYPE size, Scene::OctreeMesh::Type /*radius*/) {
+				return size > 256;
+			});
 			scene.mesh.ListIncidenteFaces();
 			pScene->octMesh.Swap(octMesh);
 		} else
 		if (!scene.pointcloud.IsEmpty()) {
-			Scene::OctreePoints octPoints(scene.pointcloud.points);
+			Scene::OctreePoints octPoints(scene.pointcloud.points, [](Scene::OctreePoints::IDX_TYPE size, Scene::OctreePoints::Type /*radius*/) {
+				return size > 512;
+			});
 			pScene->octPoints.Swap(octPoints);
 		}
 		return true;
diff --git a/apps/Viewer/Scene.h b/apps/Viewer/Scene.h
index 0d31fa076..63aca7d5e 100644
--- a/apps/Viewer/Scene.h
+++ b/apps/Viewer/Scene.h
@@ -48,8 +48,8 @@ namespace VIEWER {
 class Scene
 {
 public:
-	typedef TOctree<MVS::PointCloud::PointArr,MVS::PointCloud::Point::Type,3,uint32_t,512> OctreePoints;
-	typedef TOctree<MVS::Mesh::VertexArr,MVS::Mesh::Vertex::Type,3,uint32_t,256> OctreeMesh;
+	typedef TOctree<MVS::PointCloud::PointArr,MVS::PointCloud::Point::Type,3,uint32_t> OctreePoints;
+	typedef TOctree<MVS::Mesh::VertexArr,MVS::Mesh::Vertex::Type,3,uint32_t> OctreeMesh;
 
 public:
 	String name;
diff --git a/libs/Common/ConfigTable.h b/libs/Common/ConfigTable.h
index d112a5ea1..337512108 100644
--- a/libs/Common/ConfigTable.h
+++ b/libs/Common/ConfigTable.h
@@ -56,7 +56,7 @@ class GENERAL_API CConfigTable
 		  const  SML&		GetConfig() const						{ return m_oSML; }
 				 SML&		GetConfig()								{ return m_oSML; }
 	inline	SMLVALUE&		operator[] (const String& name)			{ return m_oSML[name]; }
-	inline		 IDX		InsertChild(CConfigTable& oCfg)			{ oCfg.SetParent(this); return m_oSML.InsertChild((const LPSML)&oCfg.m_oSML); }
+	inline		 IDX		InsertChild(CConfigTable& oCfg)			{ oCfg.SetParent(this); return m_oSML.InsertChild(&oCfg.m_oSML); }
 	inline		 void		RemoveChild(CConfigTable& oCfg)			{ oCfg.SetParent(NULL); m_oSML.RemoveChild(oCfg.m_oSML.GetName()); }
 
 	// misc methods
diff --git a/libs/Common/HalfFloat.h b/libs/Common/HalfFloat.h
index 80a0a4c9a..3f38c831a 100644
--- a/libs/Common/HalfFloat.h
+++ b/libs/Common/HalfFloat.h
@@ -39,10 +39,6 @@ class GENERAL_API hfloat
 	template <typename T>
 	inline hfloat(T v) : val(fromFloat(static_cast<float>(v))) {}
 
-	inline hfloat& operator = (hfloat v) {
-		val = v.val;
-		return *this;
-	}
 	inline hfloat& operator = (float v) {
 		val = fromFloat(v);
 		return *this;
diff --git a/libs/Common/Octree.h b/libs/Common/Octree.h
index cc5f22e95..568b87ca6 100644
--- a/libs/Common/Octree.h
+++ b/libs/Common/Octree.h
@@ -22,106 +22,80 @@ namespace SEACAVE {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
-// raw array wrapper
-template <typename TYPE>
-class TItemArr
-{
-public:
-	typedef TYPE Type;
-
-	inline TItemArr() {}
-	inline TItemArr(const TYPE* data, IDX size) : m_data(data), m_size(size) {}
-	inline void Set(const TYPE* data, IDX size) { m_data = data; m_size = size; }
-
-	inline const TYPE& operator[](IDX i) const { return m_data[i]; }
-	inline const TYPE* Begin() const { return m_data; }
-	inline const TYPE* GetData() const { return m_data; }
-	inline IDX GetSize() const { return m_size; }
-
-protected:
-	const TYPE* m_data;
-	IDX m_size;
-}; // class TItemArr
-/*----------------------------------------------------------------*/
-
-
-// octree cell class
-template <typename TYPE, int DIMS, typename DATA_TYPE>
-class TOctreeCell
+// basic octree class
+// each item should define the operator const POINT_TYPE& returning its center;
+// at build time, a functor must be supplied that returns true as long as
+// the current cell should be split farther, given its number of items and radius, ex:
+//	 [](Octree::IDX_TYPE size, Octree::Type radius) {
+//	 	return size > SIZE && radius > RADIUS;
+//	 }
+// where:
+//   SIZE is the minimum number of items contained by the cell so that this to be divided further
+//   RADIUS is the minimum size of the cell allowed to be divided further
+// both conditions represent exclusive limits and both should be true for the division to take place
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE=uint32_t>
+class TOctree
 {
 	STATIC_ASSERT(DIMS > 0 && DIMS <= 3);
 
 public:
+	typedef TYPE Type;
+	typedef typename ITEMARR_TYPE::Type ITEM_TYPE;
+	typedef typename ITEMARR_TYPE::IDX IDX_TYPE;
+	typedef SEACAVE::cList<IDX_TYPE,IDX_TYPE,0,1024,IDX_TYPE> IDXARR_TYPE;
 	typedef Eigen::Matrix<TYPE,DIMS,1> POINT_TYPE;
 	typedef SEACAVE::TAABB<TYPE,DIMS> AABB_TYPE;
 	typedef uint32_t SIZE_TYPE;
 
-	typedef struct {
-		POINT_TYPE center; // center of the current cell
-	} NODE_TYPE;
-	typedef struct {
-		IDX idxBegin; // index in the global array of the first item contained by this cell
-		SIZE_TYPE size; // number of items contained by this cell in the global array
-		DATA_TYPE data; // user data associated with this leaf
-	} LEAF_TYPE;
-	enum { dataSize = (sizeof(NODE_TYPE)>sizeof(LEAF_TYPE) ? sizeof(NODE_TYPE) : sizeof(LEAF_TYPE)) };
-	enum { numChildren = (2<<(DIMS-1)) };
-
-public:
-	inline TOctreeCell();
-	inline TOctreeCell(TOctreeCell*);
-	inline ~TOctreeCell();
-
-	inline void Release();
-	inline void Swap(TOctreeCell&);
-
-	inline unsigned ComputeChild(const POINT_TYPE& item) const;
-	static void ComputeCenter(POINT_TYPE []);
-
-	inline bool	IsLeaf() const { return (m_child==NULL); }
-	inline const TOctreeCell& GetChild(int i) const { ASSERT(!IsLeaf() && i<numChildren); return m_child[i]; }
-	inline const NODE_TYPE& Node() const { ASSERT(!IsLeaf()); return *((const NODE_TYPE*)m_data); }
-	inline NODE_TYPE& Node() { ASSERT(!IsLeaf()); return *((NODE_TYPE*)m_data); }
-	inline const LEAF_TYPE& Leaf() const { ASSERT(IsLeaf()); return *((const LEAF_TYPE*)m_data); }
-	inline LEAF_TYPE& Leaf() { ASSERT(IsLeaf()); return *((LEAF_TYPE*)m_data); }
-	inline const POINT_TYPE& GetCenter() const { return Node().center; }
-	inline AABB_TYPE GetAabb(TYPE radius) const { return AABB_TYPE(Node().center, radius); }
-	inline IDX GetLastItem() const { return Leaf().idxBegin + Leaf().size; }
-	inline SIZE_TYPE GetNumItems() const { return Leaf().size; }
-	inline const DATA_TYPE& GetUserData() const { return Leaf().data; }
-	inline DATA_TYPE& GetUserData() { return Leaf().data; }
-	size_t GetNumItemsHeld() const;
-
-public:
-	TOctreeCell* m_child; // if not a leaf, 2^DIMS child objects
-	uint8_t m_data[dataSize]; // a LEAF_TYPE or NODE_TYPE object, if it is a leaf or not respectively
-}; // class TOctreeCell
-/*----------------------------------------------------------------*/
-
-
-// basic octree class
-// each item should define the operator const POINT_TYPE& returning its center
-// SIZE is the minimum number of items contained by the cell so that this to be divided further
-// NOM/DENOM is the size of the cell minimum allowed to be divided further
-// both conditions represent exclusive limits and both should be true for the division to take place
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE=uint32_t, int SIZE=16, int NOM=0, int DENOM=1>
-class TOctree
-{
-public:
-	typedef TYPE Type;
-	typedef TOctreeCell<TYPE,DIMS,DATA_TYPE> CELL_TYPE;
-	typedef typename ITEMARR_TYPE::Type ITEM_TYPE;
-	typedef SEACAVE::cList<IDX,IDX,0,1024> IDXARR_TYPE;
-	typedef SEACAVE::cList<CELL_TYPE*,CELL_TYPE*,0,256> CELLPTRARR_TYPE;
-	typedef typename IDXARR_TYPE::Type IDX_TYPE;
-	typedef typename CELL_TYPE::POINT_TYPE POINT_TYPE;
-	typedef typename CELL_TYPE::AABB_TYPE AABB_TYPE;
+	class CELL_TYPE {
+	public:
+		typedef struct {
+			POINT_TYPE center; // center of the current cell
+		} NODE_TYPE;
+		typedef struct {
+			IDX_TYPE idxBegin; // index in the global array of the first item contained by this cell
+			SIZE_TYPE size; // number of items contained by this cell in the global array
+			DATA_TYPE data; // user data associated with this leaf
+		} LEAF_TYPE;
+		enum { dataSize = (sizeof(NODE_TYPE)>sizeof(LEAF_TYPE) ? sizeof(NODE_TYPE) : sizeof(LEAF_TYPE)) };
+		enum { numChildren = (2<<(DIMS-1)) };
+
+	public:
+		inline CELL_TYPE();
+		inline ~CELL_TYPE();
+
+		inline void Release();
+		inline void Swap(CELL_TYPE&);
+
+		inline unsigned ComputeChild(const POINT_TYPE& item) const;
+		static void ComputeCenter(POINT_TYPE []);
+
+		inline bool	IsLeaf() const { return (m_child==NULL); }
+		inline const CELL_TYPE& GetChild(int i) const { ASSERT(!IsLeaf() && i<numChildren); return m_child[i]; }
+		inline const NODE_TYPE& Node() const { ASSERT(!IsLeaf()); return *((const NODE_TYPE*)m_data); }
+		inline NODE_TYPE& Node() { ASSERT(!IsLeaf()); return *((NODE_TYPE*)m_data); }
+		inline const LEAF_TYPE& Leaf() const { ASSERT(IsLeaf()); return *((const LEAF_TYPE*)m_data); }
+		inline LEAF_TYPE& Leaf() { ASSERT(IsLeaf()); return *((LEAF_TYPE*)m_data); }
+		inline const POINT_TYPE& GetCenter() const { return Node().center; }
+		inline AABB_TYPE GetAabb(TYPE radius) const { return AABB_TYPE(Node().center, radius); }
+		inline IDX_TYPE GetFirstItemIdx() const { return Leaf().idxBegin; }
+		inline IDX_TYPE GetLastItemIdx() const { return Leaf().idxBegin + Leaf().size; }
+		inline SIZE_TYPE GetNumItems() const { return Leaf().size; }
+		inline const DATA_TYPE& GetUserData() const { return Leaf().data; }
+		inline DATA_TYPE& GetUserData() { return Leaf().data; }
+		size_t GetNumItemsHeld() const;
+
+	public:
+		CELL_TYPE* m_child; // if not a leaf, 2^DIMS child objects
+		uint8_t m_data[dataSize]; // a LEAF_TYPE or NODE_TYPE object, if it is a leaf or not respectively
+	};
+	typedef SEACAVE::cList<CELL_TYPE*,CELL_TYPE*,0,256,IDX_TYPE> CELLPTRARR_TYPE;
 
 	struct IndexInserter {
 		IDXARR_TYPE& indices;
 		IndexInserter(IDXARR_TYPE& _indices) : indices(_indices) {}
 		void operator()(IDX_TYPE idx) { indices.Insert(idx); }
-		void operator()(const IDX_TYPE* idices, size_t size) { indices.Join(idices, size); }
+		void operator()(const IDX_TYPE* idices, SIZE_TYPE size) { indices.Join(idices, size); }
 	};
 
 	struct CellInserter {
@@ -132,17 +106,23 @@ class TOctree
 
 public:
 	inline TOctree() {}
-	inline TOctree(const ITEMARR_TYPE&);
-	inline TOctree(const ITEMARR_TYPE&, const AABB_TYPE&);
+	template <typename Functor>
+	inline TOctree(const ITEMARR_TYPE&, Functor split);
+	template <typename Functor>
+	inline TOctree(const ITEMARR_TYPE&, const AABB_TYPE&, Functor split);
 
 	inline void Release();
 	inline void Swap(TOctree&);
 
-	void Insert(const ITEMARR_TYPE&);
-	void Insert(const ITEMARR_TYPE&, const AABB_TYPE&);
+	template <typename Functor>
+	void Insert(const ITEMARR_TYPE&, Functor split);
+	template <typename Functor>
+	void Insert(const ITEMARR_TYPE&, const AABB_TYPE&, Functor split);
 
 	template <typename INSERTER>
 	inline void CollectCells(INSERTER&) const;
+	template <typename INSERTER>
+	void CollectCells(const CELL_TYPE&, INSERTER&) const;
 	template <typename PARSER>
 	inline void ParseCells(PARSER&);
 
@@ -170,30 +150,27 @@ class TOctree
 	template <typename FTYPE, int FDIMS>
 	inline void TraverseCells(const TFrustum<FTYPE,FDIMS>&, CELLPTRARR_TYPE&);
 
+	inline const CELL_TYPE& GetRoot() const { return m_root; }
 	inline AABB_TYPE GetAabb() const { return m_root.GetAabb(m_radius); }
-	inline TYPE GetRadius(const AABB_TYPE& aabb) const {
-		// radius of the root cell
-		const POINT_TYPE size(aabb.GetSize() / TYPE(2));
-		TYPE radius = size[0];
-		if (DIMS > 1 && radius < size[1])
-			radius = size[1];
-		if (DIMS > 2 && radius < size[2])
-			radius = size[2];
-		return radius;
-	}
 	inline bool IsEmpty() const { return m_indices.IsEmpty(); }
 	inline size_t GetNumItems() const { return m_indices.GetSize(); }
 	inline const IDXARR_TYPE& GetIndexArr() const { return m_indices; }
 	inline const ITEM_TYPE* GetItems() const { return m_items; }
+	inline const POINT_TYPE& GetItem(IDX_TYPE idx) const { ASSERT(m_items != NULL); return m_items[idx]; }
+	inline void ResetItems() { m_items = NULL; }
 
 protected:
 	static inline POINT_TYPE ComputeChildCenter(const POINT_TYPE&, TYPE, unsigned);
 
-	void _Insert(CELL_TYPE&, TYPE, IDXARR_TYPE []);
-	void _Insert(CELL_TYPE&, const POINT_TYPE&, TYPE, IDXARR_TYPE&);
+	template <typename Functor>
+	struct _InsertData {
+		enum : IDX_TYPE { NO_INDEX = DECLARE_NO_INDEX(IDX_TYPE) };
+		IDXARR_TYPE successors; // single connected list of next item indices
+		Functor split; // used to decide if a cell needs to be split farther
+	};
+	template <typename Functor, bool bForceSplit>
+	void _Insert(CELL_TYPE&, const POINT_TYPE& center, TYPE radius, IDX_TYPE start, IDX_TYPE size, _InsertData<Functor>&);
 
-	template <typename INSERTER>
-	void _CollectCells(const CELL_TYPE&, INSERTER&) const;
 	template <typename PARSER>
 	void _ParseCells(CELL_TYPE&, TYPE, PARSER&);
 
diff --git a/libs/Common/Octree.inl b/libs/Common/Octree.inl
index 83075ebb3..ce5ea80f8 100644
--- a/libs/Common/Octree.inl
+++ b/libs/Common/Octree.inl
@@ -8,53 +8,37 @@
 
 // D E F I N E S ///////////////////////////////////////////////////
 
-// max number of items in one cell
-#define OCTREE_CELLITEMS SIZE
-
 #ifdef _USE_OPENMP
 // minimum number of polygons for which we do multi-threading
 #define OCTREE_MIN_ITEMS_MINTHREAD 1024*2
 #endif
 
-// size of a cell
-#define OCTREE_CELLSIZE (TYPE(NOM)/TYPE(DENOM))
-// radius of a cell
-#define OCTREE_CELLRADIUS (OCTREE_CELLSIZE/2)
-
 
 // S T R U C T S ///////////////////////////////////////////////////
 
-template <typename TYPE, int DIMS, typename DATA_TYPE>
-inline TOctreeCell<TYPE,DIMS,DATA_TYPE>::TOctreeCell()
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CELL_TYPE::CELL_TYPE()
 	:
 	m_child(NULL)
 {
 } // constructor
-template <typename TYPE, int DIMS, typename DATA_TYPE>
-inline TOctreeCell<TYPE,DIMS,DATA_TYPE>::TOctreeCell(TOctreeCell* children)
-	:
-	m_child(children)
-{
-} // constructor
-/*----------------------------------------------------------------*/
-
-template <typename TYPE, int DIMS, typename DATA_TYPE>
-inline TOctreeCell<TYPE,DIMS,DATA_TYPE>::~TOctreeCell()
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CELL_TYPE::~CELL_TYPE()
 {
 	delete[] m_child;
 } // destructor
 /*----------------------------------------------------------------*/
 
 
-template <typename TYPE, int DIMS, typename DATA_TYPE>
-inline void TOctreeCell<TYPE,DIMS,DATA_TYPE>::Release()
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CELL_TYPE::Release()
 {
 	delete[] m_child;
 	m_child = NULL;
-} // destructor
+} // Release
 // swap the two octrees
-template <typename TYPE, int DIMS, typename DATA_TYPE>
-inline void TOctreeCell<TYPE,DIMS,DATA_TYPE>::Swap(TOctreeCell& rhs)
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CELL_TYPE::Swap(CELL_TYPE& rhs)
 {
 	std::swap(m_child, rhs.m_child);
 	uint8_t tmpData[dataSize];
@@ -66,8 +50,8 @@ inline void TOctreeCell<TYPE,DIMS,DATA_TYPE>::Swap(TOctreeCell& rhs)
 
 
 // compute item's index corresponding to the containing cell
-template <typename TYPE, int DIMS, typename DATA_TYPE>
-inline unsigned TOctreeCell<TYPE,DIMS,DATA_TYPE>::ComputeChild(const POINT_TYPE& item) const
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline unsigned TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CELL_TYPE::ComputeChild(const POINT_TYPE& item) const
 {
 	ASSERT(!IsLeaf());
 	unsigned idx = 0;
@@ -83,8 +67,8 @@ inline unsigned TOctreeCell<TYPE,DIMS,DATA_TYPE>::ComputeChild(const POINT_TYPE&
 } // ComputeChild
 /*----------------------------------------------------------------*/
 
-template <typename TYPE, int DIMS, typename DATA_TYPE>
-void TOctreeCell<TYPE,DIMS,DATA_TYPE>::ComputeCenter(POINT_TYPE centers[])
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CELL_TYPE::ComputeCenter(POINT_TYPE centers[])
 {
 	if (DIMS == 1) {
 		centers[0] << -1;
@@ -111,8 +95,8 @@ void TOctreeCell<TYPE,DIMS,DATA_TYPE>::ComputeCenter(POINT_TYPE centers[])
 
 
 // count the number of items contained by the given octree-cell
-template <typename TYPE, int DIMS, typename DATA_TYPE>
-size_t TOctreeCell<TYPE,DIMS,DATA_TYPE>::GetNumItemsHeld() const
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+size_t TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CELL_TYPE::GetNumItemsHeld() const
 {
 	if (IsLeaf())
 		return GetNumItems();
@@ -128,29 +112,31 @@ size_t TOctreeCell<TYPE,DIMS,DATA_TYPE>::GetNumItemsHeld() const
 // S T R U C T S ///////////////////////////////////////////////////
 
 // build tree with the given items
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-inline TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::TOctree(const ITEMARR_TYPE& items)
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+template <typename Functor>
+inline TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::TOctree(const ITEMARR_TYPE& items, Functor split)
 {
-	Insert(items);
+	Insert(items, split);
 }
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-inline TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::TOctree(const ITEMARR_TYPE& items, const AABB_TYPE& aabb)
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+template <typename Functor>
+inline TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::TOctree(const ITEMARR_TYPE& items, const AABB_TYPE& aabb, Functor split)
 {
-	Insert(items, aabb);
+	Insert(items, aabb, split);
 } // constructor
 /*----------------------------------------------------------------*/
 
 
 // destroy tree
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Release()
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Release()
 {
 	m_indices.Release();
 	m_root.Release();
 } // Release
 // swap the two octrees
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Swap(TOctree& rhs)
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Swap(TOctree& rhs)
 {
 	std::swap(m_items, rhs.m_items);
 	m_indices.Swap(rhs.m_indices);
@@ -161,8 +147,8 @@ inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Swap(TOctr
 
 
 // destroy tree
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-inline typename TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::POINT_TYPE TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::ComputeChildCenter(const POINT_TYPE& center, TYPE radius, unsigned idxChild)
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline typename TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::POINT_TYPE TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::ComputeChildCenter(const POINT_TYPE& center, TYPE radius, unsigned idxChild)
 {
 	struct CENTERARR_TYPE {
 		POINT_TYPE child[CELL_TYPE::numChildren];
@@ -174,108 +160,107 @@ inline typename TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::POINT_
 /*----------------------------------------------------------------*/
 
 // add the given item to the tree
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_Insert(CELL_TYPE& cell, TYPE radius, IDXARR_TYPE childrenIndices[])
-{
-	ASSERT(!cell.IsLeaf());
-	// setup each cell
-	const POINT_TYPE& center = cell.Node().center;
-	const TYPE childRadius = radius / TYPE(2);
-	for (int i=0; i<CELL_TYPE::numChildren; ++i) {
-		IDXARR_TYPE& childIndices = childrenIndices[i];
-		CELL_TYPE& child = cell.m_child[i];
-		// if this child cell needs to be divided further
-		if (childIndices.GetSize() > OCTREE_CELLITEMS && (NOM == 0 || childRadius > OCTREE_CELLRADIUS)) {
-			// proceed recursively
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+template <typename Functor, bool bForceSplit>
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_Insert(CELL_TYPE& cell, const POINT_TYPE& center, TYPE radius, IDX_TYPE start, IDX_TYPE size, _InsertData<Functor>& insertData)
+{
+	ASSERT(size > 0);
+	// if this child cell needs to be divided further
+	if (bForceSplit || insertData.split(size, radius)) {
+		// init node and proceed recursively
+		cell.m_child = new CELL_TYPE[CELL_TYPE::numChildren];
+		cell.Node().center = center;
+		struct ChildData {
+			enum { ESTART=0, EEND=CELL_TYPE::numChildren, ESIZE=CELL_TYPE::numChildren*2, EALL=CELL_TYPE::numChildren*3};
+			IDX_TYPE data[EALL];
+			ChildData() { memset(data, 0, sizeof(IDX_TYPE)*EALL); }
+			inline IDX_TYPE Start(unsigned i) const { return data[ESTART+i]; }
+			inline IDX_TYPE& Start(unsigned i) { return data[ESTART+i]; }
+			inline IDX_TYPE End(unsigned i) const { return data[EEND+i]; }
+			inline IDX_TYPE& End(unsigned i) { return data[EEND+i]; }
+			inline IDX_TYPE Size(unsigned i) const { return data[ESIZE+i]; }
+			inline IDX_TYPE& Size(unsigned i) { return data[ESIZE+i]; }
+		} childD;
+		IDX_TYPE idx(start);
+		for (IDX_TYPE i=0; i<size; ++i) {
+			const unsigned idxChild(cell.ComputeChild(GetItem(idx)));
+			if (childD.Size(idxChild) == 0)
+				childD.Start(idxChild) = idx;
+			else
+				insertData.successors[childD.End(idxChild)] = idx;
+			childD.End(idxChild) = idx;
+			++childD.Size(idxChild);
+			idx = insertData.successors[idx];
+		}
+		ASSERT(idx == _InsertData<Functor>::NO_INDEX);
+		const TYPE childRadius(radius / TYPE(2));
+		for (unsigned i=0; i<CELL_TYPE::numChildren; ++i) {
+			CELL_TYPE& child = cell.m_child[i];
+			if (childD.Size(i) == 0) {
+				child.Leaf().idxBegin = m_indices.size();
+				child.Leaf().size = 0;
+				continue;
+			}
+			insertData.successors[childD.End(i)] = _InsertData<Functor>::NO_INDEX; // mark the end of child successors
 			const POINT_TYPE childCenter(ComputeChildCenter(center, childRadius, i));
-			_Insert(child, childCenter, childRadius, childIndices);
-		} else {
-			// init leaf
-			typename CELL_TYPE::LEAF_TYPE& leaf = child.Leaf();
-			leaf.idxBegin = m_indices.GetSize();
-			leaf.size = (typename CELL_TYPE::SIZE_TYPE)childIndices.GetSize();
-			// store items
-			m_indices.Join(childIndices);
-			childIndices.Release();
+			_Insert<Functor,false>(child, childCenter, childRadius, childD.Start(i), childD.Size(i), insertData);
 		}
+	} else {
+		// init leaf
+		cell.Leaf().idxBegin = m_indices.size();
+		cell.Leaf().size = (SIZE_TYPE)size;
+		for (IDX_TYPE idx=start; idx!=_InsertData<Functor>::NO_INDEX; idx=insertData.successors[idx])
+			m_indices.push_back(idx);
 	}
 } // _Insert
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_Insert(CELL_TYPE& cell, const POINT_TYPE& center, TYPE radius, IDXARR_TYPE& indices)
-{
-	ASSERT(cell.IsLeaf());
-	ASSERT(indices.GetSize() > OCTREE_CELLITEMS);
-	ASSERT(NOM == 0 || radius > OCTREE_CELLRADIUS);
-	// divide cell
-	// transform this cell in node
-	cell.m_child = new CELL_TYPE[CELL_TYPE::numChildren];
-	cell.Node().center = center;
-	// divide the items in separate indices lists corresponding to each child
-	const size_t reserveSize = indices.GetSize() / 3;
-	IDXARR_TYPE childrenIndices[CELL_TYPE::numChildren];
-	for (int i=0; i<CELL_TYPE::numChildren; ++i)
-		childrenIndices[i].Reserve(reserveSize);
-	FOREACHPTR(it, indices) {
-		const unsigned idx = cell.ComputeChild((const POINT_TYPE)m_items[*it]);
-		childrenIndices[idx].Insert(*it);
-	}
-	indices.Release();
-	// setup each cell
-	_Insert(cell, radius, childrenIndices);
-} // _Insert
 /*----------------------------------------------------------------*/
 
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Insert(const ITEMARR_TYPE& items, const AABB_TYPE& aabb)
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+template <typename Functor>
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Insert(const ITEMARR_TYPE& items, const AABB_TYPE& aabb, Functor split)
 {
 	Release();
 	m_items = items.Begin();
-	m_radius = GetRadius(aabb);
-	// build tree
 	// create root as node, even if we do not need to divide
 	m_indices.Reserve(items.GetSize());
 	// divide cell
 	m_root.m_child = new CELL_TYPE[CELL_TYPE::numChildren];
 	m_root.Node().center = aabb.GetCenter();
-	// divide the items in separate indices lists corresponding to each child
-	const size_t reserveSize = items.GetSize() / 3;
-	IDXARR_TYPE childrenIndices[CELL_TYPE::numChildren];
-	for (int i=0; i<CELL_TYPE::numChildren; ++i)
-		childrenIndices[i].Reserve(reserveSize);
-	FOREACH(i, items) {
-		const unsigned idx = m_root.ComputeChild((const POINT_TYPE)items[i]);
-		childrenIndices[idx].Insert(i);
-	}
+	m_radius = aabb.GetSize().maxCoeff()/Type(2);
+	// single connected list of next item indices
+	_InsertData<Functor> insertData = {items.size(), split};
+	std::iota(insertData.successors.begin(), insertData.successors.end(), IDX_TYPE(1));
+	insertData.successors.back() = _InsertData<Functor>::NO_INDEX;
 	// setup each cell
-	_Insert(m_root, m_radius, childrenIndices);
+	_Insert<Functor,true>(m_root, m_root.GetCenter(), m_radius, 0, items.GetSize(), insertData);
 }
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Insert(const ITEMARR_TYPE& items)
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+template <typename Functor>
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Insert(const ITEMARR_TYPE& items, Functor split)
 {
 	ASSERT(!items.IsEmpty());
-	AABB_TYPE aabb;
 	ASSERT(sizeof(POINT_TYPE) == sizeof(typename ITEMARR_TYPE::Type));
-	aabb.Set((const POINT_TYPE*)items.Begin(), items.GetSize());
+	AABB_TYPE aabb((const POINT_TYPE*)items.data(), items.size());
 	aabb.Enlarge(ZEROTOLERANCE<TYPE>()*TYPE(10));
-	Insert(items, aabb);
+	Insert(items, aabb, split);
 } // Insert
 /*----------------------------------------------------------------*/
 
 
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename INSERTER>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_CollectCells(const CELL_TYPE& cell, INSERTER& inserter) const
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CollectCells(const CELL_TYPE& cell, INSERTER& inserter) const
 {
 	if (cell.IsLeaf()) {
-		inserter(m_indices.Begin()+cell.Leaf().idxBegin, cell.GetNumItems());
+		inserter(m_indices.Begin()+cell.GetFirstItemIdx(), cell.GetNumItems());
 		return;
 	}
 	for (int i=0; i<CELL_TYPE::numChildren; ++i)
-		_CollectCells(cell.m_child[i], inserter);
+		CollectCells(cell.m_child[i], inserter);
 }
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename PARSER>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_ParseCells(CELL_TYPE& cell, TYPE radius, PARSER& parser)
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_ParseCells(CELL_TYPE& cell, TYPE radius, PARSER& parser)
 {
 	if (cell.IsLeaf()) {
 		parser(cell, radius);
@@ -288,16 +273,16 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_ParseCells(CELL_
 /*----------------------------------------------------------------*/
 
 // calls parser for each leaf of the octree (the IDX_TYPE operator has to be defined)
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename INSERTER>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::CollectCells(INSERTER& inserter) const
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CollectCells(INSERTER& inserter) const
 {
-	_CollectCells(m_root, inserter);
+	CollectCells(m_root, inserter);
 }
 // calls parser for each leaf of the octree (the CELL_TYPE operator has to be defined)
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename PARSER>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::ParseCells(PARSER& parser)
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::ParseCells(PARSER& parser)
 {
 	_ParseCells(m_root, m_radius, parser);
 }
@@ -305,15 +290,15 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::ParseCells(PARSER
 
 
 // find all items contained by the given bounding box
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename INSERTER>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_Collect(const CELL_TYPE& cell, const AABB_TYPE& aabb, INSERTER& inserter) const
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_Collect(const CELL_TYPE& cell, const AABB_TYPE& aabb, INSERTER& inserter) const
 {
 	if (cell.IsLeaf()) {
 		// add all items contained by the bounding-box
-		for (IDX i=0; i<cell.Leaf().size; ++i) {
-			const IDX idx = m_indices[cell.Leaf().idxBegin + i];
-			if (aabb.Intersects((const POINT_TYPE)m_items[idx]))
+		for (IDX_TYPE i=0; i<cell.Leaf().size; ++i) {
+			const IDX_TYPE idx = m_indices[cell.Leaf().idxBegin + i];
+			if (aabb.Intersects(GetItem(idx)))
 				inserter(idx);
 		}
 		return;
@@ -353,9 +338,9 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_Collect(const CE
 	}
 } // Collect
 // find all items contained by the cells intersected by the given line
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename INSERTER, typename COLLECTOR>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_Collect(const CELL_TYPE& cell, TYPE radius, const COLLECTOR& collector, INSERTER& inserter) const
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_Collect(const CELL_TYPE& cell, TYPE radius, const COLLECTOR& collector, INSERTER& inserter) const
 {
 	ASSERT(!cell.IsLeaf());
 	const TYPE childRadius = radius / TYPE(2);
@@ -363,7 +348,7 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_Collect(const CE
 		const CELL_TYPE& childCell = cell.m_child[i];
 		if (childCell.IsLeaf()) {
 			if (collector.Intersects(ComputeChildCenter(cell.GetCenter(), childRadius, i), childRadius))
-				inserter(m_indices.Begin()+childCell.Leaf().idxBegin, childCell.GetNumItems());
+				inserter(m_indices.Begin()+childCell.GetFirstItemIdx(), childCell.GetNumItems());
 		} else {
 			if (collector.Intersects(childCell.Node().center, childRadius))
 				_Collect(childCell, childRadius, collector, inserter);
@@ -372,45 +357,45 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_Collect(const CE
 } // Collect
 /*----------------------------------------------------------------*/
 
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename INSERTER>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Collect(INSERTER& inserter, const AABB_TYPE& aabb) const
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(INSERTER& inserter, const AABB_TYPE& aabb) const
 {
 	_Collect(m_root, aabb, inserter);
 }
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Collect(IDXARR_TYPE& indices, const AABB_TYPE& aabb) const
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(IDXARR_TYPE& indices, const AABB_TYPE& aabb) const
 {
 	_Collect(m_root, aabb, IndexInserter(indices));
 }
 
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename INSERTER>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Collect(INSERTER& inserter, const POINT_TYPE& center, TYPE radius) const
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(INSERTER& inserter, const POINT_TYPE& center, TYPE radius) const
 {
 	_Collect(m_root, AABB_TYPE(center, radius), inserter);
 }
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Collect(IDXARR_TYPE& indices, const POINT_TYPE& center, TYPE radius) const
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(IDXARR_TYPE& indices, const POINT_TYPE& center, TYPE radius) const
 {
 	_Collect(m_root, AABB_TYPE(center, radius), IndexInserter(indices));
 }
 
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename INSERTER, typename COLLECTOR>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Collect(INSERTER& inserter, const COLLECTOR& collector) const
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(INSERTER& inserter, const COLLECTOR& collector) const
 {
 	_Collect(m_root, m_radius, collector, inserter);
 }
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename COLLECTOR>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Collect(IDXARR_TYPE& indices, const COLLECTOR& collector) const
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(IDXARR_TYPE& indices, const COLLECTOR& collector) const
 {
 	_Collect(m_root, m_radius, collector, IndexInserter(indices));
 }
 
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Collect(IDX_TYPE maxNeighbors, IDXARR_TYPE& indices, const AABB_TYPE& aabb) const
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(IDX_TYPE maxNeighbors, IDXARR_TYPE& indices, const AABB_TYPE& aabb) const
 {
 	_Collect(m_root, aabb, IndexInserter(indices));
 	if (indices.GetSize() > maxNeighbors) {
@@ -421,17 +406,17 @@ inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Collect(ID
 		const POINT_TYPE center(aabb.GetCenter());
 		FOREACH(i, indices) {
 			const IDX_TYPE& idx = indices[i];
-			const TYPE score(-(center-(const POINT_TYPE)m_items[idx]).squaredNorm());
+			const TYPE score(-(center-GetItem(idx)).squaredNorm());
 			indexscores[i] = ItemIndexScore(idx,score);
 		}
 		indices.Empty();
 		indexscores.Sort();
-		for (IDX i=0; i<maxNeighbors; ++i)
+		for (IDX_TYPE i=0; i<maxNeighbors; ++i)
 			indices.Insert(indexscores[i].idx);
 	}
 }
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Collect(IDX_TYPE maxNeighbors, IDXARR_TYPE& indices, const POINT_TYPE& center, TYPE radius) const
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(IDX_TYPE maxNeighbors, IDXARR_TYPE& indices, const POINT_TYPE& center, TYPE radius) const
 {
 	Collect(maxNeighbors, indices, AABB_TYPE(center, radius));
 } // Collect
@@ -439,9 +424,9 @@ inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Collect(ID
 
 
 // walk through the tree and collect visible indices
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename FTYPE, int FDIMS, typename INSERTER>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_Traverse(const CELL_TYPE& cell, TYPE radius, const TFrustum<FTYPE,FDIMS>& frustum, INSERTER& inserter) const
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_Traverse(const CELL_TYPE& cell, TYPE radius, const TFrustum<FTYPE,FDIMS>& frustum, INSERTER& inserter) const
 {
 	ASSERT(!cell.IsLeaf());
 	switch (frustum.Classify(cell.GetAabb(radius))) {
@@ -452,7 +437,7 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_Traverse(const C
 			if (childCell.IsLeaf()) {
 				const AABB_TYPE childAabb(ComputeChildCenter(cell.GetCenter(), childRadius, i), childRadius);
 				if (frustum.Classify(childAabb) != CULLED)
-					inserter(m_indices.Begin()+childCell.Leaf().idxBegin, childCell.GetNumItems());
+					inserter(m_indices.Begin()+childCell.GetFirstItemIdx(), childCell.GetNumItems());
 			} else {
 				_Traverse(childCell, childRadius, frustum, inserter);
 			}
@@ -460,14 +445,14 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_Traverse(const C
 		break; }
 	case VISIBLE: {
 		for (int i=0; i<CELL_TYPE::numChildren; ++i)
-			_CollectCells(cell.m_child[i], inserter);
+			CollectCells(cell.m_child[i], inserter);
 		break; }
 	}
 }
 // walk through the tree and collect visible leafs
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename FTYPE, int FDIMS, typename PARSER>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_TraverseCells(CELL_TYPE& cell, TYPE radius, const TFrustum<FTYPE,FDIMS>& frustum, PARSER& parser)
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_TraverseCells(CELL_TYPE& cell, TYPE radius, const TFrustum<FTYPE,FDIMS>& frustum, PARSER& parser)
 {
 	ASSERT(!cell.IsLeaf());
 	switch (frustum.Classify(cell.GetAabb(radius))) {
@@ -491,27 +476,27 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_TraverseCells(CE
 	}
 }
 
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename FTYPE, int FDIMS, typename INSERTER>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Traverse(const TFrustum<FTYPE,FDIMS>& frustum, INSERTER& inserter) const
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Traverse(const TFrustum<FTYPE,FDIMS>& frustum, INSERTER& inserter) const
 {
 	_Traverse(m_root, m_radius, frustum, inserter);
 }
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename FTYPE, int FDIMS>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Traverse(const TFrustum<FTYPE,FDIMS>& frustum, IDXARR_TYPE& indices) const
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Traverse(const TFrustum<FTYPE,FDIMS>& frustum, IDXARR_TYPE& indices) const
 {
 	_Traverse(m_root, m_radius, frustum, IndexInserter(indices));
 }
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename FTYPE, int FDIMS, typename PARSER>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::TraverseCells(const TFrustum<FTYPE,FDIMS>& frustum, PARSER& parser)
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::TraverseCells(const TFrustum<FTYPE,FDIMS>& frustum, PARSER& parser)
 {
 	_TraverseCells(m_root, m_radius, frustum, parser);
 }
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename FTYPE, int FDIMS>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::TraverseCells(const TFrustum<FTYPE,FDIMS>& frustum, CELLPTRARR_TYPE& leaves)
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::TraverseCells(const TFrustum<FTYPE,FDIMS>& frustum, CELLPTRARR_TYPE& leaves)
 {
 	_TraverseCells(m_root, m_radius, frustum, CellInserter(leaves));
 } // Traverse
@@ -519,8 +504,8 @@ inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::TraverseCe
 
 
 #ifndef _RELEASE
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_GetDebugInfo(const CELL_TYPE& cell, unsigned nDepth, DEBUGINFO& info) const
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_GetDebugInfo(const CELL_TYPE& cell, unsigned nDepth, DEBUGINFO& info) const
 {
 	if (cell.IsLeaf()) {
 		if (info.minDepth > nDepth)
@@ -537,8 +522,8 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_GetDebugInfo(con
 		_GetDebugInfo(cell.m_child[i], nDepth, info);
 }
 
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::GetDebugInfo(DEBUGINFO* pInfo, bool bPrintStats) const
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::GetDebugInfo(DEBUGINFO* pInfo, bool bPrintStats) const
 {
 	DEBUGINFO localInfo;
 	DEBUGINFO& info = (pInfo ? *pInfo : localInfo);
@@ -555,8 +540,8 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::GetDebugInfo(DEBU
 } // GetDebugInfo
 /*----------------------------------------------------------------*/
 
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::LogDebugInfo(const DEBUGINFO& info)
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::LogDebugInfo(const DEBUGINFO& info)
 {
 	//VERBOSE("NoItems: %d; Mem %s; MemItems %s; MemStruct %s; AvgMemStruct %.2f%%%%; NoNodes %d; NoLeaf %d; AvgLeaf %.2f%%%%; AvgDepth %.2f; MinDepth %d; MaxDepth %d",
 	VERBOSE("NumItems %d; Mem %s (%s items, %s struct - %.2f%%%%); NumNodes %d (leaves %d - %.2f%%%%); Depth %.2f (%d min, %d max)",
@@ -574,7 +559,7 @@ inline bool OctreeTest(unsigned iters, unsigned maxItems=1000, bool bRandom=true
 	srand(bRandom ? (unsigned)time(NULL) : 0);
 	typedef Eigen::Matrix<TYPE,DIMS,1> POINT_TYPE;
 	typedef SEACAVE::cList<POINT_TYPE,const POINT_TYPE&,0> TestArr;
-	typedef TOctree<TestArr,TYPE,DIMS,uint32_t,16,10,1> TestTree;
+	typedef TOctree<TestArr,TYPE,DIMS,uint32_t> TestTree;
 	const TYPE ptMinData[] = {0,0,0}, ptMaxData[] = {640,480,240};
 	typename TestTree::AABB_TYPE aabb;
 	aabb.Set(Eigen::Map<const POINT_TYPE>(ptMinData), Eigen::Map<const POINT_TYPE>(ptMaxData));
@@ -600,7 +585,9 @@ inline bool OctreeTest(unsigned iters, unsigned maxItems=1000, bool bRandom=true
 		if (DIMS > 2) pt(2) = RAND()%ROUND2INT(ptMaxData[2]);
 		const TYPE radius(TYPE(3+RAND()%30));
 		// build octree and find interest items
-		TestTree tree(items, aabb);
+		TestTree tree(items, aabb, [](typename TestTree::IDX_TYPE size, typename TestTree::Type radius) {
+			return size > 16 && radius > 10;
+		});
 		typename TestTree::IDXARR_TYPE indices;
 		tree.Collect(indices, pt, radius);
 		// find interest items by brute force
@@ -620,7 +607,7 @@ inline bool OctreeTest(unsigned iters, unsigned maxItems=1000, bool bRandom=true
 		// compare results
 		unsigned nMatches = 0;
 		FOREACH(i, trueIndices) {
-			const IDX idx = trueIndices[i];
+			const typename TestTree::IDX_TYPE idx = trueIndices[i];
 			FOREACH(j, indices) {
 				if (indices[j] == idx) {
 					++nMatches;
diff --git a/libs/Common/Rotation.h b/libs/Common/Rotation.h
index 87761e56e..22d00a356 100644
--- a/libs/Common/Rotation.h
+++ b/libs/Common/Rotation.h
@@ -280,9 +280,6 @@ class TRMatrixBase : public TMatrix<TYPE,3,3>
 	inline TRMatrixBase(const BaseBase& rhs) : Base(rhs) {}
 	template <typename T> inline TRMatrixBase(const cv::Matx<T,3,3>& rhs) : Base(rhs) {}
 
-	/** @brief Copy constructor from rotation matrix */
-	inline TRMatrixBase(const TRMatrixBase& r);
-
 	/** @brief Copy constructor from 3x3 matrix
 		@attention Orthonormality of matrix is enforced automatically! */
 	inline TRMatrixBase(const Mat& mat);
@@ -299,8 +296,6 @@ class TRMatrixBase : public TMatrix<TYPE,3,3>
 	/** @brief Initialization with the rotation from roll/pitch/yaw (in rad) */
 	inline TRMatrixBase(TYPE roll, TYPE pitch, TYPE yaw);
 
-	inline ~TRMatrixBase();
-
 	template <typename T> inline TRMatrixBase& operator = (const cv::Matx<T,3,3>& rhs) { BaseBase::operator = (rhs); return *this; }
 	inline TRMatrixBase& operator = (const cv::Mat& rhs) { BaseBase::operator = (rhs); return *this; }
 	#ifdef _USE_EIGEN
diff --git a/libs/Common/Rotation.inl b/libs/Common/Rotation.inl
index 212d6c075..fb9b4e1d5 100644
--- a/libs/Common/Rotation.inl
+++ b/libs/Common/Rotation.inl
@@ -521,13 +521,6 @@ inline TRMatrixBase<TYPE>::TRMatrixBase()
   : Base(Base::IDENTITY)
 {}
 
-template <typename TYPE>
-inline TRMatrixBase<TYPE>::TRMatrixBase(const TRMatrixBase<TYPE>& r)
-  : Base(r)
-{
-	ASSERT(Check(R_CONSTRAINT_ACCURACY));
-}
-
 template <typename TYPE>
 inline TRMatrixBase<TYPE>::TRMatrixBase(const Mat& mat)
   : Base(mat)
@@ -559,10 +552,6 @@ inline TRMatrixBase<TYPE>::TRMatrixBase(TYPE roll, TYPE pitch, TYPE yaw)
 	SetXYZ(roll, pitch, yaw);
 }
 
-template <typename TYPE>
-inline TRMatrixBase<TYPE>::~TRMatrixBase()
-{}
-
 
 template <typename TYPE>
 void TRMatrixBase<TYPE>::SetXYZ(TYPE PhiX, TYPE PhiY, TYPE PhiZ)
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index f50997438..b4193f01d 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -3419,6 +3419,22 @@ void Mesh::RemoveVertices(VertexIdxArr& vertexRemove, bool bUpdateLists)
 /*----------------------------------------------------------------*/
 
 
+
+
+// computes the centroid of the given mesh face
+Mesh::Vertex Mesh::ComputeCentroid(FIndex idxFace) const
+{
+	const Face& face = faces[idxFace];
+	return (vertices[face[0]] + vertices[face[1]] + vertices[face[2]]) * (Type(1)/Type(3));
+}
+
+// computes the area of the given mesh face
+Mesh::Type Mesh::ComputeArea(FIndex idxFace) const
+{
+	const Face& face = faces[idxFace];
+	return ComputeTriangleArea(vertices[face[0]], vertices[face[1]], vertices[face[2]]);
+}
+
 // computes the area of the mesh surface as the sum of the signed areas of its faces
 REAL Mesh::ComputeArea() const
 {
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 09da00aed..e8e884fee 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -82,6 +82,31 @@ class MVS_API Mesh
 
 	typedef AABB3f Box;
 
+	// used to render a mesh
+	typedef TOctree<VertexArr,Vertex::Type,3> Octree;
+	struct FacesInserter {
+		FaceIdxArr& cameraFaces;
+		FacesInserter(FaceIdxArr& _cameraFaces)
+			: cameraFaces(_cameraFaces) {}
+		inline void operator() (const Octree::IDX_TYPE* indices, Octree::SIZE_TYPE size) {
+			cameraFaces.Join(indices, size);
+		}
+		static void CreateOctree(Octree& octree, const Mesh& mesh) {
+			VertexArr centroids(mesh.faces.size());
+			FOREACH(idx, mesh.faces)
+				centroids[idx] = mesh.ComputeCentroid(idx);
+			octree.Insert(centroids, [](Octree::IDX_TYPE size, Octree::Type /*radius*/) {
+				return size > 32;
+			});
+			#if 0 && !defined(_RELEASE)
+			Octree::DEBUGINFO_TYPE info;
+			octree.GetDebugInfo(&info);
+			Octree::LogDebugInfo(info);
+			#endif
+			octree.ResetItems();
+		}
+	};
+
 public:
 	VertexArr vertices;
 	FaceArr faces;
@@ -154,6 +179,8 @@ class MVS_API Mesh
 		return n;
 	}
 
+	Vertex ComputeCentroid(FIndex) const;
+	Type ComputeArea(FIndex) const;
 	REAL ComputeArea() const;
 	REAL ComputeVolume() const;
 
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 070e37878..4c564101f 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -64,7 +64,7 @@ class MVS_API Scene
 
 public:
 	inline Scene(unsigned _nMaxThreads=0)
-		: nMaxThreads(Thread::getMaxThreads(_nMaxThreads)), obb(true) {}
+		: obb(true), nMaxThreads(Thread::getMaxThreads(_nMaxThreads)) {}
 
 	void Release();
 	bool IsEmpty() const;
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 367d3319b..4d07e6e03 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -1881,7 +1881,7 @@ void Scene::PointCloudFilter(int thRemove)
 {
 	TD_TIMER_STARTD();
 
-	typedef TOctree<PointCloud::PointArr,PointCloud::Point::Type,3,uint32_t,128> Octree;
+	typedef TOctree<PointCloud::PointArr,PointCloud::Point::Type,3,uint32_t> Octree;
 	struct Collector {
 		typedef Octree::IDX_TYPE IDX;
 		typedef PointCloud::Point::Type Real;
@@ -1938,7 +1938,9 @@ void Scene::PointCloudFilter(int thRemove)
 	typedef CLISTDEF2(Collector) Collectors;
 
 	// create octree to speed-up search
-	Octree octree(pointcloud.points);
+	Octree octree(pointcloud.points, [](Octree::IDX_TYPE size, Octree::Type /*radius*/) {
+		return size > 128;
+	});
 	IntArr visibility(pointcloud.GetSize()); visibility.Memset(0);
 	Collectors collectors; collectors.reserve(images.size());
 	FOREACH(idxView, images) {
diff --git a/libs/MVS/SceneRefine.cpp b/libs/MVS/SceneRefine.cpp
index 6cca7b809..5d3e04173 100644
--- a/libs/MVS/SceneRefine.cpp
+++ b/libs/MVS/SceneRefine.cpp
@@ -81,9 +81,6 @@ class MeshRefine {
 	typedef TPoint3<Real> Grad;
 	typedef CLISTDEF0IDX(Grad,VIndex) GradArr;
 
-	typedef std::unordered_set<FIndex> CameraFaces;
-	typedef SEACAVE::cList<CameraFaces,const CameraFaces&,2> CameraFacesArr;
-
 	typedef TImage<cuint32_t> FaceMap;
 	typedef TImage<Point3f> BaryMap;
 
@@ -152,7 +149,7 @@ class MeshRefine {
 
 	static bool IsDepthSimilar(const DepthMap& depthMap, const Point2f& pt, Depth z);
 	static void ProjectMesh(
-		const Mesh::VertexArr& vertices, const Mesh::FaceArr& faces, const CameraFaces& cameraFaces,
+		const Mesh::VertexArr& vertices, const Mesh::FaceArr& faces, const Mesh::FaceIdxArr& cameraFaces,
 		const Camera& camera, const Image8U::Size& size,
 		DepthMap& depthMap, FaceMap& faceMap, BaryMap& baryMap);
 	static void ImageMeshWarp(
@@ -188,7 +185,7 @@ class MeshRefine {
 	void WaitThreadWorkers(size_t nJobs);
 	void ThSelectNeighbors(uint32_t idxImage, std::unordered_set<uint64_t>& mapPairs, unsigned nMaxViews);
 	void ThInitImage(uint32_t idxImage, Real scale, Real sigma);
-	void ThProjectMesh(uint32_t idxImage, const CameraFaces& cameraFaces);
+	void ThProjectMesh(uint32_t idxImage, const Mesh::FaceIdxArr& cameraFaces);
 	void ThProcessPair(uint32_t idxImageA, uint32_t idxImageB);
 	void ThSmoothVertices1(VIndex idxStart, VIndex idxEnd);
 	void ThSmoothVertices2(VIndex idxStart, VIndex idxEnd);
@@ -297,12 +294,12 @@ class EVTProjectMesh : public Event
 {
 public:
 	uint32_t idxImage;
-	const MeshRefine::CameraFaces& cameraFaces;
+	const Mesh::FaceIdxArr& cameraFaces;
 	bool Run(void* pArgs) {
 		((MeshRefine*)pArgs)->ThProjectMesh(idxImage, cameraFaces);
 		return true;
 	}
-	EVTProjectMesh(uint32_t _idxImage, const MeshRefine::CameraFaces& _cameraFaces) : Event(EVT_JOB), idxImage(_idxImage), cameraFaces(_cameraFaces) {}
+	EVTProjectMesh(uint32_t _idxImage, const Mesh::FaceIdxArr& _cameraFaces) : Event(EVT_JOB), idxImage(_idxImage), cameraFaces(_cameraFaces) {}
 };
 class EVTProcessPair : public Event
 {
@@ -415,37 +412,18 @@ void MeshRefine::ListVertexFacesPost()
 void MeshRefine::ListCameraFaces()
 {
 	// extract array of faces viewed by each camera
+	typedef SEACAVE::cList<Mesh::FaceIdxArr,const Mesh::FaceIdxArr&,2> CameraFacesArr;
 	CameraFacesArr arrCameraFaces(images.GetSize());
 	{
-	struct FacesInserter {
-		FacesInserter(const Mesh::VertexFacesArr& _vertexFaces, CameraFaces& _cameraFaces)
-			: vertexFaces(_vertexFaces), cameraFaces(_cameraFaces) {}
-		inline void operator() (IDX idxVertex) {
-			const Mesh::FaceIdxArr& vertexTris = vertexFaces[idxVertex];
-			FOREACHPTR(pTri, vertexTris)
-				cameraFaces.emplace(*pTri);
-		}
-		inline void operator() (const IDX* idices, size_t size) {
-			FOREACHRAWPTR(pIdxVertex, idices, size)
-				operator()(*pIdxVertex);
-		}
-		const Mesh::VertexFacesArr& vertexFaces;
-		CameraFaces& cameraFaces;
-	};
-	typedef TOctree<Mesh::VertexArr,float,3> Octree;
-	const Octree octree(vertices);
-	#if 0 && !defined(_RELEASE)
-	Octree::DEBUGINFO_TYPE info;
-	octree.GetDebugInfo(&info);
-	Octree::LogDebugInfo(info);
-	#endif
+	Mesh::Octree octree;
+	Mesh::FacesInserter::CreateOctree(octree, scene.mesh);
 	FOREACH(ID, images) {
 		const Image& imageData = images[ID];
 		if (!imageData.IsValid())
 			continue;
 		typedef TFrustum<float,5> Frustum;
-		FacesInserter inserter(vertexFaces, arrCameraFaces[ID]);
 		const Frustum frustum(Frustum::MATRIX3x4(((PMatrix::CEMatMap)imageData.camera.P).cast<float>()), (float)imageData.width, (float)imageData.height);
+		Mesh::FacesInserter inserter(arrCameraFaces[ID]);
 		octree.Traverse(frustum, inserter);
 	}
 	}
@@ -749,7 +727,7 @@ bool MeshRefine::IsDepthSimilar(const DepthMap& depthMap, const Point2f& pt, Dep
 
 // project mesh to the given camera plane
 void MeshRefine::ProjectMesh(
-	const Mesh::VertexArr& vertices, const Mesh::FaceArr& faces, const CameraFaces& cameraFaces,
+	const Mesh::VertexArr& vertices, const Mesh::FaceArr& faces, const Mesh::FaceIdxArr& cameraFaces,
 	const Camera& camera, const Image8U::Size& size,
 	DepthMap& depthMap, FaceMap& faceMap, BaryMap& baryMap)
 {
@@ -1123,7 +1101,7 @@ void MeshRefine::ThInitImage(uint32_t idxImage, Real scale, Real sigma)
 	#endif
 	cv::merge(grad, 2, view.imageGrad);
 }
-void MeshRefine::ThProjectMesh(uint32_t idxImage, const CameraFaces& cameraFaces)
+void MeshRefine::ThProjectMesh(uint32_t idxImage, const Mesh::FaceIdxArr& cameraFaces)
 {
 	const Image& imageData = images[idxImage];
 	if (!imageData.IsValid())
diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index 400616c5c..2bd975d1d 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -477,33 +477,12 @@ void MeshTexture::ListVertexFaces()
 // extract array of faces viewed by each image
 bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThreshold)
 {
-	// create vertices octree
-	facesDatas.Resize(faces.GetSize());
-	typedef std::unordered_set<FIndex> CameraFaces;
-	struct FacesInserter {
-		FacesInserter(const Mesh::VertexFacesArr& _vertexFaces, CameraFaces& _cameraFaces)
-			: vertexFaces(_vertexFaces), cameraFaces(_cameraFaces) {}
-		inline void operator() (IDX idxVertex) {
-			const Mesh::FaceIdxArr& vertexTris = vertexFaces[idxVertex];
-			FOREACHPTR(pTri, vertexTris)
-				cameraFaces.emplace(*pTri);
-		}
-		inline void operator() (const IDX* idices, size_t size) {
-			FOREACHRAWPTR(pIdxVertex, idices, size)
-				operator()(*pIdxVertex);
-		}
-		const Mesh::VertexFacesArr& vertexFaces;
-		CameraFaces& cameraFaces;
-	};
-	typedef TOctree<Mesh::VertexArr,float,3> Octree;
-	const Octree octree(vertices);
-	#if 0 && !defined(_RELEASE)
-	Octree::DEBUGINFO_TYPE info;
-	octree.GetDebugInfo(&info);
-	Octree::LogDebugInfo(info);
-	#endif
+	// create faces octree
+	Mesh::Octree octree;
+	Mesh::FacesInserter::CreateOctree(octree, scene.mesh);
 
 	// extract array of faces viewed by each image
+	facesDatas.Resize(faces.GetSize());
 	Util::Progress progress(_T("Initialized views"), images.GetSize());
 	typedef float real;
 	TImage<real> imageGradMag;
@@ -562,8 +541,8 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 		#endif
 		(TImage<real>::EMatMap)imageGradMag = (mGrad[0].cwiseAbs2()+mGrad[1].cwiseAbs2()).cwiseSqrt();
 		// select faces inside view frustum
-		CameraFaces cameraFaces;
-		FacesInserter inserter(vertexFaces, cameraFaces);
+		Mesh::FaceIdxArr cameraFaces;
+		Mesh::FacesInserter inserter(cameraFaces);
 		typedef TFrustum<float,5> Frustum;
 		const Frustum frustum(Frustum::MATRIX3x4(((PMatrix::CEMatMap)imageData.camera.P).cast<float>()), (float)imageData.width, (float)imageData.height);
 		octree.Traverse(frustum, inserter);

From 7b55ad19699bd746eea06acbd35ea9655906aa70 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 15 Feb 2021 23:13:02 +0200
Subject: [PATCH 016/252] build: update AppVeyor

---
 .appveyor.yml | 7 +++----
 BUILD.md      | 6 +++---
 2 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/.appveyor.yml b/.appveyor.yml
index 84d82a06f..ca38cbeee 100644
--- a/.appveyor.yml
+++ b/.appveyor.yml
@@ -48,18 +48,17 @@ for:
     # remove outdated versions
     - vcpkg remove --outdated --recurse
     # install dependencies
-    - vcpkg install --recurse --triplet %VCPKG_ARCH% zlib boost-iostreams boost-program-options boost-system boost-serialization eigen3 cgal[core] opencv glew glfw3
-    - vcpkg integrate install
+    - vcpkg install --recurse yasm-tool:x86-windows
+    - vcpkg install --recurse --triplet %VCPKG_ARCH% zlib boost-iostreams boost-program-options boost-system boost-serialization eigen3 cgal[core] opencv vcglib glew glfw3
     - cd "%APPVEYOR_BUILD_FOLDER%"
   # preserve contents of selected directories and files across project builds
   cache:
     - 'C:\tools\vcpkg\installed'
   build_script:
-    - git clone https://github.com/cdcseacave/VCG.git
     - if "%platform%"=="Win32" set CMAKE_GENERATOR=-G"Visual Studio 15 2017"
     - if "%platform%"=="x64"   set CMAKE_GENERATOR=-G"Visual Studio 15 2017 Win64"
     - mkdir bin && cd bin
-    - cmake %CMAKE_GENERATOR% -DCMAKE_BUILD_TYPE=%Configuration% -DCMAKE_TOOLCHAIN_FILE="C:\tools\vcpkg\scripts\buildsystems\vcpkg.cmake" -DVCG_ROOT="%APPVEYOR_BUILD_FOLDER%\VCG" ..
+    - cmake %CMAKE_GENERATOR% -DCMAKE_BUILD_TYPE=%Configuration% -DCMAKE_TOOLCHAIN_FILE="C:\tools\vcpkg\scripts\buildsystems\vcpkg.cmake" ..
     - cmake --build . --target ALL_BUILD --config %Configuration% -- /maxcpucount:4
 -
   #------------------
diff --git a/BUILD.md b/BUILD.md
index f6295c723..75aaac1e4 100644
--- a/BUILD.md
+++ b/BUILD.md
@@ -3,7 +3,7 @@ Dependencies
 ------------
 
 *OpenMVS* relies on a number of open source libraries, some of which are optional. For details on customizing the build process, see the compilation instructions.
-* [Eigen](http://eigen.tuxfamily.org) version 3.2 (or higher on Windows only)
+* [Eigen](http://eigen.tuxfamily.org) version 3.3.9 or higher
 * [OpenCV](http://opencv.org) version 2.4 or higher
 * [Ceres](http://ceres-solver.org) version 1.10 or higher
 * [CGAL](http://www.cgal.org) version 4.2 or higher
@@ -33,7 +33,7 @@ cd OpenMVS
 
 #Get and install dependencies using vcpkg;
 #choose the desired triplet, like "x64-windows", by setting the VCPKG_DEFAULT_TRIPLET environment variable or by specifying it after each package:
-vcpkg install zlib boost-iostreams boost-program-options boost-system boost-serialization eigen3 cgal[core] opencv glew glfw3
+vcpkg install zlib boost-iostreams boost-program-options boost-system boost-serialization eigen3 cgal[core] opencv vcglib glew glfw3
 
 #Get VCGLib (Required):
 git clone https://github.com/cdcseacave/VCG.git
@@ -46,7 +46,7 @@ mkdir build
 cd build
 
 #Run CMake, where VCPKG_ROOT environment variable points to the root of vcpkg installation:
-cmake . ..\src -G "Visual Studio 15 2017 Win64" -DCMAKE_TOOLCHAIN_FILE=%VCPKG_ROOT%\scripts\buildsystems\vcpkg.cmake -DVCPKG_TARGET_TRIPLET=x64-windows -DVCG_ROOT="..\VCG"
+cmake . ..\src -G "Visual Studio 15 2017 Win64" -DCMAKE_TOOLCHAIN_FILE=%VCPKG_ROOT%\scripts\buildsystems\vcpkg.cmake -DVCPKG_TARGET_TRIPLET=x64-windows
 
 #Open the solution in MSVC and build it
 ```

From 37f4b1eaff879aa051be59ef4bd0d355efdfb682 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 20 Feb 2021 18:57:38 +0200
Subject: [PATCH 017/252] mesh: split mesh in sub-meshed by max area

---
 apps/ReconstructMesh/ReconstructMesh.cpp |  20 +-
 libs/Common/Octree.h                     |  19 +-
 libs/Common/Octree.inl                   | 270 ++++++++++++++++++++---
 libs/MVS/Mesh.cpp                        | 104 ++++++++-
 libs/MVS/Mesh.h                          |  11 +
 5 files changed, 385 insertions(+), 39 deletions(-)

diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index 8651715e0..edd5b4cd2 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -63,6 +63,7 @@ float fRemoveSpurious;
 bool bRemoveSpikes;
 unsigned nCloseHoles;
 unsigned nSmoothMesh;
+float fSplitMaxArea;
 unsigned nArchiveType;
 int nProcessPriority;
 unsigned nMaxThreads;
@@ -124,7 +125,8 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	boost::program_options::options_description hidden("Hidden options");
 	hidden.add_options()
 		("mesh-file", boost::program_options::value<std::string>(&OPT::strMeshFileName), "mesh file name to clean (skips the reconstruction step)")
-		("mesh-export", boost::program_options::value<bool>(&OPT::bMeshExport)->default_value(false), "just export the mesh contained in loaded project")
+		("mesh-export", boost::program_options::value(&OPT::bMeshExport)->default_value(false), "just export the mesh contained in loaded project")
+		("split-max-area", boost::program_options::value(&OPT::fSplitMaxArea)->default_value(0.f), "maximum surface area that a sub-mesh can contain (0 - disabled)")
 		;
 
 	boost::program_options::options_description cmdline_options;
@@ -219,8 +221,17 @@ int main(int argc, LPCTSTR* argv)
 
 	Scene scene(OPT::nMaxThreads);
 	// load project
-	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
+	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName), OPT::fSplitMaxArea > 0))
 		return EXIT_FAILURE;
+	const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
+	if (OPT::fSplitMaxArea > 0) {
+		// split mesh using max-area constraint
+		Mesh::FacesChunkArr chunks;
+		if (scene.mesh.Split(chunks, OPT::fSplitMaxArea))
+			scene.mesh.Save(chunks, baseFileName);
+		Finalize();
+		return EXIT_SUCCESS;
+	}
 	if (OPT::bMeshExport) {
 		// check there is a mesh to export
 		if (scene.mesh.IsEmpty())
@@ -230,7 +241,7 @@ int main(int argc, LPCTSTR* argv)
 		scene.mesh.Save(fileName);
 		#if TD_VERBOSE != TD_VERBOSE_OFF
 		if (VERBOSITY_LEVEL > 2)
-			scene.ExportCamerasMLP(Util::getFileFullName(OPT::strOutputFileName)+_T(".mlp"), fileName);
+			scene.ExportCamerasMLP(baseFileName+_T(".mlp"), fileName);
 		#endif
 	} else {
 		if (OPT::strMeshFileName.IsEmpty()) {
@@ -281,7 +292,7 @@ int main(int argc, LPCTSTR* argv)
 			#if TD_VERBOSE != TD_VERBOSE_OFF
 			if (VERBOSITY_LEVEL > 2) {
 				// dump raw mesh
-				scene.mesh.Save(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+_T("_raw")+OPT::strExportType);
+				scene.mesh.Save(baseFileName+_T("_raw")+OPT::strExportType);
 			}
 			#endif
 		} else {
@@ -295,7 +306,6 @@ int main(int argc, LPCTSTR* argv)
 		scene.mesh.Clean(1.f, 0.f, false, 0, 0, true); // extra cleaning to remove non-manifold problems created by closing holes
 
 		// save the final mesh
-		const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
 		scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
 		scene.mesh.Save(baseFileName+OPT::strExportType);
 		#if TD_VERBOSE != TD_VERBOSE_OFF
diff --git a/libs/Common/Octree.h b/libs/Common/Octree.h
index 568b87ca6..70acd14c6 100644
--- a/libs/Common/Octree.h
+++ b/libs/Common/Octree.h
@@ -69,15 +69,17 @@ class TOctree
 
 		inline unsigned ComputeChild(const POINT_TYPE& item) const;
 		static void ComputeCenter(POINT_TYPE []);
+		static inline POINT_TYPE ComputeChildCenter(const POINT_TYPE&, TYPE, unsigned);
 
 		inline bool	IsLeaf() const { return (m_child==NULL); }
 		inline const CELL_TYPE& GetChild(int i) const { ASSERT(!IsLeaf() && i<numChildren); return m_child[i]; }
-		inline const NODE_TYPE& Node() const { ASSERT(!IsLeaf()); return *((const NODE_TYPE*)m_data); }
-		inline NODE_TYPE& Node() { ASSERT(!IsLeaf()); return *((NODE_TYPE*)m_data); }
-		inline const LEAF_TYPE& Leaf() const { ASSERT(IsLeaf()); return *((const LEAF_TYPE*)m_data); }
-		inline LEAF_TYPE& Leaf() { ASSERT(IsLeaf()); return *((LEAF_TYPE*)m_data); }
+		inline const NODE_TYPE& Node() const { ASSERT(!IsLeaf()); return *reinterpret_cast<const NODE_TYPE*>(m_data); }
+		inline NODE_TYPE& Node() { ASSERT(!IsLeaf()); return *reinterpret_cast<NODE_TYPE*>(m_data); }
+		inline const LEAF_TYPE& Leaf() const { ASSERT(IsLeaf()); return *reinterpret_cast<const LEAF_TYPE*>(m_data); }
+		inline LEAF_TYPE& Leaf() { ASSERT(IsLeaf()); return *reinterpret_cast<LEAF_TYPE*>(m_data); }
 		inline const POINT_TYPE& GetCenter() const { return Node().center; }
 		inline AABB_TYPE GetAabb(TYPE radius) const { return AABB_TYPE(Node().center, radius); }
+		inline AABB_TYPE GetChildAabb(unsigned idxChild, TYPE radius) const { const TYPE childRadius(radius / TYPE(2)); return AABB_TYPE(ComputeChildCenter(Node().center, childRadius, idxChild), childRadius); }
 		inline IDX_TYPE GetFirstItemIdx() const { return Leaf().idxBegin; }
 		inline IDX_TYPE GetLastItemIdx() const { return Leaf().idxBegin + Leaf().size; }
 		inline SIZE_TYPE GetNumItems() const { return Leaf().size; }
@@ -150,7 +152,11 @@ class TOctree
 	template <typename FTYPE, int FDIMS>
 	inline void TraverseCells(const TFrustum<FTYPE,FDIMS>&, CELLPTRARR_TYPE&);
 
+	template <typename AREAESTIMATOR, typename CHUNKINSERTER>
+	void SplitVolume(float maxArea, AREAESTIMATOR& areaEstimator, CHUNKINSERTER& chunkInserter);
+
 	inline const CELL_TYPE& GetRoot() const { return m_root; }
+	inline TYPE GetRadius() const { return m_radius; }
 	inline AABB_TYPE GetAabb() const { return m_root.GetAabb(m_radius); }
 	inline bool IsEmpty() const { return m_indices.IsEmpty(); }
 	inline size_t GetNumItems() const { return m_indices.GetSize(); }
@@ -160,8 +166,6 @@ class TOctree
 	inline void ResetItems() { m_items = NULL; }
 
 protected:
-	static inline POINT_TYPE ComputeChildCenter(const POINT_TYPE&, TYPE, unsigned);
-
 	template <typename Functor>
 	struct _InsertData {
 		enum : IDX_TYPE { NO_INDEX = DECLARE_NO_INDEX(IDX_TYPE) };
@@ -184,6 +188,9 @@ class TOctree
 	template <typename FTYPE, int FDIMS, typename PARSER>
 	void _TraverseCells(CELL_TYPE&, TYPE, const TFrustum<FTYPE,FDIMS>&, PARSER&);
 
+	template <typename AREAESTIMATOR, typename CHUNKINSERTER>
+	void _SplitVolume(const CELL_TYPE& parentCell, TYPE parentRadius, unsigned idxChild, float maxArea, AREAESTIMATOR& areaEstimator, CHUNKINSERTER& chunkInserter, const UnsignedArr& indices=UnsignedArr{0,1,2,3,4,5,6,7});
+
 protected:
 	const ITEM_TYPE* m_items; // original input items (the only condition is that every item to resolve to a position)
 	IDXARR_TYPE m_indices; // indices to input items re-arranged spatially (as dictated by the octree)
diff --git a/libs/Common/Octree.inl b/libs/Common/Octree.inl
index ce5ea80f8..7a3026e25 100644
--- a/libs/Common/Octree.inl
+++ b/libs/Common/Octree.inl
@@ -93,6 +93,18 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CELL_TYPE::ComputeCenter(POINT_T
 } // ComputeCenter
 /*----------------------------------------------------------------*/
 
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline typename TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::POINT_TYPE TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CELL_TYPE::ComputeChildCenter(const POINT_TYPE& center, TYPE radius, unsigned idxChild)
+{
+	struct CENTERARR_TYPE {
+		POINT_TYPE child[CELL_TYPE::numChildren];
+		inline CENTERARR_TYPE() { CELL_TYPE::ComputeCenter(child); }
+	};
+	static const CENTERARR_TYPE centers;
+	return center + centers.child[idxChild] * radius;
+} // ComputeChildCenter
+/*----------------------------------------------------------------*/
+
 
 // count the number of items contained by the given octree-cell
 template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
@@ -146,19 +158,6 @@ inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Swap(TOctree& rhs)
 /*----------------------------------------------------------------*/
 
 
-// destroy tree
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
-inline typename TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::POINT_TYPE TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::ComputeChildCenter(const POINT_TYPE& center, TYPE radius, unsigned idxChild)
-{
-	struct CENTERARR_TYPE {
-		POINT_TYPE child[CELL_TYPE::numChildren];
-		inline CENTERARR_TYPE() { CELL_TYPE::ComputeCenter(child); }
-	};
-	static const CENTERARR_TYPE centers;
-	return center + centers.child[idxChild] * radius;
-} // ComputeChildCenter
-/*----------------------------------------------------------------*/
-
 // add the given item to the tree
 template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename Functor, bool bForceSplit>
@@ -202,7 +201,7 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_Insert(CELL_TYPE& cell, const P
 				continue;
 			}
 			insertData.successors[childD.End(i)] = _InsertData<Functor>::NO_INDEX; // mark the end of child successors
-			const POINT_TYPE childCenter(ComputeChildCenter(center, childRadius, i));
+			const POINT_TYPE childCenter(CELL_TYPE::ComputeChildCenter(center, childRadius, i));
 			_Insert<Functor,false>(child, childCenter, childRadius, childD.Start(i), childD.Size(i), insertData);
 		}
 	} else {
@@ -220,9 +219,9 @@ template <typename Functor>
 inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Insert(const ITEMARR_TYPE& items, const AABB_TYPE& aabb, Functor split)
 {
 	Release();
-	m_items = items.Begin();
+	m_items = items.data();
 	// create root as node, even if we do not need to divide
-	m_indices.Reserve(items.GetSize());
+	m_indices.Reserve(items.size());
 	// divide cell
 	m_root.m_child = new CELL_TYPE[CELL_TYPE::numChildren];
 	m_root.Node().center = aabb.GetCenter();
@@ -232,7 +231,7 @@ inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Insert(const ITEMARR_TYPE
 	std::iota(insertData.successors.begin(), insertData.successors.end(), IDX_TYPE(1));
 	insertData.successors.back() = _InsertData<Functor>::NO_INDEX;
 	// setup each cell
-	_Insert<Functor,true>(m_root, m_root.GetCenter(), m_radius, 0, items.GetSize(), insertData);
+	_Insert<Functor,true>(m_root, m_root.GetCenter(), m_radius, 0, items.size(), insertData);
 }
 template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename Functor>
@@ -252,7 +251,7 @@ template <typename INSERTER>
 void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CollectCells(const CELL_TYPE& cell, INSERTER& inserter) const
 {
 	if (cell.IsLeaf()) {
-		inserter(m_indices.Begin()+cell.GetFirstItemIdx(), cell.GetNumItems());
+		inserter(m_indices.data()+cell.GetFirstItemIdx(), cell.GetNumItems());
 		return;
 	}
 	for (int i=0; i<CELL_TYPE::numChildren; ++i)
@@ -347,8 +346,8 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_Collect(const CELL_TYPE& cell,
 	for (int i=0; i<CELL_TYPE::numChildren; ++i) {
 		const CELL_TYPE& childCell = cell.m_child[i];
 		if (childCell.IsLeaf()) {
-			if (collector.Intersects(ComputeChildCenter(cell.GetCenter(), childRadius, i), childRadius))
-				inserter(m_indices.Begin()+childCell.GetFirstItemIdx(), childCell.GetNumItems());
+			if (collector.Intersects(CELL_TYPE::ComputeChildCenter(cell.GetCenter(), childRadius, i), childRadius))
+				inserter(m_indices.data()+childCell.GetFirstItemIdx(), childCell.GetNumItems());
 		} else {
 			if (collector.Intersects(childCell.Node().center, childRadius))
 				_Collect(childCell, childRadius, collector, inserter);
@@ -398,11 +397,11 @@ template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(IDX_TYPE maxNeighbors, IDXARR_TYPE& indices, const AABB_TYPE& aabb) const
 {
 	_Collect(m_root, aabb, IndexInserter(indices));
-	if (indices.GetSize() > maxNeighbors) {
+	if (indices.size() > maxNeighbors) {
 		// keep only the closest neighbors
 		typedef TIndexScore<IDX_TYPE,TYPE> ItemIndexScore;
 		typedef cList<ItemIndexScore, const ItemIndexScore&, 0> ItemIndexScoreArr;
-		ItemIndexScoreArr indexscores(indices.GetSize());
+		ItemIndexScoreArr indexscores(indices.size());
 		const POINT_TYPE center(aabb.GetCenter());
 		FOREACH(i, indices) {
 			const IDX_TYPE& idx = indices[i];
@@ -435,9 +434,9 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_Traverse(const CELL_TYPE& cell,
 		for (int i=0; i<CELL_TYPE::numChildren; ++i) {
 			const CELL_TYPE& childCell = cell.m_child[i];
 			if (childCell.IsLeaf()) {
-				const AABB_TYPE childAabb(ComputeChildCenter(cell.GetCenter(), childRadius, i), childRadius);
+				const AABB_TYPE childAabb(CELL_TYPE::ComputeChildCenter(cell.GetCenter(), childRadius, i), childRadius);
 				if (frustum.Classify(childAabb) != CULLED)
-					inserter(m_indices.Begin()+childCell.GetFirstItemIdx(), childCell.GetNumItems());
+					inserter(m_indices.data()+childCell.GetFirstItemIdx(), childCell.GetNumItems());
 			} else {
 				_Traverse(childCell, childRadius, frustum, inserter);
 			}
@@ -461,7 +460,7 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_TraverseCells(CELL_TYPE& cell,
 		for (int i=0; i<CELL_TYPE::numChildren; ++i) {
 			const CELL_TYPE& childCell = cell.m_child[i];
 			if (childCell.IsLeaf()) {
-				const AABB_TYPE childAabb(ComputeChildCenter(cell.GetCenter(), childRadius, i), childRadius);
+				const AABB_TYPE childAabb(CELL_TYPE::ComputeChildCenter(cell.GetCenter(), childRadius, i), childRadius);
 				if (frustum.Classify(childAabb) != CULLED)
 					parser(childCell);
 			} else {
@@ -502,6 +501,223 @@ inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::TraverseCells(const TFrus
 } // Traverse
 /*----------------------------------------------------------------*/
 
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+template <typename AREAESTIMATOR, typename CHUNKINSERTER>
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_SplitVolume(const CELL_TYPE& parentCell, TYPE parentRadius, unsigned idxChild, float maxArea, AREAESTIMATOR& areaEstimator, CHUNKINSERTER& chunkInserter, const UnsignedArr& indices)
+{
+	ASSERT(!indices.empty());
+	typedef std::pair<UnsignedArr,UnsignedArr> PairIndices;
+	struct GenerateSamples {
+		const UnsignedArr& indices;
+		const unsigned numSamples;
+		const unsigned halfSamples;
+		const unsigned numCommonAxis;
+		POINT_TYPE centers[8];
+		cList<PairIndices> arrHalfIndices;
+		GenerateSamples(const UnsignedArr& _indices)
+			: indices(_indices), numSamples((unsigned)indices.size()), halfSamples((unsigned)indices.size()/2), arrHalfIndices(0, numSamples), numCommonAxis(halfSamples==4?1:2)
+		{
+			ASSERT(indices.size()%2 == 0 && indices.IsSorted());
+			ASSERT(halfSamples == 4 || halfSamples == 2);
+			CELL_TYPE::ComputeCenter(centers);
+			UnsignedArr samples(halfSamples);
+			for (unsigned hs=0; hs<halfSamples; ++hs) {
+				samples[0] = hs;
+				GenerateIndices(1, samples);
+			}
+		}
+		void GenerateIndices(unsigned idxSample, UnsignedArr& samples) {
+			if (idxSample == samples.size()) {
+				InsertIndices(samples);
+				return;
+			}
+			for (unsigned i=samples[idxSample-1]+1; i<numSamples; ++i) {
+				samples[idxSample] = i;
+				GenerateIndices(idxSample+1, samples);
+			}
+		}
+		void InsertIndices(const UnsignedArr& samples) {
+			UnsignedArr halfIndices(halfSamples);
+			for (unsigned s=0; s<halfSamples; ++s)
+				halfIndices[s] = indices[samples[s]];
+			// check all samples have one/two common axis
+			unsigned commonAxis(0);
+			for (unsigned a=0; a<3; ++a) {
+				unsigned na(1);
+				for (unsigned s=1; s<halfSamples; ++s) {
+					if (centers[halfIndices[0]][a] == centers[halfIndices[s]][a])
+						++na;
+				}
+				if (na == halfSamples && ++commonAxis == numCommonAxis)
+					goto CommonAxis;
+			}
+			return;
+			CommonAxis:
+			// check not complementary samples
+			for (const PairIndices& pairHalfIndices: arrHalfIndices) {
+				unsigned nCommon(0);
+				for (unsigned s=0; s<halfSamples; ++s)
+					if (halfIndices[s] == pairHalfIndices.second[s])
+						++nCommon;
+				if (nCommon == halfSamples)
+					return;
+			}
+			// generate complementary indices
+			ASSERT(halfIndices.IsSorted());
+			UnsignedArr compHalfIndices(0, halfSamples);
+			unsigned i(0);
+			for (unsigned idx: indices) {
+				if (i < halfSamples && idx == halfIndices[i])
+					++i;
+				else
+					compHalfIndices.push_back(idx);
+			}
+			ASSERT(compHalfIndices.size() == halfSamples);
+			ASSERT(compHalfIndices.IsSorted());
+			arrHalfIndices.emplace_back(std::move(halfIndices), std::move(compHalfIndices));
+		}
+	};
+	const CELL_TYPE& cell(parentCell.GetChild(idxChild));
+	const TYPE radius(parentRadius / TYPE(2));
+	// handle particular cases
+	if (cell.IsLeaf()) {
+		chunkInserter(parentCell, parentRadius, UnsignedArr{idxChild});
+		return;
+	}
+	if (indices.size() == 1) {
+		_SplitVolume(cell, radius, indices.front(), maxArea, areaEstimator, chunkInserter);
+		return;
+	}
+	if (indices.size() == 2) {
+		_SplitVolume(cell, radius, indices.front(), maxArea, areaEstimator, chunkInserter);
+		_SplitVolume(cell, radius, indices.back(), maxArea, areaEstimator, chunkInserter);
+		return;
+	}
+	// measure surface area for each child
+	float childArea[8], totalArea(0);
+	for (unsigned c=0; c<8; ++c) {
+		CollectCells(cell.GetChild(c), areaEstimator);
+		totalArea += childArea[c] = areaEstimator.PopArea();
+	}
+	if (totalArea < maxArea*1.01f) {
+		chunkInserter(parentCell, parentRadius, UnsignedArr{idxChild});
+		return;
+	}
+	// check if all parts are over the limit
+	unsigned numOverAreas(0);
+	for (unsigned c: indices)
+		if (childArea[c] == 0 || childArea[c] >= maxArea)
+			++numOverAreas;
+	if (numOverAreas == indices.size()) {
+		for (unsigned c: indices)
+			if (childArea[c] > 0)
+				_SplitVolume(cell, radius, c, maxArea, areaEstimator, chunkInserter);
+		return;
+	}
+	// split mesh children and retain the components with surface smaller than the given area
+	const cList<PairIndices> halfIndices(std::move(GenerateSamples(indices).arrHalfIndices));
+	IDX bestSplit(NO_ID);
+	float bestArea(0);
+	Point2f bestAs;
+	FOREACH(idx, halfIndices) {
+		const PairIndices& pairHalfIndices = halfIndices[idx];
+		ASSERT(pairHalfIndices.first.size() == pairHalfIndices.second.size());
+		Point2f as(Point2f::ZERO);
+		for (unsigned i=0; i<pairHalfIndices.first.size(); ++i) {
+			as[0] += childArea[pairHalfIndices.first[i]];
+			as[1] += childArea[pairHalfIndices.second[i]];
+		}
+		for (unsigned i=0; i<2; ++i) {
+			if (as[i] < maxArea && bestArea < as[i]) {
+				bestArea = as[i];
+				bestAs = as;
+				bestSplit = idx;
+			}
+		}
+	}
+	if (bestSplit != NO_ID) {
+		// store found clusters
+		const PairIndices& pairHalfIndices = halfIndices[bestSplit];
+		if (bestAs[0] < maxArea)
+			chunkInserter(cell, radius, pairHalfIndices.first);
+		else
+			_SplitVolume(parentCell, parentRadius, idxChild, maxArea, areaEstimator, chunkInserter, pairHalfIndices.first);
+		if (bestAs[1] < maxArea)
+			chunkInserter(cell, radius, pairHalfIndices.second);
+		else
+			_SplitVolume(parentCell, parentRadius, idxChild, maxArea, areaEstimator, chunkInserter, pairHalfIndices.second);
+		return;
+	}
+	// farther split each half into quarters
+	if (halfIndices.front().first.size() == 4) {
+		UnsignedArr bestQIndices[4];
+		float bestArea(0);
+		Eigen::Vector4f bestAs;
+		for (const PairIndices& pairHalfIndices: halfIndices) {
+			const cList<PairIndices> qIndicesFirst(std::move(GenerateSamples(pairHalfIndices.first).arrHalfIndices));
+			const cList<PairIndices> qIndicesSecond(std::move(GenerateSamples(pairHalfIndices.second).arrHalfIndices));
+			ASSERT(qIndicesFirst.size() == qIndicesSecond.size());
+			FOREACH(q, qIndicesFirst) {
+				const PairIndices& qFirst = qIndicesFirst[q];
+				const PairIndices& qSecond = qIndicesSecond[q];
+				Eigen::Vector4f as(Eigen::Vector4f::Zero());
+				for (unsigned i=0; i<qFirst.first.size(); ++i) {
+					as[0] += childArea[qFirst.first[i]];
+					as[1] += childArea[qFirst.second[i]];
+					as[2] += childArea[qSecond.first[i]];
+					as[3] += childArea[qSecond.second[i]];
+				}
+				float area(0);
+				for (unsigned i=0; i<4; ++i) {
+					if (as[i] < maxArea)
+						area += as[i];
+				}
+				if (bestArea < area) {
+					bestArea = area;
+					bestAs = as;
+					bestQIndices[0] = qFirst.first;
+					bestQIndices[1] = qFirst.second;
+					bestQIndices[2] = qSecond.first;
+					bestQIndices[3] = qSecond.second;
+				}
+			}
+		}
+		if (bestArea > 0) {
+			// store found clusters
+			for (unsigned i=0; i<4; ++i) {
+				if (bestAs[i] < maxArea) {
+					chunkInserter(cell, radius, bestQIndices[i]);
+				} else {
+					_SplitVolume(cell, radius, bestQIndices[i][0], maxArea, areaEstimator, chunkInserter);
+					_SplitVolume(cell, radius, bestQIndices[i][1], maxArea, areaEstimator, chunkInserter);
+				}
+			}
+			return;
+		}
+	}
+	// split each child
+	for (unsigned c: indices) {
+		if (childArea[c] == 0)
+			continue;
+		if (childArea[c] < maxArea)
+			chunkInserter(cell, radius, UnsignedArr{c});
+		else
+			_SplitVolume(cell, radius, c, maxArea, areaEstimator, chunkInserter);
+	}
+}
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+template <typename AREAESTIMATOR, typename CHUNKINSERTER>
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::SplitVolume(float maxArea, AREAESTIMATOR& areaEstimator, CHUNKINSERTER& chunkInserter)
+{
+	CELL_TYPE parent;
+	parent.m_child = new CELL_TYPE[1];
+	parent.m_child[0] = m_root;
+	parent.Node().center = m_root.Node().center + POINT_TYPE::Constant(m_radius);
+	_SplitVolume(parent, m_radius*TYPE(2), 0, maxArea, areaEstimator, chunkInserter);
+	parent.m_child[0].m_child = NULL;
+} // SplitVolume
+/*----------------------------------------------------------------*/
+
 
 #ifndef _RELEASE
 template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
@@ -616,8 +832,8 @@ inline bool OctreeTest(unsigned iters, unsigned maxItems=1000, bool bRandom=true
 			}
 		}
 		nTotalMatches += nMatches;
-		nTotalMissed += trueIndices.GetSize()-nMatches;
-		nTotalExtra += indices.GetSize()-nMatches;
+		nTotalMissed += trueIndices.size()-nMatches;
+		nTotalExtra += indices.size()-nMatches;
 		#ifndef _RELEASE
 		// print stats
 		typename TestTree::DEBUGINFO_TYPE info;
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index b4193f01d..111de846f 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -54,6 +54,7 @@
 #include <vcg/complex/algorithms/update/selection.h>
 #include <vcg/complex/algorithms/local_optimization.h>
 #include <vcg/complex/algorithms/local_optimization/tri_edge_collapse_quadric.h>
+#undef Split
 #ifdef _MSC_VER
 #  pragma warning(pop)
 #endif
@@ -1575,6 +1576,18 @@ bool Mesh::SaveOBJ(const String& fileName) const
 } // Save
 /*----------------------------------------------------------------*/
 
+bool Mesh::Save(const FacesChunkArr& chunks, const String& fileName, const cList<String>& comments, bool bBinary) const
+{
+	if (chunks.size() < 2)
+		return Save(fileName, comments, bBinary);
+	FOREACH(i, chunks) {
+		const Mesh mesh(SubMesh(chunks[i].faces));
+		if (!mesh.Save(Util::insertBeforeFileExt(fileName, String::FormatString("_chunk%02u", i)), comments, bBinary))
+			return false;
+	}
+	return true;
+}
+
 bool Mesh::Save(const VertexArr& vertices, const String& fileName, bool bBinary)
 {
 	ASSERT(!fileName.IsEmpty());
@@ -3367,7 +3380,6 @@ void Mesh::RemoveFaces(FaceIdxArr& facesRemove, bool bUpdateLists)
 	}
 	vertexVertices.Release();
 }
-/*----------------------------------------------------------------*/
 
 // remove the given list of vertices
 void Mesh::RemoveVertices(VertexIdxArr& vertexRemove, bool bUpdateLists)
@@ -3416,6 +3428,22 @@ void Mesh::RemoveVertices(VertexIdxArr& vertexRemove, bool bUpdateLists)
 	}
 	RemoveFaces(facesRemove);
 }
+
+// remove all vertices that are not assigned to any face
+// (require vertexFaces)
+Mesh::VIndex Mesh::RemoveUnreferencedVertices(bool bUpdateLists)
+{
+	ASSERT(vertices.size() == vertexFaces.size());
+	VertexIdxArr vertexRemove;
+	FOREACH(idxV, vertexFaces) {
+		if (vertexFaces[idxV].empty())
+			vertexRemove.push_back(idxV);
+	}
+	if (vertexRemove.empty())
+		return 0;
+	RemoveVertices(vertexRemove, bUpdateLists);
+	return vertexRemove.size();
+}
 /*----------------------------------------------------------------*/
 
 
@@ -3716,6 +3744,80 @@ void Mesh::ProjectOrthoTopDown(unsigned resolution, Image8U3& image, Image8U& ma
 /*----------------------------------------------------------------*/
 
 
+// split mesh into sub-meshes such that each has maxArea
+bool Mesh::Split(FacesChunkArr& chunks, float maxArea)
+{
+	TD_TIMER_STARTD();
+	Octree octree;
+	FacesInserter::CreateOctree(octree, *this);
+	FloatArr areas(faces.size());
+	FOREACH(i, faces)
+		areas[i] = ComputeArea(i);
+	struct AreaInserter {
+		const FloatArr& areas;
+		float area;
+		inline void operator() (const Octree::IDX_TYPE* indices, Octree::SIZE_TYPE size) {
+			FOREACHRAWPTR(pIdx, indices, size)
+				area += areas[*pIdx];
+		}
+		inline float PopArea() {
+			const float a(area);
+			area = 0;
+			return a;
+		}
+	} areaEstimator{areas, 0.f};
+	struct ChunkInserter {
+		const Octree& octree;
+		FacesChunkArr& chunks;
+		void operator() (const Octree::CELL_TYPE& parentCell, Octree::Type parentRadius, const UnsignedArr& children) {
+			ASSERT(!children.empty());
+			FaceChunk& chunk = chunks.AddEmpty();
+			struct Inserter {
+				FaceIdxArr& faces;
+				inline void operator() (const Octree::IDX_TYPE* indices, Octree::SIZE_TYPE size) {
+					faces.Join(indices, size);
+				}
+			} inserter{chunk.faces};
+			if (children.size() == 1) {
+				octree.CollectCells(parentCell.GetChild(children.front()), inserter);
+				chunk.box = parentCell.GetChildAabb(children.front(), parentRadius);
+			} else {
+				chunk.box.Reset();
+				for (unsigned c: children) {
+					octree.CollectCells(parentCell.GetChild(c), inserter);
+					chunk.box.Insert(parentCell.GetChildAabb(c, parentRadius));
+				}
+			}
+			if (chunk.faces.empty())
+				chunks.RemoveLast();
+		}
+	} chunkInserter{octree, chunks};
+	octree.SplitVolume(maxArea, areaEstimator, chunkInserter);
+	if (chunks.size() < 2)
+		return false;
+	DEBUG_EXTRA("Mesh split (%g max-area): %u chunks (%s)", maxArea, chunks.size(), TD_TIMER_GET_FMT().c_str());
+	return true;
+} // Split
+/*----------------------------------------------------------------*/
+
+// extract the sub-mesh corresponding to the given chunk of faces
+Mesh Mesh::SubMesh(const FaceIdxArr& chunk) const
+{
+	ASSERT(!chunk.empty());
+	Mesh mesh;
+	mesh.vertices = vertices;
+	mesh.faces.reserve(chunk.size());
+	for (FIndex idxFace: chunk)
+		mesh.faces.emplace_back(faces[idxFace]);
+	mesh.ListIncidenteFaces();
+	mesh.RemoveUnreferencedVertices();
+	// fix non-manifold vertices and edges
+	mesh.FixNonManifold();
+	return mesh;
+} // SubMesh
+/*----------------------------------------------------------------*/
+
+
 #ifdef _USE_CUDA
 CUDA::KernelRT Mesh::kernelComputeFaceNormal;
 
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index e8e884fee..94a0ec204 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -107,6 +107,12 @@ class MVS_API Mesh
 		}
 	};
 
+	struct FaceChunk {
+		FaceIdxArr faces;
+		Box box;
+	};
+	typedef cList<FaceChunk,const FaceChunk&,2,16,uint32_t> FacesChunkArr;
+
 public:
 	VertexArr vertices;
 	FaceArr faces;
@@ -165,6 +171,7 @@ class MVS_API Mesh
 	void CloseHoleQuality(VertexIdxArr& vertsLoop);
 	void RemoveFaces(FaceIdxArr& facesRemove, bool bUpdateLists=false);
 	void RemoveVertices(VertexIdxArr& vertexRemove, bool bUpdateLists=false);
+	VIndex RemoveUnreferencedVertices(bool bUpdateLists=false);
 
 	inline Normal FaceNormal(const Face& f) const {
 		return ComputeTriangleNormal(vertices[f[0]], vertices[f[1]], vertices[f[2]]);
@@ -194,9 +201,13 @@ class MVS_API Mesh
 	void ProjectOrtho(const Camera& camera, DepthMap& depthMap, Image8U3& image) const;
 	void ProjectOrthoTopDown(unsigned resolution, Image8U3& image, Image8U& mask, Point3& center) const;
 
+	bool Split(FacesChunkArr&, float maxArea);
+	Mesh SubMesh(const FaceIdxArr& faces) const;
+
 	// file IO
 	bool Load(const String& fileName);
 	bool Save(const String& fileName, const cList<String>& comments=cList<String>(), bool bBinary=true) const;
+	bool Save(const FacesChunkArr&, const String& fileName, const cList<String>& comments=cList<String>(), bool bBinary=true) const;
 	static bool Save(const VertexArr& vertices, const String& fileName, bool bBinary=true);
 
 	static inline uint32_t FindVertex(const Face& f, VIndex v) { for (uint32_t i=0; i<3; ++i) if (f[i] == v) return i; return NO_ID; }

From 7a88fefb0476fa4f6229e228a69641ff3febeb10 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sun, 21 Feb 2021 16:59:10 +0200
Subject: [PATCH 018/252] dense: split scene in sub-scenes

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp |  10 +
 libs/Common/OBB.inl                          |  26 +-
 libs/MVS/DepthMap.cpp                        |   4 +-
 libs/MVS/Scene.cpp                           | 243 +++++++++++++++++++
 libs/MVS/Scene.h                             |   9 +
 5 files changed, 273 insertions(+), 19 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 8191db8f1..48e433931 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -48,6 +48,7 @@ String strInputFileName;
 String strOutputFileName;
 String strMeshFileName;
 String strDenseConfigFileName;
+float fMaxSubsceneArea;
 float fSampleMesh;
 int thFilterPointCloud;
 int nFusionMode;
@@ -106,6 +107,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("ignore-mask-label", boost::program_options::value(&nIgnoreMaskLabel)->default_value(-1), "integer value for the label to ignore in the segmentation mask (<0 - disabled)")
 		("estimate-colors", boost::program_options::value(&nEstimateColors)->default_value(2), "estimate the colors for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
 		("estimate-normals", boost::program_options::value(&nEstimateNormals)->default_value(2), "estimate the normals for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
+		("sub-scene-area", boost::program_options::value(&OPT::fMaxSubsceneArea)->default_value(0.f), "split the scene in sub-scenes such that each sub-scene surface does not exceed the given maximum sampling area (0 - disabled)")
 		("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(0.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
 		("filter-point-cloud", boost::program_options::value(&OPT::thFilterPointCloud)->default_value(0), "filter dense point-cloud based on visibility (0 - disabled)")
 		("fusion-mode", boost::program_options::value(&OPT::nFusionMode)->default_value(0), "depth map fusion mode (-2 - fuse disparity-maps, -1 - export disparity-maps only, 0 - depth-maps & fusion, 1 - export depth-maps only)")
@@ -247,6 +249,14 @@ int main(int argc, LPCTSTR* argv)
 		VERBOSE("error: empty initial point-cloud");
 		return EXIT_FAILURE;
 	}
+	if (OPT::fMaxSubsceneArea > 0) {
+		// split the scene in sub-scenes by maximum sampling area
+		Scene::ImagesChunkArr chunks;
+		scene.Split(chunks, OPT::fMaxSubsceneArea);
+		scene.ExportChunks(chunks, Util::getFilePath(MAKE_PATH_SAFE(OPT::strOutputFileName)));
+		Finalize();
+		return EXIT_SUCCESS;
+	}
 	if (OPT::thFilterPointCloud < 0) {
 		// filter point-cloud based on camera-point visibility intersections
 		scene.PointCloudFilter(OPT::thFilterPointCloud);
diff --git a/libs/Common/OBB.inl b/libs/Common/OBB.inl
index 920b6302a..657a4df97 100644
--- a/libs/Common/OBB.inl
+++ b/libs/Common/OBB.inl
@@ -162,24 +162,12 @@ template <typename TYPE, int DIMS>
 inline void TOBB<TYPE,DIMS>::SetRotation(const MATRIX& C)
 {
 	// extract the eigenvalues and eigenvectors from C
-	const Eigen::EigenSolver<MATRIX> es(C);
-	if (es.info() != Eigen::Success)
-		return;
-	const MATRIX eigvec(es.eigenvectors().real());
-	const POINT eigval(es.eigenvalues().real());
-	int indices[3] = {0,1,2};
-	std::sort(indices, indices+3, [&] (int i, int j) {
-		return eigval(i) < eigval(j);
-	});
-
+	const Eigen::SelfAdjointEigenSolver<MATRIX> es(C);
+	ASSERT(es.info() == Eigen::Success);
 	// find the right, up and forward vectors from the eigenvectors
 	// and set the rotation matrix using the eigenvectors
-	m_rot.row(0) = eigvec.col(indices[0]);
-	m_rot.row(1) = eigvec.col(indices[1]);
-	m_rot.row(2) = eigvec.col(indices[2]);
-	ASSERT(ISEQUAL(m_rot.row(0).norm(), TYPE(1)));
-	ASSERT(ISEQUAL(m_rot.row(1).norm(), TYPE(1)));
-	ASSERT(ISEQUAL(m_rot.row(2).norm(), TYPE(1)));
+	ASSERT(es.eigenvalues()(0) < es.eigenvalues()(1) && es.eigenvalues()(1) < es.eigenvalues()(2));
+	m_rot = es.eigenvectors().transpose();
 	if (m_rot.determinant() < 0)
 		m_rot = -m_rot;
 }
@@ -354,6 +342,7 @@ inline void TOBB<TYPE,DIMS>::GetCorners(POINT pts[numCorners]) const
 template <typename TYPE, int DIMS>
 inline typename TOBB<TYPE,DIMS>::AABB TOBB<TYPE,DIMS>::GetAABB() const
 {
+	#if 0
 	if (DIMS == 2) {
 		const POINT pEAxis[2] = {
 			m_rot.row(0)*m_ext[0],
@@ -375,6 +364,11 @@ inline typename TOBB<TYPE,DIMS>::AABB TOBB<TYPE,DIMS>::GetAABB() const
 			m_pos + pEAxis[0] + pEAxis[1] + pEAxis[2]
 		);
 	}
+	#else
+	POINT pts[numCorners];
+	GetCorners(pts);
+	return AABB(pts, numCorners);
+	#endif
 } // GetAABB
 /*----------------------------------------------------------------*/
 
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 494e89f9c..9d9334d55 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -233,7 +233,6 @@ bool DepthData::Save(const String& fileName) const
 }
 bool DepthData::Load(const String& fileName)
 {
-	ASSERT(IsValid());
 	// serialize in the saved state
 	String imageFileName;
 	IIndexArr IDs;
@@ -241,8 +240,7 @@ bool DepthData::Load(const String& fileName)
 	Camera camera;
 	if (!ImportDepthDataRaw(fileName, imageFileName, IDs, imageSize, camera.K, camera.R, camera.C, dMin, dMax, depthMap, normalMap, confMap))
 		return false;
-	ASSERT(IDs.size() == images.size());
-	ASSERT(IDs.front() == GetView().GetID());
+	ASSERT(!IsValid() || (IDs.size() == images.size() && IDs.front() == GetView().GetID()));
 	ASSERT(depthMap.size() == imageSize);
 	return true;
 }
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 7ab5c1c21..7c847b7c9 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -734,3 +734,246 @@ bool Scene::ExportCamerasMLP(const String& fileName, const String& fileNameScene
 	return true;
 } // ExportCamerasMLP
 /*----------------------------------------------------------------*/
+
+
+// split the scene in sub-scenes such that each sub-scene surface does not exceed the given
+// maximum sampling area; the area is composed of overlapping samples from different cameras
+// taking into account the footprint of each sample (pixels/unit-length, GSD inverse),
+// including overlapping samples;
+// the indirect goals this method tries to achieve are:
+//  - limit the maximum number of images in each sub-scene such that the depth-map fusion
+//    can load all sub-scene's depth-maps into memory at once
+//  - limit in the same time maximum accumulated images resolution (total number of pixels)
+//    per sub-scene in order to allow all images to be loaded and processed during mesh refinement
+unsigned Scene::Split(ImagesChunkArr& chunks, IIndex maxArea, int depthMapStep) const
+{
+	TD_TIMER_STARTD();
+	// gather samples from all depth-maps
+	const float areaScale(0.01f);
+	typedef cList<Point3f::EVec,const Point3f::EVec&,0,4096,uint32_t> Samples;
+	typedef TOctree<Samples,float,3> Octree;
+	Octree octree;
+	FloatArr areas(0, images.size()*4192);
+	IIndexArr visibility(0, areas.capacity());
+	Unsigned32Arr imageAreas(images.size()); {
+		Samples samples(0, areas.capacity());
+		FOREACH(idxImage, images) {
+			const Image& imageData = images[idxImage];
+			if (!imageData.IsValid())
+				continue;
+			DepthData depthData;
+			depthData.Load(ComposeDepthFilePath(imageData.ID, "dmap"));
+			if (depthData.IsEmpty())
+				continue;
+			const size_t numPointsBegin(visibility.size());
+			const Camera camera(imageData.GetCamera(platforms, depthData.depthMap.size()));
+			for (int r=(depthData.depthMap.rows%depthMapStep)/2; r<depthData.depthMap.rows; r+=depthMapStep) {
+				for (int c=(depthData.depthMap.cols%depthMapStep)/2; c<depthData.depthMap.cols; c+=depthMapStep) {
+					const Depth depth = depthData.depthMap(r,c);
+					if (depth <= 0)
+						continue;
+					const Point3f& X = samples.emplace_back(Cast<float>(camera.TransformPointI2W(Point3(c,r,depth))));
+					areas.emplace_back(Footprint(camera, X)*areaScale);
+					visibility.emplace_back(idxImage);
+				}
+			}
+			imageAreas[idxImage] = visibility.size()-numPointsBegin;
+		}
+		#if 0
+		const AABB3f aabb(samples.data(), samples.size());
+		#else
+		// try to find a dominant plane, and set the bounding-box center on the plane bottom
+		OBB3f obb(samples.data(), samples.size());
+		obb.m_ext(0) *= 2;
+		#if 1
+		// dump box for visualization
+		OBB3f::POINT pts[8];
+		obb.GetCorners(pts);
+		PointCloud pc;
+		for (int i=0; i<8; ++i)
+			pc.points.emplace_back(pts[i]);
+		pc.Save(MAKE_PATH("scene_obb.ply"));
+		#endif
+		const AABB3f aabb(obb.GetAABB());
+		#endif
+		octree.Insert(samples, aabb, [](Octree::IDX_TYPE size, Octree::Type /*radius*/) {
+			return size > 128;
+		});
+		#if 0 && !defined(_RELEASE)
+		Octree::DEBUGINFO_TYPE info;
+		octree.GetDebugInfo(&info);
+		Octree::LogDebugInfo(info);
+		#endif
+		octree.ResetItems();
+	}
+	struct AreaInserter {
+		const FloatArr& areas;
+		float area;
+		inline void operator() (const Octree::IDX_TYPE* indices, Octree::SIZE_TYPE size) {
+			FOREACHRAWPTR(pIdx, indices, size)
+				area += areas[*pIdx];
+		}
+		inline float PopArea() {
+			const float a(area);
+			area = 0;
+			return a;
+		}
+	} areaEstimator{areas, 0.f};
+	struct ChunkInserter {
+		const IIndex numImages;
+		const Octree& octree;
+		const IIndexArr& visibility;
+		ImagesChunkArr& chunks;
+		CLISTDEF2(Unsigned32Arr) imagesAreas;
+		void operator() (const Octree::CELL_TYPE& parentCell, Octree::Type parentRadius, const UnsignedArr& children) {
+			ASSERT(!children.empty());
+			ImagesChunk& chunk = chunks.AddEmpty();
+			Unsigned32Arr& imageAreas = imagesAreas.AddEmpty();
+			imageAreas.resize(numImages);
+			imageAreas.Memset(0);
+			struct Inserter {
+				const IIndexArr& visibility;
+				std::unordered_set<IIndex>& images;
+				Unsigned32Arr& imageAreas;
+				inline void operator() (const Octree::IDX_TYPE* indices, Octree::SIZE_TYPE size) {
+					FOREACHRAWPTR(pIdx, indices, size) {
+						const IIndex idxImage(visibility[*pIdx]);
+						images.emplace(idxImage);
+						++imageAreas[idxImage];
+					}
+				}
+			} inserter{visibility, chunk.images, imageAreas};
+			if (children.size() == 1) {
+				octree.CollectCells(parentCell.GetChild(children.front()), inserter);
+				chunk.aabb = parentCell.GetChildAabb(children.front(), parentRadius);
+			} else {
+				chunk.aabb.Reset();
+				for (unsigned c: children) {
+					octree.CollectCells(parentCell.GetChild(c), inserter);
+					chunk.aabb.Insert(parentCell.GetChildAabb(c, parentRadius));
+				}
+			}
+			if (chunk.images.empty()) {
+				chunks.RemoveLast();
+				imagesAreas.RemoveLast();
+			}
+		}
+	} chunkInserter{images.size(), octree, visibility, chunks};
+	octree.SplitVolume(maxArea, areaEstimator, chunkInserter);
+	if (chunks.size() < 2)
+		return 0;
+	// remove images with very little contribution
+	const float minImageContributionRatio(0.25f);
+	FOREACH(c, chunks) {
+		ImagesChunk& chunk = chunks[c];
+		const Unsigned32Arr& chunkImageAreas = chunkInserter.imagesAreas[c];
+		for (auto it = chunk.images.begin(); it != chunk.images.end(); ) {
+			const IIndex idxImage(*it);
+			if (float(chunkImageAreas[idxImage])/float(imageAreas[idxImage]) < minImageContributionRatio)
+				it = chunk.images.erase(it);
+			else
+				++it;
+		}
+	}
+	DEBUG_EXTRA("Scene split (%g max-area): %u chunks (%s)", maxArea, chunks.size(), TD_TIMER_GET_FMT().c_str());
+	#if 1
+	// dump chunks for visualization
+	FOREACH(c, chunks) {
+		const ImagesChunk& chunk = chunks[c];
+		PointCloud pc = pointcloud;
+		pc.RemovePointsOutside(OBB3f(OBB3f::MATRIX::Identity(), chunk.aabb.ptMin, chunk.aabb.ptMax));
+		pc.Save(String::FormatString(MAKE_PATH("scene_%04u.ply"), c));
+	}
+	#endif
+	return chunks.size();
+} // Split
+
+// split the scene in sub-scenes according to the given chunks array, and save them to disk
+bool Scene::ExportChunks(const ImagesChunkArr& chunks, const String& path) const
+{
+	FOREACH(chunkID, chunks) {
+		const ImagesChunk& chunk = chunks[chunkID];
+		Scene subset;
+		subset.nCalibratedImages = (IIndex)chunk.images.size();
+		// extract chunk images
+		typedef std::unordered_map<IIndex,IIndex> MapIIndex;
+		MapIIndex mapPlatforms(platforms.size());
+		MapIIndex mapImages(images.size());
+		FOREACH(idxImage, images) {
+			if (chunk.images.find(idxImage) == chunk.images.end())
+				continue;
+			const Image& image = images[idxImage];
+			if (!image.IsValid())
+				continue;
+			// copy platform
+			const Platform& platform = platforms[image.platformID];
+			MapIIndex::iterator itSubPlatformMVS = mapPlatforms.find(image.platformID);
+			uint32_t subPlatformID;
+			if (itSubPlatformMVS == mapPlatforms.end()) {
+				ASSERT(subset.platforms.size() == mapPlatforms.size());
+				subPlatformID = subset.platforms.size();
+				mapPlatforms.emplace(image.platformID, subPlatformID);
+				Platform subPlatform;
+				subPlatform.name = platform.name;
+				subPlatform.cameras = platform.cameras;
+				subset.platforms.emplace_back(std::move(subPlatform));
+			} else {
+				subPlatformID = itSubPlatformMVS->second;
+			}
+			Platform& subPlatform = subset.platforms[subPlatformID];
+			// copy image
+			const IIndex idxImageNew((IIndex)mapImages.size());
+			mapImages[idxImage] = idxImageNew;
+			Image subImage(image);
+			subImage.platformID = subPlatformID;
+			subImage.poseID = subPlatform.poses.size();
+			subImage.ID = idxImage;
+			subset.images.emplace_back(std::move(subImage));
+			// copy pose
+			subPlatform.poses.emplace_back(platform.poses[image.poseID]);
+		}
+		// map image IDs from global to local
+		for (Image& image: subset.images) {
+			RFOREACH(i, image.neighbors) {
+				ViewScore& neighbor = image.neighbors[i];
+				const auto itImage(mapImages.find(neighbor.idx.ID));
+				if (itImage == mapImages.end()) {
+					image.neighbors.RemoveAtMove(i);
+					continue;
+				}
+				ASSERT(itImage->second < subset.images.size());
+				neighbor.idx.ID = itImage->second;
+			}
+		}
+		// extract point-cloud
+		FOREACH(idxPoint, pointcloud.points) {
+			PointCloud::ViewArr subViews;
+			PointCloud::WeightArr subWeights;
+			const PointCloud::ViewArr& views = pointcloud.pointViews[idxPoint];
+			FOREACH(i, views) {
+				const IIndex idxImage(views[i]);
+				const auto itImage(mapImages.find(idxImage));
+				if (itImage == mapImages.end())
+					continue;
+				subViews.emplace_back(itImage->second);
+				if (!pointcloud.pointWeights.empty())
+					subWeights.emplace_back(pointcloud.pointWeights[idxPoint][i]);
+			}
+			if (subViews.size() < 2)
+				continue;
+			subset.pointcloud.points.emplace_back(pointcloud.points[idxPoint]);
+			subset.pointcloud.pointViews.emplace_back(std::move(subViews));
+			if (!pointcloud.pointWeights.empty())
+				subset.pointcloud.pointWeights.emplace_back(std::move(subWeights));
+			if (!pointcloud.colors.empty())
+				subset.pointcloud.colors.emplace_back(pointcloud.colors[idxPoint]);
+		}
+		// set scene ROI
+		subset.obb.Set(OBB3f::MATRIX::Identity(), chunk.aabb.ptMin, chunk.aabb.ptMax);
+		// serialize out the current state
+		if (!subset.Save(String::FormatString("%s" PATH_SEPARATOR_STR "scene_%04u.mvs", path.c_str(), chunkID)))
+			return false;
+	}
+	return true;
+} // ExportChunks
+/*----------------------------------------------------------------*/
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 4c564101f..06a81219a 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -83,6 +83,15 @@ class MVS_API Scene
 
 	bool ExportCamerasMLP(const String& fileName, const String& fileNameScene) const;
 
+	// sub-scene split and save
+	struct ImagesChunk {
+		std::unordered_set<IIndex> images;
+		AABB3f aabb;
+	};
+	typedef cList<ImagesChunk,const ImagesChunk&,2,16,uint32_t> ImagesChunkArr;
+	unsigned Split(ImagesChunkArr& chunks, IIndex maxArea, int depthMapStep=8) const;
+	bool ExportChunks(const ImagesChunkArr& chunks, const String& path) const;
+
 	// Dense reconstruction
 	bool DenseReconstruction(int nFusionMode=0);
 	bool ComputeDepthMaps(DenseDepthMapData& data);

From 00b5979320cbd453bf5b0b8cd03c732a7e72fabd Mon Sep 17 00:00:00 2001
From: YOSHIFUJI Naoki <lwisteria.ao@gmail.com>
Date: Wed, 24 Feb 2021 01:04:53 +0900
Subject: [PATCH 019/252] cmake: build libCommon/IO/Math as shared if
 BUILD_SHARED_LIBS=ON (#650)

---
 libs/Common/CMakeLists.txt | 2 +-
 libs/IO/CMakeLists.txt     | 2 +-
 libs/Math/CMakeLists.txt   | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/libs/Common/CMakeLists.txt b/libs/Common/CMakeLists.txt
index b14bf2926..631164e61 100644
--- a/libs/Common/CMakeLists.txt
+++ b/libs/Common/CMakeLists.txt
@@ -9,7 +9,7 @@ FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 LIST(REMOVE_ITEM LIBRARY_FILES_C ${PCH_C})
 SET(LIBRARY_FILES_C "${PCH_C};${LIBRARY_FILES_C}")
 
-cxx_library_with_type_no_pch(Common "Libs" "STATIC" "${cxx_default}"
+cxx_library_with_type_no_pch(Common "Libs" "" "${cxx_default}"
 	${LIBRARY_FILES_C} ${LIBRARY_FILES_H}
 )
 
diff --git a/libs/IO/CMakeLists.txt b/libs/IO/CMakeLists.txt
index fdf4fb92b..14d4d942f 100644
--- a/libs/IO/CMakeLists.txt
+++ b/libs/IO/CMakeLists.txt
@@ -35,7 +35,7 @@ FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 LIST(REMOVE_ITEM LIBRARY_FILES_C ${PCH_C})
 SET(LIBRARY_FILES_C "${PCH_C};${LIBRARY_FILES_C}")
 
-cxx_library_with_type_no_pch(IO "Libs" "STATIC" "${cxx_default}"
+cxx_library_with_type_no_pch(IO "Libs" "" "${cxx_default}"
 	${LIBRARY_FILES_C} ${LIBRARY_FILES_H}
 )
 
diff --git a/libs/Math/CMakeLists.txt b/libs/Math/CMakeLists.txt
index 0c8474941..23db6f06a 100644
--- a/libs/Math/CMakeLists.txt
+++ b/libs/Math/CMakeLists.txt
@@ -23,7 +23,7 @@ SOURCE_GROUP("TRWS" FILES ${TRWS_LIBRARY_FILES_C} ${TRWS_LIBRARY_FILES_H})
 LIST(REMOVE_ITEM LIBRARY_FILES_C ${PCH_C})
 SET(LIBRARY_FILES_C "${PCH_C};${LIBRARY_FILES_C}")
 
-cxx_library_with_type_no_pch(Math "Libs" "STATIC" "${cxx_default}"
+cxx_library_with_type_no_pch(Math "Libs" "" "${cxx_default}"
 	${LIBRARY_FILES_C} ${LIBRARY_FILES_H}
 	${IBFS_LIBRARY_FILES_C} ${IBFS_LIBRARY_FILES_H}
 	${LMFit_LIBRARY_FILES_C} ${LMFit_LIBRARY_FILES_H}

From c4b2f59b2c7949f4a94405c5ce6fda349d0ce9df Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 4 Mar 2021 23:02:58 +0200
Subject: [PATCH 020/252] mesh: fix bug in RemoveFaces()

---
 libs/MVS/Mesh.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 111de846f..9664a5506 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -3359,10 +3359,10 @@ void Mesh::RemoveFaces(FaceIdxArr& facesRemove, bool bUpdateLists)
 					FaceIdxArr& vf(vertexFaces[idxV]);
 					const FIndex idx(vf.Find(idxF));
 					if (idx != FaceIdxArr::NO_INDEX)
-						vf[idx] = idxF;
+						vf.RemoveAt(idx);
 				}
 			}
-			const FIndex idxFM(faces.GetSize()-1);
+			const FIndex idxFM(faces.size()-1);
 			if (idxF < idxFM) {
 				// update all vertices of the moved face
 				const Face& face = faces[idxFM];

From 3581e7a65b598120a33336a76b1c5423bda60fae Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 6 Mar 2021 14:48:28 +0200
Subject: [PATCH 021/252] dense: filter more redundant views from sub-scenes

---
 libs/MVS/Scene.cpp | 22 ++++++++++++++++++++++
 1 file changed, 22 insertions(+)

diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 7c847b7c9..bd16fddd3 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -875,6 +875,28 @@ unsigned Scene::Split(ImagesChunkArr& chunks, IIndex maxArea, int depthMapStep)
 				++it;
 		}
 	}
+	#if 1
+	// remove images already completely contained by a larger chunk
+	const float minImageContributionRatioLargerChunk(0.9f);
+	FOREACH(cSmall, chunks) {
+		ImagesChunk& chunkSmall = chunks[cSmall];
+		const Unsigned32Arr& chunkSmallImageAreas = chunkInserter.imagesAreas[cSmall];
+		FOREACH(cLarge, chunks) {
+			const ImagesChunk& chunkLarge = chunks[cLarge];
+			if (chunkLarge.images.size() <= chunkSmall.images.size())
+				continue;
+			const Unsigned32Arr& chunkLargeImageAreas = chunkInserter.imagesAreas[cLarge];
+			for (auto it = chunkSmall.images.begin(); it != chunkSmall.images.end(); ) {
+				const IIndex idxImage(*it);
+				if (chunkSmallImageAreas[idxImage] < chunkLargeImageAreas[idxImage] &&
+					float(chunkLargeImageAreas[idxImage])/float(imageAreas[idxImage]) > minImageContributionRatioLargerChunk)
+					it = chunkSmall.images.erase(it);
+				else
+					++it;
+			}
+		}
+	}
+	#endif
 	DEBUG_EXTRA("Scene split (%g max-area): %u chunks (%s)", maxArea, chunks.size(), TD_TIMER_GET_FMT().c_str());
 	#if 1
 	// dump chunks for visualization

From 3be30ef1112ddeafd2aa5d640968aea5d004e756 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 6 Mar 2021 16:42:22 +0200
Subject: [PATCH 022/252] common: add ZSTD serialization support

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp  |  4 +-
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp      |  2 +-
 .../InterfaceVisualSFM/InterfaceVisualSFM.cpp |  2 +-
 apps/ReconstructMesh/ReconstructMesh.cpp      | 28 ++++++-------
 apps/RefineMesh/RefineMesh.cpp                | 40 +++++++++----------
 apps/TextureMesh/TextureMesh.cpp              | 32 +++++++--------
 apps/Viewer/Viewer.cpp                        | 14 +++----
 libs/Common/Types.inl                         | 32 ++++++++++++++-
 libs/MVS/DepthMap.cpp                         | 12 +++---
 libs/MVS/Scene.cpp                            |  6 +--
 libs/MVS/Scene.h                              |  4 +-
 11 files changed, 103 insertions(+), 73 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 48e433931..ad5bcf4e5 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -72,7 +72,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "produce this help message")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(2), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
@@ -253,7 +253,7 @@ int main(int argc, LPCTSTR* argv)
 		// split the scene in sub-scenes by maximum sampling area
 		Scene::ImagesChunkArr chunks;
 		scene.Split(chunks, OPT::fMaxSubsceneArea);
-		scene.ExportChunks(chunks, Util::getFilePath(MAKE_PATH_SAFE(OPT::strOutputFileName)));
+		scene.ExportChunks(chunks, Util::getFilePath(MAKE_PATH_SAFE(OPT::strOutputFileName)), (ARCHIVE_TYPE)OPT::nArchiveType);
 		Finalize();
 		return EXIT_SUCCESS;
 	}
diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index a88666a3f..2f34b4f2d 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -89,7 +89,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "produce this help message")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(2), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
diff --git a/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp b/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
index f90e4b612..b7092699c 100644
--- a/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
+++ b/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
@@ -73,7 +73,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "produce this help message")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(2), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index edd5b4cd2..57a5045c8 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -86,11 +86,11 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
 		("export-type", boost::program_options::value<std::string>(&OPT::strExportType)->default_value(_T("ply")), "file type used to export the 3D scene (ply or obj)")
-		("archive-type", boost::program_options::value<unsigned>(&OPT::nArchiveType)->default_value(2), "project archive type: 0-text, 1-binary, 2-compressed binary")
-		("process-priority", boost::program_options::value<int>(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
-		("max-threads", boost::program_options::value<unsigned>(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
+		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
-		("verbosity,v", boost::program_options::value<int>(&g_nVerbosityLevel)->default_value(
+		("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
 			#if TD_VERBOSE == TD_VERBOSE_DEBUG
 			3
 			#else
@@ -105,19 +105,19 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	config_main.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
-		("min-point-distance,d", boost::program_options::value<float>(&OPT::fDistInsert)->default_value(2.5f), "minimum distance in pixels between the projection of two 3D points to consider them different while triangulating (0 - disabled)")
-		("constant-weight", boost::program_options::value<bool>(&OPT::bUseConstantWeight)->default_value(true), "considers all view weights 1 instead of the available weight")
-		("free-space-support,f", boost::program_options::value<bool>(&OPT::bUseFreeSpaceSupport)->default_value(false), "exploits the free-space support in order to reconstruct weakly-represented surfaces")
-		("thickness-factor", boost::program_options::value<float>(&OPT::fThicknessFactor)->default_value(1.f), "multiplier adjusting the minimum thickness considered during visibility weighting")
-		("quality-factor", boost::program_options::value<float>(&OPT::fQualityFactor)->default_value(1.f), "multiplier adjusting the quality weight considered during graph-cut")
+		("min-point-distance,d", boost::program_options::value(&OPT::fDistInsert)->default_value(2.5f), "minimum distance in pixels between the projection of two 3D points to consider them different while triangulating (0 - disabled)")
+		("constant-weight", boost::program_options::value(&OPT::bUseConstantWeight)->default_value(true), "considers all view weights 1 instead of the available weight")
+		("free-space-support,f", boost::program_options::value(&OPT::bUseFreeSpaceSupport)->default_value(false), "exploits the free-space support in order to reconstruct weakly-represented surfaces")
+		("thickness-factor", boost::program_options::value(&OPT::fThicknessFactor)->default_value(1.f), "multiplier adjusting the minimum thickness considered during visibility weighting")
+		("quality-factor", boost::program_options::value(&OPT::fQualityFactor)->default_value(1.f), "multiplier adjusting the quality weight considered during graph-cut")
 		;
 	boost::program_options::options_description config_clean("Clean options");
 	config_clean.add_options()
-		("decimate", boost::program_options::value<float>(&OPT::fDecimateMesh)->default_value(1.f), "decimation factor in range (0..1] to be applied to the reconstructed surface (1 - disabled)")
-		("remove-spurious", boost::program_options::value<float>(&OPT::fRemoveSpurious)->default_value(20.f), "spurious factor for removing faces with too long edges or isolated components (0 - disabled)")
-		("remove-spikes", boost::program_options::value<bool>(&OPT::bRemoveSpikes)->default_value(true), "flag controlling the removal of spike faces")
-		("close-holes", boost::program_options::value<unsigned>(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the reconstructed surface (0 - disabled)")
-		("smooth", boost::program_options::value<unsigned>(&OPT::nSmoothMesh)->default_value(2), "number of iterations to smooth the reconstructed surface (0 - disabled)")
+		("decimate", boost::program_options::value(&OPT::fDecimateMesh)->default_value(1.f), "decimation factor in range (0..1] to be applied to the reconstructed surface (1 - disabled)")
+		("remove-spurious", boost::program_options::value(&OPT::fRemoveSpurious)->default_value(20.f), "spurious factor for removing faces with too long edges or isolated components (0 - disabled)")
+		("remove-spikes", boost::program_options::value(&OPT::bRemoveSpikes)->default_value(true), "flag controlling the removal of spike faces")
+		("close-holes", boost::program_options::value(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the reconstructed surface (0 - disabled)")
+		("smooth", boost::program_options::value(&OPT::nSmoothMesh)->default_value(2), "number of iterations to smooth the reconstructed surface (0 - disabled)")
 		;
 
 	// hidden options, allowed both on command line and
diff --git a/apps/RefineMesh/RefineMesh.cpp b/apps/RefineMesh/RefineMesh.cpp
index 1cbd6e227..954ab1fb9 100644
--- a/apps/RefineMesh/RefineMesh.cpp
+++ b/apps/RefineMesh/RefineMesh.cpp
@@ -87,11 +87,11 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
 		("export-type", boost::program_options::value<std::string>(&OPT::strExportType)->default_value(_T("ply")), "file type used to export the 3D scene (ply or obj)")
-		("archive-type", boost::program_options::value<unsigned>(&OPT::nArchiveType)->default_value(2), "project archive type: 0-text, 1-binary, 2-compressed binary")
-		("process-priority", boost::program_options::value<int>(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
-		("max-threads", boost::program_options::value<unsigned>(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
+		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
-		("verbosity,v", boost::program_options::value<int>(&g_nVerbosityLevel)->default_value(
+		("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
 			#if TD_VERBOSE == TD_VERBOSE_DEBUG
 			3
 			#else
@@ -106,23 +106,23 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
-		("resolution-level", boost::program_options::value<unsigned>(&OPT::nResolutionLevel)->default_value(0), "how many times to scale down the images before mesh refinement")
-		("min-resolution", boost::program_options::value<unsigned>(&OPT::nMinResolution)->default_value(640), "do not scale images lower than this resolution")
-		("max-views", boost::program_options::value<unsigned>(&OPT::nMaxViews)->default_value(8), "maximum number of neighbor images used to refine the mesh")
-		("decimate", boost::program_options::value<float>(&OPT::fDecimateMesh)->default_value(0.f), "decimation factor in range [0..1] to be applied to the input surface before refinement (0 - auto, 1 - disabled)")
-		("close-holes", boost::program_options::value<unsigned>(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the input surface (0 - disabled)")
-		("ensure-edge-size", boost::program_options::value<unsigned>(&OPT::nEnsureEdgeSize)->default_value(1), "ensure edge size and improve vertex valence of the input surface (0 - disabled, 1 - auto, 2 - force)")
-		("max-face-area", boost::program_options::value<unsigned>(&OPT::nMaxFaceArea)->default_value(64), "maximum face area projected in any pair of images that is not subdivided (0 - disabled)")
-		("scales", boost::program_options::value<unsigned>(&OPT::nScales)->default_value(3), "how many iterations to run mesh optimization on multi-scale images")
-		("scale-step", boost::program_options::value<float>(&OPT::fScaleStep)->default_value(0.5f), "image scale factor used at each mesh optimization step")
-		("reduce-memory", boost::program_options::value<unsigned>(&OPT::nReduceMemory)->default_value(1), "recompute some data in order to reduce memory requirements")
-		("alternate-pair", boost::program_options::value<unsigned>(&OPT::nAlternatePair)->default_value(0), "refine mesh using an image pair alternatively as reference (0 - both, 1 - alternate, 2 - only left, 3 - only right)")
-		("regularity-weight", boost::program_options::value<float>(&OPT::fRegularityWeight)->default_value(0.2f), "scalar regularity weight to balance between photo-consistency and regularization terms during mesh optimization")
-		("rigidity-elasticity-ratio", boost::program_options::value<float>(&OPT::fRatioRigidityElasticity)->default_value(0.9f), "scalar ratio used to compute the regularity gradient as a combination of rigidity and elasticity")
-		("gradient-step", boost::program_options::value<float>(&OPT::fGradientStep)->default_value(45.05f), "gradient step to be used instead (0 - auto)")
-		("planar-vertex-ratio", boost::program_options::value<float>(&OPT::fPlanarVertexRatio)->default_value(0.f), "threshold used to remove vertices on planar patches (0 - disabled)")
+		("resolution-level", boost::program_options::value(&OPT::nResolutionLevel)->default_value(0), "how many times to scale down the images before mesh refinement")
+		("min-resolution", boost::program_options::value(&OPT::nMinResolution)->default_value(640), "do not scale images lower than this resolution")
+		("max-views", boost::program_options::value(&OPT::nMaxViews)->default_value(8), "maximum number of neighbor images used to refine the mesh")
+		("decimate", boost::program_options::value(&OPT::fDecimateMesh)->default_value(0.f), "decimation factor in range [0..1] to be applied to the input surface before refinement (0 - auto, 1 - disabled)")
+		("close-holes", boost::program_options::value(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the input surface (0 - disabled)")
+		("ensure-edge-size", boost::program_options::value(&OPT::nEnsureEdgeSize)->default_value(1), "ensure edge size and improve vertex valence of the input surface (0 - disabled, 1 - auto, 2 - force)")
+		("max-face-area", boost::program_options::value(&OPT::nMaxFaceArea)->default_value(64), "maximum face area projected in any pair of images that is not subdivided (0 - disabled)")
+		("scales", boost::program_options::value(&OPT::nScales)->default_value(3), "how many iterations to run mesh optimization on multi-scale images")
+		("scale-step", boost::program_options::value(&OPT::fScaleStep)->default_value(0.5f), "image scale factor used at each mesh optimization step")
+		("reduce-memory", boost::program_options::value(&OPT::nReduceMemory)->default_value(1), "recompute some data in order to reduce memory requirements")
+		("alternate-pair", boost::program_options::value(&OPT::nAlternatePair)->default_value(0), "refine mesh using an image pair alternatively as reference (0 - both, 1 - alternate, 2 - only left, 3 - only right)")
+		("regularity-weight", boost::program_options::value(&OPT::fRegularityWeight)->default_value(0.2f), "scalar regularity weight to balance between photo-consistency and regularization terms during mesh optimization")
+		("rigidity-elasticity-ratio", boost::program_options::value(&OPT::fRatioRigidityElasticity)->default_value(0.9f), "scalar ratio used to compute the regularity gradient as a combination of rigidity and elasticity")
+		("gradient-step", boost::program_options::value(&OPT::fGradientStep)->default_value(45.05f), "gradient step to be used instead (0 - auto)")
+		("planar-vertex-ratio", boost::program_options::value(&OPT::fPlanarVertexRatio)->default_value(0.f), "threshold used to remove vertices on planar patches (0 - disabled)")
 		#ifdef _USE_CUDA
-		("use-cuda", boost::program_options::value<bool>(&OPT::bUseCUDA)->default_value(true), "refine mesh using CUDA")
+		("use-cuda", boost::program_options::value(&OPT::bUseCUDA)->default_value(true), "refine mesh using CUDA")
 		#endif
 		;
 
diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index 23f1421d1..34209d0b2 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -81,11 +81,11 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
 		("export-type", boost::program_options::value<std::string>(&OPT::strExportType)->default_value(_T("ply")), "file type used to export the 3D scene (ply or obj)")
-		("archive-type", boost::program_options::value<unsigned>(&OPT::nArchiveType)->default_value(2), "project archive type: 0-text, 1-binary, 2-compressed binary")
-		("process-priority", boost::program_options::value<int>(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
-		("max-threads", boost::program_options::value<unsigned>(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
+		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
-		("verbosity,v", boost::program_options::value<int>(&g_nVerbosityLevel)->default_value(
+		("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
 			#if TD_VERBOSE == TD_VERBOSE_DEBUG
 			3
 			#else
@@ -100,18 +100,18 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
-		("decimate", boost::program_options::value<float>(&OPT::fDecimateMesh)->default_value(1.f), "decimation factor in range [0..1] to be applied to the input surface before refinement (0 - auto, 1 - disabled)")
-		("close-holes", boost::program_options::value<unsigned>(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the input surface (0 - disabled)")
-		("resolution-level", boost::program_options::value<unsigned>(&OPT::nResolutionLevel)->default_value(0), "how many times to scale down the images before mesh refinement")
-		("min-resolution", boost::program_options::value<unsigned>(&OPT::nMinResolution)->default_value(640), "do not scale images lower than this resolution")
-		("outlier-threshold", boost::program_options::value<float>(&OPT::fOutlierThreshold)->default_value(6e-2f), "threshold used to find and remove outlier face textures (0 - disabled)")
-		("cost-smoothness-ratio", boost::program_options::value<float>(&OPT::fRatioDataSmoothness)->default_value(0.1f), "ratio used to adjust the preference for more compact patches (1 - best quality/worst compactness, ~0 - worst quality/best compactness)")
-		("global-seam-leveling", boost::program_options::value<bool>(&OPT::bGlobalSeamLeveling)->default_value(true), "generate uniform texture patches using global seam leveling")
-		("local-seam-leveling", boost::program_options::value<bool>(&OPT::bLocalSeamLeveling)->default_value(true), "generate uniform texture patch borders using local seam leveling")
-		("texture-size-multiple", boost::program_options::value<unsigned>(&OPT::nTextureSizeMultiple)->default_value(0), "texture size should be a multiple of this value (0 - power of two)")
-		("patch-packing-heuristic", boost::program_options::value<unsigned>(&OPT::nRectPackingHeuristic)->default_value(3), "specify the heuristic used when deciding where to place a new patch (0 - best fit, 3 - good speed, 100 - best speed)")
-		("empty-color", boost::program_options::value<uint32_t>(&OPT::nColEmpty)->default_value(0x00FF7F27), "color used for faces not covered by any image")
-		("orthographic-image-resolution", boost::program_options::value<unsigned>(&OPT::nOrthoMapResolution)->default_value(0), "orthographic image resolution to be generated from the textured mesh - the mesh is expected to be already geo-referenced or at least properly oriented (0 - disabled)")
+		("decimate", boost::program_options::value(&OPT::fDecimateMesh)->default_value(1.f), "decimation factor in range [0..1] to be applied to the input surface before refinement (0 - auto, 1 - disabled)")
+		("close-holes", boost::program_options::value(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the input surface (0 - disabled)")
+		("resolution-level", boost::program_options::value(&OPT::nResolutionLevel)->default_value(0), "how many times to scale down the images before mesh refinement")
+		("min-resolution", boost::program_options::value(&OPT::nMinResolution)->default_value(640), "do not scale images lower than this resolution")
+		("outlier-threshold", boost::program_options::value(&OPT::fOutlierThreshold)->default_value(6e-2f), "threshold used to find and remove outlier face textures (0 - disabled)")
+		("cost-smoothness-ratio", boost::program_options::value(&OPT::fRatioDataSmoothness)->default_value(0.1f), "ratio used to adjust the preference for more compact patches (1 - best quality/worst compactness, ~0 - worst quality/best compactness)")
+		("global-seam-leveling", boost::program_options::value(&OPT::bGlobalSeamLeveling)->default_value(true), "generate uniform texture patches using global seam leveling")
+		("local-seam-leveling", boost::program_options::value(&OPT::bLocalSeamLeveling)->default_value(true), "generate uniform texture patch borders using local seam leveling")
+		("texture-size-multiple", boost::program_options::value(&OPT::nTextureSizeMultiple)->default_value(0), "texture size should be a multiple of this value (0 - power of two)")
+		("patch-packing-heuristic", boost::program_options::value(&OPT::nRectPackingHeuristic)->default_value(3), "specify the heuristic used when deciding where to place a new patch (0 - best fit, 3 - good speed, 100 - best speed)")
+		("empty-color", boost::program_options::value(&OPT::nColEmpty)->default_value(0x00FF7F27), "color used for faces not covered by any image")
+		("orthographic-image-resolution", boost::program_options::value(&OPT::nOrthoMapResolution)->default_value(0), "orthographic image resolution to be generated from the textured mesh - the mesh is expected to be already geo-referenced or at least properly oriented (0 - disabled)")
 		;
 
 	// hidden options, allowed both on command line and
diff --git a/apps/Viewer/Viewer.cpp b/apps/Viewer/Viewer.cpp
index 2470e3abf..1ef9ad928 100644
--- a/apps/Viewer/Viewer.cpp
+++ b/apps/Viewer/Viewer.cpp
@@ -75,13 +75,13 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
 		("export-type", boost::program_options::value<std::string>(&OPT::strExportType), "file type used to export the 3D scene (ply or obj)")
-		("archive-type", boost::program_options::value<unsigned>(&OPT::nArchiveType)->default_value(2), "project archive type: 0-text, 1-binary, 2-compressed binary")
-		("process-priority", boost::program_options::value<int>(&OPT::nProcessPriority)->default_value(0), "process priority (normal by default)")
-		("max-threads", boost::program_options::value<unsigned>(&OPT::nMaxThreads)->default_value(0), "maximum number of threads that this process should use (0 - use all available cores)")
-		("max-memory", boost::program_options::value<unsigned>(&OPT::nMaxMemory)->default_value(0), "maximum amount of memory in MB that this process should use (0 - use all available memory)")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(0), "process priority (normal by default)")
+		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads that this process should use (0 - use all available cores)")
+		("max-memory", boost::program_options::value(&OPT::nMaxMemory)->default_value(0), "maximum amount of memory in MB that this process should use (0 - use all available memory)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
-		("log-file", boost::program_options::value<bool>(&OPT::bLogFile)->default_value(false), "dump log to a file")
-		("verbosity,v", boost::program_options::value<int>(&g_nVerbosityLevel)->default_value(
+		("log-file", boost::program_options::value(&OPT::bLogFile)->default_value(false), "dump log to a file")
+		("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
 			#if TD_VERBOSE == TD_VERBOSE_DEBUG
 			3
 			#else
@@ -96,7 +96,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input project filename containing camera poses and scene (point-cloud/mesh)")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
-		("texture-lossless", boost::program_options::value<bool>(&OPT::bLosslessTexture)->default_value(false), "export texture using a lossless image format")
+		("texture-lossless", boost::program_options::value(&OPT::bLosslessTexture)->default_value(false), "export texture using a lossless image format")
 		;
 
 	// hidden options, allowed both on command line and
diff --git a/libs/Common/Types.inl b/libs/Common/Types.inl
index 645df52f5..d63aca192 100644
--- a/libs/Common/Types.inl
+++ b/libs/Common/Types.inl
@@ -3734,6 +3734,7 @@ namespace boost {
 // include headers that implement a archive in simple text and binary format or XML format
 #if defined(_MSC_VER)
 #pragma warning (push)
+#pragma warning (disable : 4275) // non dll-interface class
 #pragma warning (disable : 4715) // not all control paths return a value
 #endif
 #include <boost/archive/text_oarchive.hpp>
@@ -3745,6 +3746,9 @@ namespace boost {
 // include headers that implement compressed serialization support
 #include <boost/iostreams/filtering_streambuf.hpp>
 #include <boost/iostreams/filter/zlib.hpp>
+#if BOOST_VERSION >= 106900
+#include <boost/iostreams/filter/zstd.hpp>
+#endif
 #if defined(_MSC_VER)
 #pragma warning (pop)
 #endif
@@ -3754,7 +3758,13 @@ enum ARCHIVE_TYPE {
 	ARCHIVE_TEXT = 0,
 	ARCHIVE_BINARY,
 	ARCHIVE_BINARY_ZIP,
-	ARCHIVE_LAST
+	ARCHIVE_BINARY_ZSTD,
+	ARCHIVE_LAST,
+	#if BOOST_VERSION >= 106900
+	ARCHIVE_DEFAULT = ARCHIVE_BINARY_ZSTD
+	#else
+	ARCHIVE_DEFAULT = ARCHIVE_BINARY_ZIP
+	#endif
 };
 
 // export the current state of the given reconstruction object
@@ -3779,6 +3789,16 @@ bool SerializeSave(const TYPE& obj, std::ofstream& fs, ARCHIVE_TYPE type, unsign
 		boost::archive::binary_oarchive ar(ffs, flags);
 		ar << obj;
 		break; }
+	#if BOOST_VERSION >= 106900
+	case ARCHIVE_BINARY_ZSTD: {
+		namespace io = boost::iostreams;
+		io::filtering_streambuf<io::output> ffs;
+		ffs.push(io::zstd_compressor(io::zstd::best_speed));
+		ffs.push(fs);
+		boost::archive::binary_oarchive ar(ffs, flags);
+		ar << obj;
+		break; }
+	#endif
 	default:
 		VERBOSE("error: Can not save the object, invalid archive type");
 		return false;
@@ -3819,6 +3839,16 @@ bool SerializeLoad(TYPE& obj, std::ifstream& fs, ARCHIVE_TYPE type, unsigned fla
 			boost::archive::binary_iarchive ar(ffs, flags);
 			ar >> obj;
 			break; }
+		#if BOOST_VERSION >= 106900
+		case ARCHIVE_BINARY_ZSTD: {
+			namespace io = boost::iostreams;
+			io::filtering_streambuf<io::input> ffs;
+			ffs.push(io::zstd_decompressor());
+			ffs.push(fs);
+			boost::archive::binary_iarchive ar(ffs, flags);
+			ar >> obj;
+			break; }
+		#endif
 		default:
 			VERBOSE("error: Can not load the object, invalid archive type");
 			return false;
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 9d9334d55..b1266d361 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -1489,13 +1489,13 @@ bool MVS::EstimateNormalMap(const Matrix3x3f& K, const DepthMap& depthMap, Norma
 bool MVS::SaveDepthMap(const String& fileName, const DepthMap& depthMap)
 {
 	ASSERT(!depthMap.empty());
-	return SerializeSave(depthMap, fileName, ARCHIVE_BINARY_ZIP);
+	return SerializeSave(depthMap, fileName, ARCHIVE_DEFAULT);
 } // SaveDepthMap
 /*----------------------------------------------------------------*/
 // load the depth map from our .dmap file format
 bool MVS::LoadDepthMap(const String& fileName, DepthMap& depthMap)
 {
-	return SerializeLoad(depthMap, fileName, ARCHIVE_BINARY_ZIP);
+	return SerializeLoad(depthMap, fileName, ARCHIVE_DEFAULT);
 } // LoadDepthMap
 /*----------------------------------------------------------------*/
 
@@ -1503,13 +1503,13 @@ bool MVS::LoadDepthMap(const String& fileName, DepthMap& depthMap)
 bool MVS::SaveNormalMap(const String& fileName, const NormalMap& normalMap)
 {
 	ASSERT(!normalMap.empty());
-	return SerializeSave(normalMap, fileName, ARCHIVE_BINARY_ZIP);
+	return SerializeSave(normalMap, fileName, ARCHIVE_DEFAULT);
 } // SaveNormalMap
 /*----------------------------------------------------------------*/
 // load the normal map from our .nmap file format
 bool MVS::LoadNormalMap(const String& fileName, NormalMap& normalMap)
 {
-	return SerializeLoad(normalMap, fileName, ARCHIVE_BINARY_ZIP);
+	return SerializeLoad(normalMap, fileName, ARCHIVE_DEFAULT);
 } // LoadNormalMap
 /*----------------------------------------------------------------*/
 
@@ -1517,13 +1517,13 @@ bool MVS::LoadNormalMap(const String& fileName, NormalMap& normalMap)
 bool MVS::SaveConfidenceMap(const String& fileName, const ConfidenceMap& confMap)
 {
 	ASSERT(!confMap.empty());
-	return SerializeSave(confMap, fileName, ARCHIVE_BINARY_ZIP);
+	return SerializeSave(confMap, fileName, ARCHIVE_DEFAULT);
 } // SaveConfidenceMap
 /*----------------------------------------------------------------*/
 // load the confidence map from our .cmap file format
 bool MVS::LoadConfidenceMap(const String& fileName, ConfidenceMap& confMap)
 {
-	return SerializeLoad(confMap, fileName, ARCHIVE_BINARY_ZIP);
+	return SerializeLoad(confMap, fileName, ARCHIVE_DEFAULT);
 } // LoadConfidenceMap
 /*----------------------------------------------------------------*/
 
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index bd16fddd3..0c16feeeb 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -482,7 +482,7 @@ bool Scene::Save(const String& fileName, ARCHIVE_TYPE type) const
 	if (type == ARCHIVE_MVS) {
 		if (mesh.IsEmpty())
 			return SaveInterface(fileName);
-		type = ARCHIVE_BINARY_ZIP;
+		type = ARCHIVE_DEFAULT;
 	}
 	#ifdef _USE_BOOST
 	// open the output stream
@@ -911,7 +911,7 @@ unsigned Scene::Split(ImagesChunkArr& chunks, IIndex maxArea, int depthMapStep)
 } // Split
 
 // split the scene in sub-scenes according to the given chunks array, and save them to disk
-bool Scene::ExportChunks(const ImagesChunkArr& chunks, const String& path) const
+bool Scene::ExportChunks(const ImagesChunkArr& chunks, const String& path, ARCHIVE_TYPE type) const
 {
 	FOREACH(chunkID, chunks) {
 		const ImagesChunk& chunk = chunks[chunkID];
@@ -993,7 +993,7 @@ bool Scene::ExportChunks(const ImagesChunkArr& chunks, const String& path) const
 		// set scene ROI
 		subset.obb.Set(OBB3f::MATRIX::Identity(), chunk.aabb.ptMin, chunk.aabb.ptMax);
 		// serialize out the current state
-		if (!subset.Save(String::FormatString("%s" PATH_SEPARATOR_STR "scene_%04u.mvs", path.c_str(), chunkID)))
+		if (!subset.Save(String::FormatString("%s" PATH_SEPARATOR_STR "scene_%04u.mvs", path.c_str(), chunkID), type))
 			return false;
 	}
 	return true;
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 06a81219a..42b93db51 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -76,7 +76,7 @@ class MVS_API Scene
 	bool Import(const String& fileName);
 
 	bool Load(const String& fileName, bool bImport=false);
-	bool Save(const String& fileName, ARCHIVE_TYPE type=ARCHIVE_BINARY_ZIP) const;
+	bool Save(const String& fileName, ARCHIVE_TYPE type=ARCHIVE_DEFAULT) const;
 
 	bool SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews=3, unsigned nMinPointViews=2, float fOptimAngle=FD2R(10));
 	static bool FilterNeighborViews(ViewScoreArr& neighbors, float fMinArea=0.1f, float fMinScale=0.2f, float fMaxScale=2.4f, float fMinAngle=FD2R(3), float fMaxAngle=FD2R(45), unsigned nMaxViews=12);
@@ -90,7 +90,7 @@ class MVS_API Scene
 	};
 	typedef cList<ImagesChunk,const ImagesChunk&,2,16,uint32_t> ImagesChunkArr;
 	unsigned Split(ImagesChunkArr& chunks, IIndex maxArea, int depthMapStep=8) const;
-	bool ExportChunks(const ImagesChunkArr& chunks, const String& path) const;
+	bool ExportChunks(const ImagesChunkArr& chunks, const String& path, ARCHIVE_TYPE type=ARCHIVE_DEFAULT) const;
 
 	// Dense reconstruction
 	bool DenseReconstruction(int nFusionMode=0);

From 979d6dbeaff9fd7aff80beb9754c12eee4f9734c Mon Sep 17 00:00:00 2001
From: YOSHIFUJI Naoki <lwisteria.ao@gmail.com>
Date: Sat, 6 Mar 2021 23:54:15 +0900
Subject: [PATCH 023/252] apps: set internal linkage for functions and
 variables (#656)

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp   | 3 +++
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp       | 2 ++
 apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp     | 3 +++
 apps/InterfacePhotoScan/InterfacePhotoScan.cpp | 3 +++
 apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp | 3 +++
 apps/ReconstructMesh/ReconstructMesh.cpp       | 3 +++
 apps/RefineMesh/RefineMesh.cpp                 | 3 +++
 apps/TextureMesh/TextureMesh.cpp               | 3 +++
 apps/Viewer/Viewer.cpp                         | 3 +++
 9 files changed, 26 insertions(+)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index ad5bcf4e5..f626416f0 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -40,6 +40,7 @@ using namespace MVS;
 
 #define APPNAME _T("DensifyPointCloud")
 
+namespace {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
@@ -216,6 +217,8 @@ void Finalize()
 	CLOSE_LOG();
 }
 
+} // unnamed namespace
+
 int main(int argc, LPCTSTR* argv)
 {
 	#ifdef _DEBUGINFO
diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index 2f34b4f2d..8a2513ea7 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -60,6 +60,7 @@ using namespace MVS;
 #define COLMAP_STEREO_DEPTHMAPS_FOLDER COLMAP_STEREO_FOLDER _T("depth_maps/")
 #define COLMAP_STEREO_NORMALMAPS_FOLDER COLMAP_STEREO_FOLDER _T("normal_maps/")
 
+namespace {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
@@ -1081,6 +1082,7 @@ bool ExportImagesCamera(const String& pathName, const Interface& scene)
 	return true;
 }
 
+} // unnamed namespace
 
 int main(int argc, LPCTSTR* argv)
 {
diff --git a/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp b/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
index c410d0d75..2d43e5017 100644
--- a/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
+++ b/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
@@ -50,6 +50,7 @@
 #define MVG2_EXT _T(".json")
 #define MVG3_EXT _T(".bin")
 
+namespace {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
@@ -471,6 +472,8 @@ void Finalize()
 	CLOSE_LOG();
 }
 
+} // unnamed namespace
+
 int main(int argc, LPCTSTR* argv)
 {
 	#ifdef _DEBUGINFO
diff --git a/apps/InterfacePhotoScan/InterfacePhotoScan.cpp b/apps/InterfacePhotoScan/InterfacePhotoScan.cpp
index 0b5f1effa..b4d8a57de 100644
--- a/apps/InterfacePhotoScan/InterfacePhotoScan.cpp
+++ b/apps/InterfacePhotoScan/InterfacePhotoScan.cpp
@@ -41,6 +41,7 @@
 #define XML_EXT _T(".xml")
 #define PLY_EXT _T(".ply")
 
+namespace {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
@@ -524,6 +525,8 @@ void AssignPoints(const MVS::Image& imageData, uint32_t ID, MVS::PointCloud& poi
 	DEBUG_ULTIMATE("\tview %3u sees %u points", ID, nNumPoints);
 }
 
+} // unnamed namespace
+
 int main(int argc, LPCTSTR* argv)
 {
 	#ifdef _DEBUGINFO
diff --git a/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp b/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
index b7092699c..17b695137 100644
--- a/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
+++ b/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
@@ -45,6 +45,7 @@
 #define BUNDLE_EXT _T(".out")
 #define CMPMVS_EXT _T(".lst")
 
+namespace {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
@@ -187,6 +188,8 @@ void Finalize()
 	CLOSE_LOG();
 }
 
+} // unnamed namespace
+
 #define PBA_PRECISION float
 
 namespace PBA {
diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index 57a5045c8..49a3bfdc7 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -45,6 +45,7 @@ using namespace MVS;
 #define RECMESH_USE_OPENMP
 #endif
 
+namespace {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
@@ -209,6 +210,8 @@ void Finalize()
 	CLOSE_LOG();
 }
 
+} // unnamed namespace
+
 int main(int argc, LPCTSTR* argv)
 {
 	#ifdef _DEBUGINFO
diff --git a/apps/RefineMesh/RefineMesh.cpp b/apps/RefineMesh/RefineMesh.cpp
index 954ab1fb9..6467da83f 100644
--- a/apps/RefineMesh/RefineMesh.cpp
+++ b/apps/RefineMesh/RefineMesh.cpp
@@ -40,6 +40,7 @@ using namespace MVS;
 
 #define APPNAME _T("RefineMesh")
 
+namespace {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
@@ -213,6 +214,8 @@ void Finalize()
 	CLOSE_LOG();
 }
 
+} // unnamed namespace
+
 int main(int argc, LPCTSTR* argv)
 {
 	#ifdef _DEBUGINFO
diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index 34209d0b2..234d78a75 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -40,6 +40,7 @@ using namespace MVS;
 
 #define APPNAME _T("TextureMesh")
 
+namespace {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
@@ -201,6 +202,8 @@ void Finalize()
 	CLOSE_LOG();
 }
 
+} // unnamed namespace
+
 int main(int argc, LPCTSTR* argv)
 {
 	#ifdef _DEBUGINFO
diff --git a/apps/Viewer/Viewer.cpp b/apps/Viewer/Viewer.cpp
index 1ef9ad928..7b12bf1f6 100644
--- a/apps/Viewer/Viewer.cpp
+++ b/apps/Viewer/Viewer.cpp
@@ -41,6 +41,7 @@ using namespace VIEWER;
 
 #define APPNAME _T("Viewer")
 
+namespace {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
@@ -200,6 +201,8 @@ void Finalize()
 	CLOSE_LOG();
 }
 
+} // unnamed namespace
+
 int main(int argc, LPCTSTR* argv)
 {
 	#ifdef _DEBUGINFO

From 55a2ab1b85da59a7f2a316a169253c9737399363 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 6 Mar 2021 17:09:47 +0200
Subject: [PATCH 024/252] common: small refactor

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp   |  3 ++-
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp       |  3 ++-
 apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp     | 13 +++++++------
 apps/InterfacePhotoScan/InterfacePhotoScan.cpp | 11 ++++++-----
 apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp |  3 ++-
 apps/ReconstructMesh/ReconstructMesh.cpp       |  3 ++-
 apps/RefineMesh/RefineMesh.cpp                 |  3 ++-
 apps/TextureMesh/TextureMesh.cpp               |  3 ++-
 apps/Viewer/Viewer.cpp                         |  3 ++-
 9 files changed, 27 insertions(+), 18 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index f626416f0..61ef6ddf5 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -40,10 +40,11 @@ using namespace MVS;
 
 #define APPNAME _T("DensifyPointCloud")
 
-namespace {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+namespace {
+
 namespace OPT {
 String strInputFileName;
 String strOutputFileName;
diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index 8a2513ea7..6c1082e29 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -60,10 +60,11 @@ using namespace MVS;
 #define COLMAP_STEREO_DEPTHMAPS_FOLDER COLMAP_STEREO_FOLDER _T("depth_maps/")
 #define COLMAP_STEREO_NORMALMAPS_FOLDER COLMAP_STEREO_FOLDER _T("normal_maps/")
 
-namespace {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+namespace {
+
 namespace OPT {
 bool bFromOpenMVS; // conversion direction
 bool bNormalizeIntrinsics;
diff --git a/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp b/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
index 2d43e5017..3f4a171ee 100644
--- a/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
+++ b/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
@@ -50,10 +50,11 @@
 #define MVG2_EXT _T(".json")
 #define MVG3_EXT _T(".bin")
 
-namespace {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+namespace {
+
 namespace openMVS {
 namespace MVS_IO {
 
@@ -351,11 +352,11 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "produce this help message")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-		("archive-type", boost::program_options::value<unsigned>(&OPT::nArchiveType)->default_value(2), "project archive type: 0-text, 1-binary, 2-compressed binary")
-		("process-priority", boost::program_options::value<int>(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
-		("max-threads", boost::program_options::value<unsigned>(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
+		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
-		("verbosity,v", boost::program_options::value<int>(&g_nVerbosityLevel)->default_value(
+		("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
 			#if TD_VERBOSE == TD_VERBOSE_DEBUG
 			3
 			#else
@@ -372,7 +373,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
 		("output-image-folder", boost::program_options::value<std::string>(&OPT::strOutputImageFolder)->default_value("undistorted_images"), "output folder to store undistorted images")
-		("normalize,f", boost::program_options::value<bool>(&OPT::bNormalizeIntrinsics)->default_value(true), "normalize intrinsics while exporting to OpenMVS format")
+		("normalize,f", boost::program_options::value(&OPT::bNormalizeIntrinsics)->default_value(true), "normalize intrinsics while exporting to OpenMVS format")
 		;
 
 	boost::program_options::options_description cmdline_options;
diff --git a/apps/InterfacePhotoScan/InterfacePhotoScan.cpp b/apps/InterfacePhotoScan/InterfacePhotoScan.cpp
index b4d8a57de..e12c4769b 100644
--- a/apps/InterfacePhotoScan/InterfacePhotoScan.cpp
+++ b/apps/InterfacePhotoScan/InterfacePhotoScan.cpp
@@ -41,10 +41,11 @@
 #define XML_EXT _T(".xml")
 #define PLY_EXT _T(".ply")
 
-namespace {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+namespace {
+
 namespace OPT {
 String strPointsFileName;
 String strInputFileName;
@@ -70,11 +71,11 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "produce this help message")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-		("archive-type", boost::program_options::value<unsigned>(&OPT::nArchiveType)->default_value(2), "project archive type: 0-text, 1-binary, 2-compressed binary")
-		("process-priority", boost::program_options::value<int>(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
-		("max-threads", boost::program_options::value<unsigned>(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
+		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
-		("verbosity,v", boost::program_options::value<int>(&g_nVerbosityLevel)->default_value(
+		("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
 			#if TD_VERBOSE == TD_VERBOSE_DEBUG
 			3
 			#else
diff --git a/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp b/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
index 17b695137..c0278aa11 100644
--- a/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
+++ b/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
@@ -45,10 +45,11 @@
 #define BUNDLE_EXT _T(".out")
 #define CMPMVS_EXT _T(".lst")
 
-namespace {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+namespace {
+
 namespace OPT {
 String strInputFileName;
 String strOutputFileName;
diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index 49a3bfdc7..44becb3c3 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -45,10 +45,11 @@ using namespace MVS;
 #define RECMESH_USE_OPENMP
 #endif
 
-namespace {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+namespace {
+
 namespace OPT {
 String strInputFileName;
 String strOutputFileName;
diff --git a/apps/RefineMesh/RefineMesh.cpp b/apps/RefineMesh/RefineMesh.cpp
index 6467da83f..53694ee9b 100644
--- a/apps/RefineMesh/RefineMesh.cpp
+++ b/apps/RefineMesh/RefineMesh.cpp
@@ -40,10 +40,11 @@ using namespace MVS;
 
 #define APPNAME _T("RefineMesh")
 
-namespace {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+namespace {
+
 namespace OPT {
 String strInputFileName;
 String strOutputFileName;
diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index 234d78a75..a0ce3cae5 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -40,10 +40,11 @@ using namespace MVS;
 
 #define APPNAME _T("TextureMesh")
 
-namespace {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+namespace {
+
 namespace OPT {
 String strInputFileName;
 String strOutputFileName;
diff --git a/apps/Viewer/Viewer.cpp b/apps/Viewer/Viewer.cpp
index 7b12bf1f6..e0ff5b56d 100644
--- a/apps/Viewer/Viewer.cpp
+++ b/apps/Viewer/Viewer.cpp
@@ -41,10 +41,11 @@ using namespace VIEWER;
 
 #define APPNAME _T("Viewer")
 
-namespace {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+namespace {
+
 namespace OPT {
 String strInputFileName;
 String strOutputFileName;

From 43ca8f2a737db18024934c870a68d1b571bd1cc4 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sun, 7 Mar 2021 11:59:51 +0200
Subject: [PATCH 025/252] mesh: raster triangles using barycentric coordinates

---
 libs/Common/Octree.inl    |  2 +-
 libs/Common/Types.h       | 18 +++++++++++++
 libs/Common/Types.inl     | 42 +++++++++++++++++++++++++++++
 libs/Common/Util.inl      | 13 +++++++--
 libs/MVS/Mesh.cpp         | 55 ++++++++++++++------------------------
 libs/MVS/Mesh.h           | 56 +++++++++++++--------------------------
 libs/MVS/SceneRefine.cpp  | 11 ++++----
 libs/MVS/SceneTexture.cpp |  9 +++----
 8 files changed, 120 insertions(+), 86 deletions(-)

diff --git a/libs/Common/Octree.inl b/libs/Common/Octree.inl
index 7a3026e25..e0e0f298b 100644
--- a/libs/Common/Octree.inl
+++ b/libs/Common/Octree.inl
@@ -515,7 +515,7 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_SplitVolume(const CELL_TYPE& pa
 		POINT_TYPE centers[8];
 		cList<PairIndices> arrHalfIndices;
 		GenerateSamples(const UnsignedArr& _indices)
-			: indices(_indices), numSamples((unsigned)indices.size()), halfSamples((unsigned)indices.size()/2), arrHalfIndices(0, numSamples), numCommonAxis(halfSamples==4?1:2)
+			: indices(_indices), numSamples((unsigned)indices.size()), halfSamples(numSamples/2), numCommonAxis(halfSamples==4?1:2), arrHalfIndices(0, numSamples)
 		{
 			ASSERT(indices.size()%2 == 0 && indices.IsSorted());
 			ASSERT(halfSamples == 4 || halfSamples == 2);
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index e3c749dd9..6da8a0d77 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -1636,6 +1636,22 @@ class TDMatrix : public cv::Mat_<TYPE>
 		return pt.x>=T(border) && pt.y>=T(border) && pt.x<=T(Base::size().width-(border+1)) && pt.y<=T(Base::size().height-(border+1));
 	}
 
+	template <typename T, int border=0>
+	static inline void clip(TPoint2<T>& ptMin, TPoint2<T>& ptMax, const cv::Size& size) {
+		if (ptMin.x < T(border))
+			ptMin.x = T(border);
+		if (ptMin.y < T(border))
+			ptMin.y = T(border);
+		if (ptMax.x >= T(size.width-border))
+			ptMax.x = T(size.width-(border+1));
+		if (ptMax.y >= T(size.height-border))
+			ptMax.y = T(size.height-(border+1));
+	}
+	template <typename T, int border=0>
+	inline void clip(TPoint2<T>& ptMin, TPoint2<T>& ptMax) const {
+		clip<T,border>(ptMin, ptMax, Base::size());
+	}
+
 	/// Remove the given element from the vector
 	inline void remove(int idx) {
 		// replace the removed element by the last one and decrease the size
@@ -2155,6 +2171,8 @@ class TImage : public TDMatrix<TYPE>
 	template <typename T, typename PARSER>
 	static void RasterizeTriangle(const TPoint2<T>& v1, const TPoint2<T>& v2, const TPoint2<T>& v3, PARSER& parser);
 	template <typename T, typename PARSER>
+	static void RasterizeTriangleBary(const TPoint2<T>& v1, const TPoint2<T>& v2, const TPoint2<T>& v3, PARSER& parser);
+	template <typename T, typename PARSER>
 	static void RasterizeTriangleDepth(TPoint3<T> p1, TPoint3<T> p2, TPoint3<T> p3, PARSER& parser);
 
 	template <typename T, typename PARSER>
diff --git a/libs/Common/Types.inl b/libs/Common/Types.inl
index d63aca192..381b58dd7 100644
--- a/libs/Common/Types.inl
+++ b/libs/Common/Types.inl
@@ -2605,6 +2605,48 @@ void TImage<TYPE>::RasterizeTriangle(const TPoint2<T>& v1, const TPoint2<T>& v2,
 	}
 }
 
+// same as above, but raster a triangle using barycentric coordinates:
+// https://www.scratchapixel.com/lessons/3d-basic-rendering/rasterization-practical-implementation
+template <typename TYPE>
+template <typename T, typename PARSER>
+void TImage<TYPE>::RasterizeTriangleBary(const TPoint2<T>& v1, const TPoint2<T>& v2, const TPoint2<T>& v3, PARSER& parser)
+{
+	// compute bounding-box fully containing the triangle
+	const TPoint2<T> boxMin(MINF3(v1.x, v2.x, v3.x), MINF3(v1.y, v2.y, v3.y));
+	const TPoint2<T> boxMax(MAXF3(v1.x, v2.x, v3.x), MAXF3(v1.y, v2.y, v3.y));
+	// check the bounding-box intersects the image
+	const cv::Size size(parser.Size());
+	if (boxMax.x < T(0) || boxMin.x > T(size.width - 1) ||
+		boxMax.y < T(0) || boxMin.y > T(size.height - 1))
+		return;
+	// ignore back oriented triangles (negative area)
+	const T area(EdgeFunction(v1, v2, v3));
+	if (area <= 0)
+		return;
+	// clip bounding-box to be fully contained by the image
+	ImageRef boxMinI(FLOOR2INT(boxMin));
+	ImageRef boxMaxI(CEIL2INT(boxMax));
+	Base::clip(boxMinI, boxMaxI, size);
+	// parse all pixels inside the bounding-box
+	const T invArea(T(1) / area);
+	for (int y = boxMinI.y; y <= boxMaxI.y; ++y) {
+		for (int x = boxMinI.x; x <= boxMaxI.x; ++x) {
+			const ImageRef pt(x, y);
+			const TPoint2<T> p(Cast<T>(pt));
+			const T b1(EdgeFunction(v2, v3, p));
+			if (b1 < 0)
+				continue;
+			const T b2(EdgeFunction(v3, v1, p));
+			if (b2 < 0)
+				continue;
+			const T b3(EdgeFunction(v1, v2, p));
+			if (b3 < 0)
+				continue;
+			parser(pt, TPoint3<T>(b1, b2, b3) * invArea);
+		}
+	}
+}
+
 // drawing line between 2 points from left to right
 // papb -> pcpd
 // pa, pb, pc, pd must then be sorted before
diff --git a/libs/Common/Util.inl b/libs/Common/Util.inl
index d605b9173..fb5aa82ec 100644
--- a/libs/Common/Util.inl
+++ b/libs/Common/Util.inl
@@ -468,13 +468,17 @@ TYPE ComputeTriangleAreaLenSq(TYPE lenaSq, TYPE lenbSq, TYPE lencSq) {
 }
 // compute area for a triangle defined by three 2D points
 template <typename TYPE>
+TYPE EdgeFunction(const TPoint2<TYPE>& x0, const TPoint2<TYPE>& x1, const TPoint2<TYPE>& x2) {
+	return TYPE((x2-x0).cross(x1-x0));
+}
+template <typename TYPE>
 TYPE ComputeTriangleArea(const TPoint2<TYPE>& x0, const TPoint2<TYPE>& x1, const TPoint2<TYPE>& x2) {
-	return abs((TYPE)((x0-x2).cross(x0-x1)/TYPE(2)));
+	return (TYPE)abs(EdgeFunction(x0, x1, x2)/TYPE(2));
 }
 // compute area for a triangle defined by three 3D points
 template <typename TYPE>
 TYPE ComputeTriangleAreaSq(const TPoint3<TYPE>& x0, const TPoint3<TYPE>& x1, const TPoint3<TYPE>& x2) {
-	return (TYPE)(normSq((x1-x0).cross(x2-x0))/TYPE(4));
+	return (TYPE)normSq((x1-x0).cross(x2-x0))/TYPE(4);
 }
 template <typename TYPE>
 TYPE ComputeTriangleArea(const TPoint3<TYPE>& x0, const TPoint3<TYPE>& x1, const TPoint3<TYPE>& x2) {
@@ -607,6 +611,11 @@ inline TPoint3<TYPE> CorrectBarycentricCoordinates(TPoint2<TYPE> b) {
 	ASSERT((b.x >= 0) && (b.y >= 0) && (b.x+b.y <= 1) && ISEQUAL(b.x+b.y+z, TYPE(1)));
 	return TPoint3<TYPE>(b.x, b.y, z);
 }
+template <typename TYPE>
+inline TPoint3<TYPE> PerspectiveCorrectBarycentricCoordinates(const TPoint3<TYPE>& b, TYPE z0, TYPE z1, TYPE z2) {
+	const TPoint3<TYPE> pb(b.x * z1 * z2, b.y * z0 * z2, b.z * z0 * z1);
+	return pb / (pb.x + pb.y + pb.z);
+}
 /*----------------------------------------------------------------*/
 
 // Encodes/decodes a normalized 3D vector in two parameters for the direction
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 9664a5506..2adb1be55 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -3600,18 +3600,16 @@ void Mesh::Project(const Camera& camera, DepthMap& depthMap, Image8U3& image) co
 			Base::Clear();
 			image.memset(0);
 		}
-		void Raster(const ImageRef& pt) {
-			if (!depthMap.isInsideWithBorder<float,3>(pt))
-				return;
-			const float z((float)INVERT(normalPlane.dot(camera.TransformPointI2C(Point2(pt)))));
-			ASSERT(z > 0);
+		void Raster(const ImageRef& pt, const Point3f& bary) {
+			const Point3f pbary(PerspectiveCorrectBarycentricCoordinates(bary));
+			const Depth z(ComputeDepth(pbary));
+			ASSERT(z > Depth(0));
 			Depth& depth = depthMap(pt);
 			if (depth == 0 || depth > z) {
 				depth = z;
-				const Point3f b(CorrectBarycentricCoordinates(BarycentricCoordinatesUV(pti[0], pti[1], pti[2], Point2f(pt))));
-				xt  = mesh.faceTexcoords[idxFaceTex+0] * b[0];
-				xt += mesh.faceTexcoords[idxFaceTex+1] * b[1];
-				xt += mesh.faceTexcoords[idxFaceTex+2] * b[2];
+				xt  = mesh.faceTexcoords[idxFaceTex+0] * pbary[0];
+				xt += mesh.faceTexcoords[idxFaceTex+1] * pbary[1];
+				xt += mesh.faceTexcoords[idxFaceTex+2] * pbary[2];
 				image(pt) = mesh.textureDiffuse.sampleSafe(Point2f(xt.x*mesh.textureDiffuse.width(), (1.f-xt.y)*mesh.textureDiffuse.height()));
 			}
 		}
@@ -3634,16 +3632,12 @@ void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap) const
 		RasterMesh(const VertexArr& _vertices, const Camera& _camera, DepthMap& _depthMap)
 			: Base(_vertices, _camera, _depthMap) {}
 		inline bool ProjectVertex(const Mesh::Vertex& pt, int v) {
-			ptc[v] = camera.TransformPointW2C(Cast<REAL>(pt));
-			pti[v] = camera.TransformPointC2I(reinterpret_cast<const Point2&>(ptc[v]));
-			return depthMap.isInsideWithBorder<float,3>(pti[v]);
+			return (ptc[v] = camera.TransformPointW2C(Cast<REAL>(pt))).z > 0 &&
+				depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointC2I(reinterpret_cast<const Point2&>(ptc[v])));
 		}
-		void Raster(const ImageRef& pt) {
-			if (!depthMap.isInsideWithBorder<float,3>(pt))
-				return;
-			const Point3f b(CorrectBarycentricCoordinates(BarycentricCoordinatesUV(pti[0], pti[1], pti[2], Point2f(pt))));
-			const float z((float)(ptc[0].z*b[0] + ptc[1].z*b[1] + ptc[2].z*b[2]));
-			ASSERT(z > 0);
+		void Raster(const ImageRef& pt, const Point3f& bary) {
+			const Depth z(ComputeDepth(bary));
+			ASSERT(z > Depth(0));
 			Depth& depth = depthMap(pt);
 			if (depth == 0 || depth > z)
 				depth = z;
@@ -3670,27 +3664,18 @@ void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap, Image8U3& imag
 			image.memset(0);
 		}
 		inline bool ProjectVertex(const Mesh::Vertex& pt, int v) {
-			ptc[v] = camera.TransformPointW2C(Cast<REAL>(pt));
-			pti[v] = camera.TransformPointC2I(reinterpret_cast<const Point2&>(ptc[v]));
-			return depthMap.isInsideWithBorder<float,3>(pti[v]);
+			return (ptc[v] = camera.TransformPointW2C(Cast<REAL>(pt))).z > 0 &&
+				depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointC2I(reinterpret_cast<const Point2&>(ptc[v])));
 		}
-		inline bool CheckNormal(const Point3& /*faceCenter*/) {
-			// skip face if the (cos) angle between
-			// the face normal and the view direction is negative
-			return camera.Direction().dot(normalPlane) >= ZEROTOLERANCE<REAL>();
-		}
-		void Raster(const ImageRef& pt) {
-			if (!depthMap.isInsideWithBorder<float,3>(pt))
-				return;
-			const Point3f b(CorrectBarycentricCoordinates(BarycentricCoordinatesUV(pti[0], pti[1], pti[2], Point2f(pt))));
-			const float z((float)(ptc[0].z*b[0] + ptc[1].z*b[1] + ptc[2].z*b[2]));
-			ASSERT(z > 0);
+		void Raster(const ImageRef& pt, const Point3f& bary) {
+			const Depth z(ComputeDepth(bary));
+			ASSERT(z > Depth(0));
 			Depth& depth = depthMap(pt);
 			if (depth == 0 || depth > z) {
 				depth = z;
-				xt  = mesh.faceTexcoords[idxFaceTex+0] * b[0];
-				xt += mesh.faceTexcoords[idxFaceTex+1] * b[1];
-				xt += mesh.faceTexcoords[idxFaceTex+2] * b[2];
+				xt  = mesh.faceTexcoords[idxFaceTex+0] * bary[0];
+				xt += mesh.faceTexcoords[idxFaceTex+1] * bary[1];
+				xt += mesh.faceTexcoords[idxFaceTex+2] * bary[2];
 				image(pt) = mesh.textureDiffuse.sampleSafe(Point2f(xt.x*mesh.textureDiffuse.width(), (1.f-xt.y)*mesh.textureDiffuse.height()));
 			}
 		}
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 94a0ec204..be6c0478c 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -253,7 +253,6 @@ struct TRasterMesh {
 
 	DepthMap& depthMap;
 
-	Point3 normalPlane;
 	Point3 ptc[3];
 	Point2f pti[3];
 
@@ -263,20 +262,13 @@ struct TRasterMesh {
 	inline void Clear() {
 		depthMap.memset(0);
 	}
+	inline cv::Size Size() const {
+		return depthMap.size();
+	}
 
 	inline bool ProjectVertex(const Mesh::Vertex& pt, int v) {
-		ptc[v] = camera.TransformPointW2C(Cast<REAL>(pt));
-		pti[v] = camera.TransformPointC2I(ptc[v]);
-		return depthMap.isInsideWithBorder<float,3>(pti[v]);
-	}
-	inline bool CheckNormal(const Point3& faceCenter) {
-		// skip face if the (cos) angle between
-		// the face normal and the face to view vector is negative
-		if (faceCenter.dot(normalPlane) >= ZEROTOLERANCE<REAL>())
-			return false;
-		// prepare vector used to compute the depth during rendering
-		normalPlane /= normalPlane.dot(ptc[0]);
-		return true;
+		return (ptc[v] = camera.TransformPointW2C(Cast<REAL>(pt))).z > 0 &&
+			depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointC2I(ptc[v]));
 	}
 	void Project(const Mesh::Face& facet) {
 		// project face vertices to image plane
@@ -285,36 +277,26 @@ struct TRasterMesh {
 			if (!static_cast<DERIVED*>(this)->ProjectVertex(vertices[facet[v]], v))
 				return;
 		}
-		// compute the face center, which is also the view to face vector
-		// (cause the face is in camera view space)
-		const Point3 faceCenter((ptc[0]+ptc[1]+ptc[2])/3);
-		// skip face if the (cos) angle between
-		// the view to face vector and the view direction is negative
-		if (faceCenter.z <= REAL(0))
-			return;
-		// compute the plane defined by the 3 points
-		const Point3 edge1(ptc[1]-ptc[0]);
-		const Point3 edge2(ptc[2]-ptc[0]);
-		normalPlane = edge1.cross(edge2);
-		// check the face is facing the camera and
-		// prepare vector used to compute the depth during rendering
-		if (!static_cast<DERIVED*>(this)->CheckNormal(faceCenter))
-			return;
-		// draw triangle and for each pixel compute depth as the ray intersection with the plane
-		Image8U3::RasterizeTriangle(pti[0], pti[1], pti[2], *this);
+		// draw triangle
+		Image8U3::RasterizeTriangleBary(pti[0], pti[1], pti[2], *this);
 	}
 
-	void Raster(const ImageRef& pt) {
-		if (!depthMap.isInsideWithBorder<float,3>(pt))
-			return;
-		const Depth z((Depth)INVERT(normalPlane.dot(camera.TransformPointI2C(Point2(pt)))));
-		ASSERT(z > 0);
+	inline Point3f PerspectiveCorrectBarycentricCoordinates(const Point3f& bary) {
+		return SEACAVE::PerspectiveCorrectBarycentricCoordinates(bary, (float)ptc[0].z, (float)ptc[1].z, (float)ptc[2].z);
+	}
+	inline float ComputeDepth(const Point3f& pbary) {
+		return pbary[0]*(float)ptc[0].z + pbary[1]*(float)ptc[1].z + pbary[2]*(float)ptc[2].z;
+	}
+	void Raster(const ImageRef& pt, const Point3f& bary) {
+		const Point3f pbary(PerspectiveCorrectBarycentricCoordinates(bary));
+		const Depth z(ComputeDepth(pbary));
+		ASSERT(z > Depth(0));
 		Depth& depth = depthMap(pt);
 		if (depth == 0 || depth > z)
 			depth = z;
 	}
-	inline void operator()(const ImageRef& pt) {
-		static_cast<DERIVED*>(this)->Raster(pt);
+	inline void operator()(const ImageRef& pt, const Point3f& bary) {
+		static_cast<DERIVED*>(this)->Raster(pt, bary);
 	}
 };
 /*----------------------------------------------------------------*/
diff --git a/libs/MVS/SceneRefine.cpp b/libs/MVS/SceneRefine.cpp
index 5d3e04173..f4dab6f9b 100644
--- a/libs/MVS/SceneRefine.cpp
+++ b/libs/MVS/SceneRefine.cpp
@@ -111,16 +111,15 @@ class MeshRefine {
 			faceMap.memset((uint8_t)NO_ID);
 			baryMap.memset(0);
 		}
-		void Raster(const ImageRef& pt) {
-			if (!depthMap.isInsideWithBorder<int,4>(pt))
-				return;
-			const float z((float)INVERT(normalPlane.dot(camera.TransformPointI2C(Point2(pt)))));
-			ASSERT(z > 0);
+		void Raster(const ImageRef& pt, const Point3f& bary) {
+			const Point3f pbary(PerspectiveCorrectBarycentricCoordinates(bary));
+			const Depth z(ComputeDepth(pbary));
+			ASSERT(z > Depth(0));
 			Depth& depth = depthMap(pt);
 			if (depth == 0 || depth > z) {
 				depth = z;
 				faceMap(pt) = idxFace;
-				baryMap(pt) = CorrectBarycentricCoordinates(BarycentricCoordinatesUV(pti[0], pti[1], pti[2], Point2f(pt)));
+				baryMap(pt) = pbary;
 			}
 		}
 	};
diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index 2bd975d1d..58b2c7aa0 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -157,11 +157,10 @@ struct MeshTexture {
 			Base::Clear();
 			faceMap.memset((uint8_t)NO_ID);
 		}
-		void Raster(const ImageRef& pt) {
-			if (!depthMap.isInside(pt))
-				return;
-			const Depth z((Depth)INVERT(normalPlane.dot(camera.TransformPointI2C(Point2(pt)))));
-			ASSERT(z > 0);
+		void Raster(const ImageRef& pt, const Point3f& bary) {
+			const Point3f pbary(PerspectiveCorrectBarycentricCoordinates(bary));
+			const Depth z(ComputeDepth(pbary));
+			ASSERT(z > Depth(0));
 			Depth& depth = depthMap(pt);
 			if (depth == 0 || depth > z) {
 				depth = z;

From 574d64f83c12f09ba0a83f16ccf2f8ff52e63c11 Mon Sep 17 00:00:00 2001
From: cdc <cdc.seacave@gmail.com>
Date: Sat, 13 Mar 2021 22:31:11 +0200
Subject: [PATCH 026/252] remove cotire

---
 CMakeLists.txt                         |    2 -
 apps/DensifyPointCloud/CMakeLists.txt  |    2 +-
 apps/InterfaceCOLMAP/CMakeLists.txt    |    2 +-
 apps/InterfaceOpenMVG/CMakeLists.txt   |    2 +-
 apps/InterfacePhotoScan/CMakeLists.txt |    2 +-
 apps/InterfaceVisualSFM/CMakeLists.txt |    2 +-
 apps/ReconstructMesh/CMakeLists.txt    |    2 +-
 apps/RefineMesh/CMakeLists.txt         |    2 +-
 apps/TextureMesh/CMakeLists.txt        |    2 +-
 apps/Viewer/CMakeLists.txt             |   13 +-
 build/Cotire.cmake                     | 4190 ------------------------
 build/Utils.cmake                      |   99 +-
 libs/Common/CMakeLists.txt             |   13 +-
 libs/IO/CMakeLists.txt                 |   13 +-
 libs/MVS/CMakeLists.txt                |   13 +-
 libs/Math/CMakeLists.txt               |   13 +-
 16 files changed, 32 insertions(+), 4340 deletions(-)
 delete mode 100644 build/Cotire.cmake

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3c69b60d2..0e0d0b7bb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -45,8 +45,6 @@ SET(OpenMVS_USE_FAST_CBRT ON CACHE BOOL "Use an optimized code to compute the cu
 SET(OpenMVS_USE_SSE ON CACHE BOOL "Enable SSE optimizations")
 
 # Define helper functions and macros.
-SET(COTIRE_INTDIR "cotire")
-INCLUDE(build/Cotire.cmake)
 INCLUDE(build/Utils.cmake)
 
 # Init session with macros defined in Utils.cmake
diff --git a/apps/DensifyPointCloud/CMakeLists.txt b/apps/DensifyPointCloud/CMakeLists.txt
index 5dddebee4..38e27310b 100644
--- a/apps/DensifyPointCloud/CMakeLists.txt
+++ b/apps/DensifyPointCloud/CMakeLists.txt
@@ -5,7 +5,7 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags_no_pch(DensifyPointCloud "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+cxx_executable_with_flags(DensifyPointCloud "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
 INSTALL(TARGETS DensifyPointCloud
diff --git a/apps/InterfaceCOLMAP/CMakeLists.txt b/apps/InterfaceCOLMAP/CMakeLists.txt
index 0a5b0fc0e..5d48c79ec 100644
--- a/apps/InterfaceCOLMAP/CMakeLists.txt
+++ b/apps/InterfaceCOLMAP/CMakeLists.txt
@@ -5,7 +5,7 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags_no_pch(InterfaceCOLMAP "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+cxx_executable_with_flags(InterfaceCOLMAP "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
 INSTALL(TARGETS InterfaceCOLMAP
diff --git a/apps/InterfaceOpenMVG/CMakeLists.txt b/apps/InterfaceOpenMVG/CMakeLists.txt
index 5dc56a0d9..6377497ea 100644
--- a/apps/InterfaceOpenMVG/CMakeLists.txt
+++ b/apps/InterfaceOpenMVG/CMakeLists.txt
@@ -15,7 +15,7 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags_no_pch(InterfaceOpenMVG "Apps" "${cxx_default}" "${LIBS_DEPEND};${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+cxx_executable_with_flags(InterfaceOpenMVG "Apps" "${cxx_default}" "${LIBS_DEPEND};${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
 INSTALL(TARGETS InterfaceOpenMVG
diff --git a/apps/InterfacePhotoScan/CMakeLists.txt b/apps/InterfacePhotoScan/CMakeLists.txt
index e030ce189..2fd92c343 100644
--- a/apps/InterfacePhotoScan/CMakeLists.txt
+++ b/apps/InterfacePhotoScan/CMakeLists.txt
@@ -5,7 +5,7 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags_no_pch(InterfacePhotoScan "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+cxx_executable_with_flags(InterfacePhotoScan "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
 INSTALL(TARGETS InterfacePhotoScan
diff --git a/apps/InterfaceVisualSFM/CMakeLists.txt b/apps/InterfaceVisualSFM/CMakeLists.txt
index 9bd8bdedf..a1b16af7b 100644
--- a/apps/InterfaceVisualSFM/CMakeLists.txt
+++ b/apps/InterfaceVisualSFM/CMakeLists.txt
@@ -5,7 +5,7 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags_no_pch(InterfaceVisualSFM "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+cxx_executable_with_flags(InterfaceVisualSFM "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
 INSTALL(TARGETS InterfaceVisualSFM
diff --git a/apps/ReconstructMesh/CMakeLists.txt b/apps/ReconstructMesh/CMakeLists.txt
index 86cac3de4..4b6aac728 100644
--- a/apps/ReconstructMesh/CMakeLists.txt
+++ b/apps/ReconstructMesh/CMakeLists.txt
@@ -5,7 +5,7 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags_no_pch(ReconstructMesh "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+cxx_executable_with_flags(ReconstructMesh "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
 INSTALL(TARGETS ReconstructMesh
diff --git a/apps/RefineMesh/CMakeLists.txt b/apps/RefineMesh/CMakeLists.txt
index eaffec244..26a6f84ed 100644
--- a/apps/RefineMesh/CMakeLists.txt
+++ b/apps/RefineMesh/CMakeLists.txt
@@ -5,7 +5,7 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags_no_pch(RefineMesh "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+cxx_executable_with_flags(RefineMesh "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
 INSTALL(TARGETS RefineMesh
diff --git a/apps/TextureMesh/CMakeLists.txt b/apps/TextureMesh/CMakeLists.txt
index b53e2f560..bef488eeb 100644
--- a/apps/TextureMesh/CMakeLists.txt
+++ b/apps/TextureMesh/CMakeLists.txt
@@ -5,7 +5,7 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags_no_pch(TextureMesh "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+cxx_executable_with_flags(TextureMesh "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
 INSTALL(TARGETS TextureMesh
diff --git a/apps/Viewer/CMakeLists.txt b/apps/Viewer/CMakeLists.txt
index c90affca2..fe0920242 100644
--- a/apps/Viewer/CMakeLists.txt
+++ b/apps/Viewer/CMakeLists.txt
@@ -27,8 +27,6 @@ else()
 endif()
 
 # List sources files
-FILE(GLOB PCH_C "Common.cpp")
-
 if(MSVC)
 	FILE(GLOB LIBRARY_FILES_C "*.cpp" "*.rc")
 else()
@@ -36,15 +34,12 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-# Place Common.cpp as the first file in the list
-# needed by cotire when setting PCH manually
-LIST(REMOVE_ITEM LIBRARY_FILES_C ${PCH_C})
-SET(LIBRARY_FILES_C "${PCH_C};${LIBRARY_FILES_C}")
-
-cxx_executable_with_flags_no_pch(${VIEWER_NAME} "Apps" "${cxx_default}" "MVS;${OPENGL_LIBRARIES};${GLEW_LIBRARY};${GLFW_STATIC_LIBRARIES};GLEW::GLEW;${glfw3_LIBRARY};${GLFW3_LIBRARY};glfw;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+cxx_executable_with_flags(${VIEWER_NAME} "Apps" "${cxx_default}" "MVS;${OPENGL_LIBRARIES};${GLEW_LIBRARY};${GLFW_STATIC_LIBRARIES};GLEW::GLEW;${glfw3_LIBRARY};${GLFW3_LIBRARY};glfw;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Manually set Common.h as the precompiled header
-set_target_pch(${VIEWER_NAME} Common.h)
+IF(CMAKE_VERSION VERSION_GREATER_EQUAL 3.16.0)
+	TARGET_PRECOMPILE_HEADERS(${VIEWER_NAME} PRIVATE "Common.h")
+endif()
 
 # Install
 INSTALL(TARGETS ${VIEWER_NAME}
diff --git a/build/Cotire.cmake b/build/Cotire.cmake
deleted file mode 100644
index 97275d649..000000000
--- a/build/Cotire.cmake
+++ /dev/null
@@ -1,4190 +0,0 @@
-# - cotire (compile time reducer)
-#
-# See the cotire manual for usage hints.
-#
-#=============================================================================
-# Copyright 2012-2018 Sascha Kratky
-#
-# Permission is hereby granted, free of charge, to any person
-# obtaining a copy of this software and associated documentation
-# files (the "Software"), to deal in the Software without
-# restriction, including without limitation the rights to use,
-# copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the
-# Software is furnished to do so, subject to the following
-# conditions:
-#
-# The above copyright notice and this permission notice shall be
-# included in all copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
-# OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
-# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
-# HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
-# WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
-# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
-# OTHER DEALINGS IN THE SOFTWARE.
-#=============================================================================
-
-if(__COTIRE_INCLUDED)
-	return()
-endif()
-set(__COTIRE_INCLUDED TRUE)
-
-# call cmake_minimum_required, but prevent modification of the CMake policy stack in include mode
-# cmake_minimum_required also sets the policy version as a side effect, which we have to avoid
-if (NOT CMAKE_SCRIPT_MODE_FILE)
-	cmake_policy(PUSH)
-endif()
-cmake_minimum_required(VERSION 2.8.12)
-if (NOT CMAKE_SCRIPT_MODE_FILE)
-	cmake_policy(POP)
-endif()
-
-set (COTIRE_CMAKE_MODULE_FILE "${CMAKE_CURRENT_LIST_FILE}")
-set (COTIRE_CMAKE_MODULE_VERSION "1.8.0")
-
-# activate select policies
-if (POLICY CMP0025)
-	# Compiler id for Apple Clang is now AppleClang
-	cmake_policy(SET CMP0025 NEW)
-endif()
-
-if (POLICY CMP0026)
-	# disallow use of the LOCATION target property
-	cmake_policy(SET CMP0026 NEW)
-endif()
-
-if (POLICY CMP0038)
-	# targets may not link directly to themselves
-	cmake_policy(SET CMP0038 NEW)
-endif()
-
-if (POLICY CMP0039)
-	# utility targets may not have link dependencies
-	cmake_policy(SET CMP0039 NEW)
-endif()
-
-if (POLICY CMP0040)
-	# target in the TARGET signature of add_custom_command() must exist
-	cmake_policy(SET CMP0040 NEW)
-endif()
-
-if (POLICY CMP0045)
-	# error on non-existent target in get_target_property
-	cmake_policy(SET CMP0045 NEW)
-endif()
-
-if (POLICY CMP0046)
-	# error on non-existent dependency in add_dependencies
-	cmake_policy(SET CMP0046 NEW)
-endif()
-
-if (POLICY CMP0049)
-	# do not expand variables in target source entries
-	cmake_policy(SET CMP0049 NEW)
-endif()
-
-if (POLICY CMP0050)
-	# disallow add_custom_command SOURCE signatures
-	cmake_policy(SET CMP0050 NEW)
-endif()
-
-if (POLICY CMP0051)
-	# include TARGET_OBJECTS expressions in a target's SOURCES property
-	cmake_policy(SET CMP0051 NEW)
-endif()
-
-if (POLICY CMP0053)
-	# simplify variable reference and escape sequence evaluation
-	cmake_policy(SET CMP0053 NEW)
-endif()
-
-if (POLICY CMP0054)
-	# only interpret if() arguments as variables or keywords when unquoted
-	cmake_policy(SET CMP0054 NEW)
-endif()
-
-if (POLICY CMP0055)
-	# strict checking for break() command
-	cmake_policy(SET CMP0055 NEW)
-endif()
-
-include(CMakeParseArguments)
-include(ProcessorCount)
-
-function (cotire_get_configuration_types _configsVar)
-	set (_configs "")
-	if (CMAKE_CONFIGURATION_TYPES)
-		list (APPEND _configs ${CMAKE_CONFIGURATION_TYPES})
-	endif()
-	if (CMAKE_BUILD_TYPE)
-		list (APPEND _configs "${CMAKE_BUILD_TYPE}")
-	endif()
-	if (_configs)
-		list (REMOVE_DUPLICATES _configs)
-		set (${_configsVar} ${_configs} PARENT_SCOPE)
-	else()
-		set (${_configsVar} "None" PARENT_SCOPE)
-	endif()
-endfunction()
-
-function (cotire_get_source_file_extension _sourceFile _extVar)
-	# get_filename_component returns extension from first occurrence of . in file name
-	# this function computes the extension from last occurrence of . in file name
-	string (FIND "${_sourceFile}" "." _index REVERSE)
-	if (_index GREATER -1)
-		math (EXPR _index "${_index} + 1")
-		string (SUBSTRING "${_sourceFile}" ${_index} -1 _sourceExt)
-	else()
-		set (_sourceExt "")
-	endif()
-	set (${_extVar} "${_sourceExt}" PARENT_SCOPE)
-endfunction()
-
-macro (cotire_check_is_path_relative_to _path _isRelativeVar)
-	set (${_isRelativeVar} FALSE)
-	if (IS_ABSOLUTE "${_path}")
-		foreach (_dir ${ARGN})
-			file (RELATIVE_PATH _relPath "${_dir}" "${_path}")
-			if (NOT _relPath OR (NOT IS_ABSOLUTE "${_relPath}" AND NOT "${_relPath}" MATCHES "^\\.\\."))
-				set (${_isRelativeVar} TRUE)
-				break()
-			endif()
-		endforeach()
-	endif()
-endmacro()
-
-function (cotire_filter_language_source_files _language _target _sourceFilesVar _excludedSourceFilesVar _cotiredSourceFilesVar)
-	if (CMAKE_${_language}_SOURCE_FILE_EXTENSIONS)
-		set (_languageExtensions "${CMAKE_${_language}_SOURCE_FILE_EXTENSIONS}")
-	else()
-		set (_languageExtensions "")
-	endif()
-	if (CMAKE_${_language}_IGNORE_EXTENSIONS)
-		set (_ignoreExtensions "${CMAKE_${_language}_IGNORE_EXTENSIONS}")
-	else()
-		set (_ignoreExtensions "")
-	endif()
-	if (COTIRE_UNITY_SOURCE_EXCLUDE_EXTENSIONS)
-		set (_excludeExtensions "${COTIRE_UNITY_SOURCE_EXCLUDE_EXTENSIONS}")
-	else()
-		set (_excludeExtensions "")
-	endif()
-	if (COTIRE_DEBUG AND _languageExtensions)
-		message (STATUS "${_language} source file extensions: ${_languageExtensions}")
-	endif()
-	if (COTIRE_DEBUG AND _ignoreExtensions)
-		message (STATUS "${_language} ignore extensions: ${_ignoreExtensions}")
-	endif()
-	if (COTIRE_DEBUG AND _excludeExtensions)
-		message (STATUS "${_language} exclude extensions: ${_excludeExtensions}")
-	endif()
-	if (CMAKE_VERSION VERSION_LESS "3.1.0")
-		set (_allSourceFiles ${ARGN})
-	else()
-		# as of CMake 3.1 target sources may contain generator expressions
-		# since we cannot obtain required property information about source files added
-		# through generator expressions at configure time, we filter them out
-		string (GENEX_STRIP "${ARGN}" _allSourceFiles)
-	endif()
-	set (_filteredSourceFiles "")
-	set (_excludedSourceFiles "")
-	foreach (_sourceFile ${_allSourceFiles})
-		get_source_file_property(_sourceIsHeaderOnly "${_sourceFile}" HEADER_FILE_ONLY)
-		get_source_file_property(_sourceIsExternal "${_sourceFile}" EXTERNAL_OBJECT)
-		get_source_file_property(_sourceIsSymbolic "${_sourceFile}" SYMBOLIC)
-		if (NOT _sourceIsHeaderOnly AND NOT _sourceIsExternal AND NOT _sourceIsSymbolic)
-			cotire_get_source_file_extension("${_sourceFile}" _sourceExt)
-			if (_sourceExt)
-				list (FIND _ignoreExtensions "${_sourceExt}" _ignoreIndex)
-				if (_ignoreIndex LESS 0)
-					list (FIND _excludeExtensions "${_sourceExt}" _excludeIndex)
-					if (_excludeIndex GREATER -1)
-						list (APPEND _excludedSourceFiles "${_sourceFile}")
-					else()
-						list (FIND _languageExtensions "${_sourceExt}" _sourceIndex)
-						if (_sourceIndex GREATER -1)
-							# consider source file unless it is excluded explicitly
-							get_source_file_property(_sourceIsExcluded "${_sourceFile}" COTIRE_EXCLUDED)
-							if (_sourceIsExcluded)
-								list (APPEND _excludedSourceFiles "${_sourceFile}")
-							else()
-								list (APPEND _filteredSourceFiles "${_sourceFile}")
-							endif()
-						else()
-							get_source_file_property(_sourceLanguage "${_sourceFile}" LANGUAGE)
-							if ("${_sourceLanguage}" STREQUAL "${_language}")
-								# add to excluded sources, if file is not ignored and has correct language without having the correct extension
-								list (APPEND _excludedSourceFiles "${_sourceFile}")
-							endif()
-						endif()
-					endif()
-				endif()
-			endif()
-		endif()
-	endforeach()
-	# separate filtered source files from already cotired ones
-	# the COTIRE_TARGET property of a source file may be set while a target is being processed by cotire
-	set (_sourceFiles "")
-	set (_cotiredSourceFiles "")
-	foreach (_sourceFile ${_filteredSourceFiles})
-		get_source_file_property(_sourceIsCotired "${_sourceFile}" COTIRE_TARGET)
-		if (_sourceIsCotired)
-			list (APPEND _cotiredSourceFiles "${_sourceFile}")
-		else()
-			get_source_file_property(_sourceCompileFlags "${_sourceFile}" COMPILE_FLAGS)
-			if (_sourceCompileFlags)
-				# add to excluded sources, if file has custom compile flags
-				list (APPEND _excludedSourceFiles "${_sourceFile}")
-			else()
-				get_source_file_property(_sourceCompileOptions "${_sourceFile}" COMPILE_OPTIONS)
-				if (_sourceCompileOptions)
-					# add to excluded sources, if file has list of custom compile options
-					list (APPEND _excludedSourceFiles "${_sourceFile}")
-				else()
-					list (APPEND _sourceFiles "${_sourceFile}")
-				endif()
-			endif()
-		endif()
-	endforeach()
-	if (COTIRE_DEBUG)
-		if (_sourceFiles)
-			message (STATUS "Filtered ${_target} ${_language} sources: ${_sourceFiles}")
-		endif()
-		if (_excludedSourceFiles)
-			message (STATUS "Excluded ${_target} ${_language} sources: ${_excludedSourceFiles}")
-		endif()
-		if (_cotiredSourceFiles)
-			message (STATUS "Cotired ${_target} ${_language} sources: ${_cotiredSourceFiles}")
-		endif()
-	endif()
-	set (${_sourceFilesVar} ${_sourceFiles} PARENT_SCOPE)
-	set (${_excludedSourceFilesVar} ${_excludedSourceFiles} PARENT_SCOPE)
-	set (${_cotiredSourceFilesVar} ${_cotiredSourceFiles} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_objects_with_property_on _filteredObjectsVar _property _type)
-	set (_filteredObjects "")
-	foreach (_object ${ARGN})
-		get_property(_isSet ${_type} "${_object}" PROPERTY ${_property} SET)
-		if (_isSet)
-			get_property(_propertyValue ${_type} "${_object}" PROPERTY ${_property})
-			if (_propertyValue)
-				list (APPEND _filteredObjects "${_object}")
-			endif()
-		endif()
-	endforeach()
-	set (${_filteredObjectsVar} ${_filteredObjects} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_objects_with_property_off _filteredObjectsVar _property _type)
-	set (_filteredObjects "")
-	foreach (_object ${ARGN})
-		get_property(_isSet ${_type} "${_object}" PROPERTY ${_property} SET)
-		if (_isSet)
-			get_property(_propertyValue ${_type} "${_object}" PROPERTY ${_property})
-			if (NOT _propertyValue)
-				list (APPEND _filteredObjects "${_object}")
-			endif()
-		endif()
-	endforeach()
-	set (${_filteredObjectsVar} ${_filteredObjects} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_source_file_property_values _valuesVar _property)
-	set (_values "")
-	foreach (_sourceFile ${ARGN})
-		get_source_file_property(_propertyValue "${_sourceFile}" ${_property})
-		if (_propertyValue)
-			list (APPEND _values "${_propertyValue}")
-		endif()
-	endforeach()
-	set (${_valuesVar} ${_values} PARENT_SCOPE)
-endfunction()
-
-function (cotire_resolve_config_properties _configurations _propertiesVar)
-	set (_properties "")
-	foreach (_property ${ARGN})
-		if ("${_property}" MATCHES "<CONFIG>")
-			foreach (_config ${_configurations})
-				string (TOUPPER "${_config}" _upperConfig)
-				string (REPLACE "<CONFIG>" "${_upperConfig}" _configProperty "${_property}")
-				list (APPEND _properties ${_configProperty})
-			endforeach()
-		else()
-			list (APPEND _properties ${_property})
-		endif()
-	endforeach()
-	set (${_propertiesVar} ${_properties} PARENT_SCOPE)
-endfunction()
-
-function (cotire_copy_set_properties _configurations _type _source _target)
-	cotire_resolve_config_properties("${_configurations}" _properties ${ARGN})
-	foreach (_property ${_properties})
-		get_property(_isSet ${_type} ${_source} PROPERTY ${_property} SET)
-		if (_isSet)
-			get_property(_propertyValue ${_type} ${_source} PROPERTY ${_property})
-			set_property(${_type} ${_target} PROPERTY ${_property} "${_propertyValue}")
-		endif()
-	endforeach()
-endfunction()
-
-function (cotire_get_target_usage_requirements _target _config _targetRequirementsVar)
-	set (_targetRequirements "")
-	get_target_property(_librariesToProcess ${_target} LINK_LIBRARIES)
-	while (_librariesToProcess)
-		# remove from head
-		list (GET _librariesToProcess 0 _library)
-		list (REMOVE_AT _librariesToProcess 0)
-		if (_library MATCHES "^\\$<\\$<CONFIG:${_config}>:([A-Za-z0-9_:-]+)>$")
-			set (_library "${CMAKE_MATCH_1}")
-		elseif (_config STREQUAL "None" AND _library MATCHES "^\\$<\\$<CONFIG:>:([A-Za-z0-9_:-]+)>$")
-			set (_library "${CMAKE_MATCH_1}")
-		endif()
-		if (TARGET ${_library})
-			list (FIND _targetRequirements ${_library} _index)
-			if (_index LESS 0)
-				list (APPEND _targetRequirements ${_library})
-				# BFS traversal of transitive libraries
-				get_target_property(_libraries ${_library} INTERFACE_LINK_LIBRARIES)
-				if (_libraries)
-					list (APPEND _librariesToProcess ${_libraries})
-					list (REMOVE_DUPLICATES _librariesToProcess)
-				endif()
-			endif()
-		endif()
-	endwhile()
-	set (${_targetRequirementsVar} ${_targetRequirements} PARENT_SCOPE)
-endfunction()
-
-function (cotire_filter_compile_flags _language _flagFilter _matchedOptionsVar _unmatchedOptionsVar)
-	if (WIN32 AND CMAKE_${_language}_COMPILER_ID MATCHES "MSVC|Intel")
-		set (_flagPrefix "[/-]")
-	else()
-		set (_flagPrefix "--?")
-	endif()
-	set (_optionFlag "")
-	set (_matchedOptions "")
-	set (_unmatchedOptions "")
-	foreach (_compileFlag ${ARGN})
-		if (_compileFlag)
-			if (_optionFlag AND NOT "${_compileFlag}" MATCHES "^${_flagPrefix}")
-				# option with separate argument
-				list (APPEND _matchedOptions "${_compileFlag}")
-				set (_optionFlag "")
-			elseif ("${_compileFlag}" MATCHES "^(${_flagPrefix})(${_flagFilter})$")
-				# remember option
-				set (_optionFlag "${CMAKE_MATCH_2}")
-			elseif ("${_compileFlag}" MATCHES "^(${_flagPrefix})(${_flagFilter})(.+)$")
-				# option with joined argument
-				list (APPEND _matchedOptions "${CMAKE_MATCH_3}")
-				set (_optionFlag "")
-			else()
-				# flush remembered option
-				if (_optionFlag)
-					list (APPEND _matchedOptions "${_optionFlag}")
-					set (_optionFlag "")
-				endif()
-				# add to unfiltered options
-				list (APPEND _unmatchedOptions "${_compileFlag}")
-			endif()
-		endif()
-	endforeach()
-	if (_optionFlag)
-		list (APPEND _matchedOptions "${_optionFlag}")
-	endif()
-	if (COTIRE_DEBUG AND _matchedOptions)
-		message (STATUS "Filter ${_flagFilter} matched: ${_matchedOptions}")
-	endif()
-	if (COTIRE_DEBUG AND _unmatchedOptions)
-		message (STATUS "Filter ${_flagFilter} unmatched: ${_unmatchedOptions}")
-	endif()
-	set (${_matchedOptionsVar} ${_matchedOptions} PARENT_SCOPE)
-	set (${_unmatchedOptionsVar} ${_unmatchedOptions} PARENT_SCOPE)
-endfunction()
-
-function (cotire_is_target_supported _target _isSupportedVar)
-	if (NOT TARGET "${_target}")
-		set (${_isSupportedVar} FALSE PARENT_SCOPE)
-		return()
-	endif()
-	get_target_property(_imported ${_target} IMPORTED)
-	if (_imported)
-		set (${_isSupportedVar} FALSE PARENT_SCOPE)
-		return()
-	endif()
-	get_target_property(_targetType ${_target} TYPE)
-	if (NOT _targetType MATCHES "EXECUTABLE|(STATIC|SHARED|MODULE|OBJECT)_LIBRARY")
-		set (${_isSupportedVar} FALSE PARENT_SCOPE)
-		return()
-	endif()
-	set (${_isSupportedVar} TRUE PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_target_compile_flags _config _language _target _flagsVar)
-	string (TOUPPER "${_config}" _upperConfig)
-	# collect options from CMake language variables
-	set (_compileFlags "")
-	if (CMAKE_${_language}_FLAGS)
-		set (_compileFlags "${_compileFlags} ${CMAKE_${_language}_FLAGS}")
-	endif()
-	if (CMAKE_${_language}_FLAGS_${_upperConfig})
-		set (_compileFlags "${_compileFlags} ${CMAKE_${_language}_FLAGS_${_upperConfig}}")
-	endif()
-	if (_target)
-		# add target compile flags
-		get_target_property(_targetflags ${_target} COMPILE_FLAGS)
-		if (_targetflags)
-			set (_compileFlags "${_compileFlags} ${_targetflags}")
-		endif()
-	endif()
-	if (UNIX)
-		separate_arguments(_compileFlags UNIX_COMMAND "${_compileFlags}")
-	elseif(WIN32)
-		separate_arguments(_compileFlags WINDOWS_COMMAND "${_compileFlags}")
-	else()
-		separate_arguments(_compileFlags)
-	endif()
-	# target compile options
-	if (_target)
-		get_target_property(_targetOptions ${_target} COMPILE_OPTIONS)
-		if (_targetOptions)
-			list (APPEND _compileFlags ${_targetOptions})
-		endif()
-	endif()
-	# interface compile options from linked library targets
-	if (_target)
-		set (_linkedTargets "")
-		cotire_get_target_usage_requirements(${_target} ${_config} _linkedTargets)
-		foreach (_linkedTarget ${_linkedTargets})
-			get_target_property(_targetOptions ${_linkedTarget} INTERFACE_COMPILE_OPTIONS)
-			if (_targetOptions)
-				list (APPEND _compileFlags ${_targetOptions})
-			endif()
-		endforeach()
-	endif()
-	# handle language standard properties
-	if (CMAKE_${_language}_STANDARD_DEFAULT)
-		# used compiler supports language standard levels
-		if (_target)
-			get_target_property(_targetLanguageStandard ${_target} ${_language}_STANDARD)
-			if (_targetLanguageStandard)
-				set (_type "EXTENSION")
-				get_property(_isSet TARGET ${_target} PROPERTY ${_language}_EXTENSIONS SET)
-				if (_isSet)
-					get_target_property(_targetUseLanguageExtensions ${_target} ${_language}_EXTENSIONS)
-					if (NOT _targetUseLanguageExtensions)
-						set (_type "STANDARD")
-					endif()
-				endif()
-				if (CMAKE_${_language}${_targetLanguageStandard}_${_type}_COMPILE_OPTION)
-					list (APPEND _compileFlags "${CMAKE_${_language}${_targetLanguageStandard}_${_type}_COMPILE_OPTION}")
-				endif()
-			endif()
-		endif()
-	endif()
-	# handle the POSITION_INDEPENDENT_CODE target property
-	if (_target)
-		get_target_property(_targetPIC ${_target} POSITION_INDEPENDENT_CODE)
-		if (_targetPIC)
-			get_target_property(_targetType ${_target} TYPE)
-			if (_targetType STREQUAL "EXECUTABLE" AND CMAKE_${_language}_COMPILE_OPTIONS_PIE)
-				list (APPEND _compileFlags "${CMAKE_${_language}_COMPILE_OPTIONS_PIE}")
-			elseif (CMAKE_${_language}_COMPILE_OPTIONS_PIC)
-				list (APPEND _compileFlags "${CMAKE_${_language}_COMPILE_OPTIONS_PIC}")
-			endif()
-		endif()
-	endif()
-	# handle visibility target properties
-	if (_target)
-		get_target_property(_targetVisibility ${_target} ${_language}_VISIBILITY_PRESET)
-		if (_targetVisibility AND CMAKE_${_language}_COMPILE_OPTIONS_VISIBILITY)
-			list (APPEND _compileFlags "${CMAKE_${_language}_COMPILE_OPTIONS_VISIBILITY}${_targetVisibility}")
-		endif()
-		get_target_property(_targetVisibilityInlines ${_target} VISIBILITY_INLINES_HIDDEN)
-		if (_targetVisibilityInlines AND CMAKE_${_language}_COMPILE_OPTIONS_VISIBILITY_INLINES_HIDDEN)
-			list (APPEND _compileFlags "${CMAKE_${_language}_COMPILE_OPTIONS_VISIBILITY_INLINES_HIDDEN}")
-		endif()
-	endif()
-	# platform specific flags
-	if (APPLE)
-		get_target_property(_architectures ${_target} OSX_ARCHITECTURES_${_upperConfig})
-		if (NOT _architectures)
-			get_target_property(_architectures ${_target} OSX_ARCHITECTURES)
-		endif()
-		if (_architectures)
-			foreach (_arch ${_architectures})
-				list (APPEND _compileFlags "-arch" "${_arch}")
-			endforeach()
-		endif()
-		if (CMAKE_OSX_SYSROOT)
-			if (CMAKE_${_language}_SYSROOT_FLAG)
-				list (APPEND _compileFlags "${CMAKE_${_language}_SYSROOT_FLAG}" "${CMAKE_OSX_SYSROOT}")
-			else()
-				list (APPEND _compileFlags "-isysroot" "${CMAKE_OSX_SYSROOT}")
-			endif()
-		endif()
-		if (CMAKE_OSX_DEPLOYMENT_TARGET)
-			if (CMAKE_${_language}_OSX_DEPLOYMENT_TARGET_FLAG)
-				list (APPEND _compileFlags "${CMAKE_${_language}_OSX_DEPLOYMENT_TARGET_FLAG}${CMAKE_OSX_DEPLOYMENT_TARGET}")
-			else()
-				list (APPEND _compileFlags "-mmacosx-version-min=${CMAKE_OSX_DEPLOYMENT_TARGET}")
-			endif()
-		endif()
-	endif()
-	if (COTIRE_DEBUG AND _compileFlags)
-		message (STATUS "Target ${_target} compile flags: ${_compileFlags}")
-	endif()
-	set (${_flagsVar} ${_compileFlags} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_target_include_directories _config _language _target _includeDirsVar _systemIncludeDirsVar)
-	set (_includeDirs "")
-	set (_systemIncludeDirs "")
-	# default include dirs
-	if (CMAKE_INCLUDE_CURRENT_DIR)
-		list (APPEND _includeDirs "${CMAKE_CURRENT_BINARY_DIR}")
-		list (APPEND _includeDirs "${CMAKE_CURRENT_SOURCE_DIR}")
-	endif()
-	set (_targetFlags "")
-	cotire_get_target_compile_flags("${_config}" "${_language}" "${_target}" _targetFlags)
-	# parse additional include directories from target compile flags
-	if (CMAKE_INCLUDE_FLAG_${_language})
-		string (STRIP "${CMAKE_INCLUDE_FLAG_${_language}}" _includeFlag)
-		string (REGEX REPLACE "^[-/]+" "" _includeFlag "${_includeFlag}")
-		if (_includeFlag)
-			set (_dirs "")
-			cotire_filter_compile_flags("${_language}" "${_includeFlag}" _dirs _ignore ${_targetFlags})
-			if (_dirs)
-				list (APPEND _includeDirs ${_dirs})
-			endif()
-		endif()
-	endif()
-	# parse additional system include directories from target compile flags
-	if (CMAKE_INCLUDE_SYSTEM_FLAG_${_language})
-		string (STRIP "${CMAKE_INCLUDE_SYSTEM_FLAG_${_language}}" _includeFlag)
-		string (REGEX REPLACE "^[-/]+" "" _includeFlag "${_includeFlag}")
-		if (_includeFlag)
-			set (_dirs "")
-			cotire_filter_compile_flags("${_language}" "${_includeFlag}" _dirs _ignore ${_targetFlags})
-			if (_dirs)
-				list (APPEND _systemIncludeDirs ${_dirs})
-			endif()
-		endif()
-	endif()
-	# target include directories
-	get_directory_property(_dirs DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}" INCLUDE_DIRECTORIES)
-	if (_target)
-		get_target_property(_targetDirs ${_target} INCLUDE_DIRECTORIES)
-		if (_targetDirs)
-			list (APPEND _dirs ${_targetDirs})
-		endif()
-		get_target_property(_targetDirs ${_target} INTERFACE_SYSTEM_INCLUDE_DIRECTORIES)
-		if (_targetDirs)
-			list (APPEND _systemIncludeDirs ${_targetDirs})
-		endif()
-	endif()
-	# interface include directories from linked library targets
-	if (_target)
-		set (_linkedTargets "")
-		cotire_get_target_usage_requirements(${_target} ${_config} _linkedTargets)
-		foreach (_linkedTarget ${_linkedTargets})
-			get_target_property(_linkedTargetType ${_linkedTarget} TYPE)
-			if (CMAKE_INCLUDE_CURRENT_DIR_IN_INTERFACE AND NOT CMAKE_VERSION VERSION_LESS "3.4.0" AND
-				_linkedTargetType MATCHES "(STATIC|SHARED|MODULE|OBJECT)_LIBRARY")
-				# CMAKE_INCLUDE_CURRENT_DIR_IN_INTERFACE refers to CMAKE_CURRENT_BINARY_DIR and CMAKE_CURRENT_SOURCE_DIR
-				# at the time, when the target was created. These correspond to the target properties BINARY_DIR and SOURCE_DIR
-				# which are only available with CMake 3.4 or later.
-				get_target_property(_targetDirs ${_linkedTarget} BINARY_DIR)
-				if (_targetDirs)
-					list (APPEND _dirs ${_targetDirs})
-				endif()
-				get_target_property(_targetDirs ${_linkedTarget} SOURCE_DIR)
-				if (_targetDirs)
-					list (APPEND _dirs ${_targetDirs})
-				endif()
-			endif()
-			get_target_property(_targetDirs ${_linkedTarget} INTERFACE_INCLUDE_DIRECTORIES)
-			if (_targetDirs)
-				list (APPEND _dirs ${_targetDirs})
-			endif()
-			get_target_property(_targetDirs ${_linkedTarget} INTERFACE_SYSTEM_INCLUDE_DIRECTORIES)
-			if (_targetDirs)
-				list (APPEND _systemIncludeDirs ${_targetDirs})
-			endif()
-		endforeach()
-	endif()
-	if (dirs)
-		list (REMOVE_DUPLICATES _dirs)
-	endif()
-	list (LENGTH _includeDirs _projectInsertIndex)
-	foreach (_dir ${_dirs})
-		if (CMAKE_INCLUDE_DIRECTORIES_PROJECT_BEFORE)
-			cotire_check_is_path_relative_to("${_dir}" _isRelative "${CMAKE_SOURCE_DIR}" "${CMAKE_BINARY_DIR}")
-			if (_isRelative)
-				list (LENGTH _includeDirs _len)
-				if (_len EQUAL _projectInsertIndex)
-					list (APPEND _includeDirs "${_dir}")
-				else()
-					list (INSERT _includeDirs _projectInsertIndex "${_dir}")
-				endif()
-				math (EXPR _projectInsertIndex "${_projectInsertIndex} + 1")
-			else()
-				list (APPEND _includeDirs "${_dir}")
-			endif()
-		else()
-			list (APPEND _includeDirs "${_dir}")
-		endif()
-	endforeach()
-	list (REMOVE_DUPLICATES _includeDirs)
-	list (REMOVE_DUPLICATES _systemIncludeDirs)
-	if (CMAKE_${_language}_IMPLICIT_INCLUDE_DIRECTORIES)
-		list (REMOVE_ITEM _includeDirs ${CMAKE_${_language}_IMPLICIT_INCLUDE_DIRECTORIES})
-	endif()
-	if (WIN32 AND NOT MINGW)
-		# convert Windows paths in include directories to CMake paths
-		if (_includeDirs)
-			set (_paths "")
-			foreach (_dir ${_includeDirs})
-				file (TO_CMAKE_PATH "${_dir}" _path)
-				list (APPEND _paths "${_path}")
-			endforeach()
-			set (_includeDirs ${_paths})
-		endif()
-		if (_systemIncludeDirs)
-			set (_paths "")
-			foreach (_dir ${_systemIncludeDirs})
-				file (TO_CMAKE_PATH "${_dir}" _path)
-				list (APPEND _paths "${_path}")
-			endforeach()
-			set (_systemIncludeDirs ${_paths})
-		endif()
-	endif()
-	if (COTIRE_DEBUG AND _includeDirs)
-		message (STATUS "Target ${_target} include dirs: ${_includeDirs}")
-	endif()
-	set (${_includeDirsVar} ${_includeDirs} PARENT_SCOPE)
-	if (COTIRE_DEBUG AND _systemIncludeDirs)
-		message (STATUS "Target ${_target} system include dirs: ${_systemIncludeDirs}")
-	endif()
-	set (${_systemIncludeDirsVar} ${_systemIncludeDirs} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_target_export_symbol _target _exportSymbolVar)
-	set (_exportSymbol "")
-	get_target_property(_targetType ${_target} TYPE)
-	get_target_property(_enableExports ${_target} ENABLE_EXPORTS)
-	if (_targetType MATCHES "(SHARED|MODULE)_LIBRARY" OR
-		(_targetType STREQUAL "EXECUTABLE" AND _enableExports))
-		get_target_property(_exportSymbol ${_target} DEFINE_SYMBOL)
-		if (NOT _exportSymbol)
-			set (_exportSymbol "${_target}_EXPORTS")
-		endif()
-		string (MAKE_C_IDENTIFIER "${_exportSymbol}" _exportSymbol)
-	endif()
-	set (${_exportSymbolVar} ${_exportSymbol} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_target_compile_definitions _config _language _target _definitionsVar)
-	string (TOUPPER "${_config}" _upperConfig)
-	set (_configDefinitions "")
-	# CMAKE_INTDIR for multi-configuration build systems
-	if (NOT "${CMAKE_CFG_INTDIR}" STREQUAL ".")
-		list (APPEND _configDefinitions "CMAKE_INTDIR=\"${_config}\"")
-	endif()
-	# target export define symbol
-	cotire_get_target_export_symbol("${_target}" _defineSymbol)
-	if (_defineSymbol)
-		list (APPEND _configDefinitions "${_defineSymbol}")
-	endif()
-	# directory compile definitions
-	get_directory_property(_definitions DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}" COMPILE_DEFINITIONS)
-	if (_definitions)
-		list (APPEND _configDefinitions ${_definitions})
-	endif()
-	get_directory_property(_definitions DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}" COMPILE_DEFINITIONS_${_upperConfig})
-	if (_definitions)
-		list (APPEND _configDefinitions ${_definitions})
-	endif()
-	# target compile definitions
-	get_target_property(_definitions ${_target} COMPILE_DEFINITIONS)
-	if (_definitions)
-		list (APPEND _configDefinitions ${_definitions})
-	endif()
-	get_target_property(_definitions ${_target} COMPILE_DEFINITIONS_${_upperConfig})
-	if (_definitions)
-		list (APPEND _configDefinitions ${_definitions})
-	endif()
-	# interface compile definitions from linked library targets
-	set (_linkedTargets "")
-	cotire_get_target_usage_requirements(${_target} ${_config} _linkedTargets)
-	foreach (_linkedTarget ${_linkedTargets})
-		get_target_property(_definitions ${_linkedTarget} INTERFACE_COMPILE_DEFINITIONS)
-		if (_definitions)
-			list (APPEND _configDefinitions ${_definitions})
-		endif()
-	endforeach()
-	# parse additional compile definitions from target compile flags
-	# and do not look at directory compile definitions, which we already handled
-	set (_targetFlags "")
-	cotire_get_target_compile_flags("${_config}" "${_language}" "${_target}" _targetFlags)
-	cotire_filter_compile_flags("${_language}" "D" _definitions _ignore ${_targetFlags})
-	if (_definitions)
-		list (APPEND _configDefinitions ${_definitions})
-	endif()
-	list (REMOVE_DUPLICATES _configDefinitions)
-	if (COTIRE_DEBUG AND _configDefinitions)
-		message (STATUS "Target ${_target} compile definitions: ${_configDefinitions}")
-	endif()
-	set (${_definitionsVar} ${_configDefinitions} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_target_compiler_flags _config _language _target _compilerFlagsVar)
-	# parse target compile flags omitting compile definitions and include directives
-	set (_targetFlags "")
-	cotire_get_target_compile_flags("${_config}" "${_language}" "${_target}" _targetFlags)
-	set (_flagFilter "D")
-	if (CMAKE_INCLUDE_FLAG_${_language})
-		string (STRIP "${CMAKE_INCLUDE_FLAG_${_language}}" _includeFlag)
-		string (REGEX REPLACE "^[-/]+" "" _includeFlag "${_includeFlag}")
-		if (_includeFlag)
-			set (_flagFilter "${_flagFilter}|${_includeFlag}")
-		endif()
-	endif()
-	if (CMAKE_INCLUDE_SYSTEM_FLAG_${_language})
-		string (STRIP "${CMAKE_INCLUDE_SYSTEM_FLAG_${_language}}" _includeFlag)
-		string (REGEX REPLACE "^[-/]+" "" _includeFlag "${_includeFlag}")
-		if (_includeFlag)
-			set (_flagFilter "${_flagFilter}|${_includeFlag}")
-		endif()
-	endif()
-	set (_compilerFlags "")
-	cotire_filter_compile_flags("${_language}" "${_flagFilter}" _ignore _compilerFlags ${_targetFlags})
-	if (COTIRE_DEBUG AND _compilerFlags)
-		message (STATUS "Target ${_target} compiler flags: ${_compilerFlags}")
-	endif()
-	set (${_compilerFlagsVar} ${_compilerFlags} PARENT_SCOPE)
-endfunction()
-
-function (cotire_add_sys_root_paths _pathsVar)
-	if (APPLE)
-		if (CMAKE_OSX_SYSROOT AND CMAKE_${_language}_HAS_ISYSROOT)
-			foreach (_path IN LISTS ${_pathsVar})
-				if (IS_ABSOLUTE "${_path}")
-					get_filename_component(_path "${CMAKE_OSX_SYSROOT}/${_path}" ABSOLUTE)
-					if (EXISTS "${_path}")
-						list (APPEND ${_pathsVar} "${_path}")
-					endif()
-				endif()
-			endforeach()
-		endif()
-	endif()
-	set (${_pathsVar} ${${_pathsVar}} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_source_extra_properties _sourceFile _pattern _resultVar)
-	set (_extraProperties ${ARGN})
-	set (_result "")
-	if (_extraProperties)
-		list (FIND _extraProperties "${_sourceFile}" _index)
-		if (_index GREATER -1)
-			math (EXPR _index "${_index} + 1")
-			list (LENGTH _extraProperties _len)
-			math (EXPR _len "${_len} - 1")
-			foreach (_index RANGE ${_index} ${_len})
-				list (GET _extraProperties ${_index} _value)
-				if (_value MATCHES "${_pattern}")
-					list (APPEND _result "${_value}")
-				else()
-					break()
-				endif()
-			endforeach()
-		endif()
-	endif()
-	set (${_resultVar} ${_result} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_source_compile_definitions _config _language _sourceFile _definitionsVar)
-	set (_compileDefinitions "")
-	if (NOT CMAKE_SCRIPT_MODE_FILE)
-		string (TOUPPER "${_config}" _upperConfig)
-		get_source_file_property(_definitions "${_sourceFile}" COMPILE_DEFINITIONS)
-		if (_definitions)
-			list (APPEND _compileDefinitions ${_definitions})
-		endif()
-		get_source_file_property(_definitions "${_sourceFile}" COMPILE_DEFINITIONS_${_upperConfig})
-		if (_definitions)
-			list (APPEND _compileDefinitions ${_definitions})
-		endif()
-	endif()
-	cotire_get_source_extra_properties("${_sourceFile}" "^[a-zA-Z0-9_]+(=.*)?$" _definitions ${ARGN})
-	if (_definitions)
-		list (APPEND _compileDefinitions ${_definitions})
-	endif()
-	if (COTIRE_DEBUG AND _compileDefinitions)
-		message (STATUS "Source ${_sourceFile} compile definitions: ${_compileDefinitions}")
-	endif()
-	set (${_definitionsVar} ${_compileDefinitions} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_source_files_compile_definitions _config _language _definitionsVar)
-	set (_configDefinitions "")
-	foreach (_sourceFile ${ARGN})
-		cotire_get_source_compile_definitions("${_config}" "${_language}" "${_sourceFile}" _sourceDefinitions)
-		if (_sourceDefinitions)
-			list (APPEND _configDefinitions "${_sourceFile}" ${_sourceDefinitions} "-")
-		endif()
-	endforeach()
-	set (${_definitionsVar} ${_configDefinitions} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_source_undefs _sourceFile _property _sourceUndefsVar)
-	set (_sourceUndefs "")
-	if (NOT CMAKE_SCRIPT_MODE_FILE)
-		get_source_file_property(_undefs "${_sourceFile}" ${_property})
-		if (_undefs)
-			list (APPEND _sourceUndefs ${_undefs})
-		endif()
-	endif()
-	cotire_get_source_extra_properties("${_sourceFile}" "^[a-zA-Z0-9_]+$" _undefs ${ARGN})
-	if (_undefs)
-		list (APPEND _sourceUndefs ${_undefs})
-	endif()
-	if (COTIRE_DEBUG AND _sourceUndefs)
-		message (STATUS "Source ${_sourceFile} ${_property} undefs: ${_sourceUndefs}")
-	endif()
-	set (${_sourceUndefsVar} ${_sourceUndefs} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_source_files_undefs _property _sourceUndefsVar)
-	set (_sourceUndefs "")
-	foreach (_sourceFile ${ARGN})
-		cotire_get_source_undefs("${_sourceFile}" ${_property} _undefs)
-		if (_undefs)
-			list (APPEND _sourceUndefs "${_sourceFile}" ${_undefs} "-")
-		endif()
-	endforeach()
-	set (${_sourceUndefsVar} ${_sourceUndefs} PARENT_SCOPE)
-endfunction()
-
-macro (cotire_set_cmd_to_prologue _cmdVar)
-	set (${_cmdVar} "${CMAKE_COMMAND}")
-	if (COTIRE_DEBUG)
-		list (APPEND ${_cmdVar} "--warn-uninitialized")
-	endif()
-	list (APPEND ${_cmdVar} "-DCOTIRE_BUILD_TYPE:STRING=$<CONFIGURATION>")
-	if (XCODE)
-		list (APPEND ${_cmdVar} "-DXCODE:BOOL=TRUE")
-	endif()
-	if (COTIRE_VERBOSE)
-		list (APPEND ${_cmdVar} "-DCOTIRE_VERBOSE:BOOL=ON")
-	elseif("${CMAKE_GENERATOR}" MATCHES "Makefiles")
-		list (APPEND ${_cmdVar} "-DCOTIRE_VERBOSE:BOOL=$(VERBOSE)")
-	endif()
-endmacro()
-
-function (cotire_init_compile_cmd _cmdVar _language _compilerLauncher _compilerExe _compilerArg1)
-	if (NOT _compilerLauncher)
-		set (_compilerLauncher ${CMAKE_${_language}_COMPILER_LAUNCHER})
-	endif()
-	if (NOT _compilerExe)
-		set (_compilerExe "${CMAKE_${_language}_COMPILER}")
-	endif()
-	if (NOT _compilerArg1)
-		set (_compilerArg1 ${CMAKE_${_language}_COMPILER_ARG1})
-	endif()
-	if (WIN32)
-		file (TO_NATIVE_PATH "${_compilerExe}" _compilerExe)
-	endif()
-	string (STRIP "${_compilerArg1}" _compilerArg1)
-	if ("${CMAKE_GENERATOR}" MATCHES "Make|Ninja")
-		# compiler launcher is only supported for Makefile and Ninja
-		set (${_cmdVar} ${_compilerLauncher} "${_compilerExe}" ${_compilerArg1} PARENT_SCOPE)
-	else()
-		set (${_cmdVar} "${_compilerExe}" ${_compilerArg1} PARENT_SCOPE)
-	endif()
-endfunction()
-
-macro (cotire_add_definitions_to_cmd _cmdVar _language)
-	foreach (_definition ${ARGN})
-		if (WIN32 AND CMAKE_${_language}_COMPILER_ID MATCHES "MSVC|Intel")
-			list (APPEND ${_cmdVar} "/D${_definition}")
-		else()
-			list (APPEND ${_cmdVar} "-D${_definition}")
-		endif()
-	endforeach()
-endmacro()
-
-function (cotire_add_includes_to_cmd _cmdVar _language _includesVar _systemIncludesVar)
-	set (_includeDirs ${${_includesVar}} ${${_systemIncludesVar}})
-	if (_includeDirs)
-		list (REMOVE_DUPLICATES _includeDirs)
-		foreach (_include ${_includeDirs})
-			if (WIN32 AND CMAKE_${_language}_COMPILER_ID MATCHES "MSVC|Intel")
-				file (TO_NATIVE_PATH "${_include}" _include)
-				list (APPEND ${_cmdVar} "${CMAKE_INCLUDE_FLAG_${_language}}${CMAKE_INCLUDE_FLAG_SEP_${_language}}${_include}")
-			else()
-				set (_index -1)
-				if ("${CMAKE_INCLUDE_SYSTEM_FLAG_${_language}}" MATCHES ".+")
-					list (FIND ${_systemIncludesVar} "${_include}" _index)
-				endif()
-				if (_index GREATER -1)
-					list (APPEND ${_cmdVar} "${CMAKE_INCLUDE_SYSTEM_FLAG_${_language}}${CMAKE_INCLUDE_FLAG_SEP_${_language}}${_include}")
-				else()
-					list (APPEND ${_cmdVar} "${CMAKE_INCLUDE_FLAG_${_language}}${CMAKE_INCLUDE_FLAG_SEP_${_language}}${_include}")
-				endif()
-			endif()
-		endforeach()
-	endif()
-	set (${_cmdVar} ${${_cmdVar}} PARENT_SCOPE)
-endfunction()
-
-function (cotire_add_frameworks_to_cmd _cmdVar _language _includesVar _systemIncludesVar)
-	if (APPLE)
-		set (_frameworkDirs "")
-		foreach (_include ${${_includesVar}})
-			if (IS_ABSOLUTE "${_include}" AND _include MATCHES "\\.framework$")
-				get_filename_component(_frameworkDir "${_include}" DIRECTORY)
-				list (APPEND _frameworkDirs "${_frameworkDir}")
-			endif()
-		endforeach()
-		set (_systemFrameworkDirs "")
-		foreach (_include ${${_systemIncludesVar}})
-			if (IS_ABSOLUTE "${_include}" AND _include MATCHES "\\.framework$")
-				get_filename_component(_frameworkDir "${_include}" DIRECTORY)
-				list (APPEND _systemFrameworkDirs "${_frameworkDir}")
-			endif()
-		endforeach()
-		if (_systemFrameworkDirs)
-			list (APPEND _frameworkDirs ${_systemFrameworkDirs})
-		endif()
-		if (_frameworkDirs)
-			list (REMOVE_DUPLICATES _frameworkDirs)
-			foreach (_frameworkDir ${_frameworkDirs})
-				set (_index -1)
-				if ("${CMAKE_${_language}_SYSTEM_FRAMEWORK_SEARCH_FLAG}" MATCHES ".+")
-					list (FIND _systemFrameworkDirs "${_frameworkDir}" _index)
-				endif()
-				if (_index GREATER -1)
-					list (APPEND ${_cmdVar} "${CMAKE_${_language}_SYSTEM_FRAMEWORK_SEARCH_FLAG}${_frameworkDir}")
-				else()
-					list (APPEND ${_cmdVar} "${CMAKE_${_language}_FRAMEWORK_SEARCH_FLAG}${_frameworkDir}")
-				endif()
-			endforeach()
-		endif()
-	endif()
-	set (${_cmdVar} ${${_cmdVar}} PARENT_SCOPE)
-endfunction()
-
-macro (cotire_add_compile_flags_to_cmd _cmdVar)
-	foreach (_flag ${ARGN})
-		list (APPEND ${_cmdVar} "${_flag}")
-	endforeach()
-endmacro()
-
-function (cotire_check_file_up_to_date _fileIsUpToDateVar _file)
-	if (EXISTS "${_file}")
-		set (_triggerFile "")
-		foreach (_dependencyFile ${ARGN})
-			if (EXISTS "${_dependencyFile}")
-				# IS_NEWER_THAN returns TRUE if both files have the same timestamp
-				# thus we do the comparison in both directions to exclude ties
-				if ("${_dependencyFile}" IS_NEWER_THAN "${_file}" AND
-					NOT "${_file}" IS_NEWER_THAN "${_dependencyFile}")
-					set (_triggerFile "${_dependencyFile}")
-					break()
-				endif()
-			endif()
-		endforeach()
-		if (_triggerFile)
-			if (COTIRE_VERBOSE)
-				get_filename_component(_fileName "${_file}" NAME)
-				message (STATUS "${_fileName} update triggered by ${_triggerFile} change.")
-			endif()
-			set (${_fileIsUpToDateVar} FALSE PARENT_SCOPE)
-		else()
-			if (COTIRE_VERBOSE)
-				get_filename_component(_fileName "${_file}" NAME)
-				message (STATUS "${_fileName} is up-to-date.")
-			endif()
-			set (${_fileIsUpToDateVar} TRUE PARENT_SCOPE)
-		endif()
-	else()
-		if (COTIRE_VERBOSE)
-			get_filename_component(_fileName "${_file}" NAME)
-			message (STATUS "${_fileName} does not exist yet.")
-		endif()
-		set (${_fileIsUpToDateVar} FALSE PARENT_SCOPE)
-	endif()
-endfunction()
-
-macro (cotire_find_closest_relative_path _headerFile _includeDirs _relPathVar)
-	set (${_relPathVar} "")
-	foreach (_includeDir ${_includeDirs})
-		if (IS_DIRECTORY "${_includeDir}")
-			file (RELATIVE_PATH _relPath "${_includeDir}" "${_headerFile}")
-			if (NOT IS_ABSOLUTE "${_relPath}" AND NOT "${_relPath}" MATCHES "^\\.\\.")
-				string (LENGTH "${${_relPathVar}}" _closestLen)
-				string (LENGTH "${_relPath}" _relLen)
-				if (_closestLen EQUAL 0 OR _relLen LESS _closestLen)
-					set (${_relPathVar} "${_relPath}")
-				endif()
-			endif()
-		elseif ("${_includeDir}" STREQUAL "${_headerFile}")
-			# if path matches exactly, return short non-empty string
-			set (${_relPathVar} "1")
-			break()
-		endif()
-	endforeach()
-endmacro()
-
-macro (cotire_check_header_file_location _headerFile _insideIncludeDirs _outsideIncludeDirs _headerIsInside)
-	# check header path against ignored and honored include directories
-	cotire_find_closest_relative_path("${_headerFile}" "${_insideIncludeDirs}" _insideRelPath)
-	if (_insideRelPath)
-		# header is inside, but could be become outside if there is a shorter outside match
-		cotire_find_closest_relative_path("${_headerFile}" "${_outsideIncludeDirs}" _outsideRelPath)
-		if (_outsideRelPath)
-			string (LENGTH "${_insideRelPath}" _insideRelPathLen)
-			string (LENGTH "${_outsideRelPath}" _outsideRelPathLen)
-			if (_outsideRelPathLen LESS _insideRelPathLen)
-				set (${_headerIsInside} FALSE)
-			else()
-				set (${_headerIsInside} TRUE)
-			endif()
-		else()
-			set (${_headerIsInside} TRUE)
-		endif()
-	else()
-		# header is outside
-		set (${_headerIsInside} FALSE)
-	endif()
-endmacro()
-
-macro (cotire_check_ignore_header_file_path _headerFile _headerIsIgnoredVar)
-	if (NOT EXISTS "${_headerFile}")
-		set (${_headerIsIgnoredVar} TRUE)
-	elseif (IS_DIRECTORY "${_headerFile}")
-		set (${_headerIsIgnoredVar} TRUE)
-	elseif ("${_headerFile}" MATCHES "\\.\\.|[_-]fixed" AND "${_headerFile}" MATCHES "\\.h$")
-		# heuristic: ignore C headers with embedded parent directory references or "-fixed" or "_fixed" in path
-		# these often stem from using GCC #include_next tricks, which may break the precompiled header compilation
-		# with the error message "error: no include path in which to search for header.h"
-		set (${_headerIsIgnoredVar} TRUE)
-	else()
-		set (${_headerIsIgnoredVar} FALSE)
-	endif()
-endmacro()
-
-macro (cotire_check_ignore_header_file_ext _headerFile _ignoreExtensionsVar _headerIsIgnoredVar)
-	# check header file extension
-	cotire_get_source_file_extension("${_headerFile}" _headerFileExt)
-	set (${_headerIsIgnoredVar} FALSE)
-	if (_headerFileExt)
-		list (FIND ${_ignoreExtensionsVar} "${_headerFileExt}" _index)
-		if (_index GREATER -1)
-			set (${_headerIsIgnoredVar} TRUE)
-		endif()
-	endif()
-endmacro()
-
-macro (cotire_parse_line _line _headerFileVar _headerDepthVar)
-	if (MSVC)
-		# cl.exe /showIncludes produces different output, depending on the language pack used, e.g.:
-		# English: "Note: including file:   C:\directory\file"
-		# German: "Hinweis: Einlesen der Datei:   C:\directory\file"
-		# We use a very general regular expression, relying on the presence of the : characters
-		if (_line MATCHES "( +)([a-zA-Z]:[^:]+)$")
-			string (LENGTH "${CMAKE_MATCH_1}" ${_headerDepthVar})
-			get_filename_component(${_headerFileVar} "${CMAKE_MATCH_2}" ABSOLUTE)
-		else()
-			set (${_headerFileVar} "")
-			set (${_headerDepthVar} 0)
-		endif()
-	else()
-		if (_line MATCHES "^(\\.+) (.*)$")
-			# GCC like output
-			string (LENGTH "${CMAKE_MATCH_1}" ${_headerDepthVar})
-			if (IS_ABSOLUTE "${CMAKE_MATCH_2}")
-				set (${_headerFileVar} "${CMAKE_MATCH_2}")
-			else()
-				get_filename_component(${_headerFileVar} "${CMAKE_MATCH_2}" REALPATH)
-			endif()
-		else()
-			set (${_headerFileVar} "")
-			set (${_headerDepthVar} 0)
-		endif()
-	endif()
-endmacro()
-
-function (cotire_parse_includes _language _scanOutput _ignoredIncludeDirs _honoredIncludeDirs _ignoredExtensions _selectedIncludesVar _unparsedLinesVar)
-	if (WIN32)
-		# prevent CMake macro invocation errors due to backslash characters in Windows paths
-		string (REPLACE "\\" "/" _scanOutput "${_scanOutput}")
-	endif()
-	# canonize slashes
-	string (REPLACE "//" "/" _scanOutput "${_scanOutput}")
-	# prevent semicolon from being interpreted as a line separator
-	string (REPLACE ";" "\\;" _scanOutput "${_scanOutput}")
-	# then separate lines
-	string (REGEX REPLACE "\n" ";" _scanOutput "${_scanOutput}")
-	list (LENGTH _scanOutput _len)
-	# remove duplicate lines to speed up parsing
-	list (REMOVE_DUPLICATES _scanOutput)
-	list (LENGTH _scanOutput _uniqueLen)
-	if (COTIRE_VERBOSE OR COTIRE_DEBUG)
-		message (STATUS "Scanning ${_uniqueLen} unique lines of ${_len} for includes")
-		if (_ignoredExtensions)
-			message (STATUS "Ignored extensions: ${_ignoredExtensions}")
-		endif()
-		if (_ignoredIncludeDirs)
-			message (STATUS "Ignored paths: ${_ignoredIncludeDirs}")
-		endif()
-		if (_honoredIncludeDirs)
-			message (STATUS "Included paths: ${_honoredIncludeDirs}")
-		endif()
-	endif()
-	set (_sourceFiles ${ARGN})
-	set (_selectedIncludes "")
-	set (_unparsedLines "")
-	# stack keeps track of inside/outside project status of processed header files
-	set (_headerIsInsideStack "")
-	foreach (_line IN LISTS _scanOutput)
-		if (_line)
-			cotire_parse_line("${_line}" _headerFile _headerDepth)
-			if (_headerFile)
-				cotire_check_header_file_location("${_headerFile}" "${_ignoredIncludeDirs}" "${_honoredIncludeDirs}" _headerIsInside)
-				if (COTIRE_DEBUG)
-					message (STATUS "${_headerDepth}: ${_headerFile} ${_headerIsInside}")
-				endif()
-				# update stack
-				list (LENGTH _headerIsInsideStack _stackLen)
-				if (_headerDepth GREATER _stackLen)
-					math (EXPR _stackLen "${_stackLen} + 1")
-					foreach (_index RANGE ${_stackLen} ${_headerDepth})
-						list (APPEND _headerIsInsideStack ${_headerIsInside})
-					endforeach()
-				else()
-					foreach (_index RANGE ${_headerDepth} ${_stackLen})
-						list (REMOVE_AT _headerIsInsideStack -1)
-					endforeach()
-					list (APPEND _headerIsInsideStack ${_headerIsInside})
-				endif()
-				if (COTIRE_DEBUG)
-					message (STATUS "${_headerIsInsideStack}")
-				endif()
-				# header is a candidate if it is outside project
-				if (NOT _headerIsInside)
-					# get parent header file's inside/outside status
-					if (_headerDepth GREATER 1)
-						math (EXPR _index "${_headerDepth} - 2")
-						list (GET _headerIsInsideStack ${_index} _parentHeaderIsInside)
-					else()
-						set (_parentHeaderIsInside TRUE)
-					endif()
-					# select header file if parent header file is inside project
-					# (e.g., a project header file that includes a standard header file)
-					if (_parentHeaderIsInside)
-						cotire_check_ignore_header_file_path("${_headerFile}" _headerIsIgnored)
-						if (NOT _headerIsIgnored)
-							cotire_check_ignore_header_file_ext("${_headerFile}" _ignoredExtensions _headerIsIgnored)
-							if (NOT _headerIsIgnored)
-								list (APPEND _selectedIncludes "${_headerFile}")
-							else()
-								# fix header's inside status on stack, it is ignored by extension now
-								list (REMOVE_AT _headerIsInsideStack -1)
-								list (APPEND _headerIsInsideStack TRUE)
-							endif()
-						endif()
-						if (COTIRE_DEBUG)
-							message (STATUS "${_headerFile} ${_ignoredExtensions} ${_headerIsIgnored}")
-						endif()
-					endif()
-				endif()
-			else()
-				if (MSVC)
-					# for cl.exe do not keep unparsed lines which solely consist of a source file name
-					string (FIND "${_sourceFiles}" "${_line}" _index)
-					if (_index LESS 0)
-						list (APPEND _unparsedLines "${_line}")
-					endif()
-				else()
-					list (APPEND _unparsedLines "${_line}")
-				endif()
-			endif()
-		endif()
-	endforeach()
-	list (REMOVE_DUPLICATES _selectedIncludes)
-	set (${_selectedIncludesVar} ${_selectedIncludes} PARENT_SCOPE)
-	set (${_unparsedLinesVar} ${_unparsedLines} PARENT_SCOPE)
-endfunction()
-
-function (cotire_scan_includes _includesVar)
-	set(_options "")
-	set(_oneValueArgs COMPILER_ID COMPILER_EXECUTABLE COMPILER_ARG1 COMPILER_VERSION LANGUAGE UNPARSED_LINES SCAN_RESULT)
-	set(_multiValueArgs COMPILE_DEFINITIONS COMPILE_FLAGS INCLUDE_DIRECTORIES SYSTEM_INCLUDE_DIRECTORIES
-		IGNORE_PATH INCLUDE_PATH IGNORE_EXTENSIONS INCLUDE_PRIORITY_PATH COMPILER_LAUNCHER)
-	cmake_parse_arguments(_option "${_options}" "${_oneValueArgs}" "${_multiValueArgs}" ${ARGN})
-	set (_sourceFiles ${_option_UNPARSED_ARGUMENTS})
-	if (NOT _option_LANGUAGE)
-		set (_option_LANGUAGE "CXX")
-	endif()
-	if (NOT _option_COMPILER_ID)
-		set (_option_COMPILER_ID "${CMAKE_${_option_LANGUAGE}_ID}")
-	endif()
-	if (NOT _option_COMPILER_VERSION)
-		set (_option_COMPILER_VERSION "${CMAKE_${_option_LANGUAGE}_COMPILER_VERSION}")
-	endif()
-	cotire_init_compile_cmd(_cmd "${_option_LANGUAGE}" "${_option_COMPILER_LAUNCHER}" "${_option_COMPILER_EXECUTABLE}" "${_option_COMPILER_ARG1}")
-	cotire_add_definitions_to_cmd(_cmd "${_option_LANGUAGE}" ${_option_COMPILE_DEFINITIONS})
-	cotire_add_compile_flags_to_cmd(_cmd ${_option_COMPILE_FLAGS})
-	cotire_add_includes_to_cmd(_cmd "${_option_LANGUAGE}" _option_INCLUDE_DIRECTORIES _option_SYSTEM_INCLUDE_DIRECTORIES)
-	cotire_add_frameworks_to_cmd(_cmd "${_option_LANGUAGE}" _option_INCLUDE_DIRECTORIES _option_SYSTEM_INCLUDE_DIRECTORIES)
-	cotire_add_makedep_flags("${_option_LANGUAGE}" "${_option_COMPILER_ID}" "${_option_COMPILER_VERSION}" _cmd)
-	# only consider existing source files for scanning
-	set (_existingSourceFiles "")
-	foreach (_sourceFile ${_sourceFiles})
-		if (EXISTS "${_sourceFile}")
-			list (APPEND _existingSourceFiles "${_sourceFile}")
-		endif()
-	endforeach()
-	if (NOT _existingSourceFiles)
-		set (${_includesVar} "" PARENT_SCOPE)
-		return()
-	endif()
-	# add source files to be scanned
-	if (WIN32)
-		foreach (_sourceFile ${_existingSourceFiles})
-			file (TO_NATIVE_PATH "${_sourceFile}" _sourceFileNative)
-			list (APPEND _cmd "${_sourceFileNative}")
-		endforeach()
-	else()
-		list (APPEND _cmd ${_existingSourceFiles})
-	endif()
-	if (COTIRE_VERBOSE)
-		message (STATUS "execute_process: ${_cmd}")
-	endif()
-	if (MSVC_IDE OR _option_COMPILER_ID MATCHES "MSVC")
-		# cl.exe messes with the output streams unless the environment variable VS_UNICODE_OUTPUT is cleared
-		unset (ENV{VS_UNICODE_OUTPUT})
-	endif()
-	execute_process(
-		COMMAND ${_cmd}
-		WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-		RESULT_VARIABLE _result
-		OUTPUT_QUIET
-		ERROR_VARIABLE _output)
-	if (_result)
-		message (STATUS "Result ${_result} scanning includes of ${_existingSourceFiles}.")
-	endif()
-	cotire_parse_includes(
-		"${_option_LANGUAGE}" "${_output}"
-		"${_option_IGNORE_PATH}" "${_option_INCLUDE_PATH}"
-		"${_option_IGNORE_EXTENSIONS}"
-		_includes _unparsedLines
-		${_sourceFiles})
-	if (_option_INCLUDE_PRIORITY_PATH)
-		set (_sortedIncludes "")
-		foreach (_priorityPath ${_option_INCLUDE_PRIORITY_PATH})
-			foreach (_include ${_includes})
-				string (FIND ${_include} ${_priorityPath} _position)
-				if (_position GREATER -1)
-					list (APPEND _sortedIncludes ${_include})
-				endif()
-			endforeach()
-		endforeach()
-		if (_sortedIncludes)
-			list (INSERT _includes 0 ${_sortedIncludes})
-			list (REMOVE_DUPLICATES _includes)
-		endif()
-	endif()
-	set (${_includesVar} ${_includes} PARENT_SCOPE)
-	if (_option_UNPARSED_LINES)
-		set (${_option_UNPARSED_LINES} ${_unparsedLines} PARENT_SCOPE)
-	endif()
-	if (_option_SCAN_RESULT)
-		set (${_option_SCAN_RESULT} ${_result} PARENT_SCOPE)
-	endif()
-endfunction()
-
-macro (cotire_append_undefs _contentsVar)
-	set (_undefs ${ARGN})
-	if (_undefs)
-		list (REMOVE_DUPLICATES _undefs)
-		foreach (_definition ${_undefs})
-			list (APPEND ${_contentsVar} "#undef ${_definition}")
-		endforeach()
-	endif()
-endmacro()
-
-macro (cotire_comment_str _language _commentText _commentVar)
-	if ("${_language}" STREQUAL "CMAKE")
-		set (${_commentVar} "# ${_commentText}")
-	else()
-		set (${_commentVar} "/* ${_commentText} */")
-	endif()
-endmacro()
-
-function (cotire_write_file _language _file _contents _force)
-	get_filename_component(_moduleName "${COTIRE_CMAKE_MODULE_FILE}" NAME)
-	cotire_comment_str("${_language}" "${_moduleName} ${COTIRE_CMAKE_MODULE_VERSION} generated file" _header1)
-	cotire_comment_str("${_language}" "${_file}" _header2)
-	set (_contents "${_header1}\n${_header2}\n${_contents}")
-	if (COTIRE_DEBUG)
-		message (STATUS "${_contents}")
-	endif()
-	if (_force OR NOT EXISTS "${_file}")
-		file (WRITE "${_file}" "${_contents}")
-	else()
-		file (READ "${_file}" _oldContents)
-		if (NOT "${_oldContents}" STREQUAL "${_contents}")
-			file (WRITE "${_file}" "${_contents}")
-		else()
-			if (COTIRE_DEBUG)
-				message (STATUS "${_file} unchanged")
-			endif()
-		endif()
-	endif()
-endfunction()
-
-function (cotire_generate_unity_source _unityFile)
-	set(_options "")
-	set(_oneValueArgs LANGUAGE)
-	set(_multiValueArgs
-		DEPENDS SOURCES_COMPILE_DEFINITIONS
-		PRE_UNDEFS SOURCES_PRE_UNDEFS POST_UNDEFS SOURCES_POST_UNDEFS PROLOGUE EPILOGUE)
-	cmake_parse_arguments(_option "${_options}" "${_oneValueArgs}" "${_multiValueArgs}" ${ARGN})
-	if (_option_DEPENDS)
-		cotire_check_file_up_to_date(_unityFileIsUpToDate "${_unityFile}" ${_option_DEPENDS})
-		if (_unityFileIsUpToDate)
-			return()
-		endif()
-	endif()
-	set (_sourceFiles ${_option_UNPARSED_ARGUMENTS})
-	if (NOT _option_PRE_UNDEFS)
-		set (_option_PRE_UNDEFS "")
-	endif()
-	if (NOT _option_SOURCES_PRE_UNDEFS)
-		set (_option_SOURCES_PRE_UNDEFS "")
-	endif()
-	if (NOT _option_POST_UNDEFS)
-		set (_option_POST_UNDEFS "")
-	endif()
-	if (NOT _option_SOURCES_POST_UNDEFS)
-		set (_option_SOURCES_POST_UNDEFS "")
-	endif()
-	set (_contents "")
-	if (_option_PROLOGUE)
-		list (APPEND _contents ${_option_PROLOGUE})
-	endif()
-	if (_option_LANGUAGE AND _sourceFiles)
-		if ("${_option_LANGUAGE}" STREQUAL "CXX")
-			list (APPEND _contents "#ifdef __cplusplus")
-		elseif ("${_option_LANGUAGE}" STREQUAL "C")
-			list (APPEND _contents "#ifndef __cplusplus")
-		endif()
-	endif()
-	set (_compileUndefinitions "")
-	foreach (_sourceFile ${_sourceFiles})
-		cotire_get_source_compile_definitions(
-			"${_option_CONFIGURATION}" "${_option_LANGUAGE}" "${_sourceFile}" _compileDefinitions
-			${_option_SOURCES_COMPILE_DEFINITIONS})
-		cotire_get_source_undefs("${_sourceFile}" COTIRE_UNITY_SOURCE_PRE_UNDEFS _sourcePreUndefs ${_option_SOURCES_PRE_UNDEFS})
-		cotire_get_source_undefs("${_sourceFile}" COTIRE_UNITY_SOURCE_POST_UNDEFS _sourcePostUndefs ${_option_SOURCES_POST_UNDEFS})
-		if (_option_PRE_UNDEFS)
-			list (APPEND _compileUndefinitions ${_option_PRE_UNDEFS})
-		endif()
-		if (_sourcePreUndefs)
-			list (APPEND _compileUndefinitions ${_sourcePreUndefs})
-		endif()
-		if (_compileUndefinitions)
-			cotire_append_undefs(_contents ${_compileUndefinitions})
-			set (_compileUndefinitions "")
-		endif()
-		if (_sourcePostUndefs)
-			list (APPEND _compileUndefinitions ${_sourcePostUndefs})
-		endif()
-		if (_option_POST_UNDEFS)
-			list (APPEND _compileUndefinitions ${_option_POST_UNDEFS})
-		endif()
-		foreach (_definition ${_compileDefinitions})
-			if (_definition MATCHES "^([a-zA-Z0-9_]+)=(.+)$")
-				list (APPEND _contents "#define ${CMAKE_MATCH_1} ${CMAKE_MATCH_2}")
-				list (INSERT _compileUndefinitions 0 "${CMAKE_MATCH_1}")
-			else()
-				list (APPEND _contents "#define ${_definition}")
-				list (INSERT _compileUndefinitions 0 "${_definition}")
-			endif()
-		endforeach()
-		# use absolute path as source file location
-		get_filename_component(_sourceFileLocation "${_sourceFile}" ABSOLUTE)
-		if (WIN32)
-			file (TO_NATIVE_PATH "${_sourceFileLocation}" _sourceFileLocation)
-		endif()
-		list (APPEND _contents "#include \"${_sourceFileLocation}\"")
-	endforeach()
-	if (_compileUndefinitions)
-		cotire_append_undefs(_contents ${_compileUndefinitions})
-		set (_compileUndefinitions "")
-	endif()
-	if (_option_LANGUAGE AND _sourceFiles)
-		list (APPEND _contents "#endif")
-	endif()
-	if (_option_EPILOGUE)
-		list (APPEND _contents ${_option_EPILOGUE})
-	endif()
-	list (APPEND _contents "")
-	string (REPLACE ";" "\n" _contents "${_contents}")
-	if (COTIRE_VERBOSE)
-		message ("${_contents}")
-	endif()
-	cotire_write_file("${_option_LANGUAGE}" "${_unityFile}" "${_contents}" TRUE)
-endfunction()
-
-function (cotire_generate_prefix_header _prefixFile)
-	set(_options "")
-	set(_oneValueArgs LANGUAGE COMPILER_EXECUTABLE COMPILER_ARG1 COMPILER_ID COMPILER_VERSION)
-	set(_multiValueArgs DEPENDS COMPILE_DEFINITIONS COMPILE_FLAGS
-		INCLUDE_DIRECTORIES SYSTEM_INCLUDE_DIRECTORIES IGNORE_PATH INCLUDE_PATH
-		IGNORE_EXTENSIONS INCLUDE_PRIORITY_PATH COMPILER_LAUNCHER)
-	cmake_parse_arguments(_option "${_options}" "${_oneValueArgs}" "${_multiValueArgs}" ${ARGN})
-	if (NOT _option_COMPILER_ID)
-		set (_option_COMPILER_ID "${CMAKE_${_option_LANGUAGE}_ID}")
-	endif()
-	if (NOT _option_COMPILER_VERSION)
-		set (_option_COMPILER_VERSION "${CMAKE_${_option_LANGUAGE}_COMPILER_VERSION}")
-	endif()
-	if (_option_DEPENDS)
-		cotire_check_file_up_to_date(_prefixFileIsUpToDate "${_prefixFile}" ${_option_DEPENDS})
-		if (_prefixFileIsUpToDate)
-			# create empty log file
-			set (_unparsedLinesFile "${_prefixFile}.log")
-			file (WRITE "${_unparsedLinesFile}" "")
-			return()
-		endif()
-	endif()
-	set (_prologue "")
-	set (_epilogue "")
-	if (_option_COMPILER_ID MATCHES "Clang")
-		set (_prologue "#pragma clang system_header")
-	elseif (_option_COMPILER_ID MATCHES "GNU")
-		set (_prologue "#pragma GCC system_header")
-	elseif (_option_COMPILER_ID MATCHES "MSVC")
-		set (_prologue "#pragma warning(push, 0)")
-		set (_epilogue "#pragma warning(pop)")
-	elseif (_option_COMPILER_ID MATCHES "Intel")
-		# Intel compiler requires hdrstop pragma to stop generating PCH file
-		set (_epilogue "#pragma hdrstop")
-	endif()
-	set (_sourceFiles ${_option_UNPARSED_ARGUMENTS})
-	cotire_scan_includes(_selectedHeaders ${_sourceFiles}
-		LANGUAGE "${_option_LANGUAGE}"
-		COMPILER_LAUNCHER "${_option_COMPILER_LAUNCHER}"
-		COMPILER_EXECUTABLE "${_option_COMPILER_EXECUTABLE}"
-		COMPILER_ARG1 "${_option_COMPILER_ARG1}"
-		COMPILER_ID "${_option_COMPILER_ID}"
-		COMPILER_VERSION "${_option_COMPILER_VERSION}"
-		COMPILE_DEFINITIONS ${_option_COMPILE_DEFINITIONS}
-		COMPILE_FLAGS ${_option_COMPILE_FLAGS}
-		INCLUDE_DIRECTORIES ${_option_INCLUDE_DIRECTORIES}
-		SYSTEM_INCLUDE_DIRECTORIES ${_option_SYSTEM_INCLUDE_DIRECTORIES}
-		IGNORE_PATH ${_option_IGNORE_PATH}
-		INCLUDE_PATH ${_option_INCLUDE_PATH}
-		IGNORE_EXTENSIONS ${_option_IGNORE_EXTENSIONS}
-		INCLUDE_PRIORITY_PATH ${_option_INCLUDE_PRIORITY_PATH}
-		UNPARSED_LINES _unparsedLines
-		SCAN_RESULT _scanResult)
-	cotire_generate_unity_source("${_prefixFile}"
-		PROLOGUE ${_prologue} EPILOGUE ${_epilogue} LANGUAGE "${_option_LANGUAGE}" ${_selectedHeaders})
-	set (_unparsedLinesFile "${_prefixFile}.log")
-	if (_unparsedLines)
-		if (COTIRE_VERBOSE OR _scanResult OR NOT _selectedHeaders)
-			list (LENGTH _unparsedLines _skippedLineCount)
-			if (WIN32)
-				file (TO_NATIVE_PATH "${_unparsedLinesFile}" _unparsedLinesLogPath)
-			else()
-				set (_unparsedLinesLogPath "${_unparsedLinesFile}")
-			endif()
-			message (STATUS "${_skippedLineCount} line(s) skipped, see ${_unparsedLinesLogPath}")
-		endif()
-		string (REPLACE ";" "\n" _unparsedLines "${_unparsedLines}")
-	endif()
-	file (WRITE "${_unparsedLinesFile}" "${_unparsedLines}\n")
-endfunction()
-
-function (cotire_add_makedep_flags _language _compilerID _compilerVersion _flagsVar)
-	set (_flags ${${_flagsVar}})
-	if (_compilerID MATCHES "MSVC")
-		# cl.exe options used
-		# /nologo suppresses display of sign-on banner
-		# /TC treat all files named on the command line as C source files
-		# /TP treat all files named on the command line as C++ source files
-		# /EP preprocess to stdout without #line directives
-		# /showIncludes list include files
-		set (_sourceFileTypeC "/TC")
-		set (_sourceFileTypeCXX "/TP")
-		if (_flags)
-			# append to list
-			list (APPEND _flags /nologo "${_sourceFileType${_language}}" /EP /showIncludes)
-		else()
-			# return as a flag string
-			set (_flags "${_sourceFileType${_language}} /EP /showIncludes")
-		endif()
-	elseif (_compilerID MATCHES "GNU")
-		# GCC options used
-		# -H print the name of each header file used
-		# -E invoke preprocessor
-		# -fdirectives-only do not expand macros, requires GCC >= 4.3
-		if (_flags)
-			# append to list
-			list (APPEND _flags -H -E)
-			if (NOT "${_compilerVersion}" VERSION_LESS "4.3.0")
-				list (APPEND _flags -fdirectives-only)
-			endif()
-		else()
-			# return as a flag string
-			set (_flags "-H -E")
-			if (NOT "${_compilerVersion}" VERSION_LESS "4.3.0")
-				set (_flags "${_flags} -fdirectives-only")
-			endif()
-		endif()
-	elseif (_compilerID MATCHES "Clang")
-		if (UNIX)
-			# Clang options used
-			# -H print the name of each header file used
-			# -E invoke preprocessor
-			# -fno-color-diagnostics do not print diagnostics in color
-			# -Eonly just run preprocessor, no output
-			if (_flags)
-				# append to list
-				list (APPEND _flags -H -E -fno-color-diagnostics -Xclang -Eonly)
-			else()
-				# return as a flag string
-				set (_flags "-H -E -fno-color-diagnostics -Xclang -Eonly")
-			endif()
-		elseif (WIN32)
-			# Clang-cl.exe options used
-			# /TC treat all files named on the command line as C source files
-			# /TP treat all files named on the command line as C++ source files
-			# /EP preprocess to stdout without #line directives
-			# -H print the name of each header file used
-			# -fno-color-diagnostics do not print diagnostics in color
-			# -Eonly just run preprocessor, no output
-			set (_sourceFileTypeC "/TC")
-			set (_sourceFileTypeCXX "/TP")
-			if (_flags)
-				# append to list
-				list (APPEND _flags "${_sourceFileType${_language}}" /EP -fno-color-diagnostics -Xclang -H -Xclang -Eonly)
-			else()
-				# return as a flag string
-				set (_flags "${_sourceFileType${_language}} /EP -fno-color-diagnostics -Xclang -H -Xclang -Eonly")
-			endif()
-		endif()
-	elseif (_compilerID MATCHES "Intel")
-		if (WIN32)
-			# Windows Intel options used
-			# /nologo do not display compiler version information
-			# /QH display the include file order
-			# /EP preprocess to stdout, omitting #line directives
-			# /TC process all source or unrecognized file types as C source files
-			# /TP process all source or unrecognized file types as C++ source files
-			set (_sourceFileTypeC "/TC")
-			set (_sourceFileTypeCXX "/TP")
-			if (_flags)
-				# append to list
-				list (APPEND _flags /nologo "${_sourceFileType${_language}}" /EP /QH)
-			else()
-				# return as a flag string
-				set (_flags "${_sourceFileType${_language}} /EP /QH")
-			endif()
-		else()
-			# Linux / Mac OS X Intel options used
-			# -H print the name of each header file used
-			# -EP preprocess to stdout, omitting #line directives
-			# -Kc++ process all source or unrecognized file types as C++ source files
-			if (_flags)
-				# append to list
-				if ("${_language}" STREQUAL "CXX")
-					list (APPEND _flags -Kc++)
-				endif()
-				list (APPEND _flags -H -EP)
-			else()
-				# return as a flag string
-				if ("${_language}" STREQUAL "CXX")
-					set (_flags "-Kc++ ")
-				endif()
-				set (_flags "${_flags}-H -EP")
-			endif()
-		endif()
-	else()
-		message (FATAL_ERROR "cotire: unsupported ${_language} compiler ${_compilerID} version ${_compilerVersion}.")
-	endif()
-	set (${_flagsVar} ${_flags} PARENT_SCOPE)
-endfunction()
-
-function (cotire_add_pch_compilation_flags _language _compilerID _compilerVersion _prefixFile _pchFile _hostFile _flagsVar)
-	set (_flags ${${_flagsVar}})
-	if (_compilerID MATCHES "MSVC")
-		file (TO_NATIVE_PATH "${_prefixFile}" _prefixFileNative)
-		file (TO_NATIVE_PATH "${_pchFile}" _pchFileNative)
-		file (TO_NATIVE_PATH "${_hostFile}" _hostFileNative)
-		# cl.exe options used
-		# /Yc creates a precompiled header file
-		# /Fp specifies precompiled header binary file name
-		# /FI forces inclusion of file
-		# /TC treat all files named on the command line as C source files
-		# /TP treat all files named on the command line as C++ source files
-		# /Zs syntax check only
-		# /Zm precompiled header memory allocation scaling factor
-		set (_sourceFileTypeC "/TC")
-		set (_sourceFileTypeCXX "/TP")
-		if (_flags)
-			# append to list
-			list (APPEND _flags /nologo "${_sourceFileType${_language}}"
-				"/Yc${_prefixFileNative}" "/Fp${_pchFileNative}" "/FI${_prefixFileNative}" /Zs "${_hostFileNative}")
-			if (COTIRE_PCH_MEMORY_SCALING_FACTOR)
-				list (APPEND _flags "/Zm${COTIRE_PCH_MEMORY_SCALING_FACTOR}")
-			endif()
-		else()
-			# return as a flag string
-			set (_flags "/Yc\"${_prefixFileNative}\" /Fp\"${_pchFileNative}\" /FI\"${_prefixFileNative}\"")
-			if (COTIRE_PCH_MEMORY_SCALING_FACTOR)
-				set (_flags "${_flags} /Zm${COTIRE_PCH_MEMORY_SCALING_FACTOR}")
-			endif()
-		endif()
-	elseif (_compilerID MATCHES "GNU")
-		# GCC options used
-		# -x specify the source language
-		# -c compile but do not link
-		# -o place output in file
-		# note that we cannot use -w to suppress all warnings upon pre-compiling, because turning off a warning may
-		# alter compile flags as a side effect (e.g., -Wwrite-string implies -fconst-strings)
-		set (_xLanguage_C "c-header")
-		set (_xLanguage_CXX "c++-header")
-		if (_flags)
-			# append to list
-			list (APPEND _flags -x "${_xLanguage_${_language}}" -c "${_prefixFile}" -o "${_pchFile}")
-		else()
-			# return as a flag string
-			set (_flags "-x ${_xLanguage_${_language}} -c \"${_prefixFile}\" -o \"${_pchFile}\"")
-		endif()
-	elseif (_compilerID MATCHES "Clang")
-		if (UNIX)
-			# Clang options used
-			# -x specify the source language
-			# -c compile but do not link
-			# -o place output in file
-			# -fno-pch-timestamp disable inclusion of timestamp in precompiled headers (clang 4.0.0+)
-			set (_xLanguage_C "c-header")
-			set (_xLanguage_CXX "c++-header")
-			if (_flags)
-				# append to list
-				list (APPEND _flags -x "${_xLanguage_${_language}}" -c "${_prefixFile}" -o "${_pchFile}")
-				if (NOT "${_compilerVersion}" VERSION_LESS "4.0.0")
-					list (APPEND _flags -Xclang -fno-pch-timestamp)
-				endif()
-			else()
-				# return as a flag string
-				set (_flags "-x ${_xLanguage_${_language}} -c \"${_prefixFile}\" -o \"${_pchFile}\"")
-				if (NOT "${_compilerVersion}" VERSION_LESS "4.0.0")
-					set (_flags "${_flags} -Xclang -fno-pch-timestamp")
-				endif()
-			endif()
-		elseif (WIN32)
-			# Clang-cl.exe options used
-			# /Yc creates a precompiled header file
-			# /Fp specifies precompiled header binary file name
-			# /FI forces inclusion of file
-			# /Zs syntax check only
-			# /TC treat all files named on the command line as C source files
-			# /TP treat all files named on the command line as C++ source files
-			set (_sourceFileTypeC "/TC")
-			set (_sourceFileTypeCXX "/TP")
-			if (_flags)
-				# append to list
-				list (APPEND _flags "${_sourceFileType${_language}}"
-						"/Yc${_prefixFile}" "/Fp${_pchFile}" "/FI${_prefixFile}" /Zs "${_hostFile}")
-			else()
-				# return as a flag string
-				set (_flags "/Yc\"${_prefixFile}\" /Fp\"${_pchFile}\" /FI\"${_prefixFile}\"")
-			endif()
-		endif()
-	elseif (_compilerID MATCHES "Intel")
-		if (WIN32)
-			file (TO_NATIVE_PATH "${_prefixFile}" _prefixFileNative)
-			file (TO_NATIVE_PATH "${_pchFile}" _pchFileNative)
-			file (TO_NATIVE_PATH "${_hostFile}" _hostFileNative)
-			# Windows Intel options used
-			# /nologo do not display compiler version information
-			# /Yc create a precompiled header (PCH) file
-			# /Fp specify a path or file name for precompiled header files
-			# /FI tells the preprocessor to include a specified file name as the header file
-			# /TC process all source or unrecognized file types as C source files
-			# /TP process all source or unrecognized file types as C++ source files
-			# /Zs syntax check only
-			# /Wpch-messages enable diagnostics related to pre-compiled headers (requires Intel XE 2013 Update 2)
-			set (_sourceFileTypeC "/TC")
-			set (_sourceFileTypeCXX "/TP")
-			if (_flags)
-				# append to list
-				list (APPEND _flags /nologo "${_sourceFileType${_language}}"
-					"/Yc" "/Fp${_pchFileNative}" "/FI${_prefixFileNative}" /Zs "${_hostFileNative}")
-				if (NOT "${_compilerVersion}" VERSION_LESS "13.1.0")
-					list (APPEND _flags "/Wpch-messages")
-				endif()
-			else()
-				# return as a flag string
-				set (_flags "/Yc /Fp\"${_pchFileNative}\" /FI\"${_prefixFileNative}\"")
-				if (NOT "${_compilerVersion}" VERSION_LESS "13.1.0")
-					set (_flags "${_flags} /Wpch-messages")
-				endif()
-			endif()
-		else()
-			# Linux / Mac OS X Intel options used
-			# -pch-dir location for precompiled header files
-			# -pch-create name of the precompiled header (PCH) to create
-			# -Kc++ process all source or unrecognized file types as C++ source files
-			# -fsyntax-only check only for correct syntax
-			# -Wpch-messages enable diagnostics related to pre-compiled headers (requires Intel XE 2013 Update 2)
-			get_filename_component(_pchDir "${_pchFile}" DIRECTORY)
-			get_filename_component(_pchName "${_pchFile}" NAME)
-			set (_xLanguage_C "c-header")
-			set (_xLanguage_CXX "c++-header")
-			set (_pchSuppressMessages FALSE)
-			if ("${CMAKE_${_language}_FLAGS}" MATCHES ".*-Wno-pch-messages.*")
-				set(_pchSuppressMessages TRUE)
-			endif()
-			if (_flags)
-				# append to list
-				if ("${_language}" STREQUAL "CXX")
-					list (APPEND _flags -Kc++)
-				endif()
-				list (APPEND _flags -include "${_prefixFile}" -pch-dir "${_pchDir}" -pch-create "${_pchName}" -fsyntax-only "${_hostFile}")
-				if (NOT "${_compilerVersion}" VERSION_LESS "13.1.0")
-					if (NOT _pchSuppressMessages)
-						list (APPEND _flags -Wpch-messages)
-					endif()
-				endif()
-			else()
-				# return as a flag string
-				set (_flags "-include \"${_prefixFile}\" -pch-dir \"${_pchDir}\" -pch-create \"${_pchName}\"")
-				if (NOT "${_compilerVersion}" VERSION_LESS "13.1.0")
-					if (NOT _pchSuppressMessages)
-						set (_flags "${_flags} -Wpch-messages")
-					endif()
-				endif()
-			endif()
-		endif()
-	else()
-		message (FATAL_ERROR "cotire: unsupported ${_language} compiler ${_compilerID} version ${_compilerVersion}.")
-	endif()
-	set (${_flagsVar} ${_flags} PARENT_SCOPE)
-endfunction()
-
-function (cotire_add_prefix_pch_inclusion_flags _language _compilerID _compilerVersion _prefixFile _pchFile _flagsVar)
-	set (_flags ${${_flagsVar}})
-	if (_compilerID MATCHES "MSVC")
-		file (TO_NATIVE_PATH "${_prefixFile}" _prefixFileNative)
-		# cl.exe options used
-		# /Yu uses a precompiled header file during build
-		# /Fp specifies precompiled header binary file name
-		# /FI forces inclusion of file
-		# /Zm precompiled header memory allocation scaling factor
-		if (_pchFile)
-			file (TO_NATIVE_PATH "${_pchFile}" _pchFileNative)
-			if (_flags)
-				# append to list
-				list (APPEND _flags "/Yu${_prefixFileNative}" "/Fp${_pchFileNative}" "/FI${_prefixFileNative}")
-				if (COTIRE_PCH_MEMORY_SCALING_FACTOR)
-					list (APPEND _flags "/Zm${COTIRE_PCH_MEMORY_SCALING_FACTOR}")
-				endif()
-			else()
-				# return as a flag string
-				set (_flags "/Yu\"${_prefixFileNative}\" /Fp\"${_pchFileNative}\" /FI\"${_prefixFileNative}\"")
-				if (COTIRE_PCH_MEMORY_SCALING_FACTOR)
-					set (_flags "${_flags} /Zm${COTIRE_PCH_MEMORY_SCALING_FACTOR}")
-				endif()
-			endif()
-		else()
-			# no precompiled header, force inclusion of prefix header
-			if (_flags)
-				# append to list
-				list (APPEND _flags "/FI${_prefixFileNative}")
-			else()
-				# return as a flag string
-				set (_flags "/FI\"${_prefixFileNative}\"")
-			endif()
-		endif()
-	elseif (_compilerID MATCHES "GNU")
-		# GCC options used
-		# -include process include file as the first line of the primary source file
-		# -Winvalid-pch warns if precompiled header is found but cannot be used
-		# note: ccache requires the -include flag to be used in order to process precompiled header correctly
-		if (_flags)
-			# append to list
-			list (APPEND _flags -Winvalid-pch -include "${_prefixFile}")
-		else()
-			# return as a flag string
-			set (_flags "-Winvalid-pch -include \"${_prefixFile}\"")
-		endif()
-	elseif (_compilerID MATCHES "Clang")
-		if (UNIX)
-			# Clang options used
-			# -include process include file as the first line of the primary source file
-			# note: ccache requires the -include flag to be used in order to process precompiled header correctly
-			if (_flags)
-				# append to list
-				list (APPEND _flags -include "${_prefixFile}")
-			else()
-				# return as a flag string
-				set (_flags "-include \"${_prefixFile}\"")
-			endif()
-		elseif (WIN32)
-			# Clang-cl.exe options used
-			# /Yu uses a precompiled header file during build
-			# /Fp specifies precompiled header binary file name
-			# /FI forces inclusion of file
-			if (_pchFile)
-				if (_flags)
-					# append to list
-					list (APPEND _flags "/Yu${_prefixFile}" "/Fp${_pchFile}" "/FI${_prefixFile}")
-				else()
-					# return as a flag string
-					set (_flags "/Yu\"${_prefixFile}\" /Fp\"${_pchFile}\" /FI\"${_prefixFile}\"")
-				endif()
-			else()
-				# no precompiled header, force inclusion of prefix header
-				if (_flags)
-					# append to list
-					list (APPEND _flags "/FI${_prefixFile}")
-				else()
-					# return as a flag string
-					set (_flags "/FI\"${_prefixFile}\"")
-				endif()
-			endif()
-		endif()
-	elseif (_compilerID MATCHES "Intel")
-		if (WIN32)
-			file (TO_NATIVE_PATH "${_prefixFile}" _prefixFileNative)
-			# Windows Intel options used
-			# /Yu use a precompiled header (PCH) file
-			# /Fp specify a path or file name for precompiled header files
-			# /FI tells the preprocessor to include a specified file name as the header file
-			# /Wpch-messages enable diagnostics related to pre-compiled headers (requires Intel XE 2013 Update 2)
-			if (_pchFile)
-				file (TO_NATIVE_PATH "${_pchFile}" _pchFileNative)
-				if (_flags)
-					# append to list
-					list (APPEND _flags "/Yu" "/Fp${_pchFileNative}" "/FI${_prefixFileNative}")
-					if (NOT "${_compilerVersion}" VERSION_LESS "13.1.0")
-						list (APPEND _flags "/Wpch-messages")
-					endif()
-				else()
-					# return as a flag string
-					set (_flags "/Yu /Fp\"${_pchFileNative}\" /FI\"${_prefixFileNative}\"")
-					if (NOT "${_compilerVersion}" VERSION_LESS "13.1.0")
-						set (_flags "${_flags} /Wpch-messages")
-					endif()
-				endif()
-			else()
-				# no precompiled header, force inclusion of prefix header
-				if (_flags)
-					# append to list
-					list (APPEND _flags "/FI${_prefixFileNative}")
-				else()
-					# return as a flag string
-					set (_flags "/FI\"${_prefixFileNative}\"")
-				endif()
-			endif()
-		else()
-			# Linux / Mac OS X Intel options used
-			# -pch-dir location for precompiled header files
-			# -pch-use name of the precompiled header (PCH) to use
-			# -include process include file as the first line of the primary source file
-			# -Wpch-messages enable diagnostics related to pre-compiled headers (requires Intel XE 2013 Update 2)
-			if (_pchFile)
-				get_filename_component(_pchDir "${_pchFile}" DIRECTORY)
-				get_filename_component(_pchName "${_pchFile}" NAME)
-				set (_pchSuppressMessages FALSE)
-				if ("${CMAKE_${_language}_FLAGS}" MATCHES ".*-Wno-pch-messages.*")
-					set(_pchSuppressMessages TRUE)
-				endif()
-				if (_flags)
-					# append to list
-					list (APPEND _flags -include "${_prefixFile}" -pch-dir "${_pchDir}" -pch-use "${_pchName}")
-					if (NOT "${_compilerVersion}" VERSION_LESS "13.1.0")
-						if (NOT _pchSuppressMessages)
-							list (APPEND _flags -Wpch-messages)
-						endif()
-					endif()
-				else()
-					# return as a flag string
-					set (_flags "-include \"${_prefixFile}\" -pch-dir \"${_pchDir}\" -pch-use \"${_pchName}\"")
-					if (NOT "${_compilerVersion}" VERSION_LESS "13.1.0")
-						if (NOT _pchSuppressMessages)
-							set (_flags "${_flags} -Wpch-messages")
-						endif()
-					endif()
-				endif()
-			else()
-				# no precompiled header, force inclusion of prefix header
-				if (_flags)
-					# append to list
-					list (APPEND _flags -include "${_prefixFile}")
-				else()
-					# return as a flag string
-					set (_flags "-include \"${_prefixFile}\"")
-				endif()
-			endif()
-		endif()
-	else()
-		message (FATAL_ERROR "cotire: unsupported ${_language} compiler ${_compilerID} version ${_compilerVersion}.")
-	endif()
-	set (${_flagsVar} ${_flags} PARENT_SCOPE)
-endfunction()
-
-function (cotire_precompile_prefix_header _prefixFile _pchFile _hostFile)
-	set(_options "")
-	set(_oneValueArgs COMPILER_EXECUTABLE COMPILER_ARG1 COMPILER_ID COMPILER_VERSION LANGUAGE)
-	set(_multiValueArgs COMPILE_DEFINITIONS COMPILE_FLAGS INCLUDE_DIRECTORIES SYSTEM_INCLUDE_DIRECTORIES SYS COMPILER_LAUNCHER)
-	cmake_parse_arguments(_option "${_options}" "${_oneValueArgs}" "${_multiValueArgs}" ${ARGN})
-	if (NOT _option_LANGUAGE)
-		set (_option_LANGUAGE "CXX")
-	endif()
-	if (NOT _option_COMPILER_ID)
-		set (_option_COMPILER_ID "${CMAKE_${_option_LANGUAGE}_ID}")
-	endif()
-	if (NOT _option_COMPILER_VERSION)
-		set (_option_COMPILER_VERSION "${CMAKE_${_option_LANGUAGE}_COMPILER_VERSION}")
-	endif()
-	cotire_init_compile_cmd(_cmd "${_option_LANGUAGE}" "${_option_COMPILER_LAUNCHER}" "${_option_COMPILER_EXECUTABLE}" "${_option_COMPILER_ARG1}")
-	cotire_add_definitions_to_cmd(_cmd "${_option_LANGUAGE}" ${_option_COMPILE_DEFINITIONS})
-	cotire_add_compile_flags_to_cmd(_cmd ${_option_COMPILE_FLAGS})
-	cotire_add_includes_to_cmd(_cmd "${_option_LANGUAGE}" _option_INCLUDE_DIRECTORIES _option_SYSTEM_INCLUDE_DIRECTORIES)
-	cotire_add_frameworks_to_cmd(_cmd "${_option_LANGUAGE}" _option_INCLUDE_DIRECTORIES _option_SYSTEM_INCLUDE_DIRECTORIES)
-	cotire_add_pch_compilation_flags(
-		"${_option_LANGUAGE}" "${_option_COMPILER_ID}" "${_option_COMPILER_VERSION}"
-		"${_prefixFile}" "${_pchFile}" "${_hostFile}" _cmd)
-	if (COTIRE_VERBOSE)
-		message (STATUS "execute_process: ${_cmd}")
-	endif()
-	if (MSVC_IDE OR _option_COMPILER_ID MATCHES "MSVC")
-		# cl.exe messes with the output streams unless the environment variable VS_UNICODE_OUTPUT is cleared
-		unset (ENV{VS_UNICODE_OUTPUT})
-	elseif (_option_COMPILER_ID MATCHES "Clang" AND _option_COMPILER_VERSION VERSION_LESS "4.0.0")
-		if (_option_COMPILER_LAUNCHER MATCHES "ccache" OR
-			_option_COMPILER_EXECUTABLE MATCHES "ccache")
-			# Newer versions of Clang embed a compilation timestamp into the precompiled header binary,
-			# which results in "file has been modified since the precompiled header was built" errors if ccache is used.
-			# We work around the problem by disabling ccache upon pre-compiling the prefix header.
-			set (ENV{CCACHE_DISABLE} "true")
-		endif()
-	endif()
-	execute_process(
-		COMMAND ${_cmd}
-		WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-		RESULT_VARIABLE _result)
-	if (_result)
-		message (FATAL_ERROR "cotire: error ${_result} precompiling ${_prefixFile}.")
-	endif()
-endfunction()
-
-function (cotire_check_precompiled_header_support _language _target _msgVar)
-	set (_unsupportedCompiler
-		"Precompiled headers not supported for ${_language} compiler ${CMAKE_${_language}_COMPILER_ID}")
-	if (CMAKE_${_language}_COMPILER_ID MATCHES "MSVC")
-		# PCH supported since Visual Studio C++ 6.0
-		# and CMake does not support an earlier version
-		set (${_msgVar} "" PARENT_SCOPE)
-	elseif (CMAKE_${_language}_COMPILER_ID MATCHES "GNU")
-		# GCC PCH support requires version >= 3.4
-		if ("${CMAKE_${_language}_COMPILER_VERSION}" VERSION_LESS "3.4.0")
-			set (${_msgVar} "${_unsupportedCompiler} version ${CMAKE_${_language}_COMPILER_VERSION}." PARENT_SCOPE)
-		else()
-			set (${_msgVar} "" PARENT_SCOPE)
-		endif()
-	elseif (CMAKE_${_language}_COMPILER_ID MATCHES "Clang")
-		if (UNIX)
-			# all Unix Clang versions have PCH support
-			set (${_msgVar} "" PARENT_SCOPE)
-		elseif (WIN32)
-			# only clang-cl is supported under Windows
-			get_filename_component(_compilerName "${CMAKE_${_language}_COMPILER}" NAME_WE)
-			if (NOT _compilerName MATCHES "cl$")
-				set (${_msgVar} "${_unsupportedCompiler} version ${CMAKE_${_language}_COMPILER_VERSION}. Use clang-cl instead." PARENT_SCOPE)
-			endif()
-		endif()
-	elseif (CMAKE_${_language}_COMPILER_ID MATCHES "Intel")
-		# Intel PCH support requires version >= 8.0.0
-		if ("${CMAKE_${_language}_COMPILER_VERSION}" VERSION_LESS "8.0.0")
-			set (${_msgVar} "${_unsupportedCompiler} version ${CMAKE_${_language}_COMPILER_VERSION}." PARENT_SCOPE)
-		else()
-			set (${_msgVar} "" PARENT_SCOPE)
-		endif()
-	else()
-		set (${_msgVar} "${_unsupportedCompiler}." PARENT_SCOPE)
-	endif()
-	# check if ccache is used as a compiler launcher
-	get_target_property(_launcher ${_target} ${_language}_COMPILER_LAUNCHER)
-	get_filename_component(_realCompilerExe "${CMAKE_${_language}_COMPILER}" REALPATH)
-	if (_realCompilerExe MATCHES "ccache" OR _launcher MATCHES "ccache")
-		# verify that ccache configuration is compatible with precompiled headers
-		# always check environment variable CCACHE_SLOPPINESS, because earlier versions of ccache
-		# do not report the "sloppiness" setting correctly upon printing ccache configuration
-		if (DEFINED ENV{CCACHE_SLOPPINESS})
-			if (NOT "$ENV{CCACHE_SLOPPINESS}" MATCHES "pch_defines" OR
-				NOT "$ENV{CCACHE_SLOPPINESS}" MATCHES "time_macros")
-				set (${_msgVar}
-					"ccache requires the environment variable CCACHE_SLOPPINESS to be set to \"pch_defines,time_macros\"."
-					PARENT_SCOPE)
-			endif()
-		else()
-			if (_realCompilerExe MATCHES "ccache")
-				set (_ccacheExe "${_realCompilerExe}")
-			else()
-				set (_ccacheExe "${_launcher}")
-			endif()
-			execute_process(
-				COMMAND "${_ccacheExe}" "--print-config"
-				WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
-				RESULT_VARIABLE _result
-				OUTPUT_VARIABLE _ccacheConfig OUTPUT_STRIP_TRAILING_WHITESPACE
-				ERROR_QUIET)
-			if (_result)
-				set (${_msgVar} "ccache configuration cannot be determined." PARENT_SCOPE)
-			elseif (NOT _ccacheConfig MATCHES "sloppiness.*=.*time_macros" OR
-				NOT _ccacheConfig MATCHES "sloppiness.*=.*pch_defines")
-				set (${_msgVar}
-					"ccache requires configuration setting \"sloppiness\" to be set to \"pch_defines,time_macros\"."
-					PARENT_SCOPE)
-			endif()
-		endif()
-	endif()
-	if (APPLE)
-		# PCH compilation not supported by GCC / Clang for multi-architecture builds (e.g., i386, x86_64)
-		cotire_get_configuration_types(_configs)
-		foreach (_config ${_configs})
-			set (_targetFlags "")
-			cotire_get_target_compile_flags("${_config}" "${_language}" "${_target}" _targetFlags)
-			cotire_filter_compile_flags("${_language}" "arch" _architectures _ignore ${_targetFlags})
-			list (LENGTH _architectures _numberOfArchitectures)
-			if (_numberOfArchitectures GREATER 1)
-				string (REPLACE ";" ", " _architectureStr "${_architectures}")
-				set (${_msgVar}
-					"Precompiled headers not supported on Darwin for multi-architecture builds (${_architectureStr})."
-					PARENT_SCOPE)
-				break()
-			endif()
-		endforeach()
-	endif()
-endfunction()
-
-macro (cotire_get_intermediate_dir _cotireDir)
-	# ${CMAKE_CFG_INTDIR} may reference a build-time variable when using a generator which supports configuration types
-	get_filename_component(${_cotireDir} "${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_CFG_INTDIR}/${COTIRE_INTDIR}" ABSOLUTE)
-endmacro()
-
-macro (cotire_setup_file_extension_variables)
-	set (_unityFileExt_C ".c")
-	set (_unityFileExt_CXX ".cxx")
-	set (_prefixFileExt_C ".h")
-	set (_prefixFileExt_CXX ".hxx")
-	set (_prefixSourceFileExt_C ".c")
-	set (_prefixSourceFileExt_CXX ".cxx")
-endmacro()
-
-function (cotire_make_single_unity_source_file_path _language _target _unityFileVar)
-	cotire_setup_file_extension_variables()
-	if (NOT DEFINED _unityFileExt_${_language})
-		set (${_unityFileVar} "" PARENT_SCOPE)
-		return()
-	endif()
-	set (_unityFileBaseName "${_target}_${_language}${COTIRE_UNITY_SOURCE_FILENAME_SUFFIX}")
-	set (_unityFileName "${_unityFileBaseName}${_unityFileExt_${_language}}")
-	cotire_get_intermediate_dir(_baseDir)
-	set (_unityFile "${_baseDir}/${_unityFileName}")
-	set (${_unityFileVar} "${_unityFile}" PARENT_SCOPE)
-endfunction()
-
-function (cotire_make_unity_source_file_paths _language _target _maxIncludes _unityFilesVar)
-	cotire_setup_file_extension_variables()
-	if (NOT DEFINED _unityFileExt_${_language})
-		set (${_unityFileVar} "" PARENT_SCOPE)
-		return()
-	endif()
-	set (_unityFileBaseName "${_target}_${_language}${COTIRE_UNITY_SOURCE_FILENAME_SUFFIX}")
-	cotire_get_intermediate_dir(_baseDir)
-	set (_startIndex 0)
-	set (_index 0)
-	set (_unityFiles "")
-	set (_sourceFiles ${ARGN})
-	foreach (_sourceFile ${_sourceFiles})
-		get_source_file_property(_startNew "${_sourceFile}" COTIRE_START_NEW_UNITY_SOURCE)
-		math (EXPR _unityFileCount "${_index} - ${_startIndex}")
-		if (_startNew OR (_maxIncludes GREATER 0 AND NOT _unityFileCount LESS _maxIncludes))
-			if (_index GREATER 0)
-				# start new unity file segment
-				math (EXPR _endIndex "${_index} - 1")
-				set (_unityFileName "${_unityFileBaseName}_${_startIndex}_${_endIndex}${_unityFileExt_${_language}}")
-				list (APPEND _unityFiles "${_baseDir}/${_unityFileName}")
-			endif()
-			set (_startIndex ${_index})
-		endif()
-		math (EXPR _index "${_index} + 1")
-	endforeach()
-	list (LENGTH _sourceFiles _numberOfSources)
-	if (_startIndex EQUAL 0)
-		# there is only a single unity file
-		cotire_make_single_unity_source_file_path(${_language} ${_target} _unityFiles)
-	elseif (_startIndex LESS _numberOfSources)
-		# end with final unity file segment
-		math (EXPR _endIndex "${_index} - 1")
-		set (_unityFileName "${_unityFileBaseName}_${_startIndex}_${_endIndex}${_unityFileExt_${_language}}")
-		list (APPEND _unityFiles "${_baseDir}/${_unityFileName}")
-	endif()
-	set (${_unityFilesVar} ${_unityFiles} PARENT_SCOPE)
-	if (COTIRE_DEBUG AND _unityFiles)
-		message (STATUS "unity files: ${_unityFiles}")
-	endif()
-endfunction()
-
-function (cotire_unity_to_prefix_file_path _language _target _unityFile _prefixFileVar)
-	cotire_setup_file_extension_variables()
-	if (NOT DEFINED _unityFileExt_${_language})
-		set (${_prefixFileVar} "" PARENT_SCOPE)
-		return()
-	endif()
-	set (_unityFileBaseName "${_target}_${_language}${COTIRE_UNITY_SOURCE_FILENAME_SUFFIX}")
-	set (_prefixFileBaseName "${_target}_${_language}${COTIRE_PREFIX_HEADER_FILENAME_SUFFIX}")
-	string (REPLACE "${_unityFileBaseName}" "${_prefixFileBaseName}" _prefixFile "${_unityFile}")
-	string (REGEX REPLACE "${_unityFileExt_${_language}}$" "${_prefixFileExt_${_language}}" _prefixFile "${_prefixFile}")
-	set (${_prefixFileVar} "${_prefixFile}" PARENT_SCOPE)
-endfunction()
-
-function (cotire_prefix_header_to_source_file_path _language _prefixHeaderFile _prefixSourceFileVar)
-	cotire_setup_file_extension_variables()
-	if (NOT DEFINED _prefixSourceFileExt_${_language})
-		set (${_prefixSourceFileVar} "" PARENT_SCOPE)
-		return()
-	endif()
-	string (REGEX REPLACE "${_prefixFileExt_${_language}}$" "${_prefixSourceFileExt_${_language}}" _prefixSourceFile "${_prefixHeaderFile}")
-	set (${_prefixSourceFileVar} "${_prefixSourceFile}" PARENT_SCOPE)
-endfunction()
-
-function (cotire_make_prefix_file_name _language _target _prefixFileBaseNameVar _prefixFileNameVar)
-	cotire_setup_file_extension_variables()
-	if (NOT _language)
-		set (_prefixFileBaseName "${_target}${COTIRE_PREFIX_HEADER_FILENAME_SUFFIX}")
-		set (_prefixFileName "${_prefixFileBaseName}${_prefixFileExt_C}")
-	elseif (DEFINED _prefixFileExt_${_language})
-		set (_prefixFileBaseName "${_target}_${_language}${COTIRE_PREFIX_HEADER_FILENAME_SUFFIX}")
-		set (_prefixFileName "${_prefixFileBaseName}${_prefixFileExt_${_language}}")
-	else()
-		set (_prefixFileBaseName "")
-		set (_prefixFileName "")
-	endif()
-	set (${_prefixFileBaseNameVar} "${_prefixFileBaseName}" PARENT_SCOPE)
-	set (${_prefixFileNameVar} "${_prefixFileName}" PARENT_SCOPE)
-endfunction()
-
-function (cotire_make_prefix_file_path _language _target _prefixFileVar)
-	cotire_make_prefix_file_name("${_language}" "${_target}" _prefixFileBaseName _prefixFileName)
-	set (${_prefixFileVar} "" PARENT_SCOPE)
-	if (_prefixFileName)
-		if (NOT _language)
-			set (_language "C")
-		endif()
-		if (CMAKE_${_language}_COMPILER_ID MATCHES "GNU|Clang|Intel|MSVC")
-			cotire_get_intermediate_dir(_baseDir)
-			set (${_prefixFileVar} "${_baseDir}/${_prefixFileName}" PARENT_SCOPE)
-		endif()
-	endif()
-endfunction()
-
-function (cotire_make_pch_file_path _language _target _pchFileVar)
-	cotire_make_prefix_file_name("${_language}" "${_target}" _prefixFileBaseName _prefixFileName)
-	set (${_pchFileVar} "" PARENT_SCOPE)
-	if (_prefixFileBaseName AND _prefixFileName)
-		cotire_check_precompiled_header_support("${_language}" "${_target}" _msg)
-		if (NOT _msg)
-			if (XCODE)
-				# For Xcode, we completely hand off the compilation of the prefix header to the IDE
-				return()
-			endif()
-			cotire_get_intermediate_dir(_baseDir)
-			if (CMAKE_${_language}_COMPILER_ID MATCHES "MSVC")
-				# MSVC uses the extension .pch added to the prefix header base name
-				set (${_pchFileVar} "${_baseDir}/${_prefixFileBaseName}.pch" PARENT_SCOPE)
-			elseif (CMAKE_${_language}_COMPILER_ID MATCHES "Clang")
-				# Clang looks for a precompiled header corresponding to the prefix header with the extension .pch appended
-				set (${_pchFileVar} "${_baseDir}/${_prefixFileName}.pch" PARENT_SCOPE)
-			elseif (CMAKE_${_language}_COMPILER_ID MATCHES "GNU")
-				# GCC looks for a precompiled header corresponding to the prefix header with the extension .gch appended
-				set (${_pchFileVar} "${_baseDir}/${_prefixFileName}.gch" PARENT_SCOPE)
-			elseif (CMAKE_${_language}_COMPILER_ID MATCHES "Intel")
-				# Intel uses the extension .pchi added to the prefix header base name
-				set (${_pchFileVar} "${_baseDir}/${_prefixFileBaseName}.pchi" PARENT_SCOPE)
-			endif()
-		endif()
-	endif()
-endfunction()
-
-function (cotire_select_unity_source_files _unityFile _sourcesVar)
-	set (_sourceFiles ${ARGN})
-	if (_sourceFiles AND "${_unityFile}" MATCHES "${COTIRE_UNITY_SOURCE_FILENAME_SUFFIX}_([0-9]+)_([0-9]+)")
-		set (_startIndex ${CMAKE_MATCH_1})
-		set (_endIndex ${CMAKE_MATCH_2})
-		list (LENGTH _sourceFiles _numberOfSources)
-		if (NOT _startIndex LESS _numberOfSources)
-			math (EXPR _startIndex "${_numberOfSources} - 1")
-		endif()
-		if (NOT _endIndex LESS _numberOfSources)
-			math (EXPR _endIndex "${_numberOfSources} - 1")
-		endif()
-		set (_files "")
-		foreach (_index RANGE ${_startIndex} ${_endIndex})
-			list (GET _sourceFiles ${_index} _file)
-			list (APPEND _files "${_file}")
-		endforeach()
-	else()
-		set (_files ${_sourceFiles})
-	endif()
-	set (${_sourcesVar} ${_files} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_unity_source_dependencies _language _target _dependencySourcesVar)
-	set (_dependencySources "")
-	# depend on target's generated source files
-	get_target_property(_targetSourceFiles ${_target} SOURCES)
-	cotire_get_objects_with_property_on(_generatedSources GENERATED SOURCE ${_targetSourceFiles})
-	if (_generatedSources)
-		# but omit all generated source files that have the COTIRE_EXCLUDED property set to true
-		cotire_get_objects_with_property_on(_excludedGeneratedSources COTIRE_EXCLUDED SOURCE ${_generatedSources})
-		if (_excludedGeneratedSources)
-			list (REMOVE_ITEM _generatedSources ${_excludedGeneratedSources})
-		endif()
-		# and omit all generated source files that have the COTIRE_DEPENDENCY property set to false explicitly
-		cotire_get_objects_with_property_off(_excludedNonDependencySources COTIRE_DEPENDENCY SOURCE ${_generatedSources})
-		if (_excludedNonDependencySources)
-			list (REMOVE_ITEM _generatedSources ${_excludedNonDependencySources})
-		endif()
-		if (_generatedSources)
-			list (APPEND _dependencySources ${_generatedSources})
-		endif()
-	endif()
-	if (COTIRE_DEBUG AND _dependencySources)
-		message (STATUS "${_language} ${_target} unity source dependencies: ${_dependencySources}")
-	endif()
-	set (${_dependencySourcesVar} ${_dependencySources} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_prefix_header_dependencies _language _target _dependencySourcesVar)
-	set (_dependencySources "")
-	# depend on target source files marked with custom COTIRE_DEPENDENCY property
-	get_target_property(_targetSourceFiles ${_target} SOURCES)
-	cotire_get_objects_with_property_on(_dependencySources COTIRE_DEPENDENCY SOURCE ${_targetSourceFiles})
-	if (COTIRE_DEBUG AND _dependencySources)
-		message (STATUS "${_language} ${_target} prefix header dependencies: ${_dependencySources}")
-	endif()
-	set (${_dependencySourcesVar} ${_dependencySources} PARENT_SCOPE)
-endfunction()
-
-function (cotire_generate_target_script _language _configurations _target _targetScriptVar _targetConfigScriptVar)
-	set (_targetSources ${ARGN})
-	cotire_get_prefix_header_dependencies(${_language} ${_target} COTIRE_TARGET_PREFIX_DEPENDS ${_targetSources})
-	cotire_get_unity_source_dependencies(${_language} ${_target} COTIRE_TARGET_UNITY_DEPENDS ${_targetSources})
-	# set up variables to be configured
-	set (COTIRE_TARGET_LANGUAGE "${_language}")
-	get_target_property(COTIRE_TARGET_IGNORE_PATH ${_target} COTIRE_PREFIX_HEADER_IGNORE_PATH)
-	cotire_add_sys_root_paths(COTIRE_TARGET_IGNORE_PATH)
-	get_target_property(COTIRE_TARGET_INCLUDE_PATH ${_target} COTIRE_PREFIX_HEADER_INCLUDE_PATH)
-	cotire_add_sys_root_paths(COTIRE_TARGET_INCLUDE_PATH)
-	get_target_property(COTIRE_TARGET_PRE_UNDEFS ${_target} COTIRE_UNITY_SOURCE_PRE_UNDEFS)
-	get_target_property(COTIRE_TARGET_POST_UNDEFS ${_target} COTIRE_UNITY_SOURCE_POST_UNDEFS)
-	get_target_property(COTIRE_TARGET_MAXIMUM_NUMBER_OF_INCLUDES ${_target} COTIRE_UNITY_SOURCE_MAXIMUM_NUMBER_OF_INCLUDES)
-	get_target_property(COTIRE_TARGET_INCLUDE_PRIORITY_PATH ${_target} COTIRE_PREFIX_HEADER_INCLUDE_PRIORITY_PATH)
-	cotire_get_source_files_undefs(COTIRE_UNITY_SOURCE_PRE_UNDEFS COTIRE_TARGET_SOURCES_PRE_UNDEFS ${_targetSources})
-	cotire_get_source_files_undefs(COTIRE_UNITY_SOURCE_POST_UNDEFS COTIRE_TARGET_SOURCES_POST_UNDEFS ${_targetSources})
-	set (COTIRE_TARGET_CONFIGURATION_TYPES "${_configurations}")
-	foreach (_config ${_configurations})
-		string (TOUPPER "${_config}" _upperConfig)
-		cotire_get_target_include_directories(
-			"${_config}" "${_language}" "${_target}" COTIRE_TARGET_INCLUDE_DIRECTORIES_${_upperConfig} COTIRE_TARGET_SYSTEM_INCLUDE_DIRECTORIES_${_upperConfig})
-		cotire_get_target_compile_definitions(
-			"${_config}" "${_language}" "${_target}" COTIRE_TARGET_COMPILE_DEFINITIONS_${_upperConfig})
-		cotire_get_target_compiler_flags(
-			"${_config}" "${_language}" "${_target}" COTIRE_TARGET_COMPILE_FLAGS_${_upperConfig})
-		cotire_get_source_files_compile_definitions(
-			"${_config}" "${_language}" COTIRE_TARGET_SOURCES_COMPILE_DEFINITIONS_${_upperConfig} ${_targetSources})
-	endforeach()
-	get_target_property(COTIRE_TARGET_${_language}_COMPILER_LAUNCHER ${_target} ${_language}_COMPILER_LAUNCHER)
-	# set up COTIRE_TARGET_SOURCES
-	set (COTIRE_TARGET_SOURCES "")
-	foreach (_sourceFile ${_targetSources})
-		get_source_file_property(_generated "${_sourceFile}" GENERATED)
-		if (_generated)
-			# use absolute paths for generated files only, retrieving the LOCATION property is an expensive operation
-			get_source_file_property(_sourceLocation "${_sourceFile}" LOCATION)
-			list (APPEND COTIRE_TARGET_SOURCES "${_sourceLocation}")
-		else()
-			list (APPEND COTIRE_TARGET_SOURCES "${_sourceFile}")
-		endif()
-	endforeach()
-	# copy variable definitions to cotire target script
-	get_cmake_property(_vars VARIABLES)
-	string (REGEX MATCHALL "COTIRE_[A-Za-z0-9_]+" _matchVars "${_vars}")
-	# omit COTIRE_*_INIT variables
-	string (REGEX MATCHALL "COTIRE_[A-Za-z0-9_]+_INIT" _initVars "${_matchVars}")
-	if (_initVars)
-		list (REMOVE_ITEM _matchVars ${_initVars})
-	endif()
-	# omit COTIRE_VERBOSE which is passed as a CMake define on command line
-	list (REMOVE_ITEM _matchVars COTIRE_VERBOSE)
-	set (_contents "")
-	set (_contentsHasGeneratorExpressions FALSE)
-	foreach (_var IN LISTS _matchVars ITEMS
-		XCODE MSVC CMAKE_GENERATOR CMAKE_BUILD_TYPE CMAKE_CONFIGURATION_TYPES
-		CMAKE_${_language}_COMPILER_ID CMAKE_${_language}_COMPILER_VERSION
-		CMAKE_${_language}_COMPILER_LAUNCHER CMAKE_${_language}_COMPILER CMAKE_${_language}_COMPILER_ARG1
-		CMAKE_INCLUDE_FLAG_${_language} CMAKE_INCLUDE_FLAG_SEP_${_language}
-		CMAKE_INCLUDE_SYSTEM_FLAG_${_language}
-		CMAKE_${_language}_FRAMEWORK_SEARCH_FLAG
-		CMAKE_${_language}_SYSTEM_FRAMEWORK_SEARCH_FLAG
-		CMAKE_${_language}_SOURCE_FILE_EXTENSIONS)
-		if (DEFINED ${_var})
-			string (REPLACE "\"" "\\\"" _value "${${_var}}")
-			set (_contents "${_contents}set (${_var} \"${_value}\")\n")
-			if (NOT _contentsHasGeneratorExpressions)
-				if ("${_value}" MATCHES "\\$<.*>")
-					set (_contentsHasGeneratorExpressions TRUE)
-				endif()
-			endif()
-		endif()
-	endforeach()
-	# generate target script file
-	get_filename_component(_moduleName "${COTIRE_CMAKE_MODULE_FILE}" NAME)
-	set (_targetCotireScript "${CMAKE_CURRENT_BINARY_DIR}/${_target}_${_language}_${_moduleName}")
-	cotire_write_file("CMAKE" "${_targetCotireScript}" "${_contents}" FALSE)
-	if (_contentsHasGeneratorExpressions)
-		# use file(GENERATE ...) to expand generator expressions in the target script at CMake generate-time
-		set (_configNameOrNoneGeneratorExpression "$<$<CONFIG:>:None>$<$<NOT:$<CONFIG:>>:$<CONFIGURATION>>")
-		set (_targetCotireConfigScript "${CMAKE_CURRENT_BINARY_DIR}/${_target}_${_language}_${_configNameOrNoneGeneratorExpression}_${_moduleName}")
-		file (GENERATE OUTPUT "${_targetCotireConfigScript}" INPUT "${_targetCotireScript}")
-	else()
-		set (_targetCotireConfigScript "${_targetCotireScript}")
-	endif()
-	set (${_targetScriptVar} "${_targetCotireScript}" PARENT_SCOPE)
-	set (${_targetConfigScriptVar} "${_targetCotireConfigScript}" PARENT_SCOPE)
-endfunction()
-
-function (cotire_setup_pch_file_compilation _language _target _targetScript _prefixFile _pchFile _hostFile)
-	set (_sourceFiles ${ARGN})
-	if (CMAKE_${_language}_COMPILER_ID MATCHES "MSVC|Intel" OR
-		(WIN32 AND CMAKE_${_language}_COMPILER_ID MATCHES "Clang"))
-		# for MSVC, Intel and Clang-cl, we attach the precompiled header compilation to the host file
-		# the remaining files include the precompiled header, see cotire_setup_pch_file_inclusion
-		if (_sourceFiles)
-			set (_flags "")
-			cotire_add_pch_compilation_flags(
-				"${_language}" "${CMAKE_${_language}_COMPILER_ID}" "${CMAKE_${_language}_COMPILER_VERSION}"
-				"${_prefixFile}" "${_pchFile}" "${_hostFile}" _flags)
-			set_property (SOURCE ${_hostFile} APPEND_STRING PROPERTY COMPILE_FLAGS " ${_flags} ")
-			set_property (SOURCE ${_hostFile} APPEND PROPERTY OBJECT_OUTPUTS "${_pchFile}")
-			# make object file generated from host file depend on prefix header
-			set_property (SOURCE ${_hostFile} APPEND PROPERTY OBJECT_DEPENDS "${_prefixFile}")
-			# mark host file as cotired to prevent it from being used in another cotired target
-			set_property (SOURCE ${_hostFile} PROPERTY COTIRE_TARGET "${_target}")
-		endif()
-	elseif ("${CMAKE_GENERATOR}" MATCHES "Make|Ninja")
-		# for makefile based generator, we add a custom command to precompile the prefix header
-		if (_targetScript)
-			cotire_set_cmd_to_prologue(_cmds)
-			list (APPEND _cmds -P "${COTIRE_CMAKE_MODULE_FILE}" "precompile" "${_targetScript}" "${_prefixFile}" "${_pchFile}" "${_hostFile}")
-			if (MSVC_IDE)
-				file (TO_NATIVE_PATH "${_pchFile}" _pchFileLogPath)
-			else()
-				file (RELATIVE_PATH _pchFileLogPath "${CMAKE_BINARY_DIR}" "${_pchFile}")
-			endif()
-			# make precompiled header compilation depend on the actual compiler executable used to force
-			# re-compilation when the compiler executable is updated. This prevents "created by a different GCC executable"
-			# warnings when the precompiled header is included.
-			get_filename_component(_realCompilerExe "${CMAKE_${_language}_COMPILER}" ABSOLUTE)
-			if (COTIRE_DEBUG)
-				message (STATUS "add_custom_command: OUTPUT ${_pchFile} ${_cmds} DEPENDS ${_prefixFile} ${_realCompilerExe} IMPLICIT_DEPENDS ${_language} ${_prefixFile}")
-			endif()
-			set_property (SOURCE "${_pchFile}" PROPERTY GENERATED TRUE)
-			add_custom_command(
-				OUTPUT "${_pchFile}"
-				COMMAND ${_cmds}
-				DEPENDS "${_prefixFile}" "${_realCompilerExe}"
-				IMPLICIT_DEPENDS ${_language} "${_prefixFile}"
-				WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-				COMMENT "Building ${_language} precompiled header ${_pchFileLogPath}"
-				VERBATIM)
-		endif()
-	endif()
-endfunction()
-
-function (cotire_setup_pch_file_inclusion _language _target _wholeTarget _prefixFile _pchFile _hostFile)
-	if (CMAKE_${_language}_COMPILER_ID MATCHES "MSVC|Intel" OR
-		(WIN32 AND CMAKE_${_language}_COMPILER_ID MATCHES "Clang"))
-		# for MSVC, Intel and clang-cl, we include the precompiled header in all but the host file
-		# the host file does the precompiled header compilation, see cotire_setup_pch_file_compilation
-		set (_sourceFiles ${ARGN})
-		list (LENGTH _sourceFiles _numberOfSourceFiles)
-		if (_numberOfSourceFiles GREATER 0)
-			# mark sources as cotired to prevent them from being used in another cotired target
-			set_source_files_properties(${_sourceFiles} PROPERTIES COTIRE_TARGET "${_target}")
-			set (_flags "")
-			cotire_add_prefix_pch_inclusion_flags(
-				"${_language}" "${CMAKE_${_language}_COMPILER_ID}" "${CMAKE_${_language}_COMPILER_VERSION}"
-				"${_prefixFile}" "${_pchFile}" _flags)
-			set_property (SOURCE ${_sourceFiles} APPEND_STRING PROPERTY COMPILE_FLAGS " ${_flags} ")
-			# make object files generated from source files depend on precompiled header
-			set_property (SOURCE ${_sourceFiles} APPEND PROPERTY OBJECT_DEPENDS "${_pchFile}")
-		endif()
-	elseif ("${CMAKE_GENERATOR}" MATCHES "Make|Ninja")
-		set (_sourceFiles ${_hostFile} ${ARGN})
-		if (NOT _wholeTarget)
-			# for makefile based generator, we force the inclusion of the prefix header for a subset
-			# of the source files, if this is a multi-language target or has excluded files
-			set (_flags "")
-			cotire_add_prefix_pch_inclusion_flags(
-				"${_language}" "${CMAKE_${_language}_COMPILER_ID}" "${CMAKE_${_language}_COMPILER_VERSION}"
-				"${_prefixFile}" "${_pchFile}" _flags)
-			set_property (SOURCE ${_sourceFiles} APPEND_STRING PROPERTY COMPILE_FLAGS " ${_flags} ")
-			# mark sources as cotired to prevent them from being used in another cotired target
-			set_source_files_properties(${_sourceFiles} PROPERTIES COTIRE_TARGET "${_target}")
-		endif()
-		# make object files generated from source files depend on precompiled header
-		set_property (SOURCE ${_sourceFiles} APPEND PROPERTY OBJECT_DEPENDS "${_pchFile}")
-	endif()
-endfunction()
-
-function (cotire_setup_prefix_file_inclusion _language _target _prefixFile)
-	set (_sourceFiles ${ARGN})
-	# force the inclusion of the prefix header for the given source files
-	set (_flags "")
-	set (_pchFile "")
-	cotire_add_prefix_pch_inclusion_flags(
-		"${_language}" "${CMAKE_${_language}_COMPILER_ID}" "${CMAKE_${_language}_COMPILER_VERSION}"
-		"${_prefixFile}" "${_pchFile}" _flags)
-	set_property (SOURCE ${_sourceFiles} APPEND_STRING PROPERTY COMPILE_FLAGS " ${_flags} ")
-	# mark sources as cotired to prevent them from being used in another cotired target
-	set_source_files_properties(${_sourceFiles} PROPERTIES COTIRE_TARGET "${_target}")
-	# make object files generated from source files depend on prefix header
-	set_property (SOURCE ${_sourceFiles} APPEND PROPERTY OBJECT_DEPENDS "${_prefixFile}")
-endfunction()
-
-function (cotire_get_first_set_property_value _propertyValueVar _type _object)
-	set (_properties ${ARGN})
-	foreach (_property ${_properties})
-		get_property(_propertyValue ${_type} "${_object}" PROPERTY ${_property})
-		if (_propertyValue)
-			set (${_propertyValueVar} ${_propertyValue} PARENT_SCOPE)
-			return()
-		endif()
-	endforeach()
-	set (${_propertyValueVar} "" PARENT_SCOPE)
-endfunction()
-
-function (cotire_setup_combine_command _language _targetScript _joinedFile _cmdsVar)
-	set (_files ${ARGN})
-	set (_filesPaths "")
-	foreach (_file ${_files})
-		get_filename_component(_filePath "${_file}" ABSOLUTE)
-		list (APPEND _filesPaths "${_filePath}")
-	endforeach()
-	cotire_set_cmd_to_prologue(_prefixCmd)
-	list (APPEND _prefixCmd -P "${COTIRE_CMAKE_MODULE_FILE}" "combine")
-	if (_targetScript)
-		list (APPEND _prefixCmd "${_targetScript}")
-	endif()
-	list (APPEND _prefixCmd "${_joinedFile}" ${_filesPaths})
-	if (COTIRE_DEBUG)
-		message (STATUS "add_custom_command: OUTPUT ${_joinedFile} COMMAND ${_prefixCmd} DEPENDS ${_files}")
-	endif()
-	set_property (SOURCE "${_joinedFile}" PROPERTY GENERATED TRUE)
-	if (MSVC_IDE)
-		file (TO_NATIVE_PATH "${_joinedFile}" _joinedFileLogPath)
-	else()
-		file (RELATIVE_PATH _joinedFileLogPath "${CMAKE_BINARY_DIR}" "${_joinedFile}")
-	endif()
-	get_filename_component(_joinedFileBaseName "${_joinedFile}" NAME_WE)
-	get_filename_component(_joinedFileExt "${_joinedFile}" EXT)
-	if (_language AND _joinedFileBaseName MATCHES "${COTIRE_UNITY_SOURCE_FILENAME_SUFFIX}$")
-		set (_comment "Generating ${_language} unity source ${_joinedFileLogPath}")
-	elseif (_language AND _joinedFileBaseName MATCHES "${COTIRE_PREFIX_HEADER_FILENAME_SUFFIX}$")
-		if (_joinedFileExt MATCHES "^\\.c")
-			set (_comment "Generating ${_language} prefix source ${_joinedFileLogPath}")
-		else()
-			set (_comment "Generating ${_language} prefix header ${_joinedFileLogPath}")
-		endif()
-	else()
-		set (_comment "Generating ${_joinedFileLogPath}")
-	endif()
-	add_custom_command(
-		OUTPUT "${_joinedFile}"
-		COMMAND ${_prefixCmd}
-		DEPENDS ${_files}
-		COMMENT "${_comment}"
-		WORKING_DIRECTORY "${CMAKE_BINARY_DIR}"
-		VERBATIM)
-	list (APPEND ${_cmdsVar} COMMAND ${_prefixCmd})
-	set (${_cmdsVar} ${${_cmdsVar}} PARENT_SCOPE)
-endfunction()
-
-function (cotire_setup_target_pch_usage _languages _target _wholeTarget)
-	if (XCODE)
-		# for Xcode, we attach a pre-build action to generate the unity sources and prefix headers
-		set (_prefixFiles "")
-		foreach (_language ${_languages})
-			get_property(_prefixFile TARGET ${_target} PROPERTY COTIRE_${_language}_PREFIX_HEADER)
-			if (_prefixFile)
-				list (APPEND _prefixFiles "${_prefixFile}")
-			endif()
-		endforeach()
-		set (_cmds ${ARGN})
-		list (LENGTH _prefixFiles _numberOfPrefixFiles)
-		if (_numberOfPrefixFiles GREATER 1)
-			# we also generate a generic, single prefix header which includes all language specific prefix headers
-			set (_language "")
-			set (_targetScript "")
-			cotire_make_prefix_file_path("${_language}" ${_target} _prefixHeader)
-			cotire_setup_combine_command("${_language}" "${_targetScript}" "${_prefixHeader}" _cmds ${_prefixFiles})
-		else()
-			set (_prefixHeader "${_prefixFiles}")
-		endif()
-		if (COTIRE_DEBUG)
-			message (STATUS "add_custom_command: TARGET ${_target} PRE_BUILD ${_cmds}")
-		endif()
-		# because CMake PRE_BUILD command does not support dependencies,
-		# we check dependencies explicity in cotire script mode when the pre-build action is run
-		add_custom_command(
-			TARGET "${_target}"
-			PRE_BUILD ${_cmds}
-			WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-			COMMENT "Updating target ${_target} prefix headers"
-			VERBATIM)
-		# make Xcode precompile the generated prefix header with ProcessPCH and ProcessPCH++
-		set_target_properties(${_target} PROPERTIES XCODE_ATTRIBUTE_GCC_PRECOMPILE_PREFIX_HEADER "YES")
-		set_target_properties(${_target} PROPERTIES XCODE_ATTRIBUTE_GCC_PREFIX_HEADER "${_prefixHeader}")
-	elseif ("${CMAKE_GENERATOR}" MATCHES "Make|Ninja")
-		# for makefile based generator, we force inclusion of the prefix header for all target source files
-		# if this is a single-language target without any excluded files
-		if (_wholeTarget)
-			set (_language "${_languages}")
-			# for MSVC, Intel and clang-cl, precompiled header inclusion is always done on the source file level
-			# see cotire_setup_pch_file_inclusion
-			if (NOT CMAKE_${_language}_COMPILER_ID MATCHES "MSVC|Intel" AND NOT
-				(WIN32 AND CMAKE_${_language}_COMPILER_ID MATCHES "Clang"))
-				get_property(_prefixFile TARGET ${_target} PROPERTY COTIRE_${_language}_PREFIX_HEADER)
-				if (_prefixFile)
-					get_property(_pchFile TARGET ${_target} PROPERTY COTIRE_${_language}_PRECOMPILED_HEADER)
-					set (_options COMPILE_OPTIONS)
-					cotire_add_prefix_pch_inclusion_flags(
-						"${_language}" "${CMAKE_${_language}_COMPILER_ID}" "${CMAKE_${_language}_COMPILER_VERSION}"
-						"${_prefixFile}" "${_pchFile}" _options)
-					set_property(TARGET ${_target} APPEND PROPERTY ${_options})
-				endif()
-			endif()
-		endif()
-	endif()
-endfunction()
-
-function (cotire_setup_unity_generation_commands _language _target _targetScript _targetConfigScript _unityFiles _cmdsVar)
-	set (_dependencySources "")
-	cotire_get_unity_source_dependencies(${_language} ${_target} _dependencySources ${ARGN})
-	foreach (_unityFile ${_unityFiles})
-		set_property (SOURCE "${_unityFile}" PROPERTY GENERATED TRUE)
-		# set up compiled unity source dependencies via OBJECT_DEPENDS
-		# this ensures that missing source files are generated before the unity file is compiled
-		if (COTIRE_DEBUG AND _dependencySources)
-			message (STATUS "${_unityFile} OBJECT_DEPENDS ${_dependencySources}")
-		endif()
-		if (_dependencySources)
-			# the OBJECT_DEPENDS property requires a list of full paths
-			set (_objectDependsPaths "")
-			foreach (_sourceFile ${_dependencySources})
-				get_source_file_property(_sourceLocation "${_sourceFile}" LOCATION)
-				list (APPEND _objectDependsPaths "${_sourceLocation}")
-			endforeach()
-			set_property (SOURCE "${_unityFile}" PROPERTY OBJECT_DEPENDS ${_objectDependsPaths})
-		endif()
-		if (WIN32 AND CMAKE_${_language}_COMPILER_ID MATCHES "MSVC|Intel")
-			# unity file compilation results in potentially huge object file,
-			# thus use /bigobj by default unter cl.exe and Windows Intel
-			set_property (SOURCE "${_unityFile}" APPEND_STRING PROPERTY COMPILE_FLAGS "/bigobj")
-		endif()
-		cotire_set_cmd_to_prologue(_unityCmd)
-		list (APPEND _unityCmd -P "${COTIRE_CMAKE_MODULE_FILE}" "unity" "${_targetConfigScript}" "${_unityFile}")
-		if (CMAKE_VERSION VERSION_LESS "3.1.0")
-			set (_unityCmdDepends "${_targetScript}")
-		else()
-			# CMake 3.1.0 supports generator expressions in arguments to DEPENDS
-			set (_unityCmdDepends "${_targetConfigScript}")
-		endif()
-		if (MSVC_IDE)
-			file (TO_NATIVE_PATH "${_unityFile}" _unityFileLogPath)
-		else()
-			file (RELATIVE_PATH _unityFileLogPath "${CMAKE_BINARY_DIR}" "${_unityFile}")
-		endif()
-		if (COTIRE_DEBUG)
-			message (STATUS "add_custom_command: OUTPUT ${_unityFile} COMMAND ${_unityCmd} DEPENDS ${_unityCmdDepends}")
-		endif()
-		add_custom_command(
-			OUTPUT "${_unityFile}"
-			COMMAND ${_unityCmd}
-			DEPENDS ${_unityCmdDepends}
-			COMMENT "Generating ${_language} unity source ${_unityFileLogPath}"
-			WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-			VERBATIM)
-		list (APPEND ${_cmdsVar} COMMAND ${_unityCmd})
-	endforeach()
-	set (${_cmdsVar} ${${_cmdsVar}} PARENT_SCOPE)
-endfunction()
-
-function (cotire_setup_prefix_generation_command _language _target _targetScript _prefixFile _unityFiles _cmdsVar)
-	set (_sourceFiles ${ARGN})
-	set (_dependencySources "")
-	cotire_get_prefix_header_dependencies(${_language} ${_target} _dependencySources ${_sourceFiles})
-	cotire_set_cmd_to_prologue(_prefixCmd)
-	list (APPEND _prefixCmd -P "${COTIRE_CMAKE_MODULE_FILE}" "prefix" "${_targetScript}" "${_prefixFile}" ${_unityFiles})
-	set_property (SOURCE "${_prefixFile}" PROPERTY GENERATED TRUE)
-	# make prefix header generation depend on the actual compiler executable used to force
-	# re-generation when the compiler executable is updated. This prevents "file not found"
-	# errors for compiler version specific system header files.
-	get_filename_component(_realCompilerExe "${CMAKE_${_language}_COMPILER}" ABSOLUTE)
-	if (COTIRE_DEBUG)
-		message (STATUS "add_custom_command: OUTPUT ${_prefixFile} COMMAND ${_prefixCmd} DEPENDS ${_unityFile} ${_dependencySources} ${_realCompilerExe}")
-	endif()
-	if (MSVC_IDE)
-		file (TO_NATIVE_PATH "${_prefixFile}" _prefixFileLogPath)
-	else()
-		file (RELATIVE_PATH _prefixFileLogPath "${CMAKE_BINARY_DIR}" "${_prefixFile}")
-	endif()
-	get_filename_component(_prefixFileExt "${_prefixFile}" EXT)
-	if (_prefixFileExt MATCHES "^\\.c")
-		set (_comment "Generating ${_language} prefix source ${_prefixFileLogPath}")
-	else()
-		set (_comment "Generating ${_language} prefix header ${_prefixFileLogPath}")
-	endif()
-	# prevent pre-processing errors upon generating the prefix header when a target's generated include file does not yet exist
-	# we do not add a file-level dependency for the target's generated files though, because we only want to depend on their existence
-	# thus we make the prefix header generation depend on a custom helper target which triggers the generation of the files
-	set (_preTargetName "${_target}${COTIRE_PCH_TARGET_SUFFIX}_pre")
-	if (TARGET ${_preTargetName})
-		# custom helper target has already been generated while processing a different language
-		list (APPEND _dependencySources ${_preTargetName})
-	else()
-		get_target_property(_targetSourceFiles ${_target} SOURCES)
-		cotire_get_objects_with_property_on(_generatedSources GENERATED SOURCE ${_targetSourceFiles})
-		if (_generatedSources)
-			add_custom_target("${_preTargetName}" DEPENDS ${_generatedSources})
-			cotire_init_target("${_preTargetName}")
-			list (APPEND _dependencySources ${_preTargetName})
-		endif()
-	endif()
-	add_custom_command(
-		OUTPUT "${_prefixFile}" "${_prefixFile}.log"
-		COMMAND ${_prefixCmd}
-		DEPENDS ${_unityFiles} ${_dependencySources} "${_realCompilerExe}"
-		COMMENT "${_comment}"
-		WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-		VERBATIM)
-	list (APPEND ${_cmdsVar} COMMAND ${_prefixCmd})
-	set (${_cmdsVar} ${${_cmdsVar}} PARENT_SCOPE)
-endfunction()
-
-function (cotire_setup_prefix_generation_from_unity_command _language _target _targetScript _prefixFile _unityFiles _cmdsVar)
-	set (_sourceFiles ${ARGN})
-	if (CMAKE_${_language}_COMPILER_ID MATCHES "GNU|Clang")
-		# GNU and Clang require indirect compilation of the prefix header to make them honor the system_header pragma
-		cotire_prefix_header_to_source_file_path(${_language} "${_prefixFile}" _prefixSourceFile)
-	else()
-		set (_prefixSourceFile "${_prefixFile}")
-	endif()
-	cotire_setup_prefix_generation_command(
-		${_language} ${_target} "${_targetScript}"
-		"${_prefixSourceFile}" "${_unityFiles}" ${_cmdsVar} ${_sourceFiles})
-	if (CMAKE_${_language}_COMPILER_ID MATCHES "GNU|Clang")
-		# set up generation of a prefix source file which includes the prefix header
-		cotire_setup_combine_command(${_language} "${_targetScript}" "${_prefixFile}" _cmds ${_prefixSourceFile})
-	endif()
-	set (${_cmdsVar} ${${_cmdsVar}} PARENT_SCOPE)
-endfunction()
-
-function (cotire_setup_prefix_generation_from_provided_command _language _target _targetScript _prefixFile _cmdsVar)
-	set (_prefixHeaderFiles ${ARGN})
-	if (CMAKE_${_language}_COMPILER_ID MATCHES "GNU|Clang")
-		# GNU and Clang require indirect compilation of the prefix header to make them honor the system_header pragma
-		cotire_prefix_header_to_source_file_path(${_language} "${_prefixFile}" _prefixSourceFile)
-	else()
-		set (_prefixSourceFile "${_prefixFile}")
-	endif()
-	cotire_setup_combine_command(${_language} "${_targetScript}" "${_prefixSourceFile}" _cmds ${_prefixHeaderFiles})
-	if (CMAKE_${_language}_COMPILER_ID MATCHES "GNU|Clang")
-		# set up generation of a prefix source file which includes the prefix header
-		cotire_setup_combine_command(${_language} "${_targetScript}" "${_prefixFile}" _cmds ${_prefixSourceFile})
-	endif()
-	set (${_cmdsVar} ${${_cmdsVar}} PARENT_SCOPE)
-endfunction()
-
-function (cotire_init_cotire_target_properties _target)
-	get_property(_isSet TARGET ${_target} PROPERTY COTIRE_ENABLE_PRECOMPILED_HEADER SET)
-	if (NOT _isSet)
-		set_property(TARGET ${_target} PROPERTY COTIRE_ENABLE_PRECOMPILED_HEADER TRUE)
-	endif()
-	get_property(_isSet TARGET ${_target} PROPERTY COTIRE_ADD_UNITY_BUILD SET)
-	if (NOT _isSet)
-		set_property(TARGET ${_target} PROPERTY COTIRE_ADD_UNITY_BUILD TRUE)
-	endif()
-	get_property(_isSet TARGET ${_target} PROPERTY COTIRE_ADD_CLEAN SET)
-	if (NOT _isSet)
-		set_property(TARGET ${_target} PROPERTY COTIRE_ADD_CLEAN FALSE)
-	endif()
-	get_property(_isSet TARGET ${_target} PROPERTY COTIRE_PREFIX_HEADER_IGNORE_PATH SET)
-	if (NOT _isSet)
-		set_property(TARGET ${_target} PROPERTY COTIRE_PREFIX_HEADER_IGNORE_PATH "${CMAKE_SOURCE_DIR}")
-		cotire_check_is_path_relative_to("${CMAKE_BINARY_DIR}" _isRelative "${CMAKE_SOURCE_DIR}")
-		if (NOT _isRelative)
-			set_property(TARGET ${_target} APPEND PROPERTY COTIRE_PREFIX_HEADER_IGNORE_PATH "${CMAKE_BINARY_DIR}")
-		endif()
-	endif()
-	get_property(_isSet TARGET ${_target} PROPERTY COTIRE_PREFIX_HEADER_INCLUDE_PATH SET)
-	if (NOT _isSet)
-		set_property(TARGET ${_target} PROPERTY COTIRE_PREFIX_HEADER_INCLUDE_PATH "")
-	endif()
-	get_property(_isSet TARGET ${_target} PROPERTY COTIRE_PREFIX_HEADER_INCLUDE_PRIORITY_PATH SET)
-	if (NOT _isSet)
-		set_property(TARGET ${_target} PROPERTY COTIRE_PREFIX_HEADER_INCLUDE_PRIORITY_PATH "")
-	endif()
-	get_property(_isSet TARGET ${_target} PROPERTY COTIRE_UNITY_SOURCE_PRE_UNDEFS SET)
-	if (NOT _isSet)
-		set_property(TARGET ${_target} PROPERTY COTIRE_UNITY_SOURCE_PRE_UNDEFS "")
-	endif()
-	get_property(_isSet TARGET ${_target} PROPERTY COTIRE_UNITY_SOURCE_POST_UNDEFS SET)
-	if (NOT _isSet)
-		set_property(TARGET ${_target} PROPERTY COTIRE_UNITY_SOURCE_POST_UNDEFS "")
-	endif()
-	get_property(_isSet TARGET ${_target} PROPERTY COTIRE_UNITY_LINK_LIBRARIES_INIT SET)
-	if (NOT _isSet)
-		set_property(TARGET ${_target} PROPERTY COTIRE_UNITY_LINK_LIBRARIES_INIT "COPY_UNITY")
-	endif()
-	get_property(_isSet TARGET ${_target} PROPERTY COTIRE_UNITY_SOURCE_MAXIMUM_NUMBER_OF_INCLUDES SET)
-	if (NOT _isSet)
-		if (COTIRE_MAXIMUM_NUMBER_OF_UNITY_INCLUDES)
-			set_property(TARGET ${_target} PROPERTY COTIRE_UNITY_SOURCE_MAXIMUM_NUMBER_OF_INCLUDES "${COTIRE_MAXIMUM_NUMBER_OF_UNITY_INCLUDES}")
-		else()
-			set_property(TARGET ${_target} PROPERTY COTIRE_UNITY_SOURCE_MAXIMUM_NUMBER_OF_INCLUDES "")
-		endif()
-	endif()
-endfunction()
-
-function (cotire_make_target_message _target _languages _disableMsg _targetMsgVar)
-	get_target_property(_targetUsePCH ${_target} COTIRE_ENABLE_PRECOMPILED_HEADER)
-	get_target_property(_targetAddSCU ${_target} COTIRE_ADD_UNITY_BUILD)
-	string (REPLACE ";" " " _languagesStr "${_languages}")
-	math (EXPR _numberOfExcludedFiles "${ARGC} - 4")
-	if (_numberOfExcludedFiles EQUAL 0)
-		set (_excludedStr "")
-	elseif (COTIRE_VERBOSE OR _numberOfExcludedFiles LESS 4)
-		string (REPLACE ";" ", " _excludedStr "excluding ${ARGN}")
-	else()
-		set (_excludedStr "excluding ${_numberOfExcludedFiles} files")
-	endif()
-	set (_targetMsg "")
-	if (NOT _languages)
-		set (_targetMsg "Target ${_target} cannot be cotired.")
-		if (_disableMsg)
-			set (_targetMsg "${_targetMsg} ${_disableMsg}")
-		endif()
-	elseif (NOT _targetUsePCH AND NOT _targetAddSCU)
-		set (_targetMsg "${_languagesStr} target ${_target} cotired without unity build and precompiled header.")
-		if (_disableMsg)
-			set (_targetMsg "${_targetMsg} ${_disableMsg}")
-		endif()
-	elseif (NOT _targetUsePCH)
-		if (_excludedStr)
-			set (_targetMsg "${_languagesStr} target ${_target} cotired without precompiled header ${_excludedStr}.")
-		else()
-			set (_targetMsg "${_languagesStr} target ${_target} cotired without precompiled header.")
-		endif()
-		if (_disableMsg)
-			set (_targetMsg "${_targetMsg} ${_disableMsg}")
-		endif()
-	elseif (NOT _targetAddSCU)
-		if (_excludedStr)
-			set (_targetMsg "${_languagesStr} target ${_target} cotired without unity build ${_excludedStr}.")
-		else()
-			set (_targetMsg "${_languagesStr} target ${_target} cotired without unity build.")
-		endif()
-		if (_disableMsg)
-			set (_targetMsg "${_targetMsg} ${_disableMsg}")
-		endif()
-	else()
-		if (_excludedStr)
-			set (_targetMsg "${_languagesStr} target ${_target} cotired ${_excludedStr}.")
-		else()
-			set (_targetMsg "${_languagesStr} target ${_target} cotired.")
-		endif()
-	endif()
-	set (${_targetMsgVar} "${_targetMsg}" PARENT_SCOPE)
-endfunction()
-
-function (cotire_choose_target_languages _target _targetLanguagesVar _wholeTargetVar)
-	set (_languages ${ARGN})
-	set (_allSourceFiles "")
-	set (_allExcludedSourceFiles "")
-	set (_allCotiredSourceFiles "")
-	set (_targetLanguages "")
-	set (_pchEligibleTargetLanguages "")
-	get_target_property(_targetType ${_target} TYPE)
-	get_target_property(_targetSourceFiles ${_target} SOURCES)
-	get_target_property(_targetUsePCH ${_target} COTIRE_ENABLE_PRECOMPILED_HEADER)
-	get_target_property(_targetAddSCU ${_target} COTIRE_ADD_UNITY_BUILD)
-	set (_disableMsg "")
-	foreach (_language ${_languages})
-		get_target_property(_prefixHeader ${_target} COTIRE_${_language}_PREFIX_HEADER)
-		get_target_property(_unityBuildFile ${_target} COTIRE_${_language}_UNITY_SOURCE)
-		if (_prefixHeader OR _unityBuildFile)
-			message (STATUS "cotire: target ${_target} has already been cotired.")
-			set (${_targetLanguagesVar} "" PARENT_SCOPE)
-			return()
-		endif()
-		if (_targetUsePCH AND "${_language}" MATCHES "^C|CXX$" AND DEFINED CMAKE_${_language}_COMPILER_ID)
-			if (CMAKE_${_language}_COMPILER_ID)
-				cotire_check_precompiled_header_support("${_language}" "${_target}" _disableMsg)
-				if (_disableMsg)
-					set (_targetUsePCH FALSE)
-				endif()
-			endif()
-		endif()
-		set (_sourceFiles "")
-		set (_excludedSources "")
-		set (_cotiredSources "")
-		cotire_filter_language_source_files(${_language} ${_target} _sourceFiles _excludedSources _cotiredSources ${_targetSourceFiles})
-		if (_sourceFiles OR _excludedSources OR _cotiredSources)
-			list (APPEND _targetLanguages ${_language})
-		endif()
-		if (_sourceFiles)
-			list (APPEND _allSourceFiles ${_sourceFiles})
-		endif()
-		list (LENGTH _sourceFiles _numberOfSources)
-		if (NOT _numberOfSources LESS ${COTIRE_MINIMUM_NUMBER_OF_TARGET_SOURCES})
-			list (APPEND _pchEligibleTargetLanguages ${_language})
-		endif()
-		if (_excludedSources)
-			list (APPEND _allExcludedSourceFiles ${_excludedSources})
-		endif()
-		if (_cotiredSources)
-			list (APPEND _allCotiredSourceFiles ${_cotiredSources})
-		endif()
-	endforeach()
-	set (_targetMsgLevel STATUS)
-	if (NOT _targetLanguages)
-		string (REPLACE ";" " or " _languagesStr "${_languages}")
-		set (_disableMsg "No ${_languagesStr} source files.")
-		set (_targetUsePCH FALSE)
-		set (_targetAddSCU FALSE)
-	endif()
-	if (_targetUsePCH)
-		if (_allCotiredSourceFiles)
-			cotire_get_source_file_property_values(_cotireTargets COTIRE_TARGET ${_allCotiredSourceFiles})
-			list (REMOVE_DUPLICATES _cotireTargets)
-			string (REPLACE ";" ", " _cotireTargetsStr "${_cotireTargets}")
-			set (_disableMsg "Target sources already include a precompiled header for target(s) ${_cotireTargets}.")
-			set (_disableMsg "${_disableMsg} Set target property COTIRE_ENABLE_PRECOMPILED_HEADER to FALSE for targets ${_target},")
-			set (_disableMsg "${_disableMsg} ${_cotireTargetsStr} to get a workable build system.")
-			set (_targetMsgLevel SEND_ERROR)
-			set (_targetUsePCH FALSE)
-		elseif (NOT _pchEligibleTargetLanguages)
-			set (_disableMsg "Too few applicable sources.")
-			set (_targetUsePCH FALSE)
-		elseif (XCODE AND _allExcludedSourceFiles)
-			# for Xcode, we cannot apply the precompiled header to individual sources, only to the whole target
-			set (_disableMsg "Exclusion of source files not supported for generator Xcode.")
-			set (_targetUsePCH FALSE)
-		elseif (XCODE AND "${_targetType}" STREQUAL "OBJECT_LIBRARY")
-			# for Xcode, we cannot apply the required PRE_BUILD action to generate the prefix header to an OBJECT_LIBRARY target
-			set (_disableMsg "Required PRE_BUILD action not supported for OBJECT_LIBRARY targets for generator Xcode.")
-			set (_targetUsePCH FALSE)
-		endif()
-	endif()
-	if (_targetAddSCU)
-		# disable unity builds if automatic Qt processing is used
-		get_target_property(_targetAutoMoc ${_target} AUTOMOC)
-		get_target_property(_targetAutoUic ${_target} AUTOUIC)
-		get_target_property(_targetAutoRcc ${_target} AUTORCC)
-		if (_targetAutoMoc OR _targetAutoUic OR _targetAutoRcc)
-			if (_disableMsg)
-				set (_disableMsg "${_disableMsg} Target uses automatic CMake Qt processing.")
-			else()
-				set (_disableMsg "Target uses automatic CMake Qt processing.")
-			endif()
-			set (_targetAddSCU FALSE)
-		endif()
-	endif()
-	set_property(TARGET ${_target} PROPERTY COTIRE_ENABLE_PRECOMPILED_HEADER ${_targetUsePCH})
-	set_property(TARGET ${_target} PROPERTY COTIRE_ADD_UNITY_BUILD ${_targetAddSCU})
-	cotire_make_target_message(${_target} "${_targetLanguages}" "${_disableMsg}" _targetMsg ${_allExcludedSourceFiles})
-	if (_targetMsg)
-		if (NOT DEFINED COTIREMSG_${_target})
-			set (COTIREMSG_${_target} "")
-		endif()
-		if (COTIRE_VERBOSE OR NOT "${_targetMsgLevel}" STREQUAL "STATUS" OR
-			NOT "${COTIREMSG_${_target}}" STREQUAL "${_targetMsg}")
-			# cache message to avoid redundant messages on re-configure
-			set (COTIREMSG_${_target} "${_targetMsg}" CACHE INTERNAL "${_target} cotire message.")
-			message (${_targetMsgLevel} "${_targetMsg}")
-		endif()
-	endif()
-	list (LENGTH _targetLanguages _numberOfLanguages)
-	if (_numberOfLanguages GREATER 1 OR _allExcludedSourceFiles)
-		set (${_wholeTargetVar} FALSE PARENT_SCOPE)
-	else()
-		set (${_wholeTargetVar} TRUE PARENT_SCOPE)
-	endif()
-	set (${_targetLanguagesVar} ${_targetLanguages} PARENT_SCOPE)
-endfunction()
-
-function (cotire_compute_unity_max_number_of_includes _target _maxIncludesVar)
-	set (_sourceFiles ${ARGN})
-	get_target_property(_maxIncludes ${_target} COTIRE_UNITY_SOURCE_MAXIMUM_NUMBER_OF_INCLUDES)
-	if (_maxIncludes MATCHES "(-j|--parallel|--jobs) ?([0-9]*)")
-		if (DEFINED CMAKE_MATCH_2)
-			set (_numberOfThreads "${CMAKE_MATCH_2}")
-		else()
-			set (_numberOfThreads "")
-		endif()
-		if (NOT _numberOfThreads)
-			# use all available cores
-			ProcessorCount(_numberOfThreads)
-		endif()
-		list (LENGTH _sourceFiles _numberOfSources)
-		math (EXPR _maxIncludes "(${_numberOfSources} + ${_numberOfThreads} - 1) / ${_numberOfThreads}")
-	elseif (NOT _maxIncludes MATCHES "[0-9]+")
-		set (_maxIncludes 0)
-	endif()
-	if (COTIRE_DEBUG)
-		message (STATUS "${_target} unity source max includes: ${_maxIncludes}")
-	endif()
-	set (${_maxIncludesVar} ${_maxIncludes} PARENT_SCOPE)
-endfunction()
-
-function (cotire_process_target_language _language _configurations _target _wholeTarget _cmdsVar)
-	set (${_cmdsVar} "" PARENT_SCOPE)
-	get_target_property(_targetSourceFiles ${_target} SOURCES)
-	set (_sourceFiles "")
-	set (_excludedSources "")
-	set (_cotiredSources "")
-	cotire_filter_language_source_files(${_language} ${_target} _sourceFiles _excludedSources _cotiredSources ${_targetSourceFiles})
-	if (NOT _sourceFiles AND NOT _cotiredSources)
-		return()
-	endif()
-	set (_cmds "")
-	# check for user provided unity source file list
-	get_property(_unitySourceFiles TARGET ${_target} PROPERTY COTIRE_${_language}_UNITY_SOURCE_INIT)
-	if (NOT _unitySourceFiles)
-		set (_unitySourceFiles ${_sourceFiles} ${_cotiredSources})
-	endif()
-	cotire_generate_target_script(
-		${_language} "${_configurations}" ${_target} _targetScript _targetConfigScript ${_unitySourceFiles})
-	# set up unity files for parallel compilation
-	cotire_compute_unity_max_number_of_includes(${_target} _maxIncludes ${_unitySourceFiles})
-	cotire_make_unity_source_file_paths(${_language} ${_target} ${_maxIncludes} _unityFiles ${_unitySourceFiles})
-	list (LENGTH _unityFiles _numberOfUnityFiles)
-	if (_numberOfUnityFiles EQUAL 0)
-		return()
-	elseif (_numberOfUnityFiles GREATER 1)
-		cotire_setup_unity_generation_commands(
-			${_language} ${_target} "${_targetScript}" "${_targetConfigScript}" "${_unityFiles}" _cmds ${_unitySourceFiles})
-	endif()
-	# set up single unity file for prefix header generation
-	cotire_make_single_unity_source_file_path(${_language} ${_target} _unityFile)
-	cotire_setup_unity_generation_commands(
-		${_language} ${_target} "${_targetScript}" "${_targetConfigScript}" "${_unityFile}" _cmds ${_unitySourceFiles})
-	cotire_make_prefix_file_path(${_language} ${_target} _prefixFile)
-	# set up prefix header
-	if (_prefixFile)
-		# check for user provided prefix header files
-		get_property(_prefixHeaderFiles TARGET ${_target} PROPERTY COTIRE_${_language}_PREFIX_HEADER_INIT)
-		if (_prefixHeaderFiles)
-			cotire_setup_prefix_generation_from_provided_command(
-				${_language} ${_target} "${_targetConfigScript}" "${_prefixFile}" _cmds ${_prefixHeaderFiles})
-		else()
-			cotire_setup_prefix_generation_from_unity_command(
-				${_language} ${_target} "${_targetConfigScript}" "${_prefixFile}" "${_unityFile}" _cmds ${_unitySourceFiles})
-		endif()
-		# check if selected language has enough sources at all
-		list (LENGTH _sourceFiles _numberOfSources)
-		if (_numberOfSources LESS ${COTIRE_MINIMUM_NUMBER_OF_TARGET_SOURCES})
-			set (_targetUsePCH FALSE)
-		else()
-			get_target_property(_targetUsePCH ${_target} COTIRE_ENABLE_PRECOMPILED_HEADER)
-		endif()
-		if (_targetUsePCH)
-			cotire_make_pch_file_path(${_language} ${_target} _pchFile)
-			if (_pchFile)
-				# first file in _sourceFiles is passed as the host file
-				cotire_setup_pch_file_compilation(
-					${_language} ${_target} "${_targetConfigScript}" "${_prefixFile}" "${_pchFile}" ${_sourceFiles})
-				cotire_setup_pch_file_inclusion(
-					${_language} ${_target} ${_wholeTarget} "${_prefixFile}" "${_pchFile}" ${_sourceFiles})
-			endif()
-		elseif (_prefixHeaderFiles)
-			# user provided prefix header must be included unconditionally
-			cotire_setup_prefix_file_inclusion(${_language} ${_target} "${_prefixFile}" ${_sourceFiles})
-		endif()
-	endif()
-	# mark target as cotired for language
-	set_property(TARGET ${_target} PROPERTY COTIRE_${_language}_UNITY_SOURCE "${_unityFiles}")
-	if (_prefixFile)
-		set_property(TARGET ${_target} PROPERTY COTIRE_${_language}_PREFIX_HEADER "${_prefixFile}")
-		if (_targetUsePCH AND _pchFile)
-			set_property(TARGET ${_target} PROPERTY COTIRE_${_language}_PRECOMPILED_HEADER "${_pchFile}")
-		endif()
-	endif()
-	set (${_cmdsVar} ${_cmds} PARENT_SCOPE)
-endfunction()
-
-function (cotire_setup_clean_target _target)
-	set (_cleanTargetName "${_target}${COTIRE_CLEAN_TARGET_SUFFIX}")
-	if (NOT TARGET "${_cleanTargetName}")
-		cotire_set_cmd_to_prologue(_cmds)
-		get_filename_component(_outputDir "${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_CFG_INTDIR}" ABSOLUTE)
-		list (APPEND _cmds -P "${COTIRE_CMAKE_MODULE_FILE}" "cleanup" "${_outputDir}" "${COTIRE_INTDIR}" "${_target}")
-		add_custom_target(${_cleanTargetName}
-			COMMAND ${_cmds}
-			WORKING_DIRECTORY "${CMAKE_BINARY_DIR}"
-			COMMENT "Cleaning up target ${_target} cotire generated files"
-			VERBATIM)
-		cotire_init_target("${_cleanTargetName}")
-	endif()
-endfunction()
-
-function (cotire_setup_pch_target _languages _configurations _target)
-	if ("${CMAKE_GENERATOR}" MATCHES "Make|Ninja")
-		# for makefile based generators, we add a custom target to trigger the generation of the cotire related files
-		set (_dependsFiles "")
-		foreach (_language ${_languages})
-			set (_props COTIRE_${_language}_PREFIX_HEADER COTIRE_${_language}_UNITY_SOURCE)
-			if (NOT CMAKE_${_language}_COMPILER_ID MATCHES "MSVC|Intel" AND NOT
-				(WIN32 AND CMAKE_${_language}_COMPILER_ID MATCHES "Clang"))
-				# MSVC, Intel and clang-cl only create precompiled header as a side effect
-				list (INSERT _props 0 COTIRE_${_language}_PRECOMPILED_HEADER)
-			endif()
-			cotire_get_first_set_property_value(_dependsFile TARGET ${_target} ${_props})
-			if (_dependsFile)
-				list (APPEND _dependsFiles "${_dependsFile}")
-			endif()
-		endforeach()
-		if (_dependsFiles)
-			set (_pchTargetName "${_target}${COTIRE_PCH_TARGET_SUFFIX}")
-			add_custom_target("${_pchTargetName}" DEPENDS ${_dependsFiles})
-			cotire_init_target("${_pchTargetName}")
-			cotire_add_to_pch_all_target(${_pchTargetName})
-		endif()
-	else()
-		# for other generators, we add the "clean all" target to clean up the precompiled header
-		cotire_setup_clean_all_target()
-	endif()
-endfunction()
-
-function (cotire_filter_object_libraries _target _objectLibrariesVar)
-	set (_objectLibraries "")
-	foreach (_source ${ARGN})
-		if (_source MATCHES "^\\$<TARGET_OBJECTS:.+>$")
-			list (APPEND _objectLibraries "${_source}")
-		endif()
-	endforeach()
-	set (${_objectLibrariesVar} ${_objectLibraries} PARENT_SCOPE)
-endfunction()
-
-function (cotire_collect_unity_target_sources _target _languages _unityTargetSourcesVar)
-	get_target_property(_targetSourceFiles ${_target} SOURCES)
-	set (_unityTargetSources ${_targetSourceFiles})
-	foreach (_language ${_languages})
-		get_property(_unityFiles TARGET ${_target} PROPERTY COTIRE_${_language}_UNITY_SOURCE)
-		if (_unityFiles)
-			# remove source files that are included in the unity source
-			set (_sourceFiles "")
-			set (_excludedSources "")
-			set (_cotiredSources "")
-			cotire_filter_language_source_files(${_language} ${_target} _sourceFiles _excludedSources _cotiredSources ${_targetSourceFiles})
-			if (_sourceFiles OR _cotiredSources)
-				list (REMOVE_ITEM _unityTargetSources ${_sourceFiles} ${_cotiredSources})
-			endif()
-			# add unity source files instead
-			list (APPEND _unityTargetSources ${_unityFiles})
-		endif()
-	endforeach()
-	# handle object libraries which are part of the target's sources
-	get_target_property(_linkLibrariesStrategy ${_target} COTIRE_UNITY_LINK_LIBRARIES_INIT)
-	if ("${_linkLibrariesStrategy}" MATCHES "^COPY_UNITY$")
-		cotire_filter_object_libraries(${_target} _objectLibraries ${_targetSourceFiles})
-		if (_objectLibraries)
-			cotire_map_libraries("${_linkLibrariesStrategy}" _unityObjectLibraries ${_objectLibraries})
-			list (REMOVE_ITEM _unityTargetSources ${_objectLibraries})
-			list (APPEND _unityTargetSources ${_unityObjectLibraries})
-		endif()
-	endif()
-	set (${_unityTargetSourcesVar} ${_unityTargetSources} PARENT_SCOPE)
-endfunction()
-
-function (cotire_setup_unity_target_pch_usage _languages _target)
-	foreach (_language ${_languages})
-		get_property(_unityFiles TARGET ${_target} PROPERTY COTIRE_${_language}_UNITY_SOURCE)
-		if (_unityFiles)
-			get_property(_userPrefixFile TARGET ${_target} PROPERTY COTIRE_${_language}_PREFIX_HEADER_INIT)
-			get_property(_prefixFile TARGET ${_target} PROPERTY COTIRE_${_language}_PREFIX_HEADER)
-			if (_userPrefixFile AND _prefixFile)
-				# user provided prefix header must be included unconditionally by unity sources
-				cotire_setup_prefix_file_inclusion(${_language} ${_target} "${_prefixFile}" ${_unityFiles})
-			endif()
-		endif()
-	endforeach()
-endfunction()
-
-function (cotire_setup_unity_build_target _languages _configurations _target)
-	get_target_property(_unityTargetName ${_target} COTIRE_UNITY_TARGET_NAME)
-	if (NOT _unityTargetName)
-		set (_unityTargetName "${_target}${COTIRE_UNITY_BUILD_TARGET_SUFFIX}")
-	endif()
-	# determine unity target sub type
-	get_target_property(_targetType ${_target} TYPE)
-	if ("${_targetType}" STREQUAL "EXECUTABLE")
-		set (_unityTargetSubType "")
-	elseif (_targetType MATCHES "(STATIC|SHARED|MODULE|OBJECT)_LIBRARY")
-		set (_unityTargetSubType "${CMAKE_MATCH_1}")
-	else()
-		message (WARNING "cotire: target ${_target} has unknown target type ${_targetType}.")
-		return()
-	endif()
-	# determine unity target sources
-	set (_unityTargetSources "")
-	cotire_collect_unity_target_sources(${_target} "${_languages}" _unityTargetSources)
-	# prevent AUTOMOC, AUTOUIC and AUTORCC properties from being set when the unity target is created
-	set (CMAKE_AUTOMOC OFF)
-	set (CMAKE_AUTOUIC OFF)
-	set (CMAKE_AUTORCC OFF)
-	if (COTIRE_DEBUG)
-		message (STATUS "add target ${_targetType} ${_unityTargetName} ${_unityTargetSubType} EXCLUDE_FROM_ALL ${_unityTargetSources}")
-	endif()
-	# generate unity target
-	if ("${_targetType}" STREQUAL "EXECUTABLE")
-		add_executable(${_unityTargetName} ${_unityTargetSubType} EXCLUDE_FROM_ALL ${_unityTargetSources})
-	else()
-		add_library(${_unityTargetName} ${_unityTargetSubType} EXCLUDE_FROM_ALL ${_unityTargetSources})
-	endif()
-	# copy output location properties
-	set (_outputDirProperties
-		ARCHIVE_OUTPUT_DIRECTORY ARCHIVE_OUTPUT_DIRECTORY_<CONFIG>
-		LIBRARY_OUTPUT_DIRECTORY LIBRARY_OUTPUT_DIRECTORY_<CONFIG>
-		RUNTIME_OUTPUT_DIRECTORY RUNTIME_OUTPUT_DIRECTORY_<CONFIG>)
-	if (COTIRE_UNITY_OUTPUT_DIRECTORY)
-		set (_setDefaultOutputDir TRUE)
-		if (IS_ABSOLUTE "${COTIRE_UNITY_OUTPUT_DIRECTORY}")
-			set (_outputDir "${COTIRE_UNITY_OUTPUT_DIRECTORY}")
-		else()
-			# append relative COTIRE_UNITY_OUTPUT_DIRECTORY to target's actual output directory
-			cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName} ${_outputDirProperties})
-			cotire_resolve_config_properties("${_configurations}" _properties ${_outputDirProperties})
-			foreach (_property ${_properties})
-				get_property(_outputDir TARGET ${_target} PROPERTY ${_property})
-				if (_outputDir)
-					get_filename_component(_outputDir "${_outputDir}/${COTIRE_UNITY_OUTPUT_DIRECTORY}" ABSOLUTE)
-					set_property(TARGET ${_unityTargetName} PROPERTY ${_property} "${_outputDir}")
-					set (_setDefaultOutputDir FALSE)
-				endif()
-			endforeach()
-			if (_setDefaultOutputDir)
-				get_filename_component(_outputDir "${CMAKE_CURRENT_BINARY_DIR}/${COTIRE_UNITY_OUTPUT_DIRECTORY}" ABSOLUTE)
-			endif()
-		endif()
-		if (_setDefaultOutputDir)
-			set_target_properties(${_unityTargetName} PROPERTIES
-				ARCHIVE_OUTPUT_DIRECTORY "${_outputDir}"
-				LIBRARY_OUTPUT_DIRECTORY "${_outputDir}"
-				RUNTIME_OUTPUT_DIRECTORY "${_outputDir}")
-		endif()
-	else()
-		cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName}
-			${_outputDirProperties})
-	endif()
-	# copy output name
-	cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName}
-		ARCHIVE_OUTPUT_NAME ARCHIVE_OUTPUT_NAME_<CONFIG>
-		LIBRARY_OUTPUT_NAME LIBRARY_OUTPUT_NAME_<CONFIG>
-		OUTPUT_NAME OUTPUT_NAME_<CONFIG>
-		RUNTIME_OUTPUT_NAME RUNTIME_OUTPUT_NAME_<CONFIG>
-		PREFIX <CONFIG>_POSTFIX SUFFIX
-		IMPORT_PREFIX IMPORT_SUFFIX)
-	# copy compile stuff
-	cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName}
-		COMPILE_DEFINITIONS COMPILE_DEFINITIONS_<CONFIG>
-		COMPILE_FLAGS COMPILE_OPTIONS
-		Fortran_FORMAT Fortran_MODULE_DIRECTORY
-		INCLUDE_DIRECTORIES
-		INTERPROCEDURAL_OPTIMIZATION INTERPROCEDURAL_OPTIMIZATION_<CONFIG>
-		POSITION_INDEPENDENT_CODE
-		C_COMPILER_LAUNCHER CXX_COMPILER_LAUNCHER
-		C_INCLUDE_WHAT_YOU_USE CXX_INCLUDE_WHAT_YOU_USE
-		C_VISIBILITY_PRESET CXX_VISIBILITY_PRESET VISIBILITY_INLINES_HIDDEN
-		C_CLANG_TIDY CXX_CLANG_TIDY)
-	# copy compile features
-	cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName}
-		C_EXTENSIONS C_STANDARD C_STANDARD_REQUIRED
-		CXX_EXTENSIONS CXX_STANDARD CXX_STANDARD_REQUIRED
-		COMPILE_FEATURES)
-	# copy interface stuff
-	cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName}
-		COMPATIBLE_INTERFACE_BOOL COMPATIBLE_INTERFACE_NUMBER_MAX COMPATIBLE_INTERFACE_NUMBER_MIN
-		COMPATIBLE_INTERFACE_STRING
-		INTERFACE_COMPILE_DEFINITIONS INTERFACE_COMPILE_FEATURES INTERFACE_COMPILE_OPTIONS
-		INTERFACE_INCLUDE_DIRECTORIES INTERFACE_SOURCES
-		INTERFACE_POSITION_INDEPENDENT_CODE INTERFACE_SYSTEM_INCLUDE_DIRECTORIES
-		INTERFACE_AUTOUIC_OPTIONS NO_SYSTEM_FROM_IMPORTED)
-	# copy link stuff
-	cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName}
-		BUILD_WITH_INSTALL_RPATH BUILD_WITH_INSTALL_NAME_DIR
-		INSTALL_RPATH INSTALL_RPATH_USE_LINK_PATH SKIP_BUILD_RPATH
-		LINKER_LANGUAGE LINK_DEPENDS LINK_DEPENDS_NO_SHARED
-		LINK_FLAGS LINK_FLAGS_<CONFIG>
-		LINK_INTERFACE_LIBRARIES LINK_INTERFACE_LIBRARIES_<CONFIG>
-		LINK_INTERFACE_MULTIPLICITY LINK_INTERFACE_MULTIPLICITY_<CONFIG>
-		LINK_SEARCH_START_STATIC LINK_SEARCH_END_STATIC
-		STATIC_LIBRARY_FLAGS STATIC_LIBRARY_FLAGS_<CONFIG>
-		NO_SONAME SOVERSION VERSION
-		LINK_WHAT_YOU_USE BUILD_RPATH)
-	# copy cmake stuff
-	cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName}
-		IMPLICIT_DEPENDS_INCLUDE_TRANSFORM RULE_LAUNCH_COMPILE RULE_LAUNCH_CUSTOM RULE_LAUNCH_LINK)
-	# copy Apple platform specific stuff
-	cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName}
-		BUNDLE BUNDLE_EXTENSION FRAMEWORK FRAMEWORK_VERSION INSTALL_NAME_DIR
-		MACOSX_BUNDLE MACOSX_BUNDLE_INFO_PLIST MACOSX_FRAMEWORK_INFO_PLIST MACOSX_RPATH
-		OSX_ARCHITECTURES OSX_ARCHITECTURES_<CONFIG> PRIVATE_HEADER PUBLIC_HEADER RESOURCE XCTEST
-		IOS_INSTALL_COMBINED XCODE_EXPLICIT_FILE_TYPE XCODE_PRODUCT_TYPE)
-	# copy Windows platform specific stuff
-	cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName}
-		GNUtoMS
-		COMPILE_PDB_NAME COMPILE_PDB_NAME_<CONFIG>
-		COMPILE_PDB_OUTPUT_DIRECTORY COMPILE_PDB_OUTPUT_DIRECTORY_<CONFIG>
-		PDB_NAME PDB_NAME_<CONFIG> PDB_OUTPUT_DIRECTORY PDB_OUTPUT_DIRECTORY_<CONFIG>
-		VS_DESKTOP_EXTENSIONS_VERSION VS_DOTNET_REFERENCES VS_DOTNET_TARGET_FRAMEWORK_VERSION
-		VS_GLOBAL_KEYWORD VS_GLOBAL_PROJECT_TYPES VS_GLOBAL_ROOTNAMESPACE
-		VS_IOT_EXTENSIONS_VERSION VS_IOT_STARTUP_TASK
-		VS_KEYWORD VS_MOBILE_EXTENSIONS_VERSION
-		VS_SCC_AUXPATH VS_SCC_LOCALPATH VS_SCC_PROJECTNAME VS_SCC_PROVIDER
-		VS_WINDOWS_TARGET_PLATFORM_MIN_VERSION
-		VS_WINRT_COMPONENT VS_WINRT_EXTENSIONS VS_WINRT_REFERENCES
-		WIN32_EXECUTABLE WINDOWS_EXPORT_ALL_SYMBOLS
-		DEPLOYMENT_REMOTE_DIRECTORY VS_CONFIGURATION_TYPE
-		VS_SDK_REFERENCES VS_USER_PROPS VS_DEBUGGER_WORKING_DIRECTORY)
-	# copy Android platform specific stuff
-	cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName}
-		ANDROID_API ANDROID_API_MIN ANDROID_GUI
-		ANDROID_ANT_ADDITIONAL_OPTIONS ANDROID_ARCH ANDROID_ASSETS_DIRECTORIES
-		ANDROID_JAR_DEPENDENCIES ANDROID_JAR_DIRECTORIES ANDROID_JAVA_SOURCE_DIR
-		ANDROID_NATIVE_LIB_DEPENDENCIES ANDROID_NATIVE_LIB_DIRECTORIES
-		ANDROID_PROCESS_MAX ANDROID_PROGUARD ANDROID_PROGUARD_CONFIG_PATH
-		ANDROID_SECURE_PROPS_PATH ANDROID_SKIP_ANT_STEP ANDROID_STL_TYPE)
-	# copy CUDA platform specific stuff
-	cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName}
-		CUDA_PTX_COMPILATION CUDA_SEPARABLE_COMPILATION CUDA_RESOLVE_DEVICE_SYMBOLS
-		CUDA_EXTENSIONS CUDA_STANDARD CUDA_STANDARD_REQUIRED)
-	# use output name from original target
-	get_target_property(_targetOutputName ${_unityTargetName} OUTPUT_NAME)
-	if (NOT _targetOutputName)
-		set_property(TARGET ${_unityTargetName} PROPERTY OUTPUT_NAME "${_target}")
-	endif()
-	# use export symbol from original target
-	cotire_get_target_export_symbol("${_target}" _defineSymbol)
-	if (_defineSymbol)
-		set_property(TARGET ${_unityTargetName} PROPERTY DEFINE_SYMBOL "${_defineSymbol}")
-		if ("${_targetType}" STREQUAL "EXECUTABLE")
-			set_property(TARGET ${_unityTargetName} PROPERTY ENABLE_EXPORTS TRUE)
-		endif()
-	endif()
-	# enable parallel compilation for MSVC
-	if (MSVC AND "${CMAKE_GENERATOR}" MATCHES "Visual Studio")
-		list (LENGTH _unityTargetSources _numberOfUnityTargetSources)
-		if (_numberOfUnityTargetSources GREATER 1)
-			set_property(TARGET ${_unityTargetName} APPEND PROPERTY COMPILE_OPTIONS "/MP")
-		endif()
-	endif()
-	cotire_init_target(${_unityTargetName})
-	cotire_add_to_unity_all_target(${_unityTargetName})
-	set_property(TARGET ${_target} PROPERTY COTIRE_UNITY_TARGET_NAME "${_unityTargetName}")
-endfunction(cotire_setup_unity_build_target)
-
-function (cotire_target _target)
-	set(_options "")
-	set(_oneValueArgs "")
-	set(_multiValueArgs LANGUAGES CONFIGURATIONS)
-	cmake_parse_arguments(_option "${_options}" "${_oneValueArgs}" "${_multiValueArgs}" ${ARGN})
-	if (NOT _option_LANGUAGES)
-		get_property (_option_LANGUAGES GLOBAL PROPERTY ENABLED_LANGUAGES)
-	endif()
-	if (NOT _option_CONFIGURATIONS)
-		cotire_get_configuration_types(_option_CONFIGURATIONS)
-	endif()
-	# check if cotire can be applied to target at all
-	cotire_is_target_supported(${_target} _isSupported)
-	if (NOT _isSupported)
-		get_target_property(_imported ${_target} IMPORTED)
-		get_target_property(_targetType ${_target} TYPE)
-		if (_imported)
-			message (WARNING "cotire: imported ${_targetType} target ${_target} cannot be cotired.")
-		else()
-			message (STATUS "cotire: ${_targetType} target ${_target} cannot be cotired.")
-		endif()
-		return()
-	endif()
-	# resolve alias
-	get_target_property(_aliasName ${_target} ALIASED_TARGET)
-	if (_aliasName)
-		if (COTIRE_DEBUG)
-			message (STATUS "${_target} is an alias. Applying cotire to aliased target ${_aliasName} instead.")
-		endif()
-		set (_target ${_aliasName})
-	endif()
-	# check if target needs to be cotired for build type
-	# when using configuration types, the test is performed at build time
-	cotire_init_cotire_target_properties(${_target})
-	if (NOT CMAKE_CONFIGURATION_TYPES)
-		if (CMAKE_BUILD_TYPE)
-			list (FIND _option_CONFIGURATIONS "${CMAKE_BUILD_TYPE}" _index)
-		else()
-			list (FIND _option_CONFIGURATIONS "None" _index)
-		endif()
-		if (_index EQUAL -1)
-			if (COTIRE_DEBUG)
-				message (STATUS "CMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} not cotired (${_option_CONFIGURATIONS})")
-			endif()
-			return()
-		endif()
-	endif()
-	# when not using configuration types, immediately create cotire intermediate dir
-	if (NOT CMAKE_CONFIGURATION_TYPES)
-		cotire_get_intermediate_dir(_baseDir)
-		file (MAKE_DIRECTORY "${_baseDir}")
-	endif()
-	# choose languages that apply to the target
-	cotire_choose_target_languages("${_target}" _targetLanguages _wholeTarget ${_option_LANGUAGES})
-	if (NOT _targetLanguages)
-		return()
-	endif()
-	set (_cmds "")
-	foreach (_language ${_targetLanguages})
-		cotire_process_target_language("${_language}" "${_option_CONFIGURATIONS}" ${_target} ${_wholeTarget} _cmd)
-		if (_cmd)
-			list (APPEND _cmds ${_cmd})
-		endif()
-	endforeach()
-	get_target_property(_targetAddSCU ${_target} COTIRE_ADD_UNITY_BUILD)
-	if (_targetAddSCU)
-		cotire_setup_unity_build_target("${_targetLanguages}" "${_option_CONFIGURATIONS}" ${_target})
-	endif()
-	get_target_property(_targetUsePCH ${_target} COTIRE_ENABLE_PRECOMPILED_HEADER)
-	if (_targetUsePCH)
-		cotire_setup_target_pch_usage("${_targetLanguages}" ${_target} ${_wholeTarget} ${_cmds})
-		cotire_setup_pch_target("${_targetLanguages}" "${_option_CONFIGURATIONS}" ${_target})
-		if (_targetAddSCU)
-			cotire_setup_unity_target_pch_usage("${_targetLanguages}" ${_target})
-		endif()
-	endif()
-	get_target_property(_targetAddCleanTarget ${_target} COTIRE_ADD_CLEAN)
-	if (_targetAddCleanTarget)
-		cotire_setup_clean_target(${_target})
-	endif()
-endfunction(cotire_target)
-
-function (cotire_map_libraries _strategy _mappedLibrariesVar)
-	set (_mappedLibraries "")
-	foreach (_library ${ARGN})
-		if (_library MATCHES "^\\$<LINK_ONLY:(.+)>$")
-			set (_libraryName "${CMAKE_MATCH_1}")
-			set (_linkOnly TRUE)
-			set (_objectLibrary FALSE)
-		elseif (_library MATCHES "^\\$<TARGET_OBJECTS:(.+)>$")
-			set (_libraryName "${CMAKE_MATCH_1}")
-			set (_linkOnly FALSE)
-			set (_objectLibrary TRUE)
-		else()
-			set (_libraryName "${_library}")
-			set (_linkOnly FALSE)
-			set (_objectLibrary FALSE)
-		endif()
-		if ("${_strategy}" MATCHES "COPY_UNITY")
-			cotire_is_target_supported(${_libraryName} _isSupported)
-			if (_isSupported)
-				# use target's corresponding unity target, if available
-				get_target_property(_libraryUnityTargetName ${_libraryName} COTIRE_UNITY_TARGET_NAME)
-				if (TARGET "${_libraryUnityTargetName}")
-					if (_linkOnly)
-						list (APPEND _mappedLibraries "$<LINK_ONLY:${_libraryUnityTargetName}>")
-					elseif (_objectLibrary)
-						list (APPEND _mappedLibraries "$<TARGET_OBJECTS:${_libraryUnityTargetName}>")
-					else()
-						list (APPEND _mappedLibraries "${_libraryUnityTargetName}")
-					endif()
-				else()
-					list (APPEND _mappedLibraries "${_library}")
-				endif()
-			else()
-				list (APPEND _mappedLibraries "${_library}")
-			endif()
-		else()
-			list (APPEND _mappedLibraries "${_library}")
-		endif()
-	endforeach()
-	list (REMOVE_DUPLICATES _mappedLibraries)
-	set (${_mappedLibrariesVar} ${_mappedLibraries} PARENT_SCOPE)
-endfunction()
-
-function (cotire_target_link_libraries _target)
-	cotire_is_target_supported(${_target} _isSupported)
-	if (NOT _isSupported)
-		return()
-	endif()
-	get_target_property(_unityTargetName ${_target} COTIRE_UNITY_TARGET_NAME)
-	if (TARGET "${_unityTargetName}")
-		get_target_property(_linkLibrariesStrategy ${_target} COTIRE_UNITY_LINK_LIBRARIES_INIT)
-		if (COTIRE_DEBUG)
-			message (STATUS "unity target ${_unityTargetName} link strategy: ${_linkLibrariesStrategy}")
-		endif()
-		if ("${_linkLibrariesStrategy}" MATCHES "^(COPY|COPY_UNITY)$")
-			get_target_property(_linkLibraries ${_target} LINK_LIBRARIES)
-			if (_linkLibraries)
-				cotire_map_libraries("${_linkLibrariesStrategy}" _unityLinkLibraries ${_linkLibraries})
-				set_target_properties(${_unityTargetName} PROPERTIES LINK_LIBRARIES "${_unityLinkLibraries}")
-				if (COTIRE_DEBUG)
-					message (STATUS "unity target ${_unityTargetName} link libraries: ${_unityLinkLibraries}")
-				endif()
-			endif()
-			get_target_property(_interfaceLinkLibraries ${_target} INTERFACE_LINK_LIBRARIES)
-			if (_interfaceLinkLibraries)
-				cotire_map_libraries("${_linkLibrariesStrategy}" _unityLinkInterfaceLibraries ${_interfaceLinkLibraries})
-				set_target_properties(${_unityTargetName} PROPERTIES INTERFACE_LINK_LIBRARIES "${_unityLinkInterfaceLibraries}")
-				if (COTIRE_DEBUG)
-					message (STATUS "unity target ${_unityTargetName} interface link libraries: ${_unityLinkInterfaceLibraries}")
-				endif()
-			endif()
-			get_target_property(_manualDependencies ${_target} MANUALLY_ADDED_DEPENDENCIES)
-			if (_manualDependencies)
-				cotire_map_libraries("${_linkLibrariesStrategy}" _unityManualDependencies ${_manualDependencies})
-				if (_unityManualDependencies)
-					add_dependencies("${_unityTargetName}" ${_unityManualDependencies})
-				endif()
-			endif()
-		endif()
-	endif()
-endfunction(cotire_target_link_libraries)
-
-function (cotire_cleanup _binaryDir _cotireIntermediateDirName _targetName)
-	if (_targetName)
-		file (GLOB_RECURSE _cotireFiles "${_binaryDir}/${_targetName}*.*")
-	else()
-		file (GLOB_RECURSE _cotireFiles "${_binaryDir}/*.*")
-	endif()
-	# filter files in intermediate directory
-	set (_filesToRemove "")
-	foreach (_file ${_cotireFiles})
-		get_filename_component(_dir "${_file}" DIRECTORY)
-		get_filename_component(_dirName "${_dir}" NAME)
-		if ("${_dirName}" STREQUAL "${_cotireIntermediateDirName}")
-			list (APPEND _filesToRemove "${_file}")
-		endif()
-	endforeach()
-	if (_filesToRemove)
-		if (COTIRE_VERBOSE)
-			message (STATUS "cleaning up ${_filesToRemove}")
-		endif()
-		file (REMOVE ${_filesToRemove})
-	endif()
-endfunction()
-
-function (cotire_init_target _targetName)
-	if (COTIRE_TARGETS_FOLDER)
-		set_target_properties(${_targetName} PROPERTIES FOLDER "${COTIRE_TARGETS_FOLDER}")
-	endif()
-	set_target_properties(${_targetName} PROPERTIES EXCLUDE_FROM_ALL TRUE)
-	if (MSVC_IDE)
-		set_target_properties(${_targetName} PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD TRUE)
-	endif()
-endfunction()
-
-function (cotire_add_to_pch_all_target _pchTargetName)
-	set (_targetName "${COTIRE_PCH_ALL_TARGET_NAME}")
-	if (NOT TARGET "${_targetName}")
-		add_custom_target("${_targetName}"
-			WORKING_DIRECTORY "${CMAKE_BINARY_DIR}"
-			VERBATIM)
-		cotire_init_target("${_targetName}")
-	endif()
-	cotire_setup_clean_all_target()
-	add_dependencies(${_targetName} ${_pchTargetName})
-endfunction()
-
-function (cotire_add_to_unity_all_target _unityTargetName)
-	set (_targetName "${COTIRE_UNITY_BUILD_ALL_TARGET_NAME}")
-	if (NOT TARGET "${_targetName}")
-		add_custom_target("${_targetName}"
-			WORKING_DIRECTORY "${CMAKE_BINARY_DIR}"
-			VERBATIM)
-		cotire_init_target("${_targetName}")
-	endif()
-	cotire_setup_clean_all_target()
-	add_dependencies(${_targetName} ${_unityTargetName})
-endfunction()
-
-function (cotire_setup_clean_all_target)
-	set (_targetName "${COTIRE_CLEAN_ALL_TARGET_NAME}")
-	if (NOT TARGET "${_targetName}")
-		cotire_set_cmd_to_prologue(_cmds)
-		list (APPEND _cmds -P "${COTIRE_CMAKE_MODULE_FILE}" "cleanup" "${CMAKE_BINARY_DIR}" "${COTIRE_INTDIR}")
-		add_custom_target(${_targetName}
-			COMMAND ${_cmds}
-			WORKING_DIRECTORY "${CMAKE_BINARY_DIR}"
-			COMMENT "Cleaning up all cotire generated files"
-			VERBATIM)
-		cotire_init_target("${_targetName}")
-	endif()
-endfunction()
-
-function (cotire)
-	set(_options "")
-	set(_oneValueArgs "")
-	set(_multiValueArgs LANGUAGES CONFIGURATIONS)
-	cmake_parse_arguments(_option "${_options}" "${_oneValueArgs}" "${_multiValueArgs}" ${ARGN})
-	set (_targets ${_option_UNPARSED_ARGUMENTS})
-	foreach (_target ${_targets})
-		if (TARGET ${_target})
-			cotire_target(${_target} LANGUAGES ${_option_LANGUAGES} CONFIGURATIONS ${_option_CONFIGURATIONS})
-		else()
-			message (WARNING "cotire: ${_target} is not a target.")
-		endif()
-	endforeach()
-	foreach (_target ${_targets})
-		if (TARGET ${_target})
-			cotire_target_link_libraries(${_target})
-		endif()
-	endforeach()
-endfunction()
-
-if (CMAKE_SCRIPT_MODE_FILE)
-
-	# cotire is being run in script mode
-	# locate -P on command args
-	set (COTIRE_ARGC -1)
-	foreach (_index RANGE ${CMAKE_ARGC})
-		if (COTIRE_ARGC GREATER -1)
-			set (COTIRE_ARGV${COTIRE_ARGC} "${CMAKE_ARGV${_index}}")
-			math (EXPR COTIRE_ARGC "${COTIRE_ARGC} + 1")
-		elseif ("${CMAKE_ARGV${_index}}" STREQUAL "-P")
-			set (COTIRE_ARGC 0)
-		endif()
-	endforeach()
-
-	# include target script if available
-	if ("${COTIRE_ARGV2}" MATCHES "\\.cmake$")
-		# the included target scripts sets up additional variables relating to the target (e.g., COTIRE_TARGET_SOURCES)
-		include("${COTIRE_ARGV2}")
-	endif()
-
-	if (COTIRE_DEBUG)
-		message (STATUS "${COTIRE_ARGV0} ${COTIRE_ARGV1} ${COTIRE_ARGV2} ${COTIRE_ARGV3} ${COTIRE_ARGV4} ${COTIRE_ARGV5}")
-	endif()
-
-	if (NOT COTIRE_BUILD_TYPE)
-		set (COTIRE_BUILD_TYPE "None")
-	endif()
-	string (TOUPPER "${COTIRE_BUILD_TYPE}" _upperConfig)
-	set (_includeDirs ${COTIRE_TARGET_INCLUDE_DIRECTORIES_${_upperConfig}})
-	set (_systemIncludeDirs ${COTIRE_TARGET_SYSTEM_INCLUDE_DIRECTORIES_${_upperConfig}})
-	set (_compileDefinitions ${COTIRE_TARGET_COMPILE_DEFINITIONS_${_upperConfig}})
-	set (_compileFlags ${COTIRE_TARGET_COMPILE_FLAGS_${_upperConfig}})
-	# check if target has been cotired for actual build type COTIRE_BUILD_TYPE
-	list (FIND COTIRE_TARGET_CONFIGURATION_TYPES "${COTIRE_BUILD_TYPE}" _index)
-	if (_index GREATER -1)
-		set (_sources ${COTIRE_TARGET_SOURCES})
-		set (_sourcesDefinitions ${COTIRE_TARGET_SOURCES_COMPILE_DEFINITIONS_${_upperConfig}})
-	else()
-		if (COTIRE_DEBUG)
-			message (STATUS "COTIRE_BUILD_TYPE=${COTIRE_BUILD_TYPE} not cotired (${COTIRE_TARGET_CONFIGURATION_TYPES})")
-		endif()
-		set (_sources "")
-		set (_sourcesDefinitions "")
-	endif()
-	set (_targetPreUndefs ${COTIRE_TARGET_PRE_UNDEFS})
-	set (_targetPostUndefs ${COTIRE_TARGET_POST_UNDEFS})
-	set (_sourcesPreUndefs ${COTIRE_TARGET_SOURCES_PRE_UNDEFS})
-	set (_sourcesPostUndefs ${COTIRE_TARGET_SOURCES_POST_UNDEFS})
-
-	if ("${COTIRE_ARGV1}" STREQUAL "unity")
-
-		if (XCODE)
-			# executing pre-build action under Xcode, check dependency on target script
-			set (_dependsOption DEPENDS "${COTIRE_ARGV2}")
-		else()
-			# executing custom command, no need to re-check for dependencies
-			set (_dependsOption "")
-		endif()
-
-		cotire_select_unity_source_files("${COTIRE_ARGV3}" _sources ${_sources})
-
-		cotire_generate_unity_source(
-			"${COTIRE_ARGV3}" ${_sources}
-			LANGUAGE "${COTIRE_TARGET_LANGUAGE}"
-			SOURCES_COMPILE_DEFINITIONS ${_sourcesDefinitions}
-			PRE_UNDEFS ${_targetPreUndefs}
-			POST_UNDEFS ${_targetPostUndefs}
-			SOURCES_PRE_UNDEFS ${_sourcesPreUndefs}
-			SOURCES_POST_UNDEFS ${_sourcesPostUndefs}
-			${_dependsOption})
-
-	elseif ("${COTIRE_ARGV1}" STREQUAL "prefix")
-
-		if (XCODE)
-			# executing pre-build action under Xcode, check dependency on unity file and prefix dependencies
-			set (_dependsOption DEPENDS "${COTIRE_ARGV4}" ${COTIRE_TARGET_PREFIX_DEPENDS})
-		else()
-			# executing custom command, no need to re-check for dependencies
-			set (_dependsOption "")
-		endif()
-
-		set (_files "")
-		foreach (_index RANGE 4 ${COTIRE_ARGC})
-			if (COTIRE_ARGV${_index})
-				list (APPEND _files "${COTIRE_ARGV${_index}}")
-			endif()
-		endforeach()
-
-		cotire_generate_prefix_header(
-			"${COTIRE_ARGV3}" ${_files}
-			COMPILER_LAUNCHER "${COTIRE_TARGET_${COTIRE_TARGET_LANGUAGE}_COMPILER_LAUNCHER}"
-			COMPILER_EXECUTABLE "${CMAKE_${COTIRE_TARGET_LANGUAGE}_COMPILER}"
-			COMPILER_ARG1 ${CMAKE_${COTIRE_TARGET_LANGUAGE}_COMPILER_ARG1}
-			COMPILER_ID "${CMAKE_${COTIRE_TARGET_LANGUAGE}_COMPILER_ID}"
-			COMPILER_VERSION "${CMAKE_${COTIRE_TARGET_LANGUAGE}_COMPILER_VERSION}"
-			LANGUAGE "${COTIRE_TARGET_LANGUAGE}"
-			IGNORE_PATH "${COTIRE_TARGET_IGNORE_PATH};${COTIRE_ADDITIONAL_PREFIX_HEADER_IGNORE_PATH}"
-			INCLUDE_PATH ${COTIRE_TARGET_INCLUDE_PATH}
-			IGNORE_EXTENSIONS "${CMAKE_${COTIRE_TARGET_LANGUAGE}_SOURCE_FILE_EXTENSIONS};${COTIRE_ADDITIONAL_PREFIX_HEADER_IGNORE_EXTENSIONS}"
-			INCLUDE_PRIORITY_PATH ${COTIRE_TARGET_INCLUDE_PRIORITY_PATH}
-			INCLUDE_DIRECTORIES ${_includeDirs}
-			SYSTEM_INCLUDE_DIRECTORIES ${_systemIncludeDirs}
-			COMPILE_DEFINITIONS ${_compileDefinitions}
-			COMPILE_FLAGS ${_compileFlags}
-			${_dependsOption})
-
-	elseif ("${COTIRE_ARGV1}" STREQUAL "precompile")
-
-		set (_files "")
-		foreach (_index RANGE 5 ${COTIRE_ARGC})
-			if (COTIRE_ARGV${_index})
-				list (APPEND _files "${COTIRE_ARGV${_index}}")
-			endif()
-		endforeach()
-
-		cotire_precompile_prefix_header(
-			"${COTIRE_ARGV3}" "${COTIRE_ARGV4}" "${COTIRE_ARGV5}"
-			COMPILER_LAUNCHER "${COTIRE_TARGET_${COTIRE_TARGET_LANGUAGE}_COMPILER_LAUNCHER}"
-			COMPILER_EXECUTABLE "${CMAKE_${COTIRE_TARGET_LANGUAGE}_COMPILER}"
-			COMPILER_ARG1 ${CMAKE_${COTIRE_TARGET_LANGUAGE}_COMPILER_ARG1}
-			COMPILER_ID "${CMAKE_${COTIRE_TARGET_LANGUAGE}_COMPILER_ID}"
-			COMPILER_VERSION "${CMAKE_${COTIRE_TARGET_LANGUAGE}_COMPILER_VERSION}"
-			LANGUAGE "${COTIRE_TARGET_LANGUAGE}"
-			INCLUDE_DIRECTORIES ${_includeDirs}
-			SYSTEM_INCLUDE_DIRECTORIES ${_systemIncludeDirs}
-			COMPILE_DEFINITIONS ${_compileDefinitions}
-			COMPILE_FLAGS ${_compileFlags})
-
-	elseif ("${COTIRE_ARGV1}" STREQUAL "combine")
-
-		if (COTIRE_TARGET_LANGUAGE)
-			set (_combinedFile "${COTIRE_ARGV3}")
-			set (_startIndex 4)
-		else()
-			set (_combinedFile "${COTIRE_ARGV2}")
-			set (_startIndex 3)
-		endif()
-		set (_files "")
-		foreach (_index RANGE ${_startIndex} ${COTIRE_ARGC})
-			if (COTIRE_ARGV${_index})
-				list (APPEND _files "${COTIRE_ARGV${_index}}")
-			endif()
-		endforeach()
-
-		if (XCODE)
-			# executing pre-build action under Xcode, check dependency on files to be combined
-			set (_dependsOption DEPENDS ${_files})
-		else()
-			# executing custom command, no need to re-check for dependencies
-			set (_dependsOption "")
-		endif()
-
-		if (COTIRE_TARGET_LANGUAGE)
-			cotire_generate_unity_source(
-				"${_combinedFile}" ${_files}
-				LANGUAGE "${COTIRE_TARGET_LANGUAGE}"
-				${_dependsOption})
-		else()
-			cotire_generate_unity_source("${_combinedFile}" ${_files} ${_dependsOption})
-		endif()
-
-	elseif ("${COTIRE_ARGV1}" STREQUAL "cleanup")
-
-		cotire_cleanup("${COTIRE_ARGV2}" "${COTIRE_ARGV3}" "${COTIRE_ARGV4}")
-
-	else()
-		message (FATAL_ERROR "cotire: unknown command \"${COTIRE_ARGV1}\".")
-	endif()
-
-else()
-
-	# cotire is being run in include mode
-	# set up all variable and property definitions
-
-	if (NOT DEFINED COTIRE_DEBUG_INIT)
-		if (DEFINED COTIRE_DEBUG)
-			set (COTIRE_DEBUG_INIT ${COTIRE_DEBUG})
-		else()
-			set (COTIRE_DEBUG_INIT FALSE)
-		endif()
-	endif()
-	option (COTIRE_DEBUG "Enable cotire debugging output?" ${COTIRE_DEBUG_INIT})
-
-	if (NOT DEFINED COTIRE_VERBOSE_INIT)
-		if (DEFINED COTIRE_VERBOSE)
-			set (COTIRE_VERBOSE_INIT ${COTIRE_VERBOSE})
-		else()
-			set (COTIRE_VERBOSE_INIT FALSE)
-		endif()
-	endif()
-	option (COTIRE_VERBOSE "Enable cotire verbose output?" ${COTIRE_VERBOSE_INIT})
-
-	set (COTIRE_ADDITIONAL_PREFIX_HEADER_IGNORE_EXTENSIONS "inc;inl;ipp" CACHE STRING
-		"Ignore headers with the listed file extensions from the generated prefix header.")
-
-	set (COTIRE_ADDITIONAL_PREFIX_HEADER_IGNORE_PATH "" CACHE STRING
-		"Ignore headers from these directories when generating the prefix header.")
-
-	set (COTIRE_UNITY_SOURCE_EXCLUDE_EXTENSIONS "m;mm" CACHE STRING
-		"Ignore sources with the listed file extensions from the generated unity source.")
-
-	set (COTIRE_MINIMUM_NUMBER_OF_TARGET_SOURCES "2" CACHE STRING
-		"Minimum number of sources in target required to enable use of precompiled header.")
-
-	if (NOT DEFINED COTIRE_MAXIMUM_NUMBER_OF_UNITY_INCLUDES_INIT)
-		if (DEFINED COTIRE_MAXIMUM_NUMBER_OF_UNITY_INCLUDES)
-			set (COTIRE_MAXIMUM_NUMBER_OF_UNITY_INCLUDES_INIT ${COTIRE_MAXIMUM_NUMBER_OF_UNITY_INCLUDES})
-		elseif ("${CMAKE_GENERATOR}" MATCHES "JOM|Ninja|Visual Studio")
-			# enable parallelization for generators that run multiple jobs by default
-			set (COTIRE_MAXIMUM_NUMBER_OF_UNITY_INCLUDES_INIT "-j")
-		else()
-			set (COTIRE_MAXIMUM_NUMBER_OF_UNITY_INCLUDES_INIT "0")
-		endif()
-	endif()
-	set (COTIRE_MAXIMUM_NUMBER_OF_UNITY_INCLUDES "${COTIRE_MAXIMUM_NUMBER_OF_UNITY_INCLUDES_INIT}" CACHE STRING
-		"Maximum number of source files to include in a single unity source file.")
-
-	if (NOT COTIRE_PREFIX_HEADER_FILENAME_SUFFIX)
-		set (COTIRE_PREFIX_HEADER_FILENAME_SUFFIX "_prefix")
-	endif()
-	if (NOT COTIRE_UNITY_SOURCE_FILENAME_SUFFIX)
-		set (COTIRE_UNITY_SOURCE_FILENAME_SUFFIX "_unity")
-	endif()
-	if (NOT COTIRE_INTDIR)
-		set (COTIRE_INTDIR "cotire")
-	endif()
-	if (NOT COTIRE_PCH_ALL_TARGET_NAME)
-		set (COTIRE_PCH_ALL_TARGET_NAME "all_pch")
-	endif()
-	if (NOT COTIRE_UNITY_BUILD_ALL_TARGET_NAME)
-		set (COTIRE_UNITY_BUILD_ALL_TARGET_NAME "all_unity")
-	endif()
-	if (NOT COTIRE_CLEAN_ALL_TARGET_NAME)
-		set (COTIRE_CLEAN_ALL_TARGET_NAME "clean_cotire")
-	endif()
-	if (NOT COTIRE_CLEAN_TARGET_SUFFIX)
-		set (COTIRE_CLEAN_TARGET_SUFFIX "_clean_cotire")
-	endif()
-	if (NOT COTIRE_PCH_TARGET_SUFFIX)
-		set (COTIRE_PCH_TARGET_SUFFIX "_pch")
-	endif()
-	if (MSVC)
-		# MSVC default PCH memory scaling factor of 100 percent (75 MB) is too small for template heavy C++ code
-		# use a bigger default factor of 170 percent (128 MB)
-		if (NOT DEFINED COTIRE_PCH_MEMORY_SCALING_FACTOR)
-			set (COTIRE_PCH_MEMORY_SCALING_FACTOR "170")
-		endif()
-	endif()
-	if (NOT COTIRE_UNITY_BUILD_TARGET_SUFFIX)
-		set (COTIRE_UNITY_BUILD_TARGET_SUFFIX "_unity")
-	endif()
-	if (NOT DEFINED COTIRE_TARGETS_FOLDER)
-		set (COTIRE_TARGETS_FOLDER "cotire")
-	endif()
-	if (NOT DEFINED COTIRE_UNITY_OUTPUT_DIRECTORY)
-		if ("${CMAKE_GENERATOR}" MATCHES "Ninja")
-			# generated Ninja build files do not work if the unity target produces the same output file as the cotired target
-			set (COTIRE_UNITY_OUTPUT_DIRECTORY "unity")
-		else()
-			set (COTIRE_UNITY_OUTPUT_DIRECTORY "")
-		endif()
-	endif()
-
-	# define cotire cache variables
-
-	define_property(
-		CACHED_VARIABLE PROPERTY "COTIRE_ADDITIONAL_PREFIX_HEADER_IGNORE_PATH"
-		BRIEF_DOCS "Ignore headers from these directories when generating the prefix header."
-		FULL_DOCS
-			"The variable can be set to a semicolon separated list of include directories."
-			"If a header file is found in one of these directories or sub-directories, it will be excluded from the generated prefix header."
-			"If not defined, defaults to empty list."
-	)
-
-	define_property(
-		CACHED_VARIABLE PROPERTY "COTIRE_ADDITIONAL_PREFIX_HEADER_IGNORE_EXTENSIONS"
-		BRIEF_DOCS "Ignore includes with the listed file extensions from the generated prefix header."
-		FULL_DOCS
-			"The variable can be set to a semicolon separated list of file extensions."
-			"If a header file extension matches one in the list, it will be excluded from the generated prefix header."
-			"Includes with an extension in CMAKE_<LANG>_SOURCE_FILE_EXTENSIONS are always ignored."
-			"If not defined, defaults to inc;inl;ipp."
-	)
-
-	define_property(
-		CACHED_VARIABLE PROPERTY "COTIRE_UNITY_SOURCE_EXCLUDE_EXTENSIONS"
-		BRIEF_DOCS "Exclude sources with the listed file extensions from the generated unity source."
-		FULL_DOCS
-			"The variable can be set to a semicolon separated list of file extensions."
-			"If a source file extension matches one in the list, it will be excluded from the generated unity source file."
-			"Source files with an extension in CMAKE_<LANG>_IGNORE_EXTENSIONS are always excluded."
-			"If not defined, defaults to m;mm."
-	)
-
-	define_property(
-		CACHED_VARIABLE PROPERTY "COTIRE_MINIMUM_NUMBER_OF_TARGET_SOURCES"
-		BRIEF_DOCS "Minimum number of sources in target required to enable use of precompiled header."
-		FULL_DOCS
-			"The variable can be set to an integer > 0."
-			"If a target contains less than that number of source files, cotire will not enable the use of the precompiled header for the target."
-			"If not defined, defaults to 2."
-	)
-
-	define_property(
-		CACHED_VARIABLE PROPERTY "COTIRE_MAXIMUM_NUMBER_OF_UNITY_INCLUDES"
-		BRIEF_DOCS "Maximum number of source files to include in a single unity source file."
-		FULL_DOCS
-			"This may be set to an integer >= 0."
-			"If 0, cotire will only create a single unity source file."
-			"If a target contains more than that number of source files, cotire will create multiple unity source files for it."
-			"Can be set to \"-j\" to optimize the count of unity source files for the number of available processor cores."
-			"Can be set to \"-j jobs\" to optimize the number of unity source files for the given number of simultaneous jobs."
-			"Is used to initialize the target property COTIRE_UNITY_SOURCE_MAXIMUM_NUMBER_OF_INCLUDES."
-			"Defaults to \"-j\" for the generators Visual Studio, JOM or Ninja. Defaults to 0 otherwise."
-	)
-
-	# define cotire directory properties
-
-	define_property(
-		DIRECTORY PROPERTY "COTIRE_ENABLE_PRECOMPILED_HEADER"
-		BRIEF_DOCS "Modify build command of cotired targets added in this directory to make use of the generated precompiled header."
-		FULL_DOCS
-			"See target property COTIRE_ENABLE_PRECOMPILED_HEADER."
-	)
-
-	define_property(
-		DIRECTORY PROPERTY "COTIRE_ADD_UNITY_BUILD"
-		BRIEF_DOCS "Add a new target that performs a unity build for cotired targets added in this directory."
-		FULL_DOCS
-			"See target property COTIRE_ADD_UNITY_BUILD."
-	)
-
-	define_property(
-		DIRECTORY PROPERTY "COTIRE_ADD_CLEAN"
-		BRIEF_DOCS "Add a new target that cleans all cotire generated files for cotired targets added in this directory."
-		FULL_DOCS
-			"See target property COTIRE_ADD_CLEAN."
-	)
-
-	define_property(
-		DIRECTORY PROPERTY "COTIRE_PREFIX_HEADER_IGNORE_PATH"
-		BRIEF_DOCS "Ignore headers from these directories when generating the prefix header."
-		FULL_DOCS
-			"See target property COTIRE_PREFIX_HEADER_IGNORE_PATH."
-	)
-
-	define_property(
-		DIRECTORY PROPERTY "COTIRE_PREFIX_HEADER_INCLUDE_PATH"
-		BRIEF_DOCS "Honor headers from these directories when generating the prefix header."
-		FULL_DOCS
-			"See target property COTIRE_PREFIX_HEADER_INCLUDE_PATH."
-	)
-
-	define_property(
-		DIRECTORY PROPERTY "COTIRE_PREFIX_HEADER_INCLUDE_PRIORITY_PATH"
-		BRIEF_DOCS "Header paths matching one of these directories are put at the top of the prefix header."
-		FULL_DOCS
-			"See target property COTIRE_PREFIX_HEADER_INCLUDE_PRIORITY_PATH."
-	)
-
-	define_property(
-		DIRECTORY PROPERTY "COTIRE_UNITY_SOURCE_PRE_UNDEFS"
-		BRIEF_DOCS "Preprocessor undefs to place in the generated unity source file before the inclusion of each source file."
-		FULL_DOCS
-			"See target property COTIRE_UNITY_SOURCE_PRE_UNDEFS."
-	)
-
-	define_property(
-		DIRECTORY PROPERTY "COTIRE_UNITY_SOURCE_POST_UNDEFS"
-		BRIEF_DOCS "Preprocessor undefs to place in the generated unity source file after the inclusion of each source file."
-		FULL_DOCS
-			"See target property COTIRE_UNITY_SOURCE_POST_UNDEFS."
-	)
-
-	define_property(
-		DIRECTORY PROPERTY "COTIRE_UNITY_SOURCE_MAXIMUM_NUMBER_OF_INCLUDES"
-		BRIEF_DOCS "Maximum number of source files to include in a single unity source file."
-		FULL_DOCS
-			"See target property COTIRE_UNITY_SOURCE_MAXIMUM_NUMBER_OF_INCLUDES."
-	)
-
-	define_property(
-		DIRECTORY PROPERTY "COTIRE_UNITY_LINK_LIBRARIES_INIT"
-		BRIEF_DOCS "Define strategy for setting up the unity target's link libraries."
-		FULL_DOCS
-			"See target property COTIRE_UNITY_LINK_LIBRARIES_INIT."
-	)
-
-	# define cotire target properties
-
-	define_property(
-		TARGET PROPERTY "COTIRE_ENABLE_PRECOMPILED_HEADER" INHERITED
-		BRIEF_DOCS "Modify this target's build command to make use of the generated precompiled header."
-		FULL_DOCS
-			"If this property is set to TRUE, cotire will modify the build command to make use of the generated precompiled header."
-			"Irrespective of the value of this property, cotire will setup custom commands to generate the unity source and prefix header for the target."
-			"For makefile based generators cotire will also set up a custom target to manually invoke the generation of the precompiled header."
-			"The target name will be set to this target's name with the suffix _pch appended."
-			"Inherited from directory."
-			"Defaults to TRUE."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_ADD_UNITY_BUILD" INHERITED
-		BRIEF_DOCS "Add a new target that performs a unity build for this target."
-		FULL_DOCS
-			"If this property is set to TRUE, cotire creates a new target of the same type that uses the generated unity source file instead of the target sources."
-			"Most of the relevant target properties will be copied from this target to the new unity build target."
-			"Target dependencies and linked libraries have to be manually set up for the new unity build target."
-			"The unity target name will be set to this target's name with the suffix _unity appended."
-			"Inherited from directory."
-			"Defaults to TRUE."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_ADD_CLEAN" INHERITED
-		BRIEF_DOCS "Add a new target that cleans all cotire generated files for this target."
-		FULL_DOCS
-			"If this property is set to TRUE, cotire creates a new target that clean all files (unity source, prefix header, precompiled header)."
-			"The clean target name will be set to this target's name with the suffix _clean_cotire appended."
-			"Inherited from directory."
-			"Defaults to FALSE."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_PREFIX_HEADER_IGNORE_PATH" INHERITED
-		BRIEF_DOCS "Ignore headers from these directories when generating the prefix header."
-		FULL_DOCS
-			"The property can be set to a list of directories."
-			"If a header file is found in one of these directories or sub-directories, it will be excluded from the generated prefix header."
-			"Inherited from directory."
-			"If not set, this property is initialized to \${CMAKE_SOURCE_DIR};\${CMAKE_BINARY_DIR}."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_PREFIX_HEADER_INCLUDE_PATH" INHERITED
-		BRIEF_DOCS "Honor headers from these directories when generating the prefix header."
-		FULL_DOCS
-			"The property can be set to a list of directories."
-			"If a header file is found in one of these directories or sub-directories, it will be included in the generated prefix header."
-			"If a header file is both selected by COTIRE_PREFIX_HEADER_IGNORE_PATH and COTIRE_PREFIX_HEADER_INCLUDE_PATH,"
-			"the option which yields the closer relative path match wins."
-			"Inherited from directory."
-			"If not set, this property is initialized to the empty list."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_PREFIX_HEADER_INCLUDE_PRIORITY_PATH" INHERITED
-		BRIEF_DOCS "Header paths matching one of these directories are put at the top of prefix header."
-		FULL_DOCS
-			"The property can be set to a list of directories."
-			"Header file paths matching one of these directories will be inserted at the beginning of the generated prefix header."
-			"Header files are sorted according to the order of the directories in the property."
-			"If not set, this property is initialized to the empty list."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_UNITY_SOURCE_PRE_UNDEFS" INHERITED
-		BRIEF_DOCS "Preprocessor undefs to place in the generated unity source file before the inclusion of each target source file."
-		FULL_DOCS
-			"This may be set to a semicolon-separated list of preprocessor symbols."
-			"cotire will add corresponding #undef directives to the generated unit source file before each target source file."
-			"Inherited from directory."
-			"Defaults to empty string."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_UNITY_SOURCE_POST_UNDEFS" INHERITED
-		BRIEF_DOCS "Preprocessor undefs to place in the generated unity source file after the inclusion of each target source file."
-		FULL_DOCS
-			"This may be set to a semicolon-separated list of preprocessor symbols."
-			"cotire will add corresponding #undef directives to the generated unit source file after each target source file."
-			"Inherited from directory."
-			"Defaults to empty string."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_UNITY_SOURCE_MAXIMUM_NUMBER_OF_INCLUDES" INHERITED
-		BRIEF_DOCS "Maximum number of source files to include in a single unity source file."
-		FULL_DOCS
-			"This may be set to an integer > 0."
-			"If a target contains more than that number of source files, cotire will create multiple unity build files for it."
-			"If not set, cotire will only create a single unity source file."
-			"Inherited from directory."
-			"Defaults to empty."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_<LANG>_UNITY_SOURCE_INIT"
-		BRIEF_DOCS "User provided unity source file to be used instead of the automatically generated one."
-		FULL_DOCS
-			"If set, cotire will only add the given file(s) to the generated unity source file."
-			"If not set, cotire will add all the target source files to the generated unity source file."
-			"The property can be set to a user provided unity source file."
-			"Defaults to empty."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_<LANG>_PREFIX_HEADER_INIT"
-		BRIEF_DOCS "User provided prefix header file to be used instead of the automatically generated one."
-		FULL_DOCS
-			"If set, cotire will add the given header file(s) to the generated prefix header file."
-			"If not set, cotire will generate a prefix header by tracking the header files included by the unity source file."
-			"The property can be set to a user provided prefix header file (e.g., stdafx.h)."
-			"Defaults to empty."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_UNITY_LINK_LIBRARIES_INIT" INHERITED
-		BRIEF_DOCS "Define strategy for setting up unity target's link libraries."
-		FULL_DOCS
-			"If this property is empty or set to NONE, the generated unity target's link libraries have to be set up manually."
-			"If this property is set to COPY, the unity target's link libraries will be copied from this target."
-			"If this property is set to COPY_UNITY, the unity target's link libraries will be copied from this target with considering existing unity targets."
-			"Inherited from directory."
-			"Defaults to empty."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_<LANG>_UNITY_SOURCE"
-		BRIEF_DOCS "Read-only property. The generated <LANG> unity source file(s)."
-		FULL_DOCS
-			"cotire sets this property to the path of the generated <LANG> single computation unit source file for the target."
-			"Defaults to empty string."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_<LANG>_PREFIX_HEADER"
-		BRIEF_DOCS "Read-only property. The generated <LANG> prefix header file."
-		FULL_DOCS
-			"cotire sets this property to the full path of the generated <LANG> language prefix header for the target."
-			"Defaults to empty string."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_<LANG>_PRECOMPILED_HEADER"
-		BRIEF_DOCS "Read-only property. The generated <LANG> precompiled header file."
-		FULL_DOCS
-			"cotire sets this property to the full path of the generated <LANG> language precompiled header binary for the target."
-			"Defaults to empty string."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_UNITY_TARGET_NAME"
-		BRIEF_DOCS "The name of the generated unity build target corresponding to this target."
-		FULL_DOCS
-			"This property can be set to the desired name of the unity target that will be created by cotire."
-			"If not set, the unity target name will be set to this target's name with the suffix _unity appended."
-			"After this target has been processed by cotire, the property is set to the actual name of the generated unity target."
-			"Defaults to empty string."
-	)
-
-	# define cotire source properties
-
-	define_property(
-		SOURCE PROPERTY "COTIRE_EXCLUDED"
-		BRIEF_DOCS "Do not modify source file's build command."
-		FULL_DOCS
-			"If this property is set to TRUE, the source file's build command will not be modified to make use of the precompiled header."
-			"The source file will also be excluded from the generated unity source file."
-			"Source files that have their COMPILE_FLAGS property set will be excluded by default."
-			"Defaults to FALSE."
-	)
-
-	define_property(
-		SOURCE PROPERTY "COTIRE_DEPENDENCY"
-		BRIEF_DOCS "Add this source file to dependencies of the automatically generated prefix header file."
-		FULL_DOCS
-			"If this property is set to TRUE, the source file is added to dependencies of the generated prefix header file."
-			"If the file is modified, cotire will re-generate the prefix header source upon build."
-			"Defaults to FALSE."
-	)
-
-	define_property(
-		SOURCE PROPERTY "COTIRE_UNITY_SOURCE_PRE_UNDEFS"
-		BRIEF_DOCS "Preprocessor undefs to place in the generated unity source file before the inclusion of this source file."
-		FULL_DOCS
-			"This may be set to a semicolon-separated list of preprocessor symbols."
-			"cotire will add corresponding #undef directives to the generated unit source file before this file is included."
-			"Defaults to empty string."
-	)
-
-	define_property(
-		SOURCE PROPERTY "COTIRE_UNITY_SOURCE_POST_UNDEFS"
-		BRIEF_DOCS "Preprocessor undefs to place in the generated unity source file after the inclusion of this source file."
-		FULL_DOCS
-			"This may be set to a semicolon-separated list of preprocessor symbols."
-			"cotire will add corresponding #undef directives to the generated unit source file after this file is included."
-			"Defaults to empty string."
-	)
-
-	define_property(
-		SOURCE PROPERTY "COTIRE_START_NEW_UNITY_SOURCE"
-		BRIEF_DOCS "Start a new unity source file which includes this source file as the first one."
-		FULL_DOCS
-			"If this property is set to TRUE, cotire will complete the current unity file and start a new one."
-			"The new unity source file will include this source file as the first one."
-			"This property essentially works as a separator for unity source files."
-			"Defaults to FALSE."
-	)
-
-	define_property(
-		SOURCE PROPERTY "COTIRE_TARGET"
-		BRIEF_DOCS "Read-only property. Mark this source file as cotired for the given target."
-		FULL_DOCS
-			"cotire sets this property to the name of target, that the source file's build command has been altered for."
-			"Defaults to empty string."
-	)
-
-	message (STATUS "cotire ${COTIRE_CMAKE_MODULE_VERSION} loaded.")
-
-endif()
diff --git a/build/Utils.cmake b/build/Utils.cmake
index bbbc85662..94f3f1e56 100644
--- a/build/Utils.cmake
+++ b/build/Utils.cmake
@@ -273,18 +273,6 @@ macro(add_option variable description value)
 endmacro()
 
 
-# Set as Pre-Compiled Header automaticaly or to the given file name
-macro(set_target_pch TRGT)
-	if(ENABLE_PRECOMPILED_HEADERS AND COMMAND cotire)
-		if(NOT ${ARGN} STREQUAL "")
-			set_target_properties("${TRGT}" PROPERTIES COTIRE_CXX_PREFIX_HEADER_INIT "${ARGN}")
-		endif()
-		set_target_properties("${TRGT}" PROPERTIES COTIRE_ADD_UNITY_BUILD FALSE)
-		cotire("${TRGT}")
-	endif()
-endmacro()
-
-
 # Optimize compiler settings
 
 set(STATIC_COMPILER_FAIL_REGEX
@@ -401,21 +389,6 @@ macro(optimize_default_compiler_settings)
 	add_option(ENABLE_NOISY_WARNINGS      "Show all warnings even if they are too noisy"             OFF )
 	add_option(ENABLE_WARNINGS_AS_ERRORS  "Treat warnings as errors"                                 OFF )
 
-	if(MINGW)
-	  # mingw compiler is known to produce unstable SSE code with -O3 hence we are trying to use -O2 instead
-	  if(CMAKE_COMPILER_IS_GNUCXX)
-		foreach(flags CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_DEBUG)
-		  string(REPLACE "-O3" "-O2" ${flags} "${${flags}}")
-		endforeach()
-	  endif()
-
-	  if(CMAKE_COMPILER_IS_GNUCC)
-		foreach(flags CMAKE_C_FLAGS CMAKE_C_FLAGS_RELEASE CMAKE_C_FLAGS_DEBUG)
-		  string(REPLACE "-O3" "-O2" ${flags} "${${flags}}")
-		endforeach()
-	  endif()
-	endif()
-
 	set(BUILD_EXTRA_FLAGS "")
 	set(BUILD_EXTRA_C_FLAGS "")
 	set(BUILD_EXTRA_CXX_FLAGS "")
@@ -452,15 +425,6 @@ macro(optimize_default_compiler_settings)
 	set(CMAKE_CXX_EXTENSIONS OFF)
 	message("Compiling with C++${CMAKE_CXX_STANDARD}")
 
-	if(MINGW)
-	  # http://gcc.gnu.org/bugzilla/show_bug.cgi?id=40838
-	  # here we are trying to workaround the problem
-	  add_extra_compiler_option(-mstackrealign)
-	  if(NOT HAVE_CXX_MSTACKREALIGN)
-		add_extra_compiler_option(-mpreferred-stack-boundary=2)
-	  endif()
-	endif()
-
 	if(FLG_COMPILER_IS_GNU)
 	  # High level of warnings.
 	  add_extra_compiler_option(-W)
@@ -526,17 +490,13 @@ macro(optimize_default_compiler_settings)
 		add_extra_compiler_option(-Werror)
 	  endif()
 
-	  if(X86 AND NOT MINGW64 AND NOT X86_64 AND NOT APPLE)
-		add_extra_compiler_option(-march=i686)
-	  endif()
-
 	  # Other optimizations
 	  if(ENABLE_OMIT_FRAME_POINTER)
 		add_extra_compiler_option(-fomit-frame-pointer)
 	  else()
 		add_extra_compiler_option(-fno-omit-frame-pointer)
-		endif()
-		if(NOT CLANG)
+	  endif()
+	  if(NOT CLANG)
 	  if(ENABLE_FAST_MATH)
 		add_extra_compiler_option(-ffast-math)
 	  else()
@@ -849,7 +809,7 @@ endmacro()
 
 # Defines the main libraries.  User tests should link
 # with one of them.
-function(cxx_library_with_type_no_pch name folder type cxx_flags)
+function(cxx_library_with_type name folder type cxx_flags)
   # type can be either STATIC or SHARED to denote a static or shared library.
   # ARGN refers to additional arguments after 'cxx_flags'.
   add_library("${name}" ${type} ${ARGN})
@@ -863,29 +823,11 @@ function(cxx_library_with_type_no_pch name folder type cxx_flags)
   set_target_properties("${name}" PROPERTIES FOLDER "${folder}")
 endfunction()
 
-function(cxx_library_with_type name folder type cxx_flags)
-  cxx_library_with_type_no_pch("${name}" "${folder}" "${type}" "${cxx_flags}" ${ARGN})
-  # Generate precompiled headers
-  set_target_pch("${name}")
-endfunction()
-
-########################################################################
-#
-# Helper functions for creating build targets.
-
-function(cxx_shared_library name folder cxx_flags)
-  cxx_library_with_type("${name}" "${folder}" SHARED "${cxx_flags}" ${ARGN})
-endfunction()
-
-function(cxx_library name folder cxx_flags)
-  cxx_library_with_type("${name}" "${folder}" "" "${cxx_flags}" ${ARGN})
-endfunction()
-
 # cxx_executable_with_flags(name cxx_flags libs srcs...)
 #
 # creates a named C++ executable that depends on the given libraries and
 # is built from the given source files with the given compiler flags.
-function(cxx_executable_with_flags_no_pch name folder cxx_flags libs)
+function(cxx_executable_with_flags name folder cxx_flags libs)
   add_executable("${name}" ${ARGN})
   if (cxx_flags)
     set_target_properties("${name}" PROPERTIES COMPILE_FLAGS "${cxx_flags}")
@@ -898,36 +840,3 @@ function(cxx_executable_with_flags_no_pch name folder cxx_flags libs)
   # Set project folder
   set_target_properties("${name}" PROPERTIES FOLDER "${folder}")
 endfunction()
-
-function(cxx_executable_with_flags name folder cxx_flags libs)
-  cxx_executable_with_flags_no_pch("${name}" "${folder}" "${cxx_flags}" "${libs}" ${ARGN})
-  # Generate precompiled headers
-  set_target_pch("${name}")
-endfunction()
-
-# cxx_executable(name dir lib srcs...)
-#
-# creates a named target that depends on the given libs and is built
-# from the given source files.  dir/name.cc is implicitly included in
-# the source file list.
-function(cxx_executable name folder dir libs)
-  cxx_executable_with_flags("${name}" "${folder}" "${cxx_default}" "${libs}" "${dir}/${name}.cpp" ${ARGN})
-endfunction()
-
-# cxx_test_with_flags(name cxx_flags libs srcs...)
-#
-# creates a named C++ test that depends on the given libs and is built
-# from the given source files with the given compiler flags.
-function(cxx_test_with_flags name folder cxx_flags libs)
-  cxx_executable_with_flags("${name}" "${folder}" "${cxx_flags}" "${libs}" ${ARGN})
-  add_test("${name}" "${name}")
-endfunction()
-
-# cxx_test(name libs srcs...)
-#
-# creates a named test target that depends on the given libs and is
-# built from the given source files.  Unlike cxx_test_with_flags,
-# test/name.cc is already implicitly included in the source file list.
-function(cxx_test name folder libs)
-  cxx_test_with_flags("${name}" "${folder}" "${cxx_default}" "${libs}" "test/${name}.cc" ${ARGN})
-endfunction()
diff --git a/libs/Common/CMakeLists.txt b/libs/Common/CMakeLists.txt
index 631164e61..18899afde 100644
--- a/libs/Common/CMakeLists.txt
+++ b/libs/Common/CMakeLists.txt
@@ -1,20 +1,15 @@
 # List sources files
-FILE(GLOB PCH_C "Common.cpp")
-
 FILE(GLOB LIBRARY_FILES_C "*.cpp")
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-# Place Common.cpp as the first file in the list
-# needed by cotire when setting PCH manually
-LIST(REMOVE_ITEM LIBRARY_FILES_C ${PCH_C})
-SET(LIBRARY_FILES_C "${PCH_C};${LIBRARY_FILES_C}")
-
-cxx_library_with_type_no_pch(Common "Libs" "" "${cxx_default}"
+cxx_library_with_type(Common "Libs" "" "${cxx_default}"
 	${LIBRARY_FILES_C} ${LIBRARY_FILES_H}
 )
 
 # Manually set Common.h as the precompiled header
-set_target_pch(Common Common.h)
+IF(CMAKE_VERSION VERSION_GREATER_EQUAL 3.16.0)
+	TARGET_PRECOMPILE_HEADERS(Common PRIVATE "Common.h")
+endif()
 
 # Link its dependencies
 TARGET_LINK_LIBRARIES(Common ${Boost_LIBRARIES} ${OpenCV_LIBS})
diff --git a/libs/IO/CMakeLists.txt b/libs/IO/CMakeLists.txt
index 14d4d942f..da3c15920 100644
--- a/libs/IO/CMakeLists.txt
+++ b/libs/IO/CMakeLists.txt
@@ -25,22 +25,17 @@ else()
 endif()
 
 # List sources files
-FILE(GLOB PCH_C "Common.cpp")
-
 FILE(GLOB LIBRARY_FILES_C "*.cpp")
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-# Place Common.cpp as the first file in the list
-# needed by cotire when setting PCH manually
-LIST(REMOVE_ITEM LIBRARY_FILES_C ${PCH_C})
-SET(LIBRARY_FILES_C "${PCH_C};${LIBRARY_FILES_C}")
-
-cxx_library_with_type_no_pch(IO "Libs" "" "${cxx_default}"
+cxx_library_with_type(IO "Libs" "" "${cxx_default}"
 	${LIBRARY_FILES_C} ${LIBRARY_FILES_H}
 )
 
 # Manually set Common.h as the precompiled header
-set_target_pch(IO Common.h)
+IF(CMAKE_VERSION VERSION_GREATER_EQUAL 3.16.0)
+	TARGET_PRECOMPILE_HEADERS(IO PRIVATE "Common.h")
+endif()
 
 # Link its dependencies
 TARGET_LINK_LIBRARIES(IO Common ${PNG_LIBRARIES} ${JPEG_LIBRARIES} ${TIFF_LIBRARIES} ${EXIV2_LIBS})
diff --git a/libs/MVS/CMakeLists.txt b/libs/MVS/CMakeLists.txt
index 46188c727..dcfd1ceb2 100644
--- a/libs/MVS/CMakeLists.txt
+++ b/libs/MVS/CMakeLists.txt
@@ -25,22 +25,17 @@ if(OpenMVS_USE_CERES)
 endif()
 
 # List sources files
-FILE(GLOB PCH_C "Common.cpp")
-
 FILE(GLOB LIBRARY_FILES_C "*.cpp")
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-# Place Common.cpp as the first file in the list
-# needed by cotire when setting PCH manually
-LIST(REMOVE_ITEM LIBRARY_FILES_C ${PCH_C})
-SET(LIBRARY_FILES_C "${PCH_C};${LIBRARY_FILES_C}")
-
-cxx_library_with_type_no_pch(MVS "Libs" "" "${cxx_default}"
+cxx_library_with_type(MVS "Libs" "" "${cxx_default}"
 	${LIBRARY_FILES_C} ${LIBRARY_FILES_H}
 )
 
 # Manually set Common.h as the precompiled header
-set_target_pch(MVS Common.h)
+IF(CMAKE_VERSION VERSION_GREATER_EQUAL 3.16.0)
+	TARGET_PRECOMPILE_HEADERS(MVS PRIVATE "Common.h")
+endif()
 
 # Link its dependencies
 TARGET_LINK_LIBRARIES(MVS PRIVATE Common Math IO CGAL::CGAL ${CERES_LIBRARIES} ${CUDA_CUDA_LIBRARY})
diff --git a/libs/Math/CMakeLists.txt b/libs/Math/CMakeLists.txt
index 23db6f06a..407e2e403 100644
--- a/libs/Math/CMakeLists.txt
+++ b/libs/Math/CMakeLists.txt
@@ -1,8 +1,6 @@
 INCLUDE_DIRECTORIES(".")
 
 # List sources files
-FILE(GLOB PCH_C "Common.cpp")
-
 FILE(GLOB LIBRARY_FILES_C "*.cpp")
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
@@ -18,12 +16,7 @@ FILE(GLOB TRWS_LIBRARY_FILES_C "TRWS/*.cpp")
 FILE(GLOB TRWS_LIBRARY_FILES_H "TRWS/*.h" "TRWS/*.inl")
 SOURCE_GROUP("TRWS" FILES ${TRWS_LIBRARY_FILES_C} ${TRWS_LIBRARY_FILES_H})
 
-# Place Common.cpp as the first file in the list
-# needed by cotire when setting PCH manually
-LIST(REMOVE_ITEM LIBRARY_FILES_C ${PCH_C})
-SET(LIBRARY_FILES_C "${PCH_C};${LIBRARY_FILES_C}")
-
-cxx_library_with_type_no_pch(Math "Libs" "" "${cxx_default}"
+cxx_library_with_type(Math "Libs" "" "${cxx_default}"
 	${LIBRARY_FILES_C} ${LIBRARY_FILES_H}
 	${IBFS_LIBRARY_FILES_C} ${IBFS_LIBRARY_FILES_H}
 	${LMFit_LIBRARY_FILES_C} ${LMFit_LIBRARY_FILES_H}
@@ -31,7 +24,9 @@ cxx_library_with_type_no_pch(Math "Libs" "" "${cxx_default}"
 )
 
 # Manually set Common.h as the precompiled header
-set_target_pch(Math Common.h)
+IF(CMAKE_VERSION VERSION_GREATER_EQUAL 3.16.0)
+	TARGET_PRECOMPILE_HEADERS(Math PRIVATE "Common.h")
+endif()
 
 # Link its dependencies
 TARGET_LINK_LIBRARIES(Math Common)

From 1391d6157ceeadea811cf4d82bb417d3424e144d Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sun, 21 Mar 2021 18:10:24 +0200
Subject: [PATCH 027/252] dense: merge small sub-scenes

---
 libs/MVS/Scene.cpp | 44 +++++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 43 insertions(+), 1 deletion(-)

diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 0c16feeeb..0e1f77181 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -897,8 +897,50 @@ unsigned Scene::Split(ImagesChunkArr& chunks, IIndex maxArea, int depthMapStep)
 		}
 	}
 	#endif
-	DEBUG_EXTRA("Scene split (%g max-area): %u chunks (%s)", maxArea, chunks.size(), TD_TIMER_GET_FMT().c_str());
 	#if 1
+	// merge small chunks into larger chunk neighbors
+	// TODO: better manage the bounding-box merge
+	const unsigned minNumImagesPerChunk(4);
+	RFOREACH(cSmall, chunks) {
+		ImagesChunk& chunkSmall = chunks[cSmall];
+		if (chunkSmall.images.size() > minNumImagesPerChunk)
+			continue;
+		// find the chunk having the most images in common
+		IIndex idxBestChunk;
+		unsigned numLargestCommonImages(0);
+		FOREACH(cLarge, chunks) {
+			if (cSmall == cLarge)
+				continue;
+			const ImagesChunk& chunkLarge = chunks[cLarge];
+			unsigned numCommonImages(0);
+			for (const IIndex idxImage: chunkSmall.images)
+				if (chunkLarge.images.find(idxImage) != chunkLarge.images.end())
+					++numCommonImages;
+			if (numCommonImages == 0)
+				continue;
+			if (numLargestCommonImages < numCommonImages ||
+				(numLargestCommonImages == numCommonImages && chunks[idxBestChunk].images.size() < chunkLarge.images.size()))
+			{
+				numLargestCommonImages = numCommonImages;
+				idxBestChunk = cLarge;
+			}
+		}
+		if (numLargestCommonImages == 0) {
+			DEBUG_ULTIMATE("warning: small chunk can not be merged (%u chunk, %u images)",
+				cSmall, chunkSmall.images.size());
+			continue;
+		}
+		// merge the small chunk and remove it
+		ImagesChunk& chunkLarge = chunks[idxBestChunk];
+		DEBUG_ULTIMATE("Small chunk merged: %u chunk (%u images) -> %u chunk (%u images)",
+			cSmall, chunkSmall.images.size(), idxBestChunk, chunkLarge.images.size());
+		chunkLarge.aabb.Insert(chunkSmall.aabb);
+		chunkLarge.images.insert(chunkSmall.images.begin(), chunkSmall.images.end());
+		chunks.RemoveAt(cSmall);
+	}
+	#endif
+	DEBUG_EXTRA("Scene split (%g max-area): %u chunks (%s)", maxArea, chunks.size(), TD_TIMER_GET_FMT().c_str());
+	#if 0 || defined(_DEBUG)
 	// dump chunks for visualization
 	FOREACH(c, chunks) {
 		const ImagesChunk& chunk = chunks[c];

From 29a15f571872993e3cbef442340d8d60abca23a6 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 25 Mar 2021 17:56:27 +0200
Subject: [PATCH 028/252] interface: import COLMAP depth-maps

---
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp | 211 ++++++++++++++++++-----
 1 file changed, 166 insertions(+), 45 deletions(-)

diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index 6c1082e29..7512f4908 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -127,6 +127,8 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		// parse command line options
 		boost::program_options::store(boost::program_options::command_line_parser((int)argc, argv).options(cmdline_options).positional(p).run(), OPT::vm);
 		boost::program_options::notify(OPT::vm);
+		Util::ensureValidPath(OPT::strInputFileName);
+		WORKING_FOLDER = (File::isFolder(OPT::strInputFileName) ? OPT::strInputFileName : Util::getFilePath(OPT::strInputFileName));
 		INIT_WORKING_FOLDER;
 		// parse configuration file
 		std::ifstream ifs(MAKE_PATH_SAFE(OPT::strConfigFileName));
@@ -148,7 +150,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
 
 	// validate input
-	Util::ensureValidPath(OPT::strInputFileName);
 	const bool bInvalidCommand(OPT::strInputFileName.empty());
 	if (OPT::vm.count("help") || bInvalidCommand) {
 		boost::program_options::options_description visible("Available options");
@@ -281,11 +282,9 @@ struct Camera {
 	};
 
 	bool Read(std::istream& stream, bool binary) {
-		if (binary) {
+		if (binary)
 			return ReadBIN(stream);
-		} else {
-			return ReadTXT(stream);
-		}
+		return ReadTXT(stream);
 	}	
 
 	// Camera list with one line of data per camera:
@@ -297,6 +296,7 @@ struct Camera {
 		in >> ID >> model >> width >> height;
 		if (in.fail())
 			return false;
+		--ID;
 		if (model != _T("PINHOLE"))
 			return false;
 		params.resize(4);
@@ -307,7 +307,6 @@ struct Camera {
 	// See: colmap/src/base/reconstruction.cc
 	// 		void Reconstruction::ReadCamerasBinary(const std::string& path)
 	bool ReadBIN(std::istream& stream) {
-
 		if (stream.peek() == EOF)
 			return false;
 
@@ -317,7 +316,7 @@ struct Camera {
 			parsedNumCameras = true;
 		}
 
-		ID = ReadBinaryLittleEndian<camera_t>(&stream);
+		ID = ReadBinaryLittleEndian<camera_t>(&stream)-1;
 		model = mapCameraModel.at(ReadBinaryLittleEndian<int>(&stream));
 		width = (uint32_t)ReadBinaryLittleEndian<uint64_t>(&stream);
 		height = (uint32_t)ReadBinaryLittleEndian<uint64_t>(&stream);
@@ -361,11 +360,9 @@ struct Image {
 	bool operator < (const Image& rhs) const { return ID < rhs.ID; }
 
 	bool Read(std::istream& stream, bool binary) {
-		if (binary) {
+		if (binary)
 			return ReadBIN(stream); 
-		} else {
-			return ReadTXT(stream); 
-		}
+		return ReadTXT(stream); 
 	}
 
 	// Image list with two lines of data per image:
@@ -381,6 +378,7 @@ struct Image {
 			>> idCamera >> name;
 		if (in.fail())
 			return false;
+		--ID; --idCamera;
 		Util::ensureValidPath(name);
 		if (!NextLine(stream, in, false))
 			return false;
@@ -390,7 +388,7 @@ struct Image {
 			in >> proj.p(0) >> proj.p(1) >> (int&)proj.idPoint;
 			if (in.fail())
 				break;
-			projs.push_back(proj);
+			projs.emplace_back(proj);
 		}
 		return true;
 	}
@@ -398,7 +396,6 @@ struct Image {
 	// See: colmap/src/base/reconstruction.cc
 	// 		void Reconstruction::ReadImagesBinary(const std::string& path)
 	bool ReadBIN(std::istream& stream) {
- 
 		if (stream.peek() == EOF)
 			return false;
 
@@ -408,7 +405,7 @@ struct Image {
 			parsedNumRegImages = true;
 		}
 
-		ID = ReadBinaryLittleEndian<image_t>(&stream);
+		ID = ReadBinaryLittleEndian<image_t>(&stream)-1;
 		q.w() = ReadBinaryLittleEndian<double>(&stream);
 		q.x() = ReadBinaryLittleEndian<double>(&stream);
 		q.y() = ReadBinaryLittleEndian<double>(&stream);
@@ -416,7 +413,7 @@ struct Image {
 		t(0) = ReadBinaryLittleEndian<double>(&stream);
 		t(1) = ReadBinaryLittleEndian<double>(&stream);
 		t(2) = ReadBinaryLittleEndian<double>(&stream);
-		idCamera = ReadBinaryLittleEndian<camera_t>(&stream);
+		idCamera = ReadBinaryLittleEndian<camera_t>(&stream)-1;
 
 		name = "";
 		char nameChar;
@@ -435,7 +432,7 @@ struct Image {
 			proj.p(0) = (float)ReadBinaryLittleEndian<double>(&stream);
 			proj.p(1) = (float)ReadBinaryLittleEndian<double>(&stream);
 			proj.idPoint = (uint32_t)ReadBinaryLittleEndian<point3D_t>(&stream);
-			projs.push_back(proj);
+			projs.emplace_back(proj);
 		}
 		return true;
 	}
@@ -474,11 +471,9 @@ struct Point {
 	bool operator < (const Image& rhs) const { return ID < rhs.ID; }
 
 	bool Read(std::istream& stream, bool binary) {
-		if (binary) {
+		if (binary)
 			return ReadBIN(stream);
-		} else {
-			return ReadTXT(stream);
-		}
+		return ReadTXT(stream);
 	}
 
 	// 3D point list with one line of data per point:
@@ -497,13 +492,15 @@ struct Point {
 		c.z = CLAMP(r,0,255);
 		if (in.fail())
 			return false;
+		--ID;
 		tracks.clear();
 		while (true) {
 			Track track;
 			in >> track.idImage >> track.idProj;
 			if (in.fail())
 				break;
-			tracks.push_back(track);
+			--track.idImage; --track.idProj;
+			tracks.emplace_back(track);
 		}
 		return !tracks.empty();
 	}
@@ -511,7 +508,6 @@ struct Point {
 	// See: colmap/src/base/reconstruction.cc
 	// 		void Reconstruction::ReadPoints3DBinary(const std::string& path)
 	bool ReadBIN(std::istream& stream) {
-
 		if (stream.peek() == EOF)
 			return false;
 
@@ -522,7 +518,7 @@ struct Point {
 		}
 
 		int r,g,b;
-		ID = (uint32_t)ReadBinaryLittleEndian<point3D_t>(&stream);
+		ID = (uint32_t)ReadBinaryLittleEndian<point3D_t>(&stream)-1;
 		p.x = (float)ReadBinaryLittleEndian<double>(&stream);
 		p.y = (float)ReadBinaryLittleEndian<double>(&stream);
 		p.z = (float)ReadBinaryLittleEndian<double>(&stream);
@@ -538,9 +534,9 @@ struct Point {
 		tracks.clear();
 		for (size_t j = 0; j < trackLength; ++j) {
 			Track track;
-			track.idImage = ReadBinaryLittleEndian<image_t>(&stream);
-			track.idProj = ReadBinaryLittleEndian<point2D_t>(&stream);
-			tracks.push_back(track);
+			track.idImage = ReadBinaryLittleEndian<image_t>(&stream)-1;
+			track.idProj = ReadBinaryLittleEndian<point2D_t>(&stream)-1;
+			tracks.emplace_back(track);
     	}
 		return !tracks.empty();
 	}
@@ -562,6 +558,44 @@ struct Point {
 	}
 };
 typedef std::vector<Point> Points;
+// structure describing an 2D dynamic matrix
+template <typename T>
+struct Mat {
+	size_t width_ = 0;
+	size_t height_ = 0;
+	size_t depth_ = 0;
+	std::vector<T> data_;
+
+	size_t GetNumBytes() const {
+		return data_.size() * sizeof(T);
+	}
+	const T* Mat<T>::GetChannelPtr(size_t c) const {
+		return data_.data()+width_*height_*c;
+	}
+
+	// See: colmap/src/mvs/mat.h
+	void Read(const std::string& path) {
+		std::streampos pos; {
+			std::fstream text_file(path, std::ios::in | std::ios::binary);
+			char unused_char;
+			text_file >> width_ >> unused_char >> height_ >> unused_char >> depth_ >>
+				unused_char;
+			pos = text_file.tellg();
+		}
+		data_.resize(width_ * height_ * depth_);
+		std::fstream binary_file(path, std::ios::in | std::ios::binary);
+		binary_file.seekg(pos);
+		ReadBinaryLittleEndian<T>(&binary_file, &data_);
+	}
+	void Write(const std::string& path) const {
+		{
+			std::fstream text_file(path, std::ios::out);
+			text_file << width_ << "&" << height_ << "&" << depth_ << "&";
+		}
+		std::fstream binary_file(path, std::ios::out | std::ios::binary | std::ios::app);
+		WriteBinaryLittleEndian<T>(&binary_file, data_);
+	}
+};
 } // namespace COLMAP
 
 typedef Eigen::Matrix<double,3,3,Eigen::RowMajor> EMat33d;
@@ -588,7 +622,7 @@ bool DetermineInputSource(const String& filenameTXT, const String& filenameBIN,
 }
 
 
-bool ImportScene(const String& strFolder, Interface& scene)
+bool ImportScene(const String& strFolder, const String& strOutFolder, Interface& scene)
 {
 	COLMAP::DefineCameraModels();
 	// read camera list
@@ -634,8 +668,8 @@ bool ImportScene(const String& strFolder, Interface& scene)
 				camera.width = colmapCamera.width;
 				camera.height = colmapCamera.height;
 			}
-			platform.cameras.push_back(camera);
-			scene.platforms.push_back(platform);
+			platform.cameras.emplace_back(camera);
+			scene.platforms.emplace_back(platform);
 		}
 	}
 	if (mapCameras.empty()) {
@@ -665,14 +699,14 @@ bool ImportScene(const String& strFolder, Interface& scene)
 			EnsureRotationMatrix((Matrix3x3d&)pose.R);
 			Eigen::Map<EVec3d>(&pose.C.x) = -(imageColmap.q.inverse() * imageColmap.t);
 			Interface::Image image;
-			image.name = OPT::strImageFolder+imageColmap.name;
+			image.name = MAKE_PATH_REL(strOutFolder,OPT::strImageFolder+imageColmap.name);
 			image.platformID = mapCameras.at(imageColmap.idCamera);
 			image.cameraID = 0;
 			image.ID = imageColmap.ID;
 			Interface::Platform& platform = scene.platforms[image.platformID];
 			image.poseID = (uint32_t)platform.poses.size();
-			platform.poses.push_back(pose);
-			scene.images.push_back(image);
+			platform.poses.emplace_back(pose);
+			scene.images.emplace_back(image);
 		}
 	}
 
@@ -689,7 +723,7 @@ bool ImportScene(const String& strFolder, Interface& scene)
 		if (!DetermineInputSource(filenamePointsTXT, filenamePointsBIN, file, filenamePoints, binary)) {
 			return false;
 		}
-		LOG_OUT() << "Reading images: " << filenamePoints << std::endl;
+		LOG_OUT() << "Reading points: " << filenamePoints << std::endl;
 
 		COLMAP::Point point;
 		while (file.good() && point.Read(file, binary)) {
@@ -743,6 +777,95 @@ bool ImportScene(const String& strFolder, Interface& scene)
 			scene.verticesColor.emplace_back(Interface::Color{pointcloud.colors[i]});
 		}
 	}
+
+	// read depth-maps
+	const String pathDepthMaps(strFolder+COLMAP_STEREO_DEPTHMAPS_FOLDER);
+	const String pathNormalMaps(strFolder+COLMAP_STEREO_NORMALMAPS_FOLDER);
+	if (File::isFolder(pathDepthMaps) && File::isFolder(pathNormalMaps)) {
+		// read patch-match list
+		CLISTDEF2IDX(IIndexArr,IIndex) imagesNeighbors(scene.images.size());
+		{
+			const String filenameFusion(strFolder+COLMAP_PATCHMATCH);
+			LOG_OUT() << "Reading patch-match configuration: " << filenameFusion << std::endl;
+			std::ifstream file(filenameFusion);
+			if (!file.good()) {
+				VERBOSE("error: unable to open file '%s'", filenameFusion.c_str());
+				return false;
+			}
+			while (true) {
+				String imageName, neighbors;
+				std::getline(file, imageName);
+				std::getline(file, neighbors);
+				if (file.fail() || imageName.empty() || neighbors.empty())
+					break;
+				const ImagesMap::const_iterator it_image = std::find_if(mapImages.begin(), mapImages.end(),
+					[&imageName](const ImagesMap::value_type& image) {
+						return image.first.name == imageName;
+					});
+				if (it_image == mapImages.end())
+					continue;
+				IIndexArr& imageNeighbors =  imagesNeighbors[it_image->second];
+				CLISTDEF2(String) neighborNames;
+				Util::strSplit(neighbors, _T(','), neighborNames);
+				FOREACH(i, neighborNames) {
+					String& neighborName = neighborNames[i];
+					Util::strTrim(neighborName, _T(" "));
+					const ImagesMap::const_iterator it_neighbor = std::find_if(mapImages.begin(), mapImages.end(),
+						[&neighborName](const ImagesMap::value_type& image) {
+							return image.first.name == neighborName;
+						});
+					if (it_neighbor == mapImages.end()) {
+						if (i == 0)
+							break;
+						continue;
+					}
+					imageNeighbors.emplace_back(scene.images[it_neighbor->second].ID);
+				}
+			}
+		}
+		LOG_OUT() << "Reading depth-maps/normal-maps: " << pathDepthMaps << " and " << pathNormalMaps << std::endl;
+		Util::ensureFolder(strOutFolder);
+		const String strType[] = {".geometric.bin", ".photometric.bin"};
+		FOREACH(idx, scene.images) {
+			const Interface::Image& image = scene.images[idx];
+			COLMAP::Mat<float> colDepthMap, colNormalMap;
+			const String filenameImage(Util::getFileNameExt(image.name));
+			for (int i=0; i<2; ++i) {
+				const String filenameDepthMaps(pathDepthMaps+filenameImage+strType[i]);
+				if (File::isFile(filenameDepthMaps)) {
+					colDepthMap.Read(filenameDepthMaps);
+					const String filenameNormalMaps(pathNormalMaps+filenameImage+strType[i]);
+					if (File::isFile(filenameNormalMaps)) {
+						colNormalMap.Read(filenameNormalMaps);
+					}
+					break;
+				}
+			}
+			if (!colDepthMap.data_.empty()) {
+				IIndexArr IDs = {image.ID};
+				IDs.Join(imagesNeighbors[idx]);
+				const Interface::Platform& platform = scene.platforms[image.platformID];
+				const Interface::Platform::Pose pose(platform.GetPose(image.cameraID, image.poseID));
+				const Interface::Mat33d K(platform.GetFullK(image.cameraID, (uint32_t)colDepthMap.width_, (uint32_t)colDepthMap.height_));
+				MVS::DepthMap depthMap((int)colDepthMap.height_, (int)colDepthMap.width_);
+				memcpy(depthMap.getData(), colDepthMap.data_.data(), colDepthMap.GetNumBytes());
+				MVS::NormalMap normalMap;
+				if (!colNormalMap.data_.empty()) {
+					normalMap.create((int)colNormalMap.height_, (int)colNormalMap.width_);
+					cv::merge(std::vector<cv::Mat>{
+						cv::Mat((int)colNormalMap.height_, (int)colNormalMap.width_, CV_32F, (void*)colNormalMap.GetChannelPtr(0)),
+						cv::Mat((int)colNormalMap.height_, (int)colNormalMap.width_, CV_32F, (void*)colNormalMap.GetChannelPtr(1)),
+						cv::Mat((int)colNormalMap.height_, (int)colNormalMap.width_, CV_32F, (void*)colNormalMap.GetChannelPtr(2))
+					}, normalMap);
+				}
+				MVS::ConfidenceMap confMap;
+				const auto depthMM(std::minmax_element(colDepthMap.data_.cbegin(), colDepthMap.data_.cend()));
+				const MVS::Depth dMin(*depthMM.first), dMax(*depthMM.second);
+				if (!ExportDepthDataRaw(strOutFolder+String::FormatString("depth%04u.dmap", image.ID), MAKE_PATH_FULL(strOutFolder, image.name), IDs, depthMap.size(), K, pose.R, pose.C, dMin, dMax, depthMap, normalMap, confMap))
+					return false;
+			}
+		}
+	}
 	return true;
 }
 
@@ -792,11 +915,11 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 				cam.width = ptrImage->GetWidth();
 				cam.height = ptrImage->GetHeight();
 				// unnormalize camera intrinsics
-				const double scale(MVS::Camera::GetNormalizationScale(cam.width, cam.height));
-				cam.params[0] = camera.K(0,0) * scale;
-				cam.params[1] = camera.K(1,1) * scale;
-				cam.params[2] = camera.K(0,2) * scale;
-				cam.params[3] = camera.K(1,2) * scale;
+				const Interface::Mat33d K(platform.GetFullK(0, cam.width, cam.height));
+				cam.params[0] = K(0,0);
+				cam.params[1] = K(1,1);
+				cam.params[2] = K(0,2);
+				cam.params[3] = K(1,2);
 			} else {
 				cam.width = camera.width;
 				cam.height = camera.height;
@@ -872,15 +995,12 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 				point.p = vertex.X;
 				for (const Interface::Vertex::View& view: vertex.views) {
 					COLMAP::Image& img = images[view.imageID];
-					COLMAP::Point::Track track;
-					track.idImage = view.imageID;
-					track.idProj = (uint32_t)img.projs.size();
-					point.tracks.push_back(track);
+					point.tracks.emplace_back(COLMAP::Point::Track{view.imageID, (uint32_t)img.projs.size()});
 					COLMAP::Image::Proj proj;
 					proj.idPoint = ID;
 					const Point3 X(vertex.X);
 					ProjectVertex_3x4_3_2(cameras[view.imageID].P.val, X.ptr(), proj.p.data());
-					img.projs.push_back(proj);
+					img.projs.emplace_back(proj);
 				}
 				point.c = scene.verticesColor.empty() ? Interface::Col3(255,255,255) : scene.verticesColor[ID].c;
 				point.e = 0;
@@ -1118,10 +1238,11 @@ int main(int argc, LPCTSTR* argv)
 	} else {
 		// read COLMAP input data
 		Interface scene;
-		if (!ImportScene(MAKE_PATH_SAFE(OPT::strInputFileName), scene))
+		const String strOutFolder(Util::getFilePath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputFileName)));
+		if (!ImportScene(MAKE_PATH_SAFE(OPT::strInputFileName), strOutFolder, scene))
 			return EXIT_FAILURE;
 		// write MVS input data
-		Util::ensureFolder(Util::getFullPath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputFileName)));
+		Util::ensureFolder(strOutFolder);
 		if (!ARCHIVE::SerializeSave(scene, MAKE_PATH_SAFE(OPT::strOutputFileName)))
 			return EXIT_FAILURE;
 		VERBOSE("Exported data: %u images & %u vertices (%s)", scene.images.size(), scene.vertices.size(), TD_TIMER_GET_FMT().c_str());

From b6575348a0476a998014ca98202d0b3e7b1b678f Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 31 Mar 2021 16:59:24 +0300
Subject: [PATCH 029/252] interface: add MVS preset to the python script

---
 MvgMvsPipeline.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/MvgMvsPipeline.py b/MvgMvsPipeline.py
index 4f30795c0..06264ac84 100644
--- a/MvgMvsPipeline.py
+++ b/MvgMvsPipeline.py
@@ -44,6 +44,7 @@
                             GLOBAL = [0, 1, 2, 4, 9, 10, 11, 12, 13]
                             MVG_SEQ = [0, 1, 2, 3, 5, 6, 7]
                             MVG_GLOBAL = [0, 1, 2, 4, 5, 6, 7]
+                            MVS = [10, 11, 12, 13]
                             MVS_SGM = [14, 15]
                             default : SEQUENTIAL
 
@@ -117,6 +118,7 @@ def find(afile):
           'GLOBAL': [0, 1, 2, 4, 9, 10, 11, 12, 13],
           'MVG_SEQ': [0, 1, 2, 3, 5, 6, 7],
           'MVG_GLOBAL': [0, 1, 2, 4, 5, 6, 7],
+          'MVS': [10, 11, 12, 13],
           'MVS_SGM': [14, 15]}
 
 PRESET_DEFAULT = 'SEQUENTIAL'

From ecea2ddf8918e64b3b751ade17b5634422a6bba1 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 31 Mar 2021 17:20:10 +0300
Subject: [PATCH 030/252] interface: fix COLMAP on linux

---
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index 7512f4908..757f039c7 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -569,7 +569,7 @@ struct Mat {
 	size_t GetNumBytes() const {
 		return data_.size() * sizeof(T);
 	}
-	const T* Mat<T>::GetChannelPtr(size_t c) const {
+	const T* GetChannelPtr(size_t c) const {
 		return data_.data()+width_*height_*c;
 	}
 

From 464493cebbc21e544f389b49e0603681a8bf3170 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 1 Apr 2021 22:18:42 +0300
Subject: [PATCH 031/252] common: make binary projects portable

---
 libs/Common/Types.inl | 20 ++++++++------------
 1 file changed, 8 insertions(+), 12 deletions(-)

diff --git a/libs/Common/Types.inl b/libs/Common/Types.inl
index 381b58dd7..a3a409fdb 100644
--- a/libs/Common/Types.inl
+++ b/libs/Common/Types.inl
@@ -3619,8 +3619,7 @@ namespace boost {
 
 		// Serialization support for cv::Mat
 		template<class Archive>
-		void save(Archive& ar, const cv::Mat& m, const unsigned int /*version*/)
-		{
+		void save(Archive& ar, const cv::Mat& m, const unsigned int /*version*/) {
 			const int elem_type = m.type();
 			const size_t elem_size = m.elemSize();
 
@@ -3639,8 +3638,7 @@ namespace boost {
 			}
 		}
 		template<class Archive>
-		void load(Archive& ar, cv::Mat& m, const unsigned int /*version*/)
-		{
+		void load(Archive& ar, cv::Mat& m, const unsigned int /*version*/) {
 			int cols, rows, elem_type;
 			size_t elem_size;
 
@@ -3661,8 +3659,7 @@ namespace boost {
 
 		// Serialization support for cv::Mat_
 		template<class Archive, typename _Tp>
-		void save(Archive& ar, const cv::Mat_<_Tp>& m, const unsigned int /*version*/)
-		{
+		void save(Archive& ar, const cv::Mat_<_Tp>& m, const unsigned int /*version*/) {
 			ar & m.cols;
 			ar & m.rows;
 
@@ -3676,8 +3673,7 @@ namespace boost {
 			}
 		}
 		template<class Archive, typename _Tp>
-		void load(Archive& ar, cv::Mat_<_Tp>& m, const unsigned int /*version*/)
-		{
+		void load(Archive& ar, cv::Mat_<_Tp>& m, const unsigned int /*version*/) {
 			int cols, rows;
 			ar & cols;
 			ar & rows;
@@ -3811,7 +3807,7 @@ enum ARCHIVE_TYPE {
 
 // export the current state of the given reconstruction object
 template <typename TYPE>
-bool SerializeSave(const TYPE& obj, std::ofstream& fs, ARCHIVE_TYPE type, unsigned flags=0)
+bool SerializeSave(const TYPE& obj, std::ofstream& fs, ARCHIVE_TYPE type, unsigned flags=boost::archive::no_header)
 {
 	// serialize out the current state
 	switch (type) {
@@ -3848,7 +3844,7 @@ bool SerializeSave(const TYPE& obj, std::ofstream& fs, ARCHIVE_TYPE type, unsign
 	return true;
 } // SerializeSave
 template <typename TYPE>
-bool SerializeSave(const TYPE& obj, const SEACAVE::String& fileName, ARCHIVE_TYPE type, unsigned flags=0)
+bool SerializeSave(const TYPE& obj, const SEACAVE::String& fileName, ARCHIVE_TYPE type, unsigned flags=boost::archive::no_header)
 {
 	// open the output stream
 	std::ofstream fs(fileName, std::ios::out | std::ios::binary);
@@ -3860,7 +3856,7 @@ bool SerializeSave(const TYPE& obj, const SEACAVE::String& fileName, ARCHIVE_TYP
 
 // import the state to the given reconstruction object
 template <typename TYPE>
-bool SerializeLoad(TYPE& obj, std::ifstream& fs, ARCHIVE_TYPE type, unsigned flags=0)
+bool SerializeLoad(TYPE& obj, std::ifstream& fs, ARCHIVE_TYPE type, unsigned flags=boost::archive::no_header)
 {
 	try {
 		// serialize in the saved state
@@ -3903,7 +3899,7 @@ bool SerializeLoad(TYPE& obj, std::ifstream& fs, ARCHIVE_TYPE type, unsigned fla
 	return true;
 } // SerializeLoad
 template <typename TYPE>
-bool SerializeLoad(TYPE& obj, const SEACAVE::String& fileName, ARCHIVE_TYPE type, unsigned flags=0)
+bool SerializeLoad(TYPE& obj, const SEACAVE::String& fileName, ARCHIVE_TYPE type, unsigned flags=boost::archive::no_header)
 {
 	// open the input stream
 	std::ifstream fs(fileName, std::ios::in | std::ios::binary);

From 8e96a401914143854416523735bc0b42246e0aad Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 5 Apr 2021 10:22:28 +0300
Subject: [PATCH 032/252] viewer: display views seeing selected point or points
 seen by the current view

---
 .gitignore              |   4 +-
 apps/Viewer/Camera.cpp  | 144 +++++++++++----------
 apps/Viewer/Camera.h    |  30 +++--
 apps/Viewer/Common.h    |  15 ++-
 apps/Viewer/Scene.cpp   | 110 +++++++++++-----
 apps/Viewer/Scene.h     |   3 +-
 apps/Viewer/Viewer.cpp  |   7 +-
 apps/Viewer/Window.cpp  | 272 ++++++++++++++++++++++++++++------------
 apps/Viewer/Window.h    |  40 ++++--
 libs/Common/AABB.h      |   4 +-
 libs/Common/AABB.inl    |   6 +-
 libs/MVS/Mesh.cpp       |  18 +++
 libs/MVS/Mesh.h         |   1 +
 libs/MVS/PointCloud.cpp |  18 +++
 libs/MVS/PointCloud.h   |   1 +
 15 files changed, 461 insertions(+), 212 deletions(-)

diff --git a/.gitignore b/.gitignore
index 9a2dbda4c..a12459285 100644
--- a/.gitignore
+++ b/.gitignore
@@ -35,6 +35,4 @@ CMakeSettings.json
 .idea/
 .vscode/
 out/
-bin/
-binaries/
-build_wsl/
+bin*/
diff --git a/apps/Viewer/Camera.cpp b/apps/Viewer/Camera.cpp
index b217c2d6b..7efa4eb77 100644
--- a/apps/Viewer/Camera.cpp
+++ b/apps/Viewer/Camera.cpp
@@ -40,122 +40,136 @@ using namespace VIEWER;
 
 // S T R U C T S ///////////////////////////////////////////////////
 
-Camera::Camera(const AABB3d& _box, double _fov)
+Camera::Camera(const AABB3d& _box, const Point3d& _center, float _scaleF, float _fov)
 	:
-	box(_box),
-	width(0), height(0),
+	boxScene(_box),
+	centerScene(_center),
 	rotation(Eigen::Quaterniond::Identity()),
 	center(Eigen::Vector3d::Zero()),
-	dist(0), radius(100), fov(_fov),
-	scaleF(1.f),
+	dist(0), radius(100),
+	fovDef(_fov), scaleFDef(_scaleF),
 	prevCamID(NO_ID), currentCamID(NO_ID), maxCamID(0)
 {
 	Reset();
 }
 
-void Camera::CopyOf(const Camera& rhs)
-{
-	rotation = rhs.rotation;
-	center = rhs.center;
-	dist   = rhs.dist;
-	radius = rhs.radius;
-	fov    = rhs.fov;
-}
-
-
-void Camera::Init(const AABB3d& _box)
-{
-	box = _box;
-	Reset();
-}
-
 void Camera::Reset()
 {
-	center = box.GetCenter();
-	radius = box.GetSize().norm()*0.5;
+	if (boxScene.IsEmpty()) {
+		center = Point3d::ZERO;
+		radius = 1;
+	} else {
+		center = centerScene;
+		radius = boxScene.GetSize().norm()*0.5;
+	}
 	rotation = Eigen::Quaterniond::Identity();
-	scaleF = 1.f;
+	scaleF = scaleFDef;
 	prevCamID = currentCamID = NO_ID;
-	fov = 40;
-	dist = radius * 0.5 / SIN(D2R(fov));
-	Resize(width, height);
+	fov = fovDef;
+	dist = radius*0.5 / SIN(D2R((double)fov));
+	if (size.area())
+		Resize(size);
 }
 
-void Camera::Resize(int _width, int _height)
+void Camera::Resize(const cv::Size& _size)
 {
+	ASSERT(MINF(_size.width, _size.height) > 0);
+	size = _size;
 	glMatrixMode(GL_PROJECTION);
 	glLoadIdentity();
-	const GLfloat zNear = 1e-2f;
-	const GLfloat zFar = 1e5f;
-	width = _width; height = _height;
-	GLfloat aspect = float(width)/float(height);
-	GLfloat fH = TAN(FD2R((float)fov)) * zNear;
-	GLfloat fW = fH * aspect;
-	glFrustum(-fW, fW, -fH, fH, zNear, zFar);
+	const GLfloat zNear = 1e-3f;
+	const GLfloat zFar = (float)boxScene.GetSize().norm()*10;
+	const GLfloat aspect = float(size.width)/float(size.height);
+	if (fov == 5.f) {
+		// orthographic projection
+		const GLfloat fH = (float)boxScene.GetSize().norm()*0.5f;
+		const GLfloat fW = fH * aspect;
+		glOrtho(-fW, fW, -fH, fH, zNear, zFar);
+	} else {
+		// perspective projection
+		const GLfloat fH = TAN(D2R(fov)) * zNear;
+		const GLfloat fW = fH * aspect;
+		glFrustum(-fW, fW, -fH, fH, zNear, zFar);
+	}
 }
 
-void Camera::SetFOV(double _fov)
+void Camera::SetFOV(float _fov)
 {
-	fov = _fov;
-	Resize(width, height);
+	fov = MAXF(_fov, 5.f);
+	Resize(size);
 }
 
 
 Eigen::Vector3d Camera::GetPosition() const
 {
-	const Eigen::Matrix3d R(rotation.toRotationMatrix());
-	const Eigen::Vector3d eye(0, 0, dist);
-	return R * eye + center;
+	const Eigen::Matrix3d R(GetRotation());
+	return center + R.col(2) * dist;
+}
+
+Eigen::Matrix3d Camera::GetRotation() const
+{
+	return rotation.toRotationMatrix();
 }
 
 Eigen::Matrix4d Camera::GetLookAt() const
 {
-	const Eigen::Matrix3d R(rotation.toRotationMatrix());
-	const Eigen::Vector3d eye(R.col(2) * dist + center);
+	const Eigen::Matrix3d R(GetRotation());
+	const Eigen::Vector3d eye(center + R.col(2) * dist);
 	const Eigen::Vector3d up(R.col(1));
-	
+
 	const Eigen::Vector3d n((center-eye).normalized());
 	const Eigen::Vector3d s(n.cross(up));
 	const Eigen::Vector3d v(s.cross(n));
-	
-	Eigen::Matrix4d m;
-	m <<
-	s(0),  s(1),  s(2), -eye.dot(s),
-	v(0),  v(1),  v(2), -eye.dot(v),
-	-n(0), -n(1), -n(2),  eye.dot(n),
-	0.0, 0.0, 0.0, 1.0;
+
+	Eigen::Matrix4d m; m <<
+		 s(0),  s(1),  s(2), -eye.dot(s),
+		 v(0),  v(1),  v(2), -eye.dot(v),
+		-n(0), -n(1), -n(2),  eye.dot(n),
+		 0.0, 0.0, 0.0, 1.0;
 	return m;
 }
 void Camera::GetLookAt(Eigen::Vector3d& _eye, Eigen::Vector3d& _center, Eigen::Vector3d& _up) const
 {
-	const Eigen::Matrix3d R(rotation.toRotationMatrix());
-	const Eigen::Vector3d eye(0, 0, dist);
-	const Eigen::Vector3d up(0, 1, 0);
-
-	_eye = R * eye + center;
+	const Eigen::Matrix3d R(GetRotation());
+	_eye = center + R.col(2) * dist;
 	_center = center;
-	_up  = R * up;
+	_up = R.col(1);
 }
 
+
 void Camera::Rotate(const Eigen::Vector2d& pos, const Eigen::Vector2d& prevPos)
 {
-	if (pos.isApprox(prevPos, ZERO_TOLERANCE))
+	if (pos.isApprox(prevPos, ZEROTOLERANCE<double>()))
 		return;
 
 	Eigen::Vector3d oldp(prevPos.x(), prevPos.y(), 0);
 	Eigen::Vector3d newp(pos.x(), pos.y(), 0);
-	const double radius_virtual_sphere(0.9);
-	Project2Sphere(radius_virtual_sphere, oldp);
-	Project2Sphere(radius_virtual_sphere, newp);
-	Eigen::Quaterniond dr;
-	dr.setFromTwoVectors(newp, oldp);
-	rotation *= dr;
+	const double radiusSphere(0.9);
+	ProjectOnSphere(radiusSphere, oldp);
+	ProjectOnSphere(radiusSphere, newp);
+	rotation *= Eigen::Quaterniond().setFromTwoVectors(newp, oldp);
+
+	// disable camera view mode
+	prevCamID = currentCamID;
+}
+
+void Camera::Translate(const Eigen::Vector2d& pos, const Eigen::Vector2d& prevPos)
+{
+	if (pos.isApprox(prevPos, ZEROTOLERANCE<double>()))
+		return;
+
+	Eigen::Matrix<double,4,4,Eigen::ColMajor> P, V;
+	glGetDoublev(GL_MODELVIEW_MATRIX, V.data());
+	glGetDoublev(GL_PROJECTION_MATRIX, P.data());
+	Eigen::Vector3d centerScreen((P*V*center.homogeneous().eval()).hnormalized());
+	centerScreen.head<2>() += prevPos - pos;
+	center = (V.inverse()*P.inverse()*centerScreen.homogeneous().eval()).hnormalized();
 
 	// disable camera view mode
 	prevCamID = currentCamID;
 }
 
-void Camera::Project2Sphere(double radius, Eigen::Vector3d& p) const
+void Camera::ProjectOnSphere(double radius, Eigen::Vector3d& p) const
 {
 	p.z() = 0;
 	const double d = p.x()* p.x()+ p.y() * p.y();
diff --git a/apps/Viewer/Camera.h b/apps/Viewer/Camera.h
index 37d982386..d83880a3e 100644
--- a/apps/Viewer/Camera.h
+++ b/apps/Viewer/Camera.h
@@ -48,34 +48,38 @@ class Camera
 public:
 	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
-	AABB3d box;
-	int width, height;
+	cv::Size size;
+	AABB3d boxScene;
+	Eigen::Vector3d centerScene;
 	Eigen::Quaterniond rotation;
 	Eigen::Vector3d center;
-	double dist;
-	double radius;
-	double fov;
-	float scaleF;
+	double dist, radius;
+	float fov, fovDef;
+	float scaleF, scaleFDef;
 	MVS::IIndex prevCamID, currentCamID, maxCamID;
 
 public:
-	explicit Camera(const AABB3d& _box=AABB3d(true), double _fov=40);
-	void CopyOf(const Camera&);
+	Camera(const AABB3d& _box=AABB3d(true), const Point3d& _center=Point3d::ZERO, float _scaleF=1, float _fov=40);
 
-	void Init(const AABB3d&);
 	void Reset();
-	void Resize(int _width, int _height);
-	void SetFOV(double _fov);
+	void Resize(const cv::Size&);
+	void SetFOV(float _fov);
+
+	const cv::Size& GetSize() const { return size; }
 
 	Eigen::Vector3d GetPosition() const;
+	Eigen::Matrix3d GetRotation() const;
 	Eigen::Matrix4d GetLookAt() const;
+
 	void GetLookAt(Eigen::Vector3d& eye, Eigen::Vector3d& center, Eigen::Vector3d& up) const;
 	void Rotate(const Eigen::Vector2d& pos, const Eigen::Vector2d& prevPos);
+	void Translate(const Eigen::Vector2d& pos, const Eigen::Vector2d& prevPos);
+
+	bool IsCameraViewMode() const { return prevCamID != currentCamID && currentCamID != NO_ID; }
 
 protected:
-	void Project2Sphere(double radius, Eigen::Vector3d& p) const;
+	void ProjectOnSphere(double radius, Eigen::Vector3d& p) const;
 };
-typedef CSharedPtr<Camera> CameraPtr;
 /*----------------------------------------------------------------*/
 
 } // namespace VIEWER
diff --git a/apps/Viewer/Common.h b/apps/Viewer/Common.h
index d1f1912b5..f3387834e 100644
--- a/apps/Viewer/Common.h
+++ b/apps/Viewer/Common.h
@@ -59,16 +59,19 @@ using namespace SEACAVE;
 namespace VIEWER {
 
 // the conversion matrix from OpenGL default coordinate system
-//  to the camera coordinate system:
+//  to the camera coordinate system (NADIR orientation):
 // [ 1  0  0  0] * [ x ] = [ x ]
 //   0 -1  0  0      y      -y
 //   0  0 -1  0      z      -z
 //   0  0  0  1      1       1
-static const GLfloat gs_convert[4][4] = {
-	{1.f,  0.f,  0.f, 0.f},
-	{0.f, -1.f,  0.f, 0.f},
-	{0.f,  0.f, -1.f, 0.f},
-	{0.f,  0.f,  0.f, 1.f}};
+static const Eigen::Matrix4d gs_convert = [] {
+	Eigen::Matrix4d tmp; tmp <<
+		1,  0,  0,  0,
+		0, -1,  0,  0,
+		0,  0, -1,  0,
+		0,  0,  0,  1;
+	return tmp;
+}();
 
 /// given rotation matrix R and translation vector t,
 /// column-major matrix m is equal to:
diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index c5dca5bd5..b15bcb4b2 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -234,6 +234,11 @@ void Scene::Empty()
 {
 	ReleasePointCloud();
 	ReleaseMesh();
+	if (window.IsValid()) {
+		window.ReleaseClbk();
+		window.Reset();
+		window.SetName(_T("(empty)"));
+	}
 	textures.Release();
 	images.Release();
 	scene.Release();
@@ -241,6 +246,8 @@ void Scene::Empty()
 }
 void Scene::Release()
 {
+	if (window.IsValid())
+		window.SetVisible(false);
 	if (!thread.isRunning()) {
 		events.AddEvent(new EVTClose());
 		thread.join();
@@ -264,23 +271,19 @@ void Scene::ReleaseMesh()
 	}
 }
 
-bool Scene::Init(int width, int height, LPCTSTR windowName, LPCTSTR fileName, LPCTSTR meshFileName)
+bool Scene::Init(const cv::Size& size, LPCTSTR windowName, LPCTSTR fileName, LPCTSTR meshFileName)
 {
 	ASSERT(scene.IsEmpty());
 
 	// init window
 	if (glfwInit() == GL_FALSE)
 		return false;
-	if (!window.Init(width, height, windowName))
+	if (!window.Init(size, windowName))
 		return false;
 	if (glewInit() != GLEW_OK)
 		return false;
 	name = windowName;
 	window.clbkOpenScene = DELEGATEBINDCLASS(Window::ClbkOpenScene, &Scene::Open, this);
-	window.clbkExportScene = DELEGATEBINDCLASS(Window::ClbkExportScene, &Scene::Export, this);
-	window.clbkRayScene = DELEGATEBINDCLASS(Window::ClbkRayScene, &Scene::CastRay, this);
-	window.clbkCompilePointCloud = DELEGATEBINDCLASS(Window::ClbkCompilePointCloud, &Scene::CompilePointCloud, this);
-	window.clbkCompileMesh = DELEGATEBINDCLASS(Window::ClbkCompileMesh, &Scene::CompileMesh, this);
 
 	// init OpenGL
 	glPolygonMode(GL_FRONT, GL_FILL);
@@ -305,9 +308,9 @@ bool Scene::Init(int width, int height, LPCTSTR windowName, LPCTSTR fileName, LP
 	thread.start(ThreadWorker);
 
 	// open scene or init empty scene
-	if (fileName == NULL || !Open(fileName, meshFileName))
-		window.SetCamera(CameraPtr(new Camera()));
-
+	window.SetCamera(Camera());
+	if (fileName != NULL)
+		Open(fileName, meshFileName);
 	window.SetVisible(true);
 	return true;
 }
@@ -337,14 +340,18 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 
 	// init scene
 	AABB3d bounds(true);
+	AABB3d imageBounds(true);
+	Point3d center(Point3d::INF);
 	if (!scene.pointcloud.IsEmpty()) {
 		bounds = scene.pointcloud.GetAABB(MINF(3u,scene.nCalibratedImages));
 		if (bounds.IsEmpty())
 			bounds = scene.pointcloud.GetAABB();
+		center = scene.pointcloud.GetCenter();
 	}
 	if (!scene.mesh.IsEmpty()) {
 		scene.mesh.ComputeNormalFaces();
 		bounds.Insert(scene.mesh.GetAABB());
+		center = scene.mesh.GetCenter();
 	}
 
 	// init images
@@ -353,7 +360,8 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 		const MVS::Image& imageData = scene.images[idxImage];
 		if (!imageData.IsValid())
 			continue;
-		images.AddConstruct(idxImage);
+		images.emplace_back(idxImage);
+		imageBounds.InsertFull(imageData.camera.C);
 	}
 
 	// init and load texture
@@ -379,10 +387,18 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 	CompileMesh();
 
 	// init camera
-	window.SetCamera(CameraPtr(new Camera(bounds)));
-	window.camera->maxCamID = images.size();
+	window.SetCamera(Camera(bounds,
+		center == Point3d::INF ? Point3d(bounds.GetCenter()) : center,
+		images.size()<2?1.f:(float)imageBounds.EnlargePercent(REAL(1)/images.size()).GetSize().norm()));
+	window.camera.maxCamID = images.size();
 	window.SetName(String::FormatString((name + _T(": %s")).c_str(), Util::getFileName(fileName).c_str()));
-	window.Reset(MINF(2u, images.size()));
+	window.clbkExportScene = DELEGATEBINDCLASS(Window::ClbkExportScene, &Scene::Export, this);
+	window.clbkCompilePointCloud = DELEGATEBINDCLASS(Window::ClbkCompilePointCloud, &Scene::CompilePointCloud, this);
+	window.clbkCompileMesh = DELEGATEBINDCLASS(Window::ClbkCompileMesh, &Scene::CompileMesh, this);
+	if (!bounds.IsEmpty())
+		window.clbkRayScene = DELEGATEBINDCLASS(Window::ClbkRayScene, &Scene::CastRay, this);
+	window.Reset(!scene.pointcloud.IsEmpty()&&!scene.mesh.IsEmpty()?Window::SPR_NONE:Window::SPR_ALL,
+		MINF(2u,images.size()));
 	return true;
 }
 
@@ -468,8 +484,6 @@ void Scene::Draw()
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 	glPointSize(window.pointSize);
 
-	window.UpdateView(images, scene.images);
-
 	// render point-cloud
 	if (listPointCloud) {
 		glDisable(GL_TEXTURE_2D);
@@ -493,6 +507,7 @@ void Scene::Draw()
 	// render cameras
 	if (window.bRenderCameras) {
 		glDisable(GL_CULL_FACE);
+		const Point3* ptrPrevC(NULL);
 		FOREACH(idx, images) {
 			Image& image = images[idx];
 			const MVS::Image& imageData = scene.images[image.idx];
@@ -503,7 +518,7 @@ void Scene::Draw()
 			glPointSize(window.pointSize+1.f);
 			glDisable(GL_TEXTURE_2D);
 			// draw camera position and image center
-			const double scaleFocal(window.camera->scaleF);
+			const double scaleFocal(window.camera.scaleF);
 			glBegin(GL_POINTS);
 			glColor3f(1,0,0); glVertex3f(0,0,0); // camera position
 			glColor3f(0,1,0); glVertex3f(0,0,(float)scaleFocal); // image center
@@ -520,7 +535,7 @@ void Scene::Draw()
 			const Point3d ic3(px, py, scaleFocal);
 			const Point3d ic4(px, cy, scaleFocal);
 			// draw image thumbnail
-			const bool bSelectedImage(idx == window.camera->currentCamID);
+			const bool bSelectedImage(idx == window.camera.currentCamID);
 			if (bSelectedImage) {
 				if (image.IsValid()) {
 					// render image
@@ -565,6 +580,36 @@ void Scene::Draw()
 			glEnd();
 			// restore coordinate system
 			glPopMatrix();
+			// render image visibility info
+			if (window.bRenderImageVisibility && idx != NO_ID && idx==window.camera.currentCamID) {
+				if (scene.pointcloud.IsValid()) {
+					const Image& image = images[idx];
+					glPointSize(window.pointSize*1.1f);
+					glDisable(GL_DEPTH_TEST);
+					glBegin(GL_POINTS);
+					glColor3f(1.f,0.f,0.f);
+					FOREACH(i, scene.pointcloud.points) {
+						ASSERT(!scene.pointcloud.pointViews[i].empty());
+						if (scene.pointcloud.pointViews[i].size() < window.minViews)
+							continue;
+						if (scene.pointcloud.pointViews[i].FindFirst(image.idx) == MVS::PointCloud::ViewArr::NO_INDEX)
+							continue;
+						glVertex3fv(scene.pointcloud.points[i].ptr());
+					}
+					glEnd();
+					glEnable(GL_DEPTH_TEST);
+					glPointSize(window.pointSize);
+				}
+			}
+			// render camera trajectory
+			if (window.bRenderCameraTrajectory && ptrPrevC) {
+				glBegin(GL_LINES);
+				glColor3f(1.f,0.5f,0.f);
+				glVertex3dv(ptrPrevC->ptr());
+				glVertex3dv(camera.C.ptr());
+				glEnd();
+			}
+			ptrPrevC = &camera.C;
 		}
 	}
 	if (window.selectionType != Window::SEL_NA) {
@@ -577,25 +622,31 @@ void Scene::Draw()
 		glColor3f(0,0,1); glVertex3fv(window.selectionPoints[2].ptr());
 		}
 		glEnd();
+		if (window.bRenderViews && window.selectionType == Window::SEL_POINT) {
+			if (!scene.pointcloud.pointViews.empty()) {
+				glBegin(GL_LINES);
+				const MVS::PointCloud::ViewArr& views = scene.pointcloud.pointViews[(MVS::PointCloud::Index)window.selectionIdx];
+				ASSERT(!views.empty());
+				for (MVS::PointCloud::View idxImage: views) {
+					const MVS::Image& imageData = scene.images[idxImage];
+					glVertex3dv(imageData.camera.C.ptr());
+					glVertex3fv(window.selectionPoints[0].ptr());
+				}
+				glEnd();
+			}
+		}
 		glEnable(GL_DEPTH_TEST);
 		glPointSize(window.pointSize);
 	}
 	glfwSwapBuffers(window.GetWindow());
 }
 
-void Scene::ProcessEvents()
-{
-	glfwWaitEvents();
-	window.UpdateMousePosition();
-	if (glfwGetMouseButton(window.GetWindow(), GLFW_MOUSE_BUTTON_1) != GLFW_RELEASE)
-		window.camera->Rotate(window.pos, window.prevPos);
-}
-
 void Scene::Loop()
 {
 	while (!glfwWindowShouldClose(window.GetWindow())) {
-		ProcessEvents();
+		window.UpdateView(images, scene.images);
 		Draw();
+		glfwWaitEvents();
 	}
 }
 
@@ -620,8 +671,7 @@ void Scene::CastRay(const Ray3& ray, int action)
 	if (window.selectionType != Window::SEL_NA &&
 		now-window.selectionTime < timeDblClick) {
 		// this is a double click, center scene at the selected point
-		window.camera->center = Point3d(window.selectionPoints[3]);
-		window.camera->dist *= 0.7;
+		window.CenterCamera(window.selectionPoints[3]);
 		window.selectionTime = now;
 	} else
 	if (!octMesh.IsEmpty()) {
@@ -635,6 +685,7 @@ void Scene::CastRay(const Ray3& ray, int action)
 			window.selectionPoints[3] = (ray.m_pOrig + ray.m_vDir*intRay.pick.dist).cast<float>();
 			window.selectionType = Window::SEL_TRIANGLE;
 			window.selectionTime = now;
+			window.selectionIdx = intRay.pick.idx;
 			DEBUG("Face selected:\n\tindex: %u\n\tvertex 1: %u (%g %g %g)\n\tvertex 2: %u (%g %g %g)\n\tvertex 3: %u (%g %g %g)",
 				intRay.pick.idx,
 				face[0], window.selectionPoints[0].x, window.selectionPoints[0].y, window.selectionPoints[0].z,
@@ -652,6 +703,7 @@ void Scene::CastRay(const Ray3& ray, int action)
 			window.selectionPoints[0] = window.selectionPoints[3] = scene.pointcloud.points[intRay.pick.idx];
 			window.selectionType = Window::SEL_POINT;
 			window.selectionTime = now;
+			window.selectionIdx = intRay.pick.idx;
 			DEBUG("Point selected:\n\tindex: %u (%g %g %g)%s",
 				intRay.pick.idx,
 				window.selectionPoints[0].x, window.selectionPoints[0].y, window.selectionPoints[0].z,
@@ -670,7 +722,7 @@ void Scene::CastRay(const Ray3& ray, int action)
 				}().c_str()
 			);
 		} else {
-			window.selectionType = Window::SEL_POINT;
+			window.selectionType = Window::SEL_NA;
 		}
 	}
 	break; }
diff --git a/apps/Viewer/Scene.h b/apps/Viewer/Scene.h
index 63aca7d5e..5a02d5d2d 100644
--- a/apps/Viewer/Scene.h
+++ b/apps/Viewer/Scene.h
@@ -82,14 +82,13 @@ class Scene
 	inline bool IsOpen() const { return IsValid() && !scene.IsEmpty(); }
 	inline bool IsOctreeValid() const { return !octPoints.IsEmpty() || !octMesh.IsEmpty(); }
 
-	bool Init(int width, int height, LPCTSTR windowName, LPCTSTR fileName=NULL, LPCTSTR meshFileName=NULL);
+	bool Init(const cv::Size&, LPCTSTR windowName, LPCTSTR fileName=NULL, LPCTSTR meshFileName=NULL);
 	bool Open(LPCTSTR fileName, LPCTSTR meshFileName=NULL);
 	bool Export(LPCTSTR fileName, LPCTSTR exportType=NULL, bool losslessTexture=false) const;
 	void CompilePointCloud();
 	void CompileMesh();
 
 	void Draw();
-	void ProcessEvents();
 	void Loop();
 
 	void CastRay(const Ray3&, int);
diff --git a/apps/Viewer/Viewer.cpp b/apps/Viewer/Viewer.cpp
index e0ff5b56d..d8c952ead 100644
--- a/apps/Viewer/Viewer.cpp
+++ b/apps/Viewer/Viewer.cpp
@@ -155,9 +155,12 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 			"\tE: export scene\n"
 			"\tR: reset scene\n"
 			"\tC: render cameras\n"
+			"\tC + Shift: render camera trajectory\n"
 			"\tLeft/Right: select next camera to view the scene\n"
-			"\tW: render wire-frame mesh\n"
 			"\tT: render mesh texture\n"
+			"\tW: render wire-frame mesh\n"
+			"\tV: render view rays to the selected point\n"
+			"\tV + Shift: render points seen by the current view\n"
 			"\tUp/Down: adjust point size\n"
 			"\tUp/Down + Shift: adjust minimum number of views accepted when displaying a point or line\n"
 			"\t+/-: adjust camera thumbnail transparency\n"
@@ -216,7 +219,7 @@ int main(int argc, LPCTSTR* argv)
 
 	// create viewer
 	Scene viewer;
-	if (!viewer.Init(1280, 720, APPNAME,
+	if (!viewer.Init(cv::Size(1280, 720), APPNAME,
 			OPT::strInputFileName.IsEmpty() ? NULL : MAKE_PATH_SAFE(OPT::strInputFileName).c_str(),
 			OPT::strMeshFileName.IsEmpty() ? NULL : MAKE_PATH_SAFE(OPT::strMeshFileName).c_str()))
 		return EXIT_FAILURE;
diff --git a/apps/Viewer/Window.cpp b/apps/Viewer/Window.cpp
index 4cb3eeef4..cc243ef7d 100644
--- a/apps/Viewer/Window.cpp
+++ b/apps/Viewer/Window.cpp
@@ -57,39 +57,52 @@ Window::~Window()
 void Window::Release()
 {
 	if (IsValid()) {
+		#ifdef _USE_NUKLEAR
+		nk_glfw3_shutdown();
+		#endif
 		glfwDestroyWindow(window);
 		window = NULL;
 	}
 	clbkOpenScene.reset();
+	ReleaseClbk();
+}
+
+void Window::ReleaseClbk()
+{
 	clbkExportScene.reset();
 	clbkRayScene.reset();
 	clbkCompilePointCloud.reset();
 	clbkCompileMesh.reset();
 }
 
-bool Window::Init(int width, int height, LPCTSTR name)
+bool Window::Init(const cv::Size& _size, LPCTSTR name)
 {
+	sizeScale = 1;
+	size = _size;
+
 	glfwDefaultWindowHints();
 	glfwWindowHint(GLFW_VISIBLE, 0);
-	window = glfwCreateWindow(width, height, name, NULL, NULL);
+	window = glfwCreateWindow(size.width, size.height, name, NULL, NULL);
 	if (!window)
 		return false;
 	glfwMakeContextCurrent(window);
 	glfwSetFramebufferSizeCallback(window, Window::Resize);
 	glfwSetKeyCallback(window, Window::Key);
 	glfwSetMouseButtonCallback(window, Window::MouseButton);
+	glfwSetCursorPosCallback(window, Window::MouseMove);
 	glfwSetScrollCallback(window, Window::Scroll);
 	glfwSetDropCallback(window, Window::Drop);
 	g_mapWindows[window] = this;
+
 	Reset();
 	return true;
 }
-void Window::SetCamera(CameraPtr cam)
+void Window::SetCamera(const Camera& cam)
 {
 	camera = cam;
-	int width, height;
-	glfwGetWindowSize(window, &width, &height);
-	Resize(width, height);
+	cv::Size _size;
+	glfwGetFramebufferSize(window, &_size.width, &_size.height);
+	Resize(_size);
 }
 void Window::SetName(LPCTSTR name)
 {
@@ -102,18 +115,26 @@ void Window::SetVisible(bool v)
 	else
 		glfwHideWindow(window);
 }
-void Window::Reset(uint32_t _minViews)
+bool Window::IsVisible() const
 {
-	if (camera)
-		camera->Reset();
-	sparseType = SPR_ALL;
+	return glfwGetWindowAttrib(window, GLFW_VISIBLE) != 0;
+}
+void Window::Reset(SPARSE _sparseType, unsigned _minViews)
+{
+	camera.Reset();
+	inputType = INP_NA;
+	sparseType = _sparseType;
 	minViews = _minViews;
 	pointSize = 2.f;
 	cameraBlend = 0.5f;
 	bRenderCameras = true;
+	bRenderCameraTrajectory = true;
+	bRenderImageVisibility = false;
+	bRenderViews = true;
 	bRenderSolid = true;
 	bRenderTexture = true;
 	selectionType = SEL_NA;
+	selectionIdx = NO_IDX;
 	if (clbkCompilePointCloud != NULL)
 		clbkCompilePointCloud();
 	if (clbkCompileMesh != NULL)
@@ -121,46 +142,76 @@ void Window::Reset(uint32_t _minViews)
 	glfwPostEmptyEvent();
 }
 
-void Window::UpdateView(const ImageArr& images, const MVS::ImageArr& sceneImages)
+
+void Window::CenterCamera(const Point3& pos)
 {
-	glMatrixMode(GL_MODELVIEW);
-	if (camera->prevCamID != camera->currentCamID && camera->currentCamID != NO_ID) {
-		// enable camera view mode
-		// apply current camera transform
-		const Image& image = images[camera->currentCamID];
-		const MVS::Image& imageData = sceneImages[image.idx];
-		const MVS::Camera& camera = imageData.camera;
-		const Eigen::Matrix4d trans(TransW2L((const Matrix3x3::EMat)camera.R, camera.GetT()));
-		glLoadMatrixf((GLfloat*)gs_convert);
-		glMultMatrixd((GLdouble*)trans.data());
+	camera.center = pos;
+	camera.dist *= 0.7;
+}
+
+
+void Window::UpdateView(const ImageArr& images, const MVS::ImageArr& sceneImagesMVS)
+{
+	if (camera.IsCameraViewMode()) {
+		// enable camera view mode and apply current camera transform
+		const Image& image = images[camera.currentCamID];
+		const MVS::Camera& camera = sceneImagesMVS[image.idx].camera;
+		UpdateView((const Matrix3x3::EMat)camera.R, camera.GetT());
 	} else {
 		// apply view point transform
-		const Eigen::Matrix4d trans(camera->GetLookAt());
+		glMatrixMode(GL_MODELVIEW);
+		const Eigen::Matrix4d trans(camera.GetLookAt());
 		glLoadMatrixd((GLdouble*)trans.data());
 	}
 }
 
-void Window::UpdateMousePosition()
+void Window::UpdateView(const Eigen::Matrix3d& R, const Eigen::Vector3d& t)
+{
+	glMatrixMode(GL_MODELVIEW);
+	transform = gs_convert * TransW2L(R, t);
+	glLoadMatrixd((GLdouble*)transform.data());
+}
+
+void Window::UpdateMousePosition(double xpos, double ypos)
 {
 	prevPos = pos;
-	// get current position
-	glfwGetCursorPos(window, &pos.x(), &pos.y());
+	pos.x() = xpos;
+	pos.y() = ypos;
 	// normalize position to [-1:1] range
-	const int w(camera->width);
-	const int h(camera->height);
+	const int w(camera.size.width);
+	const int h(camera.size.height);
 	pos.x() = (2.0 * pos.x() - w) / w;
 	pos.y() = (h - 2.0 * pos.y()) / h;
 }
 
-void Window::Resize(int width, int height)
+
+void Window::GetFrame(Image8U3& image) const
+{
+	image.create(GetSize());
+	glReadPixels(0, 0, image.width(), image.height(), GL_BGR_EXT, GL_UNSIGNED_BYTE, image.ptr());
+	cv::flip(image, image, 0);
+}
+
+
+cv::Size Window::GetSize() const
+{
+	cv::Size _size;
+	glfwGetWindowSize(window, &_size.width, &_size.height);
+	return _size;
+}
+void Window::Resize(const cv::Size& _size)
 {
+	// detect scaled window
+	sizeScale = (double)GetSize().width/_size.width;
+	size = _size;
+	// update resolution
 	glfwMakeContextCurrent(window);
-	glViewport(0, 0, (GLint)width, (GLint)height);
-	camera->Resize(width, height);
+	glViewport(0, 0, size.width, size.height);
+	camera.Resize(cv::Size(ROUND2INT(size.width*sizeScale), ROUND2INT(size.height*sizeScale)));
 }
 void Window::Resize(GLFWwindow* window, int width, int height)
 {
-	g_mapWindows[window]->Resize(width, height);
+	g_mapWindows[window]->Resize(cv::Size(width, height));
 }
 
 void Window::Key(int k, int /*scancode*/, int action, int mod)
@@ -196,31 +247,61 @@ void Window::Key(int k, int /*scancode*/, int action, int mod)
 		break;
 	case GLFW_KEY_LEFT:
 		if (action != GLFW_RELEASE) {
-			camera->prevCamID = camera->currentCamID;
-			camera->currentCamID--;
-			if (camera->currentCamID < NO_ID && camera->currentCamID >= camera->maxCamID)
-				camera->currentCamID = camera->maxCamID-1;
+			camera.prevCamID = camera.currentCamID;
+			camera.currentCamID--;
+			if (camera.currentCamID < NO_ID && camera.currentCamID >= camera.maxCamID)
+				camera.currentCamID = camera.maxCamID-1;
 		}
 		break;
 	case GLFW_KEY_RIGHT:
 		if (action != GLFW_RELEASE) {
-			camera->prevCamID = camera->currentCamID;
-			camera->currentCamID++;
-			if (camera->currentCamID >= camera->maxCamID)
-				camera->currentCamID = NO_ID;
+			camera.prevCamID = camera.currentCamID;
+			camera.currentCamID++;
+			if (camera.currentCamID >= camera.maxCamID)
+				camera.currentCamID = NO_ID;
+		}
+		break;
+	case GLFW_KEY_C:
+		if (action == GLFW_RELEASE) {
+			if (mod & GLFW_MOD_SHIFT) {
+				bRenderCameraTrajectory = !bRenderCameraTrajectory;
+			} else {
+				bRenderCameras = !bRenderCameras;
+			}
 		}
 		break;
 	case GLFW_KEY_E:
 		if (action == GLFW_RELEASE && clbkExportScene != NULL)
 			clbkExportScene(NULL, NULL, false);
 		break;
+	case GLFW_KEY_P:
+		switch (sparseType) {
+		case SPR_POINTS: sparseType = SPR_LINES; break;
+		case SPR_LINES: sparseType = SPR_ALL; break;
+		case SPR_ALL: sparseType = SPR_POINTS; break;
+		}
+		if (clbkCompilePointCloud != NULL)
+			clbkCompilePointCloud();
+		break;
 	case GLFW_KEY_R:
 		if (action == GLFW_RELEASE)
 			Reset();
 		break;
-	case GLFW_KEY_C:
-		if (action == GLFW_RELEASE)
-			bRenderCameras = !bRenderCameras;
+	case GLFW_KEY_T:
+		if (action == GLFW_RELEASE) {
+			bRenderTexture = !bRenderTexture;
+			if (clbkCompileMesh != NULL)
+				clbkCompileMesh();
+		}
+		break;
+	case GLFW_KEY_V:
+		if (action == GLFW_RELEASE) {
+			if (mod & GLFW_MOD_SHIFT) {
+				bRenderImageVisibility = !bRenderImageVisibility;
+			} else {
+				bRenderViews = !bRenderViews;
+			}
+		}
 		break;
 	case GLFW_KEY_W:
 		if (action == GLFW_RELEASE) {
@@ -233,28 +314,12 @@ void Window::Key(int k, int /*scancode*/, int action, int mod)
 			}
 		}
 		break;
-	case GLFW_KEY_T:
-		if (action == GLFW_RELEASE) {
-			bRenderTexture = !bRenderTexture;
-			if (clbkCompileMesh != NULL)
-				clbkCompileMesh();
-		}
-		break;
-	case GLFW_KEY_P:
-		switch (sparseType) {
-		case SPR_POINTS: sparseType = SPR_LINES; break;
-		case SPR_LINES: sparseType = SPR_ALL; break;
-		case SPR_ALL: sparseType = SPR_POINTS; break;
-		}
-		if (clbkCompilePointCloud != NULL)
-			clbkCompilePointCloud();
-		break;
 	case GLFW_KEY_KP_SUBTRACT:
 		if (action == GLFW_RELEASE) {
 			if (mod & GLFW_MOD_CONTROL)
-				camera->SetFOV(MAXF(camera->fov-5, 5.0));
+				camera.SetFOV(camera.fov-5.f);
 			else if (mod & GLFW_MOD_SHIFT)
-				camera->scaleF *= 0.9f;
+				camera.scaleF *= 0.9f;
 			else
 				cameraBlend = MAXF(cameraBlend-0.1f, 0.f);
 		}
@@ -262,9 +327,9 @@ void Window::Key(int k, int /*scancode*/, int action, int mod)
 	case GLFW_KEY_KP_ADD:
 		if (action == GLFW_RELEASE) {
 			if (mod & GLFW_MOD_CONTROL)
-				camera->SetFOV(camera->fov+5);
+				camera.SetFOV(camera.fov+5.f);
 			else if (mod & GLFW_MOD_SHIFT)
-				camera->scaleF *= 1.11f;
+				camera.scaleF *= 1.1111f;
 			else
 				cameraBlend = MINF(cameraBlend+0.1f, 1.f);
 		}
@@ -278,24 +343,53 @@ void Window::Key(GLFWwindow* window, int k, int scancode, int action, int mod)
 
 void Window::MouseButton(int button, int action, int /*mods*/)
 {
-	if (clbkRayScene != NULL && button == GLFW_MOUSE_BUTTON_LEFT) {
-		typedef Eigen::Matrix<double,4,4,Eigen::ColMajor> Mat4;
-		Mat4 P, V;
-		glGetDoublev(GL_MODELVIEW_MATRIX, V.data());
-		glGetDoublev(GL_PROJECTION_MATRIX, P.data());
-		// 4d Homogeneous Clip Coordinates
-		const Eigen::Vector4d ray_clip(pos.x(), pos.y(), -1.0, 1.0);
-		// 4d Eye (Camera) Coordinates
-		Eigen::Vector4d ray_eye(P.inverse()*ray_clip);
-		ray_eye.z() = -1.0;
-		ray_eye.w() = 0.0;
-		// 4d World Coordinates
-		const Mat4 invV(V.inverse());
-		ASSERT(ISEQUAL(invV(3,3),1.0));
-		const Eigen::Vector3d start(invV.topRightCorner<3,1>());
-		const Eigen::Vector4d ray_wor(invV*ray_eye);
-		const Eigen::Vector3d dir(ray_wor.topRows<3>().normalized());
-		clbkRayScene(Ray3d(start, dir), action);
+	switch (button) {
+	case GLFW_MOUSE_BUTTON_LEFT: {
+		if (action == GLFW_PRESS) {
+			inputType.set(INP_MOUSE_LEFT);
+		} else
+		if (action == GLFW_RELEASE) {
+			inputType.unset(INP_MOUSE_LEFT);
+			glfwSetInputMode(window, GLFW_CURSOR, GLFW_CURSOR_NORMAL);
+		}
+		if (clbkRayScene != NULL) {
+			typedef Eigen::Matrix<double,4,4,Eigen::ColMajor> Mat4;
+			Mat4 P, V;
+			glGetDoublev(GL_MODELVIEW_MATRIX, V.data());
+			glGetDoublev(GL_PROJECTION_MATRIX, P.data());
+			// 4d Homogeneous Clip Coordinates
+			const Eigen::Vector4d ray_clip(pos.x(), pos.y(), -1.0, 1.0);
+			// 4d Eye (Camera) Coordinates
+			Eigen::Vector4d ray_eye(P.inverse()*ray_clip);
+			ray_eye.z() = -1.0;
+			ray_eye.w() = 0.0;
+			// 4d World Coordinates
+			const Mat4 invV(V.inverse());
+			ASSERT(ISEQUAL(invV(3,3),1.0));
+			const Eigen::Vector3d start(invV.topRightCorner<3,1>());
+			const Eigen::Vector4d ray_wor(invV*ray_eye);
+			const Eigen::Vector3d dir(ray_wor.topRows<3>().normalized());
+			clbkRayScene(Ray3d(start, dir), action);
+		}
+	} break;
+	case GLFW_MOUSE_BUTTON_MIDDLE: {
+		if (action == GLFW_PRESS) {
+			inputType.set(INP_MOUSE_MIDDLE);
+			glfwSetInputMode(window, GLFW_CURSOR, GLFW_CURSOR_DISABLED);
+		} else
+		if (action == GLFW_RELEASE) {
+			inputType.unset(INP_MOUSE_MIDDLE);
+			glfwSetInputMode(window, GLFW_CURSOR, GLFW_CURSOR_NORMAL);
+		}
+	} break;
+	case GLFW_MOUSE_BUTTON_RIGHT: {
+		if (action == GLFW_PRESS) {
+			inputType.set(INP_MOUSE_RIGHT);
+		} else
+		if (action == GLFW_RELEASE) {
+			inputType.unset(INP_MOUSE_RIGHT);
+		}
+	}
 	}
 }
 void Window::MouseButton(GLFWwindow* window, int button, int action, int mods)
@@ -303,9 +397,25 @@ void Window::MouseButton(GLFWwindow* window, int button, int action, int mods)
 	g_mapWindows[window]->MouseButton(button, action, mods);
 }
 
+void Window::MouseMove(double xpos, double ypos)
+{
+	UpdateMousePosition(xpos, ypos);
+	if (inputType.isSet(INP_MOUSE_LEFT)) {
+		glfwSetInputMode(window, GLFW_CURSOR, GLFW_CURSOR_DISABLED);
+		camera.Rotate(pos, prevPos);
+	} else
+	if (inputType.isSet(INP_MOUSE_MIDDLE)) {
+		camera.Translate(pos, prevPos);
+	}
+}
+void Window::MouseMove(GLFWwindow* window, double xpos, double ypos)
+{
+	g_mapWindows[window]->MouseMove(xpos, ypos);
+}
+
 void Window::Scroll(double /*xoffset*/, double yoffset)
 {
-	camera->dist *= (yoffset>0 ? POW(1.11,yoffset) : POW(0.9,-yoffset));
+	camera.dist *= (yoffset>0 ? POW(1.11,yoffset) : POW(0.9,-yoffset));
 }
 void Window::Scroll(GLFWwindow* window, double xoffset, double yoffset)
 {
diff --git a/apps/Viewer/Window.h b/apps/Viewer/Window.h
index 0d9fe5034..cb892bdc2 100644
--- a/apps/Viewer/Window.h
+++ b/apps/Viewer/Window.h
@@ -50,10 +50,22 @@ class Window
 {
 public:
 	GLFWwindow* window; // window handle
-	CameraPtr camera; // current camera (always valid)
+	Camera camera; // current camera
 	Eigen::Vector2d pos, prevPos; // current and previous mouse position (normalized)
+	Eigen::Matrix4d transform; // view matrix corresponding to the currently selected image
+	cv::Size size; // resolution in pixels, sometimes not equal to window resolution, ex. on Retina display
+	double sizeScale; // window/screen resolution scale
+
+	enum INPUT : unsigned {
+		INP_NA = 0,
+		INP_MOUSE_LEFT    = (1 << 0),
+		INP_MOUSE_MIDDLE  = (1 << 1),
+		INP_MOUSE_RIGHT   = (1 << 2),
+	};
+	Flags inputType;
 
 	enum SPARSE {
+		SPR_NONE   = 0,
 		SPR_POINTS = (1 << 0),
 		SPR_LINES  = (1 << 1),
 		SPR_ALL    = SPR_POINTS|SPR_LINES
@@ -63,6 +75,9 @@ class Window
 	float pointSize;
 	float cameraBlend;
 	bool bRenderCameras;
+	bool bRenderCameraTrajectory;
+	bool bRenderImageVisibility;
+	bool bRenderViews;
 	bool bRenderSolid;
 	bool bRenderTexture;
 
@@ -74,6 +89,7 @@ class Window
 	SELECTION selectionType;
 	Point3f selectionPoints[4];
 	double selectionTimeClick, selectionTime;
+	IDX selectionIdx;
 
 	typedef DELEGATE<bool (LPCTSTR, LPCTSTR)> ClbkOpenScene;
 	ClbkOpenScene clbkOpenScene;
@@ -94,25 +110,35 @@ class Window
 	~Window();
 
 	void Release();
+	void ReleaseClbk();
 	inline bool IsValid() const { return window != NULL; }
 
-	bool Init(int width, int height, LPCTSTR name);
-	void SetCamera(CameraPtr);
+	inline GLFWwindow* GetWindow() { return window; }
+
+	bool Init(const cv::Size&, LPCTSTR name);
+	void SetCamera(const Camera&);
 	void SetName(LPCTSTR);
 	void SetVisible(bool);
-	void Reset(uint32_t minViews=2);
+	bool IsVisible() const;
+	void Reset(SPARSE sparseType=SPR_ALL, unsigned minViews=2);
 
-	inline GLFWwindow* GetWindow() { return window; }
+	void CenterCamera(const Point3&);
 
 	void UpdateView(const ImageArr&, const MVS::ImageArr&);
-	void UpdateMousePosition();
+	void UpdateView(const Eigen::Matrix3d& R, const Eigen::Vector3d& t);
+	void UpdateMousePosition(double xpos, double ypos);
+
+	void GetFrame(Image8U3&) const;
 
-	void Resize(int width, int height);
+	cv::Size GetSize() const;
+	void Resize(const cv::Size&);
 	static void Resize(GLFWwindow* window, int width, int height);
 	void Key(int k, int scancode, int action, int mod);
 	static void Key(GLFWwindow* window, int k, int scancode, int action, int mod);
 	void MouseButton(int button, int action, int mods);
 	static void MouseButton(GLFWwindow* window, int button, int action, int mods);
+	void MouseMove(double xpos, double ypos);
+	static void MouseMove(GLFWwindow* window, double xpos, double ypos);
 	void Scroll(double xoffset, double yoffset);
 	static void Scroll(GLFWwindow* window, double xoffset, double yoffset);
 	void Drop(int count, const char** paths);
diff --git a/libs/Common/AABB.h b/libs/Common/AABB.h
index be2546526..61904896b 100644
--- a/libs/Common/AABB.h
+++ b/libs/Common/AABB.h
@@ -56,8 +56,8 @@ class TAABB
 
 	inline bool IsEmpty() const;
 
-	inline void Enlarge(TYPE);
-	inline void EnlargePercent(TYPE);
+	inline TAABB& Enlarge(TYPE);
+	inline TAABB& EnlargePercent(TYPE);
 
 		   void InsertFull(const POINT&);
 		   void Insert(const POINT&);
diff --git a/libs/Common/AABB.inl b/libs/Common/AABB.inl
index b9040cfea..d10543e38 100644
--- a/libs/Common/AABB.inl
+++ b/libs/Common/AABB.inl
@@ -99,16 +99,18 @@ inline bool TAABB<TYPE,DIMS>::IsEmpty() const
 
 
 template <typename TYPE, int DIMS>
-inline void TAABB<TYPE,DIMS>::Enlarge(TYPE x)
+inline TAABB<TYPE,DIMS>& TAABB<TYPE,DIMS>::Enlarge(TYPE x)
 {
 	ptMin.array() -= x;
 	ptMax.array() += x;
+	return *this;
 }
 template <typename TYPE, int DIMS>
-inline void TAABB<TYPE,DIMS>::EnlargePercent(TYPE x)
+inline TAABB<TYPE,DIMS>& TAABB<TYPE,DIMS>::EnlargePercent(TYPE x)
 {
 	ptMin *= x;
 	ptMax *= x;
+	return *this;
 } // Enlarge
 /*----------------------------------------------------------------*/
 
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 2adb1be55..39886bd4c 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -114,6 +114,24 @@ Mesh::Box Mesh::GetAABB(const Box& bound) const
 			box.InsertFull(X);
 	return box;
 }
+
+// compute the center of the point-cloud as the median
+Mesh::Vertex Mesh::GetCenter() const
+{
+	const VIndex step(5);
+	const VIndex numPoints(vertices.size()/step);
+	if (numPoints == 0)
+		return Vertex::INF;
+	typedef CLISTDEF0IDX(Vertex::Type,VIndex) Scalars;
+	Scalars x(numPoints), y(numPoints), z(numPoints);
+	for (VIndex i=0; i<numPoints; ++i) {
+		const Vertex& X = vertices[i*step];
+		x[i] = X.x;
+		y[i] = X.y;
+		z[i] = X.z;
+	}
+	return Vertex(x.GetMedian(), y.GetMedian(), z.GetMedian());
+}
 /*----------------------------------------------------------------*/
 
 
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index be6c0478c..044b644bf 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -146,6 +146,7 @@ class MVS_API Mesh
 
 	Box GetAABB() const;
 	Box GetAABB(const Box& bound) const;
+	Vertex GetCenter() const;
 
 	void ListIncidenteVertices();
 	void ListIncidenteFaces();
diff --git a/libs/MVS/PointCloud.cpp b/libs/MVS/PointCloud.cpp
index 6605f0027..dd124d487 100644
--- a/libs/MVS/PointCloud.cpp
+++ b/libs/MVS/PointCloud.cpp
@@ -105,6 +105,24 @@ PointCloud::Box PointCloud::GetAABB(unsigned minViews) const
 			box.InsertFull(points[idx]);
 	return box;
 }
+
+// compute the center of the point-cloud as the median
+PointCloud::Point PointCloud::GetCenter() const
+{
+	const Index step(5);
+	const Index numPoints(points.size()/step);
+	if (numPoints == 0)
+		return Point::INF;
+	typedef CLISTDEF0IDX(Point::Type,Index) Scalars;
+	Scalars x(numPoints), y(numPoints), z(numPoints);
+	for (Index i=0; i<numPoints; ++i) {
+		const Point& X = points[i*step];
+		x[i] = X.x;
+		y[i] = X.y;
+		z[i] = X.z;
+	}
+	return Point(x.GetMedian(), y.GetMedian(), z.GetMedian());
+}
 /*----------------------------------------------------------------*/
 
 
diff --git a/libs/MVS/PointCloud.h b/libs/MVS/PointCloud.h
index 0014103bb..7cf79667b 100644
--- a/libs/MVS/PointCloud.h
+++ b/libs/MVS/PointCloud.h
@@ -92,6 +92,7 @@ class MVS_API PointCloud
 	Box GetAABB() const;
 	Box GetAABB(const Box& bound) const;
 	Box GetAABB(unsigned minViews) const;
+	Point GetCenter() const;
 
 	bool Load(const String& fileName);
 	bool Save(const String& fileName, bool bLegacyTypes=false) const;

From b0059591e4c24fed646b1b34755def5eadc7b243 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 7 Apr 2021 17:29:45 +0300
Subject: [PATCH 033/252] dense: improve depth-map initialization

---
 libs/MVS/DepthMap.cpp     | 225 +++++++++++++++++++-------------------
 libs/MVS/Mesh.cpp         |   7 +-
 libs/MVS/Mesh.h           |  49 ++++++---
 libs/MVS/SceneTexture.cpp |  18 +--
 4 files changed, 152 insertions(+), 147 deletions(-)

diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index b1266d361..4d822e058 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -31,13 +31,14 @@
 
 #include "Common.h"
 #include "DepthMap.h"
+#include "Mesh.h"
 #define _USE_OPENCV
 #include "Interface.h"
 #include "../Common/AutoEstimator.h"
 // CGAL: depth-map initialization
 #include <CGAL/Simple_cartesian.h>
 #include <CGAL/Delaunay_triangulation_2.h>
-#include <CGAL/Projection_traits_xy_3.h>
+#include <CGAL/Triangulation_vertex_base_with_info_2.h>
 // CGAL: estimate normals
 #include <CGAL/Simple_cartesian.h>
 #include <CGAL/property_map.h>
@@ -958,96 +959,102 @@ DepthEstimator::PixelEstimate DepthEstimator::PerturbEstimate(const PixelEstimat
 // S T R U C T S ///////////////////////////////////////////////////
 
 namespace CGAL {
-typedef CGAL::Simple_cartesian<double> kernel_t;
-typedef CGAL::Projection_traits_xy_3<kernel_t> Geometry;
-typedef CGAL::Delaunay_triangulation_2<Geometry> Delaunay;
-typedef CGAL::Delaunay::Face_circulator FaceCirculator;
-typedef CGAL::Delaunay::Face_handle FaceHandle;
-typedef CGAL::Delaunay::Vertex_circulator VertexCirculator;
-typedef CGAL::Delaunay::Vertex_handle VertexHandle;
-typedef kernel_t::Point_3 Point;
 }
 
 // triangulate in-view points, generating a 2D mesh
 // return also the estimated depth boundaries (min and max depth)
-std::pair<float,float> TriangulatePointsDelaunay(const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points, CGAL::Delaunay& delaunay)
+std::pair<float,float> TriangulatePointsDelaunay(const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points, Mesh& mesh, Point2fArr& projs)
 {
+	typedef CGAL::Simple_cartesian<double> kernel_t;
+	typedef CGAL::Triangulation_vertex_base_with_info_2<Mesh::VIndex, kernel_t> vertex_base_t;
+	typedef CGAL::Triangulation_data_structure_2<vertex_base_t> triangulation_data_structure_t;
+	typedef CGAL::Delaunay_triangulation_2<kernel_t, triangulation_data_structure_t> Delaunay;
+	typedef Delaunay::Face_circulator FaceCirculator;
+	typedef Delaunay::Face_handle FaceHandle;
+	typedef Delaunay::Vertex_circulator VertexCirculator;
+	typedef Delaunay::Vertex_handle VertexHandle;
+	typedef kernel_t::Point_2 CPoint;
+
 	ASSERT(sizeof(Point3) == sizeof(X3D));
-	ASSERT(sizeof(Point3) == sizeof(CGAL::Point));
+	ASSERT(sizeof(Point2) == sizeof(CPoint));
 	std::pair<float,float> depthBounds(FLT_MAX, 0.f);
+	mesh.vertices.reserve(points.size()+4);
+	projs.reserve(mesh.vertices.capacity());
+	Delaunay delaunay;
 	for (uint32_t idx: points) {
 		const Point3f pt(image.camera.ProjectPointP3(pointcloud.points[idx]));
-		delaunay.insert(CGAL::Point(pt.x/pt.z, pt.y/pt.z, pt.z));
+		const Point3f x(pt.x/pt.z, pt.y/pt.z, pt.z);
+		delaunay.insert(CPoint(x.x, x.y))->info() = mesh.vertices.size();
+		mesh.vertices.emplace_back(image.camera.TransformPointI2C(x));
+		projs.emplace_back(x.x, x.y);
 		if (depthBounds.first > pt.z)
 			depthBounds.first = pt.z;
 		if (depthBounds.second < pt.z)
 			depthBounds.second = pt.z;
 	}
 	// if full size depth-map requested
-	if (OPTDENSE::bAddCorners) {
-		typedef TIndexScore<float,float> DepthDist;
-		typedef CLISTDEF0(DepthDist) DepthDistArr;
-		typedef Eigen::Map< Eigen::VectorXf, Eigen::Unaligned, Eigen::InnerStride<2> > FloatMap;
+	const size_t numPoints(3);
+	if (OPTDENSE::bAddCorners && points.size() >= numPoints) {
 		// add the four image corners at the average depth
 		ASSERT(image.pImageData->IsValid() && ISINSIDE(image.pImageData->avgDepth, depthBounds.first, depthBounds.second));
-		const CGAL::VertexHandle vcorners[] = {
-			delaunay.insert(CGAL::Point(0, 0, image.pImageData->avgDepth)),
-			delaunay.insert(CGAL::Point(image.image.width(), 0, image.pImageData->avgDepth)),
-			delaunay.insert(CGAL::Point(0, image.image.height(), image.pImageData->avgDepth)),
-			delaunay.insert(CGAL::Point(image.image.width(), image.image.height(), image.pImageData->avgDepth))
-		};
+		const Mesh::VIndex idxFirstVertex = mesh.vertices.size();
+		VertexHandle vcorners[4];
+		for (const Point2f& x: {Point2f(0, 0), Point2f(image.image.width()-1, 0), Point2f(0, image.image.height()-1), Point2f(image.image.width()-1, image.image.height()-1)}) {
+			const Mesh::VIndex i(mesh.vertices.size() - idxFirstVertex);
+			(vcorners[i] = delaunay.insert(CPoint(x.x, x.y)))->info() = mesh.vertices.size();
+			mesh.vertices.emplace_back(image.camera.TransformPointI2C(Point3f(x, image.pImageData->avgDepth)));
+			projs.emplace_back(x);
+		}
 		// compute average depth from the closest 3 directly connected faces,
 		// weighted by the distance
-		const size_t numPoints = 3;
 		for (int i=0; i<4; ++i) {
-			const CGAL::VertexHandle vcorner = vcorners[i];
-			CGAL::FaceCirculator cfc(delaunay.incident_faces(vcorner));
-			if (cfc == 0)
-				continue; // normally this should never happen
-			const CGAL::FaceCirculator done(cfc);
-			Point3d& poszA = reinterpret_cast<Point3d&>(vcorner->point());
-			const Point2d& posA = reinterpret_cast<const Point2d&>(poszA);
-			const Ray3d rayA(Point3d::ZERO, normalized(image.camera.TransformPointI2C(poszA)));
-			DepthDistArr depths(0, numPoints);
+			const VertexHandle vcorner(vcorners[i]);
+			FaceCirculator cfc(delaunay.incident_faces(vcorner));
+			ASSERT(cfc != 0);
+			const FaceCirculator done(cfc);
+			const Point2d& posA = reinterpret_cast<const Point2d&>(vcorner->point());
+			const Ray3d rayA(Point3d::ZERO, normalized(Cast<REAL>(mesh.vertices[vcorner->info()])));
+			typedef TIndexScore<float,float> DepthDist;
+			CLISTDEF0(DepthDist) depths(0, numPoints);
 			do {
-				CGAL::FaceHandle fc(cfc->neighbor(cfc->index(vcorner)));
-				if (fc == delaunay.infinite_face())
+				const FaceHandle fc(cfc->neighbor(cfc->index(vcorner)));
+				if (delaunay.is_infinite(fc))
 					continue;
 				for (int j=0; j<4; ++j)
 					if (fc->has_vertex(vcorners[j]))
-						goto Continue;
+						continue;
 				// compute the depth as the intersection of the corner ray with
 				// the plane defined by the face's vertices
-				{
-				const Point3d& poszB0 = reinterpret_cast<const Point3d&>(fc->vertex(0)->point());
-				const Point3d& poszB1 = reinterpret_cast<const Point3d&>(fc->vertex(1)->point());
-				const Point3d& poszB2 = reinterpret_cast<const Point3d&>(fc->vertex(2)->point());
 				const Planed planeB(
-					image.camera.TransformPointI2C(poszB0),
-					image.camera.TransformPointI2C(poszB1),
-					image.camera.TransformPointI2C(poszB2)
+					Cast<REAL>(mesh.vertices[fc->vertex(0)->info()]),
+					Cast<REAL>(mesh.vertices[fc->vertex(1)->info()]),
+					Cast<REAL>(mesh.vertices[fc->vertex(2)->info()])
 				);
 				const Point3d poszB(rayA.Intersects(planeB));
 				if (poszB.z <= 0)
 					continue;
 				const Point2d posB((
-					reinterpret_cast<const Point2d&>(poszB0)+
-					reinterpret_cast<const Point2d&>(poszB1)+
-					reinterpret_cast<const Point2d&>(poszB2))/3.f
+					reinterpret_cast<const Point2d&>(fc->vertex(0)->point())+
+					reinterpret_cast<const Point2d&>(fc->vertex(1)->point())+
+					reinterpret_cast<const Point2d&>(fc->vertex(2)->point()))/3.f
 				);
 				const double dist(norm(posB-posA));
 				depths.StoreTop<numPoints>(DepthDist(CLAMP((float)poszB.z,depthBounds.first,depthBounds.second), INVERT((float)dist)));
-				}
-				Continue:;
 			} while (++cfc != done);
-			if (depths.size() != numPoints)
-				continue; // normally this should never happen
+			ASSERT(depths.size() == numPoints);
+			typedef Eigen::Map< Eigen::VectorXf, Eigen::Unaligned, Eigen::InnerStride<2> > FloatMap;
 			FloatMap vecDists(&depths[0].score, numPoints);
 			vecDists *= 1.f/vecDists.sum();
 			FloatMap vecDepths(&depths[0].idx, numPoints);
-			poszA.z = vecDepths.dot(vecDists);
+			const float depth(vecDepths.dot(vecDists));
+			mesh.vertices[idxFirstVertex+i] = image.camera.TransformPointI2C(Point3(posA, depth));
 		}
 	}
+	mesh.faces.reserve(std::distance(delaunay.finite_faces_begin(),delaunay.finite_faces_end()));
+	for (Delaunay::Face_iterator it=delaunay.faces_begin(); it!=delaunay.faces_end(); ++it) {
+		const Delaunay::Face& face = *it;
+		mesh.faces.emplace_back(face.vertex(2)->info(), face.vertex(1)->info(), face.vertex(0)->info());
+	}
 	return depthBounds;
 }
 
@@ -1060,54 +1067,54 @@ bool MVS::TriangulatePoints2DepthMap(
 	ASSERT(image.pImageData != NULL);
 
 	// triangulate in-view points
-	CGAL::Delaunay delaunay;
-	const std::pair<float,float> thDepth(TriangulatePointsDelaunay(image, pointcloud, points, delaunay));
+	Mesh mesh;
+	Point2fArr projs;
+	const std::pair<float,float> thDepth(TriangulatePointsDelaunay(image, pointcloud, points, mesh, projs));
 	dMin = thDepth.first;
 	dMax = thDepth.second;
 
 	// create rough depth-map by interpolating inside triangles
 	const Camera& camera = image.camera;
+	mesh.ComputeNormalVertices();
 	depthMap.create(image.image.size());
 	normalMap.create(image.image.size());
 	if (!OPTDENSE::bAddCorners) {
 		depthMap.memset(0);
 		normalMap.memset(0);
 	}
-	struct RasterDepthDataPlaneData {
-		const Camera& P;
-		DepthMap& depthMap;
+	struct RasterDepth : TRasterMeshBase<RasterDepth> {
+		typedef TRasterMeshBase<RasterDepth> Base;
+		using Base::camera;
+		using Base::depthMap;
+		using Base::ptc;
+		using Base::pti;
+		const Mesh::NormalArr& vertexNormals;
 		NormalMap& normalMap;
-		Point3f normal;
-		Point3f normalPlane;
-		inline void operator()(const ImageRef& pt) {
-			if (!depthMap.isInside(pt))
-				return;
-			const Depth z(INVERT(normalPlane.dot(P.TransformPointI2C(Point2f(pt)))));
-			if (z <= 0) // due to numerical instability
-				return;
+		Mesh::Face face;
+		RasterDepth(const Mesh::NormalArr& _vertexNormals, const Camera& _camera, DepthMap& _depthMap, NormalMap& _normalMap)
+			: Base(_camera, _depthMap), vertexNormals(_vertexNormals), normalMap(_normalMap) {}
+		inline void operator()(const ImageRef& pt, const Point3f& bary) {
+			const Point3f pbary(PerspectiveCorrectBarycentricCoordinates(bary));
+			const Depth z(ComputeDepth(pbary));
+			ASSERT(z > Depth(0));
 			depthMap(pt) = z;
-			normalMap(pt) = normal;
+			normalMap(pt) = normalized(
+				vertexNormals[face[0]] * pbary[0]+
+				vertexNormals[face[1]] * pbary[1]+
+				vertexNormals[face[2]] * pbary[2]
+			);
 		}
 	};
-	RasterDepthDataPlaneData data = {camera, depthMap, normalMap};
-	for (CGAL::Delaunay::Face_iterator it=delaunay.faces_begin(); it!=delaunay.faces_end(); ++it) {
-		const CGAL::Delaunay::Face& face = *it;
-		const Point3f i0(reinterpret_cast<const Point3d&>(face.vertex(0)->point()));
-		const Point3f i1(reinterpret_cast<const Point3d&>(face.vertex(1)->point()));
-		const Point3f i2(reinterpret_cast<const Point3d&>(face.vertex(2)->point()));
-		// compute the plane defined by the 3 points
-		const Point3f c0(camera.TransformPointI2C(i0));
-		const Point3f c1(camera.TransformPointI2C(i1));
-		const Point3f c2(camera.TransformPointI2C(i2));
-		const Point3f edge1(c1-c0);
-		const Point3f edge2(c2-c0);
-		data.normal = normalized(edge2.cross(edge1));
-		data.normalPlane = data.normal * INVERT(data.normal.dot(c0));
-		// draw triangle and for each pixel compute depth as the ray intersection with the plane
-		Image8U::RasterizeTriangle(
-			reinterpret_cast<const Point2f&>(i2),
-			reinterpret_cast<const Point2f&>(i1),
-			reinterpret_cast<const Point2f&>(i0), data);
+	RasterDepth rasterer = {mesh.vertexNormals, camera, depthMap, normalMap};
+	for (const Mesh::Face& face : mesh.faces) {
+		rasterer.face = face;
+		rasterer.ptc[0].z = mesh.vertices[face[0]].z;
+		rasterer.ptc[1].z = mesh.vertices[face[1]].z;
+		rasterer.ptc[2].z = mesh.vertices[face[2]].z;
+		Image8U::RasterizeTriangleBary(
+			projs[face[0]],
+			projs[face[1]],
+			projs[face[2]], rasterer);
 	}
 	return true;
 } // TriangulatePoints2DepthMap
@@ -1119,8 +1126,9 @@ bool MVS::TriangulatePoints2DepthMap(
 	ASSERT(image.pImageData != NULL);
 
 	// triangulate in-view points
-	CGAL::Delaunay delaunay;
-	const std::pair<float,float> thDepth(TriangulatePointsDelaunay(image, pointcloud, points, delaunay));
+	Mesh mesh;
+	Point2fArr projs;
+	const std::pair<float,float> thDepth(TriangulatePointsDelaunay(image, pointcloud, points, mesh, projs));
 	dMin = thDepth.first;
 	dMax = thDepth.second;
 
@@ -1129,38 +1137,27 @@ bool MVS::TriangulatePoints2DepthMap(
 	depthMap.create(image.image.size());
 	if (!OPTDENSE::bAddCorners)
 		depthMap.memset(0);
-	struct RasterDepthDataPlaneData {
-		const Camera& P;
-		DepthMap& depthMap;
-		Point3f normalPlane;
-		inline void operator()(const ImageRef& pt) {
-			if (!depthMap.isInside(pt))
-				return;
-			const Depth z((Depth)INVERT(normalPlane.dot(P.TransformPointI2C(Point2f(pt)))));
-			if (z <= 0) // due to numerical instability
-				return;
+	struct RasterDepth : TRasterMeshBase<RasterDepth> {
+		typedef TRasterMeshBase<RasterDepth> Base;
+		using Base::depthMap;
+		RasterDepth(const Camera& _camera, DepthMap& _depthMap)
+			: Base(_camera, _depthMap) {}
+		inline void operator()(const ImageRef& pt, const Point3f& bary) {
+			const Point3f pbary(PerspectiveCorrectBarycentricCoordinates(bary));
+			const Depth z(ComputeDepth(pbary));
+			ASSERT(z > Depth(0));
 			depthMap(pt) = z;
 		}
 	};
-	RasterDepthDataPlaneData data = {camera, depthMap};
-	for (CGAL::Delaunay::Face_iterator it=delaunay.faces_begin(); it!=delaunay.faces_end(); ++it) {
-		const CGAL::Delaunay::Face& face = *it;
-		const Point3f i0(reinterpret_cast<const Point3d&>(face.vertex(0)->point()));
-		const Point3f i1(reinterpret_cast<const Point3d&>(face.vertex(1)->point()));
-		const Point3f i2(reinterpret_cast<const Point3d&>(face.vertex(2)->point()));
-		// compute the plane defined by the 3 points
-		const Point3f c0(camera.TransformPointI2C(i0));
-		const Point3f c1(camera.TransformPointI2C(i1));
-		const Point3f c2(camera.TransformPointI2C(i2));
-		const Point3f edge1(c1-c0);
-		const Point3f edge2(c2-c0);
-		const Normal normal(normalized(edge2.cross(edge1)));
-		data.normalPlane = normal * INVERT(normal.dot(c0));
-		// draw triangle and for each pixel compute depth as the ray intersection with the plane
-		Image8U::RasterizeTriangle(
-			reinterpret_cast<const Point2f&>(i2),
-			reinterpret_cast<const Point2f&>(i1),
-			reinterpret_cast<const Point2f&>(i0), data);
+	RasterDepth rasterer = {camera, depthMap};
+	for (const Mesh::Face& face : mesh.faces) {
+		rasterer.ptc[0].z = mesh.vertices[face[0]].z;
+		rasterer.ptc[1].z = mesh.vertices[face[1]].z;
+		rasterer.ptc[2].z = mesh.vertices[face[2]].z;
+		Image8U::RasterizeTriangleBary(
+			projs[face[0]],
+			projs[face[1]],
+			projs[face[2]], rasterer);
 	}
 	return true;
 } // TriangulatePoints2DepthMap
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 39886bd4c..7dad00500 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -229,8 +229,7 @@ void Mesh::ComputeNormalVertices()
 {
 	vertexNormals.Resize(vertices.GetSize());
 	vertexNormals.Memset(0);
-	FOREACHPTR(pFace, faces) {
-		const Face& face = *pFace;
+	for (const Face& face: faces) {
 		const Vertex& v0 = vertices[face[0]];
 		const Vertex& v1 = vertices[face[1]];
 		const Vertex& v2 = vertices[face[2]];
@@ -239,8 +238,8 @@ void Mesh::ComputeNormalVertices()
 		vertexNormals[face[1]] += t;
 		vertexNormals[face[2]] += t;
 	}
-	FOREACHPTR(pVertexNormal, vertexNormals)
-		normalize(*pVertexNormal);
+	for (Normal& vertexNormal: vertexNormals)
+		normalize(vertexNormal);
 }
 #else
 // computes the vertex normal as an angle weighted average
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 044b644bf..672a92810 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -246,10 +246,9 @@ class MVS_API Mesh
 /*----------------------------------------------------------------*/
 
 
-// used to render a mesh
+// used to render a 3D triangle
 template <typename DERIVED>
-struct TRasterMesh {
-	const Mesh::VertexArr& vertices;
+struct TRasterMeshBase {
 	const Camera& camera;
 
 	DepthMap& depthMap;
@@ -257,8 +256,8 @@ struct TRasterMesh {
 	Point3 ptc[3];
 	Point2f pti[3];
 
-	TRasterMesh(const Mesh::VertexArr& _vertices, const Camera& _camera, DepthMap& _depthMap)
-		: vertices(_vertices), camera(_camera), depthMap(_depthMap) {}
+	TRasterMeshBase(const Camera& _camera, DepthMap& _depthMap)
+		: camera(_camera), depthMap(_depthMap) {}
 
 	inline void Clear() {
 		depthMap.memset(0);
@@ -267,20 +266,10 @@ struct TRasterMesh {
 		return depthMap.size();
 	}
 
-	inline bool ProjectVertex(const Mesh::Vertex& pt, int v) {
+	inline bool ProjectVertex(const Point3f& pt, int v) {
 		return (ptc[v] = camera.TransformPointW2C(Cast<REAL>(pt))).z > 0 &&
 			depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointC2I(ptc[v]));
 	}
-	void Project(const Mesh::Face& facet) {
-		// project face vertices to image plane
-		for (int v=0; v<3; ++v) {
-			// skip face if not completely inside
-			if (!static_cast<DERIVED*>(this)->ProjectVertex(vertices[facet[v]], v))
-				return;
-		}
-		// draw triangle
-		Image8U3::RasterizeTriangleBary(pti[0], pti[1], pti[2], *this);
-	}
 
 	inline Point3f PerspectiveCorrectBarycentricCoordinates(const Point3f& bary) {
 		return SEACAVE::PerspectiveCorrectBarycentricCoordinates(bary, (float)ptc[0].z, (float)ptc[1].z, (float)ptc[2].z);
@@ -300,6 +289,34 @@ struct TRasterMesh {
 		static_cast<DERIVED*>(this)->Raster(pt, bary);
 	}
 };
+
+// used to render a mesh
+template <typename DERIVED>
+struct TRasterMesh : TRasterMeshBase<DERIVED> {
+	typedef TRasterMeshBase<DERIVED> Base;
+
+	using Base::camera;
+	using Base::depthMap;
+
+	using Base::ptc;
+	using Base::pti;
+
+	const Mesh::VertexArr& vertices;
+
+	TRasterMesh(const Mesh::VertexArr& _vertices, const Camera& _camera, DepthMap& _depthMap)
+		: Base(_camera, _depthMap), vertices(_vertices) {}
+
+	void Project(const Mesh::Face& facet) {
+		// project face vertices to image plane
+		for (int v=0; v<3; ++v) {
+			// skip face if not completely inside
+			if (!static_cast<DERIVED*>(this)->ProjectVertex(vertices[facet[v]], v))
+				return;
+		}
+		// draw triangle
+		Image8U3::RasterizeTriangleBary(pti[0], pti[1], pti[2], *this);
+	}
+};
 /*----------------------------------------------------------------*/
 
 } // namespace MVS
diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index 58b2c7aa0..084a5fa5b 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -317,16 +317,11 @@ struct MeshTexture {
 		const TexCoord* tri;
 		Color colors[3];
 		ColorMap& image;
-
 		inline RasterPatchColorData(ColorMap& _image) : image(_image) {}
-		inline void operator()(const ImageRef& pt) {
-			const Point3f b(BarycentricCoordinates(tri[0], tri[1], tri[2], TexCoord(pt)));
-			#if 0
-			if (b.x<0 || b.y<0 || b.z<0)
-				return; // outside triangle
-			#endif
+		inline cv::Size Size() const { return image.size(); }
+		inline void operator()(const ImageRef& pt, const Point3f& bary) {
 			ASSERT(image.isInside(pt));
-			image(pt) = colors[0]*b.x + colors[1]*b.y + colors[2]*b.z;
+			image(pt) = colors[0]*bary.x + colors[1]*bary.y + colors[2]*bary.z;
 		}
 	};
 
@@ -334,7 +329,6 @@ struct MeshTexture {
 	struct RasterPatchCoverageData {
 		const TexCoord* tri;
 		Image8U& image;
-
 		inline RasterPatchCoverageData(Image8U& _image) : image(_image) {}
 		inline void operator()(const ImageRef& pt) {
 			ASSERT(image.isInside(pt));
@@ -352,7 +346,6 @@ struct MeshTexture {
 		const TexCoord p1, p1Dir;
 		const float length;
 		const Sampler sampler;
-
 		inline RasterPatchMeanEdgeData(Image32F3& _image, Image8U& _mask, const Image32F3& _image0, const Image8U3& _image1,
 									   const TexCoord& _p0, const TexCoord& _p0Adj, const TexCoord& _p1, const TexCoord& _p1Adj)
 			: image(_image), mask(_mask), image0(_image0), image1(_image1),
@@ -1342,7 +1335,7 @@ void MeshTexture::GlobalSeamLeveling()
 				data.colors[v] = colorAdjustments.row(vertpatch2rows[face[v]].at(idxPatch));
 			// render triangle and for each pixel interpolate the color adjustment
 			// from the triangle corners using barycentric coordinates
-			ColorMap::RasterizeTriangle(data.tri[0], data.tri[1], data.tri[2], data);
+			ColorMap::RasterizeTriangleBary(data.tri[0], data.tri[1], data.tri[2], data);
 		}
 		// dilate with one pixel width, in order to make sure patch border smooths out a little
 		imageAdj.DilateMean<1>(imageAdj, Color::ZERO);
@@ -1666,8 +1659,7 @@ void MeshTexture::LocalSeamLeveling()
 		image0(texturePatch.rect).convertTo(image, CV_32FC3, 1.0/255.0);
 		image.copyTo(imageOrg);
 		// render patch coverage
-		Image8U mask(texturePatch.rect.size());
-		{
+		Image8U mask(texturePatch.rect.size()); {
 			mask.memset(0);
 			RasterPatchCoverageData data(mask);
 			FOREACHPTR(pIdxFace, texturePatch.faces) {

From dd69b9f672bab3f761d198de4a9d875c068239f5 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 12 Apr 2021 22:30:30 +0300
Subject: [PATCH 034/252] dense: merge depth-maps (no fusion)

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp |  3 +-
 libs/MVS/DepthMap.cpp                        |  2 +-
 libs/MVS/SceneDensify.cpp                    | 75 +++++++++++++++++++-
 libs/MVS/SceneDensify.h                      |  1 +
 4 files changed, 78 insertions(+), 3 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 61ef6ddf5..f2a6f986e 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -96,6 +96,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	unsigned nMinViewsFuse;
 	unsigned nEstimateColors;
 	unsigned nEstimateNormals;
+	bool bFuseDepthMaps;
 	int nIgnoreMaskLabel;
 	boost::program_options::options_description config("Densify options");
 	config.add_options()
@@ -105,7 +106,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("max-resolution", boost::program_options::value(&nMaxResolution)->default_value(3200), "do not scale images higher than this resolution")
 		("min-resolution", boost::program_options::value(&nMinResolution)->default_value(640), "do not scale images lower than this resolution")
 		("number-views", boost::program_options::value(&nNumViews)->default_value(5), "number of views used for depth-map estimation (0 - all neighbor views available)")
-		("number-views-fuse", boost::program_options::value(&nMinViewsFuse)->default_value(3), "minimum number of images that agrees with an estimate during fusion in order to consider it inlier")
+		("number-views-fuse", boost::program_options::value(&nMinViewsFuse)->default_value(3), "minimum number of images that agrees with an estimate during fusion in order to consider it inlier (<2 - only merge depth-maps)")
 		("ignore-mask-label", boost::program_options::value(&nIgnoreMaskLabel)->default_value(-1), "integer value for the label to ignore in the segmentation mask (<0 - disabled)")
 		("estimate-colors", boost::program_options::value(&nEstimateColors)->default_value(2), "estimate the colors for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
 		("estimate-normals", boost::program_options::value(&nEstimateNormals)->default_value(2), "estimate the normals for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 4d822e058..136f772ce 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -73,7 +73,7 @@ MDEFVAR_OPTDENSE_uint32(nMaxResolution, "Max Resolution", "Do not scale images l
 MDEFVAR_OPTDENSE_uint32(nMinResolution, "Min Resolution", "Do not scale images lower than this resolution", "640")
 DEFVAR_OPTDENSE_uint32(nMinViews, "Min Views", "minimum number of agreeing views to validate a depth", "2")
 MDEFVAR_OPTDENSE_uint32(nMaxViews, "Max Views", "maximum number of neighbor images used to compute the depth-map for the reference image", "12")
-DEFVAR_OPTDENSE_uint32(nMinViewsFuse, "Min Views Fuse", "minimum number of images that agrees with an estimate during fusion in order to consider it inlier", "2")
+DEFVAR_OPTDENSE_uint32(nMinViewsFuse, "Min Views Fuse", "minimum number of images that agrees with an estimate during fusion in order to consider it inlier (<2 - only merge depth-maps)", "2")
 DEFVAR_OPTDENSE_uint32(nMinViewsFilter, "Min Views Filter", "minimum number of images that agrees with an estimate in order to consider it inlier", "2")
 MDEFVAR_OPTDENSE_uint32(nMinViewsFilterAdjust, "Min Views Filter Adjust", "minimum number of images that agrees with an estimate in order to consider it inlier (0 - disabled)", "1")
 MDEFVAR_OPTDENSE_uint32(nMinViewsTrustPoint, "Min Views Trust Point", "min-number of views so that the point is considered for approximating the depth-maps (<2 - random initialization)", "2")
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 4d07e6e03..8a086f57e 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -1159,6 +1159,73 @@ bool DepthMapsData::FilterDepthMap(DepthData& depthDataRef, const IIndexArr& idx
 } // FilterDepthMap
 /*----------------------------------------------------------------*/
 
+
+// fuse all depth-maps by simply projecting them in a 3D point cloud
+// in the world coordinate space
+void DepthMapsData::MergeDepthMaps(PointCloud& pointcloud, bool bEstimateColor, bool bEstimateNormal)
+{
+	TD_TIMER_STARTD();
+
+	// estimate total number of 3D points that will be generated
+	size_t nPointsEstimate(0);
+	for (const DepthData& depthData: arrDepthData)
+		if (depthData.IsValid())
+			nPointsEstimate += (size_t)depthData.depthMap.size().area()*7/10;
+
+	// fuse all depth-maps
+	size_t nDepthMaps(0), nDepths(0);
+	pointcloud.points.reserve(nPointsEstimate);
+	pointcloud.pointViews.reserve(nPointsEstimate);
+	if (bEstimateColor)
+		pointcloud.colors.reserve(nPointsEstimate);
+	if (bEstimateNormal)
+		pointcloud.normals.reserve(nPointsEstimate);
+	Util::Progress progress(_T("Merged depth-maps"), arrDepthData.size());
+	GET_LOGCONSOLE().Pause();
+	FOREACH(idxImage, arrDepthData) {
+		TD_TIMER_STARTD();
+		DepthData& depthData = arrDepthData[idxImage];
+		ASSERT(depthData.GetView().GetLocalID(scene.images) == idxImage);
+		if (!depthData.IsValid())
+			continue;
+		if (depthData.IncRef(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap")) == 0)
+			return;
+		ASSERT(!depthData.IsEmpty());
+		const DepthData::ViewData& image = depthData.GetView();
+		const size_t nNumPointsPrev(pointcloud.points.size());
+		for (int i=0; i<depthData.depthMap.rows; ++i) {
+			for (int j=0; j<depthData.depthMap.cols; ++j) {
+				// ignore invalid depth
+				const ImageRef x(j,i);
+				const Depth depth(depthData.depthMap(x));
+				if (depth == 0)
+					continue;
+				ASSERT(ISINSIDE(depth, depthData.dMin, depthData.dMax));
+				// create the corresponding 3D point
+				pointcloud.points.emplace_back(image.camera.TransformPointI2W(Point3(Cast<float>(x),depth)));
+				pointcloud.pointViews.emplace_back().push_back(idxImage);
+				if (bEstimateColor)
+					pointcloud.colors.emplace_back(image.pImageData->image(x));
+				if (bEstimateNormal)
+					depthData.GetNormal(x, pointcloud.normals.emplace_back());
+				++nDepths;
+			}
+		}
+		depthData.DecRef();
+		++nDepthMaps;
+		ASSERT(pointcloud.points.size() == pointcloud.pointViews.size());
+		DEBUG_ULTIMATE("Depths map for reference image %3u merged using %u depths maps: %u new points (%s)",
+			idxImage, depthData.images.size()-1, pointcloud.points.size()-nNumPointsPrev, TD_TIMER_GET_FMT().c_str());
+		progress.display(idxImage+1);
+	}
+	GET_LOGCONSOLE().Play();
+	progress.close();
+
+	DEBUG_EXTRA("Depth-maps merged: %u depth-maps, %u depths, %u points (%d%%%%) (%s)",
+		nDepthMaps, nDepths, pointcloud.points.size(), ROUND2INT(100.f*pointcloud.points.size()/nDepths), TD_TIMER_GET_FMT().c_str());
+} // MergeDepthMaps
+/*----------------------------------------------------------------*/
+
 // fuse all valid depth-maps in the same 3D point cloud;
 // join points very likely to represent the same 3D point and
 // filter out points blocking the view
@@ -1437,7 +1504,13 @@ bool Scene::DenseReconstruction(int nFusionMode)
 
 	// fuse all depth-maps
 	pointcloud.Release();
-	data.depthMaps.FuseDepthMaps(pointcloud, OPTDENSE::nEstimateColors == 2, OPTDENSE::nEstimateNormals == 2);
+	if (OPTDENSE::nMinViewsFuse < 2) {
+		// merge depth-maps
+		data.depthMaps.MergeDepthMaps(pointcloud, OPTDENSE::nEstimateColors == 2, OPTDENSE::nEstimateNormals == 2);
+	} else {
+		// fuse depth-maps
+		data.depthMaps.FuseDepthMaps(pointcloud, OPTDENSE::nEstimateColors == 2, OPTDENSE::nEstimateNormals == 2);
+	}
 	#if TD_VERBOSE != TD_VERBOSE_OFF
 	if (g_nVerbosityLevel > 2) {
 		// print number of points with 3+ views
diff --git a/libs/MVS/SceneDensify.h b/libs/MVS/SceneDensify.h
index 2f21142ab..cacd94b38 100644
--- a/libs/MVS/SceneDensify.h
+++ b/libs/MVS/SceneDensify.h
@@ -62,6 +62,7 @@ class MVS_API DepthMapsData
 	bool GapInterpolation(DepthData& depthData);
 
 	bool FilterDepthMap(DepthData& depthData, const IIndexArr& idxNeighbors, bool bAdjust=true);
+	void MergeDepthMaps(PointCloud& pointcloud, bool bEstimateColor, bool bEstimateNormal);
 	void FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, bool bEstimateNormal);
 
 protected:

From 17360bf3a72a5cad41920c6170e0df0906c5579e Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 16 Apr 2021 09:05:39 +0300
Subject: [PATCH 035/252] interface: add similarity transform functionality

---
 libs/MVS/Interface.h | 40 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 40 insertions(+)

diff --git a/libs/MVS/Interface.h b/libs/MVS/Interface.h
index 209f9f00a..7b3d96a0c 100644
--- a/libs/MVS/Interface.h
+++ b/libs/MVS/Interface.h
@@ -416,6 +416,23 @@ struct Interface
 			inline Pos3d GetTranslation() const { return R*(-C); }
 			inline void SetTranslation(const Pos3d& T) { C = R.t()*(-T); }
 
+			// combine poses
+			inline Pose operator * (const Pose& P) const {
+				return Pose(R*P.R, P.R.t()*C+P.C);
+			}
+			inline Pose& operator *= (const Pose& P) {
+				R = R*P.R; C = P.R.t()*C+P.C; return *this;
+			}
+
+			// project point: world to local coordinates
+			inline Pos3d operator * (const Pos3d& X) const {
+				return R * (X - C);
+			}
+			// back-project point: local to world coordinates
+			inline Pos3d operator / (const Pos3d& X) const {
+				return R.t() * X + C;
+			}
+
 			template <class Archive>
 			void serialize(Archive& ar, const unsigned int /*version*/) {
 				ar & R;
@@ -631,6 +648,29 @@ struct Interface
 		return platforms[image.platformID].GetPose(image.cameraID, image.poseID);
 	}
 
+	// apply similarity transform
+	void Transform(const Mat33d& rotation, const Pos3d& translation, const double scale) {
+		for (Platform& platform : platforms) {
+			for (Platform::Pose& pose : platform.poses) {
+				pose.R = pose.R * rotation.t();
+				pose.C = rotation * pose.C * scale + translation;
+			}
+		}
+		for (Vertex& vertex : vertices) {
+			vertex.X = rotation * Pos3d(vertex.X) * scale + translation;
+		}
+		for (Normal& normal : verticesNormal) {
+			normal.n = rotation * Pos3d(normal.n);
+		}
+		for (Line& line : lines) {
+			line.pt1 = rotation * Pos3d(line.pt1) * scale + translation;
+			line.pt2 = rotation * Pos3d(line.pt2) * scale + translation;
+		}
+		for (Normal& normal : linesNormal) {
+			normal.n = rotation * Pos3d(normal.n);
+		}
+	}
+
 	template <class Archive>
 	void serialize(Archive& ar, const unsigned int version) {
 		ar & platforms;

From 432570303404baecb11cfcd71ca1a6570f4abaf9 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 16 Apr 2021 09:06:14 +0300
Subject: [PATCH 036/252] common: fix file permissions on linux

---
 libs/Common/File.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libs/Common/File.h b/libs/Common/File.h
index f369bb5df..9c4be9a7f 100644
--- a/libs/Common/File.h
+++ b/libs/Common/File.h
@@ -441,7 +441,7 @@ class GENERAL_API File : public IOStream {
 		if (flags & NOBUFFER)
 			m |= O_DIRECT;
 		#endif
-		h = ::open(aFileName, m, S_IRUSR | S_IWUSR);
+		h = ::open(aFileName, m, S_IRUSR | S_IWUSR | S_IRGRP | S_IROTH);
 	}
 
 	bool isOpen() { return h != -1; };

From 0f2a5a08502ced420f4c7600d7e95aecb6e0eaaa Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 17 Apr 2021 16:01:36 +0300
Subject: [PATCH 037/252] mesh: add GLTF writing support

---
 apps/TextureMesh/TextureMesh.cpp |    11 +-
 libs/IO/json.hpp                 | 20406 +++++++++++++++++++++++++++++
 libs/IO/tiny_gltf.h              |  7754 +++++++++++
 libs/MVS/Mesh.cpp                |   239 +
 libs/MVS/Mesh.h                  |     2 +
 5 files changed, 28410 insertions(+), 2 deletions(-)
 create mode 100644 libs/IO/json.hpp
 create mode 100644 libs/IO/tiny_gltf.h

diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index a0ce3cae5..07307d51d 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -82,7 +82,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "produce this help message")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-		("export-type", boost::program_options::value<std::string>(&OPT::strExportType)->default_value(_T("ply")), "file type used to export the 3D scene (ply or obj)")
+		("export-type", boost::program_options::value<std::string>(&OPT::strExportType)->default_value(_T("gltf")), "file type used to export the 3D scene (ply, obj or gltf)")
 		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
@@ -166,7 +166,14 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	}
 	if (OPT::strInputFileName.IsEmpty())
 		return false;
-	OPT::strExportType = OPT::strExportType.ToLower() == _T("obj") ? _T(".obj") : _T(".ply");
+	OPT::strExportType = OPT::strExportType.ToLower();
+	if (OPT::strExportType == _T("obj"))
+		OPT::strExportType =  _T(".obj");
+	else
+	if (OPT::strExportType == _T("gltf"))
+		OPT::strExportType =  _T(".gltf");
+	else
+		OPT::strExportType =  _T(".ply");
 
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
diff --git a/libs/IO/json.hpp b/libs/IO/json.hpp
new file mode 100644
index 000000000..c9af0bed3
--- /dev/null
+++ b/libs/IO/json.hpp
@@ -0,0 +1,20406 @@
+/*
+    __ _____ _____ _____
+ __|  |   __|     |   | |  JSON for Modern C++
+|  |  |__   |  |  | | | |  version 3.5.0
+|_____|_____|_____|_|___|  https://github.com/nlohmann/json
+
+Licensed under the MIT License <http://opensource.org/licenses/MIT>.
+SPDX-License-Identifier: MIT
+Copyright (c) 2013-2018 Niels Lohmann <http://nlohmann.me>.
+
+Permission is hereby  granted, free of charge, to any  person obtaining a copy
+of this software and associated  documentation files (the "Software"), to deal
+in the Software  without restriction, including without  limitation the rights
+to  use, copy,  modify, merge,  publish, distribute,  sublicense, and/or  sell
+copies  of  the Software,  and  to  permit persons  to  whom  the Software  is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE  IS PROVIDED "AS  IS", WITHOUT WARRANTY  OF ANY KIND,  EXPRESS OR
+IMPLIED,  INCLUDING BUT  NOT  LIMITED TO  THE  WARRANTIES OF  MERCHANTABILITY,
+FITNESS FOR  A PARTICULAR PURPOSE AND  NONINFRINGEMENT. IN NO EVENT  SHALL THE
+AUTHORS  OR COPYRIGHT  HOLDERS  BE  LIABLE FOR  ANY  CLAIM,  DAMAGES OR  OTHER
+LIABILITY, WHETHER IN AN ACTION OF  CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE  OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+#ifndef NLOHMANN_JSON_HPP
+#define NLOHMANN_JSON_HPP
+
+#define NLOHMANN_JSON_VERSION_MAJOR 3
+#define NLOHMANN_JSON_VERSION_MINOR 5
+#define NLOHMANN_JSON_VERSION_PATCH 0
+
+#include <algorithm> // all_of, find, for_each
+#include <cassert> // assert
+#include <ciso646> // and, not, or
+#include <cstddef> // nullptr_t, ptrdiff_t, size_t
+#include <functional> // hash, less
+#include <initializer_list> // initializer_list
+#include <iosfwd> // istream, ostream
+#include <iterator> // random_access_iterator_tag
+#include <numeric> // accumulate
+#include <string> // string, stoi, to_string
+#include <utility> // declval, forward, move, pair, swap
+
+// #include <nlohmann/json_fwd.hpp>
+#ifndef NLOHMANN_JSON_FWD_HPP
+#define NLOHMANN_JSON_FWD_HPP
+
+#include <cstdint> // int64_t, uint64_t
+#include <map> // map
+#include <memory> // allocator
+#include <string> // string
+#include <vector> // vector
+
+/*!
+@brief namespace for Niels Lohmann
+@see https://github.com/nlohmann
+@since version 1.0.0
+*/
+namespace nlohmann
+{
+/*!
+@brief default JSONSerializer template argument
+
+This serializer ignores the template arguments and uses ADL
+([argument-dependent lookup](https://en.cppreference.com/w/cpp/language/adl))
+for serialization.
+*/
+template<typename T = void, typename SFINAE = void>
+struct adl_serializer;
+
+template<template<typename U, typename V, typename... Args> class ObjectType =
+         std::map,
+         template<typename U, typename... Args> class ArrayType = std::vector,
+         class StringType = std::string, class BooleanType = bool,
+         class NumberIntegerType = std::int64_t,
+         class NumberUnsignedType = std::uint64_t,
+         class NumberFloatType = double,
+         template<typename U> class AllocatorType = std::allocator,
+         template<typename T, typename SFINAE = void> class JSONSerializer =
+         adl_serializer>
+class basic_json;
+
+/*!
+@brief JSON Pointer
+
+A JSON pointer defines a string syntax for identifying a specific value
+within a JSON document. It can be used with functions `at` and
+`operator[]`. Furthermore, JSON pointers are the base for JSON patches.
+
+@sa [RFC 6901](https://tools.ietf.org/html/rfc6901)
+
+@since version 2.0.0
+*/
+template<typename BasicJsonType>
+class json_pointer;
+
+/*!
+@brief default JSON class
+
+This type is the default specialization of the @ref basic_json class which
+uses the standard template types.
+
+@since version 1.0.0
+*/
+using json = basic_json<>;
+}  // namespace nlohmann
+
+#endif
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+// This file contains all internal macro definitions
+// You MUST include macro_unscope.hpp at the end of json.hpp to undef all of them
+
+// exclude unsupported compilers
+#if !defined(JSON_SKIP_UNSUPPORTED_COMPILER_CHECK)
+    #if defined(__clang__)
+        #if (__clang_major__ * 10000 + __clang_minor__ * 100 + __clang_patchlevel__) < 30400
+            #error "unsupported Clang version - see https://github.com/nlohmann/json#supported-compilers"
+        #endif
+    #elif defined(__GNUC__) && !(defined(__ICC) || defined(__INTEL_COMPILER))
+        #if (__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__) < 40800
+            #error "unsupported GCC version - see https://github.com/nlohmann/json#supported-compilers"
+        #endif
+    #endif
+#endif
+
+// disable float-equal warnings on GCC/clang
+#if defined(__clang__) || defined(__GNUC__) || defined(__GNUG__)
+    #pragma GCC diagnostic push
+    #pragma GCC diagnostic ignored "-Wfloat-equal"
+#endif
+
+// disable documentation warnings on clang
+#if defined(__clang__)
+    #pragma GCC diagnostic push
+    #pragma GCC diagnostic ignored "-Wdocumentation"
+#endif
+
+// allow for portable deprecation warnings
+#if defined(__clang__) || defined(__GNUC__) || defined(__GNUG__)
+    #define JSON_DEPRECATED __attribute__((deprecated))
+#elif defined(_MSC_VER)
+    #define JSON_DEPRECATED __declspec(deprecated)
+#else
+    #define JSON_DEPRECATED
+#endif
+
+// allow to disable exceptions
+#if (defined(__cpp_exceptions) || defined(__EXCEPTIONS) || defined(_CPPUNWIND)) && !defined(JSON_NOEXCEPTION)
+    #define JSON_THROW(exception) throw exception
+    #define JSON_TRY try
+    #define JSON_CATCH(exception) catch(exception)
+    #define JSON_INTERNAL_CATCH(exception) catch(exception)
+#else
+    #define JSON_THROW(exception) std::abort()
+    #define JSON_TRY if(true)
+    #define JSON_CATCH(exception) if(false)
+    #define JSON_INTERNAL_CATCH(exception) if(false)
+#endif
+
+// override exception macros
+#if defined(JSON_THROW_USER)
+    #undef JSON_THROW
+    #define JSON_THROW JSON_THROW_USER
+#endif
+#if defined(JSON_TRY_USER)
+    #undef JSON_TRY
+    #define JSON_TRY JSON_TRY_USER
+#endif
+#if defined(JSON_CATCH_USER)
+    #undef JSON_CATCH
+    #define JSON_CATCH JSON_CATCH_USER
+    #undef JSON_INTERNAL_CATCH
+    #define JSON_INTERNAL_CATCH JSON_CATCH_USER
+#endif
+#if defined(JSON_INTERNAL_CATCH_USER)
+    #undef JSON_INTERNAL_CATCH
+    #define JSON_INTERNAL_CATCH JSON_INTERNAL_CATCH_USER
+#endif
+
+// manual branch prediction
+#if defined(__clang__) || defined(__GNUC__) || defined(__GNUG__)
+    #define JSON_LIKELY(x)      __builtin_expect(!!(x), 1)
+    #define JSON_UNLIKELY(x)    __builtin_expect(!!(x), 0)
+#else
+    #define JSON_LIKELY(x)      x
+    #define JSON_UNLIKELY(x)    x
+#endif
+
+// C++ language standard detection
+#if (defined(__cplusplus) && __cplusplus >= 201703L) || (defined(_HAS_CXX17) && _HAS_CXX17 == 1) // fix for issue #464
+    #define JSON_HAS_CPP_17
+    #define JSON_HAS_CPP_14
+#elif (defined(__cplusplus) && __cplusplus >= 201402L) || (defined(_HAS_CXX14) && _HAS_CXX14 == 1)
+    #define JSON_HAS_CPP_14
+#endif
+
+/*!
+@brief macro to briefly define a mapping between an enum and JSON
+@def NLOHMANN_JSON_SERIALIZE_ENUM
+@since version 3.4.0
+*/
+#define NLOHMANN_JSON_SERIALIZE_ENUM(ENUM_TYPE, ...)                                           \
+    template<typename BasicJsonType>                                                           \
+    inline void to_json(BasicJsonType& j, const ENUM_TYPE& e)                                  \
+    {                                                                                          \
+        static_assert(std::is_enum<ENUM_TYPE>::value, #ENUM_TYPE " must be an enum!");         \
+        static const std::pair<ENUM_TYPE, BasicJsonType> m[] = __VA_ARGS__;                    \
+        auto it = std::find_if(std::begin(m), std::end(m),                                     \
+                               [e](const std::pair<ENUM_TYPE, BasicJsonType>& ej_pair) -> bool \
+        {                                                                                      \
+            return ej_pair.first == e;                                                         \
+        });                                                                                    \
+        j = ((it != std::end(m)) ? it : std::begin(m))->second;                                \
+    }                                                                                          \
+    template<typename BasicJsonType>                                                           \
+    inline void from_json(const BasicJsonType& j, ENUM_TYPE& e)                                \
+    {                                                                                          \
+        static_assert(std::is_enum<ENUM_TYPE>::value, #ENUM_TYPE " must be an enum!");         \
+        static const std::pair<ENUM_TYPE, BasicJsonType> m[] = __VA_ARGS__;                    \
+        auto it = std::find_if(std::begin(m), std::end(m),                                     \
+                               [j](const std::pair<ENUM_TYPE, BasicJsonType>& ej_pair) -> bool \
+        {                                                                                      \
+            return ej_pair.second == j;                                                        \
+        });                                                                                    \
+        e = ((it != std::end(m)) ? it : std::begin(m))->first;                                 \
+    }
+
+// Ugly macros to avoid uglier copy-paste when specializing basic_json. They
+// may be removed in the future once the class is split.
+
+#define NLOHMANN_BASIC_JSON_TPL_DECLARATION                                \
+    template<template<typename, typename, typename...> class ObjectType,   \
+             template<typename, typename...> class ArrayType,              \
+             class StringType, class BooleanType, class NumberIntegerType, \
+             class NumberUnsignedType, class NumberFloatType,              \
+             template<typename> class AllocatorType,                       \
+             template<typename, typename = void> class JSONSerializer>
+
+#define NLOHMANN_BASIC_JSON_TPL                                            \
+    basic_json<ObjectType, ArrayType, StringType, BooleanType,             \
+    NumberIntegerType, NumberUnsignedType, NumberFloatType,                \
+    AllocatorType, JSONSerializer>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+
+#include <ciso646> // not
+#include <cstddef> // size_t
+#include <type_traits> // conditional, enable_if, false_type, integral_constant, is_constructible, is_integral, is_same, remove_cv, remove_reference, true_type
+
+namespace nlohmann
+{
+namespace detail
+{
+// alias templates to reduce boilerplate
+template<bool B, typename T = void>
+using enable_if_t = typename std::enable_if<B, T>::type;
+
+template<typename T>
+using uncvref_t = typename std::remove_cv<typename std::remove_reference<T>::type>::type;
+
+// implementation of C++14 index_sequence and affiliates
+// source: https://stackoverflow.com/a/32223343
+template<std::size_t... Ints>
+struct index_sequence
+{
+    using type = index_sequence;
+    using value_type = std::size_t;
+    static constexpr std::size_t size() noexcept
+    {
+        return sizeof...(Ints);
+    }
+};
+
+template<class Sequence1, class Sequence2>
+struct merge_and_renumber;
+
+template<std::size_t... I1, std::size_t... I2>
+struct merge_and_renumber<index_sequence<I1...>, index_sequence<I2...>>
+        : index_sequence < I1..., (sizeof...(I1) + I2)... > {};
+
+template<std::size_t N>
+struct make_index_sequence
+    : merge_and_renumber < typename make_index_sequence < N / 2 >::type,
+      typename make_index_sequence < N - N / 2 >::type > {};
+
+template<> struct make_index_sequence<0> : index_sequence<> {};
+template<> struct make_index_sequence<1> : index_sequence<0> {};
+
+template<typename... Ts>
+using index_sequence_for = make_index_sequence<sizeof...(Ts)>;
+
+// dispatch utility (taken from ranges-v3)
+template<unsigned N> struct priority_tag : priority_tag < N - 1 > {};
+template<> struct priority_tag<0> {};
+
+// taken from ranges-v3
+template<typename T>
+struct static_const
+{
+    static constexpr T value{};
+};
+
+template<typename T>
+constexpr T static_const<T>::value;
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+
+#include <ciso646> // not
+#include <limits> // numeric_limits
+#include <type_traits> // false_type, is_constructible, is_integral, is_same, true_type
+#include <utility> // declval
+
+// #include <nlohmann/json_fwd.hpp>
+
+// #include <nlohmann/detail/iterators/iterator_traits.hpp>
+
+
+#include <iterator> // random_access_iterator_tag
+
+// #include <nlohmann/detail/meta/void_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template <typename ...Ts> struct make_void
+{
+    using type = void;
+};
+template <typename ...Ts> using void_t = typename make_void<Ts...>::type;
+} // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template <typename It, typename = void>
+struct iterator_types {};
+
+template <typename It>
+struct iterator_types <
+    It,
+    void_t<typename It::difference_type, typename It::value_type, typename It::pointer,
+    typename It::reference, typename It::iterator_category >>
+{
+    using difference_type = typename It::difference_type;
+    using value_type = typename It::value_type;
+    using pointer = typename It::pointer;
+    using reference = typename It::reference;
+    using iterator_category = typename It::iterator_category;
+};
+
+// This is required as some compilers implement std::iterator_traits in a way that
+// doesn't work with SFINAE. See https://github.com/nlohmann/json/issues/1341.
+template <typename T, typename = void>
+struct iterator_traits
+{
+};
+
+template <typename T>
+struct iterator_traits < T, enable_if_t < !std::is_pointer<T>::value >>
+            : iterator_types<T>
+{
+};
+
+template <typename T>
+struct iterator_traits<T*, enable_if_t<std::is_object<T>::value>>
+{
+    using iterator_category = std::random_access_iterator_tag;
+    using value_type = T;
+    using difference_type = ptrdiff_t;
+    using pointer = T*;
+    using reference = T&;
+};
+}
+}
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/meta/detected.hpp>
+
+
+#include <type_traits>
+
+// #include <nlohmann/detail/meta/void_t.hpp>
+
+
+// http://en.cppreference.com/w/cpp/experimental/is_detected
+namespace nlohmann
+{
+namespace detail
+{
+struct nonesuch
+{
+    nonesuch() = delete;
+    ~nonesuch() = delete;
+    nonesuch(nonesuch const&) = delete;
+    void operator=(nonesuch const&) = delete;
+};
+
+template <class Default,
+          class AlwaysVoid,
+          template <class...> class Op,
+          class... Args>
+struct detector
+{
+    using value_t = std::false_type;
+    using type = Default;
+};
+
+template <class Default, template <class...> class Op, class... Args>
+struct detector<Default, void_t<Op<Args...>>, Op, Args...>
+{
+    using value_t = std::true_type;
+    using type = Op<Args...>;
+};
+
+template <template <class...> class Op, class... Args>
+using is_detected = typename detector<nonesuch, void, Op, Args...>::value_t;
+
+template <template <class...> class Op, class... Args>
+using detected_t = typename detector<nonesuch, void, Op, Args...>::type;
+
+template <class Default, template <class...> class Op, class... Args>
+using detected_or = detector<Default, void, Op, Args...>;
+
+template <class Default, template <class...> class Op, class... Args>
+using detected_or_t = typename detected_or<Default, Op, Args...>::type;
+
+template <class Expected, template <class...> class Op, class... Args>
+using is_detected_exact = std::is_same<Expected, detected_t<Op, Args...>>;
+
+template <class To, template <class...> class Op, class... Args>
+using is_detected_convertible =
+    std::is_convertible<detected_t<Op, Args...>, To>;
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+namespace nlohmann
+{
+/*!
+@brief detail namespace with internal helper functions
+
+This namespace collects functions that should not be exposed,
+implementations of some @ref basic_json methods, and meta-programming helpers.
+
+@since version 2.1.0
+*/
+namespace detail
+{
+/////////////
+// helpers //
+/////////////
+
+// Note to maintainers:
+//
+// Every trait in this file expects a non CV-qualified type.
+// The only exceptions are in the 'aliases for detected' section
+// (i.e. those of the form: decltype(T::member_function(std::declval<T>())))
+//
+// In this case, T has to be properly CV-qualified to constraint the function arguments
+// (e.g. to_json(BasicJsonType&, const T&))
+
+template<typename> struct is_basic_json : std::false_type {};
+
+NLOHMANN_BASIC_JSON_TPL_DECLARATION
+struct is_basic_json<NLOHMANN_BASIC_JSON_TPL> : std::true_type {};
+
+//////////////////////////
+// aliases for detected //
+//////////////////////////
+
+template <typename T>
+using mapped_type_t = typename T::mapped_type;
+
+template <typename T>
+using key_type_t = typename T::key_type;
+
+template <typename T>
+using value_type_t = typename T::value_type;
+
+template <typename T>
+using difference_type_t = typename T::difference_type;
+
+template <typename T>
+using pointer_t = typename T::pointer;
+
+template <typename T>
+using reference_t = typename T::reference;
+
+template <typename T>
+using iterator_category_t = typename T::iterator_category;
+
+template <typename T>
+using iterator_t = typename T::iterator;
+
+template <typename T, typename... Args>
+using to_json_function = decltype(T::to_json(std::declval<Args>()...));
+
+template <typename T, typename... Args>
+using from_json_function = decltype(T::from_json(std::declval<Args>()...));
+
+template <typename T, typename U>
+using get_template_function = decltype(std::declval<T>().template get<U>());
+
+// trait checking if JSONSerializer<T>::from_json(json const&, udt&) exists
+template <typename BasicJsonType, typename T, typename = void>
+struct has_from_json : std::false_type {};
+
+template <typename BasicJsonType, typename T>
+struct has_from_json<BasicJsonType, T,
+           enable_if_t<not is_basic_json<T>::value>>
+{
+    using serializer = typename BasicJsonType::template json_serializer<T, void>;
+
+    static constexpr bool value =
+        is_detected_exact<void, from_json_function, serializer,
+        const BasicJsonType&, T&>::value;
+};
+
+// This trait checks if JSONSerializer<T>::from_json(json const&) exists
+// this overload is used for non-default-constructible user-defined-types
+template <typename BasicJsonType, typename T, typename = void>
+struct has_non_default_from_json : std::false_type {};
+
+template<typename BasicJsonType, typename T>
+struct has_non_default_from_json<BasicJsonType, T, enable_if_t<not is_basic_json<T>::value>>
+{
+    using serializer = typename BasicJsonType::template json_serializer<T, void>;
+
+    static constexpr bool value =
+        is_detected_exact<T, from_json_function, serializer,
+        const BasicJsonType&>::value;
+};
+
+// This trait checks if BasicJsonType::json_serializer<T>::to_json exists
+// Do not evaluate the trait when T is a basic_json type, to avoid template instantiation infinite recursion.
+template <typename BasicJsonType, typename T, typename = void>
+struct has_to_json : std::false_type {};
+
+template <typename BasicJsonType, typename T>
+struct has_to_json<BasicJsonType, T, enable_if_t<not is_basic_json<T>::value>>
+{
+    using serializer = typename BasicJsonType::template json_serializer<T, void>;
+
+    static constexpr bool value =
+        is_detected_exact<void, to_json_function, serializer, BasicJsonType&,
+        T>::value;
+};
+
+
+///////////////////
+// is_ functions //
+///////////////////
+
+template <typename T, typename = void>
+struct is_iterator_traits : std::false_type {};
+
+template <typename T>
+struct is_iterator_traits<iterator_traits<T>>
+{
+  private:
+    using traits = iterator_traits<T>;
+
+  public:
+    static constexpr auto value =
+        is_detected<value_type_t, traits>::value &&
+        is_detected<difference_type_t, traits>::value &&
+        is_detected<pointer_t, traits>::value &&
+        is_detected<iterator_category_t, traits>::value &&
+        is_detected<reference_t, traits>::value;
+};
+
+// source: https://stackoverflow.com/a/37193089/4116453
+
+template <typename T, typename = void>
+struct is_complete_type : std::false_type {};
+
+template <typename T>
+struct is_complete_type<T, decltype(void(sizeof(T)))> : std::true_type {};
+
+template <typename BasicJsonType, typename CompatibleObjectType,
+          typename = void>
+struct is_compatible_object_type_impl : std::false_type {};
+
+template <typename BasicJsonType, typename CompatibleObjectType>
+struct is_compatible_object_type_impl <
+    BasicJsonType, CompatibleObjectType,
+    enable_if_t<is_detected<mapped_type_t, CompatibleObjectType>::value and
+    is_detected<key_type_t, CompatibleObjectType>::value >>
+{
+
+    using object_t = typename BasicJsonType::object_t;
+
+    // macOS's is_constructible does not play well with nonesuch...
+    static constexpr bool value =
+        std::is_constructible<typename object_t::key_type,
+        typename CompatibleObjectType::key_type>::value and
+        std::is_constructible<typename object_t::mapped_type,
+        typename CompatibleObjectType::mapped_type>::value;
+};
+
+template <typename BasicJsonType, typename CompatibleObjectType>
+struct is_compatible_object_type
+    : is_compatible_object_type_impl<BasicJsonType, CompatibleObjectType> {};
+
+template <typename BasicJsonType, typename ConstructibleObjectType,
+          typename = void>
+struct is_constructible_object_type_impl : std::false_type {};
+
+template <typename BasicJsonType, typename ConstructibleObjectType>
+struct is_constructible_object_type_impl <
+    BasicJsonType, ConstructibleObjectType,
+    enable_if_t<is_detected<mapped_type_t, ConstructibleObjectType>::value and
+    is_detected<key_type_t, ConstructibleObjectType>::value >>
+{
+    using object_t = typename BasicJsonType::object_t;
+
+    static constexpr bool value =
+        (std::is_constructible<typename ConstructibleObjectType::key_type, typename object_t::key_type>::value and
+         std::is_same<typename object_t::mapped_type, typename ConstructibleObjectType::mapped_type>::value) or
+        (has_from_json<BasicJsonType, typename ConstructibleObjectType::mapped_type>::value or
+         has_non_default_from_json<BasicJsonType, typename ConstructibleObjectType::mapped_type >::value);
+};
+
+template <typename BasicJsonType, typename ConstructibleObjectType>
+struct is_constructible_object_type
+    : is_constructible_object_type_impl<BasicJsonType,
+      ConstructibleObjectType> {};
+
+template <typename BasicJsonType, typename CompatibleStringType,
+          typename = void>
+struct is_compatible_string_type_impl : std::false_type {};
+
+template <typename BasicJsonType, typename CompatibleStringType>
+struct is_compatible_string_type_impl <
+    BasicJsonType, CompatibleStringType,
+    enable_if_t<is_detected_exact<typename BasicJsonType::string_t::value_type,
+    value_type_t, CompatibleStringType>::value >>
+{
+    static constexpr auto value =
+        std::is_constructible<typename BasicJsonType::string_t, CompatibleStringType>::value;
+};
+
+template <typename BasicJsonType, typename ConstructibleStringType>
+struct is_compatible_string_type
+    : is_compatible_string_type_impl<BasicJsonType, ConstructibleStringType> {};
+
+template <typename BasicJsonType, typename ConstructibleStringType,
+          typename = void>
+struct is_constructible_string_type_impl : std::false_type {};
+
+template <typename BasicJsonType, typename ConstructibleStringType>
+struct is_constructible_string_type_impl <
+    BasicJsonType, ConstructibleStringType,
+    enable_if_t<is_detected_exact<typename BasicJsonType::string_t::value_type,
+    value_type_t, ConstructibleStringType>::value >>
+{
+    static constexpr auto value =
+        std::is_constructible<ConstructibleStringType,
+        typename BasicJsonType::string_t>::value;
+};
+
+template <typename BasicJsonType, typename ConstructibleStringType>
+struct is_constructible_string_type
+    : is_constructible_string_type_impl<BasicJsonType, ConstructibleStringType> {};
+
+template <typename BasicJsonType, typename CompatibleArrayType, typename = void>
+struct is_compatible_array_type_impl : std::false_type {};
+
+template <typename BasicJsonType, typename CompatibleArrayType>
+struct is_compatible_array_type_impl <
+    BasicJsonType, CompatibleArrayType,
+    enable_if_t<is_detected<value_type_t, CompatibleArrayType>::value and
+    is_detected<iterator_t, CompatibleArrayType>::value and
+// This is needed because json_reverse_iterator has a ::iterator type...
+// Therefore it is detected as a CompatibleArrayType.
+// The real fix would be to have an Iterable concept.
+    not is_iterator_traits<
+    iterator_traits<CompatibleArrayType>>::value >>
+{
+    static constexpr bool value =
+        std::is_constructible<BasicJsonType,
+        typename CompatibleArrayType::value_type>::value;
+};
+
+template <typename BasicJsonType, typename CompatibleArrayType>
+struct is_compatible_array_type
+    : is_compatible_array_type_impl<BasicJsonType, CompatibleArrayType> {};
+
+template <typename BasicJsonType, typename ConstructibleArrayType, typename = void>
+struct is_constructible_array_type_impl : std::false_type {};
+
+template <typename BasicJsonType, typename ConstructibleArrayType>
+struct is_constructible_array_type_impl <
+    BasicJsonType, ConstructibleArrayType,
+    enable_if_t<std::is_same<ConstructibleArrayType,
+    typename BasicJsonType::value_type>::value >>
+            : std::true_type {};
+
+template <typename BasicJsonType, typename ConstructibleArrayType>
+struct is_constructible_array_type_impl <
+    BasicJsonType, ConstructibleArrayType,
+    enable_if_t<not std::is_same<ConstructibleArrayType,
+    typename BasicJsonType::value_type>::value and
+    is_detected<value_type_t, ConstructibleArrayType>::value and
+    is_detected<iterator_t, ConstructibleArrayType>::value and
+    is_complete_type<
+    detected_t<value_type_t, ConstructibleArrayType>>::value >>
+{
+    static constexpr bool value =
+        // This is needed because json_reverse_iterator has a ::iterator type,
+        // furthermore, std::back_insert_iterator (and other iterators) have a base class `iterator`...
+        // Therefore it is detected as a ConstructibleArrayType.
+        // The real fix would be to have an Iterable concept.
+        not is_iterator_traits <
+        iterator_traits<ConstructibleArrayType >>::value and
+
+        (std::is_same<typename ConstructibleArrayType::value_type, typename BasicJsonType::array_t::value_type>::value or
+         has_from_json<BasicJsonType,
+         typename ConstructibleArrayType::value_type>::value or
+         has_non_default_from_json <
+         BasicJsonType, typename ConstructibleArrayType::value_type >::value);
+};
+
+template <typename BasicJsonType, typename ConstructibleArrayType>
+struct is_constructible_array_type
+    : is_constructible_array_type_impl<BasicJsonType, ConstructibleArrayType> {};
+
+template <typename RealIntegerType, typename CompatibleNumberIntegerType,
+          typename = void>
+struct is_compatible_integer_type_impl : std::false_type {};
+
+template <typename RealIntegerType, typename CompatibleNumberIntegerType>
+struct is_compatible_integer_type_impl <
+    RealIntegerType, CompatibleNumberIntegerType,
+    enable_if_t<std::is_integral<RealIntegerType>::value and
+    std::is_integral<CompatibleNumberIntegerType>::value and
+    not std::is_same<bool, CompatibleNumberIntegerType>::value >>
+{
+    // is there an assert somewhere on overflows?
+    using RealLimits = std::numeric_limits<RealIntegerType>;
+    using CompatibleLimits = std::numeric_limits<CompatibleNumberIntegerType>;
+
+    static constexpr auto value =
+        std::is_constructible<RealIntegerType,
+        CompatibleNumberIntegerType>::value and
+        CompatibleLimits::is_integer and
+        RealLimits::is_signed == CompatibleLimits::is_signed;
+};
+
+template <typename RealIntegerType, typename CompatibleNumberIntegerType>
+struct is_compatible_integer_type
+    : is_compatible_integer_type_impl<RealIntegerType,
+      CompatibleNumberIntegerType> {};
+
+template <typename BasicJsonType, typename CompatibleType, typename = void>
+struct is_compatible_type_impl: std::false_type {};
+
+template <typename BasicJsonType, typename CompatibleType>
+struct is_compatible_type_impl <
+    BasicJsonType, CompatibleType,
+    enable_if_t<is_complete_type<CompatibleType>::value >>
+{
+    static constexpr bool value =
+        has_to_json<BasicJsonType, CompatibleType>::value;
+};
+
+template <typename BasicJsonType, typename CompatibleType>
+struct is_compatible_type
+    : is_compatible_type_impl<BasicJsonType, CompatibleType> {};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+
+#include <exception> // exception
+#include <stdexcept> // runtime_error
+#include <string> // to_string
+
+// #include <nlohmann/detail/input/position_t.hpp>
+
+
+#include <cstddef> // size_t
+
+namespace nlohmann
+{
+namespace detail
+{
+/// struct to capture the start position of the current token
+struct position_t
+{
+    /// the total number of characters read
+    std::size_t chars_read_total = 0;
+    /// the number of characters read in the current line
+    std::size_t chars_read_current_line = 0;
+    /// the number of lines read
+    std::size_t lines_read = 0;
+
+    /// conversion to size_t to preserve SAX interface
+    constexpr operator size_t() const
+    {
+        return chars_read_total;
+    }
+};
+
+}
+}
+
+
+namespace nlohmann
+{
+namespace detail
+{
+////////////////
+// exceptions //
+////////////////
+
+/*!
+@brief general exception of the @ref basic_json class
+
+This class is an extension of `std::exception` objects with a member @a id for
+exception ids. It is used as the base class for all exceptions thrown by the
+@ref basic_json class. This class can hence be used as "wildcard" to catch
+exceptions.
+
+Subclasses:
+- @ref parse_error for exceptions indicating a parse error
+- @ref invalid_iterator for exceptions indicating errors with iterators
+- @ref type_error for exceptions indicating executing a member function with
+                  a wrong type
+- @ref out_of_range for exceptions indicating access out of the defined range
+- @ref other_error for exceptions indicating other library errors
+
+@internal
+@note To have nothrow-copy-constructible exceptions, we internally use
+      `std::runtime_error` which can cope with arbitrary-length error messages.
+      Intermediate strings are built with static functions and then passed to
+      the actual constructor.
+@endinternal
+
+@liveexample{The following code shows how arbitrary library exceptions can be
+caught.,exception}
+
+@since version 3.0.0
+*/
+class exception : public std::exception
+{
+  public:
+    /// returns the explanatory string
+    const char* what() const noexcept override
+    {
+        return m.what();
+    }
+
+    /// the id of the exception
+    const int id;
+
+  protected:
+    exception(int id_, const char* what_arg) : id(id_), m(what_arg) {}
+
+    static std::string name(const std::string& ename, int id_)
+    {
+        return "[json.exception." + ename + "." + std::to_string(id_) + "] ";
+    }
+
+  private:
+    /// an exception object as storage for error messages
+    std::runtime_error m;
+};
+
+/*!
+@brief exception indicating a parse error
+
+This exception is thrown by the library when a parse error occurs. Parse errors
+can occur during the deserialization of JSON text, CBOR, MessagePack, as well
+as when using JSON Patch.
+
+Member @a byte holds the byte index of the last read character in the input
+file.
+
+Exceptions have ids 1xx.
+
+name / id                      | example message | description
+------------------------------ | --------------- | -------------------------
+json.exception.parse_error.101 | parse error at 2: unexpected end of input; expected string literal | This error indicates a syntax error while deserializing a JSON text. The error message describes that an unexpected token (character) was encountered, and the member @a byte indicates the error position.
+json.exception.parse_error.102 | parse error at 14: missing or wrong low surrogate | JSON uses the `\uxxxx` format to describe Unicode characters. Code points above above 0xFFFF are split into two `\uxxxx` entries ("surrogate pairs"). This error indicates that the surrogate pair is incomplete or contains an invalid code point.
+json.exception.parse_error.103 | parse error: code points above 0x10FFFF are invalid | Unicode supports code points up to 0x10FFFF. Code points above 0x10FFFF are invalid.
+json.exception.parse_error.104 | parse error: JSON patch must be an array of objects | [RFC 6902](https://tools.ietf.org/html/rfc6902) requires a JSON Patch document to be a JSON document that represents an array of objects.
+json.exception.parse_error.105 | parse error: operation must have string member 'op' | An operation of a JSON Patch document must contain exactly one "op" member, whose value indicates the operation to perform. Its value must be one of "add", "remove", "replace", "move", "copy", or "test"; other values are errors.
+json.exception.parse_error.106 | parse error: array index '01' must not begin with '0' | An array index in a JSON Pointer ([RFC 6901](https://tools.ietf.org/html/rfc6901)) may be `0` or any number without a leading `0`.
+json.exception.parse_error.107 | parse error: JSON pointer must be empty or begin with '/' - was: 'foo' | A JSON Pointer must be a Unicode string containing a sequence of zero or more reference tokens, each prefixed by a `/` character.
+json.exception.parse_error.108 | parse error: escape character '~' must be followed with '0' or '1' | In a JSON Pointer, only `~0` and `~1` are valid escape sequences.
+json.exception.parse_error.109 | parse error: array index 'one' is not a number | A JSON Pointer array index must be a number.
+json.exception.parse_error.110 | parse error at 1: cannot read 2 bytes from vector | When parsing CBOR or MessagePack, the byte vector ends before the complete value has been read.
+json.exception.parse_error.112 | parse error at 1: error reading CBOR; last byte: 0xF8 | Not all types of CBOR or MessagePack are supported. This exception occurs if an unsupported byte was read.
+json.exception.parse_error.113 | parse error at 2: expected a CBOR string; last byte: 0x98 | While parsing a map key, a value that is not a string has been read.
+json.exception.parse_error.114 | parse error: Unsupported BSON record type 0x0F | The parsing of the corresponding BSON record type is not implemented (yet).
+
+@note For an input with n bytes, 1 is the index of the first character and n+1
+      is the index of the terminating null byte or the end of file. This also
+      holds true when reading a byte vector (CBOR or MessagePack).
+
+@liveexample{The following code shows how a `parse_error` exception can be
+caught.,parse_error}
+
+@sa @ref exception for the base class of the library exceptions
+@sa @ref invalid_iterator for exceptions indicating errors with iterators
+@sa @ref type_error for exceptions indicating executing a member function with
+                    a wrong type
+@sa @ref out_of_range for exceptions indicating access out of the defined range
+@sa @ref other_error for exceptions indicating other library errors
+
+@since version 3.0.0
+*/
+class parse_error : public exception
+{
+  public:
+    /*!
+    @brief create a parse error exception
+    @param[in] id_       the id of the exception
+    @param[in] position  the position where the error occurred (or with
+                         chars_read_total=0 if the position cannot be
+                         determined)
+    @param[in] what_arg  the explanatory string
+    @return parse_error object
+    */
+    static parse_error create(int id_, const position_t& pos, const std::string& what_arg)
+    {
+        std::string w = exception::name("parse_error", id_) + "parse error" +
+                        position_string(pos) + ": " + what_arg;
+        return parse_error(id_, pos.chars_read_total, w.c_str());
+    }
+
+    static parse_error create(int id_, std::size_t byte_, const std::string& what_arg)
+    {
+        std::string w = exception::name("parse_error", id_) + "parse error" +
+                        (byte_ != 0 ? (" at byte " + std::to_string(byte_)) : "") +
+                        ": " + what_arg;
+        return parse_error(id_, byte_, w.c_str());
+    }
+
+    /*!
+    @brief byte index of the parse error
+
+    The byte index of the last read character in the input file.
+
+    @note For an input with n bytes, 1 is the index of the first character and
+          n+1 is the index of the terminating null byte or the end of file.
+          This also holds true when reading a byte vector (CBOR or MessagePack).
+    */
+    const std::size_t byte;
+
+  private:
+    parse_error(int id_, std::size_t byte_, const char* what_arg)
+        : exception(id_, what_arg), byte(byte_) {}
+
+    static std::string position_string(const position_t& pos)
+    {
+        return " at line " + std::to_string(pos.lines_read + 1) +
+               ", column " + std::to_string(pos.chars_read_current_line);
+    }
+};
+
+/*!
+@brief exception indicating errors with iterators
+
+This exception is thrown if iterators passed to a library function do not match
+the expected semantics.
+
+Exceptions have ids 2xx.
+
+name / id                           | example message | description
+----------------------------------- | --------------- | -------------------------
+json.exception.invalid_iterator.201 | iterators are not compatible | The iterators passed to constructor @ref basic_json(InputIT first, InputIT last) are not compatible, meaning they do not belong to the same container. Therefore, the range (@a first, @a last) is invalid.
+json.exception.invalid_iterator.202 | iterator does not fit current value | In an erase or insert function, the passed iterator @a pos does not belong to the JSON value for which the function was called. It hence does not define a valid position for the deletion/insertion.
+json.exception.invalid_iterator.203 | iterators do not fit current value | Either iterator passed to function @ref erase(IteratorType first, IteratorType last) does not belong to the JSON value from which values shall be erased. It hence does not define a valid range to delete values from.
+json.exception.invalid_iterator.204 | iterators out of range | When an iterator range for a primitive type (number, boolean, or string) is passed to a constructor or an erase function, this range has to be exactly (@ref begin(), @ref end()), because this is the only way the single stored value is expressed. All other ranges are invalid.
+json.exception.invalid_iterator.205 | iterator out of range | When an iterator for a primitive type (number, boolean, or string) is passed to an erase function, the iterator has to be the @ref begin() iterator, because it is the only way to address the stored value. All other iterators are invalid.
+json.exception.invalid_iterator.206 | cannot construct with iterators from null | The iterators passed to constructor @ref basic_json(InputIT first, InputIT last) belong to a JSON null value and hence to not define a valid range.
+json.exception.invalid_iterator.207 | cannot use key() for non-object iterators | The key() member function can only be used on iterators belonging to a JSON object, because other types do not have a concept of a key.
+json.exception.invalid_iterator.208 | cannot use operator[] for object iterators | The operator[] to specify a concrete offset cannot be used on iterators belonging to a JSON object, because JSON objects are unordered.
+json.exception.invalid_iterator.209 | cannot use offsets with object iterators | The offset operators (+, -, +=, -=) cannot be used on iterators belonging to a JSON object, because JSON objects are unordered.
+json.exception.invalid_iterator.210 | iterators do not fit | The iterator range passed to the insert function are not compatible, meaning they do not belong to the same container. Therefore, the range (@a first, @a last) is invalid.
+json.exception.invalid_iterator.211 | passed iterators may not belong to container | The iterator range passed to the insert function must not be a subrange of the container to insert to.
+json.exception.invalid_iterator.212 | cannot compare iterators of different containers | When two iterators are compared, they must belong to the same container.
+json.exception.invalid_iterator.213 | cannot compare order of object iterators | The order of object iterators cannot be compared, because JSON objects are unordered.
+json.exception.invalid_iterator.214 | cannot get value | Cannot get value for iterator: Either the iterator belongs to a null value or it is an iterator to a primitive type (number, boolean, or string), but the iterator is different to @ref begin().
+
+@liveexample{The following code shows how an `invalid_iterator` exception can be
+caught.,invalid_iterator}
+
+@sa @ref exception for the base class of the library exceptions
+@sa @ref parse_error for exceptions indicating a parse error
+@sa @ref type_error for exceptions indicating executing a member function with
+                    a wrong type
+@sa @ref out_of_range for exceptions indicating access out of the defined range
+@sa @ref other_error for exceptions indicating other library errors
+
+@since version 3.0.0
+*/
+class invalid_iterator : public exception
+{
+  public:
+    static invalid_iterator create(int id_, const std::string& what_arg)
+    {
+        std::string w = exception::name("invalid_iterator", id_) + what_arg;
+        return invalid_iterator(id_, w.c_str());
+    }
+
+  private:
+    invalid_iterator(int id_, const char* what_arg)
+        : exception(id_, what_arg) {}
+};
+
+/*!
+@brief exception indicating executing a member function with a wrong type
+
+This exception is thrown in case of a type error; that is, a library function is
+executed on a JSON value whose type does not match the expected semantics.
+
+Exceptions have ids 3xx.
+
+name / id                     | example message | description
+----------------------------- | --------------- | -------------------------
+json.exception.type_error.301 | cannot create object from initializer list | To create an object from an initializer list, the initializer list must consist only of a list of pairs whose first element is a string. When this constraint is violated, an array is created instead.
+json.exception.type_error.302 | type must be object, but is array | During implicit or explicit value conversion, the JSON type must be compatible to the target type. For instance, a JSON string can only be converted into string types, but not into numbers or boolean types.
+json.exception.type_error.303 | incompatible ReferenceType for get_ref, actual type is object | To retrieve a reference to a value stored in a @ref basic_json object with @ref get_ref, the type of the reference must match the value type. For instance, for a JSON array, the @a ReferenceType must be @ref array_t&.
+json.exception.type_error.304 | cannot use at() with string | The @ref at() member functions can only be executed for certain JSON types.
+json.exception.type_error.305 | cannot use operator[] with string | The @ref operator[] member functions can only be executed for certain JSON types.
+json.exception.type_error.306 | cannot use value() with string | The @ref value() member functions can only be executed for certain JSON types.
+json.exception.type_error.307 | cannot use erase() with string | The @ref erase() member functions can only be executed for certain JSON types.
+json.exception.type_error.308 | cannot use push_back() with string | The @ref push_back() and @ref operator+= member functions can only be executed for certain JSON types.
+json.exception.type_error.309 | cannot use insert() with | The @ref insert() member functions can only be executed for certain JSON types.
+json.exception.type_error.310 | cannot use swap() with number | The @ref swap() member functions can only be executed for certain JSON types.
+json.exception.type_error.311 | cannot use emplace_back() with string | The @ref emplace_back() member function can only be executed for certain JSON types.
+json.exception.type_error.312 | cannot use update() with string | The @ref update() member functions can only be executed for certain JSON types.
+json.exception.type_error.313 | invalid value to unflatten | The @ref unflatten function converts an object whose keys are JSON Pointers back into an arbitrary nested JSON value. The JSON Pointers must not overlap, because then the resulting value would not be well defined.
+json.exception.type_error.314 | only objects can be unflattened | The @ref unflatten function only works for an object whose keys are JSON Pointers.
+json.exception.type_error.315 | values in object must be primitive | The @ref unflatten function only works for an object whose keys are JSON Pointers and whose values are primitive.
+json.exception.type_error.316 | invalid UTF-8 byte at index 10: 0x7E | The @ref dump function only works with UTF-8 encoded strings; that is, if you assign a `std::string` to a JSON value, make sure it is UTF-8 encoded. |
+json.exception.type_error.317 | JSON value cannot be serialized to requested format | The dynamic type of the object cannot be represented in the requested serialization format (e.g. a raw `true` or `null` JSON object cannot be serialized to BSON) |
+
+@liveexample{The following code shows how a `type_error` exception can be
+caught.,type_error}
+
+@sa @ref exception for the base class of the library exceptions
+@sa @ref parse_error for exceptions indicating a parse error
+@sa @ref invalid_iterator for exceptions indicating errors with iterators
+@sa @ref out_of_range for exceptions indicating access out of the defined range
+@sa @ref other_error for exceptions indicating other library errors
+
+@since version 3.0.0
+*/
+class type_error : public exception
+{
+  public:
+    static type_error create(int id_, const std::string& what_arg)
+    {
+        std::string w = exception::name("type_error", id_) + what_arg;
+        return type_error(id_, w.c_str());
+    }
+
+  private:
+    type_error(int id_, const char* what_arg) : exception(id_, what_arg) {}
+};
+
+/*!
+@brief exception indicating access out of the defined range
+
+This exception is thrown in case a library function is called on an input
+parameter that exceeds the expected range, for instance in case of array
+indices or nonexisting object keys.
+
+Exceptions have ids 4xx.
+
+name / id                       | example message | description
+------------------------------- | --------------- | -------------------------
+json.exception.out_of_range.401 | array index 3 is out of range | The provided array index @a i is larger than @a size-1.
+json.exception.out_of_range.402 | array index '-' (3) is out of range | The special array index `-` in a JSON Pointer never describes a valid element of the array, but the index past the end. That is, it can only be used to add elements at this position, but not to read it.
+json.exception.out_of_range.403 | key 'foo' not found | The provided key was not found in the JSON object.
+json.exception.out_of_range.404 | unresolved reference token 'foo' | A reference token in a JSON Pointer could not be resolved.
+json.exception.out_of_range.405 | JSON pointer has no parent | The JSON Patch operations 'remove' and 'add' can not be applied to the root element of the JSON value.
+json.exception.out_of_range.406 | number overflow parsing '10E1000' | A parsed number could not be stored as without changing it to NaN or INF.
+json.exception.out_of_range.407 | number overflow serializing '9223372036854775808' | UBJSON and BSON only support integer numbers up to 9223372036854775807. |
+json.exception.out_of_range.408 | excessive array size: 8658170730974374167 | The size (following `#`) of an UBJSON array or object exceeds the maximal capacity. |
+json.exception.out_of_range.409 | BSON key cannot contain code point U+0000 (at byte 2) | Key identifiers to be serialized to BSON cannot contain code point U+0000, since the key is stored as zero-terminated c-string |
+
+@liveexample{The following code shows how an `out_of_range` exception can be
+caught.,out_of_range}
+
+@sa @ref exception for the base class of the library exceptions
+@sa @ref parse_error for exceptions indicating a parse error
+@sa @ref invalid_iterator for exceptions indicating errors with iterators
+@sa @ref type_error for exceptions indicating executing a member function with
+                    a wrong type
+@sa @ref other_error for exceptions indicating other library errors
+
+@since version 3.0.0
+*/
+class out_of_range : public exception
+{
+  public:
+    static out_of_range create(int id_, const std::string& what_arg)
+    {
+        std::string w = exception::name("out_of_range", id_) + what_arg;
+        return out_of_range(id_, w.c_str());
+    }
+
+  private:
+    out_of_range(int id_, const char* what_arg) : exception(id_, what_arg) {}
+};
+
+/*!
+@brief exception indicating other library errors
+
+This exception is thrown in case of errors that cannot be classified with the
+other exception types.
+
+Exceptions have ids 5xx.
+
+name / id                      | example message | description
+------------------------------ | --------------- | -------------------------
+json.exception.other_error.501 | unsuccessful: {"op":"test","path":"/baz", "value":"bar"} | A JSON Patch operation 'test' failed. The unsuccessful operation is also printed.
+
+@sa @ref exception for the base class of the library exceptions
+@sa @ref parse_error for exceptions indicating a parse error
+@sa @ref invalid_iterator for exceptions indicating errors with iterators
+@sa @ref type_error for exceptions indicating executing a member function with
+                    a wrong type
+@sa @ref out_of_range for exceptions indicating access out of the defined range
+
+@liveexample{The following code shows how an `other_error` exception can be
+caught.,other_error}
+
+@since version 3.0.0
+*/
+class other_error : public exception
+{
+  public:
+    static other_error create(int id_, const std::string& what_arg)
+    {
+        std::string w = exception::name("other_error", id_) + what_arg;
+        return other_error(id_, w.c_str());
+    }
+
+  private:
+    other_error(int id_, const char* what_arg) : exception(id_, what_arg) {}
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+#include <array> // array
+#include <ciso646> // and
+#include <cstddef> // size_t
+#include <cstdint> // uint8_t
+
+namespace nlohmann
+{
+namespace detail
+{
+///////////////////////////
+// JSON type enumeration //
+///////////////////////////
+
+/*!
+@brief the JSON type enumeration
+
+This enumeration collects the different JSON types. It is internally used to
+distinguish the stored values, and the functions @ref basic_json::is_null(),
+@ref basic_json::is_object(), @ref basic_json::is_array(),
+@ref basic_json::is_string(), @ref basic_json::is_boolean(),
+@ref basic_json::is_number() (with @ref basic_json::is_number_integer(),
+@ref basic_json::is_number_unsigned(), and @ref basic_json::is_number_float()),
+@ref basic_json::is_discarded(), @ref basic_json::is_primitive(), and
+@ref basic_json::is_structured() rely on it.
+
+@note There are three enumeration entries (number_integer, number_unsigned, and
+number_float), because the library distinguishes these three types for numbers:
+@ref basic_json::number_unsigned_t is used for unsigned integers,
+@ref basic_json::number_integer_t is used for signed integers, and
+@ref basic_json::number_float_t is used for floating-point numbers or to
+approximate integers which do not fit in the limits of their respective type.
+
+@sa @ref basic_json::basic_json(const value_t value_type) -- create a JSON
+value with the default value for a given type
+
+@since version 1.0.0
+*/
+enum class value_t : std::uint8_t
+{
+    null,             ///< null value
+    object,           ///< object (unordered set of name/value pairs)
+    array,            ///< array (ordered collection of values)
+    string,           ///< string value
+    boolean,          ///< boolean value
+    number_integer,   ///< number value (signed integer)
+    number_unsigned,  ///< number value (unsigned integer)
+    number_float,     ///< number value (floating-point)
+    discarded         ///< discarded by the the parser callback function
+};
+
+/*!
+@brief comparison operator for JSON types
+
+Returns an ordering that is similar to Python:
+- order: null < boolean < number < object < array < string
+- furthermore, each type is not smaller than itself
+- discarded values are not comparable
+
+@since version 1.0.0
+*/
+inline bool operator<(const value_t lhs, const value_t rhs) noexcept
+{
+    static constexpr std::array<std::uint8_t, 8> order = {{
+            0 /* null */, 3 /* object */, 4 /* array */, 5 /* string */,
+            1 /* boolean */, 2 /* integer */, 2 /* unsigned */, 2 /* float */
+        }
+    };
+
+    const auto l_index = static_cast<std::size_t>(lhs);
+    const auto r_index = static_cast<std::size_t>(rhs);
+    return l_index < order.size() and r_index < order.size() and order[l_index] < order[r_index];
+}
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/conversions/from_json.hpp>
+
+
+#include <algorithm> // transform
+#include <array> // array
+#include <ciso646> // and, not
+#include <forward_list> // forward_list
+#include <iterator> // inserter, front_inserter, end
+#include <map> // map
+#include <string> // string
+#include <tuple> // tuple, make_tuple
+#include <type_traits> // is_arithmetic, is_same, is_enum, underlying_type, is_convertible
+#include <unordered_map> // unordered_map
+#include <utility> // pair, declval
+#include <valarray> // valarray
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename std::nullptr_t& n)
+{
+    if (JSON_UNLIKELY(not j.is_null()))
+    {
+        JSON_THROW(type_error::create(302, "type must be null, but is " + std::string(j.type_name())));
+    }
+    n = nullptr;
+}
+
+// overloads for basic_json template parameters
+template<typename BasicJsonType, typename ArithmeticType,
+         enable_if_t<std::is_arithmetic<ArithmeticType>::value and
+                     not std::is_same<ArithmeticType, typename BasicJsonType::boolean_t>::value,
+                     int> = 0>
+void get_arithmetic_value(const BasicJsonType& j, ArithmeticType& val)
+{
+    switch (static_cast<value_t>(j))
+    {
+        case value_t::number_unsigned:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_unsigned_t*>());
+            break;
+        }
+        case value_t::number_integer:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_integer_t*>());
+            break;
+        }
+        case value_t::number_float:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_float_t*>());
+            break;
+        }
+
+        default:
+            JSON_THROW(type_error::create(302, "type must be number, but is " + std::string(j.type_name())));
+    }
+}
+
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename BasicJsonType::boolean_t& b)
+{
+    if (JSON_UNLIKELY(not j.is_boolean()))
+    {
+        JSON_THROW(type_error::create(302, "type must be boolean, but is " + std::string(j.type_name())));
+    }
+    b = *j.template get_ptr<const typename BasicJsonType::boolean_t*>();
+}
+
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename BasicJsonType::string_t& s)
+{
+    if (JSON_UNLIKELY(not j.is_string()))
+    {
+        JSON_THROW(type_error::create(302, "type must be string, but is " + std::string(j.type_name())));
+    }
+    s = *j.template get_ptr<const typename BasicJsonType::string_t*>();
+}
+
+template <
+    typename BasicJsonType, typename ConstructibleStringType,
+    enable_if_t <
+        is_constructible_string_type<BasicJsonType, ConstructibleStringType>::value and
+        not std::is_same<typename BasicJsonType::string_t,
+                         ConstructibleStringType>::value,
+        int > = 0 >
+void from_json(const BasicJsonType& j, ConstructibleStringType& s)
+{
+    if (JSON_UNLIKELY(not j.is_string()))
+    {
+        JSON_THROW(type_error::create(302, "type must be string, but is " + std::string(j.type_name())));
+    }
+
+    s = *j.template get_ptr<const typename BasicJsonType::string_t*>();
+}
+
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename BasicJsonType::number_float_t& val)
+{
+    get_arithmetic_value(j, val);
+}
+
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename BasicJsonType::number_unsigned_t& val)
+{
+    get_arithmetic_value(j, val);
+}
+
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename BasicJsonType::number_integer_t& val)
+{
+    get_arithmetic_value(j, val);
+}
+
+template<typename BasicJsonType, typename EnumType,
+         enable_if_t<std::is_enum<EnumType>::value, int> = 0>
+void from_json(const BasicJsonType& j, EnumType& e)
+{
+    typename std::underlying_type<EnumType>::type val;
+    get_arithmetic_value(j, val);
+    e = static_cast<EnumType>(val);
+}
+
+// forward_list doesn't have an insert method
+template<typename BasicJsonType, typename T, typename Allocator,
+         enable_if_t<std::is_convertible<BasicJsonType, T>::value, int> = 0>
+void from_json(const BasicJsonType& j, std::forward_list<T, Allocator>& l)
+{
+    if (JSON_UNLIKELY(not j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(j.type_name())));
+    }
+    std::transform(j.rbegin(), j.rend(),
+                   std::front_inserter(l), [](const BasicJsonType & i)
+    {
+        return i.template get<T>();
+    });
+}
+
+// valarray doesn't have an insert method
+template<typename BasicJsonType, typename T,
+         enable_if_t<std::is_convertible<BasicJsonType, T>::value, int> = 0>
+void from_json(const BasicJsonType& j, std::valarray<T>& l)
+{
+    if (JSON_UNLIKELY(not j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(j.type_name())));
+    }
+    l.resize(j.size());
+    std::copy(j.m_value.array->begin(), j.m_value.array->end(), std::begin(l));
+}
+
+template<typename BasicJsonType>
+void from_json_array_impl(const BasicJsonType& j, typename BasicJsonType::array_t& arr, priority_tag<3> /*unused*/)
+{
+    arr = *j.template get_ptr<const typename BasicJsonType::array_t*>();
+}
+
+template <typename BasicJsonType, typename T, std::size_t N>
+auto from_json_array_impl(const BasicJsonType& j, std::array<T, N>& arr,
+                          priority_tag<2> /*unused*/)
+-> decltype(j.template get<T>(), void())
+{
+    for (std::size_t i = 0; i < N; ++i)
+    {
+        arr[i] = j.at(i).template get<T>();
+    }
+}
+
+template<typename BasicJsonType, typename ConstructibleArrayType>
+auto from_json_array_impl(const BasicJsonType& j, ConstructibleArrayType& arr, priority_tag<1> /*unused*/)
+-> decltype(
+    arr.reserve(std::declval<typename ConstructibleArrayType::size_type>()),
+    j.template get<typename ConstructibleArrayType::value_type>(),
+    void())
+{
+    using std::end;
+
+    arr.reserve(j.size());
+    std::transform(j.begin(), j.end(),
+                   std::inserter(arr, end(arr)), [](const BasicJsonType & i)
+    {
+        // get<BasicJsonType>() returns *this, this won't call a from_json
+        // method when value_type is BasicJsonType
+        return i.template get<typename ConstructibleArrayType::value_type>();
+    });
+}
+
+template <typename BasicJsonType, typename ConstructibleArrayType>
+void from_json_array_impl(const BasicJsonType& j, ConstructibleArrayType& arr,
+                          priority_tag<0> /*unused*/)
+{
+    using std::end;
+
+    std::transform(
+        j.begin(), j.end(), std::inserter(arr, end(arr)),
+        [](const BasicJsonType & i)
+    {
+        // get<BasicJsonType>() returns *this, this won't call a from_json
+        // method when value_type is BasicJsonType
+        return i.template get<typename ConstructibleArrayType::value_type>();
+    });
+}
+
+template <typename BasicJsonType, typename ConstructibleArrayType,
+          enable_if_t <
+              is_constructible_array_type<BasicJsonType, ConstructibleArrayType>::value and
+              not is_constructible_object_type<BasicJsonType, ConstructibleArrayType>::value and
+              not is_constructible_string_type<BasicJsonType, ConstructibleArrayType>::value and
+              not is_basic_json<ConstructibleArrayType>::value,
+              int > = 0 >
+
+auto from_json(const BasicJsonType& j, ConstructibleArrayType& arr)
+-> decltype(from_json_array_impl(j, arr, priority_tag<3> {}),
+j.template get<typename ConstructibleArrayType::value_type>(),
+void())
+{
+    if (JSON_UNLIKELY(not j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, "type must be array, but is " +
+                                      std::string(j.type_name())));
+    }
+
+    from_json_array_impl(j, arr, priority_tag<3> {});
+}
+
+template<typename BasicJsonType, typename ConstructibleObjectType,
+         enable_if_t<is_constructible_object_type<BasicJsonType, ConstructibleObjectType>::value, int> = 0>
+void from_json(const BasicJsonType& j, ConstructibleObjectType& obj)
+{
+    if (JSON_UNLIKELY(not j.is_object()))
+    {
+        JSON_THROW(type_error::create(302, "type must be object, but is " + std::string(j.type_name())));
+    }
+
+    auto inner_object = j.template get_ptr<const typename BasicJsonType::object_t*>();
+    using value_type = typename ConstructibleObjectType::value_type;
+    std::transform(
+        inner_object->begin(), inner_object->end(),
+        std::inserter(obj, obj.begin()),
+        [](typename BasicJsonType::object_t::value_type const & p)
+    {
+        return value_type(p.first, p.second.template get<typename ConstructibleObjectType::mapped_type>());
+    });
+}
+
+// overload for arithmetic types, not chosen for basic_json template arguments
+// (BooleanType, etc..); note: Is it really necessary to provide explicit
+// overloads for boolean_t etc. in case of a custom BooleanType which is not
+// an arithmetic type?
+template<typename BasicJsonType, typename ArithmeticType,
+         enable_if_t <
+             std::is_arithmetic<ArithmeticType>::value and
+             not std::is_same<ArithmeticType, typename BasicJsonType::number_unsigned_t>::value and
+             not std::is_same<ArithmeticType, typename BasicJsonType::number_integer_t>::value and
+             not std::is_same<ArithmeticType, typename BasicJsonType::number_float_t>::value and
+             not std::is_same<ArithmeticType, typename BasicJsonType::boolean_t>::value,
+             int> = 0>
+void from_json(const BasicJsonType& j, ArithmeticType& val)
+{
+    switch (static_cast<value_t>(j))
+    {
+        case value_t::number_unsigned:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_unsigned_t*>());
+            break;
+        }
+        case value_t::number_integer:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_integer_t*>());
+            break;
+        }
+        case value_t::number_float:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_float_t*>());
+            break;
+        }
+        case value_t::boolean:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::boolean_t*>());
+            break;
+        }
+
+        default:
+            JSON_THROW(type_error::create(302, "type must be number, but is " + std::string(j.type_name())));
+    }
+}
+
+template<typename BasicJsonType, typename A1, typename A2>
+void from_json(const BasicJsonType& j, std::pair<A1, A2>& p)
+{
+    p = {j.at(0).template get<A1>(), j.at(1).template get<A2>()};
+}
+
+template<typename BasicJsonType, typename Tuple, std::size_t... Idx>
+void from_json_tuple_impl(const BasicJsonType& j, Tuple& t, index_sequence<Idx...> /*unused*/)
+{
+    t = std::make_tuple(j.at(Idx).template get<typename std::tuple_element<Idx, Tuple>::type>()...);
+}
+
+template<typename BasicJsonType, typename... Args>
+void from_json(const BasicJsonType& j, std::tuple<Args...>& t)
+{
+    from_json_tuple_impl(j, t, index_sequence_for<Args...> {});
+}
+
+template <typename BasicJsonType, typename Key, typename Value, typename Compare, typename Allocator,
+          typename = enable_if_t<not std::is_constructible<
+                                     typename BasicJsonType::string_t, Key>::value>>
+void from_json(const BasicJsonType& j, std::map<Key, Value, Compare, Allocator>& m)
+{
+    if (JSON_UNLIKELY(not j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(j.type_name())));
+    }
+    for (const auto& p : j)
+    {
+        if (JSON_UNLIKELY(not p.is_array()))
+        {
+            JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(p.type_name())));
+        }
+        m.emplace(p.at(0).template get<Key>(), p.at(1).template get<Value>());
+    }
+}
+
+template <typename BasicJsonType, typename Key, typename Value, typename Hash, typename KeyEqual, typename Allocator,
+          typename = enable_if_t<not std::is_constructible<
+                                     typename BasicJsonType::string_t, Key>::value>>
+void from_json(const BasicJsonType& j, std::unordered_map<Key, Value, Hash, KeyEqual, Allocator>& m)
+{
+    if (JSON_UNLIKELY(not j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(j.type_name())));
+    }
+    for (const auto& p : j)
+    {
+        if (JSON_UNLIKELY(not p.is_array()))
+        {
+            JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(p.type_name())));
+        }
+        m.emplace(p.at(0).template get<Key>(), p.at(1).template get<Value>());
+    }
+}
+
+struct from_json_fn
+{
+    template<typename BasicJsonType, typename T>
+    auto operator()(const BasicJsonType& j, T& val) const
+    noexcept(noexcept(from_json(j, val)))
+    -> decltype(from_json(j, val), void())
+    {
+        return from_json(j, val);
+    }
+};
+}  // namespace detail
+
+/// namespace to hold default `from_json` function
+/// to see why this is required:
+/// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2015/n4381.html
+namespace
+{
+constexpr const auto& from_json = detail::static_const<detail::from_json_fn>::value;
+} // namespace
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/conversions/to_json.hpp>
+
+
+#include <ciso646> // or, and, not
+#include <iterator> // begin, end
+#include <tuple> // tuple, get
+#include <type_traits> // is_same, is_constructible, is_floating_point, is_enum, underlying_type
+#include <utility> // move, forward, declval, pair
+#include <valarray> // valarray
+#include <vector> // vector
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+// #include <nlohmann/detail/iterators/iteration_proxy.hpp>
+
+
+#include <cstddef> // size_t
+#include <string> // string, to_string
+#include <iterator> // input_iterator_tag
+#include <tuple> // tuple_size, get, tuple_element
+
+// #include <nlohmann/detail/value_t.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template <typename IteratorType> class iteration_proxy_value
+{
+  public:
+    using difference_type = std::ptrdiff_t;
+    using value_type = iteration_proxy_value;
+    using pointer = value_type * ;
+    using reference = value_type & ;
+    using iterator_category = std::input_iterator_tag;
+
+  private:
+    /// the iterator
+    IteratorType anchor;
+    /// an index for arrays (used to create key names)
+    std::size_t array_index = 0;
+    /// last stringified array index
+    mutable std::size_t array_index_last = 0;
+    /// a string representation of the array index
+    mutable std::string array_index_str = "0";
+    /// an empty string (to return a reference for primitive values)
+    const std::string empty_str = "";
+
+  public:
+    explicit iteration_proxy_value(IteratorType it) noexcept : anchor(it) {}
+
+    /// dereference operator (needed for range-based for)
+    iteration_proxy_value& operator*()
+    {
+        return *this;
+    }
+
+    /// increment operator (needed for range-based for)
+    iteration_proxy_value& operator++()
+    {
+        ++anchor;
+        ++array_index;
+
+        return *this;
+    }
+
+    /// equality operator (needed for InputIterator)
+    bool operator==(const iteration_proxy_value& o) const noexcept
+    {
+        return anchor == o.anchor;
+    }
+
+    /// inequality operator (needed for range-based for)
+    bool operator!=(const iteration_proxy_value& o) const noexcept
+    {
+        return anchor != o.anchor;
+    }
+
+    /// return key of the iterator
+    const std::string& key() const
+    {
+        assert(anchor.m_object != nullptr);
+
+        switch (anchor.m_object->type())
+        {
+            // use integer array index as key
+            case value_t::array:
+            {
+                if (array_index != array_index_last)
+                {
+                    array_index_str = std::to_string(array_index);
+                    array_index_last = array_index;
+                }
+                return array_index_str;
+            }
+
+            // use key from the object
+            case value_t::object:
+                return anchor.key();
+
+            // use an empty key for all primitive types
+            default:
+                return empty_str;
+        }
+    }
+
+    /// return value of the iterator
+    typename IteratorType::reference value() const
+    {
+        return anchor.value();
+    }
+};
+
+/// proxy class for the items() function
+template<typename IteratorType> class iteration_proxy
+{
+  private:
+    /// the container to iterate
+    typename IteratorType::reference container;
+
+  public:
+    /// construct iteration proxy from a container
+    explicit iteration_proxy(typename IteratorType::reference cont) noexcept
+        : container(cont) {}
+
+    /// return iterator begin (needed for range-based for)
+    iteration_proxy_value<IteratorType> begin() noexcept
+    {
+        return iteration_proxy_value<IteratorType>(container.begin());
+    }
+
+    /// return iterator end (needed for range-based for)
+    iteration_proxy_value<IteratorType> end() noexcept
+    {
+        return iteration_proxy_value<IteratorType>(container.end());
+    }
+};
+// Structured Bindings Support
+// For further reference see https://blog.tartanllama.xyz/structured-bindings/
+// And see https://github.com/nlohmann/json/pull/1391
+template <std::size_t N, typename IteratorType, enable_if_t<N == 0, int> = 0>
+auto get(const nlohmann::detail::iteration_proxy_value<IteratorType>& i) -> decltype(i.key())
+{
+    return i.key();
+}
+// Structured Bindings Support
+// For further reference see https://blog.tartanllama.xyz/structured-bindings/
+// And see https://github.com/nlohmann/json/pull/1391
+template <std::size_t N, typename IteratorType, enable_if_t<N == 1, int> = 0>
+auto get(const nlohmann::detail::iteration_proxy_value<IteratorType>& i) -> decltype(i.value())
+{
+    return i.value();
+}
+}  // namespace detail
+}  // namespace nlohmann
+
+// The Addition to the STD Namespace is required to add
+// Structured Bindings Support to the iteration_proxy_value class
+// For further reference see https://blog.tartanllama.xyz/structured-bindings/
+// And see https://github.com/nlohmann/json/pull/1391
+namespace std
+{
+template <typename IteratorType>
+class tuple_size<::nlohmann::detail::iteration_proxy_value<IteratorType>>
+            : public std::integral_constant<std::size_t, 2> {};
+
+template <std::size_t N, typename IteratorType>
+class tuple_element<N, ::nlohmann::detail::iteration_proxy_value<IteratorType >>
+{
+  public:
+    using type = decltype(
+                     get<N>(std::declval <
+                            ::nlohmann::detail::iteration_proxy_value<IteratorType >> ()));
+};
+}
+
+namespace nlohmann
+{
+namespace detail
+{
+//////////////////
+// constructors //
+//////////////////
+
+template<value_t> struct external_constructor;
+
+template<>
+struct external_constructor<value_t::boolean>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::boolean_t b) noexcept
+    {
+        j.m_type = value_t::boolean;
+        j.m_value = b;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::string>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const typename BasicJsonType::string_t& s)
+    {
+        j.m_type = value_t::string;
+        j.m_value = s;
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::string_t&& s)
+    {
+        j.m_type = value_t::string;
+        j.m_value = std::move(s);
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType, typename CompatibleStringType,
+             enable_if_t<not std::is_same<CompatibleStringType, typename BasicJsonType::string_t>::value,
+                         int> = 0>
+    static void construct(BasicJsonType& j, const CompatibleStringType& str)
+    {
+        j.m_type = value_t::string;
+        j.m_value.string = j.template create<typename BasicJsonType::string_t>(str);
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::number_float>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::number_float_t val) noexcept
+    {
+        j.m_type = value_t::number_float;
+        j.m_value = val;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::number_unsigned>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::number_unsigned_t val) noexcept
+    {
+        j.m_type = value_t::number_unsigned;
+        j.m_value = val;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::number_integer>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::number_integer_t val) noexcept
+    {
+        j.m_type = value_t::number_integer;
+        j.m_value = val;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::array>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const typename BasicJsonType::array_t& arr)
+    {
+        j.m_type = value_t::array;
+        j.m_value = arr;
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::array_t&& arr)
+    {
+        j.m_type = value_t::array;
+        j.m_value = std::move(arr);
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType, typename CompatibleArrayType,
+             enable_if_t<not std::is_same<CompatibleArrayType, typename BasicJsonType::array_t>::value,
+                         int> = 0>
+    static void construct(BasicJsonType& j, const CompatibleArrayType& arr)
+    {
+        using std::begin;
+        using std::end;
+        j.m_type = value_t::array;
+        j.m_value.array = j.template create<typename BasicJsonType::array_t>(begin(arr), end(arr));
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const std::vector<bool>& arr)
+    {
+        j.m_type = value_t::array;
+        j.m_value = value_t::array;
+        j.m_value.array->reserve(arr.size());
+        for (const bool x : arr)
+        {
+            j.m_value.array->push_back(x);
+        }
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType, typename T,
+             enable_if_t<std::is_convertible<T, BasicJsonType>::value, int> = 0>
+    static void construct(BasicJsonType& j, const std::valarray<T>& arr)
+    {
+        j.m_type = value_t::array;
+        j.m_value = value_t::array;
+        j.m_value.array->resize(arr.size());
+        std::copy(std::begin(arr), std::end(arr), j.m_value.array->begin());
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::object>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const typename BasicJsonType::object_t& obj)
+    {
+        j.m_type = value_t::object;
+        j.m_value = obj;
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::object_t&& obj)
+    {
+        j.m_type = value_t::object;
+        j.m_value = std::move(obj);
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType, typename CompatibleObjectType,
+             enable_if_t<not std::is_same<CompatibleObjectType, typename BasicJsonType::object_t>::value, int> = 0>
+    static void construct(BasicJsonType& j, const CompatibleObjectType& obj)
+    {
+        using std::begin;
+        using std::end;
+
+        j.m_type = value_t::object;
+        j.m_value.object = j.template create<typename BasicJsonType::object_t>(begin(obj), end(obj));
+        j.assert_invariant();
+    }
+};
+
+/////////////
+// to_json //
+/////////////
+
+template<typename BasicJsonType, typename T,
+         enable_if_t<std::is_same<T, typename BasicJsonType::boolean_t>::value, int> = 0>
+void to_json(BasicJsonType& j, T b) noexcept
+{
+    external_constructor<value_t::boolean>::construct(j, b);
+}
+
+template<typename BasicJsonType, typename CompatibleString,
+         enable_if_t<std::is_constructible<typename BasicJsonType::string_t, CompatibleString>::value, int> = 0>
+void to_json(BasicJsonType& j, const CompatibleString& s)
+{
+    external_constructor<value_t::string>::construct(j, s);
+}
+
+template<typename BasicJsonType>
+void to_json(BasicJsonType& j, typename BasicJsonType::string_t&& s)
+{
+    external_constructor<value_t::string>::construct(j, std::move(s));
+}
+
+template<typename BasicJsonType, typename FloatType,
+         enable_if_t<std::is_floating_point<FloatType>::value, int> = 0>
+void to_json(BasicJsonType& j, FloatType val) noexcept
+{
+    external_constructor<value_t::number_float>::construct(j, static_cast<typename BasicJsonType::number_float_t>(val));
+}
+
+template<typename BasicJsonType, typename CompatibleNumberUnsignedType,
+         enable_if_t<is_compatible_integer_type<typename BasicJsonType::number_unsigned_t, CompatibleNumberUnsignedType>::value, int> = 0>
+void to_json(BasicJsonType& j, CompatibleNumberUnsignedType val) noexcept
+{
+    external_constructor<value_t::number_unsigned>::construct(j, static_cast<typename BasicJsonType::number_unsigned_t>(val));
+}
+
+template<typename BasicJsonType, typename CompatibleNumberIntegerType,
+         enable_if_t<is_compatible_integer_type<typename BasicJsonType::number_integer_t, CompatibleNumberIntegerType>::value, int> = 0>
+void to_json(BasicJsonType& j, CompatibleNumberIntegerType val) noexcept
+{
+    external_constructor<value_t::number_integer>::construct(j, static_cast<typename BasicJsonType::number_integer_t>(val));
+}
+
+template<typename BasicJsonType, typename EnumType,
+         enable_if_t<std::is_enum<EnumType>::value, int> = 0>
+void to_json(BasicJsonType& j, EnumType e) noexcept
+{
+    using underlying_type = typename std::underlying_type<EnumType>::type;
+    external_constructor<value_t::number_integer>::construct(j, static_cast<underlying_type>(e));
+}
+
+template<typename BasicJsonType>
+void to_json(BasicJsonType& j, const std::vector<bool>& e)
+{
+    external_constructor<value_t::array>::construct(j, e);
+}
+
+template <typename BasicJsonType, typename CompatibleArrayType,
+          enable_if_t<is_compatible_array_type<BasicJsonType,
+                      CompatibleArrayType>::value and
+                      not is_compatible_object_type<
+                          BasicJsonType, CompatibleArrayType>::value and
+                      not is_compatible_string_type<BasicJsonType, CompatibleArrayType>::value and
+                      not is_basic_json<CompatibleArrayType>::value,
+                      int> = 0>
+void to_json(BasicJsonType& j, const CompatibleArrayType& arr)
+{
+    external_constructor<value_t::array>::construct(j, arr);
+}
+
+template<typename BasicJsonType, typename T,
+         enable_if_t<std::is_convertible<T, BasicJsonType>::value, int> = 0>
+void to_json(BasicJsonType& j, const std::valarray<T>& arr)
+{
+    external_constructor<value_t::array>::construct(j, std::move(arr));
+}
+
+template<typename BasicJsonType>
+void to_json(BasicJsonType& j, typename BasicJsonType::array_t&& arr)
+{
+    external_constructor<value_t::array>::construct(j, std::move(arr));
+}
+
+template<typename BasicJsonType, typename CompatibleObjectType,
+         enable_if_t<is_compatible_object_type<BasicJsonType, CompatibleObjectType>::value and not is_basic_json<CompatibleObjectType>::value, int> = 0>
+void to_json(BasicJsonType& j, const CompatibleObjectType& obj)
+{
+    external_constructor<value_t::object>::construct(j, obj);
+}
+
+template<typename BasicJsonType>
+void to_json(BasicJsonType& j, typename BasicJsonType::object_t&& obj)
+{
+    external_constructor<value_t::object>::construct(j, std::move(obj));
+}
+
+template <
+    typename BasicJsonType, typename T, std::size_t N,
+    enable_if_t<not std::is_constructible<typename BasicJsonType::string_t,
+                const T(&)[N]>::value,
+                int> = 0 >
+void to_json(BasicJsonType& j, const T(&arr)[N])
+{
+    external_constructor<value_t::array>::construct(j, arr);
+}
+
+template<typename BasicJsonType, typename... Args>
+void to_json(BasicJsonType& j, const std::pair<Args...>& p)
+{
+    j = { p.first, p.second };
+}
+
+// for https://github.com/nlohmann/json/pull/1134
+template < typename BasicJsonType, typename T,
+           enable_if_t<std::is_same<T, iteration_proxy_value<typename BasicJsonType::iterator>>::value, int> = 0>
+void to_json(BasicJsonType& j, const T& b)
+{
+    j = { {b.key(), b.value()} };
+}
+
+template<typename BasicJsonType, typename Tuple, std::size_t... Idx>
+void to_json_tuple_impl(BasicJsonType& j, const Tuple& t, index_sequence<Idx...> /*unused*/)
+{
+    j = { std::get<Idx>(t)... };
+}
+
+template<typename BasicJsonType, typename... Args>
+void to_json(BasicJsonType& j, const std::tuple<Args...>& t)
+{
+    to_json_tuple_impl(j, t, index_sequence_for<Args...> {});
+}
+
+struct to_json_fn
+{
+    template<typename BasicJsonType, typename T>
+    auto operator()(BasicJsonType& j, T&& val) const noexcept(noexcept(to_json(j, std::forward<T>(val))))
+    -> decltype(to_json(j, std::forward<T>(val)), void())
+    {
+        return to_json(j, std::forward<T>(val));
+    }
+};
+}  // namespace detail
+
+/// namespace to hold default `to_json` function
+namespace
+{
+constexpr const auto& to_json = detail::static_const<detail::to_json_fn>::value;
+} // namespace
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/input/input_adapters.hpp>
+
+
+#include <cassert> // assert
+#include <cstddef> // size_t
+#include <cstring> // strlen
+#include <istream> // istream
+#include <iterator> // begin, end, iterator_traits, random_access_iterator_tag, distance, next
+#include <memory> // shared_ptr, make_shared, addressof
+#include <numeric> // accumulate
+#include <string> // string, char_traits
+#include <type_traits> // enable_if, is_base_of, is_pointer, is_integral, remove_pointer
+#include <utility> // pair, declval
+#include <cstdio> //FILE *
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+/// the supported input formats
+enum class input_format_t { json, cbor, msgpack, ubjson, bson };
+
+////////////////////
+// input adapters //
+////////////////////
+
+/*!
+@brief abstract input adapter interface
+
+Produces a stream of std::char_traits<char>::int_type characters from a
+std::istream, a buffer, or some other input type. Accepts the return of
+exactly one non-EOF character for future input. The int_type characters
+returned consist of all valid char values as positive values (typically
+unsigned char), plus an EOF value outside that range, specified by the value
+of the function std::char_traits<char>::eof(). This value is typically -1, but
+could be any arbitrary value which is not a valid char value.
+*/
+struct input_adapter_protocol
+{
+    /// get a character [0,255] or std::char_traits<char>::eof().
+    virtual std::char_traits<char>::int_type get_character() = 0;
+    virtual ~input_adapter_protocol() = default;
+};
+
+/// a type to simplify interfaces
+using input_adapter_t = std::shared_ptr<input_adapter_protocol>;
+
+/*!
+Input adapter for stdio file access. This adapter read only 1 byte and do not use any
+ buffer. This adapter is a very low level adapter.
+*/
+class file_input_adapter : public input_adapter_protocol
+{
+  public:
+    explicit file_input_adapter(std::FILE* f)  noexcept
+        : m_file(f)
+    {}
+
+    std::char_traits<char>::int_type get_character() noexcept override
+    {
+        return std::fgetc(m_file);
+    }
+  private:
+    /// the file pointer to read from
+    std::FILE* m_file;
+};
+
+
+/*!
+Input adapter for a (caching) istream. Ignores a UFT Byte Order Mark at
+beginning of input. Does not support changing the underlying std::streambuf
+in mid-input. Maintains underlying std::istream and std::streambuf to support
+subsequent use of standard std::istream operations to process any input
+characters following those used in parsing the JSON input.  Clears the
+std::istream flags; any input errors (e.g., EOF) will be detected by the first
+subsequent call for input from the std::istream.
+*/
+class input_stream_adapter : public input_adapter_protocol
+{
+  public:
+    ~input_stream_adapter() override
+    {
+        // clear stream flags; we use underlying streambuf I/O, do not
+        // maintain ifstream flags, except eof
+        is.clear(is.rdstate() & std::ios::eofbit);
+    }
+
+    explicit input_stream_adapter(std::istream& i)
+        : is(i), sb(*i.rdbuf())
+    {}
+
+    // delete because of pointer members
+    input_stream_adapter(const input_stream_adapter&) = delete;
+    input_stream_adapter& operator=(input_stream_adapter&) = delete;
+    input_stream_adapter(input_stream_adapter&&) = delete;
+    input_stream_adapter& operator=(input_stream_adapter&&) = delete;
+
+    // std::istream/std::streambuf use std::char_traits<char>::to_int_type, to
+    // ensure that std::char_traits<char>::eof() and the character 0xFF do not
+    // end up as the same value, eg. 0xFFFFFFFF.
+    std::char_traits<char>::int_type get_character() override
+    {
+        auto res = sb.sbumpc();
+        // set eof manually, as we don't use the istream interface.
+        if (res == EOF)
+        {
+            is.clear(is.rdstate() | std::ios::eofbit);
+        }
+        return res;
+    }
+
+  private:
+    /// the associated input stream
+    std::istream& is;
+    std::streambuf& sb;
+};
+
+/// input adapter for buffer input
+class input_buffer_adapter : public input_adapter_protocol
+{
+  public:
+    input_buffer_adapter(const char* b, const std::size_t l) noexcept
+        : cursor(b), limit(b + l)
+    {}
+
+    // delete because of pointer members
+    input_buffer_adapter(const input_buffer_adapter&) = delete;
+    input_buffer_adapter& operator=(input_buffer_adapter&) = delete;
+    input_buffer_adapter(input_buffer_adapter&&) = delete;
+    input_buffer_adapter& operator=(input_buffer_adapter&&) = delete;
+    ~input_buffer_adapter() override = default;
+
+    std::char_traits<char>::int_type get_character() noexcept override
+    {
+        if (JSON_LIKELY(cursor < limit))
+        {
+            return std::char_traits<char>::to_int_type(*(cursor++));
+        }
+
+        return std::char_traits<char>::eof();
+    }
+
+  private:
+    /// pointer to the current character
+    const char* cursor;
+    /// pointer past the last character
+    const char* const limit;
+};
+
+template<typename WideStringType, size_t T>
+struct wide_string_input_helper
+{
+    // UTF-32
+    static void fill_buffer(const WideStringType& str, size_t& current_wchar, std::array<std::char_traits<char>::int_type, 4>& utf8_bytes, size_t& utf8_bytes_index, size_t& utf8_bytes_filled)
+    {
+        utf8_bytes_index = 0;
+
+        if (current_wchar == str.size())
+        {
+            utf8_bytes[0] = std::char_traits<char>::eof();
+            utf8_bytes_filled = 1;
+        }
+        else
+        {
+            // get the current character
+            const auto wc = static_cast<int>(str[current_wchar++]);
+
+            // UTF-32 to UTF-8 encoding
+            if (wc < 0x80)
+            {
+                utf8_bytes[0] = wc;
+                utf8_bytes_filled = 1;
+            }
+            else if (wc <= 0x7FF)
+            {
+                utf8_bytes[0] = 0xC0 | ((wc >> 6) & 0x1F);
+                utf8_bytes[1] = 0x80 | (wc & 0x3F);
+                utf8_bytes_filled = 2;
+            }
+            else if (wc <= 0xFFFF)
+            {
+                utf8_bytes[0] = 0xE0 | ((wc >> 12) & 0x0F);
+                utf8_bytes[1] = 0x80 | ((wc >> 6) & 0x3F);
+                utf8_bytes[2] = 0x80 | (wc & 0x3F);
+                utf8_bytes_filled = 3;
+            }
+            else if (wc <= 0x10FFFF)
+            {
+                utf8_bytes[0] = 0xF0 | ((wc >> 18) & 0x07);
+                utf8_bytes[1] = 0x80 | ((wc >> 12) & 0x3F);
+                utf8_bytes[2] = 0x80 | ((wc >> 6) & 0x3F);
+                utf8_bytes[3] = 0x80 | (wc & 0x3F);
+                utf8_bytes_filled = 4;
+            }
+            else
+            {
+                // unknown character
+                utf8_bytes[0] = wc;
+                utf8_bytes_filled = 1;
+            }
+        }
+    }
+};
+
+template<typename WideStringType>
+struct wide_string_input_helper<WideStringType, 2>
+{
+    // UTF-16
+    static void fill_buffer(const WideStringType& str, size_t& current_wchar, std::array<std::char_traits<char>::int_type, 4>& utf8_bytes, size_t& utf8_bytes_index, size_t& utf8_bytes_filled)
+    {
+        utf8_bytes_index = 0;
+
+        if (current_wchar == str.size())
+        {
+            utf8_bytes[0] = std::char_traits<char>::eof();
+            utf8_bytes_filled = 1;
+        }
+        else
+        {
+            // get the current character
+            const auto wc = static_cast<int>(str[current_wchar++]);
+
+            // UTF-16 to UTF-8 encoding
+            if (wc < 0x80)
+            {
+                utf8_bytes[0] = wc;
+                utf8_bytes_filled = 1;
+            }
+            else if (wc <= 0x7FF)
+            {
+                utf8_bytes[0] = 0xC0 | ((wc >> 6));
+                utf8_bytes[1] = 0x80 | (wc & 0x3F);
+                utf8_bytes_filled = 2;
+            }
+            else if (0xD800 > wc or wc >= 0xE000)
+            {
+                utf8_bytes[0] = 0xE0 | ((wc >> 12));
+                utf8_bytes[1] = 0x80 | ((wc >> 6) & 0x3F);
+                utf8_bytes[2] = 0x80 | (wc & 0x3F);
+                utf8_bytes_filled = 3;
+            }
+            else
+            {
+                if (current_wchar < str.size())
+                {
+                    const auto wc2 = static_cast<int>(str[current_wchar++]);
+                    const int charcode = 0x10000 + (((wc & 0x3FF) << 10) | (wc2 & 0x3FF));
+                    utf8_bytes[0] = 0xf0 | (charcode >> 18);
+                    utf8_bytes[1] = 0x80 | ((charcode >> 12) & 0x3F);
+                    utf8_bytes[2] = 0x80 | ((charcode >> 6) & 0x3F);
+                    utf8_bytes[3] = 0x80 | (charcode & 0x3F);
+                    utf8_bytes_filled = 4;
+                }
+                else
+                {
+                    // unknown character
+                    ++current_wchar;
+                    utf8_bytes[0] = wc;
+                    utf8_bytes_filled = 1;
+                }
+            }
+        }
+    }
+};
+
+template<typename WideStringType>
+class wide_string_input_adapter : public input_adapter_protocol
+{
+  public:
+    explicit wide_string_input_adapter(const WideStringType& w)  noexcept
+        : str(w)
+    {}
+
+    std::char_traits<char>::int_type get_character() noexcept override
+    {
+        // check if buffer needs to be filled
+        if (utf8_bytes_index == utf8_bytes_filled)
+        {
+            fill_buffer<sizeof(typename WideStringType::value_type)>();
+
+            assert(utf8_bytes_filled > 0);
+            assert(utf8_bytes_index == 0);
+        }
+
+        // use buffer
+        assert(utf8_bytes_filled > 0);
+        assert(utf8_bytes_index < utf8_bytes_filled);
+        return utf8_bytes[utf8_bytes_index++];
+    }
+
+  private:
+    template<size_t T>
+    void fill_buffer()
+    {
+        wide_string_input_helper<WideStringType, T>::fill_buffer(str, current_wchar, utf8_bytes, utf8_bytes_index, utf8_bytes_filled);
+    }
+
+    /// the wstring to process
+    const WideStringType& str;
+
+    /// index of the current wchar in str
+    std::size_t current_wchar = 0;
+
+    /// a buffer for UTF-8 bytes
+    std::array<std::char_traits<char>::int_type, 4> utf8_bytes = {{0, 0, 0, 0}};
+
+    /// index to the utf8_codes array for the next valid byte
+    std::size_t utf8_bytes_index = 0;
+    /// number of valid bytes in the utf8_codes array
+    std::size_t utf8_bytes_filled = 0;
+};
+
+class input_adapter
+{
+  public:
+    // native support
+    input_adapter(std::FILE* file)
+        : ia(std::make_shared<file_input_adapter>(file)) {}
+    /// input adapter for input stream
+    input_adapter(std::istream& i)
+        : ia(std::make_shared<input_stream_adapter>(i)) {}
+
+    /// input adapter for input stream
+    input_adapter(std::istream&& i)
+        : ia(std::make_shared<input_stream_adapter>(i)) {}
+
+    input_adapter(const std::wstring& ws)
+        : ia(std::make_shared<wide_string_input_adapter<std::wstring>>(ws)) {}
+
+    input_adapter(const std::u16string& ws)
+        : ia(std::make_shared<wide_string_input_adapter<std::u16string>>(ws)) {}
+
+    input_adapter(const std::u32string& ws)
+        : ia(std::make_shared<wide_string_input_adapter<std::u32string>>(ws)) {}
+
+    /// input adapter for buffer
+    template<typename CharT,
+             typename std::enable_if<
+                 std::is_pointer<CharT>::value and
+                 std::is_integral<typename std::remove_pointer<CharT>::type>::value and
+                 sizeof(typename std::remove_pointer<CharT>::type) == 1,
+                 int>::type = 0>
+    input_adapter(CharT b, std::size_t l)
+        : ia(std::make_shared<input_buffer_adapter>(reinterpret_cast<const char*>(b), l)) {}
+
+    // derived support
+
+    /// input adapter for string literal
+    template<typename CharT,
+             typename std::enable_if<
+                 std::is_pointer<CharT>::value and
+                 std::is_integral<typename std::remove_pointer<CharT>::type>::value and
+                 sizeof(typename std::remove_pointer<CharT>::type) == 1,
+                 int>::type = 0>
+    input_adapter(CharT b)
+        : input_adapter(reinterpret_cast<const char*>(b),
+                        std::strlen(reinterpret_cast<const char*>(b))) {}
+
+    /// input adapter for iterator range with contiguous storage
+    template<class IteratorType,
+             typename std::enable_if<
+                 std::is_same<typename iterator_traits<IteratorType>::iterator_category, std::random_access_iterator_tag>::value,
+                 int>::type = 0>
+    input_adapter(IteratorType first, IteratorType last)
+    {
+#ifndef NDEBUG
+        // assertion to check that the iterator range is indeed contiguous,
+        // see http://stackoverflow.com/a/35008842/266378 for more discussion
+        const auto is_contiguous = std::accumulate(
+                                       first, last, std::pair<bool, int>(true, 0),
+                                       [&first](std::pair<bool, int> res, decltype(*first) val)
+        {
+            res.first &= (val == *(std::next(std::addressof(*first), res.second++)));
+            return res;
+        }).first;
+        assert(is_contiguous);
+#endif
+
+        // assertion to check that each element is 1 byte long
+        static_assert(
+            sizeof(typename iterator_traits<IteratorType>::value_type) == 1,
+            "each element in the iterator range must have the size of 1 byte");
+
+        const auto len = static_cast<size_t>(std::distance(first, last));
+        if (JSON_LIKELY(len > 0))
+        {
+            // there is at least one element: use the address of first
+            ia = std::make_shared<input_buffer_adapter>(reinterpret_cast<const char*>(&(*first)), len);
+        }
+        else
+        {
+            // the address of first cannot be used: use nullptr
+            ia = std::make_shared<input_buffer_adapter>(nullptr, len);
+        }
+    }
+
+    /// input adapter for array
+    template<class T, std::size_t N>
+    input_adapter(T (&array)[N])
+        : input_adapter(std::begin(array), std::end(array)) {}
+
+    /// input adapter for contiguous container
+    template<class ContiguousContainer, typename
+             std::enable_if<not std::is_pointer<ContiguousContainer>::value and
+                            std::is_base_of<std::random_access_iterator_tag, typename iterator_traits<decltype(std::begin(std::declval<ContiguousContainer const>()))>::iterator_category>::value,
+                            int>::type = 0>
+    input_adapter(const ContiguousContainer& c)
+        : input_adapter(std::begin(c), std::end(c)) {}
+
+    operator input_adapter_t()
+    {
+        return ia;
+    }
+
+  private:
+    /// the actual adapter
+    input_adapter_t ia = nullptr;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/input/lexer.hpp>
+
+
+#include <clocale> // localeconv
+#include <cstddef> // size_t
+#include <cstdlib> // strtof, strtod, strtold, strtoll, strtoull
+#include <cstdio> // snprintf
+#include <initializer_list> // initializer_list
+#include <string> // char_traits, string
+#include <vector> // vector
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/input/input_adapters.hpp>
+
+// #include <nlohmann/detail/input/position_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+///////////
+// lexer //
+///////////
+
+/*!
+@brief lexical analysis
+
+This class organizes the lexical analysis during JSON deserialization.
+*/
+template<typename BasicJsonType>
+class lexer
+{
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+
+  public:
+    /// token types for the parser
+    enum class token_type
+    {
+        uninitialized,    ///< indicating the scanner is uninitialized
+        literal_true,     ///< the `true` literal
+        literal_false,    ///< the `false` literal
+        literal_null,     ///< the `null` literal
+        value_string,     ///< a string -- use get_string() for actual value
+        value_unsigned,   ///< an unsigned integer -- use get_number_unsigned() for actual value
+        value_integer,    ///< a signed integer -- use get_number_integer() for actual value
+        value_float,      ///< an floating point number -- use get_number_float() for actual value
+        begin_array,      ///< the character for array begin `[`
+        begin_object,     ///< the character for object begin `{`
+        end_array,        ///< the character for array end `]`
+        end_object,       ///< the character for object end `}`
+        name_separator,   ///< the name separator `:`
+        value_separator,  ///< the value separator `,`
+        parse_error,      ///< indicating a parse error
+        end_of_input,     ///< indicating the end of the input buffer
+        literal_or_value  ///< a literal or the begin of a value (only for diagnostics)
+    };
+
+    /// return name of values of type token_type (only used for errors)
+    static const char* token_type_name(const token_type t) noexcept
+    {
+        switch (t)
+        {
+            case token_type::uninitialized:
+                return "<uninitialized>";
+            case token_type::literal_true:
+                return "true literal";
+            case token_type::literal_false:
+                return "false literal";
+            case token_type::literal_null:
+                return "null literal";
+            case token_type::value_string:
+                return "string literal";
+            case lexer::token_type::value_unsigned:
+            case lexer::token_type::value_integer:
+            case lexer::token_type::value_float:
+                return "number literal";
+            case token_type::begin_array:
+                return "'['";
+            case token_type::begin_object:
+                return "'{'";
+            case token_type::end_array:
+                return "']'";
+            case token_type::end_object:
+                return "'}'";
+            case token_type::name_separator:
+                return "':'";
+            case token_type::value_separator:
+                return "','";
+            case token_type::parse_error:
+                return "<parse error>";
+            case token_type::end_of_input:
+                return "end of input";
+            case token_type::literal_or_value:
+                return "'[', '{', or a literal";
+            // LCOV_EXCL_START
+            default: // catch non-enum values
+                return "unknown token";
+                // LCOV_EXCL_STOP
+        }
+    }
+
+    explicit lexer(detail::input_adapter_t&& adapter)
+        : ia(std::move(adapter)), decimal_point_char(get_decimal_point()) {}
+
+    // delete because of pointer members
+    lexer(const lexer&) = delete;
+    lexer(lexer&&) = delete;
+    lexer& operator=(lexer&) = delete;
+    lexer& operator=(lexer&&) = delete;
+    ~lexer() = default;
+
+  private:
+    /////////////////////
+    // locales
+    /////////////////////
+
+    /// return the locale-dependent decimal point
+    static char get_decimal_point() noexcept
+    {
+        const auto loc = localeconv();
+        assert(loc != nullptr);
+        return (loc->decimal_point == nullptr) ? '.' : *(loc->decimal_point);
+    }
+
+    /////////////////////
+    // scan functions
+    /////////////////////
+
+    /*!
+    @brief get codepoint from 4 hex characters following `\u`
+
+    For input "\u c1 c2 c3 c4" the codepoint is:
+      (c1 * 0x1000) + (c2 * 0x0100) + (c3 * 0x0010) + c4
+    = (c1 << 12) + (c2 << 8) + (c3 << 4) + (c4 << 0)
+
+    Furthermore, the possible characters '0'..'9', 'A'..'F', and 'a'..'f'
+    must be converted to the integers 0x0..0x9, 0xA..0xF, 0xA..0xF, resp. The
+    conversion is done by subtracting the offset (0x30, 0x37, and 0x57)
+    between the ASCII value of the character and the desired integer value.
+
+    @return codepoint (0x0000..0xFFFF) or -1 in case of an error (e.g. EOF or
+            non-hex character)
+    */
+    int get_codepoint()
+    {
+        // this function only makes sense after reading `\u`
+        assert(current == 'u');
+        int codepoint = 0;
+
+        const auto factors = { 12, 8, 4, 0 };
+        for (const auto factor : factors)
+        {
+            get();
+
+            if (current >= '0' and current <= '9')
+            {
+                codepoint += ((current - 0x30) << factor);
+            }
+            else if (current >= 'A' and current <= 'F')
+            {
+                codepoint += ((current - 0x37) << factor);
+            }
+            else if (current >= 'a' and current <= 'f')
+            {
+                codepoint += ((current - 0x57) << factor);
+            }
+            else
+            {
+                return -1;
+            }
+        }
+
+        assert(0x0000 <= codepoint and codepoint <= 0xFFFF);
+        return codepoint;
+    }
+
+    /*!
+    @brief check if the next byte(s) are inside a given range
+
+    Adds the current byte and, for each passed range, reads a new byte and
+    checks if it is inside the range. If a violation was detected, set up an
+    error message and return false. Otherwise, return true.
+
+    @param[in] ranges  list of integers; interpreted as list of pairs of
+                       inclusive lower and upper bound, respectively
+
+    @pre The passed list @a ranges must have 2, 4, or 6 elements; that is,
+         1, 2, or 3 pairs. This precondition is enforced by an assertion.
+
+    @return true if and only if no range violation was detected
+    */
+    bool next_byte_in_range(std::initializer_list<int> ranges)
+    {
+        assert(ranges.size() == 2 or ranges.size() == 4 or ranges.size() == 6);
+        add(current);
+
+        for (auto range = ranges.begin(); range != ranges.end(); ++range)
+        {
+            get();
+            if (JSON_LIKELY(*range <= current and current <= *(++range)))
+            {
+                add(current);
+            }
+            else
+            {
+                error_message = "invalid string: ill-formed UTF-8 byte";
+                return false;
+            }
+        }
+
+        return true;
+    }
+
+    /*!
+    @brief scan a string literal
+
+    This function scans a string according to Sect. 7 of RFC 7159. While
+    scanning, bytes are escaped and copied into buffer token_buffer. Then the
+    function returns successfully, token_buffer is *not* null-terminated (as it
+    may contain \0 bytes), and token_buffer.size() is the number of bytes in the
+    string.
+
+    @return token_type::value_string if string could be successfully scanned,
+            token_type::parse_error otherwise
+
+    @note In case of errors, variable error_message contains a textual
+          description.
+    */
+    token_type scan_string()
+    {
+        // reset token_buffer (ignore opening quote)
+        reset();
+
+        // we entered the function by reading an open quote
+        assert(current == '\"');
+
+        while (true)
+        {
+            // get next character
+            switch (get())
+            {
+                // end of file while parsing string
+                case std::char_traits<char>::eof():
+                {
+                    error_message = "invalid string: missing closing quote";
+                    return token_type::parse_error;
+                }
+
+                // closing quote
+                case '\"':
+                {
+                    return token_type::value_string;
+                }
+
+                // escapes
+                case '\\':
+                {
+                    switch (get())
+                    {
+                        // quotation mark
+                        case '\"':
+                            add('\"');
+                            break;
+                        // reverse solidus
+                        case '\\':
+                            add('\\');
+                            break;
+                        // solidus
+                        case '/':
+                            add('/');
+                            break;
+                        // backspace
+                        case 'b':
+                            add('\b');
+                            break;
+                        // form feed
+                        case 'f':
+                            add('\f');
+                            break;
+                        // line feed
+                        case 'n':
+                            add('\n');
+                            break;
+                        // carriage return
+                        case 'r':
+                            add('\r');
+                            break;
+                        // tab
+                        case 't':
+                            add('\t');
+                            break;
+
+                        // unicode escapes
+                        case 'u':
+                        {
+                            const int codepoint1 = get_codepoint();
+                            int codepoint = codepoint1; // start with codepoint1
+
+                            if (JSON_UNLIKELY(codepoint1 == -1))
+                            {
+                                error_message = "invalid string: '\\u' must be followed by 4 hex digits";
+                                return token_type::parse_error;
+                            }
+
+                            // check if code point is a high surrogate
+                            if (0xD800 <= codepoint1 and codepoint1 <= 0xDBFF)
+                            {
+                                // expect next \uxxxx entry
+                                if (JSON_LIKELY(get() == '\\' and get() == 'u'))
+                                {
+                                    const int codepoint2 = get_codepoint();
+
+                                    if (JSON_UNLIKELY(codepoint2 == -1))
+                                    {
+                                        error_message = "invalid string: '\\u' must be followed by 4 hex digits";
+                                        return token_type::parse_error;
+                                    }
+
+                                    // check if codepoint2 is a low surrogate
+                                    if (JSON_LIKELY(0xDC00 <= codepoint2 and codepoint2 <= 0xDFFF))
+                                    {
+                                        // overwrite codepoint
+                                        codepoint =
+                                            // high surrogate occupies the most significant 22 bits
+                                            (codepoint1 << 10)
+                                            // low surrogate occupies the least significant 15 bits
+                                            + codepoint2
+                                            // there is still the 0xD800, 0xDC00 and 0x10000 noise
+                                            // in the result so we have to subtract with:
+                                            // (0xD800 << 10) + DC00 - 0x10000 = 0x35FDC00
+                                            - 0x35FDC00;
+                                    }
+                                    else
+                                    {
+                                        error_message = "invalid string: surrogate U+DC00..U+DFFF must be followed by U+DC00..U+DFFF";
+                                        return token_type::parse_error;
+                                    }
+                                }
+                                else
+                                {
+                                    error_message = "invalid string: surrogate U+DC00..U+DFFF must be followed by U+DC00..U+DFFF";
+                                    return token_type::parse_error;
+                                }
+                            }
+                            else
+                            {
+                                if (JSON_UNLIKELY(0xDC00 <= codepoint1 and codepoint1 <= 0xDFFF))
+                                {
+                                    error_message = "invalid string: surrogate U+DC00..U+DFFF must follow U+D800..U+DBFF";
+                                    return token_type::parse_error;
+                                }
+                            }
+
+                            // result of the above calculation yields a proper codepoint
+                            assert(0x00 <= codepoint and codepoint <= 0x10FFFF);
+
+                            // translate codepoint into bytes
+                            if (codepoint < 0x80)
+                            {
+                                // 1-byte characters: 0xxxxxxx (ASCII)
+                                add(codepoint);
+                            }
+                            else if (codepoint <= 0x7FF)
+                            {
+                                // 2-byte characters: 110xxxxx 10xxxxxx
+                                add(0xC0 | (codepoint >> 6));
+                                add(0x80 | (codepoint & 0x3F));
+                            }
+                            else if (codepoint <= 0xFFFF)
+                            {
+                                // 3-byte characters: 1110xxxx 10xxxxxx 10xxxxxx
+                                add(0xE0 | (codepoint >> 12));
+                                add(0x80 | ((codepoint >> 6) & 0x3F));
+                                add(0x80 | (codepoint & 0x3F));
+                            }
+                            else
+                            {
+                                // 4-byte characters: 11110xxx 10xxxxxx 10xxxxxx 10xxxxxx
+                                add(0xF0 | (codepoint >> 18));
+                                add(0x80 | ((codepoint >> 12) & 0x3F));
+                                add(0x80 | ((codepoint >> 6) & 0x3F));
+                                add(0x80 | (codepoint & 0x3F));
+                            }
+
+                            break;
+                        }
+
+                        // other characters after escape
+                        default:
+                            error_message = "invalid string: forbidden character after backslash";
+                            return token_type::parse_error;
+                    }
+
+                    break;
+                }
+
+                // invalid control characters
+                case 0x00:
+                {
+                    error_message = "invalid string: control character U+0000 (NUL) must be escaped to \\u0000";
+                    return token_type::parse_error;
+                }
+
+                case 0x01:
+                {
+                    error_message = "invalid string: control character U+0001 (SOH) must be escaped to \\u0001";
+                    return token_type::parse_error;
+                }
+
+                case 0x02:
+                {
+                    error_message = "invalid string: control character U+0002 (STX) must be escaped to \\u0002";
+                    return token_type::parse_error;
+                }
+
+                case 0x03:
+                {
+                    error_message = "invalid string: control character U+0003 (ETX) must be escaped to \\u0003";
+                    return token_type::parse_error;
+                }
+
+                case 0x04:
+                {
+                    error_message = "invalid string: control character U+0004 (EOT) must be escaped to \\u0004";
+                    return token_type::parse_error;
+                }
+
+                case 0x05:
+                {
+                    error_message = "invalid string: control character U+0005 (ENQ) must be escaped to \\u0005";
+                    return token_type::parse_error;
+                }
+
+                case 0x06:
+                {
+                    error_message = "invalid string: control character U+0006 (ACK) must be escaped to \\u0006";
+                    return token_type::parse_error;
+                }
+
+                case 0x07:
+                {
+                    error_message = "invalid string: control character U+0007 (BEL) must be escaped to \\u0007";
+                    return token_type::parse_error;
+                }
+
+                case 0x08:
+                {
+                    error_message = "invalid string: control character U+0008 (BS) must be escaped to \\u0008 or \\b";
+                    return token_type::parse_error;
+                }
+
+                case 0x09:
+                {
+                    error_message = "invalid string: control character U+0009 (HT) must be escaped to \\u0009 or \\t";
+                    return token_type::parse_error;
+                }
+
+                case 0x0A:
+                {
+                    error_message = "invalid string: control character U+000A (LF) must be escaped to \\u000A or \\n";
+                    return token_type::parse_error;
+                }
+
+                case 0x0B:
+                {
+                    error_message = "invalid string: control character U+000B (VT) must be escaped to \\u000B";
+                    return token_type::parse_error;
+                }
+
+                case 0x0C:
+                {
+                    error_message = "invalid string: control character U+000C (FF) must be escaped to \\u000C or \\f";
+                    return token_type::parse_error;
+                }
+
+                case 0x0D:
+                {
+                    error_message = "invalid string: control character U+000D (CR) must be escaped to \\u000D or \\r";
+                    return token_type::parse_error;
+                }
+
+                case 0x0E:
+                {
+                    error_message = "invalid string: control character U+000E (SO) must be escaped to \\u000E";
+                    return token_type::parse_error;
+                }
+
+                case 0x0F:
+                {
+                    error_message = "invalid string: control character U+000F (SI) must be escaped to \\u000F";
+                    return token_type::parse_error;
+                }
+
+                case 0x10:
+                {
+                    error_message = "invalid string: control character U+0010 (DLE) must be escaped to \\u0010";
+                    return token_type::parse_error;
+                }
+
+                case 0x11:
+                {
+                    error_message = "invalid string: control character U+0011 (DC1) must be escaped to \\u0011";
+                    return token_type::parse_error;
+                }
+
+                case 0x12:
+                {
+                    error_message = "invalid string: control character U+0012 (DC2) must be escaped to \\u0012";
+                    return token_type::parse_error;
+                }
+
+                case 0x13:
+                {
+                    error_message = "invalid string: control character U+0013 (DC3) must be escaped to \\u0013";
+                    return token_type::parse_error;
+                }
+
+                case 0x14:
+                {
+                    error_message = "invalid string: control character U+0014 (DC4) must be escaped to \\u0014";
+                    return token_type::parse_error;
+                }
+
+                case 0x15:
+                {
+                    error_message = "invalid string: control character U+0015 (NAK) must be escaped to \\u0015";
+                    return token_type::parse_error;
+                }
+
+                case 0x16:
+                {
+                    error_message = "invalid string: control character U+0016 (SYN) must be escaped to \\u0016";
+                    return token_type::parse_error;
+                }
+
+                case 0x17:
+                {
+                    error_message = "invalid string: control character U+0017 (ETB) must be escaped to \\u0017";
+                    return token_type::parse_error;
+                }
+
+                case 0x18:
+                {
+                    error_message = "invalid string: control character U+0018 (CAN) must be escaped to \\u0018";
+                    return token_type::parse_error;
+                }
+
+                case 0x19:
+                {
+                    error_message = "invalid string: control character U+0019 (EM) must be escaped to \\u0019";
+                    return token_type::parse_error;
+                }
+
+                case 0x1A:
+                {
+                    error_message = "invalid string: control character U+001A (SUB) must be escaped to \\u001A";
+                    return token_type::parse_error;
+                }
+
+                case 0x1B:
+                {
+                    error_message = "invalid string: control character U+001B (ESC) must be escaped to \\u001B";
+                    return token_type::parse_error;
+                }
+
+                case 0x1C:
+                {
+                    error_message = "invalid string: control character U+001C (FS) must be escaped to \\u001C";
+                    return token_type::parse_error;
+                }
+
+                case 0x1D:
+                {
+                    error_message = "invalid string: control character U+001D (GS) must be escaped to \\u001D";
+                    return token_type::parse_error;
+                }
+
+                case 0x1E:
+                {
+                    error_message = "invalid string: control character U+001E (RS) must be escaped to \\u001E";
+                    return token_type::parse_error;
+                }
+
+                case 0x1F:
+                {
+                    error_message = "invalid string: control character U+001F (US) must be escaped to \\u001F";
+                    return token_type::parse_error;
+                }
+
+                // U+0020..U+007F (except U+0022 (quote) and U+005C (backspace))
+                case 0x20:
+                case 0x21:
+                case 0x23:
+                case 0x24:
+                case 0x25:
+                case 0x26:
+                case 0x27:
+                case 0x28:
+                case 0x29:
+                case 0x2A:
+                case 0x2B:
+                case 0x2C:
+                case 0x2D:
+                case 0x2E:
+                case 0x2F:
+                case 0x30:
+                case 0x31:
+                case 0x32:
+                case 0x33:
+                case 0x34:
+                case 0x35:
+                case 0x36:
+                case 0x37:
+                case 0x38:
+                case 0x39:
+                case 0x3A:
+                case 0x3B:
+                case 0x3C:
+                case 0x3D:
+                case 0x3E:
+                case 0x3F:
+                case 0x40:
+                case 0x41:
+                case 0x42:
+                case 0x43:
+                case 0x44:
+                case 0x45:
+                case 0x46:
+                case 0x47:
+                case 0x48:
+                case 0x49:
+                case 0x4A:
+                case 0x4B:
+                case 0x4C:
+                case 0x4D:
+                case 0x4E:
+                case 0x4F:
+                case 0x50:
+                case 0x51:
+                case 0x52:
+                case 0x53:
+                case 0x54:
+                case 0x55:
+                case 0x56:
+                case 0x57:
+                case 0x58:
+                case 0x59:
+                case 0x5A:
+                case 0x5B:
+                case 0x5D:
+                case 0x5E:
+                case 0x5F:
+                case 0x60:
+                case 0x61:
+                case 0x62:
+                case 0x63:
+                case 0x64:
+                case 0x65:
+                case 0x66:
+                case 0x67:
+                case 0x68:
+                case 0x69:
+                case 0x6A:
+                case 0x6B:
+                case 0x6C:
+                case 0x6D:
+                case 0x6E:
+                case 0x6F:
+                case 0x70:
+                case 0x71:
+                case 0x72:
+                case 0x73:
+                case 0x74:
+                case 0x75:
+                case 0x76:
+                case 0x77:
+                case 0x78:
+                case 0x79:
+                case 0x7A:
+                case 0x7B:
+                case 0x7C:
+                case 0x7D:
+                case 0x7E:
+                case 0x7F:
+                {
+                    add(current);
+                    break;
+                }
+
+                // U+0080..U+07FF: bytes C2..DF 80..BF
+                case 0xC2:
+                case 0xC3:
+                case 0xC4:
+                case 0xC5:
+                case 0xC6:
+                case 0xC7:
+                case 0xC8:
+                case 0xC9:
+                case 0xCA:
+                case 0xCB:
+                case 0xCC:
+                case 0xCD:
+                case 0xCE:
+                case 0xCF:
+                case 0xD0:
+                case 0xD1:
+                case 0xD2:
+                case 0xD3:
+                case 0xD4:
+                case 0xD5:
+                case 0xD6:
+                case 0xD7:
+                case 0xD8:
+                case 0xD9:
+                case 0xDA:
+                case 0xDB:
+                case 0xDC:
+                case 0xDD:
+                case 0xDE:
+                case 0xDF:
+                {
+                    if (JSON_UNLIKELY(not next_byte_in_range({0x80, 0xBF})))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+0800..U+0FFF: bytes E0 A0..BF 80..BF
+                case 0xE0:
+                {
+                    if (JSON_UNLIKELY(not (next_byte_in_range({0xA0, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+1000..U+CFFF: bytes E1..EC 80..BF 80..BF
+                // U+E000..U+FFFF: bytes EE..EF 80..BF 80..BF
+                case 0xE1:
+                case 0xE2:
+                case 0xE3:
+                case 0xE4:
+                case 0xE5:
+                case 0xE6:
+                case 0xE7:
+                case 0xE8:
+                case 0xE9:
+                case 0xEA:
+                case 0xEB:
+                case 0xEC:
+                case 0xEE:
+                case 0xEF:
+                {
+                    if (JSON_UNLIKELY(not (next_byte_in_range({0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+D000..U+D7FF: bytes ED 80..9F 80..BF
+                case 0xED:
+                {
+                    if (JSON_UNLIKELY(not (next_byte_in_range({0x80, 0x9F, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+10000..U+3FFFF F0 90..BF 80..BF 80..BF
+                case 0xF0:
+                {
+                    if (JSON_UNLIKELY(not (next_byte_in_range({0x90, 0xBF, 0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+40000..U+FFFFF F1..F3 80..BF 80..BF 80..BF
+                case 0xF1:
+                case 0xF2:
+                case 0xF3:
+                {
+                    if (JSON_UNLIKELY(not (next_byte_in_range({0x80, 0xBF, 0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+100000..U+10FFFF F4 80..8F 80..BF 80..BF
+                case 0xF4:
+                {
+                    if (JSON_UNLIKELY(not (next_byte_in_range({0x80, 0x8F, 0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // remaining bytes (80..C1 and F5..FF) are ill-formed
+                default:
+                {
+                    error_message = "invalid string: ill-formed UTF-8 byte";
+                    return token_type::parse_error;
+                }
+            }
+        }
+    }
+
+    static void strtof(float& f, const char* str, char** endptr) noexcept
+    {
+        f = std::strtof(str, endptr);
+    }
+
+    static void strtof(double& f, const char* str, char** endptr) noexcept
+    {
+        f = std::strtod(str, endptr);
+    }
+
+    static void strtof(long double& f, const char* str, char** endptr) noexcept
+    {
+        f = std::strtold(str, endptr);
+    }
+
+    /*!
+    @brief scan a number literal
+
+    This function scans a string according to Sect. 6 of RFC 7159.
+
+    The function is realized with a deterministic finite state machine derived
+    from the grammar described in RFC 7159. Starting in state "init", the
+    input is read and used to determined the next state. Only state "done"
+    accepts the number. State "error" is a trap state to model errors. In the
+    table below, "anything" means any character but the ones listed before.
+
+    state    | 0        | 1-9      | e E      | +       | -       | .        | anything
+    ---------|----------|----------|----------|---------|---------|----------|-----------
+    init     | zero     | any1     | [error]  | [error] | minus   | [error]  | [error]
+    minus    | zero     | any1     | [error]  | [error] | [error] | [error]  | [error]
+    zero     | done     | done     | exponent | done    | done    | decimal1 | done
+    any1     | any1     | any1     | exponent | done    | done    | decimal1 | done
+    decimal1 | decimal2 | [error]  | [error]  | [error] | [error] | [error]  | [error]
+    decimal2 | decimal2 | decimal2 | exponent | done    | done    | done     | done
+    exponent | any2     | any2     | [error]  | sign    | sign    | [error]  | [error]
+    sign     | any2     | any2     | [error]  | [error] | [error] | [error]  | [error]
+    any2     | any2     | any2     | done     | done    | done    | done     | done
+
+    The state machine is realized with one label per state (prefixed with
+    "scan_number_") and `goto` statements between them. The state machine
+    contains cycles, but any cycle can be left when EOF is read. Therefore,
+    the function is guaranteed to terminate.
+
+    During scanning, the read bytes are stored in token_buffer. This string is
+    then converted to a signed integer, an unsigned integer, or a
+    floating-point number.
+
+    @return token_type::value_unsigned, token_type::value_integer, or
+            token_type::value_float if number could be successfully scanned,
+            token_type::parse_error otherwise
+
+    @note The scanner is independent of the current locale. Internally, the
+          locale's decimal point is used instead of `.` to work with the
+          locale-dependent converters.
+    */
+    token_type scan_number()  // lgtm [cpp/use-of-goto]
+    {
+        // reset token_buffer to store the number's bytes
+        reset();
+
+        // the type of the parsed number; initially set to unsigned; will be
+        // changed if minus sign, decimal point or exponent is read
+        token_type number_type = token_type::value_unsigned;
+
+        // state (init): we just found out we need to scan a number
+        switch (current)
+        {
+            case '-':
+            {
+                add(current);
+                goto scan_number_minus;
+            }
+
+            case '0':
+            {
+                add(current);
+                goto scan_number_zero;
+            }
+
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any1;
+            }
+
+            // LCOV_EXCL_START
+            default:
+            {
+                // all other characters are rejected outside scan_number()
+                assert(false);
+            }
+                // LCOV_EXCL_STOP
+        }
+
+scan_number_minus:
+        // state: we just parsed a leading minus sign
+        number_type = token_type::value_integer;
+        switch (get())
+        {
+            case '0':
+            {
+                add(current);
+                goto scan_number_zero;
+            }
+
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any1;
+            }
+
+            default:
+            {
+                error_message = "invalid number; expected digit after '-'";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_zero:
+        // state: we just parse a zero (maybe with a leading minus sign)
+        switch (get())
+        {
+            case '.':
+            {
+                add(decimal_point_char);
+                goto scan_number_decimal1;
+            }
+
+            case 'e':
+            case 'E':
+            {
+                add(current);
+                goto scan_number_exponent;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_any1:
+        // state: we just parsed a number 0-9 (maybe with a leading minus sign)
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any1;
+            }
+
+            case '.':
+            {
+                add(decimal_point_char);
+                goto scan_number_decimal1;
+            }
+
+            case 'e':
+            case 'E':
+            {
+                add(current);
+                goto scan_number_exponent;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_decimal1:
+        // state: we just parsed a decimal point
+        number_type = token_type::value_float;
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_decimal2;
+            }
+
+            default:
+            {
+                error_message = "invalid number; expected digit after '.'";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_decimal2:
+        // we just parsed at least one number after a decimal point
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_decimal2;
+            }
+
+            case 'e':
+            case 'E':
+            {
+                add(current);
+                goto scan_number_exponent;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_exponent:
+        // we just parsed an exponent
+        number_type = token_type::value_float;
+        switch (get())
+        {
+            case '+':
+            case '-':
+            {
+                add(current);
+                goto scan_number_sign;
+            }
+
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any2;
+            }
+
+            default:
+            {
+                error_message =
+                    "invalid number; expected '+', '-', or digit after exponent";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_sign:
+        // we just parsed an exponent sign
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any2;
+            }
+
+            default:
+            {
+                error_message = "invalid number; expected digit after exponent sign";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_any2:
+        // we just parsed a number after the exponent or exponent sign
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any2;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_done:
+        // unget the character after the number (we only read it to know that
+        // we are done scanning a number)
+        unget();
+
+        char* endptr = nullptr;
+        errno = 0;
+
+        // try to parse integers first and fall back to floats
+        if (number_type == token_type::value_unsigned)
+        {
+            const auto x = std::strtoull(token_buffer.data(), &endptr, 10);
+
+            // we checked the number format before
+            assert(endptr == token_buffer.data() + token_buffer.size());
+
+            if (errno == 0)
+            {
+                value_unsigned = static_cast<number_unsigned_t>(x);
+                if (value_unsigned == x)
+                {
+                    return token_type::value_unsigned;
+                }
+            }
+        }
+        else if (number_type == token_type::value_integer)
+        {
+            const auto x = std::strtoll(token_buffer.data(), &endptr, 10);
+
+            // we checked the number format before
+            assert(endptr == token_buffer.data() + token_buffer.size());
+
+            if (errno == 0)
+            {
+                value_integer = static_cast<number_integer_t>(x);
+                if (value_integer == x)
+                {
+                    return token_type::value_integer;
+                }
+            }
+        }
+
+        // this code is reached if we parse a floating-point number or if an
+        // integer conversion above failed
+        strtof(value_float, token_buffer.data(), &endptr);
+
+        // we checked the number format before
+        assert(endptr == token_buffer.data() + token_buffer.size());
+
+        return token_type::value_float;
+    }
+
+    /*!
+    @param[in] literal_text  the literal text to expect
+    @param[in] length        the length of the passed literal text
+    @param[in] return_type   the token type to return on success
+    */
+    token_type scan_literal(const char* literal_text, const std::size_t length,
+                            token_type return_type)
+    {
+        assert(current == literal_text[0]);
+        for (std::size_t i = 1; i < length; ++i)
+        {
+            if (JSON_UNLIKELY(get() != literal_text[i]))
+            {
+                error_message = "invalid literal";
+                return token_type::parse_error;
+            }
+        }
+        return return_type;
+    }
+
+    /////////////////////
+    // input management
+    /////////////////////
+
+    /// reset token_buffer; current character is beginning of token
+    void reset() noexcept
+    {
+        token_buffer.clear();
+        token_string.clear();
+        token_string.push_back(std::char_traits<char>::to_char_type(current));
+    }
+
+    /*
+    @brief get next character from the input
+
+    This function provides the interface to the used input adapter. It does
+    not throw in case the input reached EOF, but returns a
+    `std::char_traits<char>::eof()` in that case.  Stores the scanned characters
+    for use in error messages.
+
+    @return character read from the input
+    */
+    std::char_traits<char>::int_type get()
+    {
+        ++position.chars_read_total;
+        ++position.chars_read_current_line;
+
+        if (next_unget)
+        {
+            // just reset the next_unget variable and work with current
+            next_unget = false;
+        }
+        else
+        {
+            current = ia->get_character();
+        }
+
+        if (JSON_LIKELY(current != std::char_traits<char>::eof()))
+        {
+            token_string.push_back(std::char_traits<char>::to_char_type(current));
+        }
+
+        if (current == '\n')
+        {
+            ++position.lines_read;
+            ++position.chars_read_current_line = 0;
+        }
+
+        return current;
+    }
+
+    /*!
+    @brief unget current character (read it again on next get)
+
+    We implement unget by setting variable next_unget to true. The input is not
+    changed - we just simulate ungetting by modifying chars_read_total,
+    chars_read_current_line, and token_string. The next call to get() will
+    behave as if the unget character is read again.
+    */
+    void unget()
+    {
+        next_unget = true;
+
+        --position.chars_read_total;
+
+        // in case we "unget" a newline, we have to also decrement the lines_read
+        if (position.chars_read_current_line == 0)
+        {
+            if (position.lines_read > 0)
+            {
+                --position.lines_read;
+            }
+        }
+        else
+        {
+            --position.chars_read_current_line;
+        }
+
+        if (JSON_LIKELY(current != std::char_traits<char>::eof()))
+        {
+            assert(token_string.size() != 0);
+            token_string.pop_back();
+        }
+    }
+
+    /// add a character to token_buffer
+    void add(int c)
+    {
+        token_buffer.push_back(std::char_traits<char>::to_char_type(c));
+    }
+
+  public:
+    /////////////////////
+    // value getters
+    /////////////////////
+
+    /// return integer value
+    constexpr number_integer_t get_number_integer() const noexcept
+    {
+        return value_integer;
+    }
+
+    /// return unsigned integer value
+    constexpr number_unsigned_t get_number_unsigned() const noexcept
+    {
+        return value_unsigned;
+    }
+
+    /// return floating-point value
+    constexpr number_float_t get_number_float() const noexcept
+    {
+        return value_float;
+    }
+
+    /// return current string value (implicitly resets the token; useful only once)
+    string_t& get_string()
+    {
+        return token_buffer;
+    }
+
+    /////////////////////
+    // diagnostics
+    /////////////////////
+
+    /// return position of last read token
+    constexpr position_t get_position() const noexcept
+    {
+        return position;
+    }
+
+    /// return the last read token (for errors only).  Will never contain EOF
+    /// (an arbitrary value that is not a valid char value, often -1), because
+    /// 255 may legitimately occur.  May contain NUL, which should be escaped.
+    std::string get_token_string() const
+    {
+        // escape control characters
+        std::string result;
+        for (const auto c : token_string)
+        {
+            if ('\x00' <= c and c <= '\x1F')
+            {
+                // escape control characters
+                char cs[9];
+                (std::snprintf)(cs, 9, "<U+%.4X>", static_cast<unsigned char>(c));
+                result += cs;
+            }
+            else
+            {
+                // add character as is
+                result.push_back(c);
+            }
+        }
+
+        return result;
+    }
+
+    /// return syntax error message
+    constexpr const char* get_error_message() const noexcept
+    {
+        return error_message;
+    }
+
+    /////////////////////
+    // actual scanner
+    /////////////////////
+
+    /*!
+    @brief skip the UTF-8 byte order mark
+    @return true iff there is no BOM or the correct BOM has been skipped
+    */
+    bool skip_bom()
+    {
+        if (get() == 0xEF)
+        {
+            // check if we completely parse the BOM
+            return get() == 0xBB and get() == 0xBF;
+        }
+
+        // the first character is not the beginning of the BOM; unget it to
+        // process is later
+        unget();
+        return true;
+    }
+
+    token_type scan()
+    {
+        // initially, skip the BOM
+        if (position.chars_read_total == 0 and not skip_bom())
+        {
+            error_message = "invalid BOM; must be 0xEF 0xBB 0xBF if given";
+            return token_type::parse_error;
+        }
+
+        // read next character and ignore whitespace
+        do
+        {
+            get();
+        }
+        while (current == ' ' or current == '\t' or current == '\n' or current == '\r');
+
+        switch (current)
+        {
+            // structural characters
+            case '[':
+                return token_type::begin_array;
+            case ']':
+                return token_type::end_array;
+            case '{':
+                return token_type::begin_object;
+            case '}':
+                return token_type::end_object;
+            case ':':
+                return token_type::name_separator;
+            case ',':
+                return token_type::value_separator;
+
+            // literals
+            case 't':
+                return scan_literal("true", 4, token_type::literal_true);
+            case 'f':
+                return scan_literal("false", 5, token_type::literal_false);
+            case 'n':
+                return scan_literal("null", 4, token_type::literal_null);
+
+            // string
+            case '\"':
+                return scan_string();
+
+            // number
+            case '-':
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+                return scan_number();
+
+            // end of input (the null byte is needed when parsing from
+            // string literals)
+            case '\0':
+            case std::char_traits<char>::eof():
+                return token_type::end_of_input;
+
+            // error
+            default:
+                error_message = "invalid literal";
+                return token_type::parse_error;
+        }
+    }
+
+  private:
+    /// input adapter
+    detail::input_adapter_t ia = nullptr;
+
+    /// the current character
+    std::char_traits<char>::int_type current = std::char_traits<char>::eof();
+
+    /// whether the next get() call should just return current
+    bool next_unget = false;
+
+    /// the start position of the current token
+    position_t position;
+
+    /// raw input token string (for error messages)
+    std::vector<char> token_string {};
+
+    /// buffer for variable-length tokens (numbers, strings)
+    string_t token_buffer {};
+
+    /// a description of occurred lexer errors
+    const char* error_message = "";
+
+    // number values
+    number_integer_t value_integer = 0;
+    number_unsigned_t value_unsigned = 0;
+    number_float_t value_float = 0;
+
+    /// the decimal point
+    const char decimal_point_char = '.';
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/input/parser.hpp>
+
+
+#include <cassert> // assert
+#include <cmath> // isfinite
+#include <cstdint> // uint8_t
+#include <functional> // function
+#include <string> // string
+#include <utility> // move
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/is_sax.hpp>
+
+
+#include <cstdint> // size_t
+#include <utility> // declval
+
+// #include <nlohmann/detail/meta/detected.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template <typename T>
+using null_function_t = decltype(std::declval<T&>().null());
+
+template <typename T>
+using boolean_function_t =
+    decltype(std::declval<T&>().boolean(std::declval<bool>()));
+
+template <typename T, typename Integer>
+using number_integer_function_t =
+    decltype(std::declval<T&>().number_integer(std::declval<Integer>()));
+
+template <typename T, typename Unsigned>
+using number_unsigned_function_t =
+    decltype(std::declval<T&>().number_unsigned(std::declval<Unsigned>()));
+
+template <typename T, typename Float, typename String>
+using number_float_function_t = decltype(std::declval<T&>().number_float(
+                                    std::declval<Float>(), std::declval<const String&>()));
+
+template <typename T, typename String>
+using string_function_t =
+    decltype(std::declval<T&>().string(std::declval<String&>()));
+
+template <typename T>
+using start_object_function_t =
+    decltype(std::declval<T&>().start_object(std::declval<std::size_t>()));
+
+template <typename T, typename String>
+using key_function_t =
+    decltype(std::declval<T&>().key(std::declval<String&>()));
+
+template <typename T>
+using end_object_function_t = decltype(std::declval<T&>().end_object());
+
+template <typename T>
+using start_array_function_t =
+    decltype(std::declval<T&>().start_array(std::declval<std::size_t>()));
+
+template <typename T>
+using end_array_function_t = decltype(std::declval<T&>().end_array());
+
+template <typename T, typename Exception>
+using parse_error_function_t = decltype(std::declval<T&>().parse_error(
+        std::declval<std::size_t>(), std::declval<const std::string&>(),
+        std::declval<const Exception&>()));
+
+template <typename SAX, typename BasicJsonType>
+struct is_sax
+{
+  private:
+    static_assert(is_basic_json<BasicJsonType>::value,
+                  "BasicJsonType must be of type basic_json<...>");
+
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using exception_t = typename BasicJsonType::exception;
+
+  public:
+    static constexpr bool value =
+        is_detected_exact<bool, null_function_t, SAX>::value &&
+        is_detected_exact<bool, boolean_function_t, SAX>::value &&
+        is_detected_exact<bool, number_integer_function_t, SAX,
+        number_integer_t>::value &&
+        is_detected_exact<bool, number_unsigned_function_t, SAX,
+        number_unsigned_t>::value &&
+        is_detected_exact<bool, number_float_function_t, SAX, number_float_t,
+        string_t>::value &&
+        is_detected_exact<bool, string_function_t, SAX, string_t>::value &&
+        is_detected_exact<bool, start_object_function_t, SAX>::value &&
+        is_detected_exact<bool, key_function_t, SAX, string_t>::value &&
+        is_detected_exact<bool, end_object_function_t, SAX>::value &&
+        is_detected_exact<bool, start_array_function_t, SAX>::value &&
+        is_detected_exact<bool, end_array_function_t, SAX>::value &&
+        is_detected_exact<bool, parse_error_function_t, SAX, exception_t>::value;
+};
+
+template <typename SAX, typename BasicJsonType>
+struct is_sax_static_asserts
+{
+  private:
+    static_assert(is_basic_json<BasicJsonType>::value,
+                  "BasicJsonType must be of type basic_json<...>");
+
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using exception_t = typename BasicJsonType::exception;
+
+  public:
+    static_assert(is_detected_exact<bool, null_function_t, SAX>::value,
+                  "Missing/invalid function: bool null()");
+    static_assert(is_detected_exact<bool, boolean_function_t, SAX>::value,
+                  "Missing/invalid function: bool boolean(bool)");
+    static_assert(is_detected_exact<bool, boolean_function_t, SAX>::value,
+                  "Missing/invalid function: bool boolean(bool)");
+    static_assert(
+        is_detected_exact<bool, number_integer_function_t, SAX,
+        number_integer_t>::value,
+        "Missing/invalid function: bool number_integer(number_integer_t)");
+    static_assert(
+        is_detected_exact<bool, number_unsigned_function_t, SAX,
+        number_unsigned_t>::value,
+        "Missing/invalid function: bool number_unsigned(number_unsigned_t)");
+    static_assert(is_detected_exact<bool, number_float_function_t, SAX,
+                  number_float_t, string_t>::value,
+                  "Missing/invalid function: bool number_float(number_float_t, const string_t&)");
+    static_assert(
+        is_detected_exact<bool, string_function_t, SAX, string_t>::value,
+        "Missing/invalid function: bool string(string_t&)");
+    static_assert(is_detected_exact<bool, start_object_function_t, SAX>::value,
+                  "Missing/invalid function: bool start_object(std::size_t)");
+    static_assert(is_detected_exact<bool, key_function_t, SAX, string_t>::value,
+                  "Missing/invalid function: bool key(string_t&)");
+    static_assert(is_detected_exact<bool, end_object_function_t, SAX>::value,
+                  "Missing/invalid function: bool end_object()");
+    static_assert(is_detected_exact<bool, start_array_function_t, SAX>::value,
+                  "Missing/invalid function: bool start_array(std::size_t)");
+    static_assert(is_detected_exact<bool, end_array_function_t, SAX>::value,
+                  "Missing/invalid function: bool end_array()");
+    static_assert(
+        is_detected_exact<bool, parse_error_function_t, SAX, exception_t>::value,
+        "Missing/invalid function: bool parse_error(std::size_t, const "
+        "std::string&, const exception&)");
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/input/input_adapters.hpp>
+
+// #include <nlohmann/detail/input/json_sax.hpp>
+
+
+#include <cstddef>
+#include <string>
+#include <vector>
+
+// #include <nlohmann/detail/input/parser.hpp>
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+
+namespace nlohmann
+{
+
+/*!
+@brief SAX interface
+
+This class describes the SAX interface used by @ref nlohmann::json::sax_parse.
+Each function is called in different situations while the input is parsed. The
+boolean return value informs the parser whether to continue processing the
+input.
+*/
+template<typename BasicJsonType>
+struct json_sax
+{
+    /// type for (signed) integers
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    /// type for unsigned integers
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    /// type for floating-point numbers
+    using number_float_t = typename BasicJsonType::number_float_t;
+    /// type for strings
+    using string_t = typename BasicJsonType::string_t;
+
+    /*!
+    @brief a null value was read
+    @return whether parsing should proceed
+    */
+    virtual bool null() = 0;
+
+    /*!
+    @brief a boolean value was read
+    @param[in] val  boolean value
+    @return whether parsing should proceed
+    */
+    virtual bool boolean(bool val) = 0;
+
+    /*!
+    @brief an integer number was read
+    @param[in] val  integer value
+    @return whether parsing should proceed
+    */
+    virtual bool number_integer(number_integer_t val) = 0;
+
+    /*!
+    @brief an unsigned integer number was read
+    @param[in] val  unsigned integer value
+    @return whether parsing should proceed
+    */
+    virtual bool number_unsigned(number_unsigned_t val) = 0;
+
+    /*!
+    @brief an floating-point number was read
+    @param[in] val  floating-point value
+    @param[in] s    raw token value
+    @return whether parsing should proceed
+    */
+    virtual bool number_float(number_float_t val, const string_t& s) = 0;
+
+    /*!
+    @brief a string was read
+    @param[in] val  string value
+    @return whether parsing should proceed
+    @note It is safe to move the passed string.
+    */
+    virtual bool string(string_t& val) = 0;
+
+    /*!
+    @brief the beginning of an object was read
+    @param[in] elements  number of object elements or -1 if unknown
+    @return whether parsing should proceed
+    @note binary formats may report the number of elements
+    */
+    virtual bool start_object(std::size_t elements) = 0;
+
+    /*!
+    @brief an object key was read
+    @param[in] val  object key
+    @return whether parsing should proceed
+    @note It is safe to move the passed string.
+    */
+    virtual bool key(string_t& val) = 0;
+
+    /*!
+    @brief the end of an object was read
+    @return whether parsing should proceed
+    */
+    virtual bool end_object() = 0;
+
+    /*!
+    @brief the beginning of an array was read
+    @param[in] elements  number of array elements or -1 if unknown
+    @return whether parsing should proceed
+    @note binary formats may report the number of elements
+    */
+    virtual bool start_array(std::size_t elements) = 0;
+
+    /*!
+    @brief the end of an array was read
+    @return whether parsing should proceed
+    */
+    virtual bool end_array() = 0;
+
+    /*!
+    @brief a parse error occurred
+    @param[in] position    the position in the input where the error occurs
+    @param[in] last_token  the last read token
+    @param[in] ex          an exception object describing the error
+    @return whether parsing should proceed (must return false)
+    */
+    virtual bool parse_error(std::size_t position,
+                             const std::string& last_token,
+                             const detail::exception& ex) = 0;
+
+    virtual ~json_sax() = default;
+};
+
+
+namespace detail
+{
+/*!
+@brief SAX implementation to create a JSON value from SAX events
+
+This class implements the @ref json_sax interface and processes the SAX events
+to create a JSON value which makes it basically a DOM parser. The structure or
+hierarchy of the JSON value is managed by the stack `ref_stack` which contains
+a pointer to the respective array or object for each recursion depth.
+
+After successful parsing, the value that is passed by reference to the
+constructor contains the parsed value.
+
+@tparam BasicJsonType  the JSON type
+*/
+template<typename BasicJsonType>
+class json_sax_dom_parser
+{
+  public:
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+
+    /*!
+    @param[in, out] r  reference to a JSON value that is manipulated while
+                       parsing
+    @param[in] allow_exceptions_  whether parse errors yield exceptions
+    */
+    explicit json_sax_dom_parser(BasicJsonType& r, const bool allow_exceptions_ = true)
+        : root(r), allow_exceptions(allow_exceptions_)
+    {}
+
+    bool null()
+    {
+        handle_value(nullptr);
+        return true;
+    }
+
+    bool boolean(bool val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_integer(number_integer_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_unsigned(number_unsigned_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_float(number_float_t val, const string_t& /*unused*/)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool string(string_t& val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool start_object(std::size_t len)
+    {
+        ref_stack.push_back(handle_value(BasicJsonType::value_t::object));
+
+        if (JSON_UNLIKELY(len != std::size_t(-1) and len > ref_stack.back()->max_size()))
+        {
+            JSON_THROW(out_of_range::create(408,
+                                            "excessive object size: " + std::to_string(len)));
+        }
+
+        return true;
+    }
+
+    bool key(string_t& val)
+    {
+        // add null at given key and store the reference for later
+        object_element = &(ref_stack.back()->m_value.object->operator[](val));
+        return true;
+    }
+
+    bool end_object()
+    {
+        ref_stack.pop_back();
+        return true;
+    }
+
+    bool start_array(std::size_t len)
+    {
+        ref_stack.push_back(handle_value(BasicJsonType::value_t::array));
+
+        if (JSON_UNLIKELY(len != std::size_t(-1) and len > ref_stack.back()->max_size()))
+        {
+            JSON_THROW(out_of_range::create(408,
+                                            "excessive array size: " + std::to_string(len)));
+        }
+
+        return true;
+    }
+
+    bool end_array()
+    {
+        ref_stack.pop_back();
+        return true;
+    }
+
+    bool parse_error(std::size_t /*unused*/, const std::string& /*unused*/,
+                     const detail::exception& ex)
+    {
+        errored = true;
+        if (allow_exceptions)
+        {
+            // determine the proper exception type from the id
+            switch ((ex.id / 100) % 100)
+            {
+                case 1:
+                    JSON_THROW(*reinterpret_cast<const detail::parse_error*>(&ex));
+                case 4:
+                    JSON_THROW(*reinterpret_cast<const detail::out_of_range*>(&ex));
+                // LCOV_EXCL_START
+                case 2:
+                    JSON_THROW(*reinterpret_cast<const detail::invalid_iterator*>(&ex));
+                case 3:
+                    JSON_THROW(*reinterpret_cast<const detail::type_error*>(&ex));
+                case 5:
+                    JSON_THROW(*reinterpret_cast<const detail::other_error*>(&ex));
+                default:
+                    assert(false);
+                    // LCOV_EXCL_STOP
+            }
+        }
+        return false;
+    }
+
+    constexpr bool is_errored() const
+    {
+        return errored;
+    }
+
+  private:
+    /*!
+    @invariant If the ref stack is empty, then the passed value will be the new
+               root.
+    @invariant If the ref stack contains a value, then it is an array or an
+               object to which we can add elements
+    */
+    template<typename Value>
+    BasicJsonType* handle_value(Value&& v)
+    {
+        if (ref_stack.empty())
+        {
+            root = BasicJsonType(std::forward<Value>(v));
+            return &root;
+        }
+
+        assert(ref_stack.back()->is_array() or ref_stack.back()->is_object());
+
+        if (ref_stack.back()->is_array())
+        {
+            ref_stack.back()->m_value.array->emplace_back(std::forward<Value>(v));
+            return &(ref_stack.back()->m_value.array->back());
+        }
+        else
+        {
+            assert(object_element);
+            *object_element = BasicJsonType(std::forward<Value>(v));
+            return object_element;
+        }
+    }
+
+    /// the parsed JSON value
+    BasicJsonType& root;
+    /// stack to model hierarchy of values
+    std::vector<BasicJsonType*> ref_stack;
+    /// helper to hold the reference for the next object element
+    BasicJsonType* object_element = nullptr;
+    /// whether a syntax error occurred
+    bool errored = false;
+    /// whether to throw exceptions in case of errors
+    const bool allow_exceptions = true;
+};
+
+template<typename BasicJsonType>
+class json_sax_dom_callback_parser
+{
+  public:
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using parser_callback_t = typename BasicJsonType::parser_callback_t;
+    using parse_event_t = typename BasicJsonType::parse_event_t;
+
+    json_sax_dom_callback_parser(BasicJsonType& r,
+                                 const parser_callback_t cb,
+                                 const bool allow_exceptions_ = true)
+        : root(r), callback(cb), allow_exceptions(allow_exceptions_)
+    {
+        keep_stack.push_back(true);
+    }
+
+    bool null()
+    {
+        handle_value(nullptr);
+        return true;
+    }
+
+    bool boolean(bool val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_integer(number_integer_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_unsigned(number_unsigned_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_float(number_float_t val, const string_t& /*unused*/)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool string(string_t& val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool start_object(std::size_t len)
+    {
+        // check callback for object start
+        const bool keep = callback(static_cast<int>(ref_stack.size()), parse_event_t::object_start, discarded);
+        keep_stack.push_back(keep);
+
+        auto val = handle_value(BasicJsonType::value_t::object, true);
+        ref_stack.push_back(val.second);
+
+        // check object limit
+        if (ref_stack.back())
+        {
+            if (JSON_UNLIKELY(len != std::size_t(-1) and len > ref_stack.back()->max_size()))
+            {
+                JSON_THROW(out_of_range::create(408,
+                                                "excessive object size: " + std::to_string(len)));
+            }
+        }
+
+        return true;
+    }
+
+    bool key(string_t& val)
+    {
+        BasicJsonType k = BasicJsonType(val);
+
+        // check callback for key
+        const bool keep = callback(static_cast<int>(ref_stack.size()), parse_event_t::key, k);
+        key_keep_stack.push_back(keep);
+
+        // add discarded value at given key and store the reference for later
+        if (keep and ref_stack.back())
+        {
+            object_element = &(ref_stack.back()->m_value.object->operator[](val) = discarded);
+        }
+
+        return true;
+    }
+
+    bool end_object()
+    {
+        if (ref_stack.back())
+        {
+            if (not callback(static_cast<int>(ref_stack.size()) - 1, parse_event_t::object_end, *ref_stack.back()))
+            {
+                // discard object
+                *ref_stack.back() = discarded;
+            }
+        }
+
+        assert(not ref_stack.empty());
+        assert(not keep_stack.empty());
+        ref_stack.pop_back();
+        keep_stack.pop_back();
+
+        if (not ref_stack.empty() and ref_stack.back())
+        {
+            // remove discarded value
+            if (ref_stack.back()->is_object())
+            {
+                for (auto it = ref_stack.back()->begin(); it != ref_stack.back()->end(); ++it)
+                {
+                    if (it->is_discarded())
+                    {
+                        ref_stack.back()->erase(it);
+                        break;
+                    }
+                }
+            }
+        }
+
+        return true;
+    }
+
+    bool start_array(std::size_t len)
+    {
+        const bool keep = callback(static_cast<int>(ref_stack.size()), parse_event_t::array_start, discarded);
+        keep_stack.push_back(keep);
+
+        auto val = handle_value(BasicJsonType::value_t::array, true);
+        ref_stack.push_back(val.second);
+
+        // check array limit
+        if (ref_stack.back())
+        {
+            if (JSON_UNLIKELY(len != std::size_t(-1) and len > ref_stack.back()->max_size()))
+            {
+                JSON_THROW(out_of_range::create(408,
+                                                "excessive array size: " + std::to_string(len)));
+            }
+        }
+
+        return true;
+    }
+
+    bool end_array()
+    {
+        bool keep = true;
+
+        if (ref_stack.back())
+        {
+            keep = callback(static_cast<int>(ref_stack.size()) - 1, parse_event_t::array_end, *ref_stack.back());
+            if (not keep)
+            {
+                // discard array
+                *ref_stack.back() = discarded;
+            }
+        }
+
+        assert(not ref_stack.empty());
+        assert(not keep_stack.empty());
+        ref_stack.pop_back();
+        keep_stack.pop_back();
+
+        // remove discarded value
+        if (not keep and not ref_stack.empty())
+        {
+            if (ref_stack.back()->is_array())
+            {
+                ref_stack.back()->m_value.array->pop_back();
+            }
+        }
+
+        return true;
+    }
+
+    bool parse_error(std::size_t /*unused*/, const std::string& /*unused*/,
+                     const detail::exception& ex)
+    {
+        errored = true;
+        if (allow_exceptions)
+        {
+            // determine the proper exception type from the id
+            switch ((ex.id / 100) % 100)
+            {
+                case 1:
+                    JSON_THROW(*reinterpret_cast<const detail::parse_error*>(&ex));
+                case 4:
+                    JSON_THROW(*reinterpret_cast<const detail::out_of_range*>(&ex));
+                // LCOV_EXCL_START
+                case 2:
+                    JSON_THROW(*reinterpret_cast<const detail::invalid_iterator*>(&ex));
+                case 3:
+                    JSON_THROW(*reinterpret_cast<const detail::type_error*>(&ex));
+                case 5:
+                    JSON_THROW(*reinterpret_cast<const detail::other_error*>(&ex));
+                default:
+                    assert(false);
+                    // LCOV_EXCL_STOP
+            }
+        }
+        return false;
+    }
+
+    constexpr bool is_errored() const
+    {
+        return errored;
+    }
+
+  private:
+    /*!
+    @param[in] v  value to add to the JSON value we build during parsing
+    @param[in] skip_callback  whether we should skip calling the callback
+               function; this is required after start_array() and
+               start_object() SAX events, because otherwise we would call the
+               callback function with an empty array or object, respectively.
+
+    @invariant If the ref stack is empty, then the passed value will be the new
+               root.
+    @invariant If the ref stack contains a value, then it is an array or an
+               object to which we can add elements
+
+    @return pair of boolean (whether value should be kept) and pointer (to the
+            passed value in the ref_stack hierarchy; nullptr if not kept)
+    */
+    template<typename Value>
+    std::pair<bool, BasicJsonType*> handle_value(Value&& v, const bool skip_callback = false)
+    {
+        assert(not keep_stack.empty());
+
+        // do not handle this value if we know it would be added to a discarded
+        // container
+        if (not keep_stack.back())
+        {
+            return {false, nullptr};
+        }
+
+        // create value
+        auto value = BasicJsonType(std::forward<Value>(v));
+
+        // check callback
+        const bool keep = skip_callback or callback(static_cast<int>(ref_stack.size()), parse_event_t::value, value);
+
+        // do not handle this value if we just learnt it shall be discarded
+        if (not keep)
+        {
+            return {false, nullptr};
+        }
+
+        if (ref_stack.empty())
+        {
+            root = std::move(value);
+            return {true, &root};
+        }
+
+        // skip this value if we already decided to skip the parent
+        // (https://github.com/nlohmann/json/issues/971#issuecomment-413678360)
+        if (not ref_stack.back())
+        {
+            return {false, nullptr};
+        }
+
+        // we now only expect arrays and objects
+        assert(ref_stack.back()->is_array() or ref_stack.back()->is_object());
+
+        if (ref_stack.back()->is_array())
+        {
+            ref_stack.back()->m_value.array->push_back(std::move(value));
+            return {true, &(ref_stack.back()->m_value.array->back())};
+        }
+        else
+        {
+            // check if we should store an element for the current key
+            assert(not key_keep_stack.empty());
+            const bool store_element = key_keep_stack.back();
+            key_keep_stack.pop_back();
+
+            if (not store_element)
+            {
+                return {false, nullptr};
+            }
+
+            assert(object_element);
+            *object_element = std::move(value);
+            return {true, object_element};
+        }
+    }
+
+    /// the parsed JSON value
+    BasicJsonType& root;
+    /// stack to model hierarchy of values
+    std::vector<BasicJsonType*> ref_stack;
+    /// stack to manage which values to keep
+    std::vector<bool> keep_stack;
+    /// stack to manage which object keys to keep
+    std::vector<bool> key_keep_stack;
+    /// helper to hold the reference for the next object element
+    BasicJsonType* object_element = nullptr;
+    /// whether a syntax error occurred
+    bool errored = false;
+    /// callback function
+    const parser_callback_t callback = nullptr;
+    /// whether to throw exceptions in case of errors
+    const bool allow_exceptions = true;
+    /// a discarded value for the callback
+    BasicJsonType discarded = BasicJsonType::value_t::discarded;
+};
+
+template<typename BasicJsonType>
+class json_sax_acceptor
+{
+  public:
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+
+    bool null()
+    {
+        return true;
+    }
+
+    bool boolean(bool /*unused*/)
+    {
+        return true;
+    }
+
+    bool number_integer(number_integer_t /*unused*/)
+    {
+        return true;
+    }
+
+    bool number_unsigned(number_unsigned_t /*unused*/)
+    {
+        return true;
+    }
+
+    bool number_float(number_float_t /*unused*/, const string_t& /*unused*/)
+    {
+        return true;
+    }
+
+    bool string(string_t& /*unused*/)
+    {
+        return true;
+    }
+
+    bool start_object(std::size_t  /*unused*/ = std::size_t(-1))
+    {
+        return true;
+    }
+
+    bool key(string_t& /*unused*/)
+    {
+        return true;
+    }
+
+    bool end_object()
+    {
+        return true;
+    }
+
+    bool start_array(std::size_t  /*unused*/ = std::size_t(-1))
+    {
+        return true;
+    }
+
+    bool end_array()
+    {
+        return true;
+    }
+
+    bool parse_error(std::size_t /*unused*/, const std::string& /*unused*/, const detail::exception& /*unused*/)
+    {
+        return false;
+    }
+};
+}  // namespace detail
+
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/input/lexer.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+////////////
+// parser //
+////////////
+
+/*!
+@brief syntax analysis
+
+This class implements a recursive decent parser.
+*/
+template<typename BasicJsonType>
+class parser
+{
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using lexer_t = lexer<BasicJsonType>;
+    using token_type = typename lexer_t::token_type;
+
+  public:
+    enum class parse_event_t : uint8_t
+    {
+        /// the parser read `{` and started to process a JSON object
+        object_start,
+        /// the parser read `}` and finished processing a JSON object
+        object_end,
+        /// the parser read `[` and started to process a JSON array
+        array_start,
+        /// the parser read `]` and finished processing a JSON array
+        array_end,
+        /// the parser read a key of a value in an object
+        key,
+        /// the parser finished reading a JSON value
+        value
+    };
+
+    using parser_callback_t =
+        std::function<bool(int depth, parse_event_t event, BasicJsonType& parsed)>;
+
+    /// a parser reading from an input adapter
+    explicit parser(detail::input_adapter_t&& adapter,
+                    const parser_callback_t cb = nullptr,
+                    const bool allow_exceptions_ = true)
+        : callback(cb), m_lexer(std::move(adapter)), allow_exceptions(allow_exceptions_)
+    {
+        // read first token
+        get_token();
+    }
+
+    /*!
+    @brief public parser interface
+
+    @param[in] strict      whether to expect the last token to be EOF
+    @param[in,out] result  parsed JSON value
+
+    @throw parse_error.101 in case of an unexpected token
+    @throw parse_error.102 if to_unicode fails or surrogate error
+    @throw parse_error.103 if to_unicode fails
+    */
+    void parse(const bool strict, BasicJsonType& result)
+    {
+        if (callback)
+        {
+            json_sax_dom_callback_parser<BasicJsonType> sdp(result, callback, allow_exceptions);
+            sax_parse_internal(&sdp);
+            result.assert_invariant();
+
+            // in strict mode, input must be completely read
+            if (strict and (get_token() != token_type::end_of_input))
+            {
+                sdp.parse_error(m_lexer.get_position(),
+                                m_lexer.get_token_string(),
+                                parse_error::create(101, m_lexer.get_position(),
+                                                    exception_message(token_type::end_of_input, "value")));
+            }
+
+            // in case of an error, return discarded value
+            if (sdp.is_errored())
+            {
+                result = value_t::discarded;
+                return;
+            }
+
+            // set top-level value to null if it was discarded by the callback
+            // function
+            if (result.is_discarded())
+            {
+                result = nullptr;
+            }
+        }
+        else
+        {
+            json_sax_dom_parser<BasicJsonType> sdp(result, allow_exceptions);
+            sax_parse_internal(&sdp);
+            result.assert_invariant();
+
+            // in strict mode, input must be completely read
+            if (strict and (get_token() != token_type::end_of_input))
+            {
+                sdp.parse_error(m_lexer.get_position(),
+                                m_lexer.get_token_string(),
+                                parse_error::create(101, m_lexer.get_position(),
+                                                    exception_message(token_type::end_of_input, "value")));
+            }
+
+            // in case of an error, return discarded value
+            if (sdp.is_errored())
+            {
+                result = value_t::discarded;
+                return;
+            }
+        }
+    }
+
+    /*!
+    @brief public accept interface
+
+    @param[in] strict  whether to expect the last token to be EOF
+    @return whether the input is a proper JSON text
+    */
+    bool accept(const bool strict = true)
+    {
+        json_sax_acceptor<BasicJsonType> sax_acceptor;
+        return sax_parse(&sax_acceptor, strict);
+    }
+
+    template <typename SAX>
+    bool sax_parse(SAX* sax, const bool strict = true)
+    {
+        (void)detail::is_sax_static_asserts<SAX, BasicJsonType> {};
+        const bool result = sax_parse_internal(sax);
+
+        // strict mode: next byte must be EOF
+        if (result and strict and (get_token() != token_type::end_of_input))
+        {
+            return sax->parse_error(m_lexer.get_position(),
+                                    m_lexer.get_token_string(),
+                                    parse_error::create(101, m_lexer.get_position(),
+                                            exception_message(token_type::end_of_input, "value")));
+        }
+
+        return result;
+    }
+
+  private:
+    template <typename SAX>
+    bool sax_parse_internal(SAX* sax)
+    {
+        // stack to remember the hierarchy of structured values we are parsing
+        // true = array; false = object
+        std::vector<bool> states;
+        // value to avoid a goto (see comment where set to true)
+        bool skip_to_state_evaluation = false;
+
+        while (true)
+        {
+            if (not skip_to_state_evaluation)
+            {
+                // invariant: get_token() was called before each iteration
+                switch (last_token)
+                {
+                    case token_type::begin_object:
+                    {
+                        if (JSON_UNLIKELY(not sax->start_object(std::size_t(-1))))
+                        {
+                            return false;
+                        }
+
+                        // closing } -> we are done
+                        if (get_token() == token_type::end_object)
+                        {
+                            if (JSON_UNLIKELY(not sax->end_object()))
+                            {
+                                return false;
+                            }
+                            break;
+                        }
+
+                        // parse key
+                        if (JSON_UNLIKELY(last_token != token_type::value_string))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    parse_error::create(101, m_lexer.get_position(),
+                                                            exception_message(token_type::value_string, "object key")));
+                        }
+                        if (JSON_UNLIKELY(not sax->key(m_lexer.get_string())))
+                        {
+                            return false;
+                        }
+
+                        // parse separator (:)
+                        if (JSON_UNLIKELY(get_token() != token_type::name_separator))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    parse_error::create(101, m_lexer.get_position(),
+                                                            exception_message(token_type::name_separator, "object separator")));
+                        }
+
+                        // remember we are now inside an object
+                        states.push_back(false);
+
+                        // parse values
+                        get_token();
+                        continue;
+                    }
+
+                    case token_type::begin_array:
+                    {
+                        if (JSON_UNLIKELY(not sax->start_array(std::size_t(-1))))
+                        {
+                            return false;
+                        }
+
+                        // closing ] -> we are done
+                        if (get_token() == token_type::end_array)
+                        {
+                            if (JSON_UNLIKELY(not sax->end_array()))
+                            {
+                                return false;
+                            }
+                            break;
+                        }
+
+                        // remember we are now inside an array
+                        states.push_back(true);
+
+                        // parse values (no need to call get_token)
+                        continue;
+                    }
+
+                    case token_type::value_float:
+                    {
+                        const auto res = m_lexer.get_number_float();
+
+                        if (JSON_UNLIKELY(not std::isfinite(res)))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    out_of_range::create(406, "number overflow parsing '" + m_lexer.get_token_string() + "'"));
+                        }
+                        else
+                        {
+                            if (JSON_UNLIKELY(not sax->number_float(res, m_lexer.get_string())))
+                            {
+                                return false;
+                            }
+                            break;
+                        }
+                    }
+
+                    case token_type::literal_false:
+                    {
+                        if (JSON_UNLIKELY(not sax->boolean(false)))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::literal_null:
+                    {
+                        if (JSON_UNLIKELY(not sax->null()))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::literal_true:
+                    {
+                        if (JSON_UNLIKELY(not sax->boolean(true)))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::value_integer:
+                    {
+                        if (JSON_UNLIKELY(not sax->number_integer(m_lexer.get_number_integer())))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::value_string:
+                    {
+                        if (JSON_UNLIKELY(not sax->string(m_lexer.get_string())))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::value_unsigned:
+                    {
+                        if (JSON_UNLIKELY(not sax->number_unsigned(m_lexer.get_number_unsigned())))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::parse_error:
+                    {
+                        // using "uninitialized" to avoid "expected" message
+                        return sax->parse_error(m_lexer.get_position(),
+                                                m_lexer.get_token_string(),
+                                                parse_error::create(101, m_lexer.get_position(),
+                                                        exception_message(token_type::uninitialized, "value")));
+                    }
+
+                    default: // the last token was unexpected
+                    {
+                        return sax->parse_error(m_lexer.get_position(),
+                                                m_lexer.get_token_string(),
+                                                parse_error::create(101, m_lexer.get_position(),
+                                                        exception_message(token_type::literal_or_value, "value")));
+                    }
+                }
+            }
+            else
+            {
+                skip_to_state_evaluation = false;
+            }
+
+            // we reached this line after we successfully parsed a value
+            if (states.empty())
+            {
+                // empty stack: we reached the end of the hierarchy: done
+                return true;
+            }
+            else
+            {
+                if (states.back())  // array
+                {
+                    // comma -> next value
+                    if (get_token() == token_type::value_separator)
+                    {
+                        // parse a new value
+                        get_token();
+                        continue;
+                    }
+
+                    // closing ]
+                    if (JSON_LIKELY(last_token == token_type::end_array))
+                    {
+                        if (JSON_UNLIKELY(not sax->end_array()))
+                        {
+                            return false;
+                        }
+
+                        // We are done with this array. Before we can parse a
+                        // new value, we need to evaluate the new state first.
+                        // By setting skip_to_state_evaluation to false, we
+                        // are effectively jumping to the beginning of this if.
+                        assert(not states.empty());
+                        states.pop_back();
+                        skip_to_state_evaluation = true;
+                        continue;
+                    }
+                    else
+                    {
+                        return sax->parse_error(m_lexer.get_position(),
+                                                m_lexer.get_token_string(),
+                                                parse_error::create(101, m_lexer.get_position(),
+                                                        exception_message(token_type::end_array, "array")));
+                    }
+                }
+                else  // object
+                {
+                    // comma -> next value
+                    if (get_token() == token_type::value_separator)
+                    {
+                        // parse key
+                        if (JSON_UNLIKELY(get_token() != token_type::value_string))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    parse_error::create(101, m_lexer.get_position(),
+                                                            exception_message(token_type::value_string, "object key")));
+                        }
+                        else
+                        {
+                            if (JSON_UNLIKELY(not sax->key(m_lexer.get_string())))
+                            {
+                                return false;
+                            }
+                        }
+
+                        // parse separator (:)
+                        if (JSON_UNLIKELY(get_token() != token_type::name_separator))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    parse_error::create(101, m_lexer.get_position(),
+                                                            exception_message(token_type::name_separator, "object separator")));
+                        }
+
+                        // parse values
+                        get_token();
+                        continue;
+                    }
+
+                    // closing }
+                    if (JSON_LIKELY(last_token == token_type::end_object))
+                    {
+                        if (JSON_UNLIKELY(not sax->end_object()))
+                        {
+                            return false;
+                        }
+
+                        // We are done with this object. Before we can parse a
+                        // new value, we need to evaluate the new state first.
+                        // By setting skip_to_state_evaluation to false, we
+                        // are effectively jumping to the beginning of this if.
+                        assert(not states.empty());
+                        states.pop_back();
+                        skip_to_state_evaluation = true;
+                        continue;
+                    }
+                    else
+                    {
+                        return sax->parse_error(m_lexer.get_position(),
+                                                m_lexer.get_token_string(),
+                                                parse_error::create(101, m_lexer.get_position(),
+                                                        exception_message(token_type::end_object, "object")));
+                    }
+                }
+            }
+        }
+    }
+
+    /// get next token from lexer
+    token_type get_token()
+    {
+        return (last_token = m_lexer.scan());
+    }
+
+    std::string exception_message(const token_type expected, const std::string& context)
+    {
+        std::string error_msg = "syntax error ";
+
+        if (not context.empty())
+        {
+            error_msg += "while parsing " + context + " ";
+        }
+
+        error_msg += "- ";
+
+        if (last_token == token_type::parse_error)
+        {
+            error_msg += std::string(m_lexer.get_error_message()) + "; last read: '" +
+                         m_lexer.get_token_string() + "'";
+        }
+        else
+        {
+            error_msg += "unexpected " + std::string(lexer_t::token_type_name(last_token));
+        }
+
+        if (expected != token_type::uninitialized)
+        {
+            error_msg += "; expected " + std::string(lexer_t::token_type_name(expected));
+        }
+
+        return error_msg;
+    }
+
+  private:
+    /// callback function
+    const parser_callback_t callback = nullptr;
+    /// the type of the last read token
+    token_type last_token = token_type::uninitialized;
+    /// the lexer
+    lexer_t m_lexer;
+    /// whether to throw exceptions in case of errors
+    const bool allow_exceptions = true;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/iterators/primitive_iterator.hpp>
+
+
+#include <cstddef> // ptrdiff_t
+#include <limits>  // numeric_limits
+
+namespace nlohmann
+{
+namespace detail
+{
+/*
+@brief an iterator for primitive JSON types
+
+This class models an iterator for primitive JSON types (boolean, number,
+string). It's only purpose is to allow the iterator/const_iterator classes
+to "iterate" over primitive values. Internally, the iterator is modeled by
+a `difference_type` variable. Value begin_value (`0`) models the begin,
+end_value (`1`) models past the end.
+*/
+class primitive_iterator_t
+{
+  private:
+    using difference_type = std::ptrdiff_t;
+    static constexpr difference_type begin_value = 0;
+    static constexpr difference_type end_value = begin_value + 1;
+
+    /// iterator as signed integer type
+    difference_type m_it = (std::numeric_limits<std::ptrdiff_t>::min)();
+
+  public:
+    constexpr difference_type get_value() const noexcept
+    {
+        return m_it;
+    }
+
+    /// set iterator to a defined beginning
+    void set_begin() noexcept
+    {
+        m_it = begin_value;
+    }
+
+    /// set iterator to a defined past the end
+    void set_end() noexcept
+    {
+        m_it = end_value;
+    }
+
+    /// return whether the iterator can be dereferenced
+    constexpr bool is_begin() const noexcept
+    {
+        return m_it == begin_value;
+    }
+
+    /// return whether the iterator is at end
+    constexpr bool is_end() const noexcept
+    {
+        return m_it == end_value;
+    }
+
+    friend constexpr bool operator==(primitive_iterator_t lhs, primitive_iterator_t rhs) noexcept
+    {
+        return lhs.m_it == rhs.m_it;
+    }
+
+    friend constexpr bool operator<(primitive_iterator_t lhs, primitive_iterator_t rhs) noexcept
+    {
+        return lhs.m_it < rhs.m_it;
+    }
+
+    primitive_iterator_t operator+(difference_type n) noexcept
+    {
+        auto result = *this;
+        result += n;
+        return result;
+    }
+
+    friend constexpr difference_type operator-(primitive_iterator_t lhs, primitive_iterator_t rhs) noexcept
+    {
+        return lhs.m_it - rhs.m_it;
+    }
+
+    primitive_iterator_t& operator++() noexcept
+    {
+        ++m_it;
+        return *this;
+    }
+
+    primitive_iterator_t const operator++(int) noexcept
+    {
+        auto result = *this;
+        ++m_it;
+        return result;
+    }
+
+    primitive_iterator_t& operator--() noexcept
+    {
+        --m_it;
+        return *this;
+    }
+
+    primitive_iterator_t const operator--(int) noexcept
+    {
+        auto result = *this;
+        --m_it;
+        return result;
+    }
+
+    primitive_iterator_t& operator+=(difference_type n) noexcept
+    {
+        m_it += n;
+        return *this;
+    }
+
+    primitive_iterator_t& operator-=(difference_type n) noexcept
+    {
+        m_it -= n;
+        return *this;
+    }
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/iterators/internal_iterator.hpp>
+
+
+// #include <nlohmann/detail/iterators/primitive_iterator.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+/*!
+@brief an iterator value
+
+@note This structure could easily be a union, but MSVC currently does not allow
+unions members with complex constructors, see https://github.com/nlohmann/json/pull/105.
+*/
+template<typename BasicJsonType> struct internal_iterator
+{
+    /// iterator for JSON objects
+    typename BasicJsonType::object_t::iterator object_iterator {};
+    /// iterator for JSON arrays
+    typename BasicJsonType::array_t::iterator array_iterator {};
+    /// generic iterator for all other types
+    primitive_iterator_t primitive_iterator {};
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/iterators/iter_impl.hpp>
+
+
+#include <ciso646> // not
+#include <iterator> // iterator, random_access_iterator_tag, bidirectional_iterator_tag, advance, next
+#include <type_traits> // conditional, is_const, remove_const
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/iterators/internal_iterator.hpp>
+
+// #include <nlohmann/detail/iterators/primitive_iterator.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+// forward declare, to be able to friend it later on
+template<typename IteratorType> class iteration_proxy;
+template<typename IteratorType> class iteration_proxy_value;
+
+/*!
+@brief a template for a bidirectional iterator for the @ref basic_json class
+This class implements a both iterators (iterator and const_iterator) for the
+@ref basic_json class.
+@note An iterator is called *initialized* when a pointer to a JSON value has
+      been set (e.g., by a constructor or a copy assignment). If the iterator is
+      default-constructed, it is *uninitialized* and most methods are undefined.
+      **The library uses assertions to detect calls on uninitialized iterators.**
+@requirement The class satisfies the following concept requirements:
+-
+[BidirectionalIterator](https://en.cppreference.com/w/cpp/named_req/BidirectionalIterator):
+  The iterator that can be moved can be moved in both directions (i.e.
+  incremented and decremented).
+@since version 1.0.0, simplified in version 2.0.9, change to bidirectional
+       iterators in version 3.0.0 (see https://github.com/nlohmann/json/issues/593)
+*/
+template<typename BasicJsonType>
+class iter_impl
+{
+    /// allow basic_json to access private members
+    friend iter_impl<typename std::conditional<std::is_const<BasicJsonType>::value, typename std::remove_const<BasicJsonType>::type, const BasicJsonType>::type>;
+    friend BasicJsonType;
+    friend iteration_proxy<iter_impl>;
+    friend iteration_proxy_value<iter_impl>;
+
+    using object_t = typename BasicJsonType::object_t;
+    using array_t = typename BasicJsonType::array_t;
+    // make sure BasicJsonType is basic_json or const basic_json
+    static_assert(is_basic_json<typename std::remove_const<BasicJsonType>::type>::value,
+                  "iter_impl only accepts (const) basic_json");
+
+  public:
+
+    /// The std::iterator class template (used as a base class to provide typedefs) is deprecated in C++17.
+    /// The C++ Standard has never required user-defined iterators to derive from std::iterator.
+    /// A user-defined iterator should provide publicly accessible typedefs named
+    /// iterator_category, value_type, difference_type, pointer, and reference.
+    /// Note that value_type is required to be non-const, even for constant iterators.
+    using iterator_category = std::bidirectional_iterator_tag;
+
+    /// the type of the values when the iterator is dereferenced
+    using value_type = typename BasicJsonType::value_type;
+    /// a type to represent differences between iterators
+    using difference_type = typename BasicJsonType::difference_type;
+    /// defines a pointer to the type iterated over (value_type)
+    using pointer = typename std::conditional<std::is_const<BasicJsonType>::value,
+          typename BasicJsonType::const_pointer,
+          typename BasicJsonType::pointer>::type;
+    /// defines a reference to the type iterated over (value_type)
+    using reference =
+        typename std::conditional<std::is_const<BasicJsonType>::value,
+        typename BasicJsonType::const_reference,
+        typename BasicJsonType::reference>::type;
+
+    /// default constructor
+    iter_impl() = default;
+
+    /*!
+    @brief constructor for a given JSON instance
+    @param[in] object  pointer to a JSON object for this iterator
+    @pre object != nullptr
+    @post The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    explicit iter_impl(pointer object) noexcept : m_object(object)
+    {
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                m_it.object_iterator = typename object_t::iterator();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_it.array_iterator = typename array_t::iterator();
+                break;
+            }
+
+            default:
+            {
+                m_it.primitive_iterator = primitive_iterator_t();
+                break;
+            }
+        }
+    }
+
+    /*!
+    @note The conventional copy constructor and copy assignment are implicitly
+          defined. Combined with the following converting constructor and
+          assignment, they support: (1) copy from iterator to iterator, (2)
+          copy from const iterator to const iterator, and (3) conversion from
+          iterator to const iterator. However conversion from const iterator
+          to iterator is not defined.
+    */
+
+    /*!
+    @brief converting constructor
+    @param[in] other  non-const iterator to copy from
+    @note It is not checked whether @a other is initialized.
+    */
+    iter_impl(const iter_impl<typename std::remove_const<BasicJsonType>::type>& other) noexcept
+        : m_object(other.m_object), m_it(other.m_it) {}
+
+    /*!
+    @brief converting assignment
+    @param[in,out] other  non-const iterator to copy from
+    @return const/non-const iterator
+    @note It is not checked whether @a other is initialized.
+    */
+    iter_impl& operator=(const iter_impl<typename std::remove_const<BasicJsonType>::type>& other) noexcept
+    {
+        m_object = other.m_object;
+        m_it = other.m_it;
+        return *this;
+    }
+
+  private:
+    /*!
+    @brief set the iterator to the first value
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    void set_begin() noexcept
+    {
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                m_it.object_iterator = m_object->m_value.object->begin();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_it.array_iterator = m_object->m_value.array->begin();
+                break;
+            }
+
+            case value_t::null:
+            {
+                // set to end so begin()==end() is true: null is empty
+                m_it.primitive_iterator.set_end();
+                break;
+            }
+
+            default:
+            {
+                m_it.primitive_iterator.set_begin();
+                break;
+            }
+        }
+    }
+
+    /*!
+    @brief set the iterator past the last value
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    void set_end() noexcept
+    {
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                m_it.object_iterator = m_object->m_value.object->end();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_it.array_iterator = m_object->m_value.array->end();
+                break;
+            }
+
+            default:
+            {
+                m_it.primitive_iterator.set_end();
+                break;
+            }
+        }
+    }
+
+  public:
+    /*!
+    @brief return a reference to the value pointed to by the iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    reference operator*() const
+    {
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                assert(m_it.object_iterator != m_object->m_value.object->end());
+                return m_it.object_iterator->second;
+            }
+
+            case value_t::array:
+            {
+                assert(m_it.array_iterator != m_object->m_value.array->end());
+                return *m_it.array_iterator;
+            }
+
+            case value_t::null:
+                JSON_THROW(invalid_iterator::create(214, "cannot get value"));
+
+            default:
+            {
+                if (JSON_LIKELY(m_it.primitive_iterator.is_begin()))
+                {
+                    return *m_object;
+                }
+
+                JSON_THROW(invalid_iterator::create(214, "cannot get value"));
+            }
+        }
+    }
+
+    /*!
+    @brief dereference the iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    pointer operator->() const
+    {
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                assert(m_it.object_iterator != m_object->m_value.object->end());
+                return &(m_it.object_iterator->second);
+            }
+
+            case value_t::array:
+            {
+                assert(m_it.array_iterator != m_object->m_value.array->end());
+                return &*m_it.array_iterator;
+            }
+
+            default:
+            {
+                if (JSON_LIKELY(m_it.primitive_iterator.is_begin()))
+                {
+                    return m_object;
+                }
+
+                JSON_THROW(invalid_iterator::create(214, "cannot get value"));
+            }
+        }
+    }
+
+    /*!
+    @brief post-increment (it++)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl const operator++(int)
+    {
+        auto result = *this;
+        ++(*this);
+        return result;
+    }
+
+    /*!
+    @brief pre-increment (++it)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator++()
+    {
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                std::advance(m_it.object_iterator, 1);
+                break;
+            }
+
+            case value_t::array:
+            {
+                std::advance(m_it.array_iterator, 1);
+                break;
+            }
+
+            default:
+            {
+                ++m_it.primitive_iterator;
+                break;
+            }
+        }
+
+        return *this;
+    }
+
+    /*!
+    @brief post-decrement (it--)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl const operator--(int)
+    {
+        auto result = *this;
+        --(*this);
+        return result;
+    }
+
+    /*!
+    @brief pre-decrement (--it)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator--()
+    {
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                std::advance(m_it.object_iterator, -1);
+                break;
+            }
+
+            case value_t::array:
+            {
+                std::advance(m_it.array_iterator, -1);
+                break;
+            }
+
+            default:
+            {
+                --m_it.primitive_iterator;
+                break;
+            }
+        }
+
+        return *this;
+    }
+
+    /*!
+    @brief  comparison: equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator==(const iter_impl& other) const
+    {
+        // if objects are not the same, the comparison is undefined
+        if (JSON_UNLIKELY(m_object != other.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(212, "cannot compare iterators of different containers"));
+        }
+
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+                return (m_it.object_iterator == other.m_it.object_iterator);
+
+            case value_t::array:
+                return (m_it.array_iterator == other.m_it.array_iterator);
+
+            default:
+                return (m_it.primitive_iterator == other.m_it.primitive_iterator);
+        }
+    }
+
+    /*!
+    @brief  comparison: not equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator!=(const iter_impl& other) const
+    {
+        return not operator==(other);
+    }
+
+    /*!
+    @brief  comparison: smaller
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator<(const iter_impl& other) const
+    {
+        // if objects are not the same, the comparison is undefined
+        if (JSON_UNLIKELY(m_object != other.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(212, "cannot compare iterators of different containers"));
+        }
+
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(213, "cannot compare order of object iterators"));
+
+            case value_t::array:
+                return (m_it.array_iterator < other.m_it.array_iterator);
+
+            default:
+                return (m_it.primitive_iterator < other.m_it.primitive_iterator);
+        }
+    }
+
+    /*!
+    @brief  comparison: less than or equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator<=(const iter_impl& other) const
+    {
+        return not other.operator < (*this);
+    }
+
+    /*!
+    @brief  comparison: greater than
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator>(const iter_impl& other) const
+    {
+        return not operator<=(other);
+    }
+
+    /*!
+    @brief  comparison: greater than or equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator>=(const iter_impl& other) const
+    {
+        return not operator<(other);
+    }
+
+    /*!
+    @brief  add to iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator+=(difference_type i)
+    {
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(209, "cannot use offsets with object iterators"));
+
+            case value_t::array:
+            {
+                std::advance(m_it.array_iterator, i);
+                break;
+            }
+
+            default:
+            {
+                m_it.primitive_iterator += i;
+                break;
+            }
+        }
+
+        return *this;
+    }
+
+    /*!
+    @brief  subtract from iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator-=(difference_type i)
+    {
+        return operator+=(-i);
+    }
+
+    /*!
+    @brief  add to iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl operator+(difference_type i) const
+    {
+        auto result = *this;
+        result += i;
+        return result;
+    }
+
+    /*!
+    @brief  addition of distance and iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    friend iter_impl operator+(difference_type i, const iter_impl& it)
+    {
+        auto result = it;
+        result += i;
+        return result;
+    }
+
+    /*!
+    @brief  subtract from iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl operator-(difference_type i) const
+    {
+        auto result = *this;
+        result -= i;
+        return result;
+    }
+
+    /*!
+    @brief  return difference
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    difference_type operator-(const iter_impl& other) const
+    {
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(209, "cannot use offsets with object iterators"));
+
+            case value_t::array:
+                return m_it.array_iterator - other.m_it.array_iterator;
+
+            default:
+                return m_it.primitive_iterator - other.m_it.primitive_iterator;
+        }
+    }
+
+    /*!
+    @brief  access to successor
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    reference operator[](difference_type n) const
+    {
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(208, "cannot use operator[] for object iterators"));
+
+            case value_t::array:
+                return *std::next(m_it.array_iterator, n);
+
+            case value_t::null:
+                JSON_THROW(invalid_iterator::create(214, "cannot get value"));
+
+            default:
+            {
+                if (JSON_LIKELY(m_it.primitive_iterator.get_value() == -n))
+                {
+                    return *m_object;
+                }
+
+                JSON_THROW(invalid_iterator::create(214, "cannot get value"));
+            }
+        }
+    }
+
+    /*!
+    @brief  return the key of an object iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    const typename object_t::key_type& key() const
+    {
+        assert(m_object != nullptr);
+
+        if (JSON_LIKELY(m_object->is_object()))
+        {
+            return m_it.object_iterator->first;
+        }
+
+        JSON_THROW(invalid_iterator::create(207, "cannot use key() for non-object iterators"));
+    }
+
+    /*!
+    @brief  return the value of an iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    reference value() const
+    {
+        return operator*();
+    }
+
+  private:
+    /// associated JSON instance
+    pointer m_object = nullptr;
+    /// the actual iterator of the associated instance
+    internal_iterator<typename std::remove_const<BasicJsonType>::type> m_it;
+};
+}  // namespace detail
+} // namespace nlohmann
+// #include <nlohmann/detail/iterators/iteration_proxy.hpp>
+
+// #include <nlohmann/detail/iterators/json_reverse_iterator.hpp>
+
+
+#include <cstddef> // ptrdiff_t
+#include <iterator> // reverse_iterator
+#include <utility> // declval
+
+namespace nlohmann
+{
+namespace detail
+{
+//////////////////////
+// reverse_iterator //
+//////////////////////
+
+/*!
+@brief a template for a reverse iterator class
+
+@tparam Base the base iterator type to reverse. Valid types are @ref
+iterator (to create @ref reverse_iterator) and @ref const_iterator (to
+create @ref const_reverse_iterator).
+
+@requirement The class satisfies the following concept requirements:
+-
+[BidirectionalIterator](https://en.cppreference.com/w/cpp/named_req/BidirectionalIterator):
+  The iterator that can be moved can be moved in both directions (i.e.
+  incremented and decremented).
+- [OutputIterator](https://en.cppreference.com/w/cpp/named_req/OutputIterator):
+  It is possible to write to the pointed-to element (only if @a Base is
+  @ref iterator).
+
+@since version 1.0.0
+*/
+template<typename Base>
+class json_reverse_iterator : public std::reverse_iterator<Base>
+{
+  public:
+    using difference_type = std::ptrdiff_t;
+    /// shortcut to the reverse iterator adapter
+    using base_iterator = std::reverse_iterator<Base>;
+    /// the reference type for the pointed-to element
+    using reference = typename Base::reference;
+
+    /// create reverse iterator from iterator
+    explicit json_reverse_iterator(const typename base_iterator::iterator_type& it) noexcept
+        : base_iterator(it) {}
+
+    /// create reverse iterator from base class
+    explicit json_reverse_iterator(const base_iterator& it) noexcept : base_iterator(it) {}
+
+    /// post-increment (it++)
+    json_reverse_iterator const operator++(int)
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator++(1));
+    }
+
+    /// pre-increment (++it)
+    json_reverse_iterator& operator++()
+    {
+        return static_cast<json_reverse_iterator&>(base_iterator::operator++());
+    }
+
+    /// post-decrement (it--)
+    json_reverse_iterator const operator--(int)
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator--(1));
+    }
+
+    /// pre-decrement (--it)
+    json_reverse_iterator& operator--()
+    {
+        return static_cast<json_reverse_iterator&>(base_iterator::operator--());
+    }
+
+    /// add to iterator
+    json_reverse_iterator& operator+=(difference_type i)
+    {
+        return static_cast<json_reverse_iterator&>(base_iterator::operator+=(i));
+    }
+
+    /// add to iterator
+    json_reverse_iterator operator+(difference_type i) const
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator+(i));
+    }
+
+    /// subtract from iterator
+    json_reverse_iterator operator-(difference_type i) const
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator-(i));
+    }
+
+    /// return difference
+    difference_type operator-(const json_reverse_iterator& other) const
+    {
+        return base_iterator(*this) - base_iterator(other);
+    }
+
+    /// access to successor
+    reference operator[](difference_type n) const
+    {
+        return *(this->operator+(n));
+    }
+
+    /// return the key of an object iterator
+    auto key() const -> decltype(std::declval<Base>().key())
+    {
+        auto it = --this->base();
+        return it.key();
+    }
+
+    /// return the value of an iterator
+    reference value() const
+    {
+        auto it = --this->base();
+        return it.operator * ();
+    }
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/output/output_adapters.hpp>
+
+
+#include <algorithm> // copy
+#include <cstddef> // size_t
+#include <ios> // streamsize
+#include <iterator> // back_inserter
+#include <memory> // shared_ptr, make_shared
+#include <ostream> // basic_ostream
+#include <string> // basic_string
+#include <vector> // vector
+
+namespace nlohmann
+{
+namespace detail
+{
+/// abstract output adapter interface
+template<typename CharType> struct output_adapter_protocol
+{
+    virtual void write_character(CharType c) = 0;
+    virtual void write_characters(const CharType* s, std::size_t length) = 0;
+    virtual ~output_adapter_protocol() = default;
+};
+
+/// a type to simplify interfaces
+template<typename CharType>
+using output_adapter_t = std::shared_ptr<output_adapter_protocol<CharType>>;
+
+/// output adapter for byte vectors
+template<typename CharType>
+class output_vector_adapter : public output_adapter_protocol<CharType>
+{
+  public:
+    explicit output_vector_adapter(std::vector<CharType>& vec) noexcept
+        : v(vec)
+    {}
+
+    void write_character(CharType c) override
+    {
+        v.push_back(c);
+    }
+
+    void write_characters(const CharType* s, std::size_t length) override
+    {
+        std::copy(s, s + length, std::back_inserter(v));
+    }
+
+  private:
+    std::vector<CharType>& v;
+};
+
+/// output adapter for output streams
+template<typename CharType>
+class output_stream_adapter : public output_adapter_protocol<CharType>
+{
+  public:
+    explicit output_stream_adapter(std::basic_ostream<CharType>& s) noexcept
+        : stream(s)
+    {}
+
+    void write_character(CharType c) override
+    {
+        stream.put(c);
+    }
+
+    void write_characters(const CharType* s, std::size_t length) override
+    {
+        stream.write(s, static_cast<std::streamsize>(length));
+    }
+
+  private:
+    std::basic_ostream<CharType>& stream;
+};
+
+/// output adapter for basic_string
+template<typename CharType, typename StringType = std::basic_string<CharType>>
+class output_string_adapter : public output_adapter_protocol<CharType>
+{
+  public:
+    explicit output_string_adapter(StringType& s) noexcept
+        : str(s)
+    {}
+
+    void write_character(CharType c) override
+    {
+        str.push_back(c);
+    }
+
+    void write_characters(const CharType* s, std::size_t length) override
+    {
+        str.append(s, length);
+    }
+
+  private:
+    StringType& str;
+};
+
+template<typename CharType, typename StringType = std::basic_string<CharType>>
+class output_adapter
+{
+  public:
+    output_adapter(std::vector<CharType>& vec)
+        : oa(std::make_shared<output_vector_adapter<CharType>>(vec)) {}
+
+    output_adapter(std::basic_ostream<CharType>& s)
+        : oa(std::make_shared<output_stream_adapter<CharType>>(s)) {}
+
+    output_adapter(StringType& s)
+        : oa(std::make_shared<output_string_adapter<CharType, StringType>>(s)) {}
+
+    operator output_adapter_t<CharType>()
+    {
+        return oa;
+    }
+
+  private:
+    output_adapter_t<CharType> oa = nullptr;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/input/binary_reader.hpp>
+
+
+#include <algorithm> // generate_n
+#include <array> // array
+#include <cassert> // assert
+#include <cmath> // ldexp
+#include <cstddef> // size_t
+#include <cstdint> // uint8_t, uint16_t, uint32_t, uint64_t
+#include <cstdio> // snprintf
+#include <cstring> // memcpy
+#include <iterator> // back_inserter
+#include <limits> // numeric_limits
+#include <string> // char_traits, string
+#include <utility> // make_pair, move
+
+// #include <nlohmann/detail/input/input_adapters.hpp>
+
+// #include <nlohmann/detail/input/json_sax.hpp>
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/is_sax.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+///////////////////
+// binary reader //
+///////////////////
+
+/*!
+@brief deserialization of CBOR, MessagePack, and UBJSON values
+*/
+template<typename BasicJsonType, typename SAX = json_sax_dom_parser<BasicJsonType>>
+class binary_reader
+{
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using json_sax_t = SAX;
+
+  public:
+    /*!
+    @brief create a binary reader
+
+    @param[in] adapter  input adapter to read from
+    */
+    explicit binary_reader(input_adapter_t adapter) : ia(std::move(adapter))
+    {
+        (void)detail::is_sax_static_asserts<SAX, BasicJsonType> {};
+        assert(ia);
+    }
+
+    /*!
+    @param[in] format  the binary format to parse
+    @param[in] sax_    a SAX event processor
+    @param[in] strict  whether to expect the input to be consumed completed
+
+    @return
+    */
+    bool sax_parse(const input_format_t format,
+                   json_sax_t* sax_,
+                   const bool strict = true)
+    {
+        sax = sax_;
+        bool result = false;
+
+        switch (format)
+        {
+            case input_format_t::bson:
+                result = parse_bson_internal();
+                break;
+
+            case input_format_t::cbor:
+                result = parse_cbor_internal();
+                break;
+
+            case input_format_t::msgpack:
+                result = parse_msgpack_internal();
+                break;
+
+            case input_format_t::ubjson:
+                result = parse_ubjson_internal();
+                break;
+
+            // LCOV_EXCL_START
+            default:
+                assert(false);
+                // LCOV_EXCL_STOP
+        }
+
+        // strict mode: next byte must be EOF
+        if (result and strict)
+        {
+            if (format == input_format_t::ubjson)
+            {
+                get_ignore_noop();
+            }
+            else
+            {
+                get();
+            }
+
+            if (JSON_UNLIKELY(current != std::char_traits<char>::eof()))
+            {
+                return sax->parse_error(chars_read, get_token_string(),
+                                        parse_error::create(110, chars_read, exception_message(format, "expected end of input; last byte: 0x" + get_token_string(), "value")));
+            }
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief determine system byte order
+
+    @return true if and only if system's byte order is little endian
+
+    @note from http://stackoverflow.com/a/1001328/266378
+    */
+    static constexpr bool little_endianess(int num = 1) noexcept
+    {
+        return (*reinterpret_cast<char*>(&num) == 1);
+    }
+
+  private:
+    //////////
+    // BSON //
+    //////////
+
+    /*!
+    @brief Reads in a BSON-object and passes it to the SAX-parser.
+    @return whether a valid BSON-value was passed to the SAX parser
+    */
+    bool parse_bson_internal()
+    {
+        std::int32_t document_size;
+        get_number<std::int32_t, true>(input_format_t::bson, document_size);
+
+        if (JSON_UNLIKELY(not sax->start_object(std::size_t(-1))))
+        {
+            return false;
+        }
+
+        if (JSON_UNLIKELY(not parse_bson_element_list(/*is_array*/false)))
+        {
+            return false;
+        }
+
+        return sax->end_object();
+    }
+
+    /*!
+    @brief Parses a C-style string from the BSON input.
+    @param[in, out] result  A reference to the string variable where the read
+                            string is to be stored.
+    @return `true` if the \x00-byte indicating the end of the string was
+             encountered before the EOF; false` indicates an unexpected EOF.
+    */
+    bool get_bson_cstr(string_t& result)
+    {
+        auto out = std::back_inserter(result);
+        while (true)
+        {
+            get();
+            if (JSON_UNLIKELY(not unexpect_eof(input_format_t::bson, "cstring")))
+            {
+                return false;
+            }
+            if (current == 0x00)
+            {
+                return true;
+            }
+            *out++ = static_cast<char>(current);
+        }
+
+        return true;
+    }
+
+    /*!
+    @brief Parses a zero-terminated string of length @a len from the BSON
+           input.
+    @param[in] len  The length (including the zero-byte at the end) of the
+                    string to be read.
+    @param[in, out] result  A reference to the string variable where the read
+                            string is to be stored.
+    @tparam NumberType The type of the length @a len
+    @pre len >= 1
+    @return `true` if the string was successfully parsed
+    */
+    template<typename NumberType>
+    bool get_bson_string(const NumberType len, string_t& result)
+    {
+        if (JSON_UNLIKELY(len < 1))
+        {
+            auto last_token = get_token_string();
+            return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::bson, "string length must be at least 1, is " + std::to_string(len), "string")));
+        }
+
+        return get_string(input_format_t::bson, len - static_cast<NumberType>(1), result) and get() != std::char_traits<char>::eof();
+    }
+
+    /*!
+    @brief Read a BSON document element of the given @a element_type.
+    @param[in] element_type The BSON element type, c.f. http://bsonspec.org/spec.html
+    @param[in] element_type_parse_position The position in the input stream,
+               where the `element_type` was read.
+    @warning Not all BSON element types are supported yet. An unsupported
+             @a element_type will give rise to a parse_error.114:
+             Unsupported BSON record type 0x...
+    @return whether a valid BSON-object/array was passed to the SAX parser
+    */
+    bool parse_bson_element_internal(const int element_type,
+                                     const std::size_t element_type_parse_position)
+    {
+        switch (element_type)
+        {
+            case 0x01: // double
+            {
+                double number;
+                return get_number<double, true>(input_format_t::bson, number) and sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0x02: // string
+            {
+                std::int32_t len;
+                string_t value;
+                return get_number<std::int32_t, true>(input_format_t::bson, len) and get_bson_string(len, value) and sax->string(value);
+            }
+
+            case 0x03: // object
+            {
+                return parse_bson_internal();
+            }
+
+            case 0x04: // array
+            {
+                return parse_bson_array();
+            }
+
+            case 0x08: // boolean
+            {
+                return sax->boolean(get() != 0);
+            }
+
+            case 0x0A: // null
+            {
+                return sax->null();
+            }
+
+            case 0x10: // int32
+            {
+                std::int32_t value;
+                return get_number<std::int32_t, true>(input_format_t::bson, value) and sax->number_integer(value);
+            }
+
+            case 0x12: // int64
+            {
+                std::int64_t value;
+                return get_number<std::int64_t, true>(input_format_t::bson, value) and sax->number_integer(value);
+            }
+
+            default: // anything else not supported (yet)
+            {
+                char cr[3];
+                (std::snprintf)(cr, sizeof(cr), "%.2hhX", static_cast<unsigned char>(element_type));
+                return sax->parse_error(element_type_parse_position, std::string(cr), parse_error::create(114, element_type_parse_position, "Unsupported BSON record type 0x" + std::string(cr)));
+            }
+        }
+    }
+
+    /*!
+    @brief Read a BSON element list (as specified in the BSON-spec)
+
+    The same binary layout is used for objects and arrays, hence it must be
+    indicated with the argument @a is_array which one is expected
+    (true --> array, false --> object).
+
+    @param[in] is_array Determines if the element list being read is to be
+                        treated as an object (@a is_array == false), or as an
+                        array (@a is_array == true).
+    @return whether a valid BSON-object/array was passed to the SAX parser
+    */
+    bool parse_bson_element_list(const bool is_array)
+    {
+        string_t key;
+        while (int element_type = get())
+        {
+            if (JSON_UNLIKELY(not unexpect_eof(input_format_t::bson, "element list")))
+            {
+                return false;
+            }
+
+            const std::size_t element_type_parse_position = chars_read;
+            if (JSON_UNLIKELY(not get_bson_cstr(key)))
+            {
+                return false;
+            }
+
+            if (not is_array)
+            {
+                if (not sax->key(key))
+                {
+                    return false;
+                }
+            }
+
+            if (JSON_UNLIKELY(not parse_bson_element_internal(element_type, element_type_parse_position)))
+            {
+                return false;
+            }
+
+            // get_bson_cstr only appends
+            key.clear();
+        }
+
+        return true;
+    }
+
+    /*!
+    @brief Reads an array from the BSON input and passes it to the SAX-parser.
+    @return whether a valid BSON-array was passed to the SAX parser
+    */
+    bool parse_bson_array()
+    {
+        std::int32_t document_size;
+        get_number<std::int32_t, true>(input_format_t::bson, document_size);
+
+        if (JSON_UNLIKELY(not sax->start_array(std::size_t(-1))))
+        {
+            return false;
+        }
+
+        if (JSON_UNLIKELY(not parse_bson_element_list(/*is_array*/true)))
+        {
+            return false;
+        }
+
+        return sax->end_array();
+    }
+
+    //////////
+    // CBOR //
+    //////////
+
+    /*!
+    @param[in] get_char  whether a new character should be retrieved from the
+                         input (true, default) or whether the last read
+                         character should be considered instead
+
+    @return whether a valid CBOR value was passed to the SAX parser
+    */
+    bool parse_cbor_internal(const bool get_char = true)
+    {
+        switch (get_char ? get() : current)
+        {
+            // EOF
+            case std::char_traits<char>::eof():
+                return unexpect_eof(input_format_t::cbor, "value");
+
+            // Integer 0x00..0x17 (0..23)
+            case 0x00:
+            case 0x01:
+            case 0x02:
+            case 0x03:
+            case 0x04:
+            case 0x05:
+            case 0x06:
+            case 0x07:
+            case 0x08:
+            case 0x09:
+            case 0x0A:
+            case 0x0B:
+            case 0x0C:
+            case 0x0D:
+            case 0x0E:
+            case 0x0F:
+            case 0x10:
+            case 0x11:
+            case 0x12:
+            case 0x13:
+            case 0x14:
+            case 0x15:
+            case 0x16:
+            case 0x17:
+                return sax->number_unsigned(static_cast<number_unsigned_t>(current));
+
+            case 0x18: // Unsigned integer (one-byte uint8_t follows)
+            {
+                uint8_t number;
+                return get_number(input_format_t::cbor, number) and sax->number_unsigned(number);
+            }
+
+            case 0x19: // Unsigned integer (two-byte uint16_t follows)
+            {
+                uint16_t number;
+                return get_number(input_format_t::cbor, number) and sax->number_unsigned(number);
+            }
+
+            case 0x1A: // Unsigned integer (four-byte uint32_t follows)
+            {
+                uint32_t number;
+                return get_number(input_format_t::cbor, number) and sax->number_unsigned(number);
+            }
+
+            case 0x1B: // Unsigned integer (eight-byte uint64_t follows)
+            {
+                uint64_t number;
+                return get_number(input_format_t::cbor, number) and sax->number_unsigned(number);
+            }
+
+            // Negative integer -1-0x00..-1-0x17 (-1..-24)
+            case 0x20:
+            case 0x21:
+            case 0x22:
+            case 0x23:
+            case 0x24:
+            case 0x25:
+            case 0x26:
+            case 0x27:
+            case 0x28:
+            case 0x29:
+            case 0x2A:
+            case 0x2B:
+            case 0x2C:
+            case 0x2D:
+            case 0x2E:
+            case 0x2F:
+            case 0x30:
+            case 0x31:
+            case 0x32:
+            case 0x33:
+            case 0x34:
+            case 0x35:
+            case 0x36:
+            case 0x37:
+                return sax->number_integer(static_cast<int8_t>(0x20 - 1 - current));
+
+            case 0x38: // Negative integer (one-byte uint8_t follows)
+            {
+                uint8_t number;
+                return get_number(input_format_t::cbor, number) and sax->number_integer(static_cast<number_integer_t>(-1) - number);
+            }
+
+            case 0x39: // Negative integer -1-n (two-byte uint16_t follows)
+            {
+                uint16_t number;
+                return get_number(input_format_t::cbor, number) and sax->number_integer(static_cast<number_integer_t>(-1) - number);
+            }
+
+            case 0x3A: // Negative integer -1-n (four-byte uint32_t follows)
+            {
+                uint32_t number;
+                return get_number(input_format_t::cbor, number) and sax->number_integer(static_cast<number_integer_t>(-1) - number);
+            }
+
+            case 0x3B: // Negative integer -1-n (eight-byte uint64_t follows)
+            {
+                uint64_t number;
+                return get_number(input_format_t::cbor, number) and sax->number_integer(static_cast<number_integer_t>(-1)
+                        - static_cast<number_integer_t>(number));
+            }
+
+            // UTF-8 string (0x00..0x17 bytes follow)
+            case 0x60:
+            case 0x61:
+            case 0x62:
+            case 0x63:
+            case 0x64:
+            case 0x65:
+            case 0x66:
+            case 0x67:
+            case 0x68:
+            case 0x69:
+            case 0x6A:
+            case 0x6B:
+            case 0x6C:
+            case 0x6D:
+            case 0x6E:
+            case 0x6F:
+            case 0x70:
+            case 0x71:
+            case 0x72:
+            case 0x73:
+            case 0x74:
+            case 0x75:
+            case 0x76:
+            case 0x77:
+            case 0x78: // UTF-8 string (one-byte uint8_t for n follows)
+            case 0x79: // UTF-8 string (two-byte uint16_t for n follow)
+            case 0x7A: // UTF-8 string (four-byte uint32_t for n follow)
+            case 0x7B: // UTF-8 string (eight-byte uint64_t for n follow)
+            case 0x7F: // UTF-8 string (indefinite length)
+            {
+                string_t s;
+                return get_cbor_string(s) and sax->string(s);
+            }
+
+            // array (0x00..0x17 data items follow)
+            case 0x80:
+            case 0x81:
+            case 0x82:
+            case 0x83:
+            case 0x84:
+            case 0x85:
+            case 0x86:
+            case 0x87:
+            case 0x88:
+            case 0x89:
+            case 0x8A:
+            case 0x8B:
+            case 0x8C:
+            case 0x8D:
+            case 0x8E:
+            case 0x8F:
+            case 0x90:
+            case 0x91:
+            case 0x92:
+            case 0x93:
+            case 0x94:
+            case 0x95:
+            case 0x96:
+            case 0x97:
+                return get_cbor_array(static_cast<std::size_t>(current & 0x1F));
+
+            case 0x98: // array (one-byte uint8_t for n follows)
+            {
+                uint8_t len;
+                return get_number(input_format_t::cbor, len) and get_cbor_array(static_cast<std::size_t>(len));
+            }
+
+            case 0x99: // array (two-byte uint16_t for n follow)
+            {
+                uint16_t len;
+                return get_number(input_format_t::cbor, len) and get_cbor_array(static_cast<std::size_t>(len));
+            }
+
+            case 0x9A: // array (four-byte uint32_t for n follow)
+            {
+                uint32_t len;
+                return get_number(input_format_t::cbor, len) and get_cbor_array(static_cast<std::size_t>(len));
+            }
+
+            case 0x9B: // array (eight-byte uint64_t for n follow)
+            {
+                uint64_t len;
+                return get_number(input_format_t::cbor, len) and get_cbor_array(static_cast<std::size_t>(len));
+            }
+
+            case 0x9F: // array (indefinite length)
+                return get_cbor_array(std::size_t(-1));
+
+            // map (0x00..0x17 pairs of data items follow)
+            case 0xA0:
+            case 0xA1:
+            case 0xA2:
+            case 0xA3:
+            case 0xA4:
+            case 0xA5:
+            case 0xA6:
+            case 0xA7:
+            case 0xA8:
+            case 0xA9:
+            case 0xAA:
+            case 0xAB:
+            case 0xAC:
+            case 0xAD:
+            case 0xAE:
+            case 0xAF:
+            case 0xB0:
+            case 0xB1:
+            case 0xB2:
+            case 0xB3:
+            case 0xB4:
+            case 0xB5:
+            case 0xB6:
+            case 0xB7:
+                return get_cbor_object(static_cast<std::size_t>(current & 0x1F));
+
+            case 0xB8: // map (one-byte uint8_t for n follows)
+            {
+                uint8_t len;
+                return get_number(input_format_t::cbor, len) and get_cbor_object(static_cast<std::size_t>(len));
+            }
+
+            case 0xB9: // map (two-byte uint16_t for n follow)
+            {
+                uint16_t len;
+                return get_number(input_format_t::cbor, len) and get_cbor_object(static_cast<std::size_t>(len));
+            }
+
+            case 0xBA: // map (four-byte uint32_t for n follow)
+            {
+                uint32_t len;
+                return get_number(input_format_t::cbor, len) and get_cbor_object(static_cast<std::size_t>(len));
+            }
+
+            case 0xBB: // map (eight-byte uint64_t for n follow)
+            {
+                uint64_t len;
+                return get_number(input_format_t::cbor, len) and get_cbor_object(static_cast<std::size_t>(len));
+            }
+
+            case 0xBF: // map (indefinite length)
+                return get_cbor_object(std::size_t(-1));
+
+            case 0xF4: // false
+                return sax->boolean(false);
+
+            case 0xF5: // true
+                return sax->boolean(true);
+
+            case 0xF6: // null
+                return sax->null();
+
+            case 0xF9: // Half-Precision Float (two-byte IEEE 754)
+            {
+                const int byte1_raw = get();
+                if (JSON_UNLIKELY(not unexpect_eof(input_format_t::cbor, "number")))
+                {
+                    return false;
+                }
+                const int byte2_raw = get();
+                if (JSON_UNLIKELY(not unexpect_eof(input_format_t::cbor, "number")))
+                {
+                    return false;
+                }
+
+                const auto byte1 = static_cast<unsigned char>(byte1_raw);
+                const auto byte2 = static_cast<unsigned char>(byte2_raw);
+
+                // code from RFC 7049, Appendix D, Figure 3:
+                // As half-precision floating-point numbers were only added
+                // to IEEE 754 in 2008, today's programming platforms often
+                // still only have limited support for them. It is very
+                // easy to include at least decoding support for them even
+                // without such support. An example of a small decoder for
+                // half-precision floating-point numbers in the C language
+                // is shown in Fig. 3.
+                const int half = (byte1 << 8) + byte2;
+                const double val = [&half]
+                {
+                    const int exp = (half >> 10) & 0x1F;
+                    const int mant = half & 0x3FF;
+                    assert(0 <= exp and exp <= 32);
+                    assert(0 <= mant and mant <= 1024);
+                    switch (exp)
+                    {
+                        case 0:
+                            return std::ldexp(mant, -24);
+                        case 31:
+                            return (mant == 0)
+                            ? std::numeric_limits<double>::infinity()
+                            : std::numeric_limits<double>::quiet_NaN();
+                        default:
+                            return std::ldexp(mant + 1024, exp - 25);
+                    }
+                }();
+                return sax->number_float((half & 0x8000) != 0
+                                         ? static_cast<number_float_t>(-val)
+                                         : static_cast<number_float_t>(val), "");
+            }
+
+            case 0xFA: // Single-Precision Float (four-byte IEEE 754)
+            {
+                float number;
+                return get_number(input_format_t::cbor, number) and sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0xFB: // Double-Precision Float (eight-byte IEEE 754)
+            {
+                double number;
+                return get_number(input_format_t::cbor, number) and sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            default: // anything else (0xFF is handled inside the other types)
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::cbor, "invalid byte: 0x" + last_token, "value")));
+            }
+        }
+    }
+
+    /*!
+    @brief reads a CBOR string
+
+    This function first reads starting bytes to determine the expected
+    string length and then copies this number of bytes into a string.
+    Additionally, CBOR's strings with indefinite lengths are supported.
+
+    @param[out] result  created string
+
+    @return whether string creation completed
+    */
+    bool get_cbor_string(string_t& result)
+    {
+        if (JSON_UNLIKELY(not unexpect_eof(input_format_t::cbor, "string")))
+        {
+            return false;
+        }
+
+        switch (current)
+        {
+            // UTF-8 string (0x00..0x17 bytes follow)
+            case 0x60:
+            case 0x61:
+            case 0x62:
+            case 0x63:
+            case 0x64:
+            case 0x65:
+            case 0x66:
+            case 0x67:
+            case 0x68:
+            case 0x69:
+            case 0x6A:
+            case 0x6B:
+            case 0x6C:
+            case 0x6D:
+            case 0x6E:
+            case 0x6F:
+            case 0x70:
+            case 0x71:
+            case 0x72:
+            case 0x73:
+            case 0x74:
+            case 0x75:
+            case 0x76:
+            case 0x77:
+            {
+                return get_string(input_format_t::cbor, current & 0x1F, result);
+            }
+
+            case 0x78: // UTF-8 string (one-byte uint8_t for n follows)
+            {
+                uint8_t len;
+                return get_number(input_format_t::cbor, len) and get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x79: // UTF-8 string (two-byte uint16_t for n follow)
+            {
+                uint16_t len;
+                return get_number(input_format_t::cbor, len) and get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x7A: // UTF-8 string (four-byte uint32_t for n follow)
+            {
+                uint32_t len;
+                return get_number(input_format_t::cbor, len) and get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x7B: // UTF-8 string (eight-byte uint64_t for n follow)
+            {
+                uint64_t len;
+                return get_number(input_format_t::cbor, len) and get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x7F: // UTF-8 string (indefinite length)
+            {
+                while (get() != 0xFF)
+                {
+                    string_t chunk;
+                    if (not get_cbor_string(chunk))
+                    {
+                        return false;
+                    }
+                    result.append(chunk);
+                }
+                return true;
+            }
+
+            default:
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format_t::cbor, "expected length specification (0x60-0x7B) or indefinite string type (0x7F); last byte: 0x" + last_token, "string")));
+            }
+        }
+    }
+
+    /*!
+    @param[in] len  the length of the array or std::size_t(-1) for an
+                    array of indefinite size
+    @return whether array creation completed
+    */
+    bool get_cbor_array(const std::size_t len)
+    {
+        if (JSON_UNLIKELY(not sax->start_array(len)))
+        {
+            return false;
+        }
+
+        if (len != std::size_t(-1))
+        {
+            for (std::size_t i = 0; i < len; ++i)
+            {
+                if (JSON_UNLIKELY(not parse_cbor_internal()))
+                {
+                    return false;
+                }
+            }
+        }
+        else
+        {
+            while (get() != 0xFF)
+            {
+                if (JSON_UNLIKELY(not parse_cbor_internal(false)))
+                {
+                    return false;
+                }
+            }
+        }
+
+        return sax->end_array();
+    }
+
+    /*!
+    @param[in] len  the length of the object or std::size_t(-1) for an
+                    object of indefinite size
+    @return whether object creation completed
+    */
+    bool get_cbor_object(const std::size_t len)
+    {
+        if (not JSON_UNLIKELY(sax->start_object(len)))
+        {
+            return false;
+        }
+
+        string_t key;
+        if (len != std::size_t(-1))
+        {
+            for (std::size_t i = 0; i < len; ++i)
+            {
+                get();
+                if (JSON_UNLIKELY(not get_cbor_string(key) or not sax->key(key)))
+                {
+                    return false;
+                }
+
+                if (JSON_UNLIKELY(not parse_cbor_internal()))
+                {
+                    return false;
+                }
+                key.clear();
+            }
+        }
+        else
+        {
+            while (get() != 0xFF)
+            {
+                if (JSON_UNLIKELY(not get_cbor_string(key) or not sax->key(key)))
+                {
+                    return false;
+                }
+
+                if (JSON_UNLIKELY(not parse_cbor_internal()))
+                {
+                    return false;
+                }
+                key.clear();
+            }
+        }
+
+        return sax->end_object();
+    }
+
+    /////////////
+    // MsgPack //
+    /////////////
+
+    /*!
+    @return whether a valid MessagePack value was passed to the SAX parser
+    */
+    bool parse_msgpack_internal()
+    {
+        switch (get())
+        {
+            // EOF
+            case std::char_traits<char>::eof():
+                return unexpect_eof(input_format_t::msgpack, "value");
+
+            // positive fixint
+            case 0x00:
+            case 0x01:
+            case 0x02:
+            case 0x03:
+            case 0x04:
+            case 0x05:
+            case 0x06:
+            case 0x07:
+            case 0x08:
+            case 0x09:
+            case 0x0A:
+            case 0x0B:
+            case 0x0C:
+            case 0x0D:
+            case 0x0E:
+            case 0x0F:
+            case 0x10:
+            case 0x11:
+            case 0x12:
+            case 0x13:
+            case 0x14:
+            case 0x15:
+            case 0x16:
+            case 0x17:
+            case 0x18:
+            case 0x19:
+            case 0x1A:
+            case 0x1B:
+            case 0x1C:
+            case 0x1D:
+            case 0x1E:
+            case 0x1F:
+            case 0x20:
+            case 0x21:
+            case 0x22:
+            case 0x23:
+            case 0x24:
+            case 0x25:
+            case 0x26:
+            case 0x27:
+            case 0x28:
+            case 0x29:
+            case 0x2A:
+            case 0x2B:
+            case 0x2C:
+            case 0x2D:
+            case 0x2E:
+            case 0x2F:
+            case 0x30:
+            case 0x31:
+            case 0x32:
+            case 0x33:
+            case 0x34:
+            case 0x35:
+            case 0x36:
+            case 0x37:
+            case 0x38:
+            case 0x39:
+            case 0x3A:
+            case 0x3B:
+            case 0x3C:
+            case 0x3D:
+            case 0x3E:
+            case 0x3F:
+            case 0x40:
+            case 0x41:
+            case 0x42:
+            case 0x43:
+            case 0x44:
+            case 0x45:
+            case 0x46:
+            case 0x47:
+            case 0x48:
+            case 0x49:
+            case 0x4A:
+            case 0x4B:
+            case 0x4C:
+            case 0x4D:
+            case 0x4E:
+            case 0x4F:
+            case 0x50:
+            case 0x51:
+            case 0x52:
+            case 0x53:
+            case 0x54:
+            case 0x55:
+            case 0x56:
+            case 0x57:
+            case 0x58:
+            case 0x59:
+            case 0x5A:
+            case 0x5B:
+            case 0x5C:
+            case 0x5D:
+            case 0x5E:
+            case 0x5F:
+            case 0x60:
+            case 0x61:
+            case 0x62:
+            case 0x63:
+            case 0x64:
+            case 0x65:
+            case 0x66:
+            case 0x67:
+            case 0x68:
+            case 0x69:
+            case 0x6A:
+            case 0x6B:
+            case 0x6C:
+            case 0x6D:
+            case 0x6E:
+            case 0x6F:
+            case 0x70:
+            case 0x71:
+            case 0x72:
+            case 0x73:
+            case 0x74:
+            case 0x75:
+            case 0x76:
+            case 0x77:
+            case 0x78:
+            case 0x79:
+            case 0x7A:
+            case 0x7B:
+            case 0x7C:
+            case 0x7D:
+            case 0x7E:
+            case 0x7F:
+                return sax->number_unsigned(static_cast<number_unsigned_t>(current));
+
+            // fixmap
+            case 0x80:
+            case 0x81:
+            case 0x82:
+            case 0x83:
+            case 0x84:
+            case 0x85:
+            case 0x86:
+            case 0x87:
+            case 0x88:
+            case 0x89:
+            case 0x8A:
+            case 0x8B:
+            case 0x8C:
+            case 0x8D:
+            case 0x8E:
+            case 0x8F:
+                return get_msgpack_object(static_cast<std::size_t>(current & 0x0F));
+
+            // fixarray
+            case 0x90:
+            case 0x91:
+            case 0x92:
+            case 0x93:
+            case 0x94:
+            case 0x95:
+            case 0x96:
+            case 0x97:
+            case 0x98:
+            case 0x99:
+            case 0x9A:
+            case 0x9B:
+            case 0x9C:
+            case 0x9D:
+            case 0x9E:
+            case 0x9F:
+                return get_msgpack_array(static_cast<std::size_t>(current & 0x0F));
+
+            // fixstr
+            case 0xA0:
+            case 0xA1:
+            case 0xA2:
+            case 0xA3:
+            case 0xA4:
+            case 0xA5:
+            case 0xA6:
+            case 0xA7:
+            case 0xA8:
+            case 0xA9:
+            case 0xAA:
+            case 0xAB:
+            case 0xAC:
+            case 0xAD:
+            case 0xAE:
+            case 0xAF:
+            case 0xB0:
+            case 0xB1:
+            case 0xB2:
+            case 0xB3:
+            case 0xB4:
+            case 0xB5:
+            case 0xB6:
+            case 0xB7:
+            case 0xB8:
+            case 0xB9:
+            case 0xBA:
+            case 0xBB:
+            case 0xBC:
+            case 0xBD:
+            case 0xBE:
+            case 0xBF:
+            {
+                string_t s;
+                return get_msgpack_string(s) and sax->string(s);
+            }
+
+            case 0xC0: // nil
+                return sax->null();
+
+            case 0xC2: // false
+                return sax->boolean(false);
+
+            case 0xC3: // true
+                return sax->boolean(true);
+
+            case 0xCA: // float 32
+            {
+                float number;
+                return get_number(input_format_t::msgpack, number) and sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0xCB: // float 64
+            {
+                double number;
+                return get_number(input_format_t::msgpack, number) and sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0xCC: // uint 8
+            {
+                uint8_t number;
+                return get_number(input_format_t::msgpack, number) and sax->number_unsigned(number);
+            }
+
+            case 0xCD: // uint 16
+            {
+                uint16_t number;
+                return get_number(input_format_t::msgpack, number) and sax->number_unsigned(number);
+            }
+
+            case 0xCE: // uint 32
+            {
+                uint32_t number;
+                return get_number(input_format_t::msgpack, number) and sax->number_unsigned(number);
+            }
+
+            case 0xCF: // uint 64
+            {
+                uint64_t number;
+                return get_number(input_format_t::msgpack, number) and sax->number_unsigned(number);
+            }
+
+            case 0xD0: // int 8
+            {
+                int8_t number;
+                return get_number(input_format_t::msgpack, number) and sax->number_integer(number);
+            }
+
+            case 0xD1: // int 16
+            {
+                int16_t number;
+                return get_number(input_format_t::msgpack, number) and sax->number_integer(number);
+            }
+
+            case 0xD2: // int 32
+            {
+                int32_t number;
+                return get_number(input_format_t::msgpack, number) and sax->number_integer(number);
+            }
+
+            case 0xD3: // int 64
+            {
+                int64_t number;
+                return get_number(input_format_t::msgpack, number) and sax->number_integer(number);
+            }
+
+            case 0xD9: // str 8
+            case 0xDA: // str 16
+            case 0xDB: // str 32
+            {
+                string_t s;
+                return get_msgpack_string(s) and sax->string(s);
+            }
+
+            case 0xDC: // array 16
+            {
+                uint16_t len;
+                return get_number(input_format_t::msgpack, len) and get_msgpack_array(static_cast<std::size_t>(len));
+            }
+
+            case 0xDD: // array 32
+            {
+                uint32_t len;
+                return get_number(input_format_t::msgpack, len) and get_msgpack_array(static_cast<std::size_t>(len));
+            }
+
+            case 0xDE: // map 16
+            {
+                uint16_t len;
+                return get_number(input_format_t::msgpack, len) and get_msgpack_object(static_cast<std::size_t>(len));
+            }
+
+            case 0xDF: // map 32
+            {
+                uint32_t len;
+                return get_number(input_format_t::msgpack, len) and get_msgpack_object(static_cast<std::size_t>(len));
+            }
+
+            // negative fixint
+            case 0xE0:
+            case 0xE1:
+            case 0xE2:
+            case 0xE3:
+            case 0xE4:
+            case 0xE5:
+            case 0xE6:
+            case 0xE7:
+            case 0xE8:
+            case 0xE9:
+            case 0xEA:
+            case 0xEB:
+            case 0xEC:
+            case 0xED:
+            case 0xEE:
+            case 0xEF:
+            case 0xF0:
+            case 0xF1:
+            case 0xF2:
+            case 0xF3:
+            case 0xF4:
+            case 0xF5:
+            case 0xF6:
+            case 0xF7:
+            case 0xF8:
+            case 0xF9:
+            case 0xFA:
+            case 0xFB:
+            case 0xFC:
+            case 0xFD:
+            case 0xFE:
+            case 0xFF:
+                return sax->number_integer(static_cast<int8_t>(current));
+
+            default: // anything else
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::msgpack, "invalid byte: 0x" + last_token, "value")));
+            }
+        }
+    }
+
+    /*!
+    @brief reads a MessagePack string
+
+    This function first reads starting bytes to determine the expected
+    string length and then copies this number of bytes into a string.
+
+    @param[out] result  created string
+
+    @return whether string creation completed
+    */
+    bool get_msgpack_string(string_t& result)
+    {
+        if (JSON_UNLIKELY(not unexpect_eof(input_format_t::msgpack, "string")))
+        {
+            return false;
+        }
+
+        switch (current)
+        {
+            // fixstr
+            case 0xA0:
+            case 0xA1:
+            case 0xA2:
+            case 0xA3:
+            case 0xA4:
+            case 0xA5:
+            case 0xA6:
+            case 0xA7:
+            case 0xA8:
+            case 0xA9:
+            case 0xAA:
+            case 0xAB:
+            case 0xAC:
+            case 0xAD:
+            case 0xAE:
+            case 0xAF:
+            case 0xB0:
+            case 0xB1:
+            case 0xB2:
+            case 0xB3:
+            case 0xB4:
+            case 0xB5:
+            case 0xB6:
+            case 0xB7:
+            case 0xB8:
+            case 0xB9:
+            case 0xBA:
+            case 0xBB:
+            case 0xBC:
+            case 0xBD:
+            case 0xBE:
+            case 0xBF:
+            {
+                return get_string(input_format_t::msgpack, current & 0x1F, result);
+            }
+
+            case 0xD9: // str 8
+            {
+                uint8_t len;
+                return get_number(input_format_t::msgpack, len) and get_string(input_format_t::msgpack, len, result);
+            }
+
+            case 0xDA: // str 16
+            {
+                uint16_t len;
+                return get_number(input_format_t::msgpack, len) and get_string(input_format_t::msgpack, len, result);
+            }
+
+            case 0xDB: // str 32
+            {
+                uint32_t len;
+                return get_number(input_format_t::msgpack, len) and get_string(input_format_t::msgpack, len, result);
+            }
+
+            default:
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format_t::msgpack, "expected length specification (0xA0-0xBF, 0xD9-0xDB); last byte: 0x" + last_token, "string")));
+            }
+        }
+    }
+
+    /*!
+    @param[in] len  the length of the array
+    @return whether array creation completed
+    */
+    bool get_msgpack_array(const std::size_t len)
+    {
+        if (JSON_UNLIKELY(not sax->start_array(len)))
+        {
+            return false;
+        }
+
+        for (std::size_t i = 0; i < len; ++i)
+        {
+            if (JSON_UNLIKELY(not parse_msgpack_internal()))
+            {
+                return false;
+            }
+        }
+
+        return sax->end_array();
+    }
+
+    /*!
+    @param[in] len  the length of the object
+    @return whether object creation completed
+    */
+    bool get_msgpack_object(const std::size_t len)
+    {
+        if (JSON_UNLIKELY(not sax->start_object(len)))
+        {
+            return false;
+        }
+
+        string_t key;
+        for (std::size_t i = 0; i < len; ++i)
+        {
+            get();
+            if (JSON_UNLIKELY(not get_msgpack_string(key) or not sax->key(key)))
+            {
+                return false;
+            }
+
+            if (JSON_UNLIKELY(not parse_msgpack_internal()))
+            {
+                return false;
+            }
+            key.clear();
+        }
+
+        return sax->end_object();
+    }
+
+    ////////////
+    // UBJSON //
+    ////////////
+
+    /*!
+    @param[in] get_char  whether a new character should be retrieved from the
+                         input (true, default) or whether the last read
+                         character should be considered instead
+
+    @return whether a valid UBJSON value was passed to the SAX parser
+    */
+    bool parse_ubjson_internal(const bool get_char = true)
+    {
+        return get_ubjson_value(get_char ? get_ignore_noop() : current);
+    }
+
+    /*!
+    @brief reads a UBJSON string
+
+    This function is either called after reading the 'S' byte explicitly
+    indicating a string, or in case of an object key where the 'S' byte can be
+    left out.
+
+    @param[out] result   created string
+    @param[in] get_char  whether a new character should be retrieved from the
+                         input (true, default) or whether the last read
+                         character should be considered instead
+
+    @return whether string creation completed
+    */
+    bool get_ubjson_string(string_t& result, const bool get_char = true)
+    {
+        if (get_char)
+        {
+            get();  // TODO: may we ignore N here?
+        }
+
+        if (JSON_UNLIKELY(not unexpect_eof(input_format_t::ubjson, "value")))
+        {
+            return false;
+        }
+
+        switch (current)
+        {
+            case 'U':
+            {
+                uint8_t len;
+                return get_number(input_format_t::ubjson, len) and get_string(input_format_t::ubjson, len, result);
+            }
+
+            case 'i':
+            {
+                int8_t len;
+                return get_number(input_format_t::ubjson, len) and get_string(input_format_t::ubjson, len, result);
+            }
+
+            case 'I':
+            {
+                int16_t len;
+                return get_number(input_format_t::ubjson, len) and get_string(input_format_t::ubjson, len, result);
+            }
+
+            case 'l':
+            {
+                int32_t len;
+                return get_number(input_format_t::ubjson, len) and get_string(input_format_t::ubjson, len, result);
+            }
+
+            case 'L':
+            {
+                int64_t len;
+                return get_number(input_format_t::ubjson, len) and get_string(input_format_t::ubjson, len, result);
+            }
+
+            default:
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format_t::ubjson, "expected length type specification (U, i, I, l, L); last byte: 0x" + last_token, "string")));
+        }
+    }
+
+    /*!
+    @param[out] result  determined size
+    @return whether size determination completed
+    */
+    bool get_ubjson_size_value(std::size_t& result)
+    {
+        switch (get_ignore_noop())
+        {
+            case 'U':
+            {
+                uint8_t number;
+                if (JSON_UNLIKELY(not get_number(input_format_t::ubjson, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'i':
+            {
+                int8_t number;
+                if (JSON_UNLIKELY(not get_number(input_format_t::ubjson, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'I':
+            {
+                int16_t number;
+                if (JSON_UNLIKELY(not get_number(input_format_t::ubjson, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'l':
+            {
+                int32_t number;
+                if (JSON_UNLIKELY(not get_number(input_format_t::ubjson, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'L':
+            {
+                int64_t number;
+                if (JSON_UNLIKELY(not get_number(input_format_t::ubjson, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            default:
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format_t::ubjson, "expected length type specification (U, i, I, l, L) after '#'; last byte: 0x" + last_token, "size")));
+            }
+        }
+    }
+
+    /*!
+    @brief determine the type and size for a container
+
+    In the optimized UBJSON format, a type and a size can be provided to allow
+    for a more compact representation.
+
+    @param[out] result  pair of the size and the type
+
+    @return whether pair creation completed
+    */
+    bool get_ubjson_size_type(std::pair<std::size_t, int>& result)
+    {
+        result.first = string_t::npos; // size
+        result.second = 0; // type
+
+        get_ignore_noop();
+
+        if (current == '$')
+        {
+            result.second = get();  // must not ignore 'N', because 'N' maybe the type
+            if (JSON_UNLIKELY(not unexpect_eof(input_format_t::ubjson, "type")))
+            {
+                return false;
+            }
+
+            get_ignore_noop();
+            if (JSON_UNLIKELY(current != '#'))
+            {
+                if (JSON_UNLIKELY(not unexpect_eof(input_format_t::ubjson, "value")))
+                {
+                    return false;
+                }
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::ubjson, "expected '#' after type information; last byte: 0x" + last_token, "size")));
+            }
+
+            return get_ubjson_size_value(result.first);
+        }
+        else if (current == '#')
+        {
+            return get_ubjson_size_value(result.first);
+        }
+        return true;
+    }
+
+    /*!
+    @param prefix  the previously read or set type prefix
+    @return whether value creation completed
+    */
+    bool get_ubjson_value(const int prefix)
+    {
+        switch (prefix)
+        {
+            case std::char_traits<char>::eof():  // EOF
+                return unexpect_eof(input_format_t::ubjson, "value");
+
+            case 'T':  // true
+                return sax->boolean(true);
+            case 'F':  // false
+                return sax->boolean(false);
+
+            case 'Z':  // null
+                return sax->null();
+
+            case 'U':
+            {
+                uint8_t number;
+                return get_number(input_format_t::ubjson, number) and sax->number_unsigned(number);
+            }
+
+            case 'i':
+            {
+                int8_t number;
+                return get_number(input_format_t::ubjson, number) and sax->number_integer(number);
+            }
+
+            case 'I':
+            {
+                int16_t number;
+                return get_number(input_format_t::ubjson, number) and sax->number_integer(number);
+            }
+
+            case 'l':
+            {
+                int32_t number;
+                return get_number(input_format_t::ubjson, number) and sax->number_integer(number);
+            }
+
+            case 'L':
+            {
+                int64_t number;
+                return get_number(input_format_t::ubjson, number) and sax->number_integer(number);
+            }
+
+            case 'd':
+            {
+                float number;
+                return get_number(input_format_t::ubjson, number) and sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 'D':
+            {
+                double number;
+                return get_number(input_format_t::ubjson, number) and sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 'C':  // char
+            {
+                get();
+                if (JSON_UNLIKELY(not unexpect_eof(input_format_t::ubjson, "char")))
+                {
+                    return false;
+                }
+                if (JSON_UNLIKELY(current > 127))
+                {
+                    auto last_token = get_token_string();
+                    return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format_t::ubjson, "byte after 'C' must be in range 0x00..0x7F; last byte: 0x" + last_token, "char")));
+                }
+                string_t s(1, static_cast<char>(current));
+                return sax->string(s);
+            }
+
+            case 'S':  // string
+            {
+                string_t s;
+                return get_ubjson_string(s) and sax->string(s);
+            }
+
+            case '[':  // array
+                return get_ubjson_array();
+
+            case '{':  // object
+                return get_ubjson_object();
+
+            default: // anything else
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::ubjson, "invalid byte: 0x" + last_token, "value")));
+            }
+        }
+    }
+
+    /*!
+    @return whether array creation completed
+    */
+    bool get_ubjson_array()
+    {
+        std::pair<std::size_t, int> size_and_type;
+        if (JSON_UNLIKELY(not get_ubjson_size_type(size_and_type)))
+        {
+            return false;
+        }
+
+        if (size_and_type.first != string_t::npos)
+        {
+            if (JSON_UNLIKELY(not sax->start_array(size_and_type.first)))
+            {
+                return false;
+            }
+
+            if (size_and_type.second != 0)
+            {
+                if (size_and_type.second != 'N')
+                {
+                    for (std::size_t i = 0; i < size_and_type.first; ++i)
+                    {
+                        if (JSON_UNLIKELY(not get_ubjson_value(size_and_type.second)))
+                        {
+                            return false;
+                        }
+                    }
+                }
+            }
+            else
+            {
+                for (std::size_t i = 0; i < size_and_type.first; ++i)
+                {
+                    if (JSON_UNLIKELY(not parse_ubjson_internal()))
+                    {
+                        return false;
+                    }
+                }
+            }
+        }
+        else
+        {
+            if (JSON_UNLIKELY(not sax->start_array(std::size_t(-1))))
+            {
+                return false;
+            }
+
+            while (current != ']')
+            {
+                if (JSON_UNLIKELY(not parse_ubjson_internal(false)))
+                {
+                    return false;
+                }
+                get_ignore_noop();
+            }
+        }
+
+        return sax->end_array();
+    }
+
+    /*!
+    @return whether object creation completed
+    */
+    bool get_ubjson_object()
+    {
+        std::pair<std::size_t, int> size_and_type;
+        if (JSON_UNLIKELY(not get_ubjson_size_type(size_and_type)))
+        {
+            return false;
+        }
+
+        string_t key;
+        if (size_and_type.first != string_t::npos)
+        {
+            if (JSON_UNLIKELY(not sax->start_object(size_and_type.first)))
+            {
+                return false;
+            }
+
+            if (size_and_type.second != 0)
+            {
+                for (std::size_t i = 0; i < size_and_type.first; ++i)
+                {
+                    if (JSON_UNLIKELY(not get_ubjson_string(key) or not sax->key(key)))
+                    {
+                        return false;
+                    }
+                    if (JSON_UNLIKELY(not get_ubjson_value(size_and_type.second)))
+                    {
+                        return false;
+                    }
+                    key.clear();
+                }
+            }
+            else
+            {
+                for (std::size_t i = 0; i < size_and_type.first; ++i)
+                {
+                    if (JSON_UNLIKELY(not get_ubjson_string(key) or not sax->key(key)))
+                    {
+                        return false;
+                    }
+                    if (JSON_UNLIKELY(not parse_ubjson_internal()))
+                    {
+                        return false;
+                    }
+                    key.clear();
+                }
+            }
+        }
+        else
+        {
+            if (JSON_UNLIKELY(not sax->start_object(std::size_t(-1))))
+            {
+                return false;
+            }
+
+            while (current != '}')
+            {
+                if (JSON_UNLIKELY(not get_ubjson_string(key, false) or not sax->key(key)))
+                {
+                    return false;
+                }
+                if (JSON_UNLIKELY(not parse_ubjson_internal()))
+                {
+                    return false;
+                }
+                get_ignore_noop();
+                key.clear();
+            }
+        }
+
+        return sax->end_object();
+    }
+
+    ///////////////////////
+    // Utility functions //
+    ///////////////////////
+
+    /*!
+    @brief get next character from the input
+
+    This function provides the interface to the used input adapter. It does
+    not throw in case the input reached EOF, but returns a -'ve valued
+    `std::char_traits<char>::eof()` in that case.
+
+    @return character read from the input
+    */
+    int get()
+    {
+        ++chars_read;
+        return (current = ia->get_character());
+    }
+
+    /*!
+    @return character read from the input after ignoring all 'N' entries
+    */
+    int get_ignore_noop()
+    {
+        do
+        {
+            get();
+        }
+        while (current == 'N');
+
+        return current;
+    }
+
+    /*
+    @brief read a number from the input
+
+    @tparam NumberType the type of the number
+    @param[in] format   the current format (for diagnostics)
+    @param[out] result  number of type @a NumberType
+
+    @return whether conversion completed
+
+    @note This function needs to respect the system's endianess, because
+          bytes in CBOR, MessagePack, and UBJSON are stored in network order
+          (big endian) and therefore need reordering on little endian systems.
+    */
+    template<typename NumberType, bool InputIsLittleEndian = false>
+    bool get_number(const input_format_t format, NumberType& result)
+    {
+        // step 1: read input into array with system's byte order
+        std::array<uint8_t, sizeof(NumberType)> vec;
+        for (std::size_t i = 0; i < sizeof(NumberType); ++i)
+        {
+            get();
+            if (JSON_UNLIKELY(not unexpect_eof(format, "number")))
+            {
+                return false;
+            }
+
+            // reverse byte order prior to conversion if necessary
+            if (is_little_endian && !InputIsLittleEndian)
+            {
+                vec[sizeof(NumberType) - i - 1] = static_cast<uint8_t>(current);
+            }
+            else
+            {
+                vec[i] = static_cast<uint8_t>(current); // LCOV_EXCL_LINE
+            }
+        }
+
+        // step 2: convert array into number of type T and return
+        std::memcpy(&result, vec.data(), sizeof(NumberType));
+        return true;
+    }
+
+    /*!
+    @brief create a string by reading characters from the input
+
+    @tparam NumberType the type of the number
+    @param[in] format the current format (for diagnostics)
+    @param[in] len number of characters to read
+    @param[out] result string created by reading @a len bytes
+
+    @return whether string creation completed
+
+    @note We can not reserve @a len bytes for the result, because @a len
+          may be too large. Usually, @ref unexpect_eof() detects the end of
+          the input before we run out of string memory.
+    */
+    template<typename NumberType>
+    bool get_string(const input_format_t format,
+                    const NumberType len,
+                    string_t& result)
+    {
+        bool success = true;
+        std::generate_n(std::back_inserter(result), len, [this, &success, &format]()
+        {
+            get();
+            if (JSON_UNLIKELY(not unexpect_eof(format, "string")))
+            {
+                success = false;
+            }
+            return static_cast<char>(current);
+        });
+        return success;
+    }
+
+    /*!
+    @param[in] format   the current format (for diagnostics)
+    @param[in] context  further context information (for diagnostics)
+    @return whether the last read character is not EOF
+    */
+    bool unexpect_eof(const input_format_t format, const char* context) const
+    {
+        if (JSON_UNLIKELY(current == std::char_traits<char>::eof()))
+        {
+            return sax->parse_error(chars_read, "<end of file>",
+                                    parse_error::create(110, chars_read, exception_message(format, "unexpected end of input", context)));
+        }
+        return true;
+    }
+
+    /*!
+    @return a string representation of the last read byte
+    */
+    std::string get_token_string() const
+    {
+        char cr[3];
+        (std::snprintf)(cr, 3, "%.2hhX", static_cast<unsigned char>(current));
+        return std::string{cr};
+    }
+
+    /*!
+    @param[in] format   the current format
+    @param[in] detail   a detailed error message
+    @param[in] context  further contect information
+    @return a message string to use in the parse_error exceptions
+    */
+    std::string exception_message(const input_format_t format,
+                                  const std::string& detail,
+                                  const std::string& context) const
+    {
+        std::string error_msg = "syntax error while parsing ";
+
+        switch (format)
+        {
+            case input_format_t::cbor:
+                error_msg += "CBOR";
+                break;
+
+            case input_format_t::msgpack:
+                error_msg += "MessagePack";
+                break;
+
+            case input_format_t::ubjson:
+                error_msg += "UBJSON";
+                break;
+
+            case input_format_t::bson:
+                error_msg += "BSON";
+                break;
+
+            // LCOV_EXCL_START
+            default:
+                assert(false);
+                // LCOV_EXCL_STOP
+        }
+
+        return error_msg + " " + context + ": " + detail;
+    }
+
+  private:
+    /// input adapter
+    input_adapter_t ia = nullptr;
+
+    /// the current character
+    int current = std::char_traits<char>::eof();
+
+    /// the number of characters read
+    std::size_t chars_read = 0;
+
+    /// whether we can assume little endianess
+    const bool is_little_endian = little_endianess();
+
+    /// the SAX parser
+    json_sax_t* sax = nullptr;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/output/binary_writer.hpp>
+
+
+#include <algorithm> // reverse
+#include <array> // array
+#include <cstdint> // uint8_t, uint16_t, uint32_t, uint64_t
+#include <cstring> // memcpy
+#include <limits> // numeric_limits
+
+// #include <nlohmann/detail/input/binary_reader.hpp>
+
+// #include <nlohmann/detail/output/output_adapters.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+///////////////////
+// binary writer //
+///////////////////
+
+/*!
+@brief serialization to CBOR and MessagePack values
+*/
+template<typename BasicJsonType, typename CharType>
+class binary_writer
+{
+    using string_t = typename BasicJsonType::string_t;
+
+  public:
+    /*!
+    @brief create a binary writer
+
+    @param[in] adapter  output adapter to write to
+    */
+    explicit binary_writer(output_adapter_t<CharType> adapter) : oa(adapter)
+    {
+        assert(oa);
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    @pre       j.type() == value_t::object
+    */
+    void write_bson(const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::object:
+            {
+                write_bson_object(*j.m_value.object);
+                break;
+            }
+
+            default:
+            {
+                JSON_THROW(type_error::create(317, "to serialize to BSON, top-level type must be object, but is " + std::string(j.type_name())));
+            }
+        }
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    */
+    void write_cbor(const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::null:
+            {
+                oa->write_character(to_char_type(0xF6));
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                oa->write_character(j.m_value.boolean
+                                    ? to_char_type(0xF5)
+                                    : to_char_type(0xF4));
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                if (j.m_value.number_integer >= 0)
+                {
+                    // CBOR does not differentiate between positive signed
+                    // integers and unsigned integers. Therefore, we used the
+                    // code from the value_t::number_unsigned case here.
+                    if (j.m_value.number_integer <= 0x17)
+                    {
+                        write_number(static_cast<uint8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer <= (std::numeric_limits<uint8_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x18));
+                        write_number(static_cast<uint8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer <= (std::numeric_limits<uint16_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x19));
+                        write_number(static_cast<uint16_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer <= (std::numeric_limits<uint32_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x1A));
+                        write_number(static_cast<uint32_t>(j.m_value.number_integer));
+                    }
+                    else
+                    {
+                        oa->write_character(to_char_type(0x1B));
+                        write_number(static_cast<uint64_t>(j.m_value.number_integer));
+                    }
+                }
+                else
+                {
+                    // The conversions below encode the sign in the first
+                    // byte, and the value is converted to a positive number.
+                    const auto positive_number = -1 - j.m_value.number_integer;
+                    if (j.m_value.number_integer >= -24)
+                    {
+                        write_number(static_cast<uint8_t>(0x20 + positive_number));
+                    }
+                    else if (positive_number <= (std::numeric_limits<uint8_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x38));
+                        write_number(static_cast<uint8_t>(positive_number));
+                    }
+                    else if (positive_number <= (std::numeric_limits<uint16_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x39));
+                        write_number(static_cast<uint16_t>(positive_number));
+                    }
+                    else if (positive_number <= (std::numeric_limits<uint32_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x3A));
+                        write_number(static_cast<uint32_t>(positive_number));
+                    }
+                    else
+                    {
+                        oa->write_character(to_char_type(0x3B));
+                        write_number(static_cast<uint64_t>(positive_number));
+                    }
+                }
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                if (j.m_value.number_unsigned <= 0x17)
+                {
+                    write_number(static_cast<uint8_t>(j.m_value.number_unsigned));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x18));
+                    write_number(static_cast<uint8_t>(j.m_value.number_unsigned));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x19));
+                    write_number(static_cast<uint16_t>(j.m_value.number_unsigned));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x1A));
+                    write_number(static_cast<uint32_t>(j.m_value.number_unsigned));
+                }
+                else
+                {
+                    oa->write_character(to_char_type(0x1B));
+                    write_number(static_cast<uint64_t>(j.m_value.number_unsigned));
+                }
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                oa->write_character(get_cbor_float_prefix(j.m_value.number_float));
+                write_number(j.m_value.number_float);
+                break;
+            }
+
+            case value_t::string:
+            {
+                // step 1: write control byte and the string length
+                const auto N = j.m_value.string->size();
+                if (N <= 0x17)
+                {
+                    write_number(static_cast<uint8_t>(0x60 + N));
+                }
+                else if (N <= (std::numeric_limits<uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x78));
+                    write_number(static_cast<uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x79));
+                    write_number(static_cast<uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x7A));
+                    write_number(static_cast<uint32_t>(N));
+                }
+                // LCOV_EXCL_START
+                else if (N <= (std::numeric_limits<uint64_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x7B));
+                    write_number(static_cast<uint64_t>(N));
+                }
+                // LCOV_EXCL_STOP
+
+                // step 2: write the string
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_value.string->c_str()),
+                    j.m_value.string->size());
+                break;
+            }
+
+            case value_t::array:
+            {
+                // step 1: write control byte and the array size
+                const auto N = j.m_value.array->size();
+                if (N <= 0x17)
+                {
+                    write_number(static_cast<uint8_t>(0x80 + N));
+                }
+                else if (N <= (std::numeric_limits<uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x98));
+                    write_number(static_cast<uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x99));
+                    write_number(static_cast<uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x9A));
+                    write_number(static_cast<uint32_t>(N));
+                }
+                // LCOV_EXCL_START
+                else if (N <= (std::numeric_limits<uint64_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x9B));
+                    write_number(static_cast<uint64_t>(N));
+                }
+                // LCOV_EXCL_STOP
+
+                // step 2: write each element
+                for (const auto& el : *j.m_value.array)
+                {
+                    write_cbor(el);
+                }
+                break;
+            }
+
+            case value_t::object:
+            {
+                // step 1: write control byte and the object size
+                const auto N = j.m_value.object->size();
+                if (N <= 0x17)
+                {
+                    write_number(static_cast<uint8_t>(0xA0 + N));
+                }
+                else if (N <= (std::numeric_limits<uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xB8));
+                    write_number(static_cast<uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xB9));
+                    write_number(static_cast<uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xBA));
+                    write_number(static_cast<uint32_t>(N));
+                }
+                // LCOV_EXCL_START
+                else if (N <= (std::numeric_limits<uint64_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xBB));
+                    write_number(static_cast<uint64_t>(N));
+                }
+                // LCOV_EXCL_STOP
+
+                // step 2: write each element
+                for (const auto& el : *j.m_value.object)
+                {
+                    write_cbor(el.first);
+                    write_cbor(el.second);
+                }
+                break;
+            }
+
+            default:
+                break;
+        }
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    */
+    void write_msgpack(const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::null: // nil
+            {
+                oa->write_character(to_char_type(0xC0));
+                break;
+            }
+
+            case value_t::boolean: // true and false
+            {
+                oa->write_character(j.m_value.boolean
+                                    ? to_char_type(0xC3)
+                                    : to_char_type(0xC2));
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                if (j.m_value.number_integer >= 0)
+                {
+                    // MessagePack does not differentiate between positive
+                    // signed integers and unsigned integers. Therefore, we used
+                    // the code from the value_t::number_unsigned case here.
+                    if (j.m_value.number_unsigned < 128)
+                    {
+                        // positive fixnum
+                        write_number(static_cast<uint8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_unsigned <= (std::numeric_limits<uint8_t>::max)())
+                    {
+                        // uint 8
+                        oa->write_character(to_char_type(0xCC));
+                        write_number(static_cast<uint8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_unsigned <= (std::numeric_limits<uint16_t>::max)())
+                    {
+                        // uint 16
+                        oa->write_character(to_char_type(0xCD));
+                        write_number(static_cast<uint16_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_unsigned <= (std::numeric_limits<uint32_t>::max)())
+                    {
+                        // uint 32
+                        oa->write_character(to_char_type(0xCE));
+                        write_number(static_cast<uint32_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_unsigned <= (std::numeric_limits<uint64_t>::max)())
+                    {
+                        // uint 64
+                        oa->write_character(to_char_type(0xCF));
+                        write_number(static_cast<uint64_t>(j.m_value.number_integer));
+                    }
+                }
+                else
+                {
+                    if (j.m_value.number_integer >= -32)
+                    {
+                        // negative fixnum
+                        write_number(static_cast<int8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer >= (std::numeric_limits<int8_t>::min)() and
+                             j.m_value.number_integer <= (std::numeric_limits<int8_t>::max)())
+                    {
+                        // int 8
+                        oa->write_character(to_char_type(0xD0));
+                        write_number(static_cast<int8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer >= (std::numeric_limits<int16_t>::min)() and
+                             j.m_value.number_integer <= (std::numeric_limits<int16_t>::max)())
+                    {
+                        // int 16
+                        oa->write_character(to_char_type(0xD1));
+                        write_number(static_cast<int16_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer >= (std::numeric_limits<int32_t>::min)() and
+                             j.m_value.number_integer <= (std::numeric_limits<int32_t>::max)())
+                    {
+                        // int 32
+                        oa->write_character(to_char_type(0xD2));
+                        write_number(static_cast<int32_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer >= (std::numeric_limits<int64_t>::min)() and
+                             j.m_value.number_integer <= (std::numeric_limits<int64_t>::max)())
+                    {
+                        // int 64
+                        oa->write_character(to_char_type(0xD3));
+                        write_number(static_cast<int64_t>(j.m_value.number_integer));
+                    }
+                }
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                if (j.m_value.number_unsigned < 128)
+                {
+                    // positive fixnum
+                    write_number(static_cast<uint8_t>(j.m_value.number_integer));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<uint8_t>::max)())
+                {
+                    // uint 8
+                    oa->write_character(to_char_type(0xCC));
+                    write_number(static_cast<uint8_t>(j.m_value.number_integer));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<uint16_t>::max)())
+                {
+                    // uint 16
+                    oa->write_character(to_char_type(0xCD));
+                    write_number(static_cast<uint16_t>(j.m_value.number_integer));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<uint32_t>::max)())
+                {
+                    // uint 32
+                    oa->write_character(to_char_type(0xCE));
+                    write_number(static_cast<uint32_t>(j.m_value.number_integer));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<uint64_t>::max)())
+                {
+                    // uint 64
+                    oa->write_character(to_char_type(0xCF));
+                    write_number(static_cast<uint64_t>(j.m_value.number_integer));
+                }
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                oa->write_character(get_msgpack_float_prefix(j.m_value.number_float));
+                write_number(j.m_value.number_float);
+                break;
+            }
+
+            case value_t::string:
+            {
+                // step 1: write control byte and the string length
+                const auto N = j.m_value.string->size();
+                if (N <= 31)
+                {
+                    // fixstr
+                    write_number(static_cast<uint8_t>(0xA0 | N));
+                }
+                else if (N <= (std::numeric_limits<uint8_t>::max)())
+                {
+                    // str 8
+                    oa->write_character(to_char_type(0xD9));
+                    write_number(static_cast<uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<uint16_t>::max)())
+                {
+                    // str 16
+                    oa->write_character(to_char_type(0xDA));
+                    write_number(static_cast<uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<uint32_t>::max)())
+                {
+                    // str 32
+                    oa->write_character(to_char_type(0xDB));
+                    write_number(static_cast<uint32_t>(N));
+                }
+
+                // step 2: write the string
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_value.string->c_str()),
+                    j.m_value.string->size());
+                break;
+            }
+
+            case value_t::array:
+            {
+                // step 1: write control byte and the array size
+                const auto N = j.m_value.array->size();
+                if (N <= 15)
+                {
+                    // fixarray
+                    write_number(static_cast<uint8_t>(0x90 | N));
+                }
+                else if (N <= (std::numeric_limits<uint16_t>::max)())
+                {
+                    // array 16
+                    oa->write_character(to_char_type(0xDC));
+                    write_number(static_cast<uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<uint32_t>::max)())
+                {
+                    // array 32
+                    oa->write_character(to_char_type(0xDD));
+                    write_number(static_cast<uint32_t>(N));
+                }
+
+                // step 2: write each element
+                for (const auto& el : *j.m_value.array)
+                {
+                    write_msgpack(el);
+                }
+                break;
+            }
+
+            case value_t::object:
+            {
+                // step 1: write control byte and the object size
+                const auto N = j.m_value.object->size();
+                if (N <= 15)
+                {
+                    // fixmap
+                    write_number(static_cast<uint8_t>(0x80 | (N & 0xF)));
+                }
+                else if (N <= (std::numeric_limits<uint16_t>::max)())
+                {
+                    // map 16
+                    oa->write_character(to_char_type(0xDE));
+                    write_number(static_cast<uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<uint32_t>::max)())
+                {
+                    // map 32
+                    oa->write_character(to_char_type(0xDF));
+                    write_number(static_cast<uint32_t>(N));
+                }
+
+                // step 2: write each element
+                for (const auto& el : *j.m_value.object)
+                {
+                    write_msgpack(el.first);
+                    write_msgpack(el.second);
+                }
+                break;
+            }
+
+            default:
+                break;
+        }
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    @param[in] use_count   whether to use '#' prefixes (optimized format)
+    @param[in] use_type    whether to use '$' prefixes (optimized format)
+    @param[in] add_prefix  whether prefixes need to be used for this value
+    */
+    void write_ubjson(const BasicJsonType& j, const bool use_count,
+                      const bool use_type, const bool add_prefix = true)
+    {
+        switch (j.type())
+        {
+            case value_t::null:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('Z'));
+                }
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(j.m_value.boolean
+                                        ? to_char_type('T')
+                                        : to_char_type('F'));
+                }
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                write_number_with_ubjson_prefix(j.m_value.number_integer, add_prefix);
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                write_number_with_ubjson_prefix(j.m_value.number_unsigned, add_prefix);
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                write_number_with_ubjson_prefix(j.m_value.number_float, add_prefix);
+                break;
+            }
+
+            case value_t::string:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('S'));
+                }
+                write_number_with_ubjson_prefix(j.m_value.string->size(), true);
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_value.string->c_str()),
+                    j.m_value.string->size());
+                break;
+            }
+
+            case value_t::array:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('['));
+                }
+
+                bool prefix_required = true;
+                if (use_type and not j.m_value.array->empty())
+                {
+                    assert(use_count);
+                    const CharType first_prefix = ubjson_prefix(j.front());
+                    const bool same_prefix = std::all_of(j.begin() + 1, j.end(),
+                                                         [this, first_prefix](const BasicJsonType & v)
+                    {
+                        return ubjson_prefix(v) == first_prefix;
+                    });
+
+                    if (same_prefix)
+                    {
+                        prefix_required = false;
+                        oa->write_character(to_char_type('$'));
+                        oa->write_character(first_prefix);
+                    }
+                }
+
+                if (use_count)
+                {
+                    oa->write_character(to_char_type('#'));
+                    write_number_with_ubjson_prefix(j.m_value.array->size(), true);
+                }
+
+                for (const auto& el : *j.m_value.array)
+                {
+                    write_ubjson(el, use_count, use_type, prefix_required);
+                }
+
+                if (not use_count)
+                {
+                    oa->write_character(to_char_type(']'));
+                }
+
+                break;
+            }
+
+            case value_t::object:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('{'));
+                }
+
+                bool prefix_required = true;
+                if (use_type and not j.m_value.object->empty())
+                {
+                    assert(use_count);
+                    const CharType first_prefix = ubjson_prefix(j.front());
+                    const bool same_prefix = std::all_of(j.begin(), j.end(),
+                                                         [this, first_prefix](const BasicJsonType & v)
+                    {
+                        return ubjson_prefix(v) == first_prefix;
+                    });
+
+                    if (same_prefix)
+                    {
+                        prefix_required = false;
+                        oa->write_character(to_char_type('$'));
+                        oa->write_character(first_prefix);
+                    }
+                }
+
+                if (use_count)
+                {
+                    oa->write_character(to_char_type('#'));
+                    write_number_with_ubjson_prefix(j.m_value.object->size(), true);
+                }
+
+                for (const auto& el : *j.m_value.object)
+                {
+                    write_number_with_ubjson_prefix(el.first.size(), true);
+                    oa->write_characters(
+                        reinterpret_cast<const CharType*>(el.first.c_str()),
+                        el.first.size());
+                    write_ubjson(el.second, use_count, use_type, prefix_required);
+                }
+
+                if (not use_count)
+                {
+                    oa->write_character(to_char_type('}'));
+                }
+
+                break;
+            }
+
+            default:
+                break;
+        }
+    }
+
+  private:
+    //////////
+    // BSON //
+    //////////
+
+    /*!
+    @return The size of a BSON document entry header, including the id marker
+            and the entry name size (and its null-terminator).
+    */
+    static std::size_t calc_bson_entry_header_size(const string_t& name)
+    {
+        const auto it = name.find(static_cast<typename string_t::value_type>(0));
+        if (JSON_UNLIKELY(it != BasicJsonType::string_t::npos))
+        {
+            JSON_THROW(out_of_range::create(409,
+                                            "BSON key cannot contain code point U+0000 (at byte " + std::to_string(it) + ")"));
+        }
+
+        return /*id*/ 1ul + name.size() + /*zero-terminator*/1u;
+    }
+
+    /*!
+    @brief Writes the given @a element_type and @a name to the output adapter
+    */
+    void write_bson_entry_header(const string_t& name,
+                                 const std::uint8_t element_type)
+    {
+        oa->write_character(to_char_type(element_type)); // boolean
+        oa->write_characters(
+            reinterpret_cast<const CharType*>(name.c_str()),
+            name.size() + 1u);
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and boolean value @a value
+    */
+    void write_bson_boolean(const string_t& name,
+                            const bool value)
+    {
+        write_bson_entry_header(name, 0x08);
+        oa->write_character(value ? to_char_type(0x01) : to_char_type(0x00));
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and double value @a value
+    */
+    void write_bson_double(const string_t& name,
+                           const double value)
+    {
+        write_bson_entry_header(name, 0x01);
+        write_number<double, true>(value);
+    }
+
+    /*!
+    @return The size of the BSON-encoded string in @a value
+    */
+    static std::size_t calc_bson_string_size(const string_t& value)
+    {
+        return sizeof(std::int32_t) + value.size() + 1ul;
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and string value @a value
+    */
+    void write_bson_string(const string_t& name,
+                           const string_t& value)
+    {
+        write_bson_entry_header(name, 0x02);
+
+        write_number<std::int32_t, true>(static_cast<std::int32_t>(value.size() + 1ul));
+        oa->write_characters(
+            reinterpret_cast<const CharType*>(value.c_str()),
+            value.size() + 1);
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and null value
+    */
+    void write_bson_null(const string_t& name)
+    {
+        write_bson_entry_header(name, 0x0A);
+    }
+
+    /*!
+    @return The size of the BSON-encoded integer @a value
+    */
+    static std::size_t calc_bson_integer_size(const std::int64_t value)
+    {
+        if ((std::numeric_limits<std::int32_t>::min)() <= value and value <= (std::numeric_limits<std::int32_t>::max)())
+        {
+            return sizeof(std::int32_t);
+        }
+        else
+        {
+            return sizeof(std::int64_t);
+        }
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and integer @a value
+    */
+    void write_bson_integer(const string_t& name,
+                            const std::int64_t value)
+    {
+        if ((std::numeric_limits<std::int32_t>::min)() <= value and value <= (std::numeric_limits<std::int32_t>::max)())
+        {
+            write_bson_entry_header(name, 0x10); // int32
+            write_number<std::int32_t, true>(static_cast<std::int32_t>(value));
+        }
+        else
+        {
+            write_bson_entry_header(name, 0x12); // int64
+            write_number<std::int64_t, true>(static_cast<std::int64_t>(value));
+        }
+    }
+
+    /*!
+    @return The size of the BSON-encoded unsigned integer in @a j
+    */
+    static constexpr std::size_t calc_bson_unsigned_size(const std::uint64_t value) noexcept
+    {
+        return (value <= static_cast<std::uint64_t>((std::numeric_limits<std::int32_t>::max)()))
+               ? sizeof(std::int32_t)
+               : sizeof(std::int64_t);
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and unsigned @a value
+    */
+    void write_bson_unsigned(const string_t& name,
+                             const std::uint64_t value)
+    {
+        if (value <= static_cast<std::uint64_t>((std::numeric_limits<std::int32_t>::max)()))
+        {
+            write_bson_entry_header(name, 0x10 /* int32 */);
+            write_number<std::int32_t, true>(static_cast<std::int32_t>(value));
+        }
+        else if (value <= static_cast<std::uint64_t>((std::numeric_limits<std::int64_t>::max)()))
+        {
+            write_bson_entry_header(name, 0x12 /* int64 */);
+            write_number<std::int64_t, true>(static_cast<std::int64_t>(value));
+        }
+        else
+        {
+            JSON_THROW(out_of_range::create(407, "integer number " + std::to_string(value) + " cannot be represented by BSON as it does not fit int64"));
+        }
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and object @a value
+    */
+    void write_bson_object_entry(const string_t& name,
+                                 const typename BasicJsonType::object_t& value)
+    {
+        write_bson_entry_header(name, 0x03); // object
+        write_bson_object(value);
+    }
+
+    /*!
+    @return The size of the BSON-encoded array @a value
+    */
+    static std::size_t calc_bson_array_size(const typename BasicJsonType::array_t& value)
+    {
+        std::size_t embedded_document_size = 0ul;
+        std::size_t array_index = 0ul;
+
+        for (const auto& el : value)
+        {
+            embedded_document_size += calc_bson_element_size(std::to_string(array_index++), el);
+        }
+
+        return sizeof(std::int32_t) + embedded_document_size + 1ul;
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and array @a value
+    */
+    void write_bson_array(const string_t& name,
+                          const typename BasicJsonType::array_t& value)
+    {
+        write_bson_entry_header(name, 0x04); // array
+        write_number<std::int32_t, true>(static_cast<std::int32_t>(calc_bson_array_size(value)));
+
+        std::size_t array_index = 0ul;
+
+        for (const auto& el : value)
+        {
+            write_bson_element(std::to_string(array_index++), el);
+        }
+
+        oa->write_character(to_char_type(0x00));
+    }
+
+    /*!
+    @brief Calculates the size necessary to serialize the JSON value @a j with its @a name
+    @return The calculated size for the BSON document entry for @a j with the given @a name.
+    */
+    static std::size_t calc_bson_element_size(const string_t& name,
+            const BasicJsonType& j)
+    {
+        const auto header_size = calc_bson_entry_header_size(name);
+        switch (j.type())
+        {
+            case value_t::object:
+                return header_size + calc_bson_object_size(*j.m_value.object);
+
+            case value_t::array:
+                return header_size + calc_bson_array_size(*j.m_value.array);
+
+            case value_t::boolean:
+                return header_size + 1ul;
+
+            case value_t::number_float:
+                return header_size + 8ul;
+
+            case value_t::number_integer:
+                return header_size + calc_bson_integer_size(j.m_value.number_integer);
+
+            case value_t::number_unsigned:
+                return header_size + calc_bson_unsigned_size(j.m_value.number_unsigned);
+
+            case value_t::string:
+                return header_size + calc_bson_string_size(*j.m_value.string);
+
+            case value_t::null:
+                return header_size + 0ul;
+
+            // LCOV_EXCL_START
+            default:
+                assert(false);
+                return 0ul;
+                // LCOV_EXCL_STOP
+        };
+    }
+
+    /*!
+    @brief Serializes the JSON value @a j to BSON and associates it with the
+           key @a name.
+    @param name The name to associate with the JSON entity @a j within the
+                current BSON document
+    @return The size of the BSON entry
+    */
+    void write_bson_element(const string_t& name,
+                            const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::object:
+                return write_bson_object_entry(name, *j.m_value.object);
+
+            case value_t::array:
+                return write_bson_array(name, *j.m_value.array);
+
+            case value_t::boolean:
+                return write_bson_boolean(name, j.m_value.boolean);
+
+            case value_t::number_float:
+                return write_bson_double(name, j.m_value.number_float);
+
+            case value_t::number_integer:
+                return write_bson_integer(name, j.m_value.number_integer);
+
+            case value_t::number_unsigned:
+                return write_bson_unsigned(name, j.m_value.number_unsigned);
+
+            case value_t::string:
+                return write_bson_string(name, *j.m_value.string);
+
+            case value_t::null:
+                return write_bson_null(name);
+
+            // LCOV_EXCL_START
+            default:
+                assert(false);
+                return;
+                // LCOV_EXCL_STOP
+        };
+    }
+
+    /*!
+    @brief Calculates the size of the BSON serialization of the given
+           JSON-object @a j.
+    @param[in] j  JSON value to serialize
+    @pre       j.type() == value_t::object
+    */
+    static std::size_t calc_bson_object_size(const typename BasicJsonType::object_t& value)
+    {
+        std::size_t document_size = std::accumulate(value.begin(), value.end(), 0ul,
+                                    [](size_t result, const typename BasicJsonType::object_t::value_type & el)
+        {
+            return result += calc_bson_element_size(el.first, el.second);
+        });
+
+        return sizeof(std::int32_t) + document_size + 1ul;
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    @pre       j.type() == value_t::object
+    */
+    void write_bson_object(const typename BasicJsonType::object_t& value)
+    {
+        write_number<std::int32_t, true>(static_cast<std::int32_t>(calc_bson_object_size(value)));
+
+        for (const auto& el : value)
+        {
+            write_bson_element(el.first, el.second);
+        }
+
+        oa->write_character(to_char_type(0x00));
+    }
+
+    //////////
+    // CBOR //
+    //////////
+
+    static constexpr CharType get_cbor_float_prefix(float /*unused*/)
+    {
+        return to_char_type(0xFA);  // Single-Precision Float
+    }
+
+    static constexpr CharType get_cbor_float_prefix(double /*unused*/)
+    {
+        return to_char_type(0xFB);  // Double-Precision Float
+    }
+
+    /////////////
+    // MsgPack //
+    /////////////
+
+    static constexpr CharType get_msgpack_float_prefix(float /*unused*/)
+    {
+        return to_char_type(0xCA);  // float 32
+    }
+
+    static constexpr CharType get_msgpack_float_prefix(double /*unused*/)
+    {
+        return to_char_type(0xCB);  // float 64
+    }
+
+    ////////////
+    // UBJSON //
+    ////////////
+
+    // UBJSON: write number (floating point)
+    template<typename NumberType, typename std::enable_if<
+                 std::is_floating_point<NumberType>::value, int>::type = 0>
+    void write_number_with_ubjson_prefix(const NumberType n,
+                                         const bool add_prefix)
+    {
+        if (add_prefix)
+        {
+            oa->write_character(get_ubjson_float_prefix(n));
+        }
+        write_number(n);
+    }
+
+    // UBJSON: write number (unsigned integer)
+    template<typename NumberType, typename std::enable_if<
+                 std::is_unsigned<NumberType>::value, int>::type = 0>
+    void write_number_with_ubjson_prefix(const NumberType n,
+                                         const bool add_prefix)
+    {
+        if (n <= static_cast<uint64_t>((std::numeric_limits<int8_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('i'));  // int8
+            }
+            write_number(static_cast<uint8_t>(n));
+        }
+        else if (n <= (std::numeric_limits<uint8_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('U'));  // uint8
+            }
+            write_number(static_cast<uint8_t>(n));
+        }
+        else if (n <= static_cast<uint64_t>((std::numeric_limits<int16_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('I'));  // int16
+            }
+            write_number(static_cast<int16_t>(n));
+        }
+        else if (n <= static_cast<uint64_t>((std::numeric_limits<int32_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('l'));  // int32
+            }
+            write_number(static_cast<int32_t>(n));
+        }
+        else if (n <= static_cast<uint64_t>((std::numeric_limits<int64_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('L'));  // int64
+            }
+            write_number(static_cast<int64_t>(n));
+        }
+        else
+        {
+            JSON_THROW(out_of_range::create(407, "integer number " + std::to_string(n) + " cannot be represented by UBJSON as it does not fit int64"));
+        }
+    }
+
+    // UBJSON: write number (signed integer)
+    template<typename NumberType, typename std::enable_if<
+                 std::is_signed<NumberType>::value and
+                 not std::is_floating_point<NumberType>::value, int>::type = 0>
+    void write_number_with_ubjson_prefix(const NumberType n,
+                                         const bool add_prefix)
+    {
+        if ((std::numeric_limits<int8_t>::min)() <= n and n <= (std::numeric_limits<int8_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('i'));  // int8
+            }
+            write_number(static_cast<int8_t>(n));
+        }
+        else if (static_cast<int64_t>((std::numeric_limits<uint8_t>::min)()) <= n and n <= static_cast<int64_t>((std::numeric_limits<uint8_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('U'));  // uint8
+            }
+            write_number(static_cast<uint8_t>(n));
+        }
+        else if ((std::numeric_limits<int16_t>::min)() <= n and n <= (std::numeric_limits<int16_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('I'));  // int16
+            }
+            write_number(static_cast<int16_t>(n));
+        }
+        else if ((std::numeric_limits<int32_t>::min)() <= n and n <= (std::numeric_limits<int32_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('l'));  // int32
+            }
+            write_number(static_cast<int32_t>(n));
+        }
+        else if ((std::numeric_limits<int64_t>::min)() <= n and n <= (std::numeric_limits<int64_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('L'));  // int64
+            }
+            write_number(static_cast<int64_t>(n));
+        }
+        // LCOV_EXCL_START
+        else
+        {
+            JSON_THROW(out_of_range::create(407, "integer number " + std::to_string(n) + " cannot be represented by UBJSON as it does not fit int64"));
+        }
+        // LCOV_EXCL_STOP
+    }
+
+    /*!
+    @brief determine the type prefix of container values
+
+    @note This function does not need to be 100% accurate when it comes to
+          integer limits. In case a number exceeds the limits of int64_t,
+          this will be detected by a later call to function
+          write_number_with_ubjson_prefix. Therefore, we return 'L' for any
+          value that does not fit the previous limits.
+    */
+    CharType ubjson_prefix(const BasicJsonType& j) const noexcept
+    {
+        switch (j.type())
+        {
+            case value_t::null:
+                return 'Z';
+
+            case value_t::boolean:
+                return j.m_value.boolean ? 'T' : 'F';
+
+            case value_t::number_integer:
+            {
+                if ((std::numeric_limits<int8_t>::min)() <= j.m_value.number_integer and j.m_value.number_integer <= (std::numeric_limits<int8_t>::max)())
+                {
+                    return 'i';
+                }
+                if ((std::numeric_limits<uint8_t>::min)() <= j.m_value.number_integer and j.m_value.number_integer <= (std::numeric_limits<uint8_t>::max)())
+                {
+                    return 'U';
+                }
+                if ((std::numeric_limits<int16_t>::min)() <= j.m_value.number_integer and j.m_value.number_integer <= (std::numeric_limits<int16_t>::max)())
+                {
+                    return 'I';
+                }
+                if ((std::numeric_limits<int32_t>::min)() <= j.m_value.number_integer and j.m_value.number_integer <= (std::numeric_limits<int32_t>::max)())
+                {
+                    return 'l';
+                }
+                // no check and assume int64_t (see note above)
+                return 'L';
+            }
+
+            case value_t::number_unsigned:
+            {
+                if (j.m_value.number_unsigned <= (std::numeric_limits<int8_t>::max)())
+                {
+                    return 'i';
+                }
+                if (j.m_value.number_unsigned <= (std::numeric_limits<uint8_t>::max)())
+                {
+                    return 'U';
+                }
+                if (j.m_value.number_unsigned <= (std::numeric_limits<int16_t>::max)())
+                {
+                    return 'I';
+                }
+                if (j.m_value.number_unsigned <= (std::numeric_limits<int32_t>::max)())
+                {
+                    return 'l';
+                }
+                // no check and assume int64_t (see note above)
+                return 'L';
+            }
+
+            case value_t::number_float:
+                return get_ubjson_float_prefix(j.m_value.number_float);
+
+            case value_t::string:
+                return 'S';
+
+            case value_t::array:
+                return '[';
+
+            case value_t::object:
+                return '{';
+
+            default:  // discarded values
+                return 'N';
+        }
+    }
+
+    static constexpr CharType get_ubjson_float_prefix(float /*unused*/)
+    {
+        return 'd';  // float 32
+    }
+
+    static constexpr CharType get_ubjson_float_prefix(double /*unused*/)
+    {
+        return 'D';  // float 64
+    }
+
+    ///////////////////////
+    // Utility functions //
+    ///////////////////////
+
+    /*
+    @brief write a number to output input
+    @param[in] n number of type @a NumberType
+    @tparam NumberType the type of the number
+    @tparam OutputIsLittleEndian Set to true if output data is
+                                 required to be little endian
+
+    @note This function needs to respect the system's endianess, because bytes
+          in CBOR, MessagePack, and UBJSON are stored in network order (big
+          endian) and therefore need reordering on little endian systems.
+    */
+    template<typename NumberType, bool OutputIsLittleEndian = false>
+    void write_number(const NumberType n)
+    {
+        // step 1: write number to array of length NumberType
+        std::array<CharType, sizeof(NumberType)> vec;
+        std::memcpy(vec.data(), &n, sizeof(NumberType));
+
+        // step 2: write array to output (with possible reordering)
+        if (is_little_endian and not OutputIsLittleEndian)
+        {
+            // reverse byte order prior to conversion if necessary
+            std::reverse(vec.begin(), vec.end());
+        }
+
+        oa->write_characters(vec.data(), sizeof(NumberType));
+    }
+
+  public:
+    // The following to_char_type functions are implement the conversion
+    // between uint8_t and CharType. In case CharType is not unsigned,
+    // such a conversion is required to allow values greater than 128.
+    // See <https://github.com/nlohmann/json/issues/1286> for a discussion.
+    template < typename C = CharType,
+               enable_if_t < std::is_signed<C>::value and std::is_signed<char>::value > * = nullptr >
+    static constexpr CharType to_char_type(std::uint8_t x) noexcept
+    {
+        return *reinterpret_cast<char*>(&x);
+    }
+
+    template < typename C = CharType,
+               enable_if_t < std::is_signed<C>::value and std::is_unsigned<char>::value > * = nullptr >
+    static CharType to_char_type(std::uint8_t x) noexcept
+    {
+        static_assert(sizeof(std::uint8_t) == sizeof(CharType), "size of CharType must be equal to std::uint8_t");
+        static_assert(std::is_pod<CharType>::value, "CharType must be POD");
+        CharType result;
+        std::memcpy(&result, &x, sizeof(x));
+        return result;
+    }
+
+    template<typename C = CharType,
+             enable_if_t<std::is_unsigned<C>::value>* = nullptr>
+    static constexpr CharType to_char_type(std::uint8_t x) noexcept
+    {
+        return x;
+    }
+
+    template < typename InputCharType, typename C = CharType,
+               enable_if_t <
+                   std::is_signed<C>::value and
+                   std::is_signed<char>::value and
+                   std::is_same<char, typename std::remove_cv<InputCharType>::type>::value
+                   > * = nullptr >
+    static constexpr CharType to_char_type(InputCharType x) noexcept
+    {
+        return x;
+    }
+
+  private:
+    /// whether we can assume little endianess
+    const bool is_little_endian = binary_reader<BasicJsonType>::little_endianess();
+
+    /// the output
+    output_adapter_t<CharType> oa = nullptr;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/output/serializer.hpp>
+
+
+#include <algorithm> // reverse, remove, fill, find, none_of
+#include <array> // array
+#include <cassert> // assert
+#include <ciso646> // and, or
+#include <clocale> // localeconv, lconv
+#include <cmath> // labs, isfinite, isnan, signbit
+#include <cstddef> // size_t, ptrdiff_t
+#include <cstdint> // uint8_t
+#include <cstdio> // snprintf
+#include <limits> // numeric_limits
+#include <string> // string
+#include <type_traits> // is_same
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/conversions/to_chars.hpp>
+
+
+#include <cassert> // assert
+#include <ciso646> // or, and, not
+#include <cmath>   // signbit, isfinite
+#include <cstdint> // intN_t, uintN_t
+#include <cstring> // memcpy, memmove
+
+namespace nlohmann
+{
+namespace detail
+{
+
+/*!
+@brief implements the Grisu2 algorithm for binary to decimal floating-point
+conversion.
+
+This implementation is a slightly modified version of the reference
+implementation which may be obtained from
+http://florian.loitsch.com/publications (bench.tar.gz).
+
+The code is distributed under the MIT license, Copyright (c) 2009 Florian Loitsch.
+
+For a detailed description of the algorithm see:
+
+[1] Loitsch, "Printing Floating-Point Numbers Quickly and Accurately with
+    Integers", Proceedings of the ACM SIGPLAN 2010 Conference on Programming
+    Language Design and Implementation, PLDI 2010
+[2] Burger, Dybvig, "Printing Floating-Point Numbers Quickly and Accurately",
+    Proceedings of the ACM SIGPLAN 1996 Conference on Programming Language
+    Design and Implementation, PLDI 1996
+*/
+namespace dtoa_impl
+{
+
+template <typename Target, typename Source>
+Target reinterpret_bits(const Source source)
+{
+    static_assert(sizeof(Target) == sizeof(Source), "size mismatch");
+
+    Target target;
+    std::memcpy(&target, &source, sizeof(Source));
+    return target;
+}
+
+struct diyfp // f * 2^e
+{
+    static constexpr int kPrecision = 64; // = q
+
+    uint64_t f = 0;
+    int e = 0;
+
+    constexpr diyfp(uint64_t f_, int e_) noexcept : f(f_), e(e_) {}
+
+    /*!
+    @brief returns x - y
+    @pre x.e == y.e and x.f >= y.f
+    */
+    static diyfp sub(const diyfp& x, const diyfp& y) noexcept
+    {
+        assert(x.e == y.e);
+        assert(x.f >= y.f);
+
+        return {x.f - y.f, x.e};
+    }
+
+    /*!
+    @brief returns x * y
+    @note The result is rounded. (Only the upper q bits are returned.)
+    */
+    static diyfp mul(const diyfp& x, const diyfp& y) noexcept
+    {
+        static_assert(kPrecision == 64, "internal error");
+
+        // Computes:
+        //  f = round((x.f * y.f) / 2^q)
+        //  e = x.e + y.e + q
+
+        // Emulate the 64-bit * 64-bit multiplication:
+        //
+        // p = u * v
+        //   = (u_lo + 2^32 u_hi) (v_lo + 2^32 v_hi)
+        //   = (u_lo v_lo         ) + 2^32 ((u_lo v_hi         ) + (u_hi v_lo         )) + 2^64 (u_hi v_hi         )
+        //   = (p0                ) + 2^32 ((p1                ) + (p2                )) + 2^64 (p3                )
+        //   = (p0_lo + 2^32 p0_hi) + 2^32 ((p1_lo + 2^32 p1_hi) + (p2_lo + 2^32 p2_hi)) + 2^64 (p3                )
+        //   = (p0_lo             ) + 2^32 (p0_hi + p1_lo + p2_lo                      ) + 2^64 (p1_hi + p2_hi + p3)
+        //   = (p0_lo             ) + 2^32 (Q                                          ) + 2^64 (H                 )
+        //   = (p0_lo             ) + 2^32 (Q_lo + 2^32 Q_hi                           ) + 2^64 (H                 )
+        //
+        // (Since Q might be larger than 2^32 - 1)
+        //
+        //   = (p0_lo + 2^32 Q_lo) + 2^64 (Q_hi + H)
+        //
+        // (Q_hi + H does not overflow a 64-bit int)
+        //
+        //   = p_lo + 2^64 p_hi
+
+        const uint64_t u_lo = x.f & 0xFFFFFFFF;
+        const uint64_t u_hi = x.f >> 32;
+        const uint64_t v_lo = y.f & 0xFFFFFFFF;
+        const uint64_t v_hi = y.f >> 32;
+
+        const uint64_t p0 = u_lo * v_lo;
+        const uint64_t p1 = u_lo * v_hi;
+        const uint64_t p2 = u_hi * v_lo;
+        const uint64_t p3 = u_hi * v_hi;
+
+        const uint64_t p0_hi = p0 >> 32;
+        const uint64_t p1_lo = p1 & 0xFFFFFFFF;
+        const uint64_t p1_hi = p1 >> 32;
+        const uint64_t p2_lo = p2 & 0xFFFFFFFF;
+        const uint64_t p2_hi = p2 >> 32;
+
+        uint64_t Q = p0_hi + p1_lo + p2_lo;
+
+        // The full product might now be computed as
+        //
+        // p_hi = p3 + p2_hi + p1_hi + (Q >> 32)
+        // p_lo = p0_lo + (Q << 32)
+        //
+        // But in this particular case here, the full p_lo is not required.
+        // Effectively we only need to add the highest bit in p_lo to p_hi (and
+        // Q_hi + 1 does not overflow).
+
+        Q += uint64_t{1} << (64 - 32 - 1); // round, ties up
+
+        const uint64_t h = p3 + p2_hi + p1_hi + (Q >> 32);
+
+        return {h, x.e + y.e + 64};
+    }
+
+    /*!
+    @brief normalize x such that the significand is >= 2^(q-1)
+    @pre x.f != 0
+    */
+    static diyfp normalize(diyfp x) noexcept
+    {
+        assert(x.f != 0);
+
+        while ((x.f >> 63) == 0)
+        {
+            x.f <<= 1;
+            x.e--;
+        }
+
+        return x;
+    }
+
+    /*!
+    @brief normalize x such that the result has the exponent E
+    @pre e >= x.e and the upper e - x.e bits of x.f must be zero.
+    */
+    static diyfp normalize_to(const diyfp& x, const int target_exponent) noexcept
+    {
+        const int delta = x.e - target_exponent;
+
+        assert(delta >= 0);
+        assert(((x.f << delta) >> delta) == x.f);
+
+        return {x.f << delta, target_exponent};
+    }
+};
+
+struct boundaries
+{
+    diyfp w;
+    diyfp minus;
+    diyfp plus;
+};
+
+/*!
+Compute the (normalized) diyfp representing the input number 'value' and its
+boundaries.
+
+@pre value must be finite and positive
+*/
+template <typename FloatType>
+boundaries compute_boundaries(FloatType value)
+{
+    assert(std::isfinite(value));
+    assert(value > 0);
+
+    // Convert the IEEE representation into a diyfp.
+    //
+    // If v is denormal:
+    //      value = 0.F * 2^(1 - bias) = (          F) * 2^(1 - bias - (p-1))
+    // If v is normalized:
+    //      value = 1.F * 2^(E - bias) = (2^(p-1) + F) * 2^(E - bias - (p-1))
+
+    static_assert(std::numeric_limits<FloatType>::is_iec559,
+                  "internal error: dtoa_short requires an IEEE-754 floating-point implementation");
+
+    constexpr int      kPrecision = std::numeric_limits<FloatType>::digits; // = p (includes the hidden bit)
+    constexpr int      kBias      = std::numeric_limits<FloatType>::max_exponent - 1 + (kPrecision - 1);
+    constexpr int      kMinExp    = 1 - kBias;
+    constexpr uint64_t kHiddenBit = uint64_t{1} << (kPrecision - 1); // = 2^(p-1)
+
+    using bits_type = typename std::conditional< kPrecision == 24, uint32_t, uint64_t >::type;
+
+    const uint64_t bits = reinterpret_bits<bits_type>(value);
+    const uint64_t E = bits >> (kPrecision - 1);
+    const uint64_t F = bits & (kHiddenBit - 1);
+
+    const bool is_denormal = (E == 0);
+    const diyfp v = is_denormal
+                    ? diyfp(F, kMinExp)
+                    : diyfp(F + kHiddenBit, static_cast<int>(E) - kBias);
+
+    // Compute the boundaries m- and m+ of the floating-point value
+    // v = f * 2^e.
+    //
+    // Determine v- and v+, the floating-point predecessor and successor if v,
+    // respectively.
+    //
+    //      v- = v - 2^e        if f != 2^(p-1) or e == e_min                (A)
+    //         = v - 2^(e-1)    if f == 2^(p-1) and e > e_min                (B)
+    //
+    //      v+ = v + 2^e
+    //
+    // Let m- = (v- + v) / 2 and m+ = (v + v+) / 2. All real numbers _strictly_
+    // between m- and m+ round to v, regardless of how the input rounding
+    // algorithm breaks ties.
+    //
+    //      ---+-------------+-------------+-------------+-------------+---  (A)
+    //         v-            m-            v             m+            v+
+    //
+    //      -----------------+------+------+-------------+-------------+---  (B)
+    //                       v-     m-     v             m+            v+
+
+    const bool lower_boundary_is_closer = (F == 0 and E > 1);
+    const diyfp m_plus = diyfp(2 * v.f + 1, v.e - 1);
+    const diyfp m_minus = lower_boundary_is_closer
+                          ? diyfp(4 * v.f - 1, v.e - 2)  // (B)
+                          : diyfp(2 * v.f - 1, v.e - 1); // (A)
+
+    // Determine the normalized w+ = m+.
+    const diyfp w_plus = diyfp::normalize(m_plus);
+
+    // Determine w- = m- such that e_(w-) = e_(w+).
+    const diyfp w_minus = diyfp::normalize_to(m_minus, w_plus.e);
+
+    return {diyfp::normalize(v), w_minus, w_plus};
+}
+
+// Given normalized diyfp w, Grisu needs to find a (normalized) cached
+// power-of-ten c, such that the exponent of the product c * w = f * 2^e lies
+// within a certain range [alpha, gamma] (Definition 3.2 from [1])
+//
+//      alpha <= e = e_c + e_w + q <= gamma
+//
+// or
+//
+//      f_c * f_w * 2^alpha <= f_c 2^(e_c) * f_w 2^(e_w) * 2^q
+//                          <= f_c * f_w * 2^gamma
+//
+// Since c and w are normalized, i.e. 2^(q-1) <= f < 2^q, this implies
+//
+//      2^(q-1) * 2^(q-1) * 2^alpha <= c * w * 2^q < 2^q * 2^q * 2^gamma
+//
+// or
+//
+//      2^(q - 2 + alpha) <= c * w < 2^(q + gamma)
+//
+// The choice of (alpha,gamma) determines the size of the table and the form of
+// the digit generation procedure. Using (alpha,gamma)=(-60,-32) works out well
+// in practice:
+//
+// The idea is to cut the number c * w = f * 2^e into two parts, which can be
+// processed independently: An integral part p1, and a fractional part p2:
+//
+//      f * 2^e = ( (f div 2^-e) * 2^-e + (f mod 2^-e) ) * 2^e
+//              = (f div 2^-e) + (f mod 2^-e) * 2^e
+//              = p1 + p2 * 2^e
+//
+// The conversion of p1 into decimal form requires a series of divisions and
+// modulos by (a power of) 10. These operations are faster for 32-bit than for
+// 64-bit integers, so p1 should ideally fit into a 32-bit integer. This can be
+// achieved by choosing
+//
+//      -e >= 32   or   e <= -32 := gamma
+//
+// In order to convert the fractional part
+//
+//      p2 * 2^e = p2 / 2^-e = d[-1] / 10^1 + d[-2] / 10^2 + ...
+//
+// into decimal form, the fraction is repeatedly multiplied by 10 and the digits
+// d[-i] are extracted in order:
+//
+//      (10 * p2) div 2^-e = d[-1]
+//      (10 * p2) mod 2^-e = d[-2] / 10^1 + ...
+//
+// The multiplication by 10 must not overflow. It is sufficient to choose
+//
+//      10 * p2 < 16 * p2 = 2^4 * p2 <= 2^64.
+//
+// Since p2 = f mod 2^-e < 2^-e,
+//
+//      -e <= 60   or   e >= -60 := alpha
+
+constexpr int kAlpha = -60;
+constexpr int kGamma = -32;
+
+struct cached_power // c = f * 2^e ~= 10^k
+{
+    uint64_t f;
+    int e;
+    int k;
+};
+
+/*!
+For a normalized diyfp w = f * 2^e, this function returns a (normalized) cached
+power-of-ten c = f_c * 2^e_c, such that the exponent of the product w * c
+satisfies (Definition 3.2 from [1])
+
+     alpha <= e_c + e + q <= gamma.
+*/
+inline cached_power get_cached_power_for_binary_exponent(int e)
+{
+    // Now
+    //
+    //      alpha <= e_c + e + q <= gamma                                    (1)
+    //      ==> f_c * 2^alpha <= c * 2^e * 2^q
+    //
+    // and since the c's are normalized, 2^(q-1) <= f_c,
+    //
+    //      ==> 2^(q - 1 + alpha) <= c * 2^(e + q)
+    //      ==> 2^(alpha - e - 1) <= c
+    //
+    // If c were an exakt power of ten, i.e. c = 10^k, one may determine k as
+    //
+    //      k = ceil( log_10( 2^(alpha - e - 1) ) )
+    //        = ceil( (alpha - e - 1) * log_10(2) )
+    //
+    // From the paper:
+    // "In theory the result of the procedure could be wrong since c is rounded,
+    //  and the computation itself is approximated [...]. In practice, however,
+    //  this simple function is sufficient."
+    //
+    // For IEEE double precision floating-point numbers converted into
+    // normalized diyfp's w = f * 2^e, with q = 64,
+    //
+    //      e >= -1022      (min IEEE exponent)
+    //           -52        (p - 1)
+    //           -52        (p - 1, possibly normalize denormal IEEE numbers)
+    //           -11        (normalize the diyfp)
+    //         = -1137
+    //
+    // and
+    //
+    //      e <= +1023      (max IEEE exponent)
+    //           -52        (p - 1)
+    //           -11        (normalize the diyfp)
+    //         = 960
+    //
+    // This binary exponent range [-1137,960] results in a decimal exponent
+    // range [-307,324]. One does not need to store a cached power for each
+    // k in this range. For each such k it suffices to find a cached power
+    // such that the exponent of the product lies in [alpha,gamma].
+    // This implies that the difference of the decimal exponents of adjacent
+    // table entries must be less than or equal to
+    //
+    //      floor( (gamma - alpha) * log_10(2) ) = 8.
+    //
+    // (A smaller distance gamma-alpha would require a larger table.)
+
+    // NB:
+    // Actually this function returns c, such that -60 <= e_c + e + 64 <= -34.
+
+    constexpr int kCachedPowersSize = 79;
+    constexpr int kCachedPowersMinDecExp = -300;
+    constexpr int kCachedPowersDecStep = 8;
+
+    static constexpr cached_power kCachedPowers[] =
+    {
+        { 0xAB70FE17C79AC6CA, -1060, -300 },
+        { 0xFF77B1FCBEBCDC4F, -1034, -292 },
+        { 0xBE5691EF416BD60C, -1007, -284 },
+        { 0x8DD01FAD907FFC3C,  -980, -276 },
+        { 0xD3515C2831559A83,  -954, -268 },
+        { 0x9D71AC8FADA6C9B5,  -927, -260 },
+        { 0xEA9C227723EE8BCB,  -901, -252 },
+        { 0xAECC49914078536D,  -874, -244 },
+        { 0x823C12795DB6CE57,  -847, -236 },
+        { 0xC21094364DFB5637,  -821, -228 },
+        { 0x9096EA6F3848984F,  -794, -220 },
+        { 0xD77485CB25823AC7,  -768, -212 },
+        { 0xA086CFCD97BF97F4,  -741, -204 },
+        { 0xEF340A98172AACE5,  -715, -196 },
+        { 0xB23867FB2A35B28E,  -688, -188 },
+        { 0x84C8D4DFD2C63F3B,  -661, -180 },
+        { 0xC5DD44271AD3CDBA,  -635, -172 },
+        { 0x936B9FCEBB25C996,  -608, -164 },
+        { 0xDBAC6C247D62A584,  -582, -156 },
+        { 0xA3AB66580D5FDAF6,  -555, -148 },
+        { 0xF3E2F893DEC3F126,  -529, -140 },
+        { 0xB5B5ADA8AAFF80B8,  -502, -132 },
+        { 0x87625F056C7C4A8B,  -475, -124 },
+        { 0xC9BCFF6034C13053,  -449, -116 },
+        { 0x964E858C91BA2655,  -422, -108 },
+        { 0xDFF9772470297EBD,  -396, -100 },
+        { 0xA6DFBD9FB8E5B88F,  -369,  -92 },
+        { 0xF8A95FCF88747D94,  -343,  -84 },
+        { 0xB94470938FA89BCF,  -316,  -76 },
+        { 0x8A08F0F8BF0F156B,  -289,  -68 },
+        { 0xCDB02555653131B6,  -263,  -60 },
+        { 0x993FE2C6D07B7FAC,  -236,  -52 },
+        { 0xE45C10C42A2B3B06,  -210,  -44 },
+        { 0xAA242499697392D3,  -183,  -36 },
+        { 0xFD87B5F28300CA0E,  -157,  -28 },
+        { 0xBCE5086492111AEB,  -130,  -20 },
+        { 0x8CBCCC096F5088CC,  -103,  -12 },
+        { 0xD1B71758E219652C,   -77,   -4 },
+        { 0x9C40000000000000,   -50,    4 },
+        { 0xE8D4A51000000000,   -24,   12 },
+        { 0xAD78EBC5AC620000,     3,   20 },
+        { 0x813F3978F8940984,    30,   28 },
+        { 0xC097CE7BC90715B3,    56,   36 },
+        { 0x8F7E32CE7BEA5C70,    83,   44 },
+        { 0xD5D238A4ABE98068,   109,   52 },
+        { 0x9F4F2726179A2245,   136,   60 },
+        { 0xED63A231D4C4FB27,   162,   68 },
+        { 0xB0DE65388CC8ADA8,   189,   76 },
+        { 0x83C7088E1AAB65DB,   216,   84 },
+        { 0xC45D1DF942711D9A,   242,   92 },
+        { 0x924D692CA61BE758,   269,  100 },
+        { 0xDA01EE641A708DEA,   295,  108 },
+        { 0xA26DA3999AEF774A,   322,  116 },
+        { 0xF209787BB47D6B85,   348,  124 },
+        { 0xB454E4A179DD1877,   375,  132 },
+        { 0x865B86925B9BC5C2,   402,  140 },
+        { 0xC83553C5C8965D3D,   428,  148 },
+        { 0x952AB45CFA97A0B3,   455,  156 },
+        { 0xDE469FBD99A05FE3,   481,  164 },
+        { 0xA59BC234DB398C25,   508,  172 },
+        { 0xF6C69A72A3989F5C,   534,  180 },
+        { 0xB7DCBF5354E9BECE,   561,  188 },
+        { 0x88FCF317F22241E2,   588,  196 },
+        { 0xCC20CE9BD35C78A5,   614,  204 },
+        { 0x98165AF37B2153DF,   641,  212 },
+        { 0xE2A0B5DC971F303A,   667,  220 },
+        { 0xA8D9D1535CE3B396,   694,  228 },
+        { 0xFB9B7CD9A4A7443C,   720,  236 },
+        { 0xBB764C4CA7A44410,   747,  244 },
+        { 0x8BAB8EEFB6409C1A,   774,  252 },
+        { 0xD01FEF10A657842C,   800,  260 },
+        { 0x9B10A4E5E9913129,   827,  268 },
+        { 0xE7109BFBA19C0C9D,   853,  276 },
+        { 0xAC2820D9623BF429,   880,  284 },
+        { 0x80444B5E7AA7CF85,   907,  292 },
+        { 0xBF21E44003ACDD2D,   933,  300 },
+        { 0x8E679C2F5E44FF8F,   960,  308 },
+        { 0xD433179D9C8CB841,   986,  316 },
+        { 0x9E19DB92B4E31BA9,  1013,  324 },
+    };
+
+    // This computation gives exactly the same results for k as
+    //      k = ceil((kAlpha - e - 1) * 0.30102999566398114)
+    // for |e| <= 1500, but doesn't require floating-point operations.
+    // NB: log_10(2) ~= 78913 / 2^18
+    assert(e >= -1500);
+    assert(e <=  1500);
+    const int f = kAlpha - e - 1;
+    const int k = (f * 78913) / (1 << 18) + static_cast<int>(f > 0);
+
+    const int index = (-kCachedPowersMinDecExp + k + (kCachedPowersDecStep - 1)) / kCachedPowersDecStep;
+    assert(index >= 0);
+    assert(index < kCachedPowersSize);
+    static_cast<void>(kCachedPowersSize); // Fix warning.
+
+    const cached_power cached = kCachedPowers[index];
+    assert(kAlpha <= cached.e + e + 64);
+    assert(kGamma >= cached.e + e + 64);
+
+    return cached;
+}
+
+/*!
+For n != 0, returns k, such that pow10 := 10^(k-1) <= n < 10^k.
+For n == 0, returns 1 and sets pow10 := 1.
+*/
+inline int find_largest_pow10(const uint32_t n, uint32_t& pow10)
+{
+    // LCOV_EXCL_START
+    if (n >= 1000000000)
+    {
+        pow10 = 1000000000;
+        return 10;
+    }
+    // LCOV_EXCL_STOP
+    else if (n >= 100000000)
+    {
+        pow10 = 100000000;
+        return  9;
+    }
+    else if (n >= 10000000)
+    {
+        pow10 = 10000000;
+        return  8;
+    }
+    else if (n >= 1000000)
+    {
+        pow10 = 1000000;
+        return  7;
+    }
+    else if (n >= 100000)
+    {
+        pow10 = 100000;
+        return  6;
+    }
+    else if (n >= 10000)
+    {
+        pow10 = 10000;
+        return  5;
+    }
+    else if (n >= 1000)
+    {
+        pow10 = 1000;
+        return  4;
+    }
+    else if (n >= 100)
+    {
+        pow10 = 100;
+        return  3;
+    }
+    else if (n >= 10)
+    {
+        pow10 = 10;
+        return  2;
+    }
+    else
+    {
+        pow10 = 1;
+        return 1;
+    }
+}
+
+inline void grisu2_round(char* buf, int len, uint64_t dist, uint64_t delta,
+                         uint64_t rest, uint64_t ten_k)
+{
+    assert(len >= 1);
+    assert(dist <= delta);
+    assert(rest <= delta);
+    assert(ten_k > 0);
+
+    //               <--------------------------- delta ---->
+    //                                  <---- dist --------->
+    // --------------[------------------+-------------------]--------------
+    //               M-                 w                   M+
+    //
+    //                                  ten_k
+    //                                <------>
+    //                                       <---- rest ---->
+    // --------------[------------------+----+--------------]--------------
+    //                                  w    V
+    //                                       = buf * 10^k
+    //
+    // ten_k represents a unit-in-the-last-place in the decimal representation
+    // stored in buf.
+    // Decrement buf by ten_k while this takes buf closer to w.
+
+    // The tests are written in this order to avoid overflow in unsigned
+    // integer arithmetic.
+
+    while (rest < dist
+            and delta - rest >= ten_k
+            and (rest + ten_k < dist or dist - rest > rest + ten_k - dist))
+    {
+        assert(buf[len - 1] != '0');
+        buf[len - 1]--;
+        rest += ten_k;
+    }
+}
+
+/*!
+Generates V = buffer * 10^decimal_exponent, such that M- <= V <= M+.
+M- and M+ must be normalized and share the same exponent -60 <= e <= -32.
+*/
+inline void grisu2_digit_gen(char* buffer, int& length, int& decimal_exponent,
+                             diyfp M_minus, diyfp w, diyfp M_plus)
+{
+    static_assert(kAlpha >= -60, "internal error");
+    static_assert(kGamma <= -32, "internal error");
+
+    // Generates the digits (and the exponent) of a decimal floating-point
+    // number V = buffer * 10^decimal_exponent in the range [M-, M+]. The diyfp's
+    // w, M- and M+ share the same exponent e, which satisfies alpha <= e <= gamma.
+    //
+    //               <--------------------------- delta ---->
+    //                                  <---- dist --------->
+    // --------------[------------------+-------------------]--------------
+    //               M-                 w                   M+
+    //
+    // Grisu2 generates the digits of M+ from left to right and stops as soon as
+    // V is in [M-,M+].
+
+    assert(M_plus.e >= kAlpha);
+    assert(M_plus.e <= kGamma);
+
+    uint64_t delta = diyfp::sub(M_plus, M_minus).f; // (significand of (M+ - M-), implicit exponent is e)
+    uint64_t dist  = diyfp::sub(M_plus, w      ).f; // (significand of (M+ - w ), implicit exponent is e)
+
+    // Split M+ = f * 2^e into two parts p1 and p2 (note: e < 0):
+    //
+    //      M+ = f * 2^e
+    //         = ((f div 2^-e) * 2^-e + (f mod 2^-e)) * 2^e
+    //         = ((p1        ) * 2^-e + (p2        )) * 2^e
+    //         = p1 + p2 * 2^e
+
+    const diyfp one(uint64_t{1} << -M_plus.e, M_plus.e);
+
+    auto p1 = static_cast<uint32_t>(M_plus.f >> -one.e); // p1 = f div 2^-e (Since -e >= 32, p1 fits into a 32-bit int.)
+    uint64_t p2 = M_plus.f & (one.f - 1);                    // p2 = f mod 2^-e
+
+    // 1)
+    //
+    // Generate the digits of the integral part p1 = d[n-1]...d[1]d[0]
+
+    assert(p1 > 0);
+
+    uint32_t pow10;
+    const int k = find_largest_pow10(p1, pow10);
+
+    //      10^(k-1) <= p1 < 10^k, pow10 = 10^(k-1)
+    //
+    //      p1 = (p1 div 10^(k-1)) * 10^(k-1) + (p1 mod 10^(k-1))
+    //         = (d[k-1]         ) * 10^(k-1) + (p1 mod 10^(k-1))
+    //
+    //      M+ = p1                                             + p2 * 2^e
+    //         = d[k-1] * 10^(k-1) + (p1 mod 10^(k-1))          + p2 * 2^e
+    //         = d[k-1] * 10^(k-1) + ((p1 mod 10^(k-1)) * 2^-e + p2) * 2^e
+    //         = d[k-1] * 10^(k-1) + (                         rest) * 2^e
+    //
+    // Now generate the digits d[n] of p1 from left to right (n = k-1,...,0)
+    //
+    //      p1 = d[k-1]...d[n] * 10^n + d[n-1]...d[0]
+    //
+    // but stop as soon as
+    //
+    //      rest * 2^e = (d[n-1]...d[0] * 2^-e + p2) * 2^e <= delta * 2^e
+
+    int n = k;
+    while (n > 0)
+    {
+        // Invariants:
+        //      M+ = buffer * 10^n + (p1 + p2 * 2^e)    (buffer = 0 for n = k)
+        //      pow10 = 10^(n-1) <= p1 < 10^n
+        //
+        const uint32_t d = p1 / pow10;  // d = p1 div 10^(n-1)
+        const uint32_t r = p1 % pow10;  // r = p1 mod 10^(n-1)
+        //
+        //      M+ = buffer * 10^n + (d * 10^(n-1) + r) + p2 * 2^e
+        //         = (buffer * 10 + d) * 10^(n-1) + (r + p2 * 2^e)
+        //
+        assert(d <= 9);
+        buffer[length++] = static_cast<char>('0' + d); // buffer := buffer * 10 + d
+        //
+        //      M+ = buffer * 10^(n-1) + (r + p2 * 2^e)
+        //
+        p1 = r;
+        n--;
+        //
+        //      M+ = buffer * 10^n + (p1 + p2 * 2^e)
+        //      pow10 = 10^n
+        //
+
+        // Now check if enough digits have been generated.
+        // Compute
+        //
+        //      p1 + p2 * 2^e = (p1 * 2^-e + p2) * 2^e = rest * 2^e
+        //
+        // Note:
+        // Since rest and delta share the same exponent e, it suffices to
+        // compare the significands.
+        const uint64_t rest = (uint64_t{p1} << -one.e) + p2;
+        if (rest <= delta)
+        {
+            // V = buffer * 10^n, with M- <= V <= M+.
+
+            decimal_exponent += n;
+
+            // We may now just stop. But instead look if the buffer could be
+            // decremented to bring V closer to w.
+            //
+            // pow10 = 10^n is now 1 ulp in the decimal representation V.
+            // The rounding procedure works with diyfp's with an implicit
+            // exponent of e.
+            //
+            //      10^n = (10^n * 2^-e) * 2^e = ulp * 2^e
+            //
+            const uint64_t ten_n = uint64_t{pow10} << -one.e;
+            grisu2_round(buffer, length, dist, delta, rest, ten_n);
+
+            return;
+        }
+
+        pow10 /= 10;
+        //
+        //      pow10 = 10^(n-1) <= p1 < 10^n
+        // Invariants restored.
+    }
+
+    // 2)
+    //
+    // The digits of the integral part have been generated:
+    //
+    //      M+ = d[k-1]...d[1]d[0] + p2 * 2^e
+    //         = buffer            + p2 * 2^e
+    //
+    // Now generate the digits of the fractional part p2 * 2^e.
+    //
+    // Note:
+    // No decimal point is generated: the exponent is adjusted instead.
+    //
+    // p2 actually represents the fraction
+    //
+    //      p2 * 2^e
+    //          = p2 / 2^-e
+    //          = d[-1] / 10^1 + d[-2] / 10^2 + ...
+    //
+    // Now generate the digits d[-m] of p1 from left to right (m = 1,2,...)
+    //
+    //      p2 * 2^e = d[-1]d[-2]...d[-m] * 10^-m
+    //                      + 10^-m * (d[-m-1] / 10^1 + d[-m-2] / 10^2 + ...)
+    //
+    // using
+    //
+    //      10^m * p2 = ((10^m * p2) div 2^-e) * 2^-e + ((10^m * p2) mod 2^-e)
+    //                = (                   d) * 2^-e + (                   r)
+    //
+    // or
+    //      10^m * p2 * 2^e = d + r * 2^e
+    //
+    // i.e.
+    //
+    //      M+ = buffer + p2 * 2^e
+    //         = buffer + 10^-m * (d + r * 2^e)
+    //         = (buffer * 10^m + d) * 10^-m + 10^-m * r * 2^e
+    //
+    // and stop as soon as 10^-m * r * 2^e <= delta * 2^e
+
+    assert(p2 > delta);
+
+    int m = 0;
+    for (;;)
+    {
+        // Invariant:
+        //      M+ = buffer * 10^-m + 10^-m * (d[-m-1] / 10 + d[-m-2] / 10^2 + ...) * 2^e
+        //         = buffer * 10^-m + 10^-m * (p2                                 ) * 2^e
+        //         = buffer * 10^-m + 10^-m * (1/10 * (10 * p2)                   ) * 2^e
+        //         = buffer * 10^-m + 10^-m * (1/10 * ((10*p2 div 2^-e) * 2^-e + (10*p2 mod 2^-e)) * 2^e
+        //
+        assert(p2 <= UINT64_MAX / 10);
+        p2 *= 10;
+        const uint64_t d = p2 >> -one.e;     // d = (10 * p2) div 2^-e
+        const uint64_t r = p2 & (one.f - 1); // r = (10 * p2) mod 2^-e
+        //
+        //      M+ = buffer * 10^-m + 10^-m * (1/10 * (d * 2^-e + r) * 2^e
+        //         = buffer * 10^-m + 10^-m * (1/10 * (d + r * 2^e))
+        //         = (buffer * 10 + d) * 10^(-m-1) + 10^(-m-1) * r * 2^e
+        //
+        assert(d <= 9);
+        buffer[length++] = static_cast<char>('0' + d); // buffer := buffer * 10 + d
+        //
+        //      M+ = buffer * 10^(-m-1) + 10^(-m-1) * r * 2^e
+        //
+        p2 = r;
+        m++;
+        //
+        //      M+ = buffer * 10^-m + 10^-m * p2 * 2^e
+        // Invariant restored.
+
+        // Check if enough digits have been generated.
+        //
+        //      10^-m * p2 * 2^e <= delta * 2^e
+        //              p2 * 2^e <= 10^m * delta * 2^e
+        //                    p2 <= 10^m * delta
+        delta *= 10;
+        dist  *= 10;
+        if (p2 <= delta)
+        {
+            break;
+        }
+    }
+
+    // V = buffer * 10^-m, with M- <= V <= M+.
+
+    decimal_exponent -= m;
+
+    // 1 ulp in the decimal representation is now 10^-m.
+    // Since delta and dist are now scaled by 10^m, we need to do the
+    // same with ulp in order to keep the units in sync.
+    //
+    //      10^m * 10^-m = 1 = 2^-e * 2^e = ten_m * 2^e
+    //
+    const uint64_t ten_m = one.f;
+    grisu2_round(buffer, length, dist, delta, p2, ten_m);
+
+    // By construction this algorithm generates the shortest possible decimal
+    // number (Loitsch, Theorem 6.2) which rounds back to w.
+    // For an input number of precision p, at least
+    //
+    //      N = 1 + ceil(p * log_10(2))
+    //
+    // decimal digits are sufficient to identify all binary floating-point
+    // numbers (Matula, "In-and-Out conversions").
+    // This implies that the algorithm does not produce more than N decimal
+    // digits.
+    //
+    //      N = 17 for p = 53 (IEEE double precision)
+    //      N = 9  for p = 24 (IEEE single precision)
+}
+
+/*!
+v = buf * 10^decimal_exponent
+len is the length of the buffer (number of decimal digits)
+The buffer must be large enough, i.e. >= max_digits10.
+*/
+inline void grisu2(char* buf, int& len, int& decimal_exponent,
+                   diyfp m_minus, diyfp v, diyfp m_plus)
+{
+    assert(m_plus.e == m_minus.e);
+    assert(m_plus.e == v.e);
+
+    //  --------(-----------------------+-----------------------)--------    (A)
+    //          m-                      v                       m+
+    //
+    //  --------------------(-----------+-----------------------)--------    (B)
+    //                      m-          v                       m+
+    //
+    // First scale v (and m- and m+) such that the exponent is in the range
+    // [alpha, gamma].
+
+    const cached_power cached = get_cached_power_for_binary_exponent(m_plus.e);
+
+    const diyfp c_minus_k(cached.f, cached.e); // = c ~= 10^-k
+
+    // The exponent of the products is = v.e + c_minus_k.e + q and is in the range [alpha,gamma]
+    const diyfp w       = diyfp::mul(v,       c_minus_k);
+    const diyfp w_minus = diyfp::mul(m_minus, c_minus_k);
+    const diyfp w_plus  = diyfp::mul(m_plus,  c_minus_k);
+
+    //  ----(---+---)---------------(---+---)---------------(---+---)----
+    //          w-                      w                       w+
+    //          = c*m-                  = c*v                   = c*m+
+    //
+    // diyfp::mul rounds its result and c_minus_k is approximated too. w, w- and
+    // w+ are now off by a small amount.
+    // In fact:
+    //
+    //      w - v * 10^k < 1 ulp
+    //
+    // To account for this inaccuracy, add resp. subtract 1 ulp.
+    //
+    //  --------+---[---------------(---+---)---------------]---+--------
+    //          w-  M-                  w                   M+  w+
+    //
+    // Now any number in [M-, M+] (bounds included) will round to w when input,
+    // regardless of how the input rounding algorithm breaks ties.
+    //
+    // And digit_gen generates the shortest possible such number in [M-, M+].
+    // Note that this does not mean that Grisu2 always generates the shortest
+    // possible number in the interval (m-, m+).
+    const diyfp M_minus(w_minus.f + 1, w_minus.e);
+    const diyfp M_plus (w_plus.f  - 1, w_plus.e );
+
+    decimal_exponent = -cached.k; // = -(-k) = k
+
+    grisu2_digit_gen(buf, len, decimal_exponent, M_minus, w, M_plus);
+}
+
+/*!
+v = buf * 10^decimal_exponent
+len is the length of the buffer (number of decimal digits)
+The buffer must be large enough, i.e. >= max_digits10.
+*/
+template <typename FloatType>
+void grisu2(char* buf, int& len, int& decimal_exponent, FloatType value)
+{
+    static_assert(diyfp::kPrecision >= std::numeric_limits<FloatType>::digits + 3,
+                  "internal error: not enough precision");
+
+    assert(std::isfinite(value));
+    assert(value > 0);
+
+    // If the neighbors (and boundaries) of 'value' are always computed for double-precision
+    // numbers, all float's can be recovered using strtod (and strtof). However, the resulting
+    // decimal representations are not exactly "short".
+    //
+    // The documentation for 'std::to_chars' (https://en.cppreference.com/w/cpp/utility/to_chars)
+    // says "value is converted to a string as if by std::sprintf in the default ("C") locale"
+    // and since sprintf promotes float's to double's, I think this is exactly what 'std::to_chars'
+    // does.
+    // On the other hand, the documentation for 'std::to_chars' requires that "parsing the
+    // representation using the corresponding std::from_chars function recovers value exactly". That
+    // indicates that single precision floating-point numbers should be recovered using
+    // 'std::strtof'.
+    //
+    // NB: If the neighbors are computed for single-precision numbers, there is a single float
+    //     (7.0385307e-26f) which can't be recovered using strtod. The resulting double precision
+    //     value is off by 1 ulp.
+#if 0
+    const boundaries w = compute_boundaries(static_cast<double>(value));
+#else
+    const boundaries w = compute_boundaries(value);
+#endif
+
+    grisu2(buf, len, decimal_exponent, w.minus, w.w, w.plus);
+}
+
+/*!
+@brief appends a decimal representation of e to buf
+@return a pointer to the element following the exponent.
+@pre -1000 < e < 1000
+*/
+inline char* append_exponent(char* buf, int e)
+{
+    assert(e > -1000);
+    assert(e <  1000);
+
+    if (e < 0)
+    {
+        e = -e;
+        *buf++ = '-';
+    }
+    else
+    {
+        *buf++ = '+';
+    }
+
+    auto k = static_cast<uint32_t>(e);
+    if (k < 10)
+    {
+        // Always print at least two digits in the exponent.
+        // This is for compatibility with printf("%g").
+        *buf++ = '0';
+        *buf++ = static_cast<char>('0' + k);
+    }
+    else if (k < 100)
+    {
+        *buf++ = static_cast<char>('0' + k / 10);
+        k %= 10;
+        *buf++ = static_cast<char>('0' + k);
+    }
+    else
+    {
+        *buf++ = static_cast<char>('0' + k / 100);
+        k %= 100;
+        *buf++ = static_cast<char>('0' + k / 10);
+        k %= 10;
+        *buf++ = static_cast<char>('0' + k);
+    }
+
+    return buf;
+}
+
+/*!
+@brief prettify v = buf * 10^decimal_exponent
+
+If v is in the range [10^min_exp, 10^max_exp) it will be printed in fixed-point
+notation. Otherwise it will be printed in exponential notation.
+
+@pre min_exp < 0
+@pre max_exp > 0
+*/
+inline char* format_buffer(char* buf, int len, int decimal_exponent,
+                           int min_exp, int max_exp)
+{
+    assert(min_exp < 0);
+    assert(max_exp > 0);
+
+    const int k = len;
+    const int n = len + decimal_exponent;
+
+    // v = buf * 10^(n-k)
+    // k is the length of the buffer (number of decimal digits)
+    // n is the position of the decimal point relative to the start of the buffer.
+
+    if (k <= n and n <= max_exp)
+    {
+        // digits[000]
+        // len <= max_exp + 2
+
+        std::memset(buf + k, '0', static_cast<size_t>(n - k));
+        // Make it look like a floating-point number (#362, #378)
+        buf[n + 0] = '.';
+        buf[n + 1] = '0';
+        return buf + (n + 2);
+    }
+
+    if (0 < n and n <= max_exp)
+    {
+        // dig.its
+        // len <= max_digits10 + 1
+
+        assert(k > n);
+
+        std::memmove(buf + (n + 1), buf + n, static_cast<size_t>(k - n));
+        buf[n] = '.';
+        return buf + (k + 1);
+    }
+
+    if (min_exp < n and n <= 0)
+    {
+        // 0.[000]digits
+        // len <= 2 + (-min_exp - 1) + max_digits10
+
+        std::memmove(buf + (2 + -n), buf, static_cast<size_t>(k));
+        buf[0] = '0';
+        buf[1] = '.';
+        std::memset(buf + 2, '0', static_cast<size_t>(-n));
+        return buf + (2 + (-n) + k);
+    }
+
+    if (k == 1)
+    {
+        // dE+123
+        // len <= 1 + 5
+
+        buf += 1;
+    }
+    else
+    {
+        // d.igitsE+123
+        // len <= max_digits10 + 1 + 5
+
+        std::memmove(buf + 2, buf + 1, static_cast<size_t>(k - 1));
+        buf[1] = '.';
+        buf += 1 + k;
+    }
+
+    *buf++ = 'e';
+    return append_exponent(buf, n - 1);
+}
+
+} // namespace dtoa_impl
+
+/*!
+@brief generates a decimal representation of the floating-point number value in [first, last).
+
+The format of the resulting decimal representation is similar to printf's %g
+format. Returns an iterator pointing past-the-end of the decimal representation.
+
+@note The input number must be finite, i.e. NaN's and Inf's are not supported.
+@note The buffer must be large enough.
+@note The result is NOT null-terminated.
+*/
+template <typename FloatType>
+char* to_chars(char* first, const char* last, FloatType value)
+{
+    static_cast<void>(last); // maybe unused - fix warning
+    assert(std::isfinite(value));
+
+    // Use signbit(value) instead of (value < 0) since signbit works for -0.
+    if (std::signbit(value))
+    {
+        value = -value;
+        *first++ = '-';
+    }
+
+    if (value == 0) // +-0
+    {
+        *first++ = '0';
+        // Make it look like a floating-point number (#362, #378)
+        *first++ = '.';
+        *first++ = '0';
+        return first;
+    }
+
+    assert(last - first >= std::numeric_limits<FloatType>::max_digits10);
+
+    // Compute v = buffer * 10^decimal_exponent.
+    // The decimal digits are stored in the buffer, which needs to be interpreted
+    // as an unsigned decimal integer.
+    // len is the length of the buffer, i.e. the number of decimal digits.
+    int len = 0;
+    int decimal_exponent = 0;
+    dtoa_impl::grisu2(first, len, decimal_exponent, value);
+
+    assert(len <= std::numeric_limits<FloatType>::max_digits10);
+
+    // Format the buffer like printf("%.*g", prec, value)
+    constexpr int kMinExp = -4;
+    // Use digits10 here to increase compatibility with version 2.
+    constexpr int kMaxExp = std::numeric_limits<FloatType>::digits10;
+
+    assert(last - first >= kMaxExp + 2);
+    assert(last - first >= 2 + (-kMinExp - 1) + std::numeric_limits<FloatType>::max_digits10);
+    assert(last - first >= std::numeric_limits<FloatType>::max_digits10 + 6);
+
+    return dtoa_impl::format_buffer(first, len, decimal_exponent, kMinExp, kMaxExp);
+}
+
+} // namespace detail
+} // namespace nlohmann
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/output/binary_writer.hpp>
+
+// #include <nlohmann/detail/output/output_adapters.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+///////////////////
+// serialization //
+///////////////////
+
+/// how to treat decoding errors
+enum class error_handler_t
+{
+    strict,  ///< throw a type_error exception in case of invalid UTF-8
+    replace, ///< replace invalid UTF-8 sequences with U+FFFD
+    ignore   ///< ignore invalid UTF-8 sequences
+};
+
+template<typename BasicJsonType>
+class serializer
+{
+    using string_t = typename BasicJsonType::string_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    static constexpr uint8_t UTF8_ACCEPT = 0;
+    static constexpr uint8_t UTF8_REJECT = 1;
+
+  public:
+    /*!
+    @param[in] s  output stream to serialize to
+    @param[in] ichar  indentation character to use
+    @param[in] error_handler_  how to react on decoding errors
+    */
+    serializer(output_adapter_t<char> s, const char ichar,
+               error_handler_t error_handler_ = error_handler_t::strict)
+        : o(std::move(s))
+        , loc(std::localeconv())
+        , thousands_sep(loc->thousands_sep == nullptr ? '\0' : * (loc->thousands_sep))
+        , decimal_point(loc->decimal_point == nullptr ? '\0' : * (loc->decimal_point))
+        , indent_char(ichar)
+        , indent_string(512, indent_char)
+        , error_handler(error_handler_)
+    {}
+
+    // delete because of pointer members
+    serializer(const serializer&) = delete;
+    serializer& operator=(const serializer&) = delete;
+    serializer(serializer&&) = delete;
+    serializer& operator=(serializer&&) = delete;
+    ~serializer() = default;
+
+    /*!
+    @brief internal implementation of the serialization function
+
+    This function is called by the public member function dump and organizes
+    the serialization internally. The indentation level is propagated as
+    additional parameter. In case of arrays and objects, the function is
+    called recursively.
+
+    - strings and object keys are escaped using `escape_string()`
+    - integer numbers are converted implicitly via `operator<<`
+    - floating-point numbers are converted to a string using `"%g"` format
+
+    @param[in] val             value to serialize
+    @param[in] pretty_print    whether the output shall be pretty-printed
+    @param[in] indent_step     the indent level
+    @param[in] current_indent  the current indent level (only used internally)
+    */
+    void dump(const BasicJsonType& val, const bool pretty_print,
+              const bool ensure_ascii,
+              const unsigned int indent_step,
+              const unsigned int current_indent = 0)
+    {
+        switch (val.m_type)
+        {
+            case value_t::object:
+            {
+                if (val.m_value.object->empty())
+                {
+                    o->write_characters("{}", 2);
+                    return;
+                }
+
+                if (pretty_print)
+                {
+                    o->write_characters("{\n", 2);
+
+                    // variable to hold indentation for recursive calls
+                    const auto new_indent = current_indent + indent_step;
+                    if (JSON_UNLIKELY(indent_string.size() < new_indent))
+                    {
+                        indent_string.resize(indent_string.size() * 2, ' ');
+                    }
+
+                    // first n-1 elements
+                    auto i = val.m_value.object->cbegin();
+                    for (std::size_t cnt = 0; cnt < val.m_value.object->size() - 1; ++cnt, ++i)
+                    {
+                        o->write_characters(indent_string.c_str(), new_indent);
+                        o->write_character('\"');
+                        dump_escaped(i->first, ensure_ascii);
+                        o->write_characters("\": ", 3);
+                        dump(i->second, true, ensure_ascii, indent_step, new_indent);
+                        o->write_characters(",\n", 2);
+                    }
+
+                    // last element
+                    assert(i != val.m_value.object->cend());
+                    assert(std::next(i) == val.m_value.object->cend());
+                    o->write_characters(indent_string.c_str(), new_indent);
+                    o->write_character('\"');
+                    dump_escaped(i->first, ensure_ascii);
+                    o->write_characters("\": ", 3);
+                    dump(i->second, true, ensure_ascii, indent_step, new_indent);
+
+                    o->write_character('\n');
+                    o->write_characters(indent_string.c_str(), current_indent);
+                    o->write_character('}');
+                }
+                else
+                {
+                    o->write_character('{');
+
+                    // first n-1 elements
+                    auto i = val.m_value.object->cbegin();
+                    for (std::size_t cnt = 0; cnt < val.m_value.object->size() - 1; ++cnt, ++i)
+                    {
+                        o->write_character('\"');
+                        dump_escaped(i->first, ensure_ascii);
+                        o->write_characters("\":", 2);
+                        dump(i->second, false, ensure_ascii, indent_step, current_indent);
+                        o->write_character(',');
+                    }
+
+                    // last element
+                    assert(i != val.m_value.object->cend());
+                    assert(std::next(i) == val.m_value.object->cend());
+                    o->write_character('\"');
+                    dump_escaped(i->first, ensure_ascii);
+                    o->write_characters("\":", 2);
+                    dump(i->second, false, ensure_ascii, indent_step, current_indent);
+
+                    o->write_character('}');
+                }
+
+                return;
+            }
+
+            case value_t::array:
+            {
+                if (val.m_value.array->empty())
+                {
+                    o->write_characters("[]", 2);
+                    return;
+                }
+
+                if (pretty_print)
+                {
+                    o->write_characters("[\n", 2);
+
+                    // variable to hold indentation for recursive calls
+                    const auto new_indent = current_indent + indent_step;
+                    if (JSON_UNLIKELY(indent_string.size() < new_indent))
+                    {
+                        indent_string.resize(indent_string.size() * 2, ' ');
+                    }
+
+                    // first n-1 elements
+                    for (auto i = val.m_value.array->cbegin();
+                            i != val.m_value.array->cend() - 1; ++i)
+                    {
+                        o->write_characters(indent_string.c_str(), new_indent);
+                        dump(*i, true, ensure_ascii, indent_step, new_indent);
+                        o->write_characters(",\n", 2);
+                    }
+
+                    // last element
+                    assert(not val.m_value.array->empty());
+                    o->write_characters(indent_string.c_str(), new_indent);
+                    dump(val.m_value.array->back(), true, ensure_ascii, indent_step, new_indent);
+
+                    o->write_character('\n');
+                    o->write_characters(indent_string.c_str(), current_indent);
+                    o->write_character(']');
+                }
+                else
+                {
+                    o->write_character('[');
+
+                    // first n-1 elements
+                    for (auto i = val.m_value.array->cbegin();
+                            i != val.m_value.array->cend() - 1; ++i)
+                    {
+                        dump(*i, false, ensure_ascii, indent_step, current_indent);
+                        o->write_character(',');
+                    }
+
+                    // last element
+                    assert(not val.m_value.array->empty());
+                    dump(val.m_value.array->back(), false, ensure_ascii, indent_step, current_indent);
+
+                    o->write_character(']');
+                }
+
+                return;
+            }
+
+            case value_t::string:
+            {
+                o->write_character('\"');
+                dump_escaped(*val.m_value.string, ensure_ascii);
+                o->write_character('\"');
+                return;
+            }
+
+            case value_t::boolean:
+            {
+                if (val.m_value.boolean)
+                {
+                    o->write_characters("true", 4);
+                }
+                else
+                {
+                    o->write_characters("false", 5);
+                }
+                return;
+            }
+
+            case value_t::number_integer:
+            {
+                dump_integer(val.m_value.number_integer);
+                return;
+            }
+
+            case value_t::number_unsigned:
+            {
+                dump_integer(val.m_value.number_unsigned);
+                return;
+            }
+
+            case value_t::number_float:
+            {
+                dump_float(val.m_value.number_float);
+                return;
+            }
+
+            case value_t::discarded:
+            {
+                o->write_characters("<discarded>", 11);
+                return;
+            }
+
+            case value_t::null:
+            {
+                o->write_characters("null", 4);
+                return;
+            }
+        }
+    }
+
+  private:
+    /*!
+    @brief dump escaped string
+
+    Escape a string by replacing certain special characters by a sequence of an
+    escape character (backslash) and another character and other control
+    characters by a sequence of "\u" followed by a four-digit hex
+    representation. The escaped string is written to output stream @a o.
+
+    @param[in] s  the string to escape
+    @param[in] ensure_ascii  whether to escape non-ASCII characters with
+                             \uXXXX sequences
+
+    @complexity Linear in the length of string @a s.
+    */
+    void dump_escaped(const string_t& s, const bool ensure_ascii)
+    {
+        uint32_t codepoint;
+        uint8_t state = UTF8_ACCEPT;
+        std::size_t bytes = 0;  // number of bytes written to string_buffer
+
+        // number of bytes written at the point of the last valid byte
+        std::size_t bytes_after_last_accept = 0;
+        std::size_t undumped_chars = 0;
+
+        for (std::size_t i = 0; i < s.size(); ++i)
+        {
+            const auto byte = static_cast<uint8_t>(s[i]);
+
+            switch (decode(state, codepoint, byte))
+            {
+                case UTF8_ACCEPT:  // decode found a new code point
+                {
+                    switch (codepoint)
+                    {
+                        case 0x08: // backspace
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'b';
+                            break;
+                        }
+
+                        case 0x09: // horizontal tab
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 't';
+                            break;
+                        }
+
+                        case 0x0A: // newline
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'n';
+                            break;
+                        }
+
+                        case 0x0C: // formfeed
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'f';
+                            break;
+                        }
+
+                        case 0x0D: // carriage return
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'r';
+                            break;
+                        }
+
+                        case 0x22: // quotation mark
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = '\"';
+                            break;
+                        }
+
+                        case 0x5C: // reverse solidus
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = '\\';
+                            break;
+                        }
+
+                        default:
+                        {
+                            // escape control characters (0x00..0x1F) or, if
+                            // ensure_ascii parameter is used, non-ASCII characters
+                            if ((codepoint <= 0x1F) or (ensure_ascii and (codepoint >= 0x7F)))
+                            {
+                                if (codepoint <= 0xFFFF)
+                                {
+                                    (std::snprintf)(string_buffer.data() + bytes, 7, "\\u%04x",
+                                                    static_cast<uint16_t>(codepoint));
+                                    bytes += 6;
+                                }
+                                else
+                                {
+                                    (std::snprintf)(string_buffer.data() + bytes, 13, "\\u%04x\\u%04x",
+                                                    static_cast<uint16_t>(0xD7C0 + (codepoint >> 10)),
+                                                    static_cast<uint16_t>(0xDC00 + (codepoint & 0x3FF)));
+                                    bytes += 12;
+                                }
+                            }
+                            else
+                            {
+                                // copy byte to buffer (all previous bytes
+                                // been copied have in default case above)
+                                string_buffer[bytes++] = s[i];
+                            }
+                            break;
+                        }
+                    }
+
+                    // write buffer and reset index; there must be 13 bytes
+                    // left, as this is the maximal number of bytes to be
+                    // written ("\uxxxx\uxxxx\0") for one code point
+                    if (string_buffer.size() - bytes < 13)
+                    {
+                        o->write_characters(string_buffer.data(), bytes);
+                        bytes = 0;
+                    }
+
+                    // remember the byte position of this accept
+                    bytes_after_last_accept = bytes;
+                    undumped_chars = 0;
+                    break;
+                }
+
+                case UTF8_REJECT:  // decode found invalid UTF-8 byte
+                {
+                    switch (error_handler)
+                    {
+                        case error_handler_t::strict:
+                        {
+                            std::string sn(3, '\0');
+                            (std::snprintf)(&sn[0], sn.size(), "%.2X", byte);
+                            JSON_THROW(type_error::create(316, "invalid UTF-8 byte at index " + std::to_string(i) + ": 0x" + sn));
+                        }
+
+                        case error_handler_t::ignore:
+                        case error_handler_t::replace:
+                        {
+                            // in case we saw this character the first time, we
+                            // would like to read it again, because the byte
+                            // may be OK for itself, but just not OK for the
+                            // previous sequence
+                            if (undumped_chars > 0)
+                            {
+                                --i;
+                            }
+
+                            // reset length buffer to the last accepted index;
+                            // thus removing/ignoring the invalid characters
+                            bytes = bytes_after_last_accept;
+
+                            if (error_handler == error_handler_t::replace)
+                            {
+                                // add a replacement character
+                                if (ensure_ascii)
+                                {
+                                    string_buffer[bytes++] = '\\';
+                                    string_buffer[bytes++] = 'u';
+                                    string_buffer[bytes++] = 'f';
+                                    string_buffer[bytes++] = 'f';
+                                    string_buffer[bytes++] = 'f';
+                                    string_buffer[bytes++] = 'd';
+                                }
+                                else
+                                {
+                                    string_buffer[bytes++] = detail::binary_writer<BasicJsonType, char>::to_char_type('\xEF');
+                                    string_buffer[bytes++] = detail::binary_writer<BasicJsonType, char>::to_char_type('\xBF');
+                                    string_buffer[bytes++] = detail::binary_writer<BasicJsonType, char>::to_char_type('\xBD');
+                                }
+                                bytes_after_last_accept = bytes;
+                            }
+
+                            undumped_chars = 0;
+
+                            // continue processing the string
+                            state = UTF8_ACCEPT;
+                            break;
+                        }
+                    }
+                    break;
+                }
+
+                default:  // decode found yet incomplete multi-byte code point
+                {
+                    if (not ensure_ascii)
+                    {
+                        // code point will not be escaped - copy byte to buffer
+                        string_buffer[bytes++] = s[i];
+                    }
+                    ++undumped_chars;
+                    break;
+                }
+            }
+        }
+
+        // we finished processing the string
+        if (JSON_LIKELY(state == UTF8_ACCEPT))
+        {
+            // write buffer
+            if (bytes > 0)
+            {
+                o->write_characters(string_buffer.data(), bytes);
+            }
+        }
+        else
+        {
+            // we finish reading, but do not accept: string was incomplete
+            switch (error_handler)
+            {
+                case error_handler_t::strict:
+                {
+                    std::string sn(3, '\0');
+                    (std::snprintf)(&sn[0], sn.size(), "%.2X", static_cast<uint8_t>(s.back()));
+                    JSON_THROW(type_error::create(316, "incomplete UTF-8 string; last byte: 0x" + sn));
+                }
+
+                case error_handler_t::ignore:
+                {
+                    // write all accepted bytes
+                    o->write_characters(string_buffer.data(), bytes_after_last_accept);
+                    break;
+                }
+
+                case error_handler_t::replace:
+                {
+                    // write all accepted bytes
+                    o->write_characters(string_buffer.data(), bytes_after_last_accept);
+                    // add a replacement character
+                    if (ensure_ascii)
+                    {
+                        o->write_characters("\\ufffd", 6);
+                    }
+                    else
+                    {
+                        o->write_characters("\xEF\xBF\xBD", 3);
+                    }
+                    break;
+                }
+            }
+        }
+    }
+
+    /*!
+    @brief dump an integer
+
+    Dump a given integer to output stream @a o. Works internally with
+    @a number_buffer.
+
+    @param[in] x  integer number (signed or unsigned) to dump
+    @tparam NumberType either @a number_integer_t or @a number_unsigned_t
+    */
+    template<typename NumberType, detail::enable_if_t<
+                 std::is_same<NumberType, number_unsigned_t>::value or
+                 std::is_same<NumberType, number_integer_t>::value,
+                 int> = 0>
+    void dump_integer(NumberType x)
+    {
+        // special case for "0"
+        if (x == 0)
+        {
+            o->write_character('0');
+            return;
+        }
+
+        const bool is_negative = std::is_same<NumberType, number_integer_t>::value and not (x >= 0);  // see issue #755
+        std::size_t i = 0;
+
+        while (x != 0)
+        {
+            // spare 1 byte for '\0'
+            assert(i < number_buffer.size() - 1);
+
+            const auto digit = std::labs(static_cast<long>(x % 10));
+            number_buffer[i++] = static_cast<char>('0' + digit);
+            x /= 10;
+        }
+
+        if (is_negative)
+        {
+            // make sure there is capacity for the '-'
+            assert(i < number_buffer.size() - 2);
+            number_buffer[i++] = '-';
+        }
+
+        std::reverse(number_buffer.begin(), number_buffer.begin() + i);
+        o->write_characters(number_buffer.data(), i);
+    }
+
+    /*!
+    @brief dump a floating-point number
+
+    Dump a given floating-point number to output stream @a o. Works internally
+    with @a number_buffer.
+
+    @param[in] x  floating-point number to dump
+    */
+    void dump_float(number_float_t x)
+    {
+        // NaN / inf
+        if (not std::isfinite(x))
+        {
+            o->write_characters("null", 4);
+            return;
+        }
+
+        // If number_float_t is an IEEE-754 single or double precision number,
+        // use the Grisu2 algorithm to produce short numbers which are
+        // guaranteed to round-trip, using strtof and strtod, resp.
+        //
+        // NB: The test below works if <long double> == <double>.
+        static constexpr bool is_ieee_single_or_double
+            = (std::numeric_limits<number_float_t>::is_iec559 and std::numeric_limits<number_float_t>::digits == 24 and std::numeric_limits<number_float_t>::max_exponent == 128) or
+              (std::numeric_limits<number_float_t>::is_iec559 and std::numeric_limits<number_float_t>::digits == 53 and std::numeric_limits<number_float_t>::max_exponent == 1024);
+
+        dump_float(x, std::integral_constant<bool, is_ieee_single_or_double>());
+    }
+
+    void dump_float(number_float_t x, std::true_type /*is_ieee_single_or_double*/)
+    {
+        char* begin = number_buffer.data();
+        char* end = ::nlohmann::detail::to_chars(begin, begin + number_buffer.size(), x);
+
+        o->write_characters(begin, static_cast<size_t>(end - begin));
+    }
+
+    void dump_float(number_float_t x, std::false_type /*is_ieee_single_or_double*/)
+    {
+        // get number of digits for a float -> text -> float round-trip
+        static constexpr auto d = std::numeric_limits<number_float_t>::max_digits10;
+
+        // the actual conversion
+        std::ptrdiff_t len = (std::snprintf)(number_buffer.data(), number_buffer.size(), "%.*g", d, x);
+
+        // negative value indicates an error
+        assert(len > 0);
+        // check if buffer was large enough
+        assert(static_cast<std::size_t>(len) < number_buffer.size());
+
+        // erase thousands separator
+        if (thousands_sep != '\0')
+        {
+            const auto end = std::remove(number_buffer.begin(),
+                                         number_buffer.begin() + len, thousands_sep);
+            std::fill(end, number_buffer.end(), '\0');
+            assert((end - number_buffer.begin()) <= len);
+            len = (end - number_buffer.begin());
+        }
+
+        // convert decimal point to '.'
+        if (decimal_point != '\0' and decimal_point != '.')
+        {
+            const auto dec_pos = std::find(number_buffer.begin(), number_buffer.end(), decimal_point);
+            if (dec_pos != number_buffer.end())
+            {
+                *dec_pos = '.';
+            }
+        }
+
+        o->write_characters(number_buffer.data(), static_cast<std::size_t>(len));
+
+        // determine if need to append ".0"
+        const bool value_is_int_like =
+            std::none_of(number_buffer.begin(), number_buffer.begin() + len + 1,
+                         [](char c)
+        {
+            return (c == '.' or c == 'e');
+        });
+
+        if (value_is_int_like)
+        {
+            o->write_characters(".0", 2);
+        }
+    }
+
+    /*!
+    @brief check whether a string is UTF-8 encoded
+
+    The function checks each byte of a string whether it is UTF-8 encoded. The
+    result of the check is stored in the @a state parameter. The function must
+    be called initially with state 0 (accept). State 1 means the string must
+    be rejected, because the current byte is not allowed. If the string is
+    completely processed, but the state is non-zero, the string ended
+    prematurely; that is, the last byte indicated more bytes should have
+    followed.
+
+    @param[in,out] state  the state of the decoding
+    @param[in,out] codep  codepoint (valid only if resulting state is UTF8_ACCEPT)
+    @param[in] byte       next byte to decode
+    @return               new state
+
+    @note The function has been edited: a std::array is used.
+
+    @copyright Copyright (c) 2008-2009 Bjoern Hoehrmann <bjoern@hoehrmann.de>
+    @sa http://bjoern.hoehrmann.de/utf-8/decoder/dfa/
+    */
+    static uint8_t decode(uint8_t& state, uint32_t& codep, const uint8_t byte) noexcept
+    {
+        static const std::array<uint8_t, 400> utf8d =
+        {
+            {
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 00..1F
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 20..3F
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 40..5F
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 60..7F
+                1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, // 80..9F
+                7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, // A0..BF
+                8, 8, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, // C0..DF
+                0xA, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x4, 0x3, 0x3, // E0..EF
+                0xB, 0x6, 0x6, 0x6, 0x5, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, // F0..FF
+                0x0, 0x1, 0x2, 0x3, 0x5, 0x8, 0x7, 0x1, 0x1, 0x1, 0x4, 0x6, 0x1, 0x1, 0x1, 0x1, // s0..s0
+                1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, // s1..s2
+                1, 2, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, // s3..s4
+                1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, // s5..s6
+                1, 3, 1, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 // s7..s8
+            }
+        };
+
+        const uint8_t type = utf8d[byte];
+
+        codep = (state != UTF8_ACCEPT)
+                ? (byte & 0x3fu) | (codep << 6)
+                : static_cast<uint32_t>(0xff >> type) & (byte);
+
+        state = utf8d[256u + state * 16u + type];
+        return state;
+    }
+
+  private:
+    /// the output of the serializer
+    output_adapter_t<char> o = nullptr;
+
+    /// a (hopefully) large enough character buffer
+    std::array<char, 64> number_buffer{{}};
+
+    /// the locale
+    const std::lconv* loc = nullptr;
+    /// the locale's thousand separator character
+    const char thousands_sep = '\0';
+    /// the locale's decimal point character
+    const char decimal_point = '\0';
+
+    /// string buffer
+    std::array<char, 512> string_buffer{{}};
+
+    /// the indentation character
+    const char indent_char;
+    /// the indentation string
+    string_t indent_string;
+
+    /// error_handler how to react on decoding errors
+    const error_handler_t error_handler;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/json_ref.hpp>
+
+
+#include <initializer_list>
+#include <utility>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template<typename BasicJsonType>
+class json_ref
+{
+  public:
+    using value_type = BasicJsonType;
+
+    json_ref(value_type&& value)
+        : owned_value(std::move(value)), value_ref(&owned_value), is_rvalue(true)
+    {}
+
+    json_ref(const value_type& value)
+        : value_ref(const_cast<value_type*>(&value)), is_rvalue(false)
+    {}
+
+    json_ref(std::initializer_list<json_ref> init)
+        : owned_value(init), value_ref(&owned_value), is_rvalue(true)
+    {}
+
+    template <
+        class... Args,
+        enable_if_t<std::is_constructible<value_type, Args...>::value, int> = 0 >
+    json_ref(Args && ... args)
+        : owned_value(std::forward<Args>(args)...), value_ref(&owned_value),
+          is_rvalue(true) {}
+
+    // class should be movable only
+    json_ref(json_ref&&) = default;
+    json_ref(const json_ref&) = delete;
+    json_ref& operator=(const json_ref&) = delete;
+    json_ref& operator=(json_ref&&) = delete;
+    ~json_ref() = default;
+
+    value_type moved_or_copied() const
+    {
+        if (is_rvalue)
+        {
+            return std::move(*value_ref);
+        }
+        return *value_ref;
+    }
+
+    value_type const& operator*() const
+    {
+        return *static_cast<value_type const*>(value_ref);
+    }
+
+    value_type const* operator->() const
+    {
+        return static_cast<value_type const*>(value_ref);
+    }
+
+  private:
+    mutable value_type owned_value = nullptr;
+    value_type* value_ref = nullptr;
+    const bool is_rvalue;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/json_pointer.hpp>
+
+
+#include <cassert> // assert
+#include <numeric> // accumulate
+#include <string> // string
+#include <vector> // vector
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+template<typename BasicJsonType>
+class json_pointer
+{
+    // allow basic_json to access private members
+    NLOHMANN_BASIC_JSON_TPL_DECLARATION
+    friend class basic_json;
+
+  public:
+    /*!
+    @brief create JSON pointer
+
+    Create a JSON pointer according to the syntax described in
+    [Section 3 of RFC6901](https://tools.ietf.org/html/rfc6901#section-3).
+
+    @param[in] s  string representing the JSON pointer; if omitted, the empty
+                  string is assumed which references the whole JSON value
+
+    @throw parse_error.107 if the given JSON pointer @a s is nonempty and does
+                           not begin with a slash (`/`); see example below
+
+    @throw parse_error.108 if a tilde (`~`) in the given JSON pointer @a s is
+    not followed by `0` (representing `~`) or `1` (representing `/`); see
+    example below
+
+    @liveexample{The example shows the construction several valid JSON pointers
+    as well as the exceptional behavior.,json_pointer}
+
+    @since version 2.0.0
+    */
+    explicit json_pointer(const std::string& s = "")
+        : reference_tokens(split(s))
+    {}
+
+    /*!
+    @brief return a string representation of the JSON pointer
+
+    @invariant For each JSON pointer `ptr`, it holds:
+    @code {.cpp}
+    ptr == json_pointer(ptr.to_string());
+    @endcode
+
+    @return a string representation of the JSON pointer
+
+    @liveexample{The example shows the result of `to_string`.,
+    json_pointer__to_string}
+
+    @since version 2.0.0
+    */
+    std::string to_string() const
+    {
+        return std::accumulate(reference_tokens.begin(), reference_tokens.end(),
+                               std::string{},
+                               [](const std::string & a, const std::string & b)
+        {
+            return a + "/" + escape(b);
+        });
+    }
+
+    /// @copydoc to_string()
+    operator std::string() const
+    {
+        return to_string();
+    }
+
+    /*!
+    @param[in] s  reference token to be converted into an array index
+
+    @return integer representation of @a s
+
+    @throw out_of_range.404 if string @a s could not be converted to an integer
+    */
+    static int array_index(const std::string& s)
+    {
+        std::size_t processed_chars = 0;
+        const int res = std::stoi(s, &processed_chars);
+
+        // check if the string was completely read
+        if (JSON_UNLIKELY(processed_chars != s.size()))
+        {
+            JSON_THROW(detail::out_of_range::create(404, "unresolved reference token '" + s + "'"));
+        }
+
+        return res;
+    }
+
+  private:
+    /*!
+    @brief remove and return last reference pointer
+    @throw out_of_range.405 if JSON pointer has no parent
+    */
+    std::string pop_back()
+    {
+        if (JSON_UNLIKELY(is_root()))
+        {
+            JSON_THROW(detail::out_of_range::create(405, "JSON pointer has no parent"));
+        }
+
+        auto last = reference_tokens.back();
+        reference_tokens.pop_back();
+        return last;
+    }
+
+    /// return whether pointer points to the root document
+    bool is_root() const noexcept
+    {
+        return reference_tokens.empty();
+    }
+
+    json_pointer top() const
+    {
+        if (JSON_UNLIKELY(is_root()))
+        {
+            JSON_THROW(detail::out_of_range::create(405, "JSON pointer has no parent"));
+        }
+
+        json_pointer result = *this;
+        result.reference_tokens = {reference_tokens[0]};
+        return result;
+    }
+
+    /*!
+    @brief create and return a reference to the pointed to value
+
+    @complexity Linear in the number of reference tokens.
+
+    @throw parse_error.109 if array index is not a number
+    @throw type_error.313 if value cannot be unflattened
+    */
+    BasicJsonType& get_and_create(BasicJsonType& j) const
+    {
+        using size_type = typename BasicJsonType::size_type;
+        auto result = &j;
+
+        // in case no reference tokens exist, return a reference to the JSON value
+        // j which will be overwritten by a primitive value
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (result->m_type)
+            {
+                case detail::value_t::null:
+                {
+                    if (reference_token == "0")
+                    {
+                        // start a new array if reference token is 0
+                        result = &result->operator[](0);
+                    }
+                    else
+                    {
+                        // start a new object otherwise
+                        result = &result->operator[](reference_token);
+                    }
+                    break;
+                }
+
+                case detail::value_t::object:
+                {
+                    // create an entry in the object
+                    result = &result->operator[](reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    // create an entry in the array
+                    JSON_TRY
+                    {
+                        result = &result->operator[](static_cast<size_type>(array_index(reference_token)));
+                    }
+                    JSON_CATCH(std::invalid_argument&)
+                    {
+                        JSON_THROW(detail::parse_error::create(109, 0, "array index '" + reference_token + "' is not a number"));
+                    }
+                    break;
+                }
+
+                /*
+                The following code is only reached if there exists a reference
+                token _and_ the current value is primitive. In this case, we have
+                an error situation, because primitive values may only occur as
+                single value; that is, with an empty list of reference tokens.
+                */
+                default:
+                    JSON_THROW(detail::type_error::create(313, "invalid value to unflatten"));
+            }
+        }
+
+        return *result;
+    }
+
+    /*!
+    @brief return a reference to the pointed to value
+
+    @note This version does not throw if a value is not present, but tries to
+          create nested values instead. For instance, calling this function
+          with pointer `"/this/that"` on a null value is equivalent to calling
+          `operator[]("this").operator[]("that")` on that value, effectively
+          changing the null value to an object.
+
+    @param[in] ptr  a JSON value
+
+    @return reference to the JSON value pointed to by the JSON pointer
+
+    @complexity Linear in the length of the JSON pointer.
+
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    BasicJsonType& get_unchecked(BasicJsonType* ptr) const
+    {
+        using size_type = typename BasicJsonType::size_type;
+        for (const auto& reference_token : reference_tokens)
+        {
+            // convert null values to arrays or objects before continuing
+            if (ptr->m_type == detail::value_t::null)
+            {
+                // check if reference token is a number
+                const bool nums =
+                    std::all_of(reference_token.begin(), reference_token.end(),
+                                [](const char x)
+                {
+                    return (x >= '0' and x <= '9');
+                });
+
+                // change value to array for numbers or "-" or to object otherwise
+                *ptr = (nums or reference_token == "-")
+                       ? detail::value_t::array
+                       : detail::value_t::object;
+            }
+
+            switch (ptr->m_type)
+            {
+                case detail::value_t::object:
+                {
+                    // use unchecked object access
+                    ptr = &ptr->operator[](reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    // error condition (cf. RFC 6901, Sect. 4)
+                    if (JSON_UNLIKELY(reference_token.size() > 1 and reference_token[0] == '0'))
+                    {
+                        JSON_THROW(detail::parse_error::create(106, 0,
+                                                               "array index '" + reference_token +
+                                                               "' must not begin with '0'"));
+                    }
+
+                    if (reference_token == "-")
+                    {
+                        // explicitly treat "-" as index beyond the end
+                        ptr = &ptr->operator[](ptr->m_value.array->size());
+                    }
+                    else
+                    {
+                        // convert array index to number; unchecked access
+                        JSON_TRY
+                        {
+                            ptr = &ptr->operator[](
+                                static_cast<size_type>(array_index(reference_token)));
+                        }
+                        JSON_CATCH(std::invalid_argument&)
+                        {
+                            JSON_THROW(detail::parse_error::create(109, 0, "array index '" + reference_token + "' is not a number"));
+                        }
+                    }
+                    break;
+                }
+
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, "unresolved reference token '" + reference_token + "'"));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.402  if the array index '-' is used
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    BasicJsonType& get_checked(BasicJsonType* ptr) const
+    {
+        using size_type = typename BasicJsonType::size_type;
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (ptr->m_type)
+            {
+                case detail::value_t::object:
+                {
+                    // note: at performs range check
+                    ptr = &ptr->at(reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (JSON_UNLIKELY(reference_token == "-"))
+                    {
+                        // "-" always fails the range check
+                        JSON_THROW(detail::out_of_range::create(402,
+                                                                "array index '-' (" + std::to_string(ptr->m_value.array->size()) +
+                                                                ") is out of range"));
+                    }
+
+                    // error condition (cf. RFC 6901, Sect. 4)
+                    if (JSON_UNLIKELY(reference_token.size() > 1 and reference_token[0] == '0'))
+                    {
+                        JSON_THROW(detail::parse_error::create(106, 0,
+                                                               "array index '" + reference_token +
+                                                               "' must not begin with '0'"));
+                    }
+
+                    // note: at performs range check
+                    JSON_TRY
+                    {
+                        ptr = &ptr->at(static_cast<size_type>(array_index(reference_token)));
+                    }
+                    JSON_CATCH(std::invalid_argument&)
+                    {
+                        JSON_THROW(detail::parse_error::create(109, 0, "array index '" + reference_token + "' is not a number"));
+                    }
+                    break;
+                }
+
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, "unresolved reference token '" + reference_token + "'"));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @brief return a const reference to the pointed to value
+
+    @param[in] ptr  a JSON value
+
+    @return const reference to the JSON value pointed to by the JSON
+    pointer
+
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.402  if the array index '-' is used
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    const BasicJsonType& get_unchecked(const BasicJsonType* ptr) const
+    {
+        using size_type = typename BasicJsonType::size_type;
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (ptr->m_type)
+            {
+                case detail::value_t::object:
+                {
+                    // use unchecked object access
+                    ptr = &ptr->operator[](reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (JSON_UNLIKELY(reference_token == "-"))
+                    {
+                        // "-" cannot be used for const access
+                        JSON_THROW(detail::out_of_range::create(402,
+                                                                "array index '-' (" + std::to_string(ptr->m_value.array->size()) +
+                                                                ") is out of range"));
+                    }
+
+                    // error condition (cf. RFC 6901, Sect. 4)
+                    if (JSON_UNLIKELY(reference_token.size() > 1 and reference_token[0] == '0'))
+                    {
+                        JSON_THROW(detail::parse_error::create(106, 0,
+                                                               "array index '" + reference_token +
+                                                               "' must not begin with '0'"));
+                    }
+
+                    // use unchecked array access
+                    JSON_TRY
+                    {
+                        ptr = &ptr->operator[](
+                            static_cast<size_type>(array_index(reference_token)));
+                    }
+                    JSON_CATCH(std::invalid_argument&)
+                    {
+                        JSON_THROW(detail::parse_error::create(109, 0, "array index '" + reference_token + "' is not a number"));
+                    }
+                    break;
+                }
+
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, "unresolved reference token '" + reference_token + "'"));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.402  if the array index '-' is used
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    const BasicJsonType& get_checked(const BasicJsonType* ptr) const
+    {
+        using size_type = typename BasicJsonType::size_type;
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (ptr->m_type)
+            {
+                case detail::value_t::object:
+                {
+                    // note: at performs range check
+                    ptr = &ptr->at(reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (JSON_UNLIKELY(reference_token == "-"))
+                    {
+                        // "-" always fails the range check
+                        JSON_THROW(detail::out_of_range::create(402,
+                                                                "array index '-' (" + std::to_string(ptr->m_value.array->size()) +
+                                                                ") is out of range"));
+                    }
+
+                    // error condition (cf. RFC 6901, Sect. 4)
+                    if (JSON_UNLIKELY(reference_token.size() > 1 and reference_token[0] == '0'))
+                    {
+                        JSON_THROW(detail::parse_error::create(106, 0,
+                                                               "array index '" + reference_token +
+                                                               "' must not begin with '0'"));
+                    }
+
+                    // note: at performs range check
+                    JSON_TRY
+                    {
+                        ptr = &ptr->at(static_cast<size_type>(array_index(reference_token)));
+                    }
+                    JSON_CATCH(std::invalid_argument&)
+                    {
+                        JSON_THROW(detail::parse_error::create(109, 0, "array index '" + reference_token + "' is not a number"));
+                    }
+                    break;
+                }
+
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, "unresolved reference token '" + reference_token + "'"));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @brief split the string input to reference tokens
+
+    @note This function is only called by the json_pointer constructor.
+          All exceptions below are documented there.
+
+    @throw parse_error.107  if the pointer is not empty or begins with '/'
+    @throw parse_error.108  if character '~' is not followed by '0' or '1'
+    */
+    static std::vector<std::string> split(const std::string& reference_string)
+    {
+        std::vector<std::string> result;
+
+        // special case: empty reference string -> no reference tokens
+        if (reference_string.empty())
+        {
+            return result;
+        }
+
+        // check if nonempty reference string begins with slash
+        if (JSON_UNLIKELY(reference_string[0] != '/'))
+        {
+            JSON_THROW(detail::parse_error::create(107, 1,
+                                                   "JSON pointer must be empty or begin with '/' - was: '" +
+                                                   reference_string + "'"));
+        }
+
+        // extract the reference tokens:
+        // - slash: position of the last read slash (or end of string)
+        // - start: position after the previous slash
+        for (
+            // search for the first slash after the first character
+            std::size_t slash = reference_string.find_first_of('/', 1),
+            // set the beginning of the first reference token
+            start = 1;
+            // we can stop if start == 0 (if slash == std::string::npos)
+            start != 0;
+            // set the beginning of the next reference token
+            // (will eventually be 0 if slash == std::string::npos)
+            start = (slash == std::string::npos) ? 0 : slash + 1,
+            // find next slash
+            slash = reference_string.find_first_of('/', start))
+        {
+            // use the text between the beginning of the reference token
+            // (start) and the last slash (slash).
+            auto reference_token = reference_string.substr(start, slash - start);
+
+            // check reference tokens are properly escaped
+            for (std::size_t pos = reference_token.find_first_of('~');
+                    pos != std::string::npos;
+                    pos = reference_token.find_first_of('~', pos + 1))
+            {
+                assert(reference_token[pos] == '~');
+
+                // ~ must be followed by 0 or 1
+                if (JSON_UNLIKELY(pos == reference_token.size() - 1 or
+                                  (reference_token[pos + 1] != '0' and
+                                   reference_token[pos + 1] != '1')))
+                {
+                    JSON_THROW(detail::parse_error::create(108, 0, "escape character '~' must be followed with '0' or '1'"));
+                }
+            }
+
+            // finally, store the reference token
+            unescape(reference_token);
+            result.push_back(reference_token);
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief replace all occurrences of a substring by another string
+
+    @param[in,out] s  the string to manipulate; changed so that all
+                   occurrences of @a f are replaced with @a t
+    @param[in]     f  the substring to replace with @a t
+    @param[in]     t  the string to replace @a f
+
+    @pre The search string @a f must not be empty. **This precondition is
+    enforced with an assertion.**
+
+    @since version 2.0.0
+    */
+    static void replace_substring(std::string& s, const std::string& f,
+                                  const std::string& t)
+    {
+        assert(not f.empty());
+        for (auto pos = s.find(f);                // find first occurrence of f
+                pos != std::string::npos;         // make sure f was found
+                s.replace(pos, f.size(), t),      // replace with t, and
+                pos = s.find(f, pos + t.size()))  // find next occurrence of f
+        {}
+    }
+
+    /// escape "~" to "~0" and "/" to "~1"
+    static std::string escape(std::string s)
+    {
+        replace_substring(s, "~", "~0");
+        replace_substring(s, "/", "~1");
+        return s;
+    }
+
+    /// unescape "~1" to tilde and "~0" to slash (order is important!)
+    static void unescape(std::string& s)
+    {
+        replace_substring(s, "~1", "/");
+        replace_substring(s, "~0", "~");
+    }
+
+    /*!
+    @param[in] reference_string  the reference string to the current value
+    @param[in] value             the value to consider
+    @param[in,out] result        the result object to insert values to
+
+    @note Empty objects or arrays are flattened to `null`.
+    */
+    static void flatten(const std::string& reference_string,
+                        const BasicJsonType& value,
+                        BasicJsonType& result)
+    {
+        switch (value.m_type)
+        {
+            case detail::value_t::array:
+            {
+                if (value.m_value.array->empty())
+                {
+                    // flatten empty array as null
+                    result[reference_string] = nullptr;
+                }
+                else
+                {
+                    // iterate array and use index as reference string
+                    for (std::size_t i = 0; i < value.m_value.array->size(); ++i)
+                    {
+                        flatten(reference_string + "/" + std::to_string(i),
+                                value.m_value.array->operator[](i), result);
+                    }
+                }
+                break;
+            }
+
+            case detail::value_t::object:
+            {
+                if (value.m_value.object->empty())
+                {
+                    // flatten empty object as null
+                    result[reference_string] = nullptr;
+                }
+                else
+                {
+                    // iterate object and use keys as reference string
+                    for (const auto& element : *value.m_value.object)
+                    {
+                        flatten(reference_string + "/" + escape(element.first), element.second, result);
+                    }
+                }
+                break;
+            }
+
+            default:
+            {
+                // add primitive value with its reference string
+                result[reference_string] = value;
+                break;
+            }
+        }
+    }
+
+    /*!
+    @param[in] value  flattened JSON
+
+    @return unflattened JSON
+
+    @throw parse_error.109 if array index is not a number
+    @throw type_error.314  if value is not an object
+    @throw type_error.315  if object values are not primitive
+    @throw type_error.313  if value cannot be unflattened
+    */
+    static BasicJsonType
+    unflatten(const BasicJsonType& value)
+    {
+        if (JSON_UNLIKELY(not value.is_object()))
+        {
+            JSON_THROW(detail::type_error::create(314, "only objects can be unflattened"));
+        }
+
+        BasicJsonType result;
+
+        // iterate the JSON object values
+        for (const auto& element : *value.m_value.object)
+        {
+            if (JSON_UNLIKELY(not element.second.is_primitive()))
+            {
+                JSON_THROW(detail::type_error::create(315, "values in object must be primitive"));
+            }
+
+            // assign value to reference pointed to by JSON pointer; Note that if
+            // the JSON pointer is "" (i.e., points to the whole value), function
+            // get_and_create returns a reference to result itself. An assignment
+            // will then create a primitive value.
+            json_pointer(element.first).get_and_create(result) = element.second;
+        }
+
+        return result;
+    }
+
+    friend bool operator==(json_pointer const& lhs,
+                           json_pointer const& rhs) noexcept
+    {
+        return (lhs.reference_tokens == rhs.reference_tokens);
+    }
+
+    friend bool operator!=(json_pointer const& lhs,
+                           json_pointer const& rhs) noexcept
+    {
+        return not (lhs == rhs);
+    }
+
+    /// the reference tokens
+    std::vector<std::string> reference_tokens;
+};
+}  // namespace nlohmann
+
+// #include <nlohmann/adl_serializer.hpp>
+
+
+#include <utility>
+
+// #include <nlohmann/detail/conversions/from_json.hpp>
+
+// #include <nlohmann/detail/conversions/to_json.hpp>
+
+
+namespace nlohmann
+{
+
+template<typename, typename>
+struct adl_serializer
+{
+    /*!
+    @brief convert a JSON value to any value type
+
+    This function is usually called by the `get()` function of the
+    @ref basic_json class (either explicit or via conversion operators).
+
+    @param[in] j        JSON value to read from
+    @param[in,out] val  value to write to
+    */
+    template<typename BasicJsonType, typename ValueType>
+    static auto from_json(BasicJsonType&& j, ValueType& val) noexcept(
+        noexcept(::nlohmann::from_json(std::forward<BasicJsonType>(j), val)))
+    -> decltype(::nlohmann::from_json(std::forward<BasicJsonType>(j), val), void())
+    {
+        ::nlohmann::from_json(std::forward<BasicJsonType>(j), val);
+    }
+
+    /*!
+    @brief convert any value type to a JSON value
+
+    This function is usually called by the constructors of the @ref basic_json
+    class.
+
+    @param[in,out] j  JSON value to write to
+    @param[in] val    value to read from
+    */
+    template <typename BasicJsonType, typename ValueType>
+    static auto to_json(BasicJsonType& j, ValueType&& val) noexcept(
+        noexcept(::nlohmann::to_json(j, std::forward<ValueType>(val))))
+    -> decltype(::nlohmann::to_json(j, std::forward<ValueType>(val)), void())
+    {
+        ::nlohmann::to_json(j, std::forward<ValueType>(val));
+    }
+};
+
+}  // namespace nlohmann
+
+
+/*!
+@brief namespace for Niels Lohmann
+@see https://github.com/nlohmann
+@since version 1.0.0
+*/
+namespace nlohmann
+{
+
+/*!
+@brief a class to store JSON values
+
+@tparam ObjectType type for JSON objects (`std::map` by default; will be used
+in @ref object_t)
+@tparam ArrayType type for JSON arrays (`std::vector` by default; will be used
+in @ref array_t)
+@tparam StringType type for JSON strings and object keys (`std::string` by
+default; will be used in @ref string_t)
+@tparam BooleanType type for JSON booleans (`bool` by default; will be used
+in @ref boolean_t)
+@tparam NumberIntegerType type for JSON integer numbers (`int64_t` by
+default; will be used in @ref number_integer_t)
+@tparam NumberUnsignedType type for JSON unsigned integer numbers (@c
+`uint64_t` by default; will be used in @ref number_unsigned_t)
+@tparam NumberFloatType type for JSON floating-point numbers (`double` by
+default; will be used in @ref number_float_t)
+@tparam AllocatorType type of the allocator to use (`std::allocator` by
+default)
+@tparam JSONSerializer the serializer to resolve internal calls to `to_json()`
+and `from_json()` (@ref adl_serializer by default)
+
+@requirement The class satisfies the following concept requirements:
+- Basic
+ - [DefaultConstructible](https://en.cppreference.com/w/cpp/named_req/DefaultConstructible):
+   JSON values can be default constructed. The result will be a JSON null
+   value.
+ - [MoveConstructible](https://en.cppreference.com/w/cpp/named_req/MoveConstructible):
+   A JSON value can be constructed from an rvalue argument.
+ - [CopyConstructible](https://en.cppreference.com/w/cpp/named_req/CopyConstructible):
+   A JSON value can be copy-constructed from an lvalue expression.
+ - [MoveAssignable](https://en.cppreference.com/w/cpp/named_req/MoveAssignable):
+   A JSON value van be assigned from an rvalue argument.
+ - [CopyAssignable](https://en.cppreference.com/w/cpp/named_req/CopyAssignable):
+   A JSON value can be copy-assigned from an lvalue expression.
+ - [Destructible](https://en.cppreference.com/w/cpp/named_req/Destructible):
+   JSON values can be destructed.
+- Layout
+ - [StandardLayoutType](https://en.cppreference.com/w/cpp/named_req/StandardLayoutType):
+   JSON values have
+   [standard layout](https://en.cppreference.com/w/cpp/language/data_members#Standard_layout):
+   All non-static data members are private and standard layout types, the
+   class has no virtual functions or (virtual) base classes.
+- Library-wide
+ - [EqualityComparable](https://en.cppreference.com/w/cpp/named_req/EqualityComparable):
+   JSON values can be compared with `==`, see @ref
+   operator==(const_reference,const_reference).
+ - [LessThanComparable](https://en.cppreference.com/w/cpp/named_req/LessThanComparable):
+   JSON values can be compared with `<`, see @ref
+   operator<(const_reference,const_reference).
+ - [Swappable](https://en.cppreference.com/w/cpp/named_req/Swappable):
+   Any JSON lvalue or rvalue of can be swapped with any lvalue or rvalue of
+   other compatible types, using unqualified function call @ref swap().
+ - [NullablePointer](https://en.cppreference.com/w/cpp/named_req/NullablePointer):
+   JSON values can be compared against `std::nullptr_t` objects which are used
+   to model the `null` value.
+- Container
+ - [Container](https://en.cppreference.com/w/cpp/named_req/Container):
+   JSON values can be used like STL containers and provide iterator access.
+ - [ReversibleContainer](https://en.cppreference.com/w/cpp/named_req/ReversibleContainer);
+   JSON values can be used like STL containers and provide reverse iterator
+   access.
+
+@invariant The member variables @a m_value and @a m_type have the following
+relationship:
+- If `m_type == value_t::object`, then `m_value.object != nullptr`.
+- If `m_type == value_t::array`, then `m_value.array != nullptr`.
+- If `m_type == value_t::string`, then `m_value.string != nullptr`.
+The invariants are checked by member function assert_invariant().
+
+@internal
+@note ObjectType trick from http://stackoverflow.com/a/9860911
+@endinternal
+
+@see [RFC 7159: The JavaScript Object Notation (JSON) Data Interchange
+Format](http://rfc7159.net/rfc7159)
+
+@since version 1.0.0
+
+@nosubgrouping
+*/
+NLOHMANN_BASIC_JSON_TPL_DECLARATION
+class basic_json
+{
+  private:
+    template<detail::value_t> friend struct detail::external_constructor;
+    friend ::nlohmann::json_pointer<basic_json>;
+    friend ::nlohmann::detail::parser<basic_json>;
+    friend ::nlohmann::detail::serializer<basic_json>;
+    template<typename BasicJsonType>
+    friend class ::nlohmann::detail::iter_impl;
+    template<typename BasicJsonType, typename CharType>
+    friend class ::nlohmann::detail::binary_writer;
+    template<typename BasicJsonType, typename SAX>
+    friend class ::nlohmann::detail::binary_reader;
+    template<typename BasicJsonType>
+    friend class ::nlohmann::detail::json_sax_dom_parser;
+    template<typename BasicJsonType>
+    friend class ::nlohmann::detail::json_sax_dom_callback_parser;
+
+    /// workaround type for MSVC
+    using basic_json_t = NLOHMANN_BASIC_JSON_TPL;
+
+    // convenience aliases for types residing in namespace detail;
+    using lexer = ::nlohmann::detail::lexer<basic_json>;
+    using parser = ::nlohmann::detail::parser<basic_json>;
+
+    using primitive_iterator_t = ::nlohmann::detail::primitive_iterator_t;
+    template<typename BasicJsonType>
+    using internal_iterator = ::nlohmann::detail::internal_iterator<BasicJsonType>;
+    template<typename BasicJsonType>
+    using iter_impl = ::nlohmann::detail::iter_impl<BasicJsonType>;
+    template<typename Iterator>
+    using iteration_proxy = ::nlohmann::detail::iteration_proxy<Iterator>;
+    template<typename Base> using json_reverse_iterator = ::nlohmann::detail::json_reverse_iterator<Base>;
+
+    template<typename CharType>
+    using output_adapter_t = ::nlohmann::detail::output_adapter_t<CharType>;
+
+    using binary_reader = ::nlohmann::detail::binary_reader<basic_json>;
+    template<typename CharType> using binary_writer = ::nlohmann::detail::binary_writer<basic_json, CharType>;
+
+    using serializer = ::nlohmann::detail::serializer<basic_json>;
+
+  public:
+    using value_t = detail::value_t;
+    /// JSON Pointer, see @ref nlohmann::json_pointer
+    using json_pointer = ::nlohmann::json_pointer<basic_json>;
+    template<typename T, typename SFINAE>
+    using json_serializer = JSONSerializer<T, SFINAE>;
+    /// how to treat decoding errors
+    using error_handler_t = detail::error_handler_t;
+    /// helper type for initializer lists of basic_json values
+    using initializer_list_t = std::initializer_list<detail::json_ref<basic_json>>;
+
+    using input_format_t = detail::input_format_t;
+    /// SAX interface type, see @ref nlohmann::json_sax
+    using json_sax_t = json_sax<basic_json>;
+
+    ////////////////
+    // exceptions //
+    ////////////////
+
+    /// @name exceptions
+    /// Classes to implement user-defined exceptions.
+    /// @{
+
+    /// @copydoc detail::exception
+    using exception = detail::exception;
+    /// @copydoc detail::parse_error
+    using parse_error = detail::parse_error;
+    /// @copydoc detail::invalid_iterator
+    using invalid_iterator = detail::invalid_iterator;
+    /// @copydoc detail::type_error
+    using type_error = detail::type_error;
+    /// @copydoc detail::out_of_range
+    using out_of_range = detail::out_of_range;
+    /// @copydoc detail::other_error
+    using other_error = detail::other_error;
+
+    /// @}
+
+
+    /////////////////////
+    // container types //
+    /////////////////////
+
+    /// @name container types
+    /// The canonic container types to use @ref basic_json like any other STL
+    /// container.
+    /// @{
+
+    /// the type of elements in a basic_json container
+    using value_type = basic_json;
+
+    /// the type of an element reference
+    using reference = value_type&;
+    /// the type of an element const reference
+    using const_reference = const value_type&;
+
+    /// a type to represent differences between iterators
+    using difference_type = std::ptrdiff_t;
+    /// a type to represent container sizes
+    using size_type = std::size_t;
+
+    /// the allocator type
+    using allocator_type = AllocatorType<basic_json>;
+
+    /// the type of an element pointer
+    using pointer = typename std::allocator_traits<allocator_type>::pointer;
+    /// the type of an element const pointer
+    using const_pointer = typename std::allocator_traits<allocator_type>::const_pointer;
+
+    /// an iterator for a basic_json container
+    using iterator = iter_impl<basic_json>;
+    /// a const iterator for a basic_json container
+    using const_iterator = iter_impl<const basic_json>;
+    /// a reverse iterator for a basic_json container
+    using reverse_iterator = json_reverse_iterator<typename basic_json::iterator>;
+    /// a const reverse iterator for a basic_json container
+    using const_reverse_iterator = json_reverse_iterator<typename basic_json::const_iterator>;
+
+    /// @}
+
+
+    /*!
+    @brief returns the allocator associated with the container
+    */
+    static allocator_type get_allocator()
+    {
+        return allocator_type();
+    }
+
+    /*!
+    @brief returns version information on the library
+
+    This function returns a JSON object with information about the library,
+    including the version number and information on the platform and compiler.
+
+    @return JSON object holding version information
+    key         | description
+    ----------- | ---------------
+    `compiler`  | Information on the used compiler. It is an object with the following keys: `c++` (the used C++ standard), `family` (the compiler family; possible values are `clang`, `icc`, `gcc`, `ilecpp`, `msvc`, `pgcpp`, `sunpro`, and `unknown`), and `version` (the compiler version).
+    `copyright` | The copyright line for the library as string.
+    `name`      | The name of the library as string.
+    `platform`  | The used platform as string. Possible values are `win32`, `linux`, `apple`, `unix`, and `unknown`.
+    `url`       | The URL of the project as string.
+    `version`   | The version of the library. It is an object with the following keys: `major`, `minor`, and `patch` as defined by [Semantic Versioning](http://semver.org), and `string` (the version string).
+
+    @liveexample{The following code shows an example output of the `meta()`
+    function.,meta}
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @complexity Constant.
+
+    @since 2.1.0
+    */
+    static basic_json meta()
+    {
+        basic_json result;
+
+        result["copyright"] = "(C) 2013-2017 Niels Lohmann";
+        result["name"] = "JSON for Modern C++";
+        result["url"] = "https://github.com/nlohmann/json";
+        result["version"]["string"] =
+            std::to_string(NLOHMANN_JSON_VERSION_MAJOR) + "." +
+            std::to_string(NLOHMANN_JSON_VERSION_MINOR) + "." +
+            std::to_string(NLOHMANN_JSON_VERSION_PATCH);
+        result["version"]["major"] = NLOHMANN_JSON_VERSION_MAJOR;
+        result["version"]["minor"] = NLOHMANN_JSON_VERSION_MINOR;
+        result["version"]["patch"] = NLOHMANN_JSON_VERSION_PATCH;
+
+#ifdef _WIN32
+        result["platform"] = "win32";
+#elif defined __linux__
+        result["platform"] = "linux";
+#elif defined __APPLE__
+        result["platform"] = "apple";
+#elif defined __unix__
+        result["platform"] = "unix";
+#else
+        result["platform"] = "unknown";
+#endif
+
+#if defined(__ICC) || defined(__INTEL_COMPILER)
+        result["compiler"] = {{"family", "icc"}, {"version", __INTEL_COMPILER}};
+#elif defined(__clang__)
+        result["compiler"] = {{"family", "clang"}, {"version", __clang_version__}};
+#elif defined(__GNUC__) || defined(__GNUG__)
+        result["compiler"] = {{"family", "gcc"}, {"version", std::to_string(__GNUC__) + "." + std::to_string(__GNUC_MINOR__) + "." + std::to_string(__GNUC_PATCHLEVEL__)}};
+#elif defined(__HP_cc) || defined(__HP_aCC)
+        result["compiler"] = "hp"
+#elif defined(__IBMCPP__)
+        result["compiler"] = {{"family", "ilecpp"}, {"version", __IBMCPP__}};
+#elif defined(_MSC_VER)
+        result["compiler"] = {{"family", "msvc"}, {"version", _MSC_VER}};
+#elif defined(__PGI)
+        result["compiler"] = {{"family", "pgcpp"}, {"version", __PGI}};
+#elif defined(__SUNPRO_CC)
+        result["compiler"] = {{"family", "sunpro"}, {"version", __SUNPRO_CC}};
+#else
+        result["compiler"] = {{"family", "unknown"}, {"version", "unknown"}};
+#endif
+
+#ifdef __cplusplus
+        result["compiler"]["c++"] = std::to_string(__cplusplus);
+#else
+        result["compiler"]["c++"] = "unknown";
+#endif
+        return result;
+    }
+
+
+    ///////////////////////////
+    // JSON value data types //
+    ///////////////////////////
+
+    /// @name JSON value data types
+    /// The data types to store a JSON value. These types are derived from
+    /// the template arguments passed to class @ref basic_json.
+    /// @{
+
+#if defined(JSON_HAS_CPP_14)
+    // Use transparent comparator if possible, combined with perfect forwarding
+    // on find() and count() calls prevents unnecessary string construction.
+    using object_comparator_t = std::less<>;
+#else
+    using object_comparator_t = std::less<StringType>;
+#endif
+
+    /*!
+    @brief a type for an object
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes JSON objects as follows:
+    > An object is an unordered collection of zero or more name/value pairs,
+    > where a name is a string and a value is a string, number, boolean, null,
+    > object, or array.
+
+    To store objects in C++, a type is defined by the template parameters
+    described below.
+
+    @tparam ObjectType  the container to store objects (e.g., `std::map` or
+    `std::unordered_map`)
+    @tparam StringType the type of the keys or names (e.g., `std::string`).
+    The comparison function `std::less<StringType>` is used to order elements
+    inside the container.
+    @tparam AllocatorType the allocator to use for objects (e.g.,
+    `std::allocator`)
+
+    #### Default type
+
+    With the default values for @a ObjectType (`std::map`), @a StringType
+    (`std::string`), and @a AllocatorType (`std::allocator`), the default
+    value for @a object_t is:
+
+    @code {.cpp}
+    std::map<
+      std::string, // key_type
+      basic_json, // value_type
+      std::less<std::string>, // key_compare
+      std::allocator<std::pair<const std::string, basic_json>> // allocator_type
+    >
+    @endcode
+
+    #### Behavior
+
+    The choice of @a object_t influences the behavior of the JSON class. With
+    the default type, objects have the following behavior:
+
+    - When all names are unique, objects will be interoperable in the sense
+      that all software implementations receiving that object will agree on
+      the name-value mappings.
+    - When the names within an object are not unique, it is unspecified which
+      one of the values for a given key will be chosen. For instance,
+      `{"key": 2, "key": 1}` could be equal to either `{"key": 1}` or
+      `{"key": 2}`.
+    - Internally, name/value pairs are stored in lexicographical order of the
+      names. Objects will also be serialized (see @ref dump) in this order.
+      For instance, `{"b": 1, "a": 2}` and `{"a": 2, "b": 1}` will be stored
+      and serialized as `{"a": 2, "b": 1}`.
+    - When comparing objects, the order of the name/value pairs is irrelevant.
+      This makes objects interoperable in the sense that they will not be
+      affected by these differences. For instance, `{"b": 1, "a": 2}` and
+      `{"a": 2, "b": 1}` will be treated as equal.
+
+    #### Limits
+
+    [RFC 7159](http://rfc7159.net/rfc7159) specifies:
+    > An implementation may set limits on the maximum depth of nesting.
+
+    In this class, the object's limit of nesting is not explicitly constrained.
+    However, a maximum depth of nesting may be introduced by the compiler or
+    runtime environment. A theoretical limit can be queried by calling the
+    @ref max_size function of a JSON object.
+
+    #### Storage
+
+    Objects are stored as pointers in a @ref basic_json type. That is, for any
+    access to object values, a pointer of type `object_t*` must be
+    dereferenced.
+
+    @sa @ref array_t -- type for an array value
+
+    @since version 1.0.0
+
+    @note The order name/value pairs are added to the object is *not*
+    preserved by the library. Therefore, iterating an object may return
+    name/value pairs in a different order than they were originally stored. In
+    fact, keys will be traversed in alphabetical order as `std::map` with
+    `std::less` is used by default. Please note this behavior conforms to [RFC
+    7159](http://rfc7159.net/rfc7159), because any order implements the
+    specified "unordered" nature of JSON objects.
+    */
+    using object_t = ObjectType<StringType,
+          basic_json,
+          object_comparator_t,
+          AllocatorType<std::pair<const StringType,
+          basic_json>>>;
+
+    /*!
+    @brief a type for an array
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes JSON arrays as follows:
+    > An array is an ordered sequence of zero or more values.
+
+    To store objects in C++, a type is defined by the template parameters
+    explained below.
+
+    @tparam ArrayType  container type to store arrays (e.g., `std::vector` or
+    `std::list`)
+    @tparam AllocatorType allocator to use for arrays (e.g., `std::allocator`)
+
+    #### Default type
+
+    With the default values for @a ArrayType (`std::vector`) and @a
+    AllocatorType (`std::allocator`), the default value for @a array_t is:
+
+    @code {.cpp}
+    std::vector<
+      basic_json, // value_type
+      std::allocator<basic_json> // allocator_type
+    >
+    @endcode
+
+    #### Limits
+
+    [RFC 7159](http://rfc7159.net/rfc7159) specifies:
+    > An implementation may set limits on the maximum depth of nesting.
+
+    In this class, the array's limit of nesting is not explicitly constrained.
+    However, a maximum depth of nesting may be introduced by the compiler or
+    runtime environment. A theoretical limit can be queried by calling the
+    @ref max_size function of a JSON array.
+
+    #### Storage
+
+    Arrays are stored as pointers in a @ref basic_json type. That is, for any
+    access to array values, a pointer of type `array_t*` must be dereferenced.
+
+    @sa @ref object_t -- type for an object value
+
+    @since version 1.0.0
+    */
+    using array_t = ArrayType<basic_json, AllocatorType<basic_json>>;
+
+    /*!
+    @brief a type for a string
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes JSON strings as follows:
+    > A string is a sequence of zero or more Unicode characters.
+
+    To store objects in C++, a type is defined by the template parameter
+    described below. Unicode values are split by the JSON class into
+    byte-sized characters during deserialization.
+
+    @tparam StringType  the container to store strings (e.g., `std::string`).
+    Note this container is used for keys/names in objects, see @ref object_t.
+
+    #### Default type
+
+    With the default values for @a StringType (`std::string`), the default
+    value for @a string_t is:
+
+    @code {.cpp}
+    std::string
+    @endcode
+
+    #### Encoding
+
+    Strings are stored in UTF-8 encoding. Therefore, functions like
+    `std::string::size()` or `std::string::length()` return the number of
+    bytes in the string rather than the number of characters or glyphs.
+
+    #### String comparison
+
+    [RFC 7159](http://rfc7159.net/rfc7159) states:
+    > Software implementations are typically required to test names of object
+    > members for equality. Implementations that transform the textual
+    > representation into sequences of Unicode code units and then perform the
+    > comparison numerically, code unit by code unit, are interoperable in the
+    > sense that implementations will agree in all cases on equality or
+    > inequality of two strings. For example, implementations that compare
+    > strings with escaped characters unconverted may incorrectly find that
+    > `"a\\b"` and `"a\u005Cb"` are not equal.
+
+    This implementation is interoperable as it does compare strings code unit
+    by code unit.
+
+    #### Storage
+
+    String values are stored as pointers in a @ref basic_json type. That is,
+    for any access to string values, a pointer of type `string_t*` must be
+    dereferenced.
+
+    @since version 1.0.0
+    */
+    using string_t = StringType;
+
+    /*!
+    @brief a type for a boolean
+
+    [RFC 7159](http://rfc7159.net/rfc7159) implicitly describes a boolean as a
+    type which differentiates the two literals `true` and `false`.
+
+    To store objects in C++, a type is defined by the template parameter @a
+    BooleanType which chooses the type to use.
+
+    #### Default type
+
+    With the default values for @a BooleanType (`bool`), the default value for
+    @a boolean_t is:
+
+    @code {.cpp}
+    bool
+    @endcode
+
+    #### Storage
+
+    Boolean values are stored directly inside a @ref basic_json type.
+
+    @since version 1.0.0
+    */
+    using boolean_t = BooleanType;
+
+    /*!
+    @brief a type for a number (integer)
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes numbers as follows:
+    > The representation of numbers is similar to that used in most
+    > programming languages. A number is represented in base 10 using decimal
+    > digits. It contains an integer component that may be prefixed with an
+    > optional minus sign, which may be followed by a fraction part and/or an
+    > exponent part. Leading zeros are not allowed. (...) Numeric values that
+    > cannot be represented in the grammar below (such as Infinity and NaN)
+    > are not permitted.
+
+    This description includes both integer and floating-point numbers.
+    However, C++ allows more precise storage if it is known whether the number
+    is a signed integer, an unsigned integer or a floating-point number.
+    Therefore, three different types, @ref number_integer_t, @ref
+    number_unsigned_t and @ref number_float_t are used.
+
+    To store integer numbers in C++, a type is defined by the template
+    parameter @a NumberIntegerType which chooses the type to use.
+
+    #### Default type
+
+    With the default values for @a NumberIntegerType (`int64_t`), the default
+    value for @a number_integer_t is:
+
+    @code {.cpp}
+    int64_t
+    @endcode
+
+    #### Default behavior
+
+    - The restrictions about leading zeros is not enforced in C++. Instead,
+      leading zeros in integer literals lead to an interpretation as octal
+      number. Internally, the value will be stored as decimal number. For
+      instance, the C++ integer literal `010` will be serialized to `8`.
+      During deserialization, leading zeros yield an error.
+    - Not-a-number (NaN) values will be serialized to `null`.
+
+    #### Limits
+
+    [RFC 7159](http://rfc7159.net/rfc7159) specifies:
+    > An implementation may set limits on the range and precision of numbers.
+
+    When the default type is used, the maximal integer number that can be
+    stored is `9223372036854775807` (INT64_MAX) and the minimal integer number
+    that can be stored is `-9223372036854775808` (INT64_MIN). Integer numbers
+    that are out of range will yield over/underflow when used in a
+    constructor. During deserialization, too large or small integer numbers
+    will be automatically be stored as @ref number_unsigned_t or @ref
+    number_float_t.
+
+    [RFC 7159](http://rfc7159.net/rfc7159) further states:
+    > Note that when such software is used, numbers that are integers and are
+    > in the range \f$[-2^{53}+1, 2^{53}-1]\f$ are interoperable in the sense
+    > that implementations will agree exactly on their numeric values.
+
+    As this range is a subrange of the exactly supported range [INT64_MIN,
+    INT64_MAX], this class's integer type is interoperable.
+
+    #### Storage
+
+    Integer number values are stored directly inside a @ref basic_json type.
+
+    @sa @ref number_float_t -- type for number values (floating-point)
+
+    @sa @ref number_unsigned_t -- type for number values (unsigned integer)
+
+    @since version 1.0.0
+    */
+    using number_integer_t = NumberIntegerType;
+
+    /*!
+    @brief a type for a number (unsigned)
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes numbers as follows:
+    > The representation of numbers is similar to that used in most
+    > programming languages. A number is represented in base 10 using decimal
+    > digits. It contains an integer component that may be prefixed with an
+    > optional minus sign, which may be followed by a fraction part and/or an
+    > exponent part. Leading zeros are not allowed. (...) Numeric values that
+    > cannot be represented in the grammar below (such as Infinity and NaN)
+    > are not permitted.
+
+    This description includes both integer and floating-point numbers.
+    However, C++ allows more precise storage if it is known whether the number
+    is a signed integer, an unsigned integer or a floating-point number.
+    Therefore, three different types, @ref number_integer_t, @ref
+    number_unsigned_t and @ref number_float_t are used.
+
+    To store unsigned integer numbers in C++, a type is defined by the
+    template parameter @a NumberUnsignedType which chooses the type to use.
+
+    #### Default type
+
+    With the default values for @a NumberUnsignedType (`uint64_t`), the
+    default value for @a number_unsigned_t is:
+
+    @code {.cpp}
+    uint64_t
+    @endcode
+
+    #### Default behavior
+
+    - The restrictions about leading zeros is not enforced in C++. Instead,
+      leading zeros in integer literals lead to an interpretation as octal
+      number. Internally, the value will be stored as decimal number. For
+      instance, the C++ integer literal `010` will be serialized to `8`.
+      During deserialization, leading zeros yield an error.
+    - Not-a-number (NaN) values will be serialized to `null`.
+
+    #### Limits
+
+    [RFC 7159](http://rfc7159.net/rfc7159) specifies:
+    > An implementation may set limits on the range and precision of numbers.
+
+    When the default type is used, the maximal integer number that can be
+    stored is `18446744073709551615` (UINT64_MAX) and the minimal integer
+    number that can be stored is `0`. Integer numbers that are out of range
+    will yield over/underflow when used in a constructor. During
+    deserialization, too large or small integer numbers will be automatically
+    be stored as @ref number_integer_t or @ref number_float_t.
+
+    [RFC 7159](http://rfc7159.net/rfc7159) further states:
+    > Note that when such software is used, numbers that are integers and are
+    > in the range \f$[-2^{53}+1, 2^{53}-1]\f$ are interoperable in the sense
+    > that implementations will agree exactly on their numeric values.
+
+    As this range is a subrange (when considered in conjunction with the
+    number_integer_t type) of the exactly supported range [0, UINT64_MAX],
+    this class's integer type is interoperable.
+
+    #### Storage
+
+    Integer number values are stored directly inside a @ref basic_json type.
+
+    @sa @ref number_float_t -- type for number values (floating-point)
+    @sa @ref number_integer_t -- type for number values (integer)
+
+    @since version 2.0.0
+    */
+    using number_unsigned_t = NumberUnsignedType;
+
+    /*!
+    @brief a type for a number (floating-point)
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes numbers as follows:
+    > The representation of numbers is similar to that used in most
+    > programming languages. A number is represented in base 10 using decimal
+    > digits. It contains an integer component that may be prefixed with an
+    > optional minus sign, which may be followed by a fraction part and/or an
+    > exponent part. Leading zeros are not allowed. (...) Numeric values that
+    > cannot be represented in the grammar below (such as Infinity and NaN)
+    > are not permitted.
+
+    This description includes both integer and floating-point numbers.
+    However, C++ allows more precise storage if it is known whether the number
+    is a signed integer, an unsigned integer or a floating-point number.
+    Therefore, three different types, @ref number_integer_t, @ref
+    number_unsigned_t and @ref number_float_t are used.
+
+    To store floating-point numbers in C++, a type is defined by the template
+    parameter @a NumberFloatType which chooses the type to use.
+
+    #### Default type
+
+    With the default values for @a NumberFloatType (`double`), the default
+    value for @a number_float_t is:
+
+    @code {.cpp}
+    double
+    @endcode
+
+    #### Default behavior
+
+    - The restrictions about leading zeros is not enforced in C++. Instead,
+      leading zeros in floating-point literals will be ignored. Internally,
+      the value will be stored as decimal number. For instance, the C++
+      floating-point literal `01.2` will be serialized to `1.2`. During
+      deserialization, leading zeros yield an error.
+    - Not-a-number (NaN) values will be serialized to `null`.
+
+    #### Limits
+
+    [RFC 7159](http://rfc7159.net/rfc7159) states:
+    > This specification allows implementations to set limits on the range and
+    > precision of numbers accepted. Since software that implements IEEE
+    > 754-2008 binary64 (double precision) numbers is generally available and
+    > widely used, good interoperability can be achieved by implementations
+    > that expect no more precision or range than these provide, in the sense
+    > that implementations will approximate JSON numbers within the expected
+    > precision.
+
+    This implementation does exactly follow this approach, as it uses double
+    precision floating-point numbers. Note values smaller than
+    `-1.79769313486232e+308` and values greater than `1.79769313486232e+308`
+    will be stored as NaN internally and be serialized to `null`.
+
+    #### Storage
+
+    Floating-point number values are stored directly inside a @ref basic_json
+    type.
+
+    @sa @ref number_integer_t -- type for number values (integer)
+
+    @sa @ref number_unsigned_t -- type for number values (unsigned integer)
+
+    @since version 1.0.0
+    */
+    using number_float_t = NumberFloatType;
+
+    /// @}
+
+  private:
+
+    /// helper for exception-safe object creation
+    template<typename T, typename... Args>
+    static T* create(Args&& ... args)
+    {
+        AllocatorType<T> alloc;
+        using AllocatorTraits = std::allocator_traits<AllocatorType<T>>;
+
+        auto deleter = [&](T * object)
+        {
+            AllocatorTraits::deallocate(alloc, object, 1);
+        };
+        std::unique_ptr<T, decltype(deleter)> object(AllocatorTraits::allocate(alloc, 1), deleter);
+        AllocatorTraits::construct(alloc, object.get(), std::forward<Args>(args)...);
+        assert(object != nullptr);
+        return object.release();
+    }
+
+    ////////////////////////
+    // JSON value storage //
+    ////////////////////////
+
+    /*!
+    @brief a JSON value
+
+    The actual storage for a JSON value of the @ref basic_json class. This
+    union combines the different storage types for the JSON value types
+    defined in @ref value_t.
+
+    JSON type | value_t type    | used type
+    --------- | --------------- | ------------------------
+    object    | object          | pointer to @ref object_t
+    array     | array           | pointer to @ref array_t
+    string    | string          | pointer to @ref string_t
+    boolean   | boolean         | @ref boolean_t
+    number    | number_integer  | @ref number_integer_t
+    number    | number_unsigned | @ref number_unsigned_t
+    number    | number_float    | @ref number_float_t
+    null      | null            | *no value is stored*
+
+    @note Variable-length types (objects, arrays, and strings) are stored as
+    pointers. The size of the union should not exceed 64 bits if the default
+    value types are used.
+
+    @since version 1.0.0
+    */
+    union json_value
+    {
+        /// object (stored with pointer to save storage)
+        object_t* object;
+        /// array (stored with pointer to save storage)
+        array_t* array;
+        /// string (stored with pointer to save storage)
+        string_t* string;
+        /// boolean
+        boolean_t boolean;
+        /// number (integer)
+        number_integer_t number_integer;
+        /// number (unsigned integer)
+        number_unsigned_t number_unsigned;
+        /// number (floating-point)
+        number_float_t number_float;
+
+        /// default constructor (for null values)
+        json_value() = default;
+        /// constructor for booleans
+        json_value(boolean_t v) noexcept : boolean(v) {}
+        /// constructor for numbers (integer)
+        json_value(number_integer_t v) noexcept : number_integer(v) {}
+        /// constructor for numbers (unsigned)
+        json_value(number_unsigned_t v) noexcept : number_unsigned(v) {}
+        /// constructor for numbers (floating-point)
+        json_value(number_float_t v) noexcept : number_float(v) {}
+        /// constructor for empty values of a given type
+        json_value(value_t t)
+        {
+            switch (t)
+            {
+                case value_t::object:
+                {
+                    object = create<object_t>();
+                    break;
+                }
+
+                case value_t::array:
+                {
+                    array = create<array_t>();
+                    break;
+                }
+
+                case value_t::string:
+                {
+                    string = create<string_t>("");
+                    break;
+                }
+
+                case value_t::boolean:
+                {
+                    boolean = boolean_t(false);
+                    break;
+                }
+
+                case value_t::number_integer:
+                {
+                    number_integer = number_integer_t(0);
+                    break;
+                }
+
+                case value_t::number_unsigned:
+                {
+                    number_unsigned = number_unsigned_t(0);
+                    break;
+                }
+
+                case value_t::number_float:
+                {
+                    number_float = number_float_t(0.0);
+                    break;
+                }
+
+                case value_t::null:
+                {
+                    object = nullptr;  // silence warning, see #821
+                    break;
+                }
+
+                default:
+                {
+                    object = nullptr;  // silence warning, see #821
+                    if (JSON_UNLIKELY(t == value_t::null))
+                    {
+                        JSON_THROW(other_error::create(500, "961c151d2e87f2686a955a9be24d316f1362bf21 3.5.0")); // LCOV_EXCL_LINE
+                    }
+                    break;
+                }
+            }
+        }
+
+        /// constructor for strings
+        json_value(const string_t& value)
+        {
+            string = create<string_t>(value);
+        }
+
+        /// constructor for rvalue strings
+        json_value(string_t&& value)
+        {
+            string = create<string_t>(std::move(value));
+        }
+
+        /// constructor for objects
+        json_value(const object_t& value)
+        {
+            object = create<object_t>(value);
+        }
+
+        /// constructor for rvalue objects
+        json_value(object_t&& value)
+        {
+            object = create<object_t>(std::move(value));
+        }
+
+        /// constructor for arrays
+        json_value(const array_t& value)
+        {
+            array = create<array_t>(value);
+        }
+
+        /// constructor for rvalue arrays
+        json_value(array_t&& value)
+        {
+            array = create<array_t>(std::move(value));
+        }
+
+        void destroy(value_t t) noexcept
+        {
+            switch (t)
+            {
+                case value_t::object:
+                {
+                    AllocatorType<object_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, object);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, object, 1);
+                    break;
+                }
+
+                case value_t::array:
+                {
+                    AllocatorType<array_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, array);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, array, 1);
+                    break;
+                }
+
+                case value_t::string:
+                {
+                    AllocatorType<string_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, string);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, string, 1);
+                    break;
+                }
+
+                default:
+                {
+                    break;
+                }
+            }
+        }
+    };
+
+    /*!
+    @brief checks the class invariants
+
+    This function asserts the class invariants. It needs to be called at the
+    end of every constructor to make sure that created objects respect the
+    invariant. Furthermore, it has to be called each time the type of a JSON
+    value is changed, because the invariant expresses a relationship between
+    @a m_type and @a m_value.
+    */
+    void assert_invariant() const noexcept
+    {
+        assert(m_type != value_t::object or m_value.object != nullptr);
+        assert(m_type != value_t::array or m_value.array != nullptr);
+        assert(m_type != value_t::string or m_value.string != nullptr);
+    }
+
+  public:
+    //////////////////////////
+    // JSON parser callback //
+    //////////////////////////
+
+    /*!
+    @brief parser event types
+
+    The parser callback distinguishes the following events:
+    - `object_start`: the parser read `{` and started to process a JSON object
+    - `key`: the parser read a key of a value in an object
+    - `object_end`: the parser read `}` and finished processing a JSON object
+    - `array_start`: the parser read `[` and started to process a JSON array
+    - `array_end`: the parser read `]` and finished processing a JSON array
+    - `value`: the parser finished reading a JSON value
+
+    @image html callback_events.png "Example when certain parse events are triggered"
+
+    @sa @ref parser_callback_t for more information and examples
+    */
+    using parse_event_t = typename parser::parse_event_t;
+
+    /*!
+    @brief per-element parser callback type
+
+    With a parser callback function, the result of parsing a JSON text can be
+    influenced. When passed to @ref parse, it is called on certain events
+    (passed as @ref parse_event_t via parameter @a event) with a set recursion
+    depth @a depth and context JSON value @a parsed. The return value of the
+    callback function is a boolean indicating whether the element that emitted
+    the callback shall be kept or not.
+
+    We distinguish six scenarios (determined by the event type) in which the
+    callback function can be called. The following table describes the values
+    of the parameters @a depth, @a event, and @a parsed.
+
+    parameter @a event | description | parameter @a depth | parameter @a parsed
+    ------------------ | ----------- | ------------------ | -------------------
+    parse_event_t::object_start | the parser read `{` and started to process a JSON object | depth of the parent of the JSON object | a JSON value with type discarded
+    parse_event_t::key | the parser read a key of a value in an object | depth of the currently parsed JSON object | a JSON string containing the key
+    parse_event_t::object_end | the parser read `}` and finished processing a JSON object | depth of the parent of the JSON object | the parsed JSON object
+    parse_event_t::array_start | the parser read `[` and started to process a JSON array | depth of the parent of the JSON array | a JSON value with type discarded
+    parse_event_t::array_end | the parser read `]` and finished processing a JSON array | depth of the parent of the JSON array | the parsed JSON array
+    parse_event_t::value | the parser finished reading a JSON value | depth of the value | the parsed JSON value
+
+    @image html callback_events.png "Example when certain parse events are triggered"
+
+    Discarding a value (i.e., returning `false`) has different effects
+    depending on the context in which function was called:
+
+    - Discarded values in structured types are skipped. That is, the parser
+      will behave as if the discarded value was never read.
+    - In case a value outside a structured type is skipped, it is replaced
+      with `null`. This case happens if the top-level element is skipped.
+
+    @param[in] depth  the depth of the recursion during parsing
+
+    @param[in] event  an event of type parse_event_t indicating the context in
+    the callback function has been called
+
+    @param[in,out] parsed  the current intermediate parse result; note that
+    writing to this value has no effect for parse_event_t::key events
+
+    @return Whether the JSON value which called the function during parsing
+    should be kept (`true`) or not (`false`). In the latter case, it is either
+    skipped completely or replaced by an empty discarded object.
+
+    @sa @ref parse for examples
+
+    @since version 1.0.0
+    */
+    using parser_callback_t = typename parser::parser_callback_t;
+
+    //////////////////
+    // constructors //
+    //////////////////
+
+    /// @name constructors and destructors
+    /// Constructors of class @ref basic_json, copy/move constructor, copy
+    /// assignment, static functions creating objects, and the destructor.
+    /// @{
+
+    /*!
+    @brief create an empty value with a given type
+
+    Create an empty JSON value with a given type. The value will be default
+    initialized with an empty value which depends on the type:
+
+    Value type  | initial value
+    ----------- | -------------
+    null        | `null`
+    boolean     | `false`
+    string      | `""`
+    number      | `0`
+    object      | `{}`
+    array       | `[]`
+
+    @param[in] v  the type of the value to create
+
+    @complexity Constant.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The following code shows the constructor for different @ref
+    value_t values,basic_json__value_t}
+
+    @sa @ref clear() -- restores the postcondition of this constructor
+
+    @since version 1.0.0
+    */
+    basic_json(const value_t v)
+        : m_type(v), m_value(v)
+    {
+        assert_invariant();
+    }
+
+    /*!
+    @brief create a null object
+
+    Create a `null` JSON value. It either takes a null pointer as parameter
+    (explicitly creating `null`) or no parameter (implicitly creating `null`).
+    The passed null pointer itself is not read -- it is only used to choose
+    the right constructor.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this constructor never throws
+    exceptions.
+
+    @liveexample{The following code shows the constructor with and without a
+    null pointer parameter.,basic_json__nullptr_t}
+
+    @since version 1.0.0
+    */
+    basic_json(std::nullptr_t = nullptr) noexcept
+        : basic_json(value_t::null)
+    {
+        assert_invariant();
+    }
+
+    /*!
+    @brief create a JSON value
+
+    This is a "catch all" constructor for all compatible JSON types; that is,
+    types for which a `to_json()` method exists. The constructor forwards the
+    parameter @a val to that method (to `json_serializer<U>::to_json` method
+    with `U = uncvref_t<CompatibleType>`, to be exact).
+
+    Template type @a CompatibleType includes, but is not limited to, the
+    following types:
+    - **arrays**: @ref array_t and all kinds of compatible containers such as
+      `std::vector`, `std::deque`, `std::list`, `std::forward_list`,
+      `std::array`, `std::valarray`, `std::set`, `std::unordered_set`,
+      `std::multiset`, and `std::unordered_multiset` with a `value_type` from
+      which a @ref basic_json value can be constructed.
+    - **objects**: @ref object_t and all kinds of compatible associative
+      containers such as `std::map`, `std::unordered_map`, `std::multimap`,
+      and `std::unordered_multimap` with a `key_type` compatible to
+      @ref string_t and a `value_type` from which a @ref basic_json value can
+      be constructed.
+    - **strings**: @ref string_t, string literals, and all compatible string
+      containers can be used.
+    - **numbers**: @ref number_integer_t, @ref number_unsigned_t,
+      @ref number_float_t, and all convertible number types such as `int`,
+      `size_t`, `int64_t`, `float` or `double` can be used.
+    - **boolean**: @ref boolean_t / `bool` can be used.
+
+    See the examples below.
+
+    @tparam CompatibleType a type such that:
+    - @a CompatibleType is not derived from `std::istream`,
+    - @a CompatibleType is not @ref basic_json (to avoid hijacking copy/move
+         constructors),
+    - @a CompatibleType is not a different @ref basic_json type (i.e. with different template arguments)
+    - @a CompatibleType is not a @ref basic_json nested type (e.g.,
+         @ref json_pointer, @ref iterator, etc ...)
+    - @ref @ref json_serializer<U> has a
+         `to_json(basic_json_t&, CompatibleType&&)` method
+
+    @tparam U = `uncvref_t<CompatibleType>`
+
+    @param[in] val the value to be forwarded to the respective constructor
+
+    @complexity Usually linear in the size of the passed @a val, also
+                depending on the implementation of the called `to_json()`
+                method.
+
+    @exceptionsafety Depends on the called constructor. For types directly
+    supported by the library (i.e., all types for which no `to_json()` function
+    was provided), strong guarantee holds: if an exception is thrown, there are
+    no changes to any JSON value.
+
+    @liveexample{The following code shows the constructor with several
+    compatible types.,basic_json__CompatibleType}
+
+    @since version 2.1.0
+    */
+    template <typename CompatibleType,
+              typename U = detail::uncvref_t<CompatibleType>,
+              detail::enable_if_t<
+                  not detail::is_basic_json<U>::value and detail::is_compatible_type<basic_json_t, U>::value, int> = 0>
+    basic_json(CompatibleType && val) noexcept(noexcept(
+                JSONSerializer<U>::to_json(std::declval<basic_json_t&>(),
+                                           std::forward<CompatibleType>(val))))
+    {
+        JSONSerializer<U>::to_json(*this, std::forward<CompatibleType>(val));
+        assert_invariant();
+    }
+
+    /*!
+    @brief create a JSON value from an existing one
+
+    This is a constructor for existing @ref basic_json types.
+    It does not hijack copy/move constructors, since the parameter has different
+    template arguments than the current ones.
+
+    The constructor tries to convert the internal @ref m_value of the parameter.
+
+    @tparam BasicJsonType a type such that:
+    - @a BasicJsonType is a @ref basic_json type.
+    - @a BasicJsonType has different template arguments than @ref basic_json_t.
+
+    @param[in] val the @ref basic_json value to be converted.
+
+    @complexity Usually linear in the size of the passed @a val, also
+                depending on the implementation of the called `to_json()`
+                method.
+
+    @exceptionsafety Depends on the called constructor. For types directly
+    supported by the library (i.e., all types for which no `to_json()` function
+    was provided), strong guarantee holds: if an exception is thrown, there are
+    no changes to any JSON value.
+
+    @since version 3.2.0
+    */
+    template <typename BasicJsonType,
+              detail::enable_if_t<
+                  detail::is_basic_json<BasicJsonType>::value and not std::is_same<basic_json, BasicJsonType>::value, int> = 0>
+    basic_json(const BasicJsonType& val)
+    {
+        using other_boolean_t = typename BasicJsonType::boolean_t;
+        using other_number_float_t = typename BasicJsonType::number_float_t;
+        using other_number_integer_t = typename BasicJsonType::number_integer_t;
+        using other_number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+        using other_string_t = typename BasicJsonType::string_t;
+        using other_object_t = typename BasicJsonType::object_t;
+        using other_array_t = typename BasicJsonType::array_t;
+
+        switch (val.type())
+        {
+            case value_t::boolean:
+                JSONSerializer<other_boolean_t>::to_json(*this, val.template get<other_boolean_t>());
+                break;
+            case value_t::number_float:
+                JSONSerializer<other_number_float_t>::to_json(*this, val.template get<other_number_float_t>());
+                break;
+            case value_t::number_integer:
+                JSONSerializer<other_number_integer_t>::to_json(*this, val.template get<other_number_integer_t>());
+                break;
+            case value_t::number_unsigned:
+                JSONSerializer<other_number_unsigned_t>::to_json(*this, val.template get<other_number_unsigned_t>());
+                break;
+            case value_t::string:
+                JSONSerializer<other_string_t>::to_json(*this, val.template get_ref<const other_string_t&>());
+                break;
+            case value_t::object:
+                JSONSerializer<other_object_t>::to_json(*this, val.template get_ref<const other_object_t&>());
+                break;
+            case value_t::array:
+                JSONSerializer<other_array_t>::to_json(*this, val.template get_ref<const other_array_t&>());
+                break;
+            case value_t::null:
+                *this = nullptr;
+                break;
+            case value_t::discarded:
+                m_type = value_t::discarded;
+                break;
+        }
+        assert_invariant();
+    }
+
+    /*!
+    @brief create a container (array or object) from an initializer list
+
+    Creates a JSON value of type array or object from the passed initializer
+    list @a init. In case @a type_deduction is `true` (default), the type of
+    the JSON value to be created is deducted from the initializer list @a init
+    according to the following rules:
+
+    1. If the list is empty, an empty JSON object value `{}` is created.
+    2. If the list consists of pairs whose first element is a string, a JSON
+       object value is created where the first elements of the pairs are
+       treated as keys and the second elements are as values.
+    3. In all other cases, an array is created.
+
+    The rules aim to create the best fit between a C++ initializer list and
+    JSON values. The rationale is as follows:
+
+    1. The empty initializer list is written as `{}` which is exactly an empty
+       JSON object.
+    2. C++ has no way of describing mapped types other than to list a list of
+       pairs. As JSON requires that keys must be of type string, rule 2 is the
+       weakest constraint one can pose on initializer lists to interpret them
+       as an object.
+    3. In all other cases, the initializer list could not be interpreted as
+       JSON object type, so interpreting it as JSON array type is safe.
+
+    With the rules described above, the following JSON values cannot be
+    expressed by an initializer list:
+
+    - the empty array (`[]`): use @ref array(initializer_list_t)
+      with an empty initializer list in this case
+    - arrays whose elements satisfy rule 2: use @ref
+      array(initializer_list_t) with the same initializer list
+      in this case
+
+    @note When used without parentheses around an empty initializer list, @ref
+    basic_json() is called instead of this function, yielding the JSON null
+    value.
+
+    @param[in] init  initializer list with JSON values
+
+    @param[in] type_deduction internal parameter; when set to `true`, the type
+    of the JSON value is deducted from the initializer list @a init; when set
+    to `false`, the type provided via @a manual_type is forced. This mode is
+    used by the functions @ref array(initializer_list_t) and
+    @ref object(initializer_list_t).
+
+    @param[in] manual_type internal parameter; when @a type_deduction is set
+    to `false`, the created JSON value will use the provided type (only @ref
+    value_t::array and @ref value_t::object are valid); when @a type_deduction
+    is set to `true`, this parameter has no effect
+
+    @throw type_error.301 if @a type_deduction is `false`, @a manual_type is
+    `value_t::object`, but @a init contains an element which is not a pair
+    whose first element is a string. In this case, the constructor could not
+    create an object. If @a type_deduction would have be `true`, an array
+    would have been created. See @ref object(initializer_list_t)
+    for an example.
+
+    @complexity Linear in the size of the initializer list @a init.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The example below shows how JSON values are created from
+    initializer lists.,basic_json__list_init_t}
+
+    @sa @ref array(initializer_list_t) -- create a JSON array
+    value from an initializer list
+    @sa @ref object(initializer_list_t) -- create a JSON object
+    value from an initializer list
+
+    @since version 1.0.0
+    */
+    basic_json(initializer_list_t init,
+               bool type_deduction = true,
+               value_t manual_type = value_t::array)
+    {
+        // check if each element is an array with two elements whose first
+        // element is a string
+        bool is_an_object = std::all_of(init.begin(), init.end(),
+                                        [](const detail::json_ref<basic_json>& element_ref)
+        {
+            return (element_ref->is_array() and element_ref->size() == 2 and (*element_ref)[0].is_string());
+        });
+
+        // adjust type if type deduction is not wanted
+        if (not type_deduction)
+        {
+            // if array is wanted, do not create an object though possible
+            if (manual_type == value_t::array)
+            {
+                is_an_object = false;
+            }
+
+            // if object is wanted but impossible, throw an exception
+            if (JSON_UNLIKELY(manual_type == value_t::object and not is_an_object))
+            {
+                JSON_THROW(type_error::create(301, "cannot create object from initializer list"));
+            }
+        }
+
+        if (is_an_object)
+        {
+            // the initializer list is a list of pairs -> create object
+            m_type = value_t::object;
+            m_value = value_t::object;
+
+            std::for_each(init.begin(), init.end(), [this](const detail::json_ref<basic_json>& element_ref)
+            {
+                auto element = element_ref.moved_or_copied();
+                m_value.object->emplace(
+                    std::move(*((*element.m_value.array)[0].m_value.string)),
+                    std::move((*element.m_value.array)[1]));
+            });
+        }
+        else
+        {
+            // the initializer list describes an array -> create array
+            m_type = value_t::array;
+            m_value.array = create<array_t>(init.begin(), init.end());
+        }
+
+        assert_invariant();
+    }
+
+    /*!
+    @brief explicitly create an array from an initializer list
+
+    Creates a JSON array value from a given initializer list. That is, given a
+    list of values `a, b, c`, creates the JSON value `[a, b, c]`. If the
+    initializer list is empty, the empty array `[]` is created.
+
+    @note This function is only needed to express two edge cases that cannot
+    be realized with the initializer list constructor (@ref
+    basic_json(initializer_list_t, bool, value_t)). These cases
+    are:
+    1. creating an array whose elements are all pairs whose first element is a
+    string -- in this case, the initializer list constructor would create an
+    object, taking the first elements as keys
+    2. creating an empty array -- passing the empty initializer list to the
+    initializer list constructor yields an empty object
+
+    @param[in] init  initializer list with JSON values to create an array from
+    (optional)
+
+    @return JSON array value
+
+    @complexity Linear in the size of @a init.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The following code shows an example for the `array`
+    function.,array}
+
+    @sa @ref basic_json(initializer_list_t, bool, value_t) --
+    create a JSON value from an initializer list
+    @sa @ref object(initializer_list_t) -- create a JSON object
+    value from an initializer list
+
+    @since version 1.0.0
+    */
+    static basic_json array(initializer_list_t init = {})
+    {
+        return basic_json(init, false, value_t::array);
+    }
+
+    /*!
+    @brief explicitly create an object from an initializer list
+
+    Creates a JSON object value from a given initializer list. The initializer
+    lists elements must be pairs, and their first elements must be strings. If
+    the initializer list is empty, the empty object `{}` is created.
+
+    @note This function is only added for symmetry reasons. In contrast to the
+    related function @ref array(initializer_list_t), there are
+    no cases which can only be expressed by this function. That is, any
+    initializer list @a init can also be passed to the initializer list
+    constructor @ref basic_json(initializer_list_t, bool, value_t).
+
+    @param[in] init  initializer list to create an object from (optional)
+
+    @return JSON object value
+
+    @throw type_error.301 if @a init is not a list of pairs whose first
+    elements are strings. In this case, no object can be created. When such a
+    value is passed to @ref basic_json(initializer_list_t, bool, value_t),
+    an array would have been created from the passed initializer list @a init.
+    See example below.
+
+    @complexity Linear in the size of @a init.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The following code shows an example for the `object`
+    function.,object}
+
+    @sa @ref basic_json(initializer_list_t, bool, value_t) --
+    create a JSON value from an initializer list
+    @sa @ref array(initializer_list_t) -- create a JSON array
+    value from an initializer list
+
+    @since version 1.0.0
+    */
+    static basic_json object(initializer_list_t init = {})
+    {
+        return basic_json(init, false, value_t::object);
+    }
+
+    /*!
+    @brief construct an array with count copies of given value
+
+    Constructs a JSON array value by creating @a cnt copies of a passed value.
+    In case @a cnt is `0`, an empty array is created.
+
+    @param[in] cnt  the number of JSON copies of @a val to create
+    @param[in] val  the JSON value to copy
+
+    @post `std::distance(begin(),end()) == cnt` holds.
+
+    @complexity Linear in @a cnt.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The following code shows examples for the @ref
+    basic_json(size_type\, const basic_json&)
+    constructor.,basic_json__size_type_basic_json}
+
+    @since version 1.0.0
+    */
+    basic_json(size_type cnt, const basic_json& val)
+        : m_type(value_t::array)
+    {
+        m_value.array = create<array_t>(cnt, val);
+        assert_invariant();
+    }
+
+    /*!
+    @brief construct a JSON container given an iterator range
+
+    Constructs the JSON value with the contents of the range `[first, last)`.
+    The semantics depends on the different types a JSON value can have:
+    - In case of a null type, invalid_iterator.206 is thrown.
+    - In case of other primitive types (number, boolean, or string), @a first
+      must be `begin()` and @a last must be `end()`. In this case, the value is
+      copied. Otherwise, invalid_iterator.204 is thrown.
+    - In case of structured types (array, object), the constructor behaves as
+      similar versions for `std::vector` or `std::map`; that is, a JSON array
+      or object is constructed from the values in the range.
+
+    @tparam InputIT an input iterator type (@ref iterator or @ref
+    const_iterator)
+
+    @param[in] first begin of the range to copy from (included)
+    @param[in] last end of the range to copy from (excluded)
+
+    @pre Iterators @a first and @a last must be initialized. **This
+         precondition is enforced with an assertion (see warning).** If
+         assertions are switched off, a violation of this precondition yields
+         undefined behavior.
+
+    @pre Range `[first, last)` is valid. Usually, this precondition cannot be
+         checked efficiently. Only certain edge cases are detected; see the
+         description of the exceptions below. A violation of this precondition
+         yields undefined behavior.
+
+    @warning A precondition is enforced with a runtime assertion that will
+             result in calling `std::abort` if this precondition is not met.
+             Assertions can be disabled by defining `NDEBUG` at compile time.
+             See https://en.cppreference.com/w/cpp/error/assert for more
+             information.
+
+    @throw invalid_iterator.201 if iterators @a first and @a last are not
+    compatible (i.e., do not belong to the same JSON value). In this case,
+    the range `[first, last)` is undefined.
+    @throw invalid_iterator.204 if iterators @a first and @a last belong to a
+    primitive type (number, boolean, or string), but @a first does not point
+    to the first element any more. In this case, the range `[first, last)` is
+    undefined. See example code below.
+    @throw invalid_iterator.206 if iterators @a first and @a last belong to a
+    null value. In this case, the range `[first, last)` is undefined.
+
+    @complexity Linear in distance between @a first and @a last.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The example below shows several ways to create JSON values by
+    specifying a subrange with iterators.,basic_json__InputIt_InputIt}
+
+    @since version 1.0.0
+    */
+    template<class InputIT, typename std::enable_if<
+                 std::is_same<InputIT, typename basic_json_t::iterator>::value or
+                 std::is_same<InputIT, typename basic_json_t::const_iterator>::value, int>::type = 0>
+    basic_json(InputIT first, InputIT last)
+    {
+        assert(first.m_object != nullptr);
+        assert(last.m_object != nullptr);
+
+        // make sure iterator fits the current value
+        if (JSON_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(201, "iterators are not compatible"));
+        }
+
+        // copy type from first iterator
+        m_type = first.m_object->m_type;
+
+        // check if iterator range is complete for primitive values
+        switch (m_type)
+        {
+            case value_t::boolean:
+            case value_t::number_float:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::string:
+            {
+                if (JSON_UNLIKELY(not first.m_it.primitive_iterator.is_begin()
+                                  or not last.m_it.primitive_iterator.is_end()))
+                {
+                    JSON_THROW(invalid_iterator::create(204, "iterators out of range"));
+                }
+                break;
+            }
+
+            default:
+                break;
+        }
+
+        switch (m_type)
+        {
+            case value_t::number_integer:
+            {
+                m_value.number_integer = first.m_object->m_value.number_integer;
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                m_value.number_unsigned = first.m_object->m_value.number_unsigned;
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                m_value.number_float = first.m_object->m_value.number_float;
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                m_value.boolean = first.m_object->m_value.boolean;
+                break;
+            }
+
+            case value_t::string:
+            {
+                m_value = *first.m_object->m_value.string;
+                break;
+            }
+
+            case value_t::object:
+            {
+                m_value.object = create<object_t>(first.m_it.object_iterator,
+                                                  last.m_it.object_iterator);
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_value.array = create<array_t>(first.m_it.array_iterator,
+                                                last.m_it.array_iterator);
+                break;
+            }
+
+            default:
+                JSON_THROW(invalid_iterator::create(206, "cannot construct with iterators from " +
+                                                    std::string(first.m_object->type_name())));
+        }
+
+        assert_invariant();
+    }
+
+
+    ///////////////////////////////////////
+    // other constructors and destructor //
+    ///////////////////////////////////////
+
+    /// @private
+    basic_json(const detail::json_ref<basic_json>& ref)
+        : basic_json(ref.moved_or_copied())
+    {}
+
+    /*!
+    @brief copy constructor
+
+    Creates a copy of a given JSON value.
+
+    @param[in] other  the JSON value to copy
+
+    @post `*this == other`
+
+    @complexity Linear in the size of @a other.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is linear.
+    - As postcondition, it holds: `other == basic_json(other)`.
+
+    @liveexample{The following code shows an example for the copy
+    constructor.,basic_json__basic_json}
+
+    @since version 1.0.0
+    */
+    basic_json(const basic_json& other)
+        : m_type(other.m_type)
+    {
+        // check of passed value is valid
+        other.assert_invariant();
+
+        switch (m_type)
+        {
+            case value_t::object:
+            {
+                m_value = *other.m_value.object;
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_value = *other.m_value.array;
+                break;
+            }
+
+            case value_t::string:
+            {
+                m_value = *other.m_value.string;
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                m_value = other.m_value.boolean;
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                m_value = other.m_value.number_integer;
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                m_value = other.m_value.number_unsigned;
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                m_value = other.m_value.number_float;
+                break;
+            }
+
+            default:
+                break;
+        }
+
+        assert_invariant();
+    }
+
+    /*!
+    @brief move constructor
+
+    Move constructor. Constructs a JSON value with the contents of the given
+    value @a other using move semantics. It "steals" the resources from @a
+    other and leaves it as JSON null value.
+
+    @param[in,out] other  value to move to this object
+
+    @post `*this` has the same value as @a other before the call.
+    @post @a other is a JSON null value.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this constructor never throws
+    exceptions.
+
+    @requirement This function helps `basic_json` satisfying the
+    [MoveConstructible](https://en.cppreference.com/w/cpp/named_req/MoveConstructible)
+    requirements.
+
+    @liveexample{The code below shows the move constructor explicitly called
+    via std::move.,basic_json__moveconstructor}
+
+    @since version 1.0.0
+    */
+    basic_json(basic_json&& other) noexcept
+        : m_type(std::move(other.m_type)),
+          m_value(std::move(other.m_value))
+    {
+        // check that passed value is valid
+        other.assert_invariant();
+
+        // invalidate payload
+        other.m_type = value_t::null;
+        other.m_value = {};
+
+        assert_invariant();
+    }
+
+    /*!
+    @brief copy assignment
+
+    Copy assignment operator. Copies a JSON value via the "copy and swap"
+    strategy: It is expressed in terms of the copy constructor, destructor,
+    and the `swap()` member function.
+
+    @param[in] other  value to copy from
+
+    @complexity Linear.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is linear.
+
+    @liveexample{The code below shows and example for the copy assignment. It
+    creates a copy of value `a` which is then swapped with `b`. Finally\, the
+    copy of `a` (which is the null value after the swap) is
+    destroyed.,basic_json__copyassignment}
+
+    @since version 1.0.0
+    */
+    basic_json& operator=(basic_json other) noexcept (
+        std::is_nothrow_move_constructible<value_t>::value and
+        std::is_nothrow_move_assignable<value_t>::value and
+        std::is_nothrow_move_constructible<json_value>::value and
+        std::is_nothrow_move_assignable<json_value>::value
+    )
+    {
+        // check that passed value is valid
+        other.assert_invariant();
+
+        using std::swap;
+        swap(m_type, other.m_type);
+        swap(m_value, other.m_value);
+
+        assert_invariant();
+        return *this;
+    }
+
+    /*!
+    @brief destructor
+
+    Destroys the JSON value and frees all allocated memory.
+
+    @complexity Linear.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is linear.
+    - All stored elements are destroyed and all memory is freed.
+
+    @since version 1.0.0
+    */
+    ~basic_json() noexcept
+    {
+        assert_invariant();
+        m_value.destroy(m_type);
+    }
+
+    /// @}
+
+  public:
+    ///////////////////////
+    // object inspection //
+    ///////////////////////
+
+    /// @name object inspection
+    /// Functions to inspect the type of a JSON value.
+    /// @{
+
+    /*!
+    @brief serialization
+
+    Serialization function for JSON values. The function tries to mimic
+    Python's `json.dumps()` function, and currently supports its @a indent
+    and @a ensure_ascii parameters.
+
+    @param[in] indent If indent is nonnegative, then array elements and object
+    members will be pretty-printed with that indent level. An indent level of
+    `0` will only insert newlines. `-1` (the default) selects the most compact
+    representation.
+    @param[in] indent_char The character to use for indentation if @a indent is
+    greater than `0`. The default is ` ` (space).
+    @param[in] ensure_ascii If @a ensure_ascii is true, all non-ASCII characters
+    in the output are escaped with `\uXXXX` sequences, and the result consists
+    of ASCII characters only.
+    @param[in] error_handler  how to react on decoding errors; there are three
+    possible values: `strict` (throws and exception in case a decoding error
+    occurs; default), `replace` (replace invalid UTF-8 sequences with U+FFFD),
+    and `ignore` (ignore invalid UTF-8 sequences during serialization).
+
+    @return string containing the serialization of the JSON value
+
+    @throw type_error.316 if a string stored inside the JSON value is not
+                          UTF-8 encoded
+
+    @complexity Linear.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @liveexample{The following example shows the effect of different @a indent\,
+    @a indent_char\, and @a ensure_ascii parameters to the result of the
+    serialization.,dump}
+
+    @see https://docs.python.org/2/library/json.html#json.dump
+
+    @since version 1.0.0; indentation character @a indent_char, option
+           @a ensure_ascii and exceptions added in version 3.0.0; error
+           handlers added in version 3.4.0.
+    */
+    string_t dump(const int indent = -1,
+                  const char indent_char = ' ',
+                  const bool ensure_ascii = false,
+                  const error_handler_t error_handler = error_handler_t::strict) const
+    {
+        string_t result;
+        serializer s(detail::output_adapter<char, string_t>(result), indent_char, error_handler);
+
+        if (indent >= 0)
+        {
+            s.dump(*this, true, ensure_ascii, static_cast<unsigned int>(indent));
+        }
+        else
+        {
+            s.dump(*this, false, ensure_ascii, 0);
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief return the type of the JSON value (explicit)
+
+    Return the type of the JSON value as a value from the @ref value_t
+    enumeration.
+
+    @return the type of the JSON value
+            Value type                | return value
+            ------------------------- | -------------------------
+            null                      | value_t::null
+            boolean                   | value_t::boolean
+            string                    | value_t::string
+            number (integer)          | value_t::number_integer
+            number (unsigned integer) | value_t::number_unsigned
+            number (floating-point)   | value_t::number_float
+            object                    | value_t::object
+            array                     | value_t::array
+            discarded                 | value_t::discarded
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `type()` for all JSON
+    types.,type}
+
+    @sa @ref operator value_t() -- return the type of the JSON value (implicit)
+    @sa @ref type_name() -- return the type as string
+
+    @since version 1.0.0
+    */
+    constexpr value_t type() const noexcept
+    {
+        return m_type;
+    }
+
+    /*!
+    @brief return whether type is primitive
+
+    This function returns true if and only if the JSON type is primitive
+    (string, number, boolean, or null).
+
+    @return `true` if type is primitive (string, number, boolean, or null),
+    `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_primitive()` for all JSON
+    types.,is_primitive}
+
+    @sa @ref is_structured() -- returns whether JSON value is structured
+    @sa @ref is_null() -- returns whether JSON value is `null`
+    @sa @ref is_string() -- returns whether JSON value is a string
+    @sa @ref is_boolean() -- returns whether JSON value is a boolean
+    @sa @ref is_number() -- returns whether JSON value is a number
+
+    @since version 1.0.0
+    */
+    constexpr bool is_primitive() const noexcept
+    {
+        return is_null() or is_string() or is_boolean() or is_number();
+    }
+
+    /*!
+    @brief return whether type is structured
+
+    This function returns true if and only if the JSON type is structured
+    (array or object).
+
+    @return `true` if type is structured (array or object), `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_structured()` for all JSON
+    types.,is_structured}
+
+    @sa @ref is_primitive() -- returns whether value is primitive
+    @sa @ref is_array() -- returns whether value is an array
+    @sa @ref is_object() -- returns whether value is an object
+
+    @since version 1.0.0
+    */
+    constexpr bool is_structured() const noexcept
+    {
+        return is_array() or is_object();
+    }
+
+    /*!
+    @brief return whether value is null
+
+    This function returns true if and only if the JSON value is null.
+
+    @return `true` if type is null, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_null()` for all JSON
+    types.,is_null}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_null() const noexcept
+    {
+        return (m_type == value_t::null);
+    }
+
+    /*!
+    @brief return whether value is a boolean
+
+    This function returns true if and only if the JSON value is a boolean.
+
+    @return `true` if type is boolean, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_boolean()` for all JSON
+    types.,is_boolean}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_boolean() const noexcept
+    {
+        return (m_type == value_t::boolean);
+    }
+
+    /*!
+    @brief return whether value is a number
+
+    This function returns true if and only if the JSON value is a number. This
+    includes both integer (signed and unsigned) and floating-point values.
+
+    @return `true` if type is number (regardless whether integer, unsigned
+    integer or floating-type), `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_number()` for all JSON
+    types.,is_number}
+
+    @sa @ref is_number_integer() -- check if value is an integer or unsigned
+    integer number
+    @sa @ref is_number_unsigned() -- check if value is an unsigned integer
+    number
+    @sa @ref is_number_float() -- check if value is a floating-point number
+
+    @since version 1.0.0
+    */
+    constexpr bool is_number() const noexcept
+    {
+        return is_number_integer() or is_number_float();
+    }
+
+    /*!
+    @brief return whether value is an integer number
+
+    This function returns true if and only if the JSON value is a signed or
+    unsigned integer number. This excludes floating-point values.
+
+    @return `true` if type is an integer or unsigned integer number, `false`
+    otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_number_integer()` for all
+    JSON types.,is_number_integer}
+
+    @sa @ref is_number() -- check if value is a number
+    @sa @ref is_number_unsigned() -- check if value is an unsigned integer
+    number
+    @sa @ref is_number_float() -- check if value is a floating-point number
+
+    @since version 1.0.0
+    */
+    constexpr bool is_number_integer() const noexcept
+    {
+        return (m_type == value_t::number_integer or m_type == value_t::number_unsigned);
+    }
+
+    /*!
+    @brief return whether value is an unsigned integer number
+
+    This function returns true if and only if the JSON value is an unsigned
+    integer number. This excludes floating-point and signed integer values.
+
+    @return `true` if type is an unsigned integer number, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_number_unsigned()` for all
+    JSON types.,is_number_unsigned}
+
+    @sa @ref is_number() -- check if value is a number
+    @sa @ref is_number_integer() -- check if value is an integer or unsigned
+    integer number
+    @sa @ref is_number_float() -- check if value is a floating-point number
+
+    @since version 2.0.0
+    */
+    constexpr bool is_number_unsigned() const noexcept
+    {
+        return (m_type == value_t::number_unsigned);
+    }
+
+    /*!
+    @brief return whether value is a floating-point number
+
+    This function returns true if and only if the JSON value is a
+    floating-point number. This excludes signed and unsigned integer values.
+
+    @return `true` if type is a floating-point number, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_number_float()` for all
+    JSON types.,is_number_float}
+
+    @sa @ref is_number() -- check if value is number
+    @sa @ref is_number_integer() -- check if value is an integer number
+    @sa @ref is_number_unsigned() -- check if value is an unsigned integer
+    number
+
+    @since version 1.0.0
+    */
+    constexpr bool is_number_float() const noexcept
+    {
+        return (m_type == value_t::number_float);
+    }
+
+    /*!
+    @brief return whether value is an object
+
+    This function returns true if and only if the JSON value is an object.
+
+    @return `true` if type is object, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_object()` for all JSON
+    types.,is_object}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_object() const noexcept
+    {
+        return (m_type == value_t::object);
+    }
+
+    /*!
+    @brief return whether value is an array
+
+    This function returns true if and only if the JSON value is an array.
+
+    @return `true` if type is array, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_array()` for all JSON
+    types.,is_array}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_array() const noexcept
+    {
+        return (m_type == value_t::array);
+    }
+
+    /*!
+    @brief return whether value is a string
+
+    This function returns true if and only if the JSON value is a string.
+
+    @return `true` if type is string, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_string()` for all JSON
+    types.,is_string}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_string() const noexcept
+    {
+        return (m_type == value_t::string);
+    }
+
+    /*!
+    @brief return whether value is discarded
+
+    This function returns true if and only if the JSON value was discarded
+    during parsing with a callback function (see @ref parser_callback_t).
+
+    @note This function will always be `false` for JSON values after parsing.
+    That is, discarded values can only occur during parsing, but will be
+    removed when inside a structured value or replaced by null in other cases.
+
+    @return `true` if type is discarded, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_discarded()` for all JSON
+    types.,is_discarded}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_discarded() const noexcept
+    {
+        return (m_type == value_t::discarded);
+    }
+
+    /*!
+    @brief return the type of the JSON value (implicit)
+
+    Implicitly return the type of the JSON value as a value from the @ref
+    value_t enumeration.
+
+    @return the type of the JSON value
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies the @ref value_t operator for
+    all JSON types.,operator__value_t}
+
+    @sa @ref type() -- return the type of the JSON value (explicit)
+    @sa @ref type_name() -- return the type as string
+
+    @since version 1.0.0
+    */
+    constexpr operator value_t() const noexcept
+    {
+        return m_type;
+    }
+
+    /// @}
+
+  private:
+    //////////////////
+    // value access //
+    //////////////////
+
+    /// get a boolean (explicit)
+    boolean_t get_impl(boolean_t* /*unused*/) const
+    {
+        if (JSON_LIKELY(is_boolean()))
+        {
+            return m_value.boolean;
+        }
+
+        JSON_THROW(type_error::create(302, "type must be boolean, but is " + std::string(type_name())));
+    }
+
+    /// get a pointer to the value (object)
+    object_t* get_impl_ptr(object_t* /*unused*/) noexcept
+    {
+        return is_object() ? m_value.object : nullptr;
+    }
+
+    /// get a pointer to the value (object)
+    constexpr const object_t* get_impl_ptr(const object_t* /*unused*/) const noexcept
+    {
+        return is_object() ? m_value.object : nullptr;
+    }
+
+    /// get a pointer to the value (array)
+    array_t* get_impl_ptr(array_t* /*unused*/) noexcept
+    {
+        return is_array() ? m_value.array : nullptr;
+    }
+
+    /// get a pointer to the value (array)
+    constexpr const array_t* get_impl_ptr(const array_t* /*unused*/) const noexcept
+    {
+        return is_array() ? m_value.array : nullptr;
+    }
+
+    /// get a pointer to the value (string)
+    string_t* get_impl_ptr(string_t* /*unused*/) noexcept
+    {
+        return is_string() ? m_value.string : nullptr;
+    }
+
+    /// get a pointer to the value (string)
+    constexpr const string_t* get_impl_ptr(const string_t* /*unused*/) const noexcept
+    {
+        return is_string() ? m_value.string : nullptr;
+    }
+
+    /// get a pointer to the value (boolean)
+    boolean_t* get_impl_ptr(boolean_t* /*unused*/) noexcept
+    {
+        return is_boolean() ? &m_value.boolean : nullptr;
+    }
+
+    /// get a pointer to the value (boolean)
+    constexpr const boolean_t* get_impl_ptr(const boolean_t* /*unused*/) const noexcept
+    {
+        return is_boolean() ? &m_value.boolean : nullptr;
+    }
+
+    /// get a pointer to the value (integer number)
+    number_integer_t* get_impl_ptr(number_integer_t* /*unused*/) noexcept
+    {
+        return is_number_integer() ? &m_value.number_integer : nullptr;
+    }
+
+    /// get a pointer to the value (integer number)
+    constexpr const number_integer_t* get_impl_ptr(const number_integer_t* /*unused*/) const noexcept
+    {
+        return is_number_integer() ? &m_value.number_integer : nullptr;
+    }
+
+    /// get a pointer to the value (unsigned number)
+    number_unsigned_t* get_impl_ptr(number_unsigned_t* /*unused*/) noexcept
+    {
+        return is_number_unsigned() ? &m_value.number_unsigned : nullptr;
+    }
+
+    /// get a pointer to the value (unsigned number)
+    constexpr const number_unsigned_t* get_impl_ptr(const number_unsigned_t* /*unused*/) const noexcept
+    {
+        return is_number_unsigned() ? &m_value.number_unsigned : nullptr;
+    }
+
+    /// get a pointer to the value (floating-point number)
+    number_float_t* get_impl_ptr(number_float_t* /*unused*/) noexcept
+    {
+        return is_number_float() ? &m_value.number_float : nullptr;
+    }
+
+    /// get a pointer to the value (floating-point number)
+    constexpr const number_float_t* get_impl_ptr(const number_float_t* /*unused*/) const noexcept
+    {
+        return is_number_float() ? &m_value.number_float : nullptr;
+    }
+
+    /*!
+    @brief helper function to implement get_ref()
+
+    This function helps to implement get_ref() without code duplication for
+    const and non-const overloads
+
+    @tparam ThisType will be deduced as `basic_json` or `const basic_json`
+
+    @throw type_error.303 if ReferenceType does not match underlying value
+    type of the current JSON
+    */
+    template<typename ReferenceType, typename ThisType>
+    static ReferenceType get_ref_impl(ThisType& obj)
+    {
+        // delegate the call to get_ptr<>()
+        auto ptr = obj.template get_ptr<typename std::add_pointer<ReferenceType>::type>();
+
+        if (JSON_LIKELY(ptr != nullptr))
+        {
+            return *ptr;
+        }
+
+        JSON_THROW(type_error::create(303, "incompatible ReferenceType for get_ref, actual type is " + std::string(obj.type_name())));
+    }
+
+  public:
+    /// @name value access
+    /// Direct access to the stored value of a JSON value.
+    /// @{
+
+    /*!
+    @brief get special-case overload
+
+    This overloads avoids a lot of template boilerplate, it can be seen as the
+    identity method
+
+    @tparam BasicJsonType == @ref basic_json
+
+    @return a copy of *this
+
+    @complexity Constant.
+
+    @since version 2.1.0
+    */
+    template<typename BasicJsonType, detail::enable_if_t<
+                 std::is_same<typename std::remove_const<BasicJsonType>::type, basic_json_t>::value,
+                 int> = 0>
+    basic_json get() const
+    {
+        return *this;
+    }
+
+    /*!
+    @brief get special-case overload
+
+    This overloads converts the current @ref basic_json in a different
+    @ref basic_json type
+
+    @tparam BasicJsonType == @ref basic_json
+
+    @return a copy of *this, converted into @tparam BasicJsonType
+
+    @complexity Depending on the implementation of the called `from_json()`
+                method.
+
+    @since version 3.2.0
+    */
+    template<typename BasicJsonType, detail::enable_if_t<
+                 not std::is_same<BasicJsonType, basic_json>::value and
+                 detail::is_basic_json<BasicJsonType>::value, int> = 0>
+    BasicJsonType get() const
+    {
+        return *this;
+    }
+
+    /*!
+    @brief get a value (explicit)
+
+    Explicit type conversion between the JSON value and a compatible value
+    which is [CopyConstructible](https://en.cppreference.com/w/cpp/named_req/CopyConstructible)
+    and [DefaultConstructible](https://en.cppreference.com/w/cpp/named_req/DefaultConstructible).
+    The value is converted by calling the @ref json_serializer<ValueType>
+    `from_json()` method.
+
+    The function is equivalent to executing
+    @code {.cpp}
+    ValueType ret;
+    JSONSerializer<ValueType>::from_json(*this, ret);
+    return ret;
+    @endcode
+
+    This overloads is chosen if:
+    - @a ValueType is not @ref basic_json,
+    - @ref json_serializer<ValueType> has a `from_json()` method of the form
+      `void from_json(const basic_json&, ValueType&)`, and
+    - @ref json_serializer<ValueType> does not have a `from_json()` method of
+      the form `ValueType from_json(const basic_json&)`
+
+    @tparam ValueTypeCV the provided value type
+    @tparam ValueType the returned value type
+
+    @return copy of the JSON value, converted to @a ValueType
+
+    @throw what @ref json_serializer<ValueType> `from_json()` method throws
+
+    @liveexample{The example below shows several conversions from JSON values
+    to other types. There a few things to note: (1) Floating-point numbers can
+    be converted to integers\, (2) A JSON array can be converted to a standard
+    `std::vector<short>`\, (3) A JSON object can be converted to C++
+    associative containers such as `std::unordered_map<std::string\,
+    json>`.,get__ValueType_const}
+
+    @since version 2.1.0
+    */
+    template<typename ValueTypeCV, typename ValueType = detail::uncvref_t<ValueTypeCV>,
+             detail::enable_if_t <
+                 not detail::is_basic_json<ValueType>::value and
+                 detail::has_from_json<basic_json_t, ValueType>::value and
+                 not detail::has_non_default_from_json<basic_json_t, ValueType>::value,
+                 int> = 0>
+    ValueType get() const noexcept(noexcept(
+                                       JSONSerializer<ValueType>::from_json(std::declval<const basic_json_t&>(), std::declval<ValueType&>())))
+    {
+        // we cannot static_assert on ValueTypeCV being non-const, because
+        // there is support for get<const basic_json_t>(), which is why we
+        // still need the uncvref
+        static_assert(not std::is_reference<ValueTypeCV>::value,
+                      "get() cannot be used with reference types, you might want to use get_ref()");
+        static_assert(std::is_default_constructible<ValueType>::value,
+                      "types must be DefaultConstructible when used with get()");
+
+        ValueType ret;
+        JSONSerializer<ValueType>::from_json(*this, ret);
+        return ret;
+    }
+
+    /*!
+    @brief get a value (explicit); special case
+
+    Explicit type conversion between the JSON value and a compatible value
+    which is **not** [CopyConstructible](https://en.cppreference.com/w/cpp/named_req/CopyConstructible)
+    and **not** [DefaultConstructible](https://en.cppreference.com/w/cpp/named_req/DefaultConstructible).
+    The value is converted by calling the @ref json_serializer<ValueType>
+    `from_json()` method.
+
+    The function is equivalent to executing
+    @code {.cpp}
+    return JSONSerializer<ValueTypeCV>::from_json(*this);
+    @endcode
+
+    This overloads is chosen if:
+    - @a ValueType is not @ref basic_json and
+    - @ref json_serializer<ValueType> has a `from_json()` method of the form
+      `ValueType from_json(const basic_json&)`
+
+    @note If @ref json_serializer<ValueType> has both overloads of
+    `from_json()`, this one is chosen.
+
+    @tparam ValueTypeCV the provided value type
+    @tparam ValueType the returned value type
+
+    @return copy of the JSON value, converted to @a ValueType
+
+    @throw what @ref json_serializer<ValueType> `from_json()` method throws
+
+    @since version 2.1.0
+    */
+    template<typename ValueTypeCV, typename ValueType = detail::uncvref_t<ValueTypeCV>,
+             detail::enable_if_t<not std::is_same<basic_json_t, ValueType>::value and
+                                 detail::has_non_default_from_json<basic_json_t, ValueType>::value,
+                                 int> = 0>
+    ValueType get() const noexcept(noexcept(
+                                       JSONSerializer<ValueTypeCV>::from_json(std::declval<const basic_json_t&>())))
+    {
+        static_assert(not std::is_reference<ValueTypeCV>::value,
+                      "get() cannot be used with reference types, you might want to use get_ref()");
+        return JSONSerializer<ValueTypeCV>::from_json(*this);
+    }
+
+    /*!
+    @brief get a value (explicit)
+
+    Explicit type conversion between the JSON value and a compatible value.
+    The value is filled into the input parameter by calling the @ref json_serializer<ValueType>
+    `from_json()` method.
+
+    The function is equivalent to executing
+    @code {.cpp}
+    ValueType v;
+    JSONSerializer<ValueType>::from_json(*this, v);
+    @endcode
+
+    This overloads is chosen if:
+    - @a ValueType is not @ref basic_json,
+    - @ref json_serializer<ValueType> has a `from_json()` method of the form
+      `void from_json(const basic_json&, ValueType&)`, and
+
+    @tparam ValueType the input parameter type.
+
+    @return the input parameter, allowing chaining calls.
+
+    @throw what @ref json_serializer<ValueType> `from_json()` method throws
+
+    @liveexample{The example below shows several conversions from JSON values
+    to other types. There a few things to note: (1) Floating-point numbers can
+    be converted to integers\, (2) A JSON array can be converted to a standard
+    `std::vector<short>`\, (3) A JSON object can be converted to C++
+    associative containers such as `std::unordered_map<std::string\,
+    json>`.,get_to}
+
+    @since version 3.3.0
+    */
+    template<typename ValueType,
+             detail::enable_if_t <
+                 not detail::is_basic_json<ValueType>::value and
+                 detail::has_from_json<basic_json_t, ValueType>::value,
+                 int> = 0>
+    ValueType & get_to(ValueType& v) const noexcept(noexcept(
+                JSONSerializer<ValueType>::from_json(std::declval<const basic_json_t&>(), v)))
+    {
+        JSONSerializer<ValueType>::from_json(*this, v);
+        return v;
+    }
+
+
+    /*!
+    @brief get a pointer value (implicit)
+
+    Implicit pointer access to the internally stored JSON value. No copies are
+    made.
+
+    @warning Writing data to the pointee of the result yields an undefined
+    state.
+
+    @tparam PointerType pointer type; must be a pointer to @ref array_t, @ref
+    object_t, @ref string_t, @ref boolean_t, @ref number_integer_t,
+    @ref number_unsigned_t, or @ref number_float_t. Enforced by a static
+    assertion.
+
+    @return pointer to the internally stored JSON value if the requested
+    pointer type @a PointerType fits to the JSON value; `nullptr` otherwise
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how pointers to internal values of a
+    JSON value can be requested. Note that no type conversions are made and a
+    `nullptr` is returned if the value and the requested pointer type does not
+    match.,get_ptr}
+
+    @since version 1.0.0
+    */
+    template<typename PointerType, typename std::enable_if<
+                 std::is_pointer<PointerType>::value, int>::type = 0>
+    auto get_ptr() noexcept -> decltype(std::declval<basic_json_t&>().get_impl_ptr(std::declval<PointerType>()))
+    {
+        // delegate the call to get_impl_ptr<>()
+        return get_impl_ptr(static_cast<PointerType>(nullptr));
+    }
+
+    /*!
+    @brief get a pointer value (implicit)
+    @copydoc get_ptr()
+    */
+    template<typename PointerType, typename std::enable_if<
+                 std::is_pointer<PointerType>::value and
+                 std::is_const<typename std::remove_pointer<PointerType>::type>::value, int>::type = 0>
+    constexpr auto get_ptr() const noexcept -> decltype(std::declval<const basic_json_t&>().get_impl_ptr(std::declval<PointerType>()))
+    {
+        // delegate the call to get_impl_ptr<>() const
+        return get_impl_ptr(static_cast<PointerType>(nullptr));
+    }
+
+    /*!
+    @brief get a pointer value (explicit)
+
+    Explicit pointer access to the internally stored JSON value. No copies are
+    made.
+
+    @warning The pointer becomes invalid if the underlying JSON object
+    changes.
+
+    @tparam PointerType pointer type; must be a pointer to @ref array_t, @ref
+    object_t, @ref string_t, @ref boolean_t, @ref number_integer_t,
+    @ref number_unsigned_t, or @ref number_float_t.
+
+    @return pointer to the internally stored JSON value if the requested
+    pointer type @a PointerType fits to the JSON value; `nullptr` otherwise
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how pointers to internal values of a
+    JSON value can be requested. Note that no type conversions are made and a
+    `nullptr` is returned if the value and the requested pointer type does not
+    match.,get__PointerType}
+
+    @sa @ref get_ptr() for explicit pointer-member access
+
+    @since version 1.0.0
+    */
+    template<typename PointerType, typename std::enable_if<
+                 std::is_pointer<PointerType>::value, int>::type = 0>
+    auto get() noexcept -> decltype(std::declval<basic_json_t&>().template get_ptr<PointerType>())
+    {
+        // delegate the call to get_ptr
+        return get_ptr<PointerType>();
+    }
+
+    /*!
+    @brief get a pointer value (explicit)
+    @copydoc get()
+    */
+    template<typename PointerType, typename std::enable_if<
+                 std::is_pointer<PointerType>::value, int>::type = 0>
+    constexpr auto get() const noexcept -> decltype(std::declval<const basic_json_t&>().template get_ptr<PointerType>())
+    {
+        // delegate the call to get_ptr
+        return get_ptr<PointerType>();
+    }
+
+    /*!
+    @brief get a reference value (implicit)
+
+    Implicit reference access to the internally stored JSON value. No copies
+    are made.
+
+    @warning Writing data to the referee of the result yields an undefined
+    state.
+
+    @tparam ReferenceType reference type; must be a reference to @ref array_t,
+    @ref object_t, @ref string_t, @ref boolean_t, @ref number_integer_t, or
+    @ref number_float_t. Enforced by static assertion.
+
+    @return reference to the internally stored JSON value if the requested
+    reference type @a ReferenceType fits to the JSON value; throws
+    type_error.303 otherwise
+
+    @throw type_error.303 in case passed type @a ReferenceType is incompatible
+    with the stored JSON value; see example below
+
+    @complexity Constant.
+
+    @liveexample{The example shows several calls to `get_ref()`.,get_ref}
+
+    @since version 1.1.0
+    */
+    template<typename ReferenceType, typename std::enable_if<
+                 std::is_reference<ReferenceType>::value, int>::type = 0>
+    ReferenceType get_ref()
+    {
+        // delegate call to get_ref_impl
+        return get_ref_impl<ReferenceType>(*this);
+    }
+
+    /*!
+    @brief get a reference value (implicit)
+    @copydoc get_ref()
+    */
+    template<typename ReferenceType, typename std::enable_if<
+                 std::is_reference<ReferenceType>::value and
+                 std::is_const<typename std::remove_reference<ReferenceType>::type>::value, int>::type = 0>
+    ReferenceType get_ref() const
+    {
+        // delegate call to get_ref_impl
+        return get_ref_impl<ReferenceType>(*this);
+    }
+
+    /*!
+    @brief get a value (implicit)
+
+    Implicit type conversion between the JSON value and a compatible value.
+    The call is realized by calling @ref get() const.
+
+    @tparam ValueType non-pointer type compatible to the JSON value, for
+    instance `int` for JSON integer numbers, `bool` for JSON booleans, or
+    `std::vector` types for JSON arrays. The character type of @ref string_t
+    as well as an initializer list of this type is excluded to avoid
+    ambiguities as these types implicitly convert to `std::string`.
+
+    @return copy of the JSON value, converted to type @a ValueType
+
+    @throw type_error.302 in case passed type @a ValueType is incompatible
+    to the JSON value type (e.g., the JSON value is of type boolean, but a
+    string is requested); see example below
+
+    @complexity Linear in the size of the JSON value.
+
+    @liveexample{The example below shows several conversions from JSON values
+    to other types. There a few things to note: (1) Floating-point numbers can
+    be converted to integers\, (2) A JSON array can be converted to a standard
+    `std::vector<short>`\, (3) A JSON object can be converted to C++
+    associative containers such as `std::unordered_map<std::string\,
+    json>`.,operator__ValueType}
+
+    @since version 1.0.0
+    */
+    template < typename ValueType, typename std::enable_if <
+                   not std::is_pointer<ValueType>::value and
+                   not std::is_same<ValueType, detail::json_ref<basic_json>>::value and
+                   not std::is_same<ValueType, typename string_t::value_type>::value and
+                   not detail::is_basic_json<ValueType>::value
+
+#ifndef _MSC_VER  // fix for issue #167 operator<< ambiguity under VS2015
+                   and not std::is_same<ValueType, std::initializer_list<typename string_t::value_type>>::value
+#if defined(JSON_HAS_CPP_17) && defined(_MSC_VER) and _MSC_VER <= 1914
+                   and not std::is_same<ValueType, typename std::string_view>::value
+#endif
+#endif
+                   and detail::is_detected<detail::get_template_function, const basic_json_t&, ValueType>::value
+                   , int >::type = 0 >
+    operator ValueType() const
+    {
+        // delegate the call to get<>() const
+        return get<ValueType>();
+    }
+
+    /// @}
+
+
+    ////////////////////
+    // element access //
+    ////////////////////
+
+    /// @name element access
+    /// Access to the JSON value.
+    /// @{
+
+    /*!
+    @brief access specified array element with bounds checking
+
+    Returns a reference to the element at specified location @a idx, with
+    bounds checking.
+
+    @param[in] idx  index of the element to access
+
+    @return reference to the element at index @a idx
+
+    @throw type_error.304 if the JSON value is not an array; in this case,
+    calling `at` with an index makes no sense. See example below.
+    @throw out_of_range.401 if the index @a idx is out of range of the array;
+    that is, `idx >= size()`. See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @since version 1.0.0
+
+    @liveexample{The example below shows how array elements can be read and
+    written using `at()`. It also demonstrates the different exceptions that
+    can be thrown.,at__size_type}
+    */
+    reference at(size_type idx)
+    {
+        // at only works for arrays
+        if (JSON_LIKELY(is_array()))
+        {
+            JSON_TRY
+            {
+                return m_value.array->at(idx);
+            }
+            JSON_CATCH (std::out_of_range&)
+            {
+                // create better exception explanation
+                JSON_THROW(out_of_range::create(401, "array index " + std::to_string(idx) + " is out of range"));
+            }
+        }
+        else
+        {
+            JSON_THROW(type_error::create(304, "cannot use at() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief access specified array element with bounds checking
+
+    Returns a const reference to the element at specified location @a idx,
+    with bounds checking.
+
+    @param[in] idx  index of the element to access
+
+    @return const reference to the element at index @a idx
+
+    @throw type_error.304 if the JSON value is not an array; in this case,
+    calling `at` with an index makes no sense. See example below.
+    @throw out_of_range.401 if the index @a idx is out of range of the array;
+    that is, `idx >= size()`. See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @since version 1.0.0
+
+    @liveexample{The example below shows how array elements can be read using
+    `at()`. It also demonstrates the different exceptions that can be thrown.,
+    at__size_type_const}
+    */
+    const_reference at(size_type idx) const
+    {
+        // at only works for arrays
+        if (JSON_LIKELY(is_array()))
+        {
+            JSON_TRY
+            {
+                return m_value.array->at(idx);
+            }
+            JSON_CATCH (std::out_of_range&)
+            {
+                // create better exception explanation
+                JSON_THROW(out_of_range::create(401, "array index " + std::to_string(idx) + " is out of range"));
+            }
+        }
+        else
+        {
+            JSON_THROW(type_error::create(304, "cannot use at() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief access specified object element with bounds checking
+
+    Returns a reference to the element at with specified key @a key, with
+    bounds checking.
+
+    @param[in] key  key of the element to access
+
+    @return reference to the element at key @a key
+
+    @throw type_error.304 if the JSON value is not an object; in this case,
+    calling `at` with a key makes no sense. See example below.
+    @throw out_of_range.403 if the key @a key is is not stored in the object;
+    that is, `find(key) == end()`. See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Logarithmic in the size of the container.
+
+    @sa @ref operator[](const typename object_t::key_type&) for unchecked
+    access by reference
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.0.0
+
+    @liveexample{The example below shows how object elements can be read and
+    written using `at()`. It also demonstrates the different exceptions that
+    can be thrown.,at__object_t_key_type}
+    */
+    reference at(const typename object_t::key_type& key)
+    {
+        // at only works for objects
+        if (JSON_LIKELY(is_object()))
+        {
+            JSON_TRY
+            {
+                return m_value.object->at(key);
+            }
+            JSON_CATCH (std::out_of_range&)
+            {
+                // create better exception explanation
+                JSON_THROW(out_of_range::create(403, "key '" + key + "' not found"));
+            }
+        }
+        else
+        {
+            JSON_THROW(type_error::create(304, "cannot use at() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief access specified object element with bounds checking
+
+    Returns a const reference to the element at with specified key @a key,
+    with bounds checking.
+
+    @param[in] key  key of the element to access
+
+    @return const reference to the element at key @a key
+
+    @throw type_error.304 if the JSON value is not an object; in this case,
+    calling `at` with a key makes no sense. See example below.
+    @throw out_of_range.403 if the key @a key is is not stored in the object;
+    that is, `find(key) == end()`. See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Logarithmic in the size of the container.
+
+    @sa @ref operator[](const typename object_t::key_type&) for unchecked
+    access by reference
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.0.0
+
+    @liveexample{The example below shows how object elements can be read using
+    `at()`. It also demonstrates the different exceptions that can be thrown.,
+    at__object_t_key_type_const}
+    */
+    const_reference at(const typename object_t::key_type& key) const
+    {
+        // at only works for objects
+        if (JSON_LIKELY(is_object()))
+        {
+            JSON_TRY
+            {
+                return m_value.object->at(key);
+            }
+            JSON_CATCH (std::out_of_range&)
+            {
+                // create better exception explanation
+                JSON_THROW(out_of_range::create(403, "key '" + key + "' not found"));
+            }
+        }
+        else
+        {
+            JSON_THROW(type_error::create(304, "cannot use at() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief access specified array element
+
+    Returns a reference to the element at specified location @a idx.
+
+    @note If @a idx is beyond the range of the array (i.e., `idx >= size()`),
+    then the array is silently filled up with `null` values to make `idx` a
+    valid reference to the last stored element.
+
+    @param[in] idx  index of the element to access
+
+    @return reference to the element at index @a idx
+
+    @throw type_error.305 if the JSON value is not an array or null; in that
+    cases, using the [] operator with an index makes no sense.
+
+    @complexity Constant if @a idx is in the range of the array. Otherwise
+    linear in `idx - size()`.
+
+    @liveexample{The example below shows how array elements can be read and
+    written using `[]` operator. Note the addition of `null`
+    values.,operatorarray__size_type}
+
+    @since version 1.0.0
+    */
+    reference operator[](size_type idx)
+    {
+        // implicitly convert null value to an empty array
+        if (is_null())
+        {
+            m_type = value_t::array;
+            m_value.array = create<array_t>();
+            assert_invariant();
+        }
+
+        // operator[] only works for arrays
+        if (JSON_LIKELY(is_array()))
+        {
+            // fill up array with null values if given idx is outside range
+            if (idx >= m_value.array->size())
+            {
+                m_value.array->insert(m_value.array->end(),
+                                      idx - m_value.array->size() + 1,
+                                      basic_json());
+            }
+
+            return m_value.array->operator[](idx);
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a numeric argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief access specified array element
+
+    Returns a const reference to the element at specified location @a idx.
+
+    @param[in] idx  index of the element to access
+
+    @return const reference to the element at index @a idx
+
+    @throw type_error.305 if the JSON value is not an array; in that case,
+    using the [] operator with an index makes no sense.
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how array elements can be read using
+    the `[]` operator.,operatorarray__size_type_const}
+
+    @since version 1.0.0
+    */
+    const_reference operator[](size_type idx) const
+    {
+        // const operator[] only works for arrays
+        if (JSON_LIKELY(is_array()))
+        {
+            return m_value.array->operator[](idx);
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a numeric argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief access specified object element
+
+    Returns a reference to the element at with specified key @a key.
+
+    @note If @a key is not found in the object, then it is silently added to
+    the object and filled with a `null` value to make `key` a valid reference.
+    In case the value was `null` before, it is converted to an object.
+
+    @param[in] key  key of the element to access
+
+    @return reference to the element at key @a key
+
+    @throw type_error.305 if the JSON value is not an object or null; in that
+    cases, using the [] operator with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be read and
+    written using the `[]` operator.,operatorarray__key_type}
+
+    @sa @ref at(const typename object_t::key_type&) for access by reference
+    with range checking
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.0.0
+    */
+    reference operator[](const typename object_t::key_type& key)
+    {
+        // implicitly convert null value to an empty object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value.object = create<object_t>();
+            assert_invariant();
+        }
+
+        // operator[] only works for objects
+        if (JSON_LIKELY(is_object()))
+        {
+            return m_value.object->operator[](key);
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a string argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief read-only access specified object element
+
+    Returns a const reference to the element at with specified key @a key. No
+    bounds checking is performed.
+
+    @warning If the element with key @a key does not exist, the behavior is
+    undefined.
+
+    @param[in] key  key of the element to access
+
+    @return const reference to the element at key @a key
+
+    @pre The element with key @a key must exist. **This precondition is
+         enforced with an assertion.**
+
+    @throw type_error.305 if the JSON value is not an object; in that case,
+    using the [] operator with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be read using
+    the `[]` operator.,operatorarray__key_type_const}
+
+    @sa @ref at(const typename object_t::key_type&) for access by reference
+    with range checking
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.0.0
+    */
+    const_reference operator[](const typename object_t::key_type& key) const
+    {
+        // const operator[] only works for objects
+        if (JSON_LIKELY(is_object()))
+        {
+            assert(m_value.object->find(key) != m_value.object->end());
+            return m_value.object->find(key)->second;
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a string argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief access specified object element
+
+    Returns a reference to the element at with specified key @a key.
+
+    @note If @a key is not found in the object, then it is silently added to
+    the object and filled with a `null` value to make `key` a valid reference.
+    In case the value was `null` before, it is converted to an object.
+
+    @param[in] key  key of the element to access
+
+    @return reference to the element at key @a key
+
+    @throw type_error.305 if the JSON value is not an object or null; in that
+    cases, using the [] operator with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be read and
+    written using the `[]` operator.,operatorarray__key_type}
+
+    @sa @ref at(const typename object_t::key_type&) for access by reference
+    with range checking
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.1.0
+    */
+    template<typename T>
+    reference operator[](T* key)
+    {
+        // implicitly convert null to object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value = value_t::object;
+            assert_invariant();
+        }
+
+        // at only works for objects
+        if (JSON_LIKELY(is_object()))
+        {
+            return m_value.object->operator[](key);
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a string argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief read-only access specified object element
+
+    Returns a const reference to the element at with specified key @a key. No
+    bounds checking is performed.
+
+    @warning If the element with key @a key does not exist, the behavior is
+    undefined.
+
+    @param[in] key  key of the element to access
+
+    @return const reference to the element at key @a key
+
+    @pre The element with key @a key must exist. **This precondition is
+         enforced with an assertion.**
+
+    @throw type_error.305 if the JSON value is not an object; in that case,
+    using the [] operator with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be read using
+    the `[]` operator.,operatorarray__key_type_const}
+
+    @sa @ref at(const typename object_t::key_type&) for access by reference
+    with range checking
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.1.0
+    */
+    template<typename T>
+    const_reference operator[](T* key) const
+    {
+        // at only works for objects
+        if (JSON_LIKELY(is_object()))
+        {
+            assert(m_value.object->find(key) != m_value.object->end());
+            return m_value.object->find(key)->second;
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a string argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief access specified object element with default value
+
+    Returns either a copy of an object's element at the specified key @a key
+    or a given default value if no element with key @a key exists.
+
+    The function is basically equivalent to executing
+    @code {.cpp}
+    try {
+        return at(key);
+    } catch(out_of_range) {
+        return default_value;
+    }
+    @endcode
+
+    @note Unlike @ref at(const typename object_t::key_type&), this function
+    does not throw if the given key @a key was not found.
+
+    @note Unlike @ref operator[](const typename object_t::key_type& key), this
+    function does not implicitly add an element to the position defined by @a
+    key. This function is furthermore also applicable to const objects.
+
+    @param[in] key  key of the element to access
+    @param[in] default_value  the value to return if @a key is not found
+
+    @tparam ValueType type compatible to JSON values, for instance `int` for
+    JSON integer numbers, `bool` for JSON booleans, or `std::vector` types for
+    JSON arrays. Note the type of the expected value at @a key and the default
+    value @a default_value must be compatible.
+
+    @return copy of the element at key @a key or @a default_value if @a key
+    is not found
+
+    @throw type_error.306 if the JSON value is not an object; in that case,
+    using `value()` with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be queried
+    with a default value.,basic_json__value}
+
+    @sa @ref at(const typename object_t::key_type&) for access by reference
+    with range checking
+    @sa @ref operator[](const typename object_t::key_type&) for unchecked
+    access by reference
+
+    @since version 1.0.0
+    */
+    template<class ValueType, typename std::enable_if<
+                 std::is_convertible<basic_json_t, ValueType>::value, int>::type = 0>
+    ValueType value(const typename object_t::key_type& key, const ValueType& default_value) const
+    {
+        // at only works for objects
+        if (JSON_LIKELY(is_object()))
+        {
+            // if key is found, return value and given default value otherwise
+            const auto it = find(key);
+            if (it != end())
+            {
+                return *it;
+            }
+
+            return default_value;
+        }
+
+        JSON_THROW(type_error::create(306, "cannot use value() with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief overload for a default value of type const char*
+    @copydoc basic_json::value(const typename object_t::key_type&, const ValueType&) const
+    */
+    string_t value(const typename object_t::key_type& key, const char* default_value) const
+    {
+        return value(key, string_t(default_value));
+    }
+
+    /*!
+    @brief access specified object element via JSON Pointer with default value
+
+    Returns either a copy of an object's element at the specified key @a key
+    or a given default value if no element with key @a key exists.
+
+    The function is basically equivalent to executing
+    @code {.cpp}
+    try {
+        return at(ptr);
+    } catch(out_of_range) {
+        return default_value;
+    }
+    @endcode
+
+    @note Unlike @ref at(const json_pointer&), this function does not throw
+    if the given key @a key was not found.
+
+    @param[in] ptr  a JSON pointer to the element to access
+    @param[in] default_value  the value to return if @a ptr found no value
+
+    @tparam ValueType type compatible to JSON values, for instance `int` for
+    JSON integer numbers, `bool` for JSON booleans, or `std::vector` types for
+    JSON arrays. Note the type of the expected value at @a key and the default
+    value @a default_value must be compatible.
+
+    @return copy of the element at key @a key or @a default_value if @a key
+    is not found
+
+    @throw type_error.306 if the JSON value is not an object; in that case,
+    using `value()` with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be queried
+    with a default value.,basic_json__value_ptr}
+
+    @sa @ref operator[](const json_pointer&) for unchecked access by reference
+
+    @since version 2.0.2
+    */
+    template<class ValueType, typename std::enable_if<
+                 std::is_convertible<basic_json_t, ValueType>::value, int>::type = 0>
+    ValueType value(const json_pointer& ptr, const ValueType& default_value) const
+    {
+        // at only works for objects
+        if (JSON_LIKELY(is_object()))
+        {
+            // if pointer resolves a value, return it or use default value
+            JSON_TRY
+            {
+                return ptr.get_checked(this);
+            }
+            JSON_INTERNAL_CATCH (out_of_range&)
+            {
+                return default_value;
+            }
+        }
+
+        JSON_THROW(type_error::create(306, "cannot use value() with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief overload for a default value of type const char*
+    @copydoc basic_json::value(const json_pointer&, ValueType) const
+    */
+    string_t value(const json_pointer& ptr, const char* default_value) const
+    {
+        return value(ptr, string_t(default_value));
+    }
+
+    /*!
+    @brief access the first element
+
+    Returns a reference to the first element in the container. For a JSON
+    container `c`, the expression `c.front()` is equivalent to `*c.begin()`.
+
+    @return In case of a structured type (array or object), a reference to the
+    first element is returned. In case of number, string, or boolean values, a
+    reference to the value is returned.
+
+    @complexity Constant.
+
+    @pre The JSON value must not be `null` (would throw `std::out_of_range`)
+    or an empty array or object (undefined behavior, **guarded by
+    assertions**).
+    @post The JSON value remains unchanged.
+
+    @throw invalid_iterator.214 when called on `null` value
+
+    @liveexample{The following code shows an example for `front()`.,front}
+
+    @sa @ref back() -- access the last element
+
+    @since version 1.0.0
+    */
+    reference front()
+    {
+        return *begin();
+    }
+
+    /*!
+    @copydoc basic_json::front()
+    */
+    const_reference front() const
+    {
+        return *cbegin();
+    }
+
+    /*!
+    @brief access the last element
+
+    Returns a reference to the last element in the container. For a JSON
+    container `c`, the expression `c.back()` is equivalent to
+    @code {.cpp}
+    auto tmp = c.end();
+    --tmp;
+    return *tmp;
+    @endcode
+
+    @return In case of a structured type (array or object), a reference to the
+    last element is returned. In case of number, string, or boolean values, a
+    reference to the value is returned.
+
+    @complexity Constant.
+
+    @pre The JSON value must not be `null` (would throw `std::out_of_range`)
+    or an empty array or object (undefined behavior, **guarded by
+    assertions**).
+    @post The JSON value remains unchanged.
+
+    @throw invalid_iterator.214 when called on a `null` value. See example
+    below.
+
+    @liveexample{The following code shows an example for `back()`.,back}
+
+    @sa @ref front() -- access the first element
+
+    @since version 1.0.0
+    */
+    reference back()
+    {
+        auto tmp = end();
+        --tmp;
+        return *tmp;
+    }
+
+    /*!
+    @copydoc basic_json::back()
+    */
+    const_reference back() const
+    {
+        auto tmp = cend();
+        --tmp;
+        return *tmp;
+    }
+
+    /*!
+    @brief remove element given an iterator
+
+    Removes the element specified by iterator @a pos. The iterator @a pos must
+    be valid and dereferenceable. Thus the `end()` iterator (which is valid,
+    but is not dereferenceable) cannot be used as a value for @a pos.
+
+    If called on a primitive type other than `null`, the resulting JSON value
+    will be `null`.
+
+    @param[in] pos iterator to the element to remove
+    @return Iterator following the last removed element. If the iterator @a
+    pos refers to the last element, the `end()` iterator is returned.
+
+    @tparam IteratorType an @ref iterator or @ref const_iterator
+
+    @post Invalidates iterators and references at or after the point of the
+    erase, including the `end()` iterator.
+
+    @throw type_error.307 if called on a `null` value; example: `"cannot use
+    erase() with null"`
+    @throw invalid_iterator.202 if called on an iterator which does not belong
+    to the current JSON value; example: `"iterator does not fit current
+    value"`
+    @throw invalid_iterator.205 if called on a primitive type with invalid
+    iterator (i.e., any iterator which is not `begin()`); example: `"iterator
+    out of range"`
+
+    @complexity The complexity depends on the type:
+    - objects: amortized constant
+    - arrays: linear in distance between @a pos and the end of the container
+    - strings: linear in the length of the string
+    - other types: constant
+
+    @liveexample{The example shows the result of `erase()` for different JSON
+    types.,erase__IteratorType}
+
+    @sa @ref erase(IteratorType, IteratorType) -- removes the elements in
+    the given range
+    @sa @ref erase(const typename object_t::key_type&) -- removes the element
+    from an object at the given key
+    @sa @ref erase(const size_type) -- removes the element from an array at
+    the given index
+
+    @since version 1.0.0
+    */
+    template<class IteratorType, typename std::enable_if<
+                 std::is_same<IteratorType, typename basic_json_t::iterator>::value or
+                 std::is_same<IteratorType, typename basic_json_t::const_iterator>::value, int>::type
+             = 0>
+    IteratorType erase(IteratorType pos)
+    {
+        // make sure iterator fits the current value
+        if (JSON_UNLIKELY(this != pos.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value"));
+        }
+
+        IteratorType result = end();
+
+        switch (m_type)
+        {
+            case value_t::boolean:
+            case value_t::number_float:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::string:
+            {
+                if (JSON_UNLIKELY(not pos.m_it.primitive_iterator.is_begin()))
+                {
+                    JSON_THROW(invalid_iterator::create(205, "iterator out of range"));
+                }
+
+                if (is_string())
+                {
+                    AllocatorType<string_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, m_value.string);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, m_value.string, 1);
+                    m_value.string = nullptr;
+                }
+
+                m_type = value_t::null;
+                assert_invariant();
+                break;
+            }
+
+            case value_t::object:
+            {
+                result.m_it.object_iterator = m_value.object->erase(pos.m_it.object_iterator);
+                break;
+            }
+
+            case value_t::array:
+            {
+                result.m_it.array_iterator = m_value.array->erase(pos.m_it.array_iterator);
+                break;
+            }
+
+            default:
+                JSON_THROW(type_error::create(307, "cannot use erase() with " + std::string(type_name())));
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief remove elements given an iterator range
+
+    Removes the element specified by the range `[first; last)`. The iterator
+    @a first does not need to be dereferenceable if `first == last`: erasing
+    an empty range is a no-op.
+
+    If called on a primitive type other than `null`, the resulting JSON value
+    will be `null`.
+
+    @param[in] first iterator to the beginning of the range to remove
+    @param[in] last iterator past the end of the range to remove
+    @return Iterator following the last removed element. If the iterator @a
+    second refers to the last element, the `end()` iterator is returned.
+
+    @tparam IteratorType an @ref iterator or @ref const_iterator
+
+    @post Invalidates iterators and references at or after the point of the
+    erase, including the `end()` iterator.
+
+    @throw type_error.307 if called on a `null` value; example: `"cannot use
+    erase() with null"`
+    @throw invalid_iterator.203 if called on iterators which does not belong
+    to the current JSON value; example: `"iterators do not fit current value"`
+    @throw invalid_iterator.204 if called on a primitive type with invalid
+    iterators (i.e., if `first != begin()` and `last != end()`); example:
+    `"iterators out of range"`
+
+    @complexity The complexity depends on the type:
+    - objects: `log(size()) + std::distance(first, last)`
+    - arrays: linear in the distance between @a first and @a last, plus linear
+      in the distance between @a last and end of the container
+    - strings: linear in the length of the string
+    - other types: constant
+
+    @liveexample{The example shows the result of `erase()` for different JSON
+    types.,erase__IteratorType_IteratorType}
+
+    @sa @ref erase(IteratorType) -- removes the element at a given position
+    @sa @ref erase(const typename object_t::key_type&) -- removes the element
+    from an object at the given key
+    @sa @ref erase(const size_type) -- removes the element from an array at
+    the given index
+
+    @since version 1.0.0
+    */
+    template<class IteratorType, typename std::enable_if<
+                 std::is_same<IteratorType, typename basic_json_t::iterator>::value or
+                 std::is_same<IteratorType, typename basic_json_t::const_iterator>::value, int>::type
+             = 0>
+    IteratorType erase(IteratorType first, IteratorType last)
+    {
+        // make sure iterator fits the current value
+        if (JSON_UNLIKELY(this != first.m_object or this != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(203, "iterators do not fit current value"));
+        }
+
+        IteratorType result = end();
+
+        switch (m_type)
+        {
+            case value_t::boolean:
+            case value_t::number_float:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::string:
+            {
+                if (JSON_LIKELY(not first.m_it.primitive_iterator.is_begin()
+                                or not last.m_it.primitive_iterator.is_end()))
+                {
+                    JSON_THROW(invalid_iterator::create(204, "iterators out of range"));
+                }
+
+                if (is_string())
+                {
+                    AllocatorType<string_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, m_value.string);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, m_value.string, 1);
+                    m_value.string = nullptr;
+                }
+
+                m_type = value_t::null;
+                assert_invariant();
+                break;
+            }
+
+            case value_t::object:
+            {
+                result.m_it.object_iterator = m_value.object->erase(first.m_it.object_iterator,
+                                              last.m_it.object_iterator);
+                break;
+            }
+
+            case value_t::array:
+            {
+                result.m_it.array_iterator = m_value.array->erase(first.m_it.array_iterator,
+                                             last.m_it.array_iterator);
+                break;
+            }
+
+            default:
+                JSON_THROW(type_error::create(307, "cannot use erase() with " + std::string(type_name())));
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief remove element from a JSON object given a key
+
+    Removes elements from a JSON object with the key value @a key.
+
+    @param[in] key value of the elements to remove
+
+    @return Number of elements removed. If @a ObjectType is the default
+    `std::map` type, the return value will always be `0` (@a key was not
+    found) or `1` (@a key was found).
+
+    @post References and iterators to the erased elements are invalidated.
+    Other references and iterators are not affected.
+
+    @throw type_error.307 when called on a type other than JSON object;
+    example: `"cannot use erase() with null"`
+
+    @complexity `log(size()) + count(key)`
+
+    @liveexample{The example shows the effect of `erase()`.,erase__key_type}
+
+    @sa @ref erase(IteratorType) -- removes the element at a given position
+    @sa @ref erase(IteratorType, IteratorType) -- removes the elements in
+    the given range
+    @sa @ref erase(const size_type) -- removes the element from an array at
+    the given index
+
+    @since version 1.0.0
+    */
+    size_type erase(const typename object_t::key_type& key)
+    {
+        // this erase only works for objects
+        if (JSON_LIKELY(is_object()))
+        {
+            return m_value.object->erase(key);
+        }
+
+        JSON_THROW(type_error::create(307, "cannot use erase() with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief remove element from a JSON array given an index
+
+    Removes element from a JSON array at the index @a idx.
+
+    @param[in] idx index of the element to remove
+
+    @throw type_error.307 when called on a type other than JSON object;
+    example: `"cannot use erase() with null"`
+    @throw out_of_range.401 when `idx >= size()`; example: `"array index 17
+    is out of range"`
+
+    @complexity Linear in distance between @a idx and the end of the container.
+
+    @liveexample{The example shows the effect of `erase()`.,erase__size_type}
+
+    @sa @ref erase(IteratorType) -- removes the element at a given position
+    @sa @ref erase(IteratorType, IteratorType) -- removes the elements in
+    the given range
+    @sa @ref erase(const typename object_t::key_type&) -- removes the element
+    from an object at the given key
+
+    @since version 1.0.0
+    */
+    void erase(const size_type idx)
+    {
+        // this erase only works for arrays
+        if (JSON_LIKELY(is_array()))
+        {
+            if (JSON_UNLIKELY(idx >= size()))
+            {
+                JSON_THROW(out_of_range::create(401, "array index " + std::to_string(idx) + " is out of range"));
+            }
+
+            m_value.array->erase(m_value.array->begin() + static_cast<difference_type>(idx));
+        }
+        else
+        {
+            JSON_THROW(type_error::create(307, "cannot use erase() with " + std::string(type_name())));
+        }
+    }
+
+    /// @}
+
+
+    ////////////
+    // lookup //
+    ////////////
+
+    /// @name lookup
+    /// @{
+
+    /*!
+    @brief find an element in a JSON object
+
+    Finds an element in a JSON object with key equivalent to @a key. If the
+    element is not found or the JSON value is not an object, end() is
+    returned.
+
+    @note This method always returns @ref end() when executed on a JSON type
+          that is not an object.
+
+    @param[in] key key value of the element to search for.
+
+    @return Iterator to an element with key equivalent to @a key. If no such
+    element is found or the JSON value is not an object, past-the-end (see
+    @ref end()) iterator is returned.
+
+    @complexity Logarithmic in the size of the JSON object.
+
+    @liveexample{The example shows how `find()` is used.,find__key_type}
+
+    @since version 1.0.0
+    */
+    template<typename KeyT>
+    iterator find(KeyT&& key)
+    {
+        auto result = end();
+
+        if (is_object())
+        {
+            result.m_it.object_iterator = m_value.object->find(std::forward<KeyT>(key));
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief find an element in a JSON object
+    @copydoc find(KeyT&&)
+    */
+    template<typename KeyT>
+    const_iterator find(KeyT&& key) const
+    {
+        auto result = cend();
+
+        if (is_object())
+        {
+            result.m_it.object_iterator = m_value.object->find(std::forward<KeyT>(key));
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief returns the number of occurrences of a key in a JSON object
+
+    Returns the number of elements with key @a key. If ObjectType is the
+    default `std::map` type, the return value will always be `0` (@a key was
+    not found) or `1` (@a key was found).
+
+    @note This method always returns `0` when executed on a JSON type that is
+          not an object.
+
+    @param[in] key key value of the element to count
+
+    @return Number of elements with key @a key. If the JSON value is not an
+    object, the return value will be `0`.
+
+    @complexity Logarithmic in the size of the JSON object.
+
+    @liveexample{The example shows how `count()` is used.,count}
+
+    @since version 1.0.0
+    */
+    template<typename KeyT>
+    size_type count(KeyT&& key) const
+    {
+        // return 0 for all nonobject types
+        return is_object() ? m_value.object->count(std::forward<KeyT>(key)) : 0;
+    }
+
+    /// @}
+
+
+    ///////////////
+    // iterators //
+    ///////////////
+
+    /// @name iterators
+    /// @{
+
+    /*!
+    @brief returns an iterator to the first element
+
+    Returns an iterator to the first element.
+
+    @image html range-begin-end.svg "Illustration from cppreference.com"
+
+    @return iterator to the first element
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+
+    @liveexample{The following code shows an example for `begin()`.,begin}
+
+    @sa @ref cbegin() -- returns a const iterator to the beginning
+    @sa @ref end() -- returns an iterator to the end
+    @sa @ref cend() -- returns a const iterator to the end
+
+    @since version 1.0.0
+    */
+    iterator begin() noexcept
+    {
+        iterator result(this);
+        result.set_begin();
+        return result;
+    }
+
+    /*!
+    @copydoc basic_json::cbegin()
+    */
+    const_iterator begin() const noexcept
+    {
+        return cbegin();
+    }
+
+    /*!
+    @brief returns a const iterator to the first element
+
+    Returns a const iterator to the first element.
+
+    @image html range-begin-end.svg "Illustration from cppreference.com"
+
+    @return const iterator to the first element
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `const_cast<const basic_json&>(*this).begin()`.
+
+    @liveexample{The following code shows an example for `cbegin()`.,cbegin}
+
+    @sa @ref begin() -- returns an iterator to the beginning
+    @sa @ref end() -- returns an iterator to the end
+    @sa @ref cend() -- returns a const iterator to the end
+
+    @since version 1.0.0
+    */
+    const_iterator cbegin() const noexcept
+    {
+        const_iterator result(this);
+        result.set_begin();
+        return result;
+    }
+
+    /*!
+    @brief returns an iterator to one past the last element
+
+    Returns an iterator to one past the last element.
+
+    @image html range-begin-end.svg "Illustration from cppreference.com"
+
+    @return iterator one past the last element
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+
+    @liveexample{The following code shows an example for `end()`.,end}
+
+    @sa @ref cend() -- returns a const iterator to the end
+    @sa @ref begin() -- returns an iterator to the beginning
+    @sa @ref cbegin() -- returns a const iterator to the beginning
+
+    @since version 1.0.0
+    */
+    iterator end() noexcept
+    {
+        iterator result(this);
+        result.set_end();
+        return result;
+    }
+
+    /*!
+    @copydoc basic_json::cend()
+    */
+    const_iterator end() const noexcept
+    {
+        return cend();
+    }
+
+    /*!
+    @brief returns a const iterator to one past the last element
+
+    Returns a const iterator to one past the last element.
+
+    @image html range-begin-end.svg "Illustration from cppreference.com"
+
+    @return const iterator one past the last element
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `const_cast<const basic_json&>(*this).end()`.
+
+    @liveexample{The following code shows an example for `cend()`.,cend}
+
+    @sa @ref end() -- returns an iterator to the end
+    @sa @ref begin() -- returns an iterator to the beginning
+    @sa @ref cbegin() -- returns a const iterator to the beginning
+
+    @since version 1.0.0
+    */
+    const_iterator cend() const noexcept
+    {
+        const_iterator result(this);
+        result.set_end();
+        return result;
+    }
+
+    /*!
+    @brief returns an iterator to the reverse-beginning
+
+    Returns an iterator to the reverse-beginning; that is, the last element.
+
+    @image html range-rbegin-rend.svg "Illustration from cppreference.com"
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [ReversibleContainer](https://en.cppreference.com/w/cpp/named_req/ReversibleContainer)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `reverse_iterator(end())`.
+
+    @liveexample{The following code shows an example for `rbegin()`.,rbegin}
+
+    @sa @ref crbegin() -- returns a const reverse iterator to the beginning
+    @sa @ref rend() -- returns a reverse iterator to the end
+    @sa @ref crend() -- returns a const reverse iterator to the end
+
+    @since version 1.0.0
+    */
+    reverse_iterator rbegin() noexcept
+    {
+        return reverse_iterator(end());
+    }
+
+    /*!
+    @copydoc basic_json::crbegin()
+    */
+    const_reverse_iterator rbegin() const noexcept
+    {
+        return crbegin();
+    }
+
+    /*!
+    @brief returns an iterator to the reverse-end
+
+    Returns an iterator to the reverse-end; that is, one before the first
+    element.
+
+    @image html range-rbegin-rend.svg "Illustration from cppreference.com"
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [ReversibleContainer](https://en.cppreference.com/w/cpp/named_req/ReversibleContainer)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `reverse_iterator(begin())`.
+
+    @liveexample{The following code shows an example for `rend()`.,rend}
+
+    @sa @ref crend() -- returns a const reverse iterator to the end
+    @sa @ref rbegin() -- returns a reverse iterator to the beginning
+    @sa @ref crbegin() -- returns a const reverse iterator to the beginning
+
+    @since version 1.0.0
+    */
+    reverse_iterator rend() noexcept
+    {
+        return reverse_iterator(begin());
+    }
+
+    /*!
+    @copydoc basic_json::crend()
+    */
+    const_reverse_iterator rend() const noexcept
+    {
+        return crend();
+    }
+
+    /*!
+    @brief returns a const reverse iterator to the last element
+
+    Returns a const iterator to the reverse-beginning; that is, the last
+    element.
+
+    @image html range-rbegin-rend.svg "Illustration from cppreference.com"
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [ReversibleContainer](https://en.cppreference.com/w/cpp/named_req/ReversibleContainer)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `const_cast<const basic_json&>(*this).rbegin()`.
+
+    @liveexample{The following code shows an example for `crbegin()`.,crbegin}
+
+    @sa @ref rbegin() -- returns a reverse iterator to the beginning
+    @sa @ref rend() -- returns a reverse iterator to the end
+    @sa @ref crend() -- returns a const reverse iterator to the end
+
+    @since version 1.0.0
+    */
+    const_reverse_iterator crbegin() const noexcept
+    {
+        return const_reverse_iterator(cend());
+    }
+
+    /*!
+    @brief returns a const reverse iterator to one before the first
+
+    Returns a const reverse iterator to the reverse-end; that is, one before
+    the first element.
+
+    @image html range-rbegin-rend.svg "Illustration from cppreference.com"
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [ReversibleContainer](https://en.cppreference.com/w/cpp/named_req/ReversibleContainer)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `const_cast<const basic_json&>(*this).rend()`.
+
+    @liveexample{The following code shows an example for `crend()`.,crend}
+
+    @sa @ref rend() -- returns a reverse iterator to the end
+    @sa @ref rbegin() -- returns a reverse iterator to the beginning
+    @sa @ref crbegin() -- returns a const reverse iterator to the beginning
+
+    @since version 1.0.0
+    */
+    const_reverse_iterator crend() const noexcept
+    {
+        return const_reverse_iterator(cbegin());
+    }
+
+  public:
+    /*!
+    @brief wrapper to access iterator member functions in range-based for
+
+    This function allows to access @ref iterator::key() and @ref
+    iterator::value() during range-based for loops. In these loops, a
+    reference to the JSON values is returned, so there is no access to the
+    underlying iterator.
+
+    For loop without iterator_wrapper:
+
+    @code{cpp}
+    for (auto it = j_object.begin(); it != j_object.end(); ++it)
+    {
+        std::cout << "key: " << it.key() << ", value:" << it.value() << '\n';
+    }
+    @endcode
+
+    Range-based for loop without iterator proxy:
+
+    @code{cpp}
+    for (auto it : j_object)
+    {
+        // "it" is of type json::reference and has no key() member
+        std::cout << "value: " << it << '\n';
+    }
+    @endcode
+
+    Range-based for loop with iterator proxy:
+
+    @code{cpp}
+    for (auto it : json::iterator_wrapper(j_object))
+    {
+        std::cout << "key: " << it.key() << ", value:" << it.value() << '\n';
+    }
+    @endcode
+
+    @note When iterating over an array, `key()` will return the index of the
+          element as string (see example).
+
+    @param[in] ref  reference to a JSON value
+    @return iteration proxy object wrapping @a ref with an interface to use in
+            range-based for loops
+
+    @liveexample{The following code shows how the wrapper is used,iterator_wrapper}
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @note The name of this function is not yet final and may change in the
+    future.
+
+    @deprecated This stream operator is deprecated and will be removed in
+                future 4.0.0 of the library. Please use @ref items() instead;
+                that is, replace `json::iterator_wrapper(j)` with `j.items()`.
+    */
+    JSON_DEPRECATED
+    static iteration_proxy<iterator> iterator_wrapper(reference ref) noexcept
+    {
+        return ref.items();
+    }
+
+    /*!
+    @copydoc iterator_wrapper(reference)
+    */
+    JSON_DEPRECATED
+    static iteration_proxy<const_iterator> iterator_wrapper(const_reference ref) noexcept
+    {
+        return ref.items();
+    }
+
+    /*!
+    @brief helper to access iterator member functions in range-based for
+
+    This function allows to access @ref iterator::key() and @ref
+    iterator::value() during range-based for loops. In these loops, a
+    reference to the JSON values is returned, so there is no access to the
+    underlying iterator.
+
+    For loop without `items()` function:
+
+    @code{cpp}
+    for (auto it = j_object.begin(); it != j_object.end(); ++it)
+    {
+        std::cout << "key: " << it.key() << ", value:" << it.value() << '\n';
+    }
+    @endcode
+
+    Range-based for loop without `items()` function:
+
+    @code{cpp}
+    for (auto it : j_object)
+    {
+        // "it" is of type json::reference and has no key() member
+        std::cout << "value: " << it << '\n';
+    }
+    @endcode
+
+    Range-based for loop with `items()` function:
+
+    @code{cpp}
+    for (auto& el : j_object.items())
+    {
+        std::cout << "key: " << el.key() << ", value:" << el.value() << '\n';
+    }
+    @endcode
+
+    The `items()` function also allows to use
+    [structured bindings](https://en.cppreference.com/w/cpp/language/structured_binding)
+    (C++17):
+
+    @code{cpp}
+    for (auto& [key, val] : j_object.items())
+    {
+        std::cout << "key: " << key << ", value:" << val << '\n';
+    }
+    @endcode
+
+    @note When iterating over an array, `key()` will return the index of the
+          element as string (see example). For primitive types (e.g., numbers),
+          `key()` returns an empty string.
+
+    @return iteration proxy object wrapping @a ref with an interface to use in
+            range-based for loops
+
+    @liveexample{The following code shows how the function is used.,items}
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @since version 3.1.0, structured bindings support since 3.5.0.
+    */
+    iteration_proxy<iterator> items() noexcept
+    {
+        return iteration_proxy<iterator>(*this);
+    }
+
+    /*!
+    @copydoc items()
+    */
+    iteration_proxy<const_iterator> items() const noexcept
+    {
+        return iteration_proxy<const_iterator>(*this);
+    }
+
+    /// @}
+
+
+    //////////////
+    // capacity //
+    //////////////
+
+    /// @name capacity
+    /// @{
+
+    /*!
+    @brief checks whether the container is empty.
+
+    Checks if a JSON value has no elements (i.e. whether its @ref size is `0`).
+
+    @return The return value depends on the different types and is
+            defined as follows:
+            Value type  | return value
+            ----------- | -------------
+            null        | `true`
+            boolean     | `false`
+            string      | `false`
+            number      | `false`
+            object      | result of function `object_t::empty()`
+            array       | result of function `array_t::empty()`
+
+    @liveexample{The following code uses `empty()` to check if a JSON
+    object contains any elements.,empty}
+
+    @complexity Constant, as long as @ref array_t and @ref object_t satisfy
+    the Container concept; that is, their `empty()` functions have constant
+    complexity.
+
+    @iterators No changes.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @note This function does not return whether a string stored as JSON value
+    is empty - it returns whether the JSON container itself is empty which is
+    false in the case of a string.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `begin() == end()`.
+
+    @sa @ref size() -- returns the number of elements
+
+    @since version 1.0.0
+    */
+    bool empty() const noexcept
+    {
+        switch (m_type)
+        {
+            case value_t::null:
+            {
+                // null values are empty
+                return true;
+            }
+
+            case value_t::array:
+            {
+                // delegate call to array_t::empty()
+                return m_value.array->empty();
+            }
+
+            case value_t::object:
+            {
+                // delegate call to object_t::empty()
+                return m_value.object->empty();
+            }
+
+            default:
+            {
+                // all other types are nonempty
+                return false;
+            }
+        }
+    }
+
+    /*!
+    @brief returns the number of elements
+
+    Returns the number of elements in a JSON value.
+
+    @return The return value depends on the different types and is
+            defined as follows:
+            Value type  | return value
+            ----------- | -------------
+            null        | `0`
+            boolean     | `1`
+            string      | `1`
+            number      | `1`
+            object      | result of function object_t::size()
+            array       | result of function array_t::size()
+
+    @liveexample{The following code calls `size()` on the different value
+    types.,size}
+
+    @complexity Constant, as long as @ref array_t and @ref object_t satisfy
+    the Container concept; that is, their size() functions have constant
+    complexity.
+
+    @iterators No changes.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @note This function does not return the length of a string stored as JSON
+    value - it returns the number of elements in the JSON value which is 1 in
+    the case of a string.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `std::distance(begin(), end())`.
+
+    @sa @ref empty() -- checks whether the container is empty
+    @sa @ref max_size() -- returns the maximal number of elements
+
+    @since version 1.0.0
+    */
+    size_type size() const noexcept
+    {
+        switch (m_type)
+        {
+            case value_t::null:
+            {
+                // null values are empty
+                return 0;
+            }
+
+            case value_t::array:
+            {
+                // delegate call to array_t::size()
+                return m_value.array->size();
+            }
+
+            case value_t::object:
+            {
+                // delegate call to object_t::size()
+                return m_value.object->size();
+            }
+
+            default:
+            {
+                // all other types have size 1
+                return 1;
+            }
+        }
+    }
+
+    /*!
+    @brief returns the maximum possible number of elements
+
+    Returns the maximum number of elements a JSON value is able to hold due to
+    system or library implementation limitations, i.e. `std::distance(begin(),
+    end())` for the JSON value.
+
+    @return The return value depends on the different types and is
+            defined as follows:
+            Value type  | return value
+            ----------- | -------------
+            null        | `0` (same as `size()`)
+            boolean     | `1` (same as `size()`)
+            string      | `1` (same as `size()`)
+            number      | `1` (same as `size()`)
+            object      | result of function `object_t::max_size()`
+            array       | result of function `array_t::max_size()`
+
+    @liveexample{The following code calls `max_size()` on the different value
+    types. Note the output is implementation specific.,max_size}
+
+    @complexity Constant, as long as @ref array_t and @ref object_t satisfy
+    the Container concept; that is, their `max_size()` functions have constant
+    complexity.
+
+    @iterators No changes.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of returning `b.size()` where `b` is the largest
+      possible JSON value.
+
+    @sa @ref size() -- returns the number of elements
+
+    @since version 1.0.0
+    */
+    size_type max_size() const noexcept
+    {
+        switch (m_type)
+        {
+            case value_t::array:
+            {
+                // delegate call to array_t::max_size()
+                return m_value.array->max_size();
+            }
+
+            case value_t::object:
+            {
+                // delegate call to object_t::max_size()
+                return m_value.object->max_size();
+            }
+
+            default:
+            {
+                // all other types have max_size() == size()
+                return size();
+            }
+        }
+    }
+
+    /// @}
+
+
+    ///////////////
+    // modifiers //
+    ///////////////
+
+    /// @name modifiers
+    /// @{
+
+    /*!
+    @brief clears the contents
+
+    Clears the content of a JSON value and resets it to the default value as
+    if @ref basic_json(value_t) would have been called with the current value
+    type from @ref type():
+
+    Value type  | initial value
+    ----------- | -------------
+    null        | `null`
+    boolean     | `false`
+    string      | `""`
+    number      | `0`
+    object      | `{}`
+    array       | `[]`
+
+    @post Has the same effect as calling
+    @code {.cpp}
+    *this = basic_json(type());
+    @endcode
+
+    @liveexample{The example below shows the effect of `clear()` to different
+    JSON types.,clear}
+
+    @complexity Linear in the size of the JSON value.
+
+    @iterators All iterators, pointers and references related to this container
+               are invalidated.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @sa @ref basic_json(value_t) -- constructor that creates an object with the
+        same value than calling `clear()`
+
+    @since version 1.0.0
+    */
+    void clear() noexcept
+    {
+        switch (m_type)
+        {
+            case value_t::number_integer:
+            {
+                m_value.number_integer = 0;
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                m_value.number_unsigned = 0;
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                m_value.number_float = 0.0;
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                m_value.boolean = false;
+                break;
+            }
+
+            case value_t::string:
+            {
+                m_value.string->clear();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_value.array->clear();
+                break;
+            }
+
+            case value_t::object:
+            {
+                m_value.object->clear();
+                break;
+            }
+
+            default:
+                break;
+        }
+    }
+
+    /*!
+    @brief add an object to an array
+
+    Appends the given element @a val to the end of the JSON value. If the
+    function is called on a JSON null value, an empty array is created before
+    appending @a val.
+
+    @param[in] val the value to add to the JSON array
+
+    @throw type_error.308 when called on a type other than JSON array or
+    null; example: `"cannot use push_back() with number"`
+
+    @complexity Amortized constant.
+
+    @liveexample{The example shows how `push_back()` and `+=` can be used to
+    add elements to a JSON array. Note how the `null` value was silently
+    converted to a JSON array.,push_back}
+
+    @since version 1.0.0
+    */
+    void push_back(basic_json&& val)
+    {
+        // push_back only works for null objects or arrays
+        if (JSON_UNLIKELY(not(is_null() or is_array())))
+        {
+            JSON_THROW(type_error::create(308, "cannot use push_back() with " + std::string(type_name())));
+        }
+
+        // transform null object into an array
+        if (is_null())
+        {
+            m_type = value_t::array;
+            m_value = value_t::array;
+            assert_invariant();
+        }
+
+        // add element to array (move semantics)
+        m_value.array->push_back(std::move(val));
+        // invalidate object
+        val.m_type = value_t::null;
+    }
+
+    /*!
+    @brief add an object to an array
+    @copydoc push_back(basic_json&&)
+    */
+    reference operator+=(basic_json&& val)
+    {
+        push_back(std::move(val));
+        return *this;
+    }
+
+    /*!
+    @brief add an object to an array
+    @copydoc push_back(basic_json&&)
+    */
+    void push_back(const basic_json& val)
+    {
+        // push_back only works for null objects or arrays
+        if (JSON_UNLIKELY(not(is_null() or is_array())))
+        {
+            JSON_THROW(type_error::create(308, "cannot use push_back() with " + std::string(type_name())));
+        }
+
+        // transform null object into an array
+        if (is_null())
+        {
+            m_type = value_t::array;
+            m_value = value_t::array;
+            assert_invariant();
+        }
+
+        // add element to array
+        m_value.array->push_back(val);
+    }
+
+    /*!
+    @brief add an object to an array
+    @copydoc push_back(basic_json&&)
+    */
+    reference operator+=(const basic_json& val)
+    {
+        push_back(val);
+        return *this;
+    }
+
+    /*!
+    @brief add an object to an object
+
+    Inserts the given element @a val to the JSON object. If the function is
+    called on a JSON null value, an empty object is created before inserting
+    @a val.
+
+    @param[in] val the value to add to the JSON object
+
+    @throw type_error.308 when called on a type other than JSON object or
+    null; example: `"cannot use push_back() with number"`
+
+    @complexity Logarithmic in the size of the container, O(log(`size()`)).
+
+    @liveexample{The example shows how `push_back()` and `+=` can be used to
+    add elements to a JSON object. Note how the `null` value was silently
+    converted to a JSON object.,push_back__object_t__value}
+
+    @since version 1.0.0
+    */
+    void push_back(const typename object_t::value_type& val)
+    {
+        // push_back only works for null objects or objects
+        if (JSON_UNLIKELY(not(is_null() or is_object())))
+        {
+            JSON_THROW(type_error::create(308, "cannot use push_back() with " + std::string(type_name())));
+        }
+
+        // transform null object into an object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value = value_t::object;
+            assert_invariant();
+        }
+
+        // add element to array
+        m_value.object->insert(val);
+    }
+
+    /*!
+    @brief add an object to an object
+    @copydoc push_back(const typename object_t::value_type&)
+    */
+    reference operator+=(const typename object_t::value_type& val)
+    {
+        push_back(val);
+        return *this;
+    }
+
+    /*!
+    @brief add an object to an object
+
+    This function allows to use `push_back` with an initializer list. In case
+
+    1. the current value is an object,
+    2. the initializer list @a init contains only two elements, and
+    3. the first element of @a init is a string,
+
+    @a init is converted into an object element and added using
+    @ref push_back(const typename object_t::value_type&). Otherwise, @a init
+    is converted to a JSON value and added using @ref push_back(basic_json&&).
+
+    @param[in] init  an initializer list
+
+    @complexity Linear in the size of the initializer list @a init.
+
+    @note This function is required to resolve an ambiguous overload error,
+          because pairs like `{"key", "value"}` can be both interpreted as
+          `object_t::value_type` or `std::initializer_list<basic_json>`, see
+          https://github.com/nlohmann/json/issues/235 for more information.
+
+    @liveexample{The example shows how initializer lists are treated as
+    objects when possible.,push_back__initializer_list}
+    */
+    void push_back(initializer_list_t init)
+    {
+        if (is_object() and init.size() == 2 and (*init.begin())->is_string())
+        {
+            basic_json&& key = init.begin()->moved_or_copied();
+            push_back(typename object_t::value_type(
+                          std::move(key.get_ref<string_t&>()), (init.begin() + 1)->moved_or_copied()));
+        }
+        else
+        {
+            push_back(basic_json(init));
+        }
+    }
+
+    /*!
+    @brief add an object to an object
+    @copydoc push_back(initializer_list_t)
+    */
+    reference operator+=(initializer_list_t init)
+    {
+        push_back(init);
+        return *this;
+    }
+
+    /*!
+    @brief add an object to an array
+
+    Creates a JSON value from the passed parameters @a args to the end of the
+    JSON value. If the function is called on a JSON null value, an empty array
+    is created before appending the value created from @a args.
+
+    @param[in] args arguments to forward to a constructor of @ref basic_json
+    @tparam Args compatible types to create a @ref basic_json object
+
+    @throw type_error.311 when called on a type other than JSON array or
+    null; example: `"cannot use emplace_back() with number"`
+
+    @complexity Amortized constant.
+
+    @liveexample{The example shows how `push_back()` can be used to add
+    elements to a JSON array. Note how the `null` value was silently converted
+    to a JSON array.,emplace_back}
+
+    @since version 2.0.8
+    */
+    template<class... Args>
+    void emplace_back(Args&& ... args)
+    {
+        // emplace_back only works for null objects or arrays
+        if (JSON_UNLIKELY(not(is_null() or is_array())))
+        {
+            JSON_THROW(type_error::create(311, "cannot use emplace_back() with " + std::string(type_name())));
+        }
+
+        // transform null object into an array
+        if (is_null())
+        {
+            m_type = value_t::array;
+            m_value = value_t::array;
+            assert_invariant();
+        }
+
+        // add element to array (perfect forwarding)
+        m_value.array->emplace_back(std::forward<Args>(args)...);
+    }
+
+    /*!
+    @brief add an object to an object if key does not exist
+
+    Inserts a new element into a JSON object constructed in-place with the
+    given @a args if there is no element with the key in the container. If the
+    function is called on a JSON null value, an empty object is created before
+    appending the value created from @a args.
+
+    @param[in] args arguments to forward to a constructor of @ref basic_json
+    @tparam Args compatible types to create a @ref basic_json object
+
+    @return a pair consisting of an iterator to the inserted element, or the
+            already-existing element if no insertion happened, and a bool
+            denoting whether the insertion took place.
+
+    @throw type_error.311 when called on a type other than JSON object or
+    null; example: `"cannot use emplace() with number"`
+
+    @complexity Logarithmic in the size of the container, O(log(`size()`)).
+
+    @liveexample{The example shows how `emplace()` can be used to add elements
+    to a JSON object. Note how the `null` value was silently converted to a
+    JSON object. Further note how no value is added if there was already one
+    value stored with the same key.,emplace}
+
+    @since version 2.0.8
+    */
+    template<class... Args>
+    std::pair<iterator, bool> emplace(Args&& ... args)
+    {
+        // emplace only works for null objects or arrays
+        if (JSON_UNLIKELY(not(is_null() or is_object())))
+        {
+            JSON_THROW(type_error::create(311, "cannot use emplace() with " + std::string(type_name())));
+        }
+
+        // transform null object into an object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value = value_t::object;
+            assert_invariant();
+        }
+
+        // add element to array (perfect forwarding)
+        auto res = m_value.object->emplace(std::forward<Args>(args)...);
+        // create result iterator and set iterator to the result of emplace
+        auto it = begin();
+        it.m_it.object_iterator = res.first;
+
+        // return pair of iterator and boolean
+        return {it, res.second};
+    }
+
+    /// Helper for insertion of an iterator
+    /// @note: This uses std::distance to support GCC 4.8,
+    ///        see https://github.com/nlohmann/json/pull/1257
+    template<typename... Args>
+    iterator insert_iterator(const_iterator pos, Args&& ... args)
+    {
+        iterator result(this);
+        assert(m_value.array != nullptr);
+
+        auto insert_pos = std::distance(m_value.array->begin(), pos.m_it.array_iterator);
+        m_value.array->insert(pos.m_it.array_iterator, std::forward<Args>(args)...);
+        result.m_it.array_iterator = m_value.array->begin() + insert_pos;
+
+        // This could have been written as:
+        // result.m_it.array_iterator = m_value.array->insert(pos.m_it.array_iterator, cnt, val);
+        // but the return value of insert is missing in GCC 4.8, so it is written this way instead.
+
+        return result;
+    }
+
+    /*!
+    @brief inserts element
+
+    Inserts element @a val before iterator @a pos.
+
+    @param[in] pos iterator before which the content will be inserted; may be
+    the end() iterator
+    @param[in] val element to insert
+    @return iterator pointing to the inserted @a val.
+
+    @throw type_error.309 if called on JSON values other than arrays;
+    example: `"cannot use insert() with string"`
+    @throw invalid_iterator.202 if @a pos is not an iterator of *this;
+    example: `"iterator does not fit current value"`
+
+    @complexity Constant plus linear in the distance between @a pos and end of
+    the container.
+
+    @liveexample{The example shows how `insert()` is used.,insert}
+
+    @since version 1.0.0
+    */
+    iterator insert(const_iterator pos, const basic_json& val)
+    {
+        // insert only works for arrays
+        if (JSON_LIKELY(is_array()))
+        {
+            // check if iterator pos fits to this JSON value
+            if (JSON_UNLIKELY(pos.m_object != this))
+            {
+                JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value"));
+            }
+
+            // insert to array and return iterator
+            return insert_iterator(pos, val);
+        }
+
+        JSON_THROW(type_error::create(309, "cannot use insert() with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief inserts element
+    @copydoc insert(const_iterator, const basic_json&)
+    */
+    iterator insert(const_iterator pos, basic_json&& val)
+    {
+        return insert(pos, val);
+    }
+
+    /*!
+    @brief inserts elements
+
+    Inserts @a cnt copies of @a val before iterator @a pos.
+
+    @param[in] pos iterator before which the content will be inserted; may be
+    the end() iterator
+    @param[in] cnt number of copies of @a val to insert
+    @param[in] val element to insert
+    @return iterator pointing to the first element inserted, or @a pos if
+    `cnt==0`
+
+    @throw type_error.309 if called on JSON values other than arrays; example:
+    `"cannot use insert() with string"`
+    @throw invalid_iterator.202 if @a pos is not an iterator of *this;
+    example: `"iterator does not fit current value"`
+
+    @complexity Linear in @a cnt plus linear in the distance between @a pos
+    and end of the container.
+
+    @liveexample{The example shows how `insert()` is used.,insert__count}
+
+    @since version 1.0.0
+    */
+    iterator insert(const_iterator pos, size_type cnt, const basic_json& val)
+    {
+        // insert only works for arrays
+        if (JSON_LIKELY(is_array()))
+        {
+            // check if iterator pos fits to this JSON value
+            if (JSON_UNLIKELY(pos.m_object != this))
+            {
+                JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value"));
+            }
+
+            // insert to array and return iterator
+            return insert_iterator(pos, cnt, val);
+        }
+
+        JSON_THROW(type_error::create(309, "cannot use insert() with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief inserts elements
+
+    Inserts elements from range `[first, last)` before iterator @a pos.
+
+    @param[in] pos iterator before which the content will be inserted; may be
+    the end() iterator
+    @param[in] first begin of the range of elements to insert
+    @param[in] last end of the range of elements to insert
+
+    @throw type_error.309 if called on JSON values other than arrays; example:
+    `"cannot use insert() with string"`
+    @throw invalid_iterator.202 if @a pos is not an iterator of *this;
+    example: `"iterator does not fit current value"`
+    @throw invalid_iterator.210 if @a first and @a last do not belong to the
+    same JSON value; example: `"iterators do not fit"`
+    @throw invalid_iterator.211 if @a first or @a last are iterators into
+    container for which insert is called; example: `"passed iterators may not
+    belong to container"`
+
+    @return iterator pointing to the first element inserted, or @a pos if
+    `first==last`
+
+    @complexity Linear in `std::distance(first, last)` plus linear in the
+    distance between @a pos and end of the container.
+
+    @liveexample{The example shows how `insert()` is used.,insert__range}
+
+    @since version 1.0.0
+    */
+    iterator insert(const_iterator pos, const_iterator first, const_iterator last)
+    {
+        // insert only works for arrays
+        if (JSON_UNLIKELY(not is_array()))
+        {
+            JSON_THROW(type_error::create(309, "cannot use insert() with " + std::string(type_name())));
+        }
+
+        // check if iterator pos fits to this JSON value
+        if (JSON_UNLIKELY(pos.m_object != this))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value"));
+        }
+
+        // check if range iterators belong to the same JSON object
+        if (JSON_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(210, "iterators do not fit"));
+        }
+
+        if (JSON_UNLIKELY(first.m_object == this))
+        {
+            JSON_THROW(invalid_iterator::create(211, "passed iterators may not belong to container"));
+        }
+
+        // insert to array and return iterator
+        return insert_iterator(pos, first.m_it.array_iterator, last.m_it.array_iterator);
+    }
+
+    /*!
+    @brief inserts elements
+
+    Inserts elements from initializer list @a ilist before iterator @a pos.
+
+    @param[in] pos iterator before which the content will be inserted; may be
+    the end() iterator
+    @param[in] ilist initializer list to insert the values from
+
+    @throw type_error.309 if called on JSON values other than arrays; example:
+    `"cannot use insert() with string"`
+    @throw invalid_iterator.202 if @a pos is not an iterator of *this;
+    example: `"iterator does not fit current value"`
+
+    @return iterator pointing to the first element inserted, or @a pos if
+    `ilist` is empty
+
+    @complexity Linear in `ilist.size()` plus linear in the distance between
+    @a pos and end of the container.
+
+    @liveexample{The example shows how `insert()` is used.,insert__ilist}
+
+    @since version 1.0.0
+    */
+    iterator insert(const_iterator pos, initializer_list_t ilist)
+    {
+        // insert only works for arrays
+        if (JSON_UNLIKELY(not is_array()))
+        {
+            JSON_THROW(type_error::create(309, "cannot use insert() with " + std::string(type_name())));
+        }
+
+        // check if iterator pos fits to this JSON value
+        if (JSON_UNLIKELY(pos.m_object != this))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value"));
+        }
+
+        // insert to array and return iterator
+        return insert_iterator(pos, ilist.begin(), ilist.end());
+    }
+
+    /*!
+    @brief inserts elements
+
+    Inserts elements from range `[first, last)`.
+
+    @param[in] first begin of the range of elements to insert
+    @param[in] last end of the range of elements to insert
+
+    @throw type_error.309 if called on JSON values other than objects; example:
+    `"cannot use insert() with string"`
+    @throw invalid_iterator.202 if iterator @a first or @a last does does not
+    point to an object; example: `"iterators first and last must point to
+    objects"`
+    @throw invalid_iterator.210 if @a first and @a last do not belong to the
+    same JSON value; example: `"iterators do not fit"`
+
+    @complexity Logarithmic: `O(N*log(size() + N))`, where `N` is the number
+    of elements to insert.
+
+    @liveexample{The example shows how `insert()` is used.,insert__range_object}
+
+    @since version 3.0.0
+    */
+    void insert(const_iterator first, const_iterator last)
+    {
+        // insert only works for objects
+        if (JSON_UNLIKELY(not is_object()))
+        {
+            JSON_THROW(type_error::create(309, "cannot use insert() with " + std::string(type_name())));
+        }
+
+        // check if range iterators belong to the same JSON object
+        if (JSON_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(210, "iterators do not fit"));
+        }
+
+        // passed iterators must belong to objects
+        if (JSON_UNLIKELY(not first.m_object->is_object()))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterators first and last must point to objects"));
+        }
+
+        m_value.object->insert(first.m_it.object_iterator, last.m_it.object_iterator);
+    }
+
+    /*!
+    @brief updates a JSON object from another object, overwriting existing keys
+
+    Inserts all values from JSON object @a j and overwrites existing keys.
+
+    @param[in] j  JSON object to read values from
+
+    @throw type_error.312 if called on JSON values other than objects; example:
+    `"cannot use update() with string"`
+
+    @complexity O(N*log(size() + N)), where N is the number of elements to
+                insert.
+
+    @liveexample{The example shows how `update()` is used.,update}
+
+    @sa https://docs.python.org/3.6/library/stdtypes.html#dict.update
+
+    @since version 3.0.0
+    */
+    void update(const_reference j)
+    {
+        // implicitly convert null value to an empty object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value.object = create<object_t>();
+            assert_invariant();
+        }
+
+        if (JSON_UNLIKELY(not is_object()))
+        {
+            JSON_THROW(type_error::create(312, "cannot use update() with " + std::string(type_name())));
+        }
+        if (JSON_UNLIKELY(not j.is_object()))
+        {
+            JSON_THROW(type_error::create(312, "cannot use update() with " + std::string(j.type_name())));
+        }
+
+        for (auto it = j.cbegin(); it != j.cend(); ++it)
+        {
+            m_value.object->operator[](it.key()) = it.value();
+        }
+    }
+
+    /*!
+    @brief updates a JSON object from another object, overwriting existing keys
+
+    Inserts all values from from range `[first, last)` and overwrites existing
+    keys.
+
+    @param[in] first begin of the range of elements to insert
+    @param[in] last end of the range of elements to insert
+
+    @throw type_error.312 if called on JSON values other than objects; example:
+    `"cannot use update() with string"`
+    @throw invalid_iterator.202 if iterator @a first or @a last does does not
+    point to an object; example: `"iterators first and last must point to
+    objects"`
+    @throw invalid_iterator.210 if @a first and @a last do not belong to the
+    same JSON value; example: `"iterators do not fit"`
+
+    @complexity O(N*log(size() + N)), where N is the number of elements to
+                insert.
+
+    @liveexample{The example shows how `update()` is used__range.,update}
+
+    @sa https://docs.python.org/3.6/library/stdtypes.html#dict.update
+
+    @since version 3.0.0
+    */
+    void update(const_iterator first, const_iterator last)
+    {
+        // implicitly convert null value to an empty object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value.object = create<object_t>();
+            assert_invariant();
+        }
+
+        if (JSON_UNLIKELY(not is_object()))
+        {
+            JSON_THROW(type_error::create(312, "cannot use update() with " + std::string(type_name())));
+        }
+
+        // check if range iterators belong to the same JSON object
+        if (JSON_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(210, "iterators do not fit"));
+        }
+
+        // passed iterators must belong to objects
+        if (JSON_UNLIKELY(not first.m_object->is_object()
+                          or not last.m_object->is_object()))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterators first and last must point to objects"));
+        }
+
+        for (auto it = first; it != last; ++it)
+        {
+            m_value.object->operator[](it.key()) = it.value();
+        }
+    }
+
+    /*!
+    @brief exchanges the values
+
+    Exchanges the contents of the JSON value with those of @a other. Does not
+    invoke any move, copy, or swap operations on individual elements. All
+    iterators and references remain valid. The past-the-end iterator is
+    invalidated.
+
+    @param[in,out] other JSON value to exchange the contents with
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how JSON values can be swapped with
+    `swap()`.,swap__reference}
+
+    @since version 1.0.0
+    */
+    void swap(reference other) noexcept (
+        std::is_nothrow_move_constructible<value_t>::value and
+        std::is_nothrow_move_assignable<value_t>::value and
+        std::is_nothrow_move_constructible<json_value>::value and
+        std::is_nothrow_move_assignable<json_value>::value
+    )
+    {
+        std::swap(m_type, other.m_type);
+        std::swap(m_value, other.m_value);
+        assert_invariant();
+    }
+
+    /*!
+    @brief exchanges the values
+
+    Exchanges the contents of a JSON array with those of @a other. Does not
+    invoke any move, copy, or swap operations on individual elements. All
+    iterators and references remain valid. The past-the-end iterator is
+    invalidated.
+
+    @param[in,out] other array to exchange the contents with
+
+    @throw type_error.310 when JSON value is not an array; example: `"cannot
+    use swap() with string"`
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how arrays can be swapped with
+    `swap()`.,swap__array_t}
+
+    @since version 1.0.0
+    */
+    void swap(array_t& other)
+    {
+        // swap only works for arrays
+        if (JSON_LIKELY(is_array()))
+        {
+            std::swap(*(m_value.array), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, "cannot use swap() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief exchanges the values
+
+    Exchanges the contents of a JSON object with those of @a other. Does not
+    invoke any move, copy, or swap operations on individual elements. All
+    iterators and references remain valid. The past-the-end iterator is
+    invalidated.
+
+    @param[in,out] other object to exchange the contents with
+
+    @throw type_error.310 when JSON value is not an object; example:
+    `"cannot use swap() with string"`
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how objects can be swapped with
+    `swap()`.,swap__object_t}
+
+    @since version 1.0.0
+    */
+    void swap(object_t& other)
+    {
+        // swap only works for objects
+        if (JSON_LIKELY(is_object()))
+        {
+            std::swap(*(m_value.object), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, "cannot use swap() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief exchanges the values
+
+    Exchanges the contents of a JSON string with those of @a other. Does not
+    invoke any move, copy, or swap operations on individual elements. All
+    iterators and references remain valid. The past-the-end iterator is
+    invalidated.
+
+    @param[in,out] other string to exchange the contents with
+
+    @throw type_error.310 when JSON value is not a string; example: `"cannot
+    use swap() with boolean"`
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how strings can be swapped with
+    `swap()`.,swap__string_t}
+
+    @since version 1.0.0
+    */
+    void swap(string_t& other)
+    {
+        // swap only works for strings
+        if (JSON_LIKELY(is_string()))
+        {
+            std::swap(*(m_value.string), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, "cannot use swap() with " + std::string(type_name())));
+        }
+    }
+
+    /// @}
+
+  public:
+    //////////////////////////////////////////
+    // lexicographical comparison operators //
+    //////////////////////////////////////////
+
+    /// @name lexicographical comparison operators
+    /// @{
+
+    /*!
+    @brief comparison: equal
+
+    Compares two JSON values for equality according to the following rules:
+    - Two JSON values are equal if (1) they are from the same type and (2)
+      their stored values are the same according to their respective
+      `operator==`.
+    - Integer and floating-point numbers are automatically converted before
+      comparison. Note than two NaN values are always treated as unequal.
+    - Two JSON null values are equal.
+
+    @note Floating-point inside JSON values numbers are compared with
+    `json::number_float_t::operator==` which is `double::operator==` by
+    default. To compare floating-point while respecting an epsilon, an alternative
+    [comparison function](https://github.com/mariokonrad/marnav/blob/master/src/marnav/math/floatingpoint.hpp#L34-#L39)
+    could be used, for instance
+    @code {.cpp}
+    template<typename T, typename = typename std::enable_if<std::is_floating_point<T>::value, T>::type>
+    inline bool is_same(T a, T b, T epsilon = std::numeric_limits<T>::epsilon()) noexcept
+    {
+        return std::abs(a - b) <= epsilon;
+    }
+    @endcode
+
+    @note NaN values never compare equal to themselves or to other NaN values.
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether the values @a lhs and @a rhs are equal
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @complexity Linear.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__equal}
+
+    @since version 1.0.0
+    */
+    friend bool operator==(const_reference lhs, const_reference rhs) noexcept
+    {
+        const auto lhs_type = lhs.type();
+        const auto rhs_type = rhs.type();
+
+        if (lhs_type == rhs_type)
+        {
+            switch (lhs_type)
+            {
+                case value_t::array:
+                    return (*lhs.m_value.array == *rhs.m_value.array);
+
+                case value_t::object:
+                    return (*lhs.m_value.object == *rhs.m_value.object);
+
+                case value_t::null:
+                    return true;
+
+                case value_t::string:
+                    return (*lhs.m_value.string == *rhs.m_value.string);
+
+                case value_t::boolean:
+                    return (lhs.m_value.boolean == rhs.m_value.boolean);
+
+                case value_t::number_integer:
+                    return (lhs.m_value.number_integer == rhs.m_value.number_integer);
+
+                case value_t::number_unsigned:
+                    return (lhs.m_value.number_unsigned == rhs.m_value.number_unsigned);
+
+                case value_t::number_float:
+                    return (lhs.m_value.number_float == rhs.m_value.number_float);
+
+                default:
+                    return false;
+            }
+        }
+        else if (lhs_type == value_t::number_integer and rhs_type == value_t::number_float)
+        {
+            return (static_cast<number_float_t>(lhs.m_value.number_integer) == rhs.m_value.number_float);
+        }
+        else if (lhs_type == value_t::number_float and rhs_type == value_t::number_integer)
+        {
+            return (lhs.m_value.number_float == static_cast<number_float_t>(rhs.m_value.number_integer));
+        }
+        else if (lhs_type == value_t::number_unsigned and rhs_type == value_t::number_float)
+        {
+            return (static_cast<number_float_t>(lhs.m_value.number_unsigned) == rhs.m_value.number_float);
+        }
+        else if (lhs_type == value_t::number_float and rhs_type == value_t::number_unsigned)
+        {
+            return (lhs.m_value.number_float == static_cast<number_float_t>(rhs.m_value.number_unsigned));
+        }
+        else if (lhs_type == value_t::number_unsigned and rhs_type == value_t::number_integer)
+        {
+            return (static_cast<number_integer_t>(lhs.m_value.number_unsigned) == rhs.m_value.number_integer);
+        }
+        else if (lhs_type == value_t::number_integer and rhs_type == value_t::number_unsigned)
+        {
+            return (lhs.m_value.number_integer == static_cast<number_integer_t>(rhs.m_value.number_unsigned));
+        }
+
+        return false;
+    }
+
+    /*!
+    @brief comparison: equal
+    @copydoc operator==(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator==(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return (lhs == basic_json(rhs));
+    }
+
+    /*!
+    @brief comparison: equal
+    @copydoc operator==(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator==(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return (basic_json(lhs) == rhs);
+    }
+
+    /*!
+    @brief comparison: not equal
+
+    Compares two JSON values for inequality by calculating `not (lhs == rhs)`.
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether the values @a lhs and @a rhs are not equal
+
+    @complexity Linear.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__notequal}
+
+    @since version 1.0.0
+    */
+    friend bool operator!=(const_reference lhs, const_reference rhs) noexcept
+    {
+        return not (lhs == rhs);
+    }
+
+    /*!
+    @brief comparison: not equal
+    @copydoc operator!=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator!=(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return (lhs != basic_json(rhs));
+    }
+
+    /*!
+    @brief comparison: not equal
+    @copydoc operator!=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator!=(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return (basic_json(lhs) != rhs);
+    }
+
+    /*!
+    @brief comparison: less than
+
+    Compares whether one JSON value @a lhs is less than another JSON value @a
+    rhs according to the following rules:
+    - If @a lhs and @a rhs have the same type, the values are compared using
+      the default `<` operator.
+    - Integer and floating-point numbers are automatically converted before
+      comparison
+    - In case @a lhs and @a rhs have different types, the values are ignored
+      and the order of the types is considered, see
+      @ref operator<(const value_t, const value_t).
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether @a lhs is less than @a rhs
+
+    @complexity Linear.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__less}
+
+    @since version 1.0.0
+    */
+    friend bool operator<(const_reference lhs, const_reference rhs) noexcept
+    {
+        const auto lhs_type = lhs.type();
+        const auto rhs_type = rhs.type();
+
+        if (lhs_type == rhs_type)
+        {
+            switch (lhs_type)
+            {
+                case value_t::array:
+                    return (*lhs.m_value.array) < (*rhs.m_value.array);
+
+                case value_t::object:
+                    return *lhs.m_value.object < *rhs.m_value.object;
+
+                case value_t::null:
+                    return false;
+
+                case value_t::string:
+                    return *lhs.m_value.string < *rhs.m_value.string;
+
+                case value_t::boolean:
+                    return lhs.m_value.boolean < rhs.m_value.boolean;
+
+                case value_t::number_integer:
+                    return lhs.m_value.number_integer < rhs.m_value.number_integer;
+
+                case value_t::number_unsigned:
+                    return lhs.m_value.number_unsigned < rhs.m_value.number_unsigned;
+
+                case value_t::number_float:
+                    return lhs.m_value.number_float < rhs.m_value.number_float;
+
+                default:
+                    return false;
+            }
+        }
+        else if (lhs_type == value_t::number_integer and rhs_type == value_t::number_float)
+        {
+            return static_cast<number_float_t>(lhs.m_value.number_integer) < rhs.m_value.number_float;
+        }
+        else if (lhs_type == value_t::number_float and rhs_type == value_t::number_integer)
+        {
+            return lhs.m_value.number_float < static_cast<number_float_t>(rhs.m_value.number_integer);
+        }
+        else if (lhs_type == value_t::number_unsigned and rhs_type == value_t::number_float)
+        {
+            return static_cast<number_float_t>(lhs.m_value.number_unsigned) < rhs.m_value.number_float;
+        }
+        else if (lhs_type == value_t::number_float and rhs_type == value_t::number_unsigned)
+        {
+            return lhs.m_value.number_float < static_cast<number_float_t>(rhs.m_value.number_unsigned);
+        }
+        else if (lhs_type == value_t::number_integer and rhs_type == value_t::number_unsigned)
+        {
+            return lhs.m_value.number_integer < static_cast<number_integer_t>(rhs.m_value.number_unsigned);
+        }
+        else if (lhs_type == value_t::number_unsigned and rhs_type == value_t::number_integer)
+        {
+            return static_cast<number_integer_t>(lhs.m_value.number_unsigned) < rhs.m_value.number_integer;
+        }
+
+        // We only reach this line if we cannot compare values. In that case,
+        // we compare types. Note we have to call the operator explicitly,
+        // because MSVC has problems otherwise.
+        return operator<(lhs_type, rhs_type);
+    }
+
+    /*!
+    @brief comparison: less than
+    @copydoc operator<(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return (lhs < basic_json(rhs));
+    }
+
+    /*!
+    @brief comparison: less than
+    @copydoc operator<(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return (basic_json(lhs) < rhs);
+    }
+
+    /*!
+    @brief comparison: less than or equal
+
+    Compares whether one JSON value @a lhs is less than or equal to another
+    JSON value by calculating `not (rhs < lhs)`.
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether @a lhs is less than or equal to @a rhs
+
+    @complexity Linear.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__greater}
+
+    @since version 1.0.0
+    */
+    friend bool operator<=(const_reference lhs, const_reference rhs) noexcept
+    {
+        return not (rhs < lhs);
+    }
+
+    /*!
+    @brief comparison: less than or equal
+    @copydoc operator<=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<=(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return (lhs <= basic_json(rhs));
+    }
+
+    /*!
+    @brief comparison: less than or equal
+    @copydoc operator<=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<=(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return (basic_json(lhs) <= rhs);
+    }
+
+    /*!
+    @brief comparison: greater than
+
+    Compares whether one JSON value @a lhs is greater than another
+    JSON value by calculating `not (lhs <= rhs)`.
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether @a lhs is greater than to @a rhs
+
+    @complexity Linear.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__lessequal}
+
+    @since version 1.0.0
+    */
+    friend bool operator>(const_reference lhs, const_reference rhs) noexcept
+    {
+        return not (lhs <= rhs);
+    }
+
+    /*!
+    @brief comparison: greater than
+    @copydoc operator>(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return (lhs > basic_json(rhs));
+    }
+
+    /*!
+    @brief comparison: greater than
+    @copydoc operator>(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return (basic_json(lhs) > rhs);
+    }
+
+    /*!
+    @brief comparison: greater than or equal
+
+    Compares whether one JSON value @a lhs is greater than or equal to another
+    JSON value by calculating `not (lhs < rhs)`.
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether @a lhs is greater than or equal to @a rhs
+
+    @complexity Linear.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__greaterequal}
+
+    @since version 1.0.0
+    */
+    friend bool operator>=(const_reference lhs, const_reference rhs) noexcept
+    {
+        return not (lhs < rhs);
+    }
+
+    /*!
+    @brief comparison: greater than or equal
+    @copydoc operator>=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>=(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return (lhs >= basic_json(rhs));
+    }
+
+    /*!
+    @brief comparison: greater than or equal
+    @copydoc operator>=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>=(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return (basic_json(lhs) >= rhs);
+    }
+
+    /// @}
+
+    ///////////////////
+    // serialization //
+    ///////////////////
+
+    /// @name serialization
+    /// @{
+
+    /*!
+    @brief serialize to stream
+
+    Serialize the given JSON value @a j to the output stream @a o. The JSON
+    value will be serialized using the @ref dump member function.
+
+    - The indentation of the output can be controlled with the member variable
+      `width` of the output stream @a o. For instance, using the manipulator
+      `std::setw(4)` on @a o sets the indentation level to `4` and the
+      serialization result is the same as calling `dump(4)`.
+
+    - The indentation character can be controlled with the member variable
+      `fill` of the output stream @a o. For instance, the manipulator
+      `std::setfill('\\t')` sets indentation to use a tab character rather than
+      the default space character.
+
+    @param[in,out] o  stream to serialize to
+    @param[in] j  JSON value to serialize
+
+    @return the stream @a o
+
+    @throw type_error.316 if a string stored inside the JSON value is not
+                          UTF-8 encoded
+
+    @complexity Linear.
+
+    @liveexample{The example below shows the serialization with different
+    parameters to `width` to adjust the indentation level.,operator_serialize}
+
+    @since version 1.0.0; indentation character added in version 3.0.0
+    */
+    friend std::ostream& operator<<(std::ostream& o, const basic_json& j)
+    {
+        // read width member and use it as indentation parameter if nonzero
+        const bool pretty_print = (o.width() > 0);
+        const auto indentation = (pretty_print ? o.width() : 0);
+
+        // reset width to 0 for subsequent calls to this stream
+        o.width(0);
+
+        // do the actual serialization
+        serializer s(detail::output_adapter<char>(o), o.fill());
+        s.dump(j, pretty_print, false, static_cast<unsigned int>(indentation));
+        return o;
+    }
+
+    /*!
+    @brief serialize to stream
+    @deprecated This stream operator is deprecated and will be removed in
+                future 4.0.0 of the library. Please use
+                @ref operator<<(std::ostream&, const basic_json&)
+                instead; that is, replace calls like `j >> o;` with `o << j;`.
+    @since version 1.0.0; deprecated since version 3.0.0
+    */
+    JSON_DEPRECATED
+    friend std::ostream& operator>>(const basic_json& j, std::ostream& o)
+    {
+        return o << j;
+    }
+
+    /// @}
+
+
+    /////////////////////
+    // deserialization //
+    /////////////////////
+
+    /// @name deserialization
+    /// @{
+
+    /*!
+    @brief deserialize from a compatible input
+
+    This function reads from a compatible input. Examples are:
+    - an array of 1-byte values
+    - strings with character/literal type with size of 1 byte
+    - input streams
+    - container with contiguous storage of 1-byte values. Compatible container
+      types include `std::vector`, `std::string`, `std::array`,
+      `std::valarray`, and `std::initializer_list`. Furthermore, C-style
+      arrays can be used with `std::begin()`/`std::end()`. User-defined
+      containers can be used as long as they implement random-access iterators
+      and a contiguous storage.
+
+    @pre Each element of the container has a size of 1 byte. Violating this
+    precondition yields undefined behavior. **This precondition is enforced
+    with a static assertion.**
+
+    @pre The container storage is contiguous. Violating this precondition
+    yields undefined behavior. **This precondition is enforced with an
+    assertion.**
+    @pre Each element of the container has a size of 1 byte. Violating this
+    precondition yields undefined behavior. **This precondition is enforced
+    with a static assertion.**
+
+    @warning There is no way to enforce all preconditions at compile-time. If
+             the function is called with a noncompliant container and with
+             assertions switched off, the behavior is undefined and will most
+             likely yield segmentation violation.
+
+    @param[in] i  input to read from
+    @param[in] cb  a parser callback function of type @ref parser_callback_t
+    which is used to control the deserialization by filtering unwanted values
+    (optional)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+
+    @return result of the deserialization
+
+    @throw parse_error.101 if a parse error occurs; example: `""unexpected end
+    of input; expected string literal""`
+    @throw parse_error.102 if to_unicode fails or surrogate error
+    @throw parse_error.103 if to_unicode fails
+
+    @complexity Linear in the length of the input. The parser is a predictive
+    LL(1) parser. The complexity can be higher if the parser callback function
+    @a cb has a super-linear complexity.
+
+    @note A UTF-8 byte order mark is silently ignored.
+
+    @liveexample{The example below demonstrates the `parse()` function reading
+    from an array.,parse__array__parser_callback_t}
+
+    @liveexample{The example below demonstrates the `parse()` function with
+    and without callback function.,parse__string__parser_callback_t}
+
+    @liveexample{The example below demonstrates the `parse()` function with
+    and without callback function.,parse__istream__parser_callback_t}
+
+    @liveexample{The example below demonstrates the `parse()` function reading
+    from a contiguous container.,parse__contiguouscontainer__parser_callback_t}
+
+    @since version 2.0.3 (contiguous containers)
+    */
+    static basic_json parse(detail::input_adapter&& i,
+                            const parser_callback_t cb = nullptr,
+                            const bool allow_exceptions = true)
+    {
+        basic_json result;
+        parser(i, cb, allow_exceptions).parse(true, result);
+        return result;
+    }
+
+    static bool accept(detail::input_adapter&& i)
+    {
+        return parser(i).accept(true);
+    }
+
+    /*!
+    @brief generate SAX events
+
+    The SAX event lister must follow the interface of @ref json_sax.
+
+    This function reads from a compatible input. Examples are:
+    - an array of 1-byte values
+    - strings with character/literal type with size of 1 byte
+    - input streams
+    - container with contiguous storage of 1-byte values. Compatible container
+      types include `std::vector`, `std::string`, `std::array`,
+      `std::valarray`, and `std::initializer_list`. Furthermore, C-style
+      arrays can be used with `std::begin()`/`std::end()`. User-defined
+      containers can be used as long as they implement random-access iterators
+      and a contiguous storage.
+
+    @pre Each element of the container has a size of 1 byte. Violating this
+    precondition yields undefined behavior. **This precondition is enforced
+    with a static assertion.**
+
+    @pre The container storage is contiguous. Violating this precondition
+    yields undefined behavior. **This precondition is enforced with an
+    assertion.**
+    @pre Each element of the container has a size of 1 byte. Violating this
+    precondition yields undefined behavior. **This precondition is enforced
+    with a static assertion.**
+
+    @warning There is no way to enforce all preconditions at compile-time. If
+             the function is called with a noncompliant container and with
+             assertions switched off, the behavior is undefined and will most
+             likely yield segmentation violation.
+
+    @param[in] i  input to read from
+    @param[in,out] sax  SAX event listener
+    @param[in] format  the format to parse (JSON, CBOR, MessagePack, or UBJSON)
+    @param[in] strict  whether the input has to be consumed completely
+
+    @return return value of the last processed SAX event
+
+    @throw parse_error.101 if a parse error occurs; example: `""unexpected end
+    of input; expected string literal""`
+    @throw parse_error.102 if to_unicode fails or surrogate error
+    @throw parse_error.103 if to_unicode fails
+
+    @complexity Linear in the length of the input. The parser is a predictive
+    LL(1) parser. The complexity can be higher if the SAX consumer @a sax has
+    a super-linear complexity.
+
+    @note A UTF-8 byte order mark is silently ignored.
+
+    @liveexample{The example below demonstrates the `sax_parse()` function
+    reading from string and processing the events with a user-defined SAX
+    event consumer.,sax_parse}
+
+    @since version 3.2.0
+    */
+    template <typename SAX>
+    static bool sax_parse(detail::input_adapter&& i, SAX* sax,
+                          input_format_t format = input_format_t::json,
+                          const bool strict = true)
+    {
+        assert(sax);
+        switch (format)
+        {
+            case input_format_t::json:
+                return parser(std::move(i)).sax_parse(sax, strict);
+            default:
+                return detail::binary_reader<basic_json, SAX>(std::move(i)).sax_parse(format, sax, strict);
+        }
+    }
+
+    /*!
+    @brief deserialize from an iterator range with contiguous storage
+
+    This function reads from an iterator range of a container with contiguous
+    storage of 1-byte values. Compatible container types include
+    `std::vector`, `std::string`, `std::array`, `std::valarray`, and
+    `std::initializer_list`. Furthermore, C-style arrays can be used with
+    `std::begin()`/`std::end()`. User-defined containers can be used as long
+    as they implement random-access iterators and a contiguous storage.
+
+    @pre The iterator range is contiguous. Violating this precondition yields
+    undefined behavior. **This precondition is enforced with an assertion.**
+    @pre Each element in the range has a size of 1 byte. Violating this
+    precondition yields undefined behavior. **This precondition is enforced
+    with a static assertion.**
+
+    @warning There is no way to enforce all preconditions at compile-time. If
+             the function is called with noncompliant iterators and with
+             assertions switched off, the behavior is undefined and will most
+             likely yield segmentation violation.
+
+    @tparam IteratorType iterator of container with contiguous storage
+    @param[in] first  begin of the range to parse (included)
+    @param[in] last  end of the range to parse (excluded)
+    @param[in] cb  a parser callback function of type @ref parser_callback_t
+    which is used to control the deserialization by filtering unwanted values
+    (optional)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+
+    @return result of the deserialization
+
+    @throw parse_error.101 in case of an unexpected token
+    @throw parse_error.102 if to_unicode fails or surrogate error
+    @throw parse_error.103 if to_unicode fails
+
+    @complexity Linear in the length of the input. The parser is a predictive
+    LL(1) parser. The complexity can be higher if the parser callback function
+    @a cb has a super-linear complexity.
+
+    @note A UTF-8 byte order mark is silently ignored.
+
+    @liveexample{The example below demonstrates the `parse()` function reading
+    from an iterator range.,parse__iteratortype__parser_callback_t}
+
+    @since version 2.0.3
+    */
+    template<class IteratorType, typename std::enable_if<
+                 std::is_base_of<
+                     std::random_access_iterator_tag,
+                     typename std::iterator_traits<IteratorType>::iterator_category>::value, int>::type = 0>
+    static basic_json parse(IteratorType first, IteratorType last,
+                            const parser_callback_t cb = nullptr,
+                            const bool allow_exceptions = true)
+    {
+        basic_json result;
+        parser(detail::input_adapter(first, last), cb, allow_exceptions).parse(true, result);
+        return result;
+    }
+
+    template<class IteratorType, typename std::enable_if<
+                 std::is_base_of<
+                     std::random_access_iterator_tag,
+                     typename std::iterator_traits<IteratorType>::iterator_category>::value, int>::type = 0>
+    static bool accept(IteratorType first, IteratorType last)
+    {
+        return parser(detail::input_adapter(first, last)).accept(true);
+    }
+
+    template<class IteratorType, class SAX, typename std::enable_if<
+                 std::is_base_of<
+                     std::random_access_iterator_tag,
+                     typename std::iterator_traits<IteratorType>::iterator_category>::value, int>::type = 0>
+    static bool sax_parse(IteratorType first, IteratorType last, SAX* sax)
+    {
+        return parser(detail::input_adapter(first, last)).sax_parse(sax);
+    }
+
+    /*!
+    @brief deserialize from stream
+    @deprecated This stream operator is deprecated and will be removed in
+                version 4.0.0 of the library. Please use
+                @ref operator>>(std::istream&, basic_json&)
+                instead; that is, replace calls like `j << i;` with `i >> j;`.
+    @since version 1.0.0; deprecated since version 3.0.0
+    */
+    JSON_DEPRECATED
+    friend std::istream& operator<<(basic_json& j, std::istream& i)
+    {
+        return operator>>(i, j);
+    }
+
+    /*!
+    @brief deserialize from stream
+
+    Deserializes an input stream to a JSON value.
+
+    @param[in,out] i  input stream to read a serialized JSON value from
+    @param[in,out] j  JSON value to write the deserialized input to
+
+    @throw parse_error.101 in case of an unexpected token
+    @throw parse_error.102 if to_unicode fails or surrogate error
+    @throw parse_error.103 if to_unicode fails
+
+    @complexity Linear in the length of the input. The parser is a predictive
+    LL(1) parser.
+
+    @note A UTF-8 byte order mark is silently ignored.
+
+    @liveexample{The example below shows how a JSON value is constructed by
+    reading a serialization from a stream.,operator_deserialize}
+
+    @sa parse(std::istream&, const parser_callback_t) for a variant with a
+    parser callback function to filter values while parsing
+
+    @since version 1.0.0
+    */
+    friend std::istream& operator>>(std::istream& i, basic_json& j)
+    {
+        parser(detail::input_adapter(i)).parse(false, j);
+        return i;
+    }
+
+    /// @}
+
+    ///////////////////////////
+    // convenience functions //
+    ///////////////////////////
+
+    /*!
+    @brief return the type as string
+
+    Returns the type name as string to be used in error messages - usually to
+    indicate that a function was called on a wrong JSON type.
+
+    @return a string representation of a the @a m_type member:
+            Value type  | return value
+            ----------- | -------------
+            null        | `"null"`
+            boolean     | `"boolean"`
+            string      | `"string"`
+            number      | `"number"` (for all number types)
+            object      | `"object"`
+            array       | `"array"`
+            discarded   | `"discarded"`
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @complexity Constant.
+
+    @liveexample{The following code exemplifies `type_name()` for all JSON
+    types.,type_name}
+
+    @sa @ref type() -- return the type of the JSON value
+    @sa @ref operator value_t() -- return the type of the JSON value (implicit)
+
+    @since version 1.0.0, public since 2.1.0, `const char*` and `noexcept`
+    since 3.0.0
+    */
+    const char* type_name() const noexcept
+    {
+        {
+            switch (m_type)
+            {
+                case value_t::null:
+                    return "null";
+                case value_t::object:
+                    return "object";
+                case value_t::array:
+                    return "array";
+                case value_t::string:
+                    return "string";
+                case value_t::boolean:
+                    return "boolean";
+                case value_t::discarded:
+                    return "discarded";
+                default:
+                    return "number";
+            }
+        }
+    }
+
+
+  private:
+    //////////////////////
+    // member variables //
+    //////////////////////
+
+    /// the type of the current element
+    value_t m_type = value_t::null;
+
+    /// the value of the current element
+    json_value m_value = {};
+
+    //////////////////////////////////////////
+    // binary serialization/deserialization //
+    //////////////////////////////////////////
+
+    /// @name binary serialization/deserialization support
+    /// @{
+
+  public:
+    /*!
+    @brief create a CBOR serialization of a given JSON value
+
+    Serializes a given JSON value @a j to a byte vector using the CBOR (Concise
+    Binary Object Representation) serialization format. CBOR is a binary
+    serialization format which aims to be more compact than JSON itself, yet
+    more efficient to parse.
+
+    The library uses the following mapping from JSON values types to
+    CBOR types according to the CBOR specification (RFC 7049):
+
+    JSON value type | value/range                                | CBOR type                          | first byte
+    --------------- | ------------------------------------------ | ---------------------------------- | ---------------
+    null            | `null`                                     | Null                               | 0xF6
+    boolean         | `true`                                     | True                               | 0xF5
+    boolean         | `false`                                    | False                              | 0xF4
+    number_integer  | -9223372036854775808..-2147483649          | Negative integer (8 bytes follow)  | 0x3B
+    number_integer  | -2147483648..-32769                        | Negative integer (4 bytes follow)  | 0x3A
+    number_integer  | -32768..-129                               | Negative integer (2 bytes follow)  | 0x39
+    number_integer  | -128..-25                                  | Negative integer (1 byte follow)   | 0x38
+    number_integer  | -24..-1                                    | Negative integer                   | 0x20..0x37
+    number_integer  | 0..23                                      | Integer                            | 0x00..0x17
+    number_integer  | 24..255                                    | Unsigned integer (1 byte follow)   | 0x18
+    number_integer  | 256..65535                                 | Unsigned integer (2 bytes follow)  | 0x19
+    number_integer  | 65536..4294967295                          | Unsigned integer (4 bytes follow)  | 0x1A
+    number_integer  | 4294967296..18446744073709551615           | Unsigned integer (8 bytes follow)  | 0x1B
+    number_unsigned | 0..23                                      | Integer                            | 0x00..0x17
+    number_unsigned | 24..255                                    | Unsigned integer (1 byte follow)   | 0x18
+    number_unsigned | 256..65535                                 | Unsigned integer (2 bytes follow)  | 0x19
+    number_unsigned | 65536..4294967295                          | Unsigned integer (4 bytes follow)  | 0x1A
+    number_unsigned | 4294967296..18446744073709551615           | Unsigned integer (8 bytes follow)  | 0x1B
+    number_float    | *any value*                                | Double-Precision Float             | 0xFB
+    string          | *length*: 0..23                            | UTF-8 string                       | 0x60..0x77
+    string          | *length*: 23..255                          | UTF-8 string (1 byte follow)       | 0x78
+    string          | *length*: 256..65535                       | UTF-8 string (2 bytes follow)      | 0x79
+    string          | *length*: 65536..4294967295                | UTF-8 string (4 bytes follow)      | 0x7A
+    string          | *length*: 4294967296..18446744073709551615 | UTF-8 string (8 bytes follow)      | 0x7B
+    array           | *size*: 0..23                              | array                              | 0x80..0x97
+    array           | *size*: 23..255                            | array (1 byte follow)              | 0x98
+    array           | *size*: 256..65535                         | array (2 bytes follow)             | 0x99
+    array           | *size*: 65536..4294967295                  | array (4 bytes follow)             | 0x9A
+    array           | *size*: 4294967296..18446744073709551615   | array (8 bytes follow)             | 0x9B
+    object          | *size*: 0..23                              | map                                | 0xA0..0xB7
+    object          | *size*: 23..255                            | map (1 byte follow)                | 0xB8
+    object          | *size*: 256..65535                         | map (2 bytes follow)               | 0xB9
+    object          | *size*: 65536..4294967295                  | map (4 bytes follow)               | 0xBA
+    object          | *size*: 4294967296..18446744073709551615   | map (8 bytes follow)               | 0xBB
+
+    @note The mapping is **complete** in the sense that any JSON value type
+          can be converted to a CBOR value.
+
+    @note If NaN or Infinity are stored inside a JSON number, they are
+          serialized properly. This behavior differs from the @ref dump()
+          function which serializes NaN or Infinity to `null`.
+
+    @note The following CBOR types are not used in the conversion:
+          - byte strings (0x40..0x5F)
+          - UTF-8 strings terminated by "break" (0x7F)
+          - arrays terminated by "break" (0x9F)
+          - maps terminated by "break" (0xBF)
+          - date/time (0xC0..0xC1)
+          - bignum (0xC2..0xC3)
+          - decimal fraction (0xC4)
+          - bigfloat (0xC5)
+          - tagged items (0xC6..0xD4, 0xD8..0xDB)
+          - expected conversions (0xD5..0xD7)
+          - simple values (0xE0..0xF3, 0xF8)
+          - undefined (0xF7)
+          - half and single-precision floats (0xF9-0xFA)
+          - break (0xFF)
+
+    @param[in] j  JSON value to serialize
+    @return MessagePack serialization as byte vector
+
+    @complexity Linear in the size of the JSON value @a j.
+
+    @liveexample{The example shows the serialization of a JSON value to a byte
+    vector in CBOR format.,to_cbor}
+
+    @sa http://cbor.io
+    @sa @ref from_cbor(detail::input_adapter&&, const bool, const bool) for the
+        analogous deserialization
+    @sa @ref to_msgpack(const basic_json&) for the related MessagePack format
+    @sa @ref to_ubjson(const basic_json&, const bool, const bool) for the
+             related UBJSON format
+
+    @since version 2.0.9
+    */
+    static std::vector<uint8_t> to_cbor(const basic_json& j)
+    {
+        std::vector<uint8_t> result;
+        to_cbor(j, result);
+        return result;
+    }
+
+    static void to_cbor(const basic_json& j, detail::output_adapter<uint8_t> o)
+    {
+        binary_writer<uint8_t>(o).write_cbor(j);
+    }
+
+    static void to_cbor(const basic_json& j, detail::output_adapter<char> o)
+    {
+        binary_writer<char>(o).write_cbor(j);
+    }
+
+    /*!
+    @brief create a MessagePack serialization of a given JSON value
+
+    Serializes a given JSON value @a j to a byte vector using the MessagePack
+    serialization format. MessagePack is a binary serialization format which
+    aims to be more compact than JSON itself, yet more efficient to parse.
+
+    The library uses the following mapping from JSON values types to
+    MessagePack types according to the MessagePack specification:
+
+    JSON value type | value/range                       | MessagePack type | first byte
+    --------------- | --------------------------------- | ---------------- | ----------
+    null            | `null`                            | nil              | 0xC0
+    boolean         | `true`                            | true             | 0xC3
+    boolean         | `false`                           | false            | 0xC2
+    number_integer  | -9223372036854775808..-2147483649 | int64            | 0xD3
+    number_integer  | -2147483648..-32769               | int32            | 0xD2
+    number_integer  | -32768..-129                      | int16            | 0xD1
+    number_integer  | -128..-33                         | int8             | 0xD0
+    number_integer  | -32..-1                           | negative fixint  | 0xE0..0xFF
+    number_integer  | 0..127                            | positive fixint  | 0x00..0x7F
+    number_integer  | 128..255                          | uint 8           | 0xCC
+    number_integer  | 256..65535                        | uint 16          | 0xCD
+    number_integer  | 65536..4294967295                 | uint 32          | 0xCE
+    number_integer  | 4294967296..18446744073709551615  | uint 64          | 0xCF
+    number_unsigned | 0..127                            | positive fixint  | 0x00..0x7F
+    number_unsigned | 128..255                          | uint 8           | 0xCC
+    number_unsigned | 256..65535                        | uint 16          | 0xCD
+    number_unsigned | 65536..4294967295                 | uint 32          | 0xCE
+    number_unsigned | 4294967296..18446744073709551615  | uint 64          | 0xCF
+    number_float    | *any value*                       | float 64         | 0xCB
+    string          | *length*: 0..31                   | fixstr           | 0xA0..0xBF
+    string          | *length*: 32..255                 | str 8            | 0xD9
+    string          | *length*: 256..65535              | str 16           | 0xDA
+    string          | *length*: 65536..4294967295       | str 32           | 0xDB
+    array           | *size*: 0..15                     | fixarray         | 0x90..0x9F
+    array           | *size*: 16..65535                 | array 16         | 0xDC
+    array           | *size*: 65536..4294967295         | array 32         | 0xDD
+    object          | *size*: 0..15                     | fix map          | 0x80..0x8F
+    object          | *size*: 16..65535                 | map 16           | 0xDE
+    object          | *size*: 65536..4294967295         | map 32           | 0xDF
+
+    @note The mapping is **complete** in the sense that any JSON value type
+          can be converted to a MessagePack value.
+
+    @note The following values can **not** be converted to a MessagePack value:
+          - strings with more than 4294967295 bytes
+          - arrays with more than 4294967295 elements
+          - objects with more than 4294967295 elements
+
+    @note The following MessagePack types are not used in the conversion:
+          - bin 8 - bin 32 (0xC4..0xC6)
+          - ext 8 - ext 32 (0xC7..0xC9)
+          - float 32 (0xCA)
+          - fixext 1 - fixext 16 (0xD4..0xD8)
+
+    @note Any MessagePack output created @ref to_msgpack can be successfully
+          parsed by @ref from_msgpack.
+
+    @note If NaN or Infinity are stored inside a JSON number, they are
+          serialized properly. This behavior differs from the @ref dump()
+          function which serializes NaN or Infinity to `null`.
+
+    @param[in] j  JSON value to serialize
+    @return MessagePack serialization as byte vector
+
+    @complexity Linear in the size of the JSON value @a j.
+
+    @liveexample{The example shows the serialization of a JSON value to a byte
+    vector in MessagePack format.,to_msgpack}
+
+    @sa http://msgpack.org
+    @sa @ref from_msgpack for the analogous deserialization
+    @sa @ref to_cbor(const basic_json& for the related CBOR format
+    @sa @ref to_ubjson(const basic_json&, const bool, const bool) for the
+             related UBJSON format
+
+    @since version 2.0.9
+    */
+    static std::vector<uint8_t> to_msgpack(const basic_json& j)
+    {
+        std::vector<uint8_t> result;
+        to_msgpack(j, result);
+        return result;
+    }
+
+    static void to_msgpack(const basic_json& j, detail::output_adapter<uint8_t> o)
+    {
+        binary_writer<uint8_t>(o).write_msgpack(j);
+    }
+
+    static void to_msgpack(const basic_json& j, detail::output_adapter<char> o)
+    {
+        binary_writer<char>(o).write_msgpack(j);
+    }
+
+    /*!
+    @brief create a UBJSON serialization of a given JSON value
+
+    Serializes a given JSON value @a j to a byte vector using the UBJSON
+    (Universal Binary JSON) serialization format. UBJSON aims to be more compact
+    than JSON itself, yet more efficient to parse.
+
+    The library uses the following mapping from JSON values types to
+    UBJSON types according to the UBJSON specification:
+
+    JSON value type | value/range                       | UBJSON type | marker
+    --------------- | --------------------------------- | ----------- | ------
+    null            | `null`                            | null        | `Z`
+    boolean         | `true`                            | true        | `T`
+    boolean         | `false`                           | false       | `F`
+    number_integer  | -9223372036854775808..-2147483649 | int64       | `L`
+    number_integer  | -2147483648..-32769               | int32       | `l`
+    number_integer  | -32768..-129                      | int16       | `I`
+    number_integer  | -128..127                         | int8        | `i`
+    number_integer  | 128..255                          | uint8       | `U`
+    number_integer  | 256..32767                        | int16       | `I`
+    number_integer  | 32768..2147483647                 | int32       | `l`
+    number_integer  | 2147483648..9223372036854775807   | int64       | `L`
+    number_unsigned | 0..127                            | int8        | `i`
+    number_unsigned | 128..255                          | uint8       | `U`
+    number_unsigned | 256..32767                        | int16       | `I`
+    number_unsigned | 32768..2147483647                 | int32       | `l`
+    number_unsigned | 2147483648..9223372036854775807   | int64       | `L`
+    number_float    | *any value*                       | float64     | `D`
+    string          | *with shortest length indicator*  | string      | `S`
+    array           | *see notes on optimized format*   | array       | `[`
+    object          | *see notes on optimized format*   | map         | `{`
+
+    @note The mapping is **complete** in the sense that any JSON value type
+          can be converted to a UBJSON value.
+
+    @note The following values can **not** be converted to a UBJSON value:
+          - strings with more than 9223372036854775807 bytes (theoretical)
+          - unsigned integer numbers above 9223372036854775807
+
+    @note The following markers are not used in the conversion:
+          - `Z`: no-op values are not created.
+          - `C`: single-byte strings are serialized with `S` markers.
+
+    @note Any UBJSON output created @ref to_ubjson can be successfully parsed
+          by @ref from_ubjson.
+
+    @note If NaN or Infinity are stored inside a JSON number, they are
+          serialized properly. This behavior differs from the @ref dump()
+          function which serializes NaN or Infinity to `null`.
+
+    @note The optimized formats for containers are supported: Parameter
+          @a use_size adds size information to the beginning of a container and
+          removes the closing marker. Parameter @a use_type further checks
+          whether all elements of a container have the same type and adds the
+          type marker to the beginning of the container. The @a use_type
+          parameter must only be used together with @a use_size = true. Note
+          that @a use_size = true alone may result in larger representations -
+          the benefit of this parameter is that the receiving side is
+          immediately informed on the number of elements of the container.
+
+    @param[in] j  JSON value to serialize
+    @param[in] use_size  whether to add size annotations to container types
+    @param[in] use_type  whether to add type annotations to container types
+                         (must be combined with @a use_size = true)
+    @return UBJSON serialization as byte vector
+
+    @complexity Linear in the size of the JSON value @a j.
+
+    @liveexample{The example shows the serialization of a JSON value to a byte
+    vector in UBJSON format.,to_ubjson}
+
+    @sa http://ubjson.org
+    @sa @ref from_ubjson(detail::input_adapter&&, const bool, const bool) for the
+        analogous deserialization
+    @sa @ref to_cbor(const basic_json& for the related CBOR format
+    @sa @ref to_msgpack(const basic_json&) for the related MessagePack format
+
+    @since version 3.1.0
+    */
+    static std::vector<uint8_t> to_ubjson(const basic_json& j,
+                                          const bool use_size = false,
+                                          const bool use_type = false)
+    {
+        std::vector<uint8_t> result;
+        to_ubjson(j, result, use_size, use_type);
+        return result;
+    }
+
+    static void to_ubjson(const basic_json& j, detail::output_adapter<uint8_t> o,
+                          const bool use_size = false, const bool use_type = false)
+    {
+        binary_writer<uint8_t>(o).write_ubjson(j, use_size, use_type);
+    }
+
+    static void to_ubjson(const basic_json& j, detail::output_adapter<char> o,
+                          const bool use_size = false, const bool use_type = false)
+    {
+        binary_writer<char>(o).write_ubjson(j, use_size, use_type);
+    }
+
+
+    /*!
+    @brief Serializes the given JSON object `j` to BSON and returns a vector
+           containing the corresponding BSON-representation.
+
+    BSON (Binary JSON) is a binary format in which zero or more ordered key/value pairs are
+    stored as a single entity (a so-called document).
+
+    The library uses the following mapping from JSON values types to BSON types:
+
+    JSON value type | value/range                       | BSON type   | marker
+    --------------- | --------------------------------- | ----------- | ------
+    null            | `null`                            | null        | 0x0A
+    boolean         | `true`, `false`                   | boolean     | 0x08
+    number_integer  | -9223372036854775808..-2147483649 | int64       | 0x12
+    number_integer  | -2147483648..2147483647           | int32       | 0x10
+    number_integer  | 2147483648..9223372036854775807   | int64       | 0x12
+    number_unsigned | 0..2147483647                     | int32       | 0x10
+    number_unsigned | 2147483648..9223372036854775807   | int64       | 0x12
+    number_unsigned | 9223372036854775808..18446744073709551615| --   | --
+    number_float    | *any value*                       | double      | 0x01
+    string          | *any value*                       | string      | 0x02
+    array           | *any value*                       | document    | 0x04
+    object          | *any value*                       | document    | 0x03
+
+    @warning The mapping is **incomplete**, since only JSON-objects (and things
+    contained therein) can be serialized to BSON.
+    Also, integers larger than 9223372036854775807 cannot be serialized to BSON,
+    and the keys may not contain U+0000, since they are serialized a
+    zero-terminated c-strings.
+
+    @throw out_of_range.407  if `j.is_number_unsigned() && j.get<std::uint64_t>() > 9223372036854775807`
+    @throw out_of_range.409  if a key in `j` contains a NULL (U+0000)
+    @throw type_error.317    if `!j.is_object()`
+
+    @pre The input `j` is required to be an object: `j.is_object() == true`.
+
+    @note Any BSON output created via @ref to_bson can be successfully parsed
+          by @ref from_bson.
+
+    @param[in] j  JSON value to serialize
+    @return BSON serialization as byte vector
+
+    @complexity Linear in the size of the JSON value @a j.
+
+    @liveexample{The example shows the serialization of a JSON value to a byte
+    vector in BSON format.,to_bson}
+
+    @sa http://bsonspec.org/spec.html
+    @sa @ref from_bson(detail::input_adapter&&, const bool strict) for the
+        analogous deserialization
+    @sa @ref to_ubjson(const basic_json&, const bool, const bool) for the
+             related UBJSON format
+    @sa @ref to_cbor(const basic_json&) for the related CBOR format
+    @sa @ref to_msgpack(const basic_json&) for the related MessagePack format
+    */
+    static std::vector<uint8_t> to_bson(const basic_json& j)
+    {
+        std::vector<uint8_t> result;
+        to_bson(j, result);
+        return result;
+    }
+
+    /*!
+    @brief Serializes the given JSON object `j` to BSON and forwards the
+           corresponding BSON-representation to the given output_adapter `o`.
+    @param j The JSON object to convert to BSON.
+    @param o The output adapter that receives the binary BSON representation.
+    @pre The input `j` shall be an object: `j.is_object() == true`
+    @sa @ref to_bson(const basic_json&)
+    */
+    static void to_bson(const basic_json& j, detail::output_adapter<uint8_t> o)
+    {
+        binary_writer<uint8_t>(o).write_bson(j);
+    }
+
+    /*!
+    @copydoc to_bson(const basic_json&, detail::output_adapter<uint8_t>)
+    */
+    static void to_bson(const basic_json& j, detail::output_adapter<char> o)
+    {
+        binary_writer<char>(o).write_bson(j);
+    }
+
+
+    /*!
+    @brief create a JSON value from an input in CBOR format
+
+    Deserializes a given input @a i to a JSON value using the CBOR (Concise
+    Binary Object Representation) serialization format.
+
+    The library maps CBOR types to JSON value types as follows:
+
+    CBOR type              | JSON value type | first byte
+    ---------------------- | --------------- | ----------
+    Integer                | number_unsigned | 0x00..0x17
+    Unsigned integer       | number_unsigned | 0x18
+    Unsigned integer       | number_unsigned | 0x19
+    Unsigned integer       | number_unsigned | 0x1A
+    Unsigned integer       | number_unsigned | 0x1B
+    Negative integer       | number_integer  | 0x20..0x37
+    Negative integer       | number_integer  | 0x38
+    Negative integer       | number_integer  | 0x39
+    Negative integer       | number_integer  | 0x3A
+    Negative integer       | number_integer  | 0x3B
+    Negative integer       | number_integer  | 0x40..0x57
+    UTF-8 string           | string          | 0x60..0x77
+    UTF-8 string           | string          | 0x78
+    UTF-8 string           | string          | 0x79
+    UTF-8 string           | string          | 0x7A
+    UTF-8 string           | string          | 0x7B
+    UTF-8 string           | string          | 0x7F
+    array                  | array           | 0x80..0x97
+    array                  | array           | 0x98
+    array                  | array           | 0x99
+    array                  | array           | 0x9A
+    array                  | array           | 0x9B
+    array                  | array           | 0x9F
+    map                    | object          | 0xA0..0xB7
+    map                    | object          | 0xB8
+    map                    | object          | 0xB9
+    map                    | object          | 0xBA
+    map                    | object          | 0xBB
+    map                    | object          | 0xBF
+    False                  | `false`         | 0xF4
+    True                   | `true`          | 0xF5
+    Null                   | `null`          | 0xF6
+    Half-Precision Float   | number_float    | 0xF9
+    Single-Precision Float | number_float    | 0xFA
+    Double-Precision Float | number_float    | 0xFB
+
+    @warning The mapping is **incomplete** in the sense that not all CBOR
+             types can be converted to a JSON value. The following CBOR types
+             are not supported and will yield parse errors (parse_error.112):
+             - byte strings (0x40..0x5F)
+             - date/time (0xC0..0xC1)
+             - bignum (0xC2..0xC3)
+             - decimal fraction (0xC4)
+             - bigfloat (0xC5)
+             - tagged items (0xC6..0xD4, 0xD8..0xDB)
+             - expected conversions (0xD5..0xD7)
+             - simple values (0xE0..0xF3, 0xF8)
+             - undefined (0xF7)
+
+    @warning CBOR allows map keys of any type, whereas JSON only allows
+             strings as keys in object values. Therefore, CBOR maps with keys
+             other than UTF-8 strings are rejected (parse_error.113).
+
+    @note Any CBOR output created @ref to_cbor can be successfully parsed by
+          @ref from_cbor.
+
+    @param[in] i  an input in CBOR format convertible to an input adapter
+    @param[in] strict  whether to expect the input to be consumed until EOF
+                       (true by default)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+
+    @return deserialized JSON value
+
+    @throw parse_error.110 if the given input ends prematurely or the end of
+    file was not reached when @a strict was set to true
+    @throw parse_error.112 if unsupported features from CBOR were
+    used in the given input @a v or if the input is not valid CBOR
+    @throw parse_error.113 if a string was expected as map key, but not found
+
+    @complexity Linear in the size of the input @a i.
+
+    @liveexample{The example shows the deserialization of a byte vector in CBOR
+    format to a JSON value.,from_cbor}
+
+    @sa http://cbor.io
+    @sa @ref to_cbor(const basic_json&) for the analogous serialization
+    @sa @ref from_msgpack(detail::input_adapter&&, const bool, const bool) for the
+        related MessagePack format
+    @sa @ref from_ubjson(detail::input_adapter&&, const bool, const bool) for the
+        related UBJSON format
+
+    @since version 2.0.9; parameter @a start_index since 2.1.1; changed to
+           consume input adapters, removed start_index parameter, and added
+           @a strict parameter since 3.0.0; added @a allow_exceptions parameter
+           since 3.2.0
+    */
+    static basic_json from_cbor(detail::input_adapter&& i,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        const bool res = binary_reader(detail::input_adapter(i)).sax_parse(input_format_t::cbor, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @copydoc from_cbor(detail::input_adapter&&, const bool, const bool)
+    */
+    template<typename A1, typename A2,
+             detail::enable_if_t<std::is_constructible<detail::input_adapter, A1, A2>::value, int> = 0>
+    static basic_json from_cbor(A1 && a1, A2 && a2,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        const bool res = binary_reader(detail::input_adapter(std::forward<A1>(a1), std::forward<A2>(a2))).sax_parse(input_format_t::cbor, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @brief create a JSON value from an input in MessagePack format
+
+    Deserializes a given input @a i to a JSON value using the MessagePack
+    serialization format.
+
+    The library maps MessagePack types to JSON value types as follows:
+
+    MessagePack type | JSON value type | first byte
+    ---------------- | --------------- | ----------
+    positive fixint  | number_unsigned | 0x00..0x7F
+    fixmap           | object          | 0x80..0x8F
+    fixarray         | array           | 0x90..0x9F
+    fixstr           | string          | 0xA0..0xBF
+    nil              | `null`          | 0xC0
+    false            | `false`         | 0xC2
+    true             | `true`          | 0xC3
+    float 32         | number_float    | 0xCA
+    float 64         | number_float    | 0xCB
+    uint 8           | number_unsigned | 0xCC
+    uint 16          | number_unsigned | 0xCD
+    uint 32          | number_unsigned | 0xCE
+    uint 64          | number_unsigned | 0xCF
+    int 8            | number_integer  | 0xD0
+    int 16           | number_integer  | 0xD1
+    int 32           | number_integer  | 0xD2
+    int 64           | number_integer  | 0xD3
+    str 8            | string          | 0xD9
+    str 16           | string          | 0xDA
+    str 32           | string          | 0xDB
+    array 16         | array           | 0xDC
+    array 32         | array           | 0xDD
+    map 16           | object          | 0xDE
+    map 32           | object          | 0xDF
+    negative fixint  | number_integer  | 0xE0-0xFF
+
+    @warning The mapping is **incomplete** in the sense that not all
+             MessagePack types can be converted to a JSON value. The following
+             MessagePack types are not supported and will yield parse errors:
+              - bin 8 - bin 32 (0xC4..0xC6)
+              - ext 8 - ext 32 (0xC7..0xC9)
+              - fixext 1 - fixext 16 (0xD4..0xD8)
+
+    @note Any MessagePack output created @ref to_msgpack can be successfully
+          parsed by @ref from_msgpack.
+
+    @param[in] i  an input in MessagePack format convertible to an input
+                  adapter
+    @param[in] strict  whether to expect the input to be consumed until EOF
+                       (true by default)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+
+    @return deserialized JSON value
+
+    @throw parse_error.110 if the given input ends prematurely or the end of
+    file was not reached when @a strict was set to true
+    @throw parse_error.112 if unsupported features from MessagePack were
+    used in the given input @a i or if the input is not valid MessagePack
+    @throw parse_error.113 if a string was expected as map key, but not found
+
+    @complexity Linear in the size of the input @a i.
+
+    @liveexample{The example shows the deserialization of a byte vector in
+    MessagePack format to a JSON value.,from_msgpack}
+
+    @sa http://msgpack.org
+    @sa @ref to_msgpack(const basic_json&) for the analogous serialization
+    @sa @ref from_cbor(detail::input_adapter&&, const bool, const bool) for the
+        related CBOR format
+    @sa @ref from_ubjson(detail::input_adapter&&, const bool, const bool) for
+        the related UBJSON format
+    @sa @ref from_bson(detail::input_adapter&&, const bool, const bool) for
+        the related BSON format
+
+    @since version 2.0.9; parameter @a start_index since 2.1.1; changed to
+           consume input adapters, removed start_index parameter, and added
+           @a strict parameter since 3.0.0; added @a allow_exceptions parameter
+           since 3.2.0
+    */
+    static basic_json from_msgpack(detail::input_adapter&& i,
+                                   const bool strict = true,
+                                   const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        const bool res = binary_reader(detail::input_adapter(i)).sax_parse(input_format_t::msgpack, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @copydoc from_msgpack(detail::input_adapter&&, const bool, const bool)
+    */
+    template<typename A1, typename A2,
+             detail::enable_if_t<std::is_constructible<detail::input_adapter, A1, A2>::value, int> = 0>
+    static basic_json from_msgpack(A1 && a1, A2 && a2,
+                                   const bool strict = true,
+                                   const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        const bool res = binary_reader(detail::input_adapter(std::forward<A1>(a1), std::forward<A2>(a2))).sax_parse(input_format_t::msgpack, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @brief create a JSON value from an input in UBJSON format
+
+    Deserializes a given input @a i to a JSON value using the UBJSON (Universal
+    Binary JSON) serialization format.
+
+    The library maps UBJSON types to JSON value types as follows:
+
+    UBJSON type | JSON value type                         | marker
+    ----------- | --------------------------------------- | ------
+    no-op       | *no value, next value is read*          | `N`
+    null        | `null`                                  | `Z`
+    false       | `false`                                 | `F`
+    true        | `true`                                  | `T`
+    float32     | number_float                            | `d`
+    float64     | number_float                            | `D`
+    uint8       | number_unsigned                         | `U`
+    int8        | number_integer                          | `i`
+    int16       | number_integer                          | `I`
+    int32       | number_integer                          | `l`
+    int64       | number_integer                          | `L`
+    string      | string                                  | `S`
+    char        | string                                  | `C`
+    array       | array (optimized values are supported)  | `[`
+    object      | object (optimized values are supported) | `{`
+
+    @note The mapping is **complete** in the sense that any UBJSON value can
+          be converted to a JSON value.
+
+    @param[in] i  an input in UBJSON format convertible to an input adapter
+    @param[in] strict  whether to expect the input to be consumed until EOF
+                       (true by default)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+
+    @return deserialized JSON value
+
+    @throw parse_error.110 if the given input ends prematurely or the end of
+    file was not reached when @a strict was set to true
+    @throw parse_error.112 if a parse error occurs
+    @throw parse_error.113 if a string could not be parsed successfully
+
+    @complexity Linear in the size of the input @a i.
+
+    @liveexample{The example shows the deserialization of a byte vector in
+    UBJSON format to a JSON value.,from_ubjson}
+
+    @sa http://ubjson.org
+    @sa @ref to_ubjson(const basic_json&, const bool, const bool) for the
+             analogous serialization
+    @sa @ref from_cbor(detail::input_adapter&&, const bool, const bool) for the
+        related CBOR format
+    @sa @ref from_msgpack(detail::input_adapter&&, const bool, const bool) for
+        the related MessagePack format
+    @sa @ref from_bson(detail::input_adapter&&, const bool, const bool) for
+        the related BSON format
+
+    @since version 3.1.0; added @a allow_exceptions parameter since 3.2.0
+    */
+    static basic_json from_ubjson(detail::input_adapter&& i,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        const bool res = binary_reader(detail::input_adapter(i)).sax_parse(input_format_t::ubjson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @copydoc from_ubjson(detail::input_adapter&&, const bool, const bool)
+    */
+    template<typename A1, typename A2,
+             detail::enable_if_t<std::is_constructible<detail::input_adapter, A1, A2>::value, int> = 0>
+    static basic_json from_ubjson(A1 && a1, A2 && a2,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        const bool res = binary_reader(detail::input_adapter(std::forward<A1>(a1), std::forward<A2>(a2))).sax_parse(input_format_t::ubjson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @brief Create a JSON value from an input in BSON format
+
+    Deserializes a given input @a i to a JSON value using the BSON (Binary JSON)
+    serialization format.
+
+    The library maps BSON record types to JSON value types as follows:
+
+    BSON type       | BSON marker byte | JSON value type
+    --------------- | ---------------- | ---------------------------
+    double          | 0x01             | number_float
+    string          | 0x02             | string
+    document        | 0x03             | object
+    array           | 0x04             | array
+    binary          | 0x05             | still unsupported
+    undefined       | 0x06             | still unsupported
+    ObjectId        | 0x07             | still unsupported
+    boolean         | 0x08             | boolean
+    UTC Date-Time   | 0x09             | still unsupported
+    null            | 0x0A             | null
+    Regular Expr.   | 0x0B             | still unsupported
+    DB Pointer      | 0x0C             | still unsupported
+    JavaScript Code | 0x0D             | still unsupported
+    Symbol          | 0x0E             | still unsupported
+    JavaScript Code | 0x0F             | still unsupported
+    int32           | 0x10             | number_integer
+    Timestamp       | 0x11             | still unsupported
+    128-bit decimal float | 0x13       | still unsupported
+    Max Key         | 0x7F             | still unsupported
+    Min Key         | 0xFF             | still unsupported
+
+    @warning The mapping is **incomplete**. The unsupported mappings
+             are indicated in the table above.
+
+    @param[in] i  an input in BSON format convertible to an input adapter
+    @param[in] strict  whether to expect the input to be consumed until EOF
+                       (true by default)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+
+    @return deserialized JSON value
+
+    @throw parse_error.114 if an unsupported BSON record type is encountered
+
+    @complexity Linear in the size of the input @a i.
+
+    @liveexample{The example shows the deserialization of a byte vector in
+    BSON format to a JSON value.,from_bson}
+
+    @sa http://bsonspec.org/spec.html
+    @sa @ref to_bson(const basic_json&) for the analogous serialization
+    @sa @ref from_cbor(detail::input_adapter&&, const bool, const bool) for the
+        related CBOR format
+    @sa @ref from_msgpack(detail::input_adapter&&, const bool, const bool) for
+        the related MessagePack format
+    @sa @ref from_ubjson(detail::input_adapter&&, const bool, const bool) for the
+        related UBJSON format
+    */
+    static basic_json from_bson(detail::input_adapter&& i,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        const bool res = binary_reader(detail::input_adapter(i)).sax_parse(input_format_t::bson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @copydoc from_bson(detail::input_adapter&&, const bool, const bool)
+    */
+    template<typename A1, typename A2,
+             detail::enable_if_t<std::is_constructible<detail::input_adapter, A1, A2>::value, int> = 0>
+    static basic_json from_bson(A1 && a1, A2 && a2,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        const bool res = binary_reader(detail::input_adapter(std::forward<A1>(a1), std::forward<A2>(a2))).sax_parse(input_format_t::bson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+
+
+    /// @}
+
+    //////////////////////////
+    // JSON Pointer support //
+    //////////////////////////
+
+    /// @name JSON Pointer functions
+    /// @{
+
+    /*!
+    @brief access specified element via JSON Pointer
+
+    Uses a JSON pointer to retrieve a reference to the respective JSON value.
+    No bound checking is performed. Similar to @ref operator[](const typename
+    object_t::key_type&), `null` values are created in arrays and objects if
+    necessary.
+
+    In particular:
+    - If the JSON pointer points to an object key that does not exist, it
+      is created an filled with a `null` value before a reference to it
+      is returned.
+    - If the JSON pointer points to an array index that does not exist, it
+      is created an filled with a `null` value before a reference to it
+      is returned. All indices between the current maximum and the given
+      index are also filled with `null`.
+    - The special value `-` is treated as a synonym for the index past the
+      end.
+
+    @param[in] ptr  a JSON pointer
+
+    @return reference to the element pointed to by @a ptr
+
+    @complexity Constant.
+
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+
+    @liveexample{The behavior is shown in the example.,operatorjson_pointer}
+
+    @since version 2.0.0
+    */
+    reference operator[](const json_pointer& ptr)
+    {
+        return ptr.get_unchecked(this);
+    }
+
+    /*!
+    @brief access specified element via JSON Pointer
+
+    Uses a JSON pointer to retrieve a reference to the respective JSON value.
+    No bound checking is performed. The function does not change the JSON
+    value; no `null` values are created. In particular, the the special value
+    `-` yields an exception.
+
+    @param[in] ptr  JSON pointer to the desired element
+
+    @return const reference to the element pointed to by @a ptr
+
+    @complexity Constant.
+
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.402  if the array index '-' is used
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+
+    @liveexample{The behavior is shown in the example.,operatorjson_pointer_const}
+
+    @since version 2.0.0
+    */
+    const_reference operator[](const json_pointer& ptr) const
+    {
+        return ptr.get_unchecked(this);
+    }
+
+    /*!
+    @brief access specified element via JSON Pointer
+
+    Returns a reference to the element at with specified JSON pointer @a ptr,
+    with bounds checking.
+
+    @param[in] ptr  JSON pointer to the desired element
+
+    @return reference to the element pointed to by @a ptr
+
+    @throw parse_error.106 if an array index in the passed JSON pointer @a ptr
+    begins with '0'. See example below.
+
+    @throw parse_error.109 if an array index in the passed JSON pointer @a ptr
+    is not a number. See example below.
+
+    @throw out_of_range.401 if an array index in the passed JSON pointer @a ptr
+    is out of range. See example below.
+
+    @throw out_of_range.402 if the array index '-' is used in the passed JSON
+    pointer @a ptr. As `at` provides checked access (and no elements are
+    implicitly inserted), the index '-' is always invalid. See example below.
+
+    @throw out_of_range.403 if the JSON pointer describes a key of an object
+    which cannot be found. See example below.
+
+    @throw out_of_range.404 if the JSON pointer @a ptr can not be resolved.
+    See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @since version 2.0.0
+
+    @liveexample{The behavior is shown in the example.,at_json_pointer}
+    */
+    reference at(const json_pointer& ptr)
+    {
+        return ptr.get_checked(this);
+    }
+
+    /*!
+    @brief access specified element via JSON Pointer
+
+    Returns a const reference to the element at with specified JSON pointer @a
+    ptr, with bounds checking.
+
+    @param[in] ptr  JSON pointer to the desired element
+
+    @return reference to the element pointed to by @a ptr
+
+    @throw parse_error.106 if an array index in the passed JSON pointer @a ptr
+    begins with '0'. See example below.
+
+    @throw parse_error.109 if an array index in the passed JSON pointer @a ptr
+    is not a number. See example below.
+
+    @throw out_of_range.401 if an array index in the passed JSON pointer @a ptr
+    is out of range. See example below.
+
+    @throw out_of_range.402 if the array index '-' is used in the passed JSON
+    pointer @a ptr. As `at` provides checked access (and no elements are
+    implicitly inserted), the index '-' is always invalid. See example below.
+
+    @throw out_of_range.403 if the JSON pointer describes a key of an object
+    which cannot be found. See example below.
+
+    @throw out_of_range.404 if the JSON pointer @a ptr can not be resolved.
+    See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @since version 2.0.0
+
+    @liveexample{The behavior is shown in the example.,at_json_pointer_const}
+    */
+    const_reference at(const json_pointer& ptr) const
+    {
+        return ptr.get_checked(this);
+    }
+
+    /*!
+    @brief return flattened JSON value
+
+    The function creates a JSON object whose keys are JSON pointers (see [RFC
+    6901](https://tools.ietf.org/html/rfc6901)) and whose values are all
+    primitive. The original JSON value can be restored using the @ref
+    unflatten() function.
+
+    @return an object that maps JSON pointers to primitive values
+
+    @note Empty objects and arrays are flattened to `null` and will not be
+          reconstructed correctly by the @ref unflatten() function.
+
+    @complexity Linear in the size the JSON value.
+
+    @liveexample{The following code shows how a JSON object is flattened to an
+    object whose keys consist of JSON pointers.,flatten}
+
+    @sa @ref unflatten() for the reverse function
+
+    @since version 2.0.0
+    */
+    basic_json flatten() const
+    {
+        basic_json result(value_t::object);
+        json_pointer::flatten("", *this, result);
+        return result;
+    }
+
+    /*!
+    @brief unflatten a previously flattened JSON value
+
+    The function restores the arbitrary nesting of a JSON value that has been
+    flattened before using the @ref flatten() function. The JSON value must
+    meet certain constraints:
+    1. The value must be an object.
+    2. The keys must be JSON pointers (see
+       [RFC 6901](https://tools.ietf.org/html/rfc6901))
+    3. The mapped values must be primitive JSON types.
+
+    @return the original JSON from a flattened version
+
+    @note Empty objects and arrays are flattened by @ref flatten() to `null`
+          values and can not unflattened to their original type. Apart from
+          this example, for a JSON value `j`, the following is always true:
+          `j == j.flatten().unflatten()`.
+
+    @complexity Linear in the size the JSON value.
+
+    @throw type_error.314  if value is not an object
+    @throw type_error.315  if object values are not primitive
+
+    @liveexample{The following code shows how a flattened JSON object is
+    unflattened into the original nested JSON object.,unflatten}
+
+    @sa @ref flatten() for the reverse function
+
+    @since version 2.0.0
+    */
+    basic_json unflatten() const
+    {
+        return json_pointer::unflatten(*this);
+    }
+
+    /// @}
+
+    //////////////////////////
+    // JSON Patch functions //
+    //////////////////////////
+
+    /// @name JSON Patch functions
+    /// @{
+
+    /*!
+    @brief applies a JSON patch
+
+    [JSON Patch](http://jsonpatch.com) defines a JSON document structure for
+    expressing a sequence of operations to apply to a JSON) document. With
+    this function, a JSON Patch is applied to the current JSON value by
+    executing all operations from the patch.
+
+    @param[in] json_patch  JSON patch document
+    @return patched document
+
+    @note The application of a patch is atomic: Either all operations succeed
+          and the patched document is returned or an exception is thrown. In
+          any case, the original value is not changed: the patch is applied
+          to a copy of the value.
+
+    @throw parse_error.104 if the JSON patch does not consist of an array of
+    objects
+
+    @throw parse_error.105 if the JSON patch is malformed (e.g., mandatory
+    attributes are missing); example: `"operation add must have member path"`
+
+    @throw out_of_range.401 if an array index is out of range.
+
+    @throw out_of_range.403 if a JSON pointer inside the patch could not be
+    resolved successfully in the current JSON value; example: `"key baz not
+    found"`
+
+    @throw out_of_range.405 if JSON pointer has no parent ("add", "remove",
+    "move")
+
+    @throw other_error.501 if "test" operation was unsuccessful
+
+    @complexity Linear in the size of the JSON value and the length of the
+    JSON patch. As usually only a fraction of the JSON value is affected by
+    the patch, the complexity can usually be neglected.
+
+    @liveexample{The following code shows how a JSON patch is applied to a
+    value.,patch}
+
+    @sa @ref diff -- create a JSON patch by comparing two JSON values
+
+    @sa [RFC 6902 (JSON Patch)](https://tools.ietf.org/html/rfc6902)
+    @sa [RFC 6901 (JSON Pointer)](https://tools.ietf.org/html/rfc6901)
+
+    @since version 2.0.0
+    */
+    basic_json patch(const basic_json& json_patch) const
+    {
+        // make a working copy to apply the patch to
+        basic_json result = *this;
+
+        // the valid JSON Patch operations
+        enum class patch_operations {add, remove, replace, move, copy, test, invalid};
+
+        const auto get_op = [](const std::string & op)
+        {
+            if (op == "add")
+            {
+                return patch_operations::add;
+            }
+            if (op == "remove")
+            {
+                return patch_operations::remove;
+            }
+            if (op == "replace")
+            {
+                return patch_operations::replace;
+            }
+            if (op == "move")
+            {
+                return patch_operations::move;
+            }
+            if (op == "copy")
+            {
+                return patch_operations::copy;
+            }
+            if (op == "test")
+            {
+                return patch_operations::test;
+            }
+
+            return patch_operations::invalid;
+        };
+
+        // wrapper for "add" operation; add value at ptr
+        const auto operation_add = [&result](json_pointer & ptr, basic_json val)
+        {
+            // adding to the root of the target document means replacing it
+            if (ptr.is_root())
+            {
+                result = val;
+            }
+            else
+            {
+                // make sure the top element of the pointer exists
+                json_pointer top_pointer = ptr.top();
+                if (top_pointer != ptr)
+                {
+                    result.at(top_pointer);
+                }
+
+                // get reference to parent of JSON pointer ptr
+                const auto last_path = ptr.pop_back();
+                basic_json& parent = result[ptr];
+
+                switch (parent.m_type)
+                {
+                    case value_t::null:
+                    case value_t::object:
+                    {
+                        // use operator[] to add value
+                        parent[last_path] = val;
+                        break;
+                    }
+
+                    case value_t::array:
+                    {
+                        if (last_path == "-")
+                        {
+                            // special case: append to back
+                            parent.push_back(val);
+                        }
+                        else
+                        {
+                            const auto idx = json_pointer::array_index(last_path);
+                            if (JSON_UNLIKELY(static_cast<size_type>(idx) > parent.size()))
+                            {
+                                // avoid undefined behavior
+                                JSON_THROW(out_of_range::create(401, "array index " + std::to_string(idx) + " is out of range"));
+                            }
+
+                            // default case: insert add offset
+                            parent.insert(parent.begin() + static_cast<difference_type>(idx), val);
+                        }
+                        break;
+                    }
+
+                    // LCOV_EXCL_START
+                    default:
+                    {
+                        // if there exists a parent it cannot be primitive
+                        assert(false);
+                    }
+                        // LCOV_EXCL_STOP
+                }
+            }
+        };
+
+        // wrapper for "remove" operation; remove value at ptr
+        const auto operation_remove = [&result](json_pointer & ptr)
+        {
+            // get reference to parent of JSON pointer ptr
+            const auto last_path = ptr.pop_back();
+            basic_json& parent = result.at(ptr);
+
+            // remove child
+            if (parent.is_object())
+            {
+                // perform range check
+                auto it = parent.find(last_path);
+                if (JSON_LIKELY(it != parent.end()))
+                {
+                    parent.erase(it);
+                }
+                else
+                {
+                    JSON_THROW(out_of_range::create(403, "key '" + last_path + "' not found"));
+                }
+            }
+            else if (parent.is_array())
+            {
+                // note erase performs range check
+                parent.erase(static_cast<size_type>(json_pointer::array_index(last_path)));
+            }
+        };
+
+        // type check: top level value must be an array
+        if (JSON_UNLIKELY(not json_patch.is_array()))
+        {
+            JSON_THROW(parse_error::create(104, 0, "JSON patch must be an array of objects"));
+        }
+
+        // iterate and apply the operations
+        for (const auto& val : json_patch)
+        {
+            // wrapper to get a value for an operation
+            const auto get_value = [&val](const std::string & op,
+                                          const std::string & member,
+                                          bool string_type) -> basic_json &
+            {
+                // find value
+                auto it = val.m_value.object->find(member);
+
+                // context-sensitive error message
+                const auto error_msg = (op == "op") ? "operation" : "operation '" + op + "'";
+
+                // check if desired value is present
+                if (JSON_UNLIKELY(it == val.m_value.object->end()))
+                {
+                    JSON_THROW(parse_error::create(105, 0, error_msg + " must have member '" + member + "'"));
+                }
+
+                // check if result is of type string
+                if (JSON_UNLIKELY(string_type and not it->second.is_string()))
+                {
+                    JSON_THROW(parse_error::create(105, 0, error_msg + " must have string member '" + member + "'"));
+                }
+
+                // no error: return value
+                return it->second;
+            };
+
+            // type check: every element of the array must be an object
+            if (JSON_UNLIKELY(not val.is_object()))
+            {
+                JSON_THROW(parse_error::create(104, 0, "JSON patch must be an array of objects"));
+            }
+
+            // collect mandatory members
+            const std::string op = get_value("op", "op", true);
+            const std::string path = get_value(op, "path", true);
+            json_pointer ptr(path);
+
+            switch (get_op(op))
+            {
+                case patch_operations::add:
+                {
+                    operation_add(ptr, get_value("add", "value", false));
+                    break;
+                }
+
+                case patch_operations::remove:
+                {
+                    operation_remove(ptr);
+                    break;
+                }
+
+                case patch_operations::replace:
+                {
+                    // the "path" location must exist - use at()
+                    result.at(ptr) = get_value("replace", "value", false);
+                    break;
+                }
+
+                case patch_operations::move:
+                {
+                    const std::string from_path = get_value("move", "from", true);
+                    json_pointer from_ptr(from_path);
+
+                    // the "from" location must exist - use at()
+                    basic_json v = result.at(from_ptr);
+
+                    // The move operation is functionally identical to a
+                    // "remove" operation on the "from" location, followed
+                    // immediately by an "add" operation at the target
+                    // location with the value that was just removed.
+                    operation_remove(from_ptr);
+                    operation_add(ptr, v);
+                    break;
+                }
+
+                case patch_operations::copy:
+                {
+                    const std::string from_path = get_value("copy", "from", true);
+                    const json_pointer from_ptr(from_path);
+
+                    // the "from" location must exist - use at()
+                    basic_json v = result.at(from_ptr);
+
+                    // The copy is functionally identical to an "add"
+                    // operation at the target location using the value
+                    // specified in the "from" member.
+                    operation_add(ptr, v);
+                    break;
+                }
+
+                case patch_operations::test:
+                {
+                    bool success = false;
+                    JSON_TRY
+                    {
+                        // check if "value" matches the one at "path"
+                        // the "path" location must exist - use at()
+                        success = (result.at(ptr) == get_value("test", "value", false));
+                    }
+                    JSON_INTERNAL_CATCH (out_of_range&)
+                    {
+                        // ignore out of range errors: success remains false
+                    }
+
+                    // throw an exception if test fails
+                    if (JSON_UNLIKELY(not success))
+                    {
+                        JSON_THROW(other_error::create(501, "unsuccessful: " + val.dump()));
+                    }
+
+                    break;
+                }
+
+                case patch_operations::invalid:
+                {
+                    // op must be "add", "remove", "replace", "move", "copy", or
+                    // "test"
+                    JSON_THROW(parse_error::create(105, 0, "operation value '" + op + "' is invalid"));
+                }
+            }
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief creates a diff as a JSON patch
+
+    Creates a [JSON Patch](http://jsonpatch.com) so that value @a source can
+    be changed into the value @a target by calling @ref patch function.
+
+    @invariant For two JSON values @a source and @a target, the following code
+    yields always `true`:
+    @code {.cpp}
+    source.patch(diff(source, target)) == target;
+    @endcode
+
+    @note Currently, only `remove`, `add`, and `replace` operations are
+          generated.
+
+    @param[in] source  JSON value to compare from
+    @param[in] target  JSON value to compare against
+    @param[in] path    helper value to create JSON pointers
+
+    @return a JSON patch to convert the @a source to @a target
+
+    @complexity Linear in the lengths of @a source and @a target.
+
+    @liveexample{The following code shows how a JSON patch is created as a
+    diff for two JSON values.,diff}
+
+    @sa @ref patch -- apply a JSON patch
+    @sa @ref merge_patch -- apply a JSON Merge Patch
+
+    @sa [RFC 6902 (JSON Patch)](https://tools.ietf.org/html/rfc6902)
+
+    @since version 2.0.0
+    */
+    static basic_json diff(const basic_json& source, const basic_json& target,
+                           const std::string& path = "")
+    {
+        // the patch
+        basic_json result(value_t::array);
+
+        // if the values are the same, return empty patch
+        if (source == target)
+        {
+            return result;
+        }
+
+        if (source.type() != target.type())
+        {
+            // different types: replace value
+            result.push_back(
+            {
+                {"op", "replace"}, {"path", path}, {"value", target}
+            });
+        }
+        else
+        {
+            switch (source.type())
+            {
+                case value_t::array:
+                {
+                    // first pass: traverse common elements
+                    std::size_t i = 0;
+                    while (i < source.size() and i < target.size())
+                    {
+                        // recursive call to compare array values at index i
+                        auto temp_diff = diff(source[i], target[i], path + "/" + std::to_string(i));
+                        result.insert(result.end(), temp_diff.begin(), temp_diff.end());
+                        ++i;
+                    }
+
+                    // i now reached the end of at least one array
+                    // in a second pass, traverse the remaining elements
+
+                    // remove my remaining elements
+                    const auto end_index = static_cast<difference_type>(result.size());
+                    while (i < source.size())
+                    {
+                        // add operations in reverse order to avoid invalid
+                        // indices
+                        result.insert(result.begin() + end_index, object(
+                        {
+                            {"op", "remove"},
+                            {"path", path + "/" + std::to_string(i)}
+                        }));
+                        ++i;
+                    }
+
+                    // add other remaining elements
+                    while (i < target.size())
+                    {
+                        result.push_back(
+                        {
+                            {"op", "add"},
+                            {"path", path + "/" + std::to_string(i)},
+                            {"value", target[i]}
+                        });
+                        ++i;
+                    }
+
+                    break;
+                }
+
+                case value_t::object:
+                {
+                    // first pass: traverse this object's elements
+                    for (auto it = source.cbegin(); it != source.cend(); ++it)
+                    {
+                        // escape the key name to be used in a JSON patch
+                        const auto key = json_pointer::escape(it.key());
+
+                        if (target.find(it.key()) != target.end())
+                        {
+                            // recursive call to compare object values at key it
+                            auto temp_diff = diff(it.value(), target[it.key()], path + "/" + key);
+                            result.insert(result.end(), temp_diff.begin(), temp_diff.end());
+                        }
+                        else
+                        {
+                            // found a key that is not in o -> remove it
+                            result.push_back(object(
+                            {
+                                {"op", "remove"}, {"path", path + "/" + key}
+                            }));
+                        }
+                    }
+
+                    // second pass: traverse other object's elements
+                    for (auto it = target.cbegin(); it != target.cend(); ++it)
+                    {
+                        if (source.find(it.key()) == source.end())
+                        {
+                            // found a key that is not in this -> add it
+                            const auto key = json_pointer::escape(it.key());
+                            result.push_back(
+                            {
+                                {"op", "add"}, {"path", path + "/" + key},
+                                {"value", it.value()}
+                            });
+                        }
+                    }
+
+                    break;
+                }
+
+                default:
+                {
+                    // both primitive type: replace value
+                    result.push_back(
+                    {
+                        {"op", "replace"}, {"path", path}, {"value", target}
+                    });
+                    break;
+                }
+            }
+        }
+
+        return result;
+    }
+
+    /// @}
+
+    ////////////////////////////////
+    // JSON Merge Patch functions //
+    ////////////////////////////////
+
+    /// @name JSON Merge Patch functions
+    /// @{
+
+    /*!
+    @brief applies a JSON Merge Patch
+
+    The merge patch format is primarily intended for use with the HTTP PATCH
+    method as a means of describing a set of modifications to a target
+    resource's content. This function applies a merge patch to the current
+    JSON value.
+
+    The function implements the following algorithm from Section 2 of
+    [RFC 7396 (JSON Merge Patch)](https://tools.ietf.org/html/rfc7396):
+
+    ```
+    define MergePatch(Target, Patch):
+      if Patch is an Object:
+        if Target is not an Object:
+          Target = {} // Ignore the contents and set it to an empty Object
+        for each Name/Value pair in Patch:
+          if Value is null:
+            if Name exists in Target:
+              remove the Name/Value pair from Target
+          else:
+            Target[Name] = MergePatch(Target[Name], Value)
+        return Target
+      else:
+        return Patch
+    ```
+
+    Thereby, `Target` is the current object; that is, the patch is applied to
+    the current value.
+
+    @param[in] apply_patch  the patch to apply
+
+    @complexity Linear in the lengths of @a patch.
+
+    @liveexample{The following code shows how a JSON Merge Patch is applied to
+    a JSON document.,merge_patch}
+
+    @sa @ref patch -- apply a JSON patch
+    @sa [RFC 7396 (JSON Merge Patch)](https://tools.ietf.org/html/rfc7396)
+
+    @since version 3.0.0
+    */
+    void merge_patch(const basic_json& apply_patch)
+    {
+        if (apply_patch.is_object())
+        {
+            if (not is_object())
+            {
+                *this = object();
+            }
+            for (auto it = apply_patch.begin(); it != apply_patch.end(); ++it)
+            {
+                if (it.value().is_null())
+                {
+                    erase(it.key());
+                }
+                else
+                {
+                    operator[](it.key()).merge_patch(it.value());
+                }
+            }
+        }
+        else
+        {
+            *this = apply_patch;
+        }
+    }
+
+    /// @}
+};
+} // namespace nlohmann
+
+///////////////////////
+// nonmember support //
+///////////////////////
+
+// specialization of std::swap, and std::hash
+namespace std
+{
+
+/// hash value for JSON objects
+template<>
+struct hash<nlohmann::json>
+{
+    /*!
+    @brief return a hash value for a JSON object
+
+    @since version 1.0.0
+    */
+    std::size_t operator()(const nlohmann::json& j) const
+    {
+        // a naive hashing via the string representation
+        const auto& h = hash<nlohmann::json::string_t>();
+        return h(j.dump());
+    }
+};
+
+/// specialization for std::less<value_t>
+/// @note: do not remove the space after '<',
+///        see https://github.com/nlohmann/json/pull/679
+template<>
+struct less< ::nlohmann::detail::value_t>
+{
+    /*!
+    @brief compare two value_t enum values
+    @since version 3.0.0
+    */
+    bool operator()(nlohmann::detail::value_t lhs,
+                    nlohmann::detail::value_t rhs) const noexcept
+    {
+        return nlohmann::detail::operator<(lhs, rhs);
+    }
+};
+
+/*!
+@brief exchanges the values of two JSON objects
+
+@since version 1.0.0
+*/
+template<>
+inline void swap<nlohmann::json>(nlohmann::json& j1, nlohmann::json& j2) noexcept(
+    is_nothrow_move_constructible<nlohmann::json>::value and
+    is_nothrow_move_assignable<nlohmann::json>::value
+)
+{
+    j1.swap(j2);
+}
+
+} // namespace std
+
+/*!
+@brief user-defined string literal for JSON values
+
+This operator implements a user-defined string literal for JSON objects. It
+can be used by adding `"_json"` to a string literal and returns a JSON object
+if no parse error occurred.
+
+@param[in] s  a string representation of a JSON object
+@param[in] n  the length of string @a s
+@return a JSON object
+
+@since version 1.0.0
+*/
+inline nlohmann::json operator "" _json(const char* s, std::size_t n)
+{
+    return nlohmann::json::parse(s, s + n);
+}
+
+/*!
+@brief user-defined string literal for JSON pointer
+
+This operator implements a user-defined string literal for JSON Pointers. It
+can be used by adding `"_json_pointer"` to a string literal and returns a JSON pointer
+object if no parse error occurred.
+
+@param[in] s  a string representation of a JSON Pointer
+@param[in] n  the length of string @a s
+@return a JSON pointer object
+
+@since version 2.0.0
+*/
+inline nlohmann::json::json_pointer operator "" _json_pointer(const char* s, std::size_t n)
+{
+    return nlohmann::json::json_pointer(std::string(s, n));
+}
+
+// #include <nlohmann/detail/macro_unscope.hpp>
+
+
+// restore GCC/clang diagnostic settings
+#if defined(__clang__) || defined(__GNUC__) || defined(__GNUG__)
+    #pragma GCC diagnostic pop
+#endif
+#if defined(__clang__)
+    #pragma GCC diagnostic pop
+#endif
+
+// clean up
+#undef JSON_INTERNAL_CATCH
+#undef JSON_CATCH
+#undef JSON_THROW
+#undef JSON_TRY
+#undef JSON_LIKELY
+#undef JSON_UNLIKELY
+#undef JSON_DEPRECATED
+#undef JSON_HAS_CPP_14
+#undef JSON_HAS_CPP_17
+#undef NLOHMANN_BASIC_JSON_TPL_DECLARATION
+#undef NLOHMANN_BASIC_JSON_TPL
+
+
+#endif
diff --git a/libs/IO/tiny_gltf.h b/libs/IO/tiny_gltf.h
new file mode 100644
index 000000000..15d738cc6
--- /dev/null
+++ b/libs/IO/tiny_gltf.h
@@ -0,0 +1,7754 @@
+//
+// Header-only tiny glTF 2.0 loader and serializer.
+//
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2015 - Present Syoyo Fujita, Aurélien Chatelain and many
+// contributors.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+
+// Version:
+//  - v2.5.0 Add SetPreserveImageChannels() option to load image data as is.
+//  - v2.4.3 Fix null object output when when material has all default
+//  parameters.
+//  - v2.4.2 Decode percent-encoded URI.
+//  - v2.4.1 Fix some glTF object class does not have `extensions` and/or
+//  `extras` property.
+//  - v2.4.0 Experimental RapidJSON and C++14 support(Thanks to @jrkoone).
+//  - v2.3.1 Set default value of minFilter and magFilter in Sampler to -1.
+//  - v2.3.0 Modified Material representation according to glTF 2.0 schema
+//           (and introduced TextureInfo class)
+//           Change the behavior of `Value::IsNumber`. It return true either the
+//           value is int or real.
+//  - v2.2.0 Add loading 16bit PNG support. Add Sparse accessor support(Thanks
+//  to @Ybalrid)
+//  - v2.1.0 Add draco compression.
+//  - v2.0.1 Add comparsion feature(Thanks to @Selmar).
+//  - v2.0.0 glTF 2.0!.
+//
+// Tiny glTF loader is using following third party libraries:
+//
+//  - jsonhpp: C++ JSON library.
+//  - base64: base64 decode/encode library.
+//  - stb_image: Image loading library.
+//
+#ifndef TINY_GLTF_H_
+#define TINY_GLTF_H_
+
+#include <array>
+#include <cassert>
+#include <cmath>  // std::fabs
+#include <cstdint>
+#include <cstdlib>
+#include <cstring>
+#include <limits>
+#include <map>
+#include <string>
+#include <vector>
+
+#ifndef TINYGLTF_USE_CPP14
+#include <functional>
+#endif
+
+#ifdef __ANDROID__
+#ifdef TINYGLTF_ANDROID_LOAD_FROM_ASSETS
+#include <android/asset_manager.h>
+#endif
+#endif
+
+#ifdef __GNUC__
+#if (__GNUC__ < 4) || ((__GNUC__ == 4) && (__GNUC_MINOR__ <= 8))
+#define TINYGLTF_NOEXCEPT
+#else
+#define TINYGLTF_NOEXCEPT noexcept
+#endif
+#else
+#define TINYGLTF_NOEXCEPT noexcept
+#endif
+
+#define DEFAULT_METHODS(x)             \
+  ~x() = default;                      \
+  x(const x &) = default;              \
+  x(x &&) TINYGLTF_NOEXCEPT = default; \
+  x &operator=(const x &) = default;   \
+  x &operator=(x &&) TINYGLTF_NOEXCEPT = default;
+
+namespace tinygltf {
+
+#define TINYGLTF_MODE_POINTS (0)
+#define TINYGLTF_MODE_LINE (1)
+#define TINYGLTF_MODE_LINE_LOOP (2)
+#define TINYGLTF_MODE_LINE_STRIP (3)
+#define TINYGLTF_MODE_TRIANGLES (4)
+#define TINYGLTF_MODE_TRIANGLE_STRIP (5)
+#define TINYGLTF_MODE_TRIANGLE_FAN (6)
+
+#define TINYGLTF_COMPONENT_TYPE_BYTE (5120)
+#define TINYGLTF_COMPONENT_TYPE_UNSIGNED_BYTE (5121)
+#define TINYGLTF_COMPONENT_TYPE_SHORT (5122)
+#define TINYGLTF_COMPONENT_TYPE_UNSIGNED_SHORT (5123)
+#define TINYGLTF_COMPONENT_TYPE_INT (5124)
+#define TINYGLTF_COMPONENT_TYPE_UNSIGNED_INT (5125)
+#define TINYGLTF_COMPONENT_TYPE_FLOAT (5126)
+#define TINYGLTF_COMPONENT_TYPE_DOUBLE (5130)
+
+#define TINYGLTF_TEXTURE_FILTER_NEAREST (9728)
+#define TINYGLTF_TEXTURE_FILTER_LINEAR (9729)
+#define TINYGLTF_TEXTURE_FILTER_NEAREST_MIPMAP_NEAREST (9984)
+#define TINYGLTF_TEXTURE_FILTER_LINEAR_MIPMAP_NEAREST (9985)
+#define TINYGLTF_TEXTURE_FILTER_NEAREST_MIPMAP_LINEAR (9986)
+#define TINYGLTF_TEXTURE_FILTER_LINEAR_MIPMAP_LINEAR (9987)
+
+#define TINYGLTF_TEXTURE_WRAP_REPEAT (10497)
+#define TINYGLTF_TEXTURE_WRAP_CLAMP_TO_EDGE (33071)
+#define TINYGLTF_TEXTURE_WRAP_MIRRORED_REPEAT (33648)
+
+// Redeclarations of the above for technique.parameters.
+#define TINYGLTF_PARAMETER_TYPE_BYTE (5120)
+#define TINYGLTF_PARAMETER_TYPE_UNSIGNED_BYTE (5121)
+#define TINYGLTF_PARAMETER_TYPE_SHORT (5122)
+#define TINYGLTF_PARAMETER_TYPE_UNSIGNED_SHORT (5123)
+#define TINYGLTF_PARAMETER_TYPE_INT (5124)
+#define TINYGLTF_PARAMETER_TYPE_UNSIGNED_INT (5125)
+#define TINYGLTF_PARAMETER_TYPE_FLOAT (5126)
+
+#define TINYGLTF_PARAMETER_TYPE_FLOAT_VEC2 (35664)
+#define TINYGLTF_PARAMETER_TYPE_FLOAT_VEC3 (35665)
+#define TINYGLTF_PARAMETER_TYPE_FLOAT_VEC4 (35666)
+
+#define TINYGLTF_PARAMETER_TYPE_INT_VEC2 (35667)
+#define TINYGLTF_PARAMETER_TYPE_INT_VEC3 (35668)
+#define TINYGLTF_PARAMETER_TYPE_INT_VEC4 (35669)
+
+#define TINYGLTF_PARAMETER_TYPE_BOOL (35670)
+#define TINYGLTF_PARAMETER_TYPE_BOOL_VEC2 (35671)
+#define TINYGLTF_PARAMETER_TYPE_BOOL_VEC3 (35672)
+#define TINYGLTF_PARAMETER_TYPE_BOOL_VEC4 (35673)
+
+#define TINYGLTF_PARAMETER_TYPE_FLOAT_MAT2 (35674)
+#define TINYGLTF_PARAMETER_TYPE_FLOAT_MAT3 (35675)
+#define TINYGLTF_PARAMETER_TYPE_FLOAT_MAT4 (35676)
+
+#define TINYGLTF_PARAMETER_TYPE_SAMPLER_2D (35678)
+
+// End parameter types
+
+#define TINYGLTF_TYPE_VEC2 (2)
+#define TINYGLTF_TYPE_VEC3 (3)
+#define TINYGLTF_TYPE_VEC4 (4)
+#define TINYGLTF_TYPE_MAT2 (32 + 2)
+#define TINYGLTF_TYPE_MAT3 (32 + 3)
+#define TINYGLTF_TYPE_MAT4 (32 + 4)
+#define TINYGLTF_TYPE_SCALAR (64 + 1)
+#define TINYGLTF_TYPE_VECTOR (64 + 4)
+#define TINYGLTF_TYPE_MATRIX (64 + 16)
+
+#define TINYGLTF_IMAGE_FORMAT_JPEG (0)
+#define TINYGLTF_IMAGE_FORMAT_PNG (1)
+#define TINYGLTF_IMAGE_FORMAT_BMP (2)
+#define TINYGLTF_IMAGE_FORMAT_GIF (3)
+
+#define TINYGLTF_TEXTURE_FORMAT_ALPHA (6406)
+#define TINYGLTF_TEXTURE_FORMAT_RGB (6407)
+#define TINYGLTF_TEXTURE_FORMAT_RGBA (6408)
+#define TINYGLTF_TEXTURE_FORMAT_LUMINANCE (6409)
+#define TINYGLTF_TEXTURE_FORMAT_LUMINANCE_ALPHA (6410)
+
+#define TINYGLTF_TEXTURE_TARGET_TEXTURE2D (3553)
+#define TINYGLTF_TEXTURE_TYPE_UNSIGNED_BYTE (5121)
+
+#define TINYGLTF_TARGET_ARRAY_BUFFER (34962)
+#define TINYGLTF_TARGET_ELEMENT_ARRAY_BUFFER (34963)
+
+#define TINYGLTF_SHADER_TYPE_VERTEX_SHADER (35633)
+#define TINYGLTF_SHADER_TYPE_FRAGMENT_SHADER (35632)
+
+#define TINYGLTF_DOUBLE_EPS (1.e-12)
+#define TINYGLTF_DOUBLE_EQUAL(a, b) (std::fabs((b) - (a)) < TINYGLTF_DOUBLE_EPS)
+
+#ifdef __ANDROID__
+#ifdef TINYGLTF_ANDROID_LOAD_FROM_ASSETS
+AAssetManager *asset_manager = nullptr;
+#endif
+#endif
+
+typedef enum {
+  NULL_TYPE = 0,
+  REAL_TYPE = 1,
+  INT_TYPE = 2,
+  BOOL_TYPE = 3,
+  STRING_TYPE = 4,
+  ARRAY_TYPE = 5,
+  BINARY_TYPE = 6,
+  OBJECT_TYPE = 7
+} Type;
+
+static inline int32_t GetComponentSizeInBytes(uint32_t componentType) {
+  if (componentType == TINYGLTF_COMPONENT_TYPE_BYTE) {
+    return 1;
+  } else if (componentType == TINYGLTF_COMPONENT_TYPE_UNSIGNED_BYTE) {
+    return 1;
+  } else if (componentType == TINYGLTF_COMPONENT_TYPE_SHORT) {
+    return 2;
+  } else if (componentType == TINYGLTF_COMPONENT_TYPE_UNSIGNED_SHORT) {
+    return 2;
+  } else if (componentType == TINYGLTF_COMPONENT_TYPE_INT) {
+    return 4;
+  } else if (componentType == TINYGLTF_COMPONENT_TYPE_UNSIGNED_INT) {
+    return 4;
+  } else if (componentType == TINYGLTF_COMPONENT_TYPE_FLOAT) {
+    return 4;
+  } else if (componentType == TINYGLTF_COMPONENT_TYPE_DOUBLE) {
+    return 8;
+  } else {
+    // Unknown componenty type
+    return -1;
+  }
+}
+
+static inline int32_t GetNumComponentsInType(uint32_t ty) {
+  if (ty == TINYGLTF_TYPE_SCALAR) {
+    return 1;
+  } else if (ty == TINYGLTF_TYPE_VEC2) {
+    return 2;
+  } else if (ty == TINYGLTF_TYPE_VEC3) {
+    return 3;
+  } else if (ty == TINYGLTF_TYPE_VEC4) {
+    return 4;
+  } else if (ty == TINYGLTF_TYPE_MAT2) {
+    return 4;
+  } else if (ty == TINYGLTF_TYPE_MAT3) {
+    return 9;
+  } else if (ty == TINYGLTF_TYPE_MAT4) {
+    return 16;
+  } else {
+    // Unknown componenty type
+    return -1;
+  }
+}
+
+// TODO(syoyo): Move these functions to TinyGLTF class
+bool IsDataURI(const std::string &in);
+bool DecodeDataURI(std::vector<unsigned char> *out, std::string &mime_type,
+                   const std::string &in, size_t reqBytes, bool checkSize);
+
+#ifdef __clang__
+#pragma clang diagnostic push
+// Suppress warning for : static Value null_value
+// https://stackoverflow.com/questions/15708411/how-to-deal-with-global-constructor-warning-in-clang
+#pragma clang diagnostic ignored "-Wexit-time-destructors"
+#pragma clang diagnostic ignored "-Wpadded"
+#endif
+
+// Simple class to represent JSON object
+class Value {
+ public:
+  typedef std::vector<Value> Array;
+  typedef std::map<std::string, Value> Object;
+
+  Value()
+      : type_(NULL_TYPE),
+        int_value_(0),
+        real_value_(0.0),
+        boolean_value_(false) {}
+
+  explicit Value(bool b) : type_(BOOL_TYPE) { boolean_value_ = b; }
+  explicit Value(int i) : type_(INT_TYPE) {
+    int_value_ = i;
+    real_value_ = i;
+  }
+  explicit Value(double n) : type_(REAL_TYPE) { real_value_ = n; }
+  explicit Value(const std::string &s) : type_(STRING_TYPE) {
+    string_value_ = s;
+  }
+  explicit Value(std::string &&s)
+      : type_(STRING_TYPE), string_value_(std::move(s)) {}
+  explicit Value(const unsigned char *p, size_t n) : type_(BINARY_TYPE) {
+    binary_value_.resize(n);
+    memcpy(binary_value_.data(), p, n);
+  }
+  explicit Value(std::vector<unsigned char> &&v) noexcept
+      : type_(BINARY_TYPE),
+        binary_value_(std::move(v)) {}
+  explicit Value(const Array &a) : type_(ARRAY_TYPE) { array_value_ = a; }
+  explicit Value(Array &&a) noexcept : type_(ARRAY_TYPE),
+                                       array_value_(std::move(a)) {}
+
+  explicit Value(const Object &o) : type_(OBJECT_TYPE) { object_value_ = o; }
+  explicit Value(Object &&o) noexcept : type_(OBJECT_TYPE),
+                                        object_value_(std::move(o)) {}
+
+  DEFAULT_METHODS(Value)
+
+  char Type() const { return static_cast<char>(type_); }
+
+  bool IsBool() const { return (type_ == BOOL_TYPE); }
+
+  bool IsInt() const { return (type_ == INT_TYPE); }
+
+  bool IsNumber() const { return (type_ == REAL_TYPE) || (type_ == INT_TYPE); }
+
+  bool IsReal() const { return (type_ == REAL_TYPE); }
+
+  bool IsString() const { return (type_ == STRING_TYPE); }
+
+  bool IsBinary() const { return (type_ == BINARY_TYPE); }
+
+  bool IsArray() const { return (type_ == ARRAY_TYPE); }
+
+  bool IsObject() const { return (type_ == OBJECT_TYPE); }
+
+  // Use this function if you want to have number value as double.
+  double GetNumberAsDouble() const {
+    if (type_ == INT_TYPE) {
+      return double(int_value_);
+    } else {
+      return real_value_;
+    }
+  }
+
+  // Use this function if you want to have number value as int.
+  // TODO(syoyo): Support int value larger than 32 bits
+  int GetNumberAsInt() const {
+    if (type_ == REAL_TYPE) {
+      return int(real_value_);
+    } else {
+      return int_value_;
+    }
+  }
+
+  // Accessor
+  template <typename T>
+  const T &Get() const;
+  template <typename T>
+  T &Get();
+
+  // Lookup value from an array
+  const Value &Get(int idx) const {
+    static Value null_value;
+    assert(IsArray());
+    assert(idx >= 0);
+    return (static_cast<size_t>(idx) < array_value_.size())
+               ? array_value_[static_cast<size_t>(idx)]
+               : null_value;
+  }
+
+  // Lookup value from a key-value pair
+  const Value &Get(const std::string &key) const {
+    static Value null_value;
+    assert(IsObject());
+    Object::const_iterator it = object_value_.find(key);
+    return (it != object_value_.end()) ? it->second : null_value;
+  }
+
+  size_t ArrayLen() const {
+    if (!IsArray()) return 0;
+    return array_value_.size();
+  }
+
+  // Valid only for object type.
+  bool Has(const std::string &key) const {
+    if (!IsObject()) return false;
+    Object::const_iterator it = object_value_.find(key);
+    return (it != object_value_.end()) ? true : false;
+  }
+
+  // List keys
+  std::vector<std::string> Keys() const {
+    std::vector<std::string> keys;
+    if (!IsObject()) return keys;  // empty
+
+    for (Object::const_iterator it = object_value_.begin();
+         it != object_value_.end(); ++it) {
+      keys.push_back(it->first);
+    }
+
+    return keys;
+  }
+
+  size_t Size() const { return (IsArray() ? ArrayLen() : Keys().size()); }
+
+  bool operator==(const tinygltf::Value &other) const;
+
+ protected:
+  int type_ = NULL_TYPE;
+
+  int int_value_ = 0;
+  double real_value_ = 0.0;
+  std::string string_value_;
+  std::vector<unsigned char> binary_value_;
+  Array array_value_;
+  Object object_value_;
+  bool boolean_value_ = false;
+};
+
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
+
+#define TINYGLTF_VALUE_GET(ctype, var)            \
+  template <>                                     \
+  inline const ctype &Value::Get<ctype>() const { \
+    return var;                                   \
+  }                                               \
+  template <>                                     \
+  inline ctype &Value::Get<ctype>() {             \
+    return var;                                   \
+  }
+TINYGLTF_VALUE_GET(bool, boolean_value_)
+TINYGLTF_VALUE_GET(double, real_value_)
+TINYGLTF_VALUE_GET(int, int_value_)
+TINYGLTF_VALUE_GET(std::string, string_value_)
+TINYGLTF_VALUE_GET(std::vector<unsigned char>, binary_value_)
+TINYGLTF_VALUE_GET(Value::Array, array_value_)
+TINYGLTF_VALUE_GET(Value::Object, object_value_)
+#undef TINYGLTF_VALUE_GET
+
+#ifdef __clang__
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wc++98-compat"
+#pragma clang diagnostic ignored "-Wpadded"
+#endif
+
+/// Agregate object for representing a color
+using ColorValue = std::array<double, 4>;
+
+// === legacy interface ====
+// TODO(syoyo): Deprecate `Parameter` class.
+struct Parameter {
+  bool bool_value = false;
+  bool has_number_value = false;
+  std::string string_value;
+  std::vector<double> number_array;
+  std::map<std::string, double> json_double_value;
+  double number_value = 0.0;
+
+  // context sensitive methods. depending the type of the Parameter you are
+  // accessing, these are either valid or not
+  // If this parameter represent a texture map in a material, will return the
+  // texture index
+
+  /// Return the index of a texture if this Parameter is a texture map.
+  /// Returned value is only valid if the parameter represent a texture from a
+  /// material
+  int TextureIndex() const {
+    const auto it = json_double_value.find("index");
+    if (it != std::end(json_double_value)) {
+      return int(it->second);
+    }
+    return -1;
+  }
+
+  /// Return the index of a texture coordinate set if this Parameter is a
+  /// texture map. Returned value is only valid if the parameter represent a
+  /// texture from a material
+  int TextureTexCoord() const {
+    const auto it = json_double_value.find("texCoord");
+    if (it != std::end(json_double_value)) {
+      return int(it->second);
+    }
+    // As per the spec, if texCoord is ommited, this parameter is 0
+    return 0;
+  }
+
+  /// Return the scale of a texture if this Parameter is a normal texture map.
+  /// Returned value is only valid if the parameter represent a normal texture
+  /// from a material
+  double TextureScale() const {
+    const auto it = json_double_value.find("scale");
+    if (it != std::end(json_double_value)) {
+      return it->second;
+    }
+    // As per the spec, if scale is ommited, this paramter is 1
+    return 1;
+  }
+
+  /// Return the strength of a texture if this Parameter is a an occlusion map.
+  /// Returned value is only valid if the parameter represent an occlusion map
+  /// from a material
+  double TextureStrength() const {
+    const auto it = json_double_value.find("strength");
+    if (it != std::end(json_double_value)) {
+      return it->second;
+    }
+    // As per the spec, if strenghth is ommited, this parameter is 1
+    return 1;
+  }
+
+  /// Material factor, like the roughness or metalness of a material
+  /// Returned value is only valid if the parameter represent a texture from a
+  /// material
+  double Factor() const { return number_value; }
+
+  /// Return the color of a material
+  /// Returned value is only valid if the parameter represent a texture from a
+  /// material
+  ColorValue ColorFactor() const {
+    return {
+        {// this agregate intialize the std::array object, and uses C++11 RVO.
+         number_array[0], number_array[1], number_array[2],
+         (number_array.size() > 3 ? number_array[3] : 1.0)}};
+  }
+
+  Parameter() = default;
+  DEFAULT_METHODS(Parameter)
+  bool operator==(const Parameter &) const;
+};
+
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
+
+#ifdef __clang__
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wpadded"
+#endif
+
+typedef std::map<std::string, Parameter> ParameterMap;
+typedef std::map<std::string, Value> ExtensionMap;
+
+struct AnimationChannel {
+  int sampler;              // required
+  int target_node;          // required (index of the node to target)
+  std::string target_path;  // required in ["translation", "rotation", "scale",
+                            // "weights"]
+  Value extras;
+  ExtensionMap extensions;
+  ExtensionMap target_extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+  std::string target_extensions_json_string;
+
+  AnimationChannel() : sampler(-1), target_node(-1) {}
+  DEFAULT_METHODS(AnimationChannel)
+  bool operator==(const AnimationChannel &) const;
+};
+
+struct AnimationSampler {
+  int input;                  // required
+  int output;                 // required
+  std::string interpolation;  // "LINEAR", "STEP","CUBICSPLINE" or user defined
+                              // string. default "LINEAR"
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  AnimationSampler() : input(-1), output(-1), interpolation("LINEAR") {}
+  DEFAULT_METHODS(AnimationSampler)
+  bool operator==(const AnimationSampler &) const;
+};
+
+struct Animation {
+  std::string name;
+  std::vector<AnimationChannel> channels;
+  std::vector<AnimationSampler> samplers;
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  Animation() = default;
+  DEFAULT_METHODS(Animation)
+  bool operator==(const Animation &) const;
+};
+
+struct Skin {
+  std::string name;
+  int inverseBindMatrices;  // required here but not in the spec
+  int skeleton;             // The index of the node used as a skeleton root
+  std::vector<int> joints;  // Indices of skeleton nodes
+
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  Skin() {
+    inverseBindMatrices = -1;
+    skeleton = -1;
+  }
+  DEFAULT_METHODS(Skin)
+  bool operator==(const Skin &) const;
+};
+
+struct Sampler {
+  std::string name;
+  // glTF 2.0 spec does not define default value for `minFilter` and
+  // `magFilter`. Set -1 in TinyGLTF(issue #186)
+  int minFilter =
+      -1;  // optional. -1 = no filter defined. ["NEAREST", "LINEAR",
+           // "NEAREST_MIPMAP_LINEAR", "LINEAR_MIPMAP_NEAREST",
+           // "NEAREST_MIPMAP_LINEAR", "LINEAR_MIPMAP_LINEAR"]
+  int magFilter =
+      -1;  // optional. -1 = no filter defined. ["NEAREST", "LINEAR"]
+  int wrapS =
+      TINYGLTF_TEXTURE_WRAP_REPEAT;  // ["CLAMP_TO_EDGE", "MIRRORED_REPEAT",
+                                     // "REPEAT"], default "REPEAT"
+  int wrapT =
+      TINYGLTF_TEXTURE_WRAP_REPEAT;  // ["CLAMP_TO_EDGE", "MIRRORED_REPEAT",
+                                     // "REPEAT"], default "REPEAT"
+  //int wrapR = TINYGLTF_TEXTURE_WRAP_REPEAT;  // TinyGLTF extension. currently not used.
+
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  Sampler()
+      : minFilter(-1),
+        magFilter(-1),
+        wrapS(TINYGLTF_TEXTURE_WRAP_REPEAT),
+        wrapT(TINYGLTF_TEXTURE_WRAP_REPEAT) {}
+  DEFAULT_METHODS(Sampler)
+  bool operator==(const Sampler &) const;
+};
+
+struct Image {
+  std::string name;
+  int width;
+  int height;
+  int component;
+  int bits;        // bit depth per channel. 8(byte), 16 or 32.
+  int pixel_type;  // pixel type(TINYGLTF_COMPONENT_TYPE_***). usually
+                   // UBYTE(bits = 8) or USHORT(bits = 16)
+  std::vector<unsigned char> image;
+  int bufferView;        // (required if no uri)
+  std::string mimeType;  // (required if no uri) ["image/jpeg", "image/png",
+                         // "image/bmp", "image/gif"]
+  std::string uri;       // (required if no mimeType) uri is not decoded(e.g.
+                         // whitespace may be represented as %20)
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  // When this flag is true, data is stored to `image` in as-is format(e.g. jpeg
+  // compressed for "image/jpeg" mime) This feature is good if you use custom
+  // image loader function. (e.g. delayed decoding of images for faster glTF
+  // parsing) Default parser for Image does not provide as-is loading feature at
+  // the moment. (You can manipulate this by providing your own LoadImageData
+  // function)
+  bool as_is;
+
+  Image() : as_is(false) {
+    bufferView = -1;
+    width = -1;
+    height = -1;
+    component = -1;
+    bits = -1;
+    pixel_type = -1;
+  }
+  DEFAULT_METHODS(Image)
+
+  bool operator==(const Image &) const;
+};
+
+struct Texture {
+  std::string name;
+
+  int sampler;
+  int source;
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  Texture() : sampler(-1), source(-1) {}
+  DEFAULT_METHODS(Texture)
+
+  bool operator==(const Texture &) const;
+};
+
+struct TextureInfo {
+  int index = -1;  // required.
+  int texCoord;    // The set index of texture's TEXCOORD attribute used for
+                   // texture coordinate mapping.
+
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  TextureInfo() : index(-1), texCoord(0) {}
+  DEFAULT_METHODS(TextureInfo)
+  bool operator==(const TextureInfo &) const;
+};
+
+struct NormalTextureInfo {
+  int index = -1;  // required
+  int texCoord;    // The set index of texture's TEXCOORD attribute used for
+                   // texture coordinate mapping.
+  double scale;    // scaledNormal = normalize((<sampled normal texture value>
+                   // * 2.0 - 1.0) * vec3(<normal scale>, <normal scale>, 1.0))
+
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  NormalTextureInfo() : index(-1), texCoord(0), scale(1.0) {}
+  DEFAULT_METHODS(NormalTextureInfo)
+  bool operator==(const NormalTextureInfo &) const;
+};
+
+struct OcclusionTextureInfo {
+  int index = -1;   // required
+  int texCoord;     // The set index of texture's TEXCOORD attribute used for
+                    // texture coordinate mapping.
+  double strength;  // occludedColor = lerp(color, color * <sampled occlusion
+                    // texture value>, <occlusion strength>)
+
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  OcclusionTextureInfo() : index(-1), texCoord(0), strength(1.0) {}
+  DEFAULT_METHODS(OcclusionTextureInfo)
+  bool operator==(const OcclusionTextureInfo &) const;
+};
+
+// pbrMetallicRoughness class defined in glTF 2.0 spec.
+struct PbrMetallicRoughness {
+  std::vector<double> baseColorFactor;  // len = 4. default [1,1,1,1]
+  TextureInfo baseColorTexture;
+  double metallicFactor;   // default 1
+  double roughnessFactor;  // default 1
+  TextureInfo metallicRoughnessTexture;
+
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  PbrMetallicRoughness()
+      : baseColorFactor(std::vector<double>{1.0, 1.0, 1.0, 1.0}),
+        metallicFactor(1.0),
+        roughnessFactor(1.0) {}
+  DEFAULT_METHODS(PbrMetallicRoughness)
+  bool operator==(const PbrMetallicRoughness &) const;
+};
+
+// Each extension should be stored in a ParameterMap.
+// members not in the values could be included in the ParameterMap
+// to keep a single material model
+struct Material {
+  std::string name;
+
+  std::vector<double> emissiveFactor;  // length 3. default [0, 0, 0]
+  std::string alphaMode;               // default "OPAQUE"
+  double alphaCutoff;                  // default 0.5
+  bool doubleSided;                    // default false;
+
+  PbrMetallicRoughness pbrMetallicRoughness;
+
+  NormalTextureInfo normalTexture;
+  OcclusionTextureInfo occlusionTexture;
+  TextureInfo emissiveTexture;
+
+  // For backward compatibility
+  // TODO(syoyo): Remove `values` and `additionalValues` in the next release.
+  ParameterMap values;
+  ParameterMap additionalValues;
+
+  ExtensionMap extensions;
+  Value extras;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  Material() : alphaMode("OPAQUE"), alphaCutoff(0.5), doubleSided(false) {}
+  DEFAULT_METHODS(Material)
+
+  bool operator==(const Material &) const;
+};
+
+struct BufferView {
+  std::string name;
+  int buffer{-1};        // Required
+  size_t byteOffset{0};  // minimum 0, default 0
+  size_t byteLength{0};  // required, minimum 1. 0 = invalid
+  size_t byteStride{0};  // minimum 4, maximum 252 (multiple of 4), default 0 =
+                         // understood to be tightly packed
+  int target{0};  // ["ARRAY_BUFFER", "ELEMENT_ARRAY_BUFFER"] for vertex indices
+                  // or atttribs. Could be 0 for other data
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  bool dracoDecoded{false};  // Flag indicating this has been draco decoded
+
+  BufferView()
+      : buffer(-1),
+        byteOffset(0),
+        byteLength(0),
+        byteStride(0),
+        target(0),
+        dracoDecoded(false) {}
+  DEFAULT_METHODS(BufferView)
+  bool operator==(const BufferView &) const;
+};
+
+struct Accessor {
+  int bufferView;  // optional in spec but required here since sparse accessor
+                   // are not supported
+  std::string name;
+  size_t byteOffset;
+  bool normalized;    // optional.
+  int componentType;  // (required) One of TINYGLTF_COMPONENT_TYPE_***
+  size_t count;       // required
+  int type;           // (required) One of TINYGLTF_TYPE_***   ..
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  std::vector<double>
+      minValues;  // optional. integer value is promoted to double
+  std::vector<double>
+      maxValues;  // optional. integer value is promoted to double
+
+  struct {
+    int count;
+    bool isSparse;
+    struct {
+      int byteOffset;
+      int bufferView;
+      int componentType;  // a TINYGLTF_COMPONENT_TYPE_ value
+    } indices;
+    struct {
+      int bufferView;
+      int byteOffset;
+    } values;
+  } sparse;
+
+  ///
+  /// Utility function to compute byteStride for a given bufferView object.
+  /// Returns -1 upon invalid glTF value or parameter configuration.
+  ///
+  int ByteStride(const BufferView &bufferViewObject) const {
+    if (bufferViewObject.byteStride == 0) {
+      // Assume data is tightly packed.
+      int componentSizeInBytes =
+          GetComponentSizeInBytes(static_cast<uint32_t>(componentType));
+      if (componentSizeInBytes <= 0) {
+        return -1;
+      }
+
+      int numComponents = GetNumComponentsInType(static_cast<uint32_t>(type));
+      if (numComponents <= 0) {
+        return -1;
+      }
+
+      return componentSizeInBytes * numComponents;
+    } else {
+      // Check if byteStride is a mulple of the size of the accessor's component
+      // type.
+      int componentSizeInBytes =
+          GetComponentSizeInBytes(static_cast<uint32_t>(componentType));
+      if (componentSizeInBytes <= 0) {
+        return -1;
+      }
+
+      if ((bufferViewObject.byteStride % uint32_t(componentSizeInBytes)) != 0) {
+        return -1;
+      }
+      return static_cast<int>(bufferViewObject.byteStride);
+    }
+
+    // unreachable return 0;
+  }
+
+  Accessor()
+      : bufferView(-1),
+        byteOffset(0),
+        normalized(false),
+        componentType(-1),
+        count(0),
+        type(-1) {
+    sparse.isSparse = false;
+  }
+  DEFAULT_METHODS(Accessor)
+  bool operator==(const tinygltf::Accessor &) const;
+};
+
+struct PerspectiveCamera {
+  double aspectRatio;  // min > 0
+  double yfov;         // required. min > 0
+  double zfar;         // min > 0
+  double znear;        // required. min > 0
+
+  PerspectiveCamera()
+      : aspectRatio(0.0),
+        yfov(0.0),
+        zfar(0.0)  // 0 = use infinite projecton matrix
+        ,
+        znear(0.0) {}
+  DEFAULT_METHODS(PerspectiveCamera)
+  bool operator==(const PerspectiveCamera &) const;
+
+  ExtensionMap extensions;
+  Value extras;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+};
+
+struct OrthographicCamera {
+  double xmag;   // required. must not be zero.
+  double ymag;   // required. must not be zero.
+  double zfar;   // required. `zfar` must be greater than `znear`.
+  double znear;  // required
+
+  OrthographicCamera() : xmag(0.0), ymag(0.0), zfar(0.0), znear(0.0) {}
+  DEFAULT_METHODS(OrthographicCamera)
+  bool operator==(const OrthographicCamera &) const;
+
+  ExtensionMap extensions;
+  Value extras;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+};
+
+struct Camera {
+  std::string type;  // required. "perspective" or "orthographic"
+  std::string name;
+
+  PerspectiveCamera perspective;
+  OrthographicCamera orthographic;
+
+  Camera() {}
+  DEFAULT_METHODS(Camera)
+  bool operator==(const Camera &) const;
+
+  ExtensionMap extensions;
+  Value extras;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+};
+
+struct Primitive {
+  std::map<std::string, int> attributes;  // (required) A dictionary object of
+                                          // integer, where each integer
+                                          // is the index of the accessor
+                                          // containing an attribute.
+  int material;  // The index of the material to apply to this primitive
+                 // when rendering.
+  int indices;   // The index of the accessor that contains the indices.
+  int mode;      // one of TINYGLTF_MODE_***
+  std::vector<std::map<std::string, int> > targets;  // array of morph targets,
+  // where each target is a dict with attribues in ["POSITION, "NORMAL",
+  // "TANGENT"] pointing
+  // to their corresponding accessors
+  ExtensionMap extensions;
+  Value extras;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  Primitive() {
+    material = -1;
+    indices = -1;
+    mode = -1;
+  }
+  DEFAULT_METHODS(Primitive)
+  bool operator==(const Primitive &) const;
+};
+
+struct Mesh {
+  std::string name;
+  std::vector<Primitive> primitives;
+  std::vector<double> weights;  // weights to be applied to the Morph Targets
+  ExtensionMap extensions;
+  Value extras;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  Mesh() = default;
+  DEFAULT_METHODS(Mesh)
+  bool operator==(const Mesh &) const;
+};
+
+class Node {
+ public:
+  Node() : camera(-1), skin(-1), mesh(-1) {}
+
+  DEFAULT_METHODS(Node)
+
+  bool operator==(const Node &) const;
+
+  int camera;  // the index of the camera referenced by this node
+
+  std::string name;
+  int skin;
+  int mesh;
+  std::vector<int> children;
+  std::vector<double> rotation;     // length must be 0 or 4
+  std::vector<double> scale;        // length must be 0 or 3
+  std::vector<double> translation;  // length must be 0 or 3
+  std::vector<double> matrix;       // length must be 0 or 16
+  std::vector<double> weights;  // The weights of the instantiated Morph Target
+
+  ExtensionMap extensions;
+  Value extras;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+};
+
+struct Buffer {
+  std::string name;
+  std::vector<unsigned char> data;
+  std::string
+      uri;  // considered as required here but not in the spec (need to clarify)
+            // uri is not decoded(e.g. whitespace may be represented as %20)
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  Buffer() = default;
+  DEFAULT_METHODS(Buffer)
+  bool operator==(const Buffer &) const;
+};
+
+struct Asset {
+  std::string version = "2.0";  // required
+  std::string generator;
+  std::string minVersion;
+  std::string copyright;
+  ExtensionMap extensions;
+  Value extras;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  Asset() = default;
+  DEFAULT_METHODS(Asset)
+  bool operator==(const Asset &) const;
+};
+
+struct Scene {
+  std::string name;
+  std::vector<int> nodes;
+
+  ExtensionMap extensions;
+  Value extras;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  Scene() = default;
+  DEFAULT_METHODS(Scene)
+  bool operator==(const Scene &) const;
+};
+
+struct SpotLight {
+  double innerConeAngle;
+  double outerConeAngle;
+
+  SpotLight() : innerConeAngle(0.0), outerConeAngle(0.7853981634) {}
+  DEFAULT_METHODS(SpotLight)
+  bool operator==(const SpotLight &) const;
+
+  ExtensionMap extensions;
+  Value extras;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+};
+
+struct Light {
+  std::string name;
+  std::vector<double> color;
+  double intensity{1.0};
+  std::string type;
+  double range{0.0};  // 0.0 = inifinite
+  SpotLight spot;
+
+  Light() : intensity(1.0), range(0.0) {}
+  DEFAULT_METHODS(Light)
+
+  bool operator==(const Light &) const;
+
+  ExtensionMap extensions;
+  Value extras;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+};
+
+class Model {
+ public:
+  Model() = default;
+  DEFAULT_METHODS(Model)
+
+  bool operator==(const Model &) const;
+
+  std::vector<Accessor> accessors;
+  std::vector<Animation> animations;
+  std::vector<Buffer> buffers;
+  std::vector<BufferView> bufferViews;
+  std::vector<Material> materials;
+  std::vector<Mesh> meshes;
+  std::vector<Node> nodes;
+  std::vector<Texture> textures;
+  std::vector<Image> images;
+  std::vector<Skin> skins;
+  std::vector<Sampler> samplers;
+  std::vector<Camera> cameras;
+  std::vector<Scene> scenes;
+  std::vector<Light> lights;
+
+  int defaultScene = -1;
+  std::vector<std::string> extensionsUsed;
+  std::vector<std::string> extensionsRequired;
+
+  Asset asset;
+
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+};
+
+enum SectionCheck {
+  NO_REQUIRE = 0x00,
+  REQUIRE_VERSION = 0x01,
+  REQUIRE_SCENE = 0x02,
+  REQUIRE_SCENES = 0x04,
+  REQUIRE_NODES = 0x08,
+  REQUIRE_ACCESSORS = 0x10,
+  REQUIRE_BUFFERS = 0x20,
+  REQUIRE_BUFFER_VIEWS = 0x40,
+  REQUIRE_ALL = 0x7f
+};
+
+///
+/// LoadImageDataFunction type. Signature for custom image loading callbacks.
+///
+typedef bool (*LoadImageDataFunction)(Image *, const int, std::string *,
+                                      std::string *, int, int,
+                                      const unsigned char *, int,
+                                      void *user_pointer);
+
+///
+/// WriteImageDataFunction type. Signature for custom image writing callbacks.
+///
+typedef bool (*WriteImageDataFunction)(const std::string *, const std::string *,
+                                       Image *, bool, void *);
+
+#ifndef TINYGLTF_NO_STB_IMAGE
+// Declaration of default image loader callback
+bool LoadImageData(Image *image, const int image_idx, std::string *err,
+                   std::string *warn, int req_width, int req_height,
+                   const unsigned char *bytes, int size, void *);
+#endif
+
+#ifndef TINYGLTF_NO_STB_IMAGE_WRITE
+// Declaration of default image writer callback
+bool WriteImageData(const std::string *basepath, const std::string *filename,
+                    Image *image, bool embedImages, void *);
+#endif
+
+///
+/// FilExistsFunction type. Signature for custom filesystem callbacks.
+///
+typedef bool (*FileExistsFunction)(const std::string &abs_filename, void *);
+
+///
+/// ExpandFilePathFunction type. Signature for custom filesystem callbacks.
+///
+typedef std::string (*ExpandFilePathFunction)(const std::string &, void *);
+
+///
+/// ReadWholeFileFunction type. Signature for custom filesystem callbacks.
+///
+typedef bool (*ReadWholeFileFunction)(std::vector<unsigned char> *,
+                                      std::string *, const std::string &,
+                                      void *);
+
+///
+/// WriteWholeFileFunction type. Signature for custom filesystem callbacks.
+///
+typedef bool (*WriteWholeFileFunction)(std::string *, const std::string &,
+                                       const std::vector<unsigned char> &,
+                                       void *);
+
+///
+/// A structure containing all required filesystem callbacks and a pointer to
+/// their user data.
+///
+struct FsCallbacks {
+  FileExistsFunction FileExists;
+  ExpandFilePathFunction ExpandFilePath;
+  ReadWholeFileFunction ReadWholeFile;
+  WriteWholeFileFunction WriteWholeFile;
+
+  void *user_data;  // An argument that is passed to all fs callbacks
+};
+
+#ifndef TINYGLTF_NO_FS
+// Declaration of default filesystem callbacks
+
+bool FileExists(const std::string &abs_filename, void *);
+
+///
+/// Expand file path(e.g. `~` to home directory on posix, `%APPDATA%` to
+/// `C:\\Users\\tinygltf\\AppData`)
+///
+/// @param[in] filepath File path string. Assume UTF-8
+/// @param[in] userdata User data. Set to `nullptr` if you don't need it.
+///
+std::string ExpandFilePath(const std::string &filepath, void *userdata);
+
+bool ReadWholeFile(std::vector<unsigned char> *out, std::string *err,
+                   const std::string &filepath, void *);
+
+bool WriteWholeFile(std::string *err, const std::string &filepath,
+                    const std::vector<unsigned char> &contents, void *);
+#endif
+
+///
+/// glTF Parser/Serialier context.
+///
+class TinyGLTF {
+ public:
+#ifdef __clang__
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wc++98-compat"
+#endif
+
+  TinyGLTF() : bin_data_(nullptr), bin_size_(0), is_binary_(false) {}
+
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
+
+  ~TinyGLTF() {}
+
+  ///
+  /// Loads glTF ASCII asset from a file.
+  /// Set warning message to `warn` for example it fails to load asserts.
+  /// Returns false and set error string to `err` if there's an error.
+  ///
+  bool LoadASCIIFromFile(Model *model, std::string *err, std::string *warn,
+                         const std::string &filename,
+                         unsigned int check_sections = REQUIRE_VERSION);
+
+  ///
+  /// Loads glTF ASCII asset from string(memory).
+  /// `length` = strlen(str);
+  /// Set warning message to `warn` for example it fails to load asserts.
+  /// Returns false and set error string to `err` if there's an error.
+  ///
+  bool LoadASCIIFromString(Model *model, std::string *err, std::string *warn,
+                           const char *str, const unsigned int length,
+                           const std::string &base_dir,
+                           unsigned int check_sections = REQUIRE_VERSION);
+
+  ///
+  /// Loads glTF binary asset from a file.
+  /// Set warning message to `warn` for example it fails to load asserts.
+  /// Returns false and set error string to `err` if there's an error.
+  ///
+  bool LoadBinaryFromFile(Model *model, std::string *err, std::string *warn,
+                          const std::string &filename,
+                          unsigned int check_sections = REQUIRE_VERSION);
+
+  ///
+  /// Loads glTF binary asset from memory.
+  /// `length` = strlen(str);
+  /// Set warning message to `warn` for example it fails to load asserts.
+  /// Returns false and set error string to `err` if there's an error.
+  ///
+  bool LoadBinaryFromMemory(Model *model, std::string *err, std::string *warn,
+                            const unsigned char *bytes,
+                            const unsigned int length,
+                            const std::string &base_dir = "",
+                            unsigned int check_sections = REQUIRE_VERSION);
+
+  ///
+  /// Write glTF to stream, buffers and images will be embeded
+  ///
+  bool WriteGltfSceneToStream(Model *model, std::ostream &stream,
+                              bool prettyPrint, bool writeBinary);
+
+  ///
+  /// Write glTF to file.
+  ///
+  bool WriteGltfSceneToFile(Model *model, const std::string &filename,
+                            bool embedImages, bool embedBuffers,
+                            bool prettyPrint, bool writeBinary);
+
+  ///
+  /// Set callback to use for loading image data
+  ///
+  void SetImageLoader(LoadImageDataFunction LoadImageData, void *user_data);
+
+  ///
+  /// Unset(remove) callback of loading image data
+  ///
+  void RemoveImageLoader();
+
+  ///
+  /// Set callback to use for writing image data
+  ///
+  void SetImageWriter(WriteImageDataFunction WriteImageData, void *user_data);
+
+  ///
+  /// Set callbacks to use for filesystem (fs) access and their user data
+  ///
+  void SetFsCallbacks(FsCallbacks callbacks);
+
+  ///
+  /// Set serializing default values(default = false).
+  /// When true, default values are force serialized to .glTF.
+  /// This may be helpfull if you want to serialize a full description of glTF
+  /// data.
+  ///
+  /// TODO(LTE): Supply parsing option as function arguments to
+  /// `LoadASCIIFromFile()` and others, not by a class method
+  ///
+  void SetSerializeDefaultValues(const bool enabled) {
+    serialize_default_values_ = enabled;
+  }
+
+  bool GetSerializeDefaultValues() const { return serialize_default_values_; }
+
+  ///
+  /// Store original JSON string for `extras` and `extensions`.
+  /// This feature will be useful when the user want to reconstruct custom data
+  /// structure from JSON string.
+  ///
+  void SetStoreOriginalJSONForExtrasAndExtensions(const bool enabled) {
+    store_original_json_for_extras_and_extensions_ = enabled;
+  }
+
+  bool GetStoreOriginalJSONForExtrasAndExtensions() const {
+    return store_original_json_for_extras_and_extensions_;
+  }
+
+  ///
+  /// Specify whether preserve image channales when loading images or not.
+  /// (Not effective when the user suppy their own LoadImageData callbacks)
+  ///
+  void SetPreserveImageChannels(bool onoff) {
+    preserve_image_channels_ = onoff;
+  }
+
+  bool GetPreserveImageChannels() const { return preserve_image_channels_; }
+
+ private:
+  ///
+  /// Loads glTF asset from string(memory).
+  /// `length` = strlen(str);
+  /// Set warning message to `warn` for example it fails to load asserts
+  /// Returns false and set error string to `err` if there's an error.
+  ///
+  bool LoadFromString(Model *model, std::string *err, std::string *warn,
+                      const char *str, const unsigned int length,
+                      const std::string &base_dir, unsigned int check_sections);
+
+  const unsigned char *bin_data_ = nullptr;
+  size_t bin_size_ = 0;
+  bool is_binary_ = false;
+
+  bool serialize_default_values_ = false;  ///< Serialize default values?
+
+  bool store_original_json_for_extras_and_extensions_ = false;
+
+  bool preserve_image_channels_ = false;  /// Default false(expand channels to
+                                          /// RGBA) for backward compatibility.
+
+  FsCallbacks fs = {
+#ifndef TINYGLTF_NO_FS
+      &tinygltf::FileExists, &tinygltf::ExpandFilePath,
+      &tinygltf::ReadWholeFile, &tinygltf::WriteWholeFile,
+
+      nullptr  // Fs callback user data
+#else
+      nullptr, nullptr, nullptr, nullptr,
+
+      nullptr  // Fs callback user data
+#endif
+  };
+
+  LoadImageDataFunction LoadImageData =
+#ifndef TINYGLTF_NO_STB_IMAGE
+      &tinygltf::LoadImageData;
+#else
+      nullptr;
+#endif
+  void *load_image_user_data_{nullptr};
+  bool user_image_loader_{false};
+
+  WriteImageDataFunction WriteImageData =
+#ifndef TINYGLTF_NO_STB_IMAGE_WRITE
+      &tinygltf::WriteImageData;
+#else
+      nullptr;
+#endif
+  void *write_image_user_data_{nullptr};
+};
+
+#ifdef __clang__
+#pragma clang diagnostic pop  // -Wpadded
+#endif
+
+}  // namespace tinygltf
+
+#endif  // TINY_GLTF_H_
+
+#if defined(TINYGLTF_IMPLEMENTATION) || defined(__INTELLISENSE__)
+#include <algorithm>
+//#include <cassert>
+#ifndef TINYGLTF_NO_FS
+#include <cstdio>
+#include <fstream>
+#endif
+#include <sstream>
+
+#ifdef __clang__
+// Disable some warnings for external files.
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wfloat-equal"
+#pragma clang diagnostic ignored "-Wexit-time-destructors"
+#pragma clang diagnostic ignored "-Wconversion"
+#pragma clang diagnostic ignored "-Wold-style-cast"
+#pragma clang diagnostic ignored "-Wglobal-constructors"
+#if __has_warning("-Wreserved-id-macro")
+#pragma clang diagnostic ignored "-Wreserved-id-macro"
+#endif
+#pragma clang diagnostic ignored "-Wdisabled-macro-expansion"
+#pragma clang diagnostic ignored "-Wpadded"
+#pragma clang diagnostic ignored "-Wc++98-compat"
+#pragma clang diagnostic ignored "-Wc++98-compat-pedantic"
+#pragma clang diagnostic ignored "-Wdocumentation-unknown-command"
+#pragma clang diagnostic ignored "-Wswitch-enum"
+#pragma clang diagnostic ignored "-Wimplicit-fallthrough"
+#pragma clang diagnostic ignored "-Wweak-vtables"
+#pragma clang diagnostic ignored "-Wcovered-switch-default"
+#if __has_warning("-Wdouble-promotion")
+#pragma clang diagnostic ignored "-Wdouble-promotion"
+#endif
+#if __has_warning("-Wcomma")
+#pragma clang diagnostic ignored "-Wcomma"
+#endif
+#if __has_warning("-Wzero-as-null-pointer-constant")
+#pragma clang diagnostic ignored "-Wzero-as-null-pointer-constant"
+#endif
+#if __has_warning("-Wcast-qual")
+#pragma clang diagnostic ignored "-Wcast-qual"
+#endif
+#if __has_warning("-Wmissing-variable-declarations")
+#pragma clang diagnostic ignored "-Wmissing-variable-declarations"
+#endif
+#if __has_warning("-Wmissing-prototypes")
+#pragma clang diagnostic ignored "-Wmissing-prototypes"
+#endif
+#if __has_warning("-Wcast-align")
+#pragma clang diagnostic ignored "-Wcast-align"
+#endif
+#if __has_warning("-Wnewline-eof")
+#pragma clang diagnostic ignored "-Wnewline-eof"
+#endif
+#if __has_warning("-Wunused-parameter")
+#pragma clang diagnostic ignored "-Wunused-parameter"
+#endif
+#if __has_warning("-Wmismatched-tags")
+#pragma clang diagnostic ignored "-Wmismatched-tags"
+#endif
+#if __has_warning("-Wextra-semi-stmt")
+#pragma clang diagnostic ignored "-Wextra-semi-stmt"
+#endif
+#endif
+
+// Disable GCC warnigs
+#ifdef __GNUC__
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wtype-limits"
+#endif  // __GNUC__
+
+#ifndef TINYGLTF_NO_INCLUDE_JSON
+#ifndef TINYGLTF_USE_RAPIDJSON
+#include "json.hpp"
+#else
+#ifndef TINYGLTF_NO_INCLUDE_RAPIDJSON
+#include "document.h"
+#include "prettywriter.h"
+#include "rapidjson.h"
+#include "stringbuffer.h"
+#include "writer.h"
+#endif
+#endif
+#endif
+
+#ifdef TINYGLTF_ENABLE_DRACO
+#include "draco/compression/decode.h"
+#include "draco/core/decoder_buffer.h"
+#endif
+
+#ifndef TINYGLTF_NO_STB_IMAGE
+#ifndef TINYGLTF_NO_INCLUDE_STB_IMAGE
+#include "stb_image.h"
+#endif
+#endif
+
+#ifndef TINYGLTF_NO_STB_IMAGE_WRITE
+#ifndef TINYGLTF_NO_INCLUDE_STB_IMAGE_WRITE
+#include "stb_image_write.h"
+#endif
+#endif
+
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
+
+#ifdef __GNUC__
+#pragma GCC diagnostic pop
+#endif
+
+#ifdef _WIN32
+
+// issue 143.
+// Define NOMINMAX to avoid min/max defines,
+// but undef it after included windows.h
+#ifndef NOMINMAX
+#define TINYGLTF_INTERNAL_NOMINMAX
+#define NOMINMAX
+#endif
+
+#ifndef WIN32_LEAN_AND_MEAN
+#define WIN32_LEAN_AND_MEAN
+#define TINYGLTF_INTERNAL_WIN32_LEAN_AND_MEAN
+#endif
+#include <windows.h>  // include API for expanding a file path
+
+#ifdef TINYGLTF_INTERNAL_WIN32_LEAN_AND_MEAN
+#undef WIN32_LEAN_AND_MEAN
+#endif
+
+#if defined(TINYGLTF_INTERNAL_NOMINMAX)
+#undef NOMINMAX
+#endif
+
+#if defined(__GLIBCXX__)  // mingw
+
+#include <fcntl.h>  // _O_RDONLY
+
+#include <ext/stdio_filebuf.h>  // fstream (all sorts of IO stuff) + stdio_filebuf (=streambuf)
+
+#endif
+
+#elif !defined(__ANDROID__)
+#include <wordexp.h>
+#endif
+
+#if defined(__sparcv9)
+// Big endian
+#else
+#if (__BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__) || MINIZ_X86_OR_X64_CPU
+#define TINYGLTF_LITTLE_ENDIAN 1
+#endif
+#endif
+
+namespace {
+#ifdef TINYGLTF_USE_RAPIDJSON
+
+#ifdef TINYGLTF_USE_RAPIDJSON_CRTALLOCATOR
+// This uses the RapidJSON CRTAllocator.  It is thread safe and multiple
+// documents may be active at once.
+using json =
+    rapidjson::GenericValue<rapidjson::UTF8<>, rapidjson::CrtAllocator>;
+using json_const_iterator = json::ConstMemberIterator;
+using json_const_array_iterator = json const *;
+using JsonDocument =
+    rapidjson::GenericDocument<rapidjson::UTF8<>, rapidjson::CrtAllocator>;
+rapidjson::CrtAllocator s_CrtAllocator;  // stateless and thread safe
+rapidjson::CrtAllocator &GetAllocator() { return s_CrtAllocator; }
+#else
+// This uses the default RapidJSON MemoryPoolAllocator.  It is very fast, but
+// not thread safe. Only a single JsonDocument may be active at any one time,
+// meaning only a single gltf load/save can be active any one time.
+using json = rapidjson::Value;
+using json_const_iterator = json::ConstMemberIterator;
+using json_const_array_iterator = json const *;
+rapidjson::Document *s_pActiveDocument = nullptr;
+rapidjson::Document::AllocatorType &GetAllocator() {
+  assert(s_pActiveDocument);  // Root json node must be JsonDocument type
+  return s_pActiveDocument->GetAllocator();
+}
+
+#ifdef __clang__
+#pragma clang diagnostic push
+// Suppress JsonDocument(JsonDocument &&rhs) noexcept
+#pragma clang diagnostic ignored "-Wunused-member-function"
+#endif
+
+struct JsonDocument : public rapidjson::Document {
+  JsonDocument() {
+    assert(s_pActiveDocument ==
+           nullptr);  // When using default allocator, only one document can be
+                      // active at a time, if you need multiple active at once,
+                      // define TINYGLTF_USE_RAPIDJSON_CRTALLOCATOR
+    s_pActiveDocument = this;
+  }
+  JsonDocument(const JsonDocument &) = delete;
+  JsonDocument(JsonDocument &&rhs) noexcept
+      : rapidjson::Document(std::move(rhs)) {
+    s_pActiveDocument = this;
+    rhs.isNil = true;
+  }
+  ~JsonDocument() {
+    if (!isNil) {
+      s_pActiveDocument = nullptr;
+    }
+  }
+
+ private:
+  bool isNil = false;
+};
+
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
+
+#endif  // TINYGLTF_USE_RAPIDJSON_CRTALLOCATOR
+
+#else
+using nlohmann::json;
+using json_const_iterator = json::const_iterator;
+using json_const_array_iterator = json_const_iterator;
+using JsonDocument = json;
+#endif
+
+void JsonParse(JsonDocument &doc, const char *str, size_t length,
+               bool throwExc = false) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  (void)throwExc;
+  doc.Parse(str, length);
+#else
+  doc = json::parse(str, str + length, nullptr, throwExc);
+#endif
+}
+}  // namespace
+
+#ifdef __APPLE__
+#include "TargetConditionals.h"
+#endif
+
+#ifdef __clang__
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wc++98-compat"
+#endif
+
+namespace tinygltf {
+
+///
+/// Internal LoadImageDataOption struct.
+/// This struct is passed through `user_pointer` in LoadImageData.
+/// The struct is not passed when the user supply their own LoadImageData
+/// callbacks.
+///
+struct LoadImageDataOption {
+  // true: preserve image channels(e.g. load as RGB image if the image has RGB
+  // channels) default `false`(channels are expanded to RGBA for backward
+  // compatiblity).
+  bool preserve_channels{false};
+};
+
+// Equals function for Value, for recursivity
+static bool Equals(const tinygltf::Value &one, const tinygltf::Value &other) {
+  if (one.Type() != other.Type()) return false;
+
+  switch (one.Type()) {
+    case NULL_TYPE:
+      return true;
+    case BOOL_TYPE:
+      return one.Get<bool>() == other.Get<bool>();
+    case REAL_TYPE:
+      return TINYGLTF_DOUBLE_EQUAL(one.Get<double>(), other.Get<double>());
+    case INT_TYPE:
+      return one.Get<int>() == other.Get<int>();
+    case OBJECT_TYPE: {
+      auto oneObj = one.Get<tinygltf::Value::Object>();
+      auto otherObj = other.Get<tinygltf::Value::Object>();
+      if (oneObj.size() != otherObj.size()) return false;
+      for (auto &it : oneObj) {
+        auto otherIt = otherObj.find(it.first);
+        if (otherIt == otherObj.end()) return false;
+
+        if (!Equals(it.second, otherIt->second)) return false;
+      }
+      return true;
+    }
+    case ARRAY_TYPE: {
+      if (one.Size() != other.Size()) return false;
+      for (int i = 0; i < int(one.Size()); ++i)
+        if (!Equals(one.Get(i), other.Get(i))) return false;
+      return true;
+    }
+    case STRING_TYPE:
+      return one.Get<std::string>() == other.Get<std::string>();
+    case BINARY_TYPE:
+      return one.Get<std::vector<unsigned char> >() ==
+             other.Get<std::vector<unsigned char> >();
+    default: {
+      // unhandled type
+      return false;
+    }
+  }
+}
+
+// Equals function for std::vector<double> using TINYGLTF_DOUBLE_EPSILON
+static bool Equals(const std::vector<double> &one,
+                   const std::vector<double> &other) {
+  if (one.size() != other.size()) return false;
+  for (int i = 0; i < int(one.size()); ++i) {
+    if (!TINYGLTF_DOUBLE_EQUAL(one[size_t(i)], other[size_t(i)])) return false;
+  }
+  return true;
+}
+
+bool Accessor::operator==(const Accessor &other) const {
+  return this->bufferView == other.bufferView &&
+         this->byteOffset == other.byteOffset &&
+         this->componentType == other.componentType &&
+         this->count == other.count && this->extensions == other.extensions &&
+         this->extras == other.extras &&
+         Equals(this->maxValues, other.maxValues) &&
+         Equals(this->minValues, other.minValues) && this->name == other.name &&
+         this->normalized == other.normalized && this->type == other.type;
+}
+bool Animation::operator==(const Animation &other) const {
+  return this->channels == other.channels &&
+         this->extensions == other.extensions && this->extras == other.extras &&
+         this->name == other.name && this->samplers == other.samplers;
+}
+bool AnimationChannel::operator==(const AnimationChannel &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         this->target_node == other.target_node &&
+         this->target_path == other.target_path &&
+         this->sampler == other.sampler;
+}
+bool AnimationSampler::operator==(const AnimationSampler &other) const {
+  return this->extras == other.extras && this->extensions == other.extensions &&
+         this->input == other.input &&
+         this->interpolation == other.interpolation &&
+         this->output == other.output;
+}
+bool Asset::operator==(const Asset &other) const {
+  return this->copyright == other.copyright &&
+         this->extensions == other.extensions && this->extras == other.extras &&
+         this->generator == other.generator &&
+         this->minVersion == other.minVersion && this->version == other.version;
+}
+bool Buffer::operator==(const Buffer &other) const {
+  return this->data == other.data && this->extensions == other.extensions &&
+         this->extras == other.extras && this->name == other.name &&
+         this->uri == other.uri;
+}
+bool BufferView::operator==(const BufferView &other) const {
+  return this->buffer == other.buffer && this->byteLength == other.byteLength &&
+         this->byteOffset == other.byteOffset &&
+         this->byteStride == other.byteStride && this->name == other.name &&
+         this->target == other.target && this->extensions == other.extensions &&
+         this->extras == other.extras &&
+         this->dracoDecoded == other.dracoDecoded;
+}
+bool Camera::operator==(const Camera &other) const {
+  return this->name == other.name && this->extensions == other.extensions &&
+         this->extras == other.extras &&
+         this->orthographic == other.orthographic &&
+         this->perspective == other.perspective && this->type == other.type;
+}
+bool Image::operator==(const Image &other) const {
+  return this->bufferView == other.bufferView &&
+         this->component == other.component &&
+         this->extensions == other.extensions && this->extras == other.extras &&
+         this->height == other.height && this->image == other.image &&
+         this->mimeType == other.mimeType && this->name == other.name &&
+         this->uri == other.uri && this->width == other.width;
+}
+bool Light::operator==(const Light &other) const {
+  return Equals(this->color, other.color) && this->name == other.name &&
+         this->type == other.type;
+}
+bool Material::operator==(const Material &other) const {
+  return (this->pbrMetallicRoughness == other.pbrMetallicRoughness) &&
+         (this->normalTexture == other.normalTexture) &&
+         (this->occlusionTexture == other.occlusionTexture) &&
+         (this->emissiveTexture == other.emissiveTexture) &&
+         Equals(this->emissiveFactor, other.emissiveFactor) &&
+         (this->alphaMode == other.alphaMode) &&
+         TINYGLTF_DOUBLE_EQUAL(this->alphaCutoff, other.alphaCutoff) &&
+         (this->doubleSided == other.doubleSided) &&
+         (this->extensions == other.extensions) &&
+         (this->extras == other.extras) && (this->values == other.values) &&
+         (this->additionalValues == other.additionalValues) &&
+         (this->name == other.name);
+}
+bool Mesh::operator==(const Mesh &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         this->name == other.name && Equals(this->weights, other.weights) &&
+         this->primitives == other.primitives;
+}
+bool Model::operator==(const Model &other) const {
+  return this->accessors == other.accessors &&
+         this->animations == other.animations && this->asset == other.asset &&
+         this->buffers == other.buffers &&
+         this->bufferViews == other.bufferViews &&
+         this->cameras == other.cameras &&
+         this->defaultScene == other.defaultScene &&
+         this->extensions == other.extensions &&
+         this->extensionsRequired == other.extensionsRequired &&
+         this->extensionsUsed == other.extensionsUsed &&
+         this->extras == other.extras && this->images == other.images &&
+         this->lights == other.lights && this->materials == other.materials &&
+         this->meshes == other.meshes && this->nodes == other.nodes &&
+         this->samplers == other.samplers && this->scenes == other.scenes &&
+         this->skins == other.skins && this->textures == other.textures;
+}
+bool Node::operator==(const Node &other) const {
+  return this->camera == other.camera && this->children == other.children &&
+         this->extensions == other.extensions && this->extras == other.extras &&
+         Equals(this->matrix, other.matrix) && this->mesh == other.mesh &&
+         this->name == other.name && Equals(this->rotation, other.rotation) &&
+         Equals(this->scale, other.scale) && this->skin == other.skin &&
+         Equals(this->translation, other.translation) &&
+         Equals(this->weights, other.weights);
+}
+bool SpotLight::operator==(const SpotLight &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         TINYGLTF_DOUBLE_EQUAL(this->innerConeAngle, other.innerConeAngle) &&
+         TINYGLTF_DOUBLE_EQUAL(this->outerConeAngle, other.outerConeAngle);
+}
+bool OrthographicCamera::operator==(const OrthographicCamera &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         TINYGLTF_DOUBLE_EQUAL(this->xmag, other.xmag) &&
+         TINYGLTF_DOUBLE_EQUAL(this->ymag, other.ymag) &&
+         TINYGLTF_DOUBLE_EQUAL(this->zfar, other.zfar) &&
+         TINYGLTF_DOUBLE_EQUAL(this->znear, other.znear);
+}
+bool Parameter::operator==(const Parameter &other) const {
+  if (this->bool_value != other.bool_value ||
+      this->has_number_value != other.has_number_value)
+    return false;
+
+  if (!TINYGLTF_DOUBLE_EQUAL(this->number_value, other.number_value))
+    return false;
+
+  if (this->json_double_value.size() != other.json_double_value.size())
+    return false;
+  for (auto &it : this->json_double_value) {
+    auto otherIt = other.json_double_value.find(it.first);
+    if (otherIt == other.json_double_value.end()) return false;
+
+    if (!TINYGLTF_DOUBLE_EQUAL(it.second, otherIt->second)) return false;
+  }
+
+  if (!Equals(this->number_array, other.number_array)) return false;
+
+  if (this->string_value != other.string_value) return false;
+
+  return true;
+}
+bool PerspectiveCamera::operator==(const PerspectiveCamera &other) const {
+  return TINYGLTF_DOUBLE_EQUAL(this->aspectRatio, other.aspectRatio) &&
+         this->extensions == other.extensions && this->extras == other.extras &&
+         TINYGLTF_DOUBLE_EQUAL(this->yfov, other.yfov) &&
+         TINYGLTF_DOUBLE_EQUAL(this->zfar, other.zfar) &&
+         TINYGLTF_DOUBLE_EQUAL(this->znear, other.znear);
+}
+bool Primitive::operator==(const Primitive &other) const {
+  return this->attributes == other.attributes && this->extras == other.extras &&
+         this->indices == other.indices && this->material == other.material &&
+         this->mode == other.mode && this->targets == other.targets;
+}
+bool Sampler::operator==(const Sampler &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         this->magFilter == other.magFilter &&
+         this->minFilter == other.minFilter && this->name == other.name &&
+         this->wrapT == other.wrapT;
+
+         //this->wrapR == other.wrapR && this->wrapS == other.wrapS &&
+}
+bool Scene::operator==(const Scene &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         this->name == other.name && this->nodes == other.nodes;
+}
+bool Skin::operator==(const Skin &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         this->inverseBindMatrices == other.inverseBindMatrices &&
+         this->joints == other.joints && this->name == other.name &&
+         this->skeleton == other.skeleton;
+}
+bool Texture::operator==(const Texture &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         this->name == other.name && this->sampler == other.sampler &&
+         this->source == other.source;
+}
+bool TextureInfo::operator==(const TextureInfo &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         this->index == other.index && this->texCoord == other.texCoord;
+}
+bool NormalTextureInfo::operator==(const NormalTextureInfo &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         this->index == other.index && this->texCoord == other.texCoord &&
+         TINYGLTF_DOUBLE_EQUAL(this->scale, other.scale);
+}
+bool OcclusionTextureInfo::operator==(const OcclusionTextureInfo &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         this->index == other.index && this->texCoord == other.texCoord &&
+         TINYGLTF_DOUBLE_EQUAL(this->strength, other.strength);
+}
+bool PbrMetallicRoughness::operator==(const PbrMetallicRoughness &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         (this->baseColorTexture == other.baseColorTexture) &&
+         (this->metallicRoughnessTexture == other.metallicRoughnessTexture) &&
+         Equals(this->baseColorFactor, other.baseColorFactor) &&
+         TINYGLTF_DOUBLE_EQUAL(this->metallicFactor, other.metallicFactor) &&
+         TINYGLTF_DOUBLE_EQUAL(this->roughnessFactor, other.roughnessFactor);
+}
+bool Value::operator==(const Value &other) const {
+  return Equals(*this, other);
+}
+
+static void swap4(unsigned int *val) {
+#ifdef TINYGLTF_LITTLE_ENDIAN
+  (void)val;
+#else
+  unsigned int tmp = *val;
+  unsigned char *dst = reinterpret_cast<unsigned char *>(val);
+  unsigned char *src = reinterpret_cast<unsigned char *>(&tmp);
+
+  dst[0] = src[3];
+  dst[1] = src[2];
+  dst[2] = src[1];
+  dst[3] = src[0];
+#endif
+}
+
+static std::string JoinPath(const std::string &path0,
+                            const std::string &path1) {
+  if (path0.empty()) {
+    return path1;
+  } else {
+    // check '/'
+    char lastChar = *path0.rbegin();
+    if (lastChar != '/') {
+      return path0 + std::string("/") + path1;
+    } else {
+      return path0 + path1;
+    }
+  }
+}
+
+static std::string FindFile(const std::vector<std::string> &paths,
+                            const std::string &filepath, FsCallbacks *fs) {
+  if (fs == nullptr || fs->ExpandFilePath == nullptr ||
+      fs->FileExists == nullptr) {
+    // Error, fs callback[s] missing
+    return std::string();
+  }
+
+  for (size_t i = 0; i < paths.size(); i++) {
+    std::string absPath =
+        fs->ExpandFilePath(JoinPath(paths[i], filepath), fs->user_data);
+    if (fs->FileExists(absPath, fs->user_data)) {
+      return absPath;
+    }
+  }
+
+  return std::string();
+}
+
+static std::string GetFilePathExtension(const std::string &FileName) {
+  if (FileName.find_last_of(".") != std::string::npos)
+    return FileName.substr(FileName.find_last_of(".") + 1);
+  return "";
+}
+
+static std::string GetBaseDir(const std::string &filepath) {
+  if (filepath.find_last_of("/\\") != std::string::npos)
+    return filepath.substr(0, filepath.find_last_of("/\\"));
+  return "";
+}
+
+// https://stackoverflow.com/questions/8520560/get-a-file-name-from-a-path
+static std::string GetBaseFilename(const std::string &filepath) {
+  return filepath.substr(filepath.find_last_of("/\\") + 1);
+}
+
+std::string base64_encode(unsigned char const *, unsigned int len);
+std::string base64_decode(std::string const &s);
+
+/*
+   base64.cpp and base64.h
+
+   Copyright (C) 2004-2008 René Nyffenegger
+
+   This source code is provided 'as-is', without any express or implied
+   warranty. In no event will the author be held liable for any damages
+   arising from the use of this software.
+
+   Permission is granted to anyone to use this software for any purpose,
+   including commercial applications, and to alter it and redistribute it
+   freely, subject to the following restrictions:
+
+   1. The origin of this source code must not be misrepresented; you must not
+      claim that you wrote the original source code. If you use this source code
+      in a product, an acknowledgment in the product documentation would be
+      appreciated but is not required.
+
+   2. Altered source versions must be plainly marked as such, and must not be
+      misrepresented as being the original source code.
+
+   3. This notice may not be removed or altered from any source distribution.
+
+   René Nyffenegger rene.nyffenegger@adp-gmbh.ch
+
+*/
+
+#ifdef __clang__
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wsign-conversion"
+#pragma clang diagnostic ignored "-Wconversion"
+#endif
+
+static inline bool is_base64(unsigned char c) {
+  return (isalnum(c) || (c == '+') || (c == '/'));
+}
+
+std::string base64_encode(unsigned char const *bytes_to_encode,
+                          unsigned int in_len) {
+  std::string ret;
+  int i = 0;
+  int j = 0;
+  unsigned char char_array_3[3];
+  unsigned char char_array_4[4];
+
+  const char *base64_chars =
+      "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
+      "abcdefghijklmnopqrstuvwxyz"
+      "0123456789+/";
+
+  while (in_len--) {
+    char_array_3[i++] = *(bytes_to_encode++);
+    if (i == 3) {
+      char_array_4[0] = (char_array_3[0] & 0xfc) >> 2;
+      char_array_4[1] =
+          ((char_array_3[0] & 0x03) << 4) + ((char_array_3[1] & 0xf0) >> 4);
+      char_array_4[2] =
+          ((char_array_3[1] & 0x0f) << 2) + ((char_array_3[2] & 0xc0) >> 6);
+      char_array_4[3] = char_array_3[2] & 0x3f;
+
+      for (i = 0; (i < 4); i++) ret += base64_chars[char_array_4[i]];
+      i = 0;
+    }
+  }
+
+  if (i) {
+    for (j = i; j < 3; j++) char_array_3[j] = '\0';
+
+    char_array_4[0] = (char_array_3[0] & 0xfc) >> 2;
+    char_array_4[1] =
+        ((char_array_3[0] & 0x03) << 4) + ((char_array_3[1] & 0xf0) >> 4);
+    char_array_4[2] =
+        ((char_array_3[1] & 0x0f) << 2) + ((char_array_3[2] & 0xc0) >> 6);
+
+    for (j = 0; (j < i + 1); j++) ret += base64_chars[char_array_4[j]];
+
+    while ((i++ < 3)) ret += '=';
+  }
+
+  return ret;
+}
+
+std::string base64_decode(std::string const &encoded_string) {
+  int in_len = static_cast<int>(encoded_string.size());
+  int i = 0;
+  int j = 0;
+  int in_ = 0;
+  unsigned char char_array_4[4], char_array_3[3];
+  std::string ret;
+
+  const std::string base64_chars =
+      "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
+      "abcdefghijklmnopqrstuvwxyz"
+      "0123456789+/";
+
+  while (in_len-- && (encoded_string[in_] != '=') &&
+         is_base64(encoded_string[in_])) {
+    char_array_4[i++] = encoded_string[in_];
+    in_++;
+    if (i == 4) {
+      for (i = 0; i < 4; i++)
+        char_array_4[i] =
+            static_cast<unsigned char>(base64_chars.find(char_array_4[i]));
+
+      char_array_3[0] =
+          (char_array_4[0] << 2) + ((char_array_4[1] & 0x30) >> 4);
+      char_array_3[1] =
+          ((char_array_4[1] & 0xf) << 4) + ((char_array_4[2] & 0x3c) >> 2);
+      char_array_3[2] = ((char_array_4[2] & 0x3) << 6) + char_array_4[3];
+
+      for (i = 0; (i < 3); i++) ret += char_array_3[i];
+      i = 0;
+    }
+  }
+
+  if (i) {
+    for (j = i; j < 4; j++) char_array_4[j] = 0;
+
+    for (j = 0; j < 4; j++)
+      char_array_4[j] =
+          static_cast<unsigned char>(base64_chars.find(char_array_4[j]));
+
+    char_array_3[0] = (char_array_4[0] << 2) + ((char_array_4[1] & 0x30) >> 4);
+    char_array_3[1] =
+        ((char_array_4[1] & 0xf) << 4) + ((char_array_4[2] & 0x3c) >> 2);
+    char_array_3[2] = ((char_array_4[2] & 0x3) << 6) + char_array_4[3];
+
+    for (j = 0; (j < i - 1); j++) ret += char_array_3[j];
+  }
+
+  return ret;
+}
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
+
+// https://github.com/syoyo/tinygltf/issues/228
+// TODO(syoyo): Use uriparser https://uriparser.github.io/ for stricter Uri
+// decoding?
+//
+// https://stackoverflow.com/questions/18307429/encode-decode-url-in-c
+// http://dlib.net/dlib/server/server_http.cpp.html
+
+// --- dlib beign ------------------------------------------------------------
+// Copyright (C) 2003  Davis E. King (davis@dlib.net)
+// License: Boost Software License   See LICENSE.txt for the full license.
+
+namespace dlib {
+
+#if 0
+        inline unsigned char to_hex( unsigned char x )
+        {
+            return x + (x > 9 ? ('A'-10) : '0');
+        }
+
+        const std::string urlencode( const std::string& s )
+        {
+            std::ostringstream os;
+
+            for ( std::string::const_iterator ci = s.begin(); ci != s.end(); ++ci )
+            {
+                if ( (*ci >= 'a' && *ci <= 'z') ||
+                     (*ci >= 'A' && *ci <= 'Z') ||
+                     (*ci >= '0' && *ci <= '9') )
+                { // allowed
+                    os << *ci;
+                }
+                else if ( *ci == ' ')
+                {
+                    os << '+';
+                }
+                else
+                {
+                    os << '%' << to_hex(static_cast<unsigned char>(*ci >> 4)) << to_hex(static_cast<unsigned char>(*ci % 16));
+                }
+            }
+
+            return os.str();
+        }
+#endif
+
+inline unsigned char from_hex(unsigned char ch) {
+  if (ch <= '9' && ch >= '0')
+    ch -= '0';
+  else if (ch <= 'f' && ch >= 'a')
+    ch -= 'a' - 10;
+  else if (ch <= 'F' && ch >= 'A')
+    ch -= 'A' - 10;
+  else
+    ch = 0;
+  return ch;
+}
+
+static const std::string urldecode(const std::string &str) {
+  using namespace std;
+  string result;
+  string::size_type i;
+  for (i = 0; i < str.size(); ++i) {
+    if (str[i] == '+') {
+      result += ' ';
+    } else if (str[i] == '%' && str.size() > i + 2) {
+      const unsigned char ch1 =
+          from_hex(static_cast<unsigned char>(str[i + 1]));
+      const unsigned char ch2 =
+          from_hex(static_cast<unsigned char>(str[i + 2]));
+      const unsigned char ch = static_cast<unsigned char>((ch1 << 4) | ch2);
+      result += static_cast<char>(ch);
+      i += 2;
+    } else {
+      result += str[i];
+    }
+  }
+  return result;
+}
+
+}  // namespace dlib
+// --- dlib end --------------------------------------------------------------
+
+static bool LoadExternalFile(std::vector<unsigned char> *out, std::string *err,
+                             std::string *warn, const std::string &filename,
+                             const std::string &basedir, bool required,
+                             size_t reqBytes, bool checkSize, FsCallbacks *fs) {
+  if (fs == nullptr || fs->FileExists == nullptr ||
+      fs->ExpandFilePath == nullptr || fs->ReadWholeFile == nullptr) {
+    // This is a developer error, assert() ?
+    if (err) {
+      (*err) += "FS callback[s] not set\n";
+    }
+    return false;
+  }
+
+  std::string *failMsgOut = required ? err : warn;
+
+  out->clear();
+
+  std::vector<std::string> paths;
+  paths.push_back(basedir);
+  paths.push_back(".");
+
+  std::string filepath = FindFile(paths, filename, fs);
+  if (filepath.empty() || filename.empty()) {
+    if (failMsgOut) {
+      (*failMsgOut) += "File not found : " + filename + "\n";
+    }
+    return false;
+  }
+
+  std::vector<unsigned char> buf;
+  std::string fileReadErr;
+  bool fileRead =
+      fs->ReadWholeFile(&buf, &fileReadErr, filepath, fs->user_data);
+  if (!fileRead) {
+    if (failMsgOut) {
+      (*failMsgOut) +=
+          "File read error : " + filepath + " : " + fileReadErr + "\n";
+    }
+    return false;
+  }
+
+  size_t sz = buf.size();
+  if (sz == 0) {
+    if (failMsgOut) {
+      (*failMsgOut) += "File is empty : " + filepath + "\n";
+    }
+    return false;
+  }
+
+  if (checkSize) {
+    if (reqBytes == sz) {
+      out->swap(buf);
+      return true;
+    } else {
+      std::stringstream ss;
+      ss << "File size mismatch : " << filepath << ", requestedBytes "
+         << reqBytes << ", but got " << sz << std::endl;
+      if (failMsgOut) {
+        (*failMsgOut) += ss.str();
+      }
+      return false;
+    }
+  }
+
+  out->swap(buf);
+  return true;
+}
+
+void TinyGLTF::SetImageLoader(LoadImageDataFunction func, void *user_data) {
+  LoadImageData = func;
+  load_image_user_data_ = user_data;
+  user_image_loader_ = true;
+}
+
+void TinyGLTF::RemoveImageLoader() {
+  LoadImageData =
+#ifndef TINYGLTF_NO_STB_IMAGE
+      &tinygltf::LoadImageData;
+#else
+      nullptr;
+#endif
+
+  load_image_user_data_ = nullptr;
+  user_image_loader_ = false;
+}
+
+#ifndef TINYGLTF_NO_STB_IMAGE
+bool LoadImageData(Image *image, const int image_idx, std::string *err,
+                   std::string *warn, int req_width, int req_height,
+                   const unsigned char *bytes, int size, void *user_data) {
+  (void)warn;
+
+  LoadImageDataOption option;
+  if (user_data) {
+    option = *reinterpret_cast<LoadImageDataOption *>(user_data);
+  }
+
+  int w = 0, h = 0, comp = 0, req_comp = 0;
+
+  unsigned char *data = nullptr;
+
+  // preserve_channels true: Use channels stored in the image file.
+  // false: force 32-bit textures for common Vulkan compatibility. It appears
+  // that some GPU drivers do not support 24-bit images for Vulkan
+  req_comp = option.preserve_channels ? 0 : 4;
+  int bits = 8;
+  int pixel_type = TINYGLTF_COMPONENT_TYPE_UNSIGNED_BYTE;
+
+  // It is possible that the image we want to load is a 16bit per channel image
+  // We are going to attempt to load it as 16bit per channel, and if it worked,
+  // set the image data accodingly. We are casting the returned pointer into
+  // unsigned char, because we are representing "bytes". But we are updating
+  // the Image metadata to signal that this image uses 2 bytes (16bits) per
+  // channel:
+  if (stbi_is_16_bit_from_memory(bytes, size)) {
+    data = reinterpret_cast<unsigned char *>(
+        stbi_load_16_from_memory(bytes, size, &w, &h, &comp, req_comp));
+    if (data) {
+      bits = 16;
+      pixel_type = TINYGLTF_COMPONENT_TYPE_UNSIGNED_SHORT;
+    }
+  }
+
+  // at this point, if data is still NULL, it means that the image wasn't
+  // 16bit per channel, we are going to load it as a normal 8bit per channel
+  // mage as we used to do:
+  // if image cannot be decoded, ignore parsing and keep it by its path
+  // don't break in this case
+  // FIXME we should only enter this function if the image is embedded. If
+  // image->uri references
+  // an image file, it should be left as it is. Image loading should not be
+  // mandatory (to support other formats)
+  if (!data) data = stbi_load_from_memory(bytes, size, &w, &h, &comp, req_comp);
+  if (!data) {
+    // NOTE: you can use `warn` instead of `err`
+    if (err) {
+      (*err) +=
+          "Unknown image format. STB cannot decode image data for image[" +
+          std::to_string(image_idx) + "] name = \"" + image->name + "\".\n";
+    }
+    return false;
+  }
+
+  if ((w < 1) || (h < 1)) {
+    stbi_image_free(data);
+    if (err) {
+      (*err) += "Invalid image data for image[" + std::to_string(image_idx) +
+                "] name = \"" + image->name + "\"\n";
+    }
+    return false;
+  }
+
+  if (req_width > 0) {
+    if (req_width != w) {
+      stbi_image_free(data);
+      if (err) {
+        (*err) += "Image width mismatch for image[" +
+                  std::to_string(image_idx) + "] name = \"" + image->name +
+                  "\"\n";
+      }
+      return false;
+    }
+  }
+
+  if (req_height > 0) {
+    if (req_height != h) {
+      stbi_image_free(data);
+      if (err) {
+        (*err) += "Image height mismatch. for image[" +
+                  std::to_string(image_idx) + "] name = \"" + image->name +
+                  "\"\n";
+      }
+      return false;
+    }
+  }
+
+  if (req_comp != 0) {
+    // loaded data has `req_comp` channels(components)
+    comp = req_comp;
+  }
+
+  image->width = w;
+  image->height = h;
+  image->component = comp;
+  image->bits = bits;
+  image->pixel_type = pixel_type;
+  image->image.resize(static_cast<size_t>(w * h * comp) * size_t(bits / 8));
+  std::copy(data, data + w * h * comp * (bits / 8), image->image.begin());
+  stbi_image_free(data);
+
+  return true;
+}
+#endif
+
+void TinyGLTF::SetImageWriter(WriteImageDataFunction func, void *user_data) {
+  WriteImageData = func;
+  write_image_user_data_ = user_data;
+}
+
+#ifndef TINYGLTF_NO_STB_IMAGE_WRITE
+static void WriteToMemory_stbi(void *context, void *data, int size) {
+  std::vector<unsigned char> *buffer =
+      reinterpret_cast<std::vector<unsigned char> *>(context);
+
+  unsigned char *pData = reinterpret_cast<unsigned char *>(data);
+
+  buffer->insert(buffer->end(), pData, pData + size);
+}
+
+bool WriteImageData(const std::string *basepath, const std::string *filename,
+                    Image *image, bool embedImages, void *fsPtr) {
+  const std::string ext = GetFilePathExtension(*filename);
+
+  // Write image to temporary buffer
+  std::string header;
+  std::vector<unsigned char> data;
+
+  if (ext == "png") {
+    if ((image->bits != 8) ||
+        (image->pixel_type != TINYGLTF_COMPONENT_TYPE_UNSIGNED_BYTE)) {
+      // Unsupported pixel format
+      return false;
+    }
+
+    if (!stbi_write_png_to_func(WriteToMemory_stbi, &data, image->width,
+                                image->height, image->component,
+                                &image->image[0], 0)) {
+      return false;
+    }
+    header = "data:image/png;base64,";
+  } else if (ext == "jpg") {
+    if (!stbi_write_jpg_to_func(WriteToMemory_stbi, &data, image->width,
+                                image->height, image->component,
+                                &image->image[0], 100)) {
+      return false;
+    }
+    header = "data:image/jpeg;base64,";
+  } else if (ext == "bmp") {
+    if (!stbi_write_bmp_to_func(WriteToMemory_stbi, &data, image->width,
+                                image->height, image->component,
+                                &image->image[0])) {
+      return false;
+    }
+    header = "data:image/bmp;base64,";
+  } else if (!embedImages) {
+    // Error: can't output requested format to file
+    return false;
+  }
+
+  if (embedImages) {
+    // Embed base64-encoded image into URI
+    if (data.size()) {
+      image->uri =
+          header +
+          base64_encode(&data[0], static_cast<unsigned int>(data.size()));
+    } else {
+      // Throw error?
+    }
+  } else {
+    // Write image to disc
+    FsCallbacks *fs = reinterpret_cast<FsCallbacks *>(fsPtr);
+    if ((fs != nullptr) && (fs->WriteWholeFile != nullptr)) {
+      const std::string imagefilepath = JoinPath(*basepath, *filename);
+      std::string writeError;
+      if (!fs->WriteWholeFile(&writeError, imagefilepath, data,
+                              fs->user_data)) {
+        // Could not write image file to disc; Throw error ?
+        return false;
+      }
+    } else {
+      // Throw error?
+    }
+    image->uri = *filename;
+  }
+
+  return true;
+}
+#endif
+
+void TinyGLTF::SetFsCallbacks(FsCallbacks callbacks) { fs = callbacks; }
+
+#ifdef _WIN32
+static inline std::wstring UTF8ToWchar(const std::string &str) {
+  int wstr_size =
+      MultiByteToWideChar(CP_UTF8, 0, str.data(), (int)str.size(), nullptr, 0);
+  std::wstring wstr(wstr_size, 0);
+  MultiByteToWideChar(CP_UTF8, 0, str.data(), (int)str.size(), &wstr[0],
+                      (int)wstr.size());
+  return wstr;
+}
+
+static inline std::string WcharToUTF8(const std::wstring &wstr) {
+  int str_size = WideCharToMultiByte(CP_UTF8, 0, wstr.data(), (int)wstr.size(),
+                                     nullptr, 0, NULL, NULL);
+  std::string str(str_size, 0);
+  WideCharToMultiByte(CP_UTF8, 0, wstr.data(), (int)wstr.size(), &str[0],
+                      (int)str.size(), NULL, NULL);
+  return str;
+}
+#endif
+
+#ifndef TINYGLTF_NO_FS
+// Default implementations of filesystem functions
+
+bool FileExists(const std::string &abs_filename, void *) {
+  bool ret;
+#ifdef TINYGLTF_ANDROID_LOAD_FROM_ASSETS
+  if (asset_manager) {
+    AAsset *asset = AAssetManager_open(asset_manager, abs_filename.c_str(),
+                                       AASSET_MODE_STREAMING);
+    if (!asset) {
+      return false;
+    }
+    AAsset_close(asset);
+    ret = true;
+  } else {
+    return false;
+  }
+#else
+#ifdef _WIN32
+#if defined(_MSC_VER) || defined(__GLIBCXX__)
+  FILE *fp = nullptr;
+  errno_t err = _wfopen_s(&fp, UTF8ToWchar(abs_filename).c_str(), L"rb");
+  if (err != 0) {
+    return false;
+  }
+#else
+  FILE *fp = nullptr;
+  errno_t err = fopen_s(&fp, abs_filename.c_str(), "rb");
+  if (err != 0) {
+    return false;
+  }
+#endif
+
+#else
+  FILE *fp = fopen(abs_filename.c_str(), "rb");
+#endif
+  if (fp) {
+    ret = true;
+    fclose(fp);
+  } else {
+    ret = false;
+  }
+#endif
+
+  return ret;
+}
+
+std::string ExpandFilePath(const std::string &filepath, void *) {
+#ifdef _WIN32
+  // Assume input `filepath` is encoded in UTF-8
+  std::wstring wfilepath = UTF8ToWchar(filepath);
+  DWORD wlen = ExpandEnvironmentStringsW(wfilepath.c_str(), nullptr, 0);
+  wchar_t *wstr = new wchar_t[wlen];
+  ExpandEnvironmentStringsW(wfilepath.c_str(), wstr, wlen);
+
+  std::wstring ws(wstr);
+  delete[] wstr;
+  return WcharToUTF8(ws);
+
+#else
+
+#if defined(TARGET_OS_IPHONE) || defined(TARGET_IPHONE_SIMULATOR) || \
+    defined(__ANDROID__) || defined(__EMSCRIPTEN__)
+  // no expansion
+  std::string s = filepath;
+#else
+  std::string s;
+  wordexp_t p;
+
+  if (filepath.empty()) {
+    return "";
+  }
+
+  // Quote the string to keep any spaces in filepath intact.
+  std::string quoted_path = "\"" + filepath + "\"";
+  // char** w;
+  int ret = wordexp(quoted_path.c_str(), &p, 0);
+  if (ret) {
+    // err
+    s = filepath;
+    return s;
+  }
+
+  // Use first element only.
+  if (p.we_wordv) {
+    s = std::string(p.we_wordv[0]);
+    wordfree(&p);
+  } else {
+    s = filepath;
+  }
+
+#endif
+
+  return s;
+#endif
+}
+
+bool ReadWholeFile(std::vector<unsigned char> *out, std::string *err,
+                   const std::string &filepath, void *) {
+#ifdef TINYGLTF_ANDROID_LOAD_FROM_ASSETS
+  if (asset_manager) {
+    AAsset *asset = AAssetManager_open(asset_manager, filepath.c_str(),
+                                       AASSET_MODE_STREAMING);
+    if (!asset) {
+      if (err) {
+        (*err) += "File open error : " + filepath + "\n";
+      }
+      return false;
+    }
+    size_t size = AAsset_getLength(asset);
+    if (size == 0) {
+      if (err) {
+        (*err) += "Invalid file size : " + filepath +
+                  " (does the path point to a directory?)";
+      }
+      return false;
+    }
+    out->resize(size);
+    AAsset_read(asset, reinterpret_cast<char *>(&out->at(0)), size);
+    AAsset_close(asset);
+    return true;
+  } else {
+    if (err) {
+      (*err) += "No asset manager specified : " + filepath + "\n";
+    }
+    return false;
+  }
+#else
+#ifdef _WIN32
+#if defined(__GLIBCXX__)  // mingw
+  int file_descriptor =
+      _wopen(UTF8ToWchar(filepath).c_str(), _O_RDONLY | _O_BINARY);
+  __gnu_cxx::stdio_filebuf<char> wfile_buf(file_descriptor, std::ios_base::in);
+  std::istream f(&wfile_buf);
+#elif defined(_MSC_VER) || defined(_LIBCPP_VERSION)
+  // For libcxx, assume _LIBCPP_HAS_OPEN_WITH_WCHAR is defined to accept
+  // `wchar_t *`
+  std::ifstream f(UTF8ToWchar(filepath).c_str(), std::ifstream::binary);
+#else
+  // Unknown compiler/runtime
+  std::ifstream f(filepath.c_str(), std::ifstream::binary);
+#endif
+#else
+  std::ifstream f(filepath.c_str(), std::ifstream::binary);
+#endif
+  if (!f) {
+    if (err) {
+      (*err) += "File open error : " + filepath + "\n";
+    }
+    return false;
+  }
+
+  f.seekg(0, f.end);
+  size_t sz = static_cast<size_t>(f.tellg());
+  f.seekg(0, f.beg);
+
+  if (int64_t(sz) < 0) {
+    if (err) {
+      (*err) += "Invalid file size : " + filepath +
+                " (does the path point to a directory?)";
+    }
+    return false;
+  } else if (sz == 0) {
+    if (err) {
+      (*err) += "File is empty : " + filepath + "\n";
+    }
+    return false;
+  }
+
+  out->resize(sz);
+  f.read(reinterpret_cast<char *>(&out->at(0)),
+         static_cast<std::streamsize>(sz));
+
+  return true;
+#endif
+}
+
+bool WriteWholeFile(std::string *err, const std::string &filepath,
+                    const std::vector<unsigned char> &contents, void *) {
+#ifdef _WIN32
+#if defined(__GLIBCXX__)  // mingw
+  int file_descriptor = _wopen(UTF8ToWchar(filepath).c_str(),
+                               _O_CREAT | _O_WRONLY | _O_TRUNC | _O_BINARY);
+  __gnu_cxx::stdio_filebuf<char> wfile_buf(
+      file_descriptor, std::ios_base::out | std::ios_base::binary);
+  std::ostream f(&wfile_buf);
+#elif defined(_MSC_VER)
+  std::ofstream f(UTF8ToWchar(filepath).c_str(), std::ofstream::binary);
+#else  // clang?
+  std::ofstream f(filepath.c_str(), std::ofstream::binary);
+#endif
+#else
+  std::ofstream f(filepath.c_str(), std::ofstream::binary);
+#endif
+  if (!f) {
+    if (err) {
+      (*err) += "File open error for writing : " + filepath + "\n";
+    }
+    return false;
+  }
+
+  f.write(reinterpret_cast<const char *>(&contents.at(0)),
+          static_cast<std::streamsize>(contents.size()));
+  if (!f) {
+    if (err) {
+      (*err) += "File write error: " + filepath + "\n";
+    }
+    return false;
+  }
+
+  return true;
+}
+
+#endif  // TINYGLTF_NO_FS
+
+static std::string MimeToExt(const std::string &mimeType) {
+  if (mimeType == "image/jpeg") {
+    return "jpg";
+  } else if (mimeType == "image/png") {
+    return "png";
+  } else if (mimeType == "image/bmp") {
+    return "bmp";
+  } else if (mimeType == "image/gif") {
+    return "gif";
+  }
+
+  return "";
+}
+
+static void UpdateImageObject(Image &image, std::string &baseDir, int index,
+                              bool embedImages,
+                              WriteImageDataFunction *WriteImageData = nullptr,
+                              void *user_data = nullptr) {
+  std::string filename;
+  std::string ext;
+  // If image has uri, use it it as a filename
+  if (image.uri.size()) {
+    filename = GetBaseFilename(image.uri);
+    ext = GetFilePathExtension(filename);
+  } else if (image.bufferView != -1) {
+    // If there's no URI and the data exists in a buffer,
+    // don't change properties or write images
+  } else if (image.name.size()) {
+    ext = MimeToExt(image.mimeType);
+    // Otherwise use name as filename
+    filename = image.name + "." + ext;
+  } else {
+    ext = MimeToExt(image.mimeType);
+    // Fallback to index of image as filename
+    filename = std::to_string(index) + "." + ext;
+  }
+
+  // If callback is set, modify image data object
+  if (*WriteImageData != nullptr && !filename.empty()) {
+    std::string uri;
+    (*WriteImageData)(&baseDir, &filename, &image, embedImages, user_data);
+  }
+}
+
+bool IsDataURI(const std::string &in) {
+  std::string header = "data:application/octet-stream;base64,";
+  if (in.find(header) == 0) {
+    return true;
+  }
+
+  header = "data:image/jpeg;base64,";
+  if (in.find(header) == 0) {
+    return true;
+  }
+
+  header = "data:image/png;base64,";
+  if (in.find(header) == 0) {
+    return true;
+  }
+
+  header = "data:image/bmp;base64,";
+  if (in.find(header) == 0) {
+    return true;
+  }
+
+  header = "data:image/gif;base64,";
+  if (in.find(header) == 0) {
+    return true;
+  }
+
+  header = "data:text/plain;base64,";
+  if (in.find(header) == 0) {
+    return true;
+  }
+
+  header = "data:application/gltf-buffer;base64,";
+  if (in.find(header) == 0) {
+    return true;
+  }
+
+  return false;
+}
+
+bool DecodeDataURI(std::vector<unsigned char> *out, std::string &mime_type,
+                   const std::string &in, size_t reqBytes, bool checkSize) {
+  std::string header = "data:application/octet-stream;base64,";
+  std::string data;
+  if (in.find(header) == 0) {
+    data = base64_decode(in.substr(header.size()));  // cut mime string.
+  }
+
+  if (data.empty()) {
+    header = "data:image/jpeg;base64,";
+    if (in.find(header) == 0) {
+      mime_type = "image/jpeg";
+      data = base64_decode(in.substr(header.size()));  // cut mime string.
+    }
+  }
+
+  if (data.empty()) {
+    header = "data:image/png;base64,";
+    if (in.find(header) == 0) {
+      mime_type = "image/png";
+      data = base64_decode(in.substr(header.size()));  // cut mime string.
+    }
+  }
+
+  if (data.empty()) {
+    header = "data:image/bmp;base64,";
+    if (in.find(header) == 0) {
+      mime_type = "image/bmp";
+      data = base64_decode(in.substr(header.size()));  // cut mime string.
+    }
+  }
+
+  if (data.empty()) {
+    header = "data:image/gif;base64,";
+    if (in.find(header) == 0) {
+      mime_type = "image/gif";
+      data = base64_decode(in.substr(header.size()));  // cut mime string.
+    }
+  }
+
+  if (data.empty()) {
+    header = "data:text/plain;base64,";
+    if (in.find(header) == 0) {
+      mime_type = "text/plain";
+      data = base64_decode(in.substr(header.size()));
+    }
+  }
+
+  if (data.empty()) {
+    header = "data:application/gltf-buffer;base64,";
+    if (in.find(header) == 0) {
+      data = base64_decode(in.substr(header.size()));
+    }
+  }
+
+  // TODO(syoyo): Allow empty buffer? #229
+  if (data.empty()) {
+    return false;
+  }
+
+  if (checkSize) {
+    if (data.size() != reqBytes) {
+      return false;
+    }
+    out->resize(reqBytes);
+  } else {
+    out->resize(data.size());
+  }
+  std::copy(data.begin(), data.end(), out->begin());
+  return true;
+}
+
+namespace {
+bool GetInt(const json &o, int &val) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  if (!o.IsDouble()) {
+    if (o.IsInt()) {
+      val = o.GetInt();
+      return true;
+    } else if (o.IsUint()) {
+      val = static_cast<int>(o.GetUint());
+      return true;
+    } else if (o.IsInt64()) {
+      val = static_cast<int>(o.GetInt64());
+      return true;
+    } else if (o.IsUint64()) {
+      val = static_cast<int>(o.GetUint64());
+      return true;
+    }
+  }
+
+  return false;
+#else
+  auto type = o.type();
+
+  if ((type == json::value_t::number_integer) ||
+      (type == json::value_t::number_unsigned)) {
+    val = static_cast<int>(o.get<int64_t>());
+    return true;
+  }
+
+  return false;
+#endif
+}
+
+#ifdef TINYGLTF_USE_RAPIDJSON
+bool GetDouble(const json &o, double &val) {
+  if (o.IsDouble()) {
+    val = o.GetDouble();
+    return true;
+  }
+
+  return false;
+}
+#endif
+
+bool GetNumber(const json &o, double &val) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  if (o.IsNumber()) {
+    val = o.GetDouble();
+    return true;
+  }
+
+  return false;
+#else
+  if (o.is_number()) {
+    val = o.get<double>();
+    return true;
+  }
+
+  return false;
+#endif
+}
+
+bool GetString(const json &o, std::string &val) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  if (o.IsString()) {
+    val = o.GetString();
+    return true;
+  }
+
+  return false;
+#else
+  if (o.type() == json::value_t::string) {
+    val = o.get<std::string>();
+    return true;
+  }
+
+  return false;
+#endif
+}
+
+bool IsArray(const json &o) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  return o.IsArray();
+#else
+  return o.is_array();
+#endif
+}
+
+json_const_array_iterator ArrayBegin(const json &o) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  return o.Begin();
+#else
+  return o.begin();
+#endif
+}
+
+json_const_array_iterator ArrayEnd(const json &o) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  return o.End();
+#else
+  return o.end();
+#endif
+}
+
+bool IsObject(const json &o) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  return o.IsObject();
+#else
+  return o.is_object();
+#endif
+}
+
+json_const_iterator ObjectBegin(const json &o) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  return o.MemberBegin();
+#else
+  return o.begin();
+#endif
+}
+
+json_const_iterator ObjectEnd(const json &o) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  return o.MemberEnd();
+#else
+  return o.end();
+#endif
+}
+
+// Making this a const char* results in a pointer to a temporary when
+// TINYGLTF_USE_RAPIDJSON is off.
+std::string GetKey(json_const_iterator &it) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  return it->name.GetString();
+#else
+  return it.key().c_str();
+#endif
+}
+
+bool FindMember(const json &o, const char *member, json_const_iterator &it) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  if (!o.IsObject()) {
+    return false;
+  }
+  it = o.FindMember(member);
+  return it != o.MemberEnd();
+#else
+  it = o.find(member);
+  return it != o.end();
+#endif
+}
+
+const json &GetValue(json_const_iterator &it) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  return it->value;
+#else
+  return it.value();
+#endif
+}
+
+std::string JsonToString(const json &o, int spacing = -1) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  using namespace rapidjson;
+  StringBuffer buffer;
+  if (spacing == -1) {
+    Writer<StringBuffer> writer(buffer);
+    o.Accept(writer);
+  } else {
+    PrettyWriter<StringBuffer> writer(buffer);
+    writer.SetIndent(' ', uint32_t(spacing));
+    o.Accept(writer);
+  }
+  return buffer.GetString();
+#else
+  return o.dump(spacing);
+#endif
+}
+
+}  // namespace
+
+static bool ParseJsonAsValue(Value *ret, const json &o) {
+  Value val{};
+#ifdef TINYGLTF_USE_RAPIDJSON
+  using rapidjson::Type;
+  switch (o.GetType()) {
+    case Type::kObjectType: {
+      Value::Object value_object;
+      for (auto it = o.MemberBegin(); it != o.MemberEnd(); ++it) {
+        Value entry;
+        ParseJsonAsValue(&entry, it->value);
+        if (entry.Type() != NULL_TYPE)
+          value_object.emplace(GetKey(it), std::move(entry));
+      }
+      if (value_object.size() > 0) val = Value(std::move(value_object));
+    } break;
+    case Type::kArrayType: {
+      Value::Array value_array;
+      value_array.reserve(o.Size());
+      for (auto it = o.Begin(); it != o.End(); ++it) {
+        Value entry;
+        ParseJsonAsValue(&entry, *it);
+        if (entry.Type() != NULL_TYPE)
+          value_array.emplace_back(std::move(entry));
+      }
+      if (value_array.size() > 0) val = Value(std::move(value_array));
+    } break;
+    case Type::kStringType:
+      val = Value(std::string(o.GetString()));
+      break;
+    case Type::kFalseType:
+    case Type::kTrueType:
+      val = Value(o.GetBool());
+      break;
+    case Type::kNumberType:
+      if (!o.IsDouble()) {
+        int i = 0;
+        GetInt(o, i);
+        val = Value(i);
+      } else {
+        double d = 0.0;
+        GetDouble(o, d);
+        val = Value(d);
+      }
+      break;
+    case Type::kNullType:
+      break;
+      // all types are covered, so no `case default`
+  }
+#else
+  switch (o.type()) {
+    case json::value_t::object: {
+      Value::Object value_object;
+      for (auto it = o.begin(); it != o.end(); it++) {
+        Value entry;
+        ParseJsonAsValue(&entry, it.value());
+        if (entry.Type() != NULL_TYPE)
+          value_object.emplace(it.key(), std::move(entry));
+      }
+      if (value_object.size() > 0) val = Value(std::move(value_object));
+    } break;
+    case json::value_t::array: {
+      Value::Array value_array;
+      value_array.reserve(o.size());
+      for (auto it = o.begin(); it != o.end(); it++) {
+        Value entry;
+        ParseJsonAsValue(&entry, it.value());
+        if (entry.Type() != NULL_TYPE)
+          value_array.emplace_back(std::move(entry));
+      }
+      if (value_array.size() > 0) val = Value(std::move(value_array));
+    } break;
+    case json::value_t::string:
+      val = Value(o.get<std::string>());
+      break;
+    case json::value_t::boolean:
+      val = Value(o.get<bool>());
+      break;
+    case json::value_t::number_integer:
+    case json::value_t::number_unsigned:
+      val = Value(static_cast<int>(o.get<int64_t>()));
+      break;
+    case json::value_t::number_float:
+      val = Value(o.get<double>());
+      break;
+    case json::value_t::null:
+    case json::value_t::discarded:
+      // default:
+      break;
+  }
+#endif
+  if (ret) *ret = std::move(val);
+
+  return val.Type() != NULL_TYPE;
+}
+
+static bool ParseExtrasProperty(Value *ret, const json &o) {
+  json_const_iterator it;
+  if (!FindMember(o, "extras", it)) {
+    return false;
+  }
+
+  return ParseJsonAsValue(ret, GetValue(it));
+}
+
+static bool ParseBooleanProperty(bool *ret, std::string *err, const json &o,
+                                 const std::string &property,
+                                 const bool required,
+                                 const std::string &parent_node = "") {
+  json_const_iterator it;
+  if (!FindMember(o, property.c_str(), it)) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is missing";
+        if (!parent_node.empty()) {
+          (*err) += " in " + parent_node;
+        }
+        (*err) += ".\n";
+      }
+    }
+    return false;
+  }
+
+  auto &value = GetValue(it);
+
+  bool isBoolean;
+  bool boolValue = false;
+#ifdef TINYGLTF_USE_RAPIDJSON
+  isBoolean = value.IsBool();
+  if (isBoolean) {
+    boolValue = value.GetBool();
+  }
+#else
+  isBoolean = value.is_boolean();
+  if (isBoolean) {
+    boolValue = value.get<bool>();
+  }
+#endif
+  if (!isBoolean) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is not a bool type.\n";
+      }
+    }
+    return false;
+  }
+
+  if (ret) {
+    (*ret) = boolValue;
+  }
+
+  return true;
+}
+
+static bool ParseIntegerProperty(int *ret, std::string *err, const json &o,
+                                 const std::string &property,
+                                 const bool required,
+                                 const std::string &parent_node = "") {
+  json_const_iterator it;
+  if (!FindMember(o, property.c_str(), it)) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is missing";
+        if (!parent_node.empty()) {
+          (*err) += " in " + parent_node;
+        }
+        (*err) += ".\n";
+      }
+    }
+    return false;
+  }
+
+  int intValue;
+  bool isInt = GetInt(GetValue(it), intValue);
+  if (!isInt) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is not an integer type.\n";
+      }
+    }
+    return false;
+  }
+
+  if (ret) {
+    (*ret) = intValue;
+  }
+
+  return true;
+}
+
+static bool ParseUnsignedProperty(size_t *ret, std::string *err, const json &o,
+                                  const std::string &property,
+                                  const bool required,
+                                  const std::string &parent_node = "") {
+  json_const_iterator it;
+  if (!FindMember(o, property.c_str(), it)) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is missing";
+        if (!parent_node.empty()) {
+          (*err) += " in " + parent_node;
+        }
+        (*err) += ".\n";
+      }
+    }
+    return false;
+  }
+
+  auto &value = GetValue(it);
+
+  size_t uValue = 0;
+  bool isUValue;
+#ifdef TINYGLTF_USE_RAPIDJSON
+  isUValue = false;
+  if (value.IsUint()) {
+    uValue = value.GetUint();
+    isUValue = true;
+  } else if (value.IsUint64()) {
+    uValue = value.GetUint64();
+    isUValue = true;
+  }
+#else
+  isUValue = value.is_number_unsigned();
+  if (isUValue) {
+    uValue = value.get<size_t>();
+  }
+#endif
+  if (!isUValue) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is not a positive integer.\n";
+      }
+    }
+    return false;
+  }
+
+  if (ret) {
+    (*ret) = uValue;
+  }
+
+  return true;
+}
+
+static bool ParseNumberProperty(double *ret, std::string *err, const json &o,
+                                const std::string &property,
+                                const bool required,
+                                const std::string &parent_node = "") {
+  json_const_iterator it;
+
+  if (!FindMember(o, property.c_str(), it)) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is missing";
+        if (!parent_node.empty()) {
+          (*err) += " in " + parent_node;
+        }
+        (*err) += ".\n";
+      }
+    }
+    return false;
+  }
+
+  double numberValue;
+  bool isNumber = GetNumber(GetValue(it), numberValue);
+
+  if (!isNumber) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is not a number type.\n";
+      }
+    }
+    return false;
+  }
+
+  if (ret) {
+    (*ret) = numberValue;
+  }
+
+  return true;
+}
+
+static bool ParseNumberArrayProperty(std::vector<double> *ret, std::string *err,
+                                     const json &o, const std::string &property,
+                                     bool required,
+                                     const std::string &parent_node = "") {
+  json_const_iterator it;
+  if (!FindMember(o, property.c_str(), it)) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is missing";
+        if (!parent_node.empty()) {
+          (*err) += " in " + parent_node;
+        }
+        (*err) += ".\n";
+      }
+    }
+    return false;
+  }
+
+  if (!IsArray(GetValue(it))) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is not an array";
+        if (!parent_node.empty()) {
+          (*err) += " in " + parent_node;
+        }
+        (*err) += ".\n";
+      }
+    }
+    return false;
+  }
+
+  ret->clear();
+  auto end = ArrayEnd(GetValue(it));
+  for (auto i = ArrayBegin(GetValue(it)); i != end; ++i) {
+    double numberValue;
+    const bool isNumber = GetNumber(*i, numberValue);
+    if (!isNumber) {
+      if (required) {
+        if (err) {
+          (*err) += "'" + property + "' property is not a number.\n";
+          if (!parent_node.empty()) {
+            (*err) += " in " + parent_node;
+          }
+          (*err) += ".\n";
+        }
+      }
+      return false;
+    }
+    ret->push_back(numberValue);
+  }
+
+  return true;
+}
+
+static bool ParseIntegerArrayProperty(std::vector<int> *ret, std::string *err,
+                                      const json &o,
+                                      const std::string &property,
+                                      bool required,
+                                      const std::string &parent_node = "") {
+  json_const_iterator it;
+  if (!FindMember(o, property.c_str(), it)) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is missing";
+        if (!parent_node.empty()) {
+          (*err) += " in " + parent_node;
+        }
+        (*err) += ".\n";
+      }
+    }
+    return false;
+  }
+
+  if (!IsArray(GetValue(it))) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is not an array";
+        if (!parent_node.empty()) {
+          (*err) += " in " + parent_node;
+        }
+        (*err) += ".\n";
+      }
+    }
+    return false;
+  }
+
+  ret->clear();
+  auto end = ArrayEnd(GetValue(it));
+  for (auto i = ArrayBegin(GetValue(it)); i != end; ++i) {
+    int numberValue;
+    bool isNumber = GetInt(*i, numberValue);
+    if (!isNumber) {
+      if (required) {
+        if (err) {
+          (*err) += "'" + property + "' property is not an integer type.\n";
+          if (!parent_node.empty()) {
+            (*err) += " in " + parent_node;
+          }
+          (*err) += ".\n";
+        }
+      }
+      return false;
+    }
+    ret->push_back(numberValue);
+  }
+
+  return true;
+}
+
+static bool ParseStringProperty(
+    std::string *ret, std::string *err, const json &o,
+    const std::string &property, bool required,
+    const std::string &parent_node = std::string()) {
+  json_const_iterator it;
+  if (!FindMember(o, property.c_str(), it)) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is missing";
+        if (parent_node.empty()) {
+          (*err) += ".\n";
+        } else {
+          (*err) += " in `" + parent_node + "'.\n";
+        }
+      }
+    }
+    return false;
+  }
+
+  std::string strValue;
+  if (!GetString(GetValue(it), strValue)) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is not a string type.\n";
+      }
+    }
+    return false;
+  }
+
+  if (ret) {
+    (*ret) = std::move(strValue);
+  }
+
+  return true;
+}
+
+static bool ParseStringIntegerProperty(std::map<std::string, int> *ret,
+                                       std::string *err, const json &o,
+                                       const std::string &property,
+                                       bool required,
+                                       const std::string &parent = "") {
+  json_const_iterator it;
+  if (!FindMember(o, property.c_str(), it)) {
+    if (required) {
+      if (err) {
+        if (!parent.empty()) {
+          (*err) +=
+              "'" + property + "' property is missing in " + parent + ".\n";
+        } else {
+          (*err) += "'" + property + "' property is missing.\n";
+        }
+      }
+    }
+    return false;
+  }
+
+  const json &dict = GetValue(it);
+
+  // Make sure we are dealing with an object / dictionary.
+  if (!IsObject(dict)) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is not an object.\n";
+      }
+    }
+    return false;
+  }
+
+  ret->clear();
+
+  json_const_iterator dictIt(ObjectBegin(dict));
+  json_const_iterator dictItEnd(ObjectEnd(dict));
+
+  for (; dictIt != dictItEnd; ++dictIt) {
+    int intVal;
+    if (!GetInt(GetValue(dictIt), intVal)) {
+      if (required) {
+        if (err) {
+          (*err) += "'" + property + "' value is not an integer type.\n";
+        }
+      }
+      return false;
+    }
+
+    // Insert into the list.
+    (*ret)[GetKey(dictIt)] = intVal;
+  }
+  return true;
+}
+
+static bool ParseJSONProperty(std::map<std::string, double> *ret,
+                              std::string *err, const json &o,
+                              const std::string &property, bool required) {
+  json_const_iterator it;
+  if (!FindMember(o, property.c_str(), it)) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is missing. \n'";
+      }
+    }
+    return false;
+  }
+
+  const json &obj = GetValue(it);
+
+  if (!IsObject(obj)) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is not a JSON object.\n";
+      }
+    }
+    return false;
+  }
+
+  ret->clear();
+
+  json_const_iterator it2(ObjectBegin(obj));
+  json_const_iterator itEnd(ObjectEnd(obj));
+  for (; it2 != itEnd; ++it2) {
+    double numVal;
+    if (GetNumber(GetValue(it2), numVal))
+      ret->emplace(std::string(GetKey(it2)), numVal);
+  }
+
+  return true;
+}
+
+static bool ParseParameterProperty(Parameter *param, std::string *err,
+                                   const json &o, const std::string &prop,
+                                   bool required) {
+  // A parameter value can either be a string or an array of either a boolean or
+  // a number. Booleans of any kind aren't supported here. Granted, it
+  // complicates the Parameter structure and breaks it semantically in the sense
+  // that the client probably works off the assumption that if the string is
+  // empty the vector is used, etc. Would a tagged union work?
+  if (ParseStringProperty(&param->string_value, err, o, prop, false)) {
+    // Found string property.
+    return true;
+  } else if (ParseNumberArrayProperty(&param->number_array, err, o, prop,
+                                      false)) {
+    // Found a number array.
+    return true;
+  } else if (ParseNumberProperty(&param->number_value, err, o, prop, false)) {
+    return param->has_number_value = true;
+  } else if (ParseJSONProperty(&param->json_double_value, err, o, prop,
+                               false)) {
+    return true;
+  } else if (ParseBooleanProperty(&param->bool_value, err, o, prop, false)) {
+    return true;
+  } else {
+    if (required) {
+      if (err) {
+        (*err) += "parameter must be a string or number / number array.\n";
+      }
+    }
+    return false;
+  }
+}
+
+static bool ParseExtensionsProperty(ExtensionMap *ret, std::string *err,
+                                    const json &o) {
+  (void)err;
+
+  json_const_iterator it;
+  if (!FindMember(o, "extensions", it)) {
+    return false;
+  }
+
+  auto &obj = GetValue(it);
+  if (!IsObject(obj)) {
+    return false;
+  }
+  ExtensionMap extensions;
+  json_const_iterator extIt = ObjectBegin(obj);  // it.value().begin();
+  json_const_iterator extEnd = ObjectEnd(obj);
+  for (; extIt != extEnd; ++extIt) {
+    auto &itObj = GetValue(extIt);
+    if (!IsObject(itObj)) continue;
+    std::string key(GetKey(extIt));
+    if (!ParseJsonAsValue(&extensions[key], itObj)) {
+      if (!key.empty()) {
+        // create empty object so that an extension object is still of type
+        // object
+        extensions[key] = Value{Value::Object{}};
+      }
+    }
+  }
+  if (ret) {
+    (*ret) = std::move(extensions);
+  }
+  return true;
+}
+
+static bool ParseAsset(Asset *asset, std::string *err, const json &o,
+                       bool store_original_json_for_extras_and_extensions) {
+  ParseStringProperty(&asset->version, err, o, "version", true, "Asset");
+  ParseStringProperty(&asset->generator, err, o, "generator", false, "Asset");
+  ParseStringProperty(&asset->minVersion, err, o, "minVersion", false, "Asset");
+  ParseStringProperty(&asset->copyright, err, o, "copyright", false, "Asset");
+
+  ParseExtensionsProperty(&asset->extensions, err, o);
+
+  // Unity exporter version is added as extra here
+  ParseExtrasProperty(&(asset->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        asset->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        asset->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseImage(Image *image, const int image_idx, std::string *err,
+                       std::string *warn, const json &o,
+                       bool store_original_json_for_extras_and_extensions,
+                       const std::string &basedir, FsCallbacks *fs,
+                       LoadImageDataFunction *LoadImageData = nullptr,
+                       void *load_image_user_data = nullptr) {
+  // A glTF image must either reference a bufferView or an image uri
+
+  // schema says oneOf [`bufferView`, `uri`]
+  // TODO(syoyo): Check the type of each parameters.
+  json_const_iterator it;
+  bool hasBufferView = FindMember(o, "bufferView", it);
+  bool hasURI = FindMember(o, "uri", it);
+
+  ParseStringProperty(&image->name, err, o, "name", false);
+
+  if (hasBufferView && hasURI) {
+    // Should not both defined.
+    if (err) {
+      (*err) +=
+          "Only one of `bufferView` or `uri` should be defined, but both are "
+          "defined for image[" +
+          std::to_string(image_idx) + "] name = \"" + image->name + "\"\n";
+    }
+    return false;
+  }
+
+  if (!hasBufferView && !hasURI) {
+    if (err) {
+      (*err) += "Neither required `bufferView` nor `uri` defined for image[" +
+                std::to_string(image_idx) + "] name = \"" + image->name +
+                "\"\n";
+    }
+    return false;
+  }
+
+  ParseExtensionsProperty(&image->extensions, err, o);
+  ParseExtrasProperty(&image->extras, o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator eit;
+      if (FindMember(o, "extensions", eit)) {
+        image->extensions_json_string = JsonToString(GetValue(eit));
+      }
+    }
+    {
+      json_const_iterator eit;
+      if (FindMember(o, "extras", eit)) {
+        image->extras_json_string = JsonToString(GetValue(eit));
+      }
+    }
+  }
+
+  if (hasBufferView) {
+    int bufferView = -1;
+    if (!ParseIntegerProperty(&bufferView, err, o, "bufferView", true)) {
+      if (err) {
+        (*err) += "Failed to parse `bufferView` for image[" +
+                  std::to_string(image_idx) + "] name = \"" + image->name +
+                  "\"\n";
+      }
+      return false;
+    }
+
+    std::string mime_type;
+    ParseStringProperty(&mime_type, err, o, "mimeType", false);
+
+    int width = 0;
+    ParseIntegerProperty(&width, err, o, "width", false);
+
+    int height = 0;
+    ParseIntegerProperty(&height, err, o, "height", false);
+
+    // Just only save some information here. Loading actual image data from
+    // bufferView is done after this `ParseImage` function.
+    image->bufferView = bufferView;
+    image->mimeType = mime_type;
+    image->width = width;
+    image->height = height;
+
+    return true;
+  }
+
+  // Parse URI & Load image data.
+
+  std::string uri;
+  std::string tmp_err;
+  if (!ParseStringProperty(&uri, &tmp_err, o, "uri", true)) {
+    if (err) {
+      (*err) += "Failed to parse `uri` for image[" + std::to_string(image_idx) +
+                "] name = \"" + image->name + "\".\n";
+    }
+    return false;
+  }
+
+  std::vector<unsigned char> img;
+
+  if (IsDataURI(uri)) {
+    if (!DecodeDataURI(&img, image->mimeType, uri, 0, false)) {
+      if (err) {
+        (*err) += "Failed to decode 'uri' for image[" +
+                  std::to_string(image_idx) + "] name = [" + image->name +
+                  "]\n";
+      }
+      return false;
+    }
+  } else {
+    // Assume external file
+    // Keep texture path (for textures that cannot be decoded)
+    image->uri = uri;
+#ifdef TINYGLTF_NO_EXTERNAL_IMAGE
+    return true;
+#endif
+    std::string decoded_uri = dlib::urldecode(uri);
+    if (!LoadExternalFile(&img, err, warn, decoded_uri, basedir,
+                          /* required */ false, /* required bytes */ 0,
+                          /* checksize */ false, fs)) {
+      if (warn) {
+        (*warn) += "Failed to load external 'uri' for image[" +
+                   std::to_string(image_idx) + "] name = [" + image->name +
+                   "]\n";
+      }
+      // If the image cannot be loaded, keep uri as image->uri.
+      return true;
+    }
+
+    if (img.empty()) {
+      if (warn) {
+        (*warn) += "Image data is empty for image[" +
+                   std::to_string(image_idx) + "] name = [" + image->name +
+                   "] \n";
+      }
+      return false;
+    }
+  }
+
+  if (*LoadImageData == nullptr) {
+    if (err) {
+      (*err) += "No LoadImageData callback specified.\n";
+    }
+    return false;
+  }
+  return (*LoadImageData)(image, image_idx, err, warn, 0, 0, &img.at(0),
+                          static_cast<int>(img.size()), load_image_user_data);
+}
+
+static bool ParseTexture(Texture *texture, std::string *err, const json &o,
+                         bool store_original_json_for_extras_and_extensions,
+                         const std::string &basedir) {
+  (void)basedir;
+  int sampler = -1;
+  int source = -1;
+  ParseIntegerProperty(&sampler, err, o, "sampler", false);
+
+  ParseIntegerProperty(&source, err, o, "source", false);
+
+  texture->sampler = sampler;
+  texture->source = source;
+
+  ParseExtensionsProperty(&texture->extensions, err, o);
+  ParseExtrasProperty(&texture->extras, o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        texture->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        texture->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  ParseStringProperty(&texture->name, err, o, "name", false);
+
+  return true;
+}
+
+static bool ParseTextureInfo(
+    TextureInfo *texinfo, std::string *err, const json &o,
+    bool store_original_json_for_extras_and_extensions) {
+  if (texinfo == nullptr) {
+    return false;
+  }
+
+  if (!ParseIntegerProperty(&texinfo->index, err, o, "index",
+                            /* required */ true, "TextureInfo")) {
+    return false;
+  }
+
+  ParseIntegerProperty(&texinfo->texCoord, err, o, "texCoord", false);
+
+  ParseExtensionsProperty(&texinfo->extensions, err, o);
+  ParseExtrasProperty(&texinfo->extras, o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        texinfo->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        texinfo->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseNormalTextureInfo(
+    NormalTextureInfo *texinfo, std::string *err, const json &o,
+    bool store_original_json_for_extras_and_extensions) {
+  if (texinfo == nullptr) {
+    return false;
+  }
+
+  if (!ParseIntegerProperty(&texinfo->index, err, o, "index",
+                            /* required */ true, "NormalTextureInfo")) {
+    return false;
+  }
+
+  ParseIntegerProperty(&texinfo->texCoord, err, o, "texCoord", false);
+  ParseNumberProperty(&texinfo->scale, err, o, "scale", false);
+
+  ParseExtensionsProperty(&texinfo->extensions, err, o);
+  ParseExtrasProperty(&texinfo->extras, o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        texinfo->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        texinfo->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseOcclusionTextureInfo(
+    OcclusionTextureInfo *texinfo, std::string *err, const json &o,
+    bool store_original_json_for_extras_and_extensions) {
+  if (texinfo == nullptr) {
+    return false;
+  }
+
+  if (!ParseIntegerProperty(&texinfo->index, err, o, "index",
+                            /* required */ true, "NormalTextureInfo")) {
+    return false;
+  }
+
+  ParseIntegerProperty(&texinfo->texCoord, err, o, "texCoord", false);
+  ParseNumberProperty(&texinfo->strength, err, o, "strength", false);
+
+  ParseExtensionsProperty(&texinfo->extensions, err, o);
+  ParseExtrasProperty(&texinfo->extras, o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        texinfo->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        texinfo->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseBuffer(Buffer *buffer, std::string *err, const json &o,
+                        bool store_original_json_for_extras_and_extensions,
+                        FsCallbacks *fs, const std::string &basedir,
+                        bool is_binary = false,
+                        const unsigned char *bin_data = nullptr,
+                        size_t bin_size = 0) {
+  size_t byteLength;
+  if (!ParseUnsignedProperty(&byteLength, err, o, "byteLength", true,
+                             "Buffer")) {
+    return false;
+  }
+
+  // In glTF 2.0, uri is not mandatory anymore
+  buffer->uri.clear();
+  ParseStringProperty(&buffer->uri, err, o, "uri", false, "Buffer");
+
+  // having an empty uri for a non embedded image should not be valid
+  if (!is_binary && buffer->uri.empty()) {
+    if (err) {
+      (*err) += "'uri' is missing from non binary glTF file buffer.\n";
+    }
+  }
+
+  json_const_iterator type;
+  if (FindMember(o, "type", type)) {
+    std::string typeStr;
+    if (GetString(GetValue(type), typeStr)) {
+      if (typeStr.compare("arraybuffer") == 0) {
+        // buffer.type = "arraybuffer";
+      }
+    }
+  }
+
+  if (is_binary) {
+    // Still binary glTF accepts external dataURI.
+    if (!buffer->uri.empty()) {
+      // First try embedded data URI.
+      if (IsDataURI(buffer->uri)) {
+        std::string mime_type;
+        if (!DecodeDataURI(&buffer->data, mime_type, buffer->uri, byteLength,
+                           true)) {
+          if (err) {
+            (*err) +=
+                "Failed to decode 'uri' : " + buffer->uri + " in Buffer\n";
+          }
+          return false;
+        }
+      } else {
+        // External .bin file.
+        std::string decoded_uri = dlib::urldecode(buffer->uri);
+        if (!LoadExternalFile(&buffer->data, err, /* warn */ nullptr,
+                              decoded_uri, basedir, /* required */ true,
+                              byteLength, /* checkSize */ true, fs)) {
+          return false;
+        }
+      }
+    } else {
+      // load data from (embedded) binary data
+
+      if ((bin_size == 0) || (bin_data == nullptr)) {
+        if (err) {
+          (*err) += "Invalid binary data in `Buffer'.\n";
+        }
+        return false;
+      }
+
+      if (byteLength > bin_size) {
+        if (err) {
+          std::stringstream ss;
+          ss << "Invalid `byteLength'. Must be equal or less than binary size: "
+                "`byteLength' = "
+             << byteLength << ", binary size = " << bin_size << std::endl;
+          (*err) += ss.str();
+        }
+        return false;
+      }
+
+      // Read buffer data
+      buffer->data.resize(static_cast<size_t>(byteLength));
+      memcpy(&(buffer->data.at(0)), bin_data, static_cast<size_t>(byteLength));
+    }
+
+  } else {
+    if (IsDataURI(buffer->uri)) {
+      std::string mime_type;
+      if (!DecodeDataURI(&buffer->data, mime_type, buffer->uri, byteLength,
+                         true)) {
+        if (err) {
+          (*err) += "Failed to decode 'uri' : " + buffer->uri + " in Buffer\n";
+        }
+        return false;
+      }
+    } else {
+      // Assume external .bin file.
+      std::string decoded_uri = dlib::urldecode(buffer->uri);
+      if (!LoadExternalFile(&buffer->data, err, /* warn */ nullptr, decoded_uri,
+                            basedir, /* required */ true, byteLength,
+                            /* checkSize */ true, fs)) {
+        return false;
+      }
+    }
+  }
+
+  ParseStringProperty(&buffer->name, err, o, "name", false);
+
+  ParseExtensionsProperty(&buffer->extensions, err, o);
+  ParseExtrasProperty(&buffer->extras, o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        buffer->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        buffer->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseBufferView(
+    BufferView *bufferView, std::string *err, const json &o,
+    bool store_original_json_for_extras_and_extensions) {
+  int buffer = -1;
+  if (!ParseIntegerProperty(&buffer, err, o, "buffer", true, "BufferView")) {
+    return false;
+  }
+
+  size_t byteOffset = 0;
+  ParseUnsignedProperty(&byteOffset, err, o, "byteOffset", false);
+
+  size_t byteLength = 1;
+  if (!ParseUnsignedProperty(&byteLength, err, o, "byteLength", true,
+                             "BufferView")) {
+    return false;
+  }
+
+  size_t byteStride = 0;
+  if (!ParseUnsignedProperty(&byteStride, err, o, "byteStride", false)) {
+    // Spec says: When byteStride of referenced bufferView is not defined, it
+    // means that accessor elements are tightly packed, i.e., effective stride
+    // equals the size of the element.
+    // We cannot determine the actual byteStride until Accessor are parsed, thus
+    // set 0(= tightly packed) here(as done in OpenGL's VertexAttribPoiner)
+    byteStride = 0;
+  }
+
+  if ((byteStride > 252) || ((byteStride % 4) != 0)) {
+    if (err) {
+      std::stringstream ss;
+      ss << "Invalid `byteStride' value. `byteStride' must be the multiple of "
+            "4 : "
+         << byteStride << std::endl;
+
+      (*err) += ss.str();
+    }
+    return false;
+  }
+
+  int target = 0;
+  ParseIntegerProperty(&target, err, o, "target", false);
+  if ((target == TINYGLTF_TARGET_ARRAY_BUFFER) ||
+      (target == TINYGLTF_TARGET_ELEMENT_ARRAY_BUFFER)) {
+    // OK
+  } else {
+    target = 0;
+  }
+  bufferView->target = target;
+
+  ParseStringProperty(&bufferView->name, err, o, "name", false);
+
+  ParseExtensionsProperty(&bufferView->extensions, err, o);
+  ParseExtrasProperty(&bufferView->extras, o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        bufferView->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        bufferView->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  bufferView->buffer = buffer;
+  bufferView->byteOffset = byteOffset;
+  bufferView->byteLength = byteLength;
+  bufferView->byteStride = byteStride;
+  return true;
+}
+
+static bool ParseSparseAccessor(Accessor *accessor, std::string *err,
+                                const json &o) {
+  accessor->sparse.isSparse = true;
+
+  int count = 0;
+  ParseIntegerProperty(&count, err, o, "count", true);
+
+  json_const_iterator indices_iterator;
+  json_const_iterator values_iterator;
+  if (!FindMember(o, "indices", indices_iterator)) {
+    (*err) = "the sparse object of this accessor doesn't have indices";
+    return false;
+  }
+
+  if (!FindMember(o, "values", values_iterator)) {
+    (*err) = "the sparse object ob ths accessor doesn't have values";
+    return false;
+  }
+
+  const json &indices_obj = GetValue(indices_iterator);
+  const json &values_obj = GetValue(values_iterator);
+
+  int indices_buffer_view = 0, indices_byte_offset = 0, component_type = 0;
+  ParseIntegerProperty(&indices_buffer_view, err, indices_obj, "bufferView",
+                       true);
+  ParseIntegerProperty(&indices_byte_offset, err, indices_obj, "byteOffset",
+                       true);
+  ParseIntegerProperty(&component_type, err, indices_obj, "componentType",
+                       true);
+
+  int values_buffer_view = 0, values_byte_offset = 0;
+  ParseIntegerProperty(&values_buffer_view, err, values_obj, "bufferView",
+                       true);
+  ParseIntegerProperty(&values_byte_offset, err, values_obj, "byteOffset",
+                       true);
+
+  accessor->sparse.count = count;
+  accessor->sparse.indices.bufferView = indices_buffer_view;
+  accessor->sparse.indices.byteOffset = indices_byte_offset;
+  accessor->sparse.indices.componentType = component_type;
+  accessor->sparse.values.bufferView = values_buffer_view;
+  accessor->sparse.values.byteOffset = values_byte_offset;
+
+  // todo check theses values
+
+  return true;
+}
+
+static bool ParseAccessor(Accessor *accessor, std::string *err, const json &o,
+                          bool store_original_json_for_extras_and_extensions) {
+  int bufferView = -1;
+  ParseIntegerProperty(&bufferView, err, o, "bufferView", false, "Accessor");
+
+  size_t byteOffset = 0;
+  ParseUnsignedProperty(&byteOffset, err, o, "byteOffset", false, "Accessor");
+
+  bool normalized = false;
+  ParseBooleanProperty(&normalized, err, o, "normalized", false, "Accessor");
+
+  size_t componentType = 0;
+  if (!ParseUnsignedProperty(&componentType, err, o, "componentType", true,
+                             "Accessor")) {
+    return false;
+  }
+
+  size_t count = 0;
+  if (!ParseUnsignedProperty(&count, err, o, "count", true, "Accessor")) {
+    return false;
+  }
+
+  std::string type;
+  if (!ParseStringProperty(&type, err, o, "type", true, "Accessor")) {
+    return false;
+  }
+
+  if (type.compare("SCALAR") == 0) {
+    accessor->type = TINYGLTF_TYPE_SCALAR;
+  } else if (type.compare("VEC2") == 0) {
+    accessor->type = TINYGLTF_TYPE_VEC2;
+  } else if (type.compare("VEC3") == 0) {
+    accessor->type = TINYGLTF_TYPE_VEC3;
+  } else if (type.compare("VEC4") == 0) {
+    accessor->type = TINYGLTF_TYPE_VEC4;
+  } else if (type.compare("MAT2") == 0) {
+    accessor->type = TINYGLTF_TYPE_MAT2;
+  } else if (type.compare("MAT3") == 0) {
+    accessor->type = TINYGLTF_TYPE_MAT3;
+  } else if (type.compare("MAT4") == 0) {
+    accessor->type = TINYGLTF_TYPE_MAT4;
+  } else {
+    std::stringstream ss;
+    ss << "Unsupported `type` for accessor object. Got \"" << type << "\"\n";
+    if (err) {
+      (*err) += ss.str();
+    }
+    return false;
+  }
+
+  ParseStringProperty(&accessor->name, err, o, "name", false);
+
+  accessor->minValues.clear();
+  accessor->maxValues.clear();
+  ParseNumberArrayProperty(&accessor->minValues, err, o, "min", false,
+                           "Accessor");
+
+  ParseNumberArrayProperty(&accessor->maxValues, err, o, "max", false,
+                           "Accessor");
+
+  accessor->count = count;
+  accessor->bufferView = bufferView;
+  accessor->byteOffset = byteOffset;
+  accessor->normalized = normalized;
+  {
+    if (componentType >= TINYGLTF_COMPONENT_TYPE_BYTE &&
+        componentType <= TINYGLTF_COMPONENT_TYPE_DOUBLE) {
+      // OK
+      accessor->componentType = int(componentType);
+    } else {
+      std::stringstream ss;
+      ss << "Invalid `componentType` in accessor. Got " << componentType
+         << "\n";
+      if (err) {
+        (*err) += ss.str();
+      }
+      return false;
+    }
+  }
+
+  ParseExtensionsProperty(&(accessor->extensions), err, o);
+  ParseExtrasProperty(&(accessor->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        accessor->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        accessor->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  // check if accessor has a "sparse" object:
+  json_const_iterator iterator;
+  if (FindMember(o, "sparse", iterator)) {
+    // here this accessor has a "sparse" subobject
+    return ParseSparseAccessor(accessor, err, GetValue(iterator));
+  }
+
+  return true;
+}
+
+#ifdef TINYGLTF_ENABLE_DRACO
+
+static void DecodeIndexBuffer(draco::Mesh *mesh, size_t componentSize,
+                              std::vector<uint8_t> &outBuffer) {
+  if (componentSize == 4) {
+    assert(sizeof(mesh->face(draco::FaceIndex(0))[0]) == componentSize);
+    memcpy(outBuffer.data(), &mesh->face(draco::FaceIndex(0))[0],
+           outBuffer.size());
+  } else {
+    size_t faceStride = componentSize * 3;
+    for (draco::FaceIndex f(0); f < mesh->num_faces(); ++f) {
+      const draco::Mesh::Face &face = mesh->face(f);
+      if (componentSize == 2) {
+        uint16_t indices[3] = {(uint16_t)face[0].value(),
+                               (uint16_t)face[1].value(),
+                               (uint16_t)face[2].value()};
+        memcpy(outBuffer.data() + f.value() * faceStride, &indices[0],
+               faceStride);
+      } else {
+        uint8_t indices[3] = {(uint8_t)face[0].value(),
+                              (uint8_t)face[1].value(),
+                              (uint8_t)face[2].value()};
+        memcpy(outBuffer.data() + f.value() * faceStride, &indices[0],
+               faceStride);
+      }
+    }
+  }
+}
+
+template <typename T>
+static bool GetAttributeForAllPoints(draco::Mesh *mesh,
+                                     const draco::PointAttribute *pAttribute,
+                                     std::vector<uint8_t> &outBuffer) {
+  size_t byteOffset = 0;
+  T values[4] = {0, 0, 0, 0};
+  for (draco::PointIndex i(0); i < mesh->num_points(); ++i) {
+    const draco::AttributeValueIndex val_index = pAttribute->mapped_index(i);
+    if (!pAttribute->ConvertValue<T>(val_index, pAttribute->num_components(),
+                                     values))
+      return false;
+
+    memcpy(outBuffer.data() + byteOffset, &values[0],
+           sizeof(T) * pAttribute->num_components());
+    byteOffset += sizeof(T) * pAttribute->num_components();
+  }
+
+  return true;
+}
+
+static bool GetAttributeForAllPoints(uint32_t componentType, draco::Mesh *mesh,
+                                     const draco::PointAttribute *pAttribute,
+                                     std::vector<uint8_t> &outBuffer) {
+  bool decodeResult = false;
+  switch (componentType) {
+    case TINYGLTF_COMPONENT_TYPE_UNSIGNED_BYTE:
+      decodeResult =
+          GetAttributeForAllPoints<uint8_t>(mesh, pAttribute, outBuffer);
+      break;
+    case TINYGLTF_COMPONENT_TYPE_BYTE:
+      decodeResult =
+          GetAttributeForAllPoints<int8_t>(mesh, pAttribute, outBuffer);
+      break;
+    case TINYGLTF_COMPONENT_TYPE_UNSIGNED_SHORT:
+      decodeResult =
+          GetAttributeForAllPoints<uint16_t>(mesh, pAttribute, outBuffer);
+      break;
+    case TINYGLTF_COMPONENT_TYPE_SHORT:
+      decodeResult =
+          GetAttributeForAllPoints<int16_t>(mesh, pAttribute, outBuffer);
+      break;
+    case TINYGLTF_COMPONENT_TYPE_INT:
+      decodeResult =
+          GetAttributeForAllPoints<int32_t>(mesh, pAttribute, outBuffer);
+      break;
+    case TINYGLTF_COMPONENT_TYPE_UNSIGNED_INT:
+      decodeResult =
+          GetAttributeForAllPoints<uint32_t>(mesh, pAttribute, outBuffer);
+      break;
+    case TINYGLTF_COMPONENT_TYPE_FLOAT:
+      decodeResult =
+          GetAttributeForAllPoints<float>(mesh, pAttribute, outBuffer);
+      break;
+    case TINYGLTF_COMPONENT_TYPE_DOUBLE:
+      decodeResult =
+          GetAttributeForAllPoints<double>(mesh, pAttribute, outBuffer);
+      break;
+    default:
+      return false;
+  }
+
+  return decodeResult;
+}
+
+static bool ParseDracoExtension(Primitive *primitive, Model *model,
+                                std::string *err,
+                                const Value &dracoExtensionValue) {
+  (void)err;
+  auto bufferViewValue = dracoExtensionValue.Get("bufferView");
+  if (!bufferViewValue.IsInt()) return false;
+  auto attributesValue = dracoExtensionValue.Get("attributes");
+  if (!attributesValue.IsObject()) return false;
+
+  auto attributesObject = attributesValue.Get<Value::Object>();
+  int bufferView = bufferViewValue.Get<int>();
+
+  BufferView &view = model->bufferViews[bufferView];
+  Buffer &buffer = model->buffers[view.buffer];
+  // BufferView has already been decoded
+  if (view.dracoDecoded) return true;
+  view.dracoDecoded = true;
+
+  const char *bufferViewData =
+      reinterpret_cast<const char *>(buffer.data.data() + view.byteOffset);
+  size_t bufferViewSize = view.byteLength;
+
+  // decode draco
+  draco::DecoderBuffer decoderBuffer;
+  decoderBuffer.Init(bufferViewData, bufferViewSize);
+  draco::Decoder decoder;
+  auto decodeResult = decoder.DecodeMeshFromBuffer(&decoderBuffer);
+  if (!decodeResult.ok()) {
+    return false;
+  }
+  const std::unique_ptr<draco::Mesh> &mesh = decodeResult.value();
+
+  // create new bufferView for indices
+  if (primitive->indices >= 0) {
+    int32_t componentSize = GetComponentSizeInBytes(
+        model->accessors[primitive->indices].componentType);
+    Buffer decodedIndexBuffer;
+    decodedIndexBuffer.data.resize(mesh->num_faces() * 3 * componentSize);
+
+    DecodeIndexBuffer(mesh.get(), componentSize, decodedIndexBuffer.data);
+
+    model->buffers.emplace_back(std::move(decodedIndexBuffer));
+
+    BufferView decodedIndexBufferView;
+    decodedIndexBufferView.buffer = int(model->buffers.size() - 1);
+    decodedIndexBufferView.byteLength =
+        int(mesh->num_faces() * 3 * componentSize);
+    decodedIndexBufferView.byteOffset = 0;
+    decodedIndexBufferView.byteStride = 0;
+    decodedIndexBufferView.target = TINYGLTF_TARGET_ARRAY_BUFFER;
+    model->bufferViews.emplace_back(std::move(decodedIndexBufferView));
+
+    model->accessors[primitive->indices].bufferView =
+        int(model->bufferViews.size() - 1);
+    model->accessors[primitive->indices].count = int(mesh->num_faces() * 3);
+  }
+
+  for (const auto &attribute : attributesObject) {
+    if (!attribute.second.IsInt()) return false;
+    auto primitiveAttribute = primitive->attributes.find(attribute.first);
+    if (primitiveAttribute == primitive->attributes.end()) return false;
+
+    int dracoAttributeIndex = attribute.second.Get<int>();
+    const auto pAttribute = mesh->GetAttributeByUniqueId(dracoAttributeIndex);
+    const auto componentType =
+        model->accessors[primitiveAttribute->second].componentType;
+
+    // Create a new buffer for this decoded buffer
+    Buffer decodedBuffer;
+    size_t bufferSize = mesh->num_points() * pAttribute->num_components() *
+                        GetComponentSizeInBytes(componentType);
+    decodedBuffer.data.resize(bufferSize);
+
+    if (!GetAttributeForAllPoints(componentType, mesh.get(), pAttribute,
+                                  decodedBuffer.data))
+      return false;
+
+    model->buffers.emplace_back(std::move(decodedBuffer));
+
+    BufferView decodedBufferView;
+    decodedBufferView.buffer = int(model->buffers.size() - 1);
+    decodedBufferView.byteLength = bufferSize;
+    decodedBufferView.byteOffset = pAttribute->byte_offset();
+    decodedBufferView.byteStride = pAttribute->byte_stride();
+    decodedBufferView.target = primitive->indices >= 0
+                                   ? TINYGLTF_TARGET_ELEMENT_ARRAY_BUFFER
+                                   : TINYGLTF_TARGET_ARRAY_BUFFER;
+    model->bufferViews.emplace_back(std::move(decodedBufferView));
+
+    model->accessors[primitiveAttribute->second].bufferView =
+        int(model->bufferViews.size() - 1);
+    model->accessors[primitiveAttribute->second].count =
+        int(mesh->num_points());
+  }
+
+  return true;
+}
+#endif
+
+static bool ParsePrimitive(Primitive *primitive, Model *model, std::string *err,
+                           const json &o,
+                           bool store_original_json_for_extras_and_extensions) {
+  int material = -1;
+  ParseIntegerProperty(&material, err, o, "material", false);
+  primitive->material = material;
+
+  int mode = TINYGLTF_MODE_TRIANGLES;
+  ParseIntegerProperty(&mode, err, o, "mode", false);
+  primitive->mode = mode;  // Why only triangled were supported ?
+
+  int indices = -1;
+  ParseIntegerProperty(&indices, err, o, "indices", false);
+  primitive->indices = indices;
+  if (!ParseStringIntegerProperty(&primitive->attributes, err, o, "attributes",
+                                  true, "Primitive")) {
+    return false;
+  }
+
+  // Look for morph targets
+  json_const_iterator targetsObject;
+  if (FindMember(o, "targets", targetsObject) &&
+      IsArray(GetValue(targetsObject))) {
+    auto targetsObjectEnd = ArrayEnd(GetValue(targetsObject));
+    for (json_const_array_iterator i = ArrayBegin(GetValue(targetsObject));
+         i != targetsObjectEnd; ++i) {
+      std::map<std::string, int> targetAttribues;
+
+      const json &dict = *i;
+      if (IsObject(dict)) {
+        json_const_iterator dictIt(ObjectBegin(dict));
+        json_const_iterator dictItEnd(ObjectEnd(dict));
+
+        for (; dictIt != dictItEnd; ++dictIt) {
+          int iVal;
+          if (GetInt(GetValue(dictIt), iVal))
+            targetAttribues[GetKey(dictIt)] = iVal;
+        }
+        primitive->targets.emplace_back(std::move(targetAttribues));
+      }
+    }
+  }
+
+  ParseExtrasProperty(&(primitive->extras), o);
+  ParseExtensionsProperty(&primitive->extensions, err, o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        primitive->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        primitive->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+#ifdef TINYGLTF_ENABLE_DRACO
+  auto dracoExtension =
+      primitive->extensions.find("KHR_draco_mesh_compression");
+  if (dracoExtension != primitive->extensions.end()) {
+    ParseDracoExtension(primitive, model, err, dracoExtension->second);
+  }
+#else
+  (void)model;
+#endif
+
+  return true;
+}
+
+static bool ParseMesh(Mesh *mesh, Model *model, std::string *err, const json &o,
+                      bool store_original_json_for_extras_and_extensions) {
+  ParseStringProperty(&mesh->name, err, o, "name", false);
+
+  mesh->primitives.clear();
+  json_const_iterator primObject;
+  if (FindMember(o, "primitives", primObject) &&
+      IsArray(GetValue(primObject))) {
+    json_const_array_iterator primEnd = ArrayEnd(GetValue(primObject));
+    for (json_const_array_iterator i = ArrayBegin(GetValue(primObject));
+         i != primEnd; ++i) {
+      Primitive primitive;
+      if (ParsePrimitive(&primitive, model, err, *i,
+                         store_original_json_for_extras_and_extensions)) {
+        // Only add the primitive if the parsing succeeds.
+        mesh->primitives.emplace_back(std::move(primitive));
+      }
+    }
+  }
+
+  // Should probably check if has targets and if dimensions fit
+  ParseNumberArrayProperty(&mesh->weights, err, o, "weights", false);
+
+  ParseExtensionsProperty(&mesh->extensions, err, o);
+  ParseExtrasProperty(&(mesh->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        mesh->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        mesh->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseNode(Node *node, std::string *err, const json &o,
+                      bool store_original_json_for_extras_and_extensions) {
+  ParseStringProperty(&node->name, err, o, "name", false);
+
+  int skin = -1;
+  ParseIntegerProperty(&skin, err, o, "skin", false);
+  node->skin = skin;
+
+  // Matrix and T/R/S are exclusive
+  if (!ParseNumberArrayProperty(&node->matrix, err, o, "matrix", false)) {
+    ParseNumberArrayProperty(&node->rotation, err, o, "rotation", false);
+    ParseNumberArrayProperty(&node->scale, err, o, "scale", false);
+    ParseNumberArrayProperty(&node->translation, err, o, "translation", false);
+  }
+
+  int camera = -1;
+  ParseIntegerProperty(&camera, err, o, "camera", false);
+  node->camera = camera;
+
+  int mesh = -1;
+  ParseIntegerProperty(&mesh, err, o, "mesh", false);
+  node->mesh = mesh;
+
+  node->children.clear();
+  ParseIntegerArrayProperty(&node->children, err, o, "children", false);
+
+  ParseNumberArrayProperty(&node->weights, err, o, "weights", false);
+
+  ParseExtensionsProperty(&node->extensions, err, o);
+  ParseExtrasProperty(&(node->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        node->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        node->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParsePbrMetallicRoughness(
+    PbrMetallicRoughness *pbr, std::string *err, const json &o,
+    bool store_original_json_for_extras_and_extensions) {
+  if (pbr == nullptr) {
+    return false;
+  }
+
+  std::vector<double> baseColorFactor;
+  if (ParseNumberArrayProperty(&baseColorFactor, err, o, "baseColorFactor",
+                               /* required */ false)) {
+    if (baseColorFactor.size() != 4) {
+      if (err) {
+        (*err) +=
+            "Array length of `baseColorFactor` parameter in "
+            "pbrMetallicRoughness must be 4, but got " +
+            std::to_string(baseColorFactor.size()) + "\n";
+      }
+      return false;
+    }
+    pbr->baseColorFactor = baseColorFactor;
+  }
+
+  {
+    json_const_iterator it;
+    if (FindMember(o, "baseColorTexture", it)) {
+      ParseTextureInfo(&pbr->baseColorTexture, err, GetValue(it),
+                       store_original_json_for_extras_and_extensions);
+    }
+  }
+
+  {
+    json_const_iterator it;
+    if (FindMember(o, "metallicRoughnessTexture", it)) {
+      ParseTextureInfo(&pbr->metallicRoughnessTexture, err, GetValue(it),
+                       store_original_json_for_extras_and_extensions);
+    }
+  }
+
+  ParseNumberProperty(&pbr->metallicFactor, err, o, "metallicFactor", false);
+  ParseNumberProperty(&pbr->roughnessFactor, err, o, "roughnessFactor", false);
+
+  ParseExtensionsProperty(&pbr->extensions, err, o);
+  ParseExtrasProperty(&pbr->extras, o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        pbr->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        pbr->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseMaterial(Material *material, std::string *err, const json &o,
+                          bool store_original_json_for_extras_and_extensions) {
+  ParseStringProperty(&material->name, err, o, "name", /* required */ false);
+
+  if (ParseNumberArrayProperty(&material->emissiveFactor, err, o,
+                               "emissiveFactor",
+                               /* required */ false)) {
+    if (material->emissiveFactor.size() != 3) {
+      if (err) {
+        (*err) +=
+            "Array length of `emissiveFactor` parameter in "
+            "material must be 3, but got " +
+            std::to_string(material->emissiveFactor.size()) + "\n";
+      }
+      return false;
+    }
+  } else {
+    // fill with default values
+    material->emissiveFactor = {0.0, 0.0, 0.0};
+  }
+
+  ParseStringProperty(&material->alphaMode, err, o, "alphaMode",
+                      /* required */ false);
+  ParseNumberProperty(&material->alphaCutoff, err, o, "alphaCutoff",
+                      /* required */ false);
+  ParseBooleanProperty(&material->doubleSided, err, o, "doubleSided",
+                       /* required */ false);
+
+  {
+    json_const_iterator it;
+    if (FindMember(o, "pbrMetallicRoughness", it)) {
+      ParsePbrMetallicRoughness(&material->pbrMetallicRoughness, err,
+                                GetValue(it),
+                                store_original_json_for_extras_and_extensions);
+    }
+  }
+
+  {
+    json_const_iterator it;
+    if (FindMember(o, "normalTexture", it)) {
+      ParseNormalTextureInfo(&material->normalTexture, err, GetValue(it),
+                             store_original_json_for_extras_and_extensions);
+    }
+  }
+
+  {
+    json_const_iterator it;
+    if (FindMember(o, "occlusionTexture", it)) {
+      ParseOcclusionTextureInfo(&material->occlusionTexture, err, GetValue(it),
+                                store_original_json_for_extras_and_extensions);
+    }
+  }
+
+  {
+    json_const_iterator it;
+    if (FindMember(o, "emissiveTexture", it)) {
+      ParseTextureInfo(&material->emissiveTexture, err, GetValue(it),
+                       store_original_json_for_extras_and_extensions);
+    }
+  }
+
+  // Old code path. For backward compatibility, we still store material values
+  // as Parameter. This will create duplicated information for
+  // example(pbrMetallicRoughness), but should be neglible in terms of memory
+  // consumption.
+  // TODO(syoyo): Remove in the next major release.
+  material->values.clear();
+  material->additionalValues.clear();
+
+  json_const_iterator it(ObjectBegin(o));
+  json_const_iterator itEnd(ObjectEnd(o));
+
+  for (; it != itEnd; ++it) {
+    std::string key(GetKey(it));
+    if (key == "pbrMetallicRoughness") {
+      if (IsObject(GetValue(it))) {
+        const json &values_object = GetValue(it);
+
+        json_const_iterator itVal(ObjectBegin(values_object));
+        json_const_iterator itValEnd(ObjectEnd(values_object));
+
+        for (; itVal != itValEnd; ++itVal) {
+          Parameter param;
+          if (ParseParameterProperty(&param, err, values_object, GetKey(itVal),
+                                     false)) {
+            material->values.emplace(GetKey(itVal), std::move(param));
+          }
+        }
+      }
+    } else if (key == "extensions" || key == "extras") {
+      // done later, skip, otherwise poorly parsed contents will be saved in the
+      // parametermap and serialized again later
+    } else {
+      Parameter param;
+      if (ParseParameterProperty(&param, err, o, key, false)) {
+        // names of materials have already been parsed. Putting it in this map
+        // doesn't correctly reflext the glTF specification
+        if (key != "name")
+          material->additionalValues.emplace(std::move(key), std::move(param));
+      }
+    }
+  }
+
+  material->extensions.clear();
+  ParseExtensionsProperty(&material->extensions, err, o);
+  ParseExtrasProperty(&(material->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator eit;
+      if (FindMember(o, "extensions", eit)) {
+        material->extensions_json_string = JsonToString(GetValue(eit));
+      }
+    }
+    {
+      json_const_iterator eit;
+      if (FindMember(o, "extras", eit)) {
+        material->extras_json_string = JsonToString(GetValue(eit));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseAnimationChannel(
+    AnimationChannel *channel, std::string *err, const json &o,
+    bool store_original_json_for_extras_and_extensions) {
+  int samplerIndex = -1;
+  int targetIndex = -1;
+  if (!ParseIntegerProperty(&samplerIndex, err, o, "sampler", true,
+                            "AnimationChannel")) {
+    if (err) {
+      (*err) += "`sampler` field is missing in animation channels\n";
+    }
+    return false;
+  }
+
+  json_const_iterator targetIt;
+  if (FindMember(o, "target", targetIt) && IsObject(GetValue(targetIt))) {
+    const json &target_object = GetValue(targetIt);
+
+    if (!ParseIntegerProperty(&targetIndex, err, target_object, "node", true)) {
+      if (err) {
+        (*err) += "`node` field is missing in animation.channels.target\n";
+      }
+      return false;
+    }
+
+    if (!ParseStringProperty(&channel->target_path, err, target_object, "path",
+                             true)) {
+      if (err) {
+        (*err) += "`path` field is missing in animation.channels.target\n";
+      }
+      return false;
+    }
+    ParseExtensionsProperty(&channel->target_extensions, err, target_object);
+    if (store_original_json_for_extras_and_extensions) {
+      json_const_iterator it;
+      if (FindMember(target_object, "extensions", it)) {
+        channel->target_extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  channel->sampler = samplerIndex;
+  channel->target_node = targetIndex;
+
+  ParseExtensionsProperty(&channel->extensions, err, o);
+  ParseExtrasProperty(&(channel->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        channel->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        channel->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseAnimation(Animation *animation, std::string *err,
+                           const json &o,
+                           bool store_original_json_for_extras_and_extensions) {
+  {
+    json_const_iterator channelsIt;
+    if (FindMember(o, "channels", channelsIt) &&
+        IsArray(GetValue(channelsIt))) {
+      json_const_array_iterator channelEnd = ArrayEnd(GetValue(channelsIt));
+      for (json_const_array_iterator i = ArrayBegin(GetValue(channelsIt));
+           i != channelEnd; ++i) {
+        AnimationChannel channel;
+        if (ParseAnimationChannel(
+                &channel, err, *i,
+                store_original_json_for_extras_and_extensions)) {
+          // Only add the channel if the parsing succeeds.
+          animation->channels.emplace_back(std::move(channel));
+        }
+      }
+    }
+  }
+
+  {
+    json_const_iterator samplerIt;
+    if (FindMember(o, "samplers", samplerIt) && IsArray(GetValue(samplerIt))) {
+      const json &sampler_array = GetValue(samplerIt);
+
+      json_const_array_iterator it = ArrayBegin(sampler_array);
+      json_const_array_iterator itEnd = ArrayEnd(sampler_array);
+
+      for (; it != itEnd; ++it) {
+        const json &s = *it;
+
+        AnimationSampler sampler;
+        int inputIndex = -1;
+        int outputIndex = -1;
+        if (!ParseIntegerProperty(&inputIndex, err, s, "input", true)) {
+          if (err) {
+            (*err) += "`input` field is missing in animation.sampler\n";
+          }
+          return false;
+        }
+        ParseStringProperty(&sampler.interpolation, err, s, "interpolation",
+                            false);
+        if (!ParseIntegerProperty(&outputIndex, err, s, "output", true)) {
+          if (err) {
+            (*err) += "`output` field is missing in animation.sampler\n";
+          }
+          return false;
+        }
+        sampler.input = inputIndex;
+        sampler.output = outputIndex;
+        ParseExtensionsProperty(&(sampler.extensions), err, o);
+        ParseExtrasProperty(&(sampler.extras), s);
+
+        if (store_original_json_for_extras_and_extensions) {
+          {
+            json_const_iterator eit;
+            if (FindMember(o, "extensions", eit)) {
+              sampler.extensions_json_string = JsonToString(GetValue(eit));
+            }
+          }
+          {
+            json_const_iterator eit;
+            if (FindMember(o, "extras", eit)) {
+              sampler.extras_json_string = JsonToString(GetValue(eit));
+            }
+          }
+        }
+
+        animation->samplers.emplace_back(std::move(sampler));
+      }
+    }
+  }
+
+  ParseStringProperty(&animation->name, err, o, "name", false);
+
+  ParseExtensionsProperty(&animation->extensions, err, o);
+  ParseExtrasProperty(&(animation->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        animation->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        animation->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseSampler(Sampler *sampler, std::string *err, const json &o,
+                         bool store_original_json_for_extras_and_extensions) {
+  ParseStringProperty(&sampler->name, err, o, "name", false);
+
+  int minFilter = -1;
+  int magFilter = -1;
+  int wrapS = TINYGLTF_TEXTURE_WRAP_REPEAT;
+  int wrapT = TINYGLTF_TEXTURE_WRAP_REPEAT;
+  //int wrapR = TINYGLTF_TEXTURE_WRAP_REPEAT;
+  ParseIntegerProperty(&minFilter, err, o, "minFilter", false);
+  ParseIntegerProperty(&magFilter, err, o, "magFilter", false);
+  ParseIntegerProperty(&wrapS, err, o, "wrapS", false);
+  ParseIntegerProperty(&wrapT, err, o, "wrapT", false);
+  //ParseIntegerProperty(&wrapR, err, o, "wrapR", false);  // tinygltf extension
+
+  // TODO(syoyo): Check the value is alloed one.
+  // (e.g. we allow 9728(NEAREST), but don't allow 9727)
+
+  sampler->minFilter = minFilter;
+  sampler->magFilter = magFilter;
+  sampler->wrapS = wrapS;
+  sampler->wrapT = wrapT;
+  //sampler->wrapR = wrapR;
+
+  ParseExtensionsProperty(&(sampler->extensions), err, o);
+  ParseExtrasProperty(&(sampler->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        sampler->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        sampler->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseSkin(Skin *skin, std::string *err, const json &o,
+                      bool store_original_json_for_extras_and_extensions) {
+  ParseStringProperty(&skin->name, err, o, "name", false, "Skin");
+
+  std::vector<int> joints;
+  if (!ParseIntegerArrayProperty(&joints, err, o, "joints", false, "Skin")) {
+    return false;
+  }
+  skin->joints = std::move(joints);
+
+  int skeleton = -1;
+  ParseIntegerProperty(&skeleton, err, o, "skeleton", false, "Skin");
+  skin->skeleton = skeleton;
+
+  int invBind = -1;
+  ParseIntegerProperty(&invBind, err, o, "inverseBindMatrices", true, "Skin");
+  skin->inverseBindMatrices = invBind;
+
+  ParseExtensionsProperty(&(skin->extensions), err, o);
+  ParseExtrasProperty(&(skin->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        skin->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        skin->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParsePerspectiveCamera(
+    PerspectiveCamera *camera, std::string *err, const json &o,
+    bool store_original_json_for_extras_and_extensions) {
+  double yfov = 0.0;
+  if (!ParseNumberProperty(&yfov, err, o, "yfov", true, "OrthographicCamera")) {
+    return false;
+  }
+
+  double znear = 0.0;
+  if (!ParseNumberProperty(&znear, err, o, "znear", true,
+                           "PerspectiveCamera")) {
+    return false;
+  }
+
+  double aspectRatio = 0.0;  // = invalid
+  ParseNumberProperty(&aspectRatio, err, o, "aspectRatio", false,
+                      "PerspectiveCamera");
+
+  double zfar = 0.0;  // = invalid
+  ParseNumberProperty(&zfar, err, o, "zfar", false, "PerspectiveCamera");
+
+  camera->aspectRatio = aspectRatio;
+  camera->zfar = zfar;
+  camera->yfov = yfov;
+  camera->znear = znear;
+
+  ParseExtensionsProperty(&camera->extensions, err, o);
+  ParseExtrasProperty(&(camera->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        camera->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        camera->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  // TODO(syoyo): Validate parameter values.
+
+  return true;
+}
+
+static bool ParseSpotLight(SpotLight *light, std::string *err, const json &o,
+                           bool store_original_json_for_extras_and_extensions) {
+  ParseNumberProperty(&light->innerConeAngle, err, o, "innerConeAngle", false);
+  ParseNumberProperty(&light->outerConeAngle, err, o, "outerConeAngle", false);
+
+  ParseExtensionsProperty(&light->extensions, err, o);
+  ParseExtrasProperty(&light->extras, o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        light->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        light->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  // TODO(syoyo): Validate parameter values.
+
+  return true;
+}
+
+static bool ParseOrthographicCamera(
+    OrthographicCamera *camera, std::string *err, const json &o,
+    bool store_original_json_for_extras_and_extensions) {
+  double xmag = 0.0;
+  if (!ParseNumberProperty(&xmag, err, o, "xmag", true, "OrthographicCamera")) {
+    return false;
+  }
+
+  double ymag = 0.0;
+  if (!ParseNumberProperty(&ymag, err, o, "ymag", true, "OrthographicCamera")) {
+    return false;
+  }
+
+  double zfar = 0.0;
+  if (!ParseNumberProperty(&zfar, err, o, "zfar", true, "OrthographicCamera")) {
+    return false;
+  }
+
+  double znear = 0.0;
+  if (!ParseNumberProperty(&znear, err, o, "znear", true,
+                           "OrthographicCamera")) {
+    return false;
+  }
+
+  ParseExtensionsProperty(&camera->extensions, err, o);
+  ParseExtrasProperty(&(camera->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        camera->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        camera->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  camera->xmag = xmag;
+  camera->ymag = ymag;
+  camera->zfar = zfar;
+  camera->znear = znear;
+
+  // TODO(syoyo): Validate parameter values.
+
+  return true;
+}
+
+static bool ParseCamera(Camera *camera, std::string *err, const json &o,
+                        bool store_original_json_for_extras_and_extensions) {
+  if (!ParseStringProperty(&camera->type, err, o, "type", true, "Camera")) {
+    return false;
+  }
+
+  if (camera->type.compare("orthographic") == 0) {
+    json_const_iterator orthoIt;
+    if (!FindMember(o, "orthographic", orthoIt)) {
+      if (err) {
+        std::stringstream ss;
+        ss << "Orhographic camera description not found." << std::endl;
+        (*err) += ss.str();
+      }
+      return false;
+    }
+
+    const json &v = GetValue(orthoIt);
+    if (!IsObject(v)) {
+      if (err) {
+        std::stringstream ss;
+        ss << "\"orthographic\" is not a JSON object." << std::endl;
+        (*err) += ss.str();
+      }
+      return false;
+    }
+
+    if (!ParseOrthographicCamera(
+            &camera->orthographic, err, v,
+            store_original_json_for_extras_and_extensions)) {
+      return false;
+    }
+  } else if (camera->type.compare("perspective") == 0) {
+    json_const_iterator perspIt;
+    if (!FindMember(o, "perspective", perspIt)) {
+      if (err) {
+        std::stringstream ss;
+        ss << "Perspective camera description not found." << std::endl;
+        (*err) += ss.str();
+      }
+      return false;
+    }
+
+    const json &v = GetValue(perspIt);
+    if (!IsObject(v)) {
+      if (err) {
+        std::stringstream ss;
+        ss << "\"perspective\" is not a JSON object." << std::endl;
+        (*err) += ss.str();
+      }
+      return false;
+    }
+
+    if (!ParsePerspectiveCamera(
+            &camera->perspective, err, v,
+            store_original_json_for_extras_and_extensions)) {
+      return false;
+    }
+  } else {
+    if (err) {
+      std::stringstream ss;
+      ss << "Invalid camera type: \"" << camera->type
+         << "\". Must be \"perspective\" or \"orthographic\"" << std::endl;
+      (*err) += ss.str();
+    }
+    return false;
+  }
+
+  ParseStringProperty(&camera->name, err, o, "name", false);
+
+  ParseExtensionsProperty(&camera->extensions, err, o);
+  ParseExtrasProperty(&(camera->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        camera->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        camera->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseLight(Light *light, std::string *err, const json &o,
+                       bool store_original_json_for_extras_and_extensions) {
+  if (!ParseStringProperty(&light->type, err, o, "type", true)) {
+    return false;
+  }
+
+  if (light->type == "spot") {
+    json_const_iterator spotIt;
+    if (!FindMember(o, "spot", spotIt)) {
+      if (err) {
+        std::stringstream ss;
+        ss << "Spot light description not found." << std::endl;
+        (*err) += ss.str();
+      }
+      return false;
+    }
+
+    const json &v = GetValue(spotIt);
+    if (!IsObject(v)) {
+      if (err) {
+        std::stringstream ss;
+        ss << "\"spot\" is not a JSON object." << std::endl;
+        (*err) += ss.str();
+      }
+      return false;
+    }
+
+    if (!ParseSpotLight(&light->spot, err, v,
+                        store_original_json_for_extras_and_extensions)) {
+      return false;
+    }
+  }
+
+  ParseStringProperty(&light->name, err, o, "name", false);
+  ParseNumberArrayProperty(&light->color, err, o, "color", false);
+  ParseNumberProperty(&light->range, err, o, "range", false);
+  ParseNumberProperty(&light->intensity, err, o, "intensity", false);
+  ParseExtensionsProperty(&light->extensions, err, o);
+  ParseExtrasProperty(&(light->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        light->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        light->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+bool TinyGLTF::LoadFromString(Model *model, std::string *err, std::string *warn,
+                              const char *json_str,
+                              unsigned int json_str_length,
+                              const std::string &base_dir,
+                              unsigned int check_sections) {
+  if (json_str_length < 4) {
+    if (err) {
+      (*err) = "JSON string too short.\n";
+    }
+    return false;
+  }
+
+  JsonDocument v;
+
+#if (defined(__cpp_exceptions) || defined(__EXCEPTIONS) || \
+     defined(_CPPUNWIND)) &&                               \
+    !defined(TINYGLTF_NOEXCEPTION)
+  try {
+    JsonParse(v, json_str, json_str_length, true);
+
+  } catch (const std::exception &e) {
+    if (err) {
+      (*err) = e.what();
+    }
+    return false;
+  }
+#else
+  {
+    JsonParse(v, json_str, json_str_length);
+
+    if (!IsObject(v)) {
+      // Assume parsing was failed.
+      if (err) {
+        (*err) = "Failed to parse JSON object\n";
+      }
+      return false;
+    }
+  }
+#endif
+
+  if (!IsObject(v)) {
+    // root is not an object.
+    if (err) {
+      (*err) = "Root element is not a JSON object\n";
+    }
+    return false;
+  }
+
+  {
+    bool version_found = false;
+    json_const_iterator it;
+    if (FindMember(v, "asset", it) && IsObject(GetValue(it))) {
+      auto &itObj = GetValue(it);
+      json_const_iterator version_it;
+      std::string versionStr;
+      if (FindMember(itObj, "version", version_it) &&
+          GetString(GetValue(version_it), versionStr)) {
+        version_found = true;
+      }
+    }
+    if (version_found) {
+      // OK
+    } else if (check_sections & REQUIRE_VERSION) {
+      if (err) {
+        (*err) += "\"asset\" object not found in .gltf or not an object type\n";
+      }
+      return false;
+    }
+  }
+
+  // scene is not mandatory.
+  // FIXME Maybe a better way to handle it than removing the code
+
+  auto IsArrayMemberPresent = [](const json &_v, const char *name) -> bool {
+    json_const_iterator it;
+    return FindMember(_v, name, it) && IsArray(GetValue(it));
+  };
+
+  {
+    if ((check_sections & REQUIRE_SCENES) &&
+        !IsArrayMemberPresent(v, "scenes")) {
+      if (err) {
+        (*err) += "\"scenes\" object not found in .gltf or not an array type\n";
+      }
+      return false;
+    }
+  }
+
+  {
+    if ((check_sections & REQUIRE_NODES) && !IsArrayMemberPresent(v, "nodes")) {
+      if (err) {
+        (*err) += "\"nodes\" object not found in .gltf\n";
+      }
+      return false;
+    }
+  }
+
+  {
+    if ((check_sections & REQUIRE_ACCESSORS) &&
+        !IsArrayMemberPresent(v, "accessors")) {
+      if (err) {
+        (*err) += "\"accessors\" object not found in .gltf\n";
+      }
+      return false;
+    }
+  }
+
+  {
+    if ((check_sections & REQUIRE_BUFFERS) &&
+        !IsArrayMemberPresent(v, "buffers")) {
+      if (err) {
+        (*err) += "\"buffers\" object not found in .gltf\n";
+      }
+      return false;
+    }
+  }
+
+  {
+    if ((check_sections & REQUIRE_BUFFER_VIEWS) &&
+        !IsArrayMemberPresent(v, "bufferViews")) {
+      if (err) {
+        (*err) += "\"bufferViews\" object not found in .gltf\n";
+      }
+      return false;
+    }
+  }
+
+  model->buffers.clear();
+  model->bufferViews.clear();
+  model->accessors.clear();
+  model->meshes.clear();
+  model->cameras.clear();
+  model->nodes.clear();
+  model->extensionsUsed.clear();
+  model->extensionsRequired.clear();
+  model->extensions.clear();
+  model->defaultScene = -1;
+
+  // 1. Parse Asset
+  {
+    json_const_iterator it;
+    if (FindMember(v, "asset", it) && IsObject(GetValue(it))) {
+      const json &root = GetValue(it);
+
+      ParseAsset(&model->asset, err, root,
+                 store_original_json_for_extras_and_extensions_);
+    }
+  }
+
+#ifdef TINYGLTF_USE_CPP14
+  auto ForEachInArray = [](const json &_v, const char *member,
+                           const auto &cb) -> bool
+#else
+  // The std::function<> implementation can be less efficient because it will
+  // allocate heap when the size of the captured lambda is above 16 bytes with
+  // clang and gcc, but it does not require C++14.
+  auto ForEachInArray = [](const json &_v, const char *member,
+                           const std::function<bool(const json &)> &cb) -> bool
+#endif
+  {
+    json_const_iterator itm;
+    if (FindMember(_v, member, itm) && IsArray(GetValue(itm))) {
+      const json &root = GetValue(itm);
+      auto it = ArrayBegin(root);
+      auto end = ArrayEnd(root);
+      for (; it != end; ++it) {
+        if (!cb(*it)) return false;
+      }
+    }
+    return true;
+  };
+
+  // 2. Parse extensionUsed
+  {
+    ForEachInArray(v, "extensionsUsed", [&](const json &o) {
+      std::string str;
+      GetString(o, str);
+      model->extensionsUsed.emplace_back(std::move(str));
+      return true;
+    });
+  }
+
+  {
+    ForEachInArray(v, "extensionsRequired", [&](const json &o) {
+      std::string str;
+      GetString(o, str);
+      model->extensionsRequired.emplace_back(std::move(str));
+      return true;
+    });
+  }
+
+  // 3. Parse Buffer
+  {
+    bool success = ForEachInArray(v, "buffers", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`buffers' does not contain an JSON object.";
+        }
+        return false;
+      }
+      Buffer buffer;
+      if (!ParseBuffer(&buffer, err, o,
+                       store_original_json_for_extras_and_extensions_, &fs,
+                       base_dir, is_binary_, bin_data_, bin_size_)) {
+        return false;
+      }
+
+      model->buffers.emplace_back(std::move(buffer));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+  // 4. Parse BufferView
+  {
+    bool success = ForEachInArray(v, "bufferViews", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`bufferViews' does not contain an JSON object.";
+        }
+        return false;
+      }
+      BufferView bufferView;
+      if (!ParseBufferView(&bufferView, err, o,
+                           store_original_json_for_extras_and_extensions_)) {
+        return false;
+      }
+
+      model->bufferViews.emplace_back(std::move(bufferView));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // 5. Parse Accessor
+  {
+    bool success = ForEachInArray(v, "accessors", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`accessors' does not contain an JSON object.";
+        }
+        return false;
+      }
+      Accessor accessor;
+      if (!ParseAccessor(&accessor, err, o,
+                         store_original_json_for_extras_and_extensions_)) {
+        return false;
+      }
+
+      model->accessors.emplace_back(std::move(accessor));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // 6. Parse Mesh
+  {
+    bool success = ForEachInArray(v, "meshes", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`meshes' does not contain an JSON object.";
+        }
+        return false;
+      }
+      Mesh mesh;
+      if (!ParseMesh(&mesh, model, err, o,
+                     store_original_json_for_extras_and_extensions_)) {
+        return false;
+      }
+
+      model->meshes.emplace_back(std::move(mesh));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // Assign missing bufferView target types
+  // - Look for missing Mesh indices
+  // - Look for missing Mesh attributes
+  for (auto &mesh : model->meshes) {
+    for (auto &primitive : mesh.primitives) {
+      if (primitive.indices >
+          -1)  // has indices from parsing step, must be Element Array Buffer
+      {
+        if (size_t(primitive.indices) >= model->accessors.size()) {
+          if (err) {
+            (*err) += "primitive indices accessor out of bounds";
+          }
+          return false;
+        }
+
+        auto bufferView =
+            model->accessors[size_t(primitive.indices)].bufferView;
+        if (bufferView < 0 || size_t(bufferView) >= model->bufferViews.size()) {
+          if (err) {
+            (*err) += "accessor[" + std::to_string(primitive.indices) +
+                      "] invalid bufferView";
+          }
+          return false;
+        }
+
+        model->bufferViews[size_t(bufferView)].target =
+            TINYGLTF_TARGET_ELEMENT_ARRAY_BUFFER;
+        // we could optionally check if acessors' bufferView type is Scalar, as
+        // it should be
+      }
+
+      for (auto &attribute : primitive.attributes) {
+        model
+            ->bufferViews[size_t(
+                model->accessors[size_t(attribute.second)].bufferView)]
+            .target = TINYGLTF_TARGET_ARRAY_BUFFER;
+      }
+
+      for (auto &target : primitive.targets) {
+        for (auto &attribute : target) {
+          auto bufferView =
+              model->accessors[size_t(attribute.second)].bufferView;
+          // bufferView could be null(-1) for sparse morph target
+          if (bufferView >= 0) {
+            model->bufferViews[size_t(bufferView)].target =
+                TINYGLTF_TARGET_ARRAY_BUFFER;
+          }
+        }
+      }
+    }
+  }
+
+  // 7. Parse Node
+  {
+    bool success = ForEachInArray(v, "nodes", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`nodes' does not contain an JSON object.";
+        }
+        return false;
+      }
+      Node node;
+      if (!ParseNode(&node, err, o,
+                     store_original_json_for_extras_and_extensions_)) {
+        return false;
+      }
+
+      model->nodes.emplace_back(std::move(node));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // 8. Parse scenes.
+  {
+    bool success = ForEachInArray(v, "scenes", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`scenes' does not contain an JSON object.";
+        }
+        return false;
+      }
+      std::vector<int> nodes;
+      ParseIntegerArrayProperty(&nodes, err, o, "nodes", false);
+
+      Scene scene;
+      scene.nodes = std::move(nodes);
+
+      ParseStringProperty(&scene.name, err, o, "name", false);
+
+      ParseExtensionsProperty(&scene.extensions, err, o);
+      ParseExtrasProperty(&scene.extras, o);
+
+      if (store_original_json_for_extras_and_extensions_) {
+        {
+          json_const_iterator it;
+          if (FindMember(o, "extensions", it)) {
+            model->extensions_json_string = JsonToString(GetValue(it));
+          }
+        }
+        {
+          json_const_iterator it;
+          if (FindMember(o, "extras", it)) {
+            model->extras_json_string = JsonToString(GetValue(it));
+          }
+        }
+      }
+
+      model->scenes.emplace_back(std::move(scene));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // 9. Parse default scenes.
+  {
+    json_const_iterator rootIt;
+    int iVal;
+    if (FindMember(v, "scene", rootIt) && GetInt(GetValue(rootIt), iVal)) {
+      model->defaultScene = iVal;
+    }
+  }
+
+  // 10. Parse Material
+  {
+    bool success = ForEachInArray(v, "materials", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`materials' does not contain an JSON object.";
+        }
+        return false;
+      }
+      Material material;
+      ParseStringProperty(&material.name, err, o, "name", false);
+
+      if (!ParseMaterial(&material, err, o,
+                         store_original_json_for_extras_and_extensions_)) {
+        return false;
+      }
+
+      model->materials.emplace_back(std::move(material));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // 11. Parse Image
+  void *load_image_user_data{nullptr};
+
+  LoadImageDataOption load_image_option;
+
+  if (user_image_loader_) {
+    // Use user supplied pointer
+    load_image_user_data = load_image_user_data_;
+  } else {
+    load_image_option.preserve_channels = preserve_image_channels_;
+    load_image_user_data = reinterpret_cast<void *>(&load_image_option);
+  }
+
+  {
+    int idx = 0;
+    bool success = ForEachInArray(v, "images", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "image[" + std::to_string(idx) + "] is not a JSON object.";
+        }
+        return false;
+      }
+      Image image;
+      if (!ParseImage(&image, idx, err, warn, o,
+                      store_original_json_for_extras_and_extensions_, base_dir,
+                      &fs, &this->LoadImageData, load_image_user_data)) {
+        return false;
+      }
+
+      if (image.bufferView != -1) {
+        // Load image from the buffer view.
+        if (size_t(image.bufferView) >= model->bufferViews.size()) {
+          if (err) {
+            std::stringstream ss;
+            ss << "image[" << idx << "] bufferView \"" << image.bufferView
+               << "\" not found in the scene." << std::endl;
+            (*err) += ss.str();
+          }
+          return false;
+        }
+
+        const BufferView &bufferView =
+            model->bufferViews[size_t(image.bufferView)];
+        if (size_t(bufferView.buffer) >= model->buffers.size()) {
+          if (err) {
+            std::stringstream ss;
+            ss << "image[" << idx << "] buffer \"" << bufferView.buffer
+               << "\" not found in the scene." << std::endl;
+            (*err) += ss.str();
+          }
+          return false;
+        }
+        const Buffer &buffer = model->buffers[size_t(bufferView.buffer)];
+
+        if (*LoadImageData == nullptr) {
+          if (err) {
+            (*err) += "No LoadImageData callback specified.\n";
+          }
+          return false;
+        }
+        bool ret = LoadImageData(
+            &image, idx, err, warn, image.width, image.height,
+            &buffer.data[bufferView.byteOffset],
+            static_cast<int>(bufferView.byteLength), load_image_user_data);
+        if (!ret) {
+          return false;
+        }
+      }
+
+      model->images.emplace_back(std::move(image));
+      ++idx;
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // 12. Parse Texture
+  {
+    bool success = ForEachInArray(v, "textures", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`textures' does not contain an JSON object.";
+        }
+        return false;
+      }
+      Texture texture;
+      if (!ParseTexture(&texture, err, o,
+                        store_original_json_for_extras_and_extensions_,
+                        base_dir)) {
+        return false;
+      }
+
+      model->textures.emplace_back(std::move(texture));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // 13. Parse Animation
+  {
+    bool success = ForEachInArray(v, "animations", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`animations' does not contain an JSON object.";
+        }
+        return false;
+      }
+      Animation animation;
+      if (!ParseAnimation(&animation, err, o,
+                          store_original_json_for_extras_and_extensions_)) {
+        return false;
+      }
+
+      model->animations.emplace_back(std::move(animation));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // 14. Parse Skin
+  {
+    bool success = ForEachInArray(v, "skins", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`skins' does not contain an JSON object.";
+        }
+        return false;
+      }
+      Skin skin;
+      if (!ParseSkin(&skin, err, o,
+                     store_original_json_for_extras_and_extensions_)) {
+        return false;
+      }
+
+      model->skins.emplace_back(std::move(skin));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // 15. Parse Sampler
+  {
+    bool success = ForEachInArray(v, "samplers", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`samplers' does not contain an JSON object.";
+        }
+        return false;
+      }
+      Sampler sampler;
+      if (!ParseSampler(&sampler, err, o,
+                        store_original_json_for_extras_and_extensions_)) {
+        return false;
+      }
+
+      model->samplers.emplace_back(std::move(sampler));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // 16. Parse Camera
+  {
+    bool success = ForEachInArray(v, "cameras", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`cameras' does not contain an JSON object.";
+        }
+        return false;
+      }
+      Camera camera;
+      if (!ParseCamera(&camera, err, o,
+                       store_original_json_for_extras_and_extensions_)) {
+        return false;
+      }
+
+      model->cameras.emplace_back(std::move(camera));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // 17. Parse Extensions
+  ParseExtensionsProperty(&model->extensions, err, v);
+
+  // 18. Specific extension implementations
+  {
+    json_const_iterator rootIt;
+    if (FindMember(v, "extensions", rootIt) && IsObject(GetValue(rootIt))) {
+      const json &root = GetValue(rootIt);
+
+      json_const_iterator it(ObjectBegin(root));
+      json_const_iterator itEnd(ObjectEnd(root));
+      for (; it != itEnd; ++it) {
+        // parse KHR_lights_punctual extension
+        std::string key(GetKey(it));
+        if ((key == "KHR_lights_punctual") && IsObject(GetValue(it))) {
+          const json &object = GetValue(it);
+          json_const_iterator itLight;
+          if (FindMember(object, "lights", itLight)) {
+            const json &lights = GetValue(itLight);
+            if (!IsArray(lights)) {
+              continue;
+            }
+
+            auto arrayIt(ArrayBegin(lights));
+            auto arrayItEnd(ArrayEnd(lights));
+            for (; arrayIt != arrayItEnd; ++arrayIt) {
+              Light light;
+              if (!ParseLight(&light, err, *arrayIt,
+                              store_original_json_for_extras_and_extensions_)) {
+                return false;
+              }
+              model->lights.emplace_back(std::move(light));
+            }
+          }
+        }
+      }
+    }
+  }
+
+  // 19. Parse Extras
+  ParseExtrasProperty(&model->extras, v);
+
+  if (store_original_json_for_extras_and_extensions_) {
+    model->extras_json_string = JsonToString(v["extras"]);
+    model->extensions_json_string = JsonToString(v["extensions"]);
+  }
+
+  return true;
+}
+
+bool TinyGLTF::LoadASCIIFromString(Model *model, std::string *err,
+                                   std::string *warn, const char *str,
+                                   unsigned int length,
+                                   const std::string &base_dir,
+                                   unsigned int check_sections) {
+  is_binary_ = false;
+  bin_data_ = nullptr;
+  bin_size_ = 0;
+
+  return LoadFromString(model, err, warn, str, length, base_dir,
+                        check_sections);
+}
+
+bool TinyGLTF::LoadASCIIFromFile(Model *model, std::string *err,
+                                 std::string *warn, const std::string &filename,
+                                 unsigned int check_sections) {
+  std::stringstream ss;
+
+  if (fs.ReadWholeFile == nullptr) {
+    // Programmer error, assert() ?
+    ss << "Failed to read file: " << filename
+       << ": one or more FS callback not set" << std::endl;
+    if (err) {
+      (*err) = ss.str();
+    }
+    return false;
+  }
+
+  std::vector<unsigned char> data;
+  std::string fileerr;
+  bool fileread = fs.ReadWholeFile(&data, &fileerr, filename, fs.user_data);
+  if (!fileread) {
+    ss << "Failed to read file: " << filename << ": " << fileerr << std::endl;
+    if (err) {
+      (*err) = ss.str();
+    }
+    return false;
+  }
+
+  size_t sz = data.size();
+  if (sz == 0) {
+    if (err) {
+      (*err) = "Empty file.";
+    }
+    return false;
+  }
+
+  std::string basedir = GetBaseDir(filename);
+
+  bool ret = LoadASCIIFromString(
+      model, err, warn, reinterpret_cast<const char *>(&data.at(0)),
+      static_cast<unsigned int>(data.size()), basedir, check_sections);
+
+  return ret;
+}
+
+bool TinyGLTF::LoadBinaryFromMemory(Model *model, std::string *err,
+                                    std::string *warn,
+                                    const unsigned char *bytes,
+                                    unsigned int size,
+                                    const std::string &base_dir,
+                                    unsigned int check_sections) {
+  if (size < 20) {
+    if (err) {
+      (*err) = "Too short data size for glTF Binary.";
+    }
+    return false;
+  }
+
+  if (bytes[0] == 'g' && bytes[1] == 'l' && bytes[2] == 'T' &&
+      bytes[3] == 'F') {
+    // ok
+  } else {
+    if (err) {
+      (*err) = "Invalid magic.";
+    }
+    return false;
+  }
+
+  unsigned int version;       // 4 bytes
+  unsigned int length;        // 4 bytes
+  unsigned int model_length;  // 4 bytes
+  unsigned int model_format;  // 4 bytes;
+
+  // @todo { Endian swap for big endian machine. }
+  memcpy(&version, bytes + 4, 4);
+  swap4(&version);
+  memcpy(&length, bytes + 8, 4);
+  swap4(&length);
+  memcpy(&model_length, bytes + 12, 4);
+  swap4(&model_length);
+  memcpy(&model_format, bytes + 16, 4);
+  swap4(&model_format);
+
+  // In case the Bin buffer is not present, the size is exactly 20 + size of
+  // JSON contents,
+  // so use "greater than" operator.
+  if ((20 + model_length > size) || (model_length < 1) || (length > size) ||
+      (20 + model_length > length) ||
+      (model_format != 0x4E4F534A)) {  // 0x4E4F534A = JSON format.
+    if (err) {
+      (*err) = "Invalid glTF binary.";
+    }
+    return false;
+  }
+
+  // Extract JSON string.
+  std::string jsonString(reinterpret_cast<const char *>(&bytes[20]),
+                         model_length);
+
+  is_binary_ = true;
+  bin_data_ = bytes + 20 + model_length +
+              8;  // 4 bytes (buffer_length) + 4 bytes(buffer_format)
+  bin_size_ =
+      length - (20 + model_length);  // extract header + JSON scene data.
+
+  bool ret = LoadFromString(model, err, warn,
+                            reinterpret_cast<const char *>(&bytes[20]),
+                            model_length, base_dir, check_sections);
+  if (!ret) {
+    return ret;
+  }
+
+  return true;
+}
+
+bool TinyGLTF::LoadBinaryFromFile(Model *model, std::string *err,
+                                  std::string *warn,
+                                  const std::string &filename,
+                                  unsigned int check_sections) {
+  std::stringstream ss;
+
+  if (fs.ReadWholeFile == nullptr) {
+    // Programmer error, assert() ?
+    ss << "Failed to read file: " << filename
+       << ": one or more FS callback not set" << std::endl;
+    if (err) {
+      (*err) = ss.str();
+    }
+    return false;
+  }
+
+  std::vector<unsigned char> data;
+  std::string fileerr;
+  bool fileread = fs.ReadWholeFile(&data, &fileerr, filename, fs.user_data);
+  if (!fileread) {
+    ss << "Failed to read file: " << filename << ": " << fileerr << std::endl;
+    if (err) {
+      (*err) = ss.str();
+    }
+    return false;
+  }
+
+  std::string basedir = GetBaseDir(filename);
+
+  bool ret = LoadBinaryFromMemory(model, err, warn, &data.at(0),
+                                  static_cast<unsigned int>(data.size()),
+                                  basedir, check_sections);
+
+  return ret;
+}
+
+///////////////////////
+// GLTF Serialization
+///////////////////////
+namespace {
+json JsonFromString(const char *s) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  return json(s, GetAllocator());
+#else
+  return json(s);
+#endif
+}
+
+void JsonAssign(json &dest, const json &src) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  dest.CopyFrom(src, GetAllocator());
+#else
+  dest = src;
+#endif
+}
+
+void JsonAddMember(json &o, const char *key, json &&value) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  if (!o.IsObject()) {
+    o.SetObject();
+  }
+  o.AddMember(json(key, GetAllocator()), std::move(value), GetAllocator());
+#else
+  o[key] = std::move(value);
+#endif
+}
+
+void JsonPushBack(json &o, json &&value) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  o.PushBack(std::move(value), GetAllocator());
+#else
+  o.push_back(std::move(value));
+#endif
+}
+
+bool JsonIsNull(const json &o) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  return o.IsNull();
+#else
+  return o.is_null();
+#endif
+}
+
+void JsonSetObject(json &o) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  o.SetObject();
+#else
+  o = o.object({});
+#endif
+}
+
+void JsonReserveArray(json &o, size_t s) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  o.SetArray();
+  o.Reserve(static_cast<rapidjson::SizeType>(s), GetAllocator());
+#endif
+  (void)(o);
+  (void)(s);
+}
+}  // namespace
+
+// typedef std::pair<std::string, json> json_object_pair;
+
+template <typename T>
+static void SerializeNumberProperty(const std::string &key, T number,
+                                    json &obj) {
+  // obj.insert(
+  //    json_object_pair(key, json(static_cast<double>(number))));
+  // obj[key] = static_cast<double>(number);
+  JsonAddMember(obj, key.c_str(), json(number));
+}
+
+#ifdef TINYGLTF_USE_RAPIDJSON
+template <>
+void SerializeNumberProperty(const std::string &key, size_t number, json &obj) {
+  JsonAddMember(obj, key.c_str(), json(static_cast<uint64_t>(number)));
+}
+#endif
+
+template <typename T>
+static void SerializeNumberArrayProperty(const std::string &key,
+                                         const std::vector<T> &value,
+                                         json &obj) {
+  if (value.empty()) return;
+
+  json ary;
+  JsonReserveArray(ary, value.size());
+  for (const auto &s : value) {
+    JsonPushBack(ary, json(s));
+  }
+  JsonAddMember(obj, key.c_str(), std::move(ary));
+}
+
+static void SerializeStringProperty(const std::string &key,
+                                    const std::string &value, json &obj) {
+  JsonAddMember(obj, key.c_str(), JsonFromString(value.c_str()));
+}
+
+static void SerializeStringArrayProperty(const std::string &key,
+                                         const std::vector<std::string> &value,
+                                         json &obj) {
+  json ary;
+  JsonReserveArray(ary, value.size());
+  for (auto &s : value) {
+    JsonPushBack(ary, JsonFromString(s.c_str()));
+  }
+  JsonAddMember(obj, key.c_str(), std::move(ary));
+}
+
+static bool ValueToJson(const Value &value, json *ret) {
+  json obj;
+#ifdef TINYGLTF_USE_RAPIDJSON
+  switch (value.Type()) {
+    case REAL_TYPE:
+      obj.SetDouble(value.Get<double>());
+      break;
+    case INT_TYPE:
+      obj.SetInt(value.Get<int>());
+      break;
+    case BOOL_TYPE:
+      obj.SetBool(value.Get<bool>());
+      break;
+    case STRING_TYPE:
+      obj.SetString(value.Get<std::string>().c_str(), GetAllocator());
+      break;
+    case ARRAY_TYPE: {
+      obj.SetArray();
+      obj.Reserve(static_cast<rapidjson::SizeType>(value.ArrayLen()),
+                  GetAllocator());
+      for (unsigned int i = 0; i < value.ArrayLen(); ++i) {
+        Value elementValue = value.Get(int(i));
+        json elementJson;
+        if (ValueToJson(value.Get(int(i)), &elementJson))
+          obj.PushBack(std::move(elementJson), GetAllocator());
+      }
+      break;
+    }
+    case BINARY_TYPE:
+      // TODO
+      // obj = json(value.Get<std::vector<unsigned char>>());
+      return false;
+      break;
+    case OBJECT_TYPE: {
+      obj.SetObject();
+      Value::Object objMap = value.Get<Value::Object>();
+      for (auto &it : objMap) {
+        json elementJson;
+        if (ValueToJson(it.second, &elementJson)) {
+          obj.AddMember(json(it.first.c_str(), GetAllocator()),
+                        std::move(elementJson), GetAllocator());
+        }
+      }
+      break;
+    }
+    case NULL_TYPE:
+    default:
+      return false;
+  }
+#else
+  switch (value.Type()) {
+    case REAL_TYPE:
+      obj = json(value.Get<double>());
+      break;
+    case INT_TYPE:
+      obj = json(value.Get<int>());
+      break;
+    case BOOL_TYPE:
+      obj = json(value.Get<bool>());
+      break;
+    case STRING_TYPE:
+      obj = json(value.Get<std::string>());
+      break;
+    case ARRAY_TYPE: {
+      for (unsigned int i = 0; i < value.ArrayLen(); ++i) {
+        Value elementValue = value.Get(int(i));
+        json elementJson;
+        if (ValueToJson(value.Get(int(i)), &elementJson))
+          obj.push_back(elementJson);
+      }
+      break;
+    }
+    case BINARY_TYPE:
+      // TODO
+      // obj = json(value.Get<std::vector<unsigned char>>());
+      return false;
+      break;
+    case OBJECT_TYPE: {
+      Value::Object objMap = value.Get<Value::Object>();
+      for (auto &it : objMap) {
+        json elementJson;
+        if (ValueToJson(it.second, &elementJson)) obj[it.first] = elementJson;
+      }
+      break;
+    }
+    case NULL_TYPE:
+    default:
+      return false;
+  }
+#endif
+  if (ret) *ret = std::move(obj);
+  return true;
+}
+
+static void SerializeValue(const std::string &key, const Value &value,
+                           json &obj) {
+  json ret;
+  if (ValueToJson(value, &ret)) {
+    JsonAddMember(obj, key.c_str(), std::move(ret));
+  }
+}
+
+static void SerializeGltfBufferData(const std::vector<unsigned char> &data,
+                                    json &o) {
+  std::string header = "data:application/octet-stream;base64,";
+  if (data.size() > 0) {
+    std::string encodedData =
+        base64_encode(&data[0], static_cast<unsigned int>(data.size()));
+    SerializeStringProperty("uri", header + encodedData, o);
+  } else {
+    // Issue #229
+    // size 0 is allowd. Just emit mime header.
+    SerializeStringProperty("uri", header, o);
+  }
+}
+
+static bool SerializeGltfBufferData(const std::vector<unsigned char> &data,
+                                    const std::string &binFilename) {
+#ifdef _WIN32
+#if defined(__GLIBCXX__)  // mingw
+  int file_descriptor = _wopen(UTF8ToWchar(binFilename).c_str(),
+                               _O_CREAT | _O_WRONLY | _O_TRUNC | _O_BINARY);
+  __gnu_cxx::stdio_filebuf<char> wfile_buf(
+      file_descriptor, std::ios_base::out | std::ios_base::binary);
+  std::ostream output(&wfile_buf);
+  if (!wfile_buf.is_open()) return false;
+#elif defined(_MSC_VER)
+  std::ofstream output(UTF8ToWchar(binFilename).c_str(), std::ofstream::binary);
+  if (!output.is_open()) return false;
+#else
+  std::ofstream output(binFilename.c_str(), std::ofstream::binary);
+  if (!output.is_open()) return false;
+#endif
+#else
+  std::ofstream output(binFilename.c_str(), std::ofstream::binary);
+  if (!output.is_open()) return false;
+#endif
+  if (data.size() > 0) {
+    output.write(reinterpret_cast<const char *>(&data[0]),
+                 std::streamsize(data.size()));
+  } else {
+    // Issue #229
+    // size 0 will be still valid buffer data.
+    // write empty file.
+  }
+  return true;
+}
+
+#if 0  // FIXME(syoyo): not used. will be removed in the future release.
+static void SerializeParameterMap(ParameterMap &param, json &o) {
+  for (ParameterMap::iterator paramIt = param.begin(); paramIt != param.end();
+       ++paramIt) {
+    if (paramIt->second.number_array.size()) {
+      SerializeNumberArrayProperty<double>(paramIt->first,
+                                           paramIt->second.number_array, o);
+    } else if (paramIt->second.json_double_value.size()) {
+      json json_double_value;
+      for (std::map<std::string, double>::iterator it =
+               paramIt->second.json_double_value.begin();
+           it != paramIt->second.json_double_value.end(); ++it) {
+        if (it->first == "index") {
+          json_double_value[it->first] = paramIt->second.TextureIndex();
+        } else {
+          json_double_value[it->first] = it->second;
+        }
+      }
+
+      o[paramIt->first] = json_double_value;
+    } else if (!paramIt->second.string_value.empty()) {
+      SerializeStringProperty(paramIt->first, paramIt->second.string_value, o);
+    } else if (paramIt->second.has_number_value) {
+      o[paramIt->first] = paramIt->second.number_value;
+    } else {
+      o[paramIt->first] = paramIt->second.bool_value;
+    }
+  }
+}
+#endif
+
+static void SerializeExtensionMap(const ExtensionMap &extensions, json &o) {
+  if (!extensions.size()) return;
+
+  json extMap;
+  for (ExtensionMap::const_iterator extIt = extensions.begin();
+       extIt != extensions.end(); ++extIt) {
+    // Allow an empty object for extension(#97)
+    json ret;
+    bool isNull = true;
+    if (ValueToJson(extIt->second, &ret)) {
+      isNull = JsonIsNull(ret);
+      JsonAddMember(extMap, extIt->first.c_str(), std::move(ret));
+    }
+    if (isNull) {
+      if (!(extIt->first.empty())) {  // name should not be empty, but for sure
+        // create empty object so that an extension name is still included in
+        // json.
+        json empty;
+        JsonSetObject(empty);
+        JsonAddMember(extMap, extIt->first.c_str(), std::move(empty));
+      }
+    }
+  }
+  JsonAddMember(o, "extensions", std::move(extMap));
+}
+
+static void SerializeGltfAccessor(Accessor &accessor, json &o) {
+  if (accessor.bufferView >= 0)
+    SerializeNumberProperty<int>("bufferView", accessor.bufferView, o);
+
+  if (accessor.byteOffset != 0)
+    SerializeNumberProperty<int>("byteOffset", int(accessor.byteOffset), o);
+
+  SerializeNumberProperty<int>("componentType", accessor.componentType, o);
+  SerializeNumberProperty<size_t>("count", accessor.count, o);
+
+  if ((accessor.componentType == TINYGLTF_COMPONENT_TYPE_FLOAT) ||
+      (accessor.componentType == TINYGLTF_COMPONENT_TYPE_DOUBLE)) {
+    SerializeNumberArrayProperty<double>("min", accessor.minValues, o);
+    SerializeNumberArrayProperty<double>("max", accessor.maxValues, o);
+  } else {
+    // Issue #301. Serialize as integer.
+    // Assume int value is within [-2**31-1, 2**31-1]
+    {
+      std::vector<int> values;
+      std::transform(accessor.minValues.begin(), accessor.minValues.end(),
+                     std::back_inserter(values),
+                     [](double v) { return static_cast<int>(v); });
+
+      SerializeNumberArrayProperty<int>("min", values, o);
+    }
+
+    {
+      std::vector<int> values;
+      std::transform(accessor.maxValues.begin(), accessor.maxValues.end(),
+                     std::back_inserter(values),
+                     [](double v) { return static_cast<int>(v); });
+
+      SerializeNumberArrayProperty<int>("max", values, o);
+    }
+  }
+
+  if (accessor.normalized)
+    SerializeValue("normalized", Value(accessor.normalized), o);
+  std::string type;
+  switch (accessor.type) {
+    case TINYGLTF_TYPE_SCALAR:
+      type = "SCALAR";
+      break;
+    case TINYGLTF_TYPE_VEC2:
+      type = "VEC2";
+      break;
+    case TINYGLTF_TYPE_VEC3:
+      type = "VEC3";
+      break;
+    case TINYGLTF_TYPE_VEC4:
+      type = "VEC4";
+      break;
+    case TINYGLTF_TYPE_MAT2:
+      type = "MAT2";
+      break;
+    case TINYGLTF_TYPE_MAT3:
+      type = "MAT3";
+      break;
+    case TINYGLTF_TYPE_MAT4:
+      type = "MAT4";
+      break;
+  }
+
+  SerializeStringProperty("type", type, o);
+  if (!accessor.name.empty()) SerializeStringProperty("name", accessor.name, o);
+
+  if (accessor.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", accessor.extras, o);
+  }
+}
+
+static void SerializeGltfAnimationChannel(AnimationChannel &channel, json &o) {
+  SerializeNumberProperty("sampler", channel.sampler, o);
+  {
+    json target;
+    SerializeNumberProperty("node", channel.target_node, target);
+    SerializeStringProperty("path", channel.target_path, target);
+
+    SerializeExtensionMap(channel.target_extensions, target);
+
+    JsonAddMember(o, "target", std::move(target));
+  }
+
+  if (channel.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", channel.extras, o);
+  }
+
+  SerializeExtensionMap(channel.extensions, o);
+}
+
+static void SerializeGltfAnimationSampler(AnimationSampler &sampler, json &o) {
+  SerializeNumberProperty("input", sampler.input, o);
+  SerializeNumberProperty("output", sampler.output, o);
+  SerializeStringProperty("interpolation", sampler.interpolation, o);
+
+  if (sampler.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", sampler.extras, o);
+  }
+}
+
+static void SerializeGltfAnimation(Animation &animation, json &o) {
+  if (!animation.name.empty())
+    SerializeStringProperty("name", animation.name, o);
+
+  {
+    json channels;
+    JsonReserveArray(channels, animation.channels.size());
+    for (unsigned int i = 0; i < animation.channels.size(); ++i) {
+      json channel;
+      AnimationChannel gltfChannel = animation.channels[i];
+      SerializeGltfAnimationChannel(gltfChannel, channel);
+      JsonPushBack(channels, std::move(channel));
+    }
+
+    JsonAddMember(o, "channels", std::move(channels));
+  }
+
+  {
+    json samplers;
+    JsonReserveArray(samplers, animation.samplers.size());
+    for (unsigned int i = 0; i < animation.samplers.size(); ++i) {
+      json sampler;
+      AnimationSampler gltfSampler = animation.samplers[i];
+      SerializeGltfAnimationSampler(gltfSampler, sampler);
+      JsonPushBack(samplers, std::move(sampler));
+    }
+    JsonAddMember(o, "samplers", std::move(samplers));
+  }
+
+  if (animation.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", animation.extras, o);
+  }
+
+  SerializeExtensionMap(animation.extensions, o);
+}
+
+static void SerializeGltfAsset(Asset &asset, json &o) {
+  if (!asset.generator.empty()) {
+    SerializeStringProperty("generator", asset.generator, o);
+  }
+
+  if (!asset.copyright.empty()) {
+    SerializeStringProperty("copyright", asset.copyright, o);
+  }
+
+  if (asset.version.empty()) {
+    // Just in case
+    // `version` must be defined
+    asset.version = "2.0";
+  }
+
+  // TODO(syoyo): Do we need to check if `version` is greater or equal to 2.0?
+  SerializeStringProperty("version", asset.version, o);
+
+  if (asset.extras.Keys().size()) {
+    SerializeValue("extras", asset.extras, o);
+  }
+
+  SerializeExtensionMap(asset.extensions, o);
+}
+
+static void SerializeGltfBufferBin(Buffer &buffer, json &o,
+                                   std::vector<unsigned char> &binBuffer) {
+  SerializeNumberProperty("byteLength", buffer.data.size(), o);
+  binBuffer = buffer.data;
+
+  if (buffer.name.size()) SerializeStringProperty("name", buffer.name, o);
+
+  if (buffer.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", buffer.extras, o);
+  }
+}
+
+static void SerializeGltfBuffer(Buffer &buffer, json &o) {
+  SerializeNumberProperty("byteLength", buffer.data.size(), o);
+  SerializeGltfBufferData(buffer.data, o);
+
+  if (buffer.name.size()) SerializeStringProperty("name", buffer.name, o);
+
+  if (buffer.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", buffer.extras, o);
+  }
+}
+
+static bool SerializeGltfBuffer(Buffer &buffer, json &o,
+                                const std::string &binFilename,
+                                const std::string &binBaseFilename) {
+  if (!SerializeGltfBufferData(buffer.data, binFilename)) return false;
+  SerializeNumberProperty("byteLength", buffer.data.size(), o);
+  SerializeStringProperty("uri", binBaseFilename, o);
+
+  if (buffer.name.size()) SerializeStringProperty("name", buffer.name, o);
+
+  if (buffer.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", buffer.extras, o);
+  }
+  return true;
+}
+
+static void SerializeGltfBufferView(BufferView &bufferView, json &o) {
+  SerializeNumberProperty("buffer", bufferView.buffer, o);
+  SerializeNumberProperty<size_t>("byteLength", bufferView.byteLength, o);
+
+  // byteStride is optional, minimum allowed is 4
+  if (bufferView.byteStride >= 4) {
+    SerializeNumberProperty<size_t>("byteStride", bufferView.byteStride, o);
+  }
+  // byteOffset is optional, default is 0
+  if (bufferView.byteOffset > 0) {
+    SerializeNumberProperty<size_t>("byteOffset", bufferView.byteOffset, o);
+  }
+  // Target is optional, check if it contains a valid value
+  if (bufferView.target == TINYGLTF_TARGET_ARRAY_BUFFER ||
+      bufferView.target == TINYGLTF_TARGET_ELEMENT_ARRAY_BUFFER) {
+    SerializeNumberProperty("target", bufferView.target, o);
+  }
+  if (bufferView.name.size()) {
+    SerializeStringProperty("name", bufferView.name, o);
+  }
+
+  if (bufferView.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", bufferView.extras, o);
+  }
+}
+
+static void SerializeGltfImage(Image &image, json &o) {
+  // if uri empty, the mimeType and bufferview should be set
+  if (image.uri.empty()) {
+    SerializeStringProperty("mimeType", image.mimeType, o);
+    SerializeNumberProperty<int>("bufferView", image.bufferView, o);
+  } else {
+    // TODO(syoyo): dlib::urilencode?
+    SerializeStringProperty("uri", image.uri, o);
+  }
+
+  if (image.name.size()) {
+    SerializeStringProperty("name", image.name, o);
+  }
+
+  if (image.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", image.extras, o);
+  }
+
+  SerializeExtensionMap(image.extensions, o);
+}
+
+static void SerializeGltfTextureInfo(TextureInfo &texinfo, json &o) {
+  SerializeNumberProperty("index", texinfo.index, o);
+
+  if (texinfo.texCoord != 0) {
+    SerializeNumberProperty("texCoord", texinfo.texCoord, o);
+  }
+
+  if (texinfo.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", texinfo.extras, o);
+  }
+
+  SerializeExtensionMap(texinfo.extensions, o);
+}
+
+static void SerializeGltfNormalTextureInfo(NormalTextureInfo &texinfo,
+                                           json &o) {
+  SerializeNumberProperty("index", texinfo.index, o);
+
+  if (texinfo.texCoord != 0) {
+    SerializeNumberProperty("texCoord", texinfo.texCoord, o);
+  }
+
+  if (!TINYGLTF_DOUBLE_EQUAL(texinfo.scale, 1.0)) {
+    SerializeNumberProperty("scale", texinfo.scale, o);
+  }
+
+  if (texinfo.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", texinfo.extras, o);
+  }
+
+  SerializeExtensionMap(texinfo.extensions, o);
+}
+
+static void SerializeGltfOcclusionTextureInfo(OcclusionTextureInfo &texinfo,
+                                              json &o) {
+  SerializeNumberProperty("index", texinfo.index, o);
+
+  if (texinfo.texCoord != 0) {
+    SerializeNumberProperty("texCoord", texinfo.texCoord, o);
+  }
+
+  if (!TINYGLTF_DOUBLE_EQUAL(texinfo.strength, 1.0)) {
+    SerializeNumberProperty("strength", texinfo.strength, o);
+  }
+
+  if (texinfo.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", texinfo.extras, o);
+  }
+
+  SerializeExtensionMap(texinfo.extensions, o);
+}
+
+static void SerializeGltfPbrMetallicRoughness(PbrMetallicRoughness &pbr,
+                                              json &o) {
+  std::vector<double> default_baseColorFactor = {1.0, 1.0, 1.0, 1.0};
+  if (!Equals(pbr.baseColorFactor, default_baseColorFactor)) {
+    SerializeNumberArrayProperty<double>("baseColorFactor", pbr.baseColorFactor,
+                                         o);
+  }
+
+  if (!TINYGLTF_DOUBLE_EQUAL(pbr.metallicFactor, 1.0)) {
+    SerializeNumberProperty("metallicFactor", pbr.metallicFactor, o);
+  }
+
+  if (!TINYGLTF_DOUBLE_EQUAL(pbr.roughnessFactor, 1.0)) {
+    SerializeNumberProperty("roughnessFactor", pbr.roughnessFactor, o);
+  }
+
+  if (pbr.baseColorTexture.index > -1) {
+    json texinfo;
+    SerializeGltfTextureInfo(pbr.baseColorTexture, texinfo);
+    JsonAddMember(o, "baseColorTexture", std::move(texinfo));
+  }
+
+  if (pbr.metallicRoughnessTexture.index > -1) {
+    json texinfo;
+    SerializeGltfTextureInfo(pbr.metallicRoughnessTexture, texinfo);
+    JsonAddMember(o, "metallicRoughnessTexture", std::move(texinfo));
+  }
+
+  SerializeExtensionMap(pbr.extensions, o);
+
+  if (pbr.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", pbr.extras, o);
+  }
+}
+
+static void SerializeGltfMaterial(Material &material, json &o) {
+  if (material.name.size()) {
+    SerializeStringProperty("name", material.name, o);
+  }
+
+  // QUESTION(syoyo): Write material parameters regardless of its default value?
+
+  if (!TINYGLTF_DOUBLE_EQUAL(material.alphaCutoff, 0.5)) {
+    SerializeNumberProperty("alphaCutoff", material.alphaCutoff, o);
+  }
+
+  if (material.alphaMode.compare("OPAQUE") != 0) {
+    SerializeStringProperty("alphaMode", material.alphaMode, o);
+  }
+
+  if (material.doubleSided != false)
+    JsonAddMember(o, "doubleSided", json(material.doubleSided));
+
+  if (material.normalTexture.index > -1) {
+    json texinfo;
+    SerializeGltfNormalTextureInfo(material.normalTexture, texinfo);
+    JsonAddMember(o, "normalTexture", std::move(texinfo));
+  }
+
+  if (material.occlusionTexture.index > -1) {
+    json texinfo;
+    SerializeGltfOcclusionTextureInfo(material.occlusionTexture, texinfo);
+    JsonAddMember(o, "occlusionTexture", std::move(texinfo));
+  }
+
+  if (material.emissiveTexture.index > -1) {
+    json texinfo;
+    SerializeGltfTextureInfo(material.emissiveTexture, texinfo);
+    JsonAddMember(o, "emissiveTexture", std::move(texinfo));
+  }
+
+  std::vector<double> default_emissiveFactor = {0.0, 0.0, 0.0};
+  if (!Equals(material.emissiveFactor, default_emissiveFactor)) {
+    SerializeNumberArrayProperty<double>("emissiveFactor",
+                                         material.emissiveFactor, o);
+  }
+
+  {
+    json pbrMetallicRoughness;
+    SerializeGltfPbrMetallicRoughness(material.pbrMetallicRoughness,
+                                      pbrMetallicRoughness);
+    // Issue 204
+    // Do not serialize `pbrMetallicRoughness` if pbrMetallicRoughness has all
+    // default values(json is null). Otherwise it will serialize to
+    // `pbrMetallicRoughness : null`, which cannot be read by other glTF
+    // importers(and validators).
+    //
+    if (!JsonIsNull(pbrMetallicRoughness)) {
+      JsonAddMember(o, "pbrMetallicRoughness", std::move(pbrMetallicRoughness));
+    }
+  }
+
+#if 0  // legacy way. just for the record.
+  if (material.values.size()) {
+    json pbrMetallicRoughness;
+    SerializeParameterMap(material.values, pbrMetallicRoughness);
+    JsonAddMember(o, "pbrMetallicRoughness", std::move(pbrMetallicRoughness));
+  }
+
+  SerializeParameterMap(material.additionalValues, o);
+#else
+
+#endif
+
+  SerializeExtensionMap(material.extensions, o);
+
+  if (material.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", material.extras, o);
+  }
+}
+
+static void SerializeGltfMesh(Mesh &mesh, json &o) {
+  json primitives;
+  JsonReserveArray(primitives, mesh.primitives.size());
+  for (unsigned int i = 0; i < mesh.primitives.size(); ++i) {
+    json primitive;
+    const Primitive &gltfPrimitive = mesh.primitives[i];  // don't make a copy
+    {
+      json attributes;
+      for (auto attrIt = gltfPrimitive.attributes.begin();
+           attrIt != gltfPrimitive.attributes.end(); ++attrIt) {
+        SerializeNumberProperty<int>(attrIt->first, attrIt->second, attributes);
+      }
+
+      JsonAddMember(primitive, "attributes", std::move(attributes));
+    }
+
+    // Indicies is optional
+    if (gltfPrimitive.indices > -1) {
+      SerializeNumberProperty<int>("indices", gltfPrimitive.indices, primitive);
+    }
+    // Material is optional
+    if (gltfPrimitive.material > -1) {
+      SerializeNumberProperty<int>("material", gltfPrimitive.material,
+                                   primitive);
+    }
+    SerializeNumberProperty<int>("mode", gltfPrimitive.mode, primitive);
+
+    // Morph targets
+    if (gltfPrimitive.targets.size()) {
+      json targets;
+      JsonReserveArray(targets, gltfPrimitive.targets.size());
+      for (unsigned int k = 0; k < gltfPrimitive.targets.size(); ++k) {
+        json targetAttributes;
+        std::map<std::string, int> targetData = gltfPrimitive.targets[k];
+        for (std::map<std::string, int>::iterator attrIt = targetData.begin();
+             attrIt != targetData.end(); ++attrIt) {
+          SerializeNumberProperty<int>(attrIt->first, attrIt->second,
+                                       targetAttributes);
+        }
+        JsonPushBack(targets, std::move(targetAttributes));
+      }
+      JsonAddMember(primitive, "targets", std::move(targets));
+    }
+
+    SerializeExtensionMap(gltfPrimitive.extensions, primitive);
+
+    if (gltfPrimitive.extras.Type() != NULL_TYPE) {
+      SerializeValue("extras", gltfPrimitive.extras, primitive);
+    }
+
+    JsonPushBack(primitives, std::move(primitive));
+  }
+
+  JsonAddMember(o, "primitives", std::move(primitives));
+
+  if (mesh.weights.size()) {
+    SerializeNumberArrayProperty<double>("weights", mesh.weights, o);
+  }
+
+  if (mesh.name.size()) {
+    SerializeStringProperty("name", mesh.name, o);
+  }
+
+  SerializeExtensionMap(mesh.extensions, o);
+  if (mesh.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", mesh.extras, o);
+  }
+}
+
+static void SerializeSpotLight(SpotLight &spot, json &o) {
+  SerializeNumberProperty("innerConeAngle", spot.innerConeAngle, o);
+  SerializeNumberProperty("outerConeAngle", spot.outerConeAngle, o);
+  SerializeExtensionMap(spot.extensions, o);
+  if (spot.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", spot.extras, o);
+  }
+}
+
+static void SerializeGltfLight(Light &light, json &o) {
+  if (!light.name.empty()) SerializeStringProperty("name", light.name, o);
+  SerializeNumberProperty("intensity", light.intensity, o);
+  if (light.range > 0.0) {
+    SerializeNumberProperty("range", light.range, o);
+  }
+  SerializeNumberArrayProperty("color", light.color, o);
+  SerializeStringProperty("type", light.type, o);
+  if (light.type == "spot") {
+    json spot;
+    SerializeSpotLight(light.spot, spot);
+    JsonAddMember(o, "spot", std::move(spot));
+  }
+  SerializeExtensionMap(light.extensions, o);
+  if (light.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", light.extras, o);
+  }
+}
+
+static void SerializeGltfNode(Node &node, json &o) {
+  if (node.translation.size() > 0) {
+    SerializeNumberArrayProperty<double>("translation", node.translation, o);
+  }
+  if (node.rotation.size() > 0) {
+    SerializeNumberArrayProperty<double>("rotation", node.rotation, o);
+  }
+  if (node.scale.size() > 0) {
+    SerializeNumberArrayProperty<double>("scale", node.scale, o);
+  }
+  if (node.matrix.size() > 0) {
+    SerializeNumberArrayProperty<double>("matrix", node.matrix, o);
+  }
+  if (node.mesh != -1) {
+    SerializeNumberProperty<int>("mesh", node.mesh, o);
+  }
+
+  if (node.skin != -1) {
+    SerializeNumberProperty<int>("skin", node.skin, o);
+  }
+
+  if (node.camera != -1) {
+    SerializeNumberProperty<int>("camera", node.camera, o);
+  }
+
+  if (node.weights.size() > 0) {
+    SerializeNumberArrayProperty<double>("weights", node.weights, o);
+  }
+
+  if (node.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", node.extras, o);
+  }
+
+  SerializeExtensionMap(node.extensions, o);
+  if (!node.name.empty()) SerializeStringProperty("name", node.name, o);
+  SerializeNumberArrayProperty<int>("children", node.children, o);
+}
+
+static void SerializeGltfSampler(Sampler &sampler, json &o) {
+  if (sampler.magFilter != -1) {
+    SerializeNumberProperty("magFilter", sampler.magFilter, o);
+  }
+  if (sampler.minFilter != -1) {
+    SerializeNumberProperty("minFilter", sampler.minFilter, o);
+  }
+  //SerializeNumberProperty("wrapR", sampler.wrapR, o);
+  SerializeNumberProperty("wrapS", sampler.wrapS, o);
+  SerializeNumberProperty("wrapT", sampler.wrapT, o);
+
+  if (sampler.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", sampler.extras, o);
+  }
+}
+
+static void SerializeGltfOrthographicCamera(const OrthographicCamera &camera,
+                                            json &o) {
+  SerializeNumberProperty("zfar", camera.zfar, o);
+  SerializeNumberProperty("znear", camera.znear, o);
+  SerializeNumberProperty("xmag", camera.xmag, o);
+  SerializeNumberProperty("ymag", camera.ymag, o);
+
+  if (camera.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", camera.extras, o);
+  }
+}
+
+static void SerializeGltfPerspectiveCamera(const PerspectiveCamera &camera,
+                                           json &o) {
+  SerializeNumberProperty("zfar", camera.zfar, o);
+  SerializeNumberProperty("znear", camera.znear, o);
+  if (camera.aspectRatio > 0) {
+    SerializeNumberProperty("aspectRatio", camera.aspectRatio, o);
+  }
+
+  if (camera.yfov > 0) {
+    SerializeNumberProperty("yfov", camera.yfov, o);
+  }
+
+  if (camera.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", camera.extras, o);
+  }
+}
+
+static void SerializeGltfCamera(const Camera &camera, json &o) {
+  SerializeStringProperty("type", camera.type, o);
+  if (!camera.name.empty()) {
+    SerializeStringProperty("name", camera.name, o);
+  }
+
+  if (camera.type.compare("orthographic") == 0) {
+    json orthographic;
+    SerializeGltfOrthographicCamera(camera.orthographic, orthographic);
+    JsonAddMember(o, "orthographic", std::move(orthographic));
+  } else if (camera.type.compare("perspective") == 0) {
+    json perspective;
+    SerializeGltfPerspectiveCamera(camera.perspective, perspective);
+    JsonAddMember(o, "perspective", std::move(perspective));
+  } else {
+    // ???
+  }
+
+  if (camera.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", camera.extras, o);
+  }
+  SerializeExtensionMap(camera.extensions, o);
+}
+
+static void SerializeGltfScene(Scene &scene, json &o) {
+  SerializeNumberArrayProperty<int>("nodes", scene.nodes, o);
+
+  if (scene.name.size()) {
+    SerializeStringProperty("name", scene.name, o);
+  }
+  if (scene.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", scene.extras, o);
+  }
+  SerializeExtensionMap(scene.extensions, o);
+}
+
+static void SerializeGltfSkin(Skin &skin, json &o) {
+  if (skin.inverseBindMatrices != -1)
+    SerializeNumberProperty("inverseBindMatrices", skin.inverseBindMatrices, o);
+
+  SerializeNumberArrayProperty<int>("joints", skin.joints, o);
+  SerializeNumberProperty("skeleton", skin.skeleton, o);
+  if (skin.name.size()) {
+    SerializeStringProperty("name", skin.name, o);
+  }
+}
+
+static void SerializeGltfTexture(Texture &texture, json &o) {
+  if (texture.sampler > -1) {
+    SerializeNumberProperty("sampler", texture.sampler, o);
+  }
+  if (texture.source > -1) {
+    SerializeNumberProperty("source", texture.source, o);
+  }
+  if (texture.name.size()) {
+    SerializeStringProperty("name", texture.name, o);
+  }
+  if (texture.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", texture.extras, o);
+  }
+  SerializeExtensionMap(texture.extensions, o);
+}
+
+///
+/// Serialize all properties except buffers and images.
+///
+static void SerializeGltfModel(Model *model, json &o) {
+  // ACCESSORS
+  if (model->accessors.size()) {
+    json accessors;
+    JsonReserveArray(accessors, model->accessors.size());
+    for (unsigned int i = 0; i < model->accessors.size(); ++i) {
+      json accessor;
+      SerializeGltfAccessor(model->accessors[i], accessor);
+      JsonPushBack(accessors, std::move(accessor));
+    }
+    JsonAddMember(o, "accessors", std::move(accessors));
+  }
+
+  // ANIMATIONS
+  if (model->animations.size()) {
+    json animations;
+    JsonReserveArray(animations, model->animations.size());
+    for (unsigned int i = 0; i < model->animations.size(); ++i) {
+      if (model->animations[i].channels.size()) {
+        json animation;
+        SerializeGltfAnimation(model->animations[i], animation);
+        JsonPushBack(animations, std::move(animation));
+      }
+    }
+
+    JsonAddMember(o, "animations", std::move(animations));
+  }
+
+  // ASSET
+  json asset;
+  SerializeGltfAsset(model->asset, asset);
+  JsonAddMember(o, "asset", std::move(asset));
+
+  // BUFFERVIEWS
+  if (model->bufferViews.size()) {
+    json bufferViews;
+    JsonReserveArray(bufferViews, model->bufferViews.size());
+    for (unsigned int i = 0; i < model->bufferViews.size(); ++i) {
+      json bufferView;
+      SerializeGltfBufferView(model->bufferViews[i], bufferView);
+      JsonPushBack(bufferViews, std::move(bufferView));
+    }
+    JsonAddMember(o, "bufferViews", std::move(bufferViews));
+  }
+
+  // Extensions required
+  if (model->extensionsRequired.size()) {
+    SerializeStringArrayProperty("extensionsRequired",
+                                 model->extensionsRequired, o);
+  }
+
+  // MATERIALS
+  if (model->materials.size()) {
+    json materials;
+    JsonReserveArray(materials, model->materials.size());
+    for (unsigned int i = 0; i < model->materials.size(); ++i) {
+      json material;
+      SerializeGltfMaterial(model->materials[i], material);
+
+      if (JsonIsNull(material)) {
+        // Issue 294.
+        // `material` does not have any required parameters
+        // so the result may be null(unmodified) when all material parameters
+        // have default value.
+        //
+        // null is not allowed thus we create an empty JSON object.
+        JsonSetObject(material);
+      }
+      JsonPushBack(materials, std::move(material));
+    }
+    JsonAddMember(o, "materials", std::move(materials));
+  }
+
+  // MESHES
+  if (model->meshes.size()) {
+    json meshes;
+    JsonReserveArray(meshes, model->meshes.size());
+    for (unsigned int i = 0; i < model->meshes.size(); ++i) {
+      json mesh;
+      SerializeGltfMesh(model->meshes[i], mesh);
+      JsonPushBack(meshes, std::move(mesh));
+    }
+    JsonAddMember(o, "meshes", std::move(meshes));
+  }
+
+  // NODES
+  if (model->nodes.size()) {
+    json nodes;
+    JsonReserveArray(nodes, model->nodes.size());
+    for (unsigned int i = 0; i < model->nodes.size(); ++i) {
+      json node;
+      SerializeGltfNode(model->nodes[i], node);
+      JsonPushBack(nodes, std::move(node));
+    }
+    JsonAddMember(o, "nodes", std::move(nodes));
+  }
+
+  // SCENE
+  if (model->defaultScene > -1) {
+    SerializeNumberProperty<int>("scene", model->defaultScene, o);
+  }
+
+  // SCENES
+  if (model->scenes.size()) {
+    json scenes;
+    JsonReserveArray(scenes, model->scenes.size());
+    for (unsigned int i = 0; i < model->scenes.size(); ++i) {
+      json currentScene;
+      SerializeGltfScene(model->scenes[i], currentScene);
+      JsonPushBack(scenes, std::move(currentScene));
+    }
+    JsonAddMember(o, "scenes", std::move(scenes));
+  }
+
+  // SKINS
+  if (model->skins.size()) {
+    json skins;
+    JsonReserveArray(skins, model->skins.size());
+    for (unsigned int i = 0; i < model->skins.size(); ++i) {
+      json skin;
+      SerializeGltfSkin(model->skins[i], skin);
+      JsonPushBack(skins, std::move(skin));
+    }
+    JsonAddMember(o, "skins", std::move(skins));
+  }
+
+  // TEXTURES
+  if (model->textures.size()) {
+    json textures;
+    JsonReserveArray(textures, model->textures.size());
+    for (unsigned int i = 0; i < model->textures.size(); ++i) {
+      json texture;
+      SerializeGltfTexture(model->textures[i], texture);
+      JsonPushBack(textures, std::move(texture));
+    }
+    JsonAddMember(o, "textures", std::move(textures));
+  }
+
+  // SAMPLERS
+  if (model->samplers.size()) {
+    json samplers;
+    JsonReserveArray(samplers, model->samplers.size());
+    for (unsigned int i = 0; i < model->samplers.size(); ++i) {
+      json sampler;
+      SerializeGltfSampler(model->samplers[i], sampler);
+      JsonPushBack(samplers, std::move(sampler));
+    }
+    JsonAddMember(o, "samplers", std::move(samplers));
+  }
+
+  // CAMERAS
+  if (model->cameras.size()) {
+    json cameras;
+    JsonReserveArray(cameras, model->cameras.size());
+    for (unsigned int i = 0; i < model->cameras.size(); ++i) {
+      json camera;
+      SerializeGltfCamera(model->cameras[i], camera);
+      JsonPushBack(cameras, std::move(camera));
+    }
+    JsonAddMember(o, "cameras", std::move(cameras));
+  }
+
+  // EXTENSIONS
+  SerializeExtensionMap(model->extensions, o);
+
+  auto extensionsUsed = model->extensionsUsed;
+
+  // LIGHTS as KHR_lights_punctual
+  if (model->lights.size()) {
+    json lights;
+    JsonReserveArray(lights, model->lights.size());
+    for (unsigned int i = 0; i < model->lights.size(); ++i) {
+      json light;
+      SerializeGltfLight(model->lights[i], light);
+      JsonPushBack(lights, std::move(light));
+    }
+    json khr_lights_cmn;
+    JsonAddMember(khr_lights_cmn, "lights", std::move(lights));
+    json ext_j;
+
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        JsonAssign(ext_j, GetValue(it));
+      }
+    }
+
+    JsonAddMember(ext_j, "KHR_lights_punctual", std::move(khr_lights_cmn));
+
+    JsonAddMember(o, "extensions", std::move(ext_j));
+
+    // Also add "KHR_lights_punctual" to `extensionsUsed`
+    {
+      auto has_khr_lights_punctual =
+          std::find_if(extensionsUsed.begin(), extensionsUsed.end(),
+                       [](const std::string &s) {
+                         return (s.compare("KHR_lights_punctual") == 0);
+                       });
+
+      if (has_khr_lights_punctual == extensionsUsed.end()) {
+        extensionsUsed.push_back("KHR_lights_punctual");
+      }
+    }
+  }
+
+  // Extensions used
+  if (extensionsUsed.size()) {
+    SerializeStringArrayProperty("extensionsUsed", extensionsUsed, o);
+  }
+
+  // EXTRAS
+  if (model->extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", model->extras, o);
+  }
+}
+
+static bool WriteGltfStream(std::ostream &stream, const std::string &content) {
+  stream << content << std::endl;
+  return true;
+}
+
+static bool WriteGltfFile(const std::string &output,
+                          const std::string &content) {
+#ifdef _WIN32
+#if defined(_MSC_VER)
+  std::ofstream gltfFile(UTF8ToWchar(output).c_str());
+#elif defined(__GLIBCXX__)
+  int file_descriptor = _wopen(UTF8ToWchar(output).c_str(),
+                               _O_CREAT | _O_WRONLY | _O_TRUNC | _O_BINARY);
+  __gnu_cxx::stdio_filebuf<char> wfile_buf(
+      file_descriptor, std::ios_base::out | std::ios_base::binary);
+  std::ostream gltfFile(&wfile_buf);
+  if (!wfile_buf.is_open()) return false;
+#else
+  std::ofstream gltfFile(output.c_str());
+  if (!gltfFile.is_open()) return false;
+#endif
+#else
+  std::ofstream gltfFile(output.c_str());
+  if (!gltfFile.is_open()) return false;
+#endif
+  return WriteGltfStream(gltfFile, content);
+}
+
+static void WriteBinaryGltfStream(std::ostream &stream,
+                                  const std::string &content,
+                                  const std::vector<unsigned char> &binBuffer) {
+  const std::string header = "glTF";
+  const int version = 2;
+
+  // https://stackoverflow.com/questions/3407012/c-rounding-up-to-the-nearest-multiple-of-a-number
+  auto roundUp = [](uint32_t numToRound, uint32_t multiple) {
+    if (multiple == 0) return numToRound;
+
+    uint32_t remainder = numToRound % multiple;
+    if (remainder == 0) return numToRound;
+
+    return numToRound + multiple - remainder;
+  };
+
+  const uint32_t padding_size =
+      roundUp(uint32_t(content.size()), 4) - uint32_t(content.size());
+
+  // 12 bytes for header, JSON content length, 8 bytes for JSON chunk info.
+  // Chunk data must be located at 4-byte boundary.
+  const uint32_t length =
+      12 + 8 + roundUp(uint32_t(content.size()), 4) +
+      (binBuffer.size() ? (8 + roundUp(uint32_t(binBuffer.size()), 4)) : 0);
+
+  stream.write(header.c_str(), std::streamsize(header.size()));
+  stream.write(reinterpret_cast<const char *>(&version), sizeof(version));
+  stream.write(reinterpret_cast<const char *>(&length), sizeof(length));
+
+  // JSON chunk info, then JSON data
+  const uint32_t model_length = uint32_t(content.size()) + padding_size;
+  const uint32_t model_format = 0x4E4F534A;
+  stream.write(reinterpret_cast<const char *>(&model_length),
+               sizeof(model_length));
+  stream.write(reinterpret_cast<const char *>(&model_format),
+               sizeof(model_format));
+  stream.write(content.c_str(), std::streamsize(content.size()));
+
+  // Chunk must be multiplies of 4, so pad with spaces
+  if (padding_size > 0) {
+    const std::string padding = std::string(size_t(padding_size), ' ');
+    stream.write(padding.c_str(), std::streamsize(padding.size()));
+  }
+  if (binBuffer.size() > 0) {
+    const uint32_t bin_padding_size =
+        roundUp(uint32_t(binBuffer.size()), 4) - uint32_t(binBuffer.size());
+    // BIN chunk info, then BIN data
+    const uint32_t bin_length = uint32_t(binBuffer.size()) + bin_padding_size;
+    const uint32_t bin_format = 0x004e4942;
+    stream.write(reinterpret_cast<const char *>(&bin_length),
+                 sizeof(bin_length));
+    stream.write(reinterpret_cast<const char *>(&bin_format),
+                 sizeof(bin_format));
+    stream.write(reinterpret_cast<const char *>(binBuffer.data()),
+                 std::streamsize(binBuffer.size()));
+    // Chunksize must be multiplies of 4, so pad with zeroes
+    if (bin_padding_size > 0) {
+      const std::vector<unsigned char> padding =
+          std::vector<unsigned char>(size_t(bin_padding_size), 0);
+      stream.write(reinterpret_cast<const char *>(padding.data()),
+                   std::streamsize(padding.size()));
+    }
+  }
+}
+
+static void WriteBinaryGltfFile(const std::string &output,
+                                const std::string &content,
+                                const std::vector<unsigned char> &binBuffer) {
+#ifdef _WIN32
+#if defined(_MSC_VER)
+  std::ofstream gltfFile(UTF8ToWchar(output).c_str(), std::ios::binary);
+#elif defined(__GLIBCXX__)
+  int file_descriptor = _wopen(UTF8ToWchar(output).c_str(),
+                               _O_CREAT | _O_WRONLY | _O_TRUNC | _O_BINARY);
+  __gnu_cxx::stdio_filebuf<char> wfile_buf(
+      file_descriptor, std::ios_base::out | std::ios_base::binary);
+  std::ostream gltfFile(&wfile_buf);
+#else
+  std::ofstream gltfFile(output.c_str(), std::ios::binary);
+#endif
+#else
+  std::ofstream gltfFile(output.c_str(), std::ios::binary);
+#endif
+  WriteBinaryGltfStream(gltfFile, content, binBuffer);
+}
+
+bool TinyGLTF::WriteGltfSceneToStream(Model *model, std::ostream &stream,
+                                      bool prettyPrint = true,
+                                      bool writeBinary = false) {
+  JsonDocument output;
+
+  /// Serialize all properties except buffers and images.
+  SerializeGltfModel(model, output);
+
+  // BUFFERS
+  std::vector<unsigned char> binBuffer;
+  if (model->buffers.size()) {
+    json buffers;
+    JsonReserveArray(buffers, model->buffers.size());
+    for (unsigned int i = 0; i < model->buffers.size(); ++i) {
+      json buffer;
+      if (writeBinary && i == 0 && model->buffers[i].uri.empty()) {
+        SerializeGltfBufferBin(model->buffers[i], buffer, binBuffer);
+      } else {
+        SerializeGltfBuffer(model->buffers[i], buffer);
+      }
+      JsonPushBack(buffers, std::move(buffer));
+    }
+    JsonAddMember(output, "buffers", std::move(buffers));
+  }
+
+  // IMAGES
+  if (model->images.size()) {
+    json images;
+    JsonReserveArray(images, model->images.size());
+    for (unsigned int i = 0; i < model->images.size(); ++i) {
+      json image;
+
+      std::string dummystring = "";
+      // UpdateImageObject need baseDir but only uses it if embeddedImages is
+      // enabled, since we won't write separate images when writing to a stream
+      // we
+      UpdateImageObject(model->images[i], dummystring, int(i), false,
+                        &this->WriteImageData, this->write_image_user_data_);
+      SerializeGltfImage(model->images[i], image);
+      JsonPushBack(images, std::move(image));
+    }
+    JsonAddMember(output, "images", std::move(images));
+  }
+
+  if (writeBinary) {
+    WriteBinaryGltfStream(stream, JsonToString(output), binBuffer);
+  } else {
+    WriteGltfStream(stream, JsonToString(output, prettyPrint ? 2 : -1));
+  }
+
+  return true;
+}
+
+bool TinyGLTF::WriteGltfSceneToFile(Model *model, const std::string &filename,
+                                    bool embedImages = false,
+                                    bool embedBuffers = false,
+                                    bool prettyPrint = true,
+                                    bool writeBinary = false) {
+  JsonDocument output;
+  std::string defaultBinFilename = GetBaseFilename(filename);
+  std::string defaultBinFileExt = ".bin";
+  std::string::size_type pos =
+      defaultBinFilename.rfind('.', defaultBinFilename.length());
+
+  if (pos != std::string::npos) {
+    defaultBinFilename = defaultBinFilename.substr(0, pos);
+  }
+  std::string baseDir = GetBaseDir(filename);
+  if (baseDir.empty()) {
+    baseDir = "./";
+  }
+  /// Serialize all properties except buffers and images.
+  SerializeGltfModel(model, output);
+
+  // BUFFERS
+  std::vector<std::string> usedUris;
+  std::vector<unsigned char> binBuffer;
+  if (model->buffers.size()) {
+    json buffers;
+    JsonReserveArray(buffers, model->buffers.size());
+    for (unsigned int i = 0; i < model->buffers.size(); ++i) {
+      json buffer;
+      if (writeBinary && i == 0 && model->buffers[i].uri.empty()) {
+        SerializeGltfBufferBin(model->buffers[i], buffer, binBuffer);
+      } else if (embedBuffers) {
+        SerializeGltfBuffer(model->buffers[i], buffer);
+      } else {
+        std::string binSavePath;
+        std::string binUri;
+        if (!model->buffers[i].uri.empty() &&
+            !IsDataURI(model->buffers[i].uri)) {
+          binUri = model->buffers[i].uri;
+        } else {
+          binUri = defaultBinFilename + defaultBinFileExt;
+          bool inUse = true;
+          int numUsed = 0;
+          while (inUse) {
+            inUse = false;
+            for (const std::string &usedName : usedUris) {
+              if (binUri.compare(usedName) != 0) continue;
+              inUse = true;
+              binUri = defaultBinFilename + std::to_string(numUsed++) +
+                       defaultBinFileExt;
+              break;
+            }
+          }
+        }
+        usedUris.push_back(binUri);
+        binSavePath = JoinPath(baseDir, binUri);
+        if (!SerializeGltfBuffer(model->buffers[i], buffer, binSavePath,
+                                 binUri)) {
+          return false;
+        }
+      }
+      JsonPushBack(buffers, std::move(buffer));
+    }
+    JsonAddMember(output, "buffers", std::move(buffers));
+  }
+
+  // IMAGES
+  if (model->images.size()) {
+    json images;
+    JsonReserveArray(images, model->images.size());
+    for (unsigned int i = 0; i < model->images.size(); ++i) {
+      json image;
+
+      UpdateImageObject(model->images[i], baseDir, int(i), embedImages,
+                        &this->WriteImageData, this->write_image_user_data_);
+      SerializeGltfImage(model->images[i], image);
+      JsonPushBack(images, std::move(image));
+    }
+    JsonAddMember(output, "images", std::move(images));
+  }
+
+  if (writeBinary) {
+    WriteBinaryGltfFile(filename, JsonToString(output), binBuffer);
+  } else {
+    WriteGltfFile(filename, JsonToString(output, (prettyPrint ? 2 : -1)));
+  }
+
+  return true;
+}
+
+}  // namespace tinygltf
+
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
+
+#endif  // TINYGLTF_IMPLEMENTATION
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 7dad00500..266168790 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -58,6 +58,17 @@
 #ifdef _MSC_VER
 #  pragma warning(pop)
 #endif
+// GLTF: mesh import/export
+#define JSON_NOEXCEPTION
+#define TINYGLTF_NOEXCEPTION
+#define TINYGLTF_NO_STB_IMAGE
+#define TINYGLTF_NO_STB_IMAGE_WRITE
+#define TINYGLTF_NO_INCLUDE_JSON
+#define TINYGLTF_NO_INCLUDE_STB_IMAGE
+#define TINYGLTF_NO_INCLUDE_STB_IMAGE_WRITE
+#define TINYGLTF_IMPLEMENTATION
+#include "../IO/json.hpp"
+#include "../IO/tiny_gltf.h"
 
 using namespace MVS;
 
@@ -1449,6 +1460,9 @@ bool Mesh::Save(const String& fileName, const cList<String>& comments, bool bBin
 	bool ret;
 	if (ext == _T(".obj"))
 		ret = SaveOBJ(fileName);
+	else
+	if (ext == _T(".gltf"))
+		ret = SaveGLTF(fileName);
 	else
 		ret = SavePLY(ext != _T(".ply") ? String(fileName+_T(".ply")) : fileName, comments, bBinary);
 	if (!ret)
@@ -1590,6 +1604,183 @@ bool Mesh::SaveOBJ(const String& fileName) const
 	pMaterial->diffuse_map = textureDiffuse;
 
 	return model.Save(fileName);
+}
+// export the mesh as a GLTF file
+bool Mesh::SaveGLTF(const String& fileName, bool bBinary) const
+{
+	ASSERT(!fileName.IsEmpty());
+	Util::ensureFolder(fileName);
+
+	// store a copy of the mesh if it has texture, in order to convert
+	// the texture coordinates from per face to per vertex
+	Mesh meshCompressed;
+	if (HasTexture())
+		ConvertTexturePerVertex(meshCompressed);
+	const Mesh& mesh(HasTexture() ? meshCompressed : *this);
+
+	// create GLTF model
+	tinygltf::Model gltfModel;
+	tinygltf::Scene gltfScene;
+	tinygltf::Mesh gltfMesh;
+	tinygltf::Primitive gltfPrimitive;
+	gltfScene.name = "scene";
+	gltfMesh.name = "mesh";
+
+	// setup vertices
+	{
+		STATIC_ASSERT(3 * sizeof(Vertex::Type) == sizeof(Vertex)); // VertexArr should be continuous
+		const size_t size_bytes(mesh.vertices.size() * sizeof(Vertex));
+		const Box box(GetAABB());
+		gltfPrimitive.attributes["POSITION"] = gltfModel.accessors.size();
+		tinygltf::Accessor vertexPositionAccessor;
+		vertexPositionAccessor.name = "vertexPositionAccessor";
+		vertexPositionAccessor.bufferView = gltfModel.bufferViews.size();
+		vertexPositionAccessor.componentType = TINYGLTF_COMPONENT_TYPE_FLOAT;
+		vertexPositionAccessor.count = mesh.vertices.size();
+		vertexPositionAccessor.type = TINYGLTF_TYPE_VEC3;
+		vertexPositionAccessor.minValues = {box.ptMin.x(), box.ptMin.y(), box.ptMin.z()};
+		vertexPositionAccessor.maxValues = {box.ptMax.x(), box.ptMax.y(), box.ptMax.z()};
+		gltfModel.accessors.emplace_back(std::move(vertexPositionAccessor));
+		// setup vertices buffer
+		tinygltf::BufferView vertexPositionBufferView;
+		vertexPositionBufferView.name = "vertexPositionBufferView";
+		vertexPositionBufferView.buffer = gltfModel.buffers.size();
+		vertexPositionBufferView.byteLength = size_bytes;
+		gltfModel.bufferViews.emplace_back(std::move(vertexPositionBufferView));
+		// setup vertices
+		tinygltf::Buffer vertexPositionBuffer;
+		vertexPositionBuffer.name = "vertexPositionBuffer";
+		vertexPositionBuffer.data.resize(size_bytes);
+		memcpy(vertexPositionBuffer.data.data(), mesh.vertices.data(), size_bytes);
+		gltfModel.buffers.emplace_back(std::move(vertexPositionBuffer));
+	}
+
+	// setup faces
+	{
+		STATIC_ASSERT(3 * sizeof(Face::Type) == sizeof(Face)); // FaceArr should be continuous
+		const size_t size_bytes(mesh.faces.size() * sizeof(Face));
+		gltfPrimitive.indices = gltfModel.accessors.size();
+		tinygltf::Accessor triangleAccessor;
+		triangleAccessor.name = "triangleAccessor";
+		triangleAccessor.bufferView = gltfModel.bufferViews.size();
+		triangleAccessor.componentType = TINYGLTF_COMPONENT_TYPE_UNSIGNED_INT;
+		triangleAccessor.count = size_bytes / sizeof(VIndex);
+		triangleAccessor.type = TINYGLTF_TYPE_SCALAR;
+		gltfModel.accessors.emplace_back(std::move(triangleAccessor));
+		// setup triangles buffer
+		tinygltf::BufferView triangleBufferView;
+		triangleBufferView.name = "triangleBufferView";
+		triangleBufferView.buffer = gltfModel.buffers.size();
+		triangleBufferView.byteLength = size_bytes;
+		gltfModel.bufferViews.emplace_back(std::move(triangleBufferView));
+		// setup triangles
+		tinygltf::Buffer triangleBuffer;
+		triangleBuffer.name = "triangleBuffer";
+		triangleBuffer.data.resize(size_bytes);
+		memcpy(triangleBuffer.data.data(), mesh.faces.data(), size_bytes);
+		gltfModel.buffers.emplace_back(std::move(triangleBuffer));
+		gltfPrimitive.mode = TINYGLTF_MODE_TRIANGLES;
+	}
+
+	// setup material
+	gltfPrimitive.material = gltfModel.materials.size();
+	tinygltf::Material gltfMaterial;
+	gltfMaterial.name = "material";
+	gltfMaterial.doubleSided = true;
+	if (mesh.HasTexture()) {
+		// setup texture
+		gltfMaterial.emissiveFactor = std::vector<double>{0,0,0};
+		gltfMaterial.pbrMetallicRoughness.baseColorTexture.index = gltfModel.textures.size();
+		gltfMaterial.pbrMetallicRoughness.baseColorTexture.texCoord = 0;
+		gltfMaterial.pbrMetallicRoughness.baseColorFactor = std::vector<double>{1,1,1,1};
+		gltfMaterial.pbrMetallicRoughness.metallicFactor = 0;
+		gltfMaterial.pbrMetallicRoughness.roughnessFactor = 1;
+		gltfMaterial.extensions = {{"KHR_materials_unlit", {}}};
+		gltfModel.extensionsUsed = {"KHR_materials_unlit"};
+		// setup texture coordinates accessor
+		gltfPrimitive.attributes["TEXCOORD_0"] = gltfModel.accessors.size();
+		tinygltf::Accessor vertexTexcoordAccessor;
+		vertexTexcoordAccessor.name = "vertexTexcoordAccessor";
+		vertexTexcoordAccessor.bufferView = gltfModel.bufferViews.size();
+		vertexTexcoordAccessor.componentType = TINYGLTF_COMPONENT_TYPE_FLOAT;
+		vertexTexcoordAccessor.count = mesh.faceTexcoords.size();
+		vertexTexcoordAccessor.type = TINYGLTF_TYPE_VEC2;
+		gltfModel.accessors.emplace_back(std::move(vertexTexcoordAccessor));
+		// setup texture coordinates
+		STATIC_ASSERT(2 * sizeof(TexCoord::Type) == sizeof(TexCoord)); // TexCoordArr should be continuous
+		ASSERT(mesh.vertices.size() == mesh.faceTexcoords.size());
+		const size_t size_bytes(mesh.faceTexcoords.size() * sizeof(TexCoord));
+		tinygltf::BufferView vertexTexcoordBufferView;
+		vertexTexcoordBufferView.name = "vertexTexcoordBufferView";
+		vertexTexcoordBufferView.buffer = gltfModel.buffers.size();
+		vertexTexcoordBufferView.byteLength = size_bytes;
+		gltfModel.bufferViews.emplace_back(std::move(vertexTexcoordBufferView));
+		// copy texture coordinates, and flip Y
+		tinygltf::Buffer vertexTexcoordBuffer;
+		vertexTexcoordBuffer.name = "vertexTexcoordBuffer";
+		vertexTexcoordBuffer.data.resize(size_bytes);
+		TexCoord* const flipTexcoords = reinterpret_cast<TexCoord*>(vertexTexcoordBuffer.data.data());
+		FOREACH(i, mesh.faceTexcoords) {
+			flipTexcoords[i].x = mesh.faceTexcoords[i].x;
+			flipTexcoords[i].y = 1.f - mesh.faceTexcoords[i].y;
+		}
+		gltfModel.buffers.emplace_back(std::move(vertexTexcoordBuffer));
+		// setup texture
+		tinygltf::Texture texture;
+		texture.name = "texture";
+		texture.source = gltfModel.images.size();
+		texture.sampler = gltfModel.samplers.size();
+		gltfModel.textures.emplace_back(std::move(texture));
+		// setup texture image
+		tinygltf::Image image;
+		image.name = Util::getFileFullName(fileName);
+		image.width = mesh.textureDiffuse.cols;
+		image.height = mesh.textureDiffuse.rows;
+		image.component = 3;
+		image.bits = 8;
+		image.pixel_type = TINYGLTF_COMPONENT_TYPE_UNSIGNED_BYTE;
+		image.mimeType = "image/png";
+		image.image.resize(mesh.textureDiffuse.size().area() * 3);
+		mesh.textureDiffuse.copyTo(cv::Mat(mesh.textureDiffuse.size(), CV_8UC3, image.image.data()));
+		gltfModel.images.emplace_back(std::move(image));
+		// setup texture sampler
+		tinygltf::Sampler sampler;
+		sampler.name = "sampler";
+		sampler.minFilter = TINYGLTF_TEXTURE_FILTER_LINEAR;
+		sampler.magFilter = TINYGLTF_TEXTURE_FILTER_LINEAR;
+		sampler.wrapS = TINYGLTF_TEXTURE_WRAP_CLAMP_TO_EDGE;
+		sampler.wrapT = TINYGLTF_TEXTURE_WRAP_CLAMP_TO_EDGE;
+		gltfModel.samplers.emplace_back(std::move(sampler));
+	}
+	gltfModel.materials.emplace_back(std::move(gltfMaterial));
+	gltfMesh.primitives.emplace_back(std::move(gltfPrimitive));
+
+	// setup scene node
+	gltfScene.nodes.emplace_back(gltfModel.nodes.size());
+	tinygltf::Node node;
+	node.name = "node";
+	node.mesh = gltfModel.meshes.size();
+	gltfModel.nodes.emplace_back(std::move(node));
+	gltfModel.meshes.emplace_back(std::move(gltfMesh));
+	gltfModel.scenes.emplace_back(std::move(gltfScene));
+
+	// setup GLTF
+	struct Tools {
+		static bool WriteImageData(const std::string *basepath, const std::string *filename,
+			tinygltf::Image *image, bool embedImages, void *) {
+			ASSERT(!embedImages);
+			image->uri = Util::isFullPath(filename->c_str()) ?
+				Util::getRelativePath(*basepath, *filename) : String(*filename);
+			String basePath(*basepath);
+			return cv::imwrite(
+				Util::ensureFolderSlash(basePath) + image->uri,
+				cv::Mat(image->height, image->width, CV_8UC3, image->image.data()));
+		}
+	};
+	tinygltf::TinyGLTF gltf;
+	gltf.SetImageWriter(Tools::WriteImageData, NULL);
+	const bool bEmbedImages(false), bEmbedBuffers(true), bPrettyPrint(true);
+	return gltf.WriteGltfSceneToFile(&gltfModel, fileName, bEmbedImages, bEmbedBuffers, bPrettyPrint, bBinary);
 } // Save
 /*----------------------------------------------------------------*/
 
@@ -3461,6 +3652,54 @@ Mesh::VIndex Mesh::RemoveUnreferencedVertices(bool bUpdateLists)
 	RemoveVertices(vertexRemove, bUpdateLists);
 	return vertexRemove.size();
 }
+
+// convert textured mesh to store texture coordinates per vertex instead of per face
+void Mesh::ConvertTexturePerVertex(Mesh& mesh) const
+{
+	ASSERT(HasTexture());
+	mesh.vertices = vertices;
+	mesh.faces.resize(faces.size());
+	mesh.faceTexcoords.reserve(vertices.size()*3/2);
+	mesh.faceTexcoords.resize(vertices.size());
+	VertexIdxArr mapVertices(vertices.size(), vertices.size()*3/2);
+	mapVertices.Memset(0xff);
+	FOREACH(idxF, faces) {
+		// face vertices inside a patch are simply copied;
+		// face vertices on the patch boundary are duplicated,
+		// with the same position, but different texture coordinates
+		const Face& face = faces[idxF];
+		Face& newface = mesh.faces[idxF];
+		for (int i=0; i<3; ++i) {
+			const TexCoord& tc = faceTexcoords[idxF*3+i];
+			VIndex idxV(face[i]);
+			while (true) {
+				VIndex& idxVT = mapVertices[idxV];
+				if (idxVT == NO_ID) {
+					// vertex seen for the first time, so just copy it
+					mesh.faceTexcoords[newface[i] = idxVT = idxV] = tc;
+					break;
+				}
+				// vertex already seen in an other face, check the texture coordinates
+				if (mesh.faceTexcoords[idxV] == tc) {
+					// texture coordinates equal, patch interior vertex, link to it
+					newface[i] = idxV;
+					break;
+				}
+				if (idxVT == idxV) {
+					// duplicate vertex, copy position, but update its texture coordinates
+					mapVertices.emplace_back(newface[i] = idxVT = mesh.vertices.size());
+					mesh.vertices.emplace_back(vertices[face[i]]);
+					mesh.faceTexcoords.emplace_back(tc);
+					break;
+				}
+				// continue with the next linked vertex which share the position,
+				// but use different texture coordinates
+				idxV = idxVT;
+			}
+		}
+	}
+	mesh.textureDiffuse = textureDiffuse;
+} // ConvertTexturePerVertex
 /*----------------------------------------------------------------*/
 
 
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 672a92810..c5ac01269 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -173,6 +173,7 @@ class MVS_API Mesh
 	void RemoveFaces(FaceIdxArr& facesRemove, bool bUpdateLists=false);
 	void RemoveVertices(VertexIdxArr& vertexRemove, bool bUpdateLists=false);
 	VIndex RemoveUnreferencedVertices(bool bUpdateLists=false);
+	void ConvertTexturePerVertex(Mesh&) const;
 
 	inline Normal FaceNormal(const Face& f) const {
 		return ComputeTriangleNormal(vertices[f[0]], vertices[f[1]], vertices[f[2]]);
@@ -221,6 +222,7 @@ class MVS_API Mesh
 
 	bool SavePLY(const String& fileName, const cList<String>& comments=cList<String>(), bool bBinary=true) const;
 	bool SaveOBJ(const String& fileName) const;
+	bool SaveGLTF(const String& fileName, bool bBinary=true) const;
 
 	#ifdef _USE_CUDA
 	static bool InitKernels(int device=-1);

From ecd58902f7e5a0783589e88ae3565517614dbf9f Mon Sep 17 00:00:00 2001
From: Piero Toffanin <pt@masseranolabs.com>
Date: Thu, 29 Apr 2021 02:54:46 -0400
Subject: [PATCH 038/252] mesh: add target-face-num parameter to
 ReconstructMesh (#671)

---
 apps/ReconstructMesh/ReconstructMesh.cpp | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index 44becb3c3..528ae60d3 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -61,6 +61,7 @@ bool bUseFreeSpaceSupport;
 float fThicknessFactor;
 float fQualityFactor;
 float fDecimateMesh;
+unsigned nTargetFaceNum;
 float fRemoveSpurious;
 bool bRemoveSpikes;
 unsigned nCloseHoles;
@@ -116,6 +117,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	boost::program_options::options_description config_clean("Clean options");
 	config_clean.add_options()
 		("decimate", boost::program_options::value(&OPT::fDecimateMesh)->default_value(1.f), "decimation factor in range (0..1] to be applied to the reconstructed surface (1 - disabled)")
+		("target-face-num", boost::program_options::value(&OPT::nTargetFaceNum)->default_value(0), "target number of faces to be applied to the reconstructed surface. (0 - disabled)")
 		("remove-spurious", boost::program_options::value(&OPT::fRemoveSpurious)->default_value(20.f), "spurious factor for removing faces with too long edges or isolated components (0 - disabled)")
 		("remove-spikes", boost::program_options::value(&OPT::bRemoveSpikes)->default_value(true), "flag controlling the removal of spike faces")
 		("close-holes", boost::program_options::value(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the reconstructed surface (0 - disabled)")
@@ -225,7 +227,7 @@ int main(int argc, LPCTSTR* argv)
 
 	Scene scene(OPT::nMaxThreads);
 	// load project
-	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName), OPT::fSplitMaxArea > 0))
+	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName), OPT::fSplitMaxArea > 0 || OPT::fDecimateMesh < 1 || OPT::nTargetFaceNum > 0))
 		return EXIT_FAILURE;
 	const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
 	if (OPT::fSplitMaxArea > 0) {
@@ -248,7 +250,7 @@ int main(int argc, LPCTSTR* argv)
 			scene.ExportCamerasMLP(baseFileName+_T(".mlp"), fileName);
 		#endif
 	} else {
-		if (OPT::strMeshFileName.IsEmpty()) {
+		if (OPT::strMeshFileName.IsEmpty() && scene.mesh.IsEmpty()) {
 			// reset image resolution to the original size and
 			// make sure the image neighbors are initialized before deleting the point-cloud
 			#ifdef RECMESH_USE_OPENMP
@@ -299,13 +301,14 @@ int main(int argc, LPCTSTR* argv)
 				scene.mesh.Save(baseFileName+_T("_raw")+OPT::strExportType);
 			}
 			#endif
-		} else {
+		} else if (!OPT::strMeshFileName.IsEmpty()) {
 			// load existing mesh to clean
 			scene.mesh.Load(MAKE_PATH_SAFE(OPT::strMeshFileName));
 		}
 
 		// clean the mesh
-		scene.mesh.Clean(OPT::fDecimateMesh, OPT::fRemoveSpurious, OPT::bRemoveSpikes, OPT::nCloseHoles, OPT::nSmoothMesh, false);
+		const float fDecimate(OPT::nTargetFaceNum ? static_cast<float>(OPT::nTargetFaceNum) / scene.mesh.faces.size() : OPT::fDecimateMesh);
+		scene.mesh.Clean(fDecimate, OPT::fRemoveSpurious, OPT::bRemoveSpikes, OPT::nCloseHoles, OPT::nSmoothMesh, false);
 		scene.mesh.Clean(1.f, 0.f, OPT::bRemoveSpikes, OPT::nCloseHoles, 0, false); // extra cleaning trying to close more holes
 		scene.mesh.Clean(1.f, 0.f, false, 0, 0, true); // extra cleaning to remove non-manifold problems created by closing holes
 

From 663eed1ad7f0d68055b6db74eb3d06a3bcb22742 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 12 May 2021 13:44:46 +0300
Subject: [PATCH 039/252] mesh: improve GLTF support

---
 apps/TextureMesh/TextureMesh.cpp |  5 ++-
 libs/MVS/Mesh.cpp                | 58 +++++++++++++++-----------------
 2 files changed, 31 insertions(+), 32 deletions(-)

diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index 07307d51d..6783a82fc 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -82,7 +82,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "produce this help message")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-		("export-type", boost::program_options::value<std::string>(&OPT::strExportType)->default_value(_T("gltf")), "file type used to export the 3D scene (ply, obj or gltf)")
+		("export-type", boost::program_options::value<std::string>(&OPT::strExportType)->default_value(_T("glb")), "file type used to export the 3D scene (ply, obj, glb or gltf)")
 		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
@@ -170,6 +170,9 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	if (OPT::strExportType == _T("obj"))
 		OPT::strExportType =  _T(".obj");
 	else
+	if (OPT::strExportType == _T("glb"))
+		OPT::strExportType =  _T(".glb");
+	else
 	if (OPT::strExportType == _T("gltf"))
 		OPT::strExportType =  _T(".gltf");
 	else
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 266168790..447c37714 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -1461,8 +1461,8 @@ bool Mesh::Save(const String& fileName, const cList<String>& comments, bool bBin
 	if (ext == _T(".obj"))
 		ret = SaveOBJ(fileName);
 	else
-	if (ext == _T(".gltf"))
-		ret = SaveGLTF(fileName);
+	if (ext == _T(".gltf") || ext == _T(".glb"))
+		ret = SaveGLTF(fileName, ext == _T(".glb"));
 	else
 		ret = SavePLY(ext != _T(".ply") ? String(fileName+_T(".ply")) : fileName, comments, bBinary);
 	if (!ret)
@@ -1606,6 +1606,14 @@ bool Mesh::SaveOBJ(const String& fileName) const
 	return model.Save(fileName);
 }
 // export the mesh as a GLTF file
+template <typename T>
+void ExtendBufferGLTF(const T* src, size_t size, tinygltf::Buffer& dst, size_t& byte_offset, size_t& byte_length) {
+	byte_offset = dst.data.size();
+	byte_length = sizeof(T) * size;
+	byte_length = ((byte_length + 3) / 4) * 4;
+	dst.data.resize(byte_offset + byte_length);
+	memcpy(&dst.data[byte_offset], &src[0], byte_length);
+}
 bool Mesh::SaveGLTF(const String& fileName, bool bBinary) const
 {
 	ASSERT(!fileName.IsEmpty());
@@ -1623,21 +1631,21 @@ bool Mesh::SaveGLTF(const String& fileName, bool bBinary) const
 	tinygltf::Scene gltfScene;
 	tinygltf::Mesh gltfMesh;
 	tinygltf::Primitive gltfPrimitive;
+	tinygltf::Buffer gltfBuffer;
 	gltfScene.name = "scene";
 	gltfMesh.name = "mesh";
 
 	// setup vertices
 	{
 		STATIC_ASSERT(3 * sizeof(Vertex::Type) == sizeof(Vertex)); // VertexArr should be continuous
-		const size_t size_bytes(mesh.vertices.size() * sizeof(Vertex));
 		const Box box(GetAABB());
 		gltfPrimitive.attributes["POSITION"] = gltfModel.accessors.size();
 		tinygltf::Accessor vertexPositionAccessor;
 		vertexPositionAccessor.name = "vertexPositionAccessor";
 		vertexPositionAccessor.bufferView = gltfModel.bufferViews.size();
+		vertexPositionAccessor.type = TINYGLTF_TYPE_VEC3;
 		vertexPositionAccessor.componentType = TINYGLTF_COMPONENT_TYPE_FLOAT;
 		vertexPositionAccessor.count = mesh.vertices.size();
-		vertexPositionAccessor.type = TINYGLTF_TYPE_VEC3;
 		vertexPositionAccessor.minValues = {box.ptMin.x(), box.ptMin.y(), box.ptMin.z()};
 		vertexPositionAccessor.maxValues = {box.ptMax.x(), box.ptMax.y(), box.ptMax.z()};
 		gltfModel.accessors.emplace_back(std::move(vertexPositionAccessor));
@@ -1645,40 +1653,29 @@ bool Mesh::SaveGLTF(const String& fileName, bool bBinary) const
 		tinygltf::BufferView vertexPositionBufferView;
 		vertexPositionBufferView.name = "vertexPositionBufferView";
 		vertexPositionBufferView.buffer = gltfModel.buffers.size();
-		vertexPositionBufferView.byteLength = size_bytes;
+		ExtendBufferGLTF(mesh.vertices.data(), mesh.vertices.size(), gltfBuffer,
+			vertexPositionBufferView.byteOffset, vertexPositionBufferView.byteLength);
 		gltfModel.bufferViews.emplace_back(std::move(vertexPositionBufferView));
-		// setup vertices
-		tinygltf::Buffer vertexPositionBuffer;
-		vertexPositionBuffer.name = "vertexPositionBuffer";
-		vertexPositionBuffer.data.resize(size_bytes);
-		memcpy(vertexPositionBuffer.data.data(), mesh.vertices.data(), size_bytes);
-		gltfModel.buffers.emplace_back(std::move(vertexPositionBuffer));
 	}
 
 	// setup faces
 	{
 		STATIC_ASSERT(3 * sizeof(Face::Type) == sizeof(Face)); // FaceArr should be continuous
-		const size_t size_bytes(mesh.faces.size() * sizeof(Face));
 		gltfPrimitive.indices = gltfModel.accessors.size();
 		tinygltf::Accessor triangleAccessor;
 		triangleAccessor.name = "triangleAccessor";
 		triangleAccessor.bufferView = gltfModel.bufferViews.size();
-		triangleAccessor.componentType = TINYGLTF_COMPONENT_TYPE_UNSIGNED_INT;
-		triangleAccessor.count = size_bytes / sizeof(VIndex);
 		triangleAccessor.type = TINYGLTF_TYPE_SCALAR;
+		triangleAccessor.componentType = TINYGLTF_COMPONENT_TYPE_UNSIGNED_INT;
+		triangleAccessor.count = mesh.faces.size() * 3;
 		gltfModel.accessors.emplace_back(std::move(triangleAccessor));
 		// setup triangles buffer
 		tinygltf::BufferView triangleBufferView;
 		triangleBufferView.name = "triangleBufferView";
 		triangleBufferView.buffer = gltfModel.buffers.size();
-		triangleBufferView.byteLength = size_bytes;
+		ExtendBufferGLTF(mesh.faces.data(), mesh.faces.size(), gltfBuffer,
+			triangleBufferView.byteOffset, triangleBufferView.byteLength);
 		gltfModel.bufferViews.emplace_back(std::move(triangleBufferView));
-		// setup triangles
-		tinygltf::Buffer triangleBuffer;
-		triangleBuffer.name = "triangleBuffer";
-		triangleBuffer.data.resize(size_bytes);
-		memcpy(triangleBuffer.data.data(), mesh.faces.data(), size_bytes);
-		gltfModel.buffers.emplace_back(std::move(triangleBuffer));
 		gltfPrimitive.mode = TINYGLTF_MODE_TRIANGLES;
 	}
 
@@ -1706,25 +1703,20 @@ bool Mesh::SaveGLTF(const String& fileName, bool bBinary) const
 		vertexTexcoordAccessor.count = mesh.faceTexcoords.size();
 		vertexTexcoordAccessor.type = TINYGLTF_TYPE_VEC2;
 		gltfModel.accessors.emplace_back(std::move(vertexTexcoordAccessor));
-		// setup texture coordinates
+		// setup texture coordinates (flip Y)
 		STATIC_ASSERT(2 * sizeof(TexCoord::Type) == sizeof(TexCoord)); // TexCoordArr should be continuous
 		ASSERT(mesh.vertices.size() == mesh.faceTexcoords.size());
-		const size_t size_bytes(mesh.faceTexcoords.size() * sizeof(TexCoord));
 		tinygltf::BufferView vertexTexcoordBufferView;
 		vertexTexcoordBufferView.name = "vertexTexcoordBufferView";
 		vertexTexcoordBufferView.buffer = gltfModel.buffers.size();
-		vertexTexcoordBufferView.byteLength = size_bytes;
-		gltfModel.bufferViews.emplace_back(std::move(vertexTexcoordBufferView));
-		// copy texture coordinates, and flip Y
-		tinygltf::Buffer vertexTexcoordBuffer;
-		vertexTexcoordBuffer.name = "vertexTexcoordBuffer";
-		vertexTexcoordBuffer.data.resize(size_bytes);
-		TexCoord* const flipTexcoords = reinterpret_cast<TexCoord*>(vertexTexcoordBuffer.data.data());
+		TexCoordArr flipTexcoords(mesh.faceTexcoords.size());
 		FOREACH(i, mesh.faceTexcoords) {
 			flipTexcoords[i].x = mesh.faceTexcoords[i].x;
 			flipTexcoords[i].y = 1.f - mesh.faceTexcoords[i].y;
 		}
-		gltfModel.buffers.emplace_back(std::move(vertexTexcoordBuffer));
+		ExtendBufferGLTF(flipTexcoords.data(), flipTexcoords.size(), gltfBuffer,
+			vertexTexcoordBufferView.byteOffset, vertexTexcoordBufferView.byteLength);
+		gltfModel.bufferViews.emplace_back(std::move(vertexTexcoordBufferView));
 		// setup texture
 		tinygltf::Texture texture;
 		texture.name = "texture";
@@ -1753,6 +1745,7 @@ bool Mesh::SaveGLTF(const String& fileName, bool bBinary) const
 		gltfModel.samplers.emplace_back(std::move(sampler));
 	}
 	gltfModel.materials.emplace_back(std::move(gltfMaterial));
+	gltfModel.buffers.emplace_back(std::move(gltfBuffer));
 	gltfMesh.primitives.emplace_back(std::move(gltfPrimitive));
 
 	// setup scene node
@@ -1763,6 +1756,9 @@ bool Mesh::SaveGLTF(const String& fileName, bool bBinary) const
 	gltfModel.nodes.emplace_back(std::move(node));
 	gltfModel.meshes.emplace_back(std::move(gltfMesh));
 	gltfModel.scenes.emplace_back(std::move(gltfScene));
+	gltfModel.asset.generator = "OpenMVS";
+	gltfModel.asset.version = "2.0";
+	gltfModel.defaultScene = 0;
 
 	// setup GLTF
 	struct Tools {

From d6e21bf4316275bdfd3b9324c487954bcd771038 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sun, 6 Jun 2021 17:04:45 +0300
Subject: [PATCH 040/252] dense: add geometric-consistency

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp |   1 -
 libs/Common/List.h                           |   9 +
 libs/Common/Util.inl                         |   2 +-
 libs/MVS/DepthMap.cpp                        |  28 ++-
 libs/MVS/DepthMap.h                          |  64 +++---
 libs/MVS/SceneDensify.cpp                    | 228 ++++++++++++-------
 libs/MVS/SceneDensify.h                      |   5 +-
 7 files changed, 223 insertions(+), 114 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index f2a6f986e..bd823b07d 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -96,7 +96,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	unsigned nMinViewsFuse;
 	unsigned nEstimateColors;
 	unsigned nEstimateNormals;
-	bool bFuseDepthMaps;
 	int nIgnoreMaskLabel;
 	boost::program_options::options_description config("Densify options");
 	config.add_options()
diff --git a/libs/Common/List.h b/libs/Common/List.h
index 7b714308c..06c1e4bd0 100644
--- a/libs/Common/List.h
+++ b/libs/Common/List.h
@@ -137,6 +137,15 @@ class cList
 		_ArrayCopyConstruct(_vector, rList._vector, _size);
 	}
 
+	// constructor a list from a raw data array
+	explicit inline cList(TYPE* pDataBegin, TYPE* pDataEnd) : _size((IDX)(pDataEnd-pDataBegin)), _vectorSize(_size)
+	{
+		if (_vectorSize == 0)
+			return;
+		_vector = (TYPE*) operator new[] (_vectorSize * sizeof(TYPE));
+		_ArrayCopyConstruct(_vector, pDataBegin, _size);
+	}
+
 	// constructor a list from a raw data array, taking ownership of the array memory
 	explicit inline cList(IDX nSize, TYPE* pData) : _size(nSize), _vectorSize(nSize), _vector(pData)
 	{
diff --git a/libs/Common/Util.inl b/libs/Common/Util.inl
index fb5aa82ec..67199026e 100644
--- a/libs/Common/Util.inl
+++ b/libs/Common/Util.inl
@@ -665,7 +665,7 @@ inline T MaxDepthDifference(T d, T threshold) {
 }
 template<typename T>
 inline T DepthSimilarity(T d0, T d1) {
-	ASSERT(d0 > 0 && d1 > 0);
+	ASSERT(d0 > 0);
 	#if 0
 	return ABS(d0-d1)*T(2)/(d0+d1);
 	#else
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 136f772ce..d90634fb9 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -99,7 +99,9 @@ MDEFVAR_OPTDENSE_uint32(nOptimize, "Optimize", "should we filter the extracted d
 MDEFVAR_OPTDENSE_uint32(nEstimateColors, "Estimate Colors", "should we estimate the colors for the dense point-cloud?", "2", "0", "1")
 MDEFVAR_OPTDENSE_uint32(nEstimateNormals, "Estimate Normals", "should we estimate the normals for the dense point-cloud?", "0", "1", "2")
 MDEFVAR_OPTDENSE_float(fNCCThresholdKeep, "NCC Threshold Keep", "Maximum 1-NCC score accepted for a match", "0.55", "0.3")
-MDEFVAR_OPTDENSE_uint32(nEstimationIters, "Estimation Iters", "Number of iterations for depth-map refinement", "4")
+DEFVAR_OPTDENSE_uint32(nEstimationIters, "Estimation Iters", "Number of patch-match iterations", "3")
+DEFVAR_OPTDENSE_uint32(nEstimationGeometricIters, "Estimation Geometric Iters", "Number of geometric consistent patch-match iterations (0 - disabled)", "2")
+MDEFVAR_OPTDENSE_float(fEstimationGeometricWeight, "Estimation Geometric Weight", "pairwise geometric consistency cost weight", "0.1")
 MDEFVAR_OPTDENSE_uint32(nRandomIters, "Random Iters", "Number of iterations for random assignment per pixel", "6")
 MDEFVAR_OPTDENSE_uint32(nRandomMaxScale, "Random Max Scale", "Maximum number of iterations to skip during random assignment", "2")
 MDEFVAR_OPTDENSE_float(fRandomDepthRatio, "Random Depth Ratio", "Depth range ratio of the current estimate for random plane assignment", "0.003", "0.004")
@@ -358,7 +360,7 @@ DepthEstimator::DepthEstimator(
 	weightMap0(_weightMap0),
 	#endif
 	nIteration(nIter),
-	images(InitImages(_depthData0)), image0(_depthData0.images[0]),
+	images(_depthData0.images.begin()+1, _depthData0.images.end()), image0(_depthData0.images[0]),
 	#if DENSE_NCC != DENSE_NCC_WEIGHTED
 	image0Sum(_image0Sum),
 	#endif
@@ -439,7 +441,7 @@ bool DepthEstimator::FillPixelPatch()
 }
 
 // compute pixel's NCC score in the given target image
-float DepthEstimator::ScorePixelImage(const ViewData& image1, Depth depth, const Normal& normal)
+float DepthEstimator::ScorePixelImage(const DepthData::ViewData& image1, Depth depth, const Normal& normal)
 {
 	// center a patch of given size on the segment and fetch the pixel values in the target image
 	Matrix3x3f H(ComputeHomographyMatrix(image1, depth, normal));
@@ -458,9 +460,9 @@ float DepthEstimator::ScorePixelImage(const ViewData& image1, Depth depth, const
 	for (int i=-nSizeHalfWindow; i<=nSizeHalfWindow; i+=nSizeStep) {
 		for (int j=-nSizeHalfWindow; j<=nSizeHalfWindow; j+=nSizeStep) {
 			const Point2f pt(X);
-			if (!image1.view.image.isInsideWithBorder<float,1>(pt))
+			if (!image1.image.isInsideWithBorder<float,1>(pt))
 				return thRobust;
-			const float v(image1.view.image.sample(pt));
+			const float v(image1.image.sample(pt));
 			#if DENSE_NCC == DENSE_NCC_FAST
 			sum += v;
 			sumSq += SQUARE(v);
@@ -508,6 +510,22 @@ float DepthEstimator::ScorePixelImage(const ViewData& image1, Depth depth, const
 		score *= (1.f - smoothBonusDepth * factorDepth) * (1.f - smoothBonusNormal * factorNormal);
 	}
 	#endif
+	if (!image1.depthMap.empty()) {
+		ASSERT(OPTDENSE::fEstimationGeometricWeight > 0);
+		float consistency(4.f);
+		const Point3f X1(image1.Tl*Point3f(float(X0(0))*depth,float(X0(1))*depth,depth)+image1.Tm); // Kj * Rj * (Ri.t() * X + Ci - Cj)
+		if (X1.z > 0) {
+			const Point2f x1(X1);
+			if (image1.depthMap.isInsideWithBorder<float,1>(x1)) {
+				Depth depth1;
+				if (image1.depthMap.sample(depth1, x1, [&X1](Depth d) { return IsDepthSimilar(X1.z, d, 0.03f); })) {
+					const Point2f xb(image1.Tr*Point3f(x1.x*depth1,x1.y*depth1,depth1)+image1.Tn); // Ki * Ri * (Rj.t() * Kj-1 * X + Cj - Ci)
+					consistency = MINF(norm(Point2f(float(x0.x)-xb.x, float(x0.y)-xb.y)), consistency);
+				}
+			}
+		}
+		score += OPTDENSE::fEstimationGeometricWeight * consistency;
+	}
 	ASSERT(ISFINITE(score));
 	return score;
 }
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 21a5b5a7d..08903602a 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -70,8 +70,7 @@
 #define DENSE_EXP_FAST FEXP<true> // ~10% faster, but slightly less precise
 #define DENSE_EXP DENSE_EXP_DEFUALT
 
-#define ComposeDepthFilePathBase(b, i, e) MAKE_PATH(String::FormatString((b + "%04u." e).c_str(), i))
-#define ComposeDepthFilePath(i, e) MAKE_PATH(String::FormatString("depth%04u." e, i))
+#define ComposeDepthFilePath(i, e) MAKE_PATH(String::FormatString(("depth%04u." + String(e)).c_str(), i))
 
 
 // S T R U C T S ///////////////////////////////////////////////////
@@ -81,6 +80,7 @@ namespace MVS {
 DECOPT_SPACE(OPTDENSE)
 
 namespace OPTDENSE {
+// configuration variables
 enum DepthFlags {
 	REMOVE_SPECKLES	= (1 << 0),
 	FILL_GAPS		= (1 << 1),
@@ -119,6 +119,8 @@ extern unsigned nEstimateColors;
 extern unsigned nEstimateNormals;
 extern float fNCCThresholdKeep;
 extern unsigned nEstimationIters;
+extern unsigned nEstimationGeometricIters;
+extern float fEstimationGeometricWeight;
 extern unsigned nRandomIters;
 extern unsigned nRandomMaxScale;
 extern float fRandomDepthRatio;
@@ -150,6 +152,29 @@ struct MVS_API DepthData {
 		Image32F image; // image float intensities
 		Image* pImageData; // image data
 
+		Matrix3x3 Hl; //
+		Vec3 Hm;      // constants during per-pixel loops
+		Matrix3x3 Hr; //
+
+		DepthMap depthMap; // known depth-map (optional)
+		Camera cameraDepthMap; // camera matrix corresponding to the depth-map
+		Matrix3x3f Tl; //
+		Point3f Tm;    // constants during per-pixel geometric-consistent loops
+		Matrix3x3f Tr; //
+		Point3f Tn;    //
+
+		inline void Init(const Camera& cameraRef) {
+			Hl = camera.K * camera.R * cameraRef.R.t();
+			Hm = camera.K * camera.R * (cameraRef.C - camera.C);
+			Hr = cameraRef.K.inv();
+			if (!depthMap.empty()) {
+				Tl = cameraDepthMap.K * cameraDepthMap.R * cameraRef.R.t();
+				Tm = cameraDepthMap.K * cameraDepthMap.R * (cameraRef.C - cameraDepthMap.C);
+				Tr = cameraRef.K * cameraRef.R * cameraDepthMap.R.t() * cameraDepthMap.GetInvK();
+				Tn = cameraRef.K * cameraRef.R * (cameraDepthMap.C - cameraRef.C);
+			}
+		}
+
 		inline IIndex GetID() const {
 			return pImageData->ID;
 		}
@@ -181,8 +206,10 @@ struct MVS_API DepthData {
 	inline DepthData() : references(0) {}
 
 	inline void ReleaseImages() {
-		FOREACHPTR(ptrImage, images)
-			ptrImage->image.release();
+		for (ViewData& image: images) {
+			image.image.release();
+			image.depthMap.release();
+		}
 	}
 	inline void Release() {
 		depthMap.release();
@@ -272,19 +299,6 @@ struct MVS_API DepthEstimator {
 	typedef CLISTDEFIDX(Weight,int) WeightMap;
 	#endif
 
-	struct ViewData {
-		const DepthData::ViewData& view;
-		const Matrix3x3 Hl;   //
-		const Vec3 Hm;	      // constants during per-pixel loops
-		const Matrix3x3 Hr;   //
-		inline ViewData() : view(*((const DepthData::ViewData*)this)) {}
-		inline ViewData(const DepthData::ViewData& image0, const DepthData::ViewData& image1)
-			: view(image1),
-			Hl(image1.camera.K * image1.camera.R * image0.camera.R.t()),
-			Hm(image1.camera.K * image1.camera.R * (image0.camera.C - image1.camera.C)),
-			Hr(image0.camera.K.inv()) {}
-	};
-
 	SEACAVE::Random rnd;
 
 	volatile Thread::safe_t& idxPixel; // current image index to be processed
@@ -321,7 +335,7 @@ struct MVS_API DepthEstimator {
 	#endif
 
 	const unsigned nIteration; // current PatchMatch iteration
-	const CLISTDEF0IDX(ViewData,IIndex) images; // neighbor images used
+	const DepthData::ViewDataArr images; // neighbor images used
 	const DepthData::ViewData& image0;
 	#if DENSE_NCC != DENSE_NCC_WEIGHTED
 	const Image64F& image0Sum; // integral image used to fast compute patch mean intensity
@@ -346,7 +360,7 @@ struct MVS_API DepthEstimator {
 
 	bool PreparePixelPatch(const ImageRef&);
 	bool FillPixelPatch();
-	float ScorePixelImage(const ViewData& image1, Depth, const Normal&);
+	float ScorePixelImage(const DepthData::ViewData& image1, Depth, const Normal&);
 	float ScorePixel(Depth, const Normal&);
 	void ProcessPixel(IDX idx);
 	Depth InterpolatePixel(const ImageRef&, Depth, const Normal&) const;
@@ -379,10 +393,10 @@ struct MVS_API DepthEstimator {
 	}
 	#endif
 
-	inline Matrix3x3f ComputeHomographyMatrix(const ViewData& img, Depth depth, const Normal& normal) const {
+	inline Matrix3x3f ComputeHomographyMatrix(const DepthData::ViewData& img, Depth depth, const Normal& normal) const {
 		#if 0
 		// compute homography matrix
-		const Matrix3x3f H(img.view.camera.K*HomographyMatrixComposition(image0.camera, img.view.camera, Vec3(normal), Vec3(X0*depth))*image0.camera.K.inv());
+		const Matrix3x3f H(img.camera.K*HomographyMatrixComposition(image0.camera, img.camera, Vec3(normal), Vec3(X0*depth))*image0.camera.K.inv());
 		#else
 		// compute homography matrix as above, caching some constants
 		const Vec3 n(normal);
@@ -390,14 +404,6 @@ struct MVS_API DepthEstimator {
 		#endif
 	}
 
-	static inline CLISTDEF0IDX(ViewData,IIndex) InitImages(const DepthData& depthData) {
-		CLISTDEF0IDX(ViewData,IIndex) images(0, depthData.images.GetSize()-1);
-		const DepthData::ViewData& image0(depthData.images.First());
-		for (IIndex i=1; i<depthData.images.GetSize(); ++i)
-			images.AddConstruct(image0, depthData.images[i]);
-		return images;
-	}
-
 	static inline Point3 ComputeRelativeC(const DepthData& depthData) {
 		return depthData.images[1].camera.R*(depthData.images[0].camera.C-depthData.images[1].camera.C);
 	}
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 8a086f57e..482cb02d5 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -292,48 +292,48 @@ bool DepthMapsData::SelectViews(DepthData& depthData)
 } // SelectViews
 /*----------------------------------------------------------------*/
 
-// select target image for the reference image (the first image in "images")
-// and initialize images data;
+// select target image for the reference image (the first image in "images"),
+// initialize images data, and initialize depth-map and normal-map;
 // if idxNeighbor is not NO_ID, only the reference image and the given neighbor are initialized;
 // if numNeighbors is not 0, only the first numNeighbors neighbors are initialized;
 // otherwise all are initialized;
 // returns false if there are no good neighbors to estimate the depth-map
-bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex numNeighbors)
+bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex numNeighbors, bool initDepthMaps)
 {
 	const IIndex idxImage((IIndex)(&depthData-arrDepthData.Begin()));
 	ASSERT(!depthData.neighbors.IsEmpty());
-	ASSERT(depthData.images.IsEmpty());
 
 	// set this image the first image in the array
+	depthData.images.Empty();
 	depthData.images.Reserve(depthData.neighbors.GetSize()+1);
 	depthData.images.AddEmpty();
 
 	if (idxNeighbor != NO_ID) {
 		// set target image as the given neighbor
 		const ViewScore& neighbor = depthData.neighbors[idxNeighbor];
-		DepthData::ViewData& imageTrg = depthData.images.AddEmpty();
-		imageTrg.pImageData = &scene.images[neighbor.idx.ID];
-		imageTrg.scale = neighbor.idx.scale;
-		imageTrg.camera = imageTrg.pImageData->camera;
-		imageTrg.pImageData->image.toGray(imageTrg.image, cv::COLOR_BGR2GRAY, true);
-		if (imageTrg.ScaleImage(imageTrg.image, imageTrg.image, imageTrg.scale))
-			imageTrg.camera = imageTrg.pImageData->GetCamera(scene.platforms, imageTrg.image.size());
+		DepthData::ViewData& viewTrg = depthData.images.AddEmpty();
+		viewTrg.pImageData = &scene.images[neighbor.idx.ID];
+		viewTrg.scale = neighbor.idx.scale;
+		viewTrg.camera = viewTrg.pImageData->camera;
+		viewTrg.pImageData->image.toGray(viewTrg.image, cv::COLOR_BGR2GRAY, true);
+		if (viewTrg.ScaleImage(viewTrg.image, viewTrg.image, viewTrg.scale))
+			viewTrg.camera = viewTrg.pImageData->GetCamera(scene.platforms, viewTrg.image.size());
 		DEBUG_EXTRA("Reference image %3u paired with image %3u", idxImage, neighbor.idx.ID);
 	} else {
-		// init all neighbor views too (global reconstruction is used)
+		// initialize all neighbor views too (global reconstruction is used)
 		const float fMinScore(MAXF(depthData.neighbors.First().score*(OPTDENSE::fViewMinScoreRatio*0.1f), OPTDENSE::fViewMinScore));
 		FOREACH(idx, depthData.neighbors) {
 			const ViewScore& neighbor = depthData.neighbors[idx];
 			if ((numNeighbors && depthData.images.GetSize() > numNeighbors) ||
 				(neighbor.score < fMinScore))
 				break;
-			DepthData::ViewData& imageTrg = depthData.images.AddEmpty();
-			imageTrg.pImageData = &scene.images[neighbor.idx.ID];
-			imageTrg.scale = neighbor.idx.scale;
-			imageTrg.camera = imageTrg.pImageData->camera;
-			imageTrg.pImageData->image.toGray(imageTrg.image, cv::COLOR_BGR2GRAY, true);
-			if (imageTrg.ScaleImage(imageTrg.image, imageTrg.image, imageTrg.scale))
-				imageTrg.camera = imageTrg.pImageData->GetCamera(scene.platforms, imageTrg.image.size());
+			DepthData::ViewData& viewTrg = depthData.images.AddEmpty();
+			viewTrg.pImageData = &scene.images[neighbor.idx.ID];
+			viewTrg.scale = neighbor.idx.scale;
+			viewTrg.camera = viewTrg.pImageData->camera;
+			viewTrg.pImageData->image.toGray(viewTrg.image, cv::COLOR_BGR2GRAY, true);
+			if (viewTrg.ScaleImage(viewTrg.image, viewTrg.image, viewTrg.scale))
+				viewTrg.camera = viewTrg.pImageData->GetCamera(scene.platforms, viewTrg.image.size());
 		}
 		#if TD_VERBOSE != TD_VERBOSE_OFF
 		// print selected views
@@ -351,12 +351,80 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 		return false;
 	}
 
-	// init the first image as well
-	DepthData::ViewData& imageRef = depthData.images.First();
-	imageRef.scale = 1;
-	imageRef.pImageData = &scene.images[idxImage];
-	imageRef.pImageData->image.toGray(imageRef.image, cv::COLOR_BGR2GRAY, true);
-	imageRef.camera = imageRef.pImageData->camera;
+	// initialize reference image as well
+	DepthData::ViewData& viewRef = depthData.images.First();
+	viewRef.scale = 1;
+	viewRef.pImageData = &scene.images[idxImage];
+	viewRef.pImageData->image.toGray(viewRef.image, cv::COLOR_BGR2GRAY, true);
+	viewRef.camera = viewRef.pImageData->camera;
+
+	// initialize views
+	for (IIndex i=1; i<depthData.images.size(); ++i) {
+		DepthData::ViewData& view = depthData.images[i];
+		if (initDepthMaps) {
+			// load known depth-map
+			String imageFileName;
+			IIndexArr IDs;
+			cv::Size imageSize;
+			Depth dMin, dMax;
+			NormalMap normalMap;
+			ConfidenceMap confMap;
+			if (!ImportDepthDataRaw(ComposeDepthFilePath(view.GetID(), "dmap"),
+					imageFileName, IDs, imageSize, view.cameraDepthMap.K, view.cameraDepthMap.R, view.cameraDepthMap.C,
+					dMin, dMax, view.depthMap, normalMap, confMap, 1))
+				return false;
+		}
+		view.Init(viewRef.camera);
+	}
+
+	if (initDepthMaps) {
+		// load known depth-map and normal-map
+		String imageFileName;
+		IIndexArr IDs;
+		cv::Size imageSize;
+		Camera camera;
+		ConfidenceMap confMap;
+		if (!ImportDepthDataRaw(ComposeDepthFilePath(viewRef.GetID(), "dmap"),
+				imageFileName, IDs, imageSize, camera.K, camera.R, camera.C, depthData.dMin, depthData.dMax,
+				depthData.depthMap, depthData.normalMap, confMap, 3))
+			return false;
+		ASSERT(viewRef.image.size() == depthData.depthMap.size());
+	} else {
+		// initialize depth and normal maps
+		ASSERT(!depthData.points.IsEmpty());
+		if (OPTDENSE::nMinViewsTrustPoint < 2) {
+			// compute depth range and initialize known depths, else random
+			const int nPixelArea(2); // half windows size around a pixel to be initialize with the known depth
+			const Image8U::Size size(viewRef.image.size());
+			depthData.depthMap.create(size); depthData.depthMap.memset(0);
+			depthData.normalMap.create(size);
+			depthData.dMin = FLT_MAX;
+			depthData.dMax = 0;
+			FOREACHPTR(pPoint, depthData.points) {
+				const PointCloud::Point& X = scene.pointcloud.points[*pPoint];
+				const Point3 camX(viewRef.camera.TransformPointW2C(Cast<REAL>(X)));
+				const ImageRef x(ROUND2INT(viewRef.camera.TransformPointC2I(camX)));
+				const float d((float)camX.z);
+				const ImageRef sx(MAXF(x.x-nPixelArea,0), MAXF(x.y-nPixelArea,0));
+				const ImageRef ex(MINF(x.x+nPixelArea,size.width-1), MINF(x.y+nPixelArea,size.height-1));
+				for (int y=sx.y; y<=ex.y; ++y) {
+					for (int x=sx.x; x<=ex.x; ++x) {
+						depthData.depthMap(y,x) = d;
+						depthData.normalMap(y,x) = Normal::ZERO;
+					}
+				}
+				if (depthData.dMin > d)
+					depthData.dMin = d;
+				if (depthData.dMax < d)
+					depthData.dMax = d;
+			}
+			depthData.dMin *= 0.9f;
+			depthData.dMax *= 1.1f;
+		} else {
+			// compute rough estimates using the sparse point-cloud
+			InitDepthMap(depthData);
+		}
+	}
 	return true;
 } // InitViews
 /*----------------------------------------------------------------*/
@@ -490,52 +558,21 @@ void* STCALL DepthMapsData::EndDepthMapTmp(void* arg)
 // For each pixel, the depth and normal are scored by computing the NCC score between the patch in the reference image and the wrapped patch in the target image, as dictated by the homography matrix defined by the current values to be estimate.
 // In order to ensure some smoothness while locally estimating each pixel, a bonus is added to the NCC score if the estimate for this pixel is close to the estimates for the neighbor pixels.
 // Optionally, the occluded pixels can be detected by extending the described iterations to the target image and removing the estimates that do not have similar values in both views.
-bool DepthMapsData::EstimateDepthMap(IIndex idxImage)
+//  - nGeometricIter: current geometric-consistent estimation iteration (-1 - normal patch-match)
+bool DepthMapsData::EstimateDepthMap(IIndex idxImage, int nGeometricIter)
 {
 	TD_TIMER_STARTD();
 
-	// initialize depth and normal maps
+	// initialize
 	DepthData& depthData(arrDepthData[idxImage]);
 	ASSERT(depthData.images.GetSize() > 1 && !depthData.points.IsEmpty());
 	const DepthData::ViewData& image(depthData.images.First());
 	ASSERT(!image.image.empty() && !depthData.images[1].image.empty());
 	const Image8U::Size size(image.image.size());
-	depthData.depthMap.create(size); depthData.depthMap.memset(0);
-	depthData.normalMap.create(size);
 	depthData.confMap.create(size);
 	const unsigned nMaxThreads(scene.nMaxThreads);
-
-	// initialize the depth-map
-	if (OPTDENSE::nMinViewsTrustPoint < 2) {
-		// compute depth range and initialize known depths
-		const int nPixelArea(2); // half windows size around a pixel to be initialize with the known depth
-		const Camera& camera = depthData.images.First().camera;
-		depthData.dMin = FLT_MAX;
-		depthData.dMax = 0;
-		FOREACHPTR(pPoint, depthData.points) {
-			const PointCloud::Point& X = scene.pointcloud.points[*pPoint];
-			const Point3 camX(camera.TransformPointW2C(Cast<REAL>(X)));
-			const ImageRef x(ROUND2INT(camera.TransformPointC2I(camX)));
-			const float d((float)camX.z);
-			const ImageRef sx(MAXF(x.x-nPixelArea,0), MAXF(x.y-nPixelArea,0));
-			const ImageRef ex(MINF(x.x+nPixelArea,size.width-1), MINF(x.y+nPixelArea,size.height-1));
-			for (int y=sx.y; y<=ex.y; ++y) {
-				for (int x=sx.x; x<=ex.x; ++x) {
-					depthData.depthMap(y,x) = d;
-					depthData.normalMap(y,x) = Normal::ZERO;
-				}
-			}
-			if (depthData.dMin > d)
-				depthData.dMin = d;
-			if (depthData.dMax < d)
-				depthData.dMax = d;
-		}
-		depthData.dMin *= 0.9f;
-		depthData.dMax *= 1.1f;
-	} else {
-		// compute rough estimates using the sparse point-cloud
-		InitDepthMap(depthData);
-	}
+	const unsigned iterBegin(nGeometricIter < 0 ? 0u : OPTDENSE::nEstimationIters+(unsigned)nGeometricIter);
+	const unsigned iterEnd(nGeometricIter < 0 ? OPTDENSE::nEstimationIters : iterBegin+1);
 
 	// init integral images and index to image-ref map for the reference data
 	#if DENSE_NCC == DENSE_NCC_WEIGHTED
@@ -576,7 +613,7 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage)
 		idxPixel = -1;
 		ASSERT(estimators.IsEmpty());
 		while (estimators.GetSize() < nMaxThreads)
-			estimators.AddConstruct(0, depthData, idxPixel,
+			estimators.AddConstruct(iterBegin, depthData, idxPixel,
 				#if DENSE_NCC == DENSE_NCC_WEIGHTED
 				weightMap0,
 				#else
@@ -593,7 +630,7 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage)
 		estimators.Release();
 		#if TD_VERBOSE != TD_VERBOSE_OFF
 		// save rough depth map as image
-		if (g_nVerbosityLevel > 4) {
+		if (g_nVerbosityLevel > 4 && nGeometricIter < 0) {
 			ExportDepthMap(ComposeDepthFilePath(image.GetID(), "rough.png"), depthData.depthMap);
 			ExportNormalMap(ComposeDepthFilePath(image.GetID(), "rough.normal.png"), depthData.normalMap);
 			ExportPointCloud(ComposeDepthFilePath(image.GetID(), "rough.ply"), *depthData.images.First().pImageData, depthData.depthMap, depthData.normalMap);
@@ -602,7 +639,7 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage)
 	}
 
 	// run propagation and random refinement cycles on the reference data
-	for (unsigned iter=0; iter<OPTDENSE::nEstimationIters; ++iter) {
+	for (unsigned iter=iterBegin; iter<iterEnd; ++iter) {
 		// create working threads
 		idxPixel = -1;
 		ASSERT(estimators.IsEmpty());
@@ -625,7 +662,9 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage)
 		#if 1 && TD_VERBOSE != TD_VERBOSE_OFF
 		// save intermediate depth map as image
 		if (g_nVerbosityLevel > 4) {
-			const String path(ComposeDepthFilePath(image.GetID(), "iter")+String::ToString(iter));
+			String path(ComposeDepthFilePath(image.GetID(), "iter")+String::ToString(iter));
+			if (nGeometricIter >= 0)
+				path += String::FormatString(".geo%d", nGeometricIter);
 			ExportDepthMap(path+".png", depthData.depthMap);
 			ExportNormalMap(path+".normal.png", depthData.normalMap);
 			ExportPointCloud(path+".ply", *depthData.images.First().pImageData, depthData.depthMap, depthData.normalMap);
@@ -1451,10 +1490,9 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 	}
 
 	// release all depth-maps
-	FOREACHPTR(pDepthData, arrDepthData) {
-		if (pDepthData->IsValid())
-			pDepthData->DecRef();
-	}
+	for (DepthData& depthData: arrDepthData)
+		if (depthData.IsValid())
+			depthData.DecRef();
 } // FuseDepthMaps
 /*----------------------------------------------------------------*/
 
@@ -1463,7 +1501,7 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 // S T R U C T S ///////////////////////////////////////////////////
 
 DenseDepthMapData::DenseDepthMapData(Scene& _scene, int _nFusionMode)
-	: scene(_scene), depthMaps(_scene), idxImage(0), sem(1), nFusionMode(_nFusionMode)
+	: scene(_scene), depthMaps(_scene), idxImage(0), sem(1), nEstimationGeometricIter(-1), nFusionMode(_nFusionMode)
 {
 	if (nFusionMode < 0) {
 		STEREO::SemiGlobalMatcher::CreateThreads(scene.nMaxThreads);
@@ -1658,6 +1696,9 @@ bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 	}
 
 	// initialize the queue of images to be processed
+	const int nOptimize(OPTDENSE::nOptimize);
+	if (OPTDENSE::nEstimationGeometricIters)
+		OPTDENSE::nOptimize = 0;
 	data.idxImage = 0;
 	ASSERT(data.events.IsEmpty());
 	data.events.AddEvent(new EVTProcessImage(0));
@@ -1680,6 +1721,41 @@ bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 		return false;
 	data.progress.Release();
 
+	while (++data.nEstimationGeometricIter < (int)OPTDENSE::nEstimationGeometricIters) {
+		// initialize the queue of images to be geometric processed
+		if (data.nEstimationGeometricIter+1 == (int)OPTDENSE::nEstimationGeometricIters)
+			OPTDENSE::nOptimize = nOptimize;
+		data.idxImage = 0;
+		ASSERT(data.events.IsEmpty());
+		data.events.AddEvent(new EVTProcessImage(0));
+		// start working threads
+		data.progress = new Util::Progress("Geometric-consistent estimated depth-maps", data.images.GetSize());
+		GET_LOGCONSOLE().Pause();
+		if (nMaxThreads > 1) {
+			// multi-thread execution
+			cList<SEACAVE::Thread> threads(2);
+			FOREACHPTR(pThread, threads)
+				pThread->start(DenseReconstructionEstimateTmp, (void*)&data);
+			FOREACHPTR(pThread, threads)
+				pThread->join();
+		} else {
+			// single-thread execution
+			DenseReconstructionEstimate((void*)&data);
+		}
+		GET_LOGCONSOLE().Play();
+		if (!data.events.IsEmpty())
+			return false;
+		data.progress.Release();
+		// replace raw depth-maps with the geometric-consistent ones
+		for (IIndex idx: data.images) {
+			const DepthData& depthData(data.depthMaps.arrDepthData[idx]);
+			const String rawName(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"));
+			File::deleteFile(rawName);
+			File::renameFile(ComposeDepthFilePath(depthData.GetView().GetID(), "geo.dmap"), rawName);
+		}
+	}
+	data.nEstimationGeometricIter = -1;
+
 	if ((OPTDENSE::nOptimize & OPTDENSE::ADJUST_FILTER) != 0) {
 		// initialize the queue of depth-maps to be filtered
 		data.sem.Clear();
@@ -1725,7 +1801,7 @@ void Scene::DenseReconstructionEstimate(void* pData)
 		switch (evt->GetID()) {
 		case EVT_PROCESSIMAGE: {
 			const EVTProcessImage& evtImage = *((EVTProcessImage*)(Event*)evt);
-			if (evtImage.idxImage >= data.images.GetSize()) {
+			if (evtImage.idxImage >= data.images.size()) {
 				if (nMaxThreads > 1) {
 					// close working threads
 					data.events.AddEvent(new EVTClose);
@@ -1735,15 +1811,15 @@ void Scene::DenseReconstructionEstimate(void* pData)
 			// select views to reconstruct the depth-map for this image
 			const IIndex idx = data.images[evtImage.idxImage];
 			DepthData& depthData(data.depthMaps.arrDepthData[idx]);
-			// init images pair: reference image and the best neighbor view
+			// initialize images pair: reference image and the best neighbor view
 			ASSERT(data.neighborsMap.IsEmpty() || data.neighborsMap[evtImage.idxImage] != NO_ID);
-			if (!data.depthMaps.InitViews(depthData, data.neighborsMap.IsEmpty()?NO_ID:data.neighborsMap[evtImage.idxImage], OPTDENSE::nNumViews)) {
+			if (!data.depthMaps.InitViews(depthData, data.neighborsMap.IsEmpty()?NO_ID:data.neighborsMap[evtImage.idxImage], OPTDENSE::nNumViews, data.nEstimationGeometricIter >= 0)) {
 				// process next image
 				data.events.AddEvent(new EVTProcessImage((IIndex)Thread::safeInc(data.idxImage)));
 				break;
 			}
 			// try to load already compute depth-map for this image
-			if (data.nFusionMode >= 0 && File::access(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"))) {
+			if (data.nFusionMode >= 0 && data.nEstimationGeometricIter < 0 && File::access(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"))) {
 				if (OPTDENSE::nOptimize & OPTDENSE::OPTIMIZE) {
 					if (!depthData.Load(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"))) {
 						VERBOSE("error: invalid depth-map '%s'", ComposeDepthFilePath(depthData.GetView().GetID(), "dmap").c_str());
@@ -1768,7 +1844,7 @@ void Scene::DenseReconstructionEstimate(void* pData)
 			data.sem.Wait();
 			if (data.nFusionMode >= 0) {
 				// extract depth-map using Patch-Match algorithm
-				data.depthMaps.EstimateDepthMap(data.images[evtImage.idxImage]);
+				data.depthMaps.EstimateDepthMap(data.images[evtImage.idxImage], data.nEstimationGeometricIter);
 			} else {
 				// extract disparity-maps using SGM algorithm
 				if (data.nFusionMode == -1) {
@@ -1837,7 +1913,7 @@ void Scene::DenseReconstructionEstimate(void* pData)
 			#endif
 			// save compute depth-map for this image
 			if (!depthData.depthMap.empty())
-				depthData.Save(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"));
+				depthData.Save(ComposeDepthFilePath(depthData.GetView().GetID(), data.nEstimationGeometricIter < 0 ? "dmap" : "geo.dmap"));
 			depthData.ReleaseImages();
 			depthData.Release();
 			data.progress->operator++();
diff --git a/libs/MVS/SceneDensify.h b/libs/MVS/SceneDensify.h
index cacd94b38..c14c38145 100644
--- a/libs/MVS/SceneDensify.h
+++ b/libs/MVS/SceneDensify.h
@@ -54,9 +54,9 @@ class MVS_API DepthMapsData
 
 	bool SelectViews(IIndexArr& images, IIndexArr& imagesMap, IIndexArr& neighborsMap);
 	bool SelectViews(DepthData& depthData);
-	bool InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex numNeighbors);
+	bool InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex numNeighbors, bool initDepthMaps);
 	bool InitDepthMap(DepthData& depthData);
-	bool EstimateDepthMap(IIndex idxImage);
+	bool EstimateDepthMap(IIndex idxImage, int nGeometricIter);
 
 	bool RemoveSmallSegments(DepthData& depthData);
 	bool GapInterpolation(DepthData& depthData);
@@ -92,6 +92,7 @@ struct MVS_API DenseDepthMapData {
 	SEACAVE::EventQueue events; // internal events queue (processed by the working threads)
 	Semaphore sem;
 	CAutoPtr<Util::Progress> progress;
+	int nEstimationGeometricIter;
 	int nFusionMode;
 	STEREO::SemiGlobalMatcher sgm;
 

From 1a626b6c2f1426a3947a0bebec29575a3c2e893e Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 14 Jun 2021 08:49:42 +0300
Subject: [PATCH 041/252] dense: fix for invalid images

(cherry picked from commit b29648f835e5ee0b36b4240a160a20124001f34d)
---
 libs/MVS/SceneDensify.cpp | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 482cb02d5..eb7417c39 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -369,10 +369,9 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 			Depth dMin, dMax;
 			NormalMap normalMap;
 			ConfidenceMap confMap;
-			if (!ImportDepthDataRaw(ComposeDepthFilePath(view.GetID(), "dmap"),
-					imageFileName, IDs, imageSize, view.cameraDepthMap.K, view.cameraDepthMap.R, view.cameraDepthMap.C,
-					dMin, dMax, view.depthMap, normalMap, confMap, 1))
-				return false;
+			ImportDepthDataRaw(ComposeDepthFilePath(view.GetID(), "dmap"),
+				imageFileName, IDs, imageSize, view.cameraDepthMap.K, view.cameraDepthMap.R, view.cameraDepthMap.C,
+				dMin, dMax, view.depthMap, normalMap, confMap, 1);
 		}
 		view.Init(viewRef.camera);
 	}
@@ -1749,6 +1748,8 @@ bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 		// replace raw depth-maps with the geometric-consistent ones
 		for (IIndex idx: data.images) {
 			const DepthData& depthData(data.depthMaps.arrDepthData[idx]);
+			if (!depthData.IsValid())
+				continue;
 			const String rawName(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"));
 			File::deleteFile(rawName);
 			File::renameFile(ComposeDepthFilePath(depthData.GetView().GetID(), "geo.dmap"), rawName);

From 7cb9b40b1d3001833cd7421a59906961d201dc81 Mon Sep 17 00:00:00 2001
From: Tommy Bojanin <Bojanint@gmail.com>
Date: Thu, 15 Jul 2021 21:36:18 -0700
Subject: [PATCH 042/252] dense: close file in reading invalid depth-map (#685)

---
 libs/MVS/DepthMap.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index d90634fb9..06f3d0144 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -1844,6 +1844,7 @@ bool MVS::ImportDepthDataRaw(const String& fileName, String& imageFileName,
 		header.imageWidth < header.depthWidth || header.imageHeight < header.depthHeight)
 	{
 		DEBUG("error: invalid depth-data file '%s'", fileName.c_str());
+		fclose(f);
 		return false;
 	}
 

From a69a52c09587a1dae82833fe06feac3ac40da5ba Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 20 Aug 2021 12:30:24 +0300
Subject: [PATCH 043/252] github: Create FUNDING.yml

---
 .github/FUNDING.yml | 1 +
 1 file changed, 1 insertion(+)
 create mode 100644 .github/FUNDING.yml

diff --git a/.github/FUNDING.yml b/.github/FUNDING.yml
new file mode 100644
index 000000000..c626e4ba5
--- /dev/null
+++ b/.github/FUNDING.yml
@@ -0,0 +1 @@
+github: [cdcseacave]

From 71bb22e081169aeb26be1384a98c14d4d34e2dba Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 26 Aug 2021 16:10:26 +0300
Subject: [PATCH 044/252] dense: export point-cloud with min number of views
 per point

(cherry picked from commit 9b6b2fd7ec89a5b7ea3acdef83664daccbfc8c03)
---
 apps/DensifyPointCloud/DensifyPointCloud.cpp | 13 ++++-
 libs/MVS/PointCloud.cpp                      | 56 ++++++++++++++++++++
 libs/MVS/PointCloud.h                        |  1 +
 3 files changed, 68 insertions(+), 2 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index bd823b07d..458f63e5b 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -52,8 +52,9 @@ String strMeshFileName;
 String strDenseConfigFileName;
 float fMaxSubsceneArea;
 float fSampleMesh;
-int thFilterPointCloud;
 int nFusionMode;
+int thFilterPointCloud;
+int nExportNumViews;
 int nArchiveType;
 int nProcessPriority;
 unsigned nMaxThreads;
@@ -111,8 +112,9 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("estimate-normals", boost::program_options::value(&nEstimateNormals)->default_value(2), "estimate the normals for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
 		("sub-scene-area", boost::program_options::value(&OPT::fMaxSubsceneArea)->default_value(0.f), "split the scene in sub-scenes such that each sub-scene surface does not exceed the given maximum sampling area (0 - disabled)")
 		("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(0.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
-		("filter-point-cloud", boost::program_options::value(&OPT::thFilterPointCloud)->default_value(0), "filter dense point-cloud based on visibility (0 - disabled)")
 		("fusion-mode", boost::program_options::value(&OPT::nFusionMode)->default_value(0), "depth map fusion mode (-2 - fuse disparity-maps, -1 - export disparity-maps only, 0 - depth-maps & fusion, 1 - export depth-maps only)")
+		("filter-point-cloud", boost::program_options::value(&OPT::thFilterPointCloud)->default_value(0), "filter dense point-cloud based on visibility (0 - disabled)")
+		("export-number-views", boost::program_options::value(&OPT::nExportNumViews)->default_value(0), "export points with >= number of views (0 - disabled)")
 		;
 
 	// hidden options, allowed both on command line and
@@ -270,6 +272,13 @@ int main(int argc, LPCTSTR* argv)
 		Finalize();
 		return EXIT_SUCCESS;
 	}
+	if (OPT::nExportNumViews && scene.pointcloud.IsValid()) {
+		// export point-cloud containing only points with N+ views
+		const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
+		scene.pointcloud.SaveNViews(baseFileName+String::FormatString(_T("_%dviews.ply"), OPT::nExportNumViews), (IIndex)OPT::nExportNumViews);
+		Finalize();
+		return EXIT_SUCCESS;
+	}
 	if ((ARCHIVE_TYPE)OPT::nArchiveType != ARCHIVE_MVS) {
 		TD_TIMER_START();
 		if (!scene.DenseReconstruction(OPT::nFusionMode)) {
diff --git a/libs/MVS/PointCloud.cpp b/libs/MVS/PointCloud.cpp
index dd124d487..446ff22e7 100644
--- a/libs/MVS/PointCloud.cpp
+++ b/libs/MVS/PointCloud.cpp
@@ -264,4 +264,60 @@ bool PointCloud::Save(const String& fileName, bool bLegacyTypes) const
 	DEBUG_EXTRA("Point-cloud saved: %u points (%s)", points.GetSize(), TD_TIMER_GET_FMT().c_str());
 	return true;
 } // Save
+
+// save the dense point cloud having >=N views as PLY file
+bool PointCloud::SaveNViews(const String& fileName, uint32_t minViews, bool bLegacyTypes) const
+{
+	if (points.IsEmpty())
+		return false;
+	TD_TIMER_STARTD();
+
+	// create PLY object
+	ASSERT(!fileName.IsEmpty());
+	Util::ensureFolder(fileName);
+	PLY ply;
+	if (bLegacyTypes)
+		ply.set_legacy_type_names();
+	if (!ply.write(fileName, 1, BasicPLY::elem_names, PLY::BINARY_LE, 64*1024))
+		return false;
+
+	if (normals.IsEmpty()) {
+		// describe what properties go into the vertex elements
+		ply.describe_property(BasicPLY::elem_names[0], 6, BasicPLY::vert_props);
+
+		// export the array of 3D points
+		BasicPLY::PointColNormal vertex;
+		FOREACH(i, points) {
+			if (pointViews[i].size() < minViews)
+				continue;
+			// export the vertex position, normal and color
+			vertex.p = points[i];
+			vertex.c = (!colors.IsEmpty() ? colors[i] : Color::WHITE);
+			ply.put_element(&vertex);
+		}
+	} else {
+		// describe what properties go into the vertex elements
+		ply.describe_property(BasicPLY::elem_names[0], 9, BasicPLY::vert_props);
+
+		// export the array of 3D points
+		BasicPLY::PointColNormal vertex;
+		FOREACH(i, points) {
+			if (pointViews[i].size() < minViews)
+				continue;
+			// export the vertex position, normal and color
+			vertex.p = points[i];
+			vertex.n = normals[i];
+			vertex.c = (!colors.IsEmpty() ? colors[i] : Color::WHITE);
+			ply.put_element(&vertex);
+		}
+	}
+	const int numPoints(ply.get_current_element_count());
+
+	// write the header
+	if (!ply.header_complete())
+		return false;
+
+	DEBUG_EXTRA("Point-cloud saved: %u points with at least %u views each (%s)", numPoints, minViews, TD_TIMER_GET_FMT().c_str());
+	return true;
+} // SaveNViews
 /*----------------------------------------------------------------*/
diff --git a/libs/MVS/PointCloud.h b/libs/MVS/PointCloud.h
index 7cf79667b..7b479616b 100644
--- a/libs/MVS/PointCloud.h
+++ b/libs/MVS/PointCloud.h
@@ -96,6 +96,7 @@ class MVS_API PointCloud
 
 	bool Load(const String& fileName);
 	bool Save(const String& fileName, bool bLegacyTypes=false) const;
+	bool SaveNViews(const String& fileName, uint32_t minViews, bool bLegacyTypes=false) const;
 
 	#ifdef _USE_BOOST
 	// implement BOOST serialization

From 3a0af3fbf736a4ef4a3e4fd891ea88c2e3cef294 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 27 Aug 2021 11:06:56 +0300
Subject: [PATCH 045/252] dense: detect computed depth-maps

(cherry picked from commit 52f9162874e4c3da66bb618dcea9dddc1bdf644a)
---
 libs/Common/Types.inl     | 12 +++--------
 libs/MVS/DepthMap.h       |  5 ++++-
 libs/MVS/SceneDensify.cpp | 42 +++++++++++++++++++++++++++------------
 libs/MVS/SceneDensify.h   |  2 +-
 4 files changed, 37 insertions(+), 24 deletions(-)

diff --git a/libs/Common/Types.inl b/libs/Common/Types.inl
index a3a409fdb..7cfa7b36e 100644
--- a/libs/Common/Types.inl
+++ b/libs/Common/Types.inl
@@ -2416,15 +2416,9 @@ void TImage<TYPE>::toGray(TImage<T>& out, int code, bool bNormalize, bool bSRGB)
 template <typename TYPE>
 cv::Size TImage<TYPE>::computeResize(const cv::Size& size, REAL scale)
 {
-	cv::Size scaledSize;
-	if (size.width > size.height) {
-		scaledSize.width = ROUND2INT(REAL(size.width)*scale);
-		scaledSize.height = ROUND2INT(REAL(size.height)*scaledSize.width/REAL(size.width));
-	} else {
-		scaledSize.height = ROUND2INT(REAL(size.height)*scale);
-		scaledSize.width = ROUND2INT(REAL(size.width)*scaledSize.height/REAL(size.height));
-	}
-	return scaledSize;
+	return cv::Size(
+		cv::saturate_cast<int>((REAL)size.width*scale),
+		cv::saturate_cast<int>((REAL)size.height*scale));
 }
 // compute the final scaled size by performing successive resizes
 // with the given scale value
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 08903602a..381c375a6 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -182,9 +182,12 @@ struct MVS_API DepthData {
 			return (IIndex)(pImageData - images.begin());
 		}
 
+		static bool NeedScaleImage(float scale) {
+			return ABS(scale-1.f) >= 0.15f;
+		}
 		template <typename IMAGE>
 		static bool ScaleImage(const IMAGE& image, IMAGE& imageScaled, float scale) {
-			if (ABS(scale-1.f) < 0.15f)
+			if (!NeedScaleImage(scale))
 				return false;
 			cv::resize(image, imageScaled, cv::Size(), scale, scale, scale>1?cv::INTER_CUBIC:cv::INTER_AREA);
 			return true;
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index eb7417c39..e631c9d70 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -297,8 +297,12 @@ bool DepthMapsData::SelectViews(DepthData& depthData)
 // if idxNeighbor is not NO_ID, only the reference image and the given neighbor are initialized;
 // if numNeighbors is not 0, only the first numNeighbors neighbors are initialized;
 // otherwise all are initialized;
+// if loadImages, the image data is also setup
+// if loadDepthMaps is 1, the depth-maps are loaded from disk,
+// if 0, the reference depth-map is initialized from sparse point cloud,
+// and if -1, the depth-maps are not initialized
 // returns false if there are no good neighbors to estimate the depth-map
-bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex numNeighbors, bool initDepthMaps)
+bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex numNeighbors, bool loadImages, int loadDepthMaps)
 {
 	const IIndex idxImage((IIndex)(&depthData-arrDepthData.Begin()));
 	ASSERT(!depthData.neighbors.IsEmpty());
@@ -315,9 +319,14 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 		viewTrg.pImageData = &scene.images[neighbor.idx.ID];
 		viewTrg.scale = neighbor.idx.scale;
 		viewTrg.camera = viewTrg.pImageData->camera;
-		viewTrg.pImageData->image.toGray(viewTrg.image, cv::COLOR_BGR2GRAY, true);
-		if (viewTrg.ScaleImage(viewTrg.image, viewTrg.image, viewTrg.scale))
-			viewTrg.camera = viewTrg.pImageData->GetCamera(scene.platforms, viewTrg.image.size());
+		if (loadImages) {
+			viewTrg.pImageData->image.toGray(viewTrg.image, cv::COLOR_BGR2GRAY, true);
+			if (DepthData::ViewData::ScaleImage(viewTrg.image, viewTrg.image, viewTrg.scale))
+				viewTrg.camera = viewTrg.pImageData->GetCamera(scene.platforms, viewTrg.image.size());
+		} else {
+			if (DepthData::ViewData::NeedScaleImage(viewTrg.scale))
+				viewTrg.camera = viewTrg.pImageData->GetCamera(scene.platforms, Image8U::computeResize(viewTrg.pImageData->image.size(), viewTrg.scale));
+		}
 		DEBUG_EXTRA("Reference image %3u paired with image %3u", idxImage, neighbor.idx.ID);
 	} else {
 		// initialize all neighbor views too (global reconstruction is used)
@@ -331,9 +340,14 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 			viewTrg.pImageData = &scene.images[neighbor.idx.ID];
 			viewTrg.scale = neighbor.idx.scale;
 			viewTrg.camera = viewTrg.pImageData->camera;
-			viewTrg.pImageData->image.toGray(viewTrg.image, cv::COLOR_BGR2GRAY, true);
-			if (viewTrg.ScaleImage(viewTrg.image, viewTrg.image, viewTrg.scale))
-				viewTrg.camera = viewTrg.pImageData->GetCamera(scene.platforms, viewTrg.image.size());
+			if (loadImages) {
+				viewTrg.pImageData->image.toGray(viewTrg.image, cv::COLOR_BGR2GRAY, true);
+				if (DepthData::ViewData::ScaleImage(viewTrg.image, viewTrg.image, viewTrg.scale))
+					viewTrg.camera = viewTrg.pImageData->GetCamera(scene.platforms, viewTrg.image.size());
+			} else {
+				if (DepthData::ViewData::NeedScaleImage(viewTrg.scale))
+					viewTrg.camera = viewTrg.pImageData->GetCamera(scene.platforms, Image8U::computeResize(viewTrg.pImageData->image.size(), viewTrg.scale));
+			}
 		}
 		#if TD_VERBOSE != TD_VERBOSE_OFF
 		// print selected views
@@ -355,13 +369,14 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 	DepthData::ViewData& viewRef = depthData.images.First();
 	viewRef.scale = 1;
 	viewRef.pImageData = &scene.images[idxImage];
-	viewRef.pImageData->image.toGray(viewRef.image, cv::COLOR_BGR2GRAY, true);
 	viewRef.camera = viewRef.pImageData->camera;
+	if (loadImages)
+		viewRef.pImageData->image.toGray(viewRef.image, cv::COLOR_BGR2GRAY, true);
 
 	// initialize views
 	for (IIndex i=1; i<depthData.images.size(); ++i) {
 		DepthData::ViewData& view = depthData.images[i];
-		if (initDepthMaps) {
+		if (loadDepthMaps > 0) {
 			// load known depth-map
 			String imageFileName;
 			IIndexArr IDs;
@@ -376,7 +391,7 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 		view.Init(viewRef.camera);
 	}
 
-	if (initDepthMaps) {
+	if (loadDepthMaps > 0) {
 		// load known depth-map and normal-map
 		String imageFileName;
 		IIndexArr IDs;
@@ -388,7 +403,7 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 				depthData.depthMap, depthData.normalMap, confMap, 3))
 			return false;
 		ASSERT(viewRef.image.size() == depthData.depthMap.size());
-	} else {
+	} else if (loadDepthMaps == 0) {
 		// initialize depth and normal maps
 		ASSERT(!depthData.points.IsEmpty());
 		if (OPTDENSE::nMinViewsTrustPoint < 2) {
@@ -1812,15 +1827,16 @@ void Scene::DenseReconstructionEstimate(void* pData)
 			// select views to reconstruct the depth-map for this image
 			const IIndex idx = data.images[evtImage.idxImage];
 			DepthData& depthData(data.depthMaps.arrDepthData[idx]);
+			const bool depthmapComputed(data.nFusionMode >= 0 && data.nEstimationGeometricIter < 0 && File::access(ComposeDepthFilePath(idx, "dmap")));
 			// initialize images pair: reference image and the best neighbor view
 			ASSERT(data.neighborsMap.IsEmpty() || data.neighborsMap[evtImage.idxImage] != NO_ID);
-			if (!data.depthMaps.InitViews(depthData, data.neighborsMap.IsEmpty()?NO_ID:data.neighborsMap[evtImage.idxImage], OPTDENSE::nNumViews, data.nEstimationGeometricIter >= 0)) {
+			if (!data.depthMaps.InitViews(depthData, data.neighborsMap.IsEmpty()?NO_ID:data.neighborsMap[evtImage.idxImage], OPTDENSE::nNumViews, !depthmapComputed, depthmapComputed ? -1 : (data.nEstimationGeometricIter >= 0 ? 1 : 0))) {
 				// process next image
 				data.events.AddEvent(new EVTProcessImage((IIndex)Thread::safeInc(data.idxImage)));
 				break;
 			}
 			// try to load already compute depth-map for this image
-			if (data.nFusionMode >= 0 && data.nEstimationGeometricIter < 0 && File::access(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"))) {
+			if (depthmapComputed) {
 				if (OPTDENSE::nOptimize & OPTDENSE::OPTIMIZE) {
 					if (!depthData.Load(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"))) {
 						VERBOSE("error: invalid depth-map '%s'", ComposeDepthFilePath(depthData.GetView().GetID(), "dmap").c_str());
diff --git a/libs/MVS/SceneDensify.h b/libs/MVS/SceneDensify.h
index c14c38145..0e1a77895 100644
--- a/libs/MVS/SceneDensify.h
+++ b/libs/MVS/SceneDensify.h
@@ -54,7 +54,7 @@ class MVS_API DepthMapsData
 
 	bool SelectViews(IIndexArr& images, IIndexArr& imagesMap, IIndexArr& neighborsMap);
 	bool SelectViews(DepthData& depthData);
-	bool InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex numNeighbors, bool initDepthMaps);
+	bool InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex numNeighbors, bool loadImages, int loadDepthMaps);
 	bool InitDepthMap(DepthData& depthData);
 	bool EstimateDepthMap(IIndex idxImage, int nGeometricIter);
 

From c6daaf78ef1bc7f4afd6b2b90bad652c69e8a914 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 27 Aug 2021 13:51:19 +0300
Subject: [PATCH 046/252] refine: initialize image neighbors from input mesh

(cherry picked from commit 2a069fa0856582da2b766ba85091d3e46fa783de)
---
 apps/RefineMesh/RefineMesh.cpp |  2 +-
 libs/MVS/Image.cpp             | 16 +++------
 libs/MVS/Mesh.cpp              | 12 +++++--
 libs/MVS/Scene.cpp             | 59 ++++++++++++++++++++++++++++++++++
 libs/MVS/Scene.h               |  3 ++
 libs/MVS/SceneDensify.cpp      |  4 +++
 libs/MVS/SceneRefine.cpp       |  9 +++++-
 libs/MVS/SceneRefineCUDA.cpp   |  3 ++
 8 files changed, 92 insertions(+), 16 deletions(-)

diff --git a/apps/RefineMesh/RefineMesh.cpp b/apps/RefineMesh/RefineMesh.cpp
index 53694ee9b..9ba8c15f8 100644
--- a/apps/RefineMesh/RefineMesh.cpp
+++ b/apps/RefineMesh/RefineMesh.cpp
@@ -124,7 +124,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("gradient-step", boost::program_options::value(&OPT::fGradientStep)->default_value(45.05f), "gradient step to be used instead (0 - auto)")
 		("planar-vertex-ratio", boost::program_options::value(&OPT::fPlanarVertexRatio)->default_value(0.f), "threshold used to remove vertices on planar patches (0 - disabled)")
 		#ifdef _USE_CUDA
-		("use-cuda", boost::program_options::value(&OPT::bUseCUDA)->default_value(true), "refine mesh using CUDA")
+		("use-cuda", boost::program_options::value(&OPT::bUseCUDA)->default_value(false), "refine mesh using CUDA")
 		#endif
 		;
 
diff --git a/libs/MVS/Image.cpp b/libs/MVS/Image.cpp
index 0b5bdcf12..772185f2c 100644
--- a/libs/MVS/Image.cpp
+++ b/libs/MVS/Image.cpp
@@ -144,18 +144,12 @@ float Image::ResizeImage(unsigned nMaxResolution)
 	}
 	if (nMaxResolution == 0 || MAXF(width,height) <= nMaxResolution)
 		return 1.f;
-	float scale;
-	if (width > height) {
-		scale = (float)nMaxResolution/width;
-		height = height*nMaxResolution/width;
-		width = nMaxResolution;
-	} else {
-		scale = (float)nMaxResolution/height;
-		width = width*nMaxResolution/height;
-		height = nMaxResolution;
-	}
+	const REAL scale(width > height ? (REAL)nMaxResolution/width : (REAL)nMaxResolution/height);
+	const cv::Size scaledSize(Image8U::computeResize(GetSize(), scale));
+	width = (uint32_t)scaledSize.width;
+	height = (uint32_t)scaledSize.height;
 	if (!image.empty())
-		cv::resize(image, image, cv::Size((int)width, (int)height), 0, 0, cv::INTER_AREA);
+		cv::resize(image, image, scaledSize, 0, 0, cv::INTER_AREA);
 	return scale;
 } // ResizeImage
 /*----------------------------------------------------------------*/
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 447c37714..c5bb35941 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -1023,6 +1023,12 @@ void Mesh::Clean(float fDecimate, float fSpurious, bool bRemoveSpikes, unsigned
 	// decimate mesh
 	if (fDecimate < 1) {
 		ASSERT(fDecimate > 0);
+		const int nZeroAreaFaces = vcg::tri::Clean<CLEAN::Mesh>::RemoveZeroAreaFace(mesh);
+		DEBUG_ULTIMATE("Removed %d zero-area faces", nZeroAreaFaces);
+		const int nDuplicateFaces = vcg::tri::Clean<CLEAN::Mesh>::RemoveDuplicateFace(mesh);
+		DEBUG_ULTIMATE("Removed %d duplicate faces", nDuplicateFaces);
+		const int nUnreferencedVertices = vcg::tri::Clean<CLEAN::Mesh>::RemoveUnreferencedVertex(mesh);
+		DEBUG_ULTIMATE("Removed %d unreferenced vertices", nUnreferencedVertices);
 		vcg::tri::TriEdgeCollapseQuadricParameter pp;
 		pp.QualityThr = 0.3; // Quality Threshold for penalizing bad shaped faces: the value is in the range [0..1], 0 accept any kind of face (no penalties), 0.5 penalize faces with quality < 0.5, proportionally to their shape
 		pp.PreserveBoundary = false; // the simplification process tries to not affect mesh boundaries during simplification
@@ -1061,17 +1067,17 @@ void Mesh::Clean(float fDecimate, float fSpurious, bool bRemoveSpikes, unsigned
 
 	// clean mesh
 	{
-		vcg::tri::UpdateTopology<CLEAN::Mesh>::FaceFace(mesh);
 		const int nZeroAreaFaces = vcg::tri::Clean<CLEAN::Mesh>::RemoveZeroAreaFace(mesh);
 		DEBUG_ULTIMATE("Removed %d zero-area faces", nZeroAreaFaces);
 		const int nDuplicateFaces = vcg::tri::Clean<CLEAN::Mesh>::RemoveDuplicateFace(mesh);
 		DEBUG_ULTIMATE("Removed %d duplicate faces", nDuplicateFaces);
+		const int nUnreferencedVertices = vcg::tri::Clean<CLEAN::Mesh>::RemoveUnreferencedVertex(mesh);
+		DEBUG_ULTIMATE("Removed %d unreferenced vertices", nUnreferencedVertices);
+		vcg::tri::UpdateTopology<CLEAN::Mesh>::FaceFace(mesh);
 		const int nNonManifoldFaces = vcg::tri::Clean<CLEAN::Mesh>::RemoveNonManifoldFace(mesh);
 		DEBUG_ULTIMATE("Removed %d non-manifold faces", nNonManifoldFaces);
 		const int nDegenerateVertices = vcg::tri::Clean<CLEAN::Mesh>::RemoveDegenerateVertex(mesh);
 		DEBUG_ULTIMATE("Removed %d degenerate vertices", nDegenerateVertices);
-		const int nUnreferencedVertices = vcg::tri::Clean<CLEAN::Mesh>::RemoveUnreferencedVertex(mesh);
-		DEBUG_ULTIMATE("Removed %d unreferenced vertices", nUnreferencedVertices);
 		#if 1
 		const int nDuplicateVertices = vcg::tri::Clean<CLEAN::Mesh>::RemoveDuplicateVertex(mesh);
 		DEBUG_ULTIMATE("Removed %d duplicate vertices", nDuplicateVertices);
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 0e1f77181..a61d203a5 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -42,6 +42,11 @@ using namespace MVS;
 #define PROJECT_ID "MVS\0" // identifies the project stream
 #define PROJECT_VER ((uint32_t)1) // identifies the version of a project stream
 
+// uncomment to enable multi-threading based on OpenMP
+#ifdef _USE_OPENMP
+#define SCENE_USE_OPENMP
+#endif
+
 
 // S T R U C T S ///////////////////////////////////////////////////
 
@@ -58,6 +63,14 @@ bool Scene::IsEmpty() const
 	return pointcloud.IsEmpty() && mesh.IsEmpty();
 }
 
+bool Scene::ImagesHaveNeighbors() const
+{
+	for (const Image& image: images)
+		if (!image.neighbors.IsEmpty())
+			return true;
+	return false;
+}
+
 
 bool Scene::LoadInterface(const String & fileName)
 {
@@ -517,6 +530,52 @@ bool Scene::Save(const String& fileName, ARCHIVE_TYPE type) const
 /*----------------------------------------------------------------*/
 
 
+// compute point-cloud with visibility info from the existing mesh
+void Scene::SampleMeshWithVisibility(unsigned maxResolution)
+{
+	ASSERT(!mesh.IsEmpty());
+	const Depth thFrontDepth(0.985f);
+	pointcloud.Release();
+	pointcloud.points.resize(mesh.vertices.size());
+	pointcloud.pointViews.resize(mesh.vertices.size());
+	#ifdef SCENE_USE_OPENMP
+	#pragma omp parallel for
+	for (int64_t _ID=0; _ID<images.size(); ++_ID) {
+		const IIndex ID(static_cast<IIndex>(_ID));
+	#else
+	FOREACH(ID, images) {
+	#endif
+		const Image& imageData = images[ID];
+		unsigned level(0);
+		const unsigned nMaxResolution(Image8U::computeMaxResolution(imageData.width, imageData.height, level, 0, maxResolution));
+		const REAL scale(imageData.width > imageData.height ? (REAL)nMaxResolution/imageData.width : (REAL)nMaxResolution/imageData.height);
+		const cv::Size scaledSize(Image8U::computeResize(imageData.GetSize(), scale));
+		const Camera camera(imageData.GetCamera(platforms, scaledSize));
+		DepthMap depthMap(scaledSize);
+		mesh.Project(camera, depthMap);
+		FOREACH(idxVertex, mesh.vertices) {
+			const Point3f xz(camera.TransformPointW2I3(Cast<REAL>(mesh.vertices[idxVertex])));
+			if (xz.z <= 0)
+				continue;
+			const Point2f& x(reinterpret_cast<const Point2f&>(xz));
+			if (depthMap.isInsideWithBorder<float,1>(x) && xz.z * thFrontDepth < depthMap(ROUND2INT(x))) {
+				#ifdef SCENE_USE_OPENMP
+				#pragma omp critical
+				#endif
+				pointcloud.pointViews[idxVertex].emplace_back(ID);
+			}
+		}
+	}
+	RFOREACH(idx, pointcloud.points) {
+		if (pointcloud.pointViews[idx].size() < 2)
+			pointcloud.RemovePoint(idx);
+		else
+			pointcloud.points[idx] = mesh.vertices[idx];
+	}
+} // SampleMeshWithVisibility
+/*----------------------------------------------------------------*/
+
+
 inline float Footprint(const Camera& camera, const Point3f& X) {
 	#if 0
 	const REAL fSphereRadius(1);
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 42b93db51..e25db1f7a 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -68,6 +68,7 @@ class MVS_API Scene
 
 	void Release();
 	bool IsEmpty() const;
+	bool ImagesHaveNeighbors() const;
 
 	bool LoadInterface(const String& fileName);
 	bool SaveInterface(const String& fileName, int version=-1) const;
@@ -78,6 +79,8 @@ class MVS_API Scene
 	bool Load(const String& fileName, bool bImport=false);
 	bool Save(const String& fileName, ARCHIVE_TYPE type=ARCHIVE_DEFAULT) const;
 
+	void SampleMeshWithVisibility(unsigned maxResolution=320);
+
 	bool SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews=3, unsigned nMinPointViews=2, float fOptimAngle=FD2R(10));
 	static bool FilterNeighborViews(ViewScoreArr& neighbors, float fMinArea=0.1f, float fMinScale=0.2f, float fMaxScale=2.4f, float fMinAngle=FD2R(3), float fMaxAngle=FD2R(45), unsigned nMaxViews=12);
 
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index e631c9d70..465323be2 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -1606,6 +1606,10 @@ bool Scene::DenseReconstruction(int nFusionMode)
 // results are saved to "data"
 bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 {
+	// compute point-cloud from the existing mesh
+	if (pointcloud.IsEmpty() && !mesh.IsEmpty() && !ImagesHaveNeighbors())
+		SampleMeshWithVisibility();
+
 	{
 	// maps global view indices to our list of views to be processed
 	IIndexArr imagesMap;
diff --git a/libs/MVS/SceneRefine.cpp b/libs/MVS/SceneRefine.cpp
index f4dab6f9b..a373eb6cb 100644
--- a/libs/MVS/SceneRefine.cpp
+++ b/libs/MVS/SceneRefine.cpp
@@ -1047,9 +1047,13 @@ void MeshRefine::ThSelectNeighbors(uint32_t idxImage, std::unordered_set<uint64_
 	const float fMinArea(0.1f);
 	const float fMinScale(0.2f), fMaxScale(3.2f);
 	const float fMinAngle(FD2R(2.5f)), fMaxAngle(FD2R(45.f));
-	const Image& imageData = images[idxImage];
+	Image& imageData = images[idxImage];
 	if (!imageData.IsValid())
 		return;
+	if (imageData.neighbors.IsEmpty()) {
+		IndexArr points;
+		scene.SelectNeighborViews(idxImage, points);
+	}
 	ViewScoreArr neighbors(imageData.neighbors);
 	Scene::FilterNeighborViews(neighbors, fMinArea, fMinScale, fMaxScale, fMinAngle, fMaxAngle, nMaxViews);
 	Lock l(cs);
@@ -1279,6 +1283,9 @@ bool Scene::RefineMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsig
 					   unsigned nScales, float fScaleStep,
 					   unsigned nReduceMemory, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity, float fThPlanarVertex, float fGradientStep)
 {
+	if (pointcloud.IsEmpty() && !ImagesHaveNeighbors())
+		SampleMeshWithVisibility();
+
 	MeshRefine refine(*this, nReduceMemory, nAlternatePair, fRegularityWeight, fRatioRigidityElasticity, nResolutionLevel, nMinResolution, nMaxViews, nMaxThreads);
 	if (!refine.IsValid())
 		return false;
diff --git a/libs/MVS/SceneRefineCUDA.cpp b/libs/MVS/SceneRefineCUDA.cpp
index 9d9205fdd..382a3ff52 100644
--- a/libs/MVS/SceneRefineCUDA.cpp
+++ b/libs/MVS/SceneRefineCUDA.cpp
@@ -2810,6 +2810,9 @@ bool Scene::RefineMeshCUDA(unsigned nResolutionLevel, unsigned nMinResolution, u
 						   float fDecimateMesh, unsigned nCloseHoles, unsigned nEnsureEdgeSize, unsigned nMaxFaceArea,
 						   unsigned nScales, float fScaleStep, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity, float fGradientStep)
 {
+	if (pointcloud.IsEmpty() && !ImagesHaveNeighbors())
+		SampleMeshWithVisibility();
+
 	MeshRefineCUDA refine(*this, nAlternatePair, fRegularityWeight, fRatioRigidityElasticity, nResolutionLevel, nMinResolution, nMaxViews);
 	if (!refine.IsValid())
 		return false;

From e6ecc5ab11fcc4c7d644a1a298d86d32d5cd2944 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 27 Aug 2021 13:52:38 +0300
Subject: [PATCH 047/252] dense: select better angle neighbors

(cherry picked from commit 05a49551ad13873c664bf394d4584cf5c44f198c)
---
 libs/MVS/Scene.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index a61d203a5..34ce85ec2 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -611,6 +611,7 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 		nMinPointViews = nCalibratedImages;
 	unsigned nPoints = 0;
 	imageData.avgDepth = 0;
+	const float sigmaAngle(-1.f/(2.f*SQUARE(fOptimAngle*1.3)));
 	FOREACH(idx, pointcloud.points) {
 		const PointCloud::ViewArr& views = pointcloud.pointViews[idx];
 		ASSERT(views.IsSorted());
@@ -631,7 +632,7 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 			const Image& imageData2 = images[view];
 			const Point3f V2(imageData2.camera.C - Cast<REAL>(point));
 			const float fAngle(ACOS(ComputeAngle<float,float>(V1.ptr(), V2.ptr())));
-			const float wAngle(MINF(POW(fAngle/fOptimAngle, 1.5f), 1.f));
+			const float wAngle(fAngle<fOptimAngle ? POW(fAngle/fOptimAngle, 1.5f) : EXP(SQUARE(fAngle-fOptimAngle)*sigmaAngle));
 			const float footprint2(Footprint(imageData2.camera, point));
 			const float fScaleRatio(footprint1/footprint2);
 			float wScale;

From ae8062bc8e9ebcdeb5ab16332aed071849cfa606 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sun, 17 Oct 2021 22:47:16 +0300
Subject: [PATCH 048/252] dense: patch-match implemented in CUDA (faster &
 better)

---
 .appveyor.yml                          |   2 +-
 BUILD.md                               |   4 +-
 CMakeLists.txt                         |   9 +-
 build/Utils.cmake                      |   2 +-
 libs/Common/Config.h                   |   2 +-
 libs/Common/List.h                     |   6 +
 libs/Common/Types.h                    |   2 +-
 libs/Common/{CUDA.cpp => UtilCUDA.cpp} |   4 +-
 libs/Common/{CUDA.h => UtilCUDA.h}     |  29 +-
 libs/MVS/CMakeLists.txt                |   7 +
 libs/MVS/DepthMap.cpp                  |  36 +-
 libs/MVS/DepthMap.h                    |   9 +-
 libs/MVS/PatchMatchCUDA.cpp            | 302 ++++++++++++
 libs/MVS/PatchMatchCUDA.cu             | 610 +++++++++++++++++++++++++
 libs/MVS/PatchMatchCUDA.h              |  58 +++
 libs/MVS/PatchMatchCUDA.inl            | 141 ++++++
 libs/MVS/Scene.cpp                     |   2 +-
 libs/MVS/SceneDensify.cpp              |  24 +
 libs/MVS/SceneDensify.h                |  10 +-
 libs/MVS/SceneRefine.cpp               |  25 +-
 libs/MVS/SceneRefineCUDA.cpp           |  45 +-
 21 files changed, 1243 insertions(+), 86 deletions(-)
 rename libs/Common/{CUDA.cpp => UtilCUDA.cpp} (99%)
 rename libs/Common/{CUDA.h => UtilCUDA.h} (97%)
 create mode 100644 libs/MVS/PatchMatchCUDA.cpp
 create mode 100644 libs/MVS/PatchMatchCUDA.cu
 create mode 100644 libs/MVS/PatchMatchCUDA.h
 create mode 100644 libs/MVS/PatchMatchCUDA.inl

diff --git a/.appveyor.yml b/.appveyor.yml
index ca38cbeee..5b963bae5 100644
--- a/.appveyor.yml
+++ b/.appveyor.yml
@@ -84,7 +84,7 @@ for:
     - '/usr/lib/x86_64-linux-gnu/'
   build_script:
     - git clone https://github.com/cdcseacave/VCG.git
-    - git clone --single-branch --branch 3.2 https://gitlab.com/libeigen/eigen.git
+    - git clone --single-branch --branch 3.4 https://gitlab.com/libeigen/eigen.git
     - mkdir eigen_build && cd eigen_build
     - cmake . ../eigen
     - make && sudo make install
diff --git a/BUILD.md b/BUILD.md
index 75aaac1e4..4ddcd4b81 100644
--- a/BUILD.md
+++ b/BUILD.md
@@ -3,7 +3,7 @@ Dependencies
 ------------
 
 *OpenMVS* relies on a number of open source libraries, some of which are optional. For details on customizing the build process, see the compilation instructions.
-* [Eigen](http://eigen.tuxfamily.org) version 3.3.9 or higher
+* [Eigen](http://eigen.tuxfamily.org) version 3.4 or higher
 * [OpenCV](http://opencv.org) version 2.4 or higher
 * [Ceres](http://ceres-solver.org) version 1.10 or higher
 * [CGAL](http://www.cgal.org) version 4.2 or higher
@@ -64,7 +64,7 @@ sudo apt-get -y install git cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mes
 main_path=`pwd`
 
 #Eigen (Required)
-git clone https://gitlab.com/libeigen/eigen.git --branch 3.2
+git clone https://gitlab.com/libeigen/eigen.git --branch 3.4
 mkdir eigen_build && cd eigen_build
 cmake . ../eigen
 make && sudo make install
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0e0d0b7bb..9046e4987 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,6 +10,9 @@ ENDIF()
 IF(POLICY CMP0074)
 	CMAKE_POLICY(SET CMP0074 NEW)
 ENDIF()
+IF(POLICY CMP0104)
+	CMAKE_POLICY(SET CMP0104 NEW)
+ENDIF()
 
 # Load automatically VCPKG toolchain if available
 IF(NOT DEFINED CMAKE_TOOLCHAIN_FILE AND DEFINED ENV{VCPKG_ROOT})
@@ -38,7 +41,7 @@ SET(OpenMVS_USE_OPENMP ON CACHE BOOL "Enable OpenMP library")
 SET(OpenMVS_USE_OPENGL ON CACHE BOOL "Enable OpenGL library")
 SET(OpenMVS_USE_BREAKPAD ON CACHE BOOL "Enable BreakPad library")
 SET(OpenMVS_USE_CERES OFF CACHE BOOL "Enable CERES optimization library")
-SET(OpenMVS_USE_CUDA OFF CACHE BOOL "Enable CUDA library")
+SET(OpenMVS_USE_CUDA ON CACHE BOOL "Enable CUDA library")
 SET(OpenMVS_USE_FAST_FLOAT2INT ON CACHE BOOL "Use an optimized code to convert real numbers to int")
 SET(OpenMVS_USE_FAST_INVSQRT OFF CACHE BOOL "Use an optimized code to compute the inverse square root (slower in fact on modern compilers)")
 SET(OpenMVS_USE_FAST_CBRT ON CACHE BOOL "Use an optimized code to compute the cubic root")
@@ -97,6 +100,10 @@ endif()
 if(OpenMVS_USE_CUDA)
 	FIND_PACKAGE(CUDA)
 	if(CUDA_FOUND)
+		ENABLE_LANGUAGE(CUDA)
+		if(NOT DEFINED CMAKE_CUDA_ARCHITECTURES)
+		  SET(CMAKE_CUDA_ARCHITECTURES 75)
+		endif()
 		INCLUDE_DIRECTORIES(${CUDA_INCLUDE_DIRS})
 		LIST(APPEND OpenMVS_DEFINITIONS -D_USE_CUDA)
 		SET(_USE_CUDA TRUE)
diff --git a/build/Utils.cmake b/build/Utils.cmake
index 94f3f1e56..106d43167 100644
--- a/build/Utils.cmake
+++ b/build/Utils.cmake
@@ -813,7 +813,7 @@ function(cxx_library_with_type name folder type cxx_flags)
   # type can be either STATIC or SHARED to denote a static or shared library.
   # ARGN refers to additional arguments after 'cxx_flags'.
   add_library("${name}" ${type} ${ARGN})
-  set_target_properties("${name}" PROPERTIES COMPILE_FLAGS "${cxx_flags}")
+  #set_target_properties("${name}" PROPERTIES COMPILE_FLAGS "${cxx_flags}")
   if ((BUILD_SHARED_LIBS AND NOT type STREQUAL "STATIC") OR type STREQUAL "SHARED")
     set_target_properties("${name}" PROPERTIES COMPILE_DEFINITIONS "_USRDLL")
   else()
diff --git a/libs/Common/Config.h b/libs/Common/Config.h
index 13104f01a..37fa297e5 100644
--- a/libs/Common/Config.h
+++ b/libs/Common/Config.h
@@ -211,7 +211,7 @@
 #ifdef _MSC_VER
 #define _DEBUGINFO
 #define _CRTDBG_MAP_ALLOC	//enable this to show also the filename (DEBUG_NEW should also be defined in each file)
-#include <stdlib.h>
+#include <cstdlib>
 #include <crtdbg.h>
 #ifdef _INC_CRTDBG
 #define ASSERT(exp)	{if (!(exp) && 1 == _CrtDbgReport(_CRT_ASSERT, __FILE__, __LINE__, NULL, #exp)) _CrtDbgBreak();}
diff --git a/libs/Common/List.h b/libs/Common/List.h
index 06c1e4bd0..750aa90c4 100644
--- a/libs/Common/List.h
+++ b/libs/Common/List.h
@@ -11,6 +11,8 @@
 
 // I N C L U D E S /////////////////////////////////////////////////
 
+#include <utility>
+
 
 // D E F I N E S ///////////////////////////////////////////////////
 
@@ -70,6 +72,10 @@
 #define CLISTDEFIDX(TYPE,IDXTYPE) SEACAVE::cList< TYPE, const TYPE&, 1, 16, IDXTYPE >
 #define CLISTDEF2IDX(TYPE,IDXTYPE) SEACAVE::cList< TYPE, const TYPE&, 2, 16, IDXTYPE >
 
+#ifndef STCALL
+#define STCALL
+#endif
+
 
 namespace SEACAVE {
 
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 6da8a0d77..11ae8f67d 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -2795,6 +2795,6 @@ class SO2
 #include "Ray.h"
 #include "Octree.h"
 #include "Util.inl"
-#include "CUDA.h"
+#include "UtilCUDA.h"
 
 #endif // __SEACAVE_TYPES_H__
diff --git a/libs/Common/CUDA.cpp b/libs/Common/UtilCUDA.cpp
similarity index 99%
rename from libs/Common/CUDA.cpp
rename to libs/Common/UtilCUDA.cpp
index c46f3afdd..8b4a79add 100644
--- a/libs/Common/CUDA.cpp
+++ b/libs/Common/UtilCUDA.cpp
@@ -1,12 +1,12 @@
 ////////////////////////////////////////////////////////////////////
-// CUDA.cpp
+// UtilCUDA.cpp
 //
 // Copyright 2007 cDc@seacave
 // Distributed under the Boost Software License, Version 1.0
 // (See http://www.boost.org/LICENSE_1_0.txt)
 
 #include "Common.h"
-#include "CUDA.h"
+#include "UtilCUDA.h"
 
 #ifdef _USE_CUDA
 
diff --git a/libs/Common/CUDA.h b/libs/Common/UtilCUDA.h
similarity index 97%
rename from libs/Common/CUDA.h
rename to libs/Common/UtilCUDA.h
index 1ab9b5303..c0ed5748d 100644
--- a/libs/Common/CUDA.h
+++ b/libs/Common/UtilCUDA.h
@@ -1,5 +1,5 @@
 ////////////////////////////////////////////////////////////////////
-// CUDA.h
+// UtilCUDA.h
 //
 // Copyright 2007 cDc@seacave
 // Distributed under the Boost Software License, Version 1.0
@@ -16,16 +16,23 @@
 // CUDA driver
 #include <cuda.h>
 
+// CUDA toolkit
+#include <cuda_runtime.h>
+#include <cuda_runtime_api.h>
+#include <cuda_texture_types.h>
+#include <curand_kernel.h>
+#include <vector_types.h>
+
 
 // D E F I N E S ///////////////////////////////////////////////////
 
 
+// S T R U C T S ///////////////////////////////////////////////////
+
 namespace SEACAVE {
 
 namespace CUDA {
 
-// S T R U C T S ///////////////////////////////////////////////////
-
 // global list of initialized devices
 struct Device {
 	CUdevice ID;
@@ -69,6 +76,18 @@ inline void __ensureCudaResult(CUresult result, LPCSTR errorMessage) {
 }
 #define ensureCudaResult(val) CUDA::__ensureCudaResult(val, #val)
 
+inline void checkCudaCall(const cudaError_t error) {
+	if (error == cudaSuccess)
+		return;
+	#ifdef _DEBUG
+	VERBOSE("CUDA error at %s:%d: %s (code %d)", __FILE__, __LINE__, cudaGetErrorString(error), error);
+	#else
+	DEBUG("CUDA error: %s (code %d)", cudaGetErrorString(error), error);
+	#endif
+	ASSERT("CudaError" == NULL);
+	exit(EXIT_FAILURE);
+}
+
 // rounds up addr to the align boundary
 template <typename T>
 inline T align(T o, T a) {
@@ -333,7 +352,7 @@ class KernelRT
 		if ((result=cuParamSetSize(hKernel, paramOffset)) != CUDA_SUCCESS)
 			return result;
 		// launch the kernel (Driver API)
-		const CUdevprop& deviceProp = CUDA::devices.Last().prop;
+		const CUdevprop& deviceProp = CUDA::devices.back().prop;
 		const int numBlockThreads(MINF(numThreads, deviceProp.maxThreadsPerBlock));
 		const int nBlocks(MAXF((numThreads+numBlockThreads-1)/numBlockThreads, 1));
 		if ((result=cuFuncSetBlockShape(hKernel, numBlockThreads, 1, 1)) != CUDA_SUCCESS)
@@ -354,7 +373,7 @@ class KernelRT
 		if ((result=cuParamSetSize(hKernel, paramOffset)) != CUDA_SUCCESS)
 			return result;
 		// launch the kernel (Driver API)
-		const CUdevprop& deviceProp = CUDA::devices.Last().prop;
+		const CUdevprop& deviceProp = CUDA::devices.back().prop;
 		const REAL scale(MINF(REAL(1), SQRT((REAL)deviceProp.maxThreadsPerBlock/(REAL)(numThreads.x*numThreads.y))));
 		const SEACAVE::TPoint2<int> numBlockThreads(FLOOR2INT(SEACAVE::TPoint2<REAL>(numThreads)*scale));
 		const TPoint2<int> nBlocks(
diff --git a/libs/MVS/CMakeLists.txt b/libs/MVS/CMakeLists.txt
index dcfd1ceb2..79dbaba65 100644
--- a/libs/MVS/CMakeLists.txt
+++ b/libs/MVS/CMakeLists.txt
@@ -27,6 +27,10 @@ endif()
 # List sources files
 FILE(GLOB LIBRARY_FILES_C "*.cpp")
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
+if(_USE_CUDA)
+	FILE(GLOB LIBRARY_FILES_CUDA "*.cu")
+	LIST(APPEND LIBRARY_FILES_C ${LIBRARY_FILES_CUDA})
+endif()
 
 cxx_library_with_type(MVS "Libs" "" "${cxx_default}"
 	${LIBRARY_FILES_C} ${LIBRARY_FILES_H}
@@ -38,6 +42,9 @@ IF(CMAKE_VERSION VERSION_GREATER_EQUAL 3.16.0)
 endif()
 
 # Link its dependencies
+if(_USE_CUDA)
+	set_target_properties(MVS PROPERTIES CUDA_ARCHITECTURES "50;72;75")
+endif()
 TARGET_LINK_LIBRARIES(MVS PRIVATE Common Math IO CGAL::CGAL ${CERES_LIBRARIES} ${CUDA_CUDA_LIBRARY})
 
 # Install
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 06f3d0144..576ee8411 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -68,6 +68,10 @@ using namespace MVS;
 namespace MVS {
 DEFOPT_SPACE(OPTDENSE, _T("Dense"))
 
+
+#ifdef _USE_CUDA
+DEFVAR_OPTDENSE_int32(nCUDADevice, "CUDA Device", "CUDA device number to be used for depth-map estimation (-1 - CPU processing)", "0")
+#endif // _USE_CUDA
 DEFVAR_OPTDENSE_uint32(nResolutionLevel, "Resolution Level", "How many times to scale down the images before dense reconstruction", "1")
 MDEFVAR_OPTDENSE_uint32(nMaxResolution, "Max Resolution", "Do not scale images lower than this resolution", "3200")
 MDEFVAR_OPTDENSE_uint32(nMinResolution, "Min Resolution", "Do not scale images lower than this resolution", "640")
@@ -84,7 +88,7 @@ MDEFVAR_OPTDENSE_float(fViewMinScore, "View Min Score", "Min score to consider a
 MDEFVAR_OPTDENSE_float(fViewMinScoreRatio, "View Min Score Ratio", "Min score ratio to consider a neighbor images", "0.3")
 MDEFVAR_OPTDENSE_float(fMinArea, "Min Area", "Min shared area for accepting the depth triangulation", "0.05")
 MDEFVAR_OPTDENSE_float(fMinAngle, "Min Angle", "Min angle for accepting the depth triangulation", "3.0")
-MDEFVAR_OPTDENSE_float(fOptimAngle, "Optim Angle", "Optimal angle for computing the depth triangulation", "10.0")
+MDEFVAR_OPTDENSE_float(fOptimAngle, "Optim Angle", "Optimal angle for computing the depth triangulation", "15.0")
 MDEFVAR_OPTDENSE_float(fMaxAngle, "Max Angle", "Max angle for accepting the depth triangulation", "65.0")
 MDEFVAR_OPTDENSE_float(fDescriptorMinMagnitudeThreshold, "Descriptor Min Magnitude Threshold", "minimum texture variance accepted when matching two patches (0 - disabled)", "0.01")
 MDEFVAR_OPTDENSE_float(fDepthDiffThreshold, "Depth Diff Threshold", "maximum variance allowed for the depths during refinement", "0.01")
@@ -520,7 +524,8 @@ float DepthEstimator::ScorePixelImage(const DepthData::ViewData& image1, Depth d
 				Depth depth1;
 				if (image1.depthMap.sample(depth1, x1, [&X1](Depth d) { return IsDepthSimilar(X1.z, d, 0.03f); })) {
 					const Point2f xb(image1.Tr*Point3f(x1.x*depth1,x1.y*depth1,depth1)+image1.Tn); // Ki * Ri * (Rj.t() * Kj-1 * X + Cj - Ci)
-					consistency = MINF(norm(Point2f(float(x0.x)-xb.x, float(x0.y)-xb.y)), consistency);
+					const float dist(norm(Point2f(float(x0.x)-xb.x, float(x0.y)-xb.y)));
+					consistency = MINF(SQRT(dist*(dist+2.f)), consistency);
 				}
 			}
 		}
@@ -875,33 +880,22 @@ Depth DepthEstimator::InterpolatePixel(const ImageRef& nx, Depth depth, const No
 	// {(0, 0), (x4, 1)} from camera center towards current pixel direction
 	// in the x or y plane
 	if (x0.x == nx.x) {
-		const float fy = (float)image0.camera.K[4];
-		const float cy = (float)image0.camera.K[5];
-		const float x1 = depth * (nx.y - cy) / fy;
-		const float y1 = depth;
-		const float x4 = (x0.y - cy) / fy;
-		const float denom = normal.z + x4 * normal.y;
+		const float nx1 = (x0.y - image0.camera.K(1,2)) / image0.camera.K(1,1);
+		const float denom = normal.z + nx1 * normal.y;
 		if (ISZERO(denom))
 			return depth;
-		const float x2 = x1 + normal.z;
-		const float y2 = y1 - normal.y;
-		const float nom = y1 * x2 - x1 * y2;
+		const float x1 = (nx.y - image0.camera.K(1,2)) / image0.camera.K(1,1);
+		const float nom = depth * (normal.z + x1 * normal.y);
 		depthNew = nom / denom;
 	}
 	else {
 		ASSERT(x0.y == nx.y);
-		const float fx = (float)image0.camera.K[0];
-		const float cx = (float)image0.camera.K[2];
-		ASSERT(image0.camera.K[1] == 0);
-		const float x1 = depth * (nx.x - cx) / fx;
-		const float y1 = depth;
-		const float x4 = (x0.x - cx) / fx;
-		const float denom = normal.z + x4 * normal.x;
+		const float nx1 = (x0.x - image0.camera.K(0,2)) / image0.camera.K(0,0);
+		const float denom = normal.z + nx1 * normal.x;
 		if (ISZERO(denom))
 			return depth;
-		const float x2 = x1 + normal.z;
-		const float y2 = y1 - normal.x;
-		const float nom = y1 * x2 - x1 * y2;
+		const float x1 = (nx.x - image0.camera.K(0,2)) / image0.camera.K(0,0);
+		const float nom = depth * (normal.z + x1 * normal.x);
 		depthNew = nom / denom;
 	}
 	#else
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 381c375a6..951e697d7 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -87,6 +87,9 @@ enum DepthFlags {
 	ADJUST_FILTER	= (1 << 2),
 	OPTIMIZE		= (REMOVE_SPECKLES|FILL_GAPS)
 };
+#ifdef _USE_CUDA
+extern int nCUDADevice;
+#endif // _USE_CUDA
 extern unsigned nResolutionLevel;
 extern unsigned nMaxResolution;
 extern unsigned nMinResolution;
@@ -260,7 +263,7 @@ typedef MVS_API CLISTDEFIDX(DepthData,IIndex) DepthDataArr;
 
 
 struct MVS_API DepthEstimator {
-	enum { nSizeHalfWindow = 5 };
+	enum { nSizeHalfWindow = 4 };
 	enum { nSizeWindow = nSizeHalfWindow*2+1 };
 	enum { nSizeStep = 2 };
 	enum { TexelChannels = 1 };
@@ -387,10 +390,10 @@ struct MVS_API DepthEstimator {
 	#if DENSE_NCC == DENSE_NCC_WEIGHTED
 	float GetWeight(const ImageRef& x, float center) const {
 		// color weight [0..1]
-		const float sigmaColor(-1.f/(2.f*SQUARE(0.2f)));
+		const float sigmaColor(-1.f/(2.f*SQUARE(0.1f)));
 		const float wColor(SQUARE(image0.image(x0+x)-center) * sigmaColor);
 		// spatial weight [0..1]
-		const float sigmaSpatial(-1.f/(2.f*SQUARE((int)nSizeHalfWindow)));
+		const float sigmaSpatial(-1.f/(2.f*SQUARE((int)nSizeHalfWindow-1)));
 		const float wSpatial(float(SQUARE(x.x) + SQUARE(x.y)) * sigmaSpatial);
 		return DENSE_EXP(wColor+wSpatial);
 	}
diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
new file mode 100644
index 000000000..477b0f795
--- /dev/null
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -0,0 +1,302 @@
+/*
+* PatchMatchCUDA.cpp
+*
+* Copyright (c) 2014-2021 SEACAVE
+*
+* Author(s):
+*
+*	  cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*	  You are required to preserve legal notices and author attributions in
+*	  that material or in the Appropriate Legal Notices displayed by works
+*	  containing it.
+*/
+
+#include "Common.h"
+#include "PatchMatchCUDA.h"
+#include "DepthMap.h"
+
+#ifdef _USE_CUDA
+
+using namespace MVS;
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+PatchMatchCUDA::PatchMatchCUDA(int device)
+{
+	// initialize CUDA device if needed
+	if (CUDA::devices.IsEmpty())
+		CUDA::initDevice(device);
+}
+
+PatchMatchCUDA::~PatchMatchCUDA()
+{
+	Release();
+}
+
+void PatchMatchCUDA::Release()
+{
+	if (images.empty())
+		return;
+
+	FOREACH(i, cudaImageArrays) {
+		cudaDestroyTextureObject(textureImages[i]);
+		cudaFreeArray(cudaImageArrays[i]);
+	}
+	cudaImageArrays.clear();
+
+	if (params.bGeomConsistency) {
+		FOREACH(i, cudaDepthArrays) {
+			cudaDestroyTextureObject(textureDepths[i]);
+			cudaFreeArray(cudaDepthArrays[i]);
+		}
+		cudaDepthArrays.clear();
+	}
+
+	images.clear();
+	cameras.clear();
+
+	ReleaseCUDA();
+}
+
+void PatchMatchCUDA::ReleaseCUDA()
+{
+	cudaFree(cudaTextureImages);
+	cudaFree(cudaCameras);
+	cudaFree(cudaDepthNormalEstimates);
+	cudaFree(cudaDepthNormalCosts);
+	cudaFree(cudaRandStates);
+	cudaFree(cudaSelectedViews);
+
+	if (params.bGeomConsistency)
+		cudaFree(cudaTextureDepths);
+
+	delete[] depthNormalEstimates;
+	delete[] depthNormalCosts;
+}
+
+void PatchMatchCUDA::Init(bool geom_consistency)
+{
+	if (geom_consistency) {
+		params.bGeomConsistency = true;
+		params.nEstimationIters = 1;
+	} else {
+		params.bGeomConsistency = false;
+		params.nEstimationIters = OPTDENSE::nEstimationIters;
+	}
+}
+
+void PatchMatchCUDA::AllocatePatchMatchCUDA(const cv::Mat1f& image)
+{
+	const size_t num_images = images.size();
+	CUDA::checkCudaCall(cudaMalloc((void**)&cudaTextureImages, sizeof(cudaTextureObject_t) * num_images));
+	CUDA::checkCudaCall(cudaMalloc((void**)&cudaCameras, sizeof(Camera) * num_images));
+	if (params.bGeomConsistency)
+		CUDA::checkCudaCall(cudaMalloc((void**)&cudaTextureDepths, sizeof(cudaTextureObject_t) * num_images));
+
+	const size_t size = image.size().area();
+	depthNormalEstimates = new Point4[size];
+	CUDA::checkCudaCall(cudaMalloc((void**)&cudaDepthNormalEstimates, sizeof(Point4) * size));
+
+	depthNormalCosts = new float[size];
+	CUDA::checkCudaCall(cudaMalloc((void**)&cudaDepthNormalCosts, sizeof(float) * size));
+
+	CUDA::checkCudaCall(cudaMalloc((void**)&cudaRandStates, sizeof(curandState) * size));
+	CUDA::checkCudaCall(cudaMalloc((void**)&cudaSelectedViews, sizeof(unsigned) * size));
+}
+
+void PatchMatchCUDA::AllocateImageCUDA(size_t i, const cv::Mat1f& image)
+{
+	const cudaChannelFormatDesc channelDesc = cudaCreateChannelDesc(32, 0, 0, 0, cudaChannelFormatKindFloat);
+	CUDA::checkCudaCall(cudaMallocArray(&cudaImageArrays[i], &channelDesc, image.cols, image.rows));
+
+	struct cudaResourceDesc resDesc;
+	memset(&resDesc, 0, sizeof(cudaResourceDesc));
+	resDesc.resType = cudaResourceTypeArray;
+	resDesc.res.array.array = cudaImageArrays[i];
+
+	struct cudaTextureDesc texDesc;
+	memset(&texDesc, 0, sizeof(cudaTextureDesc));
+	texDesc.addressMode[0] = cudaAddressModeWrap;
+	texDesc.addressMode[1] = cudaAddressModeWrap;
+	texDesc.filterMode = cudaFilterModeLinear;
+	texDesc.readMode  = cudaReadModeElementType;
+	texDesc.normalizedCoords = 0;
+
+	CUDA::checkCudaCall(cudaCreateTextureObject(&textureImages[i], &resDesc, &texDesc, NULL));
+
+	if (params.bGeomConsistency && i > 0) {
+		CUDA::checkCudaCall(cudaMallocArray(&cudaDepthArrays[i-1], &channelDesc, image.cols, image.rows));
+
+		struct cudaResourceDesc resDesc;
+		memset(&resDesc, 0, sizeof(cudaResourceDesc));
+		resDesc.resType = cudaResourceTypeArray;
+		resDesc.res.array.array = cudaDepthArrays[i-1];
+
+		struct cudaTextureDesc texDesc;
+		memset(&texDesc, 0, sizeof(cudaTextureDesc));
+		texDesc.addressMode[0] = cudaAddressModeWrap;
+		texDesc.addressMode[1] = cudaAddressModeWrap;
+		texDesc.filterMode = cudaFilterModeLinear;
+		texDesc.readMode  = cudaReadModeElementType;
+		texDesc.normalizedCoords = 0;
+
+		CUDA::checkCudaCall(cudaCreateTextureObject(&textureDepths[i-1], &resDesc, &texDesc, NULL));
+	}
+}
+
+void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
+{
+	TD_TIMER_STARTD();
+
+	ASSERT(depthData.images.size() > 1);
+	const size_t prevNumImages = images.size();
+	const size_t numImages = depthData.images.size();
+	params.nNumViews = (int)numImages-1;
+	params.nInitTopK = std::min(params.nInitTopK, params.nNumViews);
+	params.fDepthMin = depthData.dMin;
+	params.fDepthMax = depthData.dMax;
+	if (prevNumImages < numImages) {
+		images.resize(numImages);
+		cameras.resize(numImages);
+		cudaImageArrays.resize(numImages);
+		textureImages.resize(numImages);
+	}
+	if (params.bGeomConsistency && cudaDepthArrays.size() < numImages-1) {
+		cudaDepthArrays.resize(numImages-1);
+		textureDepths.resize(numImages-1);
+	}
+	for (size_t i = 0; i < numImages; ++i) {
+		const DepthData::ViewData& view = depthData.images[i];
+		Image32F image = view.image;
+		Camera camera;
+		camera.K = Eigen::Map<const SEACAVE::Matrix3x3::EMat>(view.camera.K.val).cast<float>();
+		camera.R = Eigen::Map<const SEACAVE::Matrix3x3::EMat>(view.camera.R.val).cast<float>();
+		camera.C = Eigen::Map<const SEACAVE::Point3::EVec>(view.camera.C.ptr()).cast<float>();
+		camera.height = image.rows;
+		camera.width = image.cols;
+		// store camera and image
+		if (i == 0 && prevNumImages < numImages) {
+			// allocate/reallocate PatchMatch CUDA memory
+			if (prevNumImages > 0)
+				ReleaseCUDA();
+			AllocatePatchMatchCUDA(image);
+		}
+		if (i >= prevNumImages) {
+			// allocate image CUDA memory
+			AllocateImageCUDA(i, image);
+		} else
+		if (images[i].size() != image.size()) {
+			// reallocate image CUDA memory
+			cudaDestroyTextureObject(textureImages[i]);
+			cudaFreeArray(cudaImageArrays[i]);
+			if (params.bGeomConsistency && i > 0) {
+				cudaDestroyTextureObject(textureDepths[i-1]);
+				cudaFreeArray(cudaDepthArrays[i-1]);
+			}
+			AllocateImageCUDA(i, image);
+		}
+		CUDA::checkCudaCall(cudaMemcpy2DToArray(cudaImageArrays[i], 0, 0, image.ptr<float>(), image.step[0], image.cols*sizeof(float), image.rows, cudaMemcpyHostToDevice));
+		if (params.bGeomConsistency && i > 0) {
+			// set previously computed depth-map
+			DepthMap depthMap(view.depthMap);
+			if (depthMap.size() != image.size())
+				cv::resize(depthMap, depthMap, image.size(), 0, 0, cv::INTER_LINEAR);
+			CUDA::checkCudaCall(cudaMemcpy2DToArray(cudaDepthArrays[i-1], 0, 0, depthMap.ptr<float>(), depthMap.step[0], sizeof(float)*depthMap.cols, depthMap.rows, cudaMemcpyHostToDevice));
+		}
+		images[i] = std::move(image);
+		cameras[i] = std::move(camera);
+	}
+	if (params.bGeomConsistency && cudaDepthArrays.size() > numImages-1) {
+		for (size_t i = numImages; i < prevNumImages; ++i) {
+			// free image CUDA memory
+			cudaDestroyTextureObject(textureDepths[i-1]);
+			cudaFreeArray(cudaDepthArrays[i-1]);
+		}
+		cudaDepthArrays.resize(numImages-1);
+		textureDepths.resize(numImages-1);
+	}
+	if (prevNumImages > numImages) {
+		for (size_t i = numImages; i < prevNumImages; ++i) {
+			// free image CUDA memory
+			cudaDestroyTextureObject(textureImages[i]);
+			cudaFreeArray(cudaImageArrays[i]);
+		}
+		images.resize(numImages);
+		cameras.resize(numImages);
+		cudaImageArrays.resize(numImages);
+		textureImages.resize(numImages);
+	}
+
+	// setup CUDA memory
+	CUDA::checkCudaCall(cudaMemcpy(cudaTextureImages, textureImages.data(), sizeof(cudaTextureObject_t)*numImages, cudaMemcpyHostToDevice));
+	CUDA::checkCudaCall(cudaMemcpy(cudaCameras, cameras.data(), sizeof(Camera)*numImages, cudaMemcpyHostToDevice));
+	if (params.bGeomConsistency) {
+		// set previously computed depth-maps
+		ASSERT(depthData.depthMap.size() == depthData.GetView().image.size());
+		CUDA::checkCudaCall(cudaMemcpy(cudaTextureDepths, textureDepths.data(), sizeof(cudaTextureObject_t)*(numImages-1), cudaMemcpyHostToDevice));
+	}
+
+	// load depth-map and normal-map into CUDA memory
+	for (int r = 0; r < depthData.depthMap.rows; ++r) {
+		for (int c = 0; c < depthData.depthMap.cols; ++c) {
+			const Normal& n = depthData.normalMap(r,c);
+			const int index = r * depthData.depthMap.cols + c;
+			Point4& depthNormal = depthNormalEstimates[index];
+			depthNormal.topLeftCorner<3,1>() = Eigen::Map<const Normal::EVec>(n.ptr());
+			depthNormal.w() = depthData.depthMap(r,c);
+		}
+	}
+	CUDA::checkCudaCall(cudaMemcpy(cudaDepthNormalEstimates, depthNormalEstimates, sizeof(Point4) * depthData.depthMap.size().area(), cudaMemcpyHostToDevice));
+
+	// run CUDA patch-match
+	RunCUDA();
+
+	// load depth-map, normal-map and confidence-map from CUDA memory
+	if (depthData.confMap.empty())
+		depthData.confMap.create(depthData.depthMap.size());
+	for (int r = 0; r < depthData.depthMap.rows; ++r) {
+		for (int c = 0; c < depthData.depthMap.cols; ++c) {
+			const int index = r * depthData.depthMap.cols + c;
+			const Point4& depthNormal = depthNormalEstimates[index];
+			ASSERT(std::isfinite(depthNormal.w()));
+			depthData.depthMap(r,c) = depthNormal.w();
+			depthData.normalMap(r,c) = depthNormal.topLeftCorner<3,1>();
+			float& conf = depthData.confMap(r,c);
+			conf = depthNormalCosts[index];
+			ASSERT(std::isfinite(conf));
+			// converted ZNCC [0-2] score, where 0 is best, to [0-1] confidence, where 1 is best
+			conf = conf>=1.f ? 0.f : 1.f-conf;
+		}
+	}
+
+	DEBUG_EXTRA("Depth-map for image %3u %s: %dx%d (%s)", depthData.images.front().GetID(),
+		depthData.images.GetSize() > 2 ?
+		String::FormatString("estimated using %2u images", depthData.images.size()-1).c_str() :
+		String::FormatString("with image %3u estimated", depthData.images[1].GetID()).c_str(),
+		images.front().cols, images.front().rows, TD_TIMER_GET_FMT().c_str());
+}
+/*----------------------------------------------------------------*/
+
+#endif // _USE_CUDA
diff --git a/libs/MVS/PatchMatchCUDA.cu b/libs/MVS/PatchMatchCUDA.cu
new file mode 100644
index 000000000..403e41d50
--- /dev/null
+++ b/libs/MVS/PatchMatchCUDA.cu
@@ -0,0 +1,610 @@
+/*
+* PatchMatchCUDA.cu
+*
+* Copyright (c) 2014-2021 SEACAVE
+*
+* Author(s):
+*
+*	  cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*	  You are required to preserve legal notices and author attributions in
+*	  that material or in the Appropriate Legal Notices displayed by works
+*	  containing it.
+*/
+
+#include "PatchMatchCUDA.inl"
+
+// static max supported views
+#define MAX_VIEWS 32
+
+// samples used to perform views selection
+#define NUM_SAMPLES 32
+
+// patch window radius
+#define nSizeHalfWindow 4
+
+// patch stepping
+#define nSizeStep 2
+
+using namespace MVS;
+
+typedef Eigen::Matrix<int,2,1> Point2i;
+typedef Eigen::Matrix<float,2,1> Point2;
+typedef Eigen::Matrix<float,3,1> Point3;
+typedef Eigen::Matrix<float,4,1> Point4;
+typedef Eigen::Matrix<float,3,3> Matrix3;
+
+#define ImagePixels cudaTextureObject_t
+#define RandState curandState
+
+// square the given value
+__device__ inline constexpr float Square(float v) {
+	return v * v;
+}
+
+// set/check a bit
+__device__ inline constexpr void SetBit(unsigned& input, unsigned i) {
+	input |= (1u << i);
+}
+__device__ inline constexpr int IsBitSet(unsigned input, unsigned i) {
+	return (input >> i) & 1u;
+}
+
+// swap the given values
+__device__ inline constexpr void Swap(float& v0, float& v1) {
+	const float tmp = v0;
+	v0 = v1;
+	v1 = tmp;
+}
+
+// convert 2d to 1d coordinates and back
+__device__ inline int Point2Idx(const Point2i& p, int width) {
+	return p.y() * width + p.x();
+}
+__device__ inline Point2i Idx2Point(int idx, int width) {
+	return Point2i(idx % width, idx / width);
+}
+
+// project and back-project a 3D point
+__device__ inline Point2 ProjectPoint(const PatchMatchCUDA::Camera& camera, const Point3& X) {
+	const Point3 x = camera.K * camera.R * (X - camera.C);
+	return x.hnormalized();
+}
+__device__ inline Point3 BackProjectPointCamera(const PatchMatchCUDA::Camera& camera, const Point2& p, const float depth = 1.f) {
+	return Point3(
+		depth * (p.x() - camera.K(0,2)) / camera.K(0,0),
+		depth * (p.y() - camera.K(1,2)) / camera.K(1,1),
+		depth);
+}
+__device__ inline Point3 BackProjectPoint(const PatchMatchCUDA::Camera& camera, const Point2& p, const float depth) {
+	const Point3 camX = BackProjectPointCamera(camera, p, depth);
+	return camera.R.transpose() * camX + camera.C;
+}
+
+// compute camera ray direction for the given pixel
+__device__ inline Point3 ViewDirection(const PatchMatchCUDA::Camera& camera, const Point2i& p) {
+	return BackProjectPointCamera(camera, p.cast<float>()).normalized();
+}
+
+// sort the given values array using bubble sort algorithm
+__device__ inline void Sort(const float* values, float* sortedValues, int n) {
+	for (int i = 1; i < n; ++i)
+		sortedValues[i] = values[i];
+	do {
+		int newn = 0;
+		for (int i = 1; i < n; ++i) {
+			if (sortedValues[i-1] > sortedValues[i]) {
+				Swap(sortedValues[i-1], sortedValues[i]);
+				newn = i;
+			}
+		}
+		n = newn;
+	} while(n);
+}
+
+// find the index of the minimum value in the given values array
+__device__ inline int FindMinIndex(const float* values, const int n) {
+	float minValue = values[0];
+	int minValueIdx = 0;
+	for (int i = 1; i < n; ++i) {
+		if (minValue > values[i]) {
+			minValue = values[i];
+			minValueIdx = i;
+		}
+	}
+	return minValueIdx;
+}
+
+// convert Probability Density Function (PDF) to Cumulative Distribution Function (CDF)
+__device__ inline void PDF2CDF(float* probs, const int numProbs) {
+	float probSum = 0.f;
+	for (int i = 0; i < numProbs; ++i)
+		probSum += probs[i];
+	const float invProbSum = 1.f / probSum;
+	float sumProb = 0.f;
+	for (int i = 0; i < numProbs-1; ++i) {
+		sumProb += probs[i] * invProbSum;
+		probs[i] = sumProb;
+	}
+	probs[numProbs-1] = 1.f;
+}
+/*----------------------------------------------------------------*/
+
+
+// generate a random normal
+__device__ inline Point3 GenerateRandomNormal(const PatchMatchCUDA::Camera& camera, const Point2i& p, RandState* randState)
+{
+	float q1, q2, s;
+	do {
+		q1 = 2.f * curand_uniform(randState) - 1.f;
+		q2 = 2.f * curand_uniform(randState) - 1.f;
+		s = q1 * q1 + q2 * q2;
+	} while (s >= 1.f);
+	const float sq = sqrt(1.f - s);
+	Point3 normal(
+		2.f * q1 * sq,
+		2.f * q2 * sq,
+		1.f - 2.f * s);
+
+	const Point3 viewDirection = ViewDirection(camera, p);
+	if (normal.dot(viewDirection) > 0.f)
+		normal = -normal;
+	return normal.normalized();
+}
+
+// randomly perturb a normal
+__device__ inline Point3 GeneratePerturbedNormal(const PatchMatchCUDA::Camera& camera, const Point2i& p, const Point3& normal, RandState* randState, const float perturbation)
+{
+	const Point3 viewDirection = ViewDirection(camera, p);
+
+	const float a1 = (curand_uniform(randState) - 0.5f) * perturbation;
+	const float a2 = (curand_uniform(randState) - 0.5f) * perturbation;
+	const float a3 = (curand_uniform(randState) - 0.5f) * perturbation;
+
+	const float sinA1 = sin(a1);
+	const float sinA2 = sin(a2);
+	const float sinA3 = sin(a3);
+	const float cosA1 = cos(a1);
+	const float cosA2 = cos(a2);
+	const float cosA3 = cos(a3);
+
+	Matrix3 perturb; perturb <<
+		cosA2 * cosA3,
+		cosA3 * sinA1 * sinA2 - cosA1 * sinA3,
+		sinA1 * sinA3 + cosA1 * cosA3 * sinA2,
+		cosA2 * sinA3,
+		cosA1 * cosA3 + sinA1 * sinA2 * sinA3,
+		cosA1 * sinA2 * sinA3 - cosA3 * sinA1,
+		-sinA2,
+		cosA2 * sinA1,
+		cosA1 * cosA2;
+
+	Point3 normalPerturbed = perturb * normal.topLeftCorner<3,1>();
+	if (normalPerturbed.dot(viewDirection) >= 0.f)
+		return normal;
+	return normalPerturbed.normalized();
+}
+
+// interpolate given pixel's estimate to the current position
+__device__ inline float InterpolatePixel(const PatchMatchCUDA::Camera& camera, const Point2i& p, const Point2i& np, float depth, const Point3& normal, const PatchMatchCUDA::Params& params)
+{
+	float depthNew;
+	if (p.x() == np.x()) {
+		const float nx1 = (p.y() - camera.K(1,2)) / camera.K(1,1);
+		const float denom = normal.z() + nx1 * normal.y();
+		if (abs(denom) < FLT_EPSILON)
+			return depth;
+		const float x1 = (np.y() - camera.K(1,2)) / camera.K(1,1);
+		const float nom = depth * (normal.z() + x1 * normal.y());
+		depthNew = nom / denom;
+	} else if (p.y() == np.y()) {
+		const float nx1 = (p.x() - camera.K(0,2)) / camera.K(0,0);
+		const float denom = normal.z() + nx1 * normal.x();
+		if (abs(denom) < FLT_EPSILON)
+			return depth;
+		const float x1 = (np.x() - camera.K(0,2)) / camera.K(0,0);
+		const float nom = depth * (normal.z() + x1 * normal.x());
+		depthNew = nom / denom;
+	} else {
+		const float planeD = normal.dot(BackProjectPointCamera(camera, np.cast<float>(), depth));
+		depthNew = planeD / normal.dot(BackProjectPointCamera(camera, p.cast<float>()));
+	}
+	return (depthNew >= params.fDepthMin && depthNew <= params.fDepthMax) ? depthNew : depth;
+}
+
+// compute normal to the surface given the 4 neighbors
+__device__ inline Point3 ComputeDepthGradient(const Matrix3& K, float depth, const Point2i& pos, const Point4& ndepth) {
+	constexpr float2 nposg[4] = {{0,-1}, {0,1}, {-1,0}, {1,0}};
+	Point2 dg(0,0);
+	// add neighbor depths at the gradient locations
+	for (int i=0; i<4; ++i)
+		dg += Point2(nposg[i].x,nposg[i].y) * (ndepth[i] - depth);
+	// compute depth gradient
+	const Point2 d = dg*0.5f;
+	// compute normal from depth gradient
+	return Point3(
+		K(0,0)*d.x(),
+		K(1,1)*d.y(),
+		(K(0,2)-pos.x())*d.x()+(K(1,2)-pos.y())*d.y()-depth).normalized();
+}
+
+// compose tho homography matrix that transforms a point from reference to source camera through the given plane
+__device__ inline Matrix3 ComputeHomography(const PatchMatchCUDA::Camera& refCamera, const PatchMatchCUDA::Camera& trgCamera, const Point2& p, const Point4& plane)
+{
+	const Point3 X = BackProjectPointCamera(refCamera, p, plane.w());
+	const Point3 normal = plane.topLeftCorner<3,1>();
+	const Point3 t = (refCamera.C - trgCamera.C) / (normal.dot(X));
+	const Matrix3 H = trgCamera.R * (refCamera.R.transpose() + t*normal.transpose());
+	return trgCamera.K * H * refCamera.K.inverse();
+}
+
+// weight a neighbor texel based on color similarity and distance to the center texel
+__device__ inline float ComputeBilateralWeight(int xDist, int yDist, float pix, float centerPix)
+{
+	constexpr float sigmaSpatial = -1.f / (2.f * (nSizeHalfWindow-1)*(nSizeHalfWindow-1));
+	constexpr float sigmaColor = -1.f / (2.f * 25.f/255.f*25.f/255.f);
+	const float spatialDistSq = float(xDist * xDist + yDist * yDist);
+	const float colorDistSq = Square(pix - centerPix);
+	return exp(spatialDistSq * sigmaSpatial + colorDistSq * sigmaColor);
+}
+
+// compute the geometric consistency weight
+__device__ inline float GeometricConsistencyWeight(const ImagePixels depthImage, const PatchMatchCUDA::Camera& refCamera, const PatchMatchCUDA::Camera& trgCamera, const Point4& plane, const Point2i& p)
+{
+	constexpr float maxDist = 4.f;
+	const Point3 forwardPoint = BackProjectPoint(refCamera, p.cast<float>(), plane.w());
+	const Point2 trgPt = ProjectPoint(trgCamera, forwardPoint);
+	const float trgDepth = tex2D<float>(depthImage, trgPt.x() + 0.5f, trgPt.y() + 0.5f);
+	if (trgDepth == 0.f)
+		return maxDist;
+	const Point3 trgX = BackProjectPoint(trgCamera, trgPt, trgDepth);
+	const Point2 backwardPoint = ProjectPoint(refCamera, trgX);
+	const Point2 diff = p.cast<float>() - backwardPoint;
+	const float dist = diff.norm();
+	return min(maxDist, sqrt(dist*(dist+2.f)));
+}
+
+// compute photometric score using weighted ZNCC
+__device__ float ScorePlane(const ImagePixels refImage, const PatchMatchCUDA::Camera& refCamera, const ImagePixels trgImage, const PatchMatchCUDA::Camera& trgCamera, const Point2i& p, const Point4& plane, const PatchMatchCUDA::Params& params)
+{
+	constexpr float maxCost = 1.2f;
+
+	Matrix3 H = ComputeHomography(refCamera, trgCamera, p.cast<float>(), plane);
+	const Point2 pt = (H * p.cast<float>().homogeneous()).hnormalized();
+	if (pt.x() >= trgCamera.width || pt.x() < 0.f || pt.y() >= trgCamera.height || pt.y() < 0.f)
+		return maxCost;
+	Point3 X = H * Point2(p.x()-nSizeHalfWindow, p.y()-nSizeHalfWindow).homogeneous();
+	Point3 baseX(X);
+	H *= float(nSizeStep);
+
+	float sumRef = 0.f;
+	float sumRefRef = 0.f;
+	float sumTrg = 0.f;
+	float sumTrgTrg = 0.f;
+	float sumRefTrg = 0.f;
+	float bilateralWeightSum = 0.f;
+	const float refCenterPix = tex2D<float>(refImage, p.x() + 0.5f, p.y() + 0.5f);
+	for (int i = -nSizeHalfWindow; i <= nSizeHalfWindow; i += nSizeStep) {
+		for (int j = -nSizeHalfWindow; j <= nSizeHalfWindow; j += nSizeStep) {
+			const Point2i refPt = Point2i(p.x() + j, p.y() + i);
+			const Point2 trgPt = X.hnormalized();
+			const float refPix = tex2D<float>(refImage, refPt.x() + 0.5f, refPt.y() + 0.5f);
+			const float trgPix = tex2D<float>(trgImage, trgPt.x() + 0.5f, trgPt.y() + 0.5f);
+			const float weight = ComputeBilateralWeight(j, i, refPix, refCenterPix);
+			const float weightRefPix = weight * refPix;
+			const float weightTrgPix = weight * trgPix;
+			sumRef += weightRefPix;
+			sumTrg += weightTrgPix;
+			sumRefRef += weightRefPix * refPix;
+			sumTrgTrg += weightTrgPix * trgPix;
+			sumRefTrg += weightRefPix * trgPix;
+			bilateralWeightSum += weight;
+			X += H.col(0);
+		}
+		baseX += H.col(1);
+		X = baseX;
+	}
+
+	const float varRef = sumRefRef * bilateralWeightSum - sumRef * sumRef;
+	const float varTrg = sumTrgTrg * bilateralWeightSum - sumTrg * sumTrg;
+
+	constexpr float kMinVar = 1e-5f;
+	if (varRef < kMinVar || varTrg < kMinVar)
+		return maxCost;
+	const float covarTrgRef = sumRefTrg * bilateralWeightSum - sumRef * sumTrg;
+	const float varRefTrg = sqrt(varRef * varTrg);
+	return max(0.f, min(maxCost, 1.f - covarTrgRef / varRefTrg));
+}
+
+// compute photometric score for all neighbor images
+__device__ inline void MultiViewScorePlane(const ImagePixels *images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, const Point2i& p, const Point4& plane, float* costVector, const PatchMatchCUDA::Params& params)
+{
+	for (int imgId = 1; imgId <= params.nNumViews; ++imgId)
+		costVector[imgId-1] = ScorePlane(images[0], cameras[0], images[imgId], cameras[imgId], p, plane, params);
+	if (params.bGeomConsistency)
+		for (int imgId = 0; imgId < params.nNumViews; ++imgId)
+			costVector[imgId] += 0.1f * GeometricConsistencyWeight(depthImages[imgId], cameras[0], cameras[imgId+1], plane, p);
+}
+// same as above, but interpolate the plane to current pixel position
+__device__ inline float MultiViewScoreNeighborPlane(const ImagePixels* images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, const Point2i& p, const Point2i& np, Point4 plane, float* costVector, const PatchMatchCUDA::Params& params)
+{
+	plane.w() = InterpolatePixel(cameras[0], p, np, plane.w(), plane.topLeftCorner<3,1>(), params);
+	MultiViewScorePlane(images, depthImages, cameras, p, plane, costVector, params);
+	return plane.w();
+}
+
+// aggregate photometric score from all images
+__device__ inline float AggregateMultiViewScores(const unsigned* viewWeights, const float* costVector, int numViews)
+{
+	float cost = 0;
+	for (int imgId = 0; imgId < numViews; ++imgId)
+		if (viewWeights[imgId])
+			cost += viewWeights[imgId] * costVector[imgId];
+	return cost;
+}
+
+// propagate and refine the plane estimate for the current pixel employing the asymmetric approach described in:
+// "Multi-View Stereo with Asymmetric Checkerboard Propagation and Multi-Hypothesis Joint View Selection", 2018
+__device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, RandState* randStates, unsigned* selectedViews, const Point2i& p, const PatchMatchCUDA::Params& params, const int iter)
+{
+	int width = cameras[0].width;
+	int height = cameras[0].height;
+	if (p.x() >= width || p.y() >= height)
+		return;
+	const int idx = Point2Idx(p, width);
+	RandState* randState = &randStates[idx];
+	Point4& plane = planes[idx];
+
+	// adaptive sampling: 0 up-near, 1 down-near, 2 left-near, 3 right-near, 4 up-far, 5 down-far, 6 left-far, 7 right-far
+	static constexpr int2 dirs[8][11] = {
+		{{ 0,-1},{-1,-2},{ 1,-2},{-2,-3},{ 2,-3},{-3,-4},{ 3,-4}},
+		{{ 0, 1},{-1, 2},{ 1, 2},{-2, 3},{ 2, 3},{-3, 4},{ 3, 4}},
+		{{-1, 0},{-2,-1},{-2, 1},{-3,-2},{-3, 2},{-4,-3},{-4, 3}},
+		{{ 1, 0},{ 2,-1},{ 2, 1},{ 3,-2},{ 3, 2},{ 4,-3},{ 4, 3}},
+		{{0,-3},{0,-5},{0,-7},{0,-9},{0,-11},{0,-13},{0,-15},{0,-17},{0,-19},{0,-21},{0,-23}},
+		{{0, 3},{0, 5},{0, 7},{0, 9},{0, 11},{0, 13},{0, 15},{0, 17},{0, 19},{0, 21},{0, 23}},
+		{{-3,0},{-5,0},{-7,0},{-9,0},{-11,0},{-13,0},{-15,0},{-17,0},{-19,0},{-21,0},{-23,0}},
+		{{ 3,0},{ 5,0},{ 7,0},{ 9,0},{ 11,0},{ 13,0},{ 15,0},{ 17,0},{ 19,0},{ 21,0},{ 23,0}}
+	};
+	static constexpr int numDirs[8] = {7, 7, 7, 7, 11, 11, 11, 11};
+	const int neighborPositions[4] = {
+		idx - width,
+		idx + width,
+		idx - 1,
+		idx + 1,
+	};
+	bool valid[8] = {false, false, false, false, false, false, false, false};
+	int positions[8];
+	float neighborDepths[8];
+	float costArray[8][MAX_VIEWS];
+
+	for (int posId=0; posId<8; ++posId) {
+		const int2* samples = dirs[posId];
+		Point2i bestNx; float bestConf(FLT_MAX);
+		for (int dirId=0; dirId<numDirs[posId]; ++dirId) {
+			const int2& offset = samples[dirId];
+			const Point2i np(p.x()+offset.x, p.y()+offset.y);
+			if (!(np.x()>=0 && np.y()>=0 && np.x()<width && np.y()<height))
+				continue;
+			const int nidx = Point2Idx(np, width);
+			const float nconf = costs[nidx];
+			if (bestConf > nconf) {
+				bestNx = np;
+				bestConf = nconf;
+			}
+		}
+		if (bestConf < FLT_MAX) {
+			valid[posId] = true;
+			positions[posId] = Point2Idx(bestNx, width);
+			neighborDepths[posId] = MultiViewScoreNeighborPlane(images, depthImages, cameras, p, bestNx, planes[positions[posId]], costArray[posId], params);
+		}
+	}
+
+	// multi-hypothesis view selection
+	float viewSelectionPriors[MAX_VIEWS] = {0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f};
+	for (int posId = 0; posId < 4; ++posId) {
+		if (valid[posId]) {
+			const unsigned selectedView = selectedViews[neighborPositions[posId]];
+			for (int j = 0; j < params.nNumViews; ++j)
+				viewSelectionPriors[j] += (IsBitSet(selectedView, j) ? 0.9f : 0.1f);
+		}
+	}
+	float samplingProbs[MAX_VIEWS];
+	constexpr float thCostBad = 1.2f;
+	const float thCost = 0.8f * exp(Square((float)iter) / (-2.f * 4.f*4.f));
+	for (int imgId = 0; imgId < params.nNumViews; ++imgId) {
+		float sumW = 0;
+		unsigned count = 0;
+		unsigned countBad = 0;
+		for (int posId = 0; posId < 8; posId++) {
+			if (valid[posId]) {
+				if (costArray[posId][imgId] < thCost) {
+					sumW += exp(Square(costArray[posId][imgId]) / (-2.f * 0.3f*0.3f));
+					++count;
+				} else if (costArray[posId][imgId] > thCostBad) {
+					++countBad;
+				}
+			}
+		}
+		if (count > 2 && countBad < 3) {
+			samplingProbs[imgId] = viewSelectionPriors[imgId] * sumW / count;
+		} else if (countBad < 3) {
+			samplingProbs[imgId] = viewSelectionPriors[imgId] * exp(Square(thCost) / (-2.f * 0.4f*0.4f));
+		} else {
+			samplingProbs[imgId] = 0.f;
+		}
+	}
+	PDF2CDF(samplingProbs, params.nNumViews);
+	unsigned viewWeights[MAX_VIEWS] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+	for (int sample = 0; sample < NUM_SAMPLES; ++sample) {
+		const float randProb = curand_uniform(randState);
+		for (int imgId = 0; imgId < params.nNumViews; ++imgId) {
+			if (samplingProbs[imgId] > randProb) {
+				++viewWeights[imgId];
+				break;
+			}
+		}
+	}
+
+	// propagate best neighbor plane
+	unsigned newSelectedViews = 0;
+	for (int imgId = 0; imgId < params.nNumViews; ++imgId)
+		if (viewWeights[imgId])
+			SetBit(newSelectedViews, imgId);
+	float finalCosts[8];
+	for (int posId = 0; posId < 8; ++posId)
+		finalCosts[posId] = AggregateMultiViewScores(viewWeights, costArray[posId], params.nNumViews) / NUM_SAMPLES;
+	const int minCostIdx = FindMinIndex(finalCosts, 8);
+	float costVector[MAX_VIEWS];
+	MultiViewScorePlane(images, depthImages, cameras, p, plane, costVector, params);
+	float cost = AggregateMultiViewScores(viewWeights, costVector, params.nNumViews) / NUM_SAMPLES;
+	costs[idx] = cost;
+	if (finalCosts[minCostIdx] < cost && valid[minCostIdx]) {
+		plane = planes[positions[minCostIdx]];
+		plane.w() = neighborDepths[minCostIdx];
+		costs[idx] = finalCosts[minCostIdx];
+		selectedViews[idx] = newSelectedViews;
+	}
+	const float depth = plane.w();
+
+	// refine estimate
+	constexpr float perturbation = 0.01f;
+	const Point3 normalRand = GenerateRandomNormal(cameras[0], p, randState);
+	const float depthMinPerturbed = (1.f - perturbation) * depth;
+	const float depthMaxPerturbed = (1.f + perturbation) * depth;
+	float depthPerturbed;
+	do {
+		depthPerturbed = curand_uniform(randState) * (depthMaxPerturbed - depthMinPerturbed) + depthMinPerturbed;
+	} while (depthPerturbed < params.fDepthMin && depthPerturbed > params.fDepthMax);
+	const Point3 perturbedNormal = GeneratePerturbedNormal(cameras[0], p, plane.topLeftCorner<3,1>(), randState, perturbation * (float)M_PI);
+	int numValidPlanes = 3;
+	Point3 surfaceNormal;
+	if (valid[0] && valid[1] && valid[2] && valid[3]) {
+		// estimate normal from surrounding surface
+		const Point4 ndepths(
+			planes[neighborPositions[0]].w(),
+			planes[neighborPositions[1]].w(),
+			planes[neighborPositions[2]].w(),
+			planes[neighborPositions[3]].w()
+		);
+		surfaceNormal = ComputeDepthGradient(cameras[0].K, depth, p, ndepths);
+		numValidPlanes = 4;
+	}
+	const int numPlanes = 4;
+	const float depths[numPlanes] = {depthPerturbed, depth, depth, depth};
+	const Point3 normals[numPlanes] = {plane.topLeftCorner<3,1>(), perturbedNormal, normalRand, surfaceNormal};
+	for (int i = 0; i < numValidPlanes; ++i) {
+		Point4 newPlane;
+		newPlane.topLeftCorner<3,1>() = normals[i];
+		newPlane.w() = depths[i];
+		MultiViewScorePlane(images, depthImages, cameras, p, newPlane, costVector, params);
+		const float costPlane = AggregateMultiViewScores(viewWeights, costVector, params.nNumViews) / NUM_SAMPLES;
+		if (cost > costPlane) {
+			cost = costPlane;
+			plane = newPlane;
+		}
+	}
+}
+
+// compute the score of the current plane estimate
+__global__ void InitializeScore(const cudaTextureObject_t* images, const cudaTextureObject_t* depthImages, PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params)
+{
+	const Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
+	const int width = cameras[0].width;
+	const int height = cameras[0].height;
+	if (p.x() >= width || p.y() >= height)
+		return;
+	const int idx = Point2Idx(p, width);
+	// initialize estimate randomly if not set
+	RandState* randState = &randStates[idx];
+	curand_init(1234/*threadIdx.x*/, p.y(), p.x(), randState);
+	Point4& plane = planes[idx];
+	float depth = plane.w();
+	if (depth <= 0.f) {
+		// generate random plane
+		plane.topLeftCorner<3,1>() = GenerateRandomNormal(cameras[0], p, randState);
+		plane.w() = curand_uniform(randState) * (params.fDepthMax - params.fDepthMin) + params.fDepthMin;
+	} else if (plane.topLeftCorner<3,1>().dot(ViewDirection(cameras[0], p)) >= 0.f){
+		// generate random normal
+		plane.topLeftCorner<3,1>() = GenerateRandomNormal(cameras[0], p, randState);
+	}
+	// compute costs
+	float costVector[MAX_VIEWS];
+	MultiViewScorePlane((const ImagePixels*)images, (const ImagePixels*)depthImages, cameras, p, plane, costVector, params);
+	// select best views
+	float costVectorSorted[MAX_VIEWS];
+	Sort(costVector, costVectorSorted, params.nNumViews);
+	float cost = 0.f;
+	for (int i = 0; i < params.nInitTopK; ++i)
+		cost += costVectorSorted[i];
+	const float costThreshold = costVectorSorted[params.nInitTopK - 1];
+	unsigned selectedView = selectedViews[idx];
+	selectedView = 0;
+	for (int imgId = 0; imgId < params.nNumViews; ++imgId)
+		if (costVector[imgId] <= costThreshold)
+			SetBit(selectedView, imgId);
+	costs[idx] = cost / params.nInitTopK;
+}
+
+// traverse image in a back/red checkerboard pattern
+__global__ void BlackPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params, const int iter)
+{
+	Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
+	p.y() = p.y() * 2 + (threadIdx.x % 2 == 0 ? 0 : 1);
+	ProcessPixel((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, costs, (RandState*)randStates, selectedViews, p, params, iter);
+}
+__global__ void RedPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params, const int iter)
+{
+	Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
+	p.y() = p.y() * 2 + (threadIdx.x % 2 == 0 ? 1 : 0);
+	ProcessPixel((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, costs, (RandState*)randStates, selectedViews, p, params, iter);
+}
+/*----------------------------------------------------------------*/
+
+
+__host__ void PatchMatchCUDA::RunCUDA()
+{
+	constexpr unsigned BLOCK_W = 32;
+	constexpr unsigned BLOCK_H = (BLOCK_W / 2);
+
+	const unsigned width = cameras[0].width;
+	const unsigned height = cameras[0].height;
+
+	const dim3 gridSizeRandinit((width + 16 - 1) / 16, (height + 16 - 1) / 16, 1);
+	const dim3 blockSizeRandinit(16, 16, 1);
+
+	const dim3 gridSizeCheckerboard((width + BLOCK_W - 1) / BLOCK_W, ((height / 2) + BLOCK_H - 1) / BLOCK_H, 1);
+	const dim3 blockSizeCheckerboard(BLOCK_W, BLOCK_H, 1);
+
+	InitializeScore<<<gridSizeRandinit, blockSizeRandinit>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params);
+	cudaDeviceSynchronize();
+
+	for (int i = 0; i < params.nEstimationIters; ++i) {
+		BlackPixelProcess<<<gridSizeCheckerboard, blockSizeCheckerboard>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, i);
+		cudaDeviceSynchronize();
+		RedPixelProcess<<<gridSizeCheckerboard, blockSizeCheckerboard>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, i);
+		cudaDeviceSynchronize();
+	}
+
+	cudaMemcpy(depthNormalEstimates, cudaDepthNormalEstimates, sizeof(Point4) * width * height, cudaMemcpyDeviceToHost);
+	cudaMemcpy(depthNormalCosts, cudaDepthNormalCosts, sizeof(float) * width * height, cudaMemcpyDeviceToHost);
+	cudaDeviceSynchronize();
+}
+/*----------------------------------------------------------------*/
diff --git a/libs/MVS/PatchMatchCUDA.h b/libs/MVS/PatchMatchCUDA.h
new file mode 100644
index 000000000..5049ff18b
--- /dev/null
+++ b/libs/MVS/PatchMatchCUDA.h
@@ -0,0 +1,58 @@
+/*
+* PatchMatchCUDA.h
+*
+* Copyright (c) 2014-2021 SEACAVE
+*
+* Author(s):
+*
+*      cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*      You are required to preserve legal notices and author attributions in
+*      that material or in the Appropriate Legal Notices displayed by works
+*      containing it.
+*/
+
+#ifndef _MVS_PATCHMATCHCUDA_H_
+#define _MVS_PATCHMATCHCUDA_H_
+
+#ifdef _USE_CUDA
+
+
+// I N C L U D E S /////////////////////////////////////////////////
+
+#include "DepthMap.h"
+#pragma push_macro("EIGEN_DEFAULT_DENSE_INDEX_TYPE")
+#undef EIGEN_DEFAULT_DENSE_INDEX_TYPE
+#include "PatchMatchCUDA.inl"
+#pragma pop_macro("EIGEN_DEFAULT_DENSE_INDEX_TYPE")
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+namespace MVS {
+
+} // namespace MVS
+
+#endif // _USE_CUDA
+
+#endif // _MVS_PATCHMATCHCUDA_H_
diff --git a/libs/MVS/PatchMatchCUDA.inl b/libs/MVS/PatchMatchCUDA.inl
new file mode 100644
index 000000000..e486cd06c
--- /dev/null
+++ b/libs/MVS/PatchMatchCUDA.inl
@@ -0,0 +1,141 @@
+/*
+* PatchMatchCUDA.inl
+*
+* Copyright (c) 2014-2021 SEACAVE
+*
+* Author(s):
+*
+*	  cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*	  You are required to preserve legal notices and author attributions in
+*	  that material or in the Appropriate Legal Notices displayed by works
+*	  containing it.
+*/
+
+#ifndef _MVS_PATCHMATCHCUDA_INL_
+#define _MVS_PATCHMATCHCUDA_INL_
+
+
+// I N C L U D E S /////////////////////////////////////////////////
+
+#define _USE_MATH_DEFINES
+#include <cmath>
+#include <cstdint>
+#include <float.h>
+#include <string>
+#include <vector>
+
+// Eigen
+#define EIGEN_DEFAULT_DENSE_INDEX_TYPE int
+#include <Eigen/Dense>
+
+// CUDA toolkit
+#include <cuda_runtime.h>
+#include <cuda_runtime_api.h>
+#include <cuda_texture_types.h>
+#include <curand_kernel.h>
+#include <vector_types.h>
+
+// OpenCV
+#include <opencv2/core.hpp>
+#include <opencv2/imgproc.hpp>
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+namespace MVS {
+
+#if __CUDA_ARCH__ > 0
+#define __CDC__CUDA__ARCH__ 1
+#else
+#undef __CDC__CUDA__ARCH__
+#endif
+
+struct DepthData;
+
+class PatchMatchCUDA {
+public:
+	typedef Eigen::Matrix<float,3,1> Point3;
+	typedef Eigen::Matrix<float,4,1> Point4;
+	typedef Eigen::Matrix<float,3,3> Matrix3;
+
+	struct Params {
+		int nNumViews = 5;
+		int nEstimationIters = 3;
+		float fDepthMin = 0.f;
+		float fDepthMax = 100.f;
+		int nInitTopK = 3;
+		bool bGeomConsistency = false;
+	};
+
+	struct Camera {
+		Matrix3 K;
+		Matrix3 R;
+		Point3 C;
+		int height;
+		int width;
+	};
+
+public:
+	PatchMatchCUDA(int device=0);
+	~PatchMatchCUDA();
+
+	void Init(bool geom_consistency);
+	void Release();
+
+	void EstimateDepthMap(DepthData&);
+
+	float4 GetPlaneHypothesis(const int index);
+	float GetCost(const int index);
+
+private:
+	void ReleaseCUDA();
+	void AllocatePatchMatchCUDA(const cv::Mat1f& image);
+	void AllocateImageCUDA(size_t i, const cv::Mat1f& image);
+	void RunCUDA();
+
+public:
+	Params params;
+
+	std::vector<cv::Mat1f> images;
+	std::vector<Camera> cameras;
+	std::vector<cudaTextureObject_t> textureImages;
+	std::vector<cudaTextureObject_t> textureDepths;
+	Point4* depthNormalEstimates;
+	float* depthNormalCosts;
+
+	Camera *cudaCameras;
+	std::vector<cudaArray_t> cudaImageArrays;
+	std::vector<cudaArray_t> cudaDepthArrays;
+	cudaTextureObject_t* cudaTextureImages;
+	cudaTextureObject_t* cudaTextureDepths;
+	Point4* cudaDepthNormalEstimates;
+	float* cudaDepthNormalCosts;
+	curandState* cudaRandStates;
+	unsigned* cudaSelectedViews;
+};
+/*----------------------------------------------------------------*/
+
+} // namespace MVS
+
+#endif // _MVS_PATCHMATCHCUDA_INL_
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 34ce85ec2..8db0bc70f 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -152,7 +152,7 @@ bool Scene::LoadInterface(const String & fileName)
 		imageData.UpdateCamera(platforms);
 		++nCalibratedImages;
 		nTotalPixels += imageData.width * imageData.height;
-		DEBUG_EXTRA("Image loaded %3u: %s", ID, Util::getFileNameExt(imageData.name).c_str());
+		DEBUG_ULTIMATE("Image loaded %3u: %s", ID, Util::getFileNameExt(imageData.name).c_str());
 	}
 	if (images.GetSize() < 2)
 		return false;
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 465323be2..e789c315e 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -32,6 +32,7 @@
 #include "Common.h"
 #include "Scene.h"
 #include "SceneDensify.h"
+#include "PatchMatchCUDA.h"
 // MRF: view selection
 #include "../Math/TRWS/MRFEnergy.h"
 
@@ -575,6 +576,13 @@ void* STCALL DepthMapsData::EndDepthMapTmp(void* arg)
 //  - nGeometricIter: current geometric-consistent estimation iteration (-1 - normal patch-match)
 bool DepthMapsData::EstimateDepthMap(IIndex idxImage, int nGeometricIter)
 {
+	#ifdef _USE_CUDA
+	if (pmCUDA) {
+		pmCUDA->EstimateDepthMap(arrDepthData[idxImage]);
+		return true;
+	}
+	#endif // _USE_CUDA
+
 	TD_TIMER_STARTD();
 
 	// initialize
@@ -1713,6 +1721,14 @@ bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 	}
 	}
 
+	#ifdef _USE_CUDA
+	// initialize CUDA
+	if (OPTDENSE::nCUDADevice >= 0) {
+		data.depthMaps.pmCUDA = new PatchMatchCUDA(OPTDENSE::nCUDADevice);
+		data.depthMaps.pmCUDA->Init(false);
+	}
+	#endif // _USE_CUDA
+
 	// initialize the queue of images to be processed
 	const int nOptimize(OPTDENSE::nOptimize);
 	if (OPTDENSE::nEstimationGeometricIters)
@@ -1739,6 +1755,14 @@ bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 		return false;
 	data.progress.Release();
 
+
+	#ifdef _USE_CUDA
+	// initialize CUDA
+	if (OPTDENSE::nCUDADevice >= 0 && OPTDENSE::nEstimationGeometricIters) {
+		data.depthMaps.pmCUDA->Release();
+		data.depthMaps.pmCUDA->Init(true);
+	}
+	#endif // _USE_CUDA
 	while (++data.nEstimationGeometricIter < (int)OPTDENSE::nEstimationGeometricIters) {
 		// initialize the queue of images to be geometric processed
 		if (data.nEstimationGeometricIter+1 == (int)OPTDENSE::nEstimationGeometricIters)
diff --git a/libs/MVS/SceneDensify.h b/libs/MVS/SceneDensify.h
index 0e1a77895..d8a14b70e 100644
--- a/libs/MVS/SceneDensify.h
+++ b/libs/MVS/SceneDensify.h
@@ -44,7 +44,10 @@ namespace MVS {
 	
 // Forward declarations
 class MVS_API Scene;
-	
+#ifdef _USE_CUDA
+class PatchMatchCUDA;
+#endif // _USE_CUDA
+
 // structure used to compute all depth-maps
 class MVS_API DepthMapsData
 {
@@ -80,6 +83,11 @@ class MVS_API DepthMapsData
 	Image8U::Size prevDepthMapSizeTrg; // ... same for target image
 	DepthEstimator::MapRefArr coords; // map pixel index to zigzag matrix coordinates
 	DepthEstimator::MapRefArr coordsTrg; // ... same for target image
+
+	#ifdef _USE_CUDA
+	// used internally to estimate the depth-maps using CUDA
+	CAutoPtr<PatchMatchCUDA> pmCUDA;
+	#endif // _USE_CUDA
 };
 /*----------------------------------------------------------------*/
 
diff --git a/libs/MVS/SceneRefine.cpp b/libs/MVS/SceneRefine.cpp
index a373eb6cb..303c0df1b 100644
--- a/libs/MVS/SceneRefine.cpp
+++ b/libs/MVS/SceneRefine.cpp
@@ -412,19 +412,18 @@ void MeshRefine::ListCameraFaces()
 {
 	// extract array of faces viewed by each camera
 	typedef SEACAVE::cList<Mesh::FaceIdxArr,const Mesh::FaceIdxArr&,2> CameraFacesArr;
-	CameraFacesArr arrCameraFaces(images.GetSize());
-	{
-	Mesh::Octree octree;
-	Mesh::FacesInserter::CreateOctree(octree, scene.mesh);
-	FOREACH(ID, images) {
-		const Image& imageData = images[ID];
-		if (!imageData.IsValid())
-			continue;
-		typedef TFrustum<float,5> Frustum;
-		const Frustum frustum(Frustum::MATRIX3x4(((PMatrix::CEMatMap)imageData.camera.P).cast<float>()), (float)imageData.width, (float)imageData.height);
-		Mesh::FacesInserter inserter(arrCameraFaces[ID]);
-		octree.Traverse(frustum, inserter);
-	}
+	CameraFacesArr arrCameraFaces(images.GetSize()); {
+		Mesh::Octree octree;
+		Mesh::FacesInserter::CreateOctree(octree, scene.mesh);
+		FOREACH(ID, images) {
+			const Image& imageData = images[ID];
+			if (!imageData.IsValid())
+				continue;
+			typedef TFrustum<float,5> Frustum;
+			const Frustum frustum(Frustum::MATRIX3x4(((PMatrix::CEMatMap)imageData.camera.P).cast<float>()), (float)imageData.width, (float)imageData.height);
+			Mesh::FacesInserter inserter(arrCameraFaces[ID]);
+			octree.Traverse(frustum, inserter);
+		}
 	}
 
 	// project mesh to each camera plane
diff --git a/libs/MVS/SceneRefineCUDA.cpp b/libs/MVS/SceneRefineCUDA.cpp
index 382a3ff52..a0caa546d 100644
--- a/libs/MVS/SceneRefineCUDA.cpp
+++ b/libs/MVS/SceneRefineCUDA.cpp
@@ -1944,7 +1944,7 @@ typedef Mesh::FIndex FIndex;
 
 class MeshRefineCUDA {
 public:
-	typedef std::unordered_set<FIndex> CameraFaces;
+	typedef Mesh::FaceIdxArr CameraFaces;
 	typedef SEACAVE::cList<CameraFaces,const CameraFaces&,2> CameraFacesArr;
 
 	// store necessary data about a view
@@ -2301,39 +2301,18 @@ void MeshRefineCUDA::ListVertexFacesPost()
 void MeshRefineCUDA::ListCameraFaces()
 {
 	// extract array of faces viewed by each camera
-	CameraFacesArr arrCameraFaces(images.GetSize());
-	{
-	struct FacesInserter {
-		FacesInserter(const Mesh::VertexFacesArr& _vertexFaces, CameraFaces& _cameraFaces)
-			: vertexFaces(_vertexFaces), cameraFaces(_cameraFaces) {}
-		inline void operator() (IDX idxVertex) {
-			const Mesh::FaceIdxArr& vertexTris = vertexFaces[idxVertex];
-			FOREACHPTR(pTri, vertexTris)
-				cameraFaces.emplace(*pTri);
-		}
-		inline void operator() (const IDX* idices, size_t size) {
-			FOREACHRAWPTR(pIdxVertex, idices, size)
-				operator()(*pIdxVertex);
+	CameraFacesArr arrCameraFaces(images.GetSize()); {
+		Mesh::Octree octree;
+		Mesh::FacesInserter::CreateOctree(octree, scene.mesh);
+		FOREACH(ID, images) {
+			const Image& imageData = images[ID];
+			if (!imageData.IsValid())
+				continue;
+			typedef TFrustum<float,5> Frustum;
+			const Frustum frustum(Frustum::MATRIX3x4(((PMatrix::CEMatMap)imageData.camera.P).cast<float>()), (float)imageData.width, (float)imageData.height);
+			Mesh::FacesInserter inserter(arrCameraFaces[ID]);
+			octree.Traverse(frustum, inserter);
 		}
-		const Mesh::VertexFacesArr& vertexFaces;
-		CameraFaces& cameraFaces;
-	};
-	typedef TOctree<Mesh::VertexArr,float,3> Octree;
-	const Octree octree(scene.mesh.vertices);
-	#if 0 && !defined(_RELEASE)
-	Octree::DEBUGINFO_TYPE info;
-	octree.GetDebugInfo(&info);
-	Octree::LogDebugInfo(info);
-	#endif
-	FOREACH(ID, images) {
-		const Image& imageData = images[ID];
-		if (!imageData.IsValid())
-			continue;
-		typedef TFrustum<float,5> Frustum;
-		FacesInserter inserter(scene.mesh.vertexFaces, arrCameraFaces[ID]);
-		const Frustum frustum(Frustum::MATRIX3x4(((PMatrix::CEMatMap)imageData.camera.P).cast<float>()), (float)imageData.width, (float)imageData.height);
-		octree.Traverse(frustum, inserter);
-	}
 	}
 
 	// project mesh to each camera plane

From 334bba4455fb8ebf84d190737353128fad42325b Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 18 Oct 2021 11:03:31 +0300
Subject: [PATCH 049/252] common: fix latest boost

---
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp |  4 ++--
 apps/Viewer/Camera.cpp                   |  2 +-
 libs/Common/Common.cpp                   | 11 +++++++++
 libs/MVS/DepthMap.cpp                    | 18 +++++++-------
 libs/MVS/Mesh.cpp                        | 30 ++++++++++++------------
 libs/MVS/Mesh.h                          |  4 ++--
 libs/MVS/Scene.cpp                       | 12 +++++-----
 libs/MVS/Scene.h                         |  2 +-
 8 files changed, 47 insertions(+), 36 deletions(-)

diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index 757f039c7..344d55a63 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -783,7 +783,7 @@ bool ImportScene(const String& strFolder, const String& strOutFolder, Interface&
 	const String pathNormalMaps(strFolder+COLMAP_STEREO_NORMALMAPS_FOLDER);
 	if (File::isFolder(pathDepthMaps) && File::isFolder(pathNormalMaps)) {
 		// read patch-match list
-		CLISTDEF2IDX(IIndexArr,IIndex) imagesNeighbors(scene.images.size());
+		CLISTDEF2IDX(IIndexArr,IIndex) imagesNeighbors((IIndex)scene.images.size());
 		{
 			const String filenameFusion(strFolder+COLMAP_PATCHMATCH);
 			LOG_OUT() << "Reading patch-match configuration: " << filenameFusion << std::endl;
@@ -843,7 +843,7 @@ bool ImportScene(const String& strFolder, const String& strOutFolder, Interface&
 			}
 			if (!colDepthMap.data_.empty()) {
 				IIndexArr IDs = {image.ID};
-				IDs.Join(imagesNeighbors[idx]);
+				IDs.Join(imagesNeighbors[(IIndex)idx]);
 				const Interface::Platform& platform = scene.platforms[image.platformID];
 				const Interface::Platform::Pose pose(platform.GetPose(image.cameraID, image.poseID));
 				const Interface::Mat33d K(platform.GetFullK(image.cameraID, (uint32_t)colDepthMap.width_, (uint32_t)colDepthMap.height_));
diff --git a/apps/Viewer/Camera.cpp b/apps/Viewer/Camera.cpp
index 7efa4eb77..e6cb75044 100644
--- a/apps/Viewer/Camera.cpp
+++ b/apps/Viewer/Camera.cpp
@@ -87,7 +87,7 @@ void Camera::Resize(const cv::Size& _size)
 		glOrtho(-fW, fW, -fH, fH, zNear, zFar);
 	} else {
 		// perspective projection
-		const GLfloat fH = TAN(D2R(fov)) * zNear;
+		const GLfloat fH = TAN(FD2R(fov)) * zNear;
 		const GLfloat fW = fH * aspect;
 		glFrustum(-fW, fW, -fH, fH, zNear, zFar);
 	}
diff --git a/libs/Common/Common.cpp b/libs/Common/Common.cpp
index 052951d47..54ccc8aed 100644
--- a/libs/Common/Common.cpp
+++ b/libs/Common/Common.cpp
@@ -25,12 +25,23 @@ String g_strWorkingFolderFull;
 
 #ifdef _USE_BOOST
 #ifdef BOOST_NO_EXCEPTIONS
+#if (BOOST_VERSION / 100000) > 1 || (BOOST_VERSION / 100 % 1000) > 72
+#include <boost/assert/source_location.hpp>
+#endif
 namespace boost {
 	void throw_exception(std::exception const & e) {
 		VERBOSE("exception thrown: %s", e.what());
 		ASSERT("boost exception thrown" == NULL);
 		exit(EXIT_FAILURE);
 	}
+	#if (BOOST_VERSION / 100000) > 1 || (BOOST_VERSION / 100 % 1000) > 72
+	void throw_exception(std::exception const & e, boost::source_location const & loc) {
+		std::ostringstream ostr; ostr << loc;
+		VERBOSE("exception thrown at %s: %s", ostr.str().c_str(), e.what());
+		ASSERT("boost exception thrown" == NULL);
+		exit(EXIT_FAILURE);
+	}
+	#endif
 } // namespace boost
 #endif
 #endif
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 576ee8411..bfd0b7885 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -880,22 +880,22 @@ Depth DepthEstimator::InterpolatePixel(const ImageRef& nx, Depth depth, const No
 	// {(0, 0), (x4, 1)} from camera center towards current pixel direction
 	// in the x or y plane
 	if (x0.x == nx.x) {
-		const float nx1 = (x0.y - image0.camera.K(1,2)) / image0.camera.K(1,1);
-		const float denom = normal.z + nx1 * normal.y;
+		const float nx1((float)(((REAL)x0.y - image0.camera.K(1,2)) / image0.camera.K(1,1)));
+		const float denom(normal.z + nx1 * normal.y);
 		if (ISZERO(denom))
 			return depth;
-		const float x1 = (nx.y - image0.camera.K(1,2)) / image0.camera.K(1,1);
-		const float nom = depth * (normal.z + x1 * normal.y);
+		const float x1((float)(((REAL)nx.y - image0.camera.K(1,2)) / image0.camera.K(1,1)));
+		const float nom(depth * (normal.z + x1 * normal.y));
 		depthNew = nom / denom;
 	}
 	else {
 		ASSERT(x0.y == nx.y);
-		const float nx1 = (x0.x - image0.camera.K(0,2)) / image0.camera.K(0,0);
-		const float denom = normal.z + nx1 * normal.x;
+		const float nx1((float)(((REAL)x0.x - image0.camera.K(0,2)) / image0.camera.K(0,0)));
+		const float denom(normal.z + nx1 * normal.x);
 		if (ISZERO(denom))
 			return depth;
-		const float x1 = (nx.x - image0.camera.K(0,2)) / image0.camera.K(0,0);
-		const float nom = depth * (normal.z + x1 * normal.x);
+		const float x1((float)(((REAL)nx.x - image0.camera.K(0,2)) / image0.camera.K(0,0)));
+		const float nom(depth * (normal.z + x1 * normal.x));
 		depthNew = nom / denom;
 	}
 	#else
@@ -990,7 +990,7 @@ std::pair<float,float> TriangulatePointsDelaunay(const DepthData::ViewData& imag
 	ASSERT(sizeof(Point3) == sizeof(X3D));
 	ASSERT(sizeof(Point2) == sizeof(CPoint));
 	std::pair<float,float> depthBounds(FLT_MAX, 0.f);
-	mesh.vertices.reserve(points.size()+4);
+	mesh.vertices.reserve((Mesh::VIndex)points.size()+4);
 	projs.reserve(mesh.vertices.capacity());
 	Delaunay delaunay;
 	for (uint32_t idx: points) {
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index c5bb35941..2a8104b62 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -1645,10 +1645,10 @@ bool Mesh::SaveGLTF(const String& fileName, bool bBinary) const
 	{
 		STATIC_ASSERT(3 * sizeof(Vertex::Type) == sizeof(Vertex)); // VertexArr should be continuous
 		const Box box(GetAABB());
-		gltfPrimitive.attributes["POSITION"] = gltfModel.accessors.size();
+		gltfPrimitive.attributes["POSITION"] = (int)gltfModel.accessors.size();
 		tinygltf::Accessor vertexPositionAccessor;
 		vertexPositionAccessor.name = "vertexPositionAccessor";
-		vertexPositionAccessor.bufferView = gltfModel.bufferViews.size();
+		vertexPositionAccessor.bufferView = (int)gltfModel.bufferViews.size();
 		vertexPositionAccessor.type = TINYGLTF_TYPE_VEC3;
 		vertexPositionAccessor.componentType = TINYGLTF_COMPONENT_TYPE_FLOAT;
 		vertexPositionAccessor.count = mesh.vertices.size();
@@ -1658,7 +1658,7 @@ bool Mesh::SaveGLTF(const String& fileName, bool bBinary) const
 		// setup vertices buffer
 		tinygltf::BufferView vertexPositionBufferView;
 		vertexPositionBufferView.name = "vertexPositionBufferView";
-		vertexPositionBufferView.buffer = gltfModel.buffers.size();
+		vertexPositionBufferView.buffer = (int)gltfModel.buffers.size();
 		ExtendBufferGLTF(mesh.vertices.data(), mesh.vertices.size(), gltfBuffer,
 			vertexPositionBufferView.byteOffset, vertexPositionBufferView.byteLength);
 		gltfModel.bufferViews.emplace_back(std::move(vertexPositionBufferView));
@@ -1667,10 +1667,10 @@ bool Mesh::SaveGLTF(const String& fileName, bool bBinary) const
 	// setup faces
 	{
 		STATIC_ASSERT(3 * sizeof(Face::Type) == sizeof(Face)); // FaceArr should be continuous
-		gltfPrimitive.indices = gltfModel.accessors.size();
+		gltfPrimitive.indices = (int)gltfModel.accessors.size();
 		tinygltf::Accessor triangleAccessor;
 		triangleAccessor.name = "triangleAccessor";
-		triangleAccessor.bufferView = gltfModel.bufferViews.size();
+		triangleAccessor.bufferView = (int)gltfModel.bufferViews.size();
 		triangleAccessor.type = TINYGLTF_TYPE_SCALAR;
 		triangleAccessor.componentType = TINYGLTF_COMPONENT_TYPE_UNSIGNED_INT;
 		triangleAccessor.count = mesh.faces.size() * 3;
@@ -1678,7 +1678,7 @@ bool Mesh::SaveGLTF(const String& fileName, bool bBinary) const
 		// setup triangles buffer
 		tinygltf::BufferView triangleBufferView;
 		triangleBufferView.name = "triangleBufferView";
-		triangleBufferView.buffer = gltfModel.buffers.size();
+		triangleBufferView.buffer = (int)gltfModel.buffers.size();
 		ExtendBufferGLTF(mesh.faces.data(), mesh.faces.size(), gltfBuffer,
 			triangleBufferView.byteOffset, triangleBufferView.byteLength);
 		gltfModel.bufferViews.emplace_back(std::move(triangleBufferView));
@@ -1686,14 +1686,14 @@ bool Mesh::SaveGLTF(const String& fileName, bool bBinary) const
 	}
 
 	// setup material
-	gltfPrimitive.material = gltfModel.materials.size();
+	gltfPrimitive.material = (int)gltfModel.materials.size();
 	tinygltf::Material gltfMaterial;
 	gltfMaterial.name = "material";
 	gltfMaterial.doubleSided = true;
 	if (mesh.HasTexture()) {
 		// setup texture
 		gltfMaterial.emissiveFactor = std::vector<double>{0,0,0};
-		gltfMaterial.pbrMetallicRoughness.baseColorTexture.index = gltfModel.textures.size();
+		gltfMaterial.pbrMetallicRoughness.baseColorTexture.index = (int)gltfModel.textures.size();
 		gltfMaterial.pbrMetallicRoughness.baseColorTexture.texCoord = 0;
 		gltfMaterial.pbrMetallicRoughness.baseColorFactor = std::vector<double>{1,1,1,1};
 		gltfMaterial.pbrMetallicRoughness.metallicFactor = 0;
@@ -1701,10 +1701,10 @@ bool Mesh::SaveGLTF(const String& fileName, bool bBinary) const
 		gltfMaterial.extensions = {{"KHR_materials_unlit", {}}};
 		gltfModel.extensionsUsed = {"KHR_materials_unlit"};
 		// setup texture coordinates accessor
-		gltfPrimitive.attributes["TEXCOORD_0"] = gltfModel.accessors.size();
+		gltfPrimitive.attributes["TEXCOORD_0"] = (int)gltfModel.accessors.size();
 		tinygltf::Accessor vertexTexcoordAccessor;
 		vertexTexcoordAccessor.name = "vertexTexcoordAccessor";
-		vertexTexcoordAccessor.bufferView = gltfModel.bufferViews.size();
+		vertexTexcoordAccessor.bufferView = (int)gltfModel.bufferViews.size();
 		vertexTexcoordAccessor.componentType = TINYGLTF_COMPONENT_TYPE_FLOAT;
 		vertexTexcoordAccessor.count = mesh.faceTexcoords.size();
 		vertexTexcoordAccessor.type = TINYGLTF_TYPE_VEC2;
@@ -1714,7 +1714,7 @@ bool Mesh::SaveGLTF(const String& fileName, bool bBinary) const
 		ASSERT(mesh.vertices.size() == mesh.faceTexcoords.size());
 		tinygltf::BufferView vertexTexcoordBufferView;
 		vertexTexcoordBufferView.name = "vertexTexcoordBufferView";
-		vertexTexcoordBufferView.buffer = gltfModel.buffers.size();
+		vertexTexcoordBufferView.buffer = (int)gltfModel.buffers.size();
 		TexCoordArr flipTexcoords(mesh.faceTexcoords.size());
 		FOREACH(i, mesh.faceTexcoords) {
 			flipTexcoords[i].x = mesh.faceTexcoords[i].x;
@@ -1726,8 +1726,8 @@ bool Mesh::SaveGLTF(const String& fileName, bool bBinary) const
 		// setup texture
 		tinygltf::Texture texture;
 		texture.name = "texture";
-		texture.source = gltfModel.images.size();
-		texture.sampler = gltfModel.samplers.size();
+		texture.source = (int)gltfModel.images.size();
+		texture.sampler = (int)gltfModel.samplers.size();
 		gltfModel.textures.emplace_back(std::move(texture));
 		// setup texture image
 		tinygltf::Image image;
@@ -1755,10 +1755,10 @@ bool Mesh::SaveGLTF(const String& fileName, bool bBinary) const
 	gltfMesh.primitives.emplace_back(std::move(gltfPrimitive));
 
 	// setup scene node
-	gltfScene.nodes.emplace_back(gltfModel.nodes.size());
+	gltfScene.nodes.emplace_back((int)gltfModel.nodes.size());
 	tinygltf::Node node;
 	node.name = "node";
-	node.mesh = gltfModel.meshes.size();
+	node.mesh = (int)gltfModel.meshes.size();
 	gltfModel.nodes.emplace_back(std::move(node));
 	gltfModel.meshes.emplace_back(std::move(gltfMesh));
 	gltfModel.scenes.emplace_back(std::move(gltfScene));
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index c5ac01269..c03628ae5 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -62,8 +62,8 @@ class MVS_API Mesh
 
 	typedef cList<VIndex,VIndex,0,8,VIndex> VertexIdxArr;
 	typedef cList<FIndex,FIndex,0,8,FIndex> FaceIdxArr;
-	typedef cList<VertexIdxArr> VertexVerticesArr;
-	typedef cList<FaceIdxArr> VertexFacesArr;
+	typedef cList<VertexIdxArr,const VertexIdxArr&,2,8192,VIndex> VertexVerticesArr;
+	typedef cList<FaceIdxArr,const FaceIdxArr&,2,8192,VIndex> VertexFacesArr;
 
 	typedef TPoint3<Type> Normal;
 	typedef cList<Normal,const Normal&,0,8192,FIndex> NormalArr;
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 8db0bc70f..2d764bfda 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -570,7 +570,7 @@ void Scene::SampleMeshWithVisibility(unsigned maxResolution)
 		if (pointcloud.pointViews[idx].size() < 2)
 			pointcloud.RemovePoint(idx);
 		else
-			pointcloud.points[idx] = mesh.vertices[idx];
+			pointcloud.points[idx] = mesh.vertices[(Mesh::VIndex)idx];
 	}
 } // SampleMeshWithVisibility
 /*----------------------------------------------------------------*/
@@ -611,7 +611,7 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 		nMinPointViews = nCalibratedImages;
 	unsigned nPoints = 0;
 	imageData.avgDepth = 0;
-	const float sigmaAngle(-1.f/(2.f*SQUARE(fOptimAngle*1.3)));
+	const float sigmaAngle(-1.f/(2.f*SQUARE(fOptimAngle*1.3f)));
 	FOREACH(idx, pointcloud.points) {
 		const PointCloud::ViewArr& views = pointcloud.pointViews[idx];
 		ASSERT(views.IsSorted());
@@ -805,7 +805,7 @@ bool Scene::ExportCamerasMLP(const String& fileName, const String& fileNameScene
 //    can load all sub-scene's depth-maps into memory at once
 //  - limit in the same time maximum accumulated images resolution (total number of pixels)
 //    per sub-scene in order to allow all images to be loaded and processed during mesh refinement
-unsigned Scene::Split(ImagesChunkArr& chunks, IIndex maxArea, int depthMapStep) const
+unsigned Scene::Split(ImagesChunkArr& chunks, float maxArea, int depthMapStep) const
 {
 	TD_TIMER_STARTD();
 	// gather samples from all depth-maps
@@ -814,9 +814,9 @@ unsigned Scene::Split(ImagesChunkArr& chunks, IIndex maxArea, int depthMapStep)
 	typedef TOctree<Samples,float,3> Octree;
 	Octree octree;
 	FloatArr areas(0, images.size()*4192);
-	IIndexArr visibility(0, areas.capacity());
+	IIndexArr visibility(0, (IIndex)areas.capacity());
 	Unsigned32Arr imageAreas(images.size()); {
-		Samples samples(0, areas.capacity());
+		Samples samples(0, (uint32_t)areas.capacity());
 		FOREACH(idxImage, images) {
 			const Image& imageData = images[idxImage];
 			if (!imageData.IsValid())
@@ -825,7 +825,7 @@ unsigned Scene::Split(ImagesChunkArr& chunks, IIndex maxArea, int depthMapStep)
 			depthData.Load(ComposeDepthFilePath(imageData.ID, "dmap"));
 			if (depthData.IsEmpty())
 				continue;
-			const size_t numPointsBegin(visibility.size());
+			const IIndex numPointsBegin(visibility.size());
 			const Camera camera(imageData.GetCamera(platforms, depthData.depthMap.size()));
 			for (int r=(depthData.depthMap.rows%depthMapStep)/2; r<depthData.depthMap.rows; r+=depthMapStep) {
 				for (int c=(depthData.depthMap.cols%depthMapStep)/2; c<depthData.depthMap.cols; c+=depthMapStep) {
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index e25db1f7a..4d7af04b6 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -92,7 +92,7 @@ class MVS_API Scene
 		AABB3f aabb;
 	};
 	typedef cList<ImagesChunk,const ImagesChunk&,2,16,uint32_t> ImagesChunkArr;
-	unsigned Split(ImagesChunkArr& chunks, IIndex maxArea, int depthMapStep=8) const;
+	unsigned Split(ImagesChunkArr& chunks, float maxArea, int depthMapStep=8) const;
 	bool ExportChunks(const ImagesChunkArr& chunks, const String& path, ARCHIVE_TYPE type=ARCHIVE_DEFAULT) const;
 
 	// Dense reconstruction

From add19bc87ca089b2367e77d56cf49e7e8b513ccd Mon Sep 17 00:00:00 2001
From: Piero Toffanin <pt@masseranolabs.com>
Date: Tue, 26 Oct 2021 04:23:54 -0400
Subject: [PATCH 050/252] dense: expose --cuda-device option (#707)

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 458f63e5b..dc4d9cf63 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -91,6 +91,9 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// group of options allowed both on command line and in config file
 	unsigned nResolutionLevel;
+	#ifdef _USE_CUDA
+	unsigned nCUDADevice;
+	#endif
 	unsigned nMaxResolution;
 	unsigned nMinResolution;
 	unsigned nNumViews;
@@ -103,6 +106,9 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the dense point-cloud")
 		("resolution-level", boost::program_options::value(&nResolutionLevel)->default_value(1), "how many times to scale down the images before point cloud computation")
+		#ifdef _USE_CUDA
+		("cuda-device", boost::program_options::value(&nCUDADevice)->default_value(0), "CUDA device number to be used for depth-map estimation (-1 - CPU processing)")
+		#endif
 		("max-resolution", boost::program_options::value(&nMaxResolution)->default_value(3200), "do not scale images higher than this resolution")
 		("min-resolution", boost::program_options::value(&nMinResolution)->default_value(640), "do not scale images lower than this resolution")
 		("number-views", boost::program_options::value(&nNumViews)->default_value(5), "number of views used for depth-map estimation (0 - all neighbor views available)")
@@ -181,6 +187,9 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	const bool bValidConfig(OPTDENSE::oConfig.Load(OPT::strDenseConfigFileName));
 	OPTDENSE::update();
 	OPTDENSE::nResolutionLevel = nResolutionLevel;
+	#ifdef _USE_CUDA
+	OPTDENSE::nCUDADevice = nCUDADevice;
+	#endif
 	OPTDENSE::nMaxResolution = nMaxResolution;
 	OPTDENSE::nMinResolution = nMinResolution;
 	OPTDENSE::nNumViews = nNumViews;

From 625bfd5651b5a5e1d63b579b5cd4a6fb1847e9de Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 28 Oct 2021 18:41:25 +0300
Subject: [PATCH 051/252] build: add Dockerfile for CUDA #710

---
 docker/Dockerfile          | 24 +++++++++++-----
 docker/Dockerfile_CUDA     | 58 ++++++++++++++++++++++++++++++++++++++
 docker/buildFromScratch.sh |  2 +-
 3 files changed, 76 insertions(+), 8 deletions(-)
 create mode 100644 docker/Dockerfile_CUDA

diff --git a/docker/Dockerfile b/docker/Dockerfile
index 03e40a39d..a528c34f8 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -1,5 +1,8 @@
 FROM ubuntu:18.04
 
+ARG USER_ID
+ARG GROUP_ID
+
 # Initialize the environment 
 RUN apt update
 RUN apt install -y cmake git vim
@@ -9,8 +12,8 @@ RUN apt-get update -yq
 RUN apt-get install -yq
 RUN apt-get -y install git mercurial cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev
 
-# Eigen (Known issues with eigen 3.3.7 as of 12/10/2019, so using this tested branch/commit instead) 
-RUN git clone https://gitlab.com/libeigen/eigen --branch 3.2 ed5cd0a4d16e12daa1bef608628c103e67969d63
+# Eigen 
+RUN git clone https://gitlab.com/libeigen/eigen --branch 3.4
 RUN mkdir eigen_build
 RUN cd eigen_build &&\
 	cmake . ../eigen &&\
@@ -29,18 +32,25 @@ RUN apt-get -y install libcgal-dev libcgal-qt5-dev
 # VCGLib
 RUN git clone https://github.com/cdcseacave/VCG.git vcglib
 
-# Build from stable release openMVS1.0
-RUN git clone https://github.com/cdcseacave/openMVS.git --branch v1.0
+# Build from stable openMVS release
+RUN git clone https://github.com/cdcseacave/openMVS.git --branch master
 
-# Uncomment below (and comment above) to use the latest commit from the master branch
-# RUN git clone https://github.com/cdcseacave/openMVS.git openMVS
+# Uncomment below (and comment above) to use the latest commit from the develop branch
+#RUN git clone https://github.com/cdcseacave/openMVS.git --branch develop
 
 RUN mkdir openMVS_build
 RUN cd openMVS_build &&\
-	cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT=/vcglib
+	cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT=/vcglib -DOpenMVS_USE_CUDA=OFF
 
 # Install OpenMVS library
 RUN cd openMVS_build &&\
 	make -j4 &&\
 	make install
+
+# Set permissions such that the output files can be accessed by the current user (optional)
+RUN addgroup --gid $GROUP_ID user
+RUN adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID user
+USER user
+
+# Add binaries to path
 ENV PATH /usr/local/bin/OpenMVS:$PATH
diff --git a/docker/Dockerfile_CUDA b/docker/Dockerfile_CUDA
new file mode 100644
index 000000000..efe5d7ca3
--- /dev/null
+++ b/docker/Dockerfile_CUDA
@@ -0,0 +1,58 @@
+FROM nvidia/cuda:11.1-runtime-ubuntu18.04
+
+ARG USER_ID
+ARG GROUP_ID
+
+# Initialize the environment 
+RUN apt update
+RUN apt install -y cmake git vim
+
+# Prepare and empty machine for building:
+RUN apt-get update -yq
+RUN apt-get install -yq
+RUN apt-get -y install git mercurial cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev
+
+ENV PATH=/usr/local/cuda-11.1/bin:$PATH
+
+# Eigen 
+RUN git clone https://gitlab.com/libeigen/eigen --branch 3.4
+RUN mkdir eigen_build
+RUN cd eigen_build &&\
+	cmake . ../eigen -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda/ &&\
+	make && make install &&\
+	cd ..
+
+# Boost
+RUN apt-get -y install libboost-iostreams-dev libboost-program-options-dev libboost-system-dev libboost-serialization-dev
+
+# OpenCV
+RUN DEBIAN_FRONTEND=noninteractive apt-get install -yq libopencv-dev
+
+# CGAL
+RUN apt-get -y install libcgal-dev libcgal-qt5-dev
+
+# VCGLib
+RUN git clone https://github.com/cdcseacave/VCG.git vcglib
+
+# Build from stable openMVS release
+RUN git clone https://github.com/cdcseacave/openMVS.git --branch master
+
+# Uncomment below (and comment above) to use the latest commit from the develop branch
+#RUN git clone https://github.com/cdcseacave/openMVS.git --branch develop
+
+RUN mkdir openMVS_build
+RUN cd openMVS_build &&\
+	cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT=/vcglib -DOpenMVS_USE_CUDA=ON -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs/ -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda-11.1/ -DCUDA_INCLUDE_DIRS=/usr/local/cuda-11.1/include/ -DCUDA_CUDART_LIBRARY=/usr/local/cuda-11.1/lib64 -DCUDA_NVCC_EXECUTABLE=/usr/local/cuda-11.1/bin/
+
+# Install OpenMVS library
+RUN cd openMVS_build &&\
+	make -j4 &&\
+	make install
+
+# Set permissions such that the output files can be accessed by the current user (optional)
+RUN addgroup --gid $GROUP_ID user
+RUN adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID user
+USER user
+
+# Add binaries to path
+ENV PATH /usr/local/bin/OpenMVS:$PATH
diff --git a/docker/buildFromScratch.sh b/docker/buildFromScratch.sh
index 2f3e1efa4..d522ce5d6 100755
--- a/docker/buildFromScratch.sh
+++ b/docker/buildFromScratch.sh
@@ -1,2 +1,2 @@
-docker build -t="openmvs-ubuntu" .;
+docker build --no-cache -t="openmvs-ubuntu" --build-arg USER_ID=$(id -u) --build-arg GROUP_ID=$(id -g) .;
 docker run -w /working -v $1:/working -it openmvs-ubuntu;
\ No newline at end of file

From 556bb269cc65fc0d22a033c5f343d3f8e0fb84d0 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 28 Oct 2021 18:33:19 +0300
Subject: [PATCH 052/252] dense: fix bug in selecting views

(cherry picked from commit d068c02295234199f49b26afc85ac643886f2311)
---
 apps/DensifyPointCloud/DensifyPointCloud.cpp | 6 +++---
 libs/MVS/PatchMatchCUDA.cu                   | 2 +-
 libs/MVS/SceneDensify.cpp                    | 2 +-
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index dc4d9cf63..d5df7af3f 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -90,10 +90,10 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		;
 
 	// group of options allowed both on command line and in config file
-	unsigned nResolutionLevel;
 	#ifdef _USE_CUDA
 	unsigned nCUDADevice;
 	#endif
+	unsigned nResolutionLevel;
 	unsigned nMaxResolution;
 	unsigned nMinResolution;
 	unsigned nNumViews;
@@ -105,10 +105,10 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the dense point-cloud")
-		("resolution-level", boost::program_options::value(&nResolutionLevel)->default_value(1), "how many times to scale down the images before point cloud computation")
 		#ifdef _USE_CUDA
 		("cuda-device", boost::program_options::value(&nCUDADevice)->default_value(0), "CUDA device number to be used for depth-map estimation (-1 - CPU processing)")
 		#endif
+		("resolution-level", boost::program_options::value(&nResolutionLevel)->default_value(1), "how many times to scale down the images before point cloud computation")
 		("max-resolution", boost::program_options::value(&nMaxResolution)->default_value(3200), "do not scale images higher than this resolution")
 		("min-resolution", boost::program_options::value(&nMinResolution)->default_value(640), "do not scale images lower than this resolution")
 		("number-views", boost::program_options::value(&nNumViews)->default_value(5), "number of views used for depth-map estimation (0 - all neighbor views available)")
@@ -186,10 +186,10 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	OPTDENSE::init();
 	const bool bValidConfig(OPTDENSE::oConfig.Load(OPT::strDenseConfigFileName));
 	OPTDENSE::update();
-	OPTDENSE::nResolutionLevel = nResolutionLevel;
 	#ifdef _USE_CUDA
 	OPTDENSE::nCUDADevice = nCUDADevice;
 	#endif
+	OPTDENSE::nResolutionLevel = nResolutionLevel;
 	OPTDENSE::nMaxResolution = nMaxResolution;
 	OPTDENSE::nMinResolution = nMinResolution;
 	OPTDENSE::nNumViews = nNumViews;
diff --git a/libs/MVS/PatchMatchCUDA.cu b/libs/MVS/PatchMatchCUDA.cu
index 403e41d50..370a8da2d 100644
--- a/libs/MVS/PatchMatchCUDA.cu
+++ b/libs/MVS/PatchMatchCUDA.cu
@@ -486,7 +486,6 @@ __device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depth
 
 	// refine estimate
 	constexpr float perturbation = 0.01f;
-	const Point3 normalRand = GenerateRandomNormal(cameras[0], p, randState);
 	const float depthMinPerturbed = (1.f - perturbation) * depth;
 	const float depthMaxPerturbed = (1.f + perturbation) * depth;
 	float depthPerturbed;
@@ -494,6 +493,7 @@ __device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depth
 		depthPerturbed = curand_uniform(randState) * (depthMaxPerturbed - depthMinPerturbed) + depthMinPerturbed;
 	} while (depthPerturbed < params.fDepthMin && depthPerturbed > params.fDepthMax);
 	const Point3 perturbedNormal = GeneratePerturbedNormal(cameras[0], p, plane.topLeftCorner<3,1>(), randState, perturbation * (float)M_PI);
+	const Point3 normalRand = GenerateRandomNormal(cameras[0], p, randState);
 	int numValidPlanes = 3;
 	Point3 surfaceNormal;
 	if (valid[0] && valid[1] && valid[2] && valid[3]) {
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index e789c315e..69e58e957 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -1855,7 +1855,7 @@ void Scene::DenseReconstructionEstimate(void* pData)
 			// select views to reconstruct the depth-map for this image
 			const IIndex idx = data.images[evtImage.idxImage];
 			DepthData& depthData(data.depthMaps.arrDepthData[idx]);
-			const bool depthmapComputed(data.nFusionMode >= 0 && data.nEstimationGeometricIter < 0 && File::access(ComposeDepthFilePath(idx, "dmap")));
+			const bool depthmapComputed(data.nFusionMode >= 0 && data.nEstimationGeometricIter < 0 && File::access(ComposeDepthFilePath(data.scene.images[idx].ID, "dmap")));
 			// initialize images pair: reference image and the best neighbor view
 			ASSERT(data.neighborsMap.IsEmpty() || data.neighborsMap[evtImage.idxImage] != NO_ID);
 			if (!data.depthMaps.InitViews(depthData, data.neighborsMap.IsEmpty()?NO_ID:data.neighborsMap[evtImage.idxImage], OPTDENSE::nNumViews, !depthmapComputed, depthmapComputed ? -1 : (data.nEstimationGeometricIter >= 0 ? 1 : 0))) {

From 67798bab261153892704dabe72e880b1839aeeb4 Mon Sep 17 00:00:00 2001
From: Piero Toffanin <pt@masseranolabs.com>
Date: Fri, 29 Oct 2021 15:32:34 -0400
Subject: [PATCH 053/252] build: fix CUDA for older cards (#712)

---
 CMakeLists.txt              | 35 +++++++++++++++++++++++++++++++++--
 libs/MVS/PatchMatchCUDA.cpp |  1 +
 2 files changed, 34 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9046e4987..d849d0dc5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -46,6 +46,7 @@ SET(OpenMVS_USE_FAST_FLOAT2INT ON CACHE BOOL "Use an optimized code to convert r
 SET(OpenMVS_USE_FAST_INVSQRT OFF CACHE BOOL "Use an optimized code to compute the inverse square root (slower in fact on modern compilers)")
 SET(OpenMVS_USE_FAST_CBRT ON CACHE BOOL "Use an optimized code to compute the cubic root")
 SET(OpenMVS_USE_SSE ON CACHE BOOL "Enable SSE optimizations")
+SET(OpenMVS_MAX_CUDA_COMPATIBILITY OFF CACHE BOOL "Build for maximum CUDA device compatibility")
 
 # Define helper functions and macros.
 INCLUDE(build/Utils.cmake)
@@ -101,9 +102,39 @@ if(OpenMVS_USE_CUDA)
 	FIND_PACKAGE(CUDA)
 	if(CUDA_FOUND)
 		ENABLE_LANGUAGE(CUDA)
-		if(NOT DEFINED CMAKE_CUDA_ARCHITECTURES)
-		  SET(CMAKE_CUDA_ARCHITECTURES 75)
+		if(NOT OpenMVS_MAX_CUDA_COMPATIBILITY)
+			if(NOT DEFINED CMAKE_CUDA_ARCHITECTURES)
+				SET(CMAKE_CUDA_ARCHITECTURES 75)
+			endif()
+		else()
+			# Build for maximum compatibility
+			# https://arnon.dk/matching-sm-architectures-arch-and-gencode-for-various-nvidia-cards/
+
+			# Extract list of arch and gencodes
+			EXECUTE_PROCESS(COMMAND "${CMAKE_CUDA_COMPILER}" --list-gpu-arch 
+				OUTPUT_VARIABLE LIST_GPU_ARCH 
+				ERROR_QUIET)
+			STRING(REPLACE "\r" "" LIST_GPU_ARCH ${LIST_GPU_ARCH})
+			STRING(REPLACE "\n" ";" LIST_GPU_ARCH ${LIST_GPU_ARCH})
+
+			EXECUTE_PROCESS(COMMAND "${CMAKE_CUDA_COMPILER}" --list-gpu-code 
+				OUTPUT_VARIABLE LIST_GPU_CODE 
+				ERROR_QUIET)
+			STRING(REPLACE "\r" "" LIST_GPU_CODE ${LIST_GPU_CODE})
+			STRING(REPLACE "\n" ";" LIST_GPU_CODE ${LIST_GPU_CODE})
+
+			LIST(GET LIST_GPU_CODE 0 TARGET_GPU_CODE)
+			SET(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -arch=${TARGET_GPU_CODE}")
+
+			SET(IDX 0)
+			foreach(GPU_ARCH ${LIST_GPU_ARCH})
+				LIST(GET LIST_GPU_CODE ${IDX} GPU_CODE)
+				SET(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -gencode=arch=${GPU_ARCH},code=${GPU_CODE}")
+				MATH(EXPR IDX "${IDX}+1")
+			endforeach()
+			MESSAGE("-- Set CUDA flags: " ${CMAKE_CUDA_FLAGS})
 		endif()
+		SET(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} --expt-relaxed-constexpr")
 		INCLUDE_DIRECTORIES(${CUDA_INCLUDE_DIRS})
 		LIST(APPEND OpenMVS_DEFINITIONS -D_USE_CUDA)
 		SET(_USE_CUDA TRUE)
diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
index 477b0f795..2c4bbb192 100644
--- a/libs/MVS/PatchMatchCUDA.cpp
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -272,6 +272,7 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 
 	// run CUDA patch-match
 	RunCUDA();
+	CUDA::checkCudaCall(cudaGetLastError());
 
 	// load depth-map, normal-map and confidence-map from CUDA memory
 	if (depthData.confMap.empty())

From cd73b4c39147fd26567c603a45d22b0c7fef33cb Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 30 Oct 2021 16:17:24 +0300
Subject: [PATCH 054/252] dense: fix small clusters (#702)

---
 libs/MVS/Scene.cpp | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 2d764bfda..c79a4fe41 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -923,13 +923,20 @@ unsigned Scene::Split(ImagesChunkArr& chunks, float maxArea, int depthMapStep) c
 	if (chunks.size() < 2)
 		return 0;
 	// remove images with very little contribution
-	const float minImageContributionRatio(0.25f);
+	const float minImageContributionRatio(0.3f);
 	FOREACH(c, chunks) {
 		ImagesChunk& chunk = chunks[c];
 		const Unsigned32Arr& chunkImageAreas = chunkInserter.imagesAreas[c];
+		float maxAreaRatio = 0;
+		for (const IIndex idxImage : chunk.images) {
+			const float areaRatio(float(chunkImageAreas[idxImage])/float(imageAreas[idxImage]));
+			if (maxAreaRatio < areaRatio)
+				maxAreaRatio = areaRatio;
+		}
+		const float minImageContributionRatioChunk(maxAreaRatio * minImageContributionRatio);
 		for (auto it = chunk.images.begin(); it != chunk.images.end(); ) {
 			const IIndex idxImage(*it);
-			if (float(chunkImageAreas[idxImage])/float(imageAreas[idxImage]) < minImageContributionRatio)
+			if (float(chunkImageAreas[idxImage])/float(imageAreas[idxImage]) < minImageContributionRatioChunk)
 				it = chunk.images.erase(it);
 			else
 				++it;

From 500e808c951da2bcde73b9384fd42791cfc0eebd Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 3 Nov 2021 08:38:48 +0200
Subject: [PATCH 055/252] interface: fix COLMAP log export

---
 CMakeLists.txt                           | 8 ++++----
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp | 7 ++++++-
 libs/MVS/Scene.cpp                       | 2 +-
 libs/MVS/SceneDensify.cpp                | 3 ++-
 4 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index d849d0dc5..074e153b5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -214,6 +214,10 @@ if(OpenMVS_USE_SSE)
 	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_SSE)
 	SET(_USE_SSE TRUE)
 endif()
+if(OpenMVS_USE_CERES)
+	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_CERES)
+	SET(_USE_CERES TRUE)
+endif()
 
 ADD_DEFINITIONS(${OpenMVS_DEFINITIONS})
 
@@ -227,10 +231,6 @@ if(OpenMVS_BUILD_TOOLS)
 endif()
 ADD_SUBDIRECTORY(docs)
 
-if(OpenMVS_USE_CERES)
-	SET(_USE_CERES TRUE)
-endif()
-
 # Export the package for use from the build-tree
 # (this registers the build-tree with a global CMake-registry)
 export(PACKAGE OpenMVS)
diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index 344d55a63..9ea6a361d 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -1122,7 +1122,12 @@ bool ExportImagesLog(const String& fileName, const Interface& scene)
 		return false;
 	}
 	out << std::setprecision(12);
-	for (uint32_t ID=0; ID<(uint32_t)scene.images.size(); ++ID) {
+	IIndexArr orderedImages((uint32_t)scene.images.size());
+	std::iota(orderedImages.begin(), orderedImages.end(), 0u);
+	orderedImages.Sort([&scene](IIndex i, IIndex j) {
+		return scene.images[i].ID < scene.images[j].ID;
+	});
+	for (IIndex ID: orderedImages) {
 		const Interface::Image& image = scene.images[ID];
 		Eigen::Matrix3d R(Eigen::Matrix3d::Identity());
 		Eigen::Vector3d t(Eigen::Vector3d::Zero());
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index c79a4fe41..79e41947e 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -373,7 +373,7 @@ bool Scene::LoadDMAP(const String& fileName)
 	image.image = imageDepth;
 	cv::resize(image.image, image.image, imageSize);
 
-	DEBUG_EXTRA("Scene loaded from depth-map format - %dx%d size, %.2f%% coverage (%s):\n"
+	DEBUG_EXTRA("Scene loaded from depth-map format - %dx%d size, %.2f%%%% coverage (%s):\n"
 		"\t1 images (1 calibrated) with a total of %.2f MPixels (%.2f MPixels/image)\n"
 		"\t%u points, 0 lines",
 		depthMap.width(), depthMap.height(), 100.0*pointcloud.GetSize()/depthMap.area(), TD_TIMER_GET_FMT().c_str(),
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 69e58e957..082bfcbb7 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -1656,7 +1656,8 @@ bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 				data.images.Insert(idxImage);
 			}
 			// reload image at the appropriate resolution
-			const unsigned nMaxResolution(imageData.RecomputeMaxResolution(OPTDENSE::nResolutionLevel, OPTDENSE::nMinResolution, OPTDENSE::nMaxResolution));
+			unsigned nResolutionLevel(OPTDENSE::nResolutionLevel);
+			const unsigned nMaxResolution(imageData.RecomputeMaxResolution(nResolutionLevel, OPTDENSE::nMinResolution, OPTDENSE::nMaxResolution));
 			if (!imageData.ReloadImage(nMaxResolution)) {
 				#ifdef DENSE_USE_OPENMP
 				bAbort = true;

From bbe7db543cdc09b0ef7a9afba5b201ff9d92dbed Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sun, 7 Nov 2021 21:56:31 +0200
Subject: [PATCH 056/252] interface: add Metashape and predefined neighbors
 list support

---
 apps/CMakeLists.txt                           |    2 +-
 apps/DensifyPointCloud/DensifyPointCloud.cpp  |   20 +-
 .../CMakeLists.txt                            |    4 +-
 .../InterfaceMetashape.cpp}                   |  131 +-
 libs/IO/TinyXML2.cpp                          | 2987 +++++++++++++++++
 libs/IO/TinyXML2.h                            | 2368 +++++++++++++
 libs/MVS/Scene.cpp                            |   48 +
 libs/MVS/Scene.h                              |    1 +
 libs/MVS/SceneDensify.cpp                     |   55 +-
 9 files changed, 5519 insertions(+), 97 deletions(-)
 rename apps/{InterfacePhotoScan => InterfaceMetashape}/CMakeLists.txt (75%)
 rename apps/{InterfacePhotoScan/InterfacePhotoScan.cpp => InterfaceMetashape/InterfaceMetashape.cpp} (86%)
 create mode 100644 libs/IO/TinyXML2.cpp
 create mode 100644 libs/IO/TinyXML2.h

diff --git a/apps/CMakeLists.txt b/apps/CMakeLists.txt
index dfc4f88f8..b24044839 100644
--- a/apps/CMakeLists.txt
+++ b/apps/CMakeLists.txt
@@ -1,6 +1,6 @@
 # Add applications
 ADD_SUBDIRECTORY(InterfaceCOLMAP)
-ADD_SUBDIRECTORY(InterfaceVisualSFM)
+ADD_SUBDIRECTORY(InterfaceMetashape)
 ADD_SUBDIRECTORY(DensifyPointCloud)
 ADD_SUBDIRECTORY(ReconstructMesh)
 ADD_SUBDIRECTORY(RefineMesh)
diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index d5df7af3f..bb1571f03 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -48,7 +48,7 @@ namespace {
 namespace OPT {
 String strInputFileName;
 String strOutputFileName;
-String strMeshFileName;
+String strViewNeighborsFileName;
 String strDenseConfigFileName;
 float fMaxSubsceneArea;
 float fSampleMesh;
@@ -105,6 +105,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the dense point-cloud")
+		("view-neighbors-file", boost::program_options::value<std::string>(&OPT::strViewNeighborsFileName), "input filename containing the list of views and their neighbors (optional)")
 		#ifdef _USE_CUDA
 		("cuda-device", boost::program_options::value(&nCUDADevice)->default_value(0), "CUDA device number to be used for depth-map estimation (-1 - CPU processing)")
 		#endif
@@ -165,23 +166,22 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
-	Util::ensureUnifySlash(OPT::strInputFileName);
-	if (OPT::vm.count("help") || OPT::strInputFileName.IsEmpty()) {
+	if (OPT::vm.count("help") || OPT::strInputFileName.empty()) {
 		boost::program_options::options_description visible("Available options");
 		visible.add(generic).add(config);
 		GET_LOG() << visible;
 	}
-	if (OPT::strInputFileName.IsEmpty())
+	if (OPT::strInputFileName.empty())
 		return false;
 
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
-	Util::ensureUnifySlash(OPT::strOutputFileName);
-	if (OPT::strOutputFileName.IsEmpty())
+	Util::ensureValidPath(OPT::strViewNeighborsFileName);
+	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_dense.mvs");
 
 	// init dense options
-	if (!OPT::strDenseConfigFileName.IsEmpty())
+	if (!OPT::strDenseConfigFileName.empty())
 		OPT::strDenseConfigFileName = MAKE_PATH_SAFE(OPT::strDenseConfigFileName);
 	OPTDENSE::init();
 	const bool bValidConfig(OPTDENSE::oConfig.Load(OPT::strDenseConfigFileName));
@@ -197,7 +197,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	OPTDENSE::nEstimateColors = nEstimateColors;
 	OPTDENSE::nEstimateNormals = nEstimateNormals;
 	OPTDENSE::nIgnoreMaskLabel = nIgnoreMaskLabel;
-	if (!bValidConfig && !OPT::strDenseConfigFileName.IsEmpty())
+	if (!bValidConfig && !OPT::strDenseConfigFileName.empty())
 		OPTDENSE::oConfig.Save(OPT::strDenseConfigFileName);
 
 	// initialize global options
@@ -260,7 +260,7 @@ int main(int argc, LPCTSTR* argv)
 	// load and estimate a dense point-cloud
 	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
 		return EXIT_FAILURE;
-	if (scene.pointcloud.IsEmpty()) {
+	if (scene.pointcloud.IsEmpty() && OPT::strViewNeighborsFileName.empty()) {
 		VERBOSE("error: empty initial point-cloud");
 		return EXIT_FAILURE;
 	}
@@ -289,6 +289,8 @@ int main(int argc, LPCTSTR* argv)
 		return EXIT_SUCCESS;
 	}
 	if ((ARCHIVE_TYPE)OPT::nArchiveType != ARCHIVE_MVS) {
+		if (!OPT::strViewNeighborsFileName.empty())
+			scene.LoadViewNeighbors(MAKE_PATH_SAFE(OPT::strViewNeighborsFileName));
 		TD_TIMER_START();
 		if (!scene.DenseReconstruction(OPT::nFusionMode)) {
 			if (ABS(OPT::nFusionMode) != 1)
diff --git a/apps/InterfacePhotoScan/CMakeLists.txt b/apps/InterfaceMetashape/CMakeLists.txt
similarity index 75%
rename from apps/InterfacePhotoScan/CMakeLists.txt
rename to apps/InterfaceMetashape/CMakeLists.txt
index 2fd92c343..100e829f5 100644
--- a/apps/InterfacePhotoScan/CMakeLists.txt
+++ b/apps/InterfaceMetashape/CMakeLists.txt
@@ -5,9 +5,9 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags(InterfacePhotoScan "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+cxx_executable_with_flags(InterfaceMetashape "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
-INSTALL(TARGETS InterfacePhotoScan
+INSTALL(TARGETS InterfaceMetashape
 	EXPORT OpenMVSTargets
 	RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin)
diff --git a/apps/InterfacePhotoScan/InterfacePhotoScan.cpp b/apps/InterfaceMetashape/InterfaceMetashape.cpp
similarity index 86%
rename from apps/InterfacePhotoScan/InterfacePhotoScan.cpp
rename to apps/InterfaceMetashape/InterfaceMetashape.cpp
index e12c4769b..e3c261308 100644
--- a/apps/InterfacePhotoScan/InterfacePhotoScan.cpp
+++ b/apps/InterfaceMetashape/InterfaceMetashape.cpp
@@ -1,7 +1,7 @@
 /*
- * InterfacePhotoScan.cpp
+ * InterfaceMetashape.cpp
  *
- * Copyright (c) 2014-2015 SEACAVE
+ * Copyright (c) 2014-2021 SEACAVE
  *
  * Author(s):
  *
@@ -31,12 +31,15 @@
 
 #include "../../libs/MVS/Common.h"
 #include "../../libs/MVS/Scene.h"
+#include "../../libs/IO/TinyXML2.h"
 #include <boost/program_options.hpp>
 
+using namespace MVS;
+
 
 // D E F I N E S ///////////////////////////////////////////////////
 
-#define APPNAME _T("InterfacePhotoScan")
+#define APPNAME _T("InterfaceMetashape") // previously PhotoScan
 #define MVS_EXT _T(".mvs")
 #define XML_EXT _T(".xml")
 #define PLY_EXT _T(".ply")
@@ -47,8 +50,8 @@
 namespace {
 
 namespace OPT {
-String strPointsFileName;
 String strInputFileName;
+String strPointsFileName;
 String strOutputFileName;
 String strOutputImageFolder;
 unsigned nArchiveType;
@@ -71,7 +74,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "produce this help message")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
@@ -88,8 +91,8 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// group of options allowed both on command line and in config file
 	boost::program_options::options_description config("Main options");
 	config.add_options()
-		("points-file,p", boost::program_options::value<std::string>(&OPT::strPointsFileName), "input filename containing the 3D points")
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
+		("points-file,p", boost::program_options::value<std::string>(&OPT::strPointsFileName), "input filename containing the 3D points")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
 		("output-image-folder", boost::program_options::value<std::string>(&OPT::strOutputImageFolder)->default_value("undistorted_images"), "output folder to store undistorted images")
 		;
@@ -129,13 +132,11 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// validate input
 	Util::ensureValidPath(OPT::strPointsFileName);
-	Util::ensureUnifySlash(OPT::strPointsFileName);
 	Util::ensureValidPath(OPT::strInputFileName);
-	Util::ensureUnifySlash(OPT::strInputFileName);
-	Util::ensureUnifySlash(OPT::strOutputImageFolder);
-	Util::ensureDirectorySlash(OPT::strOutputImageFolder);
+	Util::ensureValidPath(OPT::strOutputImageFolder);
+	Util::ensureFolderSlash(OPT::strOutputImageFolder);
 	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
-	const bool bInvalidCommand(OPT::strInputFileName.IsEmpty() || OPT::strPointsFileName.IsEmpty());
+	const bool bInvalidCommand(OPT::strInputFileName.empty());
 	if (OPT::vm.count("help") || bInvalidCommand) {
 		boost::program_options::options_description visible("Available options");
 		visible.add(generic).add(config);
@@ -148,7 +149,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	Util::ensureValidPath(OPT::strOutputFileName);
 	Util::ensureUnifySlash(OPT::strOutputFileName);
 	if (OPT::strOutputFileName.IsEmpty())
-		OPT::strOutputFileName = Util::getFullFileName(OPT::strInputFileName) + MVS_EXT;
+		OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + MVS_EXT;
 
 	// initialize global options
 	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
@@ -178,8 +179,13 @@ void Finalize()
 }
 
 struct DistCoeff {
-	REAL k1, k2, k3, p1, p2, k4, k5, k6;
-	DistCoeff() : k1(0), k2(0), k3(0), p1(0), p2(0), k4(0), k5(0), k6(0) {}
+	union {
+		REAL coeff[8];
+		struct {
+			REAL k1, k2, p1, p2, k3, k4, k5, k6;
+		};
+	};
+	DistCoeff() : k1(0), k2(0), p1(0), p2(0), k3(0), k4(0), k5(0), k6(0) {}
 };
 typedef cList<DistCoeff> DistCoeffs;
 typedef cList<DistCoeffs> PlatformDistCoeffs;
@@ -203,10 +209,8 @@ void ImageListParseP(const LPSTR* argv, Matrix3x4& P)
 
 // parse images list containing calibration and pose information
 // and load the corresponding 3D point-cloud
-bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t& nCameras, size_t& nPoses)
+bool ParseImageListXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t& nCameras, size_t& nPoses)
 {
-	using namespace MVS;
-
 	// open image list
 	nCameras = nPoses = 0;
 	const String strInputFileName(MAKE_PATH_SAFE(OPT::strInputFileName));
@@ -228,7 +232,9 @@ bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, siz
 	tinyxml2::XMLElement* document = doc.FirstChildElement(_T("document"))->FirstChildElement(_T("chunk"));
 	if (document == NULL)
 		goto InvalidDocument;
-	bool bPhotoScanFile(false);
+	{
+	bool bMetashapeFile(false);
+	CLISTDEF0(cv::Size) resolutions;
 
 	// parse platform and camera models
 	{
@@ -242,8 +248,8 @@ bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, siz
 			goto InvalidDocument;
 		{
 		// add new camera
-		enum CameraModel {PHOTOSCAN=0, VSFM};
-		int model(PHOTOSCAN);
+		enum CameraModel {METASHAPE=0, VSFM};
+		int model(METASHAPE);
 		sensor->QueryIntAttribute(_T("model"), &model);
 		ASSERT(scene.platforms.GetSize() == ID);
 		Platform& platform = scene.platforms.AddEmpty();
@@ -255,11 +261,13 @@ bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, siz
 		if (calibration == NULL)
 			goto InvalidDocument;
 		{
-		REAL scale(1);
 		if ((elem=calibration->FirstChildElement(_T("resolution"))) != NULL) {
-			scale = REAL(1)/(REAL)Camera::GetNormalizationScale(elem->UnsignedAttribute(_T("width")), elem->UnsignedAttribute(_T("height")));
-			ASSERT(model == PHOTOSCAN);
-			bPhotoScanFile = true;
+			resolutions.emplace_back(
+				elem->UnsignedAttribute(_T("width")),
+				elem->UnsignedAttribute(_T("height"))
+			);
+			ASSERT(model == METASHAPE);
+			bMetashapeFile = true;
 		}
 		Platform::Camera& camera = platform.cameras.AddEmpty();
 		camera.K = KMatrix::IDENTITY;
@@ -268,23 +276,19 @@ bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, siz
 		DistCoeff& dc = pltDistCoeffs.AddEmpty().AddEmpty();
 		for (elem=calibration->FirstChildElement(); elem!=NULL; elem=elem->NextSiblingElement()) {
 			if (0 == _tcsicmp(elem->Value(), _T("f"))) {
-				camera.K(0,0) = camera.K(1,1) = String::FromString<REAL>(elem->GetText())*scale;
+				camera.K(0,0) = camera.K(1,1) = String::FromString<REAL>(elem->GetText());
 			} else
 			if (0 == _tcsicmp(elem->Value(), _T("fx"))) {
 				elem->QueryDoubleText(&camera.K(0,0));
-				camera.K(0,0) *= scale;
 			} else
 			if (0 == _tcsicmp(elem->Value(), _T("fy"))) {
 				elem->QueryDoubleText(&camera.K(1,1));
-				camera.K(1,1) *= scale;
 			} else
 			if (0 == _tcsicmp(elem->Value(), _T("cx"))) {
 				elem->QueryDoubleText(&camera.K(0,2));
-				camera.K(0,2) *= scale;
 			} else
 			if (0 == _tcsicmp(elem->Value(), _T("cy"))) {
 				elem->QueryDoubleText(&camera.K(1,2));
-				camera.K(1,2) *= scale;
 			} else
 			if (0 == _tcsicmp(elem->Value(), _T("k1"))) {
 				elem->QueryDoubleText(&dc.k1);
@@ -311,6 +315,13 @@ bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, siz
 				elem->QueryDoubleText(&dc.k6);
 			}
 		}
+		if (bMetashapeFile) {
+			const cv::Size& resolution = resolutions.back();
+			camera.K(0,2) += resolution.width*REAL(0.5);
+			camera.K(1,2) += resolution.height*REAL(0.5);
+			camera.K = camera.GetScaledK(REAL(1)/Camera::GetNormalizationScale(resolution.width, resolution.height));
+			std::swap(dc.p1, dc.p2);
+		}
 		++nCameras;
 		}
 		}
@@ -333,7 +344,7 @@ bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, siz
 			goto InvalidDocument;
 		{
 		// add new image
-		ASSERT(scene.images.GetSize() == ID);
+		ASSERT(scene.images.size() == ID);
 		Image& imageData = scene.images.AddEmpty();
 		LPCTSTR name;
 		if ((name=camera->Attribute(_T("type"))) != NULL && _tcsicmp(name, _T("frame")) != 0) {
@@ -343,11 +354,16 @@ bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, siz
 		if ((name=camera->Attribute(_T("label"))) != NULL)
 			imageData.name = name;
 		Util::ensureUnifySlash(imageData.name);
+		if (Util::getFileExt(imageData.name).empty())
+			imageData.name += _T(".jpg");
 		imageData.name = MAKE_PATH_FULL(strPath, imageData.name);
 		imageData.platformID = camera->UnsignedAttribute(_T("sensor_id"));
 		imageData.cameraID = 0; // only one camera per platform supported by this format
 		imageData.ID = ID;
-		if (!camera->BoolAttribute(_T("enabled"))) {
+		const cv::Size& resolution = resolutions[imageData.platformID];
+		imageData.width = resolution.width;
+		imageData.height = resolution.height;
+		if (!bMetashapeFile && !camera->BoolAttribute(_T("enabled"))) {
 			imageData.poseID = NO_ID;
 			DEBUG_EXTRA("warning: uncalibrated image '%s'", name);
 			continue;
@@ -356,17 +372,17 @@ bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, siz
 		CAutoPtrArr<LPSTR> argv;
 		if ((elem=camera->FirstChildElement(_T("transform"))) == NULL ||
 			(argv=Util::CommandLineToArgvA(elem->GetText(), argc)) == NULL ||
-			(argc != (bPhotoScanFile ? 16 : 12)))
+			(argc != (bMetashapeFile ? 16 : 12)))
 		{
 			VERBOSE("Invalid image list camera: %u", ID);
 			continue;
 		}
 		Platform& platform = scene.platforms[imageData.platformID];
-		imageData.poseID = platform.poses.GetSize();
+		imageData.poseID = platform.poses.size();
 		Platform::Pose& pose = platform.poses.AddEmpty();
 		ImageListParseP(argv, P);
 		DecomposeProjectionMatrix(P, pose.R, pose.C);
-		if (bPhotoScanFile) {
+		if (bMetashapeFile) {
 			pose.C = pose.R*(-pose.C);
 			pose.R = pose.R.t();
 		}
@@ -376,6 +392,7 @@ bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, siz
 	}
 	}
 	}
+	}
 
 	return true;
 	InvalidDocument:
@@ -384,24 +401,14 @@ bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, siz
 }
 
 // undistort image using Brown's model
-bool UndistortBrown(MVS::Image& imageData, uint32_t ID, const DistCoeff& dc, const String& pathData)
+bool UndistortBrown(Image& imageData, uint32_t ID, const DistCoeff& dc, const String& pathData)
 {
-	using namespace MVS;
-
 	// load image pixels
 	if (!imageData.ReloadImage())
 		return false;
 
 	// initialize intrinsics
-	cv::Vec<double,8> distCoeffs;
-	distCoeffs(0) = dc.k1;
-	distCoeffs(1) = dc.k2;
-	distCoeffs(2) = dc.p1;
-	distCoeffs(3) = dc.p2;
-	distCoeffs(4) = dc.k3;
-	distCoeffs(5) = dc.k4;
-	distCoeffs(6) = dc.k5;
-	distCoeffs(7) = dc.k6;
+	const cv::Vec<double,8>& distCoeffs = *reinterpret_cast<const cv::Vec<REAL,8>*>(dc.coeff);
 	const KMatrix prevK(imageData.camera.GetK<REAL>(imageData.width, imageData.height));
 	#if 1
 	const KMatrix& K(prevK);
@@ -426,15 +433,13 @@ bool UndistortBrown(MVS::Image& imageData, uint32_t ID, const DistCoeff& dc, con
 	// save undistorted image
 	imageData.image = imgUndist;
 	imageData.name = pathData + String::FormatString(_T("%05u.png"), ID);
-	Util::ensureDirectory(imageData.name);
+	Util::ensureFolder(imageData.name);
 	return imageData.image.Save(imageData.name);
 }
 
 // project all points in this image and keep those looking at the camera and are most in front
-void AssignPoints(const MVS::Image& imageData, uint32_t ID, MVS::PointCloud& pointcloud)
+void AssignPoints(const Image& imageData, uint32_t ID, PointCloud& pointcloud)
 {
-	using namespace MVS;
-
 	ASSERT(pointcloud.IsValid());
 	const int CHalfSize(1);
 	const int FHalfSize(5);
@@ -540,14 +545,17 @@ int main(int argc, LPCTSTR* argv)
 
 	TD_TIMER_START();
 
-	// read the 3D point-cloud
-	MVS::Scene scene(OPT::nMaxThreads);
-	if (!scene.pointcloud.Load(MAKE_PATH_SAFE(OPT::strPointsFileName)))
-		return EXIT_FAILURE;
-	ASSERT(!scene.pointcloud.IsValid());
-	scene.pointcloud.pointViews.Resize(scene.pointcloud.points.GetSize());
+	Scene scene(OPT::nMaxThreads);
+
+	// read the 3D point-cloud if available
+	if (!OPT::strPointsFileName.empty()) {
+		if (!scene.pointcloud.Load(MAKE_PATH_SAFE(OPT::strPointsFileName)))
+			return EXIT_FAILURE;
+		ASSERT(!scene.pointcloud.IsValid());
+		scene.pointcloud.pointViews.Resize(scene.pointcloud.points.GetSize());
+	}
 
-	// convert data from PhotoScan format to OpenMVS
+	// convert data from Metashape format to OpenMVS
 	PlatformDistCoeffs pltDistCoeffs;
 	size_t nCameras, nPoses;
 	if (!ParseImageListXML(scene, pltDistCoeffs, nCameras, nPoses))
@@ -555,12 +563,12 @@ int main(int argc, LPCTSTR* argv)
 
 	// undistort images
 	const String pathData(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputImageFolder));
-	Util::Progress progress(_T("Processed images"), scene.images.GetSize());
+	Util::Progress progress(_T("Processed images"), scene.images.size());
 	GET_LOGCONSOLE().Pause();
 	#ifdef _USE_OPENMP
 	bool bAbort(false);
 	#pragma omp parallel for shared(bAbort) schedule(dynamic)
-	for (int ID=0; ID<(int)scene.images.GetSize(); ++ID) {
+	for (int ID=0; ID<(int)scene.images.size(); ++ID) {
 		#pragma omp flush (bAbort)
 		if (bAbort)
 			continue;
@@ -568,7 +576,7 @@ int main(int argc, LPCTSTR* argv)
 	FOREACH(ID, scene.images) {
 	#endif
 		++progress;
-		MVS::Image& imageData = scene.images[ID];
+		Image& imageData = scene.images[ID];
 		if (!UndistortBrown(imageData, ID, pltDistCoeffs[imageData.platformID][imageData.cameraID], pathData)) {
 			#ifdef _USE_OPENMP
 			bAbort = true;
@@ -579,7 +587,8 @@ int main(int argc, LPCTSTR* argv)
 			#endif
 		}
 		imageData.UpdateCamera(scene.platforms);
-		AssignPoints(imageData, ID, scene.pointcloud);
+		if (scene.pointcloud.IsValid())
+			AssignPoints(imageData, ID, scene.pointcloud);
 	}
 	GET_LOGCONSOLE().Play();
 	#ifdef _USE_OPENMP
diff --git a/libs/IO/TinyXML2.cpp b/libs/IO/TinyXML2.cpp
new file mode 100644
index 000000000..bea34144c
--- /dev/null
+++ b/libs/IO/TinyXML2.cpp
@@ -0,0 +1,2987 @@
+/*
+Original code by Lee Thomason (www.grinninglizard.com)
+
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any
+damages arising from the use of this software.
+
+Permission is granted to anyone to use this software for any
+purpose, including commercial applications, and to alter it and
+redistribute it freely, subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must
+not claim that you wrote the original software. If you use this
+software in a product, an acknowledgment in the product documentation
+would be appreciated but is not required.
+
+2. Altered source versions must be plainly marked as such, and
+must not be misrepresented as being the original software.
+
+3. This notice may not be removed or altered from any source
+distribution.
+*/
+
+#include "Common.h"
+#include "TinyXML2.h"
+
+#include <new>		// yes, this one new style header, is in the Android SDK.
+#if defined(ANDROID_NDK) || defined(__BORLANDC__) || defined(__QNXNTO__)
+#   include <stddef.h>
+#   include <stdarg.h>
+#else
+#   include <cstddef>
+#   include <cstdarg>
+#endif
+
+#if defined(_MSC_VER) && (_MSC_VER >= 1400 ) && (!defined WINCE)
+	// Microsoft Visual Studio, version 2005 and higher. Not WinCE.
+	/*int _snprintf_s(
+	   char *buffer,
+	   size_t sizeOfBuffer,
+	   size_t count,
+	   const char *format [,
+		  argument] ...
+	);*/
+	static inline int TIXML_SNPRINTF( char* buffer, size_t size, const char* format, ... )
+	{
+		va_list va;
+		va_start( va, format );
+		const int result = vsnprintf_s( buffer, size, _TRUNCATE, format, va );
+		va_end( va );
+		return result;
+	}
+
+	static inline int TIXML_VSNPRINTF( char* buffer, size_t size, const char* format, va_list va )
+	{
+		const int result = vsnprintf_s( buffer, size, _TRUNCATE, format, va );
+		return result;
+	}
+
+	#define TIXML_VSCPRINTF	_vscprintf
+	#define TIXML_SSCANF	sscanf_s
+#elif defined _MSC_VER
+	// Microsoft Visual Studio 2003 and earlier or WinCE
+	#define TIXML_SNPRINTF	_snprintf
+	#define TIXML_VSNPRINTF _vsnprintf
+	#define TIXML_SSCANF	sscanf
+	#if (_MSC_VER < 1400 ) && (!defined WINCE)
+		// Microsoft Visual Studio 2003 and not WinCE.
+		#define TIXML_VSCPRINTF   _vscprintf // VS2003's C runtime has this, but VC6 C runtime or WinCE SDK doesn't have.
+	#else
+		// Microsoft Visual Studio 2003 and earlier or WinCE.
+		static inline int TIXML_VSCPRINTF( const char* format, va_list va )
+		{
+			int len = 512;
+			for (;;) {
+				len = len*2;
+				char* str = new char[len]();
+				const int required = _vsnprintf(str, len, format, va);
+				delete[] str;
+				if ( required != -1 ) {
+					TIXMLASSERT( required >= 0 );
+					len = required;
+					break;
+				}
+			}
+			TIXMLASSERT( len >= 0 );
+			return len;
+		}
+	#endif
+#else
+	// GCC version 3 and higher
+	//#warning( "Using sn* functions." )
+	#define TIXML_SNPRINTF	snprintf
+	#define TIXML_VSNPRINTF	vsnprintf
+	static inline int TIXML_VSCPRINTF( const char* format, va_list va )
+	{
+		int len = vsnprintf( 0, 0, format, va );
+		TIXMLASSERT( len >= 0 );
+		return len;
+	}
+	#define TIXML_SSCANF   sscanf
+#endif
+
+#if defined(_WIN64)
+	#define TIXML_FSEEK _fseeki64
+	#define TIXML_FTELL _ftelli64
+#elif defined(__APPLE__) || defined(__FreeBSD__) || defined(__ANDROID__)
+	#define TIXML_FSEEK fseeko
+	#define TIXML_FTELL ftello
+#elif defined(__unix__) && defined(__x86_64__)
+	#define TIXML_FSEEK fseeko64
+	#define TIXML_FTELL ftello64
+#else
+	#define TIXML_FSEEK fseek
+	#define TIXML_FTELL ftell
+#endif
+
+
+static const char LINE_FEED				= static_cast<char>(0x0a);			// all line endings are normalized to LF
+static const char LF = LINE_FEED;
+static const char CARRIAGE_RETURN		= static_cast<char>(0x0d);			// CR gets filtered out
+static const char CR = CARRIAGE_RETURN;
+static const char SINGLE_QUOTE			= '\'';
+static const char DOUBLE_QUOTE			= '\"';
+
+// Bunch of unicode info at:
+//		http://www.unicode.org/faq/utf_bom.html
+//	ef bb bf (Microsoft "lead bytes") - designates UTF-8
+
+static const unsigned char TIXML_UTF_LEAD_0 = 0xefU;
+static const unsigned char TIXML_UTF_LEAD_1 = 0xbbU;
+static const unsigned char TIXML_UTF_LEAD_2 = 0xbfU;
+
+namespace tinyxml2
+{
+
+struct Entity {
+    const char* pattern;
+    int length;
+    char value;
+};
+
+static const int NUM_ENTITIES = 5;
+static const Entity entities[NUM_ENTITIES] = {
+    { "quot", 4,	DOUBLE_QUOTE },
+    { "amp", 3,		'&'  },
+    { "apos", 4,	SINGLE_QUOTE },
+    { "lt",	2, 		'<'	 },
+    { "gt",	2,		'>'	 }
+};
+
+
+StrPair::~StrPair()
+{
+    Reset();
+}
+
+
+void StrPair::TransferTo( StrPair* other )
+{
+    if ( this == other ) {
+        return;
+    }
+    // This in effect implements the assignment operator by "moving"
+    // ownership (as in auto_ptr).
+
+    TIXMLASSERT( other != 0 );
+    TIXMLASSERT( other->_flags == 0 );
+    TIXMLASSERT( other->_start == 0 );
+    TIXMLASSERT( other->_end == 0 );
+
+    other->Reset();
+
+    other->_flags = _flags;
+    other->_start = _start;
+    other->_end = _end;
+
+    _flags = 0;
+    _start = 0;
+    _end = 0;
+}
+
+
+void StrPair::Reset()
+{
+    if ( _flags & NEEDS_DELETE ) {
+        delete [] _start;
+    }
+    _flags = 0;
+    _start = 0;
+    _end = 0;
+}
+
+
+void StrPair::SetStr( const char* str, int flags )
+{
+    TIXMLASSERT( str );
+    Reset();
+    size_t len = strlen( str );
+    TIXMLASSERT( _start == 0 );
+    _start = new char[ len+1 ];
+    memcpy( _start, str, len+1 );
+    _end = _start + len;
+    _flags = flags | NEEDS_DELETE;
+}
+
+
+char* StrPair::ParseText( char* p, const char* endTag, int strFlags, int* curLineNumPtr )
+{
+    TIXMLASSERT( p );
+    TIXMLASSERT( endTag && *endTag );
+	TIXMLASSERT(curLineNumPtr);
+
+    char* start = p;
+    const char  endChar = *endTag;
+    size_t length = strlen( endTag );
+
+    // Inner loop of text parsing.
+    while ( *p ) {
+        if ( *p == endChar && strncmp( p, endTag, length ) == 0 ) {
+            Set( start, p, strFlags );
+            return p + length;
+        } else if (*p == '\n') {
+            ++(*curLineNumPtr);
+        }
+        ++p;
+        TIXMLASSERT( p );
+    }
+    return 0;
+}
+
+
+char* StrPair::ParseName( char* p )
+{
+    if ( !p || !(*p) ) {
+        return 0;
+    }
+    if ( !XMLUtil::IsNameStartChar( (unsigned char) *p ) ) {
+        return 0;
+    }
+
+    char* const start = p;
+    ++p;
+    while ( *p && XMLUtil::IsNameChar( (unsigned char) *p ) ) {
+        ++p;
+    }
+
+    Set( start, p, 0 );
+    return p;
+}
+
+
+void StrPair::CollapseWhitespace()
+{
+    // Adjusting _start would cause undefined behavior on delete[]
+    TIXMLASSERT( ( _flags & NEEDS_DELETE ) == 0 );
+    // Trim leading space.
+    _start = XMLUtil::SkipWhiteSpace( _start, 0 );
+
+    if ( *_start ) {
+        const char* p = _start;	// the read pointer
+        char* q = _start;	// the write pointer
+
+        while( *p ) {
+            if ( XMLUtil::IsWhiteSpace( *p )) {
+                p = XMLUtil::SkipWhiteSpace( p, 0 );
+                if ( *p == 0 ) {
+                    break;    // don't write to q; this trims the trailing space.
+                }
+                *q = ' ';
+                ++q;
+            }
+            *q = *p;
+            ++q;
+            ++p;
+        }
+        *q = 0;
+    }
+}
+
+
+const char* StrPair::GetStr()
+{
+    TIXMLASSERT( _start );
+    TIXMLASSERT( _end );
+    if ( _flags & NEEDS_FLUSH ) {
+        *_end = 0;
+        _flags ^= NEEDS_FLUSH;
+
+        if ( _flags ) {
+            const char* p = _start;	// the read pointer
+            char* q = _start;	// the write pointer
+
+            while( p < _end ) {
+                if ( (_flags & NEEDS_NEWLINE_NORMALIZATION) && *p == CR ) {
+                    // CR-LF pair becomes LF
+                    // CR alone becomes LF
+                    // LF-CR becomes LF
+                    if ( *(p+1) == LF ) {
+                        p += 2;
+                    }
+                    else {
+                        ++p;
+                    }
+                    *q = LF;
+                    ++q;
+                }
+                else if ( (_flags & NEEDS_NEWLINE_NORMALIZATION) && *p == LF ) {
+                    if ( *(p+1) == CR ) {
+                        p += 2;
+                    }
+                    else {
+                        ++p;
+                    }
+                    *q = LF;
+                    ++q;
+                }
+                else if ( (_flags & NEEDS_ENTITY_PROCESSING) && *p == '&' ) {
+                    // Entities handled by tinyXML2:
+                    // - special entities in the entity table [in/out]
+                    // - numeric character reference [in]
+                    //   &#20013; or &#x4e2d;
+
+                    if ( *(p+1) == '#' ) {
+                        const int buflen = 10;
+                        char buf[buflen] = { 0 };
+                        int len = 0;
+                        const char* adjusted = const_cast<char*>( XMLUtil::GetCharacterRef( p, buf, &len ) );
+                        if ( adjusted == 0 ) {
+                            *q = *p;
+                            ++p;
+                            ++q;
+                        }
+                        else {
+                            TIXMLASSERT( 0 <= len && len <= buflen );
+                            TIXMLASSERT( q + len <= adjusted );
+                            p = adjusted;
+                            memcpy( q, buf, len );
+                            q += len;
+                        }
+                    }
+                    else {
+                        bool entityFound = false;
+                        for( int i = 0; i < NUM_ENTITIES; ++i ) {
+                            const Entity& entity = entities[i];
+                            if ( strncmp( p + 1, entity.pattern, entity.length ) == 0
+                                    && *( p + entity.length + 1 ) == ';' ) {
+                                // Found an entity - convert.
+                                *q = entity.value;
+                                ++q;
+                                p += entity.length + 2;
+                                entityFound = true;
+                                break;
+                            }
+                        }
+                        if ( !entityFound ) {
+                            // fixme: treat as error?
+                            ++p;
+                            ++q;
+                        }
+                    }
+                }
+                else {
+                    *q = *p;
+                    ++p;
+                    ++q;
+                }
+            }
+            *q = 0;
+        }
+        // The loop below has plenty going on, and this
+        // is a less useful mode. Break it out.
+        if ( _flags & NEEDS_WHITESPACE_COLLAPSING ) {
+            CollapseWhitespace();
+        }
+        _flags = (_flags & NEEDS_DELETE);
+    }
+    TIXMLASSERT( _start );
+    return _start;
+}
+
+
+
+
+// --------- XMLUtil ----------- //
+
+const char* XMLUtil::writeBoolTrue  = "true";
+const char* XMLUtil::writeBoolFalse = "false";
+
+void XMLUtil::SetBoolSerialization(const char* writeTrue, const char* writeFalse)
+{
+	static const char* defTrue  = "true";
+	static const char* defFalse = "false";
+
+	writeBoolTrue = (writeTrue) ? writeTrue : defTrue;
+	writeBoolFalse = (writeFalse) ? writeFalse : defFalse;
+}
+
+
+const char* XMLUtil::ReadBOM( const char* p, bool* bom )
+{
+    TIXMLASSERT( p );
+    TIXMLASSERT( bom );
+    *bom = false;
+    const unsigned char* pu = reinterpret_cast<const unsigned char*>(p);
+    // Check for BOM:
+    if (    *(pu+0) == TIXML_UTF_LEAD_0
+            && *(pu+1) == TIXML_UTF_LEAD_1
+            && *(pu+2) == TIXML_UTF_LEAD_2 ) {
+        *bom = true;
+        p += 3;
+    }
+    TIXMLASSERT( p );
+    return p;
+}
+
+
+void XMLUtil::ConvertUTF32ToUTF8( unsigned long input, char* output, int* length )
+{
+    const unsigned long BYTE_MASK = 0xBF;
+    const unsigned long BYTE_MARK = 0x80;
+    const unsigned long FIRST_BYTE_MARK[7] = { 0x00, 0x00, 0xC0, 0xE0, 0xF0, 0xF8, 0xFC };
+
+    if (input < 0x80) {
+        *length = 1;
+    }
+    else if ( input < 0x800 ) {
+        *length = 2;
+    }
+    else if ( input < 0x10000 ) {
+        *length = 3;
+    }
+    else if ( input < 0x200000 ) {
+        *length = 4;
+    }
+    else {
+        *length = 0;    // This code won't convert this correctly anyway.
+        return;
+    }
+
+    output += *length;
+
+    // Scary scary fall throughs are annotated with carefully designed comments
+    // to suppress compiler warnings such as -Wimplicit-fallthrough in gcc
+    switch (*length) {
+        case 4:
+            --output;
+            *output = static_cast<char>((input | BYTE_MARK) & BYTE_MASK);
+            input >>= 6;
+            //fall through
+        case 3:
+            --output;
+            *output = static_cast<char>((input | BYTE_MARK) & BYTE_MASK);
+            input >>= 6;
+            //fall through
+        case 2:
+            --output;
+            *output = static_cast<char>((input | BYTE_MARK) & BYTE_MASK);
+            input >>= 6;
+            //fall through
+        case 1:
+            --output;
+            *output = static_cast<char>(input | FIRST_BYTE_MARK[*length]);
+            break;
+        default:
+            TIXMLASSERT( false );
+    }
+}
+
+
+const char* XMLUtil::GetCharacterRef( const char* p, char* value, int* length )
+{
+    // Presume an entity, and pull it out.
+    *length = 0;
+
+    if ( *(p+1) == '#' && *(p+2) ) {
+        unsigned long ucs = 0;
+        TIXMLASSERT( sizeof( ucs ) >= 4 );
+        ptrdiff_t delta = 0;
+        unsigned mult = 1;
+        static const char SEMICOLON = ';';
+
+        if ( *(p+2) == 'x' ) {
+            // Hexadecimal.
+            const char* q = p+3;
+            if ( !(*q) ) {
+                return 0;
+            }
+
+            q = strchr( q, SEMICOLON );
+
+            if ( !q ) {
+                return 0;
+            }
+            TIXMLASSERT( *q == SEMICOLON );
+
+            delta = q-p;
+            --q;
+
+            while ( *q != 'x' ) {
+                unsigned int digit = 0;
+
+                if ( *q >= '0' && *q <= '9' ) {
+                    digit = *q - '0';
+                }
+                else if ( *q >= 'a' && *q <= 'f' ) {
+                    digit = *q - 'a' + 10;
+                }
+                else if ( *q >= 'A' && *q <= 'F' ) {
+                    digit = *q - 'A' + 10;
+                }
+                else {
+                    return 0;
+                }
+                TIXMLASSERT( digit < 16 );
+                TIXMLASSERT( digit == 0 || mult <= UINT_MAX / digit );
+                const unsigned int digitScaled = mult * digit;
+                TIXMLASSERT( ucs <= ULONG_MAX - digitScaled );
+                ucs += digitScaled;
+                TIXMLASSERT( mult <= UINT_MAX / 16 );
+                mult *= 16;
+                --q;
+            }
+        }
+        else {
+            // Decimal.
+            const char* q = p+2;
+            if ( !(*q) ) {
+                return 0;
+            }
+
+            q = strchr( q, SEMICOLON );
+
+            if ( !q ) {
+                return 0;
+            }
+            TIXMLASSERT( *q == SEMICOLON );
+
+            delta = q-p;
+            --q;
+
+            while ( *q != '#' ) {
+                if ( *q >= '0' && *q <= '9' ) {
+                    const unsigned int digit = *q - '0';
+                    TIXMLASSERT( digit < 10 );
+                    TIXMLASSERT( digit == 0 || mult <= UINT_MAX / digit );
+                    const unsigned int digitScaled = mult * digit;
+                    TIXMLASSERT( ucs <= ULONG_MAX - digitScaled );
+                    ucs += digitScaled;
+                }
+                else {
+                    return 0;
+                }
+                TIXMLASSERT( mult <= UINT_MAX / 10 );
+                mult *= 10;
+                --q;
+            }
+        }
+        // convert the UCS to UTF-8
+        ConvertUTF32ToUTF8( ucs, value, length );
+        return p + delta + 1;
+    }
+    return p+1;
+}
+
+
+void XMLUtil::ToStr( int v, char* buffer, int bufferSize )
+{
+    TIXML_SNPRINTF( buffer, bufferSize, "%d", v );
+}
+
+
+void XMLUtil::ToStr( unsigned v, char* buffer, int bufferSize )
+{
+    TIXML_SNPRINTF( buffer, bufferSize, "%u", v );
+}
+
+
+void XMLUtil::ToStr( bool v, char* buffer, int bufferSize )
+{
+    TIXML_SNPRINTF( buffer, bufferSize, "%s", v ? writeBoolTrue : writeBoolFalse);
+}
+
+/*
+	ToStr() of a number is a very tricky topic.
+	https://github.com/leethomason/tinyxml2/issues/106
+*/
+void XMLUtil::ToStr( float v, char* buffer, int bufferSize )
+{
+    TIXML_SNPRINTF( buffer, bufferSize, "%.8g", v );
+}
+
+
+void XMLUtil::ToStr( double v, char* buffer, int bufferSize )
+{
+    TIXML_SNPRINTF( buffer, bufferSize, "%.17g", v );
+}
+
+
+void XMLUtil::ToStr( int64_t v, char* buffer, int bufferSize )
+{
+	// horrible syntax trick to make the compiler happy about %lld
+	TIXML_SNPRINTF(buffer, bufferSize, "%lld", static_cast<long long>(v));
+}
+
+void XMLUtil::ToStr( uint64_t v, char* buffer, int bufferSize )
+{
+    // horrible syntax trick to make the compiler happy about %llu
+    TIXML_SNPRINTF(buffer, bufferSize, "%llu", (long long)v);
+}
+
+bool XMLUtil::ToInt(const char* str, int* value)
+{
+    if (IsPrefixHex(str)) {
+        unsigned v;
+        if (TIXML_SSCANF(str, "%x", &v) == 1) {
+            *value = static_cast<int>(v);
+            return true;
+        }
+    }
+    else {
+        if (TIXML_SSCANF(str, "%d", value) == 1) {
+            return true;
+        }
+    }
+    return false;
+}
+
+bool XMLUtil::ToUnsigned(const char* str, unsigned* value)
+{
+    if (TIXML_SSCANF(str, IsPrefixHex(str) ? "%x" : "%u", value) == 1) {
+        return true;
+    }
+    return false;
+}
+
+bool XMLUtil::ToBool( const char* str, bool* value )
+{
+    int ival = 0;
+    if ( ToInt( str, &ival )) {
+        *value = (ival==0) ? false : true;
+        return true;
+    }
+    static const char* TRUE_VALS[] = { "true", "True", "TRUE", 0 };
+    static const char* FALSE_VALS[] = { "false", "False", "FALSE", 0 };
+
+    for (int i = 0; TRUE_VALS[i]; ++i) {
+        if (StringEqual(str, TRUE_VALS[i])) {
+            *value = true;
+            return true;
+        }
+    }
+    for (int i = 0; FALSE_VALS[i]; ++i) {
+        if (StringEqual(str, FALSE_VALS[i])) {
+            *value = false;
+            return true;
+        }
+    }
+    return false;
+}
+
+
+bool XMLUtil::ToFloat( const char* str, float* value )
+{
+    if ( TIXML_SSCANF( str, "%f", value ) == 1 ) {
+        return true;
+    }
+    return false;
+}
+
+
+bool XMLUtil::ToDouble( const char* str, double* value )
+{
+    if ( TIXML_SSCANF( str, "%lf", value ) == 1 ) {
+        return true;
+    }
+    return false;
+}
+
+
+bool XMLUtil::ToInt64(const char* str, int64_t* value)
+{
+    if (IsPrefixHex(str)) {
+        unsigned long long v = 0;	// horrible syntax trick to make the compiler happy about %llx
+        if (TIXML_SSCANF(str, "%llx", &v) == 1) {
+            *value = static_cast<int64_t>(v);
+            return true;
+        }
+    }
+    else {
+        long long v = 0;	// horrible syntax trick to make the compiler happy about %lld
+        if (TIXML_SSCANF(str, "%lld", &v) == 1) {
+            *value = static_cast<int64_t>(v);
+            return true;
+        }
+    }
+	return false;
+}
+
+
+bool XMLUtil::ToUnsigned64(const char* str, uint64_t* value) {
+    unsigned long long v = 0;	// horrible syntax trick to make the compiler happy about %llu
+    if(TIXML_SSCANF(str, IsPrefixHex(str) ? "%llx" : "%llu", &v) == 1) {
+        *value = (uint64_t)v;
+        return true;
+    }
+    return false;
+}
+
+
+char* XMLDocument::Identify( char* p, XMLNode** node )
+{
+    TIXMLASSERT( node );
+    TIXMLASSERT( p );
+    char* const start = p;
+    int const startLine = _parseCurLineNum;
+    p = XMLUtil::SkipWhiteSpace( p, &_parseCurLineNum );
+    if( !*p ) {
+        *node = 0;
+        TIXMLASSERT( p );
+        return p;
+    }
+
+    // These strings define the matching patterns:
+    static const char* xmlHeader		= { "<?" };
+    static const char* commentHeader	= { "<!--" };
+    static const char* cdataHeader		= { "<![CDATA[" };
+    static const char* dtdHeader		= { "<!" };
+    static const char* elementHeader	= { "<" };	// and a header for everything else; check last.
+
+    static const int xmlHeaderLen		= 2;
+    static const int commentHeaderLen	= 4;
+    static const int cdataHeaderLen		= 9;
+    static const int dtdHeaderLen		= 2;
+    static const int elementHeaderLen	= 1;
+
+    TIXMLASSERT( sizeof( XMLComment ) == sizeof( XMLUnknown ) );		// use same memory pool
+    TIXMLASSERT( sizeof( XMLComment ) == sizeof( XMLDeclaration ) );	// use same memory pool
+    XMLNode* returnNode = 0;
+    if ( XMLUtil::StringEqual( p, xmlHeader, xmlHeaderLen ) ) {
+        returnNode = CreateUnlinkedNode<XMLDeclaration>( _commentPool );
+        returnNode->_parseLineNum = _parseCurLineNum;
+        p += xmlHeaderLen;
+    }
+    else if ( XMLUtil::StringEqual( p, commentHeader, commentHeaderLen ) ) {
+        returnNode = CreateUnlinkedNode<XMLComment>( _commentPool );
+        returnNode->_parseLineNum = _parseCurLineNum;
+        p += commentHeaderLen;
+    }
+    else if ( XMLUtil::StringEqual( p, cdataHeader, cdataHeaderLen ) ) {
+        XMLText* text = CreateUnlinkedNode<XMLText>( _textPool );
+        returnNode = text;
+        returnNode->_parseLineNum = _parseCurLineNum;
+        p += cdataHeaderLen;
+        text->SetCData( true );
+    }
+    else if ( XMLUtil::StringEqual( p, dtdHeader, dtdHeaderLen ) ) {
+        returnNode = CreateUnlinkedNode<XMLUnknown>( _commentPool );
+        returnNode->_parseLineNum = _parseCurLineNum;
+        p += dtdHeaderLen;
+    }
+    else if ( XMLUtil::StringEqual( p, elementHeader, elementHeaderLen ) ) {
+        returnNode =  CreateUnlinkedNode<XMLElement>( _elementPool );
+        returnNode->_parseLineNum = _parseCurLineNum;
+        p += elementHeaderLen;
+    }
+    else {
+        returnNode = CreateUnlinkedNode<XMLText>( _textPool );
+        returnNode->_parseLineNum = _parseCurLineNum; // Report line of first non-whitespace character
+        p = start;	// Back it up, all the text counts.
+        _parseCurLineNum = startLine;
+    }
+
+    TIXMLASSERT( returnNode );
+    TIXMLASSERT( p );
+    *node = returnNode;
+    return p;
+}
+
+
+bool XMLDocument::Accept( XMLVisitor* visitor ) const
+{
+    TIXMLASSERT( visitor );
+    if ( visitor->VisitEnter( *this ) ) {
+        for ( const XMLNode* node=FirstChild(); node; node=node->NextSibling() ) {
+            if ( !node->Accept( visitor ) ) {
+                break;
+            }
+        }
+    }
+    return visitor->VisitExit( *this );
+}
+
+
+// --------- XMLNode ----------- //
+
+XMLNode::XMLNode( XMLDocument* doc ) :
+    _document( doc ),
+    _parent( 0 ),
+    _value(),
+    _parseLineNum( 0 ),
+    _firstChild( 0 ), _lastChild( 0 ),
+    _prev( 0 ), _next( 0 ),
+	_userData( 0 ),
+    _memPool( 0 )
+{
+}
+
+
+XMLNode::~XMLNode()
+{
+    DeleteChildren();
+    if ( _parent ) {
+        _parent->Unlink( this );
+    }
+}
+
+const char* XMLNode::Value() const
+{
+    // Edge case: XMLDocuments don't have a Value. Return null.
+    if ( this->ToDocument() )
+        return 0;
+    return _value.GetStr();
+}
+
+void XMLNode::SetValue( const char* str, bool staticMem )
+{
+    if ( staticMem ) {
+        _value.SetInternedStr( str );
+    }
+    else {
+        _value.SetStr( str );
+    }
+}
+
+XMLNode* XMLNode::DeepClone(XMLDocument* target) const
+{
+	XMLNode* clone = this->ShallowClone(target);
+	if (!clone) return 0;
+
+	for (const XMLNode* child = this->FirstChild(); child; child = child->NextSibling()) {
+		XMLNode* childClone = child->DeepClone(target);
+		TIXMLASSERT(childClone);
+		clone->InsertEndChild(childClone);
+	}
+	return clone;
+}
+
+void XMLNode::DeleteChildren()
+{
+    while( _firstChild ) {
+        TIXMLASSERT( _lastChild );
+        DeleteChild( _firstChild );
+    }
+    _firstChild = _lastChild = 0;
+}
+
+
+void XMLNode::Unlink( XMLNode* child )
+{
+    TIXMLASSERT( child );
+    TIXMLASSERT( child->_document == _document );
+    TIXMLASSERT( child->_parent == this );
+    if ( child == _firstChild ) {
+        _firstChild = _firstChild->_next;
+    }
+    if ( child == _lastChild ) {
+        _lastChild = _lastChild->_prev;
+    }
+
+    if ( child->_prev ) {
+        child->_prev->_next = child->_next;
+    }
+    if ( child->_next ) {
+        child->_next->_prev = child->_prev;
+    }
+	child->_next = 0;
+	child->_prev = 0;
+	child->_parent = 0;
+}
+
+
+void XMLNode::DeleteChild( XMLNode* node )
+{
+    TIXMLASSERT( node );
+    TIXMLASSERT( node->_document == _document );
+    TIXMLASSERT( node->_parent == this );
+    Unlink( node );
+	TIXMLASSERT(node->_prev == 0);
+	TIXMLASSERT(node->_next == 0);
+	TIXMLASSERT(node->_parent == 0);
+    DeleteNode( node );
+}
+
+
+XMLNode* XMLNode::InsertEndChild( XMLNode* addThis )
+{
+    TIXMLASSERT( addThis );
+    if ( addThis->_document != _document ) {
+        TIXMLASSERT( false );
+        return 0;
+    }
+    InsertChildPreamble( addThis );
+
+    if ( _lastChild ) {
+        TIXMLASSERT( _firstChild );
+        TIXMLASSERT( _lastChild->_next == 0 );
+        _lastChild->_next = addThis;
+        addThis->_prev = _lastChild;
+        _lastChild = addThis;
+
+        addThis->_next = 0;
+    }
+    else {
+        TIXMLASSERT( _firstChild == 0 );
+        _firstChild = _lastChild = addThis;
+
+        addThis->_prev = 0;
+        addThis->_next = 0;
+    }
+    addThis->_parent = this;
+    return addThis;
+}
+
+
+XMLNode* XMLNode::InsertFirstChild( XMLNode* addThis )
+{
+    TIXMLASSERT( addThis );
+    if ( addThis->_document != _document ) {
+        TIXMLASSERT( false );
+        return 0;
+    }
+    InsertChildPreamble( addThis );
+
+    if ( _firstChild ) {
+        TIXMLASSERT( _lastChild );
+        TIXMLASSERT( _firstChild->_prev == 0 );
+
+        _firstChild->_prev = addThis;
+        addThis->_next = _firstChild;
+        _firstChild = addThis;
+
+        addThis->_prev = 0;
+    }
+    else {
+        TIXMLASSERT( _lastChild == 0 );
+        _firstChild = _lastChild = addThis;
+
+        addThis->_prev = 0;
+        addThis->_next = 0;
+    }
+    addThis->_parent = this;
+    return addThis;
+}
+
+
+XMLNode* XMLNode::InsertAfterChild( XMLNode* afterThis, XMLNode* addThis )
+{
+    TIXMLASSERT( addThis );
+    if ( addThis->_document != _document ) {
+        TIXMLASSERT( false );
+        return 0;
+    }
+
+    TIXMLASSERT( afterThis );
+
+    if ( afterThis->_parent != this ) {
+        TIXMLASSERT( false );
+        return 0;
+    }
+    if ( afterThis == addThis ) {
+        // Current state: BeforeThis -> AddThis -> OneAfterAddThis
+        // Now AddThis must disappear from it's location and then
+        // reappear between BeforeThis and OneAfterAddThis.
+        // So just leave it where it is.
+        return addThis;
+    }
+
+    if ( afterThis->_next == 0 ) {
+        // The last node or the only node.
+        return InsertEndChild( addThis );
+    }
+    InsertChildPreamble( addThis );
+    addThis->_prev = afterThis;
+    addThis->_next = afterThis->_next;
+    afterThis->_next->_prev = addThis;
+    afterThis->_next = addThis;
+    addThis->_parent = this;
+    return addThis;
+}
+
+
+
+
+const XMLElement* XMLNode::FirstChildElement( const char* name ) const
+{
+    for( const XMLNode* node = _firstChild; node; node = node->_next ) {
+        const XMLElement* element = node->ToElementWithName( name );
+        if ( element ) {
+            return element;
+        }
+    }
+    return 0;
+}
+
+
+const XMLElement* XMLNode::LastChildElement( const char* name ) const
+{
+    for( const XMLNode* node = _lastChild; node; node = node->_prev ) {
+        const XMLElement* element = node->ToElementWithName( name );
+        if ( element ) {
+            return element;
+        }
+    }
+    return 0;
+}
+
+
+const XMLElement* XMLNode::NextSiblingElement( const char* name ) const
+{
+    for( const XMLNode* node = _next; node; node = node->_next ) {
+        const XMLElement* element = node->ToElementWithName( name );
+        if ( element ) {
+            return element;
+        }
+    }
+    return 0;
+}
+
+
+const XMLElement* XMLNode::PreviousSiblingElement( const char* name ) const
+{
+    for( const XMLNode* node = _prev; node; node = node->_prev ) {
+        const XMLElement* element = node->ToElementWithName( name );
+        if ( element ) {
+            return element;
+        }
+    }
+    return 0;
+}
+
+
+char* XMLNode::ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr )
+{
+    // This is a recursive method, but thinking about it "at the current level"
+    // it is a pretty simple flat list:
+    //		<foo/>
+    //		<!-- comment -->
+    //
+    // With a special case:
+    //		<foo>
+    //		</foo>
+    //		<!-- comment -->
+    //
+    // Where the closing element (/foo) *must* be the next thing after the opening
+    // element, and the names must match. BUT the tricky bit is that the closing
+    // element will be read by the child.
+    //
+    // 'endTag' is the end tag for this node, it is returned by a call to a child.
+    // 'parentEnd' is the end tag for the parent, which is filled in and returned.
+
+	XMLDocument::DepthTracker tracker(_document);
+	if (_document->Error())
+		return 0;
+
+	while( p && *p ) {
+        XMLNode* node = 0;
+
+        p = _document->Identify( p, &node );
+        TIXMLASSERT( p );
+        if ( node == 0 ) {
+            break;
+        }
+
+       const int initialLineNum = node->_parseLineNum;
+
+        StrPair endTag;
+        p = node->ParseDeep( p, &endTag, curLineNumPtr );
+        if ( !p ) {
+            DeleteNode( node );
+            if ( !_document->Error() ) {
+                _document->SetError( XML_ERROR_PARSING, initialLineNum, 0);
+            }
+            break;
+        }
+
+        const XMLDeclaration* const decl = node->ToDeclaration();
+        if ( decl ) {
+            // Declarations are only allowed at document level
+            //
+            // Multiple declarations are allowed but all declarations
+            // must occur before anything else. 
+            //
+            // Optimized due to a security test case. If the first node is 
+            // a declaration, and the last node is a declaration, then only 
+            // declarations have so far been added.
+            bool wellLocated = false;
+
+            if (ToDocument()) {
+                if (FirstChild()) {
+                    wellLocated =
+                        FirstChild() &&
+                        FirstChild()->ToDeclaration() &&
+                        LastChild() &&
+                        LastChild()->ToDeclaration();
+                }
+                else {
+                    wellLocated = true;
+                }
+            }
+            if ( !wellLocated ) {
+                _document->SetError( XML_ERROR_PARSING_DECLARATION, initialLineNum, "XMLDeclaration value=%s", decl->Value());
+                DeleteNode( node );
+                break;
+            }
+        }
+
+        XMLElement* ele = node->ToElement();
+        if ( ele ) {
+            // We read the end tag. Return it to the parent.
+            if ( ele->ClosingType() == XMLElement::CLOSING ) {
+                if ( parentEndTag ) {
+                    ele->_value.TransferTo( parentEndTag );
+                }
+                node->_memPool->SetTracked();   // created and then immediately deleted.
+                DeleteNode( node );
+                return p;
+            }
+
+            // Handle an end tag returned to this level.
+            // And handle a bunch of annoying errors.
+            bool mismatch = false;
+            if ( endTag.Empty() ) {
+                if ( ele->ClosingType() == XMLElement::OPEN ) {
+                    mismatch = true;
+                }
+            }
+            else {
+                if ( ele->ClosingType() != XMLElement::OPEN ) {
+                    mismatch = true;
+                }
+                else if ( !XMLUtil::StringEqual( endTag.GetStr(), ele->Name() ) ) {
+                    mismatch = true;
+                }
+            }
+            if ( mismatch ) {
+                _document->SetError( XML_ERROR_MISMATCHED_ELEMENT, initialLineNum, "XMLElement name=%s", ele->Name());
+                DeleteNode( node );
+                break;
+            }
+        }
+        InsertEndChild( node );
+    }
+    return 0;
+}
+
+/*static*/ void XMLNode::DeleteNode( XMLNode* node )
+{
+    if ( node == 0 ) {
+        return;
+    }
+	TIXMLASSERT(node->_document);
+	if (!node->ToDocument()) {
+		node->_document->MarkInUse(node);
+	}
+
+    MemPool* pool = node->_memPool;
+    node->~XMLNode();
+    pool->Free( node );
+}
+
+void XMLNode::InsertChildPreamble( XMLNode* insertThis ) const
+{
+    TIXMLASSERT( insertThis );
+    TIXMLASSERT( insertThis->_document == _document );
+
+	if (insertThis->_parent) {
+        insertThis->_parent->Unlink( insertThis );
+	}
+	else {
+		insertThis->_document->MarkInUse(insertThis);
+        insertThis->_memPool->SetTracked();
+	}
+}
+
+const XMLElement* XMLNode::ToElementWithName( const char* name ) const
+{
+    const XMLElement* element = this->ToElement();
+    if ( element == 0 ) {
+        return 0;
+    }
+    if ( name == 0 ) {
+        return element;
+    }
+    if ( XMLUtil::StringEqual( element->Name(), name ) ) {
+       return element;
+    }
+    return 0;
+}
+
+// --------- XMLText ---------- //
+char* XMLText::ParseDeep( char* p, StrPair*, int* curLineNumPtr )
+{
+    if ( this->CData() ) {
+        p = _value.ParseText( p, "]]>", StrPair::NEEDS_NEWLINE_NORMALIZATION, curLineNumPtr );
+        if ( !p ) {
+            _document->SetError( XML_ERROR_PARSING_CDATA, _parseLineNum, 0 );
+        }
+        return p;
+    }
+    else {
+        int flags = _document->ProcessEntities() ? StrPair::TEXT_ELEMENT : StrPair::TEXT_ELEMENT_LEAVE_ENTITIES;
+        if ( _document->WhitespaceMode() == COLLAPSE_WHITESPACE ) {
+            flags |= StrPair::NEEDS_WHITESPACE_COLLAPSING;
+        }
+
+        p = _value.ParseText( p, "<", flags, curLineNumPtr );
+        if ( p && *p ) {
+            return p-1;
+        }
+        if ( !p ) {
+            _document->SetError( XML_ERROR_PARSING_TEXT, _parseLineNum, 0 );
+        }
+    }
+    return 0;
+}
+
+
+XMLNode* XMLText::ShallowClone( XMLDocument* doc ) const
+{
+    if ( !doc ) {
+        doc = _document;
+    }
+    XMLText* text = doc->NewText( Value() );	// fixme: this will always allocate memory. Intern?
+    text->SetCData( this->CData() );
+    return text;
+}
+
+
+bool XMLText::ShallowEqual( const XMLNode* compare ) const
+{
+    TIXMLASSERT( compare );
+    const XMLText* text = compare->ToText();
+    return ( text && XMLUtil::StringEqual( text->Value(), Value() ) );
+}
+
+
+bool XMLText::Accept( XMLVisitor* visitor ) const
+{
+    TIXMLASSERT( visitor );
+    return visitor->Visit( *this );
+}
+
+
+// --------- XMLComment ---------- //
+
+XMLComment::XMLComment( XMLDocument* doc ) : XMLNode( doc )
+{
+}
+
+
+XMLComment::~XMLComment()
+{
+}
+
+
+char* XMLComment::ParseDeep( char* p, StrPair*, int* curLineNumPtr )
+{
+    // Comment parses as text.
+    p = _value.ParseText( p, "-->", StrPair::COMMENT, curLineNumPtr );
+    if ( p == 0 ) {
+        _document->SetError( XML_ERROR_PARSING_COMMENT, _parseLineNum, 0 );
+    }
+    return p;
+}
+
+
+XMLNode* XMLComment::ShallowClone( XMLDocument* doc ) const
+{
+    if ( !doc ) {
+        doc = _document;
+    }
+    XMLComment* comment = doc->NewComment( Value() );	// fixme: this will always allocate memory. Intern?
+    return comment;
+}
+
+
+bool XMLComment::ShallowEqual( const XMLNode* compare ) const
+{
+    TIXMLASSERT( compare );
+    const XMLComment* comment = compare->ToComment();
+    return ( comment && XMLUtil::StringEqual( comment->Value(), Value() ));
+}
+
+
+bool XMLComment::Accept( XMLVisitor* visitor ) const
+{
+    TIXMLASSERT( visitor );
+    return visitor->Visit( *this );
+}
+
+
+// --------- XMLDeclaration ---------- //
+
+XMLDeclaration::XMLDeclaration( XMLDocument* doc ) : XMLNode( doc )
+{
+}
+
+
+XMLDeclaration::~XMLDeclaration()
+{
+    //printf( "~XMLDeclaration\n" );
+}
+
+
+char* XMLDeclaration::ParseDeep( char* p, StrPair*, int* curLineNumPtr )
+{
+    // Declaration parses as text.
+    p = _value.ParseText( p, "?>", StrPair::NEEDS_NEWLINE_NORMALIZATION, curLineNumPtr );
+    if ( p == 0 ) {
+        _document->SetError( XML_ERROR_PARSING_DECLARATION, _parseLineNum, 0 );
+    }
+    return p;
+}
+
+
+XMLNode* XMLDeclaration::ShallowClone( XMLDocument* doc ) const
+{
+    if ( !doc ) {
+        doc = _document;
+    }
+    XMLDeclaration* dec = doc->NewDeclaration( Value() );	// fixme: this will always allocate memory. Intern?
+    return dec;
+}
+
+
+bool XMLDeclaration::ShallowEqual( const XMLNode* compare ) const
+{
+    TIXMLASSERT( compare );
+    const XMLDeclaration* declaration = compare->ToDeclaration();
+    return ( declaration && XMLUtil::StringEqual( declaration->Value(), Value() ));
+}
+
+
+
+bool XMLDeclaration::Accept( XMLVisitor* visitor ) const
+{
+    TIXMLASSERT( visitor );
+    return visitor->Visit( *this );
+}
+
+// --------- XMLUnknown ---------- //
+
+XMLUnknown::XMLUnknown( XMLDocument* doc ) : XMLNode( doc )
+{
+}
+
+
+XMLUnknown::~XMLUnknown()
+{
+}
+
+
+char* XMLUnknown::ParseDeep( char* p, StrPair*, int* curLineNumPtr )
+{
+    // Unknown parses as text.
+    p = _value.ParseText( p, ">", StrPair::NEEDS_NEWLINE_NORMALIZATION, curLineNumPtr );
+    if ( !p ) {
+        _document->SetError( XML_ERROR_PARSING_UNKNOWN, _parseLineNum, 0 );
+    }
+    return p;
+}
+
+
+XMLNode* XMLUnknown::ShallowClone( XMLDocument* doc ) const
+{
+    if ( !doc ) {
+        doc = _document;
+    }
+    XMLUnknown* text = doc->NewUnknown( Value() );	// fixme: this will always allocate memory. Intern?
+    return text;
+}
+
+
+bool XMLUnknown::ShallowEqual( const XMLNode* compare ) const
+{
+    TIXMLASSERT( compare );
+    const XMLUnknown* unknown = compare->ToUnknown();
+    return ( unknown && XMLUtil::StringEqual( unknown->Value(), Value() ));
+}
+
+
+bool XMLUnknown::Accept( XMLVisitor* visitor ) const
+{
+    TIXMLASSERT( visitor );
+    return visitor->Visit( *this );
+}
+
+// --------- XMLAttribute ---------- //
+
+const char* XMLAttribute::Name() const
+{
+    return _name.GetStr();
+}
+
+const char* XMLAttribute::Value() const
+{
+    return _value.GetStr();
+}
+
+char* XMLAttribute::ParseDeep( char* p, bool processEntities, int* curLineNumPtr )
+{
+    // Parse using the name rules: bug fix, was using ParseText before
+    p = _name.ParseName( p );
+    if ( !p || !*p ) {
+        return 0;
+    }
+
+    // Skip white space before =
+    p = XMLUtil::SkipWhiteSpace( p, curLineNumPtr );
+    if ( *p != '=' ) {
+        return 0;
+    }
+
+    ++p;	// move up to opening quote
+    p = XMLUtil::SkipWhiteSpace( p, curLineNumPtr );
+    if ( *p != '\"' && *p != '\'' ) {
+        return 0;
+    }
+
+    const char endTag[2] = { *p, 0 };
+    ++p;	// move past opening quote
+
+    p = _value.ParseText( p, endTag, processEntities ? StrPair::ATTRIBUTE_VALUE : StrPair::ATTRIBUTE_VALUE_LEAVE_ENTITIES, curLineNumPtr );
+    return p;
+}
+
+
+void XMLAttribute::SetName( const char* n )
+{
+    _name.SetStr( n );
+}
+
+
+XMLError XMLAttribute::QueryIntValue( int* value ) const
+{
+    if ( XMLUtil::ToInt( Value(), value )) {
+        return XML_SUCCESS;
+    }
+    return XML_WRONG_ATTRIBUTE_TYPE;
+}
+
+
+XMLError XMLAttribute::QueryUnsignedValue( unsigned int* value ) const
+{
+    if ( XMLUtil::ToUnsigned( Value(), value )) {
+        return XML_SUCCESS;
+    }
+    return XML_WRONG_ATTRIBUTE_TYPE;
+}
+
+
+XMLError XMLAttribute::QueryInt64Value(int64_t* value) const
+{
+	if (XMLUtil::ToInt64(Value(), value)) {
+		return XML_SUCCESS;
+	}
+	return XML_WRONG_ATTRIBUTE_TYPE;
+}
+
+
+XMLError XMLAttribute::QueryUnsigned64Value(uint64_t* value) const
+{
+    if(XMLUtil::ToUnsigned64(Value(), value)) {
+        return XML_SUCCESS;
+    }
+    return XML_WRONG_ATTRIBUTE_TYPE;
+}
+
+
+XMLError XMLAttribute::QueryBoolValue( bool* value ) const
+{
+    if ( XMLUtil::ToBool( Value(), value )) {
+        return XML_SUCCESS;
+    }
+    return XML_WRONG_ATTRIBUTE_TYPE;
+}
+
+
+XMLError XMLAttribute::QueryFloatValue( float* value ) const
+{
+    if ( XMLUtil::ToFloat( Value(), value )) {
+        return XML_SUCCESS;
+    }
+    return XML_WRONG_ATTRIBUTE_TYPE;
+}
+
+
+XMLError XMLAttribute::QueryDoubleValue( double* value ) const
+{
+    if ( XMLUtil::ToDouble( Value(), value )) {
+        return XML_SUCCESS;
+    }
+    return XML_WRONG_ATTRIBUTE_TYPE;
+}
+
+
+void XMLAttribute::SetAttribute( const char* v )
+{
+    _value.SetStr( v );
+}
+
+
+void XMLAttribute::SetAttribute( int v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    _value.SetStr( buf );
+}
+
+
+void XMLAttribute::SetAttribute( unsigned v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    _value.SetStr( buf );
+}
+
+
+void XMLAttribute::SetAttribute(int64_t v)
+{
+	char buf[BUF_SIZE];
+	XMLUtil::ToStr(v, buf, BUF_SIZE);
+	_value.SetStr(buf);
+}
+
+void XMLAttribute::SetAttribute(uint64_t v)
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr(v, buf, BUF_SIZE);
+    _value.SetStr(buf);
+}
+
+
+void XMLAttribute::SetAttribute( bool v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    _value.SetStr( buf );
+}
+
+void XMLAttribute::SetAttribute( double v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    _value.SetStr( buf );
+}
+
+void XMLAttribute::SetAttribute( float v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    _value.SetStr( buf );
+}
+
+
+// --------- XMLElement ---------- //
+XMLElement::XMLElement( XMLDocument* doc ) : XMLNode( doc ),
+    _closingType( OPEN ),
+    _rootAttribute( 0 )
+{
+}
+
+
+XMLElement::~XMLElement()
+{
+    while( _rootAttribute ) {
+        XMLAttribute* next = _rootAttribute->_next;
+        DeleteAttribute( _rootAttribute );
+        _rootAttribute = next;
+    }
+}
+
+
+const XMLAttribute* XMLElement::FindAttribute( const char* name ) const
+{
+    for( XMLAttribute* a = _rootAttribute; a; a = a->_next ) {
+        if ( XMLUtil::StringEqual( a->Name(), name ) ) {
+            return a;
+        }
+    }
+    return 0;
+}
+
+
+const char* XMLElement::Attribute( const char* name, const char* value ) const
+{
+    const XMLAttribute* a = FindAttribute( name );
+    if ( !a ) {
+        return 0;
+    }
+    if ( !value || XMLUtil::StringEqual( a->Value(), value )) {
+        return a->Value();
+    }
+    return 0;
+}
+
+int XMLElement::IntAttribute(const char* name, int defaultValue) const
+{
+	int i = defaultValue;
+	QueryIntAttribute(name, &i);
+	return i;
+}
+
+unsigned XMLElement::UnsignedAttribute(const char* name, unsigned defaultValue) const
+{
+	unsigned i = defaultValue;
+	QueryUnsignedAttribute(name, &i);
+	return i;
+}
+
+int64_t XMLElement::Int64Attribute(const char* name, int64_t defaultValue) const
+{
+	int64_t i = defaultValue;
+	QueryInt64Attribute(name, &i);
+	return i;
+}
+
+uint64_t XMLElement::Unsigned64Attribute(const char* name, uint64_t defaultValue) const
+{
+	uint64_t i = defaultValue;
+	QueryUnsigned64Attribute(name, &i);
+	return i;
+}
+
+bool XMLElement::BoolAttribute(const char* name, bool defaultValue) const
+{
+	bool b = defaultValue;
+	QueryBoolAttribute(name, &b);
+	return b;
+}
+
+double XMLElement::DoubleAttribute(const char* name, double defaultValue) const
+{
+	double d = defaultValue;
+	QueryDoubleAttribute(name, &d);
+	return d;
+}
+
+float XMLElement::FloatAttribute(const char* name, float defaultValue) const
+{
+	float f = defaultValue;
+	QueryFloatAttribute(name, &f);
+	return f;
+}
+
+const char* XMLElement::GetText() const
+{
+    /* skip comment node */
+    const XMLNode* node = FirstChild();
+    while (node) {
+        if (node->ToComment()) {
+            node = node->NextSibling();
+            continue;
+        }
+        break;
+    }
+
+    if ( node && node->ToText() ) {
+        return node->Value();
+    }
+    return 0;
+}
+
+
+void	XMLElement::SetText( const char* inText )
+{
+	if ( FirstChild() && FirstChild()->ToText() )
+		FirstChild()->SetValue( inText );
+	else {
+		XMLText*	theText = GetDocument()->NewText( inText );
+		InsertFirstChild( theText );
+	}
+}
+
+
+void XMLElement::SetText( int v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    SetText( buf );
+}
+
+
+void XMLElement::SetText( unsigned v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    SetText( buf );
+}
+
+
+void XMLElement::SetText(int64_t v)
+{
+	char buf[BUF_SIZE];
+	XMLUtil::ToStr(v, buf, BUF_SIZE);
+	SetText(buf);
+}
+
+void XMLElement::SetText(uint64_t v) {
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr(v, buf, BUF_SIZE);
+    SetText(buf);
+}
+
+
+void XMLElement::SetText( bool v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    SetText( buf );
+}
+
+
+void XMLElement::SetText( float v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    SetText( buf );
+}
+
+
+void XMLElement::SetText( double v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    SetText( buf );
+}
+
+
+XMLError XMLElement::QueryIntText( int* ival ) const
+{
+    if ( FirstChild() && FirstChild()->ToText() ) {
+        const char* t = FirstChild()->Value();
+        if ( XMLUtil::ToInt( t, ival ) ) {
+            return XML_SUCCESS;
+        }
+        return XML_CAN_NOT_CONVERT_TEXT;
+    }
+    return XML_NO_TEXT_NODE;
+}
+
+
+XMLError XMLElement::QueryUnsignedText( unsigned* uval ) const
+{
+    if ( FirstChild() && FirstChild()->ToText() ) {
+        const char* t = FirstChild()->Value();
+        if ( XMLUtil::ToUnsigned( t, uval ) ) {
+            return XML_SUCCESS;
+        }
+        return XML_CAN_NOT_CONVERT_TEXT;
+    }
+    return XML_NO_TEXT_NODE;
+}
+
+
+XMLError XMLElement::QueryInt64Text(int64_t* ival) const
+{
+	if (FirstChild() && FirstChild()->ToText()) {
+		const char* t = FirstChild()->Value();
+		if (XMLUtil::ToInt64(t, ival)) {
+			return XML_SUCCESS;
+		}
+		return XML_CAN_NOT_CONVERT_TEXT;
+	}
+	return XML_NO_TEXT_NODE;
+}
+
+
+XMLError XMLElement::QueryUnsigned64Text(uint64_t* ival) const
+{
+    if(FirstChild() && FirstChild()->ToText()) {
+        const char* t = FirstChild()->Value();
+        if(XMLUtil::ToUnsigned64(t, ival)) {
+            return XML_SUCCESS;
+        }
+        return XML_CAN_NOT_CONVERT_TEXT;
+    }
+    return XML_NO_TEXT_NODE;
+}
+
+
+XMLError XMLElement::QueryBoolText( bool* bval ) const
+{
+    if ( FirstChild() && FirstChild()->ToText() ) {
+        const char* t = FirstChild()->Value();
+        if ( XMLUtil::ToBool( t, bval ) ) {
+            return XML_SUCCESS;
+        }
+        return XML_CAN_NOT_CONVERT_TEXT;
+    }
+    return XML_NO_TEXT_NODE;
+}
+
+
+XMLError XMLElement::QueryDoubleText( double* dval ) const
+{
+    if ( FirstChild() && FirstChild()->ToText() ) {
+        const char* t = FirstChild()->Value();
+        if ( XMLUtil::ToDouble( t, dval ) ) {
+            return XML_SUCCESS;
+        }
+        return XML_CAN_NOT_CONVERT_TEXT;
+    }
+    return XML_NO_TEXT_NODE;
+}
+
+
+XMLError XMLElement::QueryFloatText( float* fval ) const
+{
+    if ( FirstChild() && FirstChild()->ToText() ) {
+        const char* t = FirstChild()->Value();
+        if ( XMLUtil::ToFloat( t, fval ) ) {
+            return XML_SUCCESS;
+        }
+        return XML_CAN_NOT_CONVERT_TEXT;
+    }
+    return XML_NO_TEXT_NODE;
+}
+
+int XMLElement::IntText(int defaultValue) const
+{
+	int i = defaultValue;
+	QueryIntText(&i);
+	return i;
+}
+
+unsigned XMLElement::UnsignedText(unsigned defaultValue) const
+{
+	unsigned i = defaultValue;
+	QueryUnsignedText(&i);
+	return i;
+}
+
+int64_t XMLElement::Int64Text(int64_t defaultValue) const
+{
+	int64_t i = defaultValue;
+	QueryInt64Text(&i);
+	return i;
+}
+
+uint64_t XMLElement::Unsigned64Text(uint64_t defaultValue) const
+{
+	uint64_t i = defaultValue;
+	QueryUnsigned64Text(&i);
+	return i;
+}
+
+bool XMLElement::BoolText(bool defaultValue) const
+{
+	bool b = defaultValue;
+	QueryBoolText(&b);
+	return b;
+}
+
+double XMLElement::DoubleText(double defaultValue) const
+{
+	double d = defaultValue;
+	QueryDoubleText(&d);
+	return d;
+}
+
+float XMLElement::FloatText(float defaultValue) const
+{
+	float f = defaultValue;
+	QueryFloatText(&f);
+	return f;
+}
+
+
+XMLAttribute* XMLElement::FindOrCreateAttribute( const char* name )
+{
+    XMLAttribute* last = 0;
+    XMLAttribute* attrib = 0;
+    for( attrib = _rootAttribute;
+            attrib;
+            last = attrib, attrib = attrib->_next ) {
+        if ( XMLUtil::StringEqual( attrib->Name(), name ) ) {
+            break;
+        }
+    }
+    if ( !attrib ) {
+        attrib = CreateAttribute();
+        TIXMLASSERT( attrib );
+        if ( last ) {
+            TIXMLASSERT( last->_next == 0 );
+            last->_next = attrib;
+        }
+        else {
+            TIXMLASSERT( _rootAttribute == 0 );
+            _rootAttribute = attrib;
+        }
+        attrib->SetName( name );
+    }
+    return attrib;
+}
+
+
+void XMLElement::DeleteAttribute( const char* name )
+{
+    XMLAttribute* prev = 0;
+    for( XMLAttribute* a=_rootAttribute; a; a=a->_next ) {
+        if ( XMLUtil::StringEqual( name, a->Name() ) ) {
+            if ( prev ) {
+                prev->_next = a->_next;
+            }
+            else {
+                _rootAttribute = a->_next;
+            }
+            DeleteAttribute( a );
+            break;
+        }
+        prev = a;
+    }
+}
+
+
+char* XMLElement::ParseAttributes( char* p, int* curLineNumPtr )
+{
+    XMLAttribute* prevAttribute = 0;
+
+    // Read the attributes.
+    while( p ) {
+        p = XMLUtil::SkipWhiteSpace( p, curLineNumPtr );
+        if ( !(*p) ) {
+            _document->SetError( XML_ERROR_PARSING_ELEMENT, _parseLineNum, "XMLElement name=%s", Name() );
+            return 0;
+        }
+
+        // attribute.
+        if (XMLUtil::IsNameStartChar( (unsigned char) *p ) ) {
+            XMLAttribute* attrib = CreateAttribute();
+            TIXMLASSERT( attrib );
+            attrib->_parseLineNum = _document->_parseCurLineNum;
+
+            const int attrLineNum = attrib->_parseLineNum;
+
+            p = attrib->ParseDeep( p, _document->ProcessEntities(), curLineNumPtr );
+            if ( !p || Attribute( attrib->Name() ) ) {
+                DeleteAttribute( attrib );
+                _document->SetError( XML_ERROR_PARSING_ATTRIBUTE, attrLineNum, "XMLElement name=%s", Name() );
+                return 0;
+            }
+            // There is a minor bug here: if the attribute in the source xml
+            // document is duplicated, it will not be detected and the
+            // attribute will be doubly added. However, tracking the 'prevAttribute'
+            // avoids re-scanning the attribute list. Preferring performance for
+            // now, may reconsider in the future.
+            if ( prevAttribute ) {
+                TIXMLASSERT( prevAttribute->_next == 0 );
+                prevAttribute->_next = attrib;
+            }
+            else {
+                TIXMLASSERT( _rootAttribute == 0 );
+                _rootAttribute = attrib;
+            }
+            prevAttribute = attrib;
+        }
+        // end of the tag
+        else if ( *p == '>' ) {
+            ++p;
+            break;
+        }
+        // end of the tag
+        else if ( *p == '/' && *(p+1) == '>' ) {
+            _closingType = CLOSED;
+            return p+2;	// done; sealed element.
+        }
+        else {
+            _document->SetError( XML_ERROR_PARSING_ELEMENT, _parseLineNum, 0 );
+            return 0;
+        }
+    }
+    return p;
+}
+
+void XMLElement::DeleteAttribute( XMLAttribute* attribute )
+{
+    if ( attribute == 0 ) {
+        return;
+    }
+    MemPool* pool = attribute->_memPool;
+    attribute->~XMLAttribute();
+    pool->Free( attribute );
+}
+
+XMLAttribute* XMLElement::CreateAttribute()
+{
+    TIXMLASSERT( sizeof( XMLAttribute ) == _document->_attributePool.ItemSize() );
+    XMLAttribute* attrib = new (_document->_attributePool.Alloc() ) XMLAttribute();
+    TIXMLASSERT( attrib );
+    attrib->_memPool = &_document->_attributePool;
+    attrib->_memPool->SetTracked();
+    return attrib;
+}
+
+
+XMLElement* XMLElement::InsertNewChildElement(const char* name)
+{
+    XMLElement* node = _document->NewElement(name);
+    return InsertEndChild(node) ? node : 0;
+}
+
+XMLComment* XMLElement::InsertNewComment(const char* comment)
+{
+    XMLComment* node = _document->NewComment(comment);
+    return InsertEndChild(node) ? node : 0;
+}
+
+XMLText* XMLElement::InsertNewText(const char* text)
+{
+    XMLText* node = _document->NewText(text);
+    return InsertEndChild(node) ? node : 0;
+}
+
+XMLDeclaration* XMLElement::InsertNewDeclaration(const char* text)
+{
+    XMLDeclaration* node = _document->NewDeclaration(text);
+    return InsertEndChild(node) ? node : 0;
+}
+
+XMLUnknown* XMLElement::InsertNewUnknown(const char* text)
+{
+    XMLUnknown* node = _document->NewUnknown(text);
+    return InsertEndChild(node) ? node : 0;
+}
+
+
+
+//
+//	<ele></ele>
+//	<ele>foo<b>bar</b></ele>
+//
+char* XMLElement::ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr )
+{
+    // Read the element name.
+    p = XMLUtil::SkipWhiteSpace( p, curLineNumPtr );
+
+    // The closing element is the </element> form. It is
+    // parsed just like a regular element then deleted from
+    // the DOM.
+    if ( *p == '/' ) {
+        _closingType = CLOSING;
+        ++p;
+    }
+
+    p = _value.ParseName( p );
+    if ( _value.Empty() ) {
+        return 0;
+    }
+
+    p = ParseAttributes( p, curLineNumPtr );
+    if ( !p || !*p || _closingType != OPEN ) {
+        return p;
+    }
+
+    p = XMLNode::ParseDeep( p, parentEndTag, curLineNumPtr );
+    return p;
+}
+
+
+
+XMLNode* XMLElement::ShallowClone( XMLDocument* doc ) const
+{
+    if ( !doc ) {
+        doc = _document;
+    }
+    XMLElement* element = doc->NewElement( Value() );					// fixme: this will always allocate memory. Intern?
+    for( const XMLAttribute* a=FirstAttribute(); a; a=a->Next() ) {
+        element->SetAttribute( a->Name(), a->Value() );					// fixme: this will always allocate memory. Intern?
+    }
+    return element;
+}
+
+
+bool XMLElement::ShallowEqual( const XMLNode* compare ) const
+{
+    TIXMLASSERT( compare );
+    const XMLElement* other = compare->ToElement();
+    if ( other && XMLUtil::StringEqual( other->Name(), Name() )) {
+
+        const XMLAttribute* a=FirstAttribute();
+        const XMLAttribute* b=other->FirstAttribute();
+
+        while ( a && b ) {
+            if ( !XMLUtil::StringEqual( a->Value(), b->Value() ) ) {
+                return false;
+            }
+            a = a->Next();
+            b = b->Next();
+        }
+        if ( a || b ) {
+            // different count
+            return false;
+        }
+        return true;
+    }
+    return false;
+}
+
+
+bool XMLElement::Accept( XMLVisitor* visitor ) const
+{
+    TIXMLASSERT( visitor );
+    if ( visitor->VisitEnter( *this, _rootAttribute ) ) {
+        for ( const XMLNode* node=FirstChild(); node; node=node->NextSibling() ) {
+            if ( !node->Accept( visitor ) ) {
+                break;
+            }
+        }
+    }
+    return visitor->VisitExit( *this );
+}
+
+
+// --------- XMLDocument ----------- //
+
+// Warning: List must match 'enum XMLError'
+const char* XMLDocument::_errorNames[XML_ERROR_COUNT] = {
+    "XML_SUCCESS",
+    "XML_NO_ATTRIBUTE",
+    "XML_WRONG_ATTRIBUTE_TYPE",
+    "XML_ERROR_FILE_NOT_FOUND",
+    "XML_ERROR_FILE_COULD_NOT_BE_OPENED",
+    "XML_ERROR_FILE_READ_ERROR",
+    "XML_ERROR_PARSING_ELEMENT",
+    "XML_ERROR_PARSING_ATTRIBUTE",
+    "XML_ERROR_PARSING_TEXT",
+    "XML_ERROR_PARSING_CDATA",
+    "XML_ERROR_PARSING_COMMENT",
+    "XML_ERROR_PARSING_DECLARATION",
+    "XML_ERROR_PARSING_UNKNOWN",
+    "XML_ERROR_EMPTY_DOCUMENT",
+    "XML_ERROR_MISMATCHED_ELEMENT",
+    "XML_ERROR_PARSING",
+    "XML_CAN_NOT_CONVERT_TEXT",
+    "XML_NO_TEXT_NODE",
+	"XML_ELEMENT_DEPTH_EXCEEDED"
+};
+
+
+XMLDocument::XMLDocument( bool processEntities, Whitespace whitespaceMode ) :
+    XMLNode( 0 ),
+    _writeBOM( false ),
+    _processEntities( processEntities ),
+    _errorID(XML_SUCCESS),
+    _whitespaceMode( whitespaceMode ),
+    _errorStr(),
+    _errorLineNum( 0 ),
+    _charBuffer( 0 ),
+    _parseCurLineNum( 0 ),
+	_parsingDepth(0),
+    _unlinked(),
+    _elementPool(),
+    _attributePool(),
+    _textPool(),
+    _commentPool()
+{
+    // avoid VC++ C4355 warning about 'this' in initializer list (C4355 is off by default in VS2012+)
+    _document = this;
+}
+
+
+XMLDocument::~XMLDocument()
+{
+    Clear();
+}
+
+
+void XMLDocument::MarkInUse(const XMLNode* const node)
+{
+	TIXMLASSERT(node);
+	TIXMLASSERT(node->_parent == 0);
+
+	for (int i = 0; i < _unlinked.Size(); ++i) {
+		if (node == _unlinked[i]) {
+			_unlinked.SwapRemove(i);
+			break;
+		}
+	}
+}
+
+void XMLDocument::Clear()
+{
+    DeleteChildren();
+	while( _unlinked.Size()) {
+		DeleteNode(_unlinked[0]);	// Will remove from _unlinked as part of delete.
+	}
+
+#ifdef TINYXML2_DEBUG
+    const bool hadError = Error();
+#endif
+    ClearError();
+
+    delete [] _charBuffer;
+    _charBuffer = 0;
+	_parsingDepth = 0;
+
+#if 0
+    _textPool.Trace( "text" );
+    _elementPool.Trace( "element" );
+    _commentPool.Trace( "comment" );
+    _attributePool.Trace( "attribute" );
+#endif
+
+#ifdef TINYXML2_DEBUG
+    if ( !hadError ) {
+        TIXMLASSERT( _elementPool.CurrentAllocs()   == _elementPool.Untracked() );
+        TIXMLASSERT( _attributePool.CurrentAllocs() == _attributePool.Untracked() );
+        TIXMLASSERT( _textPool.CurrentAllocs()      == _textPool.Untracked() );
+        TIXMLASSERT( _commentPool.CurrentAllocs()   == _commentPool.Untracked() );
+    }
+#endif
+}
+
+
+void XMLDocument::DeepCopy(XMLDocument* target) const
+{
+	TIXMLASSERT(target);
+    if (target == this) {
+        return; // technically success - a no-op.
+    }
+
+	target->Clear();
+	for (const XMLNode* node = this->FirstChild(); node; node = node->NextSibling()) {
+		target->InsertEndChild(node->DeepClone(target));
+	}
+}
+
+XMLElement* XMLDocument::NewElement( const char* name )
+{
+    XMLElement* ele = CreateUnlinkedNode<XMLElement>( _elementPool );
+    ele->SetName( name );
+    return ele;
+}
+
+
+XMLComment* XMLDocument::NewComment( const char* str )
+{
+    XMLComment* comment = CreateUnlinkedNode<XMLComment>( _commentPool );
+    comment->SetValue( str );
+    return comment;
+}
+
+
+XMLText* XMLDocument::NewText( const char* str )
+{
+    XMLText* text = CreateUnlinkedNode<XMLText>( _textPool );
+    text->SetValue( str );
+    return text;
+}
+
+
+XMLDeclaration* XMLDocument::NewDeclaration( const char* str )
+{
+    XMLDeclaration* dec = CreateUnlinkedNode<XMLDeclaration>( _commentPool );
+    dec->SetValue( str ? str : "xml version=\"1.0\" encoding=\"UTF-8\"" );
+    return dec;
+}
+
+
+XMLUnknown* XMLDocument::NewUnknown( const char* str )
+{
+    XMLUnknown* unk = CreateUnlinkedNode<XMLUnknown>( _commentPool );
+    unk->SetValue( str );
+    return unk;
+}
+
+static FILE* callfopen( const char* filepath, const char* mode )
+{
+    TIXMLASSERT( filepath );
+    TIXMLASSERT( mode );
+#if defined(_MSC_VER) && (_MSC_VER >= 1400 ) && (!defined WINCE)
+    FILE* fp = 0;
+    const errno_t err = fopen_s( &fp, filepath, mode );
+    if ( err ) {
+        return 0;
+    }
+#else
+    FILE* fp = fopen( filepath, mode );
+#endif
+    return fp;
+}
+
+void XMLDocument::DeleteNode( XMLNode* node )	{
+    TIXMLASSERT( node );
+    TIXMLASSERT(node->_document == this );
+    if (node->_parent) {
+        node->_parent->DeleteChild( node );
+    }
+    else {
+        // Isn't in the tree.
+        // Use the parent delete.
+        // Also, we need to mark it tracked: we 'know'
+        // it was never used.
+        node->_memPool->SetTracked();
+        // Call the static XMLNode version:
+        XMLNode::DeleteNode(node);
+    }
+}
+
+
+XMLError XMLDocument::LoadFile( const char* filename )
+{
+    if ( !filename ) {
+        TIXMLASSERT( false );
+        SetError( XML_ERROR_FILE_COULD_NOT_BE_OPENED, 0, "filename=<null>" );
+        return _errorID;
+    }
+
+    Clear();
+    FILE* fp = callfopen( filename, "rb" );
+    if ( !fp ) {
+        SetError( XML_ERROR_FILE_NOT_FOUND, 0, "filename=%s", filename );
+        return _errorID;
+    }
+    LoadFile( fp );
+    fclose( fp );
+    return _errorID;
+}
+
+XMLError XMLDocument::LoadFile( FILE* fp )
+{
+    Clear();
+
+    TIXML_FSEEK( fp, 0, SEEK_SET );
+    if ( fgetc( fp ) == EOF && ferror( fp ) != 0 ) {
+        SetError( XML_ERROR_FILE_READ_ERROR, 0, 0 );
+        return _errorID;
+    }
+
+    TIXML_FSEEK( fp, 0, SEEK_END );
+
+    unsigned long long filelength;
+    {
+        const long long fileLengthSigned = TIXML_FTELL( fp );
+        TIXML_FSEEK( fp, 0, SEEK_SET );
+        if ( fileLengthSigned == -1L ) {
+            SetError( XML_ERROR_FILE_READ_ERROR, 0, 0 );
+            return _errorID;
+        }
+        TIXMLASSERT( fileLengthSigned >= 0 );
+        filelength = static_cast<unsigned long long>(fileLengthSigned);
+    }
+
+    const size_t maxSizeT = static_cast<size_t>(-1);
+    // We'll do the comparison as an unsigned long long, because that's guaranteed to be at
+    // least 8 bytes, even on a 32-bit platform.
+    if ( filelength >= static_cast<unsigned long long>(maxSizeT) ) {
+        // Cannot handle files which won't fit in buffer together with null terminator
+        SetError( XML_ERROR_FILE_READ_ERROR, 0, 0 );
+        return _errorID;
+    }
+
+    if ( filelength == 0 ) {
+        SetError( XML_ERROR_EMPTY_DOCUMENT, 0, 0 );
+        return _errorID;
+    }
+
+    const size_t size = static_cast<size_t>(filelength);
+    TIXMLASSERT( _charBuffer == 0 );
+    _charBuffer = new char[size+1];
+    const size_t read = fread( _charBuffer, 1, size, fp );
+    if ( read != size ) {
+        SetError( XML_ERROR_FILE_READ_ERROR, 0, 0 );
+        return _errorID;
+    }
+
+    _charBuffer[size] = 0;
+
+    Parse();
+    return _errorID;
+}
+
+
+XMLError XMLDocument::SaveFile( const char* filename, bool compact )
+{
+    if ( !filename ) {
+        TIXMLASSERT( false );
+        SetError( XML_ERROR_FILE_COULD_NOT_BE_OPENED, 0, "filename=<null>" );
+        return _errorID;
+    }
+
+    FILE* fp = callfopen( filename, "w" );
+    if ( !fp ) {
+        SetError( XML_ERROR_FILE_COULD_NOT_BE_OPENED, 0, "filename=%s", filename );
+        return _errorID;
+    }
+    SaveFile(fp, compact);
+    fclose( fp );
+    return _errorID;
+}
+
+
+XMLError XMLDocument::SaveFile( FILE* fp, bool compact )
+{
+    // Clear any error from the last save, otherwise it will get reported
+    // for *this* call.
+    ClearError();
+    XMLPrinter stream( fp, compact );
+    Print( &stream );
+    return _errorID;
+}
+
+
+XMLError XMLDocument::Parse( const char* p, size_t len )
+{
+    Clear();
+
+    if ( len == 0 || !p || !*p ) {
+        SetError( XML_ERROR_EMPTY_DOCUMENT, 0, 0 );
+        return _errorID;
+    }
+    if ( len == static_cast<size_t>(-1) ) {
+        len = strlen( p );
+    }
+    TIXMLASSERT( _charBuffer == 0 );
+    _charBuffer = new char[ len+1 ];
+    memcpy( _charBuffer, p, len );
+    _charBuffer[len] = 0;
+
+    Parse();
+    if ( Error() ) {
+        // clean up now essentially dangling memory.
+        // and the parse fail can put objects in the
+        // pools that are dead and inaccessible.
+        DeleteChildren();
+        _elementPool.Clear();
+        _attributePool.Clear();
+        _textPool.Clear();
+        _commentPool.Clear();
+    }
+    return _errorID;
+}
+
+
+void XMLDocument::Print( XMLPrinter* streamer ) const
+{
+    if ( streamer ) {
+        Accept( streamer );
+    }
+    else {
+        XMLPrinter stdoutStreamer( stdout );
+        Accept( &stdoutStreamer );
+    }
+}
+
+
+void XMLDocument::ClearError() {
+    _errorID = XML_SUCCESS;
+    _errorLineNum = 0;
+    _errorStr.Reset();
+}
+
+
+void XMLDocument::SetError( XMLError error, int lineNum, const char* format, ... )
+{
+    TIXMLASSERT( error >= 0 && error < XML_ERROR_COUNT );
+    _errorID = error;
+    _errorLineNum = lineNum;
+	_errorStr.Reset();
+
+    const size_t BUFFER_SIZE = 1000;
+    char* buffer = new char[BUFFER_SIZE];
+
+    TIXMLASSERT(sizeof(error) <= sizeof(int));
+    TIXML_SNPRINTF(buffer, BUFFER_SIZE, "Error=%s ErrorID=%d (0x%x) Line number=%d", ErrorIDToName(error), int(error), int(error), lineNum);
+
+	if (format) {
+		size_t len = strlen(buffer);
+		TIXML_SNPRINTF(buffer + len, BUFFER_SIZE - len, ": ");
+		len = strlen(buffer);
+
+		va_list va;
+		va_start(va, format);
+		TIXML_VSNPRINTF(buffer + len, BUFFER_SIZE - len, format, va);
+		va_end(va);
+	}
+	_errorStr.SetStr(buffer);
+	delete[] buffer;
+}
+
+
+/*static*/ const char* XMLDocument::ErrorIDToName(XMLError errorID)
+{
+	TIXMLASSERT( errorID >= 0 && errorID < XML_ERROR_COUNT );
+    const char* errorName = _errorNames[errorID];
+    TIXMLASSERT( errorName && errorName[0] );
+    return errorName;
+}
+
+const char* XMLDocument::ErrorStr() const
+{
+	return _errorStr.Empty() ? "" : _errorStr.GetStr();
+}
+
+
+void XMLDocument::PrintError() const
+{
+    printf("%s\n", ErrorStr());
+}
+
+const char* XMLDocument::ErrorName() const
+{
+    return ErrorIDToName(_errorID);
+}
+
+void XMLDocument::Parse()
+{
+    TIXMLASSERT( NoChildren() ); // Clear() must have been called previously
+    TIXMLASSERT( _charBuffer );
+    _parseCurLineNum = 1;
+    _parseLineNum = 1;
+    char* p = _charBuffer;
+    p = XMLUtil::SkipWhiteSpace( p, &_parseCurLineNum );
+    p = const_cast<char*>( XMLUtil::ReadBOM( p, &_writeBOM ) );
+    if ( !*p ) {
+        SetError( XML_ERROR_EMPTY_DOCUMENT, 0, 0 );
+        return;
+    }
+    ParseDeep(p, 0, &_parseCurLineNum );
+}
+
+void XMLDocument::PushDepth()
+{
+	_parsingDepth++;
+	if (_parsingDepth == TINYXML2_MAX_ELEMENT_DEPTH) {
+		SetError(XML_ELEMENT_DEPTH_EXCEEDED, _parseCurLineNum, "Element nesting is too deep." );
+	}
+}
+
+void XMLDocument::PopDepth()
+{
+	TIXMLASSERT(_parsingDepth > 0);
+	--_parsingDepth;
+}
+
+XMLPrinter::XMLPrinter( FILE* file, bool compact, int depth ) :
+    _elementJustOpened( false ),
+    _stack(),
+    _firstElement( true ),
+    _fp( file ),
+    _depth( depth ),
+    _textDepth( -1 ),
+    _processEntities( true ),
+    _compactMode( compact ),
+    _buffer()
+{
+    for( int i=0; i<ENTITY_RANGE; ++i ) {
+        _entityFlag[i] = false;
+        _restrictedEntityFlag[i] = false;
+    }
+    for( int i=0; i<NUM_ENTITIES; ++i ) {
+        const char entityValue = entities[i].value;
+        const unsigned char flagIndex = static_cast<unsigned char>(entityValue);
+        TIXMLASSERT( flagIndex < ENTITY_RANGE );
+        _entityFlag[flagIndex] = true;
+    }
+    _restrictedEntityFlag[static_cast<unsigned char>('&')] = true;
+    _restrictedEntityFlag[static_cast<unsigned char>('<')] = true;
+    _restrictedEntityFlag[static_cast<unsigned char>('>')] = true;	// not required, but consistency is nice
+    _buffer.Push( 0 );
+}
+
+
+void XMLPrinter::Print( const char* format, ... )
+{
+    va_list     va;
+    va_start( va, format );
+
+    if ( _fp ) {
+        vfprintf( _fp, format, va );
+    }
+    else {
+        const int len = TIXML_VSCPRINTF( format, va );
+        // Close out and re-start the va-args
+        va_end( va );
+        TIXMLASSERT( len >= 0 );
+        va_start( va, format );
+        TIXMLASSERT( _buffer.Size() > 0 && _buffer[_buffer.Size() - 1] == 0 );
+        char* p = _buffer.PushArr( len ) - 1;	// back up over the null terminator.
+		TIXML_VSNPRINTF( p, len+1, format, va );
+    }
+    va_end( va );
+}
+
+
+void XMLPrinter::Write( const char* data, size_t size )
+{
+    if ( _fp ) {
+        fwrite ( data , sizeof(char), size, _fp);
+    }
+    else {
+        char* p = _buffer.PushArr( static_cast<int>(size) ) - 1;   // back up over the null terminator.
+        memcpy( p, data, size );
+        p[size] = 0;
+    }
+}
+
+
+void XMLPrinter::Putc( char ch )
+{
+    if ( _fp ) {
+        fputc ( ch, _fp);
+    }
+    else {
+        char* p = _buffer.PushArr( sizeof(char) ) - 1;   // back up over the null terminator.
+        p[0] = ch;
+        p[1] = 0;
+    }
+}
+
+
+void XMLPrinter::PrintSpace( int depth )
+{
+    for( int i=0; i<depth; ++i ) {
+        Write( "    " );
+    }
+}
+
+
+void XMLPrinter::PrintString( const char* p, bool restricted )
+{
+    // Look for runs of bytes between entities to print.
+    const char* q = p;
+
+    if ( _processEntities ) {
+        const bool* flag = restricted ? _restrictedEntityFlag : _entityFlag;
+        while ( *q ) {
+            TIXMLASSERT( p <= q );
+            // Remember, char is sometimes signed. (How many times has that bitten me?)
+            if ( *q > 0 && *q < ENTITY_RANGE ) {
+                // Check for entities. If one is found, flush
+                // the stream up until the entity, write the
+                // entity, and keep looking.
+                if ( flag[static_cast<unsigned char>(*q)] ) {
+                    while ( p < q ) {
+                        const size_t delta = q - p;
+                        const int toPrint = ( INT_MAX < delta ) ? INT_MAX : static_cast<int>(delta);
+                        Write( p, toPrint );
+                        p += toPrint;
+                    }
+                    bool entityPatternPrinted = false;
+                    for( int i=0; i<NUM_ENTITIES; ++i ) {
+                        if ( entities[i].value == *q ) {
+                            Putc( '&' );
+                            Write( entities[i].pattern, entities[i].length );
+                            Putc( ';' );
+                            entityPatternPrinted = true;
+                            break;
+                        }
+                    }
+                    if ( !entityPatternPrinted ) {
+                        // TIXMLASSERT( entityPatternPrinted ) causes gcc -Wunused-but-set-variable in release
+                        TIXMLASSERT( false );
+                    }
+                    ++p;
+                }
+            }
+            ++q;
+            TIXMLASSERT( p <= q );
+        }
+        // Flush the remaining string. This will be the entire
+        // string if an entity wasn't found.
+        if ( p < q ) {
+            const size_t delta = q - p;
+            const int toPrint = ( INT_MAX < delta ) ? INT_MAX : static_cast<int>(delta);
+            Write( p, toPrint );
+        }
+    }
+    else {
+        Write( p );
+    }
+}
+
+
+void XMLPrinter::PushHeader( bool writeBOM, bool writeDec )
+{
+    if ( writeBOM ) {
+        static const unsigned char bom[] = { TIXML_UTF_LEAD_0, TIXML_UTF_LEAD_1, TIXML_UTF_LEAD_2, 0 };
+        Write( reinterpret_cast< const char* >( bom ) );
+    }
+    if ( writeDec ) {
+        PushDeclaration( "xml version=\"1.0\"" );
+    }
+}
+
+void XMLPrinter::PrepareForNewNode( bool compactMode )
+{
+    SealElementIfJustOpened();
+
+    if ( compactMode ) {
+        return;
+    }
+
+    if ( _firstElement ) {
+        PrintSpace (_depth);
+    } else if ( _textDepth < 0) {
+        Putc( '\n' );
+        PrintSpace( _depth );
+    }
+
+    _firstElement = false;
+}
+
+void XMLPrinter::OpenElement( const char* name, bool compactMode )
+{
+    PrepareForNewNode( compactMode );
+    _stack.Push( name );
+
+    Write ( "<" );
+    Write ( name );
+
+    _elementJustOpened = true;
+    ++_depth;
+}
+
+
+void XMLPrinter::PushAttribute( const char* name, const char* value )
+{
+    TIXMLASSERT( _elementJustOpened );
+    Putc ( ' ' );
+    Write( name );
+    Write( "=\"" );
+    PrintString( value, false );
+    Putc ( '\"' );
+}
+
+
+void XMLPrinter::PushAttribute( const char* name, int v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    PushAttribute( name, buf );
+}
+
+
+void XMLPrinter::PushAttribute( const char* name, unsigned v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    PushAttribute( name, buf );
+}
+
+
+void XMLPrinter::PushAttribute(const char* name, int64_t v)
+{
+	char buf[BUF_SIZE];
+	XMLUtil::ToStr(v, buf, BUF_SIZE);
+	PushAttribute(name, buf);
+}
+
+
+void XMLPrinter::PushAttribute(const char* name, uint64_t v)
+{
+	char buf[BUF_SIZE];
+	XMLUtil::ToStr(v, buf, BUF_SIZE);
+	PushAttribute(name, buf);
+}
+
+
+void XMLPrinter::PushAttribute( const char* name, bool v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    PushAttribute( name, buf );
+}
+
+
+void XMLPrinter::PushAttribute( const char* name, double v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    PushAttribute( name, buf );
+}
+
+
+void XMLPrinter::CloseElement( bool compactMode )
+{
+    --_depth;
+    const char* name = _stack.Pop();
+
+    if ( _elementJustOpened ) {
+        Write( "/>" );
+    }
+    else {
+        if ( _textDepth < 0 && !compactMode) {
+            Putc( '\n' );
+            PrintSpace( _depth );
+        }
+        Write ( "</" );
+        Write ( name );
+        Write ( ">" );
+    }
+
+    if ( _textDepth == _depth ) {
+        _textDepth = -1;
+    }
+    if ( _depth == 0 && !compactMode) {
+        Putc( '\n' );
+    }
+    _elementJustOpened = false;
+}
+
+
+void XMLPrinter::SealElementIfJustOpened()
+{
+    if ( !_elementJustOpened ) {
+        return;
+    }
+    _elementJustOpened = false;
+    Putc( '>' );
+}
+
+
+void XMLPrinter::PushText( const char* text, bool cdata )
+{
+    _textDepth = _depth-1;
+
+    SealElementIfJustOpened();
+    if ( cdata ) {
+        Write( "<![CDATA[" );
+        Write( text );
+        Write( "]]>" );
+    }
+    else {
+        PrintString( text, true );
+    }
+}
+
+
+void XMLPrinter::PushText( int64_t value )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( value, buf, BUF_SIZE );
+    PushText( buf, false );
+}
+
+
+void XMLPrinter::PushText( uint64_t value )
+{
+	char buf[BUF_SIZE];
+	XMLUtil::ToStr(value, buf, BUF_SIZE);
+	PushText(buf, false);
+}
+
+
+void XMLPrinter::PushText( int value )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( value, buf, BUF_SIZE );
+    PushText( buf, false );
+}
+
+
+void XMLPrinter::PushText( unsigned value )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( value, buf, BUF_SIZE );
+    PushText( buf, false );
+}
+
+
+void XMLPrinter::PushText( bool value )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( value, buf, BUF_SIZE );
+    PushText( buf, false );
+}
+
+
+void XMLPrinter::PushText( float value )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( value, buf, BUF_SIZE );
+    PushText( buf, false );
+}
+
+
+void XMLPrinter::PushText( double value )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( value, buf, BUF_SIZE );
+    PushText( buf, false );
+}
+
+
+void XMLPrinter::PushComment( const char* comment )
+{
+    PrepareForNewNode( _compactMode );
+
+    Write( "<!--" );
+    Write( comment );
+    Write( "-->" );
+}
+
+
+void XMLPrinter::PushDeclaration( const char* value )
+{
+    PrepareForNewNode( _compactMode );
+
+    Write( "<?" );
+    Write( value );
+    Write( "?>" );
+}
+
+
+void XMLPrinter::PushUnknown( const char* value )
+{
+    PrepareForNewNode( _compactMode );
+
+    Write( "<!" );
+    Write( value );
+    Putc( '>' );
+}
+
+
+bool XMLPrinter::VisitEnter( const XMLDocument& doc )
+{
+    _processEntities = doc.ProcessEntities();
+    if ( doc.HasBOM() ) {
+        PushHeader( true, false );
+    }
+    return true;
+}
+
+
+bool XMLPrinter::VisitEnter( const XMLElement& element, const XMLAttribute* attribute )
+{
+    const XMLElement* parentElem = 0;
+    if ( element.Parent() ) {
+        parentElem = element.Parent()->ToElement();
+    }
+    const bool compactMode = parentElem ? CompactMode( *parentElem ) : _compactMode;
+    OpenElement( element.Name(), compactMode );
+    while ( attribute ) {
+        PushAttribute( attribute->Name(), attribute->Value() );
+        attribute = attribute->Next();
+    }
+    return true;
+}
+
+
+bool XMLPrinter::VisitExit( const XMLElement& element )
+{
+    CloseElement( CompactMode(element) );
+    return true;
+}
+
+
+bool XMLPrinter::Visit( const XMLText& text )
+{
+    PushText( text.Value(), text.CData() );
+    return true;
+}
+
+
+bool XMLPrinter::Visit( const XMLComment& comment )
+{
+    PushComment( comment.Value() );
+    return true;
+}
+
+bool XMLPrinter::Visit( const XMLDeclaration& declaration )
+{
+    PushDeclaration( declaration.Value() );
+    return true;
+}
+
+
+bool XMLPrinter::Visit( const XMLUnknown& unknown )
+{
+    PushUnknown( unknown.Value() );
+    return true;
+}
+
+}   // namespace tinyxml2
diff --git a/libs/IO/TinyXML2.h b/libs/IO/TinyXML2.h
new file mode 100644
index 000000000..ae237adde
--- /dev/null
+++ b/libs/IO/TinyXML2.h
@@ -0,0 +1,2368 @@
+/*
+Original code by Lee Thomason (www.grinninglizard.com)
+
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any
+damages arising from the use of this software.
+
+Permission is granted to anyone to use this software for any
+purpose, including commercial applications, and to alter it and
+redistribute it freely, subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must
+not claim that you wrote the original software. If you use this
+software in a product, an acknowledgment in the product documentation
+would be appreciated but is not required.
+
+2. Altered source versions must be plainly marked as such, and
+must not be misrepresented as being the original software.
+
+3. This notice may not be removed or altered from any source
+distribution.
+*/
+
+#ifndef TINYXML2_INCLUDED
+#define TINYXML2_INCLUDED
+
+#if defined(ANDROID_NDK) || defined(__BORLANDC__) || defined(__QNXNTO__)
+#   include <ctype.h>
+#   include <limits.h>
+#   include <stdio.h>
+#   include <stdlib.h>
+#   include <string.h>
+#	if defined(__PS3__)
+#		include <stddef.h>
+#	endif
+#else
+#   include <cctype>
+#   include <climits>
+#   include <cstdio>
+#   include <cstdlib>
+#   include <cstring>
+#endif
+#include <stdint.h>
+
+/*
+   TODO: intern strings instead of allocation.
+*/
+/*
+	gcc:
+        g++ -Wall -DTINYXML2_DEBUG tinyxml2.cpp xmltest.cpp -o gccxmltest.exe
+
+    Formatting, Artistic Style:
+        AStyle.exe --style=1tbs --indent-switches --break-closing-brackets --indent-preprocessor tinyxml2.cpp tinyxml2.h
+*/
+
+#if defined( _DEBUG ) || defined (__DEBUG__)
+#   ifndef TINYXML2_DEBUG
+#       define TINYXML2_DEBUG
+#   endif
+#endif
+
+#ifdef _MSC_VER
+#   pragma warning(push)
+#   pragma warning(disable: 4251)
+#endif
+
+#ifndef TINYXML2_LIB
+#define TINYXML2_LIB IO_API
+#endif
+
+#if !defined(TIXMLASSERT)
+#if defined(TINYXML2_DEBUG)
+#   if defined(_MSC_VER)
+#       define TIXMLASSERT                ASSERT
+#   elif defined (ANDROID_NDK)
+#       include <android/log.h>
+#       define TIXMLASSERT( x )           if ( !(x)) { __android_log_assert( "assert", "grinliz", "ASSERT in '%s' at %d.", __FILE__, __LINE__ ); }
+#   else
+#       include <assert.h>
+#       define TIXMLASSERT                ASSERT
+#   endif
+#else
+#   define TIXMLASSERT( x )               {}
+#endif
+#endif
+
+/* Versioning, past 1.0.14:
+	http://semver.org/
+*/
+static const int TIXML2_MAJOR_VERSION = 9;
+static const int TIXML2_MINOR_VERSION = 0;
+static const int TIXML2_PATCH_VERSION = 0;
+
+#define TINYXML2_MAJOR_VERSION 9
+#define TINYXML2_MINOR_VERSION 0
+#define TINYXML2_PATCH_VERSION 0
+
+// A fixed element depth limit is problematic. There needs to be a
+// limit to avoid a stack overflow. However, that limit varies per
+// system, and the capacity of the stack. On the other hand, it's a trivial
+// attack that can result from ill, malicious, or even correctly formed XML,
+// so there needs to be a limit in place.
+static const int TINYXML2_MAX_ELEMENT_DEPTH = 100;
+
+namespace tinyxml2
+{
+class XMLDocument;
+class XMLElement;
+class XMLAttribute;
+class XMLComment;
+class XMLText;
+class XMLDeclaration;
+class XMLUnknown;
+class XMLPrinter;
+
+/*
+	A class that wraps strings. Normally stores the start and end
+	pointers into the XML file itself, and will apply normalization
+	and entity translation if actually read. Can also store (and memory
+	manage) a traditional char[]
+
+    Isn't clear why TINYXML2_LIB is needed; but seems to fix #719
+*/
+class TINYXML2_LIB StrPair
+{
+public:
+    enum Mode {
+        NEEDS_ENTITY_PROCESSING			= 0x01,
+        NEEDS_NEWLINE_NORMALIZATION		= 0x02,
+        NEEDS_WHITESPACE_COLLAPSING     = 0x04,
+
+        TEXT_ELEMENT		            = NEEDS_ENTITY_PROCESSING | NEEDS_NEWLINE_NORMALIZATION,
+        TEXT_ELEMENT_LEAVE_ENTITIES		= NEEDS_NEWLINE_NORMALIZATION,
+        ATTRIBUTE_NAME		            = 0,
+        ATTRIBUTE_VALUE		            = NEEDS_ENTITY_PROCESSING | NEEDS_NEWLINE_NORMALIZATION,
+        ATTRIBUTE_VALUE_LEAVE_ENTITIES  = NEEDS_NEWLINE_NORMALIZATION,
+        COMMENT							= NEEDS_NEWLINE_NORMALIZATION
+    };
+
+    StrPair() : _flags( 0 ), _start( 0 ), _end( 0 ) {}
+    ~StrPair();
+
+    void Set( char* start, char* end, int flags ) {
+        TIXMLASSERT( start );
+        TIXMLASSERT( end );
+        Reset();
+        _start  = start;
+        _end    = end;
+        _flags  = flags | NEEDS_FLUSH;
+    }
+
+    const char* GetStr();
+
+    bool Empty() const {
+        return _start == _end;
+    }
+
+    void SetInternedStr( const char* str ) {
+        Reset();
+        _start = const_cast<char*>(str);
+    }
+
+    void SetStr( const char* str, int flags=0 );
+
+    char* ParseText( char* in, const char* endTag, int strFlags, int* curLineNumPtr );
+    char* ParseName( char* in );
+
+    void TransferTo( StrPair* other );
+	void Reset();
+
+private:
+    void CollapseWhitespace();
+
+    enum {
+        NEEDS_FLUSH = 0x100,
+        NEEDS_DELETE = 0x200
+    };
+
+    int     _flags;
+    char*   _start;
+    char*   _end;
+
+    StrPair( const StrPair& other );	// not supported
+    void operator=( const StrPair& other );	// not supported, use TransferTo()
+};
+
+
+/*
+	A dynamic array of Plain Old Data. Doesn't support constructors, etc.
+	Has a small initial memory pool, so that low or no usage will not
+	cause a call to new/delete
+*/
+template <class T, int INITIAL_SIZE>
+class DynArray
+{
+public:
+    DynArray() :
+        _mem( _pool ),
+        _allocated( INITIAL_SIZE ),
+        _size( 0 )
+    {
+    }
+
+    ~DynArray() {
+        if ( _mem != _pool ) {
+            delete [] _mem;
+        }
+    }
+
+    void Clear() {
+        _size = 0;
+    }
+
+    void Push( T t ) {
+        TIXMLASSERT( _size < INT_MAX );
+        EnsureCapacity( _size+1 );
+        _mem[_size] = t;
+        ++_size;
+    }
+
+    T* PushArr( int count ) {
+        TIXMLASSERT( count >= 0 );
+        TIXMLASSERT( _size <= INT_MAX - count );
+        EnsureCapacity( _size+count );
+        T* ret = &_mem[_size];
+        _size += count;
+        return ret;
+    }
+
+    T Pop() {
+        TIXMLASSERT( _size > 0 );
+        --_size;
+        return _mem[_size];
+    }
+
+    void PopArr( int count ) {
+        TIXMLASSERT( _size >= count );
+        _size -= count;
+    }
+
+    bool Empty() const					{
+        return _size == 0;
+    }
+
+    T& operator[](int i)				{
+        TIXMLASSERT( i>= 0 && i < _size );
+        return _mem[i];
+    }
+
+    const T& operator[](int i) const	{
+        TIXMLASSERT( i>= 0 && i < _size );
+        return _mem[i];
+    }
+
+    const T& PeekTop() const            {
+        TIXMLASSERT( _size > 0 );
+        return _mem[ _size - 1];
+    }
+
+    int Size() const					{
+        TIXMLASSERT( _size >= 0 );
+        return _size;
+    }
+
+    int Capacity() const				{
+        TIXMLASSERT( _allocated >= INITIAL_SIZE );
+        return _allocated;
+    }
+
+	void SwapRemove(int i) {
+		TIXMLASSERT(i >= 0 && i < _size);
+		TIXMLASSERT(_size > 0);
+		_mem[i] = _mem[_size - 1];
+		--_size;
+	}
+
+    const T* Mem() const				{
+        TIXMLASSERT( _mem );
+        return _mem;
+    }
+
+    T* Mem() {
+        TIXMLASSERT( _mem );
+        return _mem;
+    }
+
+private:
+    DynArray( const DynArray& ); // not supported
+    void operator=( const DynArray& ); // not supported
+
+    void EnsureCapacity( int cap ) {
+        TIXMLASSERT( cap > 0 );
+        if ( cap > _allocated ) {
+            TIXMLASSERT( cap <= INT_MAX / 2 );
+            const int newAllocated = cap * 2;
+            T* newMem = new T[newAllocated];
+            TIXMLASSERT( newAllocated >= _size );
+            memcpy( newMem, _mem, sizeof(T)*_size );	// warning: not using constructors, only works for PODs
+            if ( _mem != _pool ) {
+                delete [] _mem;
+            }
+            _mem = newMem;
+            _allocated = newAllocated;
+        }
+    }
+
+    T*  _mem;
+    T   _pool[INITIAL_SIZE];
+    int _allocated;		// objects allocated
+    int _size;			// number objects in use
+};
+
+
+/*
+	Parent virtual class of a pool for fast allocation
+	and deallocation of objects.
+*/
+class MemPool
+{
+public:
+    MemPool() {}
+    virtual ~MemPool() {}
+
+    virtual int ItemSize() const = 0;
+    virtual void* Alloc() = 0;
+    virtual void Free( void* ) = 0;
+    virtual void SetTracked() = 0;
+};
+
+
+/*
+	Template child class to create pools of the correct type.
+*/
+template< int ITEM_SIZE >
+class MemPoolT : public MemPool
+{
+public:
+    MemPoolT() : _blockPtrs(), _root(0), _currentAllocs(0), _nAllocs(0), _maxAllocs(0), _nUntracked(0)	{}
+    ~MemPoolT() {
+        MemPoolT< ITEM_SIZE >::Clear();
+    }
+
+    void Clear() {
+        // Delete the blocks.
+        while( !_blockPtrs.Empty()) {
+            Block* lastBlock = _blockPtrs.Pop();
+            delete lastBlock;
+        }
+        _root = 0;
+        _currentAllocs = 0;
+        _nAllocs = 0;
+        _maxAllocs = 0;
+        _nUntracked = 0;
+    }
+
+    virtual int ItemSize() const	{
+        return ITEM_SIZE;
+    }
+    int CurrentAllocs() const		{
+        return _currentAllocs;
+    }
+
+    virtual void* Alloc() {
+        if ( !_root ) {
+            // Need a new block.
+            Block* block = new Block();
+            _blockPtrs.Push( block );
+
+            Item* blockItems = block->items;
+            for( int i = 0; i < ITEMS_PER_BLOCK - 1; ++i ) {
+                blockItems[i].next = &(blockItems[i + 1]);
+            }
+            blockItems[ITEMS_PER_BLOCK - 1].next = 0;
+            _root = blockItems;
+        }
+        Item* const result = _root;
+        TIXMLASSERT( result != 0 );
+        _root = _root->next;
+
+        ++_currentAllocs;
+        if ( _currentAllocs > _maxAllocs ) {
+            _maxAllocs = _currentAllocs;
+        }
+        ++_nAllocs;
+        ++_nUntracked;
+        return result;
+    }
+
+    virtual void Free( void* mem ) {
+        if ( !mem ) {
+            return;
+        }
+        --_currentAllocs;
+        Item* item = static_cast<Item*>( mem );
+#ifdef TINYXML2_DEBUG
+        memset( item, 0xfe, sizeof( *item ) );
+#endif
+        item->next = _root;
+        _root = item;
+    }
+    void Trace( const char* name ) {
+        printf( "Mempool %s watermark=%d [%dk] current=%d size=%d nAlloc=%d blocks=%d\n",
+                name, _maxAllocs, _maxAllocs * ITEM_SIZE / 1024, _currentAllocs,
+                ITEM_SIZE, _nAllocs, _blockPtrs.Size() );
+    }
+
+    void SetTracked() {
+        --_nUntracked;
+    }
+
+    int Untracked() const {
+        return _nUntracked;
+    }
+
+	// This number is perf sensitive. 4k seems like a good tradeoff on my machine.
+	// The test file is large, 170k.
+	// Release:		VS2010 gcc(no opt)
+	//		1k:		4000
+	//		2k:		4000
+	//		4k:		3900	21000
+	//		16k:	5200
+	//		32k:	4300
+	//		64k:	4000	21000
+    // Declared public because some compilers do not accept to use ITEMS_PER_BLOCK
+    // in private part if ITEMS_PER_BLOCK is private
+    enum { ITEMS_PER_BLOCK = (4 * 1024) / ITEM_SIZE };
+
+private:
+    MemPoolT( const MemPoolT& ); // not supported
+    void operator=( const MemPoolT& ); // not supported
+
+    union Item {
+        Item*   next;
+        char    itemData[ITEM_SIZE];
+    };
+    struct Block {
+        Item items[ITEMS_PER_BLOCK];
+    };
+    DynArray< Block*, 10 > _blockPtrs;
+    Item* _root;
+
+    int _currentAllocs;
+    int _nAllocs;
+    int _maxAllocs;
+    int _nUntracked;
+};
+
+
+
+/**
+	Implements the interface to the "Visitor pattern" (see the Accept() method.)
+	If you call the Accept() method, it requires being passed a XMLVisitor
+	class to handle callbacks. For nodes that contain other nodes (Document, Element)
+	you will get called with a VisitEnter/VisitExit pair. Nodes that are always leafs
+	are simply called with Visit().
+
+	If you return 'true' from a Visit method, recursive parsing will continue. If you return
+	false, <b>no children of this node or its siblings</b> will be visited.
+
+	All flavors of Visit methods have a default implementation that returns 'true' (continue
+	visiting). You need to only override methods that are interesting to you.
+
+	Generally Accept() is called on the XMLDocument, although all nodes support visiting.
+
+	You should never change the document from a callback.
+
+	@sa XMLNode::Accept()
+*/
+class TINYXML2_LIB XMLVisitor
+{
+public:
+    virtual ~XMLVisitor() {}
+
+    /// Visit a document.
+    virtual bool VisitEnter( const XMLDocument& /*doc*/ )			{
+        return true;
+    }
+    /// Visit a document.
+    virtual bool VisitExit( const XMLDocument& /*doc*/ )			{
+        return true;
+    }
+
+    /// Visit an element.
+    virtual bool VisitEnter( const XMLElement& /*element*/, const XMLAttribute* /*firstAttribute*/ )	{
+        return true;
+    }
+    /// Visit an element.
+    virtual bool VisitExit( const XMLElement& /*element*/ )			{
+        return true;
+    }
+
+    /// Visit a declaration.
+    virtual bool Visit( const XMLDeclaration& /*declaration*/ )		{
+        return true;
+    }
+    /// Visit a text node.
+    virtual bool Visit( const XMLText& /*text*/ )					{
+        return true;
+    }
+    /// Visit a comment node.
+    virtual bool Visit( const XMLComment& /*comment*/ )				{
+        return true;
+    }
+    /// Visit an unknown node.
+    virtual bool Visit( const XMLUnknown& /*unknown*/ )				{
+        return true;
+    }
+};
+
+// WARNING: must match XMLDocument::_errorNames[]
+enum XMLError {
+    XML_SUCCESS = 0,
+    XML_NO_ATTRIBUTE,
+    XML_WRONG_ATTRIBUTE_TYPE,
+    XML_ERROR_FILE_NOT_FOUND,
+    XML_ERROR_FILE_COULD_NOT_BE_OPENED,
+    XML_ERROR_FILE_READ_ERROR,
+    XML_ERROR_PARSING_ELEMENT,
+    XML_ERROR_PARSING_ATTRIBUTE,
+    XML_ERROR_PARSING_TEXT,
+    XML_ERROR_PARSING_CDATA,
+    XML_ERROR_PARSING_COMMENT,
+    XML_ERROR_PARSING_DECLARATION,
+    XML_ERROR_PARSING_UNKNOWN,
+    XML_ERROR_EMPTY_DOCUMENT,
+    XML_ERROR_MISMATCHED_ELEMENT,
+    XML_ERROR_PARSING,
+    XML_CAN_NOT_CONVERT_TEXT,
+    XML_NO_TEXT_NODE,
+	XML_ELEMENT_DEPTH_EXCEEDED,
+
+	XML_ERROR_COUNT
+};
+
+
+/*
+	Utility functionality.
+*/
+class TINYXML2_LIB XMLUtil
+{
+public:
+    static const char* SkipWhiteSpace( const char* p, int* curLineNumPtr )	{
+        TIXMLASSERT( p );
+
+        while( IsWhiteSpace(*p) ) {
+            if (curLineNumPtr && *p == '\n') {
+                ++(*curLineNumPtr);
+            }
+            ++p;
+        }
+        TIXMLASSERT( p );
+        return p;
+    }
+    static char* SkipWhiteSpace( char* const p, int* curLineNumPtr ) {
+        return const_cast<char*>( SkipWhiteSpace( const_cast<const char*>(p), curLineNumPtr ) );
+    }
+
+    // Anything in the high order range of UTF-8 is assumed to not be whitespace. This isn't
+    // correct, but simple, and usually works.
+    static bool IsWhiteSpace( char p )					{
+        return !IsUTF8Continuation(p) && isspace( static_cast<unsigned char>(p) );
+    }
+
+    inline static bool IsNameStartChar( unsigned char ch ) {
+        if ( ch >= 128 ) {
+            // This is a heuristic guess in attempt to not implement Unicode-aware isalpha()
+            return true;
+        }
+        if ( isalpha( ch ) ) {
+            return true;
+        }
+        return ch == ':' || ch == '_';
+    }
+
+    inline static bool IsNameChar( unsigned char ch ) {
+        return IsNameStartChar( ch )
+               || isdigit( ch )
+               || ch == '.'
+               || ch == '-';
+    }
+
+    inline static bool IsPrefixHex( const char* p) {
+        p = SkipWhiteSpace(p, 0);
+        return p && *p == '0' && ( *(p + 1) == 'x' || *(p + 1) == 'X');
+    }
+
+    inline static bool StringEqual( const char* p, const char* q, int nChar=INT_MAX )  {
+        if ( p == q ) {
+            return true;
+        }
+        TIXMLASSERT( p );
+        TIXMLASSERT( q );
+        TIXMLASSERT( nChar >= 0 );
+        return strncmp( p, q, nChar ) == 0;
+    }
+
+    inline static bool IsUTF8Continuation( const char p ) {
+        return ( p & 0x80 ) != 0;
+    }
+
+    static const char* ReadBOM( const char* p, bool* hasBOM );
+    // p is the starting location,
+    // the UTF-8 value of the entity will be placed in value, and length filled in.
+    static const char* GetCharacterRef( const char* p, char* value, int* length );
+    static void ConvertUTF32ToUTF8( unsigned long input, char* output, int* length );
+
+    // converts primitive types to strings
+    static void ToStr( int v, char* buffer, int bufferSize );
+    static void ToStr( unsigned v, char* buffer, int bufferSize );
+    static void ToStr( bool v, char* buffer, int bufferSize );
+    static void ToStr( float v, char* buffer, int bufferSize );
+    static void ToStr( double v, char* buffer, int bufferSize );
+	static void ToStr(int64_t v, char* buffer, int bufferSize);
+    static void ToStr(uint64_t v, char* buffer, int bufferSize);
+
+    // converts strings to primitive types
+    static bool	ToInt( const char* str, int* value );
+    static bool ToUnsigned( const char* str, unsigned* value );
+    static bool	ToBool( const char* str, bool* value );
+    static bool	ToFloat( const char* str, float* value );
+    static bool ToDouble( const char* str, double* value );
+	static bool ToInt64(const char* str, int64_t* value);
+    static bool ToUnsigned64(const char* str, uint64_t* value);
+	// Changes what is serialized for a boolean value.
+	// Default to "true" and "false". Shouldn't be changed
+	// unless you have a special testing or compatibility need.
+	// Be careful: static, global, & not thread safe.
+	// Be sure to set static const memory as parameters.
+	static void SetBoolSerialization(const char* writeTrue, const char* writeFalse);
+
+private:
+	static const char* writeBoolTrue;
+	static const char* writeBoolFalse;
+};
+
+
+/** XMLNode is a base class for every object that is in the
+	XML Document Object Model (DOM), except XMLAttributes.
+	Nodes have siblings, a parent, and children which can
+	be navigated. A node is always in a XMLDocument.
+	The type of a XMLNode can be queried, and it can
+	be cast to its more defined type.
+
+	A XMLDocument allocates memory for all its Nodes.
+	When the XMLDocument gets deleted, all its Nodes
+	will also be deleted.
+
+	@verbatim
+	A Document can contain:	Element	(container or leaf)
+							Comment (leaf)
+							Unknown (leaf)
+							Declaration( leaf )
+
+	An Element can contain:	Element (container or leaf)
+							Text	(leaf)
+							Attributes (not on tree)
+							Comment (leaf)
+							Unknown (leaf)
+
+	@endverbatim
+*/
+class TINYXML2_LIB XMLNode
+{
+    friend class XMLDocument;
+    friend class XMLElement;
+public:
+
+    /// Get the XMLDocument that owns this XMLNode.
+    const XMLDocument* GetDocument() const	{
+        TIXMLASSERT( _document );
+        return _document;
+    }
+    /// Get the XMLDocument that owns this XMLNode.
+    XMLDocument* GetDocument()				{
+        TIXMLASSERT( _document );
+        return _document;
+    }
+
+    /// Safely cast to an Element, or null.
+    virtual XMLElement*		ToElement()		{
+        return 0;
+    }
+    /// Safely cast to Text, or null.
+    virtual XMLText*		ToText()		{
+        return 0;
+    }
+    /// Safely cast to a Comment, or null.
+    virtual XMLComment*		ToComment()		{
+        return 0;
+    }
+    /// Safely cast to a Document, or null.
+    virtual XMLDocument*	ToDocument()	{
+        return 0;
+    }
+    /// Safely cast to a Declaration, or null.
+    virtual XMLDeclaration*	ToDeclaration()	{
+        return 0;
+    }
+    /// Safely cast to an Unknown, or null.
+    virtual XMLUnknown*		ToUnknown()		{
+        return 0;
+    }
+
+    virtual const XMLElement*		ToElement() const		{
+        return 0;
+    }
+    virtual const XMLText*			ToText() const			{
+        return 0;
+    }
+    virtual const XMLComment*		ToComment() const		{
+        return 0;
+    }
+    virtual const XMLDocument*		ToDocument() const		{
+        return 0;
+    }
+    virtual const XMLDeclaration*	ToDeclaration() const	{
+        return 0;
+    }
+    virtual const XMLUnknown*		ToUnknown() const		{
+        return 0;
+    }
+
+    /** The meaning of 'value' changes for the specific type.
+    	@verbatim
+    	Document:	empty (NULL is returned, not an empty string)
+    	Element:	name of the element
+    	Comment:	the comment text
+    	Unknown:	the tag contents
+    	Text:		the text string
+    	@endverbatim
+    */
+    const char* Value() const;
+
+    /** Set the Value of an XML node.
+    	@sa Value()
+    */
+    void SetValue( const char* val, bool staticMem=false );
+
+    /// Gets the line number the node is in, if the document was parsed from a file.
+    int GetLineNum() const { return _parseLineNum; }
+
+    /// Get the parent of this node on the DOM.
+    const XMLNode*	Parent() const			{
+        return _parent;
+    }
+
+    XMLNode* Parent()						{
+        return _parent;
+    }
+
+    /// Returns true if this node has no children.
+    bool NoChildren() const					{
+        return !_firstChild;
+    }
+
+    /// Get the first child node, or null if none exists.
+    const XMLNode*  FirstChild() const		{
+        return _firstChild;
+    }
+
+    XMLNode*		FirstChild()			{
+        return _firstChild;
+    }
+
+    /** Get the first child element, or optionally the first child
+        element with the specified name.
+    */
+    const XMLElement* FirstChildElement( const char* name = 0 ) const;
+
+    XMLElement* FirstChildElement( const char* name = 0 )	{
+        return const_cast<XMLElement*>(const_cast<const XMLNode*>(this)->FirstChildElement( name ));
+    }
+
+    /// Get the last child node, or null if none exists.
+    const XMLNode*	LastChild() const						{
+        return _lastChild;
+    }
+
+    XMLNode*		LastChild()								{
+        return _lastChild;
+    }
+
+    /** Get the last child element or optionally the last child
+        element with the specified name.
+    */
+    const XMLElement* LastChildElement( const char* name = 0 ) const;
+
+    XMLElement* LastChildElement( const char* name = 0 )	{
+        return const_cast<XMLElement*>(const_cast<const XMLNode*>(this)->LastChildElement(name) );
+    }
+
+    /// Get the previous (left) sibling node of this node.
+    const XMLNode*	PreviousSibling() const					{
+        return _prev;
+    }
+
+    XMLNode*	PreviousSibling()							{
+        return _prev;
+    }
+
+    /// Get the previous (left) sibling element of this node, with an optionally supplied name.
+    const XMLElement*	PreviousSiblingElement( const char* name = 0 ) const ;
+
+    XMLElement*	PreviousSiblingElement( const char* name = 0 ) {
+        return const_cast<XMLElement*>(const_cast<const XMLNode*>(this)->PreviousSiblingElement( name ) );
+    }
+
+    /// Get the next (right) sibling node of this node.
+    const XMLNode*	NextSibling() const						{
+        return _next;
+    }
+
+    XMLNode*	NextSibling()								{
+        return _next;
+    }
+
+    /// Get the next (right) sibling element of this node, with an optionally supplied name.
+    const XMLElement*	NextSiblingElement( const char* name = 0 ) const;
+
+    XMLElement*	NextSiblingElement( const char* name = 0 )	{
+        return const_cast<XMLElement*>(const_cast<const XMLNode*>(this)->NextSiblingElement( name ) );
+    }
+
+    /**
+    	Add a child node as the last (right) child.
+		If the child node is already part of the document,
+		it is moved from its old location to the new location.
+		Returns the addThis argument or 0 if the node does not
+		belong to the same document.
+    */
+    XMLNode* InsertEndChild( XMLNode* addThis );
+
+    XMLNode* LinkEndChild( XMLNode* addThis )	{
+        return InsertEndChild( addThis );
+    }
+    /**
+    	Add a child node as the first (left) child.
+		If the child node is already part of the document,
+		it is moved from its old location to the new location.
+		Returns the addThis argument or 0 if the node does not
+		belong to the same document.
+    */
+    XMLNode* InsertFirstChild( XMLNode* addThis );
+    /**
+    	Add a node after the specified child node.
+		If the child node is already part of the document,
+		it is moved from its old location to the new location.
+		Returns the addThis argument or 0 if the afterThis node
+		is not a child of this node, or if the node does not
+		belong to the same document.
+    */
+    XMLNode* InsertAfterChild( XMLNode* afterThis, XMLNode* addThis );
+
+    /**
+    	Delete all the children of this node.
+    */
+    void DeleteChildren();
+
+    /**
+    	Delete a child of this node.
+    */
+    void DeleteChild( XMLNode* node );
+
+    /**
+    	Make a copy of this node, but not its children.
+    	You may pass in a Document pointer that will be
+    	the owner of the new Node. If the 'document' is
+    	null, then the node returned will be allocated
+    	from the current Document. (this->GetDocument())
+
+    	Note: if called on a XMLDocument, this will return null.
+    */
+    virtual XMLNode* ShallowClone( XMLDocument* document ) const = 0;
+
+	/**
+		Make a copy of this node and all its children.
+
+		If the 'target' is null, then the nodes will
+		be allocated in the current document. If 'target'
+        is specified, the memory will be allocated is the
+        specified XMLDocument.
+
+		NOTE: This is probably not the correct tool to
+		copy a document, since XMLDocuments can have multiple
+		top level XMLNodes. You probably want to use
+        XMLDocument::DeepCopy()
+	*/
+	XMLNode* DeepClone( XMLDocument* target ) const;
+
+    /**
+    	Test if 2 nodes are the same, but don't test children.
+    	The 2 nodes do not need to be in the same Document.
+
+    	Note: if called on a XMLDocument, this will return false.
+    */
+    virtual bool ShallowEqual( const XMLNode* compare ) const = 0;
+
+    /** Accept a hierarchical visit of the nodes in the TinyXML-2 DOM. Every node in the
+    	XML tree will be conditionally visited and the host will be called back
+    	via the XMLVisitor interface.
+
+    	This is essentially a SAX interface for TinyXML-2. (Note however it doesn't re-parse
+    	the XML for the callbacks, so the performance of TinyXML-2 is unchanged by using this
+    	interface versus any other.)
+
+    	The interface has been based on ideas from:
+
+    	- http://www.saxproject.org/
+    	- http://c2.com/cgi/wiki?HierarchicalVisitorPattern
+
+    	Which are both good references for "visiting".
+
+    	An example of using Accept():
+    	@verbatim
+    	XMLPrinter printer;
+    	tinyxmlDoc.Accept( &printer );
+    	const char* xmlcstr = printer.CStr();
+    	@endverbatim
+    */
+    virtual bool Accept( XMLVisitor* visitor ) const = 0;
+
+	/**
+		Set user data into the XMLNode. TinyXML-2 in
+		no way processes or interprets user data.
+		It is initially 0.
+	*/
+	void SetUserData(void* userData)	{ _userData = userData; }
+
+	/**
+		Get user data set into the XMLNode. TinyXML-2 in
+		no way processes or interprets user data.
+		It is initially 0.
+	*/
+	void* GetUserData() const			{ return _userData; }
+
+protected:
+    explicit XMLNode( XMLDocument* );
+    virtual ~XMLNode();
+
+    virtual char* ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr);
+
+    XMLDocument*	_document;
+    XMLNode*		_parent;
+    mutable StrPair	_value;
+    int             _parseLineNum;
+
+    XMLNode*		_firstChild;
+    XMLNode*		_lastChild;
+
+    XMLNode*		_prev;
+    XMLNode*		_next;
+
+	void*			_userData;
+
+private:
+    MemPool*		_memPool;
+    void Unlink( XMLNode* child );
+    static void DeleteNode( XMLNode* node );
+    void InsertChildPreamble( XMLNode* insertThis ) const;
+    const XMLElement* ToElementWithName( const char* name ) const;
+
+    XMLNode( const XMLNode& );	// not supported
+    XMLNode& operator=( const XMLNode& );	// not supported
+};
+
+
+/** XML text.
+
+	Note that a text node can have child element nodes, for example:
+	@verbatim
+	<root>This is <b>bold</b></root>
+	@endverbatim
+
+	A text node can have 2 ways to output the next. "normal" output
+	and CDATA. It will default to the mode it was parsed from the XML file and
+	you generally want to leave it alone, but you can change the output mode with
+	SetCData() and query it with CData().
+*/
+class TINYXML2_LIB XMLText : public XMLNode
+{
+    friend class XMLDocument;
+public:
+    virtual bool Accept( XMLVisitor* visitor ) const;
+
+    virtual XMLText* ToText()			{
+        return this;
+    }
+    virtual const XMLText* ToText() const	{
+        return this;
+    }
+
+    /// Declare whether this should be CDATA or standard text.
+    void SetCData( bool isCData )			{
+        _isCData = isCData;
+    }
+    /// Returns true if this is a CDATA text element.
+    bool CData() const						{
+        return _isCData;
+    }
+
+    virtual XMLNode* ShallowClone( XMLDocument* document ) const;
+    virtual bool ShallowEqual( const XMLNode* compare ) const;
+
+protected:
+    explicit XMLText( XMLDocument* doc )	: XMLNode( doc ), _isCData( false )	{}
+    virtual ~XMLText()												{}
+
+    char* ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr );
+
+private:
+    bool _isCData;
+
+    XMLText( const XMLText& );	// not supported
+    XMLText& operator=( const XMLText& );	// not supported
+};
+
+
+/** An XML Comment. */
+class TINYXML2_LIB XMLComment : public XMLNode
+{
+    friend class XMLDocument;
+public:
+    virtual XMLComment*	ToComment()					{
+        return this;
+    }
+    virtual const XMLComment* ToComment() const		{
+        return this;
+    }
+
+    virtual bool Accept( XMLVisitor* visitor ) const;
+
+    virtual XMLNode* ShallowClone( XMLDocument* document ) const;
+    virtual bool ShallowEqual( const XMLNode* compare ) const;
+
+protected:
+    explicit XMLComment( XMLDocument* doc );
+    virtual ~XMLComment();
+
+    char* ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr);
+
+private:
+    XMLComment( const XMLComment& );	// not supported
+    XMLComment& operator=( const XMLComment& );	// not supported
+};
+
+
+/** In correct XML the declaration is the first entry in the file.
+	@verbatim
+		<?xml version="1.0" standalone="yes"?>
+	@endverbatim
+
+	TinyXML-2 will happily read or write files without a declaration,
+	however.
+
+	The text of the declaration isn't interpreted. It is parsed
+	and written as a string.
+*/
+class TINYXML2_LIB XMLDeclaration : public XMLNode
+{
+    friend class XMLDocument;
+public:
+    virtual XMLDeclaration*	ToDeclaration()					{
+        return this;
+    }
+    virtual const XMLDeclaration* ToDeclaration() const		{
+        return this;
+    }
+
+    virtual bool Accept( XMLVisitor* visitor ) const;
+
+    virtual XMLNode* ShallowClone( XMLDocument* document ) const;
+    virtual bool ShallowEqual( const XMLNode* compare ) const;
+
+protected:
+    explicit XMLDeclaration( XMLDocument* doc );
+    virtual ~XMLDeclaration();
+
+    char* ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr );
+
+private:
+    XMLDeclaration( const XMLDeclaration& );	// not supported
+    XMLDeclaration& operator=( const XMLDeclaration& );	// not supported
+};
+
+
+/** Any tag that TinyXML-2 doesn't recognize is saved as an
+	unknown. It is a tag of text, but should not be modified.
+	It will be written back to the XML, unchanged, when the file
+	is saved.
+
+	DTD tags get thrown into XMLUnknowns.
+*/
+class TINYXML2_LIB XMLUnknown : public XMLNode
+{
+    friend class XMLDocument;
+public:
+    virtual XMLUnknown*	ToUnknown()					{
+        return this;
+    }
+    virtual const XMLUnknown* ToUnknown() const		{
+        return this;
+    }
+
+    virtual bool Accept( XMLVisitor* visitor ) const;
+
+    virtual XMLNode* ShallowClone( XMLDocument* document ) const;
+    virtual bool ShallowEqual( const XMLNode* compare ) const;
+
+protected:
+    explicit XMLUnknown( XMLDocument* doc );
+    virtual ~XMLUnknown();
+
+    char* ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr );
+
+private:
+    XMLUnknown( const XMLUnknown& );	// not supported
+    XMLUnknown& operator=( const XMLUnknown& );	// not supported
+};
+
+
+
+/** An attribute is a name-value pair. Elements have an arbitrary
+	number of attributes, each with a unique name.
+
+	@note The attributes are not XMLNodes. You may only query the
+	Next() attribute in a list.
+*/
+class TINYXML2_LIB XMLAttribute
+{
+    friend class XMLElement;
+public:
+    /// The name of the attribute.
+    const char* Name() const;
+
+    /// The value of the attribute.
+    const char* Value() const;
+
+    /// Gets the line number the attribute is in, if the document was parsed from a file.
+    int GetLineNum() const { return _parseLineNum; }
+
+    /// The next attribute in the list.
+    const XMLAttribute* Next() const {
+        return _next;
+    }
+
+    /** IntValue interprets the attribute as an integer, and returns the value.
+        If the value isn't an integer, 0 will be returned. There is no error checking;
+    	use QueryIntValue() if you need error checking.
+    */
+	int	IntValue() const {
+		int i = 0;
+		QueryIntValue(&i);
+		return i;
+	}
+
+	int64_t Int64Value() const {
+		int64_t i = 0;
+		QueryInt64Value(&i);
+		return i;
+	}
+
+    uint64_t Unsigned64Value() const {
+        uint64_t i = 0;
+        QueryUnsigned64Value(&i);
+        return i;
+    }
+
+    /// Query as an unsigned integer. See IntValue()
+    unsigned UnsignedValue() const			{
+        unsigned i=0;
+        QueryUnsignedValue( &i );
+        return i;
+    }
+    /// Query as a boolean. See IntValue()
+    bool	 BoolValue() const				{
+        bool b=false;
+        QueryBoolValue( &b );
+        return b;
+    }
+    /// Query as a double. See IntValue()
+    double 	 DoubleValue() const			{
+        double d=0;
+        QueryDoubleValue( &d );
+        return d;
+    }
+    /// Query as a float. See IntValue()
+    float	 FloatValue() const				{
+        float f=0;
+        QueryFloatValue( &f );
+        return f;
+    }
+
+    /** QueryIntValue interprets the attribute as an integer, and returns the value
+    	in the provided parameter. The function will return XML_SUCCESS on success,
+    	and XML_WRONG_ATTRIBUTE_TYPE if the conversion is not successful.
+    */
+    XMLError QueryIntValue( int* value ) const;
+    /// See QueryIntValue
+    XMLError QueryUnsignedValue( unsigned int* value ) const;
+	/// See QueryIntValue
+	XMLError QueryInt64Value(int64_t* value) const;
+    /// See QueryIntValue
+    XMLError QueryUnsigned64Value(uint64_t* value) const;
+	/// See QueryIntValue
+    XMLError QueryBoolValue( bool* value ) const;
+    /// See QueryIntValue
+    XMLError QueryDoubleValue( double* value ) const;
+    /// See QueryIntValue
+    XMLError QueryFloatValue( float* value ) const;
+
+    /// Set the attribute to a string value.
+    void SetAttribute( const char* value );
+    /// Set the attribute to value.
+    void SetAttribute( int value );
+    /// Set the attribute to value.
+    void SetAttribute( unsigned value );
+	/// Set the attribute to value.
+	void SetAttribute(int64_t value);
+    /// Set the attribute to value.
+    void SetAttribute(uint64_t value);
+    /// Set the attribute to value.
+    void SetAttribute( bool value );
+    /// Set the attribute to value.
+    void SetAttribute( double value );
+    /// Set the attribute to value.
+    void SetAttribute( float value );
+
+private:
+    enum { BUF_SIZE = 200 };
+
+    XMLAttribute() : _name(), _value(),_parseLineNum( 0 ), _next( 0 ), _memPool( 0 ) {}
+    virtual ~XMLAttribute()	{}
+
+    XMLAttribute( const XMLAttribute& );	// not supported
+    void operator=( const XMLAttribute& );	// not supported
+    void SetName( const char* name );
+
+    char* ParseDeep( char* p, bool processEntities, int* curLineNumPtr );
+
+    mutable StrPair _name;
+    mutable StrPair _value;
+    int             _parseLineNum;
+    XMLAttribute*   _next;
+    MemPool*        _memPool;
+};
+
+
+/** The element is a container class. It has a value, the element name,
+	and can contain other elements, text, comments, and unknowns.
+	Elements also contain an arbitrary number of attributes.
+*/
+class TINYXML2_LIB XMLElement : public XMLNode
+{
+    friend class XMLDocument;
+public:
+    /// Get the name of an element (which is the Value() of the node.)
+    const char* Name() const		{
+        return Value();
+    }
+    /// Set the name of the element.
+    void SetName( const char* str, bool staticMem=false )	{
+        SetValue( str, staticMem );
+    }
+
+    virtual XMLElement* ToElement()				{
+        return this;
+    }
+    virtual const XMLElement* ToElement() const {
+        return this;
+    }
+    virtual bool Accept( XMLVisitor* visitor ) const;
+
+    /** Given an attribute name, Attribute() returns the value
+    	for the attribute of that name, or null if none
+    	exists. For example:
+
+    	@verbatim
+    	const char* value = ele->Attribute( "foo" );
+    	@endverbatim
+
+    	The 'value' parameter is normally null. However, if specified,
+    	the attribute will only be returned if the 'name' and 'value'
+    	match. This allow you to write code:
+
+    	@verbatim
+    	if ( ele->Attribute( "foo", "bar" ) ) callFooIsBar();
+    	@endverbatim
+
+    	rather than:
+    	@verbatim
+    	if ( ele->Attribute( "foo" ) ) {
+    		if ( strcmp( ele->Attribute( "foo" ), "bar" ) == 0 ) callFooIsBar();
+    	}
+    	@endverbatim
+    */
+    const char* Attribute( const char* name, const char* value=0 ) const;
+
+    /** Given an attribute name, IntAttribute() returns the value
+    	of the attribute interpreted as an integer. The default
+        value will be returned if the attribute isn't present,
+        or if there is an error. (For a method with error
+    	checking, see QueryIntAttribute()).
+    */
+	int IntAttribute(const char* name, int defaultValue = 0) const;
+    /// See IntAttribute()
+	unsigned UnsignedAttribute(const char* name, unsigned defaultValue = 0) const;
+	/// See IntAttribute()
+	int64_t Int64Attribute(const char* name, int64_t defaultValue = 0) const;
+    /// See IntAttribute()
+    uint64_t Unsigned64Attribute(const char* name, uint64_t defaultValue = 0) const;
+	/// See IntAttribute()
+	bool BoolAttribute(const char* name, bool defaultValue = false) const;
+    /// See IntAttribute()
+	double DoubleAttribute(const char* name, double defaultValue = 0) const;
+    /// See IntAttribute()
+	float FloatAttribute(const char* name, float defaultValue = 0) const;
+
+    /** Given an attribute name, QueryIntAttribute() returns
+    	XML_SUCCESS, XML_WRONG_ATTRIBUTE_TYPE if the conversion
+    	can't be performed, or XML_NO_ATTRIBUTE if the attribute
+    	doesn't exist. If successful, the result of the conversion
+    	will be written to 'value'. If not successful, nothing will
+    	be written to 'value'. This allows you to provide default
+    	value:
+
+    	@verbatim
+    	int value = 10;
+    	QueryIntAttribute( "foo", &value );		// if "foo" isn't found, value will still be 10
+    	@endverbatim
+    */
+    XMLError QueryIntAttribute( const char* name, int* value ) const				{
+        const XMLAttribute* a = FindAttribute( name );
+        if ( !a ) {
+            return XML_NO_ATTRIBUTE;
+        }
+        return a->QueryIntValue( value );
+    }
+
+	/// See QueryIntAttribute()
+    XMLError QueryUnsignedAttribute( const char* name, unsigned int* value ) const	{
+        const XMLAttribute* a = FindAttribute( name );
+        if ( !a ) {
+            return XML_NO_ATTRIBUTE;
+        }
+        return a->QueryUnsignedValue( value );
+    }
+
+	/// See QueryIntAttribute()
+	XMLError QueryInt64Attribute(const char* name, int64_t* value) const {
+		const XMLAttribute* a = FindAttribute(name);
+		if (!a) {
+			return XML_NO_ATTRIBUTE;
+		}
+		return a->QueryInt64Value(value);
+	}
+
+    /// See QueryIntAttribute()
+    XMLError QueryUnsigned64Attribute(const char* name, uint64_t* value) const {
+        const XMLAttribute* a = FindAttribute(name);
+        if(!a) {
+            return XML_NO_ATTRIBUTE;
+        }
+        return a->QueryUnsigned64Value(value);
+    }
+
+	/// See QueryIntAttribute()
+    XMLError QueryBoolAttribute( const char* name, bool* value ) const				{
+        const XMLAttribute* a = FindAttribute( name );
+        if ( !a ) {
+            return XML_NO_ATTRIBUTE;
+        }
+        return a->QueryBoolValue( value );
+    }
+    /// See QueryIntAttribute()
+    XMLError QueryDoubleAttribute( const char* name, double* value ) const			{
+        const XMLAttribute* a = FindAttribute( name );
+        if ( !a ) {
+            return XML_NO_ATTRIBUTE;
+        }
+        return a->QueryDoubleValue( value );
+    }
+    /// See QueryIntAttribute()
+    XMLError QueryFloatAttribute( const char* name, float* value ) const			{
+        const XMLAttribute* a = FindAttribute( name );
+        if ( !a ) {
+            return XML_NO_ATTRIBUTE;
+        }
+        return a->QueryFloatValue( value );
+    }
+
+	/// See QueryIntAttribute()
+	XMLError QueryStringAttribute(const char* name, const char** value) const {
+		const XMLAttribute* a = FindAttribute(name);
+		if (!a) {
+			return XML_NO_ATTRIBUTE;
+		}
+		*value = a->Value();
+		return XML_SUCCESS;
+	}
+
+
+
+    /** Given an attribute name, QueryAttribute() returns
+    	XML_SUCCESS, XML_WRONG_ATTRIBUTE_TYPE if the conversion
+    	can't be performed, or XML_NO_ATTRIBUTE if the attribute
+    	doesn't exist. It is overloaded for the primitive types,
+		and is a generally more convenient replacement of
+		QueryIntAttribute() and related functions.
+
+		If successful, the result of the conversion
+    	will be written to 'value'. If not successful, nothing will
+    	be written to 'value'. This allows you to provide default
+    	value:
+
+    	@verbatim
+    	int value = 10;
+    	QueryAttribute( "foo", &value );		// if "foo" isn't found, value will still be 10
+    	@endverbatim
+    */
+	XMLError QueryAttribute( const char* name, int* value ) const {
+		return QueryIntAttribute( name, value );
+	}
+
+	XMLError QueryAttribute( const char* name, unsigned int* value ) const {
+		return QueryUnsignedAttribute( name, value );
+	}
+
+	XMLError QueryAttribute(const char* name, int64_t* value) const {
+		return QueryInt64Attribute(name, value);
+	}
+
+    XMLError QueryAttribute(const char* name, uint64_t* value) const {
+        return QueryUnsigned64Attribute(name, value);
+    }
+
+    XMLError QueryAttribute( const char* name, bool* value ) const {
+		return QueryBoolAttribute( name, value );
+	}
+
+	XMLError QueryAttribute( const char* name, double* value ) const {
+		return QueryDoubleAttribute( name, value );
+	}
+
+	XMLError QueryAttribute( const char* name, float* value ) const {
+		return QueryFloatAttribute( name, value );
+	}
+
+	XMLError QueryAttribute(const char* name, const char** value) const {
+		return QueryStringAttribute(name, value);
+	}
+
+	/// Sets the named attribute to value.
+    void SetAttribute( const char* name, const char* value )	{
+        XMLAttribute* a = FindOrCreateAttribute( name );
+        a->SetAttribute( value );
+    }
+    /// Sets the named attribute to value.
+    void SetAttribute( const char* name, int value )			{
+        XMLAttribute* a = FindOrCreateAttribute( name );
+        a->SetAttribute( value );
+    }
+    /// Sets the named attribute to value.
+    void SetAttribute( const char* name, unsigned value )		{
+        XMLAttribute* a = FindOrCreateAttribute( name );
+        a->SetAttribute( value );
+    }
+
+	/// Sets the named attribute to value.
+	void SetAttribute(const char* name, int64_t value) {
+		XMLAttribute* a = FindOrCreateAttribute(name);
+		a->SetAttribute(value);
+	}
+
+    /// Sets the named attribute to value.
+    void SetAttribute(const char* name, uint64_t value) {
+        XMLAttribute* a = FindOrCreateAttribute(name);
+        a->SetAttribute(value);
+    }
+
+    /// Sets the named attribute to value.
+    void SetAttribute( const char* name, bool value )			{
+        XMLAttribute* a = FindOrCreateAttribute( name );
+        a->SetAttribute( value );
+    }
+    /// Sets the named attribute to value.
+    void SetAttribute( const char* name, double value )		{
+        XMLAttribute* a = FindOrCreateAttribute( name );
+        a->SetAttribute( value );
+    }
+    /// Sets the named attribute to value.
+    void SetAttribute( const char* name, float value )		{
+        XMLAttribute* a = FindOrCreateAttribute( name );
+        a->SetAttribute( value );
+    }
+
+    /**
+    	Delete an attribute.
+    */
+    void DeleteAttribute( const char* name );
+
+    /// Return the first attribute in the list.
+    const XMLAttribute* FirstAttribute() const {
+        return _rootAttribute;
+    }
+    /// Query a specific attribute in the list.
+    const XMLAttribute* FindAttribute( const char* name ) const;
+
+    /** Convenience function for easy access to the text inside an element. Although easy
+    	and concise, GetText() is limited compared to getting the XMLText child
+    	and accessing it directly.
+
+    	If the first child of 'this' is a XMLText, the GetText()
+    	returns the character string of the Text node, else null is returned.
+
+    	This is a convenient method for getting the text of simple contained text:
+    	@verbatim
+    	<foo>This is text</foo>
+    		const char* str = fooElement->GetText();
+    	@endverbatim
+
+    	'str' will be a pointer to "This is text".
+
+    	Note that this function can be misleading. If the element foo was created from
+    	this XML:
+    	@verbatim
+    		<foo><b>This is text</b></foo>
+    	@endverbatim
+
+    	then the value of str would be null. The first child node isn't a text node, it is
+    	another element. From this XML:
+    	@verbatim
+    		<foo>This is <b>text</b></foo>
+    	@endverbatim
+    	GetText() will return "This is ".
+    */
+    const char* GetText() const;
+
+    /** Convenience function for easy access to the text inside an element. Although easy
+    	and concise, SetText() is limited compared to creating an XMLText child
+    	and mutating it directly.
+
+    	If the first child of 'this' is a XMLText, SetText() sets its value to
+		the given string, otherwise it will create a first child that is an XMLText.
+
+    	This is a convenient method for setting the text of simple contained text:
+    	@verbatim
+    	<foo>This is text</foo>
+    		fooElement->SetText( "Hullaballoo!" );
+     	<foo>Hullaballoo!</foo>
+		@endverbatim
+
+    	Note that this function can be misleading. If the element foo was created from
+    	this XML:
+    	@verbatim
+    		<foo><b>This is text</b></foo>
+    	@endverbatim
+
+    	then it will not change "This is text", but rather prefix it with a text element:
+    	@verbatim
+    		<foo>Hullaballoo!<b>This is text</b></foo>
+    	@endverbatim
+
+		For this XML:
+    	@verbatim
+    		<foo />
+    	@endverbatim
+    	SetText() will generate
+    	@verbatim
+    		<foo>Hullaballoo!</foo>
+    	@endverbatim
+    */
+	void SetText( const char* inText );
+    /// Convenience method for setting text inside an element. See SetText() for important limitations.
+    void SetText( int value );
+    /// Convenience method for setting text inside an element. See SetText() for important limitations.
+    void SetText( unsigned value );
+	/// Convenience method for setting text inside an element. See SetText() for important limitations.
+	void SetText(int64_t value);
+    /// Convenience method for setting text inside an element. See SetText() for important limitations.
+    void SetText(uint64_t value);
+	/// Convenience method for setting text inside an element. See SetText() for important limitations.
+    void SetText( bool value );
+    /// Convenience method for setting text inside an element. See SetText() for important limitations.
+    void SetText( double value );
+    /// Convenience method for setting text inside an element. See SetText() for important limitations.
+    void SetText( float value );
+
+    /**
+    	Convenience method to query the value of a child text node. This is probably best
+    	shown by example. Given you have a document is this form:
+    	@verbatim
+    		<point>
+    			<x>1</x>
+    			<y>1.4</y>
+    		</point>
+    	@endverbatim
+
+    	The QueryIntText() and similar functions provide a safe and easier way to get to the
+    	"value" of x and y.
+
+    	@verbatim
+    		int x = 0;
+    		float y = 0;	// types of x and y are contrived for example
+    		const XMLElement* xElement = pointElement->FirstChildElement( "x" );
+    		const XMLElement* yElement = pointElement->FirstChildElement( "y" );
+    		xElement->QueryIntText( &x );
+    		yElement->QueryFloatText( &y );
+    	@endverbatim
+
+    	@returns XML_SUCCESS (0) on success, XML_CAN_NOT_CONVERT_TEXT if the text cannot be converted
+    			 to the requested type, and XML_NO_TEXT_NODE if there is no child text to query.
+
+    */
+    XMLError QueryIntText( int* ival ) const;
+    /// See QueryIntText()
+    XMLError QueryUnsignedText( unsigned* uval ) const;
+	/// See QueryIntText()
+	XMLError QueryInt64Text(int64_t* uval) const;
+	/// See QueryIntText()
+	XMLError QueryUnsigned64Text(uint64_t* uval) const;
+	/// See QueryIntText()
+    XMLError QueryBoolText( bool* bval ) const;
+    /// See QueryIntText()
+    XMLError QueryDoubleText( double* dval ) const;
+    /// See QueryIntText()
+    XMLError QueryFloatText( float* fval ) const;
+
+	int IntText(int defaultValue = 0) const;
+
+	/// See QueryIntText()
+	unsigned UnsignedText(unsigned defaultValue = 0) const;
+	/// See QueryIntText()
+	int64_t Int64Text(int64_t defaultValue = 0) const;
+    /// See QueryIntText()
+    uint64_t Unsigned64Text(uint64_t defaultValue = 0) const;
+	/// See QueryIntText()
+	bool BoolText(bool defaultValue = false) const;
+	/// See QueryIntText()
+	double DoubleText(double defaultValue = 0) const;
+	/// See QueryIntText()
+    float FloatText(float defaultValue = 0) const;
+
+    /**
+        Convenience method to create a new XMLElement and add it as last (right)
+        child of this node. Returns the created and inserted element.
+    */
+    XMLElement* InsertNewChildElement(const char* name);
+    /// See InsertNewChildElement()
+    XMLComment* InsertNewComment(const char* comment);
+    /// See InsertNewChildElement()
+    XMLText* InsertNewText(const char* text);
+    /// See InsertNewChildElement()
+    XMLDeclaration* InsertNewDeclaration(const char* text);
+    /// See InsertNewChildElement()
+    XMLUnknown* InsertNewUnknown(const char* text);
+
+
+    // internal:
+    enum ElementClosingType {
+        OPEN,		// <foo>
+        CLOSED,		// <foo/>
+        CLOSING		// </foo>
+    };
+    ElementClosingType ClosingType() const {
+        return _closingType;
+    }
+    virtual XMLNode* ShallowClone( XMLDocument* document ) const;
+    virtual bool ShallowEqual( const XMLNode* compare ) const;
+
+protected:
+    char* ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr );
+
+private:
+    XMLElement( XMLDocument* doc );
+    virtual ~XMLElement();
+    XMLElement( const XMLElement& );	// not supported
+    void operator=( const XMLElement& );	// not supported
+
+    XMLAttribute* FindOrCreateAttribute( const char* name );
+    char* ParseAttributes( char* p, int* curLineNumPtr );
+    static void DeleteAttribute( XMLAttribute* attribute );
+    XMLAttribute* CreateAttribute();
+
+    enum { BUF_SIZE = 200 };
+    ElementClosingType _closingType;
+    // The attribute list is ordered; there is no 'lastAttribute'
+    // because the list needs to be scanned for dupes before adding
+    // a new attribute.
+    XMLAttribute* _rootAttribute;
+};
+
+
+enum Whitespace {
+    PRESERVE_WHITESPACE,
+    COLLAPSE_WHITESPACE
+};
+
+
+/** A Document binds together all the functionality.
+	It can be saved, loaded, and printed to the screen.
+	All Nodes are connected and allocated to a Document.
+	If the Document is deleted, all its Nodes are also deleted.
+*/
+class TINYXML2_LIB XMLDocument : public XMLNode
+{
+    friend class XMLElement;
+    // Gives access to SetError and Push/PopDepth, but over-access for everything else.
+    // Wishing C++ had "internal" scope.
+    friend class XMLNode;
+    friend class XMLText;
+    friend class XMLComment;
+    friend class XMLDeclaration;
+    friend class XMLUnknown;
+public:
+    /// constructor
+    XMLDocument( bool processEntities = true, Whitespace whitespaceMode = PRESERVE_WHITESPACE );
+    ~XMLDocument();
+
+    virtual XMLDocument* ToDocument()				{
+        TIXMLASSERT( this == _document );
+        return this;
+    }
+    virtual const XMLDocument* ToDocument() const	{
+        TIXMLASSERT( this == _document );
+        return this;
+    }
+
+    /**
+    	Parse an XML file from a character string.
+    	Returns XML_SUCCESS (0) on success, or
+    	an errorID.
+
+    	You may optionally pass in the 'nBytes', which is
+    	the number of bytes which will be parsed. If not
+    	specified, TinyXML-2 will assume 'xml' points to a
+    	null terminated string.
+    */
+    XMLError Parse( const char* xml, size_t nBytes=static_cast<size_t>(-1) );
+
+    /**
+    	Load an XML file from disk.
+    	Returns XML_SUCCESS (0) on success, or
+    	an errorID.
+    */
+    XMLError LoadFile( const char* filename );
+
+    /**
+    	Load an XML file from disk. You are responsible
+    	for providing and closing the FILE*.
+
+        NOTE: The file should be opened as binary ("rb")
+        not text in order for TinyXML-2 to correctly
+        do newline normalization.
+
+    	Returns XML_SUCCESS (0) on success, or
+    	an errorID.
+    */
+    XMLError LoadFile( FILE* );
+
+    /**
+    	Save the XML file to disk.
+    	Returns XML_SUCCESS (0) on success, or
+    	an errorID.
+    */
+    XMLError SaveFile( const char* filename, bool compact = false );
+
+    /**
+    	Save the XML file to disk. You are responsible
+    	for providing and closing the FILE*.
+
+    	Returns XML_SUCCESS (0) on success, or
+    	an errorID.
+    */
+    XMLError SaveFile( FILE* fp, bool compact = false );
+
+    bool ProcessEntities() const		{
+        return _processEntities;
+    }
+    Whitespace WhitespaceMode() const	{
+        return _whitespaceMode;
+    }
+
+    /**
+    	Returns true if this document has a leading Byte Order Mark of UTF8.
+    */
+    bool HasBOM() const {
+        return _writeBOM;
+    }
+    /** Sets whether to write the BOM when writing the file.
+    */
+    void SetBOM( bool useBOM ) {
+        _writeBOM = useBOM;
+    }
+
+    /** Return the root element of DOM. Equivalent to FirstChildElement().
+        To get the first node, use FirstChild().
+    */
+    XMLElement* RootElement()				{
+        return FirstChildElement();
+    }
+    const XMLElement* RootElement() const	{
+        return FirstChildElement();
+    }
+
+    /** Print the Document. If the Printer is not provided, it will
+        print to stdout. If you provide Printer, this can print to a file:
+    	@verbatim
+    	XMLPrinter printer( fp );
+    	doc.Print( &printer );
+    	@endverbatim
+
+    	Or you can use a printer to print to memory:
+    	@verbatim
+    	XMLPrinter printer;
+    	doc.Print( &printer );
+    	// printer.CStr() has a const char* to the XML
+    	@endverbatim
+    */
+    void Print( XMLPrinter* streamer=0 ) const;
+    virtual bool Accept( XMLVisitor* visitor ) const;
+
+    /**
+    	Create a new Element associated with
+    	this Document. The memory for the Element
+    	is managed by the Document.
+    */
+    XMLElement* NewElement( const char* name );
+    /**
+    	Create a new Comment associated with
+    	this Document. The memory for the Comment
+    	is managed by the Document.
+    */
+    XMLComment* NewComment( const char* comment );
+    /**
+    	Create a new Text associated with
+    	this Document. The memory for the Text
+    	is managed by the Document.
+    */
+    XMLText* NewText( const char* text );
+    /**
+    	Create a new Declaration associated with
+    	this Document. The memory for the object
+    	is managed by the Document.
+
+    	If the 'text' param is null, the standard
+    	declaration is used.:
+    	@verbatim
+    		<?xml version="1.0" encoding="UTF-8"?>
+    	@endverbatim
+    */
+    XMLDeclaration* NewDeclaration( const char* text=0 );
+    /**
+    	Create a new Unknown associated with
+    	this Document. The memory for the object
+    	is managed by the Document.
+    */
+    XMLUnknown* NewUnknown( const char* text );
+
+    /**
+    	Delete a node associated with this document.
+    	It will be unlinked from the DOM.
+    */
+    void DeleteNode( XMLNode* node );
+
+    /// Clears the error flags.
+    void ClearError();
+
+    /// Return true if there was an error parsing the document.
+    bool Error() const {
+        return _errorID != XML_SUCCESS;
+    }
+    /// Return the errorID.
+    XMLError  ErrorID() const {
+        return _errorID;
+    }
+	const char* ErrorName() const;
+    static const char* ErrorIDToName(XMLError errorID);
+
+    /** Returns a "long form" error description. A hopefully helpful
+        diagnostic with location, line number, and/or additional info.
+    */
+	const char* ErrorStr() const;
+
+    /// A (trivial) utility function that prints the ErrorStr() to stdout.
+    void PrintError() const;
+
+    /// Return the line where the error occurred, or zero if unknown.
+    int ErrorLineNum() const
+    {
+        return _errorLineNum;
+    }
+
+    /// Clear the document, resetting it to the initial state.
+    void Clear();
+
+	/**
+		Copies this document to a target document.
+		The target will be completely cleared before the copy.
+		If you want to copy a sub-tree, see XMLNode::DeepClone().
+
+		NOTE: that the 'target' must be non-null.
+	*/
+	void DeepCopy(XMLDocument* target) const;
+
+	// internal
+    char* Identify( char* p, XMLNode** node );
+
+	// internal
+	void MarkInUse(const XMLNode* const);
+
+    virtual XMLNode* ShallowClone( XMLDocument* /*document*/ ) const	{
+        return 0;
+    }
+    virtual bool ShallowEqual( const XMLNode* /*compare*/ ) const	{
+        return false;
+    }
+
+private:
+    XMLDocument( const XMLDocument& );	// not supported
+    void operator=( const XMLDocument& );	// not supported
+
+    bool			_writeBOM;
+    bool			_processEntities;
+    XMLError		_errorID;
+    Whitespace		_whitespaceMode;
+    mutable StrPair	_errorStr;
+    int             _errorLineNum;
+    char*			_charBuffer;
+    int				_parseCurLineNum;
+	int				_parsingDepth;
+	// Memory tracking does add some overhead.
+	// However, the code assumes that you don't
+	// have a bunch of unlinked nodes around.
+	// Therefore it takes less memory to track
+	// in the document vs. a linked list in the XMLNode,
+	// and the performance is the same.
+	DynArray<XMLNode*, 10> _unlinked;
+
+    MemPoolT< sizeof(XMLElement) >	 _elementPool;
+    MemPoolT< sizeof(XMLAttribute) > _attributePool;
+    MemPoolT< sizeof(XMLText) >		 _textPool;
+    MemPoolT< sizeof(XMLComment) >	 _commentPool;
+
+	static const char* _errorNames[XML_ERROR_COUNT];
+
+    void Parse();
+
+    void SetError( XMLError error, int lineNum, const char* format, ... );
+
+	// Something of an obvious security hole, once it was discovered.
+	// Either an ill-formed XML or an excessively deep one can overflow
+	// the stack. Track stack depth, and error out if needed.
+	class DepthTracker {
+	public:
+		explicit DepthTracker(XMLDocument * document) {
+			this->_document = document;
+			document->PushDepth();
+		}
+		~DepthTracker() {
+			_document->PopDepth();
+		}
+	private:
+		XMLDocument * _document;
+	};
+	void PushDepth();
+	void PopDepth();
+
+    template<class NodeType, int PoolElementSize>
+    NodeType* CreateUnlinkedNode( MemPoolT<PoolElementSize>& pool );
+};
+
+template<class NodeType, int PoolElementSize>
+inline NodeType* XMLDocument::CreateUnlinkedNode( MemPoolT<PoolElementSize>& pool )
+{
+    TIXMLASSERT( sizeof( NodeType ) == PoolElementSize );
+    TIXMLASSERT( sizeof( NodeType ) == pool.ItemSize() );
+    NodeType* returnNode = new (pool.Alloc()) NodeType( this );
+    TIXMLASSERT( returnNode );
+    returnNode->_memPool = &pool;
+
+	_unlinked.Push(returnNode);
+    return returnNode;
+}
+
+/**
+	A XMLHandle is a class that wraps a node pointer with null checks; this is
+	an incredibly useful thing. Note that XMLHandle is not part of the TinyXML-2
+	DOM structure. It is a separate utility class.
+
+	Take an example:
+	@verbatim
+	<Document>
+		<Element attributeA = "valueA">
+			<Child attributeB = "value1" />
+			<Child attributeB = "value2" />
+		</Element>
+	</Document>
+	@endverbatim
+
+	Assuming you want the value of "attributeB" in the 2nd "Child" element, it's very
+	easy to write a *lot* of code that looks like:
+
+	@verbatim
+	XMLElement* root = document.FirstChildElement( "Document" );
+	if ( root )
+	{
+		XMLElement* element = root->FirstChildElement( "Element" );
+		if ( element )
+		{
+			XMLElement* child = element->FirstChildElement( "Child" );
+			if ( child )
+			{
+				XMLElement* child2 = child->NextSiblingElement( "Child" );
+				if ( child2 )
+				{
+					// Finally do something useful.
+	@endverbatim
+
+	And that doesn't even cover "else" cases. XMLHandle addresses the verbosity
+	of such code. A XMLHandle checks for null pointers so it is perfectly safe
+	and correct to use:
+
+	@verbatim
+	XMLHandle docHandle( &document );
+	XMLElement* child2 = docHandle.FirstChildElement( "Document" ).FirstChildElement( "Element" ).FirstChildElement().NextSiblingElement();
+	if ( child2 )
+	{
+		// do something useful
+	@endverbatim
+
+	Which is MUCH more concise and useful.
+
+	It is also safe to copy handles - internally they are nothing more than node pointers.
+	@verbatim
+	XMLHandle handleCopy = handle;
+	@endverbatim
+
+	See also XMLConstHandle, which is the same as XMLHandle, but operates on const objects.
+*/
+class TINYXML2_LIB XMLHandle
+{
+public:
+    /// Create a handle from any node (at any depth of the tree.) This can be a null pointer.
+    explicit XMLHandle( XMLNode* node ) : _node( node ) {
+    }
+    /// Create a handle from a node.
+    explicit XMLHandle( XMLNode& node ) : _node( &node ) {
+    }
+    /// Copy constructor
+    XMLHandle( const XMLHandle& ref ) : _node( ref._node ) {
+    }
+    /// Assignment
+    XMLHandle& operator=( const XMLHandle& ref )							{
+        _node = ref._node;
+        return *this;
+    }
+
+    /// Get the first child of this handle.
+    XMLHandle FirstChild() 													{
+        return XMLHandle( _node ? _node->FirstChild() : 0 );
+    }
+    /// Get the first child element of this handle.
+    XMLHandle FirstChildElement( const char* name = 0 )						{
+        return XMLHandle( _node ? _node->FirstChildElement( name ) : 0 );
+    }
+    /// Get the last child of this handle.
+    XMLHandle LastChild()													{
+        return XMLHandle( _node ? _node->LastChild() : 0 );
+    }
+    /// Get the last child element of this handle.
+    XMLHandle LastChildElement( const char* name = 0 )						{
+        return XMLHandle( _node ? _node->LastChildElement( name ) : 0 );
+    }
+    /// Get the previous sibling of this handle.
+    XMLHandle PreviousSibling()												{
+        return XMLHandle( _node ? _node->PreviousSibling() : 0 );
+    }
+    /// Get the previous sibling element of this handle.
+    XMLHandle PreviousSiblingElement( const char* name = 0 )				{
+        return XMLHandle( _node ? _node->PreviousSiblingElement( name ) : 0 );
+    }
+    /// Get the next sibling of this handle.
+    XMLHandle NextSibling()													{
+        return XMLHandle( _node ? _node->NextSibling() : 0 );
+    }
+    /// Get the next sibling element of this handle.
+    XMLHandle NextSiblingElement( const char* name = 0 )					{
+        return XMLHandle( _node ? _node->NextSiblingElement( name ) : 0 );
+    }
+
+    /// Safe cast to XMLNode. This can return null.
+    XMLNode* ToNode()							{
+        return _node;
+    }
+    /// Safe cast to XMLElement. This can return null.
+    XMLElement* ToElement() 					{
+        return ( _node ? _node->ToElement() : 0 );
+    }
+    /// Safe cast to XMLText. This can return null.
+    XMLText* ToText() 							{
+        return ( _node ? _node->ToText() : 0 );
+    }
+    /// Safe cast to XMLUnknown. This can return null.
+    XMLUnknown* ToUnknown() 					{
+        return ( _node ? _node->ToUnknown() : 0 );
+    }
+    /// Safe cast to XMLDeclaration. This can return null.
+    XMLDeclaration* ToDeclaration() 			{
+        return ( _node ? _node->ToDeclaration() : 0 );
+    }
+
+private:
+    XMLNode* _node;
+};
+
+
+/**
+	A variant of the XMLHandle class for working with const XMLNodes and Documents. It is the
+	same in all regards, except for the 'const' qualifiers. See XMLHandle for API.
+*/
+class TINYXML2_LIB XMLConstHandle
+{
+public:
+    explicit XMLConstHandle( const XMLNode* node ) : _node( node ) {
+    }
+    explicit XMLConstHandle( const XMLNode& node ) : _node( &node ) {
+    }
+    XMLConstHandle( const XMLConstHandle& ref ) : _node( ref._node ) {
+    }
+
+    XMLConstHandle& operator=( const XMLConstHandle& ref )							{
+        _node = ref._node;
+        return *this;
+    }
+
+    const XMLConstHandle FirstChild() const											{
+        return XMLConstHandle( _node ? _node->FirstChild() : 0 );
+    }
+    const XMLConstHandle FirstChildElement( const char* name = 0 ) const				{
+        return XMLConstHandle( _node ? _node->FirstChildElement( name ) : 0 );
+    }
+    const XMLConstHandle LastChild()	const										{
+        return XMLConstHandle( _node ? _node->LastChild() : 0 );
+    }
+    const XMLConstHandle LastChildElement( const char* name = 0 ) const				{
+        return XMLConstHandle( _node ? _node->LastChildElement( name ) : 0 );
+    }
+    const XMLConstHandle PreviousSibling() const									{
+        return XMLConstHandle( _node ? _node->PreviousSibling() : 0 );
+    }
+    const XMLConstHandle PreviousSiblingElement( const char* name = 0 ) const		{
+        return XMLConstHandle( _node ? _node->PreviousSiblingElement( name ) : 0 );
+    }
+    const XMLConstHandle NextSibling() const										{
+        return XMLConstHandle( _node ? _node->NextSibling() : 0 );
+    }
+    const XMLConstHandle NextSiblingElement( const char* name = 0 ) const			{
+        return XMLConstHandle( _node ? _node->NextSiblingElement( name ) : 0 );
+    }
+
+
+    const XMLNode* ToNode() const				{
+        return _node;
+    }
+    const XMLElement* ToElement() const			{
+        return ( _node ? _node->ToElement() : 0 );
+    }
+    const XMLText* ToText() const				{
+        return ( _node ? _node->ToText() : 0 );
+    }
+    const XMLUnknown* ToUnknown() const			{
+        return ( _node ? _node->ToUnknown() : 0 );
+    }
+    const XMLDeclaration* ToDeclaration() const	{
+        return ( _node ? _node->ToDeclaration() : 0 );
+    }
+
+private:
+    const XMLNode* _node;
+};
+
+
+/**
+	Printing functionality. The XMLPrinter gives you more
+	options than the XMLDocument::Print() method.
+
+	It can:
+	-# Print to memory.
+	-# Print to a file you provide.
+	-# Print XML without a XMLDocument.
+
+	Print to Memory
+
+	@verbatim
+	XMLPrinter printer;
+	doc.Print( &printer );
+	SomeFunction( printer.CStr() );
+	@endverbatim
+
+	Print to a File
+
+	You provide the file pointer.
+	@verbatim
+	XMLPrinter printer( fp );
+	doc.Print( &printer );
+	@endverbatim
+
+	Print without a XMLDocument
+
+	When loading, an XML parser is very useful. However, sometimes
+	when saving, it just gets in the way. The code is often set up
+	for streaming, and constructing the DOM is just overhead.
+
+	The Printer supports the streaming case. The following code
+	prints out a trivially simple XML file without ever creating
+	an XML document.
+
+	@verbatim
+	XMLPrinter printer( fp );
+	printer.OpenElement( "foo" );
+	printer.PushAttribute( "foo", "bar" );
+	printer.CloseElement();
+	@endverbatim
+*/
+class TINYXML2_LIB XMLPrinter : public XMLVisitor
+{
+public:
+    /** Construct the printer. If the FILE* is specified,
+    	this will print to the FILE. Else it will print
+    	to memory, and the result is available in CStr().
+    	If 'compact' is set to true, then output is created
+    	with only required whitespace and newlines.
+    */
+    XMLPrinter( FILE* file=0, bool compact = false, int depth = 0 );
+    virtual ~XMLPrinter()	{}
+
+    /** If streaming, write the BOM and declaration. */
+    void PushHeader( bool writeBOM, bool writeDeclaration );
+    /** If streaming, start writing an element.
+        The element must be closed with CloseElement()
+    */
+    void OpenElement( const char* name, bool compactMode=false );
+    /// If streaming, add an attribute to an open element.
+    void PushAttribute( const char* name, const char* value );
+    void PushAttribute( const char* name, int value );
+    void PushAttribute( const char* name, unsigned value );
+	void PushAttribute( const char* name, int64_t value );
+	void PushAttribute( const char* name, uint64_t value );
+	void PushAttribute( const char* name, bool value );
+    void PushAttribute( const char* name, double value );
+    /// If streaming, close the Element.
+    virtual void CloseElement( bool compactMode=false );
+
+    /// Add a text node.
+    void PushText( const char* text, bool cdata=false );
+    /// Add a text node from an integer.
+    void PushText( int value );
+    /// Add a text node from an unsigned.
+    void PushText( unsigned value );
+	/// Add a text node from a signed 64bit integer.
+	void PushText( int64_t value );
+	/// Add a text node from an unsigned 64bit integer.
+	void PushText( uint64_t value );
+	/// Add a text node from a bool.
+    void PushText( bool value );
+    /// Add a text node from a float.
+    void PushText( float value );
+    /// Add a text node from a double.
+    void PushText( double value );
+
+    /// Add a comment
+    void PushComment( const char* comment );
+
+    void PushDeclaration( const char* value );
+    void PushUnknown( const char* value );
+
+    virtual bool VisitEnter( const XMLDocument& /*doc*/ );
+    virtual bool VisitExit( const XMLDocument& /*doc*/ )			{
+        return true;
+    }
+
+    virtual bool VisitEnter( const XMLElement& element, const XMLAttribute* attribute );
+    virtual bool VisitExit( const XMLElement& element );
+
+    virtual bool Visit( const XMLText& text );
+    virtual bool Visit( const XMLComment& comment );
+    virtual bool Visit( const XMLDeclaration& declaration );
+    virtual bool Visit( const XMLUnknown& unknown );
+
+    /**
+    	If in print to memory mode, return a pointer to
+    	the XML file in memory.
+    */
+    const char* CStr() const {
+        return _buffer.Mem();
+    }
+    /**
+    	If in print to memory mode, return the size
+    	of the XML file in memory. (Note the size returned
+    	includes the terminating null.)
+    */
+    int CStrSize() const {
+        return _buffer.Size();
+    }
+    /**
+    	If in print to memory mode, reset the buffer to the
+    	beginning.
+    */
+    void ClearBuffer( bool resetToFirstElement = true ) {
+        _buffer.Clear();
+        _buffer.Push(0);
+		_firstElement = resetToFirstElement;
+    }
+
+protected:
+	virtual bool CompactMode( const XMLElement& )	{ return _compactMode; }
+
+	/** Prints out the space before an element. You may override to change
+	    the space and tabs used. A PrintSpace() override should call Print().
+	*/
+    virtual void PrintSpace( int depth );
+    virtual void Print( const char* format, ... );
+    virtual void Write( const char* data, size_t size );
+    virtual void Putc( char ch );
+
+    inline void Write(const char* data) { Write(data, strlen(data)); }
+
+    void SealElementIfJustOpened();
+    bool _elementJustOpened;
+    DynArray< const char*, 10 > _stack;
+
+private:
+    /**
+       Prepares to write a new node. This includes sealing an element that was
+       just opened, and writing any whitespace necessary if not in compact mode.
+     */
+    void PrepareForNewNode( bool compactMode );
+    void PrintString( const char*, bool restrictedEntitySet );	// prints out, after detecting entities.
+
+    bool _firstElement;
+    FILE* _fp;
+    int _depth;
+    int _textDepth;
+    bool _processEntities;
+	bool _compactMode;
+
+    enum {
+        ENTITY_RANGE = 64,
+        BUF_SIZE = 200
+    };
+    bool _entityFlag[ENTITY_RANGE];
+    bool _restrictedEntityFlag[ENTITY_RANGE];
+
+    DynArray< char, 20 > _buffer;
+
+    // Prohibit cloning, intentionally not implemented
+    XMLPrinter( const XMLPrinter& );
+    XMLPrinter& operator=( const XMLPrinter& );
+};
+
+
+}	// tinyxml2
+
+#if defined(_MSC_VER)
+#   pragma warning(pop)
+#endif
+
+#endif // TINYXML2_INCLUDED
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 79e41947e..93443fc2e 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -383,6 +383,54 @@ bool Scene::LoadDMAP(const String& fileName)
 } // LoadDMAP
 /*----------------------------------------------------------------*/
 
+// load a text list of views and their neighbors and assign them to the scene images;
+// each line store the view ID followed by the 3+ closest view IDs, ordered in decreasing overlap:
+//
+// <cam-id> <neighbor-cam-id-0> <neighbor-cam-id-1> <neighbor-cam-id-2> <...>
+// 
+// for example:
+// 0 1 2 3 4
+// 1 0 2 3 4
+// 2 1 3 0 4
+// ...
+bool Scene::LoadViewNeighbors(const String& fileName)
+{
+	TD_TIMER_STARTD();
+
+	// parse image list
+	SML smlImages(_T("ImageNeighbors"));
+	smlImages.Load(fileName);
+	const LPSMLARR&	arrSmlChild = smlImages.GetArrChildren();
+	ASSERT(arrSmlChild.size() <= 1);
+
+	// fetch image IDs list
+	size_t argc;
+	for (SML::const_iterator it=smlImages.begin(); it!=smlImages.end(); ++it) {
+		// parse image element
+		CAutoPtrArr<LPSTR> argv(Util::CommandLineToArgvA(it->second.val, argc));
+		if (argc > 0 && argv[0][0] == _T('#'))
+			continue;
+		if (argc < 2) {
+			VERBOSE("Invalid image IDs list: %s", it->second.val.c_str());
+			continue;
+		}
+		// add neighbors to this image
+		const IIndex ID(String::FromString<IIndex>(argv[0], NO_ID));
+		ASSERT(ID != NO_ID);
+		Image& imageData = images[ID];
+		imageData.neighbors.resize(argc-1);
+		FOREACH(i, imageData.neighbors) {
+			const IIndex nID(String::FromString<IIndex>(argv[i+1], NO_ID));
+			ASSERT(nID != NO_ID);
+			imageData.neighbors[i] = ViewScore{ViewInfo{nID, 0, 1.f, FD2R(15.f), 0.5f}, 3.f};
+		}
+	}
+
+	DEBUG_EXTRA("View neighbors list loaded (%s)", TD_TIMER_GET_FMT().c_str());
+	return true;
+} // LoadViewNeighbors
+/*----------------------------------------------------------------*/
+
 // try to load known point-cloud or mesh files
 bool Scene::Import(const String& fileName)
 {
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 4d7af04b6..036c23888 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -74,6 +74,7 @@ class MVS_API Scene
 	bool SaveInterface(const String& fileName, int version=-1) const;
 
 	bool LoadDMAP(const String& fileName);
+	bool LoadViewNeighbors(const String& fileName);
 	bool Import(const String& fileName);
 
 	bool Load(const String& fileName, bool bImport=false);
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 082bfcbb7..89d60a9dc 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -275,8 +275,8 @@ bool DepthMapsData::SelectViews(DepthData& depthData)
 	// find and sort valid neighbor views
 	const IIndex idxImage((IIndex)(&depthData-arrDepthData.Begin()));
 	ASSERT(depthData.neighbors.IsEmpty());
-	ASSERT(scene.images[idxImage].neighbors.IsEmpty());
-	if (!scene.SelectNeighborViews(idxImage, depthData.points, OPTDENSE::nMinViews, OPTDENSE::nMinViewsTrustPoint>1?OPTDENSE::nMinViewsTrustPoint:2, FD2R(OPTDENSE::fOptimAngle)))
+	if (scene.images[idxImage].neighbors.empty() &&
+		!scene.SelectNeighborViews(idxImage, depthData.points, OPTDENSE::nMinViews, OPTDENSE::nMinViewsTrustPoint>1?OPTDENSE::nMinViewsTrustPoint:2, FD2R(OPTDENSE::fOptimAngle)))
 		return false;
 	depthData.neighbors.CopyOf(scene.images[idxImage].neighbors);
 
@@ -406,36 +406,43 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 		ASSERT(viewRef.image.size() == depthData.depthMap.size());
 	} else if (loadDepthMaps == 0) {
 		// initialize depth and normal maps
-		ASSERT(!depthData.points.IsEmpty());
-		if (OPTDENSE::nMinViewsTrustPoint < 2) {
+		if (OPTDENSE::nMinViewsTrustPoint < 2 || depthData.points.empty()) {
 			// compute depth range and initialize known depths, else random
-			const int nPixelArea(2); // half windows size around a pixel to be initialize with the known depth
 			const Image8U::Size size(viewRef.image.size());
 			depthData.depthMap.create(size); depthData.depthMap.memset(0);
 			depthData.normalMap.create(size);
-			depthData.dMin = FLT_MAX;
-			depthData.dMax = 0;
-			FOREACHPTR(pPoint, depthData.points) {
-				const PointCloud::Point& X = scene.pointcloud.points[*pPoint];
-				const Point3 camX(viewRef.camera.TransformPointW2C(Cast<REAL>(X)));
-				const ImageRef x(ROUND2INT(viewRef.camera.TransformPointC2I(camX)));
-				const float d((float)camX.z);
-				const ImageRef sx(MAXF(x.x-nPixelArea,0), MAXF(x.y-nPixelArea,0));
-				const ImageRef ex(MINF(x.x+nPixelArea,size.width-1), MINF(x.y+nPixelArea,size.height-1));
-				for (int y=sx.y; y<=ex.y; ++y) {
-					for (int x=sx.x; x<=ex.x; ++x) {
-						depthData.depthMap(y,x) = d;
-						depthData.normalMap(y,x) = Normal::ZERO;
+			if (depthData.points.empty()) {
+				// all values will be initialized randomly
+				depthData.dMin = 1e-1f;
+				depthData.dMax = 1e+2f;
+			} else {
+				// initialize with the sparse point-cloud
+				const int nPixelArea(2); // half windows size around a pixel to be initialize with the known depth
+				depthData.dMin = FLT_MAX;
+				depthData.dMax = 0;
+				FOREACHPTR(pPoint, depthData.points) {
+					const PointCloud::Point& X = scene.pointcloud.points[*pPoint];
+					const Point3 camX(viewRef.camera.TransformPointW2C(Cast<REAL>(X)));
+					const ImageRef x(ROUND2INT(viewRef.camera.TransformPointC2I(camX)));
+					const float d((float)camX.z);
+					const ImageRef sx(MAXF(x.x-nPixelArea,0), MAXF(x.y-nPixelArea,0));
+					const ImageRef ex(MINF(x.x+nPixelArea,size.width-1), MINF(x.y+nPixelArea,size.height-1));
+					for (int y=sx.y; y<=ex.y; ++y) {
+						for (int x=sx.x; x<=ex.x; ++x) {
+							depthData.depthMap(y,x) = d;
+							depthData.normalMap(y,x) = Normal::ZERO;
+						}
 					}
+					if (depthData.dMin > d)
+						depthData.dMin = d;
+					if (depthData.dMax < d)
+						depthData.dMax = d;
 				}
-				if (depthData.dMin > d)
-					depthData.dMin = d;
-				if (depthData.dMax < d)
-					depthData.dMax = d;
+				depthData.dMin *= 0.9f;
+				depthData.dMax *= 1.1f;
 			}
-			depthData.dMin *= 0.9f;
-			depthData.dMax *= 1.1f;
 		} else {
+			ASSERT(!depthData.points.empty());
 			// compute rough estimates using the sparse point-cloud
 			InitDepthMap(depthData);
 		}

From 654afa21cd762b45723505c44e5e1999cb63d4c6 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 12 Nov 2021 14:24:52 +0200
Subject: [PATCH 057/252] interface: fix compile linux

---
 apps/InterfaceMetashape/InterfaceMetashape.cpp | 2 ++
 libs/MVS/Scene.cpp                             | 6 +++---
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/apps/InterfaceMetashape/InterfaceMetashape.cpp b/apps/InterfaceMetashape/InterfaceMetashape.cpp
index e3c261308..7a2687837 100644
--- a/apps/InterfaceMetashape/InterfaceMetashape.cpp
+++ b/apps/InterfaceMetashape/InterfaceMetashape.cpp
@@ -229,6 +229,7 @@ bool ParseImageListXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t&
 	doc.Parse(strCameras.c_str(), nLen);
 	if (doc.ErrorID() != tinyxml2::XML_SUCCESS)
 		goto InvalidDocument;
+	{
 	tinyxml2::XMLElement* document = doc.FirstChildElement(_T("document"))->FirstChildElement(_T("chunk"));
 	if (document == NULL)
 		goto InvalidDocument;
@@ -393,6 +394,7 @@ bool ParseImageListXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t&
 	}
 	}
 	}
+	}
 
 	return true;
 	InvalidDocument:
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 93443fc2e..eb203b268 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -977,14 +977,14 @@ unsigned Scene::Split(ImagesChunkArr& chunks, float maxArea, int depthMapStep) c
 		const Unsigned32Arr& chunkImageAreas = chunkInserter.imagesAreas[c];
 		float maxAreaRatio = 0;
 		for (const IIndex idxImage : chunk.images) {
-			const float areaRatio(float(chunkImageAreas[idxImage])/float(imageAreas[idxImage]));
+			const float areaRatio(static_cast<float>(chunkImageAreas[idxImage])/static_cast<float>(imageAreas[idxImage]));
 			if (maxAreaRatio < areaRatio)
 				maxAreaRatio = areaRatio;
 		}
 		const float minImageContributionRatioChunk(maxAreaRatio * minImageContributionRatio);
 		for (auto it = chunk.images.begin(); it != chunk.images.end(); ) {
 			const IIndex idxImage(*it);
-			if (float(chunkImageAreas[idxImage])/float(imageAreas[idxImage]) < minImageContributionRatioChunk)
+			if (static_cast<float>(chunkImageAreas[idxImage])/static_cast<float>(imageAreas[idxImage]) < minImageContributionRatioChunk)
 				it = chunk.images.erase(it);
 			else
 				++it;
@@ -1004,7 +1004,7 @@ unsigned Scene::Split(ImagesChunkArr& chunks, float maxArea, int depthMapStep) c
 			for (auto it = chunkSmall.images.begin(); it != chunkSmall.images.end(); ) {
 				const IIndex idxImage(*it);
 				if (chunkSmallImageAreas[idxImage] < chunkLargeImageAreas[idxImage] &&
-					float(chunkLargeImageAreas[idxImage])/float(imageAreas[idxImage]) > minImageContributionRatioLargerChunk)
+					static_cast<float>(chunkLargeImageAreas[idxImage])/static_cast<float>(imageAreas[idxImage]) > minImageContributionRatioLargerChunk)
 					it = chunkSmall.images.erase(it);
 				else
 					++it;

From 09137e174e8be00d10d76f25cdc1ed037bef74a6 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 12 Nov 2021 17:06:42 +0200
Subject: [PATCH 058/252] dense: add support for scenes with empty point-cloud
 but known (coarse) mesh

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp | 9 +++++++--
 libs/MVS/SceneDensify.cpp                    | 4 +++-
 2 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index bb1571f03..fabf96d00 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -49,6 +49,7 @@ namespace OPT {
 String strInputFileName;
 String strOutputFileName;
 String strViewNeighborsFileName;
+String strMeshFileName;
 String strDenseConfigFileName;
 float fMaxSubsceneArea;
 float fSampleMesh;
@@ -128,6 +129,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// in config file, but will not be shown to the user
 	boost::program_options::options_description hidden("Hidden options");
 	hidden.add_options()
+		("mesh-file", boost::program_options::value<std::string>(&OPT::strMeshFileName), "mesh file name used for image pair overlap estimation")
 		("dense-config-file", boost::program_options::value<std::string>(&OPT::strDenseConfigFileName), "optional configuration file for the densifier (overwritten by the command line options)")
 		;
 
@@ -177,6 +179,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
 	Util::ensureValidPath(OPT::strViewNeighborsFileName);
+	Util::ensureValidPath(OPT::strMeshFileName);
 	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_dense.mvs");
 
@@ -260,7 +263,9 @@ int main(int argc, LPCTSTR* argv)
 	// load and estimate a dense point-cloud
 	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
 		return EXIT_FAILURE;
-	if (scene.pointcloud.IsEmpty() && OPT::strViewNeighborsFileName.empty()) {
+	if (!OPT::strMeshFileName.empty())
+		scene.mesh.Load(MAKE_PATH_SAFE(OPT::strMeshFileName));
+	if (scene.pointcloud.IsEmpty() && OPT::strViewNeighborsFileName.empty() && scene.mesh.IsEmpty()) {
 		VERBOSE("error: empty initial point-cloud");
 		return EXIT_FAILURE;
 	}
@@ -302,7 +307,7 @@ int main(int argc, LPCTSTR* argv)
 		VERBOSE("Densifying point-cloud completed: %u points (%s)", scene.pointcloud.GetSize(), TD_TIMER_GET_FMT().c_str());
 	}
 
-	// save the final mesh
+	// save the final point-cloud
 	const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
 	scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
 	scene.pointcloud.Save(baseFileName+_T(".ply"));
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 89d60a9dc..62db24d83 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -1622,8 +1622,10 @@ bool Scene::DenseReconstruction(int nFusionMode)
 bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 {
 	// compute point-cloud from the existing mesh
-	if (pointcloud.IsEmpty() && !mesh.IsEmpty() && !ImagesHaveNeighbors())
+	if (pointcloud.IsEmpty() && !mesh.IsEmpty() && !ImagesHaveNeighbors()) {
 		SampleMeshWithVisibility();
+		mesh.Release();
+	}
 
 	{
 	// maps global view indices to our list of views to be processed

From 0abc9933881788c3db15c863e865debb5f7fab0a Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 13 Nov 2021 11:07:13 +0200
Subject: [PATCH 059/252] dense: filter low score estimates

---
 docker/Dockerfile_CUDA         |  2 +-
 libs/MVS/DepthMap.cpp          | 18 +++++++++---------
 libs/MVS/DepthMap.h            |  4 ++--
 libs/MVS/PatchMatchCUDA.cpp    | 18 ++++++++++++++----
 libs/MVS/PatchMatchCUDA.cu     |  2 +-
 libs/MVS/SceneDensify.cpp      | 10 ++++++----
 libs/MVS/SemiGlobalMatcher.cpp |  2 +-
 7 files changed, 34 insertions(+), 22 deletions(-)

diff --git a/docker/Dockerfile_CUDA b/docker/Dockerfile_CUDA
index efe5d7ca3..86f4e8748 100644
--- a/docker/Dockerfile_CUDA
+++ b/docker/Dockerfile_CUDA
@@ -1,4 +1,4 @@
-FROM nvidia/cuda:11.1-runtime-ubuntu18.04
+FROM nvidia/cuda:11.1-devel-ubuntu18.04
 
 ARG USER_ID
 ARG GROUP_ID
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index bfd0b7885..ecdb63075 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -83,7 +83,7 @@ MDEFVAR_OPTDENSE_uint32(nMinViewsFilterAdjust, "Min Views Filter Adjust", "minim
 MDEFVAR_OPTDENSE_uint32(nMinViewsTrustPoint, "Min Views Trust Point", "min-number of views so that the point is considered for approximating the depth-maps (<2 - random initialization)", "2")
 MDEFVAR_OPTDENSE_uint32(nNumViews, "Num Views", "Number of views used for depth-map estimation (0 - all views available)", "0", "1", "4")
 MDEFVAR_OPTDENSE_bool(bFilterAdjust, "Filter Adjust", "adjust depth estimates during filtering", "1")
-MDEFVAR_OPTDENSE_bool(bAddCorners, "Add Corners", "add support points at image corners with nearest neighbor disparities", "1")
+MDEFVAR_OPTDENSE_bool(bAddCorners, "Add Corners", "add support points at image corners with nearest neighbor disparities", "0")
 MDEFVAR_OPTDENSE_float(fViewMinScore, "View Min Score", "Min score to consider a neighbor images (0 - disabled)", "2.0")
 MDEFVAR_OPTDENSE_float(fViewMinScoreRatio, "View Min Score Ratio", "Min score ratio to consider a neighbor images", "0.3")
 MDEFVAR_OPTDENSE_float(fMinArea, "Min Area", "Min shared area for accepting the depth triangulation", "0.05")
@@ -975,7 +975,7 @@ namespace CGAL {
 
 // triangulate in-view points, generating a 2D mesh
 // return also the estimated depth boundaries (min and max depth)
-std::pair<float,float> TriangulatePointsDelaunay(const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points, Mesh& mesh, Point2fArr& projs)
+std::pair<float,float> TriangulatePointsDelaunay(const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points, Mesh& mesh, Point2fArr& projs, bool bAddCorners)
 {
 	typedef CGAL::Simple_cartesian<double> kernel_t;
 	typedef CGAL::Triangulation_vertex_base_with_info_2<Mesh::VIndex, kernel_t> vertex_base_t;
@@ -1006,7 +1006,7 @@ std::pair<float,float> TriangulatePointsDelaunay(const DepthData::ViewData& imag
 	}
 	// if full size depth-map requested
 	const size_t numPoints(3);
-	if (OPTDENSE::bAddCorners && points.size() >= numPoints) {
+	if (bAddCorners && points.size() >= numPoints) {
 		// add the four image corners at the average depth
 		ASSERT(image.pImageData->IsValid() && ISINSIDE(image.pImageData->avgDepth, depthBounds.first, depthBounds.second));
 		const Mesh::VIndex idxFirstVertex = mesh.vertices.size();
@@ -1074,14 +1074,14 @@ std::pair<float,float> TriangulatePointsDelaunay(const DepthData::ViewData& imag
 // and interpolating normal and depth for all pixels
 bool MVS::TriangulatePoints2DepthMap(
 	const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points,
-	DepthMap& depthMap, NormalMap& normalMap, Depth& dMin, Depth& dMax)
+	DepthMap& depthMap, NormalMap& normalMap, Depth& dMin, Depth& dMax, bool bAddCorners)
 {
 	ASSERT(image.pImageData != NULL);
 
 	// triangulate in-view points
 	Mesh mesh;
 	Point2fArr projs;
-	const std::pair<float,float> thDepth(TriangulatePointsDelaunay(image, pointcloud, points, mesh, projs));
+	const std::pair<float,float> thDepth(TriangulatePointsDelaunay(image, pointcloud, points, mesh, projs, bAddCorners));
 	dMin = thDepth.first;
 	dMax = thDepth.second;
 
@@ -1090,7 +1090,7 @@ bool MVS::TriangulatePoints2DepthMap(
 	mesh.ComputeNormalVertices();
 	depthMap.create(image.image.size());
 	normalMap.create(image.image.size());
-	if (!OPTDENSE::bAddCorners) {
+	if (!bAddCorners) {
 		depthMap.memset(0);
 		normalMap.memset(0);
 	}
@@ -1133,21 +1133,21 @@ bool MVS::TriangulatePoints2DepthMap(
 // same as above, but does not estimate the normal-map
 bool MVS::TriangulatePoints2DepthMap(
 	const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points,
-	DepthMap& depthMap, Depth& dMin, Depth& dMax)
+	DepthMap& depthMap, Depth& dMin, Depth& dMax, bool bAddCorners)
 {
 	ASSERT(image.pImageData != NULL);
 
 	// triangulate in-view points
 	Mesh mesh;
 	Point2fArr projs;
-	const std::pair<float,float> thDepth(TriangulatePointsDelaunay(image, pointcloud, points, mesh, projs));
+	const std::pair<float,float> thDepth(TriangulatePointsDelaunay(image, pointcloud, points, mesh, projs, bAddCorners));
 	dMin = thDepth.first;
 	dMax = thDepth.second;
 
 	// create rough depth-map by interpolating inside triangles
 	const Camera& camera = image.camera;
 	depthMap.create(image.image.size());
-	if (!OPTDENSE::bAddCorners)
+	if (!bAddCorners)
 		depthMap.memset(0);
 	struct RasterDepth : TRasterMeshBase<RasterDepth> {
 		typedef TRasterMeshBase<RasterDepth> Base;
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 951e697d7..5f0ca27a0 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -458,10 +458,10 @@ struct MVS_API DepthEstimator {
 // Tools
 bool TriangulatePoints2DepthMap(
 	const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points,
-	DepthMap& depthMap, NormalMap& normalMap, Depth& dMin, Depth& dMax);
+	DepthMap& depthMap, NormalMap& normalMap, Depth& dMin, Depth& dMax, bool bAddCorners);
 bool TriangulatePoints2DepthMap(
 	const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points,
-	DepthMap& depthMap, Depth& dMin, Depth& dMax);
+	DepthMap& depthMap, Depth& dMin, Depth& dMax, bool bAddCorners);
 
 MVS_API unsigned EstimatePlane(const Point3Arr&, Plane&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MVS_API unsigned EstimatePlaneLockFirstPoint(const Point3Arr&, Plane&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
index 2c4bbb192..04d7dad1b 100644
--- a/libs/MVS/PatchMatchCUDA.cpp
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -275,6 +275,8 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 	CUDA::checkCudaCall(cudaGetLastError());
 
 	// load depth-map, normal-map and confidence-map from CUDA memory
+	const float fNCCThresholdKeep(!params.bGeomConsistency && OPTDENSE::nEstimationGeometricIters ?
+		OPTDENSE::fNCCThresholdKeep * 1.5f : OPTDENSE::fNCCThresholdKeep);
 	if (depthData.confMap.empty())
 		depthData.confMap.create(depthData.depthMap.size());
 	for (int r = 0; r < depthData.depthMap.rows; ++r) {
@@ -282,13 +284,21 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 			const int index = r * depthData.depthMap.cols + c;
 			const Point4& depthNormal = depthNormalEstimates[index];
 			ASSERT(std::isfinite(depthNormal.w()));
-			depthData.depthMap(r,c) = depthNormal.w();
-			depthData.normalMap(r,c) = depthNormal.topLeftCorner<3,1>();
+			// check if the score is good enough
+			// and that the cross-estimates is close enough to the current estimate
 			float& conf = depthData.confMap(r,c);
 			conf = depthNormalCosts[index];
 			ASSERT(std::isfinite(conf));
-			// converted ZNCC [0-2] score, where 0 is best, to [0-1] confidence, where 1 is best
-			conf = conf>=1.f ? 0.f : 1.f-conf;
+			if (depthNormal.w() <= 0 || conf >= fNCCThresholdKeep) {
+				conf = 0;
+				depthData.depthMap(r,c) = 0;
+				depthData.normalMap(r,c) = Normal::ZERO;
+			} else {
+				depthData.depthMap(r,c) = depthNormal.w();
+				depthData.normalMap(r,c) = depthNormal.topLeftCorner<3,1>();
+				// converted ZNCC [0-2] score, where 0 is best, to [0-1] confidence, where 1 is best
+				conf = conf>=1.f ? 0.f : 1.f-conf;
+			}
 		}
 	}
 
diff --git a/libs/MVS/PatchMatchCUDA.cu b/libs/MVS/PatchMatchCUDA.cu
index 370a8da2d..ec1a3992b 100644
--- a/libs/MVS/PatchMatchCUDA.cu
+++ b/libs/MVS/PatchMatchCUDA.cu
@@ -105,7 +105,7 @@ __device__ inline Point3 ViewDirection(const PatchMatchCUDA::Camera& camera, con
 
 // sort the given values array using bubble sort algorithm
 __device__ inline void Sort(const float* values, float* sortedValues, int n) {
-	for (int i = 1; i < n; ++i)
+	for (int i = 0; i < n; ++i)
 		sortedValues[i] = values[i];
 	do {
 		int newn = 0;
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 62db24d83..0ee17153a 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -459,7 +459,7 @@ bool DepthMapsData::InitDepthMap(DepthData& depthData)
 
 	ASSERT(depthData.images.GetSize() > 1 && !depthData.points.IsEmpty());
 	const DepthData::ViewData& image(depthData.GetView());
-	TriangulatePoints2DepthMap(image, scene.pointcloud, depthData.points, depthData.depthMap, depthData.normalMap, depthData.dMin, depthData.dMax);
+	TriangulatePoints2DepthMap(image, scene.pointcloud, depthData.points, depthData.depthMap, depthData.normalMap, depthData.dMin, depthData.dMax, OPTDENSE::bAddCorners);
 	depthData.dMin *= 0.9f;
 	depthData.dMax *= 1.1f;
 
@@ -529,11 +529,9 @@ void* STCALL DepthMapsData::EndDepthMapTmp(void* arg)
 		// check if the score is good enough
 		// and that the cross-estimates is close enough to the current estimate
 		if (depth <= 0 || conf >= OPTDENSE::fNCCThresholdKeep) {
-			#if 1 // used if gap-interpolation is active
 			conf = 0;
-			estimator.normalMap0(x) = Normal::ZERO;
-			#endif
 			depth = 0;
+			estimator.normalMap0(x) = Normal::ZERO;
 		} else {
 			#if 1
 			// converted ZNCC [0-2] score, where 0 is best, to [0-1] confidence, where 1 is best
@@ -703,6 +701,9 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage, int nGeometricIter)
 
 	// remove all estimates with too big score and invert confidence map
 	{
+		const float fNCCThresholdKeep(OPTDENSE::fNCCThresholdKeep);
+		if (nGeometricIter < 0 && OPTDENSE::nEstimationGeometricIters)
+			OPTDENSE::fNCCThresholdKeep *= 1.5f;
 		// create working threads
 		idxPixel = -1;
 		ASSERT(estimators.IsEmpty());
@@ -722,6 +723,7 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage, int nGeometricIter)
 		FOREACHPTR(pThread, threads)
 			pThread->join();
 		estimators.Release();
+		OPTDENSE::fNCCThresholdKeep = fNCCThresholdKeep;
 	}
 
 	DEBUG_EXTRA("Depth-map for image %3u %s: %dx%d (%s)", image.GetID(),
diff --git a/libs/MVS/SemiGlobalMatcher.cpp b/libs/MVS/SemiGlobalMatcher.cpp
index 6549acbda..4a9285636 100644
--- a/libs/MVS/SemiGlobalMatcher.cpp
+++ b/libs/MVS/SemiGlobalMatcher.cpp
@@ -615,7 +615,7 @@ void SemiGlobalMatcher::Match(const Scene& scene, IIndex idxImage, IIndex numNei
 				image.camera = leftImageLevel.camera;
 				DepthMap depthMap;
 				Depth dMin, dMax;
-				TriangulatePoints2DepthMap(image, scene.pointcloud, points, depthMap, dMin, dMax);
+				TriangulatePoints2DepthMap(image, scene.pointcloud, points, depthMap, dMin, dMax, true);
 				points.Release();
 				Matrix3x3 H2(H); Matrix4x4 Q2(Q);
 				Image::ScaleStereoRectification(H2, Q2, scale*0.5);

From cb8fafa5b4a32569291b58fb8da3e65adf530229 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sun, 14 Nov 2021 10:41:56 +0200
Subject: [PATCH 060/252] interface: add Metashape ROI support

---
 .../InterfaceMetashape/InterfaceMetashape.cpp | 69 +++++++++++++++++++
 libs/MVS/Scene.h                              |  1 +
 libs/MVS/SceneDensify.cpp                     |  2 +-
 3 files changed, 71 insertions(+), 1 deletion(-)

diff --git a/apps/InterfaceMetashape/InterfaceMetashape.cpp b/apps/InterfaceMetashape/InterfaceMetashape.cpp
index 7a2687837..6f1124a9f 100644
--- a/apps/InterfaceMetashape/InterfaceMetashape.cpp
+++ b/apps/InterfaceMetashape/InterfaceMetashape.cpp
@@ -190,6 +190,28 @@ struct DistCoeff {
 typedef cList<DistCoeff> DistCoeffs;
 typedef cList<DistCoeffs> PlatformDistCoeffs;
 
+void ImageListParseC(const LPSTR* argv, Point3& C)
+{
+	// read position vector
+	C.x = String::FromString<REAL>(argv[0]);
+	C.y = String::FromString<REAL>(argv[1]);
+	C.z = String::FromString<REAL>(argv[2]);
+}
+
+void ImageListParseR(const LPSTR* argv, Matrix3x3& R)
+{
+	// read rotation matrix
+	R(0, 0) = String::FromString<REAL>(argv[0]);
+	R(0, 1) = String::FromString<REAL>(argv[1]);
+	R(0, 2) = String::FromString<REAL>(argv[2]);
+	R(1, 0) = String::FromString<REAL>(argv[3]);
+	R(1, 1) = String::FromString<REAL>(argv[4]);
+	R(1, 2) = String::FromString<REAL>(argv[5]);
+	R(2, 0) = String::FromString<REAL>(argv[6]);
+	R(2, 1) = String::FromString<REAL>(argv[7]);
+	R(2, 2) = String::FromString<REAL>(argv[8]);
+}
+
 void ImageListParseP(const LPSTR* argv, Matrix3x4& P)
 {
 	// read projection matrix
@@ -392,6 +414,46 @@ bool ParseImageListXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t&
 		}
 	}
 	}
+
+	// parse bounding-box
+	{
+	tinyxml2::XMLElement* region = document->FirstChildElement(_T("region"));
+	if (region == NULL)
+		goto InvalidDocument;
+	{
+	size_t argc;
+	CAutoPtrArr<LPSTR> argv;
+	Point3 C, E; Matrix3x3 R;
+	if ((elem=region->FirstChildElement(_T("center"))) == NULL ||
+		(argv=Util::CommandLineToArgvA(elem->GetText(), argc)) == NULL ||
+		argc != 3)
+	{
+		VERBOSE("Invalid image list region: %s", elem->GetText());
+		goto InvalidDocument;
+	}
+	ImageListParseC(argv, C);
+	if ((elem=region->FirstChildElement(_T("size"))) == NULL ||
+		(argv=Util::CommandLineToArgvA(elem->GetText(), argc)) == NULL ||
+		argc != 3)
+	{
+		VERBOSE("Invalid image list region: %s", elem->GetText());
+		goto InvalidDocument;
+	}
+	ImageListParseC(argv, E);
+	E *= REAL(0.5);
+	if ((elem=region->FirstChildElement(_T("R"))) == NULL ||
+		(argv=Util::CommandLineToArgvA(elem->GetText(), argc)) == NULL ||
+		argc != 9)
+	{
+		VERBOSE("Invalid image list region: %s", elem->GetText());
+		goto InvalidDocument;
+	}
+	ImageListParseR(argv, R);
+	scene.obb.m_rot = Cast<float>(R);
+	scene.obb.m_pos = Cast<float>(C);
+	scene.obb.m_ext = Cast<float>(E);
+	}
+	}
 	}
 	}
 	}
@@ -599,6 +661,13 @@ int main(int argc, LPCTSTR* argv)
 	#endif
 	progress.close();
 
+	// filter invalid points
+	if (!scene.pointcloud.IsEmpty()) {
+		RFOREACH(i, scene.pointcloud.points)
+			if (scene.pointcloud.pointViews[i].size() < 2)
+				scene.pointcloud.RemovePoint(i);
+	}
+
 	// write OpenMVS input data
 	scene.Save(MAKE_PATH_SAFE(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
 
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 036c23888..3c56867de 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -69,6 +69,7 @@ class MVS_API Scene
 	void Release();
 	bool IsEmpty() const;
 	bool ImagesHaveNeighbors() const;
+	bool IsBounded() const { return obb.IsValid(); }
 
 	bool LoadInterface(const String& fileName);
 	bool SaveInterface(const String& fileName, int version=-1) const;
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 0ee17153a..2423b9681 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -1603,7 +1603,7 @@ bool Scene::DenseReconstruction(int nFusionMode)
 	#endif
 
 	if (!pointcloud.IsEmpty()) {
-		if (obb.IsValid()) {
+		if (IsBounded()) {
 			TD_TIMER_START();
 			const size_t numPoints = pointcloud.GetSize();
 			pointcloud.RemovePointsOutside(obb);

From d842a3bb62604a3977a99fa70903411313710e39 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 15 Nov 2021 22:32:49 +0200
Subject: [PATCH 061/252] viewer: display ROI

---
 apps/Viewer/Scene.cpp  | 39 +++++++++++++++++++++++++++++++++++++++
 apps/Viewer/Scene.h    |  2 ++
 apps/Viewer/Viewer.cpp |  1 +
 apps/Viewer/Window.cpp |  7 +++++++
 apps/Viewer/Window.h   |  3 +++
 libs/Common/OBB.inl    | 12 ++++++------
 6 files changed, 58 insertions(+), 6 deletions(-)

diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index b15bcb4b2..a7d7e314f 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -234,6 +234,7 @@ void Scene::Empty()
 {
 	ReleasePointCloud();
 	ReleaseMesh();
+	obbPoints.Release();
 	if (window.IsValid()) {
 		window.ReleaseClbk();
 		window.Reset();
@@ -385,6 +386,8 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 	CompilePointCloud();
 	// compile mesh
 	CompileMesh();
+	// compile bounding-box
+	CompileBounds();
 
 	// init camera
 	window.SetCamera(Camera(bounds,
@@ -395,6 +398,8 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 	window.clbkExportScene = DELEGATEBINDCLASS(Window::ClbkExportScene, &Scene::Export, this);
 	window.clbkCompilePointCloud = DELEGATEBINDCLASS(Window::ClbkCompilePointCloud, &Scene::CompilePointCloud, this);
 	window.clbkCompileMesh = DELEGATEBINDCLASS(Window::ClbkCompileMesh, &Scene::CompileMesh, this);
+	if (scene.IsBounded())
+		window.clbkCompileBounds = DELEGATEBINDCLASS(Window::ClbkCompileBounds, &Scene::CompileBounds, this);
 	if (!bounds.IsEmpty())
 		window.clbkRayScene = DELEGATEBINDCLASS(Window::ClbkRayScene, &Scene::CastRay, this);
 	window.Reset(!scene.pointcloud.IsEmpty()&&!scene.mesh.IsEmpty()?Window::SPR_NONE:Window::SPR_ALL,
@@ -479,6 +484,27 @@ void Scene::CompileMesh()
 	glEndList();
 }
 
+void Scene::CompileBounds()
+{
+	if (!scene.IsBounded())
+		return;
+	obbPoints.Release();
+	window.bRenderBounds = !window.bRenderBounds;
+	if (window.bRenderBounds) {
+		static const uint8_t indices[12*2] = {
+			0,2, 2,3, 3,1, 1,0,
+			0,6, 2,4, 3,5, 1,7,
+			6,4, 4,5, 5,7, 7,6
+		};
+		OBB3f::POINT corners[OBB3f::numCorners];
+		scene.obb.GetCorners(corners);
+		for (int i=0; i<12; ++i) {
+			obbPoints.emplace_back(corners[indices[i*2+0]]);
+			obbPoints.emplace_back(corners[indices[i*2+1]]);
+		}
+	}
+}
+
 void Scene::Draw()
 {
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
@@ -612,6 +638,7 @@ void Scene::Draw()
 			ptrPrevC = &camera.C;
 		}
 	}
+	// render selection
 	if (window.selectionType != Window::SEL_NA) {
 		glPointSize(window.pointSize+4);
 		glDisable(GL_DEPTH_TEST);
@@ -638,6 +665,18 @@ void Scene::Draw()
 		glEnable(GL_DEPTH_TEST);
 		glPointSize(window.pointSize);
 	}
+	// render oriented-bounding-box
+	if (!obbPoints.empty()) {
+		glDepthMask(GL_FALSE);
+		glBegin(GL_LINES);
+		glColor3f(0.5f,0.1f,0.8f);
+		for (int i=0; i<obbPoints.size(); i+=2) {
+			glVertex3fv(obbPoints[i+0].ptr());
+			glVertex3fv(obbPoints[i+1].ptr());
+		}
+		glEnd();
+		glDepthMask(GL_TRUE);
+	}
 	glfwSwapBuffers(window.GetWindow());
 }
 
diff --git a/apps/Viewer/Scene.h b/apps/Viewer/Scene.h
index 5a02d5d2d..8704e24eb 100644
--- a/apps/Viewer/Scene.h
+++ b/apps/Viewer/Scene.h
@@ -62,6 +62,7 @@ class Scene
 
 	OctreePoints octPoints;
 	OctreeMesh octMesh;
+	Point3fArr obbPoints;
 
 	GLuint listPointCloud;
 	GLuint listMesh;
@@ -87,6 +88,7 @@ class Scene
 	bool Export(LPCTSTR fileName, LPCTSTR exportType=NULL, bool losslessTexture=false) const;
 	void CompilePointCloud();
 	void CompileMesh();
+	void CompileBounds();
 
 	void Draw();
 	void Loop();
diff --git a/apps/Viewer/Viewer.cpp b/apps/Viewer/Viewer.cpp
index d8c952ead..a6fffebe9 100644
--- a/apps/Viewer/Viewer.cpp
+++ b/apps/Viewer/Viewer.cpp
@@ -154,6 +154,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 			"Keys:\n"
 			"\tE: export scene\n"
 			"\tR: reset scene\n"
+			"\tB: render bounds\n"
 			"\tC: render cameras\n"
 			"\tC + Shift: render camera trajectory\n"
 			"\tLeft/Right: select next camera to view the scene\n"
diff --git a/apps/Viewer/Window.cpp b/apps/Viewer/Window.cpp
index cc243ef7d..e03d6d289 100644
--- a/apps/Viewer/Window.cpp
+++ b/apps/Viewer/Window.cpp
@@ -73,6 +73,7 @@ void Window::ReleaseClbk()
 	clbkRayScene.reset();
 	clbkCompilePointCloud.reset();
 	clbkCompileMesh.reset();
+	clbkCompileBounds.reset();
 }
 
 bool Window::Init(const cv::Size& _size, LPCTSTR name)
@@ -133,6 +134,7 @@ void Window::Reset(SPARSE _sparseType, unsigned _minViews)
 	bRenderViews = true;
 	bRenderSolid = true;
 	bRenderTexture = true;
+	bRenderBounds = false;
 	selectionType = SEL_NA;
 	selectionIdx = NO_IDX;
 	if (clbkCompilePointCloud != NULL)
@@ -261,6 +263,11 @@ void Window::Key(int k, int /*scancode*/, int action, int mod)
 				camera.currentCamID = NO_ID;
 		}
 		break;
+	case GLFW_KEY_B:
+		if (action == GLFW_RELEASE)
+			if (clbkCompileBounds != NULL)
+				clbkCompileBounds();
+		break;
 	case GLFW_KEY_C:
 		if (action == GLFW_RELEASE) {
 			if (mod & GLFW_MOD_SHIFT) {
diff --git a/apps/Viewer/Window.h b/apps/Viewer/Window.h
index cb892bdc2..364ad7e27 100644
--- a/apps/Viewer/Window.h
+++ b/apps/Viewer/Window.h
@@ -80,6 +80,7 @@ class Window
 	bool bRenderViews;
 	bool bRenderSolid;
 	bool bRenderTexture;
+	bool bRenderBounds;
 
 	enum SELECTION {
 		SEL_NA = 0,
@@ -101,6 +102,8 @@ class Window
 	ClbkCompilePointCloud clbkCompilePointCloud;
 	typedef DELEGATE<void (void)> ClbkCompileMesh;
 	ClbkCompileMesh clbkCompileMesh;
+	typedef DELEGATE<void (void)> ClbkCompileBounds;
+	ClbkCompileBounds clbkCompileBounds;
 
 	typedef std::unordered_map<GLFWwindow*,Window*> WindowsMap;
 	static WindowsMap g_mapWindows;
diff --git a/libs/Common/OBB.inl b/libs/Common/OBB.inl
index 657a4df97..7596b171d 100644
--- a/libs/Common/OBB.inl
+++ b/libs/Common/OBB.inl
@@ -329,12 +329,12 @@ inline void TOBB<TYPE,DIMS>::GetCorners(POINT pts[numCorners]) const
 			m_rot.row(2)*m_ext[2]
 		};
 		pts[0] = m_pos - pEAxis[0] - pEAxis[1] - pEAxis[2];
-		pts[1] = m_pos + pEAxis[0] - pEAxis[1] - pEAxis[2];
-		pts[2] = m_pos + pEAxis[0] + pEAxis[1] - pEAxis[2];
-		pts[3] = m_pos - pEAxis[0] + pEAxis[1] - pEAxis[2];
-		pts[4] = m_pos - pEAxis[0] - pEAxis[1] + pEAxis[2];
-		pts[5] = m_pos + pEAxis[0] - pEAxis[1] + pEAxis[2];
-		pts[6] = m_pos + pEAxis[0] + pEAxis[1] + pEAxis[2];
+		pts[1] = m_pos - pEAxis[0] - pEAxis[1] + pEAxis[2];
+		pts[2] = m_pos + pEAxis[0] - pEAxis[1] - pEAxis[2];
+		pts[3] = m_pos + pEAxis[0] - pEAxis[1] + pEAxis[2];
+		pts[4] = m_pos + pEAxis[0] + pEAxis[1] - pEAxis[2];
+		pts[5] = m_pos + pEAxis[0] + pEAxis[1] + pEAxis[2];
+		pts[6] = m_pos - pEAxis[0] + pEAxis[1] - pEAxis[2];
 		pts[7] = m_pos - pEAxis[0] + pEAxis[1] + pEAxis[2];
 	}
 } // GetCorners

From 41184935e38c61d4653684ecad0e9f30959a9eaf Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 18 Nov 2021 12:16:44 +0200
Subject: [PATCH 062/252] dense: increase NCC threshold for CUDA

---
 libs/MVS/DepthMap.cpp       | 3 +++
 libs/MVS/DepthMap.h         | 3 +++
 libs/MVS/PatchMatchCUDA.cpp | 2 +-
 3 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index ecdb63075..0e50260cc 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -103,6 +103,9 @@ MDEFVAR_OPTDENSE_uint32(nOptimize, "Optimize", "should we filter the extracted d
 MDEFVAR_OPTDENSE_uint32(nEstimateColors, "Estimate Colors", "should we estimate the colors for the dense point-cloud?", "2", "0", "1")
 MDEFVAR_OPTDENSE_uint32(nEstimateNormals, "Estimate Normals", "should we estimate the normals for the dense point-cloud?", "0", "1", "2")
 MDEFVAR_OPTDENSE_float(fNCCThresholdKeep, "NCC Threshold Keep", "Maximum 1-NCC score accepted for a match", "0.55", "0.3")
+#ifdef _USE_CUDA
+MDEFVAR_OPTDENSE_float(fNCCThresholdKeepCUDA, "NCC Threshold Keep CUDA", "Maximum 1-NCC score accepted for a CUDA match (differs from the CPU version cause that has planarity score integrated)", "0.9", "0.6")
+#endif // _USE_CUDA
 DEFVAR_OPTDENSE_uint32(nEstimationIters, "Estimation Iters", "Number of patch-match iterations", "3")
 DEFVAR_OPTDENSE_uint32(nEstimationGeometricIters, "Estimation Geometric Iters", "Number of geometric consistent patch-match iterations (0 - disabled)", "2")
 MDEFVAR_OPTDENSE_float(fEstimationGeometricWeight, "Estimation Geometric Weight", "pairwise geometric consistency cost weight", "0.1")
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 5f0ca27a0..10f8d724e 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -121,6 +121,9 @@ extern unsigned nOptimize;
 extern unsigned nEstimateColors;
 extern unsigned nEstimateNormals;
 extern float fNCCThresholdKeep;
+#ifdef _USE_CUDA
+extern float fNCCThresholdKeepCUDA;
+#endif // _USE_CUDA
 extern unsigned nEstimationIters;
 extern unsigned nEstimationGeometricIters;
 extern float fEstimationGeometricWeight;
diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
index 04d7dad1b..d674f4bf2 100644
--- a/libs/MVS/PatchMatchCUDA.cpp
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -276,7 +276,7 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 
 	// load depth-map, normal-map and confidence-map from CUDA memory
 	const float fNCCThresholdKeep(!params.bGeomConsistency && OPTDENSE::nEstimationGeometricIters ?
-		OPTDENSE::fNCCThresholdKeep * 1.5f : OPTDENSE::fNCCThresholdKeep);
+		OPTDENSE::fNCCThresholdKeepCUDA * 1.5f : OPTDENSE::fNCCThresholdKeepCUDA);
 	if (depthData.confMap.empty())
 		depthData.confMap.create(depthData.depthMap.size());
 	for (int r = 0; r < depthData.depthMap.rows; ++r) {

From 5b16d7b391fa96ba3bf26e86c00d408df72cf798 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 25 Nov 2021 21:43:05 +0200
Subject: [PATCH 063/252] interface: remap Metashape indices

---
 apps/InterfaceMetashape/InterfaceMetashape.cpp | 10 ++++++----
 libs/MVS/Image.h                               |  7 ++-----
 libs/MVS/PatchMatchCUDA.cu                     | 12 +++++-------
 libs/MVS/Scene.cpp                             |  5 +++++
 4 files changed, 18 insertions(+), 16 deletions(-)

diff --git a/apps/InterfaceMetashape/InterfaceMetashape.cpp b/apps/InterfaceMetashape/InterfaceMetashape.cpp
index 6f1124a9f..a13356d0e 100644
--- a/apps/InterfaceMetashape/InterfaceMetashape.cpp
+++ b/apps/InterfaceMetashape/InterfaceMetashape.cpp
@@ -258,6 +258,8 @@ bool ParseImageListXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t&
 	{
 	bool bMetashapeFile(false);
 	CLISTDEF0(cv::Size) resolutions;
+	std::unordered_map<IIndex,IIndex> mapPlatformID;
+	std::unordered_map<IIndex,IIndex> mapImageID;
 
 	// parse platform and camera models
 	{
@@ -274,7 +276,7 @@ bool ParseImageListXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t&
 		enum CameraModel {METASHAPE=0, VSFM};
 		int model(METASHAPE);
 		sensor->QueryIntAttribute(_T("model"), &model);
-		ASSERT(scene.platforms.GetSize() == ID);
+		mapPlatformID.emplace(ID, scene.platforms.size());
 		Platform& platform = scene.platforms.AddEmpty();
 		LPCTSTR name;
 		if ((name=sensor->Attribute(_T("label"))) != NULL)
@@ -367,7 +369,7 @@ bool ParseImageListXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t&
 			goto InvalidDocument;
 		{
 		// add new image
-		ASSERT(scene.images.size() == ID);
+		mapImageID.emplace(ID, scene.images.size());
 		Image& imageData = scene.images.AddEmpty();
 		LPCTSTR name;
 		if ((name=camera->Attribute(_T("type"))) != NULL && _tcsicmp(name, _T("frame")) != 0) {
@@ -380,9 +382,9 @@ bool ParseImageListXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t&
 		if (Util::getFileExt(imageData.name).empty())
 			imageData.name += _T(".jpg");
 		imageData.name = MAKE_PATH_FULL(strPath, imageData.name);
-		imageData.platformID = camera->UnsignedAttribute(_T("sensor_id"));
+		imageData.platformID = mapPlatformID.at(camera->UnsignedAttribute(_T("sensor_id")));
 		imageData.cameraID = 0; // only one camera per platform supported by this format
-		imageData.ID = ID;
+		imageData.ID = mapImageID.at(ID);
 		const cv::Size& resolution = resolutions[imageData.platformID];
 		imageData.width = resolution.width;
 		imageData.height = resolution.height;
diff --git a/libs/MVS/Image.h b/libs/MVS/Image.h
index ad31c8646..a920f1e52 100644
--- a/libs/MVS/Image.h
+++ b/libs/MVS/Image.h
@@ -89,13 +89,10 @@ class MVS_API Image
 	float avgDepth; // average depth of the points seen by this camera
 
 public:
-	inline Image() {
-		#ifndef _RELEASE
-		width = height = 0;
-		#endif
-	}
+	inline Image() : poseID(NO_ID), width(0), height(0) {}
 
 	inline bool IsValid() const { return poseID != NO_ID; }
+	inline bool HasResolution() const { return width > 0 && height > 0; }
 	inline Image8U::Size GetSize() const { return Image8U::Size(width, height); }
 
 	// read image data from the file
diff --git a/libs/MVS/PatchMatchCUDA.cu b/libs/MVS/PatchMatchCUDA.cu
index ec1a3992b..c47fb5ddf 100644
--- a/libs/MVS/PatchMatchCUDA.cu
+++ b/libs/MVS/PatchMatchCUDA.cu
@@ -587,19 +587,17 @@ __host__ void PatchMatchCUDA::RunCUDA()
 	const unsigned width = cameras[0].width;
 	const unsigned height = cameras[0].height;
 
-	const dim3 gridSizeRandinit((width + 16 - 1) / 16, (height + 16 - 1) / 16, 1);
-	const dim3 blockSizeRandinit(16, 16, 1);
-
+	const dim3 blockSize(BLOCK_W, BLOCK_H, 1);
+	const dim3 gridSizeInitialize((width + BLOCK_H - 1) / BLOCK_H, (height + BLOCK_H - 1) / BLOCK_H, 1);
 	const dim3 gridSizeCheckerboard((width + BLOCK_W - 1) / BLOCK_W, ((height / 2) + BLOCK_H - 1) / BLOCK_H, 1);
-	const dim3 blockSizeCheckerboard(BLOCK_W, BLOCK_H, 1);
 
-	InitializeScore<<<gridSizeRandinit, blockSizeRandinit>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params);
+	InitializeScore<<<gridSizeInitialize, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params);
 	cudaDeviceSynchronize();
 
 	for (int i = 0; i < params.nEstimationIters; ++i) {
-		BlackPixelProcess<<<gridSizeCheckerboard, blockSizeCheckerboard>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, i);
+		BlackPixelProcess<<<gridSizeCheckerboard, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, i);
 		cudaDeviceSynchronize();
-		RedPixelProcess<<<gridSizeCheckerboard, blockSizeCheckerboard>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, i);
+		RedPixelProcess<<<gridSizeCheckerboard, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, i);
 		cudaDeviceSynchronize();
 	}
 
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index eb203b268..58599d293 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -248,6 +248,11 @@ bool Scene::SaveInterface(const String & fileName, int version) const
 		image.platformID = imageData.platformID;
 		image.cameraID = imageData.cameraID;
 		image.ID = imageData.ID;
+		if (imageData.IsValid() && imageData.HasResolution()) {
+			Interface::Platform& platform = obj.platforms[image.platformID];;
+			if (!platform.cameras[image.cameraID].HasResolution())
+				platform.SetFullK(image.cameraID, imageData.camera.K, imageData.width, imageData.height);
+		}
 	}
 
 	// export 3D points

From 17427b84783832694c72e155a4881f4633dce2ec Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 6 Dec 2021 21:36:44 +0200
Subject: [PATCH 064/252] dense: fix depth-map crash in CUDA

---
 libs/MVS/PatchMatchCUDA.cpp | 12 ++++++------
 libs/MVS/PatchMatchCUDA.cu  |  2 ++
 libs/MVS/PatchMatchCUDA.inl |  2 +-
 3 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
index d674f4bf2..a7ef8f067 100644
--- a/libs/MVS/PatchMatchCUDA.cpp
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -113,7 +113,7 @@ void PatchMatchCUDA::AllocatePatchMatchCUDA(const cv::Mat1f& image)
 	CUDA::checkCudaCall(cudaMalloc((void**)&cudaTextureImages, sizeof(cudaTextureObject_t) * num_images));
 	CUDA::checkCudaCall(cudaMalloc((void**)&cudaCameras, sizeof(Camera) * num_images));
 	if (params.bGeomConsistency)
-		CUDA::checkCudaCall(cudaMalloc((void**)&cudaTextureDepths, sizeof(cudaTextureObject_t) * num_images));
+		CUDA::checkCudaCall(cudaMalloc((void**)&cudaTextureDepths, sizeof(cudaTextureObject_t) * (num_images-1)));
 
 	const size_t size = image.size().area();
 	depthNormalEstimates = new Point4[size];
@@ -126,7 +126,7 @@ void PatchMatchCUDA::AllocatePatchMatchCUDA(const cv::Mat1f& image)
 	CUDA::checkCudaCall(cudaMalloc((void**)&cudaSelectedViews, sizeof(unsigned) * size));
 }
 
-void PatchMatchCUDA::AllocateImageCUDA(size_t i, const cv::Mat1f& image)
+void PatchMatchCUDA::AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bHasDepthMap)
 {
 	const cudaChannelFormatDesc channelDesc = cudaCreateChannelDesc(32, 0, 0, 0, cudaChannelFormatKindFloat);
 	CUDA::checkCudaCall(cudaMallocArray(&cudaImageArrays[i], &channelDesc, image.cols, image.rows));
@@ -146,7 +146,7 @@ void PatchMatchCUDA::AllocateImageCUDA(size_t i, const cv::Mat1f& image)
 
 	CUDA::checkCudaCall(cudaCreateTextureObject(&textureImages[i], &resDesc, &texDesc, NULL));
 
-	if (params.bGeomConsistency && i > 0) {
+	if (params.bGeomConsistency && i > 0 && bHasDepthMap) {
 		CUDA::checkCudaCall(cudaMallocArray(&cudaDepthArrays[i-1], &channelDesc, image.cols, image.rows));
 
 		struct cudaResourceDesc resDesc;
@@ -205,7 +205,7 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 		}
 		if (i >= prevNumImages) {
 			// allocate image CUDA memory
-			AllocateImageCUDA(i, image);
+			AllocateImageCUDA(i, image, !view.depthMap.empty());
 		} else
 		if (images[i].size() != image.size()) {
 			// reallocate image CUDA memory
@@ -215,10 +215,10 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 				cudaDestroyTextureObject(textureDepths[i-1]);
 				cudaFreeArray(cudaDepthArrays[i-1]);
 			}
-			AllocateImageCUDA(i, image);
+			AllocateImageCUDA(i, image, !view.depthMap.empty());
 		}
 		CUDA::checkCudaCall(cudaMemcpy2DToArray(cudaImageArrays[i], 0, 0, image.ptr<float>(), image.step[0], image.cols*sizeof(float), image.rows, cudaMemcpyHostToDevice));
-		if (params.bGeomConsistency && i > 0) {
+		if (params.bGeomConsistency && i > 0 && !view.depthMap.empty()) {
 			// set previously computed depth-map
 			DepthMap depthMap(view.depthMap);
 			if (depthMap.size() != image.size())
diff --git a/libs/MVS/PatchMatchCUDA.cu b/libs/MVS/PatchMatchCUDA.cu
index c47fb5ddf..d295ae1a8 100644
--- a/libs/MVS/PatchMatchCUDA.cu
+++ b/libs/MVS/PatchMatchCUDA.cu
@@ -268,6 +268,8 @@ __device__ inline float ComputeBilateralWeight(int xDist, int yDist, float pix,
 // compute the geometric consistency weight
 __device__ inline float GeometricConsistencyWeight(const ImagePixels depthImage, const PatchMatchCUDA::Camera& refCamera, const PatchMatchCUDA::Camera& trgCamera, const Point4& plane, const Point2i& p)
 {
+	if (depthImage == NULL)
+		return 0.f;
 	constexpr float maxDist = 4.f;
 	const Point3 forwardPoint = BackProjectPoint(refCamera, p.cast<float>(), plane.w());
 	const Point2 trgPt = ProjectPoint(trgCamera, forwardPoint);
diff --git a/libs/MVS/PatchMatchCUDA.inl b/libs/MVS/PatchMatchCUDA.inl
index e486cd06c..3c3db4111 100644
--- a/libs/MVS/PatchMatchCUDA.inl
+++ b/libs/MVS/PatchMatchCUDA.inl
@@ -111,7 +111,7 @@ public:
 private:
 	void ReleaseCUDA();
 	void AllocatePatchMatchCUDA(const cv::Mat1f& image);
-	void AllocateImageCUDA(size_t i, const cv::Mat1f& image);
+	void AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bHasDepthMap);
 	void RunCUDA();
 
 public:

From c103ffa137984f4f2446ed6d2859c2a5f4514505 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 11 Dec 2021 22:34:21 +0200
Subject: [PATCH 065/252] interface: update MVG-MVS pipeline

---
 MvgMvsPipeline.py              | 106 ++++++++++++++++++---------------
 apps/RefineMesh/RefineMesh.cpp |   2 +-
 2 files changed, 59 insertions(+), 49 deletions(-)

diff --git a/MvgMvsPipeline.py b/MvgMvsPipeline.py
index 06264ac84..05004bc4d 100644
--- a/MvgMvsPipeline.py
+++ b/MvgMvsPipeline.py
@@ -12,25 +12,28 @@
                           [--9 9 [9 ...]] [--10 10 [10 ...]] [--11 11 [11 ...]]
                           [--12 12 [12 ...]] [--13 13 [13 ...]]
                           [--14 14 [14 ...]] [--15 15 [15 ...]]
+                          [--16 16 [16 ...]] [--17 17 [17 ...]]
                           input_dir output_dir
 
 Photogrammetry reconstruction with these steps:
     0. Intrinsics analysis             openMVG_main_SfMInit_ImageListing
     1. Compute features                openMVG_main_ComputeFeatures
-    2. Compute matches                 openMVG_main_ComputeMatches
-    3. Incremental reconstruction      openMVG_main_IncrementalSfM
-    4. Global reconstruction           openMVG_main_GlobalSfM
-    5. Colorize Structure              openMVG_main_ComputeSfM_DataColor
-    6. Structure from Known Poses      openMVG_main_ComputeStructureFromKnownPoses
-    7. Colorized robust triangulation  openMVG_main_ComputeSfM_DataColor
-    8. Control Points Registration     ui_openMVG_control_points_registration
-    9. Export to openMVS               openMVG_main_openMVG2openMVS
-    10. Densify point-cloud            DensifyPointCloud
-    11. Reconstruct the mesh           ReconstructMesh
-    12. Refine the mesh                RefineMesh
-    13. Texture the mesh               TextureMesh
-    14. Estimate disparity-maps        DensifyPointCloud
-    15. Fuse disparity-maps            DensifyPointCloud
+    2. Compute pairs                   openMVG_main_PairGenerator
+    3. Compute matches                 openMVG_main_ComputeMatches
+    4. Filter matches                  openMVG_main_GeometricFilter
+    5. Incremental reconstruction      openMVG_main_IncrementalSfM
+    6. Global reconstruction           openMVG_main_GlobalSfM
+    7. Colorize Structure              openMVG_main_ComputeSfM_DataColor
+    8. Structure from Known Poses      openMVG_main_ComputeStructureFromKnownPoses
+    9. Colorized robust triangulation  openMVG_main_ComputeSfM_DataColor
+    10. Control Points Registration    ui_openMVG_control_points_registration
+    11. Export to openMVS              openMVG_main_openMVG2openMVS
+    12. Densify point-cloud            DensifyPointCloud
+    13. Reconstruct the mesh           ReconstructMesh
+    14. Refine the mesh                RefineMesh
+    15. Texture the mesh               TextureMesh
+    16. Estimate disparity-maps        DensifyPointCloud
+    17. Fuse disparity-maps            DensifyPointCloud
 
 positional arguments:
   input_dir                 the directory wich contains the pictures set.
@@ -40,12 +43,12 @@
   -h, --help                show this help message and exit
   --steps STEPS [STEPS ...] steps to process
   --preset PRESET           steps list preset in
-                            SEQUENTIAL = [0, 1, 2, 3, 9, 10, 11, 12, 13]
-                            GLOBAL = [0, 1, 2, 4, 9, 10, 11, 12, 13]
-                            MVG_SEQ = [0, 1, 2, 3, 5, 6, 7]
-                            MVG_GLOBAL = [0, 1, 2, 4, 5, 6, 7]
-                            MVS = [10, 11, 12, 13]
-                            MVS_SGM = [14, 15]
+                            SEQUENTIAL = [0, 1, 2, 3, 4, 5, 11, 12, 13, 14, 15]
+                            GLOBAL = [0, 1, 2, 3, 4, 6, 11, 12, 13, 14, 15]
+                            MVG_SEQ = [0, 1, 2, 3, 4, 5, 7, 8, 9]
+                            MVG_GLOBAL = [0, 1, 2, 3, 4, 6, 7, 8, 9]
+                            MVS = [11, 12, 13, 14, 15]
+                            MVS_SGM = [16, 17]
                             default : SEQUENTIAL
 
 Passthrough:
@@ -114,12 +117,12 @@ def find(afile):
     CAMERA_SENSOR_DB_DIRECTORY = input("openMVG camera database (%s) folder?\n" % CAMERA_SENSOR_DB_FILE)
 
 
-PRESET = {'SEQUENTIAL': [0, 1, 2, 3, 9, 10, 11, 12, 13],
-          'GLOBAL': [0, 1, 2, 4, 9, 10, 11, 12, 13],
-          'MVG_SEQ': [0, 1, 2, 3, 5, 6, 7],
-          'MVG_GLOBAL': [0, 1, 2, 4, 5, 6, 7],
-          'MVS': [10, 11, 12, 13],
-          'MVS_SGM': [14, 15]}
+PRESET = {'SEQUENTIAL': [0, 1, 2, 3, 4, 5, 11, 12, 13, 14, 15],
+          'GLOBAL': [0, 1, 2, 3, 4, 6, 11, 12, 13, 14, 15],
+          'MVG_SEQ': [0, 1, 2, 3, 4, 5, 7, 8, 9],
+          'MVG_GLOBAL': [0, 1, 2, 3, 4, 6, 7, 8, 9],
+          'MVS': [11, 12, 13, 14, 15],
+          'MVS_SGM': [16, 17]}
 
 PRESET_DEFAULT = 'SEQUENTIAL'
 
@@ -186,46 +189,52 @@ def __init__(self):
             ["Compute features",             # 1
              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeFeatures"),
              ["-i", "%matches_dir%/sfm_data.json", "-o", "%matches_dir%", "-m", "SIFT"]],
-            ["Compute matches",              # 2
+            ["Compute pairs",                # 2
+             os.path.join(OPENMVG_BIN, "openMVG_main_PairGenerator"),
+             ["-i", "%matches_dir%/sfm_data.json", "-o", "%matches_dir%/pairs.bin"]],
+            ["Compute matches",              # 3
              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeMatches"),
-             ["-i", "%matches_dir%/sfm_data.json", "-o", "%matches_dir%", "-n", "AUTO"]],
-            ["Incremental reconstruction",   # 3
-             os.path.join(OPENMVG_BIN, "openMVG_main_IncrementalSfM"),
-             ["-i", "%matches_dir%/sfm_data.json", "-m", "%matches_dir%", "-o", "%reconstruction_dir%"]],
-            ["Global reconstruction",        # 4
-             os.path.join(OPENMVG_BIN, "openMVG_main_GlobalSfM"),
-             ["-i", "%matches_dir%/sfm_data.json", "-m", "%matches_dir%", "-o", "%reconstruction_dir%"]],
-            ["Colorize Structure",           # 5
+             ["-i", "%matches_dir%/sfm_data.json", "-p", "%matches_dir%/pairs.bin", "-o", "%matches_dir%/matches.putative.bin", "-n", "AUTO"]],
+            ["Filter matches",               # 4
+             os.path.join(OPENMVG_BIN, "openMVG_main_GeometricFilter"),
+             ["-i", "%matches_dir%/sfm_data.json", "-m", "%matches_dir%/matches.putative.bin", "-o", "%matches_dir%/matches.f.bin"]],
+            ["Incremental reconstruction",   # 5
+             os.path.join(OPENMVG_BIN, "openMVG_main_SfM"),
+             ["-i", "%matches_dir%/sfm_data.json", "-m", "%matches_dir%", "-o", "%reconstruction_dir%", "-s", "INCREMENTAL"]],
+            ["Global reconstruction",        # 6
+             os.path.join(OPENMVG_BIN, "openMVG_main_SfM"),
+             ["-i", "%matches_dir%/sfm_data.json", "-m", "%matches_dir%", "-o", "%reconstruction_dir%", "-s", "GLOBAL", "-M", "%matches_dir%/matches.e.bin"]],
+            ["Colorize Structure",           # 7
              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeSfM_DataColor"),
              ["-i", "%reconstruction_dir%/sfm_data.bin", "-o", "%reconstruction_dir%/colorized.ply"]],
-            ["Structure from Known Poses",   # 6
+            ["Structure from Known Poses",   # 8
              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeStructureFromKnownPoses"),
              ["-i", "%reconstruction_dir%/sfm_data.bin", "-m", "%matches_dir%", "-f", "%matches_dir%/matches.f.bin", "-o", "%reconstruction_dir%/robust.bin"]],
-            ["Colorized robust triangulation",  # 7
+            ["Colorized robust triangulation",  # 9
              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeSfM_DataColor"),
              ["-i", "%reconstruction_dir%/robust.bin", "-o", "%reconstruction_dir%/robust_colorized.ply"]],
-            ["Control Points Registration",  # 8
+            ["Control Points Registration",  # 10
              os.path.join(OPENMVG_BIN, "ui_openMVG_control_points_registration"),
              ["-i", "%reconstruction_dir%/sfm_data.bin"]],
-            ["Export to openMVS",            # 9
+            ["Export to openMVS",            # 11
              os.path.join(OPENMVG_BIN, "openMVG_main_openMVG2openMVS"),
              ["-i", "%reconstruction_dir%/sfm_data.bin", "-o", "%mvs_dir%/scene.mvs", "-d", "%mvs_dir%/images"]],
-            ["Densify point cloud",          # 10
+            ["Densify point cloud",          # 12
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
              ["scene.mvs", "--dense-config-file", "Densify.ini", "--resolution-level", "1", "-w", "%mvs_dir%"]],
-            ["Reconstruct the mesh",         # 11
+            ["Reconstruct the mesh",         # 13
              os.path.join(OPENMVS_BIN, "ReconstructMesh"),
              ["scene_dense.mvs", "-w", "%mvs_dir%"]],
-            ["Refine the mesh",              # 12
+            ["Refine the mesh",              # 14
              os.path.join(OPENMVS_BIN, "RefineMesh"),
              ["scene_dense_mesh.mvs", "--scales", "2", "-w", "%mvs_dir%"]],
-            ["Texture the mesh",             # 13
+            ["Texture the mesh",             # 15
              os.path.join(OPENMVS_BIN, "TextureMesh"),
              ["scene_dense_mesh_refine.mvs", "--decimate", "0.5", "-w", "%mvs_dir%"]],
-            ["Estimate disparity-maps",      # 14
+            ["Estimate disparity-maps",      # 16
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
              ["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-1", "-w", "%mvs_dir%"]],
-            ["Fuse disparity-maps",          # 15
+            ["Fuse disparity-maps",          # 17
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
              ["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-2", "-w", "%mvs_dir%"]]
             ]
@@ -324,10 +333,11 @@ def mkdir_ine(dirname):
 print("#      output dir:  %s" % CONF.output_dir)
 print("# Steps:  %s" % str(CONF.steps))
 
-if 2 in CONF.steps:    # ComputeMatches
-    if 4 in CONF.steps:  # GlobalReconstruction
+if 4 in CONF.steps:    # GeometricFilter
+    if 6 in CONF.steps:  # GlobalReconstruction
         # Set the geometric_model of ComputeMatches to Essential
-        STEPS[2].opt.extend(["-g", "e"])
+        STEPS[4].opt = STEPS[4].opt.replace("/matches.f.bin", "/matches.e.bin")
+        STEPS[4].opt.extend(["-g", "e"])
 
 for cstep in CONF.steps:
     printout("#%i. %s" % (cstep, STEPS[cstep].info), effect=INVERSE)
diff --git a/apps/RefineMesh/RefineMesh.cpp b/apps/RefineMesh/RefineMesh.cpp
index 9ba8c15f8..fdeecc99f 100644
--- a/apps/RefineMesh/RefineMesh.cpp
+++ b/apps/RefineMesh/RefineMesh.cpp
@@ -114,7 +114,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("decimate", boost::program_options::value(&OPT::fDecimateMesh)->default_value(0.f), "decimation factor in range [0..1] to be applied to the input surface before refinement (0 - auto, 1 - disabled)")
 		("close-holes", boost::program_options::value(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the input surface (0 - disabled)")
 		("ensure-edge-size", boost::program_options::value(&OPT::nEnsureEdgeSize)->default_value(1), "ensure edge size and improve vertex valence of the input surface (0 - disabled, 1 - auto, 2 - force)")
-		("max-face-area", boost::program_options::value(&OPT::nMaxFaceArea)->default_value(64), "maximum face area projected in any pair of images that is not subdivided (0 - disabled)")
+		("max-face-area", boost::program_options::value(&OPT::nMaxFaceArea)->default_value(32), "maximum face area projected in any pair of images that is not subdivided (0 - disabled)")
 		("scales", boost::program_options::value(&OPT::nScales)->default_value(3), "how many iterations to run mesh optimization on multi-scale images")
 		("scale-step", boost::program_options::value(&OPT::fScaleStep)->default_value(0.5f), "image scale factor used at each mesh optimization step")
 		("reduce-memory", boost::program_options::value(&OPT::nReduceMemory)->default_value(1), "recompute some data in order to reduce memory requirements")

From 15e11832cfdc85d34093ea1960d7840b4c339ed5 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 11 Dec 2021 22:40:48 +0200
Subject: [PATCH 066/252] increase version to 2.0.0

---
 CMakeLists.txt | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 074e153b5..4fb7af690 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,9 +29,9 @@ ENDIF()
 # ${OpenMVS_BINARY_DIR}.
 PROJECT(OpenMVS)
 
-SET(OpenMVS_MAJOR_VERSION 1)
-SET(OpenMVS_MINOR_VERSION 1)
-SET(OpenMVS_PATCH_VERSION 1)
+SET(OpenMVS_MAJOR_VERSION 2)
+SET(OpenMVS_MINOR_VERSION 0)
+SET(OpenMVS_PATCH_VERSION 0)
 SET(OpenMVS_VERSION ${OpenMVS_MAJOR_VERSION}.${OpenMVS_MINOR_VERSION}.${OpenMVS_PATCH_VERSION})
 
 # List configuration options

From 0d57474ecdd3397dde43a05a32b295b5636fb738 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 11 Dec 2021 22:56:43 +0200
Subject: [PATCH 067/252] v2.0 (#720)

* dense: add image mask support

* dense: fix bug in mask application

* build: update find packages

* build: fix usage as third-party library

* interface: export and compare camera poses with an OpenMVG refined version

* interface: export MVS scene to NVM format

* common: fix camera scaling

* dense: small code refactor

* mvs: view DMAPs with different resolution

* interface: replace define with constexp

* interface: small change

* common: fix PFM exporter/importer

* common: disable CPUID on ARM platforms

* dense: add Region-Of-Interest (ROI) support

* common: improve octree speed

* build: update AppVeyor

* mesh: split mesh in sub-meshed by max area

* dense: split scene in sub-scenes

* cmake: build libCommon/IO/Math as shared if BUILD_SHARED_LIBS=ON (#650)

* mesh: fix bug in RemoveFaces()

* dense: filter more redundant views from sub-scenes

* common: add ZSTD serialization support

* apps: set internal linkage for functions and variables (#656)

* common: small refactor

* mesh: raster triangles using barycentric coordinates

* remove cotire

* dense: merge small sub-scenes

* interface: import COLMAP depth-maps

* interface: add MVS preset to the python script

* interface: fix COLMAP on linux

* common: make binary projects portable

* viewer: display views seeing selected point or points seen by the current view

* dense: improve depth-map initialization

* dense: merge depth-maps (no fusion)

* interface: add similarity transform functionality

* common: fix file permissions on linux

* mesh: add GLTF writing support

* mesh: add target-face-num parameter to ReconstructMesh (#671)

* mesh: improve GLTF support

* dense: add geometric-consistency

* dense: fix for invalid images

(cherry picked from commit b29648f835e5ee0b36b4240a160a20124001f34d)

* dense: close file in reading invalid depth-map (#685)

* dense: export point-cloud with min number of views per point

(cherry picked from commit 9b6b2fd7ec89a5b7ea3acdef83664daccbfc8c03)

* dense: detect computed depth-maps

(cherry picked from commit 52f9162874e4c3da66bb618dcea9dddc1bdf644a)

* refine: initialize image neighbors from input mesh

(cherry picked from commit 2a069fa0856582da2b766ba85091d3e46fa783de)

* dense: select better angle neighbors

(cherry picked from commit 05a49551ad13873c664bf394d4584cf5c44f198c)

* dense: patch-match implemented in CUDA (faster & better)

* common: fix latest boost

* dense: expose --cuda-device option (#707)

* build: add Dockerfile for CUDA #710

* dense: fix bug in selecting views

(cherry picked from commit d068c02295234199f49b26afc85ac643886f2311)

* build: fix CUDA for older cards (#712)

* dense: fix small clusters (#702)

* interface: fix COLMAP log export

* interface: add Metashape and predefined neighbors list support

* interface: fix compile linux

* dense: add support for scenes with empty point-cloud but known (coarse) mesh

* dense: filter low score estimates

* interface: add Metashape ROI support

* viewer: display ROI

* dense: increase NCC threshold for CUDA

* interface: remap Metashape indices

* dense: fix depth-map crash in CUDA

* interface: update MVG-MVS pipeline

* increase version to 2.0.0

Co-authored-by: YOSHIFUJI Naoki <lwisteria.ao@gmail.com>
Co-authored-by: Piero Toffanin <pt@masseranolabs.com>
Co-authored-by: Tommy Bojanin <Bojanint@gmail.com>
---
 .appveyor.yml                                 |     9 +-
 .gitignore                                    |     3 +-
 BUILD.md                                      |    37 +-
 CMakeLists.txt                                |   214 +-
 MvgMvsPipeline.py                             |   106 +-
 MvgOptimizeSfM.py                             |    77 +
 apps/CMakeLists.txt                           |     2 +-
 apps/DensifyPointCloud/CMakeLists.txt         |     2 +-
 apps/DensifyPointCloud/DensifyPointCloud.cpp  |    68 +-
 apps/InterfaceCOLMAP/CMakeLists.txt           |     2 +-
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp      |   330 +-
 .../CMakeLists.txt                            |     4 +-
 .../InterfaceMetashape.cpp}                   |   220 +-
 apps/InterfaceOpenMVG/CMakeLists.txt          |     2 +-
 apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp    |    14 +-
 apps/InterfaceVisualSFM/CMakeLists.txt        |     2 +-
 .../InterfaceVisualSFM/InterfaceVisualSFM.cpp |   145 +-
 apps/ReconstructMesh/CMakeLists.txt           |     2 +-
 apps/ReconstructMesh/ReconstructMesh.cpp      |    61 +-
 apps/RefineMesh/CMakeLists.txt                |     2 +-
 apps/RefineMesh/RefineMesh.cpp                |    44 +-
 apps/TextureMesh/CMakeLists.txt               |     2 +-
 apps/TextureMesh/TextureMesh.cpp              |    50 +-
 apps/Viewer/CMakeLists.txt                    |    40 +-
 apps/Viewer/Camera.cpp                        |   144 +-
 apps/Viewer/Camera.h                          |    30 +-
 apps/Viewer/Common.h                          |    15 +-
 apps/Viewer/Scene.cpp                         |   157 +-
 apps/Viewer/Scene.h                           |     9 +-
 apps/Viewer/Viewer.cpp                        |    26 +-
 apps/Viewer/Window.cpp                        |   279 +-
 apps/Viewer/Window.h                          |    43 +-
 build/Cotire.cmake                            |  4190 ----
 build/Modules/FindCERES.cmake                 |   103 -
 build/Modules/FindCGAL.cmake                  |    89 -
 build/Modules/FindEigen.cmake                 |    55 -
 build/Modules/FindEigen3.cmake                |   107 +
 build/OpenMVSConfig.cmake.in                  |    18 -
 build/OpenMVSConfigVersion.cmake.in           |    11 -
 build/Templates/OpenMVSConfig.cmake.in        |    23 +
 .../{ => Templates}/cmake_uninstall.cmake.in  |     0
 build/Utils.cmake                             |   122 +-
 docker/Dockerfile                             |    24 +-
 docker/Dockerfile_CUDA                        |    58 +
 docker/buildFromScratch.sh                    |     2 +-
 libs/Common/AABB.h                            |    13 +-
 libs/Common/AABB.inl                          |     6 +-
 libs/Common/CMakeLists.txt                    |    21 +-
 libs/Common/Common.cpp                        |    11 +
 libs/Common/Config.h                          |    51 +-
 libs/Common/ConfigTable.h                     |     2 +-
 libs/Common/File.h                            |     2 +-
 libs/Common/HalfFloat.h                       |     4 -
 libs/Common/List.h                            |    15 +
 libs/Common/OBB.h                             |    23 +-
 libs/Common/OBB.inl                           |   111 +-
 libs/Common/Octree.h                          |   198 +-
 libs/Common/Octree.inl                        |   579 +-
 libs/Common/Plane.h                           |    17 +
 libs/Common/Rotation.h                        |     5 -
 libs/Common/Rotation.inl                      |    11 -
 libs/Common/Types.h                           |    37 +-
 libs/Common/Types.inl                         |   141 +-
 libs/Common/Util.cpp                          |    28 +
 libs/Common/Util.inl                          |    15 +-
 libs/Common/{CUDA.cpp => UtilCUDA.cpp}        |     4 +-
 libs/Common/{CUDA.h => UtilCUDA.h}            |    29 +-
 libs/IO/CMakeLists.txt                        |    21 +-
 libs/IO/TinyXML2.cpp                          |  2987 +++
 libs/IO/TinyXML2.h                            |  2368 ++
 libs/IO/json.hpp                              | 20406 ++++++++++++++++
 libs/IO/tiny_gltf.h                           |  7754 ++++++
 libs/MVS/CMakeLists.txt                       |    37 +-
 libs/MVS/Camera.h                             |   115 +-
 libs/MVS/DepthMap.cpp                         |   372 +-
 libs/MVS/DepthMap.h                           |    89 +-
 libs/MVS/Image.cpp                            |    16 +-
 libs/MVS/Image.h                              |    12 +-
 libs/MVS/Interface.h                          |   105 +-
 libs/MVS/Mesh.cpp                             |   451 +-
 libs/MVS/Mesh.h                               |   140 +-
 libs/MVS/PatchMatchCUDA.cpp                   |   313 +
 libs/MVS/PatchMatchCUDA.cu                    |   610 +
 libs/MVS/PatchMatchCUDA.h                     |    58 +
 libs/MVS/PatchMatchCUDA.inl                   |   141 +
 libs/MVS/PointCloud.cpp                       |    80 +
 libs/MVS/PointCloud.h                         |     5 +-
 libs/MVS/Scene.cpp                            |   467 +-
 libs/MVS/Scene.h                              |    21 +-
 libs/MVS/SceneDensify.cpp                     |   406 +-
 libs/MVS/SceneDensify.h                       |    16 +-
 libs/MVS/SceneReconstruct.cpp                 |     4 +-
 libs/MVS/SceneRefine.cpp                      |    79 +-
 libs/MVS/SceneRefineCUDA.cpp                  |    48 +-
 libs/MVS/SceneTexture.cpp                     |    60 +-
 libs/MVS/SemiGlobalMatcher.cpp                |     2 +-
 libs/Math/CMakeLists.txt                      |    28 +-
 97 files changed, 39159 insertions(+), 6318 deletions(-)
 create mode 100644 MvgOptimizeSfM.py
 rename apps/{InterfacePhotoScan => InterfaceMetashape}/CMakeLists.txt (57%)
 rename apps/{InterfacePhotoScan/InterfacePhotoScan.cpp => InterfaceMetashape/InterfaceMetashape.cpp} (75%)
 delete mode 100644 build/Cotire.cmake
 delete mode 100644 build/Modules/FindCERES.cmake
 delete mode 100644 build/Modules/FindCGAL.cmake
 delete mode 100644 build/Modules/FindEigen.cmake
 create mode 100644 build/Modules/FindEigen3.cmake
 delete mode 100644 build/OpenMVSConfig.cmake.in
 delete mode 100644 build/OpenMVSConfigVersion.cmake.in
 create mode 100644 build/Templates/OpenMVSConfig.cmake.in
 rename build/{ => Templates}/cmake_uninstall.cmake.in (100%)
 create mode 100644 docker/Dockerfile_CUDA
 rename libs/Common/{CUDA.cpp => UtilCUDA.cpp} (99%)
 rename libs/Common/{CUDA.h => UtilCUDA.h} (97%)
 create mode 100644 libs/IO/TinyXML2.cpp
 create mode 100644 libs/IO/TinyXML2.h
 create mode 100644 libs/IO/json.hpp
 create mode 100644 libs/IO/tiny_gltf.h
 create mode 100644 libs/MVS/PatchMatchCUDA.cpp
 create mode 100644 libs/MVS/PatchMatchCUDA.cu
 create mode 100644 libs/MVS/PatchMatchCUDA.h
 create mode 100644 libs/MVS/PatchMatchCUDA.inl

diff --git a/.appveyor.yml b/.appveyor.yml
index 84d82a06f..5b963bae5 100644
--- a/.appveyor.yml
+++ b/.appveyor.yml
@@ -48,18 +48,17 @@ for:
     # remove outdated versions
     - vcpkg remove --outdated --recurse
     # install dependencies
-    - vcpkg install --recurse --triplet %VCPKG_ARCH% zlib boost-iostreams boost-program-options boost-system boost-serialization eigen3 cgal[core] opencv glew glfw3
-    - vcpkg integrate install
+    - vcpkg install --recurse yasm-tool:x86-windows
+    - vcpkg install --recurse --triplet %VCPKG_ARCH% zlib boost-iostreams boost-program-options boost-system boost-serialization eigen3 cgal[core] opencv vcglib glew glfw3
     - cd "%APPVEYOR_BUILD_FOLDER%"
   # preserve contents of selected directories and files across project builds
   cache:
     - 'C:\tools\vcpkg\installed'
   build_script:
-    - git clone https://github.com/cdcseacave/VCG.git
     - if "%platform%"=="Win32" set CMAKE_GENERATOR=-G"Visual Studio 15 2017"
     - if "%platform%"=="x64"   set CMAKE_GENERATOR=-G"Visual Studio 15 2017 Win64"
     - mkdir bin && cd bin
-    - cmake %CMAKE_GENERATOR% -DCMAKE_BUILD_TYPE=%Configuration% -DCMAKE_TOOLCHAIN_FILE="C:\tools\vcpkg\scripts\buildsystems\vcpkg.cmake" -DVCG_ROOT="%APPVEYOR_BUILD_FOLDER%\VCG" ..
+    - cmake %CMAKE_GENERATOR% -DCMAKE_BUILD_TYPE=%Configuration% -DCMAKE_TOOLCHAIN_FILE="C:\tools\vcpkg\scripts\buildsystems\vcpkg.cmake" ..
     - cmake --build . --target ALL_BUILD --config %Configuration% -- /maxcpucount:4
 -
   #------------------
@@ -85,7 +84,7 @@ for:
     - '/usr/lib/x86_64-linux-gnu/'
   build_script:
     - git clone https://github.com/cdcseacave/VCG.git
-    - git clone --single-branch --branch 3.2 https://gitlab.com/libeigen/eigen.git
+    - git clone --single-branch --branch 3.4 https://gitlab.com/libeigen/eigen.git
     - mkdir eigen_build && cd eigen_build
     - cmake . ../eigen
     - make && sudo make install
diff --git a/.gitignore b/.gitignore
index 1880d2e51..a12459285 100644
--- a/.gitignore
+++ b/.gitignore
@@ -35,5 +35,4 @@ CMakeSettings.json
 .idea/
 .vscode/
 out/
-bin/
-binaries/
+bin*/
diff --git a/BUILD.md b/BUILD.md
index 52e4dc0b8..4ddcd4b81 100644
--- a/BUILD.md
+++ b/BUILD.md
@@ -3,7 +3,7 @@ Dependencies
 ------------
 
 *OpenMVS* relies on a number of open source libraries, some of which are optional. For details on customizing the build process, see the compilation instructions.
-* [Eigen](http://eigen.tuxfamily.org) version 3.2 (or higher on Windows only)
+* [Eigen](http://eigen.tuxfamily.org) version 3.4 or higher
 * [OpenCV](http://opencv.org) version 2.4 or higher
 * [Ceres](http://ceres-solver.org) version 1.10 or higher
 * [CGAL](http://www.cgal.org) version 4.2 or higher
@@ -33,7 +33,7 @@ cd OpenMVS
 
 #Get and install dependencies using vcpkg;
 #choose the desired triplet, like "x64-windows", by setting the VCPKG_DEFAULT_TRIPLET environment variable or by specifying it after each package:
-vcpkg install zlib boost-iostreams boost-program-options boost-system boost-serialization eigen3 cgal[core] opencv glew glfw3
+vcpkg install zlib boost-iostreams boost-program-options boost-system boost-serialization eigen3 cgal[core] opencv vcglib glew glfw3
 
 #Get VCGLib (Required):
 git clone https://github.com/cdcseacave/VCG.git
@@ -46,7 +46,7 @@ mkdir build
 cd build
 
 #Run CMake, where VCPKG_ROOT environment variable points to the root of vcpkg installation:
-cmake . ..\src -G "Visual Studio 15 2017 Win64" -DCMAKE_TOOLCHAIN_FILE=%VCPKG_ROOT%\scripts\buildsystems\vcpkg.cmake -DVCPKG_TARGET_TRIPLET=x64-windows -DVCG_ROOT="..\VCG"
+cmake . ..\src -G "Visual Studio 15 2017 Win64" -DCMAKE_TOOLCHAIN_FILE=%VCPKG_ROOT%\scripts\buildsystems\vcpkg.cmake -DVCPKG_TARGET_TRIPLET=x64-windows
 
 #Open the solution in MSVC and build it
 ```
@@ -64,7 +64,7 @@ sudo apt-get -y install git cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mes
 main_path=`pwd`
 
 #Eigen (Required)
-git clone https://gitlab.com/libeigen/eigen.git --branch 3.2
+git clone https://gitlab.com/libeigen/eigen.git --branch 3.4
 mkdir eigen_build && cd eigen_build
 cmake . ../eigen
 make && sudo make install
@@ -82,7 +82,7 @@ sudo apt-get -y install libcgal-dev libcgal-qt5-dev
 #VCGLib (Required)
 git clone https://github.com/cdcseacave/VCG.git vcglib
 
-#Ceres (optional)
+#Ceres (Optional)
 sudo apt-get -y install libatlas-base-dev libsuitesparse-dev
 git clone https://ceres-solver.googlesource.com/ceres-solver ceres-solver
 mkdir ceres_build && cd ceres_build
@@ -128,7 +128,11 @@ git clone https://github.com/cdcseacave/openMVS.git
 
 #Build OpenMVS
 mkdir openMVS_build && cd openMVS_build
-cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_DIR="$main_path/vcglib"
+cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT="$main_path/vcglib"
+
+#Alternatively, build using XCode
+cmake . ../openMVS -G "Xcode" -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT="$main_path/vcglib"
+xcodebuild -configuration Release
 
 #If you want to use OpenMVS as shared library, add to the CMake command:
 -DBUILD_SHARED_LIBS=ON
@@ -136,3 +140,24 @@ cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_DIR="$main_path/vcglib"
 #Install OpenMVS library (optional):
 make && sudo make install
 ```
+
+-------------------
+Library usage
+-------------------
+
+In order to use *OpenMVS* as a third-party libray in your project, first compile it as described above or simply use `vcpgk`:
+```
+vcpkg install openmvs
+```
+
+And inside your project CMake script, use:
+```
+find_package(OpenMVS)
+if(OpenMVS_FOUND)
+	include_directories(${OpenMVS_INCLUDE_DIRS})
+	add_definitions(${OpenMVS_DEFINITIONS})
+endif()
+
+add_executable(your_project source_code.cpp)
+target_link_libraries(your_project PRIVATE OpenMVS::MVS)
+```
diff --git a/CMakeLists.txt b/CMakeLists.txt
index fff705bda..4fb7af690 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,12 +4,23 @@
 #
 # Project-wide settings
 CMAKE_MINIMUM_REQUIRED(VERSION 3.8.0)
-if(POLICY CMP0011)
-	cmake_policy(SET CMP0011 NEW)
-endif()
-if(POLICY CMP0074)
-	cmake_policy(SET CMP0074 NEW)
-endif()
+IF(POLICY CMP0011)
+	CMAKE_POLICY(SET CMP0011 NEW)
+ENDIF()
+IF(POLICY CMP0074)
+	CMAKE_POLICY(SET CMP0074 NEW)
+ENDIF()
+IF(POLICY CMP0104)
+	CMAKE_POLICY(SET CMP0104 NEW)
+ENDIF()
+
+# Load automatically VCPKG toolchain if available
+IF(NOT DEFINED CMAKE_TOOLCHAIN_FILE AND DEFINED ENV{VCPKG_ROOT})
+	SET(CMAKE_TOOLCHAIN_FILE "$ENV{VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake" CACHE STRING "")
+	IF(NOT DEFINED VCPKG_TARGET_TRIPLET AND DEFINED ENV{VCPKG_DEFAULT_TRIPLET})
+		SET(VCPKG_TARGET_TRIPLET "$ENV{VCPKG_DEFAULT_TRIPLET}" CACHE STRING "")
+	ENDIF()
+ENDIF()
 
 # Name of the project.
 #
@@ -18,25 +29,27 @@ endif()
 # ${OpenMVS_BINARY_DIR}.
 PROJECT(OpenMVS)
 
-set(OpenMVS_MAJOR_VERSION 1)
-set(OpenMVS_MINOR_VERSION 1)
-set(OpenMVS_PATCH_VERSION 1)
-set(OpenMVS_VERSION ${OpenMVS_MAJOR_VERSION}.${OpenMVS_MINOR_VERSION}.${OpenMVS_PATCH_VERSION})
-
-# Find dependencies:
-SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/build/Modules)
+SET(OpenMVS_MAJOR_VERSION 2)
+SET(OpenMVS_MINOR_VERSION 0)
+SET(OpenMVS_PATCH_VERSION 0)
+SET(OpenMVS_VERSION ${OpenMVS_MAJOR_VERSION}.${OpenMVS_MINOR_VERSION}.${OpenMVS_PATCH_VERSION})
 
-# fix CMake IntDir variable
-if(MSVC AND "${MSVC_VERSION}" STRGREATER "1500")
-	SET(CMAKE_CFG_INTDIR "$(Platform)/$(Configuration)")
-endif()
-SET(COTIRE_INTDIR "cotire")
+# List configuration options
+SET(OpenMVS_BUILD_TOOLS ON CACHE BOOL "Build example applications")
+SET(OpenMVS_USE_NONFREE ON CACHE BOOL "Build non-free (patented) functionality")
+SET(OpenMVS_USE_OPENMP ON CACHE BOOL "Enable OpenMP library")
+SET(OpenMVS_USE_OPENGL ON CACHE BOOL "Enable OpenGL library")
+SET(OpenMVS_USE_BREAKPAD ON CACHE BOOL "Enable BreakPad library")
+SET(OpenMVS_USE_CERES OFF CACHE BOOL "Enable CERES optimization library")
+SET(OpenMVS_USE_CUDA ON CACHE BOOL "Enable CUDA library")
+SET(OpenMVS_USE_FAST_FLOAT2INT ON CACHE BOOL "Use an optimized code to convert real numbers to int")
+SET(OpenMVS_USE_FAST_INVSQRT OFF CACHE BOOL "Use an optimized code to compute the inverse square root (slower in fact on modern compilers)")
+SET(OpenMVS_USE_FAST_CBRT ON CACHE BOOL "Use an optimized code to compute the cubic root")
+SET(OpenMVS_USE_SSE ON CACHE BOOL "Enable SSE optimizations")
+SET(OpenMVS_MAX_CUDA_COMPATIBILITY OFF CACHE BOOL "Build for maximum CUDA device compatibility")
 
 # Define helper functions and macros.
 INCLUDE(build/Utils.cmake)
-if(ENABLE_PRECOMPILED_HEADERS)
-	INCLUDE(build/Cotire.cmake)
-endif()
 
 # Init session with macros defined in Utils.cmake
 GetOperatingSystemArchitectureBitness(SYSTEM)
@@ -44,29 +57,20 @@ ComposePackageLibSuffix()
 ConfigCompilerAndLinker()
 ConfigLibrary()
 
-# List configuration options
-SET(OpenMVS_USE_NONFREE ON CACHE BOOL "Build non-free (patented) functionality")
-SET(OpenMVS_USE_CERES OFF CACHE BOOL "Enable CERES optimization library")
-SET(OpenMVS_USE_FAST_FLOAT2INT ON CACHE BOOL "Use an optimized code to convert real numbers to int")
-SET(OpenMVS_USE_FAST_INVSQRT OFF CACHE BOOL "Use an optimized code to compute the inverse square root (slower in fact on modern compilers)")
-SET(OpenMVS_USE_FAST_CBRT ON CACHE BOOL "Use an optimized code to compute the cubic root")
-SET(OpenMVS_USE_SSE ON CACHE BOOL "Enable SSE optimizations")
-SET(OpenMVS_USE_OPENMP ON CACHE BOOL "Enable OpenMP library")
-SET(OpenMVS_USE_OPENGL ON CACHE BOOL "Enable OpenGL library")
-SET(OpenMVS_USE_CUDA ON CACHE BOOL "Enable CUDA library")
-SET(OpenMVS_USE_BREAKPAD ON CACHE BOOL "Enable BreakPad library")
-SET(OpenMVS_CONFIG_INCLUDE_DIR "${CMAKE_BINARY_DIR}/" CACHE PATH "Where to create the build/platform specific header")
-
-INCLUDE_DIRECTORIES("${OpenMVS_SOURCE_DIR}")
+# Find dependencies:
+SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build/Modules)
 
 # Find required packages
+SET(OpenMVS_EXTRA_INCLUDES "")
+SET(OpenMVS_DEFINITIONS "")
 SET(OpenMVS_EXTRA_LIBS "")
+
 if(OpenMVS_USE_OPENMP)
 	SET(OpenMP_LIBS "")
 	FIND_PACKAGE(OpenMP)
 	if(OPENMP_FOUND)
 		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
-		ADD_DEFINITIONS(-D_USE_OPENMP)
+		LIST(APPEND OpenMVS_DEFINITIONS -D_USE_OPENMP)
 		SET(_USE_OPENMP TRUE)
 		#cmake only check for separate OpenMP library on AppleClang 7+
 		#https://github.com/Kitware/CMake/blob/42212f7539040139ecec092547b7d58ef12a4d72/Modules/FindOpenMP.cmake#L252
@@ -75,7 +79,7 @@ if(OpenMVS_USE_OPENMP)
 			LIST(APPEND OpenMVS_EXTRA_LIBS ${OpenMP_LIBS})
 		endif()
 	else()
-		message("-- Can't find OpenMP. Continuing without it.")
+		MESSAGE("-- Can't find OpenMP. Continuing without it.")
 	endif()
 endif()
 
@@ -86,7 +90,8 @@ if(OpenMVS_USE_OPENGL)
 	FIND_PACKAGE(OpenGL)
 	if(OPENGL_FOUND)
 		INCLUDE_DIRECTORIES(${OPENGL_INCLUDE_DIR})
-		ADD_DEFINITIONS(${OpenGL_DEFINITIONS} -D_USE_OPENGL)
+		LIST(APPEND OpenMVS_DEFINITIONS -D_USE_OPENGL)
+		ADD_DEFINITIONS(${OpenGL_DEFINITIONS})
 		SET(_USE_OPENGL TRUE)
 	else()
 		MESSAGE("-- Can't find OpenGL. Continuing without it.")
@@ -96,8 +101,42 @@ endif()
 if(OpenMVS_USE_CUDA)
 	FIND_PACKAGE(CUDA)
 	if(CUDA_FOUND)
+		ENABLE_LANGUAGE(CUDA)
+		if(NOT OpenMVS_MAX_CUDA_COMPATIBILITY)
+			if(NOT DEFINED CMAKE_CUDA_ARCHITECTURES)
+				SET(CMAKE_CUDA_ARCHITECTURES 75)
+			endif()
+		else()
+			# Build for maximum compatibility
+			# https://arnon.dk/matching-sm-architectures-arch-and-gencode-for-various-nvidia-cards/
+
+			# Extract list of arch and gencodes
+			EXECUTE_PROCESS(COMMAND "${CMAKE_CUDA_COMPILER}" --list-gpu-arch 
+				OUTPUT_VARIABLE LIST_GPU_ARCH 
+				ERROR_QUIET)
+			STRING(REPLACE "\r" "" LIST_GPU_ARCH ${LIST_GPU_ARCH})
+			STRING(REPLACE "\n" ";" LIST_GPU_ARCH ${LIST_GPU_ARCH})
+
+			EXECUTE_PROCESS(COMMAND "${CMAKE_CUDA_COMPILER}" --list-gpu-code 
+				OUTPUT_VARIABLE LIST_GPU_CODE 
+				ERROR_QUIET)
+			STRING(REPLACE "\r" "" LIST_GPU_CODE ${LIST_GPU_CODE})
+			STRING(REPLACE "\n" ";" LIST_GPU_CODE ${LIST_GPU_CODE})
+
+			LIST(GET LIST_GPU_CODE 0 TARGET_GPU_CODE)
+			SET(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -arch=${TARGET_GPU_CODE}")
+
+			SET(IDX 0)
+			foreach(GPU_ARCH ${LIST_GPU_ARCH})
+				LIST(GET LIST_GPU_CODE ${IDX} GPU_CODE)
+				SET(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -gencode=arch=${GPU_ARCH},code=${GPU_CODE}")
+				MATH(EXPR IDX "${IDX}+1")
+			endforeach()
+			MESSAGE("-- Set CUDA flags: " ${CMAKE_CUDA_FLAGS})
+		endif()
+		SET(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} --expt-relaxed-constexpr")
 		INCLUDE_DIRECTORIES(${CUDA_INCLUDE_DIRS})
-		ADD_DEFINITIONS(-D_USE_CUDA)
+		LIST(APPEND OpenMVS_DEFINITIONS -D_USE_CUDA)
 		SET(_USE_CUDA TRUE)
 	else()
 		SET(CUDA_CUDA_LIBRARY "")
@@ -111,7 +150,8 @@ if(OpenMVS_USE_BREAKPAD)
 	FIND_PACKAGE(BREAKPAD)
 	if(BREAKPAD_FOUND)
 		INCLUDE_DIRECTORIES(${BREAKPAD_INCLUDE_DIRS})
-		ADD_DEFINITIONS(${BREAKPAD_DEFINITIONS} -D_USE_BREAKPAD)
+		LIST(APPEND OpenMVS_DEFINITIONS -D_USE_BREAKPAD)
+		ADD_DEFINITIONS(${BREAKPAD_DEFINITIONS})
 		SET(_USE_BREAKPAD TRUE)
 		LIST(APPEND OpenMVS_EXTRA_LIBS ${BREAKPAD_LIBS})
 	else()
@@ -119,23 +159,29 @@ if(OpenMVS_USE_BREAKPAD)
 	endif()
 endif()
 
-FIND_PACKAGE(Boost ${SYSTEM_PACKAGE_REQUIRED} COMPONENTS iostreams program_options system serialization)
+FIND_PACKAGE(Boost COMPONENTS iostreams program_options system serialization REQUIRED)
 if(Boost_FOUND)
+	LIST(APPEND OpenMVS_EXTRA_INCLUDES ${Boost_INCLUDE_DIRS})
 	INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
-	ADD_DEFINITIONS(${Boost_DEFINITIONS} -D_USE_BOOST)
+	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_BOOST)
+	ADD_DEFINITIONS(${Boost_DEFINITIONS})
 	LINK_DIRECTORIES(${Boost_LIBRARY_DIRS})
 	SET(_USE_BOOST TRUE)
 endif()
 
-FIND_PACKAGE(Eigen ${SYSTEM_PACKAGE_REQUIRED})
-if(EIGEN_FOUND)
-	INCLUDE_DIRECTORIES(${EIGEN_INCLUDE_DIRS})
-	ADD_DEFINITIONS(${EIGEN_DEFINITIONS} -D_USE_EIGEN)
+FIND_PACKAGE(Eigen3 REQUIRED)
+if(EIGEN3_FOUND)
+	LIST(APPEND OpenMVS_EXTRA_INCLUDES ${EIGEN3_INCLUDE_DIR})
+	INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
+	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_EIGEN)
+	ADD_DEFINITIONS(${EIGEN3_DEFINITIONS})
 	SET(_USE_EIGEN TRUE)
+	MESSAGE(STATUS "Eigen ${EIGEN3_VERSION} found (include: ${EIGEN3_INCLUDE_DIR})")
 endif()
 
-FIND_PACKAGE(OpenCV ${SYSTEM_PACKAGE_REQUIRED})
+FIND_PACKAGE(OpenCV REQUIRED)
 if(OpenCV_FOUND)
+	LIST(APPEND OpenMVS_EXTRA_INCLUDES ${OpenCV_INCLUDE_DIRS})
 	INCLUDE_DIRECTORIES(${OpenCV_INCLUDE_DIRS})
 	ADD_DEFINITIONS(${OpenCV_DEFINITIONS})
 	SET(_USE_OPENCV TRUE)
@@ -144,8 +190,10 @@ else()
 	MESSAGE("-- Can't find OpenCV. Please specify OpenCV directory using OpenCV_DIR variable")
 endif()
 
+LIST(REMOVE_DUPLICATES OpenMVS_EXTRA_INCLUDES)
+LIST(REMOVE_DUPLICATES OpenMVS_EXTRA_LIBS)
+
 # Set defines
-SET(OpenMVS_DEFINITIONS "")
 if(OpenMVS_USE_NONFREE)
 	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_NONFREE)
 	SET(_USE_NONFREE TRUE)
@@ -166,54 +214,58 @@ if(OpenMVS_USE_SSE)
 	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_SSE)
 	SET(_USE_SSE TRUE)
 endif()
-ADD_DEFINITIONS(${OpenMVS_DEFINITIONS})
-
-# Add modules
-ADD_SUBDIRECTORY(libs)
-ADD_SUBDIRECTORY(apps)
-ADD_SUBDIRECTORY(docs)
-
 if(OpenMVS_USE_CERES)
+	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_CERES)
 	SET(_USE_CERES TRUE)
 endif()
 
-# Set configuration file
-CONFIGURE_FILE("${OpenMVS_SOURCE_DIR}/build/Templates/ConfigLocal.h.in" "${OpenMVS_CONFIG_INCLUDE_DIR}/ConfigLocal.h")
-INSTALL(FILES "${OpenMVS_CONFIG_INCLUDE_DIR}/ConfigLocal.h" DESTINATION "${INSTALL_INCLUDE_DIR}")
-INCLUDE_DIRECTORIES(${OpenMVS_CONFIG_INCLUDE_DIR})
+ADD_DEFINITIONS(${OpenMVS_DEFINITIONS})
 
-# Add all targets to the build-tree export set
-export(TARGETS Common IO Math MVS FILE "${PROJECT_BINARY_DIR}/OpenMVSTargets.cmake")
+INCLUDE_DIRECTORIES("${OpenMVS_SOURCE_DIR}")
+INCLUDE_DIRECTORIES("${CMAKE_BINARY_DIR}")
+
+# Add modules
+ADD_SUBDIRECTORY(libs)
+if(OpenMVS_BUILD_TOOLS)
+	ADD_SUBDIRECTORY(apps)
+endif()
+ADD_SUBDIRECTORY(docs)
 
 # Export the package for use from the build-tree
 # (this registers the build-tree with a global CMake-registry)
 export(PACKAGE OpenMVS)
- 
+
+# Install the export set for use with the install-tree
+INSTALL(EXPORT OpenMVSTargets
+	NAMESPACE OpenMVS::
+	DESTINATION "${INSTALL_CMAKE_DIR}")
+
+# Install configuration file
+CONFIGURE_FILE("${CMAKE_CURRENT_SOURCE_DIR}/build/Templates/ConfigLocal.h.in" "${CMAKE_BINARY_DIR}/ConfigLocal.h")
+INSTALL(FILES "${CMAKE_BINARY_DIR}/ConfigLocal.h" DESTINATION "${INSTALL_INCLUDE_DIR}")
+
 # Create the OpenMVSConfig.cmake and OpenMVSConfigVersion files
-file(RELATIVE_PATH REL_INCLUDE_DIR "${INSTALL_CMAKE_DIR}" "${INSTALL_INCLUDE_DIR}")
-# ... for the build tree
-set(CONF_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}" "${PROJECT_BINARY_DIR}")
-configure_file("${CMAKE_CURRENT_SOURCE_DIR}/build/OpenMVSConfig.cmake.in" "${PROJECT_BINARY_DIR}/OpenMVSConfig.cmake" @ONLY)
-# ... for the install tree
-set(CONF_INCLUDE_DIRS "${INSTALL_CMAKE_DIR}/${REL_INCLUDE_DIR}")
-configure_file("${CMAKE_CURRENT_SOURCE_DIR}/build/OpenMVSConfig.cmake.in" "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/OpenMVSConfig.cmake" @ONLY)
-# ... for both
-configure_file("${CMAKE_CURRENT_SOURCE_DIR}/build/OpenMVSConfigVersion.cmake.in" "${PROJECT_BINARY_DIR}/OpenMVSConfigVersion.cmake" @ONLY)
- 
+INCLUDE(CMakePackageConfigHelpers)
+write_basic_package_version_file("${PROJECT_BINARY_DIR}/OpenMVSConfigVersion.cmake"
+	VERSION ${OpenMVS_VERSION}
+	COMPATIBILITY AnyNewerVersion)
+SET(INSTALL_INCLUDE_DIR_IN ${INSTALL_INCLUDE_DIR_PREFIX} ${OpenMVS_EXTRA_INCLUDES})
+SET(INSTALL_CMAKE_DIR_IN ${INSTALL_CMAKE_DIR_PREFIX})
+configure_package_config_file("${CMAKE_CURRENT_SOURCE_DIR}/build/Templates/OpenMVSConfig.cmake.in"
+	"${PROJECT_BINARY_DIR}/OpenMVSConfig.cmake"
+	INSTALL_DESTINATION ${PROJECT_BINARY_DIR}
+	NO_SET_AND_CHECK_MACRO)
 # Install the OpenMVSConfig.cmake and OpenMVSConfigVersion.cmake
-install(FILES
-	"${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/OpenMVSConfig.cmake"
+INSTALL(FILES
+	"${PROJECT_BINARY_DIR}/OpenMVSConfig.cmake"
 	"${PROJECT_BINARY_DIR}/OpenMVSConfigVersion.cmake"
-	DESTINATION "${INSTALL_CMAKE_DIR}" COMPONENT dev)
-
-# Install the export set for use with the install-tree
-install(EXPORT OpenMVSTargets DESTINATION "${INSTALL_CMAKE_DIR}" COMPONENT dev)
+	DESTINATION "${INSTALL_CMAKE_DIR}")
 
 # uninstall target
-configure_file(
-	"${CMAKE_CURRENT_SOURCE_DIR}/build/cmake_uninstall.cmake.in"
+CONFIGURE_FILE(
+	"${CMAKE_CURRENT_SOURCE_DIR}/build/Templates/cmake_uninstall.cmake.in"
 	"${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
 	IMMEDIATE @ONLY)
 
-add_custom_target(uninstall
+ADD_CUSTOM_TARGET(uninstall
 	COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
diff --git a/MvgMvsPipeline.py b/MvgMvsPipeline.py
index 106857f7e..05004bc4d 100644
--- a/MvgMvsPipeline.py
+++ b/MvgMvsPipeline.py
@@ -12,25 +12,28 @@
                           [--9 9 [9 ...]] [--10 10 [10 ...]] [--11 11 [11 ...]]
                           [--12 12 [12 ...]] [--13 13 [13 ...]]
                           [--14 14 [14 ...]] [--15 15 [15 ...]]
+                          [--16 16 [16 ...]] [--17 17 [17 ...]]
                           input_dir output_dir
 
 Photogrammetry reconstruction with these steps:
     0. Intrinsics analysis             openMVG_main_SfMInit_ImageListing
     1. Compute features                openMVG_main_ComputeFeatures
-    2. Compute matches                 openMVG_main_ComputeMatches
-    3. Incremental reconstruction      openMVG_main_IncrementalSfM
-    4. Global reconstruction           openMVG_main_GlobalSfM
-    5. Colorize Structure              openMVG_main_ComputeSfM_DataColor
-    6. Structure from Known Poses      openMVG_main_ComputeStructureFromKnownPoses
-    7. Colorized robust triangulation  openMVG_main_ComputeSfM_DataColor
-    8. Control Points Registration     ui_openMVG_control_points_registration
-    9. Export to openMVS               openMVG_main_openMVG2openMVS
-    10. Densify point-cloud            DensifyPointCloud
-    11. Reconstruct the mesh           ReconstructMesh
-    12. Refine the mesh                RefineMesh
-    13. Texture the mesh               TextureMesh
-    14. Estimate disparity-maps        DensifyPointCloud
-    15. Fuse disparity-maps            DensifyPointCloud
+    2. Compute pairs                   openMVG_main_PairGenerator
+    3. Compute matches                 openMVG_main_ComputeMatches
+    4. Filter matches                  openMVG_main_GeometricFilter
+    5. Incremental reconstruction      openMVG_main_IncrementalSfM
+    6. Global reconstruction           openMVG_main_GlobalSfM
+    7. Colorize Structure              openMVG_main_ComputeSfM_DataColor
+    8. Structure from Known Poses      openMVG_main_ComputeStructureFromKnownPoses
+    9. Colorized robust triangulation  openMVG_main_ComputeSfM_DataColor
+    10. Control Points Registration    ui_openMVG_control_points_registration
+    11. Export to openMVS              openMVG_main_openMVG2openMVS
+    12. Densify point-cloud            DensifyPointCloud
+    13. Reconstruct the mesh           ReconstructMesh
+    14. Refine the mesh                RefineMesh
+    15. Texture the mesh               TextureMesh
+    16. Estimate disparity-maps        DensifyPointCloud
+    17. Fuse disparity-maps            DensifyPointCloud
 
 positional arguments:
   input_dir                 the directory wich contains the pictures set.
@@ -40,11 +43,12 @@
   -h, --help                show this help message and exit
   --steps STEPS [STEPS ...] steps to process
   --preset PRESET           steps list preset in
-                            SEQUENTIAL = [0, 1, 2, 3, 9, 10, 11, 12, 13]
-                            GLOBAL = [0, 1, 2, 4, 9, 10, 11, 12, 13]
-                            MVG_SEQ = [0, 1, 2, 3, 5, 6, 7]
-                            MVG_GLOBAL = [0, 1, 2, 4, 5, 6, 7]
-                            MVS_SGM = [14, 15]
+                            SEQUENTIAL = [0, 1, 2, 3, 4, 5, 11, 12, 13, 14, 15]
+                            GLOBAL = [0, 1, 2, 3, 4, 6, 11, 12, 13, 14, 15]
+                            MVG_SEQ = [0, 1, 2, 3, 4, 5, 7, 8, 9]
+                            MVG_GLOBAL = [0, 1, 2, 3, 4, 6, 7, 8, 9]
+                            MVS = [11, 12, 13, 14, 15]
+                            MVS_SGM = [16, 17]
                             default : SEQUENTIAL
 
 Passthrough:
@@ -113,11 +117,12 @@ def find(afile):
     CAMERA_SENSOR_DB_DIRECTORY = input("openMVG camera database (%s) folder?\n" % CAMERA_SENSOR_DB_FILE)
 
 
-PRESET = {'SEQUENTIAL': [0, 1, 2, 3, 9, 10, 11, 12, 13],
-          'GLOBAL': [0, 1, 2, 4, 9, 10, 11, 12, 13],
-          'MVG_SEQ': [0, 1, 2, 3, 5, 6, 7],
-          'MVG_GLOBAL': [0, 1, 2, 4, 5, 6, 7],
-          'MVS_SGM': [14, 15]}
+PRESET = {'SEQUENTIAL': [0, 1, 2, 3, 4, 5, 11, 12, 13, 14, 15],
+          'GLOBAL': [0, 1, 2, 3, 4, 6, 11, 12, 13, 14, 15],
+          'MVG_SEQ': [0, 1, 2, 3, 4, 5, 7, 8, 9],
+          'MVG_GLOBAL': [0, 1, 2, 3, 4, 6, 7, 8, 9],
+          'MVS': [11, 12, 13, 14, 15],
+          'MVS_SGM': [16, 17]}
 
 PRESET_DEFAULT = 'SEQUENTIAL'
 
@@ -183,47 +188,53 @@ def __init__(self):
              ["-i", "%input_dir%", "-o", "%matches_dir%", "-d", "%camera_file_params%"]],
             ["Compute features",             # 1
              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeFeatures"),
-             ["-i", "%matches_dir%/sfm_data.json", "-o", "%matches_dir%", "-m", "SIFT", "-n", "4"]],
-            ["Compute matches",              # 2
+             ["-i", "%matches_dir%/sfm_data.json", "-o", "%matches_dir%", "-m", "SIFT"]],
+            ["Compute pairs",                # 2
+             os.path.join(OPENMVG_BIN, "openMVG_main_PairGenerator"),
+             ["-i", "%matches_dir%/sfm_data.json", "-o", "%matches_dir%/pairs.bin"]],
+            ["Compute matches",              # 3
              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeMatches"),
-             ["-i", "%matches_dir%/sfm_data.json", "-o", "%matches_dir%", "-n", "HNSWL2", "-r", ".8"]],
-            ["Incremental reconstruction",   # 3
-             os.path.join(OPENMVG_BIN, "openMVG_main_IncrementalSfM"),
-             ["-i", "%matches_dir%/sfm_data.json", "-m", "%matches_dir%", "-o", "%reconstruction_dir%"]],
-            ["Global reconstruction",        # 4
-             os.path.join(OPENMVG_BIN, "openMVG_main_GlobalSfM"),
-             ["-i", "%matches_dir%/sfm_data.json", "-m", "%matches_dir%", "-o", "%reconstruction_dir%"]],
-            ["Colorize Structure",           # 5
+             ["-i", "%matches_dir%/sfm_data.json", "-p", "%matches_dir%/pairs.bin", "-o", "%matches_dir%/matches.putative.bin", "-n", "AUTO"]],
+            ["Filter matches",               # 4
+             os.path.join(OPENMVG_BIN, "openMVG_main_GeometricFilter"),
+             ["-i", "%matches_dir%/sfm_data.json", "-m", "%matches_dir%/matches.putative.bin", "-o", "%matches_dir%/matches.f.bin"]],
+            ["Incremental reconstruction",   # 5
+             os.path.join(OPENMVG_BIN, "openMVG_main_SfM"),
+             ["-i", "%matches_dir%/sfm_data.json", "-m", "%matches_dir%", "-o", "%reconstruction_dir%", "-s", "INCREMENTAL"]],
+            ["Global reconstruction",        # 6
+             os.path.join(OPENMVG_BIN, "openMVG_main_SfM"),
+             ["-i", "%matches_dir%/sfm_data.json", "-m", "%matches_dir%", "-o", "%reconstruction_dir%", "-s", "GLOBAL", "-M", "%matches_dir%/matches.e.bin"]],
+            ["Colorize Structure",           # 7
              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeSfM_DataColor"),
              ["-i", "%reconstruction_dir%/sfm_data.bin", "-o", "%reconstruction_dir%/colorized.ply"]],
-            ["Structure from Known Poses",   # 6
+            ["Structure from Known Poses",   # 8
              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeStructureFromKnownPoses"),
              ["-i", "%reconstruction_dir%/sfm_data.bin", "-m", "%matches_dir%", "-f", "%matches_dir%/matches.f.bin", "-o", "%reconstruction_dir%/robust.bin"]],
-            ["Colorized robust triangulation",  # 7
+            ["Colorized robust triangulation",  # 9
              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeSfM_DataColor"),
              ["-i", "%reconstruction_dir%/robust.bin", "-o", "%reconstruction_dir%/robust_colorized.ply"]],
-            ["Control Points Registration",  # 8
+            ["Control Points Registration",  # 10
              os.path.join(OPENMVG_BIN, "ui_openMVG_control_points_registration"),
              ["-i", "%reconstruction_dir%/sfm_data.bin"]],
-            ["Export to openMVS",            # 9
+            ["Export to openMVS",            # 11
              os.path.join(OPENMVG_BIN, "openMVG_main_openMVG2openMVS"),
              ["-i", "%reconstruction_dir%/sfm_data.bin", "-o", "%mvs_dir%/scene.mvs", "-d", "%mvs_dir%/images"]],
-            ["Densify point cloud",          # 10
+            ["Densify point cloud",          # 12
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
              ["scene.mvs", "--dense-config-file", "Densify.ini", "--resolution-level", "1", "-w", "%mvs_dir%"]],
-            ["Reconstruct the mesh",         # 11
+            ["Reconstruct the mesh",         # 13
              os.path.join(OPENMVS_BIN, "ReconstructMesh"),
              ["scene_dense.mvs", "-w", "%mvs_dir%"]],
-            ["Refine the mesh",              # 12
+            ["Refine the mesh",              # 14
              os.path.join(OPENMVS_BIN, "RefineMesh"),
              ["scene_dense_mesh.mvs", "--scales", "2", "-w", "%mvs_dir%"]],
-            ["Texture the mesh",             # 13
+            ["Texture the mesh",             # 15
              os.path.join(OPENMVS_BIN, "TextureMesh"),
              ["scene_dense_mesh_refine.mvs", "--decimate", "0.5", "-w", "%mvs_dir%"]],
-            ["Estimate disparity-maps",      # 14
+            ["Estimate disparity-maps",      # 16
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
              ["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-1", "-w", "%mvs_dir%"]],
-            ["Fuse disparity-maps",          # 15
+            ["Fuse disparity-maps",          # 17
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
              ["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-2", "-w", "%mvs_dir%"]]
             ]
@@ -322,10 +333,11 @@ def mkdir_ine(dirname):
 print("#      output dir:  %s" % CONF.output_dir)
 print("# Steps:  %s" % str(CONF.steps))
 
-if 2 in CONF.steps:    # ComputeMatches
-    if 4 in CONF.steps:  # GlobalReconstruction
+if 4 in CONF.steps:    # GeometricFilter
+    if 6 in CONF.steps:  # GlobalReconstruction
         # Set the geometric_model of ComputeMatches to Essential
-        STEPS[2].opt.extend(["-g", "e"])
+        STEPS[4].opt = STEPS[4].opt.replace("/matches.f.bin", "/matches.e.bin")
+        STEPS[4].opt.extend(["-g", "e"])
 
 for cstep in CONF.steps:
     printout("#%i. %s" % (cstep, STEPS[cstep].info), effect=INVERSE)
diff --git a/MvgOptimizeSfM.py b/MvgOptimizeSfM.py
new file mode 100644
index 000000000..930d6805a
--- /dev/null
+++ b/MvgOptimizeSfM.py
@@ -0,0 +1,77 @@
+#!/usr/bin/python3
+# -*- encoding: utf-8 -*-
+"""
+This script is for comparing the poses stored in an OpenMVS project to the poses optimized by OpenMVG
+
+usage: run 'MvgOptimizeSfM.py' in a sub-folder to the OpenMVS project folder containing
+    'scene.mvs' and images stored in 'images' folder; structure ex:
+
+    -OpenMVS_project
+      -images
+      -scene.mvs
+      -mvg
+        -run script here
+"""
+
+import os
+import sys
+import subprocess
+
+if sys.platform.startswith('win'):
+    PATH_DELIM = ';'
+else:
+    PATH_DELIM = ':'
+
+# add this script's directory to PATH
+os.environ['PATH'] += PATH_DELIM + os.path.dirname(os.path.abspath(__file__))
+
+# add current directory to PATH
+os.environ['PATH'] += PATH_DELIM + os.getcwd()
+
+
+def whereis(afile):
+    """
+        return directory in which afile is, None if not found. Look in PATH
+    """
+    if sys.platform.startswith('win'):
+        cmd = "where"
+    else:
+        cmd = "which"
+    try:
+        ret = subprocess.run([cmd, afile], stdout=subprocess.PIPE, stderr=subprocess.STDOUT, check=True)
+        return os.path.split(ret.stdout.decode())[0]
+    except subprocess.CalledProcessError:
+        return None
+
+
+def launch(cmdline):
+    # Launch the current step
+    print('Cmd: ' + ' '.join(cmdline))
+    try:
+        pStep = subprocess.Popen(cmdline)
+        pStep.wait()
+        if pStep.returncode != 0:
+            return
+    except KeyboardInterrupt:
+        sys.exit('\r\nProcess canceled by user, all files remains')
+
+
+# Try to find openMVG and openMVS binaries in PATH
+OPENMVG_BIN = whereis("openMVG_main_SfMInit_ImageListing")
+OPENMVS_BIN = whereis("ReconstructMesh")
+
+# Ask user for openMVG and openMVS directories if not found
+if not OPENMVG_BIN:
+    OPENMVG_BIN = input("openMVG binary folder?\n")
+if not OPENMVS_BIN:
+    OPENMVS_BIN = input("openMVS binary folder?\n")
+
+launch([os.path.join(OPENMVS_BIN, 'InterfaceCOLMAP'), '../scene.mvs', '-o', '../gt_dense_cameras.camera'])
+launch([os.path.join(OPENMVG_BIN, 'openMVG_main_SfMInit_ImageListingFromKnownPoses'), '-i', '../images', '-g', '../gt_dense_cameras', '-t', '1', '-o', '.'])
+launch([os.path.join(OPENMVG_BIN, 'openMVG_main_ComputeFeatures'), '-i', 'sfm_data.json', '-o', '.'])
+launch([os.path.join(OPENMVG_BIN, 'openMVG_main_ComputeMatches'), '-i', 'sfm_data.json', '-o', '.', '-m', '1'])
+launch([os.path.join(OPENMVG_BIN, 'openMVG_main_ComputeStructureFromKnownPoses'), '-i', 'sfm_data.json', '-m', '.', '-o', 'sfm_data_struct.bin', '-b'])
+launch([os.path.join(OPENMVG_BIN, 'openMVG_main_ComputeSfM_DataColor'), '-i', 'sfm_data_struct.bin', '-o', 'scene.ply'])
+launch([os.path.join(OPENMVG_BIN, 'openMVG_main_openMVG2openMVS'), '-i', 'sfm_data_struct.bin', '-o', 'scene.mvs', '-d', 'images'])
+launch([os.path.join(OPENMVS_BIN, 'InterfaceCOLMAP'), 'scene.mvs', '-o', 'cameras.camera'])
+launch([os.path.join(OPENMVG_BIN, 'openMVG_main_evalQuality'), '-i', '..', '-c', 'sfm_data_struct.bin', '-o', 'compare'])
diff --git a/apps/CMakeLists.txt b/apps/CMakeLists.txt
index dfc4f88f8..b24044839 100644
--- a/apps/CMakeLists.txt
+++ b/apps/CMakeLists.txt
@@ -1,6 +1,6 @@
 # Add applications
 ADD_SUBDIRECTORY(InterfaceCOLMAP)
-ADD_SUBDIRECTORY(InterfaceVisualSFM)
+ADD_SUBDIRECTORY(InterfaceMetashape)
 ADD_SUBDIRECTORY(DensifyPointCloud)
 ADD_SUBDIRECTORY(ReconstructMesh)
 ADD_SUBDIRECTORY(RefineMesh)
diff --git a/apps/DensifyPointCloud/CMakeLists.txt b/apps/DensifyPointCloud/CMakeLists.txt
index 5dddebee4..38e27310b 100644
--- a/apps/DensifyPointCloud/CMakeLists.txt
+++ b/apps/DensifyPointCloud/CMakeLists.txt
@@ -5,7 +5,7 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags_no_pch(DensifyPointCloud "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+cxx_executable_with_flags(DensifyPointCloud "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
 INSTALL(TARGETS DensifyPointCloud
diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index d82c07294..fabf96d00 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -43,14 +43,19 @@ using namespace MVS;
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+namespace {
+
 namespace OPT {
 String strInputFileName;
 String strOutputFileName;
+String strViewNeighborsFileName;
 String strMeshFileName;
 String strDenseConfigFileName;
+float fMaxSubsceneArea;
 float fSampleMesh;
-int thFilterPointCloud;
 int nFusionMode;
+int thFilterPointCloud;
+int nExportNumViews;
 int nArchiveType;
 int nProcessPriority;
 unsigned nMaxThreads;
@@ -71,7 +76,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "produce this help message")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(2), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
@@ -86,6 +91,9 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		;
 
 	// group of options allowed both on command line and in config file
+	#ifdef _USE_CUDA
+	unsigned nCUDADevice;
+	#endif
 	unsigned nResolutionLevel;
 	unsigned nMaxResolution;
 	unsigned nMinResolution;
@@ -93,26 +101,35 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	unsigned nMinViewsFuse;
 	unsigned nEstimateColors;
 	unsigned nEstimateNormals;
+	int nIgnoreMaskLabel;
 	boost::program_options::options_description config("Densify options");
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the dense point-cloud")
+		("view-neighbors-file", boost::program_options::value<std::string>(&OPT::strViewNeighborsFileName), "input filename containing the list of views and their neighbors (optional)")
+		#ifdef _USE_CUDA
+		("cuda-device", boost::program_options::value(&nCUDADevice)->default_value(0), "CUDA device number to be used for depth-map estimation (-1 - CPU processing)")
+		#endif
 		("resolution-level", boost::program_options::value(&nResolutionLevel)->default_value(1), "how many times to scale down the images before point cloud computation")
 		("max-resolution", boost::program_options::value(&nMaxResolution)->default_value(3200), "do not scale images higher than this resolution")
 		("min-resolution", boost::program_options::value(&nMinResolution)->default_value(640), "do not scale images lower than this resolution")
 		("number-views", boost::program_options::value(&nNumViews)->default_value(5), "number of views used for depth-map estimation (0 - all neighbor views available)")
-		("number-views-fuse", boost::program_options::value(&nMinViewsFuse)->default_value(3), "minimum number of images that agrees with an estimate during fusion in order to consider it inlier")
+		("number-views-fuse", boost::program_options::value(&nMinViewsFuse)->default_value(3), "minimum number of images that agrees with an estimate during fusion in order to consider it inlier (<2 - only merge depth-maps)")
+		("ignore-mask-label", boost::program_options::value(&nIgnoreMaskLabel)->default_value(-1), "integer value for the label to ignore in the segmentation mask (<0 - disabled)")
 		("estimate-colors", boost::program_options::value(&nEstimateColors)->default_value(2), "estimate the colors for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
 		("estimate-normals", boost::program_options::value(&nEstimateNormals)->default_value(2), "estimate the normals for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
+		("sub-scene-area", boost::program_options::value(&OPT::fMaxSubsceneArea)->default_value(0.f), "split the scene in sub-scenes such that each sub-scene surface does not exceed the given maximum sampling area (0 - disabled)")
 		("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(0.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
-		("filter-point-cloud", boost::program_options::value(&OPT::thFilterPointCloud)->default_value(0), "filter dense point-cloud based on visibility (0 - disabled)")
 		("fusion-mode", boost::program_options::value(&OPT::nFusionMode)->default_value(0), "depth map fusion mode (-2 - fuse disparity-maps, -1 - export disparity-maps only, 0 - depth-maps & fusion, 1 - export depth-maps only)")
+		("filter-point-cloud", boost::program_options::value(&OPT::thFilterPointCloud)->default_value(0), "filter dense point-cloud based on visibility (0 - disabled)")
+		("export-number-views", boost::program_options::value(&OPT::nExportNumViews)->default_value(0), "export points with >= number of views (0 - disabled)")
 		;
 
 	// hidden options, allowed both on command line and
 	// in config file, but will not be shown to the user
 	boost::program_options::options_description hidden("Hidden options");
 	hidden.add_options()
+		("mesh-file", boost::program_options::value<std::string>(&OPT::strMeshFileName), "mesh file name used for image pair overlap estimation")
 		("dense-config-file", boost::program_options::value<std::string>(&OPT::strDenseConfigFileName), "optional configuration file for the densifier (overwritten by the command line options)")
 		;
 
@@ -151,27 +168,30 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
-	Util::ensureUnifySlash(OPT::strInputFileName);
-	if (OPT::vm.count("help") || OPT::strInputFileName.IsEmpty()) {
+	if (OPT::vm.count("help") || OPT::strInputFileName.empty()) {
 		boost::program_options::options_description visible("Available options");
 		visible.add(generic).add(config);
 		GET_LOG() << visible;
 	}
-	if (OPT::strInputFileName.IsEmpty())
+	if (OPT::strInputFileName.empty())
 		return false;
 
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
-	Util::ensureUnifySlash(OPT::strOutputFileName);
-	if (OPT::strOutputFileName.IsEmpty())
+	Util::ensureValidPath(OPT::strViewNeighborsFileName);
+	Util::ensureValidPath(OPT::strMeshFileName);
+	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_dense.mvs");
 
 	// init dense options
-	if (!OPT::strDenseConfigFileName.IsEmpty())
+	if (!OPT::strDenseConfigFileName.empty())
 		OPT::strDenseConfigFileName = MAKE_PATH_SAFE(OPT::strDenseConfigFileName);
 	OPTDENSE::init();
 	const bool bValidConfig(OPTDENSE::oConfig.Load(OPT::strDenseConfigFileName));
 	OPTDENSE::update();
+	#ifdef _USE_CUDA
+	OPTDENSE::nCUDADevice = nCUDADevice;
+	#endif
 	OPTDENSE::nResolutionLevel = nResolutionLevel;
 	OPTDENSE::nMaxResolution = nMaxResolution;
 	OPTDENSE::nMinResolution = nMinResolution;
@@ -179,7 +199,8 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	OPTDENSE::nMinViewsFuse = nMinViewsFuse;
 	OPTDENSE::nEstimateColors = nEstimateColors;
 	OPTDENSE::nEstimateNormals = nEstimateNormals;
-	if (!bValidConfig && !OPT::strDenseConfigFileName.IsEmpty())
+	OPTDENSE::nIgnoreMaskLabel = nIgnoreMaskLabel;
+	if (!bValidConfig && !OPT::strDenseConfigFileName.empty())
 		OPTDENSE::oConfig.Save(OPT::strDenseConfigFileName);
 
 	// initialize global options
@@ -211,6 +232,8 @@ void Finalize()
 	CLOSE_LOG();
 }
 
+} // unnamed namespace
+
 int main(int argc, LPCTSTR* argv)
 {
 	#ifdef _DEBUGINFO
@@ -240,10 +263,20 @@ int main(int argc, LPCTSTR* argv)
 	// load and estimate a dense point-cloud
 	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
 		return EXIT_FAILURE;
-	if (scene.pointcloud.IsEmpty()) {
+	if (!OPT::strMeshFileName.empty())
+		scene.mesh.Load(MAKE_PATH_SAFE(OPT::strMeshFileName));
+	if (scene.pointcloud.IsEmpty() && OPT::strViewNeighborsFileName.empty() && scene.mesh.IsEmpty()) {
 		VERBOSE("error: empty initial point-cloud");
 		return EXIT_FAILURE;
 	}
+	if (OPT::fMaxSubsceneArea > 0) {
+		// split the scene in sub-scenes by maximum sampling area
+		Scene::ImagesChunkArr chunks;
+		scene.Split(chunks, OPT::fMaxSubsceneArea);
+		scene.ExportChunks(chunks, Util::getFilePath(MAKE_PATH_SAFE(OPT::strOutputFileName)), (ARCHIVE_TYPE)OPT::nArchiveType);
+		Finalize();
+		return EXIT_SUCCESS;
+	}
 	if (OPT::thFilterPointCloud < 0) {
 		// filter point-cloud based on camera-point visibility intersections
 		scene.PointCloudFilter(OPT::thFilterPointCloud);
@@ -253,7 +286,16 @@ int main(int argc, LPCTSTR* argv)
 		Finalize();
 		return EXIT_SUCCESS;
 	}
+	if (OPT::nExportNumViews && scene.pointcloud.IsValid()) {
+		// export point-cloud containing only points with N+ views
+		const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
+		scene.pointcloud.SaveNViews(baseFileName+String::FormatString(_T("_%dviews.ply"), OPT::nExportNumViews), (IIndex)OPT::nExportNumViews);
+		Finalize();
+		return EXIT_SUCCESS;
+	}
 	if ((ARCHIVE_TYPE)OPT::nArchiveType != ARCHIVE_MVS) {
+		if (!OPT::strViewNeighborsFileName.empty())
+			scene.LoadViewNeighbors(MAKE_PATH_SAFE(OPT::strViewNeighborsFileName));
 		TD_TIMER_START();
 		if (!scene.DenseReconstruction(OPT::nFusionMode)) {
 			if (ABS(OPT::nFusionMode) != 1)
@@ -265,7 +307,7 @@ int main(int argc, LPCTSTR* argv)
 		VERBOSE("Densifying point-cloud completed: %u points (%s)", scene.pointcloud.GetSize(), TD_TIMER_GET_FMT().c_str());
 	}
 
-	// save the final mesh
+	// save the final point-cloud
 	const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
 	scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
 	scene.pointcloud.Save(baseFileName+_T(".ply"));
diff --git a/apps/InterfaceCOLMAP/CMakeLists.txt b/apps/InterfaceCOLMAP/CMakeLists.txt
index 0a5b0fc0e..5d48c79ec 100644
--- a/apps/InterfaceCOLMAP/CMakeLists.txt
+++ b/apps/InterfaceCOLMAP/CMakeLists.txt
@@ -5,7 +5,7 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags_no_pch(InterfaceCOLMAP "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+cxx_executable_with_flags(InterfaceCOLMAP "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
 INSTALL(TARGETS InterfaceCOLMAP
diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index dbe796ca6..9ea6a361d 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -63,8 +63,10 @@ using namespace MVS;
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+namespace {
+
 namespace OPT {
-bool b3Dnovator2COLMAP; // conversion direction
+bool bFromOpenMVS; // conversion direction
 bool bNormalizeIntrinsics;
 String strInputFileName;
 String strOutputFileName;
@@ -89,7 +91,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "produce this help message")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(2), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
@@ -109,7 +111,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input COLMAP folder containing cameras, images and points files OR input MVS project file")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the MVS project")
 		("image-folder", boost::program_options::value<std::string>(&OPT::strImageFolder)->default_value(COLMAP_IMAGES_FOLDER), "folder to the undistorted images")
-		("normalize,f", boost::program_options::value(&OPT::bNormalizeIntrinsics)->default_value(true), "normalize intrinsics while exporting to MVS format")
+		("normalize,f", boost::program_options::value(&OPT::bNormalizeIntrinsics)->default_value(false), "normalize intrinsics while exporting to MVS format")
 		;
 
 	boost::program_options::options_description cmdline_options;
@@ -125,6 +127,8 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		// parse command line options
 		boost::program_options::store(boost::program_options::command_line_parser((int)argc, argv).options(cmdline_options).positional(p).run(), OPT::vm);
 		boost::program_options::notify(OPT::vm);
+		Util::ensureValidPath(OPT::strInputFileName);
+		WORKING_FOLDER = (File::isFolder(OPT::strInputFileName) ? OPT::strInputFileName : Util::getFilePath(OPT::strInputFileName));
 		INIT_WORKING_FOLDER;
 		// parse configuration file
 		std::ifstream ifs(MAKE_PATH_SAFE(OPT::strConfigFileName));
@@ -146,9 +150,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
 
 	// validate input
-	Util::ensureValidPath(OPT::strInputFileName);
-	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
-	OPT::b3Dnovator2COLMAP = (strInputFileNameExt == MVS_EXT);
 	const bool bInvalidCommand(OPT::strInputFileName.empty());
 	if (OPT::vm.count("help") || bInvalidCommand) {
 		boost::program_options::options_description visible("Available options");
@@ -166,7 +167,9 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// initialize optional options
 	Util::ensureValidFolderPath(OPT::strImageFolder);
 	Util::ensureValidPath(OPT::strOutputFileName);
-	if (OPT::b3Dnovator2COLMAP) {
+	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
+	OPT::bFromOpenMVS = (strInputFileNameExt == MVS_EXT);
+	if (OPT::bFromOpenMVS) {
 		if (OPT::strOutputFileName.empty())
 			OPT::strOutputFileName = Util::getFilePath(OPT::strInputFileName);
 	} else {
@@ -279,11 +282,9 @@ struct Camera {
 	};
 
 	bool Read(std::istream& stream, bool binary) {
-		if (binary) {
+		if (binary)
 			return ReadBIN(stream);
-		} else {
-			return ReadTXT(stream);
-		}
+		return ReadTXT(stream);
 	}	
 
 	// Camera list with one line of data per camera:
@@ -295,6 +296,7 @@ struct Camera {
 		in >> ID >> model >> width >> height;
 		if (in.fail())
 			return false;
+		--ID;
 		if (model != _T("PINHOLE"))
 			return false;
 		params.resize(4);
@@ -305,7 +307,6 @@ struct Camera {
 	// See: colmap/src/base/reconstruction.cc
 	// 		void Reconstruction::ReadCamerasBinary(const std::string& path)
 	bool ReadBIN(std::istream& stream) {
-
 		if (stream.peek() == EOF)
 			return false;
 
@@ -315,7 +316,7 @@ struct Camera {
 			parsedNumCameras = true;
 		}
 
-		ID = ReadBinaryLittleEndian<camera_t>(&stream);
+		ID = ReadBinaryLittleEndian<camera_t>(&stream)-1;
 		model = mapCameraModel.at(ReadBinaryLittleEndian<int>(&stream));
 		width = (uint32_t)ReadBinaryLittleEndian<uint64_t>(&stream);
 		height = (uint32_t)ReadBinaryLittleEndian<uint64_t>(&stream);
@@ -359,11 +360,9 @@ struct Image {
 	bool operator < (const Image& rhs) const { return ID < rhs.ID; }
 
 	bool Read(std::istream& stream, bool binary) {
-		if (binary) {
+		if (binary)
 			return ReadBIN(stream); 
-		} else {
-			return ReadTXT(stream); 
-		}
+		return ReadTXT(stream); 
 	}
 
 	// Image list with two lines of data per image:
@@ -379,6 +378,7 @@ struct Image {
 			>> idCamera >> name;
 		if (in.fail())
 			return false;
+		--ID; --idCamera;
 		Util::ensureValidPath(name);
 		if (!NextLine(stream, in, false))
 			return false;
@@ -388,7 +388,7 @@ struct Image {
 			in >> proj.p(0) >> proj.p(1) >> (int&)proj.idPoint;
 			if (in.fail())
 				break;
-			projs.push_back(proj);
+			projs.emplace_back(proj);
 		}
 		return true;
 	}
@@ -396,7 +396,6 @@ struct Image {
 	// See: colmap/src/base/reconstruction.cc
 	// 		void Reconstruction::ReadImagesBinary(const std::string& path)
 	bool ReadBIN(std::istream& stream) {
- 
 		if (stream.peek() == EOF)
 			return false;
 
@@ -406,7 +405,7 @@ struct Image {
 			parsedNumRegImages = true;
 		}
 
-		ID = ReadBinaryLittleEndian<image_t>(&stream);
+		ID = ReadBinaryLittleEndian<image_t>(&stream)-1;
 		q.w() = ReadBinaryLittleEndian<double>(&stream);
 		q.x() = ReadBinaryLittleEndian<double>(&stream);
 		q.y() = ReadBinaryLittleEndian<double>(&stream);
@@ -414,7 +413,7 @@ struct Image {
 		t(0) = ReadBinaryLittleEndian<double>(&stream);
 		t(1) = ReadBinaryLittleEndian<double>(&stream);
 		t(2) = ReadBinaryLittleEndian<double>(&stream);
-		idCamera = ReadBinaryLittleEndian<camera_t>(&stream);
+		idCamera = ReadBinaryLittleEndian<camera_t>(&stream)-1;
 
 		name = "";
 		char nameChar;
@@ -433,7 +432,7 @@ struct Image {
 			proj.p(0) = (float)ReadBinaryLittleEndian<double>(&stream);
 			proj.p(1) = (float)ReadBinaryLittleEndian<double>(&stream);
 			proj.idPoint = (uint32_t)ReadBinaryLittleEndian<point3D_t>(&stream);
-			projs.push_back(proj);
+			projs.emplace_back(proj);
 		}
 		return true;
 	}
@@ -472,11 +471,9 @@ struct Point {
 	bool operator < (const Image& rhs) const { return ID < rhs.ID; }
 
 	bool Read(std::istream& stream, bool binary) {
-		if (binary) {
+		if (binary)
 			return ReadBIN(stream);
-		} else {
-			return ReadTXT(stream);
-		}
+		return ReadTXT(stream);
 	}
 
 	// 3D point list with one line of data per point:
@@ -495,13 +492,15 @@ struct Point {
 		c.z = CLAMP(r,0,255);
 		if (in.fail())
 			return false;
+		--ID;
 		tracks.clear();
 		while (true) {
 			Track track;
 			in >> track.idImage >> track.idProj;
 			if (in.fail())
 				break;
-			tracks.push_back(track);
+			--track.idImage; --track.idProj;
+			tracks.emplace_back(track);
 		}
 		return !tracks.empty();
 	}
@@ -509,7 +508,6 @@ struct Point {
 	// See: colmap/src/base/reconstruction.cc
 	// 		void Reconstruction::ReadPoints3DBinary(const std::string& path)
 	bool ReadBIN(std::istream& stream) {
-
 		if (stream.peek() == EOF)
 			return false;
 
@@ -520,7 +518,7 @@ struct Point {
 		}
 
 		int r,g,b;
-		ID = (uint32_t)ReadBinaryLittleEndian<point3D_t>(&stream);
+		ID = (uint32_t)ReadBinaryLittleEndian<point3D_t>(&stream)-1;
 		p.x = (float)ReadBinaryLittleEndian<double>(&stream);
 		p.y = (float)ReadBinaryLittleEndian<double>(&stream);
 		p.z = (float)ReadBinaryLittleEndian<double>(&stream);
@@ -536,9 +534,9 @@ struct Point {
 		tracks.clear();
 		for (size_t j = 0; j < trackLength; ++j) {
 			Track track;
-			track.idImage = ReadBinaryLittleEndian<image_t>(&stream);
-			track.idProj = ReadBinaryLittleEndian<point2D_t>(&stream);
-			tracks.push_back(track);
+			track.idImage = ReadBinaryLittleEndian<image_t>(&stream)-1;
+			track.idProj = ReadBinaryLittleEndian<point2D_t>(&stream)-1;
+			tracks.emplace_back(track);
     	}
 		return !tracks.empty();
 	}
@@ -560,6 +558,44 @@ struct Point {
 	}
 };
 typedef std::vector<Point> Points;
+// structure describing an 2D dynamic matrix
+template <typename T>
+struct Mat {
+	size_t width_ = 0;
+	size_t height_ = 0;
+	size_t depth_ = 0;
+	std::vector<T> data_;
+
+	size_t GetNumBytes() const {
+		return data_.size() * sizeof(T);
+	}
+	const T* GetChannelPtr(size_t c) const {
+		return data_.data()+width_*height_*c;
+	}
+
+	// See: colmap/src/mvs/mat.h
+	void Read(const std::string& path) {
+		std::streampos pos; {
+			std::fstream text_file(path, std::ios::in | std::ios::binary);
+			char unused_char;
+			text_file >> width_ >> unused_char >> height_ >> unused_char >> depth_ >>
+				unused_char;
+			pos = text_file.tellg();
+		}
+		data_.resize(width_ * height_ * depth_);
+		std::fstream binary_file(path, std::ios::in | std::ios::binary);
+		binary_file.seekg(pos);
+		ReadBinaryLittleEndian<T>(&binary_file, &data_);
+	}
+	void Write(const std::string& path) const {
+		{
+			std::fstream text_file(path, std::ios::out);
+			text_file << width_ << "&" << height_ << "&" << depth_ << "&";
+		}
+		std::fstream binary_file(path, std::ios::out | std::ios::binary | std::ios::app);
+		WriteBinaryLittleEndian<T>(&binary_file, data_);
+	}
+};
 } // namespace COLMAP
 
 typedef Eigen::Matrix<double,3,3,Eigen::RowMajor> EMat33d;
@@ -586,7 +622,7 @@ bool DetermineInputSource(const String& filenameTXT, const String& filenameBIN,
 }
 
 
-bool ImportScene(const String& strFolder, Interface& scene)
+bool ImportScene(const String& strFolder, const String& strOutFolder, Interface& scene)
 {
 	COLMAP::DefineCameraModels();
 	// read camera list
@@ -627,17 +663,13 @@ bool ImportScene(const String& strFolder, Interface& scene)
 			camera.C = Interface::Pos3d(0,0,0);
 			if (OPT::bNormalizeIntrinsics) {
 				// normalize camera intrinsics
-				const REAL fScale(REAL(1)/Camera::GetNormalizationScale(colmapCamera.width, colmapCamera.height));
-				camera.K(0,0) *= fScale;
-				camera.K(1,1) *= fScale;
-				camera.K(0,2) *= fScale;
-				camera.K(1,2) *= fScale;
+				camera.K = Camera::ScaleK<double>(camera.K, 1.0/Camera::GetNormalizationScale(colmapCamera.width, colmapCamera.height));
 			} else {
 				camera.width = colmapCamera.width;
 				camera.height = colmapCamera.height;
 			}
-			platform.cameras.push_back(camera);
-			scene.platforms.push_back(platform);
+			platform.cameras.emplace_back(camera);
+			scene.platforms.emplace_back(platform);
 		}
 	}
 	if (mapCameras.empty()) {
@@ -667,14 +699,14 @@ bool ImportScene(const String& strFolder, Interface& scene)
 			EnsureRotationMatrix((Matrix3x3d&)pose.R);
 			Eigen::Map<EVec3d>(&pose.C.x) = -(imageColmap.q.inverse() * imageColmap.t);
 			Interface::Image image;
-			image.name = OPT::strImageFolder+imageColmap.name;
+			image.name = MAKE_PATH_REL(strOutFolder,OPT::strImageFolder+imageColmap.name);
 			image.platformID = mapCameras.at(imageColmap.idCamera);
 			image.cameraID = 0;
 			image.ID = imageColmap.ID;
 			Interface::Platform& platform = scene.platforms[image.platformID];
 			image.poseID = (uint32_t)platform.poses.size();
-			platform.poses.push_back(pose);
-			scene.images.push_back(image);
+			platform.poses.emplace_back(pose);
+			scene.images.emplace_back(image);
 		}
 	}
 
@@ -691,7 +723,7 @@ bool ImportScene(const String& strFolder, Interface& scene)
 		if (!DetermineInputSource(filenamePointsTXT, filenamePointsBIN, file, filenamePoints, binary)) {
 			return false;
 		}
-		LOG_OUT() << "Reading images: " << filenamePoints << std::endl;
+		LOG_OUT() << "Reading points: " << filenamePoints << std::endl;
 
 		COLMAP::Point point;
 		while (file.good() && point.Read(file, binary)) {
@@ -745,6 +777,95 @@ bool ImportScene(const String& strFolder, Interface& scene)
 			scene.verticesColor.emplace_back(Interface::Color{pointcloud.colors[i]});
 		}
 	}
+
+	// read depth-maps
+	const String pathDepthMaps(strFolder+COLMAP_STEREO_DEPTHMAPS_FOLDER);
+	const String pathNormalMaps(strFolder+COLMAP_STEREO_NORMALMAPS_FOLDER);
+	if (File::isFolder(pathDepthMaps) && File::isFolder(pathNormalMaps)) {
+		// read patch-match list
+		CLISTDEF2IDX(IIndexArr,IIndex) imagesNeighbors((IIndex)scene.images.size());
+		{
+			const String filenameFusion(strFolder+COLMAP_PATCHMATCH);
+			LOG_OUT() << "Reading patch-match configuration: " << filenameFusion << std::endl;
+			std::ifstream file(filenameFusion);
+			if (!file.good()) {
+				VERBOSE("error: unable to open file '%s'", filenameFusion.c_str());
+				return false;
+			}
+			while (true) {
+				String imageName, neighbors;
+				std::getline(file, imageName);
+				std::getline(file, neighbors);
+				if (file.fail() || imageName.empty() || neighbors.empty())
+					break;
+				const ImagesMap::const_iterator it_image = std::find_if(mapImages.begin(), mapImages.end(),
+					[&imageName](const ImagesMap::value_type& image) {
+						return image.first.name == imageName;
+					});
+				if (it_image == mapImages.end())
+					continue;
+				IIndexArr& imageNeighbors =  imagesNeighbors[it_image->second];
+				CLISTDEF2(String) neighborNames;
+				Util::strSplit(neighbors, _T(','), neighborNames);
+				FOREACH(i, neighborNames) {
+					String& neighborName = neighborNames[i];
+					Util::strTrim(neighborName, _T(" "));
+					const ImagesMap::const_iterator it_neighbor = std::find_if(mapImages.begin(), mapImages.end(),
+						[&neighborName](const ImagesMap::value_type& image) {
+							return image.first.name == neighborName;
+						});
+					if (it_neighbor == mapImages.end()) {
+						if (i == 0)
+							break;
+						continue;
+					}
+					imageNeighbors.emplace_back(scene.images[it_neighbor->second].ID);
+				}
+			}
+		}
+		LOG_OUT() << "Reading depth-maps/normal-maps: " << pathDepthMaps << " and " << pathNormalMaps << std::endl;
+		Util::ensureFolder(strOutFolder);
+		const String strType[] = {".geometric.bin", ".photometric.bin"};
+		FOREACH(idx, scene.images) {
+			const Interface::Image& image = scene.images[idx];
+			COLMAP::Mat<float> colDepthMap, colNormalMap;
+			const String filenameImage(Util::getFileNameExt(image.name));
+			for (int i=0; i<2; ++i) {
+				const String filenameDepthMaps(pathDepthMaps+filenameImage+strType[i]);
+				if (File::isFile(filenameDepthMaps)) {
+					colDepthMap.Read(filenameDepthMaps);
+					const String filenameNormalMaps(pathNormalMaps+filenameImage+strType[i]);
+					if (File::isFile(filenameNormalMaps)) {
+						colNormalMap.Read(filenameNormalMaps);
+					}
+					break;
+				}
+			}
+			if (!colDepthMap.data_.empty()) {
+				IIndexArr IDs = {image.ID};
+				IDs.Join(imagesNeighbors[(IIndex)idx]);
+				const Interface::Platform& platform = scene.platforms[image.platformID];
+				const Interface::Platform::Pose pose(platform.GetPose(image.cameraID, image.poseID));
+				const Interface::Mat33d K(platform.GetFullK(image.cameraID, (uint32_t)colDepthMap.width_, (uint32_t)colDepthMap.height_));
+				MVS::DepthMap depthMap((int)colDepthMap.height_, (int)colDepthMap.width_);
+				memcpy(depthMap.getData(), colDepthMap.data_.data(), colDepthMap.GetNumBytes());
+				MVS::NormalMap normalMap;
+				if (!colNormalMap.data_.empty()) {
+					normalMap.create((int)colNormalMap.height_, (int)colNormalMap.width_);
+					cv::merge(std::vector<cv::Mat>{
+						cv::Mat((int)colNormalMap.height_, (int)colNormalMap.width_, CV_32F, (void*)colNormalMap.GetChannelPtr(0)),
+						cv::Mat((int)colNormalMap.height_, (int)colNormalMap.width_, CV_32F, (void*)colNormalMap.GetChannelPtr(1)),
+						cv::Mat((int)colNormalMap.height_, (int)colNormalMap.width_, CV_32F, (void*)colNormalMap.GetChannelPtr(2))
+					}, normalMap);
+				}
+				MVS::ConfidenceMap confMap;
+				const auto depthMM(std::minmax_element(colDepthMap.data_.cbegin(), colDepthMap.data_.cend()));
+				const MVS::Depth dMin(*depthMM.first), dMax(*depthMM.second);
+				if (!ExportDepthDataRaw(strOutFolder+String::FormatString("depth%04u.dmap", image.ID), MAKE_PATH_FULL(strOutFolder, image.name), IDs, depthMap.size(), K, pose.R, pose.C, dMin, dMax, depthMap, normalMap, confMap))
+					return false;
+			}
+		}
+	}
 	return true;
 }
 
@@ -774,16 +895,12 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 			ASSERT(platform.cameras.size() == 1); // only one camera per platform supported
 			const Interface::Platform::Camera& camera = platform.cameras[0];
 			cam.ID = ID;
-			cam.params[0] = camera.K(0,0);
-			cam.params[1] = camera.K(1,1);
-			cam.params[2] = camera.K(0,2);
-			cam.params[3] = camera.K(1,2);
 			if (camera.width == 0 || camera.height == 0) {
 				// find one image using this camera
 				const Interface::Image* pImage(NULL);
 				for (uint32_t i=0; i<(uint32_t)scene.images.size(); ++i) {
 					const Interface::Image& image = scene.images[i];
-					if (image.platformID == ID && image.cameraID == 0 && image.poseID != NO_ID) {
+					if (image.platformID == ID && image.cameraID == 0 && image.poseID != MVS::NO_ID) {
 						pImage = &image;
 						break;
 					}
@@ -797,20 +914,23 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 					return false;
 				cam.width = ptrImage->GetWidth();
 				cam.height = ptrImage->GetHeight();
-				// denormalize camera intrinsics
-				const double fScale(MVS::Camera::GetNormalizationScale(cam.width, cam.height));
-				cam.params[0] *= fScale;
-				cam.params[1] *= fScale;
-				cam.params[2] *= fScale;
-				cam.params[3] *= fScale;
+				// unnormalize camera intrinsics
+				const Interface::Mat33d K(platform.GetFullK(0, cam.width, cam.height));
+				cam.params[0] = K(0,0);
+				cam.params[1] = K(1,1);
+				cam.params[2] = K(0,2);
+				cam.params[3] = K(1,2);
 			} else {
 				cam.width = camera.width;
 				cam.height = camera.height;
+				cam.params[0] = camera.K(0,0);
+				cam.params[1] = camera.K(1,1);
+				cam.params[2] = camera.K(0,2);
+				cam.params[3] = camera.K(1,2);
 			}
 			if (!cam.Write(file))
 				return false;
-			KMatrix& K = Ks.AddEmpty();
-			K = KMatrix::IDENTITY;
+			KMatrix& K = Ks.emplace_back(KMatrix::IDENTITY);
 			K(0,0) = cam.params[0];
 			K(1,1) = cam.params[1];
 			K(0,2) = cam.params[2];
@@ -831,7 +951,7 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 		cameras.resize(scene.images.size());
 		for (uint32_t ID=0; ID<(uint32_t)scene.images.size(); ++ID) {
 			const Interface::Image& image = scene.images[ID];
-			if (image.poseID == NO_ID)
+			if (image.poseID == MVS::NO_ID)
 				continue;
 			const Interface::Platform& platform = scene.platforms[image.platformID];
 			const Interface::Platform::Pose& pose = platform.poses[image.poseID];
@@ -875,15 +995,12 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 				point.p = vertex.X;
 				for (const Interface::Vertex::View& view: vertex.views) {
 					COLMAP::Image& img = images[view.imageID];
-					COLMAP::Point::Track track;
-					track.idImage = view.imageID;
-					track.idProj = (uint32_t)img.projs.size();
-					point.tracks.push_back(track);
+					point.tracks.emplace_back(COLMAP::Point::Track{view.imageID, (uint32_t)img.projs.size()});
 					COLMAP::Image::Proj proj;
 					proj.idPoint = ID;
 					const Point3 X(vertex.X);
 					ProjectVertex_3x4_3_2(cameras[view.imageID].P.val, X.ptr(), proj.p.data());
-					img.projs.push_back(proj);
+					img.projs.emplace_back(proj);
 				}
 				point.c = scene.verticesColor.empty() ? Interface::Col3(255,255,255) : scene.verticesColor[ID].c;
 				point.e = 0;
@@ -982,7 +1099,9 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 		file << _T("#   IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME") << std::endl;
 		file << _T("#   POINTS2D[] as (X, Y, POINT3D_ID)") << std::endl;
 		for (const COLMAP::Image& img: images) {
-			if ((bSparsePointCloud && img.projs.empty()) || !img.Write(file))
+			if (bSparsePointCloud && img.projs.empty())
+				continue;
+			if (!img.Write(file))
 				return false;
 		}
 	}
@@ -1003,11 +1122,16 @@ bool ExportImagesLog(const String& fileName, const Interface& scene)
 		return false;
 	}
 	out << std::setprecision(12);
-	for (uint32_t ID=0; ID<(uint32_t)scene.images.size(); ++ID) {
+	IIndexArr orderedImages((uint32_t)scene.images.size());
+	std::iota(orderedImages.begin(), orderedImages.end(), 0u);
+	orderedImages.Sort([&scene](IIndex i, IIndex j) {
+		return scene.images[i].ID < scene.images[j].ID;
+	});
+	for (IIndex ID: orderedImages) {
 		const Interface::Image& image = scene.images[ID];
 		Eigen::Matrix3d R(Eigen::Matrix3d::Identity());
 		Eigen::Vector3d t(Eigen::Vector3d::Zero());
-		if (image.poseID != NO_ID) {
+		if (image.poseID != MVS::NO_ID) {
 			const Interface::Platform& platform = scene.platforms[image.platformID];
 			const Interface::Platform::Pose& pose = platform.poses[image.poseID];
 			R = Eigen::Map<const EMat33d>(pose.R.val).transpose();
@@ -1025,6 +1149,67 @@ bool ExportImagesLog(const String& fileName, const Interface& scene)
 	return !out.fail();
 }
 
+
+// export poses in Strecha camera format:
+// Strecha model is P = K[R^T|-R^T t]
+// our model is P = K[R|t], t = -RC
+bool ExportImagesCamera(const String& pathName, const Interface& scene)
+{
+	LOG_OUT() << "Writing poses: " << pathName << std::endl;
+	Util::ensureFolder(pathName);
+	for (uint32_t ID=0; ID<(uint32_t)scene.images.size(); ++ID) {
+		const Interface::Image& image = scene.images[ID];
+		String imageFileName(image.name);
+		Util::ensureValidPath(imageFileName);
+		const String fileName(pathName+Util::getFileNameExt(imageFileName)+".camera");
+		std::ofstream out(fileName);
+		if (!out.good()) {
+			VERBOSE("error: unable to open file '%s'", fileName.c_str());
+			return false;
+		}
+		out << std::setprecision(12);
+		KMatrix K(KMatrix::IDENTITY);
+		RMatrix R(RMatrix::IDENTITY);
+		CMatrix t(CMatrix::ZERO);
+		unsigned width(0), height(0);
+		if (image.platformID != MVS::NO_ID && image.cameraID != MVS::NO_ID) {
+			const Interface::Platform& platform = scene.platforms[image.platformID];
+			const Interface::Platform::Camera& camera = platform.cameras[image.cameraID];
+			if (camera.HasResolution()) {
+				width = camera.width;
+				height = camera.height;
+				K = camera.K;
+			} else {
+				IMAGEPTR pImage = Image::ReadImageHeader(image.name);
+				width = pImage->GetWidth();
+				height = pImage->GetHeight();
+				K = platform.GetFullK(image.cameraID, width, height);
+			}
+			if (image.poseID != MVS::NO_ID) {
+				const Interface::Platform::Pose& pose = platform.poses[image.poseID];
+				R = pose.R.t();
+				t = pose.C;
+			}
+		}
+		out << K(0,0) << _T(" ") << K(0,1) << _T(" ") << K(0,2) << _T("\n");
+		out << K(1,0) << _T(" ") << K(1,1) << _T(" ") << K(1,2) << _T("\n");
+		out << K(2,0) << _T(" ") << K(2,1) << _T(" ") << K(2,2) << _T("\n");
+		out << _T("0 0 0") << _T("\n");
+		out << R(0,0) << _T(" ") << R(0,1) << _T(" ") << R(0,2) << _T("\n");
+		out << R(1,0) << _T(" ") << R(1,1) << _T(" ") << R(1,2) << _T("\n");
+		out << R(2,0) << _T(" ") << R(2,1) << _T(" ") << R(2,2) << _T("\n");
+		out << t.x << _T(" ") << t.y << _T(" ") << t.z << _T("\n");
+		out << width << _T(" ") << height << _T("\n");
+		if (out.fail()) {
+			VERBOSE("error: unable to write file '%s'", fileName.c_str());
+			return false;
+		}
+	}
+	return true;
+}
+
+} // unnamed namespace
+
 int main(int argc, LPCTSTR* argv)
 {
 	#ifdef _DEBUGINFO
@@ -1037,7 +1222,7 @@ int main(int argc, LPCTSTR* argv)
 
 	TD_TIMER_START();
 
-	if (OPT::b3Dnovator2COLMAP) {
+	if (OPT::bFromOpenMVS) {
 		// read MVS input data
 		Interface scene;
 		if (!ARCHIVE::SerializeLoad(scene, MAKE_PATH_SAFE(OPT::strInputFileName)))
@@ -1045,6 +1230,10 @@ int main(int argc, LPCTSTR* argv)
 		if (Util::getFileExt(OPT::strOutputFileName) == _T(".log")) {
 			// write poses in log format
 			ExportImagesLog(MAKE_PATH_SAFE(OPT::strOutputFileName), scene);
+		} else
+		if (Util::getFileExt(OPT::strOutputFileName) == _T(".camera")) {
+			// write poses in Strecha camera format
+			ExportImagesCamera((OPT::strOutputFileName=Util::getFileFullName(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputFileName)))+PATH_SEPARATOR, scene);
 		} else {
 			// write COLMAP input data
 			Util::ensureFolderSlash(OPT::strOutputFileName);
@@ -1054,11 +1243,12 @@ int main(int argc, LPCTSTR* argv)
 	} else {
 		// read COLMAP input data
 		Interface scene;
-		if (!ImportScene(MAKE_PATH_SAFE(OPT::strInputFileName), scene))
+		const String strOutFolder(Util::getFilePath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputFileName)));
+		if (!ImportScene(MAKE_PATH_SAFE(OPT::strInputFileName), strOutFolder, scene))
 			return EXIT_FAILURE;
 		// write MVS input data
-		Util::ensureFolder(Util::getFullPath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputFileName)));
-		if (!ARCHIVE::SerializeSave(scene, MAKE_PATH_SAFE(OPT::strOutputFileName), (uint32_t)OPT::bNormalizeIntrinsics?0:1))
+		Util::ensureFolder(strOutFolder);
+		if (!ARCHIVE::SerializeSave(scene, MAKE_PATH_SAFE(OPT::strOutputFileName)))
 			return EXIT_FAILURE;
 		VERBOSE("Exported data: %u images & %u vertices (%s)", scene.images.size(), scene.vertices.size(), TD_TIMER_GET_FMT().c_str());
 	}
diff --git a/apps/InterfacePhotoScan/CMakeLists.txt b/apps/InterfaceMetashape/CMakeLists.txt
similarity index 57%
rename from apps/InterfacePhotoScan/CMakeLists.txt
rename to apps/InterfaceMetashape/CMakeLists.txt
index e030ce189..100e829f5 100644
--- a/apps/InterfacePhotoScan/CMakeLists.txt
+++ b/apps/InterfaceMetashape/CMakeLists.txt
@@ -5,9 +5,9 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags_no_pch(InterfacePhotoScan "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+cxx_executable_with_flags(InterfaceMetashape "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
-INSTALL(TARGETS InterfacePhotoScan
+INSTALL(TARGETS InterfaceMetashape
 	EXPORT OpenMVSTargets
 	RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin)
diff --git a/apps/InterfacePhotoScan/InterfacePhotoScan.cpp b/apps/InterfaceMetashape/InterfaceMetashape.cpp
similarity index 75%
rename from apps/InterfacePhotoScan/InterfacePhotoScan.cpp
rename to apps/InterfaceMetashape/InterfaceMetashape.cpp
index 0b5f1effa..a13356d0e 100644
--- a/apps/InterfacePhotoScan/InterfacePhotoScan.cpp
+++ b/apps/InterfaceMetashape/InterfaceMetashape.cpp
@@ -1,7 +1,7 @@
 /*
- * InterfacePhotoScan.cpp
+ * InterfaceMetashape.cpp
  *
- * Copyright (c) 2014-2015 SEACAVE
+ * Copyright (c) 2014-2021 SEACAVE
  *
  * Author(s):
  *
@@ -31,12 +31,15 @@
 
 #include "../../libs/MVS/Common.h"
 #include "../../libs/MVS/Scene.h"
+#include "../../libs/IO/TinyXML2.h"
 #include <boost/program_options.hpp>
 
+using namespace MVS;
+
 
 // D E F I N E S ///////////////////////////////////////////////////
 
-#define APPNAME _T("InterfacePhotoScan")
+#define APPNAME _T("InterfaceMetashape") // previously PhotoScan
 #define MVS_EXT _T(".mvs")
 #define XML_EXT _T(".xml")
 #define PLY_EXT _T(".ply")
@@ -44,9 +47,11 @@
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+namespace {
+
 namespace OPT {
-String strPointsFileName;
 String strInputFileName;
+String strPointsFileName;
 String strOutputFileName;
 String strOutputImageFolder;
 unsigned nArchiveType;
@@ -69,11 +74,11 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "produce this help message")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-		("archive-type", boost::program_options::value<unsigned>(&OPT::nArchiveType)->default_value(2), "project archive type: 0-text, 1-binary, 2-compressed binary")
-		("process-priority", boost::program_options::value<int>(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
-		("max-threads", boost::program_options::value<unsigned>(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
+		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
-		("verbosity,v", boost::program_options::value<int>(&g_nVerbosityLevel)->default_value(
+		("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
 			#if TD_VERBOSE == TD_VERBOSE_DEBUG
 			3
 			#else
@@ -86,8 +91,8 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// group of options allowed both on command line and in config file
 	boost::program_options::options_description config("Main options");
 	config.add_options()
-		("points-file,p", boost::program_options::value<std::string>(&OPT::strPointsFileName), "input filename containing the 3D points")
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
+		("points-file,p", boost::program_options::value<std::string>(&OPT::strPointsFileName), "input filename containing the 3D points")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
 		("output-image-folder", boost::program_options::value<std::string>(&OPT::strOutputImageFolder)->default_value("undistorted_images"), "output folder to store undistorted images")
 		;
@@ -127,13 +132,11 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// validate input
 	Util::ensureValidPath(OPT::strPointsFileName);
-	Util::ensureUnifySlash(OPT::strPointsFileName);
 	Util::ensureValidPath(OPT::strInputFileName);
-	Util::ensureUnifySlash(OPT::strInputFileName);
-	Util::ensureUnifySlash(OPT::strOutputImageFolder);
-	Util::ensureDirectorySlash(OPT::strOutputImageFolder);
+	Util::ensureValidPath(OPT::strOutputImageFolder);
+	Util::ensureFolderSlash(OPT::strOutputImageFolder);
 	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
-	const bool bInvalidCommand(OPT::strInputFileName.IsEmpty() || OPT::strPointsFileName.IsEmpty());
+	const bool bInvalidCommand(OPT::strInputFileName.empty());
 	if (OPT::vm.count("help") || bInvalidCommand) {
 		boost::program_options::options_description visible("Available options");
 		visible.add(generic).add(config);
@@ -146,7 +149,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	Util::ensureValidPath(OPT::strOutputFileName);
 	Util::ensureUnifySlash(OPT::strOutputFileName);
 	if (OPT::strOutputFileName.IsEmpty())
-		OPT::strOutputFileName = Util::getFullFileName(OPT::strInputFileName) + MVS_EXT;
+		OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + MVS_EXT;
 
 	// initialize global options
 	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
@@ -176,12 +179,39 @@ void Finalize()
 }
 
 struct DistCoeff {
-	REAL k1, k2, k3, p1, p2, k4, k5, k6;
-	DistCoeff() : k1(0), k2(0), k3(0), p1(0), p2(0), k4(0), k5(0), k6(0) {}
+	union {
+		REAL coeff[8];
+		struct {
+			REAL k1, k2, p1, p2, k3, k4, k5, k6;
+		};
+	};
+	DistCoeff() : k1(0), k2(0), p1(0), p2(0), k3(0), k4(0), k5(0), k6(0) {}
 };
 typedef cList<DistCoeff> DistCoeffs;
 typedef cList<DistCoeffs> PlatformDistCoeffs;
 
+void ImageListParseC(const LPSTR* argv, Point3& C)
+{
+	// read position vector
+	C.x = String::FromString<REAL>(argv[0]);
+	C.y = String::FromString<REAL>(argv[1]);
+	C.z = String::FromString<REAL>(argv[2]);
+}
+
+void ImageListParseR(const LPSTR* argv, Matrix3x3& R)
+{
+	// read rotation matrix
+	R(0, 0) = String::FromString<REAL>(argv[0]);
+	R(0, 1) = String::FromString<REAL>(argv[1]);
+	R(0, 2) = String::FromString<REAL>(argv[2]);
+	R(1, 0) = String::FromString<REAL>(argv[3]);
+	R(1, 1) = String::FromString<REAL>(argv[4]);
+	R(1, 2) = String::FromString<REAL>(argv[5]);
+	R(2, 0) = String::FromString<REAL>(argv[6]);
+	R(2, 1) = String::FromString<REAL>(argv[7]);
+	R(2, 2) = String::FromString<REAL>(argv[8]);
+}
+
 void ImageListParseP(const LPSTR* argv, Matrix3x4& P)
 {
 	// read projection matrix
@@ -201,10 +231,8 @@ void ImageListParseP(const LPSTR* argv, Matrix3x4& P)
 
 // parse images list containing calibration and pose information
 // and load the corresponding 3D point-cloud
-bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t& nCameras, size_t& nPoses)
+bool ParseImageListXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t& nCameras, size_t& nPoses)
 {
-	using namespace MVS;
-
 	// open image list
 	nCameras = nPoses = 0;
 	const String strInputFileName(MAKE_PATH_SAFE(OPT::strInputFileName));
@@ -223,10 +251,15 @@ bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, siz
 	doc.Parse(strCameras.c_str(), nLen);
 	if (doc.ErrorID() != tinyxml2::XML_SUCCESS)
 		goto InvalidDocument;
+	{
 	tinyxml2::XMLElement* document = doc.FirstChildElement(_T("document"))->FirstChildElement(_T("chunk"));
 	if (document == NULL)
 		goto InvalidDocument;
-	bool bPhotoScanFile(false);
+	{
+	bool bMetashapeFile(false);
+	CLISTDEF0(cv::Size) resolutions;
+	std::unordered_map<IIndex,IIndex> mapPlatformID;
+	std::unordered_map<IIndex,IIndex> mapImageID;
 
 	// parse platform and camera models
 	{
@@ -240,10 +273,10 @@ bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, siz
 			goto InvalidDocument;
 		{
 		// add new camera
-		enum CameraModel {PHOTOSCAN=0, VSFM};
-		int model(PHOTOSCAN);
+		enum CameraModel {METASHAPE=0, VSFM};
+		int model(METASHAPE);
 		sensor->QueryIntAttribute(_T("model"), &model);
-		ASSERT(scene.platforms.GetSize() == ID);
+		mapPlatformID.emplace(ID, scene.platforms.size());
 		Platform& platform = scene.platforms.AddEmpty();
 		LPCTSTR name;
 		if ((name=sensor->Attribute(_T("label"))) != NULL)
@@ -253,11 +286,13 @@ bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, siz
 		if (calibration == NULL)
 			goto InvalidDocument;
 		{
-		REAL scale(1);
 		if ((elem=calibration->FirstChildElement(_T("resolution"))) != NULL) {
-			scale = REAL(1)/(REAL)Camera::GetNormalizationScale(elem->UnsignedAttribute(_T("width")), elem->UnsignedAttribute(_T("height")));
-			ASSERT(model == PHOTOSCAN);
-			bPhotoScanFile = true;
+			resolutions.emplace_back(
+				elem->UnsignedAttribute(_T("width")),
+				elem->UnsignedAttribute(_T("height"))
+			);
+			ASSERT(model == METASHAPE);
+			bMetashapeFile = true;
 		}
 		Platform::Camera& camera = platform.cameras.AddEmpty();
 		camera.K = KMatrix::IDENTITY;
@@ -266,23 +301,19 @@ bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, siz
 		DistCoeff& dc = pltDistCoeffs.AddEmpty().AddEmpty();
 		for (elem=calibration->FirstChildElement(); elem!=NULL; elem=elem->NextSiblingElement()) {
 			if (0 == _tcsicmp(elem->Value(), _T("f"))) {
-				camera.K(0,0) = camera.K(1,1) = String::FromString<REAL>(elem->GetText())*scale;
+				camera.K(0,0) = camera.K(1,1) = String::FromString<REAL>(elem->GetText());
 			} else
 			if (0 == _tcsicmp(elem->Value(), _T("fx"))) {
 				elem->QueryDoubleText(&camera.K(0,0));
-				camera.K(0,0) *= scale;
 			} else
 			if (0 == _tcsicmp(elem->Value(), _T("fy"))) {
 				elem->QueryDoubleText(&camera.K(1,1));
-				camera.K(1,1) *= scale;
 			} else
 			if (0 == _tcsicmp(elem->Value(), _T("cx"))) {
 				elem->QueryDoubleText(&camera.K(0,2));
-				camera.K(0,2) *= scale;
 			} else
 			if (0 == _tcsicmp(elem->Value(), _T("cy"))) {
 				elem->QueryDoubleText(&camera.K(1,2));
-				camera.K(1,2) *= scale;
 			} else
 			if (0 == _tcsicmp(elem->Value(), _T("k1"))) {
 				elem->QueryDoubleText(&dc.k1);
@@ -309,6 +340,13 @@ bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, siz
 				elem->QueryDoubleText(&dc.k6);
 			}
 		}
+		if (bMetashapeFile) {
+			const cv::Size& resolution = resolutions.back();
+			camera.K(0,2) += resolution.width*REAL(0.5);
+			camera.K(1,2) += resolution.height*REAL(0.5);
+			camera.K = camera.GetScaledK(REAL(1)/Camera::GetNormalizationScale(resolution.width, resolution.height));
+			std::swap(dc.p1, dc.p2);
+		}
 		++nCameras;
 		}
 		}
@@ -331,7 +369,7 @@ bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, siz
 			goto InvalidDocument;
 		{
 		// add new image
-		ASSERT(scene.images.GetSize() == ID);
+		mapImageID.emplace(ID, scene.images.size());
 		Image& imageData = scene.images.AddEmpty();
 		LPCTSTR name;
 		if ((name=camera->Attribute(_T("type"))) != NULL && _tcsicmp(name, _T("frame")) != 0) {
@@ -341,11 +379,16 @@ bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, siz
 		if ((name=camera->Attribute(_T("label"))) != NULL)
 			imageData.name = name;
 		Util::ensureUnifySlash(imageData.name);
+		if (Util::getFileExt(imageData.name).empty())
+			imageData.name += _T(".jpg");
 		imageData.name = MAKE_PATH_FULL(strPath, imageData.name);
-		imageData.platformID = camera->UnsignedAttribute(_T("sensor_id"));
+		imageData.platformID = mapPlatformID.at(camera->UnsignedAttribute(_T("sensor_id")));
 		imageData.cameraID = 0; // only one camera per platform supported by this format
-		imageData.ID = ID;
-		if (!camera->BoolAttribute(_T("enabled"))) {
+		imageData.ID = mapImageID.at(ID);
+		const cv::Size& resolution = resolutions[imageData.platformID];
+		imageData.width = resolution.width;
+		imageData.height = resolution.height;
+		if (!bMetashapeFile && !camera->BoolAttribute(_T("enabled"))) {
 			imageData.poseID = NO_ID;
 			DEBUG_EXTRA("warning: uncalibrated image '%s'", name);
 			continue;
@@ -354,17 +397,17 @@ bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, siz
 		CAutoPtrArr<LPSTR> argv;
 		if ((elem=camera->FirstChildElement(_T("transform"))) == NULL ||
 			(argv=Util::CommandLineToArgvA(elem->GetText(), argc)) == NULL ||
-			(argc != (bPhotoScanFile ? 16 : 12)))
+			(argc != (bMetashapeFile ? 16 : 12)))
 		{
 			VERBOSE("Invalid image list camera: %u", ID);
 			continue;
 		}
 		Platform& platform = scene.platforms[imageData.platformID];
-		imageData.poseID = platform.poses.GetSize();
+		imageData.poseID = platform.poses.size();
 		Platform::Pose& pose = platform.poses.AddEmpty();
 		ImageListParseP(argv, P);
 		DecomposeProjectionMatrix(P, pose.R, pose.C);
-		if (bPhotoScanFile) {
+		if (bMetashapeFile) {
 			pose.C = pose.R*(-pose.C);
 			pose.R = pose.R.t();
 		}
@@ -373,6 +416,48 @@ bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, siz
 		}
 	}
 	}
+
+	// parse bounding-box
+	{
+	tinyxml2::XMLElement* region = document->FirstChildElement(_T("region"));
+	if (region == NULL)
+		goto InvalidDocument;
+	{
+	size_t argc;
+	CAutoPtrArr<LPSTR> argv;
+	Point3 C, E; Matrix3x3 R;
+	if ((elem=region->FirstChildElement(_T("center"))) == NULL ||
+		(argv=Util::CommandLineToArgvA(elem->GetText(), argc)) == NULL ||
+		argc != 3)
+	{
+		VERBOSE("Invalid image list region: %s", elem->GetText());
+		goto InvalidDocument;
+	}
+	ImageListParseC(argv, C);
+	if ((elem=region->FirstChildElement(_T("size"))) == NULL ||
+		(argv=Util::CommandLineToArgvA(elem->GetText(), argc)) == NULL ||
+		argc != 3)
+	{
+		VERBOSE("Invalid image list region: %s", elem->GetText());
+		goto InvalidDocument;
+	}
+	ImageListParseC(argv, E);
+	E *= REAL(0.5);
+	if ((elem=region->FirstChildElement(_T("R"))) == NULL ||
+		(argv=Util::CommandLineToArgvA(elem->GetText(), argc)) == NULL ||
+		argc != 9)
+	{
+		VERBOSE("Invalid image list region: %s", elem->GetText());
+		goto InvalidDocument;
+	}
+	ImageListParseR(argv, R);
+	scene.obb.m_rot = Cast<float>(R);
+	scene.obb.m_pos = Cast<float>(C);
+	scene.obb.m_ext = Cast<float>(E);
+	}
+	}
+	}
+	}
 	}
 
 	return true;
@@ -382,24 +467,14 @@ bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, siz
 }
 
 // undistort image using Brown's model
-bool UndistortBrown(MVS::Image& imageData, uint32_t ID, const DistCoeff& dc, const String& pathData)
+bool UndistortBrown(Image& imageData, uint32_t ID, const DistCoeff& dc, const String& pathData)
 {
-	using namespace MVS;
-
 	// load image pixels
 	if (!imageData.ReloadImage())
 		return false;
 
 	// initialize intrinsics
-	cv::Vec<double,8> distCoeffs;
-	distCoeffs(0) = dc.k1;
-	distCoeffs(1) = dc.k2;
-	distCoeffs(2) = dc.p1;
-	distCoeffs(3) = dc.p2;
-	distCoeffs(4) = dc.k3;
-	distCoeffs(5) = dc.k4;
-	distCoeffs(6) = dc.k5;
-	distCoeffs(7) = dc.k6;
+	const cv::Vec<double,8>& distCoeffs = *reinterpret_cast<const cv::Vec<REAL,8>*>(dc.coeff);
 	const KMatrix prevK(imageData.camera.GetK<REAL>(imageData.width, imageData.height));
 	#if 1
 	const KMatrix& K(prevK);
@@ -424,15 +499,13 @@ bool UndistortBrown(MVS::Image& imageData, uint32_t ID, const DistCoeff& dc, con
 	// save undistorted image
 	imageData.image = imgUndist;
 	imageData.name = pathData + String::FormatString(_T("%05u.png"), ID);
-	Util::ensureDirectory(imageData.name);
+	Util::ensureFolder(imageData.name);
 	return imageData.image.Save(imageData.name);
 }
 
 // project all points in this image and keep those looking at the camera and are most in front
-void AssignPoints(const MVS::Image& imageData, uint32_t ID, MVS::PointCloud& pointcloud)
+void AssignPoints(const Image& imageData, uint32_t ID, PointCloud& pointcloud)
 {
-	using namespace MVS;
-
 	ASSERT(pointcloud.IsValid());
 	const int CHalfSize(1);
 	const int FHalfSize(5);
@@ -524,6 +597,8 @@ void AssignPoints(const MVS::Image& imageData, uint32_t ID, MVS::PointCloud& poi
 	DEBUG_ULTIMATE("\tview %3u sees %u points", ID, nNumPoints);
 }
 
+} // unnamed namespace
+
 int main(int argc, LPCTSTR* argv)
 {
 	#ifdef _DEBUGINFO
@@ -536,14 +611,17 @@ int main(int argc, LPCTSTR* argv)
 
 	TD_TIMER_START();
 
-	// read the 3D point-cloud
-	MVS::Scene scene(OPT::nMaxThreads);
-	if (!scene.pointcloud.Load(MAKE_PATH_SAFE(OPT::strPointsFileName)))
-		return EXIT_FAILURE;
-	ASSERT(!scene.pointcloud.IsValid());
-	scene.pointcloud.pointViews.Resize(scene.pointcloud.points.GetSize());
+	Scene scene(OPT::nMaxThreads);
+
+	// read the 3D point-cloud if available
+	if (!OPT::strPointsFileName.empty()) {
+		if (!scene.pointcloud.Load(MAKE_PATH_SAFE(OPT::strPointsFileName)))
+			return EXIT_FAILURE;
+		ASSERT(!scene.pointcloud.IsValid());
+		scene.pointcloud.pointViews.Resize(scene.pointcloud.points.GetSize());
+	}
 
-	// convert data from PhotoScan format to OpenMVS
+	// convert data from Metashape format to OpenMVS
 	PlatformDistCoeffs pltDistCoeffs;
 	size_t nCameras, nPoses;
 	if (!ParseImageListXML(scene, pltDistCoeffs, nCameras, nPoses))
@@ -551,12 +629,12 @@ int main(int argc, LPCTSTR* argv)
 
 	// undistort images
 	const String pathData(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputImageFolder));
-	Util::Progress progress(_T("Processed images"), scene.images.GetSize());
+	Util::Progress progress(_T("Processed images"), scene.images.size());
 	GET_LOGCONSOLE().Pause();
 	#ifdef _USE_OPENMP
 	bool bAbort(false);
 	#pragma omp parallel for shared(bAbort) schedule(dynamic)
-	for (int ID=0; ID<(int)scene.images.GetSize(); ++ID) {
+	for (int ID=0; ID<(int)scene.images.size(); ++ID) {
 		#pragma omp flush (bAbort)
 		if (bAbort)
 			continue;
@@ -564,7 +642,7 @@ int main(int argc, LPCTSTR* argv)
 	FOREACH(ID, scene.images) {
 	#endif
 		++progress;
-		MVS::Image& imageData = scene.images[ID];
+		Image& imageData = scene.images[ID];
 		if (!UndistortBrown(imageData, ID, pltDistCoeffs[imageData.platformID][imageData.cameraID], pathData)) {
 			#ifdef _USE_OPENMP
 			bAbort = true;
@@ -575,7 +653,8 @@ int main(int argc, LPCTSTR* argv)
 			#endif
 		}
 		imageData.UpdateCamera(scene.platforms);
-		AssignPoints(imageData, ID, scene.pointcloud);
+		if (scene.pointcloud.IsValid())
+			AssignPoints(imageData, ID, scene.pointcloud);
 	}
 	GET_LOGCONSOLE().Play();
 	#ifdef _USE_OPENMP
@@ -584,6 +663,13 @@ int main(int argc, LPCTSTR* argv)
 	#endif
 	progress.close();
 
+	// filter invalid points
+	if (!scene.pointcloud.IsEmpty()) {
+		RFOREACH(i, scene.pointcloud.points)
+			if (scene.pointcloud.pointViews[i].size() < 2)
+				scene.pointcloud.RemovePoint(i);
+	}
+
 	// write OpenMVS input data
 	scene.Save(MAKE_PATH_SAFE(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
 
diff --git a/apps/InterfaceOpenMVG/CMakeLists.txt b/apps/InterfaceOpenMVG/CMakeLists.txt
index 5dc56a0d9..6377497ea 100644
--- a/apps/InterfaceOpenMVG/CMakeLists.txt
+++ b/apps/InterfaceOpenMVG/CMakeLists.txt
@@ -15,7 +15,7 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags_no_pch(InterfaceOpenMVG "Apps" "${cxx_default}" "${LIBS_DEPEND};${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+cxx_executable_with_flags(InterfaceOpenMVG "Apps" "${cxx_default}" "${LIBS_DEPEND};${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
 INSTALL(TARGETS InterfaceOpenMVG
diff --git a/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp b/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
index c410d0d75..3f4a171ee 100644
--- a/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
+++ b/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
@@ -53,6 +53,8 @@
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+namespace {
+
 namespace openMVS {
 namespace MVS_IO {
 
@@ -350,11 +352,11 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "produce this help message")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-		("archive-type", boost::program_options::value<unsigned>(&OPT::nArchiveType)->default_value(2), "project archive type: 0-text, 1-binary, 2-compressed binary")
-		("process-priority", boost::program_options::value<int>(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
-		("max-threads", boost::program_options::value<unsigned>(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
+		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
-		("verbosity,v", boost::program_options::value<int>(&g_nVerbosityLevel)->default_value(
+		("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
 			#if TD_VERBOSE == TD_VERBOSE_DEBUG
 			3
 			#else
@@ -371,7 +373,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
 		("output-image-folder", boost::program_options::value<std::string>(&OPT::strOutputImageFolder)->default_value("undistorted_images"), "output folder to store undistorted images")
-		("normalize,f", boost::program_options::value<bool>(&OPT::bNormalizeIntrinsics)->default_value(true), "normalize intrinsics while exporting to OpenMVS format")
+		("normalize,f", boost::program_options::value(&OPT::bNormalizeIntrinsics)->default_value(true), "normalize intrinsics while exporting to OpenMVS format")
 		;
 
 	boost::program_options::options_description cmdline_options;
@@ -471,6 +473,8 @@ void Finalize()
 	CLOSE_LOG();
 }
 
+} // unnamed namespace
+
 int main(int argc, LPCTSTR* argv)
 {
 	#ifdef _DEBUGINFO
diff --git a/apps/InterfaceVisualSFM/CMakeLists.txt b/apps/InterfaceVisualSFM/CMakeLists.txt
index 9bd8bdedf..a1b16af7b 100644
--- a/apps/InterfaceVisualSFM/CMakeLists.txt
+++ b/apps/InterfaceVisualSFM/CMakeLists.txt
@@ -5,7 +5,7 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags_no_pch(InterfaceVisualSFM "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+cxx_executable_with_flags(InterfaceVisualSFM "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
 INSTALL(TARGETS InterfaceVisualSFM
diff --git a/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp b/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
index c686abf8b..c0278aa11 100644
--- a/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
+++ b/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
@@ -48,10 +48,13 @@
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+namespace {
+
 namespace OPT {
 String strInputFileName;
 String strOutputFileName;
 String strOutputImageFolder;
+bool bFromOpenMVS; // conversion direction
 unsigned nArchiveType;
 int nProcessPriority;
 unsigned nMaxThreads;
@@ -72,7 +75,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "produce this help message")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(2), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
@@ -145,8 +148,17 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	Util::ensureUnifySlash(OPT::strOutputFileName);
 	Util::ensureUnifySlash(OPT::strOutputImageFolder);
 	Util::ensureFolderSlash(OPT::strOutputImageFolder);
-	if (OPT::strOutputFileName.IsEmpty())
-		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + MVS_EXT;
+	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
+	OPT::bFromOpenMVS = (strInputFileNameExt == MVS_EXT);
+	if (OPT::bFromOpenMVS) {
+		if (OPT::strOutputFileName.empty())
+			OPT::strOutputFileName = Util::getFilePath(OPT::strInputFileName);
+	} else {
+		if (OPT::strOutputFileName.empty())
+			OPT::strOutputFileName = Util::getFilePath(OPT::strInputFileName) + _T("scene") MVS_EXT;
+		else
+			OPT::strOutputImageFolder = Util::getRelativePath(Util::getFilePath(OPT::strOutputFileName), Util::getFilePath(OPT::strInputFileName)+OPT::strOutputImageFolder);
+	}
 
 	// initialize global options
 	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
@@ -177,6 +189,8 @@ void Finalize()
 	CLOSE_LOG();
 }
 
+} // unnamed namespace
+
 #define PBA_PRECISION float
 
 namespace PBA {
@@ -275,7 +289,86 @@ void UndistortImage(const Camera& camera, const REAL& k1, const Image8U3 imgIn,
 } // namespace MVS
 
 
-int ImportSceneVSFM()
+bool ExportSceneVSFM()
+{
+	TD_TIMER_START();
+
+	// read MVS input data
+	MVS::Scene scene(OPT::nMaxThreads);
+	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
+		return false;
+
+	// convert and write data from OpenMVS to VisualSFM
+	std::vector<PBA::Camera> cameras;
+	std::vector<PBA::Point3D> vertices;
+	std::vector<PBA::Point2D> measurements; // the array of 2D projections (only inliers)
+	std::vector<int> correspondingPoint; // 3D point index corresponding to each 2D projection
+	std::vector<int> correspondingView; // and camera index
+	std::vector<std::string> names;
+	std::vector<int> ptc;
+	cameras.reserve(scene.images.size());
+	names.reserve(scene.images.size());
+	MVS::IIndexArr mapIdx(scene.images.size());
+	bool bFocalWarning(false), bPrincipalpointWarning(false);
+	FOREACH(idx, scene.images) {
+		const MVS::Image& image = scene.images[idx];
+		if (!image.IsValid()) {
+			mapIdx[idx] = NO_ID;
+			continue;
+		}
+		if (!bFocalWarning && !ISEQUAL(image.camera.K(0, 0), image.camera.K(1, 1))) {
+			DEBUG("warning: fx != fy and NVM format does not support it");
+			bFocalWarning = true;
+		}
+		if (!bPrincipalpointWarning && (!ISEQUAL(REAL(image.width-1)*0.5, image.camera.K(0, 2)) || !ISEQUAL(REAL(image.height-1)*0.5, image.camera.K(1, 2)))) {
+			DEBUG("warning: cx, cy are not the image center and NVM format does not support it");
+			bPrincipalpointWarning = true;
+		}
+		PBA::Camera cameraNVM;
+		cameraNVM.SetFocalLength((image.camera.K(0, 0) + image.camera.K(1, 1)) * 0.5);
+		cameraNVM.SetMatrixRotation(image.camera.R.val);
+		cameraNVM.SetCameraCenterAfterRotation(image.camera.C.ptr());
+		mapIdx[idx] = static_cast<MVS::IIndex>(cameras.size());
+		cameras.emplace_back(cameraNVM);
+		names.emplace_back(MAKE_PATH_REL(WORKING_FOLDER_FULL, image.name));
+	}
+	vertices.reserve(scene.pointcloud.points.size());
+	measurements.reserve(scene.pointcloud.pointViews.size());
+	correspondingPoint.reserve(scene.pointcloud.pointViews.size());
+	correspondingView.reserve(scene.pointcloud.pointViews.size());
+	FOREACH(idx, scene.pointcloud.points) {
+		const MVS::PointCloud::Point& X = scene.pointcloud.points[idx];
+		const MVS::PointCloud::ViewArr& views = scene.pointcloud.pointViews[idx];
+		const size_t prevMeasurements(measurements.size());
+		for (MVS::IIndex idxView: views) {
+			const MVS::Image& image = scene.images[idxView];
+			const Point2f pt(image.camera.TransformPointW2I(Cast<REAL>(X)));
+			if (pt.x < 0 || pt.y < 0 || pt.x > image.width-1 || pt.y > image.height-1)
+				continue;
+			measurements.emplace_back(pt.x, pt.y);
+			correspondingView.emplace_back(static_cast<int>(mapIdx[idxView]));
+			correspondingPoint.emplace_back(static_cast<int>(vertices.size()));
+		}
+		if (prevMeasurements < measurements.size())
+			vertices.emplace_back(PBA::Point3D{X.x, X.y, X.z});
+	}
+	if (!scene.pointcloud.colors.empty()) {
+		ptc.reserve(scene.pointcloud.colors.size()*3);
+		FOREACH(idx, scene.pointcloud.points) {
+			const MVS::PointCloud::Color& c = scene.pointcloud.colors[idx];
+			ptc.emplace_back(c.r);
+			ptc.emplace_back(c.g);
+			ptc.emplace_back(c.b);
+		}
+	}
+	PBA::SaveModelFile(MAKE_PATH_SAFE(OPT::strOutputFileName), cameras, vertices, measurements, correspondingPoint, correspondingView, names, ptc);
+
+	VERBOSE("Input data exported: %u images & %u points (%s)", scene.images.size(), scene.pointcloud.GetSize(), TD_TIMER_GET_FMT().c_str());
+	return true;
+}
+
+
+bool ImportSceneVSFM()
 {
 	TD_TIMER_START();
 
@@ -315,11 +408,7 @@ int ImportSceneVSFM()
 		camera.R = RMatrix::IDENTITY;
 		camera.C = CMatrix::ZERO;
 		// normalize camera intrinsics
-		const REAL fScale(REAL(1)/MVS::Camera::GetNormalizationScale(image.width, image.height));
-		camera.K(0,0) *= fScale;
-		camera.K(1,1) *= fScale;
-		camera.K(0,2) *= fScale;
-		camera.K(1,2) *= fScale;
+		camera.K = camera.GetScaledK(REAL(1)/MVS::Camera::GetNormalizationScale(image.width, image.height));
 		// set pose
 		image.poseID = platform.poses.GetSize();
 		MVS::Platform::Pose& pose = platform.poses.AddEmpty();
@@ -333,16 +422,16 @@ int ImportSceneVSFM()
 		const PBA::Point3D& X = vertices[idx];
 		scene.pointcloud.points.AddConstruct(X.xyz[0], X.xyz[1], X.xyz[2]);
 	}
-	if (ptc.size() == vertices.size()*3) {
-		scene.pointcloud.colors.Reserve(ptc.size());
-		for (size_t idx=0; idx<ptc.size(); idx+=3)
-			scene.pointcloud.colors.AddConstruct((uint8_t)ptc[idx+0], (uint8_t)ptc[idx+1], (uint8_t)ptc[idx+2]);
-	}
 	scene.pointcloud.pointViews.Resize(vertices.size());
 	for (size_t idx=0; idx<measurements.size(); ++idx) {
 		MVS::PointCloud::ViewArr& views = scene.pointcloud.pointViews[correspondingPoint[idx]];
 		views.InsertSort(correspondingView[idx]);
 	}
+	if (ptc.size() == vertices.size()*3) {
+		scene.pointcloud.colors.Reserve(ptc.size());
+		for (size_t idx=0; idx<ptc.size(); idx+=3)
+			scene.pointcloud.colors.AddConstruct((uint8_t)ptc[idx+0], (uint8_t)ptc[idx+1], (uint8_t)ptc[idx+2]);
+	}
 
 	// undistort images
 	const String pathData(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputImageFolder));
@@ -391,7 +480,7 @@ int ImportSceneVSFM()
 	#endif
 	progress.close();
 
-	VERBOSE("Input data imported: %u cameras, %u poses, %u images, %u vertices (%s)", cameras.size(), cameras.size(), cameras.size(), vertices.size(), TD_TIMER_GET_FMT().c_str());
+	VERBOSE("Input data imported: %u cameras, %u poses, %u images, %u points (%s)", cameras.size(), cameras.size(), cameras.size(), vertices.size(), TD_TIMER_GET_FMT().c_str());
 
 	// write OpenMVS input data
 	return scene.SaveInterface(MAKE_PATH_SAFE(OPT::strOutputFileName));
@@ -477,11 +566,7 @@ int ImportSceneCMPMVS()
 		camera.R = RMatrix::IDENTITY;
 		camera.C = CMatrix::ZERO;
 		// normalize camera intrinsics
-		const REAL fScale(REAL(1)/MVS::Camera::GetNormalizationScale(image.width, image.height));
-		camera.K(0, 0) *= fScale;
-		camera.K(1, 1) *= fScale;
-		camera.K(0, 2) *= fScale;
-		camera.K(1, 2) *= fScale;
+		camera.K = camera.GetScaledK(REAL(1)/MVS::Camera::GetNormalizationScale(image.width, image.height));
 		// set pose
 		image.poseID = platform.poses.GetSize();
 		MVS::Platform::Pose& pose = platform.poses.AddEmpty();
@@ -508,14 +593,18 @@ int main(int argc, LPCTSTR* argv)
 	if (!Initialize(argc, argv))
 		return EXIT_FAILURE;
 
-	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
-	if (strInputFileNameExt == VSFM_EXT || strInputFileNameExt == BUNDLE_EXT) {
-		if (!ImportSceneVSFM())
-			return EXIT_FAILURE;
-	} else
-	if (strInputFileNameExt == CMPMVS_EXT) {
-		if (!ImportSceneCMPMVS())
-			return EXIT_FAILURE;
+	if (OPT::bFromOpenMVS) {
+		ExportSceneVSFM();
+	} else {
+		const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
+		if (strInputFileNameExt == VSFM_EXT || strInputFileNameExt == BUNDLE_EXT) {
+			if (!ImportSceneVSFM())
+				return EXIT_FAILURE;
+		} else
+		if (strInputFileNameExt == CMPMVS_EXT) {
+			if (!ImportSceneCMPMVS())
+				return EXIT_FAILURE;
+		}
 	}
 
 	Finalize();
diff --git a/apps/ReconstructMesh/CMakeLists.txt b/apps/ReconstructMesh/CMakeLists.txt
index 86cac3de4..4b6aac728 100644
--- a/apps/ReconstructMesh/CMakeLists.txt
+++ b/apps/ReconstructMesh/CMakeLists.txt
@@ -5,7 +5,7 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags_no_pch(ReconstructMesh "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+cxx_executable_with_flags(ReconstructMesh "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
 INSTALL(TARGETS ReconstructMesh
diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index 8651715e0..528ae60d3 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -48,6 +48,8 @@ using namespace MVS;
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+namespace {
+
 namespace OPT {
 String strInputFileName;
 String strOutputFileName;
@@ -59,10 +61,12 @@ bool bUseFreeSpaceSupport;
 float fThicknessFactor;
 float fQualityFactor;
 float fDecimateMesh;
+unsigned nTargetFaceNum;
 float fRemoveSpurious;
 bool bRemoveSpikes;
 unsigned nCloseHoles;
 unsigned nSmoothMesh;
+float fSplitMaxArea;
 unsigned nArchiveType;
 int nProcessPriority;
 unsigned nMaxThreads;
@@ -85,11 +89,11 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
 		("export-type", boost::program_options::value<std::string>(&OPT::strExportType)->default_value(_T("ply")), "file type used to export the 3D scene (ply or obj)")
-		("archive-type", boost::program_options::value<unsigned>(&OPT::nArchiveType)->default_value(2), "project archive type: 0-text, 1-binary, 2-compressed binary")
-		("process-priority", boost::program_options::value<int>(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
-		("max-threads", boost::program_options::value<unsigned>(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
+		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
-		("verbosity,v", boost::program_options::value<int>(&g_nVerbosityLevel)->default_value(
+		("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
 			#if TD_VERBOSE == TD_VERBOSE_DEBUG
 			3
 			#else
@@ -104,19 +108,20 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	config_main.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
-		("min-point-distance,d", boost::program_options::value<float>(&OPT::fDistInsert)->default_value(2.5f), "minimum distance in pixels between the projection of two 3D points to consider them different while triangulating (0 - disabled)")
-		("constant-weight", boost::program_options::value<bool>(&OPT::bUseConstantWeight)->default_value(true), "considers all view weights 1 instead of the available weight")
-		("free-space-support,f", boost::program_options::value<bool>(&OPT::bUseFreeSpaceSupport)->default_value(false), "exploits the free-space support in order to reconstruct weakly-represented surfaces")
-		("thickness-factor", boost::program_options::value<float>(&OPT::fThicknessFactor)->default_value(1.f), "multiplier adjusting the minimum thickness considered during visibility weighting")
-		("quality-factor", boost::program_options::value<float>(&OPT::fQualityFactor)->default_value(1.f), "multiplier adjusting the quality weight considered during graph-cut")
+		("min-point-distance,d", boost::program_options::value(&OPT::fDistInsert)->default_value(2.5f), "minimum distance in pixels between the projection of two 3D points to consider them different while triangulating (0 - disabled)")
+		("constant-weight", boost::program_options::value(&OPT::bUseConstantWeight)->default_value(true), "considers all view weights 1 instead of the available weight")
+		("free-space-support,f", boost::program_options::value(&OPT::bUseFreeSpaceSupport)->default_value(false), "exploits the free-space support in order to reconstruct weakly-represented surfaces")
+		("thickness-factor", boost::program_options::value(&OPT::fThicknessFactor)->default_value(1.f), "multiplier adjusting the minimum thickness considered during visibility weighting")
+		("quality-factor", boost::program_options::value(&OPT::fQualityFactor)->default_value(1.f), "multiplier adjusting the quality weight considered during graph-cut")
 		;
 	boost::program_options::options_description config_clean("Clean options");
 	config_clean.add_options()
-		("decimate", boost::program_options::value<float>(&OPT::fDecimateMesh)->default_value(1.f), "decimation factor in range (0..1] to be applied to the reconstructed surface (1 - disabled)")
-		("remove-spurious", boost::program_options::value<float>(&OPT::fRemoveSpurious)->default_value(20.f), "spurious factor for removing faces with too long edges or isolated components (0 - disabled)")
-		("remove-spikes", boost::program_options::value<bool>(&OPT::bRemoveSpikes)->default_value(true), "flag controlling the removal of spike faces")
-		("close-holes", boost::program_options::value<unsigned>(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the reconstructed surface (0 - disabled)")
-		("smooth", boost::program_options::value<unsigned>(&OPT::nSmoothMesh)->default_value(2), "number of iterations to smooth the reconstructed surface (0 - disabled)")
+		("decimate", boost::program_options::value(&OPT::fDecimateMesh)->default_value(1.f), "decimation factor in range (0..1] to be applied to the reconstructed surface (1 - disabled)")
+		("target-face-num", boost::program_options::value(&OPT::nTargetFaceNum)->default_value(0), "target number of faces to be applied to the reconstructed surface. (0 - disabled)")
+		("remove-spurious", boost::program_options::value(&OPT::fRemoveSpurious)->default_value(20.f), "spurious factor for removing faces with too long edges or isolated components (0 - disabled)")
+		("remove-spikes", boost::program_options::value(&OPT::bRemoveSpikes)->default_value(true), "flag controlling the removal of spike faces")
+		("close-holes", boost::program_options::value(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the reconstructed surface (0 - disabled)")
+		("smooth", boost::program_options::value(&OPT::nSmoothMesh)->default_value(2), "number of iterations to smooth the reconstructed surface (0 - disabled)")
 		;
 
 	// hidden options, allowed both on command line and
@@ -124,7 +129,8 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	boost::program_options::options_description hidden("Hidden options");
 	hidden.add_options()
 		("mesh-file", boost::program_options::value<std::string>(&OPT::strMeshFileName), "mesh file name to clean (skips the reconstruction step)")
-		("mesh-export", boost::program_options::value<bool>(&OPT::bMeshExport)->default_value(false), "just export the mesh contained in loaded project")
+		("mesh-export", boost::program_options::value(&OPT::bMeshExport)->default_value(false), "just export the mesh contained in loaded project")
+		("split-max-area", boost::program_options::value(&OPT::fSplitMaxArea)->default_value(0.f), "maximum surface area that a sub-mesh can contain (0 - disabled)")
 		;
 
 	boost::program_options::options_description cmdline_options;
@@ -207,6 +213,8 @@ void Finalize()
 	CLOSE_LOG();
 }
 
+} // unnamed namespace
+
 int main(int argc, LPCTSTR* argv)
 {
 	#ifdef _DEBUGINFO
@@ -219,8 +227,17 @@ int main(int argc, LPCTSTR* argv)
 
 	Scene scene(OPT::nMaxThreads);
 	// load project
-	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
+	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName), OPT::fSplitMaxArea > 0 || OPT::fDecimateMesh < 1 || OPT::nTargetFaceNum > 0))
 		return EXIT_FAILURE;
+	const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
+	if (OPT::fSplitMaxArea > 0) {
+		// split mesh using max-area constraint
+		Mesh::FacesChunkArr chunks;
+		if (scene.mesh.Split(chunks, OPT::fSplitMaxArea))
+			scene.mesh.Save(chunks, baseFileName);
+		Finalize();
+		return EXIT_SUCCESS;
+	}
 	if (OPT::bMeshExport) {
 		// check there is a mesh to export
 		if (scene.mesh.IsEmpty())
@@ -230,10 +247,10 @@ int main(int argc, LPCTSTR* argv)
 		scene.mesh.Save(fileName);
 		#if TD_VERBOSE != TD_VERBOSE_OFF
 		if (VERBOSITY_LEVEL > 2)
-			scene.ExportCamerasMLP(Util::getFileFullName(OPT::strOutputFileName)+_T(".mlp"), fileName);
+			scene.ExportCamerasMLP(baseFileName+_T(".mlp"), fileName);
 		#endif
 	} else {
-		if (OPT::strMeshFileName.IsEmpty()) {
+		if (OPT::strMeshFileName.IsEmpty() && scene.mesh.IsEmpty()) {
 			// reset image resolution to the original size and
 			// make sure the image neighbors are initialized before deleting the point-cloud
 			#ifdef RECMESH_USE_OPENMP
@@ -281,21 +298,21 @@ int main(int argc, LPCTSTR* argv)
 			#if TD_VERBOSE != TD_VERBOSE_OFF
 			if (VERBOSITY_LEVEL > 2) {
 				// dump raw mesh
-				scene.mesh.Save(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+_T("_raw")+OPT::strExportType);
+				scene.mesh.Save(baseFileName+_T("_raw")+OPT::strExportType);
 			}
 			#endif
-		} else {
+		} else if (!OPT::strMeshFileName.IsEmpty()) {
 			// load existing mesh to clean
 			scene.mesh.Load(MAKE_PATH_SAFE(OPT::strMeshFileName));
 		}
 
 		// clean the mesh
-		scene.mesh.Clean(OPT::fDecimateMesh, OPT::fRemoveSpurious, OPT::bRemoveSpikes, OPT::nCloseHoles, OPT::nSmoothMesh, false);
+		const float fDecimate(OPT::nTargetFaceNum ? static_cast<float>(OPT::nTargetFaceNum) / scene.mesh.faces.size() : OPT::fDecimateMesh);
+		scene.mesh.Clean(fDecimate, OPT::fRemoveSpurious, OPT::bRemoveSpikes, OPT::nCloseHoles, OPT::nSmoothMesh, false);
 		scene.mesh.Clean(1.f, 0.f, OPT::bRemoveSpikes, OPT::nCloseHoles, 0, false); // extra cleaning trying to close more holes
 		scene.mesh.Clean(1.f, 0.f, false, 0, 0, true); // extra cleaning to remove non-manifold problems created by closing holes
 
 		// save the final mesh
-		const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
 		scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
 		scene.mesh.Save(baseFileName+OPT::strExportType);
 		#if TD_VERBOSE != TD_VERBOSE_OFF
diff --git a/apps/RefineMesh/CMakeLists.txt b/apps/RefineMesh/CMakeLists.txt
index eaffec244..26a6f84ed 100644
--- a/apps/RefineMesh/CMakeLists.txt
+++ b/apps/RefineMesh/CMakeLists.txt
@@ -5,7 +5,7 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags_no_pch(RefineMesh "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+cxx_executable_with_flags(RefineMesh "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
 INSTALL(TARGETS RefineMesh
diff --git a/apps/RefineMesh/RefineMesh.cpp b/apps/RefineMesh/RefineMesh.cpp
index 1cbd6e227..fdeecc99f 100644
--- a/apps/RefineMesh/RefineMesh.cpp
+++ b/apps/RefineMesh/RefineMesh.cpp
@@ -43,6 +43,8 @@ using namespace MVS;
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+namespace {
+
 namespace OPT {
 String strInputFileName;
 String strOutputFileName;
@@ -87,11 +89,11 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
 		("export-type", boost::program_options::value<std::string>(&OPT::strExportType)->default_value(_T("ply")), "file type used to export the 3D scene (ply or obj)")
-		("archive-type", boost::program_options::value<unsigned>(&OPT::nArchiveType)->default_value(2), "project archive type: 0-text, 1-binary, 2-compressed binary")
-		("process-priority", boost::program_options::value<int>(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
-		("max-threads", boost::program_options::value<unsigned>(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
+		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
-		("verbosity,v", boost::program_options::value<int>(&g_nVerbosityLevel)->default_value(
+		("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
 			#if TD_VERBOSE == TD_VERBOSE_DEBUG
 			3
 			#else
@@ -106,23 +108,23 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
-		("resolution-level", boost::program_options::value<unsigned>(&OPT::nResolutionLevel)->default_value(0), "how many times to scale down the images before mesh refinement")
-		("min-resolution", boost::program_options::value<unsigned>(&OPT::nMinResolution)->default_value(640), "do not scale images lower than this resolution")
-		("max-views", boost::program_options::value<unsigned>(&OPT::nMaxViews)->default_value(8), "maximum number of neighbor images used to refine the mesh")
-		("decimate", boost::program_options::value<float>(&OPT::fDecimateMesh)->default_value(0.f), "decimation factor in range [0..1] to be applied to the input surface before refinement (0 - auto, 1 - disabled)")
-		("close-holes", boost::program_options::value<unsigned>(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the input surface (0 - disabled)")
-		("ensure-edge-size", boost::program_options::value<unsigned>(&OPT::nEnsureEdgeSize)->default_value(1), "ensure edge size and improve vertex valence of the input surface (0 - disabled, 1 - auto, 2 - force)")
-		("max-face-area", boost::program_options::value<unsigned>(&OPT::nMaxFaceArea)->default_value(64), "maximum face area projected in any pair of images that is not subdivided (0 - disabled)")
-		("scales", boost::program_options::value<unsigned>(&OPT::nScales)->default_value(3), "how many iterations to run mesh optimization on multi-scale images")
-		("scale-step", boost::program_options::value<float>(&OPT::fScaleStep)->default_value(0.5f), "image scale factor used at each mesh optimization step")
-		("reduce-memory", boost::program_options::value<unsigned>(&OPT::nReduceMemory)->default_value(1), "recompute some data in order to reduce memory requirements")
-		("alternate-pair", boost::program_options::value<unsigned>(&OPT::nAlternatePair)->default_value(0), "refine mesh using an image pair alternatively as reference (0 - both, 1 - alternate, 2 - only left, 3 - only right)")
-		("regularity-weight", boost::program_options::value<float>(&OPT::fRegularityWeight)->default_value(0.2f), "scalar regularity weight to balance between photo-consistency and regularization terms during mesh optimization")
-		("rigidity-elasticity-ratio", boost::program_options::value<float>(&OPT::fRatioRigidityElasticity)->default_value(0.9f), "scalar ratio used to compute the regularity gradient as a combination of rigidity and elasticity")
-		("gradient-step", boost::program_options::value<float>(&OPT::fGradientStep)->default_value(45.05f), "gradient step to be used instead (0 - auto)")
-		("planar-vertex-ratio", boost::program_options::value<float>(&OPT::fPlanarVertexRatio)->default_value(0.f), "threshold used to remove vertices on planar patches (0 - disabled)")
+		("resolution-level", boost::program_options::value(&OPT::nResolutionLevel)->default_value(0), "how many times to scale down the images before mesh refinement")
+		("min-resolution", boost::program_options::value(&OPT::nMinResolution)->default_value(640), "do not scale images lower than this resolution")
+		("max-views", boost::program_options::value(&OPT::nMaxViews)->default_value(8), "maximum number of neighbor images used to refine the mesh")
+		("decimate", boost::program_options::value(&OPT::fDecimateMesh)->default_value(0.f), "decimation factor in range [0..1] to be applied to the input surface before refinement (0 - auto, 1 - disabled)")
+		("close-holes", boost::program_options::value(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the input surface (0 - disabled)")
+		("ensure-edge-size", boost::program_options::value(&OPT::nEnsureEdgeSize)->default_value(1), "ensure edge size and improve vertex valence of the input surface (0 - disabled, 1 - auto, 2 - force)")
+		("max-face-area", boost::program_options::value(&OPT::nMaxFaceArea)->default_value(32), "maximum face area projected in any pair of images that is not subdivided (0 - disabled)")
+		("scales", boost::program_options::value(&OPT::nScales)->default_value(3), "how many iterations to run mesh optimization on multi-scale images")
+		("scale-step", boost::program_options::value(&OPT::fScaleStep)->default_value(0.5f), "image scale factor used at each mesh optimization step")
+		("reduce-memory", boost::program_options::value(&OPT::nReduceMemory)->default_value(1), "recompute some data in order to reduce memory requirements")
+		("alternate-pair", boost::program_options::value(&OPT::nAlternatePair)->default_value(0), "refine mesh using an image pair alternatively as reference (0 - both, 1 - alternate, 2 - only left, 3 - only right)")
+		("regularity-weight", boost::program_options::value(&OPT::fRegularityWeight)->default_value(0.2f), "scalar regularity weight to balance between photo-consistency and regularization terms during mesh optimization")
+		("rigidity-elasticity-ratio", boost::program_options::value(&OPT::fRatioRigidityElasticity)->default_value(0.9f), "scalar ratio used to compute the regularity gradient as a combination of rigidity and elasticity")
+		("gradient-step", boost::program_options::value(&OPT::fGradientStep)->default_value(45.05f), "gradient step to be used instead (0 - auto)")
+		("planar-vertex-ratio", boost::program_options::value(&OPT::fPlanarVertexRatio)->default_value(0.f), "threshold used to remove vertices on planar patches (0 - disabled)")
 		#ifdef _USE_CUDA
-		("use-cuda", boost::program_options::value<bool>(&OPT::bUseCUDA)->default_value(true), "refine mesh using CUDA")
+		("use-cuda", boost::program_options::value(&OPT::bUseCUDA)->default_value(false), "refine mesh using CUDA")
 		#endif
 		;
 
@@ -213,6 +215,8 @@ void Finalize()
 	CLOSE_LOG();
 }
 
+} // unnamed namespace
+
 int main(int argc, LPCTSTR* argv)
 {
 	#ifdef _DEBUGINFO
diff --git a/apps/TextureMesh/CMakeLists.txt b/apps/TextureMesh/CMakeLists.txt
index b53e2f560..bef488eeb 100644
--- a/apps/TextureMesh/CMakeLists.txt
+++ b/apps/TextureMesh/CMakeLists.txt
@@ -5,7 +5,7 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags_no_pch(TextureMesh "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+cxx_executable_with_flags(TextureMesh "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
 INSTALL(TARGETS TextureMesh
diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index 23f1421d1..6783a82fc 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -43,6 +43,8 @@ using namespace MVS;
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+namespace {
+
 namespace OPT {
 String strInputFileName;
 String strOutputFileName;
@@ -80,12 +82,12 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "produce this help message")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-		("export-type", boost::program_options::value<std::string>(&OPT::strExportType)->default_value(_T("ply")), "file type used to export the 3D scene (ply or obj)")
-		("archive-type", boost::program_options::value<unsigned>(&OPT::nArchiveType)->default_value(2), "project archive type: 0-text, 1-binary, 2-compressed binary")
-		("process-priority", boost::program_options::value<int>(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
-		("max-threads", boost::program_options::value<unsigned>(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
+		("export-type", boost::program_options::value<std::string>(&OPT::strExportType)->default_value(_T("glb")), "file type used to export the 3D scene (ply, obj, glb or gltf)")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
+		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
-		("verbosity,v", boost::program_options::value<int>(&g_nVerbosityLevel)->default_value(
+		("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
 			#if TD_VERBOSE == TD_VERBOSE_DEBUG
 			3
 			#else
@@ -100,18 +102,18 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
-		("decimate", boost::program_options::value<float>(&OPT::fDecimateMesh)->default_value(1.f), "decimation factor in range [0..1] to be applied to the input surface before refinement (0 - auto, 1 - disabled)")
-		("close-holes", boost::program_options::value<unsigned>(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the input surface (0 - disabled)")
-		("resolution-level", boost::program_options::value<unsigned>(&OPT::nResolutionLevel)->default_value(0), "how many times to scale down the images before mesh refinement")
-		("min-resolution", boost::program_options::value<unsigned>(&OPT::nMinResolution)->default_value(640), "do not scale images lower than this resolution")
-		("outlier-threshold", boost::program_options::value<float>(&OPT::fOutlierThreshold)->default_value(6e-2f), "threshold used to find and remove outlier face textures (0 - disabled)")
-		("cost-smoothness-ratio", boost::program_options::value<float>(&OPT::fRatioDataSmoothness)->default_value(0.1f), "ratio used to adjust the preference for more compact patches (1 - best quality/worst compactness, ~0 - worst quality/best compactness)")
-		("global-seam-leveling", boost::program_options::value<bool>(&OPT::bGlobalSeamLeveling)->default_value(true), "generate uniform texture patches using global seam leveling")
-		("local-seam-leveling", boost::program_options::value<bool>(&OPT::bLocalSeamLeveling)->default_value(true), "generate uniform texture patch borders using local seam leveling")
-		("texture-size-multiple", boost::program_options::value<unsigned>(&OPT::nTextureSizeMultiple)->default_value(0), "texture size should be a multiple of this value (0 - power of two)")
-		("patch-packing-heuristic", boost::program_options::value<unsigned>(&OPT::nRectPackingHeuristic)->default_value(3), "specify the heuristic used when deciding where to place a new patch (0 - best fit, 3 - good speed, 100 - best speed)")
-		("empty-color", boost::program_options::value<uint32_t>(&OPT::nColEmpty)->default_value(0x00FF7F27), "color used for faces not covered by any image")
-		("orthographic-image-resolution", boost::program_options::value<unsigned>(&OPT::nOrthoMapResolution)->default_value(0), "orthographic image resolution to be generated from the textured mesh - the mesh is expected to be already geo-referenced or at least properly oriented (0 - disabled)")
+		("decimate", boost::program_options::value(&OPT::fDecimateMesh)->default_value(1.f), "decimation factor in range [0..1] to be applied to the input surface before refinement (0 - auto, 1 - disabled)")
+		("close-holes", boost::program_options::value(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the input surface (0 - disabled)")
+		("resolution-level", boost::program_options::value(&OPT::nResolutionLevel)->default_value(0), "how many times to scale down the images before mesh refinement")
+		("min-resolution", boost::program_options::value(&OPT::nMinResolution)->default_value(640), "do not scale images lower than this resolution")
+		("outlier-threshold", boost::program_options::value(&OPT::fOutlierThreshold)->default_value(6e-2f), "threshold used to find and remove outlier face textures (0 - disabled)")
+		("cost-smoothness-ratio", boost::program_options::value(&OPT::fRatioDataSmoothness)->default_value(0.1f), "ratio used to adjust the preference for more compact patches (1 - best quality/worst compactness, ~0 - worst quality/best compactness)")
+		("global-seam-leveling", boost::program_options::value(&OPT::bGlobalSeamLeveling)->default_value(true), "generate uniform texture patches using global seam leveling")
+		("local-seam-leveling", boost::program_options::value(&OPT::bLocalSeamLeveling)->default_value(true), "generate uniform texture patch borders using local seam leveling")
+		("texture-size-multiple", boost::program_options::value(&OPT::nTextureSizeMultiple)->default_value(0), "texture size should be a multiple of this value (0 - power of two)")
+		("patch-packing-heuristic", boost::program_options::value(&OPT::nRectPackingHeuristic)->default_value(3), "specify the heuristic used when deciding where to place a new patch (0 - best fit, 3 - good speed, 100 - best speed)")
+		("empty-color", boost::program_options::value(&OPT::nColEmpty)->default_value(0x00FF7F27), "color used for faces not covered by any image")
+		("orthographic-image-resolution", boost::program_options::value(&OPT::nOrthoMapResolution)->default_value(0), "orthographic image resolution to be generated from the textured mesh - the mesh is expected to be already geo-referenced or at least properly oriented (0 - disabled)")
 		;
 
 	// hidden options, allowed both on command line and
@@ -164,7 +166,17 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	}
 	if (OPT::strInputFileName.IsEmpty())
 		return false;
-	OPT::strExportType = OPT::strExportType.ToLower() == _T("obj") ? _T(".obj") : _T(".ply");
+	OPT::strExportType = OPT::strExportType.ToLower();
+	if (OPT::strExportType == _T("obj"))
+		OPT::strExportType =  _T(".obj");
+	else
+	if (OPT::strExportType == _T("glb"))
+		OPT::strExportType =  _T(".glb");
+	else
+	if (OPT::strExportType == _T("gltf"))
+		OPT::strExportType =  _T(".gltf");
+	else
+		OPT::strExportType =  _T(".ply");
 
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
@@ -201,6 +213,8 @@ void Finalize()
 	CLOSE_LOG();
 }
 
+} // unnamed namespace
+
 int main(int argc, LPCTSTR* argv)
 {
 	#ifdef _DEBUGINFO
diff --git a/apps/Viewer/CMakeLists.txt b/apps/Viewer/CMakeLists.txt
index c519040d1..fe0920242 100644
--- a/apps/Viewer/CMakeLists.txt
+++ b/apps/Viewer/CMakeLists.txt
@@ -16,32 +16,17 @@ else()
 	MESSAGE("-- Can't find GLEW. Continuing without it.")
 	RETURN()
 endif()
-if(CMAKE_COMPILER_IS_GNUCXX)
-	FIND_PACKAGE(PkgConfig QUIET)
-	pkg_search_module(GLFW QUIET glfw3)
-	if(GLFW_FOUND)
-		INCLUDE_DIRECTORIES(${GLFW_INCLUDE_DIRS})
-		ADD_DEFINITIONS(${GLFW_DEFINITIONS})
-		MESSAGE(STATUS "GLFW3 ${GLFW_VERSION} found (include: ${GLFW_INCLUDE_DIRS})")
-	else()
-		MESSAGE("-- Can't find GLFW3. Continuing without it.")
-		RETURN()
-	endif()
+FIND_PACKAGE(glfw3 QUIET)
+if(glfw3_FOUND)
+	INCLUDE_DIRECTORIES(${glfw3_INCLUDE_DIRS})
+	ADD_DEFINITIONS(${glfw3_DEFINITIONS})
+	MESSAGE(STATUS "GLFW3 ${glfw3_VERSION} found (include: ${glfw3_INCLUDE_DIRS})")
 else()
-	FIND_PACKAGE(glfw3 QUIET)
-	if(glfw3_FOUND)
-		INCLUDE_DIRECTORIES(${glfw3_INCLUDE_DIRS})
-		ADD_DEFINITIONS(${glfw3_DEFINITIONS})
-		MESSAGE(STATUS "GLFW3 ${glfw3_VERSION} found (include: ${glfw3_INCLUDE_DIRS})")
-	else()
-		MESSAGE("-- Can't find GLFW3. Continuing without it.")
-		RETURN()
-	endif()
+	MESSAGE("-- Can't find GLFW3. Continuing without it.")
+	RETURN()
 endif()
 
 # List sources files
-FILE(GLOB PCH_C "Common.cpp")
-
 if(MSVC)
 	FILE(GLOB LIBRARY_FILES_C "*.cpp" "*.rc")
 else()
@@ -49,15 +34,12 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-# Place Common.cpp as the first file in the list
-# needed by cotire when setting PCH manually
-LIST(REMOVE_ITEM LIBRARY_FILES_C ${PCH_C})
-SET(LIBRARY_FILES_C "${PCH_C};${LIBRARY_FILES_C}")
-
-cxx_executable_with_flags_no_pch(${VIEWER_NAME} "Apps" "${cxx_default}" "MVS;${OPENGL_LIBRARIES};${GLEW_LIBRARY};${GLFW_STATIC_LIBRARIES};GLEW::GLEW;${glfw3_LIBRARY};${GLFW3_LIBRARY};glfw;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+cxx_executable_with_flags(${VIEWER_NAME} "Apps" "${cxx_default}" "MVS;${OPENGL_LIBRARIES};${GLEW_LIBRARY};${GLFW_STATIC_LIBRARIES};GLEW::GLEW;${glfw3_LIBRARY};${GLFW3_LIBRARY};glfw;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Manually set Common.h as the precompiled header
-set_target_pch(${VIEWER_NAME} Common.h)
+IF(CMAKE_VERSION VERSION_GREATER_EQUAL 3.16.0)
+	TARGET_PRECOMPILE_HEADERS(${VIEWER_NAME} PRIVATE "Common.h")
+endif()
 
 # Install
 INSTALL(TARGETS ${VIEWER_NAME}
diff --git a/apps/Viewer/Camera.cpp b/apps/Viewer/Camera.cpp
index b217c2d6b..e6cb75044 100644
--- a/apps/Viewer/Camera.cpp
+++ b/apps/Viewer/Camera.cpp
@@ -40,122 +40,136 @@ using namespace VIEWER;
 
 // S T R U C T S ///////////////////////////////////////////////////
 
-Camera::Camera(const AABB3d& _box, double _fov)
+Camera::Camera(const AABB3d& _box, const Point3d& _center, float _scaleF, float _fov)
 	:
-	box(_box),
-	width(0), height(0),
+	boxScene(_box),
+	centerScene(_center),
 	rotation(Eigen::Quaterniond::Identity()),
 	center(Eigen::Vector3d::Zero()),
-	dist(0), radius(100), fov(_fov),
-	scaleF(1.f),
+	dist(0), radius(100),
+	fovDef(_fov), scaleFDef(_scaleF),
 	prevCamID(NO_ID), currentCamID(NO_ID), maxCamID(0)
 {
 	Reset();
 }
 
-void Camera::CopyOf(const Camera& rhs)
-{
-	rotation = rhs.rotation;
-	center = rhs.center;
-	dist   = rhs.dist;
-	radius = rhs.radius;
-	fov    = rhs.fov;
-}
-
-
-void Camera::Init(const AABB3d& _box)
-{
-	box = _box;
-	Reset();
-}
-
 void Camera::Reset()
 {
-	center = box.GetCenter();
-	radius = box.GetSize().norm()*0.5;
+	if (boxScene.IsEmpty()) {
+		center = Point3d::ZERO;
+		radius = 1;
+	} else {
+		center = centerScene;
+		radius = boxScene.GetSize().norm()*0.5;
+	}
 	rotation = Eigen::Quaterniond::Identity();
-	scaleF = 1.f;
+	scaleF = scaleFDef;
 	prevCamID = currentCamID = NO_ID;
-	fov = 40;
-	dist = radius * 0.5 / SIN(D2R(fov));
-	Resize(width, height);
+	fov = fovDef;
+	dist = radius*0.5 / SIN(D2R((double)fov));
+	if (size.area())
+		Resize(size);
 }
 
-void Camera::Resize(int _width, int _height)
+void Camera::Resize(const cv::Size& _size)
 {
+	ASSERT(MINF(_size.width, _size.height) > 0);
+	size = _size;
 	glMatrixMode(GL_PROJECTION);
 	glLoadIdentity();
-	const GLfloat zNear = 1e-2f;
-	const GLfloat zFar = 1e5f;
-	width = _width; height = _height;
-	GLfloat aspect = float(width)/float(height);
-	GLfloat fH = TAN(FD2R((float)fov)) * zNear;
-	GLfloat fW = fH * aspect;
-	glFrustum(-fW, fW, -fH, fH, zNear, zFar);
+	const GLfloat zNear = 1e-3f;
+	const GLfloat zFar = (float)boxScene.GetSize().norm()*10;
+	const GLfloat aspect = float(size.width)/float(size.height);
+	if (fov == 5.f) {
+		// orthographic projection
+		const GLfloat fH = (float)boxScene.GetSize().norm()*0.5f;
+		const GLfloat fW = fH * aspect;
+		glOrtho(-fW, fW, -fH, fH, zNear, zFar);
+	} else {
+		// perspective projection
+		const GLfloat fH = TAN(FD2R(fov)) * zNear;
+		const GLfloat fW = fH * aspect;
+		glFrustum(-fW, fW, -fH, fH, zNear, zFar);
+	}
 }
 
-void Camera::SetFOV(double _fov)
+void Camera::SetFOV(float _fov)
 {
-	fov = _fov;
-	Resize(width, height);
+	fov = MAXF(_fov, 5.f);
+	Resize(size);
 }
 
 
 Eigen::Vector3d Camera::GetPosition() const
 {
-	const Eigen::Matrix3d R(rotation.toRotationMatrix());
-	const Eigen::Vector3d eye(0, 0, dist);
-	return R * eye + center;
+	const Eigen::Matrix3d R(GetRotation());
+	return center + R.col(2) * dist;
+}
+
+Eigen::Matrix3d Camera::GetRotation() const
+{
+	return rotation.toRotationMatrix();
 }
 
 Eigen::Matrix4d Camera::GetLookAt() const
 {
-	const Eigen::Matrix3d R(rotation.toRotationMatrix());
-	const Eigen::Vector3d eye(R.col(2) * dist + center);
+	const Eigen::Matrix3d R(GetRotation());
+	const Eigen::Vector3d eye(center + R.col(2) * dist);
 	const Eigen::Vector3d up(R.col(1));
-	
+
 	const Eigen::Vector3d n((center-eye).normalized());
 	const Eigen::Vector3d s(n.cross(up));
 	const Eigen::Vector3d v(s.cross(n));
-	
-	Eigen::Matrix4d m;
-	m <<
-	s(0),  s(1),  s(2), -eye.dot(s),
-	v(0),  v(1),  v(2), -eye.dot(v),
-	-n(0), -n(1), -n(2),  eye.dot(n),
-	0.0, 0.0, 0.0, 1.0;
+
+	Eigen::Matrix4d m; m <<
+		 s(0),  s(1),  s(2), -eye.dot(s),
+		 v(0),  v(1),  v(2), -eye.dot(v),
+		-n(0), -n(1), -n(2),  eye.dot(n),
+		 0.0, 0.0, 0.0, 1.0;
 	return m;
 }
 void Camera::GetLookAt(Eigen::Vector3d& _eye, Eigen::Vector3d& _center, Eigen::Vector3d& _up) const
 {
-	const Eigen::Matrix3d R(rotation.toRotationMatrix());
-	const Eigen::Vector3d eye(0, 0, dist);
-	const Eigen::Vector3d up(0, 1, 0);
-
-	_eye = R * eye + center;
+	const Eigen::Matrix3d R(GetRotation());
+	_eye = center + R.col(2) * dist;
 	_center = center;
-	_up  = R * up;
+	_up = R.col(1);
 }
 
+
 void Camera::Rotate(const Eigen::Vector2d& pos, const Eigen::Vector2d& prevPos)
 {
-	if (pos.isApprox(prevPos, ZERO_TOLERANCE))
+	if (pos.isApprox(prevPos, ZEROTOLERANCE<double>()))
 		return;
 
 	Eigen::Vector3d oldp(prevPos.x(), prevPos.y(), 0);
 	Eigen::Vector3d newp(pos.x(), pos.y(), 0);
-	const double radius_virtual_sphere(0.9);
-	Project2Sphere(radius_virtual_sphere, oldp);
-	Project2Sphere(radius_virtual_sphere, newp);
-	Eigen::Quaterniond dr;
-	dr.setFromTwoVectors(newp, oldp);
-	rotation *= dr;
+	const double radiusSphere(0.9);
+	ProjectOnSphere(radiusSphere, oldp);
+	ProjectOnSphere(radiusSphere, newp);
+	rotation *= Eigen::Quaterniond().setFromTwoVectors(newp, oldp);
+
+	// disable camera view mode
+	prevCamID = currentCamID;
+}
+
+void Camera::Translate(const Eigen::Vector2d& pos, const Eigen::Vector2d& prevPos)
+{
+	if (pos.isApprox(prevPos, ZEROTOLERANCE<double>()))
+		return;
+
+	Eigen::Matrix<double,4,4,Eigen::ColMajor> P, V;
+	glGetDoublev(GL_MODELVIEW_MATRIX, V.data());
+	glGetDoublev(GL_PROJECTION_MATRIX, P.data());
+	Eigen::Vector3d centerScreen((P*V*center.homogeneous().eval()).hnormalized());
+	centerScreen.head<2>() += prevPos - pos;
+	center = (V.inverse()*P.inverse()*centerScreen.homogeneous().eval()).hnormalized();
 
 	// disable camera view mode
 	prevCamID = currentCamID;
 }
 
-void Camera::Project2Sphere(double radius, Eigen::Vector3d& p) const
+void Camera::ProjectOnSphere(double radius, Eigen::Vector3d& p) const
 {
 	p.z() = 0;
 	const double d = p.x()* p.x()+ p.y() * p.y();
diff --git a/apps/Viewer/Camera.h b/apps/Viewer/Camera.h
index 37d982386..d83880a3e 100644
--- a/apps/Viewer/Camera.h
+++ b/apps/Viewer/Camera.h
@@ -48,34 +48,38 @@ class Camera
 public:
 	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
-	AABB3d box;
-	int width, height;
+	cv::Size size;
+	AABB3d boxScene;
+	Eigen::Vector3d centerScene;
 	Eigen::Quaterniond rotation;
 	Eigen::Vector3d center;
-	double dist;
-	double radius;
-	double fov;
-	float scaleF;
+	double dist, radius;
+	float fov, fovDef;
+	float scaleF, scaleFDef;
 	MVS::IIndex prevCamID, currentCamID, maxCamID;
 
 public:
-	explicit Camera(const AABB3d& _box=AABB3d(true), double _fov=40);
-	void CopyOf(const Camera&);
+	Camera(const AABB3d& _box=AABB3d(true), const Point3d& _center=Point3d::ZERO, float _scaleF=1, float _fov=40);
 
-	void Init(const AABB3d&);
 	void Reset();
-	void Resize(int _width, int _height);
-	void SetFOV(double _fov);
+	void Resize(const cv::Size&);
+	void SetFOV(float _fov);
+
+	const cv::Size& GetSize() const { return size; }
 
 	Eigen::Vector3d GetPosition() const;
+	Eigen::Matrix3d GetRotation() const;
 	Eigen::Matrix4d GetLookAt() const;
+
 	void GetLookAt(Eigen::Vector3d& eye, Eigen::Vector3d& center, Eigen::Vector3d& up) const;
 	void Rotate(const Eigen::Vector2d& pos, const Eigen::Vector2d& prevPos);
+	void Translate(const Eigen::Vector2d& pos, const Eigen::Vector2d& prevPos);
+
+	bool IsCameraViewMode() const { return prevCamID != currentCamID && currentCamID != NO_ID; }
 
 protected:
-	void Project2Sphere(double radius, Eigen::Vector3d& p) const;
+	void ProjectOnSphere(double radius, Eigen::Vector3d& p) const;
 };
-typedef CSharedPtr<Camera> CameraPtr;
 /*----------------------------------------------------------------*/
 
 } // namespace VIEWER
diff --git a/apps/Viewer/Common.h b/apps/Viewer/Common.h
index d1f1912b5..f3387834e 100644
--- a/apps/Viewer/Common.h
+++ b/apps/Viewer/Common.h
@@ -59,16 +59,19 @@ using namespace SEACAVE;
 namespace VIEWER {
 
 // the conversion matrix from OpenGL default coordinate system
-//  to the camera coordinate system:
+//  to the camera coordinate system (NADIR orientation):
 // [ 1  0  0  0] * [ x ] = [ x ]
 //   0 -1  0  0      y      -y
 //   0  0 -1  0      z      -z
 //   0  0  0  1      1       1
-static const GLfloat gs_convert[4][4] = {
-	{1.f,  0.f,  0.f, 0.f},
-	{0.f, -1.f,  0.f, 0.f},
-	{0.f,  0.f, -1.f, 0.f},
-	{0.f,  0.f,  0.f, 1.f}};
+static const Eigen::Matrix4d gs_convert = [] {
+	Eigen::Matrix4d tmp; tmp <<
+		1,  0,  0,  0,
+		0, -1,  0,  0,
+		0,  0, -1,  0,
+		0,  0,  0,  1;
+	return tmp;
+}();
 
 /// given rotation matrix R and translation vector t,
 /// column-major matrix m is equal to:
diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index b40cb1bf2..a7d7e314f 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -178,12 +178,16 @@ class EVTComputeOctree : public Event
 	bool Run(void*) {
 		MVS::Scene& scene = pScene->scene;
 		if (!scene.mesh.IsEmpty()) {
-			Scene::OctreeMesh octMesh(scene.mesh.vertices);
+			Scene::OctreeMesh octMesh(scene.mesh.vertices, [](Scene::OctreeMesh::IDX_TYPE size, Scene::OctreeMesh::Type /*radius*/) {
+				return size > 256;
+			});
 			scene.mesh.ListIncidenteFaces();
 			pScene->octMesh.Swap(octMesh);
 		} else
 		if (!scene.pointcloud.IsEmpty()) {
-			Scene::OctreePoints octPoints(scene.pointcloud.points);
+			Scene::OctreePoints octPoints(scene.pointcloud.points, [](Scene::OctreePoints::IDX_TYPE size, Scene::OctreePoints::Type /*radius*/) {
+				return size > 512;
+			});
 			pScene->octPoints.Swap(octPoints);
 		}
 		return true;
@@ -230,6 +234,12 @@ void Scene::Empty()
 {
 	ReleasePointCloud();
 	ReleaseMesh();
+	obbPoints.Release();
+	if (window.IsValid()) {
+		window.ReleaseClbk();
+		window.Reset();
+		window.SetName(_T("(empty)"));
+	}
 	textures.Release();
 	images.Release();
 	scene.Release();
@@ -237,6 +247,8 @@ void Scene::Empty()
 }
 void Scene::Release()
 {
+	if (window.IsValid())
+		window.SetVisible(false);
 	if (!thread.isRunning()) {
 		events.AddEvent(new EVTClose());
 		thread.join();
@@ -260,23 +272,19 @@ void Scene::ReleaseMesh()
 	}
 }
 
-bool Scene::Init(int width, int height, LPCTSTR windowName, LPCTSTR fileName, LPCTSTR meshFileName)
+bool Scene::Init(const cv::Size& size, LPCTSTR windowName, LPCTSTR fileName, LPCTSTR meshFileName)
 {
 	ASSERT(scene.IsEmpty());
 
 	// init window
 	if (glfwInit() == GL_FALSE)
 		return false;
-	if (!window.Init(width, height, windowName))
+	if (!window.Init(size, windowName))
 		return false;
 	if (glewInit() != GLEW_OK)
 		return false;
 	name = windowName;
 	window.clbkOpenScene = DELEGATEBINDCLASS(Window::ClbkOpenScene, &Scene::Open, this);
-	window.clbkExportScene = DELEGATEBINDCLASS(Window::ClbkExportScene, &Scene::Export, this);
-	window.clbkRayScene = DELEGATEBINDCLASS(Window::ClbkRayScene, &Scene::CastRay, this);
-	window.clbkCompilePointCloud = DELEGATEBINDCLASS(Window::ClbkCompilePointCloud, &Scene::CompilePointCloud, this);
-	window.clbkCompileMesh = DELEGATEBINDCLASS(Window::ClbkCompileMesh, &Scene::CompileMesh, this);
 
 	// init OpenGL
 	glPolygonMode(GL_FRONT, GL_FILL);
@@ -301,9 +309,9 @@ bool Scene::Init(int width, int height, LPCTSTR windowName, LPCTSTR fileName, LP
 	thread.start(ThreadWorker);
 
 	// open scene or init empty scene
-	if (fileName == NULL || !Open(fileName, meshFileName))
-		window.SetCamera(CameraPtr(new Camera()));
-
+	window.SetCamera(Camera());
+	if (fileName != NULL)
+		Open(fileName, meshFileName);
 	window.SetVisible(true);
 	return true;
 }
@@ -333,14 +341,18 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 
 	// init scene
 	AABB3d bounds(true);
+	AABB3d imageBounds(true);
+	Point3d center(Point3d::INF);
 	if (!scene.pointcloud.IsEmpty()) {
 		bounds = scene.pointcloud.GetAABB(MINF(3u,scene.nCalibratedImages));
 		if (bounds.IsEmpty())
 			bounds = scene.pointcloud.GetAABB();
+		center = scene.pointcloud.GetCenter();
 	}
 	if (!scene.mesh.IsEmpty()) {
 		scene.mesh.ComputeNormalFaces();
 		bounds.Insert(scene.mesh.GetAABB());
+		center = scene.mesh.GetCenter();
 	}
 
 	// init images
@@ -349,7 +361,8 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 		const MVS::Image& imageData = scene.images[idxImage];
 		if (!imageData.IsValid())
 			continue;
-		images.AddConstruct(idxImage);
+		images.emplace_back(idxImage);
+		imageBounds.InsertFull(imageData.camera.C);
 	}
 
 	// init and load texture
@@ -373,12 +386,24 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 	CompilePointCloud();
 	// compile mesh
 	CompileMesh();
+	// compile bounding-box
+	CompileBounds();
 
 	// init camera
-	window.SetCamera(CameraPtr(new Camera(bounds)));
-	window.camera->maxCamID = images.size();
+	window.SetCamera(Camera(bounds,
+		center == Point3d::INF ? Point3d(bounds.GetCenter()) : center,
+		images.size()<2?1.f:(float)imageBounds.EnlargePercent(REAL(1)/images.size()).GetSize().norm()));
+	window.camera.maxCamID = images.size();
 	window.SetName(String::FormatString((name + _T(": %s")).c_str(), Util::getFileName(fileName).c_str()));
-	window.Reset(MINF(2u, images.size()));
+	window.clbkExportScene = DELEGATEBINDCLASS(Window::ClbkExportScene, &Scene::Export, this);
+	window.clbkCompilePointCloud = DELEGATEBINDCLASS(Window::ClbkCompilePointCloud, &Scene::CompilePointCloud, this);
+	window.clbkCompileMesh = DELEGATEBINDCLASS(Window::ClbkCompileMesh, &Scene::CompileMesh, this);
+	if (scene.IsBounded())
+		window.clbkCompileBounds = DELEGATEBINDCLASS(Window::ClbkCompileBounds, &Scene::CompileBounds, this);
+	if (!bounds.IsEmpty())
+		window.clbkRayScene = DELEGATEBINDCLASS(Window::ClbkRayScene, &Scene::CastRay, this);
+	window.Reset(!scene.pointcloud.IsEmpty()&&!scene.mesh.IsEmpty()?Window::SPR_NONE:Window::SPR_ALL,
+		MINF(2u,images.size()));
 	return true;
 }
 
@@ -459,13 +484,32 @@ void Scene::CompileMesh()
 	glEndList();
 }
 
+void Scene::CompileBounds()
+{
+	if (!scene.IsBounded())
+		return;
+	obbPoints.Release();
+	window.bRenderBounds = !window.bRenderBounds;
+	if (window.bRenderBounds) {
+		static const uint8_t indices[12*2] = {
+			0,2, 2,3, 3,1, 1,0,
+			0,6, 2,4, 3,5, 1,7,
+			6,4, 4,5, 5,7, 7,6
+		};
+		OBB3f::POINT corners[OBB3f::numCorners];
+		scene.obb.GetCorners(corners);
+		for (int i=0; i<12; ++i) {
+			obbPoints.emplace_back(corners[indices[i*2+0]]);
+			obbPoints.emplace_back(corners[indices[i*2+1]]);
+		}
+	}
+}
+
 void Scene::Draw()
 {
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 	glPointSize(window.pointSize);
 
-	window.UpdateView(images, scene.images);
-
 	// render point-cloud
 	if (listPointCloud) {
 		glDisable(GL_TEXTURE_2D);
@@ -489,6 +533,7 @@ void Scene::Draw()
 	// render cameras
 	if (window.bRenderCameras) {
 		glDisable(GL_CULL_FACE);
+		const Point3* ptrPrevC(NULL);
 		FOREACH(idx, images) {
 			Image& image = images[idx];
 			const MVS::Image& imageData = scene.images[image.idx];
@@ -499,7 +544,7 @@ void Scene::Draw()
 			glPointSize(window.pointSize+1.f);
 			glDisable(GL_TEXTURE_2D);
 			// draw camera position and image center
-			const double scaleFocal(window.camera->scaleF);
+			const double scaleFocal(window.camera.scaleF);
 			glBegin(GL_POINTS);
 			glColor3f(1,0,0); glVertex3f(0,0,0); // camera position
 			glColor3f(0,1,0); glVertex3f(0,0,(float)scaleFocal); // image center
@@ -516,7 +561,7 @@ void Scene::Draw()
 			const Point3d ic3(px, py, scaleFocal);
 			const Point3d ic4(px, cy, scaleFocal);
 			// draw image thumbnail
-			const bool bSelectedImage(idx == window.camera->currentCamID);
+			const bool bSelectedImage(idx == window.camera.currentCamID);
 			if (bSelectedImage) {
 				if (image.IsValid()) {
 					// render image
@@ -561,8 +606,39 @@ void Scene::Draw()
 			glEnd();
 			// restore coordinate system
 			glPopMatrix();
+			// render image visibility info
+			if (window.bRenderImageVisibility && idx != NO_ID && idx==window.camera.currentCamID) {
+				if (scene.pointcloud.IsValid()) {
+					const Image& image = images[idx];
+					glPointSize(window.pointSize*1.1f);
+					glDisable(GL_DEPTH_TEST);
+					glBegin(GL_POINTS);
+					glColor3f(1.f,0.f,0.f);
+					FOREACH(i, scene.pointcloud.points) {
+						ASSERT(!scene.pointcloud.pointViews[i].empty());
+						if (scene.pointcloud.pointViews[i].size() < window.minViews)
+							continue;
+						if (scene.pointcloud.pointViews[i].FindFirst(image.idx) == MVS::PointCloud::ViewArr::NO_INDEX)
+							continue;
+						glVertex3fv(scene.pointcloud.points[i].ptr());
+					}
+					glEnd();
+					glEnable(GL_DEPTH_TEST);
+					glPointSize(window.pointSize);
+				}
+			}
+			// render camera trajectory
+			if (window.bRenderCameraTrajectory && ptrPrevC) {
+				glBegin(GL_LINES);
+				glColor3f(1.f,0.5f,0.f);
+				glVertex3dv(ptrPrevC->ptr());
+				glVertex3dv(camera.C.ptr());
+				glEnd();
+			}
+			ptrPrevC = &camera.C;
 		}
 	}
+	// render selection
 	if (window.selectionType != Window::SEL_NA) {
 		glPointSize(window.pointSize+4);
 		glDisable(GL_DEPTH_TEST);
@@ -573,25 +649,43 @@ void Scene::Draw()
 		glColor3f(0,0,1); glVertex3fv(window.selectionPoints[2].ptr());
 		}
 		glEnd();
+		if (window.bRenderViews && window.selectionType == Window::SEL_POINT) {
+			if (!scene.pointcloud.pointViews.empty()) {
+				glBegin(GL_LINES);
+				const MVS::PointCloud::ViewArr& views = scene.pointcloud.pointViews[(MVS::PointCloud::Index)window.selectionIdx];
+				ASSERT(!views.empty());
+				for (MVS::PointCloud::View idxImage: views) {
+					const MVS::Image& imageData = scene.images[idxImage];
+					glVertex3dv(imageData.camera.C.ptr());
+					glVertex3fv(window.selectionPoints[0].ptr());
+				}
+				glEnd();
+			}
+		}
 		glEnable(GL_DEPTH_TEST);
 		glPointSize(window.pointSize);
 	}
+	// render oriented-bounding-box
+	if (!obbPoints.empty()) {
+		glDepthMask(GL_FALSE);
+		glBegin(GL_LINES);
+		glColor3f(0.5f,0.1f,0.8f);
+		for (int i=0; i<obbPoints.size(); i+=2) {
+			glVertex3fv(obbPoints[i+0].ptr());
+			glVertex3fv(obbPoints[i+1].ptr());
+		}
+		glEnd();
+		glDepthMask(GL_TRUE);
+	}
 	glfwSwapBuffers(window.GetWindow());
 }
 
-void Scene::ProcessEvents()
-{
-	glfwWaitEvents();
-	window.UpdateMousePosition();
-	if (glfwGetMouseButton(window.GetWindow(), GLFW_MOUSE_BUTTON_1) != GLFW_RELEASE)
-		window.camera->Rotate(window.pos, window.prevPos);
-}
-
 void Scene::Loop()
 {
 	while (!glfwWindowShouldClose(window.GetWindow())) {
-		ProcessEvents();
+		window.UpdateView(images, scene.images);
 		Draw();
+		glfwWaitEvents();
 	}
 }
 
@@ -616,8 +710,7 @@ void Scene::CastRay(const Ray3& ray, int action)
 	if (window.selectionType != Window::SEL_NA &&
 		now-window.selectionTime < timeDblClick) {
 		// this is a double click, center scene at the selected point
-		window.camera->center = Point3d(window.selectionPoints[3]);
-		window.camera->dist *= 0.7;
+		window.CenterCamera(window.selectionPoints[3]);
 		window.selectionTime = now;
 	} else
 	if (!octMesh.IsEmpty()) {
@@ -631,6 +724,7 @@ void Scene::CastRay(const Ray3& ray, int action)
 			window.selectionPoints[3] = (ray.m_pOrig + ray.m_vDir*intRay.pick.dist).cast<float>();
 			window.selectionType = Window::SEL_TRIANGLE;
 			window.selectionTime = now;
+			window.selectionIdx = intRay.pick.idx;
 			DEBUG("Face selected:\n\tindex: %u\n\tvertex 1: %u (%g %g %g)\n\tvertex 2: %u (%g %g %g)\n\tvertex 3: %u (%g %g %g)",
 				intRay.pick.idx,
 				face[0], window.selectionPoints[0].x, window.selectionPoints[0].y, window.selectionPoints[0].z,
@@ -648,6 +742,7 @@ void Scene::CastRay(const Ray3& ray, int action)
 			window.selectionPoints[0] = window.selectionPoints[3] = scene.pointcloud.points[intRay.pick.idx];
 			window.selectionType = Window::SEL_POINT;
 			window.selectionTime = now;
+			window.selectionIdx = intRay.pick.idx;
 			DEBUG("Point selected:\n\tindex: %u (%g %g %g)%s",
 				intRay.pick.idx,
 				window.selectionPoints[0].x, window.selectionPoints[0].y, window.selectionPoints[0].z,
@@ -666,7 +761,7 @@ void Scene::CastRay(const Ray3& ray, int action)
 				}().c_str()
 			);
 		} else {
-			window.selectionType = Window::SEL_POINT;
+			window.selectionType = Window::SEL_NA;
 		}
 	}
 	break; }
diff --git a/apps/Viewer/Scene.h b/apps/Viewer/Scene.h
index 0d31fa076..8704e24eb 100644
--- a/apps/Viewer/Scene.h
+++ b/apps/Viewer/Scene.h
@@ -48,8 +48,8 @@ namespace VIEWER {
 class Scene
 {
 public:
-	typedef TOctree<MVS::PointCloud::PointArr,MVS::PointCloud::Point::Type,3,uint32_t,512> OctreePoints;
-	typedef TOctree<MVS::Mesh::VertexArr,MVS::Mesh::Vertex::Type,3,uint32_t,256> OctreeMesh;
+	typedef TOctree<MVS::PointCloud::PointArr,MVS::PointCloud::Point::Type,3,uint32_t> OctreePoints;
+	typedef TOctree<MVS::Mesh::VertexArr,MVS::Mesh::Vertex::Type,3,uint32_t> OctreeMesh;
 
 public:
 	String name;
@@ -62,6 +62,7 @@ class Scene
 
 	OctreePoints octPoints;
 	OctreeMesh octMesh;
+	Point3fArr obbPoints;
 
 	GLuint listPointCloud;
 	GLuint listMesh;
@@ -82,14 +83,14 @@ class Scene
 	inline bool IsOpen() const { return IsValid() && !scene.IsEmpty(); }
 	inline bool IsOctreeValid() const { return !octPoints.IsEmpty() || !octMesh.IsEmpty(); }
 
-	bool Init(int width, int height, LPCTSTR windowName, LPCTSTR fileName=NULL, LPCTSTR meshFileName=NULL);
+	bool Init(const cv::Size&, LPCTSTR windowName, LPCTSTR fileName=NULL, LPCTSTR meshFileName=NULL);
 	bool Open(LPCTSTR fileName, LPCTSTR meshFileName=NULL);
 	bool Export(LPCTSTR fileName, LPCTSTR exportType=NULL, bool losslessTexture=false) const;
 	void CompilePointCloud();
 	void CompileMesh();
+	void CompileBounds();
 
 	void Draw();
-	void ProcessEvents();
 	void Loop();
 
 	void CastRay(const Ray3&, int);
diff --git a/apps/Viewer/Viewer.cpp b/apps/Viewer/Viewer.cpp
index 2470e3abf..a6fffebe9 100644
--- a/apps/Viewer/Viewer.cpp
+++ b/apps/Viewer/Viewer.cpp
@@ -44,6 +44,8 @@ using namespace VIEWER;
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+namespace {
+
 namespace OPT {
 String strInputFileName;
 String strOutputFileName;
@@ -75,13 +77,13 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
 		("export-type", boost::program_options::value<std::string>(&OPT::strExportType), "file type used to export the 3D scene (ply or obj)")
-		("archive-type", boost::program_options::value<unsigned>(&OPT::nArchiveType)->default_value(2), "project archive type: 0-text, 1-binary, 2-compressed binary")
-		("process-priority", boost::program_options::value<int>(&OPT::nProcessPriority)->default_value(0), "process priority (normal by default)")
-		("max-threads", boost::program_options::value<unsigned>(&OPT::nMaxThreads)->default_value(0), "maximum number of threads that this process should use (0 - use all available cores)")
-		("max-memory", boost::program_options::value<unsigned>(&OPT::nMaxMemory)->default_value(0), "maximum amount of memory in MB that this process should use (0 - use all available memory)")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(0), "process priority (normal by default)")
+		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads that this process should use (0 - use all available cores)")
+		("max-memory", boost::program_options::value(&OPT::nMaxMemory)->default_value(0), "maximum amount of memory in MB that this process should use (0 - use all available memory)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
-		("log-file", boost::program_options::value<bool>(&OPT::bLogFile)->default_value(false), "dump log to a file")
-		("verbosity,v", boost::program_options::value<int>(&g_nVerbosityLevel)->default_value(
+		("log-file", boost::program_options::value(&OPT::bLogFile)->default_value(false), "dump log to a file")
+		("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
 			#if TD_VERBOSE == TD_VERBOSE_DEBUG
 			3
 			#else
@@ -96,7 +98,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input project filename containing camera poses and scene (point-cloud/mesh)")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
-		("texture-lossless", boost::program_options::value<bool>(&OPT::bLosslessTexture)->default_value(false), "export texture using a lossless image format")
+		("texture-lossless", boost::program_options::value(&OPT::bLosslessTexture)->default_value(false), "export texture using a lossless image format")
 		;
 
 	// hidden options, allowed both on command line and
@@ -152,10 +154,14 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 			"Keys:\n"
 			"\tE: export scene\n"
 			"\tR: reset scene\n"
+			"\tB: render bounds\n"
 			"\tC: render cameras\n"
+			"\tC + Shift: render camera trajectory\n"
 			"\tLeft/Right: select next camera to view the scene\n"
-			"\tW: render wire-frame mesh\n"
 			"\tT: render mesh texture\n"
+			"\tW: render wire-frame mesh\n"
+			"\tV: render view rays to the selected point\n"
+			"\tV + Shift: render points seen by the current view\n"
 			"\tUp/Down: adjust point size\n"
 			"\tUp/Down + Shift: adjust minimum number of views accepted when displaying a point or line\n"
 			"\t+/-: adjust camera thumbnail transparency\n"
@@ -200,6 +206,8 @@ void Finalize()
 	CLOSE_LOG();
 }
 
+} // unnamed namespace
+
 int main(int argc, LPCTSTR* argv)
 {
 	#ifdef _DEBUGINFO
@@ -212,7 +220,7 @@ int main(int argc, LPCTSTR* argv)
 
 	// create viewer
 	Scene viewer;
-	if (!viewer.Init(1280, 720, APPNAME,
+	if (!viewer.Init(cv::Size(1280, 720), APPNAME,
 			OPT::strInputFileName.IsEmpty() ? NULL : MAKE_PATH_SAFE(OPT::strInputFileName).c_str(),
 			OPT::strMeshFileName.IsEmpty() ? NULL : MAKE_PATH_SAFE(OPT::strMeshFileName).c_str()))
 		return EXIT_FAILURE;
diff --git a/apps/Viewer/Window.cpp b/apps/Viewer/Window.cpp
index 4cb3eeef4..e03d6d289 100644
--- a/apps/Viewer/Window.cpp
+++ b/apps/Viewer/Window.cpp
@@ -57,39 +57,53 @@ Window::~Window()
 void Window::Release()
 {
 	if (IsValid()) {
+		#ifdef _USE_NUKLEAR
+		nk_glfw3_shutdown();
+		#endif
 		glfwDestroyWindow(window);
 		window = NULL;
 	}
 	clbkOpenScene.reset();
+	ReleaseClbk();
+}
+
+void Window::ReleaseClbk()
+{
 	clbkExportScene.reset();
 	clbkRayScene.reset();
 	clbkCompilePointCloud.reset();
 	clbkCompileMesh.reset();
+	clbkCompileBounds.reset();
 }
 
-bool Window::Init(int width, int height, LPCTSTR name)
+bool Window::Init(const cv::Size& _size, LPCTSTR name)
 {
+	sizeScale = 1;
+	size = _size;
+
 	glfwDefaultWindowHints();
 	glfwWindowHint(GLFW_VISIBLE, 0);
-	window = glfwCreateWindow(width, height, name, NULL, NULL);
+	window = glfwCreateWindow(size.width, size.height, name, NULL, NULL);
 	if (!window)
 		return false;
 	glfwMakeContextCurrent(window);
 	glfwSetFramebufferSizeCallback(window, Window::Resize);
 	glfwSetKeyCallback(window, Window::Key);
 	glfwSetMouseButtonCallback(window, Window::MouseButton);
+	glfwSetCursorPosCallback(window, Window::MouseMove);
 	glfwSetScrollCallback(window, Window::Scroll);
 	glfwSetDropCallback(window, Window::Drop);
 	g_mapWindows[window] = this;
+
 	Reset();
 	return true;
 }
-void Window::SetCamera(CameraPtr cam)
+void Window::SetCamera(const Camera& cam)
 {
 	camera = cam;
-	int width, height;
-	glfwGetWindowSize(window, &width, &height);
-	Resize(width, height);
+	cv::Size _size;
+	glfwGetFramebufferSize(window, &_size.width, &_size.height);
+	Resize(_size);
 }
 void Window::SetName(LPCTSTR name)
 {
@@ -102,18 +116,27 @@ void Window::SetVisible(bool v)
 	else
 		glfwHideWindow(window);
 }
-void Window::Reset(uint32_t _minViews)
+bool Window::IsVisible() const
 {
-	if (camera)
-		camera->Reset();
-	sparseType = SPR_ALL;
+	return glfwGetWindowAttrib(window, GLFW_VISIBLE) != 0;
+}
+void Window::Reset(SPARSE _sparseType, unsigned _minViews)
+{
+	camera.Reset();
+	inputType = INP_NA;
+	sparseType = _sparseType;
 	minViews = _minViews;
 	pointSize = 2.f;
 	cameraBlend = 0.5f;
 	bRenderCameras = true;
+	bRenderCameraTrajectory = true;
+	bRenderImageVisibility = false;
+	bRenderViews = true;
 	bRenderSolid = true;
 	bRenderTexture = true;
+	bRenderBounds = false;
 	selectionType = SEL_NA;
+	selectionIdx = NO_IDX;
 	if (clbkCompilePointCloud != NULL)
 		clbkCompilePointCloud();
 	if (clbkCompileMesh != NULL)
@@ -121,46 +144,76 @@ void Window::Reset(uint32_t _minViews)
 	glfwPostEmptyEvent();
 }
 
-void Window::UpdateView(const ImageArr& images, const MVS::ImageArr& sceneImages)
+
+void Window::CenterCamera(const Point3& pos)
 {
-	glMatrixMode(GL_MODELVIEW);
-	if (camera->prevCamID != camera->currentCamID && camera->currentCamID != NO_ID) {
-		// enable camera view mode
-		// apply current camera transform
-		const Image& image = images[camera->currentCamID];
-		const MVS::Image& imageData = sceneImages[image.idx];
-		const MVS::Camera& camera = imageData.camera;
-		const Eigen::Matrix4d trans(TransW2L((const Matrix3x3::EMat)camera.R, camera.GetT()));
-		glLoadMatrixf((GLfloat*)gs_convert);
-		glMultMatrixd((GLdouble*)trans.data());
+	camera.center = pos;
+	camera.dist *= 0.7;
+}
+
+
+void Window::UpdateView(const ImageArr& images, const MVS::ImageArr& sceneImagesMVS)
+{
+	if (camera.IsCameraViewMode()) {
+		// enable camera view mode and apply current camera transform
+		const Image& image = images[camera.currentCamID];
+		const MVS::Camera& camera = sceneImagesMVS[image.idx].camera;
+		UpdateView((const Matrix3x3::EMat)camera.R, camera.GetT());
 	} else {
 		// apply view point transform
-		const Eigen::Matrix4d trans(camera->GetLookAt());
+		glMatrixMode(GL_MODELVIEW);
+		const Eigen::Matrix4d trans(camera.GetLookAt());
 		glLoadMatrixd((GLdouble*)trans.data());
 	}
 }
 
-void Window::UpdateMousePosition()
+void Window::UpdateView(const Eigen::Matrix3d& R, const Eigen::Vector3d& t)
+{
+	glMatrixMode(GL_MODELVIEW);
+	transform = gs_convert * TransW2L(R, t);
+	glLoadMatrixd((GLdouble*)transform.data());
+}
+
+void Window::UpdateMousePosition(double xpos, double ypos)
 {
 	prevPos = pos;
-	// get current position
-	glfwGetCursorPos(window, &pos.x(), &pos.y());
+	pos.x() = xpos;
+	pos.y() = ypos;
 	// normalize position to [-1:1] range
-	const int w(camera->width);
-	const int h(camera->height);
+	const int w(camera.size.width);
+	const int h(camera.size.height);
 	pos.x() = (2.0 * pos.x() - w) / w;
 	pos.y() = (h - 2.0 * pos.y()) / h;
 }
 
-void Window::Resize(int width, int height)
+
+void Window::GetFrame(Image8U3& image) const
+{
+	image.create(GetSize());
+	glReadPixels(0, 0, image.width(), image.height(), GL_BGR_EXT, GL_UNSIGNED_BYTE, image.ptr());
+	cv::flip(image, image, 0);
+}
+
+
+cv::Size Window::GetSize() const
 {
+	cv::Size _size;
+	glfwGetWindowSize(window, &_size.width, &_size.height);
+	return _size;
+}
+void Window::Resize(const cv::Size& _size)
+{
+	// detect scaled window
+	sizeScale = (double)GetSize().width/_size.width;
+	size = _size;
+	// update resolution
 	glfwMakeContextCurrent(window);
-	glViewport(0, 0, (GLint)width, (GLint)height);
-	camera->Resize(width, height);
+	glViewport(0, 0, size.width, size.height);
+	camera.Resize(cv::Size(ROUND2INT(size.width*sizeScale), ROUND2INT(size.height*sizeScale)));
 }
 void Window::Resize(GLFWwindow* window, int width, int height)
 {
-	g_mapWindows[window]->Resize(width, height);
+	g_mapWindows[window]->Resize(cv::Size(width, height));
 }
 
 void Window::Key(int k, int /*scancode*/, int action, int mod)
@@ -196,31 +249,66 @@ void Window::Key(int k, int /*scancode*/, int action, int mod)
 		break;
 	case GLFW_KEY_LEFT:
 		if (action != GLFW_RELEASE) {
-			camera->prevCamID = camera->currentCamID;
-			camera->currentCamID--;
-			if (camera->currentCamID < NO_ID && camera->currentCamID >= camera->maxCamID)
-				camera->currentCamID = camera->maxCamID-1;
+			camera.prevCamID = camera.currentCamID;
+			camera.currentCamID--;
+			if (camera.currentCamID < NO_ID && camera.currentCamID >= camera.maxCamID)
+				camera.currentCamID = camera.maxCamID-1;
 		}
 		break;
 	case GLFW_KEY_RIGHT:
 		if (action != GLFW_RELEASE) {
-			camera->prevCamID = camera->currentCamID;
-			camera->currentCamID++;
-			if (camera->currentCamID >= camera->maxCamID)
-				camera->currentCamID = NO_ID;
+			camera.prevCamID = camera.currentCamID;
+			camera.currentCamID++;
+			if (camera.currentCamID >= camera.maxCamID)
+				camera.currentCamID = NO_ID;
+		}
+		break;
+	case GLFW_KEY_B:
+		if (action == GLFW_RELEASE)
+			if (clbkCompileBounds != NULL)
+				clbkCompileBounds();
+		break;
+	case GLFW_KEY_C:
+		if (action == GLFW_RELEASE) {
+			if (mod & GLFW_MOD_SHIFT) {
+				bRenderCameraTrajectory = !bRenderCameraTrajectory;
+			} else {
+				bRenderCameras = !bRenderCameras;
+			}
 		}
 		break;
 	case GLFW_KEY_E:
 		if (action == GLFW_RELEASE && clbkExportScene != NULL)
 			clbkExportScene(NULL, NULL, false);
 		break;
+	case GLFW_KEY_P:
+		switch (sparseType) {
+		case SPR_POINTS: sparseType = SPR_LINES; break;
+		case SPR_LINES: sparseType = SPR_ALL; break;
+		case SPR_ALL: sparseType = SPR_POINTS; break;
+		}
+		if (clbkCompilePointCloud != NULL)
+			clbkCompilePointCloud();
+		break;
 	case GLFW_KEY_R:
 		if (action == GLFW_RELEASE)
 			Reset();
 		break;
-	case GLFW_KEY_C:
-		if (action == GLFW_RELEASE)
-			bRenderCameras = !bRenderCameras;
+	case GLFW_KEY_T:
+		if (action == GLFW_RELEASE) {
+			bRenderTexture = !bRenderTexture;
+			if (clbkCompileMesh != NULL)
+				clbkCompileMesh();
+		}
+		break;
+	case GLFW_KEY_V:
+		if (action == GLFW_RELEASE) {
+			if (mod & GLFW_MOD_SHIFT) {
+				bRenderImageVisibility = !bRenderImageVisibility;
+			} else {
+				bRenderViews = !bRenderViews;
+			}
+		}
 		break;
 	case GLFW_KEY_W:
 		if (action == GLFW_RELEASE) {
@@ -233,28 +321,12 @@ void Window::Key(int k, int /*scancode*/, int action, int mod)
 			}
 		}
 		break;
-	case GLFW_KEY_T:
-		if (action == GLFW_RELEASE) {
-			bRenderTexture = !bRenderTexture;
-			if (clbkCompileMesh != NULL)
-				clbkCompileMesh();
-		}
-		break;
-	case GLFW_KEY_P:
-		switch (sparseType) {
-		case SPR_POINTS: sparseType = SPR_LINES; break;
-		case SPR_LINES: sparseType = SPR_ALL; break;
-		case SPR_ALL: sparseType = SPR_POINTS; break;
-		}
-		if (clbkCompilePointCloud != NULL)
-			clbkCompilePointCloud();
-		break;
 	case GLFW_KEY_KP_SUBTRACT:
 		if (action == GLFW_RELEASE) {
 			if (mod & GLFW_MOD_CONTROL)
-				camera->SetFOV(MAXF(camera->fov-5, 5.0));
+				camera.SetFOV(camera.fov-5.f);
 			else if (mod & GLFW_MOD_SHIFT)
-				camera->scaleF *= 0.9f;
+				camera.scaleF *= 0.9f;
 			else
 				cameraBlend = MAXF(cameraBlend-0.1f, 0.f);
 		}
@@ -262,9 +334,9 @@ void Window::Key(int k, int /*scancode*/, int action, int mod)
 	case GLFW_KEY_KP_ADD:
 		if (action == GLFW_RELEASE) {
 			if (mod & GLFW_MOD_CONTROL)
-				camera->SetFOV(camera->fov+5);
+				camera.SetFOV(camera.fov+5.f);
 			else if (mod & GLFW_MOD_SHIFT)
-				camera->scaleF *= 1.11f;
+				camera.scaleF *= 1.1111f;
 			else
 				cameraBlend = MINF(cameraBlend+0.1f, 1.f);
 		}
@@ -278,24 +350,53 @@ void Window::Key(GLFWwindow* window, int k, int scancode, int action, int mod)
 
 void Window::MouseButton(int button, int action, int /*mods*/)
 {
-	if (clbkRayScene != NULL && button == GLFW_MOUSE_BUTTON_LEFT) {
-		typedef Eigen::Matrix<double,4,4,Eigen::ColMajor> Mat4;
-		Mat4 P, V;
-		glGetDoublev(GL_MODELVIEW_MATRIX, V.data());
-		glGetDoublev(GL_PROJECTION_MATRIX, P.data());
-		// 4d Homogeneous Clip Coordinates
-		const Eigen::Vector4d ray_clip(pos.x(), pos.y(), -1.0, 1.0);
-		// 4d Eye (Camera) Coordinates
-		Eigen::Vector4d ray_eye(P.inverse()*ray_clip);
-		ray_eye.z() = -1.0;
-		ray_eye.w() = 0.0;
-		// 4d World Coordinates
-		const Mat4 invV(V.inverse());
-		ASSERT(ISEQUAL(invV(3,3),1.0));
-		const Eigen::Vector3d start(invV.topRightCorner<3,1>());
-		const Eigen::Vector4d ray_wor(invV*ray_eye);
-		const Eigen::Vector3d dir(ray_wor.topRows<3>().normalized());
-		clbkRayScene(Ray3d(start, dir), action);
+	switch (button) {
+	case GLFW_MOUSE_BUTTON_LEFT: {
+		if (action == GLFW_PRESS) {
+			inputType.set(INP_MOUSE_LEFT);
+		} else
+		if (action == GLFW_RELEASE) {
+			inputType.unset(INP_MOUSE_LEFT);
+			glfwSetInputMode(window, GLFW_CURSOR, GLFW_CURSOR_NORMAL);
+		}
+		if (clbkRayScene != NULL) {
+			typedef Eigen::Matrix<double,4,4,Eigen::ColMajor> Mat4;
+			Mat4 P, V;
+			glGetDoublev(GL_MODELVIEW_MATRIX, V.data());
+			glGetDoublev(GL_PROJECTION_MATRIX, P.data());
+			// 4d Homogeneous Clip Coordinates
+			const Eigen::Vector4d ray_clip(pos.x(), pos.y(), -1.0, 1.0);
+			// 4d Eye (Camera) Coordinates
+			Eigen::Vector4d ray_eye(P.inverse()*ray_clip);
+			ray_eye.z() = -1.0;
+			ray_eye.w() = 0.0;
+			// 4d World Coordinates
+			const Mat4 invV(V.inverse());
+			ASSERT(ISEQUAL(invV(3,3),1.0));
+			const Eigen::Vector3d start(invV.topRightCorner<3,1>());
+			const Eigen::Vector4d ray_wor(invV*ray_eye);
+			const Eigen::Vector3d dir(ray_wor.topRows<3>().normalized());
+			clbkRayScene(Ray3d(start, dir), action);
+		}
+	} break;
+	case GLFW_MOUSE_BUTTON_MIDDLE: {
+		if (action == GLFW_PRESS) {
+			inputType.set(INP_MOUSE_MIDDLE);
+			glfwSetInputMode(window, GLFW_CURSOR, GLFW_CURSOR_DISABLED);
+		} else
+		if (action == GLFW_RELEASE) {
+			inputType.unset(INP_MOUSE_MIDDLE);
+			glfwSetInputMode(window, GLFW_CURSOR, GLFW_CURSOR_NORMAL);
+		}
+	} break;
+	case GLFW_MOUSE_BUTTON_RIGHT: {
+		if (action == GLFW_PRESS) {
+			inputType.set(INP_MOUSE_RIGHT);
+		} else
+		if (action == GLFW_RELEASE) {
+			inputType.unset(INP_MOUSE_RIGHT);
+		}
+	}
 	}
 }
 void Window::MouseButton(GLFWwindow* window, int button, int action, int mods)
@@ -303,9 +404,25 @@ void Window::MouseButton(GLFWwindow* window, int button, int action, int mods)
 	g_mapWindows[window]->MouseButton(button, action, mods);
 }
 
+void Window::MouseMove(double xpos, double ypos)
+{
+	UpdateMousePosition(xpos, ypos);
+	if (inputType.isSet(INP_MOUSE_LEFT)) {
+		glfwSetInputMode(window, GLFW_CURSOR, GLFW_CURSOR_DISABLED);
+		camera.Rotate(pos, prevPos);
+	} else
+	if (inputType.isSet(INP_MOUSE_MIDDLE)) {
+		camera.Translate(pos, prevPos);
+	}
+}
+void Window::MouseMove(GLFWwindow* window, double xpos, double ypos)
+{
+	g_mapWindows[window]->MouseMove(xpos, ypos);
+}
+
 void Window::Scroll(double /*xoffset*/, double yoffset)
 {
-	camera->dist *= (yoffset>0 ? POW(1.11,yoffset) : POW(0.9,-yoffset));
+	camera.dist *= (yoffset>0 ? POW(1.11,yoffset) : POW(0.9,-yoffset));
 }
 void Window::Scroll(GLFWwindow* window, double xoffset, double yoffset)
 {
diff --git a/apps/Viewer/Window.h b/apps/Viewer/Window.h
index 0d9fe5034..364ad7e27 100644
--- a/apps/Viewer/Window.h
+++ b/apps/Viewer/Window.h
@@ -50,10 +50,22 @@ class Window
 {
 public:
 	GLFWwindow* window; // window handle
-	CameraPtr camera; // current camera (always valid)
+	Camera camera; // current camera
 	Eigen::Vector2d pos, prevPos; // current and previous mouse position (normalized)
+	Eigen::Matrix4d transform; // view matrix corresponding to the currently selected image
+	cv::Size size; // resolution in pixels, sometimes not equal to window resolution, ex. on Retina display
+	double sizeScale; // window/screen resolution scale
+
+	enum INPUT : unsigned {
+		INP_NA = 0,
+		INP_MOUSE_LEFT    = (1 << 0),
+		INP_MOUSE_MIDDLE  = (1 << 1),
+		INP_MOUSE_RIGHT   = (1 << 2),
+	};
+	Flags inputType;
 
 	enum SPARSE {
+		SPR_NONE   = 0,
 		SPR_POINTS = (1 << 0),
 		SPR_LINES  = (1 << 1),
 		SPR_ALL    = SPR_POINTS|SPR_LINES
@@ -63,8 +75,12 @@ class Window
 	float pointSize;
 	float cameraBlend;
 	bool bRenderCameras;
+	bool bRenderCameraTrajectory;
+	bool bRenderImageVisibility;
+	bool bRenderViews;
 	bool bRenderSolid;
 	bool bRenderTexture;
+	bool bRenderBounds;
 
 	enum SELECTION {
 		SEL_NA = 0,
@@ -74,6 +90,7 @@ class Window
 	SELECTION selectionType;
 	Point3f selectionPoints[4];
 	double selectionTimeClick, selectionTime;
+	IDX selectionIdx;
 
 	typedef DELEGATE<bool (LPCTSTR, LPCTSTR)> ClbkOpenScene;
 	ClbkOpenScene clbkOpenScene;
@@ -85,6 +102,8 @@ class Window
 	ClbkCompilePointCloud clbkCompilePointCloud;
 	typedef DELEGATE<void (void)> ClbkCompileMesh;
 	ClbkCompileMesh clbkCompileMesh;
+	typedef DELEGATE<void (void)> ClbkCompileBounds;
+	ClbkCompileBounds clbkCompileBounds;
 
 	typedef std::unordered_map<GLFWwindow*,Window*> WindowsMap;
 	static WindowsMap g_mapWindows;
@@ -94,25 +113,35 @@ class Window
 	~Window();
 
 	void Release();
+	void ReleaseClbk();
 	inline bool IsValid() const { return window != NULL; }
 
-	bool Init(int width, int height, LPCTSTR name);
-	void SetCamera(CameraPtr);
+	inline GLFWwindow* GetWindow() { return window; }
+
+	bool Init(const cv::Size&, LPCTSTR name);
+	void SetCamera(const Camera&);
 	void SetName(LPCTSTR);
 	void SetVisible(bool);
-	void Reset(uint32_t minViews=2);
+	bool IsVisible() const;
+	void Reset(SPARSE sparseType=SPR_ALL, unsigned minViews=2);
 
-	inline GLFWwindow* GetWindow() { return window; }
+	void CenterCamera(const Point3&);
 
 	void UpdateView(const ImageArr&, const MVS::ImageArr&);
-	void UpdateMousePosition();
+	void UpdateView(const Eigen::Matrix3d& R, const Eigen::Vector3d& t);
+	void UpdateMousePosition(double xpos, double ypos);
+
+	void GetFrame(Image8U3&) const;
 
-	void Resize(int width, int height);
+	cv::Size GetSize() const;
+	void Resize(const cv::Size&);
 	static void Resize(GLFWwindow* window, int width, int height);
 	void Key(int k, int scancode, int action, int mod);
 	static void Key(GLFWwindow* window, int k, int scancode, int action, int mod);
 	void MouseButton(int button, int action, int mods);
 	static void MouseButton(GLFWwindow* window, int button, int action, int mods);
+	void MouseMove(double xpos, double ypos);
+	static void MouseMove(GLFWwindow* window, double xpos, double ypos);
 	void Scroll(double xoffset, double yoffset);
 	static void Scroll(GLFWwindow* window, double xoffset, double yoffset);
 	void Drop(int count, const char** paths);
diff --git a/build/Cotire.cmake b/build/Cotire.cmake
deleted file mode 100644
index 97275d649..000000000
--- a/build/Cotire.cmake
+++ /dev/null
@@ -1,4190 +0,0 @@
-# - cotire (compile time reducer)
-#
-# See the cotire manual for usage hints.
-#
-#=============================================================================
-# Copyright 2012-2018 Sascha Kratky
-#
-# Permission is hereby granted, free of charge, to any person
-# obtaining a copy of this software and associated documentation
-# files (the "Software"), to deal in the Software without
-# restriction, including without limitation the rights to use,
-# copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the
-# Software is furnished to do so, subject to the following
-# conditions:
-#
-# The above copyright notice and this permission notice shall be
-# included in all copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
-# OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
-# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
-# HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
-# WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
-# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
-# OTHER DEALINGS IN THE SOFTWARE.
-#=============================================================================
-
-if(__COTIRE_INCLUDED)
-	return()
-endif()
-set(__COTIRE_INCLUDED TRUE)
-
-# call cmake_minimum_required, but prevent modification of the CMake policy stack in include mode
-# cmake_minimum_required also sets the policy version as a side effect, which we have to avoid
-if (NOT CMAKE_SCRIPT_MODE_FILE)
-	cmake_policy(PUSH)
-endif()
-cmake_minimum_required(VERSION 2.8.12)
-if (NOT CMAKE_SCRIPT_MODE_FILE)
-	cmake_policy(POP)
-endif()
-
-set (COTIRE_CMAKE_MODULE_FILE "${CMAKE_CURRENT_LIST_FILE}")
-set (COTIRE_CMAKE_MODULE_VERSION "1.8.0")
-
-# activate select policies
-if (POLICY CMP0025)
-	# Compiler id for Apple Clang is now AppleClang
-	cmake_policy(SET CMP0025 NEW)
-endif()
-
-if (POLICY CMP0026)
-	# disallow use of the LOCATION target property
-	cmake_policy(SET CMP0026 NEW)
-endif()
-
-if (POLICY CMP0038)
-	# targets may not link directly to themselves
-	cmake_policy(SET CMP0038 NEW)
-endif()
-
-if (POLICY CMP0039)
-	# utility targets may not have link dependencies
-	cmake_policy(SET CMP0039 NEW)
-endif()
-
-if (POLICY CMP0040)
-	# target in the TARGET signature of add_custom_command() must exist
-	cmake_policy(SET CMP0040 NEW)
-endif()
-
-if (POLICY CMP0045)
-	# error on non-existent target in get_target_property
-	cmake_policy(SET CMP0045 NEW)
-endif()
-
-if (POLICY CMP0046)
-	# error on non-existent dependency in add_dependencies
-	cmake_policy(SET CMP0046 NEW)
-endif()
-
-if (POLICY CMP0049)
-	# do not expand variables in target source entries
-	cmake_policy(SET CMP0049 NEW)
-endif()
-
-if (POLICY CMP0050)
-	# disallow add_custom_command SOURCE signatures
-	cmake_policy(SET CMP0050 NEW)
-endif()
-
-if (POLICY CMP0051)
-	# include TARGET_OBJECTS expressions in a target's SOURCES property
-	cmake_policy(SET CMP0051 NEW)
-endif()
-
-if (POLICY CMP0053)
-	# simplify variable reference and escape sequence evaluation
-	cmake_policy(SET CMP0053 NEW)
-endif()
-
-if (POLICY CMP0054)
-	# only interpret if() arguments as variables or keywords when unquoted
-	cmake_policy(SET CMP0054 NEW)
-endif()
-
-if (POLICY CMP0055)
-	# strict checking for break() command
-	cmake_policy(SET CMP0055 NEW)
-endif()
-
-include(CMakeParseArguments)
-include(ProcessorCount)
-
-function (cotire_get_configuration_types _configsVar)
-	set (_configs "")
-	if (CMAKE_CONFIGURATION_TYPES)
-		list (APPEND _configs ${CMAKE_CONFIGURATION_TYPES})
-	endif()
-	if (CMAKE_BUILD_TYPE)
-		list (APPEND _configs "${CMAKE_BUILD_TYPE}")
-	endif()
-	if (_configs)
-		list (REMOVE_DUPLICATES _configs)
-		set (${_configsVar} ${_configs} PARENT_SCOPE)
-	else()
-		set (${_configsVar} "None" PARENT_SCOPE)
-	endif()
-endfunction()
-
-function (cotire_get_source_file_extension _sourceFile _extVar)
-	# get_filename_component returns extension from first occurrence of . in file name
-	# this function computes the extension from last occurrence of . in file name
-	string (FIND "${_sourceFile}" "." _index REVERSE)
-	if (_index GREATER -1)
-		math (EXPR _index "${_index} + 1")
-		string (SUBSTRING "${_sourceFile}" ${_index} -1 _sourceExt)
-	else()
-		set (_sourceExt "")
-	endif()
-	set (${_extVar} "${_sourceExt}" PARENT_SCOPE)
-endfunction()
-
-macro (cotire_check_is_path_relative_to _path _isRelativeVar)
-	set (${_isRelativeVar} FALSE)
-	if (IS_ABSOLUTE "${_path}")
-		foreach (_dir ${ARGN})
-			file (RELATIVE_PATH _relPath "${_dir}" "${_path}")
-			if (NOT _relPath OR (NOT IS_ABSOLUTE "${_relPath}" AND NOT "${_relPath}" MATCHES "^\\.\\."))
-				set (${_isRelativeVar} TRUE)
-				break()
-			endif()
-		endforeach()
-	endif()
-endmacro()
-
-function (cotire_filter_language_source_files _language _target _sourceFilesVar _excludedSourceFilesVar _cotiredSourceFilesVar)
-	if (CMAKE_${_language}_SOURCE_FILE_EXTENSIONS)
-		set (_languageExtensions "${CMAKE_${_language}_SOURCE_FILE_EXTENSIONS}")
-	else()
-		set (_languageExtensions "")
-	endif()
-	if (CMAKE_${_language}_IGNORE_EXTENSIONS)
-		set (_ignoreExtensions "${CMAKE_${_language}_IGNORE_EXTENSIONS}")
-	else()
-		set (_ignoreExtensions "")
-	endif()
-	if (COTIRE_UNITY_SOURCE_EXCLUDE_EXTENSIONS)
-		set (_excludeExtensions "${COTIRE_UNITY_SOURCE_EXCLUDE_EXTENSIONS}")
-	else()
-		set (_excludeExtensions "")
-	endif()
-	if (COTIRE_DEBUG AND _languageExtensions)
-		message (STATUS "${_language} source file extensions: ${_languageExtensions}")
-	endif()
-	if (COTIRE_DEBUG AND _ignoreExtensions)
-		message (STATUS "${_language} ignore extensions: ${_ignoreExtensions}")
-	endif()
-	if (COTIRE_DEBUG AND _excludeExtensions)
-		message (STATUS "${_language} exclude extensions: ${_excludeExtensions}")
-	endif()
-	if (CMAKE_VERSION VERSION_LESS "3.1.0")
-		set (_allSourceFiles ${ARGN})
-	else()
-		# as of CMake 3.1 target sources may contain generator expressions
-		# since we cannot obtain required property information about source files added
-		# through generator expressions at configure time, we filter them out
-		string (GENEX_STRIP "${ARGN}" _allSourceFiles)
-	endif()
-	set (_filteredSourceFiles "")
-	set (_excludedSourceFiles "")
-	foreach (_sourceFile ${_allSourceFiles})
-		get_source_file_property(_sourceIsHeaderOnly "${_sourceFile}" HEADER_FILE_ONLY)
-		get_source_file_property(_sourceIsExternal "${_sourceFile}" EXTERNAL_OBJECT)
-		get_source_file_property(_sourceIsSymbolic "${_sourceFile}" SYMBOLIC)
-		if (NOT _sourceIsHeaderOnly AND NOT _sourceIsExternal AND NOT _sourceIsSymbolic)
-			cotire_get_source_file_extension("${_sourceFile}" _sourceExt)
-			if (_sourceExt)
-				list (FIND _ignoreExtensions "${_sourceExt}" _ignoreIndex)
-				if (_ignoreIndex LESS 0)
-					list (FIND _excludeExtensions "${_sourceExt}" _excludeIndex)
-					if (_excludeIndex GREATER -1)
-						list (APPEND _excludedSourceFiles "${_sourceFile}")
-					else()
-						list (FIND _languageExtensions "${_sourceExt}" _sourceIndex)
-						if (_sourceIndex GREATER -1)
-							# consider source file unless it is excluded explicitly
-							get_source_file_property(_sourceIsExcluded "${_sourceFile}" COTIRE_EXCLUDED)
-							if (_sourceIsExcluded)
-								list (APPEND _excludedSourceFiles "${_sourceFile}")
-							else()
-								list (APPEND _filteredSourceFiles "${_sourceFile}")
-							endif()
-						else()
-							get_source_file_property(_sourceLanguage "${_sourceFile}" LANGUAGE)
-							if ("${_sourceLanguage}" STREQUAL "${_language}")
-								# add to excluded sources, if file is not ignored and has correct language without having the correct extension
-								list (APPEND _excludedSourceFiles "${_sourceFile}")
-							endif()
-						endif()
-					endif()
-				endif()
-			endif()
-		endif()
-	endforeach()
-	# separate filtered source files from already cotired ones
-	# the COTIRE_TARGET property of a source file may be set while a target is being processed by cotire
-	set (_sourceFiles "")
-	set (_cotiredSourceFiles "")
-	foreach (_sourceFile ${_filteredSourceFiles})
-		get_source_file_property(_sourceIsCotired "${_sourceFile}" COTIRE_TARGET)
-		if (_sourceIsCotired)
-			list (APPEND _cotiredSourceFiles "${_sourceFile}")
-		else()
-			get_source_file_property(_sourceCompileFlags "${_sourceFile}" COMPILE_FLAGS)
-			if (_sourceCompileFlags)
-				# add to excluded sources, if file has custom compile flags
-				list (APPEND _excludedSourceFiles "${_sourceFile}")
-			else()
-				get_source_file_property(_sourceCompileOptions "${_sourceFile}" COMPILE_OPTIONS)
-				if (_sourceCompileOptions)
-					# add to excluded sources, if file has list of custom compile options
-					list (APPEND _excludedSourceFiles "${_sourceFile}")
-				else()
-					list (APPEND _sourceFiles "${_sourceFile}")
-				endif()
-			endif()
-		endif()
-	endforeach()
-	if (COTIRE_DEBUG)
-		if (_sourceFiles)
-			message (STATUS "Filtered ${_target} ${_language} sources: ${_sourceFiles}")
-		endif()
-		if (_excludedSourceFiles)
-			message (STATUS "Excluded ${_target} ${_language} sources: ${_excludedSourceFiles}")
-		endif()
-		if (_cotiredSourceFiles)
-			message (STATUS "Cotired ${_target} ${_language} sources: ${_cotiredSourceFiles}")
-		endif()
-	endif()
-	set (${_sourceFilesVar} ${_sourceFiles} PARENT_SCOPE)
-	set (${_excludedSourceFilesVar} ${_excludedSourceFiles} PARENT_SCOPE)
-	set (${_cotiredSourceFilesVar} ${_cotiredSourceFiles} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_objects_with_property_on _filteredObjectsVar _property _type)
-	set (_filteredObjects "")
-	foreach (_object ${ARGN})
-		get_property(_isSet ${_type} "${_object}" PROPERTY ${_property} SET)
-		if (_isSet)
-			get_property(_propertyValue ${_type} "${_object}" PROPERTY ${_property})
-			if (_propertyValue)
-				list (APPEND _filteredObjects "${_object}")
-			endif()
-		endif()
-	endforeach()
-	set (${_filteredObjectsVar} ${_filteredObjects} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_objects_with_property_off _filteredObjectsVar _property _type)
-	set (_filteredObjects "")
-	foreach (_object ${ARGN})
-		get_property(_isSet ${_type} "${_object}" PROPERTY ${_property} SET)
-		if (_isSet)
-			get_property(_propertyValue ${_type} "${_object}" PROPERTY ${_property})
-			if (NOT _propertyValue)
-				list (APPEND _filteredObjects "${_object}")
-			endif()
-		endif()
-	endforeach()
-	set (${_filteredObjectsVar} ${_filteredObjects} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_source_file_property_values _valuesVar _property)
-	set (_values "")
-	foreach (_sourceFile ${ARGN})
-		get_source_file_property(_propertyValue "${_sourceFile}" ${_property})
-		if (_propertyValue)
-			list (APPEND _values "${_propertyValue}")
-		endif()
-	endforeach()
-	set (${_valuesVar} ${_values} PARENT_SCOPE)
-endfunction()
-
-function (cotire_resolve_config_properties _configurations _propertiesVar)
-	set (_properties "")
-	foreach (_property ${ARGN})
-		if ("${_property}" MATCHES "<CONFIG>")
-			foreach (_config ${_configurations})
-				string (TOUPPER "${_config}" _upperConfig)
-				string (REPLACE "<CONFIG>" "${_upperConfig}" _configProperty "${_property}")
-				list (APPEND _properties ${_configProperty})
-			endforeach()
-		else()
-			list (APPEND _properties ${_property})
-		endif()
-	endforeach()
-	set (${_propertiesVar} ${_properties} PARENT_SCOPE)
-endfunction()
-
-function (cotire_copy_set_properties _configurations _type _source _target)
-	cotire_resolve_config_properties("${_configurations}" _properties ${ARGN})
-	foreach (_property ${_properties})
-		get_property(_isSet ${_type} ${_source} PROPERTY ${_property} SET)
-		if (_isSet)
-			get_property(_propertyValue ${_type} ${_source} PROPERTY ${_property})
-			set_property(${_type} ${_target} PROPERTY ${_property} "${_propertyValue}")
-		endif()
-	endforeach()
-endfunction()
-
-function (cotire_get_target_usage_requirements _target _config _targetRequirementsVar)
-	set (_targetRequirements "")
-	get_target_property(_librariesToProcess ${_target} LINK_LIBRARIES)
-	while (_librariesToProcess)
-		# remove from head
-		list (GET _librariesToProcess 0 _library)
-		list (REMOVE_AT _librariesToProcess 0)
-		if (_library MATCHES "^\\$<\\$<CONFIG:${_config}>:([A-Za-z0-9_:-]+)>$")
-			set (_library "${CMAKE_MATCH_1}")
-		elseif (_config STREQUAL "None" AND _library MATCHES "^\\$<\\$<CONFIG:>:([A-Za-z0-9_:-]+)>$")
-			set (_library "${CMAKE_MATCH_1}")
-		endif()
-		if (TARGET ${_library})
-			list (FIND _targetRequirements ${_library} _index)
-			if (_index LESS 0)
-				list (APPEND _targetRequirements ${_library})
-				# BFS traversal of transitive libraries
-				get_target_property(_libraries ${_library} INTERFACE_LINK_LIBRARIES)
-				if (_libraries)
-					list (APPEND _librariesToProcess ${_libraries})
-					list (REMOVE_DUPLICATES _librariesToProcess)
-				endif()
-			endif()
-		endif()
-	endwhile()
-	set (${_targetRequirementsVar} ${_targetRequirements} PARENT_SCOPE)
-endfunction()
-
-function (cotire_filter_compile_flags _language _flagFilter _matchedOptionsVar _unmatchedOptionsVar)
-	if (WIN32 AND CMAKE_${_language}_COMPILER_ID MATCHES "MSVC|Intel")
-		set (_flagPrefix "[/-]")
-	else()
-		set (_flagPrefix "--?")
-	endif()
-	set (_optionFlag "")
-	set (_matchedOptions "")
-	set (_unmatchedOptions "")
-	foreach (_compileFlag ${ARGN})
-		if (_compileFlag)
-			if (_optionFlag AND NOT "${_compileFlag}" MATCHES "^${_flagPrefix}")
-				# option with separate argument
-				list (APPEND _matchedOptions "${_compileFlag}")
-				set (_optionFlag "")
-			elseif ("${_compileFlag}" MATCHES "^(${_flagPrefix})(${_flagFilter})$")
-				# remember option
-				set (_optionFlag "${CMAKE_MATCH_2}")
-			elseif ("${_compileFlag}" MATCHES "^(${_flagPrefix})(${_flagFilter})(.+)$")
-				# option with joined argument
-				list (APPEND _matchedOptions "${CMAKE_MATCH_3}")
-				set (_optionFlag "")
-			else()
-				# flush remembered option
-				if (_optionFlag)
-					list (APPEND _matchedOptions "${_optionFlag}")
-					set (_optionFlag "")
-				endif()
-				# add to unfiltered options
-				list (APPEND _unmatchedOptions "${_compileFlag}")
-			endif()
-		endif()
-	endforeach()
-	if (_optionFlag)
-		list (APPEND _matchedOptions "${_optionFlag}")
-	endif()
-	if (COTIRE_DEBUG AND _matchedOptions)
-		message (STATUS "Filter ${_flagFilter} matched: ${_matchedOptions}")
-	endif()
-	if (COTIRE_DEBUG AND _unmatchedOptions)
-		message (STATUS "Filter ${_flagFilter} unmatched: ${_unmatchedOptions}")
-	endif()
-	set (${_matchedOptionsVar} ${_matchedOptions} PARENT_SCOPE)
-	set (${_unmatchedOptionsVar} ${_unmatchedOptions} PARENT_SCOPE)
-endfunction()
-
-function (cotire_is_target_supported _target _isSupportedVar)
-	if (NOT TARGET "${_target}")
-		set (${_isSupportedVar} FALSE PARENT_SCOPE)
-		return()
-	endif()
-	get_target_property(_imported ${_target} IMPORTED)
-	if (_imported)
-		set (${_isSupportedVar} FALSE PARENT_SCOPE)
-		return()
-	endif()
-	get_target_property(_targetType ${_target} TYPE)
-	if (NOT _targetType MATCHES "EXECUTABLE|(STATIC|SHARED|MODULE|OBJECT)_LIBRARY")
-		set (${_isSupportedVar} FALSE PARENT_SCOPE)
-		return()
-	endif()
-	set (${_isSupportedVar} TRUE PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_target_compile_flags _config _language _target _flagsVar)
-	string (TOUPPER "${_config}" _upperConfig)
-	# collect options from CMake language variables
-	set (_compileFlags "")
-	if (CMAKE_${_language}_FLAGS)
-		set (_compileFlags "${_compileFlags} ${CMAKE_${_language}_FLAGS}")
-	endif()
-	if (CMAKE_${_language}_FLAGS_${_upperConfig})
-		set (_compileFlags "${_compileFlags} ${CMAKE_${_language}_FLAGS_${_upperConfig}}")
-	endif()
-	if (_target)
-		# add target compile flags
-		get_target_property(_targetflags ${_target} COMPILE_FLAGS)
-		if (_targetflags)
-			set (_compileFlags "${_compileFlags} ${_targetflags}")
-		endif()
-	endif()
-	if (UNIX)
-		separate_arguments(_compileFlags UNIX_COMMAND "${_compileFlags}")
-	elseif(WIN32)
-		separate_arguments(_compileFlags WINDOWS_COMMAND "${_compileFlags}")
-	else()
-		separate_arguments(_compileFlags)
-	endif()
-	# target compile options
-	if (_target)
-		get_target_property(_targetOptions ${_target} COMPILE_OPTIONS)
-		if (_targetOptions)
-			list (APPEND _compileFlags ${_targetOptions})
-		endif()
-	endif()
-	# interface compile options from linked library targets
-	if (_target)
-		set (_linkedTargets "")
-		cotire_get_target_usage_requirements(${_target} ${_config} _linkedTargets)
-		foreach (_linkedTarget ${_linkedTargets})
-			get_target_property(_targetOptions ${_linkedTarget} INTERFACE_COMPILE_OPTIONS)
-			if (_targetOptions)
-				list (APPEND _compileFlags ${_targetOptions})
-			endif()
-		endforeach()
-	endif()
-	# handle language standard properties
-	if (CMAKE_${_language}_STANDARD_DEFAULT)
-		# used compiler supports language standard levels
-		if (_target)
-			get_target_property(_targetLanguageStandard ${_target} ${_language}_STANDARD)
-			if (_targetLanguageStandard)
-				set (_type "EXTENSION")
-				get_property(_isSet TARGET ${_target} PROPERTY ${_language}_EXTENSIONS SET)
-				if (_isSet)
-					get_target_property(_targetUseLanguageExtensions ${_target} ${_language}_EXTENSIONS)
-					if (NOT _targetUseLanguageExtensions)
-						set (_type "STANDARD")
-					endif()
-				endif()
-				if (CMAKE_${_language}${_targetLanguageStandard}_${_type}_COMPILE_OPTION)
-					list (APPEND _compileFlags "${CMAKE_${_language}${_targetLanguageStandard}_${_type}_COMPILE_OPTION}")
-				endif()
-			endif()
-		endif()
-	endif()
-	# handle the POSITION_INDEPENDENT_CODE target property
-	if (_target)
-		get_target_property(_targetPIC ${_target} POSITION_INDEPENDENT_CODE)
-		if (_targetPIC)
-			get_target_property(_targetType ${_target} TYPE)
-			if (_targetType STREQUAL "EXECUTABLE" AND CMAKE_${_language}_COMPILE_OPTIONS_PIE)
-				list (APPEND _compileFlags "${CMAKE_${_language}_COMPILE_OPTIONS_PIE}")
-			elseif (CMAKE_${_language}_COMPILE_OPTIONS_PIC)
-				list (APPEND _compileFlags "${CMAKE_${_language}_COMPILE_OPTIONS_PIC}")
-			endif()
-		endif()
-	endif()
-	# handle visibility target properties
-	if (_target)
-		get_target_property(_targetVisibility ${_target} ${_language}_VISIBILITY_PRESET)
-		if (_targetVisibility AND CMAKE_${_language}_COMPILE_OPTIONS_VISIBILITY)
-			list (APPEND _compileFlags "${CMAKE_${_language}_COMPILE_OPTIONS_VISIBILITY}${_targetVisibility}")
-		endif()
-		get_target_property(_targetVisibilityInlines ${_target} VISIBILITY_INLINES_HIDDEN)
-		if (_targetVisibilityInlines AND CMAKE_${_language}_COMPILE_OPTIONS_VISIBILITY_INLINES_HIDDEN)
-			list (APPEND _compileFlags "${CMAKE_${_language}_COMPILE_OPTIONS_VISIBILITY_INLINES_HIDDEN}")
-		endif()
-	endif()
-	# platform specific flags
-	if (APPLE)
-		get_target_property(_architectures ${_target} OSX_ARCHITECTURES_${_upperConfig})
-		if (NOT _architectures)
-			get_target_property(_architectures ${_target} OSX_ARCHITECTURES)
-		endif()
-		if (_architectures)
-			foreach (_arch ${_architectures})
-				list (APPEND _compileFlags "-arch" "${_arch}")
-			endforeach()
-		endif()
-		if (CMAKE_OSX_SYSROOT)
-			if (CMAKE_${_language}_SYSROOT_FLAG)
-				list (APPEND _compileFlags "${CMAKE_${_language}_SYSROOT_FLAG}" "${CMAKE_OSX_SYSROOT}")
-			else()
-				list (APPEND _compileFlags "-isysroot" "${CMAKE_OSX_SYSROOT}")
-			endif()
-		endif()
-		if (CMAKE_OSX_DEPLOYMENT_TARGET)
-			if (CMAKE_${_language}_OSX_DEPLOYMENT_TARGET_FLAG)
-				list (APPEND _compileFlags "${CMAKE_${_language}_OSX_DEPLOYMENT_TARGET_FLAG}${CMAKE_OSX_DEPLOYMENT_TARGET}")
-			else()
-				list (APPEND _compileFlags "-mmacosx-version-min=${CMAKE_OSX_DEPLOYMENT_TARGET}")
-			endif()
-		endif()
-	endif()
-	if (COTIRE_DEBUG AND _compileFlags)
-		message (STATUS "Target ${_target} compile flags: ${_compileFlags}")
-	endif()
-	set (${_flagsVar} ${_compileFlags} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_target_include_directories _config _language _target _includeDirsVar _systemIncludeDirsVar)
-	set (_includeDirs "")
-	set (_systemIncludeDirs "")
-	# default include dirs
-	if (CMAKE_INCLUDE_CURRENT_DIR)
-		list (APPEND _includeDirs "${CMAKE_CURRENT_BINARY_DIR}")
-		list (APPEND _includeDirs "${CMAKE_CURRENT_SOURCE_DIR}")
-	endif()
-	set (_targetFlags "")
-	cotire_get_target_compile_flags("${_config}" "${_language}" "${_target}" _targetFlags)
-	# parse additional include directories from target compile flags
-	if (CMAKE_INCLUDE_FLAG_${_language})
-		string (STRIP "${CMAKE_INCLUDE_FLAG_${_language}}" _includeFlag)
-		string (REGEX REPLACE "^[-/]+" "" _includeFlag "${_includeFlag}")
-		if (_includeFlag)
-			set (_dirs "")
-			cotire_filter_compile_flags("${_language}" "${_includeFlag}" _dirs _ignore ${_targetFlags})
-			if (_dirs)
-				list (APPEND _includeDirs ${_dirs})
-			endif()
-		endif()
-	endif()
-	# parse additional system include directories from target compile flags
-	if (CMAKE_INCLUDE_SYSTEM_FLAG_${_language})
-		string (STRIP "${CMAKE_INCLUDE_SYSTEM_FLAG_${_language}}" _includeFlag)
-		string (REGEX REPLACE "^[-/]+" "" _includeFlag "${_includeFlag}")
-		if (_includeFlag)
-			set (_dirs "")
-			cotire_filter_compile_flags("${_language}" "${_includeFlag}" _dirs _ignore ${_targetFlags})
-			if (_dirs)
-				list (APPEND _systemIncludeDirs ${_dirs})
-			endif()
-		endif()
-	endif()
-	# target include directories
-	get_directory_property(_dirs DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}" INCLUDE_DIRECTORIES)
-	if (_target)
-		get_target_property(_targetDirs ${_target} INCLUDE_DIRECTORIES)
-		if (_targetDirs)
-			list (APPEND _dirs ${_targetDirs})
-		endif()
-		get_target_property(_targetDirs ${_target} INTERFACE_SYSTEM_INCLUDE_DIRECTORIES)
-		if (_targetDirs)
-			list (APPEND _systemIncludeDirs ${_targetDirs})
-		endif()
-	endif()
-	# interface include directories from linked library targets
-	if (_target)
-		set (_linkedTargets "")
-		cotire_get_target_usage_requirements(${_target} ${_config} _linkedTargets)
-		foreach (_linkedTarget ${_linkedTargets})
-			get_target_property(_linkedTargetType ${_linkedTarget} TYPE)
-			if (CMAKE_INCLUDE_CURRENT_DIR_IN_INTERFACE AND NOT CMAKE_VERSION VERSION_LESS "3.4.0" AND
-				_linkedTargetType MATCHES "(STATIC|SHARED|MODULE|OBJECT)_LIBRARY")
-				# CMAKE_INCLUDE_CURRENT_DIR_IN_INTERFACE refers to CMAKE_CURRENT_BINARY_DIR and CMAKE_CURRENT_SOURCE_DIR
-				# at the time, when the target was created. These correspond to the target properties BINARY_DIR and SOURCE_DIR
-				# which are only available with CMake 3.4 or later.
-				get_target_property(_targetDirs ${_linkedTarget} BINARY_DIR)
-				if (_targetDirs)
-					list (APPEND _dirs ${_targetDirs})
-				endif()
-				get_target_property(_targetDirs ${_linkedTarget} SOURCE_DIR)
-				if (_targetDirs)
-					list (APPEND _dirs ${_targetDirs})
-				endif()
-			endif()
-			get_target_property(_targetDirs ${_linkedTarget} INTERFACE_INCLUDE_DIRECTORIES)
-			if (_targetDirs)
-				list (APPEND _dirs ${_targetDirs})
-			endif()
-			get_target_property(_targetDirs ${_linkedTarget} INTERFACE_SYSTEM_INCLUDE_DIRECTORIES)
-			if (_targetDirs)
-				list (APPEND _systemIncludeDirs ${_targetDirs})
-			endif()
-		endforeach()
-	endif()
-	if (dirs)
-		list (REMOVE_DUPLICATES _dirs)
-	endif()
-	list (LENGTH _includeDirs _projectInsertIndex)
-	foreach (_dir ${_dirs})
-		if (CMAKE_INCLUDE_DIRECTORIES_PROJECT_BEFORE)
-			cotire_check_is_path_relative_to("${_dir}" _isRelative "${CMAKE_SOURCE_DIR}" "${CMAKE_BINARY_DIR}")
-			if (_isRelative)
-				list (LENGTH _includeDirs _len)
-				if (_len EQUAL _projectInsertIndex)
-					list (APPEND _includeDirs "${_dir}")
-				else()
-					list (INSERT _includeDirs _projectInsertIndex "${_dir}")
-				endif()
-				math (EXPR _projectInsertIndex "${_projectInsertIndex} + 1")
-			else()
-				list (APPEND _includeDirs "${_dir}")
-			endif()
-		else()
-			list (APPEND _includeDirs "${_dir}")
-		endif()
-	endforeach()
-	list (REMOVE_DUPLICATES _includeDirs)
-	list (REMOVE_DUPLICATES _systemIncludeDirs)
-	if (CMAKE_${_language}_IMPLICIT_INCLUDE_DIRECTORIES)
-		list (REMOVE_ITEM _includeDirs ${CMAKE_${_language}_IMPLICIT_INCLUDE_DIRECTORIES})
-	endif()
-	if (WIN32 AND NOT MINGW)
-		# convert Windows paths in include directories to CMake paths
-		if (_includeDirs)
-			set (_paths "")
-			foreach (_dir ${_includeDirs})
-				file (TO_CMAKE_PATH "${_dir}" _path)
-				list (APPEND _paths "${_path}")
-			endforeach()
-			set (_includeDirs ${_paths})
-		endif()
-		if (_systemIncludeDirs)
-			set (_paths "")
-			foreach (_dir ${_systemIncludeDirs})
-				file (TO_CMAKE_PATH "${_dir}" _path)
-				list (APPEND _paths "${_path}")
-			endforeach()
-			set (_systemIncludeDirs ${_paths})
-		endif()
-	endif()
-	if (COTIRE_DEBUG AND _includeDirs)
-		message (STATUS "Target ${_target} include dirs: ${_includeDirs}")
-	endif()
-	set (${_includeDirsVar} ${_includeDirs} PARENT_SCOPE)
-	if (COTIRE_DEBUG AND _systemIncludeDirs)
-		message (STATUS "Target ${_target} system include dirs: ${_systemIncludeDirs}")
-	endif()
-	set (${_systemIncludeDirsVar} ${_systemIncludeDirs} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_target_export_symbol _target _exportSymbolVar)
-	set (_exportSymbol "")
-	get_target_property(_targetType ${_target} TYPE)
-	get_target_property(_enableExports ${_target} ENABLE_EXPORTS)
-	if (_targetType MATCHES "(SHARED|MODULE)_LIBRARY" OR
-		(_targetType STREQUAL "EXECUTABLE" AND _enableExports))
-		get_target_property(_exportSymbol ${_target} DEFINE_SYMBOL)
-		if (NOT _exportSymbol)
-			set (_exportSymbol "${_target}_EXPORTS")
-		endif()
-		string (MAKE_C_IDENTIFIER "${_exportSymbol}" _exportSymbol)
-	endif()
-	set (${_exportSymbolVar} ${_exportSymbol} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_target_compile_definitions _config _language _target _definitionsVar)
-	string (TOUPPER "${_config}" _upperConfig)
-	set (_configDefinitions "")
-	# CMAKE_INTDIR for multi-configuration build systems
-	if (NOT "${CMAKE_CFG_INTDIR}" STREQUAL ".")
-		list (APPEND _configDefinitions "CMAKE_INTDIR=\"${_config}\"")
-	endif()
-	# target export define symbol
-	cotire_get_target_export_symbol("${_target}" _defineSymbol)
-	if (_defineSymbol)
-		list (APPEND _configDefinitions "${_defineSymbol}")
-	endif()
-	# directory compile definitions
-	get_directory_property(_definitions DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}" COMPILE_DEFINITIONS)
-	if (_definitions)
-		list (APPEND _configDefinitions ${_definitions})
-	endif()
-	get_directory_property(_definitions DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}" COMPILE_DEFINITIONS_${_upperConfig})
-	if (_definitions)
-		list (APPEND _configDefinitions ${_definitions})
-	endif()
-	# target compile definitions
-	get_target_property(_definitions ${_target} COMPILE_DEFINITIONS)
-	if (_definitions)
-		list (APPEND _configDefinitions ${_definitions})
-	endif()
-	get_target_property(_definitions ${_target} COMPILE_DEFINITIONS_${_upperConfig})
-	if (_definitions)
-		list (APPEND _configDefinitions ${_definitions})
-	endif()
-	# interface compile definitions from linked library targets
-	set (_linkedTargets "")
-	cotire_get_target_usage_requirements(${_target} ${_config} _linkedTargets)
-	foreach (_linkedTarget ${_linkedTargets})
-		get_target_property(_definitions ${_linkedTarget} INTERFACE_COMPILE_DEFINITIONS)
-		if (_definitions)
-			list (APPEND _configDefinitions ${_definitions})
-		endif()
-	endforeach()
-	# parse additional compile definitions from target compile flags
-	# and do not look at directory compile definitions, which we already handled
-	set (_targetFlags "")
-	cotire_get_target_compile_flags("${_config}" "${_language}" "${_target}" _targetFlags)
-	cotire_filter_compile_flags("${_language}" "D" _definitions _ignore ${_targetFlags})
-	if (_definitions)
-		list (APPEND _configDefinitions ${_definitions})
-	endif()
-	list (REMOVE_DUPLICATES _configDefinitions)
-	if (COTIRE_DEBUG AND _configDefinitions)
-		message (STATUS "Target ${_target} compile definitions: ${_configDefinitions}")
-	endif()
-	set (${_definitionsVar} ${_configDefinitions} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_target_compiler_flags _config _language _target _compilerFlagsVar)
-	# parse target compile flags omitting compile definitions and include directives
-	set (_targetFlags "")
-	cotire_get_target_compile_flags("${_config}" "${_language}" "${_target}" _targetFlags)
-	set (_flagFilter "D")
-	if (CMAKE_INCLUDE_FLAG_${_language})
-		string (STRIP "${CMAKE_INCLUDE_FLAG_${_language}}" _includeFlag)
-		string (REGEX REPLACE "^[-/]+" "" _includeFlag "${_includeFlag}")
-		if (_includeFlag)
-			set (_flagFilter "${_flagFilter}|${_includeFlag}")
-		endif()
-	endif()
-	if (CMAKE_INCLUDE_SYSTEM_FLAG_${_language})
-		string (STRIP "${CMAKE_INCLUDE_SYSTEM_FLAG_${_language}}" _includeFlag)
-		string (REGEX REPLACE "^[-/]+" "" _includeFlag "${_includeFlag}")
-		if (_includeFlag)
-			set (_flagFilter "${_flagFilter}|${_includeFlag}")
-		endif()
-	endif()
-	set (_compilerFlags "")
-	cotire_filter_compile_flags("${_language}" "${_flagFilter}" _ignore _compilerFlags ${_targetFlags})
-	if (COTIRE_DEBUG AND _compilerFlags)
-		message (STATUS "Target ${_target} compiler flags: ${_compilerFlags}")
-	endif()
-	set (${_compilerFlagsVar} ${_compilerFlags} PARENT_SCOPE)
-endfunction()
-
-function (cotire_add_sys_root_paths _pathsVar)
-	if (APPLE)
-		if (CMAKE_OSX_SYSROOT AND CMAKE_${_language}_HAS_ISYSROOT)
-			foreach (_path IN LISTS ${_pathsVar})
-				if (IS_ABSOLUTE "${_path}")
-					get_filename_component(_path "${CMAKE_OSX_SYSROOT}/${_path}" ABSOLUTE)
-					if (EXISTS "${_path}")
-						list (APPEND ${_pathsVar} "${_path}")
-					endif()
-				endif()
-			endforeach()
-		endif()
-	endif()
-	set (${_pathsVar} ${${_pathsVar}} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_source_extra_properties _sourceFile _pattern _resultVar)
-	set (_extraProperties ${ARGN})
-	set (_result "")
-	if (_extraProperties)
-		list (FIND _extraProperties "${_sourceFile}" _index)
-		if (_index GREATER -1)
-			math (EXPR _index "${_index} + 1")
-			list (LENGTH _extraProperties _len)
-			math (EXPR _len "${_len} - 1")
-			foreach (_index RANGE ${_index} ${_len})
-				list (GET _extraProperties ${_index} _value)
-				if (_value MATCHES "${_pattern}")
-					list (APPEND _result "${_value}")
-				else()
-					break()
-				endif()
-			endforeach()
-		endif()
-	endif()
-	set (${_resultVar} ${_result} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_source_compile_definitions _config _language _sourceFile _definitionsVar)
-	set (_compileDefinitions "")
-	if (NOT CMAKE_SCRIPT_MODE_FILE)
-		string (TOUPPER "${_config}" _upperConfig)
-		get_source_file_property(_definitions "${_sourceFile}" COMPILE_DEFINITIONS)
-		if (_definitions)
-			list (APPEND _compileDefinitions ${_definitions})
-		endif()
-		get_source_file_property(_definitions "${_sourceFile}" COMPILE_DEFINITIONS_${_upperConfig})
-		if (_definitions)
-			list (APPEND _compileDefinitions ${_definitions})
-		endif()
-	endif()
-	cotire_get_source_extra_properties("${_sourceFile}" "^[a-zA-Z0-9_]+(=.*)?$" _definitions ${ARGN})
-	if (_definitions)
-		list (APPEND _compileDefinitions ${_definitions})
-	endif()
-	if (COTIRE_DEBUG AND _compileDefinitions)
-		message (STATUS "Source ${_sourceFile} compile definitions: ${_compileDefinitions}")
-	endif()
-	set (${_definitionsVar} ${_compileDefinitions} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_source_files_compile_definitions _config _language _definitionsVar)
-	set (_configDefinitions "")
-	foreach (_sourceFile ${ARGN})
-		cotire_get_source_compile_definitions("${_config}" "${_language}" "${_sourceFile}" _sourceDefinitions)
-		if (_sourceDefinitions)
-			list (APPEND _configDefinitions "${_sourceFile}" ${_sourceDefinitions} "-")
-		endif()
-	endforeach()
-	set (${_definitionsVar} ${_configDefinitions} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_source_undefs _sourceFile _property _sourceUndefsVar)
-	set (_sourceUndefs "")
-	if (NOT CMAKE_SCRIPT_MODE_FILE)
-		get_source_file_property(_undefs "${_sourceFile}" ${_property})
-		if (_undefs)
-			list (APPEND _sourceUndefs ${_undefs})
-		endif()
-	endif()
-	cotire_get_source_extra_properties("${_sourceFile}" "^[a-zA-Z0-9_]+$" _undefs ${ARGN})
-	if (_undefs)
-		list (APPEND _sourceUndefs ${_undefs})
-	endif()
-	if (COTIRE_DEBUG AND _sourceUndefs)
-		message (STATUS "Source ${_sourceFile} ${_property} undefs: ${_sourceUndefs}")
-	endif()
-	set (${_sourceUndefsVar} ${_sourceUndefs} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_source_files_undefs _property _sourceUndefsVar)
-	set (_sourceUndefs "")
-	foreach (_sourceFile ${ARGN})
-		cotire_get_source_undefs("${_sourceFile}" ${_property} _undefs)
-		if (_undefs)
-			list (APPEND _sourceUndefs "${_sourceFile}" ${_undefs} "-")
-		endif()
-	endforeach()
-	set (${_sourceUndefsVar} ${_sourceUndefs} PARENT_SCOPE)
-endfunction()
-
-macro (cotire_set_cmd_to_prologue _cmdVar)
-	set (${_cmdVar} "${CMAKE_COMMAND}")
-	if (COTIRE_DEBUG)
-		list (APPEND ${_cmdVar} "--warn-uninitialized")
-	endif()
-	list (APPEND ${_cmdVar} "-DCOTIRE_BUILD_TYPE:STRING=$<CONFIGURATION>")
-	if (XCODE)
-		list (APPEND ${_cmdVar} "-DXCODE:BOOL=TRUE")
-	endif()
-	if (COTIRE_VERBOSE)
-		list (APPEND ${_cmdVar} "-DCOTIRE_VERBOSE:BOOL=ON")
-	elseif("${CMAKE_GENERATOR}" MATCHES "Makefiles")
-		list (APPEND ${_cmdVar} "-DCOTIRE_VERBOSE:BOOL=$(VERBOSE)")
-	endif()
-endmacro()
-
-function (cotire_init_compile_cmd _cmdVar _language _compilerLauncher _compilerExe _compilerArg1)
-	if (NOT _compilerLauncher)
-		set (_compilerLauncher ${CMAKE_${_language}_COMPILER_LAUNCHER})
-	endif()
-	if (NOT _compilerExe)
-		set (_compilerExe "${CMAKE_${_language}_COMPILER}")
-	endif()
-	if (NOT _compilerArg1)
-		set (_compilerArg1 ${CMAKE_${_language}_COMPILER_ARG1})
-	endif()
-	if (WIN32)
-		file (TO_NATIVE_PATH "${_compilerExe}" _compilerExe)
-	endif()
-	string (STRIP "${_compilerArg1}" _compilerArg1)
-	if ("${CMAKE_GENERATOR}" MATCHES "Make|Ninja")
-		# compiler launcher is only supported for Makefile and Ninja
-		set (${_cmdVar} ${_compilerLauncher} "${_compilerExe}" ${_compilerArg1} PARENT_SCOPE)
-	else()
-		set (${_cmdVar} "${_compilerExe}" ${_compilerArg1} PARENT_SCOPE)
-	endif()
-endfunction()
-
-macro (cotire_add_definitions_to_cmd _cmdVar _language)
-	foreach (_definition ${ARGN})
-		if (WIN32 AND CMAKE_${_language}_COMPILER_ID MATCHES "MSVC|Intel")
-			list (APPEND ${_cmdVar} "/D${_definition}")
-		else()
-			list (APPEND ${_cmdVar} "-D${_definition}")
-		endif()
-	endforeach()
-endmacro()
-
-function (cotire_add_includes_to_cmd _cmdVar _language _includesVar _systemIncludesVar)
-	set (_includeDirs ${${_includesVar}} ${${_systemIncludesVar}})
-	if (_includeDirs)
-		list (REMOVE_DUPLICATES _includeDirs)
-		foreach (_include ${_includeDirs})
-			if (WIN32 AND CMAKE_${_language}_COMPILER_ID MATCHES "MSVC|Intel")
-				file (TO_NATIVE_PATH "${_include}" _include)
-				list (APPEND ${_cmdVar} "${CMAKE_INCLUDE_FLAG_${_language}}${CMAKE_INCLUDE_FLAG_SEP_${_language}}${_include}")
-			else()
-				set (_index -1)
-				if ("${CMAKE_INCLUDE_SYSTEM_FLAG_${_language}}" MATCHES ".+")
-					list (FIND ${_systemIncludesVar} "${_include}" _index)
-				endif()
-				if (_index GREATER -1)
-					list (APPEND ${_cmdVar} "${CMAKE_INCLUDE_SYSTEM_FLAG_${_language}}${CMAKE_INCLUDE_FLAG_SEP_${_language}}${_include}")
-				else()
-					list (APPEND ${_cmdVar} "${CMAKE_INCLUDE_FLAG_${_language}}${CMAKE_INCLUDE_FLAG_SEP_${_language}}${_include}")
-				endif()
-			endif()
-		endforeach()
-	endif()
-	set (${_cmdVar} ${${_cmdVar}} PARENT_SCOPE)
-endfunction()
-
-function (cotire_add_frameworks_to_cmd _cmdVar _language _includesVar _systemIncludesVar)
-	if (APPLE)
-		set (_frameworkDirs "")
-		foreach (_include ${${_includesVar}})
-			if (IS_ABSOLUTE "${_include}" AND _include MATCHES "\\.framework$")
-				get_filename_component(_frameworkDir "${_include}" DIRECTORY)
-				list (APPEND _frameworkDirs "${_frameworkDir}")
-			endif()
-		endforeach()
-		set (_systemFrameworkDirs "")
-		foreach (_include ${${_systemIncludesVar}})
-			if (IS_ABSOLUTE "${_include}" AND _include MATCHES "\\.framework$")
-				get_filename_component(_frameworkDir "${_include}" DIRECTORY)
-				list (APPEND _systemFrameworkDirs "${_frameworkDir}")
-			endif()
-		endforeach()
-		if (_systemFrameworkDirs)
-			list (APPEND _frameworkDirs ${_systemFrameworkDirs})
-		endif()
-		if (_frameworkDirs)
-			list (REMOVE_DUPLICATES _frameworkDirs)
-			foreach (_frameworkDir ${_frameworkDirs})
-				set (_index -1)
-				if ("${CMAKE_${_language}_SYSTEM_FRAMEWORK_SEARCH_FLAG}" MATCHES ".+")
-					list (FIND _systemFrameworkDirs "${_frameworkDir}" _index)
-				endif()
-				if (_index GREATER -1)
-					list (APPEND ${_cmdVar} "${CMAKE_${_language}_SYSTEM_FRAMEWORK_SEARCH_FLAG}${_frameworkDir}")
-				else()
-					list (APPEND ${_cmdVar} "${CMAKE_${_language}_FRAMEWORK_SEARCH_FLAG}${_frameworkDir}")
-				endif()
-			endforeach()
-		endif()
-	endif()
-	set (${_cmdVar} ${${_cmdVar}} PARENT_SCOPE)
-endfunction()
-
-macro (cotire_add_compile_flags_to_cmd _cmdVar)
-	foreach (_flag ${ARGN})
-		list (APPEND ${_cmdVar} "${_flag}")
-	endforeach()
-endmacro()
-
-function (cotire_check_file_up_to_date _fileIsUpToDateVar _file)
-	if (EXISTS "${_file}")
-		set (_triggerFile "")
-		foreach (_dependencyFile ${ARGN})
-			if (EXISTS "${_dependencyFile}")
-				# IS_NEWER_THAN returns TRUE if both files have the same timestamp
-				# thus we do the comparison in both directions to exclude ties
-				if ("${_dependencyFile}" IS_NEWER_THAN "${_file}" AND
-					NOT "${_file}" IS_NEWER_THAN "${_dependencyFile}")
-					set (_triggerFile "${_dependencyFile}")
-					break()
-				endif()
-			endif()
-		endforeach()
-		if (_triggerFile)
-			if (COTIRE_VERBOSE)
-				get_filename_component(_fileName "${_file}" NAME)
-				message (STATUS "${_fileName} update triggered by ${_triggerFile} change.")
-			endif()
-			set (${_fileIsUpToDateVar} FALSE PARENT_SCOPE)
-		else()
-			if (COTIRE_VERBOSE)
-				get_filename_component(_fileName "${_file}" NAME)
-				message (STATUS "${_fileName} is up-to-date.")
-			endif()
-			set (${_fileIsUpToDateVar} TRUE PARENT_SCOPE)
-		endif()
-	else()
-		if (COTIRE_VERBOSE)
-			get_filename_component(_fileName "${_file}" NAME)
-			message (STATUS "${_fileName} does not exist yet.")
-		endif()
-		set (${_fileIsUpToDateVar} FALSE PARENT_SCOPE)
-	endif()
-endfunction()
-
-macro (cotire_find_closest_relative_path _headerFile _includeDirs _relPathVar)
-	set (${_relPathVar} "")
-	foreach (_includeDir ${_includeDirs})
-		if (IS_DIRECTORY "${_includeDir}")
-			file (RELATIVE_PATH _relPath "${_includeDir}" "${_headerFile}")
-			if (NOT IS_ABSOLUTE "${_relPath}" AND NOT "${_relPath}" MATCHES "^\\.\\.")
-				string (LENGTH "${${_relPathVar}}" _closestLen)
-				string (LENGTH "${_relPath}" _relLen)
-				if (_closestLen EQUAL 0 OR _relLen LESS _closestLen)
-					set (${_relPathVar} "${_relPath}")
-				endif()
-			endif()
-		elseif ("${_includeDir}" STREQUAL "${_headerFile}")
-			# if path matches exactly, return short non-empty string
-			set (${_relPathVar} "1")
-			break()
-		endif()
-	endforeach()
-endmacro()
-
-macro (cotire_check_header_file_location _headerFile _insideIncludeDirs _outsideIncludeDirs _headerIsInside)
-	# check header path against ignored and honored include directories
-	cotire_find_closest_relative_path("${_headerFile}" "${_insideIncludeDirs}" _insideRelPath)
-	if (_insideRelPath)
-		# header is inside, but could be become outside if there is a shorter outside match
-		cotire_find_closest_relative_path("${_headerFile}" "${_outsideIncludeDirs}" _outsideRelPath)
-		if (_outsideRelPath)
-			string (LENGTH "${_insideRelPath}" _insideRelPathLen)
-			string (LENGTH "${_outsideRelPath}" _outsideRelPathLen)
-			if (_outsideRelPathLen LESS _insideRelPathLen)
-				set (${_headerIsInside} FALSE)
-			else()
-				set (${_headerIsInside} TRUE)
-			endif()
-		else()
-			set (${_headerIsInside} TRUE)
-		endif()
-	else()
-		# header is outside
-		set (${_headerIsInside} FALSE)
-	endif()
-endmacro()
-
-macro (cotire_check_ignore_header_file_path _headerFile _headerIsIgnoredVar)
-	if (NOT EXISTS "${_headerFile}")
-		set (${_headerIsIgnoredVar} TRUE)
-	elseif (IS_DIRECTORY "${_headerFile}")
-		set (${_headerIsIgnoredVar} TRUE)
-	elseif ("${_headerFile}" MATCHES "\\.\\.|[_-]fixed" AND "${_headerFile}" MATCHES "\\.h$")
-		# heuristic: ignore C headers with embedded parent directory references or "-fixed" or "_fixed" in path
-		# these often stem from using GCC #include_next tricks, which may break the precompiled header compilation
-		# with the error message "error: no include path in which to search for header.h"
-		set (${_headerIsIgnoredVar} TRUE)
-	else()
-		set (${_headerIsIgnoredVar} FALSE)
-	endif()
-endmacro()
-
-macro (cotire_check_ignore_header_file_ext _headerFile _ignoreExtensionsVar _headerIsIgnoredVar)
-	# check header file extension
-	cotire_get_source_file_extension("${_headerFile}" _headerFileExt)
-	set (${_headerIsIgnoredVar} FALSE)
-	if (_headerFileExt)
-		list (FIND ${_ignoreExtensionsVar} "${_headerFileExt}" _index)
-		if (_index GREATER -1)
-			set (${_headerIsIgnoredVar} TRUE)
-		endif()
-	endif()
-endmacro()
-
-macro (cotire_parse_line _line _headerFileVar _headerDepthVar)
-	if (MSVC)
-		# cl.exe /showIncludes produces different output, depending on the language pack used, e.g.:
-		# English: "Note: including file:   C:\directory\file"
-		# German: "Hinweis: Einlesen der Datei:   C:\directory\file"
-		# We use a very general regular expression, relying on the presence of the : characters
-		if (_line MATCHES "( +)([a-zA-Z]:[^:]+)$")
-			string (LENGTH "${CMAKE_MATCH_1}" ${_headerDepthVar})
-			get_filename_component(${_headerFileVar} "${CMAKE_MATCH_2}" ABSOLUTE)
-		else()
-			set (${_headerFileVar} "")
-			set (${_headerDepthVar} 0)
-		endif()
-	else()
-		if (_line MATCHES "^(\\.+) (.*)$")
-			# GCC like output
-			string (LENGTH "${CMAKE_MATCH_1}" ${_headerDepthVar})
-			if (IS_ABSOLUTE "${CMAKE_MATCH_2}")
-				set (${_headerFileVar} "${CMAKE_MATCH_2}")
-			else()
-				get_filename_component(${_headerFileVar} "${CMAKE_MATCH_2}" REALPATH)
-			endif()
-		else()
-			set (${_headerFileVar} "")
-			set (${_headerDepthVar} 0)
-		endif()
-	endif()
-endmacro()
-
-function (cotire_parse_includes _language _scanOutput _ignoredIncludeDirs _honoredIncludeDirs _ignoredExtensions _selectedIncludesVar _unparsedLinesVar)
-	if (WIN32)
-		# prevent CMake macro invocation errors due to backslash characters in Windows paths
-		string (REPLACE "\\" "/" _scanOutput "${_scanOutput}")
-	endif()
-	# canonize slashes
-	string (REPLACE "//" "/" _scanOutput "${_scanOutput}")
-	# prevent semicolon from being interpreted as a line separator
-	string (REPLACE ";" "\\;" _scanOutput "${_scanOutput}")
-	# then separate lines
-	string (REGEX REPLACE "\n" ";" _scanOutput "${_scanOutput}")
-	list (LENGTH _scanOutput _len)
-	# remove duplicate lines to speed up parsing
-	list (REMOVE_DUPLICATES _scanOutput)
-	list (LENGTH _scanOutput _uniqueLen)
-	if (COTIRE_VERBOSE OR COTIRE_DEBUG)
-		message (STATUS "Scanning ${_uniqueLen} unique lines of ${_len} for includes")
-		if (_ignoredExtensions)
-			message (STATUS "Ignored extensions: ${_ignoredExtensions}")
-		endif()
-		if (_ignoredIncludeDirs)
-			message (STATUS "Ignored paths: ${_ignoredIncludeDirs}")
-		endif()
-		if (_honoredIncludeDirs)
-			message (STATUS "Included paths: ${_honoredIncludeDirs}")
-		endif()
-	endif()
-	set (_sourceFiles ${ARGN})
-	set (_selectedIncludes "")
-	set (_unparsedLines "")
-	# stack keeps track of inside/outside project status of processed header files
-	set (_headerIsInsideStack "")
-	foreach (_line IN LISTS _scanOutput)
-		if (_line)
-			cotire_parse_line("${_line}" _headerFile _headerDepth)
-			if (_headerFile)
-				cotire_check_header_file_location("${_headerFile}" "${_ignoredIncludeDirs}" "${_honoredIncludeDirs}" _headerIsInside)
-				if (COTIRE_DEBUG)
-					message (STATUS "${_headerDepth}: ${_headerFile} ${_headerIsInside}")
-				endif()
-				# update stack
-				list (LENGTH _headerIsInsideStack _stackLen)
-				if (_headerDepth GREATER _stackLen)
-					math (EXPR _stackLen "${_stackLen} + 1")
-					foreach (_index RANGE ${_stackLen} ${_headerDepth})
-						list (APPEND _headerIsInsideStack ${_headerIsInside})
-					endforeach()
-				else()
-					foreach (_index RANGE ${_headerDepth} ${_stackLen})
-						list (REMOVE_AT _headerIsInsideStack -1)
-					endforeach()
-					list (APPEND _headerIsInsideStack ${_headerIsInside})
-				endif()
-				if (COTIRE_DEBUG)
-					message (STATUS "${_headerIsInsideStack}")
-				endif()
-				# header is a candidate if it is outside project
-				if (NOT _headerIsInside)
-					# get parent header file's inside/outside status
-					if (_headerDepth GREATER 1)
-						math (EXPR _index "${_headerDepth} - 2")
-						list (GET _headerIsInsideStack ${_index} _parentHeaderIsInside)
-					else()
-						set (_parentHeaderIsInside TRUE)
-					endif()
-					# select header file if parent header file is inside project
-					# (e.g., a project header file that includes a standard header file)
-					if (_parentHeaderIsInside)
-						cotire_check_ignore_header_file_path("${_headerFile}" _headerIsIgnored)
-						if (NOT _headerIsIgnored)
-							cotire_check_ignore_header_file_ext("${_headerFile}" _ignoredExtensions _headerIsIgnored)
-							if (NOT _headerIsIgnored)
-								list (APPEND _selectedIncludes "${_headerFile}")
-							else()
-								# fix header's inside status on stack, it is ignored by extension now
-								list (REMOVE_AT _headerIsInsideStack -1)
-								list (APPEND _headerIsInsideStack TRUE)
-							endif()
-						endif()
-						if (COTIRE_DEBUG)
-							message (STATUS "${_headerFile} ${_ignoredExtensions} ${_headerIsIgnored}")
-						endif()
-					endif()
-				endif()
-			else()
-				if (MSVC)
-					# for cl.exe do not keep unparsed lines which solely consist of a source file name
-					string (FIND "${_sourceFiles}" "${_line}" _index)
-					if (_index LESS 0)
-						list (APPEND _unparsedLines "${_line}")
-					endif()
-				else()
-					list (APPEND _unparsedLines "${_line}")
-				endif()
-			endif()
-		endif()
-	endforeach()
-	list (REMOVE_DUPLICATES _selectedIncludes)
-	set (${_selectedIncludesVar} ${_selectedIncludes} PARENT_SCOPE)
-	set (${_unparsedLinesVar} ${_unparsedLines} PARENT_SCOPE)
-endfunction()
-
-function (cotire_scan_includes _includesVar)
-	set(_options "")
-	set(_oneValueArgs COMPILER_ID COMPILER_EXECUTABLE COMPILER_ARG1 COMPILER_VERSION LANGUAGE UNPARSED_LINES SCAN_RESULT)
-	set(_multiValueArgs COMPILE_DEFINITIONS COMPILE_FLAGS INCLUDE_DIRECTORIES SYSTEM_INCLUDE_DIRECTORIES
-		IGNORE_PATH INCLUDE_PATH IGNORE_EXTENSIONS INCLUDE_PRIORITY_PATH COMPILER_LAUNCHER)
-	cmake_parse_arguments(_option "${_options}" "${_oneValueArgs}" "${_multiValueArgs}" ${ARGN})
-	set (_sourceFiles ${_option_UNPARSED_ARGUMENTS})
-	if (NOT _option_LANGUAGE)
-		set (_option_LANGUAGE "CXX")
-	endif()
-	if (NOT _option_COMPILER_ID)
-		set (_option_COMPILER_ID "${CMAKE_${_option_LANGUAGE}_ID}")
-	endif()
-	if (NOT _option_COMPILER_VERSION)
-		set (_option_COMPILER_VERSION "${CMAKE_${_option_LANGUAGE}_COMPILER_VERSION}")
-	endif()
-	cotire_init_compile_cmd(_cmd "${_option_LANGUAGE}" "${_option_COMPILER_LAUNCHER}" "${_option_COMPILER_EXECUTABLE}" "${_option_COMPILER_ARG1}")
-	cotire_add_definitions_to_cmd(_cmd "${_option_LANGUAGE}" ${_option_COMPILE_DEFINITIONS})
-	cotire_add_compile_flags_to_cmd(_cmd ${_option_COMPILE_FLAGS})
-	cotire_add_includes_to_cmd(_cmd "${_option_LANGUAGE}" _option_INCLUDE_DIRECTORIES _option_SYSTEM_INCLUDE_DIRECTORIES)
-	cotire_add_frameworks_to_cmd(_cmd "${_option_LANGUAGE}" _option_INCLUDE_DIRECTORIES _option_SYSTEM_INCLUDE_DIRECTORIES)
-	cotire_add_makedep_flags("${_option_LANGUAGE}" "${_option_COMPILER_ID}" "${_option_COMPILER_VERSION}" _cmd)
-	# only consider existing source files for scanning
-	set (_existingSourceFiles "")
-	foreach (_sourceFile ${_sourceFiles})
-		if (EXISTS "${_sourceFile}")
-			list (APPEND _existingSourceFiles "${_sourceFile}")
-		endif()
-	endforeach()
-	if (NOT _existingSourceFiles)
-		set (${_includesVar} "" PARENT_SCOPE)
-		return()
-	endif()
-	# add source files to be scanned
-	if (WIN32)
-		foreach (_sourceFile ${_existingSourceFiles})
-			file (TO_NATIVE_PATH "${_sourceFile}" _sourceFileNative)
-			list (APPEND _cmd "${_sourceFileNative}")
-		endforeach()
-	else()
-		list (APPEND _cmd ${_existingSourceFiles})
-	endif()
-	if (COTIRE_VERBOSE)
-		message (STATUS "execute_process: ${_cmd}")
-	endif()
-	if (MSVC_IDE OR _option_COMPILER_ID MATCHES "MSVC")
-		# cl.exe messes with the output streams unless the environment variable VS_UNICODE_OUTPUT is cleared
-		unset (ENV{VS_UNICODE_OUTPUT})
-	endif()
-	execute_process(
-		COMMAND ${_cmd}
-		WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-		RESULT_VARIABLE _result
-		OUTPUT_QUIET
-		ERROR_VARIABLE _output)
-	if (_result)
-		message (STATUS "Result ${_result} scanning includes of ${_existingSourceFiles}.")
-	endif()
-	cotire_parse_includes(
-		"${_option_LANGUAGE}" "${_output}"
-		"${_option_IGNORE_PATH}" "${_option_INCLUDE_PATH}"
-		"${_option_IGNORE_EXTENSIONS}"
-		_includes _unparsedLines
-		${_sourceFiles})
-	if (_option_INCLUDE_PRIORITY_PATH)
-		set (_sortedIncludes "")
-		foreach (_priorityPath ${_option_INCLUDE_PRIORITY_PATH})
-			foreach (_include ${_includes})
-				string (FIND ${_include} ${_priorityPath} _position)
-				if (_position GREATER -1)
-					list (APPEND _sortedIncludes ${_include})
-				endif()
-			endforeach()
-		endforeach()
-		if (_sortedIncludes)
-			list (INSERT _includes 0 ${_sortedIncludes})
-			list (REMOVE_DUPLICATES _includes)
-		endif()
-	endif()
-	set (${_includesVar} ${_includes} PARENT_SCOPE)
-	if (_option_UNPARSED_LINES)
-		set (${_option_UNPARSED_LINES} ${_unparsedLines} PARENT_SCOPE)
-	endif()
-	if (_option_SCAN_RESULT)
-		set (${_option_SCAN_RESULT} ${_result} PARENT_SCOPE)
-	endif()
-endfunction()
-
-macro (cotire_append_undefs _contentsVar)
-	set (_undefs ${ARGN})
-	if (_undefs)
-		list (REMOVE_DUPLICATES _undefs)
-		foreach (_definition ${_undefs})
-			list (APPEND ${_contentsVar} "#undef ${_definition}")
-		endforeach()
-	endif()
-endmacro()
-
-macro (cotire_comment_str _language _commentText _commentVar)
-	if ("${_language}" STREQUAL "CMAKE")
-		set (${_commentVar} "# ${_commentText}")
-	else()
-		set (${_commentVar} "/* ${_commentText} */")
-	endif()
-endmacro()
-
-function (cotire_write_file _language _file _contents _force)
-	get_filename_component(_moduleName "${COTIRE_CMAKE_MODULE_FILE}" NAME)
-	cotire_comment_str("${_language}" "${_moduleName} ${COTIRE_CMAKE_MODULE_VERSION} generated file" _header1)
-	cotire_comment_str("${_language}" "${_file}" _header2)
-	set (_contents "${_header1}\n${_header2}\n${_contents}")
-	if (COTIRE_DEBUG)
-		message (STATUS "${_contents}")
-	endif()
-	if (_force OR NOT EXISTS "${_file}")
-		file (WRITE "${_file}" "${_contents}")
-	else()
-		file (READ "${_file}" _oldContents)
-		if (NOT "${_oldContents}" STREQUAL "${_contents}")
-			file (WRITE "${_file}" "${_contents}")
-		else()
-			if (COTIRE_DEBUG)
-				message (STATUS "${_file} unchanged")
-			endif()
-		endif()
-	endif()
-endfunction()
-
-function (cotire_generate_unity_source _unityFile)
-	set(_options "")
-	set(_oneValueArgs LANGUAGE)
-	set(_multiValueArgs
-		DEPENDS SOURCES_COMPILE_DEFINITIONS
-		PRE_UNDEFS SOURCES_PRE_UNDEFS POST_UNDEFS SOURCES_POST_UNDEFS PROLOGUE EPILOGUE)
-	cmake_parse_arguments(_option "${_options}" "${_oneValueArgs}" "${_multiValueArgs}" ${ARGN})
-	if (_option_DEPENDS)
-		cotire_check_file_up_to_date(_unityFileIsUpToDate "${_unityFile}" ${_option_DEPENDS})
-		if (_unityFileIsUpToDate)
-			return()
-		endif()
-	endif()
-	set (_sourceFiles ${_option_UNPARSED_ARGUMENTS})
-	if (NOT _option_PRE_UNDEFS)
-		set (_option_PRE_UNDEFS "")
-	endif()
-	if (NOT _option_SOURCES_PRE_UNDEFS)
-		set (_option_SOURCES_PRE_UNDEFS "")
-	endif()
-	if (NOT _option_POST_UNDEFS)
-		set (_option_POST_UNDEFS "")
-	endif()
-	if (NOT _option_SOURCES_POST_UNDEFS)
-		set (_option_SOURCES_POST_UNDEFS "")
-	endif()
-	set (_contents "")
-	if (_option_PROLOGUE)
-		list (APPEND _contents ${_option_PROLOGUE})
-	endif()
-	if (_option_LANGUAGE AND _sourceFiles)
-		if ("${_option_LANGUAGE}" STREQUAL "CXX")
-			list (APPEND _contents "#ifdef __cplusplus")
-		elseif ("${_option_LANGUAGE}" STREQUAL "C")
-			list (APPEND _contents "#ifndef __cplusplus")
-		endif()
-	endif()
-	set (_compileUndefinitions "")
-	foreach (_sourceFile ${_sourceFiles})
-		cotire_get_source_compile_definitions(
-			"${_option_CONFIGURATION}" "${_option_LANGUAGE}" "${_sourceFile}" _compileDefinitions
-			${_option_SOURCES_COMPILE_DEFINITIONS})
-		cotire_get_source_undefs("${_sourceFile}" COTIRE_UNITY_SOURCE_PRE_UNDEFS _sourcePreUndefs ${_option_SOURCES_PRE_UNDEFS})
-		cotire_get_source_undefs("${_sourceFile}" COTIRE_UNITY_SOURCE_POST_UNDEFS _sourcePostUndefs ${_option_SOURCES_POST_UNDEFS})
-		if (_option_PRE_UNDEFS)
-			list (APPEND _compileUndefinitions ${_option_PRE_UNDEFS})
-		endif()
-		if (_sourcePreUndefs)
-			list (APPEND _compileUndefinitions ${_sourcePreUndefs})
-		endif()
-		if (_compileUndefinitions)
-			cotire_append_undefs(_contents ${_compileUndefinitions})
-			set (_compileUndefinitions "")
-		endif()
-		if (_sourcePostUndefs)
-			list (APPEND _compileUndefinitions ${_sourcePostUndefs})
-		endif()
-		if (_option_POST_UNDEFS)
-			list (APPEND _compileUndefinitions ${_option_POST_UNDEFS})
-		endif()
-		foreach (_definition ${_compileDefinitions})
-			if (_definition MATCHES "^([a-zA-Z0-9_]+)=(.+)$")
-				list (APPEND _contents "#define ${CMAKE_MATCH_1} ${CMAKE_MATCH_2}")
-				list (INSERT _compileUndefinitions 0 "${CMAKE_MATCH_1}")
-			else()
-				list (APPEND _contents "#define ${_definition}")
-				list (INSERT _compileUndefinitions 0 "${_definition}")
-			endif()
-		endforeach()
-		# use absolute path as source file location
-		get_filename_component(_sourceFileLocation "${_sourceFile}" ABSOLUTE)
-		if (WIN32)
-			file (TO_NATIVE_PATH "${_sourceFileLocation}" _sourceFileLocation)
-		endif()
-		list (APPEND _contents "#include \"${_sourceFileLocation}\"")
-	endforeach()
-	if (_compileUndefinitions)
-		cotire_append_undefs(_contents ${_compileUndefinitions})
-		set (_compileUndefinitions "")
-	endif()
-	if (_option_LANGUAGE AND _sourceFiles)
-		list (APPEND _contents "#endif")
-	endif()
-	if (_option_EPILOGUE)
-		list (APPEND _contents ${_option_EPILOGUE})
-	endif()
-	list (APPEND _contents "")
-	string (REPLACE ";" "\n" _contents "${_contents}")
-	if (COTIRE_VERBOSE)
-		message ("${_contents}")
-	endif()
-	cotire_write_file("${_option_LANGUAGE}" "${_unityFile}" "${_contents}" TRUE)
-endfunction()
-
-function (cotire_generate_prefix_header _prefixFile)
-	set(_options "")
-	set(_oneValueArgs LANGUAGE COMPILER_EXECUTABLE COMPILER_ARG1 COMPILER_ID COMPILER_VERSION)
-	set(_multiValueArgs DEPENDS COMPILE_DEFINITIONS COMPILE_FLAGS
-		INCLUDE_DIRECTORIES SYSTEM_INCLUDE_DIRECTORIES IGNORE_PATH INCLUDE_PATH
-		IGNORE_EXTENSIONS INCLUDE_PRIORITY_PATH COMPILER_LAUNCHER)
-	cmake_parse_arguments(_option "${_options}" "${_oneValueArgs}" "${_multiValueArgs}" ${ARGN})
-	if (NOT _option_COMPILER_ID)
-		set (_option_COMPILER_ID "${CMAKE_${_option_LANGUAGE}_ID}")
-	endif()
-	if (NOT _option_COMPILER_VERSION)
-		set (_option_COMPILER_VERSION "${CMAKE_${_option_LANGUAGE}_COMPILER_VERSION}")
-	endif()
-	if (_option_DEPENDS)
-		cotire_check_file_up_to_date(_prefixFileIsUpToDate "${_prefixFile}" ${_option_DEPENDS})
-		if (_prefixFileIsUpToDate)
-			# create empty log file
-			set (_unparsedLinesFile "${_prefixFile}.log")
-			file (WRITE "${_unparsedLinesFile}" "")
-			return()
-		endif()
-	endif()
-	set (_prologue "")
-	set (_epilogue "")
-	if (_option_COMPILER_ID MATCHES "Clang")
-		set (_prologue "#pragma clang system_header")
-	elseif (_option_COMPILER_ID MATCHES "GNU")
-		set (_prologue "#pragma GCC system_header")
-	elseif (_option_COMPILER_ID MATCHES "MSVC")
-		set (_prologue "#pragma warning(push, 0)")
-		set (_epilogue "#pragma warning(pop)")
-	elseif (_option_COMPILER_ID MATCHES "Intel")
-		# Intel compiler requires hdrstop pragma to stop generating PCH file
-		set (_epilogue "#pragma hdrstop")
-	endif()
-	set (_sourceFiles ${_option_UNPARSED_ARGUMENTS})
-	cotire_scan_includes(_selectedHeaders ${_sourceFiles}
-		LANGUAGE "${_option_LANGUAGE}"
-		COMPILER_LAUNCHER "${_option_COMPILER_LAUNCHER}"
-		COMPILER_EXECUTABLE "${_option_COMPILER_EXECUTABLE}"
-		COMPILER_ARG1 "${_option_COMPILER_ARG1}"
-		COMPILER_ID "${_option_COMPILER_ID}"
-		COMPILER_VERSION "${_option_COMPILER_VERSION}"
-		COMPILE_DEFINITIONS ${_option_COMPILE_DEFINITIONS}
-		COMPILE_FLAGS ${_option_COMPILE_FLAGS}
-		INCLUDE_DIRECTORIES ${_option_INCLUDE_DIRECTORIES}
-		SYSTEM_INCLUDE_DIRECTORIES ${_option_SYSTEM_INCLUDE_DIRECTORIES}
-		IGNORE_PATH ${_option_IGNORE_PATH}
-		INCLUDE_PATH ${_option_INCLUDE_PATH}
-		IGNORE_EXTENSIONS ${_option_IGNORE_EXTENSIONS}
-		INCLUDE_PRIORITY_PATH ${_option_INCLUDE_PRIORITY_PATH}
-		UNPARSED_LINES _unparsedLines
-		SCAN_RESULT _scanResult)
-	cotire_generate_unity_source("${_prefixFile}"
-		PROLOGUE ${_prologue} EPILOGUE ${_epilogue} LANGUAGE "${_option_LANGUAGE}" ${_selectedHeaders})
-	set (_unparsedLinesFile "${_prefixFile}.log")
-	if (_unparsedLines)
-		if (COTIRE_VERBOSE OR _scanResult OR NOT _selectedHeaders)
-			list (LENGTH _unparsedLines _skippedLineCount)
-			if (WIN32)
-				file (TO_NATIVE_PATH "${_unparsedLinesFile}" _unparsedLinesLogPath)
-			else()
-				set (_unparsedLinesLogPath "${_unparsedLinesFile}")
-			endif()
-			message (STATUS "${_skippedLineCount} line(s) skipped, see ${_unparsedLinesLogPath}")
-		endif()
-		string (REPLACE ";" "\n" _unparsedLines "${_unparsedLines}")
-	endif()
-	file (WRITE "${_unparsedLinesFile}" "${_unparsedLines}\n")
-endfunction()
-
-function (cotire_add_makedep_flags _language _compilerID _compilerVersion _flagsVar)
-	set (_flags ${${_flagsVar}})
-	if (_compilerID MATCHES "MSVC")
-		# cl.exe options used
-		# /nologo suppresses display of sign-on banner
-		# /TC treat all files named on the command line as C source files
-		# /TP treat all files named on the command line as C++ source files
-		# /EP preprocess to stdout without #line directives
-		# /showIncludes list include files
-		set (_sourceFileTypeC "/TC")
-		set (_sourceFileTypeCXX "/TP")
-		if (_flags)
-			# append to list
-			list (APPEND _flags /nologo "${_sourceFileType${_language}}" /EP /showIncludes)
-		else()
-			# return as a flag string
-			set (_flags "${_sourceFileType${_language}} /EP /showIncludes")
-		endif()
-	elseif (_compilerID MATCHES "GNU")
-		# GCC options used
-		# -H print the name of each header file used
-		# -E invoke preprocessor
-		# -fdirectives-only do not expand macros, requires GCC >= 4.3
-		if (_flags)
-			# append to list
-			list (APPEND _flags -H -E)
-			if (NOT "${_compilerVersion}" VERSION_LESS "4.3.0")
-				list (APPEND _flags -fdirectives-only)
-			endif()
-		else()
-			# return as a flag string
-			set (_flags "-H -E")
-			if (NOT "${_compilerVersion}" VERSION_LESS "4.3.0")
-				set (_flags "${_flags} -fdirectives-only")
-			endif()
-		endif()
-	elseif (_compilerID MATCHES "Clang")
-		if (UNIX)
-			# Clang options used
-			# -H print the name of each header file used
-			# -E invoke preprocessor
-			# -fno-color-diagnostics do not print diagnostics in color
-			# -Eonly just run preprocessor, no output
-			if (_flags)
-				# append to list
-				list (APPEND _flags -H -E -fno-color-diagnostics -Xclang -Eonly)
-			else()
-				# return as a flag string
-				set (_flags "-H -E -fno-color-diagnostics -Xclang -Eonly")
-			endif()
-		elseif (WIN32)
-			# Clang-cl.exe options used
-			# /TC treat all files named on the command line as C source files
-			# /TP treat all files named on the command line as C++ source files
-			# /EP preprocess to stdout without #line directives
-			# -H print the name of each header file used
-			# -fno-color-diagnostics do not print diagnostics in color
-			# -Eonly just run preprocessor, no output
-			set (_sourceFileTypeC "/TC")
-			set (_sourceFileTypeCXX "/TP")
-			if (_flags)
-				# append to list
-				list (APPEND _flags "${_sourceFileType${_language}}" /EP -fno-color-diagnostics -Xclang -H -Xclang -Eonly)
-			else()
-				# return as a flag string
-				set (_flags "${_sourceFileType${_language}} /EP -fno-color-diagnostics -Xclang -H -Xclang -Eonly")
-			endif()
-		endif()
-	elseif (_compilerID MATCHES "Intel")
-		if (WIN32)
-			# Windows Intel options used
-			# /nologo do not display compiler version information
-			# /QH display the include file order
-			# /EP preprocess to stdout, omitting #line directives
-			# /TC process all source or unrecognized file types as C source files
-			# /TP process all source or unrecognized file types as C++ source files
-			set (_sourceFileTypeC "/TC")
-			set (_sourceFileTypeCXX "/TP")
-			if (_flags)
-				# append to list
-				list (APPEND _flags /nologo "${_sourceFileType${_language}}" /EP /QH)
-			else()
-				# return as a flag string
-				set (_flags "${_sourceFileType${_language}} /EP /QH")
-			endif()
-		else()
-			# Linux / Mac OS X Intel options used
-			# -H print the name of each header file used
-			# -EP preprocess to stdout, omitting #line directives
-			# -Kc++ process all source or unrecognized file types as C++ source files
-			if (_flags)
-				# append to list
-				if ("${_language}" STREQUAL "CXX")
-					list (APPEND _flags -Kc++)
-				endif()
-				list (APPEND _flags -H -EP)
-			else()
-				# return as a flag string
-				if ("${_language}" STREQUAL "CXX")
-					set (_flags "-Kc++ ")
-				endif()
-				set (_flags "${_flags}-H -EP")
-			endif()
-		endif()
-	else()
-		message (FATAL_ERROR "cotire: unsupported ${_language} compiler ${_compilerID} version ${_compilerVersion}.")
-	endif()
-	set (${_flagsVar} ${_flags} PARENT_SCOPE)
-endfunction()
-
-function (cotire_add_pch_compilation_flags _language _compilerID _compilerVersion _prefixFile _pchFile _hostFile _flagsVar)
-	set (_flags ${${_flagsVar}})
-	if (_compilerID MATCHES "MSVC")
-		file (TO_NATIVE_PATH "${_prefixFile}" _prefixFileNative)
-		file (TO_NATIVE_PATH "${_pchFile}" _pchFileNative)
-		file (TO_NATIVE_PATH "${_hostFile}" _hostFileNative)
-		# cl.exe options used
-		# /Yc creates a precompiled header file
-		# /Fp specifies precompiled header binary file name
-		# /FI forces inclusion of file
-		# /TC treat all files named on the command line as C source files
-		# /TP treat all files named on the command line as C++ source files
-		# /Zs syntax check only
-		# /Zm precompiled header memory allocation scaling factor
-		set (_sourceFileTypeC "/TC")
-		set (_sourceFileTypeCXX "/TP")
-		if (_flags)
-			# append to list
-			list (APPEND _flags /nologo "${_sourceFileType${_language}}"
-				"/Yc${_prefixFileNative}" "/Fp${_pchFileNative}" "/FI${_prefixFileNative}" /Zs "${_hostFileNative}")
-			if (COTIRE_PCH_MEMORY_SCALING_FACTOR)
-				list (APPEND _flags "/Zm${COTIRE_PCH_MEMORY_SCALING_FACTOR}")
-			endif()
-		else()
-			# return as a flag string
-			set (_flags "/Yc\"${_prefixFileNative}\" /Fp\"${_pchFileNative}\" /FI\"${_prefixFileNative}\"")
-			if (COTIRE_PCH_MEMORY_SCALING_FACTOR)
-				set (_flags "${_flags} /Zm${COTIRE_PCH_MEMORY_SCALING_FACTOR}")
-			endif()
-		endif()
-	elseif (_compilerID MATCHES "GNU")
-		# GCC options used
-		# -x specify the source language
-		# -c compile but do not link
-		# -o place output in file
-		# note that we cannot use -w to suppress all warnings upon pre-compiling, because turning off a warning may
-		# alter compile flags as a side effect (e.g., -Wwrite-string implies -fconst-strings)
-		set (_xLanguage_C "c-header")
-		set (_xLanguage_CXX "c++-header")
-		if (_flags)
-			# append to list
-			list (APPEND _flags -x "${_xLanguage_${_language}}" -c "${_prefixFile}" -o "${_pchFile}")
-		else()
-			# return as a flag string
-			set (_flags "-x ${_xLanguage_${_language}} -c \"${_prefixFile}\" -o \"${_pchFile}\"")
-		endif()
-	elseif (_compilerID MATCHES "Clang")
-		if (UNIX)
-			# Clang options used
-			# -x specify the source language
-			# -c compile but do not link
-			# -o place output in file
-			# -fno-pch-timestamp disable inclusion of timestamp in precompiled headers (clang 4.0.0+)
-			set (_xLanguage_C "c-header")
-			set (_xLanguage_CXX "c++-header")
-			if (_flags)
-				# append to list
-				list (APPEND _flags -x "${_xLanguage_${_language}}" -c "${_prefixFile}" -o "${_pchFile}")
-				if (NOT "${_compilerVersion}" VERSION_LESS "4.0.0")
-					list (APPEND _flags -Xclang -fno-pch-timestamp)
-				endif()
-			else()
-				# return as a flag string
-				set (_flags "-x ${_xLanguage_${_language}} -c \"${_prefixFile}\" -o \"${_pchFile}\"")
-				if (NOT "${_compilerVersion}" VERSION_LESS "4.0.0")
-					set (_flags "${_flags} -Xclang -fno-pch-timestamp")
-				endif()
-			endif()
-		elseif (WIN32)
-			# Clang-cl.exe options used
-			# /Yc creates a precompiled header file
-			# /Fp specifies precompiled header binary file name
-			# /FI forces inclusion of file
-			# /Zs syntax check only
-			# /TC treat all files named on the command line as C source files
-			# /TP treat all files named on the command line as C++ source files
-			set (_sourceFileTypeC "/TC")
-			set (_sourceFileTypeCXX "/TP")
-			if (_flags)
-				# append to list
-				list (APPEND _flags "${_sourceFileType${_language}}"
-						"/Yc${_prefixFile}" "/Fp${_pchFile}" "/FI${_prefixFile}" /Zs "${_hostFile}")
-			else()
-				# return as a flag string
-				set (_flags "/Yc\"${_prefixFile}\" /Fp\"${_pchFile}\" /FI\"${_prefixFile}\"")
-			endif()
-		endif()
-	elseif (_compilerID MATCHES "Intel")
-		if (WIN32)
-			file (TO_NATIVE_PATH "${_prefixFile}" _prefixFileNative)
-			file (TO_NATIVE_PATH "${_pchFile}" _pchFileNative)
-			file (TO_NATIVE_PATH "${_hostFile}" _hostFileNative)
-			# Windows Intel options used
-			# /nologo do not display compiler version information
-			# /Yc create a precompiled header (PCH) file
-			# /Fp specify a path or file name for precompiled header files
-			# /FI tells the preprocessor to include a specified file name as the header file
-			# /TC process all source or unrecognized file types as C source files
-			# /TP process all source or unrecognized file types as C++ source files
-			# /Zs syntax check only
-			# /Wpch-messages enable diagnostics related to pre-compiled headers (requires Intel XE 2013 Update 2)
-			set (_sourceFileTypeC "/TC")
-			set (_sourceFileTypeCXX "/TP")
-			if (_flags)
-				# append to list
-				list (APPEND _flags /nologo "${_sourceFileType${_language}}"
-					"/Yc" "/Fp${_pchFileNative}" "/FI${_prefixFileNative}" /Zs "${_hostFileNative}")
-				if (NOT "${_compilerVersion}" VERSION_LESS "13.1.0")
-					list (APPEND _flags "/Wpch-messages")
-				endif()
-			else()
-				# return as a flag string
-				set (_flags "/Yc /Fp\"${_pchFileNative}\" /FI\"${_prefixFileNative}\"")
-				if (NOT "${_compilerVersion}" VERSION_LESS "13.1.0")
-					set (_flags "${_flags} /Wpch-messages")
-				endif()
-			endif()
-		else()
-			# Linux / Mac OS X Intel options used
-			# -pch-dir location for precompiled header files
-			# -pch-create name of the precompiled header (PCH) to create
-			# -Kc++ process all source or unrecognized file types as C++ source files
-			# -fsyntax-only check only for correct syntax
-			# -Wpch-messages enable diagnostics related to pre-compiled headers (requires Intel XE 2013 Update 2)
-			get_filename_component(_pchDir "${_pchFile}" DIRECTORY)
-			get_filename_component(_pchName "${_pchFile}" NAME)
-			set (_xLanguage_C "c-header")
-			set (_xLanguage_CXX "c++-header")
-			set (_pchSuppressMessages FALSE)
-			if ("${CMAKE_${_language}_FLAGS}" MATCHES ".*-Wno-pch-messages.*")
-				set(_pchSuppressMessages TRUE)
-			endif()
-			if (_flags)
-				# append to list
-				if ("${_language}" STREQUAL "CXX")
-					list (APPEND _flags -Kc++)
-				endif()
-				list (APPEND _flags -include "${_prefixFile}" -pch-dir "${_pchDir}" -pch-create "${_pchName}" -fsyntax-only "${_hostFile}")
-				if (NOT "${_compilerVersion}" VERSION_LESS "13.1.0")
-					if (NOT _pchSuppressMessages)
-						list (APPEND _flags -Wpch-messages)
-					endif()
-				endif()
-			else()
-				# return as a flag string
-				set (_flags "-include \"${_prefixFile}\" -pch-dir \"${_pchDir}\" -pch-create \"${_pchName}\"")
-				if (NOT "${_compilerVersion}" VERSION_LESS "13.1.0")
-					if (NOT _pchSuppressMessages)
-						set (_flags "${_flags} -Wpch-messages")
-					endif()
-				endif()
-			endif()
-		endif()
-	else()
-		message (FATAL_ERROR "cotire: unsupported ${_language} compiler ${_compilerID} version ${_compilerVersion}.")
-	endif()
-	set (${_flagsVar} ${_flags} PARENT_SCOPE)
-endfunction()
-
-function (cotire_add_prefix_pch_inclusion_flags _language _compilerID _compilerVersion _prefixFile _pchFile _flagsVar)
-	set (_flags ${${_flagsVar}})
-	if (_compilerID MATCHES "MSVC")
-		file (TO_NATIVE_PATH "${_prefixFile}" _prefixFileNative)
-		# cl.exe options used
-		# /Yu uses a precompiled header file during build
-		# /Fp specifies precompiled header binary file name
-		# /FI forces inclusion of file
-		# /Zm precompiled header memory allocation scaling factor
-		if (_pchFile)
-			file (TO_NATIVE_PATH "${_pchFile}" _pchFileNative)
-			if (_flags)
-				# append to list
-				list (APPEND _flags "/Yu${_prefixFileNative}" "/Fp${_pchFileNative}" "/FI${_prefixFileNative}")
-				if (COTIRE_PCH_MEMORY_SCALING_FACTOR)
-					list (APPEND _flags "/Zm${COTIRE_PCH_MEMORY_SCALING_FACTOR}")
-				endif()
-			else()
-				# return as a flag string
-				set (_flags "/Yu\"${_prefixFileNative}\" /Fp\"${_pchFileNative}\" /FI\"${_prefixFileNative}\"")
-				if (COTIRE_PCH_MEMORY_SCALING_FACTOR)
-					set (_flags "${_flags} /Zm${COTIRE_PCH_MEMORY_SCALING_FACTOR}")
-				endif()
-			endif()
-		else()
-			# no precompiled header, force inclusion of prefix header
-			if (_flags)
-				# append to list
-				list (APPEND _flags "/FI${_prefixFileNative}")
-			else()
-				# return as a flag string
-				set (_flags "/FI\"${_prefixFileNative}\"")
-			endif()
-		endif()
-	elseif (_compilerID MATCHES "GNU")
-		# GCC options used
-		# -include process include file as the first line of the primary source file
-		# -Winvalid-pch warns if precompiled header is found but cannot be used
-		# note: ccache requires the -include flag to be used in order to process precompiled header correctly
-		if (_flags)
-			# append to list
-			list (APPEND _flags -Winvalid-pch -include "${_prefixFile}")
-		else()
-			# return as a flag string
-			set (_flags "-Winvalid-pch -include \"${_prefixFile}\"")
-		endif()
-	elseif (_compilerID MATCHES "Clang")
-		if (UNIX)
-			# Clang options used
-			# -include process include file as the first line of the primary source file
-			# note: ccache requires the -include flag to be used in order to process precompiled header correctly
-			if (_flags)
-				# append to list
-				list (APPEND _flags -include "${_prefixFile}")
-			else()
-				# return as a flag string
-				set (_flags "-include \"${_prefixFile}\"")
-			endif()
-		elseif (WIN32)
-			# Clang-cl.exe options used
-			# /Yu uses a precompiled header file during build
-			# /Fp specifies precompiled header binary file name
-			# /FI forces inclusion of file
-			if (_pchFile)
-				if (_flags)
-					# append to list
-					list (APPEND _flags "/Yu${_prefixFile}" "/Fp${_pchFile}" "/FI${_prefixFile}")
-				else()
-					# return as a flag string
-					set (_flags "/Yu\"${_prefixFile}\" /Fp\"${_pchFile}\" /FI\"${_prefixFile}\"")
-				endif()
-			else()
-				# no precompiled header, force inclusion of prefix header
-				if (_flags)
-					# append to list
-					list (APPEND _flags "/FI${_prefixFile}")
-				else()
-					# return as a flag string
-					set (_flags "/FI\"${_prefixFile}\"")
-				endif()
-			endif()
-		endif()
-	elseif (_compilerID MATCHES "Intel")
-		if (WIN32)
-			file (TO_NATIVE_PATH "${_prefixFile}" _prefixFileNative)
-			# Windows Intel options used
-			# /Yu use a precompiled header (PCH) file
-			# /Fp specify a path or file name for precompiled header files
-			# /FI tells the preprocessor to include a specified file name as the header file
-			# /Wpch-messages enable diagnostics related to pre-compiled headers (requires Intel XE 2013 Update 2)
-			if (_pchFile)
-				file (TO_NATIVE_PATH "${_pchFile}" _pchFileNative)
-				if (_flags)
-					# append to list
-					list (APPEND _flags "/Yu" "/Fp${_pchFileNative}" "/FI${_prefixFileNative}")
-					if (NOT "${_compilerVersion}" VERSION_LESS "13.1.0")
-						list (APPEND _flags "/Wpch-messages")
-					endif()
-				else()
-					# return as a flag string
-					set (_flags "/Yu /Fp\"${_pchFileNative}\" /FI\"${_prefixFileNative}\"")
-					if (NOT "${_compilerVersion}" VERSION_LESS "13.1.0")
-						set (_flags "${_flags} /Wpch-messages")
-					endif()
-				endif()
-			else()
-				# no precompiled header, force inclusion of prefix header
-				if (_flags)
-					# append to list
-					list (APPEND _flags "/FI${_prefixFileNative}")
-				else()
-					# return as a flag string
-					set (_flags "/FI\"${_prefixFileNative}\"")
-				endif()
-			endif()
-		else()
-			# Linux / Mac OS X Intel options used
-			# -pch-dir location for precompiled header files
-			# -pch-use name of the precompiled header (PCH) to use
-			# -include process include file as the first line of the primary source file
-			# -Wpch-messages enable diagnostics related to pre-compiled headers (requires Intel XE 2013 Update 2)
-			if (_pchFile)
-				get_filename_component(_pchDir "${_pchFile}" DIRECTORY)
-				get_filename_component(_pchName "${_pchFile}" NAME)
-				set (_pchSuppressMessages FALSE)
-				if ("${CMAKE_${_language}_FLAGS}" MATCHES ".*-Wno-pch-messages.*")
-					set(_pchSuppressMessages TRUE)
-				endif()
-				if (_flags)
-					# append to list
-					list (APPEND _flags -include "${_prefixFile}" -pch-dir "${_pchDir}" -pch-use "${_pchName}")
-					if (NOT "${_compilerVersion}" VERSION_LESS "13.1.0")
-						if (NOT _pchSuppressMessages)
-							list (APPEND _flags -Wpch-messages)
-						endif()
-					endif()
-				else()
-					# return as a flag string
-					set (_flags "-include \"${_prefixFile}\" -pch-dir \"${_pchDir}\" -pch-use \"${_pchName}\"")
-					if (NOT "${_compilerVersion}" VERSION_LESS "13.1.0")
-						if (NOT _pchSuppressMessages)
-							set (_flags "${_flags} -Wpch-messages")
-						endif()
-					endif()
-				endif()
-			else()
-				# no precompiled header, force inclusion of prefix header
-				if (_flags)
-					# append to list
-					list (APPEND _flags -include "${_prefixFile}")
-				else()
-					# return as a flag string
-					set (_flags "-include \"${_prefixFile}\"")
-				endif()
-			endif()
-		endif()
-	else()
-		message (FATAL_ERROR "cotire: unsupported ${_language} compiler ${_compilerID} version ${_compilerVersion}.")
-	endif()
-	set (${_flagsVar} ${_flags} PARENT_SCOPE)
-endfunction()
-
-function (cotire_precompile_prefix_header _prefixFile _pchFile _hostFile)
-	set(_options "")
-	set(_oneValueArgs COMPILER_EXECUTABLE COMPILER_ARG1 COMPILER_ID COMPILER_VERSION LANGUAGE)
-	set(_multiValueArgs COMPILE_DEFINITIONS COMPILE_FLAGS INCLUDE_DIRECTORIES SYSTEM_INCLUDE_DIRECTORIES SYS COMPILER_LAUNCHER)
-	cmake_parse_arguments(_option "${_options}" "${_oneValueArgs}" "${_multiValueArgs}" ${ARGN})
-	if (NOT _option_LANGUAGE)
-		set (_option_LANGUAGE "CXX")
-	endif()
-	if (NOT _option_COMPILER_ID)
-		set (_option_COMPILER_ID "${CMAKE_${_option_LANGUAGE}_ID}")
-	endif()
-	if (NOT _option_COMPILER_VERSION)
-		set (_option_COMPILER_VERSION "${CMAKE_${_option_LANGUAGE}_COMPILER_VERSION}")
-	endif()
-	cotire_init_compile_cmd(_cmd "${_option_LANGUAGE}" "${_option_COMPILER_LAUNCHER}" "${_option_COMPILER_EXECUTABLE}" "${_option_COMPILER_ARG1}")
-	cotire_add_definitions_to_cmd(_cmd "${_option_LANGUAGE}" ${_option_COMPILE_DEFINITIONS})
-	cotire_add_compile_flags_to_cmd(_cmd ${_option_COMPILE_FLAGS})
-	cotire_add_includes_to_cmd(_cmd "${_option_LANGUAGE}" _option_INCLUDE_DIRECTORIES _option_SYSTEM_INCLUDE_DIRECTORIES)
-	cotire_add_frameworks_to_cmd(_cmd "${_option_LANGUAGE}" _option_INCLUDE_DIRECTORIES _option_SYSTEM_INCLUDE_DIRECTORIES)
-	cotire_add_pch_compilation_flags(
-		"${_option_LANGUAGE}" "${_option_COMPILER_ID}" "${_option_COMPILER_VERSION}"
-		"${_prefixFile}" "${_pchFile}" "${_hostFile}" _cmd)
-	if (COTIRE_VERBOSE)
-		message (STATUS "execute_process: ${_cmd}")
-	endif()
-	if (MSVC_IDE OR _option_COMPILER_ID MATCHES "MSVC")
-		# cl.exe messes with the output streams unless the environment variable VS_UNICODE_OUTPUT is cleared
-		unset (ENV{VS_UNICODE_OUTPUT})
-	elseif (_option_COMPILER_ID MATCHES "Clang" AND _option_COMPILER_VERSION VERSION_LESS "4.0.0")
-		if (_option_COMPILER_LAUNCHER MATCHES "ccache" OR
-			_option_COMPILER_EXECUTABLE MATCHES "ccache")
-			# Newer versions of Clang embed a compilation timestamp into the precompiled header binary,
-			# which results in "file has been modified since the precompiled header was built" errors if ccache is used.
-			# We work around the problem by disabling ccache upon pre-compiling the prefix header.
-			set (ENV{CCACHE_DISABLE} "true")
-		endif()
-	endif()
-	execute_process(
-		COMMAND ${_cmd}
-		WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-		RESULT_VARIABLE _result)
-	if (_result)
-		message (FATAL_ERROR "cotire: error ${_result} precompiling ${_prefixFile}.")
-	endif()
-endfunction()
-
-function (cotire_check_precompiled_header_support _language _target _msgVar)
-	set (_unsupportedCompiler
-		"Precompiled headers not supported for ${_language} compiler ${CMAKE_${_language}_COMPILER_ID}")
-	if (CMAKE_${_language}_COMPILER_ID MATCHES "MSVC")
-		# PCH supported since Visual Studio C++ 6.0
-		# and CMake does not support an earlier version
-		set (${_msgVar} "" PARENT_SCOPE)
-	elseif (CMAKE_${_language}_COMPILER_ID MATCHES "GNU")
-		# GCC PCH support requires version >= 3.4
-		if ("${CMAKE_${_language}_COMPILER_VERSION}" VERSION_LESS "3.4.0")
-			set (${_msgVar} "${_unsupportedCompiler} version ${CMAKE_${_language}_COMPILER_VERSION}." PARENT_SCOPE)
-		else()
-			set (${_msgVar} "" PARENT_SCOPE)
-		endif()
-	elseif (CMAKE_${_language}_COMPILER_ID MATCHES "Clang")
-		if (UNIX)
-			# all Unix Clang versions have PCH support
-			set (${_msgVar} "" PARENT_SCOPE)
-		elseif (WIN32)
-			# only clang-cl is supported under Windows
-			get_filename_component(_compilerName "${CMAKE_${_language}_COMPILER}" NAME_WE)
-			if (NOT _compilerName MATCHES "cl$")
-				set (${_msgVar} "${_unsupportedCompiler} version ${CMAKE_${_language}_COMPILER_VERSION}. Use clang-cl instead." PARENT_SCOPE)
-			endif()
-		endif()
-	elseif (CMAKE_${_language}_COMPILER_ID MATCHES "Intel")
-		# Intel PCH support requires version >= 8.0.0
-		if ("${CMAKE_${_language}_COMPILER_VERSION}" VERSION_LESS "8.0.0")
-			set (${_msgVar} "${_unsupportedCompiler} version ${CMAKE_${_language}_COMPILER_VERSION}." PARENT_SCOPE)
-		else()
-			set (${_msgVar} "" PARENT_SCOPE)
-		endif()
-	else()
-		set (${_msgVar} "${_unsupportedCompiler}." PARENT_SCOPE)
-	endif()
-	# check if ccache is used as a compiler launcher
-	get_target_property(_launcher ${_target} ${_language}_COMPILER_LAUNCHER)
-	get_filename_component(_realCompilerExe "${CMAKE_${_language}_COMPILER}" REALPATH)
-	if (_realCompilerExe MATCHES "ccache" OR _launcher MATCHES "ccache")
-		# verify that ccache configuration is compatible with precompiled headers
-		# always check environment variable CCACHE_SLOPPINESS, because earlier versions of ccache
-		# do not report the "sloppiness" setting correctly upon printing ccache configuration
-		if (DEFINED ENV{CCACHE_SLOPPINESS})
-			if (NOT "$ENV{CCACHE_SLOPPINESS}" MATCHES "pch_defines" OR
-				NOT "$ENV{CCACHE_SLOPPINESS}" MATCHES "time_macros")
-				set (${_msgVar}
-					"ccache requires the environment variable CCACHE_SLOPPINESS to be set to \"pch_defines,time_macros\"."
-					PARENT_SCOPE)
-			endif()
-		else()
-			if (_realCompilerExe MATCHES "ccache")
-				set (_ccacheExe "${_realCompilerExe}")
-			else()
-				set (_ccacheExe "${_launcher}")
-			endif()
-			execute_process(
-				COMMAND "${_ccacheExe}" "--print-config"
-				WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
-				RESULT_VARIABLE _result
-				OUTPUT_VARIABLE _ccacheConfig OUTPUT_STRIP_TRAILING_WHITESPACE
-				ERROR_QUIET)
-			if (_result)
-				set (${_msgVar} "ccache configuration cannot be determined." PARENT_SCOPE)
-			elseif (NOT _ccacheConfig MATCHES "sloppiness.*=.*time_macros" OR
-				NOT _ccacheConfig MATCHES "sloppiness.*=.*pch_defines")
-				set (${_msgVar}
-					"ccache requires configuration setting \"sloppiness\" to be set to \"pch_defines,time_macros\"."
-					PARENT_SCOPE)
-			endif()
-		endif()
-	endif()
-	if (APPLE)
-		# PCH compilation not supported by GCC / Clang for multi-architecture builds (e.g., i386, x86_64)
-		cotire_get_configuration_types(_configs)
-		foreach (_config ${_configs})
-			set (_targetFlags "")
-			cotire_get_target_compile_flags("${_config}" "${_language}" "${_target}" _targetFlags)
-			cotire_filter_compile_flags("${_language}" "arch" _architectures _ignore ${_targetFlags})
-			list (LENGTH _architectures _numberOfArchitectures)
-			if (_numberOfArchitectures GREATER 1)
-				string (REPLACE ";" ", " _architectureStr "${_architectures}")
-				set (${_msgVar}
-					"Precompiled headers not supported on Darwin for multi-architecture builds (${_architectureStr})."
-					PARENT_SCOPE)
-				break()
-			endif()
-		endforeach()
-	endif()
-endfunction()
-
-macro (cotire_get_intermediate_dir _cotireDir)
-	# ${CMAKE_CFG_INTDIR} may reference a build-time variable when using a generator which supports configuration types
-	get_filename_component(${_cotireDir} "${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_CFG_INTDIR}/${COTIRE_INTDIR}" ABSOLUTE)
-endmacro()
-
-macro (cotire_setup_file_extension_variables)
-	set (_unityFileExt_C ".c")
-	set (_unityFileExt_CXX ".cxx")
-	set (_prefixFileExt_C ".h")
-	set (_prefixFileExt_CXX ".hxx")
-	set (_prefixSourceFileExt_C ".c")
-	set (_prefixSourceFileExt_CXX ".cxx")
-endmacro()
-
-function (cotire_make_single_unity_source_file_path _language _target _unityFileVar)
-	cotire_setup_file_extension_variables()
-	if (NOT DEFINED _unityFileExt_${_language})
-		set (${_unityFileVar} "" PARENT_SCOPE)
-		return()
-	endif()
-	set (_unityFileBaseName "${_target}_${_language}${COTIRE_UNITY_SOURCE_FILENAME_SUFFIX}")
-	set (_unityFileName "${_unityFileBaseName}${_unityFileExt_${_language}}")
-	cotire_get_intermediate_dir(_baseDir)
-	set (_unityFile "${_baseDir}/${_unityFileName}")
-	set (${_unityFileVar} "${_unityFile}" PARENT_SCOPE)
-endfunction()
-
-function (cotire_make_unity_source_file_paths _language _target _maxIncludes _unityFilesVar)
-	cotire_setup_file_extension_variables()
-	if (NOT DEFINED _unityFileExt_${_language})
-		set (${_unityFileVar} "" PARENT_SCOPE)
-		return()
-	endif()
-	set (_unityFileBaseName "${_target}_${_language}${COTIRE_UNITY_SOURCE_FILENAME_SUFFIX}")
-	cotire_get_intermediate_dir(_baseDir)
-	set (_startIndex 0)
-	set (_index 0)
-	set (_unityFiles "")
-	set (_sourceFiles ${ARGN})
-	foreach (_sourceFile ${_sourceFiles})
-		get_source_file_property(_startNew "${_sourceFile}" COTIRE_START_NEW_UNITY_SOURCE)
-		math (EXPR _unityFileCount "${_index} - ${_startIndex}")
-		if (_startNew OR (_maxIncludes GREATER 0 AND NOT _unityFileCount LESS _maxIncludes))
-			if (_index GREATER 0)
-				# start new unity file segment
-				math (EXPR _endIndex "${_index} - 1")
-				set (_unityFileName "${_unityFileBaseName}_${_startIndex}_${_endIndex}${_unityFileExt_${_language}}")
-				list (APPEND _unityFiles "${_baseDir}/${_unityFileName}")
-			endif()
-			set (_startIndex ${_index})
-		endif()
-		math (EXPR _index "${_index} + 1")
-	endforeach()
-	list (LENGTH _sourceFiles _numberOfSources)
-	if (_startIndex EQUAL 0)
-		# there is only a single unity file
-		cotire_make_single_unity_source_file_path(${_language} ${_target} _unityFiles)
-	elseif (_startIndex LESS _numberOfSources)
-		# end with final unity file segment
-		math (EXPR _endIndex "${_index} - 1")
-		set (_unityFileName "${_unityFileBaseName}_${_startIndex}_${_endIndex}${_unityFileExt_${_language}}")
-		list (APPEND _unityFiles "${_baseDir}/${_unityFileName}")
-	endif()
-	set (${_unityFilesVar} ${_unityFiles} PARENT_SCOPE)
-	if (COTIRE_DEBUG AND _unityFiles)
-		message (STATUS "unity files: ${_unityFiles}")
-	endif()
-endfunction()
-
-function (cotire_unity_to_prefix_file_path _language _target _unityFile _prefixFileVar)
-	cotire_setup_file_extension_variables()
-	if (NOT DEFINED _unityFileExt_${_language})
-		set (${_prefixFileVar} "" PARENT_SCOPE)
-		return()
-	endif()
-	set (_unityFileBaseName "${_target}_${_language}${COTIRE_UNITY_SOURCE_FILENAME_SUFFIX}")
-	set (_prefixFileBaseName "${_target}_${_language}${COTIRE_PREFIX_HEADER_FILENAME_SUFFIX}")
-	string (REPLACE "${_unityFileBaseName}" "${_prefixFileBaseName}" _prefixFile "${_unityFile}")
-	string (REGEX REPLACE "${_unityFileExt_${_language}}$" "${_prefixFileExt_${_language}}" _prefixFile "${_prefixFile}")
-	set (${_prefixFileVar} "${_prefixFile}" PARENT_SCOPE)
-endfunction()
-
-function (cotire_prefix_header_to_source_file_path _language _prefixHeaderFile _prefixSourceFileVar)
-	cotire_setup_file_extension_variables()
-	if (NOT DEFINED _prefixSourceFileExt_${_language})
-		set (${_prefixSourceFileVar} "" PARENT_SCOPE)
-		return()
-	endif()
-	string (REGEX REPLACE "${_prefixFileExt_${_language}}$" "${_prefixSourceFileExt_${_language}}" _prefixSourceFile "${_prefixHeaderFile}")
-	set (${_prefixSourceFileVar} "${_prefixSourceFile}" PARENT_SCOPE)
-endfunction()
-
-function (cotire_make_prefix_file_name _language _target _prefixFileBaseNameVar _prefixFileNameVar)
-	cotire_setup_file_extension_variables()
-	if (NOT _language)
-		set (_prefixFileBaseName "${_target}${COTIRE_PREFIX_HEADER_FILENAME_SUFFIX}")
-		set (_prefixFileName "${_prefixFileBaseName}${_prefixFileExt_C}")
-	elseif (DEFINED _prefixFileExt_${_language})
-		set (_prefixFileBaseName "${_target}_${_language}${COTIRE_PREFIX_HEADER_FILENAME_SUFFIX}")
-		set (_prefixFileName "${_prefixFileBaseName}${_prefixFileExt_${_language}}")
-	else()
-		set (_prefixFileBaseName "")
-		set (_prefixFileName "")
-	endif()
-	set (${_prefixFileBaseNameVar} "${_prefixFileBaseName}" PARENT_SCOPE)
-	set (${_prefixFileNameVar} "${_prefixFileName}" PARENT_SCOPE)
-endfunction()
-
-function (cotire_make_prefix_file_path _language _target _prefixFileVar)
-	cotire_make_prefix_file_name("${_language}" "${_target}" _prefixFileBaseName _prefixFileName)
-	set (${_prefixFileVar} "" PARENT_SCOPE)
-	if (_prefixFileName)
-		if (NOT _language)
-			set (_language "C")
-		endif()
-		if (CMAKE_${_language}_COMPILER_ID MATCHES "GNU|Clang|Intel|MSVC")
-			cotire_get_intermediate_dir(_baseDir)
-			set (${_prefixFileVar} "${_baseDir}/${_prefixFileName}" PARENT_SCOPE)
-		endif()
-	endif()
-endfunction()
-
-function (cotire_make_pch_file_path _language _target _pchFileVar)
-	cotire_make_prefix_file_name("${_language}" "${_target}" _prefixFileBaseName _prefixFileName)
-	set (${_pchFileVar} "" PARENT_SCOPE)
-	if (_prefixFileBaseName AND _prefixFileName)
-		cotire_check_precompiled_header_support("${_language}" "${_target}" _msg)
-		if (NOT _msg)
-			if (XCODE)
-				# For Xcode, we completely hand off the compilation of the prefix header to the IDE
-				return()
-			endif()
-			cotire_get_intermediate_dir(_baseDir)
-			if (CMAKE_${_language}_COMPILER_ID MATCHES "MSVC")
-				# MSVC uses the extension .pch added to the prefix header base name
-				set (${_pchFileVar} "${_baseDir}/${_prefixFileBaseName}.pch" PARENT_SCOPE)
-			elseif (CMAKE_${_language}_COMPILER_ID MATCHES "Clang")
-				# Clang looks for a precompiled header corresponding to the prefix header with the extension .pch appended
-				set (${_pchFileVar} "${_baseDir}/${_prefixFileName}.pch" PARENT_SCOPE)
-			elseif (CMAKE_${_language}_COMPILER_ID MATCHES "GNU")
-				# GCC looks for a precompiled header corresponding to the prefix header with the extension .gch appended
-				set (${_pchFileVar} "${_baseDir}/${_prefixFileName}.gch" PARENT_SCOPE)
-			elseif (CMAKE_${_language}_COMPILER_ID MATCHES "Intel")
-				# Intel uses the extension .pchi added to the prefix header base name
-				set (${_pchFileVar} "${_baseDir}/${_prefixFileBaseName}.pchi" PARENT_SCOPE)
-			endif()
-		endif()
-	endif()
-endfunction()
-
-function (cotire_select_unity_source_files _unityFile _sourcesVar)
-	set (_sourceFiles ${ARGN})
-	if (_sourceFiles AND "${_unityFile}" MATCHES "${COTIRE_UNITY_SOURCE_FILENAME_SUFFIX}_([0-9]+)_([0-9]+)")
-		set (_startIndex ${CMAKE_MATCH_1})
-		set (_endIndex ${CMAKE_MATCH_2})
-		list (LENGTH _sourceFiles _numberOfSources)
-		if (NOT _startIndex LESS _numberOfSources)
-			math (EXPR _startIndex "${_numberOfSources} - 1")
-		endif()
-		if (NOT _endIndex LESS _numberOfSources)
-			math (EXPR _endIndex "${_numberOfSources} - 1")
-		endif()
-		set (_files "")
-		foreach (_index RANGE ${_startIndex} ${_endIndex})
-			list (GET _sourceFiles ${_index} _file)
-			list (APPEND _files "${_file}")
-		endforeach()
-	else()
-		set (_files ${_sourceFiles})
-	endif()
-	set (${_sourcesVar} ${_files} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_unity_source_dependencies _language _target _dependencySourcesVar)
-	set (_dependencySources "")
-	# depend on target's generated source files
-	get_target_property(_targetSourceFiles ${_target} SOURCES)
-	cotire_get_objects_with_property_on(_generatedSources GENERATED SOURCE ${_targetSourceFiles})
-	if (_generatedSources)
-		# but omit all generated source files that have the COTIRE_EXCLUDED property set to true
-		cotire_get_objects_with_property_on(_excludedGeneratedSources COTIRE_EXCLUDED SOURCE ${_generatedSources})
-		if (_excludedGeneratedSources)
-			list (REMOVE_ITEM _generatedSources ${_excludedGeneratedSources})
-		endif()
-		# and omit all generated source files that have the COTIRE_DEPENDENCY property set to false explicitly
-		cotire_get_objects_with_property_off(_excludedNonDependencySources COTIRE_DEPENDENCY SOURCE ${_generatedSources})
-		if (_excludedNonDependencySources)
-			list (REMOVE_ITEM _generatedSources ${_excludedNonDependencySources})
-		endif()
-		if (_generatedSources)
-			list (APPEND _dependencySources ${_generatedSources})
-		endif()
-	endif()
-	if (COTIRE_DEBUG AND _dependencySources)
-		message (STATUS "${_language} ${_target} unity source dependencies: ${_dependencySources}")
-	endif()
-	set (${_dependencySourcesVar} ${_dependencySources} PARENT_SCOPE)
-endfunction()
-
-function (cotire_get_prefix_header_dependencies _language _target _dependencySourcesVar)
-	set (_dependencySources "")
-	# depend on target source files marked with custom COTIRE_DEPENDENCY property
-	get_target_property(_targetSourceFiles ${_target} SOURCES)
-	cotire_get_objects_with_property_on(_dependencySources COTIRE_DEPENDENCY SOURCE ${_targetSourceFiles})
-	if (COTIRE_DEBUG AND _dependencySources)
-		message (STATUS "${_language} ${_target} prefix header dependencies: ${_dependencySources}")
-	endif()
-	set (${_dependencySourcesVar} ${_dependencySources} PARENT_SCOPE)
-endfunction()
-
-function (cotire_generate_target_script _language _configurations _target _targetScriptVar _targetConfigScriptVar)
-	set (_targetSources ${ARGN})
-	cotire_get_prefix_header_dependencies(${_language} ${_target} COTIRE_TARGET_PREFIX_DEPENDS ${_targetSources})
-	cotire_get_unity_source_dependencies(${_language} ${_target} COTIRE_TARGET_UNITY_DEPENDS ${_targetSources})
-	# set up variables to be configured
-	set (COTIRE_TARGET_LANGUAGE "${_language}")
-	get_target_property(COTIRE_TARGET_IGNORE_PATH ${_target} COTIRE_PREFIX_HEADER_IGNORE_PATH)
-	cotire_add_sys_root_paths(COTIRE_TARGET_IGNORE_PATH)
-	get_target_property(COTIRE_TARGET_INCLUDE_PATH ${_target} COTIRE_PREFIX_HEADER_INCLUDE_PATH)
-	cotire_add_sys_root_paths(COTIRE_TARGET_INCLUDE_PATH)
-	get_target_property(COTIRE_TARGET_PRE_UNDEFS ${_target} COTIRE_UNITY_SOURCE_PRE_UNDEFS)
-	get_target_property(COTIRE_TARGET_POST_UNDEFS ${_target} COTIRE_UNITY_SOURCE_POST_UNDEFS)
-	get_target_property(COTIRE_TARGET_MAXIMUM_NUMBER_OF_INCLUDES ${_target} COTIRE_UNITY_SOURCE_MAXIMUM_NUMBER_OF_INCLUDES)
-	get_target_property(COTIRE_TARGET_INCLUDE_PRIORITY_PATH ${_target} COTIRE_PREFIX_HEADER_INCLUDE_PRIORITY_PATH)
-	cotire_get_source_files_undefs(COTIRE_UNITY_SOURCE_PRE_UNDEFS COTIRE_TARGET_SOURCES_PRE_UNDEFS ${_targetSources})
-	cotire_get_source_files_undefs(COTIRE_UNITY_SOURCE_POST_UNDEFS COTIRE_TARGET_SOURCES_POST_UNDEFS ${_targetSources})
-	set (COTIRE_TARGET_CONFIGURATION_TYPES "${_configurations}")
-	foreach (_config ${_configurations})
-		string (TOUPPER "${_config}" _upperConfig)
-		cotire_get_target_include_directories(
-			"${_config}" "${_language}" "${_target}" COTIRE_TARGET_INCLUDE_DIRECTORIES_${_upperConfig} COTIRE_TARGET_SYSTEM_INCLUDE_DIRECTORIES_${_upperConfig})
-		cotire_get_target_compile_definitions(
-			"${_config}" "${_language}" "${_target}" COTIRE_TARGET_COMPILE_DEFINITIONS_${_upperConfig})
-		cotire_get_target_compiler_flags(
-			"${_config}" "${_language}" "${_target}" COTIRE_TARGET_COMPILE_FLAGS_${_upperConfig})
-		cotire_get_source_files_compile_definitions(
-			"${_config}" "${_language}" COTIRE_TARGET_SOURCES_COMPILE_DEFINITIONS_${_upperConfig} ${_targetSources})
-	endforeach()
-	get_target_property(COTIRE_TARGET_${_language}_COMPILER_LAUNCHER ${_target} ${_language}_COMPILER_LAUNCHER)
-	# set up COTIRE_TARGET_SOURCES
-	set (COTIRE_TARGET_SOURCES "")
-	foreach (_sourceFile ${_targetSources})
-		get_source_file_property(_generated "${_sourceFile}" GENERATED)
-		if (_generated)
-			# use absolute paths for generated files only, retrieving the LOCATION property is an expensive operation
-			get_source_file_property(_sourceLocation "${_sourceFile}" LOCATION)
-			list (APPEND COTIRE_TARGET_SOURCES "${_sourceLocation}")
-		else()
-			list (APPEND COTIRE_TARGET_SOURCES "${_sourceFile}")
-		endif()
-	endforeach()
-	# copy variable definitions to cotire target script
-	get_cmake_property(_vars VARIABLES)
-	string (REGEX MATCHALL "COTIRE_[A-Za-z0-9_]+" _matchVars "${_vars}")
-	# omit COTIRE_*_INIT variables
-	string (REGEX MATCHALL "COTIRE_[A-Za-z0-9_]+_INIT" _initVars "${_matchVars}")
-	if (_initVars)
-		list (REMOVE_ITEM _matchVars ${_initVars})
-	endif()
-	# omit COTIRE_VERBOSE which is passed as a CMake define on command line
-	list (REMOVE_ITEM _matchVars COTIRE_VERBOSE)
-	set (_contents "")
-	set (_contentsHasGeneratorExpressions FALSE)
-	foreach (_var IN LISTS _matchVars ITEMS
-		XCODE MSVC CMAKE_GENERATOR CMAKE_BUILD_TYPE CMAKE_CONFIGURATION_TYPES
-		CMAKE_${_language}_COMPILER_ID CMAKE_${_language}_COMPILER_VERSION
-		CMAKE_${_language}_COMPILER_LAUNCHER CMAKE_${_language}_COMPILER CMAKE_${_language}_COMPILER_ARG1
-		CMAKE_INCLUDE_FLAG_${_language} CMAKE_INCLUDE_FLAG_SEP_${_language}
-		CMAKE_INCLUDE_SYSTEM_FLAG_${_language}
-		CMAKE_${_language}_FRAMEWORK_SEARCH_FLAG
-		CMAKE_${_language}_SYSTEM_FRAMEWORK_SEARCH_FLAG
-		CMAKE_${_language}_SOURCE_FILE_EXTENSIONS)
-		if (DEFINED ${_var})
-			string (REPLACE "\"" "\\\"" _value "${${_var}}")
-			set (_contents "${_contents}set (${_var} \"${_value}\")\n")
-			if (NOT _contentsHasGeneratorExpressions)
-				if ("${_value}" MATCHES "\\$<.*>")
-					set (_contentsHasGeneratorExpressions TRUE)
-				endif()
-			endif()
-		endif()
-	endforeach()
-	# generate target script file
-	get_filename_component(_moduleName "${COTIRE_CMAKE_MODULE_FILE}" NAME)
-	set (_targetCotireScript "${CMAKE_CURRENT_BINARY_DIR}/${_target}_${_language}_${_moduleName}")
-	cotire_write_file("CMAKE" "${_targetCotireScript}" "${_contents}" FALSE)
-	if (_contentsHasGeneratorExpressions)
-		# use file(GENERATE ...) to expand generator expressions in the target script at CMake generate-time
-		set (_configNameOrNoneGeneratorExpression "$<$<CONFIG:>:None>$<$<NOT:$<CONFIG:>>:$<CONFIGURATION>>")
-		set (_targetCotireConfigScript "${CMAKE_CURRENT_BINARY_DIR}/${_target}_${_language}_${_configNameOrNoneGeneratorExpression}_${_moduleName}")
-		file (GENERATE OUTPUT "${_targetCotireConfigScript}" INPUT "${_targetCotireScript}")
-	else()
-		set (_targetCotireConfigScript "${_targetCotireScript}")
-	endif()
-	set (${_targetScriptVar} "${_targetCotireScript}" PARENT_SCOPE)
-	set (${_targetConfigScriptVar} "${_targetCotireConfigScript}" PARENT_SCOPE)
-endfunction()
-
-function (cotire_setup_pch_file_compilation _language _target _targetScript _prefixFile _pchFile _hostFile)
-	set (_sourceFiles ${ARGN})
-	if (CMAKE_${_language}_COMPILER_ID MATCHES "MSVC|Intel" OR
-		(WIN32 AND CMAKE_${_language}_COMPILER_ID MATCHES "Clang"))
-		# for MSVC, Intel and Clang-cl, we attach the precompiled header compilation to the host file
-		# the remaining files include the precompiled header, see cotire_setup_pch_file_inclusion
-		if (_sourceFiles)
-			set (_flags "")
-			cotire_add_pch_compilation_flags(
-				"${_language}" "${CMAKE_${_language}_COMPILER_ID}" "${CMAKE_${_language}_COMPILER_VERSION}"
-				"${_prefixFile}" "${_pchFile}" "${_hostFile}" _flags)
-			set_property (SOURCE ${_hostFile} APPEND_STRING PROPERTY COMPILE_FLAGS " ${_flags} ")
-			set_property (SOURCE ${_hostFile} APPEND PROPERTY OBJECT_OUTPUTS "${_pchFile}")
-			# make object file generated from host file depend on prefix header
-			set_property (SOURCE ${_hostFile} APPEND PROPERTY OBJECT_DEPENDS "${_prefixFile}")
-			# mark host file as cotired to prevent it from being used in another cotired target
-			set_property (SOURCE ${_hostFile} PROPERTY COTIRE_TARGET "${_target}")
-		endif()
-	elseif ("${CMAKE_GENERATOR}" MATCHES "Make|Ninja")
-		# for makefile based generator, we add a custom command to precompile the prefix header
-		if (_targetScript)
-			cotire_set_cmd_to_prologue(_cmds)
-			list (APPEND _cmds -P "${COTIRE_CMAKE_MODULE_FILE}" "precompile" "${_targetScript}" "${_prefixFile}" "${_pchFile}" "${_hostFile}")
-			if (MSVC_IDE)
-				file (TO_NATIVE_PATH "${_pchFile}" _pchFileLogPath)
-			else()
-				file (RELATIVE_PATH _pchFileLogPath "${CMAKE_BINARY_DIR}" "${_pchFile}")
-			endif()
-			# make precompiled header compilation depend on the actual compiler executable used to force
-			# re-compilation when the compiler executable is updated. This prevents "created by a different GCC executable"
-			# warnings when the precompiled header is included.
-			get_filename_component(_realCompilerExe "${CMAKE_${_language}_COMPILER}" ABSOLUTE)
-			if (COTIRE_DEBUG)
-				message (STATUS "add_custom_command: OUTPUT ${_pchFile} ${_cmds} DEPENDS ${_prefixFile} ${_realCompilerExe} IMPLICIT_DEPENDS ${_language} ${_prefixFile}")
-			endif()
-			set_property (SOURCE "${_pchFile}" PROPERTY GENERATED TRUE)
-			add_custom_command(
-				OUTPUT "${_pchFile}"
-				COMMAND ${_cmds}
-				DEPENDS "${_prefixFile}" "${_realCompilerExe}"
-				IMPLICIT_DEPENDS ${_language} "${_prefixFile}"
-				WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-				COMMENT "Building ${_language} precompiled header ${_pchFileLogPath}"
-				VERBATIM)
-		endif()
-	endif()
-endfunction()
-
-function (cotire_setup_pch_file_inclusion _language _target _wholeTarget _prefixFile _pchFile _hostFile)
-	if (CMAKE_${_language}_COMPILER_ID MATCHES "MSVC|Intel" OR
-		(WIN32 AND CMAKE_${_language}_COMPILER_ID MATCHES "Clang"))
-		# for MSVC, Intel and clang-cl, we include the precompiled header in all but the host file
-		# the host file does the precompiled header compilation, see cotire_setup_pch_file_compilation
-		set (_sourceFiles ${ARGN})
-		list (LENGTH _sourceFiles _numberOfSourceFiles)
-		if (_numberOfSourceFiles GREATER 0)
-			# mark sources as cotired to prevent them from being used in another cotired target
-			set_source_files_properties(${_sourceFiles} PROPERTIES COTIRE_TARGET "${_target}")
-			set (_flags "")
-			cotire_add_prefix_pch_inclusion_flags(
-				"${_language}" "${CMAKE_${_language}_COMPILER_ID}" "${CMAKE_${_language}_COMPILER_VERSION}"
-				"${_prefixFile}" "${_pchFile}" _flags)
-			set_property (SOURCE ${_sourceFiles} APPEND_STRING PROPERTY COMPILE_FLAGS " ${_flags} ")
-			# make object files generated from source files depend on precompiled header
-			set_property (SOURCE ${_sourceFiles} APPEND PROPERTY OBJECT_DEPENDS "${_pchFile}")
-		endif()
-	elseif ("${CMAKE_GENERATOR}" MATCHES "Make|Ninja")
-		set (_sourceFiles ${_hostFile} ${ARGN})
-		if (NOT _wholeTarget)
-			# for makefile based generator, we force the inclusion of the prefix header for a subset
-			# of the source files, if this is a multi-language target or has excluded files
-			set (_flags "")
-			cotire_add_prefix_pch_inclusion_flags(
-				"${_language}" "${CMAKE_${_language}_COMPILER_ID}" "${CMAKE_${_language}_COMPILER_VERSION}"
-				"${_prefixFile}" "${_pchFile}" _flags)
-			set_property (SOURCE ${_sourceFiles} APPEND_STRING PROPERTY COMPILE_FLAGS " ${_flags} ")
-			# mark sources as cotired to prevent them from being used in another cotired target
-			set_source_files_properties(${_sourceFiles} PROPERTIES COTIRE_TARGET "${_target}")
-		endif()
-		# make object files generated from source files depend on precompiled header
-		set_property (SOURCE ${_sourceFiles} APPEND PROPERTY OBJECT_DEPENDS "${_pchFile}")
-	endif()
-endfunction()
-
-function (cotire_setup_prefix_file_inclusion _language _target _prefixFile)
-	set (_sourceFiles ${ARGN})
-	# force the inclusion of the prefix header for the given source files
-	set (_flags "")
-	set (_pchFile "")
-	cotire_add_prefix_pch_inclusion_flags(
-		"${_language}" "${CMAKE_${_language}_COMPILER_ID}" "${CMAKE_${_language}_COMPILER_VERSION}"
-		"${_prefixFile}" "${_pchFile}" _flags)
-	set_property (SOURCE ${_sourceFiles} APPEND_STRING PROPERTY COMPILE_FLAGS " ${_flags} ")
-	# mark sources as cotired to prevent them from being used in another cotired target
-	set_source_files_properties(${_sourceFiles} PROPERTIES COTIRE_TARGET "${_target}")
-	# make object files generated from source files depend on prefix header
-	set_property (SOURCE ${_sourceFiles} APPEND PROPERTY OBJECT_DEPENDS "${_prefixFile}")
-endfunction()
-
-function (cotire_get_first_set_property_value _propertyValueVar _type _object)
-	set (_properties ${ARGN})
-	foreach (_property ${_properties})
-		get_property(_propertyValue ${_type} "${_object}" PROPERTY ${_property})
-		if (_propertyValue)
-			set (${_propertyValueVar} ${_propertyValue} PARENT_SCOPE)
-			return()
-		endif()
-	endforeach()
-	set (${_propertyValueVar} "" PARENT_SCOPE)
-endfunction()
-
-function (cotire_setup_combine_command _language _targetScript _joinedFile _cmdsVar)
-	set (_files ${ARGN})
-	set (_filesPaths "")
-	foreach (_file ${_files})
-		get_filename_component(_filePath "${_file}" ABSOLUTE)
-		list (APPEND _filesPaths "${_filePath}")
-	endforeach()
-	cotire_set_cmd_to_prologue(_prefixCmd)
-	list (APPEND _prefixCmd -P "${COTIRE_CMAKE_MODULE_FILE}" "combine")
-	if (_targetScript)
-		list (APPEND _prefixCmd "${_targetScript}")
-	endif()
-	list (APPEND _prefixCmd "${_joinedFile}" ${_filesPaths})
-	if (COTIRE_DEBUG)
-		message (STATUS "add_custom_command: OUTPUT ${_joinedFile} COMMAND ${_prefixCmd} DEPENDS ${_files}")
-	endif()
-	set_property (SOURCE "${_joinedFile}" PROPERTY GENERATED TRUE)
-	if (MSVC_IDE)
-		file (TO_NATIVE_PATH "${_joinedFile}" _joinedFileLogPath)
-	else()
-		file (RELATIVE_PATH _joinedFileLogPath "${CMAKE_BINARY_DIR}" "${_joinedFile}")
-	endif()
-	get_filename_component(_joinedFileBaseName "${_joinedFile}" NAME_WE)
-	get_filename_component(_joinedFileExt "${_joinedFile}" EXT)
-	if (_language AND _joinedFileBaseName MATCHES "${COTIRE_UNITY_SOURCE_FILENAME_SUFFIX}$")
-		set (_comment "Generating ${_language} unity source ${_joinedFileLogPath}")
-	elseif (_language AND _joinedFileBaseName MATCHES "${COTIRE_PREFIX_HEADER_FILENAME_SUFFIX}$")
-		if (_joinedFileExt MATCHES "^\\.c")
-			set (_comment "Generating ${_language} prefix source ${_joinedFileLogPath}")
-		else()
-			set (_comment "Generating ${_language} prefix header ${_joinedFileLogPath}")
-		endif()
-	else()
-		set (_comment "Generating ${_joinedFileLogPath}")
-	endif()
-	add_custom_command(
-		OUTPUT "${_joinedFile}"
-		COMMAND ${_prefixCmd}
-		DEPENDS ${_files}
-		COMMENT "${_comment}"
-		WORKING_DIRECTORY "${CMAKE_BINARY_DIR}"
-		VERBATIM)
-	list (APPEND ${_cmdsVar} COMMAND ${_prefixCmd})
-	set (${_cmdsVar} ${${_cmdsVar}} PARENT_SCOPE)
-endfunction()
-
-function (cotire_setup_target_pch_usage _languages _target _wholeTarget)
-	if (XCODE)
-		# for Xcode, we attach a pre-build action to generate the unity sources and prefix headers
-		set (_prefixFiles "")
-		foreach (_language ${_languages})
-			get_property(_prefixFile TARGET ${_target} PROPERTY COTIRE_${_language}_PREFIX_HEADER)
-			if (_prefixFile)
-				list (APPEND _prefixFiles "${_prefixFile}")
-			endif()
-		endforeach()
-		set (_cmds ${ARGN})
-		list (LENGTH _prefixFiles _numberOfPrefixFiles)
-		if (_numberOfPrefixFiles GREATER 1)
-			# we also generate a generic, single prefix header which includes all language specific prefix headers
-			set (_language "")
-			set (_targetScript "")
-			cotire_make_prefix_file_path("${_language}" ${_target} _prefixHeader)
-			cotire_setup_combine_command("${_language}" "${_targetScript}" "${_prefixHeader}" _cmds ${_prefixFiles})
-		else()
-			set (_prefixHeader "${_prefixFiles}")
-		endif()
-		if (COTIRE_DEBUG)
-			message (STATUS "add_custom_command: TARGET ${_target} PRE_BUILD ${_cmds}")
-		endif()
-		# because CMake PRE_BUILD command does not support dependencies,
-		# we check dependencies explicity in cotire script mode when the pre-build action is run
-		add_custom_command(
-			TARGET "${_target}"
-			PRE_BUILD ${_cmds}
-			WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-			COMMENT "Updating target ${_target} prefix headers"
-			VERBATIM)
-		# make Xcode precompile the generated prefix header with ProcessPCH and ProcessPCH++
-		set_target_properties(${_target} PROPERTIES XCODE_ATTRIBUTE_GCC_PRECOMPILE_PREFIX_HEADER "YES")
-		set_target_properties(${_target} PROPERTIES XCODE_ATTRIBUTE_GCC_PREFIX_HEADER "${_prefixHeader}")
-	elseif ("${CMAKE_GENERATOR}" MATCHES "Make|Ninja")
-		# for makefile based generator, we force inclusion of the prefix header for all target source files
-		# if this is a single-language target without any excluded files
-		if (_wholeTarget)
-			set (_language "${_languages}")
-			# for MSVC, Intel and clang-cl, precompiled header inclusion is always done on the source file level
-			# see cotire_setup_pch_file_inclusion
-			if (NOT CMAKE_${_language}_COMPILER_ID MATCHES "MSVC|Intel" AND NOT
-				(WIN32 AND CMAKE_${_language}_COMPILER_ID MATCHES "Clang"))
-				get_property(_prefixFile TARGET ${_target} PROPERTY COTIRE_${_language}_PREFIX_HEADER)
-				if (_prefixFile)
-					get_property(_pchFile TARGET ${_target} PROPERTY COTIRE_${_language}_PRECOMPILED_HEADER)
-					set (_options COMPILE_OPTIONS)
-					cotire_add_prefix_pch_inclusion_flags(
-						"${_language}" "${CMAKE_${_language}_COMPILER_ID}" "${CMAKE_${_language}_COMPILER_VERSION}"
-						"${_prefixFile}" "${_pchFile}" _options)
-					set_property(TARGET ${_target} APPEND PROPERTY ${_options})
-				endif()
-			endif()
-		endif()
-	endif()
-endfunction()
-
-function (cotire_setup_unity_generation_commands _language _target _targetScript _targetConfigScript _unityFiles _cmdsVar)
-	set (_dependencySources "")
-	cotire_get_unity_source_dependencies(${_language} ${_target} _dependencySources ${ARGN})
-	foreach (_unityFile ${_unityFiles})
-		set_property (SOURCE "${_unityFile}" PROPERTY GENERATED TRUE)
-		# set up compiled unity source dependencies via OBJECT_DEPENDS
-		# this ensures that missing source files are generated before the unity file is compiled
-		if (COTIRE_DEBUG AND _dependencySources)
-			message (STATUS "${_unityFile} OBJECT_DEPENDS ${_dependencySources}")
-		endif()
-		if (_dependencySources)
-			# the OBJECT_DEPENDS property requires a list of full paths
-			set (_objectDependsPaths "")
-			foreach (_sourceFile ${_dependencySources})
-				get_source_file_property(_sourceLocation "${_sourceFile}" LOCATION)
-				list (APPEND _objectDependsPaths "${_sourceLocation}")
-			endforeach()
-			set_property (SOURCE "${_unityFile}" PROPERTY OBJECT_DEPENDS ${_objectDependsPaths})
-		endif()
-		if (WIN32 AND CMAKE_${_language}_COMPILER_ID MATCHES "MSVC|Intel")
-			# unity file compilation results in potentially huge object file,
-			# thus use /bigobj by default unter cl.exe and Windows Intel
-			set_property (SOURCE "${_unityFile}" APPEND_STRING PROPERTY COMPILE_FLAGS "/bigobj")
-		endif()
-		cotire_set_cmd_to_prologue(_unityCmd)
-		list (APPEND _unityCmd -P "${COTIRE_CMAKE_MODULE_FILE}" "unity" "${_targetConfigScript}" "${_unityFile}")
-		if (CMAKE_VERSION VERSION_LESS "3.1.0")
-			set (_unityCmdDepends "${_targetScript}")
-		else()
-			# CMake 3.1.0 supports generator expressions in arguments to DEPENDS
-			set (_unityCmdDepends "${_targetConfigScript}")
-		endif()
-		if (MSVC_IDE)
-			file (TO_NATIVE_PATH "${_unityFile}" _unityFileLogPath)
-		else()
-			file (RELATIVE_PATH _unityFileLogPath "${CMAKE_BINARY_DIR}" "${_unityFile}")
-		endif()
-		if (COTIRE_DEBUG)
-			message (STATUS "add_custom_command: OUTPUT ${_unityFile} COMMAND ${_unityCmd} DEPENDS ${_unityCmdDepends}")
-		endif()
-		add_custom_command(
-			OUTPUT "${_unityFile}"
-			COMMAND ${_unityCmd}
-			DEPENDS ${_unityCmdDepends}
-			COMMENT "Generating ${_language} unity source ${_unityFileLogPath}"
-			WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-			VERBATIM)
-		list (APPEND ${_cmdsVar} COMMAND ${_unityCmd})
-	endforeach()
-	set (${_cmdsVar} ${${_cmdsVar}} PARENT_SCOPE)
-endfunction()
-
-function (cotire_setup_prefix_generation_command _language _target _targetScript _prefixFile _unityFiles _cmdsVar)
-	set (_sourceFiles ${ARGN})
-	set (_dependencySources "")
-	cotire_get_prefix_header_dependencies(${_language} ${_target} _dependencySources ${_sourceFiles})
-	cotire_set_cmd_to_prologue(_prefixCmd)
-	list (APPEND _prefixCmd -P "${COTIRE_CMAKE_MODULE_FILE}" "prefix" "${_targetScript}" "${_prefixFile}" ${_unityFiles})
-	set_property (SOURCE "${_prefixFile}" PROPERTY GENERATED TRUE)
-	# make prefix header generation depend on the actual compiler executable used to force
-	# re-generation when the compiler executable is updated. This prevents "file not found"
-	# errors for compiler version specific system header files.
-	get_filename_component(_realCompilerExe "${CMAKE_${_language}_COMPILER}" ABSOLUTE)
-	if (COTIRE_DEBUG)
-		message (STATUS "add_custom_command: OUTPUT ${_prefixFile} COMMAND ${_prefixCmd} DEPENDS ${_unityFile} ${_dependencySources} ${_realCompilerExe}")
-	endif()
-	if (MSVC_IDE)
-		file (TO_NATIVE_PATH "${_prefixFile}" _prefixFileLogPath)
-	else()
-		file (RELATIVE_PATH _prefixFileLogPath "${CMAKE_BINARY_DIR}" "${_prefixFile}")
-	endif()
-	get_filename_component(_prefixFileExt "${_prefixFile}" EXT)
-	if (_prefixFileExt MATCHES "^\\.c")
-		set (_comment "Generating ${_language} prefix source ${_prefixFileLogPath}")
-	else()
-		set (_comment "Generating ${_language} prefix header ${_prefixFileLogPath}")
-	endif()
-	# prevent pre-processing errors upon generating the prefix header when a target's generated include file does not yet exist
-	# we do not add a file-level dependency for the target's generated files though, because we only want to depend on their existence
-	# thus we make the prefix header generation depend on a custom helper target which triggers the generation of the files
-	set (_preTargetName "${_target}${COTIRE_PCH_TARGET_SUFFIX}_pre")
-	if (TARGET ${_preTargetName})
-		# custom helper target has already been generated while processing a different language
-		list (APPEND _dependencySources ${_preTargetName})
-	else()
-		get_target_property(_targetSourceFiles ${_target} SOURCES)
-		cotire_get_objects_with_property_on(_generatedSources GENERATED SOURCE ${_targetSourceFiles})
-		if (_generatedSources)
-			add_custom_target("${_preTargetName}" DEPENDS ${_generatedSources})
-			cotire_init_target("${_preTargetName}")
-			list (APPEND _dependencySources ${_preTargetName})
-		endif()
-	endif()
-	add_custom_command(
-		OUTPUT "${_prefixFile}" "${_prefixFile}.log"
-		COMMAND ${_prefixCmd}
-		DEPENDS ${_unityFiles} ${_dependencySources} "${_realCompilerExe}"
-		COMMENT "${_comment}"
-		WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-		VERBATIM)
-	list (APPEND ${_cmdsVar} COMMAND ${_prefixCmd})
-	set (${_cmdsVar} ${${_cmdsVar}} PARENT_SCOPE)
-endfunction()
-
-function (cotire_setup_prefix_generation_from_unity_command _language _target _targetScript _prefixFile _unityFiles _cmdsVar)
-	set (_sourceFiles ${ARGN})
-	if (CMAKE_${_language}_COMPILER_ID MATCHES "GNU|Clang")
-		# GNU and Clang require indirect compilation of the prefix header to make them honor the system_header pragma
-		cotire_prefix_header_to_source_file_path(${_language} "${_prefixFile}" _prefixSourceFile)
-	else()
-		set (_prefixSourceFile "${_prefixFile}")
-	endif()
-	cotire_setup_prefix_generation_command(
-		${_language} ${_target} "${_targetScript}"
-		"${_prefixSourceFile}" "${_unityFiles}" ${_cmdsVar} ${_sourceFiles})
-	if (CMAKE_${_language}_COMPILER_ID MATCHES "GNU|Clang")
-		# set up generation of a prefix source file which includes the prefix header
-		cotire_setup_combine_command(${_language} "${_targetScript}" "${_prefixFile}" _cmds ${_prefixSourceFile})
-	endif()
-	set (${_cmdsVar} ${${_cmdsVar}} PARENT_SCOPE)
-endfunction()
-
-function (cotire_setup_prefix_generation_from_provided_command _language _target _targetScript _prefixFile _cmdsVar)
-	set (_prefixHeaderFiles ${ARGN})
-	if (CMAKE_${_language}_COMPILER_ID MATCHES "GNU|Clang")
-		# GNU and Clang require indirect compilation of the prefix header to make them honor the system_header pragma
-		cotire_prefix_header_to_source_file_path(${_language} "${_prefixFile}" _prefixSourceFile)
-	else()
-		set (_prefixSourceFile "${_prefixFile}")
-	endif()
-	cotire_setup_combine_command(${_language} "${_targetScript}" "${_prefixSourceFile}" _cmds ${_prefixHeaderFiles})
-	if (CMAKE_${_language}_COMPILER_ID MATCHES "GNU|Clang")
-		# set up generation of a prefix source file which includes the prefix header
-		cotire_setup_combine_command(${_language} "${_targetScript}" "${_prefixFile}" _cmds ${_prefixSourceFile})
-	endif()
-	set (${_cmdsVar} ${${_cmdsVar}} PARENT_SCOPE)
-endfunction()
-
-function (cotire_init_cotire_target_properties _target)
-	get_property(_isSet TARGET ${_target} PROPERTY COTIRE_ENABLE_PRECOMPILED_HEADER SET)
-	if (NOT _isSet)
-		set_property(TARGET ${_target} PROPERTY COTIRE_ENABLE_PRECOMPILED_HEADER TRUE)
-	endif()
-	get_property(_isSet TARGET ${_target} PROPERTY COTIRE_ADD_UNITY_BUILD SET)
-	if (NOT _isSet)
-		set_property(TARGET ${_target} PROPERTY COTIRE_ADD_UNITY_BUILD TRUE)
-	endif()
-	get_property(_isSet TARGET ${_target} PROPERTY COTIRE_ADD_CLEAN SET)
-	if (NOT _isSet)
-		set_property(TARGET ${_target} PROPERTY COTIRE_ADD_CLEAN FALSE)
-	endif()
-	get_property(_isSet TARGET ${_target} PROPERTY COTIRE_PREFIX_HEADER_IGNORE_PATH SET)
-	if (NOT _isSet)
-		set_property(TARGET ${_target} PROPERTY COTIRE_PREFIX_HEADER_IGNORE_PATH "${CMAKE_SOURCE_DIR}")
-		cotire_check_is_path_relative_to("${CMAKE_BINARY_DIR}" _isRelative "${CMAKE_SOURCE_DIR}")
-		if (NOT _isRelative)
-			set_property(TARGET ${_target} APPEND PROPERTY COTIRE_PREFIX_HEADER_IGNORE_PATH "${CMAKE_BINARY_DIR}")
-		endif()
-	endif()
-	get_property(_isSet TARGET ${_target} PROPERTY COTIRE_PREFIX_HEADER_INCLUDE_PATH SET)
-	if (NOT _isSet)
-		set_property(TARGET ${_target} PROPERTY COTIRE_PREFIX_HEADER_INCLUDE_PATH "")
-	endif()
-	get_property(_isSet TARGET ${_target} PROPERTY COTIRE_PREFIX_HEADER_INCLUDE_PRIORITY_PATH SET)
-	if (NOT _isSet)
-		set_property(TARGET ${_target} PROPERTY COTIRE_PREFIX_HEADER_INCLUDE_PRIORITY_PATH "")
-	endif()
-	get_property(_isSet TARGET ${_target} PROPERTY COTIRE_UNITY_SOURCE_PRE_UNDEFS SET)
-	if (NOT _isSet)
-		set_property(TARGET ${_target} PROPERTY COTIRE_UNITY_SOURCE_PRE_UNDEFS "")
-	endif()
-	get_property(_isSet TARGET ${_target} PROPERTY COTIRE_UNITY_SOURCE_POST_UNDEFS SET)
-	if (NOT _isSet)
-		set_property(TARGET ${_target} PROPERTY COTIRE_UNITY_SOURCE_POST_UNDEFS "")
-	endif()
-	get_property(_isSet TARGET ${_target} PROPERTY COTIRE_UNITY_LINK_LIBRARIES_INIT SET)
-	if (NOT _isSet)
-		set_property(TARGET ${_target} PROPERTY COTIRE_UNITY_LINK_LIBRARIES_INIT "COPY_UNITY")
-	endif()
-	get_property(_isSet TARGET ${_target} PROPERTY COTIRE_UNITY_SOURCE_MAXIMUM_NUMBER_OF_INCLUDES SET)
-	if (NOT _isSet)
-		if (COTIRE_MAXIMUM_NUMBER_OF_UNITY_INCLUDES)
-			set_property(TARGET ${_target} PROPERTY COTIRE_UNITY_SOURCE_MAXIMUM_NUMBER_OF_INCLUDES "${COTIRE_MAXIMUM_NUMBER_OF_UNITY_INCLUDES}")
-		else()
-			set_property(TARGET ${_target} PROPERTY COTIRE_UNITY_SOURCE_MAXIMUM_NUMBER_OF_INCLUDES "")
-		endif()
-	endif()
-endfunction()
-
-function (cotire_make_target_message _target _languages _disableMsg _targetMsgVar)
-	get_target_property(_targetUsePCH ${_target} COTIRE_ENABLE_PRECOMPILED_HEADER)
-	get_target_property(_targetAddSCU ${_target} COTIRE_ADD_UNITY_BUILD)
-	string (REPLACE ";" " " _languagesStr "${_languages}")
-	math (EXPR _numberOfExcludedFiles "${ARGC} - 4")
-	if (_numberOfExcludedFiles EQUAL 0)
-		set (_excludedStr "")
-	elseif (COTIRE_VERBOSE OR _numberOfExcludedFiles LESS 4)
-		string (REPLACE ";" ", " _excludedStr "excluding ${ARGN}")
-	else()
-		set (_excludedStr "excluding ${_numberOfExcludedFiles} files")
-	endif()
-	set (_targetMsg "")
-	if (NOT _languages)
-		set (_targetMsg "Target ${_target} cannot be cotired.")
-		if (_disableMsg)
-			set (_targetMsg "${_targetMsg} ${_disableMsg}")
-		endif()
-	elseif (NOT _targetUsePCH AND NOT _targetAddSCU)
-		set (_targetMsg "${_languagesStr} target ${_target} cotired without unity build and precompiled header.")
-		if (_disableMsg)
-			set (_targetMsg "${_targetMsg} ${_disableMsg}")
-		endif()
-	elseif (NOT _targetUsePCH)
-		if (_excludedStr)
-			set (_targetMsg "${_languagesStr} target ${_target} cotired without precompiled header ${_excludedStr}.")
-		else()
-			set (_targetMsg "${_languagesStr} target ${_target} cotired without precompiled header.")
-		endif()
-		if (_disableMsg)
-			set (_targetMsg "${_targetMsg} ${_disableMsg}")
-		endif()
-	elseif (NOT _targetAddSCU)
-		if (_excludedStr)
-			set (_targetMsg "${_languagesStr} target ${_target} cotired without unity build ${_excludedStr}.")
-		else()
-			set (_targetMsg "${_languagesStr} target ${_target} cotired without unity build.")
-		endif()
-		if (_disableMsg)
-			set (_targetMsg "${_targetMsg} ${_disableMsg}")
-		endif()
-	else()
-		if (_excludedStr)
-			set (_targetMsg "${_languagesStr} target ${_target} cotired ${_excludedStr}.")
-		else()
-			set (_targetMsg "${_languagesStr} target ${_target} cotired.")
-		endif()
-	endif()
-	set (${_targetMsgVar} "${_targetMsg}" PARENT_SCOPE)
-endfunction()
-
-function (cotire_choose_target_languages _target _targetLanguagesVar _wholeTargetVar)
-	set (_languages ${ARGN})
-	set (_allSourceFiles "")
-	set (_allExcludedSourceFiles "")
-	set (_allCotiredSourceFiles "")
-	set (_targetLanguages "")
-	set (_pchEligibleTargetLanguages "")
-	get_target_property(_targetType ${_target} TYPE)
-	get_target_property(_targetSourceFiles ${_target} SOURCES)
-	get_target_property(_targetUsePCH ${_target} COTIRE_ENABLE_PRECOMPILED_HEADER)
-	get_target_property(_targetAddSCU ${_target} COTIRE_ADD_UNITY_BUILD)
-	set (_disableMsg "")
-	foreach (_language ${_languages})
-		get_target_property(_prefixHeader ${_target} COTIRE_${_language}_PREFIX_HEADER)
-		get_target_property(_unityBuildFile ${_target} COTIRE_${_language}_UNITY_SOURCE)
-		if (_prefixHeader OR _unityBuildFile)
-			message (STATUS "cotire: target ${_target} has already been cotired.")
-			set (${_targetLanguagesVar} "" PARENT_SCOPE)
-			return()
-		endif()
-		if (_targetUsePCH AND "${_language}" MATCHES "^C|CXX$" AND DEFINED CMAKE_${_language}_COMPILER_ID)
-			if (CMAKE_${_language}_COMPILER_ID)
-				cotire_check_precompiled_header_support("${_language}" "${_target}" _disableMsg)
-				if (_disableMsg)
-					set (_targetUsePCH FALSE)
-				endif()
-			endif()
-		endif()
-		set (_sourceFiles "")
-		set (_excludedSources "")
-		set (_cotiredSources "")
-		cotire_filter_language_source_files(${_language} ${_target} _sourceFiles _excludedSources _cotiredSources ${_targetSourceFiles})
-		if (_sourceFiles OR _excludedSources OR _cotiredSources)
-			list (APPEND _targetLanguages ${_language})
-		endif()
-		if (_sourceFiles)
-			list (APPEND _allSourceFiles ${_sourceFiles})
-		endif()
-		list (LENGTH _sourceFiles _numberOfSources)
-		if (NOT _numberOfSources LESS ${COTIRE_MINIMUM_NUMBER_OF_TARGET_SOURCES})
-			list (APPEND _pchEligibleTargetLanguages ${_language})
-		endif()
-		if (_excludedSources)
-			list (APPEND _allExcludedSourceFiles ${_excludedSources})
-		endif()
-		if (_cotiredSources)
-			list (APPEND _allCotiredSourceFiles ${_cotiredSources})
-		endif()
-	endforeach()
-	set (_targetMsgLevel STATUS)
-	if (NOT _targetLanguages)
-		string (REPLACE ";" " or " _languagesStr "${_languages}")
-		set (_disableMsg "No ${_languagesStr} source files.")
-		set (_targetUsePCH FALSE)
-		set (_targetAddSCU FALSE)
-	endif()
-	if (_targetUsePCH)
-		if (_allCotiredSourceFiles)
-			cotire_get_source_file_property_values(_cotireTargets COTIRE_TARGET ${_allCotiredSourceFiles})
-			list (REMOVE_DUPLICATES _cotireTargets)
-			string (REPLACE ";" ", " _cotireTargetsStr "${_cotireTargets}")
-			set (_disableMsg "Target sources already include a precompiled header for target(s) ${_cotireTargets}.")
-			set (_disableMsg "${_disableMsg} Set target property COTIRE_ENABLE_PRECOMPILED_HEADER to FALSE for targets ${_target},")
-			set (_disableMsg "${_disableMsg} ${_cotireTargetsStr} to get a workable build system.")
-			set (_targetMsgLevel SEND_ERROR)
-			set (_targetUsePCH FALSE)
-		elseif (NOT _pchEligibleTargetLanguages)
-			set (_disableMsg "Too few applicable sources.")
-			set (_targetUsePCH FALSE)
-		elseif (XCODE AND _allExcludedSourceFiles)
-			# for Xcode, we cannot apply the precompiled header to individual sources, only to the whole target
-			set (_disableMsg "Exclusion of source files not supported for generator Xcode.")
-			set (_targetUsePCH FALSE)
-		elseif (XCODE AND "${_targetType}" STREQUAL "OBJECT_LIBRARY")
-			# for Xcode, we cannot apply the required PRE_BUILD action to generate the prefix header to an OBJECT_LIBRARY target
-			set (_disableMsg "Required PRE_BUILD action not supported for OBJECT_LIBRARY targets for generator Xcode.")
-			set (_targetUsePCH FALSE)
-		endif()
-	endif()
-	if (_targetAddSCU)
-		# disable unity builds if automatic Qt processing is used
-		get_target_property(_targetAutoMoc ${_target} AUTOMOC)
-		get_target_property(_targetAutoUic ${_target} AUTOUIC)
-		get_target_property(_targetAutoRcc ${_target} AUTORCC)
-		if (_targetAutoMoc OR _targetAutoUic OR _targetAutoRcc)
-			if (_disableMsg)
-				set (_disableMsg "${_disableMsg} Target uses automatic CMake Qt processing.")
-			else()
-				set (_disableMsg "Target uses automatic CMake Qt processing.")
-			endif()
-			set (_targetAddSCU FALSE)
-		endif()
-	endif()
-	set_property(TARGET ${_target} PROPERTY COTIRE_ENABLE_PRECOMPILED_HEADER ${_targetUsePCH})
-	set_property(TARGET ${_target} PROPERTY COTIRE_ADD_UNITY_BUILD ${_targetAddSCU})
-	cotire_make_target_message(${_target} "${_targetLanguages}" "${_disableMsg}" _targetMsg ${_allExcludedSourceFiles})
-	if (_targetMsg)
-		if (NOT DEFINED COTIREMSG_${_target})
-			set (COTIREMSG_${_target} "")
-		endif()
-		if (COTIRE_VERBOSE OR NOT "${_targetMsgLevel}" STREQUAL "STATUS" OR
-			NOT "${COTIREMSG_${_target}}" STREQUAL "${_targetMsg}")
-			# cache message to avoid redundant messages on re-configure
-			set (COTIREMSG_${_target} "${_targetMsg}" CACHE INTERNAL "${_target} cotire message.")
-			message (${_targetMsgLevel} "${_targetMsg}")
-		endif()
-	endif()
-	list (LENGTH _targetLanguages _numberOfLanguages)
-	if (_numberOfLanguages GREATER 1 OR _allExcludedSourceFiles)
-		set (${_wholeTargetVar} FALSE PARENT_SCOPE)
-	else()
-		set (${_wholeTargetVar} TRUE PARENT_SCOPE)
-	endif()
-	set (${_targetLanguagesVar} ${_targetLanguages} PARENT_SCOPE)
-endfunction()
-
-function (cotire_compute_unity_max_number_of_includes _target _maxIncludesVar)
-	set (_sourceFiles ${ARGN})
-	get_target_property(_maxIncludes ${_target} COTIRE_UNITY_SOURCE_MAXIMUM_NUMBER_OF_INCLUDES)
-	if (_maxIncludes MATCHES "(-j|--parallel|--jobs) ?([0-9]*)")
-		if (DEFINED CMAKE_MATCH_2)
-			set (_numberOfThreads "${CMAKE_MATCH_2}")
-		else()
-			set (_numberOfThreads "")
-		endif()
-		if (NOT _numberOfThreads)
-			# use all available cores
-			ProcessorCount(_numberOfThreads)
-		endif()
-		list (LENGTH _sourceFiles _numberOfSources)
-		math (EXPR _maxIncludes "(${_numberOfSources} + ${_numberOfThreads} - 1) / ${_numberOfThreads}")
-	elseif (NOT _maxIncludes MATCHES "[0-9]+")
-		set (_maxIncludes 0)
-	endif()
-	if (COTIRE_DEBUG)
-		message (STATUS "${_target} unity source max includes: ${_maxIncludes}")
-	endif()
-	set (${_maxIncludesVar} ${_maxIncludes} PARENT_SCOPE)
-endfunction()
-
-function (cotire_process_target_language _language _configurations _target _wholeTarget _cmdsVar)
-	set (${_cmdsVar} "" PARENT_SCOPE)
-	get_target_property(_targetSourceFiles ${_target} SOURCES)
-	set (_sourceFiles "")
-	set (_excludedSources "")
-	set (_cotiredSources "")
-	cotire_filter_language_source_files(${_language} ${_target} _sourceFiles _excludedSources _cotiredSources ${_targetSourceFiles})
-	if (NOT _sourceFiles AND NOT _cotiredSources)
-		return()
-	endif()
-	set (_cmds "")
-	# check for user provided unity source file list
-	get_property(_unitySourceFiles TARGET ${_target} PROPERTY COTIRE_${_language}_UNITY_SOURCE_INIT)
-	if (NOT _unitySourceFiles)
-		set (_unitySourceFiles ${_sourceFiles} ${_cotiredSources})
-	endif()
-	cotire_generate_target_script(
-		${_language} "${_configurations}" ${_target} _targetScript _targetConfigScript ${_unitySourceFiles})
-	# set up unity files for parallel compilation
-	cotire_compute_unity_max_number_of_includes(${_target} _maxIncludes ${_unitySourceFiles})
-	cotire_make_unity_source_file_paths(${_language} ${_target} ${_maxIncludes} _unityFiles ${_unitySourceFiles})
-	list (LENGTH _unityFiles _numberOfUnityFiles)
-	if (_numberOfUnityFiles EQUAL 0)
-		return()
-	elseif (_numberOfUnityFiles GREATER 1)
-		cotire_setup_unity_generation_commands(
-			${_language} ${_target} "${_targetScript}" "${_targetConfigScript}" "${_unityFiles}" _cmds ${_unitySourceFiles})
-	endif()
-	# set up single unity file for prefix header generation
-	cotire_make_single_unity_source_file_path(${_language} ${_target} _unityFile)
-	cotire_setup_unity_generation_commands(
-		${_language} ${_target} "${_targetScript}" "${_targetConfigScript}" "${_unityFile}" _cmds ${_unitySourceFiles})
-	cotire_make_prefix_file_path(${_language} ${_target} _prefixFile)
-	# set up prefix header
-	if (_prefixFile)
-		# check for user provided prefix header files
-		get_property(_prefixHeaderFiles TARGET ${_target} PROPERTY COTIRE_${_language}_PREFIX_HEADER_INIT)
-		if (_prefixHeaderFiles)
-			cotire_setup_prefix_generation_from_provided_command(
-				${_language} ${_target} "${_targetConfigScript}" "${_prefixFile}" _cmds ${_prefixHeaderFiles})
-		else()
-			cotire_setup_prefix_generation_from_unity_command(
-				${_language} ${_target} "${_targetConfigScript}" "${_prefixFile}" "${_unityFile}" _cmds ${_unitySourceFiles})
-		endif()
-		# check if selected language has enough sources at all
-		list (LENGTH _sourceFiles _numberOfSources)
-		if (_numberOfSources LESS ${COTIRE_MINIMUM_NUMBER_OF_TARGET_SOURCES})
-			set (_targetUsePCH FALSE)
-		else()
-			get_target_property(_targetUsePCH ${_target} COTIRE_ENABLE_PRECOMPILED_HEADER)
-		endif()
-		if (_targetUsePCH)
-			cotire_make_pch_file_path(${_language} ${_target} _pchFile)
-			if (_pchFile)
-				# first file in _sourceFiles is passed as the host file
-				cotire_setup_pch_file_compilation(
-					${_language} ${_target} "${_targetConfigScript}" "${_prefixFile}" "${_pchFile}" ${_sourceFiles})
-				cotire_setup_pch_file_inclusion(
-					${_language} ${_target} ${_wholeTarget} "${_prefixFile}" "${_pchFile}" ${_sourceFiles})
-			endif()
-		elseif (_prefixHeaderFiles)
-			# user provided prefix header must be included unconditionally
-			cotire_setup_prefix_file_inclusion(${_language} ${_target} "${_prefixFile}" ${_sourceFiles})
-		endif()
-	endif()
-	# mark target as cotired for language
-	set_property(TARGET ${_target} PROPERTY COTIRE_${_language}_UNITY_SOURCE "${_unityFiles}")
-	if (_prefixFile)
-		set_property(TARGET ${_target} PROPERTY COTIRE_${_language}_PREFIX_HEADER "${_prefixFile}")
-		if (_targetUsePCH AND _pchFile)
-			set_property(TARGET ${_target} PROPERTY COTIRE_${_language}_PRECOMPILED_HEADER "${_pchFile}")
-		endif()
-	endif()
-	set (${_cmdsVar} ${_cmds} PARENT_SCOPE)
-endfunction()
-
-function (cotire_setup_clean_target _target)
-	set (_cleanTargetName "${_target}${COTIRE_CLEAN_TARGET_SUFFIX}")
-	if (NOT TARGET "${_cleanTargetName}")
-		cotire_set_cmd_to_prologue(_cmds)
-		get_filename_component(_outputDir "${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_CFG_INTDIR}" ABSOLUTE)
-		list (APPEND _cmds -P "${COTIRE_CMAKE_MODULE_FILE}" "cleanup" "${_outputDir}" "${COTIRE_INTDIR}" "${_target}")
-		add_custom_target(${_cleanTargetName}
-			COMMAND ${_cmds}
-			WORKING_DIRECTORY "${CMAKE_BINARY_DIR}"
-			COMMENT "Cleaning up target ${_target} cotire generated files"
-			VERBATIM)
-		cotire_init_target("${_cleanTargetName}")
-	endif()
-endfunction()
-
-function (cotire_setup_pch_target _languages _configurations _target)
-	if ("${CMAKE_GENERATOR}" MATCHES "Make|Ninja")
-		# for makefile based generators, we add a custom target to trigger the generation of the cotire related files
-		set (_dependsFiles "")
-		foreach (_language ${_languages})
-			set (_props COTIRE_${_language}_PREFIX_HEADER COTIRE_${_language}_UNITY_SOURCE)
-			if (NOT CMAKE_${_language}_COMPILER_ID MATCHES "MSVC|Intel" AND NOT
-				(WIN32 AND CMAKE_${_language}_COMPILER_ID MATCHES "Clang"))
-				# MSVC, Intel and clang-cl only create precompiled header as a side effect
-				list (INSERT _props 0 COTIRE_${_language}_PRECOMPILED_HEADER)
-			endif()
-			cotire_get_first_set_property_value(_dependsFile TARGET ${_target} ${_props})
-			if (_dependsFile)
-				list (APPEND _dependsFiles "${_dependsFile}")
-			endif()
-		endforeach()
-		if (_dependsFiles)
-			set (_pchTargetName "${_target}${COTIRE_PCH_TARGET_SUFFIX}")
-			add_custom_target("${_pchTargetName}" DEPENDS ${_dependsFiles})
-			cotire_init_target("${_pchTargetName}")
-			cotire_add_to_pch_all_target(${_pchTargetName})
-		endif()
-	else()
-		# for other generators, we add the "clean all" target to clean up the precompiled header
-		cotire_setup_clean_all_target()
-	endif()
-endfunction()
-
-function (cotire_filter_object_libraries _target _objectLibrariesVar)
-	set (_objectLibraries "")
-	foreach (_source ${ARGN})
-		if (_source MATCHES "^\\$<TARGET_OBJECTS:.+>$")
-			list (APPEND _objectLibraries "${_source}")
-		endif()
-	endforeach()
-	set (${_objectLibrariesVar} ${_objectLibraries} PARENT_SCOPE)
-endfunction()
-
-function (cotire_collect_unity_target_sources _target _languages _unityTargetSourcesVar)
-	get_target_property(_targetSourceFiles ${_target} SOURCES)
-	set (_unityTargetSources ${_targetSourceFiles})
-	foreach (_language ${_languages})
-		get_property(_unityFiles TARGET ${_target} PROPERTY COTIRE_${_language}_UNITY_SOURCE)
-		if (_unityFiles)
-			# remove source files that are included in the unity source
-			set (_sourceFiles "")
-			set (_excludedSources "")
-			set (_cotiredSources "")
-			cotire_filter_language_source_files(${_language} ${_target} _sourceFiles _excludedSources _cotiredSources ${_targetSourceFiles})
-			if (_sourceFiles OR _cotiredSources)
-				list (REMOVE_ITEM _unityTargetSources ${_sourceFiles} ${_cotiredSources})
-			endif()
-			# add unity source files instead
-			list (APPEND _unityTargetSources ${_unityFiles})
-		endif()
-	endforeach()
-	# handle object libraries which are part of the target's sources
-	get_target_property(_linkLibrariesStrategy ${_target} COTIRE_UNITY_LINK_LIBRARIES_INIT)
-	if ("${_linkLibrariesStrategy}" MATCHES "^COPY_UNITY$")
-		cotire_filter_object_libraries(${_target} _objectLibraries ${_targetSourceFiles})
-		if (_objectLibraries)
-			cotire_map_libraries("${_linkLibrariesStrategy}" _unityObjectLibraries ${_objectLibraries})
-			list (REMOVE_ITEM _unityTargetSources ${_objectLibraries})
-			list (APPEND _unityTargetSources ${_unityObjectLibraries})
-		endif()
-	endif()
-	set (${_unityTargetSourcesVar} ${_unityTargetSources} PARENT_SCOPE)
-endfunction()
-
-function (cotire_setup_unity_target_pch_usage _languages _target)
-	foreach (_language ${_languages})
-		get_property(_unityFiles TARGET ${_target} PROPERTY COTIRE_${_language}_UNITY_SOURCE)
-		if (_unityFiles)
-			get_property(_userPrefixFile TARGET ${_target} PROPERTY COTIRE_${_language}_PREFIX_HEADER_INIT)
-			get_property(_prefixFile TARGET ${_target} PROPERTY COTIRE_${_language}_PREFIX_HEADER)
-			if (_userPrefixFile AND _prefixFile)
-				# user provided prefix header must be included unconditionally by unity sources
-				cotire_setup_prefix_file_inclusion(${_language} ${_target} "${_prefixFile}" ${_unityFiles})
-			endif()
-		endif()
-	endforeach()
-endfunction()
-
-function (cotire_setup_unity_build_target _languages _configurations _target)
-	get_target_property(_unityTargetName ${_target} COTIRE_UNITY_TARGET_NAME)
-	if (NOT _unityTargetName)
-		set (_unityTargetName "${_target}${COTIRE_UNITY_BUILD_TARGET_SUFFIX}")
-	endif()
-	# determine unity target sub type
-	get_target_property(_targetType ${_target} TYPE)
-	if ("${_targetType}" STREQUAL "EXECUTABLE")
-		set (_unityTargetSubType "")
-	elseif (_targetType MATCHES "(STATIC|SHARED|MODULE|OBJECT)_LIBRARY")
-		set (_unityTargetSubType "${CMAKE_MATCH_1}")
-	else()
-		message (WARNING "cotire: target ${_target} has unknown target type ${_targetType}.")
-		return()
-	endif()
-	# determine unity target sources
-	set (_unityTargetSources "")
-	cotire_collect_unity_target_sources(${_target} "${_languages}" _unityTargetSources)
-	# prevent AUTOMOC, AUTOUIC and AUTORCC properties from being set when the unity target is created
-	set (CMAKE_AUTOMOC OFF)
-	set (CMAKE_AUTOUIC OFF)
-	set (CMAKE_AUTORCC OFF)
-	if (COTIRE_DEBUG)
-		message (STATUS "add target ${_targetType} ${_unityTargetName} ${_unityTargetSubType} EXCLUDE_FROM_ALL ${_unityTargetSources}")
-	endif()
-	# generate unity target
-	if ("${_targetType}" STREQUAL "EXECUTABLE")
-		add_executable(${_unityTargetName} ${_unityTargetSubType} EXCLUDE_FROM_ALL ${_unityTargetSources})
-	else()
-		add_library(${_unityTargetName} ${_unityTargetSubType} EXCLUDE_FROM_ALL ${_unityTargetSources})
-	endif()
-	# copy output location properties
-	set (_outputDirProperties
-		ARCHIVE_OUTPUT_DIRECTORY ARCHIVE_OUTPUT_DIRECTORY_<CONFIG>
-		LIBRARY_OUTPUT_DIRECTORY LIBRARY_OUTPUT_DIRECTORY_<CONFIG>
-		RUNTIME_OUTPUT_DIRECTORY RUNTIME_OUTPUT_DIRECTORY_<CONFIG>)
-	if (COTIRE_UNITY_OUTPUT_DIRECTORY)
-		set (_setDefaultOutputDir TRUE)
-		if (IS_ABSOLUTE "${COTIRE_UNITY_OUTPUT_DIRECTORY}")
-			set (_outputDir "${COTIRE_UNITY_OUTPUT_DIRECTORY}")
-		else()
-			# append relative COTIRE_UNITY_OUTPUT_DIRECTORY to target's actual output directory
-			cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName} ${_outputDirProperties})
-			cotire_resolve_config_properties("${_configurations}" _properties ${_outputDirProperties})
-			foreach (_property ${_properties})
-				get_property(_outputDir TARGET ${_target} PROPERTY ${_property})
-				if (_outputDir)
-					get_filename_component(_outputDir "${_outputDir}/${COTIRE_UNITY_OUTPUT_DIRECTORY}" ABSOLUTE)
-					set_property(TARGET ${_unityTargetName} PROPERTY ${_property} "${_outputDir}")
-					set (_setDefaultOutputDir FALSE)
-				endif()
-			endforeach()
-			if (_setDefaultOutputDir)
-				get_filename_component(_outputDir "${CMAKE_CURRENT_BINARY_DIR}/${COTIRE_UNITY_OUTPUT_DIRECTORY}" ABSOLUTE)
-			endif()
-		endif()
-		if (_setDefaultOutputDir)
-			set_target_properties(${_unityTargetName} PROPERTIES
-				ARCHIVE_OUTPUT_DIRECTORY "${_outputDir}"
-				LIBRARY_OUTPUT_DIRECTORY "${_outputDir}"
-				RUNTIME_OUTPUT_DIRECTORY "${_outputDir}")
-		endif()
-	else()
-		cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName}
-			${_outputDirProperties})
-	endif()
-	# copy output name
-	cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName}
-		ARCHIVE_OUTPUT_NAME ARCHIVE_OUTPUT_NAME_<CONFIG>
-		LIBRARY_OUTPUT_NAME LIBRARY_OUTPUT_NAME_<CONFIG>
-		OUTPUT_NAME OUTPUT_NAME_<CONFIG>
-		RUNTIME_OUTPUT_NAME RUNTIME_OUTPUT_NAME_<CONFIG>
-		PREFIX <CONFIG>_POSTFIX SUFFIX
-		IMPORT_PREFIX IMPORT_SUFFIX)
-	# copy compile stuff
-	cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName}
-		COMPILE_DEFINITIONS COMPILE_DEFINITIONS_<CONFIG>
-		COMPILE_FLAGS COMPILE_OPTIONS
-		Fortran_FORMAT Fortran_MODULE_DIRECTORY
-		INCLUDE_DIRECTORIES
-		INTERPROCEDURAL_OPTIMIZATION INTERPROCEDURAL_OPTIMIZATION_<CONFIG>
-		POSITION_INDEPENDENT_CODE
-		C_COMPILER_LAUNCHER CXX_COMPILER_LAUNCHER
-		C_INCLUDE_WHAT_YOU_USE CXX_INCLUDE_WHAT_YOU_USE
-		C_VISIBILITY_PRESET CXX_VISIBILITY_PRESET VISIBILITY_INLINES_HIDDEN
-		C_CLANG_TIDY CXX_CLANG_TIDY)
-	# copy compile features
-	cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName}
-		C_EXTENSIONS C_STANDARD C_STANDARD_REQUIRED
-		CXX_EXTENSIONS CXX_STANDARD CXX_STANDARD_REQUIRED
-		COMPILE_FEATURES)
-	# copy interface stuff
-	cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName}
-		COMPATIBLE_INTERFACE_BOOL COMPATIBLE_INTERFACE_NUMBER_MAX COMPATIBLE_INTERFACE_NUMBER_MIN
-		COMPATIBLE_INTERFACE_STRING
-		INTERFACE_COMPILE_DEFINITIONS INTERFACE_COMPILE_FEATURES INTERFACE_COMPILE_OPTIONS
-		INTERFACE_INCLUDE_DIRECTORIES INTERFACE_SOURCES
-		INTERFACE_POSITION_INDEPENDENT_CODE INTERFACE_SYSTEM_INCLUDE_DIRECTORIES
-		INTERFACE_AUTOUIC_OPTIONS NO_SYSTEM_FROM_IMPORTED)
-	# copy link stuff
-	cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName}
-		BUILD_WITH_INSTALL_RPATH BUILD_WITH_INSTALL_NAME_DIR
-		INSTALL_RPATH INSTALL_RPATH_USE_LINK_PATH SKIP_BUILD_RPATH
-		LINKER_LANGUAGE LINK_DEPENDS LINK_DEPENDS_NO_SHARED
-		LINK_FLAGS LINK_FLAGS_<CONFIG>
-		LINK_INTERFACE_LIBRARIES LINK_INTERFACE_LIBRARIES_<CONFIG>
-		LINK_INTERFACE_MULTIPLICITY LINK_INTERFACE_MULTIPLICITY_<CONFIG>
-		LINK_SEARCH_START_STATIC LINK_SEARCH_END_STATIC
-		STATIC_LIBRARY_FLAGS STATIC_LIBRARY_FLAGS_<CONFIG>
-		NO_SONAME SOVERSION VERSION
-		LINK_WHAT_YOU_USE BUILD_RPATH)
-	# copy cmake stuff
-	cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName}
-		IMPLICIT_DEPENDS_INCLUDE_TRANSFORM RULE_LAUNCH_COMPILE RULE_LAUNCH_CUSTOM RULE_LAUNCH_LINK)
-	# copy Apple platform specific stuff
-	cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName}
-		BUNDLE BUNDLE_EXTENSION FRAMEWORK FRAMEWORK_VERSION INSTALL_NAME_DIR
-		MACOSX_BUNDLE MACOSX_BUNDLE_INFO_PLIST MACOSX_FRAMEWORK_INFO_PLIST MACOSX_RPATH
-		OSX_ARCHITECTURES OSX_ARCHITECTURES_<CONFIG> PRIVATE_HEADER PUBLIC_HEADER RESOURCE XCTEST
-		IOS_INSTALL_COMBINED XCODE_EXPLICIT_FILE_TYPE XCODE_PRODUCT_TYPE)
-	# copy Windows platform specific stuff
-	cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName}
-		GNUtoMS
-		COMPILE_PDB_NAME COMPILE_PDB_NAME_<CONFIG>
-		COMPILE_PDB_OUTPUT_DIRECTORY COMPILE_PDB_OUTPUT_DIRECTORY_<CONFIG>
-		PDB_NAME PDB_NAME_<CONFIG> PDB_OUTPUT_DIRECTORY PDB_OUTPUT_DIRECTORY_<CONFIG>
-		VS_DESKTOP_EXTENSIONS_VERSION VS_DOTNET_REFERENCES VS_DOTNET_TARGET_FRAMEWORK_VERSION
-		VS_GLOBAL_KEYWORD VS_GLOBAL_PROJECT_TYPES VS_GLOBAL_ROOTNAMESPACE
-		VS_IOT_EXTENSIONS_VERSION VS_IOT_STARTUP_TASK
-		VS_KEYWORD VS_MOBILE_EXTENSIONS_VERSION
-		VS_SCC_AUXPATH VS_SCC_LOCALPATH VS_SCC_PROJECTNAME VS_SCC_PROVIDER
-		VS_WINDOWS_TARGET_PLATFORM_MIN_VERSION
-		VS_WINRT_COMPONENT VS_WINRT_EXTENSIONS VS_WINRT_REFERENCES
-		WIN32_EXECUTABLE WINDOWS_EXPORT_ALL_SYMBOLS
-		DEPLOYMENT_REMOTE_DIRECTORY VS_CONFIGURATION_TYPE
-		VS_SDK_REFERENCES VS_USER_PROPS VS_DEBUGGER_WORKING_DIRECTORY)
-	# copy Android platform specific stuff
-	cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName}
-		ANDROID_API ANDROID_API_MIN ANDROID_GUI
-		ANDROID_ANT_ADDITIONAL_OPTIONS ANDROID_ARCH ANDROID_ASSETS_DIRECTORIES
-		ANDROID_JAR_DEPENDENCIES ANDROID_JAR_DIRECTORIES ANDROID_JAVA_SOURCE_DIR
-		ANDROID_NATIVE_LIB_DEPENDENCIES ANDROID_NATIVE_LIB_DIRECTORIES
-		ANDROID_PROCESS_MAX ANDROID_PROGUARD ANDROID_PROGUARD_CONFIG_PATH
-		ANDROID_SECURE_PROPS_PATH ANDROID_SKIP_ANT_STEP ANDROID_STL_TYPE)
-	# copy CUDA platform specific stuff
-	cotire_copy_set_properties("${_configurations}" TARGET ${_target} ${_unityTargetName}
-		CUDA_PTX_COMPILATION CUDA_SEPARABLE_COMPILATION CUDA_RESOLVE_DEVICE_SYMBOLS
-		CUDA_EXTENSIONS CUDA_STANDARD CUDA_STANDARD_REQUIRED)
-	# use output name from original target
-	get_target_property(_targetOutputName ${_unityTargetName} OUTPUT_NAME)
-	if (NOT _targetOutputName)
-		set_property(TARGET ${_unityTargetName} PROPERTY OUTPUT_NAME "${_target}")
-	endif()
-	# use export symbol from original target
-	cotire_get_target_export_symbol("${_target}" _defineSymbol)
-	if (_defineSymbol)
-		set_property(TARGET ${_unityTargetName} PROPERTY DEFINE_SYMBOL "${_defineSymbol}")
-		if ("${_targetType}" STREQUAL "EXECUTABLE")
-			set_property(TARGET ${_unityTargetName} PROPERTY ENABLE_EXPORTS TRUE)
-		endif()
-	endif()
-	# enable parallel compilation for MSVC
-	if (MSVC AND "${CMAKE_GENERATOR}" MATCHES "Visual Studio")
-		list (LENGTH _unityTargetSources _numberOfUnityTargetSources)
-		if (_numberOfUnityTargetSources GREATER 1)
-			set_property(TARGET ${_unityTargetName} APPEND PROPERTY COMPILE_OPTIONS "/MP")
-		endif()
-	endif()
-	cotire_init_target(${_unityTargetName})
-	cotire_add_to_unity_all_target(${_unityTargetName})
-	set_property(TARGET ${_target} PROPERTY COTIRE_UNITY_TARGET_NAME "${_unityTargetName}")
-endfunction(cotire_setup_unity_build_target)
-
-function (cotire_target _target)
-	set(_options "")
-	set(_oneValueArgs "")
-	set(_multiValueArgs LANGUAGES CONFIGURATIONS)
-	cmake_parse_arguments(_option "${_options}" "${_oneValueArgs}" "${_multiValueArgs}" ${ARGN})
-	if (NOT _option_LANGUAGES)
-		get_property (_option_LANGUAGES GLOBAL PROPERTY ENABLED_LANGUAGES)
-	endif()
-	if (NOT _option_CONFIGURATIONS)
-		cotire_get_configuration_types(_option_CONFIGURATIONS)
-	endif()
-	# check if cotire can be applied to target at all
-	cotire_is_target_supported(${_target} _isSupported)
-	if (NOT _isSupported)
-		get_target_property(_imported ${_target} IMPORTED)
-		get_target_property(_targetType ${_target} TYPE)
-		if (_imported)
-			message (WARNING "cotire: imported ${_targetType} target ${_target} cannot be cotired.")
-		else()
-			message (STATUS "cotire: ${_targetType} target ${_target} cannot be cotired.")
-		endif()
-		return()
-	endif()
-	# resolve alias
-	get_target_property(_aliasName ${_target} ALIASED_TARGET)
-	if (_aliasName)
-		if (COTIRE_DEBUG)
-			message (STATUS "${_target} is an alias. Applying cotire to aliased target ${_aliasName} instead.")
-		endif()
-		set (_target ${_aliasName})
-	endif()
-	# check if target needs to be cotired for build type
-	# when using configuration types, the test is performed at build time
-	cotire_init_cotire_target_properties(${_target})
-	if (NOT CMAKE_CONFIGURATION_TYPES)
-		if (CMAKE_BUILD_TYPE)
-			list (FIND _option_CONFIGURATIONS "${CMAKE_BUILD_TYPE}" _index)
-		else()
-			list (FIND _option_CONFIGURATIONS "None" _index)
-		endif()
-		if (_index EQUAL -1)
-			if (COTIRE_DEBUG)
-				message (STATUS "CMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} not cotired (${_option_CONFIGURATIONS})")
-			endif()
-			return()
-		endif()
-	endif()
-	# when not using configuration types, immediately create cotire intermediate dir
-	if (NOT CMAKE_CONFIGURATION_TYPES)
-		cotire_get_intermediate_dir(_baseDir)
-		file (MAKE_DIRECTORY "${_baseDir}")
-	endif()
-	# choose languages that apply to the target
-	cotire_choose_target_languages("${_target}" _targetLanguages _wholeTarget ${_option_LANGUAGES})
-	if (NOT _targetLanguages)
-		return()
-	endif()
-	set (_cmds "")
-	foreach (_language ${_targetLanguages})
-		cotire_process_target_language("${_language}" "${_option_CONFIGURATIONS}" ${_target} ${_wholeTarget} _cmd)
-		if (_cmd)
-			list (APPEND _cmds ${_cmd})
-		endif()
-	endforeach()
-	get_target_property(_targetAddSCU ${_target} COTIRE_ADD_UNITY_BUILD)
-	if (_targetAddSCU)
-		cotire_setup_unity_build_target("${_targetLanguages}" "${_option_CONFIGURATIONS}" ${_target})
-	endif()
-	get_target_property(_targetUsePCH ${_target} COTIRE_ENABLE_PRECOMPILED_HEADER)
-	if (_targetUsePCH)
-		cotire_setup_target_pch_usage("${_targetLanguages}" ${_target} ${_wholeTarget} ${_cmds})
-		cotire_setup_pch_target("${_targetLanguages}" "${_option_CONFIGURATIONS}" ${_target})
-		if (_targetAddSCU)
-			cotire_setup_unity_target_pch_usage("${_targetLanguages}" ${_target})
-		endif()
-	endif()
-	get_target_property(_targetAddCleanTarget ${_target} COTIRE_ADD_CLEAN)
-	if (_targetAddCleanTarget)
-		cotire_setup_clean_target(${_target})
-	endif()
-endfunction(cotire_target)
-
-function (cotire_map_libraries _strategy _mappedLibrariesVar)
-	set (_mappedLibraries "")
-	foreach (_library ${ARGN})
-		if (_library MATCHES "^\\$<LINK_ONLY:(.+)>$")
-			set (_libraryName "${CMAKE_MATCH_1}")
-			set (_linkOnly TRUE)
-			set (_objectLibrary FALSE)
-		elseif (_library MATCHES "^\\$<TARGET_OBJECTS:(.+)>$")
-			set (_libraryName "${CMAKE_MATCH_1}")
-			set (_linkOnly FALSE)
-			set (_objectLibrary TRUE)
-		else()
-			set (_libraryName "${_library}")
-			set (_linkOnly FALSE)
-			set (_objectLibrary FALSE)
-		endif()
-		if ("${_strategy}" MATCHES "COPY_UNITY")
-			cotire_is_target_supported(${_libraryName} _isSupported)
-			if (_isSupported)
-				# use target's corresponding unity target, if available
-				get_target_property(_libraryUnityTargetName ${_libraryName} COTIRE_UNITY_TARGET_NAME)
-				if (TARGET "${_libraryUnityTargetName}")
-					if (_linkOnly)
-						list (APPEND _mappedLibraries "$<LINK_ONLY:${_libraryUnityTargetName}>")
-					elseif (_objectLibrary)
-						list (APPEND _mappedLibraries "$<TARGET_OBJECTS:${_libraryUnityTargetName}>")
-					else()
-						list (APPEND _mappedLibraries "${_libraryUnityTargetName}")
-					endif()
-				else()
-					list (APPEND _mappedLibraries "${_library}")
-				endif()
-			else()
-				list (APPEND _mappedLibraries "${_library}")
-			endif()
-		else()
-			list (APPEND _mappedLibraries "${_library}")
-		endif()
-	endforeach()
-	list (REMOVE_DUPLICATES _mappedLibraries)
-	set (${_mappedLibrariesVar} ${_mappedLibraries} PARENT_SCOPE)
-endfunction()
-
-function (cotire_target_link_libraries _target)
-	cotire_is_target_supported(${_target} _isSupported)
-	if (NOT _isSupported)
-		return()
-	endif()
-	get_target_property(_unityTargetName ${_target} COTIRE_UNITY_TARGET_NAME)
-	if (TARGET "${_unityTargetName}")
-		get_target_property(_linkLibrariesStrategy ${_target} COTIRE_UNITY_LINK_LIBRARIES_INIT)
-		if (COTIRE_DEBUG)
-			message (STATUS "unity target ${_unityTargetName} link strategy: ${_linkLibrariesStrategy}")
-		endif()
-		if ("${_linkLibrariesStrategy}" MATCHES "^(COPY|COPY_UNITY)$")
-			get_target_property(_linkLibraries ${_target} LINK_LIBRARIES)
-			if (_linkLibraries)
-				cotire_map_libraries("${_linkLibrariesStrategy}" _unityLinkLibraries ${_linkLibraries})
-				set_target_properties(${_unityTargetName} PROPERTIES LINK_LIBRARIES "${_unityLinkLibraries}")
-				if (COTIRE_DEBUG)
-					message (STATUS "unity target ${_unityTargetName} link libraries: ${_unityLinkLibraries}")
-				endif()
-			endif()
-			get_target_property(_interfaceLinkLibraries ${_target} INTERFACE_LINK_LIBRARIES)
-			if (_interfaceLinkLibraries)
-				cotire_map_libraries("${_linkLibrariesStrategy}" _unityLinkInterfaceLibraries ${_interfaceLinkLibraries})
-				set_target_properties(${_unityTargetName} PROPERTIES INTERFACE_LINK_LIBRARIES "${_unityLinkInterfaceLibraries}")
-				if (COTIRE_DEBUG)
-					message (STATUS "unity target ${_unityTargetName} interface link libraries: ${_unityLinkInterfaceLibraries}")
-				endif()
-			endif()
-			get_target_property(_manualDependencies ${_target} MANUALLY_ADDED_DEPENDENCIES)
-			if (_manualDependencies)
-				cotire_map_libraries("${_linkLibrariesStrategy}" _unityManualDependencies ${_manualDependencies})
-				if (_unityManualDependencies)
-					add_dependencies("${_unityTargetName}" ${_unityManualDependencies})
-				endif()
-			endif()
-		endif()
-	endif()
-endfunction(cotire_target_link_libraries)
-
-function (cotire_cleanup _binaryDir _cotireIntermediateDirName _targetName)
-	if (_targetName)
-		file (GLOB_RECURSE _cotireFiles "${_binaryDir}/${_targetName}*.*")
-	else()
-		file (GLOB_RECURSE _cotireFiles "${_binaryDir}/*.*")
-	endif()
-	# filter files in intermediate directory
-	set (_filesToRemove "")
-	foreach (_file ${_cotireFiles})
-		get_filename_component(_dir "${_file}" DIRECTORY)
-		get_filename_component(_dirName "${_dir}" NAME)
-		if ("${_dirName}" STREQUAL "${_cotireIntermediateDirName}")
-			list (APPEND _filesToRemove "${_file}")
-		endif()
-	endforeach()
-	if (_filesToRemove)
-		if (COTIRE_VERBOSE)
-			message (STATUS "cleaning up ${_filesToRemove}")
-		endif()
-		file (REMOVE ${_filesToRemove})
-	endif()
-endfunction()
-
-function (cotire_init_target _targetName)
-	if (COTIRE_TARGETS_FOLDER)
-		set_target_properties(${_targetName} PROPERTIES FOLDER "${COTIRE_TARGETS_FOLDER}")
-	endif()
-	set_target_properties(${_targetName} PROPERTIES EXCLUDE_FROM_ALL TRUE)
-	if (MSVC_IDE)
-		set_target_properties(${_targetName} PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD TRUE)
-	endif()
-endfunction()
-
-function (cotire_add_to_pch_all_target _pchTargetName)
-	set (_targetName "${COTIRE_PCH_ALL_TARGET_NAME}")
-	if (NOT TARGET "${_targetName}")
-		add_custom_target("${_targetName}"
-			WORKING_DIRECTORY "${CMAKE_BINARY_DIR}"
-			VERBATIM)
-		cotire_init_target("${_targetName}")
-	endif()
-	cotire_setup_clean_all_target()
-	add_dependencies(${_targetName} ${_pchTargetName})
-endfunction()
-
-function (cotire_add_to_unity_all_target _unityTargetName)
-	set (_targetName "${COTIRE_UNITY_BUILD_ALL_TARGET_NAME}")
-	if (NOT TARGET "${_targetName}")
-		add_custom_target("${_targetName}"
-			WORKING_DIRECTORY "${CMAKE_BINARY_DIR}"
-			VERBATIM)
-		cotire_init_target("${_targetName}")
-	endif()
-	cotire_setup_clean_all_target()
-	add_dependencies(${_targetName} ${_unityTargetName})
-endfunction()
-
-function (cotire_setup_clean_all_target)
-	set (_targetName "${COTIRE_CLEAN_ALL_TARGET_NAME}")
-	if (NOT TARGET "${_targetName}")
-		cotire_set_cmd_to_prologue(_cmds)
-		list (APPEND _cmds -P "${COTIRE_CMAKE_MODULE_FILE}" "cleanup" "${CMAKE_BINARY_DIR}" "${COTIRE_INTDIR}")
-		add_custom_target(${_targetName}
-			COMMAND ${_cmds}
-			WORKING_DIRECTORY "${CMAKE_BINARY_DIR}"
-			COMMENT "Cleaning up all cotire generated files"
-			VERBATIM)
-		cotire_init_target("${_targetName}")
-	endif()
-endfunction()
-
-function (cotire)
-	set(_options "")
-	set(_oneValueArgs "")
-	set(_multiValueArgs LANGUAGES CONFIGURATIONS)
-	cmake_parse_arguments(_option "${_options}" "${_oneValueArgs}" "${_multiValueArgs}" ${ARGN})
-	set (_targets ${_option_UNPARSED_ARGUMENTS})
-	foreach (_target ${_targets})
-		if (TARGET ${_target})
-			cotire_target(${_target} LANGUAGES ${_option_LANGUAGES} CONFIGURATIONS ${_option_CONFIGURATIONS})
-		else()
-			message (WARNING "cotire: ${_target} is not a target.")
-		endif()
-	endforeach()
-	foreach (_target ${_targets})
-		if (TARGET ${_target})
-			cotire_target_link_libraries(${_target})
-		endif()
-	endforeach()
-endfunction()
-
-if (CMAKE_SCRIPT_MODE_FILE)
-
-	# cotire is being run in script mode
-	# locate -P on command args
-	set (COTIRE_ARGC -1)
-	foreach (_index RANGE ${CMAKE_ARGC})
-		if (COTIRE_ARGC GREATER -1)
-			set (COTIRE_ARGV${COTIRE_ARGC} "${CMAKE_ARGV${_index}}")
-			math (EXPR COTIRE_ARGC "${COTIRE_ARGC} + 1")
-		elseif ("${CMAKE_ARGV${_index}}" STREQUAL "-P")
-			set (COTIRE_ARGC 0)
-		endif()
-	endforeach()
-
-	# include target script if available
-	if ("${COTIRE_ARGV2}" MATCHES "\\.cmake$")
-		# the included target scripts sets up additional variables relating to the target (e.g., COTIRE_TARGET_SOURCES)
-		include("${COTIRE_ARGV2}")
-	endif()
-
-	if (COTIRE_DEBUG)
-		message (STATUS "${COTIRE_ARGV0} ${COTIRE_ARGV1} ${COTIRE_ARGV2} ${COTIRE_ARGV3} ${COTIRE_ARGV4} ${COTIRE_ARGV5}")
-	endif()
-
-	if (NOT COTIRE_BUILD_TYPE)
-		set (COTIRE_BUILD_TYPE "None")
-	endif()
-	string (TOUPPER "${COTIRE_BUILD_TYPE}" _upperConfig)
-	set (_includeDirs ${COTIRE_TARGET_INCLUDE_DIRECTORIES_${_upperConfig}})
-	set (_systemIncludeDirs ${COTIRE_TARGET_SYSTEM_INCLUDE_DIRECTORIES_${_upperConfig}})
-	set (_compileDefinitions ${COTIRE_TARGET_COMPILE_DEFINITIONS_${_upperConfig}})
-	set (_compileFlags ${COTIRE_TARGET_COMPILE_FLAGS_${_upperConfig}})
-	# check if target has been cotired for actual build type COTIRE_BUILD_TYPE
-	list (FIND COTIRE_TARGET_CONFIGURATION_TYPES "${COTIRE_BUILD_TYPE}" _index)
-	if (_index GREATER -1)
-		set (_sources ${COTIRE_TARGET_SOURCES})
-		set (_sourcesDefinitions ${COTIRE_TARGET_SOURCES_COMPILE_DEFINITIONS_${_upperConfig}})
-	else()
-		if (COTIRE_DEBUG)
-			message (STATUS "COTIRE_BUILD_TYPE=${COTIRE_BUILD_TYPE} not cotired (${COTIRE_TARGET_CONFIGURATION_TYPES})")
-		endif()
-		set (_sources "")
-		set (_sourcesDefinitions "")
-	endif()
-	set (_targetPreUndefs ${COTIRE_TARGET_PRE_UNDEFS})
-	set (_targetPostUndefs ${COTIRE_TARGET_POST_UNDEFS})
-	set (_sourcesPreUndefs ${COTIRE_TARGET_SOURCES_PRE_UNDEFS})
-	set (_sourcesPostUndefs ${COTIRE_TARGET_SOURCES_POST_UNDEFS})
-
-	if ("${COTIRE_ARGV1}" STREQUAL "unity")
-
-		if (XCODE)
-			# executing pre-build action under Xcode, check dependency on target script
-			set (_dependsOption DEPENDS "${COTIRE_ARGV2}")
-		else()
-			# executing custom command, no need to re-check for dependencies
-			set (_dependsOption "")
-		endif()
-
-		cotire_select_unity_source_files("${COTIRE_ARGV3}" _sources ${_sources})
-
-		cotire_generate_unity_source(
-			"${COTIRE_ARGV3}" ${_sources}
-			LANGUAGE "${COTIRE_TARGET_LANGUAGE}"
-			SOURCES_COMPILE_DEFINITIONS ${_sourcesDefinitions}
-			PRE_UNDEFS ${_targetPreUndefs}
-			POST_UNDEFS ${_targetPostUndefs}
-			SOURCES_PRE_UNDEFS ${_sourcesPreUndefs}
-			SOURCES_POST_UNDEFS ${_sourcesPostUndefs}
-			${_dependsOption})
-
-	elseif ("${COTIRE_ARGV1}" STREQUAL "prefix")
-
-		if (XCODE)
-			# executing pre-build action under Xcode, check dependency on unity file and prefix dependencies
-			set (_dependsOption DEPENDS "${COTIRE_ARGV4}" ${COTIRE_TARGET_PREFIX_DEPENDS})
-		else()
-			# executing custom command, no need to re-check for dependencies
-			set (_dependsOption "")
-		endif()
-
-		set (_files "")
-		foreach (_index RANGE 4 ${COTIRE_ARGC})
-			if (COTIRE_ARGV${_index})
-				list (APPEND _files "${COTIRE_ARGV${_index}}")
-			endif()
-		endforeach()
-
-		cotire_generate_prefix_header(
-			"${COTIRE_ARGV3}" ${_files}
-			COMPILER_LAUNCHER "${COTIRE_TARGET_${COTIRE_TARGET_LANGUAGE}_COMPILER_LAUNCHER}"
-			COMPILER_EXECUTABLE "${CMAKE_${COTIRE_TARGET_LANGUAGE}_COMPILER}"
-			COMPILER_ARG1 ${CMAKE_${COTIRE_TARGET_LANGUAGE}_COMPILER_ARG1}
-			COMPILER_ID "${CMAKE_${COTIRE_TARGET_LANGUAGE}_COMPILER_ID}"
-			COMPILER_VERSION "${CMAKE_${COTIRE_TARGET_LANGUAGE}_COMPILER_VERSION}"
-			LANGUAGE "${COTIRE_TARGET_LANGUAGE}"
-			IGNORE_PATH "${COTIRE_TARGET_IGNORE_PATH};${COTIRE_ADDITIONAL_PREFIX_HEADER_IGNORE_PATH}"
-			INCLUDE_PATH ${COTIRE_TARGET_INCLUDE_PATH}
-			IGNORE_EXTENSIONS "${CMAKE_${COTIRE_TARGET_LANGUAGE}_SOURCE_FILE_EXTENSIONS};${COTIRE_ADDITIONAL_PREFIX_HEADER_IGNORE_EXTENSIONS}"
-			INCLUDE_PRIORITY_PATH ${COTIRE_TARGET_INCLUDE_PRIORITY_PATH}
-			INCLUDE_DIRECTORIES ${_includeDirs}
-			SYSTEM_INCLUDE_DIRECTORIES ${_systemIncludeDirs}
-			COMPILE_DEFINITIONS ${_compileDefinitions}
-			COMPILE_FLAGS ${_compileFlags}
-			${_dependsOption})
-
-	elseif ("${COTIRE_ARGV1}" STREQUAL "precompile")
-
-		set (_files "")
-		foreach (_index RANGE 5 ${COTIRE_ARGC})
-			if (COTIRE_ARGV${_index})
-				list (APPEND _files "${COTIRE_ARGV${_index}}")
-			endif()
-		endforeach()
-
-		cotire_precompile_prefix_header(
-			"${COTIRE_ARGV3}" "${COTIRE_ARGV4}" "${COTIRE_ARGV5}"
-			COMPILER_LAUNCHER "${COTIRE_TARGET_${COTIRE_TARGET_LANGUAGE}_COMPILER_LAUNCHER}"
-			COMPILER_EXECUTABLE "${CMAKE_${COTIRE_TARGET_LANGUAGE}_COMPILER}"
-			COMPILER_ARG1 ${CMAKE_${COTIRE_TARGET_LANGUAGE}_COMPILER_ARG1}
-			COMPILER_ID "${CMAKE_${COTIRE_TARGET_LANGUAGE}_COMPILER_ID}"
-			COMPILER_VERSION "${CMAKE_${COTIRE_TARGET_LANGUAGE}_COMPILER_VERSION}"
-			LANGUAGE "${COTIRE_TARGET_LANGUAGE}"
-			INCLUDE_DIRECTORIES ${_includeDirs}
-			SYSTEM_INCLUDE_DIRECTORIES ${_systemIncludeDirs}
-			COMPILE_DEFINITIONS ${_compileDefinitions}
-			COMPILE_FLAGS ${_compileFlags})
-
-	elseif ("${COTIRE_ARGV1}" STREQUAL "combine")
-
-		if (COTIRE_TARGET_LANGUAGE)
-			set (_combinedFile "${COTIRE_ARGV3}")
-			set (_startIndex 4)
-		else()
-			set (_combinedFile "${COTIRE_ARGV2}")
-			set (_startIndex 3)
-		endif()
-		set (_files "")
-		foreach (_index RANGE ${_startIndex} ${COTIRE_ARGC})
-			if (COTIRE_ARGV${_index})
-				list (APPEND _files "${COTIRE_ARGV${_index}}")
-			endif()
-		endforeach()
-
-		if (XCODE)
-			# executing pre-build action under Xcode, check dependency on files to be combined
-			set (_dependsOption DEPENDS ${_files})
-		else()
-			# executing custom command, no need to re-check for dependencies
-			set (_dependsOption "")
-		endif()
-
-		if (COTIRE_TARGET_LANGUAGE)
-			cotire_generate_unity_source(
-				"${_combinedFile}" ${_files}
-				LANGUAGE "${COTIRE_TARGET_LANGUAGE}"
-				${_dependsOption})
-		else()
-			cotire_generate_unity_source("${_combinedFile}" ${_files} ${_dependsOption})
-		endif()
-
-	elseif ("${COTIRE_ARGV1}" STREQUAL "cleanup")
-
-		cotire_cleanup("${COTIRE_ARGV2}" "${COTIRE_ARGV3}" "${COTIRE_ARGV4}")
-
-	else()
-		message (FATAL_ERROR "cotire: unknown command \"${COTIRE_ARGV1}\".")
-	endif()
-
-else()
-
-	# cotire is being run in include mode
-	# set up all variable and property definitions
-
-	if (NOT DEFINED COTIRE_DEBUG_INIT)
-		if (DEFINED COTIRE_DEBUG)
-			set (COTIRE_DEBUG_INIT ${COTIRE_DEBUG})
-		else()
-			set (COTIRE_DEBUG_INIT FALSE)
-		endif()
-	endif()
-	option (COTIRE_DEBUG "Enable cotire debugging output?" ${COTIRE_DEBUG_INIT})
-
-	if (NOT DEFINED COTIRE_VERBOSE_INIT)
-		if (DEFINED COTIRE_VERBOSE)
-			set (COTIRE_VERBOSE_INIT ${COTIRE_VERBOSE})
-		else()
-			set (COTIRE_VERBOSE_INIT FALSE)
-		endif()
-	endif()
-	option (COTIRE_VERBOSE "Enable cotire verbose output?" ${COTIRE_VERBOSE_INIT})
-
-	set (COTIRE_ADDITIONAL_PREFIX_HEADER_IGNORE_EXTENSIONS "inc;inl;ipp" CACHE STRING
-		"Ignore headers with the listed file extensions from the generated prefix header.")
-
-	set (COTIRE_ADDITIONAL_PREFIX_HEADER_IGNORE_PATH "" CACHE STRING
-		"Ignore headers from these directories when generating the prefix header.")
-
-	set (COTIRE_UNITY_SOURCE_EXCLUDE_EXTENSIONS "m;mm" CACHE STRING
-		"Ignore sources with the listed file extensions from the generated unity source.")
-
-	set (COTIRE_MINIMUM_NUMBER_OF_TARGET_SOURCES "2" CACHE STRING
-		"Minimum number of sources in target required to enable use of precompiled header.")
-
-	if (NOT DEFINED COTIRE_MAXIMUM_NUMBER_OF_UNITY_INCLUDES_INIT)
-		if (DEFINED COTIRE_MAXIMUM_NUMBER_OF_UNITY_INCLUDES)
-			set (COTIRE_MAXIMUM_NUMBER_OF_UNITY_INCLUDES_INIT ${COTIRE_MAXIMUM_NUMBER_OF_UNITY_INCLUDES})
-		elseif ("${CMAKE_GENERATOR}" MATCHES "JOM|Ninja|Visual Studio")
-			# enable parallelization for generators that run multiple jobs by default
-			set (COTIRE_MAXIMUM_NUMBER_OF_UNITY_INCLUDES_INIT "-j")
-		else()
-			set (COTIRE_MAXIMUM_NUMBER_OF_UNITY_INCLUDES_INIT "0")
-		endif()
-	endif()
-	set (COTIRE_MAXIMUM_NUMBER_OF_UNITY_INCLUDES "${COTIRE_MAXIMUM_NUMBER_OF_UNITY_INCLUDES_INIT}" CACHE STRING
-		"Maximum number of source files to include in a single unity source file.")
-
-	if (NOT COTIRE_PREFIX_HEADER_FILENAME_SUFFIX)
-		set (COTIRE_PREFIX_HEADER_FILENAME_SUFFIX "_prefix")
-	endif()
-	if (NOT COTIRE_UNITY_SOURCE_FILENAME_SUFFIX)
-		set (COTIRE_UNITY_SOURCE_FILENAME_SUFFIX "_unity")
-	endif()
-	if (NOT COTIRE_INTDIR)
-		set (COTIRE_INTDIR "cotire")
-	endif()
-	if (NOT COTIRE_PCH_ALL_TARGET_NAME)
-		set (COTIRE_PCH_ALL_TARGET_NAME "all_pch")
-	endif()
-	if (NOT COTIRE_UNITY_BUILD_ALL_TARGET_NAME)
-		set (COTIRE_UNITY_BUILD_ALL_TARGET_NAME "all_unity")
-	endif()
-	if (NOT COTIRE_CLEAN_ALL_TARGET_NAME)
-		set (COTIRE_CLEAN_ALL_TARGET_NAME "clean_cotire")
-	endif()
-	if (NOT COTIRE_CLEAN_TARGET_SUFFIX)
-		set (COTIRE_CLEAN_TARGET_SUFFIX "_clean_cotire")
-	endif()
-	if (NOT COTIRE_PCH_TARGET_SUFFIX)
-		set (COTIRE_PCH_TARGET_SUFFIX "_pch")
-	endif()
-	if (MSVC)
-		# MSVC default PCH memory scaling factor of 100 percent (75 MB) is too small for template heavy C++ code
-		# use a bigger default factor of 170 percent (128 MB)
-		if (NOT DEFINED COTIRE_PCH_MEMORY_SCALING_FACTOR)
-			set (COTIRE_PCH_MEMORY_SCALING_FACTOR "170")
-		endif()
-	endif()
-	if (NOT COTIRE_UNITY_BUILD_TARGET_SUFFIX)
-		set (COTIRE_UNITY_BUILD_TARGET_SUFFIX "_unity")
-	endif()
-	if (NOT DEFINED COTIRE_TARGETS_FOLDER)
-		set (COTIRE_TARGETS_FOLDER "cotire")
-	endif()
-	if (NOT DEFINED COTIRE_UNITY_OUTPUT_DIRECTORY)
-		if ("${CMAKE_GENERATOR}" MATCHES "Ninja")
-			# generated Ninja build files do not work if the unity target produces the same output file as the cotired target
-			set (COTIRE_UNITY_OUTPUT_DIRECTORY "unity")
-		else()
-			set (COTIRE_UNITY_OUTPUT_DIRECTORY "")
-		endif()
-	endif()
-
-	# define cotire cache variables
-
-	define_property(
-		CACHED_VARIABLE PROPERTY "COTIRE_ADDITIONAL_PREFIX_HEADER_IGNORE_PATH"
-		BRIEF_DOCS "Ignore headers from these directories when generating the prefix header."
-		FULL_DOCS
-			"The variable can be set to a semicolon separated list of include directories."
-			"If a header file is found in one of these directories or sub-directories, it will be excluded from the generated prefix header."
-			"If not defined, defaults to empty list."
-	)
-
-	define_property(
-		CACHED_VARIABLE PROPERTY "COTIRE_ADDITIONAL_PREFIX_HEADER_IGNORE_EXTENSIONS"
-		BRIEF_DOCS "Ignore includes with the listed file extensions from the generated prefix header."
-		FULL_DOCS
-			"The variable can be set to a semicolon separated list of file extensions."
-			"If a header file extension matches one in the list, it will be excluded from the generated prefix header."
-			"Includes with an extension in CMAKE_<LANG>_SOURCE_FILE_EXTENSIONS are always ignored."
-			"If not defined, defaults to inc;inl;ipp."
-	)
-
-	define_property(
-		CACHED_VARIABLE PROPERTY "COTIRE_UNITY_SOURCE_EXCLUDE_EXTENSIONS"
-		BRIEF_DOCS "Exclude sources with the listed file extensions from the generated unity source."
-		FULL_DOCS
-			"The variable can be set to a semicolon separated list of file extensions."
-			"If a source file extension matches one in the list, it will be excluded from the generated unity source file."
-			"Source files with an extension in CMAKE_<LANG>_IGNORE_EXTENSIONS are always excluded."
-			"If not defined, defaults to m;mm."
-	)
-
-	define_property(
-		CACHED_VARIABLE PROPERTY "COTIRE_MINIMUM_NUMBER_OF_TARGET_SOURCES"
-		BRIEF_DOCS "Minimum number of sources in target required to enable use of precompiled header."
-		FULL_DOCS
-			"The variable can be set to an integer > 0."
-			"If a target contains less than that number of source files, cotire will not enable the use of the precompiled header for the target."
-			"If not defined, defaults to 2."
-	)
-
-	define_property(
-		CACHED_VARIABLE PROPERTY "COTIRE_MAXIMUM_NUMBER_OF_UNITY_INCLUDES"
-		BRIEF_DOCS "Maximum number of source files to include in a single unity source file."
-		FULL_DOCS
-			"This may be set to an integer >= 0."
-			"If 0, cotire will only create a single unity source file."
-			"If a target contains more than that number of source files, cotire will create multiple unity source files for it."
-			"Can be set to \"-j\" to optimize the count of unity source files for the number of available processor cores."
-			"Can be set to \"-j jobs\" to optimize the number of unity source files for the given number of simultaneous jobs."
-			"Is used to initialize the target property COTIRE_UNITY_SOURCE_MAXIMUM_NUMBER_OF_INCLUDES."
-			"Defaults to \"-j\" for the generators Visual Studio, JOM or Ninja. Defaults to 0 otherwise."
-	)
-
-	# define cotire directory properties
-
-	define_property(
-		DIRECTORY PROPERTY "COTIRE_ENABLE_PRECOMPILED_HEADER"
-		BRIEF_DOCS "Modify build command of cotired targets added in this directory to make use of the generated precompiled header."
-		FULL_DOCS
-			"See target property COTIRE_ENABLE_PRECOMPILED_HEADER."
-	)
-
-	define_property(
-		DIRECTORY PROPERTY "COTIRE_ADD_UNITY_BUILD"
-		BRIEF_DOCS "Add a new target that performs a unity build for cotired targets added in this directory."
-		FULL_DOCS
-			"See target property COTIRE_ADD_UNITY_BUILD."
-	)
-
-	define_property(
-		DIRECTORY PROPERTY "COTIRE_ADD_CLEAN"
-		BRIEF_DOCS "Add a new target that cleans all cotire generated files for cotired targets added in this directory."
-		FULL_DOCS
-			"See target property COTIRE_ADD_CLEAN."
-	)
-
-	define_property(
-		DIRECTORY PROPERTY "COTIRE_PREFIX_HEADER_IGNORE_PATH"
-		BRIEF_DOCS "Ignore headers from these directories when generating the prefix header."
-		FULL_DOCS
-			"See target property COTIRE_PREFIX_HEADER_IGNORE_PATH."
-	)
-
-	define_property(
-		DIRECTORY PROPERTY "COTIRE_PREFIX_HEADER_INCLUDE_PATH"
-		BRIEF_DOCS "Honor headers from these directories when generating the prefix header."
-		FULL_DOCS
-			"See target property COTIRE_PREFIX_HEADER_INCLUDE_PATH."
-	)
-
-	define_property(
-		DIRECTORY PROPERTY "COTIRE_PREFIX_HEADER_INCLUDE_PRIORITY_PATH"
-		BRIEF_DOCS "Header paths matching one of these directories are put at the top of the prefix header."
-		FULL_DOCS
-			"See target property COTIRE_PREFIX_HEADER_INCLUDE_PRIORITY_PATH."
-	)
-
-	define_property(
-		DIRECTORY PROPERTY "COTIRE_UNITY_SOURCE_PRE_UNDEFS"
-		BRIEF_DOCS "Preprocessor undefs to place in the generated unity source file before the inclusion of each source file."
-		FULL_DOCS
-			"See target property COTIRE_UNITY_SOURCE_PRE_UNDEFS."
-	)
-
-	define_property(
-		DIRECTORY PROPERTY "COTIRE_UNITY_SOURCE_POST_UNDEFS"
-		BRIEF_DOCS "Preprocessor undefs to place in the generated unity source file after the inclusion of each source file."
-		FULL_DOCS
-			"See target property COTIRE_UNITY_SOURCE_POST_UNDEFS."
-	)
-
-	define_property(
-		DIRECTORY PROPERTY "COTIRE_UNITY_SOURCE_MAXIMUM_NUMBER_OF_INCLUDES"
-		BRIEF_DOCS "Maximum number of source files to include in a single unity source file."
-		FULL_DOCS
-			"See target property COTIRE_UNITY_SOURCE_MAXIMUM_NUMBER_OF_INCLUDES."
-	)
-
-	define_property(
-		DIRECTORY PROPERTY "COTIRE_UNITY_LINK_LIBRARIES_INIT"
-		BRIEF_DOCS "Define strategy for setting up the unity target's link libraries."
-		FULL_DOCS
-			"See target property COTIRE_UNITY_LINK_LIBRARIES_INIT."
-	)
-
-	# define cotire target properties
-
-	define_property(
-		TARGET PROPERTY "COTIRE_ENABLE_PRECOMPILED_HEADER" INHERITED
-		BRIEF_DOCS "Modify this target's build command to make use of the generated precompiled header."
-		FULL_DOCS
-			"If this property is set to TRUE, cotire will modify the build command to make use of the generated precompiled header."
-			"Irrespective of the value of this property, cotire will setup custom commands to generate the unity source and prefix header for the target."
-			"For makefile based generators cotire will also set up a custom target to manually invoke the generation of the precompiled header."
-			"The target name will be set to this target's name with the suffix _pch appended."
-			"Inherited from directory."
-			"Defaults to TRUE."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_ADD_UNITY_BUILD" INHERITED
-		BRIEF_DOCS "Add a new target that performs a unity build for this target."
-		FULL_DOCS
-			"If this property is set to TRUE, cotire creates a new target of the same type that uses the generated unity source file instead of the target sources."
-			"Most of the relevant target properties will be copied from this target to the new unity build target."
-			"Target dependencies and linked libraries have to be manually set up for the new unity build target."
-			"The unity target name will be set to this target's name with the suffix _unity appended."
-			"Inherited from directory."
-			"Defaults to TRUE."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_ADD_CLEAN" INHERITED
-		BRIEF_DOCS "Add a new target that cleans all cotire generated files for this target."
-		FULL_DOCS
-			"If this property is set to TRUE, cotire creates a new target that clean all files (unity source, prefix header, precompiled header)."
-			"The clean target name will be set to this target's name with the suffix _clean_cotire appended."
-			"Inherited from directory."
-			"Defaults to FALSE."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_PREFIX_HEADER_IGNORE_PATH" INHERITED
-		BRIEF_DOCS "Ignore headers from these directories when generating the prefix header."
-		FULL_DOCS
-			"The property can be set to a list of directories."
-			"If a header file is found in one of these directories or sub-directories, it will be excluded from the generated prefix header."
-			"Inherited from directory."
-			"If not set, this property is initialized to \${CMAKE_SOURCE_DIR};\${CMAKE_BINARY_DIR}."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_PREFIX_HEADER_INCLUDE_PATH" INHERITED
-		BRIEF_DOCS "Honor headers from these directories when generating the prefix header."
-		FULL_DOCS
-			"The property can be set to a list of directories."
-			"If a header file is found in one of these directories or sub-directories, it will be included in the generated prefix header."
-			"If a header file is both selected by COTIRE_PREFIX_HEADER_IGNORE_PATH and COTIRE_PREFIX_HEADER_INCLUDE_PATH,"
-			"the option which yields the closer relative path match wins."
-			"Inherited from directory."
-			"If not set, this property is initialized to the empty list."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_PREFIX_HEADER_INCLUDE_PRIORITY_PATH" INHERITED
-		BRIEF_DOCS "Header paths matching one of these directories are put at the top of prefix header."
-		FULL_DOCS
-			"The property can be set to a list of directories."
-			"Header file paths matching one of these directories will be inserted at the beginning of the generated prefix header."
-			"Header files are sorted according to the order of the directories in the property."
-			"If not set, this property is initialized to the empty list."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_UNITY_SOURCE_PRE_UNDEFS" INHERITED
-		BRIEF_DOCS "Preprocessor undefs to place in the generated unity source file before the inclusion of each target source file."
-		FULL_DOCS
-			"This may be set to a semicolon-separated list of preprocessor symbols."
-			"cotire will add corresponding #undef directives to the generated unit source file before each target source file."
-			"Inherited from directory."
-			"Defaults to empty string."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_UNITY_SOURCE_POST_UNDEFS" INHERITED
-		BRIEF_DOCS "Preprocessor undefs to place in the generated unity source file after the inclusion of each target source file."
-		FULL_DOCS
-			"This may be set to a semicolon-separated list of preprocessor symbols."
-			"cotire will add corresponding #undef directives to the generated unit source file after each target source file."
-			"Inherited from directory."
-			"Defaults to empty string."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_UNITY_SOURCE_MAXIMUM_NUMBER_OF_INCLUDES" INHERITED
-		BRIEF_DOCS "Maximum number of source files to include in a single unity source file."
-		FULL_DOCS
-			"This may be set to an integer > 0."
-			"If a target contains more than that number of source files, cotire will create multiple unity build files for it."
-			"If not set, cotire will only create a single unity source file."
-			"Inherited from directory."
-			"Defaults to empty."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_<LANG>_UNITY_SOURCE_INIT"
-		BRIEF_DOCS "User provided unity source file to be used instead of the automatically generated one."
-		FULL_DOCS
-			"If set, cotire will only add the given file(s) to the generated unity source file."
-			"If not set, cotire will add all the target source files to the generated unity source file."
-			"The property can be set to a user provided unity source file."
-			"Defaults to empty."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_<LANG>_PREFIX_HEADER_INIT"
-		BRIEF_DOCS "User provided prefix header file to be used instead of the automatically generated one."
-		FULL_DOCS
-			"If set, cotire will add the given header file(s) to the generated prefix header file."
-			"If not set, cotire will generate a prefix header by tracking the header files included by the unity source file."
-			"The property can be set to a user provided prefix header file (e.g., stdafx.h)."
-			"Defaults to empty."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_UNITY_LINK_LIBRARIES_INIT" INHERITED
-		BRIEF_DOCS "Define strategy for setting up unity target's link libraries."
-		FULL_DOCS
-			"If this property is empty or set to NONE, the generated unity target's link libraries have to be set up manually."
-			"If this property is set to COPY, the unity target's link libraries will be copied from this target."
-			"If this property is set to COPY_UNITY, the unity target's link libraries will be copied from this target with considering existing unity targets."
-			"Inherited from directory."
-			"Defaults to empty."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_<LANG>_UNITY_SOURCE"
-		BRIEF_DOCS "Read-only property. The generated <LANG> unity source file(s)."
-		FULL_DOCS
-			"cotire sets this property to the path of the generated <LANG> single computation unit source file for the target."
-			"Defaults to empty string."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_<LANG>_PREFIX_HEADER"
-		BRIEF_DOCS "Read-only property. The generated <LANG> prefix header file."
-		FULL_DOCS
-			"cotire sets this property to the full path of the generated <LANG> language prefix header for the target."
-			"Defaults to empty string."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_<LANG>_PRECOMPILED_HEADER"
-		BRIEF_DOCS "Read-only property. The generated <LANG> precompiled header file."
-		FULL_DOCS
-			"cotire sets this property to the full path of the generated <LANG> language precompiled header binary for the target."
-			"Defaults to empty string."
-	)
-
-	define_property(
-		TARGET PROPERTY "COTIRE_UNITY_TARGET_NAME"
-		BRIEF_DOCS "The name of the generated unity build target corresponding to this target."
-		FULL_DOCS
-			"This property can be set to the desired name of the unity target that will be created by cotire."
-			"If not set, the unity target name will be set to this target's name with the suffix _unity appended."
-			"After this target has been processed by cotire, the property is set to the actual name of the generated unity target."
-			"Defaults to empty string."
-	)
-
-	# define cotire source properties
-
-	define_property(
-		SOURCE PROPERTY "COTIRE_EXCLUDED"
-		BRIEF_DOCS "Do not modify source file's build command."
-		FULL_DOCS
-			"If this property is set to TRUE, the source file's build command will not be modified to make use of the precompiled header."
-			"The source file will also be excluded from the generated unity source file."
-			"Source files that have their COMPILE_FLAGS property set will be excluded by default."
-			"Defaults to FALSE."
-	)
-
-	define_property(
-		SOURCE PROPERTY "COTIRE_DEPENDENCY"
-		BRIEF_DOCS "Add this source file to dependencies of the automatically generated prefix header file."
-		FULL_DOCS
-			"If this property is set to TRUE, the source file is added to dependencies of the generated prefix header file."
-			"If the file is modified, cotire will re-generate the prefix header source upon build."
-			"Defaults to FALSE."
-	)
-
-	define_property(
-		SOURCE PROPERTY "COTIRE_UNITY_SOURCE_PRE_UNDEFS"
-		BRIEF_DOCS "Preprocessor undefs to place in the generated unity source file before the inclusion of this source file."
-		FULL_DOCS
-			"This may be set to a semicolon-separated list of preprocessor symbols."
-			"cotire will add corresponding #undef directives to the generated unit source file before this file is included."
-			"Defaults to empty string."
-	)
-
-	define_property(
-		SOURCE PROPERTY "COTIRE_UNITY_SOURCE_POST_UNDEFS"
-		BRIEF_DOCS "Preprocessor undefs to place in the generated unity source file after the inclusion of this source file."
-		FULL_DOCS
-			"This may be set to a semicolon-separated list of preprocessor symbols."
-			"cotire will add corresponding #undef directives to the generated unit source file after this file is included."
-			"Defaults to empty string."
-	)
-
-	define_property(
-		SOURCE PROPERTY "COTIRE_START_NEW_UNITY_SOURCE"
-		BRIEF_DOCS "Start a new unity source file which includes this source file as the first one."
-		FULL_DOCS
-			"If this property is set to TRUE, cotire will complete the current unity file and start a new one."
-			"The new unity source file will include this source file as the first one."
-			"This property essentially works as a separator for unity source files."
-			"Defaults to FALSE."
-	)
-
-	define_property(
-		SOURCE PROPERTY "COTIRE_TARGET"
-		BRIEF_DOCS "Read-only property. Mark this source file as cotired for the given target."
-		FULL_DOCS
-			"cotire sets this property to the name of target, that the source file's build command has been altered for."
-			"Defaults to empty string."
-	)
-
-	message (STATUS "cotire ${COTIRE_CMAKE_MODULE_VERSION} loaded.")
-
-endif()
diff --git a/build/Modules/FindCERES.cmake b/build/Modules/FindCERES.cmake
deleted file mode 100644
index 6905393be..000000000
--- a/build/Modules/FindCERES.cmake
+++ /dev/null
@@ -1,103 +0,0 @@
-# - try to find CERES headers
-#
-# Users may optionally supply:
-#  CERES_DIR - a prefix to start searching for the toon headers.
-#
-# Cache Variables: (probably not for direct use in your scripts)
-#  CERES_INCLUDE_DIR
-#
-# Non-cache variables you might use in your CMakeLists.txt:
-#  CERES_FOUND
-#  CERES_INCLUDE_DIRS
-#  CERES_LIBS
-#  CERES_DEFINITIONS
-#
-# Requires these CMake modules:
-#  FindPackageHandleStandardArgs (known included with CMake >=2.6.2)
-
-#try to use the Config script
-if(NOT EXISTS "${CERES_DIR}")
-	find_path(CERES_DIR "CeresConfig.cmake"
-		HINTS "${CERES_ROOT}" "$ENV{CERES_ROOT}" "$ENV{CERES_DIR}" "$ENV{CERES_ROOT}/CMake"
-		PATHS "$ENV{PROGRAMFILES}" "$ENV{PROGRAMW6432}" "/usr" "/usr/local" "/usr/share" "/usr/local/share" "/usr/lib/cmake" "/usr/local/lib/cmake" "/usr/include" "/usr/lib/x86_64-linux-gnu/cmake"
-		PATH_SUFFIXES "Ceres"
-		DOC "Root directory of CERES")
-endif()
-
-set(CERES_VERSION "")
-if(EXISTS "${CERES_DIR}")
-
- 	## Include the standard CMake script
-	include("${CERES_DIR}/CeresConfig.cmake")
-	set(CERES_LIBS ${CERES_LIBS} ${CERES_LIBRARIES})
-
-else()
-
-	# Find required packages
-	FIND_PACKAGE(Eigen ${SYSTEM_PACKAGE_QUIET})
-	FIND_PACKAGE(SUITESPARSE ${SYSTEM_PACKAGE_QUIET})
-	if(SUITESPARSE_FOUND)
-		set(CERES_LIBS ${CERES_LIBS} ${SUITESPARSE_LIBS})
-	endif()
-	FIND_PACKAGE(GLOG ${SYSTEM_PACKAGE_QUIET})
-	if(GLOG_FOUND)
-		set(CERES_INCLUDE_DIRS ${CERES_INCLUDE_DIRS} ${GLOG_INCLUDE_DIRS})
-		set(CERES_LIBS ${CERES_LIBS} ${GLOG_LIBS})
-	endif()
-
-	if(NOT CERES_DIR OR "${CERES_DIR}" STREQUAL "")
-		set(CERES_DIR "$ENV{CERES_ROOT}")
-	endif()
-	set(CERES_DIR "${CERES_DIR}" CACHE PATH "Root directory of CERES library")
-
- 	#try to guess path
-	find_path(CERES_INCLUDE_DIR
-		NAMES "ceres/ceres.h"
-		HINTS "${CERES_DIR}" "$ENV{CERES_ROOT}" "/usr" "/usr/local"
-		PATH_SUFFIXES "include")
-
-	set(CERES_FOUND FALSE)
-	if(EXISTS "${CERES_INCLUDE_DIR}" AND NOT "${CERES_INCLUDE_DIR}" STREQUAL "")
-		set(CERES_FOUND TRUE)
-		
-		find_library(CERES_LIBRARY_DEBUG "libceres" "ceres" "ceres_shared" PATHS "${CERES_DIR}/lib${PACKAGE_LIB_SUFFIX_DBG}" "$ENV{OpenCV_ROOT}/lib${PACKAGE_LIB_SUFFIX_DBG}" NO_DEFAULT_PATH)
-		find_library(CERES_LIBRARY_RELEASE "libceres" "ceres" "ceres_shared" PATHS "${CERES_DIR}/lib${PACKAGE_LIB_SUFFIX_REL}" "$ENV{OpenCV_ROOT}/lib${PACKAGE_LIB_SUFFIX_REL}" NO_DEFAULT_PATH)
-		find_library(CERES_LIBRARY_ALL NAMES "ceres" PATH_SUFFIXES "ceres")
-		
-		#Remove the cache value
-		set(CERES_LIBRARY "" CACHE STRING "" FORCE)
-		
-		#both debug/release
-		if(CERES_LIBRARY_DEBUG AND CERES_LIBRARY_RELEASE)
-			set(CERES_LIBRARY debug ${CERES_LIBRARY_DEBUG} optimized ${CERES_LIBRARY_RELEASE} CACHE STRING "" FORCE)
-		#only debug
-		elseif(CERES_LIBRARY_DEBUG)
-			set(CERES_LIBRARY ${CERES_LIBRARY_DEBUG} CACHE STRING "" FORCE)
-		#only release
-		elseif(CERES_LIBRARY_RELEASE)
-			set(CERES_LIBRARY ${CERES_LIBRARY_RELEASE} CACHE STRING "" FORCE)
-		#both debug/release
-		elseif(CERES_LIBRARY_ALL)
-			set(CERES_LIBRARY ${CERES_LIBRARY_ALL} CACHE STRING "" FORCE)
-		#no library found
-		else()
-			message("CERES library NOT found")
-			set(CERES_FOUND FALSE)
-		endif()
-		
-		#Add to the general list
-		if(CERES_LIBRARY)
-			set(CERES_LIBS ${CERES_LIBS} ${CERES_LIBRARY})
-		endif()
-	endif()
-
-endif()
-
-if(CERES_FOUND)
-	set(CERES_INCLUDE_DIRS ${CERES_INCLUDE_DIRS} "${CERES_INCLUDE_DIR}")
-	set(CERES_DIR "${CERES_DIR}" CACHE PATH "" FORCE)
-	mark_as_advanced(CERES_DIR)
-	message(STATUS "CERES ${CERES_VERSION} found (include: ${CERES_INCLUDE_DIRS})")
-else()
-	package_report_not_found(CERES "Please specify CERES directory using CERES_ROOT env. variable")
-endif()
diff --git a/build/Modules/FindCGAL.cmake b/build/Modules/FindCGAL.cmake
deleted file mode 100644
index fcdc7b4fd..000000000
--- a/build/Modules/FindCGAL.cmake
+++ /dev/null
@@ -1,89 +0,0 @@
-###########################################################
-#                  Find CGAL Library
-#----------------------------------------------------------
-#  CGAL_FOUND            - True if headers and requested libraries were found
-#  CGAL_INCLUDE_DIRS     - CGAL include directories
-#  CGAL_LIBRARY_DIRS     - Link directories for CGAL libraries
-#  CGAL_LIBS             - CGAL libraries
-#  CGAL_VERSION          - MAJOR.MINOR
-#----------------------------------------------------------
-
-set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
-
-if(NOT CGAL_DIR)
-  # Get the system search path as a list.
-  if(UNIX)
-    string(REGEX MATCHALL "[^:]+" CGAL_DIR_SEARCH1 "$ENV{PATH}")
-  else()
-    string(REGEX REPLACE "\\\\" "/" CGAL_DIR_SEARCH1 "$ENV{PATH}")
-  endif()
-  string(REGEX REPLACE "/;" ";" CGAL_DIR_SEARCH2 "${CGAL_DIR_SEARCH1}")
-  # Construct a set of paths relative to the system search path.
-  set(CGAL_DIR_SEARCH "")
-  foreach(dir ${CGAL_DIR_SEARCH2})
-    set(CGAL_DIR_SEARCH ${CGAL_DIR_SEARCH} ${dir}/../lib/CGAL)
-  endforeach()
-  set(CGAL_DIR_SEARCH ${CGAL_DIR_SEARCH} "lib" "lib64")
-
-  #
-  # Look for an installation or build tree.
-  #
-  find_path(CGAL_DIR "CGALConfig.cmake"
-    # Look for an environment variable CGAL_DIR.
-    HINTS "${CGAL_ROOT}" "$ENV{CGAL_ROOT}" "$ENV{CGAL_DIR}" "$ENV{PROGRAMFILES}" "$ENV{PROGRAMW6432}"
-
-    # Look in places relative to the system executable search path.
-    ${CGAL_DIR_SEARCH}
-
-    # Look in standard UNIX install locations.
-    PATHS "/usr" "/usr/local" "/usr/share" "/usr/local/share" "/usr/lib/cmake" "/usr/local/lib/cmake" "/usr/include" "/usr/lib/x86_64-linux-gnu/cmake"
-
-    # Read from the CMakeSetup registry entries.  It is likely that
-    # CGAL will have been recently built.
-    [HKEY_CURRENT_USER\\Software\\Kitware\\CMakeSetup\\Settings\\StartPath;WhereBuild1]
-    [HKEY_CURRENT_USER\\Software\\Kitware\\CMakeSetup\\Settings\\StartPath;WhereBuild2]
-    [HKEY_CURRENT_USER\\Software\\Kitware\\CMakeSetup\\Settings\\StartPath;WhereBuild3]
-    [HKEY_CURRENT_USER\\Software\\Kitware\\CMakeSetup\\Settings\\StartPath;WhereBuild4]
-    [HKEY_CURRENT_USER\\Software\\Kitware\\CMakeSetup\\Settings\\StartPath;WhereBuild5]
-    [HKEY_CURRENT_USER\\Software\\Kitware\\CMakeSetup\\Settings\\StartPath;WhereBuild6]
-    [HKEY_CURRENT_USER\\Software\\Kitware\\CMakeSetup\\Settings\\StartPath;WhereBuild7]
-    [HKEY_CURRENT_USER\\Software\\Kitware\\CMakeSetup\\Settings\\StartPath;WhereBuild8]
-    [HKEY_CURRENT_USER\\Software\\Kitware\\CMakeSetup\\Settings\\StartPath;WhereBuild9]
-    [HKEY_CURRENT_USER\\Software\\Kitware\\CMakeSetup\\Settings\\StartPath;WhereBuild10]
-	
-	PATH_SUFFIXES "CGAL" "share" "share/cgal" "share/cmake" "share/cmake/cgal"
-	
-	DOC "Root directory of CGAL library"
-  )
-endif()
-
-##====================================================
-## Include CGAL library
-##----------------------------------------------------
-set(CGAL_VERSION "")
-if(EXISTS "${CGAL_DIR}" AND NOT "${CGAL_DIR}" STREQUAL "")
-	if(EXISTS "${CGAL_DIR}/CGALConfig.cmake")
-		include("${CGAL_DIR}/CGALConfig.cmake")
-		set(CGAL_TARGET_LIBS "")
-		if(TARGET CGAL::CGAL)
-			get_target_property(CGAL_TARGET_LIBS CGAL::CGAL INTERFACE_LINK_LIBRARIES)
-		elseif(TARGET CGAL)
-			get_target_property(CGAL_TARGET_LIBS CGAL INTERFACE_LINK_LIBRARIES)
-		endif()
-		if(NOT CGAL_TARGET_LIBS)
-			set(CGAL_TARGET_LIBS "")
-		endif()
-		set(CGAL_LIBS ${CGAL_LIBS} ${CGAL_LIBRARIES} ${CGAL_LIBRARY} ${CGAL_TARGET_LIBS} ${CGAL_Core_LIBRARY} ${CGAL_ImageIO_LIBRARY} ${CGAL_3RD_PARTY_LIBRARIES} ${CGAL_Core_3RD_PARTY_LIBRARIES} ${CGAL_ImageIO_3RD_PARTY_LIBRARIES} ${MPFR_LIBRARIES} ${GMP_LIBRARIES} ${ZLIB_LIBRARIES})
-		set(CGAL_VERSION "${CGAL_MAJOR_VERSION}.${CGAL_MINOR_VERSION}")
-	else()
-		set(CGAL_INCLUDE_DIRS "${CGAL_DIR}/include" "${CGAL_DIR}/auxiliary/gmp/include")
-		set(CGAL_LIBRARY_DIRS "${CGAL_DIR}/lib${PACKAGE_LIB_SUFFIX}")
-	endif()
-	set(CGAL_FOUND TRUE)
-	set(CGAL_DIR "${CGAL_DIR}" CACHE PATH "" FORCE)
-	mark_as_advanced(CGAL_DIR)
-	message(STATUS "CGAL ${CGAL_VERSION} found (include: ${CGAL_INCLUDE_DIRS})")
-else()
-	package_report_not_found(CGAL "Please specify CGAL directory using CGAL_ROOT env. variable")
-endif()
-##====================================================
diff --git a/build/Modules/FindEigen.cmake b/build/Modules/FindEigen.cmake
deleted file mode 100644
index 0f1d74c02..000000000
--- a/build/Modules/FindEigen.cmake
+++ /dev/null
@@ -1,55 +0,0 @@
-###########################################################
-#                  Find EIGEN Library
-#----------------------------------------------------------
-
-find_path(EIGEN_DIR "Eigen/Core"
-    HINTS "${EIGEN_ROOT}" "$ENV{EIGEN_ROOT}"
-    PATHS "$ENV{PROGRAMFILES}" "$ENV{PROGRAMW6432}" "/usr" "/usr/local" "/usr/share" "/usr/local/share" "/usr/lib/x86_64-linux-gnu/cmake"
-    PATH_SUFFIXES "eigen" "eigen3" "include"
-    DOC "Root directory of EIGEN library")
-
-##====================================================
-## Include EIGEN library
-##----------------------------------------------------
-if(EXISTS "${EIGEN_DIR}" AND NOT "${EIGEN_DIR}" STREQUAL "")
-	set(EIGEN_FOUND TRUE)
-	set(EIGEN_INCLUDE_DIRS ${EIGEN_DIR})
-	set(EIGEN_DIR "${EIGEN_DIR}" CACHE PATH "" FORCE)
-	mark_as_advanced(EIGEN_DIR)
-
-	# Extract Eigen version from Eigen/src/Core/util/Macros.h
-	SET(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIRS}/Eigen/src/Core/util/Macros.h)
-	IF (NOT EXISTS ${EIGEN_VERSION_FILE})
-		EIGEN_REPORT_NOT_FOUND(
-		  "Could not find file: ${EIGEN_VERSION_FILE} "
-		  "containing version information in Eigen install located at: "
-		  "${EIGEN_INCLUDE_DIRS}.")
-	ELSE (NOT EXISTS ${EIGEN_VERSION_FILE})
-		FILE(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS)
-
-		STRING(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+"
-		  EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
-		STRING(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1"
-		  EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}")
-
-		STRING(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+"
-		  EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
-		STRING(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1"
-		  EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}")
-
-		STRING(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+"
-		  EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
-		STRING(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1"
-		  EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}")
-
-		# This is on a single line s/t CMake does not interpret it as a list of
-		# elements and insert ';' separators which would result in 3.;2.;0 nonsense.
-		SET(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}")
-	ENDIF (NOT EXISTS ${EIGEN_VERSION_FILE})
-	set(EIGEN_INCLUDE_DIR ${EIGEN_DIR})
-
-	message(STATUS "Eigen ${EIGEN_VERSION} found (include: ${EIGEN_INCLUDE_DIRS})")
-else()
-	package_report_not_found(EIGEN "Please specify EIGEN directory using EIGEN_ROOT env. variable")
-endif()
-##====================================================
diff --git a/build/Modules/FindEigen3.cmake b/build/Modules/FindEigen3.cmake
new file mode 100644
index 000000000..0b36805e7
--- /dev/null
+++ b/build/Modules/FindEigen3.cmake
@@ -0,0 +1,107 @@
+# - Try to find Eigen3 lib
+#
+# This module supports requiring a minimum version, e.g. you can do
+#   find_package(Eigen3 3.1.2)
+# to require version 3.1.2 or newer of Eigen3.
+#
+# Once done this will define
+#
+#  EIGEN3_FOUND - system has eigen lib with correct version
+#  EIGEN3_INCLUDE_DIR - the eigen include directory
+#  EIGEN3_VERSION - eigen version
+#
+# and the following imported target:
+#
+#  Eigen3::Eigen - The header-only Eigen library
+#
+# This module reads hints about search locations from 
+# the following environment variables:
+#
+# EIGEN3_ROOT
+# EIGEN3_ROOT_DIR
+
+# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
+# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
+# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
+
+if(NOT Eigen3_FIND_VERSION)
+  if(NOT Eigen3_FIND_VERSION_MAJOR)
+    set(Eigen3_FIND_VERSION_MAJOR 2)
+  endif()
+  if(NOT Eigen3_FIND_VERSION_MINOR)
+    set(Eigen3_FIND_VERSION_MINOR 91)
+  endif()
+  if(NOT Eigen3_FIND_VERSION_PATCH)
+    set(Eigen3_FIND_VERSION_PATCH 0)
+  endif()
+
+  set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
+endif()
+
+macro(_eigen3_check_version)
+  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
+
+  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
+  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
+  set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
+  set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
+
+  set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
+  if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+    set(EIGEN3_VERSION_OK FALSE)
+  else()
+    set(EIGEN3_VERSION_OK TRUE)
+  endif()
+
+  if(NOT EIGEN3_VERSION_OK)
+
+    message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
+                   "but at least version ${Eigen3_FIND_VERSION} is required")
+  endif()
+endmacro()
+
+if (EIGEN3_INCLUDE_DIR)
+
+  # in cache already
+  _eigen3_check_version()
+  set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
+  set(Eigen3_FOUND ${EIGEN3_VERSION_OK})
+
+else ()
+  
+  # search first if an Eigen3Config.cmake is available in the system,
+  # if successful this would set EIGEN3_INCLUDE_DIR and the rest of
+  # the script will work as usual
+  find_package(Eigen3 ${Eigen3_FIND_VERSION} NO_MODULE QUIET)
+
+  if(NOT EIGEN3_INCLUDE_DIR)
+    find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
+        HINTS
+        ENV EIGEN3_ROOT 
+        ENV EIGEN3_ROOT_DIR
+        PATHS
+        ${CMAKE_INSTALL_PREFIX}/include
+        ${KDE4_INCLUDE_DIR}
+        PATH_SUFFIXES eigen3 eigen
+      )
+  endif()
+
+  if(EIGEN3_INCLUDE_DIR)
+    _eigen3_check_version()
+  endif()
+
+  include(FindPackageHandleStandardArgs)
+  find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
+
+  mark_as_advanced(EIGEN3_INCLUDE_DIR)
+
+endif()
+
+if(EIGEN3_FOUND AND NOT TARGET Eigen3::Eigen)
+  add_library(Eigen3::Eigen INTERFACE IMPORTED)
+  set_target_properties(Eigen3::Eigen PROPERTIES
+    INTERFACE_INCLUDE_DIRECTORIES "${EIGEN3_INCLUDE_DIR}")
+endif()
diff --git a/build/OpenMVSConfig.cmake.in b/build/OpenMVSConfig.cmake.in
deleted file mode 100644
index 96b8fe2ce..000000000
--- a/build/OpenMVSConfig.cmake.in
+++ /dev/null
@@ -1,18 +0,0 @@
-# - Configure file for the OpenMVS package
-# It defines the following variables
-#  OpenMVS_INCLUDE_DIRS - include directories for OpenMVS
-#  OpenMVS_LIBRARIES    - libraries to link against
-#  OpenMVS_BINARIES     - the binaries
- 
-# Compute paths
-get_filename_component(OpenMVS_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-set(OpenMVS_INCLUDE_DIRS "@CONF_INCLUDE_DIRS@")
- 
-# Our library dependencies (contains definitions for IMPORTED targets)
-if(NOT TARGET MVS AND NOT OpenMVS_BINARY_DIR)
-	include("${OpenMVS_CMAKE_DIR}/OpenMVSTargets.cmake")
-endif()
- 
-# These are IMPORTED targets created by OpenMVSTargets.cmake
-set(OpenMVS_LIBRARIES MVS)
-set(OpenMVS_BINARIES InterfaceVisualSFM DensifyPointCloud ReconstructMesh RefineMesh TextureMesh)
diff --git a/build/OpenMVSConfigVersion.cmake.in b/build/OpenMVSConfigVersion.cmake.in
deleted file mode 100644
index 3c9e7eb61..000000000
--- a/build/OpenMVSConfigVersion.cmake.in
+++ /dev/null
@@ -1,11 +0,0 @@
-set(PACKAGE_VERSION "@OpenMVS_VERSION@")
-
-# Check whether the requested PACKAGE_FIND_VERSION is compatible
-if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
-	set(PACKAGE_VERSION_COMPATIBLE FALSE)
-else()
-	set(PACKAGE_VERSION_COMPATIBLE TRUE)
-	if ("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}")
-		set(PACKAGE_VERSION_EXACT TRUE)
-	endif()
-endif()
diff --git a/build/Templates/OpenMVSConfig.cmake.in b/build/Templates/OpenMVSConfig.cmake.in
new file mode 100644
index 000000000..9747b3e16
--- /dev/null
+++ b/build/Templates/OpenMVSConfig.cmake.in
@@ -0,0 +1,23 @@
+# Configure file for the OpenMVS package, defining the following variables:
+#  OpenMVS_INCLUDE_DIRS - include directories
+#  OpenMVS_DEFINITIONS  - definitions to be used
+#  OpenMVS_LIBRARIES    - libraries to link against
+#  OpenMVS_BINARIES     - binaries
+
+@PACKAGE_INIT@
+
+set(OpenMVS_VERSION "@OpenMVS_VERSION@")
+
+# Compute paths
+set(OpenMVS_PREFIX "@CMAKE_INSTALL_PREFIX@")
+set(OpenMVS_CMAKE_DIR "@INSTALL_CMAKE_DIR_IN@")
+set(OpenMVS_INCLUDE_DIRS "@INSTALL_INCLUDE_DIR_IN@")
+
+set(OpenMVS_DEFINITIONS "@OpenMVS_DEFINITIONS@")
+
+# These are IMPORTED targets created by OpenMVSTargets.cmake
+set(OpenMVS_LIBRARIES MVS)
+set(OpenMVS_BINARIES InterfaceCOLMAP DensifyPointCloud ReconstructMesh RefineMesh TextureMesh)
+
+include("${CMAKE_CURRENT_LIST_DIR}/OpenMVSTargets.cmake")
+check_required_components("OpenMVS")
diff --git a/build/cmake_uninstall.cmake.in b/build/Templates/cmake_uninstall.cmake.in
similarity index 100%
rename from build/cmake_uninstall.cmake.in
rename to build/Templates/cmake_uninstall.cmake.in
diff --git a/build/Utils.cmake b/build/Utils.cmake
index f41c9d89f..106d43167 100644
--- a/build/Utils.cmake
+++ b/build/Utils.cmake
@@ -174,9 +174,9 @@ macro(ComposePackageLibSuffix)
 	set(PACKAGE_LIB_SUFFIX_DBG "")
 	set(PACKAGE_LIB_SUFFIX_REL "")
 	if(MSVC)
-		if("${MSVC_VERSION}" STREQUAL "1921")
+		if("${MSVC_VERSION}" STRGREATER "1916")
 			set(PACKAGE_LIB_SUFFIX "/vc16")
-		elseif("${MSVC_VERSION}" STREQUAL "1916")
+		elseif("${MSVC_VERSION}" STRGREATER "1900")
 			set(PACKAGE_LIB_SUFFIX "/vc15")
 		elseif("${MSVC_VERSION}" STREQUAL "1900")
 			set(PACKAGE_LIB_SUFFIX "/vc14")
@@ -273,18 +273,6 @@ macro(add_option variable description value)
 endmacro()
 
 
-# Set as Pre-Compiled Header automaticaly or to the given file name
-macro(set_target_pch TRGT)
-	if(ENABLE_PRECOMPILED_HEADERS AND COMMAND cotire)
-		if(NOT ${ARGN} STREQUAL "")
-			set_target_properties("${TRGT}" PROPERTIES COTIRE_CXX_PREFIX_HEADER_INIT "${ARGN}")
-		endif()
-		set_target_properties("${TRGT}" PROPERTIES COTIRE_ADD_UNITY_BUILD FALSE)
-		cotire("${TRGT}")
-	endif()
-endmacro()
-
-
 # Optimize compiler settings
 
 set(STATIC_COMPILER_FAIL_REGEX
@@ -401,21 +389,6 @@ macro(optimize_default_compiler_settings)
 	add_option(ENABLE_NOISY_WARNINGS      "Show all warnings even if they are too noisy"             OFF )
 	add_option(ENABLE_WARNINGS_AS_ERRORS  "Treat warnings as errors"                                 OFF )
 
-	if(MINGW)
-	  # mingw compiler is known to produce unstable SSE code with -O3 hence we are trying to use -O2 instead
-	  if(CMAKE_COMPILER_IS_GNUCXX)
-		foreach(flags CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_DEBUG)
-		  string(REPLACE "-O3" "-O2" ${flags} "${${flags}}")
-		endforeach()
-	  endif()
-
-	  if(CMAKE_COMPILER_IS_GNUCC)
-		foreach(flags CMAKE_C_FLAGS CMAKE_C_FLAGS_RELEASE CMAKE_C_FLAGS_DEBUG)
-		  string(REPLACE "-O3" "-O2" ${flags} "${${flags}}")
-		endforeach()
-	  endif()
-	endif()
-
 	set(BUILD_EXTRA_FLAGS "")
 	set(BUILD_EXTRA_C_FLAGS "")
 	set(BUILD_EXTRA_CXX_FLAGS "")
@@ -452,15 +425,6 @@ macro(optimize_default_compiler_settings)
 	set(CMAKE_CXX_EXTENSIONS OFF)
 	message("Compiling with C++${CMAKE_CXX_STANDARD}")
 
-	if(MINGW)
-	  # http://gcc.gnu.org/bugzilla/show_bug.cgi?id=40838
-	  # here we are trying to workaround the problem
-	  add_extra_compiler_option(-mstackrealign)
-	  if(NOT HAVE_CXX_MSTACKREALIGN)
-		add_extra_compiler_option(-mpreferred-stack-boundary=2)
-	  endif()
-	endif()
-
 	if(FLG_COMPILER_IS_GNU)
 	  # High level of warnings.
 	  add_extra_compiler_option(-W)
@@ -526,17 +490,13 @@ macro(optimize_default_compiler_settings)
 		add_extra_compiler_option(-Werror)
 	  endif()
 
-	  if(X86 AND NOT MINGW64 AND NOT X86_64 AND NOT APPLE)
-		add_extra_compiler_option(-march=i686)
-	  endif()
-
 	  # Other optimizations
 	  if(ENABLE_OMIT_FRAME_POINTER)
 		add_extra_compiler_option(-fomit-frame-pointer)
 	  else()
 		add_extra_compiler_option(-fno-omit-frame-pointer)
-		endif()
-		if(NOT CLANG)
+	  endif()
+	  if(NOT CLANG)
 	  if(ENABLE_FAST_MATH)
 		add_extra_compiler_option(-ffast-math)
 	  else()
@@ -825,32 +785,35 @@ endmacro()
 # Initialize variables needed for a library type project.
 macro(ConfigLibrary)
 	# Offer the user the choice of overriding the installation directories
-	set(INSTALL_LIB_DIR "lib/${PROJECT_NAME}" CACHE PATH "Installation directory for libraries")
-	set(INSTALL_BIN_DIR "bin/${PROJECT_NAME}" CACHE PATH "Installation directory for executables")
-	set(INSTALL_INCLUDE_DIR "include/${PROJECT_NAME}" CACHE PATH "Installation directory for header files")
+	set(INSTALL_LIB_DIR "lib" CACHE PATH "Installation directory for libraries")
+	set(INSTALL_BIN_DIR "bin" CACHE PATH "Installation directory for executables")
+	set(INSTALL_INCLUDE_DIR "include" CACHE PATH "Installation directory for header files")
 	if(WIN32 AND NOT CYGWIN)
 		set(DEF_INSTALL_CMAKE_DIR "CMake")
 	else()
-		set(DEF_INSTALL_CMAKE_DIR "lib/CMake/${PROJECT_NAME}")
+		set(DEF_INSTALL_CMAKE_DIR "lib/cmake")
 	endif()
 	set(INSTALL_CMAKE_DIR ${DEF_INSTALL_CMAKE_DIR} CACHE PATH "Installation directory for CMake files")
-	 
 	# Make relative paths absolute (needed later on)
 	foreach(p LIB BIN INCLUDE CMAKE)
 		set(var INSTALL_${p}_DIR)
-		if(NOT IS_ABSOLUTE "${${var}}")
-			set(${var} "${CMAKE_INSTALL_PREFIX}/${${var}}")
+		set(varp INSTALL_${p}_DIR_PREFIX)
+		if(IS_ABSOLUTE "${${varp}}")
+			set(${varp} "${${varp}}")
+		else()
+			set(${varp} "${CMAKE_INSTALL_PREFIX}/${${var}}")
 		endif()
+		set(${var} "${${varp}}/${PROJECT_NAME}")
 	endforeach()
 endmacro()
 
 # Defines the main libraries.  User tests should link
 # with one of them.
-function(cxx_library_with_type_no_pch name folder type cxx_flags)
+function(cxx_library_with_type name folder type cxx_flags)
   # type can be either STATIC or SHARED to denote a static or shared library.
   # ARGN refers to additional arguments after 'cxx_flags'.
   add_library("${name}" ${type} ${ARGN})
-  set_target_properties("${name}" PROPERTIES COMPILE_FLAGS "${cxx_flags}")
+  #set_target_properties("${name}" PROPERTIES COMPILE_FLAGS "${cxx_flags}")
   if ((BUILD_SHARED_LIBS AND NOT type STREQUAL "STATIC") OR type STREQUAL "SHARED")
     set_target_properties("${name}" PROPERTIES COMPILE_DEFINITIONS "_USRDLL")
   else()
@@ -860,29 +823,11 @@ function(cxx_library_with_type_no_pch name folder type cxx_flags)
   set_target_properties("${name}" PROPERTIES FOLDER "${folder}")
 endfunction()
 
-function(cxx_library_with_type name folder type cxx_flags)
-  cxx_library_with_type_no_pch("${name}" "${folder}" "${type}" "${cxx_flags}" ${ARGN})
-  # Generate precompiled headers
-  set_target_pch("${name}")
-endfunction()
-
-########################################################################
-#
-# Helper functions for creating build targets.
-
-function(cxx_shared_library name folder cxx_flags)
-  cxx_library_with_type("${name}" "${folder}" SHARED "${cxx_flags}" ${ARGN})
-endfunction()
-
-function(cxx_library name folder cxx_flags)
-  cxx_library_with_type("${name}" "${folder}" "" "${cxx_flags}" ${ARGN})
-endfunction()
-
 # cxx_executable_with_flags(name cxx_flags libs srcs...)
 #
 # creates a named C++ executable that depends on the given libraries and
 # is built from the given source files with the given compiler flags.
-function(cxx_executable_with_flags_no_pch name folder cxx_flags libs)
+function(cxx_executable_with_flags name folder cxx_flags libs)
   add_executable("${name}" ${ARGN})
   if (cxx_flags)
     set_target_properties("${name}" PROPERTIES COMPILE_FLAGS "${cxx_flags}")
@@ -895,36 +840,3 @@ function(cxx_executable_with_flags_no_pch name folder cxx_flags libs)
   # Set project folder
   set_target_properties("${name}" PROPERTIES FOLDER "${folder}")
 endfunction()
-
-function(cxx_executable_with_flags name folder cxx_flags libs)
-  cxx_executable_with_flags_no_pch("${name}" "${folder}" "${cxx_flags}" "${libs}" ${ARGN})
-  # Generate precompiled headers
-  set_target_pch("${name}")
-endfunction()
-
-# cxx_executable(name dir lib srcs...)
-#
-# creates a named target that depends on the given libs and is built
-# from the given source files.  dir/name.cc is implicitly included in
-# the source file list.
-function(cxx_executable name folder dir libs)
-  cxx_executable_with_flags("${name}" "${folder}" "${cxx_default}" "${libs}" "${dir}/${name}.cpp" ${ARGN})
-endfunction()
-
-# cxx_test_with_flags(name cxx_flags libs srcs...)
-#
-# creates a named C++ test that depends on the given libs and is built
-# from the given source files with the given compiler flags.
-function(cxx_test_with_flags name folder cxx_flags libs)
-  cxx_executable_with_flags("${name}" "${folder}" "${cxx_flags}" "${libs}" ${ARGN})
-  add_test("${name}" "${name}")
-endfunction()
-
-# cxx_test(name libs srcs...)
-#
-# creates a named test target that depends on the given libs and is
-# built from the given source files.  Unlike cxx_test_with_flags,
-# test/name.cc is already implicitly included in the source file list.
-function(cxx_test name folder libs)
-  cxx_test_with_flags("${name}" "${folder}" "${cxx_default}" "${libs}" "test/${name}.cc" ${ARGN})
-endfunction()
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 03e40a39d..a528c34f8 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -1,5 +1,8 @@
 FROM ubuntu:18.04
 
+ARG USER_ID
+ARG GROUP_ID
+
 # Initialize the environment 
 RUN apt update
 RUN apt install -y cmake git vim
@@ -9,8 +12,8 @@ RUN apt-get update -yq
 RUN apt-get install -yq
 RUN apt-get -y install git mercurial cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev
 
-# Eigen (Known issues with eigen 3.3.7 as of 12/10/2019, so using this tested branch/commit instead) 
-RUN git clone https://gitlab.com/libeigen/eigen --branch 3.2 ed5cd0a4d16e12daa1bef608628c103e67969d63
+# Eigen 
+RUN git clone https://gitlab.com/libeigen/eigen --branch 3.4
 RUN mkdir eigen_build
 RUN cd eigen_build &&\
 	cmake . ../eigen &&\
@@ -29,18 +32,25 @@ RUN apt-get -y install libcgal-dev libcgal-qt5-dev
 # VCGLib
 RUN git clone https://github.com/cdcseacave/VCG.git vcglib
 
-# Build from stable release openMVS1.0
-RUN git clone https://github.com/cdcseacave/openMVS.git --branch v1.0
+# Build from stable openMVS release
+RUN git clone https://github.com/cdcseacave/openMVS.git --branch master
 
-# Uncomment below (and comment above) to use the latest commit from the master branch
-# RUN git clone https://github.com/cdcseacave/openMVS.git openMVS
+# Uncomment below (and comment above) to use the latest commit from the develop branch
+#RUN git clone https://github.com/cdcseacave/openMVS.git --branch develop
 
 RUN mkdir openMVS_build
 RUN cd openMVS_build &&\
-	cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT=/vcglib
+	cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT=/vcglib -DOpenMVS_USE_CUDA=OFF
 
 # Install OpenMVS library
 RUN cd openMVS_build &&\
 	make -j4 &&\
 	make install
+
+# Set permissions such that the output files can be accessed by the current user (optional)
+RUN addgroup --gid $GROUP_ID user
+RUN adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID user
+USER user
+
+# Add binaries to path
 ENV PATH /usr/local/bin/OpenMVS:$PATH
diff --git a/docker/Dockerfile_CUDA b/docker/Dockerfile_CUDA
new file mode 100644
index 000000000..86f4e8748
--- /dev/null
+++ b/docker/Dockerfile_CUDA
@@ -0,0 +1,58 @@
+FROM nvidia/cuda:11.1-devel-ubuntu18.04
+
+ARG USER_ID
+ARG GROUP_ID
+
+# Initialize the environment 
+RUN apt update
+RUN apt install -y cmake git vim
+
+# Prepare and empty machine for building:
+RUN apt-get update -yq
+RUN apt-get install -yq
+RUN apt-get -y install git mercurial cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev
+
+ENV PATH=/usr/local/cuda-11.1/bin:$PATH
+
+# Eigen 
+RUN git clone https://gitlab.com/libeigen/eigen --branch 3.4
+RUN mkdir eigen_build
+RUN cd eigen_build &&\
+	cmake . ../eigen -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda/ &&\
+	make && make install &&\
+	cd ..
+
+# Boost
+RUN apt-get -y install libboost-iostreams-dev libboost-program-options-dev libboost-system-dev libboost-serialization-dev
+
+# OpenCV
+RUN DEBIAN_FRONTEND=noninteractive apt-get install -yq libopencv-dev
+
+# CGAL
+RUN apt-get -y install libcgal-dev libcgal-qt5-dev
+
+# VCGLib
+RUN git clone https://github.com/cdcseacave/VCG.git vcglib
+
+# Build from stable openMVS release
+RUN git clone https://github.com/cdcseacave/openMVS.git --branch master
+
+# Uncomment below (and comment above) to use the latest commit from the develop branch
+#RUN git clone https://github.com/cdcseacave/openMVS.git --branch develop
+
+RUN mkdir openMVS_build
+RUN cd openMVS_build &&\
+	cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT=/vcglib -DOpenMVS_USE_CUDA=ON -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs/ -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda-11.1/ -DCUDA_INCLUDE_DIRS=/usr/local/cuda-11.1/include/ -DCUDA_CUDART_LIBRARY=/usr/local/cuda-11.1/lib64 -DCUDA_NVCC_EXECUTABLE=/usr/local/cuda-11.1/bin/
+
+# Install OpenMVS library
+RUN cd openMVS_build &&\
+	make -j4 &&\
+	make install
+
+# Set permissions such that the output files can be accessed by the current user (optional)
+RUN addgroup --gid $GROUP_ID user
+RUN adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID user
+USER user
+
+# Add binaries to path
+ENV PATH /usr/local/bin/OpenMVS:$PATH
diff --git a/docker/buildFromScratch.sh b/docker/buildFromScratch.sh
index 2f3e1efa4..d522ce5d6 100755
--- a/docker/buildFromScratch.sh
+++ b/docker/buildFromScratch.sh
@@ -1,2 +1,2 @@
-docker build -t="openmvs-ubuntu" .;
+docker build --no-cache -t="openmvs-ubuntu" --build-arg USER_ID=$(id -u) --build-arg GROUP_ID=$(id -g) .;
 docker run -w /working -v $1:/working -it openmvs-ubuntu;
\ No newline at end of file
diff --git a/libs/Common/AABB.h b/libs/Common/AABB.h
index 63c707181..61904896b 100644
--- a/libs/Common/AABB.h
+++ b/libs/Common/AABB.h
@@ -56,8 +56,8 @@ class TAABB
 
 	inline bool IsEmpty() const;
 
-	inline void Enlarge(TYPE);
-	inline void EnlargePercent(TYPE);
+	inline TAABB& Enlarge(TYPE);
+	inline TAABB& EnlargePercent(TYPE);
 
 		   void InsertFull(const POINT&);
 		   void Insert(const POINT&);
@@ -88,6 +88,15 @@ class TAABB
 
 	inline TYPE& operator [] (BYTE i) { ASSERT(i<numScalar); return ptMin.data()[i]; }
 	inline TYPE operator [] (BYTE i) const { ASSERT(i<numScalar); return ptMin.data()[i]; }
+
+	#ifdef _USE_BOOST
+	// implement BOOST serialization
+	template<class Archive>
+	void serialize(Archive& ar, const unsigned int /*version*/) {
+		ar & ptMin;
+		ar & ptMax;
+	}
+	#endif
 }; // class TAABB
 /*----------------------------------------------------------------*/
 
diff --git a/libs/Common/AABB.inl b/libs/Common/AABB.inl
index b9040cfea..d10543e38 100644
--- a/libs/Common/AABB.inl
+++ b/libs/Common/AABB.inl
@@ -99,16 +99,18 @@ inline bool TAABB<TYPE,DIMS>::IsEmpty() const
 
 
 template <typename TYPE, int DIMS>
-inline void TAABB<TYPE,DIMS>::Enlarge(TYPE x)
+inline TAABB<TYPE,DIMS>& TAABB<TYPE,DIMS>::Enlarge(TYPE x)
 {
 	ptMin.array() -= x;
 	ptMax.array() += x;
+	return *this;
 }
 template <typename TYPE, int DIMS>
-inline void TAABB<TYPE,DIMS>::EnlargePercent(TYPE x)
+inline TAABB<TYPE,DIMS>& TAABB<TYPE,DIMS>::EnlargePercent(TYPE x)
 {
 	ptMin *= x;
 	ptMax *= x;
+	return *this;
 } // Enlarge
 /*----------------------------------------------------------------*/
 
diff --git a/libs/Common/CMakeLists.txt b/libs/Common/CMakeLists.txt
index 2e6c1a408..18899afde 100644
--- a/libs/Common/CMakeLists.txt
+++ b/libs/Common/CMakeLists.txt
@@ -1,20 +1,15 @@
 # List sources files
-FILE(GLOB PCH_C "Common.cpp")
-
 FILE(GLOB LIBRARY_FILES_C "*.cpp")
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-# Place Common.cpp as the first file in the list
-# needed by cotire when setting PCH manually
-LIST(REMOVE_ITEM LIBRARY_FILES_C ${PCH_C})
-SET(LIBRARY_FILES_C "${PCH_C};${LIBRARY_FILES_C}")
-
-cxx_library_with_type_no_pch(Common "Libs" "STATIC" "${cxx_default}"
+cxx_library_with_type(Common "Libs" "" "${cxx_default}"
 	${LIBRARY_FILES_C} ${LIBRARY_FILES_H}
 )
 
 # Manually set Common.h as the precompiled header
-set_target_pch(Common Common.h)
+IF(CMAKE_VERSION VERSION_GREATER_EQUAL 3.16.0)
+	TARGET_PRECOMPILE_HEADERS(Common PRIVATE "Common.h")
+endif()
 
 # Link its dependencies
 TARGET_LINK_LIBRARIES(Common ${Boost_LIBRARIES} ${OpenCV_LIBS})
@@ -24,7 +19,7 @@ SET_TARGET_PROPERTIES(Common PROPERTIES
 	PUBLIC_HEADER "${LIBRARY_FILES_H}")
 INSTALL(TARGETS Common
 	EXPORT OpenMVSTargets
-	RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
-	LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT shlib
-	ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
-	PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}/Common" COMPONENT dev)
+	LIBRARY DESTINATION "${INSTALL_LIB_DIR}"
+	ARCHIVE DESTINATION "${INSTALL_LIB_DIR}"
+	RUNTIME DESTINATION "${INSTALL_BIN_DIR}"
+	PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}/Common")
diff --git a/libs/Common/Common.cpp b/libs/Common/Common.cpp
index 052951d47..54ccc8aed 100644
--- a/libs/Common/Common.cpp
+++ b/libs/Common/Common.cpp
@@ -25,12 +25,23 @@ String g_strWorkingFolderFull;
 
 #ifdef _USE_BOOST
 #ifdef BOOST_NO_EXCEPTIONS
+#if (BOOST_VERSION / 100000) > 1 || (BOOST_VERSION / 100 % 1000) > 72
+#include <boost/assert/source_location.hpp>
+#endif
 namespace boost {
 	void throw_exception(std::exception const & e) {
 		VERBOSE("exception thrown: %s", e.what());
 		ASSERT("boost exception thrown" == NULL);
 		exit(EXIT_FAILURE);
 	}
+	#if (BOOST_VERSION / 100000) > 1 || (BOOST_VERSION / 100 % 1000) > 72
+	void throw_exception(std::exception const & e, boost::source_location const & loc) {
+		std::ostringstream ostr; ostr << loc;
+		VERBOSE("exception thrown at %s: %s", ostr.str().c_str(), e.what());
+		ASSERT("boost exception thrown" == NULL);
+		exit(EXIT_FAILURE);
+	}
+	#endif
 } // namespace boost
 #endif
 #endif
diff --git a/libs/Common/Config.h b/libs/Common/Config.h
index 521355e27..37fa297e5 100644
--- a/libs/Common/Config.h
+++ b/libs/Common/Config.h
@@ -50,6 +50,27 @@
 
 #define _USE_MATH_DEFINES
 
+#if _MSC_VER >= 1400
+#ifndef _CRT_SECURE_NO_WARNINGS
+#define _CRT_SECURE_NO_WARNINGS 1
+#endif
+#ifndef _CRT_SECURE_NO_DEPRECATE
+#define _CRT_SECURE_NO_DEPRECATE 1
+#endif
+#ifndef _ATL_SECURE_NO_DEPRECATE
+#define _ATL_SECURE_NO_DEPRECATE 1
+#endif
+#ifndef _CRT_NON_CONFORMING_SWPRINTFS
+#define _CRT_NON_CONFORMING_SWPRINTFS 1
+#endif
+#ifndef _CRT_SECURE_CPP_OVERLOAD_SECURE_NAMES
+#define _CRT_SECURE_CPP_OVERLOAD_SECURE_NAMES 0 // disable automatically overloading CPP names to secure versions
+#endif
+#if 0 && defined(_DEBUG) && !defined(_ITERATOR_DEBUG_LEVEL) // might not build if linking statically to 3rd party libraries
+#define _ITERATOR_DEBUG_LEVEL 1 // disable std iterator debugging even in Debug, as it is very slow
+#endif
+#endif
+
 
 //----------------------------------------------------------------------
 // For Microsoft Visual C++, externally accessible symbols must be
@@ -120,33 +141,19 @@
 #endif // _MSC_VER
 
 
-#if !defined(_DEBUG) && !defined(_PROFILE)
-#define _RELEASE // exclude code useful only for debug
+#if defined(__arm__) || defined (__arm64__) || defined(__aarch64__) || defined(_M_ARM) || defined(_M_ARMT)
+#define _PLATFORM_ARM 1
+#else
+#define _PLATFORM_X86 1
 #endif
 
 
-#if defined(_MSC_VER) && _MSC_VER >= 1400
-#ifndef _CRT_SECURE_NO_WARNINGS
-#define _CRT_SECURE_NO_WARNINGS 1
-#endif
-#ifndef _CRT_SECURE_NO_DEPRECATE
-#define _CRT_SECURE_NO_DEPRECATE 1
-#endif
-#ifndef _ATL_SECURE_NO_DEPRECATE
-#define _ATL_SECURE_NO_DEPRECATE 1
-#endif
-#ifndef _CRT_NON_CONFORMING_SWPRINTFS
-#define _CRT_NON_CONFORMING_SWPRINTFS 1
-#endif
-#ifndef _CRT_SECURE_CPP_OVERLOAD_SECURE_NAMES
-#define _CRT_SECURE_CPP_OVERLOAD_SECURE_NAMES 0 // disable automatically overloading CPP names to secure versions
-#endif
-#if 0 && defined(_DEBUG) && !defined(_ITERATOR_DEBUG_LEVEL) // might not build if linking statically to 3rd party libraries
-#define _ITERATOR_DEBUG_LEVEL 1 // disable std iterator debugging even in Debug, as it is very slow
-#endif
+#if !defined(_DEBUG) && !defined(_PROFILE)
+#define _RELEASE // exclude code useful only for debug
 #endif
 
 
+
 //optimization flags
 #if defined(_MSC_VER)
 #	define ALIGN(n) __declspec(align(n))
@@ -204,7 +211,7 @@
 #ifdef _MSC_VER
 #define _DEBUGINFO
 #define _CRTDBG_MAP_ALLOC	//enable this to show also the filename (DEBUG_NEW should also be defined in each file)
-#include <stdlib.h>
+#include <cstdlib>
 #include <crtdbg.h>
 #ifdef _INC_CRTDBG
 #define ASSERT(exp)	{if (!(exp) && 1 == _CrtDbgReport(_CRT_ASSERT, __FILE__, __LINE__, NULL, #exp)) _CrtDbgBreak();}
diff --git a/libs/Common/ConfigTable.h b/libs/Common/ConfigTable.h
index d112a5ea1..337512108 100644
--- a/libs/Common/ConfigTable.h
+++ b/libs/Common/ConfigTable.h
@@ -56,7 +56,7 @@ class GENERAL_API CConfigTable
 		  const  SML&		GetConfig() const						{ return m_oSML; }
 				 SML&		GetConfig()								{ return m_oSML; }
 	inline	SMLVALUE&		operator[] (const String& name)			{ return m_oSML[name]; }
-	inline		 IDX		InsertChild(CConfigTable& oCfg)			{ oCfg.SetParent(this); return m_oSML.InsertChild((const LPSML)&oCfg.m_oSML); }
+	inline		 IDX		InsertChild(CConfigTable& oCfg)			{ oCfg.SetParent(this); return m_oSML.InsertChild(&oCfg.m_oSML); }
 	inline		 void		RemoveChild(CConfigTable& oCfg)			{ oCfg.SetParent(NULL); m_oSML.RemoveChild(oCfg.m_oSML.GetName()); }
 
 	// misc methods
diff --git a/libs/Common/File.h b/libs/Common/File.h
index f369bb5df..9c4be9a7f 100644
--- a/libs/Common/File.h
+++ b/libs/Common/File.h
@@ -441,7 +441,7 @@ class GENERAL_API File : public IOStream {
 		if (flags & NOBUFFER)
 			m |= O_DIRECT;
 		#endif
-		h = ::open(aFileName, m, S_IRUSR | S_IWUSR);
+		h = ::open(aFileName, m, S_IRUSR | S_IWUSR | S_IRGRP | S_IROTH);
 	}
 
 	bool isOpen() { return h != -1; };
diff --git a/libs/Common/HalfFloat.h b/libs/Common/HalfFloat.h
index 80a0a4c9a..3f38c831a 100644
--- a/libs/Common/HalfFloat.h
+++ b/libs/Common/HalfFloat.h
@@ -39,10 +39,6 @@ class GENERAL_API hfloat
 	template <typename T>
 	inline hfloat(T v) : val(fromFloat(static_cast<float>(v))) {}
 
-	inline hfloat& operator = (hfloat v) {
-		val = v.val;
-		return *this;
-	}
 	inline hfloat& operator = (float v) {
 		val = fromFloat(v);
 		return *this;
diff --git a/libs/Common/List.h b/libs/Common/List.h
index 7b714308c..750aa90c4 100644
--- a/libs/Common/List.h
+++ b/libs/Common/List.h
@@ -11,6 +11,8 @@
 
 // I N C L U D E S /////////////////////////////////////////////////
 
+#include <utility>
+
 
 // D E F I N E S ///////////////////////////////////////////////////
 
@@ -70,6 +72,10 @@
 #define CLISTDEFIDX(TYPE,IDXTYPE) SEACAVE::cList< TYPE, const TYPE&, 1, 16, IDXTYPE >
 #define CLISTDEF2IDX(TYPE,IDXTYPE) SEACAVE::cList< TYPE, const TYPE&, 2, 16, IDXTYPE >
 
+#ifndef STCALL
+#define STCALL
+#endif
+
 
 namespace SEACAVE {
 
@@ -137,6 +143,15 @@ class cList
 		_ArrayCopyConstruct(_vector, rList._vector, _size);
 	}
 
+	// constructor a list from a raw data array
+	explicit inline cList(TYPE* pDataBegin, TYPE* pDataEnd) : _size((IDX)(pDataEnd-pDataBegin)), _vectorSize(_size)
+	{
+		if (_vectorSize == 0)
+			return;
+		_vector = (TYPE*) operator new[] (_vectorSize * sizeof(TYPE));
+		_ArrayCopyConstruct(_vector, pDataBegin, _size);
+	}
+
 	// constructor a list from a raw data array, taking ownership of the array memory
 	explicit inline cList(IDX nSize, TYPE* pData) : _size(nSize), _vectorSize(nSize), _vector(pData)
 	{
diff --git a/libs/Common/OBB.h b/libs/Common/OBB.h
index 30ff5fcb9..766257b2c 100644
--- a/libs/Common/OBB.h
+++ b/libs/Common/OBB.h
@@ -42,16 +42,19 @@ class TOBB
 	enum { numCorners = (DIMS==1 ? 2 : (DIMS==2 ? 4 : 8)) }; // 2^DIMS
 	enum { numScalar = (5*DIMS) };
 
-	MATRIX m_rot;	// rotation matrix of the transformation (orthonormal axes)
-	POINT m_pos;	// translation of the transformation (center-point)
-	POINT m_ext;	// bounding box extents (half axis length)
+	MATRIX m_rot;	// rotation matrix from world to local (orthonormal axes)
+	POINT m_pos;	// translation from local to world (center-point)
+	POINT m_ext;	// bounding box extents in local (half axis length)
 
 	//---------------------------------------
 
 	inline TOBB() {}
+	inline TOBB(bool);
+	inline TOBB(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax);
 	inline TOBB(const POINT* pts, size_t n);
 	inline TOBB(const POINT* pts, size_t n, const TRIANGLE* tris, size_t s);
 
+	inline void Set(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax); // build from rotation matrix from world to local, and local min/max corners
 	inline void Set(const POINT* pts, size_t n); // build from points
 	inline void Set(const POINT* pts, size_t n, const TRIANGLE* tris, size_t s); // build from triangles
 	inline void Set(const MATRIX& C, const POINT* pts, size_t n); // build from covariance matrix
@@ -62,6 +65,8 @@ class TOBB
 	inline void BuildAdd(const POINT&); // add a new point to the online build
 	inline void BuildEnd(); // end online build for computing the rotation
 
+	inline bool IsValid() const;
+
 	inline void Enlarge(TYPE);
 	inline void EnlargePercent(TYPE);
 
@@ -79,8 +84,20 @@ class TOBB
 
 	inline TYPE GetVolume() const;
 
+	bool Intersects(const POINT&) const;
+
 	inline TYPE& operator [] (BYTE i) { ASSERT(i<numScalar); return m_rot.data()[i]; }
 	inline TYPE operator [] (BYTE i) const { ASSERT(i<numScalar); return m_rot.data()[i]; }
+
+	#ifdef _USE_BOOST
+	// implement BOOST serialization
+	template<class Archive>
+	void serialize(Archive& ar, const unsigned int /*version*/) {
+		ar & m_rot;
+		ar & m_pos;
+		ar & m_ext;
+	}
+	#endif
 }; // class TOBB
 /*----------------------------------------------------------------*/
 
diff --git a/libs/Common/OBB.inl b/libs/Common/OBB.inl
index 94fe16566..7596b171d 100644
--- a/libs/Common/OBB.inl
+++ b/libs/Common/OBB.inl
@@ -11,6 +11,19 @@
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+template <typename TYPE, int DIMS>
+inline TOBB<TYPE,DIMS>::TOBB(bool)
+	:
+	m_rot(MATRIX::Identity()),
+	m_pos(POINT::Zero()),
+	m_ext(POINT::Zero())
+{
+}
+template <typename TYPE, int DIMS>
+inline TOBB<TYPE,DIMS>::TOBB(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax)
+{
+	Set(rot, ptMin, ptMax);
+}
 template <typename TYPE, int DIMS>
 inline TOBB<TYPE,DIMS>::TOBB(const POINT* pts, size_t n)
 {
@@ -24,6 +37,15 @@ inline TOBB<TYPE,DIMS>::TOBB(const POINT* pts, size_t n, const TRIANGLE* tris, s
 /*----------------------------------------------------------------*/
 
 
+// build from rotation matrix from world to local, and local min/max corners
+template <typename TYPE, int DIMS>
+inline void TOBB<TYPE,DIMS>::Set(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax)
+{
+	m_rot = rot;
+	m_pos = (ptMax + ptMin) * TYPE(0.5);
+	m_ext = (ptMax - ptMin) * TYPE(0.5);
+}
+
 // Inspired from "Fitting Oriented Bounding Boxes" by James Gregson
 // http://jamesgregson.blogspot.ro/2011/03/latex-test.html
 
@@ -140,24 +162,12 @@ template <typename TYPE, int DIMS>
 inline void TOBB<TYPE,DIMS>::SetRotation(const MATRIX& C)
 {
 	// extract the eigenvalues and eigenvectors from C
-	const Eigen::EigenSolver<MATRIX> es(C);
-	if (es.info() != Eigen::Success)
-		return;
-	const MATRIX eigvec(es.eigenvectors().real());
-	const POINT eigval(es.eigenvalues().real());
-	int indices[3] = {0,1,2};
-	std::sort(indices, indices+3, [&] (int i, int j) {
-		return eigval(i) < eigval(j);
-	});
-
+	const Eigen::SelfAdjointEigenSolver<MATRIX> es(C);
+	ASSERT(es.info() == Eigen::Success);
 	// find the right, up and forward vectors from the eigenvectors
 	// and set the rotation matrix using the eigenvectors
-	m_rot.row(0) = eigvec.col(indices[0]);
-	m_rot.row(1) = eigvec.col(indices[1]);
-	m_rot.row(2) = eigvec.col(indices[2]);
-	ASSERT(ISEQUAL(m_rot.row(0).norm(), TYPE(1)));
-	ASSERT(ISEQUAL(m_rot.row(1).norm(), TYPE(1)));
-	ASSERT(ISEQUAL(m_rot.row(2).norm(), TYPE(1)));
+	ASSERT(es.eigenvalues()(0) < es.eigenvalues()(1) && es.eigenvalues()(1) < es.eigenvalues()(2));
+	m_rot = es.eigenvectors().transpose();
 	if (m_rot.determinant() < 0)
 		m_rot = -m_rot;
 }
@@ -235,6 +245,15 @@ inline void TOBB<TYPE,DIMS>::BuildEnd()
 /*----------------------------------------------------------------*/
 
 
+// check if the oriented bounding box has positive size
+template <typename TYPE, int DIMS>
+inline bool TOBB<TYPE,DIMS>::IsValid() const
+{
+	return m_ext.minCoeff() > TYPE(0);
+} // IsValid
+/*----------------------------------------------------------------*/
+
+
 template <typename TYPE, int DIMS>
 inline void TOBB<TYPE,DIMS>::Enlarge(TYPE x)
 {
@@ -248,6 +267,22 @@ inline void TOBB<TYPE,DIMS>::EnlargePercent(TYPE x)
 /*----------------------------------------------------------------*/
 
 
+// Update the box by the given pos delta.
+template <typename TYPE, int DIMS>
+inline void TOBB<TYPE,DIMS>::Translate(const POINT& d)
+{
+	m_pos += d;
+}
+// Update the box by the given transform.
+template <typename TYPE, int DIMS>
+inline void TOBB<TYPE,DIMS>::Transform(const MATRIX& m)
+{
+	m_rot = m * m_rot;
+	m_pos = m * m_pos;
+}
+/*----------------------------------------------------------------*/
+
+
 template <typename TYPE, int DIMS>
 inline typename TOBB<TYPE,DIMS>::POINT TOBB<TYPE,DIMS>::GetCenter() const
 {
@@ -294,12 +329,12 @@ inline void TOBB<TYPE,DIMS>::GetCorners(POINT pts[numCorners]) const
 			m_rot.row(2)*m_ext[2]
 		};
 		pts[0] = m_pos - pEAxis[0] - pEAxis[1] - pEAxis[2];
-		pts[1] = m_pos + pEAxis[0] - pEAxis[1] - pEAxis[2];
-		pts[2] = m_pos + pEAxis[0] + pEAxis[1] - pEAxis[2];
-		pts[3] = m_pos - pEAxis[0] + pEAxis[1] - pEAxis[2];
-		pts[4] = m_pos - pEAxis[0] - pEAxis[1] + pEAxis[2];
-		pts[5] = m_pos + pEAxis[0] - pEAxis[1] + pEAxis[2];
-		pts[6] = m_pos + pEAxis[0] + pEAxis[1] + pEAxis[2];
+		pts[1] = m_pos - pEAxis[0] - pEAxis[1] + pEAxis[2];
+		pts[2] = m_pos + pEAxis[0] - pEAxis[1] - pEAxis[2];
+		pts[3] = m_pos + pEAxis[0] - pEAxis[1] + pEAxis[2];
+		pts[4] = m_pos + pEAxis[0] + pEAxis[1] - pEAxis[2];
+		pts[5] = m_pos + pEAxis[0] + pEAxis[1] + pEAxis[2];
+		pts[6] = m_pos - pEAxis[0] + pEAxis[1] - pEAxis[2];
 		pts[7] = m_pos - pEAxis[0] + pEAxis[1] + pEAxis[2];
 	}
 } // GetCorners
@@ -307,6 +342,7 @@ inline void TOBB<TYPE,DIMS>::GetCorners(POINT pts[numCorners]) const
 template <typename TYPE, int DIMS>
 inline typename TOBB<TYPE,DIMS>::AABB TOBB<TYPE,DIMS>::GetAABB() const
 {
+	#if 0
 	if (DIMS == 2) {
 		const POINT pEAxis[2] = {
 			m_rot.row(0)*m_ext[0],
@@ -328,6 +364,11 @@ inline typename TOBB<TYPE,DIMS>::AABB TOBB<TYPE,DIMS>::GetAABB() const
 			m_pos + pEAxis[0] + pEAxis[1] + pEAxis[2]
 		);
 	}
+	#else
+	POINT pts[numCorners];
+	GetCorners(pts);
+	return AABB(pts, numCorners);
+	#endif
 } // GetAABB
 /*----------------------------------------------------------------*/
 
@@ -341,20 +382,18 @@ inline TYPE TOBB<TYPE,DIMS>::GetVolume() const
 /*----------------------------------------------------------------*/
 
 
-// Update the box by the given pos delta.
 template <typename TYPE, int DIMS>
-inline void TOBB<TYPE,DIMS>::Translate(const POINT& d)
+bool TOBB<TYPE,DIMS>::Intersects(const POINT& pt) const
 {
-	m_pos += d;
-}
-/*----------------------------------------------------------------*/
-
-
-// Update the box by the given transform.
-template <typename TYPE, int DIMS>
-inline void TOBB<TYPE,DIMS>::Transform(const MATRIX& m)
-{
-	m_rot = m * m_rot;
-	m_pos = m * m_pos;
-}
+	const POINT dist(m_rot * (pt - m_pos));
+	if (DIMS == 2) {
+		return ABS(dist[0]) <= m_ext[0]
+			&& ABS(dist[1]) <= m_ext[1];
+	}
+	if (DIMS == 3) {
+		return ABS(dist[0]) <= m_ext[0]
+			&& ABS(dist[1]) <= m_ext[1]
+			&& ABS(dist[2]) <= m_ext[2];
+	}
+} // Intersects(POINT)
 /*----------------------------------------------------------------*/
diff --git a/libs/Common/Octree.h b/libs/Common/Octree.h
index cc5f22e95..70acd14c6 100644
--- a/libs/Common/Octree.h
+++ b/libs/Common/Octree.h
@@ -22,106 +22,82 @@ namespace SEACAVE {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
-// raw array wrapper
-template <typename TYPE>
-class TItemArr
-{
-public:
-	typedef TYPE Type;
-
-	inline TItemArr() {}
-	inline TItemArr(const TYPE* data, IDX size) : m_data(data), m_size(size) {}
-	inline void Set(const TYPE* data, IDX size) { m_data = data; m_size = size; }
-
-	inline const TYPE& operator[](IDX i) const { return m_data[i]; }
-	inline const TYPE* Begin() const { return m_data; }
-	inline const TYPE* GetData() const { return m_data; }
-	inline IDX GetSize() const { return m_size; }
-
-protected:
-	const TYPE* m_data;
-	IDX m_size;
-}; // class TItemArr
-/*----------------------------------------------------------------*/
-
-
-// octree cell class
-template <typename TYPE, int DIMS, typename DATA_TYPE>
-class TOctreeCell
+// basic octree class
+// each item should define the operator const POINT_TYPE& returning its center;
+// at build time, a functor must be supplied that returns true as long as
+// the current cell should be split farther, given its number of items and radius, ex:
+//	 [](Octree::IDX_TYPE size, Octree::Type radius) {
+//	 	return size > SIZE && radius > RADIUS;
+//	 }
+// where:
+//   SIZE is the minimum number of items contained by the cell so that this to be divided further
+//   RADIUS is the minimum size of the cell allowed to be divided further
+// both conditions represent exclusive limits and both should be true for the division to take place
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE=uint32_t>
+class TOctree
 {
 	STATIC_ASSERT(DIMS > 0 && DIMS <= 3);
 
 public:
+	typedef TYPE Type;
+	typedef typename ITEMARR_TYPE::Type ITEM_TYPE;
+	typedef typename ITEMARR_TYPE::IDX IDX_TYPE;
+	typedef SEACAVE::cList<IDX_TYPE,IDX_TYPE,0,1024,IDX_TYPE> IDXARR_TYPE;
 	typedef Eigen::Matrix<TYPE,DIMS,1> POINT_TYPE;
 	typedef SEACAVE::TAABB<TYPE,DIMS> AABB_TYPE;
 	typedef uint32_t SIZE_TYPE;
 
-	typedef struct {
-		POINT_TYPE center; // center of the current cell
-	} NODE_TYPE;
-	typedef struct {
-		IDX idxBegin; // index in the global array of the first item contained by this cell
-		SIZE_TYPE size; // number of items contained by this cell in the global array
-		DATA_TYPE data; // user data associated with this leaf
-	} LEAF_TYPE;
-	enum { dataSize = (sizeof(NODE_TYPE)>sizeof(LEAF_TYPE) ? sizeof(NODE_TYPE) : sizeof(LEAF_TYPE)) };
-	enum { numChildren = (2<<(DIMS-1)) };
-
-public:
-	inline TOctreeCell();
-	inline TOctreeCell(TOctreeCell*);
-	inline ~TOctreeCell();
-
-	inline void Release();
-	inline void Swap(TOctreeCell&);
-
-	inline unsigned ComputeChild(const POINT_TYPE& item) const;
-	static void ComputeCenter(POINT_TYPE []);
-
-	inline bool	IsLeaf() const { return (m_child==NULL); }
-	inline const TOctreeCell& GetChild(int i) const { ASSERT(!IsLeaf() && i<numChildren); return m_child[i]; }
-	inline const NODE_TYPE& Node() const { ASSERT(!IsLeaf()); return *((const NODE_TYPE*)m_data); }
-	inline NODE_TYPE& Node() { ASSERT(!IsLeaf()); return *((NODE_TYPE*)m_data); }
-	inline const LEAF_TYPE& Leaf() const { ASSERT(IsLeaf()); return *((const LEAF_TYPE*)m_data); }
-	inline LEAF_TYPE& Leaf() { ASSERT(IsLeaf()); return *((LEAF_TYPE*)m_data); }
-	inline const POINT_TYPE& GetCenter() const { return Node().center; }
-	inline AABB_TYPE GetAabb(TYPE radius) const { return AABB_TYPE(Node().center, radius); }
-	inline IDX GetLastItem() const { return Leaf().idxBegin + Leaf().size; }
-	inline SIZE_TYPE GetNumItems() const { return Leaf().size; }
-	inline const DATA_TYPE& GetUserData() const { return Leaf().data; }
-	inline DATA_TYPE& GetUserData() { return Leaf().data; }
-	size_t GetNumItemsHeld() const;
-
-public:
-	TOctreeCell* m_child; // if not a leaf, 2^DIMS child objects
-	uint8_t m_data[dataSize]; // a LEAF_TYPE or NODE_TYPE object, if it is a leaf or not respectively
-}; // class TOctreeCell
-/*----------------------------------------------------------------*/
-
-
-// basic octree class
-// each item should define the operator const POINT_TYPE& returning its center
-// SIZE is the minimum number of items contained by the cell so that this to be divided further
-// NOM/DENOM is the size of the cell minimum allowed to be divided further
-// both conditions represent exclusive limits and both should be true for the division to take place
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE=uint32_t, int SIZE=16, int NOM=0, int DENOM=1>
-class TOctree
-{
-public:
-	typedef TYPE Type;
-	typedef TOctreeCell<TYPE,DIMS,DATA_TYPE> CELL_TYPE;
-	typedef typename ITEMARR_TYPE::Type ITEM_TYPE;
-	typedef SEACAVE::cList<IDX,IDX,0,1024> IDXARR_TYPE;
-	typedef SEACAVE::cList<CELL_TYPE*,CELL_TYPE*,0,256> CELLPTRARR_TYPE;
-	typedef typename IDXARR_TYPE::Type IDX_TYPE;
-	typedef typename CELL_TYPE::POINT_TYPE POINT_TYPE;
-	typedef typename CELL_TYPE::AABB_TYPE AABB_TYPE;
+	class CELL_TYPE {
+	public:
+		typedef struct {
+			POINT_TYPE center; // center of the current cell
+		} NODE_TYPE;
+		typedef struct {
+			IDX_TYPE idxBegin; // index in the global array of the first item contained by this cell
+			SIZE_TYPE size; // number of items contained by this cell in the global array
+			DATA_TYPE data; // user data associated with this leaf
+		} LEAF_TYPE;
+		enum { dataSize = (sizeof(NODE_TYPE)>sizeof(LEAF_TYPE) ? sizeof(NODE_TYPE) : sizeof(LEAF_TYPE)) };
+		enum { numChildren = (2<<(DIMS-1)) };
+
+	public:
+		inline CELL_TYPE();
+		inline ~CELL_TYPE();
+
+		inline void Release();
+		inline void Swap(CELL_TYPE&);
+
+		inline unsigned ComputeChild(const POINT_TYPE& item) const;
+		static void ComputeCenter(POINT_TYPE []);
+		static inline POINT_TYPE ComputeChildCenter(const POINT_TYPE&, TYPE, unsigned);
+
+		inline bool	IsLeaf() const { return (m_child==NULL); }
+		inline const CELL_TYPE& GetChild(int i) const { ASSERT(!IsLeaf() && i<numChildren); return m_child[i]; }
+		inline const NODE_TYPE& Node() const { ASSERT(!IsLeaf()); return *reinterpret_cast<const NODE_TYPE*>(m_data); }
+		inline NODE_TYPE& Node() { ASSERT(!IsLeaf()); return *reinterpret_cast<NODE_TYPE*>(m_data); }
+		inline const LEAF_TYPE& Leaf() const { ASSERT(IsLeaf()); return *reinterpret_cast<const LEAF_TYPE*>(m_data); }
+		inline LEAF_TYPE& Leaf() { ASSERT(IsLeaf()); return *reinterpret_cast<LEAF_TYPE*>(m_data); }
+		inline const POINT_TYPE& GetCenter() const { return Node().center; }
+		inline AABB_TYPE GetAabb(TYPE radius) const { return AABB_TYPE(Node().center, radius); }
+		inline AABB_TYPE GetChildAabb(unsigned idxChild, TYPE radius) const { const TYPE childRadius(radius / TYPE(2)); return AABB_TYPE(ComputeChildCenter(Node().center, childRadius, idxChild), childRadius); }
+		inline IDX_TYPE GetFirstItemIdx() const { return Leaf().idxBegin; }
+		inline IDX_TYPE GetLastItemIdx() const { return Leaf().idxBegin + Leaf().size; }
+		inline SIZE_TYPE GetNumItems() const { return Leaf().size; }
+		inline const DATA_TYPE& GetUserData() const { return Leaf().data; }
+		inline DATA_TYPE& GetUserData() { return Leaf().data; }
+		size_t GetNumItemsHeld() const;
+
+	public:
+		CELL_TYPE* m_child; // if not a leaf, 2^DIMS child objects
+		uint8_t m_data[dataSize]; // a LEAF_TYPE or NODE_TYPE object, if it is a leaf or not respectively
+	};
+	typedef SEACAVE::cList<CELL_TYPE*,CELL_TYPE*,0,256,IDX_TYPE> CELLPTRARR_TYPE;
 
 	struct IndexInserter {
 		IDXARR_TYPE& indices;
 		IndexInserter(IDXARR_TYPE& _indices) : indices(_indices) {}
 		void operator()(IDX_TYPE idx) { indices.Insert(idx); }
-		void operator()(const IDX_TYPE* idices, size_t size) { indices.Join(idices, size); }
+		void operator()(const IDX_TYPE* idices, SIZE_TYPE size) { indices.Join(idices, size); }
 	};
 
 	struct CellInserter {
@@ -132,17 +108,23 @@ class TOctree
 
 public:
 	inline TOctree() {}
-	inline TOctree(const ITEMARR_TYPE&);
-	inline TOctree(const ITEMARR_TYPE&, const AABB_TYPE&);
+	template <typename Functor>
+	inline TOctree(const ITEMARR_TYPE&, Functor split);
+	template <typename Functor>
+	inline TOctree(const ITEMARR_TYPE&, const AABB_TYPE&, Functor split);
 
 	inline void Release();
 	inline void Swap(TOctree&);
 
-	void Insert(const ITEMARR_TYPE&);
-	void Insert(const ITEMARR_TYPE&, const AABB_TYPE&);
+	template <typename Functor>
+	void Insert(const ITEMARR_TYPE&, Functor split);
+	template <typename Functor>
+	void Insert(const ITEMARR_TYPE&, const AABB_TYPE&, Functor split);
 
 	template <typename INSERTER>
 	inline void CollectCells(INSERTER&) const;
+	template <typename INSERTER>
+	void CollectCells(const CELL_TYPE&, INSERTER&) const;
 	template <typename PARSER>
 	inline void ParseCells(PARSER&);
 
@@ -170,30 +152,29 @@ class TOctree
 	template <typename FTYPE, int FDIMS>
 	inline void TraverseCells(const TFrustum<FTYPE,FDIMS>&, CELLPTRARR_TYPE&);
 
+	template <typename AREAESTIMATOR, typename CHUNKINSERTER>
+	void SplitVolume(float maxArea, AREAESTIMATOR& areaEstimator, CHUNKINSERTER& chunkInserter);
+
+	inline const CELL_TYPE& GetRoot() const { return m_root; }
+	inline TYPE GetRadius() const { return m_radius; }
 	inline AABB_TYPE GetAabb() const { return m_root.GetAabb(m_radius); }
-	inline TYPE GetRadius(const AABB_TYPE& aabb) const {
-		// radius of the root cell
-		const POINT_TYPE size(aabb.GetSize() / TYPE(2));
-		TYPE radius = size[0];
-		if (DIMS > 1 && radius < size[1])
-			radius = size[1];
-		if (DIMS > 2 && radius < size[2])
-			radius = size[2];
-		return radius;
-	}
 	inline bool IsEmpty() const { return m_indices.IsEmpty(); }
 	inline size_t GetNumItems() const { return m_indices.GetSize(); }
 	inline const IDXARR_TYPE& GetIndexArr() const { return m_indices; }
 	inline const ITEM_TYPE* GetItems() const { return m_items; }
+	inline const POINT_TYPE& GetItem(IDX_TYPE idx) const { ASSERT(m_items != NULL); return m_items[idx]; }
+	inline void ResetItems() { m_items = NULL; }
 
 protected:
-	static inline POINT_TYPE ComputeChildCenter(const POINT_TYPE&, TYPE, unsigned);
-
-	void _Insert(CELL_TYPE&, TYPE, IDXARR_TYPE []);
-	void _Insert(CELL_TYPE&, const POINT_TYPE&, TYPE, IDXARR_TYPE&);
+	template <typename Functor>
+	struct _InsertData {
+		enum : IDX_TYPE { NO_INDEX = DECLARE_NO_INDEX(IDX_TYPE) };
+		IDXARR_TYPE successors; // single connected list of next item indices
+		Functor split; // used to decide if a cell needs to be split farther
+	};
+	template <typename Functor, bool bForceSplit>
+	void _Insert(CELL_TYPE&, const POINT_TYPE& center, TYPE radius, IDX_TYPE start, IDX_TYPE size, _InsertData<Functor>&);
 
-	template <typename INSERTER>
-	void _CollectCells(const CELL_TYPE&, INSERTER&) const;
 	template <typename PARSER>
 	void _ParseCells(CELL_TYPE&, TYPE, PARSER&);
 
@@ -207,6 +188,9 @@ class TOctree
 	template <typename FTYPE, int FDIMS, typename PARSER>
 	void _TraverseCells(CELL_TYPE&, TYPE, const TFrustum<FTYPE,FDIMS>&, PARSER&);
 
+	template <typename AREAESTIMATOR, typename CHUNKINSERTER>
+	void _SplitVolume(const CELL_TYPE& parentCell, TYPE parentRadius, unsigned idxChild, float maxArea, AREAESTIMATOR& areaEstimator, CHUNKINSERTER& chunkInserter, const UnsignedArr& indices=UnsignedArr{0,1,2,3,4,5,6,7});
+
 protected:
 	const ITEM_TYPE* m_items; // original input items (the only condition is that every item to resolve to a position)
 	IDXARR_TYPE m_indices; // indices to input items re-arranged spatially (as dictated by the octree)
diff --git a/libs/Common/Octree.inl b/libs/Common/Octree.inl
index 83075ebb3..e0e0f298b 100644
--- a/libs/Common/Octree.inl
+++ b/libs/Common/Octree.inl
@@ -8,53 +8,37 @@
 
 // D E F I N E S ///////////////////////////////////////////////////
 
-// max number of items in one cell
-#define OCTREE_CELLITEMS SIZE
-
 #ifdef _USE_OPENMP
 // minimum number of polygons for which we do multi-threading
 #define OCTREE_MIN_ITEMS_MINTHREAD 1024*2
 #endif
 
-// size of a cell
-#define OCTREE_CELLSIZE (TYPE(NOM)/TYPE(DENOM))
-// radius of a cell
-#define OCTREE_CELLRADIUS (OCTREE_CELLSIZE/2)
-
 
 // S T R U C T S ///////////////////////////////////////////////////
 
-template <typename TYPE, int DIMS, typename DATA_TYPE>
-inline TOctreeCell<TYPE,DIMS,DATA_TYPE>::TOctreeCell()
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CELL_TYPE::CELL_TYPE()
 	:
 	m_child(NULL)
 {
 } // constructor
-template <typename TYPE, int DIMS, typename DATA_TYPE>
-inline TOctreeCell<TYPE,DIMS,DATA_TYPE>::TOctreeCell(TOctreeCell* children)
-	:
-	m_child(children)
-{
-} // constructor
-/*----------------------------------------------------------------*/
-
-template <typename TYPE, int DIMS, typename DATA_TYPE>
-inline TOctreeCell<TYPE,DIMS,DATA_TYPE>::~TOctreeCell()
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CELL_TYPE::~CELL_TYPE()
 {
 	delete[] m_child;
 } // destructor
 /*----------------------------------------------------------------*/
 
 
-template <typename TYPE, int DIMS, typename DATA_TYPE>
-inline void TOctreeCell<TYPE,DIMS,DATA_TYPE>::Release()
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CELL_TYPE::Release()
 {
 	delete[] m_child;
 	m_child = NULL;
-} // destructor
+} // Release
 // swap the two octrees
-template <typename TYPE, int DIMS, typename DATA_TYPE>
-inline void TOctreeCell<TYPE,DIMS,DATA_TYPE>::Swap(TOctreeCell& rhs)
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CELL_TYPE::Swap(CELL_TYPE& rhs)
 {
 	std::swap(m_child, rhs.m_child);
 	uint8_t tmpData[dataSize];
@@ -66,8 +50,8 @@ inline void TOctreeCell<TYPE,DIMS,DATA_TYPE>::Swap(TOctreeCell& rhs)
 
 
 // compute item's index corresponding to the containing cell
-template <typename TYPE, int DIMS, typename DATA_TYPE>
-inline unsigned TOctreeCell<TYPE,DIMS,DATA_TYPE>::ComputeChild(const POINT_TYPE& item) const
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline unsigned TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CELL_TYPE::ComputeChild(const POINT_TYPE& item) const
 {
 	ASSERT(!IsLeaf());
 	unsigned idx = 0;
@@ -83,8 +67,8 @@ inline unsigned TOctreeCell<TYPE,DIMS,DATA_TYPE>::ComputeChild(const POINT_TYPE&
 } // ComputeChild
 /*----------------------------------------------------------------*/
 
-template <typename TYPE, int DIMS, typename DATA_TYPE>
-void TOctreeCell<TYPE,DIMS,DATA_TYPE>::ComputeCenter(POINT_TYPE centers[])
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CELL_TYPE::ComputeCenter(POINT_TYPE centers[])
 {
 	if (DIMS == 1) {
 		centers[0] << -1;
@@ -109,10 +93,22 @@ void TOctreeCell<TYPE,DIMS,DATA_TYPE>::ComputeCenter(POINT_TYPE centers[])
 } // ComputeCenter
 /*----------------------------------------------------------------*/
 
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline typename TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::POINT_TYPE TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CELL_TYPE::ComputeChildCenter(const POINT_TYPE& center, TYPE radius, unsigned idxChild)
+{
+	struct CENTERARR_TYPE {
+		POINT_TYPE child[CELL_TYPE::numChildren];
+		inline CENTERARR_TYPE() { CELL_TYPE::ComputeCenter(child); }
+	};
+	static const CENTERARR_TYPE centers;
+	return center + centers.child[idxChild] * radius;
+} // ComputeChildCenter
+/*----------------------------------------------------------------*/
+
 
 // count the number of items contained by the given octree-cell
-template <typename TYPE, int DIMS, typename DATA_TYPE>
-size_t TOctreeCell<TYPE,DIMS,DATA_TYPE>::GetNumItemsHeld() const
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+size_t TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CELL_TYPE::GetNumItemsHeld() const
 {
 	if (IsLeaf())
 		return GetNumItems();
@@ -128,29 +124,31 @@ size_t TOctreeCell<TYPE,DIMS,DATA_TYPE>::GetNumItemsHeld() const
 // S T R U C T S ///////////////////////////////////////////////////
 
 // build tree with the given items
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-inline TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::TOctree(const ITEMARR_TYPE& items)
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+template <typename Functor>
+inline TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::TOctree(const ITEMARR_TYPE& items, Functor split)
 {
-	Insert(items);
+	Insert(items, split);
 }
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-inline TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::TOctree(const ITEMARR_TYPE& items, const AABB_TYPE& aabb)
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+template <typename Functor>
+inline TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::TOctree(const ITEMARR_TYPE& items, const AABB_TYPE& aabb, Functor split)
 {
-	Insert(items, aabb);
+	Insert(items, aabb, split);
 } // constructor
 /*----------------------------------------------------------------*/
 
 
 // destroy tree
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Release()
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Release()
 {
 	m_indices.Release();
 	m_root.Release();
 } // Release
 // swap the two octrees
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Swap(TOctree& rhs)
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Swap(TOctree& rhs)
 {
 	std::swap(m_items, rhs.m_items);
 	m_indices.Swap(rhs.m_indices);
@@ -160,122 +158,108 @@ inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Swap(TOctr
 /*----------------------------------------------------------------*/
 
 
-// destroy tree
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-inline typename TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::POINT_TYPE TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::ComputeChildCenter(const POINT_TYPE& center, TYPE radius, unsigned idxChild)
-{
-	struct CENTERARR_TYPE {
-		POINT_TYPE child[CELL_TYPE::numChildren];
-		inline CENTERARR_TYPE() { CELL_TYPE::ComputeCenter(child); }
-	};
-	static const CENTERARR_TYPE centers;
-	return center + centers.child[idxChild] * radius;
-} // ComputeChildCenter
-/*----------------------------------------------------------------*/
-
 // add the given item to the tree
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_Insert(CELL_TYPE& cell, TYPE radius, IDXARR_TYPE childrenIndices[])
-{
-	ASSERT(!cell.IsLeaf());
-	// setup each cell
-	const POINT_TYPE& center = cell.Node().center;
-	const TYPE childRadius = radius / TYPE(2);
-	for (int i=0; i<CELL_TYPE::numChildren; ++i) {
-		IDXARR_TYPE& childIndices = childrenIndices[i];
-		CELL_TYPE& child = cell.m_child[i];
-		// if this child cell needs to be divided further
-		if (childIndices.GetSize() > OCTREE_CELLITEMS && (NOM == 0 || childRadius > OCTREE_CELLRADIUS)) {
-			// proceed recursively
-			const POINT_TYPE childCenter(ComputeChildCenter(center, childRadius, i));
-			_Insert(child, childCenter, childRadius, childIndices);
-		} else {
-			// init leaf
-			typename CELL_TYPE::LEAF_TYPE& leaf = child.Leaf();
-			leaf.idxBegin = m_indices.GetSize();
-			leaf.size = (typename CELL_TYPE::SIZE_TYPE)childIndices.GetSize();
-			// store items
-			m_indices.Join(childIndices);
-			childIndices.Release();
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+template <typename Functor, bool bForceSplit>
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_Insert(CELL_TYPE& cell, const POINT_TYPE& center, TYPE radius, IDX_TYPE start, IDX_TYPE size, _InsertData<Functor>& insertData)
+{
+	ASSERT(size > 0);
+	// if this child cell needs to be divided further
+	if (bForceSplit || insertData.split(size, radius)) {
+		// init node and proceed recursively
+		cell.m_child = new CELL_TYPE[CELL_TYPE::numChildren];
+		cell.Node().center = center;
+		struct ChildData {
+			enum { ESTART=0, EEND=CELL_TYPE::numChildren, ESIZE=CELL_TYPE::numChildren*2, EALL=CELL_TYPE::numChildren*3};
+			IDX_TYPE data[EALL];
+			ChildData() { memset(data, 0, sizeof(IDX_TYPE)*EALL); }
+			inline IDX_TYPE Start(unsigned i) const { return data[ESTART+i]; }
+			inline IDX_TYPE& Start(unsigned i) { return data[ESTART+i]; }
+			inline IDX_TYPE End(unsigned i) const { return data[EEND+i]; }
+			inline IDX_TYPE& End(unsigned i) { return data[EEND+i]; }
+			inline IDX_TYPE Size(unsigned i) const { return data[ESIZE+i]; }
+			inline IDX_TYPE& Size(unsigned i) { return data[ESIZE+i]; }
+		} childD;
+		IDX_TYPE idx(start);
+		for (IDX_TYPE i=0; i<size; ++i) {
+			const unsigned idxChild(cell.ComputeChild(GetItem(idx)));
+			if (childD.Size(idxChild) == 0)
+				childD.Start(idxChild) = idx;
+			else
+				insertData.successors[childD.End(idxChild)] = idx;
+			childD.End(idxChild) = idx;
+			++childD.Size(idxChild);
+			idx = insertData.successors[idx];
 		}
+		ASSERT(idx == _InsertData<Functor>::NO_INDEX);
+		const TYPE childRadius(radius / TYPE(2));
+		for (unsigned i=0; i<CELL_TYPE::numChildren; ++i) {
+			CELL_TYPE& child = cell.m_child[i];
+			if (childD.Size(i) == 0) {
+				child.Leaf().idxBegin = m_indices.size();
+				child.Leaf().size = 0;
+				continue;
+			}
+			insertData.successors[childD.End(i)] = _InsertData<Functor>::NO_INDEX; // mark the end of child successors
+			const POINT_TYPE childCenter(CELL_TYPE::ComputeChildCenter(center, childRadius, i));
+			_Insert<Functor,false>(child, childCenter, childRadius, childD.Start(i), childD.Size(i), insertData);
+		}
+	} else {
+		// init leaf
+		cell.Leaf().idxBegin = m_indices.size();
+		cell.Leaf().size = (SIZE_TYPE)size;
+		for (IDX_TYPE idx=start; idx!=_InsertData<Functor>::NO_INDEX; idx=insertData.successors[idx])
+			m_indices.push_back(idx);
 	}
 } // _Insert
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_Insert(CELL_TYPE& cell, const POINT_TYPE& center, TYPE radius, IDXARR_TYPE& indices)
-{
-	ASSERT(cell.IsLeaf());
-	ASSERT(indices.GetSize() > OCTREE_CELLITEMS);
-	ASSERT(NOM == 0 || radius > OCTREE_CELLRADIUS);
-	// divide cell
-	// transform this cell in node
-	cell.m_child = new CELL_TYPE[CELL_TYPE::numChildren];
-	cell.Node().center = center;
-	// divide the items in separate indices lists corresponding to each child
-	const size_t reserveSize = indices.GetSize() / 3;
-	IDXARR_TYPE childrenIndices[CELL_TYPE::numChildren];
-	for (int i=0; i<CELL_TYPE::numChildren; ++i)
-		childrenIndices[i].Reserve(reserveSize);
-	FOREACHPTR(it, indices) {
-		const unsigned idx = cell.ComputeChild((const POINT_TYPE)m_items[*it]);
-		childrenIndices[idx].Insert(*it);
-	}
-	indices.Release();
-	// setup each cell
-	_Insert(cell, radius, childrenIndices);
-} // _Insert
 /*----------------------------------------------------------------*/
 
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Insert(const ITEMARR_TYPE& items, const AABB_TYPE& aabb)
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+template <typename Functor>
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Insert(const ITEMARR_TYPE& items, const AABB_TYPE& aabb, Functor split)
 {
 	Release();
-	m_items = items.Begin();
-	m_radius = GetRadius(aabb);
-	// build tree
+	m_items = items.data();
 	// create root as node, even if we do not need to divide
-	m_indices.Reserve(items.GetSize());
+	m_indices.Reserve(items.size());
 	// divide cell
 	m_root.m_child = new CELL_TYPE[CELL_TYPE::numChildren];
 	m_root.Node().center = aabb.GetCenter();
-	// divide the items in separate indices lists corresponding to each child
-	const size_t reserveSize = items.GetSize() / 3;
-	IDXARR_TYPE childrenIndices[CELL_TYPE::numChildren];
-	for (int i=0; i<CELL_TYPE::numChildren; ++i)
-		childrenIndices[i].Reserve(reserveSize);
-	FOREACH(i, items) {
-		const unsigned idx = m_root.ComputeChild((const POINT_TYPE)items[i]);
-		childrenIndices[idx].Insert(i);
-	}
+	m_radius = aabb.GetSize().maxCoeff()/Type(2);
+	// single connected list of next item indices
+	_InsertData<Functor> insertData = {items.size(), split};
+	std::iota(insertData.successors.begin(), insertData.successors.end(), IDX_TYPE(1));
+	insertData.successors.back() = _InsertData<Functor>::NO_INDEX;
 	// setup each cell
-	_Insert(m_root, m_radius, childrenIndices);
+	_Insert<Functor,true>(m_root, m_root.GetCenter(), m_radius, 0, items.size(), insertData);
 }
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Insert(const ITEMARR_TYPE& items)
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+template <typename Functor>
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Insert(const ITEMARR_TYPE& items, Functor split)
 {
 	ASSERT(!items.IsEmpty());
-	AABB_TYPE aabb;
 	ASSERT(sizeof(POINT_TYPE) == sizeof(typename ITEMARR_TYPE::Type));
-	aabb.Set((const POINT_TYPE*)items.Begin(), items.GetSize());
+	AABB_TYPE aabb((const POINT_TYPE*)items.data(), items.size());
 	aabb.Enlarge(ZEROTOLERANCE<TYPE>()*TYPE(10));
-	Insert(items, aabb);
+	Insert(items, aabb, split);
 } // Insert
 /*----------------------------------------------------------------*/
 
 
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename INSERTER>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_CollectCells(const CELL_TYPE& cell, INSERTER& inserter) const
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CollectCells(const CELL_TYPE& cell, INSERTER& inserter) const
 {
 	if (cell.IsLeaf()) {
-		inserter(m_indices.Begin()+cell.Leaf().idxBegin, cell.GetNumItems());
+		inserter(m_indices.data()+cell.GetFirstItemIdx(), cell.GetNumItems());
 		return;
 	}
 	for (int i=0; i<CELL_TYPE::numChildren; ++i)
-		_CollectCells(cell.m_child[i], inserter);
+		CollectCells(cell.m_child[i], inserter);
 }
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename PARSER>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_ParseCells(CELL_TYPE& cell, TYPE radius, PARSER& parser)
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_ParseCells(CELL_TYPE& cell, TYPE radius, PARSER& parser)
 {
 	if (cell.IsLeaf()) {
 		parser(cell, radius);
@@ -288,16 +272,16 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_ParseCells(CELL_
 /*----------------------------------------------------------------*/
 
 // calls parser for each leaf of the octree (the IDX_TYPE operator has to be defined)
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename INSERTER>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::CollectCells(INSERTER& inserter) const
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CollectCells(INSERTER& inserter) const
 {
-	_CollectCells(m_root, inserter);
+	CollectCells(m_root, inserter);
 }
 // calls parser for each leaf of the octree (the CELL_TYPE operator has to be defined)
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename PARSER>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::ParseCells(PARSER& parser)
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::ParseCells(PARSER& parser)
 {
 	_ParseCells(m_root, m_radius, parser);
 }
@@ -305,15 +289,15 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::ParseCells(PARSER
 
 
 // find all items contained by the given bounding box
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename INSERTER>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_Collect(const CELL_TYPE& cell, const AABB_TYPE& aabb, INSERTER& inserter) const
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_Collect(const CELL_TYPE& cell, const AABB_TYPE& aabb, INSERTER& inserter) const
 {
 	if (cell.IsLeaf()) {
 		// add all items contained by the bounding-box
-		for (IDX i=0; i<cell.Leaf().size; ++i) {
-			const IDX idx = m_indices[cell.Leaf().idxBegin + i];
-			if (aabb.Intersects((const POINT_TYPE)m_items[idx]))
+		for (IDX_TYPE i=0; i<cell.Leaf().size; ++i) {
+			const IDX_TYPE idx = m_indices[cell.Leaf().idxBegin + i];
+			if (aabb.Intersects(GetItem(idx)))
 				inserter(idx);
 		}
 		return;
@@ -353,17 +337,17 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_Collect(const CE
 	}
 } // Collect
 // find all items contained by the cells intersected by the given line
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename INSERTER, typename COLLECTOR>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_Collect(const CELL_TYPE& cell, TYPE radius, const COLLECTOR& collector, INSERTER& inserter) const
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_Collect(const CELL_TYPE& cell, TYPE radius, const COLLECTOR& collector, INSERTER& inserter) const
 {
 	ASSERT(!cell.IsLeaf());
 	const TYPE childRadius = radius / TYPE(2);
 	for (int i=0; i<CELL_TYPE::numChildren; ++i) {
 		const CELL_TYPE& childCell = cell.m_child[i];
 		if (childCell.IsLeaf()) {
-			if (collector.Intersects(ComputeChildCenter(cell.GetCenter(), childRadius, i), childRadius))
-				inserter(m_indices.Begin()+childCell.Leaf().idxBegin, childCell.GetNumItems());
+			if (collector.Intersects(CELL_TYPE::ComputeChildCenter(cell.GetCenter(), childRadius, i), childRadius))
+				inserter(m_indices.data()+childCell.GetFirstItemIdx(), childCell.GetNumItems());
 		} else {
 			if (collector.Intersects(childCell.Node().center, childRadius))
 				_Collect(childCell, childRadius, collector, inserter);
@@ -372,66 +356,66 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_Collect(const CE
 } // Collect
 /*----------------------------------------------------------------*/
 
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename INSERTER>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Collect(INSERTER& inserter, const AABB_TYPE& aabb) const
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(INSERTER& inserter, const AABB_TYPE& aabb) const
 {
 	_Collect(m_root, aabb, inserter);
 }
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Collect(IDXARR_TYPE& indices, const AABB_TYPE& aabb) const
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(IDXARR_TYPE& indices, const AABB_TYPE& aabb) const
 {
 	_Collect(m_root, aabb, IndexInserter(indices));
 }
 
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename INSERTER>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Collect(INSERTER& inserter, const POINT_TYPE& center, TYPE radius) const
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(INSERTER& inserter, const POINT_TYPE& center, TYPE radius) const
 {
 	_Collect(m_root, AABB_TYPE(center, radius), inserter);
 }
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Collect(IDXARR_TYPE& indices, const POINT_TYPE& center, TYPE radius) const
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(IDXARR_TYPE& indices, const POINT_TYPE& center, TYPE radius) const
 {
 	_Collect(m_root, AABB_TYPE(center, radius), IndexInserter(indices));
 }
 
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename INSERTER, typename COLLECTOR>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Collect(INSERTER& inserter, const COLLECTOR& collector) const
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(INSERTER& inserter, const COLLECTOR& collector) const
 {
 	_Collect(m_root, m_radius, collector, inserter);
 }
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename COLLECTOR>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Collect(IDXARR_TYPE& indices, const COLLECTOR& collector) const
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(IDXARR_TYPE& indices, const COLLECTOR& collector) const
 {
 	_Collect(m_root, m_radius, collector, IndexInserter(indices));
 }
 
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Collect(IDX_TYPE maxNeighbors, IDXARR_TYPE& indices, const AABB_TYPE& aabb) const
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(IDX_TYPE maxNeighbors, IDXARR_TYPE& indices, const AABB_TYPE& aabb) const
 {
 	_Collect(m_root, aabb, IndexInserter(indices));
-	if (indices.GetSize() > maxNeighbors) {
+	if (indices.size() > maxNeighbors) {
 		// keep only the closest neighbors
 		typedef TIndexScore<IDX_TYPE,TYPE> ItemIndexScore;
 		typedef cList<ItemIndexScore, const ItemIndexScore&, 0> ItemIndexScoreArr;
-		ItemIndexScoreArr indexscores(indices.GetSize());
+		ItemIndexScoreArr indexscores(indices.size());
 		const POINT_TYPE center(aabb.GetCenter());
 		FOREACH(i, indices) {
 			const IDX_TYPE& idx = indices[i];
-			const TYPE score(-(center-(const POINT_TYPE)m_items[idx]).squaredNorm());
+			const TYPE score(-(center-GetItem(idx)).squaredNorm());
 			indexscores[i] = ItemIndexScore(idx,score);
 		}
 		indices.Empty();
 		indexscores.Sort();
-		for (IDX i=0; i<maxNeighbors; ++i)
+		for (IDX_TYPE i=0; i<maxNeighbors; ++i)
 			indices.Insert(indexscores[i].idx);
 	}
 }
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Collect(IDX_TYPE maxNeighbors, IDXARR_TYPE& indices, const POINT_TYPE& center, TYPE radius) const
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(IDX_TYPE maxNeighbors, IDXARR_TYPE& indices, const POINT_TYPE& center, TYPE radius) const
 {
 	Collect(maxNeighbors, indices, AABB_TYPE(center, radius));
 } // Collect
@@ -439,9 +423,9 @@ inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Collect(ID
 
 
 // walk through the tree and collect visible indices
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename FTYPE, int FDIMS, typename INSERTER>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_Traverse(const CELL_TYPE& cell, TYPE radius, const TFrustum<FTYPE,FDIMS>& frustum, INSERTER& inserter) const
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_Traverse(const CELL_TYPE& cell, TYPE radius, const TFrustum<FTYPE,FDIMS>& frustum, INSERTER& inserter) const
 {
 	ASSERT(!cell.IsLeaf());
 	switch (frustum.Classify(cell.GetAabb(radius))) {
@@ -450,9 +434,9 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_Traverse(const C
 		for (int i=0; i<CELL_TYPE::numChildren; ++i) {
 			const CELL_TYPE& childCell = cell.m_child[i];
 			if (childCell.IsLeaf()) {
-				const AABB_TYPE childAabb(ComputeChildCenter(cell.GetCenter(), childRadius, i), childRadius);
+				const AABB_TYPE childAabb(CELL_TYPE::ComputeChildCenter(cell.GetCenter(), childRadius, i), childRadius);
 				if (frustum.Classify(childAabb) != CULLED)
-					inserter(m_indices.Begin()+childCell.Leaf().idxBegin, childCell.GetNumItems());
+					inserter(m_indices.data()+childCell.GetFirstItemIdx(), childCell.GetNumItems());
 			} else {
 				_Traverse(childCell, childRadius, frustum, inserter);
 			}
@@ -460,14 +444,14 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_Traverse(const C
 		break; }
 	case VISIBLE: {
 		for (int i=0; i<CELL_TYPE::numChildren; ++i)
-			_CollectCells(cell.m_child[i], inserter);
+			CollectCells(cell.m_child[i], inserter);
 		break; }
 	}
 }
 // walk through the tree and collect visible leafs
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename FTYPE, int FDIMS, typename PARSER>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_TraverseCells(CELL_TYPE& cell, TYPE radius, const TFrustum<FTYPE,FDIMS>& frustum, PARSER& parser)
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_TraverseCells(CELL_TYPE& cell, TYPE radius, const TFrustum<FTYPE,FDIMS>& frustum, PARSER& parser)
 {
 	ASSERT(!cell.IsLeaf());
 	switch (frustum.Classify(cell.GetAabb(radius))) {
@@ -476,7 +460,7 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_TraverseCells(CE
 		for (int i=0; i<CELL_TYPE::numChildren; ++i) {
 			const CELL_TYPE& childCell = cell.m_child[i];
 			if (childCell.IsLeaf()) {
-				const AABB_TYPE childAabb(ComputeChildCenter(cell.GetCenter(), childRadius, i), childRadius);
+				const AABB_TYPE childAabb(CELL_TYPE::ComputeChildCenter(cell.GetCenter(), childRadius, i), childRadius);
 				if (frustum.Classify(childAabb) != CULLED)
 					parser(childCell);
 			} else {
@@ -491,36 +475,253 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_TraverseCells(CE
 	}
 }
 
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename FTYPE, int FDIMS, typename INSERTER>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Traverse(const TFrustum<FTYPE,FDIMS>& frustum, INSERTER& inserter) const
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Traverse(const TFrustum<FTYPE,FDIMS>& frustum, INSERTER& inserter) const
 {
 	_Traverse(m_root, m_radius, frustum, inserter);
 }
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename FTYPE, int FDIMS>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::Traverse(const TFrustum<FTYPE,FDIMS>& frustum, IDXARR_TYPE& indices) const
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Traverse(const TFrustum<FTYPE,FDIMS>& frustum, IDXARR_TYPE& indices) const
 {
 	_Traverse(m_root, m_radius, frustum, IndexInserter(indices));
 }
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename FTYPE, int FDIMS, typename PARSER>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::TraverseCells(const TFrustum<FTYPE,FDIMS>& frustum, PARSER& parser)
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::TraverseCells(const TFrustum<FTYPE,FDIMS>& frustum, PARSER& parser)
 {
 	_TraverseCells(m_root, m_radius, frustum, parser);
 }
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename FTYPE, int FDIMS>
-inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::TraverseCells(const TFrustum<FTYPE,FDIMS>& frustum, CELLPTRARR_TYPE& leaves)
+inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::TraverseCells(const TFrustum<FTYPE,FDIMS>& frustum, CELLPTRARR_TYPE& leaves)
 {
 	_TraverseCells(m_root, m_radius, frustum, CellInserter(leaves));
 } // Traverse
 /*----------------------------------------------------------------*/
 
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+template <typename AREAESTIMATOR, typename CHUNKINSERTER>
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_SplitVolume(const CELL_TYPE& parentCell, TYPE parentRadius, unsigned idxChild, float maxArea, AREAESTIMATOR& areaEstimator, CHUNKINSERTER& chunkInserter, const UnsignedArr& indices)
+{
+	ASSERT(!indices.empty());
+	typedef std::pair<UnsignedArr,UnsignedArr> PairIndices;
+	struct GenerateSamples {
+		const UnsignedArr& indices;
+		const unsigned numSamples;
+		const unsigned halfSamples;
+		const unsigned numCommonAxis;
+		POINT_TYPE centers[8];
+		cList<PairIndices> arrHalfIndices;
+		GenerateSamples(const UnsignedArr& _indices)
+			: indices(_indices), numSamples((unsigned)indices.size()), halfSamples(numSamples/2), numCommonAxis(halfSamples==4?1:2), arrHalfIndices(0, numSamples)
+		{
+			ASSERT(indices.size()%2 == 0 && indices.IsSorted());
+			ASSERT(halfSamples == 4 || halfSamples == 2);
+			CELL_TYPE::ComputeCenter(centers);
+			UnsignedArr samples(halfSamples);
+			for (unsigned hs=0; hs<halfSamples; ++hs) {
+				samples[0] = hs;
+				GenerateIndices(1, samples);
+			}
+		}
+		void GenerateIndices(unsigned idxSample, UnsignedArr& samples) {
+			if (idxSample == samples.size()) {
+				InsertIndices(samples);
+				return;
+			}
+			for (unsigned i=samples[idxSample-1]+1; i<numSamples; ++i) {
+				samples[idxSample] = i;
+				GenerateIndices(idxSample+1, samples);
+			}
+		}
+		void InsertIndices(const UnsignedArr& samples) {
+			UnsignedArr halfIndices(halfSamples);
+			for (unsigned s=0; s<halfSamples; ++s)
+				halfIndices[s] = indices[samples[s]];
+			// check all samples have one/two common axis
+			unsigned commonAxis(0);
+			for (unsigned a=0; a<3; ++a) {
+				unsigned na(1);
+				for (unsigned s=1; s<halfSamples; ++s) {
+					if (centers[halfIndices[0]][a] == centers[halfIndices[s]][a])
+						++na;
+				}
+				if (na == halfSamples && ++commonAxis == numCommonAxis)
+					goto CommonAxis;
+			}
+			return;
+			CommonAxis:
+			// check not complementary samples
+			for (const PairIndices& pairHalfIndices: arrHalfIndices) {
+				unsigned nCommon(0);
+				for (unsigned s=0; s<halfSamples; ++s)
+					if (halfIndices[s] == pairHalfIndices.second[s])
+						++nCommon;
+				if (nCommon == halfSamples)
+					return;
+			}
+			// generate complementary indices
+			ASSERT(halfIndices.IsSorted());
+			UnsignedArr compHalfIndices(0, halfSamples);
+			unsigned i(0);
+			for (unsigned idx: indices) {
+				if (i < halfSamples && idx == halfIndices[i])
+					++i;
+				else
+					compHalfIndices.push_back(idx);
+			}
+			ASSERT(compHalfIndices.size() == halfSamples);
+			ASSERT(compHalfIndices.IsSorted());
+			arrHalfIndices.emplace_back(std::move(halfIndices), std::move(compHalfIndices));
+		}
+	};
+	const CELL_TYPE& cell(parentCell.GetChild(idxChild));
+	const TYPE radius(parentRadius / TYPE(2));
+	// handle particular cases
+	if (cell.IsLeaf()) {
+		chunkInserter(parentCell, parentRadius, UnsignedArr{idxChild});
+		return;
+	}
+	if (indices.size() == 1) {
+		_SplitVolume(cell, radius, indices.front(), maxArea, areaEstimator, chunkInserter);
+		return;
+	}
+	if (indices.size() == 2) {
+		_SplitVolume(cell, radius, indices.front(), maxArea, areaEstimator, chunkInserter);
+		_SplitVolume(cell, radius, indices.back(), maxArea, areaEstimator, chunkInserter);
+		return;
+	}
+	// measure surface area for each child
+	float childArea[8], totalArea(0);
+	for (unsigned c=0; c<8; ++c) {
+		CollectCells(cell.GetChild(c), areaEstimator);
+		totalArea += childArea[c] = areaEstimator.PopArea();
+	}
+	if (totalArea < maxArea*1.01f) {
+		chunkInserter(parentCell, parentRadius, UnsignedArr{idxChild});
+		return;
+	}
+	// check if all parts are over the limit
+	unsigned numOverAreas(0);
+	for (unsigned c: indices)
+		if (childArea[c] == 0 || childArea[c] >= maxArea)
+			++numOverAreas;
+	if (numOverAreas == indices.size()) {
+		for (unsigned c: indices)
+			if (childArea[c] > 0)
+				_SplitVolume(cell, radius, c, maxArea, areaEstimator, chunkInserter);
+		return;
+	}
+	// split mesh children and retain the components with surface smaller than the given area
+	const cList<PairIndices> halfIndices(std::move(GenerateSamples(indices).arrHalfIndices));
+	IDX bestSplit(NO_ID);
+	float bestArea(0);
+	Point2f bestAs;
+	FOREACH(idx, halfIndices) {
+		const PairIndices& pairHalfIndices = halfIndices[idx];
+		ASSERT(pairHalfIndices.first.size() == pairHalfIndices.second.size());
+		Point2f as(Point2f::ZERO);
+		for (unsigned i=0; i<pairHalfIndices.first.size(); ++i) {
+			as[0] += childArea[pairHalfIndices.first[i]];
+			as[1] += childArea[pairHalfIndices.second[i]];
+		}
+		for (unsigned i=0; i<2; ++i) {
+			if (as[i] < maxArea && bestArea < as[i]) {
+				bestArea = as[i];
+				bestAs = as;
+				bestSplit = idx;
+			}
+		}
+	}
+	if (bestSplit != NO_ID) {
+		// store found clusters
+		const PairIndices& pairHalfIndices = halfIndices[bestSplit];
+		if (bestAs[0] < maxArea)
+			chunkInserter(cell, radius, pairHalfIndices.first);
+		else
+			_SplitVolume(parentCell, parentRadius, idxChild, maxArea, areaEstimator, chunkInserter, pairHalfIndices.first);
+		if (bestAs[1] < maxArea)
+			chunkInserter(cell, radius, pairHalfIndices.second);
+		else
+			_SplitVolume(parentCell, parentRadius, idxChild, maxArea, areaEstimator, chunkInserter, pairHalfIndices.second);
+		return;
+	}
+	// farther split each half into quarters
+	if (halfIndices.front().first.size() == 4) {
+		UnsignedArr bestQIndices[4];
+		float bestArea(0);
+		Eigen::Vector4f bestAs;
+		for (const PairIndices& pairHalfIndices: halfIndices) {
+			const cList<PairIndices> qIndicesFirst(std::move(GenerateSamples(pairHalfIndices.first).arrHalfIndices));
+			const cList<PairIndices> qIndicesSecond(std::move(GenerateSamples(pairHalfIndices.second).arrHalfIndices));
+			ASSERT(qIndicesFirst.size() == qIndicesSecond.size());
+			FOREACH(q, qIndicesFirst) {
+				const PairIndices& qFirst = qIndicesFirst[q];
+				const PairIndices& qSecond = qIndicesSecond[q];
+				Eigen::Vector4f as(Eigen::Vector4f::Zero());
+				for (unsigned i=0; i<qFirst.first.size(); ++i) {
+					as[0] += childArea[qFirst.first[i]];
+					as[1] += childArea[qFirst.second[i]];
+					as[2] += childArea[qSecond.first[i]];
+					as[3] += childArea[qSecond.second[i]];
+				}
+				float area(0);
+				for (unsigned i=0; i<4; ++i) {
+					if (as[i] < maxArea)
+						area += as[i];
+				}
+				if (bestArea < area) {
+					bestArea = area;
+					bestAs = as;
+					bestQIndices[0] = qFirst.first;
+					bestQIndices[1] = qFirst.second;
+					bestQIndices[2] = qSecond.first;
+					bestQIndices[3] = qSecond.second;
+				}
+			}
+		}
+		if (bestArea > 0) {
+			// store found clusters
+			for (unsigned i=0; i<4; ++i) {
+				if (bestAs[i] < maxArea) {
+					chunkInserter(cell, radius, bestQIndices[i]);
+				} else {
+					_SplitVolume(cell, radius, bestQIndices[i][0], maxArea, areaEstimator, chunkInserter);
+					_SplitVolume(cell, radius, bestQIndices[i][1], maxArea, areaEstimator, chunkInserter);
+				}
+			}
+			return;
+		}
+	}
+	// split each child
+	for (unsigned c: indices) {
+		if (childArea[c] == 0)
+			continue;
+		if (childArea[c] < maxArea)
+			chunkInserter(cell, radius, UnsignedArr{c});
+		else
+			_SplitVolume(cell, radius, c, maxArea, areaEstimator, chunkInserter);
+	}
+}
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+template <typename AREAESTIMATOR, typename CHUNKINSERTER>
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::SplitVolume(float maxArea, AREAESTIMATOR& areaEstimator, CHUNKINSERTER& chunkInserter)
+{
+	CELL_TYPE parent;
+	parent.m_child = new CELL_TYPE[1];
+	parent.m_child[0] = m_root;
+	parent.Node().center = m_root.Node().center + POINT_TYPE::Constant(m_radius);
+	_SplitVolume(parent, m_radius*TYPE(2), 0, maxArea, areaEstimator, chunkInserter);
+	parent.m_child[0].m_child = NULL;
+} // SplitVolume
+/*----------------------------------------------------------------*/
+
 
 #ifndef _RELEASE
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_GetDebugInfo(const CELL_TYPE& cell, unsigned nDepth, DEBUGINFO& info) const
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_GetDebugInfo(const CELL_TYPE& cell, unsigned nDepth, DEBUGINFO& info) const
 {
 	if (cell.IsLeaf()) {
 		if (info.minDepth > nDepth)
@@ -537,8 +738,8 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::_GetDebugInfo(con
 		_GetDebugInfo(cell.m_child[i], nDepth, info);
 }
 
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::GetDebugInfo(DEBUGINFO* pInfo, bool bPrintStats) const
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::GetDebugInfo(DEBUGINFO* pInfo, bool bPrintStats) const
 {
 	DEBUGINFO localInfo;
 	DEBUGINFO& info = (pInfo ? *pInfo : localInfo);
@@ -555,8 +756,8 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::GetDebugInfo(DEBU
 } // GetDebugInfo
 /*----------------------------------------------------------------*/
 
-template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE, int SIZE, int NOM, int DENOM>
-void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE,SIZE,NOM,DENOM>::LogDebugInfo(const DEBUGINFO& info)
+template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
+void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::LogDebugInfo(const DEBUGINFO& info)
 {
 	//VERBOSE("NoItems: %d; Mem %s; MemItems %s; MemStruct %s; AvgMemStruct %.2f%%%%; NoNodes %d; NoLeaf %d; AvgLeaf %.2f%%%%; AvgDepth %.2f; MinDepth %d; MaxDepth %d",
 	VERBOSE("NumItems %d; Mem %s (%s items, %s struct - %.2f%%%%); NumNodes %d (leaves %d - %.2f%%%%); Depth %.2f (%d min, %d max)",
@@ -574,7 +775,7 @@ inline bool OctreeTest(unsigned iters, unsigned maxItems=1000, bool bRandom=true
 	srand(bRandom ? (unsigned)time(NULL) : 0);
 	typedef Eigen::Matrix<TYPE,DIMS,1> POINT_TYPE;
 	typedef SEACAVE::cList<POINT_TYPE,const POINT_TYPE&,0> TestArr;
-	typedef TOctree<TestArr,TYPE,DIMS,uint32_t,16,10,1> TestTree;
+	typedef TOctree<TestArr,TYPE,DIMS,uint32_t> TestTree;
 	const TYPE ptMinData[] = {0,0,0}, ptMaxData[] = {640,480,240};
 	typename TestTree::AABB_TYPE aabb;
 	aabb.Set(Eigen::Map<const POINT_TYPE>(ptMinData), Eigen::Map<const POINT_TYPE>(ptMaxData));
@@ -600,7 +801,9 @@ inline bool OctreeTest(unsigned iters, unsigned maxItems=1000, bool bRandom=true
 		if (DIMS > 2) pt(2) = RAND()%ROUND2INT(ptMaxData[2]);
 		const TYPE radius(TYPE(3+RAND()%30));
 		// build octree and find interest items
-		TestTree tree(items, aabb);
+		TestTree tree(items, aabb, [](typename TestTree::IDX_TYPE size, typename TestTree::Type radius) {
+			return size > 16 && radius > 10;
+		});
 		typename TestTree::IDXARR_TYPE indices;
 		tree.Collect(indices, pt, radius);
 		// find interest items by brute force
@@ -620,7 +823,7 @@ inline bool OctreeTest(unsigned iters, unsigned maxItems=1000, bool bRandom=true
 		// compare results
 		unsigned nMatches = 0;
 		FOREACH(i, trueIndices) {
-			const IDX idx = trueIndices[i];
+			const typename TestTree::IDX_TYPE idx = trueIndices[i];
 			FOREACH(j, indices) {
 				if (indices[j] == idx) {
 					++nMatches;
@@ -629,8 +832,8 @@ inline bool OctreeTest(unsigned iters, unsigned maxItems=1000, bool bRandom=true
 			}
 		}
 		nTotalMatches += nMatches;
-		nTotalMissed += trueIndices.GetSize()-nMatches;
-		nTotalExtra += indices.GetSize()-nMatches;
+		nTotalMissed += trueIndices.size()-nMatches;
+		nTotalExtra += indices.size()-nMatches;
 		#ifndef _RELEASE
 		// print stats
 		typename TestTree::DEBUGINFO_TYPE info;
diff --git a/libs/Common/Plane.h b/libs/Common/Plane.h
index a293c94d2..7cd439207 100644
--- a/libs/Common/Plane.h
+++ b/libs/Common/Plane.h
@@ -64,6 +64,15 @@ class TPlane
 
 	inline TYPE& operator [] (BYTE i) { ASSERT(i<=DIMS); return m_vN.data()[i]; }
 	inline TYPE operator [] (BYTE i) const { ASSERT(i<=DIMS); return m_vN.data()[i]; }
+
+	#ifdef _USE_BOOST
+	// implement BOOST serialization
+	template<class Archive>
+	void serialize(Archive& ar, const unsigned int /*version*/) {
+		ar & m_vN;
+		ar & m_fD;
+	}
+	#endif
 }; // class TPlane
 /*----------------------------------------------------------------*/
 
@@ -106,6 +115,14 @@ class TFrustum
 
 	inline TYPE& operator [] (BYTE i) { ASSERT(i<DIMS); return m_planes[i]; }
 	inline TYPE operator [] (BYTE i) const { ASSERT(i<DIMS); return m_planes[i]; }
+
+	#ifdef _USE_BOOST
+	// implement BOOST serialization
+	template<class Archive>
+	void serialize(Archive& ar, const unsigned int /*version*/) {
+		ar & m_planes;
+	}
+	#endif
 }; // class TPlane
 /*----------------------------------------------------------------*/
 
diff --git a/libs/Common/Rotation.h b/libs/Common/Rotation.h
index 87761e56e..22d00a356 100644
--- a/libs/Common/Rotation.h
+++ b/libs/Common/Rotation.h
@@ -280,9 +280,6 @@ class TRMatrixBase : public TMatrix<TYPE,3,3>
 	inline TRMatrixBase(const BaseBase& rhs) : Base(rhs) {}
 	template <typename T> inline TRMatrixBase(const cv::Matx<T,3,3>& rhs) : Base(rhs) {}
 
-	/** @brief Copy constructor from rotation matrix */
-	inline TRMatrixBase(const TRMatrixBase& r);
-
 	/** @brief Copy constructor from 3x3 matrix
 		@attention Orthonormality of matrix is enforced automatically! */
 	inline TRMatrixBase(const Mat& mat);
@@ -299,8 +296,6 @@ class TRMatrixBase : public TMatrix<TYPE,3,3>
 	/** @brief Initialization with the rotation from roll/pitch/yaw (in rad) */
 	inline TRMatrixBase(TYPE roll, TYPE pitch, TYPE yaw);
 
-	inline ~TRMatrixBase();
-
 	template <typename T> inline TRMatrixBase& operator = (const cv::Matx<T,3,3>& rhs) { BaseBase::operator = (rhs); return *this; }
 	inline TRMatrixBase& operator = (const cv::Mat& rhs) { BaseBase::operator = (rhs); return *this; }
 	#ifdef _USE_EIGEN
diff --git a/libs/Common/Rotation.inl b/libs/Common/Rotation.inl
index 212d6c075..fb9b4e1d5 100644
--- a/libs/Common/Rotation.inl
+++ b/libs/Common/Rotation.inl
@@ -521,13 +521,6 @@ inline TRMatrixBase<TYPE>::TRMatrixBase()
   : Base(Base::IDENTITY)
 {}
 
-template <typename TYPE>
-inline TRMatrixBase<TYPE>::TRMatrixBase(const TRMatrixBase<TYPE>& r)
-  : Base(r)
-{
-	ASSERT(Check(R_CONSTRAINT_ACCURACY));
-}
-
 template <typename TYPE>
 inline TRMatrixBase<TYPE>::TRMatrixBase(const Mat& mat)
   : Base(mat)
@@ -559,10 +552,6 @@ inline TRMatrixBase<TYPE>::TRMatrixBase(TYPE roll, TYPE pitch, TYPE yaw)
 	SetXYZ(roll, pitch, yaw);
 }
 
-template <typename TYPE>
-inline TRMatrixBase<TYPE>::~TRMatrixBase()
-{}
-
 
 template <typename TYPE>
 void TRMatrixBase<TYPE>::SetXYZ(TYPE PhiX, TYPE PhiY, TYPE PhiZ)
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 631f024ce..11ae8f67d 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -268,7 +268,6 @@ int _vscprintf(LPCSTR format, va_list pargs);
 #endif //_MSC_VER
 
 #define DECLARE_NO_INDEX(...) std::numeric_limits<__VA_ARGS__>::max()
-#define NO_ID				DECLARE_NO_INDEX(uint32_t)
 
 #ifndef MAKEWORD
 #define MAKEWORD(a, b)		((WORD)(((BYTE)(((DWORD)(a)) & 0xff)) | ((WORD)((BYTE)(((DWORD)(b)) & 0xff))) << 8))
@@ -311,6 +310,10 @@ int _vscprintf(LPCSTR format, va_list pargs);
 #define MAXF                std::max
 #endif
 
+#ifndef RAND
+#define RAND			    std::rand
+#endif
+
 namespace SEACAVE {
 
 // signed and unsigned types of the size of the architecture
@@ -329,7 +332,10 @@ typedef int64_t     	    size_f_t;
 // type used as the default floating number precision
 typedef double              REAL;
 
-template <typename TYPE, typename REALTYPE=REAL>
+// invalid index
+constexpr uint32_t NO_ID = DECLARE_NO_INDEX(uint32_t);
+
+template<typename TYPE, typename REALTYPE=REAL>
 struct RealType { typedef typename std::conditional<std::is_floating_point<TYPE>::value, TYPE, REALTYPE>::type type; };
 
 template<typename T>
@@ -341,15 +347,11 @@ inline T MAXF3(const T& x1, const T& x2, const T& x3) {
 	return MAXF(MAXF(x1, x2), x3);
 }
 
-#ifndef RAND
-#define RAND			std::rand
-#endif
 template<typename T>
 FORCEINLINE T RANDOM() { return T(RAND())/RAND_MAX; }
 
 template<typename T1, typename T2>
-union TAliasCast
-{
+union TAliasCast {
 	T1 f;
 	T2 i;
 	inline TAliasCast() {}
@@ -1634,6 +1636,22 @@ class TDMatrix : public cv::Mat_<TYPE>
 		return pt.x>=T(border) && pt.y>=T(border) && pt.x<=T(Base::size().width-(border+1)) && pt.y<=T(Base::size().height-(border+1));
 	}
 
+	template <typename T, int border=0>
+	static inline void clip(TPoint2<T>& ptMin, TPoint2<T>& ptMax, const cv::Size& size) {
+		if (ptMin.x < T(border))
+			ptMin.x = T(border);
+		if (ptMin.y < T(border))
+			ptMin.y = T(border);
+		if (ptMax.x >= T(size.width-border))
+			ptMax.x = T(size.width-(border+1));
+		if (ptMax.y >= T(size.height-border))
+			ptMax.y = T(size.height-(border+1));
+	}
+	template <typename T, int border=0>
+	inline void clip(TPoint2<T>& ptMin, TPoint2<T>& ptMax) const {
+		clip<T,border>(ptMin, ptMax, Base::size());
+	}
+
 	/// Remove the given element from the vector
 	inline void remove(int idx) {
 		// replace the removed element by the last one and decrease the size
@@ -2153,6 +2171,8 @@ class TImage : public TDMatrix<TYPE>
 	template <typename T, typename PARSER>
 	static void RasterizeTriangle(const TPoint2<T>& v1, const TPoint2<T>& v2, const TPoint2<T>& v3, PARSER& parser);
 	template <typename T, typename PARSER>
+	static void RasterizeTriangleBary(const TPoint2<T>& v1, const TPoint2<T>& v2, const TPoint2<T>& v3, PARSER& parser);
+	template <typename T, typename PARSER>
 	static void RasterizeTriangleDepth(TPoint3<T> p1, TPoint3<T> p2, TPoint3<T> p3, PARSER& parser);
 
 	template <typename T, typename PARSER>
@@ -2179,6 +2199,7 @@ class TImage : public TDMatrix<TYPE>
 };
 /*----------------------------------------------------------------*/
 typedef TImage<uint8_t> Image8U;
+typedef TImage<uint16_t> Image16U;
 typedef TImage<hfloat> Image16F;
 typedef TImage<float> Image32F;
 typedef TImage<double> Image64F;
@@ -2774,6 +2795,6 @@ class SO2
 #include "Ray.h"
 #include "Octree.h"
 #include "Util.inl"
-#include "CUDA.h"
+#include "UtilCUDA.h"
 
 #endif // __SEACAVE_TYPES_H__
diff --git a/libs/Common/Types.inl b/libs/Common/Types.inl
index cbdf89fe1..7cfa7b36e 100644
--- a/libs/Common/Types.inl
+++ b/libs/Common/Types.inl
@@ -2416,15 +2416,9 @@ void TImage<TYPE>::toGray(TImage<T>& out, int code, bool bNormalize, bool bSRGB)
 template <typename TYPE>
 cv::Size TImage<TYPE>::computeResize(const cv::Size& size, REAL scale)
 {
-	cv::Size scaledSize;
-	if (size.width > size.height) {
-		scaledSize.width = ROUND2INT(REAL(size.width)*scale);
-		scaledSize.height = ROUND2INT(REAL(size.height)*scaledSize.width/REAL(size.width));
-	} else {
-		scaledSize.height = ROUND2INT(REAL(size.height)*scale);
-		scaledSize.width = ROUND2INT(REAL(size.width)*scaledSize.height/REAL(size.height));
-	}
-	return scaledSize;
+	return cv::Size(
+		cv::saturate_cast<int>((REAL)size.width*scale),
+		cv::saturate_cast<int>((REAL)size.height*scale));
 }
 // compute the final scaled size by performing successive resizes
 // with the given scale value
@@ -2605,6 +2599,48 @@ void TImage<TYPE>::RasterizeTriangle(const TPoint2<T>& v1, const TPoint2<T>& v2,
 	}
 }
 
+// same as above, but raster a triangle using barycentric coordinates:
+// https://www.scratchapixel.com/lessons/3d-basic-rendering/rasterization-practical-implementation
+template <typename TYPE>
+template <typename T, typename PARSER>
+void TImage<TYPE>::RasterizeTriangleBary(const TPoint2<T>& v1, const TPoint2<T>& v2, const TPoint2<T>& v3, PARSER& parser)
+{
+	// compute bounding-box fully containing the triangle
+	const TPoint2<T> boxMin(MINF3(v1.x, v2.x, v3.x), MINF3(v1.y, v2.y, v3.y));
+	const TPoint2<T> boxMax(MAXF3(v1.x, v2.x, v3.x), MAXF3(v1.y, v2.y, v3.y));
+	// check the bounding-box intersects the image
+	const cv::Size size(parser.Size());
+	if (boxMax.x < T(0) || boxMin.x > T(size.width - 1) ||
+		boxMax.y < T(0) || boxMin.y > T(size.height - 1))
+		return;
+	// ignore back oriented triangles (negative area)
+	const T area(EdgeFunction(v1, v2, v3));
+	if (area <= 0)
+		return;
+	// clip bounding-box to be fully contained by the image
+	ImageRef boxMinI(FLOOR2INT(boxMin));
+	ImageRef boxMaxI(CEIL2INT(boxMax));
+	Base::clip(boxMinI, boxMaxI, size);
+	// parse all pixels inside the bounding-box
+	const T invArea(T(1) / area);
+	for (int y = boxMinI.y; y <= boxMaxI.y; ++y) {
+		for (int x = boxMinI.x; x <= boxMaxI.x; ++x) {
+			const ImageRef pt(x, y);
+			const TPoint2<T> p(Cast<T>(pt));
+			const T b1(EdgeFunction(v2, v3, p));
+			if (b1 < 0)
+				continue;
+			const T b2(EdgeFunction(v3, v1, p));
+			if (b2 < 0)
+				continue;
+			const T b3(EdgeFunction(v1, v2, p));
+			if (b3 < 0)
+				continue;
+			parser(pt, TPoint3<T>(b1, b2, b3) * invArea);
+		}
+	}
+}
+
 // drawing line between 2 points from left to right
 // papb -> pcpd
 // pa, pb, pc, pd must then be sorted before
@@ -2965,8 +3001,8 @@ bool TImage<TYPE>::Load(const String& fileName)
 		Base::create(h, w);
 		ASSERT(sizeof(float)*Base::channels() == Base::step.p[1]);
 		const size_t rowbytes((size_t)Base::size.p[1]*Base::step.p[1]);
-		for (int i=0; i<rows; ++i)
-			if (fImage.read(cv::Mat::template ptr<float>(i), rowbytes) != rowbytes)
+		for (int i=rows; i>0; )
+			if (fImage.read(cv::Mat::template ptr<float>(--i), rowbytes) != rowbytes)
 				return false;
 		return true;
 	}
@@ -3014,14 +3050,16 @@ bool TImage<TYPE>::Save(const String& fileName) const
 		if (!fImage.isOpen())
 			return false;
 		ASSERT(sizeof(float) == 4);
-		static const uint8_t b[4] = { 255, 0, 0, 0 };
-		static const bool is_little_endian = (*((float*)b) < 1.f);
-		static const double scale = (is_little_endian ? -1.0 : 1.0);
+		#if __BYTE_ORDER == __LITTLE_ENDIAN
+		static const double scale(-1.0);
+		#else
+		static const double scale(1.0);
+		#endif
 		fImage.print("Pf\n%d %d\n%lf\n", width(), height(), scale*Base::channels());
 		ASSERT(sizeof(float)*Base::channels() == Base::step.p[1]);
 		const size_t rowbytes = (size_t)Base::size.p[1]*Base::step.p[1];
-		for (int i=0; i<rows; ++i)
-			fImage.write(cv::Mat::template ptr<const float>(i), rowbytes);
+		for (int i=rows; i>0; )
+			fImage.write(cv::Mat::template ptr<const float>(--i), rowbytes);
 		return true;
 	}
 
@@ -3575,8 +3613,7 @@ namespace boost {
 
 		// Serialization support for cv::Mat
 		template<class Archive>
-		void save(Archive& ar, const cv::Mat& m, const unsigned int /*version*/)
-		{
+		void save(Archive& ar, const cv::Mat& m, const unsigned int /*version*/) {
 			const int elem_type = m.type();
 			const size_t elem_size = m.elemSize();
 
@@ -3595,8 +3632,7 @@ namespace boost {
 			}
 		}
 		template<class Archive>
-		void load(Archive& ar, cv::Mat& m, const unsigned int /*version*/)
-		{
+		void load(Archive& ar, cv::Mat& m, const unsigned int /*version*/) {
 			int cols, rows, elem_type;
 			size_t elem_size;
 
@@ -3617,8 +3653,7 @@ namespace boost {
 
 		// Serialization support for cv::Mat_
 		template<class Archive, typename _Tp>
-		void save(Archive& ar, const cv::Mat_<_Tp>& m, const unsigned int /*version*/)
-		{
+		void save(Archive& ar, const cv::Mat_<_Tp>& m, const unsigned int /*version*/) {
 			ar & m.cols;
 			ar & m.rows;
 
@@ -3632,8 +3667,7 @@ namespace boost {
 			}
 		}
 		template<class Archive, typename _Tp>
-		void load(Archive& ar, cv::Mat_<_Tp>& m, const unsigned int /*version*/)
-		{
+		void load(Archive& ar, cv::Mat_<_Tp>& m, const unsigned int /*version*/) {
 			int cols, rows;
 			ar & cols;
 			ar & rows;
@@ -3706,6 +3740,25 @@ namespace boost {
 			ar & m.distance;
 		}
 
+		#ifdef _USE_EIGEN
+		// Serialization support for Eigen::Matrix
+		// specialization handling fixed sized matrices
+		template<class Archive, class Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+		inline void save(Archive& ar, const Eigen::Matrix<Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols>& M, const unsigned int /*version*/) {
+			ar << make_nvp("data", make_array(M.data(), _Rows*_Cols));
+		}
+		template<class Archive, class Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+		inline void load(Archive& ar, Eigen::Matrix<Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols>& M, const unsigned int /*version*/) {
+			ar >> make_nvp("data", make_array(M.data(), _Rows*_Cols));
+		}
+		// The function that causes boost::serialization to look for separate
+		// save() and load() functions when serializing and Eigen matrix.
+		template<class Archive, class Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+		inline void serialize(Archive& ar, Eigen::Matrix<Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols>& M, const unsigned int version) {
+			split_free(ar, M, version);
+		}
+		#endif // _USE_EIGEN
+
 	} // namespace serialization
 } // namespace boost
 /*----------------------------------------------------------------*/
@@ -3713,6 +3766,7 @@ namespace boost {
 // include headers that implement a archive in simple text and binary format or XML format
 #if defined(_MSC_VER)
 #pragma warning (push)
+#pragma warning (disable : 4275) // non dll-interface class
 #pragma warning (disable : 4715) // not all control paths return a value
 #endif
 #include <boost/archive/text_oarchive.hpp>
@@ -3724,6 +3778,9 @@ namespace boost {
 // include headers that implement compressed serialization support
 #include <boost/iostreams/filtering_streambuf.hpp>
 #include <boost/iostreams/filter/zlib.hpp>
+#if BOOST_VERSION >= 106900
+#include <boost/iostreams/filter/zstd.hpp>
+#endif
 #if defined(_MSC_VER)
 #pragma warning (pop)
 #endif
@@ -3733,12 +3790,18 @@ enum ARCHIVE_TYPE {
 	ARCHIVE_TEXT = 0,
 	ARCHIVE_BINARY,
 	ARCHIVE_BINARY_ZIP,
-	ARCHIVE_LAST
+	ARCHIVE_BINARY_ZSTD,
+	ARCHIVE_LAST,
+	#if BOOST_VERSION >= 106900
+	ARCHIVE_DEFAULT = ARCHIVE_BINARY_ZSTD
+	#else
+	ARCHIVE_DEFAULT = ARCHIVE_BINARY_ZIP
+	#endif
 };
 
 // export the current state of the given reconstruction object
 template <typename TYPE>
-bool SerializeSave(const TYPE& obj, std::ofstream& fs, ARCHIVE_TYPE type, unsigned flags=0)
+bool SerializeSave(const TYPE& obj, std::ofstream& fs, ARCHIVE_TYPE type, unsigned flags=boost::archive::no_header)
 {
 	// serialize out the current state
 	switch (type) {
@@ -3758,6 +3821,16 @@ bool SerializeSave(const TYPE& obj, std::ofstream& fs, ARCHIVE_TYPE type, unsign
 		boost::archive::binary_oarchive ar(ffs, flags);
 		ar << obj;
 		break; }
+	#if BOOST_VERSION >= 106900
+	case ARCHIVE_BINARY_ZSTD: {
+		namespace io = boost::iostreams;
+		io::filtering_streambuf<io::output> ffs;
+		ffs.push(io::zstd_compressor(io::zstd::best_speed));
+		ffs.push(fs);
+		boost::archive::binary_oarchive ar(ffs, flags);
+		ar << obj;
+		break; }
+	#endif
 	default:
 		VERBOSE("error: Can not save the object, invalid archive type");
 		return false;
@@ -3765,7 +3838,7 @@ bool SerializeSave(const TYPE& obj, std::ofstream& fs, ARCHIVE_TYPE type, unsign
 	return true;
 } // SerializeSave
 template <typename TYPE>
-bool SerializeSave(const TYPE& obj, const SEACAVE::String& fileName, ARCHIVE_TYPE type, unsigned flags=0)
+bool SerializeSave(const TYPE& obj, const SEACAVE::String& fileName, ARCHIVE_TYPE type, unsigned flags=boost::archive::no_header)
 {
 	// open the output stream
 	std::ofstream fs(fileName, std::ios::out | std::ios::binary);
@@ -3777,7 +3850,7 @@ bool SerializeSave(const TYPE& obj, const SEACAVE::String& fileName, ARCHIVE_TYP
 
 // import the state to the given reconstruction object
 template <typename TYPE>
-bool SerializeLoad(TYPE& obj, std::ifstream& fs, ARCHIVE_TYPE type, unsigned flags=0)
+bool SerializeLoad(TYPE& obj, std::ifstream& fs, ARCHIVE_TYPE type, unsigned flags=boost::archive::no_header)
 {
 	try {
 		// serialize in the saved state
@@ -3798,6 +3871,16 @@ bool SerializeLoad(TYPE& obj, std::ifstream& fs, ARCHIVE_TYPE type, unsigned fla
 			boost::archive::binary_iarchive ar(ffs, flags);
 			ar >> obj;
 			break; }
+		#if BOOST_VERSION >= 106900
+		case ARCHIVE_BINARY_ZSTD: {
+			namespace io = boost::iostreams;
+			io::filtering_streambuf<io::input> ffs;
+			ffs.push(io::zstd_decompressor());
+			ffs.push(fs);
+			boost::archive::binary_iarchive ar(ffs, flags);
+			ar >> obj;
+			break; }
+		#endif
 		default:
 			VERBOSE("error: Can not load the object, invalid archive type");
 			return false;
@@ -3810,7 +3893,7 @@ bool SerializeLoad(TYPE& obj, std::ifstream& fs, ARCHIVE_TYPE type, unsigned fla
 	return true;
 } // SerializeLoad
 template <typename TYPE>
-bool SerializeLoad(TYPE& obj, const SEACAVE::String& fileName, ARCHIVE_TYPE type, unsigned flags=0)
+bool SerializeLoad(TYPE& obj, const SEACAVE::String& fileName, ARCHIVE_TYPE type, unsigned flags=boost::archive::no_header)
 {
 	// open the input stream
 	std::ifstream fs(fileName, std::ios::in | std::ios::binary);
diff --git a/libs/Common/Util.cpp b/libs/Common/Util.cpp
index a32268cf7..445fb7bbf 100644
--- a/libs/Common/Util.cpp
+++ b/libs/Common/Util.cpp
@@ -473,6 +473,7 @@ Flags InitCPU()
 /*----------------------------------------------------------------*/
 
 
+#if _PLATFORM_X86
 #ifdef _MSC_VER
 #include <intrin.h>
 inline void CPUID(int CPUInfo[4], int level) {
@@ -485,6 +486,11 @@ inline void CPUID(int CPUInfo[4], int level) {
 	__get_cpuid((unsigned&)level, p+0, p+1, p+2, p+3);
 }
 #endif
+#else // _PLATFORM_X86
+inline void CPUID(int CPUInfo[4], int level) {
+	memset(CPUInfo, 0, sizeof(int)*4);
+}
+#endif // _PLATFORM_X86
 
 /**
  * Function to detect SSE availability in CPU.
@@ -551,6 +557,7 @@ CPUINFO GetCPUInfo()
 }
 /*----------------------------------------------------------------*/
 
+#if _PLATFORM_X86
 #ifdef _MSC_VER
 // Function to detect SSE availability in operating system.
 bool OSSupportsSSE()
@@ -626,6 +633,21 @@ bool OSSupportsAVX()
 /*----------------------------------------------------------------*/
 #endif // _MSC_VER
 
+#else // _PLATFORM_X86
+
+// Function to detect SSE availability in operating system.
+bool OSSupportsSSE()
+{
+	return false;
+}
+// Function to detect AVX availability in operating system.
+bool OSSupportsAVX()
+{
+	return false;
+}
+/*----------------------------------------------------------------*/
+#endif // _PLATFORM_X86
+
 
 // print details about the current build and PC
 void Util::LogBuild()
@@ -644,6 +666,7 @@ void Util::LogBuild()
 }
 
 // print information about the memory usage
+#if _PLATFORM_X86
 #ifdef _MSC_VER
 #include <Psapi.h>
 #pragma comment(lib, "Psapi.lib")
@@ -679,6 +702,11 @@ void Util::LogMemoryInfo()
 	LOG(_T("} ENDINFO"));
 }
 #endif // _MSC_VER
+#else // _PLATFORM_X86
+void Util::LogMemoryInfo()
+{
+}
+#endif // _PLATFORM_X86
 
 
 // Parses a ASCII command line string and returns an array of pointers to the command line arguments,
diff --git a/libs/Common/Util.inl b/libs/Common/Util.inl
index d605b9173..67199026e 100644
--- a/libs/Common/Util.inl
+++ b/libs/Common/Util.inl
@@ -468,13 +468,17 @@ TYPE ComputeTriangleAreaLenSq(TYPE lenaSq, TYPE lenbSq, TYPE lencSq) {
 }
 // compute area for a triangle defined by three 2D points
 template <typename TYPE>
+TYPE EdgeFunction(const TPoint2<TYPE>& x0, const TPoint2<TYPE>& x1, const TPoint2<TYPE>& x2) {
+	return TYPE((x2-x0).cross(x1-x0));
+}
+template <typename TYPE>
 TYPE ComputeTriangleArea(const TPoint2<TYPE>& x0, const TPoint2<TYPE>& x1, const TPoint2<TYPE>& x2) {
-	return abs((TYPE)((x0-x2).cross(x0-x1)/TYPE(2)));
+	return (TYPE)abs(EdgeFunction(x0, x1, x2)/TYPE(2));
 }
 // compute area for a triangle defined by three 3D points
 template <typename TYPE>
 TYPE ComputeTriangleAreaSq(const TPoint3<TYPE>& x0, const TPoint3<TYPE>& x1, const TPoint3<TYPE>& x2) {
-	return (TYPE)(normSq((x1-x0).cross(x2-x0))/TYPE(4));
+	return (TYPE)normSq((x1-x0).cross(x2-x0))/TYPE(4);
 }
 template <typename TYPE>
 TYPE ComputeTriangleArea(const TPoint3<TYPE>& x0, const TPoint3<TYPE>& x1, const TPoint3<TYPE>& x2) {
@@ -607,6 +611,11 @@ inline TPoint3<TYPE> CorrectBarycentricCoordinates(TPoint2<TYPE> b) {
 	ASSERT((b.x >= 0) && (b.y >= 0) && (b.x+b.y <= 1) && ISEQUAL(b.x+b.y+z, TYPE(1)));
 	return TPoint3<TYPE>(b.x, b.y, z);
 }
+template <typename TYPE>
+inline TPoint3<TYPE> PerspectiveCorrectBarycentricCoordinates(const TPoint3<TYPE>& b, TYPE z0, TYPE z1, TYPE z2) {
+	const TPoint3<TYPE> pb(b.x * z1 * z2, b.y * z0 * z2, b.z * z0 * z1);
+	return pb / (pb.x + pb.y + pb.z);
+}
 /*----------------------------------------------------------------*/
 
 // Encodes/decodes a normalized 3D vector in two parameters for the direction
@@ -656,7 +665,7 @@ inline T MaxDepthDifference(T d, T threshold) {
 }
 template<typename T>
 inline T DepthSimilarity(T d0, T d1) {
-	ASSERT(d0 > 0 && d1 > 0);
+	ASSERT(d0 > 0);
 	#if 0
 	return ABS(d0-d1)*T(2)/(d0+d1);
 	#else
diff --git a/libs/Common/CUDA.cpp b/libs/Common/UtilCUDA.cpp
similarity index 99%
rename from libs/Common/CUDA.cpp
rename to libs/Common/UtilCUDA.cpp
index c46f3afdd..8b4a79add 100644
--- a/libs/Common/CUDA.cpp
+++ b/libs/Common/UtilCUDA.cpp
@@ -1,12 +1,12 @@
 ////////////////////////////////////////////////////////////////////
-// CUDA.cpp
+// UtilCUDA.cpp
 //
 // Copyright 2007 cDc@seacave
 // Distributed under the Boost Software License, Version 1.0
 // (See http://www.boost.org/LICENSE_1_0.txt)
 
 #include "Common.h"
-#include "CUDA.h"
+#include "UtilCUDA.h"
 
 #ifdef _USE_CUDA
 
diff --git a/libs/Common/CUDA.h b/libs/Common/UtilCUDA.h
similarity index 97%
rename from libs/Common/CUDA.h
rename to libs/Common/UtilCUDA.h
index 1ab9b5303..c0ed5748d 100644
--- a/libs/Common/CUDA.h
+++ b/libs/Common/UtilCUDA.h
@@ -1,5 +1,5 @@
 ////////////////////////////////////////////////////////////////////
-// CUDA.h
+// UtilCUDA.h
 //
 // Copyright 2007 cDc@seacave
 // Distributed under the Boost Software License, Version 1.0
@@ -16,16 +16,23 @@
 // CUDA driver
 #include <cuda.h>
 
+// CUDA toolkit
+#include <cuda_runtime.h>
+#include <cuda_runtime_api.h>
+#include <cuda_texture_types.h>
+#include <curand_kernel.h>
+#include <vector_types.h>
+
 
 // D E F I N E S ///////////////////////////////////////////////////
 
 
+// S T R U C T S ///////////////////////////////////////////////////
+
 namespace SEACAVE {
 
 namespace CUDA {
 
-// S T R U C T S ///////////////////////////////////////////////////
-
 // global list of initialized devices
 struct Device {
 	CUdevice ID;
@@ -69,6 +76,18 @@ inline void __ensureCudaResult(CUresult result, LPCSTR errorMessage) {
 }
 #define ensureCudaResult(val) CUDA::__ensureCudaResult(val, #val)
 
+inline void checkCudaCall(const cudaError_t error) {
+	if (error == cudaSuccess)
+		return;
+	#ifdef _DEBUG
+	VERBOSE("CUDA error at %s:%d: %s (code %d)", __FILE__, __LINE__, cudaGetErrorString(error), error);
+	#else
+	DEBUG("CUDA error: %s (code %d)", cudaGetErrorString(error), error);
+	#endif
+	ASSERT("CudaError" == NULL);
+	exit(EXIT_FAILURE);
+}
+
 // rounds up addr to the align boundary
 template <typename T>
 inline T align(T o, T a) {
@@ -333,7 +352,7 @@ class KernelRT
 		if ((result=cuParamSetSize(hKernel, paramOffset)) != CUDA_SUCCESS)
 			return result;
 		// launch the kernel (Driver API)
-		const CUdevprop& deviceProp = CUDA::devices.Last().prop;
+		const CUdevprop& deviceProp = CUDA::devices.back().prop;
 		const int numBlockThreads(MINF(numThreads, deviceProp.maxThreadsPerBlock));
 		const int nBlocks(MAXF((numThreads+numBlockThreads-1)/numBlockThreads, 1));
 		if ((result=cuFuncSetBlockShape(hKernel, numBlockThreads, 1, 1)) != CUDA_SUCCESS)
@@ -354,7 +373,7 @@ class KernelRT
 		if ((result=cuParamSetSize(hKernel, paramOffset)) != CUDA_SUCCESS)
 			return result;
 		// launch the kernel (Driver API)
-		const CUdevprop& deviceProp = CUDA::devices.Last().prop;
+		const CUdevprop& deviceProp = CUDA::devices.back().prop;
 		const REAL scale(MINF(REAL(1), SQRT((REAL)deviceProp.maxThreadsPerBlock/(REAL)(numThreads.x*numThreads.y))));
 		const SEACAVE::TPoint2<int> numBlockThreads(FLOOR2INT(SEACAVE::TPoint2<REAL>(numThreads)*scale));
 		const TPoint2<int> nBlocks(
diff --git a/libs/IO/CMakeLists.txt b/libs/IO/CMakeLists.txt
index a354376be..da3c15920 100644
--- a/libs/IO/CMakeLists.txt
+++ b/libs/IO/CMakeLists.txt
@@ -25,22 +25,17 @@ else()
 endif()
 
 # List sources files
-FILE(GLOB PCH_C "Common.cpp")
-
 FILE(GLOB LIBRARY_FILES_C "*.cpp")
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-# Place Common.cpp as the first file in the list
-# needed by cotire when setting PCH manually
-LIST(REMOVE_ITEM LIBRARY_FILES_C ${PCH_C})
-SET(LIBRARY_FILES_C "${PCH_C};${LIBRARY_FILES_C}")
-
-cxx_library_with_type_no_pch(IO "Libs" "STATIC" "${cxx_default}"
+cxx_library_with_type(IO "Libs" "" "${cxx_default}"
 	${LIBRARY_FILES_C} ${LIBRARY_FILES_H}
 )
 
 # Manually set Common.h as the precompiled header
-set_target_pch(IO Common.h)
+IF(CMAKE_VERSION VERSION_GREATER_EQUAL 3.16.0)
+	TARGET_PRECOMPILE_HEADERS(IO PRIVATE "Common.h")
+endif()
 
 # Link its dependencies
 TARGET_LINK_LIBRARIES(IO Common ${PNG_LIBRARIES} ${JPEG_LIBRARIES} ${TIFF_LIBRARIES} ${EXIV2_LIBS})
@@ -50,7 +45,7 @@ SET_TARGET_PROPERTIES(IO PROPERTIES
 	PUBLIC_HEADER "${LIBRARY_FILES_H}")
 INSTALL(TARGETS IO
 	EXPORT OpenMVSTargets
-	RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
-	LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT shlib
-	ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
-	PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}/IO" COMPONENT dev)
+	LIBRARY DESTINATION "${INSTALL_LIB_DIR}"
+	ARCHIVE DESTINATION "${INSTALL_LIB_DIR}"
+	RUNTIME DESTINATION "${INSTALL_BIN_DIR}"
+	PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}/IO")
diff --git a/libs/IO/TinyXML2.cpp b/libs/IO/TinyXML2.cpp
new file mode 100644
index 000000000..bea34144c
--- /dev/null
+++ b/libs/IO/TinyXML2.cpp
@@ -0,0 +1,2987 @@
+/*
+Original code by Lee Thomason (www.grinninglizard.com)
+
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any
+damages arising from the use of this software.
+
+Permission is granted to anyone to use this software for any
+purpose, including commercial applications, and to alter it and
+redistribute it freely, subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must
+not claim that you wrote the original software. If you use this
+software in a product, an acknowledgment in the product documentation
+would be appreciated but is not required.
+
+2. Altered source versions must be plainly marked as such, and
+must not be misrepresented as being the original software.
+
+3. This notice may not be removed or altered from any source
+distribution.
+*/
+
+#include "Common.h"
+#include "TinyXML2.h"
+
+#include <new>		// yes, this one new style header, is in the Android SDK.
+#if defined(ANDROID_NDK) || defined(__BORLANDC__) || defined(__QNXNTO__)
+#   include <stddef.h>
+#   include <stdarg.h>
+#else
+#   include <cstddef>
+#   include <cstdarg>
+#endif
+
+#if defined(_MSC_VER) && (_MSC_VER >= 1400 ) && (!defined WINCE)
+	// Microsoft Visual Studio, version 2005 and higher. Not WinCE.
+	/*int _snprintf_s(
+	   char *buffer,
+	   size_t sizeOfBuffer,
+	   size_t count,
+	   const char *format [,
+		  argument] ...
+	);*/
+	static inline int TIXML_SNPRINTF( char* buffer, size_t size, const char* format, ... )
+	{
+		va_list va;
+		va_start( va, format );
+		const int result = vsnprintf_s( buffer, size, _TRUNCATE, format, va );
+		va_end( va );
+		return result;
+	}
+
+	static inline int TIXML_VSNPRINTF( char* buffer, size_t size, const char* format, va_list va )
+	{
+		const int result = vsnprintf_s( buffer, size, _TRUNCATE, format, va );
+		return result;
+	}
+
+	#define TIXML_VSCPRINTF	_vscprintf
+	#define TIXML_SSCANF	sscanf_s
+#elif defined _MSC_VER
+	// Microsoft Visual Studio 2003 and earlier or WinCE
+	#define TIXML_SNPRINTF	_snprintf
+	#define TIXML_VSNPRINTF _vsnprintf
+	#define TIXML_SSCANF	sscanf
+	#if (_MSC_VER < 1400 ) && (!defined WINCE)
+		// Microsoft Visual Studio 2003 and not WinCE.
+		#define TIXML_VSCPRINTF   _vscprintf // VS2003's C runtime has this, but VC6 C runtime or WinCE SDK doesn't have.
+	#else
+		// Microsoft Visual Studio 2003 and earlier or WinCE.
+		static inline int TIXML_VSCPRINTF( const char* format, va_list va )
+		{
+			int len = 512;
+			for (;;) {
+				len = len*2;
+				char* str = new char[len]();
+				const int required = _vsnprintf(str, len, format, va);
+				delete[] str;
+				if ( required != -1 ) {
+					TIXMLASSERT( required >= 0 );
+					len = required;
+					break;
+				}
+			}
+			TIXMLASSERT( len >= 0 );
+			return len;
+		}
+	#endif
+#else
+	// GCC version 3 and higher
+	//#warning( "Using sn* functions." )
+	#define TIXML_SNPRINTF	snprintf
+	#define TIXML_VSNPRINTF	vsnprintf
+	static inline int TIXML_VSCPRINTF( const char* format, va_list va )
+	{
+		int len = vsnprintf( 0, 0, format, va );
+		TIXMLASSERT( len >= 0 );
+		return len;
+	}
+	#define TIXML_SSCANF   sscanf
+#endif
+
+#if defined(_WIN64)
+	#define TIXML_FSEEK _fseeki64
+	#define TIXML_FTELL _ftelli64
+#elif defined(__APPLE__) || defined(__FreeBSD__) || defined(__ANDROID__)
+	#define TIXML_FSEEK fseeko
+	#define TIXML_FTELL ftello
+#elif defined(__unix__) && defined(__x86_64__)
+	#define TIXML_FSEEK fseeko64
+	#define TIXML_FTELL ftello64
+#else
+	#define TIXML_FSEEK fseek
+	#define TIXML_FTELL ftell
+#endif
+
+
+static const char LINE_FEED				= static_cast<char>(0x0a);			// all line endings are normalized to LF
+static const char LF = LINE_FEED;
+static const char CARRIAGE_RETURN		= static_cast<char>(0x0d);			// CR gets filtered out
+static const char CR = CARRIAGE_RETURN;
+static const char SINGLE_QUOTE			= '\'';
+static const char DOUBLE_QUOTE			= '\"';
+
+// Bunch of unicode info at:
+//		http://www.unicode.org/faq/utf_bom.html
+//	ef bb bf (Microsoft "lead bytes") - designates UTF-8
+
+static const unsigned char TIXML_UTF_LEAD_0 = 0xefU;
+static const unsigned char TIXML_UTF_LEAD_1 = 0xbbU;
+static const unsigned char TIXML_UTF_LEAD_2 = 0xbfU;
+
+namespace tinyxml2
+{
+
+struct Entity {
+    const char* pattern;
+    int length;
+    char value;
+};
+
+static const int NUM_ENTITIES = 5;
+static const Entity entities[NUM_ENTITIES] = {
+    { "quot", 4,	DOUBLE_QUOTE },
+    { "amp", 3,		'&'  },
+    { "apos", 4,	SINGLE_QUOTE },
+    { "lt",	2, 		'<'	 },
+    { "gt",	2,		'>'	 }
+};
+
+
+StrPair::~StrPair()
+{
+    Reset();
+}
+
+
+void StrPair::TransferTo( StrPair* other )
+{
+    if ( this == other ) {
+        return;
+    }
+    // This in effect implements the assignment operator by "moving"
+    // ownership (as in auto_ptr).
+
+    TIXMLASSERT( other != 0 );
+    TIXMLASSERT( other->_flags == 0 );
+    TIXMLASSERT( other->_start == 0 );
+    TIXMLASSERT( other->_end == 0 );
+
+    other->Reset();
+
+    other->_flags = _flags;
+    other->_start = _start;
+    other->_end = _end;
+
+    _flags = 0;
+    _start = 0;
+    _end = 0;
+}
+
+
+void StrPair::Reset()
+{
+    if ( _flags & NEEDS_DELETE ) {
+        delete [] _start;
+    }
+    _flags = 0;
+    _start = 0;
+    _end = 0;
+}
+
+
+void StrPair::SetStr( const char* str, int flags )
+{
+    TIXMLASSERT( str );
+    Reset();
+    size_t len = strlen( str );
+    TIXMLASSERT( _start == 0 );
+    _start = new char[ len+1 ];
+    memcpy( _start, str, len+1 );
+    _end = _start + len;
+    _flags = flags | NEEDS_DELETE;
+}
+
+
+char* StrPair::ParseText( char* p, const char* endTag, int strFlags, int* curLineNumPtr )
+{
+    TIXMLASSERT( p );
+    TIXMLASSERT( endTag && *endTag );
+	TIXMLASSERT(curLineNumPtr);
+
+    char* start = p;
+    const char  endChar = *endTag;
+    size_t length = strlen( endTag );
+
+    // Inner loop of text parsing.
+    while ( *p ) {
+        if ( *p == endChar && strncmp( p, endTag, length ) == 0 ) {
+            Set( start, p, strFlags );
+            return p + length;
+        } else if (*p == '\n') {
+            ++(*curLineNumPtr);
+        }
+        ++p;
+        TIXMLASSERT( p );
+    }
+    return 0;
+}
+
+
+char* StrPair::ParseName( char* p )
+{
+    if ( !p || !(*p) ) {
+        return 0;
+    }
+    if ( !XMLUtil::IsNameStartChar( (unsigned char) *p ) ) {
+        return 0;
+    }
+
+    char* const start = p;
+    ++p;
+    while ( *p && XMLUtil::IsNameChar( (unsigned char) *p ) ) {
+        ++p;
+    }
+
+    Set( start, p, 0 );
+    return p;
+}
+
+
+void StrPair::CollapseWhitespace()
+{
+    // Adjusting _start would cause undefined behavior on delete[]
+    TIXMLASSERT( ( _flags & NEEDS_DELETE ) == 0 );
+    // Trim leading space.
+    _start = XMLUtil::SkipWhiteSpace( _start, 0 );
+
+    if ( *_start ) {
+        const char* p = _start;	// the read pointer
+        char* q = _start;	// the write pointer
+
+        while( *p ) {
+            if ( XMLUtil::IsWhiteSpace( *p )) {
+                p = XMLUtil::SkipWhiteSpace( p, 0 );
+                if ( *p == 0 ) {
+                    break;    // don't write to q; this trims the trailing space.
+                }
+                *q = ' ';
+                ++q;
+            }
+            *q = *p;
+            ++q;
+            ++p;
+        }
+        *q = 0;
+    }
+}
+
+
+const char* StrPair::GetStr()
+{
+    TIXMLASSERT( _start );
+    TIXMLASSERT( _end );
+    if ( _flags & NEEDS_FLUSH ) {
+        *_end = 0;
+        _flags ^= NEEDS_FLUSH;
+
+        if ( _flags ) {
+            const char* p = _start;	// the read pointer
+            char* q = _start;	// the write pointer
+
+            while( p < _end ) {
+                if ( (_flags & NEEDS_NEWLINE_NORMALIZATION) && *p == CR ) {
+                    // CR-LF pair becomes LF
+                    // CR alone becomes LF
+                    // LF-CR becomes LF
+                    if ( *(p+1) == LF ) {
+                        p += 2;
+                    }
+                    else {
+                        ++p;
+                    }
+                    *q = LF;
+                    ++q;
+                }
+                else if ( (_flags & NEEDS_NEWLINE_NORMALIZATION) && *p == LF ) {
+                    if ( *(p+1) == CR ) {
+                        p += 2;
+                    }
+                    else {
+                        ++p;
+                    }
+                    *q = LF;
+                    ++q;
+                }
+                else if ( (_flags & NEEDS_ENTITY_PROCESSING) && *p == '&' ) {
+                    // Entities handled by tinyXML2:
+                    // - special entities in the entity table [in/out]
+                    // - numeric character reference [in]
+                    //   &#20013; or &#x4e2d;
+
+                    if ( *(p+1) == '#' ) {
+                        const int buflen = 10;
+                        char buf[buflen] = { 0 };
+                        int len = 0;
+                        const char* adjusted = const_cast<char*>( XMLUtil::GetCharacterRef( p, buf, &len ) );
+                        if ( adjusted == 0 ) {
+                            *q = *p;
+                            ++p;
+                            ++q;
+                        }
+                        else {
+                            TIXMLASSERT( 0 <= len && len <= buflen );
+                            TIXMLASSERT( q + len <= adjusted );
+                            p = adjusted;
+                            memcpy( q, buf, len );
+                            q += len;
+                        }
+                    }
+                    else {
+                        bool entityFound = false;
+                        for( int i = 0; i < NUM_ENTITIES; ++i ) {
+                            const Entity& entity = entities[i];
+                            if ( strncmp( p + 1, entity.pattern, entity.length ) == 0
+                                    && *( p + entity.length + 1 ) == ';' ) {
+                                // Found an entity - convert.
+                                *q = entity.value;
+                                ++q;
+                                p += entity.length + 2;
+                                entityFound = true;
+                                break;
+                            }
+                        }
+                        if ( !entityFound ) {
+                            // fixme: treat as error?
+                            ++p;
+                            ++q;
+                        }
+                    }
+                }
+                else {
+                    *q = *p;
+                    ++p;
+                    ++q;
+                }
+            }
+            *q = 0;
+        }
+        // The loop below has plenty going on, and this
+        // is a less useful mode. Break it out.
+        if ( _flags & NEEDS_WHITESPACE_COLLAPSING ) {
+            CollapseWhitespace();
+        }
+        _flags = (_flags & NEEDS_DELETE);
+    }
+    TIXMLASSERT( _start );
+    return _start;
+}
+
+
+
+
+// --------- XMLUtil ----------- //
+
+const char* XMLUtil::writeBoolTrue  = "true";
+const char* XMLUtil::writeBoolFalse = "false";
+
+void XMLUtil::SetBoolSerialization(const char* writeTrue, const char* writeFalse)
+{
+	static const char* defTrue  = "true";
+	static const char* defFalse = "false";
+
+	writeBoolTrue = (writeTrue) ? writeTrue : defTrue;
+	writeBoolFalse = (writeFalse) ? writeFalse : defFalse;
+}
+
+
+const char* XMLUtil::ReadBOM( const char* p, bool* bom )
+{
+    TIXMLASSERT( p );
+    TIXMLASSERT( bom );
+    *bom = false;
+    const unsigned char* pu = reinterpret_cast<const unsigned char*>(p);
+    // Check for BOM:
+    if (    *(pu+0) == TIXML_UTF_LEAD_0
+            && *(pu+1) == TIXML_UTF_LEAD_1
+            && *(pu+2) == TIXML_UTF_LEAD_2 ) {
+        *bom = true;
+        p += 3;
+    }
+    TIXMLASSERT( p );
+    return p;
+}
+
+
+void XMLUtil::ConvertUTF32ToUTF8( unsigned long input, char* output, int* length )
+{
+    const unsigned long BYTE_MASK = 0xBF;
+    const unsigned long BYTE_MARK = 0x80;
+    const unsigned long FIRST_BYTE_MARK[7] = { 0x00, 0x00, 0xC0, 0xE0, 0xF0, 0xF8, 0xFC };
+
+    if (input < 0x80) {
+        *length = 1;
+    }
+    else if ( input < 0x800 ) {
+        *length = 2;
+    }
+    else if ( input < 0x10000 ) {
+        *length = 3;
+    }
+    else if ( input < 0x200000 ) {
+        *length = 4;
+    }
+    else {
+        *length = 0;    // This code won't convert this correctly anyway.
+        return;
+    }
+
+    output += *length;
+
+    // Scary scary fall throughs are annotated with carefully designed comments
+    // to suppress compiler warnings such as -Wimplicit-fallthrough in gcc
+    switch (*length) {
+        case 4:
+            --output;
+            *output = static_cast<char>((input | BYTE_MARK) & BYTE_MASK);
+            input >>= 6;
+            //fall through
+        case 3:
+            --output;
+            *output = static_cast<char>((input | BYTE_MARK) & BYTE_MASK);
+            input >>= 6;
+            //fall through
+        case 2:
+            --output;
+            *output = static_cast<char>((input | BYTE_MARK) & BYTE_MASK);
+            input >>= 6;
+            //fall through
+        case 1:
+            --output;
+            *output = static_cast<char>(input | FIRST_BYTE_MARK[*length]);
+            break;
+        default:
+            TIXMLASSERT( false );
+    }
+}
+
+
+const char* XMLUtil::GetCharacterRef( const char* p, char* value, int* length )
+{
+    // Presume an entity, and pull it out.
+    *length = 0;
+
+    if ( *(p+1) == '#' && *(p+2) ) {
+        unsigned long ucs = 0;
+        TIXMLASSERT( sizeof( ucs ) >= 4 );
+        ptrdiff_t delta = 0;
+        unsigned mult = 1;
+        static const char SEMICOLON = ';';
+
+        if ( *(p+2) == 'x' ) {
+            // Hexadecimal.
+            const char* q = p+3;
+            if ( !(*q) ) {
+                return 0;
+            }
+
+            q = strchr( q, SEMICOLON );
+
+            if ( !q ) {
+                return 0;
+            }
+            TIXMLASSERT( *q == SEMICOLON );
+
+            delta = q-p;
+            --q;
+
+            while ( *q != 'x' ) {
+                unsigned int digit = 0;
+
+                if ( *q >= '0' && *q <= '9' ) {
+                    digit = *q - '0';
+                }
+                else if ( *q >= 'a' && *q <= 'f' ) {
+                    digit = *q - 'a' + 10;
+                }
+                else if ( *q >= 'A' && *q <= 'F' ) {
+                    digit = *q - 'A' + 10;
+                }
+                else {
+                    return 0;
+                }
+                TIXMLASSERT( digit < 16 );
+                TIXMLASSERT( digit == 0 || mult <= UINT_MAX / digit );
+                const unsigned int digitScaled = mult * digit;
+                TIXMLASSERT( ucs <= ULONG_MAX - digitScaled );
+                ucs += digitScaled;
+                TIXMLASSERT( mult <= UINT_MAX / 16 );
+                mult *= 16;
+                --q;
+            }
+        }
+        else {
+            // Decimal.
+            const char* q = p+2;
+            if ( !(*q) ) {
+                return 0;
+            }
+
+            q = strchr( q, SEMICOLON );
+
+            if ( !q ) {
+                return 0;
+            }
+            TIXMLASSERT( *q == SEMICOLON );
+
+            delta = q-p;
+            --q;
+
+            while ( *q != '#' ) {
+                if ( *q >= '0' && *q <= '9' ) {
+                    const unsigned int digit = *q - '0';
+                    TIXMLASSERT( digit < 10 );
+                    TIXMLASSERT( digit == 0 || mult <= UINT_MAX / digit );
+                    const unsigned int digitScaled = mult * digit;
+                    TIXMLASSERT( ucs <= ULONG_MAX - digitScaled );
+                    ucs += digitScaled;
+                }
+                else {
+                    return 0;
+                }
+                TIXMLASSERT( mult <= UINT_MAX / 10 );
+                mult *= 10;
+                --q;
+            }
+        }
+        // convert the UCS to UTF-8
+        ConvertUTF32ToUTF8( ucs, value, length );
+        return p + delta + 1;
+    }
+    return p+1;
+}
+
+
+void XMLUtil::ToStr( int v, char* buffer, int bufferSize )
+{
+    TIXML_SNPRINTF( buffer, bufferSize, "%d", v );
+}
+
+
+void XMLUtil::ToStr( unsigned v, char* buffer, int bufferSize )
+{
+    TIXML_SNPRINTF( buffer, bufferSize, "%u", v );
+}
+
+
+void XMLUtil::ToStr( bool v, char* buffer, int bufferSize )
+{
+    TIXML_SNPRINTF( buffer, bufferSize, "%s", v ? writeBoolTrue : writeBoolFalse);
+}
+
+/*
+	ToStr() of a number is a very tricky topic.
+	https://github.com/leethomason/tinyxml2/issues/106
+*/
+void XMLUtil::ToStr( float v, char* buffer, int bufferSize )
+{
+    TIXML_SNPRINTF( buffer, bufferSize, "%.8g", v );
+}
+
+
+void XMLUtil::ToStr( double v, char* buffer, int bufferSize )
+{
+    TIXML_SNPRINTF( buffer, bufferSize, "%.17g", v );
+}
+
+
+void XMLUtil::ToStr( int64_t v, char* buffer, int bufferSize )
+{
+	// horrible syntax trick to make the compiler happy about %lld
+	TIXML_SNPRINTF(buffer, bufferSize, "%lld", static_cast<long long>(v));
+}
+
+void XMLUtil::ToStr( uint64_t v, char* buffer, int bufferSize )
+{
+    // horrible syntax trick to make the compiler happy about %llu
+    TIXML_SNPRINTF(buffer, bufferSize, "%llu", (long long)v);
+}
+
+bool XMLUtil::ToInt(const char* str, int* value)
+{
+    if (IsPrefixHex(str)) {
+        unsigned v;
+        if (TIXML_SSCANF(str, "%x", &v) == 1) {
+            *value = static_cast<int>(v);
+            return true;
+        }
+    }
+    else {
+        if (TIXML_SSCANF(str, "%d", value) == 1) {
+            return true;
+        }
+    }
+    return false;
+}
+
+bool XMLUtil::ToUnsigned(const char* str, unsigned* value)
+{
+    if (TIXML_SSCANF(str, IsPrefixHex(str) ? "%x" : "%u", value) == 1) {
+        return true;
+    }
+    return false;
+}
+
+bool XMLUtil::ToBool( const char* str, bool* value )
+{
+    int ival = 0;
+    if ( ToInt( str, &ival )) {
+        *value = (ival==0) ? false : true;
+        return true;
+    }
+    static const char* TRUE_VALS[] = { "true", "True", "TRUE", 0 };
+    static const char* FALSE_VALS[] = { "false", "False", "FALSE", 0 };
+
+    for (int i = 0; TRUE_VALS[i]; ++i) {
+        if (StringEqual(str, TRUE_VALS[i])) {
+            *value = true;
+            return true;
+        }
+    }
+    for (int i = 0; FALSE_VALS[i]; ++i) {
+        if (StringEqual(str, FALSE_VALS[i])) {
+            *value = false;
+            return true;
+        }
+    }
+    return false;
+}
+
+
+bool XMLUtil::ToFloat( const char* str, float* value )
+{
+    if ( TIXML_SSCANF( str, "%f", value ) == 1 ) {
+        return true;
+    }
+    return false;
+}
+
+
+bool XMLUtil::ToDouble( const char* str, double* value )
+{
+    if ( TIXML_SSCANF( str, "%lf", value ) == 1 ) {
+        return true;
+    }
+    return false;
+}
+
+
+bool XMLUtil::ToInt64(const char* str, int64_t* value)
+{
+    if (IsPrefixHex(str)) {
+        unsigned long long v = 0;	// horrible syntax trick to make the compiler happy about %llx
+        if (TIXML_SSCANF(str, "%llx", &v) == 1) {
+            *value = static_cast<int64_t>(v);
+            return true;
+        }
+    }
+    else {
+        long long v = 0;	// horrible syntax trick to make the compiler happy about %lld
+        if (TIXML_SSCANF(str, "%lld", &v) == 1) {
+            *value = static_cast<int64_t>(v);
+            return true;
+        }
+    }
+	return false;
+}
+
+
+bool XMLUtil::ToUnsigned64(const char* str, uint64_t* value) {
+    unsigned long long v = 0;	// horrible syntax trick to make the compiler happy about %llu
+    if(TIXML_SSCANF(str, IsPrefixHex(str) ? "%llx" : "%llu", &v) == 1) {
+        *value = (uint64_t)v;
+        return true;
+    }
+    return false;
+}
+
+
+char* XMLDocument::Identify( char* p, XMLNode** node )
+{
+    TIXMLASSERT( node );
+    TIXMLASSERT( p );
+    char* const start = p;
+    int const startLine = _parseCurLineNum;
+    p = XMLUtil::SkipWhiteSpace( p, &_parseCurLineNum );
+    if( !*p ) {
+        *node = 0;
+        TIXMLASSERT( p );
+        return p;
+    }
+
+    // These strings define the matching patterns:
+    static const char* xmlHeader		= { "<?" };
+    static const char* commentHeader	= { "<!--" };
+    static const char* cdataHeader		= { "<![CDATA[" };
+    static const char* dtdHeader		= { "<!" };
+    static const char* elementHeader	= { "<" };	// and a header for everything else; check last.
+
+    static const int xmlHeaderLen		= 2;
+    static const int commentHeaderLen	= 4;
+    static const int cdataHeaderLen		= 9;
+    static const int dtdHeaderLen		= 2;
+    static const int elementHeaderLen	= 1;
+
+    TIXMLASSERT( sizeof( XMLComment ) == sizeof( XMLUnknown ) );		// use same memory pool
+    TIXMLASSERT( sizeof( XMLComment ) == sizeof( XMLDeclaration ) );	// use same memory pool
+    XMLNode* returnNode = 0;
+    if ( XMLUtil::StringEqual( p, xmlHeader, xmlHeaderLen ) ) {
+        returnNode = CreateUnlinkedNode<XMLDeclaration>( _commentPool );
+        returnNode->_parseLineNum = _parseCurLineNum;
+        p += xmlHeaderLen;
+    }
+    else if ( XMLUtil::StringEqual( p, commentHeader, commentHeaderLen ) ) {
+        returnNode = CreateUnlinkedNode<XMLComment>( _commentPool );
+        returnNode->_parseLineNum = _parseCurLineNum;
+        p += commentHeaderLen;
+    }
+    else if ( XMLUtil::StringEqual( p, cdataHeader, cdataHeaderLen ) ) {
+        XMLText* text = CreateUnlinkedNode<XMLText>( _textPool );
+        returnNode = text;
+        returnNode->_parseLineNum = _parseCurLineNum;
+        p += cdataHeaderLen;
+        text->SetCData( true );
+    }
+    else if ( XMLUtil::StringEqual( p, dtdHeader, dtdHeaderLen ) ) {
+        returnNode = CreateUnlinkedNode<XMLUnknown>( _commentPool );
+        returnNode->_parseLineNum = _parseCurLineNum;
+        p += dtdHeaderLen;
+    }
+    else if ( XMLUtil::StringEqual( p, elementHeader, elementHeaderLen ) ) {
+        returnNode =  CreateUnlinkedNode<XMLElement>( _elementPool );
+        returnNode->_parseLineNum = _parseCurLineNum;
+        p += elementHeaderLen;
+    }
+    else {
+        returnNode = CreateUnlinkedNode<XMLText>( _textPool );
+        returnNode->_parseLineNum = _parseCurLineNum; // Report line of first non-whitespace character
+        p = start;	// Back it up, all the text counts.
+        _parseCurLineNum = startLine;
+    }
+
+    TIXMLASSERT( returnNode );
+    TIXMLASSERT( p );
+    *node = returnNode;
+    return p;
+}
+
+
+bool XMLDocument::Accept( XMLVisitor* visitor ) const
+{
+    TIXMLASSERT( visitor );
+    if ( visitor->VisitEnter( *this ) ) {
+        for ( const XMLNode* node=FirstChild(); node; node=node->NextSibling() ) {
+            if ( !node->Accept( visitor ) ) {
+                break;
+            }
+        }
+    }
+    return visitor->VisitExit( *this );
+}
+
+
+// --------- XMLNode ----------- //
+
+XMLNode::XMLNode( XMLDocument* doc ) :
+    _document( doc ),
+    _parent( 0 ),
+    _value(),
+    _parseLineNum( 0 ),
+    _firstChild( 0 ), _lastChild( 0 ),
+    _prev( 0 ), _next( 0 ),
+	_userData( 0 ),
+    _memPool( 0 )
+{
+}
+
+
+XMLNode::~XMLNode()
+{
+    DeleteChildren();
+    if ( _parent ) {
+        _parent->Unlink( this );
+    }
+}
+
+const char* XMLNode::Value() const
+{
+    // Edge case: XMLDocuments don't have a Value. Return null.
+    if ( this->ToDocument() )
+        return 0;
+    return _value.GetStr();
+}
+
+void XMLNode::SetValue( const char* str, bool staticMem )
+{
+    if ( staticMem ) {
+        _value.SetInternedStr( str );
+    }
+    else {
+        _value.SetStr( str );
+    }
+}
+
+XMLNode* XMLNode::DeepClone(XMLDocument* target) const
+{
+	XMLNode* clone = this->ShallowClone(target);
+	if (!clone) return 0;
+
+	for (const XMLNode* child = this->FirstChild(); child; child = child->NextSibling()) {
+		XMLNode* childClone = child->DeepClone(target);
+		TIXMLASSERT(childClone);
+		clone->InsertEndChild(childClone);
+	}
+	return clone;
+}
+
+void XMLNode::DeleteChildren()
+{
+    while( _firstChild ) {
+        TIXMLASSERT( _lastChild );
+        DeleteChild( _firstChild );
+    }
+    _firstChild = _lastChild = 0;
+}
+
+
+void XMLNode::Unlink( XMLNode* child )
+{
+    TIXMLASSERT( child );
+    TIXMLASSERT( child->_document == _document );
+    TIXMLASSERT( child->_parent == this );
+    if ( child == _firstChild ) {
+        _firstChild = _firstChild->_next;
+    }
+    if ( child == _lastChild ) {
+        _lastChild = _lastChild->_prev;
+    }
+
+    if ( child->_prev ) {
+        child->_prev->_next = child->_next;
+    }
+    if ( child->_next ) {
+        child->_next->_prev = child->_prev;
+    }
+	child->_next = 0;
+	child->_prev = 0;
+	child->_parent = 0;
+}
+
+
+void XMLNode::DeleteChild( XMLNode* node )
+{
+    TIXMLASSERT( node );
+    TIXMLASSERT( node->_document == _document );
+    TIXMLASSERT( node->_parent == this );
+    Unlink( node );
+	TIXMLASSERT(node->_prev == 0);
+	TIXMLASSERT(node->_next == 0);
+	TIXMLASSERT(node->_parent == 0);
+    DeleteNode( node );
+}
+
+
+XMLNode* XMLNode::InsertEndChild( XMLNode* addThis )
+{
+    TIXMLASSERT( addThis );
+    if ( addThis->_document != _document ) {
+        TIXMLASSERT( false );
+        return 0;
+    }
+    InsertChildPreamble( addThis );
+
+    if ( _lastChild ) {
+        TIXMLASSERT( _firstChild );
+        TIXMLASSERT( _lastChild->_next == 0 );
+        _lastChild->_next = addThis;
+        addThis->_prev = _lastChild;
+        _lastChild = addThis;
+
+        addThis->_next = 0;
+    }
+    else {
+        TIXMLASSERT( _firstChild == 0 );
+        _firstChild = _lastChild = addThis;
+
+        addThis->_prev = 0;
+        addThis->_next = 0;
+    }
+    addThis->_parent = this;
+    return addThis;
+}
+
+
+XMLNode* XMLNode::InsertFirstChild( XMLNode* addThis )
+{
+    TIXMLASSERT( addThis );
+    if ( addThis->_document != _document ) {
+        TIXMLASSERT( false );
+        return 0;
+    }
+    InsertChildPreamble( addThis );
+
+    if ( _firstChild ) {
+        TIXMLASSERT( _lastChild );
+        TIXMLASSERT( _firstChild->_prev == 0 );
+
+        _firstChild->_prev = addThis;
+        addThis->_next = _firstChild;
+        _firstChild = addThis;
+
+        addThis->_prev = 0;
+    }
+    else {
+        TIXMLASSERT( _lastChild == 0 );
+        _firstChild = _lastChild = addThis;
+
+        addThis->_prev = 0;
+        addThis->_next = 0;
+    }
+    addThis->_parent = this;
+    return addThis;
+}
+
+
+XMLNode* XMLNode::InsertAfterChild( XMLNode* afterThis, XMLNode* addThis )
+{
+    TIXMLASSERT( addThis );
+    if ( addThis->_document != _document ) {
+        TIXMLASSERT( false );
+        return 0;
+    }
+
+    TIXMLASSERT( afterThis );
+
+    if ( afterThis->_parent != this ) {
+        TIXMLASSERT( false );
+        return 0;
+    }
+    if ( afterThis == addThis ) {
+        // Current state: BeforeThis -> AddThis -> OneAfterAddThis
+        // Now AddThis must disappear from it's location and then
+        // reappear between BeforeThis and OneAfterAddThis.
+        // So just leave it where it is.
+        return addThis;
+    }
+
+    if ( afterThis->_next == 0 ) {
+        // The last node or the only node.
+        return InsertEndChild( addThis );
+    }
+    InsertChildPreamble( addThis );
+    addThis->_prev = afterThis;
+    addThis->_next = afterThis->_next;
+    afterThis->_next->_prev = addThis;
+    afterThis->_next = addThis;
+    addThis->_parent = this;
+    return addThis;
+}
+
+
+
+
+const XMLElement* XMLNode::FirstChildElement( const char* name ) const
+{
+    for( const XMLNode* node = _firstChild; node; node = node->_next ) {
+        const XMLElement* element = node->ToElementWithName( name );
+        if ( element ) {
+            return element;
+        }
+    }
+    return 0;
+}
+
+
+const XMLElement* XMLNode::LastChildElement( const char* name ) const
+{
+    for( const XMLNode* node = _lastChild; node; node = node->_prev ) {
+        const XMLElement* element = node->ToElementWithName( name );
+        if ( element ) {
+            return element;
+        }
+    }
+    return 0;
+}
+
+
+const XMLElement* XMLNode::NextSiblingElement( const char* name ) const
+{
+    for( const XMLNode* node = _next; node; node = node->_next ) {
+        const XMLElement* element = node->ToElementWithName( name );
+        if ( element ) {
+            return element;
+        }
+    }
+    return 0;
+}
+
+
+const XMLElement* XMLNode::PreviousSiblingElement( const char* name ) const
+{
+    for( const XMLNode* node = _prev; node; node = node->_prev ) {
+        const XMLElement* element = node->ToElementWithName( name );
+        if ( element ) {
+            return element;
+        }
+    }
+    return 0;
+}
+
+
+char* XMLNode::ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr )
+{
+    // This is a recursive method, but thinking about it "at the current level"
+    // it is a pretty simple flat list:
+    //		<foo/>
+    //		<!-- comment -->
+    //
+    // With a special case:
+    //		<foo>
+    //		</foo>
+    //		<!-- comment -->
+    //
+    // Where the closing element (/foo) *must* be the next thing after the opening
+    // element, and the names must match. BUT the tricky bit is that the closing
+    // element will be read by the child.
+    //
+    // 'endTag' is the end tag for this node, it is returned by a call to a child.
+    // 'parentEnd' is the end tag for the parent, which is filled in and returned.
+
+	XMLDocument::DepthTracker tracker(_document);
+	if (_document->Error())
+		return 0;
+
+	while( p && *p ) {
+        XMLNode* node = 0;
+
+        p = _document->Identify( p, &node );
+        TIXMLASSERT( p );
+        if ( node == 0 ) {
+            break;
+        }
+
+       const int initialLineNum = node->_parseLineNum;
+
+        StrPair endTag;
+        p = node->ParseDeep( p, &endTag, curLineNumPtr );
+        if ( !p ) {
+            DeleteNode( node );
+            if ( !_document->Error() ) {
+                _document->SetError( XML_ERROR_PARSING, initialLineNum, 0);
+            }
+            break;
+        }
+
+        const XMLDeclaration* const decl = node->ToDeclaration();
+        if ( decl ) {
+            // Declarations are only allowed at document level
+            //
+            // Multiple declarations are allowed but all declarations
+            // must occur before anything else. 
+            //
+            // Optimized due to a security test case. If the first node is 
+            // a declaration, and the last node is a declaration, then only 
+            // declarations have so far been added.
+            bool wellLocated = false;
+
+            if (ToDocument()) {
+                if (FirstChild()) {
+                    wellLocated =
+                        FirstChild() &&
+                        FirstChild()->ToDeclaration() &&
+                        LastChild() &&
+                        LastChild()->ToDeclaration();
+                }
+                else {
+                    wellLocated = true;
+                }
+            }
+            if ( !wellLocated ) {
+                _document->SetError( XML_ERROR_PARSING_DECLARATION, initialLineNum, "XMLDeclaration value=%s", decl->Value());
+                DeleteNode( node );
+                break;
+            }
+        }
+
+        XMLElement* ele = node->ToElement();
+        if ( ele ) {
+            // We read the end tag. Return it to the parent.
+            if ( ele->ClosingType() == XMLElement::CLOSING ) {
+                if ( parentEndTag ) {
+                    ele->_value.TransferTo( parentEndTag );
+                }
+                node->_memPool->SetTracked();   // created and then immediately deleted.
+                DeleteNode( node );
+                return p;
+            }
+
+            // Handle an end tag returned to this level.
+            // And handle a bunch of annoying errors.
+            bool mismatch = false;
+            if ( endTag.Empty() ) {
+                if ( ele->ClosingType() == XMLElement::OPEN ) {
+                    mismatch = true;
+                }
+            }
+            else {
+                if ( ele->ClosingType() != XMLElement::OPEN ) {
+                    mismatch = true;
+                }
+                else if ( !XMLUtil::StringEqual( endTag.GetStr(), ele->Name() ) ) {
+                    mismatch = true;
+                }
+            }
+            if ( mismatch ) {
+                _document->SetError( XML_ERROR_MISMATCHED_ELEMENT, initialLineNum, "XMLElement name=%s", ele->Name());
+                DeleteNode( node );
+                break;
+            }
+        }
+        InsertEndChild( node );
+    }
+    return 0;
+}
+
+/*static*/ void XMLNode::DeleteNode( XMLNode* node )
+{
+    if ( node == 0 ) {
+        return;
+    }
+	TIXMLASSERT(node->_document);
+	if (!node->ToDocument()) {
+		node->_document->MarkInUse(node);
+	}
+
+    MemPool* pool = node->_memPool;
+    node->~XMLNode();
+    pool->Free( node );
+}
+
+void XMLNode::InsertChildPreamble( XMLNode* insertThis ) const
+{
+    TIXMLASSERT( insertThis );
+    TIXMLASSERT( insertThis->_document == _document );
+
+	if (insertThis->_parent) {
+        insertThis->_parent->Unlink( insertThis );
+	}
+	else {
+		insertThis->_document->MarkInUse(insertThis);
+        insertThis->_memPool->SetTracked();
+	}
+}
+
+const XMLElement* XMLNode::ToElementWithName( const char* name ) const
+{
+    const XMLElement* element = this->ToElement();
+    if ( element == 0 ) {
+        return 0;
+    }
+    if ( name == 0 ) {
+        return element;
+    }
+    if ( XMLUtil::StringEqual( element->Name(), name ) ) {
+       return element;
+    }
+    return 0;
+}
+
+// --------- XMLText ---------- //
+char* XMLText::ParseDeep( char* p, StrPair*, int* curLineNumPtr )
+{
+    if ( this->CData() ) {
+        p = _value.ParseText( p, "]]>", StrPair::NEEDS_NEWLINE_NORMALIZATION, curLineNumPtr );
+        if ( !p ) {
+            _document->SetError( XML_ERROR_PARSING_CDATA, _parseLineNum, 0 );
+        }
+        return p;
+    }
+    else {
+        int flags = _document->ProcessEntities() ? StrPair::TEXT_ELEMENT : StrPair::TEXT_ELEMENT_LEAVE_ENTITIES;
+        if ( _document->WhitespaceMode() == COLLAPSE_WHITESPACE ) {
+            flags |= StrPair::NEEDS_WHITESPACE_COLLAPSING;
+        }
+
+        p = _value.ParseText( p, "<", flags, curLineNumPtr );
+        if ( p && *p ) {
+            return p-1;
+        }
+        if ( !p ) {
+            _document->SetError( XML_ERROR_PARSING_TEXT, _parseLineNum, 0 );
+        }
+    }
+    return 0;
+}
+
+
+XMLNode* XMLText::ShallowClone( XMLDocument* doc ) const
+{
+    if ( !doc ) {
+        doc = _document;
+    }
+    XMLText* text = doc->NewText( Value() );	// fixme: this will always allocate memory. Intern?
+    text->SetCData( this->CData() );
+    return text;
+}
+
+
+bool XMLText::ShallowEqual( const XMLNode* compare ) const
+{
+    TIXMLASSERT( compare );
+    const XMLText* text = compare->ToText();
+    return ( text && XMLUtil::StringEqual( text->Value(), Value() ) );
+}
+
+
+bool XMLText::Accept( XMLVisitor* visitor ) const
+{
+    TIXMLASSERT( visitor );
+    return visitor->Visit( *this );
+}
+
+
+// --------- XMLComment ---------- //
+
+XMLComment::XMLComment( XMLDocument* doc ) : XMLNode( doc )
+{
+}
+
+
+XMLComment::~XMLComment()
+{
+}
+
+
+char* XMLComment::ParseDeep( char* p, StrPair*, int* curLineNumPtr )
+{
+    // Comment parses as text.
+    p = _value.ParseText( p, "-->", StrPair::COMMENT, curLineNumPtr );
+    if ( p == 0 ) {
+        _document->SetError( XML_ERROR_PARSING_COMMENT, _parseLineNum, 0 );
+    }
+    return p;
+}
+
+
+XMLNode* XMLComment::ShallowClone( XMLDocument* doc ) const
+{
+    if ( !doc ) {
+        doc = _document;
+    }
+    XMLComment* comment = doc->NewComment( Value() );	// fixme: this will always allocate memory. Intern?
+    return comment;
+}
+
+
+bool XMLComment::ShallowEqual( const XMLNode* compare ) const
+{
+    TIXMLASSERT( compare );
+    const XMLComment* comment = compare->ToComment();
+    return ( comment && XMLUtil::StringEqual( comment->Value(), Value() ));
+}
+
+
+bool XMLComment::Accept( XMLVisitor* visitor ) const
+{
+    TIXMLASSERT( visitor );
+    return visitor->Visit( *this );
+}
+
+
+// --------- XMLDeclaration ---------- //
+
+XMLDeclaration::XMLDeclaration( XMLDocument* doc ) : XMLNode( doc )
+{
+}
+
+
+XMLDeclaration::~XMLDeclaration()
+{
+    //printf( "~XMLDeclaration\n" );
+}
+
+
+char* XMLDeclaration::ParseDeep( char* p, StrPair*, int* curLineNumPtr )
+{
+    // Declaration parses as text.
+    p = _value.ParseText( p, "?>", StrPair::NEEDS_NEWLINE_NORMALIZATION, curLineNumPtr );
+    if ( p == 0 ) {
+        _document->SetError( XML_ERROR_PARSING_DECLARATION, _parseLineNum, 0 );
+    }
+    return p;
+}
+
+
+XMLNode* XMLDeclaration::ShallowClone( XMLDocument* doc ) const
+{
+    if ( !doc ) {
+        doc = _document;
+    }
+    XMLDeclaration* dec = doc->NewDeclaration( Value() );	// fixme: this will always allocate memory. Intern?
+    return dec;
+}
+
+
+bool XMLDeclaration::ShallowEqual( const XMLNode* compare ) const
+{
+    TIXMLASSERT( compare );
+    const XMLDeclaration* declaration = compare->ToDeclaration();
+    return ( declaration && XMLUtil::StringEqual( declaration->Value(), Value() ));
+}
+
+
+
+bool XMLDeclaration::Accept( XMLVisitor* visitor ) const
+{
+    TIXMLASSERT( visitor );
+    return visitor->Visit( *this );
+}
+
+// --------- XMLUnknown ---------- //
+
+XMLUnknown::XMLUnknown( XMLDocument* doc ) : XMLNode( doc )
+{
+}
+
+
+XMLUnknown::~XMLUnknown()
+{
+}
+
+
+char* XMLUnknown::ParseDeep( char* p, StrPair*, int* curLineNumPtr )
+{
+    // Unknown parses as text.
+    p = _value.ParseText( p, ">", StrPair::NEEDS_NEWLINE_NORMALIZATION, curLineNumPtr );
+    if ( !p ) {
+        _document->SetError( XML_ERROR_PARSING_UNKNOWN, _parseLineNum, 0 );
+    }
+    return p;
+}
+
+
+XMLNode* XMLUnknown::ShallowClone( XMLDocument* doc ) const
+{
+    if ( !doc ) {
+        doc = _document;
+    }
+    XMLUnknown* text = doc->NewUnknown( Value() );	// fixme: this will always allocate memory. Intern?
+    return text;
+}
+
+
+bool XMLUnknown::ShallowEqual( const XMLNode* compare ) const
+{
+    TIXMLASSERT( compare );
+    const XMLUnknown* unknown = compare->ToUnknown();
+    return ( unknown && XMLUtil::StringEqual( unknown->Value(), Value() ));
+}
+
+
+bool XMLUnknown::Accept( XMLVisitor* visitor ) const
+{
+    TIXMLASSERT( visitor );
+    return visitor->Visit( *this );
+}
+
+// --------- XMLAttribute ---------- //
+
+const char* XMLAttribute::Name() const
+{
+    return _name.GetStr();
+}
+
+const char* XMLAttribute::Value() const
+{
+    return _value.GetStr();
+}
+
+char* XMLAttribute::ParseDeep( char* p, bool processEntities, int* curLineNumPtr )
+{
+    // Parse using the name rules: bug fix, was using ParseText before
+    p = _name.ParseName( p );
+    if ( !p || !*p ) {
+        return 0;
+    }
+
+    // Skip white space before =
+    p = XMLUtil::SkipWhiteSpace( p, curLineNumPtr );
+    if ( *p != '=' ) {
+        return 0;
+    }
+
+    ++p;	// move up to opening quote
+    p = XMLUtil::SkipWhiteSpace( p, curLineNumPtr );
+    if ( *p != '\"' && *p != '\'' ) {
+        return 0;
+    }
+
+    const char endTag[2] = { *p, 0 };
+    ++p;	// move past opening quote
+
+    p = _value.ParseText( p, endTag, processEntities ? StrPair::ATTRIBUTE_VALUE : StrPair::ATTRIBUTE_VALUE_LEAVE_ENTITIES, curLineNumPtr );
+    return p;
+}
+
+
+void XMLAttribute::SetName( const char* n )
+{
+    _name.SetStr( n );
+}
+
+
+XMLError XMLAttribute::QueryIntValue( int* value ) const
+{
+    if ( XMLUtil::ToInt( Value(), value )) {
+        return XML_SUCCESS;
+    }
+    return XML_WRONG_ATTRIBUTE_TYPE;
+}
+
+
+XMLError XMLAttribute::QueryUnsignedValue( unsigned int* value ) const
+{
+    if ( XMLUtil::ToUnsigned( Value(), value )) {
+        return XML_SUCCESS;
+    }
+    return XML_WRONG_ATTRIBUTE_TYPE;
+}
+
+
+XMLError XMLAttribute::QueryInt64Value(int64_t* value) const
+{
+	if (XMLUtil::ToInt64(Value(), value)) {
+		return XML_SUCCESS;
+	}
+	return XML_WRONG_ATTRIBUTE_TYPE;
+}
+
+
+XMLError XMLAttribute::QueryUnsigned64Value(uint64_t* value) const
+{
+    if(XMLUtil::ToUnsigned64(Value(), value)) {
+        return XML_SUCCESS;
+    }
+    return XML_WRONG_ATTRIBUTE_TYPE;
+}
+
+
+XMLError XMLAttribute::QueryBoolValue( bool* value ) const
+{
+    if ( XMLUtil::ToBool( Value(), value )) {
+        return XML_SUCCESS;
+    }
+    return XML_WRONG_ATTRIBUTE_TYPE;
+}
+
+
+XMLError XMLAttribute::QueryFloatValue( float* value ) const
+{
+    if ( XMLUtil::ToFloat( Value(), value )) {
+        return XML_SUCCESS;
+    }
+    return XML_WRONG_ATTRIBUTE_TYPE;
+}
+
+
+XMLError XMLAttribute::QueryDoubleValue( double* value ) const
+{
+    if ( XMLUtil::ToDouble( Value(), value )) {
+        return XML_SUCCESS;
+    }
+    return XML_WRONG_ATTRIBUTE_TYPE;
+}
+
+
+void XMLAttribute::SetAttribute( const char* v )
+{
+    _value.SetStr( v );
+}
+
+
+void XMLAttribute::SetAttribute( int v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    _value.SetStr( buf );
+}
+
+
+void XMLAttribute::SetAttribute( unsigned v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    _value.SetStr( buf );
+}
+
+
+void XMLAttribute::SetAttribute(int64_t v)
+{
+	char buf[BUF_SIZE];
+	XMLUtil::ToStr(v, buf, BUF_SIZE);
+	_value.SetStr(buf);
+}
+
+void XMLAttribute::SetAttribute(uint64_t v)
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr(v, buf, BUF_SIZE);
+    _value.SetStr(buf);
+}
+
+
+void XMLAttribute::SetAttribute( bool v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    _value.SetStr( buf );
+}
+
+void XMLAttribute::SetAttribute( double v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    _value.SetStr( buf );
+}
+
+void XMLAttribute::SetAttribute( float v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    _value.SetStr( buf );
+}
+
+
+// --------- XMLElement ---------- //
+XMLElement::XMLElement( XMLDocument* doc ) : XMLNode( doc ),
+    _closingType( OPEN ),
+    _rootAttribute( 0 )
+{
+}
+
+
+XMLElement::~XMLElement()
+{
+    while( _rootAttribute ) {
+        XMLAttribute* next = _rootAttribute->_next;
+        DeleteAttribute( _rootAttribute );
+        _rootAttribute = next;
+    }
+}
+
+
+const XMLAttribute* XMLElement::FindAttribute( const char* name ) const
+{
+    for( XMLAttribute* a = _rootAttribute; a; a = a->_next ) {
+        if ( XMLUtil::StringEqual( a->Name(), name ) ) {
+            return a;
+        }
+    }
+    return 0;
+}
+
+
+const char* XMLElement::Attribute( const char* name, const char* value ) const
+{
+    const XMLAttribute* a = FindAttribute( name );
+    if ( !a ) {
+        return 0;
+    }
+    if ( !value || XMLUtil::StringEqual( a->Value(), value )) {
+        return a->Value();
+    }
+    return 0;
+}
+
+int XMLElement::IntAttribute(const char* name, int defaultValue) const
+{
+	int i = defaultValue;
+	QueryIntAttribute(name, &i);
+	return i;
+}
+
+unsigned XMLElement::UnsignedAttribute(const char* name, unsigned defaultValue) const
+{
+	unsigned i = defaultValue;
+	QueryUnsignedAttribute(name, &i);
+	return i;
+}
+
+int64_t XMLElement::Int64Attribute(const char* name, int64_t defaultValue) const
+{
+	int64_t i = defaultValue;
+	QueryInt64Attribute(name, &i);
+	return i;
+}
+
+uint64_t XMLElement::Unsigned64Attribute(const char* name, uint64_t defaultValue) const
+{
+	uint64_t i = defaultValue;
+	QueryUnsigned64Attribute(name, &i);
+	return i;
+}
+
+bool XMLElement::BoolAttribute(const char* name, bool defaultValue) const
+{
+	bool b = defaultValue;
+	QueryBoolAttribute(name, &b);
+	return b;
+}
+
+double XMLElement::DoubleAttribute(const char* name, double defaultValue) const
+{
+	double d = defaultValue;
+	QueryDoubleAttribute(name, &d);
+	return d;
+}
+
+float XMLElement::FloatAttribute(const char* name, float defaultValue) const
+{
+	float f = defaultValue;
+	QueryFloatAttribute(name, &f);
+	return f;
+}
+
+const char* XMLElement::GetText() const
+{
+    /* skip comment node */
+    const XMLNode* node = FirstChild();
+    while (node) {
+        if (node->ToComment()) {
+            node = node->NextSibling();
+            continue;
+        }
+        break;
+    }
+
+    if ( node && node->ToText() ) {
+        return node->Value();
+    }
+    return 0;
+}
+
+
+void	XMLElement::SetText( const char* inText )
+{
+	if ( FirstChild() && FirstChild()->ToText() )
+		FirstChild()->SetValue( inText );
+	else {
+		XMLText*	theText = GetDocument()->NewText( inText );
+		InsertFirstChild( theText );
+	}
+}
+
+
+void XMLElement::SetText( int v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    SetText( buf );
+}
+
+
+void XMLElement::SetText( unsigned v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    SetText( buf );
+}
+
+
+void XMLElement::SetText(int64_t v)
+{
+	char buf[BUF_SIZE];
+	XMLUtil::ToStr(v, buf, BUF_SIZE);
+	SetText(buf);
+}
+
+void XMLElement::SetText(uint64_t v) {
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr(v, buf, BUF_SIZE);
+    SetText(buf);
+}
+
+
+void XMLElement::SetText( bool v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    SetText( buf );
+}
+
+
+void XMLElement::SetText( float v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    SetText( buf );
+}
+
+
+void XMLElement::SetText( double v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    SetText( buf );
+}
+
+
+XMLError XMLElement::QueryIntText( int* ival ) const
+{
+    if ( FirstChild() && FirstChild()->ToText() ) {
+        const char* t = FirstChild()->Value();
+        if ( XMLUtil::ToInt( t, ival ) ) {
+            return XML_SUCCESS;
+        }
+        return XML_CAN_NOT_CONVERT_TEXT;
+    }
+    return XML_NO_TEXT_NODE;
+}
+
+
+XMLError XMLElement::QueryUnsignedText( unsigned* uval ) const
+{
+    if ( FirstChild() && FirstChild()->ToText() ) {
+        const char* t = FirstChild()->Value();
+        if ( XMLUtil::ToUnsigned( t, uval ) ) {
+            return XML_SUCCESS;
+        }
+        return XML_CAN_NOT_CONVERT_TEXT;
+    }
+    return XML_NO_TEXT_NODE;
+}
+
+
+XMLError XMLElement::QueryInt64Text(int64_t* ival) const
+{
+	if (FirstChild() && FirstChild()->ToText()) {
+		const char* t = FirstChild()->Value();
+		if (XMLUtil::ToInt64(t, ival)) {
+			return XML_SUCCESS;
+		}
+		return XML_CAN_NOT_CONVERT_TEXT;
+	}
+	return XML_NO_TEXT_NODE;
+}
+
+
+XMLError XMLElement::QueryUnsigned64Text(uint64_t* ival) const
+{
+    if(FirstChild() && FirstChild()->ToText()) {
+        const char* t = FirstChild()->Value();
+        if(XMLUtil::ToUnsigned64(t, ival)) {
+            return XML_SUCCESS;
+        }
+        return XML_CAN_NOT_CONVERT_TEXT;
+    }
+    return XML_NO_TEXT_NODE;
+}
+
+
+XMLError XMLElement::QueryBoolText( bool* bval ) const
+{
+    if ( FirstChild() && FirstChild()->ToText() ) {
+        const char* t = FirstChild()->Value();
+        if ( XMLUtil::ToBool( t, bval ) ) {
+            return XML_SUCCESS;
+        }
+        return XML_CAN_NOT_CONVERT_TEXT;
+    }
+    return XML_NO_TEXT_NODE;
+}
+
+
+XMLError XMLElement::QueryDoubleText( double* dval ) const
+{
+    if ( FirstChild() && FirstChild()->ToText() ) {
+        const char* t = FirstChild()->Value();
+        if ( XMLUtil::ToDouble( t, dval ) ) {
+            return XML_SUCCESS;
+        }
+        return XML_CAN_NOT_CONVERT_TEXT;
+    }
+    return XML_NO_TEXT_NODE;
+}
+
+
+XMLError XMLElement::QueryFloatText( float* fval ) const
+{
+    if ( FirstChild() && FirstChild()->ToText() ) {
+        const char* t = FirstChild()->Value();
+        if ( XMLUtil::ToFloat( t, fval ) ) {
+            return XML_SUCCESS;
+        }
+        return XML_CAN_NOT_CONVERT_TEXT;
+    }
+    return XML_NO_TEXT_NODE;
+}
+
+int XMLElement::IntText(int defaultValue) const
+{
+	int i = defaultValue;
+	QueryIntText(&i);
+	return i;
+}
+
+unsigned XMLElement::UnsignedText(unsigned defaultValue) const
+{
+	unsigned i = defaultValue;
+	QueryUnsignedText(&i);
+	return i;
+}
+
+int64_t XMLElement::Int64Text(int64_t defaultValue) const
+{
+	int64_t i = defaultValue;
+	QueryInt64Text(&i);
+	return i;
+}
+
+uint64_t XMLElement::Unsigned64Text(uint64_t defaultValue) const
+{
+	uint64_t i = defaultValue;
+	QueryUnsigned64Text(&i);
+	return i;
+}
+
+bool XMLElement::BoolText(bool defaultValue) const
+{
+	bool b = defaultValue;
+	QueryBoolText(&b);
+	return b;
+}
+
+double XMLElement::DoubleText(double defaultValue) const
+{
+	double d = defaultValue;
+	QueryDoubleText(&d);
+	return d;
+}
+
+float XMLElement::FloatText(float defaultValue) const
+{
+	float f = defaultValue;
+	QueryFloatText(&f);
+	return f;
+}
+
+
+XMLAttribute* XMLElement::FindOrCreateAttribute( const char* name )
+{
+    XMLAttribute* last = 0;
+    XMLAttribute* attrib = 0;
+    for( attrib = _rootAttribute;
+            attrib;
+            last = attrib, attrib = attrib->_next ) {
+        if ( XMLUtil::StringEqual( attrib->Name(), name ) ) {
+            break;
+        }
+    }
+    if ( !attrib ) {
+        attrib = CreateAttribute();
+        TIXMLASSERT( attrib );
+        if ( last ) {
+            TIXMLASSERT( last->_next == 0 );
+            last->_next = attrib;
+        }
+        else {
+            TIXMLASSERT( _rootAttribute == 0 );
+            _rootAttribute = attrib;
+        }
+        attrib->SetName( name );
+    }
+    return attrib;
+}
+
+
+void XMLElement::DeleteAttribute( const char* name )
+{
+    XMLAttribute* prev = 0;
+    for( XMLAttribute* a=_rootAttribute; a; a=a->_next ) {
+        if ( XMLUtil::StringEqual( name, a->Name() ) ) {
+            if ( prev ) {
+                prev->_next = a->_next;
+            }
+            else {
+                _rootAttribute = a->_next;
+            }
+            DeleteAttribute( a );
+            break;
+        }
+        prev = a;
+    }
+}
+
+
+char* XMLElement::ParseAttributes( char* p, int* curLineNumPtr )
+{
+    XMLAttribute* prevAttribute = 0;
+
+    // Read the attributes.
+    while( p ) {
+        p = XMLUtil::SkipWhiteSpace( p, curLineNumPtr );
+        if ( !(*p) ) {
+            _document->SetError( XML_ERROR_PARSING_ELEMENT, _parseLineNum, "XMLElement name=%s", Name() );
+            return 0;
+        }
+
+        // attribute.
+        if (XMLUtil::IsNameStartChar( (unsigned char) *p ) ) {
+            XMLAttribute* attrib = CreateAttribute();
+            TIXMLASSERT( attrib );
+            attrib->_parseLineNum = _document->_parseCurLineNum;
+
+            const int attrLineNum = attrib->_parseLineNum;
+
+            p = attrib->ParseDeep( p, _document->ProcessEntities(), curLineNumPtr );
+            if ( !p || Attribute( attrib->Name() ) ) {
+                DeleteAttribute( attrib );
+                _document->SetError( XML_ERROR_PARSING_ATTRIBUTE, attrLineNum, "XMLElement name=%s", Name() );
+                return 0;
+            }
+            // There is a minor bug here: if the attribute in the source xml
+            // document is duplicated, it will not be detected and the
+            // attribute will be doubly added. However, tracking the 'prevAttribute'
+            // avoids re-scanning the attribute list. Preferring performance for
+            // now, may reconsider in the future.
+            if ( prevAttribute ) {
+                TIXMLASSERT( prevAttribute->_next == 0 );
+                prevAttribute->_next = attrib;
+            }
+            else {
+                TIXMLASSERT( _rootAttribute == 0 );
+                _rootAttribute = attrib;
+            }
+            prevAttribute = attrib;
+        }
+        // end of the tag
+        else if ( *p == '>' ) {
+            ++p;
+            break;
+        }
+        // end of the tag
+        else if ( *p == '/' && *(p+1) == '>' ) {
+            _closingType = CLOSED;
+            return p+2;	// done; sealed element.
+        }
+        else {
+            _document->SetError( XML_ERROR_PARSING_ELEMENT, _parseLineNum, 0 );
+            return 0;
+        }
+    }
+    return p;
+}
+
+void XMLElement::DeleteAttribute( XMLAttribute* attribute )
+{
+    if ( attribute == 0 ) {
+        return;
+    }
+    MemPool* pool = attribute->_memPool;
+    attribute->~XMLAttribute();
+    pool->Free( attribute );
+}
+
+XMLAttribute* XMLElement::CreateAttribute()
+{
+    TIXMLASSERT( sizeof( XMLAttribute ) == _document->_attributePool.ItemSize() );
+    XMLAttribute* attrib = new (_document->_attributePool.Alloc() ) XMLAttribute();
+    TIXMLASSERT( attrib );
+    attrib->_memPool = &_document->_attributePool;
+    attrib->_memPool->SetTracked();
+    return attrib;
+}
+
+
+XMLElement* XMLElement::InsertNewChildElement(const char* name)
+{
+    XMLElement* node = _document->NewElement(name);
+    return InsertEndChild(node) ? node : 0;
+}
+
+XMLComment* XMLElement::InsertNewComment(const char* comment)
+{
+    XMLComment* node = _document->NewComment(comment);
+    return InsertEndChild(node) ? node : 0;
+}
+
+XMLText* XMLElement::InsertNewText(const char* text)
+{
+    XMLText* node = _document->NewText(text);
+    return InsertEndChild(node) ? node : 0;
+}
+
+XMLDeclaration* XMLElement::InsertNewDeclaration(const char* text)
+{
+    XMLDeclaration* node = _document->NewDeclaration(text);
+    return InsertEndChild(node) ? node : 0;
+}
+
+XMLUnknown* XMLElement::InsertNewUnknown(const char* text)
+{
+    XMLUnknown* node = _document->NewUnknown(text);
+    return InsertEndChild(node) ? node : 0;
+}
+
+
+
+//
+//	<ele></ele>
+//	<ele>foo<b>bar</b></ele>
+//
+char* XMLElement::ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr )
+{
+    // Read the element name.
+    p = XMLUtil::SkipWhiteSpace( p, curLineNumPtr );
+
+    // The closing element is the </element> form. It is
+    // parsed just like a regular element then deleted from
+    // the DOM.
+    if ( *p == '/' ) {
+        _closingType = CLOSING;
+        ++p;
+    }
+
+    p = _value.ParseName( p );
+    if ( _value.Empty() ) {
+        return 0;
+    }
+
+    p = ParseAttributes( p, curLineNumPtr );
+    if ( !p || !*p || _closingType != OPEN ) {
+        return p;
+    }
+
+    p = XMLNode::ParseDeep( p, parentEndTag, curLineNumPtr );
+    return p;
+}
+
+
+
+XMLNode* XMLElement::ShallowClone( XMLDocument* doc ) const
+{
+    if ( !doc ) {
+        doc = _document;
+    }
+    XMLElement* element = doc->NewElement( Value() );					// fixme: this will always allocate memory. Intern?
+    for( const XMLAttribute* a=FirstAttribute(); a; a=a->Next() ) {
+        element->SetAttribute( a->Name(), a->Value() );					// fixme: this will always allocate memory. Intern?
+    }
+    return element;
+}
+
+
+bool XMLElement::ShallowEqual( const XMLNode* compare ) const
+{
+    TIXMLASSERT( compare );
+    const XMLElement* other = compare->ToElement();
+    if ( other && XMLUtil::StringEqual( other->Name(), Name() )) {
+
+        const XMLAttribute* a=FirstAttribute();
+        const XMLAttribute* b=other->FirstAttribute();
+
+        while ( a && b ) {
+            if ( !XMLUtil::StringEqual( a->Value(), b->Value() ) ) {
+                return false;
+            }
+            a = a->Next();
+            b = b->Next();
+        }
+        if ( a || b ) {
+            // different count
+            return false;
+        }
+        return true;
+    }
+    return false;
+}
+
+
+bool XMLElement::Accept( XMLVisitor* visitor ) const
+{
+    TIXMLASSERT( visitor );
+    if ( visitor->VisitEnter( *this, _rootAttribute ) ) {
+        for ( const XMLNode* node=FirstChild(); node; node=node->NextSibling() ) {
+            if ( !node->Accept( visitor ) ) {
+                break;
+            }
+        }
+    }
+    return visitor->VisitExit( *this );
+}
+
+
+// --------- XMLDocument ----------- //
+
+// Warning: List must match 'enum XMLError'
+const char* XMLDocument::_errorNames[XML_ERROR_COUNT] = {
+    "XML_SUCCESS",
+    "XML_NO_ATTRIBUTE",
+    "XML_WRONG_ATTRIBUTE_TYPE",
+    "XML_ERROR_FILE_NOT_FOUND",
+    "XML_ERROR_FILE_COULD_NOT_BE_OPENED",
+    "XML_ERROR_FILE_READ_ERROR",
+    "XML_ERROR_PARSING_ELEMENT",
+    "XML_ERROR_PARSING_ATTRIBUTE",
+    "XML_ERROR_PARSING_TEXT",
+    "XML_ERROR_PARSING_CDATA",
+    "XML_ERROR_PARSING_COMMENT",
+    "XML_ERROR_PARSING_DECLARATION",
+    "XML_ERROR_PARSING_UNKNOWN",
+    "XML_ERROR_EMPTY_DOCUMENT",
+    "XML_ERROR_MISMATCHED_ELEMENT",
+    "XML_ERROR_PARSING",
+    "XML_CAN_NOT_CONVERT_TEXT",
+    "XML_NO_TEXT_NODE",
+	"XML_ELEMENT_DEPTH_EXCEEDED"
+};
+
+
+XMLDocument::XMLDocument( bool processEntities, Whitespace whitespaceMode ) :
+    XMLNode( 0 ),
+    _writeBOM( false ),
+    _processEntities( processEntities ),
+    _errorID(XML_SUCCESS),
+    _whitespaceMode( whitespaceMode ),
+    _errorStr(),
+    _errorLineNum( 0 ),
+    _charBuffer( 0 ),
+    _parseCurLineNum( 0 ),
+	_parsingDepth(0),
+    _unlinked(),
+    _elementPool(),
+    _attributePool(),
+    _textPool(),
+    _commentPool()
+{
+    // avoid VC++ C4355 warning about 'this' in initializer list (C4355 is off by default in VS2012+)
+    _document = this;
+}
+
+
+XMLDocument::~XMLDocument()
+{
+    Clear();
+}
+
+
+void XMLDocument::MarkInUse(const XMLNode* const node)
+{
+	TIXMLASSERT(node);
+	TIXMLASSERT(node->_parent == 0);
+
+	for (int i = 0; i < _unlinked.Size(); ++i) {
+		if (node == _unlinked[i]) {
+			_unlinked.SwapRemove(i);
+			break;
+		}
+	}
+}
+
+void XMLDocument::Clear()
+{
+    DeleteChildren();
+	while( _unlinked.Size()) {
+		DeleteNode(_unlinked[0]);	// Will remove from _unlinked as part of delete.
+	}
+
+#ifdef TINYXML2_DEBUG
+    const bool hadError = Error();
+#endif
+    ClearError();
+
+    delete [] _charBuffer;
+    _charBuffer = 0;
+	_parsingDepth = 0;
+
+#if 0
+    _textPool.Trace( "text" );
+    _elementPool.Trace( "element" );
+    _commentPool.Trace( "comment" );
+    _attributePool.Trace( "attribute" );
+#endif
+
+#ifdef TINYXML2_DEBUG
+    if ( !hadError ) {
+        TIXMLASSERT( _elementPool.CurrentAllocs()   == _elementPool.Untracked() );
+        TIXMLASSERT( _attributePool.CurrentAllocs() == _attributePool.Untracked() );
+        TIXMLASSERT( _textPool.CurrentAllocs()      == _textPool.Untracked() );
+        TIXMLASSERT( _commentPool.CurrentAllocs()   == _commentPool.Untracked() );
+    }
+#endif
+}
+
+
+void XMLDocument::DeepCopy(XMLDocument* target) const
+{
+	TIXMLASSERT(target);
+    if (target == this) {
+        return; // technically success - a no-op.
+    }
+
+	target->Clear();
+	for (const XMLNode* node = this->FirstChild(); node; node = node->NextSibling()) {
+		target->InsertEndChild(node->DeepClone(target));
+	}
+}
+
+XMLElement* XMLDocument::NewElement( const char* name )
+{
+    XMLElement* ele = CreateUnlinkedNode<XMLElement>( _elementPool );
+    ele->SetName( name );
+    return ele;
+}
+
+
+XMLComment* XMLDocument::NewComment( const char* str )
+{
+    XMLComment* comment = CreateUnlinkedNode<XMLComment>( _commentPool );
+    comment->SetValue( str );
+    return comment;
+}
+
+
+XMLText* XMLDocument::NewText( const char* str )
+{
+    XMLText* text = CreateUnlinkedNode<XMLText>( _textPool );
+    text->SetValue( str );
+    return text;
+}
+
+
+XMLDeclaration* XMLDocument::NewDeclaration( const char* str )
+{
+    XMLDeclaration* dec = CreateUnlinkedNode<XMLDeclaration>( _commentPool );
+    dec->SetValue( str ? str : "xml version=\"1.0\" encoding=\"UTF-8\"" );
+    return dec;
+}
+
+
+XMLUnknown* XMLDocument::NewUnknown( const char* str )
+{
+    XMLUnknown* unk = CreateUnlinkedNode<XMLUnknown>( _commentPool );
+    unk->SetValue( str );
+    return unk;
+}
+
+static FILE* callfopen( const char* filepath, const char* mode )
+{
+    TIXMLASSERT( filepath );
+    TIXMLASSERT( mode );
+#if defined(_MSC_VER) && (_MSC_VER >= 1400 ) && (!defined WINCE)
+    FILE* fp = 0;
+    const errno_t err = fopen_s( &fp, filepath, mode );
+    if ( err ) {
+        return 0;
+    }
+#else
+    FILE* fp = fopen( filepath, mode );
+#endif
+    return fp;
+}
+
+void XMLDocument::DeleteNode( XMLNode* node )	{
+    TIXMLASSERT( node );
+    TIXMLASSERT(node->_document == this );
+    if (node->_parent) {
+        node->_parent->DeleteChild( node );
+    }
+    else {
+        // Isn't in the tree.
+        // Use the parent delete.
+        // Also, we need to mark it tracked: we 'know'
+        // it was never used.
+        node->_memPool->SetTracked();
+        // Call the static XMLNode version:
+        XMLNode::DeleteNode(node);
+    }
+}
+
+
+XMLError XMLDocument::LoadFile( const char* filename )
+{
+    if ( !filename ) {
+        TIXMLASSERT( false );
+        SetError( XML_ERROR_FILE_COULD_NOT_BE_OPENED, 0, "filename=<null>" );
+        return _errorID;
+    }
+
+    Clear();
+    FILE* fp = callfopen( filename, "rb" );
+    if ( !fp ) {
+        SetError( XML_ERROR_FILE_NOT_FOUND, 0, "filename=%s", filename );
+        return _errorID;
+    }
+    LoadFile( fp );
+    fclose( fp );
+    return _errorID;
+}
+
+XMLError XMLDocument::LoadFile( FILE* fp )
+{
+    Clear();
+
+    TIXML_FSEEK( fp, 0, SEEK_SET );
+    if ( fgetc( fp ) == EOF && ferror( fp ) != 0 ) {
+        SetError( XML_ERROR_FILE_READ_ERROR, 0, 0 );
+        return _errorID;
+    }
+
+    TIXML_FSEEK( fp, 0, SEEK_END );
+
+    unsigned long long filelength;
+    {
+        const long long fileLengthSigned = TIXML_FTELL( fp );
+        TIXML_FSEEK( fp, 0, SEEK_SET );
+        if ( fileLengthSigned == -1L ) {
+            SetError( XML_ERROR_FILE_READ_ERROR, 0, 0 );
+            return _errorID;
+        }
+        TIXMLASSERT( fileLengthSigned >= 0 );
+        filelength = static_cast<unsigned long long>(fileLengthSigned);
+    }
+
+    const size_t maxSizeT = static_cast<size_t>(-1);
+    // We'll do the comparison as an unsigned long long, because that's guaranteed to be at
+    // least 8 bytes, even on a 32-bit platform.
+    if ( filelength >= static_cast<unsigned long long>(maxSizeT) ) {
+        // Cannot handle files which won't fit in buffer together with null terminator
+        SetError( XML_ERROR_FILE_READ_ERROR, 0, 0 );
+        return _errorID;
+    }
+
+    if ( filelength == 0 ) {
+        SetError( XML_ERROR_EMPTY_DOCUMENT, 0, 0 );
+        return _errorID;
+    }
+
+    const size_t size = static_cast<size_t>(filelength);
+    TIXMLASSERT( _charBuffer == 0 );
+    _charBuffer = new char[size+1];
+    const size_t read = fread( _charBuffer, 1, size, fp );
+    if ( read != size ) {
+        SetError( XML_ERROR_FILE_READ_ERROR, 0, 0 );
+        return _errorID;
+    }
+
+    _charBuffer[size] = 0;
+
+    Parse();
+    return _errorID;
+}
+
+
+XMLError XMLDocument::SaveFile( const char* filename, bool compact )
+{
+    if ( !filename ) {
+        TIXMLASSERT( false );
+        SetError( XML_ERROR_FILE_COULD_NOT_BE_OPENED, 0, "filename=<null>" );
+        return _errorID;
+    }
+
+    FILE* fp = callfopen( filename, "w" );
+    if ( !fp ) {
+        SetError( XML_ERROR_FILE_COULD_NOT_BE_OPENED, 0, "filename=%s", filename );
+        return _errorID;
+    }
+    SaveFile(fp, compact);
+    fclose( fp );
+    return _errorID;
+}
+
+
+XMLError XMLDocument::SaveFile( FILE* fp, bool compact )
+{
+    // Clear any error from the last save, otherwise it will get reported
+    // for *this* call.
+    ClearError();
+    XMLPrinter stream( fp, compact );
+    Print( &stream );
+    return _errorID;
+}
+
+
+XMLError XMLDocument::Parse( const char* p, size_t len )
+{
+    Clear();
+
+    if ( len == 0 || !p || !*p ) {
+        SetError( XML_ERROR_EMPTY_DOCUMENT, 0, 0 );
+        return _errorID;
+    }
+    if ( len == static_cast<size_t>(-1) ) {
+        len = strlen( p );
+    }
+    TIXMLASSERT( _charBuffer == 0 );
+    _charBuffer = new char[ len+1 ];
+    memcpy( _charBuffer, p, len );
+    _charBuffer[len] = 0;
+
+    Parse();
+    if ( Error() ) {
+        // clean up now essentially dangling memory.
+        // and the parse fail can put objects in the
+        // pools that are dead and inaccessible.
+        DeleteChildren();
+        _elementPool.Clear();
+        _attributePool.Clear();
+        _textPool.Clear();
+        _commentPool.Clear();
+    }
+    return _errorID;
+}
+
+
+void XMLDocument::Print( XMLPrinter* streamer ) const
+{
+    if ( streamer ) {
+        Accept( streamer );
+    }
+    else {
+        XMLPrinter stdoutStreamer( stdout );
+        Accept( &stdoutStreamer );
+    }
+}
+
+
+void XMLDocument::ClearError() {
+    _errorID = XML_SUCCESS;
+    _errorLineNum = 0;
+    _errorStr.Reset();
+}
+
+
+void XMLDocument::SetError( XMLError error, int lineNum, const char* format, ... )
+{
+    TIXMLASSERT( error >= 0 && error < XML_ERROR_COUNT );
+    _errorID = error;
+    _errorLineNum = lineNum;
+	_errorStr.Reset();
+
+    const size_t BUFFER_SIZE = 1000;
+    char* buffer = new char[BUFFER_SIZE];
+
+    TIXMLASSERT(sizeof(error) <= sizeof(int));
+    TIXML_SNPRINTF(buffer, BUFFER_SIZE, "Error=%s ErrorID=%d (0x%x) Line number=%d", ErrorIDToName(error), int(error), int(error), lineNum);
+
+	if (format) {
+		size_t len = strlen(buffer);
+		TIXML_SNPRINTF(buffer + len, BUFFER_SIZE - len, ": ");
+		len = strlen(buffer);
+
+		va_list va;
+		va_start(va, format);
+		TIXML_VSNPRINTF(buffer + len, BUFFER_SIZE - len, format, va);
+		va_end(va);
+	}
+	_errorStr.SetStr(buffer);
+	delete[] buffer;
+}
+
+
+/*static*/ const char* XMLDocument::ErrorIDToName(XMLError errorID)
+{
+	TIXMLASSERT( errorID >= 0 && errorID < XML_ERROR_COUNT );
+    const char* errorName = _errorNames[errorID];
+    TIXMLASSERT( errorName && errorName[0] );
+    return errorName;
+}
+
+const char* XMLDocument::ErrorStr() const
+{
+	return _errorStr.Empty() ? "" : _errorStr.GetStr();
+}
+
+
+void XMLDocument::PrintError() const
+{
+    printf("%s\n", ErrorStr());
+}
+
+const char* XMLDocument::ErrorName() const
+{
+    return ErrorIDToName(_errorID);
+}
+
+void XMLDocument::Parse()
+{
+    TIXMLASSERT( NoChildren() ); // Clear() must have been called previously
+    TIXMLASSERT( _charBuffer );
+    _parseCurLineNum = 1;
+    _parseLineNum = 1;
+    char* p = _charBuffer;
+    p = XMLUtil::SkipWhiteSpace( p, &_parseCurLineNum );
+    p = const_cast<char*>( XMLUtil::ReadBOM( p, &_writeBOM ) );
+    if ( !*p ) {
+        SetError( XML_ERROR_EMPTY_DOCUMENT, 0, 0 );
+        return;
+    }
+    ParseDeep(p, 0, &_parseCurLineNum );
+}
+
+void XMLDocument::PushDepth()
+{
+	_parsingDepth++;
+	if (_parsingDepth == TINYXML2_MAX_ELEMENT_DEPTH) {
+		SetError(XML_ELEMENT_DEPTH_EXCEEDED, _parseCurLineNum, "Element nesting is too deep." );
+	}
+}
+
+void XMLDocument::PopDepth()
+{
+	TIXMLASSERT(_parsingDepth > 0);
+	--_parsingDepth;
+}
+
+XMLPrinter::XMLPrinter( FILE* file, bool compact, int depth ) :
+    _elementJustOpened( false ),
+    _stack(),
+    _firstElement( true ),
+    _fp( file ),
+    _depth( depth ),
+    _textDepth( -1 ),
+    _processEntities( true ),
+    _compactMode( compact ),
+    _buffer()
+{
+    for( int i=0; i<ENTITY_RANGE; ++i ) {
+        _entityFlag[i] = false;
+        _restrictedEntityFlag[i] = false;
+    }
+    for( int i=0; i<NUM_ENTITIES; ++i ) {
+        const char entityValue = entities[i].value;
+        const unsigned char flagIndex = static_cast<unsigned char>(entityValue);
+        TIXMLASSERT( flagIndex < ENTITY_RANGE );
+        _entityFlag[flagIndex] = true;
+    }
+    _restrictedEntityFlag[static_cast<unsigned char>('&')] = true;
+    _restrictedEntityFlag[static_cast<unsigned char>('<')] = true;
+    _restrictedEntityFlag[static_cast<unsigned char>('>')] = true;	// not required, but consistency is nice
+    _buffer.Push( 0 );
+}
+
+
+void XMLPrinter::Print( const char* format, ... )
+{
+    va_list     va;
+    va_start( va, format );
+
+    if ( _fp ) {
+        vfprintf( _fp, format, va );
+    }
+    else {
+        const int len = TIXML_VSCPRINTF( format, va );
+        // Close out and re-start the va-args
+        va_end( va );
+        TIXMLASSERT( len >= 0 );
+        va_start( va, format );
+        TIXMLASSERT( _buffer.Size() > 0 && _buffer[_buffer.Size() - 1] == 0 );
+        char* p = _buffer.PushArr( len ) - 1;	// back up over the null terminator.
+		TIXML_VSNPRINTF( p, len+1, format, va );
+    }
+    va_end( va );
+}
+
+
+void XMLPrinter::Write( const char* data, size_t size )
+{
+    if ( _fp ) {
+        fwrite ( data , sizeof(char), size, _fp);
+    }
+    else {
+        char* p = _buffer.PushArr( static_cast<int>(size) ) - 1;   // back up over the null terminator.
+        memcpy( p, data, size );
+        p[size] = 0;
+    }
+}
+
+
+void XMLPrinter::Putc( char ch )
+{
+    if ( _fp ) {
+        fputc ( ch, _fp);
+    }
+    else {
+        char* p = _buffer.PushArr( sizeof(char) ) - 1;   // back up over the null terminator.
+        p[0] = ch;
+        p[1] = 0;
+    }
+}
+
+
+void XMLPrinter::PrintSpace( int depth )
+{
+    for( int i=0; i<depth; ++i ) {
+        Write( "    " );
+    }
+}
+
+
+void XMLPrinter::PrintString( const char* p, bool restricted )
+{
+    // Look for runs of bytes between entities to print.
+    const char* q = p;
+
+    if ( _processEntities ) {
+        const bool* flag = restricted ? _restrictedEntityFlag : _entityFlag;
+        while ( *q ) {
+            TIXMLASSERT( p <= q );
+            // Remember, char is sometimes signed. (How many times has that bitten me?)
+            if ( *q > 0 && *q < ENTITY_RANGE ) {
+                // Check for entities. If one is found, flush
+                // the stream up until the entity, write the
+                // entity, and keep looking.
+                if ( flag[static_cast<unsigned char>(*q)] ) {
+                    while ( p < q ) {
+                        const size_t delta = q - p;
+                        const int toPrint = ( INT_MAX < delta ) ? INT_MAX : static_cast<int>(delta);
+                        Write( p, toPrint );
+                        p += toPrint;
+                    }
+                    bool entityPatternPrinted = false;
+                    for( int i=0; i<NUM_ENTITIES; ++i ) {
+                        if ( entities[i].value == *q ) {
+                            Putc( '&' );
+                            Write( entities[i].pattern, entities[i].length );
+                            Putc( ';' );
+                            entityPatternPrinted = true;
+                            break;
+                        }
+                    }
+                    if ( !entityPatternPrinted ) {
+                        // TIXMLASSERT( entityPatternPrinted ) causes gcc -Wunused-but-set-variable in release
+                        TIXMLASSERT( false );
+                    }
+                    ++p;
+                }
+            }
+            ++q;
+            TIXMLASSERT( p <= q );
+        }
+        // Flush the remaining string. This will be the entire
+        // string if an entity wasn't found.
+        if ( p < q ) {
+            const size_t delta = q - p;
+            const int toPrint = ( INT_MAX < delta ) ? INT_MAX : static_cast<int>(delta);
+            Write( p, toPrint );
+        }
+    }
+    else {
+        Write( p );
+    }
+}
+
+
+void XMLPrinter::PushHeader( bool writeBOM, bool writeDec )
+{
+    if ( writeBOM ) {
+        static const unsigned char bom[] = { TIXML_UTF_LEAD_0, TIXML_UTF_LEAD_1, TIXML_UTF_LEAD_2, 0 };
+        Write( reinterpret_cast< const char* >( bom ) );
+    }
+    if ( writeDec ) {
+        PushDeclaration( "xml version=\"1.0\"" );
+    }
+}
+
+void XMLPrinter::PrepareForNewNode( bool compactMode )
+{
+    SealElementIfJustOpened();
+
+    if ( compactMode ) {
+        return;
+    }
+
+    if ( _firstElement ) {
+        PrintSpace (_depth);
+    } else if ( _textDepth < 0) {
+        Putc( '\n' );
+        PrintSpace( _depth );
+    }
+
+    _firstElement = false;
+}
+
+void XMLPrinter::OpenElement( const char* name, bool compactMode )
+{
+    PrepareForNewNode( compactMode );
+    _stack.Push( name );
+
+    Write ( "<" );
+    Write ( name );
+
+    _elementJustOpened = true;
+    ++_depth;
+}
+
+
+void XMLPrinter::PushAttribute( const char* name, const char* value )
+{
+    TIXMLASSERT( _elementJustOpened );
+    Putc ( ' ' );
+    Write( name );
+    Write( "=\"" );
+    PrintString( value, false );
+    Putc ( '\"' );
+}
+
+
+void XMLPrinter::PushAttribute( const char* name, int v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    PushAttribute( name, buf );
+}
+
+
+void XMLPrinter::PushAttribute( const char* name, unsigned v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    PushAttribute( name, buf );
+}
+
+
+void XMLPrinter::PushAttribute(const char* name, int64_t v)
+{
+	char buf[BUF_SIZE];
+	XMLUtil::ToStr(v, buf, BUF_SIZE);
+	PushAttribute(name, buf);
+}
+
+
+void XMLPrinter::PushAttribute(const char* name, uint64_t v)
+{
+	char buf[BUF_SIZE];
+	XMLUtil::ToStr(v, buf, BUF_SIZE);
+	PushAttribute(name, buf);
+}
+
+
+void XMLPrinter::PushAttribute( const char* name, bool v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    PushAttribute( name, buf );
+}
+
+
+void XMLPrinter::PushAttribute( const char* name, double v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    PushAttribute( name, buf );
+}
+
+
+void XMLPrinter::CloseElement( bool compactMode )
+{
+    --_depth;
+    const char* name = _stack.Pop();
+
+    if ( _elementJustOpened ) {
+        Write( "/>" );
+    }
+    else {
+        if ( _textDepth < 0 && !compactMode) {
+            Putc( '\n' );
+            PrintSpace( _depth );
+        }
+        Write ( "</" );
+        Write ( name );
+        Write ( ">" );
+    }
+
+    if ( _textDepth == _depth ) {
+        _textDepth = -1;
+    }
+    if ( _depth == 0 && !compactMode) {
+        Putc( '\n' );
+    }
+    _elementJustOpened = false;
+}
+
+
+void XMLPrinter::SealElementIfJustOpened()
+{
+    if ( !_elementJustOpened ) {
+        return;
+    }
+    _elementJustOpened = false;
+    Putc( '>' );
+}
+
+
+void XMLPrinter::PushText( const char* text, bool cdata )
+{
+    _textDepth = _depth-1;
+
+    SealElementIfJustOpened();
+    if ( cdata ) {
+        Write( "<![CDATA[" );
+        Write( text );
+        Write( "]]>" );
+    }
+    else {
+        PrintString( text, true );
+    }
+}
+
+
+void XMLPrinter::PushText( int64_t value )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( value, buf, BUF_SIZE );
+    PushText( buf, false );
+}
+
+
+void XMLPrinter::PushText( uint64_t value )
+{
+	char buf[BUF_SIZE];
+	XMLUtil::ToStr(value, buf, BUF_SIZE);
+	PushText(buf, false);
+}
+
+
+void XMLPrinter::PushText( int value )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( value, buf, BUF_SIZE );
+    PushText( buf, false );
+}
+
+
+void XMLPrinter::PushText( unsigned value )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( value, buf, BUF_SIZE );
+    PushText( buf, false );
+}
+
+
+void XMLPrinter::PushText( bool value )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( value, buf, BUF_SIZE );
+    PushText( buf, false );
+}
+
+
+void XMLPrinter::PushText( float value )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( value, buf, BUF_SIZE );
+    PushText( buf, false );
+}
+
+
+void XMLPrinter::PushText( double value )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( value, buf, BUF_SIZE );
+    PushText( buf, false );
+}
+
+
+void XMLPrinter::PushComment( const char* comment )
+{
+    PrepareForNewNode( _compactMode );
+
+    Write( "<!--" );
+    Write( comment );
+    Write( "-->" );
+}
+
+
+void XMLPrinter::PushDeclaration( const char* value )
+{
+    PrepareForNewNode( _compactMode );
+
+    Write( "<?" );
+    Write( value );
+    Write( "?>" );
+}
+
+
+void XMLPrinter::PushUnknown( const char* value )
+{
+    PrepareForNewNode( _compactMode );
+
+    Write( "<!" );
+    Write( value );
+    Putc( '>' );
+}
+
+
+bool XMLPrinter::VisitEnter( const XMLDocument& doc )
+{
+    _processEntities = doc.ProcessEntities();
+    if ( doc.HasBOM() ) {
+        PushHeader( true, false );
+    }
+    return true;
+}
+
+
+bool XMLPrinter::VisitEnter( const XMLElement& element, const XMLAttribute* attribute )
+{
+    const XMLElement* parentElem = 0;
+    if ( element.Parent() ) {
+        parentElem = element.Parent()->ToElement();
+    }
+    const bool compactMode = parentElem ? CompactMode( *parentElem ) : _compactMode;
+    OpenElement( element.Name(), compactMode );
+    while ( attribute ) {
+        PushAttribute( attribute->Name(), attribute->Value() );
+        attribute = attribute->Next();
+    }
+    return true;
+}
+
+
+bool XMLPrinter::VisitExit( const XMLElement& element )
+{
+    CloseElement( CompactMode(element) );
+    return true;
+}
+
+
+bool XMLPrinter::Visit( const XMLText& text )
+{
+    PushText( text.Value(), text.CData() );
+    return true;
+}
+
+
+bool XMLPrinter::Visit( const XMLComment& comment )
+{
+    PushComment( comment.Value() );
+    return true;
+}
+
+bool XMLPrinter::Visit( const XMLDeclaration& declaration )
+{
+    PushDeclaration( declaration.Value() );
+    return true;
+}
+
+
+bool XMLPrinter::Visit( const XMLUnknown& unknown )
+{
+    PushUnknown( unknown.Value() );
+    return true;
+}
+
+}   // namespace tinyxml2
diff --git a/libs/IO/TinyXML2.h b/libs/IO/TinyXML2.h
new file mode 100644
index 000000000..ae237adde
--- /dev/null
+++ b/libs/IO/TinyXML2.h
@@ -0,0 +1,2368 @@
+/*
+Original code by Lee Thomason (www.grinninglizard.com)
+
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any
+damages arising from the use of this software.
+
+Permission is granted to anyone to use this software for any
+purpose, including commercial applications, and to alter it and
+redistribute it freely, subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must
+not claim that you wrote the original software. If you use this
+software in a product, an acknowledgment in the product documentation
+would be appreciated but is not required.
+
+2. Altered source versions must be plainly marked as such, and
+must not be misrepresented as being the original software.
+
+3. This notice may not be removed or altered from any source
+distribution.
+*/
+
+#ifndef TINYXML2_INCLUDED
+#define TINYXML2_INCLUDED
+
+#if defined(ANDROID_NDK) || defined(__BORLANDC__) || defined(__QNXNTO__)
+#   include <ctype.h>
+#   include <limits.h>
+#   include <stdio.h>
+#   include <stdlib.h>
+#   include <string.h>
+#	if defined(__PS3__)
+#		include <stddef.h>
+#	endif
+#else
+#   include <cctype>
+#   include <climits>
+#   include <cstdio>
+#   include <cstdlib>
+#   include <cstring>
+#endif
+#include <stdint.h>
+
+/*
+   TODO: intern strings instead of allocation.
+*/
+/*
+	gcc:
+        g++ -Wall -DTINYXML2_DEBUG tinyxml2.cpp xmltest.cpp -o gccxmltest.exe
+
+    Formatting, Artistic Style:
+        AStyle.exe --style=1tbs --indent-switches --break-closing-brackets --indent-preprocessor tinyxml2.cpp tinyxml2.h
+*/
+
+#if defined( _DEBUG ) || defined (__DEBUG__)
+#   ifndef TINYXML2_DEBUG
+#       define TINYXML2_DEBUG
+#   endif
+#endif
+
+#ifdef _MSC_VER
+#   pragma warning(push)
+#   pragma warning(disable: 4251)
+#endif
+
+#ifndef TINYXML2_LIB
+#define TINYXML2_LIB IO_API
+#endif
+
+#if !defined(TIXMLASSERT)
+#if defined(TINYXML2_DEBUG)
+#   if defined(_MSC_VER)
+#       define TIXMLASSERT                ASSERT
+#   elif defined (ANDROID_NDK)
+#       include <android/log.h>
+#       define TIXMLASSERT( x )           if ( !(x)) { __android_log_assert( "assert", "grinliz", "ASSERT in '%s' at %d.", __FILE__, __LINE__ ); }
+#   else
+#       include <assert.h>
+#       define TIXMLASSERT                ASSERT
+#   endif
+#else
+#   define TIXMLASSERT( x )               {}
+#endif
+#endif
+
+/* Versioning, past 1.0.14:
+	http://semver.org/
+*/
+static const int TIXML2_MAJOR_VERSION = 9;
+static const int TIXML2_MINOR_VERSION = 0;
+static const int TIXML2_PATCH_VERSION = 0;
+
+#define TINYXML2_MAJOR_VERSION 9
+#define TINYXML2_MINOR_VERSION 0
+#define TINYXML2_PATCH_VERSION 0
+
+// A fixed element depth limit is problematic. There needs to be a
+// limit to avoid a stack overflow. However, that limit varies per
+// system, and the capacity of the stack. On the other hand, it's a trivial
+// attack that can result from ill, malicious, or even correctly formed XML,
+// so there needs to be a limit in place.
+static const int TINYXML2_MAX_ELEMENT_DEPTH = 100;
+
+namespace tinyxml2
+{
+class XMLDocument;
+class XMLElement;
+class XMLAttribute;
+class XMLComment;
+class XMLText;
+class XMLDeclaration;
+class XMLUnknown;
+class XMLPrinter;
+
+/*
+	A class that wraps strings. Normally stores the start and end
+	pointers into the XML file itself, and will apply normalization
+	and entity translation if actually read. Can also store (and memory
+	manage) a traditional char[]
+
+    Isn't clear why TINYXML2_LIB is needed; but seems to fix #719
+*/
+class TINYXML2_LIB StrPair
+{
+public:
+    enum Mode {
+        NEEDS_ENTITY_PROCESSING			= 0x01,
+        NEEDS_NEWLINE_NORMALIZATION		= 0x02,
+        NEEDS_WHITESPACE_COLLAPSING     = 0x04,
+
+        TEXT_ELEMENT		            = NEEDS_ENTITY_PROCESSING | NEEDS_NEWLINE_NORMALIZATION,
+        TEXT_ELEMENT_LEAVE_ENTITIES		= NEEDS_NEWLINE_NORMALIZATION,
+        ATTRIBUTE_NAME		            = 0,
+        ATTRIBUTE_VALUE		            = NEEDS_ENTITY_PROCESSING | NEEDS_NEWLINE_NORMALIZATION,
+        ATTRIBUTE_VALUE_LEAVE_ENTITIES  = NEEDS_NEWLINE_NORMALIZATION,
+        COMMENT							= NEEDS_NEWLINE_NORMALIZATION
+    };
+
+    StrPair() : _flags( 0 ), _start( 0 ), _end( 0 ) {}
+    ~StrPair();
+
+    void Set( char* start, char* end, int flags ) {
+        TIXMLASSERT( start );
+        TIXMLASSERT( end );
+        Reset();
+        _start  = start;
+        _end    = end;
+        _flags  = flags | NEEDS_FLUSH;
+    }
+
+    const char* GetStr();
+
+    bool Empty() const {
+        return _start == _end;
+    }
+
+    void SetInternedStr( const char* str ) {
+        Reset();
+        _start = const_cast<char*>(str);
+    }
+
+    void SetStr( const char* str, int flags=0 );
+
+    char* ParseText( char* in, const char* endTag, int strFlags, int* curLineNumPtr );
+    char* ParseName( char* in );
+
+    void TransferTo( StrPair* other );
+	void Reset();
+
+private:
+    void CollapseWhitespace();
+
+    enum {
+        NEEDS_FLUSH = 0x100,
+        NEEDS_DELETE = 0x200
+    };
+
+    int     _flags;
+    char*   _start;
+    char*   _end;
+
+    StrPair( const StrPair& other );	// not supported
+    void operator=( const StrPair& other );	// not supported, use TransferTo()
+};
+
+
+/*
+	A dynamic array of Plain Old Data. Doesn't support constructors, etc.
+	Has a small initial memory pool, so that low or no usage will not
+	cause a call to new/delete
+*/
+template <class T, int INITIAL_SIZE>
+class DynArray
+{
+public:
+    DynArray() :
+        _mem( _pool ),
+        _allocated( INITIAL_SIZE ),
+        _size( 0 )
+    {
+    }
+
+    ~DynArray() {
+        if ( _mem != _pool ) {
+            delete [] _mem;
+        }
+    }
+
+    void Clear() {
+        _size = 0;
+    }
+
+    void Push( T t ) {
+        TIXMLASSERT( _size < INT_MAX );
+        EnsureCapacity( _size+1 );
+        _mem[_size] = t;
+        ++_size;
+    }
+
+    T* PushArr( int count ) {
+        TIXMLASSERT( count >= 0 );
+        TIXMLASSERT( _size <= INT_MAX - count );
+        EnsureCapacity( _size+count );
+        T* ret = &_mem[_size];
+        _size += count;
+        return ret;
+    }
+
+    T Pop() {
+        TIXMLASSERT( _size > 0 );
+        --_size;
+        return _mem[_size];
+    }
+
+    void PopArr( int count ) {
+        TIXMLASSERT( _size >= count );
+        _size -= count;
+    }
+
+    bool Empty() const					{
+        return _size == 0;
+    }
+
+    T& operator[](int i)				{
+        TIXMLASSERT( i>= 0 && i < _size );
+        return _mem[i];
+    }
+
+    const T& operator[](int i) const	{
+        TIXMLASSERT( i>= 0 && i < _size );
+        return _mem[i];
+    }
+
+    const T& PeekTop() const            {
+        TIXMLASSERT( _size > 0 );
+        return _mem[ _size - 1];
+    }
+
+    int Size() const					{
+        TIXMLASSERT( _size >= 0 );
+        return _size;
+    }
+
+    int Capacity() const				{
+        TIXMLASSERT( _allocated >= INITIAL_SIZE );
+        return _allocated;
+    }
+
+	void SwapRemove(int i) {
+		TIXMLASSERT(i >= 0 && i < _size);
+		TIXMLASSERT(_size > 0);
+		_mem[i] = _mem[_size - 1];
+		--_size;
+	}
+
+    const T* Mem() const				{
+        TIXMLASSERT( _mem );
+        return _mem;
+    }
+
+    T* Mem() {
+        TIXMLASSERT( _mem );
+        return _mem;
+    }
+
+private:
+    DynArray( const DynArray& ); // not supported
+    void operator=( const DynArray& ); // not supported
+
+    void EnsureCapacity( int cap ) {
+        TIXMLASSERT( cap > 0 );
+        if ( cap > _allocated ) {
+            TIXMLASSERT( cap <= INT_MAX / 2 );
+            const int newAllocated = cap * 2;
+            T* newMem = new T[newAllocated];
+            TIXMLASSERT( newAllocated >= _size );
+            memcpy( newMem, _mem, sizeof(T)*_size );	// warning: not using constructors, only works for PODs
+            if ( _mem != _pool ) {
+                delete [] _mem;
+            }
+            _mem = newMem;
+            _allocated = newAllocated;
+        }
+    }
+
+    T*  _mem;
+    T   _pool[INITIAL_SIZE];
+    int _allocated;		// objects allocated
+    int _size;			// number objects in use
+};
+
+
+/*
+	Parent virtual class of a pool for fast allocation
+	and deallocation of objects.
+*/
+class MemPool
+{
+public:
+    MemPool() {}
+    virtual ~MemPool() {}
+
+    virtual int ItemSize() const = 0;
+    virtual void* Alloc() = 0;
+    virtual void Free( void* ) = 0;
+    virtual void SetTracked() = 0;
+};
+
+
+/*
+	Template child class to create pools of the correct type.
+*/
+template< int ITEM_SIZE >
+class MemPoolT : public MemPool
+{
+public:
+    MemPoolT() : _blockPtrs(), _root(0), _currentAllocs(0), _nAllocs(0), _maxAllocs(0), _nUntracked(0)	{}
+    ~MemPoolT() {
+        MemPoolT< ITEM_SIZE >::Clear();
+    }
+
+    void Clear() {
+        // Delete the blocks.
+        while( !_blockPtrs.Empty()) {
+            Block* lastBlock = _blockPtrs.Pop();
+            delete lastBlock;
+        }
+        _root = 0;
+        _currentAllocs = 0;
+        _nAllocs = 0;
+        _maxAllocs = 0;
+        _nUntracked = 0;
+    }
+
+    virtual int ItemSize() const	{
+        return ITEM_SIZE;
+    }
+    int CurrentAllocs() const		{
+        return _currentAllocs;
+    }
+
+    virtual void* Alloc() {
+        if ( !_root ) {
+            // Need a new block.
+            Block* block = new Block();
+            _blockPtrs.Push( block );
+
+            Item* blockItems = block->items;
+            for( int i = 0; i < ITEMS_PER_BLOCK - 1; ++i ) {
+                blockItems[i].next = &(blockItems[i + 1]);
+            }
+            blockItems[ITEMS_PER_BLOCK - 1].next = 0;
+            _root = blockItems;
+        }
+        Item* const result = _root;
+        TIXMLASSERT( result != 0 );
+        _root = _root->next;
+
+        ++_currentAllocs;
+        if ( _currentAllocs > _maxAllocs ) {
+            _maxAllocs = _currentAllocs;
+        }
+        ++_nAllocs;
+        ++_nUntracked;
+        return result;
+    }
+
+    virtual void Free( void* mem ) {
+        if ( !mem ) {
+            return;
+        }
+        --_currentAllocs;
+        Item* item = static_cast<Item*>( mem );
+#ifdef TINYXML2_DEBUG
+        memset( item, 0xfe, sizeof( *item ) );
+#endif
+        item->next = _root;
+        _root = item;
+    }
+    void Trace( const char* name ) {
+        printf( "Mempool %s watermark=%d [%dk] current=%d size=%d nAlloc=%d blocks=%d\n",
+                name, _maxAllocs, _maxAllocs * ITEM_SIZE / 1024, _currentAllocs,
+                ITEM_SIZE, _nAllocs, _blockPtrs.Size() );
+    }
+
+    void SetTracked() {
+        --_nUntracked;
+    }
+
+    int Untracked() const {
+        return _nUntracked;
+    }
+
+	// This number is perf sensitive. 4k seems like a good tradeoff on my machine.
+	// The test file is large, 170k.
+	// Release:		VS2010 gcc(no opt)
+	//		1k:		4000
+	//		2k:		4000
+	//		4k:		3900	21000
+	//		16k:	5200
+	//		32k:	4300
+	//		64k:	4000	21000
+    // Declared public because some compilers do not accept to use ITEMS_PER_BLOCK
+    // in private part if ITEMS_PER_BLOCK is private
+    enum { ITEMS_PER_BLOCK = (4 * 1024) / ITEM_SIZE };
+
+private:
+    MemPoolT( const MemPoolT& ); // not supported
+    void operator=( const MemPoolT& ); // not supported
+
+    union Item {
+        Item*   next;
+        char    itemData[ITEM_SIZE];
+    };
+    struct Block {
+        Item items[ITEMS_PER_BLOCK];
+    };
+    DynArray< Block*, 10 > _blockPtrs;
+    Item* _root;
+
+    int _currentAllocs;
+    int _nAllocs;
+    int _maxAllocs;
+    int _nUntracked;
+};
+
+
+
+/**
+	Implements the interface to the "Visitor pattern" (see the Accept() method.)
+	If you call the Accept() method, it requires being passed a XMLVisitor
+	class to handle callbacks. For nodes that contain other nodes (Document, Element)
+	you will get called with a VisitEnter/VisitExit pair. Nodes that are always leafs
+	are simply called with Visit().
+
+	If you return 'true' from a Visit method, recursive parsing will continue. If you return
+	false, <b>no children of this node or its siblings</b> will be visited.
+
+	All flavors of Visit methods have a default implementation that returns 'true' (continue
+	visiting). You need to only override methods that are interesting to you.
+
+	Generally Accept() is called on the XMLDocument, although all nodes support visiting.
+
+	You should never change the document from a callback.
+
+	@sa XMLNode::Accept()
+*/
+class TINYXML2_LIB XMLVisitor
+{
+public:
+    virtual ~XMLVisitor() {}
+
+    /// Visit a document.
+    virtual bool VisitEnter( const XMLDocument& /*doc*/ )			{
+        return true;
+    }
+    /// Visit a document.
+    virtual bool VisitExit( const XMLDocument& /*doc*/ )			{
+        return true;
+    }
+
+    /// Visit an element.
+    virtual bool VisitEnter( const XMLElement& /*element*/, const XMLAttribute* /*firstAttribute*/ )	{
+        return true;
+    }
+    /// Visit an element.
+    virtual bool VisitExit( const XMLElement& /*element*/ )			{
+        return true;
+    }
+
+    /// Visit a declaration.
+    virtual bool Visit( const XMLDeclaration& /*declaration*/ )		{
+        return true;
+    }
+    /// Visit a text node.
+    virtual bool Visit( const XMLText& /*text*/ )					{
+        return true;
+    }
+    /// Visit a comment node.
+    virtual bool Visit( const XMLComment& /*comment*/ )				{
+        return true;
+    }
+    /// Visit an unknown node.
+    virtual bool Visit( const XMLUnknown& /*unknown*/ )				{
+        return true;
+    }
+};
+
+// WARNING: must match XMLDocument::_errorNames[]
+enum XMLError {
+    XML_SUCCESS = 0,
+    XML_NO_ATTRIBUTE,
+    XML_WRONG_ATTRIBUTE_TYPE,
+    XML_ERROR_FILE_NOT_FOUND,
+    XML_ERROR_FILE_COULD_NOT_BE_OPENED,
+    XML_ERROR_FILE_READ_ERROR,
+    XML_ERROR_PARSING_ELEMENT,
+    XML_ERROR_PARSING_ATTRIBUTE,
+    XML_ERROR_PARSING_TEXT,
+    XML_ERROR_PARSING_CDATA,
+    XML_ERROR_PARSING_COMMENT,
+    XML_ERROR_PARSING_DECLARATION,
+    XML_ERROR_PARSING_UNKNOWN,
+    XML_ERROR_EMPTY_DOCUMENT,
+    XML_ERROR_MISMATCHED_ELEMENT,
+    XML_ERROR_PARSING,
+    XML_CAN_NOT_CONVERT_TEXT,
+    XML_NO_TEXT_NODE,
+	XML_ELEMENT_DEPTH_EXCEEDED,
+
+	XML_ERROR_COUNT
+};
+
+
+/*
+	Utility functionality.
+*/
+class TINYXML2_LIB XMLUtil
+{
+public:
+    static const char* SkipWhiteSpace( const char* p, int* curLineNumPtr )	{
+        TIXMLASSERT( p );
+
+        while( IsWhiteSpace(*p) ) {
+            if (curLineNumPtr && *p == '\n') {
+                ++(*curLineNumPtr);
+            }
+            ++p;
+        }
+        TIXMLASSERT( p );
+        return p;
+    }
+    static char* SkipWhiteSpace( char* const p, int* curLineNumPtr ) {
+        return const_cast<char*>( SkipWhiteSpace( const_cast<const char*>(p), curLineNumPtr ) );
+    }
+
+    // Anything in the high order range of UTF-8 is assumed to not be whitespace. This isn't
+    // correct, but simple, and usually works.
+    static bool IsWhiteSpace( char p )					{
+        return !IsUTF8Continuation(p) && isspace( static_cast<unsigned char>(p) );
+    }
+
+    inline static bool IsNameStartChar( unsigned char ch ) {
+        if ( ch >= 128 ) {
+            // This is a heuristic guess in attempt to not implement Unicode-aware isalpha()
+            return true;
+        }
+        if ( isalpha( ch ) ) {
+            return true;
+        }
+        return ch == ':' || ch == '_';
+    }
+
+    inline static bool IsNameChar( unsigned char ch ) {
+        return IsNameStartChar( ch )
+               || isdigit( ch )
+               || ch == '.'
+               || ch == '-';
+    }
+
+    inline static bool IsPrefixHex( const char* p) {
+        p = SkipWhiteSpace(p, 0);
+        return p && *p == '0' && ( *(p + 1) == 'x' || *(p + 1) == 'X');
+    }
+
+    inline static bool StringEqual( const char* p, const char* q, int nChar=INT_MAX )  {
+        if ( p == q ) {
+            return true;
+        }
+        TIXMLASSERT( p );
+        TIXMLASSERT( q );
+        TIXMLASSERT( nChar >= 0 );
+        return strncmp( p, q, nChar ) == 0;
+    }
+
+    inline static bool IsUTF8Continuation( const char p ) {
+        return ( p & 0x80 ) != 0;
+    }
+
+    static const char* ReadBOM( const char* p, bool* hasBOM );
+    // p is the starting location,
+    // the UTF-8 value of the entity will be placed in value, and length filled in.
+    static const char* GetCharacterRef( const char* p, char* value, int* length );
+    static void ConvertUTF32ToUTF8( unsigned long input, char* output, int* length );
+
+    // converts primitive types to strings
+    static void ToStr( int v, char* buffer, int bufferSize );
+    static void ToStr( unsigned v, char* buffer, int bufferSize );
+    static void ToStr( bool v, char* buffer, int bufferSize );
+    static void ToStr( float v, char* buffer, int bufferSize );
+    static void ToStr( double v, char* buffer, int bufferSize );
+	static void ToStr(int64_t v, char* buffer, int bufferSize);
+    static void ToStr(uint64_t v, char* buffer, int bufferSize);
+
+    // converts strings to primitive types
+    static bool	ToInt( const char* str, int* value );
+    static bool ToUnsigned( const char* str, unsigned* value );
+    static bool	ToBool( const char* str, bool* value );
+    static bool	ToFloat( const char* str, float* value );
+    static bool ToDouble( const char* str, double* value );
+	static bool ToInt64(const char* str, int64_t* value);
+    static bool ToUnsigned64(const char* str, uint64_t* value);
+	// Changes what is serialized for a boolean value.
+	// Default to "true" and "false". Shouldn't be changed
+	// unless you have a special testing or compatibility need.
+	// Be careful: static, global, & not thread safe.
+	// Be sure to set static const memory as parameters.
+	static void SetBoolSerialization(const char* writeTrue, const char* writeFalse);
+
+private:
+	static const char* writeBoolTrue;
+	static const char* writeBoolFalse;
+};
+
+
+/** XMLNode is a base class for every object that is in the
+	XML Document Object Model (DOM), except XMLAttributes.
+	Nodes have siblings, a parent, and children which can
+	be navigated. A node is always in a XMLDocument.
+	The type of a XMLNode can be queried, and it can
+	be cast to its more defined type.
+
+	A XMLDocument allocates memory for all its Nodes.
+	When the XMLDocument gets deleted, all its Nodes
+	will also be deleted.
+
+	@verbatim
+	A Document can contain:	Element	(container or leaf)
+							Comment (leaf)
+							Unknown (leaf)
+							Declaration( leaf )
+
+	An Element can contain:	Element (container or leaf)
+							Text	(leaf)
+							Attributes (not on tree)
+							Comment (leaf)
+							Unknown (leaf)
+
+	@endverbatim
+*/
+class TINYXML2_LIB XMLNode
+{
+    friend class XMLDocument;
+    friend class XMLElement;
+public:
+
+    /// Get the XMLDocument that owns this XMLNode.
+    const XMLDocument* GetDocument() const	{
+        TIXMLASSERT( _document );
+        return _document;
+    }
+    /// Get the XMLDocument that owns this XMLNode.
+    XMLDocument* GetDocument()				{
+        TIXMLASSERT( _document );
+        return _document;
+    }
+
+    /// Safely cast to an Element, or null.
+    virtual XMLElement*		ToElement()		{
+        return 0;
+    }
+    /// Safely cast to Text, or null.
+    virtual XMLText*		ToText()		{
+        return 0;
+    }
+    /// Safely cast to a Comment, or null.
+    virtual XMLComment*		ToComment()		{
+        return 0;
+    }
+    /// Safely cast to a Document, or null.
+    virtual XMLDocument*	ToDocument()	{
+        return 0;
+    }
+    /// Safely cast to a Declaration, or null.
+    virtual XMLDeclaration*	ToDeclaration()	{
+        return 0;
+    }
+    /// Safely cast to an Unknown, or null.
+    virtual XMLUnknown*		ToUnknown()		{
+        return 0;
+    }
+
+    virtual const XMLElement*		ToElement() const		{
+        return 0;
+    }
+    virtual const XMLText*			ToText() const			{
+        return 0;
+    }
+    virtual const XMLComment*		ToComment() const		{
+        return 0;
+    }
+    virtual const XMLDocument*		ToDocument() const		{
+        return 0;
+    }
+    virtual const XMLDeclaration*	ToDeclaration() const	{
+        return 0;
+    }
+    virtual const XMLUnknown*		ToUnknown() const		{
+        return 0;
+    }
+
+    /** The meaning of 'value' changes for the specific type.
+    	@verbatim
+    	Document:	empty (NULL is returned, not an empty string)
+    	Element:	name of the element
+    	Comment:	the comment text
+    	Unknown:	the tag contents
+    	Text:		the text string
+    	@endverbatim
+    */
+    const char* Value() const;
+
+    /** Set the Value of an XML node.
+    	@sa Value()
+    */
+    void SetValue( const char* val, bool staticMem=false );
+
+    /// Gets the line number the node is in, if the document was parsed from a file.
+    int GetLineNum() const { return _parseLineNum; }
+
+    /// Get the parent of this node on the DOM.
+    const XMLNode*	Parent() const			{
+        return _parent;
+    }
+
+    XMLNode* Parent()						{
+        return _parent;
+    }
+
+    /// Returns true if this node has no children.
+    bool NoChildren() const					{
+        return !_firstChild;
+    }
+
+    /// Get the first child node, or null if none exists.
+    const XMLNode*  FirstChild() const		{
+        return _firstChild;
+    }
+
+    XMLNode*		FirstChild()			{
+        return _firstChild;
+    }
+
+    /** Get the first child element, or optionally the first child
+        element with the specified name.
+    */
+    const XMLElement* FirstChildElement( const char* name = 0 ) const;
+
+    XMLElement* FirstChildElement( const char* name = 0 )	{
+        return const_cast<XMLElement*>(const_cast<const XMLNode*>(this)->FirstChildElement( name ));
+    }
+
+    /// Get the last child node, or null if none exists.
+    const XMLNode*	LastChild() const						{
+        return _lastChild;
+    }
+
+    XMLNode*		LastChild()								{
+        return _lastChild;
+    }
+
+    /** Get the last child element or optionally the last child
+        element with the specified name.
+    */
+    const XMLElement* LastChildElement( const char* name = 0 ) const;
+
+    XMLElement* LastChildElement( const char* name = 0 )	{
+        return const_cast<XMLElement*>(const_cast<const XMLNode*>(this)->LastChildElement(name) );
+    }
+
+    /// Get the previous (left) sibling node of this node.
+    const XMLNode*	PreviousSibling() const					{
+        return _prev;
+    }
+
+    XMLNode*	PreviousSibling()							{
+        return _prev;
+    }
+
+    /// Get the previous (left) sibling element of this node, with an optionally supplied name.
+    const XMLElement*	PreviousSiblingElement( const char* name = 0 ) const ;
+
+    XMLElement*	PreviousSiblingElement( const char* name = 0 ) {
+        return const_cast<XMLElement*>(const_cast<const XMLNode*>(this)->PreviousSiblingElement( name ) );
+    }
+
+    /// Get the next (right) sibling node of this node.
+    const XMLNode*	NextSibling() const						{
+        return _next;
+    }
+
+    XMLNode*	NextSibling()								{
+        return _next;
+    }
+
+    /// Get the next (right) sibling element of this node, with an optionally supplied name.
+    const XMLElement*	NextSiblingElement( const char* name = 0 ) const;
+
+    XMLElement*	NextSiblingElement( const char* name = 0 )	{
+        return const_cast<XMLElement*>(const_cast<const XMLNode*>(this)->NextSiblingElement( name ) );
+    }
+
+    /**
+    	Add a child node as the last (right) child.
+		If the child node is already part of the document,
+		it is moved from its old location to the new location.
+		Returns the addThis argument or 0 if the node does not
+		belong to the same document.
+    */
+    XMLNode* InsertEndChild( XMLNode* addThis );
+
+    XMLNode* LinkEndChild( XMLNode* addThis )	{
+        return InsertEndChild( addThis );
+    }
+    /**
+    	Add a child node as the first (left) child.
+		If the child node is already part of the document,
+		it is moved from its old location to the new location.
+		Returns the addThis argument or 0 if the node does not
+		belong to the same document.
+    */
+    XMLNode* InsertFirstChild( XMLNode* addThis );
+    /**
+    	Add a node after the specified child node.
+		If the child node is already part of the document,
+		it is moved from its old location to the new location.
+		Returns the addThis argument or 0 if the afterThis node
+		is not a child of this node, or if the node does not
+		belong to the same document.
+    */
+    XMLNode* InsertAfterChild( XMLNode* afterThis, XMLNode* addThis );
+
+    /**
+    	Delete all the children of this node.
+    */
+    void DeleteChildren();
+
+    /**
+    	Delete a child of this node.
+    */
+    void DeleteChild( XMLNode* node );
+
+    /**
+    	Make a copy of this node, but not its children.
+    	You may pass in a Document pointer that will be
+    	the owner of the new Node. If the 'document' is
+    	null, then the node returned will be allocated
+    	from the current Document. (this->GetDocument())
+
+    	Note: if called on a XMLDocument, this will return null.
+    */
+    virtual XMLNode* ShallowClone( XMLDocument* document ) const = 0;
+
+	/**
+		Make a copy of this node and all its children.
+
+		If the 'target' is null, then the nodes will
+		be allocated in the current document. If 'target'
+        is specified, the memory will be allocated is the
+        specified XMLDocument.
+
+		NOTE: This is probably not the correct tool to
+		copy a document, since XMLDocuments can have multiple
+		top level XMLNodes. You probably want to use
+        XMLDocument::DeepCopy()
+	*/
+	XMLNode* DeepClone( XMLDocument* target ) const;
+
+    /**
+    	Test if 2 nodes are the same, but don't test children.
+    	The 2 nodes do not need to be in the same Document.
+
+    	Note: if called on a XMLDocument, this will return false.
+    */
+    virtual bool ShallowEqual( const XMLNode* compare ) const = 0;
+
+    /** Accept a hierarchical visit of the nodes in the TinyXML-2 DOM. Every node in the
+    	XML tree will be conditionally visited and the host will be called back
+    	via the XMLVisitor interface.
+
+    	This is essentially a SAX interface for TinyXML-2. (Note however it doesn't re-parse
+    	the XML for the callbacks, so the performance of TinyXML-2 is unchanged by using this
+    	interface versus any other.)
+
+    	The interface has been based on ideas from:
+
+    	- http://www.saxproject.org/
+    	- http://c2.com/cgi/wiki?HierarchicalVisitorPattern
+
+    	Which are both good references for "visiting".
+
+    	An example of using Accept():
+    	@verbatim
+    	XMLPrinter printer;
+    	tinyxmlDoc.Accept( &printer );
+    	const char* xmlcstr = printer.CStr();
+    	@endverbatim
+    */
+    virtual bool Accept( XMLVisitor* visitor ) const = 0;
+
+	/**
+		Set user data into the XMLNode. TinyXML-2 in
+		no way processes or interprets user data.
+		It is initially 0.
+	*/
+	void SetUserData(void* userData)	{ _userData = userData; }
+
+	/**
+		Get user data set into the XMLNode. TinyXML-2 in
+		no way processes or interprets user data.
+		It is initially 0.
+	*/
+	void* GetUserData() const			{ return _userData; }
+
+protected:
+    explicit XMLNode( XMLDocument* );
+    virtual ~XMLNode();
+
+    virtual char* ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr);
+
+    XMLDocument*	_document;
+    XMLNode*		_parent;
+    mutable StrPair	_value;
+    int             _parseLineNum;
+
+    XMLNode*		_firstChild;
+    XMLNode*		_lastChild;
+
+    XMLNode*		_prev;
+    XMLNode*		_next;
+
+	void*			_userData;
+
+private:
+    MemPool*		_memPool;
+    void Unlink( XMLNode* child );
+    static void DeleteNode( XMLNode* node );
+    void InsertChildPreamble( XMLNode* insertThis ) const;
+    const XMLElement* ToElementWithName( const char* name ) const;
+
+    XMLNode( const XMLNode& );	// not supported
+    XMLNode& operator=( const XMLNode& );	// not supported
+};
+
+
+/** XML text.
+
+	Note that a text node can have child element nodes, for example:
+	@verbatim
+	<root>This is <b>bold</b></root>
+	@endverbatim
+
+	A text node can have 2 ways to output the next. "normal" output
+	and CDATA. It will default to the mode it was parsed from the XML file and
+	you generally want to leave it alone, but you can change the output mode with
+	SetCData() and query it with CData().
+*/
+class TINYXML2_LIB XMLText : public XMLNode
+{
+    friend class XMLDocument;
+public:
+    virtual bool Accept( XMLVisitor* visitor ) const;
+
+    virtual XMLText* ToText()			{
+        return this;
+    }
+    virtual const XMLText* ToText() const	{
+        return this;
+    }
+
+    /// Declare whether this should be CDATA or standard text.
+    void SetCData( bool isCData )			{
+        _isCData = isCData;
+    }
+    /// Returns true if this is a CDATA text element.
+    bool CData() const						{
+        return _isCData;
+    }
+
+    virtual XMLNode* ShallowClone( XMLDocument* document ) const;
+    virtual bool ShallowEqual( const XMLNode* compare ) const;
+
+protected:
+    explicit XMLText( XMLDocument* doc )	: XMLNode( doc ), _isCData( false )	{}
+    virtual ~XMLText()												{}
+
+    char* ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr );
+
+private:
+    bool _isCData;
+
+    XMLText( const XMLText& );	// not supported
+    XMLText& operator=( const XMLText& );	// not supported
+};
+
+
+/** An XML Comment. */
+class TINYXML2_LIB XMLComment : public XMLNode
+{
+    friend class XMLDocument;
+public:
+    virtual XMLComment*	ToComment()					{
+        return this;
+    }
+    virtual const XMLComment* ToComment() const		{
+        return this;
+    }
+
+    virtual bool Accept( XMLVisitor* visitor ) const;
+
+    virtual XMLNode* ShallowClone( XMLDocument* document ) const;
+    virtual bool ShallowEqual( const XMLNode* compare ) const;
+
+protected:
+    explicit XMLComment( XMLDocument* doc );
+    virtual ~XMLComment();
+
+    char* ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr);
+
+private:
+    XMLComment( const XMLComment& );	// not supported
+    XMLComment& operator=( const XMLComment& );	// not supported
+};
+
+
+/** In correct XML the declaration is the first entry in the file.
+	@verbatim
+		<?xml version="1.0" standalone="yes"?>
+	@endverbatim
+
+	TinyXML-2 will happily read or write files without a declaration,
+	however.
+
+	The text of the declaration isn't interpreted. It is parsed
+	and written as a string.
+*/
+class TINYXML2_LIB XMLDeclaration : public XMLNode
+{
+    friend class XMLDocument;
+public:
+    virtual XMLDeclaration*	ToDeclaration()					{
+        return this;
+    }
+    virtual const XMLDeclaration* ToDeclaration() const		{
+        return this;
+    }
+
+    virtual bool Accept( XMLVisitor* visitor ) const;
+
+    virtual XMLNode* ShallowClone( XMLDocument* document ) const;
+    virtual bool ShallowEqual( const XMLNode* compare ) const;
+
+protected:
+    explicit XMLDeclaration( XMLDocument* doc );
+    virtual ~XMLDeclaration();
+
+    char* ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr );
+
+private:
+    XMLDeclaration( const XMLDeclaration& );	// not supported
+    XMLDeclaration& operator=( const XMLDeclaration& );	// not supported
+};
+
+
+/** Any tag that TinyXML-2 doesn't recognize is saved as an
+	unknown. It is a tag of text, but should not be modified.
+	It will be written back to the XML, unchanged, when the file
+	is saved.
+
+	DTD tags get thrown into XMLUnknowns.
+*/
+class TINYXML2_LIB XMLUnknown : public XMLNode
+{
+    friend class XMLDocument;
+public:
+    virtual XMLUnknown*	ToUnknown()					{
+        return this;
+    }
+    virtual const XMLUnknown* ToUnknown() const		{
+        return this;
+    }
+
+    virtual bool Accept( XMLVisitor* visitor ) const;
+
+    virtual XMLNode* ShallowClone( XMLDocument* document ) const;
+    virtual bool ShallowEqual( const XMLNode* compare ) const;
+
+protected:
+    explicit XMLUnknown( XMLDocument* doc );
+    virtual ~XMLUnknown();
+
+    char* ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr );
+
+private:
+    XMLUnknown( const XMLUnknown& );	// not supported
+    XMLUnknown& operator=( const XMLUnknown& );	// not supported
+};
+
+
+
+/** An attribute is a name-value pair. Elements have an arbitrary
+	number of attributes, each with a unique name.
+
+	@note The attributes are not XMLNodes. You may only query the
+	Next() attribute in a list.
+*/
+class TINYXML2_LIB XMLAttribute
+{
+    friend class XMLElement;
+public:
+    /// The name of the attribute.
+    const char* Name() const;
+
+    /// The value of the attribute.
+    const char* Value() const;
+
+    /// Gets the line number the attribute is in, if the document was parsed from a file.
+    int GetLineNum() const { return _parseLineNum; }
+
+    /// The next attribute in the list.
+    const XMLAttribute* Next() const {
+        return _next;
+    }
+
+    /** IntValue interprets the attribute as an integer, and returns the value.
+        If the value isn't an integer, 0 will be returned. There is no error checking;
+    	use QueryIntValue() if you need error checking.
+    */
+	int	IntValue() const {
+		int i = 0;
+		QueryIntValue(&i);
+		return i;
+	}
+
+	int64_t Int64Value() const {
+		int64_t i = 0;
+		QueryInt64Value(&i);
+		return i;
+	}
+
+    uint64_t Unsigned64Value() const {
+        uint64_t i = 0;
+        QueryUnsigned64Value(&i);
+        return i;
+    }
+
+    /// Query as an unsigned integer. See IntValue()
+    unsigned UnsignedValue() const			{
+        unsigned i=0;
+        QueryUnsignedValue( &i );
+        return i;
+    }
+    /// Query as a boolean. See IntValue()
+    bool	 BoolValue() const				{
+        bool b=false;
+        QueryBoolValue( &b );
+        return b;
+    }
+    /// Query as a double. See IntValue()
+    double 	 DoubleValue() const			{
+        double d=0;
+        QueryDoubleValue( &d );
+        return d;
+    }
+    /// Query as a float. See IntValue()
+    float	 FloatValue() const				{
+        float f=0;
+        QueryFloatValue( &f );
+        return f;
+    }
+
+    /** QueryIntValue interprets the attribute as an integer, and returns the value
+    	in the provided parameter. The function will return XML_SUCCESS on success,
+    	and XML_WRONG_ATTRIBUTE_TYPE if the conversion is not successful.
+    */
+    XMLError QueryIntValue( int* value ) const;
+    /// See QueryIntValue
+    XMLError QueryUnsignedValue( unsigned int* value ) const;
+	/// See QueryIntValue
+	XMLError QueryInt64Value(int64_t* value) const;
+    /// See QueryIntValue
+    XMLError QueryUnsigned64Value(uint64_t* value) const;
+	/// See QueryIntValue
+    XMLError QueryBoolValue( bool* value ) const;
+    /// See QueryIntValue
+    XMLError QueryDoubleValue( double* value ) const;
+    /// See QueryIntValue
+    XMLError QueryFloatValue( float* value ) const;
+
+    /// Set the attribute to a string value.
+    void SetAttribute( const char* value );
+    /// Set the attribute to value.
+    void SetAttribute( int value );
+    /// Set the attribute to value.
+    void SetAttribute( unsigned value );
+	/// Set the attribute to value.
+	void SetAttribute(int64_t value);
+    /// Set the attribute to value.
+    void SetAttribute(uint64_t value);
+    /// Set the attribute to value.
+    void SetAttribute( bool value );
+    /// Set the attribute to value.
+    void SetAttribute( double value );
+    /// Set the attribute to value.
+    void SetAttribute( float value );
+
+private:
+    enum { BUF_SIZE = 200 };
+
+    XMLAttribute() : _name(), _value(),_parseLineNum( 0 ), _next( 0 ), _memPool( 0 ) {}
+    virtual ~XMLAttribute()	{}
+
+    XMLAttribute( const XMLAttribute& );	// not supported
+    void operator=( const XMLAttribute& );	// not supported
+    void SetName( const char* name );
+
+    char* ParseDeep( char* p, bool processEntities, int* curLineNumPtr );
+
+    mutable StrPair _name;
+    mutable StrPair _value;
+    int             _parseLineNum;
+    XMLAttribute*   _next;
+    MemPool*        _memPool;
+};
+
+
+/** The element is a container class. It has a value, the element name,
+	and can contain other elements, text, comments, and unknowns.
+	Elements also contain an arbitrary number of attributes.
+*/
+class TINYXML2_LIB XMLElement : public XMLNode
+{
+    friend class XMLDocument;
+public:
+    /// Get the name of an element (which is the Value() of the node.)
+    const char* Name() const		{
+        return Value();
+    }
+    /// Set the name of the element.
+    void SetName( const char* str, bool staticMem=false )	{
+        SetValue( str, staticMem );
+    }
+
+    virtual XMLElement* ToElement()				{
+        return this;
+    }
+    virtual const XMLElement* ToElement() const {
+        return this;
+    }
+    virtual bool Accept( XMLVisitor* visitor ) const;
+
+    /** Given an attribute name, Attribute() returns the value
+    	for the attribute of that name, or null if none
+    	exists. For example:
+
+    	@verbatim
+    	const char* value = ele->Attribute( "foo" );
+    	@endverbatim
+
+    	The 'value' parameter is normally null. However, if specified,
+    	the attribute will only be returned if the 'name' and 'value'
+    	match. This allow you to write code:
+
+    	@verbatim
+    	if ( ele->Attribute( "foo", "bar" ) ) callFooIsBar();
+    	@endverbatim
+
+    	rather than:
+    	@verbatim
+    	if ( ele->Attribute( "foo" ) ) {
+    		if ( strcmp( ele->Attribute( "foo" ), "bar" ) == 0 ) callFooIsBar();
+    	}
+    	@endverbatim
+    */
+    const char* Attribute( const char* name, const char* value=0 ) const;
+
+    /** Given an attribute name, IntAttribute() returns the value
+    	of the attribute interpreted as an integer. The default
+        value will be returned if the attribute isn't present,
+        or if there is an error. (For a method with error
+    	checking, see QueryIntAttribute()).
+    */
+	int IntAttribute(const char* name, int defaultValue = 0) const;
+    /// See IntAttribute()
+	unsigned UnsignedAttribute(const char* name, unsigned defaultValue = 0) const;
+	/// See IntAttribute()
+	int64_t Int64Attribute(const char* name, int64_t defaultValue = 0) const;
+    /// See IntAttribute()
+    uint64_t Unsigned64Attribute(const char* name, uint64_t defaultValue = 0) const;
+	/// See IntAttribute()
+	bool BoolAttribute(const char* name, bool defaultValue = false) const;
+    /// See IntAttribute()
+	double DoubleAttribute(const char* name, double defaultValue = 0) const;
+    /// See IntAttribute()
+	float FloatAttribute(const char* name, float defaultValue = 0) const;
+
+    /** Given an attribute name, QueryIntAttribute() returns
+    	XML_SUCCESS, XML_WRONG_ATTRIBUTE_TYPE if the conversion
+    	can't be performed, or XML_NO_ATTRIBUTE if the attribute
+    	doesn't exist. If successful, the result of the conversion
+    	will be written to 'value'. If not successful, nothing will
+    	be written to 'value'. This allows you to provide default
+    	value:
+
+    	@verbatim
+    	int value = 10;
+    	QueryIntAttribute( "foo", &value );		// if "foo" isn't found, value will still be 10
+    	@endverbatim
+    */
+    XMLError QueryIntAttribute( const char* name, int* value ) const				{
+        const XMLAttribute* a = FindAttribute( name );
+        if ( !a ) {
+            return XML_NO_ATTRIBUTE;
+        }
+        return a->QueryIntValue( value );
+    }
+
+	/// See QueryIntAttribute()
+    XMLError QueryUnsignedAttribute( const char* name, unsigned int* value ) const	{
+        const XMLAttribute* a = FindAttribute( name );
+        if ( !a ) {
+            return XML_NO_ATTRIBUTE;
+        }
+        return a->QueryUnsignedValue( value );
+    }
+
+	/// See QueryIntAttribute()
+	XMLError QueryInt64Attribute(const char* name, int64_t* value) const {
+		const XMLAttribute* a = FindAttribute(name);
+		if (!a) {
+			return XML_NO_ATTRIBUTE;
+		}
+		return a->QueryInt64Value(value);
+	}
+
+    /// See QueryIntAttribute()
+    XMLError QueryUnsigned64Attribute(const char* name, uint64_t* value) const {
+        const XMLAttribute* a = FindAttribute(name);
+        if(!a) {
+            return XML_NO_ATTRIBUTE;
+        }
+        return a->QueryUnsigned64Value(value);
+    }
+
+	/// See QueryIntAttribute()
+    XMLError QueryBoolAttribute( const char* name, bool* value ) const				{
+        const XMLAttribute* a = FindAttribute( name );
+        if ( !a ) {
+            return XML_NO_ATTRIBUTE;
+        }
+        return a->QueryBoolValue( value );
+    }
+    /// See QueryIntAttribute()
+    XMLError QueryDoubleAttribute( const char* name, double* value ) const			{
+        const XMLAttribute* a = FindAttribute( name );
+        if ( !a ) {
+            return XML_NO_ATTRIBUTE;
+        }
+        return a->QueryDoubleValue( value );
+    }
+    /// See QueryIntAttribute()
+    XMLError QueryFloatAttribute( const char* name, float* value ) const			{
+        const XMLAttribute* a = FindAttribute( name );
+        if ( !a ) {
+            return XML_NO_ATTRIBUTE;
+        }
+        return a->QueryFloatValue( value );
+    }
+
+	/// See QueryIntAttribute()
+	XMLError QueryStringAttribute(const char* name, const char** value) const {
+		const XMLAttribute* a = FindAttribute(name);
+		if (!a) {
+			return XML_NO_ATTRIBUTE;
+		}
+		*value = a->Value();
+		return XML_SUCCESS;
+	}
+
+
+
+    /** Given an attribute name, QueryAttribute() returns
+    	XML_SUCCESS, XML_WRONG_ATTRIBUTE_TYPE if the conversion
+    	can't be performed, or XML_NO_ATTRIBUTE if the attribute
+    	doesn't exist. It is overloaded for the primitive types,
+		and is a generally more convenient replacement of
+		QueryIntAttribute() and related functions.
+
+		If successful, the result of the conversion
+    	will be written to 'value'. If not successful, nothing will
+    	be written to 'value'. This allows you to provide default
+    	value:
+
+    	@verbatim
+    	int value = 10;
+    	QueryAttribute( "foo", &value );		// if "foo" isn't found, value will still be 10
+    	@endverbatim
+    */
+	XMLError QueryAttribute( const char* name, int* value ) const {
+		return QueryIntAttribute( name, value );
+	}
+
+	XMLError QueryAttribute( const char* name, unsigned int* value ) const {
+		return QueryUnsignedAttribute( name, value );
+	}
+
+	XMLError QueryAttribute(const char* name, int64_t* value) const {
+		return QueryInt64Attribute(name, value);
+	}
+
+    XMLError QueryAttribute(const char* name, uint64_t* value) const {
+        return QueryUnsigned64Attribute(name, value);
+    }
+
+    XMLError QueryAttribute( const char* name, bool* value ) const {
+		return QueryBoolAttribute( name, value );
+	}
+
+	XMLError QueryAttribute( const char* name, double* value ) const {
+		return QueryDoubleAttribute( name, value );
+	}
+
+	XMLError QueryAttribute( const char* name, float* value ) const {
+		return QueryFloatAttribute( name, value );
+	}
+
+	XMLError QueryAttribute(const char* name, const char** value) const {
+		return QueryStringAttribute(name, value);
+	}
+
+	/// Sets the named attribute to value.
+    void SetAttribute( const char* name, const char* value )	{
+        XMLAttribute* a = FindOrCreateAttribute( name );
+        a->SetAttribute( value );
+    }
+    /// Sets the named attribute to value.
+    void SetAttribute( const char* name, int value )			{
+        XMLAttribute* a = FindOrCreateAttribute( name );
+        a->SetAttribute( value );
+    }
+    /// Sets the named attribute to value.
+    void SetAttribute( const char* name, unsigned value )		{
+        XMLAttribute* a = FindOrCreateAttribute( name );
+        a->SetAttribute( value );
+    }
+
+	/// Sets the named attribute to value.
+	void SetAttribute(const char* name, int64_t value) {
+		XMLAttribute* a = FindOrCreateAttribute(name);
+		a->SetAttribute(value);
+	}
+
+    /// Sets the named attribute to value.
+    void SetAttribute(const char* name, uint64_t value) {
+        XMLAttribute* a = FindOrCreateAttribute(name);
+        a->SetAttribute(value);
+    }
+
+    /// Sets the named attribute to value.
+    void SetAttribute( const char* name, bool value )			{
+        XMLAttribute* a = FindOrCreateAttribute( name );
+        a->SetAttribute( value );
+    }
+    /// Sets the named attribute to value.
+    void SetAttribute( const char* name, double value )		{
+        XMLAttribute* a = FindOrCreateAttribute( name );
+        a->SetAttribute( value );
+    }
+    /// Sets the named attribute to value.
+    void SetAttribute( const char* name, float value )		{
+        XMLAttribute* a = FindOrCreateAttribute( name );
+        a->SetAttribute( value );
+    }
+
+    /**
+    	Delete an attribute.
+    */
+    void DeleteAttribute( const char* name );
+
+    /// Return the first attribute in the list.
+    const XMLAttribute* FirstAttribute() const {
+        return _rootAttribute;
+    }
+    /// Query a specific attribute in the list.
+    const XMLAttribute* FindAttribute( const char* name ) const;
+
+    /** Convenience function for easy access to the text inside an element. Although easy
+    	and concise, GetText() is limited compared to getting the XMLText child
+    	and accessing it directly.
+
+    	If the first child of 'this' is a XMLText, the GetText()
+    	returns the character string of the Text node, else null is returned.
+
+    	This is a convenient method for getting the text of simple contained text:
+    	@verbatim
+    	<foo>This is text</foo>
+    		const char* str = fooElement->GetText();
+    	@endverbatim
+
+    	'str' will be a pointer to "This is text".
+
+    	Note that this function can be misleading. If the element foo was created from
+    	this XML:
+    	@verbatim
+    		<foo><b>This is text</b></foo>
+    	@endverbatim
+
+    	then the value of str would be null. The first child node isn't a text node, it is
+    	another element. From this XML:
+    	@verbatim
+    		<foo>This is <b>text</b></foo>
+    	@endverbatim
+    	GetText() will return "This is ".
+    */
+    const char* GetText() const;
+
+    /** Convenience function for easy access to the text inside an element. Although easy
+    	and concise, SetText() is limited compared to creating an XMLText child
+    	and mutating it directly.
+
+    	If the first child of 'this' is a XMLText, SetText() sets its value to
+		the given string, otherwise it will create a first child that is an XMLText.
+
+    	This is a convenient method for setting the text of simple contained text:
+    	@verbatim
+    	<foo>This is text</foo>
+    		fooElement->SetText( "Hullaballoo!" );
+     	<foo>Hullaballoo!</foo>
+		@endverbatim
+
+    	Note that this function can be misleading. If the element foo was created from
+    	this XML:
+    	@verbatim
+    		<foo><b>This is text</b></foo>
+    	@endverbatim
+
+    	then it will not change "This is text", but rather prefix it with a text element:
+    	@verbatim
+    		<foo>Hullaballoo!<b>This is text</b></foo>
+    	@endverbatim
+
+		For this XML:
+    	@verbatim
+    		<foo />
+    	@endverbatim
+    	SetText() will generate
+    	@verbatim
+    		<foo>Hullaballoo!</foo>
+    	@endverbatim
+    */
+	void SetText( const char* inText );
+    /// Convenience method for setting text inside an element. See SetText() for important limitations.
+    void SetText( int value );
+    /// Convenience method for setting text inside an element. See SetText() for important limitations.
+    void SetText( unsigned value );
+	/// Convenience method for setting text inside an element. See SetText() for important limitations.
+	void SetText(int64_t value);
+    /// Convenience method for setting text inside an element. See SetText() for important limitations.
+    void SetText(uint64_t value);
+	/// Convenience method for setting text inside an element. See SetText() for important limitations.
+    void SetText( bool value );
+    /// Convenience method for setting text inside an element. See SetText() for important limitations.
+    void SetText( double value );
+    /// Convenience method for setting text inside an element. See SetText() for important limitations.
+    void SetText( float value );
+
+    /**
+    	Convenience method to query the value of a child text node. This is probably best
+    	shown by example. Given you have a document is this form:
+    	@verbatim
+    		<point>
+    			<x>1</x>
+    			<y>1.4</y>
+    		</point>
+    	@endverbatim
+
+    	The QueryIntText() and similar functions provide a safe and easier way to get to the
+    	"value" of x and y.
+
+    	@verbatim
+    		int x = 0;
+    		float y = 0;	// types of x and y are contrived for example
+    		const XMLElement* xElement = pointElement->FirstChildElement( "x" );
+    		const XMLElement* yElement = pointElement->FirstChildElement( "y" );
+    		xElement->QueryIntText( &x );
+    		yElement->QueryFloatText( &y );
+    	@endverbatim
+
+    	@returns XML_SUCCESS (0) on success, XML_CAN_NOT_CONVERT_TEXT if the text cannot be converted
+    			 to the requested type, and XML_NO_TEXT_NODE if there is no child text to query.
+
+    */
+    XMLError QueryIntText( int* ival ) const;
+    /// See QueryIntText()
+    XMLError QueryUnsignedText( unsigned* uval ) const;
+	/// See QueryIntText()
+	XMLError QueryInt64Text(int64_t* uval) const;
+	/// See QueryIntText()
+	XMLError QueryUnsigned64Text(uint64_t* uval) const;
+	/// See QueryIntText()
+    XMLError QueryBoolText( bool* bval ) const;
+    /// See QueryIntText()
+    XMLError QueryDoubleText( double* dval ) const;
+    /// See QueryIntText()
+    XMLError QueryFloatText( float* fval ) const;
+
+	int IntText(int defaultValue = 0) const;
+
+	/// See QueryIntText()
+	unsigned UnsignedText(unsigned defaultValue = 0) const;
+	/// See QueryIntText()
+	int64_t Int64Text(int64_t defaultValue = 0) const;
+    /// See QueryIntText()
+    uint64_t Unsigned64Text(uint64_t defaultValue = 0) const;
+	/// See QueryIntText()
+	bool BoolText(bool defaultValue = false) const;
+	/// See QueryIntText()
+	double DoubleText(double defaultValue = 0) const;
+	/// See QueryIntText()
+    float FloatText(float defaultValue = 0) const;
+
+    /**
+        Convenience method to create a new XMLElement and add it as last (right)
+        child of this node. Returns the created and inserted element.
+    */
+    XMLElement* InsertNewChildElement(const char* name);
+    /// See InsertNewChildElement()
+    XMLComment* InsertNewComment(const char* comment);
+    /// See InsertNewChildElement()
+    XMLText* InsertNewText(const char* text);
+    /// See InsertNewChildElement()
+    XMLDeclaration* InsertNewDeclaration(const char* text);
+    /// See InsertNewChildElement()
+    XMLUnknown* InsertNewUnknown(const char* text);
+
+
+    // internal:
+    enum ElementClosingType {
+        OPEN,		// <foo>
+        CLOSED,		// <foo/>
+        CLOSING		// </foo>
+    };
+    ElementClosingType ClosingType() const {
+        return _closingType;
+    }
+    virtual XMLNode* ShallowClone( XMLDocument* document ) const;
+    virtual bool ShallowEqual( const XMLNode* compare ) const;
+
+protected:
+    char* ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr );
+
+private:
+    XMLElement( XMLDocument* doc );
+    virtual ~XMLElement();
+    XMLElement( const XMLElement& );	// not supported
+    void operator=( const XMLElement& );	// not supported
+
+    XMLAttribute* FindOrCreateAttribute( const char* name );
+    char* ParseAttributes( char* p, int* curLineNumPtr );
+    static void DeleteAttribute( XMLAttribute* attribute );
+    XMLAttribute* CreateAttribute();
+
+    enum { BUF_SIZE = 200 };
+    ElementClosingType _closingType;
+    // The attribute list is ordered; there is no 'lastAttribute'
+    // because the list needs to be scanned for dupes before adding
+    // a new attribute.
+    XMLAttribute* _rootAttribute;
+};
+
+
+enum Whitespace {
+    PRESERVE_WHITESPACE,
+    COLLAPSE_WHITESPACE
+};
+
+
+/** A Document binds together all the functionality.
+	It can be saved, loaded, and printed to the screen.
+	All Nodes are connected and allocated to a Document.
+	If the Document is deleted, all its Nodes are also deleted.
+*/
+class TINYXML2_LIB XMLDocument : public XMLNode
+{
+    friend class XMLElement;
+    // Gives access to SetError and Push/PopDepth, but over-access for everything else.
+    // Wishing C++ had "internal" scope.
+    friend class XMLNode;
+    friend class XMLText;
+    friend class XMLComment;
+    friend class XMLDeclaration;
+    friend class XMLUnknown;
+public:
+    /// constructor
+    XMLDocument( bool processEntities = true, Whitespace whitespaceMode = PRESERVE_WHITESPACE );
+    ~XMLDocument();
+
+    virtual XMLDocument* ToDocument()				{
+        TIXMLASSERT( this == _document );
+        return this;
+    }
+    virtual const XMLDocument* ToDocument() const	{
+        TIXMLASSERT( this == _document );
+        return this;
+    }
+
+    /**
+    	Parse an XML file from a character string.
+    	Returns XML_SUCCESS (0) on success, or
+    	an errorID.
+
+    	You may optionally pass in the 'nBytes', which is
+    	the number of bytes which will be parsed. If not
+    	specified, TinyXML-2 will assume 'xml' points to a
+    	null terminated string.
+    */
+    XMLError Parse( const char* xml, size_t nBytes=static_cast<size_t>(-1) );
+
+    /**
+    	Load an XML file from disk.
+    	Returns XML_SUCCESS (0) on success, or
+    	an errorID.
+    */
+    XMLError LoadFile( const char* filename );
+
+    /**
+    	Load an XML file from disk. You are responsible
+    	for providing and closing the FILE*.
+
+        NOTE: The file should be opened as binary ("rb")
+        not text in order for TinyXML-2 to correctly
+        do newline normalization.
+
+    	Returns XML_SUCCESS (0) on success, or
+    	an errorID.
+    */
+    XMLError LoadFile( FILE* );
+
+    /**
+    	Save the XML file to disk.
+    	Returns XML_SUCCESS (0) on success, or
+    	an errorID.
+    */
+    XMLError SaveFile( const char* filename, bool compact = false );
+
+    /**
+    	Save the XML file to disk. You are responsible
+    	for providing and closing the FILE*.
+
+    	Returns XML_SUCCESS (0) on success, or
+    	an errorID.
+    */
+    XMLError SaveFile( FILE* fp, bool compact = false );
+
+    bool ProcessEntities() const		{
+        return _processEntities;
+    }
+    Whitespace WhitespaceMode() const	{
+        return _whitespaceMode;
+    }
+
+    /**
+    	Returns true if this document has a leading Byte Order Mark of UTF8.
+    */
+    bool HasBOM() const {
+        return _writeBOM;
+    }
+    /** Sets whether to write the BOM when writing the file.
+    */
+    void SetBOM( bool useBOM ) {
+        _writeBOM = useBOM;
+    }
+
+    /** Return the root element of DOM. Equivalent to FirstChildElement().
+        To get the first node, use FirstChild().
+    */
+    XMLElement* RootElement()				{
+        return FirstChildElement();
+    }
+    const XMLElement* RootElement() const	{
+        return FirstChildElement();
+    }
+
+    /** Print the Document. If the Printer is not provided, it will
+        print to stdout. If you provide Printer, this can print to a file:
+    	@verbatim
+    	XMLPrinter printer( fp );
+    	doc.Print( &printer );
+    	@endverbatim
+
+    	Or you can use a printer to print to memory:
+    	@verbatim
+    	XMLPrinter printer;
+    	doc.Print( &printer );
+    	// printer.CStr() has a const char* to the XML
+    	@endverbatim
+    */
+    void Print( XMLPrinter* streamer=0 ) const;
+    virtual bool Accept( XMLVisitor* visitor ) const;
+
+    /**
+    	Create a new Element associated with
+    	this Document. The memory for the Element
+    	is managed by the Document.
+    */
+    XMLElement* NewElement( const char* name );
+    /**
+    	Create a new Comment associated with
+    	this Document. The memory for the Comment
+    	is managed by the Document.
+    */
+    XMLComment* NewComment( const char* comment );
+    /**
+    	Create a new Text associated with
+    	this Document. The memory for the Text
+    	is managed by the Document.
+    */
+    XMLText* NewText( const char* text );
+    /**
+    	Create a new Declaration associated with
+    	this Document. The memory for the object
+    	is managed by the Document.
+
+    	If the 'text' param is null, the standard
+    	declaration is used.:
+    	@verbatim
+    		<?xml version="1.0" encoding="UTF-8"?>
+    	@endverbatim
+    */
+    XMLDeclaration* NewDeclaration( const char* text=0 );
+    /**
+    	Create a new Unknown associated with
+    	this Document. The memory for the object
+    	is managed by the Document.
+    */
+    XMLUnknown* NewUnknown( const char* text );
+
+    /**
+    	Delete a node associated with this document.
+    	It will be unlinked from the DOM.
+    */
+    void DeleteNode( XMLNode* node );
+
+    /// Clears the error flags.
+    void ClearError();
+
+    /// Return true if there was an error parsing the document.
+    bool Error() const {
+        return _errorID != XML_SUCCESS;
+    }
+    /// Return the errorID.
+    XMLError  ErrorID() const {
+        return _errorID;
+    }
+	const char* ErrorName() const;
+    static const char* ErrorIDToName(XMLError errorID);
+
+    /** Returns a "long form" error description. A hopefully helpful
+        diagnostic with location, line number, and/or additional info.
+    */
+	const char* ErrorStr() const;
+
+    /// A (trivial) utility function that prints the ErrorStr() to stdout.
+    void PrintError() const;
+
+    /// Return the line where the error occurred, or zero if unknown.
+    int ErrorLineNum() const
+    {
+        return _errorLineNum;
+    }
+
+    /// Clear the document, resetting it to the initial state.
+    void Clear();
+
+	/**
+		Copies this document to a target document.
+		The target will be completely cleared before the copy.
+		If you want to copy a sub-tree, see XMLNode::DeepClone().
+
+		NOTE: that the 'target' must be non-null.
+	*/
+	void DeepCopy(XMLDocument* target) const;
+
+	// internal
+    char* Identify( char* p, XMLNode** node );
+
+	// internal
+	void MarkInUse(const XMLNode* const);
+
+    virtual XMLNode* ShallowClone( XMLDocument* /*document*/ ) const	{
+        return 0;
+    }
+    virtual bool ShallowEqual( const XMLNode* /*compare*/ ) const	{
+        return false;
+    }
+
+private:
+    XMLDocument( const XMLDocument& );	// not supported
+    void operator=( const XMLDocument& );	// not supported
+
+    bool			_writeBOM;
+    bool			_processEntities;
+    XMLError		_errorID;
+    Whitespace		_whitespaceMode;
+    mutable StrPair	_errorStr;
+    int             _errorLineNum;
+    char*			_charBuffer;
+    int				_parseCurLineNum;
+	int				_parsingDepth;
+	// Memory tracking does add some overhead.
+	// However, the code assumes that you don't
+	// have a bunch of unlinked nodes around.
+	// Therefore it takes less memory to track
+	// in the document vs. a linked list in the XMLNode,
+	// and the performance is the same.
+	DynArray<XMLNode*, 10> _unlinked;
+
+    MemPoolT< sizeof(XMLElement) >	 _elementPool;
+    MemPoolT< sizeof(XMLAttribute) > _attributePool;
+    MemPoolT< sizeof(XMLText) >		 _textPool;
+    MemPoolT< sizeof(XMLComment) >	 _commentPool;
+
+	static const char* _errorNames[XML_ERROR_COUNT];
+
+    void Parse();
+
+    void SetError( XMLError error, int lineNum, const char* format, ... );
+
+	// Something of an obvious security hole, once it was discovered.
+	// Either an ill-formed XML or an excessively deep one can overflow
+	// the stack. Track stack depth, and error out if needed.
+	class DepthTracker {
+	public:
+		explicit DepthTracker(XMLDocument * document) {
+			this->_document = document;
+			document->PushDepth();
+		}
+		~DepthTracker() {
+			_document->PopDepth();
+		}
+	private:
+		XMLDocument * _document;
+	};
+	void PushDepth();
+	void PopDepth();
+
+    template<class NodeType, int PoolElementSize>
+    NodeType* CreateUnlinkedNode( MemPoolT<PoolElementSize>& pool );
+};
+
+template<class NodeType, int PoolElementSize>
+inline NodeType* XMLDocument::CreateUnlinkedNode( MemPoolT<PoolElementSize>& pool )
+{
+    TIXMLASSERT( sizeof( NodeType ) == PoolElementSize );
+    TIXMLASSERT( sizeof( NodeType ) == pool.ItemSize() );
+    NodeType* returnNode = new (pool.Alloc()) NodeType( this );
+    TIXMLASSERT( returnNode );
+    returnNode->_memPool = &pool;
+
+	_unlinked.Push(returnNode);
+    return returnNode;
+}
+
+/**
+	A XMLHandle is a class that wraps a node pointer with null checks; this is
+	an incredibly useful thing. Note that XMLHandle is not part of the TinyXML-2
+	DOM structure. It is a separate utility class.
+
+	Take an example:
+	@verbatim
+	<Document>
+		<Element attributeA = "valueA">
+			<Child attributeB = "value1" />
+			<Child attributeB = "value2" />
+		</Element>
+	</Document>
+	@endverbatim
+
+	Assuming you want the value of "attributeB" in the 2nd "Child" element, it's very
+	easy to write a *lot* of code that looks like:
+
+	@verbatim
+	XMLElement* root = document.FirstChildElement( "Document" );
+	if ( root )
+	{
+		XMLElement* element = root->FirstChildElement( "Element" );
+		if ( element )
+		{
+			XMLElement* child = element->FirstChildElement( "Child" );
+			if ( child )
+			{
+				XMLElement* child2 = child->NextSiblingElement( "Child" );
+				if ( child2 )
+				{
+					// Finally do something useful.
+	@endverbatim
+
+	And that doesn't even cover "else" cases. XMLHandle addresses the verbosity
+	of such code. A XMLHandle checks for null pointers so it is perfectly safe
+	and correct to use:
+
+	@verbatim
+	XMLHandle docHandle( &document );
+	XMLElement* child2 = docHandle.FirstChildElement( "Document" ).FirstChildElement( "Element" ).FirstChildElement().NextSiblingElement();
+	if ( child2 )
+	{
+		// do something useful
+	@endverbatim
+
+	Which is MUCH more concise and useful.
+
+	It is also safe to copy handles - internally they are nothing more than node pointers.
+	@verbatim
+	XMLHandle handleCopy = handle;
+	@endverbatim
+
+	See also XMLConstHandle, which is the same as XMLHandle, but operates on const objects.
+*/
+class TINYXML2_LIB XMLHandle
+{
+public:
+    /// Create a handle from any node (at any depth of the tree.) This can be a null pointer.
+    explicit XMLHandle( XMLNode* node ) : _node( node ) {
+    }
+    /// Create a handle from a node.
+    explicit XMLHandle( XMLNode& node ) : _node( &node ) {
+    }
+    /// Copy constructor
+    XMLHandle( const XMLHandle& ref ) : _node( ref._node ) {
+    }
+    /// Assignment
+    XMLHandle& operator=( const XMLHandle& ref )							{
+        _node = ref._node;
+        return *this;
+    }
+
+    /// Get the first child of this handle.
+    XMLHandle FirstChild() 													{
+        return XMLHandle( _node ? _node->FirstChild() : 0 );
+    }
+    /// Get the first child element of this handle.
+    XMLHandle FirstChildElement( const char* name = 0 )						{
+        return XMLHandle( _node ? _node->FirstChildElement( name ) : 0 );
+    }
+    /// Get the last child of this handle.
+    XMLHandle LastChild()													{
+        return XMLHandle( _node ? _node->LastChild() : 0 );
+    }
+    /// Get the last child element of this handle.
+    XMLHandle LastChildElement( const char* name = 0 )						{
+        return XMLHandle( _node ? _node->LastChildElement( name ) : 0 );
+    }
+    /// Get the previous sibling of this handle.
+    XMLHandle PreviousSibling()												{
+        return XMLHandle( _node ? _node->PreviousSibling() : 0 );
+    }
+    /// Get the previous sibling element of this handle.
+    XMLHandle PreviousSiblingElement( const char* name = 0 )				{
+        return XMLHandle( _node ? _node->PreviousSiblingElement( name ) : 0 );
+    }
+    /// Get the next sibling of this handle.
+    XMLHandle NextSibling()													{
+        return XMLHandle( _node ? _node->NextSibling() : 0 );
+    }
+    /// Get the next sibling element of this handle.
+    XMLHandle NextSiblingElement( const char* name = 0 )					{
+        return XMLHandle( _node ? _node->NextSiblingElement( name ) : 0 );
+    }
+
+    /// Safe cast to XMLNode. This can return null.
+    XMLNode* ToNode()							{
+        return _node;
+    }
+    /// Safe cast to XMLElement. This can return null.
+    XMLElement* ToElement() 					{
+        return ( _node ? _node->ToElement() : 0 );
+    }
+    /// Safe cast to XMLText. This can return null.
+    XMLText* ToText() 							{
+        return ( _node ? _node->ToText() : 0 );
+    }
+    /// Safe cast to XMLUnknown. This can return null.
+    XMLUnknown* ToUnknown() 					{
+        return ( _node ? _node->ToUnknown() : 0 );
+    }
+    /// Safe cast to XMLDeclaration. This can return null.
+    XMLDeclaration* ToDeclaration() 			{
+        return ( _node ? _node->ToDeclaration() : 0 );
+    }
+
+private:
+    XMLNode* _node;
+};
+
+
+/**
+	A variant of the XMLHandle class for working with const XMLNodes and Documents. It is the
+	same in all regards, except for the 'const' qualifiers. See XMLHandle for API.
+*/
+class TINYXML2_LIB XMLConstHandle
+{
+public:
+    explicit XMLConstHandle( const XMLNode* node ) : _node( node ) {
+    }
+    explicit XMLConstHandle( const XMLNode& node ) : _node( &node ) {
+    }
+    XMLConstHandle( const XMLConstHandle& ref ) : _node( ref._node ) {
+    }
+
+    XMLConstHandle& operator=( const XMLConstHandle& ref )							{
+        _node = ref._node;
+        return *this;
+    }
+
+    const XMLConstHandle FirstChild() const											{
+        return XMLConstHandle( _node ? _node->FirstChild() : 0 );
+    }
+    const XMLConstHandle FirstChildElement( const char* name = 0 ) const				{
+        return XMLConstHandle( _node ? _node->FirstChildElement( name ) : 0 );
+    }
+    const XMLConstHandle LastChild()	const										{
+        return XMLConstHandle( _node ? _node->LastChild() : 0 );
+    }
+    const XMLConstHandle LastChildElement( const char* name = 0 ) const				{
+        return XMLConstHandle( _node ? _node->LastChildElement( name ) : 0 );
+    }
+    const XMLConstHandle PreviousSibling() const									{
+        return XMLConstHandle( _node ? _node->PreviousSibling() : 0 );
+    }
+    const XMLConstHandle PreviousSiblingElement( const char* name = 0 ) const		{
+        return XMLConstHandle( _node ? _node->PreviousSiblingElement( name ) : 0 );
+    }
+    const XMLConstHandle NextSibling() const										{
+        return XMLConstHandle( _node ? _node->NextSibling() : 0 );
+    }
+    const XMLConstHandle NextSiblingElement( const char* name = 0 ) const			{
+        return XMLConstHandle( _node ? _node->NextSiblingElement( name ) : 0 );
+    }
+
+
+    const XMLNode* ToNode() const				{
+        return _node;
+    }
+    const XMLElement* ToElement() const			{
+        return ( _node ? _node->ToElement() : 0 );
+    }
+    const XMLText* ToText() const				{
+        return ( _node ? _node->ToText() : 0 );
+    }
+    const XMLUnknown* ToUnknown() const			{
+        return ( _node ? _node->ToUnknown() : 0 );
+    }
+    const XMLDeclaration* ToDeclaration() const	{
+        return ( _node ? _node->ToDeclaration() : 0 );
+    }
+
+private:
+    const XMLNode* _node;
+};
+
+
+/**
+	Printing functionality. The XMLPrinter gives you more
+	options than the XMLDocument::Print() method.
+
+	It can:
+	-# Print to memory.
+	-# Print to a file you provide.
+	-# Print XML without a XMLDocument.
+
+	Print to Memory
+
+	@verbatim
+	XMLPrinter printer;
+	doc.Print( &printer );
+	SomeFunction( printer.CStr() );
+	@endverbatim
+
+	Print to a File
+
+	You provide the file pointer.
+	@verbatim
+	XMLPrinter printer( fp );
+	doc.Print( &printer );
+	@endverbatim
+
+	Print without a XMLDocument
+
+	When loading, an XML parser is very useful. However, sometimes
+	when saving, it just gets in the way. The code is often set up
+	for streaming, and constructing the DOM is just overhead.
+
+	The Printer supports the streaming case. The following code
+	prints out a trivially simple XML file without ever creating
+	an XML document.
+
+	@verbatim
+	XMLPrinter printer( fp );
+	printer.OpenElement( "foo" );
+	printer.PushAttribute( "foo", "bar" );
+	printer.CloseElement();
+	@endverbatim
+*/
+class TINYXML2_LIB XMLPrinter : public XMLVisitor
+{
+public:
+    /** Construct the printer. If the FILE* is specified,
+    	this will print to the FILE. Else it will print
+    	to memory, and the result is available in CStr().
+    	If 'compact' is set to true, then output is created
+    	with only required whitespace and newlines.
+    */
+    XMLPrinter( FILE* file=0, bool compact = false, int depth = 0 );
+    virtual ~XMLPrinter()	{}
+
+    /** If streaming, write the BOM and declaration. */
+    void PushHeader( bool writeBOM, bool writeDeclaration );
+    /** If streaming, start writing an element.
+        The element must be closed with CloseElement()
+    */
+    void OpenElement( const char* name, bool compactMode=false );
+    /// If streaming, add an attribute to an open element.
+    void PushAttribute( const char* name, const char* value );
+    void PushAttribute( const char* name, int value );
+    void PushAttribute( const char* name, unsigned value );
+	void PushAttribute( const char* name, int64_t value );
+	void PushAttribute( const char* name, uint64_t value );
+	void PushAttribute( const char* name, bool value );
+    void PushAttribute( const char* name, double value );
+    /// If streaming, close the Element.
+    virtual void CloseElement( bool compactMode=false );
+
+    /// Add a text node.
+    void PushText( const char* text, bool cdata=false );
+    /// Add a text node from an integer.
+    void PushText( int value );
+    /// Add a text node from an unsigned.
+    void PushText( unsigned value );
+	/// Add a text node from a signed 64bit integer.
+	void PushText( int64_t value );
+	/// Add a text node from an unsigned 64bit integer.
+	void PushText( uint64_t value );
+	/// Add a text node from a bool.
+    void PushText( bool value );
+    /// Add a text node from a float.
+    void PushText( float value );
+    /// Add a text node from a double.
+    void PushText( double value );
+
+    /// Add a comment
+    void PushComment( const char* comment );
+
+    void PushDeclaration( const char* value );
+    void PushUnknown( const char* value );
+
+    virtual bool VisitEnter( const XMLDocument& /*doc*/ );
+    virtual bool VisitExit( const XMLDocument& /*doc*/ )			{
+        return true;
+    }
+
+    virtual bool VisitEnter( const XMLElement& element, const XMLAttribute* attribute );
+    virtual bool VisitExit( const XMLElement& element );
+
+    virtual bool Visit( const XMLText& text );
+    virtual bool Visit( const XMLComment& comment );
+    virtual bool Visit( const XMLDeclaration& declaration );
+    virtual bool Visit( const XMLUnknown& unknown );
+
+    /**
+    	If in print to memory mode, return a pointer to
+    	the XML file in memory.
+    */
+    const char* CStr() const {
+        return _buffer.Mem();
+    }
+    /**
+    	If in print to memory mode, return the size
+    	of the XML file in memory. (Note the size returned
+    	includes the terminating null.)
+    */
+    int CStrSize() const {
+        return _buffer.Size();
+    }
+    /**
+    	If in print to memory mode, reset the buffer to the
+    	beginning.
+    */
+    void ClearBuffer( bool resetToFirstElement = true ) {
+        _buffer.Clear();
+        _buffer.Push(0);
+		_firstElement = resetToFirstElement;
+    }
+
+protected:
+	virtual bool CompactMode( const XMLElement& )	{ return _compactMode; }
+
+	/** Prints out the space before an element. You may override to change
+	    the space and tabs used. A PrintSpace() override should call Print().
+	*/
+    virtual void PrintSpace( int depth );
+    virtual void Print( const char* format, ... );
+    virtual void Write( const char* data, size_t size );
+    virtual void Putc( char ch );
+
+    inline void Write(const char* data) { Write(data, strlen(data)); }
+
+    void SealElementIfJustOpened();
+    bool _elementJustOpened;
+    DynArray< const char*, 10 > _stack;
+
+private:
+    /**
+       Prepares to write a new node. This includes sealing an element that was
+       just opened, and writing any whitespace necessary if not in compact mode.
+     */
+    void PrepareForNewNode( bool compactMode );
+    void PrintString( const char*, bool restrictedEntitySet );	// prints out, after detecting entities.
+
+    bool _firstElement;
+    FILE* _fp;
+    int _depth;
+    int _textDepth;
+    bool _processEntities;
+	bool _compactMode;
+
+    enum {
+        ENTITY_RANGE = 64,
+        BUF_SIZE = 200
+    };
+    bool _entityFlag[ENTITY_RANGE];
+    bool _restrictedEntityFlag[ENTITY_RANGE];
+
+    DynArray< char, 20 > _buffer;
+
+    // Prohibit cloning, intentionally not implemented
+    XMLPrinter( const XMLPrinter& );
+    XMLPrinter& operator=( const XMLPrinter& );
+};
+
+
+}	// tinyxml2
+
+#if defined(_MSC_VER)
+#   pragma warning(pop)
+#endif
+
+#endif // TINYXML2_INCLUDED
diff --git a/libs/IO/json.hpp b/libs/IO/json.hpp
new file mode 100644
index 000000000..c9af0bed3
--- /dev/null
+++ b/libs/IO/json.hpp
@@ -0,0 +1,20406 @@
+/*
+    __ _____ _____ _____
+ __|  |   __|     |   | |  JSON for Modern C++
+|  |  |__   |  |  | | | |  version 3.5.0
+|_____|_____|_____|_|___|  https://github.com/nlohmann/json
+
+Licensed under the MIT License <http://opensource.org/licenses/MIT>.
+SPDX-License-Identifier: MIT
+Copyright (c) 2013-2018 Niels Lohmann <http://nlohmann.me>.
+
+Permission is hereby  granted, free of charge, to any  person obtaining a copy
+of this software and associated  documentation files (the "Software"), to deal
+in the Software  without restriction, including without  limitation the rights
+to  use, copy,  modify, merge,  publish, distribute,  sublicense, and/or  sell
+copies  of  the Software,  and  to  permit persons  to  whom  the Software  is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE  IS PROVIDED "AS  IS", WITHOUT WARRANTY  OF ANY KIND,  EXPRESS OR
+IMPLIED,  INCLUDING BUT  NOT  LIMITED TO  THE  WARRANTIES OF  MERCHANTABILITY,
+FITNESS FOR  A PARTICULAR PURPOSE AND  NONINFRINGEMENT. IN NO EVENT  SHALL THE
+AUTHORS  OR COPYRIGHT  HOLDERS  BE  LIABLE FOR  ANY  CLAIM,  DAMAGES OR  OTHER
+LIABILITY, WHETHER IN AN ACTION OF  CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE  OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+#ifndef NLOHMANN_JSON_HPP
+#define NLOHMANN_JSON_HPP
+
+#define NLOHMANN_JSON_VERSION_MAJOR 3
+#define NLOHMANN_JSON_VERSION_MINOR 5
+#define NLOHMANN_JSON_VERSION_PATCH 0
+
+#include <algorithm> // all_of, find, for_each
+#include <cassert> // assert
+#include <ciso646> // and, not, or
+#include <cstddef> // nullptr_t, ptrdiff_t, size_t
+#include <functional> // hash, less
+#include <initializer_list> // initializer_list
+#include <iosfwd> // istream, ostream
+#include <iterator> // random_access_iterator_tag
+#include <numeric> // accumulate
+#include <string> // string, stoi, to_string
+#include <utility> // declval, forward, move, pair, swap
+
+// #include <nlohmann/json_fwd.hpp>
+#ifndef NLOHMANN_JSON_FWD_HPP
+#define NLOHMANN_JSON_FWD_HPP
+
+#include <cstdint> // int64_t, uint64_t
+#include <map> // map
+#include <memory> // allocator
+#include <string> // string
+#include <vector> // vector
+
+/*!
+@brief namespace for Niels Lohmann
+@see https://github.com/nlohmann
+@since version 1.0.0
+*/
+namespace nlohmann
+{
+/*!
+@brief default JSONSerializer template argument
+
+This serializer ignores the template arguments and uses ADL
+([argument-dependent lookup](https://en.cppreference.com/w/cpp/language/adl))
+for serialization.
+*/
+template<typename T = void, typename SFINAE = void>
+struct adl_serializer;
+
+template<template<typename U, typename V, typename... Args> class ObjectType =
+         std::map,
+         template<typename U, typename... Args> class ArrayType = std::vector,
+         class StringType = std::string, class BooleanType = bool,
+         class NumberIntegerType = std::int64_t,
+         class NumberUnsignedType = std::uint64_t,
+         class NumberFloatType = double,
+         template<typename U> class AllocatorType = std::allocator,
+         template<typename T, typename SFINAE = void> class JSONSerializer =
+         adl_serializer>
+class basic_json;
+
+/*!
+@brief JSON Pointer
+
+A JSON pointer defines a string syntax for identifying a specific value
+within a JSON document. It can be used with functions `at` and
+`operator[]`. Furthermore, JSON pointers are the base for JSON patches.
+
+@sa [RFC 6901](https://tools.ietf.org/html/rfc6901)
+
+@since version 2.0.0
+*/
+template<typename BasicJsonType>
+class json_pointer;
+
+/*!
+@brief default JSON class
+
+This type is the default specialization of the @ref basic_json class which
+uses the standard template types.
+
+@since version 1.0.0
+*/
+using json = basic_json<>;
+}  // namespace nlohmann
+
+#endif
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+// This file contains all internal macro definitions
+// You MUST include macro_unscope.hpp at the end of json.hpp to undef all of them
+
+// exclude unsupported compilers
+#if !defined(JSON_SKIP_UNSUPPORTED_COMPILER_CHECK)
+    #if defined(__clang__)
+        #if (__clang_major__ * 10000 + __clang_minor__ * 100 + __clang_patchlevel__) < 30400
+            #error "unsupported Clang version - see https://github.com/nlohmann/json#supported-compilers"
+        #endif
+    #elif defined(__GNUC__) && !(defined(__ICC) || defined(__INTEL_COMPILER))
+        #if (__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__) < 40800
+            #error "unsupported GCC version - see https://github.com/nlohmann/json#supported-compilers"
+        #endif
+    #endif
+#endif
+
+// disable float-equal warnings on GCC/clang
+#if defined(__clang__) || defined(__GNUC__) || defined(__GNUG__)
+    #pragma GCC diagnostic push
+    #pragma GCC diagnostic ignored "-Wfloat-equal"
+#endif
+
+// disable documentation warnings on clang
+#if defined(__clang__)
+    #pragma GCC diagnostic push
+    #pragma GCC diagnostic ignored "-Wdocumentation"
+#endif
+
+// allow for portable deprecation warnings
+#if defined(__clang__) || defined(__GNUC__) || defined(__GNUG__)
+    #define JSON_DEPRECATED __attribute__((deprecated))
+#elif defined(_MSC_VER)
+    #define JSON_DEPRECATED __declspec(deprecated)
+#else
+    #define JSON_DEPRECATED
+#endif
+
+// allow to disable exceptions
+#if (defined(__cpp_exceptions) || defined(__EXCEPTIONS) || defined(_CPPUNWIND)) && !defined(JSON_NOEXCEPTION)
+    #define JSON_THROW(exception) throw exception
+    #define JSON_TRY try
+    #define JSON_CATCH(exception) catch(exception)
+    #define JSON_INTERNAL_CATCH(exception) catch(exception)
+#else
+    #define JSON_THROW(exception) std::abort()
+    #define JSON_TRY if(true)
+    #define JSON_CATCH(exception) if(false)
+    #define JSON_INTERNAL_CATCH(exception) if(false)
+#endif
+
+// override exception macros
+#if defined(JSON_THROW_USER)
+    #undef JSON_THROW
+    #define JSON_THROW JSON_THROW_USER
+#endif
+#if defined(JSON_TRY_USER)
+    #undef JSON_TRY
+    #define JSON_TRY JSON_TRY_USER
+#endif
+#if defined(JSON_CATCH_USER)
+    #undef JSON_CATCH
+    #define JSON_CATCH JSON_CATCH_USER
+    #undef JSON_INTERNAL_CATCH
+    #define JSON_INTERNAL_CATCH JSON_CATCH_USER
+#endif
+#if defined(JSON_INTERNAL_CATCH_USER)
+    #undef JSON_INTERNAL_CATCH
+    #define JSON_INTERNAL_CATCH JSON_INTERNAL_CATCH_USER
+#endif
+
+// manual branch prediction
+#if defined(__clang__) || defined(__GNUC__) || defined(__GNUG__)
+    #define JSON_LIKELY(x)      __builtin_expect(!!(x), 1)
+    #define JSON_UNLIKELY(x)    __builtin_expect(!!(x), 0)
+#else
+    #define JSON_LIKELY(x)      x
+    #define JSON_UNLIKELY(x)    x
+#endif
+
+// C++ language standard detection
+#if (defined(__cplusplus) && __cplusplus >= 201703L) || (defined(_HAS_CXX17) && _HAS_CXX17 == 1) // fix for issue #464
+    #define JSON_HAS_CPP_17
+    #define JSON_HAS_CPP_14
+#elif (defined(__cplusplus) && __cplusplus >= 201402L) || (defined(_HAS_CXX14) && _HAS_CXX14 == 1)
+    #define JSON_HAS_CPP_14
+#endif
+
+/*!
+@brief macro to briefly define a mapping between an enum and JSON
+@def NLOHMANN_JSON_SERIALIZE_ENUM
+@since version 3.4.0
+*/
+#define NLOHMANN_JSON_SERIALIZE_ENUM(ENUM_TYPE, ...)                                           \
+    template<typename BasicJsonType>                                                           \
+    inline void to_json(BasicJsonType& j, const ENUM_TYPE& e)                                  \
+    {                                                                                          \
+        static_assert(std::is_enum<ENUM_TYPE>::value, #ENUM_TYPE " must be an enum!");         \
+        static const std::pair<ENUM_TYPE, BasicJsonType> m[] = __VA_ARGS__;                    \
+        auto it = std::find_if(std::begin(m), std::end(m),                                     \
+                               [e](const std::pair<ENUM_TYPE, BasicJsonType>& ej_pair) -> bool \
+        {                                                                                      \
+            return ej_pair.first == e;                                                         \
+        });                                                                                    \
+        j = ((it != std::end(m)) ? it : std::begin(m))->second;                                \
+    }                                                                                          \
+    template<typename BasicJsonType>                                                           \
+    inline void from_json(const BasicJsonType& j, ENUM_TYPE& e)                                \
+    {                                                                                          \
+        static_assert(std::is_enum<ENUM_TYPE>::value, #ENUM_TYPE " must be an enum!");         \
+        static const std::pair<ENUM_TYPE, BasicJsonType> m[] = __VA_ARGS__;                    \
+        auto it = std::find_if(std::begin(m), std::end(m),                                     \
+                               [j](const std::pair<ENUM_TYPE, BasicJsonType>& ej_pair) -> bool \
+        {                                                                                      \
+            return ej_pair.second == j;                                                        \
+        });                                                                                    \
+        e = ((it != std::end(m)) ? it : std::begin(m))->first;                                 \
+    }
+
+// Ugly macros to avoid uglier copy-paste when specializing basic_json. They
+// may be removed in the future once the class is split.
+
+#define NLOHMANN_BASIC_JSON_TPL_DECLARATION                                \
+    template<template<typename, typename, typename...> class ObjectType,   \
+             template<typename, typename...> class ArrayType,              \
+             class StringType, class BooleanType, class NumberIntegerType, \
+             class NumberUnsignedType, class NumberFloatType,              \
+             template<typename> class AllocatorType,                       \
+             template<typename, typename = void> class JSONSerializer>
+
+#define NLOHMANN_BASIC_JSON_TPL                                            \
+    basic_json<ObjectType, ArrayType, StringType, BooleanType,             \
+    NumberIntegerType, NumberUnsignedType, NumberFloatType,                \
+    AllocatorType, JSONSerializer>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+
+#include <ciso646> // not
+#include <cstddef> // size_t
+#include <type_traits> // conditional, enable_if, false_type, integral_constant, is_constructible, is_integral, is_same, remove_cv, remove_reference, true_type
+
+namespace nlohmann
+{
+namespace detail
+{
+// alias templates to reduce boilerplate
+template<bool B, typename T = void>
+using enable_if_t = typename std::enable_if<B, T>::type;
+
+template<typename T>
+using uncvref_t = typename std::remove_cv<typename std::remove_reference<T>::type>::type;
+
+// implementation of C++14 index_sequence and affiliates
+// source: https://stackoverflow.com/a/32223343
+template<std::size_t... Ints>
+struct index_sequence
+{
+    using type = index_sequence;
+    using value_type = std::size_t;
+    static constexpr std::size_t size() noexcept
+    {
+        return sizeof...(Ints);
+    }
+};
+
+template<class Sequence1, class Sequence2>
+struct merge_and_renumber;
+
+template<std::size_t... I1, std::size_t... I2>
+struct merge_and_renumber<index_sequence<I1...>, index_sequence<I2...>>
+        : index_sequence < I1..., (sizeof...(I1) + I2)... > {};
+
+template<std::size_t N>
+struct make_index_sequence
+    : merge_and_renumber < typename make_index_sequence < N / 2 >::type,
+      typename make_index_sequence < N - N / 2 >::type > {};
+
+template<> struct make_index_sequence<0> : index_sequence<> {};
+template<> struct make_index_sequence<1> : index_sequence<0> {};
+
+template<typename... Ts>
+using index_sequence_for = make_index_sequence<sizeof...(Ts)>;
+
+// dispatch utility (taken from ranges-v3)
+template<unsigned N> struct priority_tag : priority_tag < N - 1 > {};
+template<> struct priority_tag<0> {};
+
+// taken from ranges-v3
+template<typename T>
+struct static_const
+{
+    static constexpr T value{};
+};
+
+template<typename T>
+constexpr T static_const<T>::value;
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+
+#include <ciso646> // not
+#include <limits> // numeric_limits
+#include <type_traits> // false_type, is_constructible, is_integral, is_same, true_type
+#include <utility> // declval
+
+// #include <nlohmann/json_fwd.hpp>
+
+// #include <nlohmann/detail/iterators/iterator_traits.hpp>
+
+
+#include <iterator> // random_access_iterator_tag
+
+// #include <nlohmann/detail/meta/void_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template <typename ...Ts> struct make_void
+{
+    using type = void;
+};
+template <typename ...Ts> using void_t = typename make_void<Ts...>::type;
+} // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template <typename It, typename = void>
+struct iterator_types {};
+
+template <typename It>
+struct iterator_types <
+    It,
+    void_t<typename It::difference_type, typename It::value_type, typename It::pointer,
+    typename It::reference, typename It::iterator_category >>
+{
+    using difference_type = typename It::difference_type;
+    using value_type = typename It::value_type;
+    using pointer = typename It::pointer;
+    using reference = typename It::reference;
+    using iterator_category = typename It::iterator_category;
+};
+
+// This is required as some compilers implement std::iterator_traits in a way that
+// doesn't work with SFINAE. See https://github.com/nlohmann/json/issues/1341.
+template <typename T, typename = void>
+struct iterator_traits
+{
+};
+
+template <typename T>
+struct iterator_traits < T, enable_if_t < !std::is_pointer<T>::value >>
+            : iterator_types<T>
+{
+};
+
+template <typename T>
+struct iterator_traits<T*, enable_if_t<std::is_object<T>::value>>
+{
+    using iterator_category = std::random_access_iterator_tag;
+    using value_type = T;
+    using difference_type = ptrdiff_t;
+    using pointer = T*;
+    using reference = T&;
+};
+}
+}
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/meta/detected.hpp>
+
+
+#include <type_traits>
+
+// #include <nlohmann/detail/meta/void_t.hpp>
+
+
+// http://en.cppreference.com/w/cpp/experimental/is_detected
+namespace nlohmann
+{
+namespace detail
+{
+struct nonesuch
+{
+    nonesuch() = delete;
+    ~nonesuch() = delete;
+    nonesuch(nonesuch const&) = delete;
+    void operator=(nonesuch const&) = delete;
+};
+
+template <class Default,
+          class AlwaysVoid,
+          template <class...> class Op,
+          class... Args>
+struct detector
+{
+    using value_t = std::false_type;
+    using type = Default;
+};
+
+template <class Default, template <class...> class Op, class... Args>
+struct detector<Default, void_t<Op<Args...>>, Op, Args...>
+{
+    using value_t = std::true_type;
+    using type = Op<Args...>;
+};
+
+template <template <class...> class Op, class... Args>
+using is_detected = typename detector<nonesuch, void, Op, Args...>::value_t;
+
+template <template <class...> class Op, class... Args>
+using detected_t = typename detector<nonesuch, void, Op, Args...>::type;
+
+template <class Default, template <class...> class Op, class... Args>
+using detected_or = detector<Default, void, Op, Args...>;
+
+template <class Default, template <class...> class Op, class... Args>
+using detected_or_t = typename detected_or<Default, Op, Args...>::type;
+
+template <class Expected, template <class...> class Op, class... Args>
+using is_detected_exact = std::is_same<Expected, detected_t<Op, Args...>>;
+
+template <class To, template <class...> class Op, class... Args>
+using is_detected_convertible =
+    std::is_convertible<detected_t<Op, Args...>, To>;
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+namespace nlohmann
+{
+/*!
+@brief detail namespace with internal helper functions
+
+This namespace collects functions that should not be exposed,
+implementations of some @ref basic_json methods, and meta-programming helpers.
+
+@since version 2.1.0
+*/
+namespace detail
+{
+/////////////
+// helpers //
+/////////////
+
+// Note to maintainers:
+//
+// Every trait in this file expects a non CV-qualified type.
+// The only exceptions are in the 'aliases for detected' section
+// (i.e. those of the form: decltype(T::member_function(std::declval<T>())))
+//
+// In this case, T has to be properly CV-qualified to constraint the function arguments
+// (e.g. to_json(BasicJsonType&, const T&))
+
+template<typename> struct is_basic_json : std::false_type {};
+
+NLOHMANN_BASIC_JSON_TPL_DECLARATION
+struct is_basic_json<NLOHMANN_BASIC_JSON_TPL> : std::true_type {};
+
+//////////////////////////
+// aliases for detected //
+//////////////////////////
+
+template <typename T>
+using mapped_type_t = typename T::mapped_type;
+
+template <typename T>
+using key_type_t = typename T::key_type;
+
+template <typename T>
+using value_type_t = typename T::value_type;
+
+template <typename T>
+using difference_type_t = typename T::difference_type;
+
+template <typename T>
+using pointer_t = typename T::pointer;
+
+template <typename T>
+using reference_t = typename T::reference;
+
+template <typename T>
+using iterator_category_t = typename T::iterator_category;
+
+template <typename T>
+using iterator_t = typename T::iterator;
+
+template <typename T, typename... Args>
+using to_json_function = decltype(T::to_json(std::declval<Args>()...));
+
+template <typename T, typename... Args>
+using from_json_function = decltype(T::from_json(std::declval<Args>()...));
+
+template <typename T, typename U>
+using get_template_function = decltype(std::declval<T>().template get<U>());
+
+// trait checking if JSONSerializer<T>::from_json(json const&, udt&) exists
+template <typename BasicJsonType, typename T, typename = void>
+struct has_from_json : std::false_type {};
+
+template <typename BasicJsonType, typename T>
+struct has_from_json<BasicJsonType, T,
+           enable_if_t<not is_basic_json<T>::value>>
+{
+    using serializer = typename BasicJsonType::template json_serializer<T, void>;
+
+    static constexpr bool value =
+        is_detected_exact<void, from_json_function, serializer,
+        const BasicJsonType&, T&>::value;
+};
+
+// This trait checks if JSONSerializer<T>::from_json(json const&) exists
+// this overload is used for non-default-constructible user-defined-types
+template <typename BasicJsonType, typename T, typename = void>
+struct has_non_default_from_json : std::false_type {};
+
+template<typename BasicJsonType, typename T>
+struct has_non_default_from_json<BasicJsonType, T, enable_if_t<not is_basic_json<T>::value>>
+{
+    using serializer = typename BasicJsonType::template json_serializer<T, void>;
+
+    static constexpr bool value =
+        is_detected_exact<T, from_json_function, serializer,
+        const BasicJsonType&>::value;
+};
+
+// This trait checks if BasicJsonType::json_serializer<T>::to_json exists
+// Do not evaluate the trait when T is a basic_json type, to avoid template instantiation infinite recursion.
+template <typename BasicJsonType, typename T, typename = void>
+struct has_to_json : std::false_type {};
+
+template <typename BasicJsonType, typename T>
+struct has_to_json<BasicJsonType, T, enable_if_t<not is_basic_json<T>::value>>
+{
+    using serializer = typename BasicJsonType::template json_serializer<T, void>;
+
+    static constexpr bool value =
+        is_detected_exact<void, to_json_function, serializer, BasicJsonType&,
+        T>::value;
+};
+
+
+///////////////////
+// is_ functions //
+///////////////////
+
+template <typename T, typename = void>
+struct is_iterator_traits : std::false_type {};
+
+template <typename T>
+struct is_iterator_traits<iterator_traits<T>>
+{
+  private:
+    using traits = iterator_traits<T>;
+
+  public:
+    static constexpr auto value =
+        is_detected<value_type_t, traits>::value &&
+        is_detected<difference_type_t, traits>::value &&
+        is_detected<pointer_t, traits>::value &&
+        is_detected<iterator_category_t, traits>::value &&
+        is_detected<reference_t, traits>::value;
+};
+
+// source: https://stackoverflow.com/a/37193089/4116453
+
+template <typename T, typename = void>
+struct is_complete_type : std::false_type {};
+
+template <typename T>
+struct is_complete_type<T, decltype(void(sizeof(T)))> : std::true_type {};
+
+template <typename BasicJsonType, typename CompatibleObjectType,
+          typename = void>
+struct is_compatible_object_type_impl : std::false_type {};
+
+template <typename BasicJsonType, typename CompatibleObjectType>
+struct is_compatible_object_type_impl <
+    BasicJsonType, CompatibleObjectType,
+    enable_if_t<is_detected<mapped_type_t, CompatibleObjectType>::value and
+    is_detected<key_type_t, CompatibleObjectType>::value >>
+{
+
+    using object_t = typename BasicJsonType::object_t;
+
+    // macOS's is_constructible does not play well with nonesuch...
+    static constexpr bool value =
+        std::is_constructible<typename object_t::key_type,
+        typename CompatibleObjectType::key_type>::value and
+        std::is_constructible<typename object_t::mapped_type,
+        typename CompatibleObjectType::mapped_type>::value;
+};
+
+template <typename BasicJsonType, typename CompatibleObjectType>
+struct is_compatible_object_type
+    : is_compatible_object_type_impl<BasicJsonType, CompatibleObjectType> {};
+
+template <typename BasicJsonType, typename ConstructibleObjectType,
+          typename = void>
+struct is_constructible_object_type_impl : std::false_type {};
+
+template <typename BasicJsonType, typename ConstructibleObjectType>
+struct is_constructible_object_type_impl <
+    BasicJsonType, ConstructibleObjectType,
+    enable_if_t<is_detected<mapped_type_t, ConstructibleObjectType>::value and
+    is_detected<key_type_t, ConstructibleObjectType>::value >>
+{
+    using object_t = typename BasicJsonType::object_t;
+
+    static constexpr bool value =
+        (std::is_constructible<typename ConstructibleObjectType::key_type, typename object_t::key_type>::value and
+         std::is_same<typename object_t::mapped_type, typename ConstructibleObjectType::mapped_type>::value) or
+        (has_from_json<BasicJsonType, typename ConstructibleObjectType::mapped_type>::value or
+         has_non_default_from_json<BasicJsonType, typename ConstructibleObjectType::mapped_type >::value);
+};
+
+template <typename BasicJsonType, typename ConstructibleObjectType>
+struct is_constructible_object_type
+    : is_constructible_object_type_impl<BasicJsonType,
+      ConstructibleObjectType> {};
+
+template <typename BasicJsonType, typename CompatibleStringType,
+          typename = void>
+struct is_compatible_string_type_impl : std::false_type {};
+
+template <typename BasicJsonType, typename CompatibleStringType>
+struct is_compatible_string_type_impl <
+    BasicJsonType, CompatibleStringType,
+    enable_if_t<is_detected_exact<typename BasicJsonType::string_t::value_type,
+    value_type_t, CompatibleStringType>::value >>
+{
+    static constexpr auto value =
+        std::is_constructible<typename BasicJsonType::string_t, CompatibleStringType>::value;
+};
+
+template <typename BasicJsonType, typename ConstructibleStringType>
+struct is_compatible_string_type
+    : is_compatible_string_type_impl<BasicJsonType, ConstructibleStringType> {};
+
+template <typename BasicJsonType, typename ConstructibleStringType,
+          typename = void>
+struct is_constructible_string_type_impl : std::false_type {};
+
+template <typename BasicJsonType, typename ConstructibleStringType>
+struct is_constructible_string_type_impl <
+    BasicJsonType, ConstructibleStringType,
+    enable_if_t<is_detected_exact<typename BasicJsonType::string_t::value_type,
+    value_type_t, ConstructibleStringType>::value >>
+{
+    static constexpr auto value =
+        std::is_constructible<ConstructibleStringType,
+        typename BasicJsonType::string_t>::value;
+};
+
+template <typename BasicJsonType, typename ConstructibleStringType>
+struct is_constructible_string_type
+    : is_constructible_string_type_impl<BasicJsonType, ConstructibleStringType> {};
+
+template <typename BasicJsonType, typename CompatibleArrayType, typename = void>
+struct is_compatible_array_type_impl : std::false_type {};
+
+template <typename BasicJsonType, typename CompatibleArrayType>
+struct is_compatible_array_type_impl <
+    BasicJsonType, CompatibleArrayType,
+    enable_if_t<is_detected<value_type_t, CompatibleArrayType>::value and
+    is_detected<iterator_t, CompatibleArrayType>::value and
+// This is needed because json_reverse_iterator has a ::iterator type...
+// Therefore it is detected as a CompatibleArrayType.
+// The real fix would be to have an Iterable concept.
+    not is_iterator_traits<
+    iterator_traits<CompatibleArrayType>>::value >>
+{
+    static constexpr bool value =
+        std::is_constructible<BasicJsonType,
+        typename CompatibleArrayType::value_type>::value;
+};
+
+template <typename BasicJsonType, typename CompatibleArrayType>
+struct is_compatible_array_type
+    : is_compatible_array_type_impl<BasicJsonType, CompatibleArrayType> {};
+
+template <typename BasicJsonType, typename ConstructibleArrayType, typename = void>
+struct is_constructible_array_type_impl : std::false_type {};
+
+template <typename BasicJsonType, typename ConstructibleArrayType>
+struct is_constructible_array_type_impl <
+    BasicJsonType, ConstructibleArrayType,
+    enable_if_t<std::is_same<ConstructibleArrayType,
+    typename BasicJsonType::value_type>::value >>
+            : std::true_type {};
+
+template <typename BasicJsonType, typename ConstructibleArrayType>
+struct is_constructible_array_type_impl <
+    BasicJsonType, ConstructibleArrayType,
+    enable_if_t<not std::is_same<ConstructibleArrayType,
+    typename BasicJsonType::value_type>::value and
+    is_detected<value_type_t, ConstructibleArrayType>::value and
+    is_detected<iterator_t, ConstructibleArrayType>::value and
+    is_complete_type<
+    detected_t<value_type_t, ConstructibleArrayType>>::value >>
+{
+    static constexpr bool value =
+        // This is needed because json_reverse_iterator has a ::iterator type,
+        // furthermore, std::back_insert_iterator (and other iterators) have a base class `iterator`...
+        // Therefore it is detected as a ConstructibleArrayType.
+        // The real fix would be to have an Iterable concept.
+        not is_iterator_traits <
+        iterator_traits<ConstructibleArrayType >>::value and
+
+        (std::is_same<typename ConstructibleArrayType::value_type, typename BasicJsonType::array_t::value_type>::value or
+         has_from_json<BasicJsonType,
+         typename ConstructibleArrayType::value_type>::value or
+         has_non_default_from_json <
+         BasicJsonType, typename ConstructibleArrayType::value_type >::value);
+};
+
+template <typename BasicJsonType, typename ConstructibleArrayType>
+struct is_constructible_array_type
+    : is_constructible_array_type_impl<BasicJsonType, ConstructibleArrayType> {};
+
+template <typename RealIntegerType, typename CompatibleNumberIntegerType,
+          typename = void>
+struct is_compatible_integer_type_impl : std::false_type {};
+
+template <typename RealIntegerType, typename CompatibleNumberIntegerType>
+struct is_compatible_integer_type_impl <
+    RealIntegerType, CompatibleNumberIntegerType,
+    enable_if_t<std::is_integral<RealIntegerType>::value and
+    std::is_integral<CompatibleNumberIntegerType>::value and
+    not std::is_same<bool, CompatibleNumberIntegerType>::value >>
+{
+    // is there an assert somewhere on overflows?
+    using RealLimits = std::numeric_limits<RealIntegerType>;
+    using CompatibleLimits = std::numeric_limits<CompatibleNumberIntegerType>;
+
+    static constexpr auto value =
+        std::is_constructible<RealIntegerType,
+        CompatibleNumberIntegerType>::value and
+        CompatibleLimits::is_integer and
+        RealLimits::is_signed == CompatibleLimits::is_signed;
+};
+
+template <typename RealIntegerType, typename CompatibleNumberIntegerType>
+struct is_compatible_integer_type
+    : is_compatible_integer_type_impl<RealIntegerType,
+      CompatibleNumberIntegerType> {};
+
+template <typename BasicJsonType, typename CompatibleType, typename = void>
+struct is_compatible_type_impl: std::false_type {};
+
+template <typename BasicJsonType, typename CompatibleType>
+struct is_compatible_type_impl <
+    BasicJsonType, CompatibleType,
+    enable_if_t<is_complete_type<CompatibleType>::value >>
+{
+    static constexpr bool value =
+        has_to_json<BasicJsonType, CompatibleType>::value;
+};
+
+template <typename BasicJsonType, typename CompatibleType>
+struct is_compatible_type
+    : is_compatible_type_impl<BasicJsonType, CompatibleType> {};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+
+#include <exception> // exception
+#include <stdexcept> // runtime_error
+#include <string> // to_string
+
+// #include <nlohmann/detail/input/position_t.hpp>
+
+
+#include <cstddef> // size_t
+
+namespace nlohmann
+{
+namespace detail
+{
+/// struct to capture the start position of the current token
+struct position_t
+{
+    /// the total number of characters read
+    std::size_t chars_read_total = 0;
+    /// the number of characters read in the current line
+    std::size_t chars_read_current_line = 0;
+    /// the number of lines read
+    std::size_t lines_read = 0;
+
+    /// conversion to size_t to preserve SAX interface
+    constexpr operator size_t() const
+    {
+        return chars_read_total;
+    }
+};
+
+}
+}
+
+
+namespace nlohmann
+{
+namespace detail
+{
+////////////////
+// exceptions //
+////////////////
+
+/*!
+@brief general exception of the @ref basic_json class
+
+This class is an extension of `std::exception` objects with a member @a id for
+exception ids. It is used as the base class for all exceptions thrown by the
+@ref basic_json class. This class can hence be used as "wildcard" to catch
+exceptions.
+
+Subclasses:
+- @ref parse_error for exceptions indicating a parse error
+- @ref invalid_iterator for exceptions indicating errors with iterators
+- @ref type_error for exceptions indicating executing a member function with
+                  a wrong type
+- @ref out_of_range for exceptions indicating access out of the defined range
+- @ref other_error for exceptions indicating other library errors
+
+@internal
+@note To have nothrow-copy-constructible exceptions, we internally use
+      `std::runtime_error` which can cope with arbitrary-length error messages.
+      Intermediate strings are built with static functions and then passed to
+      the actual constructor.
+@endinternal
+
+@liveexample{The following code shows how arbitrary library exceptions can be
+caught.,exception}
+
+@since version 3.0.0
+*/
+class exception : public std::exception
+{
+  public:
+    /// returns the explanatory string
+    const char* what() const noexcept override
+    {
+        return m.what();
+    }
+
+    /// the id of the exception
+    const int id;
+
+  protected:
+    exception(int id_, const char* what_arg) : id(id_), m(what_arg) {}
+
+    static std::string name(const std::string& ename, int id_)
+    {
+        return "[json.exception." + ename + "." + std::to_string(id_) + "] ";
+    }
+
+  private:
+    /// an exception object as storage for error messages
+    std::runtime_error m;
+};
+
+/*!
+@brief exception indicating a parse error
+
+This exception is thrown by the library when a parse error occurs. Parse errors
+can occur during the deserialization of JSON text, CBOR, MessagePack, as well
+as when using JSON Patch.
+
+Member @a byte holds the byte index of the last read character in the input
+file.
+
+Exceptions have ids 1xx.
+
+name / id                      | example message | description
+------------------------------ | --------------- | -------------------------
+json.exception.parse_error.101 | parse error at 2: unexpected end of input; expected string literal | This error indicates a syntax error while deserializing a JSON text. The error message describes that an unexpected token (character) was encountered, and the member @a byte indicates the error position.
+json.exception.parse_error.102 | parse error at 14: missing or wrong low surrogate | JSON uses the `\uxxxx` format to describe Unicode characters. Code points above above 0xFFFF are split into two `\uxxxx` entries ("surrogate pairs"). This error indicates that the surrogate pair is incomplete or contains an invalid code point.
+json.exception.parse_error.103 | parse error: code points above 0x10FFFF are invalid | Unicode supports code points up to 0x10FFFF. Code points above 0x10FFFF are invalid.
+json.exception.parse_error.104 | parse error: JSON patch must be an array of objects | [RFC 6902](https://tools.ietf.org/html/rfc6902) requires a JSON Patch document to be a JSON document that represents an array of objects.
+json.exception.parse_error.105 | parse error: operation must have string member 'op' | An operation of a JSON Patch document must contain exactly one "op" member, whose value indicates the operation to perform. Its value must be one of "add", "remove", "replace", "move", "copy", or "test"; other values are errors.
+json.exception.parse_error.106 | parse error: array index '01' must not begin with '0' | An array index in a JSON Pointer ([RFC 6901](https://tools.ietf.org/html/rfc6901)) may be `0` or any number without a leading `0`.
+json.exception.parse_error.107 | parse error: JSON pointer must be empty or begin with '/' - was: 'foo' | A JSON Pointer must be a Unicode string containing a sequence of zero or more reference tokens, each prefixed by a `/` character.
+json.exception.parse_error.108 | parse error: escape character '~' must be followed with '0' or '1' | In a JSON Pointer, only `~0` and `~1` are valid escape sequences.
+json.exception.parse_error.109 | parse error: array index 'one' is not a number | A JSON Pointer array index must be a number.
+json.exception.parse_error.110 | parse error at 1: cannot read 2 bytes from vector | When parsing CBOR or MessagePack, the byte vector ends before the complete value has been read.
+json.exception.parse_error.112 | parse error at 1: error reading CBOR; last byte: 0xF8 | Not all types of CBOR or MessagePack are supported. This exception occurs if an unsupported byte was read.
+json.exception.parse_error.113 | parse error at 2: expected a CBOR string; last byte: 0x98 | While parsing a map key, a value that is not a string has been read.
+json.exception.parse_error.114 | parse error: Unsupported BSON record type 0x0F | The parsing of the corresponding BSON record type is not implemented (yet).
+
+@note For an input with n bytes, 1 is the index of the first character and n+1
+      is the index of the terminating null byte or the end of file. This also
+      holds true when reading a byte vector (CBOR or MessagePack).
+
+@liveexample{The following code shows how a `parse_error` exception can be
+caught.,parse_error}
+
+@sa @ref exception for the base class of the library exceptions
+@sa @ref invalid_iterator for exceptions indicating errors with iterators
+@sa @ref type_error for exceptions indicating executing a member function with
+                    a wrong type
+@sa @ref out_of_range for exceptions indicating access out of the defined range
+@sa @ref other_error for exceptions indicating other library errors
+
+@since version 3.0.0
+*/
+class parse_error : public exception
+{
+  public:
+    /*!
+    @brief create a parse error exception
+    @param[in] id_       the id of the exception
+    @param[in] position  the position where the error occurred (or with
+                         chars_read_total=0 if the position cannot be
+                         determined)
+    @param[in] what_arg  the explanatory string
+    @return parse_error object
+    */
+    static parse_error create(int id_, const position_t& pos, const std::string& what_arg)
+    {
+        std::string w = exception::name("parse_error", id_) + "parse error" +
+                        position_string(pos) + ": " + what_arg;
+        return parse_error(id_, pos.chars_read_total, w.c_str());
+    }
+
+    static parse_error create(int id_, std::size_t byte_, const std::string& what_arg)
+    {
+        std::string w = exception::name("parse_error", id_) + "parse error" +
+                        (byte_ != 0 ? (" at byte " + std::to_string(byte_)) : "") +
+                        ": " + what_arg;
+        return parse_error(id_, byte_, w.c_str());
+    }
+
+    /*!
+    @brief byte index of the parse error
+
+    The byte index of the last read character in the input file.
+
+    @note For an input with n bytes, 1 is the index of the first character and
+          n+1 is the index of the terminating null byte or the end of file.
+          This also holds true when reading a byte vector (CBOR or MessagePack).
+    */
+    const std::size_t byte;
+
+  private:
+    parse_error(int id_, std::size_t byte_, const char* what_arg)
+        : exception(id_, what_arg), byte(byte_) {}
+
+    static std::string position_string(const position_t& pos)
+    {
+        return " at line " + std::to_string(pos.lines_read + 1) +
+               ", column " + std::to_string(pos.chars_read_current_line);
+    }
+};
+
+/*!
+@brief exception indicating errors with iterators
+
+This exception is thrown if iterators passed to a library function do not match
+the expected semantics.
+
+Exceptions have ids 2xx.
+
+name / id                           | example message | description
+----------------------------------- | --------------- | -------------------------
+json.exception.invalid_iterator.201 | iterators are not compatible | The iterators passed to constructor @ref basic_json(InputIT first, InputIT last) are not compatible, meaning they do not belong to the same container. Therefore, the range (@a first, @a last) is invalid.
+json.exception.invalid_iterator.202 | iterator does not fit current value | In an erase or insert function, the passed iterator @a pos does not belong to the JSON value for which the function was called. It hence does not define a valid position for the deletion/insertion.
+json.exception.invalid_iterator.203 | iterators do not fit current value | Either iterator passed to function @ref erase(IteratorType first, IteratorType last) does not belong to the JSON value from which values shall be erased. It hence does not define a valid range to delete values from.
+json.exception.invalid_iterator.204 | iterators out of range | When an iterator range for a primitive type (number, boolean, or string) is passed to a constructor or an erase function, this range has to be exactly (@ref begin(), @ref end()), because this is the only way the single stored value is expressed. All other ranges are invalid.
+json.exception.invalid_iterator.205 | iterator out of range | When an iterator for a primitive type (number, boolean, or string) is passed to an erase function, the iterator has to be the @ref begin() iterator, because it is the only way to address the stored value. All other iterators are invalid.
+json.exception.invalid_iterator.206 | cannot construct with iterators from null | The iterators passed to constructor @ref basic_json(InputIT first, InputIT last) belong to a JSON null value and hence to not define a valid range.
+json.exception.invalid_iterator.207 | cannot use key() for non-object iterators | The key() member function can only be used on iterators belonging to a JSON object, because other types do not have a concept of a key.
+json.exception.invalid_iterator.208 | cannot use operator[] for object iterators | The operator[] to specify a concrete offset cannot be used on iterators belonging to a JSON object, because JSON objects are unordered.
+json.exception.invalid_iterator.209 | cannot use offsets with object iterators | The offset operators (+, -, +=, -=) cannot be used on iterators belonging to a JSON object, because JSON objects are unordered.
+json.exception.invalid_iterator.210 | iterators do not fit | The iterator range passed to the insert function are not compatible, meaning they do not belong to the same container. Therefore, the range (@a first, @a last) is invalid.
+json.exception.invalid_iterator.211 | passed iterators may not belong to container | The iterator range passed to the insert function must not be a subrange of the container to insert to.
+json.exception.invalid_iterator.212 | cannot compare iterators of different containers | When two iterators are compared, they must belong to the same container.
+json.exception.invalid_iterator.213 | cannot compare order of object iterators | The order of object iterators cannot be compared, because JSON objects are unordered.
+json.exception.invalid_iterator.214 | cannot get value | Cannot get value for iterator: Either the iterator belongs to a null value or it is an iterator to a primitive type (number, boolean, or string), but the iterator is different to @ref begin().
+
+@liveexample{The following code shows how an `invalid_iterator` exception can be
+caught.,invalid_iterator}
+
+@sa @ref exception for the base class of the library exceptions
+@sa @ref parse_error for exceptions indicating a parse error
+@sa @ref type_error for exceptions indicating executing a member function with
+                    a wrong type
+@sa @ref out_of_range for exceptions indicating access out of the defined range
+@sa @ref other_error for exceptions indicating other library errors
+
+@since version 3.0.0
+*/
+class invalid_iterator : public exception
+{
+  public:
+    static invalid_iterator create(int id_, const std::string& what_arg)
+    {
+        std::string w = exception::name("invalid_iterator", id_) + what_arg;
+        return invalid_iterator(id_, w.c_str());
+    }
+
+  private:
+    invalid_iterator(int id_, const char* what_arg)
+        : exception(id_, what_arg) {}
+};
+
+/*!
+@brief exception indicating executing a member function with a wrong type
+
+This exception is thrown in case of a type error; that is, a library function is
+executed on a JSON value whose type does not match the expected semantics.
+
+Exceptions have ids 3xx.
+
+name / id                     | example message | description
+----------------------------- | --------------- | -------------------------
+json.exception.type_error.301 | cannot create object from initializer list | To create an object from an initializer list, the initializer list must consist only of a list of pairs whose first element is a string. When this constraint is violated, an array is created instead.
+json.exception.type_error.302 | type must be object, but is array | During implicit or explicit value conversion, the JSON type must be compatible to the target type. For instance, a JSON string can only be converted into string types, but not into numbers or boolean types.
+json.exception.type_error.303 | incompatible ReferenceType for get_ref, actual type is object | To retrieve a reference to a value stored in a @ref basic_json object with @ref get_ref, the type of the reference must match the value type. For instance, for a JSON array, the @a ReferenceType must be @ref array_t&.
+json.exception.type_error.304 | cannot use at() with string | The @ref at() member functions can only be executed for certain JSON types.
+json.exception.type_error.305 | cannot use operator[] with string | The @ref operator[] member functions can only be executed for certain JSON types.
+json.exception.type_error.306 | cannot use value() with string | The @ref value() member functions can only be executed for certain JSON types.
+json.exception.type_error.307 | cannot use erase() with string | The @ref erase() member functions can only be executed for certain JSON types.
+json.exception.type_error.308 | cannot use push_back() with string | The @ref push_back() and @ref operator+= member functions can only be executed for certain JSON types.
+json.exception.type_error.309 | cannot use insert() with | The @ref insert() member functions can only be executed for certain JSON types.
+json.exception.type_error.310 | cannot use swap() with number | The @ref swap() member functions can only be executed for certain JSON types.
+json.exception.type_error.311 | cannot use emplace_back() with string | The @ref emplace_back() member function can only be executed for certain JSON types.
+json.exception.type_error.312 | cannot use update() with string | The @ref update() member functions can only be executed for certain JSON types.
+json.exception.type_error.313 | invalid value to unflatten | The @ref unflatten function converts an object whose keys are JSON Pointers back into an arbitrary nested JSON value. The JSON Pointers must not overlap, because then the resulting value would not be well defined.
+json.exception.type_error.314 | only objects can be unflattened | The @ref unflatten function only works for an object whose keys are JSON Pointers.
+json.exception.type_error.315 | values in object must be primitive | The @ref unflatten function only works for an object whose keys are JSON Pointers and whose values are primitive.
+json.exception.type_error.316 | invalid UTF-8 byte at index 10: 0x7E | The @ref dump function only works with UTF-8 encoded strings; that is, if you assign a `std::string` to a JSON value, make sure it is UTF-8 encoded. |
+json.exception.type_error.317 | JSON value cannot be serialized to requested format | The dynamic type of the object cannot be represented in the requested serialization format (e.g. a raw `true` or `null` JSON object cannot be serialized to BSON) |
+
+@liveexample{The following code shows how a `type_error` exception can be
+caught.,type_error}
+
+@sa @ref exception for the base class of the library exceptions
+@sa @ref parse_error for exceptions indicating a parse error
+@sa @ref invalid_iterator for exceptions indicating errors with iterators
+@sa @ref out_of_range for exceptions indicating access out of the defined range
+@sa @ref other_error for exceptions indicating other library errors
+
+@since version 3.0.0
+*/
+class type_error : public exception
+{
+  public:
+    static type_error create(int id_, const std::string& what_arg)
+    {
+        std::string w = exception::name("type_error", id_) + what_arg;
+        return type_error(id_, w.c_str());
+    }
+
+  private:
+    type_error(int id_, const char* what_arg) : exception(id_, what_arg) {}
+};
+
+/*!
+@brief exception indicating access out of the defined range
+
+This exception is thrown in case a library function is called on an input
+parameter that exceeds the expected range, for instance in case of array
+indices or nonexisting object keys.
+
+Exceptions have ids 4xx.
+
+name / id                       | example message | description
+------------------------------- | --------------- | -------------------------
+json.exception.out_of_range.401 | array index 3 is out of range | The provided array index @a i is larger than @a size-1.
+json.exception.out_of_range.402 | array index '-' (3) is out of range | The special array index `-` in a JSON Pointer never describes a valid element of the array, but the index past the end. That is, it can only be used to add elements at this position, but not to read it.
+json.exception.out_of_range.403 | key 'foo' not found | The provided key was not found in the JSON object.
+json.exception.out_of_range.404 | unresolved reference token 'foo' | A reference token in a JSON Pointer could not be resolved.
+json.exception.out_of_range.405 | JSON pointer has no parent | The JSON Patch operations 'remove' and 'add' can not be applied to the root element of the JSON value.
+json.exception.out_of_range.406 | number overflow parsing '10E1000' | A parsed number could not be stored as without changing it to NaN or INF.
+json.exception.out_of_range.407 | number overflow serializing '9223372036854775808' | UBJSON and BSON only support integer numbers up to 9223372036854775807. |
+json.exception.out_of_range.408 | excessive array size: 8658170730974374167 | The size (following `#`) of an UBJSON array or object exceeds the maximal capacity. |
+json.exception.out_of_range.409 | BSON key cannot contain code point U+0000 (at byte 2) | Key identifiers to be serialized to BSON cannot contain code point U+0000, since the key is stored as zero-terminated c-string |
+
+@liveexample{The following code shows how an `out_of_range` exception can be
+caught.,out_of_range}
+
+@sa @ref exception for the base class of the library exceptions
+@sa @ref parse_error for exceptions indicating a parse error
+@sa @ref invalid_iterator for exceptions indicating errors with iterators
+@sa @ref type_error for exceptions indicating executing a member function with
+                    a wrong type
+@sa @ref other_error for exceptions indicating other library errors
+
+@since version 3.0.0
+*/
+class out_of_range : public exception
+{
+  public:
+    static out_of_range create(int id_, const std::string& what_arg)
+    {
+        std::string w = exception::name("out_of_range", id_) + what_arg;
+        return out_of_range(id_, w.c_str());
+    }
+
+  private:
+    out_of_range(int id_, const char* what_arg) : exception(id_, what_arg) {}
+};
+
+/*!
+@brief exception indicating other library errors
+
+This exception is thrown in case of errors that cannot be classified with the
+other exception types.
+
+Exceptions have ids 5xx.
+
+name / id                      | example message | description
+------------------------------ | --------------- | -------------------------
+json.exception.other_error.501 | unsuccessful: {"op":"test","path":"/baz", "value":"bar"} | A JSON Patch operation 'test' failed. The unsuccessful operation is also printed.
+
+@sa @ref exception for the base class of the library exceptions
+@sa @ref parse_error for exceptions indicating a parse error
+@sa @ref invalid_iterator for exceptions indicating errors with iterators
+@sa @ref type_error for exceptions indicating executing a member function with
+                    a wrong type
+@sa @ref out_of_range for exceptions indicating access out of the defined range
+
+@liveexample{The following code shows how an `other_error` exception can be
+caught.,other_error}
+
+@since version 3.0.0
+*/
+class other_error : public exception
+{
+  public:
+    static other_error create(int id_, const std::string& what_arg)
+    {
+        std::string w = exception::name("other_error", id_) + what_arg;
+        return other_error(id_, w.c_str());
+    }
+
+  private:
+    other_error(int id_, const char* what_arg) : exception(id_, what_arg) {}
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+#include <array> // array
+#include <ciso646> // and
+#include <cstddef> // size_t
+#include <cstdint> // uint8_t
+
+namespace nlohmann
+{
+namespace detail
+{
+///////////////////////////
+// JSON type enumeration //
+///////////////////////////
+
+/*!
+@brief the JSON type enumeration
+
+This enumeration collects the different JSON types. It is internally used to
+distinguish the stored values, and the functions @ref basic_json::is_null(),
+@ref basic_json::is_object(), @ref basic_json::is_array(),
+@ref basic_json::is_string(), @ref basic_json::is_boolean(),
+@ref basic_json::is_number() (with @ref basic_json::is_number_integer(),
+@ref basic_json::is_number_unsigned(), and @ref basic_json::is_number_float()),
+@ref basic_json::is_discarded(), @ref basic_json::is_primitive(), and
+@ref basic_json::is_structured() rely on it.
+
+@note There are three enumeration entries (number_integer, number_unsigned, and
+number_float), because the library distinguishes these three types for numbers:
+@ref basic_json::number_unsigned_t is used for unsigned integers,
+@ref basic_json::number_integer_t is used for signed integers, and
+@ref basic_json::number_float_t is used for floating-point numbers or to
+approximate integers which do not fit in the limits of their respective type.
+
+@sa @ref basic_json::basic_json(const value_t value_type) -- create a JSON
+value with the default value for a given type
+
+@since version 1.0.0
+*/
+enum class value_t : std::uint8_t
+{
+    null,             ///< null value
+    object,           ///< object (unordered set of name/value pairs)
+    array,            ///< array (ordered collection of values)
+    string,           ///< string value
+    boolean,          ///< boolean value
+    number_integer,   ///< number value (signed integer)
+    number_unsigned,  ///< number value (unsigned integer)
+    number_float,     ///< number value (floating-point)
+    discarded         ///< discarded by the the parser callback function
+};
+
+/*!
+@brief comparison operator for JSON types
+
+Returns an ordering that is similar to Python:
+- order: null < boolean < number < object < array < string
+- furthermore, each type is not smaller than itself
+- discarded values are not comparable
+
+@since version 1.0.0
+*/
+inline bool operator<(const value_t lhs, const value_t rhs) noexcept
+{
+    static constexpr std::array<std::uint8_t, 8> order = {{
+            0 /* null */, 3 /* object */, 4 /* array */, 5 /* string */,
+            1 /* boolean */, 2 /* integer */, 2 /* unsigned */, 2 /* float */
+        }
+    };
+
+    const auto l_index = static_cast<std::size_t>(lhs);
+    const auto r_index = static_cast<std::size_t>(rhs);
+    return l_index < order.size() and r_index < order.size() and order[l_index] < order[r_index];
+}
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/conversions/from_json.hpp>
+
+
+#include <algorithm> // transform
+#include <array> // array
+#include <ciso646> // and, not
+#include <forward_list> // forward_list
+#include <iterator> // inserter, front_inserter, end
+#include <map> // map
+#include <string> // string
+#include <tuple> // tuple, make_tuple
+#include <type_traits> // is_arithmetic, is_same, is_enum, underlying_type, is_convertible
+#include <unordered_map> // unordered_map
+#include <utility> // pair, declval
+#include <valarray> // valarray
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename std::nullptr_t& n)
+{
+    if (JSON_UNLIKELY(not j.is_null()))
+    {
+        JSON_THROW(type_error::create(302, "type must be null, but is " + std::string(j.type_name())));
+    }
+    n = nullptr;
+}
+
+// overloads for basic_json template parameters
+template<typename BasicJsonType, typename ArithmeticType,
+         enable_if_t<std::is_arithmetic<ArithmeticType>::value and
+                     not std::is_same<ArithmeticType, typename BasicJsonType::boolean_t>::value,
+                     int> = 0>
+void get_arithmetic_value(const BasicJsonType& j, ArithmeticType& val)
+{
+    switch (static_cast<value_t>(j))
+    {
+        case value_t::number_unsigned:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_unsigned_t*>());
+            break;
+        }
+        case value_t::number_integer:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_integer_t*>());
+            break;
+        }
+        case value_t::number_float:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_float_t*>());
+            break;
+        }
+
+        default:
+            JSON_THROW(type_error::create(302, "type must be number, but is " + std::string(j.type_name())));
+    }
+}
+
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename BasicJsonType::boolean_t& b)
+{
+    if (JSON_UNLIKELY(not j.is_boolean()))
+    {
+        JSON_THROW(type_error::create(302, "type must be boolean, but is " + std::string(j.type_name())));
+    }
+    b = *j.template get_ptr<const typename BasicJsonType::boolean_t*>();
+}
+
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename BasicJsonType::string_t& s)
+{
+    if (JSON_UNLIKELY(not j.is_string()))
+    {
+        JSON_THROW(type_error::create(302, "type must be string, but is " + std::string(j.type_name())));
+    }
+    s = *j.template get_ptr<const typename BasicJsonType::string_t*>();
+}
+
+template <
+    typename BasicJsonType, typename ConstructibleStringType,
+    enable_if_t <
+        is_constructible_string_type<BasicJsonType, ConstructibleStringType>::value and
+        not std::is_same<typename BasicJsonType::string_t,
+                         ConstructibleStringType>::value,
+        int > = 0 >
+void from_json(const BasicJsonType& j, ConstructibleStringType& s)
+{
+    if (JSON_UNLIKELY(not j.is_string()))
+    {
+        JSON_THROW(type_error::create(302, "type must be string, but is " + std::string(j.type_name())));
+    }
+
+    s = *j.template get_ptr<const typename BasicJsonType::string_t*>();
+}
+
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename BasicJsonType::number_float_t& val)
+{
+    get_arithmetic_value(j, val);
+}
+
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename BasicJsonType::number_unsigned_t& val)
+{
+    get_arithmetic_value(j, val);
+}
+
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename BasicJsonType::number_integer_t& val)
+{
+    get_arithmetic_value(j, val);
+}
+
+template<typename BasicJsonType, typename EnumType,
+         enable_if_t<std::is_enum<EnumType>::value, int> = 0>
+void from_json(const BasicJsonType& j, EnumType& e)
+{
+    typename std::underlying_type<EnumType>::type val;
+    get_arithmetic_value(j, val);
+    e = static_cast<EnumType>(val);
+}
+
+// forward_list doesn't have an insert method
+template<typename BasicJsonType, typename T, typename Allocator,
+         enable_if_t<std::is_convertible<BasicJsonType, T>::value, int> = 0>
+void from_json(const BasicJsonType& j, std::forward_list<T, Allocator>& l)
+{
+    if (JSON_UNLIKELY(not j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(j.type_name())));
+    }
+    std::transform(j.rbegin(), j.rend(),
+                   std::front_inserter(l), [](const BasicJsonType & i)
+    {
+        return i.template get<T>();
+    });
+}
+
+// valarray doesn't have an insert method
+template<typename BasicJsonType, typename T,
+         enable_if_t<std::is_convertible<BasicJsonType, T>::value, int> = 0>
+void from_json(const BasicJsonType& j, std::valarray<T>& l)
+{
+    if (JSON_UNLIKELY(not j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(j.type_name())));
+    }
+    l.resize(j.size());
+    std::copy(j.m_value.array->begin(), j.m_value.array->end(), std::begin(l));
+}
+
+template<typename BasicJsonType>
+void from_json_array_impl(const BasicJsonType& j, typename BasicJsonType::array_t& arr, priority_tag<3> /*unused*/)
+{
+    arr = *j.template get_ptr<const typename BasicJsonType::array_t*>();
+}
+
+template <typename BasicJsonType, typename T, std::size_t N>
+auto from_json_array_impl(const BasicJsonType& j, std::array<T, N>& arr,
+                          priority_tag<2> /*unused*/)
+-> decltype(j.template get<T>(), void())
+{
+    for (std::size_t i = 0; i < N; ++i)
+    {
+        arr[i] = j.at(i).template get<T>();
+    }
+}
+
+template<typename BasicJsonType, typename ConstructibleArrayType>
+auto from_json_array_impl(const BasicJsonType& j, ConstructibleArrayType& arr, priority_tag<1> /*unused*/)
+-> decltype(
+    arr.reserve(std::declval<typename ConstructibleArrayType::size_type>()),
+    j.template get<typename ConstructibleArrayType::value_type>(),
+    void())
+{
+    using std::end;
+
+    arr.reserve(j.size());
+    std::transform(j.begin(), j.end(),
+                   std::inserter(arr, end(arr)), [](const BasicJsonType & i)
+    {
+        // get<BasicJsonType>() returns *this, this won't call a from_json
+        // method when value_type is BasicJsonType
+        return i.template get<typename ConstructibleArrayType::value_type>();
+    });
+}
+
+template <typename BasicJsonType, typename ConstructibleArrayType>
+void from_json_array_impl(const BasicJsonType& j, ConstructibleArrayType& arr,
+                          priority_tag<0> /*unused*/)
+{
+    using std::end;
+
+    std::transform(
+        j.begin(), j.end(), std::inserter(arr, end(arr)),
+        [](const BasicJsonType & i)
+    {
+        // get<BasicJsonType>() returns *this, this won't call a from_json
+        // method when value_type is BasicJsonType
+        return i.template get<typename ConstructibleArrayType::value_type>();
+    });
+}
+
+template <typename BasicJsonType, typename ConstructibleArrayType,
+          enable_if_t <
+              is_constructible_array_type<BasicJsonType, ConstructibleArrayType>::value and
+              not is_constructible_object_type<BasicJsonType, ConstructibleArrayType>::value and
+              not is_constructible_string_type<BasicJsonType, ConstructibleArrayType>::value and
+              not is_basic_json<ConstructibleArrayType>::value,
+              int > = 0 >
+
+auto from_json(const BasicJsonType& j, ConstructibleArrayType& arr)
+-> decltype(from_json_array_impl(j, arr, priority_tag<3> {}),
+j.template get<typename ConstructibleArrayType::value_type>(),
+void())
+{
+    if (JSON_UNLIKELY(not j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, "type must be array, but is " +
+                                      std::string(j.type_name())));
+    }
+
+    from_json_array_impl(j, arr, priority_tag<3> {});
+}
+
+template<typename BasicJsonType, typename ConstructibleObjectType,
+         enable_if_t<is_constructible_object_type<BasicJsonType, ConstructibleObjectType>::value, int> = 0>
+void from_json(const BasicJsonType& j, ConstructibleObjectType& obj)
+{
+    if (JSON_UNLIKELY(not j.is_object()))
+    {
+        JSON_THROW(type_error::create(302, "type must be object, but is " + std::string(j.type_name())));
+    }
+
+    auto inner_object = j.template get_ptr<const typename BasicJsonType::object_t*>();
+    using value_type = typename ConstructibleObjectType::value_type;
+    std::transform(
+        inner_object->begin(), inner_object->end(),
+        std::inserter(obj, obj.begin()),
+        [](typename BasicJsonType::object_t::value_type const & p)
+    {
+        return value_type(p.first, p.second.template get<typename ConstructibleObjectType::mapped_type>());
+    });
+}
+
+// overload for arithmetic types, not chosen for basic_json template arguments
+// (BooleanType, etc..); note: Is it really necessary to provide explicit
+// overloads for boolean_t etc. in case of a custom BooleanType which is not
+// an arithmetic type?
+template<typename BasicJsonType, typename ArithmeticType,
+         enable_if_t <
+             std::is_arithmetic<ArithmeticType>::value and
+             not std::is_same<ArithmeticType, typename BasicJsonType::number_unsigned_t>::value and
+             not std::is_same<ArithmeticType, typename BasicJsonType::number_integer_t>::value and
+             not std::is_same<ArithmeticType, typename BasicJsonType::number_float_t>::value and
+             not std::is_same<ArithmeticType, typename BasicJsonType::boolean_t>::value,
+             int> = 0>
+void from_json(const BasicJsonType& j, ArithmeticType& val)
+{
+    switch (static_cast<value_t>(j))
+    {
+        case value_t::number_unsigned:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_unsigned_t*>());
+            break;
+        }
+        case value_t::number_integer:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_integer_t*>());
+            break;
+        }
+        case value_t::number_float:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_float_t*>());
+            break;
+        }
+        case value_t::boolean:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::boolean_t*>());
+            break;
+        }
+
+        default:
+            JSON_THROW(type_error::create(302, "type must be number, but is " + std::string(j.type_name())));
+    }
+}
+
+template<typename BasicJsonType, typename A1, typename A2>
+void from_json(const BasicJsonType& j, std::pair<A1, A2>& p)
+{
+    p = {j.at(0).template get<A1>(), j.at(1).template get<A2>()};
+}
+
+template<typename BasicJsonType, typename Tuple, std::size_t... Idx>
+void from_json_tuple_impl(const BasicJsonType& j, Tuple& t, index_sequence<Idx...> /*unused*/)
+{
+    t = std::make_tuple(j.at(Idx).template get<typename std::tuple_element<Idx, Tuple>::type>()...);
+}
+
+template<typename BasicJsonType, typename... Args>
+void from_json(const BasicJsonType& j, std::tuple<Args...>& t)
+{
+    from_json_tuple_impl(j, t, index_sequence_for<Args...> {});
+}
+
+template <typename BasicJsonType, typename Key, typename Value, typename Compare, typename Allocator,
+          typename = enable_if_t<not std::is_constructible<
+                                     typename BasicJsonType::string_t, Key>::value>>
+void from_json(const BasicJsonType& j, std::map<Key, Value, Compare, Allocator>& m)
+{
+    if (JSON_UNLIKELY(not j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(j.type_name())));
+    }
+    for (const auto& p : j)
+    {
+        if (JSON_UNLIKELY(not p.is_array()))
+        {
+            JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(p.type_name())));
+        }
+        m.emplace(p.at(0).template get<Key>(), p.at(1).template get<Value>());
+    }
+}
+
+template <typename BasicJsonType, typename Key, typename Value, typename Hash, typename KeyEqual, typename Allocator,
+          typename = enable_if_t<not std::is_constructible<
+                                     typename BasicJsonType::string_t, Key>::value>>
+void from_json(const BasicJsonType& j, std::unordered_map<Key, Value, Hash, KeyEqual, Allocator>& m)
+{
+    if (JSON_UNLIKELY(not j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(j.type_name())));
+    }
+    for (const auto& p : j)
+    {
+        if (JSON_UNLIKELY(not p.is_array()))
+        {
+            JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(p.type_name())));
+        }
+        m.emplace(p.at(0).template get<Key>(), p.at(1).template get<Value>());
+    }
+}
+
+struct from_json_fn
+{
+    template<typename BasicJsonType, typename T>
+    auto operator()(const BasicJsonType& j, T& val) const
+    noexcept(noexcept(from_json(j, val)))
+    -> decltype(from_json(j, val), void())
+    {
+        return from_json(j, val);
+    }
+};
+}  // namespace detail
+
+/// namespace to hold default `from_json` function
+/// to see why this is required:
+/// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2015/n4381.html
+namespace
+{
+constexpr const auto& from_json = detail::static_const<detail::from_json_fn>::value;
+} // namespace
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/conversions/to_json.hpp>
+
+
+#include <ciso646> // or, and, not
+#include <iterator> // begin, end
+#include <tuple> // tuple, get
+#include <type_traits> // is_same, is_constructible, is_floating_point, is_enum, underlying_type
+#include <utility> // move, forward, declval, pair
+#include <valarray> // valarray
+#include <vector> // vector
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+// #include <nlohmann/detail/iterators/iteration_proxy.hpp>
+
+
+#include <cstddef> // size_t
+#include <string> // string, to_string
+#include <iterator> // input_iterator_tag
+#include <tuple> // tuple_size, get, tuple_element
+
+// #include <nlohmann/detail/value_t.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template <typename IteratorType> class iteration_proxy_value
+{
+  public:
+    using difference_type = std::ptrdiff_t;
+    using value_type = iteration_proxy_value;
+    using pointer = value_type * ;
+    using reference = value_type & ;
+    using iterator_category = std::input_iterator_tag;
+
+  private:
+    /// the iterator
+    IteratorType anchor;
+    /// an index for arrays (used to create key names)
+    std::size_t array_index = 0;
+    /// last stringified array index
+    mutable std::size_t array_index_last = 0;
+    /// a string representation of the array index
+    mutable std::string array_index_str = "0";
+    /// an empty string (to return a reference for primitive values)
+    const std::string empty_str = "";
+
+  public:
+    explicit iteration_proxy_value(IteratorType it) noexcept : anchor(it) {}
+
+    /// dereference operator (needed for range-based for)
+    iteration_proxy_value& operator*()
+    {
+        return *this;
+    }
+
+    /// increment operator (needed for range-based for)
+    iteration_proxy_value& operator++()
+    {
+        ++anchor;
+        ++array_index;
+
+        return *this;
+    }
+
+    /// equality operator (needed for InputIterator)
+    bool operator==(const iteration_proxy_value& o) const noexcept
+    {
+        return anchor == o.anchor;
+    }
+
+    /// inequality operator (needed for range-based for)
+    bool operator!=(const iteration_proxy_value& o) const noexcept
+    {
+        return anchor != o.anchor;
+    }
+
+    /// return key of the iterator
+    const std::string& key() const
+    {
+        assert(anchor.m_object != nullptr);
+
+        switch (anchor.m_object->type())
+        {
+            // use integer array index as key
+            case value_t::array:
+            {
+                if (array_index != array_index_last)
+                {
+                    array_index_str = std::to_string(array_index);
+                    array_index_last = array_index;
+                }
+                return array_index_str;
+            }
+
+            // use key from the object
+            case value_t::object:
+                return anchor.key();
+
+            // use an empty key for all primitive types
+            default:
+                return empty_str;
+        }
+    }
+
+    /// return value of the iterator
+    typename IteratorType::reference value() const
+    {
+        return anchor.value();
+    }
+};
+
+/// proxy class for the items() function
+template<typename IteratorType> class iteration_proxy
+{
+  private:
+    /// the container to iterate
+    typename IteratorType::reference container;
+
+  public:
+    /// construct iteration proxy from a container
+    explicit iteration_proxy(typename IteratorType::reference cont) noexcept
+        : container(cont) {}
+
+    /// return iterator begin (needed for range-based for)
+    iteration_proxy_value<IteratorType> begin() noexcept
+    {
+        return iteration_proxy_value<IteratorType>(container.begin());
+    }
+
+    /// return iterator end (needed for range-based for)
+    iteration_proxy_value<IteratorType> end() noexcept
+    {
+        return iteration_proxy_value<IteratorType>(container.end());
+    }
+};
+// Structured Bindings Support
+// For further reference see https://blog.tartanllama.xyz/structured-bindings/
+// And see https://github.com/nlohmann/json/pull/1391
+template <std::size_t N, typename IteratorType, enable_if_t<N == 0, int> = 0>
+auto get(const nlohmann::detail::iteration_proxy_value<IteratorType>& i) -> decltype(i.key())
+{
+    return i.key();
+}
+// Structured Bindings Support
+// For further reference see https://blog.tartanllama.xyz/structured-bindings/
+// And see https://github.com/nlohmann/json/pull/1391
+template <std::size_t N, typename IteratorType, enable_if_t<N == 1, int> = 0>
+auto get(const nlohmann::detail::iteration_proxy_value<IteratorType>& i) -> decltype(i.value())
+{
+    return i.value();
+}
+}  // namespace detail
+}  // namespace nlohmann
+
+// The Addition to the STD Namespace is required to add
+// Structured Bindings Support to the iteration_proxy_value class
+// For further reference see https://blog.tartanllama.xyz/structured-bindings/
+// And see https://github.com/nlohmann/json/pull/1391
+namespace std
+{
+template <typename IteratorType>
+class tuple_size<::nlohmann::detail::iteration_proxy_value<IteratorType>>
+            : public std::integral_constant<std::size_t, 2> {};
+
+template <std::size_t N, typename IteratorType>
+class tuple_element<N, ::nlohmann::detail::iteration_proxy_value<IteratorType >>
+{
+  public:
+    using type = decltype(
+                     get<N>(std::declval <
+                            ::nlohmann::detail::iteration_proxy_value<IteratorType >> ()));
+};
+}
+
+namespace nlohmann
+{
+namespace detail
+{
+//////////////////
+// constructors //
+//////////////////
+
+template<value_t> struct external_constructor;
+
+template<>
+struct external_constructor<value_t::boolean>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::boolean_t b) noexcept
+    {
+        j.m_type = value_t::boolean;
+        j.m_value = b;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::string>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const typename BasicJsonType::string_t& s)
+    {
+        j.m_type = value_t::string;
+        j.m_value = s;
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::string_t&& s)
+    {
+        j.m_type = value_t::string;
+        j.m_value = std::move(s);
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType, typename CompatibleStringType,
+             enable_if_t<not std::is_same<CompatibleStringType, typename BasicJsonType::string_t>::value,
+                         int> = 0>
+    static void construct(BasicJsonType& j, const CompatibleStringType& str)
+    {
+        j.m_type = value_t::string;
+        j.m_value.string = j.template create<typename BasicJsonType::string_t>(str);
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::number_float>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::number_float_t val) noexcept
+    {
+        j.m_type = value_t::number_float;
+        j.m_value = val;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::number_unsigned>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::number_unsigned_t val) noexcept
+    {
+        j.m_type = value_t::number_unsigned;
+        j.m_value = val;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::number_integer>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::number_integer_t val) noexcept
+    {
+        j.m_type = value_t::number_integer;
+        j.m_value = val;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::array>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const typename BasicJsonType::array_t& arr)
+    {
+        j.m_type = value_t::array;
+        j.m_value = arr;
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::array_t&& arr)
+    {
+        j.m_type = value_t::array;
+        j.m_value = std::move(arr);
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType, typename CompatibleArrayType,
+             enable_if_t<not std::is_same<CompatibleArrayType, typename BasicJsonType::array_t>::value,
+                         int> = 0>
+    static void construct(BasicJsonType& j, const CompatibleArrayType& arr)
+    {
+        using std::begin;
+        using std::end;
+        j.m_type = value_t::array;
+        j.m_value.array = j.template create<typename BasicJsonType::array_t>(begin(arr), end(arr));
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const std::vector<bool>& arr)
+    {
+        j.m_type = value_t::array;
+        j.m_value = value_t::array;
+        j.m_value.array->reserve(arr.size());
+        for (const bool x : arr)
+        {
+            j.m_value.array->push_back(x);
+        }
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType, typename T,
+             enable_if_t<std::is_convertible<T, BasicJsonType>::value, int> = 0>
+    static void construct(BasicJsonType& j, const std::valarray<T>& arr)
+    {
+        j.m_type = value_t::array;
+        j.m_value = value_t::array;
+        j.m_value.array->resize(arr.size());
+        std::copy(std::begin(arr), std::end(arr), j.m_value.array->begin());
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::object>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const typename BasicJsonType::object_t& obj)
+    {
+        j.m_type = value_t::object;
+        j.m_value = obj;
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::object_t&& obj)
+    {
+        j.m_type = value_t::object;
+        j.m_value = std::move(obj);
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType, typename CompatibleObjectType,
+             enable_if_t<not std::is_same<CompatibleObjectType, typename BasicJsonType::object_t>::value, int> = 0>
+    static void construct(BasicJsonType& j, const CompatibleObjectType& obj)
+    {
+        using std::begin;
+        using std::end;
+
+        j.m_type = value_t::object;
+        j.m_value.object = j.template create<typename BasicJsonType::object_t>(begin(obj), end(obj));
+        j.assert_invariant();
+    }
+};
+
+/////////////
+// to_json //
+/////////////
+
+template<typename BasicJsonType, typename T,
+         enable_if_t<std::is_same<T, typename BasicJsonType::boolean_t>::value, int> = 0>
+void to_json(BasicJsonType& j, T b) noexcept
+{
+    external_constructor<value_t::boolean>::construct(j, b);
+}
+
+template<typename BasicJsonType, typename CompatibleString,
+         enable_if_t<std::is_constructible<typename BasicJsonType::string_t, CompatibleString>::value, int> = 0>
+void to_json(BasicJsonType& j, const CompatibleString& s)
+{
+    external_constructor<value_t::string>::construct(j, s);
+}
+
+template<typename BasicJsonType>
+void to_json(BasicJsonType& j, typename BasicJsonType::string_t&& s)
+{
+    external_constructor<value_t::string>::construct(j, std::move(s));
+}
+
+template<typename BasicJsonType, typename FloatType,
+         enable_if_t<std::is_floating_point<FloatType>::value, int> = 0>
+void to_json(BasicJsonType& j, FloatType val) noexcept
+{
+    external_constructor<value_t::number_float>::construct(j, static_cast<typename BasicJsonType::number_float_t>(val));
+}
+
+template<typename BasicJsonType, typename CompatibleNumberUnsignedType,
+         enable_if_t<is_compatible_integer_type<typename BasicJsonType::number_unsigned_t, CompatibleNumberUnsignedType>::value, int> = 0>
+void to_json(BasicJsonType& j, CompatibleNumberUnsignedType val) noexcept
+{
+    external_constructor<value_t::number_unsigned>::construct(j, static_cast<typename BasicJsonType::number_unsigned_t>(val));
+}
+
+template<typename BasicJsonType, typename CompatibleNumberIntegerType,
+         enable_if_t<is_compatible_integer_type<typename BasicJsonType::number_integer_t, CompatibleNumberIntegerType>::value, int> = 0>
+void to_json(BasicJsonType& j, CompatibleNumberIntegerType val) noexcept
+{
+    external_constructor<value_t::number_integer>::construct(j, static_cast<typename BasicJsonType::number_integer_t>(val));
+}
+
+template<typename BasicJsonType, typename EnumType,
+         enable_if_t<std::is_enum<EnumType>::value, int> = 0>
+void to_json(BasicJsonType& j, EnumType e) noexcept
+{
+    using underlying_type = typename std::underlying_type<EnumType>::type;
+    external_constructor<value_t::number_integer>::construct(j, static_cast<underlying_type>(e));
+}
+
+template<typename BasicJsonType>
+void to_json(BasicJsonType& j, const std::vector<bool>& e)
+{
+    external_constructor<value_t::array>::construct(j, e);
+}
+
+template <typename BasicJsonType, typename CompatibleArrayType,
+          enable_if_t<is_compatible_array_type<BasicJsonType,
+                      CompatibleArrayType>::value and
+                      not is_compatible_object_type<
+                          BasicJsonType, CompatibleArrayType>::value and
+                      not is_compatible_string_type<BasicJsonType, CompatibleArrayType>::value and
+                      not is_basic_json<CompatibleArrayType>::value,
+                      int> = 0>
+void to_json(BasicJsonType& j, const CompatibleArrayType& arr)
+{
+    external_constructor<value_t::array>::construct(j, arr);
+}
+
+template<typename BasicJsonType, typename T,
+         enable_if_t<std::is_convertible<T, BasicJsonType>::value, int> = 0>
+void to_json(BasicJsonType& j, const std::valarray<T>& arr)
+{
+    external_constructor<value_t::array>::construct(j, std::move(arr));
+}
+
+template<typename BasicJsonType>
+void to_json(BasicJsonType& j, typename BasicJsonType::array_t&& arr)
+{
+    external_constructor<value_t::array>::construct(j, std::move(arr));
+}
+
+template<typename BasicJsonType, typename CompatibleObjectType,
+         enable_if_t<is_compatible_object_type<BasicJsonType, CompatibleObjectType>::value and not is_basic_json<CompatibleObjectType>::value, int> = 0>
+void to_json(BasicJsonType& j, const CompatibleObjectType& obj)
+{
+    external_constructor<value_t::object>::construct(j, obj);
+}
+
+template<typename BasicJsonType>
+void to_json(BasicJsonType& j, typename BasicJsonType::object_t&& obj)
+{
+    external_constructor<value_t::object>::construct(j, std::move(obj));
+}
+
+template <
+    typename BasicJsonType, typename T, std::size_t N,
+    enable_if_t<not std::is_constructible<typename BasicJsonType::string_t,
+                const T(&)[N]>::value,
+                int> = 0 >
+void to_json(BasicJsonType& j, const T(&arr)[N])
+{
+    external_constructor<value_t::array>::construct(j, arr);
+}
+
+template<typename BasicJsonType, typename... Args>
+void to_json(BasicJsonType& j, const std::pair<Args...>& p)
+{
+    j = { p.first, p.second };
+}
+
+// for https://github.com/nlohmann/json/pull/1134
+template < typename BasicJsonType, typename T,
+           enable_if_t<std::is_same<T, iteration_proxy_value<typename BasicJsonType::iterator>>::value, int> = 0>
+void to_json(BasicJsonType& j, const T& b)
+{
+    j = { {b.key(), b.value()} };
+}
+
+template<typename BasicJsonType, typename Tuple, std::size_t... Idx>
+void to_json_tuple_impl(BasicJsonType& j, const Tuple& t, index_sequence<Idx...> /*unused*/)
+{
+    j = { std::get<Idx>(t)... };
+}
+
+template<typename BasicJsonType, typename... Args>
+void to_json(BasicJsonType& j, const std::tuple<Args...>& t)
+{
+    to_json_tuple_impl(j, t, index_sequence_for<Args...> {});
+}
+
+struct to_json_fn
+{
+    template<typename BasicJsonType, typename T>
+    auto operator()(BasicJsonType& j, T&& val) const noexcept(noexcept(to_json(j, std::forward<T>(val))))
+    -> decltype(to_json(j, std::forward<T>(val)), void())
+    {
+        return to_json(j, std::forward<T>(val));
+    }
+};
+}  // namespace detail
+
+/// namespace to hold default `to_json` function
+namespace
+{
+constexpr const auto& to_json = detail::static_const<detail::to_json_fn>::value;
+} // namespace
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/input/input_adapters.hpp>
+
+
+#include <cassert> // assert
+#include <cstddef> // size_t
+#include <cstring> // strlen
+#include <istream> // istream
+#include <iterator> // begin, end, iterator_traits, random_access_iterator_tag, distance, next
+#include <memory> // shared_ptr, make_shared, addressof
+#include <numeric> // accumulate
+#include <string> // string, char_traits
+#include <type_traits> // enable_if, is_base_of, is_pointer, is_integral, remove_pointer
+#include <utility> // pair, declval
+#include <cstdio> //FILE *
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+/// the supported input formats
+enum class input_format_t { json, cbor, msgpack, ubjson, bson };
+
+////////////////////
+// input adapters //
+////////////////////
+
+/*!
+@brief abstract input adapter interface
+
+Produces a stream of std::char_traits<char>::int_type characters from a
+std::istream, a buffer, or some other input type. Accepts the return of
+exactly one non-EOF character for future input. The int_type characters
+returned consist of all valid char values as positive values (typically
+unsigned char), plus an EOF value outside that range, specified by the value
+of the function std::char_traits<char>::eof(). This value is typically -1, but
+could be any arbitrary value which is not a valid char value.
+*/
+struct input_adapter_protocol
+{
+    /// get a character [0,255] or std::char_traits<char>::eof().
+    virtual std::char_traits<char>::int_type get_character() = 0;
+    virtual ~input_adapter_protocol() = default;
+};
+
+/// a type to simplify interfaces
+using input_adapter_t = std::shared_ptr<input_adapter_protocol>;
+
+/*!
+Input adapter for stdio file access. This adapter read only 1 byte and do not use any
+ buffer. This adapter is a very low level adapter.
+*/
+class file_input_adapter : public input_adapter_protocol
+{
+  public:
+    explicit file_input_adapter(std::FILE* f)  noexcept
+        : m_file(f)
+    {}
+
+    std::char_traits<char>::int_type get_character() noexcept override
+    {
+        return std::fgetc(m_file);
+    }
+  private:
+    /// the file pointer to read from
+    std::FILE* m_file;
+};
+
+
+/*!
+Input adapter for a (caching) istream. Ignores a UFT Byte Order Mark at
+beginning of input. Does not support changing the underlying std::streambuf
+in mid-input. Maintains underlying std::istream and std::streambuf to support
+subsequent use of standard std::istream operations to process any input
+characters following those used in parsing the JSON input.  Clears the
+std::istream flags; any input errors (e.g., EOF) will be detected by the first
+subsequent call for input from the std::istream.
+*/
+class input_stream_adapter : public input_adapter_protocol
+{
+  public:
+    ~input_stream_adapter() override
+    {
+        // clear stream flags; we use underlying streambuf I/O, do not
+        // maintain ifstream flags, except eof
+        is.clear(is.rdstate() & std::ios::eofbit);
+    }
+
+    explicit input_stream_adapter(std::istream& i)
+        : is(i), sb(*i.rdbuf())
+    {}
+
+    // delete because of pointer members
+    input_stream_adapter(const input_stream_adapter&) = delete;
+    input_stream_adapter& operator=(input_stream_adapter&) = delete;
+    input_stream_adapter(input_stream_adapter&&) = delete;
+    input_stream_adapter& operator=(input_stream_adapter&&) = delete;
+
+    // std::istream/std::streambuf use std::char_traits<char>::to_int_type, to
+    // ensure that std::char_traits<char>::eof() and the character 0xFF do not
+    // end up as the same value, eg. 0xFFFFFFFF.
+    std::char_traits<char>::int_type get_character() override
+    {
+        auto res = sb.sbumpc();
+        // set eof manually, as we don't use the istream interface.
+        if (res == EOF)
+        {
+            is.clear(is.rdstate() | std::ios::eofbit);
+        }
+        return res;
+    }
+
+  private:
+    /// the associated input stream
+    std::istream& is;
+    std::streambuf& sb;
+};
+
+/// input adapter for buffer input
+class input_buffer_adapter : public input_adapter_protocol
+{
+  public:
+    input_buffer_adapter(const char* b, const std::size_t l) noexcept
+        : cursor(b), limit(b + l)
+    {}
+
+    // delete because of pointer members
+    input_buffer_adapter(const input_buffer_adapter&) = delete;
+    input_buffer_adapter& operator=(input_buffer_adapter&) = delete;
+    input_buffer_adapter(input_buffer_adapter&&) = delete;
+    input_buffer_adapter& operator=(input_buffer_adapter&&) = delete;
+    ~input_buffer_adapter() override = default;
+
+    std::char_traits<char>::int_type get_character() noexcept override
+    {
+        if (JSON_LIKELY(cursor < limit))
+        {
+            return std::char_traits<char>::to_int_type(*(cursor++));
+        }
+
+        return std::char_traits<char>::eof();
+    }
+
+  private:
+    /// pointer to the current character
+    const char* cursor;
+    /// pointer past the last character
+    const char* const limit;
+};
+
+template<typename WideStringType, size_t T>
+struct wide_string_input_helper
+{
+    // UTF-32
+    static void fill_buffer(const WideStringType& str, size_t& current_wchar, std::array<std::char_traits<char>::int_type, 4>& utf8_bytes, size_t& utf8_bytes_index, size_t& utf8_bytes_filled)
+    {
+        utf8_bytes_index = 0;
+
+        if (current_wchar == str.size())
+        {
+            utf8_bytes[0] = std::char_traits<char>::eof();
+            utf8_bytes_filled = 1;
+        }
+        else
+        {
+            // get the current character
+            const auto wc = static_cast<int>(str[current_wchar++]);
+
+            // UTF-32 to UTF-8 encoding
+            if (wc < 0x80)
+            {
+                utf8_bytes[0] = wc;
+                utf8_bytes_filled = 1;
+            }
+            else if (wc <= 0x7FF)
+            {
+                utf8_bytes[0] = 0xC0 | ((wc >> 6) & 0x1F);
+                utf8_bytes[1] = 0x80 | (wc & 0x3F);
+                utf8_bytes_filled = 2;
+            }
+            else if (wc <= 0xFFFF)
+            {
+                utf8_bytes[0] = 0xE0 | ((wc >> 12) & 0x0F);
+                utf8_bytes[1] = 0x80 | ((wc >> 6) & 0x3F);
+                utf8_bytes[2] = 0x80 | (wc & 0x3F);
+                utf8_bytes_filled = 3;
+            }
+            else if (wc <= 0x10FFFF)
+            {
+                utf8_bytes[0] = 0xF0 | ((wc >> 18) & 0x07);
+                utf8_bytes[1] = 0x80 | ((wc >> 12) & 0x3F);
+                utf8_bytes[2] = 0x80 | ((wc >> 6) & 0x3F);
+                utf8_bytes[3] = 0x80 | (wc & 0x3F);
+                utf8_bytes_filled = 4;
+            }
+            else
+            {
+                // unknown character
+                utf8_bytes[0] = wc;
+                utf8_bytes_filled = 1;
+            }
+        }
+    }
+};
+
+template<typename WideStringType>
+struct wide_string_input_helper<WideStringType, 2>
+{
+    // UTF-16
+    static void fill_buffer(const WideStringType& str, size_t& current_wchar, std::array<std::char_traits<char>::int_type, 4>& utf8_bytes, size_t& utf8_bytes_index, size_t& utf8_bytes_filled)
+    {
+        utf8_bytes_index = 0;
+
+        if (current_wchar == str.size())
+        {
+            utf8_bytes[0] = std::char_traits<char>::eof();
+            utf8_bytes_filled = 1;
+        }
+        else
+        {
+            // get the current character
+            const auto wc = static_cast<int>(str[current_wchar++]);
+
+            // UTF-16 to UTF-8 encoding
+            if (wc < 0x80)
+            {
+                utf8_bytes[0] = wc;
+                utf8_bytes_filled = 1;
+            }
+            else if (wc <= 0x7FF)
+            {
+                utf8_bytes[0] = 0xC0 | ((wc >> 6));
+                utf8_bytes[1] = 0x80 | (wc & 0x3F);
+                utf8_bytes_filled = 2;
+            }
+            else if (0xD800 > wc or wc >= 0xE000)
+            {
+                utf8_bytes[0] = 0xE0 | ((wc >> 12));
+                utf8_bytes[1] = 0x80 | ((wc >> 6) & 0x3F);
+                utf8_bytes[2] = 0x80 | (wc & 0x3F);
+                utf8_bytes_filled = 3;
+            }
+            else
+            {
+                if (current_wchar < str.size())
+                {
+                    const auto wc2 = static_cast<int>(str[current_wchar++]);
+                    const int charcode = 0x10000 + (((wc & 0x3FF) << 10) | (wc2 & 0x3FF));
+                    utf8_bytes[0] = 0xf0 | (charcode >> 18);
+                    utf8_bytes[1] = 0x80 | ((charcode >> 12) & 0x3F);
+                    utf8_bytes[2] = 0x80 | ((charcode >> 6) & 0x3F);
+                    utf8_bytes[3] = 0x80 | (charcode & 0x3F);
+                    utf8_bytes_filled = 4;
+                }
+                else
+                {
+                    // unknown character
+                    ++current_wchar;
+                    utf8_bytes[0] = wc;
+                    utf8_bytes_filled = 1;
+                }
+            }
+        }
+    }
+};
+
+template<typename WideStringType>
+class wide_string_input_adapter : public input_adapter_protocol
+{
+  public:
+    explicit wide_string_input_adapter(const WideStringType& w)  noexcept
+        : str(w)
+    {}
+
+    std::char_traits<char>::int_type get_character() noexcept override
+    {
+        // check if buffer needs to be filled
+        if (utf8_bytes_index == utf8_bytes_filled)
+        {
+            fill_buffer<sizeof(typename WideStringType::value_type)>();
+
+            assert(utf8_bytes_filled > 0);
+            assert(utf8_bytes_index == 0);
+        }
+
+        // use buffer
+        assert(utf8_bytes_filled > 0);
+        assert(utf8_bytes_index < utf8_bytes_filled);
+        return utf8_bytes[utf8_bytes_index++];
+    }
+
+  private:
+    template<size_t T>
+    void fill_buffer()
+    {
+        wide_string_input_helper<WideStringType, T>::fill_buffer(str, current_wchar, utf8_bytes, utf8_bytes_index, utf8_bytes_filled);
+    }
+
+    /// the wstring to process
+    const WideStringType& str;
+
+    /// index of the current wchar in str
+    std::size_t current_wchar = 0;
+
+    /// a buffer for UTF-8 bytes
+    std::array<std::char_traits<char>::int_type, 4> utf8_bytes = {{0, 0, 0, 0}};
+
+    /// index to the utf8_codes array for the next valid byte
+    std::size_t utf8_bytes_index = 0;
+    /// number of valid bytes in the utf8_codes array
+    std::size_t utf8_bytes_filled = 0;
+};
+
+class input_adapter
+{
+  public:
+    // native support
+    input_adapter(std::FILE* file)
+        : ia(std::make_shared<file_input_adapter>(file)) {}
+    /// input adapter for input stream
+    input_adapter(std::istream& i)
+        : ia(std::make_shared<input_stream_adapter>(i)) {}
+
+    /// input adapter for input stream
+    input_adapter(std::istream&& i)
+        : ia(std::make_shared<input_stream_adapter>(i)) {}
+
+    input_adapter(const std::wstring& ws)
+        : ia(std::make_shared<wide_string_input_adapter<std::wstring>>(ws)) {}
+
+    input_adapter(const std::u16string& ws)
+        : ia(std::make_shared<wide_string_input_adapter<std::u16string>>(ws)) {}
+
+    input_adapter(const std::u32string& ws)
+        : ia(std::make_shared<wide_string_input_adapter<std::u32string>>(ws)) {}
+
+    /// input adapter for buffer
+    template<typename CharT,
+             typename std::enable_if<
+                 std::is_pointer<CharT>::value and
+                 std::is_integral<typename std::remove_pointer<CharT>::type>::value and
+                 sizeof(typename std::remove_pointer<CharT>::type) == 1,
+                 int>::type = 0>
+    input_adapter(CharT b, std::size_t l)
+        : ia(std::make_shared<input_buffer_adapter>(reinterpret_cast<const char*>(b), l)) {}
+
+    // derived support
+
+    /// input adapter for string literal
+    template<typename CharT,
+             typename std::enable_if<
+                 std::is_pointer<CharT>::value and
+                 std::is_integral<typename std::remove_pointer<CharT>::type>::value and
+                 sizeof(typename std::remove_pointer<CharT>::type) == 1,
+                 int>::type = 0>
+    input_adapter(CharT b)
+        : input_adapter(reinterpret_cast<const char*>(b),
+                        std::strlen(reinterpret_cast<const char*>(b))) {}
+
+    /// input adapter for iterator range with contiguous storage
+    template<class IteratorType,
+             typename std::enable_if<
+                 std::is_same<typename iterator_traits<IteratorType>::iterator_category, std::random_access_iterator_tag>::value,
+                 int>::type = 0>
+    input_adapter(IteratorType first, IteratorType last)
+    {
+#ifndef NDEBUG
+        // assertion to check that the iterator range is indeed contiguous,
+        // see http://stackoverflow.com/a/35008842/266378 for more discussion
+        const auto is_contiguous = std::accumulate(
+                                       first, last, std::pair<bool, int>(true, 0),
+                                       [&first](std::pair<bool, int> res, decltype(*first) val)
+        {
+            res.first &= (val == *(std::next(std::addressof(*first), res.second++)));
+            return res;
+        }).first;
+        assert(is_contiguous);
+#endif
+
+        // assertion to check that each element is 1 byte long
+        static_assert(
+            sizeof(typename iterator_traits<IteratorType>::value_type) == 1,
+            "each element in the iterator range must have the size of 1 byte");
+
+        const auto len = static_cast<size_t>(std::distance(first, last));
+        if (JSON_LIKELY(len > 0))
+        {
+            // there is at least one element: use the address of first
+            ia = std::make_shared<input_buffer_adapter>(reinterpret_cast<const char*>(&(*first)), len);
+        }
+        else
+        {
+            // the address of first cannot be used: use nullptr
+            ia = std::make_shared<input_buffer_adapter>(nullptr, len);
+        }
+    }
+
+    /// input adapter for array
+    template<class T, std::size_t N>
+    input_adapter(T (&array)[N])
+        : input_adapter(std::begin(array), std::end(array)) {}
+
+    /// input adapter for contiguous container
+    template<class ContiguousContainer, typename
+             std::enable_if<not std::is_pointer<ContiguousContainer>::value and
+                            std::is_base_of<std::random_access_iterator_tag, typename iterator_traits<decltype(std::begin(std::declval<ContiguousContainer const>()))>::iterator_category>::value,
+                            int>::type = 0>
+    input_adapter(const ContiguousContainer& c)
+        : input_adapter(std::begin(c), std::end(c)) {}
+
+    operator input_adapter_t()
+    {
+        return ia;
+    }
+
+  private:
+    /// the actual adapter
+    input_adapter_t ia = nullptr;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/input/lexer.hpp>
+
+
+#include <clocale> // localeconv
+#include <cstddef> // size_t
+#include <cstdlib> // strtof, strtod, strtold, strtoll, strtoull
+#include <cstdio> // snprintf
+#include <initializer_list> // initializer_list
+#include <string> // char_traits, string
+#include <vector> // vector
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/input/input_adapters.hpp>
+
+// #include <nlohmann/detail/input/position_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+///////////
+// lexer //
+///////////
+
+/*!
+@brief lexical analysis
+
+This class organizes the lexical analysis during JSON deserialization.
+*/
+template<typename BasicJsonType>
+class lexer
+{
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+
+  public:
+    /// token types for the parser
+    enum class token_type
+    {
+        uninitialized,    ///< indicating the scanner is uninitialized
+        literal_true,     ///< the `true` literal
+        literal_false,    ///< the `false` literal
+        literal_null,     ///< the `null` literal
+        value_string,     ///< a string -- use get_string() for actual value
+        value_unsigned,   ///< an unsigned integer -- use get_number_unsigned() for actual value
+        value_integer,    ///< a signed integer -- use get_number_integer() for actual value
+        value_float,      ///< an floating point number -- use get_number_float() for actual value
+        begin_array,      ///< the character for array begin `[`
+        begin_object,     ///< the character for object begin `{`
+        end_array,        ///< the character for array end `]`
+        end_object,       ///< the character for object end `}`
+        name_separator,   ///< the name separator `:`
+        value_separator,  ///< the value separator `,`
+        parse_error,      ///< indicating a parse error
+        end_of_input,     ///< indicating the end of the input buffer
+        literal_or_value  ///< a literal or the begin of a value (only for diagnostics)
+    };
+
+    /// return name of values of type token_type (only used for errors)
+    static const char* token_type_name(const token_type t) noexcept
+    {
+        switch (t)
+        {
+            case token_type::uninitialized:
+                return "<uninitialized>";
+            case token_type::literal_true:
+                return "true literal";
+            case token_type::literal_false:
+                return "false literal";
+            case token_type::literal_null:
+                return "null literal";
+            case token_type::value_string:
+                return "string literal";
+            case lexer::token_type::value_unsigned:
+            case lexer::token_type::value_integer:
+            case lexer::token_type::value_float:
+                return "number literal";
+            case token_type::begin_array:
+                return "'['";
+            case token_type::begin_object:
+                return "'{'";
+            case token_type::end_array:
+                return "']'";
+            case token_type::end_object:
+                return "'}'";
+            case token_type::name_separator:
+                return "':'";
+            case token_type::value_separator:
+                return "','";
+            case token_type::parse_error:
+                return "<parse error>";
+            case token_type::end_of_input:
+                return "end of input";
+            case token_type::literal_or_value:
+                return "'[', '{', or a literal";
+            // LCOV_EXCL_START
+            default: // catch non-enum values
+                return "unknown token";
+                // LCOV_EXCL_STOP
+        }
+    }
+
+    explicit lexer(detail::input_adapter_t&& adapter)
+        : ia(std::move(adapter)), decimal_point_char(get_decimal_point()) {}
+
+    // delete because of pointer members
+    lexer(const lexer&) = delete;
+    lexer(lexer&&) = delete;
+    lexer& operator=(lexer&) = delete;
+    lexer& operator=(lexer&&) = delete;
+    ~lexer() = default;
+
+  private:
+    /////////////////////
+    // locales
+    /////////////////////
+
+    /// return the locale-dependent decimal point
+    static char get_decimal_point() noexcept
+    {
+        const auto loc = localeconv();
+        assert(loc != nullptr);
+        return (loc->decimal_point == nullptr) ? '.' : *(loc->decimal_point);
+    }
+
+    /////////////////////
+    // scan functions
+    /////////////////////
+
+    /*!
+    @brief get codepoint from 4 hex characters following `\u`
+
+    For input "\u c1 c2 c3 c4" the codepoint is:
+      (c1 * 0x1000) + (c2 * 0x0100) + (c3 * 0x0010) + c4
+    = (c1 << 12) + (c2 << 8) + (c3 << 4) + (c4 << 0)
+
+    Furthermore, the possible characters '0'..'9', 'A'..'F', and 'a'..'f'
+    must be converted to the integers 0x0..0x9, 0xA..0xF, 0xA..0xF, resp. The
+    conversion is done by subtracting the offset (0x30, 0x37, and 0x57)
+    between the ASCII value of the character and the desired integer value.
+
+    @return codepoint (0x0000..0xFFFF) or -1 in case of an error (e.g. EOF or
+            non-hex character)
+    */
+    int get_codepoint()
+    {
+        // this function only makes sense after reading `\u`
+        assert(current == 'u');
+        int codepoint = 0;
+
+        const auto factors = { 12, 8, 4, 0 };
+        for (const auto factor : factors)
+        {
+            get();
+
+            if (current >= '0' and current <= '9')
+            {
+                codepoint += ((current - 0x30) << factor);
+            }
+            else if (current >= 'A' and current <= 'F')
+            {
+                codepoint += ((current - 0x37) << factor);
+            }
+            else if (current >= 'a' and current <= 'f')
+            {
+                codepoint += ((current - 0x57) << factor);
+            }
+            else
+            {
+                return -1;
+            }
+        }
+
+        assert(0x0000 <= codepoint and codepoint <= 0xFFFF);
+        return codepoint;
+    }
+
+    /*!
+    @brief check if the next byte(s) are inside a given range
+
+    Adds the current byte and, for each passed range, reads a new byte and
+    checks if it is inside the range. If a violation was detected, set up an
+    error message and return false. Otherwise, return true.
+
+    @param[in] ranges  list of integers; interpreted as list of pairs of
+                       inclusive lower and upper bound, respectively
+
+    @pre The passed list @a ranges must have 2, 4, or 6 elements; that is,
+         1, 2, or 3 pairs. This precondition is enforced by an assertion.
+
+    @return true if and only if no range violation was detected
+    */
+    bool next_byte_in_range(std::initializer_list<int> ranges)
+    {
+        assert(ranges.size() == 2 or ranges.size() == 4 or ranges.size() == 6);
+        add(current);
+
+        for (auto range = ranges.begin(); range != ranges.end(); ++range)
+        {
+            get();
+            if (JSON_LIKELY(*range <= current and current <= *(++range)))
+            {
+                add(current);
+            }
+            else
+            {
+                error_message = "invalid string: ill-formed UTF-8 byte";
+                return false;
+            }
+        }
+
+        return true;
+    }
+
+    /*!
+    @brief scan a string literal
+
+    This function scans a string according to Sect. 7 of RFC 7159. While
+    scanning, bytes are escaped and copied into buffer token_buffer. Then the
+    function returns successfully, token_buffer is *not* null-terminated (as it
+    may contain \0 bytes), and token_buffer.size() is the number of bytes in the
+    string.
+
+    @return token_type::value_string if string could be successfully scanned,
+            token_type::parse_error otherwise
+
+    @note In case of errors, variable error_message contains a textual
+          description.
+    */
+    token_type scan_string()
+    {
+        // reset token_buffer (ignore opening quote)
+        reset();
+
+        // we entered the function by reading an open quote
+        assert(current == '\"');
+
+        while (true)
+        {
+            // get next character
+            switch (get())
+            {
+                // end of file while parsing string
+                case std::char_traits<char>::eof():
+                {
+                    error_message = "invalid string: missing closing quote";
+                    return token_type::parse_error;
+                }
+
+                // closing quote
+                case '\"':
+                {
+                    return token_type::value_string;
+                }
+
+                // escapes
+                case '\\':
+                {
+                    switch (get())
+                    {
+                        // quotation mark
+                        case '\"':
+                            add('\"');
+                            break;
+                        // reverse solidus
+                        case '\\':
+                            add('\\');
+                            break;
+                        // solidus
+                        case '/':
+                            add('/');
+                            break;
+                        // backspace
+                        case 'b':
+                            add('\b');
+                            break;
+                        // form feed
+                        case 'f':
+                            add('\f');
+                            break;
+                        // line feed
+                        case 'n':
+                            add('\n');
+                            break;
+                        // carriage return
+                        case 'r':
+                            add('\r');
+                            break;
+                        // tab
+                        case 't':
+                            add('\t');
+                            break;
+
+                        // unicode escapes
+                        case 'u':
+                        {
+                            const int codepoint1 = get_codepoint();
+                            int codepoint = codepoint1; // start with codepoint1
+
+                            if (JSON_UNLIKELY(codepoint1 == -1))
+                            {
+                                error_message = "invalid string: '\\u' must be followed by 4 hex digits";
+                                return token_type::parse_error;
+                            }
+
+                            // check if code point is a high surrogate
+                            if (0xD800 <= codepoint1 and codepoint1 <= 0xDBFF)
+                            {
+                                // expect next \uxxxx entry
+                                if (JSON_LIKELY(get() == '\\' and get() == 'u'))
+                                {
+                                    const int codepoint2 = get_codepoint();
+
+                                    if (JSON_UNLIKELY(codepoint2 == -1))
+                                    {
+                                        error_message = "invalid string: '\\u' must be followed by 4 hex digits";
+                                        return token_type::parse_error;
+                                    }
+
+                                    // check if codepoint2 is a low surrogate
+                                    if (JSON_LIKELY(0xDC00 <= codepoint2 and codepoint2 <= 0xDFFF))
+                                    {
+                                        // overwrite codepoint
+                                        codepoint =
+                                            // high surrogate occupies the most significant 22 bits
+                                            (codepoint1 << 10)
+                                            // low surrogate occupies the least significant 15 bits
+                                            + codepoint2
+                                            // there is still the 0xD800, 0xDC00 and 0x10000 noise
+                                            // in the result so we have to subtract with:
+                                            // (0xD800 << 10) + DC00 - 0x10000 = 0x35FDC00
+                                            - 0x35FDC00;
+                                    }
+                                    else
+                                    {
+                                        error_message = "invalid string: surrogate U+DC00..U+DFFF must be followed by U+DC00..U+DFFF";
+                                        return token_type::parse_error;
+                                    }
+                                }
+                                else
+                                {
+                                    error_message = "invalid string: surrogate U+DC00..U+DFFF must be followed by U+DC00..U+DFFF";
+                                    return token_type::parse_error;
+                                }
+                            }
+                            else
+                            {
+                                if (JSON_UNLIKELY(0xDC00 <= codepoint1 and codepoint1 <= 0xDFFF))
+                                {
+                                    error_message = "invalid string: surrogate U+DC00..U+DFFF must follow U+D800..U+DBFF";
+                                    return token_type::parse_error;
+                                }
+                            }
+
+                            // result of the above calculation yields a proper codepoint
+                            assert(0x00 <= codepoint and codepoint <= 0x10FFFF);
+
+                            // translate codepoint into bytes
+                            if (codepoint < 0x80)
+                            {
+                                // 1-byte characters: 0xxxxxxx (ASCII)
+                                add(codepoint);
+                            }
+                            else if (codepoint <= 0x7FF)
+                            {
+                                // 2-byte characters: 110xxxxx 10xxxxxx
+                                add(0xC0 | (codepoint >> 6));
+                                add(0x80 | (codepoint & 0x3F));
+                            }
+                            else if (codepoint <= 0xFFFF)
+                            {
+                                // 3-byte characters: 1110xxxx 10xxxxxx 10xxxxxx
+                                add(0xE0 | (codepoint >> 12));
+                                add(0x80 | ((codepoint >> 6) & 0x3F));
+                                add(0x80 | (codepoint & 0x3F));
+                            }
+                            else
+                            {
+                                // 4-byte characters: 11110xxx 10xxxxxx 10xxxxxx 10xxxxxx
+                                add(0xF0 | (codepoint >> 18));
+                                add(0x80 | ((codepoint >> 12) & 0x3F));
+                                add(0x80 | ((codepoint >> 6) & 0x3F));
+                                add(0x80 | (codepoint & 0x3F));
+                            }
+
+                            break;
+                        }
+
+                        // other characters after escape
+                        default:
+                            error_message = "invalid string: forbidden character after backslash";
+                            return token_type::parse_error;
+                    }
+
+                    break;
+                }
+
+                // invalid control characters
+                case 0x00:
+                {
+                    error_message = "invalid string: control character U+0000 (NUL) must be escaped to \\u0000";
+                    return token_type::parse_error;
+                }
+
+                case 0x01:
+                {
+                    error_message = "invalid string: control character U+0001 (SOH) must be escaped to \\u0001";
+                    return token_type::parse_error;
+                }
+
+                case 0x02:
+                {
+                    error_message = "invalid string: control character U+0002 (STX) must be escaped to \\u0002";
+                    return token_type::parse_error;
+                }
+
+                case 0x03:
+                {
+                    error_message = "invalid string: control character U+0003 (ETX) must be escaped to \\u0003";
+                    return token_type::parse_error;
+                }
+
+                case 0x04:
+                {
+                    error_message = "invalid string: control character U+0004 (EOT) must be escaped to \\u0004";
+                    return token_type::parse_error;
+                }
+
+                case 0x05:
+                {
+                    error_message = "invalid string: control character U+0005 (ENQ) must be escaped to \\u0005";
+                    return token_type::parse_error;
+                }
+
+                case 0x06:
+                {
+                    error_message = "invalid string: control character U+0006 (ACK) must be escaped to \\u0006";
+                    return token_type::parse_error;
+                }
+
+                case 0x07:
+                {
+                    error_message = "invalid string: control character U+0007 (BEL) must be escaped to \\u0007";
+                    return token_type::parse_error;
+                }
+
+                case 0x08:
+                {
+                    error_message = "invalid string: control character U+0008 (BS) must be escaped to \\u0008 or \\b";
+                    return token_type::parse_error;
+                }
+
+                case 0x09:
+                {
+                    error_message = "invalid string: control character U+0009 (HT) must be escaped to \\u0009 or \\t";
+                    return token_type::parse_error;
+                }
+
+                case 0x0A:
+                {
+                    error_message = "invalid string: control character U+000A (LF) must be escaped to \\u000A or \\n";
+                    return token_type::parse_error;
+                }
+
+                case 0x0B:
+                {
+                    error_message = "invalid string: control character U+000B (VT) must be escaped to \\u000B";
+                    return token_type::parse_error;
+                }
+
+                case 0x0C:
+                {
+                    error_message = "invalid string: control character U+000C (FF) must be escaped to \\u000C or \\f";
+                    return token_type::parse_error;
+                }
+
+                case 0x0D:
+                {
+                    error_message = "invalid string: control character U+000D (CR) must be escaped to \\u000D or \\r";
+                    return token_type::parse_error;
+                }
+
+                case 0x0E:
+                {
+                    error_message = "invalid string: control character U+000E (SO) must be escaped to \\u000E";
+                    return token_type::parse_error;
+                }
+
+                case 0x0F:
+                {
+                    error_message = "invalid string: control character U+000F (SI) must be escaped to \\u000F";
+                    return token_type::parse_error;
+                }
+
+                case 0x10:
+                {
+                    error_message = "invalid string: control character U+0010 (DLE) must be escaped to \\u0010";
+                    return token_type::parse_error;
+                }
+
+                case 0x11:
+                {
+                    error_message = "invalid string: control character U+0011 (DC1) must be escaped to \\u0011";
+                    return token_type::parse_error;
+                }
+
+                case 0x12:
+                {
+                    error_message = "invalid string: control character U+0012 (DC2) must be escaped to \\u0012";
+                    return token_type::parse_error;
+                }
+
+                case 0x13:
+                {
+                    error_message = "invalid string: control character U+0013 (DC3) must be escaped to \\u0013";
+                    return token_type::parse_error;
+                }
+
+                case 0x14:
+                {
+                    error_message = "invalid string: control character U+0014 (DC4) must be escaped to \\u0014";
+                    return token_type::parse_error;
+                }
+
+                case 0x15:
+                {
+                    error_message = "invalid string: control character U+0015 (NAK) must be escaped to \\u0015";
+                    return token_type::parse_error;
+                }
+
+                case 0x16:
+                {
+                    error_message = "invalid string: control character U+0016 (SYN) must be escaped to \\u0016";
+                    return token_type::parse_error;
+                }
+
+                case 0x17:
+                {
+                    error_message = "invalid string: control character U+0017 (ETB) must be escaped to \\u0017";
+                    return token_type::parse_error;
+                }
+
+                case 0x18:
+                {
+                    error_message = "invalid string: control character U+0018 (CAN) must be escaped to \\u0018";
+                    return token_type::parse_error;
+                }
+
+                case 0x19:
+                {
+                    error_message = "invalid string: control character U+0019 (EM) must be escaped to \\u0019";
+                    return token_type::parse_error;
+                }
+
+                case 0x1A:
+                {
+                    error_message = "invalid string: control character U+001A (SUB) must be escaped to \\u001A";
+                    return token_type::parse_error;
+                }
+
+                case 0x1B:
+                {
+                    error_message = "invalid string: control character U+001B (ESC) must be escaped to \\u001B";
+                    return token_type::parse_error;
+                }
+
+                case 0x1C:
+                {
+                    error_message = "invalid string: control character U+001C (FS) must be escaped to \\u001C";
+                    return token_type::parse_error;
+                }
+
+                case 0x1D:
+                {
+                    error_message = "invalid string: control character U+001D (GS) must be escaped to \\u001D";
+                    return token_type::parse_error;
+                }
+
+                case 0x1E:
+                {
+                    error_message = "invalid string: control character U+001E (RS) must be escaped to \\u001E";
+                    return token_type::parse_error;
+                }
+
+                case 0x1F:
+                {
+                    error_message = "invalid string: control character U+001F (US) must be escaped to \\u001F";
+                    return token_type::parse_error;
+                }
+
+                // U+0020..U+007F (except U+0022 (quote) and U+005C (backspace))
+                case 0x20:
+                case 0x21:
+                case 0x23:
+                case 0x24:
+                case 0x25:
+                case 0x26:
+                case 0x27:
+                case 0x28:
+                case 0x29:
+                case 0x2A:
+                case 0x2B:
+                case 0x2C:
+                case 0x2D:
+                case 0x2E:
+                case 0x2F:
+                case 0x30:
+                case 0x31:
+                case 0x32:
+                case 0x33:
+                case 0x34:
+                case 0x35:
+                case 0x36:
+                case 0x37:
+                case 0x38:
+                case 0x39:
+                case 0x3A:
+                case 0x3B:
+                case 0x3C:
+                case 0x3D:
+                case 0x3E:
+                case 0x3F:
+                case 0x40:
+                case 0x41:
+                case 0x42:
+                case 0x43:
+                case 0x44:
+                case 0x45:
+                case 0x46:
+                case 0x47:
+                case 0x48:
+                case 0x49:
+                case 0x4A:
+                case 0x4B:
+                case 0x4C:
+                case 0x4D:
+                case 0x4E:
+                case 0x4F:
+                case 0x50:
+                case 0x51:
+                case 0x52:
+                case 0x53:
+                case 0x54:
+                case 0x55:
+                case 0x56:
+                case 0x57:
+                case 0x58:
+                case 0x59:
+                case 0x5A:
+                case 0x5B:
+                case 0x5D:
+                case 0x5E:
+                case 0x5F:
+                case 0x60:
+                case 0x61:
+                case 0x62:
+                case 0x63:
+                case 0x64:
+                case 0x65:
+                case 0x66:
+                case 0x67:
+                case 0x68:
+                case 0x69:
+                case 0x6A:
+                case 0x6B:
+                case 0x6C:
+                case 0x6D:
+                case 0x6E:
+                case 0x6F:
+                case 0x70:
+                case 0x71:
+                case 0x72:
+                case 0x73:
+                case 0x74:
+                case 0x75:
+                case 0x76:
+                case 0x77:
+                case 0x78:
+                case 0x79:
+                case 0x7A:
+                case 0x7B:
+                case 0x7C:
+                case 0x7D:
+                case 0x7E:
+                case 0x7F:
+                {
+                    add(current);
+                    break;
+                }
+
+                // U+0080..U+07FF: bytes C2..DF 80..BF
+                case 0xC2:
+                case 0xC3:
+                case 0xC4:
+                case 0xC5:
+                case 0xC6:
+                case 0xC7:
+                case 0xC8:
+                case 0xC9:
+                case 0xCA:
+                case 0xCB:
+                case 0xCC:
+                case 0xCD:
+                case 0xCE:
+                case 0xCF:
+                case 0xD0:
+                case 0xD1:
+                case 0xD2:
+                case 0xD3:
+                case 0xD4:
+                case 0xD5:
+                case 0xD6:
+                case 0xD7:
+                case 0xD8:
+                case 0xD9:
+                case 0xDA:
+                case 0xDB:
+                case 0xDC:
+                case 0xDD:
+                case 0xDE:
+                case 0xDF:
+                {
+                    if (JSON_UNLIKELY(not next_byte_in_range({0x80, 0xBF})))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+0800..U+0FFF: bytes E0 A0..BF 80..BF
+                case 0xE0:
+                {
+                    if (JSON_UNLIKELY(not (next_byte_in_range({0xA0, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+1000..U+CFFF: bytes E1..EC 80..BF 80..BF
+                // U+E000..U+FFFF: bytes EE..EF 80..BF 80..BF
+                case 0xE1:
+                case 0xE2:
+                case 0xE3:
+                case 0xE4:
+                case 0xE5:
+                case 0xE6:
+                case 0xE7:
+                case 0xE8:
+                case 0xE9:
+                case 0xEA:
+                case 0xEB:
+                case 0xEC:
+                case 0xEE:
+                case 0xEF:
+                {
+                    if (JSON_UNLIKELY(not (next_byte_in_range({0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+D000..U+D7FF: bytes ED 80..9F 80..BF
+                case 0xED:
+                {
+                    if (JSON_UNLIKELY(not (next_byte_in_range({0x80, 0x9F, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+10000..U+3FFFF F0 90..BF 80..BF 80..BF
+                case 0xF0:
+                {
+                    if (JSON_UNLIKELY(not (next_byte_in_range({0x90, 0xBF, 0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+40000..U+FFFFF F1..F3 80..BF 80..BF 80..BF
+                case 0xF1:
+                case 0xF2:
+                case 0xF3:
+                {
+                    if (JSON_UNLIKELY(not (next_byte_in_range({0x80, 0xBF, 0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+100000..U+10FFFF F4 80..8F 80..BF 80..BF
+                case 0xF4:
+                {
+                    if (JSON_UNLIKELY(not (next_byte_in_range({0x80, 0x8F, 0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // remaining bytes (80..C1 and F5..FF) are ill-formed
+                default:
+                {
+                    error_message = "invalid string: ill-formed UTF-8 byte";
+                    return token_type::parse_error;
+                }
+            }
+        }
+    }
+
+    static void strtof(float& f, const char* str, char** endptr) noexcept
+    {
+        f = std::strtof(str, endptr);
+    }
+
+    static void strtof(double& f, const char* str, char** endptr) noexcept
+    {
+        f = std::strtod(str, endptr);
+    }
+
+    static void strtof(long double& f, const char* str, char** endptr) noexcept
+    {
+        f = std::strtold(str, endptr);
+    }
+
+    /*!
+    @brief scan a number literal
+
+    This function scans a string according to Sect. 6 of RFC 7159.
+
+    The function is realized with a deterministic finite state machine derived
+    from the grammar described in RFC 7159. Starting in state "init", the
+    input is read and used to determined the next state. Only state "done"
+    accepts the number. State "error" is a trap state to model errors. In the
+    table below, "anything" means any character but the ones listed before.
+
+    state    | 0        | 1-9      | e E      | +       | -       | .        | anything
+    ---------|----------|----------|----------|---------|---------|----------|-----------
+    init     | zero     | any1     | [error]  | [error] | minus   | [error]  | [error]
+    minus    | zero     | any1     | [error]  | [error] | [error] | [error]  | [error]
+    zero     | done     | done     | exponent | done    | done    | decimal1 | done
+    any1     | any1     | any1     | exponent | done    | done    | decimal1 | done
+    decimal1 | decimal2 | [error]  | [error]  | [error] | [error] | [error]  | [error]
+    decimal2 | decimal2 | decimal2 | exponent | done    | done    | done     | done
+    exponent | any2     | any2     | [error]  | sign    | sign    | [error]  | [error]
+    sign     | any2     | any2     | [error]  | [error] | [error] | [error]  | [error]
+    any2     | any2     | any2     | done     | done    | done    | done     | done
+
+    The state machine is realized with one label per state (prefixed with
+    "scan_number_") and `goto` statements between them. The state machine
+    contains cycles, but any cycle can be left when EOF is read. Therefore,
+    the function is guaranteed to terminate.
+
+    During scanning, the read bytes are stored in token_buffer. This string is
+    then converted to a signed integer, an unsigned integer, or a
+    floating-point number.
+
+    @return token_type::value_unsigned, token_type::value_integer, or
+            token_type::value_float if number could be successfully scanned,
+            token_type::parse_error otherwise
+
+    @note The scanner is independent of the current locale. Internally, the
+          locale's decimal point is used instead of `.` to work with the
+          locale-dependent converters.
+    */
+    token_type scan_number()  // lgtm [cpp/use-of-goto]
+    {
+        // reset token_buffer to store the number's bytes
+        reset();
+
+        // the type of the parsed number; initially set to unsigned; will be
+        // changed if minus sign, decimal point or exponent is read
+        token_type number_type = token_type::value_unsigned;
+
+        // state (init): we just found out we need to scan a number
+        switch (current)
+        {
+            case '-':
+            {
+                add(current);
+                goto scan_number_minus;
+            }
+
+            case '0':
+            {
+                add(current);
+                goto scan_number_zero;
+            }
+
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any1;
+            }
+
+            // LCOV_EXCL_START
+            default:
+            {
+                // all other characters are rejected outside scan_number()
+                assert(false);
+            }
+                // LCOV_EXCL_STOP
+        }
+
+scan_number_minus:
+        // state: we just parsed a leading minus sign
+        number_type = token_type::value_integer;
+        switch (get())
+        {
+            case '0':
+            {
+                add(current);
+                goto scan_number_zero;
+            }
+
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any1;
+            }
+
+            default:
+            {
+                error_message = "invalid number; expected digit after '-'";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_zero:
+        // state: we just parse a zero (maybe with a leading minus sign)
+        switch (get())
+        {
+            case '.':
+            {
+                add(decimal_point_char);
+                goto scan_number_decimal1;
+            }
+
+            case 'e':
+            case 'E':
+            {
+                add(current);
+                goto scan_number_exponent;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_any1:
+        // state: we just parsed a number 0-9 (maybe with a leading minus sign)
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any1;
+            }
+
+            case '.':
+            {
+                add(decimal_point_char);
+                goto scan_number_decimal1;
+            }
+
+            case 'e':
+            case 'E':
+            {
+                add(current);
+                goto scan_number_exponent;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_decimal1:
+        // state: we just parsed a decimal point
+        number_type = token_type::value_float;
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_decimal2;
+            }
+
+            default:
+            {
+                error_message = "invalid number; expected digit after '.'";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_decimal2:
+        // we just parsed at least one number after a decimal point
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_decimal2;
+            }
+
+            case 'e':
+            case 'E':
+            {
+                add(current);
+                goto scan_number_exponent;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_exponent:
+        // we just parsed an exponent
+        number_type = token_type::value_float;
+        switch (get())
+        {
+            case '+':
+            case '-':
+            {
+                add(current);
+                goto scan_number_sign;
+            }
+
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any2;
+            }
+
+            default:
+            {
+                error_message =
+                    "invalid number; expected '+', '-', or digit after exponent";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_sign:
+        // we just parsed an exponent sign
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any2;
+            }
+
+            default:
+            {
+                error_message = "invalid number; expected digit after exponent sign";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_any2:
+        // we just parsed a number after the exponent or exponent sign
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any2;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_done:
+        // unget the character after the number (we only read it to know that
+        // we are done scanning a number)
+        unget();
+
+        char* endptr = nullptr;
+        errno = 0;
+
+        // try to parse integers first and fall back to floats
+        if (number_type == token_type::value_unsigned)
+        {
+            const auto x = std::strtoull(token_buffer.data(), &endptr, 10);
+
+            // we checked the number format before
+            assert(endptr == token_buffer.data() + token_buffer.size());
+
+            if (errno == 0)
+            {
+                value_unsigned = static_cast<number_unsigned_t>(x);
+                if (value_unsigned == x)
+                {
+                    return token_type::value_unsigned;
+                }
+            }
+        }
+        else if (number_type == token_type::value_integer)
+        {
+            const auto x = std::strtoll(token_buffer.data(), &endptr, 10);
+
+            // we checked the number format before
+            assert(endptr == token_buffer.data() + token_buffer.size());
+
+            if (errno == 0)
+            {
+                value_integer = static_cast<number_integer_t>(x);
+                if (value_integer == x)
+                {
+                    return token_type::value_integer;
+                }
+            }
+        }
+
+        // this code is reached if we parse a floating-point number or if an
+        // integer conversion above failed
+        strtof(value_float, token_buffer.data(), &endptr);
+
+        // we checked the number format before
+        assert(endptr == token_buffer.data() + token_buffer.size());
+
+        return token_type::value_float;
+    }
+
+    /*!
+    @param[in] literal_text  the literal text to expect
+    @param[in] length        the length of the passed literal text
+    @param[in] return_type   the token type to return on success
+    */
+    token_type scan_literal(const char* literal_text, const std::size_t length,
+                            token_type return_type)
+    {
+        assert(current == literal_text[0]);
+        for (std::size_t i = 1; i < length; ++i)
+        {
+            if (JSON_UNLIKELY(get() != literal_text[i]))
+            {
+                error_message = "invalid literal";
+                return token_type::parse_error;
+            }
+        }
+        return return_type;
+    }
+
+    /////////////////////
+    // input management
+    /////////////////////
+
+    /// reset token_buffer; current character is beginning of token
+    void reset() noexcept
+    {
+        token_buffer.clear();
+        token_string.clear();
+        token_string.push_back(std::char_traits<char>::to_char_type(current));
+    }
+
+    /*
+    @brief get next character from the input
+
+    This function provides the interface to the used input adapter. It does
+    not throw in case the input reached EOF, but returns a
+    `std::char_traits<char>::eof()` in that case.  Stores the scanned characters
+    for use in error messages.
+
+    @return character read from the input
+    */
+    std::char_traits<char>::int_type get()
+    {
+        ++position.chars_read_total;
+        ++position.chars_read_current_line;
+
+        if (next_unget)
+        {
+            // just reset the next_unget variable and work with current
+            next_unget = false;
+        }
+        else
+        {
+            current = ia->get_character();
+        }
+
+        if (JSON_LIKELY(current != std::char_traits<char>::eof()))
+        {
+            token_string.push_back(std::char_traits<char>::to_char_type(current));
+        }
+
+        if (current == '\n')
+        {
+            ++position.lines_read;
+            ++position.chars_read_current_line = 0;
+        }
+
+        return current;
+    }
+
+    /*!
+    @brief unget current character (read it again on next get)
+
+    We implement unget by setting variable next_unget to true. The input is not
+    changed - we just simulate ungetting by modifying chars_read_total,
+    chars_read_current_line, and token_string. The next call to get() will
+    behave as if the unget character is read again.
+    */
+    void unget()
+    {
+        next_unget = true;
+
+        --position.chars_read_total;
+
+        // in case we "unget" a newline, we have to also decrement the lines_read
+        if (position.chars_read_current_line == 0)
+        {
+            if (position.lines_read > 0)
+            {
+                --position.lines_read;
+            }
+        }
+        else
+        {
+            --position.chars_read_current_line;
+        }
+
+        if (JSON_LIKELY(current != std::char_traits<char>::eof()))
+        {
+            assert(token_string.size() != 0);
+            token_string.pop_back();
+        }
+    }
+
+    /// add a character to token_buffer
+    void add(int c)
+    {
+        token_buffer.push_back(std::char_traits<char>::to_char_type(c));
+    }
+
+  public:
+    /////////////////////
+    // value getters
+    /////////////////////
+
+    /// return integer value
+    constexpr number_integer_t get_number_integer() const noexcept
+    {
+        return value_integer;
+    }
+
+    /// return unsigned integer value
+    constexpr number_unsigned_t get_number_unsigned() const noexcept
+    {
+        return value_unsigned;
+    }
+
+    /// return floating-point value
+    constexpr number_float_t get_number_float() const noexcept
+    {
+        return value_float;
+    }
+
+    /// return current string value (implicitly resets the token; useful only once)
+    string_t& get_string()
+    {
+        return token_buffer;
+    }
+
+    /////////////////////
+    // diagnostics
+    /////////////////////
+
+    /// return position of last read token
+    constexpr position_t get_position() const noexcept
+    {
+        return position;
+    }
+
+    /// return the last read token (for errors only).  Will never contain EOF
+    /// (an arbitrary value that is not a valid char value, often -1), because
+    /// 255 may legitimately occur.  May contain NUL, which should be escaped.
+    std::string get_token_string() const
+    {
+        // escape control characters
+        std::string result;
+        for (const auto c : token_string)
+        {
+            if ('\x00' <= c and c <= '\x1F')
+            {
+                // escape control characters
+                char cs[9];
+                (std::snprintf)(cs, 9, "<U+%.4X>", static_cast<unsigned char>(c));
+                result += cs;
+            }
+            else
+            {
+                // add character as is
+                result.push_back(c);
+            }
+        }
+
+        return result;
+    }
+
+    /// return syntax error message
+    constexpr const char* get_error_message() const noexcept
+    {
+        return error_message;
+    }
+
+    /////////////////////
+    // actual scanner
+    /////////////////////
+
+    /*!
+    @brief skip the UTF-8 byte order mark
+    @return true iff there is no BOM or the correct BOM has been skipped
+    */
+    bool skip_bom()
+    {
+        if (get() == 0xEF)
+        {
+            // check if we completely parse the BOM
+            return get() == 0xBB and get() == 0xBF;
+        }
+
+        // the first character is not the beginning of the BOM; unget it to
+        // process is later
+        unget();
+        return true;
+    }
+
+    token_type scan()
+    {
+        // initially, skip the BOM
+        if (position.chars_read_total == 0 and not skip_bom())
+        {
+            error_message = "invalid BOM; must be 0xEF 0xBB 0xBF if given";
+            return token_type::parse_error;
+        }
+
+        // read next character and ignore whitespace
+        do
+        {
+            get();
+        }
+        while (current == ' ' or current == '\t' or current == '\n' or current == '\r');
+
+        switch (current)
+        {
+            // structural characters
+            case '[':
+                return token_type::begin_array;
+            case ']':
+                return token_type::end_array;
+            case '{':
+                return token_type::begin_object;
+            case '}':
+                return token_type::end_object;
+            case ':':
+                return token_type::name_separator;
+            case ',':
+                return token_type::value_separator;
+
+            // literals
+            case 't':
+                return scan_literal("true", 4, token_type::literal_true);
+            case 'f':
+                return scan_literal("false", 5, token_type::literal_false);
+            case 'n':
+                return scan_literal("null", 4, token_type::literal_null);
+
+            // string
+            case '\"':
+                return scan_string();
+
+            // number
+            case '-':
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+                return scan_number();
+
+            // end of input (the null byte is needed when parsing from
+            // string literals)
+            case '\0':
+            case std::char_traits<char>::eof():
+                return token_type::end_of_input;
+
+            // error
+            default:
+                error_message = "invalid literal";
+                return token_type::parse_error;
+        }
+    }
+
+  private:
+    /// input adapter
+    detail::input_adapter_t ia = nullptr;
+
+    /// the current character
+    std::char_traits<char>::int_type current = std::char_traits<char>::eof();
+
+    /// whether the next get() call should just return current
+    bool next_unget = false;
+
+    /// the start position of the current token
+    position_t position;
+
+    /// raw input token string (for error messages)
+    std::vector<char> token_string {};
+
+    /// buffer for variable-length tokens (numbers, strings)
+    string_t token_buffer {};
+
+    /// a description of occurred lexer errors
+    const char* error_message = "";
+
+    // number values
+    number_integer_t value_integer = 0;
+    number_unsigned_t value_unsigned = 0;
+    number_float_t value_float = 0;
+
+    /// the decimal point
+    const char decimal_point_char = '.';
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/input/parser.hpp>
+
+
+#include <cassert> // assert
+#include <cmath> // isfinite
+#include <cstdint> // uint8_t
+#include <functional> // function
+#include <string> // string
+#include <utility> // move
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/is_sax.hpp>
+
+
+#include <cstdint> // size_t
+#include <utility> // declval
+
+// #include <nlohmann/detail/meta/detected.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template <typename T>
+using null_function_t = decltype(std::declval<T&>().null());
+
+template <typename T>
+using boolean_function_t =
+    decltype(std::declval<T&>().boolean(std::declval<bool>()));
+
+template <typename T, typename Integer>
+using number_integer_function_t =
+    decltype(std::declval<T&>().number_integer(std::declval<Integer>()));
+
+template <typename T, typename Unsigned>
+using number_unsigned_function_t =
+    decltype(std::declval<T&>().number_unsigned(std::declval<Unsigned>()));
+
+template <typename T, typename Float, typename String>
+using number_float_function_t = decltype(std::declval<T&>().number_float(
+                                    std::declval<Float>(), std::declval<const String&>()));
+
+template <typename T, typename String>
+using string_function_t =
+    decltype(std::declval<T&>().string(std::declval<String&>()));
+
+template <typename T>
+using start_object_function_t =
+    decltype(std::declval<T&>().start_object(std::declval<std::size_t>()));
+
+template <typename T, typename String>
+using key_function_t =
+    decltype(std::declval<T&>().key(std::declval<String&>()));
+
+template <typename T>
+using end_object_function_t = decltype(std::declval<T&>().end_object());
+
+template <typename T>
+using start_array_function_t =
+    decltype(std::declval<T&>().start_array(std::declval<std::size_t>()));
+
+template <typename T>
+using end_array_function_t = decltype(std::declval<T&>().end_array());
+
+template <typename T, typename Exception>
+using parse_error_function_t = decltype(std::declval<T&>().parse_error(
+        std::declval<std::size_t>(), std::declval<const std::string&>(),
+        std::declval<const Exception&>()));
+
+template <typename SAX, typename BasicJsonType>
+struct is_sax
+{
+  private:
+    static_assert(is_basic_json<BasicJsonType>::value,
+                  "BasicJsonType must be of type basic_json<...>");
+
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using exception_t = typename BasicJsonType::exception;
+
+  public:
+    static constexpr bool value =
+        is_detected_exact<bool, null_function_t, SAX>::value &&
+        is_detected_exact<bool, boolean_function_t, SAX>::value &&
+        is_detected_exact<bool, number_integer_function_t, SAX,
+        number_integer_t>::value &&
+        is_detected_exact<bool, number_unsigned_function_t, SAX,
+        number_unsigned_t>::value &&
+        is_detected_exact<bool, number_float_function_t, SAX, number_float_t,
+        string_t>::value &&
+        is_detected_exact<bool, string_function_t, SAX, string_t>::value &&
+        is_detected_exact<bool, start_object_function_t, SAX>::value &&
+        is_detected_exact<bool, key_function_t, SAX, string_t>::value &&
+        is_detected_exact<bool, end_object_function_t, SAX>::value &&
+        is_detected_exact<bool, start_array_function_t, SAX>::value &&
+        is_detected_exact<bool, end_array_function_t, SAX>::value &&
+        is_detected_exact<bool, parse_error_function_t, SAX, exception_t>::value;
+};
+
+template <typename SAX, typename BasicJsonType>
+struct is_sax_static_asserts
+{
+  private:
+    static_assert(is_basic_json<BasicJsonType>::value,
+                  "BasicJsonType must be of type basic_json<...>");
+
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using exception_t = typename BasicJsonType::exception;
+
+  public:
+    static_assert(is_detected_exact<bool, null_function_t, SAX>::value,
+                  "Missing/invalid function: bool null()");
+    static_assert(is_detected_exact<bool, boolean_function_t, SAX>::value,
+                  "Missing/invalid function: bool boolean(bool)");
+    static_assert(is_detected_exact<bool, boolean_function_t, SAX>::value,
+                  "Missing/invalid function: bool boolean(bool)");
+    static_assert(
+        is_detected_exact<bool, number_integer_function_t, SAX,
+        number_integer_t>::value,
+        "Missing/invalid function: bool number_integer(number_integer_t)");
+    static_assert(
+        is_detected_exact<bool, number_unsigned_function_t, SAX,
+        number_unsigned_t>::value,
+        "Missing/invalid function: bool number_unsigned(number_unsigned_t)");
+    static_assert(is_detected_exact<bool, number_float_function_t, SAX,
+                  number_float_t, string_t>::value,
+                  "Missing/invalid function: bool number_float(number_float_t, const string_t&)");
+    static_assert(
+        is_detected_exact<bool, string_function_t, SAX, string_t>::value,
+        "Missing/invalid function: bool string(string_t&)");
+    static_assert(is_detected_exact<bool, start_object_function_t, SAX>::value,
+                  "Missing/invalid function: bool start_object(std::size_t)");
+    static_assert(is_detected_exact<bool, key_function_t, SAX, string_t>::value,
+                  "Missing/invalid function: bool key(string_t&)");
+    static_assert(is_detected_exact<bool, end_object_function_t, SAX>::value,
+                  "Missing/invalid function: bool end_object()");
+    static_assert(is_detected_exact<bool, start_array_function_t, SAX>::value,
+                  "Missing/invalid function: bool start_array(std::size_t)");
+    static_assert(is_detected_exact<bool, end_array_function_t, SAX>::value,
+                  "Missing/invalid function: bool end_array()");
+    static_assert(
+        is_detected_exact<bool, parse_error_function_t, SAX, exception_t>::value,
+        "Missing/invalid function: bool parse_error(std::size_t, const "
+        "std::string&, const exception&)");
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/input/input_adapters.hpp>
+
+// #include <nlohmann/detail/input/json_sax.hpp>
+
+
+#include <cstddef>
+#include <string>
+#include <vector>
+
+// #include <nlohmann/detail/input/parser.hpp>
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+
+namespace nlohmann
+{
+
+/*!
+@brief SAX interface
+
+This class describes the SAX interface used by @ref nlohmann::json::sax_parse.
+Each function is called in different situations while the input is parsed. The
+boolean return value informs the parser whether to continue processing the
+input.
+*/
+template<typename BasicJsonType>
+struct json_sax
+{
+    /// type for (signed) integers
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    /// type for unsigned integers
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    /// type for floating-point numbers
+    using number_float_t = typename BasicJsonType::number_float_t;
+    /// type for strings
+    using string_t = typename BasicJsonType::string_t;
+
+    /*!
+    @brief a null value was read
+    @return whether parsing should proceed
+    */
+    virtual bool null() = 0;
+
+    /*!
+    @brief a boolean value was read
+    @param[in] val  boolean value
+    @return whether parsing should proceed
+    */
+    virtual bool boolean(bool val) = 0;
+
+    /*!
+    @brief an integer number was read
+    @param[in] val  integer value
+    @return whether parsing should proceed
+    */
+    virtual bool number_integer(number_integer_t val) = 0;
+
+    /*!
+    @brief an unsigned integer number was read
+    @param[in] val  unsigned integer value
+    @return whether parsing should proceed
+    */
+    virtual bool number_unsigned(number_unsigned_t val) = 0;
+
+    /*!
+    @brief an floating-point number was read
+    @param[in] val  floating-point value
+    @param[in] s    raw token value
+    @return whether parsing should proceed
+    */
+    virtual bool number_float(number_float_t val, const string_t& s) = 0;
+
+    /*!
+    @brief a string was read
+    @param[in] val  string value
+    @return whether parsing should proceed
+    @note It is safe to move the passed string.
+    */
+    virtual bool string(string_t& val) = 0;
+
+    /*!
+    @brief the beginning of an object was read
+    @param[in] elements  number of object elements or -1 if unknown
+    @return whether parsing should proceed
+    @note binary formats may report the number of elements
+    */
+    virtual bool start_object(std::size_t elements) = 0;
+
+    /*!
+    @brief an object key was read
+    @param[in] val  object key
+    @return whether parsing should proceed
+    @note It is safe to move the passed string.
+    */
+    virtual bool key(string_t& val) = 0;
+
+    /*!
+    @brief the end of an object was read
+    @return whether parsing should proceed
+    */
+    virtual bool end_object() = 0;
+
+    /*!
+    @brief the beginning of an array was read
+    @param[in] elements  number of array elements or -1 if unknown
+    @return whether parsing should proceed
+    @note binary formats may report the number of elements
+    */
+    virtual bool start_array(std::size_t elements) = 0;
+
+    /*!
+    @brief the end of an array was read
+    @return whether parsing should proceed
+    */
+    virtual bool end_array() = 0;
+
+    /*!
+    @brief a parse error occurred
+    @param[in] position    the position in the input where the error occurs
+    @param[in] last_token  the last read token
+    @param[in] ex          an exception object describing the error
+    @return whether parsing should proceed (must return false)
+    */
+    virtual bool parse_error(std::size_t position,
+                             const std::string& last_token,
+                             const detail::exception& ex) = 0;
+
+    virtual ~json_sax() = default;
+};
+
+
+namespace detail
+{
+/*!
+@brief SAX implementation to create a JSON value from SAX events
+
+This class implements the @ref json_sax interface and processes the SAX events
+to create a JSON value which makes it basically a DOM parser. The structure or
+hierarchy of the JSON value is managed by the stack `ref_stack` which contains
+a pointer to the respective array or object for each recursion depth.
+
+After successful parsing, the value that is passed by reference to the
+constructor contains the parsed value.
+
+@tparam BasicJsonType  the JSON type
+*/
+template<typename BasicJsonType>
+class json_sax_dom_parser
+{
+  public:
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+
+    /*!
+    @param[in, out] r  reference to a JSON value that is manipulated while
+                       parsing
+    @param[in] allow_exceptions_  whether parse errors yield exceptions
+    */
+    explicit json_sax_dom_parser(BasicJsonType& r, const bool allow_exceptions_ = true)
+        : root(r), allow_exceptions(allow_exceptions_)
+    {}
+
+    bool null()
+    {
+        handle_value(nullptr);
+        return true;
+    }
+
+    bool boolean(bool val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_integer(number_integer_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_unsigned(number_unsigned_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_float(number_float_t val, const string_t& /*unused*/)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool string(string_t& val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool start_object(std::size_t len)
+    {
+        ref_stack.push_back(handle_value(BasicJsonType::value_t::object));
+
+        if (JSON_UNLIKELY(len != std::size_t(-1) and len > ref_stack.back()->max_size()))
+        {
+            JSON_THROW(out_of_range::create(408,
+                                            "excessive object size: " + std::to_string(len)));
+        }
+
+        return true;
+    }
+
+    bool key(string_t& val)
+    {
+        // add null at given key and store the reference for later
+        object_element = &(ref_stack.back()->m_value.object->operator[](val));
+        return true;
+    }
+
+    bool end_object()
+    {
+        ref_stack.pop_back();
+        return true;
+    }
+
+    bool start_array(std::size_t len)
+    {
+        ref_stack.push_back(handle_value(BasicJsonType::value_t::array));
+
+        if (JSON_UNLIKELY(len != std::size_t(-1) and len > ref_stack.back()->max_size()))
+        {
+            JSON_THROW(out_of_range::create(408,
+                                            "excessive array size: " + std::to_string(len)));
+        }
+
+        return true;
+    }
+
+    bool end_array()
+    {
+        ref_stack.pop_back();
+        return true;
+    }
+
+    bool parse_error(std::size_t /*unused*/, const std::string& /*unused*/,
+                     const detail::exception& ex)
+    {
+        errored = true;
+        if (allow_exceptions)
+        {
+            // determine the proper exception type from the id
+            switch ((ex.id / 100) % 100)
+            {
+                case 1:
+                    JSON_THROW(*reinterpret_cast<const detail::parse_error*>(&ex));
+                case 4:
+                    JSON_THROW(*reinterpret_cast<const detail::out_of_range*>(&ex));
+                // LCOV_EXCL_START
+                case 2:
+                    JSON_THROW(*reinterpret_cast<const detail::invalid_iterator*>(&ex));
+                case 3:
+                    JSON_THROW(*reinterpret_cast<const detail::type_error*>(&ex));
+                case 5:
+                    JSON_THROW(*reinterpret_cast<const detail::other_error*>(&ex));
+                default:
+                    assert(false);
+                    // LCOV_EXCL_STOP
+            }
+        }
+        return false;
+    }
+
+    constexpr bool is_errored() const
+    {
+        return errored;
+    }
+
+  private:
+    /*!
+    @invariant If the ref stack is empty, then the passed value will be the new
+               root.
+    @invariant If the ref stack contains a value, then it is an array or an
+               object to which we can add elements
+    */
+    template<typename Value>
+    BasicJsonType* handle_value(Value&& v)
+    {
+        if (ref_stack.empty())
+        {
+            root = BasicJsonType(std::forward<Value>(v));
+            return &root;
+        }
+
+        assert(ref_stack.back()->is_array() or ref_stack.back()->is_object());
+
+        if (ref_stack.back()->is_array())
+        {
+            ref_stack.back()->m_value.array->emplace_back(std::forward<Value>(v));
+            return &(ref_stack.back()->m_value.array->back());
+        }
+        else
+        {
+            assert(object_element);
+            *object_element = BasicJsonType(std::forward<Value>(v));
+            return object_element;
+        }
+    }
+
+    /// the parsed JSON value
+    BasicJsonType& root;
+    /// stack to model hierarchy of values
+    std::vector<BasicJsonType*> ref_stack;
+    /// helper to hold the reference for the next object element
+    BasicJsonType* object_element = nullptr;
+    /// whether a syntax error occurred
+    bool errored = false;
+    /// whether to throw exceptions in case of errors
+    const bool allow_exceptions = true;
+};
+
+template<typename BasicJsonType>
+class json_sax_dom_callback_parser
+{
+  public:
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using parser_callback_t = typename BasicJsonType::parser_callback_t;
+    using parse_event_t = typename BasicJsonType::parse_event_t;
+
+    json_sax_dom_callback_parser(BasicJsonType& r,
+                                 const parser_callback_t cb,
+                                 const bool allow_exceptions_ = true)
+        : root(r), callback(cb), allow_exceptions(allow_exceptions_)
+    {
+        keep_stack.push_back(true);
+    }
+
+    bool null()
+    {
+        handle_value(nullptr);
+        return true;
+    }
+
+    bool boolean(bool val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_integer(number_integer_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_unsigned(number_unsigned_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_float(number_float_t val, const string_t& /*unused*/)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool string(string_t& val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool start_object(std::size_t len)
+    {
+        // check callback for object start
+        const bool keep = callback(static_cast<int>(ref_stack.size()), parse_event_t::object_start, discarded);
+        keep_stack.push_back(keep);
+
+        auto val = handle_value(BasicJsonType::value_t::object, true);
+        ref_stack.push_back(val.second);
+
+        // check object limit
+        if (ref_stack.back())
+        {
+            if (JSON_UNLIKELY(len != std::size_t(-1) and len > ref_stack.back()->max_size()))
+            {
+                JSON_THROW(out_of_range::create(408,
+                                                "excessive object size: " + std::to_string(len)));
+            }
+        }
+
+        return true;
+    }
+
+    bool key(string_t& val)
+    {
+        BasicJsonType k = BasicJsonType(val);
+
+        // check callback for key
+        const bool keep = callback(static_cast<int>(ref_stack.size()), parse_event_t::key, k);
+        key_keep_stack.push_back(keep);
+
+        // add discarded value at given key and store the reference for later
+        if (keep and ref_stack.back())
+        {
+            object_element = &(ref_stack.back()->m_value.object->operator[](val) = discarded);
+        }
+
+        return true;
+    }
+
+    bool end_object()
+    {
+        if (ref_stack.back())
+        {
+            if (not callback(static_cast<int>(ref_stack.size()) - 1, parse_event_t::object_end, *ref_stack.back()))
+            {
+                // discard object
+                *ref_stack.back() = discarded;
+            }
+        }
+
+        assert(not ref_stack.empty());
+        assert(not keep_stack.empty());
+        ref_stack.pop_back();
+        keep_stack.pop_back();
+
+        if (not ref_stack.empty() and ref_stack.back())
+        {
+            // remove discarded value
+            if (ref_stack.back()->is_object())
+            {
+                for (auto it = ref_stack.back()->begin(); it != ref_stack.back()->end(); ++it)
+                {
+                    if (it->is_discarded())
+                    {
+                        ref_stack.back()->erase(it);
+                        break;
+                    }
+                }
+            }
+        }
+
+        return true;
+    }
+
+    bool start_array(std::size_t len)
+    {
+        const bool keep = callback(static_cast<int>(ref_stack.size()), parse_event_t::array_start, discarded);
+        keep_stack.push_back(keep);
+
+        auto val = handle_value(BasicJsonType::value_t::array, true);
+        ref_stack.push_back(val.second);
+
+        // check array limit
+        if (ref_stack.back())
+        {
+            if (JSON_UNLIKELY(len != std::size_t(-1) and len > ref_stack.back()->max_size()))
+            {
+                JSON_THROW(out_of_range::create(408,
+                                                "excessive array size: " + std::to_string(len)));
+            }
+        }
+
+        return true;
+    }
+
+    bool end_array()
+    {
+        bool keep = true;
+
+        if (ref_stack.back())
+        {
+            keep = callback(static_cast<int>(ref_stack.size()) - 1, parse_event_t::array_end, *ref_stack.back());
+            if (not keep)
+            {
+                // discard array
+                *ref_stack.back() = discarded;
+            }
+        }
+
+        assert(not ref_stack.empty());
+        assert(not keep_stack.empty());
+        ref_stack.pop_back();
+        keep_stack.pop_back();
+
+        // remove discarded value
+        if (not keep and not ref_stack.empty())
+        {
+            if (ref_stack.back()->is_array())
+            {
+                ref_stack.back()->m_value.array->pop_back();
+            }
+        }
+
+        return true;
+    }
+
+    bool parse_error(std::size_t /*unused*/, const std::string& /*unused*/,
+                     const detail::exception& ex)
+    {
+        errored = true;
+        if (allow_exceptions)
+        {
+            // determine the proper exception type from the id
+            switch ((ex.id / 100) % 100)
+            {
+                case 1:
+                    JSON_THROW(*reinterpret_cast<const detail::parse_error*>(&ex));
+                case 4:
+                    JSON_THROW(*reinterpret_cast<const detail::out_of_range*>(&ex));
+                // LCOV_EXCL_START
+                case 2:
+                    JSON_THROW(*reinterpret_cast<const detail::invalid_iterator*>(&ex));
+                case 3:
+                    JSON_THROW(*reinterpret_cast<const detail::type_error*>(&ex));
+                case 5:
+                    JSON_THROW(*reinterpret_cast<const detail::other_error*>(&ex));
+                default:
+                    assert(false);
+                    // LCOV_EXCL_STOP
+            }
+        }
+        return false;
+    }
+
+    constexpr bool is_errored() const
+    {
+        return errored;
+    }
+
+  private:
+    /*!
+    @param[in] v  value to add to the JSON value we build during parsing
+    @param[in] skip_callback  whether we should skip calling the callback
+               function; this is required after start_array() and
+               start_object() SAX events, because otherwise we would call the
+               callback function with an empty array or object, respectively.
+
+    @invariant If the ref stack is empty, then the passed value will be the new
+               root.
+    @invariant If the ref stack contains a value, then it is an array or an
+               object to which we can add elements
+
+    @return pair of boolean (whether value should be kept) and pointer (to the
+            passed value in the ref_stack hierarchy; nullptr if not kept)
+    */
+    template<typename Value>
+    std::pair<bool, BasicJsonType*> handle_value(Value&& v, const bool skip_callback = false)
+    {
+        assert(not keep_stack.empty());
+
+        // do not handle this value if we know it would be added to a discarded
+        // container
+        if (not keep_stack.back())
+        {
+            return {false, nullptr};
+        }
+
+        // create value
+        auto value = BasicJsonType(std::forward<Value>(v));
+
+        // check callback
+        const bool keep = skip_callback or callback(static_cast<int>(ref_stack.size()), parse_event_t::value, value);
+
+        // do not handle this value if we just learnt it shall be discarded
+        if (not keep)
+        {
+            return {false, nullptr};
+        }
+
+        if (ref_stack.empty())
+        {
+            root = std::move(value);
+            return {true, &root};
+        }
+
+        // skip this value if we already decided to skip the parent
+        // (https://github.com/nlohmann/json/issues/971#issuecomment-413678360)
+        if (not ref_stack.back())
+        {
+            return {false, nullptr};
+        }
+
+        // we now only expect arrays and objects
+        assert(ref_stack.back()->is_array() or ref_stack.back()->is_object());
+
+        if (ref_stack.back()->is_array())
+        {
+            ref_stack.back()->m_value.array->push_back(std::move(value));
+            return {true, &(ref_stack.back()->m_value.array->back())};
+        }
+        else
+        {
+            // check if we should store an element for the current key
+            assert(not key_keep_stack.empty());
+            const bool store_element = key_keep_stack.back();
+            key_keep_stack.pop_back();
+
+            if (not store_element)
+            {
+                return {false, nullptr};
+            }
+
+            assert(object_element);
+            *object_element = std::move(value);
+            return {true, object_element};
+        }
+    }
+
+    /// the parsed JSON value
+    BasicJsonType& root;
+    /// stack to model hierarchy of values
+    std::vector<BasicJsonType*> ref_stack;
+    /// stack to manage which values to keep
+    std::vector<bool> keep_stack;
+    /// stack to manage which object keys to keep
+    std::vector<bool> key_keep_stack;
+    /// helper to hold the reference for the next object element
+    BasicJsonType* object_element = nullptr;
+    /// whether a syntax error occurred
+    bool errored = false;
+    /// callback function
+    const parser_callback_t callback = nullptr;
+    /// whether to throw exceptions in case of errors
+    const bool allow_exceptions = true;
+    /// a discarded value for the callback
+    BasicJsonType discarded = BasicJsonType::value_t::discarded;
+};
+
+template<typename BasicJsonType>
+class json_sax_acceptor
+{
+  public:
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+
+    bool null()
+    {
+        return true;
+    }
+
+    bool boolean(bool /*unused*/)
+    {
+        return true;
+    }
+
+    bool number_integer(number_integer_t /*unused*/)
+    {
+        return true;
+    }
+
+    bool number_unsigned(number_unsigned_t /*unused*/)
+    {
+        return true;
+    }
+
+    bool number_float(number_float_t /*unused*/, const string_t& /*unused*/)
+    {
+        return true;
+    }
+
+    bool string(string_t& /*unused*/)
+    {
+        return true;
+    }
+
+    bool start_object(std::size_t  /*unused*/ = std::size_t(-1))
+    {
+        return true;
+    }
+
+    bool key(string_t& /*unused*/)
+    {
+        return true;
+    }
+
+    bool end_object()
+    {
+        return true;
+    }
+
+    bool start_array(std::size_t  /*unused*/ = std::size_t(-1))
+    {
+        return true;
+    }
+
+    bool end_array()
+    {
+        return true;
+    }
+
+    bool parse_error(std::size_t /*unused*/, const std::string& /*unused*/, const detail::exception& /*unused*/)
+    {
+        return false;
+    }
+};
+}  // namespace detail
+
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/input/lexer.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+////////////
+// parser //
+////////////
+
+/*!
+@brief syntax analysis
+
+This class implements a recursive decent parser.
+*/
+template<typename BasicJsonType>
+class parser
+{
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using lexer_t = lexer<BasicJsonType>;
+    using token_type = typename lexer_t::token_type;
+
+  public:
+    enum class parse_event_t : uint8_t
+    {
+        /// the parser read `{` and started to process a JSON object
+        object_start,
+        /// the parser read `}` and finished processing a JSON object
+        object_end,
+        /// the parser read `[` and started to process a JSON array
+        array_start,
+        /// the parser read `]` and finished processing a JSON array
+        array_end,
+        /// the parser read a key of a value in an object
+        key,
+        /// the parser finished reading a JSON value
+        value
+    };
+
+    using parser_callback_t =
+        std::function<bool(int depth, parse_event_t event, BasicJsonType& parsed)>;
+
+    /// a parser reading from an input adapter
+    explicit parser(detail::input_adapter_t&& adapter,
+                    const parser_callback_t cb = nullptr,
+                    const bool allow_exceptions_ = true)
+        : callback(cb), m_lexer(std::move(adapter)), allow_exceptions(allow_exceptions_)
+    {
+        // read first token
+        get_token();
+    }
+
+    /*!
+    @brief public parser interface
+
+    @param[in] strict      whether to expect the last token to be EOF
+    @param[in,out] result  parsed JSON value
+
+    @throw parse_error.101 in case of an unexpected token
+    @throw parse_error.102 if to_unicode fails or surrogate error
+    @throw parse_error.103 if to_unicode fails
+    */
+    void parse(const bool strict, BasicJsonType& result)
+    {
+        if (callback)
+        {
+            json_sax_dom_callback_parser<BasicJsonType> sdp(result, callback, allow_exceptions);
+            sax_parse_internal(&sdp);
+            result.assert_invariant();
+
+            // in strict mode, input must be completely read
+            if (strict and (get_token() != token_type::end_of_input))
+            {
+                sdp.parse_error(m_lexer.get_position(),
+                                m_lexer.get_token_string(),
+                                parse_error::create(101, m_lexer.get_position(),
+                                                    exception_message(token_type::end_of_input, "value")));
+            }
+
+            // in case of an error, return discarded value
+            if (sdp.is_errored())
+            {
+                result = value_t::discarded;
+                return;
+            }
+
+            // set top-level value to null if it was discarded by the callback
+            // function
+            if (result.is_discarded())
+            {
+                result = nullptr;
+            }
+        }
+        else
+        {
+            json_sax_dom_parser<BasicJsonType> sdp(result, allow_exceptions);
+            sax_parse_internal(&sdp);
+            result.assert_invariant();
+
+            // in strict mode, input must be completely read
+            if (strict and (get_token() != token_type::end_of_input))
+            {
+                sdp.parse_error(m_lexer.get_position(),
+                                m_lexer.get_token_string(),
+                                parse_error::create(101, m_lexer.get_position(),
+                                                    exception_message(token_type::end_of_input, "value")));
+            }
+
+            // in case of an error, return discarded value
+            if (sdp.is_errored())
+            {
+                result = value_t::discarded;
+                return;
+            }
+        }
+    }
+
+    /*!
+    @brief public accept interface
+
+    @param[in] strict  whether to expect the last token to be EOF
+    @return whether the input is a proper JSON text
+    */
+    bool accept(const bool strict = true)
+    {
+        json_sax_acceptor<BasicJsonType> sax_acceptor;
+        return sax_parse(&sax_acceptor, strict);
+    }
+
+    template <typename SAX>
+    bool sax_parse(SAX* sax, const bool strict = true)
+    {
+        (void)detail::is_sax_static_asserts<SAX, BasicJsonType> {};
+        const bool result = sax_parse_internal(sax);
+
+        // strict mode: next byte must be EOF
+        if (result and strict and (get_token() != token_type::end_of_input))
+        {
+            return sax->parse_error(m_lexer.get_position(),
+                                    m_lexer.get_token_string(),
+                                    parse_error::create(101, m_lexer.get_position(),
+                                            exception_message(token_type::end_of_input, "value")));
+        }
+
+        return result;
+    }
+
+  private:
+    template <typename SAX>
+    bool sax_parse_internal(SAX* sax)
+    {
+        // stack to remember the hierarchy of structured values we are parsing
+        // true = array; false = object
+        std::vector<bool> states;
+        // value to avoid a goto (see comment where set to true)
+        bool skip_to_state_evaluation = false;
+
+        while (true)
+        {
+            if (not skip_to_state_evaluation)
+            {
+                // invariant: get_token() was called before each iteration
+                switch (last_token)
+                {
+                    case token_type::begin_object:
+                    {
+                        if (JSON_UNLIKELY(not sax->start_object(std::size_t(-1))))
+                        {
+                            return false;
+                        }
+
+                        // closing } -> we are done
+                        if (get_token() == token_type::end_object)
+                        {
+                            if (JSON_UNLIKELY(not sax->end_object()))
+                            {
+                                return false;
+                            }
+                            break;
+                        }
+
+                        // parse key
+                        if (JSON_UNLIKELY(last_token != token_type::value_string))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    parse_error::create(101, m_lexer.get_position(),
+                                                            exception_message(token_type::value_string, "object key")));
+                        }
+                        if (JSON_UNLIKELY(not sax->key(m_lexer.get_string())))
+                        {
+                            return false;
+                        }
+
+                        // parse separator (:)
+                        if (JSON_UNLIKELY(get_token() != token_type::name_separator))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    parse_error::create(101, m_lexer.get_position(),
+                                                            exception_message(token_type::name_separator, "object separator")));
+                        }
+
+                        // remember we are now inside an object
+                        states.push_back(false);
+
+                        // parse values
+                        get_token();
+                        continue;
+                    }
+
+                    case token_type::begin_array:
+                    {
+                        if (JSON_UNLIKELY(not sax->start_array(std::size_t(-1))))
+                        {
+                            return false;
+                        }
+
+                        // closing ] -> we are done
+                        if (get_token() == token_type::end_array)
+                        {
+                            if (JSON_UNLIKELY(not sax->end_array()))
+                            {
+                                return false;
+                            }
+                            break;
+                        }
+
+                        // remember we are now inside an array
+                        states.push_back(true);
+
+                        // parse values (no need to call get_token)
+                        continue;
+                    }
+
+                    case token_type::value_float:
+                    {
+                        const auto res = m_lexer.get_number_float();
+
+                        if (JSON_UNLIKELY(not std::isfinite(res)))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    out_of_range::create(406, "number overflow parsing '" + m_lexer.get_token_string() + "'"));
+                        }
+                        else
+                        {
+                            if (JSON_UNLIKELY(not sax->number_float(res, m_lexer.get_string())))
+                            {
+                                return false;
+                            }
+                            break;
+                        }
+                    }
+
+                    case token_type::literal_false:
+                    {
+                        if (JSON_UNLIKELY(not sax->boolean(false)))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::literal_null:
+                    {
+                        if (JSON_UNLIKELY(not sax->null()))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::literal_true:
+                    {
+                        if (JSON_UNLIKELY(not sax->boolean(true)))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::value_integer:
+                    {
+                        if (JSON_UNLIKELY(not sax->number_integer(m_lexer.get_number_integer())))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::value_string:
+                    {
+                        if (JSON_UNLIKELY(not sax->string(m_lexer.get_string())))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::value_unsigned:
+                    {
+                        if (JSON_UNLIKELY(not sax->number_unsigned(m_lexer.get_number_unsigned())))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::parse_error:
+                    {
+                        // using "uninitialized" to avoid "expected" message
+                        return sax->parse_error(m_lexer.get_position(),
+                                                m_lexer.get_token_string(),
+                                                parse_error::create(101, m_lexer.get_position(),
+                                                        exception_message(token_type::uninitialized, "value")));
+                    }
+
+                    default: // the last token was unexpected
+                    {
+                        return sax->parse_error(m_lexer.get_position(),
+                                                m_lexer.get_token_string(),
+                                                parse_error::create(101, m_lexer.get_position(),
+                                                        exception_message(token_type::literal_or_value, "value")));
+                    }
+                }
+            }
+            else
+            {
+                skip_to_state_evaluation = false;
+            }
+
+            // we reached this line after we successfully parsed a value
+            if (states.empty())
+            {
+                // empty stack: we reached the end of the hierarchy: done
+                return true;
+            }
+            else
+            {
+                if (states.back())  // array
+                {
+                    // comma -> next value
+                    if (get_token() == token_type::value_separator)
+                    {
+                        // parse a new value
+                        get_token();
+                        continue;
+                    }
+
+                    // closing ]
+                    if (JSON_LIKELY(last_token == token_type::end_array))
+                    {
+                        if (JSON_UNLIKELY(not sax->end_array()))
+                        {
+                            return false;
+                        }
+
+                        // We are done with this array. Before we can parse a
+                        // new value, we need to evaluate the new state first.
+                        // By setting skip_to_state_evaluation to false, we
+                        // are effectively jumping to the beginning of this if.
+                        assert(not states.empty());
+                        states.pop_back();
+                        skip_to_state_evaluation = true;
+                        continue;
+                    }
+                    else
+                    {
+                        return sax->parse_error(m_lexer.get_position(),
+                                                m_lexer.get_token_string(),
+                                                parse_error::create(101, m_lexer.get_position(),
+                                                        exception_message(token_type::end_array, "array")));
+                    }
+                }
+                else  // object
+                {
+                    // comma -> next value
+                    if (get_token() == token_type::value_separator)
+                    {
+                        // parse key
+                        if (JSON_UNLIKELY(get_token() != token_type::value_string))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    parse_error::create(101, m_lexer.get_position(),
+                                                            exception_message(token_type::value_string, "object key")));
+                        }
+                        else
+                        {
+                            if (JSON_UNLIKELY(not sax->key(m_lexer.get_string())))
+                            {
+                                return false;
+                            }
+                        }
+
+                        // parse separator (:)
+                        if (JSON_UNLIKELY(get_token() != token_type::name_separator))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    parse_error::create(101, m_lexer.get_position(),
+                                                            exception_message(token_type::name_separator, "object separator")));
+                        }
+
+                        // parse values
+                        get_token();
+                        continue;
+                    }
+
+                    // closing }
+                    if (JSON_LIKELY(last_token == token_type::end_object))
+                    {
+                        if (JSON_UNLIKELY(not sax->end_object()))
+                        {
+                            return false;
+                        }
+
+                        // We are done with this object. Before we can parse a
+                        // new value, we need to evaluate the new state first.
+                        // By setting skip_to_state_evaluation to false, we
+                        // are effectively jumping to the beginning of this if.
+                        assert(not states.empty());
+                        states.pop_back();
+                        skip_to_state_evaluation = true;
+                        continue;
+                    }
+                    else
+                    {
+                        return sax->parse_error(m_lexer.get_position(),
+                                                m_lexer.get_token_string(),
+                                                parse_error::create(101, m_lexer.get_position(),
+                                                        exception_message(token_type::end_object, "object")));
+                    }
+                }
+            }
+        }
+    }
+
+    /// get next token from lexer
+    token_type get_token()
+    {
+        return (last_token = m_lexer.scan());
+    }
+
+    std::string exception_message(const token_type expected, const std::string& context)
+    {
+        std::string error_msg = "syntax error ";
+
+        if (not context.empty())
+        {
+            error_msg += "while parsing " + context + " ";
+        }
+
+        error_msg += "- ";
+
+        if (last_token == token_type::parse_error)
+        {
+            error_msg += std::string(m_lexer.get_error_message()) + "; last read: '" +
+                         m_lexer.get_token_string() + "'";
+        }
+        else
+        {
+            error_msg += "unexpected " + std::string(lexer_t::token_type_name(last_token));
+        }
+
+        if (expected != token_type::uninitialized)
+        {
+            error_msg += "; expected " + std::string(lexer_t::token_type_name(expected));
+        }
+
+        return error_msg;
+    }
+
+  private:
+    /// callback function
+    const parser_callback_t callback = nullptr;
+    /// the type of the last read token
+    token_type last_token = token_type::uninitialized;
+    /// the lexer
+    lexer_t m_lexer;
+    /// whether to throw exceptions in case of errors
+    const bool allow_exceptions = true;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/iterators/primitive_iterator.hpp>
+
+
+#include <cstddef> // ptrdiff_t
+#include <limits>  // numeric_limits
+
+namespace nlohmann
+{
+namespace detail
+{
+/*
+@brief an iterator for primitive JSON types
+
+This class models an iterator for primitive JSON types (boolean, number,
+string). It's only purpose is to allow the iterator/const_iterator classes
+to "iterate" over primitive values. Internally, the iterator is modeled by
+a `difference_type` variable. Value begin_value (`0`) models the begin,
+end_value (`1`) models past the end.
+*/
+class primitive_iterator_t
+{
+  private:
+    using difference_type = std::ptrdiff_t;
+    static constexpr difference_type begin_value = 0;
+    static constexpr difference_type end_value = begin_value + 1;
+
+    /// iterator as signed integer type
+    difference_type m_it = (std::numeric_limits<std::ptrdiff_t>::min)();
+
+  public:
+    constexpr difference_type get_value() const noexcept
+    {
+        return m_it;
+    }
+
+    /// set iterator to a defined beginning
+    void set_begin() noexcept
+    {
+        m_it = begin_value;
+    }
+
+    /// set iterator to a defined past the end
+    void set_end() noexcept
+    {
+        m_it = end_value;
+    }
+
+    /// return whether the iterator can be dereferenced
+    constexpr bool is_begin() const noexcept
+    {
+        return m_it == begin_value;
+    }
+
+    /// return whether the iterator is at end
+    constexpr bool is_end() const noexcept
+    {
+        return m_it == end_value;
+    }
+
+    friend constexpr bool operator==(primitive_iterator_t lhs, primitive_iterator_t rhs) noexcept
+    {
+        return lhs.m_it == rhs.m_it;
+    }
+
+    friend constexpr bool operator<(primitive_iterator_t lhs, primitive_iterator_t rhs) noexcept
+    {
+        return lhs.m_it < rhs.m_it;
+    }
+
+    primitive_iterator_t operator+(difference_type n) noexcept
+    {
+        auto result = *this;
+        result += n;
+        return result;
+    }
+
+    friend constexpr difference_type operator-(primitive_iterator_t lhs, primitive_iterator_t rhs) noexcept
+    {
+        return lhs.m_it - rhs.m_it;
+    }
+
+    primitive_iterator_t& operator++() noexcept
+    {
+        ++m_it;
+        return *this;
+    }
+
+    primitive_iterator_t const operator++(int) noexcept
+    {
+        auto result = *this;
+        ++m_it;
+        return result;
+    }
+
+    primitive_iterator_t& operator--() noexcept
+    {
+        --m_it;
+        return *this;
+    }
+
+    primitive_iterator_t const operator--(int) noexcept
+    {
+        auto result = *this;
+        --m_it;
+        return result;
+    }
+
+    primitive_iterator_t& operator+=(difference_type n) noexcept
+    {
+        m_it += n;
+        return *this;
+    }
+
+    primitive_iterator_t& operator-=(difference_type n) noexcept
+    {
+        m_it -= n;
+        return *this;
+    }
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/iterators/internal_iterator.hpp>
+
+
+// #include <nlohmann/detail/iterators/primitive_iterator.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+/*!
+@brief an iterator value
+
+@note This structure could easily be a union, but MSVC currently does not allow
+unions members with complex constructors, see https://github.com/nlohmann/json/pull/105.
+*/
+template<typename BasicJsonType> struct internal_iterator
+{
+    /// iterator for JSON objects
+    typename BasicJsonType::object_t::iterator object_iterator {};
+    /// iterator for JSON arrays
+    typename BasicJsonType::array_t::iterator array_iterator {};
+    /// generic iterator for all other types
+    primitive_iterator_t primitive_iterator {};
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/iterators/iter_impl.hpp>
+
+
+#include <ciso646> // not
+#include <iterator> // iterator, random_access_iterator_tag, bidirectional_iterator_tag, advance, next
+#include <type_traits> // conditional, is_const, remove_const
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/iterators/internal_iterator.hpp>
+
+// #include <nlohmann/detail/iterators/primitive_iterator.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+// forward declare, to be able to friend it later on
+template<typename IteratorType> class iteration_proxy;
+template<typename IteratorType> class iteration_proxy_value;
+
+/*!
+@brief a template for a bidirectional iterator for the @ref basic_json class
+This class implements a both iterators (iterator and const_iterator) for the
+@ref basic_json class.
+@note An iterator is called *initialized* when a pointer to a JSON value has
+      been set (e.g., by a constructor or a copy assignment). If the iterator is
+      default-constructed, it is *uninitialized* and most methods are undefined.
+      **The library uses assertions to detect calls on uninitialized iterators.**
+@requirement The class satisfies the following concept requirements:
+-
+[BidirectionalIterator](https://en.cppreference.com/w/cpp/named_req/BidirectionalIterator):
+  The iterator that can be moved can be moved in both directions (i.e.
+  incremented and decremented).
+@since version 1.0.0, simplified in version 2.0.9, change to bidirectional
+       iterators in version 3.0.0 (see https://github.com/nlohmann/json/issues/593)
+*/
+template<typename BasicJsonType>
+class iter_impl
+{
+    /// allow basic_json to access private members
+    friend iter_impl<typename std::conditional<std::is_const<BasicJsonType>::value, typename std::remove_const<BasicJsonType>::type, const BasicJsonType>::type>;
+    friend BasicJsonType;
+    friend iteration_proxy<iter_impl>;
+    friend iteration_proxy_value<iter_impl>;
+
+    using object_t = typename BasicJsonType::object_t;
+    using array_t = typename BasicJsonType::array_t;
+    // make sure BasicJsonType is basic_json or const basic_json
+    static_assert(is_basic_json<typename std::remove_const<BasicJsonType>::type>::value,
+                  "iter_impl only accepts (const) basic_json");
+
+  public:
+
+    /// The std::iterator class template (used as a base class to provide typedefs) is deprecated in C++17.
+    /// The C++ Standard has never required user-defined iterators to derive from std::iterator.
+    /// A user-defined iterator should provide publicly accessible typedefs named
+    /// iterator_category, value_type, difference_type, pointer, and reference.
+    /// Note that value_type is required to be non-const, even for constant iterators.
+    using iterator_category = std::bidirectional_iterator_tag;
+
+    /// the type of the values when the iterator is dereferenced
+    using value_type = typename BasicJsonType::value_type;
+    /// a type to represent differences between iterators
+    using difference_type = typename BasicJsonType::difference_type;
+    /// defines a pointer to the type iterated over (value_type)
+    using pointer = typename std::conditional<std::is_const<BasicJsonType>::value,
+          typename BasicJsonType::const_pointer,
+          typename BasicJsonType::pointer>::type;
+    /// defines a reference to the type iterated over (value_type)
+    using reference =
+        typename std::conditional<std::is_const<BasicJsonType>::value,
+        typename BasicJsonType::const_reference,
+        typename BasicJsonType::reference>::type;
+
+    /// default constructor
+    iter_impl() = default;
+
+    /*!
+    @brief constructor for a given JSON instance
+    @param[in] object  pointer to a JSON object for this iterator
+    @pre object != nullptr
+    @post The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    explicit iter_impl(pointer object) noexcept : m_object(object)
+    {
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                m_it.object_iterator = typename object_t::iterator();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_it.array_iterator = typename array_t::iterator();
+                break;
+            }
+
+            default:
+            {
+                m_it.primitive_iterator = primitive_iterator_t();
+                break;
+            }
+        }
+    }
+
+    /*!
+    @note The conventional copy constructor and copy assignment are implicitly
+          defined. Combined with the following converting constructor and
+          assignment, they support: (1) copy from iterator to iterator, (2)
+          copy from const iterator to const iterator, and (3) conversion from
+          iterator to const iterator. However conversion from const iterator
+          to iterator is not defined.
+    */
+
+    /*!
+    @brief converting constructor
+    @param[in] other  non-const iterator to copy from
+    @note It is not checked whether @a other is initialized.
+    */
+    iter_impl(const iter_impl<typename std::remove_const<BasicJsonType>::type>& other) noexcept
+        : m_object(other.m_object), m_it(other.m_it) {}
+
+    /*!
+    @brief converting assignment
+    @param[in,out] other  non-const iterator to copy from
+    @return const/non-const iterator
+    @note It is not checked whether @a other is initialized.
+    */
+    iter_impl& operator=(const iter_impl<typename std::remove_const<BasicJsonType>::type>& other) noexcept
+    {
+        m_object = other.m_object;
+        m_it = other.m_it;
+        return *this;
+    }
+
+  private:
+    /*!
+    @brief set the iterator to the first value
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    void set_begin() noexcept
+    {
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                m_it.object_iterator = m_object->m_value.object->begin();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_it.array_iterator = m_object->m_value.array->begin();
+                break;
+            }
+
+            case value_t::null:
+            {
+                // set to end so begin()==end() is true: null is empty
+                m_it.primitive_iterator.set_end();
+                break;
+            }
+
+            default:
+            {
+                m_it.primitive_iterator.set_begin();
+                break;
+            }
+        }
+    }
+
+    /*!
+    @brief set the iterator past the last value
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    void set_end() noexcept
+    {
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                m_it.object_iterator = m_object->m_value.object->end();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_it.array_iterator = m_object->m_value.array->end();
+                break;
+            }
+
+            default:
+            {
+                m_it.primitive_iterator.set_end();
+                break;
+            }
+        }
+    }
+
+  public:
+    /*!
+    @brief return a reference to the value pointed to by the iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    reference operator*() const
+    {
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                assert(m_it.object_iterator != m_object->m_value.object->end());
+                return m_it.object_iterator->second;
+            }
+
+            case value_t::array:
+            {
+                assert(m_it.array_iterator != m_object->m_value.array->end());
+                return *m_it.array_iterator;
+            }
+
+            case value_t::null:
+                JSON_THROW(invalid_iterator::create(214, "cannot get value"));
+
+            default:
+            {
+                if (JSON_LIKELY(m_it.primitive_iterator.is_begin()))
+                {
+                    return *m_object;
+                }
+
+                JSON_THROW(invalid_iterator::create(214, "cannot get value"));
+            }
+        }
+    }
+
+    /*!
+    @brief dereference the iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    pointer operator->() const
+    {
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                assert(m_it.object_iterator != m_object->m_value.object->end());
+                return &(m_it.object_iterator->second);
+            }
+
+            case value_t::array:
+            {
+                assert(m_it.array_iterator != m_object->m_value.array->end());
+                return &*m_it.array_iterator;
+            }
+
+            default:
+            {
+                if (JSON_LIKELY(m_it.primitive_iterator.is_begin()))
+                {
+                    return m_object;
+                }
+
+                JSON_THROW(invalid_iterator::create(214, "cannot get value"));
+            }
+        }
+    }
+
+    /*!
+    @brief post-increment (it++)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl const operator++(int)
+    {
+        auto result = *this;
+        ++(*this);
+        return result;
+    }
+
+    /*!
+    @brief pre-increment (++it)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator++()
+    {
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                std::advance(m_it.object_iterator, 1);
+                break;
+            }
+
+            case value_t::array:
+            {
+                std::advance(m_it.array_iterator, 1);
+                break;
+            }
+
+            default:
+            {
+                ++m_it.primitive_iterator;
+                break;
+            }
+        }
+
+        return *this;
+    }
+
+    /*!
+    @brief post-decrement (it--)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl const operator--(int)
+    {
+        auto result = *this;
+        --(*this);
+        return result;
+    }
+
+    /*!
+    @brief pre-decrement (--it)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator--()
+    {
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                std::advance(m_it.object_iterator, -1);
+                break;
+            }
+
+            case value_t::array:
+            {
+                std::advance(m_it.array_iterator, -1);
+                break;
+            }
+
+            default:
+            {
+                --m_it.primitive_iterator;
+                break;
+            }
+        }
+
+        return *this;
+    }
+
+    /*!
+    @brief  comparison: equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator==(const iter_impl& other) const
+    {
+        // if objects are not the same, the comparison is undefined
+        if (JSON_UNLIKELY(m_object != other.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(212, "cannot compare iterators of different containers"));
+        }
+
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+                return (m_it.object_iterator == other.m_it.object_iterator);
+
+            case value_t::array:
+                return (m_it.array_iterator == other.m_it.array_iterator);
+
+            default:
+                return (m_it.primitive_iterator == other.m_it.primitive_iterator);
+        }
+    }
+
+    /*!
+    @brief  comparison: not equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator!=(const iter_impl& other) const
+    {
+        return not operator==(other);
+    }
+
+    /*!
+    @brief  comparison: smaller
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator<(const iter_impl& other) const
+    {
+        // if objects are not the same, the comparison is undefined
+        if (JSON_UNLIKELY(m_object != other.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(212, "cannot compare iterators of different containers"));
+        }
+
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(213, "cannot compare order of object iterators"));
+
+            case value_t::array:
+                return (m_it.array_iterator < other.m_it.array_iterator);
+
+            default:
+                return (m_it.primitive_iterator < other.m_it.primitive_iterator);
+        }
+    }
+
+    /*!
+    @brief  comparison: less than or equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator<=(const iter_impl& other) const
+    {
+        return not other.operator < (*this);
+    }
+
+    /*!
+    @brief  comparison: greater than
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator>(const iter_impl& other) const
+    {
+        return not operator<=(other);
+    }
+
+    /*!
+    @brief  comparison: greater than or equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator>=(const iter_impl& other) const
+    {
+        return not operator<(other);
+    }
+
+    /*!
+    @brief  add to iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator+=(difference_type i)
+    {
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(209, "cannot use offsets with object iterators"));
+
+            case value_t::array:
+            {
+                std::advance(m_it.array_iterator, i);
+                break;
+            }
+
+            default:
+            {
+                m_it.primitive_iterator += i;
+                break;
+            }
+        }
+
+        return *this;
+    }
+
+    /*!
+    @brief  subtract from iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator-=(difference_type i)
+    {
+        return operator+=(-i);
+    }
+
+    /*!
+    @brief  add to iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl operator+(difference_type i) const
+    {
+        auto result = *this;
+        result += i;
+        return result;
+    }
+
+    /*!
+    @brief  addition of distance and iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    friend iter_impl operator+(difference_type i, const iter_impl& it)
+    {
+        auto result = it;
+        result += i;
+        return result;
+    }
+
+    /*!
+    @brief  subtract from iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl operator-(difference_type i) const
+    {
+        auto result = *this;
+        result -= i;
+        return result;
+    }
+
+    /*!
+    @brief  return difference
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    difference_type operator-(const iter_impl& other) const
+    {
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(209, "cannot use offsets with object iterators"));
+
+            case value_t::array:
+                return m_it.array_iterator - other.m_it.array_iterator;
+
+            default:
+                return m_it.primitive_iterator - other.m_it.primitive_iterator;
+        }
+    }
+
+    /*!
+    @brief  access to successor
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    reference operator[](difference_type n) const
+    {
+        assert(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(208, "cannot use operator[] for object iterators"));
+
+            case value_t::array:
+                return *std::next(m_it.array_iterator, n);
+
+            case value_t::null:
+                JSON_THROW(invalid_iterator::create(214, "cannot get value"));
+
+            default:
+            {
+                if (JSON_LIKELY(m_it.primitive_iterator.get_value() == -n))
+                {
+                    return *m_object;
+                }
+
+                JSON_THROW(invalid_iterator::create(214, "cannot get value"));
+            }
+        }
+    }
+
+    /*!
+    @brief  return the key of an object iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    const typename object_t::key_type& key() const
+    {
+        assert(m_object != nullptr);
+
+        if (JSON_LIKELY(m_object->is_object()))
+        {
+            return m_it.object_iterator->first;
+        }
+
+        JSON_THROW(invalid_iterator::create(207, "cannot use key() for non-object iterators"));
+    }
+
+    /*!
+    @brief  return the value of an iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    reference value() const
+    {
+        return operator*();
+    }
+
+  private:
+    /// associated JSON instance
+    pointer m_object = nullptr;
+    /// the actual iterator of the associated instance
+    internal_iterator<typename std::remove_const<BasicJsonType>::type> m_it;
+};
+}  // namespace detail
+} // namespace nlohmann
+// #include <nlohmann/detail/iterators/iteration_proxy.hpp>
+
+// #include <nlohmann/detail/iterators/json_reverse_iterator.hpp>
+
+
+#include <cstddef> // ptrdiff_t
+#include <iterator> // reverse_iterator
+#include <utility> // declval
+
+namespace nlohmann
+{
+namespace detail
+{
+//////////////////////
+// reverse_iterator //
+//////////////////////
+
+/*!
+@brief a template for a reverse iterator class
+
+@tparam Base the base iterator type to reverse. Valid types are @ref
+iterator (to create @ref reverse_iterator) and @ref const_iterator (to
+create @ref const_reverse_iterator).
+
+@requirement The class satisfies the following concept requirements:
+-
+[BidirectionalIterator](https://en.cppreference.com/w/cpp/named_req/BidirectionalIterator):
+  The iterator that can be moved can be moved in both directions (i.e.
+  incremented and decremented).
+- [OutputIterator](https://en.cppreference.com/w/cpp/named_req/OutputIterator):
+  It is possible to write to the pointed-to element (only if @a Base is
+  @ref iterator).
+
+@since version 1.0.0
+*/
+template<typename Base>
+class json_reverse_iterator : public std::reverse_iterator<Base>
+{
+  public:
+    using difference_type = std::ptrdiff_t;
+    /// shortcut to the reverse iterator adapter
+    using base_iterator = std::reverse_iterator<Base>;
+    /// the reference type for the pointed-to element
+    using reference = typename Base::reference;
+
+    /// create reverse iterator from iterator
+    explicit json_reverse_iterator(const typename base_iterator::iterator_type& it) noexcept
+        : base_iterator(it) {}
+
+    /// create reverse iterator from base class
+    explicit json_reverse_iterator(const base_iterator& it) noexcept : base_iterator(it) {}
+
+    /// post-increment (it++)
+    json_reverse_iterator const operator++(int)
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator++(1));
+    }
+
+    /// pre-increment (++it)
+    json_reverse_iterator& operator++()
+    {
+        return static_cast<json_reverse_iterator&>(base_iterator::operator++());
+    }
+
+    /// post-decrement (it--)
+    json_reverse_iterator const operator--(int)
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator--(1));
+    }
+
+    /// pre-decrement (--it)
+    json_reverse_iterator& operator--()
+    {
+        return static_cast<json_reverse_iterator&>(base_iterator::operator--());
+    }
+
+    /// add to iterator
+    json_reverse_iterator& operator+=(difference_type i)
+    {
+        return static_cast<json_reverse_iterator&>(base_iterator::operator+=(i));
+    }
+
+    /// add to iterator
+    json_reverse_iterator operator+(difference_type i) const
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator+(i));
+    }
+
+    /// subtract from iterator
+    json_reverse_iterator operator-(difference_type i) const
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator-(i));
+    }
+
+    /// return difference
+    difference_type operator-(const json_reverse_iterator& other) const
+    {
+        return base_iterator(*this) - base_iterator(other);
+    }
+
+    /// access to successor
+    reference operator[](difference_type n) const
+    {
+        return *(this->operator+(n));
+    }
+
+    /// return the key of an object iterator
+    auto key() const -> decltype(std::declval<Base>().key())
+    {
+        auto it = --this->base();
+        return it.key();
+    }
+
+    /// return the value of an iterator
+    reference value() const
+    {
+        auto it = --this->base();
+        return it.operator * ();
+    }
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/output/output_adapters.hpp>
+
+
+#include <algorithm> // copy
+#include <cstddef> // size_t
+#include <ios> // streamsize
+#include <iterator> // back_inserter
+#include <memory> // shared_ptr, make_shared
+#include <ostream> // basic_ostream
+#include <string> // basic_string
+#include <vector> // vector
+
+namespace nlohmann
+{
+namespace detail
+{
+/// abstract output adapter interface
+template<typename CharType> struct output_adapter_protocol
+{
+    virtual void write_character(CharType c) = 0;
+    virtual void write_characters(const CharType* s, std::size_t length) = 0;
+    virtual ~output_adapter_protocol() = default;
+};
+
+/// a type to simplify interfaces
+template<typename CharType>
+using output_adapter_t = std::shared_ptr<output_adapter_protocol<CharType>>;
+
+/// output adapter for byte vectors
+template<typename CharType>
+class output_vector_adapter : public output_adapter_protocol<CharType>
+{
+  public:
+    explicit output_vector_adapter(std::vector<CharType>& vec) noexcept
+        : v(vec)
+    {}
+
+    void write_character(CharType c) override
+    {
+        v.push_back(c);
+    }
+
+    void write_characters(const CharType* s, std::size_t length) override
+    {
+        std::copy(s, s + length, std::back_inserter(v));
+    }
+
+  private:
+    std::vector<CharType>& v;
+};
+
+/// output adapter for output streams
+template<typename CharType>
+class output_stream_adapter : public output_adapter_protocol<CharType>
+{
+  public:
+    explicit output_stream_adapter(std::basic_ostream<CharType>& s) noexcept
+        : stream(s)
+    {}
+
+    void write_character(CharType c) override
+    {
+        stream.put(c);
+    }
+
+    void write_characters(const CharType* s, std::size_t length) override
+    {
+        stream.write(s, static_cast<std::streamsize>(length));
+    }
+
+  private:
+    std::basic_ostream<CharType>& stream;
+};
+
+/// output adapter for basic_string
+template<typename CharType, typename StringType = std::basic_string<CharType>>
+class output_string_adapter : public output_adapter_protocol<CharType>
+{
+  public:
+    explicit output_string_adapter(StringType& s) noexcept
+        : str(s)
+    {}
+
+    void write_character(CharType c) override
+    {
+        str.push_back(c);
+    }
+
+    void write_characters(const CharType* s, std::size_t length) override
+    {
+        str.append(s, length);
+    }
+
+  private:
+    StringType& str;
+};
+
+template<typename CharType, typename StringType = std::basic_string<CharType>>
+class output_adapter
+{
+  public:
+    output_adapter(std::vector<CharType>& vec)
+        : oa(std::make_shared<output_vector_adapter<CharType>>(vec)) {}
+
+    output_adapter(std::basic_ostream<CharType>& s)
+        : oa(std::make_shared<output_stream_adapter<CharType>>(s)) {}
+
+    output_adapter(StringType& s)
+        : oa(std::make_shared<output_string_adapter<CharType, StringType>>(s)) {}
+
+    operator output_adapter_t<CharType>()
+    {
+        return oa;
+    }
+
+  private:
+    output_adapter_t<CharType> oa = nullptr;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/input/binary_reader.hpp>
+
+
+#include <algorithm> // generate_n
+#include <array> // array
+#include <cassert> // assert
+#include <cmath> // ldexp
+#include <cstddef> // size_t
+#include <cstdint> // uint8_t, uint16_t, uint32_t, uint64_t
+#include <cstdio> // snprintf
+#include <cstring> // memcpy
+#include <iterator> // back_inserter
+#include <limits> // numeric_limits
+#include <string> // char_traits, string
+#include <utility> // make_pair, move
+
+// #include <nlohmann/detail/input/input_adapters.hpp>
+
+// #include <nlohmann/detail/input/json_sax.hpp>
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/is_sax.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+///////////////////
+// binary reader //
+///////////////////
+
+/*!
+@brief deserialization of CBOR, MessagePack, and UBJSON values
+*/
+template<typename BasicJsonType, typename SAX = json_sax_dom_parser<BasicJsonType>>
+class binary_reader
+{
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using json_sax_t = SAX;
+
+  public:
+    /*!
+    @brief create a binary reader
+
+    @param[in] adapter  input adapter to read from
+    */
+    explicit binary_reader(input_adapter_t adapter) : ia(std::move(adapter))
+    {
+        (void)detail::is_sax_static_asserts<SAX, BasicJsonType> {};
+        assert(ia);
+    }
+
+    /*!
+    @param[in] format  the binary format to parse
+    @param[in] sax_    a SAX event processor
+    @param[in] strict  whether to expect the input to be consumed completed
+
+    @return
+    */
+    bool sax_parse(const input_format_t format,
+                   json_sax_t* sax_,
+                   const bool strict = true)
+    {
+        sax = sax_;
+        bool result = false;
+
+        switch (format)
+        {
+            case input_format_t::bson:
+                result = parse_bson_internal();
+                break;
+
+            case input_format_t::cbor:
+                result = parse_cbor_internal();
+                break;
+
+            case input_format_t::msgpack:
+                result = parse_msgpack_internal();
+                break;
+
+            case input_format_t::ubjson:
+                result = parse_ubjson_internal();
+                break;
+
+            // LCOV_EXCL_START
+            default:
+                assert(false);
+                // LCOV_EXCL_STOP
+        }
+
+        // strict mode: next byte must be EOF
+        if (result and strict)
+        {
+            if (format == input_format_t::ubjson)
+            {
+                get_ignore_noop();
+            }
+            else
+            {
+                get();
+            }
+
+            if (JSON_UNLIKELY(current != std::char_traits<char>::eof()))
+            {
+                return sax->parse_error(chars_read, get_token_string(),
+                                        parse_error::create(110, chars_read, exception_message(format, "expected end of input; last byte: 0x" + get_token_string(), "value")));
+            }
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief determine system byte order
+
+    @return true if and only if system's byte order is little endian
+
+    @note from http://stackoverflow.com/a/1001328/266378
+    */
+    static constexpr bool little_endianess(int num = 1) noexcept
+    {
+        return (*reinterpret_cast<char*>(&num) == 1);
+    }
+
+  private:
+    //////////
+    // BSON //
+    //////////
+
+    /*!
+    @brief Reads in a BSON-object and passes it to the SAX-parser.
+    @return whether a valid BSON-value was passed to the SAX parser
+    */
+    bool parse_bson_internal()
+    {
+        std::int32_t document_size;
+        get_number<std::int32_t, true>(input_format_t::bson, document_size);
+
+        if (JSON_UNLIKELY(not sax->start_object(std::size_t(-1))))
+        {
+            return false;
+        }
+
+        if (JSON_UNLIKELY(not parse_bson_element_list(/*is_array*/false)))
+        {
+            return false;
+        }
+
+        return sax->end_object();
+    }
+
+    /*!
+    @brief Parses a C-style string from the BSON input.
+    @param[in, out] result  A reference to the string variable where the read
+                            string is to be stored.
+    @return `true` if the \x00-byte indicating the end of the string was
+             encountered before the EOF; false` indicates an unexpected EOF.
+    */
+    bool get_bson_cstr(string_t& result)
+    {
+        auto out = std::back_inserter(result);
+        while (true)
+        {
+            get();
+            if (JSON_UNLIKELY(not unexpect_eof(input_format_t::bson, "cstring")))
+            {
+                return false;
+            }
+            if (current == 0x00)
+            {
+                return true;
+            }
+            *out++ = static_cast<char>(current);
+        }
+
+        return true;
+    }
+
+    /*!
+    @brief Parses a zero-terminated string of length @a len from the BSON
+           input.
+    @param[in] len  The length (including the zero-byte at the end) of the
+                    string to be read.
+    @param[in, out] result  A reference to the string variable where the read
+                            string is to be stored.
+    @tparam NumberType The type of the length @a len
+    @pre len >= 1
+    @return `true` if the string was successfully parsed
+    */
+    template<typename NumberType>
+    bool get_bson_string(const NumberType len, string_t& result)
+    {
+        if (JSON_UNLIKELY(len < 1))
+        {
+            auto last_token = get_token_string();
+            return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::bson, "string length must be at least 1, is " + std::to_string(len), "string")));
+        }
+
+        return get_string(input_format_t::bson, len - static_cast<NumberType>(1), result) and get() != std::char_traits<char>::eof();
+    }
+
+    /*!
+    @brief Read a BSON document element of the given @a element_type.
+    @param[in] element_type The BSON element type, c.f. http://bsonspec.org/spec.html
+    @param[in] element_type_parse_position The position in the input stream,
+               where the `element_type` was read.
+    @warning Not all BSON element types are supported yet. An unsupported
+             @a element_type will give rise to a parse_error.114:
+             Unsupported BSON record type 0x...
+    @return whether a valid BSON-object/array was passed to the SAX parser
+    */
+    bool parse_bson_element_internal(const int element_type,
+                                     const std::size_t element_type_parse_position)
+    {
+        switch (element_type)
+        {
+            case 0x01: // double
+            {
+                double number;
+                return get_number<double, true>(input_format_t::bson, number) and sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0x02: // string
+            {
+                std::int32_t len;
+                string_t value;
+                return get_number<std::int32_t, true>(input_format_t::bson, len) and get_bson_string(len, value) and sax->string(value);
+            }
+
+            case 0x03: // object
+            {
+                return parse_bson_internal();
+            }
+
+            case 0x04: // array
+            {
+                return parse_bson_array();
+            }
+
+            case 0x08: // boolean
+            {
+                return sax->boolean(get() != 0);
+            }
+
+            case 0x0A: // null
+            {
+                return sax->null();
+            }
+
+            case 0x10: // int32
+            {
+                std::int32_t value;
+                return get_number<std::int32_t, true>(input_format_t::bson, value) and sax->number_integer(value);
+            }
+
+            case 0x12: // int64
+            {
+                std::int64_t value;
+                return get_number<std::int64_t, true>(input_format_t::bson, value) and sax->number_integer(value);
+            }
+
+            default: // anything else not supported (yet)
+            {
+                char cr[3];
+                (std::snprintf)(cr, sizeof(cr), "%.2hhX", static_cast<unsigned char>(element_type));
+                return sax->parse_error(element_type_parse_position, std::string(cr), parse_error::create(114, element_type_parse_position, "Unsupported BSON record type 0x" + std::string(cr)));
+            }
+        }
+    }
+
+    /*!
+    @brief Read a BSON element list (as specified in the BSON-spec)
+
+    The same binary layout is used for objects and arrays, hence it must be
+    indicated with the argument @a is_array which one is expected
+    (true --> array, false --> object).
+
+    @param[in] is_array Determines if the element list being read is to be
+                        treated as an object (@a is_array == false), or as an
+                        array (@a is_array == true).
+    @return whether a valid BSON-object/array was passed to the SAX parser
+    */
+    bool parse_bson_element_list(const bool is_array)
+    {
+        string_t key;
+        while (int element_type = get())
+        {
+            if (JSON_UNLIKELY(not unexpect_eof(input_format_t::bson, "element list")))
+            {
+                return false;
+            }
+
+            const std::size_t element_type_parse_position = chars_read;
+            if (JSON_UNLIKELY(not get_bson_cstr(key)))
+            {
+                return false;
+            }
+
+            if (not is_array)
+            {
+                if (not sax->key(key))
+                {
+                    return false;
+                }
+            }
+
+            if (JSON_UNLIKELY(not parse_bson_element_internal(element_type, element_type_parse_position)))
+            {
+                return false;
+            }
+
+            // get_bson_cstr only appends
+            key.clear();
+        }
+
+        return true;
+    }
+
+    /*!
+    @brief Reads an array from the BSON input and passes it to the SAX-parser.
+    @return whether a valid BSON-array was passed to the SAX parser
+    */
+    bool parse_bson_array()
+    {
+        std::int32_t document_size;
+        get_number<std::int32_t, true>(input_format_t::bson, document_size);
+
+        if (JSON_UNLIKELY(not sax->start_array(std::size_t(-1))))
+        {
+            return false;
+        }
+
+        if (JSON_UNLIKELY(not parse_bson_element_list(/*is_array*/true)))
+        {
+            return false;
+        }
+
+        return sax->end_array();
+    }
+
+    //////////
+    // CBOR //
+    //////////
+
+    /*!
+    @param[in] get_char  whether a new character should be retrieved from the
+                         input (true, default) or whether the last read
+                         character should be considered instead
+
+    @return whether a valid CBOR value was passed to the SAX parser
+    */
+    bool parse_cbor_internal(const bool get_char = true)
+    {
+        switch (get_char ? get() : current)
+        {
+            // EOF
+            case std::char_traits<char>::eof():
+                return unexpect_eof(input_format_t::cbor, "value");
+
+            // Integer 0x00..0x17 (0..23)
+            case 0x00:
+            case 0x01:
+            case 0x02:
+            case 0x03:
+            case 0x04:
+            case 0x05:
+            case 0x06:
+            case 0x07:
+            case 0x08:
+            case 0x09:
+            case 0x0A:
+            case 0x0B:
+            case 0x0C:
+            case 0x0D:
+            case 0x0E:
+            case 0x0F:
+            case 0x10:
+            case 0x11:
+            case 0x12:
+            case 0x13:
+            case 0x14:
+            case 0x15:
+            case 0x16:
+            case 0x17:
+                return sax->number_unsigned(static_cast<number_unsigned_t>(current));
+
+            case 0x18: // Unsigned integer (one-byte uint8_t follows)
+            {
+                uint8_t number;
+                return get_number(input_format_t::cbor, number) and sax->number_unsigned(number);
+            }
+
+            case 0x19: // Unsigned integer (two-byte uint16_t follows)
+            {
+                uint16_t number;
+                return get_number(input_format_t::cbor, number) and sax->number_unsigned(number);
+            }
+
+            case 0x1A: // Unsigned integer (four-byte uint32_t follows)
+            {
+                uint32_t number;
+                return get_number(input_format_t::cbor, number) and sax->number_unsigned(number);
+            }
+
+            case 0x1B: // Unsigned integer (eight-byte uint64_t follows)
+            {
+                uint64_t number;
+                return get_number(input_format_t::cbor, number) and sax->number_unsigned(number);
+            }
+
+            // Negative integer -1-0x00..-1-0x17 (-1..-24)
+            case 0x20:
+            case 0x21:
+            case 0x22:
+            case 0x23:
+            case 0x24:
+            case 0x25:
+            case 0x26:
+            case 0x27:
+            case 0x28:
+            case 0x29:
+            case 0x2A:
+            case 0x2B:
+            case 0x2C:
+            case 0x2D:
+            case 0x2E:
+            case 0x2F:
+            case 0x30:
+            case 0x31:
+            case 0x32:
+            case 0x33:
+            case 0x34:
+            case 0x35:
+            case 0x36:
+            case 0x37:
+                return sax->number_integer(static_cast<int8_t>(0x20 - 1 - current));
+
+            case 0x38: // Negative integer (one-byte uint8_t follows)
+            {
+                uint8_t number;
+                return get_number(input_format_t::cbor, number) and sax->number_integer(static_cast<number_integer_t>(-1) - number);
+            }
+
+            case 0x39: // Negative integer -1-n (two-byte uint16_t follows)
+            {
+                uint16_t number;
+                return get_number(input_format_t::cbor, number) and sax->number_integer(static_cast<number_integer_t>(-1) - number);
+            }
+
+            case 0x3A: // Negative integer -1-n (four-byte uint32_t follows)
+            {
+                uint32_t number;
+                return get_number(input_format_t::cbor, number) and sax->number_integer(static_cast<number_integer_t>(-1) - number);
+            }
+
+            case 0x3B: // Negative integer -1-n (eight-byte uint64_t follows)
+            {
+                uint64_t number;
+                return get_number(input_format_t::cbor, number) and sax->number_integer(static_cast<number_integer_t>(-1)
+                        - static_cast<number_integer_t>(number));
+            }
+
+            // UTF-8 string (0x00..0x17 bytes follow)
+            case 0x60:
+            case 0x61:
+            case 0x62:
+            case 0x63:
+            case 0x64:
+            case 0x65:
+            case 0x66:
+            case 0x67:
+            case 0x68:
+            case 0x69:
+            case 0x6A:
+            case 0x6B:
+            case 0x6C:
+            case 0x6D:
+            case 0x6E:
+            case 0x6F:
+            case 0x70:
+            case 0x71:
+            case 0x72:
+            case 0x73:
+            case 0x74:
+            case 0x75:
+            case 0x76:
+            case 0x77:
+            case 0x78: // UTF-8 string (one-byte uint8_t for n follows)
+            case 0x79: // UTF-8 string (two-byte uint16_t for n follow)
+            case 0x7A: // UTF-8 string (four-byte uint32_t for n follow)
+            case 0x7B: // UTF-8 string (eight-byte uint64_t for n follow)
+            case 0x7F: // UTF-8 string (indefinite length)
+            {
+                string_t s;
+                return get_cbor_string(s) and sax->string(s);
+            }
+
+            // array (0x00..0x17 data items follow)
+            case 0x80:
+            case 0x81:
+            case 0x82:
+            case 0x83:
+            case 0x84:
+            case 0x85:
+            case 0x86:
+            case 0x87:
+            case 0x88:
+            case 0x89:
+            case 0x8A:
+            case 0x8B:
+            case 0x8C:
+            case 0x8D:
+            case 0x8E:
+            case 0x8F:
+            case 0x90:
+            case 0x91:
+            case 0x92:
+            case 0x93:
+            case 0x94:
+            case 0x95:
+            case 0x96:
+            case 0x97:
+                return get_cbor_array(static_cast<std::size_t>(current & 0x1F));
+
+            case 0x98: // array (one-byte uint8_t for n follows)
+            {
+                uint8_t len;
+                return get_number(input_format_t::cbor, len) and get_cbor_array(static_cast<std::size_t>(len));
+            }
+
+            case 0x99: // array (two-byte uint16_t for n follow)
+            {
+                uint16_t len;
+                return get_number(input_format_t::cbor, len) and get_cbor_array(static_cast<std::size_t>(len));
+            }
+
+            case 0x9A: // array (four-byte uint32_t for n follow)
+            {
+                uint32_t len;
+                return get_number(input_format_t::cbor, len) and get_cbor_array(static_cast<std::size_t>(len));
+            }
+
+            case 0x9B: // array (eight-byte uint64_t for n follow)
+            {
+                uint64_t len;
+                return get_number(input_format_t::cbor, len) and get_cbor_array(static_cast<std::size_t>(len));
+            }
+
+            case 0x9F: // array (indefinite length)
+                return get_cbor_array(std::size_t(-1));
+
+            // map (0x00..0x17 pairs of data items follow)
+            case 0xA0:
+            case 0xA1:
+            case 0xA2:
+            case 0xA3:
+            case 0xA4:
+            case 0xA5:
+            case 0xA6:
+            case 0xA7:
+            case 0xA8:
+            case 0xA9:
+            case 0xAA:
+            case 0xAB:
+            case 0xAC:
+            case 0xAD:
+            case 0xAE:
+            case 0xAF:
+            case 0xB0:
+            case 0xB1:
+            case 0xB2:
+            case 0xB3:
+            case 0xB4:
+            case 0xB5:
+            case 0xB6:
+            case 0xB7:
+                return get_cbor_object(static_cast<std::size_t>(current & 0x1F));
+
+            case 0xB8: // map (one-byte uint8_t for n follows)
+            {
+                uint8_t len;
+                return get_number(input_format_t::cbor, len) and get_cbor_object(static_cast<std::size_t>(len));
+            }
+
+            case 0xB9: // map (two-byte uint16_t for n follow)
+            {
+                uint16_t len;
+                return get_number(input_format_t::cbor, len) and get_cbor_object(static_cast<std::size_t>(len));
+            }
+
+            case 0xBA: // map (four-byte uint32_t for n follow)
+            {
+                uint32_t len;
+                return get_number(input_format_t::cbor, len) and get_cbor_object(static_cast<std::size_t>(len));
+            }
+
+            case 0xBB: // map (eight-byte uint64_t for n follow)
+            {
+                uint64_t len;
+                return get_number(input_format_t::cbor, len) and get_cbor_object(static_cast<std::size_t>(len));
+            }
+
+            case 0xBF: // map (indefinite length)
+                return get_cbor_object(std::size_t(-1));
+
+            case 0xF4: // false
+                return sax->boolean(false);
+
+            case 0xF5: // true
+                return sax->boolean(true);
+
+            case 0xF6: // null
+                return sax->null();
+
+            case 0xF9: // Half-Precision Float (two-byte IEEE 754)
+            {
+                const int byte1_raw = get();
+                if (JSON_UNLIKELY(not unexpect_eof(input_format_t::cbor, "number")))
+                {
+                    return false;
+                }
+                const int byte2_raw = get();
+                if (JSON_UNLIKELY(not unexpect_eof(input_format_t::cbor, "number")))
+                {
+                    return false;
+                }
+
+                const auto byte1 = static_cast<unsigned char>(byte1_raw);
+                const auto byte2 = static_cast<unsigned char>(byte2_raw);
+
+                // code from RFC 7049, Appendix D, Figure 3:
+                // As half-precision floating-point numbers were only added
+                // to IEEE 754 in 2008, today's programming platforms often
+                // still only have limited support for them. It is very
+                // easy to include at least decoding support for them even
+                // without such support. An example of a small decoder for
+                // half-precision floating-point numbers in the C language
+                // is shown in Fig. 3.
+                const int half = (byte1 << 8) + byte2;
+                const double val = [&half]
+                {
+                    const int exp = (half >> 10) & 0x1F;
+                    const int mant = half & 0x3FF;
+                    assert(0 <= exp and exp <= 32);
+                    assert(0 <= mant and mant <= 1024);
+                    switch (exp)
+                    {
+                        case 0:
+                            return std::ldexp(mant, -24);
+                        case 31:
+                            return (mant == 0)
+                            ? std::numeric_limits<double>::infinity()
+                            : std::numeric_limits<double>::quiet_NaN();
+                        default:
+                            return std::ldexp(mant + 1024, exp - 25);
+                    }
+                }();
+                return sax->number_float((half & 0x8000) != 0
+                                         ? static_cast<number_float_t>(-val)
+                                         : static_cast<number_float_t>(val), "");
+            }
+
+            case 0xFA: // Single-Precision Float (four-byte IEEE 754)
+            {
+                float number;
+                return get_number(input_format_t::cbor, number) and sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0xFB: // Double-Precision Float (eight-byte IEEE 754)
+            {
+                double number;
+                return get_number(input_format_t::cbor, number) and sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            default: // anything else (0xFF is handled inside the other types)
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::cbor, "invalid byte: 0x" + last_token, "value")));
+            }
+        }
+    }
+
+    /*!
+    @brief reads a CBOR string
+
+    This function first reads starting bytes to determine the expected
+    string length and then copies this number of bytes into a string.
+    Additionally, CBOR's strings with indefinite lengths are supported.
+
+    @param[out] result  created string
+
+    @return whether string creation completed
+    */
+    bool get_cbor_string(string_t& result)
+    {
+        if (JSON_UNLIKELY(not unexpect_eof(input_format_t::cbor, "string")))
+        {
+            return false;
+        }
+
+        switch (current)
+        {
+            // UTF-8 string (0x00..0x17 bytes follow)
+            case 0x60:
+            case 0x61:
+            case 0x62:
+            case 0x63:
+            case 0x64:
+            case 0x65:
+            case 0x66:
+            case 0x67:
+            case 0x68:
+            case 0x69:
+            case 0x6A:
+            case 0x6B:
+            case 0x6C:
+            case 0x6D:
+            case 0x6E:
+            case 0x6F:
+            case 0x70:
+            case 0x71:
+            case 0x72:
+            case 0x73:
+            case 0x74:
+            case 0x75:
+            case 0x76:
+            case 0x77:
+            {
+                return get_string(input_format_t::cbor, current & 0x1F, result);
+            }
+
+            case 0x78: // UTF-8 string (one-byte uint8_t for n follows)
+            {
+                uint8_t len;
+                return get_number(input_format_t::cbor, len) and get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x79: // UTF-8 string (two-byte uint16_t for n follow)
+            {
+                uint16_t len;
+                return get_number(input_format_t::cbor, len) and get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x7A: // UTF-8 string (four-byte uint32_t for n follow)
+            {
+                uint32_t len;
+                return get_number(input_format_t::cbor, len) and get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x7B: // UTF-8 string (eight-byte uint64_t for n follow)
+            {
+                uint64_t len;
+                return get_number(input_format_t::cbor, len) and get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x7F: // UTF-8 string (indefinite length)
+            {
+                while (get() != 0xFF)
+                {
+                    string_t chunk;
+                    if (not get_cbor_string(chunk))
+                    {
+                        return false;
+                    }
+                    result.append(chunk);
+                }
+                return true;
+            }
+
+            default:
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format_t::cbor, "expected length specification (0x60-0x7B) or indefinite string type (0x7F); last byte: 0x" + last_token, "string")));
+            }
+        }
+    }
+
+    /*!
+    @param[in] len  the length of the array or std::size_t(-1) for an
+                    array of indefinite size
+    @return whether array creation completed
+    */
+    bool get_cbor_array(const std::size_t len)
+    {
+        if (JSON_UNLIKELY(not sax->start_array(len)))
+        {
+            return false;
+        }
+
+        if (len != std::size_t(-1))
+        {
+            for (std::size_t i = 0; i < len; ++i)
+            {
+                if (JSON_UNLIKELY(not parse_cbor_internal()))
+                {
+                    return false;
+                }
+            }
+        }
+        else
+        {
+            while (get() != 0xFF)
+            {
+                if (JSON_UNLIKELY(not parse_cbor_internal(false)))
+                {
+                    return false;
+                }
+            }
+        }
+
+        return sax->end_array();
+    }
+
+    /*!
+    @param[in] len  the length of the object or std::size_t(-1) for an
+                    object of indefinite size
+    @return whether object creation completed
+    */
+    bool get_cbor_object(const std::size_t len)
+    {
+        if (not JSON_UNLIKELY(sax->start_object(len)))
+        {
+            return false;
+        }
+
+        string_t key;
+        if (len != std::size_t(-1))
+        {
+            for (std::size_t i = 0; i < len; ++i)
+            {
+                get();
+                if (JSON_UNLIKELY(not get_cbor_string(key) or not sax->key(key)))
+                {
+                    return false;
+                }
+
+                if (JSON_UNLIKELY(not parse_cbor_internal()))
+                {
+                    return false;
+                }
+                key.clear();
+            }
+        }
+        else
+        {
+            while (get() != 0xFF)
+            {
+                if (JSON_UNLIKELY(not get_cbor_string(key) or not sax->key(key)))
+                {
+                    return false;
+                }
+
+                if (JSON_UNLIKELY(not parse_cbor_internal()))
+                {
+                    return false;
+                }
+                key.clear();
+            }
+        }
+
+        return sax->end_object();
+    }
+
+    /////////////
+    // MsgPack //
+    /////////////
+
+    /*!
+    @return whether a valid MessagePack value was passed to the SAX parser
+    */
+    bool parse_msgpack_internal()
+    {
+        switch (get())
+        {
+            // EOF
+            case std::char_traits<char>::eof():
+                return unexpect_eof(input_format_t::msgpack, "value");
+
+            // positive fixint
+            case 0x00:
+            case 0x01:
+            case 0x02:
+            case 0x03:
+            case 0x04:
+            case 0x05:
+            case 0x06:
+            case 0x07:
+            case 0x08:
+            case 0x09:
+            case 0x0A:
+            case 0x0B:
+            case 0x0C:
+            case 0x0D:
+            case 0x0E:
+            case 0x0F:
+            case 0x10:
+            case 0x11:
+            case 0x12:
+            case 0x13:
+            case 0x14:
+            case 0x15:
+            case 0x16:
+            case 0x17:
+            case 0x18:
+            case 0x19:
+            case 0x1A:
+            case 0x1B:
+            case 0x1C:
+            case 0x1D:
+            case 0x1E:
+            case 0x1F:
+            case 0x20:
+            case 0x21:
+            case 0x22:
+            case 0x23:
+            case 0x24:
+            case 0x25:
+            case 0x26:
+            case 0x27:
+            case 0x28:
+            case 0x29:
+            case 0x2A:
+            case 0x2B:
+            case 0x2C:
+            case 0x2D:
+            case 0x2E:
+            case 0x2F:
+            case 0x30:
+            case 0x31:
+            case 0x32:
+            case 0x33:
+            case 0x34:
+            case 0x35:
+            case 0x36:
+            case 0x37:
+            case 0x38:
+            case 0x39:
+            case 0x3A:
+            case 0x3B:
+            case 0x3C:
+            case 0x3D:
+            case 0x3E:
+            case 0x3F:
+            case 0x40:
+            case 0x41:
+            case 0x42:
+            case 0x43:
+            case 0x44:
+            case 0x45:
+            case 0x46:
+            case 0x47:
+            case 0x48:
+            case 0x49:
+            case 0x4A:
+            case 0x4B:
+            case 0x4C:
+            case 0x4D:
+            case 0x4E:
+            case 0x4F:
+            case 0x50:
+            case 0x51:
+            case 0x52:
+            case 0x53:
+            case 0x54:
+            case 0x55:
+            case 0x56:
+            case 0x57:
+            case 0x58:
+            case 0x59:
+            case 0x5A:
+            case 0x5B:
+            case 0x5C:
+            case 0x5D:
+            case 0x5E:
+            case 0x5F:
+            case 0x60:
+            case 0x61:
+            case 0x62:
+            case 0x63:
+            case 0x64:
+            case 0x65:
+            case 0x66:
+            case 0x67:
+            case 0x68:
+            case 0x69:
+            case 0x6A:
+            case 0x6B:
+            case 0x6C:
+            case 0x6D:
+            case 0x6E:
+            case 0x6F:
+            case 0x70:
+            case 0x71:
+            case 0x72:
+            case 0x73:
+            case 0x74:
+            case 0x75:
+            case 0x76:
+            case 0x77:
+            case 0x78:
+            case 0x79:
+            case 0x7A:
+            case 0x7B:
+            case 0x7C:
+            case 0x7D:
+            case 0x7E:
+            case 0x7F:
+                return sax->number_unsigned(static_cast<number_unsigned_t>(current));
+
+            // fixmap
+            case 0x80:
+            case 0x81:
+            case 0x82:
+            case 0x83:
+            case 0x84:
+            case 0x85:
+            case 0x86:
+            case 0x87:
+            case 0x88:
+            case 0x89:
+            case 0x8A:
+            case 0x8B:
+            case 0x8C:
+            case 0x8D:
+            case 0x8E:
+            case 0x8F:
+                return get_msgpack_object(static_cast<std::size_t>(current & 0x0F));
+
+            // fixarray
+            case 0x90:
+            case 0x91:
+            case 0x92:
+            case 0x93:
+            case 0x94:
+            case 0x95:
+            case 0x96:
+            case 0x97:
+            case 0x98:
+            case 0x99:
+            case 0x9A:
+            case 0x9B:
+            case 0x9C:
+            case 0x9D:
+            case 0x9E:
+            case 0x9F:
+                return get_msgpack_array(static_cast<std::size_t>(current & 0x0F));
+
+            // fixstr
+            case 0xA0:
+            case 0xA1:
+            case 0xA2:
+            case 0xA3:
+            case 0xA4:
+            case 0xA5:
+            case 0xA6:
+            case 0xA7:
+            case 0xA8:
+            case 0xA9:
+            case 0xAA:
+            case 0xAB:
+            case 0xAC:
+            case 0xAD:
+            case 0xAE:
+            case 0xAF:
+            case 0xB0:
+            case 0xB1:
+            case 0xB2:
+            case 0xB3:
+            case 0xB4:
+            case 0xB5:
+            case 0xB6:
+            case 0xB7:
+            case 0xB8:
+            case 0xB9:
+            case 0xBA:
+            case 0xBB:
+            case 0xBC:
+            case 0xBD:
+            case 0xBE:
+            case 0xBF:
+            {
+                string_t s;
+                return get_msgpack_string(s) and sax->string(s);
+            }
+
+            case 0xC0: // nil
+                return sax->null();
+
+            case 0xC2: // false
+                return sax->boolean(false);
+
+            case 0xC3: // true
+                return sax->boolean(true);
+
+            case 0xCA: // float 32
+            {
+                float number;
+                return get_number(input_format_t::msgpack, number) and sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0xCB: // float 64
+            {
+                double number;
+                return get_number(input_format_t::msgpack, number) and sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0xCC: // uint 8
+            {
+                uint8_t number;
+                return get_number(input_format_t::msgpack, number) and sax->number_unsigned(number);
+            }
+
+            case 0xCD: // uint 16
+            {
+                uint16_t number;
+                return get_number(input_format_t::msgpack, number) and sax->number_unsigned(number);
+            }
+
+            case 0xCE: // uint 32
+            {
+                uint32_t number;
+                return get_number(input_format_t::msgpack, number) and sax->number_unsigned(number);
+            }
+
+            case 0xCF: // uint 64
+            {
+                uint64_t number;
+                return get_number(input_format_t::msgpack, number) and sax->number_unsigned(number);
+            }
+
+            case 0xD0: // int 8
+            {
+                int8_t number;
+                return get_number(input_format_t::msgpack, number) and sax->number_integer(number);
+            }
+
+            case 0xD1: // int 16
+            {
+                int16_t number;
+                return get_number(input_format_t::msgpack, number) and sax->number_integer(number);
+            }
+
+            case 0xD2: // int 32
+            {
+                int32_t number;
+                return get_number(input_format_t::msgpack, number) and sax->number_integer(number);
+            }
+
+            case 0xD3: // int 64
+            {
+                int64_t number;
+                return get_number(input_format_t::msgpack, number) and sax->number_integer(number);
+            }
+
+            case 0xD9: // str 8
+            case 0xDA: // str 16
+            case 0xDB: // str 32
+            {
+                string_t s;
+                return get_msgpack_string(s) and sax->string(s);
+            }
+
+            case 0xDC: // array 16
+            {
+                uint16_t len;
+                return get_number(input_format_t::msgpack, len) and get_msgpack_array(static_cast<std::size_t>(len));
+            }
+
+            case 0xDD: // array 32
+            {
+                uint32_t len;
+                return get_number(input_format_t::msgpack, len) and get_msgpack_array(static_cast<std::size_t>(len));
+            }
+
+            case 0xDE: // map 16
+            {
+                uint16_t len;
+                return get_number(input_format_t::msgpack, len) and get_msgpack_object(static_cast<std::size_t>(len));
+            }
+
+            case 0xDF: // map 32
+            {
+                uint32_t len;
+                return get_number(input_format_t::msgpack, len) and get_msgpack_object(static_cast<std::size_t>(len));
+            }
+
+            // negative fixint
+            case 0xE0:
+            case 0xE1:
+            case 0xE2:
+            case 0xE3:
+            case 0xE4:
+            case 0xE5:
+            case 0xE6:
+            case 0xE7:
+            case 0xE8:
+            case 0xE9:
+            case 0xEA:
+            case 0xEB:
+            case 0xEC:
+            case 0xED:
+            case 0xEE:
+            case 0xEF:
+            case 0xF0:
+            case 0xF1:
+            case 0xF2:
+            case 0xF3:
+            case 0xF4:
+            case 0xF5:
+            case 0xF6:
+            case 0xF7:
+            case 0xF8:
+            case 0xF9:
+            case 0xFA:
+            case 0xFB:
+            case 0xFC:
+            case 0xFD:
+            case 0xFE:
+            case 0xFF:
+                return sax->number_integer(static_cast<int8_t>(current));
+
+            default: // anything else
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::msgpack, "invalid byte: 0x" + last_token, "value")));
+            }
+        }
+    }
+
+    /*!
+    @brief reads a MessagePack string
+
+    This function first reads starting bytes to determine the expected
+    string length and then copies this number of bytes into a string.
+
+    @param[out] result  created string
+
+    @return whether string creation completed
+    */
+    bool get_msgpack_string(string_t& result)
+    {
+        if (JSON_UNLIKELY(not unexpect_eof(input_format_t::msgpack, "string")))
+        {
+            return false;
+        }
+
+        switch (current)
+        {
+            // fixstr
+            case 0xA0:
+            case 0xA1:
+            case 0xA2:
+            case 0xA3:
+            case 0xA4:
+            case 0xA5:
+            case 0xA6:
+            case 0xA7:
+            case 0xA8:
+            case 0xA9:
+            case 0xAA:
+            case 0xAB:
+            case 0xAC:
+            case 0xAD:
+            case 0xAE:
+            case 0xAF:
+            case 0xB0:
+            case 0xB1:
+            case 0xB2:
+            case 0xB3:
+            case 0xB4:
+            case 0xB5:
+            case 0xB6:
+            case 0xB7:
+            case 0xB8:
+            case 0xB9:
+            case 0xBA:
+            case 0xBB:
+            case 0xBC:
+            case 0xBD:
+            case 0xBE:
+            case 0xBF:
+            {
+                return get_string(input_format_t::msgpack, current & 0x1F, result);
+            }
+
+            case 0xD9: // str 8
+            {
+                uint8_t len;
+                return get_number(input_format_t::msgpack, len) and get_string(input_format_t::msgpack, len, result);
+            }
+
+            case 0xDA: // str 16
+            {
+                uint16_t len;
+                return get_number(input_format_t::msgpack, len) and get_string(input_format_t::msgpack, len, result);
+            }
+
+            case 0xDB: // str 32
+            {
+                uint32_t len;
+                return get_number(input_format_t::msgpack, len) and get_string(input_format_t::msgpack, len, result);
+            }
+
+            default:
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format_t::msgpack, "expected length specification (0xA0-0xBF, 0xD9-0xDB); last byte: 0x" + last_token, "string")));
+            }
+        }
+    }
+
+    /*!
+    @param[in] len  the length of the array
+    @return whether array creation completed
+    */
+    bool get_msgpack_array(const std::size_t len)
+    {
+        if (JSON_UNLIKELY(not sax->start_array(len)))
+        {
+            return false;
+        }
+
+        for (std::size_t i = 0; i < len; ++i)
+        {
+            if (JSON_UNLIKELY(not parse_msgpack_internal()))
+            {
+                return false;
+            }
+        }
+
+        return sax->end_array();
+    }
+
+    /*!
+    @param[in] len  the length of the object
+    @return whether object creation completed
+    */
+    bool get_msgpack_object(const std::size_t len)
+    {
+        if (JSON_UNLIKELY(not sax->start_object(len)))
+        {
+            return false;
+        }
+
+        string_t key;
+        for (std::size_t i = 0; i < len; ++i)
+        {
+            get();
+            if (JSON_UNLIKELY(not get_msgpack_string(key) or not sax->key(key)))
+            {
+                return false;
+            }
+
+            if (JSON_UNLIKELY(not parse_msgpack_internal()))
+            {
+                return false;
+            }
+            key.clear();
+        }
+
+        return sax->end_object();
+    }
+
+    ////////////
+    // UBJSON //
+    ////////////
+
+    /*!
+    @param[in] get_char  whether a new character should be retrieved from the
+                         input (true, default) or whether the last read
+                         character should be considered instead
+
+    @return whether a valid UBJSON value was passed to the SAX parser
+    */
+    bool parse_ubjson_internal(const bool get_char = true)
+    {
+        return get_ubjson_value(get_char ? get_ignore_noop() : current);
+    }
+
+    /*!
+    @brief reads a UBJSON string
+
+    This function is either called after reading the 'S' byte explicitly
+    indicating a string, or in case of an object key where the 'S' byte can be
+    left out.
+
+    @param[out] result   created string
+    @param[in] get_char  whether a new character should be retrieved from the
+                         input (true, default) or whether the last read
+                         character should be considered instead
+
+    @return whether string creation completed
+    */
+    bool get_ubjson_string(string_t& result, const bool get_char = true)
+    {
+        if (get_char)
+        {
+            get();  // TODO: may we ignore N here?
+        }
+
+        if (JSON_UNLIKELY(not unexpect_eof(input_format_t::ubjson, "value")))
+        {
+            return false;
+        }
+
+        switch (current)
+        {
+            case 'U':
+            {
+                uint8_t len;
+                return get_number(input_format_t::ubjson, len) and get_string(input_format_t::ubjson, len, result);
+            }
+
+            case 'i':
+            {
+                int8_t len;
+                return get_number(input_format_t::ubjson, len) and get_string(input_format_t::ubjson, len, result);
+            }
+
+            case 'I':
+            {
+                int16_t len;
+                return get_number(input_format_t::ubjson, len) and get_string(input_format_t::ubjson, len, result);
+            }
+
+            case 'l':
+            {
+                int32_t len;
+                return get_number(input_format_t::ubjson, len) and get_string(input_format_t::ubjson, len, result);
+            }
+
+            case 'L':
+            {
+                int64_t len;
+                return get_number(input_format_t::ubjson, len) and get_string(input_format_t::ubjson, len, result);
+            }
+
+            default:
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format_t::ubjson, "expected length type specification (U, i, I, l, L); last byte: 0x" + last_token, "string")));
+        }
+    }
+
+    /*!
+    @param[out] result  determined size
+    @return whether size determination completed
+    */
+    bool get_ubjson_size_value(std::size_t& result)
+    {
+        switch (get_ignore_noop())
+        {
+            case 'U':
+            {
+                uint8_t number;
+                if (JSON_UNLIKELY(not get_number(input_format_t::ubjson, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'i':
+            {
+                int8_t number;
+                if (JSON_UNLIKELY(not get_number(input_format_t::ubjson, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'I':
+            {
+                int16_t number;
+                if (JSON_UNLIKELY(not get_number(input_format_t::ubjson, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'l':
+            {
+                int32_t number;
+                if (JSON_UNLIKELY(not get_number(input_format_t::ubjson, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'L':
+            {
+                int64_t number;
+                if (JSON_UNLIKELY(not get_number(input_format_t::ubjson, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            default:
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format_t::ubjson, "expected length type specification (U, i, I, l, L) after '#'; last byte: 0x" + last_token, "size")));
+            }
+        }
+    }
+
+    /*!
+    @brief determine the type and size for a container
+
+    In the optimized UBJSON format, a type and a size can be provided to allow
+    for a more compact representation.
+
+    @param[out] result  pair of the size and the type
+
+    @return whether pair creation completed
+    */
+    bool get_ubjson_size_type(std::pair<std::size_t, int>& result)
+    {
+        result.first = string_t::npos; // size
+        result.second = 0; // type
+
+        get_ignore_noop();
+
+        if (current == '$')
+        {
+            result.second = get();  // must not ignore 'N', because 'N' maybe the type
+            if (JSON_UNLIKELY(not unexpect_eof(input_format_t::ubjson, "type")))
+            {
+                return false;
+            }
+
+            get_ignore_noop();
+            if (JSON_UNLIKELY(current != '#'))
+            {
+                if (JSON_UNLIKELY(not unexpect_eof(input_format_t::ubjson, "value")))
+                {
+                    return false;
+                }
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::ubjson, "expected '#' after type information; last byte: 0x" + last_token, "size")));
+            }
+
+            return get_ubjson_size_value(result.first);
+        }
+        else if (current == '#')
+        {
+            return get_ubjson_size_value(result.first);
+        }
+        return true;
+    }
+
+    /*!
+    @param prefix  the previously read or set type prefix
+    @return whether value creation completed
+    */
+    bool get_ubjson_value(const int prefix)
+    {
+        switch (prefix)
+        {
+            case std::char_traits<char>::eof():  // EOF
+                return unexpect_eof(input_format_t::ubjson, "value");
+
+            case 'T':  // true
+                return sax->boolean(true);
+            case 'F':  // false
+                return sax->boolean(false);
+
+            case 'Z':  // null
+                return sax->null();
+
+            case 'U':
+            {
+                uint8_t number;
+                return get_number(input_format_t::ubjson, number) and sax->number_unsigned(number);
+            }
+
+            case 'i':
+            {
+                int8_t number;
+                return get_number(input_format_t::ubjson, number) and sax->number_integer(number);
+            }
+
+            case 'I':
+            {
+                int16_t number;
+                return get_number(input_format_t::ubjson, number) and sax->number_integer(number);
+            }
+
+            case 'l':
+            {
+                int32_t number;
+                return get_number(input_format_t::ubjson, number) and sax->number_integer(number);
+            }
+
+            case 'L':
+            {
+                int64_t number;
+                return get_number(input_format_t::ubjson, number) and sax->number_integer(number);
+            }
+
+            case 'd':
+            {
+                float number;
+                return get_number(input_format_t::ubjson, number) and sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 'D':
+            {
+                double number;
+                return get_number(input_format_t::ubjson, number) and sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 'C':  // char
+            {
+                get();
+                if (JSON_UNLIKELY(not unexpect_eof(input_format_t::ubjson, "char")))
+                {
+                    return false;
+                }
+                if (JSON_UNLIKELY(current > 127))
+                {
+                    auto last_token = get_token_string();
+                    return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format_t::ubjson, "byte after 'C' must be in range 0x00..0x7F; last byte: 0x" + last_token, "char")));
+                }
+                string_t s(1, static_cast<char>(current));
+                return sax->string(s);
+            }
+
+            case 'S':  // string
+            {
+                string_t s;
+                return get_ubjson_string(s) and sax->string(s);
+            }
+
+            case '[':  // array
+                return get_ubjson_array();
+
+            case '{':  // object
+                return get_ubjson_object();
+
+            default: // anything else
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::ubjson, "invalid byte: 0x" + last_token, "value")));
+            }
+        }
+    }
+
+    /*!
+    @return whether array creation completed
+    */
+    bool get_ubjson_array()
+    {
+        std::pair<std::size_t, int> size_and_type;
+        if (JSON_UNLIKELY(not get_ubjson_size_type(size_and_type)))
+        {
+            return false;
+        }
+
+        if (size_and_type.first != string_t::npos)
+        {
+            if (JSON_UNLIKELY(not sax->start_array(size_and_type.first)))
+            {
+                return false;
+            }
+
+            if (size_and_type.second != 0)
+            {
+                if (size_and_type.second != 'N')
+                {
+                    for (std::size_t i = 0; i < size_and_type.first; ++i)
+                    {
+                        if (JSON_UNLIKELY(not get_ubjson_value(size_and_type.second)))
+                        {
+                            return false;
+                        }
+                    }
+                }
+            }
+            else
+            {
+                for (std::size_t i = 0; i < size_and_type.first; ++i)
+                {
+                    if (JSON_UNLIKELY(not parse_ubjson_internal()))
+                    {
+                        return false;
+                    }
+                }
+            }
+        }
+        else
+        {
+            if (JSON_UNLIKELY(not sax->start_array(std::size_t(-1))))
+            {
+                return false;
+            }
+
+            while (current != ']')
+            {
+                if (JSON_UNLIKELY(not parse_ubjson_internal(false)))
+                {
+                    return false;
+                }
+                get_ignore_noop();
+            }
+        }
+
+        return sax->end_array();
+    }
+
+    /*!
+    @return whether object creation completed
+    */
+    bool get_ubjson_object()
+    {
+        std::pair<std::size_t, int> size_and_type;
+        if (JSON_UNLIKELY(not get_ubjson_size_type(size_and_type)))
+        {
+            return false;
+        }
+
+        string_t key;
+        if (size_and_type.first != string_t::npos)
+        {
+            if (JSON_UNLIKELY(not sax->start_object(size_and_type.first)))
+            {
+                return false;
+            }
+
+            if (size_and_type.second != 0)
+            {
+                for (std::size_t i = 0; i < size_and_type.first; ++i)
+                {
+                    if (JSON_UNLIKELY(not get_ubjson_string(key) or not sax->key(key)))
+                    {
+                        return false;
+                    }
+                    if (JSON_UNLIKELY(not get_ubjson_value(size_and_type.second)))
+                    {
+                        return false;
+                    }
+                    key.clear();
+                }
+            }
+            else
+            {
+                for (std::size_t i = 0; i < size_and_type.first; ++i)
+                {
+                    if (JSON_UNLIKELY(not get_ubjson_string(key) or not sax->key(key)))
+                    {
+                        return false;
+                    }
+                    if (JSON_UNLIKELY(not parse_ubjson_internal()))
+                    {
+                        return false;
+                    }
+                    key.clear();
+                }
+            }
+        }
+        else
+        {
+            if (JSON_UNLIKELY(not sax->start_object(std::size_t(-1))))
+            {
+                return false;
+            }
+
+            while (current != '}')
+            {
+                if (JSON_UNLIKELY(not get_ubjson_string(key, false) or not sax->key(key)))
+                {
+                    return false;
+                }
+                if (JSON_UNLIKELY(not parse_ubjson_internal()))
+                {
+                    return false;
+                }
+                get_ignore_noop();
+                key.clear();
+            }
+        }
+
+        return sax->end_object();
+    }
+
+    ///////////////////////
+    // Utility functions //
+    ///////////////////////
+
+    /*!
+    @brief get next character from the input
+
+    This function provides the interface to the used input adapter. It does
+    not throw in case the input reached EOF, but returns a -'ve valued
+    `std::char_traits<char>::eof()` in that case.
+
+    @return character read from the input
+    */
+    int get()
+    {
+        ++chars_read;
+        return (current = ia->get_character());
+    }
+
+    /*!
+    @return character read from the input after ignoring all 'N' entries
+    */
+    int get_ignore_noop()
+    {
+        do
+        {
+            get();
+        }
+        while (current == 'N');
+
+        return current;
+    }
+
+    /*
+    @brief read a number from the input
+
+    @tparam NumberType the type of the number
+    @param[in] format   the current format (for diagnostics)
+    @param[out] result  number of type @a NumberType
+
+    @return whether conversion completed
+
+    @note This function needs to respect the system's endianess, because
+          bytes in CBOR, MessagePack, and UBJSON are stored in network order
+          (big endian) and therefore need reordering on little endian systems.
+    */
+    template<typename NumberType, bool InputIsLittleEndian = false>
+    bool get_number(const input_format_t format, NumberType& result)
+    {
+        // step 1: read input into array with system's byte order
+        std::array<uint8_t, sizeof(NumberType)> vec;
+        for (std::size_t i = 0; i < sizeof(NumberType); ++i)
+        {
+            get();
+            if (JSON_UNLIKELY(not unexpect_eof(format, "number")))
+            {
+                return false;
+            }
+
+            // reverse byte order prior to conversion if necessary
+            if (is_little_endian && !InputIsLittleEndian)
+            {
+                vec[sizeof(NumberType) - i - 1] = static_cast<uint8_t>(current);
+            }
+            else
+            {
+                vec[i] = static_cast<uint8_t>(current); // LCOV_EXCL_LINE
+            }
+        }
+
+        // step 2: convert array into number of type T and return
+        std::memcpy(&result, vec.data(), sizeof(NumberType));
+        return true;
+    }
+
+    /*!
+    @brief create a string by reading characters from the input
+
+    @tparam NumberType the type of the number
+    @param[in] format the current format (for diagnostics)
+    @param[in] len number of characters to read
+    @param[out] result string created by reading @a len bytes
+
+    @return whether string creation completed
+
+    @note We can not reserve @a len bytes for the result, because @a len
+          may be too large. Usually, @ref unexpect_eof() detects the end of
+          the input before we run out of string memory.
+    */
+    template<typename NumberType>
+    bool get_string(const input_format_t format,
+                    const NumberType len,
+                    string_t& result)
+    {
+        bool success = true;
+        std::generate_n(std::back_inserter(result), len, [this, &success, &format]()
+        {
+            get();
+            if (JSON_UNLIKELY(not unexpect_eof(format, "string")))
+            {
+                success = false;
+            }
+            return static_cast<char>(current);
+        });
+        return success;
+    }
+
+    /*!
+    @param[in] format   the current format (for diagnostics)
+    @param[in] context  further context information (for diagnostics)
+    @return whether the last read character is not EOF
+    */
+    bool unexpect_eof(const input_format_t format, const char* context) const
+    {
+        if (JSON_UNLIKELY(current == std::char_traits<char>::eof()))
+        {
+            return sax->parse_error(chars_read, "<end of file>",
+                                    parse_error::create(110, chars_read, exception_message(format, "unexpected end of input", context)));
+        }
+        return true;
+    }
+
+    /*!
+    @return a string representation of the last read byte
+    */
+    std::string get_token_string() const
+    {
+        char cr[3];
+        (std::snprintf)(cr, 3, "%.2hhX", static_cast<unsigned char>(current));
+        return std::string{cr};
+    }
+
+    /*!
+    @param[in] format   the current format
+    @param[in] detail   a detailed error message
+    @param[in] context  further contect information
+    @return a message string to use in the parse_error exceptions
+    */
+    std::string exception_message(const input_format_t format,
+                                  const std::string& detail,
+                                  const std::string& context) const
+    {
+        std::string error_msg = "syntax error while parsing ";
+
+        switch (format)
+        {
+            case input_format_t::cbor:
+                error_msg += "CBOR";
+                break;
+
+            case input_format_t::msgpack:
+                error_msg += "MessagePack";
+                break;
+
+            case input_format_t::ubjson:
+                error_msg += "UBJSON";
+                break;
+
+            case input_format_t::bson:
+                error_msg += "BSON";
+                break;
+
+            // LCOV_EXCL_START
+            default:
+                assert(false);
+                // LCOV_EXCL_STOP
+        }
+
+        return error_msg + " " + context + ": " + detail;
+    }
+
+  private:
+    /// input adapter
+    input_adapter_t ia = nullptr;
+
+    /// the current character
+    int current = std::char_traits<char>::eof();
+
+    /// the number of characters read
+    std::size_t chars_read = 0;
+
+    /// whether we can assume little endianess
+    const bool is_little_endian = little_endianess();
+
+    /// the SAX parser
+    json_sax_t* sax = nullptr;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/output/binary_writer.hpp>
+
+
+#include <algorithm> // reverse
+#include <array> // array
+#include <cstdint> // uint8_t, uint16_t, uint32_t, uint64_t
+#include <cstring> // memcpy
+#include <limits> // numeric_limits
+
+// #include <nlohmann/detail/input/binary_reader.hpp>
+
+// #include <nlohmann/detail/output/output_adapters.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+///////////////////
+// binary writer //
+///////////////////
+
+/*!
+@brief serialization to CBOR and MessagePack values
+*/
+template<typename BasicJsonType, typename CharType>
+class binary_writer
+{
+    using string_t = typename BasicJsonType::string_t;
+
+  public:
+    /*!
+    @brief create a binary writer
+
+    @param[in] adapter  output adapter to write to
+    */
+    explicit binary_writer(output_adapter_t<CharType> adapter) : oa(adapter)
+    {
+        assert(oa);
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    @pre       j.type() == value_t::object
+    */
+    void write_bson(const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::object:
+            {
+                write_bson_object(*j.m_value.object);
+                break;
+            }
+
+            default:
+            {
+                JSON_THROW(type_error::create(317, "to serialize to BSON, top-level type must be object, but is " + std::string(j.type_name())));
+            }
+        }
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    */
+    void write_cbor(const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::null:
+            {
+                oa->write_character(to_char_type(0xF6));
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                oa->write_character(j.m_value.boolean
+                                    ? to_char_type(0xF5)
+                                    : to_char_type(0xF4));
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                if (j.m_value.number_integer >= 0)
+                {
+                    // CBOR does not differentiate between positive signed
+                    // integers and unsigned integers. Therefore, we used the
+                    // code from the value_t::number_unsigned case here.
+                    if (j.m_value.number_integer <= 0x17)
+                    {
+                        write_number(static_cast<uint8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer <= (std::numeric_limits<uint8_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x18));
+                        write_number(static_cast<uint8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer <= (std::numeric_limits<uint16_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x19));
+                        write_number(static_cast<uint16_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer <= (std::numeric_limits<uint32_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x1A));
+                        write_number(static_cast<uint32_t>(j.m_value.number_integer));
+                    }
+                    else
+                    {
+                        oa->write_character(to_char_type(0x1B));
+                        write_number(static_cast<uint64_t>(j.m_value.number_integer));
+                    }
+                }
+                else
+                {
+                    // The conversions below encode the sign in the first
+                    // byte, and the value is converted to a positive number.
+                    const auto positive_number = -1 - j.m_value.number_integer;
+                    if (j.m_value.number_integer >= -24)
+                    {
+                        write_number(static_cast<uint8_t>(0x20 + positive_number));
+                    }
+                    else if (positive_number <= (std::numeric_limits<uint8_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x38));
+                        write_number(static_cast<uint8_t>(positive_number));
+                    }
+                    else if (positive_number <= (std::numeric_limits<uint16_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x39));
+                        write_number(static_cast<uint16_t>(positive_number));
+                    }
+                    else if (positive_number <= (std::numeric_limits<uint32_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x3A));
+                        write_number(static_cast<uint32_t>(positive_number));
+                    }
+                    else
+                    {
+                        oa->write_character(to_char_type(0x3B));
+                        write_number(static_cast<uint64_t>(positive_number));
+                    }
+                }
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                if (j.m_value.number_unsigned <= 0x17)
+                {
+                    write_number(static_cast<uint8_t>(j.m_value.number_unsigned));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x18));
+                    write_number(static_cast<uint8_t>(j.m_value.number_unsigned));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x19));
+                    write_number(static_cast<uint16_t>(j.m_value.number_unsigned));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x1A));
+                    write_number(static_cast<uint32_t>(j.m_value.number_unsigned));
+                }
+                else
+                {
+                    oa->write_character(to_char_type(0x1B));
+                    write_number(static_cast<uint64_t>(j.m_value.number_unsigned));
+                }
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                oa->write_character(get_cbor_float_prefix(j.m_value.number_float));
+                write_number(j.m_value.number_float);
+                break;
+            }
+
+            case value_t::string:
+            {
+                // step 1: write control byte and the string length
+                const auto N = j.m_value.string->size();
+                if (N <= 0x17)
+                {
+                    write_number(static_cast<uint8_t>(0x60 + N));
+                }
+                else if (N <= (std::numeric_limits<uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x78));
+                    write_number(static_cast<uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x79));
+                    write_number(static_cast<uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x7A));
+                    write_number(static_cast<uint32_t>(N));
+                }
+                // LCOV_EXCL_START
+                else if (N <= (std::numeric_limits<uint64_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x7B));
+                    write_number(static_cast<uint64_t>(N));
+                }
+                // LCOV_EXCL_STOP
+
+                // step 2: write the string
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_value.string->c_str()),
+                    j.m_value.string->size());
+                break;
+            }
+
+            case value_t::array:
+            {
+                // step 1: write control byte and the array size
+                const auto N = j.m_value.array->size();
+                if (N <= 0x17)
+                {
+                    write_number(static_cast<uint8_t>(0x80 + N));
+                }
+                else if (N <= (std::numeric_limits<uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x98));
+                    write_number(static_cast<uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x99));
+                    write_number(static_cast<uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x9A));
+                    write_number(static_cast<uint32_t>(N));
+                }
+                // LCOV_EXCL_START
+                else if (N <= (std::numeric_limits<uint64_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x9B));
+                    write_number(static_cast<uint64_t>(N));
+                }
+                // LCOV_EXCL_STOP
+
+                // step 2: write each element
+                for (const auto& el : *j.m_value.array)
+                {
+                    write_cbor(el);
+                }
+                break;
+            }
+
+            case value_t::object:
+            {
+                // step 1: write control byte and the object size
+                const auto N = j.m_value.object->size();
+                if (N <= 0x17)
+                {
+                    write_number(static_cast<uint8_t>(0xA0 + N));
+                }
+                else if (N <= (std::numeric_limits<uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xB8));
+                    write_number(static_cast<uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xB9));
+                    write_number(static_cast<uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xBA));
+                    write_number(static_cast<uint32_t>(N));
+                }
+                // LCOV_EXCL_START
+                else if (N <= (std::numeric_limits<uint64_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xBB));
+                    write_number(static_cast<uint64_t>(N));
+                }
+                // LCOV_EXCL_STOP
+
+                // step 2: write each element
+                for (const auto& el : *j.m_value.object)
+                {
+                    write_cbor(el.first);
+                    write_cbor(el.second);
+                }
+                break;
+            }
+
+            default:
+                break;
+        }
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    */
+    void write_msgpack(const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::null: // nil
+            {
+                oa->write_character(to_char_type(0xC0));
+                break;
+            }
+
+            case value_t::boolean: // true and false
+            {
+                oa->write_character(j.m_value.boolean
+                                    ? to_char_type(0xC3)
+                                    : to_char_type(0xC2));
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                if (j.m_value.number_integer >= 0)
+                {
+                    // MessagePack does not differentiate between positive
+                    // signed integers and unsigned integers. Therefore, we used
+                    // the code from the value_t::number_unsigned case here.
+                    if (j.m_value.number_unsigned < 128)
+                    {
+                        // positive fixnum
+                        write_number(static_cast<uint8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_unsigned <= (std::numeric_limits<uint8_t>::max)())
+                    {
+                        // uint 8
+                        oa->write_character(to_char_type(0xCC));
+                        write_number(static_cast<uint8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_unsigned <= (std::numeric_limits<uint16_t>::max)())
+                    {
+                        // uint 16
+                        oa->write_character(to_char_type(0xCD));
+                        write_number(static_cast<uint16_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_unsigned <= (std::numeric_limits<uint32_t>::max)())
+                    {
+                        // uint 32
+                        oa->write_character(to_char_type(0xCE));
+                        write_number(static_cast<uint32_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_unsigned <= (std::numeric_limits<uint64_t>::max)())
+                    {
+                        // uint 64
+                        oa->write_character(to_char_type(0xCF));
+                        write_number(static_cast<uint64_t>(j.m_value.number_integer));
+                    }
+                }
+                else
+                {
+                    if (j.m_value.number_integer >= -32)
+                    {
+                        // negative fixnum
+                        write_number(static_cast<int8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer >= (std::numeric_limits<int8_t>::min)() and
+                             j.m_value.number_integer <= (std::numeric_limits<int8_t>::max)())
+                    {
+                        // int 8
+                        oa->write_character(to_char_type(0xD0));
+                        write_number(static_cast<int8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer >= (std::numeric_limits<int16_t>::min)() and
+                             j.m_value.number_integer <= (std::numeric_limits<int16_t>::max)())
+                    {
+                        // int 16
+                        oa->write_character(to_char_type(0xD1));
+                        write_number(static_cast<int16_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer >= (std::numeric_limits<int32_t>::min)() and
+                             j.m_value.number_integer <= (std::numeric_limits<int32_t>::max)())
+                    {
+                        // int 32
+                        oa->write_character(to_char_type(0xD2));
+                        write_number(static_cast<int32_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer >= (std::numeric_limits<int64_t>::min)() and
+                             j.m_value.number_integer <= (std::numeric_limits<int64_t>::max)())
+                    {
+                        // int 64
+                        oa->write_character(to_char_type(0xD3));
+                        write_number(static_cast<int64_t>(j.m_value.number_integer));
+                    }
+                }
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                if (j.m_value.number_unsigned < 128)
+                {
+                    // positive fixnum
+                    write_number(static_cast<uint8_t>(j.m_value.number_integer));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<uint8_t>::max)())
+                {
+                    // uint 8
+                    oa->write_character(to_char_type(0xCC));
+                    write_number(static_cast<uint8_t>(j.m_value.number_integer));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<uint16_t>::max)())
+                {
+                    // uint 16
+                    oa->write_character(to_char_type(0xCD));
+                    write_number(static_cast<uint16_t>(j.m_value.number_integer));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<uint32_t>::max)())
+                {
+                    // uint 32
+                    oa->write_character(to_char_type(0xCE));
+                    write_number(static_cast<uint32_t>(j.m_value.number_integer));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<uint64_t>::max)())
+                {
+                    // uint 64
+                    oa->write_character(to_char_type(0xCF));
+                    write_number(static_cast<uint64_t>(j.m_value.number_integer));
+                }
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                oa->write_character(get_msgpack_float_prefix(j.m_value.number_float));
+                write_number(j.m_value.number_float);
+                break;
+            }
+
+            case value_t::string:
+            {
+                // step 1: write control byte and the string length
+                const auto N = j.m_value.string->size();
+                if (N <= 31)
+                {
+                    // fixstr
+                    write_number(static_cast<uint8_t>(0xA0 | N));
+                }
+                else if (N <= (std::numeric_limits<uint8_t>::max)())
+                {
+                    // str 8
+                    oa->write_character(to_char_type(0xD9));
+                    write_number(static_cast<uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<uint16_t>::max)())
+                {
+                    // str 16
+                    oa->write_character(to_char_type(0xDA));
+                    write_number(static_cast<uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<uint32_t>::max)())
+                {
+                    // str 32
+                    oa->write_character(to_char_type(0xDB));
+                    write_number(static_cast<uint32_t>(N));
+                }
+
+                // step 2: write the string
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_value.string->c_str()),
+                    j.m_value.string->size());
+                break;
+            }
+
+            case value_t::array:
+            {
+                // step 1: write control byte and the array size
+                const auto N = j.m_value.array->size();
+                if (N <= 15)
+                {
+                    // fixarray
+                    write_number(static_cast<uint8_t>(0x90 | N));
+                }
+                else if (N <= (std::numeric_limits<uint16_t>::max)())
+                {
+                    // array 16
+                    oa->write_character(to_char_type(0xDC));
+                    write_number(static_cast<uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<uint32_t>::max)())
+                {
+                    // array 32
+                    oa->write_character(to_char_type(0xDD));
+                    write_number(static_cast<uint32_t>(N));
+                }
+
+                // step 2: write each element
+                for (const auto& el : *j.m_value.array)
+                {
+                    write_msgpack(el);
+                }
+                break;
+            }
+
+            case value_t::object:
+            {
+                // step 1: write control byte and the object size
+                const auto N = j.m_value.object->size();
+                if (N <= 15)
+                {
+                    // fixmap
+                    write_number(static_cast<uint8_t>(0x80 | (N & 0xF)));
+                }
+                else if (N <= (std::numeric_limits<uint16_t>::max)())
+                {
+                    // map 16
+                    oa->write_character(to_char_type(0xDE));
+                    write_number(static_cast<uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<uint32_t>::max)())
+                {
+                    // map 32
+                    oa->write_character(to_char_type(0xDF));
+                    write_number(static_cast<uint32_t>(N));
+                }
+
+                // step 2: write each element
+                for (const auto& el : *j.m_value.object)
+                {
+                    write_msgpack(el.first);
+                    write_msgpack(el.second);
+                }
+                break;
+            }
+
+            default:
+                break;
+        }
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    @param[in] use_count   whether to use '#' prefixes (optimized format)
+    @param[in] use_type    whether to use '$' prefixes (optimized format)
+    @param[in] add_prefix  whether prefixes need to be used for this value
+    */
+    void write_ubjson(const BasicJsonType& j, const bool use_count,
+                      const bool use_type, const bool add_prefix = true)
+    {
+        switch (j.type())
+        {
+            case value_t::null:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('Z'));
+                }
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(j.m_value.boolean
+                                        ? to_char_type('T')
+                                        : to_char_type('F'));
+                }
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                write_number_with_ubjson_prefix(j.m_value.number_integer, add_prefix);
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                write_number_with_ubjson_prefix(j.m_value.number_unsigned, add_prefix);
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                write_number_with_ubjson_prefix(j.m_value.number_float, add_prefix);
+                break;
+            }
+
+            case value_t::string:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('S'));
+                }
+                write_number_with_ubjson_prefix(j.m_value.string->size(), true);
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_value.string->c_str()),
+                    j.m_value.string->size());
+                break;
+            }
+
+            case value_t::array:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('['));
+                }
+
+                bool prefix_required = true;
+                if (use_type and not j.m_value.array->empty())
+                {
+                    assert(use_count);
+                    const CharType first_prefix = ubjson_prefix(j.front());
+                    const bool same_prefix = std::all_of(j.begin() + 1, j.end(),
+                                                         [this, first_prefix](const BasicJsonType & v)
+                    {
+                        return ubjson_prefix(v) == first_prefix;
+                    });
+
+                    if (same_prefix)
+                    {
+                        prefix_required = false;
+                        oa->write_character(to_char_type('$'));
+                        oa->write_character(first_prefix);
+                    }
+                }
+
+                if (use_count)
+                {
+                    oa->write_character(to_char_type('#'));
+                    write_number_with_ubjson_prefix(j.m_value.array->size(), true);
+                }
+
+                for (const auto& el : *j.m_value.array)
+                {
+                    write_ubjson(el, use_count, use_type, prefix_required);
+                }
+
+                if (not use_count)
+                {
+                    oa->write_character(to_char_type(']'));
+                }
+
+                break;
+            }
+
+            case value_t::object:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('{'));
+                }
+
+                bool prefix_required = true;
+                if (use_type and not j.m_value.object->empty())
+                {
+                    assert(use_count);
+                    const CharType first_prefix = ubjson_prefix(j.front());
+                    const bool same_prefix = std::all_of(j.begin(), j.end(),
+                                                         [this, first_prefix](const BasicJsonType & v)
+                    {
+                        return ubjson_prefix(v) == first_prefix;
+                    });
+
+                    if (same_prefix)
+                    {
+                        prefix_required = false;
+                        oa->write_character(to_char_type('$'));
+                        oa->write_character(first_prefix);
+                    }
+                }
+
+                if (use_count)
+                {
+                    oa->write_character(to_char_type('#'));
+                    write_number_with_ubjson_prefix(j.m_value.object->size(), true);
+                }
+
+                for (const auto& el : *j.m_value.object)
+                {
+                    write_number_with_ubjson_prefix(el.first.size(), true);
+                    oa->write_characters(
+                        reinterpret_cast<const CharType*>(el.first.c_str()),
+                        el.first.size());
+                    write_ubjson(el.second, use_count, use_type, prefix_required);
+                }
+
+                if (not use_count)
+                {
+                    oa->write_character(to_char_type('}'));
+                }
+
+                break;
+            }
+
+            default:
+                break;
+        }
+    }
+
+  private:
+    //////////
+    // BSON //
+    //////////
+
+    /*!
+    @return The size of a BSON document entry header, including the id marker
+            and the entry name size (and its null-terminator).
+    */
+    static std::size_t calc_bson_entry_header_size(const string_t& name)
+    {
+        const auto it = name.find(static_cast<typename string_t::value_type>(0));
+        if (JSON_UNLIKELY(it != BasicJsonType::string_t::npos))
+        {
+            JSON_THROW(out_of_range::create(409,
+                                            "BSON key cannot contain code point U+0000 (at byte " + std::to_string(it) + ")"));
+        }
+
+        return /*id*/ 1ul + name.size() + /*zero-terminator*/1u;
+    }
+
+    /*!
+    @brief Writes the given @a element_type and @a name to the output adapter
+    */
+    void write_bson_entry_header(const string_t& name,
+                                 const std::uint8_t element_type)
+    {
+        oa->write_character(to_char_type(element_type)); // boolean
+        oa->write_characters(
+            reinterpret_cast<const CharType*>(name.c_str()),
+            name.size() + 1u);
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and boolean value @a value
+    */
+    void write_bson_boolean(const string_t& name,
+                            const bool value)
+    {
+        write_bson_entry_header(name, 0x08);
+        oa->write_character(value ? to_char_type(0x01) : to_char_type(0x00));
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and double value @a value
+    */
+    void write_bson_double(const string_t& name,
+                           const double value)
+    {
+        write_bson_entry_header(name, 0x01);
+        write_number<double, true>(value);
+    }
+
+    /*!
+    @return The size of the BSON-encoded string in @a value
+    */
+    static std::size_t calc_bson_string_size(const string_t& value)
+    {
+        return sizeof(std::int32_t) + value.size() + 1ul;
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and string value @a value
+    */
+    void write_bson_string(const string_t& name,
+                           const string_t& value)
+    {
+        write_bson_entry_header(name, 0x02);
+
+        write_number<std::int32_t, true>(static_cast<std::int32_t>(value.size() + 1ul));
+        oa->write_characters(
+            reinterpret_cast<const CharType*>(value.c_str()),
+            value.size() + 1);
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and null value
+    */
+    void write_bson_null(const string_t& name)
+    {
+        write_bson_entry_header(name, 0x0A);
+    }
+
+    /*!
+    @return The size of the BSON-encoded integer @a value
+    */
+    static std::size_t calc_bson_integer_size(const std::int64_t value)
+    {
+        if ((std::numeric_limits<std::int32_t>::min)() <= value and value <= (std::numeric_limits<std::int32_t>::max)())
+        {
+            return sizeof(std::int32_t);
+        }
+        else
+        {
+            return sizeof(std::int64_t);
+        }
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and integer @a value
+    */
+    void write_bson_integer(const string_t& name,
+                            const std::int64_t value)
+    {
+        if ((std::numeric_limits<std::int32_t>::min)() <= value and value <= (std::numeric_limits<std::int32_t>::max)())
+        {
+            write_bson_entry_header(name, 0x10); // int32
+            write_number<std::int32_t, true>(static_cast<std::int32_t>(value));
+        }
+        else
+        {
+            write_bson_entry_header(name, 0x12); // int64
+            write_number<std::int64_t, true>(static_cast<std::int64_t>(value));
+        }
+    }
+
+    /*!
+    @return The size of the BSON-encoded unsigned integer in @a j
+    */
+    static constexpr std::size_t calc_bson_unsigned_size(const std::uint64_t value) noexcept
+    {
+        return (value <= static_cast<std::uint64_t>((std::numeric_limits<std::int32_t>::max)()))
+               ? sizeof(std::int32_t)
+               : sizeof(std::int64_t);
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and unsigned @a value
+    */
+    void write_bson_unsigned(const string_t& name,
+                             const std::uint64_t value)
+    {
+        if (value <= static_cast<std::uint64_t>((std::numeric_limits<std::int32_t>::max)()))
+        {
+            write_bson_entry_header(name, 0x10 /* int32 */);
+            write_number<std::int32_t, true>(static_cast<std::int32_t>(value));
+        }
+        else if (value <= static_cast<std::uint64_t>((std::numeric_limits<std::int64_t>::max)()))
+        {
+            write_bson_entry_header(name, 0x12 /* int64 */);
+            write_number<std::int64_t, true>(static_cast<std::int64_t>(value));
+        }
+        else
+        {
+            JSON_THROW(out_of_range::create(407, "integer number " + std::to_string(value) + " cannot be represented by BSON as it does not fit int64"));
+        }
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and object @a value
+    */
+    void write_bson_object_entry(const string_t& name,
+                                 const typename BasicJsonType::object_t& value)
+    {
+        write_bson_entry_header(name, 0x03); // object
+        write_bson_object(value);
+    }
+
+    /*!
+    @return The size of the BSON-encoded array @a value
+    */
+    static std::size_t calc_bson_array_size(const typename BasicJsonType::array_t& value)
+    {
+        std::size_t embedded_document_size = 0ul;
+        std::size_t array_index = 0ul;
+
+        for (const auto& el : value)
+        {
+            embedded_document_size += calc_bson_element_size(std::to_string(array_index++), el);
+        }
+
+        return sizeof(std::int32_t) + embedded_document_size + 1ul;
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and array @a value
+    */
+    void write_bson_array(const string_t& name,
+                          const typename BasicJsonType::array_t& value)
+    {
+        write_bson_entry_header(name, 0x04); // array
+        write_number<std::int32_t, true>(static_cast<std::int32_t>(calc_bson_array_size(value)));
+
+        std::size_t array_index = 0ul;
+
+        for (const auto& el : value)
+        {
+            write_bson_element(std::to_string(array_index++), el);
+        }
+
+        oa->write_character(to_char_type(0x00));
+    }
+
+    /*!
+    @brief Calculates the size necessary to serialize the JSON value @a j with its @a name
+    @return The calculated size for the BSON document entry for @a j with the given @a name.
+    */
+    static std::size_t calc_bson_element_size(const string_t& name,
+            const BasicJsonType& j)
+    {
+        const auto header_size = calc_bson_entry_header_size(name);
+        switch (j.type())
+        {
+            case value_t::object:
+                return header_size + calc_bson_object_size(*j.m_value.object);
+
+            case value_t::array:
+                return header_size + calc_bson_array_size(*j.m_value.array);
+
+            case value_t::boolean:
+                return header_size + 1ul;
+
+            case value_t::number_float:
+                return header_size + 8ul;
+
+            case value_t::number_integer:
+                return header_size + calc_bson_integer_size(j.m_value.number_integer);
+
+            case value_t::number_unsigned:
+                return header_size + calc_bson_unsigned_size(j.m_value.number_unsigned);
+
+            case value_t::string:
+                return header_size + calc_bson_string_size(*j.m_value.string);
+
+            case value_t::null:
+                return header_size + 0ul;
+
+            // LCOV_EXCL_START
+            default:
+                assert(false);
+                return 0ul;
+                // LCOV_EXCL_STOP
+        };
+    }
+
+    /*!
+    @brief Serializes the JSON value @a j to BSON and associates it with the
+           key @a name.
+    @param name The name to associate with the JSON entity @a j within the
+                current BSON document
+    @return The size of the BSON entry
+    */
+    void write_bson_element(const string_t& name,
+                            const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::object:
+                return write_bson_object_entry(name, *j.m_value.object);
+
+            case value_t::array:
+                return write_bson_array(name, *j.m_value.array);
+
+            case value_t::boolean:
+                return write_bson_boolean(name, j.m_value.boolean);
+
+            case value_t::number_float:
+                return write_bson_double(name, j.m_value.number_float);
+
+            case value_t::number_integer:
+                return write_bson_integer(name, j.m_value.number_integer);
+
+            case value_t::number_unsigned:
+                return write_bson_unsigned(name, j.m_value.number_unsigned);
+
+            case value_t::string:
+                return write_bson_string(name, *j.m_value.string);
+
+            case value_t::null:
+                return write_bson_null(name);
+
+            // LCOV_EXCL_START
+            default:
+                assert(false);
+                return;
+                // LCOV_EXCL_STOP
+        };
+    }
+
+    /*!
+    @brief Calculates the size of the BSON serialization of the given
+           JSON-object @a j.
+    @param[in] j  JSON value to serialize
+    @pre       j.type() == value_t::object
+    */
+    static std::size_t calc_bson_object_size(const typename BasicJsonType::object_t& value)
+    {
+        std::size_t document_size = std::accumulate(value.begin(), value.end(), 0ul,
+                                    [](size_t result, const typename BasicJsonType::object_t::value_type & el)
+        {
+            return result += calc_bson_element_size(el.first, el.second);
+        });
+
+        return sizeof(std::int32_t) + document_size + 1ul;
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    @pre       j.type() == value_t::object
+    */
+    void write_bson_object(const typename BasicJsonType::object_t& value)
+    {
+        write_number<std::int32_t, true>(static_cast<std::int32_t>(calc_bson_object_size(value)));
+
+        for (const auto& el : value)
+        {
+            write_bson_element(el.first, el.second);
+        }
+
+        oa->write_character(to_char_type(0x00));
+    }
+
+    //////////
+    // CBOR //
+    //////////
+
+    static constexpr CharType get_cbor_float_prefix(float /*unused*/)
+    {
+        return to_char_type(0xFA);  // Single-Precision Float
+    }
+
+    static constexpr CharType get_cbor_float_prefix(double /*unused*/)
+    {
+        return to_char_type(0xFB);  // Double-Precision Float
+    }
+
+    /////////////
+    // MsgPack //
+    /////////////
+
+    static constexpr CharType get_msgpack_float_prefix(float /*unused*/)
+    {
+        return to_char_type(0xCA);  // float 32
+    }
+
+    static constexpr CharType get_msgpack_float_prefix(double /*unused*/)
+    {
+        return to_char_type(0xCB);  // float 64
+    }
+
+    ////////////
+    // UBJSON //
+    ////////////
+
+    // UBJSON: write number (floating point)
+    template<typename NumberType, typename std::enable_if<
+                 std::is_floating_point<NumberType>::value, int>::type = 0>
+    void write_number_with_ubjson_prefix(const NumberType n,
+                                         const bool add_prefix)
+    {
+        if (add_prefix)
+        {
+            oa->write_character(get_ubjson_float_prefix(n));
+        }
+        write_number(n);
+    }
+
+    // UBJSON: write number (unsigned integer)
+    template<typename NumberType, typename std::enable_if<
+                 std::is_unsigned<NumberType>::value, int>::type = 0>
+    void write_number_with_ubjson_prefix(const NumberType n,
+                                         const bool add_prefix)
+    {
+        if (n <= static_cast<uint64_t>((std::numeric_limits<int8_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('i'));  // int8
+            }
+            write_number(static_cast<uint8_t>(n));
+        }
+        else if (n <= (std::numeric_limits<uint8_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('U'));  // uint8
+            }
+            write_number(static_cast<uint8_t>(n));
+        }
+        else if (n <= static_cast<uint64_t>((std::numeric_limits<int16_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('I'));  // int16
+            }
+            write_number(static_cast<int16_t>(n));
+        }
+        else if (n <= static_cast<uint64_t>((std::numeric_limits<int32_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('l'));  // int32
+            }
+            write_number(static_cast<int32_t>(n));
+        }
+        else if (n <= static_cast<uint64_t>((std::numeric_limits<int64_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('L'));  // int64
+            }
+            write_number(static_cast<int64_t>(n));
+        }
+        else
+        {
+            JSON_THROW(out_of_range::create(407, "integer number " + std::to_string(n) + " cannot be represented by UBJSON as it does not fit int64"));
+        }
+    }
+
+    // UBJSON: write number (signed integer)
+    template<typename NumberType, typename std::enable_if<
+                 std::is_signed<NumberType>::value and
+                 not std::is_floating_point<NumberType>::value, int>::type = 0>
+    void write_number_with_ubjson_prefix(const NumberType n,
+                                         const bool add_prefix)
+    {
+        if ((std::numeric_limits<int8_t>::min)() <= n and n <= (std::numeric_limits<int8_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('i'));  // int8
+            }
+            write_number(static_cast<int8_t>(n));
+        }
+        else if (static_cast<int64_t>((std::numeric_limits<uint8_t>::min)()) <= n and n <= static_cast<int64_t>((std::numeric_limits<uint8_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('U'));  // uint8
+            }
+            write_number(static_cast<uint8_t>(n));
+        }
+        else if ((std::numeric_limits<int16_t>::min)() <= n and n <= (std::numeric_limits<int16_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('I'));  // int16
+            }
+            write_number(static_cast<int16_t>(n));
+        }
+        else if ((std::numeric_limits<int32_t>::min)() <= n and n <= (std::numeric_limits<int32_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('l'));  // int32
+            }
+            write_number(static_cast<int32_t>(n));
+        }
+        else if ((std::numeric_limits<int64_t>::min)() <= n and n <= (std::numeric_limits<int64_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('L'));  // int64
+            }
+            write_number(static_cast<int64_t>(n));
+        }
+        // LCOV_EXCL_START
+        else
+        {
+            JSON_THROW(out_of_range::create(407, "integer number " + std::to_string(n) + " cannot be represented by UBJSON as it does not fit int64"));
+        }
+        // LCOV_EXCL_STOP
+    }
+
+    /*!
+    @brief determine the type prefix of container values
+
+    @note This function does not need to be 100% accurate when it comes to
+          integer limits. In case a number exceeds the limits of int64_t,
+          this will be detected by a later call to function
+          write_number_with_ubjson_prefix. Therefore, we return 'L' for any
+          value that does not fit the previous limits.
+    */
+    CharType ubjson_prefix(const BasicJsonType& j) const noexcept
+    {
+        switch (j.type())
+        {
+            case value_t::null:
+                return 'Z';
+
+            case value_t::boolean:
+                return j.m_value.boolean ? 'T' : 'F';
+
+            case value_t::number_integer:
+            {
+                if ((std::numeric_limits<int8_t>::min)() <= j.m_value.number_integer and j.m_value.number_integer <= (std::numeric_limits<int8_t>::max)())
+                {
+                    return 'i';
+                }
+                if ((std::numeric_limits<uint8_t>::min)() <= j.m_value.number_integer and j.m_value.number_integer <= (std::numeric_limits<uint8_t>::max)())
+                {
+                    return 'U';
+                }
+                if ((std::numeric_limits<int16_t>::min)() <= j.m_value.number_integer and j.m_value.number_integer <= (std::numeric_limits<int16_t>::max)())
+                {
+                    return 'I';
+                }
+                if ((std::numeric_limits<int32_t>::min)() <= j.m_value.number_integer and j.m_value.number_integer <= (std::numeric_limits<int32_t>::max)())
+                {
+                    return 'l';
+                }
+                // no check and assume int64_t (see note above)
+                return 'L';
+            }
+
+            case value_t::number_unsigned:
+            {
+                if (j.m_value.number_unsigned <= (std::numeric_limits<int8_t>::max)())
+                {
+                    return 'i';
+                }
+                if (j.m_value.number_unsigned <= (std::numeric_limits<uint8_t>::max)())
+                {
+                    return 'U';
+                }
+                if (j.m_value.number_unsigned <= (std::numeric_limits<int16_t>::max)())
+                {
+                    return 'I';
+                }
+                if (j.m_value.number_unsigned <= (std::numeric_limits<int32_t>::max)())
+                {
+                    return 'l';
+                }
+                // no check and assume int64_t (see note above)
+                return 'L';
+            }
+
+            case value_t::number_float:
+                return get_ubjson_float_prefix(j.m_value.number_float);
+
+            case value_t::string:
+                return 'S';
+
+            case value_t::array:
+                return '[';
+
+            case value_t::object:
+                return '{';
+
+            default:  // discarded values
+                return 'N';
+        }
+    }
+
+    static constexpr CharType get_ubjson_float_prefix(float /*unused*/)
+    {
+        return 'd';  // float 32
+    }
+
+    static constexpr CharType get_ubjson_float_prefix(double /*unused*/)
+    {
+        return 'D';  // float 64
+    }
+
+    ///////////////////////
+    // Utility functions //
+    ///////////////////////
+
+    /*
+    @brief write a number to output input
+    @param[in] n number of type @a NumberType
+    @tparam NumberType the type of the number
+    @tparam OutputIsLittleEndian Set to true if output data is
+                                 required to be little endian
+
+    @note This function needs to respect the system's endianess, because bytes
+          in CBOR, MessagePack, and UBJSON are stored in network order (big
+          endian) and therefore need reordering on little endian systems.
+    */
+    template<typename NumberType, bool OutputIsLittleEndian = false>
+    void write_number(const NumberType n)
+    {
+        // step 1: write number to array of length NumberType
+        std::array<CharType, sizeof(NumberType)> vec;
+        std::memcpy(vec.data(), &n, sizeof(NumberType));
+
+        // step 2: write array to output (with possible reordering)
+        if (is_little_endian and not OutputIsLittleEndian)
+        {
+            // reverse byte order prior to conversion if necessary
+            std::reverse(vec.begin(), vec.end());
+        }
+
+        oa->write_characters(vec.data(), sizeof(NumberType));
+    }
+
+  public:
+    // The following to_char_type functions are implement the conversion
+    // between uint8_t and CharType. In case CharType is not unsigned,
+    // such a conversion is required to allow values greater than 128.
+    // See <https://github.com/nlohmann/json/issues/1286> for a discussion.
+    template < typename C = CharType,
+               enable_if_t < std::is_signed<C>::value and std::is_signed<char>::value > * = nullptr >
+    static constexpr CharType to_char_type(std::uint8_t x) noexcept
+    {
+        return *reinterpret_cast<char*>(&x);
+    }
+
+    template < typename C = CharType,
+               enable_if_t < std::is_signed<C>::value and std::is_unsigned<char>::value > * = nullptr >
+    static CharType to_char_type(std::uint8_t x) noexcept
+    {
+        static_assert(sizeof(std::uint8_t) == sizeof(CharType), "size of CharType must be equal to std::uint8_t");
+        static_assert(std::is_pod<CharType>::value, "CharType must be POD");
+        CharType result;
+        std::memcpy(&result, &x, sizeof(x));
+        return result;
+    }
+
+    template<typename C = CharType,
+             enable_if_t<std::is_unsigned<C>::value>* = nullptr>
+    static constexpr CharType to_char_type(std::uint8_t x) noexcept
+    {
+        return x;
+    }
+
+    template < typename InputCharType, typename C = CharType,
+               enable_if_t <
+                   std::is_signed<C>::value and
+                   std::is_signed<char>::value and
+                   std::is_same<char, typename std::remove_cv<InputCharType>::type>::value
+                   > * = nullptr >
+    static constexpr CharType to_char_type(InputCharType x) noexcept
+    {
+        return x;
+    }
+
+  private:
+    /// whether we can assume little endianess
+    const bool is_little_endian = binary_reader<BasicJsonType>::little_endianess();
+
+    /// the output
+    output_adapter_t<CharType> oa = nullptr;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/output/serializer.hpp>
+
+
+#include <algorithm> // reverse, remove, fill, find, none_of
+#include <array> // array
+#include <cassert> // assert
+#include <ciso646> // and, or
+#include <clocale> // localeconv, lconv
+#include <cmath> // labs, isfinite, isnan, signbit
+#include <cstddef> // size_t, ptrdiff_t
+#include <cstdint> // uint8_t
+#include <cstdio> // snprintf
+#include <limits> // numeric_limits
+#include <string> // string
+#include <type_traits> // is_same
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/conversions/to_chars.hpp>
+
+
+#include <cassert> // assert
+#include <ciso646> // or, and, not
+#include <cmath>   // signbit, isfinite
+#include <cstdint> // intN_t, uintN_t
+#include <cstring> // memcpy, memmove
+
+namespace nlohmann
+{
+namespace detail
+{
+
+/*!
+@brief implements the Grisu2 algorithm for binary to decimal floating-point
+conversion.
+
+This implementation is a slightly modified version of the reference
+implementation which may be obtained from
+http://florian.loitsch.com/publications (bench.tar.gz).
+
+The code is distributed under the MIT license, Copyright (c) 2009 Florian Loitsch.
+
+For a detailed description of the algorithm see:
+
+[1] Loitsch, "Printing Floating-Point Numbers Quickly and Accurately with
+    Integers", Proceedings of the ACM SIGPLAN 2010 Conference on Programming
+    Language Design and Implementation, PLDI 2010
+[2] Burger, Dybvig, "Printing Floating-Point Numbers Quickly and Accurately",
+    Proceedings of the ACM SIGPLAN 1996 Conference on Programming Language
+    Design and Implementation, PLDI 1996
+*/
+namespace dtoa_impl
+{
+
+template <typename Target, typename Source>
+Target reinterpret_bits(const Source source)
+{
+    static_assert(sizeof(Target) == sizeof(Source), "size mismatch");
+
+    Target target;
+    std::memcpy(&target, &source, sizeof(Source));
+    return target;
+}
+
+struct diyfp // f * 2^e
+{
+    static constexpr int kPrecision = 64; // = q
+
+    uint64_t f = 0;
+    int e = 0;
+
+    constexpr diyfp(uint64_t f_, int e_) noexcept : f(f_), e(e_) {}
+
+    /*!
+    @brief returns x - y
+    @pre x.e == y.e and x.f >= y.f
+    */
+    static diyfp sub(const diyfp& x, const diyfp& y) noexcept
+    {
+        assert(x.e == y.e);
+        assert(x.f >= y.f);
+
+        return {x.f - y.f, x.e};
+    }
+
+    /*!
+    @brief returns x * y
+    @note The result is rounded. (Only the upper q bits are returned.)
+    */
+    static diyfp mul(const diyfp& x, const diyfp& y) noexcept
+    {
+        static_assert(kPrecision == 64, "internal error");
+
+        // Computes:
+        //  f = round((x.f * y.f) / 2^q)
+        //  e = x.e + y.e + q
+
+        // Emulate the 64-bit * 64-bit multiplication:
+        //
+        // p = u * v
+        //   = (u_lo + 2^32 u_hi) (v_lo + 2^32 v_hi)
+        //   = (u_lo v_lo         ) + 2^32 ((u_lo v_hi         ) + (u_hi v_lo         )) + 2^64 (u_hi v_hi         )
+        //   = (p0                ) + 2^32 ((p1                ) + (p2                )) + 2^64 (p3                )
+        //   = (p0_lo + 2^32 p0_hi) + 2^32 ((p1_lo + 2^32 p1_hi) + (p2_lo + 2^32 p2_hi)) + 2^64 (p3                )
+        //   = (p0_lo             ) + 2^32 (p0_hi + p1_lo + p2_lo                      ) + 2^64 (p1_hi + p2_hi + p3)
+        //   = (p0_lo             ) + 2^32 (Q                                          ) + 2^64 (H                 )
+        //   = (p0_lo             ) + 2^32 (Q_lo + 2^32 Q_hi                           ) + 2^64 (H                 )
+        //
+        // (Since Q might be larger than 2^32 - 1)
+        //
+        //   = (p0_lo + 2^32 Q_lo) + 2^64 (Q_hi + H)
+        //
+        // (Q_hi + H does not overflow a 64-bit int)
+        //
+        //   = p_lo + 2^64 p_hi
+
+        const uint64_t u_lo = x.f & 0xFFFFFFFF;
+        const uint64_t u_hi = x.f >> 32;
+        const uint64_t v_lo = y.f & 0xFFFFFFFF;
+        const uint64_t v_hi = y.f >> 32;
+
+        const uint64_t p0 = u_lo * v_lo;
+        const uint64_t p1 = u_lo * v_hi;
+        const uint64_t p2 = u_hi * v_lo;
+        const uint64_t p3 = u_hi * v_hi;
+
+        const uint64_t p0_hi = p0 >> 32;
+        const uint64_t p1_lo = p1 & 0xFFFFFFFF;
+        const uint64_t p1_hi = p1 >> 32;
+        const uint64_t p2_lo = p2 & 0xFFFFFFFF;
+        const uint64_t p2_hi = p2 >> 32;
+
+        uint64_t Q = p0_hi + p1_lo + p2_lo;
+
+        // The full product might now be computed as
+        //
+        // p_hi = p3 + p2_hi + p1_hi + (Q >> 32)
+        // p_lo = p0_lo + (Q << 32)
+        //
+        // But in this particular case here, the full p_lo is not required.
+        // Effectively we only need to add the highest bit in p_lo to p_hi (and
+        // Q_hi + 1 does not overflow).
+
+        Q += uint64_t{1} << (64 - 32 - 1); // round, ties up
+
+        const uint64_t h = p3 + p2_hi + p1_hi + (Q >> 32);
+
+        return {h, x.e + y.e + 64};
+    }
+
+    /*!
+    @brief normalize x such that the significand is >= 2^(q-1)
+    @pre x.f != 0
+    */
+    static diyfp normalize(diyfp x) noexcept
+    {
+        assert(x.f != 0);
+
+        while ((x.f >> 63) == 0)
+        {
+            x.f <<= 1;
+            x.e--;
+        }
+
+        return x;
+    }
+
+    /*!
+    @brief normalize x such that the result has the exponent E
+    @pre e >= x.e and the upper e - x.e bits of x.f must be zero.
+    */
+    static diyfp normalize_to(const diyfp& x, const int target_exponent) noexcept
+    {
+        const int delta = x.e - target_exponent;
+
+        assert(delta >= 0);
+        assert(((x.f << delta) >> delta) == x.f);
+
+        return {x.f << delta, target_exponent};
+    }
+};
+
+struct boundaries
+{
+    diyfp w;
+    diyfp minus;
+    diyfp plus;
+};
+
+/*!
+Compute the (normalized) diyfp representing the input number 'value' and its
+boundaries.
+
+@pre value must be finite and positive
+*/
+template <typename FloatType>
+boundaries compute_boundaries(FloatType value)
+{
+    assert(std::isfinite(value));
+    assert(value > 0);
+
+    // Convert the IEEE representation into a diyfp.
+    //
+    // If v is denormal:
+    //      value = 0.F * 2^(1 - bias) = (          F) * 2^(1 - bias - (p-1))
+    // If v is normalized:
+    //      value = 1.F * 2^(E - bias) = (2^(p-1) + F) * 2^(E - bias - (p-1))
+
+    static_assert(std::numeric_limits<FloatType>::is_iec559,
+                  "internal error: dtoa_short requires an IEEE-754 floating-point implementation");
+
+    constexpr int      kPrecision = std::numeric_limits<FloatType>::digits; // = p (includes the hidden bit)
+    constexpr int      kBias      = std::numeric_limits<FloatType>::max_exponent - 1 + (kPrecision - 1);
+    constexpr int      kMinExp    = 1 - kBias;
+    constexpr uint64_t kHiddenBit = uint64_t{1} << (kPrecision - 1); // = 2^(p-1)
+
+    using bits_type = typename std::conditional< kPrecision == 24, uint32_t, uint64_t >::type;
+
+    const uint64_t bits = reinterpret_bits<bits_type>(value);
+    const uint64_t E = bits >> (kPrecision - 1);
+    const uint64_t F = bits & (kHiddenBit - 1);
+
+    const bool is_denormal = (E == 0);
+    const diyfp v = is_denormal
+                    ? diyfp(F, kMinExp)
+                    : diyfp(F + kHiddenBit, static_cast<int>(E) - kBias);
+
+    // Compute the boundaries m- and m+ of the floating-point value
+    // v = f * 2^e.
+    //
+    // Determine v- and v+, the floating-point predecessor and successor if v,
+    // respectively.
+    //
+    //      v- = v - 2^e        if f != 2^(p-1) or e == e_min                (A)
+    //         = v - 2^(e-1)    if f == 2^(p-1) and e > e_min                (B)
+    //
+    //      v+ = v + 2^e
+    //
+    // Let m- = (v- + v) / 2 and m+ = (v + v+) / 2. All real numbers _strictly_
+    // between m- and m+ round to v, regardless of how the input rounding
+    // algorithm breaks ties.
+    //
+    //      ---+-------------+-------------+-------------+-------------+---  (A)
+    //         v-            m-            v             m+            v+
+    //
+    //      -----------------+------+------+-------------+-------------+---  (B)
+    //                       v-     m-     v             m+            v+
+
+    const bool lower_boundary_is_closer = (F == 0 and E > 1);
+    const diyfp m_plus = diyfp(2 * v.f + 1, v.e - 1);
+    const diyfp m_minus = lower_boundary_is_closer
+                          ? diyfp(4 * v.f - 1, v.e - 2)  // (B)
+                          : diyfp(2 * v.f - 1, v.e - 1); // (A)
+
+    // Determine the normalized w+ = m+.
+    const diyfp w_plus = diyfp::normalize(m_plus);
+
+    // Determine w- = m- such that e_(w-) = e_(w+).
+    const diyfp w_minus = diyfp::normalize_to(m_minus, w_plus.e);
+
+    return {diyfp::normalize(v), w_minus, w_plus};
+}
+
+// Given normalized diyfp w, Grisu needs to find a (normalized) cached
+// power-of-ten c, such that the exponent of the product c * w = f * 2^e lies
+// within a certain range [alpha, gamma] (Definition 3.2 from [1])
+//
+//      alpha <= e = e_c + e_w + q <= gamma
+//
+// or
+//
+//      f_c * f_w * 2^alpha <= f_c 2^(e_c) * f_w 2^(e_w) * 2^q
+//                          <= f_c * f_w * 2^gamma
+//
+// Since c and w are normalized, i.e. 2^(q-1) <= f < 2^q, this implies
+//
+//      2^(q-1) * 2^(q-1) * 2^alpha <= c * w * 2^q < 2^q * 2^q * 2^gamma
+//
+// or
+//
+//      2^(q - 2 + alpha) <= c * w < 2^(q + gamma)
+//
+// The choice of (alpha,gamma) determines the size of the table and the form of
+// the digit generation procedure. Using (alpha,gamma)=(-60,-32) works out well
+// in practice:
+//
+// The idea is to cut the number c * w = f * 2^e into two parts, which can be
+// processed independently: An integral part p1, and a fractional part p2:
+//
+//      f * 2^e = ( (f div 2^-e) * 2^-e + (f mod 2^-e) ) * 2^e
+//              = (f div 2^-e) + (f mod 2^-e) * 2^e
+//              = p1 + p2 * 2^e
+//
+// The conversion of p1 into decimal form requires a series of divisions and
+// modulos by (a power of) 10. These operations are faster for 32-bit than for
+// 64-bit integers, so p1 should ideally fit into a 32-bit integer. This can be
+// achieved by choosing
+//
+//      -e >= 32   or   e <= -32 := gamma
+//
+// In order to convert the fractional part
+//
+//      p2 * 2^e = p2 / 2^-e = d[-1] / 10^1 + d[-2] / 10^2 + ...
+//
+// into decimal form, the fraction is repeatedly multiplied by 10 and the digits
+// d[-i] are extracted in order:
+//
+//      (10 * p2) div 2^-e = d[-1]
+//      (10 * p2) mod 2^-e = d[-2] / 10^1 + ...
+//
+// The multiplication by 10 must not overflow. It is sufficient to choose
+//
+//      10 * p2 < 16 * p2 = 2^4 * p2 <= 2^64.
+//
+// Since p2 = f mod 2^-e < 2^-e,
+//
+//      -e <= 60   or   e >= -60 := alpha
+
+constexpr int kAlpha = -60;
+constexpr int kGamma = -32;
+
+struct cached_power // c = f * 2^e ~= 10^k
+{
+    uint64_t f;
+    int e;
+    int k;
+};
+
+/*!
+For a normalized diyfp w = f * 2^e, this function returns a (normalized) cached
+power-of-ten c = f_c * 2^e_c, such that the exponent of the product w * c
+satisfies (Definition 3.2 from [1])
+
+     alpha <= e_c + e + q <= gamma.
+*/
+inline cached_power get_cached_power_for_binary_exponent(int e)
+{
+    // Now
+    //
+    //      alpha <= e_c + e + q <= gamma                                    (1)
+    //      ==> f_c * 2^alpha <= c * 2^e * 2^q
+    //
+    // and since the c's are normalized, 2^(q-1) <= f_c,
+    //
+    //      ==> 2^(q - 1 + alpha) <= c * 2^(e + q)
+    //      ==> 2^(alpha - e - 1) <= c
+    //
+    // If c were an exakt power of ten, i.e. c = 10^k, one may determine k as
+    //
+    //      k = ceil( log_10( 2^(alpha - e - 1) ) )
+    //        = ceil( (alpha - e - 1) * log_10(2) )
+    //
+    // From the paper:
+    // "In theory the result of the procedure could be wrong since c is rounded,
+    //  and the computation itself is approximated [...]. In practice, however,
+    //  this simple function is sufficient."
+    //
+    // For IEEE double precision floating-point numbers converted into
+    // normalized diyfp's w = f * 2^e, with q = 64,
+    //
+    //      e >= -1022      (min IEEE exponent)
+    //           -52        (p - 1)
+    //           -52        (p - 1, possibly normalize denormal IEEE numbers)
+    //           -11        (normalize the diyfp)
+    //         = -1137
+    //
+    // and
+    //
+    //      e <= +1023      (max IEEE exponent)
+    //           -52        (p - 1)
+    //           -11        (normalize the diyfp)
+    //         = 960
+    //
+    // This binary exponent range [-1137,960] results in a decimal exponent
+    // range [-307,324]. One does not need to store a cached power for each
+    // k in this range. For each such k it suffices to find a cached power
+    // such that the exponent of the product lies in [alpha,gamma].
+    // This implies that the difference of the decimal exponents of adjacent
+    // table entries must be less than or equal to
+    //
+    //      floor( (gamma - alpha) * log_10(2) ) = 8.
+    //
+    // (A smaller distance gamma-alpha would require a larger table.)
+
+    // NB:
+    // Actually this function returns c, such that -60 <= e_c + e + 64 <= -34.
+
+    constexpr int kCachedPowersSize = 79;
+    constexpr int kCachedPowersMinDecExp = -300;
+    constexpr int kCachedPowersDecStep = 8;
+
+    static constexpr cached_power kCachedPowers[] =
+    {
+        { 0xAB70FE17C79AC6CA, -1060, -300 },
+        { 0xFF77B1FCBEBCDC4F, -1034, -292 },
+        { 0xBE5691EF416BD60C, -1007, -284 },
+        { 0x8DD01FAD907FFC3C,  -980, -276 },
+        { 0xD3515C2831559A83,  -954, -268 },
+        { 0x9D71AC8FADA6C9B5,  -927, -260 },
+        { 0xEA9C227723EE8BCB,  -901, -252 },
+        { 0xAECC49914078536D,  -874, -244 },
+        { 0x823C12795DB6CE57,  -847, -236 },
+        { 0xC21094364DFB5637,  -821, -228 },
+        { 0x9096EA6F3848984F,  -794, -220 },
+        { 0xD77485CB25823AC7,  -768, -212 },
+        { 0xA086CFCD97BF97F4,  -741, -204 },
+        { 0xEF340A98172AACE5,  -715, -196 },
+        { 0xB23867FB2A35B28E,  -688, -188 },
+        { 0x84C8D4DFD2C63F3B,  -661, -180 },
+        { 0xC5DD44271AD3CDBA,  -635, -172 },
+        { 0x936B9FCEBB25C996,  -608, -164 },
+        { 0xDBAC6C247D62A584,  -582, -156 },
+        { 0xA3AB66580D5FDAF6,  -555, -148 },
+        { 0xF3E2F893DEC3F126,  -529, -140 },
+        { 0xB5B5ADA8AAFF80B8,  -502, -132 },
+        { 0x87625F056C7C4A8B,  -475, -124 },
+        { 0xC9BCFF6034C13053,  -449, -116 },
+        { 0x964E858C91BA2655,  -422, -108 },
+        { 0xDFF9772470297EBD,  -396, -100 },
+        { 0xA6DFBD9FB8E5B88F,  -369,  -92 },
+        { 0xF8A95FCF88747D94,  -343,  -84 },
+        { 0xB94470938FA89BCF,  -316,  -76 },
+        { 0x8A08F0F8BF0F156B,  -289,  -68 },
+        { 0xCDB02555653131B6,  -263,  -60 },
+        { 0x993FE2C6D07B7FAC,  -236,  -52 },
+        { 0xE45C10C42A2B3B06,  -210,  -44 },
+        { 0xAA242499697392D3,  -183,  -36 },
+        { 0xFD87B5F28300CA0E,  -157,  -28 },
+        { 0xBCE5086492111AEB,  -130,  -20 },
+        { 0x8CBCCC096F5088CC,  -103,  -12 },
+        { 0xD1B71758E219652C,   -77,   -4 },
+        { 0x9C40000000000000,   -50,    4 },
+        { 0xE8D4A51000000000,   -24,   12 },
+        { 0xAD78EBC5AC620000,     3,   20 },
+        { 0x813F3978F8940984,    30,   28 },
+        { 0xC097CE7BC90715B3,    56,   36 },
+        { 0x8F7E32CE7BEA5C70,    83,   44 },
+        { 0xD5D238A4ABE98068,   109,   52 },
+        { 0x9F4F2726179A2245,   136,   60 },
+        { 0xED63A231D4C4FB27,   162,   68 },
+        { 0xB0DE65388CC8ADA8,   189,   76 },
+        { 0x83C7088E1AAB65DB,   216,   84 },
+        { 0xC45D1DF942711D9A,   242,   92 },
+        { 0x924D692CA61BE758,   269,  100 },
+        { 0xDA01EE641A708DEA,   295,  108 },
+        { 0xA26DA3999AEF774A,   322,  116 },
+        { 0xF209787BB47D6B85,   348,  124 },
+        { 0xB454E4A179DD1877,   375,  132 },
+        { 0x865B86925B9BC5C2,   402,  140 },
+        { 0xC83553C5C8965D3D,   428,  148 },
+        { 0x952AB45CFA97A0B3,   455,  156 },
+        { 0xDE469FBD99A05FE3,   481,  164 },
+        { 0xA59BC234DB398C25,   508,  172 },
+        { 0xF6C69A72A3989F5C,   534,  180 },
+        { 0xB7DCBF5354E9BECE,   561,  188 },
+        { 0x88FCF317F22241E2,   588,  196 },
+        { 0xCC20CE9BD35C78A5,   614,  204 },
+        { 0x98165AF37B2153DF,   641,  212 },
+        { 0xE2A0B5DC971F303A,   667,  220 },
+        { 0xA8D9D1535CE3B396,   694,  228 },
+        { 0xFB9B7CD9A4A7443C,   720,  236 },
+        { 0xBB764C4CA7A44410,   747,  244 },
+        { 0x8BAB8EEFB6409C1A,   774,  252 },
+        { 0xD01FEF10A657842C,   800,  260 },
+        { 0x9B10A4E5E9913129,   827,  268 },
+        { 0xE7109BFBA19C0C9D,   853,  276 },
+        { 0xAC2820D9623BF429,   880,  284 },
+        { 0x80444B5E7AA7CF85,   907,  292 },
+        { 0xBF21E44003ACDD2D,   933,  300 },
+        { 0x8E679C2F5E44FF8F,   960,  308 },
+        { 0xD433179D9C8CB841,   986,  316 },
+        { 0x9E19DB92B4E31BA9,  1013,  324 },
+    };
+
+    // This computation gives exactly the same results for k as
+    //      k = ceil((kAlpha - e - 1) * 0.30102999566398114)
+    // for |e| <= 1500, but doesn't require floating-point operations.
+    // NB: log_10(2) ~= 78913 / 2^18
+    assert(e >= -1500);
+    assert(e <=  1500);
+    const int f = kAlpha - e - 1;
+    const int k = (f * 78913) / (1 << 18) + static_cast<int>(f > 0);
+
+    const int index = (-kCachedPowersMinDecExp + k + (kCachedPowersDecStep - 1)) / kCachedPowersDecStep;
+    assert(index >= 0);
+    assert(index < kCachedPowersSize);
+    static_cast<void>(kCachedPowersSize); // Fix warning.
+
+    const cached_power cached = kCachedPowers[index];
+    assert(kAlpha <= cached.e + e + 64);
+    assert(kGamma >= cached.e + e + 64);
+
+    return cached;
+}
+
+/*!
+For n != 0, returns k, such that pow10 := 10^(k-1) <= n < 10^k.
+For n == 0, returns 1 and sets pow10 := 1.
+*/
+inline int find_largest_pow10(const uint32_t n, uint32_t& pow10)
+{
+    // LCOV_EXCL_START
+    if (n >= 1000000000)
+    {
+        pow10 = 1000000000;
+        return 10;
+    }
+    // LCOV_EXCL_STOP
+    else if (n >= 100000000)
+    {
+        pow10 = 100000000;
+        return  9;
+    }
+    else if (n >= 10000000)
+    {
+        pow10 = 10000000;
+        return  8;
+    }
+    else if (n >= 1000000)
+    {
+        pow10 = 1000000;
+        return  7;
+    }
+    else if (n >= 100000)
+    {
+        pow10 = 100000;
+        return  6;
+    }
+    else if (n >= 10000)
+    {
+        pow10 = 10000;
+        return  5;
+    }
+    else if (n >= 1000)
+    {
+        pow10 = 1000;
+        return  4;
+    }
+    else if (n >= 100)
+    {
+        pow10 = 100;
+        return  3;
+    }
+    else if (n >= 10)
+    {
+        pow10 = 10;
+        return  2;
+    }
+    else
+    {
+        pow10 = 1;
+        return 1;
+    }
+}
+
+inline void grisu2_round(char* buf, int len, uint64_t dist, uint64_t delta,
+                         uint64_t rest, uint64_t ten_k)
+{
+    assert(len >= 1);
+    assert(dist <= delta);
+    assert(rest <= delta);
+    assert(ten_k > 0);
+
+    //               <--------------------------- delta ---->
+    //                                  <---- dist --------->
+    // --------------[------------------+-------------------]--------------
+    //               M-                 w                   M+
+    //
+    //                                  ten_k
+    //                                <------>
+    //                                       <---- rest ---->
+    // --------------[------------------+----+--------------]--------------
+    //                                  w    V
+    //                                       = buf * 10^k
+    //
+    // ten_k represents a unit-in-the-last-place in the decimal representation
+    // stored in buf.
+    // Decrement buf by ten_k while this takes buf closer to w.
+
+    // The tests are written in this order to avoid overflow in unsigned
+    // integer arithmetic.
+
+    while (rest < dist
+            and delta - rest >= ten_k
+            and (rest + ten_k < dist or dist - rest > rest + ten_k - dist))
+    {
+        assert(buf[len - 1] != '0');
+        buf[len - 1]--;
+        rest += ten_k;
+    }
+}
+
+/*!
+Generates V = buffer * 10^decimal_exponent, such that M- <= V <= M+.
+M- and M+ must be normalized and share the same exponent -60 <= e <= -32.
+*/
+inline void grisu2_digit_gen(char* buffer, int& length, int& decimal_exponent,
+                             diyfp M_minus, diyfp w, diyfp M_plus)
+{
+    static_assert(kAlpha >= -60, "internal error");
+    static_assert(kGamma <= -32, "internal error");
+
+    // Generates the digits (and the exponent) of a decimal floating-point
+    // number V = buffer * 10^decimal_exponent in the range [M-, M+]. The diyfp's
+    // w, M- and M+ share the same exponent e, which satisfies alpha <= e <= gamma.
+    //
+    //               <--------------------------- delta ---->
+    //                                  <---- dist --------->
+    // --------------[------------------+-------------------]--------------
+    //               M-                 w                   M+
+    //
+    // Grisu2 generates the digits of M+ from left to right and stops as soon as
+    // V is in [M-,M+].
+
+    assert(M_plus.e >= kAlpha);
+    assert(M_plus.e <= kGamma);
+
+    uint64_t delta = diyfp::sub(M_plus, M_minus).f; // (significand of (M+ - M-), implicit exponent is e)
+    uint64_t dist  = diyfp::sub(M_plus, w      ).f; // (significand of (M+ - w ), implicit exponent is e)
+
+    // Split M+ = f * 2^e into two parts p1 and p2 (note: e < 0):
+    //
+    //      M+ = f * 2^e
+    //         = ((f div 2^-e) * 2^-e + (f mod 2^-e)) * 2^e
+    //         = ((p1        ) * 2^-e + (p2        )) * 2^e
+    //         = p1 + p2 * 2^e
+
+    const diyfp one(uint64_t{1} << -M_plus.e, M_plus.e);
+
+    auto p1 = static_cast<uint32_t>(M_plus.f >> -one.e); // p1 = f div 2^-e (Since -e >= 32, p1 fits into a 32-bit int.)
+    uint64_t p2 = M_plus.f & (one.f - 1);                    // p2 = f mod 2^-e
+
+    // 1)
+    //
+    // Generate the digits of the integral part p1 = d[n-1]...d[1]d[0]
+
+    assert(p1 > 0);
+
+    uint32_t pow10;
+    const int k = find_largest_pow10(p1, pow10);
+
+    //      10^(k-1) <= p1 < 10^k, pow10 = 10^(k-1)
+    //
+    //      p1 = (p1 div 10^(k-1)) * 10^(k-1) + (p1 mod 10^(k-1))
+    //         = (d[k-1]         ) * 10^(k-1) + (p1 mod 10^(k-1))
+    //
+    //      M+ = p1                                             + p2 * 2^e
+    //         = d[k-1] * 10^(k-1) + (p1 mod 10^(k-1))          + p2 * 2^e
+    //         = d[k-1] * 10^(k-1) + ((p1 mod 10^(k-1)) * 2^-e + p2) * 2^e
+    //         = d[k-1] * 10^(k-1) + (                         rest) * 2^e
+    //
+    // Now generate the digits d[n] of p1 from left to right (n = k-1,...,0)
+    //
+    //      p1 = d[k-1]...d[n] * 10^n + d[n-1]...d[0]
+    //
+    // but stop as soon as
+    //
+    //      rest * 2^e = (d[n-1]...d[0] * 2^-e + p2) * 2^e <= delta * 2^e
+
+    int n = k;
+    while (n > 0)
+    {
+        // Invariants:
+        //      M+ = buffer * 10^n + (p1 + p2 * 2^e)    (buffer = 0 for n = k)
+        //      pow10 = 10^(n-1) <= p1 < 10^n
+        //
+        const uint32_t d = p1 / pow10;  // d = p1 div 10^(n-1)
+        const uint32_t r = p1 % pow10;  // r = p1 mod 10^(n-1)
+        //
+        //      M+ = buffer * 10^n + (d * 10^(n-1) + r) + p2 * 2^e
+        //         = (buffer * 10 + d) * 10^(n-1) + (r + p2 * 2^e)
+        //
+        assert(d <= 9);
+        buffer[length++] = static_cast<char>('0' + d); // buffer := buffer * 10 + d
+        //
+        //      M+ = buffer * 10^(n-1) + (r + p2 * 2^e)
+        //
+        p1 = r;
+        n--;
+        //
+        //      M+ = buffer * 10^n + (p1 + p2 * 2^e)
+        //      pow10 = 10^n
+        //
+
+        // Now check if enough digits have been generated.
+        // Compute
+        //
+        //      p1 + p2 * 2^e = (p1 * 2^-e + p2) * 2^e = rest * 2^e
+        //
+        // Note:
+        // Since rest and delta share the same exponent e, it suffices to
+        // compare the significands.
+        const uint64_t rest = (uint64_t{p1} << -one.e) + p2;
+        if (rest <= delta)
+        {
+            // V = buffer * 10^n, with M- <= V <= M+.
+
+            decimal_exponent += n;
+
+            // We may now just stop. But instead look if the buffer could be
+            // decremented to bring V closer to w.
+            //
+            // pow10 = 10^n is now 1 ulp in the decimal representation V.
+            // The rounding procedure works with diyfp's with an implicit
+            // exponent of e.
+            //
+            //      10^n = (10^n * 2^-e) * 2^e = ulp * 2^e
+            //
+            const uint64_t ten_n = uint64_t{pow10} << -one.e;
+            grisu2_round(buffer, length, dist, delta, rest, ten_n);
+
+            return;
+        }
+
+        pow10 /= 10;
+        //
+        //      pow10 = 10^(n-1) <= p1 < 10^n
+        // Invariants restored.
+    }
+
+    // 2)
+    //
+    // The digits of the integral part have been generated:
+    //
+    //      M+ = d[k-1]...d[1]d[0] + p2 * 2^e
+    //         = buffer            + p2 * 2^e
+    //
+    // Now generate the digits of the fractional part p2 * 2^e.
+    //
+    // Note:
+    // No decimal point is generated: the exponent is adjusted instead.
+    //
+    // p2 actually represents the fraction
+    //
+    //      p2 * 2^e
+    //          = p2 / 2^-e
+    //          = d[-1] / 10^1 + d[-2] / 10^2 + ...
+    //
+    // Now generate the digits d[-m] of p1 from left to right (m = 1,2,...)
+    //
+    //      p2 * 2^e = d[-1]d[-2]...d[-m] * 10^-m
+    //                      + 10^-m * (d[-m-1] / 10^1 + d[-m-2] / 10^2 + ...)
+    //
+    // using
+    //
+    //      10^m * p2 = ((10^m * p2) div 2^-e) * 2^-e + ((10^m * p2) mod 2^-e)
+    //                = (                   d) * 2^-e + (                   r)
+    //
+    // or
+    //      10^m * p2 * 2^e = d + r * 2^e
+    //
+    // i.e.
+    //
+    //      M+ = buffer + p2 * 2^e
+    //         = buffer + 10^-m * (d + r * 2^e)
+    //         = (buffer * 10^m + d) * 10^-m + 10^-m * r * 2^e
+    //
+    // and stop as soon as 10^-m * r * 2^e <= delta * 2^e
+
+    assert(p2 > delta);
+
+    int m = 0;
+    for (;;)
+    {
+        // Invariant:
+        //      M+ = buffer * 10^-m + 10^-m * (d[-m-1] / 10 + d[-m-2] / 10^2 + ...) * 2^e
+        //         = buffer * 10^-m + 10^-m * (p2                                 ) * 2^e
+        //         = buffer * 10^-m + 10^-m * (1/10 * (10 * p2)                   ) * 2^e
+        //         = buffer * 10^-m + 10^-m * (1/10 * ((10*p2 div 2^-e) * 2^-e + (10*p2 mod 2^-e)) * 2^e
+        //
+        assert(p2 <= UINT64_MAX / 10);
+        p2 *= 10;
+        const uint64_t d = p2 >> -one.e;     // d = (10 * p2) div 2^-e
+        const uint64_t r = p2 & (one.f - 1); // r = (10 * p2) mod 2^-e
+        //
+        //      M+ = buffer * 10^-m + 10^-m * (1/10 * (d * 2^-e + r) * 2^e
+        //         = buffer * 10^-m + 10^-m * (1/10 * (d + r * 2^e))
+        //         = (buffer * 10 + d) * 10^(-m-1) + 10^(-m-1) * r * 2^e
+        //
+        assert(d <= 9);
+        buffer[length++] = static_cast<char>('0' + d); // buffer := buffer * 10 + d
+        //
+        //      M+ = buffer * 10^(-m-1) + 10^(-m-1) * r * 2^e
+        //
+        p2 = r;
+        m++;
+        //
+        //      M+ = buffer * 10^-m + 10^-m * p2 * 2^e
+        // Invariant restored.
+
+        // Check if enough digits have been generated.
+        //
+        //      10^-m * p2 * 2^e <= delta * 2^e
+        //              p2 * 2^e <= 10^m * delta * 2^e
+        //                    p2 <= 10^m * delta
+        delta *= 10;
+        dist  *= 10;
+        if (p2 <= delta)
+        {
+            break;
+        }
+    }
+
+    // V = buffer * 10^-m, with M- <= V <= M+.
+
+    decimal_exponent -= m;
+
+    // 1 ulp in the decimal representation is now 10^-m.
+    // Since delta and dist are now scaled by 10^m, we need to do the
+    // same with ulp in order to keep the units in sync.
+    //
+    //      10^m * 10^-m = 1 = 2^-e * 2^e = ten_m * 2^e
+    //
+    const uint64_t ten_m = one.f;
+    grisu2_round(buffer, length, dist, delta, p2, ten_m);
+
+    // By construction this algorithm generates the shortest possible decimal
+    // number (Loitsch, Theorem 6.2) which rounds back to w.
+    // For an input number of precision p, at least
+    //
+    //      N = 1 + ceil(p * log_10(2))
+    //
+    // decimal digits are sufficient to identify all binary floating-point
+    // numbers (Matula, "In-and-Out conversions").
+    // This implies that the algorithm does not produce more than N decimal
+    // digits.
+    //
+    //      N = 17 for p = 53 (IEEE double precision)
+    //      N = 9  for p = 24 (IEEE single precision)
+}
+
+/*!
+v = buf * 10^decimal_exponent
+len is the length of the buffer (number of decimal digits)
+The buffer must be large enough, i.e. >= max_digits10.
+*/
+inline void grisu2(char* buf, int& len, int& decimal_exponent,
+                   diyfp m_minus, diyfp v, diyfp m_plus)
+{
+    assert(m_plus.e == m_minus.e);
+    assert(m_plus.e == v.e);
+
+    //  --------(-----------------------+-----------------------)--------    (A)
+    //          m-                      v                       m+
+    //
+    //  --------------------(-----------+-----------------------)--------    (B)
+    //                      m-          v                       m+
+    //
+    // First scale v (and m- and m+) such that the exponent is in the range
+    // [alpha, gamma].
+
+    const cached_power cached = get_cached_power_for_binary_exponent(m_plus.e);
+
+    const diyfp c_minus_k(cached.f, cached.e); // = c ~= 10^-k
+
+    // The exponent of the products is = v.e + c_minus_k.e + q and is in the range [alpha,gamma]
+    const diyfp w       = diyfp::mul(v,       c_minus_k);
+    const diyfp w_minus = diyfp::mul(m_minus, c_minus_k);
+    const diyfp w_plus  = diyfp::mul(m_plus,  c_minus_k);
+
+    //  ----(---+---)---------------(---+---)---------------(---+---)----
+    //          w-                      w                       w+
+    //          = c*m-                  = c*v                   = c*m+
+    //
+    // diyfp::mul rounds its result and c_minus_k is approximated too. w, w- and
+    // w+ are now off by a small amount.
+    // In fact:
+    //
+    //      w - v * 10^k < 1 ulp
+    //
+    // To account for this inaccuracy, add resp. subtract 1 ulp.
+    //
+    //  --------+---[---------------(---+---)---------------]---+--------
+    //          w-  M-                  w                   M+  w+
+    //
+    // Now any number in [M-, M+] (bounds included) will round to w when input,
+    // regardless of how the input rounding algorithm breaks ties.
+    //
+    // And digit_gen generates the shortest possible such number in [M-, M+].
+    // Note that this does not mean that Grisu2 always generates the shortest
+    // possible number in the interval (m-, m+).
+    const diyfp M_minus(w_minus.f + 1, w_minus.e);
+    const diyfp M_plus (w_plus.f  - 1, w_plus.e );
+
+    decimal_exponent = -cached.k; // = -(-k) = k
+
+    grisu2_digit_gen(buf, len, decimal_exponent, M_minus, w, M_plus);
+}
+
+/*!
+v = buf * 10^decimal_exponent
+len is the length of the buffer (number of decimal digits)
+The buffer must be large enough, i.e. >= max_digits10.
+*/
+template <typename FloatType>
+void grisu2(char* buf, int& len, int& decimal_exponent, FloatType value)
+{
+    static_assert(diyfp::kPrecision >= std::numeric_limits<FloatType>::digits + 3,
+                  "internal error: not enough precision");
+
+    assert(std::isfinite(value));
+    assert(value > 0);
+
+    // If the neighbors (and boundaries) of 'value' are always computed for double-precision
+    // numbers, all float's can be recovered using strtod (and strtof). However, the resulting
+    // decimal representations are not exactly "short".
+    //
+    // The documentation for 'std::to_chars' (https://en.cppreference.com/w/cpp/utility/to_chars)
+    // says "value is converted to a string as if by std::sprintf in the default ("C") locale"
+    // and since sprintf promotes float's to double's, I think this is exactly what 'std::to_chars'
+    // does.
+    // On the other hand, the documentation for 'std::to_chars' requires that "parsing the
+    // representation using the corresponding std::from_chars function recovers value exactly". That
+    // indicates that single precision floating-point numbers should be recovered using
+    // 'std::strtof'.
+    //
+    // NB: If the neighbors are computed for single-precision numbers, there is a single float
+    //     (7.0385307e-26f) which can't be recovered using strtod. The resulting double precision
+    //     value is off by 1 ulp.
+#if 0
+    const boundaries w = compute_boundaries(static_cast<double>(value));
+#else
+    const boundaries w = compute_boundaries(value);
+#endif
+
+    grisu2(buf, len, decimal_exponent, w.minus, w.w, w.plus);
+}
+
+/*!
+@brief appends a decimal representation of e to buf
+@return a pointer to the element following the exponent.
+@pre -1000 < e < 1000
+*/
+inline char* append_exponent(char* buf, int e)
+{
+    assert(e > -1000);
+    assert(e <  1000);
+
+    if (e < 0)
+    {
+        e = -e;
+        *buf++ = '-';
+    }
+    else
+    {
+        *buf++ = '+';
+    }
+
+    auto k = static_cast<uint32_t>(e);
+    if (k < 10)
+    {
+        // Always print at least two digits in the exponent.
+        // This is for compatibility with printf("%g").
+        *buf++ = '0';
+        *buf++ = static_cast<char>('0' + k);
+    }
+    else if (k < 100)
+    {
+        *buf++ = static_cast<char>('0' + k / 10);
+        k %= 10;
+        *buf++ = static_cast<char>('0' + k);
+    }
+    else
+    {
+        *buf++ = static_cast<char>('0' + k / 100);
+        k %= 100;
+        *buf++ = static_cast<char>('0' + k / 10);
+        k %= 10;
+        *buf++ = static_cast<char>('0' + k);
+    }
+
+    return buf;
+}
+
+/*!
+@brief prettify v = buf * 10^decimal_exponent
+
+If v is in the range [10^min_exp, 10^max_exp) it will be printed in fixed-point
+notation. Otherwise it will be printed in exponential notation.
+
+@pre min_exp < 0
+@pre max_exp > 0
+*/
+inline char* format_buffer(char* buf, int len, int decimal_exponent,
+                           int min_exp, int max_exp)
+{
+    assert(min_exp < 0);
+    assert(max_exp > 0);
+
+    const int k = len;
+    const int n = len + decimal_exponent;
+
+    // v = buf * 10^(n-k)
+    // k is the length of the buffer (number of decimal digits)
+    // n is the position of the decimal point relative to the start of the buffer.
+
+    if (k <= n and n <= max_exp)
+    {
+        // digits[000]
+        // len <= max_exp + 2
+
+        std::memset(buf + k, '0', static_cast<size_t>(n - k));
+        // Make it look like a floating-point number (#362, #378)
+        buf[n + 0] = '.';
+        buf[n + 1] = '0';
+        return buf + (n + 2);
+    }
+
+    if (0 < n and n <= max_exp)
+    {
+        // dig.its
+        // len <= max_digits10 + 1
+
+        assert(k > n);
+
+        std::memmove(buf + (n + 1), buf + n, static_cast<size_t>(k - n));
+        buf[n] = '.';
+        return buf + (k + 1);
+    }
+
+    if (min_exp < n and n <= 0)
+    {
+        // 0.[000]digits
+        // len <= 2 + (-min_exp - 1) + max_digits10
+
+        std::memmove(buf + (2 + -n), buf, static_cast<size_t>(k));
+        buf[0] = '0';
+        buf[1] = '.';
+        std::memset(buf + 2, '0', static_cast<size_t>(-n));
+        return buf + (2 + (-n) + k);
+    }
+
+    if (k == 1)
+    {
+        // dE+123
+        // len <= 1 + 5
+
+        buf += 1;
+    }
+    else
+    {
+        // d.igitsE+123
+        // len <= max_digits10 + 1 + 5
+
+        std::memmove(buf + 2, buf + 1, static_cast<size_t>(k - 1));
+        buf[1] = '.';
+        buf += 1 + k;
+    }
+
+    *buf++ = 'e';
+    return append_exponent(buf, n - 1);
+}
+
+} // namespace dtoa_impl
+
+/*!
+@brief generates a decimal representation of the floating-point number value in [first, last).
+
+The format of the resulting decimal representation is similar to printf's %g
+format. Returns an iterator pointing past-the-end of the decimal representation.
+
+@note The input number must be finite, i.e. NaN's and Inf's are not supported.
+@note The buffer must be large enough.
+@note The result is NOT null-terminated.
+*/
+template <typename FloatType>
+char* to_chars(char* first, const char* last, FloatType value)
+{
+    static_cast<void>(last); // maybe unused - fix warning
+    assert(std::isfinite(value));
+
+    // Use signbit(value) instead of (value < 0) since signbit works for -0.
+    if (std::signbit(value))
+    {
+        value = -value;
+        *first++ = '-';
+    }
+
+    if (value == 0) // +-0
+    {
+        *first++ = '0';
+        // Make it look like a floating-point number (#362, #378)
+        *first++ = '.';
+        *first++ = '0';
+        return first;
+    }
+
+    assert(last - first >= std::numeric_limits<FloatType>::max_digits10);
+
+    // Compute v = buffer * 10^decimal_exponent.
+    // The decimal digits are stored in the buffer, which needs to be interpreted
+    // as an unsigned decimal integer.
+    // len is the length of the buffer, i.e. the number of decimal digits.
+    int len = 0;
+    int decimal_exponent = 0;
+    dtoa_impl::grisu2(first, len, decimal_exponent, value);
+
+    assert(len <= std::numeric_limits<FloatType>::max_digits10);
+
+    // Format the buffer like printf("%.*g", prec, value)
+    constexpr int kMinExp = -4;
+    // Use digits10 here to increase compatibility with version 2.
+    constexpr int kMaxExp = std::numeric_limits<FloatType>::digits10;
+
+    assert(last - first >= kMaxExp + 2);
+    assert(last - first >= 2 + (-kMinExp - 1) + std::numeric_limits<FloatType>::max_digits10);
+    assert(last - first >= std::numeric_limits<FloatType>::max_digits10 + 6);
+
+    return dtoa_impl::format_buffer(first, len, decimal_exponent, kMinExp, kMaxExp);
+}
+
+} // namespace detail
+} // namespace nlohmann
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/output/binary_writer.hpp>
+
+// #include <nlohmann/detail/output/output_adapters.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+///////////////////
+// serialization //
+///////////////////
+
+/// how to treat decoding errors
+enum class error_handler_t
+{
+    strict,  ///< throw a type_error exception in case of invalid UTF-8
+    replace, ///< replace invalid UTF-8 sequences with U+FFFD
+    ignore   ///< ignore invalid UTF-8 sequences
+};
+
+template<typename BasicJsonType>
+class serializer
+{
+    using string_t = typename BasicJsonType::string_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    static constexpr uint8_t UTF8_ACCEPT = 0;
+    static constexpr uint8_t UTF8_REJECT = 1;
+
+  public:
+    /*!
+    @param[in] s  output stream to serialize to
+    @param[in] ichar  indentation character to use
+    @param[in] error_handler_  how to react on decoding errors
+    */
+    serializer(output_adapter_t<char> s, const char ichar,
+               error_handler_t error_handler_ = error_handler_t::strict)
+        : o(std::move(s))
+        , loc(std::localeconv())
+        , thousands_sep(loc->thousands_sep == nullptr ? '\0' : * (loc->thousands_sep))
+        , decimal_point(loc->decimal_point == nullptr ? '\0' : * (loc->decimal_point))
+        , indent_char(ichar)
+        , indent_string(512, indent_char)
+        , error_handler(error_handler_)
+    {}
+
+    // delete because of pointer members
+    serializer(const serializer&) = delete;
+    serializer& operator=(const serializer&) = delete;
+    serializer(serializer&&) = delete;
+    serializer& operator=(serializer&&) = delete;
+    ~serializer() = default;
+
+    /*!
+    @brief internal implementation of the serialization function
+
+    This function is called by the public member function dump and organizes
+    the serialization internally. The indentation level is propagated as
+    additional parameter. In case of arrays and objects, the function is
+    called recursively.
+
+    - strings and object keys are escaped using `escape_string()`
+    - integer numbers are converted implicitly via `operator<<`
+    - floating-point numbers are converted to a string using `"%g"` format
+
+    @param[in] val             value to serialize
+    @param[in] pretty_print    whether the output shall be pretty-printed
+    @param[in] indent_step     the indent level
+    @param[in] current_indent  the current indent level (only used internally)
+    */
+    void dump(const BasicJsonType& val, const bool pretty_print,
+              const bool ensure_ascii,
+              const unsigned int indent_step,
+              const unsigned int current_indent = 0)
+    {
+        switch (val.m_type)
+        {
+            case value_t::object:
+            {
+                if (val.m_value.object->empty())
+                {
+                    o->write_characters("{}", 2);
+                    return;
+                }
+
+                if (pretty_print)
+                {
+                    o->write_characters("{\n", 2);
+
+                    // variable to hold indentation for recursive calls
+                    const auto new_indent = current_indent + indent_step;
+                    if (JSON_UNLIKELY(indent_string.size() < new_indent))
+                    {
+                        indent_string.resize(indent_string.size() * 2, ' ');
+                    }
+
+                    // first n-1 elements
+                    auto i = val.m_value.object->cbegin();
+                    for (std::size_t cnt = 0; cnt < val.m_value.object->size() - 1; ++cnt, ++i)
+                    {
+                        o->write_characters(indent_string.c_str(), new_indent);
+                        o->write_character('\"');
+                        dump_escaped(i->first, ensure_ascii);
+                        o->write_characters("\": ", 3);
+                        dump(i->second, true, ensure_ascii, indent_step, new_indent);
+                        o->write_characters(",\n", 2);
+                    }
+
+                    // last element
+                    assert(i != val.m_value.object->cend());
+                    assert(std::next(i) == val.m_value.object->cend());
+                    o->write_characters(indent_string.c_str(), new_indent);
+                    o->write_character('\"');
+                    dump_escaped(i->first, ensure_ascii);
+                    o->write_characters("\": ", 3);
+                    dump(i->second, true, ensure_ascii, indent_step, new_indent);
+
+                    o->write_character('\n');
+                    o->write_characters(indent_string.c_str(), current_indent);
+                    o->write_character('}');
+                }
+                else
+                {
+                    o->write_character('{');
+
+                    // first n-1 elements
+                    auto i = val.m_value.object->cbegin();
+                    for (std::size_t cnt = 0; cnt < val.m_value.object->size() - 1; ++cnt, ++i)
+                    {
+                        o->write_character('\"');
+                        dump_escaped(i->first, ensure_ascii);
+                        o->write_characters("\":", 2);
+                        dump(i->second, false, ensure_ascii, indent_step, current_indent);
+                        o->write_character(',');
+                    }
+
+                    // last element
+                    assert(i != val.m_value.object->cend());
+                    assert(std::next(i) == val.m_value.object->cend());
+                    o->write_character('\"');
+                    dump_escaped(i->first, ensure_ascii);
+                    o->write_characters("\":", 2);
+                    dump(i->second, false, ensure_ascii, indent_step, current_indent);
+
+                    o->write_character('}');
+                }
+
+                return;
+            }
+
+            case value_t::array:
+            {
+                if (val.m_value.array->empty())
+                {
+                    o->write_characters("[]", 2);
+                    return;
+                }
+
+                if (pretty_print)
+                {
+                    o->write_characters("[\n", 2);
+
+                    // variable to hold indentation for recursive calls
+                    const auto new_indent = current_indent + indent_step;
+                    if (JSON_UNLIKELY(indent_string.size() < new_indent))
+                    {
+                        indent_string.resize(indent_string.size() * 2, ' ');
+                    }
+
+                    // first n-1 elements
+                    for (auto i = val.m_value.array->cbegin();
+                            i != val.m_value.array->cend() - 1; ++i)
+                    {
+                        o->write_characters(indent_string.c_str(), new_indent);
+                        dump(*i, true, ensure_ascii, indent_step, new_indent);
+                        o->write_characters(",\n", 2);
+                    }
+
+                    // last element
+                    assert(not val.m_value.array->empty());
+                    o->write_characters(indent_string.c_str(), new_indent);
+                    dump(val.m_value.array->back(), true, ensure_ascii, indent_step, new_indent);
+
+                    o->write_character('\n');
+                    o->write_characters(indent_string.c_str(), current_indent);
+                    o->write_character(']');
+                }
+                else
+                {
+                    o->write_character('[');
+
+                    // first n-1 elements
+                    for (auto i = val.m_value.array->cbegin();
+                            i != val.m_value.array->cend() - 1; ++i)
+                    {
+                        dump(*i, false, ensure_ascii, indent_step, current_indent);
+                        o->write_character(',');
+                    }
+
+                    // last element
+                    assert(not val.m_value.array->empty());
+                    dump(val.m_value.array->back(), false, ensure_ascii, indent_step, current_indent);
+
+                    o->write_character(']');
+                }
+
+                return;
+            }
+
+            case value_t::string:
+            {
+                o->write_character('\"');
+                dump_escaped(*val.m_value.string, ensure_ascii);
+                o->write_character('\"');
+                return;
+            }
+
+            case value_t::boolean:
+            {
+                if (val.m_value.boolean)
+                {
+                    o->write_characters("true", 4);
+                }
+                else
+                {
+                    o->write_characters("false", 5);
+                }
+                return;
+            }
+
+            case value_t::number_integer:
+            {
+                dump_integer(val.m_value.number_integer);
+                return;
+            }
+
+            case value_t::number_unsigned:
+            {
+                dump_integer(val.m_value.number_unsigned);
+                return;
+            }
+
+            case value_t::number_float:
+            {
+                dump_float(val.m_value.number_float);
+                return;
+            }
+
+            case value_t::discarded:
+            {
+                o->write_characters("<discarded>", 11);
+                return;
+            }
+
+            case value_t::null:
+            {
+                o->write_characters("null", 4);
+                return;
+            }
+        }
+    }
+
+  private:
+    /*!
+    @brief dump escaped string
+
+    Escape a string by replacing certain special characters by a sequence of an
+    escape character (backslash) and another character and other control
+    characters by a sequence of "\u" followed by a four-digit hex
+    representation. The escaped string is written to output stream @a o.
+
+    @param[in] s  the string to escape
+    @param[in] ensure_ascii  whether to escape non-ASCII characters with
+                             \uXXXX sequences
+
+    @complexity Linear in the length of string @a s.
+    */
+    void dump_escaped(const string_t& s, const bool ensure_ascii)
+    {
+        uint32_t codepoint;
+        uint8_t state = UTF8_ACCEPT;
+        std::size_t bytes = 0;  // number of bytes written to string_buffer
+
+        // number of bytes written at the point of the last valid byte
+        std::size_t bytes_after_last_accept = 0;
+        std::size_t undumped_chars = 0;
+
+        for (std::size_t i = 0; i < s.size(); ++i)
+        {
+            const auto byte = static_cast<uint8_t>(s[i]);
+
+            switch (decode(state, codepoint, byte))
+            {
+                case UTF8_ACCEPT:  // decode found a new code point
+                {
+                    switch (codepoint)
+                    {
+                        case 0x08: // backspace
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'b';
+                            break;
+                        }
+
+                        case 0x09: // horizontal tab
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 't';
+                            break;
+                        }
+
+                        case 0x0A: // newline
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'n';
+                            break;
+                        }
+
+                        case 0x0C: // formfeed
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'f';
+                            break;
+                        }
+
+                        case 0x0D: // carriage return
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'r';
+                            break;
+                        }
+
+                        case 0x22: // quotation mark
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = '\"';
+                            break;
+                        }
+
+                        case 0x5C: // reverse solidus
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = '\\';
+                            break;
+                        }
+
+                        default:
+                        {
+                            // escape control characters (0x00..0x1F) or, if
+                            // ensure_ascii parameter is used, non-ASCII characters
+                            if ((codepoint <= 0x1F) or (ensure_ascii and (codepoint >= 0x7F)))
+                            {
+                                if (codepoint <= 0xFFFF)
+                                {
+                                    (std::snprintf)(string_buffer.data() + bytes, 7, "\\u%04x",
+                                                    static_cast<uint16_t>(codepoint));
+                                    bytes += 6;
+                                }
+                                else
+                                {
+                                    (std::snprintf)(string_buffer.data() + bytes, 13, "\\u%04x\\u%04x",
+                                                    static_cast<uint16_t>(0xD7C0 + (codepoint >> 10)),
+                                                    static_cast<uint16_t>(0xDC00 + (codepoint & 0x3FF)));
+                                    bytes += 12;
+                                }
+                            }
+                            else
+                            {
+                                // copy byte to buffer (all previous bytes
+                                // been copied have in default case above)
+                                string_buffer[bytes++] = s[i];
+                            }
+                            break;
+                        }
+                    }
+
+                    // write buffer and reset index; there must be 13 bytes
+                    // left, as this is the maximal number of bytes to be
+                    // written ("\uxxxx\uxxxx\0") for one code point
+                    if (string_buffer.size() - bytes < 13)
+                    {
+                        o->write_characters(string_buffer.data(), bytes);
+                        bytes = 0;
+                    }
+
+                    // remember the byte position of this accept
+                    bytes_after_last_accept = bytes;
+                    undumped_chars = 0;
+                    break;
+                }
+
+                case UTF8_REJECT:  // decode found invalid UTF-8 byte
+                {
+                    switch (error_handler)
+                    {
+                        case error_handler_t::strict:
+                        {
+                            std::string sn(3, '\0');
+                            (std::snprintf)(&sn[0], sn.size(), "%.2X", byte);
+                            JSON_THROW(type_error::create(316, "invalid UTF-8 byte at index " + std::to_string(i) + ": 0x" + sn));
+                        }
+
+                        case error_handler_t::ignore:
+                        case error_handler_t::replace:
+                        {
+                            // in case we saw this character the first time, we
+                            // would like to read it again, because the byte
+                            // may be OK for itself, but just not OK for the
+                            // previous sequence
+                            if (undumped_chars > 0)
+                            {
+                                --i;
+                            }
+
+                            // reset length buffer to the last accepted index;
+                            // thus removing/ignoring the invalid characters
+                            bytes = bytes_after_last_accept;
+
+                            if (error_handler == error_handler_t::replace)
+                            {
+                                // add a replacement character
+                                if (ensure_ascii)
+                                {
+                                    string_buffer[bytes++] = '\\';
+                                    string_buffer[bytes++] = 'u';
+                                    string_buffer[bytes++] = 'f';
+                                    string_buffer[bytes++] = 'f';
+                                    string_buffer[bytes++] = 'f';
+                                    string_buffer[bytes++] = 'd';
+                                }
+                                else
+                                {
+                                    string_buffer[bytes++] = detail::binary_writer<BasicJsonType, char>::to_char_type('\xEF');
+                                    string_buffer[bytes++] = detail::binary_writer<BasicJsonType, char>::to_char_type('\xBF');
+                                    string_buffer[bytes++] = detail::binary_writer<BasicJsonType, char>::to_char_type('\xBD');
+                                }
+                                bytes_after_last_accept = bytes;
+                            }
+
+                            undumped_chars = 0;
+
+                            // continue processing the string
+                            state = UTF8_ACCEPT;
+                            break;
+                        }
+                    }
+                    break;
+                }
+
+                default:  // decode found yet incomplete multi-byte code point
+                {
+                    if (not ensure_ascii)
+                    {
+                        // code point will not be escaped - copy byte to buffer
+                        string_buffer[bytes++] = s[i];
+                    }
+                    ++undumped_chars;
+                    break;
+                }
+            }
+        }
+
+        // we finished processing the string
+        if (JSON_LIKELY(state == UTF8_ACCEPT))
+        {
+            // write buffer
+            if (bytes > 0)
+            {
+                o->write_characters(string_buffer.data(), bytes);
+            }
+        }
+        else
+        {
+            // we finish reading, but do not accept: string was incomplete
+            switch (error_handler)
+            {
+                case error_handler_t::strict:
+                {
+                    std::string sn(3, '\0');
+                    (std::snprintf)(&sn[0], sn.size(), "%.2X", static_cast<uint8_t>(s.back()));
+                    JSON_THROW(type_error::create(316, "incomplete UTF-8 string; last byte: 0x" + sn));
+                }
+
+                case error_handler_t::ignore:
+                {
+                    // write all accepted bytes
+                    o->write_characters(string_buffer.data(), bytes_after_last_accept);
+                    break;
+                }
+
+                case error_handler_t::replace:
+                {
+                    // write all accepted bytes
+                    o->write_characters(string_buffer.data(), bytes_after_last_accept);
+                    // add a replacement character
+                    if (ensure_ascii)
+                    {
+                        o->write_characters("\\ufffd", 6);
+                    }
+                    else
+                    {
+                        o->write_characters("\xEF\xBF\xBD", 3);
+                    }
+                    break;
+                }
+            }
+        }
+    }
+
+    /*!
+    @brief dump an integer
+
+    Dump a given integer to output stream @a o. Works internally with
+    @a number_buffer.
+
+    @param[in] x  integer number (signed or unsigned) to dump
+    @tparam NumberType either @a number_integer_t or @a number_unsigned_t
+    */
+    template<typename NumberType, detail::enable_if_t<
+                 std::is_same<NumberType, number_unsigned_t>::value or
+                 std::is_same<NumberType, number_integer_t>::value,
+                 int> = 0>
+    void dump_integer(NumberType x)
+    {
+        // special case for "0"
+        if (x == 0)
+        {
+            o->write_character('0');
+            return;
+        }
+
+        const bool is_negative = std::is_same<NumberType, number_integer_t>::value and not (x >= 0);  // see issue #755
+        std::size_t i = 0;
+
+        while (x != 0)
+        {
+            // spare 1 byte for '\0'
+            assert(i < number_buffer.size() - 1);
+
+            const auto digit = std::labs(static_cast<long>(x % 10));
+            number_buffer[i++] = static_cast<char>('0' + digit);
+            x /= 10;
+        }
+
+        if (is_negative)
+        {
+            // make sure there is capacity for the '-'
+            assert(i < number_buffer.size() - 2);
+            number_buffer[i++] = '-';
+        }
+
+        std::reverse(number_buffer.begin(), number_buffer.begin() + i);
+        o->write_characters(number_buffer.data(), i);
+    }
+
+    /*!
+    @brief dump a floating-point number
+
+    Dump a given floating-point number to output stream @a o. Works internally
+    with @a number_buffer.
+
+    @param[in] x  floating-point number to dump
+    */
+    void dump_float(number_float_t x)
+    {
+        // NaN / inf
+        if (not std::isfinite(x))
+        {
+            o->write_characters("null", 4);
+            return;
+        }
+
+        // If number_float_t is an IEEE-754 single or double precision number,
+        // use the Grisu2 algorithm to produce short numbers which are
+        // guaranteed to round-trip, using strtof and strtod, resp.
+        //
+        // NB: The test below works if <long double> == <double>.
+        static constexpr bool is_ieee_single_or_double
+            = (std::numeric_limits<number_float_t>::is_iec559 and std::numeric_limits<number_float_t>::digits == 24 and std::numeric_limits<number_float_t>::max_exponent == 128) or
+              (std::numeric_limits<number_float_t>::is_iec559 and std::numeric_limits<number_float_t>::digits == 53 and std::numeric_limits<number_float_t>::max_exponent == 1024);
+
+        dump_float(x, std::integral_constant<bool, is_ieee_single_or_double>());
+    }
+
+    void dump_float(number_float_t x, std::true_type /*is_ieee_single_or_double*/)
+    {
+        char* begin = number_buffer.data();
+        char* end = ::nlohmann::detail::to_chars(begin, begin + number_buffer.size(), x);
+
+        o->write_characters(begin, static_cast<size_t>(end - begin));
+    }
+
+    void dump_float(number_float_t x, std::false_type /*is_ieee_single_or_double*/)
+    {
+        // get number of digits for a float -> text -> float round-trip
+        static constexpr auto d = std::numeric_limits<number_float_t>::max_digits10;
+
+        // the actual conversion
+        std::ptrdiff_t len = (std::snprintf)(number_buffer.data(), number_buffer.size(), "%.*g", d, x);
+
+        // negative value indicates an error
+        assert(len > 0);
+        // check if buffer was large enough
+        assert(static_cast<std::size_t>(len) < number_buffer.size());
+
+        // erase thousands separator
+        if (thousands_sep != '\0')
+        {
+            const auto end = std::remove(number_buffer.begin(),
+                                         number_buffer.begin() + len, thousands_sep);
+            std::fill(end, number_buffer.end(), '\0');
+            assert((end - number_buffer.begin()) <= len);
+            len = (end - number_buffer.begin());
+        }
+
+        // convert decimal point to '.'
+        if (decimal_point != '\0' and decimal_point != '.')
+        {
+            const auto dec_pos = std::find(number_buffer.begin(), number_buffer.end(), decimal_point);
+            if (dec_pos != number_buffer.end())
+            {
+                *dec_pos = '.';
+            }
+        }
+
+        o->write_characters(number_buffer.data(), static_cast<std::size_t>(len));
+
+        // determine if need to append ".0"
+        const bool value_is_int_like =
+            std::none_of(number_buffer.begin(), number_buffer.begin() + len + 1,
+                         [](char c)
+        {
+            return (c == '.' or c == 'e');
+        });
+
+        if (value_is_int_like)
+        {
+            o->write_characters(".0", 2);
+        }
+    }
+
+    /*!
+    @brief check whether a string is UTF-8 encoded
+
+    The function checks each byte of a string whether it is UTF-8 encoded. The
+    result of the check is stored in the @a state parameter. The function must
+    be called initially with state 0 (accept). State 1 means the string must
+    be rejected, because the current byte is not allowed. If the string is
+    completely processed, but the state is non-zero, the string ended
+    prematurely; that is, the last byte indicated more bytes should have
+    followed.
+
+    @param[in,out] state  the state of the decoding
+    @param[in,out] codep  codepoint (valid only if resulting state is UTF8_ACCEPT)
+    @param[in] byte       next byte to decode
+    @return               new state
+
+    @note The function has been edited: a std::array is used.
+
+    @copyright Copyright (c) 2008-2009 Bjoern Hoehrmann <bjoern@hoehrmann.de>
+    @sa http://bjoern.hoehrmann.de/utf-8/decoder/dfa/
+    */
+    static uint8_t decode(uint8_t& state, uint32_t& codep, const uint8_t byte) noexcept
+    {
+        static const std::array<uint8_t, 400> utf8d =
+        {
+            {
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 00..1F
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 20..3F
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 40..5F
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 60..7F
+                1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, // 80..9F
+                7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, // A0..BF
+                8, 8, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, // C0..DF
+                0xA, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x4, 0x3, 0x3, // E0..EF
+                0xB, 0x6, 0x6, 0x6, 0x5, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, // F0..FF
+                0x0, 0x1, 0x2, 0x3, 0x5, 0x8, 0x7, 0x1, 0x1, 0x1, 0x4, 0x6, 0x1, 0x1, 0x1, 0x1, // s0..s0
+                1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, // s1..s2
+                1, 2, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, // s3..s4
+                1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, // s5..s6
+                1, 3, 1, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 // s7..s8
+            }
+        };
+
+        const uint8_t type = utf8d[byte];
+
+        codep = (state != UTF8_ACCEPT)
+                ? (byte & 0x3fu) | (codep << 6)
+                : static_cast<uint32_t>(0xff >> type) & (byte);
+
+        state = utf8d[256u + state * 16u + type];
+        return state;
+    }
+
+  private:
+    /// the output of the serializer
+    output_adapter_t<char> o = nullptr;
+
+    /// a (hopefully) large enough character buffer
+    std::array<char, 64> number_buffer{{}};
+
+    /// the locale
+    const std::lconv* loc = nullptr;
+    /// the locale's thousand separator character
+    const char thousands_sep = '\0';
+    /// the locale's decimal point character
+    const char decimal_point = '\0';
+
+    /// string buffer
+    std::array<char, 512> string_buffer{{}};
+
+    /// the indentation character
+    const char indent_char;
+    /// the indentation string
+    string_t indent_string;
+
+    /// error_handler how to react on decoding errors
+    const error_handler_t error_handler;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/json_ref.hpp>
+
+
+#include <initializer_list>
+#include <utility>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template<typename BasicJsonType>
+class json_ref
+{
+  public:
+    using value_type = BasicJsonType;
+
+    json_ref(value_type&& value)
+        : owned_value(std::move(value)), value_ref(&owned_value), is_rvalue(true)
+    {}
+
+    json_ref(const value_type& value)
+        : value_ref(const_cast<value_type*>(&value)), is_rvalue(false)
+    {}
+
+    json_ref(std::initializer_list<json_ref> init)
+        : owned_value(init), value_ref(&owned_value), is_rvalue(true)
+    {}
+
+    template <
+        class... Args,
+        enable_if_t<std::is_constructible<value_type, Args...>::value, int> = 0 >
+    json_ref(Args && ... args)
+        : owned_value(std::forward<Args>(args)...), value_ref(&owned_value),
+          is_rvalue(true) {}
+
+    // class should be movable only
+    json_ref(json_ref&&) = default;
+    json_ref(const json_ref&) = delete;
+    json_ref& operator=(const json_ref&) = delete;
+    json_ref& operator=(json_ref&&) = delete;
+    ~json_ref() = default;
+
+    value_type moved_or_copied() const
+    {
+        if (is_rvalue)
+        {
+            return std::move(*value_ref);
+        }
+        return *value_ref;
+    }
+
+    value_type const& operator*() const
+    {
+        return *static_cast<value_type const*>(value_ref);
+    }
+
+    value_type const* operator->() const
+    {
+        return static_cast<value_type const*>(value_ref);
+    }
+
+  private:
+    mutable value_type owned_value = nullptr;
+    value_type* value_ref = nullptr;
+    const bool is_rvalue;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/json_pointer.hpp>
+
+
+#include <cassert> // assert
+#include <numeric> // accumulate
+#include <string> // string
+#include <vector> // vector
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+template<typename BasicJsonType>
+class json_pointer
+{
+    // allow basic_json to access private members
+    NLOHMANN_BASIC_JSON_TPL_DECLARATION
+    friend class basic_json;
+
+  public:
+    /*!
+    @brief create JSON pointer
+
+    Create a JSON pointer according to the syntax described in
+    [Section 3 of RFC6901](https://tools.ietf.org/html/rfc6901#section-3).
+
+    @param[in] s  string representing the JSON pointer; if omitted, the empty
+                  string is assumed which references the whole JSON value
+
+    @throw parse_error.107 if the given JSON pointer @a s is nonempty and does
+                           not begin with a slash (`/`); see example below
+
+    @throw parse_error.108 if a tilde (`~`) in the given JSON pointer @a s is
+    not followed by `0` (representing `~`) or `1` (representing `/`); see
+    example below
+
+    @liveexample{The example shows the construction several valid JSON pointers
+    as well as the exceptional behavior.,json_pointer}
+
+    @since version 2.0.0
+    */
+    explicit json_pointer(const std::string& s = "")
+        : reference_tokens(split(s))
+    {}
+
+    /*!
+    @brief return a string representation of the JSON pointer
+
+    @invariant For each JSON pointer `ptr`, it holds:
+    @code {.cpp}
+    ptr == json_pointer(ptr.to_string());
+    @endcode
+
+    @return a string representation of the JSON pointer
+
+    @liveexample{The example shows the result of `to_string`.,
+    json_pointer__to_string}
+
+    @since version 2.0.0
+    */
+    std::string to_string() const
+    {
+        return std::accumulate(reference_tokens.begin(), reference_tokens.end(),
+                               std::string{},
+                               [](const std::string & a, const std::string & b)
+        {
+            return a + "/" + escape(b);
+        });
+    }
+
+    /// @copydoc to_string()
+    operator std::string() const
+    {
+        return to_string();
+    }
+
+    /*!
+    @param[in] s  reference token to be converted into an array index
+
+    @return integer representation of @a s
+
+    @throw out_of_range.404 if string @a s could not be converted to an integer
+    */
+    static int array_index(const std::string& s)
+    {
+        std::size_t processed_chars = 0;
+        const int res = std::stoi(s, &processed_chars);
+
+        // check if the string was completely read
+        if (JSON_UNLIKELY(processed_chars != s.size()))
+        {
+            JSON_THROW(detail::out_of_range::create(404, "unresolved reference token '" + s + "'"));
+        }
+
+        return res;
+    }
+
+  private:
+    /*!
+    @brief remove and return last reference pointer
+    @throw out_of_range.405 if JSON pointer has no parent
+    */
+    std::string pop_back()
+    {
+        if (JSON_UNLIKELY(is_root()))
+        {
+            JSON_THROW(detail::out_of_range::create(405, "JSON pointer has no parent"));
+        }
+
+        auto last = reference_tokens.back();
+        reference_tokens.pop_back();
+        return last;
+    }
+
+    /// return whether pointer points to the root document
+    bool is_root() const noexcept
+    {
+        return reference_tokens.empty();
+    }
+
+    json_pointer top() const
+    {
+        if (JSON_UNLIKELY(is_root()))
+        {
+            JSON_THROW(detail::out_of_range::create(405, "JSON pointer has no parent"));
+        }
+
+        json_pointer result = *this;
+        result.reference_tokens = {reference_tokens[0]};
+        return result;
+    }
+
+    /*!
+    @brief create and return a reference to the pointed to value
+
+    @complexity Linear in the number of reference tokens.
+
+    @throw parse_error.109 if array index is not a number
+    @throw type_error.313 if value cannot be unflattened
+    */
+    BasicJsonType& get_and_create(BasicJsonType& j) const
+    {
+        using size_type = typename BasicJsonType::size_type;
+        auto result = &j;
+
+        // in case no reference tokens exist, return a reference to the JSON value
+        // j which will be overwritten by a primitive value
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (result->m_type)
+            {
+                case detail::value_t::null:
+                {
+                    if (reference_token == "0")
+                    {
+                        // start a new array if reference token is 0
+                        result = &result->operator[](0);
+                    }
+                    else
+                    {
+                        // start a new object otherwise
+                        result = &result->operator[](reference_token);
+                    }
+                    break;
+                }
+
+                case detail::value_t::object:
+                {
+                    // create an entry in the object
+                    result = &result->operator[](reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    // create an entry in the array
+                    JSON_TRY
+                    {
+                        result = &result->operator[](static_cast<size_type>(array_index(reference_token)));
+                    }
+                    JSON_CATCH(std::invalid_argument&)
+                    {
+                        JSON_THROW(detail::parse_error::create(109, 0, "array index '" + reference_token + "' is not a number"));
+                    }
+                    break;
+                }
+
+                /*
+                The following code is only reached if there exists a reference
+                token _and_ the current value is primitive. In this case, we have
+                an error situation, because primitive values may only occur as
+                single value; that is, with an empty list of reference tokens.
+                */
+                default:
+                    JSON_THROW(detail::type_error::create(313, "invalid value to unflatten"));
+            }
+        }
+
+        return *result;
+    }
+
+    /*!
+    @brief return a reference to the pointed to value
+
+    @note This version does not throw if a value is not present, but tries to
+          create nested values instead. For instance, calling this function
+          with pointer `"/this/that"` on a null value is equivalent to calling
+          `operator[]("this").operator[]("that")` on that value, effectively
+          changing the null value to an object.
+
+    @param[in] ptr  a JSON value
+
+    @return reference to the JSON value pointed to by the JSON pointer
+
+    @complexity Linear in the length of the JSON pointer.
+
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    BasicJsonType& get_unchecked(BasicJsonType* ptr) const
+    {
+        using size_type = typename BasicJsonType::size_type;
+        for (const auto& reference_token : reference_tokens)
+        {
+            // convert null values to arrays or objects before continuing
+            if (ptr->m_type == detail::value_t::null)
+            {
+                // check if reference token is a number
+                const bool nums =
+                    std::all_of(reference_token.begin(), reference_token.end(),
+                                [](const char x)
+                {
+                    return (x >= '0' and x <= '9');
+                });
+
+                // change value to array for numbers or "-" or to object otherwise
+                *ptr = (nums or reference_token == "-")
+                       ? detail::value_t::array
+                       : detail::value_t::object;
+            }
+
+            switch (ptr->m_type)
+            {
+                case detail::value_t::object:
+                {
+                    // use unchecked object access
+                    ptr = &ptr->operator[](reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    // error condition (cf. RFC 6901, Sect. 4)
+                    if (JSON_UNLIKELY(reference_token.size() > 1 and reference_token[0] == '0'))
+                    {
+                        JSON_THROW(detail::parse_error::create(106, 0,
+                                                               "array index '" + reference_token +
+                                                               "' must not begin with '0'"));
+                    }
+
+                    if (reference_token == "-")
+                    {
+                        // explicitly treat "-" as index beyond the end
+                        ptr = &ptr->operator[](ptr->m_value.array->size());
+                    }
+                    else
+                    {
+                        // convert array index to number; unchecked access
+                        JSON_TRY
+                        {
+                            ptr = &ptr->operator[](
+                                static_cast<size_type>(array_index(reference_token)));
+                        }
+                        JSON_CATCH(std::invalid_argument&)
+                        {
+                            JSON_THROW(detail::parse_error::create(109, 0, "array index '" + reference_token + "' is not a number"));
+                        }
+                    }
+                    break;
+                }
+
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, "unresolved reference token '" + reference_token + "'"));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.402  if the array index '-' is used
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    BasicJsonType& get_checked(BasicJsonType* ptr) const
+    {
+        using size_type = typename BasicJsonType::size_type;
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (ptr->m_type)
+            {
+                case detail::value_t::object:
+                {
+                    // note: at performs range check
+                    ptr = &ptr->at(reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (JSON_UNLIKELY(reference_token == "-"))
+                    {
+                        // "-" always fails the range check
+                        JSON_THROW(detail::out_of_range::create(402,
+                                                                "array index '-' (" + std::to_string(ptr->m_value.array->size()) +
+                                                                ") is out of range"));
+                    }
+
+                    // error condition (cf. RFC 6901, Sect. 4)
+                    if (JSON_UNLIKELY(reference_token.size() > 1 and reference_token[0] == '0'))
+                    {
+                        JSON_THROW(detail::parse_error::create(106, 0,
+                                                               "array index '" + reference_token +
+                                                               "' must not begin with '0'"));
+                    }
+
+                    // note: at performs range check
+                    JSON_TRY
+                    {
+                        ptr = &ptr->at(static_cast<size_type>(array_index(reference_token)));
+                    }
+                    JSON_CATCH(std::invalid_argument&)
+                    {
+                        JSON_THROW(detail::parse_error::create(109, 0, "array index '" + reference_token + "' is not a number"));
+                    }
+                    break;
+                }
+
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, "unresolved reference token '" + reference_token + "'"));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @brief return a const reference to the pointed to value
+
+    @param[in] ptr  a JSON value
+
+    @return const reference to the JSON value pointed to by the JSON
+    pointer
+
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.402  if the array index '-' is used
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    const BasicJsonType& get_unchecked(const BasicJsonType* ptr) const
+    {
+        using size_type = typename BasicJsonType::size_type;
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (ptr->m_type)
+            {
+                case detail::value_t::object:
+                {
+                    // use unchecked object access
+                    ptr = &ptr->operator[](reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (JSON_UNLIKELY(reference_token == "-"))
+                    {
+                        // "-" cannot be used for const access
+                        JSON_THROW(detail::out_of_range::create(402,
+                                                                "array index '-' (" + std::to_string(ptr->m_value.array->size()) +
+                                                                ") is out of range"));
+                    }
+
+                    // error condition (cf. RFC 6901, Sect. 4)
+                    if (JSON_UNLIKELY(reference_token.size() > 1 and reference_token[0] == '0'))
+                    {
+                        JSON_THROW(detail::parse_error::create(106, 0,
+                                                               "array index '" + reference_token +
+                                                               "' must not begin with '0'"));
+                    }
+
+                    // use unchecked array access
+                    JSON_TRY
+                    {
+                        ptr = &ptr->operator[](
+                            static_cast<size_type>(array_index(reference_token)));
+                    }
+                    JSON_CATCH(std::invalid_argument&)
+                    {
+                        JSON_THROW(detail::parse_error::create(109, 0, "array index '" + reference_token + "' is not a number"));
+                    }
+                    break;
+                }
+
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, "unresolved reference token '" + reference_token + "'"));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.402  if the array index '-' is used
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    const BasicJsonType& get_checked(const BasicJsonType* ptr) const
+    {
+        using size_type = typename BasicJsonType::size_type;
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (ptr->m_type)
+            {
+                case detail::value_t::object:
+                {
+                    // note: at performs range check
+                    ptr = &ptr->at(reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (JSON_UNLIKELY(reference_token == "-"))
+                    {
+                        // "-" always fails the range check
+                        JSON_THROW(detail::out_of_range::create(402,
+                                                                "array index '-' (" + std::to_string(ptr->m_value.array->size()) +
+                                                                ") is out of range"));
+                    }
+
+                    // error condition (cf. RFC 6901, Sect. 4)
+                    if (JSON_UNLIKELY(reference_token.size() > 1 and reference_token[0] == '0'))
+                    {
+                        JSON_THROW(detail::parse_error::create(106, 0,
+                                                               "array index '" + reference_token +
+                                                               "' must not begin with '0'"));
+                    }
+
+                    // note: at performs range check
+                    JSON_TRY
+                    {
+                        ptr = &ptr->at(static_cast<size_type>(array_index(reference_token)));
+                    }
+                    JSON_CATCH(std::invalid_argument&)
+                    {
+                        JSON_THROW(detail::parse_error::create(109, 0, "array index '" + reference_token + "' is not a number"));
+                    }
+                    break;
+                }
+
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, "unresolved reference token '" + reference_token + "'"));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @brief split the string input to reference tokens
+
+    @note This function is only called by the json_pointer constructor.
+          All exceptions below are documented there.
+
+    @throw parse_error.107  if the pointer is not empty or begins with '/'
+    @throw parse_error.108  if character '~' is not followed by '0' or '1'
+    */
+    static std::vector<std::string> split(const std::string& reference_string)
+    {
+        std::vector<std::string> result;
+
+        // special case: empty reference string -> no reference tokens
+        if (reference_string.empty())
+        {
+            return result;
+        }
+
+        // check if nonempty reference string begins with slash
+        if (JSON_UNLIKELY(reference_string[0] != '/'))
+        {
+            JSON_THROW(detail::parse_error::create(107, 1,
+                                                   "JSON pointer must be empty or begin with '/' - was: '" +
+                                                   reference_string + "'"));
+        }
+
+        // extract the reference tokens:
+        // - slash: position of the last read slash (or end of string)
+        // - start: position after the previous slash
+        for (
+            // search for the first slash after the first character
+            std::size_t slash = reference_string.find_first_of('/', 1),
+            // set the beginning of the first reference token
+            start = 1;
+            // we can stop if start == 0 (if slash == std::string::npos)
+            start != 0;
+            // set the beginning of the next reference token
+            // (will eventually be 0 if slash == std::string::npos)
+            start = (slash == std::string::npos) ? 0 : slash + 1,
+            // find next slash
+            slash = reference_string.find_first_of('/', start))
+        {
+            // use the text between the beginning of the reference token
+            // (start) and the last slash (slash).
+            auto reference_token = reference_string.substr(start, slash - start);
+
+            // check reference tokens are properly escaped
+            for (std::size_t pos = reference_token.find_first_of('~');
+                    pos != std::string::npos;
+                    pos = reference_token.find_first_of('~', pos + 1))
+            {
+                assert(reference_token[pos] == '~');
+
+                // ~ must be followed by 0 or 1
+                if (JSON_UNLIKELY(pos == reference_token.size() - 1 or
+                                  (reference_token[pos + 1] != '0' and
+                                   reference_token[pos + 1] != '1')))
+                {
+                    JSON_THROW(detail::parse_error::create(108, 0, "escape character '~' must be followed with '0' or '1'"));
+                }
+            }
+
+            // finally, store the reference token
+            unescape(reference_token);
+            result.push_back(reference_token);
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief replace all occurrences of a substring by another string
+
+    @param[in,out] s  the string to manipulate; changed so that all
+                   occurrences of @a f are replaced with @a t
+    @param[in]     f  the substring to replace with @a t
+    @param[in]     t  the string to replace @a f
+
+    @pre The search string @a f must not be empty. **This precondition is
+    enforced with an assertion.**
+
+    @since version 2.0.0
+    */
+    static void replace_substring(std::string& s, const std::string& f,
+                                  const std::string& t)
+    {
+        assert(not f.empty());
+        for (auto pos = s.find(f);                // find first occurrence of f
+                pos != std::string::npos;         // make sure f was found
+                s.replace(pos, f.size(), t),      // replace with t, and
+                pos = s.find(f, pos + t.size()))  // find next occurrence of f
+        {}
+    }
+
+    /// escape "~" to "~0" and "/" to "~1"
+    static std::string escape(std::string s)
+    {
+        replace_substring(s, "~", "~0");
+        replace_substring(s, "/", "~1");
+        return s;
+    }
+
+    /// unescape "~1" to tilde and "~0" to slash (order is important!)
+    static void unescape(std::string& s)
+    {
+        replace_substring(s, "~1", "/");
+        replace_substring(s, "~0", "~");
+    }
+
+    /*!
+    @param[in] reference_string  the reference string to the current value
+    @param[in] value             the value to consider
+    @param[in,out] result        the result object to insert values to
+
+    @note Empty objects or arrays are flattened to `null`.
+    */
+    static void flatten(const std::string& reference_string,
+                        const BasicJsonType& value,
+                        BasicJsonType& result)
+    {
+        switch (value.m_type)
+        {
+            case detail::value_t::array:
+            {
+                if (value.m_value.array->empty())
+                {
+                    // flatten empty array as null
+                    result[reference_string] = nullptr;
+                }
+                else
+                {
+                    // iterate array and use index as reference string
+                    for (std::size_t i = 0; i < value.m_value.array->size(); ++i)
+                    {
+                        flatten(reference_string + "/" + std::to_string(i),
+                                value.m_value.array->operator[](i), result);
+                    }
+                }
+                break;
+            }
+
+            case detail::value_t::object:
+            {
+                if (value.m_value.object->empty())
+                {
+                    // flatten empty object as null
+                    result[reference_string] = nullptr;
+                }
+                else
+                {
+                    // iterate object and use keys as reference string
+                    for (const auto& element : *value.m_value.object)
+                    {
+                        flatten(reference_string + "/" + escape(element.first), element.second, result);
+                    }
+                }
+                break;
+            }
+
+            default:
+            {
+                // add primitive value with its reference string
+                result[reference_string] = value;
+                break;
+            }
+        }
+    }
+
+    /*!
+    @param[in] value  flattened JSON
+
+    @return unflattened JSON
+
+    @throw parse_error.109 if array index is not a number
+    @throw type_error.314  if value is not an object
+    @throw type_error.315  if object values are not primitive
+    @throw type_error.313  if value cannot be unflattened
+    */
+    static BasicJsonType
+    unflatten(const BasicJsonType& value)
+    {
+        if (JSON_UNLIKELY(not value.is_object()))
+        {
+            JSON_THROW(detail::type_error::create(314, "only objects can be unflattened"));
+        }
+
+        BasicJsonType result;
+
+        // iterate the JSON object values
+        for (const auto& element : *value.m_value.object)
+        {
+            if (JSON_UNLIKELY(not element.second.is_primitive()))
+            {
+                JSON_THROW(detail::type_error::create(315, "values in object must be primitive"));
+            }
+
+            // assign value to reference pointed to by JSON pointer; Note that if
+            // the JSON pointer is "" (i.e., points to the whole value), function
+            // get_and_create returns a reference to result itself. An assignment
+            // will then create a primitive value.
+            json_pointer(element.first).get_and_create(result) = element.second;
+        }
+
+        return result;
+    }
+
+    friend bool operator==(json_pointer const& lhs,
+                           json_pointer const& rhs) noexcept
+    {
+        return (lhs.reference_tokens == rhs.reference_tokens);
+    }
+
+    friend bool operator!=(json_pointer const& lhs,
+                           json_pointer const& rhs) noexcept
+    {
+        return not (lhs == rhs);
+    }
+
+    /// the reference tokens
+    std::vector<std::string> reference_tokens;
+};
+}  // namespace nlohmann
+
+// #include <nlohmann/adl_serializer.hpp>
+
+
+#include <utility>
+
+// #include <nlohmann/detail/conversions/from_json.hpp>
+
+// #include <nlohmann/detail/conversions/to_json.hpp>
+
+
+namespace nlohmann
+{
+
+template<typename, typename>
+struct adl_serializer
+{
+    /*!
+    @brief convert a JSON value to any value type
+
+    This function is usually called by the `get()` function of the
+    @ref basic_json class (either explicit or via conversion operators).
+
+    @param[in] j        JSON value to read from
+    @param[in,out] val  value to write to
+    */
+    template<typename BasicJsonType, typename ValueType>
+    static auto from_json(BasicJsonType&& j, ValueType& val) noexcept(
+        noexcept(::nlohmann::from_json(std::forward<BasicJsonType>(j), val)))
+    -> decltype(::nlohmann::from_json(std::forward<BasicJsonType>(j), val), void())
+    {
+        ::nlohmann::from_json(std::forward<BasicJsonType>(j), val);
+    }
+
+    /*!
+    @brief convert any value type to a JSON value
+
+    This function is usually called by the constructors of the @ref basic_json
+    class.
+
+    @param[in,out] j  JSON value to write to
+    @param[in] val    value to read from
+    */
+    template <typename BasicJsonType, typename ValueType>
+    static auto to_json(BasicJsonType& j, ValueType&& val) noexcept(
+        noexcept(::nlohmann::to_json(j, std::forward<ValueType>(val))))
+    -> decltype(::nlohmann::to_json(j, std::forward<ValueType>(val)), void())
+    {
+        ::nlohmann::to_json(j, std::forward<ValueType>(val));
+    }
+};
+
+}  // namespace nlohmann
+
+
+/*!
+@brief namespace for Niels Lohmann
+@see https://github.com/nlohmann
+@since version 1.0.0
+*/
+namespace nlohmann
+{
+
+/*!
+@brief a class to store JSON values
+
+@tparam ObjectType type for JSON objects (`std::map` by default; will be used
+in @ref object_t)
+@tparam ArrayType type for JSON arrays (`std::vector` by default; will be used
+in @ref array_t)
+@tparam StringType type for JSON strings and object keys (`std::string` by
+default; will be used in @ref string_t)
+@tparam BooleanType type for JSON booleans (`bool` by default; will be used
+in @ref boolean_t)
+@tparam NumberIntegerType type for JSON integer numbers (`int64_t` by
+default; will be used in @ref number_integer_t)
+@tparam NumberUnsignedType type for JSON unsigned integer numbers (@c
+`uint64_t` by default; will be used in @ref number_unsigned_t)
+@tparam NumberFloatType type for JSON floating-point numbers (`double` by
+default; will be used in @ref number_float_t)
+@tparam AllocatorType type of the allocator to use (`std::allocator` by
+default)
+@tparam JSONSerializer the serializer to resolve internal calls to `to_json()`
+and `from_json()` (@ref adl_serializer by default)
+
+@requirement The class satisfies the following concept requirements:
+- Basic
+ - [DefaultConstructible](https://en.cppreference.com/w/cpp/named_req/DefaultConstructible):
+   JSON values can be default constructed. The result will be a JSON null
+   value.
+ - [MoveConstructible](https://en.cppreference.com/w/cpp/named_req/MoveConstructible):
+   A JSON value can be constructed from an rvalue argument.
+ - [CopyConstructible](https://en.cppreference.com/w/cpp/named_req/CopyConstructible):
+   A JSON value can be copy-constructed from an lvalue expression.
+ - [MoveAssignable](https://en.cppreference.com/w/cpp/named_req/MoveAssignable):
+   A JSON value van be assigned from an rvalue argument.
+ - [CopyAssignable](https://en.cppreference.com/w/cpp/named_req/CopyAssignable):
+   A JSON value can be copy-assigned from an lvalue expression.
+ - [Destructible](https://en.cppreference.com/w/cpp/named_req/Destructible):
+   JSON values can be destructed.
+- Layout
+ - [StandardLayoutType](https://en.cppreference.com/w/cpp/named_req/StandardLayoutType):
+   JSON values have
+   [standard layout](https://en.cppreference.com/w/cpp/language/data_members#Standard_layout):
+   All non-static data members are private and standard layout types, the
+   class has no virtual functions or (virtual) base classes.
+- Library-wide
+ - [EqualityComparable](https://en.cppreference.com/w/cpp/named_req/EqualityComparable):
+   JSON values can be compared with `==`, see @ref
+   operator==(const_reference,const_reference).
+ - [LessThanComparable](https://en.cppreference.com/w/cpp/named_req/LessThanComparable):
+   JSON values can be compared with `<`, see @ref
+   operator<(const_reference,const_reference).
+ - [Swappable](https://en.cppreference.com/w/cpp/named_req/Swappable):
+   Any JSON lvalue or rvalue of can be swapped with any lvalue or rvalue of
+   other compatible types, using unqualified function call @ref swap().
+ - [NullablePointer](https://en.cppreference.com/w/cpp/named_req/NullablePointer):
+   JSON values can be compared against `std::nullptr_t` objects which are used
+   to model the `null` value.
+- Container
+ - [Container](https://en.cppreference.com/w/cpp/named_req/Container):
+   JSON values can be used like STL containers and provide iterator access.
+ - [ReversibleContainer](https://en.cppreference.com/w/cpp/named_req/ReversibleContainer);
+   JSON values can be used like STL containers and provide reverse iterator
+   access.
+
+@invariant The member variables @a m_value and @a m_type have the following
+relationship:
+- If `m_type == value_t::object`, then `m_value.object != nullptr`.
+- If `m_type == value_t::array`, then `m_value.array != nullptr`.
+- If `m_type == value_t::string`, then `m_value.string != nullptr`.
+The invariants are checked by member function assert_invariant().
+
+@internal
+@note ObjectType trick from http://stackoverflow.com/a/9860911
+@endinternal
+
+@see [RFC 7159: The JavaScript Object Notation (JSON) Data Interchange
+Format](http://rfc7159.net/rfc7159)
+
+@since version 1.0.0
+
+@nosubgrouping
+*/
+NLOHMANN_BASIC_JSON_TPL_DECLARATION
+class basic_json
+{
+  private:
+    template<detail::value_t> friend struct detail::external_constructor;
+    friend ::nlohmann::json_pointer<basic_json>;
+    friend ::nlohmann::detail::parser<basic_json>;
+    friend ::nlohmann::detail::serializer<basic_json>;
+    template<typename BasicJsonType>
+    friend class ::nlohmann::detail::iter_impl;
+    template<typename BasicJsonType, typename CharType>
+    friend class ::nlohmann::detail::binary_writer;
+    template<typename BasicJsonType, typename SAX>
+    friend class ::nlohmann::detail::binary_reader;
+    template<typename BasicJsonType>
+    friend class ::nlohmann::detail::json_sax_dom_parser;
+    template<typename BasicJsonType>
+    friend class ::nlohmann::detail::json_sax_dom_callback_parser;
+
+    /// workaround type for MSVC
+    using basic_json_t = NLOHMANN_BASIC_JSON_TPL;
+
+    // convenience aliases for types residing in namespace detail;
+    using lexer = ::nlohmann::detail::lexer<basic_json>;
+    using parser = ::nlohmann::detail::parser<basic_json>;
+
+    using primitive_iterator_t = ::nlohmann::detail::primitive_iterator_t;
+    template<typename BasicJsonType>
+    using internal_iterator = ::nlohmann::detail::internal_iterator<BasicJsonType>;
+    template<typename BasicJsonType>
+    using iter_impl = ::nlohmann::detail::iter_impl<BasicJsonType>;
+    template<typename Iterator>
+    using iteration_proxy = ::nlohmann::detail::iteration_proxy<Iterator>;
+    template<typename Base> using json_reverse_iterator = ::nlohmann::detail::json_reverse_iterator<Base>;
+
+    template<typename CharType>
+    using output_adapter_t = ::nlohmann::detail::output_adapter_t<CharType>;
+
+    using binary_reader = ::nlohmann::detail::binary_reader<basic_json>;
+    template<typename CharType> using binary_writer = ::nlohmann::detail::binary_writer<basic_json, CharType>;
+
+    using serializer = ::nlohmann::detail::serializer<basic_json>;
+
+  public:
+    using value_t = detail::value_t;
+    /// JSON Pointer, see @ref nlohmann::json_pointer
+    using json_pointer = ::nlohmann::json_pointer<basic_json>;
+    template<typename T, typename SFINAE>
+    using json_serializer = JSONSerializer<T, SFINAE>;
+    /// how to treat decoding errors
+    using error_handler_t = detail::error_handler_t;
+    /// helper type for initializer lists of basic_json values
+    using initializer_list_t = std::initializer_list<detail::json_ref<basic_json>>;
+
+    using input_format_t = detail::input_format_t;
+    /// SAX interface type, see @ref nlohmann::json_sax
+    using json_sax_t = json_sax<basic_json>;
+
+    ////////////////
+    // exceptions //
+    ////////////////
+
+    /// @name exceptions
+    /// Classes to implement user-defined exceptions.
+    /// @{
+
+    /// @copydoc detail::exception
+    using exception = detail::exception;
+    /// @copydoc detail::parse_error
+    using parse_error = detail::parse_error;
+    /// @copydoc detail::invalid_iterator
+    using invalid_iterator = detail::invalid_iterator;
+    /// @copydoc detail::type_error
+    using type_error = detail::type_error;
+    /// @copydoc detail::out_of_range
+    using out_of_range = detail::out_of_range;
+    /// @copydoc detail::other_error
+    using other_error = detail::other_error;
+
+    /// @}
+
+
+    /////////////////////
+    // container types //
+    /////////////////////
+
+    /// @name container types
+    /// The canonic container types to use @ref basic_json like any other STL
+    /// container.
+    /// @{
+
+    /// the type of elements in a basic_json container
+    using value_type = basic_json;
+
+    /// the type of an element reference
+    using reference = value_type&;
+    /// the type of an element const reference
+    using const_reference = const value_type&;
+
+    /// a type to represent differences between iterators
+    using difference_type = std::ptrdiff_t;
+    /// a type to represent container sizes
+    using size_type = std::size_t;
+
+    /// the allocator type
+    using allocator_type = AllocatorType<basic_json>;
+
+    /// the type of an element pointer
+    using pointer = typename std::allocator_traits<allocator_type>::pointer;
+    /// the type of an element const pointer
+    using const_pointer = typename std::allocator_traits<allocator_type>::const_pointer;
+
+    /// an iterator for a basic_json container
+    using iterator = iter_impl<basic_json>;
+    /// a const iterator for a basic_json container
+    using const_iterator = iter_impl<const basic_json>;
+    /// a reverse iterator for a basic_json container
+    using reverse_iterator = json_reverse_iterator<typename basic_json::iterator>;
+    /// a const reverse iterator for a basic_json container
+    using const_reverse_iterator = json_reverse_iterator<typename basic_json::const_iterator>;
+
+    /// @}
+
+
+    /*!
+    @brief returns the allocator associated with the container
+    */
+    static allocator_type get_allocator()
+    {
+        return allocator_type();
+    }
+
+    /*!
+    @brief returns version information on the library
+
+    This function returns a JSON object with information about the library,
+    including the version number and information on the platform and compiler.
+
+    @return JSON object holding version information
+    key         | description
+    ----------- | ---------------
+    `compiler`  | Information on the used compiler. It is an object with the following keys: `c++` (the used C++ standard), `family` (the compiler family; possible values are `clang`, `icc`, `gcc`, `ilecpp`, `msvc`, `pgcpp`, `sunpro`, and `unknown`), and `version` (the compiler version).
+    `copyright` | The copyright line for the library as string.
+    `name`      | The name of the library as string.
+    `platform`  | The used platform as string. Possible values are `win32`, `linux`, `apple`, `unix`, and `unknown`.
+    `url`       | The URL of the project as string.
+    `version`   | The version of the library. It is an object with the following keys: `major`, `minor`, and `patch` as defined by [Semantic Versioning](http://semver.org), and `string` (the version string).
+
+    @liveexample{The following code shows an example output of the `meta()`
+    function.,meta}
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @complexity Constant.
+
+    @since 2.1.0
+    */
+    static basic_json meta()
+    {
+        basic_json result;
+
+        result["copyright"] = "(C) 2013-2017 Niels Lohmann";
+        result["name"] = "JSON for Modern C++";
+        result["url"] = "https://github.com/nlohmann/json";
+        result["version"]["string"] =
+            std::to_string(NLOHMANN_JSON_VERSION_MAJOR) + "." +
+            std::to_string(NLOHMANN_JSON_VERSION_MINOR) + "." +
+            std::to_string(NLOHMANN_JSON_VERSION_PATCH);
+        result["version"]["major"] = NLOHMANN_JSON_VERSION_MAJOR;
+        result["version"]["minor"] = NLOHMANN_JSON_VERSION_MINOR;
+        result["version"]["patch"] = NLOHMANN_JSON_VERSION_PATCH;
+
+#ifdef _WIN32
+        result["platform"] = "win32";
+#elif defined __linux__
+        result["platform"] = "linux";
+#elif defined __APPLE__
+        result["platform"] = "apple";
+#elif defined __unix__
+        result["platform"] = "unix";
+#else
+        result["platform"] = "unknown";
+#endif
+
+#if defined(__ICC) || defined(__INTEL_COMPILER)
+        result["compiler"] = {{"family", "icc"}, {"version", __INTEL_COMPILER}};
+#elif defined(__clang__)
+        result["compiler"] = {{"family", "clang"}, {"version", __clang_version__}};
+#elif defined(__GNUC__) || defined(__GNUG__)
+        result["compiler"] = {{"family", "gcc"}, {"version", std::to_string(__GNUC__) + "." + std::to_string(__GNUC_MINOR__) + "." + std::to_string(__GNUC_PATCHLEVEL__)}};
+#elif defined(__HP_cc) || defined(__HP_aCC)
+        result["compiler"] = "hp"
+#elif defined(__IBMCPP__)
+        result["compiler"] = {{"family", "ilecpp"}, {"version", __IBMCPP__}};
+#elif defined(_MSC_VER)
+        result["compiler"] = {{"family", "msvc"}, {"version", _MSC_VER}};
+#elif defined(__PGI)
+        result["compiler"] = {{"family", "pgcpp"}, {"version", __PGI}};
+#elif defined(__SUNPRO_CC)
+        result["compiler"] = {{"family", "sunpro"}, {"version", __SUNPRO_CC}};
+#else
+        result["compiler"] = {{"family", "unknown"}, {"version", "unknown"}};
+#endif
+
+#ifdef __cplusplus
+        result["compiler"]["c++"] = std::to_string(__cplusplus);
+#else
+        result["compiler"]["c++"] = "unknown";
+#endif
+        return result;
+    }
+
+
+    ///////////////////////////
+    // JSON value data types //
+    ///////////////////////////
+
+    /// @name JSON value data types
+    /// The data types to store a JSON value. These types are derived from
+    /// the template arguments passed to class @ref basic_json.
+    /// @{
+
+#if defined(JSON_HAS_CPP_14)
+    // Use transparent comparator if possible, combined with perfect forwarding
+    // on find() and count() calls prevents unnecessary string construction.
+    using object_comparator_t = std::less<>;
+#else
+    using object_comparator_t = std::less<StringType>;
+#endif
+
+    /*!
+    @brief a type for an object
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes JSON objects as follows:
+    > An object is an unordered collection of zero or more name/value pairs,
+    > where a name is a string and a value is a string, number, boolean, null,
+    > object, or array.
+
+    To store objects in C++, a type is defined by the template parameters
+    described below.
+
+    @tparam ObjectType  the container to store objects (e.g., `std::map` or
+    `std::unordered_map`)
+    @tparam StringType the type of the keys or names (e.g., `std::string`).
+    The comparison function `std::less<StringType>` is used to order elements
+    inside the container.
+    @tparam AllocatorType the allocator to use for objects (e.g.,
+    `std::allocator`)
+
+    #### Default type
+
+    With the default values for @a ObjectType (`std::map`), @a StringType
+    (`std::string`), and @a AllocatorType (`std::allocator`), the default
+    value for @a object_t is:
+
+    @code {.cpp}
+    std::map<
+      std::string, // key_type
+      basic_json, // value_type
+      std::less<std::string>, // key_compare
+      std::allocator<std::pair<const std::string, basic_json>> // allocator_type
+    >
+    @endcode
+
+    #### Behavior
+
+    The choice of @a object_t influences the behavior of the JSON class. With
+    the default type, objects have the following behavior:
+
+    - When all names are unique, objects will be interoperable in the sense
+      that all software implementations receiving that object will agree on
+      the name-value mappings.
+    - When the names within an object are not unique, it is unspecified which
+      one of the values for a given key will be chosen. For instance,
+      `{"key": 2, "key": 1}` could be equal to either `{"key": 1}` or
+      `{"key": 2}`.
+    - Internally, name/value pairs are stored in lexicographical order of the
+      names. Objects will also be serialized (see @ref dump) in this order.
+      For instance, `{"b": 1, "a": 2}` and `{"a": 2, "b": 1}` will be stored
+      and serialized as `{"a": 2, "b": 1}`.
+    - When comparing objects, the order of the name/value pairs is irrelevant.
+      This makes objects interoperable in the sense that they will not be
+      affected by these differences. For instance, `{"b": 1, "a": 2}` and
+      `{"a": 2, "b": 1}` will be treated as equal.
+
+    #### Limits
+
+    [RFC 7159](http://rfc7159.net/rfc7159) specifies:
+    > An implementation may set limits on the maximum depth of nesting.
+
+    In this class, the object's limit of nesting is not explicitly constrained.
+    However, a maximum depth of nesting may be introduced by the compiler or
+    runtime environment. A theoretical limit can be queried by calling the
+    @ref max_size function of a JSON object.
+
+    #### Storage
+
+    Objects are stored as pointers in a @ref basic_json type. That is, for any
+    access to object values, a pointer of type `object_t*` must be
+    dereferenced.
+
+    @sa @ref array_t -- type for an array value
+
+    @since version 1.0.0
+
+    @note The order name/value pairs are added to the object is *not*
+    preserved by the library. Therefore, iterating an object may return
+    name/value pairs in a different order than they were originally stored. In
+    fact, keys will be traversed in alphabetical order as `std::map` with
+    `std::less` is used by default. Please note this behavior conforms to [RFC
+    7159](http://rfc7159.net/rfc7159), because any order implements the
+    specified "unordered" nature of JSON objects.
+    */
+    using object_t = ObjectType<StringType,
+          basic_json,
+          object_comparator_t,
+          AllocatorType<std::pair<const StringType,
+          basic_json>>>;
+
+    /*!
+    @brief a type for an array
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes JSON arrays as follows:
+    > An array is an ordered sequence of zero or more values.
+
+    To store objects in C++, a type is defined by the template parameters
+    explained below.
+
+    @tparam ArrayType  container type to store arrays (e.g., `std::vector` or
+    `std::list`)
+    @tparam AllocatorType allocator to use for arrays (e.g., `std::allocator`)
+
+    #### Default type
+
+    With the default values for @a ArrayType (`std::vector`) and @a
+    AllocatorType (`std::allocator`), the default value for @a array_t is:
+
+    @code {.cpp}
+    std::vector<
+      basic_json, // value_type
+      std::allocator<basic_json> // allocator_type
+    >
+    @endcode
+
+    #### Limits
+
+    [RFC 7159](http://rfc7159.net/rfc7159) specifies:
+    > An implementation may set limits on the maximum depth of nesting.
+
+    In this class, the array's limit of nesting is not explicitly constrained.
+    However, a maximum depth of nesting may be introduced by the compiler or
+    runtime environment. A theoretical limit can be queried by calling the
+    @ref max_size function of a JSON array.
+
+    #### Storage
+
+    Arrays are stored as pointers in a @ref basic_json type. That is, for any
+    access to array values, a pointer of type `array_t*` must be dereferenced.
+
+    @sa @ref object_t -- type for an object value
+
+    @since version 1.0.0
+    */
+    using array_t = ArrayType<basic_json, AllocatorType<basic_json>>;
+
+    /*!
+    @brief a type for a string
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes JSON strings as follows:
+    > A string is a sequence of zero or more Unicode characters.
+
+    To store objects in C++, a type is defined by the template parameter
+    described below. Unicode values are split by the JSON class into
+    byte-sized characters during deserialization.
+
+    @tparam StringType  the container to store strings (e.g., `std::string`).
+    Note this container is used for keys/names in objects, see @ref object_t.
+
+    #### Default type
+
+    With the default values for @a StringType (`std::string`), the default
+    value for @a string_t is:
+
+    @code {.cpp}
+    std::string
+    @endcode
+
+    #### Encoding
+
+    Strings are stored in UTF-8 encoding. Therefore, functions like
+    `std::string::size()` or `std::string::length()` return the number of
+    bytes in the string rather than the number of characters or glyphs.
+
+    #### String comparison
+
+    [RFC 7159](http://rfc7159.net/rfc7159) states:
+    > Software implementations are typically required to test names of object
+    > members for equality. Implementations that transform the textual
+    > representation into sequences of Unicode code units and then perform the
+    > comparison numerically, code unit by code unit, are interoperable in the
+    > sense that implementations will agree in all cases on equality or
+    > inequality of two strings. For example, implementations that compare
+    > strings with escaped characters unconverted may incorrectly find that
+    > `"a\\b"` and `"a\u005Cb"` are not equal.
+
+    This implementation is interoperable as it does compare strings code unit
+    by code unit.
+
+    #### Storage
+
+    String values are stored as pointers in a @ref basic_json type. That is,
+    for any access to string values, a pointer of type `string_t*` must be
+    dereferenced.
+
+    @since version 1.0.0
+    */
+    using string_t = StringType;
+
+    /*!
+    @brief a type for a boolean
+
+    [RFC 7159](http://rfc7159.net/rfc7159) implicitly describes a boolean as a
+    type which differentiates the two literals `true` and `false`.
+
+    To store objects in C++, a type is defined by the template parameter @a
+    BooleanType which chooses the type to use.
+
+    #### Default type
+
+    With the default values for @a BooleanType (`bool`), the default value for
+    @a boolean_t is:
+
+    @code {.cpp}
+    bool
+    @endcode
+
+    #### Storage
+
+    Boolean values are stored directly inside a @ref basic_json type.
+
+    @since version 1.0.0
+    */
+    using boolean_t = BooleanType;
+
+    /*!
+    @brief a type for a number (integer)
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes numbers as follows:
+    > The representation of numbers is similar to that used in most
+    > programming languages. A number is represented in base 10 using decimal
+    > digits. It contains an integer component that may be prefixed with an
+    > optional minus sign, which may be followed by a fraction part and/or an
+    > exponent part. Leading zeros are not allowed. (...) Numeric values that
+    > cannot be represented in the grammar below (such as Infinity and NaN)
+    > are not permitted.
+
+    This description includes both integer and floating-point numbers.
+    However, C++ allows more precise storage if it is known whether the number
+    is a signed integer, an unsigned integer or a floating-point number.
+    Therefore, three different types, @ref number_integer_t, @ref
+    number_unsigned_t and @ref number_float_t are used.
+
+    To store integer numbers in C++, a type is defined by the template
+    parameter @a NumberIntegerType which chooses the type to use.
+
+    #### Default type
+
+    With the default values for @a NumberIntegerType (`int64_t`), the default
+    value for @a number_integer_t is:
+
+    @code {.cpp}
+    int64_t
+    @endcode
+
+    #### Default behavior
+
+    - The restrictions about leading zeros is not enforced in C++. Instead,
+      leading zeros in integer literals lead to an interpretation as octal
+      number. Internally, the value will be stored as decimal number. For
+      instance, the C++ integer literal `010` will be serialized to `8`.
+      During deserialization, leading zeros yield an error.
+    - Not-a-number (NaN) values will be serialized to `null`.
+
+    #### Limits
+
+    [RFC 7159](http://rfc7159.net/rfc7159) specifies:
+    > An implementation may set limits on the range and precision of numbers.
+
+    When the default type is used, the maximal integer number that can be
+    stored is `9223372036854775807` (INT64_MAX) and the minimal integer number
+    that can be stored is `-9223372036854775808` (INT64_MIN). Integer numbers
+    that are out of range will yield over/underflow when used in a
+    constructor. During deserialization, too large or small integer numbers
+    will be automatically be stored as @ref number_unsigned_t or @ref
+    number_float_t.
+
+    [RFC 7159](http://rfc7159.net/rfc7159) further states:
+    > Note that when such software is used, numbers that are integers and are
+    > in the range \f$[-2^{53}+1, 2^{53}-1]\f$ are interoperable in the sense
+    > that implementations will agree exactly on their numeric values.
+
+    As this range is a subrange of the exactly supported range [INT64_MIN,
+    INT64_MAX], this class's integer type is interoperable.
+
+    #### Storage
+
+    Integer number values are stored directly inside a @ref basic_json type.
+
+    @sa @ref number_float_t -- type for number values (floating-point)
+
+    @sa @ref number_unsigned_t -- type for number values (unsigned integer)
+
+    @since version 1.0.0
+    */
+    using number_integer_t = NumberIntegerType;
+
+    /*!
+    @brief a type for a number (unsigned)
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes numbers as follows:
+    > The representation of numbers is similar to that used in most
+    > programming languages. A number is represented in base 10 using decimal
+    > digits. It contains an integer component that may be prefixed with an
+    > optional minus sign, which may be followed by a fraction part and/or an
+    > exponent part. Leading zeros are not allowed. (...) Numeric values that
+    > cannot be represented in the grammar below (such as Infinity and NaN)
+    > are not permitted.
+
+    This description includes both integer and floating-point numbers.
+    However, C++ allows more precise storage if it is known whether the number
+    is a signed integer, an unsigned integer or a floating-point number.
+    Therefore, three different types, @ref number_integer_t, @ref
+    number_unsigned_t and @ref number_float_t are used.
+
+    To store unsigned integer numbers in C++, a type is defined by the
+    template parameter @a NumberUnsignedType which chooses the type to use.
+
+    #### Default type
+
+    With the default values for @a NumberUnsignedType (`uint64_t`), the
+    default value for @a number_unsigned_t is:
+
+    @code {.cpp}
+    uint64_t
+    @endcode
+
+    #### Default behavior
+
+    - The restrictions about leading zeros is not enforced in C++. Instead,
+      leading zeros in integer literals lead to an interpretation as octal
+      number. Internally, the value will be stored as decimal number. For
+      instance, the C++ integer literal `010` will be serialized to `8`.
+      During deserialization, leading zeros yield an error.
+    - Not-a-number (NaN) values will be serialized to `null`.
+
+    #### Limits
+
+    [RFC 7159](http://rfc7159.net/rfc7159) specifies:
+    > An implementation may set limits on the range and precision of numbers.
+
+    When the default type is used, the maximal integer number that can be
+    stored is `18446744073709551615` (UINT64_MAX) and the minimal integer
+    number that can be stored is `0`. Integer numbers that are out of range
+    will yield over/underflow when used in a constructor. During
+    deserialization, too large or small integer numbers will be automatically
+    be stored as @ref number_integer_t or @ref number_float_t.
+
+    [RFC 7159](http://rfc7159.net/rfc7159) further states:
+    > Note that when such software is used, numbers that are integers and are
+    > in the range \f$[-2^{53}+1, 2^{53}-1]\f$ are interoperable in the sense
+    > that implementations will agree exactly on their numeric values.
+
+    As this range is a subrange (when considered in conjunction with the
+    number_integer_t type) of the exactly supported range [0, UINT64_MAX],
+    this class's integer type is interoperable.
+
+    #### Storage
+
+    Integer number values are stored directly inside a @ref basic_json type.
+
+    @sa @ref number_float_t -- type for number values (floating-point)
+    @sa @ref number_integer_t -- type for number values (integer)
+
+    @since version 2.0.0
+    */
+    using number_unsigned_t = NumberUnsignedType;
+
+    /*!
+    @brief a type for a number (floating-point)
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes numbers as follows:
+    > The representation of numbers is similar to that used in most
+    > programming languages. A number is represented in base 10 using decimal
+    > digits. It contains an integer component that may be prefixed with an
+    > optional minus sign, which may be followed by a fraction part and/or an
+    > exponent part. Leading zeros are not allowed. (...) Numeric values that
+    > cannot be represented in the grammar below (such as Infinity and NaN)
+    > are not permitted.
+
+    This description includes both integer and floating-point numbers.
+    However, C++ allows more precise storage if it is known whether the number
+    is a signed integer, an unsigned integer or a floating-point number.
+    Therefore, three different types, @ref number_integer_t, @ref
+    number_unsigned_t and @ref number_float_t are used.
+
+    To store floating-point numbers in C++, a type is defined by the template
+    parameter @a NumberFloatType which chooses the type to use.
+
+    #### Default type
+
+    With the default values for @a NumberFloatType (`double`), the default
+    value for @a number_float_t is:
+
+    @code {.cpp}
+    double
+    @endcode
+
+    #### Default behavior
+
+    - The restrictions about leading zeros is not enforced in C++. Instead,
+      leading zeros in floating-point literals will be ignored. Internally,
+      the value will be stored as decimal number. For instance, the C++
+      floating-point literal `01.2` will be serialized to `1.2`. During
+      deserialization, leading zeros yield an error.
+    - Not-a-number (NaN) values will be serialized to `null`.
+
+    #### Limits
+
+    [RFC 7159](http://rfc7159.net/rfc7159) states:
+    > This specification allows implementations to set limits on the range and
+    > precision of numbers accepted. Since software that implements IEEE
+    > 754-2008 binary64 (double precision) numbers is generally available and
+    > widely used, good interoperability can be achieved by implementations
+    > that expect no more precision or range than these provide, in the sense
+    > that implementations will approximate JSON numbers within the expected
+    > precision.
+
+    This implementation does exactly follow this approach, as it uses double
+    precision floating-point numbers. Note values smaller than
+    `-1.79769313486232e+308` and values greater than `1.79769313486232e+308`
+    will be stored as NaN internally and be serialized to `null`.
+
+    #### Storage
+
+    Floating-point number values are stored directly inside a @ref basic_json
+    type.
+
+    @sa @ref number_integer_t -- type for number values (integer)
+
+    @sa @ref number_unsigned_t -- type for number values (unsigned integer)
+
+    @since version 1.0.0
+    */
+    using number_float_t = NumberFloatType;
+
+    /// @}
+
+  private:
+
+    /// helper for exception-safe object creation
+    template<typename T, typename... Args>
+    static T* create(Args&& ... args)
+    {
+        AllocatorType<T> alloc;
+        using AllocatorTraits = std::allocator_traits<AllocatorType<T>>;
+
+        auto deleter = [&](T * object)
+        {
+            AllocatorTraits::deallocate(alloc, object, 1);
+        };
+        std::unique_ptr<T, decltype(deleter)> object(AllocatorTraits::allocate(alloc, 1), deleter);
+        AllocatorTraits::construct(alloc, object.get(), std::forward<Args>(args)...);
+        assert(object != nullptr);
+        return object.release();
+    }
+
+    ////////////////////////
+    // JSON value storage //
+    ////////////////////////
+
+    /*!
+    @brief a JSON value
+
+    The actual storage for a JSON value of the @ref basic_json class. This
+    union combines the different storage types for the JSON value types
+    defined in @ref value_t.
+
+    JSON type | value_t type    | used type
+    --------- | --------------- | ------------------------
+    object    | object          | pointer to @ref object_t
+    array     | array           | pointer to @ref array_t
+    string    | string          | pointer to @ref string_t
+    boolean   | boolean         | @ref boolean_t
+    number    | number_integer  | @ref number_integer_t
+    number    | number_unsigned | @ref number_unsigned_t
+    number    | number_float    | @ref number_float_t
+    null      | null            | *no value is stored*
+
+    @note Variable-length types (objects, arrays, and strings) are stored as
+    pointers. The size of the union should not exceed 64 bits if the default
+    value types are used.
+
+    @since version 1.0.0
+    */
+    union json_value
+    {
+        /// object (stored with pointer to save storage)
+        object_t* object;
+        /// array (stored with pointer to save storage)
+        array_t* array;
+        /// string (stored with pointer to save storage)
+        string_t* string;
+        /// boolean
+        boolean_t boolean;
+        /// number (integer)
+        number_integer_t number_integer;
+        /// number (unsigned integer)
+        number_unsigned_t number_unsigned;
+        /// number (floating-point)
+        number_float_t number_float;
+
+        /// default constructor (for null values)
+        json_value() = default;
+        /// constructor for booleans
+        json_value(boolean_t v) noexcept : boolean(v) {}
+        /// constructor for numbers (integer)
+        json_value(number_integer_t v) noexcept : number_integer(v) {}
+        /// constructor for numbers (unsigned)
+        json_value(number_unsigned_t v) noexcept : number_unsigned(v) {}
+        /// constructor for numbers (floating-point)
+        json_value(number_float_t v) noexcept : number_float(v) {}
+        /// constructor for empty values of a given type
+        json_value(value_t t)
+        {
+            switch (t)
+            {
+                case value_t::object:
+                {
+                    object = create<object_t>();
+                    break;
+                }
+
+                case value_t::array:
+                {
+                    array = create<array_t>();
+                    break;
+                }
+
+                case value_t::string:
+                {
+                    string = create<string_t>("");
+                    break;
+                }
+
+                case value_t::boolean:
+                {
+                    boolean = boolean_t(false);
+                    break;
+                }
+
+                case value_t::number_integer:
+                {
+                    number_integer = number_integer_t(0);
+                    break;
+                }
+
+                case value_t::number_unsigned:
+                {
+                    number_unsigned = number_unsigned_t(0);
+                    break;
+                }
+
+                case value_t::number_float:
+                {
+                    number_float = number_float_t(0.0);
+                    break;
+                }
+
+                case value_t::null:
+                {
+                    object = nullptr;  // silence warning, see #821
+                    break;
+                }
+
+                default:
+                {
+                    object = nullptr;  // silence warning, see #821
+                    if (JSON_UNLIKELY(t == value_t::null))
+                    {
+                        JSON_THROW(other_error::create(500, "961c151d2e87f2686a955a9be24d316f1362bf21 3.5.0")); // LCOV_EXCL_LINE
+                    }
+                    break;
+                }
+            }
+        }
+
+        /// constructor for strings
+        json_value(const string_t& value)
+        {
+            string = create<string_t>(value);
+        }
+
+        /// constructor for rvalue strings
+        json_value(string_t&& value)
+        {
+            string = create<string_t>(std::move(value));
+        }
+
+        /// constructor for objects
+        json_value(const object_t& value)
+        {
+            object = create<object_t>(value);
+        }
+
+        /// constructor for rvalue objects
+        json_value(object_t&& value)
+        {
+            object = create<object_t>(std::move(value));
+        }
+
+        /// constructor for arrays
+        json_value(const array_t& value)
+        {
+            array = create<array_t>(value);
+        }
+
+        /// constructor for rvalue arrays
+        json_value(array_t&& value)
+        {
+            array = create<array_t>(std::move(value));
+        }
+
+        void destroy(value_t t) noexcept
+        {
+            switch (t)
+            {
+                case value_t::object:
+                {
+                    AllocatorType<object_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, object);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, object, 1);
+                    break;
+                }
+
+                case value_t::array:
+                {
+                    AllocatorType<array_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, array);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, array, 1);
+                    break;
+                }
+
+                case value_t::string:
+                {
+                    AllocatorType<string_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, string);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, string, 1);
+                    break;
+                }
+
+                default:
+                {
+                    break;
+                }
+            }
+        }
+    };
+
+    /*!
+    @brief checks the class invariants
+
+    This function asserts the class invariants. It needs to be called at the
+    end of every constructor to make sure that created objects respect the
+    invariant. Furthermore, it has to be called each time the type of a JSON
+    value is changed, because the invariant expresses a relationship between
+    @a m_type and @a m_value.
+    */
+    void assert_invariant() const noexcept
+    {
+        assert(m_type != value_t::object or m_value.object != nullptr);
+        assert(m_type != value_t::array or m_value.array != nullptr);
+        assert(m_type != value_t::string or m_value.string != nullptr);
+    }
+
+  public:
+    //////////////////////////
+    // JSON parser callback //
+    //////////////////////////
+
+    /*!
+    @brief parser event types
+
+    The parser callback distinguishes the following events:
+    - `object_start`: the parser read `{` and started to process a JSON object
+    - `key`: the parser read a key of a value in an object
+    - `object_end`: the parser read `}` and finished processing a JSON object
+    - `array_start`: the parser read `[` and started to process a JSON array
+    - `array_end`: the parser read `]` and finished processing a JSON array
+    - `value`: the parser finished reading a JSON value
+
+    @image html callback_events.png "Example when certain parse events are triggered"
+
+    @sa @ref parser_callback_t for more information and examples
+    */
+    using parse_event_t = typename parser::parse_event_t;
+
+    /*!
+    @brief per-element parser callback type
+
+    With a parser callback function, the result of parsing a JSON text can be
+    influenced. When passed to @ref parse, it is called on certain events
+    (passed as @ref parse_event_t via parameter @a event) with a set recursion
+    depth @a depth and context JSON value @a parsed. The return value of the
+    callback function is a boolean indicating whether the element that emitted
+    the callback shall be kept or not.
+
+    We distinguish six scenarios (determined by the event type) in which the
+    callback function can be called. The following table describes the values
+    of the parameters @a depth, @a event, and @a parsed.
+
+    parameter @a event | description | parameter @a depth | parameter @a parsed
+    ------------------ | ----------- | ------------------ | -------------------
+    parse_event_t::object_start | the parser read `{` and started to process a JSON object | depth of the parent of the JSON object | a JSON value with type discarded
+    parse_event_t::key | the parser read a key of a value in an object | depth of the currently parsed JSON object | a JSON string containing the key
+    parse_event_t::object_end | the parser read `}` and finished processing a JSON object | depth of the parent of the JSON object | the parsed JSON object
+    parse_event_t::array_start | the parser read `[` and started to process a JSON array | depth of the parent of the JSON array | a JSON value with type discarded
+    parse_event_t::array_end | the parser read `]` and finished processing a JSON array | depth of the parent of the JSON array | the parsed JSON array
+    parse_event_t::value | the parser finished reading a JSON value | depth of the value | the parsed JSON value
+
+    @image html callback_events.png "Example when certain parse events are triggered"
+
+    Discarding a value (i.e., returning `false`) has different effects
+    depending on the context in which function was called:
+
+    - Discarded values in structured types are skipped. That is, the parser
+      will behave as if the discarded value was never read.
+    - In case a value outside a structured type is skipped, it is replaced
+      with `null`. This case happens if the top-level element is skipped.
+
+    @param[in] depth  the depth of the recursion during parsing
+
+    @param[in] event  an event of type parse_event_t indicating the context in
+    the callback function has been called
+
+    @param[in,out] parsed  the current intermediate parse result; note that
+    writing to this value has no effect for parse_event_t::key events
+
+    @return Whether the JSON value which called the function during parsing
+    should be kept (`true`) or not (`false`). In the latter case, it is either
+    skipped completely or replaced by an empty discarded object.
+
+    @sa @ref parse for examples
+
+    @since version 1.0.0
+    */
+    using parser_callback_t = typename parser::parser_callback_t;
+
+    //////////////////
+    // constructors //
+    //////////////////
+
+    /// @name constructors and destructors
+    /// Constructors of class @ref basic_json, copy/move constructor, copy
+    /// assignment, static functions creating objects, and the destructor.
+    /// @{
+
+    /*!
+    @brief create an empty value with a given type
+
+    Create an empty JSON value with a given type. The value will be default
+    initialized with an empty value which depends on the type:
+
+    Value type  | initial value
+    ----------- | -------------
+    null        | `null`
+    boolean     | `false`
+    string      | `""`
+    number      | `0`
+    object      | `{}`
+    array       | `[]`
+
+    @param[in] v  the type of the value to create
+
+    @complexity Constant.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The following code shows the constructor for different @ref
+    value_t values,basic_json__value_t}
+
+    @sa @ref clear() -- restores the postcondition of this constructor
+
+    @since version 1.0.0
+    */
+    basic_json(const value_t v)
+        : m_type(v), m_value(v)
+    {
+        assert_invariant();
+    }
+
+    /*!
+    @brief create a null object
+
+    Create a `null` JSON value. It either takes a null pointer as parameter
+    (explicitly creating `null`) or no parameter (implicitly creating `null`).
+    The passed null pointer itself is not read -- it is only used to choose
+    the right constructor.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this constructor never throws
+    exceptions.
+
+    @liveexample{The following code shows the constructor with and without a
+    null pointer parameter.,basic_json__nullptr_t}
+
+    @since version 1.0.0
+    */
+    basic_json(std::nullptr_t = nullptr) noexcept
+        : basic_json(value_t::null)
+    {
+        assert_invariant();
+    }
+
+    /*!
+    @brief create a JSON value
+
+    This is a "catch all" constructor for all compatible JSON types; that is,
+    types for which a `to_json()` method exists. The constructor forwards the
+    parameter @a val to that method (to `json_serializer<U>::to_json` method
+    with `U = uncvref_t<CompatibleType>`, to be exact).
+
+    Template type @a CompatibleType includes, but is not limited to, the
+    following types:
+    - **arrays**: @ref array_t and all kinds of compatible containers such as
+      `std::vector`, `std::deque`, `std::list`, `std::forward_list`,
+      `std::array`, `std::valarray`, `std::set`, `std::unordered_set`,
+      `std::multiset`, and `std::unordered_multiset` with a `value_type` from
+      which a @ref basic_json value can be constructed.
+    - **objects**: @ref object_t and all kinds of compatible associative
+      containers such as `std::map`, `std::unordered_map`, `std::multimap`,
+      and `std::unordered_multimap` with a `key_type` compatible to
+      @ref string_t and a `value_type` from which a @ref basic_json value can
+      be constructed.
+    - **strings**: @ref string_t, string literals, and all compatible string
+      containers can be used.
+    - **numbers**: @ref number_integer_t, @ref number_unsigned_t,
+      @ref number_float_t, and all convertible number types such as `int`,
+      `size_t`, `int64_t`, `float` or `double` can be used.
+    - **boolean**: @ref boolean_t / `bool` can be used.
+
+    See the examples below.
+
+    @tparam CompatibleType a type such that:
+    - @a CompatibleType is not derived from `std::istream`,
+    - @a CompatibleType is not @ref basic_json (to avoid hijacking copy/move
+         constructors),
+    - @a CompatibleType is not a different @ref basic_json type (i.e. with different template arguments)
+    - @a CompatibleType is not a @ref basic_json nested type (e.g.,
+         @ref json_pointer, @ref iterator, etc ...)
+    - @ref @ref json_serializer<U> has a
+         `to_json(basic_json_t&, CompatibleType&&)` method
+
+    @tparam U = `uncvref_t<CompatibleType>`
+
+    @param[in] val the value to be forwarded to the respective constructor
+
+    @complexity Usually linear in the size of the passed @a val, also
+                depending on the implementation of the called `to_json()`
+                method.
+
+    @exceptionsafety Depends on the called constructor. For types directly
+    supported by the library (i.e., all types for which no `to_json()` function
+    was provided), strong guarantee holds: if an exception is thrown, there are
+    no changes to any JSON value.
+
+    @liveexample{The following code shows the constructor with several
+    compatible types.,basic_json__CompatibleType}
+
+    @since version 2.1.0
+    */
+    template <typename CompatibleType,
+              typename U = detail::uncvref_t<CompatibleType>,
+              detail::enable_if_t<
+                  not detail::is_basic_json<U>::value and detail::is_compatible_type<basic_json_t, U>::value, int> = 0>
+    basic_json(CompatibleType && val) noexcept(noexcept(
+                JSONSerializer<U>::to_json(std::declval<basic_json_t&>(),
+                                           std::forward<CompatibleType>(val))))
+    {
+        JSONSerializer<U>::to_json(*this, std::forward<CompatibleType>(val));
+        assert_invariant();
+    }
+
+    /*!
+    @brief create a JSON value from an existing one
+
+    This is a constructor for existing @ref basic_json types.
+    It does not hijack copy/move constructors, since the parameter has different
+    template arguments than the current ones.
+
+    The constructor tries to convert the internal @ref m_value of the parameter.
+
+    @tparam BasicJsonType a type such that:
+    - @a BasicJsonType is a @ref basic_json type.
+    - @a BasicJsonType has different template arguments than @ref basic_json_t.
+
+    @param[in] val the @ref basic_json value to be converted.
+
+    @complexity Usually linear in the size of the passed @a val, also
+                depending on the implementation of the called `to_json()`
+                method.
+
+    @exceptionsafety Depends on the called constructor. For types directly
+    supported by the library (i.e., all types for which no `to_json()` function
+    was provided), strong guarantee holds: if an exception is thrown, there are
+    no changes to any JSON value.
+
+    @since version 3.2.0
+    */
+    template <typename BasicJsonType,
+              detail::enable_if_t<
+                  detail::is_basic_json<BasicJsonType>::value and not std::is_same<basic_json, BasicJsonType>::value, int> = 0>
+    basic_json(const BasicJsonType& val)
+    {
+        using other_boolean_t = typename BasicJsonType::boolean_t;
+        using other_number_float_t = typename BasicJsonType::number_float_t;
+        using other_number_integer_t = typename BasicJsonType::number_integer_t;
+        using other_number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+        using other_string_t = typename BasicJsonType::string_t;
+        using other_object_t = typename BasicJsonType::object_t;
+        using other_array_t = typename BasicJsonType::array_t;
+
+        switch (val.type())
+        {
+            case value_t::boolean:
+                JSONSerializer<other_boolean_t>::to_json(*this, val.template get<other_boolean_t>());
+                break;
+            case value_t::number_float:
+                JSONSerializer<other_number_float_t>::to_json(*this, val.template get<other_number_float_t>());
+                break;
+            case value_t::number_integer:
+                JSONSerializer<other_number_integer_t>::to_json(*this, val.template get<other_number_integer_t>());
+                break;
+            case value_t::number_unsigned:
+                JSONSerializer<other_number_unsigned_t>::to_json(*this, val.template get<other_number_unsigned_t>());
+                break;
+            case value_t::string:
+                JSONSerializer<other_string_t>::to_json(*this, val.template get_ref<const other_string_t&>());
+                break;
+            case value_t::object:
+                JSONSerializer<other_object_t>::to_json(*this, val.template get_ref<const other_object_t&>());
+                break;
+            case value_t::array:
+                JSONSerializer<other_array_t>::to_json(*this, val.template get_ref<const other_array_t&>());
+                break;
+            case value_t::null:
+                *this = nullptr;
+                break;
+            case value_t::discarded:
+                m_type = value_t::discarded;
+                break;
+        }
+        assert_invariant();
+    }
+
+    /*!
+    @brief create a container (array or object) from an initializer list
+
+    Creates a JSON value of type array or object from the passed initializer
+    list @a init. In case @a type_deduction is `true` (default), the type of
+    the JSON value to be created is deducted from the initializer list @a init
+    according to the following rules:
+
+    1. If the list is empty, an empty JSON object value `{}` is created.
+    2. If the list consists of pairs whose first element is a string, a JSON
+       object value is created where the first elements of the pairs are
+       treated as keys and the second elements are as values.
+    3. In all other cases, an array is created.
+
+    The rules aim to create the best fit between a C++ initializer list and
+    JSON values. The rationale is as follows:
+
+    1. The empty initializer list is written as `{}` which is exactly an empty
+       JSON object.
+    2. C++ has no way of describing mapped types other than to list a list of
+       pairs. As JSON requires that keys must be of type string, rule 2 is the
+       weakest constraint one can pose on initializer lists to interpret them
+       as an object.
+    3. In all other cases, the initializer list could not be interpreted as
+       JSON object type, so interpreting it as JSON array type is safe.
+
+    With the rules described above, the following JSON values cannot be
+    expressed by an initializer list:
+
+    - the empty array (`[]`): use @ref array(initializer_list_t)
+      with an empty initializer list in this case
+    - arrays whose elements satisfy rule 2: use @ref
+      array(initializer_list_t) with the same initializer list
+      in this case
+
+    @note When used without parentheses around an empty initializer list, @ref
+    basic_json() is called instead of this function, yielding the JSON null
+    value.
+
+    @param[in] init  initializer list with JSON values
+
+    @param[in] type_deduction internal parameter; when set to `true`, the type
+    of the JSON value is deducted from the initializer list @a init; when set
+    to `false`, the type provided via @a manual_type is forced. This mode is
+    used by the functions @ref array(initializer_list_t) and
+    @ref object(initializer_list_t).
+
+    @param[in] manual_type internal parameter; when @a type_deduction is set
+    to `false`, the created JSON value will use the provided type (only @ref
+    value_t::array and @ref value_t::object are valid); when @a type_deduction
+    is set to `true`, this parameter has no effect
+
+    @throw type_error.301 if @a type_deduction is `false`, @a manual_type is
+    `value_t::object`, but @a init contains an element which is not a pair
+    whose first element is a string. In this case, the constructor could not
+    create an object. If @a type_deduction would have be `true`, an array
+    would have been created. See @ref object(initializer_list_t)
+    for an example.
+
+    @complexity Linear in the size of the initializer list @a init.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The example below shows how JSON values are created from
+    initializer lists.,basic_json__list_init_t}
+
+    @sa @ref array(initializer_list_t) -- create a JSON array
+    value from an initializer list
+    @sa @ref object(initializer_list_t) -- create a JSON object
+    value from an initializer list
+
+    @since version 1.0.0
+    */
+    basic_json(initializer_list_t init,
+               bool type_deduction = true,
+               value_t manual_type = value_t::array)
+    {
+        // check if each element is an array with two elements whose first
+        // element is a string
+        bool is_an_object = std::all_of(init.begin(), init.end(),
+                                        [](const detail::json_ref<basic_json>& element_ref)
+        {
+            return (element_ref->is_array() and element_ref->size() == 2 and (*element_ref)[0].is_string());
+        });
+
+        // adjust type if type deduction is not wanted
+        if (not type_deduction)
+        {
+            // if array is wanted, do not create an object though possible
+            if (manual_type == value_t::array)
+            {
+                is_an_object = false;
+            }
+
+            // if object is wanted but impossible, throw an exception
+            if (JSON_UNLIKELY(manual_type == value_t::object and not is_an_object))
+            {
+                JSON_THROW(type_error::create(301, "cannot create object from initializer list"));
+            }
+        }
+
+        if (is_an_object)
+        {
+            // the initializer list is a list of pairs -> create object
+            m_type = value_t::object;
+            m_value = value_t::object;
+
+            std::for_each(init.begin(), init.end(), [this](const detail::json_ref<basic_json>& element_ref)
+            {
+                auto element = element_ref.moved_or_copied();
+                m_value.object->emplace(
+                    std::move(*((*element.m_value.array)[0].m_value.string)),
+                    std::move((*element.m_value.array)[1]));
+            });
+        }
+        else
+        {
+            // the initializer list describes an array -> create array
+            m_type = value_t::array;
+            m_value.array = create<array_t>(init.begin(), init.end());
+        }
+
+        assert_invariant();
+    }
+
+    /*!
+    @brief explicitly create an array from an initializer list
+
+    Creates a JSON array value from a given initializer list. That is, given a
+    list of values `a, b, c`, creates the JSON value `[a, b, c]`. If the
+    initializer list is empty, the empty array `[]` is created.
+
+    @note This function is only needed to express two edge cases that cannot
+    be realized with the initializer list constructor (@ref
+    basic_json(initializer_list_t, bool, value_t)). These cases
+    are:
+    1. creating an array whose elements are all pairs whose first element is a
+    string -- in this case, the initializer list constructor would create an
+    object, taking the first elements as keys
+    2. creating an empty array -- passing the empty initializer list to the
+    initializer list constructor yields an empty object
+
+    @param[in] init  initializer list with JSON values to create an array from
+    (optional)
+
+    @return JSON array value
+
+    @complexity Linear in the size of @a init.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The following code shows an example for the `array`
+    function.,array}
+
+    @sa @ref basic_json(initializer_list_t, bool, value_t) --
+    create a JSON value from an initializer list
+    @sa @ref object(initializer_list_t) -- create a JSON object
+    value from an initializer list
+
+    @since version 1.0.0
+    */
+    static basic_json array(initializer_list_t init = {})
+    {
+        return basic_json(init, false, value_t::array);
+    }
+
+    /*!
+    @brief explicitly create an object from an initializer list
+
+    Creates a JSON object value from a given initializer list. The initializer
+    lists elements must be pairs, and their first elements must be strings. If
+    the initializer list is empty, the empty object `{}` is created.
+
+    @note This function is only added for symmetry reasons. In contrast to the
+    related function @ref array(initializer_list_t), there are
+    no cases which can only be expressed by this function. That is, any
+    initializer list @a init can also be passed to the initializer list
+    constructor @ref basic_json(initializer_list_t, bool, value_t).
+
+    @param[in] init  initializer list to create an object from (optional)
+
+    @return JSON object value
+
+    @throw type_error.301 if @a init is not a list of pairs whose first
+    elements are strings. In this case, no object can be created. When such a
+    value is passed to @ref basic_json(initializer_list_t, bool, value_t),
+    an array would have been created from the passed initializer list @a init.
+    See example below.
+
+    @complexity Linear in the size of @a init.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The following code shows an example for the `object`
+    function.,object}
+
+    @sa @ref basic_json(initializer_list_t, bool, value_t) --
+    create a JSON value from an initializer list
+    @sa @ref array(initializer_list_t) -- create a JSON array
+    value from an initializer list
+
+    @since version 1.0.0
+    */
+    static basic_json object(initializer_list_t init = {})
+    {
+        return basic_json(init, false, value_t::object);
+    }
+
+    /*!
+    @brief construct an array with count copies of given value
+
+    Constructs a JSON array value by creating @a cnt copies of a passed value.
+    In case @a cnt is `0`, an empty array is created.
+
+    @param[in] cnt  the number of JSON copies of @a val to create
+    @param[in] val  the JSON value to copy
+
+    @post `std::distance(begin(),end()) == cnt` holds.
+
+    @complexity Linear in @a cnt.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The following code shows examples for the @ref
+    basic_json(size_type\, const basic_json&)
+    constructor.,basic_json__size_type_basic_json}
+
+    @since version 1.0.0
+    */
+    basic_json(size_type cnt, const basic_json& val)
+        : m_type(value_t::array)
+    {
+        m_value.array = create<array_t>(cnt, val);
+        assert_invariant();
+    }
+
+    /*!
+    @brief construct a JSON container given an iterator range
+
+    Constructs the JSON value with the contents of the range `[first, last)`.
+    The semantics depends on the different types a JSON value can have:
+    - In case of a null type, invalid_iterator.206 is thrown.
+    - In case of other primitive types (number, boolean, or string), @a first
+      must be `begin()` and @a last must be `end()`. In this case, the value is
+      copied. Otherwise, invalid_iterator.204 is thrown.
+    - In case of structured types (array, object), the constructor behaves as
+      similar versions for `std::vector` or `std::map`; that is, a JSON array
+      or object is constructed from the values in the range.
+
+    @tparam InputIT an input iterator type (@ref iterator or @ref
+    const_iterator)
+
+    @param[in] first begin of the range to copy from (included)
+    @param[in] last end of the range to copy from (excluded)
+
+    @pre Iterators @a first and @a last must be initialized. **This
+         precondition is enforced with an assertion (see warning).** If
+         assertions are switched off, a violation of this precondition yields
+         undefined behavior.
+
+    @pre Range `[first, last)` is valid. Usually, this precondition cannot be
+         checked efficiently. Only certain edge cases are detected; see the
+         description of the exceptions below. A violation of this precondition
+         yields undefined behavior.
+
+    @warning A precondition is enforced with a runtime assertion that will
+             result in calling `std::abort` if this precondition is not met.
+             Assertions can be disabled by defining `NDEBUG` at compile time.
+             See https://en.cppreference.com/w/cpp/error/assert for more
+             information.
+
+    @throw invalid_iterator.201 if iterators @a first and @a last are not
+    compatible (i.e., do not belong to the same JSON value). In this case,
+    the range `[first, last)` is undefined.
+    @throw invalid_iterator.204 if iterators @a first and @a last belong to a
+    primitive type (number, boolean, or string), but @a first does not point
+    to the first element any more. In this case, the range `[first, last)` is
+    undefined. See example code below.
+    @throw invalid_iterator.206 if iterators @a first and @a last belong to a
+    null value. In this case, the range `[first, last)` is undefined.
+
+    @complexity Linear in distance between @a first and @a last.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The example below shows several ways to create JSON values by
+    specifying a subrange with iterators.,basic_json__InputIt_InputIt}
+
+    @since version 1.0.0
+    */
+    template<class InputIT, typename std::enable_if<
+                 std::is_same<InputIT, typename basic_json_t::iterator>::value or
+                 std::is_same<InputIT, typename basic_json_t::const_iterator>::value, int>::type = 0>
+    basic_json(InputIT first, InputIT last)
+    {
+        assert(first.m_object != nullptr);
+        assert(last.m_object != nullptr);
+
+        // make sure iterator fits the current value
+        if (JSON_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(201, "iterators are not compatible"));
+        }
+
+        // copy type from first iterator
+        m_type = first.m_object->m_type;
+
+        // check if iterator range is complete for primitive values
+        switch (m_type)
+        {
+            case value_t::boolean:
+            case value_t::number_float:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::string:
+            {
+                if (JSON_UNLIKELY(not first.m_it.primitive_iterator.is_begin()
+                                  or not last.m_it.primitive_iterator.is_end()))
+                {
+                    JSON_THROW(invalid_iterator::create(204, "iterators out of range"));
+                }
+                break;
+            }
+
+            default:
+                break;
+        }
+
+        switch (m_type)
+        {
+            case value_t::number_integer:
+            {
+                m_value.number_integer = first.m_object->m_value.number_integer;
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                m_value.number_unsigned = first.m_object->m_value.number_unsigned;
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                m_value.number_float = first.m_object->m_value.number_float;
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                m_value.boolean = first.m_object->m_value.boolean;
+                break;
+            }
+
+            case value_t::string:
+            {
+                m_value = *first.m_object->m_value.string;
+                break;
+            }
+
+            case value_t::object:
+            {
+                m_value.object = create<object_t>(first.m_it.object_iterator,
+                                                  last.m_it.object_iterator);
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_value.array = create<array_t>(first.m_it.array_iterator,
+                                                last.m_it.array_iterator);
+                break;
+            }
+
+            default:
+                JSON_THROW(invalid_iterator::create(206, "cannot construct with iterators from " +
+                                                    std::string(first.m_object->type_name())));
+        }
+
+        assert_invariant();
+    }
+
+
+    ///////////////////////////////////////
+    // other constructors and destructor //
+    ///////////////////////////////////////
+
+    /// @private
+    basic_json(const detail::json_ref<basic_json>& ref)
+        : basic_json(ref.moved_or_copied())
+    {}
+
+    /*!
+    @brief copy constructor
+
+    Creates a copy of a given JSON value.
+
+    @param[in] other  the JSON value to copy
+
+    @post `*this == other`
+
+    @complexity Linear in the size of @a other.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is linear.
+    - As postcondition, it holds: `other == basic_json(other)`.
+
+    @liveexample{The following code shows an example for the copy
+    constructor.,basic_json__basic_json}
+
+    @since version 1.0.0
+    */
+    basic_json(const basic_json& other)
+        : m_type(other.m_type)
+    {
+        // check of passed value is valid
+        other.assert_invariant();
+
+        switch (m_type)
+        {
+            case value_t::object:
+            {
+                m_value = *other.m_value.object;
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_value = *other.m_value.array;
+                break;
+            }
+
+            case value_t::string:
+            {
+                m_value = *other.m_value.string;
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                m_value = other.m_value.boolean;
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                m_value = other.m_value.number_integer;
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                m_value = other.m_value.number_unsigned;
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                m_value = other.m_value.number_float;
+                break;
+            }
+
+            default:
+                break;
+        }
+
+        assert_invariant();
+    }
+
+    /*!
+    @brief move constructor
+
+    Move constructor. Constructs a JSON value with the contents of the given
+    value @a other using move semantics. It "steals" the resources from @a
+    other and leaves it as JSON null value.
+
+    @param[in,out] other  value to move to this object
+
+    @post `*this` has the same value as @a other before the call.
+    @post @a other is a JSON null value.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this constructor never throws
+    exceptions.
+
+    @requirement This function helps `basic_json` satisfying the
+    [MoveConstructible](https://en.cppreference.com/w/cpp/named_req/MoveConstructible)
+    requirements.
+
+    @liveexample{The code below shows the move constructor explicitly called
+    via std::move.,basic_json__moveconstructor}
+
+    @since version 1.0.0
+    */
+    basic_json(basic_json&& other) noexcept
+        : m_type(std::move(other.m_type)),
+          m_value(std::move(other.m_value))
+    {
+        // check that passed value is valid
+        other.assert_invariant();
+
+        // invalidate payload
+        other.m_type = value_t::null;
+        other.m_value = {};
+
+        assert_invariant();
+    }
+
+    /*!
+    @brief copy assignment
+
+    Copy assignment operator. Copies a JSON value via the "copy and swap"
+    strategy: It is expressed in terms of the copy constructor, destructor,
+    and the `swap()` member function.
+
+    @param[in] other  value to copy from
+
+    @complexity Linear.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is linear.
+
+    @liveexample{The code below shows and example for the copy assignment. It
+    creates a copy of value `a` which is then swapped with `b`. Finally\, the
+    copy of `a` (which is the null value after the swap) is
+    destroyed.,basic_json__copyassignment}
+
+    @since version 1.0.0
+    */
+    basic_json& operator=(basic_json other) noexcept (
+        std::is_nothrow_move_constructible<value_t>::value and
+        std::is_nothrow_move_assignable<value_t>::value and
+        std::is_nothrow_move_constructible<json_value>::value and
+        std::is_nothrow_move_assignable<json_value>::value
+    )
+    {
+        // check that passed value is valid
+        other.assert_invariant();
+
+        using std::swap;
+        swap(m_type, other.m_type);
+        swap(m_value, other.m_value);
+
+        assert_invariant();
+        return *this;
+    }
+
+    /*!
+    @brief destructor
+
+    Destroys the JSON value and frees all allocated memory.
+
+    @complexity Linear.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is linear.
+    - All stored elements are destroyed and all memory is freed.
+
+    @since version 1.0.0
+    */
+    ~basic_json() noexcept
+    {
+        assert_invariant();
+        m_value.destroy(m_type);
+    }
+
+    /// @}
+
+  public:
+    ///////////////////////
+    // object inspection //
+    ///////////////////////
+
+    /// @name object inspection
+    /// Functions to inspect the type of a JSON value.
+    /// @{
+
+    /*!
+    @brief serialization
+
+    Serialization function for JSON values. The function tries to mimic
+    Python's `json.dumps()` function, and currently supports its @a indent
+    and @a ensure_ascii parameters.
+
+    @param[in] indent If indent is nonnegative, then array elements and object
+    members will be pretty-printed with that indent level. An indent level of
+    `0` will only insert newlines. `-1` (the default) selects the most compact
+    representation.
+    @param[in] indent_char The character to use for indentation if @a indent is
+    greater than `0`. The default is ` ` (space).
+    @param[in] ensure_ascii If @a ensure_ascii is true, all non-ASCII characters
+    in the output are escaped with `\uXXXX` sequences, and the result consists
+    of ASCII characters only.
+    @param[in] error_handler  how to react on decoding errors; there are three
+    possible values: `strict` (throws and exception in case a decoding error
+    occurs; default), `replace` (replace invalid UTF-8 sequences with U+FFFD),
+    and `ignore` (ignore invalid UTF-8 sequences during serialization).
+
+    @return string containing the serialization of the JSON value
+
+    @throw type_error.316 if a string stored inside the JSON value is not
+                          UTF-8 encoded
+
+    @complexity Linear.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @liveexample{The following example shows the effect of different @a indent\,
+    @a indent_char\, and @a ensure_ascii parameters to the result of the
+    serialization.,dump}
+
+    @see https://docs.python.org/2/library/json.html#json.dump
+
+    @since version 1.0.0; indentation character @a indent_char, option
+           @a ensure_ascii and exceptions added in version 3.0.0; error
+           handlers added in version 3.4.0.
+    */
+    string_t dump(const int indent = -1,
+                  const char indent_char = ' ',
+                  const bool ensure_ascii = false,
+                  const error_handler_t error_handler = error_handler_t::strict) const
+    {
+        string_t result;
+        serializer s(detail::output_adapter<char, string_t>(result), indent_char, error_handler);
+
+        if (indent >= 0)
+        {
+            s.dump(*this, true, ensure_ascii, static_cast<unsigned int>(indent));
+        }
+        else
+        {
+            s.dump(*this, false, ensure_ascii, 0);
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief return the type of the JSON value (explicit)
+
+    Return the type of the JSON value as a value from the @ref value_t
+    enumeration.
+
+    @return the type of the JSON value
+            Value type                | return value
+            ------------------------- | -------------------------
+            null                      | value_t::null
+            boolean                   | value_t::boolean
+            string                    | value_t::string
+            number (integer)          | value_t::number_integer
+            number (unsigned integer) | value_t::number_unsigned
+            number (floating-point)   | value_t::number_float
+            object                    | value_t::object
+            array                     | value_t::array
+            discarded                 | value_t::discarded
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `type()` for all JSON
+    types.,type}
+
+    @sa @ref operator value_t() -- return the type of the JSON value (implicit)
+    @sa @ref type_name() -- return the type as string
+
+    @since version 1.0.0
+    */
+    constexpr value_t type() const noexcept
+    {
+        return m_type;
+    }
+
+    /*!
+    @brief return whether type is primitive
+
+    This function returns true if and only if the JSON type is primitive
+    (string, number, boolean, or null).
+
+    @return `true` if type is primitive (string, number, boolean, or null),
+    `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_primitive()` for all JSON
+    types.,is_primitive}
+
+    @sa @ref is_structured() -- returns whether JSON value is structured
+    @sa @ref is_null() -- returns whether JSON value is `null`
+    @sa @ref is_string() -- returns whether JSON value is a string
+    @sa @ref is_boolean() -- returns whether JSON value is a boolean
+    @sa @ref is_number() -- returns whether JSON value is a number
+
+    @since version 1.0.0
+    */
+    constexpr bool is_primitive() const noexcept
+    {
+        return is_null() or is_string() or is_boolean() or is_number();
+    }
+
+    /*!
+    @brief return whether type is structured
+
+    This function returns true if and only if the JSON type is structured
+    (array or object).
+
+    @return `true` if type is structured (array or object), `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_structured()` for all JSON
+    types.,is_structured}
+
+    @sa @ref is_primitive() -- returns whether value is primitive
+    @sa @ref is_array() -- returns whether value is an array
+    @sa @ref is_object() -- returns whether value is an object
+
+    @since version 1.0.0
+    */
+    constexpr bool is_structured() const noexcept
+    {
+        return is_array() or is_object();
+    }
+
+    /*!
+    @brief return whether value is null
+
+    This function returns true if and only if the JSON value is null.
+
+    @return `true` if type is null, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_null()` for all JSON
+    types.,is_null}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_null() const noexcept
+    {
+        return (m_type == value_t::null);
+    }
+
+    /*!
+    @brief return whether value is a boolean
+
+    This function returns true if and only if the JSON value is a boolean.
+
+    @return `true` if type is boolean, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_boolean()` for all JSON
+    types.,is_boolean}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_boolean() const noexcept
+    {
+        return (m_type == value_t::boolean);
+    }
+
+    /*!
+    @brief return whether value is a number
+
+    This function returns true if and only if the JSON value is a number. This
+    includes both integer (signed and unsigned) and floating-point values.
+
+    @return `true` if type is number (regardless whether integer, unsigned
+    integer or floating-type), `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_number()` for all JSON
+    types.,is_number}
+
+    @sa @ref is_number_integer() -- check if value is an integer or unsigned
+    integer number
+    @sa @ref is_number_unsigned() -- check if value is an unsigned integer
+    number
+    @sa @ref is_number_float() -- check if value is a floating-point number
+
+    @since version 1.0.0
+    */
+    constexpr bool is_number() const noexcept
+    {
+        return is_number_integer() or is_number_float();
+    }
+
+    /*!
+    @brief return whether value is an integer number
+
+    This function returns true if and only if the JSON value is a signed or
+    unsigned integer number. This excludes floating-point values.
+
+    @return `true` if type is an integer or unsigned integer number, `false`
+    otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_number_integer()` for all
+    JSON types.,is_number_integer}
+
+    @sa @ref is_number() -- check if value is a number
+    @sa @ref is_number_unsigned() -- check if value is an unsigned integer
+    number
+    @sa @ref is_number_float() -- check if value is a floating-point number
+
+    @since version 1.0.0
+    */
+    constexpr bool is_number_integer() const noexcept
+    {
+        return (m_type == value_t::number_integer or m_type == value_t::number_unsigned);
+    }
+
+    /*!
+    @brief return whether value is an unsigned integer number
+
+    This function returns true if and only if the JSON value is an unsigned
+    integer number. This excludes floating-point and signed integer values.
+
+    @return `true` if type is an unsigned integer number, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_number_unsigned()` for all
+    JSON types.,is_number_unsigned}
+
+    @sa @ref is_number() -- check if value is a number
+    @sa @ref is_number_integer() -- check if value is an integer or unsigned
+    integer number
+    @sa @ref is_number_float() -- check if value is a floating-point number
+
+    @since version 2.0.0
+    */
+    constexpr bool is_number_unsigned() const noexcept
+    {
+        return (m_type == value_t::number_unsigned);
+    }
+
+    /*!
+    @brief return whether value is a floating-point number
+
+    This function returns true if and only if the JSON value is a
+    floating-point number. This excludes signed and unsigned integer values.
+
+    @return `true` if type is a floating-point number, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_number_float()` for all
+    JSON types.,is_number_float}
+
+    @sa @ref is_number() -- check if value is number
+    @sa @ref is_number_integer() -- check if value is an integer number
+    @sa @ref is_number_unsigned() -- check if value is an unsigned integer
+    number
+
+    @since version 1.0.0
+    */
+    constexpr bool is_number_float() const noexcept
+    {
+        return (m_type == value_t::number_float);
+    }
+
+    /*!
+    @brief return whether value is an object
+
+    This function returns true if and only if the JSON value is an object.
+
+    @return `true` if type is object, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_object()` for all JSON
+    types.,is_object}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_object() const noexcept
+    {
+        return (m_type == value_t::object);
+    }
+
+    /*!
+    @brief return whether value is an array
+
+    This function returns true if and only if the JSON value is an array.
+
+    @return `true` if type is array, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_array()` for all JSON
+    types.,is_array}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_array() const noexcept
+    {
+        return (m_type == value_t::array);
+    }
+
+    /*!
+    @brief return whether value is a string
+
+    This function returns true if and only if the JSON value is a string.
+
+    @return `true` if type is string, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_string()` for all JSON
+    types.,is_string}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_string() const noexcept
+    {
+        return (m_type == value_t::string);
+    }
+
+    /*!
+    @brief return whether value is discarded
+
+    This function returns true if and only if the JSON value was discarded
+    during parsing with a callback function (see @ref parser_callback_t).
+
+    @note This function will always be `false` for JSON values after parsing.
+    That is, discarded values can only occur during parsing, but will be
+    removed when inside a structured value or replaced by null in other cases.
+
+    @return `true` if type is discarded, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_discarded()` for all JSON
+    types.,is_discarded}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_discarded() const noexcept
+    {
+        return (m_type == value_t::discarded);
+    }
+
+    /*!
+    @brief return the type of the JSON value (implicit)
+
+    Implicitly return the type of the JSON value as a value from the @ref
+    value_t enumeration.
+
+    @return the type of the JSON value
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies the @ref value_t operator for
+    all JSON types.,operator__value_t}
+
+    @sa @ref type() -- return the type of the JSON value (explicit)
+    @sa @ref type_name() -- return the type as string
+
+    @since version 1.0.0
+    */
+    constexpr operator value_t() const noexcept
+    {
+        return m_type;
+    }
+
+    /// @}
+
+  private:
+    //////////////////
+    // value access //
+    //////////////////
+
+    /// get a boolean (explicit)
+    boolean_t get_impl(boolean_t* /*unused*/) const
+    {
+        if (JSON_LIKELY(is_boolean()))
+        {
+            return m_value.boolean;
+        }
+
+        JSON_THROW(type_error::create(302, "type must be boolean, but is " + std::string(type_name())));
+    }
+
+    /// get a pointer to the value (object)
+    object_t* get_impl_ptr(object_t* /*unused*/) noexcept
+    {
+        return is_object() ? m_value.object : nullptr;
+    }
+
+    /// get a pointer to the value (object)
+    constexpr const object_t* get_impl_ptr(const object_t* /*unused*/) const noexcept
+    {
+        return is_object() ? m_value.object : nullptr;
+    }
+
+    /// get a pointer to the value (array)
+    array_t* get_impl_ptr(array_t* /*unused*/) noexcept
+    {
+        return is_array() ? m_value.array : nullptr;
+    }
+
+    /// get a pointer to the value (array)
+    constexpr const array_t* get_impl_ptr(const array_t* /*unused*/) const noexcept
+    {
+        return is_array() ? m_value.array : nullptr;
+    }
+
+    /// get a pointer to the value (string)
+    string_t* get_impl_ptr(string_t* /*unused*/) noexcept
+    {
+        return is_string() ? m_value.string : nullptr;
+    }
+
+    /// get a pointer to the value (string)
+    constexpr const string_t* get_impl_ptr(const string_t* /*unused*/) const noexcept
+    {
+        return is_string() ? m_value.string : nullptr;
+    }
+
+    /// get a pointer to the value (boolean)
+    boolean_t* get_impl_ptr(boolean_t* /*unused*/) noexcept
+    {
+        return is_boolean() ? &m_value.boolean : nullptr;
+    }
+
+    /// get a pointer to the value (boolean)
+    constexpr const boolean_t* get_impl_ptr(const boolean_t* /*unused*/) const noexcept
+    {
+        return is_boolean() ? &m_value.boolean : nullptr;
+    }
+
+    /// get a pointer to the value (integer number)
+    number_integer_t* get_impl_ptr(number_integer_t* /*unused*/) noexcept
+    {
+        return is_number_integer() ? &m_value.number_integer : nullptr;
+    }
+
+    /// get a pointer to the value (integer number)
+    constexpr const number_integer_t* get_impl_ptr(const number_integer_t* /*unused*/) const noexcept
+    {
+        return is_number_integer() ? &m_value.number_integer : nullptr;
+    }
+
+    /// get a pointer to the value (unsigned number)
+    number_unsigned_t* get_impl_ptr(number_unsigned_t* /*unused*/) noexcept
+    {
+        return is_number_unsigned() ? &m_value.number_unsigned : nullptr;
+    }
+
+    /// get a pointer to the value (unsigned number)
+    constexpr const number_unsigned_t* get_impl_ptr(const number_unsigned_t* /*unused*/) const noexcept
+    {
+        return is_number_unsigned() ? &m_value.number_unsigned : nullptr;
+    }
+
+    /// get a pointer to the value (floating-point number)
+    number_float_t* get_impl_ptr(number_float_t* /*unused*/) noexcept
+    {
+        return is_number_float() ? &m_value.number_float : nullptr;
+    }
+
+    /// get a pointer to the value (floating-point number)
+    constexpr const number_float_t* get_impl_ptr(const number_float_t* /*unused*/) const noexcept
+    {
+        return is_number_float() ? &m_value.number_float : nullptr;
+    }
+
+    /*!
+    @brief helper function to implement get_ref()
+
+    This function helps to implement get_ref() without code duplication for
+    const and non-const overloads
+
+    @tparam ThisType will be deduced as `basic_json` or `const basic_json`
+
+    @throw type_error.303 if ReferenceType does not match underlying value
+    type of the current JSON
+    */
+    template<typename ReferenceType, typename ThisType>
+    static ReferenceType get_ref_impl(ThisType& obj)
+    {
+        // delegate the call to get_ptr<>()
+        auto ptr = obj.template get_ptr<typename std::add_pointer<ReferenceType>::type>();
+
+        if (JSON_LIKELY(ptr != nullptr))
+        {
+            return *ptr;
+        }
+
+        JSON_THROW(type_error::create(303, "incompatible ReferenceType for get_ref, actual type is " + std::string(obj.type_name())));
+    }
+
+  public:
+    /// @name value access
+    /// Direct access to the stored value of a JSON value.
+    /// @{
+
+    /*!
+    @brief get special-case overload
+
+    This overloads avoids a lot of template boilerplate, it can be seen as the
+    identity method
+
+    @tparam BasicJsonType == @ref basic_json
+
+    @return a copy of *this
+
+    @complexity Constant.
+
+    @since version 2.1.0
+    */
+    template<typename BasicJsonType, detail::enable_if_t<
+                 std::is_same<typename std::remove_const<BasicJsonType>::type, basic_json_t>::value,
+                 int> = 0>
+    basic_json get() const
+    {
+        return *this;
+    }
+
+    /*!
+    @brief get special-case overload
+
+    This overloads converts the current @ref basic_json in a different
+    @ref basic_json type
+
+    @tparam BasicJsonType == @ref basic_json
+
+    @return a copy of *this, converted into @tparam BasicJsonType
+
+    @complexity Depending on the implementation of the called `from_json()`
+                method.
+
+    @since version 3.2.0
+    */
+    template<typename BasicJsonType, detail::enable_if_t<
+                 not std::is_same<BasicJsonType, basic_json>::value and
+                 detail::is_basic_json<BasicJsonType>::value, int> = 0>
+    BasicJsonType get() const
+    {
+        return *this;
+    }
+
+    /*!
+    @brief get a value (explicit)
+
+    Explicit type conversion between the JSON value and a compatible value
+    which is [CopyConstructible](https://en.cppreference.com/w/cpp/named_req/CopyConstructible)
+    and [DefaultConstructible](https://en.cppreference.com/w/cpp/named_req/DefaultConstructible).
+    The value is converted by calling the @ref json_serializer<ValueType>
+    `from_json()` method.
+
+    The function is equivalent to executing
+    @code {.cpp}
+    ValueType ret;
+    JSONSerializer<ValueType>::from_json(*this, ret);
+    return ret;
+    @endcode
+
+    This overloads is chosen if:
+    - @a ValueType is not @ref basic_json,
+    - @ref json_serializer<ValueType> has a `from_json()` method of the form
+      `void from_json(const basic_json&, ValueType&)`, and
+    - @ref json_serializer<ValueType> does not have a `from_json()` method of
+      the form `ValueType from_json(const basic_json&)`
+
+    @tparam ValueTypeCV the provided value type
+    @tparam ValueType the returned value type
+
+    @return copy of the JSON value, converted to @a ValueType
+
+    @throw what @ref json_serializer<ValueType> `from_json()` method throws
+
+    @liveexample{The example below shows several conversions from JSON values
+    to other types. There a few things to note: (1) Floating-point numbers can
+    be converted to integers\, (2) A JSON array can be converted to a standard
+    `std::vector<short>`\, (3) A JSON object can be converted to C++
+    associative containers such as `std::unordered_map<std::string\,
+    json>`.,get__ValueType_const}
+
+    @since version 2.1.0
+    */
+    template<typename ValueTypeCV, typename ValueType = detail::uncvref_t<ValueTypeCV>,
+             detail::enable_if_t <
+                 not detail::is_basic_json<ValueType>::value and
+                 detail::has_from_json<basic_json_t, ValueType>::value and
+                 not detail::has_non_default_from_json<basic_json_t, ValueType>::value,
+                 int> = 0>
+    ValueType get() const noexcept(noexcept(
+                                       JSONSerializer<ValueType>::from_json(std::declval<const basic_json_t&>(), std::declval<ValueType&>())))
+    {
+        // we cannot static_assert on ValueTypeCV being non-const, because
+        // there is support for get<const basic_json_t>(), which is why we
+        // still need the uncvref
+        static_assert(not std::is_reference<ValueTypeCV>::value,
+                      "get() cannot be used with reference types, you might want to use get_ref()");
+        static_assert(std::is_default_constructible<ValueType>::value,
+                      "types must be DefaultConstructible when used with get()");
+
+        ValueType ret;
+        JSONSerializer<ValueType>::from_json(*this, ret);
+        return ret;
+    }
+
+    /*!
+    @brief get a value (explicit); special case
+
+    Explicit type conversion between the JSON value and a compatible value
+    which is **not** [CopyConstructible](https://en.cppreference.com/w/cpp/named_req/CopyConstructible)
+    and **not** [DefaultConstructible](https://en.cppreference.com/w/cpp/named_req/DefaultConstructible).
+    The value is converted by calling the @ref json_serializer<ValueType>
+    `from_json()` method.
+
+    The function is equivalent to executing
+    @code {.cpp}
+    return JSONSerializer<ValueTypeCV>::from_json(*this);
+    @endcode
+
+    This overloads is chosen if:
+    - @a ValueType is not @ref basic_json and
+    - @ref json_serializer<ValueType> has a `from_json()` method of the form
+      `ValueType from_json(const basic_json&)`
+
+    @note If @ref json_serializer<ValueType> has both overloads of
+    `from_json()`, this one is chosen.
+
+    @tparam ValueTypeCV the provided value type
+    @tparam ValueType the returned value type
+
+    @return copy of the JSON value, converted to @a ValueType
+
+    @throw what @ref json_serializer<ValueType> `from_json()` method throws
+
+    @since version 2.1.0
+    */
+    template<typename ValueTypeCV, typename ValueType = detail::uncvref_t<ValueTypeCV>,
+             detail::enable_if_t<not std::is_same<basic_json_t, ValueType>::value and
+                                 detail::has_non_default_from_json<basic_json_t, ValueType>::value,
+                                 int> = 0>
+    ValueType get() const noexcept(noexcept(
+                                       JSONSerializer<ValueTypeCV>::from_json(std::declval<const basic_json_t&>())))
+    {
+        static_assert(not std::is_reference<ValueTypeCV>::value,
+                      "get() cannot be used with reference types, you might want to use get_ref()");
+        return JSONSerializer<ValueTypeCV>::from_json(*this);
+    }
+
+    /*!
+    @brief get a value (explicit)
+
+    Explicit type conversion between the JSON value and a compatible value.
+    The value is filled into the input parameter by calling the @ref json_serializer<ValueType>
+    `from_json()` method.
+
+    The function is equivalent to executing
+    @code {.cpp}
+    ValueType v;
+    JSONSerializer<ValueType>::from_json(*this, v);
+    @endcode
+
+    This overloads is chosen if:
+    - @a ValueType is not @ref basic_json,
+    - @ref json_serializer<ValueType> has a `from_json()` method of the form
+      `void from_json(const basic_json&, ValueType&)`, and
+
+    @tparam ValueType the input parameter type.
+
+    @return the input parameter, allowing chaining calls.
+
+    @throw what @ref json_serializer<ValueType> `from_json()` method throws
+
+    @liveexample{The example below shows several conversions from JSON values
+    to other types. There a few things to note: (1) Floating-point numbers can
+    be converted to integers\, (2) A JSON array can be converted to a standard
+    `std::vector<short>`\, (3) A JSON object can be converted to C++
+    associative containers such as `std::unordered_map<std::string\,
+    json>`.,get_to}
+
+    @since version 3.3.0
+    */
+    template<typename ValueType,
+             detail::enable_if_t <
+                 not detail::is_basic_json<ValueType>::value and
+                 detail::has_from_json<basic_json_t, ValueType>::value,
+                 int> = 0>
+    ValueType & get_to(ValueType& v) const noexcept(noexcept(
+                JSONSerializer<ValueType>::from_json(std::declval<const basic_json_t&>(), v)))
+    {
+        JSONSerializer<ValueType>::from_json(*this, v);
+        return v;
+    }
+
+
+    /*!
+    @brief get a pointer value (implicit)
+
+    Implicit pointer access to the internally stored JSON value. No copies are
+    made.
+
+    @warning Writing data to the pointee of the result yields an undefined
+    state.
+
+    @tparam PointerType pointer type; must be a pointer to @ref array_t, @ref
+    object_t, @ref string_t, @ref boolean_t, @ref number_integer_t,
+    @ref number_unsigned_t, or @ref number_float_t. Enforced by a static
+    assertion.
+
+    @return pointer to the internally stored JSON value if the requested
+    pointer type @a PointerType fits to the JSON value; `nullptr` otherwise
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how pointers to internal values of a
+    JSON value can be requested. Note that no type conversions are made and a
+    `nullptr` is returned if the value and the requested pointer type does not
+    match.,get_ptr}
+
+    @since version 1.0.0
+    */
+    template<typename PointerType, typename std::enable_if<
+                 std::is_pointer<PointerType>::value, int>::type = 0>
+    auto get_ptr() noexcept -> decltype(std::declval<basic_json_t&>().get_impl_ptr(std::declval<PointerType>()))
+    {
+        // delegate the call to get_impl_ptr<>()
+        return get_impl_ptr(static_cast<PointerType>(nullptr));
+    }
+
+    /*!
+    @brief get a pointer value (implicit)
+    @copydoc get_ptr()
+    */
+    template<typename PointerType, typename std::enable_if<
+                 std::is_pointer<PointerType>::value and
+                 std::is_const<typename std::remove_pointer<PointerType>::type>::value, int>::type = 0>
+    constexpr auto get_ptr() const noexcept -> decltype(std::declval<const basic_json_t&>().get_impl_ptr(std::declval<PointerType>()))
+    {
+        // delegate the call to get_impl_ptr<>() const
+        return get_impl_ptr(static_cast<PointerType>(nullptr));
+    }
+
+    /*!
+    @brief get a pointer value (explicit)
+
+    Explicit pointer access to the internally stored JSON value. No copies are
+    made.
+
+    @warning The pointer becomes invalid if the underlying JSON object
+    changes.
+
+    @tparam PointerType pointer type; must be a pointer to @ref array_t, @ref
+    object_t, @ref string_t, @ref boolean_t, @ref number_integer_t,
+    @ref number_unsigned_t, or @ref number_float_t.
+
+    @return pointer to the internally stored JSON value if the requested
+    pointer type @a PointerType fits to the JSON value; `nullptr` otherwise
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how pointers to internal values of a
+    JSON value can be requested. Note that no type conversions are made and a
+    `nullptr` is returned if the value and the requested pointer type does not
+    match.,get__PointerType}
+
+    @sa @ref get_ptr() for explicit pointer-member access
+
+    @since version 1.0.0
+    */
+    template<typename PointerType, typename std::enable_if<
+                 std::is_pointer<PointerType>::value, int>::type = 0>
+    auto get() noexcept -> decltype(std::declval<basic_json_t&>().template get_ptr<PointerType>())
+    {
+        // delegate the call to get_ptr
+        return get_ptr<PointerType>();
+    }
+
+    /*!
+    @brief get a pointer value (explicit)
+    @copydoc get()
+    */
+    template<typename PointerType, typename std::enable_if<
+                 std::is_pointer<PointerType>::value, int>::type = 0>
+    constexpr auto get() const noexcept -> decltype(std::declval<const basic_json_t&>().template get_ptr<PointerType>())
+    {
+        // delegate the call to get_ptr
+        return get_ptr<PointerType>();
+    }
+
+    /*!
+    @brief get a reference value (implicit)
+
+    Implicit reference access to the internally stored JSON value. No copies
+    are made.
+
+    @warning Writing data to the referee of the result yields an undefined
+    state.
+
+    @tparam ReferenceType reference type; must be a reference to @ref array_t,
+    @ref object_t, @ref string_t, @ref boolean_t, @ref number_integer_t, or
+    @ref number_float_t. Enforced by static assertion.
+
+    @return reference to the internally stored JSON value if the requested
+    reference type @a ReferenceType fits to the JSON value; throws
+    type_error.303 otherwise
+
+    @throw type_error.303 in case passed type @a ReferenceType is incompatible
+    with the stored JSON value; see example below
+
+    @complexity Constant.
+
+    @liveexample{The example shows several calls to `get_ref()`.,get_ref}
+
+    @since version 1.1.0
+    */
+    template<typename ReferenceType, typename std::enable_if<
+                 std::is_reference<ReferenceType>::value, int>::type = 0>
+    ReferenceType get_ref()
+    {
+        // delegate call to get_ref_impl
+        return get_ref_impl<ReferenceType>(*this);
+    }
+
+    /*!
+    @brief get a reference value (implicit)
+    @copydoc get_ref()
+    */
+    template<typename ReferenceType, typename std::enable_if<
+                 std::is_reference<ReferenceType>::value and
+                 std::is_const<typename std::remove_reference<ReferenceType>::type>::value, int>::type = 0>
+    ReferenceType get_ref() const
+    {
+        // delegate call to get_ref_impl
+        return get_ref_impl<ReferenceType>(*this);
+    }
+
+    /*!
+    @brief get a value (implicit)
+
+    Implicit type conversion between the JSON value and a compatible value.
+    The call is realized by calling @ref get() const.
+
+    @tparam ValueType non-pointer type compatible to the JSON value, for
+    instance `int` for JSON integer numbers, `bool` for JSON booleans, or
+    `std::vector` types for JSON arrays. The character type of @ref string_t
+    as well as an initializer list of this type is excluded to avoid
+    ambiguities as these types implicitly convert to `std::string`.
+
+    @return copy of the JSON value, converted to type @a ValueType
+
+    @throw type_error.302 in case passed type @a ValueType is incompatible
+    to the JSON value type (e.g., the JSON value is of type boolean, but a
+    string is requested); see example below
+
+    @complexity Linear in the size of the JSON value.
+
+    @liveexample{The example below shows several conversions from JSON values
+    to other types. There a few things to note: (1) Floating-point numbers can
+    be converted to integers\, (2) A JSON array can be converted to a standard
+    `std::vector<short>`\, (3) A JSON object can be converted to C++
+    associative containers such as `std::unordered_map<std::string\,
+    json>`.,operator__ValueType}
+
+    @since version 1.0.0
+    */
+    template < typename ValueType, typename std::enable_if <
+                   not std::is_pointer<ValueType>::value and
+                   not std::is_same<ValueType, detail::json_ref<basic_json>>::value and
+                   not std::is_same<ValueType, typename string_t::value_type>::value and
+                   not detail::is_basic_json<ValueType>::value
+
+#ifndef _MSC_VER  // fix for issue #167 operator<< ambiguity under VS2015
+                   and not std::is_same<ValueType, std::initializer_list<typename string_t::value_type>>::value
+#if defined(JSON_HAS_CPP_17) && defined(_MSC_VER) and _MSC_VER <= 1914
+                   and not std::is_same<ValueType, typename std::string_view>::value
+#endif
+#endif
+                   and detail::is_detected<detail::get_template_function, const basic_json_t&, ValueType>::value
+                   , int >::type = 0 >
+    operator ValueType() const
+    {
+        // delegate the call to get<>() const
+        return get<ValueType>();
+    }
+
+    /// @}
+
+
+    ////////////////////
+    // element access //
+    ////////////////////
+
+    /// @name element access
+    /// Access to the JSON value.
+    /// @{
+
+    /*!
+    @brief access specified array element with bounds checking
+
+    Returns a reference to the element at specified location @a idx, with
+    bounds checking.
+
+    @param[in] idx  index of the element to access
+
+    @return reference to the element at index @a idx
+
+    @throw type_error.304 if the JSON value is not an array; in this case,
+    calling `at` with an index makes no sense. See example below.
+    @throw out_of_range.401 if the index @a idx is out of range of the array;
+    that is, `idx >= size()`. See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @since version 1.0.0
+
+    @liveexample{The example below shows how array elements can be read and
+    written using `at()`. It also demonstrates the different exceptions that
+    can be thrown.,at__size_type}
+    */
+    reference at(size_type idx)
+    {
+        // at only works for arrays
+        if (JSON_LIKELY(is_array()))
+        {
+            JSON_TRY
+            {
+                return m_value.array->at(idx);
+            }
+            JSON_CATCH (std::out_of_range&)
+            {
+                // create better exception explanation
+                JSON_THROW(out_of_range::create(401, "array index " + std::to_string(idx) + " is out of range"));
+            }
+        }
+        else
+        {
+            JSON_THROW(type_error::create(304, "cannot use at() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief access specified array element with bounds checking
+
+    Returns a const reference to the element at specified location @a idx,
+    with bounds checking.
+
+    @param[in] idx  index of the element to access
+
+    @return const reference to the element at index @a idx
+
+    @throw type_error.304 if the JSON value is not an array; in this case,
+    calling `at` with an index makes no sense. See example below.
+    @throw out_of_range.401 if the index @a idx is out of range of the array;
+    that is, `idx >= size()`. See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @since version 1.0.0
+
+    @liveexample{The example below shows how array elements can be read using
+    `at()`. It also demonstrates the different exceptions that can be thrown.,
+    at__size_type_const}
+    */
+    const_reference at(size_type idx) const
+    {
+        // at only works for arrays
+        if (JSON_LIKELY(is_array()))
+        {
+            JSON_TRY
+            {
+                return m_value.array->at(idx);
+            }
+            JSON_CATCH (std::out_of_range&)
+            {
+                // create better exception explanation
+                JSON_THROW(out_of_range::create(401, "array index " + std::to_string(idx) + " is out of range"));
+            }
+        }
+        else
+        {
+            JSON_THROW(type_error::create(304, "cannot use at() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief access specified object element with bounds checking
+
+    Returns a reference to the element at with specified key @a key, with
+    bounds checking.
+
+    @param[in] key  key of the element to access
+
+    @return reference to the element at key @a key
+
+    @throw type_error.304 if the JSON value is not an object; in this case,
+    calling `at` with a key makes no sense. See example below.
+    @throw out_of_range.403 if the key @a key is is not stored in the object;
+    that is, `find(key) == end()`. See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Logarithmic in the size of the container.
+
+    @sa @ref operator[](const typename object_t::key_type&) for unchecked
+    access by reference
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.0.0
+
+    @liveexample{The example below shows how object elements can be read and
+    written using `at()`. It also demonstrates the different exceptions that
+    can be thrown.,at__object_t_key_type}
+    */
+    reference at(const typename object_t::key_type& key)
+    {
+        // at only works for objects
+        if (JSON_LIKELY(is_object()))
+        {
+            JSON_TRY
+            {
+                return m_value.object->at(key);
+            }
+            JSON_CATCH (std::out_of_range&)
+            {
+                // create better exception explanation
+                JSON_THROW(out_of_range::create(403, "key '" + key + "' not found"));
+            }
+        }
+        else
+        {
+            JSON_THROW(type_error::create(304, "cannot use at() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief access specified object element with bounds checking
+
+    Returns a const reference to the element at with specified key @a key,
+    with bounds checking.
+
+    @param[in] key  key of the element to access
+
+    @return const reference to the element at key @a key
+
+    @throw type_error.304 if the JSON value is not an object; in this case,
+    calling `at` with a key makes no sense. See example below.
+    @throw out_of_range.403 if the key @a key is is not stored in the object;
+    that is, `find(key) == end()`. See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Logarithmic in the size of the container.
+
+    @sa @ref operator[](const typename object_t::key_type&) for unchecked
+    access by reference
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.0.0
+
+    @liveexample{The example below shows how object elements can be read using
+    `at()`. It also demonstrates the different exceptions that can be thrown.,
+    at__object_t_key_type_const}
+    */
+    const_reference at(const typename object_t::key_type& key) const
+    {
+        // at only works for objects
+        if (JSON_LIKELY(is_object()))
+        {
+            JSON_TRY
+            {
+                return m_value.object->at(key);
+            }
+            JSON_CATCH (std::out_of_range&)
+            {
+                // create better exception explanation
+                JSON_THROW(out_of_range::create(403, "key '" + key + "' not found"));
+            }
+        }
+        else
+        {
+            JSON_THROW(type_error::create(304, "cannot use at() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief access specified array element
+
+    Returns a reference to the element at specified location @a idx.
+
+    @note If @a idx is beyond the range of the array (i.e., `idx >= size()`),
+    then the array is silently filled up with `null` values to make `idx` a
+    valid reference to the last stored element.
+
+    @param[in] idx  index of the element to access
+
+    @return reference to the element at index @a idx
+
+    @throw type_error.305 if the JSON value is not an array or null; in that
+    cases, using the [] operator with an index makes no sense.
+
+    @complexity Constant if @a idx is in the range of the array. Otherwise
+    linear in `idx - size()`.
+
+    @liveexample{The example below shows how array elements can be read and
+    written using `[]` operator. Note the addition of `null`
+    values.,operatorarray__size_type}
+
+    @since version 1.0.0
+    */
+    reference operator[](size_type idx)
+    {
+        // implicitly convert null value to an empty array
+        if (is_null())
+        {
+            m_type = value_t::array;
+            m_value.array = create<array_t>();
+            assert_invariant();
+        }
+
+        // operator[] only works for arrays
+        if (JSON_LIKELY(is_array()))
+        {
+            // fill up array with null values if given idx is outside range
+            if (idx >= m_value.array->size())
+            {
+                m_value.array->insert(m_value.array->end(),
+                                      idx - m_value.array->size() + 1,
+                                      basic_json());
+            }
+
+            return m_value.array->operator[](idx);
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a numeric argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief access specified array element
+
+    Returns a const reference to the element at specified location @a idx.
+
+    @param[in] idx  index of the element to access
+
+    @return const reference to the element at index @a idx
+
+    @throw type_error.305 if the JSON value is not an array; in that case,
+    using the [] operator with an index makes no sense.
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how array elements can be read using
+    the `[]` operator.,operatorarray__size_type_const}
+
+    @since version 1.0.0
+    */
+    const_reference operator[](size_type idx) const
+    {
+        // const operator[] only works for arrays
+        if (JSON_LIKELY(is_array()))
+        {
+            return m_value.array->operator[](idx);
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a numeric argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief access specified object element
+
+    Returns a reference to the element at with specified key @a key.
+
+    @note If @a key is not found in the object, then it is silently added to
+    the object and filled with a `null` value to make `key` a valid reference.
+    In case the value was `null` before, it is converted to an object.
+
+    @param[in] key  key of the element to access
+
+    @return reference to the element at key @a key
+
+    @throw type_error.305 if the JSON value is not an object or null; in that
+    cases, using the [] operator with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be read and
+    written using the `[]` operator.,operatorarray__key_type}
+
+    @sa @ref at(const typename object_t::key_type&) for access by reference
+    with range checking
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.0.0
+    */
+    reference operator[](const typename object_t::key_type& key)
+    {
+        // implicitly convert null value to an empty object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value.object = create<object_t>();
+            assert_invariant();
+        }
+
+        // operator[] only works for objects
+        if (JSON_LIKELY(is_object()))
+        {
+            return m_value.object->operator[](key);
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a string argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief read-only access specified object element
+
+    Returns a const reference to the element at with specified key @a key. No
+    bounds checking is performed.
+
+    @warning If the element with key @a key does not exist, the behavior is
+    undefined.
+
+    @param[in] key  key of the element to access
+
+    @return const reference to the element at key @a key
+
+    @pre The element with key @a key must exist. **This precondition is
+         enforced with an assertion.**
+
+    @throw type_error.305 if the JSON value is not an object; in that case,
+    using the [] operator with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be read using
+    the `[]` operator.,operatorarray__key_type_const}
+
+    @sa @ref at(const typename object_t::key_type&) for access by reference
+    with range checking
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.0.0
+    */
+    const_reference operator[](const typename object_t::key_type& key) const
+    {
+        // const operator[] only works for objects
+        if (JSON_LIKELY(is_object()))
+        {
+            assert(m_value.object->find(key) != m_value.object->end());
+            return m_value.object->find(key)->second;
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a string argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief access specified object element
+
+    Returns a reference to the element at with specified key @a key.
+
+    @note If @a key is not found in the object, then it is silently added to
+    the object and filled with a `null` value to make `key` a valid reference.
+    In case the value was `null` before, it is converted to an object.
+
+    @param[in] key  key of the element to access
+
+    @return reference to the element at key @a key
+
+    @throw type_error.305 if the JSON value is not an object or null; in that
+    cases, using the [] operator with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be read and
+    written using the `[]` operator.,operatorarray__key_type}
+
+    @sa @ref at(const typename object_t::key_type&) for access by reference
+    with range checking
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.1.0
+    */
+    template<typename T>
+    reference operator[](T* key)
+    {
+        // implicitly convert null to object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value = value_t::object;
+            assert_invariant();
+        }
+
+        // at only works for objects
+        if (JSON_LIKELY(is_object()))
+        {
+            return m_value.object->operator[](key);
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a string argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief read-only access specified object element
+
+    Returns a const reference to the element at with specified key @a key. No
+    bounds checking is performed.
+
+    @warning If the element with key @a key does not exist, the behavior is
+    undefined.
+
+    @param[in] key  key of the element to access
+
+    @return const reference to the element at key @a key
+
+    @pre The element with key @a key must exist. **This precondition is
+         enforced with an assertion.**
+
+    @throw type_error.305 if the JSON value is not an object; in that case,
+    using the [] operator with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be read using
+    the `[]` operator.,operatorarray__key_type_const}
+
+    @sa @ref at(const typename object_t::key_type&) for access by reference
+    with range checking
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.1.0
+    */
+    template<typename T>
+    const_reference operator[](T* key) const
+    {
+        // at only works for objects
+        if (JSON_LIKELY(is_object()))
+        {
+            assert(m_value.object->find(key) != m_value.object->end());
+            return m_value.object->find(key)->second;
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a string argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief access specified object element with default value
+
+    Returns either a copy of an object's element at the specified key @a key
+    or a given default value if no element with key @a key exists.
+
+    The function is basically equivalent to executing
+    @code {.cpp}
+    try {
+        return at(key);
+    } catch(out_of_range) {
+        return default_value;
+    }
+    @endcode
+
+    @note Unlike @ref at(const typename object_t::key_type&), this function
+    does not throw if the given key @a key was not found.
+
+    @note Unlike @ref operator[](const typename object_t::key_type& key), this
+    function does not implicitly add an element to the position defined by @a
+    key. This function is furthermore also applicable to const objects.
+
+    @param[in] key  key of the element to access
+    @param[in] default_value  the value to return if @a key is not found
+
+    @tparam ValueType type compatible to JSON values, for instance `int` for
+    JSON integer numbers, `bool` for JSON booleans, or `std::vector` types for
+    JSON arrays. Note the type of the expected value at @a key and the default
+    value @a default_value must be compatible.
+
+    @return copy of the element at key @a key or @a default_value if @a key
+    is not found
+
+    @throw type_error.306 if the JSON value is not an object; in that case,
+    using `value()` with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be queried
+    with a default value.,basic_json__value}
+
+    @sa @ref at(const typename object_t::key_type&) for access by reference
+    with range checking
+    @sa @ref operator[](const typename object_t::key_type&) for unchecked
+    access by reference
+
+    @since version 1.0.0
+    */
+    template<class ValueType, typename std::enable_if<
+                 std::is_convertible<basic_json_t, ValueType>::value, int>::type = 0>
+    ValueType value(const typename object_t::key_type& key, const ValueType& default_value) const
+    {
+        // at only works for objects
+        if (JSON_LIKELY(is_object()))
+        {
+            // if key is found, return value and given default value otherwise
+            const auto it = find(key);
+            if (it != end())
+            {
+                return *it;
+            }
+
+            return default_value;
+        }
+
+        JSON_THROW(type_error::create(306, "cannot use value() with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief overload for a default value of type const char*
+    @copydoc basic_json::value(const typename object_t::key_type&, const ValueType&) const
+    */
+    string_t value(const typename object_t::key_type& key, const char* default_value) const
+    {
+        return value(key, string_t(default_value));
+    }
+
+    /*!
+    @brief access specified object element via JSON Pointer with default value
+
+    Returns either a copy of an object's element at the specified key @a key
+    or a given default value if no element with key @a key exists.
+
+    The function is basically equivalent to executing
+    @code {.cpp}
+    try {
+        return at(ptr);
+    } catch(out_of_range) {
+        return default_value;
+    }
+    @endcode
+
+    @note Unlike @ref at(const json_pointer&), this function does not throw
+    if the given key @a key was not found.
+
+    @param[in] ptr  a JSON pointer to the element to access
+    @param[in] default_value  the value to return if @a ptr found no value
+
+    @tparam ValueType type compatible to JSON values, for instance `int` for
+    JSON integer numbers, `bool` for JSON booleans, or `std::vector` types for
+    JSON arrays. Note the type of the expected value at @a key and the default
+    value @a default_value must be compatible.
+
+    @return copy of the element at key @a key or @a default_value if @a key
+    is not found
+
+    @throw type_error.306 if the JSON value is not an object; in that case,
+    using `value()` with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be queried
+    with a default value.,basic_json__value_ptr}
+
+    @sa @ref operator[](const json_pointer&) for unchecked access by reference
+
+    @since version 2.0.2
+    */
+    template<class ValueType, typename std::enable_if<
+                 std::is_convertible<basic_json_t, ValueType>::value, int>::type = 0>
+    ValueType value(const json_pointer& ptr, const ValueType& default_value) const
+    {
+        // at only works for objects
+        if (JSON_LIKELY(is_object()))
+        {
+            // if pointer resolves a value, return it or use default value
+            JSON_TRY
+            {
+                return ptr.get_checked(this);
+            }
+            JSON_INTERNAL_CATCH (out_of_range&)
+            {
+                return default_value;
+            }
+        }
+
+        JSON_THROW(type_error::create(306, "cannot use value() with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief overload for a default value of type const char*
+    @copydoc basic_json::value(const json_pointer&, ValueType) const
+    */
+    string_t value(const json_pointer& ptr, const char* default_value) const
+    {
+        return value(ptr, string_t(default_value));
+    }
+
+    /*!
+    @brief access the first element
+
+    Returns a reference to the first element in the container. For a JSON
+    container `c`, the expression `c.front()` is equivalent to `*c.begin()`.
+
+    @return In case of a structured type (array or object), a reference to the
+    first element is returned. In case of number, string, or boolean values, a
+    reference to the value is returned.
+
+    @complexity Constant.
+
+    @pre The JSON value must not be `null` (would throw `std::out_of_range`)
+    or an empty array or object (undefined behavior, **guarded by
+    assertions**).
+    @post The JSON value remains unchanged.
+
+    @throw invalid_iterator.214 when called on `null` value
+
+    @liveexample{The following code shows an example for `front()`.,front}
+
+    @sa @ref back() -- access the last element
+
+    @since version 1.0.0
+    */
+    reference front()
+    {
+        return *begin();
+    }
+
+    /*!
+    @copydoc basic_json::front()
+    */
+    const_reference front() const
+    {
+        return *cbegin();
+    }
+
+    /*!
+    @brief access the last element
+
+    Returns a reference to the last element in the container. For a JSON
+    container `c`, the expression `c.back()` is equivalent to
+    @code {.cpp}
+    auto tmp = c.end();
+    --tmp;
+    return *tmp;
+    @endcode
+
+    @return In case of a structured type (array or object), a reference to the
+    last element is returned. In case of number, string, or boolean values, a
+    reference to the value is returned.
+
+    @complexity Constant.
+
+    @pre The JSON value must not be `null` (would throw `std::out_of_range`)
+    or an empty array or object (undefined behavior, **guarded by
+    assertions**).
+    @post The JSON value remains unchanged.
+
+    @throw invalid_iterator.214 when called on a `null` value. See example
+    below.
+
+    @liveexample{The following code shows an example for `back()`.,back}
+
+    @sa @ref front() -- access the first element
+
+    @since version 1.0.0
+    */
+    reference back()
+    {
+        auto tmp = end();
+        --tmp;
+        return *tmp;
+    }
+
+    /*!
+    @copydoc basic_json::back()
+    */
+    const_reference back() const
+    {
+        auto tmp = cend();
+        --tmp;
+        return *tmp;
+    }
+
+    /*!
+    @brief remove element given an iterator
+
+    Removes the element specified by iterator @a pos. The iterator @a pos must
+    be valid and dereferenceable. Thus the `end()` iterator (which is valid,
+    but is not dereferenceable) cannot be used as a value for @a pos.
+
+    If called on a primitive type other than `null`, the resulting JSON value
+    will be `null`.
+
+    @param[in] pos iterator to the element to remove
+    @return Iterator following the last removed element. If the iterator @a
+    pos refers to the last element, the `end()` iterator is returned.
+
+    @tparam IteratorType an @ref iterator or @ref const_iterator
+
+    @post Invalidates iterators and references at or after the point of the
+    erase, including the `end()` iterator.
+
+    @throw type_error.307 if called on a `null` value; example: `"cannot use
+    erase() with null"`
+    @throw invalid_iterator.202 if called on an iterator which does not belong
+    to the current JSON value; example: `"iterator does not fit current
+    value"`
+    @throw invalid_iterator.205 if called on a primitive type with invalid
+    iterator (i.e., any iterator which is not `begin()`); example: `"iterator
+    out of range"`
+
+    @complexity The complexity depends on the type:
+    - objects: amortized constant
+    - arrays: linear in distance between @a pos and the end of the container
+    - strings: linear in the length of the string
+    - other types: constant
+
+    @liveexample{The example shows the result of `erase()` for different JSON
+    types.,erase__IteratorType}
+
+    @sa @ref erase(IteratorType, IteratorType) -- removes the elements in
+    the given range
+    @sa @ref erase(const typename object_t::key_type&) -- removes the element
+    from an object at the given key
+    @sa @ref erase(const size_type) -- removes the element from an array at
+    the given index
+
+    @since version 1.0.0
+    */
+    template<class IteratorType, typename std::enable_if<
+                 std::is_same<IteratorType, typename basic_json_t::iterator>::value or
+                 std::is_same<IteratorType, typename basic_json_t::const_iterator>::value, int>::type
+             = 0>
+    IteratorType erase(IteratorType pos)
+    {
+        // make sure iterator fits the current value
+        if (JSON_UNLIKELY(this != pos.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value"));
+        }
+
+        IteratorType result = end();
+
+        switch (m_type)
+        {
+            case value_t::boolean:
+            case value_t::number_float:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::string:
+            {
+                if (JSON_UNLIKELY(not pos.m_it.primitive_iterator.is_begin()))
+                {
+                    JSON_THROW(invalid_iterator::create(205, "iterator out of range"));
+                }
+
+                if (is_string())
+                {
+                    AllocatorType<string_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, m_value.string);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, m_value.string, 1);
+                    m_value.string = nullptr;
+                }
+
+                m_type = value_t::null;
+                assert_invariant();
+                break;
+            }
+
+            case value_t::object:
+            {
+                result.m_it.object_iterator = m_value.object->erase(pos.m_it.object_iterator);
+                break;
+            }
+
+            case value_t::array:
+            {
+                result.m_it.array_iterator = m_value.array->erase(pos.m_it.array_iterator);
+                break;
+            }
+
+            default:
+                JSON_THROW(type_error::create(307, "cannot use erase() with " + std::string(type_name())));
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief remove elements given an iterator range
+
+    Removes the element specified by the range `[first; last)`. The iterator
+    @a first does not need to be dereferenceable if `first == last`: erasing
+    an empty range is a no-op.
+
+    If called on a primitive type other than `null`, the resulting JSON value
+    will be `null`.
+
+    @param[in] first iterator to the beginning of the range to remove
+    @param[in] last iterator past the end of the range to remove
+    @return Iterator following the last removed element. If the iterator @a
+    second refers to the last element, the `end()` iterator is returned.
+
+    @tparam IteratorType an @ref iterator or @ref const_iterator
+
+    @post Invalidates iterators and references at or after the point of the
+    erase, including the `end()` iterator.
+
+    @throw type_error.307 if called on a `null` value; example: `"cannot use
+    erase() with null"`
+    @throw invalid_iterator.203 if called on iterators which does not belong
+    to the current JSON value; example: `"iterators do not fit current value"`
+    @throw invalid_iterator.204 if called on a primitive type with invalid
+    iterators (i.e., if `first != begin()` and `last != end()`); example:
+    `"iterators out of range"`
+
+    @complexity The complexity depends on the type:
+    - objects: `log(size()) + std::distance(first, last)`
+    - arrays: linear in the distance between @a first and @a last, plus linear
+      in the distance between @a last and end of the container
+    - strings: linear in the length of the string
+    - other types: constant
+
+    @liveexample{The example shows the result of `erase()` for different JSON
+    types.,erase__IteratorType_IteratorType}
+
+    @sa @ref erase(IteratorType) -- removes the element at a given position
+    @sa @ref erase(const typename object_t::key_type&) -- removes the element
+    from an object at the given key
+    @sa @ref erase(const size_type) -- removes the element from an array at
+    the given index
+
+    @since version 1.0.0
+    */
+    template<class IteratorType, typename std::enable_if<
+                 std::is_same<IteratorType, typename basic_json_t::iterator>::value or
+                 std::is_same<IteratorType, typename basic_json_t::const_iterator>::value, int>::type
+             = 0>
+    IteratorType erase(IteratorType first, IteratorType last)
+    {
+        // make sure iterator fits the current value
+        if (JSON_UNLIKELY(this != first.m_object or this != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(203, "iterators do not fit current value"));
+        }
+
+        IteratorType result = end();
+
+        switch (m_type)
+        {
+            case value_t::boolean:
+            case value_t::number_float:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::string:
+            {
+                if (JSON_LIKELY(not first.m_it.primitive_iterator.is_begin()
+                                or not last.m_it.primitive_iterator.is_end()))
+                {
+                    JSON_THROW(invalid_iterator::create(204, "iterators out of range"));
+                }
+
+                if (is_string())
+                {
+                    AllocatorType<string_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, m_value.string);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, m_value.string, 1);
+                    m_value.string = nullptr;
+                }
+
+                m_type = value_t::null;
+                assert_invariant();
+                break;
+            }
+
+            case value_t::object:
+            {
+                result.m_it.object_iterator = m_value.object->erase(first.m_it.object_iterator,
+                                              last.m_it.object_iterator);
+                break;
+            }
+
+            case value_t::array:
+            {
+                result.m_it.array_iterator = m_value.array->erase(first.m_it.array_iterator,
+                                             last.m_it.array_iterator);
+                break;
+            }
+
+            default:
+                JSON_THROW(type_error::create(307, "cannot use erase() with " + std::string(type_name())));
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief remove element from a JSON object given a key
+
+    Removes elements from a JSON object with the key value @a key.
+
+    @param[in] key value of the elements to remove
+
+    @return Number of elements removed. If @a ObjectType is the default
+    `std::map` type, the return value will always be `0` (@a key was not
+    found) or `1` (@a key was found).
+
+    @post References and iterators to the erased elements are invalidated.
+    Other references and iterators are not affected.
+
+    @throw type_error.307 when called on a type other than JSON object;
+    example: `"cannot use erase() with null"`
+
+    @complexity `log(size()) + count(key)`
+
+    @liveexample{The example shows the effect of `erase()`.,erase__key_type}
+
+    @sa @ref erase(IteratorType) -- removes the element at a given position
+    @sa @ref erase(IteratorType, IteratorType) -- removes the elements in
+    the given range
+    @sa @ref erase(const size_type) -- removes the element from an array at
+    the given index
+
+    @since version 1.0.0
+    */
+    size_type erase(const typename object_t::key_type& key)
+    {
+        // this erase only works for objects
+        if (JSON_LIKELY(is_object()))
+        {
+            return m_value.object->erase(key);
+        }
+
+        JSON_THROW(type_error::create(307, "cannot use erase() with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief remove element from a JSON array given an index
+
+    Removes element from a JSON array at the index @a idx.
+
+    @param[in] idx index of the element to remove
+
+    @throw type_error.307 when called on a type other than JSON object;
+    example: `"cannot use erase() with null"`
+    @throw out_of_range.401 when `idx >= size()`; example: `"array index 17
+    is out of range"`
+
+    @complexity Linear in distance between @a idx and the end of the container.
+
+    @liveexample{The example shows the effect of `erase()`.,erase__size_type}
+
+    @sa @ref erase(IteratorType) -- removes the element at a given position
+    @sa @ref erase(IteratorType, IteratorType) -- removes the elements in
+    the given range
+    @sa @ref erase(const typename object_t::key_type&) -- removes the element
+    from an object at the given key
+
+    @since version 1.0.0
+    */
+    void erase(const size_type idx)
+    {
+        // this erase only works for arrays
+        if (JSON_LIKELY(is_array()))
+        {
+            if (JSON_UNLIKELY(idx >= size()))
+            {
+                JSON_THROW(out_of_range::create(401, "array index " + std::to_string(idx) + " is out of range"));
+            }
+
+            m_value.array->erase(m_value.array->begin() + static_cast<difference_type>(idx));
+        }
+        else
+        {
+            JSON_THROW(type_error::create(307, "cannot use erase() with " + std::string(type_name())));
+        }
+    }
+
+    /// @}
+
+
+    ////////////
+    // lookup //
+    ////////////
+
+    /// @name lookup
+    /// @{
+
+    /*!
+    @brief find an element in a JSON object
+
+    Finds an element in a JSON object with key equivalent to @a key. If the
+    element is not found or the JSON value is not an object, end() is
+    returned.
+
+    @note This method always returns @ref end() when executed on a JSON type
+          that is not an object.
+
+    @param[in] key key value of the element to search for.
+
+    @return Iterator to an element with key equivalent to @a key. If no such
+    element is found or the JSON value is not an object, past-the-end (see
+    @ref end()) iterator is returned.
+
+    @complexity Logarithmic in the size of the JSON object.
+
+    @liveexample{The example shows how `find()` is used.,find__key_type}
+
+    @since version 1.0.0
+    */
+    template<typename KeyT>
+    iterator find(KeyT&& key)
+    {
+        auto result = end();
+
+        if (is_object())
+        {
+            result.m_it.object_iterator = m_value.object->find(std::forward<KeyT>(key));
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief find an element in a JSON object
+    @copydoc find(KeyT&&)
+    */
+    template<typename KeyT>
+    const_iterator find(KeyT&& key) const
+    {
+        auto result = cend();
+
+        if (is_object())
+        {
+            result.m_it.object_iterator = m_value.object->find(std::forward<KeyT>(key));
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief returns the number of occurrences of a key in a JSON object
+
+    Returns the number of elements with key @a key. If ObjectType is the
+    default `std::map` type, the return value will always be `0` (@a key was
+    not found) or `1` (@a key was found).
+
+    @note This method always returns `0` when executed on a JSON type that is
+          not an object.
+
+    @param[in] key key value of the element to count
+
+    @return Number of elements with key @a key. If the JSON value is not an
+    object, the return value will be `0`.
+
+    @complexity Logarithmic in the size of the JSON object.
+
+    @liveexample{The example shows how `count()` is used.,count}
+
+    @since version 1.0.0
+    */
+    template<typename KeyT>
+    size_type count(KeyT&& key) const
+    {
+        // return 0 for all nonobject types
+        return is_object() ? m_value.object->count(std::forward<KeyT>(key)) : 0;
+    }
+
+    /// @}
+
+
+    ///////////////
+    // iterators //
+    ///////////////
+
+    /// @name iterators
+    /// @{
+
+    /*!
+    @brief returns an iterator to the first element
+
+    Returns an iterator to the first element.
+
+    @image html range-begin-end.svg "Illustration from cppreference.com"
+
+    @return iterator to the first element
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+
+    @liveexample{The following code shows an example for `begin()`.,begin}
+
+    @sa @ref cbegin() -- returns a const iterator to the beginning
+    @sa @ref end() -- returns an iterator to the end
+    @sa @ref cend() -- returns a const iterator to the end
+
+    @since version 1.0.0
+    */
+    iterator begin() noexcept
+    {
+        iterator result(this);
+        result.set_begin();
+        return result;
+    }
+
+    /*!
+    @copydoc basic_json::cbegin()
+    */
+    const_iterator begin() const noexcept
+    {
+        return cbegin();
+    }
+
+    /*!
+    @brief returns a const iterator to the first element
+
+    Returns a const iterator to the first element.
+
+    @image html range-begin-end.svg "Illustration from cppreference.com"
+
+    @return const iterator to the first element
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `const_cast<const basic_json&>(*this).begin()`.
+
+    @liveexample{The following code shows an example for `cbegin()`.,cbegin}
+
+    @sa @ref begin() -- returns an iterator to the beginning
+    @sa @ref end() -- returns an iterator to the end
+    @sa @ref cend() -- returns a const iterator to the end
+
+    @since version 1.0.0
+    */
+    const_iterator cbegin() const noexcept
+    {
+        const_iterator result(this);
+        result.set_begin();
+        return result;
+    }
+
+    /*!
+    @brief returns an iterator to one past the last element
+
+    Returns an iterator to one past the last element.
+
+    @image html range-begin-end.svg "Illustration from cppreference.com"
+
+    @return iterator one past the last element
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+
+    @liveexample{The following code shows an example for `end()`.,end}
+
+    @sa @ref cend() -- returns a const iterator to the end
+    @sa @ref begin() -- returns an iterator to the beginning
+    @sa @ref cbegin() -- returns a const iterator to the beginning
+
+    @since version 1.0.0
+    */
+    iterator end() noexcept
+    {
+        iterator result(this);
+        result.set_end();
+        return result;
+    }
+
+    /*!
+    @copydoc basic_json::cend()
+    */
+    const_iterator end() const noexcept
+    {
+        return cend();
+    }
+
+    /*!
+    @brief returns a const iterator to one past the last element
+
+    Returns a const iterator to one past the last element.
+
+    @image html range-begin-end.svg "Illustration from cppreference.com"
+
+    @return const iterator one past the last element
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `const_cast<const basic_json&>(*this).end()`.
+
+    @liveexample{The following code shows an example for `cend()`.,cend}
+
+    @sa @ref end() -- returns an iterator to the end
+    @sa @ref begin() -- returns an iterator to the beginning
+    @sa @ref cbegin() -- returns a const iterator to the beginning
+
+    @since version 1.0.0
+    */
+    const_iterator cend() const noexcept
+    {
+        const_iterator result(this);
+        result.set_end();
+        return result;
+    }
+
+    /*!
+    @brief returns an iterator to the reverse-beginning
+
+    Returns an iterator to the reverse-beginning; that is, the last element.
+
+    @image html range-rbegin-rend.svg "Illustration from cppreference.com"
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [ReversibleContainer](https://en.cppreference.com/w/cpp/named_req/ReversibleContainer)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `reverse_iterator(end())`.
+
+    @liveexample{The following code shows an example for `rbegin()`.,rbegin}
+
+    @sa @ref crbegin() -- returns a const reverse iterator to the beginning
+    @sa @ref rend() -- returns a reverse iterator to the end
+    @sa @ref crend() -- returns a const reverse iterator to the end
+
+    @since version 1.0.0
+    */
+    reverse_iterator rbegin() noexcept
+    {
+        return reverse_iterator(end());
+    }
+
+    /*!
+    @copydoc basic_json::crbegin()
+    */
+    const_reverse_iterator rbegin() const noexcept
+    {
+        return crbegin();
+    }
+
+    /*!
+    @brief returns an iterator to the reverse-end
+
+    Returns an iterator to the reverse-end; that is, one before the first
+    element.
+
+    @image html range-rbegin-rend.svg "Illustration from cppreference.com"
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [ReversibleContainer](https://en.cppreference.com/w/cpp/named_req/ReversibleContainer)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `reverse_iterator(begin())`.
+
+    @liveexample{The following code shows an example for `rend()`.,rend}
+
+    @sa @ref crend() -- returns a const reverse iterator to the end
+    @sa @ref rbegin() -- returns a reverse iterator to the beginning
+    @sa @ref crbegin() -- returns a const reverse iterator to the beginning
+
+    @since version 1.0.0
+    */
+    reverse_iterator rend() noexcept
+    {
+        return reverse_iterator(begin());
+    }
+
+    /*!
+    @copydoc basic_json::crend()
+    */
+    const_reverse_iterator rend() const noexcept
+    {
+        return crend();
+    }
+
+    /*!
+    @brief returns a const reverse iterator to the last element
+
+    Returns a const iterator to the reverse-beginning; that is, the last
+    element.
+
+    @image html range-rbegin-rend.svg "Illustration from cppreference.com"
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [ReversibleContainer](https://en.cppreference.com/w/cpp/named_req/ReversibleContainer)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `const_cast<const basic_json&>(*this).rbegin()`.
+
+    @liveexample{The following code shows an example for `crbegin()`.,crbegin}
+
+    @sa @ref rbegin() -- returns a reverse iterator to the beginning
+    @sa @ref rend() -- returns a reverse iterator to the end
+    @sa @ref crend() -- returns a const reverse iterator to the end
+
+    @since version 1.0.0
+    */
+    const_reverse_iterator crbegin() const noexcept
+    {
+        return const_reverse_iterator(cend());
+    }
+
+    /*!
+    @brief returns a const reverse iterator to one before the first
+
+    Returns a const reverse iterator to the reverse-end; that is, one before
+    the first element.
+
+    @image html range-rbegin-rend.svg "Illustration from cppreference.com"
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [ReversibleContainer](https://en.cppreference.com/w/cpp/named_req/ReversibleContainer)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `const_cast<const basic_json&>(*this).rend()`.
+
+    @liveexample{The following code shows an example for `crend()`.,crend}
+
+    @sa @ref rend() -- returns a reverse iterator to the end
+    @sa @ref rbegin() -- returns a reverse iterator to the beginning
+    @sa @ref crbegin() -- returns a const reverse iterator to the beginning
+
+    @since version 1.0.0
+    */
+    const_reverse_iterator crend() const noexcept
+    {
+        return const_reverse_iterator(cbegin());
+    }
+
+  public:
+    /*!
+    @brief wrapper to access iterator member functions in range-based for
+
+    This function allows to access @ref iterator::key() and @ref
+    iterator::value() during range-based for loops. In these loops, a
+    reference to the JSON values is returned, so there is no access to the
+    underlying iterator.
+
+    For loop without iterator_wrapper:
+
+    @code{cpp}
+    for (auto it = j_object.begin(); it != j_object.end(); ++it)
+    {
+        std::cout << "key: " << it.key() << ", value:" << it.value() << '\n';
+    }
+    @endcode
+
+    Range-based for loop without iterator proxy:
+
+    @code{cpp}
+    for (auto it : j_object)
+    {
+        // "it" is of type json::reference and has no key() member
+        std::cout << "value: " << it << '\n';
+    }
+    @endcode
+
+    Range-based for loop with iterator proxy:
+
+    @code{cpp}
+    for (auto it : json::iterator_wrapper(j_object))
+    {
+        std::cout << "key: " << it.key() << ", value:" << it.value() << '\n';
+    }
+    @endcode
+
+    @note When iterating over an array, `key()` will return the index of the
+          element as string (see example).
+
+    @param[in] ref  reference to a JSON value
+    @return iteration proxy object wrapping @a ref with an interface to use in
+            range-based for loops
+
+    @liveexample{The following code shows how the wrapper is used,iterator_wrapper}
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @note The name of this function is not yet final and may change in the
+    future.
+
+    @deprecated This stream operator is deprecated and will be removed in
+                future 4.0.0 of the library. Please use @ref items() instead;
+                that is, replace `json::iterator_wrapper(j)` with `j.items()`.
+    */
+    JSON_DEPRECATED
+    static iteration_proxy<iterator> iterator_wrapper(reference ref) noexcept
+    {
+        return ref.items();
+    }
+
+    /*!
+    @copydoc iterator_wrapper(reference)
+    */
+    JSON_DEPRECATED
+    static iteration_proxy<const_iterator> iterator_wrapper(const_reference ref) noexcept
+    {
+        return ref.items();
+    }
+
+    /*!
+    @brief helper to access iterator member functions in range-based for
+
+    This function allows to access @ref iterator::key() and @ref
+    iterator::value() during range-based for loops. In these loops, a
+    reference to the JSON values is returned, so there is no access to the
+    underlying iterator.
+
+    For loop without `items()` function:
+
+    @code{cpp}
+    for (auto it = j_object.begin(); it != j_object.end(); ++it)
+    {
+        std::cout << "key: " << it.key() << ", value:" << it.value() << '\n';
+    }
+    @endcode
+
+    Range-based for loop without `items()` function:
+
+    @code{cpp}
+    for (auto it : j_object)
+    {
+        // "it" is of type json::reference and has no key() member
+        std::cout << "value: " << it << '\n';
+    }
+    @endcode
+
+    Range-based for loop with `items()` function:
+
+    @code{cpp}
+    for (auto& el : j_object.items())
+    {
+        std::cout << "key: " << el.key() << ", value:" << el.value() << '\n';
+    }
+    @endcode
+
+    The `items()` function also allows to use
+    [structured bindings](https://en.cppreference.com/w/cpp/language/structured_binding)
+    (C++17):
+
+    @code{cpp}
+    for (auto& [key, val] : j_object.items())
+    {
+        std::cout << "key: " << key << ", value:" << val << '\n';
+    }
+    @endcode
+
+    @note When iterating over an array, `key()` will return the index of the
+          element as string (see example). For primitive types (e.g., numbers),
+          `key()` returns an empty string.
+
+    @return iteration proxy object wrapping @a ref with an interface to use in
+            range-based for loops
+
+    @liveexample{The following code shows how the function is used.,items}
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @since version 3.1.0, structured bindings support since 3.5.0.
+    */
+    iteration_proxy<iterator> items() noexcept
+    {
+        return iteration_proxy<iterator>(*this);
+    }
+
+    /*!
+    @copydoc items()
+    */
+    iteration_proxy<const_iterator> items() const noexcept
+    {
+        return iteration_proxy<const_iterator>(*this);
+    }
+
+    /// @}
+
+
+    //////////////
+    // capacity //
+    //////////////
+
+    /// @name capacity
+    /// @{
+
+    /*!
+    @brief checks whether the container is empty.
+
+    Checks if a JSON value has no elements (i.e. whether its @ref size is `0`).
+
+    @return The return value depends on the different types and is
+            defined as follows:
+            Value type  | return value
+            ----------- | -------------
+            null        | `true`
+            boolean     | `false`
+            string      | `false`
+            number      | `false`
+            object      | result of function `object_t::empty()`
+            array       | result of function `array_t::empty()`
+
+    @liveexample{The following code uses `empty()` to check if a JSON
+    object contains any elements.,empty}
+
+    @complexity Constant, as long as @ref array_t and @ref object_t satisfy
+    the Container concept; that is, their `empty()` functions have constant
+    complexity.
+
+    @iterators No changes.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @note This function does not return whether a string stored as JSON value
+    is empty - it returns whether the JSON container itself is empty which is
+    false in the case of a string.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `begin() == end()`.
+
+    @sa @ref size() -- returns the number of elements
+
+    @since version 1.0.0
+    */
+    bool empty() const noexcept
+    {
+        switch (m_type)
+        {
+            case value_t::null:
+            {
+                // null values are empty
+                return true;
+            }
+
+            case value_t::array:
+            {
+                // delegate call to array_t::empty()
+                return m_value.array->empty();
+            }
+
+            case value_t::object:
+            {
+                // delegate call to object_t::empty()
+                return m_value.object->empty();
+            }
+
+            default:
+            {
+                // all other types are nonempty
+                return false;
+            }
+        }
+    }
+
+    /*!
+    @brief returns the number of elements
+
+    Returns the number of elements in a JSON value.
+
+    @return The return value depends on the different types and is
+            defined as follows:
+            Value type  | return value
+            ----------- | -------------
+            null        | `0`
+            boolean     | `1`
+            string      | `1`
+            number      | `1`
+            object      | result of function object_t::size()
+            array       | result of function array_t::size()
+
+    @liveexample{The following code calls `size()` on the different value
+    types.,size}
+
+    @complexity Constant, as long as @ref array_t and @ref object_t satisfy
+    the Container concept; that is, their size() functions have constant
+    complexity.
+
+    @iterators No changes.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @note This function does not return the length of a string stored as JSON
+    value - it returns the number of elements in the JSON value which is 1 in
+    the case of a string.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `std::distance(begin(), end())`.
+
+    @sa @ref empty() -- checks whether the container is empty
+    @sa @ref max_size() -- returns the maximal number of elements
+
+    @since version 1.0.0
+    */
+    size_type size() const noexcept
+    {
+        switch (m_type)
+        {
+            case value_t::null:
+            {
+                // null values are empty
+                return 0;
+            }
+
+            case value_t::array:
+            {
+                // delegate call to array_t::size()
+                return m_value.array->size();
+            }
+
+            case value_t::object:
+            {
+                // delegate call to object_t::size()
+                return m_value.object->size();
+            }
+
+            default:
+            {
+                // all other types have size 1
+                return 1;
+            }
+        }
+    }
+
+    /*!
+    @brief returns the maximum possible number of elements
+
+    Returns the maximum number of elements a JSON value is able to hold due to
+    system or library implementation limitations, i.e. `std::distance(begin(),
+    end())` for the JSON value.
+
+    @return The return value depends on the different types and is
+            defined as follows:
+            Value type  | return value
+            ----------- | -------------
+            null        | `0` (same as `size()`)
+            boolean     | `1` (same as `size()`)
+            string      | `1` (same as `size()`)
+            number      | `1` (same as `size()`)
+            object      | result of function `object_t::max_size()`
+            array       | result of function `array_t::max_size()`
+
+    @liveexample{The following code calls `max_size()` on the different value
+    types. Note the output is implementation specific.,max_size}
+
+    @complexity Constant, as long as @ref array_t and @ref object_t satisfy
+    the Container concept; that is, their `max_size()` functions have constant
+    complexity.
+
+    @iterators No changes.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of returning `b.size()` where `b` is the largest
+      possible JSON value.
+
+    @sa @ref size() -- returns the number of elements
+
+    @since version 1.0.0
+    */
+    size_type max_size() const noexcept
+    {
+        switch (m_type)
+        {
+            case value_t::array:
+            {
+                // delegate call to array_t::max_size()
+                return m_value.array->max_size();
+            }
+
+            case value_t::object:
+            {
+                // delegate call to object_t::max_size()
+                return m_value.object->max_size();
+            }
+
+            default:
+            {
+                // all other types have max_size() == size()
+                return size();
+            }
+        }
+    }
+
+    /// @}
+
+
+    ///////////////
+    // modifiers //
+    ///////////////
+
+    /// @name modifiers
+    /// @{
+
+    /*!
+    @brief clears the contents
+
+    Clears the content of a JSON value and resets it to the default value as
+    if @ref basic_json(value_t) would have been called with the current value
+    type from @ref type():
+
+    Value type  | initial value
+    ----------- | -------------
+    null        | `null`
+    boolean     | `false`
+    string      | `""`
+    number      | `0`
+    object      | `{}`
+    array       | `[]`
+
+    @post Has the same effect as calling
+    @code {.cpp}
+    *this = basic_json(type());
+    @endcode
+
+    @liveexample{The example below shows the effect of `clear()` to different
+    JSON types.,clear}
+
+    @complexity Linear in the size of the JSON value.
+
+    @iterators All iterators, pointers and references related to this container
+               are invalidated.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @sa @ref basic_json(value_t) -- constructor that creates an object with the
+        same value than calling `clear()`
+
+    @since version 1.0.0
+    */
+    void clear() noexcept
+    {
+        switch (m_type)
+        {
+            case value_t::number_integer:
+            {
+                m_value.number_integer = 0;
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                m_value.number_unsigned = 0;
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                m_value.number_float = 0.0;
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                m_value.boolean = false;
+                break;
+            }
+
+            case value_t::string:
+            {
+                m_value.string->clear();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_value.array->clear();
+                break;
+            }
+
+            case value_t::object:
+            {
+                m_value.object->clear();
+                break;
+            }
+
+            default:
+                break;
+        }
+    }
+
+    /*!
+    @brief add an object to an array
+
+    Appends the given element @a val to the end of the JSON value. If the
+    function is called on a JSON null value, an empty array is created before
+    appending @a val.
+
+    @param[in] val the value to add to the JSON array
+
+    @throw type_error.308 when called on a type other than JSON array or
+    null; example: `"cannot use push_back() with number"`
+
+    @complexity Amortized constant.
+
+    @liveexample{The example shows how `push_back()` and `+=` can be used to
+    add elements to a JSON array. Note how the `null` value was silently
+    converted to a JSON array.,push_back}
+
+    @since version 1.0.0
+    */
+    void push_back(basic_json&& val)
+    {
+        // push_back only works for null objects or arrays
+        if (JSON_UNLIKELY(not(is_null() or is_array())))
+        {
+            JSON_THROW(type_error::create(308, "cannot use push_back() with " + std::string(type_name())));
+        }
+
+        // transform null object into an array
+        if (is_null())
+        {
+            m_type = value_t::array;
+            m_value = value_t::array;
+            assert_invariant();
+        }
+
+        // add element to array (move semantics)
+        m_value.array->push_back(std::move(val));
+        // invalidate object
+        val.m_type = value_t::null;
+    }
+
+    /*!
+    @brief add an object to an array
+    @copydoc push_back(basic_json&&)
+    */
+    reference operator+=(basic_json&& val)
+    {
+        push_back(std::move(val));
+        return *this;
+    }
+
+    /*!
+    @brief add an object to an array
+    @copydoc push_back(basic_json&&)
+    */
+    void push_back(const basic_json& val)
+    {
+        // push_back only works for null objects or arrays
+        if (JSON_UNLIKELY(not(is_null() or is_array())))
+        {
+            JSON_THROW(type_error::create(308, "cannot use push_back() with " + std::string(type_name())));
+        }
+
+        // transform null object into an array
+        if (is_null())
+        {
+            m_type = value_t::array;
+            m_value = value_t::array;
+            assert_invariant();
+        }
+
+        // add element to array
+        m_value.array->push_back(val);
+    }
+
+    /*!
+    @brief add an object to an array
+    @copydoc push_back(basic_json&&)
+    */
+    reference operator+=(const basic_json& val)
+    {
+        push_back(val);
+        return *this;
+    }
+
+    /*!
+    @brief add an object to an object
+
+    Inserts the given element @a val to the JSON object. If the function is
+    called on a JSON null value, an empty object is created before inserting
+    @a val.
+
+    @param[in] val the value to add to the JSON object
+
+    @throw type_error.308 when called on a type other than JSON object or
+    null; example: `"cannot use push_back() with number"`
+
+    @complexity Logarithmic in the size of the container, O(log(`size()`)).
+
+    @liveexample{The example shows how `push_back()` and `+=` can be used to
+    add elements to a JSON object. Note how the `null` value was silently
+    converted to a JSON object.,push_back__object_t__value}
+
+    @since version 1.0.0
+    */
+    void push_back(const typename object_t::value_type& val)
+    {
+        // push_back only works for null objects or objects
+        if (JSON_UNLIKELY(not(is_null() or is_object())))
+        {
+            JSON_THROW(type_error::create(308, "cannot use push_back() with " + std::string(type_name())));
+        }
+
+        // transform null object into an object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value = value_t::object;
+            assert_invariant();
+        }
+
+        // add element to array
+        m_value.object->insert(val);
+    }
+
+    /*!
+    @brief add an object to an object
+    @copydoc push_back(const typename object_t::value_type&)
+    */
+    reference operator+=(const typename object_t::value_type& val)
+    {
+        push_back(val);
+        return *this;
+    }
+
+    /*!
+    @brief add an object to an object
+
+    This function allows to use `push_back` with an initializer list. In case
+
+    1. the current value is an object,
+    2. the initializer list @a init contains only two elements, and
+    3. the first element of @a init is a string,
+
+    @a init is converted into an object element and added using
+    @ref push_back(const typename object_t::value_type&). Otherwise, @a init
+    is converted to a JSON value and added using @ref push_back(basic_json&&).
+
+    @param[in] init  an initializer list
+
+    @complexity Linear in the size of the initializer list @a init.
+
+    @note This function is required to resolve an ambiguous overload error,
+          because pairs like `{"key", "value"}` can be both interpreted as
+          `object_t::value_type` or `std::initializer_list<basic_json>`, see
+          https://github.com/nlohmann/json/issues/235 for more information.
+
+    @liveexample{The example shows how initializer lists are treated as
+    objects when possible.,push_back__initializer_list}
+    */
+    void push_back(initializer_list_t init)
+    {
+        if (is_object() and init.size() == 2 and (*init.begin())->is_string())
+        {
+            basic_json&& key = init.begin()->moved_or_copied();
+            push_back(typename object_t::value_type(
+                          std::move(key.get_ref<string_t&>()), (init.begin() + 1)->moved_or_copied()));
+        }
+        else
+        {
+            push_back(basic_json(init));
+        }
+    }
+
+    /*!
+    @brief add an object to an object
+    @copydoc push_back(initializer_list_t)
+    */
+    reference operator+=(initializer_list_t init)
+    {
+        push_back(init);
+        return *this;
+    }
+
+    /*!
+    @brief add an object to an array
+
+    Creates a JSON value from the passed parameters @a args to the end of the
+    JSON value. If the function is called on a JSON null value, an empty array
+    is created before appending the value created from @a args.
+
+    @param[in] args arguments to forward to a constructor of @ref basic_json
+    @tparam Args compatible types to create a @ref basic_json object
+
+    @throw type_error.311 when called on a type other than JSON array or
+    null; example: `"cannot use emplace_back() with number"`
+
+    @complexity Amortized constant.
+
+    @liveexample{The example shows how `push_back()` can be used to add
+    elements to a JSON array. Note how the `null` value was silently converted
+    to a JSON array.,emplace_back}
+
+    @since version 2.0.8
+    */
+    template<class... Args>
+    void emplace_back(Args&& ... args)
+    {
+        // emplace_back only works for null objects or arrays
+        if (JSON_UNLIKELY(not(is_null() or is_array())))
+        {
+            JSON_THROW(type_error::create(311, "cannot use emplace_back() with " + std::string(type_name())));
+        }
+
+        // transform null object into an array
+        if (is_null())
+        {
+            m_type = value_t::array;
+            m_value = value_t::array;
+            assert_invariant();
+        }
+
+        // add element to array (perfect forwarding)
+        m_value.array->emplace_back(std::forward<Args>(args)...);
+    }
+
+    /*!
+    @brief add an object to an object if key does not exist
+
+    Inserts a new element into a JSON object constructed in-place with the
+    given @a args if there is no element with the key in the container. If the
+    function is called on a JSON null value, an empty object is created before
+    appending the value created from @a args.
+
+    @param[in] args arguments to forward to a constructor of @ref basic_json
+    @tparam Args compatible types to create a @ref basic_json object
+
+    @return a pair consisting of an iterator to the inserted element, or the
+            already-existing element if no insertion happened, and a bool
+            denoting whether the insertion took place.
+
+    @throw type_error.311 when called on a type other than JSON object or
+    null; example: `"cannot use emplace() with number"`
+
+    @complexity Logarithmic in the size of the container, O(log(`size()`)).
+
+    @liveexample{The example shows how `emplace()` can be used to add elements
+    to a JSON object. Note how the `null` value was silently converted to a
+    JSON object. Further note how no value is added if there was already one
+    value stored with the same key.,emplace}
+
+    @since version 2.0.8
+    */
+    template<class... Args>
+    std::pair<iterator, bool> emplace(Args&& ... args)
+    {
+        // emplace only works for null objects or arrays
+        if (JSON_UNLIKELY(not(is_null() or is_object())))
+        {
+            JSON_THROW(type_error::create(311, "cannot use emplace() with " + std::string(type_name())));
+        }
+
+        // transform null object into an object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value = value_t::object;
+            assert_invariant();
+        }
+
+        // add element to array (perfect forwarding)
+        auto res = m_value.object->emplace(std::forward<Args>(args)...);
+        // create result iterator and set iterator to the result of emplace
+        auto it = begin();
+        it.m_it.object_iterator = res.first;
+
+        // return pair of iterator and boolean
+        return {it, res.second};
+    }
+
+    /// Helper for insertion of an iterator
+    /// @note: This uses std::distance to support GCC 4.8,
+    ///        see https://github.com/nlohmann/json/pull/1257
+    template<typename... Args>
+    iterator insert_iterator(const_iterator pos, Args&& ... args)
+    {
+        iterator result(this);
+        assert(m_value.array != nullptr);
+
+        auto insert_pos = std::distance(m_value.array->begin(), pos.m_it.array_iterator);
+        m_value.array->insert(pos.m_it.array_iterator, std::forward<Args>(args)...);
+        result.m_it.array_iterator = m_value.array->begin() + insert_pos;
+
+        // This could have been written as:
+        // result.m_it.array_iterator = m_value.array->insert(pos.m_it.array_iterator, cnt, val);
+        // but the return value of insert is missing in GCC 4.8, so it is written this way instead.
+
+        return result;
+    }
+
+    /*!
+    @brief inserts element
+
+    Inserts element @a val before iterator @a pos.
+
+    @param[in] pos iterator before which the content will be inserted; may be
+    the end() iterator
+    @param[in] val element to insert
+    @return iterator pointing to the inserted @a val.
+
+    @throw type_error.309 if called on JSON values other than arrays;
+    example: `"cannot use insert() with string"`
+    @throw invalid_iterator.202 if @a pos is not an iterator of *this;
+    example: `"iterator does not fit current value"`
+
+    @complexity Constant plus linear in the distance between @a pos and end of
+    the container.
+
+    @liveexample{The example shows how `insert()` is used.,insert}
+
+    @since version 1.0.0
+    */
+    iterator insert(const_iterator pos, const basic_json& val)
+    {
+        // insert only works for arrays
+        if (JSON_LIKELY(is_array()))
+        {
+            // check if iterator pos fits to this JSON value
+            if (JSON_UNLIKELY(pos.m_object != this))
+            {
+                JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value"));
+            }
+
+            // insert to array and return iterator
+            return insert_iterator(pos, val);
+        }
+
+        JSON_THROW(type_error::create(309, "cannot use insert() with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief inserts element
+    @copydoc insert(const_iterator, const basic_json&)
+    */
+    iterator insert(const_iterator pos, basic_json&& val)
+    {
+        return insert(pos, val);
+    }
+
+    /*!
+    @brief inserts elements
+
+    Inserts @a cnt copies of @a val before iterator @a pos.
+
+    @param[in] pos iterator before which the content will be inserted; may be
+    the end() iterator
+    @param[in] cnt number of copies of @a val to insert
+    @param[in] val element to insert
+    @return iterator pointing to the first element inserted, or @a pos if
+    `cnt==0`
+
+    @throw type_error.309 if called on JSON values other than arrays; example:
+    `"cannot use insert() with string"`
+    @throw invalid_iterator.202 if @a pos is not an iterator of *this;
+    example: `"iterator does not fit current value"`
+
+    @complexity Linear in @a cnt plus linear in the distance between @a pos
+    and end of the container.
+
+    @liveexample{The example shows how `insert()` is used.,insert__count}
+
+    @since version 1.0.0
+    */
+    iterator insert(const_iterator pos, size_type cnt, const basic_json& val)
+    {
+        // insert only works for arrays
+        if (JSON_LIKELY(is_array()))
+        {
+            // check if iterator pos fits to this JSON value
+            if (JSON_UNLIKELY(pos.m_object != this))
+            {
+                JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value"));
+            }
+
+            // insert to array and return iterator
+            return insert_iterator(pos, cnt, val);
+        }
+
+        JSON_THROW(type_error::create(309, "cannot use insert() with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief inserts elements
+
+    Inserts elements from range `[first, last)` before iterator @a pos.
+
+    @param[in] pos iterator before which the content will be inserted; may be
+    the end() iterator
+    @param[in] first begin of the range of elements to insert
+    @param[in] last end of the range of elements to insert
+
+    @throw type_error.309 if called on JSON values other than arrays; example:
+    `"cannot use insert() with string"`
+    @throw invalid_iterator.202 if @a pos is not an iterator of *this;
+    example: `"iterator does not fit current value"`
+    @throw invalid_iterator.210 if @a first and @a last do not belong to the
+    same JSON value; example: `"iterators do not fit"`
+    @throw invalid_iterator.211 if @a first or @a last are iterators into
+    container for which insert is called; example: `"passed iterators may not
+    belong to container"`
+
+    @return iterator pointing to the first element inserted, or @a pos if
+    `first==last`
+
+    @complexity Linear in `std::distance(first, last)` plus linear in the
+    distance between @a pos and end of the container.
+
+    @liveexample{The example shows how `insert()` is used.,insert__range}
+
+    @since version 1.0.0
+    */
+    iterator insert(const_iterator pos, const_iterator first, const_iterator last)
+    {
+        // insert only works for arrays
+        if (JSON_UNLIKELY(not is_array()))
+        {
+            JSON_THROW(type_error::create(309, "cannot use insert() with " + std::string(type_name())));
+        }
+
+        // check if iterator pos fits to this JSON value
+        if (JSON_UNLIKELY(pos.m_object != this))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value"));
+        }
+
+        // check if range iterators belong to the same JSON object
+        if (JSON_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(210, "iterators do not fit"));
+        }
+
+        if (JSON_UNLIKELY(first.m_object == this))
+        {
+            JSON_THROW(invalid_iterator::create(211, "passed iterators may not belong to container"));
+        }
+
+        // insert to array and return iterator
+        return insert_iterator(pos, first.m_it.array_iterator, last.m_it.array_iterator);
+    }
+
+    /*!
+    @brief inserts elements
+
+    Inserts elements from initializer list @a ilist before iterator @a pos.
+
+    @param[in] pos iterator before which the content will be inserted; may be
+    the end() iterator
+    @param[in] ilist initializer list to insert the values from
+
+    @throw type_error.309 if called on JSON values other than arrays; example:
+    `"cannot use insert() with string"`
+    @throw invalid_iterator.202 if @a pos is not an iterator of *this;
+    example: `"iterator does not fit current value"`
+
+    @return iterator pointing to the first element inserted, or @a pos if
+    `ilist` is empty
+
+    @complexity Linear in `ilist.size()` plus linear in the distance between
+    @a pos and end of the container.
+
+    @liveexample{The example shows how `insert()` is used.,insert__ilist}
+
+    @since version 1.0.0
+    */
+    iterator insert(const_iterator pos, initializer_list_t ilist)
+    {
+        // insert only works for arrays
+        if (JSON_UNLIKELY(not is_array()))
+        {
+            JSON_THROW(type_error::create(309, "cannot use insert() with " + std::string(type_name())));
+        }
+
+        // check if iterator pos fits to this JSON value
+        if (JSON_UNLIKELY(pos.m_object != this))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value"));
+        }
+
+        // insert to array and return iterator
+        return insert_iterator(pos, ilist.begin(), ilist.end());
+    }
+
+    /*!
+    @brief inserts elements
+
+    Inserts elements from range `[first, last)`.
+
+    @param[in] first begin of the range of elements to insert
+    @param[in] last end of the range of elements to insert
+
+    @throw type_error.309 if called on JSON values other than objects; example:
+    `"cannot use insert() with string"`
+    @throw invalid_iterator.202 if iterator @a first or @a last does does not
+    point to an object; example: `"iterators first and last must point to
+    objects"`
+    @throw invalid_iterator.210 if @a first and @a last do not belong to the
+    same JSON value; example: `"iterators do not fit"`
+
+    @complexity Logarithmic: `O(N*log(size() + N))`, where `N` is the number
+    of elements to insert.
+
+    @liveexample{The example shows how `insert()` is used.,insert__range_object}
+
+    @since version 3.0.0
+    */
+    void insert(const_iterator first, const_iterator last)
+    {
+        // insert only works for objects
+        if (JSON_UNLIKELY(not is_object()))
+        {
+            JSON_THROW(type_error::create(309, "cannot use insert() with " + std::string(type_name())));
+        }
+
+        // check if range iterators belong to the same JSON object
+        if (JSON_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(210, "iterators do not fit"));
+        }
+
+        // passed iterators must belong to objects
+        if (JSON_UNLIKELY(not first.m_object->is_object()))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterators first and last must point to objects"));
+        }
+
+        m_value.object->insert(first.m_it.object_iterator, last.m_it.object_iterator);
+    }
+
+    /*!
+    @brief updates a JSON object from another object, overwriting existing keys
+
+    Inserts all values from JSON object @a j and overwrites existing keys.
+
+    @param[in] j  JSON object to read values from
+
+    @throw type_error.312 if called on JSON values other than objects; example:
+    `"cannot use update() with string"`
+
+    @complexity O(N*log(size() + N)), where N is the number of elements to
+                insert.
+
+    @liveexample{The example shows how `update()` is used.,update}
+
+    @sa https://docs.python.org/3.6/library/stdtypes.html#dict.update
+
+    @since version 3.0.0
+    */
+    void update(const_reference j)
+    {
+        // implicitly convert null value to an empty object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value.object = create<object_t>();
+            assert_invariant();
+        }
+
+        if (JSON_UNLIKELY(not is_object()))
+        {
+            JSON_THROW(type_error::create(312, "cannot use update() with " + std::string(type_name())));
+        }
+        if (JSON_UNLIKELY(not j.is_object()))
+        {
+            JSON_THROW(type_error::create(312, "cannot use update() with " + std::string(j.type_name())));
+        }
+
+        for (auto it = j.cbegin(); it != j.cend(); ++it)
+        {
+            m_value.object->operator[](it.key()) = it.value();
+        }
+    }
+
+    /*!
+    @brief updates a JSON object from another object, overwriting existing keys
+
+    Inserts all values from from range `[first, last)` and overwrites existing
+    keys.
+
+    @param[in] first begin of the range of elements to insert
+    @param[in] last end of the range of elements to insert
+
+    @throw type_error.312 if called on JSON values other than objects; example:
+    `"cannot use update() with string"`
+    @throw invalid_iterator.202 if iterator @a first or @a last does does not
+    point to an object; example: `"iterators first and last must point to
+    objects"`
+    @throw invalid_iterator.210 if @a first and @a last do not belong to the
+    same JSON value; example: `"iterators do not fit"`
+
+    @complexity O(N*log(size() + N)), where N is the number of elements to
+                insert.
+
+    @liveexample{The example shows how `update()` is used__range.,update}
+
+    @sa https://docs.python.org/3.6/library/stdtypes.html#dict.update
+
+    @since version 3.0.0
+    */
+    void update(const_iterator first, const_iterator last)
+    {
+        // implicitly convert null value to an empty object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value.object = create<object_t>();
+            assert_invariant();
+        }
+
+        if (JSON_UNLIKELY(not is_object()))
+        {
+            JSON_THROW(type_error::create(312, "cannot use update() with " + std::string(type_name())));
+        }
+
+        // check if range iterators belong to the same JSON object
+        if (JSON_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(210, "iterators do not fit"));
+        }
+
+        // passed iterators must belong to objects
+        if (JSON_UNLIKELY(not first.m_object->is_object()
+                          or not last.m_object->is_object()))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterators first and last must point to objects"));
+        }
+
+        for (auto it = first; it != last; ++it)
+        {
+            m_value.object->operator[](it.key()) = it.value();
+        }
+    }
+
+    /*!
+    @brief exchanges the values
+
+    Exchanges the contents of the JSON value with those of @a other. Does not
+    invoke any move, copy, or swap operations on individual elements. All
+    iterators and references remain valid. The past-the-end iterator is
+    invalidated.
+
+    @param[in,out] other JSON value to exchange the contents with
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how JSON values can be swapped with
+    `swap()`.,swap__reference}
+
+    @since version 1.0.0
+    */
+    void swap(reference other) noexcept (
+        std::is_nothrow_move_constructible<value_t>::value and
+        std::is_nothrow_move_assignable<value_t>::value and
+        std::is_nothrow_move_constructible<json_value>::value and
+        std::is_nothrow_move_assignable<json_value>::value
+    )
+    {
+        std::swap(m_type, other.m_type);
+        std::swap(m_value, other.m_value);
+        assert_invariant();
+    }
+
+    /*!
+    @brief exchanges the values
+
+    Exchanges the contents of a JSON array with those of @a other. Does not
+    invoke any move, copy, or swap operations on individual elements. All
+    iterators and references remain valid. The past-the-end iterator is
+    invalidated.
+
+    @param[in,out] other array to exchange the contents with
+
+    @throw type_error.310 when JSON value is not an array; example: `"cannot
+    use swap() with string"`
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how arrays can be swapped with
+    `swap()`.,swap__array_t}
+
+    @since version 1.0.0
+    */
+    void swap(array_t& other)
+    {
+        // swap only works for arrays
+        if (JSON_LIKELY(is_array()))
+        {
+            std::swap(*(m_value.array), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, "cannot use swap() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief exchanges the values
+
+    Exchanges the contents of a JSON object with those of @a other. Does not
+    invoke any move, copy, or swap operations on individual elements. All
+    iterators and references remain valid. The past-the-end iterator is
+    invalidated.
+
+    @param[in,out] other object to exchange the contents with
+
+    @throw type_error.310 when JSON value is not an object; example:
+    `"cannot use swap() with string"`
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how objects can be swapped with
+    `swap()`.,swap__object_t}
+
+    @since version 1.0.0
+    */
+    void swap(object_t& other)
+    {
+        // swap only works for objects
+        if (JSON_LIKELY(is_object()))
+        {
+            std::swap(*(m_value.object), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, "cannot use swap() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief exchanges the values
+
+    Exchanges the contents of a JSON string with those of @a other. Does not
+    invoke any move, copy, or swap operations on individual elements. All
+    iterators and references remain valid. The past-the-end iterator is
+    invalidated.
+
+    @param[in,out] other string to exchange the contents with
+
+    @throw type_error.310 when JSON value is not a string; example: `"cannot
+    use swap() with boolean"`
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how strings can be swapped with
+    `swap()`.,swap__string_t}
+
+    @since version 1.0.0
+    */
+    void swap(string_t& other)
+    {
+        // swap only works for strings
+        if (JSON_LIKELY(is_string()))
+        {
+            std::swap(*(m_value.string), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, "cannot use swap() with " + std::string(type_name())));
+        }
+    }
+
+    /// @}
+
+  public:
+    //////////////////////////////////////////
+    // lexicographical comparison operators //
+    //////////////////////////////////////////
+
+    /// @name lexicographical comparison operators
+    /// @{
+
+    /*!
+    @brief comparison: equal
+
+    Compares two JSON values for equality according to the following rules:
+    - Two JSON values are equal if (1) they are from the same type and (2)
+      their stored values are the same according to their respective
+      `operator==`.
+    - Integer and floating-point numbers are automatically converted before
+      comparison. Note than two NaN values are always treated as unequal.
+    - Two JSON null values are equal.
+
+    @note Floating-point inside JSON values numbers are compared with
+    `json::number_float_t::operator==` which is `double::operator==` by
+    default. To compare floating-point while respecting an epsilon, an alternative
+    [comparison function](https://github.com/mariokonrad/marnav/blob/master/src/marnav/math/floatingpoint.hpp#L34-#L39)
+    could be used, for instance
+    @code {.cpp}
+    template<typename T, typename = typename std::enable_if<std::is_floating_point<T>::value, T>::type>
+    inline bool is_same(T a, T b, T epsilon = std::numeric_limits<T>::epsilon()) noexcept
+    {
+        return std::abs(a - b) <= epsilon;
+    }
+    @endcode
+
+    @note NaN values never compare equal to themselves or to other NaN values.
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether the values @a lhs and @a rhs are equal
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @complexity Linear.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__equal}
+
+    @since version 1.0.0
+    */
+    friend bool operator==(const_reference lhs, const_reference rhs) noexcept
+    {
+        const auto lhs_type = lhs.type();
+        const auto rhs_type = rhs.type();
+
+        if (lhs_type == rhs_type)
+        {
+            switch (lhs_type)
+            {
+                case value_t::array:
+                    return (*lhs.m_value.array == *rhs.m_value.array);
+
+                case value_t::object:
+                    return (*lhs.m_value.object == *rhs.m_value.object);
+
+                case value_t::null:
+                    return true;
+
+                case value_t::string:
+                    return (*lhs.m_value.string == *rhs.m_value.string);
+
+                case value_t::boolean:
+                    return (lhs.m_value.boolean == rhs.m_value.boolean);
+
+                case value_t::number_integer:
+                    return (lhs.m_value.number_integer == rhs.m_value.number_integer);
+
+                case value_t::number_unsigned:
+                    return (lhs.m_value.number_unsigned == rhs.m_value.number_unsigned);
+
+                case value_t::number_float:
+                    return (lhs.m_value.number_float == rhs.m_value.number_float);
+
+                default:
+                    return false;
+            }
+        }
+        else if (lhs_type == value_t::number_integer and rhs_type == value_t::number_float)
+        {
+            return (static_cast<number_float_t>(lhs.m_value.number_integer) == rhs.m_value.number_float);
+        }
+        else if (lhs_type == value_t::number_float and rhs_type == value_t::number_integer)
+        {
+            return (lhs.m_value.number_float == static_cast<number_float_t>(rhs.m_value.number_integer));
+        }
+        else if (lhs_type == value_t::number_unsigned and rhs_type == value_t::number_float)
+        {
+            return (static_cast<number_float_t>(lhs.m_value.number_unsigned) == rhs.m_value.number_float);
+        }
+        else if (lhs_type == value_t::number_float and rhs_type == value_t::number_unsigned)
+        {
+            return (lhs.m_value.number_float == static_cast<number_float_t>(rhs.m_value.number_unsigned));
+        }
+        else if (lhs_type == value_t::number_unsigned and rhs_type == value_t::number_integer)
+        {
+            return (static_cast<number_integer_t>(lhs.m_value.number_unsigned) == rhs.m_value.number_integer);
+        }
+        else if (lhs_type == value_t::number_integer and rhs_type == value_t::number_unsigned)
+        {
+            return (lhs.m_value.number_integer == static_cast<number_integer_t>(rhs.m_value.number_unsigned));
+        }
+
+        return false;
+    }
+
+    /*!
+    @brief comparison: equal
+    @copydoc operator==(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator==(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return (lhs == basic_json(rhs));
+    }
+
+    /*!
+    @brief comparison: equal
+    @copydoc operator==(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator==(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return (basic_json(lhs) == rhs);
+    }
+
+    /*!
+    @brief comparison: not equal
+
+    Compares two JSON values for inequality by calculating `not (lhs == rhs)`.
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether the values @a lhs and @a rhs are not equal
+
+    @complexity Linear.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__notequal}
+
+    @since version 1.0.0
+    */
+    friend bool operator!=(const_reference lhs, const_reference rhs) noexcept
+    {
+        return not (lhs == rhs);
+    }
+
+    /*!
+    @brief comparison: not equal
+    @copydoc operator!=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator!=(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return (lhs != basic_json(rhs));
+    }
+
+    /*!
+    @brief comparison: not equal
+    @copydoc operator!=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator!=(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return (basic_json(lhs) != rhs);
+    }
+
+    /*!
+    @brief comparison: less than
+
+    Compares whether one JSON value @a lhs is less than another JSON value @a
+    rhs according to the following rules:
+    - If @a lhs and @a rhs have the same type, the values are compared using
+      the default `<` operator.
+    - Integer and floating-point numbers are automatically converted before
+      comparison
+    - In case @a lhs and @a rhs have different types, the values are ignored
+      and the order of the types is considered, see
+      @ref operator<(const value_t, const value_t).
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether @a lhs is less than @a rhs
+
+    @complexity Linear.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__less}
+
+    @since version 1.0.0
+    */
+    friend bool operator<(const_reference lhs, const_reference rhs) noexcept
+    {
+        const auto lhs_type = lhs.type();
+        const auto rhs_type = rhs.type();
+
+        if (lhs_type == rhs_type)
+        {
+            switch (lhs_type)
+            {
+                case value_t::array:
+                    return (*lhs.m_value.array) < (*rhs.m_value.array);
+
+                case value_t::object:
+                    return *lhs.m_value.object < *rhs.m_value.object;
+
+                case value_t::null:
+                    return false;
+
+                case value_t::string:
+                    return *lhs.m_value.string < *rhs.m_value.string;
+
+                case value_t::boolean:
+                    return lhs.m_value.boolean < rhs.m_value.boolean;
+
+                case value_t::number_integer:
+                    return lhs.m_value.number_integer < rhs.m_value.number_integer;
+
+                case value_t::number_unsigned:
+                    return lhs.m_value.number_unsigned < rhs.m_value.number_unsigned;
+
+                case value_t::number_float:
+                    return lhs.m_value.number_float < rhs.m_value.number_float;
+
+                default:
+                    return false;
+            }
+        }
+        else if (lhs_type == value_t::number_integer and rhs_type == value_t::number_float)
+        {
+            return static_cast<number_float_t>(lhs.m_value.number_integer) < rhs.m_value.number_float;
+        }
+        else if (lhs_type == value_t::number_float and rhs_type == value_t::number_integer)
+        {
+            return lhs.m_value.number_float < static_cast<number_float_t>(rhs.m_value.number_integer);
+        }
+        else if (lhs_type == value_t::number_unsigned and rhs_type == value_t::number_float)
+        {
+            return static_cast<number_float_t>(lhs.m_value.number_unsigned) < rhs.m_value.number_float;
+        }
+        else if (lhs_type == value_t::number_float and rhs_type == value_t::number_unsigned)
+        {
+            return lhs.m_value.number_float < static_cast<number_float_t>(rhs.m_value.number_unsigned);
+        }
+        else if (lhs_type == value_t::number_integer and rhs_type == value_t::number_unsigned)
+        {
+            return lhs.m_value.number_integer < static_cast<number_integer_t>(rhs.m_value.number_unsigned);
+        }
+        else if (lhs_type == value_t::number_unsigned and rhs_type == value_t::number_integer)
+        {
+            return static_cast<number_integer_t>(lhs.m_value.number_unsigned) < rhs.m_value.number_integer;
+        }
+
+        // We only reach this line if we cannot compare values. In that case,
+        // we compare types. Note we have to call the operator explicitly,
+        // because MSVC has problems otherwise.
+        return operator<(lhs_type, rhs_type);
+    }
+
+    /*!
+    @brief comparison: less than
+    @copydoc operator<(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return (lhs < basic_json(rhs));
+    }
+
+    /*!
+    @brief comparison: less than
+    @copydoc operator<(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return (basic_json(lhs) < rhs);
+    }
+
+    /*!
+    @brief comparison: less than or equal
+
+    Compares whether one JSON value @a lhs is less than or equal to another
+    JSON value by calculating `not (rhs < lhs)`.
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether @a lhs is less than or equal to @a rhs
+
+    @complexity Linear.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__greater}
+
+    @since version 1.0.0
+    */
+    friend bool operator<=(const_reference lhs, const_reference rhs) noexcept
+    {
+        return not (rhs < lhs);
+    }
+
+    /*!
+    @brief comparison: less than or equal
+    @copydoc operator<=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<=(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return (lhs <= basic_json(rhs));
+    }
+
+    /*!
+    @brief comparison: less than or equal
+    @copydoc operator<=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<=(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return (basic_json(lhs) <= rhs);
+    }
+
+    /*!
+    @brief comparison: greater than
+
+    Compares whether one JSON value @a lhs is greater than another
+    JSON value by calculating `not (lhs <= rhs)`.
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether @a lhs is greater than to @a rhs
+
+    @complexity Linear.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__lessequal}
+
+    @since version 1.0.0
+    */
+    friend bool operator>(const_reference lhs, const_reference rhs) noexcept
+    {
+        return not (lhs <= rhs);
+    }
+
+    /*!
+    @brief comparison: greater than
+    @copydoc operator>(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return (lhs > basic_json(rhs));
+    }
+
+    /*!
+    @brief comparison: greater than
+    @copydoc operator>(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return (basic_json(lhs) > rhs);
+    }
+
+    /*!
+    @brief comparison: greater than or equal
+
+    Compares whether one JSON value @a lhs is greater than or equal to another
+    JSON value by calculating `not (lhs < rhs)`.
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether @a lhs is greater than or equal to @a rhs
+
+    @complexity Linear.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__greaterequal}
+
+    @since version 1.0.0
+    */
+    friend bool operator>=(const_reference lhs, const_reference rhs) noexcept
+    {
+        return not (lhs < rhs);
+    }
+
+    /*!
+    @brief comparison: greater than or equal
+    @copydoc operator>=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>=(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return (lhs >= basic_json(rhs));
+    }
+
+    /*!
+    @brief comparison: greater than or equal
+    @copydoc operator>=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>=(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return (basic_json(lhs) >= rhs);
+    }
+
+    /// @}
+
+    ///////////////////
+    // serialization //
+    ///////////////////
+
+    /// @name serialization
+    /// @{
+
+    /*!
+    @brief serialize to stream
+
+    Serialize the given JSON value @a j to the output stream @a o. The JSON
+    value will be serialized using the @ref dump member function.
+
+    - The indentation of the output can be controlled with the member variable
+      `width` of the output stream @a o. For instance, using the manipulator
+      `std::setw(4)` on @a o sets the indentation level to `4` and the
+      serialization result is the same as calling `dump(4)`.
+
+    - The indentation character can be controlled with the member variable
+      `fill` of the output stream @a o. For instance, the manipulator
+      `std::setfill('\\t')` sets indentation to use a tab character rather than
+      the default space character.
+
+    @param[in,out] o  stream to serialize to
+    @param[in] j  JSON value to serialize
+
+    @return the stream @a o
+
+    @throw type_error.316 if a string stored inside the JSON value is not
+                          UTF-8 encoded
+
+    @complexity Linear.
+
+    @liveexample{The example below shows the serialization with different
+    parameters to `width` to adjust the indentation level.,operator_serialize}
+
+    @since version 1.0.0; indentation character added in version 3.0.0
+    */
+    friend std::ostream& operator<<(std::ostream& o, const basic_json& j)
+    {
+        // read width member and use it as indentation parameter if nonzero
+        const bool pretty_print = (o.width() > 0);
+        const auto indentation = (pretty_print ? o.width() : 0);
+
+        // reset width to 0 for subsequent calls to this stream
+        o.width(0);
+
+        // do the actual serialization
+        serializer s(detail::output_adapter<char>(o), o.fill());
+        s.dump(j, pretty_print, false, static_cast<unsigned int>(indentation));
+        return o;
+    }
+
+    /*!
+    @brief serialize to stream
+    @deprecated This stream operator is deprecated and will be removed in
+                future 4.0.0 of the library. Please use
+                @ref operator<<(std::ostream&, const basic_json&)
+                instead; that is, replace calls like `j >> o;` with `o << j;`.
+    @since version 1.0.0; deprecated since version 3.0.0
+    */
+    JSON_DEPRECATED
+    friend std::ostream& operator>>(const basic_json& j, std::ostream& o)
+    {
+        return o << j;
+    }
+
+    /// @}
+
+
+    /////////////////////
+    // deserialization //
+    /////////////////////
+
+    /// @name deserialization
+    /// @{
+
+    /*!
+    @brief deserialize from a compatible input
+
+    This function reads from a compatible input. Examples are:
+    - an array of 1-byte values
+    - strings with character/literal type with size of 1 byte
+    - input streams
+    - container with contiguous storage of 1-byte values. Compatible container
+      types include `std::vector`, `std::string`, `std::array`,
+      `std::valarray`, and `std::initializer_list`. Furthermore, C-style
+      arrays can be used with `std::begin()`/`std::end()`. User-defined
+      containers can be used as long as they implement random-access iterators
+      and a contiguous storage.
+
+    @pre Each element of the container has a size of 1 byte. Violating this
+    precondition yields undefined behavior. **This precondition is enforced
+    with a static assertion.**
+
+    @pre The container storage is contiguous. Violating this precondition
+    yields undefined behavior. **This precondition is enforced with an
+    assertion.**
+    @pre Each element of the container has a size of 1 byte. Violating this
+    precondition yields undefined behavior. **This precondition is enforced
+    with a static assertion.**
+
+    @warning There is no way to enforce all preconditions at compile-time. If
+             the function is called with a noncompliant container and with
+             assertions switched off, the behavior is undefined and will most
+             likely yield segmentation violation.
+
+    @param[in] i  input to read from
+    @param[in] cb  a parser callback function of type @ref parser_callback_t
+    which is used to control the deserialization by filtering unwanted values
+    (optional)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+
+    @return result of the deserialization
+
+    @throw parse_error.101 if a parse error occurs; example: `""unexpected end
+    of input; expected string literal""`
+    @throw parse_error.102 if to_unicode fails or surrogate error
+    @throw parse_error.103 if to_unicode fails
+
+    @complexity Linear in the length of the input. The parser is a predictive
+    LL(1) parser. The complexity can be higher if the parser callback function
+    @a cb has a super-linear complexity.
+
+    @note A UTF-8 byte order mark is silently ignored.
+
+    @liveexample{The example below demonstrates the `parse()` function reading
+    from an array.,parse__array__parser_callback_t}
+
+    @liveexample{The example below demonstrates the `parse()` function with
+    and without callback function.,parse__string__parser_callback_t}
+
+    @liveexample{The example below demonstrates the `parse()` function with
+    and without callback function.,parse__istream__parser_callback_t}
+
+    @liveexample{The example below demonstrates the `parse()` function reading
+    from a contiguous container.,parse__contiguouscontainer__parser_callback_t}
+
+    @since version 2.0.3 (contiguous containers)
+    */
+    static basic_json parse(detail::input_adapter&& i,
+                            const parser_callback_t cb = nullptr,
+                            const bool allow_exceptions = true)
+    {
+        basic_json result;
+        parser(i, cb, allow_exceptions).parse(true, result);
+        return result;
+    }
+
+    static bool accept(detail::input_adapter&& i)
+    {
+        return parser(i).accept(true);
+    }
+
+    /*!
+    @brief generate SAX events
+
+    The SAX event lister must follow the interface of @ref json_sax.
+
+    This function reads from a compatible input. Examples are:
+    - an array of 1-byte values
+    - strings with character/literal type with size of 1 byte
+    - input streams
+    - container with contiguous storage of 1-byte values. Compatible container
+      types include `std::vector`, `std::string`, `std::array`,
+      `std::valarray`, and `std::initializer_list`. Furthermore, C-style
+      arrays can be used with `std::begin()`/`std::end()`. User-defined
+      containers can be used as long as they implement random-access iterators
+      and a contiguous storage.
+
+    @pre Each element of the container has a size of 1 byte. Violating this
+    precondition yields undefined behavior. **This precondition is enforced
+    with a static assertion.**
+
+    @pre The container storage is contiguous. Violating this precondition
+    yields undefined behavior. **This precondition is enforced with an
+    assertion.**
+    @pre Each element of the container has a size of 1 byte. Violating this
+    precondition yields undefined behavior. **This precondition is enforced
+    with a static assertion.**
+
+    @warning There is no way to enforce all preconditions at compile-time. If
+             the function is called with a noncompliant container and with
+             assertions switched off, the behavior is undefined and will most
+             likely yield segmentation violation.
+
+    @param[in] i  input to read from
+    @param[in,out] sax  SAX event listener
+    @param[in] format  the format to parse (JSON, CBOR, MessagePack, or UBJSON)
+    @param[in] strict  whether the input has to be consumed completely
+
+    @return return value of the last processed SAX event
+
+    @throw parse_error.101 if a parse error occurs; example: `""unexpected end
+    of input; expected string literal""`
+    @throw parse_error.102 if to_unicode fails or surrogate error
+    @throw parse_error.103 if to_unicode fails
+
+    @complexity Linear in the length of the input. The parser is a predictive
+    LL(1) parser. The complexity can be higher if the SAX consumer @a sax has
+    a super-linear complexity.
+
+    @note A UTF-8 byte order mark is silently ignored.
+
+    @liveexample{The example below demonstrates the `sax_parse()` function
+    reading from string and processing the events with a user-defined SAX
+    event consumer.,sax_parse}
+
+    @since version 3.2.0
+    */
+    template <typename SAX>
+    static bool sax_parse(detail::input_adapter&& i, SAX* sax,
+                          input_format_t format = input_format_t::json,
+                          const bool strict = true)
+    {
+        assert(sax);
+        switch (format)
+        {
+            case input_format_t::json:
+                return parser(std::move(i)).sax_parse(sax, strict);
+            default:
+                return detail::binary_reader<basic_json, SAX>(std::move(i)).sax_parse(format, sax, strict);
+        }
+    }
+
+    /*!
+    @brief deserialize from an iterator range with contiguous storage
+
+    This function reads from an iterator range of a container with contiguous
+    storage of 1-byte values. Compatible container types include
+    `std::vector`, `std::string`, `std::array`, `std::valarray`, and
+    `std::initializer_list`. Furthermore, C-style arrays can be used with
+    `std::begin()`/`std::end()`. User-defined containers can be used as long
+    as they implement random-access iterators and a contiguous storage.
+
+    @pre The iterator range is contiguous. Violating this precondition yields
+    undefined behavior. **This precondition is enforced with an assertion.**
+    @pre Each element in the range has a size of 1 byte. Violating this
+    precondition yields undefined behavior. **This precondition is enforced
+    with a static assertion.**
+
+    @warning There is no way to enforce all preconditions at compile-time. If
+             the function is called with noncompliant iterators and with
+             assertions switched off, the behavior is undefined and will most
+             likely yield segmentation violation.
+
+    @tparam IteratorType iterator of container with contiguous storage
+    @param[in] first  begin of the range to parse (included)
+    @param[in] last  end of the range to parse (excluded)
+    @param[in] cb  a parser callback function of type @ref parser_callback_t
+    which is used to control the deserialization by filtering unwanted values
+    (optional)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+
+    @return result of the deserialization
+
+    @throw parse_error.101 in case of an unexpected token
+    @throw parse_error.102 if to_unicode fails or surrogate error
+    @throw parse_error.103 if to_unicode fails
+
+    @complexity Linear in the length of the input. The parser is a predictive
+    LL(1) parser. The complexity can be higher if the parser callback function
+    @a cb has a super-linear complexity.
+
+    @note A UTF-8 byte order mark is silently ignored.
+
+    @liveexample{The example below demonstrates the `parse()` function reading
+    from an iterator range.,parse__iteratortype__parser_callback_t}
+
+    @since version 2.0.3
+    */
+    template<class IteratorType, typename std::enable_if<
+                 std::is_base_of<
+                     std::random_access_iterator_tag,
+                     typename std::iterator_traits<IteratorType>::iterator_category>::value, int>::type = 0>
+    static basic_json parse(IteratorType first, IteratorType last,
+                            const parser_callback_t cb = nullptr,
+                            const bool allow_exceptions = true)
+    {
+        basic_json result;
+        parser(detail::input_adapter(first, last), cb, allow_exceptions).parse(true, result);
+        return result;
+    }
+
+    template<class IteratorType, typename std::enable_if<
+                 std::is_base_of<
+                     std::random_access_iterator_tag,
+                     typename std::iterator_traits<IteratorType>::iterator_category>::value, int>::type = 0>
+    static bool accept(IteratorType first, IteratorType last)
+    {
+        return parser(detail::input_adapter(first, last)).accept(true);
+    }
+
+    template<class IteratorType, class SAX, typename std::enable_if<
+                 std::is_base_of<
+                     std::random_access_iterator_tag,
+                     typename std::iterator_traits<IteratorType>::iterator_category>::value, int>::type = 0>
+    static bool sax_parse(IteratorType first, IteratorType last, SAX* sax)
+    {
+        return parser(detail::input_adapter(first, last)).sax_parse(sax);
+    }
+
+    /*!
+    @brief deserialize from stream
+    @deprecated This stream operator is deprecated and will be removed in
+                version 4.0.0 of the library. Please use
+                @ref operator>>(std::istream&, basic_json&)
+                instead; that is, replace calls like `j << i;` with `i >> j;`.
+    @since version 1.0.0; deprecated since version 3.0.0
+    */
+    JSON_DEPRECATED
+    friend std::istream& operator<<(basic_json& j, std::istream& i)
+    {
+        return operator>>(i, j);
+    }
+
+    /*!
+    @brief deserialize from stream
+
+    Deserializes an input stream to a JSON value.
+
+    @param[in,out] i  input stream to read a serialized JSON value from
+    @param[in,out] j  JSON value to write the deserialized input to
+
+    @throw parse_error.101 in case of an unexpected token
+    @throw parse_error.102 if to_unicode fails or surrogate error
+    @throw parse_error.103 if to_unicode fails
+
+    @complexity Linear in the length of the input. The parser is a predictive
+    LL(1) parser.
+
+    @note A UTF-8 byte order mark is silently ignored.
+
+    @liveexample{The example below shows how a JSON value is constructed by
+    reading a serialization from a stream.,operator_deserialize}
+
+    @sa parse(std::istream&, const parser_callback_t) for a variant with a
+    parser callback function to filter values while parsing
+
+    @since version 1.0.0
+    */
+    friend std::istream& operator>>(std::istream& i, basic_json& j)
+    {
+        parser(detail::input_adapter(i)).parse(false, j);
+        return i;
+    }
+
+    /// @}
+
+    ///////////////////////////
+    // convenience functions //
+    ///////////////////////////
+
+    /*!
+    @brief return the type as string
+
+    Returns the type name as string to be used in error messages - usually to
+    indicate that a function was called on a wrong JSON type.
+
+    @return a string representation of a the @a m_type member:
+            Value type  | return value
+            ----------- | -------------
+            null        | `"null"`
+            boolean     | `"boolean"`
+            string      | `"string"`
+            number      | `"number"` (for all number types)
+            object      | `"object"`
+            array       | `"array"`
+            discarded   | `"discarded"`
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @complexity Constant.
+
+    @liveexample{The following code exemplifies `type_name()` for all JSON
+    types.,type_name}
+
+    @sa @ref type() -- return the type of the JSON value
+    @sa @ref operator value_t() -- return the type of the JSON value (implicit)
+
+    @since version 1.0.0, public since 2.1.0, `const char*` and `noexcept`
+    since 3.0.0
+    */
+    const char* type_name() const noexcept
+    {
+        {
+            switch (m_type)
+            {
+                case value_t::null:
+                    return "null";
+                case value_t::object:
+                    return "object";
+                case value_t::array:
+                    return "array";
+                case value_t::string:
+                    return "string";
+                case value_t::boolean:
+                    return "boolean";
+                case value_t::discarded:
+                    return "discarded";
+                default:
+                    return "number";
+            }
+        }
+    }
+
+
+  private:
+    //////////////////////
+    // member variables //
+    //////////////////////
+
+    /// the type of the current element
+    value_t m_type = value_t::null;
+
+    /// the value of the current element
+    json_value m_value = {};
+
+    //////////////////////////////////////////
+    // binary serialization/deserialization //
+    //////////////////////////////////////////
+
+    /// @name binary serialization/deserialization support
+    /// @{
+
+  public:
+    /*!
+    @brief create a CBOR serialization of a given JSON value
+
+    Serializes a given JSON value @a j to a byte vector using the CBOR (Concise
+    Binary Object Representation) serialization format. CBOR is a binary
+    serialization format which aims to be more compact than JSON itself, yet
+    more efficient to parse.
+
+    The library uses the following mapping from JSON values types to
+    CBOR types according to the CBOR specification (RFC 7049):
+
+    JSON value type | value/range                                | CBOR type                          | first byte
+    --------------- | ------------------------------------------ | ---------------------------------- | ---------------
+    null            | `null`                                     | Null                               | 0xF6
+    boolean         | `true`                                     | True                               | 0xF5
+    boolean         | `false`                                    | False                              | 0xF4
+    number_integer  | -9223372036854775808..-2147483649          | Negative integer (8 bytes follow)  | 0x3B
+    number_integer  | -2147483648..-32769                        | Negative integer (4 bytes follow)  | 0x3A
+    number_integer  | -32768..-129                               | Negative integer (2 bytes follow)  | 0x39
+    number_integer  | -128..-25                                  | Negative integer (1 byte follow)   | 0x38
+    number_integer  | -24..-1                                    | Negative integer                   | 0x20..0x37
+    number_integer  | 0..23                                      | Integer                            | 0x00..0x17
+    number_integer  | 24..255                                    | Unsigned integer (1 byte follow)   | 0x18
+    number_integer  | 256..65535                                 | Unsigned integer (2 bytes follow)  | 0x19
+    number_integer  | 65536..4294967295                          | Unsigned integer (4 bytes follow)  | 0x1A
+    number_integer  | 4294967296..18446744073709551615           | Unsigned integer (8 bytes follow)  | 0x1B
+    number_unsigned | 0..23                                      | Integer                            | 0x00..0x17
+    number_unsigned | 24..255                                    | Unsigned integer (1 byte follow)   | 0x18
+    number_unsigned | 256..65535                                 | Unsigned integer (2 bytes follow)  | 0x19
+    number_unsigned | 65536..4294967295                          | Unsigned integer (4 bytes follow)  | 0x1A
+    number_unsigned | 4294967296..18446744073709551615           | Unsigned integer (8 bytes follow)  | 0x1B
+    number_float    | *any value*                                | Double-Precision Float             | 0xFB
+    string          | *length*: 0..23                            | UTF-8 string                       | 0x60..0x77
+    string          | *length*: 23..255                          | UTF-8 string (1 byte follow)       | 0x78
+    string          | *length*: 256..65535                       | UTF-8 string (2 bytes follow)      | 0x79
+    string          | *length*: 65536..4294967295                | UTF-8 string (4 bytes follow)      | 0x7A
+    string          | *length*: 4294967296..18446744073709551615 | UTF-8 string (8 bytes follow)      | 0x7B
+    array           | *size*: 0..23                              | array                              | 0x80..0x97
+    array           | *size*: 23..255                            | array (1 byte follow)              | 0x98
+    array           | *size*: 256..65535                         | array (2 bytes follow)             | 0x99
+    array           | *size*: 65536..4294967295                  | array (4 bytes follow)             | 0x9A
+    array           | *size*: 4294967296..18446744073709551615   | array (8 bytes follow)             | 0x9B
+    object          | *size*: 0..23                              | map                                | 0xA0..0xB7
+    object          | *size*: 23..255                            | map (1 byte follow)                | 0xB8
+    object          | *size*: 256..65535                         | map (2 bytes follow)               | 0xB9
+    object          | *size*: 65536..4294967295                  | map (4 bytes follow)               | 0xBA
+    object          | *size*: 4294967296..18446744073709551615   | map (8 bytes follow)               | 0xBB
+
+    @note The mapping is **complete** in the sense that any JSON value type
+          can be converted to a CBOR value.
+
+    @note If NaN or Infinity are stored inside a JSON number, they are
+          serialized properly. This behavior differs from the @ref dump()
+          function which serializes NaN or Infinity to `null`.
+
+    @note The following CBOR types are not used in the conversion:
+          - byte strings (0x40..0x5F)
+          - UTF-8 strings terminated by "break" (0x7F)
+          - arrays terminated by "break" (0x9F)
+          - maps terminated by "break" (0xBF)
+          - date/time (0xC0..0xC1)
+          - bignum (0xC2..0xC3)
+          - decimal fraction (0xC4)
+          - bigfloat (0xC5)
+          - tagged items (0xC6..0xD4, 0xD8..0xDB)
+          - expected conversions (0xD5..0xD7)
+          - simple values (0xE0..0xF3, 0xF8)
+          - undefined (0xF7)
+          - half and single-precision floats (0xF9-0xFA)
+          - break (0xFF)
+
+    @param[in] j  JSON value to serialize
+    @return MessagePack serialization as byte vector
+
+    @complexity Linear in the size of the JSON value @a j.
+
+    @liveexample{The example shows the serialization of a JSON value to a byte
+    vector in CBOR format.,to_cbor}
+
+    @sa http://cbor.io
+    @sa @ref from_cbor(detail::input_adapter&&, const bool, const bool) for the
+        analogous deserialization
+    @sa @ref to_msgpack(const basic_json&) for the related MessagePack format
+    @sa @ref to_ubjson(const basic_json&, const bool, const bool) for the
+             related UBJSON format
+
+    @since version 2.0.9
+    */
+    static std::vector<uint8_t> to_cbor(const basic_json& j)
+    {
+        std::vector<uint8_t> result;
+        to_cbor(j, result);
+        return result;
+    }
+
+    static void to_cbor(const basic_json& j, detail::output_adapter<uint8_t> o)
+    {
+        binary_writer<uint8_t>(o).write_cbor(j);
+    }
+
+    static void to_cbor(const basic_json& j, detail::output_adapter<char> o)
+    {
+        binary_writer<char>(o).write_cbor(j);
+    }
+
+    /*!
+    @brief create a MessagePack serialization of a given JSON value
+
+    Serializes a given JSON value @a j to a byte vector using the MessagePack
+    serialization format. MessagePack is a binary serialization format which
+    aims to be more compact than JSON itself, yet more efficient to parse.
+
+    The library uses the following mapping from JSON values types to
+    MessagePack types according to the MessagePack specification:
+
+    JSON value type | value/range                       | MessagePack type | first byte
+    --------------- | --------------------------------- | ---------------- | ----------
+    null            | `null`                            | nil              | 0xC0
+    boolean         | `true`                            | true             | 0xC3
+    boolean         | `false`                           | false            | 0xC2
+    number_integer  | -9223372036854775808..-2147483649 | int64            | 0xD3
+    number_integer  | -2147483648..-32769               | int32            | 0xD2
+    number_integer  | -32768..-129                      | int16            | 0xD1
+    number_integer  | -128..-33                         | int8             | 0xD0
+    number_integer  | -32..-1                           | negative fixint  | 0xE0..0xFF
+    number_integer  | 0..127                            | positive fixint  | 0x00..0x7F
+    number_integer  | 128..255                          | uint 8           | 0xCC
+    number_integer  | 256..65535                        | uint 16          | 0xCD
+    number_integer  | 65536..4294967295                 | uint 32          | 0xCE
+    number_integer  | 4294967296..18446744073709551615  | uint 64          | 0xCF
+    number_unsigned | 0..127                            | positive fixint  | 0x00..0x7F
+    number_unsigned | 128..255                          | uint 8           | 0xCC
+    number_unsigned | 256..65535                        | uint 16          | 0xCD
+    number_unsigned | 65536..4294967295                 | uint 32          | 0xCE
+    number_unsigned | 4294967296..18446744073709551615  | uint 64          | 0xCF
+    number_float    | *any value*                       | float 64         | 0xCB
+    string          | *length*: 0..31                   | fixstr           | 0xA0..0xBF
+    string          | *length*: 32..255                 | str 8            | 0xD9
+    string          | *length*: 256..65535              | str 16           | 0xDA
+    string          | *length*: 65536..4294967295       | str 32           | 0xDB
+    array           | *size*: 0..15                     | fixarray         | 0x90..0x9F
+    array           | *size*: 16..65535                 | array 16         | 0xDC
+    array           | *size*: 65536..4294967295         | array 32         | 0xDD
+    object          | *size*: 0..15                     | fix map          | 0x80..0x8F
+    object          | *size*: 16..65535                 | map 16           | 0xDE
+    object          | *size*: 65536..4294967295         | map 32           | 0xDF
+
+    @note The mapping is **complete** in the sense that any JSON value type
+          can be converted to a MessagePack value.
+
+    @note The following values can **not** be converted to a MessagePack value:
+          - strings with more than 4294967295 bytes
+          - arrays with more than 4294967295 elements
+          - objects with more than 4294967295 elements
+
+    @note The following MessagePack types are not used in the conversion:
+          - bin 8 - bin 32 (0xC4..0xC6)
+          - ext 8 - ext 32 (0xC7..0xC9)
+          - float 32 (0xCA)
+          - fixext 1 - fixext 16 (0xD4..0xD8)
+
+    @note Any MessagePack output created @ref to_msgpack can be successfully
+          parsed by @ref from_msgpack.
+
+    @note If NaN or Infinity are stored inside a JSON number, they are
+          serialized properly. This behavior differs from the @ref dump()
+          function which serializes NaN or Infinity to `null`.
+
+    @param[in] j  JSON value to serialize
+    @return MessagePack serialization as byte vector
+
+    @complexity Linear in the size of the JSON value @a j.
+
+    @liveexample{The example shows the serialization of a JSON value to a byte
+    vector in MessagePack format.,to_msgpack}
+
+    @sa http://msgpack.org
+    @sa @ref from_msgpack for the analogous deserialization
+    @sa @ref to_cbor(const basic_json& for the related CBOR format
+    @sa @ref to_ubjson(const basic_json&, const bool, const bool) for the
+             related UBJSON format
+
+    @since version 2.0.9
+    */
+    static std::vector<uint8_t> to_msgpack(const basic_json& j)
+    {
+        std::vector<uint8_t> result;
+        to_msgpack(j, result);
+        return result;
+    }
+
+    static void to_msgpack(const basic_json& j, detail::output_adapter<uint8_t> o)
+    {
+        binary_writer<uint8_t>(o).write_msgpack(j);
+    }
+
+    static void to_msgpack(const basic_json& j, detail::output_adapter<char> o)
+    {
+        binary_writer<char>(o).write_msgpack(j);
+    }
+
+    /*!
+    @brief create a UBJSON serialization of a given JSON value
+
+    Serializes a given JSON value @a j to a byte vector using the UBJSON
+    (Universal Binary JSON) serialization format. UBJSON aims to be more compact
+    than JSON itself, yet more efficient to parse.
+
+    The library uses the following mapping from JSON values types to
+    UBJSON types according to the UBJSON specification:
+
+    JSON value type | value/range                       | UBJSON type | marker
+    --------------- | --------------------------------- | ----------- | ------
+    null            | `null`                            | null        | `Z`
+    boolean         | `true`                            | true        | `T`
+    boolean         | `false`                           | false       | `F`
+    number_integer  | -9223372036854775808..-2147483649 | int64       | `L`
+    number_integer  | -2147483648..-32769               | int32       | `l`
+    number_integer  | -32768..-129                      | int16       | `I`
+    number_integer  | -128..127                         | int8        | `i`
+    number_integer  | 128..255                          | uint8       | `U`
+    number_integer  | 256..32767                        | int16       | `I`
+    number_integer  | 32768..2147483647                 | int32       | `l`
+    number_integer  | 2147483648..9223372036854775807   | int64       | `L`
+    number_unsigned | 0..127                            | int8        | `i`
+    number_unsigned | 128..255                          | uint8       | `U`
+    number_unsigned | 256..32767                        | int16       | `I`
+    number_unsigned | 32768..2147483647                 | int32       | `l`
+    number_unsigned | 2147483648..9223372036854775807   | int64       | `L`
+    number_float    | *any value*                       | float64     | `D`
+    string          | *with shortest length indicator*  | string      | `S`
+    array           | *see notes on optimized format*   | array       | `[`
+    object          | *see notes on optimized format*   | map         | `{`
+
+    @note The mapping is **complete** in the sense that any JSON value type
+          can be converted to a UBJSON value.
+
+    @note The following values can **not** be converted to a UBJSON value:
+          - strings with more than 9223372036854775807 bytes (theoretical)
+          - unsigned integer numbers above 9223372036854775807
+
+    @note The following markers are not used in the conversion:
+          - `Z`: no-op values are not created.
+          - `C`: single-byte strings are serialized with `S` markers.
+
+    @note Any UBJSON output created @ref to_ubjson can be successfully parsed
+          by @ref from_ubjson.
+
+    @note If NaN or Infinity are stored inside a JSON number, they are
+          serialized properly. This behavior differs from the @ref dump()
+          function which serializes NaN or Infinity to `null`.
+
+    @note The optimized formats for containers are supported: Parameter
+          @a use_size adds size information to the beginning of a container and
+          removes the closing marker. Parameter @a use_type further checks
+          whether all elements of a container have the same type and adds the
+          type marker to the beginning of the container. The @a use_type
+          parameter must only be used together with @a use_size = true. Note
+          that @a use_size = true alone may result in larger representations -
+          the benefit of this parameter is that the receiving side is
+          immediately informed on the number of elements of the container.
+
+    @param[in] j  JSON value to serialize
+    @param[in] use_size  whether to add size annotations to container types
+    @param[in] use_type  whether to add type annotations to container types
+                         (must be combined with @a use_size = true)
+    @return UBJSON serialization as byte vector
+
+    @complexity Linear in the size of the JSON value @a j.
+
+    @liveexample{The example shows the serialization of a JSON value to a byte
+    vector in UBJSON format.,to_ubjson}
+
+    @sa http://ubjson.org
+    @sa @ref from_ubjson(detail::input_adapter&&, const bool, const bool) for the
+        analogous deserialization
+    @sa @ref to_cbor(const basic_json& for the related CBOR format
+    @sa @ref to_msgpack(const basic_json&) for the related MessagePack format
+
+    @since version 3.1.0
+    */
+    static std::vector<uint8_t> to_ubjson(const basic_json& j,
+                                          const bool use_size = false,
+                                          const bool use_type = false)
+    {
+        std::vector<uint8_t> result;
+        to_ubjson(j, result, use_size, use_type);
+        return result;
+    }
+
+    static void to_ubjson(const basic_json& j, detail::output_adapter<uint8_t> o,
+                          const bool use_size = false, const bool use_type = false)
+    {
+        binary_writer<uint8_t>(o).write_ubjson(j, use_size, use_type);
+    }
+
+    static void to_ubjson(const basic_json& j, detail::output_adapter<char> o,
+                          const bool use_size = false, const bool use_type = false)
+    {
+        binary_writer<char>(o).write_ubjson(j, use_size, use_type);
+    }
+
+
+    /*!
+    @brief Serializes the given JSON object `j` to BSON and returns a vector
+           containing the corresponding BSON-representation.
+
+    BSON (Binary JSON) is a binary format in which zero or more ordered key/value pairs are
+    stored as a single entity (a so-called document).
+
+    The library uses the following mapping from JSON values types to BSON types:
+
+    JSON value type | value/range                       | BSON type   | marker
+    --------------- | --------------------------------- | ----------- | ------
+    null            | `null`                            | null        | 0x0A
+    boolean         | `true`, `false`                   | boolean     | 0x08
+    number_integer  | -9223372036854775808..-2147483649 | int64       | 0x12
+    number_integer  | -2147483648..2147483647           | int32       | 0x10
+    number_integer  | 2147483648..9223372036854775807   | int64       | 0x12
+    number_unsigned | 0..2147483647                     | int32       | 0x10
+    number_unsigned | 2147483648..9223372036854775807   | int64       | 0x12
+    number_unsigned | 9223372036854775808..18446744073709551615| --   | --
+    number_float    | *any value*                       | double      | 0x01
+    string          | *any value*                       | string      | 0x02
+    array           | *any value*                       | document    | 0x04
+    object          | *any value*                       | document    | 0x03
+
+    @warning The mapping is **incomplete**, since only JSON-objects (and things
+    contained therein) can be serialized to BSON.
+    Also, integers larger than 9223372036854775807 cannot be serialized to BSON,
+    and the keys may not contain U+0000, since they are serialized a
+    zero-terminated c-strings.
+
+    @throw out_of_range.407  if `j.is_number_unsigned() && j.get<std::uint64_t>() > 9223372036854775807`
+    @throw out_of_range.409  if a key in `j` contains a NULL (U+0000)
+    @throw type_error.317    if `!j.is_object()`
+
+    @pre The input `j` is required to be an object: `j.is_object() == true`.
+
+    @note Any BSON output created via @ref to_bson can be successfully parsed
+          by @ref from_bson.
+
+    @param[in] j  JSON value to serialize
+    @return BSON serialization as byte vector
+
+    @complexity Linear in the size of the JSON value @a j.
+
+    @liveexample{The example shows the serialization of a JSON value to a byte
+    vector in BSON format.,to_bson}
+
+    @sa http://bsonspec.org/spec.html
+    @sa @ref from_bson(detail::input_adapter&&, const bool strict) for the
+        analogous deserialization
+    @sa @ref to_ubjson(const basic_json&, const bool, const bool) for the
+             related UBJSON format
+    @sa @ref to_cbor(const basic_json&) for the related CBOR format
+    @sa @ref to_msgpack(const basic_json&) for the related MessagePack format
+    */
+    static std::vector<uint8_t> to_bson(const basic_json& j)
+    {
+        std::vector<uint8_t> result;
+        to_bson(j, result);
+        return result;
+    }
+
+    /*!
+    @brief Serializes the given JSON object `j` to BSON and forwards the
+           corresponding BSON-representation to the given output_adapter `o`.
+    @param j The JSON object to convert to BSON.
+    @param o The output adapter that receives the binary BSON representation.
+    @pre The input `j` shall be an object: `j.is_object() == true`
+    @sa @ref to_bson(const basic_json&)
+    */
+    static void to_bson(const basic_json& j, detail::output_adapter<uint8_t> o)
+    {
+        binary_writer<uint8_t>(o).write_bson(j);
+    }
+
+    /*!
+    @copydoc to_bson(const basic_json&, detail::output_adapter<uint8_t>)
+    */
+    static void to_bson(const basic_json& j, detail::output_adapter<char> o)
+    {
+        binary_writer<char>(o).write_bson(j);
+    }
+
+
+    /*!
+    @brief create a JSON value from an input in CBOR format
+
+    Deserializes a given input @a i to a JSON value using the CBOR (Concise
+    Binary Object Representation) serialization format.
+
+    The library maps CBOR types to JSON value types as follows:
+
+    CBOR type              | JSON value type | first byte
+    ---------------------- | --------------- | ----------
+    Integer                | number_unsigned | 0x00..0x17
+    Unsigned integer       | number_unsigned | 0x18
+    Unsigned integer       | number_unsigned | 0x19
+    Unsigned integer       | number_unsigned | 0x1A
+    Unsigned integer       | number_unsigned | 0x1B
+    Negative integer       | number_integer  | 0x20..0x37
+    Negative integer       | number_integer  | 0x38
+    Negative integer       | number_integer  | 0x39
+    Negative integer       | number_integer  | 0x3A
+    Negative integer       | number_integer  | 0x3B
+    Negative integer       | number_integer  | 0x40..0x57
+    UTF-8 string           | string          | 0x60..0x77
+    UTF-8 string           | string          | 0x78
+    UTF-8 string           | string          | 0x79
+    UTF-8 string           | string          | 0x7A
+    UTF-8 string           | string          | 0x7B
+    UTF-8 string           | string          | 0x7F
+    array                  | array           | 0x80..0x97
+    array                  | array           | 0x98
+    array                  | array           | 0x99
+    array                  | array           | 0x9A
+    array                  | array           | 0x9B
+    array                  | array           | 0x9F
+    map                    | object          | 0xA0..0xB7
+    map                    | object          | 0xB8
+    map                    | object          | 0xB9
+    map                    | object          | 0xBA
+    map                    | object          | 0xBB
+    map                    | object          | 0xBF
+    False                  | `false`         | 0xF4
+    True                   | `true`          | 0xF5
+    Null                   | `null`          | 0xF6
+    Half-Precision Float   | number_float    | 0xF9
+    Single-Precision Float | number_float    | 0xFA
+    Double-Precision Float | number_float    | 0xFB
+
+    @warning The mapping is **incomplete** in the sense that not all CBOR
+             types can be converted to a JSON value. The following CBOR types
+             are not supported and will yield parse errors (parse_error.112):
+             - byte strings (0x40..0x5F)
+             - date/time (0xC0..0xC1)
+             - bignum (0xC2..0xC3)
+             - decimal fraction (0xC4)
+             - bigfloat (0xC5)
+             - tagged items (0xC6..0xD4, 0xD8..0xDB)
+             - expected conversions (0xD5..0xD7)
+             - simple values (0xE0..0xF3, 0xF8)
+             - undefined (0xF7)
+
+    @warning CBOR allows map keys of any type, whereas JSON only allows
+             strings as keys in object values. Therefore, CBOR maps with keys
+             other than UTF-8 strings are rejected (parse_error.113).
+
+    @note Any CBOR output created @ref to_cbor can be successfully parsed by
+          @ref from_cbor.
+
+    @param[in] i  an input in CBOR format convertible to an input adapter
+    @param[in] strict  whether to expect the input to be consumed until EOF
+                       (true by default)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+
+    @return deserialized JSON value
+
+    @throw parse_error.110 if the given input ends prematurely or the end of
+    file was not reached when @a strict was set to true
+    @throw parse_error.112 if unsupported features from CBOR were
+    used in the given input @a v or if the input is not valid CBOR
+    @throw parse_error.113 if a string was expected as map key, but not found
+
+    @complexity Linear in the size of the input @a i.
+
+    @liveexample{The example shows the deserialization of a byte vector in CBOR
+    format to a JSON value.,from_cbor}
+
+    @sa http://cbor.io
+    @sa @ref to_cbor(const basic_json&) for the analogous serialization
+    @sa @ref from_msgpack(detail::input_adapter&&, const bool, const bool) for the
+        related MessagePack format
+    @sa @ref from_ubjson(detail::input_adapter&&, const bool, const bool) for the
+        related UBJSON format
+
+    @since version 2.0.9; parameter @a start_index since 2.1.1; changed to
+           consume input adapters, removed start_index parameter, and added
+           @a strict parameter since 3.0.0; added @a allow_exceptions parameter
+           since 3.2.0
+    */
+    static basic_json from_cbor(detail::input_adapter&& i,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        const bool res = binary_reader(detail::input_adapter(i)).sax_parse(input_format_t::cbor, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @copydoc from_cbor(detail::input_adapter&&, const bool, const bool)
+    */
+    template<typename A1, typename A2,
+             detail::enable_if_t<std::is_constructible<detail::input_adapter, A1, A2>::value, int> = 0>
+    static basic_json from_cbor(A1 && a1, A2 && a2,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        const bool res = binary_reader(detail::input_adapter(std::forward<A1>(a1), std::forward<A2>(a2))).sax_parse(input_format_t::cbor, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @brief create a JSON value from an input in MessagePack format
+
+    Deserializes a given input @a i to a JSON value using the MessagePack
+    serialization format.
+
+    The library maps MessagePack types to JSON value types as follows:
+
+    MessagePack type | JSON value type | first byte
+    ---------------- | --------------- | ----------
+    positive fixint  | number_unsigned | 0x00..0x7F
+    fixmap           | object          | 0x80..0x8F
+    fixarray         | array           | 0x90..0x9F
+    fixstr           | string          | 0xA0..0xBF
+    nil              | `null`          | 0xC0
+    false            | `false`         | 0xC2
+    true             | `true`          | 0xC3
+    float 32         | number_float    | 0xCA
+    float 64         | number_float    | 0xCB
+    uint 8           | number_unsigned | 0xCC
+    uint 16          | number_unsigned | 0xCD
+    uint 32          | number_unsigned | 0xCE
+    uint 64          | number_unsigned | 0xCF
+    int 8            | number_integer  | 0xD0
+    int 16           | number_integer  | 0xD1
+    int 32           | number_integer  | 0xD2
+    int 64           | number_integer  | 0xD3
+    str 8            | string          | 0xD9
+    str 16           | string          | 0xDA
+    str 32           | string          | 0xDB
+    array 16         | array           | 0xDC
+    array 32         | array           | 0xDD
+    map 16           | object          | 0xDE
+    map 32           | object          | 0xDF
+    negative fixint  | number_integer  | 0xE0-0xFF
+
+    @warning The mapping is **incomplete** in the sense that not all
+             MessagePack types can be converted to a JSON value. The following
+             MessagePack types are not supported and will yield parse errors:
+              - bin 8 - bin 32 (0xC4..0xC6)
+              - ext 8 - ext 32 (0xC7..0xC9)
+              - fixext 1 - fixext 16 (0xD4..0xD8)
+
+    @note Any MessagePack output created @ref to_msgpack can be successfully
+          parsed by @ref from_msgpack.
+
+    @param[in] i  an input in MessagePack format convertible to an input
+                  adapter
+    @param[in] strict  whether to expect the input to be consumed until EOF
+                       (true by default)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+
+    @return deserialized JSON value
+
+    @throw parse_error.110 if the given input ends prematurely or the end of
+    file was not reached when @a strict was set to true
+    @throw parse_error.112 if unsupported features from MessagePack were
+    used in the given input @a i or if the input is not valid MessagePack
+    @throw parse_error.113 if a string was expected as map key, but not found
+
+    @complexity Linear in the size of the input @a i.
+
+    @liveexample{The example shows the deserialization of a byte vector in
+    MessagePack format to a JSON value.,from_msgpack}
+
+    @sa http://msgpack.org
+    @sa @ref to_msgpack(const basic_json&) for the analogous serialization
+    @sa @ref from_cbor(detail::input_adapter&&, const bool, const bool) for the
+        related CBOR format
+    @sa @ref from_ubjson(detail::input_adapter&&, const bool, const bool) for
+        the related UBJSON format
+    @sa @ref from_bson(detail::input_adapter&&, const bool, const bool) for
+        the related BSON format
+
+    @since version 2.0.9; parameter @a start_index since 2.1.1; changed to
+           consume input adapters, removed start_index parameter, and added
+           @a strict parameter since 3.0.0; added @a allow_exceptions parameter
+           since 3.2.0
+    */
+    static basic_json from_msgpack(detail::input_adapter&& i,
+                                   const bool strict = true,
+                                   const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        const bool res = binary_reader(detail::input_adapter(i)).sax_parse(input_format_t::msgpack, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @copydoc from_msgpack(detail::input_adapter&&, const bool, const bool)
+    */
+    template<typename A1, typename A2,
+             detail::enable_if_t<std::is_constructible<detail::input_adapter, A1, A2>::value, int> = 0>
+    static basic_json from_msgpack(A1 && a1, A2 && a2,
+                                   const bool strict = true,
+                                   const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        const bool res = binary_reader(detail::input_adapter(std::forward<A1>(a1), std::forward<A2>(a2))).sax_parse(input_format_t::msgpack, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @brief create a JSON value from an input in UBJSON format
+
+    Deserializes a given input @a i to a JSON value using the UBJSON (Universal
+    Binary JSON) serialization format.
+
+    The library maps UBJSON types to JSON value types as follows:
+
+    UBJSON type | JSON value type                         | marker
+    ----------- | --------------------------------------- | ------
+    no-op       | *no value, next value is read*          | `N`
+    null        | `null`                                  | `Z`
+    false       | `false`                                 | `F`
+    true        | `true`                                  | `T`
+    float32     | number_float                            | `d`
+    float64     | number_float                            | `D`
+    uint8       | number_unsigned                         | `U`
+    int8        | number_integer                          | `i`
+    int16       | number_integer                          | `I`
+    int32       | number_integer                          | `l`
+    int64       | number_integer                          | `L`
+    string      | string                                  | `S`
+    char        | string                                  | `C`
+    array       | array (optimized values are supported)  | `[`
+    object      | object (optimized values are supported) | `{`
+
+    @note The mapping is **complete** in the sense that any UBJSON value can
+          be converted to a JSON value.
+
+    @param[in] i  an input in UBJSON format convertible to an input adapter
+    @param[in] strict  whether to expect the input to be consumed until EOF
+                       (true by default)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+
+    @return deserialized JSON value
+
+    @throw parse_error.110 if the given input ends prematurely or the end of
+    file was not reached when @a strict was set to true
+    @throw parse_error.112 if a parse error occurs
+    @throw parse_error.113 if a string could not be parsed successfully
+
+    @complexity Linear in the size of the input @a i.
+
+    @liveexample{The example shows the deserialization of a byte vector in
+    UBJSON format to a JSON value.,from_ubjson}
+
+    @sa http://ubjson.org
+    @sa @ref to_ubjson(const basic_json&, const bool, const bool) for the
+             analogous serialization
+    @sa @ref from_cbor(detail::input_adapter&&, const bool, const bool) for the
+        related CBOR format
+    @sa @ref from_msgpack(detail::input_adapter&&, const bool, const bool) for
+        the related MessagePack format
+    @sa @ref from_bson(detail::input_adapter&&, const bool, const bool) for
+        the related BSON format
+
+    @since version 3.1.0; added @a allow_exceptions parameter since 3.2.0
+    */
+    static basic_json from_ubjson(detail::input_adapter&& i,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        const bool res = binary_reader(detail::input_adapter(i)).sax_parse(input_format_t::ubjson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @copydoc from_ubjson(detail::input_adapter&&, const bool, const bool)
+    */
+    template<typename A1, typename A2,
+             detail::enable_if_t<std::is_constructible<detail::input_adapter, A1, A2>::value, int> = 0>
+    static basic_json from_ubjson(A1 && a1, A2 && a2,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        const bool res = binary_reader(detail::input_adapter(std::forward<A1>(a1), std::forward<A2>(a2))).sax_parse(input_format_t::ubjson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @brief Create a JSON value from an input in BSON format
+
+    Deserializes a given input @a i to a JSON value using the BSON (Binary JSON)
+    serialization format.
+
+    The library maps BSON record types to JSON value types as follows:
+
+    BSON type       | BSON marker byte | JSON value type
+    --------------- | ---------------- | ---------------------------
+    double          | 0x01             | number_float
+    string          | 0x02             | string
+    document        | 0x03             | object
+    array           | 0x04             | array
+    binary          | 0x05             | still unsupported
+    undefined       | 0x06             | still unsupported
+    ObjectId        | 0x07             | still unsupported
+    boolean         | 0x08             | boolean
+    UTC Date-Time   | 0x09             | still unsupported
+    null            | 0x0A             | null
+    Regular Expr.   | 0x0B             | still unsupported
+    DB Pointer      | 0x0C             | still unsupported
+    JavaScript Code | 0x0D             | still unsupported
+    Symbol          | 0x0E             | still unsupported
+    JavaScript Code | 0x0F             | still unsupported
+    int32           | 0x10             | number_integer
+    Timestamp       | 0x11             | still unsupported
+    128-bit decimal float | 0x13       | still unsupported
+    Max Key         | 0x7F             | still unsupported
+    Min Key         | 0xFF             | still unsupported
+
+    @warning The mapping is **incomplete**. The unsupported mappings
+             are indicated in the table above.
+
+    @param[in] i  an input in BSON format convertible to an input adapter
+    @param[in] strict  whether to expect the input to be consumed until EOF
+                       (true by default)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+
+    @return deserialized JSON value
+
+    @throw parse_error.114 if an unsupported BSON record type is encountered
+
+    @complexity Linear in the size of the input @a i.
+
+    @liveexample{The example shows the deserialization of a byte vector in
+    BSON format to a JSON value.,from_bson}
+
+    @sa http://bsonspec.org/spec.html
+    @sa @ref to_bson(const basic_json&) for the analogous serialization
+    @sa @ref from_cbor(detail::input_adapter&&, const bool, const bool) for the
+        related CBOR format
+    @sa @ref from_msgpack(detail::input_adapter&&, const bool, const bool) for
+        the related MessagePack format
+    @sa @ref from_ubjson(detail::input_adapter&&, const bool, const bool) for the
+        related UBJSON format
+    */
+    static basic_json from_bson(detail::input_adapter&& i,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        const bool res = binary_reader(detail::input_adapter(i)).sax_parse(input_format_t::bson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @copydoc from_bson(detail::input_adapter&&, const bool, const bool)
+    */
+    template<typename A1, typename A2,
+             detail::enable_if_t<std::is_constructible<detail::input_adapter, A1, A2>::value, int> = 0>
+    static basic_json from_bson(A1 && a1, A2 && a2,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        const bool res = binary_reader(detail::input_adapter(std::forward<A1>(a1), std::forward<A2>(a2))).sax_parse(input_format_t::bson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+
+
+    /// @}
+
+    //////////////////////////
+    // JSON Pointer support //
+    //////////////////////////
+
+    /// @name JSON Pointer functions
+    /// @{
+
+    /*!
+    @brief access specified element via JSON Pointer
+
+    Uses a JSON pointer to retrieve a reference to the respective JSON value.
+    No bound checking is performed. Similar to @ref operator[](const typename
+    object_t::key_type&), `null` values are created in arrays and objects if
+    necessary.
+
+    In particular:
+    - If the JSON pointer points to an object key that does not exist, it
+      is created an filled with a `null` value before a reference to it
+      is returned.
+    - If the JSON pointer points to an array index that does not exist, it
+      is created an filled with a `null` value before a reference to it
+      is returned. All indices between the current maximum and the given
+      index are also filled with `null`.
+    - The special value `-` is treated as a synonym for the index past the
+      end.
+
+    @param[in] ptr  a JSON pointer
+
+    @return reference to the element pointed to by @a ptr
+
+    @complexity Constant.
+
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+
+    @liveexample{The behavior is shown in the example.,operatorjson_pointer}
+
+    @since version 2.0.0
+    */
+    reference operator[](const json_pointer& ptr)
+    {
+        return ptr.get_unchecked(this);
+    }
+
+    /*!
+    @brief access specified element via JSON Pointer
+
+    Uses a JSON pointer to retrieve a reference to the respective JSON value.
+    No bound checking is performed. The function does not change the JSON
+    value; no `null` values are created. In particular, the the special value
+    `-` yields an exception.
+
+    @param[in] ptr  JSON pointer to the desired element
+
+    @return const reference to the element pointed to by @a ptr
+
+    @complexity Constant.
+
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.402  if the array index '-' is used
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+
+    @liveexample{The behavior is shown in the example.,operatorjson_pointer_const}
+
+    @since version 2.0.0
+    */
+    const_reference operator[](const json_pointer& ptr) const
+    {
+        return ptr.get_unchecked(this);
+    }
+
+    /*!
+    @brief access specified element via JSON Pointer
+
+    Returns a reference to the element at with specified JSON pointer @a ptr,
+    with bounds checking.
+
+    @param[in] ptr  JSON pointer to the desired element
+
+    @return reference to the element pointed to by @a ptr
+
+    @throw parse_error.106 if an array index in the passed JSON pointer @a ptr
+    begins with '0'. See example below.
+
+    @throw parse_error.109 if an array index in the passed JSON pointer @a ptr
+    is not a number. See example below.
+
+    @throw out_of_range.401 if an array index in the passed JSON pointer @a ptr
+    is out of range. See example below.
+
+    @throw out_of_range.402 if the array index '-' is used in the passed JSON
+    pointer @a ptr. As `at` provides checked access (and no elements are
+    implicitly inserted), the index '-' is always invalid. See example below.
+
+    @throw out_of_range.403 if the JSON pointer describes a key of an object
+    which cannot be found. See example below.
+
+    @throw out_of_range.404 if the JSON pointer @a ptr can not be resolved.
+    See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @since version 2.0.0
+
+    @liveexample{The behavior is shown in the example.,at_json_pointer}
+    */
+    reference at(const json_pointer& ptr)
+    {
+        return ptr.get_checked(this);
+    }
+
+    /*!
+    @brief access specified element via JSON Pointer
+
+    Returns a const reference to the element at with specified JSON pointer @a
+    ptr, with bounds checking.
+
+    @param[in] ptr  JSON pointer to the desired element
+
+    @return reference to the element pointed to by @a ptr
+
+    @throw parse_error.106 if an array index in the passed JSON pointer @a ptr
+    begins with '0'. See example below.
+
+    @throw parse_error.109 if an array index in the passed JSON pointer @a ptr
+    is not a number. See example below.
+
+    @throw out_of_range.401 if an array index in the passed JSON pointer @a ptr
+    is out of range. See example below.
+
+    @throw out_of_range.402 if the array index '-' is used in the passed JSON
+    pointer @a ptr. As `at` provides checked access (and no elements are
+    implicitly inserted), the index '-' is always invalid. See example below.
+
+    @throw out_of_range.403 if the JSON pointer describes a key of an object
+    which cannot be found. See example below.
+
+    @throw out_of_range.404 if the JSON pointer @a ptr can not be resolved.
+    See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @since version 2.0.0
+
+    @liveexample{The behavior is shown in the example.,at_json_pointer_const}
+    */
+    const_reference at(const json_pointer& ptr) const
+    {
+        return ptr.get_checked(this);
+    }
+
+    /*!
+    @brief return flattened JSON value
+
+    The function creates a JSON object whose keys are JSON pointers (see [RFC
+    6901](https://tools.ietf.org/html/rfc6901)) and whose values are all
+    primitive. The original JSON value can be restored using the @ref
+    unflatten() function.
+
+    @return an object that maps JSON pointers to primitive values
+
+    @note Empty objects and arrays are flattened to `null` and will not be
+          reconstructed correctly by the @ref unflatten() function.
+
+    @complexity Linear in the size the JSON value.
+
+    @liveexample{The following code shows how a JSON object is flattened to an
+    object whose keys consist of JSON pointers.,flatten}
+
+    @sa @ref unflatten() for the reverse function
+
+    @since version 2.0.0
+    */
+    basic_json flatten() const
+    {
+        basic_json result(value_t::object);
+        json_pointer::flatten("", *this, result);
+        return result;
+    }
+
+    /*!
+    @brief unflatten a previously flattened JSON value
+
+    The function restores the arbitrary nesting of a JSON value that has been
+    flattened before using the @ref flatten() function. The JSON value must
+    meet certain constraints:
+    1. The value must be an object.
+    2. The keys must be JSON pointers (see
+       [RFC 6901](https://tools.ietf.org/html/rfc6901))
+    3. The mapped values must be primitive JSON types.
+
+    @return the original JSON from a flattened version
+
+    @note Empty objects and arrays are flattened by @ref flatten() to `null`
+          values and can not unflattened to their original type. Apart from
+          this example, for a JSON value `j`, the following is always true:
+          `j == j.flatten().unflatten()`.
+
+    @complexity Linear in the size the JSON value.
+
+    @throw type_error.314  if value is not an object
+    @throw type_error.315  if object values are not primitive
+
+    @liveexample{The following code shows how a flattened JSON object is
+    unflattened into the original nested JSON object.,unflatten}
+
+    @sa @ref flatten() for the reverse function
+
+    @since version 2.0.0
+    */
+    basic_json unflatten() const
+    {
+        return json_pointer::unflatten(*this);
+    }
+
+    /// @}
+
+    //////////////////////////
+    // JSON Patch functions //
+    //////////////////////////
+
+    /// @name JSON Patch functions
+    /// @{
+
+    /*!
+    @brief applies a JSON patch
+
+    [JSON Patch](http://jsonpatch.com) defines a JSON document structure for
+    expressing a sequence of operations to apply to a JSON) document. With
+    this function, a JSON Patch is applied to the current JSON value by
+    executing all operations from the patch.
+
+    @param[in] json_patch  JSON patch document
+    @return patched document
+
+    @note The application of a patch is atomic: Either all operations succeed
+          and the patched document is returned or an exception is thrown. In
+          any case, the original value is not changed: the patch is applied
+          to a copy of the value.
+
+    @throw parse_error.104 if the JSON patch does not consist of an array of
+    objects
+
+    @throw parse_error.105 if the JSON patch is malformed (e.g., mandatory
+    attributes are missing); example: `"operation add must have member path"`
+
+    @throw out_of_range.401 if an array index is out of range.
+
+    @throw out_of_range.403 if a JSON pointer inside the patch could not be
+    resolved successfully in the current JSON value; example: `"key baz not
+    found"`
+
+    @throw out_of_range.405 if JSON pointer has no parent ("add", "remove",
+    "move")
+
+    @throw other_error.501 if "test" operation was unsuccessful
+
+    @complexity Linear in the size of the JSON value and the length of the
+    JSON patch. As usually only a fraction of the JSON value is affected by
+    the patch, the complexity can usually be neglected.
+
+    @liveexample{The following code shows how a JSON patch is applied to a
+    value.,patch}
+
+    @sa @ref diff -- create a JSON patch by comparing two JSON values
+
+    @sa [RFC 6902 (JSON Patch)](https://tools.ietf.org/html/rfc6902)
+    @sa [RFC 6901 (JSON Pointer)](https://tools.ietf.org/html/rfc6901)
+
+    @since version 2.0.0
+    */
+    basic_json patch(const basic_json& json_patch) const
+    {
+        // make a working copy to apply the patch to
+        basic_json result = *this;
+
+        // the valid JSON Patch operations
+        enum class patch_operations {add, remove, replace, move, copy, test, invalid};
+
+        const auto get_op = [](const std::string & op)
+        {
+            if (op == "add")
+            {
+                return patch_operations::add;
+            }
+            if (op == "remove")
+            {
+                return patch_operations::remove;
+            }
+            if (op == "replace")
+            {
+                return patch_operations::replace;
+            }
+            if (op == "move")
+            {
+                return patch_operations::move;
+            }
+            if (op == "copy")
+            {
+                return patch_operations::copy;
+            }
+            if (op == "test")
+            {
+                return patch_operations::test;
+            }
+
+            return patch_operations::invalid;
+        };
+
+        // wrapper for "add" operation; add value at ptr
+        const auto operation_add = [&result](json_pointer & ptr, basic_json val)
+        {
+            // adding to the root of the target document means replacing it
+            if (ptr.is_root())
+            {
+                result = val;
+            }
+            else
+            {
+                // make sure the top element of the pointer exists
+                json_pointer top_pointer = ptr.top();
+                if (top_pointer != ptr)
+                {
+                    result.at(top_pointer);
+                }
+
+                // get reference to parent of JSON pointer ptr
+                const auto last_path = ptr.pop_back();
+                basic_json& parent = result[ptr];
+
+                switch (parent.m_type)
+                {
+                    case value_t::null:
+                    case value_t::object:
+                    {
+                        // use operator[] to add value
+                        parent[last_path] = val;
+                        break;
+                    }
+
+                    case value_t::array:
+                    {
+                        if (last_path == "-")
+                        {
+                            // special case: append to back
+                            parent.push_back(val);
+                        }
+                        else
+                        {
+                            const auto idx = json_pointer::array_index(last_path);
+                            if (JSON_UNLIKELY(static_cast<size_type>(idx) > parent.size()))
+                            {
+                                // avoid undefined behavior
+                                JSON_THROW(out_of_range::create(401, "array index " + std::to_string(idx) + " is out of range"));
+                            }
+
+                            // default case: insert add offset
+                            parent.insert(parent.begin() + static_cast<difference_type>(idx), val);
+                        }
+                        break;
+                    }
+
+                    // LCOV_EXCL_START
+                    default:
+                    {
+                        // if there exists a parent it cannot be primitive
+                        assert(false);
+                    }
+                        // LCOV_EXCL_STOP
+                }
+            }
+        };
+
+        // wrapper for "remove" operation; remove value at ptr
+        const auto operation_remove = [&result](json_pointer & ptr)
+        {
+            // get reference to parent of JSON pointer ptr
+            const auto last_path = ptr.pop_back();
+            basic_json& parent = result.at(ptr);
+
+            // remove child
+            if (parent.is_object())
+            {
+                // perform range check
+                auto it = parent.find(last_path);
+                if (JSON_LIKELY(it != parent.end()))
+                {
+                    parent.erase(it);
+                }
+                else
+                {
+                    JSON_THROW(out_of_range::create(403, "key '" + last_path + "' not found"));
+                }
+            }
+            else if (parent.is_array())
+            {
+                // note erase performs range check
+                parent.erase(static_cast<size_type>(json_pointer::array_index(last_path)));
+            }
+        };
+
+        // type check: top level value must be an array
+        if (JSON_UNLIKELY(not json_patch.is_array()))
+        {
+            JSON_THROW(parse_error::create(104, 0, "JSON patch must be an array of objects"));
+        }
+
+        // iterate and apply the operations
+        for (const auto& val : json_patch)
+        {
+            // wrapper to get a value for an operation
+            const auto get_value = [&val](const std::string & op,
+                                          const std::string & member,
+                                          bool string_type) -> basic_json &
+            {
+                // find value
+                auto it = val.m_value.object->find(member);
+
+                // context-sensitive error message
+                const auto error_msg = (op == "op") ? "operation" : "operation '" + op + "'";
+
+                // check if desired value is present
+                if (JSON_UNLIKELY(it == val.m_value.object->end()))
+                {
+                    JSON_THROW(parse_error::create(105, 0, error_msg + " must have member '" + member + "'"));
+                }
+
+                // check if result is of type string
+                if (JSON_UNLIKELY(string_type and not it->second.is_string()))
+                {
+                    JSON_THROW(parse_error::create(105, 0, error_msg + " must have string member '" + member + "'"));
+                }
+
+                // no error: return value
+                return it->second;
+            };
+
+            // type check: every element of the array must be an object
+            if (JSON_UNLIKELY(not val.is_object()))
+            {
+                JSON_THROW(parse_error::create(104, 0, "JSON patch must be an array of objects"));
+            }
+
+            // collect mandatory members
+            const std::string op = get_value("op", "op", true);
+            const std::string path = get_value(op, "path", true);
+            json_pointer ptr(path);
+
+            switch (get_op(op))
+            {
+                case patch_operations::add:
+                {
+                    operation_add(ptr, get_value("add", "value", false));
+                    break;
+                }
+
+                case patch_operations::remove:
+                {
+                    operation_remove(ptr);
+                    break;
+                }
+
+                case patch_operations::replace:
+                {
+                    // the "path" location must exist - use at()
+                    result.at(ptr) = get_value("replace", "value", false);
+                    break;
+                }
+
+                case patch_operations::move:
+                {
+                    const std::string from_path = get_value("move", "from", true);
+                    json_pointer from_ptr(from_path);
+
+                    // the "from" location must exist - use at()
+                    basic_json v = result.at(from_ptr);
+
+                    // The move operation is functionally identical to a
+                    // "remove" operation on the "from" location, followed
+                    // immediately by an "add" operation at the target
+                    // location with the value that was just removed.
+                    operation_remove(from_ptr);
+                    operation_add(ptr, v);
+                    break;
+                }
+
+                case patch_operations::copy:
+                {
+                    const std::string from_path = get_value("copy", "from", true);
+                    const json_pointer from_ptr(from_path);
+
+                    // the "from" location must exist - use at()
+                    basic_json v = result.at(from_ptr);
+
+                    // The copy is functionally identical to an "add"
+                    // operation at the target location using the value
+                    // specified in the "from" member.
+                    operation_add(ptr, v);
+                    break;
+                }
+
+                case patch_operations::test:
+                {
+                    bool success = false;
+                    JSON_TRY
+                    {
+                        // check if "value" matches the one at "path"
+                        // the "path" location must exist - use at()
+                        success = (result.at(ptr) == get_value("test", "value", false));
+                    }
+                    JSON_INTERNAL_CATCH (out_of_range&)
+                    {
+                        // ignore out of range errors: success remains false
+                    }
+
+                    // throw an exception if test fails
+                    if (JSON_UNLIKELY(not success))
+                    {
+                        JSON_THROW(other_error::create(501, "unsuccessful: " + val.dump()));
+                    }
+
+                    break;
+                }
+
+                case patch_operations::invalid:
+                {
+                    // op must be "add", "remove", "replace", "move", "copy", or
+                    // "test"
+                    JSON_THROW(parse_error::create(105, 0, "operation value '" + op + "' is invalid"));
+                }
+            }
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief creates a diff as a JSON patch
+
+    Creates a [JSON Patch](http://jsonpatch.com) so that value @a source can
+    be changed into the value @a target by calling @ref patch function.
+
+    @invariant For two JSON values @a source and @a target, the following code
+    yields always `true`:
+    @code {.cpp}
+    source.patch(diff(source, target)) == target;
+    @endcode
+
+    @note Currently, only `remove`, `add`, and `replace` operations are
+          generated.
+
+    @param[in] source  JSON value to compare from
+    @param[in] target  JSON value to compare against
+    @param[in] path    helper value to create JSON pointers
+
+    @return a JSON patch to convert the @a source to @a target
+
+    @complexity Linear in the lengths of @a source and @a target.
+
+    @liveexample{The following code shows how a JSON patch is created as a
+    diff for two JSON values.,diff}
+
+    @sa @ref patch -- apply a JSON patch
+    @sa @ref merge_patch -- apply a JSON Merge Patch
+
+    @sa [RFC 6902 (JSON Patch)](https://tools.ietf.org/html/rfc6902)
+
+    @since version 2.0.0
+    */
+    static basic_json diff(const basic_json& source, const basic_json& target,
+                           const std::string& path = "")
+    {
+        // the patch
+        basic_json result(value_t::array);
+
+        // if the values are the same, return empty patch
+        if (source == target)
+        {
+            return result;
+        }
+
+        if (source.type() != target.type())
+        {
+            // different types: replace value
+            result.push_back(
+            {
+                {"op", "replace"}, {"path", path}, {"value", target}
+            });
+        }
+        else
+        {
+            switch (source.type())
+            {
+                case value_t::array:
+                {
+                    // first pass: traverse common elements
+                    std::size_t i = 0;
+                    while (i < source.size() and i < target.size())
+                    {
+                        // recursive call to compare array values at index i
+                        auto temp_diff = diff(source[i], target[i], path + "/" + std::to_string(i));
+                        result.insert(result.end(), temp_diff.begin(), temp_diff.end());
+                        ++i;
+                    }
+
+                    // i now reached the end of at least one array
+                    // in a second pass, traverse the remaining elements
+
+                    // remove my remaining elements
+                    const auto end_index = static_cast<difference_type>(result.size());
+                    while (i < source.size())
+                    {
+                        // add operations in reverse order to avoid invalid
+                        // indices
+                        result.insert(result.begin() + end_index, object(
+                        {
+                            {"op", "remove"},
+                            {"path", path + "/" + std::to_string(i)}
+                        }));
+                        ++i;
+                    }
+
+                    // add other remaining elements
+                    while (i < target.size())
+                    {
+                        result.push_back(
+                        {
+                            {"op", "add"},
+                            {"path", path + "/" + std::to_string(i)},
+                            {"value", target[i]}
+                        });
+                        ++i;
+                    }
+
+                    break;
+                }
+
+                case value_t::object:
+                {
+                    // first pass: traverse this object's elements
+                    for (auto it = source.cbegin(); it != source.cend(); ++it)
+                    {
+                        // escape the key name to be used in a JSON patch
+                        const auto key = json_pointer::escape(it.key());
+
+                        if (target.find(it.key()) != target.end())
+                        {
+                            // recursive call to compare object values at key it
+                            auto temp_diff = diff(it.value(), target[it.key()], path + "/" + key);
+                            result.insert(result.end(), temp_diff.begin(), temp_diff.end());
+                        }
+                        else
+                        {
+                            // found a key that is not in o -> remove it
+                            result.push_back(object(
+                            {
+                                {"op", "remove"}, {"path", path + "/" + key}
+                            }));
+                        }
+                    }
+
+                    // second pass: traverse other object's elements
+                    for (auto it = target.cbegin(); it != target.cend(); ++it)
+                    {
+                        if (source.find(it.key()) == source.end())
+                        {
+                            // found a key that is not in this -> add it
+                            const auto key = json_pointer::escape(it.key());
+                            result.push_back(
+                            {
+                                {"op", "add"}, {"path", path + "/" + key},
+                                {"value", it.value()}
+                            });
+                        }
+                    }
+
+                    break;
+                }
+
+                default:
+                {
+                    // both primitive type: replace value
+                    result.push_back(
+                    {
+                        {"op", "replace"}, {"path", path}, {"value", target}
+                    });
+                    break;
+                }
+            }
+        }
+
+        return result;
+    }
+
+    /// @}
+
+    ////////////////////////////////
+    // JSON Merge Patch functions //
+    ////////////////////////////////
+
+    /// @name JSON Merge Patch functions
+    /// @{
+
+    /*!
+    @brief applies a JSON Merge Patch
+
+    The merge patch format is primarily intended for use with the HTTP PATCH
+    method as a means of describing a set of modifications to a target
+    resource's content. This function applies a merge patch to the current
+    JSON value.
+
+    The function implements the following algorithm from Section 2 of
+    [RFC 7396 (JSON Merge Patch)](https://tools.ietf.org/html/rfc7396):
+
+    ```
+    define MergePatch(Target, Patch):
+      if Patch is an Object:
+        if Target is not an Object:
+          Target = {} // Ignore the contents and set it to an empty Object
+        for each Name/Value pair in Patch:
+          if Value is null:
+            if Name exists in Target:
+              remove the Name/Value pair from Target
+          else:
+            Target[Name] = MergePatch(Target[Name], Value)
+        return Target
+      else:
+        return Patch
+    ```
+
+    Thereby, `Target` is the current object; that is, the patch is applied to
+    the current value.
+
+    @param[in] apply_patch  the patch to apply
+
+    @complexity Linear in the lengths of @a patch.
+
+    @liveexample{The following code shows how a JSON Merge Patch is applied to
+    a JSON document.,merge_patch}
+
+    @sa @ref patch -- apply a JSON patch
+    @sa [RFC 7396 (JSON Merge Patch)](https://tools.ietf.org/html/rfc7396)
+
+    @since version 3.0.0
+    */
+    void merge_patch(const basic_json& apply_patch)
+    {
+        if (apply_patch.is_object())
+        {
+            if (not is_object())
+            {
+                *this = object();
+            }
+            for (auto it = apply_patch.begin(); it != apply_patch.end(); ++it)
+            {
+                if (it.value().is_null())
+                {
+                    erase(it.key());
+                }
+                else
+                {
+                    operator[](it.key()).merge_patch(it.value());
+                }
+            }
+        }
+        else
+        {
+            *this = apply_patch;
+        }
+    }
+
+    /// @}
+};
+} // namespace nlohmann
+
+///////////////////////
+// nonmember support //
+///////////////////////
+
+// specialization of std::swap, and std::hash
+namespace std
+{
+
+/// hash value for JSON objects
+template<>
+struct hash<nlohmann::json>
+{
+    /*!
+    @brief return a hash value for a JSON object
+
+    @since version 1.0.0
+    */
+    std::size_t operator()(const nlohmann::json& j) const
+    {
+        // a naive hashing via the string representation
+        const auto& h = hash<nlohmann::json::string_t>();
+        return h(j.dump());
+    }
+};
+
+/// specialization for std::less<value_t>
+/// @note: do not remove the space after '<',
+///        see https://github.com/nlohmann/json/pull/679
+template<>
+struct less< ::nlohmann::detail::value_t>
+{
+    /*!
+    @brief compare two value_t enum values
+    @since version 3.0.0
+    */
+    bool operator()(nlohmann::detail::value_t lhs,
+                    nlohmann::detail::value_t rhs) const noexcept
+    {
+        return nlohmann::detail::operator<(lhs, rhs);
+    }
+};
+
+/*!
+@brief exchanges the values of two JSON objects
+
+@since version 1.0.0
+*/
+template<>
+inline void swap<nlohmann::json>(nlohmann::json& j1, nlohmann::json& j2) noexcept(
+    is_nothrow_move_constructible<nlohmann::json>::value and
+    is_nothrow_move_assignable<nlohmann::json>::value
+)
+{
+    j1.swap(j2);
+}
+
+} // namespace std
+
+/*!
+@brief user-defined string literal for JSON values
+
+This operator implements a user-defined string literal for JSON objects. It
+can be used by adding `"_json"` to a string literal and returns a JSON object
+if no parse error occurred.
+
+@param[in] s  a string representation of a JSON object
+@param[in] n  the length of string @a s
+@return a JSON object
+
+@since version 1.0.0
+*/
+inline nlohmann::json operator "" _json(const char* s, std::size_t n)
+{
+    return nlohmann::json::parse(s, s + n);
+}
+
+/*!
+@brief user-defined string literal for JSON pointer
+
+This operator implements a user-defined string literal for JSON Pointers. It
+can be used by adding `"_json_pointer"` to a string literal and returns a JSON pointer
+object if no parse error occurred.
+
+@param[in] s  a string representation of a JSON Pointer
+@param[in] n  the length of string @a s
+@return a JSON pointer object
+
+@since version 2.0.0
+*/
+inline nlohmann::json::json_pointer operator "" _json_pointer(const char* s, std::size_t n)
+{
+    return nlohmann::json::json_pointer(std::string(s, n));
+}
+
+// #include <nlohmann/detail/macro_unscope.hpp>
+
+
+// restore GCC/clang diagnostic settings
+#if defined(__clang__) || defined(__GNUC__) || defined(__GNUG__)
+    #pragma GCC diagnostic pop
+#endif
+#if defined(__clang__)
+    #pragma GCC diagnostic pop
+#endif
+
+// clean up
+#undef JSON_INTERNAL_CATCH
+#undef JSON_CATCH
+#undef JSON_THROW
+#undef JSON_TRY
+#undef JSON_LIKELY
+#undef JSON_UNLIKELY
+#undef JSON_DEPRECATED
+#undef JSON_HAS_CPP_14
+#undef JSON_HAS_CPP_17
+#undef NLOHMANN_BASIC_JSON_TPL_DECLARATION
+#undef NLOHMANN_BASIC_JSON_TPL
+
+
+#endif
diff --git a/libs/IO/tiny_gltf.h b/libs/IO/tiny_gltf.h
new file mode 100644
index 000000000..15d738cc6
--- /dev/null
+++ b/libs/IO/tiny_gltf.h
@@ -0,0 +1,7754 @@
+//
+// Header-only tiny glTF 2.0 loader and serializer.
+//
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2015 - Present Syoyo Fujita, Aurélien Chatelain and many
+// contributors.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+
+// Version:
+//  - v2.5.0 Add SetPreserveImageChannels() option to load image data as is.
+//  - v2.4.3 Fix null object output when when material has all default
+//  parameters.
+//  - v2.4.2 Decode percent-encoded URI.
+//  - v2.4.1 Fix some glTF object class does not have `extensions` and/or
+//  `extras` property.
+//  - v2.4.0 Experimental RapidJSON and C++14 support(Thanks to @jrkoone).
+//  - v2.3.1 Set default value of minFilter and magFilter in Sampler to -1.
+//  - v2.3.0 Modified Material representation according to glTF 2.0 schema
+//           (and introduced TextureInfo class)
+//           Change the behavior of `Value::IsNumber`. It return true either the
+//           value is int or real.
+//  - v2.2.0 Add loading 16bit PNG support. Add Sparse accessor support(Thanks
+//  to @Ybalrid)
+//  - v2.1.0 Add draco compression.
+//  - v2.0.1 Add comparsion feature(Thanks to @Selmar).
+//  - v2.0.0 glTF 2.0!.
+//
+// Tiny glTF loader is using following third party libraries:
+//
+//  - jsonhpp: C++ JSON library.
+//  - base64: base64 decode/encode library.
+//  - stb_image: Image loading library.
+//
+#ifndef TINY_GLTF_H_
+#define TINY_GLTF_H_
+
+#include <array>
+#include <cassert>
+#include <cmath>  // std::fabs
+#include <cstdint>
+#include <cstdlib>
+#include <cstring>
+#include <limits>
+#include <map>
+#include <string>
+#include <vector>
+
+#ifndef TINYGLTF_USE_CPP14
+#include <functional>
+#endif
+
+#ifdef __ANDROID__
+#ifdef TINYGLTF_ANDROID_LOAD_FROM_ASSETS
+#include <android/asset_manager.h>
+#endif
+#endif
+
+#ifdef __GNUC__
+#if (__GNUC__ < 4) || ((__GNUC__ == 4) && (__GNUC_MINOR__ <= 8))
+#define TINYGLTF_NOEXCEPT
+#else
+#define TINYGLTF_NOEXCEPT noexcept
+#endif
+#else
+#define TINYGLTF_NOEXCEPT noexcept
+#endif
+
+#define DEFAULT_METHODS(x)             \
+  ~x() = default;                      \
+  x(const x &) = default;              \
+  x(x &&) TINYGLTF_NOEXCEPT = default; \
+  x &operator=(const x &) = default;   \
+  x &operator=(x &&) TINYGLTF_NOEXCEPT = default;
+
+namespace tinygltf {
+
+#define TINYGLTF_MODE_POINTS (0)
+#define TINYGLTF_MODE_LINE (1)
+#define TINYGLTF_MODE_LINE_LOOP (2)
+#define TINYGLTF_MODE_LINE_STRIP (3)
+#define TINYGLTF_MODE_TRIANGLES (4)
+#define TINYGLTF_MODE_TRIANGLE_STRIP (5)
+#define TINYGLTF_MODE_TRIANGLE_FAN (6)
+
+#define TINYGLTF_COMPONENT_TYPE_BYTE (5120)
+#define TINYGLTF_COMPONENT_TYPE_UNSIGNED_BYTE (5121)
+#define TINYGLTF_COMPONENT_TYPE_SHORT (5122)
+#define TINYGLTF_COMPONENT_TYPE_UNSIGNED_SHORT (5123)
+#define TINYGLTF_COMPONENT_TYPE_INT (5124)
+#define TINYGLTF_COMPONENT_TYPE_UNSIGNED_INT (5125)
+#define TINYGLTF_COMPONENT_TYPE_FLOAT (5126)
+#define TINYGLTF_COMPONENT_TYPE_DOUBLE (5130)
+
+#define TINYGLTF_TEXTURE_FILTER_NEAREST (9728)
+#define TINYGLTF_TEXTURE_FILTER_LINEAR (9729)
+#define TINYGLTF_TEXTURE_FILTER_NEAREST_MIPMAP_NEAREST (9984)
+#define TINYGLTF_TEXTURE_FILTER_LINEAR_MIPMAP_NEAREST (9985)
+#define TINYGLTF_TEXTURE_FILTER_NEAREST_MIPMAP_LINEAR (9986)
+#define TINYGLTF_TEXTURE_FILTER_LINEAR_MIPMAP_LINEAR (9987)
+
+#define TINYGLTF_TEXTURE_WRAP_REPEAT (10497)
+#define TINYGLTF_TEXTURE_WRAP_CLAMP_TO_EDGE (33071)
+#define TINYGLTF_TEXTURE_WRAP_MIRRORED_REPEAT (33648)
+
+// Redeclarations of the above for technique.parameters.
+#define TINYGLTF_PARAMETER_TYPE_BYTE (5120)
+#define TINYGLTF_PARAMETER_TYPE_UNSIGNED_BYTE (5121)
+#define TINYGLTF_PARAMETER_TYPE_SHORT (5122)
+#define TINYGLTF_PARAMETER_TYPE_UNSIGNED_SHORT (5123)
+#define TINYGLTF_PARAMETER_TYPE_INT (5124)
+#define TINYGLTF_PARAMETER_TYPE_UNSIGNED_INT (5125)
+#define TINYGLTF_PARAMETER_TYPE_FLOAT (5126)
+
+#define TINYGLTF_PARAMETER_TYPE_FLOAT_VEC2 (35664)
+#define TINYGLTF_PARAMETER_TYPE_FLOAT_VEC3 (35665)
+#define TINYGLTF_PARAMETER_TYPE_FLOAT_VEC4 (35666)
+
+#define TINYGLTF_PARAMETER_TYPE_INT_VEC2 (35667)
+#define TINYGLTF_PARAMETER_TYPE_INT_VEC3 (35668)
+#define TINYGLTF_PARAMETER_TYPE_INT_VEC4 (35669)
+
+#define TINYGLTF_PARAMETER_TYPE_BOOL (35670)
+#define TINYGLTF_PARAMETER_TYPE_BOOL_VEC2 (35671)
+#define TINYGLTF_PARAMETER_TYPE_BOOL_VEC3 (35672)
+#define TINYGLTF_PARAMETER_TYPE_BOOL_VEC4 (35673)
+
+#define TINYGLTF_PARAMETER_TYPE_FLOAT_MAT2 (35674)
+#define TINYGLTF_PARAMETER_TYPE_FLOAT_MAT3 (35675)
+#define TINYGLTF_PARAMETER_TYPE_FLOAT_MAT4 (35676)
+
+#define TINYGLTF_PARAMETER_TYPE_SAMPLER_2D (35678)
+
+// End parameter types
+
+#define TINYGLTF_TYPE_VEC2 (2)
+#define TINYGLTF_TYPE_VEC3 (3)
+#define TINYGLTF_TYPE_VEC4 (4)
+#define TINYGLTF_TYPE_MAT2 (32 + 2)
+#define TINYGLTF_TYPE_MAT3 (32 + 3)
+#define TINYGLTF_TYPE_MAT4 (32 + 4)
+#define TINYGLTF_TYPE_SCALAR (64 + 1)
+#define TINYGLTF_TYPE_VECTOR (64 + 4)
+#define TINYGLTF_TYPE_MATRIX (64 + 16)
+
+#define TINYGLTF_IMAGE_FORMAT_JPEG (0)
+#define TINYGLTF_IMAGE_FORMAT_PNG (1)
+#define TINYGLTF_IMAGE_FORMAT_BMP (2)
+#define TINYGLTF_IMAGE_FORMAT_GIF (3)
+
+#define TINYGLTF_TEXTURE_FORMAT_ALPHA (6406)
+#define TINYGLTF_TEXTURE_FORMAT_RGB (6407)
+#define TINYGLTF_TEXTURE_FORMAT_RGBA (6408)
+#define TINYGLTF_TEXTURE_FORMAT_LUMINANCE (6409)
+#define TINYGLTF_TEXTURE_FORMAT_LUMINANCE_ALPHA (6410)
+
+#define TINYGLTF_TEXTURE_TARGET_TEXTURE2D (3553)
+#define TINYGLTF_TEXTURE_TYPE_UNSIGNED_BYTE (5121)
+
+#define TINYGLTF_TARGET_ARRAY_BUFFER (34962)
+#define TINYGLTF_TARGET_ELEMENT_ARRAY_BUFFER (34963)
+
+#define TINYGLTF_SHADER_TYPE_VERTEX_SHADER (35633)
+#define TINYGLTF_SHADER_TYPE_FRAGMENT_SHADER (35632)
+
+#define TINYGLTF_DOUBLE_EPS (1.e-12)
+#define TINYGLTF_DOUBLE_EQUAL(a, b) (std::fabs((b) - (a)) < TINYGLTF_DOUBLE_EPS)
+
+#ifdef __ANDROID__
+#ifdef TINYGLTF_ANDROID_LOAD_FROM_ASSETS
+AAssetManager *asset_manager = nullptr;
+#endif
+#endif
+
+typedef enum {
+  NULL_TYPE = 0,
+  REAL_TYPE = 1,
+  INT_TYPE = 2,
+  BOOL_TYPE = 3,
+  STRING_TYPE = 4,
+  ARRAY_TYPE = 5,
+  BINARY_TYPE = 6,
+  OBJECT_TYPE = 7
+} Type;
+
+static inline int32_t GetComponentSizeInBytes(uint32_t componentType) {
+  if (componentType == TINYGLTF_COMPONENT_TYPE_BYTE) {
+    return 1;
+  } else if (componentType == TINYGLTF_COMPONENT_TYPE_UNSIGNED_BYTE) {
+    return 1;
+  } else if (componentType == TINYGLTF_COMPONENT_TYPE_SHORT) {
+    return 2;
+  } else if (componentType == TINYGLTF_COMPONENT_TYPE_UNSIGNED_SHORT) {
+    return 2;
+  } else if (componentType == TINYGLTF_COMPONENT_TYPE_INT) {
+    return 4;
+  } else if (componentType == TINYGLTF_COMPONENT_TYPE_UNSIGNED_INT) {
+    return 4;
+  } else if (componentType == TINYGLTF_COMPONENT_TYPE_FLOAT) {
+    return 4;
+  } else if (componentType == TINYGLTF_COMPONENT_TYPE_DOUBLE) {
+    return 8;
+  } else {
+    // Unknown componenty type
+    return -1;
+  }
+}
+
+static inline int32_t GetNumComponentsInType(uint32_t ty) {
+  if (ty == TINYGLTF_TYPE_SCALAR) {
+    return 1;
+  } else if (ty == TINYGLTF_TYPE_VEC2) {
+    return 2;
+  } else if (ty == TINYGLTF_TYPE_VEC3) {
+    return 3;
+  } else if (ty == TINYGLTF_TYPE_VEC4) {
+    return 4;
+  } else if (ty == TINYGLTF_TYPE_MAT2) {
+    return 4;
+  } else if (ty == TINYGLTF_TYPE_MAT3) {
+    return 9;
+  } else if (ty == TINYGLTF_TYPE_MAT4) {
+    return 16;
+  } else {
+    // Unknown componenty type
+    return -1;
+  }
+}
+
+// TODO(syoyo): Move these functions to TinyGLTF class
+bool IsDataURI(const std::string &in);
+bool DecodeDataURI(std::vector<unsigned char> *out, std::string &mime_type,
+                   const std::string &in, size_t reqBytes, bool checkSize);
+
+#ifdef __clang__
+#pragma clang diagnostic push
+// Suppress warning for : static Value null_value
+// https://stackoverflow.com/questions/15708411/how-to-deal-with-global-constructor-warning-in-clang
+#pragma clang diagnostic ignored "-Wexit-time-destructors"
+#pragma clang diagnostic ignored "-Wpadded"
+#endif
+
+// Simple class to represent JSON object
+class Value {
+ public:
+  typedef std::vector<Value> Array;
+  typedef std::map<std::string, Value> Object;
+
+  Value()
+      : type_(NULL_TYPE),
+        int_value_(0),
+        real_value_(0.0),
+        boolean_value_(false) {}
+
+  explicit Value(bool b) : type_(BOOL_TYPE) { boolean_value_ = b; }
+  explicit Value(int i) : type_(INT_TYPE) {
+    int_value_ = i;
+    real_value_ = i;
+  }
+  explicit Value(double n) : type_(REAL_TYPE) { real_value_ = n; }
+  explicit Value(const std::string &s) : type_(STRING_TYPE) {
+    string_value_ = s;
+  }
+  explicit Value(std::string &&s)
+      : type_(STRING_TYPE), string_value_(std::move(s)) {}
+  explicit Value(const unsigned char *p, size_t n) : type_(BINARY_TYPE) {
+    binary_value_.resize(n);
+    memcpy(binary_value_.data(), p, n);
+  }
+  explicit Value(std::vector<unsigned char> &&v) noexcept
+      : type_(BINARY_TYPE),
+        binary_value_(std::move(v)) {}
+  explicit Value(const Array &a) : type_(ARRAY_TYPE) { array_value_ = a; }
+  explicit Value(Array &&a) noexcept : type_(ARRAY_TYPE),
+                                       array_value_(std::move(a)) {}
+
+  explicit Value(const Object &o) : type_(OBJECT_TYPE) { object_value_ = o; }
+  explicit Value(Object &&o) noexcept : type_(OBJECT_TYPE),
+                                        object_value_(std::move(o)) {}
+
+  DEFAULT_METHODS(Value)
+
+  char Type() const { return static_cast<char>(type_); }
+
+  bool IsBool() const { return (type_ == BOOL_TYPE); }
+
+  bool IsInt() const { return (type_ == INT_TYPE); }
+
+  bool IsNumber() const { return (type_ == REAL_TYPE) || (type_ == INT_TYPE); }
+
+  bool IsReal() const { return (type_ == REAL_TYPE); }
+
+  bool IsString() const { return (type_ == STRING_TYPE); }
+
+  bool IsBinary() const { return (type_ == BINARY_TYPE); }
+
+  bool IsArray() const { return (type_ == ARRAY_TYPE); }
+
+  bool IsObject() const { return (type_ == OBJECT_TYPE); }
+
+  // Use this function if you want to have number value as double.
+  double GetNumberAsDouble() const {
+    if (type_ == INT_TYPE) {
+      return double(int_value_);
+    } else {
+      return real_value_;
+    }
+  }
+
+  // Use this function if you want to have number value as int.
+  // TODO(syoyo): Support int value larger than 32 bits
+  int GetNumberAsInt() const {
+    if (type_ == REAL_TYPE) {
+      return int(real_value_);
+    } else {
+      return int_value_;
+    }
+  }
+
+  // Accessor
+  template <typename T>
+  const T &Get() const;
+  template <typename T>
+  T &Get();
+
+  // Lookup value from an array
+  const Value &Get(int idx) const {
+    static Value null_value;
+    assert(IsArray());
+    assert(idx >= 0);
+    return (static_cast<size_t>(idx) < array_value_.size())
+               ? array_value_[static_cast<size_t>(idx)]
+               : null_value;
+  }
+
+  // Lookup value from a key-value pair
+  const Value &Get(const std::string &key) const {
+    static Value null_value;
+    assert(IsObject());
+    Object::const_iterator it = object_value_.find(key);
+    return (it != object_value_.end()) ? it->second : null_value;
+  }
+
+  size_t ArrayLen() const {
+    if (!IsArray()) return 0;
+    return array_value_.size();
+  }
+
+  // Valid only for object type.
+  bool Has(const std::string &key) const {
+    if (!IsObject()) return false;
+    Object::const_iterator it = object_value_.find(key);
+    return (it != object_value_.end()) ? true : false;
+  }
+
+  // List keys
+  std::vector<std::string> Keys() const {
+    std::vector<std::string> keys;
+    if (!IsObject()) return keys;  // empty
+
+    for (Object::const_iterator it = object_value_.begin();
+         it != object_value_.end(); ++it) {
+      keys.push_back(it->first);
+    }
+
+    return keys;
+  }
+
+  size_t Size() const { return (IsArray() ? ArrayLen() : Keys().size()); }
+
+  bool operator==(const tinygltf::Value &other) const;
+
+ protected:
+  int type_ = NULL_TYPE;
+
+  int int_value_ = 0;
+  double real_value_ = 0.0;
+  std::string string_value_;
+  std::vector<unsigned char> binary_value_;
+  Array array_value_;
+  Object object_value_;
+  bool boolean_value_ = false;
+};
+
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
+
+#define TINYGLTF_VALUE_GET(ctype, var)            \
+  template <>                                     \
+  inline const ctype &Value::Get<ctype>() const { \
+    return var;                                   \
+  }                                               \
+  template <>                                     \
+  inline ctype &Value::Get<ctype>() {             \
+    return var;                                   \
+  }
+TINYGLTF_VALUE_GET(bool, boolean_value_)
+TINYGLTF_VALUE_GET(double, real_value_)
+TINYGLTF_VALUE_GET(int, int_value_)
+TINYGLTF_VALUE_GET(std::string, string_value_)
+TINYGLTF_VALUE_GET(std::vector<unsigned char>, binary_value_)
+TINYGLTF_VALUE_GET(Value::Array, array_value_)
+TINYGLTF_VALUE_GET(Value::Object, object_value_)
+#undef TINYGLTF_VALUE_GET
+
+#ifdef __clang__
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wc++98-compat"
+#pragma clang diagnostic ignored "-Wpadded"
+#endif
+
+/// Agregate object for representing a color
+using ColorValue = std::array<double, 4>;
+
+// === legacy interface ====
+// TODO(syoyo): Deprecate `Parameter` class.
+struct Parameter {
+  bool bool_value = false;
+  bool has_number_value = false;
+  std::string string_value;
+  std::vector<double> number_array;
+  std::map<std::string, double> json_double_value;
+  double number_value = 0.0;
+
+  // context sensitive methods. depending the type of the Parameter you are
+  // accessing, these are either valid or not
+  // If this parameter represent a texture map in a material, will return the
+  // texture index
+
+  /// Return the index of a texture if this Parameter is a texture map.
+  /// Returned value is only valid if the parameter represent a texture from a
+  /// material
+  int TextureIndex() const {
+    const auto it = json_double_value.find("index");
+    if (it != std::end(json_double_value)) {
+      return int(it->second);
+    }
+    return -1;
+  }
+
+  /// Return the index of a texture coordinate set if this Parameter is a
+  /// texture map. Returned value is only valid if the parameter represent a
+  /// texture from a material
+  int TextureTexCoord() const {
+    const auto it = json_double_value.find("texCoord");
+    if (it != std::end(json_double_value)) {
+      return int(it->second);
+    }
+    // As per the spec, if texCoord is ommited, this parameter is 0
+    return 0;
+  }
+
+  /// Return the scale of a texture if this Parameter is a normal texture map.
+  /// Returned value is only valid if the parameter represent a normal texture
+  /// from a material
+  double TextureScale() const {
+    const auto it = json_double_value.find("scale");
+    if (it != std::end(json_double_value)) {
+      return it->second;
+    }
+    // As per the spec, if scale is ommited, this paramter is 1
+    return 1;
+  }
+
+  /// Return the strength of a texture if this Parameter is a an occlusion map.
+  /// Returned value is only valid if the parameter represent an occlusion map
+  /// from a material
+  double TextureStrength() const {
+    const auto it = json_double_value.find("strength");
+    if (it != std::end(json_double_value)) {
+      return it->second;
+    }
+    // As per the spec, if strenghth is ommited, this parameter is 1
+    return 1;
+  }
+
+  /// Material factor, like the roughness or metalness of a material
+  /// Returned value is only valid if the parameter represent a texture from a
+  /// material
+  double Factor() const { return number_value; }
+
+  /// Return the color of a material
+  /// Returned value is only valid if the parameter represent a texture from a
+  /// material
+  ColorValue ColorFactor() const {
+    return {
+        {// this agregate intialize the std::array object, and uses C++11 RVO.
+         number_array[0], number_array[1], number_array[2],
+         (number_array.size() > 3 ? number_array[3] : 1.0)}};
+  }
+
+  Parameter() = default;
+  DEFAULT_METHODS(Parameter)
+  bool operator==(const Parameter &) const;
+};
+
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
+
+#ifdef __clang__
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wpadded"
+#endif
+
+typedef std::map<std::string, Parameter> ParameterMap;
+typedef std::map<std::string, Value> ExtensionMap;
+
+struct AnimationChannel {
+  int sampler;              // required
+  int target_node;          // required (index of the node to target)
+  std::string target_path;  // required in ["translation", "rotation", "scale",
+                            // "weights"]
+  Value extras;
+  ExtensionMap extensions;
+  ExtensionMap target_extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+  std::string target_extensions_json_string;
+
+  AnimationChannel() : sampler(-1), target_node(-1) {}
+  DEFAULT_METHODS(AnimationChannel)
+  bool operator==(const AnimationChannel &) const;
+};
+
+struct AnimationSampler {
+  int input;                  // required
+  int output;                 // required
+  std::string interpolation;  // "LINEAR", "STEP","CUBICSPLINE" or user defined
+                              // string. default "LINEAR"
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  AnimationSampler() : input(-1), output(-1), interpolation("LINEAR") {}
+  DEFAULT_METHODS(AnimationSampler)
+  bool operator==(const AnimationSampler &) const;
+};
+
+struct Animation {
+  std::string name;
+  std::vector<AnimationChannel> channels;
+  std::vector<AnimationSampler> samplers;
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  Animation() = default;
+  DEFAULT_METHODS(Animation)
+  bool operator==(const Animation &) const;
+};
+
+struct Skin {
+  std::string name;
+  int inverseBindMatrices;  // required here but not in the spec
+  int skeleton;             // The index of the node used as a skeleton root
+  std::vector<int> joints;  // Indices of skeleton nodes
+
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  Skin() {
+    inverseBindMatrices = -1;
+    skeleton = -1;
+  }
+  DEFAULT_METHODS(Skin)
+  bool operator==(const Skin &) const;
+};
+
+struct Sampler {
+  std::string name;
+  // glTF 2.0 spec does not define default value for `minFilter` and
+  // `magFilter`. Set -1 in TinyGLTF(issue #186)
+  int minFilter =
+      -1;  // optional. -1 = no filter defined. ["NEAREST", "LINEAR",
+           // "NEAREST_MIPMAP_LINEAR", "LINEAR_MIPMAP_NEAREST",
+           // "NEAREST_MIPMAP_LINEAR", "LINEAR_MIPMAP_LINEAR"]
+  int magFilter =
+      -1;  // optional. -1 = no filter defined. ["NEAREST", "LINEAR"]
+  int wrapS =
+      TINYGLTF_TEXTURE_WRAP_REPEAT;  // ["CLAMP_TO_EDGE", "MIRRORED_REPEAT",
+                                     // "REPEAT"], default "REPEAT"
+  int wrapT =
+      TINYGLTF_TEXTURE_WRAP_REPEAT;  // ["CLAMP_TO_EDGE", "MIRRORED_REPEAT",
+                                     // "REPEAT"], default "REPEAT"
+  //int wrapR = TINYGLTF_TEXTURE_WRAP_REPEAT;  // TinyGLTF extension. currently not used.
+
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  Sampler()
+      : minFilter(-1),
+        magFilter(-1),
+        wrapS(TINYGLTF_TEXTURE_WRAP_REPEAT),
+        wrapT(TINYGLTF_TEXTURE_WRAP_REPEAT) {}
+  DEFAULT_METHODS(Sampler)
+  bool operator==(const Sampler &) const;
+};
+
+struct Image {
+  std::string name;
+  int width;
+  int height;
+  int component;
+  int bits;        // bit depth per channel. 8(byte), 16 or 32.
+  int pixel_type;  // pixel type(TINYGLTF_COMPONENT_TYPE_***). usually
+                   // UBYTE(bits = 8) or USHORT(bits = 16)
+  std::vector<unsigned char> image;
+  int bufferView;        // (required if no uri)
+  std::string mimeType;  // (required if no uri) ["image/jpeg", "image/png",
+                         // "image/bmp", "image/gif"]
+  std::string uri;       // (required if no mimeType) uri is not decoded(e.g.
+                         // whitespace may be represented as %20)
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  // When this flag is true, data is stored to `image` in as-is format(e.g. jpeg
+  // compressed for "image/jpeg" mime) This feature is good if you use custom
+  // image loader function. (e.g. delayed decoding of images for faster glTF
+  // parsing) Default parser for Image does not provide as-is loading feature at
+  // the moment. (You can manipulate this by providing your own LoadImageData
+  // function)
+  bool as_is;
+
+  Image() : as_is(false) {
+    bufferView = -1;
+    width = -1;
+    height = -1;
+    component = -1;
+    bits = -1;
+    pixel_type = -1;
+  }
+  DEFAULT_METHODS(Image)
+
+  bool operator==(const Image &) const;
+};
+
+struct Texture {
+  std::string name;
+
+  int sampler;
+  int source;
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  Texture() : sampler(-1), source(-1) {}
+  DEFAULT_METHODS(Texture)
+
+  bool operator==(const Texture &) const;
+};
+
+struct TextureInfo {
+  int index = -1;  // required.
+  int texCoord;    // The set index of texture's TEXCOORD attribute used for
+                   // texture coordinate mapping.
+
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  TextureInfo() : index(-1), texCoord(0) {}
+  DEFAULT_METHODS(TextureInfo)
+  bool operator==(const TextureInfo &) const;
+};
+
+struct NormalTextureInfo {
+  int index = -1;  // required
+  int texCoord;    // The set index of texture's TEXCOORD attribute used for
+                   // texture coordinate mapping.
+  double scale;    // scaledNormal = normalize((<sampled normal texture value>
+                   // * 2.0 - 1.0) * vec3(<normal scale>, <normal scale>, 1.0))
+
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  NormalTextureInfo() : index(-1), texCoord(0), scale(1.0) {}
+  DEFAULT_METHODS(NormalTextureInfo)
+  bool operator==(const NormalTextureInfo &) const;
+};
+
+struct OcclusionTextureInfo {
+  int index = -1;   // required
+  int texCoord;     // The set index of texture's TEXCOORD attribute used for
+                    // texture coordinate mapping.
+  double strength;  // occludedColor = lerp(color, color * <sampled occlusion
+                    // texture value>, <occlusion strength>)
+
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  OcclusionTextureInfo() : index(-1), texCoord(0), strength(1.0) {}
+  DEFAULT_METHODS(OcclusionTextureInfo)
+  bool operator==(const OcclusionTextureInfo &) const;
+};
+
+// pbrMetallicRoughness class defined in glTF 2.0 spec.
+struct PbrMetallicRoughness {
+  std::vector<double> baseColorFactor;  // len = 4. default [1,1,1,1]
+  TextureInfo baseColorTexture;
+  double metallicFactor;   // default 1
+  double roughnessFactor;  // default 1
+  TextureInfo metallicRoughnessTexture;
+
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  PbrMetallicRoughness()
+      : baseColorFactor(std::vector<double>{1.0, 1.0, 1.0, 1.0}),
+        metallicFactor(1.0),
+        roughnessFactor(1.0) {}
+  DEFAULT_METHODS(PbrMetallicRoughness)
+  bool operator==(const PbrMetallicRoughness &) const;
+};
+
+// Each extension should be stored in a ParameterMap.
+// members not in the values could be included in the ParameterMap
+// to keep a single material model
+struct Material {
+  std::string name;
+
+  std::vector<double> emissiveFactor;  // length 3. default [0, 0, 0]
+  std::string alphaMode;               // default "OPAQUE"
+  double alphaCutoff;                  // default 0.5
+  bool doubleSided;                    // default false;
+
+  PbrMetallicRoughness pbrMetallicRoughness;
+
+  NormalTextureInfo normalTexture;
+  OcclusionTextureInfo occlusionTexture;
+  TextureInfo emissiveTexture;
+
+  // For backward compatibility
+  // TODO(syoyo): Remove `values` and `additionalValues` in the next release.
+  ParameterMap values;
+  ParameterMap additionalValues;
+
+  ExtensionMap extensions;
+  Value extras;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  Material() : alphaMode("OPAQUE"), alphaCutoff(0.5), doubleSided(false) {}
+  DEFAULT_METHODS(Material)
+
+  bool operator==(const Material &) const;
+};
+
+struct BufferView {
+  std::string name;
+  int buffer{-1};        // Required
+  size_t byteOffset{0};  // minimum 0, default 0
+  size_t byteLength{0};  // required, minimum 1. 0 = invalid
+  size_t byteStride{0};  // minimum 4, maximum 252 (multiple of 4), default 0 =
+                         // understood to be tightly packed
+  int target{0};  // ["ARRAY_BUFFER", "ELEMENT_ARRAY_BUFFER"] for vertex indices
+                  // or atttribs. Could be 0 for other data
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  bool dracoDecoded{false};  // Flag indicating this has been draco decoded
+
+  BufferView()
+      : buffer(-1),
+        byteOffset(0),
+        byteLength(0),
+        byteStride(0),
+        target(0),
+        dracoDecoded(false) {}
+  DEFAULT_METHODS(BufferView)
+  bool operator==(const BufferView &) const;
+};
+
+struct Accessor {
+  int bufferView;  // optional in spec but required here since sparse accessor
+                   // are not supported
+  std::string name;
+  size_t byteOffset;
+  bool normalized;    // optional.
+  int componentType;  // (required) One of TINYGLTF_COMPONENT_TYPE_***
+  size_t count;       // required
+  int type;           // (required) One of TINYGLTF_TYPE_***   ..
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  std::vector<double>
+      minValues;  // optional. integer value is promoted to double
+  std::vector<double>
+      maxValues;  // optional. integer value is promoted to double
+
+  struct {
+    int count;
+    bool isSparse;
+    struct {
+      int byteOffset;
+      int bufferView;
+      int componentType;  // a TINYGLTF_COMPONENT_TYPE_ value
+    } indices;
+    struct {
+      int bufferView;
+      int byteOffset;
+    } values;
+  } sparse;
+
+  ///
+  /// Utility function to compute byteStride for a given bufferView object.
+  /// Returns -1 upon invalid glTF value or parameter configuration.
+  ///
+  int ByteStride(const BufferView &bufferViewObject) const {
+    if (bufferViewObject.byteStride == 0) {
+      // Assume data is tightly packed.
+      int componentSizeInBytes =
+          GetComponentSizeInBytes(static_cast<uint32_t>(componentType));
+      if (componentSizeInBytes <= 0) {
+        return -1;
+      }
+
+      int numComponents = GetNumComponentsInType(static_cast<uint32_t>(type));
+      if (numComponents <= 0) {
+        return -1;
+      }
+
+      return componentSizeInBytes * numComponents;
+    } else {
+      // Check if byteStride is a mulple of the size of the accessor's component
+      // type.
+      int componentSizeInBytes =
+          GetComponentSizeInBytes(static_cast<uint32_t>(componentType));
+      if (componentSizeInBytes <= 0) {
+        return -1;
+      }
+
+      if ((bufferViewObject.byteStride % uint32_t(componentSizeInBytes)) != 0) {
+        return -1;
+      }
+      return static_cast<int>(bufferViewObject.byteStride);
+    }
+
+    // unreachable return 0;
+  }
+
+  Accessor()
+      : bufferView(-1),
+        byteOffset(0),
+        normalized(false),
+        componentType(-1),
+        count(0),
+        type(-1) {
+    sparse.isSparse = false;
+  }
+  DEFAULT_METHODS(Accessor)
+  bool operator==(const tinygltf::Accessor &) const;
+};
+
+struct PerspectiveCamera {
+  double aspectRatio;  // min > 0
+  double yfov;         // required. min > 0
+  double zfar;         // min > 0
+  double znear;        // required. min > 0
+
+  PerspectiveCamera()
+      : aspectRatio(0.0),
+        yfov(0.0),
+        zfar(0.0)  // 0 = use infinite projecton matrix
+        ,
+        znear(0.0) {}
+  DEFAULT_METHODS(PerspectiveCamera)
+  bool operator==(const PerspectiveCamera &) const;
+
+  ExtensionMap extensions;
+  Value extras;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+};
+
+struct OrthographicCamera {
+  double xmag;   // required. must not be zero.
+  double ymag;   // required. must not be zero.
+  double zfar;   // required. `zfar` must be greater than `znear`.
+  double znear;  // required
+
+  OrthographicCamera() : xmag(0.0), ymag(0.0), zfar(0.0), znear(0.0) {}
+  DEFAULT_METHODS(OrthographicCamera)
+  bool operator==(const OrthographicCamera &) const;
+
+  ExtensionMap extensions;
+  Value extras;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+};
+
+struct Camera {
+  std::string type;  // required. "perspective" or "orthographic"
+  std::string name;
+
+  PerspectiveCamera perspective;
+  OrthographicCamera orthographic;
+
+  Camera() {}
+  DEFAULT_METHODS(Camera)
+  bool operator==(const Camera &) const;
+
+  ExtensionMap extensions;
+  Value extras;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+};
+
+struct Primitive {
+  std::map<std::string, int> attributes;  // (required) A dictionary object of
+                                          // integer, where each integer
+                                          // is the index of the accessor
+                                          // containing an attribute.
+  int material;  // The index of the material to apply to this primitive
+                 // when rendering.
+  int indices;   // The index of the accessor that contains the indices.
+  int mode;      // one of TINYGLTF_MODE_***
+  std::vector<std::map<std::string, int> > targets;  // array of morph targets,
+  // where each target is a dict with attribues in ["POSITION, "NORMAL",
+  // "TANGENT"] pointing
+  // to their corresponding accessors
+  ExtensionMap extensions;
+  Value extras;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  Primitive() {
+    material = -1;
+    indices = -1;
+    mode = -1;
+  }
+  DEFAULT_METHODS(Primitive)
+  bool operator==(const Primitive &) const;
+};
+
+struct Mesh {
+  std::string name;
+  std::vector<Primitive> primitives;
+  std::vector<double> weights;  // weights to be applied to the Morph Targets
+  ExtensionMap extensions;
+  Value extras;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  Mesh() = default;
+  DEFAULT_METHODS(Mesh)
+  bool operator==(const Mesh &) const;
+};
+
+class Node {
+ public:
+  Node() : camera(-1), skin(-1), mesh(-1) {}
+
+  DEFAULT_METHODS(Node)
+
+  bool operator==(const Node &) const;
+
+  int camera;  // the index of the camera referenced by this node
+
+  std::string name;
+  int skin;
+  int mesh;
+  std::vector<int> children;
+  std::vector<double> rotation;     // length must be 0 or 4
+  std::vector<double> scale;        // length must be 0 or 3
+  std::vector<double> translation;  // length must be 0 or 3
+  std::vector<double> matrix;       // length must be 0 or 16
+  std::vector<double> weights;  // The weights of the instantiated Morph Target
+
+  ExtensionMap extensions;
+  Value extras;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+};
+
+struct Buffer {
+  std::string name;
+  std::vector<unsigned char> data;
+  std::string
+      uri;  // considered as required here but not in the spec (need to clarify)
+            // uri is not decoded(e.g. whitespace may be represented as %20)
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  Buffer() = default;
+  DEFAULT_METHODS(Buffer)
+  bool operator==(const Buffer &) const;
+};
+
+struct Asset {
+  std::string version = "2.0";  // required
+  std::string generator;
+  std::string minVersion;
+  std::string copyright;
+  ExtensionMap extensions;
+  Value extras;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  Asset() = default;
+  DEFAULT_METHODS(Asset)
+  bool operator==(const Asset &) const;
+};
+
+struct Scene {
+  std::string name;
+  std::vector<int> nodes;
+
+  ExtensionMap extensions;
+  Value extras;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+
+  Scene() = default;
+  DEFAULT_METHODS(Scene)
+  bool operator==(const Scene &) const;
+};
+
+struct SpotLight {
+  double innerConeAngle;
+  double outerConeAngle;
+
+  SpotLight() : innerConeAngle(0.0), outerConeAngle(0.7853981634) {}
+  DEFAULT_METHODS(SpotLight)
+  bool operator==(const SpotLight &) const;
+
+  ExtensionMap extensions;
+  Value extras;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+};
+
+struct Light {
+  std::string name;
+  std::vector<double> color;
+  double intensity{1.0};
+  std::string type;
+  double range{0.0};  // 0.0 = inifinite
+  SpotLight spot;
+
+  Light() : intensity(1.0), range(0.0) {}
+  DEFAULT_METHODS(Light)
+
+  bool operator==(const Light &) const;
+
+  ExtensionMap extensions;
+  Value extras;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+};
+
+class Model {
+ public:
+  Model() = default;
+  DEFAULT_METHODS(Model)
+
+  bool operator==(const Model &) const;
+
+  std::vector<Accessor> accessors;
+  std::vector<Animation> animations;
+  std::vector<Buffer> buffers;
+  std::vector<BufferView> bufferViews;
+  std::vector<Material> materials;
+  std::vector<Mesh> meshes;
+  std::vector<Node> nodes;
+  std::vector<Texture> textures;
+  std::vector<Image> images;
+  std::vector<Skin> skins;
+  std::vector<Sampler> samplers;
+  std::vector<Camera> cameras;
+  std::vector<Scene> scenes;
+  std::vector<Light> lights;
+
+  int defaultScene = -1;
+  std::vector<std::string> extensionsUsed;
+  std::vector<std::string> extensionsRequired;
+
+  Asset asset;
+
+  Value extras;
+  ExtensionMap extensions;
+
+  // Filled when SetStoreOriginalJSONForExtrasAndExtensions is enabled.
+  std::string extras_json_string;
+  std::string extensions_json_string;
+};
+
+enum SectionCheck {
+  NO_REQUIRE = 0x00,
+  REQUIRE_VERSION = 0x01,
+  REQUIRE_SCENE = 0x02,
+  REQUIRE_SCENES = 0x04,
+  REQUIRE_NODES = 0x08,
+  REQUIRE_ACCESSORS = 0x10,
+  REQUIRE_BUFFERS = 0x20,
+  REQUIRE_BUFFER_VIEWS = 0x40,
+  REQUIRE_ALL = 0x7f
+};
+
+///
+/// LoadImageDataFunction type. Signature for custom image loading callbacks.
+///
+typedef bool (*LoadImageDataFunction)(Image *, const int, std::string *,
+                                      std::string *, int, int,
+                                      const unsigned char *, int,
+                                      void *user_pointer);
+
+///
+/// WriteImageDataFunction type. Signature for custom image writing callbacks.
+///
+typedef bool (*WriteImageDataFunction)(const std::string *, const std::string *,
+                                       Image *, bool, void *);
+
+#ifndef TINYGLTF_NO_STB_IMAGE
+// Declaration of default image loader callback
+bool LoadImageData(Image *image, const int image_idx, std::string *err,
+                   std::string *warn, int req_width, int req_height,
+                   const unsigned char *bytes, int size, void *);
+#endif
+
+#ifndef TINYGLTF_NO_STB_IMAGE_WRITE
+// Declaration of default image writer callback
+bool WriteImageData(const std::string *basepath, const std::string *filename,
+                    Image *image, bool embedImages, void *);
+#endif
+
+///
+/// FilExistsFunction type. Signature for custom filesystem callbacks.
+///
+typedef bool (*FileExistsFunction)(const std::string &abs_filename, void *);
+
+///
+/// ExpandFilePathFunction type. Signature for custom filesystem callbacks.
+///
+typedef std::string (*ExpandFilePathFunction)(const std::string &, void *);
+
+///
+/// ReadWholeFileFunction type. Signature for custom filesystem callbacks.
+///
+typedef bool (*ReadWholeFileFunction)(std::vector<unsigned char> *,
+                                      std::string *, const std::string &,
+                                      void *);
+
+///
+/// WriteWholeFileFunction type. Signature for custom filesystem callbacks.
+///
+typedef bool (*WriteWholeFileFunction)(std::string *, const std::string &,
+                                       const std::vector<unsigned char> &,
+                                       void *);
+
+///
+/// A structure containing all required filesystem callbacks and a pointer to
+/// their user data.
+///
+struct FsCallbacks {
+  FileExistsFunction FileExists;
+  ExpandFilePathFunction ExpandFilePath;
+  ReadWholeFileFunction ReadWholeFile;
+  WriteWholeFileFunction WriteWholeFile;
+
+  void *user_data;  // An argument that is passed to all fs callbacks
+};
+
+#ifndef TINYGLTF_NO_FS
+// Declaration of default filesystem callbacks
+
+bool FileExists(const std::string &abs_filename, void *);
+
+///
+/// Expand file path(e.g. `~` to home directory on posix, `%APPDATA%` to
+/// `C:\\Users\\tinygltf\\AppData`)
+///
+/// @param[in] filepath File path string. Assume UTF-8
+/// @param[in] userdata User data. Set to `nullptr` if you don't need it.
+///
+std::string ExpandFilePath(const std::string &filepath, void *userdata);
+
+bool ReadWholeFile(std::vector<unsigned char> *out, std::string *err,
+                   const std::string &filepath, void *);
+
+bool WriteWholeFile(std::string *err, const std::string &filepath,
+                    const std::vector<unsigned char> &contents, void *);
+#endif
+
+///
+/// glTF Parser/Serialier context.
+///
+class TinyGLTF {
+ public:
+#ifdef __clang__
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wc++98-compat"
+#endif
+
+  TinyGLTF() : bin_data_(nullptr), bin_size_(0), is_binary_(false) {}
+
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
+
+  ~TinyGLTF() {}
+
+  ///
+  /// Loads glTF ASCII asset from a file.
+  /// Set warning message to `warn` for example it fails to load asserts.
+  /// Returns false and set error string to `err` if there's an error.
+  ///
+  bool LoadASCIIFromFile(Model *model, std::string *err, std::string *warn,
+                         const std::string &filename,
+                         unsigned int check_sections = REQUIRE_VERSION);
+
+  ///
+  /// Loads glTF ASCII asset from string(memory).
+  /// `length` = strlen(str);
+  /// Set warning message to `warn` for example it fails to load asserts.
+  /// Returns false and set error string to `err` if there's an error.
+  ///
+  bool LoadASCIIFromString(Model *model, std::string *err, std::string *warn,
+                           const char *str, const unsigned int length,
+                           const std::string &base_dir,
+                           unsigned int check_sections = REQUIRE_VERSION);
+
+  ///
+  /// Loads glTF binary asset from a file.
+  /// Set warning message to `warn` for example it fails to load asserts.
+  /// Returns false and set error string to `err` if there's an error.
+  ///
+  bool LoadBinaryFromFile(Model *model, std::string *err, std::string *warn,
+                          const std::string &filename,
+                          unsigned int check_sections = REQUIRE_VERSION);
+
+  ///
+  /// Loads glTF binary asset from memory.
+  /// `length` = strlen(str);
+  /// Set warning message to `warn` for example it fails to load asserts.
+  /// Returns false and set error string to `err` if there's an error.
+  ///
+  bool LoadBinaryFromMemory(Model *model, std::string *err, std::string *warn,
+                            const unsigned char *bytes,
+                            const unsigned int length,
+                            const std::string &base_dir = "",
+                            unsigned int check_sections = REQUIRE_VERSION);
+
+  ///
+  /// Write glTF to stream, buffers and images will be embeded
+  ///
+  bool WriteGltfSceneToStream(Model *model, std::ostream &stream,
+                              bool prettyPrint, bool writeBinary);
+
+  ///
+  /// Write glTF to file.
+  ///
+  bool WriteGltfSceneToFile(Model *model, const std::string &filename,
+                            bool embedImages, bool embedBuffers,
+                            bool prettyPrint, bool writeBinary);
+
+  ///
+  /// Set callback to use for loading image data
+  ///
+  void SetImageLoader(LoadImageDataFunction LoadImageData, void *user_data);
+
+  ///
+  /// Unset(remove) callback of loading image data
+  ///
+  void RemoveImageLoader();
+
+  ///
+  /// Set callback to use for writing image data
+  ///
+  void SetImageWriter(WriteImageDataFunction WriteImageData, void *user_data);
+
+  ///
+  /// Set callbacks to use for filesystem (fs) access and their user data
+  ///
+  void SetFsCallbacks(FsCallbacks callbacks);
+
+  ///
+  /// Set serializing default values(default = false).
+  /// When true, default values are force serialized to .glTF.
+  /// This may be helpfull if you want to serialize a full description of glTF
+  /// data.
+  ///
+  /// TODO(LTE): Supply parsing option as function arguments to
+  /// `LoadASCIIFromFile()` and others, not by a class method
+  ///
+  void SetSerializeDefaultValues(const bool enabled) {
+    serialize_default_values_ = enabled;
+  }
+
+  bool GetSerializeDefaultValues() const { return serialize_default_values_; }
+
+  ///
+  /// Store original JSON string for `extras` and `extensions`.
+  /// This feature will be useful when the user want to reconstruct custom data
+  /// structure from JSON string.
+  ///
+  void SetStoreOriginalJSONForExtrasAndExtensions(const bool enabled) {
+    store_original_json_for_extras_and_extensions_ = enabled;
+  }
+
+  bool GetStoreOriginalJSONForExtrasAndExtensions() const {
+    return store_original_json_for_extras_and_extensions_;
+  }
+
+  ///
+  /// Specify whether preserve image channales when loading images or not.
+  /// (Not effective when the user suppy their own LoadImageData callbacks)
+  ///
+  void SetPreserveImageChannels(bool onoff) {
+    preserve_image_channels_ = onoff;
+  }
+
+  bool GetPreserveImageChannels() const { return preserve_image_channels_; }
+
+ private:
+  ///
+  /// Loads glTF asset from string(memory).
+  /// `length` = strlen(str);
+  /// Set warning message to `warn` for example it fails to load asserts
+  /// Returns false and set error string to `err` if there's an error.
+  ///
+  bool LoadFromString(Model *model, std::string *err, std::string *warn,
+                      const char *str, const unsigned int length,
+                      const std::string &base_dir, unsigned int check_sections);
+
+  const unsigned char *bin_data_ = nullptr;
+  size_t bin_size_ = 0;
+  bool is_binary_ = false;
+
+  bool serialize_default_values_ = false;  ///< Serialize default values?
+
+  bool store_original_json_for_extras_and_extensions_ = false;
+
+  bool preserve_image_channels_ = false;  /// Default false(expand channels to
+                                          /// RGBA) for backward compatibility.
+
+  FsCallbacks fs = {
+#ifndef TINYGLTF_NO_FS
+      &tinygltf::FileExists, &tinygltf::ExpandFilePath,
+      &tinygltf::ReadWholeFile, &tinygltf::WriteWholeFile,
+
+      nullptr  // Fs callback user data
+#else
+      nullptr, nullptr, nullptr, nullptr,
+
+      nullptr  // Fs callback user data
+#endif
+  };
+
+  LoadImageDataFunction LoadImageData =
+#ifndef TINYGLTF_NO_STB_IMAGE
+      &tinygltf::LoadImageData;
+#else
+      nullptr;
+#endif
+  void *load_image_user_data_{nullptr};
+  bool user_image_loader_{false};
+
+  WriteImageDataFunction WriteImageData =
+#ifndef TINYGLTF_NO_STB_IMAGE_WRITE
+      &tinygltf::WriteImageData;
+#else
+      nullptr;
+#endif
+  void *write_image_user_data_{nullptr};
+};
+
+#ifdef __clang__
+#pragma clang diagnostic pop  // -Wpadded
+#endif
+
+}  // namespace tinygltf
+
+#endif  // TINY_GLTF_H_
+
+#if defined(TINYGLTF_IMPLEMENTATION) || defined(__INTELLISENSE__)
+#include <algorithm>
+//#include <cassert>
+#ifndef TINYGLTF_NO_FS
+#include <cstdio>
+#include <fstream>
+#endif
+#include <sstream>
+
+#ifdef __clang__
+// Disable some warnings for external files.
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wfloat-equal"
+#pragma clang diagnostic ignored "-Wexit-time-destructors"
+#pragma clang diagnostic ignored "-Wconversion"
+#pragma clang diagnostic ignored "-Wold-style-cast"
+#pragma clang diagnostic ignored "-Wglobal-constructors"
+#if __has_warning("-Wreserved-id-macro")
+#pragma clang diagnostic ignored "-Wreserved-id-macro"
+#endif
+#pragma clang diagnostic ignored "-Wdisabled-macro-expansion"
+#pragma clang diagnostic ignored "-Wpadded"
+#pragma clang diagnostic ignored "-Wc++98-compat"
+#pragma clang diagnostic ignored "-Wc++98-compat-pedantic"
+#pragma clang diagnostic ignored "-Wdocumentation-unknown-command"
+#pragma clang diagnostic ignored "-Wswitch-enum"
+#pragma clang diagnostic ignored "-Wimplicit-fallthrough"
+#pragma clang diagnostic ignored "-Wweak-vtables"
+#pragma clang diagnostic ignored "-Wcovered-switch-default"
+#if __has_warning("-Wdouble-promotion")
+#pragma clang diagnostic ignored "-Wdouble-promotion"
+#endif
+#if __has_warning("-Wcomma")
+#pragma clang diagnostic ignored "-Wcomma"
+#endif
+#if __has_warning("-Wzero-as-null-pointer-constant")
+#pragma clang diagnostic ignored "-Wzero-as-null-pointer-constant"
+#endif
+#if __has_warning("-Wcast-qual")
+#pragma clang diagnostic ignored "-Wcast-qual"
+#endif
+#if __has_warning("-Wmissing-variable-declarations")
+#pragma clang diagnostic ignored "-Wmissing-variable-declarations"
+#endif
+#if __has_warning("-Wmissing-prototypes")
+#pragma clang diagnostic ignored "-Wmissing-prototypes"
+#endif
+#if __has_warning("-Wcast-align")
+#pragma clang diagnostic ignored "-Wcast-align"
+#endif
+#if __has_warning("-Wnewline-eof")
+#pragma clang diagnostic ignored "-Wnewline-eof"
+#endif
+#if __has_warning("-Wunused-parameter")
+#pragma clang diagnostic ignored "-Wunused-parameter"
+#endif
+#if __has_warning("-Wmismatched-tags")
+#pragma clang diagnostic ignored "-Wmismatched-tags"
+#endif
+#if __has_warning("-Wextra-semi-stmt")
+#pragma clang diagnostic ignored "-Wextra-semi-stmt"
+#endif
+#endif
+
+// Disable GCC warnigs
+#ifdef __GNUC__
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wtype-limits"
+#endif  // __GNUC__
+
+#ifndef TINYGLTF_NO_INCLUDE_JSON
+#ifndef TINYGLTF_USE_RAPIDJSON
+#include "json.hpp"
+#else
+#ifndef TINYGLTF_NO_INCLUDE_RAPIDJSON
+#include "document.h"
+#include "prettywriter.h"
+#include "rapidjson.h"
+#include "stringbuffer.h"
+#include "writer.h"
+#endif
+#endif
+#endif
+
+#ifdef TINYGLTF_ENABLE_DRACO
+#include "draco/compression/decode.h"
+#include "draco/core/decoder_buffer.h"
+#endif
+
+#ifndef TINYGLTF_NO_STB_IMAGE
+#ifndef TINYGLTF_NO_INCLUDE_STB_IMAGE
+#include "stb_image.h"
+#endif
+#endif
+
+#ifndef TINYGLTF_NO_STB_IMAGE_WRITE
+#ifndef TINYGLTF_NO_INCLUDE_STB_IMAGE_WRITE
+#include "stb_image_write.h"
+#endif
+#endif
+
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
+
+#ifdef __GNUC__
+#pragma GCC diagnostic pop
+#endif
+
+#ifdef _WIN32
+
+// issue 143.
+// Define NOMINMAX to avoid min/max defines,
+// but undef it after included windows.h
+#ifndef NOMINMAX
+#define TINYGLTF_INTERNAL_NOMINMAX
+#define NOMINMAX
+#endif
+
+#ifndef WIN32_LEAN_AND_MEAN
+#define WIN32_LEAN_AND_MEAN
+#define TINYGLTF_INTERNAL_WIN32_LEAN_AND_MEAN
+#endif
+#include <windows.h>  // include API for expanding a file path
+
+#ifdef TINYGLTF_INTERNAL_WIN32_LEAN_AND_MEAN
+#undef WIN32_LEAN_AND_MEAN
+#endif
+
+#if defined(TINYGLTF_INTERNAL_NOMINMAX)
+#undef NOMINMAX
+#endif
+
+#if defined(__GLIBCXX__)  // mingw
+
+#include <fcntl.h>  // _O_RDONLY
+
+#include <ext/stdio_filebuf.h>  // fstream (all sorts of IO stuff) + stdio_filebuf (=streambuf)
+
+#endif
+
+#elif !defined(__ANDROID__)
+#include <wordexp.h>
+#endif
+
+#if defined(__sparcv9)
+// Big endian
+#else
+#if (__BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__) || MINIZ_X86_OR_X64_CPU
+#define TINYGLTF_LITTLE_ENDIAN 1
+#endif
+#endif
+
+namespace {
+#ifdef TINYGLTF_USE_RAPIDJSON
+
+#ifdef TINYGLTF_USE_RAPIDJSON_CRTALLOCATOR
+// This uses the RapidJSON CRTAllocator.  It is thread safe and multiple
+// documents may be active at once.
+using json =
+    rapidjson::GenericValue<rapidjson::UTF8<>, rapidjson::CrtAllocator>;
+using json_const_iterator = json::ConstMemberIterator;
+using json_const_array_iterator = json const *;
+using JsonDocument =
+    rapidjson::GenericDocument<rapidjson::UTF8<>, rapidjson::CrtAllocator>;
+rapidjson::CrtAllocator s_CrtAllocator;  // stateless and thread safe
+rapidjson::CrtAllocator &GetAllocator() { return s_CrtAllocator; }
+#else
+// This uses the default RapidJSON MemoryPoolAllocator.  It is very fast, but
+// not thread safe. Only a single JsonDocument may be active at any one time,
+// meaning only a single gltf load/save can be active any one time.
+using json = rapidjson::Value;
+using json_const_iterator = json::ConstMemberIterator;
+using json_const_array_iterator = json const *;
+rapidjson::Document *s_pActiveDocument = nullptr;
+rapidjson::Document::AllocatorType &GetAllocator() {
+  assert(s_pActiveDocument);  // Root json node must be JsonDocument type
+  return s_pActiveDocument->GetAllocator();
+}
+
+#ifdef __clang__
+#pragma clang diagnostic push
+// Suppress JsonDocument(JsonDocument &&rhs) noexcept
+#pragma clang diagnostic ignored "-Wunused-member-function"
+#endif
+
+struct JsonDocument : public rapidjson::Document {
+  JsonDocument() {
+    assert(s_pActiveDocument ==
+           nullptr);  // When using default allocator, only one document can be
+                      // active at a time, if you need multiple active at once,
+                      // define TINYGLTF_USE_RAPIDJSON_CRTALLOCATOR
+    s_pActiveDocument = this;
+  }
+  JsonDocument(const JsonDocument &) = delete;
+  JsonDocument(JsonDocument &&rhs) noexcept
+      : rapidjson::Document(std::move(rhs)) {
+    s_pActiveDocument = this;
+    rhs.isNil = true;
+  }
+  ~JsonDocument() {
+    if (!isNil) {
+      s_pActiveDocument = nullptr;
+    }
+  }
+
+ private:
+  bool isNil = false;
+};
+
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
+
+#endif  // TINYGLTF_USE_RAPIDJSON_CRTALLOCATOR
+
+#else
+using nlohmann::json;
+using json_const_iterator = json::const_iterator;
+using json_const_array_iterator = json_const_iterator;
+using JsonDocument = json;
+#endif
+
+void JsonParse(JsonDocument &doc, const char *str, size_t length,
+               bool throwExc = false) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  (void)throwExc;
+  doc.Parse(str, length);
+#else
+  doc = json::parse(str, str + length, nullptr, throwExc);
+#endif
+}
+}  // namespace
+
+#ifdef __APPLE__
+#include "TargetConditionals.h"
+#endif
+
+#ifdef __clang__
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wc++98-compat"
+#endif
+
+namespace tinygltf {
+
+///
+/// Internal LoadImageDataOption struct.
+/// This struct is passed through `user_pointer` in LoadImageData.
+/// The struct is not passed when the user supply their own LoadImageData
+/// callbacks.
+///
+struct LoadImageDataOption {
+  // true: preserve image channels(e.g. load as RGB image if the image has RGB
+  // channels) default `false`(channels are expanded to RGBA for backward
+  // compatiblity).
+  bool preserve_channels{false};
+};
+
+// Equals function for Value, for recursivity
+static bool Equals(const tinygltf::Value &one, const tinygltf::Value &other) {
+  if (one.Type() != other.Type()) return false;
+
+  switch (one.Type()) {
+    case NULL_TYPE:
+      return true;
+    case BOOL_TYPE:
+      return one.Get<bool>() == other.Get<bool>();
+    case REAL_TYPE:
+      return TINYGLTF_DOUBLE_EQUAL(one.Get<double>(), other.Get<double>());
+    case INT_TYPE:
+      return one.Get<int>() == other.Get<int>();
+    case OBJECT_TYPE: {
+      auto oneObj = one.Get<tinygltf::Value::Object>();
+      auto otherObj = other.Get<tinygltf::Value::Object>();
+      if (oneObj.size() != otherObj.size()) return false;
+      for (auto &it : oneObj) {
+        auto otherIt = otherObj.find(it.first);
+        if (otherIt == otherObj.end()) return false;
+
+        if (!Equals(it.second, otherIt->second)) return false;
+      }
+      return true;
+    }
+    case ARRAY_TYPE: {
+      if (one.Size() != other.Size()) return false;
+      for (int i = 0; i < int(one.Size()); ++i)
+        if (!Equals(one.Get(i), other.Get(i))) return false;
+      return true;
+    }
+    case STRING_TYPE:
+      return one.Get<std::string>() == other.Get<std::string>();
+    case BINARY_TYPE:
+      return one.Get<std::vector<unsigned char> >() ==
+             other.Get<std::vector<unsigned char> >();
+    default: {
+      // unhandled type
+      return false;
+    }
+  }
+}
+
+// Equals function for std::vector<double> using TINYGLTF_DOUBLE_EPSILON
+static bool Equals(const std::vector<double> &one,
+                   const std::vector<double> &other) {
+  if (one.size() != other.size()) return false;
+  for (int i = 0; i < int(one.size()); ++i) {
+    if (!TINYGLTF_DOUBLE_EQUAL(one[size_t(i)], other[size_t(i)])) return false;
+  }
+  return true;
+}
+
+bool Accessor::operator==(const Accessor &other) const {
+  return this->bufferView == other.bufferView &&
+         this->byteOffset == other.byteOffset &&
+         this->componentType == other.componentType &&
+         this->count == other.count && this->extensions == other.extensions &&
+         this->extras == other.extras &&
+         Equals(this->maxValues, other.maxValues) &&
+         Equals(this->minValues, other.minValues) && this->name == other.name &&
+         this->normalized == other.normalized && this->type == other.type;
+}
+bool Animation::operator==(const Animation &other) const {
+  return this->channels == other.channels &&
+         this->extensions == other.extensions && this->extras == other.extras &&
+         this->name == other.name && this->samplers == other.samplers;
+}
+bool AnimationChannel::operator==(const AnimationChannel &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         this->target_node == other.target_node &&
+         this->target_path == other.target_path &&
+         this->sampler == other.sampler;
+}
+bool AnimationSampler::operator==(const AnimationSampler &other) const {
+  return this->extras == other.extras && this->extensions == other.extensions &&
+         this->input == other.input &&
+         this->interpolation == other.interpolation &&
+         this->output == other.output;
+}
+bool Asset::operator==(const Asset &other) const {
+  return this->copyright == other.copyright &&
+         this->extensions == other.extensions && this->extras == other.extras &&
+         this->generator == other.generator &&
+         this->minVersion == other.minVersion && this->version == other.version;
+}
+bool Buffer::operator==(const Buffer &other) const {
+  return this->data == other.data && this->extensions == other.extensions &&
+         this->extras == other.extras && this->name == other.name &&
+         this->uri == other.uri;
+}
+bool BufferView::operator==(const BufferView &other) const {
+  return this->buffer == other.buffer && this->byteLength == other.byteLength &&
+         this->byteOffset == other.byteOffset &&
+         this->byteStride == other.byteStride && this->name == other.name &&
+         this->target == other.target && this->extensions == other.extensions &&
+         this->extras == other.extras &&
+         this->dracoDecoded == other.dracoDecoded;
+}
+bool Camera::operator==(const Camera &other) const {
+  return this->name == other.name && this->extensions == other.extensions &&
+         this->extras == other.extras &&
+         this->orthographic == other.orthographic &&
+         this->perspective == other.perspective && this->type == other.type;
+}
+bool Image::operator==(const Image &other) const {
+  return this->bufferView == other.bufferView &&
+         this->component == other.component &&
+         this->extensions == other.extensions && this->extras == other.extras &&
+         this->height == other.height && this->image == other.image &&
+         this->mimeType == other.mimeType && this->name == other.name &&
+         this->uri == other.uri && this->width == other.width;
+}
+bool Light::operator==(const Light &other) const {
+  return Equals(this->color, other.color) && this->name == other.name &&
+         this->type == other.type;
+}
+bool Material::operator==(const Material &other) const {
+  return (this->pbrMetallicRoughness == other.pbrMetallicRoughness) &&
+         (this->normalTexture == other.normalTexture) &&
+         (this->occlusionTexture == other.occlusionTexture) &&
+         (this->emissiveTexture == other.emissiveTexture) &&
+         Equals(this->emissiveFactor, other.emissiveFactor) &&
+         (this->alphaMode == other.alphaMode) &&
+         TINYGLTF_DOUBLE_EQUAL(this->alphaCutoff, other.alphaCutoff) &&
+         (this->doubleSided == other.doubleSided) &&
+         (this->extensions == other.extensions) &&
+         (this->extras == other.extras) && (this->values == other.values) &&
+         (this->additionalValues == other.additionalValues) &&
+         (this->name == other.name);
+}
+bool Mesh::operator==(const Mesh &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         this->name == other.name && Equals(this->weights, other.weights) &&
+         this->primitives == other.primitives;
+}
+bool Model::operator==(const Model &other) const {
+  return this->accessors == other.accessors &&
+         this->animations == other.animations && this->asset == other.asset &&
+         this->buffers == other.buffers &&
+         this->bufferViews == other.bufferViews &&
+         this->cameras == other.cameras &&
+         this->defaultScene == other.defaultScene &&
+         this->extensions == other.extensions &&
+         this->extensionsRequired == other.extensionsRequired &&
+         this->extensionsUsed == other.extensionsUsed &&
+         this->extras == other.extras && this->images == other.images &&
+         this->lights == other.lights && this->materials == other.materials &&
+         this->meshes == other.meshes && this->nodes == other.nodes &&
+         this->samplers == other.samplers && this->scenes == other.scenes &&
+         this->skins == other.skins && this->textures == other.textures;
+}
+bool Node::operator==(const Node &other) const {
+  return this->camera == other.camera && this->children == other.children &&
+         this->extensions == other.extensions && this->extras == other.extras &&
+         Equals(this->matrix, other.matrix) && this->mesh == other.mesh &&
+         this->name == other.name && Equals(this->rotation, other.rotation) &&
+         Equals(this->scale, other.scale) && this->skin == other.skin &&
+         Equals(this->translation, other.translation) &&
+         Equals(this->weights, other.weights);
+}
+bool SpotLight::operator==(const SpotLight &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         TINYGLTF_DOUBLE_EQUAL(this->innerConeAngle, other.innerConeAngle) &&
+         TINYGLTF_DOUBLE_EQUAL(this->outerConeAngle, other.outerConeAngle);
+}
+bool OrthographicCamera::operator==(const OrthographicCamera &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         TINYGLTF_DOUBLE_EQUAL(this->xmag, other.xmag) &&
+         TINYGLTF_DOUBLE_EQUAL(this->ymag, other.ymag) &&
+         TINYGLTF_DOUBLE_EQUAL(this->zfar, other.zfar) &&
+         TINYGLTF_DOUBLE_EQUAL(this->znear, other.znear);
+}
+bool Parameter::operator==(const Parameter &other) const {
+  if (this->bool_value != other.bool_value ||
+      this->has_number_value != other.has_number_value)
+    return false;
+
+  if (!TINYGLTF_DOUBLE_EQUAL(this->number_value, other.number_value))
+    return false;
+
+  if (this->json_double_value.size() != other.json_double_value.size())
+    return false;
+  for (auto &it : this->json_double_value) {
+    auto otherIt = other.json_double_value.find(it.first);
+    if (otherIt == other.json_double_value.end()) return false;
+
+    if (!TINYGLTF_DOUBLE_EQUAL(it.second, otherIt->second)) return false;
+  }
+
+  if (!Equals(this->number_array, other.number_array)) return false;
+
+  if (this->string_value != other.string_value) return false;
+
+  return true;
+}
+bool PerspectiveCamera::operator==(const PerspectiveCamera &other) const {
+  return TINYGLTF_DOUBLE_EQUAL(this->aspectRatio, other.aspectRatio) &&
+         this->extensions == other.extensions && this->extras == other.extras &&
+         TINYGLTF_DOUBLE_EQUAL(this->yfov, other.yfov) &&
+         TINYGLTF_DOUBLE_EQUAL(this->zfar, other.zfar) &&
+         TINYGLTF_DOUBLE_EQUAL(this->znear, other.znear);
+}
+bool Primitive::operator==(const Primitive &other) const {
+  return this->attributes == other.attributes && this->extras == other.extras &&
+         this->indices == other.indices && this->material == other.material &&
+         this->mode == other.mode && this->targets == other.targets;
+}
+bool Sampler::operator==(const Sampler &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         this->magFilter == other.magFilter &&
+         this->minFilter == other.minFilter && this->name == other.name &&
+         this->wrapT == other.wrapT;
+
+         //this->wrapR == other.wrapR && this->wrapS == other.wrapS &&
+}
+bool Scene::operator==(const Scene &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         this->name == other.name && this->nodes == other.nodes;
+}
+bool Skin::operator==(const Skin &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         this->inverseBindMatrices == other.inverseBindMatrices &&
+         this->joints == other.joints && this->name == other.name &&
+         this->skeleton == other.skeleton;
+}
+bool Texture::operator==(const Texture &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         this->name == other.name && this->sampler == other.sampler &&
+         this->source == other.source;
+}
+bool TextureInfo::operator==(const TextureInfo &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         this->index == other.index && this->texCoord == other.texCoord;
+}
+bool NormalTextureInfo::operator==(const NormalTextureInfo &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         this->index == other.index && this->texCoord == other.texCoord &&
+         TINYGLTF_DOUBLE_EQUAL(this->scale, other.scale);
+}
+bool OcclusionTextureInfo::operator==(const OcclusionTextureInfo &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         this->index == other.index && this->texCoord == other.texCoord &&
+         TINYGLTF_DOUBLE_EQUAL(this->strength, other.strength);
+}
+bool PbrMetallicRoughness::operator==(const PbrMetallicRoughness &other) const {
+  return this->extensions == other.extensions && this->extras == other.extras &&
+         (this->baseColorTexture == other.baseColorTexture) &&
+         (this->metallicRoughnessTexture == other.metallicRoughnessTexture) &&
+         Equals(this->baseColorFactor, other.baseColorFactor) &&
+         TINYGLTF_DOUBLE_EQUAL(this->metallicFactor, other.metallicFactor) &&
+         TINYGLTF_DOUBLE_EQUAL(this->roughnessFactor, other.roughnessFactor);
+}
+bool Value::operator==(const Value &other) const {
+  return Equals(*this, other);
+}
+
+static void swap4(unsigned int *val) {
+#ifdef TINYGLTF_LITTLE_ENDIAN
+  (void)val;
+#else
+  unsigned int tmp = *val;
+  unsigned char *dst = reinterpret_cast<unsigned char *>(val);
+  unsigned char *src = reinterpret_cast<unsigned char *>(&tmp);
+
+  dst[0] = src[3];
+  dst[1] = src[2];
+  dst[2] = src[1];
+  dst[3] = src[0];
+#endif
+}
+
+static std::string JoinPath(const std::string &path0,
+                            const std::string &path1) {
+  if (path0.empty()) {
+    return path1;
+  } else {
+    // check '/'
+    char lastChar = *path0.rbegin();
+    if (lastChar != '/') {
+      return path0 + std::string("/") + path1;
+    } else {
+      return path0 + path1;
+    }
+  }
+}
+
+static std::string FindFile(const std::vector<std::string> &paths,
+                            const std::string &filepath, FsCallbacks *fs) {
+  if (fs == nullptr || fs->ExpandFilePath == nullptr ||
+      fs->FileExists == nullptr) {
+    // Error, fs callback[s] missing
+    return std::string();
+  }
+
+  for (size_t i = 0; i < paths.size(); i++) {
+    std::string absPath =
+        fs->ExpandFilePath(JoinPath(paths[i], filepath), fs->user_data);
+    if (fs->FileExists(absPath, fs->user_data)) {
+      return absPath;
+    }
+  }
+
+  return std::string();
+}
+
+static std::string GetFilePathExtension(const std::string &FileName) {
+  if (FileName.find_last_of(".") != std::string::npos)
+    return FileName.substr(FileName.find_last_of(".") + 1);
+  return "";
+}
+
+static std::string GetBaseDir(const std::string &filepath) {
+  if (filepath.find_last_of("/\\") != std::string::npos)
+    return filepath.substr(0, filepath.find_last_of("/\\"));
+  return "";
+}
+
+// https://stackoverflow.com/questions/8520560/get-a-file-name-from-a-path
+static std::string GetBaseFilename(const std::string &filepath) {
+  return filepath.substr(filepath.find_last_of("/\\") + 1);
+}
+
+std::string base64_encode(unsigned char const *, unsigned int len);
+std::string base64_decode(std::string const &s);
+
+/*
+   base64.cpp and base64.h
+
+   Copyright (C) 2004-2008 René Nyffenegger
+
+   This source code is provided 'as-is', without any express or implied
+   warranty. In no event will the author be held liable for any damages
+   arising from the use of this software.
+
+   Permission is granted to anyone to use this software for any purpose,
+   including commercial applications, and to alter it and redistribute it
+   freely, subject to the following restrictions:
+
+   1. The origin of this source code must not be misrepresented; you must not
+      claim that you wrote the original source code. If you use this source code
+      in a product, an acknowledgment in the product documentation would be
+      appreciated but is not required.
+
+   2. Altered source versions must be plainly marked as such, and must not be
+      misrepresented as being the original source code.
+
+   3. This notice may not be removed or altered from any source distribution.
+
+   René Nyffenegger rene.nyffenegger@adp-gmbh.ch
+
+*/
+
+#ifdef __clang__
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wsign-conversion"
+#pragma clang diagnostic ignored "-Wconversion"
+#endif
+
+static inline bool is_base64(unsigned char c) {
+  return (isalnum(c) || (c == '+') || (c == '/'));
+}
+
+std::string base64_encode(unsigned char const *bytes_to_encode,
+                          unsigned int in_len) {
+  std::string ret;
+  int i = 0;
+  int j = 0;
+  unsigned char char_array_3[3];
+  unsigned char char_array_4[4];
+
+  const char *base64_chars =
+      "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
+      "abcdefghijklmnopqrstuvwxyz"
+      "0123456789+/";
+
+  while (in_len--) {
+    char_array_3[i++] = *(bytes_to_encode++);
+    if (i == 3) {
+      char_array_4[0] = (char_array_3[0] & 0xfc) >> 2;
+      char_array_4[1] =
+          ((char_array_3[0] & 0x03) << 4) + ((char_array_3[1] & 0xf0) >> 4);
+      char_array_4[2] =
+          ((char_array_3[1] & 0x0f) << 2) + ((char_array_3[2] & 0xc0) >> 6);
+      char_array_4[3] = char_array_3[2] & 0x3f;
+
+      for (i = 0; (i < 4); i++) ret += base64_chars[char_array_4[i]];
+      i = 0;
+    }
+  }
+
+  if (i) {
+    for (j = i; j < 3; j++) char_array_3[j] = '\0';
+
+    char_array_4[0] = (char_array_3[0] & 0xfc) >> 2;
+    char_array_4[1] =
+        ((char_array_3[0] & 0x03) << 4) + ((char_array_3[1] & 0xf0) >> 4);
+    char_array_4[2] =
+        ((char_array_3[1] & 0x0f) << 2) + ((char_array_3[2] & 0xc0) >> 6);
+
+    for (j = 0; (j < i + 1); j++) ret += base64_chars[char_array_4[j]];
+
+    while ((i++ < 3)) ret += '=';
+  }
+
+  return ret;
+}
+
+std::string base64_decode(std::string const &encoded_string) {
+  int in_len = static_cast<int>(encoded_string.size());
+  int i = 0;
+  int j = 0;
+  int in_ = 0;
+  unsigned char char_array_4[4], char_array_3[3];
+  std::string ret;
+
+  const std::string base64_chars =
+      "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
+      "abcdefghijklmnopqrstuvwxyz"
+      "0123456789+/";
+
+  while (in_len-- && (encoded_string[in_] != '=') &&
+         is_base64(encoded_string[in_])) {
+    char_array_4[i++] = encoded_string[in_];
+    in_++;
+    if (i == 4) {
+      for (i = 0; i < 4; i++)
+        char_array_4[i] =
+            static_cast<unsigned char>(base64_chars.find(char_array_4[i]));
+
+      char_array_3[0] =
+          (char_array_4[0] << 2) + ((char_array_4[1] & 0x30) >> 4);
+      char_array_3[1] =
+          ((char_array_4[1] & 0xf) << 4) + ((char_array_4[2] & 0x3c) >> 2);
+      char_array_3[2] = ((char_array_4[2] & 0x3) << 6) + char_array_4[3];
+
+      for (i = 0; (i < 3); i++) ret += char_array_3[i];
+      i = 0;
+    }
+  }
+
+  if (i) {
+    for (j = i; j < 4; j++) char_array_4[j] = 0;
+
+    for (j = 0; j < 4; j++)
+      char_array_4[j] =
+          static_cast<unsigned char>(base64_chars.find(char_array_4[j]));
+
+    char_array_3[0] = (char_array_4[0] << 2) + ((char_array_4[1] & 0x30) >> 4);
+    char_array_3[1] =
+        ((char_array_4[1] & 0xf) << 4) + ((char_array_4[2] & 0x3c) >> 2);
+    char_array_3[2] = ((char_array_4[2] & 0x3) << 6) + char_array_4[3];
+
+    for (j = 0; (j < i - 1); j++) ret += char_array_3[j];
+  }
+
+  return ret;
+}
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
+
+// https://github.com/syoyo/tinygltf/issues/228
+// TODO(syoyo): Use uriparser https://uriparser.github.io/ for stricter Uri
+// decoding?
+//
+// https://stackoverflow.com/questions/18307429/encode-decode-url-in-c
+// http://dlib.net/dlib/server/server_http.cpp.html
+
+// --- dlib beign ------------------------------------------------------------
+// Copyright (C) 2003  Davis E. King (davis@dlib.net)
+// License: Boost Software License   See LICENSE.txt for the full license.
+
+namespace dlib {
+
+#if 0
+        inline unsigned char to_hex( unsigned char x )
+        {
+            return x + (x > 9 ? ('A'-10) : '0');
+        }
+
+        const std::string urlencode( const std::string& s )
+        {
+            std::ostringstream os;
+
+            for ( std::string::const_iterator ci = s.begin(); ci != s.end(); ++ci )
+            {
+                if ( (*ci >= 'a' && *ci <= 'z') ||
+                     (*ci >= 'A' && *ci <= 'Z') ||
+                     (*ci >= '0' && *ci <= '9') )
+                { // allowed
+                    os << *ci;
+                }
+                else if ( *ci == ' ')
+                {
+                    os << '+';
+                }
+                else
+                {
+                    os << '%' << to_hex(static_cast<unsigned char>(*ci >> 4)) << to_hex(static_cast<unsigned char>(*ci % 16));
+                }
+            }
+
+            return os.str();
+        }
+#endif
+
+inline unsigned char from_hex(unsigned char ch) {
+  if (ch <= '9' && ch >= '0')
+    ch -= '0';
+  else if (ch <= 'f' && ch >= 'a')
+    ch -= 'a' - 10;
+  else if (ch <= 'F' && ch >= 'A')
+    ch -= 'A' - 10;
+  else
+    ch = 0;
+  return ch;
+}
+
+static const std::string urldecode(const std::string &str) {
+  using namespace std;
+  string result;
+  string::size_type i;
+  for (i = 0; i < str.size(); ++i) {
+    if (str[i] == '+') {
+      result += ' ';
+    } else if (str[i] == '%' && str.size() > i + 2) {
+      const unsigned char ch1 =
+          from_hex(static_cast<unsigned char>(str[i + 1]));
+      const unsigned char ch2 =
+          from_hex(static_cast<unsigned char>(str[i + 2]));
+      const unsigned char ch = static_cast<unsigned char>((ch1 << 4) | ch2);
+      result += static_cast<char>(ch);
+      i += 2;
+    } else {
+      result += str[i];
+    }
+  }
+  return result;
+}
+
+}  // namespace dlib
+// --- dlib end --------------------------------------------------------------
+
+static bool LoadExternalFile(std::vector<unsigned char> *out, std::string *err,
+                             std::string *warn, const std::string &filename,
+                             const std::string &basedir, bool required,
+                             size_t reqBytes, bool checkSize, FsCallbacks *fs) {
+  if (fs == nullptr || fs->FileExists == nullptr ||
+      fs->ExpandFilePath == nullptr || fs->ReadWholeFile == nullptr) {
+    // This is a developer error, assert() ?
+    if (err) {
+      (*err) += "FS callback[s] not set\n";
+    }
+    return false;
+  }
+
+  std::string *failMsgOut = required ? err : warn;
+
+  out->clear();
+
+  std::vector<std::string> paths;
+  paths.push_back(basedir);
+  paths.push_back(".");
+
+  std::string filepath = FindFile(paths, filename, fs);
+  if (filepath.empty() || filename.empty()) {
+    if (failMsgOut) {
+      (*failMsgOut) += "File not found : " + filename + "\n";
+    }
+    return false;
+  }
+
+  std::vector<unsigned char> buf;
+  std::string fileReadErr;
+  bool fileRead =
+      fs->ReadWholeFile(&buf, &fileReadErr, filepath, fs->user_data);
+  if (!fileRead) {
+    if (failMsgOut) {
+      (*failMsgOut) +=
+          "File read error : " + filepath + " : " + fileReadErr + "\n";
+    }
+    return false;
+  }
+
+  size_t sz = buf.size();
+  if (sz == 0) {
+    if (failMsgOut) {
+      (*failMsgOut) += "File is empty : " + filepath + "\n";
+    }
+    return false;
+  }
+
+  if (checkSize) {
+    if (reqBytes == sz) {
+      out->swap(buf);
+      return true;
+    } else {
+      std::stringstream ss;
+      ss << "File size mismatch : " << filepath << ", requestedBytes "
+         << reqBytes << ", but got " << sz << std::endl;
+      if (failMsgOut) {
+        (*failMsgOut) += ss.str();
+      }
+      return false;
+    }
+  }
+
+  out->swap(buf);
+  return true;
+}
+
+void TinyGLTF::SetImageLoader(LoadImageDataFunction func, void *user_data) {
+  LoadImageData = func;
+  load_image_user_data_ = user_data;
+  user_image_loader_ = true;
+}
+
+void TinyGLTF::RemoveImageLoader() {
+  LoadImageData =
+#ifndef TINYGLTF_NO_STB_IMAGE
+      &tinygltf::LoadImageData;
+#else
+      nullptr;
+#endif
+
+  load_image_user_data_ = nullptr;
+  user_image_loader_ = false;
+}
+
+#ifndef TINYGLTF_NO_STB_IMAGE
+bool LoadImageData(Image *image, const int image_idx, std::string *err,
+                   std::string *warn, int req_width, int req_height,
+                   const unsigned char *bytes, int size, void *user_data) {
+  (void)warn;
+
+  LoadImageDataOption option;
+  if (user_data) {
+    option = *reinterpret_cast<LoadImageDataOption *>(user_data);
+  }
+
+  int w = 0, h = 0, comp = 0, req_comp = 0;
+
+  unsigned char *data = nullptr;
+
+  // preserve_channels true: Use channels stored in the image file.
+  // false: force 32-bit textures for common Vulkan compatibility. It appears
+  // that some GPU drivers do not support 24-bit images for Vulkan
+  req_comp = option.preserve_channels ? 0 : 4;
+  int bits = 8;
+  int pixel_type = TINYGLTF_COMPONENT_TYPE_UNSIGNED_BYTE;
+
+  // It is possible that the image we want to load is a 16bit per channel image
+  // We are going to attempt to load it as 16bit per channel, and if it worked,
+  // set the image data accodingly. We are casting the returned pointer into
+  // unsigned char, because we are representing "bytes". But we are updating
+  // the Image metadata to signal that this image uses 2 bytes (16bits) per
+  // channel:
+  if (stbi_is_16_bit_from_memory(bytes, size)) {
+    data = reinterpret_cast<unsigned char *>(
+        stbi_load_16_from_memory(bytes, size, &w, &h, &comp, req_comp));
+    if (data) {
+      bits = 16;
+      pixel_type = TINYGLTF_COMPONENT_TYPE_UNSIGNED_SHORT;
+    }
+  }
+
+  // at this point, if data is still NULL, it means that the image wasn't
+  // 16bit per channel, we are going to load it as a normal 8bit per channel
+  // mage as we used to do:
+  // if image cannot be decoded, ignore parsing and keep it by its path
+  // don't break in this case
+  // FIXME we should only enter this function if the image is embedded. If
+  // image->uri references
+  // an image file, it should be left as it is. Image loading should not be
+  // mandatory (to support other formats)
+  if (!data) data = stbi_load_from_memory(bytes, size, &w, &h, &comp, req_comp);
+  if (!data) {
+    // NOTE: you can use `warn` instead of `err`
+    if (err) {
+      (*err) +=
+          "Unknown image format. STB cannot decode image data for image[" +
+          std::to_string(image_idx) + "] name = \"" + image->name + "\".\n";
+    }
+    return false;
+  }
+
+  if ((w < 1) || (h < 1)) {
+    stbi_image_free(data);
+    if (err) {
+      (*err) += "Invalid image data for image[" + std::to_string(image_idx) +
+                "] name = \"" + image->name + "\"\n";
+    }
+    return false;
+  }
+
+  if (req_width > 0) {
+    if (req_width != w) {
+      stbi_image_free(data);
+      if (err) {
+        (*err) += "Image width mismatch for image[" +
+                  std::to_string(image_idx) + "] name = \"" + image->name +
+                  "\"\n";
+      }
+      return false;
+    }
+  }
+
+  if (req_height > 0) {
+    if (req_height != h) {
+      stbi_image_free(data);
+      if (err) {
+        (*err) += "Image height mismatch. for image[" +
+                  std::to_string(image_idx) + "] name = \"" + image->name +
+                  "\"\n";
+      }
+      return false;
+    }
+  }
+
+  if (req_comp != 0) {
+    // loaded data has `req_comp` channels(components)
+    comp = req_comp;
+  }
+
+  image->width = w;
+  image->height = h;
+  image->component = comp;
+  image->bits = bits;
+  image->pixel_type = pixel_type;
+  image->image.resize(static_cast<size_t>(w * h * comp) * size_t(bits / 8));
+  std::copy(data, data + w * h * comp * (bits / 8), image->image.begin());
+  stbi_image_free(data);
+
+  return true;
+}
+#endif
+
+void TinyGLTF::SetImageWriter(WriteImageDataFunction func, void *user_data) {
+  WriteImageData = func;
+  write_image_user_data_ = user_data;
+}
+
+#ifndef TINYGLTF_NO_STB_IMAGE_WRITE
+static void WriteToMemory_stbi(void *context, void *data, int size) {
+  std::vector<unsigned char> *buffer =
+      reinterpret_cast<std::vector<unsigned char> *>(context);
+
+  unsigned char *pData = reinterpret_cast<unsigned char *>(data);
+
+  buffer->insert(buffer->end(), pData, pData + size);
+}
+
+bool WriteImageData(const std::string *basepath, const std::string *filename,
+                    Image *image, bool embedImages, void *fsPtr) {
+  const std::string ext = GetFilePathExtension(*filename);
+
+  // Write image to temporary buffer
+  std::string header;
+  std::vector<unsigned char> data;
+
+  if (ext == "png") {
+    if ((image->bits != 8) ||
+        (image->pixel_type != TINYGLTF_COMPONENT_TYPE_UNSIGNED_BYTE)) {
+      // Unsupported pixel format
+      return false;
+    }
+
+    if (!stbi_write_png_to_func(WriteToMemory_stbi, &data, image->width,
+                                image->height, image->component,
+                                &image->image[0], 0)) {
+      return false;
+    }
+    header = "data:image/png;base64,";
+  } else if (ext == "jpg") {
+    if (!stbi_write_jpg_to_func(WriteToMemory_stbi, &data, image->width,
+                                image->height, image->component,
+                                &image->image[0], 100)) {
+      return false;
+    }
+    header = "data:image/jpeg;base64,";
+  } else if (ext == "bmp") {
+    if (!stbi_write_bmp_to_func(WriteToMemory_stbi, &data, image->width,
+                                image->height, image->component,
+                                &image->image[0])) {
+      return false;
+    }
+    header = "data:image/bmp;base64,";
+  } else if (!embedImages) {
+    // Error: can't output requested format to file
+    return false;
+  }
+
+  if (embedImages) {
+    // Embed base64-encoded image into URI
+    if (data.size()) {
+      image->uri =
+          header +
+          base64_encode(&data[0], static_cast<unsigned int>(data.size()));
+    } else {
+      // Throw error?
+    }
+  } else {
+    // Write image to disc
+    FsCallbacks *fs = reinterpret_cast<FsCallbacks *>(fsPtr);
+    if ((fs != nullptr) && (fs->WriteWholeFile != nullptr)) {
+      const std::string imagefilepath = JoinPath(*basepath, *filename);
+      std::string writeError;
+      if (!fs->WriteWholeFile(&writeError, imagefilepath, data,
+                              fs->user_data)) {
+        // Could not write image file to disc; Throw error ?
+        return false;
+      }
+    } else {
+      // Throw error?
+    }
+    image->uri = *filename;
+  }
+
+  return true;
+}
+#endif
+
+void TinyGLTF::SetFsCallbacks(FsCallbacks callbacks) { fs = callbacks; }
+
+#ifdef _WIN32
+static inline std::wstring UTF8ToWchar(const std::string &str) {
+  int wstr_size =
+      MultiByteToWideChar(CP_UTF8, 0, str.data(), (int)str.size(), nullptr, 0);
+  std::wstring wstr(wstr_size, 0);
+  MultiByteToWideChar(CP_UTF8, 0, str.data(), (int)str.size(), &wstr[0],
+                      (int)wstr.size());
+  return wstr;
+}
+
+static inline std::string WcharToUTF8(const std::wstring &wstr) {
+  int str_size = WideCharToMultiByte(CP_UTF8, 0, wstr.data(), (int)wstr.size(),
+                                     nullptr, 0, NULL, NULL);
+  std::string str(str_size, 0);
+  WideCharToMultiByte(CP_UTF8, 0, wstr.data(), (int)wstr.size(), &str[0],
+                      (int)str.size(), NULL, NULL);
+  return str;
+}
+#endif
+
+#ifndef TINYGLTF_NO_FS
+// Default implementations of filesystem functions
+
+bool FileExists(const std::string &abs_filename, void *) {
+  bool ret;
+#ifdef TINYGLTF_ANDROID_LOAD_FROM_ASSETS
+  if (asset_manager) {
+    AAsset *asset = AAssetManager_open(asset_manager, abs_filename.c_str(),
+                                       AASSET_MODE_STREAMING);
+    if (!asset) {
+      return false;
+    }
+    AAsset_close(asset);
+    ret = true;
+  } else {
+    return false;
+  }
+#else
+#ifdef _WIN32
+#if defined(_MSC_VER) || defined(__GLIBCXX__)
+  FILE *fp = nullptr;
+  errno_t err = _wfopen_s(&fp, UTF8ToWchar(abs_filename).c_str(), L"rb");
+  if (err != 0) {
+    return false;
+  }
+#else
+  FILE *fp = nullptr;
+  errno_t err = fopen_s(&fp, abs_filename.c_str(), "rb");
+  if (err != 0) {
+    return false;
+  }
+#endif
+
+#else
+  FILE *fp = fopen(abs_filename.c_str(), "rb");
+#endif
+  if (fp) {
+    ret = true;
+    fclose(fp);
+  } else {
+    ret = false;
+  }
+#endif
+
+  return ret;
+}
+
+std::string ExpandFilePath(const std::string &filepath, void *) {
+#ifdef _WIN32
+  // Assume input `filepath` is encoded in UTF-8
+  std::wstring wfilepath = UTF8ToWchar(filepath);
+  DWORD wlen = ExpandEnvironmentStringsW(wfilepath.c_str(), nullptr, 0);
+  wchar_t *wstr = new wchar_t[wlen];
+  ExpandEnvironmentStringsW(wfilepath.c_str(), wstr, wlen);
+
+  std::wstring ws(wstr);
+  delete[] wstr;
+  return WcharToUTF8(ws);
+
+#else
+
+#if defined(TARGET_OS_IPHONE) || defined(TARGET_IPHONE_SIMULATOR) || \
+    defined(__ANDROID__) || defined(__EMSCRIPTEN__)
+  // no expansion
+  std::string s = filepath;
+#else
+  std::string s;
+  wordexp_t p;
+
+  if (filepath.empty()) {
+    return "";
+  }
+
+  // Quote the string to keep any spaces in filepath intact.
+  std::string quoted_path = "\"" + filepath + "\"";
+  // char** w;
+  int ret = wordexp(quoted_path.c_str(), &p, 0);
+  if (ret) {
+    // err
+    s = filepath;
+    return s;
+  }
+
+  // Use first element only.
+  if (p.we_wordv) {
+    s = std::string(p.we_wordv[0]);
+    wordfree(&p);
+  } else {
+    s = filepath;
+  }
+
+#endif
+
+  return s;
+#endif
+}
+
+bool ReadWholeFile(std::vector<unsigned char> *out, std::string *err,
+                   const std::string &filepath, void *) {
+#ifdef TINYGLTF_ANDROID_LOAD_FROM_ASSETS
+  if (asset_manager) {
+    AAsset *asset = AAssetManager_open(asset_manager, filepath.c_str(),
+                                       AASSET_MODE_STREAMING);
+    if (!asset) {
+      if (err) {
+        (*err) += "File open error : " + filepath + "\n";
+      }
+      return false;
+    }
+    size_t size = AAsset_getLength(asset);
+    if (size == 0) {
+      if (err) {
+        (*err) += "Invalid file size : " + filepath +
+                  " (does the path point to a directory?)";
+      }
+      return false;
+    }
+    out->resize(size);
+    AAsset_read(asset, reinterpret_cast<char *>(&out->at(0)), size);
+    AAsset_close(asset);
+    return true;
+  } else {
+    if (err) {
+      (*err) += "No asset manager specified : " + filepath + "\n";
+    }
+    return false;
+  }
+#else
+#ifdef _WIN32
+#if defined(__GLIBCXX__)  // mingw
+  int file_descriptor =
+      _wopen(UTF8ToWchar(filepath).c_str(), _O_RDONLY | _O_BINARY);
+  __gnu_cxx::stdio_filebuf<char> wfile_buf(file_descriptor, std::ios_base::in);
+  std::istream f(&wfile_buf);
+#elif defined(_MSC_VER) || defined(_LIBCPP_VERSION)
+  // For libcxx, assume _LIBCPP_HAS_OPEN_WITH_WCHAR is defined to accept
+  // `wchar_t *`
+  std::ifstream f(UTF8ToWchar(filepath).c_str(), std::ifstream::binary);
+#else
+  // Unknown compiler/runtime
+  std::ifstream f(filepath.c_str(), std::ifstream::binary);
+#endif
+#else
+  std::ifstream f(filepath.c_str(), std::ifstream::binary);
+#endif
+  if (!f) {
+    if (err) {
+      (*err) += "File open error : " + filepath + "\n";
+    }
+    return false;
+  }
+
+  f.seekg(0, f.end);
+  size_t sz = static_cast<size_t>(f.tellg());
+  f.seekg(0, f.beg);
+
+  if (int64_t(sz) < 0) {
+    if (err) {
+      (*err) += "Invalid file size : " + filepath +
+                " (does the path point to a directory?)";
+    }
+    return false;
+  } else if (sz == 0) {
+    if (err) {
+      (*err) += "File is empty : " + filepath + "\n";
+    }
+    return false;
+  }
+
+  out->resize(sz);
+  f.read(reinterpret_cast<char *>(&out->at(0)),
+         static_cast<std::streamsize>(sz));
+
+  return true;
+#endif
+}
+
+bool WriteWholeFile(std::string *err, const std::string &filepath,
+                    const std::vector<unsigned char> &contents, void *) {
+#ifdef _WIN32
+#if defined(__GLIBCXX__)  // mingw
+  int file_descriptor = _wopen(UTF8ToWchar(filepath).c_str(),
+                               _O_CREAT | _O_WRONLY | _O_TRUNC | _O_BINARY);
+  __gnu_cxx::stdio_filebuf<char> wfile_buf(
+      file_descriptor, std::ios_base::out | std::ios_base::binary);
+  std::ostream f(&wfile_buf);
+#elif defined(_MSC_VER)
+  std::ofstream f(UTF8ToWchar(filepath).c_str(), std::ofstream::binary);
+#else  // clang?
+  std::ofstream f(filepath.c_str(), std::ofstream::binary);
+#endif
+#else
+  std::ofstream f(filepath.c_str(), std::ofstream::binary);
+#endif
+  if (!f) {
+    if (err) {
+      (*err) += "File open error for writing : " + filepath + "\n";
+    }
+    return false;
+  }
+
+  f.write(reinterpret_cast<const char *>(&contents.at(0)),
+          static_cast<std::streamsize>(contents.size()));
+  if (!f) {
+    if (err) {
+      (*err) += "File write error: " + filepath + "\n";
+    }
+    return false;
+  }
+
+  return true;
+}
+
+#endif  // TINYGLTF_NO_FS
+
+static std::string MimeToExt(const std::string &mimeType) {
+  if (mimeType == "image/jpeg") {
+    return "jpg";
+  } else if (mimeType == "image/png") {
+    return "png";
+  } else if (mimeType == "image/bmp") {
+    return "bmp";
+  } else if (mimeType == "image/gif") {
+    return "gif";
+  }
+
+  return "";
+}
+
+static void UpdateImageObject(Image &image, std::string &baseDir, int index,
+                              bool embedImages,
+                              WriteImageDataFunction *WriteImageData = nullptr,
+                              void *user_data = nullptr) {
+  std::string filename;
+  std::string ext;
+  // If image has uri, use it it as a filename
+  if (image.uri.size()) {
+    filename = GetBaseFilename(image.uri);
+    ext = GetFilePathExtension(filename);
+  } else if (image.bufferView != -1) {
+    // If there's no URI and the data exists in a buffer,
+    // don't change properties or write images
+  } else if (image.name.size()) {
+    ext = MimeToExt(image.mimeType);
+    // Otherwise use name as filename
+    filename = image.name + "." + ext;
+  } else {
+    ext = MimeToExt(image.mimeType);
+    // Fallback to index of image as filename
+    filename = std::to_string(index) + "." + ext;
+  }
+
+  // If callback is set, modify image data object
+  if (*WriteImageData != nullptr && !filename.empty()) {
+    std::string uri;
+    (*WriteImageData)(&baseDir, &filename, &image, embedImages, user_data);
+  }
+}
+
+bool IsDataURI(const std::string &in) {
+  std::string header = "data:application/octet-stream;base64,";
+  if (in.find(header) == 0) {
+    return true;
+  }
+
+  header = "data:image/jpeg;base64,";
+  if (in.find(header) == 0) {
+    return true;
+  }
+
+  header = "data:image/png;base64,";
+  if (in.find(header) == 0) {
+    return true;
+  }
+
+  header = "data:image/bmp;base64,";
+  if (in.find(header) == 0) {
+    return true;
+  }
+
+  header = "data:image/gif;base64,";
+  if (in.find(header) == 0) {
+    return true;
+  }
+
+  header = "data:text/plain;base64,";
+  if (in.find(header) == 0) {
+    return true;
+  }
+
+  header = "data:application/gltf-buffer;base64,";
+  if (in.find(header) == 0) {
+    return true;
+  }
+
+  return false;
+}
+
+bool DecodeDataURI(std::vector<unsigned char> *out, std::string &mime_type,
+                   const std::string &in, size_t reqBytes, bool checkSize) {
+  std::string header = "data:application/octet-stream;base64,";
+  std::string data;
+  if (in.find(header) == 0) {
+    data = base64_decode(in.substr(header.size()));  // cut mime string.
+  }
+
+  if (data.empty()) {
+    header = "data:image/jpeg;base64,";
+    if (in.find(header) == 0) {
+      mime_type = "image/jpeg";
+      data = base64_decode(in.substr(header.size()));  // cut mime string.
+    }
+  }
+
+  if (data.empty()) {
+    header = "data:image/png;base64,";
+    if (in.find(header) == 0) {
+      mime_type = "image/png";
+      data = base64_decode(in.substr(header.size()));  // cut mime string.
+    }
+  }
+
+  if (data.empty()) {
+    header = "data:image/bmp;base64,";
+    if (in.find(header) == 0) {
+      mime_type = "image/bmp";
+      data = base64_decode(in.substr(header.size()));  // cut mime string.
+    }
+  }
+
+  if (data.empty()) {
+    header = "data:image/gif;base64,";
+    if (in.find(header) == 0) {
+      mime_type = "image/gif";
+      data = base64_decode(in.substr(header.size()));  // cut mime string.
+    }
+  }
+
+  if (data.empty()) {
+    header = "data:text/plain;base64,";
+    if (in.find(header) == 0) {
+      mime_type = "text/plain";
+      data = base64_decode(in.substr(header.size()));
+    }
+  }
+
+  if (data.empty()) {
+    header = "data:application/gltf-buffer;base64,";
+    if (in.find(header) == 0) {
+      data = base64_decode(in.substr(header.size()));
+    }
+  }
+
+  // TODO(syoyo): Allow empty buffer? #229
+  if (data.empty()) {
+    return false;
+  }
+
+  if (checkSize) {
+    if (data.size() != reqBytes) {
+      return false;
+    }
+    out->resize(reqBytes);
+  } else {
+    out->resize(data.size());
+  }
+  std::copy(data.begin(), data.end(), out->begin());
+  return true;
+}
+
+namespace {
+bool GetInt(const json &o, int &val) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  if (!o.IsDouble()) {
+    if (o.IsInt()) {
+      val = o.GetInt();
+      return true;
+    } else if (o.IsUint()) {
+      val = static_cast<int>(o.GetUint());
+      return true;
+    } else if (o.IsInt64()) {
+      val = static_cast<int>(o.GetInt64());
+      return true;
+    } else if (o.IsUint64()) {
+      val = static_cast<int>(o.GetUint64());
+      return true;
+    }
+  }
+
+  return false;
+#else
+  auto type = o.type();
+
+  if ((type == json::value_t::number_integer) ||
+      (type == json::value_t::number_unsigned)) {
+    val = static_cast<int>(o.get<int64_t>());
+    return true;
+  }
+
+  return false;
+#endif
+}
+
+#ifdef TINYGLTF_USE_RAPIDJSON
+bool GetDouble(const json &o, double &val) {
+  if (o.IsDouble()) {
+    val = o.GetDouble();
+    return true;
+  }
+
+  return false;
+}
+#endif
+
+bool GetNumber(const json &o, double &val) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  if (o.IsNumber()) {
+    val = o.GetDouble();
+    return true;
+  }
+
+  return false;
+#else
+  if (o.is_number()) {
+    val = o.get<double>();
+    return true;
+  }
+
+  return false;
+#endif
+}
+
+bool GetString(const json &o, std::string &val) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  if (o.IsString()) {
+    val = o.GetString();
+    return true;
+  }
+
+  return false;
+#else
+  if (o.type() == json::value_t::string) {
+    val = o.get<std::string>();
+    return true;
+  }
+
+  return false;
+#endif
+}
+
+bool IsArray(const json &o) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  return o.IsArray();
+#else
+  return o.is_array();
+#endif
+}
+
+json_const_array_iterator ArrayBegin(const json &o) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  return o.Begin();
+#else
+  return o.begin();
+#endif
+}
+
+json_const_array_iterator ArrayEnd(const json &o) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  return o.End();
+#else
+  return o.end();
+#endif
+}
+
+bool IsObject(const json &o) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  return o.IsObject();
+#else
+  return o.is_object();
+#endif
+}
+
+json_const_iterator ObjectBegin(const json &o) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  return o.MemberBegin();
+#else
+  return o.begin();
+#endif
+}
+
+json_const_iterator ObjectEnd(const json &o) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  return o.MemberEnd();
+#else
+  return o.end();
+#endif
+}
+
+// Making this a const char* results in a pointer to a temporary when
+// TINYGLTF_USE_RAPIDJSON is off.
+std::string GetKey(json_const_iterator &it) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  return it->name.GetString();
+#else
+  return it.key().c_str();
+#endif
+}
+
+bool FindMember(const json &o, const char *member, json_const_iterator &it) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  if (!o.IsObject()) {
+    return false;
+  }
+  it = o.FindMember(member);
+  return it != o.MemberEnd();
+#else
+  it = o.find(member);
+  return it != o.end();
+#endif
+}
+
+const json &GetValue(json_const_iterator &it) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  return it->value;
+#else
+  return it.value();
+#endif
+}
+
+std::string JsonToString(const json &o, int spacing = -1) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  using namespace rapidjson;
+  StringBuffer buffer;
+  if (spacing == -1) {
+    Writer<StringBuffer> writer(buffer);
+    o.Accept(writer);
+  } else {
+    PrettyWriter<StringBuffer> writer(buffer);
+    writer.SetIndent(' ', uint32_t(spacing));
+    o.Accept(writer);
+  }
+  return buffer.GetString();
+#else
+  return o.dump(spacing);
+#endif
+}
+
+}  // namespace
+
+static bool ParseJsonAsValue(Value *ret, const json &o) {
+  Value val{};
+#ifdef TINYGLTF_USE_RAPIDJSON
+  using rapidjson::Type;
+  switch (o.GetType()) {
+    case Type::kObjectType: {
+      Value::Object value_object;
+      for (auto it = o.MemberBegin(); it != o.MemberEnd(); ++it) {
+        Value entry;
+        ParseJsonAsValue(&entry, it->value);
+        if (entry.Type() != NULL_TYPE)
+          value_object.emplace(GetKey(it), std::move(entry));
+      }
+      if (value_object.size() > 0) val = Value(std::move(value_object));
+    } break;
+    case Type::kArrayType: {
+      Value::Array value_array;
+      value_array.reserve(o.Size());
+      for (auto it = o.Begin(); it != o.End(); ++it) {
+        Value entry;
+        ParseJsonAsValue(&entry, *it);
+        if (entry.Type() != NULL_TYPE)
+          value_array.emplace_back(std::move(entry));
+      }
+      if (value_array.size() > 0) val = Value(std::move(value_array));
+    } break;
+    case Type::kStringType:
+      val = Value(std::string(o.GetString()));
+      break;
+    case Type::kFalseType:
+    case Type::kTrueType:
+      val = Value(o.GetBool());
+      break;
+    case Type::kNumberType:
+      if (!o.IsDouble()) {
+        int i = 0;
+        GetInt(o, i);
+        val = Value(i);
+      } else {
+        double d = 0.0;
+        GetDouble(o, d);
+        val = Value(d);
+      }
+      break;
+    case Type::kNullType:
+      break;
+      // all types are covered, so no `case default`
+  }
+#else
+  switch (o.type()) {
+    case json::value_t::object: {
+      Value::Object value_object;
+      for (auto it = o.begin(); it != o.end(); it++) {
+        Value entry;
+        ParseJsonAsValue(&entry, it.value());
+        if (entry.Type() != NULL_TYPE)
+          value_object.emplace(it.key(), std::move(entry));
+      }
+      if (value_object.size() > 0) val = Value(std::move(value_object));
+    } break;
+    case json::value_t::array: {
+      Value::Array value_array;
+      value_array.reserve(o.size());
+      for (auto it = o.begin(); it != o.end(); it++) {
+        Value entry;
+        ParseJsonAsValue(&entry, it.value());
+        if (entry.Type() != NULL_TYPE)
+          value_array.emplace_back(std::move(entry));
+      }
+      if (value_array.size() > 0) val = Value(std::move(value_array));
+    } break;
+    case json::value_t::string:
+      val = Value(o.get<std::string>());
+      break;
+    case json::value_t::boolean:
+      val = Value(o.get<bool>());
+      break;
+    case json::value_t::number_integer:
+    case json::value_t::number_unsigned:
+      val = Value(static_cast<int>(o.get<int64_t>()));
+      break;
+    case json::value_t::number_float:
+      val = Value(o.get<double>());
+      break;
+    case json::value_t::null:
+    case json::value_t::discarded:
+      // default:
+      break;
+  }
+#endif
+  if (ret) *ret = std::move(val);
+
+  return val.Type() != NULL_TYPE;
+}
+
+static bool ParseExtrasProperty(Value *ret, const json &o) {
+  json_const_iterator it;
+  if (!FindMember(o, "extras", it)) {
+    return false;
+  }
+
+  return ParseJsonAsValue(ret, GetValue(it));
+}
+
+static bool ParseBooleanProperty(bool *ret, std::string *err, const json &o,
+                                 const std::string &property,
+                                 const bool required,
+                                 const std::string &parent_node = "") {
+  json_const_iterator it;
+  if (!FindMember(o, property.c_str(), it)) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is missing";
+        if (!parent_node.empty()) {
+          (*err) += " in " + parent_node;
+        }
+        (*err) += ".\n";
+      }
+    }
+    return false;
+  }
+
+  auto &value = GetValue(it);
+
+  bool isBoolean;
+  bool boolValue = false;
+#ifdef TINYGLTF_USE_RAPIDJSON
+  isBoolean = value.IsBool();
+  if (isBoolean) {
+    boolValue = value.GetBool();
+  }
+#else
+  isBoolean = value.is_boolean();
+  if (isBoolean) {
+    boolValue = value.get<bool>();
+  }
+#endif
+  if (!isBoolean) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is not a bool type.\n";
+      }
+    }
+    return false;
+  }
+
+  if (ret) {
+    (*ret) = boolValue;
+  }
+
+  return true;
+}
+
+static bool ParseIntegerProperty(int *ret, std::string *err, const json &o,
+                                 const std::string &property,
+                                 const bool required,
+                                 const std::string &parent_node = "") {
+  json_const_iterator it;
+  if (!FindMember(o, property.c_str(), it)) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is missing";
+        if (!parent_node.empty()) {
+          (*err) += " in " + parent_node;
+        }
+        (*err) += ".\n";
+      }
+    }
+    return false;
+  }
+
+  int intValue;
+  bool isInt = GetInt(GetValue(it), intValue);
+  if (!isInt) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is not an integer type.\n";
+      }
+    }
+    return false;
+  }
+
+  if (ret) {
+    (*ret) = intValue;
+  }
+
+  return true;
+}
+
+static bool ParseUnsignedProperty(size_t *ret, std::string *err, const json &o,
+                                  const std::string &property,
+                                  const bool required,
+                                  const std::string &parent_node = "") {
+  json_const_iterator it;
+  if (!FindMember(o, property.c_str(), it)) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is missing";
+        if (!parent_node.empty()) {
+          (*err) += " in " + parent_node;
+        }
+        (*err) += ".\n";
+      }
+    }
+    return false;
+  }
+
+  auto &value = GetValue(it);
+
+  size_t uValue = 0;
+  bool isUValue;
+#ifdef TINYGLTF_USE_RAPIDJSON
+  isUValue = false;
+  if (value.IsUint()) {
+    uValue = value.GetUint();
+    isUValue = true;
+  } else if (value.IsUint64()) {
+    uValue = value.GetUint64();
+    isUValue = true;
+  }
+#else
+  isUValue = value.is_number_unsigned();
+  if (isUValue) {
+    uValue = value.get<size_t>();
+  }
+#endif
+  if (!isUValue) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is not a positive integer.\n";
+      }
+    }
+    return false;
+  }
+
+  if (ret) {
+    (*ret) = uValue;
+  }
+
+  return true;
+}
+
+static bool ParseNumberProperty(double *ret, std::string *err, const json &o,
+                                const std::string &property,
+                                const bool required,
+                                const std::string &parent_node = "") {
+  json_const_iterator it;
+
+  if (!FindMember(o, property.c_str(), it)) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is missing";
+        if (!parent_node.empty()) {
+          (*err) += " in " + parent_node;
+        }
+        (*err) += ".\n";
+      }
+    }
+    return false;
+  }
+
+  double numberValue;
+  bool isNumber = GetNumber(GetValue(it), numberValue);
+
+  if (!isNumber) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is not a number type.\n";
+      }
+    }
+    return false;
+  }
+
+  if (ret) {
+    (*ret) = numberValue;
+  }
+
+  return true;
+}
+
+static bool ParseNumberArrayProperty(std::vector<double> *ret, std::string *err,
+                                     const json &o, const std::string &property,
+                                     bool required,
+                                     const std::string &parent_node = "") {
+  json_const_iterator it;
+  if (!FindMember(o, property.c_str(), it)) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is missing";
+        if (!parent_node.empty()) {
+          (*err) += " in " + parent_node;
+        }
+        (*err) += ".\n";
+      }
+    }
+    return false;
+  }
+
+  if (!IsArray(GetValue(it))) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is not an array";
+        if (!parent_node.empty()) {
+          (*err) += " in " + parent_node;
+        }
+        (*err) += ".\n";
+      }
+    }
+    return false;
+  }
+
+  ret->clear();
+  auto end = ArrayEnd(GetValue(it));
+  for (auto i = ArrayBegin(GetValue(it)); i != end; ++i) {
+    double numberValue;
+    const bool isNumber = GetNumber(*i, numberValue);
+    if (!isNumber) {
+      if (required) {
+        if (err) {
+          (*err) += "'" + property + "' property is not a number.\n";
+          if (!parent_node.empty()) {
+            (*err) += " in " + parent_node;
+          }
+          (*err) += ".\n";
+        }
+      }
+      return false;
+    }
+    ret->push_back(numberValue);
+  }
+
+  return true;
+}
+
+static bool ParseIntegerArrayProperty(std::vector<int> *ret, std::string *err,
+                                      const json &o,
+                                      const std::string &property,
+                                      bool required,
+                                      const std::string &parent_node = "") {
+  json_const_iterator it;
+  if (!FindMember(o, property.c_str(), it)) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is missing";
+        if (!parent_node.empty()) {
+          (*err) += " in " + parent_node;
+        }
+        (*err) += ".\n";
+      }
+    }
+    return false;
+  }
+
+  if (!IsArray(GetValue(it))) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is not an array";
+        if (!parent_node.empty()) {
+          (*err) += " in " + parent_node;
+        }
+        (*err) += ".\n";
+      }
+    }
+    return false;
+  }
+
+  ret->clear();
+  auto end = ArrayEnd(GetValue(it));
+  for (auto i = ArrayBegin(GetValue(it)); i != end; ++i) {
+    int numberValue;
+    bool isNumber = GetInt(*i, numberValue);
+    if (!isNumber) {
+      if (required) {
+        if (err) {
+          (*err) += "'" + property + "' property is not an integer type.\n";
+          if (!parent_node.empty()) {
+            (*err) += " in " + parent_node;
+          }
+          (*err) += ".\n";
+        }
+      }
+      return false;
+    }
+    ret->push_back(numberValue);
+  }
+
+  return true;
+}
+
+static bool ParseStringProperty(
+    std::string *ret, std::string *err, const json &o,
+    const std::string &property, bool required,
+    const std::string &parent_node = std::string()) {
+  json_const_iterator it;
+  if (!FindMember(o, property.c_str(), it)) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is missing";
+        if (parent_node.empty()) {
+          (*err) += ".\n";
+        } else {
+          (*err) += " in `" + parent_node + "'.\n";
+        }
+      }
+    }
+    return false;
+  }
+
+  std::string strValue;
+  if (!GetString(GetValue(it), strValue)) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is not a string type.\n";
+      }
+    }
+    return false;
+  }
+
+  if (ret) {
+    (*ret) = std::move(strValue);
+  }
+
+  return true;
+}
+
+static bool ParseStringIntegerProperty(std::map<std::string, int> *ret,
+                                       std::string *err, const json &o,
+                                       const std::string &property,
+                                       bool required,
+                                       const std::string &parent = "") {
+  json_const_iterator it;
+  if (!FindMember(o, property.c_str(), it)) {
+    if (required) {
+      if (err) {
+        if (!parent.empty()) {
+          (*err) +=
+              "'" + property + "' property is missing in " + parent + ".\n";
+        } else {
+          (*err) += "'" + property + "' property is missing.\n";
+        }
+      }
+    }
+    return false;
+  }
+
+  const json &dict = GetValue(it);
+
+  // Make sure we are dealing with an object / dictionary.
+  if (!IsObject(dict)) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is not an object.\n";
+      }
+    }
+    return false;
+  }
+
+  ret->clear();
+
+  json_const_iterator dictIt(ObjectBegin(dict));
+  json_const_iterator dictItEnd(ObjectEnd(dict));
+
+  for (; dictIt != dictItEnd; ++dictIt) {
+    int intVal;
+    if (!GetInt(GetValue(dictIt), intVal)) {
+      if (required) {
+        if (err) {
+          (*err) += "'" + property + "' value is not an integer type.\n";
+        }
+      }
+      return false;
+    }
+
+    // Insert into the list.
+    (*ret)[GetKey(dictIt)] = intVal;
+  }
+  return true;
+}
+
+static bool ParseJSONProperty(std::map<std::string, double> *ret,
+                              std::string *err, const json &o,
+                              const std::string &property, bool required) {
+  json_const_iterator it;
+  if (!FindMember(o, property.c_str(), it)) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is missing. \n'";
+      }
+    }
+    return false;
+  }
+
+  const json &obj = GetValue(it);
+
+  if (!IsObject(obj)) {
+    if (required) {
+      if (err) {
+        (*err) += "'" + property + "' property is not a JSON object.\n";
+      }
+    }
+    return false;
+  }
+
+  ret->clear();
+
+  json_const_iterator it2(ObjectBegin(obj));
+  json_const_iterator itEnd(ObjectEnd(obj));
+  for (; it2 != itEnd; ++it2) {
+    double numVal;
+    if (GetNumber(GetValue(it2), numVal))
+      ret->emplace(std::string(GetKey(it2)), numVal);
+  }
+
+  return true;
+}
+
+static bool ParseParameterProperty(Parameter *param, std::string *err,
+                                   const json &o, const std::string &prop,
+                                   bool required) {
+  // A parameter value can either be a string or an array of either a boolean or
+  // a number. Booleans of any kind aren't supported here. Granted, it
+  // complicates the Parameter structure and breaks it semantically in the sense
+  // that the client probably works off the assumption that if the string is
+  // empty the vector is used, etc. Would a tagged union work?
+  if (ParseStringProperty(&param->string_value, err, o, prop, false)) {
+    // Found string property.
+    return true;
+  } else if (ParseNumberArrayProperty(&param->number_array, err, o, prop,
+                                      false)) {
+    // Found a number array.
+    return true;
+  } else if (ParseNumberProperty(&param->number_value, err, o, prop, false)) {
+    return param->has_number_value = true;
+  } else if (ParseJSONProperty(&param->json_double_value, err, o, prop,
+                               false)) {
+    return true;
+  } else if (ParseBooleanProperty(&param->bool_value, err, o, prop, false)) {
+    return true;
+  } else {
+    if (required) {
+      if (err) {
+        (*err) += "parameter must be a string or number / number array.\n";
+      }
+    }
+    return false;
+  }
+}
+
+static bool ParseExtensionsProperty(ExtensionMap *ret, std::string *err,
+                                    const json &o) {
+  (void)err;
+
+  json_const_iterator it;
+  if (!FindMember(o, "extensions", it)) {
+    return false;
+  }
+
+  auto &obj = GetValue(it);
+  if (!IsObject(obj)) {
+    return false;
+  }
+  ExtensionMap extensions;
+  json_const_iterator extIt = ObjectBegin(obj);  // it.value().begin();
+  json_const_iterator extEnd = ObjectEnd(obj);
+  for (; extIt != extEnd; ++extIt) {
+    auto &itObj = GetValue(extIt);
+    if (!IsObject(itObj)) continue;
+    std::string key(GetKey(extIt));
+    if (!ParseJsonAsValue(&extensions[key], itObj)) {
+      if (!key.empty()) {
+        // create empty object so that an extension object is still of type
+        // object
+        extensions[key] = Value{Value::Object{}};
+      }
+    }
+  }
+  if (ret) {
+    (*ret) = std::move(extensions);
+  }
+  return true;
+}
+
+static bool ParseAsset(Asset *asset, std::string *err, const json &o,
+                       bool store_original_json_for_extras_and_extensions) {
+  ParseStringProperty(&asset->version, err, o, "version", true, "Asset");
+  ParseStringProperty(&asset->generator, err, o, "generator", false, "Asset");
+  ParseStringProperty(&asset->minVersion, err, o, "minVersion", false, "Asset");
+  ParseStringProperty(&asset->copyright, err, o, "copyright", false, "Asset");
+
+  ParseExtensionsProperty(&asset->extensions, err, o);
+
+  // Unity exporter version is added as extra here
+  ParseExtrasProperty(&(asset->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        asset->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        asset->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseImage(Image *image, const int image_idx, std::string *err,
+                       std::string *warn, const json &o,
+                       bool store_original_json_for_extras_and_extensions,
+                       const std::string &basedir, FsCallbacks *fs,
+                       LoadImageDataFunction *LoadImageData = nullptr,
+                       void *load_image_user_data = nullptr) {
+  // A glTF image must either reference a bufferView or an image uri
+
+  // schema says oneOf [`bufferView`, `uri`]
+  // TODO(syoyo): Check the type of each parameters.
+  json_const_iterator it;
+  bool hasBufferView = FindMember(o, "bufferView", it);
+  bool hasURI = FindMember(o, "uri", it);
+
+  ParseStringProperty(&image->name, err, o, "name", false);
+
+  if (hasBufferView && hasURI) {
+    // Should not both defined.
+    if (err) {
+      (*err) +=
+          "Only one of `bufferView` or `uri` should be defined, but both are "
+          "defined for image[" +
+          std::to_string(image_idx) + "] name = \"" + image->name + "\"\n";
+    }
+    return false;
+  }
+
+  if (!hasBufferView && !hasURI) {
+    if (err) {
+      (*err) += "Neither required `bufferView` nor `uri` defined for image[" +
+                std::to_string(image_idx) + "] name = \"" + image->name +
+                "\"\n";
+    }
+    return false;
+  }
+
+  ParseExtensionsProperty(&image->extensions, err, o);
+  ParseExtrasProperty(&image->extras, o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator eit;
+      if (FindMember(o, "extensions", eit)) {
+        image->extensions_json_string = JsonToString(GetValue(eit));
+      }
+    }
+    {
+      json_const_iterator eit;
+      if (FindMember(o, "extras", eit)) {
+        image->extras_json_string = JsonToString(GetValue(eit));
+      }
+    }
+  }
+
+  if (hasBufferView) {
+    int bufferView = -1;
+    if (!ParseIntegerProperty(&bufferView, err, o, "bufferView", true)) {
+      if (err) {
+        (*err) += "Failed to parse `bufferView` for image[" +
+                  std::to_string(image_idx) + "] name = \"" + image->name +
+                  "\"\n";
+      }
+      return false;
+    }
+
+    std::string mime_type;
+    ParseStringProperty(&mime_type, err, o, "mimeType", false);
+
+    int width = 0;
+    ParseIntegerProperty(&width, err, o, "width", false);
+
+    int height = 0;
+    ParseIntegerProperty(&height, err, o, "height", false);
+
+    // Just only save some information here. Loading actual image data from
+    // bufferView is done after this `ParseImage` function.
+    image->bufferView = bufferView;
+    image->mimeType = mime_type;
+    image->width = width;
+    image->height = height;
+
+    return true;
+  }
+
+  // Parse URI & Load image data.
+
+  std::string uri;
+  std::string tmp_err;
+  if (!ParseStringProperty(&uri, &tmp_err, o, "uri", true)) {
+    if (err) {
+      (*err) += "Failed to parse `uri` for image[" + std::to_string(image_idx) +
+                "] name = \"" + image->name + "\".\n";
+    }
+    return false;
+  }
+
+  std::vector<unsigned char> img;
+
+  if (IsDataURI(uri)) {
+    if (!DecodeDataURI(&img, image->mimeType, uri, 0, false)) {
+      if (err) {
+        (*err) += "Failed to decode 'uri' for image[" +
+                  std::to_string(image_idx) + "] name = [" + image->name +
+                  "]\n";
+      }
+      return false;
+    }
+  } else {
+    // Assume external file
+    // Keep texture path (for textures that cannot be decoded)
+    image->uri = uri;
+#ifdef TINYGLTF_NO_EXTERNAL_IMAGE
+    return true;
+#endif
+    std::string decoded_uri = dlib::urldecode(uri);
+    if (!LoadExternalFile(&img, err, warn, decoded_uri, basedir,
+                          /* required */ false, /* required bytes */ 0,
+                          /* checksize */ false, fs)) {
+      if (warn) {
+        (*warn) += "Failed to load external 'uri' for image[" +
+                   std::to_string(image_idx) + "] name = [" + image->name +
+                   "]\n";
+      }
+      // If the image cannot be loaded, keep uri as image->uri.
+      return true;
+    }
+
+    if (img.empty()) {
+      if (warn) {
+        (*warn) += "Image data is empty for image[" +
+                   std::to_string(image_idx) + "] name = [" + image->name +
+                   "] \n";
+      }
+      return false;
+    }
+  }
+
+  if (*LoadImageData == nullptr) {
+    if (err) {
+      (*err) += "No LoadImageData callback specified.\n";
+    }
+    return false;
+  }
+  return (*LoadImageData)(image, image_idx, err, warn, 0, 0, &img.at(0),
+                          static_cast<int>(img.size()), load_image_user_data);
+}
+
+static bool ParseTexture(Texture *texture, std::string *err, const json &o,
+                         bool store_original_json_for_extras_and_extensions,
+                         const std::string &basedir) {
+  (void)basedir;
+  int sampler = -1;
+  int source = -1;
+  ParseIntegerProperty(&sampler, err, o, "sampler", false);
+
+  ParseIntegerProperty(&source, err, o, "source", false);
+
+  texture->sampler = sampler;
+  texture->source = source;
+
+  ParseExtensionsProperty(&texture->extensions, err, o);
+  ParseExtrasProperty(&texture->extras, o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        texture->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        texture->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  ParseStringProperty(&texture->name, err, o, "name", false);
+
+  return true;
+}
+
+static bool ParseTextureInfo(
+    TextureInfo *texinfo, std::string *err, const json &o,
+    bool store_original_json_for_extras_and_extensions) {
+  if (texinfo == nullptr) {
+    return false;
+  }
+
+  if (!ParseIntegerProperty(&texinfo->index, err, o, "index",
+                            /* required */ true, "TextureInfo")) {
+    return false;
+  }
+
+  ParseIntegerProperty(&texinfo->texCoord, err, o, "texCoord", false);
+
+  ParseExtensionsProperty(&texinfo->extensions, err, o);
+  ParseExtrasProperty(&texinfo->extras, o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        texinfo->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        texinfo->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseNormalTextureInfo(
+    NormalTextureInfo *texinfo, std::string *err, const json &o,
+    bool store_original_json_for_extras_and_extensions) {
+  if (texinfo == nullptr) {
+    return false;
+  }
+
+  if (!ParseIntegerProperty(&texinfo->index, err, o, "index",
+                            /* required */ true, "NormalTextureInfo")) {
+    return false;
+  }
+
+  ParseIntegerProperty(&texinfo->texCoord, err, o, "texCoord", false);
+  ParseNumberProperty(&texinfo->scale, err, o, "scale", false);
+
+  ParseExtensionsProperty(&texinfo->extensions, err, o);
+  ParseExtrasProperty(&texinfo->extras, o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        texinfo->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        texinfo->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseOcclusionTextureInfo(
+    OcclusionTextureInfo *texinfo, std::string *err, const json &o,
+    bool store_original_json_for_extras_and_extensions) {
+  if (texinfo == nullptr) {
+    return false;
+  }
+
+  if (!ParseIntegerProperty(&texinfo->index, err, o, "index",
+                            /* required */ true, "NormalTextureInfo")) {
+    return false;
+  }
+
+  ParseIntegerProperty(&texinfo->texCoord, err, o, "texCoord", false);
+  ParseNumberProperty(&texinfo->strength, err, o, "strength", false);
+
+  ParseExtensionsProperty(&texinfo->extensions, err, o);
+  ParseExtrasProperty(&texinfo->extras, o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        texinfo->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        texinfo->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseBuffer(Buffer *buffer, std::string *err, const json &o,
+                        bool store_original_json_for_extras_and_extensions,
+                        FsCallbacks *fs, const std::string &basedir,
+                        bool is_binary = false,
+                        const unsigned char *bin_data = nullptr,
+                        size_t bin_size = 0) {
+  size_t byteLength;
+  if (!ParseUnsignedProperty(&byteLength, err, o, "byteLength", true,
+                             "Buffer")) {
+    return false;
+  }
+
+  // In glTF 2.0, uri is not mandatory anymore
+  buffer->uri.clear();
+  ParseStringProperty(&buffer->uri, err, o, "uri", false, "Buffer");
+
+  // having an empty uri for a non embedded image should not be valid
+  if (!is_binary && buffer->uri.empty()) {
+    if (err) {
+      (*err) += "'uri' is missing from non binary glTF file buffer.\n";
+    }
+  }
+
+  json_const_iterator type;
+  if (FindMember(o, "type", type)) {
+    std::string typeStr;
+    if (GetString(GetValue(type), typeStr)) {
+      if (typeStr.compare("arraybuffer") == 0) {
+        // buffer.type = "arraybuffer";
+      }
+    }
+  }
+
+  if (is_binary) {
+    // Still binary glTF accepts external dataURI.
+    if (!buffer->uri.empty()) {
+      // First try embedded data URI.
+      if (IsDataURI(buffer->uri)) {
+        std::string mime_type;
+        if (!DecodeDataURI(&buffer->data, mime_type, buffer->uri, byteLength,
+                           true)) {
+          if (err) {
+            (*err) +=
+                "Failed to decode 'uri' : " + buffer->uri + " in Buffer\n";
+          }
+          return false;
+        }
+      } else {
+        // External .bin file.
+        std::string decoded_uri = dlib::urldecode(buffer->uri);
+        if (!LoadExternalFile(&buffer->data, err, /* warn */ nullptr,
+                              decoded_uri, basedir, /* required */ true,
+                              byteLength, /* checkSize */ true, fs)) {
+          return false;
+        }
+      }
+    } else {
+      // load data from (embedded) binary data
+
+      if ((bin_size == 0) || (bin_data == nullptr)) {
+        if (err) {
+          (*err) += "Invalid binary data in `Buffer'.\n";
+        }
+        return false;
+      }
+
+      if (byteLength > bin_size) {
+        if (err) {
+          std::stringstream ss;
+          ss << "Invalid `byteLength'. Must be equal or less than binary size: "
+                "`byteLength' = "
+             << byteLength << ", binary size = " << bin_size << std::endl;
+          (*err) += ss.str();
+        }
+        return false;
+      }
+
+      // Read buffer data
+      buffer->data.resize(static_cast<size_t>(byteLength));
+      memcpy(&(buffer->data.at(0)), bin_data, static_cast<size_t>(byteLength));
+    }
+
+  } else {
+    if (IsDataURI(buffer->uri)) {
+      std::string mime_type;
+      if (!DecodeDataURI(&buffer->data, mime_type, buffer->uri, byteLength,
+                         true)) {
+        if (err) {
+          (*err) += "Failed to decode 'uri' : " + buffer->uri + " in Buffer\n";
+        }
+        return false;
+      }
+    } else {
+      // Assume external .bin file.
+      std::string decoded_uri = dlib::urldecode(buffer->uri);
+      if (!LoadExternalFile(&buffer->data, err, /* warn */ nullptr, decoded_uri,
+                            basedir, /* required */ true, byteLength,
+                            /* checkSize */ true, fs)) {
+        return false;
+      }
+    }
+  }
+
+  ParseStringProperty(&buffer->name, err, o, "name", false);
+
+  ParseExtensionsProperty(&buffer->extensions, err, o);
+  ParseExtrasProperty(&buffer->extras, o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        buffer->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        buffer->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseBufferView(
+    BufferView *bufferView, std::string *err, const json &o,
+    bool store_original_json_for_extras_and_extensions) {
+  int buffer = -1;
+  if (!ParseIntegerProperty(&buffer, err, o, "buffer", true, "BufferView")) {
+    return false;
+  }
+
+  size_t byteOffset = 0;
+  ParseUnsignedProperty(&byteOffset, err, o, "byteOffset", false);
+
+  size_t byteLength = 1;
+  if (!ParseUnsignedProperty(&byteLength, err, o, "byteLength", true,
+                             "BufferView")) {
+    return false;
+  }
+
+  size_t byteStride = 0;
+  if (!ParseUnsignedProperty(&byteStride, err, o, "byteStride", false)) {
+    // Spec says: When byteStride of referenced bufferView is not defined, it
+    // means that accessor elements are tightly packed, i.e., effective stride
+    // equals the size of the element.
+    // We cannot determine the actual byteStride until Accessor are parsed, thus
+    // set 0(= tightly packed) here(as done in OpenGL's VertexAttribPoiner)
+    byteStride = 0;
+  }
+
+  if ((byteStride > 252) || ((byteStride % 4) != 0)) {
+    if (err) {
+      std::stringstream ss;
+      ss << "Invalid `byteStride' value. `byteStride' must be the multiple of "
+            "4 : "
+         << byteStride << std::endl;
+
+      (*err) += ss.str();
+    }
+    return false;
+  }
+
+  int target = 0;
+  ParseIntegerProperty(&target, err, o, "target", false);
+  if ((target == TINYGLTF_TARGET_ARRAY_BUFFER) ||
+      (target == TINYGLTF_TARGET_ELEMENT_ARRAY_BUFFER)) {
+    // OK
+  } else {
+    target = 0;
+  }
+  bufferView->target = target;
+
+  ParseStringProperty(&bufferView->name, err, o, "name", false);
+
+  ParseExtensionsProperty(&bufferView->extensions, err, o);
+  ParseExtrasProperty(&bufferView->extras, o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        bufferView->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        bufferView->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  bufferView->buffer = buffer;
+  bufferView->byteOffset = byteOffset;
+  bufferView->byteLength = byteLength;
+  bufferView->byteStride = byteStride;
+  return true;
+}
+
+static bool ParseSparseAccessor(Accessor *accessor, std::string *err,
+                                const json &o) {
+  accessor->sparse.isSparse = true;
+
+  int count = 0;
+  ParseIntegerProperty(&count, err, o, "count", true);
+
+  json_const_iterator indices_iterator;
+  json_const_iterator values_iterator;
+  if (!FindMember(o, "indices", indices_iterator)) {
+    (*err) = "the sparse object of this accessor doesn't have indices";
+    return false;
+  }
+
+  if (!FindMember(o, "values", values_iterator)) {
+    (*err) = "the sparse object ob ths accessor doesn't have values";
+    return false;
+  }
+
+  const json &indices_obj = GetValue(indices_iterator);
+  const json &values_obj = GetValue(values_iterator);
+
+  int indices_buffer_view = 0, indices_byte_offset = 0, component_type = 0;
+  ParseIntegerProperty(&indices_buffer_view, err, indices_obj, "bufferView",
+                       true);
+  ParseIntegerProperty(&indices_byte_offset, err, indices_obj, "byteOffset",
+                       true);
+  ParseIntegerProperty(&component_type, err, indices_obj, "componentType",
+                       true);
+
+  int values_buffer_view = 0, values_byte_offset = 0;
+  ParseIntegerProperty(&values_buffer_view, err, values_obj, "bufferView",
+                       true);
+  ParseIntegerProperty(&values_byte_offset, err, values_obj, "byteOffset",
+                       true);
+
+  accessor->sparse.count = count;
+  accessor->sparse.indices.bufferView = indices_buffer_view;
+  accessor->sparse.indices.byteOffset = indices_byte_offset;
+  accessor->sparse.indices.componentType = component_type;
+  accessor->sparse.values.bufferView = values_buffer_view;
+  accessor->sparse.values.byteOffset = values_byte_offset;
+
+  // todo check theses values
+
+  return true;
+}
+
+static bool ParseAccessor(Accessor *accessor, std::string *err, const json &o,
+                          bool store_original_json_for_extras_and_extensions) {
+  int bufferView = -1;
+  ParseIntegerProperty(&bufferView, err, o, "bufferView", false, "Accessor");
+
+  size_t byteOffset = 0;
+  ParseUnsignedProperty(&byteOffset, err, o, "byteOffset", false, "Accessor");
+
+  bool normalized = false;
+  ParseBooleanProperty(&normalized, err, o, "normalized", false, "Accessor");
+
+  size_t componentType = 0;
+  if (!ParseUnsignedProperty(&componentType, err, o, "componentType", true,
+                             "Accessor")) {
+    return false;
+  }
+
+  size_t count = 0;
+  if (!ParseUnsignedProperty(&count, err, o, "count", true, "Accessor")) {
+    return false;
+  }
+
+  std::string type;
+  if (!ParseStringProperty(&type, err, o, "type", true, "Accessor")) {
+    return false;
+  }
+
+  if (type.compare("SCALAR") == 0) {
+    accessor->type = TINYGLTF_TYPE_SCALAR;
+  } else if (type.compare("VEC2") == 0) {
+    accessor->type = TINYGLTF_TYPE_VEC2;
+  } else if (type.compare("VEC3") == 0) {
+    accessor->type = TINYGLTF_TYPE_VEC3;
+  } else if (type.compare("VEC4") == 0) {
+    accessor->type = TINYGLTF_TYPE_VEC4;
+  } else if (type.compare("MAT2") == 0) {
+    accessor->type = TINYGLTF_TYPE_MAT2;
+  } else if (type.compare("MAT3") == 0) {
+    accessor->type = TINYGLTF_TYPE_MAT3;
+  } else if (type.compare("MAT4") == 0) {
+    accessor->type = TINYGLTF_TYPE_MAT4;
+  } else {
+    std::stringstream ss;
+    ss << "Unsupported `type` for accessor object. Got \"" << type << "\"\n";
+    if (err) {
+      (*err) += ss.str();
+    }
+    return false;
+  }
+
+  ParseStringProperty(&accessor->name, err, o, "name", false);
+
+  accessor->minValues.clear();
+  accessor->maxValues.clear();
+  ParseNumberArrayProperty(&accessor->minValues, err, o, "min", false,
+                           "Accessor");
+
+  ParseNumberArrayProperty(&accessor->maxValues, err, o, "max", false,
+                           "Accessor");
+
+  accessor->count = count;
+  accessor->bufferView = bufferView;
+  accessor->byteOffset = byteOffset;
+  accessor->normalized = normalized;
+  {
+    if (componentType >= TINYGLTF_COMPONENT_TYPE_BYTE &&
+        componentType <= TINYGLTF_COMPONENT_TYPE_DOUBLE) {
+      // OK
+      accessor->componentType = int(componentType);
+    } else {
+      std::stringstream ss;
+      ss << "Invalid `componentType` in accessor. Got " << componentType
+         << "\n";
+      if (err) {
+        (*err) += ss.str();
+      }
+      return false;
+    }
+  }
+
+  ParseExtensionsProperty(&(accessor->extensions), err, o);
+  ParseExtrasProperty(&(accessor->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        accessor->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        accessor->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  // check if accessor has a "sparse" object:
+  json_const_iterator iterator;
+  if (FindMember(o, "sparse", iterator)) {
+    // here this accessor has a "sparse" subobject
+    return ParseSparseAccessor(accessor, err, GetValue(iterator));
+  }
+
+  return true;
+}
+
+#ifdef TINYGLTF_ENABLE_DRACO
+
+static void DecodeIndexBuffer(draco::Mesh *mesh, size_t componentSize,
+                              std::vector<uint8_t> &outBuffer) {
+  if (componentSize == 4) {
+    assert(sizeof(mesh->face(draco::FaceIndex(0))[0]) == componentSize);
+    memcpy(outBuffer.data(), &mesh->face(draco::FaceIndex(0))[0],
+           outBuffer.size());
+  } else {
+    size_t faceStride = componentSize * 3;
+    for (draco::FaceIndex f(0); f < mesh->num_faces(); ++f) {
+      const draco::Mesh::Face &face = mesh->face(f);
+      if (componentSize == 2) {
+        uint16_t indices[3] = {(uint16_t)face[0].value(),
+                               (uint16_t)face[1].value(),
+                               (uint16_t)face[2].value()};
+        memcpy(outBuffer.data() + f.value() * faceStride, &indices[0],
+               faceStride);
+      } else {
+        uint8_t indices[3] = {(uint8_t)face[0].value(),
+                              (uint8_t)face[1].value(),
+                              (uint8_t)face[2].value()};
+        memcpy(outBuffer.data() + f.value() * faceStride, &indices[0],
+               faceStride);
+      }
+    }
+  }
+}
+
+template <typename T>
+static bool GetAttributeForAllPoints(draco::Mesh *mesh,
+                                     const draco::PointAttribute *pAttribute,
+                                     std::vector<uint8_t> &outBuffer) {
+  size_t byteOffset = 0;
+  T values[4] = {0, 0, 0, 0};
+  for (draco::PointIndex i(0); i < mesh->num_points(); ++i) {
+    const draco::AttributeValueIndex val_index = pAttribute->mapped_index(i);
+    if (!pAttribute->ConvertValue<T>(val_index, pAttribute->num_components(),
+                                     values))
+      return false;
+
+    memcpy(outBuffer.data() + byteOffset, &values[0],
+           sizeof(T) * pAttribute->num_components());
+    byteOffset += sizeof(T) * pAttribute->num_components();
+  }
+
+  return true;
+}
+
+static bool GetAttributeForAllPoints(uint32_t componentType, draco::Mesh *mesh,
+                                     const draco::PointAttribute *pAttribute,
+                                     std::vector<uint8_t> &outBuffer) {
+  bool decodeResult = false;
+  switch (componentType) {
+    case TINYGLTF_COMPONENT_TYPE_UNSIGNED_BYTE:
+      decodeResult =
+          GetAttributeForAllPoints<uint8_t>(mesh, pAttribute, outBuffer);
+      break;
+    case TINYGLTF_COMPONENT_TYPE_BYTE:
+      decodeResult =
+          GetAttributeForAllPoints<int8_t>(mesh, pAttribute, outBuffer);
+      break;
+    case TINYGLTF_COMPONENT_TYPE_UNSIGNED_SHORT:
+      decodeResult =
+          GetAttributeForAllPoints<uint16_t>(mesh, pAttribute, outBuffer);
+      break;
+    case TINYGLTF_COMPONENT_TYPE_SHORT:
+      decodeResult =
+          GetAttributeForAllPoints<int16_t>(mesh, pAttribute, outBuffer);
+      break;
+    case TINYGLTF_COMPONENT_TYPE_INT:
+      decodeResult =
+          GetAttributeForAllPoints<int32_t>(mesh, pAttribute, outBuffer);
+      break;
+    case TINYGLTF_COMPONENT_TYPE_UNSIGNED_INT:
+      decodeResult =
+          GetAttributeForAllPoints<uint32_t>(mesh, pAttribute, outBuffer);
+      break;
+    case TINYGLTF_COMPONENT_TYPE_FLOAT:
+      decodeResult =
+          GetAttributeForAllPoints<float>(mesh, pAttribute, outBuffer);
+      break;
+    case TINYGLTF_COMPONENT_TYPE_DOUBLE:
+      decodeResult =
+          GetAttributeForAllPoints<double>(mesh, pAttribute, outBuffer);
+      break;
+    default:
+      return false;
+  }
+
+  return decodeResult;
+}
+
+static bool ParseDracoExtension(Primitive *primitive, Model *model,
+                                std::string *err,
+                                const Value &dracoExtensionValue) {
+  (void)err;
+  auto bufferViewValue = dracoExtensionValue.Get("bufferView");
+  if (!bufferViewValue.IsInt()) return false;
+  auto attributesValue = dracoExtensionValue.Get("attributes");
+  if (!attributesValue.IsObject()) return false;
+
+  auto attributesObject = attributesValue.Get<Value::Object>();
+  int bufferView = bufferViewValue.Get<int>();
+
+  BufferView &view = model->bufferViews[bufferView];
+  Buffer &buffer = model->buffers[view.buffer];
+  // BufferView has already been decoded
+  if (view.dracoDecoded) return true;
+  view.dracoDecoded = true;
+
+  const char *bufferViewData =
+      reinterpret_cast<const char *>(buffer.data.data() + view.byteOffset);
+  size_t bufferViewSize = view.byteLength;
+
+  // decode draco
+  draco::DecoderBuffer decoderBuffer;
+  decoderBuffer.Init(bufferViewData, bufferViewSize);
+  draco::Decoder decoder;
+  auto decodeResult = decoder.DecodeMeshFromBuffer(&decoderBuffer);
+  if (!decodeResult.ok()) {
+    return false;
+  }
+  const std::unique_ptr<draco::Mesh> &mesh = decodeResult.value();
+
+  // create new bufferView for indices
+  if (primitive->indices >= 0) {
+    int32_t componentSize = GetComponentSizeInBytes(
+        model->accessors[primitive->indices].componentType);
+    Buffer decodedIndexBuffer;
+    decodedIndexBuffer.data.resize(mesh->num_faces() * 3 * componentSize);
+
+    DecodeIndexBuffer(mesh.get(), componentSize, decodedIndexBuffer.data);
+
+    model->buffers.emplace_back(std::move(decodedIndexBuffer));
+
+    BufferView decodedIndexBufferView;
+    decodedIndexBufferView.buffer = int(model->buffers.size() - 1);
+    decodedIndexBufferView.byteLength =
+        int(mesh->num_faces() * 3 * componentSize);
+    decodedIndexBufferView.byteOffset = 0;
+    decodedIndexBufferView.byteStride = 0;
+    decodedIndexBufferView.target = TINYGLTF_TARGET_ARRAY_BUFFER;
+    model->bufferViews.emplace_back(std::move(decodedIndexBufferView));
+
+    model->accessors[primitive->indices].bufferView =
+        int(model->bufferViews.size() - 1);
+    model->accessors[primitive->indices].count = int(mesh->num_faces() * 3);
+  }
+
+  for (const auto &attribute : attributesObject) {
+    if (!attribute.second.IsInt()) return false;
+    auto primitiveAttribute = primitive->attributes.find(attribute.first);
+    if (primitiveAttribute == primitive->attributes.end()) return false;
+
+    int dracoAttributeIndex = attribute.second.Get<int>();
+    const auto pAttribute = mesh->GetAttributeByUniqueId(dracoAttributeIndex);
+    const auto componentType =
+        model->accessors[primitiveAttribute->second].componentType;
+
+    // Create a new buffer for this decoded buffer
+    Buffer decodedBuffer;
+    size_t bufferSize = mesh->num_points() * pAttribute->num_components() *
+                        GetComponentSizeInBytes(componentType);
+    decodedBuffer.data.resize(bufferSize);
+
+    if (!GetAttributeForAllPoints(componentType, mesh.get(), pAttribute,
+                                  decodedBuffer.data))
+      return false;
+
+    model->buffers.emplace_back(std::move(decodedBuffer));
+
+    BufferView decodedBufferView;
+    decodedBufferView.buffer = int(model->buffers.size() - 1);
+    decodedBufferView.byteLength = bufferSize;
+    decodedBufferView.byteOffset = pAttribute->byte_offset();
+    decodedBufferView.byteStride = pAttribute->byte_stride();
+    decodedBufferView.target = primitive->indices >= 0
+                                   ? TINYGLTF_TARGET_ELEMENT_ARRAY_BUFFER
+                                   : TINYGLTF_TARGET_ARRAY_BUFFER;
+    model->bufferViews.emplace_back(std::move(decodedBufferView));
+
+    model->accessors[primitiveAttribute->second].bufferView =
+        int(model->bufferViews.size() - 1);
+    model->accessors[primitiveAttribute->second].count =
+        int(mesh->num_points());
+  }
+
+  return true;
+}
+#endif
+
+static bool ParsePrimitive(Primitive *primitive, Model *model, std::string *err,
+                           const json &o,
+                           bool store_original_json_for_extras_and_extensions) {
+  int material = -1;
+  ParseIntegerProperty(&material, err, o, "material", false);
+  primitive->material = material;
+
+  int mode = TINYGLTF_MODE_TRIANGLES;
+  ParseIntegerProperty(&mode, err, o, "mode", false);
+  primitive->mode = mode;  // Why only triangled were supported ?
+
+  int indices = -1;
+  ParseIntegerProperty(&indices, err, o, "indices", false);
+  primitive->indices = indices;
+  if (!ParseStringIntegerProperty(&primitive->attributes, err, o, "attributes",
+                                  true, "Primitive")) {
+    return false;
+  }
+
+  // Look for morph targets
+  json_const_iterator targetsObject;
+  if (FindMember(o, "targets", targetsObject) &&
+      IsArray(GetValue(targetsObject))) {
+    auto targetsObjectEnd = ArrayEnd(GetValue(targetsObject));
+    for (json_const_array_iterator i = ArrayBegin(GetValue(targetsObject));
+         i != targetsObjectEnd; ++i) {
+      std::map<std::string, int> targetAttribues;
+
+      const json &dict = *i;
+      if (IsObject(dict)) {
+        json_const_iterator dictIt(ObjectBegin(dict));
+        json_const_iterator dictItEnd(ObjectEnd(dict));
+
+        for (; dictIt != dictItEnd; ++dictIt) {
+          int iVal;
+          if (GetInt(GetValue(dictIt), iVal))
+            targetAttribues[GetKey(dictIt)] = iVal;
+        }
+        primitive->targets.emplace_back(std::move(targetAttribues));
+      }
+    }
+  }
+
+  ParseExtrasProperty(&(primitive->extras), o);
+  ParseExtensionsProperty(&primitive->extensions, err, o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        primitive->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        primitive->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+#ifdef TINYGLTF_ENABLE_DRACO
+  auto dracoExtension =
+      primitive->extensions.find("KHR_draco_mesh_compression");
+  if (dracoExtension != primitive->extensions.end()) {
+    ParseDracoExtension(primitive, model, err, dracoExtension->second);
+  }
+#else
+  (void)model;
+#endif
+
+  return true;
+}
+
+static bool ParseMesh(Mesh *mesh, Model *model, std::string *err, const json &o,
+                      bool store_original_json_for_extras_and_extensions) {
+  ParseStringProperty(&mesh->name, err, o, "name", false);
+
+  mesh->primitives.clear();
+  json_const_iterator primObject;
+  if (FindMember(o, "primitives", primObject) &&
+      IsArray(GetValue(primObject))) {
+    json_const_array_iterator primEnd = ArrayEnd(GetValue(primObject));
+    for (json_const_array_iterator i = ArrayBegin(GetValue(primObject));
+         i != primEnd; ++i) {
+      Primitive primitive;
+      if (ParsePrimitive(&primitive, model, err, *i,
+                         store_original_json_for_extras_and_extensions)) {
+        // Only add the primitive if the parsing succeeds.
+        mesh->primitives.emplace_back(std::move(primitive));
+      }
+    }
+  }
+
+  // Should probably check if has targets and if dimensions fit
+  ParseNumberArrayProperty(&mesh->weights, err, o, "weights", false);
+
+  ParseExtensionsProperty(&mesh->extensions, err, o);
+  ParseExtrasProperty(&(mesh->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        mesh->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        mesh->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseNode(Node *node, std::string *err, const json &o,
+                      bool store_original_json_for_extras_and_extensions) {
+  ParseStringProperty(&node->name, err, o, "name", false);
+
+  int skin = -1;
+  ParseIntegerProperty(&skin, err, o, "skin", false);
+  node->skin = skin;
+
+  // Matrix and T/R/S are exclusive
+  if (!ParseNumberArrayProperty(&node->matrix, err, o, "matrix", false)) {
+    ParseNumberArrayProperty(&node->rotation, err, o, "rotation", false);
+    ParseNumberArrayProperty(&node->scale, err, o, "scale", false);
+    ParseNumberArrayProperty(&node->translation, err, o, "translation", false);
+  }
+
+  int camera = -1;
+  ParseIntegerProperty(&camera, err, o, "camera", false);
+  node->camera = camera;
+
+  int mesh = -1;
+  ParseIntegerProperty(&mesh, err, o, "mesh", false);
+  node->mesh = mesh;
+
+  node->children.clear();
+  ParseIntegerArrayProperty(&node->children, err, o, "children", false);
+
+  ParseNumberArrayProperty(&node->weights, err, o, "weights", false);
+
+  ParseExtensionsProperty(&node->extensions, err, o);
+  ParseExtrasProperty(&(node->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        node->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        node->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParsePbrMetallicRoughness(
+    PbrMetallicRoughness *pbr, std::string *err, const json &o,
+    bool store_original_json_for_extras_and_extensions) {
+  if (pbr == nullptr) {
+    return false;
+  }
+
+  std::vector<double> baseColorFactor;
+  if (ParseNumberArrayProperty(&baseColorFactor, err, o, "baseColorFactor",
+                               /* required */ false)) {
+    if (baseColorFactor.size() != 4) {
+      if (err) {
+        (*err) +=
+            "Array length of `baseColorFactor` parameter in "
+            "pbrMetallicRoughness must be 4, but got " +
+            std::to_string(baseColorFactor.size()) + "\n";
+      }
+      return false;
+    }
+    pbr->baseColorFactor = baseColorFactor;
+  }
+
+  {
+    json_const_iterator it;
+    if (FindMember(o, "baseColorTexture", it)) {
+      ParseTextureInfo(&pbr->baseColorTexture, err, GetValue(it),
+                       store_original_json_for_extras_and_extensions);
+    }
+  }
+
+  {
+    json_const_iterator it;
+    if (FindMember(o, "metallicRoughnessTexture", it)) {
+      ParseTextureInfo(&pbr->metallicRoughnessTexture, err, GetValue(it),
+                       store_original_json_for_extras_and_extensions);
+    }
+  }
+
+  ParseNumberProperty(&pbr->metallicFactor, err, o, "metallicFactor", false);
+  ParseNumberProperty(&pbr->roughnessFactor, err, o, "roughnessFactor", false);
+
+  ParseExtensionsProperty(&pbr->extensions, err, o);
+  ParseExtrasProperty(&pbr->extras, o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        pbr->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        pbr->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseMaterial(Material *material, std::string *err, const json &o,
+                          bool store_original_json_for_extras_and_extensions) {
+  ParseStringProperty(&material->name, err, o, "name", /* required */ false);
+
+  if (ParseNumberArrayProperty(&material->emissiveFactor, err, o,
+                               "emissiveFactor",
+                               /* required */ false)) {
+    if (material->emissiveFactor.size() != 3) {
+      if (err) {
+        (*err) +=
+            "Array length of `emissiveFactor` parameter in "
+            "material must be 3, but got " +
+            std::to_string(material->emissiveFactor.size()) + "\n";
+      }
+      return false;
+    }
+  } else {
+    // fill with default values
+    material->emissiveFactor = {0.0, 0.0, 0.0};
+  }
+
+  ParseStringProperty(&material->alphaMode, err, o, "alphaMode",
+                      /* required */ false);
+  ParseNumberProperty(&material->alphaCutoff, err, o, "alphaCutoff",
+                      /* required */ false);
+  ParseBooleanProperty(&material->doubleSided, err, o, "doubleSided",
+                       /* required */ false);
+
+  {
+    json_const_iterator it;
+    if (FindMember(o, "pbrMetallicRoughness", it)) {
+      ParsePbrMetallicRoughness(&material->pbrMetallicRoughness, err,
+                                GetValue(it),
+                                store_original_json_for_extras_and_extensions);
+    }
+  }
+
+  {
+    json_const_iterator it;
+    if (FindMember(o, "normalTexture", it)) {
+      ParseNormalTextureInfo(&material->normalTexture, err, GetValue(it),
+                             store_original_json_for_extras_and_extensions);
+    }
+  }
+
+  {
+    json_const_iterator it;
+    if (FindMember(o, "occlusionTexture", it)) {
+      ParseOcclusionTextureInfo(&material->occlusionTexture, err, GetValue(it),
+                                store_original_json_for_extras_and_extensions);
+    }
+  }
+
+  {
+    json_const_iterator it;
+    if (FindMember(o, "emissiveTexture", it)) {
+      ParseTextureInfo(&material->emissiveTexture, err, GetValue(it),
+                       store_original_json_for_extras_and_extensions);
+    }
+  }
+
+  // Old code path. For backward compatibility, we still store material values
+  // as Parameter. This will create duplicated information for
+  // example(pbrMetallicRoughness), but should be neglible in terms of memory
+  // consumption.
+  // TODO(syoyo): Remove in the next major release.
+  material->values.clear();
+  material->additionalValues.clear();
+
+  json_const_iterator it(ObjectBegin(o));
+  json_const_iterator itEnd(ObjectEnd(o));
+
+  for (; it != itEnd; ++it) {
+    std::string key(GetKey(it));
+    if (key == "pbrMetallicRoughness") {
+      if (IsObject(GetValue(it))) {
+        const json &values_object = GetValue(it);
+
+        json_const_iterator itVal(ObjectBegin(values_object));
+        json_const_iterator itValEnd(ObjectEnd(values_object));
+
+        for (; itVal != itValEnd; ++itVal) {
+          Parameter param;
+          if (ParseParameterProperty(&param, err, values_object, GetKey(itVal),
+                                     false)) {
+            material->values.emplace(GetKey(itVal), std::move(param));
+          }
+        }
+      }
+    } else if (key == "extensions" || key == "extras") {
+      // done later, skip, otherwise poorly parsed contents will be saved in the
+      // parametermap and serialized again later
+    } else {
+      Parameter param;
+      if (ParseParameterProperty(&param, err, o, key, false)) {
+        // names of materials have already been parsed. Putting it in this map
+        // doesn't correctly reflext the glTF specification
+        if (key != "name")
+          material->additionalValues.emplace(std::move(key), std::move(param));
+      }
+    }
+  }
+
+  material->extensions.clear();
+  ParseExtensionsProperty(&material->extensions, err, o);
+  ParseExtrasProperty(&(material->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator eit;
+      if (FindMember(o, "extensions", eit)) {
+        material->extensions_json_string = JsonToString(GetValue(eit));
+      }
+    }
+    {
+      json_const_iterator eit;
+      if (FindMember(o, "extras", eit)) {
+        material->extras_json_string = JsonToString(GetValue(eit));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseAnimationChannel(
+    AnimationChannel *channel, std::string *err, const json &o,
+    bool store_original_json_for_extras_and_extensions) {
+  int samplerIndex = -1;
+  int targetIndex = -1;
+  if (!ParseIntegerProperty(&samplerIndex, err, o, "sampler", true,
+                            "AnimationChannel")) {
+    if (err) {
+      (*err) += "`sampler` field is missing in animation channels\n";
+    }
+    return false;
+  }
+
+  json_const_iterator targetIt;
+  if (FindMember(o, "target", targetIt) && IsObject(GetValue(targetIt))) {
+    const json &target_object = GetValue(targetIt);
+
+    if (!ParseIntegerProperty(&targetIndex, err, target_object, "node", true)) {
+      if (err) {
+        (*err) += "`node` field is missing in animation.channels.target\n";
+      }
+      return false;
+    }
+
+    if (!ParseStringProperty(&channel->target_path, err, target_object, "path",
+                             true)) {
+      if (err) {
+        (*err) += "`path` field is missing in animation.channels.target\n";
+      }
+      return false;
+    }
+    ParseExtensionsProperty(&channel->target_extensions, err, target_object);
+    if (store_original_json_for_extras_and_extensions) {
+      json_const_iterator it;
+      if (FindMember(target_object, "extensions", it)) {
+        channel->target_extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  channel->sampler = samplerIndex;
+  channel->target_node = targetIndex;
+
+  ParseExtensionsProperty(&channel->extensions, err, o);
+  ParseExtrasProperty(&(channel->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        channel->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        channel->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseAnimation(Animation *animation, std::string *err,
+                           const json &o,
+                           bool store_original_json_for_extras_and_extensions) {
+  {
+    json_const_iterator channelsIt;
+    if (FindMember(o, "channels", channelsIt) &&
+        IsArray(GetValue(channelsIt))) {
+      json_const_array_iterator channelEnd = ArrayEnd(GetValue(channelsIt));
+      for (json_const_array_iterator i = ArrayBegin(GetValue(channelsIt));
+           i != channelEnd; ++i) {
+        AnimationChannel channel;
+        if (ParseAnimationChannel(
+                &channel, err, *i,
+                store_original_json_for_extras_and_extensions)) {
+          // Only add the channel if the parsing succeeds.
+          animation->channels.emplace_back(std::move(channel));
+        }
+      }
+    }
+  }
+
+  {
+    json_const_iterator samplerIt;
+    if (FindMember(o, "samplers", samplerIt) && IsArray(GetValue(samplerIt))) {
+      const json &sampler_array = GetValue(samplerIt);
+
+      json_const_array_iterator it = ArrayBegin(sampler_array);
+      json_const_array_iterator itEnd = ArrayEnd(sampler_array);
+
+      for (; it != itEnd; ++it) {
+        const json &s = *it;
+
+        AnimationSampler sampler;
+        int inputIndex = -1;
+        int outputIndex = -1;
+        if (!ParseIntegerProperty(&inputIndex, err, s, "input", true)) {
+          if (err) {
+            (*err) += "`input` field is missing in animation.sampler\n";
+          }
+          return false;
+        }
+        ParseStringProperty(&sampler.interpolation, err, s, "interpolation",
+                            false);
+        if (!ParseIntegerProperty(&outputIndex, err, s, "output", true)) {
+          if (err) {
+            (*err) += "`output` field is missing in animation.sampler\n";
+          }
+          return false;
+        }
+        sampler.input = inputIndex;
+        sampler.output = outputIndex;
+        ParseExtensionsProperty(&(sampler.extensions), err, o);
+        ParseExtrasProperty(&(sampler.extras), s);
+
+        if (store_original_json_for_extras_and_extensions) {
+          {
+            json_const_iterator eit;
+            if (FindMember(o, "extensions", eit)) {
+              sampler.extensions_json_string = JsonToString(GetValue(eit));
+            }
+          }
+          {
+            json_const_iterator eit;
+            if (FindMember(o, "extras", eit)) {
+              sampler.extras_json_string = JsonToString(GetValue(eit));
+            }
+          }
+        }
+
+        animation->samplers.emplace_back(std::move(sampler));
+      }
+    }
+  }
+
+  ParseStringProperty(&animation->name, err, o, "name", false);
+
+  ParseExtensionsProperty(&animation->extensions, err, o);
+  ParseExtrasProperty(&(animation->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        animation->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        animation->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseSampler(Sampler *sampler, std::string *err, const json &o,
+                         bool store_original_json_for_extras_and_extensions) {
+  ParseStringProperty(&sampler->name, err, o, "name", false);
+
+  int minFilter = -1;
+  int magFilter = -1;
+  int wrapS = TINYGLTF_TEXTURE_WRAP_REPEAT;
+  int wrapT = TINYGLTF_TEXTURE_WRAP_REPEAT;
+  //int wrapR = TINYGLTF_TEXTURE_WRAP_REPEAT;
+  ParseIntegerProperty(&minFilter, err, o, "minFilter", false);
+  ParseIntegerProperty(&magFilter, err, o, "magFilter", false);
+  ParseIntegerProperty(&wrapS, err, o, "wrapS", false);
+  ParseIntegerProperty(&wrapT, err, o, "wrapT", false);
+  //ParseIntegerProperty(&wrapR, err, o, "wrapR", false);  // tinygltf extension
+
+  // TODO(syoyo): Check the value is alloed one.
+  // (e.g. we allow 9728(NEAREST), but don't allow 9727)
+
+  sampler->minFilter = minFilter;
+  sampler->magFilter = magFilter;
+  sampler->wrapS = wrapS;
+  sampler->wrapT = wrapT;
+  //sampler->wrapR = wrapR;
+
+  ParseExtensionsProperty(&(sampler->extensions), err, o);
+  ParseExtrasProperty(&(sampler->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        sampler->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        sampler->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseSkin(Skin *skin, std::string *err, const json &o,
+                      bool store_original_json_for_extras_and_extensions) {
+  ParseStringProperty(&skin->name, err, o, "name", false, "Skin");
+
+  std::vector<int> joints;
+  if (!ParseIntegerArrayProperty(&joints, err, o, "joints", false, "Skin")) {
+    return false;
+  }
+  skin->joints = std::move(joints);
+
+  int skeleton = -1;
+  ParseIntegerProperty(&skeleton, err, o, "skeleton", false, "Skin");
+  skin->skeleton = skeleton;
+
+  int invBind = -1;
+  ParseIntegerProperty(&invBind, err, o, "inverseBindMatrices", true, "Skin");
+  skin->inverseBindMatrices = invBind;
+
+  ParseExtensionsProperty(&(skin->extensions), err, o);
+  ParseExtrasProperty(&(skin->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        skin->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        skin->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParsePerspectiveCamera(
+    PerspectiveCamera *camera, std::string *err, const json &o,
+    bool store_original_json_for_extras_and_extensions) {
+  double yfov = 0.0;
+  if (!ParseNumberProperty(&yfov, err, o, "yfov", true, "OrthographicCamera")) {
+    return false;
+  }
+
+  double znear = 0.0;
+  if (!ParseNumberProperty(&znear, err, o, "znear", true,
+                           "PerspectiveCamera")) {
+    return false;
+  }
+
+  double aspectRatio = 0.0;  // = invalid
+  ParseNumberProperty(&aspectRatio, err, o, "aspectRatio", false,
+                      "PerspectiveCamera");
+
+  double zfar = 0.0;  // = invalid
+  ParseNumberProperty(&zfar, err, o, "zfar", false, "PerspectiveCamera");
+
+  camera->aspectRatio = aspectRatio;
+  camera->zfar = zfar;
+  camera->yfov = yfov;
+  camera->znear = znear;
+
+  ParseExtensionsProperty(&camera->extensions, err, o);
+  ParseExtrasProperty(&(camera->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        camera->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        camera->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  // TODO(syoyo): Validate parameter values.
+
+  return true;
+}
+
+static bool ParseSpotLight(SpotLight *light, std::string *err, const json &o,
+                           bool store_original_json_for_extras_and_extensions) {
+  ParseNumberProperty(&light->innerConeAngle, err, o, "innerConeAngle", false);
+  ParseNumberProperty(&light->outerConeAngle, err, o, "outerConeAngle", false);
+
+  ParseExtensionsProperty(&light->extensions, err, o);
+  ParseExtrasProperty(&light->extras, o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        light->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        light->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  // TODO(syoyo): Validate parameter values.
+
+  return true;
+}
+
+static bool ParseOrthographicCamera(
+    OrthographicCamera *camera, std::string *err, const json &o,
+    bool store_original_json_for_extras_and_extensions) {
+  double xmag = 0.0;
+  if (!ParseNumberProperty(&xmag, err, o, "xmag", true, "OrthographicCamera")) {
+    return false;
+  }
+
+  double ymag = 0.0;
+  if (!ParseNumberProperty(&ymag, err, o, "ymag", true, "OrthographicCamera")) {
+    return false;
+  }
+
+  double zfar = 0.0;
+  if (!ParseNumberProperty(&zfar, err, o, "zfar", true, "OrthographicCamera")) {
+    return false;
+  }
+
+  double znear = 0.0;
+  if (!ParseNumberProperty(&znear, err, o, "znear", true,
+                           "OrthographicCamera")) {
+    return false;
+  }
+
+  ParseExtensionsProperty(&camera->extensions, err, o);
+  ParseExtrasProperty(&(camera->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        camera->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        camera->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  camera->xmag = xmag;
+  camera->ymag = ymag;
+  camera->zfar = zfar;
+  camera->znear = znear;
+
+  // TODO(syoyo): Validate parameter values.
+
+  return true;
+}
+
+static bool ParseCamera(Camera *camera, std::string *err, const json &o,
+                        bool store_original_json_for_extras_and_extensions) {
+  if (!ParseStringProperty(&camera->type, err, o, "type", true, "Camera")) {
+    return false;
+  }
+
+  if (camera->type.compare("orthographic") == 0) {
+    json_const_iterator orthoIt;
+    if (!FindMember(o, "orthographic", orthoIt)) {
+      if (err) {
+        std::stringstream ss;
+        ss << "Orhographic camera description not found." << std::endl;
+        (*err) += ss.str();
+      }
+      return false;
+    }
+
+    const json &v = GetValue(orthoIt);
+    if (!IsObject(v)) {
+      if (err) {
+        std::stringstream ss;
+        ss << "\"orthographic\" is not a JSON object." << std::endl;
+        (*err) += ss.str();
+      }
+      return false;
+    }
+
+    if (!ParseOrthographicCamera(
+            &camera->orthographic, err, v,
+            store_original_json_for_extras_and_extensions)) {
+      return false;
+    }
+  } else if (camera->type.compare("perspective") == 0) {
+    json_const_iterator perspIt;
+    if (!FindMember(o, "perspective", perspIt)) {
+      if (err) {
+        std::stringstream ss;
+        ss << "Perspective camera description not found." << std::endl;
+        (*err) += ss.str();
+      }
+      return false;
+    }
+
+    const json &v = GetValue(perspIt);
+    if (!IsObject(v)) {
+      if (err) {
+        std::stringstream ss;
+        ss << "\"perspective\" is not a JSON object." << std::endl;
+        (*err) += ss.str();
+      }
+      return false;
+    }
+
+    if (!ParsePerspectiveCamera(
+            &camera->perspective, err, v,
+            store_original_json_for_extras_and_extensions)) {
+      return false;
+    }
+  } else {
+    if (err) {
+      std::stringstream ss;
+      ss << "Invalid camera type: \"" << camera->type
+         << "\". Must be \"perspective\" or \"orthographic\"" << std::endl;
+      (*err) += ss.str();
+    }
+    return false;
+  }
+
+  ParseStringProperty(&camera->name, err, o, "name", false);
+
+  ParseExtensionsProperty(&camera->extensions, err, o);
+  ParseExtrasProperty(&(camera->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        camera->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        camera->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+static bool ParseLight(Light *light, std::string *err, const json &o,
+                       bool store_original_json_for_extras_and_extensions) {
+  if (!ParseStringProperty(&light->type, err, o, "type", true)) {
+    return false;
+  }
+
+  if (light->type == "spot") {
+    json_const_iterator spotIt;
+    if (!FindMember(o, "spot", spotIt)) {
+      if (err) {
+        std::stringstream ss;
+        ss << "Spot light description not found." << std::endl;
+        (*err) += ss.str();
+      }
+      return false;
+    }
+
+    const json &v = GetValue(spotIt);
+    if (!IsObject(v)) {
+      if (err) {
+        std::stringstream ss;
+        ss << "\"spot\" is not a JSON object." << std::endl;
+        (*err) += ss.str();
+      }
+      return false;
+    }
+
+    if (!ParseSpotLight(&light->spot, err, v,
+                        store_original_json_for_extras_and_extensions)) {
+      return false;
+    }
+  }
+
+  ParseStringProperty(&light->name, err, o, "name", false);
+  ParseNumberArrayProperty(&light->color, err, o, "color", false);
+  ParseNumberProperty(&light->range, err, o, "range", false);
+  ParseNumberProperty(&light->intensity, err, o, "intensity", false);
+  ParseExtensionsProperty(&light->extensions, err, o);
+  ParseExtrasProperty(&(light->extras), o);
+
+  if (store_original_json_for_extras_and_extensions) {
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        light->extensions_json_string = JsonToString(GetValue(it));
+      }
+    }
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extras", it)) {
+        light->extras_json_string = JsonToString(GetValue(it));
+      }
+    }
+  }
+
+  return true;
+}
+
+bool TinyGLTF::LoadFromString(Model *model, std::string *err, std::string *warn,
+                              const char *json_str,
+                              unsigned int json_str_length,
+                              const std::string &base_dir,
+                              unsigned int check_sections) {
+  if (json_str_length < 4) {
+    if (err) {
+      (*err) = "JSON string too short.\n";
+    }
+    return false;
+  }
+
+  JsonDocument v;
+
+#if (defined(__cpp_exceptions) || defined(__EXCEPTIONS) || \
+     defined(_CPPUNWIND)) &&                               \
+    !defined(TINYGLTF_NOEXCEPTION)
+  try {
+    JsonParse(v, json_str, json_str_length, true);
+
+  } catch (const std::exception &e) {
+    if (err) {
+      (*err) = e.what();
+    }
+    return false;
+  }
+#else
+  {
+    JsonParse(v, json_str, json_str_length);
+
+    if (!IsObject(v)) {
+      // Assume parsing was failed.
+      if (err) {
+        (*err) = "Failed to parse JSON object\n";
+      }
+      return false;
+    }
+  }
+#endif
+
+  if (!IsObject(v)) {
+    // root is not an object.
+    if (err) {
+      (*err) = "Root element is not a JSON object\n";
+    }
+    return false;
+  }
+
+  {
+    bool version_found = false;
+    json_const_iterator it;
+    if (FindMember(v, "asset", it) && IsObject(GetValue(it))) {
+      auto &itObj = GetValue(it);
+      json_const_iterator version_it;
+      std::string versionStr;
+      if (FindMember(itObj, "version", version_it) &&
+          GetString(GetValue(version_it), versionStr)) {
+        version_found = true;
+      }
+    }
+    if (version_found) {
+      // OK
+    } else if (check_sections & REQUIRE_VERSION) {
+      if (err) {
+        (*err) += "\"asset\" object not found in .gltf or not an object type\n";
+      }
+      return false;
+    }
+  }
+
+  // scene is not mandatory.
+  // FIXME Maybe a better way to handle it than removing the code
+
+  auto IsArrayMemberPresent = [](const json &_v, const char *name) -> bool {
+    json_const_iterator it;
+    return FindMember(_v, name, it) && IsArray(GetValue(it));
+  };
+
+  {
+    if ((check_sections & REQUIRE_SCENES) &&
+        !IsArrayMemberPresent(v, "scenes")) {
+      if (err) {
+        (*err) += "\"scenes\" object not found in .gltf or not an array type\n";
+      }
+      return false;
+    }
+  }
+
+  {
+    if ((check_sections & REQUIRE_NODES) && !IsArrayMemberPresent(v, "nodes")) {
+      if (err) {
+        (*err) += "\"nodes\" object not found in .gltf\n";
+      }
+      return false;
+    }
+  }
+
+  {
+    if ((check_sections & REQUIRE_ACCESSORS) &&
+        !IsArrayMemberPresent(v, "accessors")) {
+      if (err) {
+        (*err) += "\"accessors\" object not found in .gltf\n";
+      }
+      return false;
+    }
+  }
+
+  {
+    if ((check_sections & REQUIRE_BUFFERS) &&
+        !IsArrayMemberPresent(v, "buffers")) {
+      if (err) {
+        (*err) += "\"buffers\" object not found in .gltf\n";
+      }
+      return false;
+    }
+  }
+
+  {
+    if ((check_sections & REQUIRE_BUFFER_VIEWS) &&
+        !IsArrayMemberPresent(v, "bufferViews")) {
+      if (err) {
+        (*err) += "\"bufferViews\" object not found in .gltf\n";
+      }
+      return false;
+    }
+  }
+
+  model->buffers.clear();
+  model->bufferViews.clear();
+  model->accessors.clear();
+  model->meshes.clear();
+  model->cameras.clear();
+  model->nodes.clear();
+  model->extensionsUsed.clear();
+  model->extensionsRequired.clear();
+  model->extensions.clear();
+  model->defaultScene = -1;
+
+  // 1. Parse Asset
+  {
+    json_const_iterator it;
+    if (FindMember(v, "asset", it) && IsObject(GetValue(it))) {
+      const json &root = GetValue(it);
+
+      ParseAsset(&model->asset, err, root,
+                 store_original_json_for_extras_and_extensions_);
+    }
+  }
+
+#ifdef TINYGLTF_USE_CPP14
+  auto ForEachInArray = [](const json &_v, const char *member,
+                           const auto &cb) -> bool
+#else
+  // The std::function<> implementation can be less efficient because it will
+  // allocate heap when the size of the captured lambda is above 16 bytes with
+  // clang and gcc, but it does not require C++14.
+  auto ForEachInArray = [](const json &_v, const char *member,
+                           const std::function<bool(const json &)> &cb) -> bool
+#endif
+  {
+    json_const_iterator itm;
+    if (FindMember(_v, member, itm) && IsArray(GetValue(itm))) {
+      const json &root = GetValue(itm);
+      auto it = ArrayBegin(root);
+      auto end = ArrayEnd(root);
+      for (; it != end; ++it) {
+        if (!cb(*it)) return false;
+      }
+    }
+    return true;
+  };
+
+  // 2. Parse extensionUsed
+  {
+    ForEachInArray(v, "extensionsUsed", [&](const json &o) {
+      std::string str;
+      GetString(o, str);
+      model->extensionsUsed.emplace_back(std::move(str));
+      return true;
+    });
+  }
+
+  {
+    ForEachInArray(v, "extensionsRequired", [&](const json &o) {
+      std::string str;
+      GetString(o, str);
+      model->extensionsRequired.emplace_back(std::move(str));
+      return true;
+    });
+  }
+
+  // 3. Parse Buffer
+  {
+    bool success = ForEachInArray(v, "buffers", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`buffers' does not contain an JSON object.";
+        }
+        return false;
+      }
+      Buffer buffer;
+      if (!ParseBuffer(&buffer, err, o,
+                       store_original_json_for_extras_and_extensions_, &fs,
+                       base_dir, is_binary_, bin_data_, bin_size_)) {
+        return false;
+      }
+
+      model->buffers.emplace_back(std::move(buffer));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+  // 4. Parse BufferView
+  {
+    bool success = ForEachInArray(v, "bufferViews", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`bufferViews' does not contain an JSON object.";
+        }
+        return false;
+      }
+      BufferView bufferView;
+      if (!ParseBufferView(&bufferView, err, o,
+                           store_original_json_for_extras_and_extensions_)) {
+        return false;
+      }
+
+      model->bufferViews.emplace_back(std::move(bufferView));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // 5. Parse Accessor
+  {
+    bool success = ForEachInArray(v, "accessors", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`accessors' does not contain an JSON object.";
+        }
+        return false;
+      }
+      Accessor accessor;
+      if (!ParseAccessor(&accessor, err, o,
+                         store_original_json_for_extras_and_extensions_)) {
+        return false;
+      }
+
+      model->accessors.emplace_back(std::move(accessor));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // 6. Parse Mesh
+  {
+    bool success = ForEachInArray(v, "meshes", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`meshes' does not contain an JSON object.";
+        }
+        return false;
+      }
+      Mesh mesh;
+      if (!ParseMesh(&mesh, model, err, o,
+                     store_original_json_for_extras_and_extensions_)) {
+        return false;
+      }
+
+      model->meshes.emplace_back(std::move(mesh));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // Assign missing bufferView target types
+  // - Look for missing Mesh indices
+  // - Look for missing Mesh attributes
+  for (auto &mesh : model->meshes) {
+    for (auto &primitive : mesh.primitives) {
+      if (primitive.indices >
+          -1)  // has indices from parsing step, must be Element Array Buffer
+      {
+        if (size_t(primitive.indices) >= model->accessors.size()) {
+          if (err) {
+            (*err) += "primitive indices accessor out of bounds";
+          }
+          return false;
+        }
+
+        auto bufferView =
+            model->accessors[size_t(primitive.indices)].bufferView;
+        if (bufferView < 0 || size_t(bufferView) >= model->bufferViews.size()) {
+          if (err) {
+            (*err) += "accessor[" + std::to_string(primitive.indices) +
+                      "] invalid bufferView";
+          }
+          return false;
+        }
+
+        model->bufferViews[size_t(bufferView)].target =
+            TINYGLTF_TARGET_ELEMENT_ARRAY_BUFFER;
+        // we could optionally check if acessors' bufferView type is Scalar, as
+        // it should be
+      }
+
+      for (auto &attribute : primitive.attributes) {
+        model
+            ->bufferViews[size_t(
+                model->accessors[size_t(attribute.second)].bufferView)]
+            .target = TINYGLTF_TARGET_ARRAY_BUFFER;
+      }
+
+      for (auto &target : primitive.targets) {
+        for (auto &attribute : target) {
+          auto bufferView =
+              model->accessors[size_t(attribute.second)].bufferView;
+          // bufferView could be null(-1) for sparse morph target
+          if (bufferView >= 0) {
+            model->bufferViews[size_t(bufferView)].target =
+                TINYGLTF_TARGET_ARRAY_BUFFER;
+          }
+        }
+      }
+    }
+  }
+
+  // 7. Parse Node
+  {
+    bool success = ForEachInArray(v, "nodes", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`nodes' does not contain an JSON object.";
+        }
+        return false;
+      }
+      Node node;
+      if (!ParseNode(&node, err, o,
+                     store_original_json_for_extras_and_extensions_)) {
+        return false;
+      }
+
+      model->nodes.emplace_back(std::move(node));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // 8. Parse scenes.
+  {
+    bool success = ForEachInArray(v, "scenes", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`scenes' does not contain an JSON object.";
+        }
+        return false;
+      }
+      std::vector<int> nodes;
+      ParseIntegerArrayProperty(&nodes, err, o, "nodes", false);
+
+      Scene scene;
+      scene.nodes = std::move(nodes);
+
+      ParseStringProperty(&scene.name, err, o, "name", false);
+
+      ParseExtensionsProperty(&scene.extensions, err, o);
+      ParseExtrasProperty(&scene.extras, o);
+
+      if (store_original_json_for_extras_and_extensions_) {
+        {
+          json_const_iterator it;
+          if (FindMember(o, "extensions", it)) {
+            model->extensions_json_string = JsonToString(GetValue(it));
+          }
+        }
+        {
+          json_const_iterator it;
+          if (FindMember(o, "extras", it)) {
+            model->extras_json_string = JsonToString(GetValue(it));
+          }
+        }
+      }
+
+      model->scenes.emplace_back(std::move(scene));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // 9. Parse default scenes.
+  {
+    json_const_iterator rootIt;
+    int iVal;
+    if (FindMember(v, "scene", rootIt) && GetInt(GetValue(rootIt), iVal)) {
+      model->defaultScene = iVal;
+    }
+  }
+
+  // 10. Parse Material
+  {
+    bool success = ForEachInArray(v, "materials", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`materials' does not contain an JSON object.";
+        }
+        return false;
+      }
+      Material material;
+      ParseStringProperty(&material.name, err, o, "name", false);
+
+      if (!ParseMaterial(&material, err, o,
+                         store_original_json_for_extras_and_extensions_)) {
+        return false;
+      }
+
+      model->materials.emplace_back(std::move(material));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // 11. Parse Image
+  void *load_image_user_data{nullptr};
+
+  LoadImageDataOption load_image_option;
+
+  if (user_image_loader_) {
+    // Use user supplied pointer
+    load_image_user_data = load_image_user_data_;
+  } else {
+    load_image_option.preserve_channels = preserve_image_channels_;
+    load_image_user_data = reinterpret_cast<void *>(&load_image_option);
+  }
+
+  {
+    int idx = 0;
+    bool success = ForEachInArray(v, "images", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "image[" + std::to_string(idx) + "] is not a JSON object.";
+        }
+        return false;
+      }
+      Image image;
+      if (!ParseImage(&image, idx, err, warn, o,
+                      store_original_json_for_extras_and_extensions_, base_dir,
+                      &fs, &this->LoadImageData, load_image_user_data)) {
+        return false;
+      }
+
+      if (image.bufferView != -1) {
+        // Load image from the buffer view.
+        if (size_t(image.bufferView) >= model->bufferViews.size()) {
+          if (err) {
+            std::stringstream ss;
+            ss << "image[" << idx << "] bufferView \"" << image.bufferView
+               << "\" not found in the scene." << std::endl;
+            (*err) += ss.str();
+          }
+          return false;
+        }
+
+        const BufferView &bufferView =
+            model->bufferViews[size_t(image.bufferView)];
+        if (size_t(bufferView.buffer) >= model->buffers.size()) {
+          if (err) {
+            std::stringstream ss;
+            ss << "image[" << idx << "] buffer \"" << bufferView.buffer
+               << "\" not found in the scene." << std::endl;
+            (*err) += ss.str();
+          }
+          return false;
+        }
+        const Buffer &buffer = model->buffers[size_t(bufferView.buffer)];
+
+        if (*LoadImageData == nullptr) {
+          if (err) {
+            (*err) += "No LoadImageData callback specified.\n";
+          }
+          return false;
+        }
+        bool ret = LoadImageData(
+            &image, idx, err, warn, image.width, image.height,
+            &buffer.data[bufferView.byteOffset],
+            static_cast<int>(bufferView.byteLength), load_image_user_data);
+        if (!ret) {
+          return false;
+        }
+      }
+
+      model->images.emplace_back(std::move(image));
+      ++idx;
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // 12. Parse Texture
+  {
+    bool success = ForEachInArray(v, "textures", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`textures' does not contain an JSON object.";
+        }
+        return false;
+      }
+      Texture texture;
+      if (!ParseTexture(&texture, err, o,
+                        store_original_json_for_extras_and_extensions_,
+                        base_dir)) {
+        return false;
+      }
+
+      model->textures.emplace_back(std::move(texture));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // 13. Parse Animation
+  {
+    bool success = ForEachInArray(v, "animations", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`animations' does not contain an JSON object.";
+        }
+        return false;
+      }
+      Animation animation;
+      if (!ParseAnimation(&animation, err, o,
+                          store_original_json_for_extras_and_extensions_)) {
+        return false;
+      }
+
+      model->animations.emplace_back(std::move(animation));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // 14. Parse Skin
+  {
+    bool success = ForEachInArray(v, "skins", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`skins' does not contain an JSON object.";
+        }
+        return false;
+      }
+      Skin skin;
+      if (!ParseSkin(&skin, err, o,
+                     store_original_json_for_extras_and_extensions_)) {
+        return false;
+      }
+
+      model->skins.emplace_back(std::move(skin));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // 15. Parse Sampler
+  {
+    bool success = ForEachInArray(v, "samplers", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`samplers' does not contain an JSON object.";
+        }
+        return false;
+      }
+      Sampler sampler;
+      if (!ParseSampler(&sampler, err, o,
+                        store_original_json_for_extras_and_extensions_)) {
+        return false;
+      }
+
+      model->samplers.emplace_back(std::move(sampler));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // 16. Parse Camera
+  {
+    bool success = ForEachInArray(v, "cameras", [&](const json &o) {
+      if (!IsObject(o)) {
+        if (err) {
+          (*err) += "`cameras' does not contain an JSON object.";
+        }
+        return false;
+      }
+      Camera camera;
+      if (!ParseCamera(&camera, err, o,
+                       store_original_json_for_extras_and_extensions_)) {
+        return false;
+      }
+
+      model->cameras.emplace_back(std::move(camera));
+      return true;
+    });
+
+    if (!success) {
+      return false;
+    }
+  }
+
+  // 17. Parse Extensions
+  ParseExtensionsProperty(&model->extensions, err, v);
+
+  // 18. Specific extension implementations
+  {
+    json_const_iterator rootIt;
+    if (FindMember(v, "extensions", rootIt) && IsObject(GetValue(rootIt))) {
+      const json &root = GetValue(rootIt);
+
+      json_const_iterator it(ObjectBegin(root));
+      json_const_iterator itEnd(ObjectEnd(root));
+      for (; it != itEnd; ++it) {
+        // parse KHR_lights_punctual extension
+        std::string key(GetKey(it));
+        if ((key == "KHR_lights_punctual") && IsObject(GetValue(it))) {
+          const json &object = GetValue(it);
+          json_const_iterator itLight;
+          if (FindMember(object, "lights", itLight)) {
+            const json &lights = GetValue(itLight);
+            if (!IsArray(lights)) {
+              continue;
+            }
+
+            auto arrayIt(ArrayBegin(lights));
+            auto arrayItEnd(ArrayEnd(lights));
+            for (; arrayIt != arrayItEnd; ++arrayIt) {
+              Light light;
+              if (!ParseLight(&light, err, *arrayIt,
+                              store_original_json_for_extras_and_extensions_)) {
+                return false;
+              }
+              model->lights.emplace_back(std::move(light));
+            }
+          }
+        }
+      }
+    }
+  }
+
+  // 19. Parse Extras
+  ParseExtrasProperty(&model->extras, v);
+
+  if (store_original_json_for_extras_and_extensions_) {
+    model->extras_json_string = JsonToString(v["extras"]);
+    model->extensions_json_string = JsonToString(v["extensions"]);
+  }
+
+  return true;
+}
+
+bool TinyGLTF::LoadASCIIFromString(Model *model, std::string *err,
+                                   std::string *warn, const char *str,
+                                   unsigned int length,
+                                   const std::string &base_dir,
+                                   unsigned int check_sections) {
+  is_binary_ = false;
+  bin_data_ = nullptr;
+  bin_size_ = 0;
+
+  return LoadFromString(model, err, warn, str, length, base_dir,
+                        check_sections);
+}
+
+bool TinyGLTF::LoadASCIIFromFile(Model *model, std::string *err,
+                                 std::string *warn, const std::string &filename,
+                                 unsigned int check_sections) {
+  std::stringstream ss;
+
+  if (fs.ReadWholeFile == nullptr) {
+    // Programmer error, assert() ?
+    ss << "Failed to read file: " << filename
+       << ": one or more FS callback not set" << std::endl;
+    if (err) {
+      (*err) = ss.str();
+    }
+    return false;
+  }
+
+  std::vector<unsigned char> data;
+  std::string fileerr;
+  bool fileread = fs.ReadWholeFile(&data, &fileerr, filename, fs.user_data);
+  if (!fileread) {
+    ss << "Failed to read file: " << filename << ": " << fileerr << std::endl;
+    if (err) {
+      (*err) = ss.str();
+    }
+    return false;
+  }
+
+  size_t sz = data.size();
+  if (sz == 0) {
+    if (err) {
+      (*err) = "Empty file.";
+    }
+    return false;
+  }
+
+  std::string basedir = GetBaseDir(filename);
+
+  bool ret = LoadASCIIFromString(
+      model, err, warn, reinterpret_cast<const char *>(&data.at(0)),
+      static_cast<unsigned int>(data.size()), basedir, check_sections);
+
+  return ret;
+}
+
+bool TinyGLTF::LoadBinaryFromMemory(Model *model, std::string *err,
+                                    std::string *warn,
+                                    const unsigned char *bytes,
+                                    unsigned int size,
+                                    const std::string &base_dir,
+                                    unsigned int check_sections) {
+  if (size < 20) {
+    if (err) {
+      (*err) = "Too short data size for glTF Binary.";
+    }
+    return false;
+  }
+
+  if (bytes[0] == 'g' && bytes[1] == 'l' && bytes[2] == 'T' &&
+      bytes[3] == 'F') {
+    // ok
+  } else {
+    if (err) {
+      (*err) = "Invalid magic.";
+    }
+    return false;
+  }
+
+  unsigned int version;       // 4 bytes
+  unsigned int length;        // 4 bytes
+  unsigned int model_length;  // 4 bytes
+  unsigned int model_format;  // 4 bytes;
+
+  // @todo { Endian swap for big endian machine. }
+  memcpy(&version, bytes + 4, 4);
+  swap4(&version);
+  memcpy(&length, bytes + 8, 4);
+  swap4(&length);
+  memcpy(&model_length, bytes + 12, 4);
+  swap4(&model_length);
+  memcpy(&model_format, bytes + 16, 4);
+  swap4(&model_format);
+
+  // In case the Bin buffer is not present, the size is exactly 20 + size of
+  // JSON contents,
+  // so use "greater than" operator.
+  if ((20 + model_length > size) || (model_length < 1) || (length > size) ||
+      (20 + model_length > length) ||
+      (model_format != 0x4E4F534A)) {  // 0x4E4F534A = JSON format.
+    if (err) {
+      (*err) = "Invalid glTF binary.";
+    }
+    return false;
+  }
+
+  // Extract JSON string.
+  std::string jsonString(reinterpret_cast<const char *>(&bytes[20]),
+                         model_length);
+
+  is_binary_ = true;
+  bin_data_ = bytes + 20 + model_length +
+              8;  // 4 bytes (buffer_length) + 4 bytes(buffer_format)
+  bin_size_ =
+      length - (20 + model_length);  // extract header + JSON scene data.
+
+  bool ret = LoadFromString(model, err, warn,
+                            reinterpret_cast<const char *>(&bytes[20]),
+                            model_length, base_dir, check_sections);
+  if (!ret) {
+    return ret;
+  }
+
+  return true;
+}
+
+bool TinyGLTF::LoadBinaryFromFile(Model *model, std::string *err,
+                                  std::string *warn,
+                                  const std::string &filename,
+                                  unsigned int check_sections) {
+  std::stringstream ss;
+
+  if (fs.ReadWholeFile == nullptr) {
+    // Programmer error, assert() ?
+    ss << "Failed to read file: " << filename
+       << ": one or more FS callback not set" << std::endl;
+    if (err) {
+      (*err) = ss.str();
+    }
+    return false;
+  }
+
+  std::vector<unsigned char> data;
+  std::string fileerr;
+  bool fileread = fs.ReadWholeFile(&data, &fileerr, filename, fs.user_data);
+  if (!fileread) {
+    ss << "Failed to read file: " << filename << ": " << fileerr << std::endl;
+    if (err) {
+      (*err) = ss.str();
+    }
+    return false;
+  }
+
+  std::string basedir = GetBaseDir(filename);
+
+  bool ret = LoadBinaryFromMemory(model, err, warn, &data.at(0),
+                                  static_cast<unsigned int>(data.size()),
+                                  basedir, check_sections);
+
+  return ret;
+}
+
+///////////////////////
+// GLTF Serialization
+///////////////////////
+namespace {
+json JsonFromString(const char *s) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  return json(s, GetAllocator());
+#else
+  return json(s);
+#endif
+}
+
+void JsonAssign(json &dest, const json &src) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  dest.CopyFrom(src, GetAllocator());
+#else
+  dest = src;
+#endif
+}
+
+void JsonAddMember(json &o, const char *key, json &&value) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  if (!o.IsObject()) {
+    o.SetObject();
+  }
+  o.AddMember(json(key, GetAllocator()), std::move(value), GetAllocator());
+#else
+  o[key] = std::move(value);
+#endif
+}
+
+void JsonPushBack(json &o, json &&value) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  o.PushBack(std::move(value), GetAllocator());
+#else
+  o.push_back(std::move(value));
+#endif
+}
+
+bool JsonIsNull(const json &o) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  return o.IsNull();
+#else
+  return o.is_null();
+#endif
+}
+
+void JsonSetObject(json &o) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  o.SetObject();
+#else
+  o = o.object({});
+#endif
+}
+
+void JsonReserveArray(json &o, size_t s) {
+#ifdef TINYGLTF_USE_RAPIDJSON
+  o.SetArray();
+  o.Reserve(static_cast<rapidjson::SizeType>(s), GetAllocator());
+#endif
+  (void)(o);
+  (void)(s);
+}
+}  // namespace
+
+// typedef std::pair<std::string, json> json_object_pair;
+
+template <typename T>
+static void SerializeNumberProperty(const std::string &key, T number,
+                                    json &obj) {
+  // obj.insert(
+  //    json_object_pair(key, json(static_cast<double>(number))));
+  // obj[key] = static_cast<double>(number);
+  JsonAddMember(obj, key.c_str(), json(number));
+}
+
+#ifdef TINYGLTF_USE_RAPIDJSON
+template <>
+void SerializeNumberProperty(const std::string &key, size_t number, json &obj) {
+  JsonAddMember(obj, key.c_str(), json(static_cast<uint64_t>(number)));
+}
+#endif
+
+template <typename T>
+static void SerializeNumberArrayProperty(const std::string &key,
+                                         const std::vector<T> &value,
+                                         json &obj) {
+  if (value.empty()) return;
+
+  json ary;
+  JsonReserveArray(ary, value.size());
+  for (const auto &s : value) {
+    JsonPushBack(ary, json(s));
+  }
+  JsonAddMember(obj, key.c_str(), std::move(ary));
+}
+
+static void SerializeStringProperty(const std::string &key,
+                                    const std::string &value, json &obj) {
+  JsonAddMember(obj, key.c_str(), JsonFromString(value.c_str()));
+}
+
+static void SerializeStringArrayProperty(const std::string &key,
+                                         const std::vector<std::string> &value,
+                                         json &obj) {
+  json ary;
+  JsonReserveArray(ary, value.size());
+  for (auto &s : value) {
+    JsonPushBack(ary, JsonFromString(s.c_str()));
+  }
+  JsonAddMember(obj, key.c_str(), std::move(ary));
+}
+
+static bool ValueToJson(const Value &value, json *ret) {
+  json obj;
+#ifdef TINYGLTF_USE_RAPIDJSON
+  switch (value.Type()) {
+    case REAL_TYPE:
+      obj.SetDouble(value.Get<double>());
+      break;
+    case INT_TYPE:
+      obj.SetInt(value.Get<int>());
+      break;
+    case BOOL_TYPE:
+      obj.SetBool(value.Get<bool>());
+      break;
+    case STRING_TYPE:
+      obj.SetString(value.Get<std::string>().c_str(), GetAllocator());
+      break;
+    case ARRAY_TYPE: {
+      obj.SetArray();
+      obj.Reserve(static_cast<rapidjson::SizeType>(value.ArrayLen()),
+                  GetAllocator());
+      for (unsigned int i = 0; i < value.ArrayLen(); ++i) {
+        Value elementValue = value.Get(int(i));
+        json elementJson;
+        if (ValueToJson(value.Get(int(i)), &elementJson))
+          obj.PushBack(std::move(elementJson), GetAllocator());
+      }
+      break;
+    }
+    case BINARY_TYPE:
+      // TODO
+      // obj = json(value.Get<std::vector<unsigned char>>());
+      return false;
+      break;
+    case OBJECT_TYPE: {
+      obj.SetObject();
+      Value::Object objMap = value.Get<Value::Object>();
+      for (auto &it : objMap) {
+        json elementJson;
+        if (ValueToJson(it.second, &elementJson)) {
+          obj.AddMember(json(it.first.c_str(), GetAllocator()),
+                        std::move(elementJson), GetAllocator());
+        }
+      }
+      break;
+    }
+    case NULL_TYPE:
+    default:
+      return false;
+  }
+#else
+  switch (value.Type()) {
+    case REAL_TYPE:
+      obj = json(value.Get<double>());
+      break;
+    case INT_TYPE:
+      obj = json(value.Get<int>());
+      break;
+    case BOOL_TYPE:
+      obj = json(value.Get<bool>());
+      break;
+    case STRING_TYPE:
+      obj = json(value.Get<std::string>());
+      break;
+    case ARRAY_TYPE: {
+      for (unsigned int i = 0; i < value.ArrayLen(); ++i) {
+        Value elementValue = value.Get(int(i));
+        json elementJson;
+        if (ValueToJson(value.Get(int(i)), &elementJson))
+          obj.push_back(elementJson);
+      }
+      break;
+    }
+    case BINARY_TYPE:
+      // TODO
+      // obj = json(value.Get<std::vector<unsigned char>>());
+      return false;
+      break;
+    case OBJECT_TYPE: {
+      Value::Object objMap = value.Get<Value::Object>();
+      for (auto &it : objMap) {
+        json elementJson;
+        if (ValueToJson(it.second, &elementJson)) obj[it.first] = elementJson;
+      }
+      break;
+    }
+    case NULL_TYPE:
+    default:
+      return false;
+  }
+#endif
+  if (ret) *ret = std::move(obj);
+  return true;
+}
+
+static void SerializeValue(const std::string &key, const Value &value,
+                           json &obj) {
+  json ret;
+  if (ValueToJson(value, &ret)) {
+    JsonAddMember(obj, key.c_str(), std::move(ret));
+  }
+}
+
+static void SerializeGltfBufferData(const std::vector<unsigned char> &data,
+                                    json &o) {
+  std::string header = "data:application/octet-stream;base64,";
+  if (data.size() > 0) {
+    std::string encodedData =
+        base64_encode(&data[0], static_cast<unsigned int>(data.size()));
+    SerializeStringProperty("uri", header + encodedData, o);
+  } else {
+    // Issue #229
+    // size 0 is allowd. Just emit mime header.
+    SerializeStringProperty("uri", header, o);
+  }
+}
+
+static bool SerializeGltfBufferData(const std::vector<unsigned char> &data,
+                                    const std::string &binFilename) {
+#ifdef _WIN32
+#if defined(__GLIBCXX__)  // mingw
+  int file_descriptor = _wopen(UTF8ToWchar(binFilename).c_str(),
+                               _O_CREAT | _O_WRONLY | _O_TRUNC | _O_BINARY);
+  __gnu_cxx::stdio_filebuf<char> wfile_buf(
+      file_descriptor, std::ios_base::out | std::ios_base::binary);
+  std::ostream output(&wfile_buf);
+  if (!wfile_buf.is_open()) return false;
+#elif defined(_MSC_VER)
+  std::ofstream output(UTF8ToWchar(binFilename).c_str(), std::ofstream::binary);
+  if (!output.is_open()) return false;
+#else
+  std::ofstream output(binFilename.c_str(), std::ofstream::binary);
+  if (!output.is_open()) return false;
+#endif
+#else
+  std::ofstream output(binFilename.c_str(), std::ofstream::binary);
+  if (!output.is_open()) return false;
+#endif
+  if (data.size() > 0) {
+    output.write(reinterpret_cast<const char *>(&data[0]),
+                 std::streamsize(data.size()));
+  } else {
+    // Issue #229
+    // size 0 will be still valid buffer data.
+    // write empty file.
+  }
+  return true;
+}
+
+#if 0  // FIXME(syoyo): not used. will be removed in the future release.
+static void SerializeParameterMap(ParameterMap &param, json &o) {
+  for (ParameterMap::iterator paramIt = param.begin(); paramIt != param.end();
+       ++paramIt) {
+    if (paramIt->second.number_array.size()) {
+      SerializeNumberArrayProperty<double>(paramIt->first,
+                                           paramIt->second.number_array, o);
+    } else if (paramIt->second.json_double_value.size()) {
+      json json_double_value;
+      for (std::map<std::string, double>::iterator it =
+               paramIt->second.json_double_value.begin();
+           it != paramIt->second.json_double_value.end(); ++it) {
+        if (it->first == "index") {
+          json_double_value[it->first] = paramIt->second.TextureIndex();
+        } else {
+          json_double_value[it->first] = it->second;
+        }
+      }
+
+      o[paramIt->first] = json_double_value;
+    } else if (!paramIt->second.string_value.empty()) {
+      SerializeStringProperty(paramIt->first, paramIt->second.string_value, o);
+    } else if (paramIt->second.has_number_value) {
+      o[paramIt->first] = paramIt->second.number_value;
+    } else {
+      o[paramIt->first] = paramIt->second.bool_value;
+    }
+  }
+}
+#endif
+
+static void SerializeExtensionMap(const ExtensionMap &extensions, json &o) {
+  if (!extensions.size()) return;
+
+  json extMap;
+  for (ExtensionMap::const_iterator extIt = extensions.begin();
+       extIt != extensions.end(); ++extIt) {
+    // Allow an empty object for extension(#97)
+    json ret;
+    bool isNull = true;
+    if (ValueToJson(extIt->second, &ret)) {
+      isNull = JsonIsNull(ret);
+      JsonAddMember(extMap, extIt->first.c_str(), std::move(ret));
+    }
+    if (isNull) {
+      if (!(extIt->first.empty())) {  // name should not be empty, but for sure
+        // create empty object so that an extension name is still included in
+        // json.
+        json empty;
+        JsonSetObject(empty);
+        JsonAddMember(extMap, extIt->first.c_str(), std::move(empty));
+      }
+    }
+  }
+  JsonAddMember(o, "extensions", std::move(extMap));
+}
+
+static void SerializeGltfAccessor(Accessor &accessor, json &o) {
+  if (accessor.bufferView >= 0)
+    SerializeNumberProperty<int>("bufferView", accessor.bufferView, o);
+
+  if (accessor.byteOffset != 0)
+    SerializeNumberProperty<int>("byteOffset", int(accessor.byteOffset), o);
+
+  SerializeNumberProperty<int>("componentType", accessor.componentType, o);
+  SerializeNumberProperty<size_t>("count", accessor.count, o);
+
+  if ((accessor.componentType == TINYGLTF_COMPONENT_TYPE_FLOAT) ||
+      (accessor.componentType == TINYGLTF_COMPONENT_TYPE_DOUBLE)) {
+    SerializeNumberArrayProperty<double>("min", accessor.minValues, o);
+    SerializeNumberArrayProperty<double>("max", accessor.maxValues, o);
+  } else {
+    // Issue #301. Serialize as integer.
+    // Assume int value is within [-2**31-1, 2**31-1]
+    {
+      std::vector<int> values;
+      std::transform(accessor.minValues.begin(), accessor.minValues.end(),
+                     std::back_inserter(values),
+                     [](double v) { return static_cast<int>(v); });
+
+      SerializeNumberArrayProperty<int>("min", values, o);
+    }
+
+    {
+      std::vector<int> values;
+      std::transform(accessor.maxValues.begin(), accessor.maxValues.end(),
+                     std::back_inserter(values),
+                     [](double v) { return static_cast<int>(v); });
+
+      SerializeNumberArrayProperty<int>("max", values, o);
+    }
+  }
+
+  if (accessor.normalized)
+    SerializeValue("normalized", Value(accessor.normalized), o);
+  std::string type;
+  switch (accessor.type) {
+    case TINYGLTF_TYPE_SCALAR:
+      type = "SCALAR";
+      break;
+    case TINYGLTF_TYPE_VEC2:
+      type = "VEC2";
+      break;
+    case TINYGLTF_TYPE_VEC3:
+      type = "VEC3";
+      break;
+    case TINYGLTF_TYPE_VEC4:
+      type = "VEC4";
+      break;
+    case TINYGLTF_TYPE_MAT2:
+      type = "MAT2";
+      break;
+    case TINYGLTF_TYPE_MAT3:
+      type = "MAT3";
+      break;
+    case TINYGLTF_TYPE_MAT4:
+      type = "MAT4";
+      break;
+  }
+
+  SerializeStringProperty("type", type, o);
+  if (!accessor.name.empty()) SerializeStringProperty("name", accessor.name, o);
+
+  if (accessor.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", accessor.extras, o);
+  }
+}
+
+static void SerializeGltfAnimationChannel(AnimationChannel &channel, json &o) {
+  SerializeNumberProperty("sampler", channel.sampler, o);
+  {
+    json target;
+    SerializeNumberProperty("node", channel.target_node, target);
+    SerializeStringProperty("path", channel.target_path, target);
+
+    SerializeExtensionMap(channel.target_extensions, target);
+
+    JsonAddMember(o, "target", std::move(target));
+  }
+
+  if (channel.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", channel.extras, o);
+  }
+
+  SerializeExtensionMap(channel.extensions, o);
+}
+
+static void SerializeGltfAnimationSampler(AnimationSampler &sampler, json &o) {
+  SerializeNumberProperty("input", sampler.input, o);
+  SerializeNumberProperty("output", sampler.output, o);
+  SerializeStringProperty("interpolation", sampler.interpolation, o);
+
+  if (sampler.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", sampler.extras, o);
+  }
+}
+
+static void SerializeGltfAnimation(Animation &animation, json &o) {
+  if (!animation.name.empty())
+    SerializeStringProperty("name", animation.name, o);
+
+  {
+    json channels;
+    JsonReserveArray(channels, animation.channels.size());
+    for (unsigned int i = 0; i < animation.channels.size(); ++i) {
+      json channel;
+      AnimationChannel gltfChannel = animation.channels[i];
+      SerializeGltfAnimationChannel(gltfChannel, channel);
+      JsonPushBack(channels, std::move(channel));
+    }
+
+    JsonAddMember(o, "channels", std::move(channels));
+  }
+
+  {
+    json samplers;
+    JsonReserveArray(samplers, animation.samplers.size());
+    for (unsigned int i = 0; i < animation.samplers.size(); ++i) {
+      json sampler;
+      AnimationSampler gltfSampler = animation.samplers[i];
+      SerializeGltfAnimationSampler(gltfSampler, sampler);
+      JsonPushBack(samplers, std::move(sampler));
+    }
+    JsonAddMember(o, "samplers", std::move(samplers));
+  }
+
+  if (animation.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", animation.extras, o);
+  }
+
+  SerializeExtensionMap(animation.extensions, o);
+}
+
+static void SerializeGltfAsset(Asset &asset, json &o) {
+  if (!asset.generator.empty()) {
+    SerializeStringProperty("generator", asset.generator, o);
+  }
+
+  if (!asset.copyright.empty()) {
+    SerializeStringProperty("copyright", asset.copyright, o);
+  }
+
+  if (asset.version.empty()) {
+    // Just in case
+    // `version` must be defined
+    asset.version = "2.0";
+  }
+
+  // TODO(syoyo): Do we need to check if `version` is greater or equal to 2.0?
+  SerializeStringProperty("version", asset.version, o);
+
+  if (asset.extras.Keys().size()) {
+    SerializeValue("extras", asset.extras, o);
+  }
+
+  SerializeExtensionMap(asset.extensions, o);
+}
+
+static void SerializeGltfBufferBin(Buffer &buffer, json &o,
+                                   std::vector<unsigned char> &binBuffer) {
+  SerializeNumberProperty("byteLength", buffer.data.size(), o);
+  binBuffer = buffer.data;
+
+  if (buffer.name.size()) SerializeStringProperty("name", buffer.name, o);
+
+  if (buffer.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", buffer.extras, o);
+  }
+}
+
+static void SerializeGltfBuffer(Buffer &buffer, json &o) {
+  SerializeNumberProperty("byteLength", buffer.data.size(), o);
+  SerializeGltfBufferData(buffer.data, o);
+
+  if (buffer.name.size()) SerializeStringProperty("name", buffer.name, o);
+
+  if (buffer.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", buffer.extras, o);
+  }
+}
+
+static bool SerializeGltfBuffer(Buffer &buffer, json &o,
+                                const std::string &binFilename,
+                                const std::string &binBaseFilename) {
+  if (!SerializeGltfBufferData(buffer.data, binFilename)) return false;
+  SerializeNumberProperty("byteLength", buffer.data.size(), o);
+  SerializeStringProperty("uri", binBaseFilename, o);
+
+  if (buffer.name.size()) SerializeStringProperty("name", buffer.name, o);
+
+  if (buffer.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", buffer.extras, o);
+  }
+  return true;
+}
+
+static void SerializeGltfBufferView(BufferView &bufferView, json &o) {
+  SerializeNumberProperty("buffer", bufferView.buffer, o);
+  SerializeNumberProperty<size_t>("byteLength", bufferView.byteLength, o);
+
+  // byteStride is optional, minimum allowed is 4
+  if (bufferView.byteStride >= 4) {
+    SerializeNumberProperty<size_t>("byteStride", bufferView.byteStride, o);
+  }
+  // byteOffset is optional, default is 0
+  if (bufferView.byteOffset > 0) {
+    SerializeNumberProperty<size_t>("byteOffset", bufferView.byteOffset, o);
+  }
+  // Target is optional, check if it contains a valid value
+  if (bufferView.target == TINYGLTF_TARGET_ARRAY_BUFFER ||
+      bufferView.target == TINYGLTF_TARGET_ELEMENT_ARRAY_BUFFER) {
+    SerializeNumberProperty("target", bufferView.target, o);
+  }
+  if (bufferView.name.size()) {
+    SerializeStringProperty("name", bufferView.name, o);
+  }
+
+  if (bufferView.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", bufferView.extras, o);
+  }
+}
+
+static void SerializeGltfImage(Image &image, json &o) {
+  // if uri empty, the mimeType and bufferview should be set
+  if (image.uri.empty()) {
+    SerializeStringProperty("mimeType", image.mimeType, o);
+    SerializeNumberProperty<int>("bufferView", image.bufferView, o);
+  } else {
+    // TODO(syoyo): dlib::urilencode?
+    SerializeStringProperty("uri", image.uri, o);
+  }
+
+  if (image.name.size()) {
+    SerializeStringProperty("name", image.name, o);
+  }
+
+  if (image.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", image.extras, o);
+  }
+
+  SerializeExtensionMap(image.extensions, o);
+}
+
+static void SerializeGltfTextureInfo(TextureInfo &texinfo, json &o) {
+  SerializeNumberProperty("index", texinfo.index, o);
+
+  if (texinfo.texCoord != 0) {
+    SerializeNumberProperty("texCoord", texinfo.texCoord, o);
+  }
+
+  if (texinfo.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", texinfo.extras, o);
+  }
+
+  SerializeExtensionMap(texinfo.extensions, o);
+}
+
+static void SerializeGltfNormalTextureInfo(NormalTextureInfo &texinfo,
+                                           json &o) {
+  SerializeNumberProperty("index", texinfo.index, o);
+
+  if (texinfo.texCoord != 0) {
+    SerializeNumberProperty("texCoord", texinfo.texCoord, o);
+  }
+
+  if (!TINYGLTF_DOUBLE_EQUAL(texinfo.scale, 1.0)) {
+    SerializeNumberProperty("scale", texinfo.scale, o);
+  }
+
+  if (texinfo.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", texinfo.extras, o);
+  }
+
+  SerializeExtensionMap(texinfo.extensions, o);
+}
+
+static void SerializeGltfOcclusionTextureInfo(OcclusionTextureInfo &texinfo,
+                                              json &o) {
+  SerializeNumberProperty("index", texinfo.index, o);
+
+  if (texinfo.texCoord != 0) {
+    SerializeNumberProperty("texCoord", texinfo.texCoord, o);
+  }
+
+  if (!TINYGLTF_DOUBLE_EQUAL(texinfo.strength, 1.0)) {
+    SerializeNumberProperty("strength", texinfo.strength, o);
+  }
+
+  if (texinfo.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", texinfo.extras, o);
+  }
+
+  SerializeExtensionMap(texinfo.extensions, o);
+}
+
+static void SerializeGltfPbrMetallicRoughness(PbrMetallicRoughness &pbr,
+                                              json &o) {
+  std::vector<double> default_baseColorFactor = {1.0, 1.0, 1.0, 1.0};
+  if (!Equals(pbr.baseColorFactor, default_baseColorFactor)) {
+    SerializeNumberArrayProperty<double>("baseColorFactor", pbr.baseColorFactor,
+                                         o);
+  }
+
+  if (!TINYGLTF_DOUBLE_EQUAL(pbr.metallicFactor, 1.0)) {
+    SerializeNumberProperty("metallicFactor", pbr.metallicFactor, o);
+  }
+
+  if (!TINYGLTF_DOUBLE_EQUAL(pbr.roughnessFactor, 1.0)) {
+    SerializeNumberProperty("roughnessFactor", pbr.roughnessFactor, o);
+  }
+
+  if (pbr.baseColorTexture.index > -1) {
+    json texinfo;
+    SerializeGltfTextureInfo(pbr.baseColorTexture, texinfo);
+    JsonAddMember(o, "baseColorTexture", std::move(texinfo));
+  }
+
+  if (pbr.metallicRoughnessTexture.index > -1) {
+    json texinfo;
+    SerializeGltfTextureInfo(pbr.metallicRoughnessTexture, texinfo);
+    JsonAddMember(o, "metallicRoughnessTexture", std::move(texinfo));
+  }
+
+  SerializeExtensionMap(pbr.extensions, o);
+
+  if (pbr.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", pbr.extras, o);
+  }
+}
+
+static void SerializeGltfMaterial(Material &material, json &o) {
+  if (material.name.size()) {
+    SerializeStringProperty("name", material.name, o);
+  }
+
+  // QUESTION(syoyo): Write material parameters regardless of its default value?
+
+  if (!TINYGLTF_DOUBLE_EQUAL(material.alphaCutoff, 0.5)) {
+    SerializeNumberProperty("alphaCutoff", material.alphaCutoff, o);
+  }
+
+  if (material.alphaMode.compare("OPAQUE") != 0) {
+    SerializeStringProperty("alphaMode", material.alphaMode, o);
+  }
+
+  if (material.doubleSided != false)
+    JsonAddMember(o, "doubleSided", json(material.doubleSided));
+
+  if (material.normalTexture.index > -1) {
+    json texinfo;
+    SerializeGltfNormalTextureInfo(material.normalTexture, texinfo);
+    JsonAddMember(o, "normalTexture", std::move(texinfo));
+  }
+
+  if (material.occlusionTexture.index > -1) {
+    json texinfo;
+    SerializeGltfOcclusionTextureInfo(material.occlusionTexture, texinfo);
+    JsonAddMember(o, "occlusionTexture", std::move(texinfo));
+  }
+
+  if (material.emissiveTexture.index > -1) {
+    json texinfo;
+    SerializeGltfTextureInfo(material.emissiveTexture, texinfo);
+    JsonAddMember(o, "emissiveTexture", std::move(texinfo));
+  }
+
+  std::vector<double> default_emissiveFactor = {0.0, 0.0, 0.0};
+  if (!Equals(material.emissiveFactor, default_emissiveFactor)) {
+    SerializeNumberArrayProperty<double>("emissiveFactor",
+                                         material.emissiveFactor, o);
+  }
+
+  {
+    json pbrMetallicRoughness;
+    SerializeGltfPbrMetallicRoughness(material.pbrMetallicRoughness,
+                                      pbrMetallicRoughness);
+    // Issue 204
+    // Do not serialize `pbrMetallicRoughness` if pbrMetallicRoughness has all
+    // default values(json is null). Otherwise it will serialize to
+    // `pbrMetallicRoughness : null`, which cannot be read by other glTF
+    // importers(and validators).
+    //
+    if (!JsonIsNull(pbrMetallicRoughness)) {
+      JsonAddMember(o, "pbrMetallicRoughness", std::move(pbrMetallicRoughness));
+    }
+  }
+
+#if 0  // legacy way. just for the record.
+  if (material.values.size()) {
+    json pbrMetallicRoughness;
+    SerializeParameterMap(material.values, pbrMetallicRoughness);
+    JsonAddMember(o, "pbrMetallicRoughness", std::move(pbrMetallicRoughness));
+  }
+
+  SerializeParameterMap(material.additionalValues, o);
+#else
+
+#endif
+
+  SerializeExtensionMap(material.extensions, o);
+
+  if (material.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", material.extras, o);
+  }
+}
+
+static void SerializeGltfMesh(Mesh &mesh, json &o) {
+  json primitives;
+  JsonReserveArray(primitives, mesh.primitives.size());
+  for (unsigned int i = 0; i < mesh.primitives.size(); ++i) {
+    json primitive;
+    const Primitive &gltfPrimitive = mesh.primitives[i];  // don't make a copy
+    {
+      json attributes;
+      for (auto attrIt = gltfPrimitive.attributes.begin();
+           attrIt != gltfPrimitive.attributes.end(); ++attrIt) {
+        SerializeNumberProperty<int>(attrIt->first, attrIt->second, attributes);
+      }
+
+      JsonAddMember(primitive, "attributes", std::move(attributes));
+    }
+
+    // Indicies is optional
+    if (gltfPrimitive.indices > -1) {
+      SerializeNumberProperty<int>("indices", gltfPrimitive.indices, primitive);
+    }
+    // Material is optional
+    if (gltfPrimitive.material > -1) {
+      SerializeNumberProperty<int>("material", gltfPrimitive.material,
+                                   primitive);
+    }
+    SerializeNumberProperty<int>("mode", gltfPrimitive.mode, primitive);
+
+    // Morph targets
+    if (gltfPrimitive.targets.size()) {
+      json targets;
+      JsonReserveArray(targets, gltfPrimitive.targets.size());
+      for (unsigned int k = 0; k < gltfPrimitive.targets.size(); ++k) {
+        json targetAttributes;
+        std::map<std::string, int> targetData = gltfPrimitive.targets[k];
+        for (std::map<std::string, int>::iterator attrIt = targetData.begin();
+             attrIt != targetData.end(); ++attrIt) {
+          SerializeNumberProperty<int>(attrIt->first, attrIt->second,
+                                       targetAttributes);
+        }
+        JsonPushBack(targets, std::move(targetAttributes));
+      }
+      JsonAddMember(primitive, "targets", std::move(targets));
+    }
+
+    SerializeExtensionMap(gltfPrimitive.extensions, primitive);
+
+    if (gltfPrimitive.extras.Type() != NULL_TYPE) {
+      SerializeValue("extras", gltfPrimitive.extras, primitive);
+    }
+
+    JsonPushBack(primitives, std::move(primitive));
+  }
+
+  JsonAddMember(o, "primitives", std::move(primitives));
+
+  if (mesh.weights.size()) {
+    SerializeNumberArrayProperty<double>("weights", mesh.weights, o);
+  }
+
+  if (mesh.name.size()) {
+    SerializeStringProperty("name", mesh.name, o);
+  }
+
+  SerializeExtensionMap(mesh.extensions, o);
+  if (mesh.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", mesh.extras, o);
+  }
+}
+
+static void SerializeSpotLight(SpotLight &spot, json &o) {
+  SerializeNumberProperty("innerConeAngle", spot.innerConeAngle, o);
+  SerializeNumberProperty("outerConeAngle", spot.outerConeAngle, o);
+  SerializeExtensionMap(spot.extensions, o);
+  if (spot.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", spot.extras, o);
+  }
+}
+
+static void SerializeGltfLight(Light &light, json &o) {
+  if (!light.name.empty()) SerializeStringProperty("name", light.name, o);
+  SerializeNumberProperty("intensity", light.intensity, o);
+  if (light.range > 0.0) {
+    SerializeNumberProperty("range", light.range, o);
+  }
+  SerializeNumberArrayProperty("color", light.color, o);
+  SerializeStringProperty("type", light.type, o);
+  if (light.type == "spot") {
+    json spot;
+    SerializeSpotLight(light.spot, spot);
+    JsonAddMember(o, "spot", std::move(spot));
+  }
+  SerializeExtensionMap(light.extensions, o);
+  if (light.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", light.extras, o);
+  }
+}
+
+static void SerializeGltfNode(Node &node, json &o) {
+  if (node.translation.size() > 0) {
+    SerializeNumberArrayProperty<double>("translation", node.translation, o);
+  }
+  if (node.rotation.size() > 0) {
+    SerializeNumberArrayProperty<double>("rotation", node.rotation, o);
+  }
+  if (node.scale.size() > 0) {
+    SerializeNumberArrayProperty<double>("scale", node.scale, o);
+  }
+  if (node.matrix.size() > 0) {
+    SerializeNumberArrayProperty<double>("matrix", node.matrix, o);
+  }
+  if (node.mesh != -1) {
+    SerializeNumberProperty<int>("mesh", node.mesh, o);
+  }
+
+  if (node.skin != -1) {
+    SerializeNumberProperty<int>("skin", node.skin, o);
+  }
+
+  if (node.camera != -1) {
+    SerializeNumberProperty<int>("camera", node.camera, o);
+  }
+
+  if (node.weights.size() > 0) {
+    SerializeNumberArrayProperty<double>("weights", node.weights, o);
+  }
+
+  if (node.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", node.extras, o);
+  }
+
+  SerializeExtensionMap(node.extensions, o);
+  if (!node.name.empty()) SerializeStringProperty("name", node.name, o);
+  SerializeNumberArrayProperty<int>("children", node.children, o);
+}
+
+static void SerializeGltfSampler(Sampler &sampler, json &o) {
+  if (sampler.magFilter != -1) {
+    SerializeNumberProperty("magFilter", sampler.magFilter, o);
+  }
+  if (sampler.minFilter != -1) {
+    SerializeNumberProperty("minFilter", sampler.minFilter, o);
+  }
+  //SerializeNumberProperty("wrapR", sampler.wrapR, o);
+  SerializeNumberProperty("wrapS", sampler.wrapS, o);
+  SerializeNumberProperty("wrapT", sampler.wrapT, o);
+
+  if (sampler.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", sampler.extras, o);
+  }
+}
+
+static void SerializeGltfOrthographicCamera(const OrthographicCamera &camera,
+                                            json &o) {
+  SerializeNumberProperty("zfar", camera.zfar, o);
+  SerializeNumberProperty("znear", camera.znear, o);
+  SerializeNumberProperty("xmag", camera.xmag, o);
+  SerializeNumberProperty("ymag", camera.ymag, o);
+
+  if (camera.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", camera.extras, o);
+  }
+}
+
+static void SerializeGltfPerspectiveCamera(const PerspectiveCamera &camera,
+                                           json &o) {
+  SerializeNumberProperty("zfar", camera.zfar, o);
+  SerializeNumberProperty("znear", camera.znear, o);
+  if (camera.aspectRatio > 0) {
+    SerializeNumberProperty("aspectRatio", camera.aspectRatio, o);
+  }
+
+  if (camera.yfov > 0) {
+    SerializeNumberProperty("yfov", camera.yfov, o);
+  }
+
+  if (camera.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", camera.extras, o);
+  }
+}
+
+static void SerializeGltfCamera(const Camera &camera, json &o) {
+  SerializeStringProperty("type", camera.type, o);
+  if (!camera.name.empty()) {
+    SerializeStringProperty("name", camera.name, o);
+  }
+
+  if (camera.type.compare("orthographic") == 0) {
+    json orthographic;
+    SerializeGltfOrthographicCamera(camera.orthographic, orthographic);
+    JsonAddMember(o, "orthographic", std::move(orthographic));
+  } else if (camera.type.compare("perspective") == 0) {
+    json perspective;
+    SerializeGltfPerspectiveCamera(camera.perspective, perspective);
+    JsonAddMember(o, "perspective", std::move(perspective));
+  } else {
+    // ???
+  }
+
+  if (camera.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", camera.extras, o);
+  }
+  SerializeExtensionMap(camera.extensions, o);
+}
+
+static void SerializeGltfScene(Scene &scene, json &o) {
+  SerializeNumberArrayProperty<int>("nodes", scene.nodes, o);
+
+  if (scene.name.size()) {
+    SerializeStringProperty("name", scene.name, o);
+  }
+  if (scene.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", scene.extras, o);
+  }
+  SerializeExtensionMap(scene.extensions, o);
+}
+
+static void SerializeGltfSkin(Skin &skin, json &o) {
+  if (skin.inverseBindMatrices != -1)
+    SerializeNumberProperty("inverseBindMatrices", skin.inverseBindMatrices, o);
+
+  SerializeNumberArrayProperty<int>("joints", skin.joints, o);
+  SerializeNumberProperty("skeleton", skin.skeleton, o);
+  if (skin.name.size()) {
+    SerializeStringProperty("name", skin.name, o);
+  }
+}
+
+static void SerializeGltfTexture(Texture &texture, json &o) {
+  if (texture.sampler > -1) {
+    SerializeNumberProperty("sampler", texture.sampler, o);
+  }
+  if (texture.source > -1) {
+    SerializeNumberProperty("source", texture.source, o);
+  }
+  if (texture.name.size()) {
+    SerializeStringProperty("name", texture.name, o);
+  }
+  if (texture.extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", texture.extras, o);
+  }
+  SerializeExtensionMap(texture.extensions, o);
+}
+
+///
+/// Serialize all properties except buffers and images.
+///
+static void SerializeGltfModel(Model *model, json &o) {
+  // ACCESSORS
+  if (model->accessors.size()) {
+    json accessors;
+    JsonReserveArray(accessors, model->accessors.size());
+    for (unsigned int i = 0; i < model->accessors.size(); ++i) {
+      json accessor;
+      SerializeGltfAccessor(model->accessors[i], accessor);
+      JsonPushBack(accessors, std::move(accessor));
+    }
+    JsonAddMember(o, "accessors", std::move(accessors));
+  }
+
+  // ANIMATIONS
+  if (model->animations.size()) {
+    json animations;
+    JsonReserveArray(animations, model->animations.size());
+    for (unsigned int i = 0; i < model->animations.size(); ++i) {
+      if (model->animations[i].channels.size()) {
+        json animation;
+        SerializeGltfAnimation(model->animations[i], animation);
+        JsonPushBack(animations, std::move(animation));
+      }
+    }
+
+    JsonAddMember(o, "animations", std::move(animations));
+  }
+
+  // ASSET
+  json asset;
+  SerializeGltfAsset(model->asset, asset);
+  JsonAddMember(o, "asset", std::move(asset));
+
+  // BUFFERVIEWS
+  if (model->bufferViews.size()) {
+    json bufferViews;
+    JsonReserveArray(bufferViews, model->bufferViews.size());
+    for (unsigned int i = 0; i < model->bufferViews.size(); ++i) {
+      json bufferView;
+      SerializeGltfBufferView(model->bufferViews[i], bufferView);
+      JsonPushBack(bufferViews, std::move(bufferView));
+    }
+    JsonAddMember(o, "bufferViews", std::move(bufferViews));
+  }
+
+  // Extensions required
+  if (model->extensionsRequired.size()) {
+    SerializeStringArrayProperty("extensionsRequired",
+                                 model->extensionsRequired, o);
+  }
+
+  // MATERIALS
+  if (model->materials.size()) {
+    json materials;
+    JsonReserveArray(materials, model->materials.size());
+    for (unsigned int i = 0; i < model->materials.size(); ++i) {
+      json material;
+      SerializeGltfMaterial(model->materials[i], material);
+
+      if (JsonIsNull(material)) {
+        // Issue 294.
+        // `material` does not have any required parameters
+        // so the result may be null(unmodified) when all material parameters
+        // have default value.
+        //
+        // null is not allowed thus we create an empty JSON object.
+        JsonSetObject(material);
+      }
+      JsonPushBack(materials, std::move(material));
+    }
+    JsonAddMember(o, "materials", std::move(materials));
+  }
+
+  // MESHES
+  if (model->meshes.size()) {
+    json meshes;
+    JsonReserveArray(meshes, model->meshes.size());
+    for (unsigned int i = 0; i < model->meshes.size(); ++i) {
+      json mesh;
+      SerializeGltfMesh(model->meshes[i], mesh);
+      JsonPushBack(meshes, std::move(mesh));
+    }
+    JsonAddMember(o, "meshes", std::move(meshes));
+  }
+
+  // NODES
+  if (model->nodes.size()) {
+    json nodes;
+    JsonReserveArray(nodes, model->nodes.size());
+    for (unsigned int i = 0; i < model->nodes.size(); ++i) {
+      json node;
+      SerializeGltfNode(model->nodes[i], node);
+      JsonPushBack(nodes, std::move(node));
+    }
+    JsonAddMember(o, "nodes", std::move(nodes));
+  }
+
+  // SCENE
+  if (model->defaultScene > -1) {
+    SerializeNumberProperty<int>("scene", model->defaultScene, o);
+  }
+
+  // SCENES
+  if (model->scenes.size()) {
+    json scenes;
+    JsonReserveArray(scenes, model->scenes.size());
+    for (unsigned int i = 0; i < model->scenes.size(); ++i) {
+      json currentScene;
+      SerializeGltfScene(model->scenes[i], currentScene);
+      JsonPushBack(scenes, std::move(currentScene));
+    }
+    JsonAddMember(o, "scenes", std::move(scenes));
+  }
+
+  // SKINS
+  if (model->skins.size()) {
+    json skins;
+    JsonReserveArray(skins, model->skins.size());
+    for (unsigned int i = 0; i < model->skins.size(); ++i) {
+      json skin;
+      SerializeGltfSkin(model->skins[i], skin);
+      JsonPushBack(skins, std::move(skin));
+    }
+    JsonAddMember(o, "skins", std::move(skins));
+  }
+
+  // TEXTURES
+  if (model->textures.size()) {
+    json textures;
+    JsonReserveArray(textures, model->textures.size());
+    for (unsigned int i = 0; i < model->textures.size(); ++i) {
+      json texture;
+      SerializeGltfTexture(model->textures[i], texture);
+      JsonPushBack(textures, std::move(texture));
+    }
+    JsonAddMember(o, "textures", std::move(textures));
+  }
+
+  // SAMPLERS
+  if (model->samplers.size()) {
+    json samplers;
+    JsonReserveArray(samplers, model->samplers.size());
+    for (unsigned int i = 0; i < model->samplers.size(); ++i) {
+      json sampler;
+      SerializeGltfSampler(model->samplers[i], sampler);
+      JsonPushBack(samplers, std::move(sampler));
+    }
+    JsonAddMember(o, "samplers", std::move(samplers));
+  }
+
+  // CAMERAS
+  if (model->cameras.size()) {
+    json cameras;
+    JsonReserveArray(cameras, model->cameras.size());
+    for (unsigned int i = 0; i < model->cameras.size(); ++i) {
+      json camera;
+      SerializeGltfCamera(model->cameras[i], camera);
+      JsonPushBack(cameras, std::move(camera));
+    }
+    JsonAddMember(o, "cameras", std::move(cameras));
+  }
+
+  // EXTENSIONS
+  SerializeExtensionMap(model->extensions, o);
+
+  auto extensionsUsed = model->extensionsUsed;
+
+  // LIGHTS as KHR_lights_punctual
+  if (model->lights.size()) {
+    json lights;
+    JsonReserveArray(lights, model->lights.size());
+    for (unsigned int i = 0; i < model->lights.size(); ++i) {
+      json light;
+      SerializeGltfLight(model->lights[i], light);
+      JsonPushBack(lights, std::move(light));
+    }
+    json khr_lights_cmn;
+    JsonAddMember(khr_lights_cmn, "lights", std::move(lights));
+    json ext_j;
+
+    {
+      json_const_iterator it;
+      if (FindMember(o, "extensions", it)) {
+        JsonAssign(ext_j, GetValue(it));
+      }
+    }
+
+    JsonAddMember(ext_j, "KHR_lights_punctual", std::move(khr_lights_cmn));
+
+    JsonAddMember(o, "extensions", std::move(ext_j));
+
+    // Also add "KHR_lights_punctual" to `extensionsUsed`
+    {
+      auto has_khr_lights_punctual =
+          std::find_if(extensionsUsed.begin(), extensionsUsed.end(),
+                       [](const std::string &s) {
+                         return (s.compare("KHR_lights_punctual") == 0);
+                       });
+
+      if (has_khr_lights_punctual == extensionsUsed.end()) {
+        extensionsUsed.push_back("KHR_lights_punctual");
+      }
+    }
+  }
+
+  // Extensions used
+  if (extensionsUsed.size()) {
+    SerializeStringArrayProperty("extensionsUsed", extensionsUsed, o);
+  }
+
+  // EXTRAS
+  if (model->extras.Type() != NULL_TYPE) {
+    SerializeValue("extras", model->extras, o);
+  }
+}
+
+static bool WriteGltfStream(std::ostream &stream, const std::string &content) {
+  stream << content << std::endl;
+  return true;
+}
+
+static bool WriteGltfFile(const std::string &output,
+                          const std::string &content) {
+#ifdef _WIN32
+#if defined(_MSC_VER)
+  std::ofstream gltfFile(UTF8ToWchar(output).c_str());
+#elif defined(__GLIBCXX__)
+  int file_descriptor = _wopen(UTF8ToWchar(output).c_str(),
+                               _O_CREAT | _O_WRONLY | _O_TRUNC | _O_BINARY);
+  __gnu_cxx::stdio_filebuf<char> wfile_buf(
+      file_descriptor, std::ios_base::out | std::ios_base::binary);
+  std::ostream gltfFile(&wfile_buf);
+  if (!wfile_buf.is_open()) return false;
+#else
+  std::ofstream gltfFile(output.c_str());
+  if (!gltfFile.is_open()) return false;
+#endif
+#else
+  std::ofstream gltfFile(output.c_str());
+  if (!gltfFile.is_open()) return false;
+#endif
+  return WriteGltfStream(gltfFile, content);
+}
+
+static void WriteBinaryGltfStream(std::ostream &stream,
+                                  const std::string &content,
+                                  const std::vector<unsigned char> &binBuffer) {
+  const std::string header = "glTF";
+  const int version = 2;
+
+  // https://stackoverflow.com/questions/3407012/c-rounding-up-to-the-nearest-multiple-of-a-number
+  auto roundUp = [](uint32_t numToRound, uint32_t multiple) {
+    if (multiple == 0) return numToRound;
+
+    uint32_t remainder = numToRound % multiple;
+    if (remainder == 0) return numToRound;
+
+    return numToRound + multiple - remainder;
+  };
+
+  const uint32_t padding_size =
+      roundUp(uint32_t(content.size()), 4) - uint32_t(content.size());
+
+  // 12 bytes for header, JSON content length, 8 bytes for JSON chunk info.
+  // Chunk data must be located at 4-byte boundary.
+  const uint32_t length =
+      12 + 8 + roundUp(uint32_t(content.size()), 4) +
+      (binBuffer.size() ? (8 + roundUp(uint32_t(binBuffer.size()), 4)) : 0);
+
+  stream.write(header.c_str(), std::streamsize(header.size()));
+  stream.write(reinterpret_cast<const char *>(&version), sizeof(version));
+  stream.write(reinterpret_cast<const char *>(&length), sizeof(length));
+
+  // JSON chunk info, then JSON data
+  const uint32_t model_length = uint32_t(content.size()) + padding_size;
+  const uint32_t model_format = 0x4E4F534A;
+  stream.write(reinterpret_cast<const char *>(&model_length),
+               sizeof(model_length));
+  stream.write(reinterpret_cast<const char *>(&model_format),
+               sizeof(model_format));
+  stream.write(content.c_str(), std::streamsize(content.size()));
+
+  // Chunk must be multiplies of 4, so pad with spaces
+  if (padding_size > 0) {
+    const std::string padding = std::string(size_t(padding_size), ' ');
+    stream.write(padding.c_str(), std::streamsize(padding.size()));
+  }
+  if (binBuffer.size() > 0) {
+    const uint32_t bin_padding_size =
+        roundUp(uint32_t(binBuffer.size()), 4) - uint32_t(binBuffer.size());
+    // BIN chunk info, then BIN data
+    const uint32_t bin_length = uint32_t(binBuffer.size()) + bin_padding_size;
+    const uint32_t bin_format = 0x004e4942;
+    stream.write(reinterpret_cast<const char *>(&bin_length),
+                 sizeof(bin_length));
+    stream.write(reinterpret_cast<const char *>(&bin_format),
+                 sizeof(bin_format));
+    stream.write(reinterpret_cast<const char *>(binBuffer.data()),
+                 std::streamsize(binBuffer.size()));
+    // Chunksize must be multiplies of 4, so pad with zeroes
+    if (bin_padding_size > 0) {
+      const std::vector<unsigned char> padding =
+          std::vector<unsigned char>(size_t(bin_padding_size), 0);
+      stream.write(reinterpret_cast<const char *>(padding.data()),
+                   std::streamsize(padding.size()));
+    }
+  }
+}
+
+static void WriteBinaryGltfFile(const std::string &output,
+                                const std::string &content,
+                                const std::vector<unsigned char> &binBuffer) {
+#ifdef _WIN32
+#if defined(_MSC_VER)
+  std::ofstream gltfFile(UTF8ToWchar(output).c_str(), std::ios::binary);
+#elif defined(__GLIBCXX__)
+  int file_descriptor = _wopen(UTF8ToWchar(output).c_str(),
+                               _O_CREAT | _O_WRONLY | _O_TRUNC | _O_BINARY);
+  __gnu_cxx::stdio_filebuf<char> wfile_buf(
+      file_descriptor, std::ios_base::out | std::ios_base::binary);
+  std::ostream gltfFile(&wfile_buf);
+#else
+  std::ofstream gltfFile(output.c_str(), std::ios::binary);
+#endif
+#else
+  std::ofstream gltfFile(output.c_str(), std::ios::binary);
+#endif
+  WriteBinaryGltfStream(gltfFile, content, binBuffer);
+}
+
+bool TinyGLTF::WriteGltfSceneToStream(Model *model, std::ostream &stream,
+                                      bool prettyPrint = true,
+                                      bool writeBinary = false) {
+  JsonDocument output;
+
+  /// Serialize all properties except buffers and images.
+  SerializeGltfModel(model, output);
+
+  // BUFFERS
+  std::vector<unsigned char> binBuffer;
+  if (model->buffers.size()) {
+    json buffers;
+    JsonReserveArray(buffers, model->buffers.size());
+    for (unsigned int i = 0; i < model->buffers.size(); ++i) {
+      json buffer;
+      if (writeBinary && i == 0 && model->buffers[i].uri.empty()) {
+        SerializeGltfBufferBin(model->buffers[i], buffer, binBuffer);
+      } else {
+        SerializeGltfBuffer(model->buffers[i], buffer);
+      }
+      JsonPushBack(buffers, std::move(buffer));
+    }
+    JsonAddMember(output, "buffers", std::move(buffers));
+  }
+
+  // IMAGES
+  if (model->images.size()) {
+    json images;
+    JsonReserveArray(images, model->images.size());
+    for (unsigned int i = 0; i < model->images.size(); ++i) {
+      json image;
+
+      std::string dummystring = "";
+      // UpdateImageObject need baseDir but only uses it if embeddedImages is
+      // enabled, since we won't write separate images when writing to a stream
+      // we
+      UpdateImageObject(model->images[i], dummystring, int(i), false,
+                        &this->WriteImageData, this->write_image_user_data_);
+      SerializeGltfImage(model->images[i], image);
+      JsonPushBack(images, std::move(image));
+    }
+    JsonAddMember(output, "images", std::move(images));
+  }
+
+  if (writeBinary) {
+    WriteBinaryGltfStream(stream, JsonToString(output), binBuffer);
+  } else {
+    WriteGltfStream(stream, JsonToString(output, prettyPrint ? 2 : -1));
+  }
+
+  return true;
+}
+
+bool TinyGLTF::WriteGltfSceneToFile(Model *model, const std::string &filename,
+                                    bool embedImages = false,
+                                    bool embedBuffers = false,
+                                    bool prettyPrint = true,
+                                    bool writeBinary = false) {
+  JsonDocument output;
+  std::string defaultBinFilename = GetBaseFilename(filename);
+  std::string defaultBinFileExt = ".bin";
+  std::string::size_type pos =
+      defaultBinFilename.rfind('.', defaultBinFilename.length());
+
+  if (pos != std::string::npos) {
+    defaultBinFilename = defaultBinFilename.substr(0, pos);
+  }
+  std::string baseDir = GetBaseDir(filename);
+  if (baseDir.empty()) {
+    baseDir = "./";
+  }
+  /// Serialize all properties except buffers and images.
+  SerializeGltfModel(model, output);
+
+  // BUFFERS
+  std::vector<std::string> usedUris;
+  std::vector<unsigned char> binBuffer;
+  if (model->buffers.size()) {
+    json buffers;
+    JsonReserveArray(buffers, model->buffers.size());
+    for (unsigned int i = 0; i < model->buffers.size(); ++i) {
+      json buffer;
+      if (writeBinary && i == 0 && model->buffers[i].uri.empty()) {
+        SerializeGltfBufferBin(model->buffers[i], buffer, binBuffer);
+      } else if (embedBuffers) {
+        SerializeGltfBuffer(model->buffers[i], buffer);
+      } else {
+        std::string binSavePath;
+        std::string binUri;
+        if (!model->buffers[i].uri.empty() &&
+            !IsDataURI(model->buffers[i].uri)) {
+          binUri = model->buffers[i].uri;
+        } else {
+          binUri = defaultBinFilename + defaultBinFileExt;
+          bool inUse = true;
+          int numUsed = 0;
+          while (inUse) {
+            inUse = false;
+            for (const std::string &usedName : usedUris) {
+              if (binUri.compare(usedName) != 0) continue;
+              inUse = true;
+              binUri = defaultBinFilename + std::to_string(numUsed++) +
+                       defaultBinFileExt;
+              break;
+            }
+          }
+        }
+        usedUris.push_back(binUri);
+        binSavePath = JoinPath(baseDir, binUri);
+        if (!SerializeGltfBuffer(model->buffers[i], buffer, binSavePath,
+                                 binUri)) {
+          return false;
+        }
+      }
+      JsonPushBack(buffers, std::move(buffer));
+    }
+    JsonAddMember(output, "buffers", std::move(buffers));
+  }
+
+  // IMAGES
+  if (model->images.size()) {
+    json images;
+    JsonReserveArray(images, model->images.size());
+    for (unsigned int i = 0; i < model->images.size(); ++i) {
+      json image;
+
+      UpdateImageObject(model->images[i], baseDir, int(i), embedImages,
+                        &this->WriteImageData, this->write_image_user_data_);
+      SerializeGltfImage(model->images[i], image);
+      JsonPushBack(images, std::move(image));
+    }
+    JsonAddMember(output, "images", std::move(images));
+  }
+
+  if (writeBinary) {
+    WriteBinaryGltfFile(filename, JsonToString(output), binBuffer);
+  } else {
+    WriteGltfFile(filename, JsonToString(output, (prettyPrint ? 2 : -1)));
+  }
+
+  return true;
+}
+
+}  // namespace tinygltf
+
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
+
+#endif  // TINYGLTF_IMPLEMENTATION
diff --git a/libs/MVS/CMakeLists.txt b/libs/MVS/CMakeLists.txt
index 14be62072..79dbaba65 100644
--- a/libs/MVS/CMakeLists.txt
+++ b/libs/MVS/CMakeLists.txt
@@ -1,12 +1,12 @@
 # Find required packages
-FIND_PACKAGE(CGAL ${SYSTEM_PACKAGE_REQUIRED})
+FIND_PACKAGE(CGAL REQUIRED)
 if(CGAL_FOUND)
 	include_directories(${CGAL_INCLUDE_DIRS})
 	add_definitions(${CGAL_DEFINITIONS})
 	link_directories(${CGAL_LIBRARY_DIRS})
 endif()
 
-FIND_PACKAGE(VCG ${SYSTEM_PACKAGE_REQUIRED})
+FIND_PACKAGE(VCG REQUIRED)
 if(VCG_FOUND)
 	include_directories(${VCG_INCLUDE_DIRS})
 	add_definitions(${VCG_DEFINITIONS})
@@ -14,42 +14,45 @@ endif()
 
 set(CERES_LIBS "")
 if(OpenMVS_USE_CERES)
-	FIND_PACKAGE(CERES)
+	FIND_PACKAGE(Ceres)
 	if(CERES_FOUND)
 		include_directories(${CERES_INCLUDE_DIRS})
 		add_definitions(${CERES_DEFINITIONS})
 	else()
 		set(OpenMVS_USE_CERES OFF)
+		message("-- Can't find CERES. Continuing without it.")
 	endif()
 endif()
 
 # List sources files
-FILE(GLOB PCH_C "Common.cpp")
-
 FILE(GLOB LIBRARY_FILES_C "*.cpp")
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
+if(_USE_CUDA)
+	FILE(GLOB LIBRARY_FILES_CUDA "*.cu")
+	LIST(APPEND LIBRARY_FILES_C ${LIBRARY_FILES_CUDA})
+endif()
 
-# Place Common.cpp as the first file in the list
-# needed by cotire when setting PCH manually
-LIST(REMOVE_ITEM LIBRARY_FILES_C ${PCH_C})
-SET(LIBRARY_FILES_C "${PCH_C};${LIBRARY_FILES_C}")
-
-cxx_library_with_type_no_pch(MVS "Libs" "" "${cxx_default}"
+cxx_library_with_type(MVS "Libs" "" "${cxx_default}"
 	${LIBRARY_FILES_C} ${LIBRARY_FILES_H}
 )
 
 # Manually set Common.h as the precompiled header
-set_target_pch(MVS Common.h)
+IF(CMAKE_VERSION VERSION_GREATER_EQUAL 3.16.0)
+	TARGET_PRECOMPILE_HEADERS(MVS PRIVATE "Common.h")
+endif()
 
 # Link its dependencies
-TARGET_LINK_LIBRARIES(MVS PRIVATE Common Math IO ${CERES_LIBS} ${CGAL_LIBS} ${CUDA_CUDA_LIBRARY})
+if(_USE_CUDA)
+	set_target_properties(MVS PROPERTIES CUDA_ARCHITECTURES "50;72;75")
+endif()
+TARGET_LINK_LIBRARIES(MVS PRIVATE Common Math IO CGAL::CGAL ${CERES_LIBRARIES} ${CUDA_CUDA_LIBRARY})
 
 # Install
 SET_TARGET_PROPERTIES(MVS PROPERTIES
 	PUBLIC_HEADER "${LIBRARY_FILES_H}")
 INSTALL(TARGETS MVS
 	EXPORT OpenMVSTargets
-	RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
-	LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT shlib
-	ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib
-	PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}/MVS" COMPONENT dev)
+	LIBRARY DESTINATION "${INSTALL_LIB_DIR}"
+	ARCHIVE DESTINATION "${INSTALL_LIB_DIR}"
+	RUNTIME DESTINATION "${INSTALL_BIN_DIR}"
+	PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}/MVS")
diff --git a/libs/MVS/Camera.h b/libs/MVS/Camera.h
index fabae38d4..c77c4d66b 100644
--- a/libs/MVS/Camera.h
+++ b/libs/MVS/Camera.h
@@ -107,39 +107,6 @@ class MVS_API CameraIntern
 		return float(MAXF(width, height));
 	}
 
-	// return scaled K (assuming standard K format)
-	template<typename TYPE>
-	static inline TMatrix<TYPE,3,3> ScaleK(const TMatrix<TYPE,3,3>& K, TYPE s) {
-		#if 0
-		TMatrix<TYPE,3,3> S(TMatrix<TYPE,3,3>::IDENTITY);
-		S(0,0) = S(1,1) = s;
-		return S*K;
-		#else
-		return TMatrix<TYPE,3,3>(
-			K(0,0)*s, K(0,1)*s, K(0,2)*s,
-			TYPE(0),  K(1,1)*s, K(1,2)*s,
-			TYPE(0), TYPE(0), TYPE(1)
-		);
-		#endif
-	}
-	inline KMatrix GetScaledK(REAL s) const {
-		return ScaleK(K, s);
-	}
-
-	// return K.inv() (assuming standard K format)
-	inline KMatrix GetInvK() const {
-		#if 0
-		return K.inv();
-		#else
-		KMatrix invK(KMatrix::IDENTITY);
-		invK(0,0) = REAL(1)/K(0,0);
-		invK(1,1) = REAL(1)/K(1,1);
-		invK(0,2) = -K(0,2)*invK(0,0);
-		invK(1,2) = -K(1,2)*invK(1,1);
-		return invK;
-		#endif
-	}
-
 	// create K with the supplied focal length and sensor center
 	template<typename TYPE, typename TYPER>
 	static inline TMatrix<TYPE,3,3> ComposeK(const TYPE& fX, const TYPE& fY, TYPER w=TYPER(1), TYPER h=TYPER(1)) {
@@ -162,36 +129,74 @@ class MVS_API CameraIntern
 		return invK;
 	}
 
+	// return scaled K (assuming standard K format)
+	template<typename TYPE>
+	static inline TMatrix<TYPE,3,3> ScaleK(const TMatrix<TYPE,3,3>& K, TYPE s) {
+		return TMatrix<TYPE,3,3>(
+			K(0,0)*s, K(0,1)*s, (K(0,2)+TYPE(0.5))*s-TYPE(0.5),
+			TYPE(0),  K(1,1)*s, (K(1,2)+TYPE(0.5))*s-TYPE(0.5),
+			TYPE(0), TYPE(0), TYPE(1)
+		);
+	}
+	inline KMatrix GetScaledK(REAL s) const {
+		return ScaleK(K, s);
+	}
+	// same as above, but for different scale on x and y;
+	// in order to preserve the aspect ratio of the original size, scale both focal lengths by
+	// the smaller of the scale factors, resulting in adding pixels in the dimension that's growing;
+	template<typename TYPE>
+	static inline TMatrix<TYPE,3,3> ScaleK(const TMatrix<TYPE,3,3>& K, const cv::Size& size, const cv::Size& newSize, bool keepAspect=false) {
+		ASSERT(size.area() && newSize.area());
+		cv::Point_<TYPE> s(cv::Point_<TYPE>(newSize) / cv::Point_<TYPE>(size));
+		if (keepAspect)
+			s.x = s.y = MINF(s.x, s.y);
+		return TMatrix<TYPE,3,3>(
+			K(0,0)*s.x, K(0,1)*s.x, (K(0,2)+TYPE(0.5))*s.x-TYPE(0.5),
+			TYPE(0),    K(1,1)*s.y, (K(1,2)+TYPE(0.5))*s.y-TYPE(0.5),
+			TYPE(0),    TYPE(0),    TYPE(1)
+		);
+	}
+	inline KMatrix GetScaledK(const cv::Size& size, const cv::Size& newSize, bool keepAspect=false) const {
+		return ScaleK(K, size, newSize, keepAspect);
+	}
+
+	// return K.inv() (assuming standard K format and no shear)
+	template<typename TYPE>
+	static inline TMatrix<TYPE,3,3> InvK(const TMatrix<TYPE,3,3>& K) {
+		ASSERT(ISZERO(K(0,1)));
+		TMatrix<TYPE,3,3> invK(TMatrix<TYPE,3,3>::IDENTITY);
+		invK(0,0) = REAL(1)/K(0,0);
+		invK(1,1) = REAL(1)/K(1,1);
+		invK(0,2) = -K(0,2)*invK(0,0);
+		invK(1,2) = -K(1,2)*invK(1,1);
+		return invK;
+	}
+	inline KMatrix GetInvK() const {
+		return InvK(K);
+	}
+
 	// returns full K and the inverse of K (assuming standard K format)
 	template<typename TYPE>
 	inline TMatrix<TYPE,3,3> GetK(uint32_t width, uint32_t height) const {
 		ASSERT(width>0 && height>0);
-		const float fScale(GetNormalizationScale(width, height));
-		if (K(0,2)==0 && K(1,2)==0)
-			return ComposeK(
-				TYPE(K(0,0)*fScale), TYPE(K(1,1)*fScale),
-				width, height );
-		TMatrix<TYPE,3,3> fullK(TMatrix<TYPE,3,3>::IDENTITY);
-		fullK(0,0) = K(0,0)*fScale;
-		fullK(1,1) = K(1,1)*fScale;
-		fullK(0,2) = K(0,2)*fScale;
-		fullK(1,2) = K(1,2)*fScale;
-		return fullK;
+		const float scale(GetNormalizationScale(width, height));
+		if (K(0,2) != 0 || K(1,2) != 0)
+			return GetScaledK(scale);
+		ASSERT(ISZERO(K(0,1)));
+		return ComposeK(
+			TYPE(K(0,0)*scale), TYPE(K(1,1)*scale),
+			width, height );
 	}
 	template<typename TYPE>
 	inline TMatrix<TYPE,3,3> GetInvK(uint32_t width, uint32_t height) const {
 		ASSERT(width>0 && height>0);
-		const float fScale(GetNormalizationScale(width, height));
-		if (K(0,2)==0 && K(1,2)==0)
-			return ComposeInvK(
-				TYPE(K(0,0)*fScale), TYPE(K(1,1)*fScale),
-				width, height );
-		TMatrix<TYPE,3,3> fullInvK(TMatrix<TYPE,3,3>::IDENTITY);
-		fullInvK(0,0) = TYPE(1)/(K(0,0)*fScale);
-		fullInvK(1,1) = TYPE(1)/(K(1,1)*fScale);
-		fullInvK(0,2) = -K(0,2)*fScale*fullInvK(0,0);
-		fullInvK(1,2) = -K(1,2)*fScale*fullInvK(1,1);
-		return fullInvK;
+		const float scale(GetNormalizationScale(width, height));
+		if (K(0,2) != 0 || K(1,2) != 0)
+			return InvK(GetScaledK(scale));
+		ASSERT(ISZERO(K(0,1)));
+		return ComposeInvK(
+			TYPE(K(0,0)*scale), TYPE(K(1,1)*scale),
+			width, height );
 	}
 
 	// normalize inhomogeneous 2D point by the given camera intrinsics K
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index f4068a292..0e50260cc 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -31,13 +31,14 @@
 
 #include "Common.h"
 #include "DepthMap.h"
+#include "Mesh.h"
 #define _USE_OPENCV
 #include "Interface.h"
 #include "../Common/AutoEstimator.h"
 // CGAL: depth-map initialization
 #include <CGAL/Simple_cartesian.h>
 #include <CGAL/Delaunay_triangulation_2.h>
-#include <CGAL/Projection_traits_xy_3.h>
+#include <CGAL/Triangulation_vertex_base_with_info_2.h>
 // CGAL: estimate normals
 #include <CGAL/Simple_cartesian.h>
 #include <CGAL/property_map.h>
@@ -67,23 +68,27 @@ using namespace MVS;
 namespace MVS {
 DEFOPT_SPACE(OPTDENSE, _T("Dense"))
 
+
+#ifdef _USE_CUDA
+DEFVAR_OPTDENSE_int32(nCUDADevice, "CUDA Device", "CUDA device number to be used for depth-map estimation (-1 - CPU processing)", "0")
+#endif // _USE_CUDA
 DEFVAR_OPTDENSE_uint32(nResolutionLevel, "Resolution Level", "How many times to scale down the images before dense reconstruction", "1")
 MDEFVAR_OPTDENSE_uint32(nMaxResolution, "Max Resolution", "Do not scale images lower than this resolution", "3200")
 MDEFVAR_OPTDENSE_uint32(nMinResolution, "Min Resolution", "Do not scale images lower than this resolution", "640")
 DEFVAR_OPTDENSE_uint32(nMinViews, "Min Views", "minimum number of agreeing views to validate a depth", "2")
 MDEFVAR_OPTDENSE_uint32(nMaxViews, "Max Views", "maximum number of neighbor images used to compute the depth-map for the reference image", "12")
-DEFVAR_OPTDENSE_uint32(nMinViewsFuse, "Min Views Fuse", "minimum number of images that agrees with an estimate during fusion in order to consider it inlier", "2")
+DEFVAR_OPTDENSE_uint32(nMinViewsFuse, "Min Views Fuse", "minimum number of images that agrees with an estimate during fusion in order to consider it inlier (<2 - only merge depth-maps)", "2")
 DEFVAR_OPTDENSE_uint32(nMinViewsFilter, "Min Views Filter", "minimum number of images that agrees with an estimate in order to consider it inlier", "2")
 MDEFVAR_OPTDENSE_uint32(nMinViewsFilterAdjust, "Min Views Filter Adjust", "minimum number of images that agrees with an estimate in order to consider it inlier (0 - disabled)", "1")
 MDEFVAR_OPTDENSE_uint32(nMinViewsTrustPoint, "Min Views Trust Point", "min-number of views so that the point is considered for approximating the depth-maps (<2 - random initialization)", "2")
 MDEFVAR_OPTDENSE_uint32(nNumViews, "Num Views", "Number of views used for depth-map estimation (0 - all views available)", "0", "1", "4")
 MDEFVAR_OPTDENSE_bool(bFilterAdjust, "Filter Adjust", "adjust depth estimates during filtering", "1")
-MDEFVAR_OPTDENSE_bool(bAddCorners, "Add Corners", "add support points at image corners with nearest neighbor disparities", "1")
+MDEFVAR_OPTDENSE_bool(bAddCorners, "Add Corners", "add support points at image corners with nearest neighbor disparities", "0")
 MDEFVAR_OPTDENSE_float(fViewMinScore, "View Min Score", "Min score to consider a neighbor images (0 - disabled)", "2.0")
 MDEFVAR_OPTDENSE_float(fViewMinScoreRatio, "View Min Score Ratio", "Min score ratio to consider a neighbor images", "0.3")
 MDEFVAR_OPTDENSE_float(fMinArea, "Min Area", "Min shared area for accepting the depth triangulation", "0.05")
 MDEFVAR_OPTDENSE_float(fMinAngle, "Min Angle", "Min angle for accepting the depth triangulation", "3.0")
-MDEFVAR_OPTDENSE_float(fOptimAngle, "Optim Angle", "Optimal angle for computing the depth triangulation", "10.0")
+MDEFVAR_OPTDENSE_float(fOptimAngle, "Optim Angle", "Optimal angle for computing the depth triangulation", "15.0")
 MDEFVAR_OPTDENSE_float(fMaxAngle, "Max Angle", "Max angle for accepting the depth triangulation", "65.0")
 MDEFVAR_OPTDENSE_float(fDescriptorMinMagnitudeThreshold, "Descriptor Min Magnitude Threshold", "minimum texture variance accepted when matching two patches (0 - disabled)", "0.01")
 MDEFVAR_OPTDENSE_float(fDepthDiffThreshold, "Depth Diff Threshold", "maximum variance allowed for the depths during refinement", "0.01")
@@ -93,11 +98,17 @@ MDEFVAR_OPTDENSE_float(fOptimizerEps, "Optimizer Eps", "MRF optimizer stop epsil
 MDEFVAR_OPTDENSE_int32(nOptimizerMaxIters, "Optimizer Max Iters", "MRF optimizer max number of iterations", "80")
 MDEFVAR_OPTDENSE_uint32(nSpeckleSize, "Speckle Size", "maximal size of a speckle (small speckles get removed)", "100")
 MDEFVAR_OPTDENSE_uint32(nIpolGapSize, "Interpolate Gap Size", "interpolate small gaps (left<->right, top<->bottom)", "7")
+MDEFVAR_OPTDENSE_int32(nIgnoreMaskLabel, "Ignore Mask Label", "label id used during ignore mask filter (<0 - disabled)", "-1")
 MDEFVAR_OPTDENSE_uint32(nOptimize, "Optimize", "should we filter the extracted depth-maps?", "7") // see DepthFlags
 MDEFVAR_OPTDENSE_uint32(nEstimateColors, "Estimate Colors", "should we estimate the colors for the dense point-cloud?", "2", "0", "1")
 MDEFVAR_OPTDENSE_uint32(nEstimateNormals, "Estimate Normals", "should we estimate the normals for the dense point-cloud?", "0", "1", "2")
 MDEFVAR_OPTDENSE_float(fNCCThresholdKeep, "NCC Threshold Keep", "Maximum 1-NCC score accepted for a match", "0.55", "0.3")
-MDEFVAR_OPTDENSE_uint32(nEstimationIters, "Estimation Iters", "Number of iterations for depth-map refinement", "4")
+#ifdef _USE_CUDA
+MDEFVAR_OPTDENSE_float(fNCCThresholdKeepCUDA, "NCC Threshold Keep CUDA", "Maximum 1-NCC score accepted for a CUDA match (differs from the CPU version cause that has planarity score integrated)", "0.9", "0.6")
+#endif // _USE_CUDA
+DEFVAR_OPTDENSE_uint32(nEstimationIters, "Estimation Iters", "Number of patch-match iterations", "3")
+DEFVAR_OPTDENSE_uint32(nEstimationGeometricIters, "Estimation Geometric Iters", "Number of geometric consistent patch-match iterations (0 - disabled)", "2")
+MDEFVAR_OPTDENSE_float(fEstimationGeometricWeight, "Estimation Geometric Weight", "pairwise geometric consistency cost weight", "0.1")
 MDEFVAR_OPTDENSE_uint32(nRandomIters, "Random Iters", "Number of iterations for random assignment per pixel", "6")
 MDEFVAR_OPTDENSE_uint32(nRandomMaxScale, "Random Max Scale", "Maximum number of iterations to skip during random assignment", "2")
 MDEFVAR_OPTDENSE_float(fRandomDepthRatio, "Random Depth Ratio", "Depth range ratio of the current estimate for random plane assignment", "0.003", "0.004")
@@ -191,6 +202,26 @@ void DepthData::GetNormal(const Point2f& pt, Point3f& N, const TImage<Point3f>*
 /*----------------------------------------------------------------*/
 
 
+// apply mask to the depth map
+void DepthData::ApplyIgnoreMask(const BitMatrix& mask)
+{
+	ASSERT(IsValid() && !IsEmpty() && mask.size() == depthMap.size());
+	for (int r=0; r<depthMap.rows; ++r) {
+		for (int c=0; c<depthMap.cols; ++c) {
+			if (mask.isSet(r,c))
+				continue;
+			// discard depth-map section ignored by mask
+			depthMap(r,c) = 0;
+			if (!normalMap.empty())
+				normalMap(r,c) = Normal::ZERO;
+			if (!confMap.empty())
+				confMap(r,c) = 0;
+		}
+	}
+} // ApplyIgnoreMask
+/*----------------------------------------------------------------*/
+
+
 bool DepthData::Save(const String& fileName) const
 {
 	ASSERT(IsValid() && !depthMap.empty() && !confMap.empty());
@@ -212,7 +243,6 @@ bool DepthData::Save(const String& fileName) const
 }
 bool DepthData::Load(const String& fileName)
 {
-	ASSERT(IsValid());
 	// serialize in the saved state
 	String imageFileName;
 	IIndexArr IDs;
@@ -220,8 +250,7 @@ bool DepthData::Load(const String& fileName)
 	Camera camera;
 	if (!ImportDepthDataRaw(fileName, imageFileName, IDs, imageSize, camera.K, camera.R, camera.C, dMin, dMax, depthMap, normalMap, confMap))
 		return false;
-	ASSERT(IDs.size() == images.size());
-	ASSERT(IDs.front() == GetView().GetID());
+	ASSERT(!IsValid() || (IDs.size() == images.size() && IDs.front() == GetView().GetID()));
 	ASSERT(depthMap.size() == imageSize);
 	return true;
 }
@@ -255,6 +284,30 @@ unsigned DepthData::DecRef()
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+// try to load and apply mask to the depth map;
+// the mask marks as false pixels that should be ignored
+bool DepthEstimator::ImportIgnoreMask(const Image& image0, const Image8U::Size& size, BitMatrix& bmask, uint16_t nIgnoreMaskLabel)
+{
+	ASSERT(image0.IsValid() && !image0.image.empty());
+	if (image0.maskName.empty())
+		return false;
+	Image16U mask;
+	if (!mask.Load(image0.maskName)) {
+		DEBUG("warning: can not load the segmentation mask '%s'", image0.maskName.c_str());
+		return false;
+	}
+	cv::resize(mask, mask, size, 0, 0, cv::INTER_NEAREST);
+	bmask.create(size);
+	bmask.memset(0xFF);
+	for (int r=0; r<size.height; ++r) {
+		for (int c=0; c<size.width; ++c) {
+			if (mask(r,c) == nIgnoreMaskLabel)
+				bmask.unset(r,c);
+		}
+	}
+	return true;
+} // ImportIgnoreMask
+
 // create the map for converting index to matrix position
 //                         1 2 3
 //  1 2 4 7 5 3 6 8 9 -->  4 5 6
@@ -314,7 +367,7 @@ DepthEstimator::DepthEstimator(
 	weightMap0(_weightMap0),
 	#endif
 	nIteration(nIter),
-	images(InitImages(_depthData0)), image0(_depthData0.images[0]),
+	images(_depthData0.images.begin()+1, _depthData0.images.end()), image0(_depthData0.images[0]),
 	#if DENSE_NCC != DENSE_NCC_WEIGHTED
 	image0Sum(_image0Sum),
 	#endif
@@ -395,7 +448,7 @@ bool DepthEstimator::FillPixelPatch()
 }
 
 // compute pixel's NCC score in the given target image
-float DepthEstimator::ScorePixelImage(const ViewData& image1, Depth depth, const Normal& normal)
+float DepthEstimator::ScorePixelImage(const DepthData::ViewData& image1, Depth depth, const Normal& normal)
 {
 	// center a patch of given size on the segment and fetch the pixel values in the target image
 	Matrix3x3f H(ComputeHomographyMatrix(image1, depth, normal));
@@ -414,9 +467,9 @@ float DepthEstimator::ScorePixelImage(const ViewData& image1, Depth depth, const
 	for (int i=-nSizeHalfWindow; i<=nSizeHalfWindow; i+=nSizeStep) {
 		for (int j=-nSizeHalfWindow; j<=nSizeHalfWindow; j+=nSizeStep) {
 			const Point2f pt(X);
-			if (!image1.view.image.isInsideWithBorder<float,1>(pt))
+			if (!image1.image.isInsideWithBorder<float,1>(pt))
 				return thRobust;
-			const float v(image1.view.image.sample(pt));
+			const float v(image1.image.sample(pt));
 			#if DENSE_NCC == DENSE_NCC_FAST
 			sum += v;
 			sumSq += SQUARE(v);
@@ -464,6 +517,23 @@ float DepthEstimator::ScorePixelImage(const ViewData& image1, Depth depth, const
 		score *= (1.f - smoothBonusDepth * factorDepth) * (1.f - smoothBonusNormal * factorNormal);
 	}
 	#endif
+	if (!image1.depthMap.empty()) {
+		ASSERT(OPTDENSE::fEstimationGeometricWeight > 0);
+		float consistency(4.f);
+		const Point3f X1(image1.Tl*Point3f(float(X0(0))*depth,float(X0(1))*depth,depth)+image1.Tm); // Kj * Rj * (Ri.t() * X + Ci - Cj)
+		if (X1.z > 0) {
+			const Point2f x1(X1);
+			if (image1.depthMap.isInsideWithBorder<float,1>(x1)) {
+				Depth depth1;
+				if (image1.depthMap.sample(depth1, x1, [&X1](Depth d) { return IsDepthSimilar(X1.z, d, 0.03f); })) {
+					const Point2f xb(image1.Tr*Point3f(x1.x*depth1,x1.y*depth1,depth1)+image1.Tn); // Ki * Ri * (Rj.t() * Kj-1 * X + Cj - Ci)
+					const float dist(norm(Point2f(float(x0.x)-xb.x, float(x0.y)-xb.y)));
+					consistency = MINF(SQRT(dist*(dist+2.f)), consistency);
+				}
+			}
+		}
+		score += OPTDENSE::fEstimationGeometricWeight * consistency;
+	}
 	ASSERT(ISFINITE(score));
 	return score;
 }
@@ -813,33 +883,22 @@ Depth DepthEstimator::InterpolatePixel(const ImageRef& nx, Depth depth, const No
 	// {(0, 0), (x4, 1)} from camera center towards current pixel direction
 	// in the x or y plane
 	if (x0.x == nx.x) {
-		const float fy = (float)image0.camera.K[4];
-		const float cy = (float)image0.camera.K[5];
-		const float x1 = depth * (nx.y - cy) / fy;
-		const float y1 = depth;
-		const float x4 = (x0.y - cy) / fy;
-		const float denom = normal.z + x4 * normal.y;
+		const float nx1((float)(((REAL)x0.y - image0.camera.K(1,2)) / image0.camera.K(1,1)));
+		const float denom(normal.z + nx1 * normal.y);
 		if (ISZERO(denom))
 			return depth;
-		const float x2 = x1 + normal.z;
-		const float y2 = y1 - normal.y;
-		const float nom = y1 * x2 - x1 * y2;
+		const float x1((float)(((REAL)nx.y - image0.camera.K(1,2)) / image0.camera.K(1,1)));
+		const float nom(depth * (normal.z + x1 * normal.y));
 		depthNew = nom / denom;
 	}
 	else {
 		ASSERT(x0.y == nx.y);
-		const float fx = (float)image0.camera.K[0];
-		const float cx = (float)image0.camera.K[2];
-		ASSERT(image0.camera.K[1] == 0);
-		const float x1 = depth * (nx.x - cx) / fx;
-		const float y1 = depth;
-		const float x4 = (x0.x - cx) / fx;
-		const float denom = normal.z + x4 * normal.x;
+		const float nx1((float)(((REAL)x0.x - image0.camera.K(0,2)) / image0.camera.K(0,0)));
+		const float denom(normal.z + nx1 * normal.x);
 		if (ISZERO(denom))
 			return depth;
-		const float x2 = x1 + normal.z;
-		const float y2 = y1 - normal.x;
-		const float nom = y1 * x2 - x1 * y2;
+		const float x1((float)(((REAL)nx.x - image0.camera.K(0,2)) / image0.camera.K(0,0)));
+		const float nom(depth * (normal.z + x1 * normal.x));
 		depthNew = nom / denom;
 	}
 	#else
@@ -915,96 +974,102 @@ DepthEstimator::PixelEstimate DepthEstimator::PerturbEstimate(const PixelEstimat
 // S T R U C T S ///////////////////////////////////////////////////
 
 namespace CGAL {
-typedef CGAL::Simple_cartesian<double> kernel_t;
-typedef CGAL::Projection_traits_xy_3<kernel_t> Geometry;
-typedef CGAL::Delaunay_triangulation_2<Geometry> Delaunay;
-typedef CGAL::Delaunay::Face_circulator FaceCirculator;
-typedef CGAL::Delaunay::Face_handle FaceHandle;
-typedef CGAL::Delaunay::Vertex_circulator VertexCirculator;
-typedef CGAL::Delaunay::Vertex_handle VertexHandle;
-typedef kernel_t::Point_3 Point;
 }
 
 // triangulate in-view points, generating a 2D mesh
 // return also the estimated depth boundaries (min and max depth)
-std::pair<float,float> TriangulatePointsDelaunay(const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points, CGAL::Delaunay& delaunay)
+std::pair<float,float> TriangulatePointsDelaunay(const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points, Mesh& mesh, Point2fArr& projs, bool bAddCorners)
 {
+	typedef CGAL::Simple_cartesian<double> kernel_t;
+	typedef CGAL::Triangulation_vertex_base_with_info_2<Mesh::VIndex, kernel_t> vertex_base_t;
+	typedef CGAL::Triangulation_data_structure_2<vertex_base_t> triangulation_data_structure_t;
+	typedef CGAL::Delaunay_triangulation_2<kernel_t, triangulation_data_structure_t> Delaunay;
+	typedef Delaunay::Face_circulator FaceCirculator;
+	typedef Delaunay::Face_handle FaceHandle;
+	typedef Delaunay::Vertex_circulator VertexCirculator;
+	typedef Delaunay::Vertex_handle VertexHandle;
+	typedef kernel_t::Point_2 CPoint;
+
 	ASSERT(sizeof(Point3) == sizeof(X3D));
-	ASSERT(sizeof(Point3) == sizeof(CGAL::Point));
+	ASSERT(sizeof(Point2) == sizeof(CPoint));
 	std::pair<float,float> depthBounds(FLT_MAX, 0.f);
+	mesh.vertices.reserve((Mesh::VIndex)points.size()+4);
+	projs.reserve(mesh.vertices.capacity());
+	Delaunay delaunay;
 	for (uint32_t idx: points) {
 		const Point3f pt(image.camera.ProjectPointP3(pointcloud.points[idx]));
-		delaunay.insert(CGAL::Point(pt.x/pt.z, pt.y/pt.z, pt.z));
+		const Point3f x(pt.x/pt.z, pt.y/pt.z, pt.z);
+		delaunay.insert(CPoint(x.x, x.y))->info() = mesh.vertices.size();
+		mesh.vertices.emplace_back(image.camera.TransformPointI2C(x));
+		projs.emplace_back(x.x, x.y);
 		if (depthBounds.first > pt.z)
 			depthBounds.first = pt.z;
 		if (depthBounds.second < pt.z)
 			depthBounds.second = pt.z;
 	}
 	// if full size depth-map requested
-	if (OPTDENSE::bAddCorners) {
-		typedef TIndexScore<float,float> DepthDist;
-		typedef CLISTDEF0(DepthDist) DepthDistArr;
-		typedef Eigen::Map< Eigen::VectorXf, Eigen::Unaligned, Eigen::InnerStride<2> > FloatMap;
+	const size_t numPoints(3);
+	if (bAddCorners && points.size() >= numPoints) {
 		// add the four image corners at the average depth
 		ASSERT(image.pImageData->IsValid() && ISINSIDE(image.pImageData->avgDepth, depthBounds.first, depthBounds.second));
-		const CGAL::VertexHandle vcorners[] = {
-			delaunay.insert(CGAL::Point(0, 0, image.pImageData->avgDepth)),
-			delaunay.insert(CGAL::Point(image.image.width(), 0, image.pImageData->avgDepth)),
-			delaunay.insert(CGAL::Point(0, image.image.height(), image.pImageData->avgDepth)),
-			delaunay.insert(CGAL::Point(image.image.width(), image.image.height(), image.pImageData->avgDepth))
-		};
+		const Mesh::VIndex idxFirstVertex = mesh.vertices.size();
+		VertexHandle vcorners[4];
+		for (const Point2f& x: {Point2f(0, 0), Point2f(image.image.width()-1, 0), Point2f(0, image.image.height()-1), Point2f(image.image.width()-1, image.image.height()-1)}) {
+			const Mesh::VIndex i(mesh.vertices.size() - idxFirstVertex);
+			(vcorners[i] = delaunay.insert(CPoint(x.x, x.y)))->info() = mesh.vertices.size();
+			mesh.vertices.emplace_back(image.camera.TransformPointI2C(Point3f(x, image.pImageData->avgDepth)));
+			projs.emplace_back(x);
+		}
 		// compute average depth from the closest 3 directly connected faces,
 		// weighted by the distance
-		const size_t numPoints = 3;
 		for (int i=0; i<4; ++i) {
-			const CGAL::VertexHandle vcorner = vcorners[i];
-			CGAL::FaceCirculator cfc(delaunay.incident_faces(vcorner));
-			if (cfc == 0)
-				continue; // normally this should never happen
-			const CGAL::FaceCirculator done(cfc);
-			Point3d& poszA = reinterpret_cast<Point3d&>(vcorner->point());
-			const Point2d& posA = reinterpret_cast<const Point2d&>(poszA);
-			const Ray3d rayA(Point3d::ZERO, normalized(image.camera.TransformPointI2C(poszA)));
-			DepthDistArr depths(0, numPoints);
+			const VertexHandle vcorner(vcorners[i]);
+			FaceCirculator cfc(delaunay.incident_faces(vcorner));
+			ASSERT(cfc != 0);
+			const FaceCirculator done(cfc);
+			const Point2d& posA = reinterpret_cast<const Point2d&>(vcorner->point());
+			const Ray3d rayA(Point3d::ZERO, normalized(Cast<REAL>(mesh.vertices[vcorner->info()])));
+			typedef TIndexScore<float,float> DepthDist;
+			CLISTDEF0(DepthDist) depths(0, numPoints);
 			do {
-				CGAL::FaceHandle fc(cfc->neighbor(cfc->index(vcorner)));
-				if (fc == delaunay.infinite_face())
+				const FaceHandle fc(cfc->neighbor(cfc->index(vcorner)));
+				if (delaunay.is_infinite(fc))
 					continue;
 				for (int j=0; j<4; ++j)
 					if (fc->has_vertex(vcorners[j]))
-						goto Continue;
+						continue;
 				// compute the depth as the intersection of the corner ray with
 				// the plane defined by the face's vertices
-				{
-				const Point3d& poszB0 = reinterpret_cast<const Point3d&>(fc->vertex(0)->point());
-				const Point3d& poszB1 = reinterpret_cast<const Point3d&>(fc->vertex(1)->point());
-				const Point3d& poszB2 = reinterpret_cast<const Point3d&>(fc->vertex(2)->point());
 				const Planed planeB(
-					image.camera.TransformPointI2C(poszB0),
-					image.camera.TransformPointI2C(poszB1),
-					image.camera.TransformPointI2C(poszB2)
+					Cast<REAL>(mesh.vertices[fc->vertex(0)->info()]),
+					Cast<REAL>(mesh.vertices[fc->vertex(1)->info()]),
+					Cast<REAL>(mesh.vertices[fc->vertex(2)->info()])
 				);
 				const Point3d poszB(rayA.Intersects(planeB));
 				if (poszB.z <= 0)
 					continue;
 				const Point2d posB((
-					reinterpret_cast<const Point2d&>(poszB0)+
-					reinterpret_cast<const Point2d&>(poszB1)+
-					reinterpret_cast<const Point2d&>(poszB2))/3.f
+					reinterpret_cast<const Point2d&>(fc->vertex(0)->point())+
+					reinterpret_cast<const Point2d&>(fc->vertex(1)->point())+
+					reinterpret_cast<const Point2d&>(fc->vertex(2)->point()))/3.f
 				);
 				const double dist(norm(posB-posA));
 				depths.StoreTop<numPoints>(DepthDist(CLAMP((float)poszB.z,depthBounds.first,depthBounds.second), INVERT((float)dist)));
-				}
-				Continue:;
 			} while (++cfc != done);
-			if (depths.size() != numPoints)
-				continue; // normally this should never happen
+			ASSERT(depths.size() == numPoints);
+			typedef Eigen::Map< Eigen::VectorXf, Eigen::Unaligned, Eigen::InnerStride<2> > FloatMap;
 			FloatMap vecDists(&depths[0].score, numPoints);
 			vecDists *= 1.f/vecDists.sum();
 			FloatMap vecDepths(&depths[0].idx, numPoints);
-			poszA.z = vecDepths.dot(vecDists);
+			const float depth(vecDepths.dot(vecDists));
+			mesh.vertices[idxFirstVertex+i] = image.camera.TransformPointI2C(Point3(posA, depth));
 		}
 	}
+	mesh.faces.reserve(std::distance(delaunay.finite_faces_begin(),delaunay.finite_faces_end()));
+	for (Delaunay::Face_iterator it=delaunay.faces_begin(); it!=delaunay.faces_end(); ++it) {
+		const Delaunay::Face& face = *it;
+		mesh.faces.emplace_back(face.vertex(2)->info(), face.vertex(1)->info(), face.vertex(0)->info());
+	}
 	return depthBounds;
 }
 
@@ -1012,112 +1077,102 @@ std::pair<float,float> TriangulatePointsDelaunay(const DepthData::ViewData& imag
 // and interpolating normal and depth for all pixels
 bool MVS::TriangulatePoints2DepthMap(
 	const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points,
-	DepthMap& depthMap, NormalMap& normalMap, Depth& dMin, Depth& dMax)
+	DepthMap& depthMap, NormalMap& normalMap, Depth& dMin, Depth& dMax, bool bAddCorners)
 {
 	ASSERT(image.pImageData != NULL);
 
 	// triangulate in-view points
-	CGAL::Delaunay delaunay;
-	const std::pair<float,float> thDepth(TriangulatePointsDelaunay(image, pointcloud, points, delaunay));
+	Mesh mesh;
+	Point2fArr projs;
+	const std::pair<float,float> thDepth(TriangulatePointsDelaunay(image, pointcloud, points, mesh, projs, bAddCorners));
 	dMin = thDepth.first;
 	dMax = thDepth.second;
 
 	// create rough depth-map by interpolating inside triangles
 	const Camera& camera = image.camera;
+	mesh.ComputeNormalVertices();
 	depthMap.create(image.image.size());
 	normalMap.create(image.image.size());
-	if (!OPTDENSE::bAddCorners) {
+	if (!bAddCorners) {
 		depthMap.memset(0);
 		normalMap.memset(0);
 	}
-	struct RasterDepthDataPlaneData {
-		const Camera& P;
-		DepthMap& depthMap;
+	struct RasterDepth : TRasterMeshBase<RasterDepth> {
+		typedef TRasterMeshBase<RasterDepth> Base;
+		using Base::camera;
+		using Base::depthMap;
+		using Base::ptc;
+		using Base::pti;
+		const Mesh::NormalArr& vertexNormals;
 		NormalMap& normalMap;
-		Point3f normal;
-		Point3f normalPlane;
-		inline void operator()(const ImageRef& pt) {
-			if (!depthMap.isInside(pt))
-				return;
-			const Depth z(INVERT(normalPlane.dot(P.TransformPointI2C(Point2f(pt)))));
-			if (z <= 0) // due to numerical instability
-				return;
+		Mesh::Face face;
+		RasterDepth(const Mesh::NormalArr& _vertexNormals, const Camera& _camera, DepthMap& _depthMap, NormalMap& _normalMap)
+			: Base(_camera, _depthMap), vertexNormals(_vertexNormals), normalMap(_normalMap) {}
+		inline void operator()(const ImageRef& pt, const Point3f& bary) {
+			const Point3f pbary(PerspectiveCorrectBarycentricCoordinates(bary));
+			const Depth z(ComputeDepth(pbary));
+			ASSERT(z > Depth(0));
 			depthMap(pt) = z;
-			normalMap(pt) = normal;
+			normalMap(pt) = normalized(
+				vertexNormals[face[0]] * pbary[0]+
+				vertexNormals[face[1]] * pbary[1]+
+				vertexNormals[face[2]] * pbary[2]
+			);
 		}
 	};
-	RasterDepthDataPlaneData data = {camera, depthMap, normalMap};
-	for (CGAL::Delaunay::Face_iterator it=delaunay.faces_begin(); it!=delaunay.faces_end(); ++it) {
-		const CGAL::Delaunay::Face& face = *it;
-		const Point3f i0(reinterpret_cast<const Point3d&>(face.vertex(0)->point()));
-		const Point3f i1(reinterpret_cast<const Point3d&>(face.vertex(1)->point()));
-		const Point3f i2(reinterpret_cast<const Point3d&>(face.vertex(2)->point()));
-		// compute the plane defined by the 3 points
-		const Point3f c0(camera.TransformPointI2C(i0));
-		const Point3f c1(camera.TransformPointI2C(i1));
-		const Point3f c2(camera.TransformPointI2C(i2));
-		const Point3f edge1(c1-c0);
-		const Point3f edge2(c2-c0);
-		data.normal = normalized(edge2.cross(edge1));
-		data.normalPlane = data.normal * INVERT(data.normal.dot(c0));
-		// draw triangle and for each pixel compute depth as the ray intersection with the plane
-		Image8U::RasterizeTriangle(
-			reinterpret_cast<const Point2f&>(i2),
-			reinterpret_cast<const Point2f&>(i1),
-			reinterpret_cast<const Point2f&>(i0), data);
+	RasterDepth rasterer = {mesh.vertexNormals, camera, depthMap, normalMap};
+	for (const Mesh::Face& face : mesh.faces) {
+		rasterer.face = face;
+		rasterer.ptc[0].z = mesh.vertices[face[0]].z;
+		rasterer.ptc[1].z = mesh.vertices[face[1]].z;
+		rasterer.ptc[2].z = mesh.vertices[face[2]].z;
+		Image8U::RasterizeTriangleBary(
+			projs[face[0]],
+			projs[face[1]],
+			projs[face[2]], rasterer);
 	}
 	return true;
 } // TriangulatePoints2DepthMap
 // same as above, but does not estimate the normal-map
 bool MVS::TriangulatePoints2DepthMap(
 	const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points,
-	DepthMap& depthMap, Depth& dMin, Depth& dMax)
+	DepthMap& depthMap, Depth& dMin, Depth& dMax, bool bAddCorners)
 {
 	ASSERT(image.pImageData != NULL);
 
 	// triangulate in-view points
-	CGAL::Delaunay delaunay;
-	const std::pair<float,float> thDepth(TriangulatePointsDelaunay(image, pointcloud, points, delaunay));
+	Mesh mesh;
+	Point2fArr projs;
+	const std::pair<float,float> thDepth(TriangulatePointsDelaunay(image, pointcloud, points, mesh, projs, bAddCorners));
 	dMin = thDepth.first;
 	dMax = thDepth.second;
 
 	// create rough depth-map by interpolating inside triangles
 	const Camera& camera = image.camera;
 	depthMap.create(image.image.size());
-	if (!OPTDENSE::bAddCorners)
+	if (!bAddCorners)
 		depthMap.memset(0);
-	struct RasterDepthDataPlaneData {
-		const Camera& P;
-		DepthMap& depthMap;
-		Point3f normalPlane;
-		inline void operator()(const ImageRef& pt) {
-			if (!depthMap.isInside(pt))
-				return;
-			const Depth z((Depth)INVERT(normalPlane.dot(P.TransformPointI2C(Point2f(pt)))));
-			if (z <= 0) // due to numerical instability
-				return;
+	struct RasterDepth : TRasterMeshBase<RasterDepth> {
+		typedef TRasterMeshBase<RasterDepth> Base;
+		using Base::depthMap;
+		RasterDepth(const Camera& _camera, DepthMap& _depthMap)
+			: Base(_camera, _depthMap) {}
+		inline void operator()(const ImageRef& pt, const Point3f& bary) {
+			const Point3f pbary(PerspectiveCorrectBarycentricCoordinates(bary));
+			const Depth z(ComputeDepth(pbary));
+			ASSERT(z > Depth(0));
 			depthMap(pt) = z;
 		}
 	};
-	RasterDepthDataPlaneData data = {camera, depthMap};
-	for (CGAL::Delaunay::Face_iterator it=delaunay.faces_begin(); it!=delaunay.faces_end(); ++it) {
-		const CGAL::Delaunay::Face& face = *it;
-		const Point3f i0(reinterpret_cast<const Point3d&>(face.vertex(0)->point()));
-		const Point3f i1(reinterpret_cast<const Point3d&>(face.vertex(1)->point()));
-		const Point3f i2(reinterpret_cast<const Point3d&>(face.vertex(2)->point()));
-		// compute the plane defined by the 3 points
-		const Point3f c0(camera.TransformPointI2C(i0));
-		const Point3f c1(camera.TransformPointI2C(i1));
-		const Point3f c2(camera.TransformPointI2C(i2));
-		const Point3f edge1(c1-c0);
-		const Point3f edge2(c2-c0);
-		const Normal normal(normalized(edge2.cross(edge1)));
-		data.normalPlane = normal * INVERT(normal.dot(c0));
-		// draw triangle and for each pixel compute depth as the ray intersection with the plane
-		Image8U::RasterizeTriangle(
-			reinterpret_cast<const Point2f&>(i2),
-			reinterpret_cast<const Point2f&>(i1),
-			reinterpret_cast<const Point2f&>(i0), data);
+	RasterDepth rasterer = {camera, depthMap};
+	for (const Mesh::Face& face : mesh.faces) {
+		rasterer.ptc[0].z = mesh.vertices[face[0]].z;
+		rasterer.ptc[1].z = mesh.vertices[face[1]].z;
+		rasterer.ptc[2].z = mesh.vertices[face[2]].z;
+		Image8U::RasterizeTriangleBary(
+			projs[face[0]],
+			projs[face[1]],
+			projs[face[2]], rasterer);
 	}
 	return true;
 } // TriangulatePoints2DepthMap
@@ -1446,13 +1501,13 @@ bool MVS::EstimateNormalMap(const Matrix3x3f& K, const DepthMap& depthMap, Norma
 bool MVS::SaveDepthMap(const String& fileName, const DepthMap& depthMap)
 {
 	ASSERT(!depthMap.empty());
-	return SerializeSave(depthMap, fileName, ARCHIVE_BINARY_ZIP);
+	return SerializeSave(depthMap, fileName, ARCHIVE_DEFAULT);
 } // SaveDepthMap
 /*----------------------------------------------------------------*/
 // load the depth map from our .dmap file format
 bool MVS::LoadDepthMap(const String& fileName, DepthMap& depthMap)
 {
-	return SerializeLoad(depthMap, fileName, ARCHIVE_BINARY_ZIP);
+	return SerializeLoad(depthMap, fileName, ARCHIVE_DEFAULT);
 } // LoadDepthMap
 /*----------------------------------------------------------------*/
 
@@ -1460,13 +1515,13 @@ bool MVS::LoadDepthMap(const String& fileName, DepthMap& depthMap)
 bool MVS::SaveNormalMap(const String& fileName, const NormalMap& normalMap)
 {
 	ASSERT(!normalMap.empty());
-	return SerializeSave(normalMap, fileName, ARCHIVE_BINARY_ZIP);
+	return SerializeSave(normalMap, fileName, ARCHIVE_DEFAULT);
 } // SaveNormalMap
 /*----------------------------------------------------------------*/
 // load the normal map from our .nmap file format
 bool MVS::LoadNormalMap(const String& fileName, NormalMap& normalMap)
 {
-	return SerializeLoad(normalMap, fileName, ARCHIVE_BINARY_ZIP);
+	return SerializeLoad(normalMap, fileName, ARCHIVE_DEFAULT);
 } // LoadNormalMap
 /*----------------------------------------------------------------*/
 
@@ -1474,13 +1529,13 @@ bool MVS::LoadNormalMap(const String& fileName, NormalMap& normalMap)
 bool MVS::SaveConfidenceMap(const String& fileName, const ConfidenceMap& confMap)
 {
 	ASSERT(!confMap.empty());
-	return SerializeSave(confMap, fileName, ARCHIVE_BINARY_ZIP);
+	return SerializeSave(confMap, fileName, ARCHIVE_DEFAULT);
 } // SaveConfidenceMap
 /*----------------------------------------------------------------*/
 // load the confidence map from our .cmap file format
 bool MVS::LoadConfidenceMap(const String& fileName, ConfidenceMap& confMap)
 {
-	return SerializeLoad(confMap, fileName, ARCHIVE_BINARY_ZIP);
+	return SerializeLoad(confMap, fileName, ARCHIVE_DEFAULT);
 } // LoadConfidenceMap
 /*----------------------------------------------------------------*/
 
@@ -1786,6 +1841,7 @@ bool MVS::ImportDepthDataRaw(const String& fileName, String& imageFileName,
 		header.imageWidth < header.depthWidth || header.imageHeight < header.depthHeight)
 	{
 		DEBUG("error: invalid depth-data file '%s'", fileName.c_str());
+		fclose(f);
 		return false;
 	}
 
@@ -1874,15 +1930,15 @@ void MVS::CompareDepthMaps(const DepthMap& depthMap, const DepthMap& depthMapGT,
 			}
 			depths.Insert(depth);
 			depthsGT.Insert(depthGT);
-			const float error(depthGT==0 ? 0 : ABS(depth-depthGT)/depthGT);
+			const float error(depthGT==0 ? 0 : DepthSimilarity(depthGT, depth));
 			errors.Insert(error);
 		}
 	}
-	const float fPSNR((float)ComputePSNR(DMatrix32F((int)depths.GetSize(),1,depths.GetData()), DMatrix32F((int)depthsGT.GetSize(),1,depthsGT.GetData())));
-	const MeanStd<float,double> ms(errors.Begin(), errors.GetSize());
+	const float fPSNR((float)ComputePSNR(DMatrix32F((int)depths.size(),1,depths.data()), DMatrix32F((int)depthsGT.size(),1,depthsGT.data())));
+	const MeanStd<float,double> ms(errors.data(), errors.size());
 	const float mean((float)ms.GetMean());
 	const float stddev((float)ms.GetStdDev());
-	const std::pair<float,float> th(ComputeX84Threshold<float,float>(errors.Begin(), errors.GetSize()));
+	const std::pair<float,float> th(ComputeX84Threshold<float,float>(errors.data(), errors.size()));
 	#if TD_VERBOSE != TD_VERBOSE_OFF
 	IDX idxPixel = 0;
 	Image8U3 errorsVisual(depthMap.size());
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 6cdb72c30..10f8d724e 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -70,8 +70,7 @@
 #define DENSE_EXP_FAST FEXP<true> // ~10% faster, but slightly less precise
 #define DENSE_EXP DENSE_EXP_DEFUALT
 
-#define ComposeDepthFilePathBase(b, i, e) MAKE_PATH(String::FormatString((b + "%04u." e).c_str(), i))
-#define ComposeDepthFilePath(i, e) MAKE_PATH(String::FormatString("depth%04u." e, i))
+#define ComposeDepthFilePath(i, e) MAKE_PATH(String::FormatString(("depth%04u." + String(e)).c_str(), i))
 
 
 // S T R U C T S ///////////////////////////////////////////////////
@@ -81,12 +80,16 @@ namespace MVS {
 DECOPT_SPACE(OPTDENSE)
 
 namespace OPTDENSE {
+// configuration variables
 enum DepthFlags {
 	REMOVE_SPECKLES	= (1 << 0),
 	FILL_GAPS		= (1 << 1),
 	ADJUST_FILTER	= (1 << 2),
 	OPTIMIZE		= (REMOVE_SPECKLES|FILL_GAPS)
 };
+#ifdef _USE_CUDA
+extern int nCUDADevice;
+#endif // _USE_CUDA
 extern unsigned nResolutionLevel;
 extern unsigned nMaxResolution;
 extern unsigned nMinResolution;
@@ -113,11 +116,17 @@ extern float fOptimizerEps;
 extern int nOptimizerMaxIters;
 extern unsigned nSpeckleSize;
 extern unsigned nIpolGapSize;
+extern int nIgnoreMaskLabel;
 extern unsigned nOptimize;
 extern unsigned nEstimateColors;
 extern unsigned nEstimateNormals;
 extern float fNCCThresholdKeep;
+#ifdef _USE_CUDA
+extern float fNCCThresholdKeepCUDA;
+#endif // _USE_CUDA
 extern unsigned nEstimationIters;
+extern unsigned nEstimationGeometricIters;
+extern float fEstimationGeometricWeight;
 extern unsigned nRandomIters;
 extern unsigned nRandomMaxScale;
 extern float fRandomDepthRatio;
@@ -149,6 +158,29 @@ struct MVS_API DepthData {
 		Image32F image; // image float intensities
 		Image* pImageData; // image data
 
+		Matrix3x3 Hl; //
+		Vec3 Hm;      // constants during per-pixel loops
+		Matrix3x3 Hr; //
+
+		DepthMap depthMap; // known depth-map (optional)
+		Camera cameraDepthMap; // camera matrix corresponding to the depth-map
+		Matrix3x3f Tl; //
+		Point3f Tm;    // constants during per-pixel geometric-consistent loops
+		Matrix3x3f Tr; //
+		Point3f Tn;    //
+
+		inline void Init(const Camera& cameraRef) {
+			Hl = camera.K * camera.R * cameraRef.R.t();
+			Hm = camera.K * camera.R * (cameraRef.C - camera.C);
+			Hr = cameraRef.K.inv();
+			if (!depthMap.empty()) {
+				Tl = cameraDepthMap.K * cameraDepthMap.R * cameraRef.R.t();
+				Tm = cameraDepthMap.K * cameraDepthMap.R * (cameraRef.C - cameraDepthMap.C);
+				Tr = cameraRef.K * cameraRef.R * cameraDepthMap.R.t() * cameraDepthMap.GetInvK();
+				Tn = cameraRef.K * cameraRef.R * (cameraDepthMap.C - cameraRef.C);
+			}
+		}
+
 		inline IIndex GetID() const {
 			return pImageData->ID;
 		}
@@ -156,9 +188,12 @@ struct MVS_API DepthData {
 			return (IIndex)(pImageData - images.begin());
 		}
 
+		static bool NeedScaleImage(float scale) {
+			return ABS(scale-1.f) >= 0.15f;
+		}
 		template <typename IMAGE>
 		static bool ScaleImage(const IMAGE& image, IMAGE& imageScaled, float scale) {
-			if (ABS(scale-1.f) < 0.15f)
+			if (!NeedScaleImage(scale))
 				return false;
 			cv::resize(image, imageScaled, cv::Size(), scale, scale, scale>1?cv::INTER_CUBIC:cv::INTER_AREA);
 			return true;
@@ -180,8 +215,10 @@ struct MVS_API DepthData {
 	inline DepthData() : references(0) {}
 
 	inline void ReleaseImages() {
-		FOREACHPTR(ptrImage, images)
-			ptrImage->image.release();
+		for (ViewData& image: images) {
+			image.image.release();
+			image.depthMap.release();
+		}
 	}
 	inline void Release() {
 		depthMap.release();
@@ -202,6 +239,8 @@ struct MVS_API DepthData {
 	void GetNormal(const ImageRef& ir, Point3f& N, const TImage<Point3f>* pPointMap=NULL) const;
 	void GetNormal(const Point2f& x, Point3f& N, const TImage<Point3f>* pPointMap=NULL) const;
 
+	void ApplyIgnoreMask(const BitMatrix&);
+
 	bool Save(const String& fileName) const;
 	bool Load(const String& fileName);
 
@@ -227,7 +266,7 @@ typedef MVS_API CLISTDEFIDX(DepthData,IIndex) DepthDataArr;
 
 
 struct MVS_API DepthEstimator {
-	enum { nSizeHalfWindow = 5 };
+	enum { nSizeHalfWindow = 4 };
 	enum { nSizeWindow = nSizeHalfWindow*2+1 };
 	enum { nSizeStep = 2 };
 	enum { TexelChannels = 1 };
@@ -269,19 +308,6 @@ struct MVS_API DepthEstimator {
 	typedef CLISTDEFIDX(Weight,int) WeightMap;
 	#endif
 
-	struct ViewData {
-		const DepthData::ViewData& view;
-		const Matrix3x3 Hl;   //
-		const Vec3 Hm;	      // constants during per-pixel loops
-		const Matrix3x3 Hr;   //
-		inline ViewData() : view(*((const DepthData::ViewData*)this)) {}
-		inline ViewData(const DepthData::ViewData& image0, const DepthData::ViewData& image1)
-			: view(image1),
-			Hl(image1.camera.K * image1.camera.R * image0.camera.R.t()),
-			Hm(image1.camera.K * image1.camera.R * (image0.camera.C - image1.camera.C)),
-			Hr(image0.camera.K.inv()) {}
-	};
-
 	SEACAVE::Random rnd;
 
 	volatile Thread::safe_t& idxPixel; // current image index to be processed
@@ -318,7 +344,7 @@ struct MVS_API DepthEstimator {
 	#endif
 
 	const unsigned nIteration; // current PatchMatch iteration
-	const CLISTDEF0IDX(ViewData,IIndex) images; // neighbor images used
+	const DepthData::ViewDataArr images; // neighbor images used
 	const DepthData::ViewData& image0;
 	#if DENSE_NCC != DENSE_NCC_WEIGHTED
 	const Image64F& image0Sum; // integral image used to fast compute patch mean intensity
@@ -343,7 +369,7 @@ struct MVS_API DepthEstimator {
 
 	bool PreparePixelPatch(const ImageRef&);
 	bool FillPixelPatch();
-	float ScorePixelImage(const ViewData& image1, Depth, const Normal&);
+	float ScorePixelImage(const DepthData::ViewData& image1, Depth, const Normal&);
 	float ScorePixel(Depth, const Normal&);
 	void ProcessPixel(IDX idx);
 	Depth InterpolatePixel(const ImageRef&, Depth, const Normal&) const;
@@ -367,19 +393,19 @@ struct MVS_API DepthEstimator {
 	#if DENSE_NCC == DENSE_NCC_WEIGHTED
 	float GetWeight(const ImageRef& x, float center) const {
 		// color weight [0..1]
-		const float sigmaColor(-1.f/(2.f*SQUARE(0.2f)));
+		const float sigmaColor(-1.f/(2.f*SQUARE(0.1f)));
 		const float wColor(SQUARE(image0.image(x0+x)-center) * sigmaColor);
 		// spatial weight [0..1]
-		const float sigmaSpatial(-1.f/(2.f*SQUARE((int)nSizeHalfWindow)));
+		const float sigmaSpatial(-1.f/(2.f*SQUARE((int)nSizeHalfWindow-1)));
 		const float wSpatial(float(SQUARE(x.x) + SQUARE(x.y)) * sigmaSpatial);
 		return DENSE_EXP(wColor+wSpatial);
 	}
 	#endif
 
-	inline Matrix3x3f ComputeHomographyMatrix(const ViewData& img, Depth depth, const Normal& normal) const {
+	inline Matrix3x3f ComputeHomographyMatrix(const DepthData::ViewData& img, Depth depth, const Normal& normal) const {
 		#if 0
 		// compute homography matrix
-		const Matrix3x3f H(img.view.camera.K*HomographyMatrixComposition(image0.camera, img.view.camera, Vec3(normal), Vec3(X0*depth))*image0.camera.K.inv());
+		const Matrix3x3f H(img.camera.K*HomographyMatrixComposition(image0.camera, img.camera, Vec3(normal), Vec3(X0*depth))*image0.camera.K.inv());
 		#else
 		// compute homography matrix as above, caching some constants
 		const Vec3 n(normal);
@@ -387,14 +413,6 @@ struct MVS_API DepthEstimator {
 		#endif
 	}
 
-	static inline CLISTDEF0IDX(ViewData,IIndex) InitImages(const DepthData& depthData) {
-		CLISTDEF0IDX(ViewData,IIndex) images(0, depthData.images.GetSize()-1);
-		const DepthData::ViewData& image0(depthData.images.First());
-		for (IIndex i=1; i<depthData.images.GetSize(); ++i)
-			images.AddConstruct(image0, depthData.images[i]);
-		return images;
-	}
-
 	static inline Point3 ComputeRelativeC(const DepthData& depthData) {
 		return depthData.images[1].camera.R*(depthData.images[0].camera.C-depthData.images[1].camera.C);
 	}
@@ -423,6 +441,7 @@ struct MVS_API DepthEstimator {
 			normal = RMatrixBaseF(normal.cross(viewDir), MINF((ACOS(cosAngLen/norm(viewDir))-FD2R(90.f))*1.01f, -0.001f)) * normal;
 	}
 
+	static bool ImportIgnoreMask(const Image&, const Image8U::Size&, BitMatrix&, uint16_t nIgnoreMaskLabel);
 	static void MapMatrix2ZigzagIdx(const Image8U::Size& size, DepthEstimator::MapRefArr& coords, const BitMatrix& mask, int rawStride=16);
 
 	const float smoothBonusDepth, smoothBonusNormal;
@@ -442,10 +461,10 @@ struct MVS_API DepthEstimator {
 // Tools
 bool TriangulatePoints2DepthMap(
 	const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points,
-	DepthMap& depthMap, NormalMap& normalMap, Depth& dMin, Depth& dMax);
+	DepthMap& depthMap, NormalMap& normalMap, Depth& dMin, Depth& dMax, bool bAddCorners);
 bool TriangulatePoints2DepthMap(
 	const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points,
-	DepthMap& depthMap, Depth& dMin, Depth& dMax);
+	DepthMap& depthMap, Depth& dMin, Depth& dMax, bool bAddCorners);
 
 MVS_API unsigned EstimatePlane(const Point3Arr&, Plane&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MVS_API unsigned EstimatePlaneLockFirstPoint(const Point3Arr&, Plane&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
diff --git a/libs/MVS/Image.cpp b/libs/MVS/Image.cpp
index 0b5bdcf12..772185f2c 100644
--- a/libs/MVS/Image.cpp
+++ b/libs/MVS/Image.cpp
@@ -144,18 +144,12 @@ float Image::ResizeImage(unsigned nMaxResolution)
 	}
 	if (nMaxResolution == 0 || MAXF(width,height) <= nMaxResolution)
 		return 1.f;
-	float scale;
-	if (width > height) {
-		scale = (float)nMaxResolution/width;
-		height = height*nMaxResolution/width;
-		width = nMaxResolution;
-	} else {
-		scale = (float)nMaxResolution/height;
-		width = width*nMaxResolution/height;
-		height = nMaxResolution;
-	}
+	const REAL scale(width > height ? (REAL)nMaxResolution/width : (REAL)nMaxResolution/height);
+	const cv::Size scaledSize(Image8U::computeResize(GetSize(), scale));
+	width = (uint32_t)scaledSize.width;
+	height = (uint32_t)scaledSize.height;
 	if (!image.empty())
-		cv::resize(image, image, cv::Size((int)width, (int)height), 0, 0, cv::INTER_AREA);
+		cv::resize(image, image, scaledSize, 0, 0, cv::INTER_AREA);
 	return scale;
 } // ResizeImage
 /*----------------------------------------------------------------*/
diff --git a/libs/MVS/Image.h b/libs/MVS/Image.h
index 85a4f5eaf..a920f1e52 100644
--- a/libs/MVS/Image.h
+++ b/libs/MVS/Image.h
@@ -80,6 +80,7 @@ class MVS_API Image
 	uint32_t poseID; // ID of the pose of the associated platform
 	uint32_t ID; // global ID of the image
 	String name; // image file name (relative path)
+	String maskName; // segmentation file name (optional)
 	Camera camera; // view's pose
 	uint32_t width, height; // image size
 	Image8U3 image; // image color pixels
@@ -88,13 +89,10 @@ class MVS_API Image
 	float avgDepth; // average depth of the points seen by this camera
 
 public:
-	inline Image() {
-		#ifndef _RELEASE
-		width = height = 0;
-		#endif
-	}
+	inline Image() : poseID(NO_ID), width(0), height(0) {}
 
 	inline bool IsValid() const { return poseID != NO_ID; }
+	inline bool HasResolution() const { return width > 0 && height > 0; }
 	inline Image8U::Size GetSize() const { return Image8U::Size(width, height); }
 
 	// read image data from the file
@@ -137,6 +135,8 @@ class MVS_API Image
 		ar & ID;
 		const String relName(MAKE_PATH_REL(WORKING_FOLDER_FULL, name));
 		ar & relName;
+		const String relMaskName(MAKE_PATH_REL(WORKING_FOLDER_FULL, maskName));
+		ar & relMaskName;
 		ar & width & height;
 		ar & neighbors;
 		ar & avgDepth;
@@ -149,6 +149,8 @@ class MVS_API Image
 		ar & ID;
 		ar & name;
 		name = MAKE_PATH_FULL(WORKING_FOLDER_FULL, name);
+		ar & maskName;
+		maskName = MAKE_PATH_FULL(WORKING_FOLDER_FULL, maskName);
 		ar & width & height;
 		ar & neighbors;
 		ar & avgDepth;
diff --git a/libs/MVS/Interface.h b/libs/MVS/Interface.h
index 6592a32dd..7b3d96a0c 100644
--- a/libs/MVS/Interface.h
+++ b/libs/MVS/Interface.h
@@ -7,12 +7,13 @@
 #include <fstream>
 #include <string>
 #include <cctype>
+#include <limits>
 
 
 // D E F I N E S ///////////////////////////////////////////////////
 
 #define MVSI_PROJECT_ID "MVSI" // identifies the project stream
-#define MVSI_PROJECT_VER ((uint32_t)5) // identifies the version of a project stream
+#define MVSI_PROJECT_VER ((uint32_t)6) // identifies the version of a project stream
 
 // set a default namespace name if none given
 #ifndef _INTERFACE_NAMESPACE
@@ -25,10 +26,6 @@
 #define _USE_CUSTOM_CV
 #endif
 
-#ifndef NO_ID
-#define NO_ID std::numeric_limits<uint32_t>::max()
-#endif
-
 
 // S T R U C T S ///////////////////////////////////////////////////
 
@@ -164,6 +161,9 @@ class Matx
 
 namespace _INTERFACE_NAMESPACE {
 
+// invalid index
+constexpr uint32_t NO_ID {std::numeric_limits<uint32_t>::max()};
+
 // custom serialization
 namespace ARCHIVE {
 
@@ -376,7 +376,7 @@ struct Interface
 			std::string name; // camera's name
 			std::string bandName; // camera's band name, ex: RGB, BLUE, GREEN, RED, NIR, THERMAL, etc (optional)
 			uint32_t width, height; // image resolution in pixels for all images sharing this camera (optional)
-			Mat33d K; // camera's intrinsics matrix (normalized if image resolution not specified)
+			Mat33d K; // camera's intrinsics matrix (normalized if image resolution not specified), where integer coordinates is by convention the pixel center
 			Mat33d R; // camera's rotation matrix relative to the platform
 			Pos3d C; // camera's translation vector relative to the platform
 
@@ -405,8 +405,8 @@ struct Interface
 
 		// structure describing a pose along the trajectory of a platform
 		struct Pose {
-			Mat33d R; // platform's rotation matrix
-			Pos3d C; // platform's translation vector in the global coordinate system
+			Mat33d R; // platform's rotation matrix that rotates a point from world to camera coordinate system
+			Pos3d C; // platform's translation vector (position) in world coordinate system
 
 			Pose() {}
 			template <typename MAT, typename POS>
@@ -416,6 +416,23 @@ struct Interface
 			inline Pos3d GetTranslation() const { return R*(-C); }
 			inline void SetTranslation(const Pos3d& T) { C = R.t()*(-T); }
 
+			// combine poses
+			inline Pose operator * (const Pose& P) const {
+				return Pose(R*P.R, P.R.t()*C+P.C);
+			}
+			inline Pose& operator *= (const Pose& P) {
+				R = R*P.R; C = P.R.t()*C+P.C; return *this;
+			}
+
+			// project point: world to local coordinates
+			inline Pos3d operator * (const Pos3d& X) const {
+				return R * (X - C);
+			}
+			// back-project point: local to world coordinates
+			inline Pos3d operator / (const Pos3d& X) const {
+				return R.t() * X + C;
+			}
+
 			template <class Archive>
 			void serialize(Archive& ar, const unsigned int /*version*/) {
 				ar & R;
@@ -434,15 +451,29 @@ struct Interface
 		static Mat33d ScaleK(const Mat33d& _K, double scale) {
 			Mat33d K(_K);
 			K(0,0) *= scale;
-			K(0,1) *= scale;
-			K(0,2) *= scale;
 			K(1,1) *= scale;
-			K(1,2) *= scale;
+			K(0,2) = (K(0,2)+0.5)*scale-0.5;
+			K(1,2) = (K(1,2)+0.5)*scale-0.5;
+			K(0,1) *= scale;
 			return K;
 		}
+		const Mat33d& SetFullK(uint32_t cameraID, const Mat33d& K, uint32_t width, uint32_t height, bool normalize=false) {
+			Camera& camera = cameras[cameraID];
+			if (normalize) {
+				camera.width = camera.height = 0;
+				camera.K = ScaleK(K, 1.0/(double)Camera::GetNormalizationScale(width, height));
+			} else {
+				camera.width = width; camera.height = height;
+				camera.K = K;
+			}
+			return camera.K;
+		}
 		Mat33d GetFullK(uint32_t cameraID, uint32_t width, uint32_t height) const {
-			return ScaleK(GetK(cameraID), (double)Camera::GetNormalizationScale(width, height)/
-				(cameras[cameraID].IsNormalized()?1.0:(double)cameras[cameraID].GetNormalizationScale()));
+			const Camera& camera = cameras[cameraID];
+			if (!camera.IsNormalized() && camera.width == width && camera.height == height)
+				return camera.K;
+			return ScaleK(camera.K, (double)Camera::GetNormalizationScale(width, height)/
+				(camera.IsNormalized()?1.0:(double)camera.GetNormalizationScale()));
 		}
 
 		Pose GetPose(uint32_t cameraID, uint32_t poseID) const {
@@ -475,7 +506,7 @@ struct Interface
 		uint32_t ID; // ID of this image in the global space (optional)
 
 		Image() : platformID(NO_ID), cameraID(NO_ID), poseID(NO_ID), ID(NO_ID) {}
-		
+
 		bool IsValid() const { return poseID != NO_ID; }
 
 		template <class Archive>
@@ -575,6 +606,25 @@ struct Interface
 	typedef std::vector<Color> ColorArr;
 	/*----------------------------------------------------------------*/
 
+	// structure describing a Oriented Bounding-Box (optional)
+	struct OBB {
+		Mat33d rot; // rotation from scene to OBB coordinate system
+		Pos3d ptMin; // minimal point represented in OBB coordinate system
+		Pos3d ptMax; // maximal point represented in OBB coordinate system
+
+		OBB() : rot(Mat33d::eye()), ptMin(0, 0, 0), ptMax(0, 0, 0) {}
+
+		bool IsValid() const { return ptMin.x < ptMax.x && ptMin.y < ptMax.y && ptMin.z < ptMax.z; }
+
+		template <class Archive>
+		void serialize(Archive& ar, const unsigned int /*version*/) {
+			ar & rot;
+			ar & ptMin;
+			ar & ptMax;
+		}
+	};
+	/*----------------------------------------------------------------*/
+
 	PlatformArr platforms; // array of platforms
 	ImageArr images; // array of images
 	VertexArr vertices; // array of reconstructed 3D points
@@ -584,6 +634,7 @@ struct Interface
 	NormalArr linesNormal; // array of reconstructed 3D lines' normal (optional)
 	ColorArr linesColor; // array of reconstructed 3D lines' color (optional)
 	Mat44d transform; // transformation used to convert from absolute to relative coordinate system (optional)
+	OBB obb; // minimum oriented bounding box containing the scene (optional)
 
 	Interface() : transform(Mat44d::eye()) {}
 
@@ -597,6 +648,29 @@ struct Interface
 		return platforms[image.platformID].GetPose(image.cameraID, image.poseID);
 	}
 
+	// apply similarity transform
+	void Transform(const Mat33d& rotation, const Pos3d& translation, const double scale) {
+		for (Platform& platform : platforms) {
+			for (Platform::Pose& pose : platform.poses) {
+				pose.R = pose.R * rotation.t();
+				pose.C = rotation * pose.C * scale + translation;
+			}
+		}
+		for (Vertex& vertex : vertices) {
+			vertex.X = rotation * Pos3d(vertex.X) * scale + translation;
+		}
+		for (Normal& normal : verticesNormal) {
+			normal.n = rotation * Pos3d(normal.n);
+		}
+		for (Line& line : lines) {
+			line.pt1 = rotation * Pos3d(line.pt1) * scale + translation;
+			line.pt2 = rotation * Pos3d(line.pt2) * scale + translation;
+		}
+		for (Normal& normal : linesNormal) {
+			normal.n = rotation * Pos3d(normal.n);
+		}
+	}
+
 	template <class Archive>
 	void serialize(Archive& ar, const unsigned int version) {
 		ar & platforms;
@@ -610,6 +684,9 @@ struct Interface
 			ar & linesColor;
 			if (version > 1) {
 				ar & transform;
+				if (version > 5) {
+					ar & obb;
+				}
 			}
 		}
 	}
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index f50997438..2a8104b62 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -54,9 +54,21 @@
 #include <vcg/complex/algorithms/update/selection.h>
 #include <vcg/complex/algorithms/local_optimization.h>
 #include <vcg/complex/algorithms/local_optimization/tri_edge_collapse_quadric.h>
+#undef Split
 #ifdef _MSC_VER
 #  pragma warning(pop)
 #endif
+// GLTF: mesh import/export
+#define JSON_NOEXCEPTION
+#define TINYGLTF_NOEXCEPTION
+#define TINYGLTF_NO_STB_IMAGE
+#define TINYGLTF_NO_STB_IMAGE_WRITE
+#define TINYGLTF_NO_INCLUDE_JSON
+#define TINYGLTF_NO_INCLUDE_STB_IMAGE
+#define TINYGLTF_NO_INCLUDE_STB_IMAGE_WRITE
+#define TINYGLTF_IMPLEMENTATION
+#include "../IO/json.hpp"
+#include "../IO/tiny_gltf.h"
 
 using namespace MVS;
 
@@ -113,6 +125,24 @@ Mesh::Box Mesh::GetAABB(const Box& bound) const
 			box.InsertFull(X);
 	return box;
 }
+
+// compute the center of the point-cloud as the median
+Mesh::Vertex Mesh::GetCenter() const
+{
+	const VIndex step(5);
+	const VIndex numPoints(vertices.size()/step);
+	if (numPoints == 0)
+		return Vertex::INF;
+	typedef CLISTDEF0IDX(Vertex::Type,VIndex) Scalars;
+	Scalars x(numPoints), y(numPoints), z(numPoints);
+	for (VIndex i=0; i<numPoints; ++i) {
+		const Vertex& X = vertices[i*step];
+		x[i] = X.x;
+		y[i] = X.y;
+		z[i] = X.z;
+	}
+	return Vertex(x.GetMedian(), y.GetMedian(), z.GetMedian());
+}
 /*----------------------------------------------------------------*/
 
 
@@ -210,8 +240,7 @@ void Mesh::ComputeNormalVertices()
 {
 	vertexNormals.Resize(vertices.GetSize());
 	vertexNormals.Memset(0);
-	FOREACHPTR(pFace, faces) {
-		const Face& face = *pFace;
+	for (const Face& face: faces) {
 		const Vertex& v0 = vertices[face[0]];
 		const Vertex& v1 = vertices[face[1]];
 		const Vertex& v2 = vertices[face[2]];
@@ -220,8 +249,8 @@ void Mesh::ComputeNormalVertices()
 		vertexNormals[face[1]] += t;
 		vertexNormals[face[2]] += t;
 	}
-	FOREACHPTR(pVertexNormal, vertexNormals)
-		normalize(*pVertexNormal);
+	for (Normal& vertexNormal: vertexNormals)
+		normalize(vertexNormal);
 }
 #else
 // computes the vertex normal as an angle weighted average
@@ -994,6 +1023,12 @@ void Mesh::Clean(float fDecimate, float fSpurious, bool bRemoveSpikes, unsigned
 	// decimate mesh
 	if (fDecimate < 1) {
 		ASSERT(fDecimate > 0);
+		const int nZeroAreaFaces = vcg::tri::Clean<CLEAN::Mesh>::RemoveZeroAreaFace(mesh);
+		DEBUG_ULTIMATE("Removed %d zero-area faces", nZeroAreaFaces);
+		const int nDuplicateFaces = vcg::tri::Clean<CLEAN::Mesh>::RemoveDuplicateFace(mesh);
+		DEBUG_ULTIMATE("Removed %d duplicate faces", nDuplicateFaces);
+		const int nUnreferencedVertices = vcg::tri::Clean<CLEAN::Mesh>::RemoveUnreferencedVertex(mesh);
+		DEBUG_ULTIMATE("Removed %d unreferenced vertices", nUnreferencedVertices);
 		vcg::tri::TriEdgeCollapseQuadricParameter pp;
 		pp.QualityThr = 0.3; // Quality Threshold for penalizing bad shaped faces: the value is in the range [0..1], 0 accept any kind of face (no penalties), 0.5 penalize faces with quality < 0.5, proportionally to their shape
 		pp.PreserveBoundary = false; // the simplification process tries to not affect mesh boundaries during simplification
@@ -1032,17 +1067,17 @@ void Mesh::Clean(float fDecimate, float fSpurious, bool bRemoveSpikes, unsigned
 
 	// clean mesh
 	{
-		vcg::tri::UpdateTopology<CLEAN::Mesh>::FaceFace(mesh);
 		const int nZeroAreaFaces = vcg::tri::Clean<CLEAN::Mesh>::RemoveZeroAreaFace(mesh);
 		DEBUG_ULTIMATE("Removed %d zero-area faces", nZeroAreaFaces);
 		const int nDuplicateFaces = vcg::tri::Clean<CLEAN::Mesh>::RemoveDuplicateFace(mesh);
 		DEBUG_ULTIMATE("Removed %d duplicate faces", nDuplicateFaces);
+		const int nUnreferencedVertices = vcg::tri::Clean<CLEAN::Mesh>::RemoveUnreferencedVertex(mesh);
+		DEBUG_ULTIMATE("Removed %d unreferenced vertices", nUnreferencedVertices);
+		vcg::tri::UpdateTopology<CLEAN::Mesh>::FaceFace(mesh);
 		const int nNonManifoldFaces = vcg::tri::Clean<CLEAN::Mesh>::RemoveNonManifoldFace(mesh);
 		DEBUG_ULTIMATE("Removed %d non-manifold faces", nNonManifoldFaces);
 		const int nDegenerateVertices = vcg::tri::Clean<CLEAN::Mesh>::RemoveDegenerateVertex(mesh);
 		DEBUG_ULTIMATE("Removed %d degenerate vertices", nDegenerateVertices);
-		const int nUnreferencedVertices = vcg::tri::Clean<CLEAN::Mesh>::RemoveUnreferencedVertex(mesh);
-		DEBUG_ULTIMATE("Removed %d unreferenced vertices", nUnreferencedVertices);
 		#if 1
 		const int nDuplicateVertices = vcg::tri::Clean<CLEAN::Mesh>::RemoveDuplicateVertex(mesh);
 		DEBUG_ULTIMATE("Removed %d duplicate vertices", nDuplicateVertices);
@@ -1431,6 +1466,9 @@ bool Mesh::Save(const String& fileName, const cList<String>& comments, bool bBin
 	bool ret;
 	if (ext == _T(".obj"))
 		ret = SaveOBJ(fileName);
+	else
+	if (ext == _T(".gltf") || ext == _T(".glb"))
+		ret = SaveGLTF(fileName, ext == _T(".glb"));
 	else
 		ret = SavePLY(ext != _T(".ply") ? String(fileName+_T(".ply")) : fileName, comments, bBinary);
 	if (!ret)
@@ -1572,9 +1610,194 @@ bool Mesh::SaveOBJ(const String& fileName) const
 	pMaterial->diffuse_map = textureDiffuse;
 
 	return model.Save(fileName);
+}
+// export the mesh as a GLTF file
+template <typename T>
+void ExtendBufferGLTF(const T* src, size_t size, tinygltf::Buffer& dst, size_t& byte_offset, size_t& byte_length) {
+	byte_offset = dst.data.size();
+	byte_length = sizeof(T) * size;
+	byte_length = ((byte_length + 3) / 4) * 4;
+	dst.data.resize(byte_offset + byte_length);
+	memcpy(&dst.data[byte_offset], &src[0], byte_length);
+}
+bool Mesh::SaveGLTF(const String& fileName, bool bBinary) const
+{
+	ASSERT(!fileName.IsEmpty());
+	Util::ensureFolder(fileName);
+
+	// store a copy of the mesh if it has texture, in order to convert
+	// the texture coordinates from per face to per vertex
+	Mesh meshCompressed;
+	if (HasTexture())
+		ConvertTexturePerVertex(meshCompressed);
+	const Mesh& mesh(HasTexture() ? meshCompressed : *this);
+
+	// create GLTF model
+	tinygltf::Model gltfModel;
+	tinygltf::Scene gltfScene;
+	tinygltf::Mesh gltfMesh;
+	tinygltf::Primitive gltfPrimitive;
+	tinygltf::Buffer gltfBuffer;
+	gltfScene.name = "scene";
+	gltfMesh.name = "mesh";
+
+	// setup vertices
+	{
+		STATIC_ASSERT(3 * sizeof(Vertex::Type) == sizeof(Vertex)); // VertexArr should be continuous
+		const Box box(GetAABB());
+		gltfPrimitive.attributes["POSITION"] = (int)gltfModel.accessors.size();
+		tinygltf::Accessor vertexPositionAccessor;
+		vertexPositionAccessor.name = "vertexPositionAccessor";
+		vertexPositionAccessor.bufferView = (int)gltfModel.bufferViews.size();
+		vertexPositionAccessor.type = TINYGLTF_TYPE_VEC3;
+		vertexPositionAccessor.componentType = TINYGLTF_COMPONENT_TYPE_FLOAT;
+		vertexPositionAccessor.count = mesh.vertices.size();
+		vertexPositionAccessor.minValues = {box.ptMin.x(), box.ptMin.y(), box.ptMin.z()};
+		vertexPositionAccessor.maxValues = {box.ptMax.x(), box.ptMax.y(), box.ptMax.z()};
+		gltfModel.accessors.emplace_back(std::move(vertexPositionAccessor));
+		// setup vertices buffer
+		tinygltf::BufferView vertexPositionBufferView;
+		vertexPositionBufferView.name = "vertexPositionBufferView";
+		vertexPositionBufferView.buffer = (int)gltfModel.buffers.size();
+		ExtendBufferGLTF(mesh.vertices.data(), mesh.vertices.size(), gltfBuffer,
+			vertexPositionBufferView.byteOffset, vertexPositionBufferView.byteLength);
+		gltfModel.bufferViews.emplace_back(std::move(vertexPositionBufferView));
+	}
+
+	// setup faces
+	{
+		STATIC_ASSERT(3 * sizeof(Face::Type) == sizeof(Face)); // FaceArr should be continuous
+		gltfPrimitive.indices = (int)gltfModel.accessors.size();
+		tinygltf::Accessor triangleAccessor;
+		triangleAccessor.name = "triangleAccessor";
+		triangleAccessor.bufferView = (int)gltfModel.bufferViews.size();
+		triangleAccessor.type = TINYGLTF_TYPE_SCALAR;
+		triangleAccessor.componentType = TINYGLTF_COMPONENT_TYPE_UNSIGNED_INT;
+		triangleAccessor.count = mesh.faces.size() * 3;
+		gltfModel.accessors.emplace_back(std::move(triangleAccessor));
+		// setup triangles buffer
+		tinygltf::BufferView triangleBufferView;
+		triangleBufferView.name = "triangleBufferView";
+		triangleBufferView.buffer = (int)gltfModel.buffers.size();
+		ExtendBufferGLTF(mesh.faces.data(), mesh.faces.size(), gltfBuffer,
+			triangleBufferView.byteOffset, triangleBufferView.byteLength);
+		gltfModel.bufferViews.emplace_back(std::move(triangleBufferView));
+		gltfPrimitive.mode = TINYGLTF_MODE_TRIANGLES;
+	}
+
+	// setup material
+	gltfPrimitive.material = (int)gltfModel.materials.size();
+	tinygltf::Material gltfMaterial;
+	gltfMaterial.name = "material";
+	gltfMaterial.doubleSided = true;
+	if (mesh.HasTexture()) {
+		// setup texture
+		gltfMaterial.emissiveFactor = std::vector<double>{0,0,0};
+		gltfMaterial.pbrMetallicRoughness.baseColorTexture.index = (int)gltfModel.textures.size();
+		gltfMaterial.pbrMetallicRoughness.baseColorTexture.texCoord = 0;
+		gltfMaterial.pbrMetallicRoughness.baseColorFactor = std::vector<double>{1,1,1,1};
+		gltfMaterial.pbrMetallicRoughness.metallicFactor = 0;
+		gltfMaterial.pbrMetallicRoughness.roughnessFactor = 1;
+		gltfMaterial.extensions = {{"KHR_materials_unlit", {}}};
+		gltfModel.extensionsUsed = {"KHR_materials_unlit"};
+		// setup texture coordinates accessor
+		gltfPrimitive.attributes["TEXCOORD_0"] = (int)gltfModel.accessors.size();
+		tinygltf::Accessor vertexTexcoordAccessor;
+		vertexTexcoordAccessor.name = "vertexTexcoordAccessor";
+		vertexTexcoordAccessor.bufferView = (int)gltfModel.bufferViews.size();
+		vertexTexcoordAccessor.componentType = TINYGLTF_COMPONENT_TYPE_FLOAT;
+		vertexTexcoordAccessor.count = mesh.faceTexcoords.size();
+		vertexTexcoordAccessor.type = TINYGLTF_TYPE_VEC2;
+		gltfModel.accessors.emplace_back(std::move(vertexTexcoordAccessor));
+		// setup texture coordinates (flip Y)
+		STATIC_ASSERT(2 * sizeof(TexCoord::Type) == sizeof(TexCoord)); // TexCoordArr should be continuous
+		ASSERT(mesh.vertices.size() == mesh.faceTexcoords.size());
+		tinygltf::BufferView vertexTexcoordBufferView;
+		vertexTexcoordBufferView.name = "vertexTexcoordBufferView";
+		vertexTexcoordBufferView.buffer = (int)gltfModel.buffers.size();
+		TexCoordArr flipTexcoords(mesh.faceTexcoords.size());
+		FOREACH(i, mesh.faceTexcoords) {
+			flipTexcoords[i].x = mesh.faceTexcoords[i].x;
+			flipTexcoords[i].y = 1.f - mesh.faceTexcoords[i].y;
+		}
+		ExtendBufferGLTF(flipTexcoords.data(), flipTexcoords.size(), gltfBuffer,
+			vertexTexcoordBufferView.byteOffset, vertexTexcoordBufferView.byteLength);
+		gltfModel.bufferViews.emplace_back(std::move(vertexTexcoordBufferView));
+		// setup texture
+		tinygltf::Texture texture;
+		texture.name = "texture";
+		texture.source = (int)gltfModel.images.size();
+		texture.sampler = (int)gltfModel.samplers.size();
+		gltfModel.textures.emplace_back(std::move(texture));
+		// setup texture image
+		tinygltf::Image image;
+		image.name = Util::getFileFullName(fileName);
+		image.width = mesh.textureDiffuse.cols;
+		image.height = mesh.textureDiffuse.rows;
+		image.component = 3;
+		image.bits = 8;
+		image.pixel_type = TINYGLTF_COMPONENT_TYPE_UNSIGNED_BYTE;
+		image.mimeType = "image/png";
+		image.image.resize(mesh.textureDiffuse.size().area() * 3);
+		mesh.textureDiffuse.copyTo(cv::Mat(mesh.textureDiffuse.size(), CV_8UC3, image.image.data()));
+		gltfModel.images.emplace_back(std::move(image));
+		// setup texture sampler
+		tinygltf::Sampler sampler;
+		sampler.name = "sampler";
+		sampler.minFilter = TINYGLTF_TEXTURE_FILTER_LINEAR;
+		sampler.magFilter = TINYGLTF_TEXTURE_FILTER_LINEAR;
+		sampler.wrapS = TINYGLTF_TEXTURE_WRAP_CLAMP_TO_EDGE;
+		sampler.wrapT = TINYGLTF_TEXTURE_WRAP_CLAMP_TO_EDGE;
+		gltfModel.samplers.emplace_back(std::move(sampler));
+	}
+	gltfModel.materials.emplace_back(std::move(gltfMaterial));
+	gltfModel.buffers.emplace_back(std::move(gltfBuffer));
+	gltfMesh.primitives.emplace_back(std::move(gltfPrimitive));
+
+	// setup scene node
+	gltfScene.nodes.emplace_back((int)gltfModel.nodes.size());
+	tinygltf::Node node;
+	node.name = "node";
+	node.mesh = (int)gltfModel.meshes.size();
+	gltfModel.nodes.emplace_back(std::move(node));
+	gltfModel.meshes.emplace_back(std::move(gltfMesh));
+	gltfModel.scenes.emplace_back(std::move(gltfScene));
+	gltfModel.asset.generator = "OpenMVS";
+	gltfModel.asset.version = "2.0";
+	gltfModel.defaultScene = 0;
+
+	// setup GLTF
+	struct Tools {
+		static bool WriteImageData(const std::string *basepath, const std::string *filename,
+			tinygltf::Image *image, bool embedImages, void *) {
+			ASSERT(!embedImages);
+			image->uri = Util::isFullPath(filename->c_str()) ?
+				Util::getRelativePath(*basepath, *filename) : String(*filename);
+			String basePath(*basepath);
+			return cv::imwrite(
+				Util::ensureFolderSlash(basePath) + image->uri,
+				cv::Mat(image->height, image->width, CV_8UC3, image->image.data()));
+		}
+	};
+	tinygltf::TinyGLTF gltf;
+	gltf.SetImageWriter(Tools::WriteImageData, NULL);
+	const bool bEmbedImages(false), bEmbedBuffers(true), bPrettyPrint(true);
+	return gltf.WriteGltfSceneToFile(&gltfModel, fileName, bEmbedImages, bEmbedBuffers, bPrettyPrint, bBinary);
 } // Save
 /*----------------------------------------------------------------*/
 
+bool Mesh::Save(const FacesChunkArr& chunks, const String& fileName, const cList<String>& comments, bool bBinary) const
+{
+	if (chunks.size() < 2)
+		return Save(fileName, comments, bBinary);
+	FOREACH(i, chunks) {
+		const Mesh mesh(SubMesh(chunks[i].faces));
+		if (!mesh.Save(Util::insertBeforeFileExt(fileName, String::FormatString("_chunk%02u", i)), comments, bBinary))
+			return false;
+	}
+	return true;
+}
+
 bool Mesh::Save(const VertexArr& vertices, const String& fileName, bool bBinary)
 {
 	ASSERT(!fileName.IsEmpty());
@@ -3346,10 +3569,10 @@ void Mesh::RemoveFaces(FaceIdxArr& facesRemove, bool bUpdateLists)
 					FaceIdxArr& vf(vertexFaces[idxV]);
 					const FIndex idx(vf.Find(idxF));
 					if (idx != FaceIdxArr::NO_INDEX)
-						vf[idx] = idxF;
+						vf.RemoveAt(idx);
 				}
 			}
-			const FIndex idxFM(faces.GetSize()-1);
+			const FIndex idxFM(faces.size()-1);
 			if (idxF < idxFM) {
 				// update all vertices of the moved face
 				const Face& face = faces[idxFM];
@@ -3367,7 +3590,6 @@ void Mesh::RemoveFaces(FaceIdxArr& facesRemove, bool bUpdateLists)
 	}
 	vertexVertices.Release();
 }
-/*----------------------------------------------------------------*/
 
 // remove the given list of vertices
 void Mesh::RemoveVertices(VertexIdxArr& vertexRemove, bool bUpdateLists)
@@ -3416,9 +3638,89 @@ void Mesh::RemoveVertices(VertexIdxArr& vertexRemove, bool bUpdateLists)
 	}
 	RemoveFaces(facesRemove);
 }
+
+// remove all vertices that are not assigned to any face
+// (require vertexFaces)
+Mesh::VIndex Mesh::RemoveUnreferencedVertices(bool bUpdateLists)
+{
+	ASSERT(vertices.size() == vertexFaces.size());
+	VertexIdxArr vertexRemove;
+	FOREACH(idxV, vertexFaces) {
+		if (vertexFaces[idxV].empty())
+			vertexRemove.push_back(idxV);
+	}
+	if (vertexRemove.empty())
+		return 0;
+	RemoveVertices(vertexRemove, bUpdateLists);
+	return vertexRemove.size();
+}
+
+// convert textured mesh to store texture coordinates per vertex instead of per face
+void Mesh::ConvertTexturePerVertex(Mesh& mesh) const
+{
+	ASSERT(HasTexture());
+	mesh.vertices = vertices;
+	mesh.faces.resize(faces.size());
+	mesh.faceTexcoords.reserve(vertices.size()*3/2);
+	mesh.faceTexcoords.resize(vertices.size());
+	VertexIdxArr mapVertices(vertices.size(), vertices.size()*3/2);
+	mapVertices.Memset(0xff);
+	FOREACH(idxF, faces) {
+		// face vertices inside a patch are simply copied;
+		// face vertices on the patch boundary are duplicated,
+		// with the same position, but different texture coordinates
+		const Face& face = faces[idxF];
+		Face& newface = mesh.faces[idxF];
+		for (int i=0; i<3; ++i) {
+			const TexCoord& tc = faceTexcoords[idxF*3+i];
+			VIndex idxV(face[i]);
+			while (true) {
+				VIndex& idxVT = mapVertices[idxV];
+				if (idxVT == NO_ID) {
+					// vertex seen for the first time, so just copy it
+					mesh.faceTexcoords[newface[i] = idxVT = idxV] = tc;
+					break;
+				}
+				// vertex already seen in an other face, check the texture coordinates
+				if (mesh.faceTexcoords[idxV] == tc) {
+					// texture coordinates equal, patch interior vertex, link to it
+					newface[i] = idxV;
+					break;
+				}
+				if (idxVT == idxV) {
+					// duplicate vertex, copy position, but update its texture coordinates
+					mapVertices.emplace_back(newface[i] = idxVT = mesh.vertices.size());
+					mesh.vertices.emplace_back(vertices[face[i]]);
+					mesh.faceTexcoords.emplace_back(tc);
+					break;
+				}
+				// continue with the next linked vertex which share the position,
+				// but use different texture coordinates
+				idxV = idxVT;
+			}
+		}
+	}
+	mesh.textureDiffuse = textureDiffuse;
+} // ConvertTexturePerVertex
 /*----------------------------------------------------------------*/
 
 
+
+
+// computes the centroid of the given mesh face
+Mesh::Vertex Mesh::ComputeCentroid(FIndex idxFace) const
+{
+	const Face& face = faces[idxFace];
+	return (vertices[face[0]] + vertices[face[1]] + vertices[face[2]]) * (Type(1)/Type(3));
+}
+
+// computes the area of the given mesh face
+Mesh::Type Mesh::ComputeArea(FIndex idxFace) const
+{
+	const Face& face = faces[idxFace];
+	return ComputeTriangleArea(vertices[face[0]], vertices[face[1]], vertices[face[2]]);
+}
+
 // computes the area of the mesh surface as the sum of the signed areas of its faces
 REAL Mesh::ComputeArea() const
 {
@@ -3556,18 +3858,16 @@ void Mesh::Project(const Camera& camera, DepthMap& depthMap, Image8U3& image) co
 			Base::Clear();
 			image.memset(0);
 		}
-		void Raster(const ImageRef& pt) {
-			if (!depthMap.isInsideWithBorder<float,3>(pt))
-				return;
-			const float z((float)INVERT(normalPlane.dot(camera.TransformPointI2C(Point2(pt)))));
-			ASSERT(z > 0);
+		void Raster(const ImageRef& pt, const Point3f& bary) {
+			const Point3f pbary(PerspectiveCorrectBarycentricCoordinates(bary));
+			const Depth z(ComputeDepth(pbary));
+			ASSERT(z > Depth(0));
 			Depth& depth = depthMap(pt);
 			if (depth == 0 || depth > z) {
 				depth = z;
-				const Point3f b(CorrectBarycentricCoordinates(BarycentricCoordinatesUV(pti[0], pti[1], pti[2], Point2f(pt))));
-				xt  = mesh.faceTexcoords[idxFaceTex+0] * b[0];
-				xt += mesh.faceTexcoords[idxFaceTex+1] * b[1];
-				xt += mesh.faceTexcoords[idxFaceTex+2] * b[2];
+				xt  = mesh.faceTexcoords[idxFaceTex+0] * pbary[0];
+				xt += mesh.faceTexcoords[idxFaceTex+1] * pbary[1];
+				xt += mesh.faceTexcoords[idxFaceTex+2] * pbary[2];
 				image(pt) = mesh.textureDiffuse.sampleSafe(Point2f(xt.x*mesh.textureDiffuse.width(), (1.f-xt.y)*mesh.textureDiffuse.height()));
 			}
 		}
@@ -3590,16 +3890,12 @@ void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap) const
 		RasterMesh(const VertexArr& _vertices, const Camera& _camera, DepthMap& _depthMap)
 			: Base(_vertices, _camera, _depthMap) {}
 		inline bool ProjectVertex(const Mesh::Vertex& pt, int v) {
-			ptc[v] = camera.TransformPointW2C(Cast<REAL>(pt));
-			pti[v] = camera.TransformPointC2I(reinterpret_cast<const Point2&>(ptc[v]));
-			return depthMap.isInsideWithBorder<float,3>(pti[v]);
+			return (ptc[v] = camera.TransformPointW2C(Cast<REAL>(pt))).z > 0 &&
+				depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointC2I(reinterpret_cast<const Point2&>(ptc[v])));
 		}
-		void Raster(const ImageRef& pt) {
-			if (!depthMap.isInsideWithBorder<float,3>(pt))
-				return;
-			const Point3f b(CorrectBarycentricCoordinates(BarycentricCoordinatesUV(pti[0], pti[1], pti[2], Point2f(pt))));
-			const float z((float)(ptc[0].z*b[0] + ptc[1].z*b[1] + ptc[2].z*b[2]));
-			ASSERT(z > 0);
+		void Raster(const ImageRef& pt, const Point3f& bary) {
+			const Depth z(ComputeDepth(bary));
+			ASSERT(z > Depth(0));
 			Depth& depth = depthMap(pt);
 			if (depth == 0 || depth > z)
 				depth = z;
@@ -3626,27 +3922,18 @@ void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap, Image8U3& imag
 			image.memset(0);
 		}
 		inline bool ProjectVertex(const Mesh::Vertex& pt, int v) {
-			ptc[v] = camera.TransformPointW2C(Cast<REAL>(pt));
-			pti[v] = camera.TransformPointC2I(reinterpret_cast<const Point2&>(ptc[v]));
-			return depthMap.isInsideWithBorder<float,3>(pti[v]);
+			return (ptc[v] = camera.TransformPointW2C(Cast<REAL>(pt))).z > 0 &&
+				depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointC2I(reinterpret_cast<const Point2&>(ptc[v])));
 		}
-		inline bool CheckNormal(const Point3& /*faceCenter*/) {
-			// skip face if the (cos) angle between
-			// the face normal and the view direction is negative
-			return camera.Direction().dot(normalPlane) >= ZEROTOLERANCE<REAL>();
-		}
-		void Raster(const ImageRef& pt) {
-			if (!depthMap.isInsideWithBorder<float,3>(pt))
-				return;
-			const Point3f b(CorrectBarycentricCoordinates(BarycentricCoordinatesUV(pti[0], pti[1], pti[2], Point2f(pt))));
-			const float z((float)(ptc[0].z*b[0] + ptc[1].z*b[1] + ptc[2].z*b[2]));
-			ASSERT(z > 0);
+		void Raster(const ImageRef& pt, const Point3f& bary) {
+			const Depth z(ComputeDepth(bary));
+			ASSERT(z > Depth(0));
 			Depth& depth = depthMap(pt);
 			if (depth == 0 || depth > z) {
 				depth = z;
-				xt  = mesh.faceTexcoords[idxFaceTex+0] * b[0];
-				xt += mesh.faceTexcoords[idxFaceTex+1] * b[1];
-				xt += mesh.faceTexcoords[idxFaceTex+2] * b[2];
+				xt  = mesh.faceTexcoords[idxFaceTex+0] * bary[0];
+				xt += mesh.faceTexcoords[idxFaceTex+1] * bary[1];
+				xt += mesh.faceTexcoords[idxFaceTex+2] * bary[2];
 				image(pt) = mesh.textureDiffuse.sampleSafe(Point2f(xt.x*mesh.textureDiffuse.width(), (1.f-xt.y)*mesh.textureDiffuse.height()));
 			}
 		}
@@ -3700,6 +3987,80 @@ void Mesh::ProjectOrthoTopDown(unsigned resolution, Image8U3& image, Image8U& ma
 /*----------------------------------------------------------------*/
 
 
+// split mesh into sub-meshes such that each has maxArea
+bool Mesh::Split(FacesChunkArr& chunks, float maxArea)
+{
+	TD_TIMER_STARTD();
+	Octree octree;
+	FacesInserter::CreateOctree(octree, *this);
+	FloatArr areas(faces.size());
+	FOREACH(i, faces)
+		areas[i] = ComputeArea(i);
+	struct AreaInserter {
+		const FloatArr& areas;
+		float area;
+		inline void operator() (const Octree::IDX_TYPE* indices, Octree::SIZE_TYPE size) {
+			FOREACHRAWPTR(pIdx, indices, size)
+				area += areas[*pIdx];
+		}
+		inline float PopArea() {
+			const float a(area);
+			area = 0;
+			return a;
+		}
+	} areaEstimator{areas, 0.f};
+	struct ChunkInserter {
+		const Octree& octree;
+		FacesChunkArr& chunks;
+		void operator() (const Octree::CELL_TYPE& parentCell, Octree::Type parentRadius, const UnsignedArr& children) {
+			ASSERT(!children.empty());
+			FaceChunk& chunk = chunks.AddEmpty();
+			struct Inserter {
+				FaceIdxArr& faces;
+				inline void operator() (const Octree::IDX_TYPE* indices, Octree::SIZE_TYPE size) {
+					faces.Join(indices, size);
+				}
+			} inserter{chunk.faces};
+			if (children.size() == 1) {
+				octree.CollectCells(parentCell.GetChild(children.front()), inserter);
+				chunk.box = parentCell.GetChildAabb(children.front(), parentRadius);
+			} else {
+				chunk.box.Reset();
+				for (unsigned c: children) {
+					octree.CollectCells(parentCell.GetChild(c), inserter);
+					chunk.box.Insert(parentCell.GetChildAabb(c, parentRadius));
+				}
+			}
+			if (chunk.faces.empty())
+				chunks.RemoveLast();
+		}
+	} chunkInserter{octree, chunks};
+	octree.SplitVolume(maxArea, areaEstimator, chunkInserter);
+	if (chunks.size() < 2)
+		return false;
+	DEBUG_EXTRA("Mesh split (%g max-area): %u chunks (%s)", maxArea, chunks.size(), TD_TIMER_GET_FMT().c_str());
+	return true;
+} // Split
+/*----------------------------------------------------------------*/
+
+// extract the sub-mesh corresponding to the given chunk of faces
+Mesh Mesh::SubMesh(const FaceIdxArr& chunk) const
+{
+	ASSERT(!chunk.empty());
+	Mesh mesh;
+	mesh.vertices = vertices;
+	mesh.faces.reserve(chunk.size());
+	for (FIndex idxFace: chunk)
+		mesh.faces.emplace_back(faces[idxFace]);
+	mesh.ListIncidenteFaces();
+	mesh.RemoveUnreferencedVertices();
+	// fix non-manifold vertices and edges
+	mesh.FixNonManifold();
+	return mesh;
+} // SubMesh
+/*----------------------------------------------------------------*/
+
+
 #ifdef _USE_CUDA
 CUDA::KernelRT Mesh::kernelComputeFaceNormal;
 
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 09da00aed..c03628ae5 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -62,8 +62,8 @@ class MVS_API Mesh
 
 	typedef cList<VIndex,VIndex,0,8,VIndex> VertexIdxArr;
 	typedef cList<FIndex,FIndex,0,8,FIndex> FaceIdxArr;
-	typedef cList<VertexIdxArr> VertexVerticesArr;
-	typedef cList<FaceIdxArr> VertexFacesArr;
+	typedef cList<VertexIdxArr,const VertexIdxArr&,2,8192,VIndex> VertexVerticesArr;
+	typedef cList<FaceIdxArr,const FaceIdxArr&,2,8192,VIndex> VertexFacesArr;
 
 	typedef TPoint3<Type> Normal;
 	typedef cList<Normal,const Normal&,0,8192,FIndex> NormalArr;
@@ -82,6 +82,37 @@ class MVS_API Mesh
 
 	typedef AABB3f Box;
 
+	// used to render a mesh
+	typedef TOctree<VertexArr,Vertex::Type,3> Octree;
+	struct FacesInserter {
+		FaceIdxArr& cameraFaces;
+		FacesInserter(FaceIdxArr& _cameraFaces)
+			: cameraFaces(_cameraFaces) {}
+		inline void operator() (const Octree::IDX_TYPE* indices, Octree::SIZE_TYPE size) {
+			cameraFaces.Join(indices, size);
+		}
+		static void CreateOctree(Octree& octree, const Mesh& mesh) {
+			VertexArr centroids(mesh.faces.size());
+			FOREACH(idx, mesh.faces)
+				centroids[idx] = mesh.ComputeCentroid(idx);
+			octree.Insert(centroids, [](Octree::IDX_TYPE size, Octree::Type /*radius*/) {
+				return size > 32;
+			});
+			#if 0 && !defined(_RELEASE)
+			Octree::DEBUGINFO_TYPE info;
+			octree.GetDebugInfo(&info);
+			Octree::LogDebugInfo(info);
+			#endif
+			octree.ResetItems();
+		}
+	};
+
+	struct FaceChunk {
+		FaceIdxArr faces;
+		Box box;
+	};
+	typedef cList<FaceChunk,const FaceChunk&,2,16,uint32_t> FacesChunkArr;
+
 public:
 	VertexArr vertices;
 	FaceArr faces;
@@ -115,6 +146,7 @@ class MVS_API Mesh
 
 	Box GetAABB() const;
 	Box GetAABB(const Box& bound) const;
+	Vertex GetCenter() const;
 
 	void ListIncidenteVertices();
 	void ListIncidenteFaces();
@@ -140,6 +172,8 @@ class MVS_API Mesh
 	void CloseHoleQuality(VertexIdxArr& vertsLoop);
 	void RemoveFaces(FaceIdxArr& facesRemove, bool bUpdateLists=false);
 	void RemoveVertices(VertexIdxArr& vertexRemove, bool bUpdateLists=false);
+	VIndex RemoveUnreferencedVertices(bool bUpdateLists=false);
+	void ConvertTexturePerVertex(Mesh&) const;
 
 	inline Normal FaceNormal(const Face& f) const {
 		return ComputeTriangleNormal(vertices[f[0]], vertices[f[1]], vertices[f[2]]);
@@ -154,6 +188,8 @@ class MVS_API Mesh
 		return n;
 	}
 
+	Vertex ComputeCentroid(FIndex) const;
+	Type ComputeArea(FIndex) const;
 	REAL ComputeArea() const;
 	REAL ComputeVolume() const;
 
@@ -167,9 +203,13 @@ class MVS_API Mesh
 	void ProjectOrtho(const Camera& camera, DepthMap& depthMap, Image8U3& image) const;
 	void ProjectOrthoTopDown(unsigned resolution, Image8U3& image, Image8U& mask, Point3& center) const;
 
+	bool Split(FacesChunkArr&, float maxArea);
+	Mesh SubMesh(const FaceIdxArr& faces) const;
+
 	// file IO
 	bool Load(const String& fileName);
 	bool Save(const String& fileName, const cList<String>& comments=cList<String>(), bool bBinary=true) const;
+	bool Save(const FacesChunkArr&, const String& fileName, const cList<String>& comments=cList<String>(), bool bBinary=true) const;
 	static bool Save(const VertexArr& vertices, const String& fileName, bool bBinary=true);
 
 	static inline uint32_t FindVertex(const Face& f, VIndex v) { for (uint32_t i=0; i<3; ++i) if (f[i] == v) return i; return NO_ID; }
@@ -182,6 +222,7 @@ class MVS_API Mesh
 
 	bool SavePLY(const String& fileName, const cList<String>& comments=cList<String>(), bool bBinary=true) const;
 	bool SaveOBJ(const String& fileName) const;
+	bool SaveGLTF(const String& fileName, bool bBinary=true) const;
 
 	#ifdef _USE_CUDA
 	static bool InitKernels(int device=-1);
@@ -207,39 +248,66 @@ class MVS_API Mesh
 /*----------------------------------------------------------------*/
 
 
-// used to render a mesh
+// used to render a 3D triangle
 template <typename DERIVED>
-struct TRasterMesh {
-	const Mesh::VertexArr& vertices;
+struct TRasterMeshBase {
 	const Camera& camera;
 
 	DepthMap& depthMap;
 
-	Point3 normalPlane;
 	Point3 ptc[3];
 	Point2f pti[3];
 
-	TRasterMesh(const Mesh::VertexArr& _vertices, const Camera& _camera, DepthMap& _depthMap)
-		: vertices(_vertices), camera(_camera), depthMap(_depthMap) {}
+	TRasterMeshBase(const Camera& _camera, DepthMap& _depthMap)
+		: camera(_camera), depthMap(_depthMap) {}
 
 	inline void Clear() {
 		depthMap.memset(0);
 	}
+	inline cv::Size Size() const {
+		return depthMap.size();
+	}
 
-	inline bool ProjectVertex(const Mesh::Vertex& pt, int v) {
-		ptc[v] = camera.TransformPointW2C(Cast<REAL>(pt));
-		pti[v] = camera.TransformPointC2I(ptc[v]);
-		return depthMap.isInsideWithBorder<float,3>(pti[v]);
+	inline bool ProjectVertex(const Point3f& pt, int v) {
+		return (ptc[v] = camera.TransformPointW2C(Cast<REAL>(pt))).z > 0 &&
+			depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointC2I(ptc[v]));
+	}
+
+	inline Point3f PerspectiveCorrectBarycentricCoordinates(const Point3f& bary) {
+		return SEACAVE::PerspectiveCorrectBarycentricCoordinates(bary, (float)ptc[0].z, (float)ptc[1].z, (float)ptc[2].z);
+	}
+	inline float ComputeDepth(const Point3f& pbary) {
+		return pbary[0]*(float)ptc[0].z + pbary[1]*(float)ptc[1].z + pbary[2]*(float)ptc[2].z;
+	}
+	void Raster(const ImageRef& pt, const Point3f& bary) {
+		const Point3f pbary(PerspectiveCorrectBarycentricCoordinates(bary));
+		const Depth z(ComputeDepth(pbary));
+		ASSERT(z > Depth(0));
+		Depth& depth = depthMap(pt);
+		if (depth == 0 || depth > z)
+			depth = z;
 	}
-	inline bool CheckNormal(const Point3& faceCenter) {
-		// skip face if the (cos) angle between
-		// the face normal and the face to view vector is negative
-		if (faceCenter.dot(normalPlane) >= ZEROTOLERANCE<REAL>())
-			return false;
-		// prepare vector used to compute the depth during rendering
-		normalPlane /= normalPlane.dot(ptc[0]);
-		return true;
+	inline void operator()(const ImageRef& pt, const Point3f& bary) {
+		static_cast<DERIVED*>(this)->Raster(pt, bary);
 	}
+};
+
+// used to render a mesh
+template <typename DERIVED>
+struct TRasterMesh : TRasterMeshBase<DERIVED> {
+	typedef TRasterMeshBase<DERIVED> Base;
+
+	using Base::camera;
+	using Base::depthMap;
+
+	using Base::ptc;
+	using Base::pti;
+
+	const Mesh::VertexArr& vertices;
+
+	TRasterMesh(const Mesh::VertexArr& _vertices, const Camera& _camera, DepthMap& _depthMap)
+		: Base(_camera, _depthMap), vertices(_vertices) {}
+
 	void Project(const Mesh::Face& facet) {
 		// project face vertices to image plane
 		for (int v=0; v<3; ++v) {
@@ -247,36 +315,8 @@ struct TRasterMesh {
 			if (!static_cast<DERIVED*>(this)->ProjectVertex(vertices[facet[v]], v))
 				return;
 		}
-		// compute the face center, which is also the view to face vector
-		// (cause the face is in camera view space)
-		const Point3 faceCenter((ptc[0]+ptc[1]+ptc[2])/3);
-		// skip face if the (cos) angle between
-		// the view to face vector and the view direction is negative
-		if (faceCenter.z <= REAL(0))
-			return;
-		// compute the plane defined by the 3 points
-		const Point3 edge1(ptc[1]-ptc[0]);
-		const Point3 edge2(ptc[2]-ptc[0]);
-		normalPlane = edge1.cross(edge2);
-		// check the face is facing the camera and
-		// prepare vector used to compute the depth during rendering
-		if (!static_cast<DERIVED*>(this)->CheckNormal(faceCenter))
-			return;
-		// draw triangle and for each pixel compute depth as the ray intersection with the plane
-		Image8U3::RasterizeTriangle(pti[0], pti[1], pti[2], *this);
-	}
-
-	void Raster(const ImageRef& pt) {
-		if (!depthMap.isInsideWithBorder<float,3>(pt))
-			return;
-		const Depth z((Depth)INVERT(normalPlane.dot(camera.TransformPointI2C(Point2(pt)))));
-		ASSERT(z > 0);
-		Depth& depth = depthMap(pt);
-		if (depth == 0 || depth > z)
-			depth = z;
-	}
-	inline void operator()(const ImageRef& pt) {
-		static_cast<DERIVED*>(this)->Raster(pt);
+		// draw triangle
+		Image8U3::RasterizeTriangleBary(pti[0], pti[1], pti[2], *this);
 	}
 };
 /*----------------------------------------------------------------*/
diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
new file mode 100644
index 000000000..a7ef8f067
--- /dev/null
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -0,0 +1,313 @@
+/*
+* PatchMatchCUDA.cpp
+*
+* Copyright (c) 2014-2021 SEACAVE
+*
+* Author(s):
+*
+*	  cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*	  You are required to preserve legal notices and author attributions in
+*	  that material or in the Appropriate Legal Notices displayed by works
+*	  containing it.
+*/
+
+#include "Common.h"
+#include "PatchMatchCUDA.h"
+#include "DepthMap.h"
+
+#ifdef _USE_CUDA
+
+using namespace MVS;
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+PatchMatchCUDA::PatchMatchCUDA(int device)
+{
+	// initialize CUDA device if needed
+	if (CUDA::devices.IsEmpty())
+		CUDA::initDevice(device);
+}
+
+PatchMatchCUDA::~PatchMatchCUDA()
+{
+	Release();
+}
+
+void PatchMatchCUDA::Release()
+{
+	if (images.empty())
+		return;
+
+	FOREACH(i, cudaImageArrays) {
+		cudaDestroyTextureObject(textureImages[i]);
+		cudaFreeArray(cudaImageArrays[i]);
+	}
+	cudaImageArrays.clear();
+
+	if (params.bGeomConsistency) {
+		FOREACH(i, cudaDepthArrays) {
+			cudaDestroyTextureObject(textureDepths[i]);
+			cudaFreeArray(cudaDepthArrays[i]);
+		}
+		cudaDepthArrays.clear();
+	}
+
+	images.clear();
+	cameras.clear();
+
+	ReleaseCUDA();
+}
+
+void PatchMatchCUDA::ReleaseCUDA()
+{
+	cudaFree(cudaTextureImages);
+	cudaFree(cudaCameras);
+	cudaFree(cudaDepthNormalEstimates);
+	cudaFree(cudaDepthNormalCosts);
+	cudaFree(cudaRandStates);
+	cudaFree(cudaSelectedViews);
+
+	if (params.bGeomConsistency)
+		cudaFree(cudaTextureDepths);
+
+	delete[] depthNormalEstimates;
+	delete[] depthNormalCosts;
+}
+
+void PatchMatchCUDA::Init(bool geom_consistency)
+{
+	if (geom_consistency) {
+		params.bGeomConsistency = true;
+		params.nEstimationIters = 1;
+	} else {
+		params.bGeomConsistency = false;
+		params.nEstimationIters = OPTDENSE::nEstimationIters;
+	}
+}
+
+void PatchMatchCUDA::AllocatePatchMatchCUDA(const cv::Mat1f& image)
+{
+	const size_t num_images = images.size();
+	CUDA::checkCudaCall(cudaMalloc((void**)&cudaTextureImages, sizeof(cudaTextureObject_t) * num_images));
+	CUDA::checkCudaCall(cudaMalloc((void**)&cudaCameras, sizeof(Camera) * num_images));
+	if (params.bGeomConsistency)
+		CUDA::checkCudaCall(cudaMalloc((void**)&cudaTextureDepths, sizeof(cudaTextureObject_t) * (num_images-1)));
+
+	const size_t size = image.size().area();
+	depthNormalEstimates = new Point4[size];
+	CUDA::checkCudaCall(cudaMalloc((void**)&cudaDepthNormalEstimates, sizeof(Point4) * size));
+
+	depthNormalCosts = new float[size];
+	CUDA::checkCudaCall(cudaMalloc((void**)&cudaDepthNormalCosts, sizeof(float) * size));
+
+	CUDA::checkCudaCall(cudaMalloc((void**)&cudaRandStates, sizeof(curandState) * size));
+	CUDA::checkCudaCall(cudaMalloc((void**)&cudaSelectedViews, sizeof(unsigned) * size));
+}
+
+void PatchMatchCUDA::AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bHasDepthMap)
+{
+	const cudaChannelFormatDesc channelDesc = cudaCreateChannelDesc(32, 0, 0, 0, cudaChannelFormatKindFloat);
+	CUDA::checkCudaCall(cudaMallocArray(&cudaImageArrays[i], &channelDesc, image.cols, image.rows));
+
+	struct cudaResourceDesc resDesc;
+	memset(&resDesc, 0, sizeof(cudaResourceDesc));
+	resDesc.resType = cudaResourceTypeArray;
+	resDesc.res.array.array = cudaImageArrays[i];
+
+	struct cudaTextureDesc texDesc;
+	memset(&texDesc, 0, sizeof(cudaTextureDesc));
+	texDesc.addressMode[0] = cudaAddressModeWrap;
+	texDesc.addressMode[1] = cudaAddressModeWrap;
+	texDesc.filterMode = cudaFilterModeLinear;
+	texDesc.readMode  = cudaReadModeElementType;
+	texDesc.normalizedCoords = 0;
+
+	CUDA::checkCudaCall(cudaCreateTextureObject(&textureImages[i], &resDesc, &texDesc, NULL));
+
+	if (params.bGeomConsistency && i > 0 && bHasDepthMap) {
+		CUDA::checkCudaCall(cudaMallocArray(&cudaDepthArrays[i-1], &channelDesc, image.cols, image.rows));
+
+		struct cudaResourceDesc resDesc;
+		memset(&resDesc, 0, sizeof(cudaResourceDesc));
+		resDesc.resType = cudaResourceTypeArray;
+		resDesc.res.array.array = cudaDepthArrays[i-1];
+
+		struct cudaTextureDesc texDesc;
+		memset(&texDesc, 0, sizeof(cudaTextureDesc));
+		texDesc.addressMode[0] = cudaAddressModeWrap;
+		texDesc.addressMode[1] = cudaAddressModeWrap;
+		texDesc.filterMode = cudaFilterModeLinear;
+		texDesc.readMode  = cudaReadModeElementType;
+		texDesc.normalizedCoords = 0;
+
+		CUDA::checkCudaCall(cudaCreateTextureObject(&textureDepths[i-1], &resDesc, &texDesc, NULL));
+	}
+}
+
+void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
+{
+	TD_TIMER_STARTD();
+
+	ASSERT(depthData.images.size() > 1);
+	const size_t prevNumImages = images.size();
+	const size_t numImages = depthData.images.size();
+	params.nNumViews = (int)numImages-1;
+	params.nInitTopK = std::min(params.nInitTopK, params.nNumViews);
+	params.fDepthMin = depthData.dMin;
+	params.fDepthMax = depthData.dMax;
+	if (prevNumImages < numImages) {
+		images.resize(numImages);
+		cameras.resize(numImages);
+		cudaImageArrays.resize(numImages);
+		textureImages.resize(numImages);
+	}
+	if (params.bGeomConsistency && cudaDepthArrays.size() < numImages-1) {
+		cudaDepthArrays.resize(numImages-1);
+		textureDepths.resize(numImages-1);
+	}
+	for (size_t i = 0; i < numImages; ++i) {
+		const DepthData::ViewData& view = depthData.images[i];
+		Image32F image = view.image;
+		Camera camera;
+		camera.K = Eigen::Map<const SEACAVE::Matrix3x3::EMat>(view.camera.K.val).cast<float>();
+		camera.R = Eigen::Map<const SEACAVE::Matrix3x3::EMat>(view.camera.R.val).cast<float>();
+		camera.C = Eigen::Map<const SEACAVE::Point3::EVec>(view.camera.C.ptr()).cast<float>();
+		camera.height = image.rows;
+		camera.width = image.cols;
+		// store camera and image
+		if (i == 0 && prevNumImages < numImages) {
+			// allocate/reallocate PatchMatch CUDA memory
+			if (prevNumImages > 0)
+				ReleaseCUDA();
+			AllocatePatchMatchCUDA(image);
+		}
+		if (i >= prevNumImages) {
+			// allocate image CUDA memory
+			AllocateImageCUDA(i, image, !view.depthMap.empty());
+		} else
+		if (images[i].size() != image.size()) {
+			// reallocate image CUDA memory
+			cudaDestroyTextureObject(textureImages[i]);
+			cudaFreeArray(cudaImageArrays[i]);
+			if (params.bGeomConsistency && i > 0) {
+				cudaDestroyTextureObject(textureDepths[i-1]);
+				cudaFreeArray(cudaDepthArrays[i-1]);
+			}
+			AllocateImageCUDA(i, image, !view.depthMap.empty());
+		}
+		CUDA::checkCudaCall(cudaMemcpy2DToArray(cudaImageArrays[i], 0, 0, image.ptr<float>(), image.step[0], image.cols*sizeof(float), image.rows, cudaMemcpyHostToDevice));
+		if (params.bGeomConsistency && i > 0 && !view.depthMap.empty()) {
+			// set previously computed depth-map
+			DepthMap depthMap(view.depthMap);
+			if (depthMap.size() != image.size())
+				cv::resize(depthMap, depthMap, image.size(), 0, 0, cv::INTER_LINEAR);
+			CUDA::checkCudaCall(cudaMemcpy2DToArray(cudaDepthArrays[i-1], 0, 0, depthMap.ptr<float>(), depthMap.step[0], sizeof(float)*depthMap.cols, depthMap.rows, cudaMemcpyHostToDevice));
+		}
+		images[i] = std::move(image);
+		cameras[i] = std::move(camera);
+	}
+	if (params.bGeomConsistency && cudaDepthArrays.size() > numImages-1) {
+		for (size_t i = numImages; i < prevNumImages; ++i) {
+			// free image CUDA memory
+			cudaDestroyTextureObject(textureDepths[i-1]);
+			cudaFreeArray(cudaDepthArrays[i-1]);
+		}
+		cudaDepthArrays.resize(numImages-1);
+		textureDepths.resize(numImages-1);
+	}
+	if (prevNumImages > numImages) {
+		for (size_t i = numImages; i < prevNumImages; ++i) {
+			// free image CUDA memory
+			cudaDestroyTextureObject(textureImages[i]);
+			cudaFreeArray(cudaImageArrays[i]);
+		}
+		images.resize(numImages);
+		cameras.resize(numImages);
+		cudaImageArrays.resize(numImages);
+		textureImages.resize(numImages);
+	}
+
+	// setup CUDA memory
+	CUDA::checkCudaCall(cudaMemcpy(cudaTextureImages, textureImages.data(), sizeof(cudaTextureObject_t)*numImages, cudaMemcpyHostToDevice));
+	CUDA::checkCudaCall(cudaMemcpy(cudaCameras, cameras.data(), sizeof(Camera)*numImages, cudaMemcpyHostToDevice));
+	if (params.bGeomConsistency) {
+		// set previously computed depth-maps
+		ASSERT(depthData.depthMap.size() == depthData.GetView().image.size());
+		CUDA::checkCudaCall(cudaMemcpy(cudaTextureDepths, textureDepths.data(), sizeof(cudaTextureObject_t)*(numImages-1), cudaMemcpyHostToDevice));
+	}
+
+	// load depth-map and normal-map into CUDA memory
+	for (int r = 0; r < depthData.depthMap.rows; ++r) {
+		for (int c = 0; c < depthData.depthMap.cols; ++c) {
+			const Normal& n = depthData.normalMap(r,c);
+			const int index = r * depthData.depthMap.cols + c;
+			Point4& depthNormal = depthNormalEstimates[index];
+			depthNormal.topLeftCorner<3,1>() = Eigen::Map<const Normal::EVec>(n.ptr());
+			depthNormal.w() = depthData.depthMap(r,c);
+		}
+	}
+	CUDA::checkCudaCall(cudaMemcpy(cudaDepthNormalEstimates, depthNormalEstimates, sizeof(Point4) * depthData.depthMap.size().area(), cudaMemcpyHostToDevice));
+
+	// run CUDA patch-match
+	RunCUDA();
+	CUDA::checkCudaCall(cudaGetLastError());
+
+	// load depth-map, normal-map and confidence-map from CUDA memory
+	const float fNCCThresholdKeep(!params.bGeomConsistency && OPTDENSE::nEstimationGeometricIters ?
+		OPTDENSE::fNCCThresholdKeepCUDA * 1.5f : OPTDENSE::fNCCThresholdKeepCUDA);
+	if (depthData.confMap.empty())
+		depthData.confMap.create(depthData.depthMap.size());
+	for (int r = 0; r < depthData.depthMap.rows; ++r) {
+		for (int c = 0; c < depthData.depthMap.cols; ++c) {
+			const int index = r * depthData.depthMap.cols + c;
+			const Point4& depthNormal = depthNormalEstimates[index];
+			ASSERT(std::isfinite(depthNormal.w()));
+			// check if the score is good enough
+			// and that the cross-estimates is close enough to the current estimate
+			float& conf = depthData.confMap(r,c);
+			conf = depthNormalCosts[index];
+			ASSERT(std::isfinite(conf));
+			if (depthNormal.w() <= 0 || conf >= fNCCThresholdKeep) {
+				conf = 0;
+				depthData.depthMap(r,c) = 0;
+				depthData.normalMap(r,c) = Normal::ZERO;
+			} else {
+				depthData.depthMap(r,c) = depthNormal.w();
+				depthData.normalMap(r,c) = depthNormal.topLeftCorner<3,1>();
+				// converted ZNCC [0-2] score, where 0 is best, to [0-1] confidence, where 1 is best
+				conf = conf>=1.f ? 0.f : 1.f-conf;
+			}
+		}
+	}
+
+	DEBUG_EXTRA("Depth-map for image %3u %s: %dx%d (%s)", depthData.images.front().GetID(),
+		depthData.images.GetSize() > 2 ?
+		String::FormatString("estimated using %2u images", depthData.images.size()-1).c_str() :
+		String::FormatString("with image %3u estimated", depthData.images[1].GetID()).c_str(),
+		images.front().cols, images.front().rows, TD_TIMER_GET_FMT().c_str());
+}
+/*----------------------------------------------------------------*/
+
+#endif // _USE_CUDA
diff --git a/libs/MVS/PatchMatchCUDA.cu b/libs/MVS/PatchMatchCUDA.cu
new file mode 100644
index 000000000..d295ae1a8
--- /dev/null
+++ b/libs/MVS/PatchMatchCUDA.cu
@@ -0,0 +1,610 @@
+/*
+* PatchMatchCUDA.cu
+*
+* Copyright (c) 2014-2021 SEACAVE
+*
+* Author(s):
+*
+*	  cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*	  You are required to preserve legal notices and author attributions in
+*	  that material or in the Appropriate Legal Notices displayed by works
+*	  containing it.
+*/
+
+#include "PatchMatchCUDA.inl"
+
+// static max supported views
+#define MAX_VIEWS 32
+
+// samples used to perform views selection
+#define NUM_SAMPLES 32
+
+// patch window radius
+#define nSizeHalfWindow 4
+
+// patch stepping
+#define nSizeStep 2
+
+using namespace MVS;
+
+typedef Eigen::Matrix<int,2,1> Point2i;
+typedef Eigen::Matrix<float,2,1> Point2;
+typedef Eigen::Matrix<float,3,1> Point3;
+typedef Eigen::Matrix<float,4,1> Point4;
+typedef Eigen::Matrix<float,3,3> Matrix3;
+
+#define ImagePixels cudaTextureObject_t
+#define RandState curandState
+
+// square the given value
+__device__ inline constexpr float Square(float v) {
+	return v * v;
+}
+
+// set/check a bit
+__device__ inline constexpr void SetBit(unsigned& input, unsigned i) {
+	input |= (1u << i);
+}
+__device__ inline constexpr int IsBitSet(unsigned input, unsigned i) {
+	return (input >> i) & 1u;
+}
+
+// swap the given values
+__device__ inline constexpr void Swap(float& v0, float& v1) {
+	const float tmp = v0;
+	v0 = v1;
+	v1 = tmp;
+}
+
+// convert 2d to 1d coordinates and back
+__device__ inline int Point2Idx(const Point2i& p, int width) {
+	return p.y() * width + p.x();
+}
+__device__ inline Point2i Idx2Point(int idx, int width) {
+	return Point2i(idx % width, idx / width);
+}
+
+// project and back-project a 3D point
+__device__ inline Point2 ProjectPoint(const PatchMatchCUDA::Camera& camera, const Point3& X) {
+	const Point3 x = camera.K * camera.R * (X - camera.C);
+	return x.hnormalized();
+}
+__device__ inline Point3 BackProjectPointCamera(const PatchMatchCUDA::Camera& camera, const Point2& p, const float depth = 1.f) {
+	return Point3(
+		depth * (p.x() - camera.K(0,2)) / camera.K(0,0),
+		depth * (p.y() - camera.K(1,2)) / camera.K(1,1),
+		depth);
+}
+__device__ inline Point3 BackProjectPoint(const PatchMatchCUDA::Camera& camera, const Point2& p, const float depth) {
+	const Point3 camX = BackProjectPointCamera(camera, p, depth);
+	return camera.R.transpose() * camX + camera.C;
+}
+
+// compute camera ray direction for the given pixel
+__device__ inline Point3 ViewDirection(const PatchMatchCUDA::Camera& camera, const Point2i& p) {
+	return BackProjectPointCamera(camera, p.cast<float>()).normalized();
+}
+
+// sort the given values array using bubble sort algorithm
+__device__ inline void Sort(const float* values, float* sortedValues, int n) {
+	for (int i = 0; i < n; ++i)
+		sortedValues[i] = values[i];
+	do {
+		int newn = 0;
+		for (int i = 1; i < n; ++i) {
+			if (sortedValues[i-1] > sortedValues[i]) {
+				Swap(sortedValues[i-1], sortedValues[i]);
+				newn = i;
+			}
+		}
+		n = newn;
+	} while(n);
+}
+
+// find the index of the minimum value in the given values array
+__device__ inline int FindMinIndex(const float* values, const int n) {
+	float minValue = values[0];
+	int minValueIdx = 0;
+	for (int i = 1; i < n; ++i) {
+		if (minValue > values[i]) {
+			minValue = values[i];
+			minValueIdx = i;
+		}
+	}
+	return minValueIdx;
+}
+
+// convert Probability Density Function (PDF) to Cumulative Distribution Function (CDF)
+__device__ inline void PDF2CDF(float* probs, const int numProbs) {
+	float probSum = 0.f;
+	for (int i = 0; i < numProbs; ++i)
+		probSum += probs[i];
+	const float invProbSum = 1.f / probSum;
+	float sumProb = 0.f;
+	for (int i = 0; i < numProbs-1; ++i) {
+		sumProb += probs[i] * invProbSum;
+		probs[i] = sumProb;
+	}
+	probs[numProbs-1] = 1.f;
+}
+/*----------------------------------------------------------------*/
+
+
+// generate a random normal
+__device__ inline Point3 GenerateRandomNormal(const PatchMatchCUDA::Camera& camera, const Point2i& p, RandState* randState)
+{
+	float q1, q2, s;
+	do {
+		q1 = 2.f * curand_uniform(randState) - 1.f;
+		q2 = 2.f * curand_uniform(randState) - 1.f;
+		s = q1 * q1 + q2 * q2;
+	} while (s >= 1.f);
+	const float sq = sqrt(1.f - s);
+	Point3 normal(
+		2.f * q1 * sq,
+		2.f * q2 * sq,
+		1.f - 2.f * s);
+
+	const Point3 viewDirection = ViewDirection(camera, p);
+	if (normal.dot(viewDirection) > 0.f)
+		normal = -normal;
+	return normal.normalized();
+}
+
+// randomly perturb a normal
+__device__ inline Point3 GeneratePerturbedNormal(const PatchMatchCUDA::Camera& camera, const Point2i& p, const Point3& normal, RandState* randState, const float perturbation)
+{
+	const Point3 viewDirection = ViewDirection(camera, p);
+
+	const float a1 = (curand_uniform(randState) - 0.5f) * perturbation;
+	const float a2 = (curand_uniform(randState) - 0.5f) * perturbation;
+	const float a3 = (curand_uniform(randState) - 0.5f) * perturbation;
+
+	const float sinA1 = sin(a1);
+	const float sinA2 = sin(a2);
+	const float sinA3 = sin(a3);
+	const float cosA1 = cos(a1);
+	const float cosA2 = cos(a2);
+	const float cosA3 = cos(a3);
+
+	Matrix3 perturb; perturb <<
+		cosA2 * cosA3,
+		cosA3 * sinA1 * sinA2 - cosA1 * sinA3,
+		sinA1 * sinA3 + cosA1 * cosA3 * sinA2,
+		cosA2 * sinA3,
+		cosA1 * cosA3 + sinA1 * sinA2 * sinA3,
+		cosA1 * sinA2 * sinA3 - cosA3 * sinA1,
+		-sinA2,
+		cosA2 * sinA1,
+		cosA1 * cosA2;
+
+	Point3 normalPerturbed = perturb * normal.topLeftCorner<3,1>();
+	if (normalPerturbed.dot(viewDirection) >= 0.f)
+		return normal;
+	return normalPerturbed.normalized();
+}
+
+// interpolate given pixel's estimate to the current position
+__device__ inline float InterpolatePixel(const PatchMatchCUDA::Camera& camera, const Point2i& p, const Point2i& np, float depth, const Point3& normal, const PatchMatchCUDA::Params& params)
+{
+	float depthNew;
+	if (p.x() == np.x()) {
+		const float nx1 = (p.y() - camera.K(1,2)) / camera.K(1,1);
+		const float denom = normal.z() + nx1 * normal.y();
+		if (abs(denom) < FLT_EPSILON)
+			return depth;
+		const float x1 = (np.y() - camera.K(1,2)) / camera.K(1,1);
+		const float nom = depth * (normal.z() + x1 * normal.y());
+		depthNew = nom / denom;
+	} else if (p.y() == np.y()) {
+		const float nx1 = (p.x() - camera.K(0,2)) / camera.K(0,0);
+		const float denom = normal.z() + nx1 * normal.x();
+		if (abs(denom) < FLT_EPSILON)
+			return depth;
+		const float x1 = (np.x() - camera.K(0,2)) / camera.K(0,0);
+		const float nom = depth * (normal.z() + x1 * normal.x());
+		depthNew = nom / denom;
+	} else {
+		const float planeD = normal.dot(BackProjectPointCamera(camera, np.cast<float>(), depth));
+		depthNew = planeD / normal.dot(BackProjectPointCamera(camera, p.cast<float>()));
+	}
+	return (depthNew >= params.fDepthMin && depthNew <= params.fDepthMax) ? depthNew : depth;
+}
+
+// compute normal to the surface given the 4 neighbors
+__device__ inline Point3 ComputeDepthGradient(const Matrix3& K, float depth, const Point2i& pos, const Point4& ndepth) {
+	constexpr float2 nposg[4] = {{0,-1}, {0,1}, {-1,0}, {1,0}};
+	Point2 dg(0,0);
+	// add neighbor depths at the gradient locations
+	for (int i=0; i<4; ++i)
+		dg += Point2(nposg[i].x,nposg[i].y) * (ndepth[i] - depth);
+	// compute depth gradient
+	const Point2 d = dg*0.5f;
+	// compute normal from depth gradient
+	return Point3(
+		K(0,0)*d.x(),
+		K(1,1)*d.y(),
+		(K(0,2)-pos.x())*d.x()+(K(1,2)-pos.y())*d.y()-depth).normalized();
+}
+
+// compose tho homography matrix that transforms a point from reference to source camera through the given plane
+__device__ inline Matrix3 ComputeHomography(const PatchMatchCUDA::Camera& refCamera, const PatchMatchCUDA::Camera& trgCamera, const Point2& p, const Point4& plane)
+{
+	const Point3 X = BackProjectPointCamera(refCamera, p, plane.w());
+	const Point3 normal = plane.topLeftCorner<3,1>();
+	const Point3 t = (refCamera.C - trgCamera.C) / (normal.dot(X));
+	const Matrix3 H = trgCamera.R * (refCamera.R.transpose() + t*normal.transpose());
+	return trgCamera.K * H * refCamera.K.inverse();
+}
+
+// weight a neighbor texel based on color similarity and distance to the center texel
+__device__ inline float ComputeBilateralWeight(int xDist, int yDist, float pix, float centerPix)
+{
+	constexpr float sigmaSpatial = -1.f / (2.f * (nSizeHalfWindow-1)*(nSizeHalfWindow-1));
+	constexpr float sigmaColor = -1.f / (2.f * 25.f/255.f*25.f/255.f);
+	const float spatialDistSq = float(xDist * xDist + yDist * yDist);
+	const float colorDistSq = Square(pix - centerPix);
+	return exp(spatialDistSq * sigmaSpatial + colorDistSq * sigmaColor);
+}
+
+// compute the geometric consistency weight
+__device__ inline float GeometricConsistencyWeight(const ImagePixels depthImage, const PatchMatchCUDA::Camera& refCamera, const PatchMatchCUDA::Camera& trgCamera, const Point4& plane, const Point2i& p)
+{
+	if (depthImage == NULL)
+		return 0.f;
+	constexpr float maxDist = 4.f;
+	const Point3 forwardPoint = BackProjectPoint(refCamera, p.cast<float>(), plane.w());
+	const Point2 trgPt = ProjectPoint(trgCamera, forwardPoint);
+	const float trgDepth = tex2D<float>(depthImage, trgPt.x() + 0.5f, trgPt.y() + 0.5f);
+	if (trgDepth == 0.f)
+		return maxDist;
+	const Point3 trgX = BackProjectPoint(trgCamera, trgPt, trgDepth);
+	const Point2 backwardPoint = ProjectPoint(refCamera, trgX);
+	const Point2 diff = p.cast<float>() - backwardPoint;
+	const float dist = diff.norm();
+	return min(maxDist, sqrt(dist*(dist+2.f)));
+}
+
+// compute photometric score using weighted ZNCC
+__device__ float ScorePlane(const ImagePixels refImage, const PatchMatchCUDA::Camera& refCamera, const ImagePixels trgImage, const PatchMatchCUDA::Camera& trgCamera, const Point2i& p, const Point4& plane, const PatchMatchCUDA::Params& params)
+{
+	constexpr float maxCost = 1.2f;
+
+	Matrix3 H = ComputeHomography(refCamera, trgCamera, p.cast<float>(), plane);
+	const Point2 pt = (H * p.cast<float>().homogeneous()).hnormalized();
+	if (pt.x() >= trgCamera.width || pt.x() < 0.f || pt.y() >= trgCamera.height || pt.y() < 0.f)
+		return maxCost;
+	Point3 X = H * Point2(p.x()-nSizeHalfWindow, p.y()-nSizeHalfWindow).homogeneous();
+	Point3 baseX(X);
+	H *= float(nSizeStep);
+
+	float sumRef = 0.f;
+	float sumRefRef = 0.f;
+	float sumTrg = 0.f;
+	float sumTrgTrg = 0.f;
+	float sumRefTrg = 0.f;
+	float bilateralWeightSum = 0.f;
+	const float refCenterPix = tex2D<float>(refImage, p.x() + 0.5f, p.y() + 0.5f);
+	for (int i = -nSizeHalfWindow; i <= nSizeHalfWindow; i += nSizeStep) {
+		for (int j = -nSizeHalfWindow; j <= nSizeHalfWindow; j += nSizeStep) {
+			const Point2i refPt = Point2i(p.x() + j, p.y() + i);
+			const Point2 trgPt = X.hnormalized();
+			const float refPix = tex2D<float>(refImage, refPt.x() + 0.5f, refPt.y() + 0.5f);
+			const float trgPix = tex2D<float>(trgImage, trgPt.x() + 0.5f, trgPt.y() + 0.5f);
+			const float weight = ComputeBilateralWeight(j, i, refPix, refCenterPix);
+			const float weightRefPix = weight * refPix;
+			const float weightTrgPix = weight * trgPix;
+			sumRef += weightRefPix;
+			sumTrg += weightTrgPix;
+			sumRefRef += weightRefPix * refPix;
+			sumTrgTrg += weightTrgPix * trgPix;
+			sumRefTrg += weightRefPix * trgPix;
+			bilateralWeightSum += weight;
+			X += H.col(0);
+		}
+		baseX += H.col(1);
+		X = baseX;
+	}
+
+	const float varRef = sumRefRef * bilateralWeightSum - sumRef * sumRef;
+	const float varTrg = sumTrgTrg * bilateralWeightSum - sumTrg * sumTrg;
+
+	constexpr float kMinVar = 1e-5f;
+	if (varRef < kMinVar || varTrg < kMinVar)
+		return maxCost;
+	const float covarTrgRef = sumRefTrg * bilateralWeightSum - sumRef * sumTrg;
+	const float varRefTrg = sqrt(varRef * varTrg);
+	return max(0.f, min(maxCost, 1.f - covarTrgRef / varRefTrg));
+}
+
+// compute photometric score for all neighbor images
+__device__ inline void MultiViewScorePlane(const ImagePixels *images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, const Point2i& p, const Point4& plane, float* costVector, const PatchMatchCUDA::Params& params)
+{
+	for (int imgId = 1; imgId <= params.nNumViews; ++imgId)
+		costVector[imgId-1] = ScorePlane(images[0], cameras[0], images[imgId], cameras[imgId], p, plane, params);
+	if (params.bGeomConsistency)
+		for (int imgId = 0; imgId < params.nNumViews; ++imgId)
+			costVector[imgId] += 0.1f * GeometricConsistencyWeight(depthImages[imgId], cameras[0], cameras[imgId+1], plane, p);
+}
+// same as above, but interpolate the plane to current pixel position
+__device__ inline float MultiViewScoreNeighborPlane(const ImagePixels* images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, const Point2i& p, const Point2i& np, Point4 plane, float* costVector, const PatchMatchCUDA::Params& params)
+{
+	plane.w() = InterpolatePixel(cameras[0], p, np, plane.w(), plane.topLeftCorner<3,1>(), params);
+	MultiViewScorePlane(images, depthImages, cameras, p, plane, costVector, params);
+	return plane.w();
+}
+
+// aggregate photometric score from all images
+__device__ inline float AggregateMultiViewScores(const unsigned* viewWeights, const float* costVector, int numViews)
+{
+	float cost = 0;
+	for (int imgId = 0; imgId < numViews; ++imgId)
+		if (viewWeights[imgId])
+			cost += viewWeights[imgId] * costVector[imgId];
+	return cost;
+}
+
+// propagate and refine the plane estimate for the current pixel employing the asymmetric approach described in:
+// "Multi-View Stereo with Asymmetric Checkerboard Propagation and Multi-Hypothesis Joint View Selection", 2018
+__device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, RandState* randStates, unsigned* selectedViews, const Point2i& p, const PatchMatchCUDA::Params& params, const int iter)
+{
+	int width = cameras[0].width;
+	int height = cameras[0].height;
+	if (p.x() >= width || p.y() >= height)
+		return;
+	const int idx = Point2Idx(p, width);
+	RandState* randState = &randStates[idx];
+	Point4& plane = planes[idx];
+
+	// adaptive sampling: 0 up-near, 1 down-near, 2 left-near, 3 right-near, 4 up-far, 5 down-far, 6 left-far, 7 right-far
+	static constexpr int2 dirs[8][11] = {
+		{{ 0,-1},{-1,-2},{ 1,-2},{-2,-3},{ 2,-3},{-3,-4},{ 3,-4}},
+		{{ 0, 1},{-1, 2},{ 1, 2},{-2, 3},{ 2, 3},{-3, 4},{ 3, 4}},
+		{{-1, 0},{-2,-1},{-2, 1},{-3,-2},{-3, 2},{-4,-3},{-4, 3}},
+		{{ 1, 0},{ 2,-1},{ 2, 1},{ 3,-2},{ 3, 2},{ 4,-3},{ 4, 3}},
+		{{0,-3},{0,-5},{0,-7},{0,-9},{0,-11},{0,-13},{0,-15},{0,-17},{0,-19},{0,-21},{0,-23}},
+		{{0, 3},{0, 5},{0, 7},{0, 9},{0, 11},{0, 13},{0, 15},{0, 17},{0, 19},{0, 21},{0, 23}},
+		{{-3,0},{-5,0},{-7,0},{-9,0},{-11,0},{-13,0},{-15,0},{-17,0},{-19,0},{-21,0},{-23,0}},
+		{{ 3,0},{ 5,0},{ 7,0},{ 9,0},{ 11,0},{ 13,0},{ 15,0},{ 17,0},{ 19,0},{ 21,0},{ 23,0}}
+	};
+	static constexpr int numDirs[8] = {7, 7, 7, 7, 11, 11, 11, 11};
+	const int neighborPositions[4] = {
+		idx - width,
+		idx + width,
+		idx - 1,
+		idx + 1,
+	};
+	bool valid[8] = {false, false, false, false, false, false, false, false};
+	int positions[8];
+	float neighborDepths[8];
+	float costArray[8][MAX_VIEWS];
+
+	for (int posId=0; posId<8; ++posId) {
+		const int2* samples = dirs[posId];
+		Point2i bestNx; float bestConf(FLT_MAX);
+		for (int dirId=0; dirId<numDirs[posId]; ++dirId) {
+			const int2& offset = samples[dirId];
+			const Point2i np(p.x()+offset.x, p.y()+offset.y);
+			if (!(np.x()>=0 && np.y()>=0 && np.x()<width && np.y()<height))
+				continue;
+			const int nidx = Point2Idx(np, width);
+			const float nconf = costs[nidx];
+			if (bestConf > nconf) {
+				bestNx = np;
+				bestConf = nconf;
+			}
+		}
+		if (bestConf < FLT_MAX) {
+			valid[posId] = true;
+			positions[posId] = Point2Idx(bestNx, width);
+			neighborDepths[posId] = MultiViewScoreNeighborPlane(images, depthImages, cameras, p, bestNx, planes[positions[posId]], costArray[posId], params);
+		}
+	}
+
+	// multi-hypothesis view selection
+	float viewSelectionPriors[MAX_VIEWS] = {0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f};
+	for (int posId = 0; posId < 4; ++posId) {
+		if (valid[posId]) {
+			const unsigned selectedView = selectedViews[neighborPositions[posId]];
+			for (int j = 0; j < params.nNumViews; ++j)
+				viewSelectionPriors[j] += (IsBitSet(selectedView, j) ? 0.9f : 0.1f);
+		}
+	}
+	float samplingProbs[MAX_VIEWS];
+	constexpr float thCostBad = 1.2f;
+	const float thCost = 0.8f * exp(Square((float)iter) / (-2.f * 4.f*4.f));
+	for (int imgId = 0; imgId < params.nNumViews; ++imgId) {
+		float sumW = 0;
+		unsigned count = 0;
+		unsigned countBad = 0;
+		for (int posId = 0; posId < 8; posId++) {
+			if (valid[posId]) {
+				if (costArray[posId][imgId] < thCost) {
+					sumW += exp(Square(costArray[posId][imgId]) / (-2.f * 0.3f*0.3f));
+					++count;
+				} else if (costArray[posId][imgId] > thCostBad) {
+					++countBad;
+				}
+			}
+		}
+		if (count > 2 && countBad < 3) {
+			samplingProbs[imgId] = viewSelectionPriors[imgId] * sumW / count;
+		} else if (countBad < 3) {
+			samplingProbs[imgId] = viewSelectionPriors[imgId] * exp(Square(thCost) / (-2.f * 0.4f*0.4f));
+		} else {
+			samplingProbs[imgId] = 0.f;
+		}
+	}
+	PDF2CDF(samplingProbs, params.nNumViews);
+	unsigned viewWeights[MAX_VIEWS] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+	for (int sample = 0; sample < NUM_SAMPLES; ++sample) {
+		const float randProb = curand_uniform(randState);
+		for (int imgId = 0; imgId < params.nNumViews; ++imgId) {
+			if (samplingProbs[imgId] > randProb) {
+				++viewWeights[imgId];
+				break;
+			}
+		}
+	}
+
+	// propagate best neighbor plane
+	unsigned newSelectedViews = 0;
+	for (int imgId = 0; imgId < params.nNumViews; ++imgId)
+		if (viewWeights[imgId])
+			SetBit(newSelectedViews, imgId);
+	float finalCosts[8];
+	for (int posId = 0; posId < 8; ++posId)
+		finalCosts[posId] = AggregateMultiViewScores(viewWeights, costArray[posId], params.nNumViews) / NUM_SAMPLES;
+	const int minCostIdx = FindMinIndex(finalCosts, 8);
+	float costVector[MAX_VIEWS];
+	MultiViewScorePlane(images, depthImages, cameras, p, plane, costVector, params);
+	float cost = AggregateMultiViewScores(viewWeights, costVector, params.nNumViews) / NUM_SAMPLES;
+	costs[idx] = cost;
+	if (finalCosts[minCostIdx] < cost && valid[minCostIdx]) {
+		plane = planes[positions[minCostIdx]];
+		plane.w() = neighborDepths[minCostIdx];
+		costs[idx] = finalCosts[minCostIdx];
+		selectedViews[idx] = newSelectedViews;
+	}
+	const float depth = plane.w();
+
+	// refine estimate
+	constexpr float perturbation = 0.01f;
+	const float depthMinPerturbed = (1.f - perturbation) * depth;
+	const float depthMaxPerturbed = (1.f + perturbation) * depth;
+	float depthPerturbed;
+	do {
+		depthPerturbed = curand_uniform(randState) * (depthMaxPerturbed - depthMinPerturbed) + depthMinPerturbed;
+	} while (depthPerturbed < params.fDepthMin && depthPerturbed > params.fDepthMax);
+	const Point3 perturbedNormal = GeneratePerturbedNormal(cameras[0], p, plane.topLeftCorner<3,1>(), randState, perturbation * (float)M_PI);
+	const Point3 normalRand = GenerateRandomNormal(cameras[0], p, randState);
+	int numValidPlanes = 3;
+	Point3 surfaceNormal;
+	if (valid[0] && valid[1] && valid[2] && valid[3]) {
+		// estimate normal from surrounding surface
+		const Point4 ndepths(
+			planes[neighborPositions[0]].w(),
+			planes[neighborPositions[1]].w(),
+			planes[neighborPositions[2]].w(),
+			planes[neighborPositions[3]].w()
+		);
+		surfaceNormal = ComputeDepthGradient(cameras[0].K, depth, p, ndepths);
+		numValidPlanes = 4;
+	}
+	const int numPlanes = 4;
+	const float depths[numPlanes] = {depthPerturbed, depth, depth, depth};
+	const Point3 normals[numPlanes] = {plane.topLeftCorner<3,1>(), perturbedNormal, normalRand, surfaceNormal};
+	for (int i = 0; i < numValidPlanes; ++i) {
+		Point4 newPlane;
+		newPlane.topLeftCorner<3,1>() = normals[i];
+		newPlane.w() = depths[i];
+		MultiViewScorePlane(images, depthImages, cameras, p, newPlane, costVector, params);
+		const float costPlane = AggregateMultiViewScores(viewWeights, costVector, params.nNumViews) / NUM_SAMPLES;
+		if (cost > costPlane) {
+			cost = costPlane;
+			plane = newPlane;
+		}
+	}
+}
+
+// compute the score of the current plane estimate
+__global__ void InitializeScore(const cudaTextureObject_t* images, const cudaTextureObject_t* depthImages, PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params)
+{
+	const Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
+	const int width = cameras[0].width;
+	const int height = cameras[0].height;
+	if (p.x() >= width || p.y() >= height)
+		return;
+	const int idx = Point2Idx(p, width);
+	// initialize estimate randomly if not set
+	RandState* randState = &randStates[idx];
+	curand_init(1234/*threadIdx.x*/, p.y(), p.x(), randState);
+	Point4& plane = planes[idx];
+	float depth = plane.w();
+	if (depth <= 0.f) {
+		// generate random plane
+		plane.topLeftCorner<3,1>() = GenerateRandomNormal(cameras[0], p, randState);
+		plane.w() = curand_uniform(randState) * (params.fDepthMax - params.fDepthMin) + params.fDepthMin;
+	} else if (plane.topLeftCorner<3,1>().dot(ViewDirection(cameras[0], p)) >= 0.f){
+		// generate random normal
+		plane.topLeftCorner<3,1>() = GenerateRandomNormal(cameras[0], p, randState);
+	}
+	// compute costs
+	float costVector[MAX_VIEWS];
+	MultiViewScorePlane((const ImagePixels*)images, (const ImagePixels*)depthImages, cameras, p, plane, costVector, params);
+	// select best views
+	float costVectorSorted[MAX_VIEWS];
+	Sort(costVector, costVectorSorted, params.nNumViews);
+	float cost = 0.f;
+	for (int i = 0; i < params.nInitTopK; ++i)
+		cost += costVectorSorted[i];
+	const float costThreshold = costVectorSorted[params.nInitTopK - 1];
+	unsigned selectedView = selectedViews[idx];
+	selectedView = 0;
+	for (int imgId = 0; imgId < params.nNumViews; ++imgId)
+		if (costVector[imgId] <= costThreshold)
+			SetBit(selectedView, imgId);
+	costs[idx] = cost / params.nInitTopK;
+}
+
+// traverse image in a back/red checkerboard pattern
+__global__ void BlackPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params, const int iter)
+{
+	Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
+	p.y() = p.y() * 2 + (threadIdx.x % 2 == 0 ? 0 : 1);
+	ProcessPixel((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, costs, (RandState*)randStates, selectedViews, p, params, iter);
+}
+__global__ void RedPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params, const int iter)
+{
+	Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
+	p.y() = p.y() * 2 + (threadIdx.x % 2 == 0 ? 1 : 0);
+	ProcessPixel((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, costs, (RandState*)randStates, selectedViews, p, params, iter);
+}
+/*----------------------------------------------------------------*/
+
+
+__host__ void PatchMatchCUDA::RunCUDA()
+{
+	constexpr unsigned BLOCK_W = 32;
+	constexpr unsigned BLOCK_H = (BLOCK_W / 2);
+
+	const unsigned width = cameras[0].width;
+	const unsigned height = cameras[0].height;
+
+	const dim3 blockSize(BLOCK_W, BLOCK_H, 1);
+	const dim3 gridSizeInitialize((width + BLOCK_H - 1) / BLOCK_H, (height + BLOCK_H - 1) / BLOCK_H, 1);
+	const dim3 gridSizeCheckerboard((width + BLOCK_W - 1) / BLOCK_W, ((height / 2) + BLOCK_H - 1) / BLOCK_H, 1);
+
+	InitializeScore<<<gridSizeInitialize, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params);
+	cudaDeviceSynchronize();
+
+	for (int i = 0; i < params.nEstimationIters; ++i) {
+		BlackPixelProcess<<<gridSizeCheckerboard, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, i);
+		cudaDeviceSynchronize();
+		RedPixelProcess<<<gridSizeCheckerboard, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, i);
+		cudaDeviceSynchronize();
+	}
+
+	cudaMemcpy(depthNormalEstimates, cudaDepthNormalEstimates, sizeof(Point4) * width * height, cudaMemcpyDeviceToHost);
+	cudaMemcpy(depthNormalCosts, cudaDepthNormalCosts, sizeof(float) * width * height, cudaMemcpyDeviceToHost);
+	cudaDeviceSynchronize();
+}
+/*----------------------------------------------------------------*/
diff --git a/libs/MVS/PatchMatchCUDA.h b/libs/MVS/PatchMatchCUDA.h
new file mode 100644
index 000000000..5049ff18b
--- /dev/null
+++ b/libs/MVS/PatchMatchCUDA.h
@@ -0,0 +1,58 @@
+/*
+* PatchMatchCUDA.h
+*
+* Copyright (c) 2014-2021 SEACAVE
+*
+* Author(s):
+*
+*      cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*      You are required to preserve legal notices and author attributions in
+*      that material or in the Appropriate Legal Notices displayed by works
+*      containing it.
+*/
+
+#ifndef _MVS_PATCHMATCHCUDA_H_
+#define _MVS_PATCHMATCHCUDA_H_
+
+#ifdef _USE_CUDA
+
+
+// I N C L U D E S /////////////////////////////////////////////////
+
+#include "DepthMap.h"
+#pragma push_macro("EIGEN_DEFAULT_DENSE_INDEX_TYPE")
+#undef EIGEN_DEFAULT_DENSE_INDEX_TYPE
+#include "PatchMatchCUDA.inl"
+#pragma pop_macro("EIGEN_DEFAULT_DENSE_INDEX_TYPE")
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+namespace MVS {
+
+} // namespace MVS
+
+#endif // _USE_CUDA
+
+#endif // _MVS_PATCHMATCHCUDA_H_
diff --git a/libs/MVS/PatchMatchCUDA.inl b/libs/MVS/PatchMatchCUDA.inl
new file mode 100644
index 000000000..3c3db4111
--- /dev/null
+++ b/libs/MVS/PatchMatchCUDA.inl
@@ -0,0 +1,141 @@
+/*
+* PatchMatchCUDA.inl
+*
+* Copyright (c) 2014-2021 SEACAVE
+*
+* Author(s):
+*
+*	  cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*	  You are required to preserve legal notices and author attributions in
+*	  that material or in the Appropriate Legal Notices displayed by works
+*	  containing it.
+*/
+
+#ifndef _MVS_PATCHMATCHCUDA_INL_
+#define _MVS_PATCHMATCHCUDA_INL_
+
+
+// I N C L U D E S /////////////////////////////////////////////////
+
+#define _USE_MATH_DEFINES
+#include <cmath>
+#include <cstdint>
+#include <float.h>
+#include <string>
+#include <vector>
+
+// Eigen
+#define EIGEN_DEFAULT_DENSE_INDEX_TYPE int
+#include <Eigen/Dense>
+
+// CUDA toolkit
+#include <cuda_runtime.h>
+#include <cuda_runtime_api.h>
+#include <cuda_texture_types.h>
+#include <curand_kernel.h>
+#include <vector_types.h>
+
+// OpenCV
+#include <opencv2/core.hpp>
+#include <opencv2/imgproc.hpp>
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+namespace MVS {
+
+#if __CUDA_ARCH__ > 0
+#define __CDC__CUDA__ARCH__ 1
+#else
+#undef __CDC__CUDA__ARCH__
+#endif
+
+struct DepthData;
+
+class PatchMatchCUDA {
+public:
+	typedef Eigen::Matrix<float,3,1> Point3;
+	typedef Eigen::Matrix<float,4,1> Point4;
+	typedef Eigen::Matrix<float,3,3> Matrix3;
+
+	struct Params {
+		int nNumViews = 5;
+		int nEstimationIters = 3;
+		float fDepthMin = 0.f;
+		float fDepthMax = 100.f;
+		int nInitTopK = 3;
+		bool bGeomConsistency = false;
+	};
+
+	struct Camera {
+		Matrix3 K;
+		Matrix3 R;
+		Point3 C;
+		int height;
+		int width;
+	};
+
+public:
+	PatchMatchCUDA(int device=0);
+	~PatchMatchCUDA();
+
+	void Init(bool geom_consistency);
+	void Release();
+
+	void EstimateDepthMap(DepthData&);
+
+	float4 GetPlaneHypothesis(const int index);
+	float GetCost(const int index);
+
+private:
+	void ReleaseCUDA();
+	void AllocatePatchMatchCUDA(const cv::Mat1f& image);
+	void AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bHasDepthMap);
+	void RunCUDA();
+
+public:
+	Params params;
+
+	std::vector<cv::Mat1f> images;
+	std::vector<Camera> cameras;
+	std::vector<cudaTextureObject_t> textureImages;
+	std::vector<cudaTextureObject_t> textureDepths;
+	Point4* depthNormalEstimates;
+	float* depthNormalCosts;
+
+	Camera *cudaCameras;
+	std::vector<cudaArray_t> cudaImageArrays;
+	std::vector<cudaArray_t> cudaDepthArrays;
+	cudaTextureObject_t* cudaTextureImages;
+	cudaTextureObject_t* cudaTextureDepths;
+	Point4* cudaDepthNormalEstimates;
+	float* cudaDepthNormalCosts;
+	curandState* cudaRandStates;
+	unsigned* cudaSelectedViews;
+};
+/*----------------------------------------------------------------*/
+
+} // namespace MVS
+
+#endif // _MVS_PATCHMATCHCUDA_INL_
diff --git a/libs/MVS/PointCloud.cpp b/libs/MVS/PointCloud.cpp
index 42e61230c..446ff22e7 100644
--- a/libs/MVS/PointCloud.cpp
+++ b/libs/MVS/PointCloud.cpp
@@ -67,6 +67,12 @@ void PointCloud::RemovePoint(IDX idx)
 		colors.RemoveAt(idx);
 	points.RemoveAt(idx);
 }
+void PointCloud::RemovePointsOutside(const OBB3f& obb) {
+	ASSERT(obb.IsValid());
+	RFOREACH(i, points)
+		if (!obb.Intersects(points[i]))
+			RemovePoint(i);
+}
 /*----------------------------------------------------------------*/
 
 
@@ -99,6 +105,24 @@ PointCloud::Box PointCloud::GetAABB(unsigned minViews) const
 			box.InsertFull(points[idx]);
 	return box;
 }
+
+// compute the center of the point-cloud as the median
+PointCloud::Point PointCloud::GetCenter() const
+{
+	const Index step(5);
+	const Index numPoints(points.size()/step);
+	if (numPoints == 0)
+		return Point::INF;
+	typedef CLISTDEF0IDX(Point::Type,Index) Scalars;
+	Scalars x(numPoints), y(numPoints), z(numPoints);
+	for (Index i=0; i<numPoints; ++i) {
+		const Point& X = points[i*step];
+		x[i] = X.x;
+		y[i] = X.y;
+		z[i] = X.z;
+	}
+	return Point(x.GetMedian(), y.GetMedian(), z.GetMedian());
+}
 /*----------------------------------------------------------------*/
 
 
@@ -240,4 +264,60 @@ bool PointCloud::Save(const String& fileName, bool bLegacyTypes) const
 	DEBUG_EXTRA("Point-cloud saved: %u points (%s)", points.GetSize(), TD_TIMER_GET_FMT().c_str());
 	return true;
 } // Save
+
+// save the dense point cloud having >=N views as PLY file
+bool PointCloud::SaveNViews(const String& fileName, uint32_t minViews, bool bLegacyTypes) const
+{
+	if (points.IsEmpty())
+		return false;
+	TD_TIMER_STARTD();
+
+	// create PLY object
+	ASSERT(!fileName.IsEmpty());
+	Util::ensureFolder(fileName);
+	PLY ply;
+	if (bLegacyTypes)
+		ply.set_legacy_type_names();
+	if (!ply.write(fileName, 1, BasicPLY::elem_names, PLY::BINARY_LE, 64*1024))
+		return false;
+
+	if (normals.IsEmpty()) {
+		// describe what properties go into the vertex elements
+		ply.describe_property(BasicPLY::elem_names[0], 6, BasicPLY::vert_props);
+
+		// export the array of 3D points
+		BasicPLY::PointColNormal vertex;
+		FOREACH(i, points) {
+			if (pointViews[i].size() < minViews)
+				continue;
+			// export the vertex position, normal and color
+			vertex.p = points[i];
+			vertex.c = (!colors.IsEmpty() ? colors[i] : Color::WHITE);
+			ply.put_element(&vertex);
+		}
+	} else {
+		// describe what properties go into the vertex elements
+		ply.describe_property(BasicPLY::elem_names[0], 9, BasicPLY::vert_props);
+
+		// export the array of 3D points
+		BasicPLY::PointColNormal vertex;
+		FOREACH(i, points) {
+			if (pointViews[i].size() < minViews)
+				continue;
+			// export the vertex position, normal and color
+			vertex.p = points[i];
+			vertex.n = normals[i];
+			vertex.c = (!colors.IsEmpty() ? colors[i] : Color::WHITE);
+			ply.put_element(&vertex);
+		}
+	}
+	const int numPoints(ply.get_current_element_count());
+
+	// write the header
+	if (!ply.header_complete())
+		return false;
+
+	DEBUG_EXTRA("Point-cloud saved: %u points with at least %u views each (%s)", numPoints, minViews, TD_TIMER_GET_FMT().c_str());
+	return true;
+} // SaveNViews
 /*----------------------------------------------------------------*/
diff --git a/libs/MVS/PointCloud.h b/libs/MVS/PointCloud.h
index ce2a9722d..7b479616b 100644
--- a/libs/MVS/PointCloud.h
+++ b/libs/MVS/PointCloud.h
@@ -86,14 +86,17 @@ class MVS_API PointCloud
 	inline bool IsValid() const { ASSERT(points.GetSize() == pointViews.GetSize() || pointViews.IsEmpty()); return !pointViews.IsEmpty(); }
 	inline size_t GetSize() const { ASSERT(points.GetSize() == pointViews.GetSize() || pointViews.IsEmpty()); return points.GetSize(); }
 
-	void RemovePoint(IDX idx);
+	void RemovePoint(IDX);
+	void RemovePointsOutside(const OBB3f&);
 
 	Box GetAABB() const;
 	Box GetAABB(const Box& bound) const;
 	Box GetAABB(unsigned minViews) const;
+	Point GetCenter() const;
 
 	bool Load(const String& fileName);
 	bool Save(const String& fileName, bool bLegacyTypes=false) const;
+	bool SaveNViews(const String& fileName, uint32_t minViews, bool bLegacyTypes=false) const;
 
 	#ifdef _USE_BOOST
 	// implement BOOST serialization
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 4039377f2..58599d293 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -42,6 +42,11 @@ using namespace MVS;
 #define PROJECT_ID "MVS\0" // identifies the project stream
 #define PROJECT_VER ((uint32_t)1) // identifies the version of a project stream
 
+// uncomment to enable multi-threading based on OpenMP
+#ifdef _USE_OPENMP
+#define SCENE_USE_OPENMP
+#endif
+
 
 // S T R U C T S ///////////////////////////////////////////////////
 
@@ -58,6 +63,14 @@ bool Scene::IsEmpty() const
 	return pointcloud.IsEmpty() && mesh.IsEmpty();
 }
 
+bool Scene::ImagesHaveNeighbors() const
+{
+	for (const Image& image: images)
+		if (!image.neighbors.IsEmpty())
+			return true;
+	return false;
+}
+
 
 bool Scene::LoadInterface(const String & fileName)
 {
@@ -83,11 +96,7 @@ bool Scene::LoadInterface(const String & fileName)
 			if (!itCamera.IsNormalized()) {
 				// normalize K
 				ASSERT(itCamera.HasResolution());
-				const REAL scale(REAL(1)/camera.GetNormalizationScale(itCamera.width,itCamera.height));
-				camera.K(0,0) *= scale;
-				camera.K(1,1) *= scale;
-				camera.K(0,2) *= scale;
-				camera.K(1,2) *= scale;
+				camera.K = camera.GetScaledK(REAL(1)/Camera::GetNormalizationScale(itCamera.width, itCamera.height));
 			}
 			DEBUG_EXTRA("Camera model loaded: platform %u; camera %2u; f %.3fx%.3f; poses %u", platforms.size()-1, platform.cameras.size()-1, camera.K(0,0), camera.K(1,1), itPlatform.poses.size());
 		}
@@ -115,6 +124,11 @@ bool Scene::LoadInterface(const String & fileName)
 		imageData.name = image.name;
 		Util::ensureUnifySlash(imageData.name);
 		imageData.name = MAKE_PATH_FULL(WORKING_FOLDER_FULL, imageData.name);
+		if (!image.maskName.empty()) {
+			imageData.maskName = image.maskName;
+			Util::ensureUnifySlash(imageData.maskName);
+			imageData.maskName = MAKE_PATH_FULL(WORKING_FOLDER_FULL, imageData.maskName);
+		}
 		imageData.poseID = image.poseID;
 		if (imageData.poseID == NO_ID) {
 			DEBUG_EXTRA("warning: uncalibrated image '%s'", image.name.c_str());
@@ -138,7 +152,7 @@ bool Scene::LoadInterface(const String & fileName)
 		imageData.UpdateCamera(platforms);
 		++nCalibratedImages;
 		nTotalPixels += imageData.width * imageData.height;
-		DEBUG_EXTRA("Image loaded %3u: %s", ID, Util::getFileNameExt(imageData.name).c_str());
+		DEBUG_ULTIMATE("Image loaded %3u: %s", ID, Util::getFileNameExt(imageData.name).c_str());
 	}
 	if (images.GetSize() < 2)
 		return false;
@@ -183,6 +197,9 @@ bool Scene::LoadInterface(const String & fileName)
 		}
 	}
 
+	// import region of interest
+	obb.Set(Matrix3x3f(obj.obb.rot), Point3f(obj.obb.ptMin), Point3f(obj.obb.ptMax));
+
 	DEBUG_EXTRA("Scene loaded from interface format (%s):\n"
 				"\t%u images (%u calibrated) with a total of %.2f MPixels (%.2f MPixels/image)\n"
 				"\t%u points, %u vertices, %u faces",
@@ -225,10 +242,17 @@ bool Scene::SaveInterface(const String & fileName, int version) const
 		const Image& imageData = images[i];
 		MVS::Interface::Image& image = obj.images[i];
 		image.name = MAKE_PATH_REL(WORKING_FOLDER_FULL, imageData.name);
+		if (!imageData.maskName.empty())
+			image.maskName = MAKE_PATH_REL(WORKING_FOLDER_FULL, imageData.maskName);
 		image.poseID = imageData.poseID;
 		image.platformID = imageData.platformID;
 		image.cameraID = imageData.cameraID;
 		image.ID = imageData.ID;
+		if (imageData.IsValid() && imageData.HasResolution()) {
+			Interface::Platform& platform = obj.platforms[image.platformID];;
+			if (!platform.cameras[image.cameraID].HasResolution())
+				platform.SetFullK(image.cameraID, imageData.camera.K, imageData.width, imageData.height);
+		}
 	}
 
 	// export 3D points
@@ -263,6 +287,11 @@ bool Scene::SaveInterface(const String & fileName, int version) const
 		}
 	}
 
+	// export region of interest
+	obj.obb.rot = Matrix3x3f(obb.m_rot);
+	obj.obb.ptMin = Point3f((obb.m_pos-obb.m_ext).eval());
+	obj.obb.ptMax = Point3f((obb.m_pos+obb.m_ext).eval());
+
 	// serialize out the current state
 	if (!ARCHIVE::SerializeSave(obj, fileName, version>=0?uint32_t(version):MVSI_PROJECT_VER))
 		return false;
@@ -298,7 +327,7 @@ bool Scene::LoadDMAP(const String& fileName)
 	// create image
 	Platform& platform = platforms.AddEmpty();
 	platform.name = _T("platform0");
-	platform.cameras.emplace_back(CameraIntern::ScaleK(camera.K, REAL(1)/CameraIntern::GetNormalizationScale((uint32_t)imageSize.width,(uint32_t)imageSize.height)), RMatrix::IDENTITY, CMatrix::ZERO);
+	platform.cameras.emplace_back(camera.GetScaledK(REAL(1)/CameraIntern::GetNormalizationScale((uint32_t)imageSize.width,(uint32_t)imageSize.height)), RMatrix::IDENTITY, CMatrix::ZERO);
 	platform.poses.emplace_back(Platform::Pose{camera.R, camera.C});
 	Image& image = images.AddEmpty();
 	image.name = MAKE_PATH_FULL(WORKING_FOLDER_FULL, imageFileName);
@@ -315,12 +344,14 @@ bool Scene::LoadDMAP(const String& fileName)
 
 	// load image pixels
 	const Image8U3 imageDepth(DepthMap2Image(depthMap));
+	Image8U3 imageColor;
 	if (image.ReloadImage(MAXF(image.width,image.height)))
-		cv::resize(image.image, image.image, depthMap.size());
+		cv::resize(image.image, imageColor, depthMap.size());
 	else
-		image.image = imageDepth;
+		imageColor = imageDepth;
 
 	// create point-cloud
+	camera.K = camera.GetScaledK(imageSize, depthMap.size());
 	pointcloud.points.reserve(depthMap.area());
 	pointcloud.pointViews.reserve(depthMap.area());
 	pointcloud.colors.reserve(depthMap.area());
@@ -335,7 +366,7 @@ bool Scene::LoadDMAP(const String& fileName)
 				continue;
 			pointcloud.points.emplace_back(camera.TransformPointI2W(Point3(c,r,depth)));
 			pointcloud.pointViews.emplace_back(PointCloud::ViewArr{0});
-			pointcloud.colors.emplace_back(image.image(r,c));
+			pointcloud.colors.emplace_back(imageColor(r,c));
 			if (!normalMap.empty())
 				pointcloud.normals.emplace_back(Cast<PointCloud::Normal::Type>(camera.R.t()*Cast<REAL>(normalMap(r,c))));
 			if (!confMap.empty())
@@ -345,8 +376,9 @@ bool Scene::LoadDMAP(const String& fileName)
 
 	// replace color-image with depth-image
 	image.image = imageDepth;
+	cv::resize(image.image, image.image, imageSize);
 
-	DEBUG_EXTRA("Scene loaded from depth-map format - %dx%d size, %.2f%% coverage (%s):\n"
+	DEBUG_EXTRA("Scene loaded from depth-map format - %dx%d size, %.2f%%%% coverage (%s):\n"
 		"\t1 images (1 calibrated) with a total of %.2f MPixels (%.2f MPixels/image)\n"
 		"\t%u points, 0 lines",
 		depthMap.width(), depthMap.height(), 100.0*pointcloud.GetSize()/depthMap.area(), TD_TIMER_GET_FMT().c_str(),
@@ -356,6 +388,54 @@ bool Scene::LoadDMAP(const String& fileName)
 } // LoadDMAP
 /*----------------------------------------------------------------*/
 
+// load a text list of views and their neighbors and assign them to the scene images;
+// each line store the view ID followed by the 3+ closest view IDs, ordered in decreasing overlap:
+//
+// <cam-id> <neighbor-cam-id-0> <neighbor-cam-id-1> <neighbor-cam-id-2> <...>
+// 
+// for example:
+// 0 1 2 3 4
+// 1 0 2 3 4
+// 2 1 3 0 4
+// ...
+bool Scene::LoadViewNeighbors(const String& fileName)
+{
+	TD_TIMER_STARTD();
+
+	// parse image list
+	SML smlImages(_T("ImageNeighbors"));
+	smlImages.Load(fileName);
+	const LPSMLARR&	arrSmlChild = smlImages.GetArrChildren();
+	ASSERT(arrSmlChild.size() <= 1);
+
+	// fetch image IDs list
+	size_t argc;
+	for (SML::const_iterator it=smlImages.begin(); it!=smlImages.end(); ++it) {
+		// parse image element
+		CAutoPtrArr<LPSTR> argv(Util::CommandLineToArgvA(it->second.val, argc));
+		if (argc > 0 && argv[0][0] == _T('#'))
+			continue;
+		if (argc < 2) {
+			VERBOSE("Invalid image IDs list: %s", it->second.val.c_str());
+			continue;
+		}
+		// add neighbors to this image
+		const IIndex ID(String::FromString<IIndex>(argv[0], NO_ID));
+		ASSERT(ID != NO_ID);
+		Image& imageData = images[ID];
+		imageData.neighbors.resize(argc-1);
+		FOREACH(i, imageData.neighbors) {
+			const IIndex nID(String::FromString<IIndex>(argv[i+1], NO_ID));
+			ASSERT(nID != NO_ID);
+			imageData.neighbors[i] = ViewScore{ViewInfo{nID, 0, 1.f, FD2R(15.f), 0.5f}, 3.f};
+		}
+	}
+
+	DEBUG_EXTRA("View neighbors list loaded (%s)", TD_TIMER_GET_FMT().c_str());
+	return true;
+} // LoadViewNeighbors
+/*----------------------------------------------------------------*/
+
 // try to load known point-cloud or mesh files
 bool Scene::Import(const String& fileName)
 {
@@ -468,7 +548,7 @@ bool Scene::Save(const String& fileName, ARCHIVE_TYPE type) const
 	if (type == ARCHIVE_MVS) {
 		if (mesh.IsEmpty())
 			return SaveInterface(fileName);
-		type = ARCHIVE_BINARY_ZIP;
+		type = ARCHIVE_DEFAULT;
 	}
 	#ifdef _USE_BOOST
 	// open the output stream
@@ -503,6 +583,52 @@ bool Scene::Save(const String& fileName, ARCHIVE_TYPE type) const
 /*----------------------------------------------------------------*/
 
 
+// compute point-cloud with visibility info from the existing mesh
+void Scene::SampleMeshWithVisibility(unsigned maxResolution)
+{
+	ASSERT(!mesh.IsEmpty());
+	const Depth thFrontDepth(0.985f);
+	pointcloud.Release();
+	pointcloud.points.resize(mesh.vertices.size());
+	pointcloud.pointViews.resize(mesh.vertices.size());
+	#ifdef SCENE_USE_OPENMP
+	#pragma omp parallel for
+	for (int64_t _ID=0; _ID<images.size(); ++_ID) {
+		const IIndex ID(static_cast<IIndex>(_ID));
+	#else
+	FOREACH(ID, images) {
+	#endif
+		const Image& imageData = images[ID];
+		unsigned level(0);
+		const unsigned nMaxResolution(Image8U::computeMaxResolution(imageData.width, imageData.height, level, 0, maxResolution));
+		const REAL scale(imageData.width > imageData.height ? (REAL)nMaxResolution/imageData.width : (REAL)nMaxResolution/imageData.height);
+		const cv::Size scaledSize(Image8U::computeResize(imageData.GetSize(), scale));
+		const Camera camera(imageData.GetCamera(platforms, scaledSize));
+		DepthMap depthMap(scaledSize);
+		mesh.Project(camera, depthMap);
+		FOREACH(idxVertex, mesh.vertices) {
+			const Point3f xz(camera.TransformPointW2I3(Cast<REAL>(mesh.vertices[idxVertex])));
+			if (xz.z <= 0)
+				continue;
+			const Point2f& x(reinterpret_cast<const Point2f&>(xz));
+			if (depthMap.isInsideWithBorder<float,1>(x) && xz.z * thFrontDepth < depthMap(ROUND2INT(x))) {
+				#ifdef SCENE_USE_OPENMP
+				#pragma omp critical
+				#endif
+				pointcloud.pointViews[idxVertex].emplace_back(ID);
+			}
+		}
+	}
+	RFOREACH(idx, pointcloud.points) {
+		if (pointcloud.pointViews[idx].size() < 2)
+			pointcloud.RemovePoint(idx);
+		else
+			pointcloud.points[idx] = mesh.vertices[(Mesh::VIndex)idx];
+	}
+} // SampleMeshWithVisibility
+/*----------------------------------------------------------------*/
+
+
 inline float Footprint(const Camera& camera, const Point3f& X) {
 	#if 0
 	const REAL fSphereRadius(1);
@@ -538,6 +664,7 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 		nMinPointViews = nCalibratedImages;
 	unsigned nPoints = 0;
 	imageData.avgDepth = 0;
+	const float sigmaAngle(-1.f/(2.f*SQUARE(fOptimAngle*1.3f)));
 	FOREACH(idx, pointcloud.points) {
 		const PointCloud::ViewArr& views = pointcloud.pointViews[idx];
 		ASSERT(views.IsSorted());
@@ -558,7 +685,7 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 			const Image& imageData2 = images[view];
 			const Point3f V2(imageData2.camera.C - Cast<REAL>(point));
 			const float fAngle(ACOS(ComputeAngle<float,float>(V1.ptr(), V2.ptr())));
-			const float wAngle(MINF(POW(fAngle/fOptimAngle, 1.5f), 1.f));
+			const float wAngle(fAngle<fOptimAngle ? POW(fAngle/fOptimAngle, 1.5f) : EXP(SQUARE(fAngle-fOptimAngle)*sigmaAngle));
 			const float footprint2(Footprint(imageData2.camera, point));
 			const float fScaleRatio(footprint1/footprint2);
 			float wScale;
@@ -720,3 +847,317 @@ bool Scene::ExportCamerasMLP(const String& fileName, const String& fileNameScene
 	return true;
 } // ExportCamerasMLP
 /*----------------------------------------------------------------*/
+
+
+// split the scene in sub-scenes such that each sub-scene surface does not exceed the given
+// maximum sampling area; the area is composed of overlapping samples from different cameras
+// taking into account the footprint of each sample (pixels/unit-length, GSD inverse),
+// including overlapping samples;
+// the indirect goals this method tries to achieve are:
+//  - limit the maximum number of images in each sub-scene such that the depth-map fusion
+//    can load all sub-scene's depth-maps into memory at once
+//  - limit in the same time maximum accumulated images resolution (total number of pixels)
+//    per sub-scene in order to allow all images to be loaded and processed during mesh refinement
+unsigned Scene::Split(ImagesChunkArr& chunks, float maxArea, int depthMapStep) const
+{
+	TD_TIMER_STARTD();
+	// gather samples from all depth-maps
+	const float areaScale(0.01f);
+	typedef cList<Point3f::EVec,const Point3f::EVec&,0,4096,uint32_t> Samples;
+	typedef TOctree<Samples,float,3> Octree;
+	Octree octree;
+	FloatArr areas(0, images.size()*4192);
+	IIndexArr visibility(0, (IIndex)areas.capacity());
+	Unsigned32Arr imageAreas(images.size()); {
+		Samples samples(0, (uint32_t)areas.capacity());
+		FOREACH(idxImage, images) {
+			const Image& imageData = images[idxImage];
+			if (!imageData.IsValid())
+				continue;
+			DepthData depthData;
+			depthData.Load(ComposeDepthFilePath(imageData.ID, "dmap"));
+			if (depthData.IsEmpty())
+				continue;
+			const IIndex numPointsBegin(visibility.size());
+			const Camera camera(imageData.GetCamera(platforms, depthData.depthMap.size()));
+			for (int r=(depthData.depthMap.rows%depthMapStep)/2; r<depthData.depthMap.rows; r+=depthMapStep) {
+				for (int c=(depthData.depthMap.cols%depthMapStep)/2; c<depthData.depthMap.cols; c+=depthMapStep) {
+					const Depth depth = depthData.depthMap(r,c);
+					if (depth <= 0)
+						continue;
+					const Point3f& X = samples.emplace_back(Cast<float>(camera.TransformPointI2W(Point3(c,r,depth))));
+					areas.emplace_back(Footprint(camera, X)*areaScale);
+					visibility.emplace_back(idxImage);
+				}
+			}
+			imageAreas[idxImage] = visibility.size()-numPointsBegin;
+		}
+		#if 0
+		const AABB3f aabb(samples.data(), samples.size());
+		#else
+		// try to find a dominant plane, and set the bounding-box center on the plane bottom
+		OBB3f obb(samples.data(), samples.size());
+		obb.m_ext(0) *= 2;
+		#if 1
+		// dump box for visualization
+		OBB3f::POINT pts[8];
+		obb.GetCorners(pts);
+		PointCloud pc;
+		for (int i=0; i<8; ++i)
+			pc.points.emplace_back(pts[i]);
+		pc.Save(MAKE_PATH("scene_obb.ply"));
+		#endif
+		const AABB3f aabb(obb.GetAABB());
+		#endif
+		octree.Insert(samples, aabb, [](Octree::IDX_TYPE size, Octree::Type /*radius*/) {
+			return size > 128;
+		});
+		#if 0 && !defined(_RELEASE)
+		Octree::DEBUGINFO_TYPE info;
+		octree.GetDebugInfo(&info);
+		Octree::LogDebugInfo(info);
+		#endif
+		octree.ResetItems();
+	}
+	struct AreaInserter {
+		const FloatArr& areas;
+		float area;
+		inline void operator() (const Octree::IDX_TYPE* indices, Octree::SIZE_TYPE size) {
+			FOREACHRAWPTR(pIdx, indices, size)
+				area += areas[*pIdx];
+		}
+		inline float PopArea() {
+			const float a(area);
+			area = 0;
+			return a;
+		}
+	} areaEstimator{areas, 0.f};
+	struct ChunkInserter {
+		const IIndex numImages;
+		const Octree& octree;
+		const IIndexArr& visibility;
+		ImagesChunkArr& chunks;
+		CLISTDEF2(Unsigned32Arr) imagesAreas;
+		void operator() (const Octree::CELL_TYPE& parentCell, Octree::Type parentRadius, const UnsignedArr& children) {
+			ASSERT(!children.empty());
+			ImagesChunk& chunk = chunks.AddEmpty();
+			Unsigned32Arr& imageAreas = imagesAreas.AddEmpty();
+			imageAreas.resize(numImages);
+			imageAreas.Memset(0);
+			struct Inserter {
+				const IIndexArr& visibility;
+				std::unordered_set<IIndex>& images;
+				Unsigned32Arr& imageAreas;
+				inline void operator() (const Octree::IDX_TYPE* indices, Octree::SIZE_TYPE size) {
+					FOREACHRAWPTR(pIdx, indices, size) {
+						const IIndex idxImage(visibility[*pIdx]);
+						images.emplace(idxImage);
+						++imageAreas[idxImage];
+					}
+				}
+			} inserter{visibility, chunk.images, imageAreas};
+			if (children.size() == 1) {
+				octree.CollectCells(parentCell.GetChild(children.front()), inserter);
+				chunk.aabb = parentCell.GetChildAabb(children.front(), parentRadius);
+			} else {
+				chunk.aabb.Reset();
+				for (unsigned c: children) {
+					octree.CollectCells(parentCell.GetChild(c), inserter);
+					chunk.aabb.Insert(parentCell.GetChildAabb(c, parentRadius));
+				}
+			}
+			if (chunk.images.empty()) {
+				chunks.RemoveLast();
+				imagesAreas.RemoveLast();
+			}
+		}
+	} chunkInserter{images.size(), octree, visibility, chunks};
+	octree.SplitVolume(maxArea, areaEstimator, chunkInserter);
+	if (chunks.size() < 2)
+		return 0;
+	// remove images with very little contribution
+	const float minImageContributionRatio(0.3f);
+	FOREACH(c, chunks) {
+		ImagesChunk& chunk = chunks[c];
+		const Unsigned32Arr& chunkImageAreas = chunkInserter.imagesAreas[c];
+		float maxAreaRatio = 0;
+		for (const IIndex idxImage : chunk.images) {
+			const float areaRatio(static_cast<float>(chunkImageAreas[idxImage])/static_cast<float>(imageAreas[idxImage]));
+			if (maxAreaRatio < areaRatio)
+				maxAreaRatio = areaRatio;
+		}
+		const float minImageContributionRatioChunk(maxAreaRatio * minImageContributionRatio);
+		for (auto it = chunk.images.begin(); it != chunk.images.end(); ) {
+			const IIndex idxImage(*it);
+			if (static_cast<float>(chunkImageAreas[idxImage])/static_cast<float>(imageAreas[idxImage]) < minImageContributionRatioChunk)
+				it = chunk.images.erase(it);
+			else
+				++it;
+		}
+	}
+	#if 1
+	// remove images already completely contained by a larger chunk
+	const float minImageContributionRatioLargerChunk(0.9f);
+	FOREACH(cSmall, chunks) {
+		ImagesChunk& chunkSmall = chunks[cSmall];
+		const Unsigned32Arr& chunkSmallImageAreas = chunkInserter.imagesAreas[cSmall];
+		FOREACH(cLarge, chunks) {
+			const ImagesChunk& chunkLarge = chunks[cLarge];
+			if (chunkLarge.images.size() <= chunkSmall.images.size())
+				continue;
+			const Unsigned32Arr& chunkLargeImageAreas = chunkInserter.imagesAreas[cLarge];
+			for (auto it = chunkSmall.images.begin(); it != chunkSmall.images.end(); ) {
+				const IIndex idxImage(*it);
+				if (chunkSmallImageAreas[idxImage] < chunkLargeImageAreas[idxImage] &&
+					static_cast<float>(chunkLargeImageAreas[idxImage])/static_cast<float>(imageAreas[idxImage]) > minImageContributionRatioLargerChunk)
+					it = chunkSmall.images.erase(it);
+				else
+					++it;
+			}
+		}
+	}
+	#endif
+	#if 1
+	// merge small chunks into larger chunk neighbors
+	// TODO: better manage the bounding-box merge
+	const unsigned minNumImagesPerChunk(4);
+	RFOREACH(cSmall, chunks) {
+		ImagesChunk& chunkSmall = chunks[cSmall];
+		if (chunkSmall.images.size() > minNumImagesPerChunk)
+			continue;
+		// find the chunk having the most images in common
+		IIndex idxBestChunk;
+		unsigned numLargestCommonImages(0);
+		FOREACH(cLarge, chunks) {
+			if (cSmall == cLarge)
+				continue;
+			const ImagesChunk& chunkLarge = chunks[cLarge];
+			unsigned numCommonImages(0);
+			for (const IIndex idxImage: chunkSmall.images)
+				if (chunkLarge.images.find(idxImage) != chunkLarge.images.end())
+					++numCommonImages;
+			if (numCommonImages == 0)
+				continue;
+			if (numLargestCommonImages < numCommonImages ||
+				(numLargestCommonImages == numCommonImages && chunks[idxBestChunk].images.size() < chunkLarge.images.size()))
+			{
+				numLargestCommonImages = numCommonImages;
+				idxBestChunk = cLarge;
+			}
+		}
+		if (numLargestCommonImages == 0) {
+			DEBUG_ULTIMATE("warning: small chunk can not be merged (%u chunk, %u images)",
+				cSmall, chunkSmall.images.size());
+			continue;
+		}
+		// merge the small chunk and remove it
+		ImagesChunk& chunkLarge = chunks[idxBestChunk];
+		DEBUG_ULTIMATE("Small chunk merged: %u chunk (%u images) -> %u chunk (%u images)",
+			cSmall, chunkSmall.images.size(), idxBestChunk, chunkLarge.images.size());
+		chunkLarge.aabb.Insert(chunkSmall.aabb);
+		chunkLarge.images.insert(chunkSmall.images.begin(), chunkSmall.images.end());
+		chunks.RemoveAt(cSmall);
+	}
+	#endif
+	DEBUG_EXTRA("Scene split (%g max-area): %u chunks (%s)", maxArea, chunks.size(), TD_TIMER_GET_FMT().c_str());
+	#if 0 || defined(_DEBUG)
+	// dump chunks for visualization
+	FOREACH(c, chunks) {
+		const ImagesChunk& chunk = chunks[c];
+		PointCloud pc = pointcloud;
+		pc.RemovePointsOutside(OBB3f(OBB3f::MATRIX::Identity(), chunk.aabb.ptMin, chunk.aabb.ptMax));
+		pc.Save(String::FormatString(MAKE_PATH("scene_%04u.ply"), c));
+	}
+	#endif
+	return chunks.size();
+} // Split
+
+// split the scene in sub-scenes according to the given chunks array, and save them to disk
+bool Scene::ExportChunks(const ImagesChunkArr& chunks, const String& path, ARCHIVE_TYPE type) const
+{
+	FOREACH(chunkID, chunks) {
+		const ImagesChunk& chunk = chunks[chunkID];
+		Scene subset;
+		subset.nCalibratedImages = (IIndex)chunk.images.size();
+		// extract chunk images
+		typedef std::unordered_map<IIndex,IIndex> MapIIndex;
+		MapIIndex mapPlatforms(platforms.size());
+		MapIIndex mapImages(images.size());
+		FOREACH(idxImage, images) {
+			if (chunk.images.find(idxImage) == chunk.images.end())
+				continue;
+			const Image& image = images[idxImage];
+			if (!image.IsValid())
+				continue;
+			// copy platform
+			const Platform& platform = platforms[image.platformID];
+			MapIIndex::iterator itSubPlatformMVS = mapPlatforms.find(image.platformID);
+			uint32_t subPlatformID;
+			if (itSubPlatformMVS == mapPlatforms.end()) {
+				ASSERT(subset.platforms.size() == mapPlatforms.size());
+				subPlatformID = subset.platforms.size();
+				mapPlatforms.emplace(image.platformID, subPlatformID);
+				Platform subPlatform;
+				subPlatform.name = platform.name;
+				subPlatform.cameras = platform.cameras;
+				subset.platforms.emplace_back(std::move(subPlatform));
+			} else {
+				subPlatformID = itSubPlatformMVS->second;
+			}
+			Platform& subPlatform = subset.platforms[subPlatformID];
+			// copy image
+			const IIndex idxImageNew((IIndex)mapImages.size());
+			mapImages[idxImage] = idxImageNew;
+			Image subImage(image);
+			subImage.platformID = subPlatformID;
+			subImage.poseID = subPlatform.poses.size();
+			subImage.ID = idxImage;
+			subset.images.emplace_back(std::move(subImage));
+			// copy pose
+			subPlatform.poses.emplace_back(platform.poses[image.poseID]);
+		}
+		// map image IDs from global to local
+		for (Image& image: subset.images) {
+			RFOREACH(i, image.neighbors) {
+				ViewScore& neighbor = image.neighbors[i];
+				const auto itImage(mapImages.find(neighbor.idx.ID));
+				if (itImage == mapImages.end()) {
+					image.neighbors.RemoveAtMove(i);
+					continue;
+				}
+				ASSERT(itImage->second < subset.images.size());
+				neighbor.idx.ID = itImage->second;
+			}
+		}
+		// extract point-cloud
+		FOREACH(idxPoint, pointcloud.points) {
+			PointCloud::ViewArr subViews;
+			PointCloud::WeightArr subWeights;
+			const PointCloud::ViewArr& views = pointcloud.pointViews[idxPoint];
+			FOREACH(i, views) {
+				const IIndex idxImage(views[i]);
+				const auto itImage(mapImages.find(idxImage));
+				if (itImage == mapImages.end())
+					continue;
+				subViews.emplace_back(itImage->second);
+				if (!pointcloud.pointWeights.empty())
+					subWeights.emplace_back(pointcloud.pointWeights[idxPoint][i]);
+			}
+			if (subViews.size() < 2)
+				continue;
+			subset.pointcloud.points.emplace_back(pointcloud.points[idxPoint]);
+			subset.pointcloud.pointViews.emplace_back(std::move(subViews));
+			if (!pointcloud.pointWeights.empty())
+				subset.pointcloud.pointWeights.emplace_back(std::move(subWeights));
+			if (!pointcloud.colors.empty())
+				subset.pointcloud.colors.emplace_back(pointcloud.colors[idxPoint]);
+		}
+		// set scene ROI
+		subset.obb.Set(OBB3f::MATRIX::Identity(), chunk.aabb.ptMin, chunk.aabb.ptMax);
+		// serialize out the current state
+		if (!subset.Save(String::FormatString("%s" PATH_SEPARATOR_STR "scene_%04u.mvs", path.c_str(), chunkID), type))
+			return false;
+	}
+	return true;
+} // ExportChunks
+/*----------------------------------------------------------------*/
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 71b94acab..3c56867de 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -56,31 +56,47 @@ class MVS_API Scene
 	ImageArr images; // images, each referencing a platform's camera pose
 	PointCloud pointcloud; // point-cloud (sparse or dense), each containing the point position and the views seeing it
 	Mesh mesh; // mesh, represented as vertices and triangles, constructed from the input point-cloud
+	OBB3f obb; // optional region-of-interest; oriented bounding box containing the entire scene
 
 	unsigned nCalibratedImages; // number of valid images
 
 	unsigned nMaxThreads; // maximum number of threads used to distribute the work load
 
 public:
-	inline Scene(unsigned _nMaxThreads=0) : nMaxThreads(Thread::getMaxThreads(_nMaxThreads)) {}
+	inline Scene(unsigned _nMaxThreads=0)
+		: obb(true), nMaxThreads(Thread::getMaxThreads(_nMaxThreads)) {}
 
 	void Release();
 	bool IsEmpty() const;
+	bool ImagesHaveNeighbors() const;
+	bool IsBounded() const { return obb.IsValid(); }
 
 	bool LoadInterface(const String& fileName);
 	bool SaveInterface(const String& fileName, int version=-1) const;
 
 	bool LoadDMAP(const String& fileName);
+	bool LoadViewNeighbors(const String& fileName);
 	bool Import(const String& fileName);
 
 	bool Load(const String& fileName, bool bImport=false);
-	bool Save(const String& fileName, ARCHIVE_TYPE type=ARCHIVE_BINARY_ZIP) const;
+	bool Save(const String& fileName, ARCHIVE_TYPE type=ARCHIVE_DEFAULT) const;
+
+	void SampleMeshWithVisibility(unsigned maxResolution=320);
 
 	bool SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews=3, unsigned nMinPointViews=2, float fOptimAngle=FD2R(10));
 	static bool FilterNeighborViews(ViewScoreArr& neighbors, float fMinArea=0.1f, float fMinScale=0.2f, float fMaxScale=2.4f, float fMinAngle=FD2R(3), float fMaxAngle=FD2R(45), unsigned nMaxViews=12);
 
 	bool ExportCamerasMLP(const String& fileName, const String& fileNameScene) const;
 
+	// sub-scene split and save
+	struct ImagesChunk {
+		std::unordered_set<IIndex> images;
+		AABB3f aabb;
+	};
+	typedef cList<ImagesChunk,const ImagesChunk&,2,16,uint32_t> ImagesChunkArr;
+	unsigned Split(ImagesChunkArr& chunks, float maxArea, int depthMapStep=8) const;
+	bool ExportChunks(const ImagesChunkArr& chunks, const String& path, ARCHIVE_TYPE type=ARCHIVE_DEFAULT) const;
+
 	// Dense reconstruction
 	bool DenseReconstruction(int nFusionMode=0);
 	bool ComputeDepthMaps(DenseDepthMapData& data);
@@ -111,6 +127,7 @@ class MVS_API Scene
 		ar & images;
 		ar & pointcloud;
 		ar & mesh;
+		ar & obb;
 	}
 	#endif
 };
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 1e97e8806..2423b9681 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -32,6 +32,7 @@
 #include "Common.h"
 #include "Scene.h"
 #include "SceneDensify.h"
+#include "PatchMatchCUDA.h"
 // MRF: view selection
 #include "../Math/TRWS/MRFEnergy.h"
 
@@ -274,8 +275,8 @@ bool DepthMapsData::SelectViews(DepthData& depthData)
 	// find and sort valid neighbor views
 	const IIndex idxImage((IIndex)(&depthData-arrDepthData.Begin()));
 	ASSERT(depthData.neighbors.IsEmpty());
-	ASSERT(scene.images[idxImage].neighbors.IsEmpty());
-	if (!scene.SelectNeighborViews(idxImage, depthData.points, OPTDENSE::nMinViews, OPTDENSE::nMinViewsTrustPoint>1?OPTDENSE::nMinViewsTrustPoint:2, FD2R(OPTDENSE::fOptimAngle)))
+	if (scene.images[idxImage].neighbors.empty() &&
+		!scene.SelectNeighborViews(idxImage, depthData.points, OPTDENSE::nMinViews, OPTDENSE::nMinViewsTrustPoint>1?OPTDENSE::nMinViewsTrustPoint:2, FD2R(OPTDENSE::fOptimAngle)))
 		return false;
 	depthData.neighbors.CopyOf(scene.images[idxImage].neighbors);
 
@@ -292,48 +293,62 @@ bool DepthMapsData::SelectViews(DepthData& depthData)
 } // SelectViews
 /*----------------------------------------------------------------*/
 
-// select target image for the reference image (the first image in "images")
-// and initialize images data;
+// select target image for the reference image (the first image in "images"),
+// initialize images data, and initialize depth-map and normal-map;
 // if idxNeighbor is not NO_ID, only the reference image and the given neighbor are initialized;
 // if numNeighbors is not 0, only the first numNeighbors neighbors are initialized;
 // otherwise all are initialized;
+// if loadImages, the image data is also setup
+// if loadDepthMaps is 1, the depth-maps are loaded from disk,
+// if 0, the reference depth-map is initialized from sparse point cloud,
+// and if -1, the depth-maps are not initialized
 // returns false if there are no good neighbors to estimate the depth-map
-bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex numNeighbors)
+bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex numNeighbors, bool loadImages, int loadDepthMaps)
 {
 	const IIndex idxImage((IIndex)(&depthData-arrDepthData.Begin()));
 	ASSERT(!depthData.neighbors.IsEmpty());
-	ASSERT(depthData.images.IsEmpty());
 
 	// set this image the first image in the array
+	depthData.images.Empty();
 	depthData.images.Reserve(depthData.neighbors.GetSize()+1);
 	depthData.images.AddEmpty();
 
 	if (idxNeighbor != NO_ID) {
 		// set target image as the given neighbor
 		const ViewScore& neighbor = depthData.neighbors[idxNeighbor];
-		DepthData::ViewData& imageTrg = depthData.images.AddEmpty();
-		imageTrg.pImageData = &scene.images[neighbor.idx.ID];
-		imageTrg.scale = neighbor.idx.scale;
-		imageTrg.camera = imageTrg.pImageData->camera;
-		imageTrg.pImageData->image.toGray(imageTrg.image, cv::COLOR_BGR2GRAY, true);
-		if (imageTrg.ScaleImage(imageTrg.image, imageTrg.image, imageTrg.scale))
-			imageTrg.camera = imageTrg.pImageData->GetCamera(scene.platforms, imageTrg.image.size());
+		DepthData::ViewData& viewTrg = depthData.images.AddEmpty();
+		viewTrg.pImageData = &scene.images[neighbor.idx.ID];
+		viewTrg.scale = neighbor.idx.scale;
+		viewTrg.camera = viewTrg.pImageData->camera;
+		if (loadImages) {
+			viewTrg.pImageData->image.toGray(viewTrg.image, cv::COLOR_BGR2GRAY, true);
+			if (DepthData::ViewData::ScaleImage(viewTrg.image, viewTrg.image, viewTrg.scale))
+				viewTrg.camera = viewTrg.pImageData->GetCamera(scene.platforms, viewTrg.image.size());
+		} else {
+			if (DepthData::ViewData::NeedScaleImage(viewTrg.scale))
+				viewTrg.camera = viewTrg.pImageData->GetCamera(scene.platforms, Image8U::computeResize(viewTrg.pImageData->image.size(), viewTrg.scale));
+		}
 		DEBUG_EXTRA("Reference image %3u paired with image %3u", idxImage, neighbor.idx.ID);
 	} else {
-		// init all neighbor views too (global reconstruction is used)
+		// initialize all neighbor views too (global reconstruction is used)
 		const float fMinScore(MAXF(depthData.neighbors.First().score*(OPTDENSE::fViewMinScoreRatio*0.1f), OPTDENSE::fViewMinScore));
 		FOREACH(idx, depthData.neighbors) {
 			const ViewScore& neighbor = depthData.neighbors[idx];
 			if ((numNeighbors && depthData.images.GetSize() > numNeighbors) ||
 				(neighbor.score < fMinScore))
 				break;
-			DepthData::ViewData& imageTrg = depthData.images.AddEmpty();
-			imageTrg.pImageData = &scene.images[neighbor.idx.ID];
-			imageTrg.scale = neighbor.idx.scale;
-			imageTrg.camera = imageTrg.pImageData->camera;
-			imageTrg.pImageData->image.toGray(imageTrg.image, cv::COLOR_BGR2GRAY, true);
-			if (imageTrg.ScaleImage(imageTrg.image, imageTrg.image, imageTrg.scale))
-				imageTrg.camera = imageTrg.pImageData->GetCamera(scene.platforms, imageTrg.image.size());
+			DepthData::ViewData& viewTrg = depthData.images.AddEmpty();
+			viewTrg.pImageData = &scene.images[neighbor.idx.ID];
+			viewTrg.scale = neighbor.idx.scale;
+			viewTrg.camera = viewTrg.pImageData->camera;
+			if (loadImages) {
+				viewTrg.pImageData->image.toGray(viewTrg.image, cv::COLOR_BGR2GRAY, true);
+				if (DepthData::ViewData::ScaleImage(viewTrg.image, viewTrg.image, viewTrg.scale))
+					viewTrg.camera = viewTrg.pImageData->GetCamera(scene.platforms, viewTrg.image.size());
+			} else {
+				if (DepthData::ViewData::NeedScaleImage(viewTrg.scale))
+					viewTrg.camera = viewTrg.pImageData->GetCamera(scene.platforms, Image8U::computeResize(viewTrg.pImageData->image.size(), viewTrg.scale));
+			}
 		}
 		#if TD_VERBOSE != TD_VERBOSE_OFF
 		// print selected views
@@ -351,12 +366,87 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 		return false;
 	}
 
-	// init the first image as well
-	DepthData::ViewData& imageRef = depthData.images.First();
-	imageRef.scale = 1;
-	imageRef.pImageData = &scene.images[idxImage];
-	imageRef.pImageData->image.toGray(imageRef.image, cv::COLOR_BGR2GRAY, true);
-	imageRef.camera = imageRef.pImageData->camera;
+	// initialize reference image as well
+	DepthData::ViewData& viewRef = depthData.images.First();
+	viewRef.scale = 1;
+	viewRef.pImageData = &scene.images[idxImage];
+	viewRef.camera = viewRef.pImageData->camera;
+	if (loadImages)
+		viewRef.pImageData->image.toGray(viewRef.image, cv::COLOR_BGR2GRAY, true);
+
+	// initialize views
+	for (IIndex i=1; i<depthData.images.size(); ++i) {
+		DepthData::ViewData& view = depthData.images[i];
+		if (loadDepthMaps > 0) {
+			// load known depth-map
+			String imageFileName;
+			IIndexArr IDs;
+			cv::Size imageSize;
+			Depth dMin, dMax;
+			NormalMap normalMap;
+			ConfidenceMap confMap;
+			ImportDepthDataRaw(ComposeDepthFilePath(view.GetID(), "dmap"),
+				imageFileName, IDs, imageSize, view.cameraDepthMap.K, view.cameraDepthMap.R, view.cameraDepthMap.C,
+				dMin, dMax, view.depthMap, normalMap, confMap, 1);
+		}
+		view.Init(viewRef.camera);
+	}
+
+	if (loadDepthMaps > 0) {
+		// load known depth-map and normal-map
+		String imageFileName;
+		IIndexArr IDs;
+		cv::Size imageSize;
+		Camera camera;
+		ConfidenceMap confMap;
+		if (!ImportDepthDataRaw(ComposeDepthFilePath(viewRef.GetID(), "dmap"),
+				imageFileName, IDs, imageSize, camera.K, camera.R, camera.C, depthData.dMin, depthData.dMax,
+				depthData.depthMap, depthData.normalMap, confMap, 3))
+			return false;
+		ASSERT(viewRef.image.size() == depthData.depthMap.size());
+	} else if (loadDepthMaps == 0) {
+		// initialize depth and normal maps
+		if (OPTDENSE::nMinViewsTrustPoint < 2 || depthData.points.empty()) {
+			// compute depth range and initialize known depths, else random
+			const Image8U::Size size(viewRef.image.size());
+			depthData.depthMap.create(size); depthData.depthMap.memset(0);
+			depthData.normalMap.create(size);
+			if (depthData.points.empty()) {
+				// all values will be initialized randomly
+				depthData.dMin = 1e-1f;
+				depthData.dMax = 1e+2f;
+			} else {
+				// initialize with the sparse point-cloud
+				const int nPixelArea(2); // half windows size around a pixel to be initialize with the known depth
+				depthData.dMin = FLT_MAX;
+				depthData.dMax = 0;
+				FOREACHPTR(pPoint, depthData.points) {
+					const PointCloud::Point& X = scene.pointcloud.points[*pPoint];
+					const Point3 camX(viewRef.camera.TransformPointW2C(Cast<REAL>(X)));
+					const ImageRef x(ROUND2INT(viewRef.camera.TransformPointC2I(camX)));
+					const float d((float)camX.z);
+					const ImageRef sx(MAXF(x.x-nPixelArea,0), MAXF(x.y-nPixelArea,0));
+					const ImageRef ex(MINF(x.x+nPixelArea,size.width-1), MINF(x.y+nPixelArea,size.height-1));
+					for (int y=sx.y; y<=ex.y; ++y) {
+						for (int x=sx.x; x<=ex.x; ++x) {
+							depthData.depthMap(y,x) = d;
+							depthData.normalMap(y,x) = Normal::ZERO;
+						}
+					}
+					if (depthData.dMin > d)
+						depthData.dMin = d;
+					if (depthData.dMax < d)
+						depthData.dMax = d;
+				}
+				depthData.dMin *= 0.9f;
+				depthData.dMax *= 1.1f;
+			}
+		} else {
+			ASSERT(!depthData.points.empty());
+			// compute rough estimates using the sparse point-cloud
+			InitDepthMap(depthData);
+		}
+	}
 	return true;
 } // InitViews
 /*----------------------------------------------------------------*/
@@ -369,7 +459,7 @@ bool DepthMapsData::InitDepthMap(DepthData& depthData)
 
 	ASSERT(depthData.images.GetSize() > 1 && !depthData.points.IsEmpty());
 	const DepthData::ViewData& image(depthData.GetView());
-	TriangulatePoints2DepthMap(image, scene.pointcloud, depthData.points, depthData.depthMap, depthData.normalMap, depthData.dMin, depthData.dMax);
+	TriangulatePoints2DepthMap(image, scene.pointcloud, depthData.points, depthData.depthMap, depthData.normalMap, depthData.dMin, depthData.dMax, OPTDENSE::bAddCorners);
 	depthData.dMin *= 0.9f;
 	depthData.dMax *= 1.1f;
 
@@ -439,11 +529,9 @@ void* STCALL DepthMapsData::EndDepthMapTmp(void* arg)
 		// check if the score is good enough
 		// and that the cross-estimates is close enough to the current estimate
 		if (depth <= 0 || conf >= OPTDENSE::fNCCThresholdKeep) {
-			#if 1 // used if gap-interpolation is active
 			conf = 0;
-			estimator.normalMap0(x) = Normal::ZERO;
-			#endif
 			depth = 0;
+			estimator.normalMap0(x) = Normal::ZERO;
 		} else {
 			#if 1
 			// converted ZNCC [0-2] score, where 0 is best, to [0-1] confidence, where 1 is best
@@ -490,52 +578,28 @@ void* STCALL DepthMapsData::EndDepthMapTmp(void* arg)
 // For each pixel, the depth and normal are scored by computing the NCC score between the patch in the reference image and the wrapped patch in the target image, as dictated by the homography matrix defined by the current values to be estimate.
 // In order to ensure some smoothness while locally estimating each pixel, a bonus is added to the NCC score if the estimate for this pixel is close to the estimates for the neighbor pixels.
 // Optionally, the occluded pixels can be detected by extending the described iterations to the target image and removing the estimates that do not have similar values in both views.
-bool DepthMapsData::EstimateDepthMap(IIndex idxImage)
+//  - nGeometricIter: current geometric-consistent estimation iteration (-1 - normal patch-match)
+bool DepthMapsData::EstimateDepthMap(IIndex idxImage, int nGeometricIter)
 {
+	#ifdef _USE_CUDA
+	if (pmCUDA) {
+		pmCUDA->EstimateDepthMap(arrDepthData[idxImage]);
+		return true;
+	}
+	#endif // _USE_CUDA
+
 	TD_TIMER_STARTD();
 
-	// initialize depth and normal maps
+	// initialize
 	DepthData& depthData(arrDepthData[idxImage]);
 	ASSERT(depthData.images.GetSize() > 1 && !depthData.points.IsEmpty());
 	const DepthData::ViewData& image(depthData.images.First());
 	ASSERT(!image.image.empty() && !depthData.images[1].image.empty());
 	const Image8U::Size size(image.image.size());
-	depthData.depthMap.create(size); depthData.depthMap.memset(0);
-	depthData.normalMap.create(size);
 	depthData.confMap.create(size);
 	const unsigned nMaxThreads(scene.nMaxThreads);
-
-	// initialize the depth-map
-	if (OPTDENSE::nMinViewsTrustPoint < 2) {
-		// compute depth range and initialize known depths
-		const int nPixelArea(2); // half windows size around a pixel to be initialize with the known depth
-		const Camera& camera = depthData.images.First().camera;
-		depthData.dMin = FLT_MAX;
-		depthData.dMax = 0;
-		FOREACHPTR(pPoint, depthData.points) {
-			const PointCloud::Point& X = scene.pointcloud.points[*pPoint];
-			const Point3 camX(camera.TransformPointW2C(Cast<REAL>(X)));
-			const ImageRef x(ROUND2INT(camera.TransformPointC2I(camX)));
-			const float d((float)camX.z);
-			const ImageRef sx(MAXF(x.x-nPixelArea,0), MAXF(x.y-nPixelArea,0));
-			const ImageRef ex(MINF(x.x+nPixelArea,size.width-1), MINF(x.y+nPixelArea,size.height-1));
-			for (int y=sx.y; y<=ex.y; ++y) {
-				for (int x=sx.x; x<=ex.x; ++x) {
-					depthData.depthMap(y,x) = d;
-					depthData.normalMap(y,x) = Normal::ZERO;
-				}
-			}
-			if (depthData.dMin > d)
-				depthData.dMin = d;
-			if (depthData.dMax < d)
-				depthData.dMax = d;
-		}
-		depthData.dMin *= 0.9f;
-		depthData.dMax *= 1.1f;
-	} else {
-		// compute rough estimates using the sparse point-cloud
-		InitDepthMap(depthData);
-	}
+	const unsigned iterBegin(nGeometricIter < 0 ? 0u : OPTDENSE::nEstimationIters+(unsigned)nGeometricIter);
+	const unsigned iterEnd(nGeometricIter < 0 ? OPTDENSE::nEstimationIters : iterBegin+1);
 
 	// init integral images and index to image-ref map for the reference data
 	#if DENSE_NCC == DENSE_NCC_WEIGHTED
@@ -545,9 +609,20 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage)
 	cv::integral(image.image, imageSum0, CV_64F);
 	#endif
 	if (prevDepthMapSize != size) {
-		prevDepthMapSize = size;
 		BitMatrix mask;
+		if (OPTDENSE::nIgnoreMaskLabel >= 0 && DepthEstimator::ImportIgnoreMask(*depthData.GetView().pImageData, depthData.depthMap.size(), mask, (uint16_t)OPTDENSE::nIgnoreMaskLabel))
+			depthData.ApplyIgnoreMask(mask);
 		DepthEstimator::MapMatrix2ZigzagIdx(size, coords, mask, MAXF(64,(int)nMaxThreads*8));
+		#if 0
+		// show pixels to be processed
+		Image8U cmask(size);
+		cmask.memset(0);
+		for (const DepthEstimator::MapRef& x: coords)
+			cmask(x.y, x.x) = 255;
+		cmask.Show("cmask");
+		#endif
+		if (mask.empty())
+			prevDepthMapSize = size;
 	}
 
 	// init threads
@@ -565,7 +640,7 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage)
 		idxPixel = -1;
 		ASSERT(estimators.IsEmpty());
 		while (estimators.GetSize() < nMaxThreads)
-			estimators.AddConstruct(0, depthData, idxPixel,
+			estimators.AddConstruct(iterBegin, depthData, idxPixel,
 				#if DENSE_NCC == DENSE_NCC_WEIGHTED
 				weightMap0,
 				#else
@@ -582,7 +657,7 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage)
 		estimators.Release();
 		#if TD_VERBOSE != TD_VERBOSE_OFF
 		// save rough depth map as image
-		if (g_nVerbosityLevel > 4) {
+		if (g_nVerbosityLevel > 4 && nGeometricIter < 0) {
 			ExportDepthMap(ComposeDepthFilePath(image.GetID(), "rough.png"), depthData.depthMap);
 			ExportNormalMap(ComposeDepthFilePath(image.GetID(), "rough.normal.png"), depthData.normalMap);
 			ExportPointCloud(ComposeDepthFilePath(image.GetID(), "rough.ply"), *depthData.images.First().pImageData, depthData.depthMap, depthData.normalMap);
@@ -591,7 +666,7 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage)
 	}
 
 	// run propagation and random refinement cycles on the reference data
-	for (unsigned iter=0; iter<OPTDENSE::nEstimationIters; ++iter) {
+	for (unsigned iter=iterBegin; iter<iterEnd; ++iter) {
 		// create working threads
 		idxPixel = -1;
 		ASSERT(estimators.IsEmpty());
@@ -614,7 +689,9 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage)
 		#if 1 && TD_VERBOSE != TD_VERBOSE_OFF
 		// save intermediate depth map as image
 		if (g_nVerbosityLevel > 4) {
-			const String path(ComposeDepthFilePath(image.GetID(), "iter")+String::ToString(iter));
+			String path(ComposeDepthFilePath(image.GetID(), "iter")+String::ToString(iter));
+			if (nGeometricIter >= 0)
+				path += String::FormatString(".geo%d", nGeometricIter);
 			ExportDepthMap(path+".png", depthData.depthMap);
 			ExportNormalMap(path+".normal.png", depthData.normalMap);
 			ExportPointCloud(path+".ply", *depthData.images.First().pImageData, depthData.depthMap, depthData.normalMap);
@@ -624,6 +701,9 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage)
 
 	// remove all estimates with too big score and invert confidence map
 	{
+		const float fNCCThresholdKeep(OPTDENSE::fNCCThresholdKeep);
+		if (nGeometricIter < 0 && OPTDENSE::nEstimationGeometricIters)
+			OPTDENSE::fNCCThresholdKeep *= 1.5f;
 		// create working threads
 		idxPixel = -1;
 		ASSERT(estimators.IsEmpty());
@@ -643,6 +723,7 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage)
 		FOREACHPTR(pThread, threads)
 			pThread->join();
 		estimators.Release();
+		OPTDENSE::fNCCThresholdKeep = fNCCThresholdKeep;
 	}
 
 	DEBUG_EXTRA("Depth-map for image %3u %s: %dx%d (%s)", image.GetID(),
@@ -1142,14 +1223,79 @@ bool DepthMapsData::FilterDepthMap(DepthData& depthDataRef, const IIndexArr& idx
 		!SaveConfidenceMap(ComposeDepthFilePath(imageRef.GetID(), "filtered.cmap"), newConfMap))
 		return false;
 
-	#if TD_VERBOSE != TD_VERBOSE_OFF
-	DEBUG("Depth map %3u filtered using %u other images: %u/%u depths discarded (%s)", imageRef.GetID(), N, nDiscarded, nProcessed, TD_TIMER_GET_FMT().c_str());
-	#endif
-
+	DEBUG("Depth map %3u filtered using %u other images: %u/%u depths discarded (%s)",
+		imageRef.GetID(), N, nDiscarded, nProcessed, TD_TIMER_GET_FMT().c_str());
 	return true;
 } // FilterDepthMap
 /*----------------------------------------------------------------*/
 
+
+// fuse all depth-maps by simply projecting them in a 3D point cloud
+// in the world coordinate space
+void DepthMapsData::MergeDepthMaps(PointCloud& pointcloud, bool bEstimateColor, bool bEstimateNormal)
+{
+	TD_TIMER_STARTD();
+
+	// estimate total number of 3D points that will be generated
+	size_t nPointsEstimate(0);
+	for (const DepthData& depthData: arrDepthData)
+		if (depthData.IsValid())
+			nPointsEstimate += (size_t)depthData.depthMap.size().area()*7/10;
+
+	// fuse all depth-maps
+	size_t nDepthMaps(0), nDepths(0);
+	pointcloud.points.reserve(nPointsEstimate);
+	pointcloud.pointViews.reserve(nPointsEstimate);
+	if (bEstimateColor)
+		pointcloud.colors.reserve(nPointsEstimate);
+	if (bEstimateNormal)
+		pointcloud.normals.reserve(nPointsEstimate);
+	Util::Progress progress(_T("Merged depth-maps"), arrDepthData.size());
+	GET_LOGCONSOLE().Pause();
+	FOREACH(idxImage, arrDepthData) {
+		TD_TIMER_STARTD();
+		DepthData& depthData = arrDepthData[idxImage];
+		ASSERT(depthData.GetView().GetLocalID(scene.images) == idxImage);
+		if (!depthData.IsValid())
+			continue;
+		if (depthData.IncRef(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap")) == 0)
+			return;
+		ASSERT(!depthData.IsEmpty());
+		const DepthData::ViewData& image = depthData.GetView();
+		const size_t nNumPointsPrev(pointcloud.points.size());
+		for (int i=0; i<depthData.depthMap.rows; ++i) {
+			for (int j=0; j<depthData.depthMap.cols; ++j) {
+				// ignore invalid depth
+				const ImageRef x(j,i);
+				const Depth depth(depthData.depthMap(x));
+				if (depth == 0)
+					continue;
+				ASSERT(ISINSIDE(depth, depthData.dMin, depthData.dMax));
+				// create the corresponding 3D point
+				pointcloud.points.emplace_back(image.camera.TransformPointI2W(Point3(Cast<float>(x),depth)));
+				pointcloud.pointViews.emplace_back().push_back(idxImage);
+				if (bEstimateColor)
+					pointcloud.colors.emplace_back(image.pImageData->image(x));
+				if (bEstimateNormal)
+					depthData.GetNormal(x, pointcloud.normals.emplace_back());
+				++nDepths;
+			}
+		}
+		depthData.DecRef();
+		++nDepthMaps;
+		ASSERT(pointcloud.points.size() == pointcloud.pointViews.size());
+		DEBUG_ULTIMATE("Depths map for reference image %3u merged using %u depths maps: %u new points (%s)",
+			idxImage, depthData.images.size()-1, pointcloud.points.size()-nNumPointsPrev, TD_TIMER_GET_FMT().c_str());
+		progress.display(idxImage+1);
+	}
+	GET_LOGCONSOLE().Play();
+	progress.close();
+
+	DEBUG_EXTRA("Depth-maps merged: %u depth-maps, %u depths, %u points (%d%%%%) (%s)",
+		nDepthMaps, nDepths, pointcloud.points.size(), ROUND2INT(100.f*pointcloud.points.size()/nDepths), TD_TIMER_GET_FMT().c_str());
+} // MergeDepthMaps
+/*----------------------------------------------------------------*/
+
 // fuse all valid depth-maps in the same 3D point cloud;
 // join points very likely to represent the same 3D point and
 // filter out points blocking the view
@@ -1375,10 +1521,9 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 	}
 
 	// release all depth-maps
-	FOREACHPTR(pDepthData, arrDepthData) {
-		if (pDepthData->IsValid())
-			pDepthData->DecRef();
-	}
+	for (DepthData& depthData: arrDepthData)
+		if (depthData.IsValid())
+			depthData.DecRef();
 } // FuseDepthMaps
 /*----------------------------------------------------------------*/
 
@@ -1387,7 +1532,7 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 // S T R U C T S ///////////////////////////////////////////////////
 
 DenseDepthMapData::DenseDepthMapData(Scene& _scene, int _nFusionMode)
-	: scene(_scene), depthMaps(_scene), idxImage(0), sem(1), nFusionMode(_nFusionMode)
+	: scene(_scene), depthMaps(_scene), idxImage(0), sem(1), nEstimationGeometricIter(-1), nFusionMode(_nFusionMode)
 {
 	if (nFusionMode < 0) {
 		STEREO::SemiGlobalMatcher::CreateThreads(scene.nMaxThreads);
@@ -1428,7 +1573,13 @@ bool Scene::DenseReconstruction(int nFusionMode)
 
 	// fuse all depth-maps
 	pointcloud.Release();
-	data.depthMaps.FuseDepthMaps(pointcloud, OPTDENSE::nEstimateColors == 2, OPTDENSE::nEstimateNormals == 2);
+	if (OPTDENSE::nMinViewsFuse < 2) {
+		// merge depth-maps
+		data.depthMaps.MergeDepthMaps(pointcloud, OPTDENSE::nEstimateColors == 2, OPTDENSE::nEstimateNormals == 2);
+	} else {
+		// fuse depth-maps
+		data.depthMaps.FuseDepthMaps(pointcloud, OPTDENSE::nEstimateColors == 2, OPTDENSE::nEstimateNormals == 2);
+	}
 	#if TD_VERBOSE != TD_VERBOSE_OFF
 	if (g_nVerbosityLevel > 2) {
 		// print number of points with 3+ views
@@ -1452,6 +1603,13 @@ bool Scene::DenseReconstruction(int nFusionMode)
 	#endif
 
 	if (!pointcloud.IsEmpty()) {
+		if (IsBounded()) {
+			TD_TIMER_START();
+			const size_t numPoints = pointcloud.GetSize();
+			pointcloud.RemovePointsOutside(obb);
+			VERBOSE("Point-cloud trimmed to ROI: %u points removed (%s)",
+				numPoints-pointcloud.GetSize(), TD_TIMER_GET_FMT().c_str());
+		}
 		if (pointcloud.colors.IsEmpty() && OPTDENSE::nEstimateColors == 1)
 			EstimatePointColors(images, pointcloud);
 		if (pointcloud.normals.IsEmpty() && OPTDENSE::nEstimateNormals == 1)
@@ -1465,6 +1623,12 @@ bool Scene::DenseReconstruction(int nFusionMode)
 // results are saved to "data"
 bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 {
+	// compute point-cloud from the existing mesh
+	if (pointcloud.IsEmpty() && !mesh.IsEmpty() && !ImagesHaveNeighbors()) {
+		SampleMeshWithVisibility();
+		mesh.Release();
+	}
+
 	{
 	// maps global view indices to our list of views to be processed
 	IIndexArr imagesMap;
@@ -1503,7 +1667,8 @@ bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 				data.images.Insert(idxImage);
 			}
 			// reload image at the appropriate resolution
-			const unsigned nMaxResolution(imageData.RecomputeMaxResolution(OPTDENSE::nResolutionLevel, OPTDENSE::nMinResolution, OPTDENSE::nMaxResolution));
+			unsigned nResolutionLevel(OPTDENSE::nResolutionLevel);
+			const unsigned nMaxResolution(imageData.RecomputeMaxResolution(nResolutionLevel, OPTDENSE::nMinResolution, OPTDENSE::nMaxResolution));
 			if (!imageData.ReloadImage(nMaxResolution)) {
 				#ifdef DENSE_USE_OPENMP
 				bAbort = true;
@@ -1568,7 +1733,18 @@ bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 	}
 	}
 
+	#ifdef _USE_CUDA
+	// initialize CUDA
+	if (OPTDENSE::nCUDADevice >= 0) {
+		data.depthMaps.pmCUDA = new PatchMatchCUDA(OPTDENSE::nCUDADevice);
+		data.depthMaps.pmCUDA->Init(false);
+	}
+	#endif // _USE_CUDA
+
 	// initialize the queue of images to be processed
+	const int nOptimize(OPTDENSE::nOptimize);
+	if (OPTDENSE::nEstimationGeometricIters)
+		OPTDENSE::nOptimize = 0;
 	data.idxImage = 0;
 	ASSERT(data.events.IsEmpty());
 	data.events.AddEvent(new EVTProcessImage(0));
@@ -1591,6 +1767,51 @@ bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 		return false;
 	data.progress.Release();
 
+
+	#ifdef _USE_CUDA
+	// initialize CUDA
+	if (OPTDENSE::nCUDADevice >= 0 && OPTDENSE::nEstimationGeometricIters) {
+		data.depthMaps.pmCUDA->Release();
+		data.depthMaps.pmCUDA->Init(true);
+	}
+	#endif // _USE_CUDA
+	while (++data.nEstimationGeometricIter < (int)OPTDENSE::nEstimationGeometricIters) {
+		// initialize the queue of images to be geometric processed
+		if (data.nEstimationGeometricIter+1 == (int)OPTDENSE::nEstimationGeometricIters)
+			OPTDENSE::nOptimize = nOptimize;
+		data.idxImage = 0;
+		ASSERT(data.events.IsEmpty());
+		data.events.AddEvent(new EVTProcessImage(0));
+		// start working threads
+		data.progress = new Util::Progress("Geometric-consistent estimated depth-maps", data.images.GetSize());
+		GET_LOGCONSOLE().Pause();
+		if (nMaxThreads > 1) {
+			// multi-thread execution
+			cList<SEACAVE::Thread> threads(2);
+			FOREACHPTR(pThread, threads)
+				pThread->start(DenseReconstructionEstimateTmp, (void*)&data);
+			FOREACHPTR(pThread, threads)
+				pThread->join();
+		} else {
+			// single-thread execution
+			DenseReconstructionEstimate((void*)&data);
+		}
+		GET_LOGCONSOLE().Play();
+		if (!data.events.IsEmpty())
+			return false;
+		data.progress.Release();
+		// replace raw depth-maps with the geometric-consistent ones
+		for (IIndex idx: data.images) {
+			const DepthData& depthData(data.depthMaps.arrDepthData[idx]);
+			if (!depthData.IsValid())
+				continue;
+			const String rawName(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"));
+			File::deleteFile(rawName);
+			File::renameFile(ComposeDepthFilePath(depthData.GetView().GetID(), "geo.dmap"), rawName);
+		}
+	}
+	data.nEstimationGeometricIter = -1;
+
 	if ((OPTDENSE::nOptimize & OPTDENSE::ADJUST_FILTER) != 0) {
 		// initialize the queue of depth-maps to be filtered
 		data.sem.Clear();
@@ -1636,7 +1857,7 @@ void Scene::DenseReconstructionEstimate(void* pData)
 		switch (evt->GetID()) {
 		case EVT_PROCESSIMAGE: {
 			const EVTProcessImage& evtImage = *((EVTProcessImage*)(Event*)evt);
-			if (evtImage.idxImage >= data.images.GetSize()) {
+			if (evtImage.idxImage >= data.images.size()) {
 				if (nMaxThreads > 1) {
 					// close working threads
 					data.events.AddEvent(new EVTClose);
@@ -1646,15 +1867,16 @@ void Scene::DenseReconstructionEstimate(void* pData)
 			// select views to reconstruct the depth-map for this image
 			const IIndex idx = data.images[evtImage.idxImage];
 			DepthData& depthData(data.depthMaps.arrDepthData[idx]);
-			// init images pair: reference image and the best neighbor view
+			const bool depthmapComputed(data.nFusionMode >= 0 && data.nEstimationGeometricIter < 0 && File::access(ComposeDepthFilePath(data.scene.images[idx].ID, "dmap")));
+			// initialize images pair: reference image and the best neighbor view
 			ASSERT(data.neighborsMap.IsEmpty() || data.neighborsMap[evtImage.idxImage] != NO_ID);
-			if (!data.depthMaps.InitViews(depthData, data.neighborsMap.IsEmpty()?NO_ID:data.neighborsMap[evtImage.idxImage], OPTDENSE::nNumViews)) {
+			if (!data.depthMaps.InitViews(depthData, data.neighborsMap.IsEmpty()?NO_ID:data.neighborsMap[evtImage.idxImage], OPTDENSE::nNumViews, !depthmapComputed, depthmapComputed ? -1 : (data.nEstimationGeometricIter >= 0 ? 1 : 0))) {
 				// process next image
 				data.events.AddEvent(new EVTProcessImage((IIndex)Thread::safeInc(data.idxImage)));
 				break;
 			}
 			// try to load already compute depth-map for this image
-			if (data.nFusionMode >= 0 && File::access(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"))) {
+			if (depthmapComputed) {
 				if (OPTDENSE::nOptimize & OPTDENSE::OPTIMIZE) {
 					if (!depthData.Load(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"))) {
 						VERBOSE("error: invalid depth-map '%s'", ComposeDepthFilePath(depthData.GetView().GetID(), "dmap").c_str());
@@ -1679,7 +1901,7 @@ void Scene::DenseReconstructionEstimate(void* pData)
 			data.sem.Wait();
 			if (data.nFusionMode >= 0) {
 				// extract depth-map using Patch-Match algorithm
-				data.depthMaps.EstimateDepthMap(data.images[evtImage.idxImage]);
+				data.depthMaps.EstimateDepthMap(data.images[evtImage.idxImage], data.nEstimationGeometricIter);
 			} else {
 				// extract disparity-maps using SGM algorithm
 				if (data.nFusionMode == -1) {
@@ -1748,7 +1970,7 @@ void Scene::DenseReconstructionEstimate(void* pData)
 			#endif
 			// save compute depth-map for this image
 			if (!depthData.depthMap.empty())
-				depthData.Save(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"));
+				depthData.Save(ComposeDepthFilePath(depthData.GetView().GetID(), data.nEstimationGeometricIter < 0 ? "dmap" : "geo.dmap"));
 			depthData.ReleaseImages();
 			depthData.Release();
 			data.progress->operator++();
@@ -1865,7 +2087,7 @@ void Scene::PointCloudFilter(int thRemove)
 {
 	TD_TIMER_STARTD();
 
-	typedef TOctree<PointCloud::PointArr,PointCloud::Point::Type,3,uint32_t,128> Octree;
+	typedef TOctree<PointCloud::PointArr,PointCloud::Point::Type,3,uint32_t> Octree;
 	struct Collector {
 		typedef Octree::IDX_TYPE IDX;
 		typedef PointCloud::Point::Type Real;
@@ -1922,7 +2144,9 @@ void Scene::PointCloudFilter(int thRemove)
 	typedef CLISTDEF2(Collector) Collectors;
 
 	// create octree to speed-up search
-	Octree octree(pointcloud.points);
+	Octree octree(pointcloud.points, [](Octree::IDX_TYPE size, Octree::Type /*radius*/) {
+		return size > 128;
+	});
 	IntArr visibility(pointcloud.GetSize()); visibility.Memset(0);
 	Collectors collectors; collectors.reserve(images.size());
 	FOREACH(idxView, images) {
diff --git a/libs/MVS/SceneDensify.h b/libs/MVS/SceneDensify.h
index 2f21142ab..d8a14b70e 100644
--- a/libs/MVS/SceneDensify.h
+++ b/libs/MVS/SceneDensify.h
@@ -44,7 +44,10 @@ namespace MVS {
 	
 // Forward declarations
 class MVS_API Scene;
-	
+#ifdef _USE_CUDA
+class PatchMatchCUDA;
+#endif // _USE_CUDA
+
 // structure used to compute all depth-maps
 class MVS_API DepthMapsData
 {
@@ -54,14 +57,15 @@ class MVS_API DepthMapsData
 
 	bool SelectViews(IIndexArr& images, IIndexArr& imagesMap, IIndexArr& neighborsMap);
 	bool SelectViews(DepthData& depthData);
-	bool InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex numNeighbors);
+	bool InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex numNeighbors, bool loadImages, int loadDepthMaps);
 	bool InitDepthMap(DepthData& depthData);
-	bool EstimateDepthMap(IIndex idxImage);
+	bool EstimateDepthMap(IIndex idxImage, int nGeometricIter);
 
 	bool RemoveSmallSegments(DepthData& depthData);
 	bool GapInterpolation(DepthData& depthData);
 
 	bool FilterDepthMap(DepthData& depthData, const IIndexArr& idxNeighbors, bool bAdjust=true);
+	void MergeDepthMaps(PointCloud& pointcloud, bool bEstimateColor, bool bEstimateNormal);
 	void FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, bool bEstimateNormal);
 
 protected:
@@ -79,6 +83,11 @@ class MVS_API DepthMapsData
 	Image8U::Size prevDepthMapSizeTrg; // ... same for target image
 	DepthEstimator::MapRefArr coords; // map pixel index to zigzag matrix coordinates
 	DepthEstimator::MapRefArr coordsTrg; // ... same for target image
+
+	#ifdef _USE_CUDA
+	// used internally to estimate the depth-maps using CUDA
+	CAutoPtr<PatchMatchCUDA> pmCUDA;
+	#endif // _USE_CUDA
 };
 /*----------------------------------------------------------------*/
 
@@ -91,6 +100,7 @@ struct MVS_API DenseDepthMapData {
 	SEACAVE::EventQueue events; // internal events queue (processed by the working threads)
 	Semaphore sem;
 	CAutoPtr<Util::Progress> progress;
+	int nEstimationGeometricIter;
 	int nFusionMode;
 	STEREO::SemiGlobalMatcher sgm;
 
diff --git a/libs/MVS/SceneReconstruct.cpp b/libs/MVS/SceneReconstruct.cpp
index 5a87e74f4..005d975e8 100644
--- a/libs/MVS/SceneReconstruct.cpp
+++ b/libs/MVS/SceneReconstruct.cpp
@@ -333,7 +333,7 @@ inline Plane getFacetPlane(const facet_t& facet)
 
 // Check if a point (p) is coplanar with a triangle (a, b, c);
 // return orientation type
-#ifdef __GNUC__
+#if _PLATFORM_X86 && defined(__GNUC__)
 #pragma GCC push_options
 #pragma GCC target ("no-fma")
 #endif
@@ -364,7 +364,7 @@ static inline int orientation(const point_t& a, const point_t& b, const point_t&
 	return CGAL::COPLANAR;
 	#endif
 }
-#ifdef __GNUC__
+#if _PLATFORM_X86 && defined(__GNUC__)
 #pragma GCC pop_options
 #endif
 
diff --git a/libs/MVS/SceneRefine.cpp b/libs/MVS/SceneRefine.cpp
index 6cca7b809..303c0df1b 100644
--- a/libs/MVS/SceneRefine.cpp
+++ b/libs/MVS/SceneRefine.cpp
@@ -81,9 +81,6 @@ class MeshRefine {
 	typedef TPoint3<Real> Grad;
 	typedef CLISTDEF0IDX(Grad,VIndex) GradArr;
 
-	typedef std::unordered_set<FIndex> CameraFaces;
-	typedef SEACAVE::cList<CameraFaces,const CameraFaces&,2> CameraFacesArr;
-
 	typedef TImage<cuint32_t> FaceMap;
 	typedef TImage<Point3f> BaryMap;
 
@@ -114,16 +111,15 @@ class MeshRefine {
 			faceMap.memset((uint8_t)NO_ID);
 			baryMap.memset(0);
 		}
-		void Raster(const ImageRef& pt) {
-			if (!depthMap.isInsideWithBorder<int,4>(pt))
-				return;
-			const float z((float)INVERT(normalPlane.dot(camera.TransformPointI2C(Point2(pt)))));
-			ASSERT(z > 0);
+		void Raster(const ImageRef& pt, const Point3f& bary) {
+			const Point3f pbary(PerspectiveCorrectBarycentricCoordinates(bary));
+			const Depth z(ComputeDepth(pbary));
+			ASSERT(z > Depth(0));
 			Depth& depth = depthMap(pt);
 			if (depth == 0 || depth > z) {
 				depth = z;
 				faceMap(pt) = idxFace;
-				baryMap(pt) = CorrectBarycentricCoordinates(BarycentricCoordinatesUV(pti[0], pti[1], pti[2], Point2f(pt)));
+				baryMap(pt) = pbary;
 			}
 		}
 	};
@@ -152,7 +148,7 @@ class MeshRefine {
 
 	static bool IsDepthSimilar(const DepthMap& depthMap, const Point2f& pt, Depth z);
 	static void ProjectMesh(
-		const Mesh::VertexArr& vertices, const Mesh::FaceArr& faces, const CameraFaces& cameraFaces,
+		const Mesh::VertexArr& vertices, const Mesh::FaceArr& faces, const Mesh::FaceIdxArr& cameraFaces,
 		const Camera& camera, const Image8U::Size& size,
 		DepthMap& depthMap, FaceMap& faceMap, BaryMap& baryMap);
 	static void ImageMeshWarp(
@@ -188,7 +184,7 @@ class MeshRefine {
 	void WaitThreadWorkers(size_t nJobs);
 	void ThSelectNeighbors(uint32_t idxImage, std::unordered_set<uint64_t>& mapPairs, unsigned nMaxViews);
 	void ThInitImage(uint32_t idxImage, Real scale, Real sigma);
-	void ThProjectMesh(uint32_t idxImage, const CameraFaces& cameraFaces);
+	void ThProjectMesh(uint32_t idxImage, const Mesh::FaceIdxArr& cameraFaces);
 	void ThProcessPair(uint32_t idxImageA, uint32_t idxImageB);
 	void ThSmoothVertices1(VIndex idxStart, VIndex idxEnd);
 	void ThSmoothVertices2(VIndex idxStart, VIndex idxEnd);
@@ -297,12 +293,12 @@ class EVTProjectMesh : public Event
 {
 public:
 	uint32_t idxImage;
-	const MeshRefine::CameraFaces& cameraFaces;
+	const Mesh::FaceIdxArr& cameraFaces;
 	bool Run(void* pArgs) {
 		((MeshRefine*)pArgs)->ThProjectMesh(idxImage, cameraFaces);
 		return true;
 	}
-	EVTProjectMesh(uint32_t _idxImage, const MeshRefine::CameraFaces& _cameraFaces) : Event(EVT_JOB), idxImage(_idxImage), cameraFaces(_cameraFaces) {}
+	EVTProjectMesh(uint32_t _idxImage, const Mesh::FaceIdxArr& _cameraFaces) : Event(EVT_JOB), idxImage(_idxImage), cameraFaces(_cameraFaces) {}
 };
 class EVTProcessPair : public Event
 {
@@ -415,39 +411,19 @@ void MeshRefine::ListVertexFacesPost()
 void MeshRefine::ListCameraFaces()
 {
 	// extract array of faces viewed by each camera
-	CameraFacesArr arrCameraFaces(images.GetSize());
-	{
-	struct FacesInserter {
-		FacesInserter(const Mesh::VertexFacesArr& _vertexFaces, CameraFaces& _cameraFaces)
-			: vertexFaces(_vertexFaces), cameraFaces(_cameraFaces) {}
-		inline void operator() (IDX idxVertex) {
-			const Mesh::FaceIdxArr& vertexTris = vertexFaces[idxVertex];
-			FOREACHPTR(pTri, vertexTris)
-				cameraFaces.emplace(*pTri);
-		}
-		inline void operator() (const IDX* idices, size_t size) {
-			FOREACHRAWPTR(pIdxVertex, idices, size)
-				operator()(*pIdxVertex);
+	typedef SEACAVE::cList<Mesh::FaceIdxArr,const Mesh::FaceIdxArr&,2> CameraFacesArr;
+	CameraFacesArr arrCameraFaces(images.GetSize()); {
+		Mesh::Octree octree;
+		Mesh::FacesInserter::CreateOctree(octree, scene.mesh);
+		FOREACH(ID, images) {
+			const Image& imageData = images[ID];
+			if (!imageData.IsValid())
+				continue;
+			typedef TFrustum<float,5> Frustum;
+			const Frustum frustum(Frustum::MATRIX3x4(((PMatrix::CEMatMap)imageData.camera.P).cast<float>()), (float)imageData.width, (float)imageData.height);
+			Mesh::FacesInserter inserter(arrCameraFaces[ID]);
+			octree.Traverse(frustum, inserter);
 		}
-		const Mesh::VertexFacesArr& vertexFaces;
-		CameraFaces& cameraFaces;
-	};
-	typedef TOctree<Mesh::VertexArr,float,3> Octree;
-	const Octree octree(vertices);
-	#if 0 && !defined(_RELEASE)
-	Octree::DEBUGINFO_TYPE info;
-	octree.GetDebugInfo(&info);
-	Octree::LogDebugInfo(info);
-	#endif
-	FOREACH(ID, images) {
-		const Image& imageData = images[ID];
-		if (!imageData.IsValid())
-			continue;
-		typedef TFrustum<float,5> Frustum;
-		FacesInserter inserter(vertexFaces, arrCameraFaces[ID]);
-		const Frustum frustum(Frustum::MATRIX3x4(((PMatrix::CEMatMap)imageData.camera.P).cast<float>()), (float)imageData.width, (float)imageData.height);
-		octree.Traverse(frustum, inserter);
-	}
 	}
 
 	// project mesh to each camera plane
@@ -749,7 +725,7 @@ bool MeshRefine::IsDepthSimilar(const DepthMap& depthMap, const Point2f& pt, Dep
 
 // project mesh to the given camera plane
 void MeshRefine::ProjectMesh(
-	const Mesh::VertexArr& vertices, const Mesh::FaceArr& faces, const CameraFaces& cameraFaces,
+	const Mesh::VertexArr& vertices, const Mesh::FaceArr& faces, const Mesh::FaceIdxArr& cameraFaces,
 	const Camera& camera, const Image8U::Size& size,
 	DepthMap& depthMap, FaceMap& faceMap, BaryMap& baryMap)
 {
@@ -1070,9 +1046,13 @@ void MeshRefine::ThSelectNeighbors(uint32_t idxImage, std::unordered_set<uint64_
 	const float fMinArea(0.1f);
 	const float fMinScale(0.2f), fMaxScale(3.2f);
 	const float fMinAngle(FD2R(2.5f)), fMaxAngle(FD2R(45.f));
-	const Image& imageData = images[idxImage];
+	Image& imageData = images[idxImage];
 	if (!imageData.IsValid())
 		return;
+	if (imageData.neighbors.IsEmpty()) {
+		IndexArr points;
+		scene.SelectNeighborViews(idxImage, points);
+	}
 	ViewScoreArr neighbors(imageData.neighbors);
 	Scene::FilterNeighborViews(neighbors, fMinArea, fMinScale, fMaxScale, fMinAngle, fMaxAngle, nMaxViews);
 	Lock l(cs);
@@ -1123,7 +1103,7 @@ void MeshRefine::ThInitImage(uint32_t idxImage, Real scale, Real sigma)
 	#endif
 	cv::merge(grad, 2, view.imageGrad);
 }
-void MeshRefine::ThProjectMesh(uint32_t idxImage, const CameraFaces& cameraFaces)
+void MeshRefine::ThProjectMesh(uint32_t idxImage, const Mesh::FaceIdxArr& cameraFaces)
 {
 	const Image& imageData = images[idxImage];
 	if (!imageData.IsValid())
@@ -1302,6 +1282,9 @@ bool Scene::RefineMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsig
 					   unsigned nScales, float fScaleStep,
 					   unsigned nReduceMemory, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity, float fThPlanarVertex, float fGradientStep)
 {
+	if (pointcloud.IsEmpty() && !ImagesHaveNeighbors())
+		SampleMeshWithVisibility();
+
 	MeshRefine refine(*this, nReduceMemory, nAlternatePair, fRegularityWeight, fRatioRigidityElasticity, nResolutionLevel, nMinResolution, nMaxViews, nMaxThreads);
 	if (!refine.IsValid())
 		return false;
diff --git a/libs/MVS/SceneRefineCUDA.cpp b/libs/MVS/SceneRefineCUDA.cpp
index 9d9205fdd..a0caa546d 100644
--- a/libs/MVS/SceneRefineCUDA.cpp
+++ b/libs/MVS/SceneRefineCUDA.cpp
@@ -1944,7 +1944,7 @@ typedef Mesh::FIndex FIndex;
 
 class MeshRefineCUDA {
 public:
-	typedef std::unordered_set<FIndex> CameraFaces;
+	typedef Mesh::FaceIdxArr CameraFaces;
 	typedef SEACAVE::cList<CameraFaces,const CameraFaces&,2> CameraFacesArr;
 
 	// store necessary data about a view
@@ -2301,39 +2301,18 @@ void MeshRefineCUDA::ListVertexFacesPost()
 void MeshRefineCUDA::ListCameraFaces()
 {
 	// extract array of faces viewed by each camera
-	CameraFacesArr arrCameraFaces(images.GetSize());
-	{
-	struct FacesInserter {
-		FacesInserter(const Mesh::VertexFacesArr& _vertexFaces, CameraFaces& _cameraFaces)
-			: vertexFaces(_vertexFaces), cameraFaces(_cameraFaces) {}
-		inline void operator() (IDX idxVertex) {
-			const Mesh::FaceIdxArr& vertexTris = vertexFaces[idxVertex];
-			FOREACHPTR(pTri, vertexTris)
-				cameraFaces.emplace(*pTri);
-		}
-		inline void operator() (const IDX* idices, size_t size) {
-			FOREACHRAWPTR(pIdxVertex, idices, size)
-				operator()(*pIdxVertex);
+	CameraFacesArr arrCameraFaces(images.GetSize()); {
+		Mesh::Octree octree;
+		Mesh::FacesInserter::CreateOctree(octree, scene.mesh);
+		FOREACH(ID, images) {
+			const Image& imageData = images[ID];
+			if (!imageData.IsValid())
+				continue;
+			typedef TFrustum<float,5> Frustum;
+			const Frustum frustum(Frustum::MATRIX3x4(((PMatrix::CEMatMap)imageData.camera.P).cast<float>()), (float)imageData.width, (float)imageData.height);
+			Mesh::FacesInserter inserter(arrCameraFaces[ID]);
+			octree.Traverse(frustum, inserter);
 		}
-		const Mesh::VertexFacesArr& vertexFaces;
-		CameraFaces& cameraFaces;
-	};
-	typedef TOctree<Mesh::VertexArr,float,3> Octree;
-	const Octree octree(scene.mesh.vertices);
-	#if 0 && !defined(_RELEASE)
-	Octree::DEBUGINFO_TYPE info;
-	octree.GetDebugInfo(&info);
-	Octree::LogDebugInfo(info);
-	#endif
-	FOREACH(ID, images) {
-		const Image& imageData = images[ID];
-		if (!imageData.IsValid())
-			continue;
-		typedef TFrustum<float,5> Frustum;
-		FacesInserter inserter(scene.mesh.vertexFaces, arrCameraFaces[ID]);
-		const Frustum frustum(Frustum::MATRIX3x4(((PMatrix::CEMatMap)imageData.camera.P).cast<float>()), (float)imageData.width, (float)imageData.height);
-		octree.Traverse(frustum, inserter);
-	}
 	}
 
 	// project mesh to each camera plane
@@ -2810,6 +2789,9 @@ bool Scene::RefineMeshCUDA(unsigned nResolutionLevel, unsigned nMinResolution, u
 						   float fDecimateMesh, unsigned nCloseHoles, unsigned nEnsureEdgeSize, unsigned nMaxFaceArea,
 						   unsigned nScales, float fScaleStep, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity, float fGradientStep)
 {
+	if (pointcloud.IsEmpty() && !ImagesHaveNeighbors())
+		SampleMeshWithVisibility();
+
 	MeshRefineCUDA refine(*this, nAlternatePair, fRegularityWeight, fRatioRigidityElasticity, nResolutionLevel, nMinResolution, nMaxViews);
 	if (!refine.IsValid())
 		return false;
diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index 400616c5c..084a5fa5b 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -157,11 +157,10 @@ struct MeshTexture {
 			Base::Clear();
 			faceMap.memset((uint8_t)NO_ID);
 		}
-		void Raster(const ImageRef& pt) {
-			if (!depthMap.isInside(pt))
-				return;
-			const Depth z((Depth)INVERT(normalPlane.dot(camera.TransformPointI2C(Point2(pt)))));
-			ASSERT(z > 0);
+		void Raster(const ImageRef& pt, const Point3f& bary) {
+			const Point3f pbary(PerspectiveCorrectBarycentricCoordinates(bary));
+			const Depth z(ComputeDepth(pbary));
+			ASSERT(z > Depth(0));
 			Depth& depth = depthMap(pt);
 			if (depth == 0 || depth > z) {
 				depth = z;
@@ -318,16 +317,11 @@ struct MeshTexture {
 		const TexCoord* tri;
 		Color colors[3];
 		ColorMap& image;
-
 		inline RasterPatchColorData(ColorMap& _image) : image(_image) {}
-		inline void operator()(const ImageRef& pt) {
-			const Point3f b(BarycentricCoordinates(tri[0], tri[1], tri[2], TexCoord(pt)));
-			#if 0
-			if (b.x<0 || b.y<0 || b.z<0)
-				return; // outside triangle
-			#endif
+		inline cv::Size Size() const { return image.size(); }
+		inline void operator()(const ImageRef& pt, const Point3f& bary) {
 			ASSERT(image.isInside(pt));
-			image(pt) = colors[0]*b.x + colors[1]*b.y + colors[2]*b.z;
+			image(pt) = colors[0]*bary.x + colors[1]*bary.y + colors[2]*bary.z;
 		}
 	};
 
@@ -335,7 +329,6 @@ struct MeshTexture {
 	struct RasterPatchCoverageData {
 		const TexCoord* tri;
 		Image8U& image;
-
 		inline RasterPatchCoverageData(Image8U& _image) : image(_image) {}
 		inline void operator()(const ImageRef& pt) {
 			ASSERT(image.isInside(pt));
@@ -353,7 +346,6 @@ struct MeshTexture {
 		const TexCoord p1, p1Dir;
 		const float length;
 		const Sampler sampler;
-
 		inline RasterPatchMeanEdgeData(Image32F3& _image, Image8U& _mask, const Image32F3& _image0, const Image8U3& _image1,
 									   const TexCoord& _p0, const TexCoord& _p0Adj, const TexCoord& _p1, const TexCoord& _p1Adj)
 			: image(_image), mask(_mask), image0(_image0), image1(_image1),
@@ -477,33 +469,12 @@ void MeshTexture::ListVertexFaces()
 // extract array of faces viewed by each image
 bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThreshold)
 {
-	// create vertices octree
-	facesDatas.Resize(faces.GetSize());
-	typedef std::unordered_set<FIndex> CameraFaces;
-	struct FacesInserter {
-		FacesInserter(const Mesh::VertexFacesArr& _vertexFaces, CameraFaces& _cameraFaces)
-			: vertexFaces(_vertexFaces), cameraFaces(_cameraFaces) {}
-		inline void operator() (IDX idxVertex) {
-			const Mesh::FaceIdxArr& vertexTris = vertexFaces[idxVertex];
-			FOREACHPTR(pTri, vertexTris)
-				cameraFaces.emplace(*pTri);
-		}
-		inline void operator() (const IDX* idices, size_t size) {
-			FOREACHRAWPTR(pIdxVertex, idices, size)
-				operator()(*pIdxVertex);
-		}
-		const Mesh::VertexFacesArr& vertexFaces;
-		CameraFaces& cameraFaces;
-	};
-	typedef TOctree<Mesh::VertexArr,float,3> Octree;
-	const Octree octree(vertices);
-	#if 0 && !defined(_RELEASE)
-	Octree::DEBUGINFO_TYPE info;
-	octree.GetDebugInfo(&info);
-	Octree::LogDebugInfo(info);
-	#endif
+	// create faces octree
+	Mesh::Octree octree;
+	Mesh::FacesInserter::CreateOctree(octree, scene.mesh);
 
 	// extract array of faces viewed by each image
+	facesDatas.Resize(faces.GetSize());
 	Util::Progress progress(_T("Initialized views"), images.GetSize());
 	typedef float real;
 	TImage<real> imageGradMag;
@@ -562,8 +533,8 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 		#endif
 		(TImage<real>::EMatMap)imageGradMag = (mGrad[0].cwiseAbs2()+mGrad[1].cwiseAbs2()).cwiseSqrt();
 		// select faces inside view frustum
-		CameraFaces cameraFaces;
-		FacesInserter inserter(vertexFaces, cameraFaces);
+		Mesh::FaceIdxArr cameraFaces;
+		Mesh::FacesInserter inserter(cameraFaces);
 		typedef TFrustum<float,5> Frustum;
 		const Frustum frustum(Frustum::MATRIX3x4(((PMatrix::CEMatMap)imageData.camera.P).cast<float>()), (float)imageData.width, (float)imageData.height);
 		octree.Traverse(frustum, inserter);
@@ -1364,7 +1335,7 @@ void MeshTexture::GlobalSeamLeveling()
 				data.colors[v] = colorAdjustments.row(vertpatch2rows[face[v]].at(idxPatch));
 			// render triangle and for each pixel interpolate the color adjustment
 			// from the triangle corners using barycentric coordinates
-			ColorMap::RasterizeTriangle(data.tri[0], data.tri[1], data.tri[2], data);
+			ColorMap::RasterizeTriangleBary(data.tri[0], data.tri[1], data.tri[2], data);
 		}
 		// dilate with one pixel width, in order to make sure patch border smooths out a little
 		imageAdj.DilateMean<1>(imageAdj, Color::ZERO);
@@ -1688,8 +1659,7 @@ void MeshTexture::LocalSeamLeveling()
 		image0(texturePatch.rect).convertTo(image, CV_32FC3, 1.0/255.0);
 		image.copyTo(imageOrg);
 		// render patch coverage
-		Image8U mask(texturePatch.rect.size());
-		{
+		Image8U mask(texturePatch.rect.size()); {
 			mask.memset(0);
 			RasterPatchCoverageData data(mask);
 			FOREACHPTR(pIdxFace, texturePatch.faces) {
diff --git a/libs/MVS/SemiGlobalMatcher.cpp b/libs/MVS/SemiGlobalMatcher.cpp
index 6549acbda..4a9285636 100644
--- a/libs/MVS/SemiGlobalMatcher.cpp
+++ b/libs/MVS/SemiGlobalMatcher.cpp
@@ -615,7 +615,7 @@ void SemiGlobalMatcher::Match(const Scene& scene, IIndex idxImage, IIndex numNei
 				image.camera = leftImageLevel.camera;
 				DepthMap depthMap;
 				Depth dMin, dMax;
-				TriangulatePoints2DepthMap(image, scene.pointcloud, points, depthMap, dMin, dMax);
+				TriangulatePoints2DepthMap(image, scene.pointcloud, points, depthMap, dMin, dMax, true);
 				points.Release();
 				Matrix3x3 H2(H); Matrix4x4 Q2(Q);
 				Image::ScaleStereoRectification(H2, Q2, scale*0.5);
diff --git a/libs/Math/CMakeLists.txt b/libs/Math/CMakeLists.txt
index d592bd0d2..407e2e403 100644
--- a/libs/Math/CMakeLists.txt
+++ b/libs/Math/CMakeLists.txt
@@ -1,8 +1,6 @@
 INCLUDE_DIRECTORIES(".")
 
 # List sources files
-FILE(GLOB PCH_C "Common.cpp")
-
 FILE(GLOB LIBRARY_FILES_C "*.cpp")
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
@@ -18,12 +16,7 @@ FILE(GLOB TRWS_LIBRARY_FILES_C "TRWS/*.cpp")
 FILE(GLOB TRWS_LIBRARY_FILES_H "TRWS/*.h" "TRWS/*.inl")
 SOURCE_GROUP("TRWS" FILES ${TRWS_LIBRARY_FILES_C} ${TRWS_LIBRARY_FILES_H})
 
-# Place Common.cpp as the first file in the list
-# needed by cotire when setting PCH manually
-LIST(REMOVE_ITEM LIBRARY_FILES_C ${PCH_C})
-SET(LIBRARY_FILES_C "${PCH_C};${LIBRARY_FILES_C}")
-
-cxx_library_with_type_no_pch(Math "Libs" "STATIC" "${cxx_default}"
+cxx_library_with_type(Math "Libs" "" "${cxx_default}"
 	${LIBRARY_FILES_C} ${LIBRARY_FILES_H}
 	${IBFS_LIBRARY_FILES_C} ${IBFS_LIBRARY_FILES_H}
 	${LMFit_LIBRARY_FILES_C} ${LMFit_LIBRARY_FILES_H}
@@ -31,18 +24,21 @@ cxx_library_with_type_no_pch(Math "Libs" "STATIC" "${cxx_default}"
 )
 
 # Manually set Common.h as the precompiled header
-set_target_pch(Math Common.h)
+IF(CMAKE_VERSION VERSION_GREATER_EQUAL 3.16.0)
+	TARGET_PRECOMPILE_HEADERS(Math PRIVATE "Common.h")
+endif()
 
 # Link its dependencies
 TARGET_LINK_LIBRARIES(Math Common)
 
 # Install
-INSTALL(FILES ${LIBRARY_FILES_H} DESTINATION "${INSTALL_INCLUDE_DIR}/Math" COMPONENT dev)
-INSTALL(FILES ${IBFS_LIBRARY_FILES_H} DESTINATION "${INSTALL_INCLUDE_DIR}/Math/IBFS" COMPONENT dev)
-INSTALL(FILES ${LMFit_LIBRARY_FILES_H} DESTINATION "${INSTALL_INCLUDE_DIR}/Math/LMFit" COMPONENT dev)
-INSTALL(FILES ${TRWS_LIBRARY_FILES_H} DESTINATION "${INSTALL_INCLUDE_DIR}/Math/TRWS" COMPONENT dev)
+INSTALL(FILES ${LIBRARY_FILES_H} DESTINATION "${INSTALL_INCLUDE_DIR}/Math")
+INSTALL(FILES ${IBFS_LIBRARY_FILES_H} DESTINATION "${INSTALL_INCLUDE_DIR}/Math/IBFS")
+INSTALL(FILES ${LMFit_LIBRARY_FILES_H} DESTINATION "${INSTALL_INCLUDE_DIR}/Math/LMFit")
+INSTALL(FILES ${TRWS_LIBRARY_FILES_H} DESTINATION "${INSTALL_INCLUDE_DIR}/Math/TRWS")
 INSTALL(TARGETS Math
 	EXPORT OpenMVSTargets
-	RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
-	LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT shlib
-	ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib)
+	LIBRARY DESTINATION "${INSTALL_LIB_DIR}"
+	ARCHIVE DESTINATION "${INSTALL_LIB_DIR}"
+	RUNTIME DESTINATION "${INSTALL_BIN_DIR}"
+	PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}/Math")

From 35facc588c1f231330c8dcbaaacbd436a6e0dd67 Mon Sep 17 00:00:00 2001
From: Long Huan <8551701+longhuan2018@users.noreply.github.com>
Date: Thu, 16 Dec 2021 17:31:12 +0800
Subject: [PATCH 068/252] build: fix CUDA 11.x compilation (#723)

---
 CMakeLists.txt | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4fb7af690..03a61fe2f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -102,6 +102,12 @@ if(OpenMVS_USE_CUDA)
 	FIND_PACKAGE(CUDA)
 	if(CUDA_FOUND)
 		ENABLE_LANGUAGE(CUDA)
+		# CUDA-11.x can not be compiled using C++14 standard on Windows
+		string(REGEX MATCH "^[0-9]+" CUDA_MAJOR ${CMAKE_CUDA_COMPILER_VERSION})
+		if(${CUDA_MAJOR} GREATER 10 AND CMAKE_CXX_COMPILER MATCHES "MSVC" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL "19.29")
+			message("Working around windows build failure with visual studio. Visual studio 16.10 introduced a compiler bug with compilng CUDA code with C++14. Set the cuda standard to 17 as a workaround.")
+			set(CMAKE_CUDA_STANDARD 17)
+		endif()
 		if(NOT OpenMVS_MAX_CUDA_COMPATIBILITY)
 			if(NOT DEFINED CMAKE_CUDA_ARCHITECTURES)
 				SET(CMAKE_CUDA_ARCHITECTURES 75)

From 2155a9406b672244821ef2c2db24e0713f45f493 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sun, 19 Dec 2021 19:32:37 +0200
Subject: [PATCH 069/252] dense: fix SGM calling

---
 libs/MVS/SceneDensify.cpp | 93 ++++++++++++++++++++-------------------
 1 file changed, 47 insertions(+), 46 deletions(-)

diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 2423b9681..9b705c7f6 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -1537,7 +1537,7 @@ DenseDepthMapData::DenseDepthMapData(Scene& _scene, int _nFusionMode)
 	if (nFusionMode < 0) {
 		STEREO::SemiGlobalMatcher::CreateThreads(scene.nMaxThreads);
 		if (nFusionMode == -1)
-			OPTDENSE::nOptimize &= ~OPTDENSE::OPTIMIZE;
+			OPTDENSE::nOptimize = 0;
 	}
 }
 DenseDepthMapData::~DenseDepthMapData()
@@ -1735,7 +1735,7 @@ bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 
 	#ifdef _USE_CUDA
 	// initialize CUDA
-	if (OPTDENSE::nCUDADevice >= 0) {
+	if (OPTDENSE::nCUDADevice >= 0 && data.nFusionMode >= 0) {
 		data.depthMaps.pmCUDA = new PatchMatchCUDA(OPTDENSE::nCUDADevice);
 		data.depthMaps.pmCUDA->Init(false);
 	}
@@ -1743,7 +1743,7 @@ bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 
 	// initialize the queue of images to be processed
 	const int nOptimize(OPTDENSE::nOptimize);
-	if (OPTDENSE::nEstimationGeometricIters)
+	if (OPTDENSE::nEstimationGeometricIters && data.nFusionMode >= 0)
 		OPTDENSE::nOptimize = 0;
 	data.idxImage = 0;
 	ASSERT(data.events.IsEmpty());
@@ -1767,50 +1767,51 @@ bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 		return false;
 	data.progress.Release();
 
-
-	#ifdef _USE_CUDA
-	// initialize CUDA
-	if (OPTDENSE::nCUDADevice >= 0 && OPTDENSE::nEstimationGeometricIters) {
-		data.depthMaps.pmCUDA->Release();
-		data.depthMaps.pmCUDA->Init(true);
-	}
-	#endif // _USE_CUDA
-	while (++data.nEstimationGeometricIter < (int)OPTDENSE::nEstimationGeometricIters) {
-		// initialize the queue of images to be geometric processed
-		if (data.nEstimationGeometricIter+1 == (int)OPTDENSE::nEstimationGeometricIters)
-			OPTDENSE::nOptimize = nOptimize;
-		data.idxImage = 0;
-		ASSERT(data.events.IsEmpty());
-		data.events.AddEvent(new EVTProcessImage(0));
-		// start working threads
-		data.progress = new Util::Progress("Geometric-consistent estimated depth-maps", data.images.GetSize());
-		GET_LOGCONSOLE().Pause();
-		if (nMaxThreads > 1) {
-			// multi-thread execution
-			cList<SEACAVE::Thread> threads(2);
-			FOREACHPTR(pThread, threads)
-				pThread->start(DenseReconstructionEstimateTmp, (void*)&data);
-			FOREACHPTR(pThread, threads)
-				pThread->join();
-		} else {
-			// single-thread execution
-			DenseReconstructionEstimate((void*)&data);
+	if (data.nFusionMode >= 0) {
+		#ifdef _USE_CUDA
+		// initialize CUDA
+		if (OPTDENSE::nCUDADevice >= 0 && OPTDENSE::nEstimationGeometricIters) {
+			data.depthMaps.pmCUDA->Release();
+			data.depthMaps.pmCUDA->Init(true);
 		}
-		GET_LOGCONSOLE().Play();
-		if (!data.events.IsEmpty())
-			return false;
-		data.progress.Release();
-		// replace raw depth-maps with the geometric-consistent ones
-		for (IIndex idx: data.images) {
-			const DepthData& depthData(data.depthMaps.arrDepthData[idx]);
-			if (!depthData.IsValid())
-				continue;
-			const String rawName(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"));
-			File::deleteFile(rawName);
-			File::renameFile(ComposeDepthFilePath(depthData.GetView().GetID(), "geo.dmap"), rawName);
+		#endif // _USE_CUDA
+		while (++data.nEstimationGeometricIter < (int)OPTDENSE::nEstimationGeometricIters) {
+			// initialize the queue of images to be geometric processed
+			if (data.nEstimationGeometricIter+1 == (int)OPTDENSE::nEstimationGeometricIters)
+				OPTDENSE::nOptimize = nOptimize;
+			data.idxImage = 0;
+			ASSERT(data.events.IsEmpty());
+			data.events.AddEvent(new EVTProcessImage(0));
+			// start working threads
+			data.progress = new Util::Progress("Geometric-consistent estimated depth-maps", data.images.GetSize());
+			GET_LOGCONSOLE().Pause();
+			if (nMaxThreads > 1) {
+				// multi-thread execution
+				cList<SEACAVE::Thread> threads(2);
+				FOREACHPTR(pThread, threads)
+					pThread->start(DenseReconstructionEstimateTmp, (void*)&data);
+				FOREACHPTR(pThread, threads)
+					pThread->join();
+			} else {
+				// single-thread execution
+				DenseReconstructionEstimate((void*)&data);
+			}
+			GET_LOGCONSOLE().Play();
+			if (!data.events.IsEmpty())
+				return false;
+			data.progress.Release();
+			// replace raw depth-maps with the geometric-consistent ones
+			for (IIndex idx: data.images) {
+				const DepthData& depthData(data.depthMaps.arrDepthData[idx]);
+				if (!depthData.IsValid())
+					continue;
+				const String rawName(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"));
+				File::deleteFile(rawName);
+				File::renameFile(ComposeDepthFilePath(depthData.GetView().GetID(), "geo.dmap"), rawName);
+			}
 		}
+		data.nEstimationGeometricIter = -1;
 	}
-	data.nEstimationGeometricIter = -1;
 
 	if ((OPTDENSE::nOptimize & OPTDENSE::ADJUST_FILTER) != 0) {
 		// initialize the queue of depth-maps to be filtered
@@ -1867,7 +1868,7 @@ void Scene::DenseReconstructionEstimate(void* pData)
 			// select views to reconstruct the depth-map for this image
 			const IIndex idx = data.images[evtImage.idxImage];
 			DepthData& depthData(data.depthMaps.arrDepthData[idx]);
-			const bool depthmapComputed(data.nFusionMode >= 0 && data.nEstimationGeometricIter < 0 && File::access(ComposeDepthFilePath(data.scene.images[idx].ID, "dmap")));
+			const bool depthmapComputed(data.nFusionMode < 0 || (data.nFusionMode >= 0 && data.nEstimationGeometricIter < 0 && File::access(ComposeDepthFilePath(data.scene.images[idx].ID, "dmap"))));
 			// initialize images pair: reference image and the best neighbor view
 			ASSERT(data.neighborsMap.IsEmpty() || data.neighborsMap[evtImage.idxImage] != NO_ID);
 			if (!data.depthMaps.InitViews(depthData, data.neighborsMap.IsEmpty()?NO_ID:data.neighborsMap[evtImage.idxImage], OPTDENSE::nNumViews, !depthmapComputed, depthmapComputed ? -1 : (data.nEstimationGeometricIter >= 0 ? 1 : 0))) {
@@ -1876,7 +1877,7 @@ void Scene::DenseReconstructionEstimate(void* pData)
 				break;
 			}
 			// try to load already compute depth-map for this image
-			if (depthmapComputed) {
+			if (depthmapComputed && data.nFusionMode >= 0) {
 				if (OPTDENSE::nOptimize & OPTDENSE::OPTIMIZE) {
 					if (!depthData.Load(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"))) {
 						VERBOSE("error: invalid depth-map '%s'", ComposeDepthFilePath(depthData.GetView().GetID(), "dmap").c_str());

From 1ba3b34bec16f0ec8143e833b01a60b442d3bfdc Mon Sep 17 00:00:00 2001
From: MikeCernea <75977936+MikeCernea@users.noreply.github.com>
Date: Sun, 19 Dec 2021 19:04:23 +0100
Subject: [PATCH 070/252] mesh: trace image points onto mesh (#727)

---
 apps/ReconstructMesh/ReconstructMesh.cpp | 117 +++++++++++++++++++++++
 apps/Viewer/Scene.cpp                    | 101 +------------------
 apps/Viewer/Scene.h                      |   4 +-
 libs/Common/Ray.h                        |   1 +
 libs/Common/Ray.inl                      |   6 ++
 libs/MVS/DepthMap.cpp                    |   4 +-
 libs/MVS/Image.cpp                       |   2 +-
 libs/MVS/Mesh.h                          |  44 +++++++++
 libs/MVS/PatchMatchCUDA.cpp              |  10 +-
 libs/MVS/PointCloud.h                    |  53 ++++++++++
 libs/MVS/Scene.cpp                       |   2 +-
 11 files changed, 234 insertions(+), 110 deletions(-)

diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index 528ae60d3..b14112476 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -70,6 +70,7 @@ float fSplitMaxArea;
 unsigned nArchiveType;
 int nProcessPriority;
 unsigned nMaxThreads;
+String strImagePointsFileName;
 String strExportType;
 String strConfigFileName;
 boost::program_options::variables_map vm;
@@ -131,6 +132,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("mesh-file", boost::program_options::value<std::string>(&OPT::strMeshFileName), "mesh file name to clean (skips the reconstruction step)")
 		("mesh-export", boost::program_options::value(&OPT::bMeshExport)->default_value(false), "just export the mesh contained in loaded project")
 		("split-max-area", boost::program_options::value(&OPT::fSplitMaxArea)->default_value(0.f), "maximum surface area that a sub-mesh can contain (0 - disabled)")
+		("image-points-file", boost::program_options::value<std::string>(&OPT::strImagePointsFileName), "input filename containing the list of points from an image to project on the mesh (optional)")
 		;
 
 	boost::program_options::options_description cmdline_options;
@@ -181,6 +183,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
 	Util::ensureUnifySlash(OPT::strOutputFileName);
+	Util::ensureValidPath(OPT::strImagePointsFileName);
 	if (OPT::strOutputFileName.IsEmpty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_mesh.mvs");
 
@@ -215,6 +218,109 @@ void Finalize()
 
 } // unnamed namespace
 
+
+// export 3D coordinates corresponding to 2D ccordinates provided by inputFileName:
+// parse image point list; first line is the name of the image to project,
+// each consequent line store the xy coordinates to project:
+// <image-name> <number-of-points>
+// <x-coord1> <y-coord1>
+// <x-coord2> <y-coord2>
+// ...
+// 
+// for example:
+// N01.JPG 3
+// 3090, 2680
+// 3600, 2100
+// 3640, 2190
+bool Export3DProjections(Scene& scene, const String& inputFileName) {
+	SML smlPointList(_T("ImagePoints"));
+	smlPointList.Load(inputFileName);
+	const LPSMLARR& arrSmlChild = smlPointList.GetArrChildren();
+	ASSERT(arrSmlChild.size() <= 1);
+	SML::const_iterator it = smlPointList.begin();
+
+	// read image name
+	size_t argc;
+	CAutoPtrArr<LPSTR> argv;
+	while (true) {
+		argv = Util::CommandLineToArgvA(it->second.val, argc);
+		if (argc > 0 && argv[0][0] != _T('#'))
+			break;
+		if (++it == smlPointList.end())
+			return false;
+	}
+	if (argc < 2)
+		return false;
+	String imgName(argv[0]);
+	IIndex imgID(NO_ID);
+	for (const Image& imageData : scene.images) {
+		if (!imageData.IsValid())
+			continue;
+		if (imageData.name.substr(imageData.name.size() - imgName.size()) == imgName) {
+			imgID = imageData.ID;
+			break;
+		}
+	}
+	if (imgID == NO_ID) {
+		VERBOSE("Unable to find image named: %s", imgName.c_str());
+		return false;
+	}
+
+	// read image points
+	std::vector<Point2f> imagePoints;
+	while (++it != smlPointList.end()) {
+		// parse image element
+		argv = Util::CommandLineToArgvA(it->second.val, argc);
+		if (argc > 0 && argv[0][0] == _T('#'))
+			continue;
+		if (argc < 2) {
+			VERBOSE("Invalid image coordonates: %s", it->second.val.c_str());
+			continue;
+		}
+		const Point2f pt(
+			String::FromString<float>(argv[0], -1),
+			String::FromString<float>(argv[1], -1));
+		if (pt.x > 0 && pt.y > 0)
+			imagePoints.emplace_back(pt);
+	}
+	if (imagePoints.empty()) {
+		VERBOSE("Unable to read image points from: %s", imgName.c_str());
+		return false;
+	}
+
+	// prepare output file
+	String outFileName(Util::insertBeforeFileExt(inputFileName, "_3D"));
+	File oStream(outFileName, File::WRITE, File::CREATE | File::TRUNCATE);
+	if (!oStream.isOpen()) {
+		VERBOSE("Unable to open output file: %s", outFileName.c_str());
+		return false;
+	}
+
+	// print image name
+	oStream.print("%s\n", imgName.c_str());
+
+	// init mesh octree
+	const Mesh::Octree octree(scene.mesh.vertices, [](Mesh::Octree::IDX_TYPE size, Mesh::Octree::Type /*radius*/) {
+		return size > 256;
+	});
+	scene.mesh.ListIncidenteFaces();
+
+	// save 3D coord in the output file
+	const Image& imgToExport = scene.images[imgID];
+	for (const Point2f& pt : imagePoints) {
+		// define ray from camera center to each x,y image coord
+		const Ray3 ray(imgToExport.camera.C, normalized(imgToExport.camera.RayPoint<REAL>(pt)));
+		// find ray intersection with the mesh
+		const IntersectRayMesh intRay(octree, ray, scene.mesh);
+		if (intRay.pick.IsValid()) {
+			const Point3d ptHit(ray.GetPoint(intRay.pick.dist));
+			oStream.print("%.7f %.7f %.7f\n", ptHit.x, ptHit.y, ptHit.z);
+		} else 
+			oStream.print("NA\n");
+	}
+	return true;
+}
+
 int main(int argc, LPCTSTR* argv)
 {
 	#ifdef _DEBUGINFO
@@ -238,6 +344,12 @@ int main(int argc, LPCTSTR* argv)
 		Finalize();
 		return EXIT_SUCCESS;
 	}
+
+	if (!OPT::strImagePointsFileName.empty() && !scene.mesh.IsEmpty()) {
+		Export3DProjections(scene, MAKE_PATH_SAFE(OPT::strImagePointsFileName));
+		return EXIT_SUCCESS;
+	}
+
 	if (OPT::bMeshExport) {
 		// check there is a mesh to export
 		if (scene.mesh.IsEmpty())
@@ -321,6 +433,11 @@ int main(int argc, LPCTSTR* argv)
 		#endif
 	}
 
+	if (!OPT::strImagePointsFileName.empty()) {
+		Export3DProjections(scene, MAKE_PATH_SAFE(OPT::strImagePointsFileName));
+		return EXIT_SUCCESS;
+	}
+
 	Finalize();
 	return EXIT_SUCCESS;
 }
diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index a7d7e314f..42c8313c9 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -40,103 +40,6 @@ using namespace VIEWER;
 #define IMAGE_MAX_RESOLUTION 1024
 
 
-// S T R U C T S ///////////////////////////////////////////////////
-
-struct IndexDist {
-	IDX idx;
-	REAL dist;
-
-	inline IndexDist() : dist(REAL(FLT_MAX)) {}
-	inline bool IsValid() const { return dist < REAL(FLT_MAX); }
-};
-
-struct IntersectRayPoints {
-	typedef MVS::PointCloud Scene;
-	typedef VIEWER::Scene::OctreePoints Octree;
-	typedef typename Octree::IDX_TYPE IDX;
-	typedef TCone<REAL,3> Cone3;
-	typedef TConeIntersect<REAL,3> Cone3Intersect;
-
-	const Scene& scene;
-	const Cone3 cone;
-	const Cone3Intersect coneIntersect;
-	const unsigned minViews;
-	IndexDist pick;
-
-	IntersectRayPoints(const Octree& octree, const Ray3& _ray, const Scene& _scene, unsigned _minViews)
-		: scene(_scene), cone(_ray, D2R(REAL(0.5))), coneIntersect(cone), minViews(_minViews)
-	{
-		octree.Collect(*this, *this);
-	}
-
-	inline bool Intersects(const typename Octree::POINT_TYPE& center, typename Octree::Type radius) const {
-		return coneIntersect(Sphere3(center.cast<REAL>(), REAL(radius)*SQRT_3));
-	}
-
-	void operator () (const IDX* idices, IDX size) {
-		// test ray-point intersection and keep the closest
-		FOREACHRAWPTR(pIdx, idices, size) {
-			const MVS::PointCloud::Index idx(*pIdx);
-			if (!scene.pointViews.IsEmpty() && scene.pointViews[idx].size() < minViews)
-				continue;
-			const MVS::PointCloud::Point& X = scene.points[idx];
-			REAL dist;
-			if (coneIntersect.Classify(Cast<REAL>(X), dist) == VISIBLE) {
-				ASSERT(dist >= 0);
-				if (pick.dist > dist) {
-					pick.dist = dist;
-					pick.idx = idx;
-				}
-			}
-		}
-	}
-};
-
-struct IntersectRayMesh {
-	typedef MVS::Mesh Scene;
-	typedef VIEWER::Scene::OctreeMesh Octree;
-	typedef typename Octree::IDX_TYPE IDX;
-
-	const Scene& scene;
-	const Ray3& ray;
-	IndexDist pick;
-
-	IntersectRayMesh(const Octree& octree, const Ray3& _ray, const Scene& _scene)
-		: scene(_scene), ray(_ray)
-	{
-		octree.Collect(*this, *this);
-	}
-
-	inline bool Intersects(const typename Octree::POINT_TYPE& center, typename Octree::Type radius) const {
-		return ray.Intersects(AABB3f(center, radius));
-	}
-
-	void operator () (const IDX* idices, IDX size) {
-		// store all intersected faces only once
-		typedef std::unordered_set<MVS::Mesh::FIndex> FaceSet;
-		FaceSet set;
-		FOREACHRAWPTR(pIdx, idices, size) {
-			const MVS::Mesh::VIndex idxVertex((MVS::Mesh::VIndex)*pIdx);
-			const MVS::Mesh::FaceIdxArr& faces = scene.vertexFaces[idxVertex];
-			set.insert(faces.begin(), faces.end());
-		}
-		// test face intersection and keep the closest
-		for (MVS::Mesh::FIndex idxFace: set) {
-			const MVS::Mesh::Face& face = scene.faces[idxFace];
-			REAL dist;
-			if (ray.Intersects<true>(Triangle3(Cast<REAL>(scene.vertices[face[0]]), Cast<REAL>(scene.vertices[face[1]]), Cast<REAL>(scene.vertices[face[2]])), &dist)) {
-				ASSERT(dist >= 0);
-				if (pick.dist > dist) {
-					pick.dist = dist;
-					pick.idx = idxFace;
-				}
-			}
-		}
-	}
-};
-/*----------------------------------------------------------------*/
-
-
 // S T R U C T S ///////////////////////////////////////////////////
 
 enum EVENT_TYPE {
@@ -715,7 +618,7 @@ void Scene::CastRay(const Ray3& ray, int action)
 	} else
 	if (!octMesh.IsEmpty()) {
 		// find ray intersection with the mesh
-		const IntersectRayMesh intRay(octMesh, ray, scene.mesh);
+		const MVS::IntersectRayMesh intRay(octMesh, ray, scene.mesh);
 		if (intRay.pick.IsValid()) {
 			const MVS::Mesh::Face& face = scene.mesh.faces[(MVS::Mesh::FIndex)intRay.pick.idx];
 			window.selectionPoints[0] = scene.mesh.vertices[face[0]];
@@ -737,7 +640,7 @@ void Scene::CastRay(const Ray3& ray, int action)
 	} else
 	if (!octPoints.IsEmpty()) {
 		// find ray intersection with the points
-		const IntersectRayPoints intRay(octPoints, ray, scene.pointcloud, window.minViews);
+		const MVS::IntersectRayPoints intRay(octPoints, ray, scene.pointcloud, window.minViews);
 		if (intRay.pick.IsValid()) {
 			window.selectionPoints[0] = window.selectionPoints[3] = scene.pointcloud.points[intRay.pick.idx];
 			window.selectionType = Window::SEL_POINT;
diff --git a/apps/Viewer/Scene.h b/apps/Viewer/Scene.h
index 8704e24eb..b5f1bee6f 100644
--- a/apps/Viewer/Scene.h
+++ b/apps/Viewer/Scene.h
@@ -48,8 +48,8 @@ namespace VIEWER {
 class Scene
 {
 public:
-	typedef TOctree<MVS::PointCloud::PointArr,MVS::PointCloud::Point::Type,3,uint32_t> OctreePoints;
-	typedef TOctree<MVS::Mesh::VertexArr,MVS::Mesh::Vertex::Type,3,uint32_t> OctreeMesh;
+	typedef MVS::PointCloud::Octree OctreePoints;
+	typedef MVS::Mesh::Octree OctreeMesh;
 
 public:
 	String name;
diff --git a/libs/Common/Ray.h b/libs/Common/Ray.h
index fd1989e6a..96bf59a1a 100644
--- a/libs/Common/Ray.h
+++ b/libs/Common/Ray.h
@@ -119,6 +119,7 @@ class TRay
 	bool Distance(const POINT&, TYPE&) const;
 	TYPE DistanceSq(const POINT&) const;
 	TYPE Distance(const POINT&) const;
+	POINT GetPoint(TYPE) const;
 
 	TRay operator * (const MATRIX&) const;			// matrix multiplication
 	inline TRay& operator *= (const MATRIX&);		// matrix multiplication
diff --git a/libs/Common/Ray.inl b/libs/Common/Ray.inl
index 05b1271d6..7ec8f23b5 100644
--- a/libs/Common/Ray.inl
+++ b/libs/Common/Ray.inl
@@ -895,6 +895,12 @@ TYPE TRay<TYPE,DIMS>::Distance(const POINT& pt) const
 {
 	return SQRT(DistanceSq(pt));
 } // Distance(POINT)
+// Get the point on the ray at distance t from origin
+template <typename TYPE, int DIMS>
+typename TRay<TYPE, DIMS>::POINT TRay<TYPE,DIMS>::GetPoint(TYPE t) const
+{
+	return m_pOrig + m_vDir * t;
+} // GetPoint
 /*----------------------------------------------------------------*/
 
 
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 0e50260cc..66fe95de6 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -1014,7 +1014,7 @@ std::pair<float,float> TriangulatePointsDelaunay(const DepthData::ViewData& imag
 		ASSERT(image.pImageData->IsValid() && ISINSIDE(image.pImageData->avgDepth, depthBounds.first, depthBounds.second));
 		const Mesh::VIndex idxFirstVertex = mesh.vertices.size();
 		VertexHandle vcorners[4];
-		for (const Point2f& x: {Point2f(0, 0), Point2f(image.image.width()-1, 0), Point2f(0, image.image.height()-1), Point2f(image.image.width()-1, image.image.height()-1)}) {
+		for (const Point2f x: {Point2i(0, 0), Point2i(image.image.width()-1, 0), Point2i(0, image.image.height()-1), Point2i(image.image.width()-1, image.image.height()-1)}) {
 			const Mesh::VIndex i(mesh.vertices.size() - idxFirstVertex);
 			(vcorners[i] = delaunay.insert(CPoint(x.x, x.y)))->info() = mesh.vertices.size();
 			mesh.vertices.emplace_back(image.camera.TransformPointI2C(Point3f(x, image.pImageData->avgDepth)));
@@ -1065,7 +1065,7 @@ std::pair<float,float> TriangulatePointsDelaunay(const DepthData::ViewData& imag
 			mesh.vertices[idxFirstVertex+i] = image.camera.TransformPointI2C(Point3(posA, depth));
 		}
 	}
-	mesh.faces.reserve(std::distance(delaunay.finite_faces_begin(),delaunay.finite_faces_end()));
+	mesh.faces.reserve(Mesh::FIndex(std::distance(delaunay.finite_faces_begin(),delaunay.finite_faces_end())));
 	for (Delaunay::Face_iterator it=delaunay.faces_begin(); it!=delaunay.faces_end(); ++it) {
 		const Delaunay::Face& face = *it;
 		mesh.faces.emplace_back(face.vertex(2)->info(), face.vertex(1)->info(), face.vertex(0)->info());
diff --git a/libs/MVS/Image.cpp b/libs/MVS/Image.cpp
index 772185f2c..a361b4a9e 100644
--- a/libs/MVS/Image.cpp
+++ b/libs/MVS/Image.cpp
@@ -150,7 +150,7 @@ float Image::ResizeImage(unsigned nMaxResolution)
 	height = (uint32_t)scaledSize.height;
 	if (!image.empty())
 		cv::resize(image, image, scaledSize, 0, 0, cv::INTER_AREA);
-	return scale;
+	return static_cast<float>(scale);
 } // ResizeImage
 /*----------------------------------------------------------------*/
 
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index c03628ae5..00629b9c4 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -321,6 +321,50 @@ struct TRasterMesh : TRasterMeshBase<DERIVED> {
 };
 /*----------------------------------------------------------------*/
 
+
+struct IntersectRayMesh {
+	typedef Mesh::Octree Octree;
+	typedef typename Octree::IDX_TYPE IDX;
+
+	const Mesh& mesh;
+	const Ray3& ray;
+	IndexDist pick;
+
+	IntersectRayMesh(const Octree& octree, const Ray3& _ray, const Mesh& _mesh)
+		: mesh(_mesh), ray(_ray)
+	{
+		octree.Collect(*this, *this);
+	}
+
+	inline bool Intersects(const typename Octree::POINT_TYPE& center, typename Octree::Type radius) const {
+		return ray.Intersects(AABB3f(center, radius));
+	}
+
+	void operator () (const IDX* idices, IDX size) {
+		// store all intersected faces only once
+		typedef std::unordered_set<Mesh::FIndex> FaceSet;
+		FaceSet set;
+		FOREACHRAWPTR(pIdx, idices, size) {
+			const Mesh::VIndex idxVertex((Mesh::VIndex)*pIdx);
+			const Mesh::FaceIdxArr& faces = mesh.vertexFaces[idxVertex];
+			set.insert(faces.begin(), faces.end());
+		}
+		// test face intersection and keep the closest
+		for (Mesh::FIndex idxFace : set) {
+			const Mesh::Face& face = mesh.faces[idxFace];
+			REAL dist;
+			if (ray.Intersects<true>(Triangle3(Cast<REAL>(mesh.vertices[face[0]]), Cast<REAL>(mesh.vertices[face[1]]), Cast<REAL>(mesh.vertices[face[2]])), &dist)) {
+				ASSERT(dist >= 0);
+				if (pick.dist > dist) {
+					pick.dist = dist;
+					pick.idx = idxFace;
+				}
+			}
+		}
+	}
+};
+/*----------------------------------------------------------------*/
+
 } // namespace MVS
 
 #endif // _MVS_MESH_H_
diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
index a7ef8f067..86cbf79ba 100644
--- a/libs/MVS/PatchMatchCUDA.cpp
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -171,8 +171,8 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 	TD_TIMER_STARTD();
 
 	ASSERT(depthData.images.size() > 1);
-	const size_t prevNumImages = images.size();
-	const size_t numImages = depthData.images.size();
+	const IIndex prevNumImages = (IIndex)images.size();
+	const IIndex numImages = depthData.images.size();
 	params.nNumViews = (int)numImages-1;
 	params.nInitTopK = std::min(params.nInitTopK, params.nNumViews);
 	params.fDepthMin = depthData.dMin;
@@ -187,7 +187,7 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 		cudaDepthArrays.resize(numImages-1);
 		textureDepths.resize(numImages-1);
 	}
-	for (size_t i = 0; i < numImages; ++i) {
+	for (IIndex i = 0; i < numImages; ++i) {
 		const DepthData::ViewData& view = depthData.images[i];
 		Image32F image = view.image;
 		Camera camera;
@@ -229,7 +229,7 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 		cameras[i] = std::move(camera);
 	}
 	if (params.bGeomConsistency && cudaDepthArrays.size() > numImages-1) {
-		for (size_t i = numImages; i < prevNumImages; ++i) {
+		for (IIndex i = numImages; i < prevNumImages; ++i) {
 			// free image CUDA memory
 			cudaDestroyTextureObject(textureDepths[i-1]);
 			cudaFreeArray(cudaDepthArrays[i-1]);
@@ -238,7 +238,7 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 		textureDepths.resize(numImages-1);
 	}
 	if (prevNumImages > numImages) {
-		for (size_t i = numImages; i < prevNumImages; ++i) {
+		for (IIndex i = numImages; i < prevNumImages; ++i) {
 			// free image CUDA memory
 			cudaDestroyTextureObject(textureImages[i]);
 			cudaFreeArray(cudaImageArrays[i]);
diff --git a/libs/MVS/PointCloud.h b/libs/MVS/PointCloud.h
index 7b479616b..c0ebf5ad7 100644
--- a/libs/MVS/PointCloud.h
+++ b/libs/MVS/PointCloud.h
@@ -70,6 +70,8 @@ class MVS_API PointCloud
 
 	typedef AABB3f Box;
 
+	typedef TOctree<PointArr,Point::Type,3> Octree;
+
 public:
 	PointArr points;
 	PointViewArr pointViews; // array of views for each point (ordered increasing)
@@ -113,6 +115,57 @@ class MVS_API PointCloud
 /*----------------------------------------------------------------*/
 
 
+struct IndexDist {
+	IDX idx;
+	REAL dist;
+
+	inline IndexDist() : dist(REAL(FLT_MAX)) {}
+	inline bool IsValid() const { return dist < REAL(FLT_MAX); }
+};
+
+struct IntersectRayPoints {
+	typedef PointCloud::Octree Octree;
+	typedef typename Octree::IDX_TYPE IDX;
+	typedef TCone<REAL, 3> Cone3;
+	typedef TConeIntersect<REAL, 3> Cone3Intersect;
+
+	const PointCloud& pointcloud;
+	const Cone3 cone;
+	const Cone3Intersect coneIntersect;
+	const unsigned minViews;
+	IndexDist pick;
+
+	IntersectRayPoints(const Octree& octree, const Ray3& _ray, const PointCloud& _pointcloud, unsigned _minViews)
+		: pointcloud(_pointcloud), cone(_ray, D2R(REAL(0.5))), coneIntersect(cone), minViews(_minViews)
+	{
+		octree.Collect(*this, *this);
+	}
+
+	inline bool Intersects(const typename Octree::POINT_TYPE& center, typename Octree::Type radius) const {
+		return coneIntersect(Sphere3(center.cast<REAL>(), REAL(radius) * SQRT_3));
+	}
+
+	void operator () (const IDX* idices, IDX size) {
+		// test ray-point intersection and keep the closest
+		FOREACHRAWPTR(pIdx, idices, size) {
+			const PointCloud::Index idx(*pIdx);
+			if (!pointcloud.pointViews.IsEmpty() && pointcloud.pointViews[idx].size() < minViews)
+				continue;
+			const PointCloud::Point& X = pointcloud.points[idx];
+			REAL dist;
+			if (coneIntersect.Classify(Cast<REAL>(X), dist) == VISIBLE) {
+				ASSERT(dist >= 0);
+				if (pick.dist > dist) {
+					pick.dist = dist;
+					pick.idx = idx;
+				}
+			}
+		}
+	}
+};
+/*----------------------------------------------------------------*/
+
+
 typedef MVS_API float Depth;
 typedef MVS_API Point3f Normal;
 typedef MVS_API TImage<Depth> DepthMap;
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 58599d293..a7ad1ae11 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -423,7 +423,7 @@ bool Scene::LoadViewNeighbors(const String& fileName)
 		const IIndex ID(String::FromString<IIndex>(argv[0], NO_ID));
 		ASSERT(ID != NO_ID);
 		Image& imageData = images[ID];
-		imageData.neighbors.resize(argc-1);
+		imageData.neighbors.resize(static_cast<IIndex>(argc-1));
 		FOREACH(i, imageData.neighbors) {
 			const IIndex nID(String::FromString<IIndex>(argv[i+1], NO_ID));
 			ASSERT(nID != NO_ID);

From 5ddd43342598861066ca92851d145a070969e717 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 29 Dec 2021 12:24:10 +0200
Subject: [PATCH 071/252] mesh: project image points in input order

---
 apps/ReconstructMesh/ReconstructMesh.cpp | 21 +++++++++++----------
 libs/Common/Hash.h                       |  2 +-
 libs/Common/SML.cpp                      | 12 ++++++++++++
 libs/Common/SML.h                        |  1 +
 4 files changed, 25 insertions(+), 11 deletions(-)

diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index b14112476..1170961b3 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -229,24 +229,24 @@ void Finalize()
 // 
 // for example:
 // N01.JPG 3
-// 3090, 2680
-// 3600, 2100
-// 3640, 2190
+// 3090 2680
+// 3600 2100
+// 3640 2190
 bool Export3DProjections(Scene& scene, const String& inputFileName) {
 	SML smlPointList(_T("ImagePoints"));
 	smlPointList.Load(inputFileName);
 	const LPSMLARR& arrSmlChild = smlPointList.GetArrChildren();
 	ASSERT(arrSmlChild.size() <= 1);
-	SML::const_iterator it = smlPointList.begin();
+	IDX idx(0);
 
 	// read image name
 	size_t argc;
 	CAutoPtrArr<LPSTR> argv;
 	while (true) {
-		argv = Util::CommandLineToArgvA(it->second.val, argc);
+		argv = Util::CommandLineToArgvA(smlPointList.GetValue(idx).val, argc);
 		if (argc > 0 && argv[0][0] != _T('#'))
 			break;
-		if (++it == smlPointList.end())
+		if (++idx == smlPointList.size())
 			return false;
 	}
 	if (argc < 2)
@@ -268,13 +268,14 @@ bool Export3DProjections(Scene& scene, const String& inputFileName) {
 
 	// read image points
 	std::vector<Point2f> imagePoints;
-	while (++it != smlPointList.end()) {
+	while (++idx != smlPointList.size()) {
 		// parse image element
-		argv = Util::CommandLineToArgvA(it->second.val, argc);
+		const String& line(smlPointList.GetValue(idx).val);
+		argv = Util::CommandLineToArgvA(line, argc);
 		if (argc > 0 && argv[0][0] == _T('#'))
 			continue;
 		if (argc < 2) {
-			VERBOSE("Invalid image coordonates: %s", it->second.val.c_str());
+			VERBOSE("Invalid image coordonates: %s", line.c_str());
 			continue;
 		}
 		const Point2f pt(
@@ -297,7 +298,7 @@ bool Export3DProjections(Scene& scene, const String& inputFileName) {
 	}
 
 	// print image name
-	oStream.print("%s\n", imgName.c_str());
+	oStream.print("%s %u\n", imgName.c_str(), imagePoints.size());
 
 	// init mesh octree
 	const Mesh::Octree octree(scene.mesh.vertices, [](Mesh::Octree::IDX_TYPE size, Mesh::Octree::Type /*radius*/) {
diff --git a/libs/Common/Hash.h b/libs/Common/Hash.h
index c344b3982..ccb91634f 100644
--- a/libs/Common/Hash.h
+++ b/libs/Common/Hash.h
@@ -291,7 +291,7 @@ class cMapWrap : public std::unordered_map<Key, Type>
 	inline iterator			Find(const Key& key)			{ return this->find(key); }
 	inline iterator			Insert(const Key& key, bool& bExisted) { return Insert(key, Type(), bExisted); }
 	inline iterator			Insert(const Key& key, const Type& val, bool& bExisted) {
-		std::pair<iterator,bool> ret = this->insert(std::pair<Key,Type>(key, val));
+		const std::pair<iterator,bool> ret(this->emplace(key, val));
 		bExisted = !ret.second;
 		return ret.first;
 	}
diff --git a/libs/Common/SML.cpp b/libs/Common/SML.cpp
index 70f7904e5..32ce6262b 100644
--- a/libs/Common/SML.cpp
+++ b/libs/Common/SML.cpp
@@ -375,6 +375,18 @@ SMLVALUE& SML::GetValue(const String& key)
 /*----------------------------------------------------------------*/
 
 
+/**
+ * Retrieve an unnamed item by index
+ */
+const SMLVALUE& SML::GetValue(IDX idx) const
+{
+	ASSERT(idx < this->size());
+	const String szName(_T("Item") + String::ToString(idx));
+	return this->at(szName);
+}
+/*----------------------------------------------------------------*/
+
+
 /**
  * Reset items' init and release functions
  */
diff --git a/libs/Common/SML.h b/libs/Common/SML.h
index ceb503047..c016d938b 100644
--- a/libs/Common/SML.h
+++ b/libs/Common/SML.h
@@ -79,6 +79,7 @@ class GENERAL_API SML : public SMLITEMMAP
 	IDX				GetChild(const String&) const;
 	const SMLVALUE*	GetValue(const String&) const;
 	SMLVALUE&		GetValue(const String&);
+	const SMLVALUE&	GetValue(IDX) const;
 	inline SMLVALUE& operator[] (const String& key)					{ return GetValue(key); }
 
 	// misc methods

From 5a302452ac9389cc2e4f64e7b5db950fe48cbae2 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 3 Jan 2022 23:38:55 +0200
Subject: [PATCH 072/252] common: log disk space

---
 CMakeLists.txt                                |  2 +-
 apps/DensifyPointCloud/DensifyPointCloud.cpp  |  2 +-
 .../InterfaceMetashape/InterfaceMetashape.cpp |  2 +-
 apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp    |  2 +-
 .../InterfaceVisualSFM/InterfaceVisualSFM.cpp |  2 +-
 apps/ReconstructMesh/ReconstructMesh.cpp      |  2 +-
 apps/RefineMesh/RefineMesh.cpp                |  2 +-
 apps/TextureMesh/TextureMesh.cpp              |  2 +-
 apps/Viewer/Viewer.cpp                        |  2 +-
 build/Utils.cmake                             | 43 +++++++++++++------
 libs/Common/Config.h                          | 25 ++++++-----
 libs/Common/Util.cpp                          | 21 +++++++++
 libs/Common/Util.h                            |  1 +
 libs/MVS/Mesh.cpp                             | 13 ++++--
 14 files changed, 86 insertions(+), 35 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 03a61fe2f..4d1eb9dc7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@
 ########################################################################
 #
 # Project-wide settings
-CMAKE_MINIMUM_REQUIRED(VERSION 3.8.0)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.8.2)
 IF(POLICY CMP0011)
 	CMAKE_POLICY(SET CMP0011 NEW)
 ENDIF()
diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index fabf96d00..a7675b2ac 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -164,7 +164,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// print application details: version and command line
 	Util::LogBuild();
-	LOG(_T("Command line:%s"), Util::CommandLineToString(argc, argv).c_str());
+	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
diff --git a/apps/InterfaceMetashape/InterfaceMetashape.cpp b/apps/InterfaceMetashape/InterfaceMetashape.cpp
index a13356d0e..1157bf29b 100644
--- a/apps/InterfaceMetashape/InterfaceMetashape.cpp
+++ b/apps/InterfaceMetashape/InterfaceMetashape.cpp
@@ -128,7 +128,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// print application details: version and command line
 	Util::LogBuild();
-	LOG(_T("Command line:%s"), Util::CommandLineToString(argc, argv).c_str());
+	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
 
 	// validate input
 	Util::ensureValidPath(OPT::strPointsFileName);
diff --git a/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp b/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
index 3f4a171ee..edc7ccb81 100644
--- a/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
+++ b/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
@@ -407,7 +407,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// print application details: version and command line
 	Util::LogBuild();
-	LOG(_T("Command line:%s"), Util::CommandLineToString(argc, argv).c_str());
+	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
 
 	// validate input
 	Util::ensureValidPath(OPT::strListFileName);
diff --git a/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp b/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
index c0278aa11..8398b6cf4 100644
--- a/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
+++ b/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
@@ -128,7 +128,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// print application details: version and command line
 	Util::LogBuild();
-	LOG(_T("Command line:%s"), Util::CommandLineToString(argc, argv).c_str());
+	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index 1170961b3..3c9b61aac 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -166,7 +166,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// print application details: version and command line
 	Util::LogBuild();
-	LOG(_T("Command line:%s"), Util::CommandLineToString(argc, argv).c_str());
+	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
diff --git a/apps/RefineMesh/RefineMesh.cpp b/apps/RefineMesh/RefineMesh.cpp
index fdeecc99f..a134b92f6 100644
--- a/apps/RefineMesh/RefineMesh.cpp
+++ b/apps/RefineMesh/RefineMesh.cpp
@@ -166,7 +166,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// print application details: version and command line
 	Util::LogBuild();
-	LOG(_T("Command line:%s"), Util::CommandLineToString(argc, argv).c_str());
+	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index 6783a82fc..30727663f 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -154,7 +154,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// print application details: version and command line
 	Util::LogBuild();
-	LOG(_T("Command line:%s"), Util::CommandLineToString(argc, argv).c_str());
+	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
diff --git a/apps/Viewer/Viewer.cpp b/apps/Viewer/Viewer.cpp
index a6fffebe9..1a66ffb84 100644
--- a/apps/Viewer/Viewer.cpp
+++ b/apps/Viewer/Viewer.cpp
@@ -142,7 +142,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// print application details: version and command line
 	Util::LogBuild();
-	LOG(_T("Command line:%s"), Util::CommandLineToString(argc, argv).c_str());
+	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
diff --git a/build/Utils.cmake b/build/Utils.cmake
index 106d43167..a603b543e 100644
--- a/build/Utils.cmake
+++ b/build/Utils.cmake
@@ -174,7 +174,9 @@ macro(ComposePackageLibSuffix)
 	set(PACKAGE_LIB_SUFFIX_DBG "")
 	set(PACKAGE_LIB_SUFFIX_REL "")
 	if(MSVC)
-		if("${MSVC_VERSION}" STRGREATER "1916")
+		if("${MSVC_VERSION}" STRGREATER "1929")
+			set(PACKAGE_LIB_SUFFIX "/vc17")
+		elseif("${MSVC_VERSION}" STRGREATER "1916")
 			set(PACKAGE_LIB_SUFFIX "/vc16")
 		elseif("${MSVC_VERSION}" STRGREATER "1900")
 			set(PACKAGE_LIB_SUFFIX "/vc15")
@@ -399,25 +401,39 @@ macro(optimize_default_compiler_settings)
 	set(BUILD_EXTRA_EXE_LINKER_FLAGS_DEBUG "")
 
 	# try to enable C++14/C++11 support
-	if(${CMAKE_VERSION} VERSION_LESS "3.8.2")
-		check_cxx_compiler_flag(--std=c++14 SUPPORTS_STD_CXX14)
-		check_cxx_compiler_flag(--std=c++11 SUPPORTS_STD_CXX11)
-		if(SUPPORTS_STD_CXX14)
+	if(CMAKE_VERSION VERSION_LESS "3.8.2")
+		if (MSVC)
+			set(CXX_CHECK_PREFIX "/std:")
+		else()
+			set(CXX_CHECK_PREFIX "--std=")
+		endif()
+		check_cxx_compiler_flag("${CXX_CHECK_PREFIX}c++17" SUPPORTS_STD_CXX17)
+		check_cxx_compiler_flag("${CXX_CHECK_PREFIX}c++14" SUPPORTS_STD_CXX14)
+		check_cxx_compiler_flag("${CXX_CHECK_PREFIX}c++11" SUPPORTS_STD_CXX11)
+		if(SUPPORTS_STD_CXX17)
+			set(CMAKE_CXX_STANDARD 17)
+		elseif(SUPPORTS_STD_CXX14)
 			set(CMAKE_CXX_STANDARD 14)
 		elseif(SUPPORTS_STD_CXX11)
 			set(CMAKE_CXX_STANDARD 11)
 		endif()
 	else()
-		foreach(i ${CMAKE_CXX_COMPILE_FEATURES})
-			if("${i}" STREQUAL "cxx_std_14")
+		list(FIND CMAKE_CXX_COMPILE_FEATURES "cxx_std_17" CXX_STD_INDEX)
+		if(${CXX_STD_INDEX} GREATER -1)
+			set(CMAKE_CXX_STANDARD 17)
+		else()
+			list(FIND CMAKE_CXX_COMPILE_FEATURES "cxx_std_14" CXX_STD_INDEX)
+			if(${CXX_STD_INDEX} GREATER -1)
 				set(CMAKE_CXX_STANDARD 14)
-				break()
-			elseif("${i}" STREQUAL "cxx_std_11")
-				set(CMAKE_CXX_STANDARD 11)
+			else()
+				list(FIND CMAKE_CXX_COMPILE_FEATURES "cxx_std_11" CXX_STD_INDEX)
+				if(${CXX_STD_INDEX} GREATER -1)
+					set(CMAKE_CXX_STANDARD 11)
+				endif()
 			endif()
-		endforeach()
+		endif()
 	endif()
-	if(CLANG AND (CMAKE_CXX_STANDARD EQUAL 11 OR CMAKE_CXX_STANDARD EQUAL 14))
+	if(CLANG AND (CMAKE_CXX_STANDARD EQUAL 11 OR CMAKE_CXX_STANDARD EQUAL 14 OR CMAKE_CXX_STANDARD EQUAL 17))
 		set(CMAKE_EXE_LINKER_FLAGS "-stdlib=libc++")
 		add_extra_compiler_option(-stdlib=libc++)
 	endif()
@@ -624,6 +640,9 @@ macro(optimize_default_compiler_settings)
 
 	  # fix virtual memory range for PCH exceeded error
 	  set(BUILD_EXTRA_FLAGS "${BUILD_EXTRA_FLAGS} /Zm170")
+
+	  # enable __cplusplus
+	  set(BUILD_EXTRA_FLAGS "${BUILD_EXTRA_FLAGS} /Zc:__cplusplus")
 	endif()
 
 	# Extra link libs if the user selects building static libs:
diff --git a/libs/Common/Config.h b/libs/Common/Config.h
index 37fa297e5..b18df786a 100644
--- a/libs/Common/Config.h
+++ b/libs/Common/Config.h
@@ -102,10 +102,6 @@
 #endif
 /*----------------------------------------------------------------*/
 
-#if _MSC_VER >= 1800
-#define _SUPPORT_CPP11
-#endif
-
 // Define platform type
 #if _WIN64
 #define _ENVIRONMENT64
@@ -127,10 +123,6 @@
 #define GENERAL_API
 #define GENERAL_TPL
 
-#if __cplusplus >= 201103L || (defined(__APPLE__) && __clang_major__ >= 4)
-#define _SUPPORT_CPP11
-#endif
-
 // Define platform type
 #if __x86_64__ || __ppc64__
 #define _ENVIRONMENT64
@@ -141,6 +133,17 @@
 #endif // _MSC_VER
 
 
+#if __cplusplus >= 201103L || (__clang_major__ >= 4 || (__clang_major__ >= 3 && __clang_minor__ >= 3))
+#define _SUPPORT_CPP11
+#endif
+#if __cplusplus >= 201402L || (__clang_major__ >= 4 || (__clang_major__ >= 3 && __clang_minor__ >= 4))
+#define _SUPPORT_CPP14
+#endif
+#if __cplusplus >= 201703L || __clang_major__ >= 5
+#define _SUPPORT_CPP17
+#endif
+
+
 #if defined(__arm__) || defined (__arm64__) || defined(__aarch64__) || defined(_M_ARM) || defined(_M_ARMT)
 #define _PLATFORM_ARM 1
 #else
@@ -255,13 +258,13 @@ namespace SEACAVE_ASSERT
 }
 
 #define STATIC_ASSERT(expression) \
-	NOWARNUNUSED typedef char CTA##__LINE__[::SEACAVE_ASSERT::compile_time_assert<(bool)(expression)>::value] 
+	NOWARNUNUSED typedef char CTA##__LINE__[::SEACAVE_ASSERT::compile_time_assert<(bool)(expression)>::value]
 
 #define ASSERT_ARE_SAME_TYPE(type1, type2) \
-	NOWARNUNUSED typedef char AAST##__LINE__[::SEACAVE_ASSERT::assert_are_same_type<type1,type2>::value] 
+	NOWARNUNUSED typedef char AAST##__LINE__[::SEACAVE_ASSERT::assert_are_same_type<type1,type2>::value]
 
 #define ASSERT_ARE_NOT_SAME_TYPE(type1, type2) \
-	NOWARNUNUSED typedef char AANST##__LINE__[::SEACAVE_ASSERT::assert_are_not_same_type<type1,type2>::value] 
+	NOWARNUNUSED typedef char AANST##__LINE__[::SEACAVE_ASSERT::assert_are_not_same_type<type1,type2>::value]
 /*----------------------------------------------------------------*/
 
 #endif // __SEACAVE_CONFIG_H__
diff --git a/libs/Common/Util.cpp b/libs/Common/Util.cpp
index 445fb7bbf..68ea8a43d 100644
--- a/libs/Common/Util.cpp
+++ b/libs/Common/Util.cpp
@@ -22,6 +22,9 @@
 #endif
 #include <pwd.h>
 #endif
+#ifdef _SUPPORT_CPP17
+#include <filesystem>
+#endif // _SUPPORT_CPP17
 
 using namespace SEACAVE;
 
@@ -432,6 +435,21 @@ String Util::GetOSInfo()
 }
 /*----------------------------------------------------------------*/
 
+String Util::GetDiskInfo(const String& path)
+{
+	#ifdef _SUPPORT_CPP17
+
+	const std::filesystem::space_info si = std::filesystem::space(path.c_str());
+	return String::FormatString("%s (%s) space", formatBytes(si.available).c_str(), formatBytes(si.capacity).c_str());
+
+	#else
+
+	return String();
+
+	#endif // _SUPPORT_CPP17
+}
+/*----------------------------------------------------------------*/
+
 
 // Initialize various global variables (ex: random-number-generator state).
 void Util::Init()
@@ -660,6 +678,9 @@ void Util::LogBuild()
 	LOG(_T("CPU: %s (%u cores)"), Util::GetCPUInfo().c_str(), Thread::hardwareConcurrency());
 	LOG((_T("RAM: ") + Util::GetRAMInfo()).c_str());
 	LOG((_T("OS: ") + Util::GetOSInfo()).c_str());
+	#ifdef _SUPPORT_CPP17
+	LOG((_T("Disk: ") + Util::GetDiskInfo(WORKING_FOLDER_FULL)).c_str());
+	#endif
 	if (!SIMD_ENABLED.isSet(Util::SSE)) LOG(_T("warning: no SSE compatible CPU or OS detected"));
 	else if (!SIMD_ENABLED.isSet(Util::AVX)) LOG(_T("warning: no AVX compatible CPU or OS detected"));
 	else LOG(_T("SSE & AVX compatible CPU & OS detected"));
diff --git a/libs/Common/Util.h b/libs/Common/Util.h
index dee6aab24..871f92835 100644
--- a/libs/Common/Util.h
+++ b/libs/Common/Util.h
@@ -749,6 +749,7 @@ class GENERAL_API Util
 	static String	GetCPUInfo();
 	static String	GetRAMInfo();
 	static String	GetOSInfo();
+	static String	GetDiskInfo(const String&);
 	enum CPUFNC {NA=0, SSE, AVX};
 	static const Flags ms_CPUFNC;
 
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 2a8104b62..381ce9de1 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -36,9 +36,16 @@
 #include <boost/graph/filtered_graph.hpp>
 #include <boost/graph/connected_components.hpp>
 #ifdef _MSC_VER
-#  pragma warning(push)
-#  pragma warning(disable: 4244 4267 4305)
-#endif
+#pragma warning(push)
+#pragma warning(disable: 4244 4267 4305)
+#ifdef _SUPPORT_CPP17
+namespace std {
+template <typename ArgumentType, typename ResultType>
+struct unary_function {
+};
+} // namespace std
+#endif // _SUPPORT_CPP17
+#endif // _MSC_VER
 // VCG: mesh reconstruction post-processing
 #define _SILENCE_STDEXT_HASH_DEPRECATION_WARNINGS
 #include <vcg/complex/complex.h>

From 0fc902beb256884313e8f28e56f84ff7f1d980b1 Mon Sep 17 00:00:00 2001
From: MikeCernea <75977936+MikeCernea@users.noreply.github.com>
Date: Mon, 3 Jan 2022 23:42:12 +0200
Subject: [PATCH 073/252] build: update CI for windows (#738)

---
 .appveyor.yml | 13 ++++++-------
 1 file changed, 6 insertions(+), 7 deletions(-)

diff --git a/.appveyor.yml b/.appveyor.yml
index 5b963bae5..6b08db499 100644
--- a/.appveyor.yml
+++ b/.appveyor.yml
@@ -2,7 +2,7 @@
 version: "{build}"
 
 image:
-  - Visual Studio 2017
+  - Visual Studio 2019
   - ubuntu1804
   - macos
 
@@ -31,7 +31,7 @@ for:
   #------------------
   matrix:
     only:
-      - image: Visual Studio 2017
+      - image: Visual Studio 2019
   # scripts that are called at very beginning, before repo cloning
   init:
     - ver
@@ -48,17 +48,16 @@ for:
     # remove outdated versions
     - vcpkg remove --outdated --recurse
     # install dependencies
-    - vcpkg install --recurse yasm-tool:x86-windows
     - vcpkg install --recurse --triplet %VCPKG_ARCH% zlib boost-iostreams boost-program-options boost-system boost-serialization eigen3 cgal[core] opencv vcglib glew glfw3
     - cd "%APPVEYOR_BUILD_FOLDER%"
   # preserve contents of selected directories and files across project builds
   cache:
     - 'C:\tools\vcpkg\installed'
   build_script:
-    - if "%platform%"=="Win32" set CMAKE_GENERATOR=-G"Visual Studio 15 2017"
-    - if "%platform%"=="x64"   set CMAKE_GENERATOR=-G"Visual Studio 15 2017 Win64"
+    - if "%platform%"=="Win32" set CMAKE_ARCH=-A"x86"
+    - if "%platform%"=="x64"   set CMAKE_ARCH=-A"x64"
     - mkdir bin && cd bin
-    - cmake %CMAKE_GENERATOR% -DCMAKE_BUILD_TYPE=%Configuration% -DCMAKE_TOOLCHAIN_FILE="C:\tools\vcpkg\scripts\buildsystems\vcpkg.cmake" ..
+    - cmake -G"Visual Studio 16 2019" %CMAKE_ARCH% -DCMAKE_BUILD_TYPE=%Configuration% -DCMAKE_TOOLCHAIN_FILE="C:\tools\vcpkg\scripts\buildsystems\vcpkg.cmake" ..
     - cmake --build . --target ALL_BUILD --config %Configuration% -- /maxcpucount:4
 -
   #------------------
@@ -120,5 +119,5 @@ for:
     - make
   
 on_success:
-  - cmd: 7z a OpenMVS_x64.7z "C:\projects\openmvs\bin\bin\vc15\x64\%Configuration%\*.exe" "C:\projects\openmvs\bin\bin\vc15\x64\%Configuration%\*.dll"
+  - cmd: 7z a OpenMVS_x64.7z "C:\projects\openmvs\bin\bin\vc16\x64\%Configuration%\*.exe" "C:\projects\openmvs\bin\bin\vc16\x64\%Configuration%\*.dll"
   - cmd: appveyor PushArtifact OpenMVS_x64.7z

From 6ba1dea47fe64647fb88e27bcfcda8eb811db656 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 6 Jan 2022 18:56:48 +0200
Subject: [PATCH 074/252] dense: fix crash in GC on CUDA

---
 MvgMvsPipeline.py              | 22 +++++++--------
 libs/MVS/DepthMap.cpp          |  2 +-
 libs/MVS/PatchMatchCUDA.cpp    | 51 ++++++++++++++++++++++------------
 libs/MVS/PatchMatchCUDA.inl    |  2 +-
 libs/MVS/SceneDensify.cpp      |  2 +-
 libs/MVS/SemiGlobalMatcher.cpp |  4 +--
 6 files changed, 50 insertions(+), 33 deletions(-)

diff --git a/MvgMvsPipeline.py b/MvgMvsPipeline.py
index 05004bc4d..48643beb7 100644
--- a/MvgMvsPipeline.py
+++ b/MvgMvsPipeline.py
@@ -47,7 +47,7 @@
                             GLOBAL = [0, 1, 2, 3, 4, 6, 11, 12, 13, 14, 15]
                             MVG_SEQ = [0, 1, 2, 3, 4, 5, 7, 8, 9]
                             MVG_GLOBAL = [0, 1, 2, 3, 4, 6, 7, 8, 9]
-                            MVS = [11, 12, 13, 14, 15]
+                            MVS = [12, 13, 14, 15]
                             MVS_SGM = [16, 17]
                             default : SEQUENTIAL
 
@@ -119,9 +119,9 @@ def find(afile):
 
 PRESET = {'SEQUENTIAL': [0, 1, 2, 3, 4, 5, 11, 12, 13, 14, 15],
           'GLOBAL': [0, 1, 2, 3, 4, 6, 11, 12, 13, 14, 15],
-          'MVG_SEQ': [0, 1, 2, 3, 4, 5, 7, 8, 9],
-          'MVG_GLOBAL': [0, 1, 2, 3, 4, 6, 7, 8, 9],
-          'MVS': [11, 12, 13, 14, 15],
+          'MVG_SEQ': [0, 1, 2, 3, 4, 5, 7, 8, 9, 11],
+          'MVG_GLOBAL': [0, 1, 2, 3, 4, 6, 7, 8, 9, 11],
+          'MVS': [12, 13, 14, 15],
           'MVS_SGM': [16, 17]}
 
 PRESET_DEFAULT = 'SEQUENTIAL'
@@ -218,25 +218,25 @@ def __init__(self):
              ["-i", "%reconstruction_dir%/sfm_data.bin"]],
             ["Export to openMVS",            # 11
              os.path.join(OPENMVG_BIN, "openMVG_main_openMVG2openMVS"),
-             ["-i", "%reconstruction_dir%/sfm_data.bin", "-o", "%mvs_dir%/scene.mvs", "-d", "%mvs_dir%/images"]],
+             ["-i", "%reconstruction_dir%/sfm_data.bin", "-o", "\"%mvs_dir%/scene.mvs\"", "-d", "\"%mvs_dir%/images\""]],
             ["Densify point cloud",          # 12
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
-             ["scene.mvs", "--dense-config-file", "Densify.ini", "--resolution-level", "1", "-w", "%mvs_dir%"]],
+             ["scene.mvs", "--dense-config-file", "Densify.ini", "--resolution-level", "1", "--number-views", "8", "-w", "\"%mvs_dir%\""]],
             ["Reconstruct the mesh",         # 13
              os.path.join(OPENMVS_BIN, "ReconstructMesh"),
-             ["scene_dense.mvs", "-w", "%mvs_dir%"]],
+             ["scene_dense.mvs", "-w", "\"%mvs_dir%\""]],
             ["Refine the mesh",              # 14
              os.path.join(OPENMVS_BIN, "RefineMesh"),
-             ["scene_dense_mesh.mvs", "--scales", "2", "-w", "%mvs_dir%"]],
+             ["scene_dense_mesh.mvs", "--scales", "1", "--gradient-step", "25.05", "-w", "\"%mvs_dir%\""]],
             ["Texture the mesh",             # 15
              os.path.join(OPENMVS_BIN, "TextureMesh"),
-             ["scene_dense_mesh_refine.mvs", "--decimate", "0.5", "-w", "%mvs_dir%"]],
+             ["scene_dense_mesh_refine.mvs", "--decimate", "0.5", "-w", "\"%mvs_dir%\""]],
             ["Estimate disparity-maps",      # 16
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
-             ["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-1", "-w", "%mvs_dir%"]],
+             ["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-1", "-w", "\"%mvs_dir%\""]],
             ["Fuse disparity-maps",          # 17
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
-             ["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-2", "-w", "%mvs_dir%"]]
+             ["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-2", "-w", "\"%mvs_dir%\""]]
             ]
 
     def __getitem__(self, indice):
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 66fe95de6..16b3c8948 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -85,7 +85,7 @@ MDEFVAR_OPTDENSE_uint32(nNumViews, "Num Views", "Number of views used for depth-
 MDEFVAR_OPTDENSE_bool(bFilterAdjust, "Filter Adjust", "adjust depth estimates during filtering", "1")
 MDEFVAR_OPTDENSE_bool(bAddCorners, "Add Corners", "add support points at image corners with nearest neighbor disparities", "0")
 MDEFVAR_OPTDENSE_float(fViewMinScore, "View Min Score", "Min score to consider a neighbor images (0 - disabled)", "2.0")
-MDEFVAR_OPTDENSE_float(fViewMinScoreRatio, "View Min Score Ratio", "Min score ratio to consider a neighbor images", "0.3")
+MDEFVAR_OPTDENSE_float(fViewMinScoreRatio, "View Min Score Ratio", "Min score ratio to consider a neighbor images", "0.03")
 MDEFVAR_OPTDENSE_float(fMinArea, "Min Area", "Min shared area for accepting the depth triangulation", "0.05")
 MDEFVAR_OPTDENSE_float(fMinAngle, "Min Angle", "Min angle for accepting the depth triangulation", "3.0")
 MDEFVAR_OPTDENSE_float(fOptimAngle, "Optim Angle", "Optimal angle for computing the depth triangulation", "15.0")
diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
index 86cbf79ba..1603e38a0 100644
--- a/libs/MVS/PatchMatchCUDA.cpp
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -126,27 +126,36 @@ void PatchMatchCUDA::AllocatePatchMatchCUDA(const cv::Mat1f& image)
 	CUDA::checkCudaCall(cudaMalloc((void**)&cudaSelectedViews, sizeof(unsigned) * size));
 }
 
-void PatchMatchCUDA::AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bHasDepthMap)
+void PatchMatchCUDA::AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bInitImage, bool bInitDepthMap)
 {
 	const cudaChannelFormatDesc channelDesc = cudaCreateChannelDesc(32, 0, 0, 0, cudaChannelFormatKindFloat);
-	CUDA::checkCudaCall(cudaMallocArray(&cudaImageArrays[i], &channelDesc, image.cols, image.rows));
 
-	struct cudaResourceDesc resDesc;
-	memset(&resDesc, 0, sizeof(cudaResourceDesc));
-	resDesc.resType = cudaResourceTypeArray;
-	resDesc.res.array.array = cudaImageArrays[i];
+	if (bInitImage) {
+		CUDA::checkCudaCall(cudaMallocArray(&cudaImageArrays[i], &channelDesc, image.cols, image.rows));
 
-	struct cudaTextureDesc texDesc;
-	memset(&texDesc, 0, sizeof(cudaTextureDesc));
-	texDesc.addressMode[0] = cudaAddressModeWrap;
-	texDesc.addressMode[1] = cudaAddressModeWrap;
-	texDesc.filterMode = cudaFilterModeLinear;
-	texDesc.readMode  = cudaReadModeElementType;
-	texDesc.normalizedCoords = 0;
+		struct cudaResourceDesc resDesc;
+		memset(&resDesc, 0, sizeof(cudaResourceDesc));
+		resDesc.resType = cudaResourceTypeArray;
+		resDesc.res.array.array = cudaImageArrays[i];
+
+		struct cudaTextureDesc texDesc;
+		memset(&texDesc, 0, sizeof(cudaTextureDesc));
+		texDesc.addressMode[0] = cudaAddressModeWrap;
+		texDesc.addressMode[1] = cudaAddressModeWrap;
+		texDesc.filterMode = cudaFilterModeLinear;
+		texDesc.readMode  = cudaReadModeElementType;
+		texDesc.normalizedCoords = 0;
 
-	CUDA::checkCudaCall(cudaCreateTextureObject(&textureImages[i], &resDesc, &texDesc, NULL));
+		CUDA::checkCudaCall(cudaCreateTextureObject(&textureImages[i], &resDesc, &texDesc, NULL));
+	}
+
+	if (params.bGeomConsistency && i > 0) {
+		if (!bInitDepthMap) {
+			textureDepths[i-1] = 0;
+			cudaDepthArrays[i-1] = NULL;
+			return;
+		}
 
-	if (params.bGeomConsistency && i > 0 && bHasDepthMap) {
 		CUDA::checkCudaCall(cudaMallocArray(&cudaDepthArrays[i-1], &channelDesc, image.cols, image.rows));
 
 		struct cudaResourceDesc resDesc;
@@ -205,7 +214,7 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 		}
 		if (i >= prevNumImages) {
 			// allocate image CUDA memory
-			AllocateImageCUDA(i, image, !view.depthMap.empty());
+			AllocateImageCUDA(i, image, true, !view.depthMap.empty());
 		} else
 		if (images[i].size() != image.size()) {
 			// reallocate image CUDA memory
@@ -215,7 +224,15 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 				cudaDestroyTextureObject(textureDepths[i-1]);
 				cudaFreeArray(cudaDepthArrays[i-1]);
 			}
-			AllocateImageCUDA(i, image, !view.depthMap.empty());
+			AllocateImageCUDA(i, image, true, !view.depthMap.empty());
+		} else
+		if (params.bGeomConsistency && i > 0 && (view.depthMap.empty() != (cudaDepthArrays[i-1] == NULL))) {
+			// reallocate depth CUDA memory
+			if (cudaDepthArrays[i-1]) {
+				cudaDestroyTextureObject(textureDepths[i-1]);
+				cudaFreeArray(cudaDepthArrays[i-1]);
+			}
+			AllocateImageCUDA(i, image, false, !view.depthMap.empty());
 		}
 		CUDA::checkCudaCall(cudaMemcpy2DToArray(cudaImageArrays[i], 0, 0, image.ptr<float>(), image.step[0], image.cols*sizeof(float), image.rows, cudaMemcpyHostToDevice));
 		if (params.bGeomConsistency && i > 0 && !view.depthMap.empty()) {
diff --git a/libs/MVS/PatchMatchCUDA.inl b/libs/MVS/PatchMatchCUDA.inl
index 3c3db4111..5dbc4be1d 100644
--- a/libs/MVS/PatchMatchCUDA.inl
+++ b/libs/MVS/PatchMatchCUDA.inl
@@ -111,7 +111,7 @@ public:
 private:
 	void ReleaseCUDA();
 	void AllocatePatchMatchCUDA(const cv::Mat1f& image);
-	void AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bHasDepthMap);
+	void AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bInitImage, bool bInitDepthMap);
 	void RunCUDA();
 
 public:
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 9b705c7f6..9fe6ce358 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -331,7 +331,7 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 		DEBUG_EXTRA("Reference image %3u paired with image %3u", idxImage, neighbor.idx.ID);
 	} else {
 		// initialize all neighbor views too (global reconstruction is used)
-		const float fMinScore(MAXF(depthData.neighbors.First().score*(OPTDENSE::fViewMinScoreRatio*0.1f), OPTDENSE::fViewMinScore));
+		const float fMinScore(MAXF(depthData.neighbors.First().score*OPTDENSE::fViewMinScoreRatio, OPTDENSE::fViewMinScore));
 		FOREACH(idx, depthData.neighbors) {
 			const ViewScore& neighbor = depthData.neighbors[idx];
 			if ((numNeighbors && depthData.images.GetSize() > numNeighbors) ||
diff --git a/libs/MVS/SemiGlobalMatcher.cpp b/libs/MVS/SemiGlobalMatcher.cpp
index 4a9285636..ef8f4e125 100644
--- a/libs/MVS/SemiGlobalMatcher.cpp
+++ b/libs/MVS/SemiGlobalMatcher.cpp
@@ -530,7 +530,7 @@ CLISTDEF0IDX(SemiGlobalMatcher::AccumCost,int) SemiGlobalMatcher::GenerateP2s(Ac
 void SemiGlobalMatcher::Match(const Scene& scene, IIndex idxImage, IIndex numNeighbors, unsigned minResolution)
 {
 	const Image& leftImage = scene.images[idxImage];
-	const float fMinScore(MAXF(leftImage.neighbors.front().score*(OPTDENSE::fViewMinScoreRatio*0.1f), OPTDENSE::fViewMinScore));
+	const float fMinScore(MAXF(leftImage.neighbors.front().score*OPTDENSE::fViewMinScoreRatio, OPTDENSE::fViewMinScore));
 	FOREACH(idxNeighbor, leftImage.neighbors) {
 		const ViewScore& neighbor = leftImage.neighbors[idxNeighbor];
 		// exclude neighbors that over the limit or too small score
@@ -740,7 +740,7 @@ void SemiGlobalMatcher::Fuse(const Scene& scene, IIndex idxImage, IIndex numNeig
 {
 	TD_TIMER_STARTD();
 	const Image& leftImage = scene.images[idxImage];
-	const float fMinScore(MAXF(leftImage.neighbors.front().score*(OPTDENSE::fViewMinScoreRatio*0.1f), OPTDENSE::fViewMinScore));
+	const float fMinScore(MAXF(leftImage.neighbors.front().score*OPTDENSE::fViewMinScoreRatio, OPTDENSE::fViewMinScore));
 	struct PairData {
 		DepthMap depthMap;
 		DepthRangeMap depthRangeMap;

From c658b72298019544a5b0522d303fc158f226857e Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 7 Jan 2022 11:24:40 +0200
Subject: [PATCH 075/252] dense: hotfix Patch-Match CUDA crash (#742)

---
 .appveyor.yml                                 |  13 +-
 CMakeLists.txt                                |   2 +-
 MvgMvsPipeline.py                             |  22 ++--
 apps/DensifyPointCloud/DensifyPointCloud.cpp  |   2 +-
 .../InterfaceMetashape/InterfaceMetashape.cpp |   2 +-
 apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp    |   2 +-
 .../InterfaceVisualSFM/InterfaceVisualSFM.cpp |   2 +-
 apps/ReconstructMesh/ReconstructMesh.cpp      | 120 +++++++++++++++++-
 apps/RefineMesh/RefineMesh.cpp                |   2 +-
 apps/TextureMesh/TextureMesh.cpp              |   2 +-
 apps/Viewer/Scene.cpp                         | 101 +--------------
 apps/Viewer/Scene.h                           |   4 +-
 apps/Viewer/Viewer.cpp                        |   2 +-
 build/Utils.cmake                             |  43 +++++--
 libs/Common/Config.h                          |  25 ++--
 libs/Common/Hash.h                            |   2 +-
 libs/Common/Ray.h                             |   1 +
 libs/Common/Ray.inl                           |   6 +
 libs/Common/SML.cpp                           |  12 ++
 libs/Common/SML.h                             |   1 +
 libs/Common/Util.cpp                          |  21 +++
 libs/Common/Util.h                            |   1 +
 libs/MVS/DepthMap.cpp                         |   6 +-
 libs/MVS/Image.cpp                            |   2 +-
 libs/MVS/Mesh.cpp                             |  13 +-
 libs/MVS/Mesh.h                               |  44 +++++++
 libs/MVS/PatchMatchCUDA.cpp                   |  61 +++++----
 libs/MVS/PatchMatchCUDA.inl                   |   2 +-
 libs/MVS/PointCloud.h                         |  53 ++++++++
 libs/MVS/Scene.cpp                            |   2 +-
 libs/MVS/SceneDensify.cpp                     |   2 +-
 libs/MVS/SemiGlobalMatcher.cpp                |   4 +-
 32 files changed, 391 insertions(+), 186 deletions(-)

diff --git a/.appveyor.yml b/.appveyor.yml
index 5b963bae5..6b08db499 100644
--- a/.appveyor.yml
+++ b/.appveyor.yml
@@ -2,7 +2,7 @@
 version: "{build}"
 
 image:
-  - Visual Studio 2017
+  - Visual Studio 2019
   - ubuntu1804
   - macos
 
@@ -31,7 +31,7 @@ for:
   #------------------
   matrix:
     only:
-      - image: Visual Studio 2017
+      - image: Visual Studio 2019
   # scripts that are called at very beginning, before repo cloning
   init:
     - ver
@@ -48,17 +48,16 @@ for:
     # remove outdated versions
     - vcpkg remove --outdated --recurse
     # install dependencies
-    - vcpkg install --recurse yasm-tool:x86-windows
     - vcpkg install --recurse --triplet %VCPKG_ARCH% zlib boost-iostreams boost-program-options boost-system boost-serialization eigen3 cgal[core] opencv vcglib glew glfw3
     - cd "%APPVEYOR_BUILD_FOLDER%"
   # preserve contents of selected directories and files across project builds
   cache:
     - 'C:\tools\vcpkg\installed'
   build_script:
-    - if "%platform%"=="Win32" set CMAKE_GENERATOR=-G"Visual Studio 15 2017"
-    - if "%platform%"=="x64"   set CMAKE_GENERATOR=-G"Visual Studio 15 2017 Win64"
+    - if "%platform%"=="Win32" set CMAKE_ARCH=-A"x86"
+    - if "%platform%"=="x64"   set CMAKE_ARCH=-A"x64"
     - mkdir bin && cd bin
-    - cmake %CMAKE_GENERATOR% -DCMAKE_BUILD_TYPE=%Configuration% -DCMAKE_TOOLCHAIN_FILE="C:\tools\vcpkg\scripts\buildsystems\vcpkg.cmake" ..
+    - cmake -G"Visual Studio 16 2019" %CMAKE_ARCH% -DCMAKE_BUILD_TYPE=%Configuration% -DCMAKE_TOOLCHAIN_FILE="C:\tools\vcpkg\scripts\buildsystems\vcpkg.cmake" ..
     - cmake --build . --target ALL_BUILD --config %Configuration% -- /maxcpucount:4
 -
   #------------------
@@ -120,5 +119,5 @@ for:
     - make
   
 on_success:
-  - cmd: 7z a OpenMVS_x64.7z "C:\projects\openmvs\bin\bin\vc15\x64\%Configuration%\*.exe" "C:\projects\openmvs\bin\bin\vc15\x64\%Configuration%\*.dll"
+  - cmd: 7z a OpenMVS_x64.7z "C:\projects\openmvs\bin\bin\vc16\x64\%Configuration%\*.exe" "C:\projects\openmvs\bin\bin\vc16\x64\%Configuration%\*.dll"
   - cmd: appveyor PushArtifact OpenMVS_x64.7z
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 03a61fe2f..4d1eb9dc7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@
 ########################################################################
 #
 # Project-wide settings
-CMAKE_MINIMUM_REQUIRED(VERSION 3.8.0)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.8.2)
 IF(POLICY CMP0011)
 	CMAKE_POLICY(SET CMP0011 NEW)
 ENDIF()
diff --git a/MvgMvsPipeline.py b/MvgMvsPipeline.py
index 05004bc4d..48643beb7 100644
--- a/MvgMvsPipeline.py
+++ b/MvgMvsPipeline.py
@@ -47,7 +47,7 @@
                             GLOBAL = [0, 1, 2, 3, 4, 6, 11, 12, 13, 14, 15]
                             MVG_SEQ = [0, 1, 2, 3, 4, 5, 7, 8, 9]
                             MVG_GLOBAL = [0, 1, 2, 3, 4, 6, 7, 8, 9]
-                            MVS = [11, 12, 13, 14, 15]
+                            MVS = [12, 13, 14, 15]
                             MVS_SGM = [16, 17]
                             default : SEQUENTIAL
 
@@ -119,9 +119,9 @@ def find(afile):
 
 PRESET = {'SEQUENTIAL': [0, 1, 2, 3, 4, 5, 11, 12, 13, 14, 15],
           'GLOBAL': [0, 1, 2, 3, 4, 6, 11, 12, 13, 14, 15],
-          'MVG_SEQ': [0, 1, 2, 3, 4, 5, 7, 8, 9],
-          'MVG_GLOBAL': [0, 1, 2, 3, 4, 6, 7, 8, 9],
-          'MVS': [11, 12, 13, 14, 15],
+          'MVG_SEQ': [0, 1, 2, 3, 4, 5, 7, 8, 9, 11],
+          'MVG_GLOBAL': [0, 1, 2, 3, 4, 6, 7, 8, 9, 11],
+          'MVS': [12, 13, 14, 15],
           'MVS_SGM': [16, 17]}
 
 PRESET_DEFAULT = 'SEQUENTIAL'
@@ -218,25 +218,25 @@ def __init__(self):
              ["-i", "%reconstruction_dir%/sfm_data.bin"]],
             ["Export to openMVS",            # 11
              os.path.join(OPENMVG_BIN, "openMVG_main_openMVG2openMVS"),
-             ["-i", "%reconstruction_dir%/sfm_data.bin", "-o", "%mvs_dir%/scene.mvs", "-d", "%mvs_dir%/images"]],
+             ["-i", "%reconstruction_dir%/sfm_data.bin", "-o", "\"%mvs_dir%/scene.mvs\"", "-d", "\"%mvs_dir%/images\""]],
             ["Densify point cloud",          # 12
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
-             ["scene.mvs", "--dense-config-file", "Densify.ini", "--resolution-level", "1", "-w", "%mvs_dir%"]],
+             ["scene.mvs", "--dense-config-file", "Densify.ini", "--resolution-level", "1", "--number-views", "8", "-w", "\"%mvs_dir%\""]],
             ["Reconstruct the mesh",         # 13
              os.path.join(OPENMVS_BIN, "ReconstructMesh"),
-             ["scene_dense.mvs", "-w", "%mvs_dir%"]],
+             ["scene_dense.mvs", "-w", "\"%mvs_dir%\""]],
             ["Refine the mesh",              # 14
              os.path.join(OPENMVS_BIN, "RefineMesh"),
-             ["scene_dense_mesh.mvs", "--scales", "2", "-w", "%mvs_dir%"]],
+             ["scene_dense_mesh.mvs", "--scales", "1", "--gradient-step", "25.05", "-w", "\"%mvs_dir%\""]],
             ["Texture the mesh",             # 15
              os.path.join(OPENMVS_BIN, "TextureMesh"),
-             ["scene_dense_mesh_refine.mvs", "--decimate", "0.5", "-w", "%mvs_dir%"]],
+             ["scene_dense_mesh_refine.mvs", "--decimate", "0.5", "-w", "\"%mvs_dir%\""]],
             ["Estimate disparity-maps",      # 16
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
-             ["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-1", "-w", "%mvs_dir%"]],
+             ["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-1", "-w", "\"%mvs_dir%\""]],
             ["Fuse disparity-maps",          # 17
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
-             ["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-2", "-w", "%mvs_dir%"]]
+             ["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-2", "-w", "\"%mvs_dir%\""]]
             ]
 
     def __getitem__(self, indice):
diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index fabf96d00..a7675b2ac 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -164,7 +164,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// print application details: version and command line
 	Util::LogBuild();
-	LOG(_T("Command line:%s"), Util::CommandLineToString(argc, argv).c_str());
+	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
diff --git a/apps/InterfaceMetashape/InterfaceMetashape.cpp b/apps/InterfaceMetashape/InterfaceMetashape.cpp
index a13356d0e..1157bf29b 100644
--- a/apps/InterfaceMetashape/InterfaceMetashape.cpp
+++ b/apps/InterfaceMetashape/InterfaceMetashape.cpp
@@ -128,7 +128,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// print application details: version and command line
 	Util::LogBuild();
-	LOG(_T("Command line:%s"), Util::CommandLineToString(argc, argv).c_str());
+	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
 
 	// validate input
 	Util::ensureValidPath(OPT::strPointsFileName);
diff --git a/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp b/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
index 3f4a171ee..edc7ccb81 100644
--- a/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
+++ b/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
@@ -407,7 +407,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// print application details: version and command line
 	Util::LogBuild();
-	LOG(_T("Command line:%s"), Util::CommandLineToString(argc, argv).c_str());
+	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
 
 	// validate input
 	Util::ensureValidPath(OPT::strListFileName);
diff --git a/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp b/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
index c0278aa11..8398b6cf4 100644
--- a/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
+++ b/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
@@ -128,7 +128,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// print application details: version and command line
 	Util::LogBuild();
-	LOG(_T("Command line:%s"), Util::CommandLineToString(argc, argv).c_str());
+	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index 528ae60d3..3c9b61aac 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -70,6 +70,7 @@ float fSplitMaxArea;
 unsigned nArchiveType;
 int nProcessPriority;
 unsigned nMaxThreads;
+String strImagePointsFileName;
 String strExportType;
 String strConfigFileName;
 boost::program_options::variables_map vm;
@@ -131,6 +132,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("mesh-file", boost::program_options::value<std::string>(&OPT::strMeshFileName), "mesh file name to clean (skips the reconstruction step)")
 		("mesh-export", boost::program_options::value(&OPT::bMeshExport)->default_value(false), "just export the mesh contained in loaded project")
 		("split-max-area", boost::program_options::value(&OPT::fSplitMaxArea)->default_value(0.f), "maximum surface area that a sub-mesh can contain (0 - disabled)")
+		("image-points-file", boost::program_options::value<std::string>(&OPT::strImagePointsFileName), "input filename containing the list of points from an image to project on the mesh (optional)")
 		;
 
 	boost::program_options::options_description cmdline_options;
@@ -164,7 +166,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// print application details: version and command line
 	Util::LogBuild();
-	LOG(_T("Command line:%s"), Util::CommandLineToString(argc, argv).c_str());
+	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
@@ -181,6 +183,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
 	Util::ensureUnifySlash(OPT::strOutputFileName);
+	Util::ensureValidPath(OPT::strImagePointsFileName);
 	if (OPT::strOutputFileName.IsEmpty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_mesh.mvs");
 
@@ -215,6 +218,110 @@ void Finalize()
 
 } // unnamed namespace
 
+
+// export 3D coordinates corresponding to 2D ccordinates provided by inputFileName:
+// parse image point list; first line is the name of the image to project,
+// each consequent line store the xy coordinates to project:
+// <image-name> <number-of-points>
+// <x-coord1> <y-coord1>
+// <x-coord2> <y-coord2>
+// ...
+// 
+// for example:
+// N01.JPG 3
+// 3090 2680
+// 3600 2100
+// 3640 2190
+bool Export3DProjections(Scene& scene, const String& inputFileName) {
+	SML smlPointList(_T("ImagePoints"));
+	smlPointList.Load(inputFileName);
+	const LPSMLARR& arrSmlChild = smlPointList.GetArrChildren();
+	ASSERT(arrSmlChild.size() <= 1);
+	IDX idx(0);
+
+	// read image name
+	size_t argc;
+	CAutoPtrArr<LPSTR> argv;
+	while (true) {
+		argv = Util::CommandLineToArgvA(smlPointList.GetValue(idx).val, argc);
+		if (argc > 0 && argv[0][0] != _T('#'))
+			break;
+		if (++idx == smlPointList.size())
+			return false;
+	}
+	if (argc < 2)
+		return false;
+	String imgName(argv[0]);
+	IIndex imgID(NO_ID);
+	for (const Image& imageData : scene.images) {
+		if (!imageData.IsValid())
+			continue;
+		if (imageData.name.substr(imageData.name.size() - imgName.size()) == imgName) {
+			imgID = imageData.ID;
+			break;
+		}
+	}
+	if (imgID == NO_ID) {
+		VERBOSE("Unable to find image named: %s", imgName.c_str());
+		return false;
+	}
+
+	// read image points
+	std::vector<Point2f> imagePoints;
+	while (++idx != smlPointList.size()) {
+		// parse image element
+		const String& line(smlPointList.GetValue(idx).val);
+		argv = Util::CommandLineToArgvA(line, argc);
+		if (argc > 0 && argv[0][0] == _T('#'))
+			continue;
+		if (argc < 2) {
+			VERBOSE("Invalid image coordonates: %s", line.c_str());
+			continue;
+		}
+		const Point2f pt(
+			String::FromString<float>(argv[0], -1),
+			String::FromString<float>(argv[1], -1));
+		if (pt.x > 0 && pt.y > 0)
+			imagePoints.emplace_back(pt);
+	}
+	if (imagePoints.empty()) {
+		VERBOSE("Unable to read image points from: %s", imgName.c_str());
+		return false;
+	}
+
+	// prepare output file
+	String outFileName(Util::insertBeforeFileExt(inputFileName, "_3D"));
+	File oStream(outFileName, File::WRITE, File::CREATE | File::TRUNCATE);
+	if (!oStream.isOpen()) {
+		VERBOSE("Unable to open output file: %s", outFileName.c_str());
+		return false;
+	}
+
+	// print image name
+	oStream.print("%s %u\n", imgName.c_str(), imagePoints.size());
+
+	// init mesh octree
+	const Mesh::Octree octree(scene.mesh.vertices, [](Mesh::Octree::IDX_TYPE size, Mesh::Octree::Type /*radius*/) {
+		return size > 256;
+	});
+	scene.mesh.ListIncidenteFaces();
+
+	// save 3D coord in the output file
+	const Image& imgToExport = scene.images[imgID];
+	for (const Point2f& pt : imagePoints) {
+		// define ray from camera center to each x,y image coord
+		const Ray3 ray(imgToExport.camera.C, normalized(imgToExport.camera.RayPoint<REAL>(pt)));
+		// find ray intersection with the mesh
+		const IntersectRayMesh intRay(octree, ray, scene.mesh);
+		if (intRay.pick.IsValid()) {
+			const Point3d ptHit(ray.GetPoint(intRay.pick.dist));
+			oStream.print("%.7f %.7f %.7f\n", ptHit.x, ptHit.y, ptHit.z);
+		} else 
+			oStream.print("NA\n");
+	}
+	return true;
+}
+
 int main(int argc, LPCTSTR* argv)
 {
 	#ifdef _DEBUGINFO
@@ -238,6 +345,12 @@ int main(int argc, LPCTSTR* argv)
 		Finalize();
 		return EXIT_SUCCESS;
 	}
+
+	if (!OPT::strImagePointsFileName.empty() && !scene.mesh.IsEmpty()) {
+		Export3DProjections(scene, MAKE_PATH_SAFE(OPT::strImagePointsFileName));
+		return EXIT_SUCCESS;
+	}
+
 	if (OPT::bMeshExport) {
 		// check there is a mesh to export
 		if (scene.mesh.IsEmpty())
@@ -321,6 +434,11 @@ int main(int argc, LPCTSTR* argv)
 		#endif
 	}
 
+	if (!OPT::strImagePointsFileName.empty()) {
+		Export3DProjections(scene, MAKE_PATH_SAFE(OPT::strImagePointsFileName));
+		return EXIT_SUCCESS;
+	}
+
 	Finalize();
 	return EXIT_SUCCESS;
 }
diff --git a/apps/RefineMesh/RefineMesh.cpp b/apps/RefineMesh/RefineMesh.cpp
index fdeecc99f..a134b92f6 100644
--- a/apps/RefineMesh/RefineMesh.cpp
+++ b/apps/RefineMesh/RefineMesh.cpp
@@ -166,7 +166,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// print application details: version and command line
 	Util::LogBuild();
-	LOG(_T("Command line:%s"), Util::CommandLineToString(argc, argv).c_str());
+	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index 6783a82fc..30727663f 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -154,7 +154,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// print application details: version and command line
 	Util::LogBuild();
-	LOG(_T("Command line:%s"), Util::CommandLineToString(argc, argv).c_str());
+	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index a7d7e314f..42c8313c9 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -40,103 +40,6 @@ using namespace VIEWER;
 #define IMAGE_MAX_RESOLUTION 1024
 
 
-// S T R U C T S ///////////////////////////////////////////////////
-
-struct IndexDist {
-	IDX idx;
-	REAL dist;
-
-	inline IndexDist() : dist(REAL(FLT_MAX)) {}
-	inline bool IsValid() const { return dist < REAL(FLT_MAX); }
-};
-
-struct IntersectRayPoints {
-	typedef MVS::PointCloud Scene;
-	typedef VIEWER::Scene::OctreePoints Octree;
-	typedef typename Octree::IDX_TYPE IDX;
-	typedef TCone<REAL,3> Cone3;
-	typedef TConeIntersect<REAL,3> Cone3Intersect;
-
-	const Scene& scene;
-	const Cone3 cone;
-	const Cone3Intersect coneIntersect;
-	const unsigned minViews;
-	IndexDist pick;
-
-	IntersectRayPoints(const Octree& octree, const Ray3& _ray, const Scene& _scene, unsigned _minViews)
-		: scene(_scene), cone(_ray, D2R(REAL(0.5))), coneIntersect(cone), minViews(_minViews)
-	{
-		octree.Collect(*this, *this);
-	}
-
-	inline bool Intersects(const typename Octree::POINT_TYPE& center, typename Octree::Type radius) const {
-		return coneIntersect(Sphere3(center.cast<REAL>(), REAL(radius)*SQRT_3));
-	}
-
-	void operator () (const IDX* idices, IDX size) {
-		// test ray-point intersection and keep the closest
-		FOREACHRAWPTR(pIdx, idices, size) {
-			const MVS::PointCloud::Index idx(*pIdx);
-			if (!scene.pointViews.IsEmpty() && scene.pointViews[idx].size() < minViews)
-				continue;
-			const MVS::PointCloud::Point& X = scene.points[idx];
-			REAL dist;
-			if (coneIntersect.Classify(Cast<REAL>(X), dist) == VISIBLE) {
-				ASSERT(dist >= 0);
-				if (pick.dist > dist) {
-					pick.dist = dist;
-					pick.idx = idx;
-				}
-			}
-		}
-	}
-};
-
-struct IntersectRayMesh {
-	typedef MVS::Mesh Scene;
-	typedef VIEWER::Scene::OctreeMesh Octree;
-	typedef typename Octree::IDX_TYPE IDX;
-
-	const Scene& scene;
-	const Ray3& ray;
-	IndexDist pick;
-
-	IntersectRayMesh(const Octree& octree, const Ray3& _ray, const Scene& _scene)
-		: scene(_scene), ray(_ray)
-	{
-		octree.Collect(*this, *this);
-	}
-
-	inline bool Intersects(const typename Octree::POINT_TYPE& center, typename Octree::Type radius) const {
-		return ray.Intersects(AABB3f(center, radius));
-	}
-
-	void operator () (const IDX* idices, IDX size) {
-		// store all intersected faces only once
-		typedef std::unordered_set<MVS::Mesh::FIndex> FaceSet;
-		FaceSet set;
-		FOREACHRAWPTR(pIdx, idices, size) {
-			const MVS::Mesh::VIndex idxVertex((MVS::Mesh::VIndex)*pIdx);
-			const MVS::Mesh::FaceIdxArr& faces = scene.vertexFaces[idxVertex];
-			set.insert(faces.begin(), faces.end());
-		}
-		// test face intersection and keep the closest
-		for (MVS::Mesh::FIndex idxFace: set) {
-			const MVS::Mesh::Face& face = scene.faces[idxFace];
-			REAL dist;
-			if (ray.Intersects<true>(Triangle3(Cast<REAL>(scene.vertices[face[0]]), Cast<REAL>(scene.vertices[face[1]]), Cast<REAL>(scene.vertices[face[2]])), &dist)) {
-				ASSERT(dist >= 0);
-				if (pick.dist > dist) {
-					pick.dist = dist;
-					pick.idx = idxFace;
-				}
-			}
-		}
-	}
-};
-/*----------------------------------------------------------------*/
-
-
 // S T R U C T S ///////////////////////////////////////////////////
 
 enum EVENT_TYPE {
@@ -715,7 +618,7 @@ void Scene::CastRay(const Ray3& ray, int action)
 	} else
 	if (!octMesh.IsEmpty()) {
 		// find ray intersection with the mesh
-		const IntersectRayMesh intRay(octMesh, ray, scene.mesh);
+		const MVS::IntersectRayMesh intRay(octMesh, ray, scene.mesh);
 		if (intRay.pick.IsValid()) {
 			const MVS::Mesh::Face& face = scene.mesh.faces[(MVS::Mesh::FIndex)intRay.pick.idx];
 			window.selectionPoints[0] = scene.mesh.vertices[face[0]];
@@ -737,7 +640,7 @@ void Scene::CastRay(const Ray3& ray, int action)
 	} else
 	if (!octPoints.IsEmpty()) {
 		// find ray intersection with the points
-		const IntersectRayPoints intRay(octPoints, ray, scene.pointcloud, window.minViews);
+		const MVS::IntersectRayPoints intRay(octPoints, ray, scene.pointcloud, window.minViews);
 		if (intRay.pick.IsValid()) {
 			window.selectionPoints[0] = window.selectionPoints[3] = scene.pointcloud.points[intRay.pick.idx];
 			window.selectionType = Window::SEL_POINT;
diff --git a/apps/Viewer/Scene.h b/apps/Viewer/Scene.h
index 8704e24eb..b5f1bee6f 100644
--- a/apps/Viewer/Scene.h
+++ b/apps/Viewer/Scene.h
@@ -48,8 +48,8 @@ namespace VIEWER {
 class Scene
 {
 public:
-	typedef TOctree<MVS::PointCloud::PointArr,MVS::PointCloud::Point::Type,3,uint32_t> OctreePoints;
-	typedef TOctree<MVS::Mesh::VertexArr,MVS::Mesh::Vertex::Type,3,uint32_t> OctreeMesh;
+	typedef MVS::PointCloud::Octree OctreePoints;
+	typedef MVS::Mesh::Octree OctreeMesh;
 
 public:
 	String name;
diff --git a/apps/Viewer/Viewer.cpp b/apps/Viewer/Viewer.cpp
index a6fffebe9..1a66ffb84 100644
--- a/apps/Viewer/Viewer.cpp
+++ b/apps/Viewer/Viewer.cpp
@@ -142,7 +142,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// print application details: version and command line
 	Util::LogBuild();
-	LOG(_T("Command line:%s"), Util::CommandLineToString(argc, argv).c_str());
+	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
diff --git a/build/Utils.cmake b/build/Utils.cmake
index 106d43167..a603b543e 100644
--- a/build/Utils.cmake
+++ b/build/Utils.cmake
@@ -174,7 +174,9 @@ macro(ComposePackageLibSuffix)
 	set(PACKAGE_LIB_SUFFIX_DBG "")
 	set(PACKAGE_LIB_SUFFIX_REL "")
 	if(MSVC)
-		if("${MSVC_VERSION}" STRGREATER "1916")
+		if("${MSVC_VERSION}" STRGREATER "1929")
+			set(PACKAGE_LIB_SUFFIX "/vc17")
+		elseif("${MSVC_VERSION}" STRGREATER "1916")
 			set(PACKAGE_LIB_SUFFIX "/vc16")
 		elseif("${MSVC_VERSION}" STRGREATER "1900")
 			set(PACKAGE_LIB_SUFFIX "/vc15")
@@ -399,25 +401,39 @@ macro(optimize_default_compiler_settings)
 	set(BUILD_EXTRA_EXE_LINKER_FLAGS_DEBUG "")
 
 	# try to enable C++14/C++11 support
-	if(${CMAKE_VERSION} VERSION_LESS "3.8.2")
-		check_cxx_compiler_flag(--std=c++14 SUPPORTS_STD_CXX14)
-		check_cxx_compiler_flag(--std=c++11 SUPPORTS_STD_CXX11)
-		if(SUPPORTS_STD_CXX14)
+	if(CMAKE_VERSION VERSION_LESS "3.8.2")
+		if (MSVC)
+			set(CXX_CHECK_PREFIX "/std:")
+		else()
+			set(CXX_CHECK_PREFIX "--std=")
+		endif()
+		check_cxx_compiler_flag("${CXX_CHECK_PREFIX}c++17" SUPPORTS_STD_CXX17)
+		check_cxx_compiler_flag("${CXX_CHECK_PREFIX}c++14" SUPPORTS_STD_CXX14)
+		check_cxx_compiler_flag("${CXX_CHECK_PREFIX}c++11" SUPPORTS_STD_CXX11)
+		if(SUPPORTS_STD_CXX17)
+			set(CMAKE_CXX_STANDARD 17)
+		elseif(SUPPORTS_STD_CXX14)
 			set(CMAKE_CXX_STANDARD 14)
 		elseif(SUPPORTS_STD_CXX11)
 			set(CMAKE_CXX_STANDARD 11)
 		endif()
 	else()
-		foreach(i ${CMAKE_CXX_COMPILE_FEATURES})
-			if("${i}" STREQUAL "cxx_std_14")
+		list(FIND CMAKE_CXX_COMPILE_FEATURES "cxx_std_17" CXX_STD_INDEX)
+		if(${CXX_STD_INDEX} GREATER -1)
+			set(CMAKE_CXX_STANDARD 17)
+		else()
+			list(FIND CMAKE_CXX_COMPILE_FEATURES "cxx_std_14" CXX_STD_INDEX)
+			if(${CXX_STD_INDEX} GREATER -1)
 				set(CMAKE_CXX_STANDARD 14)
-				break()
-			elseif("${i}" STREQUAL "cxx_std_11")
-				set(CMAKE_CXX_STANDARD 11)
+			else()
+				list(FIND CMAKE_CXX_COMPILE_FEATURES "cxx_std_11" CXX_STD_INDEX)
+				if(${CXX_STD_INDEX} GREATER -1)
+					set(CMAKE_CXX_STANDARD 11)
+				endif()
 			endif()
-		endforeach()
+		endif()
 	endif()
-	if(CLANG AND (CMAKE_CXX_STANDARD EQUAL 11 OR CMAKE_CXX_STANDARD EQUAL 14))
+	if(CLANG AND (CMAKE_CXX_STANDARD EQUAL 11 OR CMAKE_CXX_STANDARD EQUAL 14 OR CMAKE_CXX_STANDARD EQUAL 17))
 		set(CMAKE_EXE_LINKER_FLAGS "-stdlib=libc++")
 		add_extra_compiler_option(-stdlib=libc++)
 	endif()
@@ -624,6 +640,9 @@ macro(optimize_default_compiler_settings)
 
 	  # fix virtual memory range for PCH exceeded error
 	  set(BUILD_EXTRA_FLAGS "${BUILD_EXTRA_FLAGS} /Zm170")
+
+	  # enable __cplusplus
+	  set(BUILD_EXTRA_FLAGS "${BUILD_EXTRA_FLAGS} /Zc:__cplusplus")
 	endif()
 
 	# Extra link libs if the user selects building static libs:
diff --git a/libs/Common/Config.h b/libs/Common/Config.h
index 37fa297e5..b18df786a 100644
--- a/libs/Common/Config.h
+++ b/libs/Common/Config.h
@@ -102,10 +102,6 @@
 #endif
 /*----------------------------------------------------------------*/
 
-#if _MSC_VER >= 1800
-#define _SUPPORT_CPP11
-#endif
-
 // Define platform type
 #if _WIN64
 #define _ENVIRONMENT64
@@ -127,10 +123,6 @@
 #define GENERAL_API
 #define GENERAL_TPL
 
-#if __cplusplus >= 201103L || (defined(__APPLE__) && __clang_major__ >= 4)
-#define _SUPPORT_CPP11
-#endif
-
 // Define platform type
 #if __x86_64__ || __ppc64__
 #define _ENVIRONMENT64
@@ -141,6 +133,17 @@
 #endif // _MSC_VER
 
 
+#if __cplusplus >= 201103L || (__clang_major__ >= 4 || (__clang_major__ >= 3 && __clang_minor__ >= 3))
+#define _SUPPORT_CPP11
+#endif
+#if __cplusplus >= 201402L || (__clang_major__ >= 4 || (__clang_major__ >= 3 && __clang_minor__ >= 4))
+#define _SUPPORT_CPP14
+#endif
+#if __cplusplus >= 201703L || __clang_major__ >= 5
+#define _SUPPORT_CPP17
+#endif
+
+
 #if defined(__arm__) || defined (__arm64__) || defined(__aarch64__) || defined(_M_ARM) || defined(_M_ARMT)
 #define _PLATFORM_ARM 1
 #else
@@ -255,13 +258,13 @@ namespace SEACAVE_ASSERT
 }
 
 #define STATIC_ASSERT(expression) \
-	NOWARNUNUSED typedef char CTA##__LINE__[::SEACAVE_ASSERT::compile_time_assert<(bool)(expression)>::value] 
+	NOWARNUNUSED typedef char CTA##__LINE__[::SEACAVE_ASSERT::compile_time_assert<(bool)(expression)>::value]
 
 #define ASSERT_ARE_SAME_TYPE(type1, type2) \
-	NOWARNUNUSED typedef char AAST##__LINE__[::SEACAVE_ASSERT::assert_are_same_type<type1,type2>::value] 
+	NOWARNUNUSED typedef char AAST##__LINE__[::SEACAVE_ASSERT::assert_are_same_type<type1,type2>::value]
 
 #define ASSERT_ARE_NOT_SAME_TYPE(type1, type2) \
-	NOWARNUNUSED typedef char AANST##__LINE__[::SEACAVE_ASSERT::assert_are_not_same_type<type1,type2>::value] 
+	NOWARNUNUSED typedef char AANST##__LINE__[::SEACAVE_ASSERT::assert_are_not_same_type<type1,type2>::value]
 /*----------------------------------------------------------------*/
 
 #endif // __SEACAVE_CONFIG_H__
diff --git a/libs/Common/Hash.h b/libs/Common/Hash.h
index c344b3982..ccb91634f 100644
--- a/libs/Common/Hash.h
+++ b/libs/Common/Hash.h
@@ -291,7 +291,7 @@ class cMapWrap : public std::unordered_map<Key, Type>
 	inline iterator			Find(const Key& key)			{ return this->find(key); }
 	inline iterator			Insert(const Key& key, bool& bExisted) { return Insert(key, Type(), bExisted); }
 	inline iterator			Insert(const Key& key, const Type& val, bool& bExisted) {
-		std::pair<iterator,bool> ret = this->insert(std::pair<Key,Type>(key, val));
+		const std::pair<iterator,bool> ret(this->emplace(key, val));
 		bExisted = !ret.second;
 		return ret.first;
 	}
diff --git a/libs/Common/Ray.h b/libs/Common/Ray.h
index fd1989e6a..96bf59a1a 100644
--- a/libs/Common/Ray.h
+++ b/libs/Common/Ray.h
@@ -119,6 +119,7 @@ class TRay
 	bool Distance(const POINT&, TYPE&) const;
 	TYPE DistanceSq(const POINT&) const;
 	TYPE Distance(const POINT&) const;
+	POINT GetPoint(TYPE) const;
 
 	TRay operator * (const MATRIX&) const;			// matrix multiplication
 	inline TRay& operator *= (const MATRIX&);		// matrix multiplication
diff --git a/libs/Common/Ray.inl b/libs/Common/Ray.inl
index 05b1271d6..7ec8f23b5 100644
--- a/libs/Common/Ray.inl
+++ b/libs/Common/Ray.inl
@@ -895,6 +895,12 @@ TYPE TRay<TYPE,DIMS>::Distance(const POINT& pt) const
 {
 	return SQRT(DistanceSq(pt));
 } // Distance(POINT)
+// Get the point on the ray at distance t from origin
+template <typename TYPE, int DIMS>
+typename TRay<TYPE, DIMS>::POINT TRay<TYPE,DIMS>::GetPoint(TYPE t) const
+{
+	return m_pOrig + m_vDir * t;
+} // GetPoint
 /*----------------------------------------------------------------*/
 
 
diff --git a/libs/Common/SML.cpp b/libs/Common/SML.cpp
index 70f7904e5..32ce6262b 100644
--- a/libs/Common/SML.cpp
+++ b/libs/Common/SML.cpp
@@ -375,6 +375,18 @@ SMLVALUE& SML::GetValue(const String& key)
 /*----------------------------------------------------------------*/
 
 
+/**
+ * Retrieve an unnamed item by index
+ */
+const SMLVALUE& SML::GetValue(IDX idx) const
+{
+	ASSERT(idx < this->size());
+	const String szName(_T("Item") + String::ToString(idx));
+	return this->at(szName);
+}
+/*----------------------------------------------------------------*/
+
+
 /**
  * Reset items' init and release functions
  */
diff --git a/libs/Common/SML.h b/libs/Common/SML.h
index ceb503047..c016d938b 100644
--- a/libs/Common/SML.h
+++ b/libs/Common/SML.h
@@ -79,6 +79,7 @@ class GENERAL_API SML : public SMLITEMMAP
 	IDX				GetChild(const String&) const;
 	const SMLVALUE*	GetValue(const String&) const;
 	SMLVALUE&		GetValue(const String&);
+	const SMLVALUE&	GetValue(IDX) const;
 	inline SMLVALUE& operator[] (const String& key)					{ return GetValue(key); }
 
 	// misc methods
diff --git a/libs/Common/Util.cpp b/libs/Common/Util.cpp
index 445fb7bbf..68ea8a43d 100644
--- a/libs/Common/Util.cpp
+++ b/libs/Common/Util.cpp
@@ -22,6 +22,9 @@
 #endif
 #include <pwd.h>
 #endif
+#ifdef _SUPPORT_CPP17
+#include <filesystem>
+#endif // _SUPPORT_CPP17
 
 using namespace SEACAVE;
 
@@ -432,6 +435,21 @@ String Util::GetOSInfo()
 }
 /*----------------------------------------------------------------*/
 
+String Util::GetDiskInfo(const String& path)
+{
+	#ifdef _SUPPORT_CPP17
+
+	const std::filesystem::space_info si = std::filesystem::space(path.c_str());
+	return String::FormatString("%s (%s) space", formatBytes(si.available).c_str(), formatBytes(si.capacity).c_str());
+
+	#else
+
+	return String();
+
+	#endif // _SUPPORT_CPP17
+}
+/*----------------------------------------------------------------*/
+
 
 // Initialize various global variables (ex: random-number-generator state).
 void Util::Init()
@@ -660,6 +678,9 @@ void Util::LogBuild()
 	LOG(_T("CPU: %s (%u cores)"), Util::GetCPUInfo().c_str(), Thread::hardwareConcurrency());
 	LOG((_T("RAM: ") + Util::GetRAMInfo()).c_str());
 	LOG((_T("OS: ") + Util::GetOSInfo()).c_str());
+	#ifdef _SUPPORT_CPP17
+	LOG((_T("Disk: ") + Util::GetDiskInfo(WORKING_FOLDER_FULL)).c_str());
+	#endif
 	if (!SIMD_ENABLED.isSet(Util::SSE)) LOG(_T("warning: no SSE compatible CPU or OS detected"));
 	else if (!SIMD_ENABLED.isSet(Util::AVX)) LOG(_T("warning: no AVX compatible CPU or OS detected"));
 	else LOG(_T("SSE & AVX compatible CPU & OS detected"));
diff --git a/libs/Common/Util.h b/libs/Common/Util.h
index dee6aab24..871f92835 100644
--- a/libs/Common/Util.h
+++ b/libs/Common/Util.h
@@ -749,6 +749,7 @@ class GENERAL_API Util
 	static String	GetCPUInfo();
 	static String	GetRAMInfo();
 	static String	GetOSInfo();
+	static String	GetDiskInfo(const String&);
 	enum CPUFNC {NA=0, SSE, AVX};
 	static const Flags ms_CPUFNC;
 
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 0e50260cc..16b3c8948 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -85,7 +85,7 @@ MDEFVAR_OPTDENSE_uint32(nNumViews, "Num Views", "Number of views used for depth-
 MDEFVAR_OPTDENSE_bool(bFilterAdjust, "Filter Adjust", "adjust depth estimates during filtering", "1")
 MDEFVAR_OPTDENSE_bool(bAddCorners, "Add Corners", "add support points at image corners with nearest neighbor disparities", "0")
 MDEFVAR_OPTDENSE_float(fViewMinScore, "View Min Score", "Min score to consider a neighbor images (0 - disabled)", "2.0")
-MDEFVAR_OPTDENSE_float(fViewMinScoreRatio, "View Min Score Ratio", "Min score ratio to consider a neighbor images", "0.3")
+MDEFVAR_OPTDENSE_float(fViewMinScoreRatio, "View Min Score Ratio", "Min score ratio to consider a neighbor images", "0.03")
 MDEFVAR_OPTDENSE_float(fMinArea, "Min Area", "Min shared area for accepting the depth triangulation", "0.05")
 MDEFVAR_OPTDENSE_float(fMinAngle, "Min Angle", "Min angle for accepting the depth triangulation", "3.0")
 MDEFVAR_OPTDENSE_float(fOptimAngle, "Optim Angle", "Optimal angle for computing the depth triangulation", "15.0")
@@ -1014,7 +1014,7 @@ std::pair<float,float> TriangulatePointsDelaunay(const DepthData::ViewData& imag
 		ASSERT(image.pImageData->IsValid() && ISINSIDE(image.pImageData->avgDepth, depthBounds.first, depthBounds.second));
 		const Mesh::VIndex idxFirstVertex = mesh.vertices.size();
 		VertexHandle vcorners[4];
-		for (const Point2f& x: {Point2f(0, 0), Point2f(image.image.width()-1, 0), Point2f(0, image.image.height()-1), Point2f(image.image.width()-1, image.image.height()-1)}) {
+		for (const Point2f x: {Point2i(0, 0), Point2i(image.image.width()-1, 0), Point2i(0, image.image.height()-1), Point2i(image.image.width()-1, image.image.height()-1)}) {
 			const Mesh::VIndex i(mesh.vertices.size() - idxFirstVertex);
 			(vcorners[i] = delaunay.insert(CPoint(x.x, x.y)))->info() = mesh.vertices.size();
 			mesh.vertices.emplace_back(image.camera.TransformPointI2C(Point3f(x, image.pImageData->avgDepth)));
@@ -1065,7 +1065,7 @@ std::pair<float,float> TriangulatePointsDelaunay(const DepthData::ViewData& imag
 			mesh.vertices[idxFirstVertex+i] = image.camera.TransformPointI2C(Point3(posA, depth));
 		}
 	}
-	mesh.faces.reserve(std::distance(delaunay.finite_faces_begin(),delaunay.finite_faces_end()));
+	mesh.faces.reserve(Mesh::FIndex(std::distance(delaunay.finite_faces_begin(),delaunay.finite_faces_end())));
 	for (Delaunay::Face_iterator it=delaunay.faces_begin(); it!=delaunay.faces_end(); ++it) {
 		const Delaunay::Face& face = *it;
 		mesh.faces.emplace_back(face.vertex(2)->info(), face.vertex(1)->info(), face.vertex(0)->info());
diff --git a/libs/MVS/Image.cpp b/libs/MVS/Image.cpp
index 772185f2c..a361b4a9e 100644
--- a/libs/MVS/Image.cpp
+++ b/libs/MVS/Image.cpp
@@ -150,7 +150,7 @@ float Image::ResizeImage(unsigned nMaxResolution)
 	height = (uint32_t)scaledSize.height;
 	if (!image.empty())
 		cv::resize(image, image, scaledSize, 0, 0, cv::INTER_AREA);
-	return scale;
+	return static_cast<float>(scale);
 } // ResizeImage
 /*----------------------------------------------------------------*/
 
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 2a8104b62..381ce9de1 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -36,9 +36,16 @@
 #include <boost/graph/filtered_graph.hpp>
 #include <boost/graph/connected_components.hpp>
 #ifdef _MSC_VER
-#  pragma warning(push)
-#  pragma warning(disable: 4244 4267 4305)
-#endif
+#pragma warning(push)
+#pragma warning(disable: 4244 4267 4305)
+#ifdef _SUPPORT_CPP17
+namespace std {
+template <typename ArgumentType, typename ResultType>
+struct unary_function {
+};
+} // namespace std
+#endif // _SUPPORT_CPP17
+#endif // _MSC_VER
 // VCG: mesh reconstruction post-processing
 #define _SILENCE_STDEXT_HASH_DEPRECATION_WARNINGS
 #include <vcg/complex/complex.h>
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index c03628ae5..00629b9c4 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -321,6 +321,50 @@ struct TRasterMesh : TRasterMeshBase<DERIVED> {
 };
 /*----------------------------------------------------------------*/
 
+
+struct IntersectRayMesh {
+	typedef Mesh::Octree Octree;
+	typedef typename Octree::IDX_TYPE IDX;
+
+	const Mesh& mesh;
+	const Ray3& ray;
+	IndexDist pick;
+
+	IntersectRayMesh(const Octree& octree, const Ray3& _ray, const Mesh& _mesh)
+		: mesh(_mesh), ray(_ray)
+	{
+		octree.Collect(*this, *this);
+	}
+
+	inline bool Intersects(const typename Octree::POINT_TYPE& center, typename Octree::Type radius) const {
+		return ray.Intersects(AABB3f(center, radius));
+	}
+
+	void operator () (const IDX* idices, IDX size) {
+		// store all intersected faces only once
+		typedef std::unordered_set<Mesh::FIndex> FaceSet;
+		FaceSet set;
+		FOREACHRAWPTR(pIdx, idices, size) {
+			const Mesh::VIndex idxVertex((Mesh::VIndex)*pIdx);
+			const Mesh::FaceIdxArr& faces = mesh.vertexFaces[idxVertex];
+			set.insert(faces.begin(), faces.end());
+		}
+		// test face intersection and keep the closest
+		for (Mesh::FIndex idxFace : set) {
+			const Mesh::Face& face = mesh.faces[idxFace];
+			REAL dist;
+			if (ray.Intersects<true>(Triangle3(Cast<REAL>(mesh.vertices[face[0]]), Cast<REAL>(mesh.vertices[face[1]]), Cast<REAL>(mesh.vertices[face[2]])), &dist)) {
+				ASSERT(dist >= 0);
+				if (pick.dist > dist) {
+					pick.dist = dist;
+					pick.idx = idxFace;
+				}
+			}
+		}
+	}
+};
+/*----------------------------------------------------------------*/
+
 } // namespace MVS
 
 #endif // _MVS_MESH_H_
diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
index a7ef8f067..1603e38a0 100644
--- a/libs/MVS/PatchMatchCUDA.cpp
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -126,27 +126,36 @@ void PatchMatchCUDA::AllocatePatchMatchCUDA(const cv::Mat1f& image)
 	CUDA::checkCudaCall(cudaMalloc((void**)&cudaSelectedViews, sizeof(unsigned) * size));
 }
 
-void PatchMatchCUDA::AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bHasDepthMap)
+void PatchMatchCUDA::AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bInitImage, bool bInitDepthMap)
 {
 	const cudaChannelFormatDesc channelDesc = cudaCreateChannelDesc(32, 0, 0, 0, cudaChannelFormatKindFloat);
-	CUDA::checkCudaCall(cudaMallocArray(&cudaImageArrays[i], &channelDesc, image.cols, image.rows));
 
-	struct cudaResourceDesc resDesc;
-	memset(&resDesc, 0, sizeof(cudaResourceDesc));
-	resDesc.resType = cudaResourceTypeArray;
-	resDesc.res.array.array = cudaImageArrays[i];
+	if (bInitImage) {
+		CUDA::checkCudaCall(cudaMallocArray(&cudaImageArrays[i], &channelDesc, image.cols, image.rows));
 
-	struct cudaTextureDesc texDesc;
-	memset(&texDesc, 0, sizeof(cudaTextureDesc));
-	texDesc.addressMode[0] = cudaAddressModeWrap;
-	texDesc.addressMode[1] = cudaAddressModeWrap;
-	texDesc.filterMode = cudaFilterModeLinear;
-	texDesc.readMode  = cudaReadModeElementType;
-	texDesc.normalizedCoords = 0;
+		struct cudaResourceDesc resDesc;
+		memset(&resDesc, 0, sizeof(cudaResourceDesc));
+		resDesc.resType = cudaResourceTypeArray;
+		resDesc.res.array.array = cudaImageArrays[i];
+
+		struct cudaTextureDesc texDesc;
+		memset(&texDesc, 0, sizeof(cudaTextureDesc));
+		texDesc.addressMode[0] = cudaAddressModeWrap;
+		texDesc.addressMode[1] = cudaAddressModeWrap;
+		texDesc.filterMode = cudaFilterModeLinear;
+		texDesc.readMode  = cudaReadModeElementType;
+		texDesc.normalizedCoords = 0;
 
-	CUDA::checkCudaCall(cudaCreateTextureObject(&textureImages[i], &resDesc, &texDesc, NULL));
+		CUDA::checkCudaCall(cudaCreateTextureObject(&textureImages[i], &resDesc, &texDesc, NULL));
+	}
+
+	if (params.bGeomConsistency && i > 0) {
+		if (!bInitDepthMap) {
+			textureDepths[i-1] = 0;
+			cudaDepthArrays[i-1] = NULL;
+			return;
+		}
 
-	if (params.bGeomConsistency && i > 0 && bHasDepthMap) {
 		CUDA::checkCudaCall(cudaMallocArray(&cudaDepthArrays[i-1], &channelDesc, image.cols, image.rows));
 
 		struct cudaResourceDesc resDesc;
@@ -171,8 +180,8 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 	TD_TIMER_STARTD();
 
 	ASSERT(depthData.images.size() > 1);
-	const size_t prevNumImages = images.size();
-	const size_t numImages = depthData.images.size();
+	const IIndex prevNumImages = (IIndex)images.size();
+	const IIndex numImages = depthData.images.size();
 	params.nNumViews = (int)numImages-1;
 	params.nInitTopK = std::min(params.nInitTopK, params.nNumViews);
 	params.fDepthMin = depthData.dMin;
@@ -187,7 +196,7 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 		cudaDepthArrays.resize(numImages-1);
 		textureDepths.resize(numImages-1);
 	}
-	for (size_t i = 0; i < numImages; ++i) {
+	for (IIndex i = 0; i < numImages; ++i) {
 		const DepthData::ViewData& view = depthData.images[i];
 		Image32F image = view.image;
 		Camera camera;
@@ -205,7 +214,7 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 		}
 		if (i >= prevNumImages) {
 			// allocate image CUDA memory
-			AllocateImageCUDA(i, image, !view.depthMap.empty());
+			AllocateImageCUDA(i, image, true, !view.depthMap.empty());
 		} else
 		if (images[i].size() != image.size()) {
 			// reallocate image CUDA memory
@@ -215,7 +224,15 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 				cudaDestroyTextureObject(textureDepths[i-1]);
 				cudaFreeArray(cudaDepthArrays[i-1]);
 			}
-			AllocateImageCUDA(i, image, !view.depthMap.empty());
+			AllocateImageCUDA(i, image, true, !view.depthMap.empty());
+		} else
+		if (params.bGeomConsistency && i > 0 && (view.depthMap.empty() != (cudaDepthArrays[i-1] == NULL))) {
+			// reallocate depth CUDA memory
+			if (cudaDepthArrays[i-1]) {
+				cudaDestroyTextureObject(textureDepths[i-1]);
+				cudaFreeArray(cudaDepthArrays[i-1]);
+			}
+			AllocateImageCUDA(i, image, false, !view.depthMap.empty());
 		}
 		CUDA::checkCudaCall(cudaMemcpy2DToArray(cudaImageArrays[i], 0, 0, image.ptr<float>(), image.step[0], image.cols*sizeof(float), image.rows, cudaMemcpyHostToDevice));
 		if (params.bGeomConsistency && i > 0 && !view.depthMap.empty()) {
@@ -229,7 +246,7 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 		cameras[i] = std::move(camera);
 	}
 	if (params.bGeomConsistency && cudaDepthArrays.size() > numImages-1) {
-		for (size_t i = numImages; i < prevNumImages; ++i) {
+		for (IIndex i = numImages; i < prevNumImages; ++i) {
 			// free image CUDA memory
 			cudaDestroyTextureObject(textureDepths[i-1]);
 			cudaFreeArray(cudaDepthArrays[i-1]);
@@ -238,7 +255,7 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 		textureDepths.resize(numImages-1);
 	}
 	if (prevNumImages > numImages) {
-		for (size_t i = numImages; i < prevNumImages; ++i) {
+		for (IIndex i = numImages; i < prevNumImages; ++i) {
 			// free image CUDA memory
 			cudaDestroyTextureObject(textureImages[i]);
 			cudaFreeArray(cudaImageArrays[i]);
diff --git a/libs/MVS/PatchMatchCUDA.inl b/libs/MVS/PatchMatchCUDA.inl
index 3c3db4111..5dbc4be1d 100644
--- a/libs/MVS/PatchMatchCUDA.inl
+++ b/libs/MVS/PatchMatchCUDA.inl
@@ -111,7 +111,7 @@ public:
 private:
 	void ReleaseCUDA();
 	void AllocatePatchMatchCUDA(const cv::Mat1f& image);
-	void AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bHasDepthMap);
+	void AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bInitImage, bool bInitDepthMap);
 	void RunCUDA();
 
 public:
diff --git a/libs/MVS/PointCloud.h b/libs/MVS/PointCloud.h
index 7b479616b..c0ebf5ad7 100644
--- a/libs/MVS/PointCloud.h
+++ b/libs/MVS/PointCloud.h
@@ -70,6 +70,8 @@ class MVS_API PointCloud
 
 	typedef AABB3f Box;
 
+	typedef TOctree<PointArr,Point::Type,3> Octree;
+
 public:
 	PointArr points;
 	PointViewArr pointViews; // array of views for each point (ordered increasing)
@@ -113,6 +115,57 @@ class MVS_API PointCloud
 /*----------------------------------------------------------------*/
 
 
+struct IndexDist {
+	IDX idx;
+	REAL dist;
+
+	inline IndexDist() : dist(REAL(FLT_MAX)) {}
+	inline bool IsValid() const { return dist < REAL(FLT_MAX); }
+};
+
+struct IntersectRayPoints {
+	typedef PointCloud::Octree Octree;
+	typedef typename Octree::IDX_TYPE IDX;
+	typedef TCone<REAL, 3> Cone3;
+	typedef TConeIntersect<REAL, 3> Cone3Intersect;
+
+	const PointCloud& pointcloud;
+	const Cone3 cone;
+	const Cone3Intersect coneIntersect;
+	const unsigned minViews;
+	IndexDist pick;
+
+	IntersectRayPoints(const Octree& octree, const Ray3& _ray, const PointCloud& _pointcloud, unsigned _minViews)
+		: pointcloud(_pointcloud), cone(_ray, D2R(REAL(0.5))), coneIntersect(cone), minViews(_minViews)
+	{
+		octree.Collect(*this, *this);
+	}
+
+	inline bool Intersects(const typename Octree::POINT_TYPE& center, typename Octree::Type radius) const {
+		return coneIntersect(Sphere3(center.cast<REAL>(), REAL(radius) * SQRT_3));
+	}
+
+	void operator () (const IDX* idices, IDX size) {
+		// test ray-point intersection and keep the closest
+		FOREACHRAWPTR(pIdx, idices, size) {
+			const PointCloud::Index idx(*pIdx);
+			if (!pointcloud.pointViews.IsEmpty() && pointcloud.pointViews[idx].size() < minViews)
+				continue;
+			const PointCloud::Point& X = pointcloud.points[idx];
+			REAL dist;
+			if (coneIntersect.Classify(Cast<REAL>(X), dist) == VISIBLE) {
+				ASSERT(dist >= 0);
+				if (pick.dist > dist) {
+					pick.dist = dist;
+					pick.idx = idx;
+				}
+			}
+		}
+	}
+};
+/*----------------------------------------------------------------*/
+
+
 typedef MVS_API float Depth;
 typedef MVS_API Point3f Normal;
 typedef MVS_API TImage<Depth> DepthMap;
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 58599d293..a7ad1ae11 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -423,7 +423,7 @@ bool Scene::LoadViewNeighbors(const String& fileName)
 		const IIndex ID(String::FromString<IIndex>(argv[0], NO_ID));
 		ASSERT(ID != NO_ID);
 		Image& imageData = images[ID];
-		imageData.neighbors.resize(argc-1);
+		imageData.neighbors.resize(static_cast<IIndex>(argc-1));
 		FOREACH(i, imageData.neighbors) {
 			const IIndex nID(String::FromString<IIndex>(argv[i+1], NO_ID));
 			ASSERT(nID != NO_ID);
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 9b705c7f6..9fe6ce358 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -331,7 +331,7 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 		DEBUG_EXTRA("Reference image %3u paired with image %3u", idxImage, neighbor.idx.ID);
 	} else {
 		// initialize all neighbor views too (global reconstruction is used)
-		const float fMinScore(MAXF(depthData.neighbors.First().score*(OPTDENSE::fViewMinScoreRatio*0.1f), OPTDENSE::fViewMinScore));
+		const float fMinScore(MAXF(depthData.neighbors.First().score*OPTDENSE::fViewMinScoreRatio, OPTDENSE::fViewMinScore));
 		FOREACH(idx, depthData.neighbors) {
 			const ViewScore& neighbor = depthData.neighbors[idx];
 			if ((numNeighbors && depthData.images.GetSize() > numNeighbors) ||
diff --git a/libs/MVS/SemiGlobalMatcher.cpp b/libs/MVS/SemiGlobalMatcher.cpp
index 4a9285636..ef8f4e125 100644
--- a/libs/MVS/SemiGlobalMatcher.cpp
+++ b/libs/MVS/SemiGlobalMatcher.cpp
@@ -530,7 +530,7 @@ CLISTDEF0IDX(SemiGlobalMatcher::AccumCost,int) SemiGlobalMatcher::GenerateP2s(Ac
 void SemiGlobalMatcher::Match(const Scene& scene, IIndex idxImage, IIndex numNeighbors, unsigned minResolution)
 {
 	const Image& leftImage = scene.images[idxImage];
-	const float fMinScore(MAXF(leftImage.neighbors.front().score*(OPTDENSE::fViewMinScoreRatio*0.1f), OPTDENSE::fViewMinScore));
+	const float fMinScore(MAXF(leftImage.neighbors.front().score*OPTDENSE::fViewMinScoreRatio, OPTDENSE::fViewMinScore));
 	FOREACH(idxNeighbor, leftImage.neighbors) {
 		const ViewScore& neighbor = leftImage.neighbors[idxNeighbor];
 		// exclude neighbors that over the limit or too small score
@@ -740,7 +740,7 @@ void SemiGlobalMatcher::Fuse(const Scene& scene, IIndex idxImage, IIndex numNeig
 {
 	TD_TIMER_STARTD();
 	const Image& leftImage = scene.images[idxImage];
-	const float fMinScore(MAXF(leftImage.neighbors.front().score*(OPTDENSE::fViewMinScoreRatio*0.1f), OPTDENSE::fViewMinScore));
+	const float fMinScore(MAXF(leftImage.neighbors.front().score*OPTDENSE::fViewMinScoreRatio, OPTDENSE::fViewMinScore));
 	struct PairData {
 		DepthMap depthMap;
 		DepthRangeMap depthRangeMap;

From 6639f7b18c55861eb7fe574222d4596a3a450bba Mon Sep 17 00:00:00 2001
From: luzpaz <luzpaz@users.noreply.github.com>
Date: Tue, 18 Jan 2022 02:05:44 -0500
Subject: [PATCH 076/252] common: fix various typos (#754)

Found via `codespell -q 3 -L extit,indext,ist,kinf,nd,planed,rady,te,weigth,witdh`
---
 BUILD.md                                 |  2 +-
 MvgMvsPipeline.py                        | 12 +++----
 apps/InterfaceVisualSFM/Util.h           |  6 ++--
 apps/ReconstructMesh/ReconstructMesh.cpp |  4 +--
 build/Utils.cmake                        |  2 +-
 libs/Common/Common.h                     |  2 +-
 libs/Common/FastDelegate.h               | 10 +++---
 libs/Common/FastDelegateBind.h           |  2 +-
 libs/Common/Rotation.h                   |  6 ++--
 libs/Common/Rotation.inl                 |  2 +-
 libs/Common/SML.cpp                      |  2 +-
 libs/Common/Types.h                      |  2 +-
 libs/Common/UtilCUDA.cpp                 |  2 +-
 libs/IO/ImageTGA.cpp                     |  2 +-
 libs/IO/json.hpp                         | 10 +++---
 libs/IO/tiny_gltf.h                      | 40 ++++++++++++------------
 libs/MVS/Mesh.cpp                        |  4 +--
 libs/MVS/SemiGlobalMatcher.cpp           |  2 +-
 libs/Math/LMFit/CHANGELOG                |  4 +--
 libs/Math/LMFit/lmmin.cpp                |  2 +-
 libs/Math/LMFit/lmmin.h                  |  2 +-
 libs/Math/TRWS/MRFEnergy.h               |  2 +-
 22 files changed, 61 insertions(+), 61 deletions(-)

diff --git a/BUILD.md b/BUILD.md
index 4ddcd4b81..880d4b780 100644
--- a/BUILD.md
+++ b/BUILD.md
@@ -145,7 +145,7 @@ make && sudo make install
 Library usage
 -------------------
 
-In order to use *OpenMVS* as a third-party libray in your project, first compile it as described above or simply use `vcpgk`:
+In order to use *OpenMVS* as a third-party library in your project, first compile it as described above or simply use `vcpgk`:
 ```
 vcpkg install openmvs
 ```
diff --git a/MvgMvsPipeline.py b/MvgMvsPipeline.py
index 48643beb7..da46d3e8e 100644
--- a/MvgMvsPipeline.py
+++ b/MvgMvsPipeline.py
@@ -36,8 +36,8 @@
     17. Fuse disparity-maps            DensifyPointCloud
 
 positional arguments:
-  input_dir                 the directory wich contains the pictures set.
-  output_dir                the directory wich will contain the resulting files.
+  input_dir                 the directory which contains the pictures set.
+  output_dir                the directory which will contain the resulting files.
 
 optional arguments:
   -h, --help                show this help message and exit
@@ -270,9 +270,9 @@ def apply_conf(self, conf):
     "\r\n".join(("\t%i. %s\t %s" % (t, STEPS[t].info, STEPS[t].cmd) for t in range(STEPS.length())))
     )
 PARSER.add_argument('input_dir',
-                    help="the directory wich contains the pictures set.")
+                    help="the directory which contains the pictures set.")
 PARSER.add_argument('output_dir',
-                    help="the directory wich will contain the resulting files.")
+                    help="the directory which will contain the resulting files.")
 PARSER.add_argument('--steps',
                     type=int,
                     nargs="+",
@@ -297,7 +297,7 @@ def mkdir_ine(dirname):
         os.mkdir(dirname)
 
 
-# Absolute path for input and ouput dirs
+# Absolute path for input and output dirs
 CONF.input_dir = os.path.abspath(CONF.input_dir)
 CONF.output_dir = os.path.abspath(CONF.output_dir)
 
@@ -324,7 +324,7 @@ def mkdir_ine(dirname):
     try:
         CONF.steps = PRESET[CONF.preset]
     except KeyError:
-        sys.exit("Unkown preset %s, choose %s" % (CONF.preset, ' or '.join([s for s in PRESET])))
+        sys.exit("Unknown preset %s, choose %s" % (CONF.preset, ' or '.join([s for s in PRESET])))
 elif not CONF.steps:
     CONF.steps = PRESET[PRESET_DEFAULT]
 
diff --git a/apps/InterfaceVisualSFM/Util.h b/apps/InterfaceVisualSFM/Util.h
index 3afd61f1c..abf7e1d7b 100644
--- a/apps/InterfaceVisualSFM/Util.h
+++ b/apps/InterfaceVisualSFM/Util.h
@@ -125,7 +125,7 @@ bool LoadNVM(std::ifstream& in, std::vector<CameraT>& camera_data, std::vector<P
             camidx.push_back(cidx);    //camera index
             ptidx.push_back(i);        //point index
 
-            //add a measurment to the vector
+            //add a measurement to the vector
             measurements.push_back(Point2D(imx, imy));
             nproj ++;
         }
@@ -268,7 +268,7 @@ bool LoadBundlerOut(const char* name, std::ifstream& in, std::vector<CameraT>& c
             camidx.push_back(cidx);    //camera index
             ptidx.push_back(i);        //point index
 
-            //add a measurment to the vector
+            //add a measurement to the vector
             measurements.push_back(Point2D(imx, -imy));
             nproj ++;
         }
@@ -638,7 +638,7 @@ bool RemoveInvisiblePoints( std::vector<CameraT>& camera_data, std::vector<Point
     if(points_removed == 0) return false;
     std::vector<int>  cv(camera_data.size(), 0);
     //should any cameras be removed ?
-    int min_observation = 20; //cameras should see at leat 20 points
+    int min_observation = 20; //cameras should see at least 20 points
 
     do
     {
diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index 3c9b61aac..d4dadfc18 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -219,7 +219,7 @@ void Finalize()
 } // unnamed namespace
 
 
-// export 3D coordinates corresponding to 2D ccordinates provided by inputFileName:
+// export 3D coordinates corresponding to 2D coordinates provided by inputFileName:
 // parse image point list; first line is the name of the image to project,
 // each consequent line store the xy coordinates to project:
 // <image-name> <number-of-points>
@@ -275,7 +275,7 @@ bool Export3DProjections(Scene& scene, const String& inputFileName) {
 		if (argc > 0 && argv[0][0] == _T('#'))
 			continue;
 		if (argc < 2) {
-			VERBOSE("Invalid image coordonates: %s", line.c_str());
+			VERBOSE("Invalid image coordinates: %s", line.c_str());
 			continue;
 		}
 		const Point2f pt(
diff --git a/build/Utils.cmake b/build/Utils.cmake
index a603b543e..2bfbc9822 100644
--- a/build/Utils.cmake
+++ b/build/Utils.cmake
@@ -492,7 +492,7 @@ macro(optimize_default_compiler_settings)
 	  add_extra_compiler_option(-fdiagnostics-show-option)
 	  add_extra_compiler_option(-ftemplate-backtrace-limit=0)
 	  
-	  # The -Wno-long-long is required in 64bit systems when including sytem headers.
+	  # The -Wno-long-long is required in 64bit systems when including system headers.
 	  if(X86_64)
 		add_extra_compiler_option(-Wno-long-long)
 	  endif()
diff --git a/libs/Common/Common.h b/libs/Common/Common.h
index 8942f1e14..5db8877eb 100644
--- a/libs/Common/Common.h
+++ b/libs/Common/Common.h
@@ -13,7 +13,7 @@
 
 #include "Config.h"
 
-// macors controling the verbosity
+// macros controlling the verbosity
 #define TD_VERBOSE_OFF		0
 #define TD_VERBOSE_ON		1
 #define TD_VERBOSE_DEBUG	2
diff --git a/libs/Common/FastDelegate.h b/libs/Common/FastDelegate.h
index 51400ae99..de2b8bca7 100644
--- a/libs/Common/FastDelegate.h
+++ b/libs/Common/FastDelegate.h
@@ -302,7 +302,7 @@ struct SimplifyMemFunc<SINGLE_MEMFUNCPTR_SIZE>  {
 	inline static GenericClass *Convert(X *pthis, XFuncType function_to_bind, 
 			GenericMemFuncType &bound_func) {
 #if defined __DMC__  
-		// Digital Mars doesn't allow you to cast between abitrary PMF's, 
+		// Digital Mars doesn't allow you to cast between arbitrary PMF's, 
 		// even though the standard says you can. The 32-bit compiler lets you
 		// static_cast through an int, but the DOS compiler doesn't.
 		bound_func = horrible_cast<GenericMemFuncType>(function_to_bind);
@@ -376,7 +376,7 @@ struct MicrosoftVirtualMFP {
 // returns the 'this' pointer that was used.
 
 // Define a generic class that uses virtual inheritance.
-// It has a trival member function that returns the value of the 'this' pointer.
+// It has a trivial member function that returns the value of the 'this' pointer.
 struct GenericVirtualClass : virtual public GenericClass
 {
 	typedef GenericVirtualClass * (GenericVirtualClass::*ProbePtrType)();
@@ -514,7 +514,7 @@ struct SimplifyMemFunc<SINGLE_MEMFUNCPTR_SIZE + 3*sizeof(int) >
 //
 ////////////////////////////////////////////////////////////////////////////////
 
-// DelegateMemento -- an opaque structure which can hold an arbitary delegate.
+// DelegateMemento -- an opaque structure which can hold an arbitrary delegate.
 // It knows nothing about the calling convention or number of arguments used by
 // the function pointed to.
 // It supplies comparison operators so that it can be stored in STL collections.
@@ -821,7 +821,7 @@ class ClosurePtr : public DelegateMemento {
 //   FastDelegate3<int, char *, double>
 // They can cope with any combination of parameters. The max number of parameters
 // allowed is 8, but it is trivial to increase this limit.
-// Note that we need to treat const member functions seperately.
+// Note that we need to treat const member functions separately.
 // All this class does is to enforce type safety, and invoke the delegate with
 // the correct list of parameters.
 
@@ -1979,7 +1979,7 @@ class FastDelegate< R ( Param1, Param2, Param3, Param4, Param5, Param6, Param7,
 
 // Also declare overloads of a MakeDelegate() global function to 
 // reduce the need for typedefs.
-// We need seperate overloads for const and non-const member functions.
+// We need separate overloads for const and non-const member functions.
 // Also, because of the weird rule about the class of derived member function pointers,
 // implicit downcasts may need to be applied later to the 'this' pointer.
 // That's why two classes (X and Y) appear in the definitions. Y must be implicitly
diff --git a/libs/Common/FastDelegateBind.h b/libs/Common/FastDelegateBind.h
index af5bc8d9e..95b017d3d 100644
--- a/libs/Common/FastDelegateBind.h
+++ b/libs/Common/FastDelegateBind.h
@@ -26,7 +26,7 @@
 //
 // Add another helper, so FastDelegate can be a dropin replacement
 // for boost::bind (in a fair number of cases).
-// Note the elipses, because boost::bind() takes place holders
+// Note the ellipsis, because boost::bind() takes place holders
 // but FastDelegate does not care about them.  Getting the place holder
 // mechanism to work, and play well with boost is a bit tricky, so
 // we do the "easy" thing...
diff --git a/libs/Common/Rotation.h b/libs/Common/Rotation.h
index 22d00a356..585eefd93 100644
--- a/libs/Common/Rotation.h
+++ b/libs/Common/Rotation.h
@@ -66,7 +66,7 @@ template <typename TYPE> class TRMatrixBase;
 	  where (x, y, z) is the normalized direction vector of the axis
 	  and phi is the angle of rtoation.
 
-	  Some usefull quaternions:
+	  Some useful quaternions:
 	  x 	       y 	        z 	       w          Description
 	  0 	       0 	        0 	       1          Identity quaternion,
 													  no rotation
@@ -123,7 +123,7 @@ class TQuaternion : public TMatrix<TYPE,4,1>
 	*/
 	inline void Invert();
 
-	/** makes TQuaternion-representation uniqe, ensuring vector lies
+	/** makes TQuaternion-representation unique, ensuring vector lies
 	in upper (by real part) hemisphere. (inplace)
 	*/
 	inline void MakeUnique();
@@ -141,7 +141,7 @@ class TQuaternion : public TMatrix<TYPE,4,1>
 	*/
 	inline void MultLeft(const TQuaternion<TYPE> &quat);
 
-	/** rotates the given Vector qith the quaternion ( q v q* )
+	/** rotates the given Vector with the quaternion ( q v q* )
 	the resulting vector is given in res
 	@returns 0 in case of no error
 	@author Daniel Grest, June 2003
diff --git a/libs/Common/Rotation.inl b/libs/Common/Rotation.inl
index fb9b4e1d5..f7868723e 100644
--- a/libs/Common/Rotation.inl
+++ b/libs/Common/Rotation.inl
@@ -374,7 +374,7 @@ TQuaternion<TYPE> TQuaternion<TYPE>::
 	TQuaternion<TYPE> res;
 	TYPE a, b;
 	TYPE cosPhi = (TYPE)p.ScalarProduct(q);
-	//adjust angle if neccessary
+	//adjust angle if necessary
 	if (cosPhi < 0) {
 		q.MultiplyIP(-1.0);
 		cosPhi = -cosPhi;
diff --git a/libs/Common/SML.cpp b/libs/Common/SML.cpp
index 32ce6262b..56409fdf3 100644
--- a/libs/Common/SML.cpp
+++ b/libs/Common/SML.cpp
@@ -362,7 +362,7 @@ const SMLVALUE* SML::GetValue(const String& key) const
 
 
 /**
- * Insert or retrieve an item; initializa it if necesary
+ * Insert or retrieve an item; initialize it if necessary
  */
 SMLVALUE& SML::GetValue(const String& key)
 {
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 11ae8f67d..86316cdbb 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -2718,7 +2718,7 @@ class SO2
 	/// Construct from an angle.
 	inline SO2(const Precision l) : mat(exp(l)) {}
 
-	/// Assigment operator from a general matrix. This also calls coerce()
+	/// Assignment operator from a general matrix. This also calls coerce()
 	/// to make sure that the matrix is a valid rotation matrix.
 	inline SO2& operator=(const Mat2& rhs) {
 		mat = rhs;
diff --git a/libs/Common/UtilCUDA.cpp b/libs/Common/UtilCUDA.cpp
index 8b4a79add..77b2542bc 100644
--- a/libs/Common/UtilCUDA.cpp
+++ b/libs/Common/UtilCUDA.cpp
@@ -30,7 +30,7 @@ int _convertSMVer2Cores(int major, int minor)
 
 	// Defines for GPU Architecture types (using the SM version to determine the # of cores per SM
 	struct sSMtoCores {
-		int SM; // 0xMm (hexidecimal notation), M = SM Major version, and m = SM minor version
+		int SM; // 0xMm (hexadecimal notation), M = SM Major version, and m = SM minor version
 		int Cores;
 	};
 	const sSMtoCores nGpuArchCoresPerSM[] = {
diff --git a/libs/IO/ImageTGA.cpp b/libs/IO/ImageTGA.cpp
index 1f50a3408..deefa1227 100644
--- a/libs/IO/ImageTGA.cpp
+++ b/libs/IO/ImageTGA.cpp
@@ -64,7 +64,7 @@ HRESULT CImageTGA::ReadHeader()
 	((ISTREAM*)m_pStream)->setPos(0);
 	TGAINFOHEADER tgaInfo;
 	m_pStream->read(&tgaInfo, sizeof(TGAINFOHEADER));
-	if (tgaInfo.byCMType != 0) {	// palletted images not supported
+	if (tgaInfo.byCMType != 0) {	// paletted images not supported
 		LOG(LT_IMAGE, "error: invalid TGA image");
 		return _INVALIDFILE;
 	}
diff --git a/libs/IO/json.hpp b/libs/IO/json.hpp
index c9af0bed3..b6d30f8c9 100644
--- a/libs/IO/json.hpp
+++ b/libs/IO/json.hpp
@@ -8288,7 +8288,7 @@ class binary_reader
 
     @return whether conversion completed
 
-    @note This function needs to respect the system's endianess, because
+    @note This function needs to respect the system's endianness, because
           bytes in CBOR, MessagePack, and UBJSON are stored in network order
           (big endian) and therefore need reordering on little endian systems.
     */
@@ -8381,7 +8381,7 @@ class binary_reader
     /*!
     @param[in] format   the current format
     @param[in] detail   a detailed error message
-    @param[in] context  further contect information
+    @param[in] context  further contextual information
     @return a message string to use in the parse_error exceptions
     */
     std::string exception_message(const input_format_t format,
@@ -8427,7 +8427,7 @@ class binary_reader
     /// the number of characters read
     std::size_t chars_read = 0;
 
-    /// whether we can assume little endianess
+    /// whether we can assume little endianness
     const bool is_little_endian = little_endianess();
 
     /// the SAX parser
@@ -9707,7 +9707,7 @@ class binary_writer
     @tparam OutputIsLittleEndian Set to true if output data is
                                  required to be little endian
 
-    @note This function needs to respect the system's endianess, because bytes
+    @note This function needs to respect the system's endianness, because bytes
           in CBOR, MessagePack, and UBJSON are stored in network order (big
           endian) and therefore need reordering on little endian systems.
     */
@@ -9770,7 +9770,7 @@ class binary_writer
     }
 
   private:
-    /// whether we can assume little endianess
+    /// whether we can assume little endianness
     const bool is_little_endian = binary_reader<BasicJsonType>::little_endianess();
 
     /// the output
diff --git a/libs/IO/tiny_gltf.h b/libs/IO/tiny_gltf.h
index 15d738cc6..4718b6cab 100644
--- a/libs/IO/tiny_gltf.h
+++ b/libs/IO/tiny_gltf.h
@@ -41,7 +41,7 @@
 //  - v2.2.0 Add loading 16bit PNG support. Add Sparse accessor support(Thanks
 //  to @Ybalrid)
 //  - v2.1.0 Add draco compression.
-//  - v2.0.1 Add comparsion feature(Thanks to @Selmar).
+//  - v2.0.1 Add comparison feature(Thanks to @Selmar).
 //  - v2.0.0 glTF 2.0!.
 //
 // Tiny glTF loader is using following third party libraries:
@@ -428,7 +428,7 @@ TINYGLTF_VALUE_GET(Value::Object, object_value_)
 #pragma clang diagnostic ignored "-Wpadded"
 #endif
 
-/// Agregate object for representing a color
+/// Aggregate object for representing a color
 using ColorValue = std::array<double, 4>;
 
 // === legacy interface ====
@@ -465,7 +465,7 @@ struct Parameter {
     if (it != std::end(json_double_value)) {
       return int(it->second);
     }
-    // As per the spec, if texCoord is ommited, this parameter is 0
+    // As per the spec, if texCoord is omitted, this parameter is 0
     return 0;
   }
 
@@ -477,7 +477,7 @@ struct Parameter {
     if (it != std::end(json_double_value)) {
       return it->second;
     }
-    // As per the spec, if scale is ommited, this paramter is 1
+    // As per the spec, if scale is omitted, this parameter is 1
     return 1;
   }
 
@@ -489,7 +489,7 @@ struct Parameter {
     if (it != std::end(json_double_value)) {
       return it->second;
     }
-    // As per the spec, if strenghth is ommited, this parameter is 1
+    // As per the spec, if strenghth is omitted, this parameter is 1
     return 1;
   }
 
@@ -503,7 +503,7 @@ struct Parameter {
   /// material
   ColorValue ColorFactor() const {
     return {
-        {// this agregate intialize the std::array object, and uses C++11 RVO.
+        {// this aggregate initialize the std::array object, and uses C++11 RVO.
          number_array[0], number_array[1], number_array[2],
          (number_array.size() > 3 ? number_array[3] : 1.0)}};
   }
@@ -989,7 +989,7 @@ struct Primitive {
   int indices;   // The index of the accessor that contains the indices.
   int mode;      // one of TINYGLTF_MODE_***
   std::vector<std::map<std::string, int> > targets;  // array of morph targets,
-  // where each target is a dict with attribues in ["POSITION, "NORMAL",
+  // where each target is a dict with attributes in ["POSITION, "NORMAL",
   // "TANGENT"] pointing
   // to their corresponding accessors
   ExtensionMap extensions;
@@ -1124,7 +1124,7 @@ struct Light {
   std::vector<double> color;
   double intensity{1.0};
   std::string type;
-  double range{0.0};  // 0.0 = inifinite
+  double range{0.0};  // 0.0 = infinite
   SpotLight spot;
 
   Light() : intensity(1.0), range(0.0) {}
@@ -1333,7 +1333,7 @@ class TinyGLTF {
                             unsigned int check_sections = REQUIRE_VERSION);
 
   ///
-  /// Write glTF to stream, buffers and images will be embeded
+  /// Write glTF to stream, buffers and images will be embedded
   ///
   bool WriteGltfSceneToStream(Model *model, std::ostream &stream,
                               bool prettyPrint, bool writeBinary);
@@ -1368,7 +1368,7 @@ class TinyGLTF {
   ///
   /// Set serializing default values(default = false).
   /// When true, default values are force serialized to .glTF.
-  /// This may be helpfull if you want to serialize a full description of glTF
+  /// This may be helpful if you want to serialize a full description of glTF
   /// data.
   ///
   /// TODO(LTE): Supply parsing option as function arguments to
@@ -1395,7 +1395,7 @@ class TinyGLTF {
 
   ///
   /// Specify whether preserve image channales when loading images or not.
-  /// (Not effective when the user suppy their own LoadImageData callbacks)
+  /// (Not effective when the user supply their own LoadImageData callbacks)
   ///
   void SetPreserveImageChannels(bool onoff) {
     preserve_image_channels_ = onoff;
@@ -1528,7 +1528,7 @@ class TinyGLTF {
 #endif
 #endif
 
-// Disable GCC warnigs
+// Disable GCC warnings
 #ifdef __GNUC__
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wtype-limits"
@@ -1718,7 +1718,7 @@ namespace tinygltf {
 struct LoadImageDataOption {
   // true: preserve image channels(e.g. load as RGB image if the image has RGB
   // channels) default `false`(channels are expanded to RGBA for backward
-  // compatiblity).
+  // compatibility).
   bool preserve_channels{false};
 };
 
@@ -2376,7 +2376,7 @@ bool LoadImageData(Image *image, const int image_idx, std::string *err,
 
   // It is possible that the image we want to load is a 16bit per channel image
   // We are going to attempt to load it as 16bit per channel, and if it worked,
-  // set the image data accodingly. We are casting the returned pointer into
+  // set the image data accordingly. We are casting the returned pointer into
   // unsigned char, because we are representing "bytes". But we are updating
   // the Image metadata to signal that this image uses 2 bytes (16bits) per
   // channel:
@@ -4235,7 +4235,7 @@ static bool ParseSparseAccessor(Accessor *accessor, std::string *err,
   }
 
   if (!FindMember(o, "values", values_iterator)) {
-    (*err) = "the sparse object ob ths accessor doesn't have values";
+    (*err) = "the sparse object ob this accessor doesn't have values";
     return false;
   }
 
@@ -4263,7 +4263,7 @@ static bool ParseSparseAccessor(Accessor *accessor, std::string *err,
   accessor->sparse.values.bufferView = values_buffer_view;
   accessor->sparse.values.byteOffset = values_byte_offset;
 
-  // todo check theses values
+  // todo check these values
 
   return true;
 }
@@ -4860,7 +4860,7 @@ static bool ParseMaterial(Material *material, std::string *err, const json &o,
 
   // Old code path. For backward compatibility, we still store material values
   // as Parameter. This will create duplicated information for
-  // example(pbrMetallicRoughness), but should be neglible in terms of memory
+  // example(pbrMetallicRoughness), but should be negligible in terms of memory
   // consumption.
   // TODO(syoyo): Remove in the next major release.
   material->values.clear();
@@ -5098,7 +5098,7 @@ static bool ParseSampler(Sampler *sampler, std::string *err, const json &o,
   ParseIntegerProperty(&wrapT, err, o, "wrapT", false);
   //ParseIntegerProperty(&wrapR, err, o, "wrapR", false);  // tinygltf extension
 
-  // TODO(syoyo): Check the value is alloed one.
+  // TODO(syoyo): Check the value is allowed one.
   // (e.g. we allow 9728(NEAREST), but don't allow 9727)
 
   sampler->minFilter = minFilter;
@@ -6523,7 +6523,7 @@ static void SerializeGltfBufferData(const std::vector<unsigned char> &data,
     SerializeStringProperty("uri", header + encodedData, o);
   } else {
     // Issue #229
-    // size 0 is allowd. Just emit mime header.
+    // size 0 is allowed. Just emit mime header.
     SerializeStringProperty("uri", header, o);
   }
 }
@@ -7042,7 +7042,7 @@ static void SerializeGltfMesh(Mesh &mesh, json &o) {
       JsonAddMember(primitive, "attributes", std::move(attributes));
     }
 
-    // Indicies is optional
+    // Indices is optional
     if (gltfPrimitive.indices > -1) {
       SerializeNumberProperty<int>("indices", gltfPrimitive.indices, primitive);
     }
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 381ce9de1..c96aa088d 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -2625,7 +2625,7 @@ static void RemoveConnectedComponents(Polyhedron& p, int size_threshold, float e
 	}
 }
 
-// mode : 0 - tangetial; 1 - across the normal
+// mode : 0 - tangential; 1 - across the normal
 inline Vector ComputeVectorComponent(Vector n, Vector v, int mode)
 {
 	ASSERT((mode>=0) && (mode<2));
@@ -2639,7 +2639,7 @@ inline Vector ComputeVectorComponent(Vector n, Vector v, int mode)
 static void Smooth(Polyhedron& p, double delta, int mode=0)
 {
 	// 0 - both components;
-	// 1 - tangetial;
+	// 1 - tangential;
 	// 2 - normal;
 	// 3 - second order;
 	// 4 - combined;
diff --git a/libs/MVS/SemiGlobalMatcher.cpp b/libs/MVS/SemiGlobalMatcher.cpp
index ef8f4e125..ed6986074 100644
--- a/libs/MVS/SemiGlobalMatcher.cpp
+++ b/libs/MVS/SemiGlobalMatcher.cpp
@@ -1488,7 +1488,7 @@ void SemiGlobalMatcher::ConsistencyCrossCheck(DisparityMap& l2r, const Disparity
 			pixel(-1, r, c);
 }
 
-// Discard disparities that have a hight similarity score
+// Discard disparities that have a high similarity score
 void SemiGlobalMatcher::FilterByCost(DisparityMap& disparityMap, const AccumCostMap& costMap, AccumCost th)
 {
 	ASSERT(th > 0);
diff --git a/libs/Math/LMFit/CHANGELOG b/libs/Math/LMFit/CHANGELOG
index 411c2f64c..d7cdc2f1b 100644
--- a/libs/Math/LMFit/CHANGELOG
+++ b/libs/Math/LMFit/CHANGELOG
@@ -14,7 +14,7 @@ Changes in lmfit-4.0, released 16jul13
   - in consequence thereof, new parameter lists for lmcurve and lmmin
 - code cleanup:
   - ensure strict C90 compliance: no C++ comments; replace non-standard
-    struct assignement (reported by Elio Mazzocca, using LCC)
+    struct assignment (reported by Elio Mazzocca, using LCC)
   - revert malloc trick of release 3.4 (readability is more important)
   - source code comment blocks moved around, to reduce duplications
 - build scripts cleanup:
@@ -64,7 +64,7 @@ Changes in lmfit-3.0, released 2mar10 (preview 27feb10):
 - outer iteration counter starting at zero (C style)
 - replace BUG by LMFIT_DEBUG_MESSAGES and .._MATRIX to allow control by -D
 - remove redundant calculation by exchanging workspaces and lm_lmpar output
-- eliminate unncessary wa1 = -wa1 computation
+- eliminate unnecessary wa1 = -wa1 computation
 - avoid passing wa3 to wa1, choose better names for work arrays in lm_par
 - migrate documentation from brain-damaged asciidoc to pod
 - rewrote interface documentation
diff --git a/libs/Math/LMFit/lmmin.cpp b/libs/Math/LMFit/lmmin.cpp
index d7df8eef8..d7865c958 100644
--- a/libs/Math/LMFit/lmmin.cpp
+++ b/libs/Math/LMFit/lmmin.cpp
@@ -1273,7 +1273,7 @@ void lm_qrsolv(int n, double *r, int ldr, int *ipvt, double *diag,
             qtbpj = -_sin * wa[k] + _cos * qtbpj;
             wa[k] = temp;
 
-            /** accumulate the tranformation in the row of s. **/
+            /** accumulate the transformation in the row of s. **/
 
             for (i = k + 1; i < n; i++) {
                 temp = _cos * r[k * ldr + i] + _sin * sdiag[i];
diff --git a/libs/Math/LMFit/lmmin.h b/libs/Math/LMFit/lmmin.h
index 40168058c..cbc5c9ccc 100644
--- a/libs/Math/LMFit/lmmin.h
+++ b/libs/Math/LMFit/lmmin.h
@@ -18,7 +18,7 @@ typedef struct {
     double epsilon;   /* step used to calculate the jacobian, or 0 for user provided jacobian. */
     double stepbound; /* initial bound to steps in the outer loop. */
     int maxcall;      /* maximum number of iterations. */
-    int scale_diag;   /* UNDOCUMENTED, TESTWISE automatical diag rescaling? */
+    int scale_diag;   /* UNDOCUMENTED, TESTWISE automatic diag rescaling? */
     #ifdef LMFIT_PRINTOUT
     int printflags;   /* OR'ed to produce more noise */
     #endif
diff --git a/libs/Math/TRWS/MRFEnergy.h b/libs/Math/TRWS/MRFEnergy.h
index 73607d04c..084f6cc90 100644
--- a/libs/Math/TRWS/MRFEnergy.h
+++ b/libs/Math/TRWS/MRFEnergy.h
@@ -58,7 +58,7 @@ template <class T> class MRFEnergy
 	// Node i must be NodeId returned by AddNode().
 	void AddNodeData(NodeId i, NodeData data);
 
-	// Adds an edge between i and j. data determins edge parameters
+	// Adds an edge between i and j. data determines edge parameters
 	// (see the corresponding message*.h file for description).
 	// Note: information in data is copied into internal memory.
 	// Cannot be called after energy construction is completed.

From ee95530920fd89bd3b7c07030a7247278df226fb Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 26 Jan 2022 17:05:38 +0200
Subject: [PATCH 077/252] common: fix old GCC

---
 libs/Common/Util.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/libs/Common/Util.cpp b/libs/Common/Util.cpp
index 68ea8a43d..d263c744a 100644
--- a/libs/Common/Util.cpp
+++ b/libs/Common/Util.cpp
@@ -23,7 +23,9 @@
 #include <pwd.h>
 #endif
 #ifdef _SUPPORT_CPP17
+#if !defined(__GNUC__) || (__GNUC__ > 7)
 #include <filesystem>
+#endif
 #endif // _SUPPORT_CPP17
 
 using namespace SEACAVE;
@@ -437,7 +439,7 @@ String Util::GetOSInfo()
 
 String Util::GetDiskInfo(const String& path)
 {
-	#ifdef _SUPPORT_CPP17
+	#if defined(_SUPPORT_CPP17) && (!defined(__GNUC__) || (__GNUC__ > 7))
 
 	const std::filesystem::space_info si = std::filesystem::space(path.c_str());
 	return String::FormatString("%s (%s) space", formatBytes(si.available).c_str(), formatBytes(si.capacity).c_str());

From 8f9b6be8038943b04ddcfbcf481c1802138447d5 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 8 Feb 2022 17:24:09 +0200
Subject: [PATCH 078/252] common: use points inside ROI to estimate neighbor
 views

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp | 23 ++++++++++++++++++++
 libs/Common/OBB.h                            | 13 +++++++++++
 libs/Common/Types.inl                        | 13 +++++++++++
 libs/MVS/DepthMap.cpp                        |  1 +
 libs/MVS/DepthMap.h                          |  1 +
 libs/MVS/Scene.cpp                           |  7 ++++--
 libs/MVS/Scene.h                             |  2 +-
 libs/MVS/SceneDensify.cpp                    |  2 +-
 8 files changed, 58 insertions(+), 4 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index a7675b2ac..82391414e 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -50,6 +50,8 @@ String strInputFileName;
 String strOutputFileName;
 String strViewNeighborsFileName;
 String strMeshFileName;
+String strExportROIFileName;
+String strImportROIFileName;
 String strDenseConfigFileName;
 float fMaxSubsceneArea;
 float fSampleMesh;
@@ -130,6 +132,8 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	boost::program_options::options_description hidden("Hidden options");
 	hidden.add_options()
 		("mesh-file", boost::program_options::value<std::string>(&OPT::strMeshFileName), "mesh file name used for image pair overlap estimation")
+		("export-roi-file", boost::program_options::value<std::string>(&OPT::strExportROIFileName), "ROI file name to be exported form the scene")
+		("import-roi-file", boost::program_options::value<std::string>(&OPT::strImportROIFileName), "ROI file name to be imported into the scene")
 		("dense-config-file", boost::program_options::value<std::string>(&OPT::strDenseConfigFileName), "optional configuration file for the densifier (overwritten by the command line options)")
 		;
 
@@ -180,6 +184,8 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	Util::ensureValidPath(OPT::strOutputFileName);
 	Util::ensureValidPath(OPT::strViewNeighborsFileName);
 	Util::ensureValidPath(OPT::strMeshFileName);
+	Util::ensureValidPath(OPT::strExportROIFileName);
+	Util::ensureValidPath(OPT::strImportROIFileName);
 	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_dense.mvs");
 
@@ -263,6 +269,23 @@ int main(int argc, LPCTSTR* argv)
 	// load and estimate a dense point-cloud
 	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
 		return EXIT_FAILURE;
+	if (!OPT::strExportROIFileName.empty() && scene.IsBounded()) {
+		std::ofstream fs(MAKE_PATH_SAFE(OPT::strExportROIFileName));
+		if (!fs)
+			return EXIT_FAILURE;
+		fs << scene.obb;
+		Finalize();
+		return EXIT_SUCCESS;
+	}
+	if (!OPT::strImportROIFileName.empty()) {
+		std::ifstream fs(MAKE_PATH_SAFE(OPT::strImportROIFileName));
+		if (!fs)
+			return EXIT_FAILURE;
+		fs >> scene.obb;
+		scene.Save(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
+		Finalize();
+		return EXIT_SUCCESS;
+	}
 	if (!OPT::strMeshFileName.empty())
 		scene.mesh.Load(MAKE_PATH_SAFE(OPT::strMeshFileName));
 	if (scene.pointcloud.IsEmpty() && OPT::strViewNeighborsFileName.empty() && scene.mesh.IsEmpty()) {
diff --git a/libs/Common/OBB.h b/libs/Common/OBB.h
index 766257b2c..e55eb9a91 100644
--- a/libs/Common/OBB.h
+++ b/libs/Common/OBB.h
@@ -89,6 +89,19 @@ class TOBB
 	inline TYPE& operator [] (BYTE i) { ASSERT(i<numScalar); return m_rot.data()[i]; }
 	inline TYPE operator [] (BYTE i) const { ASSERT(i<numScalar); return m_rot.data()[i]; }
 
+	friend std::ostream& operator << (std::ostream& st, const TOBB<TYPE,DIMS>& obb) {
+		st << obb.m_rot; st << std::endl;
+		st << obb.m_pos; st << std::endl;
+		st << obb.m_ext; st << std::endl;
+		return st;
+	}
+	friend std::istream& operator >> (std::istream& st, TOBB<TYPE,DIMS>& obb) {
+		st >> obb.m_rot;
+		st >> obb.m_pos;
+		st >> obb.m_ext;
+		return st;
+	}
+
 	#ifdef _USE_BOOST
 	// implement BOOST serialization
 	template<class Archive>
diff --git a/libs/Common/Types.inl b/libs/Common/Types.inl
index 7cfa7b36e..55c754751 100644
--- a/libs/Common/Types.inl
+++ b/libs/Common/Types.inl
@@ -3601,6 +3601,19 @@ inline Eigen::Matrix<P,R,2,O> operator*(const Eigen::Matrix<P,R,2,O>& lhs, const
 }
 /*----------------------------------------------------------------*/
 
+namespace Eigen {
+
+template <typename Derived>
+std::istream& operator >> (std::istream& st, MatrixBase<Derived>& m) {
+	for (int i = 0; i < m.rows(); ++i)
+		for (int j = 0; j < m.cols(); ++j)
+			st >> m(i, j);
+	return st;
+}
+
+} // namespace Eigen
+/*----------------------------------------------------------------*/
+
 #endif // _USE_EIGEN
 
 
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 16b3c8948..293afc619 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -82,6 +82,7 @@ DEFVAR_OPTDENSE_uint32(nMinViewsFilter, "Min Views Filter", "minimum number of i
 MDEFVAR_OPTDENSE_uint32(nMinViewsFilterAdjust, "Min Views Filter Adjust", "minimum number of images that agrees with an estimate in order to consider it inlier (0 - disabled)", "1")
 MDEFVAR_OPTDENSE_uint32(nMinViewsTrustPoint, "Min Views Trust Point", "min-number of views so that the point is considered for approximating the depth-maps (<2 - random initialization)", "2")
 MDEFVAR_OPTDENSE_uint32(nNumViews, "Num Views", "Number of views used for depth-map estimation (0 - all views available)", "0", "1", "4")
+MDEFVAR_OPTDENSE_bool(bPointInsideROI, "Point Inside ROI", "consider a point shared only if inside ROI when estimating the neighbor views", "1")
 MDEFVAR_OPTDENSE_bool(bFilterAdjust, "Filter Adjust", "adjust depth estimates during filtering", "1")
 MDEFVAR_OPTDENSE_bool(bAddCorners, "Add Corners", "add support points at image corners with nearest neighbor disparities", "0")
 MDEFVAR_OPTDENSE_float(fViewMinScore, "View Min Score", "Min score to consider a neighbor images (0 - disabled)", "2.0")
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 10f8d724e..162790fe3 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -100,6 +100,7 @@ extern unsigned nMinViewsFilter;
 extern unsigned nMinViewsFilterAdjust;
 extern unsigned nMinViewsTrustPoint;
 extern unsigned nNumViews;
+extern bool bPointInsideROI;
 extern bool bFilterAdjust;
 extern bool bAddCorners;
 extern float fViewMinScore;
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index a7ad1ae11..edf3e84ca 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -643,7 +643,7 @@ inline float Footprint(const Camera& camera, const Point3f& X) {
 // and select the best views for reconstructing the dense point-cloud;
 // extract also all 3D points seen by the reference image;
 // (inspired by: "Multi-View Stereo for Community Photo Collections", Goesele, 2007)
-bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews, unsigned nMinPointViews, float fOptimAngle)
+bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews, unsigned nMinPointViews, float fOptimAngle, bool bInsideROI)
 {
 	ASSERT(points.IsEmpty());
 
@@ -665,13 +665,16 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 	unsigned nPoints = 0;
 	imageData.avgDepth = 0;
 	const float sigmaAngle(-1.f/(2.f*SQUARE(fOptimAngle*1.3f)));
+	const bool bCheckInsideROI(bInsideROI && IsBounded());
 	FOREACH(idx, pointcloud.points) {
 		const PointCloud::ViewArr& views = pointcloud.pointViews[idx];
 		ASSERT(views.IsSorted());
 		if (views.FindFirst(ID) == PointCloud::ViewArr::NO_INDEX)
 			continue;
-		// store this point
 		const PointCloud::Point& point = pointcloud.points[idx];
+		if (bCheckInsideROI && !obb.Intersects(point))
+			continue;
+		// store this point
 		if (views.GetSize() >= nMinPointViews)
 			points.Insert((uint32_t)idx);
 		imageData.avgDepth += (float)imageData.camera.PointDepth(point);
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 3c56867de..52e95dab7 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -83,7 +83,7 @@ class MVS_API Scene
 
 	void SampleMeshWithVisibility(unsigned maxResolution=320);
 
-	bool SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews=3, unsigned nMinPointViews=2, float fOptimAngle=FD2R(10));
+	bool SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews=3, unsigned nMinPointViews=2, float fOptimAngle=FD2R(10), bool bInsideROI=true);
 	static bool FilterNeighborViews(ViewScoreArr& neighbors, float fMinArea=0.1f, float fMinScale=0.2f, float fMaxScale=2.4f, float fMinAngle=FD2R(3), float fMaxAngle=FD2R(45), unsigned nMaxViews=12);
 
 	bool ExportCamerasMLP(const String& fileName, const String& fileNameScene) const;
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 9fe6ce358..1bd261db6 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -276,7 +276,7 @@ bool DepthMapsData::SelectViews(DepthData& depthData)
 	const IIndex idxImage((IIndex)(&depthData-arrDepthData.Begin()));
 	ASSERT(depthData.neighbors.IsEmpty());
 	if (scene.images[idxImage].neighbors.empty() &&
-		!scene.SelectNeighborViews(idxImage, depthData.points, OPTDENSE::nMinViews, OPTDENSE::nMinViewsTrustPoint>1?OPTDENSE::nMinViewsTrustPoint:2, FD2R(OPTDENSE::fOptimAngle)))
+		!scene.SelectNeighborViews(idxImage, depthData.points, OPTDENSE::nMinViews, OPTDENSE::nMinViewsTrustPoint>1?OPTDENSE::nMinViewsTrustPoint:2, FD2R(OPTDENSE::fOptimAngle), OPTDENSE::bPointInsideROI))
 		return false;
 	depthData.neighbors.CopyOf(scene.images[idxImage].neighbors);
 

From 086f0c52bfa4584761aac2f6e291570af68ef4fe Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 9 Feb 2022 16:06:01 +0200
Subject: [PATCH 079/252] mesh: option to use only ROI points

---
 apps/ReconstructMesh/ReconstructMesh.cpp | 4 +++-
 apps/Viewer/Scene.cpp                    | 5 +++++
 libs/MVS/DepthMap.cpp                    | 2 +-
 libs/MVS/Scene.h                         | 2 +-
 libs/MVS/SceneReconstruct.cpp            | 6 +++++-
 5 files changed, 15 insertions(+), 4 deletions(-)

diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index d4dadfc18..7c83f79e5 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -56,6 +56,7 @@ String strOutputFileName;
 String strMeshFileName;
 bool bMeshExport;
 float fDistInsert;
+bool bUseOnlyROI;
 bool bUseConstantWeight;
 bool bUseFreeSpaceSupport;
 float fThicknessFactor;
@@ -110,6 +111,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
 		("min-point-distance,d", boost::program_options::value(&OPT::fDistInsert)->default_value(2.5f), "minimum distance in pixels between the projection of two 3D points to consider them different while triangulating (0 - disabled)")
+		("integrate-only-roi", boost::program_options::value(&OPT::bUseOnlyROI)->default_value(false), "use only the points inside the ROI")
 		("constant-weight", boost::program_options::value(&OPT::bUseConstantWeight)->default_value(true), "considers all view weights 1 instead of the available weight")
 		("free-space-support,f", boost::program_options::value(&OPT::bUseFreeSpaceSupport)->default_value(false), "exploits the free-space support in order to reconstruct weakly-represented surfaces")
 		("thickness-factor", boost::program_options::value(&OPT::fThicknessFactor)->default_value(1.f), "multiplier adjusting the minimum thickness considered during visibility weighting")
@@ -405,7 +407,7 @@ int main(int argc, LPCTSTR* argv)
 			TD_TIMER_START();
 			if (OPT::bUseConstantWeight)
 				scene.pointcloud.pointWeights.Release();
-			if (!scene.ReconstructMesh(OPT::fDistInsert, OPT::bUseFreeSpaceSupport, 4, OPT::fThicknessFactor, OPT::fQualityFactor))
+			if (!scene.ReconstructMesh(OPT::fDistInsert, OPT::bUseFreeSpaceSupport, OPT::bUseOnlyROI, 4, OPT::fThicknessFactor, OPT::fQualityFactor))
 				return EXIT_FAILURE;
 			VERBOSE("Mesh reconstruction completed: %u vertices, %u faces (%s)", scene.mesh.vertices.GetSize(), scene.mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
 			#if TD_VERBOSE != TD_VERBOSE_OFF
diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index 42c8313c9..99b20e65e 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -325,6 +325,11 @@ bool Scene::Export(LPCTSTR _fileName, LPCTSTR exportType, bool losslessTexture)
 	if (VERBOSITY_LEVEL > 2 && (bPoints || bMesh))
 		scene.ExportCamerasMLP(Util::getFileFullName(lastFileName)+_T(".mlp"), lastFileName);
 	#endif
+	if (scene.IsBounded()) {
+		std::ofstream fs(baseFileName+_T("_roi.txt"));
+		if (fs)
+			fs << scene.obb;
+	}
 	return (bPoints || bMesh);
 }
 
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 293afc619..e761911ba 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -82,7 +82,7 @@ DEFVAR_OPTDENSE_uint32(nMinViewsFilter, "Min Views Filter", "minimum number of i
 MDEFVAR_OPTDENSE_uint32(nMinViewsFilterAdjust, "Min Views Filter Adjust", "minimum number of images that agrees with an estimate in order to consider it inlier (0 - disabled)", "1")
 MDEFVAR_OPTDENSE_uint32(nMinViewsTrustPoint, "Min Views Trust Point", "min-number of views so that the point is considered for approximating the depth-maps (<2 - random initialization)", "2")
 MDEFVAR_OPTDENSE_uint32(nNumViews, "Num Views", "Number of views used for depth-map estimation (0 - all views available)", "0", "1", "4")
-MDEFVAR_OPTDENSE_bool(bPointInsideROI, "Point Inside ROI", "consider a point shared only if inside ROI when estimating the neighbor views", "1")
+MDEFVAR_OPTDENSE_bool(bPointInsideROI, "Point Inside ROI", "consider a point shared only if inside ROI when estimating the neighbor views", "0")
 MDEFVAR_OPTDENSE_bool(bFilterAdjust, "Filter Adjust", "adjust depth estimates during filtering", "1")
 MDEFVAR_OPTDENSE_bool(bAddCorners, "Add Corners", "add support points at image corners with nearest neighbor disparities", "0")
 MDEFVAR_OPTDENSE_float(fViewMinScore, "View Min Score", "Min score to consider a neighbor images (0 - disabled)", "2.0")
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 52e95dab7..99fc55110 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -105,7 +105,7 @@ class MVS_API Scene
 	void PointCloudFilter(int thRemove=-1);
 
 	// Mesh reconstruction
-	bool ReconstructMesh(float distInsert=2, bool bUseFreeSpaceSupport=true, unsigned nItersFixNonManifold=4,
+	bool ReconstructMesh(float distInsert=2, bool bUseFreeSpaceSupport=true, bool bUseOnlyROI=false, unsigned nItersFixNonManifold=4,
 						 float kSigma=2.f, float kQual=1.f, float kb=4.f,
 						 float kf=3.f, float kRel=0.1f/*max 0.3*/, float kAbs=1000.f/*min 500*/, float kOutl=400.f/*max 700.f*/,
 						 float kInf=(float)(INT_MAX/8));
diff --git a/libs/MVS/SceneReconstruct.cpp b/libs/MVS/SceneReconstruct.cpp
index 005d975e8..b3fb7d376 100644
--- a/libs/MVS/SceneReconstruct.cpp
+++ b/libs/MVS/SceneReconstruct.cpp
@@ -765,7 +765,7 @@ float computePlaneSphereAngle(const delaunay_t& Tr, const facet_t& facet)
 // Next, the score is computed for all the edges of the directed graph composed of points as vertices.
 // Finally, graph-cut algorithm is used to split the tetrahedrons in inside and outside,
 // and the surface is such extracted.
-bool Scene::ReconstructMesh(float distInsert, bool bUseFreeSpaceSupport, unsigned nItersFixNonManifold,
+bool Scene::ReconstructMesh(float distInsert, bool bUseFreeSpaceSupport, bool bUseOnlyROI, unsigned nItersFixNonManifold,
 							float kSigma, float kQual, float kb,
 							float kf, float kRel, float kAbs, float kOutl,
 							float kInf
@@ -786,8 +786,12 @@ bool Scene::ReconstructMesh(float distInsert, bool bUseFreeSpaceSupport, unsigne
 		std::vector<point_t> vertices(pointcloud.points.GetSize());
 		std::vector<std::ptrdiff_t> indices(pointcloud.points.GetSize());
 		// fetch points
+		if (bUseOnlyROI && !IsBounded())
+			bUseOnlyROI = false;
 		FOREACH(i, pointcloud.points) {
 			const PointCloud::Point& X(pointcloud.points[i]);
+			if (bUseOnlyROI && !obb.Intersects(X))
+				continue;
 			vertices[i] = point_t(X.x, X.y, X.z);
 			indices[i] = i;
 		}

From 461ad36250f9f07a1391cd10dc3025516a1f3d21 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 10 Feb 2022 18:26:01 +0200
Subject: [PATCH 080/252] dense: improve neighbor views selection

---
 libs/MVS/DepthMap.cpp     |  4 ++--
 libs/MVS/DepthMap.h       |  2 +-
 libs/MVS/Scene.cpp        | 20 +++++++++++++-------
 libs/MVS/Scene.h          |  2 +-
 libs/MVS/SceneDensify.cpp |  2 +-
 5 files changed, 18 insertions(+), 12 deletions(-)

diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index e761911ba..1f0202d00 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -82,14 +82,14 @@ DEFVAR_OPTDENSE_uint32(nMinViewsFilter, "Min Views Filter", "minimum number of i
 MDEFVAR_OPTDENSE_uint32(nMinViewsFilterAdjust, "Min Views Filter Adjust", "minimum number of images that agrees with an estimate in order to consider it inlier (0 - disabled)", "1")
 MDEFVAR_OPTDENSE_uint32(nMinViewsTrustPoint, "Min Views Trust Point", "min-number of views so that the point is considered for approximating the depth-maps (<2 - random initialization)", "2")
 MDEFVAR_OPTDENSE_uint32(nNumViews, "Num Views", "Number of views used for depth-map estimation (0 - all views available)", "0", "1", "4")
-MDEFVAR_OPTDENSE_bool(bPointInsideROI, "Point Inside ROI", "consider a point shared only if inside ROI when estimating the neighbor views", "0")
+MDEFVAR_OPTDENSE_uint32(nPointInsideROI, "Point Inside ROI", "consider a point shared only if inside ROI when estimating the neighbor views (0 - ignore ROI, 1 - weight more ROI points, 2 - consider only ROI points)", "1")
 MDEFVAR_OPTDENSE_bool(bFilterAdjust, "Filter Adjust", "adjust depth estimates during filtering", "1")
 MDEFVAR_OPTDENSE_bool(bAddCorners, "Add Corners", "add support points at image corners with nearest neighbor disparities", "0")
 MDEFVAR_OPTDENSE_float(fViewMinScore, "View Min Score", "Min score to consider a neighbor images (0 - disabled)", "2.0")
 MDEFVAR_OPTDENSE_float(fViewMinScoreRatio, "View Min Score Ratio", "Min score ratio to consider a neighbor images", "0.03")
 MDEFVAR_OPTDENSE_float(fMinArea, "Min Area", "Min shared area for accepting the depth triangulation", "0.05")
 MDEFVAR_OPTDENSE_float(fMinAngle, "Min Angle", "Min angle for accepting the depth triangulation", "3.0")
-MDEFVAR_OPTDENSE_float(fOptimAngle, "Optim Angle", "Optimal angle for computing the depth triangulation", "15.0")
+MDEFVAR_OPTDENSE_float(fOptimAngle, "Optim Angle", "Optimal angle for computing the depth triangulation", "12.0")
 MDEFVAR_OPTDENSE_float(fMaxAngle, "Max Angle", "Max angle for accepting the depth triangulation", "65.0")
 MDEFVAR_OPTDENSE_float(fDescriptorMinMagnitudeThreshold, "Descriptor Min Magnitude Threshold", "minimum texture variance accepted when matching two patches (0 - disabled)", "0.01")
 MDEFVAR_OPTDENSE_float(fDepthDiffThreshold, "Depth Diff Threshold", "maximum variance allowed for the depths during refinement", "0.01")
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 162790fe3..06a8ff3e3 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -100,7 +100,7 @@ extern unsigned nMinViewsFilter;
 extern unsigned nMinViewsFilterAdjust;
 extern unsigned nMinViewsTrustPoint;
 extern unsigned nNumViews;
-extern bool bPointInsideROI;
+extern unsigned nPointInsideROI;
 extern bool bFilterAdjust;
 extern bool bAddCorners;
 extern float fViewMinScore;
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index edf3e84ca..36298e8f1 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -643,7 +643,8 @@ inline float Footprint(const Camera& camera, const Point3f& X) {
 // and select the best views for reconstructing the dense point-cloud;
 // extract also all 3D points seen by the reference image;
 // (inspired by: "Multi-View Stereo for Community Photo Collections", Goesele, 2007)
-bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews, unsigned nMinPointViews, float fOptimAngle, bool bInsideROI)
+//  - nInsideROI: 0 - ignore ROI, 1 - weight more ROI points, 2 - consider only ROI points
+bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews, unsigned nMinPointViews, float fOptimAngle, unsigned nInsideROI)
 {
 	ASSERT(points.IsEmpty());
 
@@ -664,16 +665,21 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 		nMinPointViews = nCalibratedImages;
 	unsigned nPoints = 0;
 	imageData.avgDepth = 0;
-	const float sigmaAngle(-1.f/(2.f*SQUARE(fOptimAngle*1.3f)));
-	const bool bCheckInsideROI(bInsideROI && IsBounded());
+	const float sigmaAngleSmall(-1.f/(2.f*SQUARE(fOptimAngle*0.38f)));
+	const float sigmaAngleLarge(-1.f/(2.f*SQUARE(fOptimAngle*0.7f)));
+	const bool bCheckInsideROI(nInsideROI > 0 && IsBounded());
 	FOREACH(idx, pointcloud.points) {
 		const PointCloud::ViewArr& views = pointcloud.pointViews[idx];
 		ASSERT(views.IsSorted());
 		if (views.FindFirst(ID) == PointCloud::ViewArr::NO_INDEX)
 			continue;
 		const PointCloud::Point& point = pointcloud.points[idx];
-		if (bCheckInsideROI && !obb.Intersects(point))
-			continue;
+		float wROI(1.f);
+		if (bCheckInsideROI && !obb.Intersects(point)) {
+			if (nInsideROI > 1)
+				continue;
+			wROI = 0.7f;
+		}
 		// store this point
 		if (views.GetSize() >= nMinPointViews)
 			points.Insert((uint32_t)idx);
@@ -688,7 +694,7 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 			const Image& imageData2 = images[view];
 			const Point3f V2(imageData2.camera.C - Cast<REAL>(point));
 			const float fAngle(ACOS(ComputeAngle<float,float>(V1.ptr(), V2.ptr())));
-			const float wAngle(fAngle<fOptimAngle ? POW(fAngle/fOptimAngle, 1.5f) : EXP(SQUARE(fAngle-fOptimAngle)*sigmaAngle));
+			const float wAngle(EXP(SQUARE(fAngle-fOptimAngle)*(fAngle<fOptimAngle?sigmaAngleSmall:sigmaAngleLarge)));
 			const float footprint2(Footprint(imageData2.camera, point));
 			const float fScaleRatio(footprint1/footprint2);
 			float wScale;
@@ -699,7 +705,7 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 			else
 				wScale = SQUARE(fScaleRatio);
 			Score& score = scores[view];
-			score.score += wAngle * wScale;
+			score.score += wAngle * wScale * wROI;
 			score.avgScale += fScaleRatio;
 			score.avgAngle += fAngle;
 			++score.points;
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 99fc55110..c30febd61 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -83,7 +83,7 @@ class MVS_API Scene
 
 	void SampleMeshWithVisibility(unsigned maxResolution=320);
 
-	bool SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews=3, unsigned nMinPointViews=2, float fOptimAngle=FD2R(10), bool bInsideROI=true);
+	bool SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews=3, unsigned nMinPointViews=2, float fOptimAngle=FD2R(12), unsigned nInsideROI=1);
 	static bool FilterNeighborViews(ViewScoreArr& neighbors, float fMinArea=0.1f, float fMinScale=0.2f, float fMaxScale=2.4f, float fMinAngle=FD2R(3), float fMaxAngle=FD2R(45), unsigned nMaxViews=12);
 
 	bool ExportCamerasMLP(const String& fileName, const String& fileNameScene) const;
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 1bd261db6..295ac877e 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -276,7 +276,7 @@ bool DepthMapsData::SelectViews(DepthData& depthData)
 	const IIndex idxImage((IIndex)(&depthData-arrDepthData.Begin()));
 	ASSERT(depthData.neighbors.IsEmpty());
 	if (scene.images[idxImage].neighbors.empty() &&
-		!scene.SelectNeighborViews(idxImage, depthData.points, OPTDENSE::nMinViews, OPTDENSE::nMinViewsTrustPoint>1?OPTDENSE::nMinViewsTrustPoint:2, FD2R(OPTDENSE::fOptimAngle), OPTDENSE::bPointInsideROI))
+		!scene.SelectNeighborViews(idxImage, depthData.points, OPTDENSE::nMinViews, OPTDENSE::nMinViewsTrustPoint>1?OPTDENSE::nMinViewsTrustPoint:2, FD2R(OPTDENSE::fOptimAngle), OPTDENSE::nPointInsideROI))
 		return false;
 	depthData.neighbors.CopyOf(scene.images[idxImage].neighbors);
 

From 91357c5e27733c85e168147a72778b2f7757074a Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 22 Feb 2022 20:31:27 +0200
Subject: [PATCH 081/252] viewer: verbose DMAP details

---
 libs/MVS/Scene.cpp | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 36298e8f1..d008808f4 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -378,6 +378,18 @@ bool Scene::LoadDMAP(const String& fileName)
 	image.image = imageDepth;
 	cv::resize(image.image, image.image, imageSize);
 
+	#if TD_VERBOSE != TD_VERBOSE_OFF
+	if (VERBOSITY_LEVEL > 2) {
+		ExportDepthMap(ComposeDepthFilePath(image.ID, "png"), depthMap);
+		ExportConfidenceMap(ComposeDepthFilePath(image.ID, "conf.png"), confMap);
+		ExportPointCloud(ComposeDepthFilePath(image.ID, "ply"), image, depthMap, normalMap);
+		if (VERBOSITY_LEVEL > 4) {
+			ExportNormalMap(ComposeDepthFilePath(image.ID, "normal.png"), normalMap);
+			confMap.Save(ComposeDepthFilePath(image.ID, "conf.pfm"));
+		}
+	}
+	#endif
+
 	DEBUG_EXTRA("Scene loaded from depth-map format - %dx%d size, %.2f%%%% coverage (%s):\n"
 		"\t1 images (1 calibrated) with a total of %.2f MPixels (%.2f MPixels/image)\n"
 		"\t%u points, 0 lines",

From 65b90bd3c18eb1769e2f13b931989a53ab712fd5 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 26 Feb 2022 11:34:28 +0200
Subject: [PATCH 082/252] mesh: add remesh support

---
 apps/ReconstructMesh/ReconstructMesh.cpp |  8 ++++---
 apps/TextureMesh/TextureMesh.cpp         |  4 ++--
 libs/MVS/Mesh.cpp                        | 30 ++++++++++++++++++++----
 libs/MVS/Mesh.h                          |  2 +-
 libs/MVS/SceneDensify.cpp                |  2 +-
 libs/MVS/SceneRefine.cpp                 | 14 +++++------
 libs/MVS/SceneRefineCUDA.cpp             | 14 +++++------
 7 files changed, 49 insertions(+), 25 deletions(-)

diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index 7c83f79e5..59e98637e 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -67,6 +67,7 @@ float fRemoveSpurious;
 bool bRemoveSpikes;
 unsigned nCloseHoles;
 unsigned nSmoothMesh;
+float fEdgeLength;
 float fSplitMaxArea;
 unsigned nArchiveType;
 int nProcessPriority;
@@ -125,6 +126,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("remove-spikes", boost::program_options::value(&OPT::bRemoveSpikes)->default_value(true), "flag controlling the removal of spike faces")
 		("close-holes", boost::program_options::value(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the reconstructed surface (0 - disabled)")
 		("smooth", boost::program_options::value(&OPT::nSmoothMesh)->default_value(2), "number of iterations to smooth the reconstructed surface (0 - disabled)")
+		("edge-length", boost::program_options::value(&OPT::fEdgeLength)->default_value(0.f), "remesh such that the average edge length is this size (0 - disabled)")
 		;
 
 	// hidden options, allowed both on command line and
@@ -423,9 +425,9 @@ int main(int argc, LPCTSTR* argv)
 
 		// clean the mesh
 		const float fDecimate(OPT::nTargetFaceNum ? static_cast<float>(OPT::nTargetFaceNum) / scene.mesh.faces.size() : OPT::fDecimateMesh);
-		scene.mesh.Clean(fDecimate, OPT::fRemoveSpurious, OPT::bRemoveSpikes, OPT::nCloseHoles, OPT::nSmoothMesh, false);
-		scene.mesh.Clean(1.f, 0.f, OPT::bRemoveSpikes, OPT::nCloseHoles, 0, false); // extra cleaning trying to close more holes
-		scene.mesh.Clean(1.f, 0.f, false, 0, 0, true); // extra cleaning to remove non-manifold problems created by closing holes
+		scene.mesh.Clean(fDecimate, OPT::fRemoveSpurious, OPT::bRemoveSpikes, OPT::nCloseHoles, OPT::nSmoothMesh, OPT::fEdgeLength, false);
+		scene.mesh.Clean(1.f, 0.f, OPT::bRemoveSpikes, OPT::nCloseHoles, 0u, 0.f, false); // extra cleaning trying to close more holes
+		scene.mesh.Clean(1.f, 0.f, false, 0u, 0u, 0.f, true); // extra cleaning to remove non-manifold problems created by closing holes
 
 		// save the final mesh
 		scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index 30727663f..38f7f3b07 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -247,8 +247,8 @@ int main(int argc, LPCTSTR* argv)
 	// decimate to the desired resolution
 	if (OPT::fDecimateMesh < 1.f) {
 		ASSERT(OPT::fDecimateMesh > 0.f);
-		scene.mesh.Clean(OPT::fDecimateMesh, 0.f, false, OPT::nCloseHoles, 0u, false);
-		scene.mesh.Clean(1.f, 0.f, false, 0, 0u, true); // extra cleaning to remove non-manifold problems created by closing holes
+		scene.mesh.Clean(OPT::fDecimateMesh, 0.f, false, OPT::nCloseHoles, 0u, 0.f, false);
+		scene.mesh.Clean(1.f, 0.f, false, 0u, 0u, 0.f, true); // extra cleaning to remove non-manifold problems created by closing holes
 		#if TD_VERBOSE != TD_VERBOSE_OFF
 		if (VERBOSITY_LEVEL > 3)
 			scene.mesh.Save(baseFileName +_T("_decim")+OPT::strExportType);
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index c96aa088d..2c2c3b1e5 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -55,6 +55,7 @@ struct unary_function {
 #include <vcg/complex/algorithms/smooth.h>
 #include <vcg/complex/algorithms/hole.h>
 #include <vcg/complex/algorithms/polygon_support.h>
+#include <vcg/complex/algorithms/isotropic_remeshing.h>
 // VCG: mesh simplification
 #include <vcg/complex/algorithms/update/position.h>
 #include <vcg/complex/algorithms/update/bounding.h>
@@ -956,7 +957,7 @@ struct UsedTypes : public vcg::UsedTypes<
 
 class Vertex : public vcg::Vertex<UsedTypes, vcg::vertex::Coord3f, vcg::vertex::Normal3f, vcg::vertex::VFAdj, vcg::vertex::Mark, vcg::vertex::BitFlags> {};
 class Face   : public vcg::Face<  UsedTypes, vcg::face::VertexRef, vcg::face::Normal3f, vcg::face::FFAdj, vcg::face::VFAdj, vcg::face::Mark, vcg::face::BitFlags> {};
-class Edge   : public vcg::Edge<  UsedTypes, vcg::edge::VertexRef> {};
+class Edge   : public vcg::Edge<  UsedTypes, vcg::edge::VertexRef, vcg::edge::Mark, vcg::edge::BitFlags> {};
 
 class Mesh : public vcg::tri::TriMesh< std::vector<Vertex>, std::vector<Face>, std::vector<Edge> > {};
 
@@ -977,7 +978,7 @@ class QHelper
 	static QuadricTemp &TD() { return *TDp(); }
 };
 
-typedef BasicVertexPair<Vertex> VertexPair;
+typedef vcg::tri::BasicVertexPair<Vertex> VertexPair;
 
 class TriEdgeCollapse : public vcg::tri::TriEdgeCollapseQuadric<Mesh, VertexPair, TriEdgeCollapse, QHelper> {
 public:
@@ -988,7 +989,7 @@ class TriEdgeCollapse : public vcg::tri::TriEdgeCollapseQuadric<Mesh, VertexPair
 
 // decimate, clean and smooth mesh
 // fDecimate factor is in range (0..1], if 1 no decimation takes place
-void Mesh::Clean(float fDecimate, float fSpurious, bool bRemoveSpikes, unsigned nCloseHoles, unsigned nSmooth, bool bLastClean)
+void Mesh::Clean(float fDecimate, float fSpurious, bool bRemoveSpikes, unsigned nCloseHoles, unsigned nSmooth, float fEdgeLength, bool bLastClean)
 {
 	if (vertices.IsEmpty() || faces.IsEmpty())
 		return;
@@ -1039,7 +1040,6 @@ void Mesh::Clean(float fDecimate, float fSpurious, bool bRemoveSpikes, unsigned
 		vcg::tri::TriEdgeCollapseQuadricParameter pp;
 		pp.QualityThr = 0.3; // Quality Threshold for penalizing bad shaped faces: the value is in the range [0..1], 0 accept any kind of face (no penalties), 0.5 penalize faces with quality < 0.5, proportionally to their shape
 		pp.PreserveBoundary = false; // the simplification process tries to not affect mesh boundaries during simplification
-		pp.BoundaryWeight = 1; // the importance of the boundary during simplification: the value is in the range (0..+inf), default (1.0) means that the boundary has the same importance as the rest; values greater than 1.0 raise boundary importance and has the effect of removing less vertices on the border
 		pp.PreserveTopology = false; // avoid all collapses that cause a topology change in the mesh (like closing holes, squeezing handles, etc); if checked the genus of the mesh should stay unchanged
 		pp.QualityWeight = false; // use the Per-Vertex quality as a weighting factor for the simplification: the weight is used as an error amplification value, so a vertex with a high quality value will not be simplified and a portion of the mesh with low quality values will be aggressively simplified
 		pp.NormalCheck = false; // try to avoid face flipping effects and try to preserve the original orientation of the surface
@@ -1208,6 +1208,28 @@ void Mesh::Clean(float fDecimate, float fSpurious, bool bRemoveSpikes, unsigned
 		DEBUG_ULTIMATE("Smoothed %d vertices", mesh.vn);
 	}
 
+	// remesh
+	if (fEdgeLength > 0) {
+		vcg::tri::Clean<CLEAN::Mesh>::RemoveDuplicateVertex(mesh);
+		vcg::tri::Clean<CLEAN::Mesh>::RemoveUnreferencedVertex(mesh);
+		vcg::tri::Allocator<CLEAN::Mesh>::CompactEveryVector(mesh);
+		CLEAN::Mesh original;
+		vcg::tri::Append<CLEAN::Mesh,CLEAN::Mesh>::MeshCopy(original, mesh);
+		vcg::tri::IsotropicRemeshing<CLEAN::Mesh>::Params params;
+		params.SetTargetLen(fEdgeLength);
+		params.iter = 3;
+		params.surfDistCheck = false;
+		params.maxSurfDist = fEdgeLength * 0.4f;
+		params.cleanFlag = true;
+		params.userSelectedCreases = false;
+		try {
+			vcg::tri::IsotropicRemeshing<CLEAN::Mesh>::Do(mesh, original, params);
+		}
+		catch(vcg::MissingPreconditionException& e) {
+			VERBOSE("error: %s", e.what());
+		}
+	}
+
 	// clean mesh
 	if (bLastClean && (fSpurious > 0 || bRemoveSpikes || nCloseHoles > 0 || nSmooth > 0)) {
 		const int nNonManifoldFaces = vcg::tri::Clean<CLEAN::Mesh>::RemoveNonManifoldFace(mesh);
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 00629b9c4..447302769 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -161,7 +161,7 @@ class MVS_API Mesh
 	void GetAdjVertexFaces(VIndex, VIndex, FaceIdxArr&) const;
 
 	bool FixNonManifold();
-	void Clean(float fDecimate=0.7f, float fSpurious=10.f, bool bRemoveSpikes=true, unsigned nCloseHoles=30, unsigned nSmoothMesh=2, bool bLastClean=true);
+	void Clean(float fDecimate=0.7f, float fSpurious=10.f, bool bRemoveSpikes=true, unsigned nCloseHoles=30, unsigned nSmoothMesh=2, float fEdgeLength=0, bool bLastClean=true);
 
 	void EnsureEdgeSize(float minEdge=-0.5f, float maxEdge=-4.f, float collapseRatio=0.2, float degenerate_angle_deg=150, int mode=1, int max_iters=50);
 
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 295ac877e..8ed77248e 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -592,7 +592,7 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage, int nGeometricIter)
 
 	// initialize
 	DepthData& depthData(arrDepthData[idxImage]);
-	ASSERT(depthData.images.GetSize() > 1 && !depthData.points.IsEmpty());
+	ASSERT(depthData.images.size() > 1);
 	const DepthData::ViewData& image(depthData.images.First());
 	ASSERT(!image.image.empty() && !depthData.images[1].image.empty());
 	const Image8U::Size size(image.image.size());
diff --git a/libs/MVS/SceneRefine.cpp b/libs/MVS/SceneRefine.cpp
index 303c0df1b..65f73828d 100644
--- a/libs/MVS/SceneRefine.cpp
+++ b/libs/MVS/SceneRefine.cpp
@@ -488,14 +488,14 @@ void MeshRefine::SubdivideMesh(uint32_t maxArea, float fDecimate, unsigned nClos
 	if (!bNoDecimation) {
 		if (fDecimate > 0.f) {
 			// decimate to the desired resolution
-			scene.mesh.Clean(fDecimate, 0.f, false, nCloseHoles, 0, false);
-			scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0, true);
+			scene.mesh.Clean(fDecimate, 0.f, false, nCloseHoles, 0u, 0.f, false);
+			scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0u, 0.f, true);
 
 			#ifdef MESHOPT_ENSUREEDGESIZE
 			// make sure there are no edges too small or too long
 			if (nEnsureEdgeSize > 0 && bNoSimplification) {
 				scene.mesh.EnsureEdgeSize();
-				scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0, true);
+				scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0u, 0.f, true);
 			}
 			#endif
 
@@ -515,14 +515,14 @@ void MeshRefine::SubdivideMesh(uint32_t maxArea, float fDecimate, unsigned nClos
 				maxAreas.Empty();
 
 				// decimate to the auto detected resolution
-				scene.mesh.Clean(MAXF(0.1f, fMedianArea/fMaxArea), 0.f, false, nCloseHoles, 0, false);
-				scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0, true);
+				scene.mesh.Clean(MAXF(0.1f, fMedianArea/fMaxArea), 0.f, false, nCloseHoles, 0u, 0.f, false);
+				scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0u, 0.f, true);
 
 				#ifdef MESHOPT_ENSUREEDGESIZE
 				// make sure there are no edges too small or too long
 				if (nEnsureEdgeSize > 0 && bNoSimplification) {
 					scene.mesh.EnsureEdgeSize();
-					scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0, true);
+					scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0u, 0.f, true);
 				}
 				#endif
 
@@ -554,7 +554,7 @@ void MeshRefine::SubdivideMesh(uint32_t maxArea, float fDecimate, unsigned nClos
 	#endif
 	{
 		scene.mesh.EnsureEdgeSize();
-		scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0, true);
+		scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0u, 0.f, true);
 	}
 	#endif
 
diff --git a/libs/MVS/SceneRefineCUDA.cpp b/libs/MVS/SceneRefineCUDA.cpp
index a0caa546d..5d4a9a230 100644
--- a/libs/MVS/SceneRefineCUDA.cpp
+++ b/libs/MVS/SceneRefineCUDA.cpp
@@ -2380,14 +2380,14 @@ void MeshRefineCUDA::SubdivideMesh(uint32_t maxArea, float fDecimate, unsigned n
 	if (!bNoDecimation) {
 		if (fDecimate > 0.f) {
 			// decimate to the desired resolution
-			scene.mesh.Clean(fDecimate, 0.f, false, nCloseHoles, 0, false);
-			scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0, true);
+			scene.mesh.Clean(fDecimate, 0.f, false, nCloseHoles, 0u, 0.f, false);
+			scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0u, 0.f, true);
 
 			#ifdef MESHOPT_ENSUREEDGESIZE
 			// make sure there are no edges too small or too long
 			if (nEnsureEdgeSize > 0 && bNoSimplification) {
 				scene.mesh.EnsureEdgeSize();
-				scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0, true);
+				scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0u, 0.f, true);
 			}
 			#endif
 
@@ -2407,14 +2407,14 @@ void MeshRefineCUDA::SubdivideMesh(uint32_t maxArea, float fDecimate, unsigned n
 				maxAreas.Empty();
 
 				// decimate to the auto detected resolution
-				scene.mesh.Clean(MAXF(0.1f, medianArea/maxArea), 0.f, false, nCloseHoles, 0, false);
-				scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0, true);
+				scene.mesh.Clean(MAXF(0.1f, medianArea/maxArea), 0.f, false, nCloseHoles, 0u, 0.f, false);
+				scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0u, 0.f, true);
 
 				#ifdef MESHOPT_ENSUREEDGESIZE
 				// make sure there are no edges too small or too long
 				if (nEnsureEdgeSize > 0 && bNoSimplification) {
 					scene.mesh.EnsureEdgeSize();
-					scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0, true);
+					scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0u, 0.f, true);
 				}
 				#endif
 
@@ -2446,7 +2446,7 @@ void MeshRefineCUDA::SubdivideMesh(uint32_t maxArea, float fDecimate, unsigned n
 	#endif
 	{
 		scene.mesh.EnsureEdgeSize();
-		scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0, true);
+		scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0u, 0.f, true);
 	}
 	#endif
 

From 73ee1c8dc2cf1d1f66d0d12c919521a5b54971c5 Mon Sep 17 00:00:00 2001
From: Kevin Tee <andythe_great@protonmail.com>
Date: Fri, 4 Mar 2022 12:00:45 +0100
Subject: [PATCH 083/252] common: fix typos and add examples to
 MvgMvsPipeline.py (#624)

---
 MvgMvsPipeline.py | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/MvgMvsPipeline.py b/MvgMvsPipeline.py
index da46d3e8e..af7f0c543 100644
--- a/MvgMvsPipeline.py
+++ b/MvgMvsPipeline.py
@@ -54,6 +54,13 @@
 Passthrough:
   Option to be passed to command lines (remove - in front of option names)
   e.g. --1 p ULTRA to use the ULTRA preset in openMVG_main_ComputeFeatures
+  For example, running the script
+  [MvgMvsPipeline.py input_dir output_dir --1 p HIGH n 8 --2 n ANNL2]
+  [--1 p HIGH n 8] where --1 refer to openMVG_main_ComputeFeatures,
+  p refers to describerPreset option which HIGH was chosen, and n refers
+  to numThreads which 8 was used. The second step (Compute matches),
+  [--2 n ANNL2] where --2 refer to openMVG_main_ComputeMatches,
+  n refers to nearest_matching_method option which ANNL2 was chosen
 """
 
 import os
@@ -282,7 +289,7 @@ def apply_conf(self, conf):
                     " \r\n".join([k + " = " + str(PRESET[k]) for k in PRESET]) +
                     " \r\ndefault : " + PRESET_DEFAULT)
 
-GROUP = PARSER.add_argument_group('Passthrough', description="Option to be passed to command lines (remove - in front of option names)\r\ne.g. --1 p ULTRA to use the ULTRA preset in openMVG_main_ComputeFeatures")
+GROUP = PARSER.add_argument_group('Passthrough', description="Option to be passed to command lines (remove - in front of option names)\r\ne.g. --1 p ULTRA to use the ULTRA preset in openMVG_main_ComputeFeatures\r\nFor example, running the script as follows,\r\nMvgMvsPipeline.py input_dir output_dir --1 p HIGH n 8 --2 n ANNL2\r\nwhere --1 refer to openMVG_main_ComputeFeatures, p refers to\r\ndescriberPreset option which HIGH was chosen, and n refers to\r\nnumThreads which 8 was used. --2 refer to second step (openMVG_main_ComputeMatches),\r\nn refers to nearest_matching_method option which ANNL2 was chosen")
 for n in range(STEPS.length()):
     GROUP.add_argument('--'+str(n), nargs='+')
 

From 103ac1242a5c69e0c5aef5f24ac90c042026687f Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 4 Mar 2022 12:31:36 +0200
Subject: [PATCH 084/252] dense: fix 2 bugs and reduce depth perturbation in
 CUDA

(cherry picked from commit 35a9606e235e7a65d14376d647c5f4b5717b3314)
---
 libs/MVS/PatchMatchCUDA.cu | 65 +++++++++++++++++++++++---------------
 1 file changed, 39 insertions(+), 26 deletions(-)

diff --git a/libs/MVS/PatchMatchCUDA.cu b/libs/MVS/PatchMatchCUDA.cu
index d295ae1a8..7fe1d4e1d 100644
--- a/libs/MVS/PatchMatchCUDA.cu
+++ b/libs/MVS/PatchMatchCUDA.cu
@@ -202,6 +202,18 @@ __device__ inline Point3 GeneratePerturbedNormal(const PatchMatchCUDA::Camera& c
 	return normalPerturbed.normalized();
 }
 
+// randomly perturb a normal
+__device__ inline float GeneratePerturbedDepth(float depth, RandState* randState, const float perturbation, const PatchMatchCUDA::Params& params)
+{
+	const float depthMinPerturbed = (1.f - perturbation) * depth;
+	const float depthMaxPerturbed = (1.f + perturbation) * depth;
+	float depthPerturbed;
+	do {
+		depthPerturbed = curand_uniform(randState) * (depthMaxPerturbed - depthMinPerturbed) + depthMinPerturbed;
+	} while (depthPerturbed < params.fDepthMin && depthPerturbed > params.fDepthMax);
+	return depthPerturbed;
+}
+
 // interpolate given pixel's estimate to the current position
 __device__ inline float InterpolatePixel(const PatchMatchCUDA::Camera& camera, const Point2i& p, const Point2i& np, float depth, const Point3& normal, const PatchMatchCUDA::Params& params)
 {
@@ -332,7 +344,8 @@ __device__ float ScorePlane(const ImagePixels refImage, const PatchMatchCUDA::Ca
 		return maxCost;
 	const float covarTrgRef = sumRefTrg * bilateralWeightSum - sumRef * sumTrg;
 	const float varRefTrg = sqrt(varRef * varTrg);
-	return max(0.f, min(maxCost, 1.f - covarTrgRef / varRefTrg));
+	const float ncc = 1.f - covarTrgRef / varRefTrg;
+	return max(0.f, min(maxCost, ncc));
 }
 
 // compute photometric score for all neighbor images
@@ -372,7 +385,6 @@ __device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depth
 		return;
 	const int idx = Point2Idx(p, width);
 	RandState* randState = &randStates[idx];
-	Point4& plane = planes[idx];
 
 	// adaptive sampling: 0 up-near, 1 down-near, 2 left-near, 3 right-near, 4 up-far, 5 down-far, 6 left-far, 7 right-far
 	static constexpr int2 dirs[8][11] = {
@@ -466,6 +478,8 @@ __device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depth
 	}
 
 	// propagate best neighbor plane
+	Point4& plane = planes[idx];
+	float& cost = costs[idx];
 	unsigned newSelectedViews = 0;
 	for (int imgId = 0; imgId < params.nNumViews; ++imgId)
 		if (viewWeights[imgId])
@@ -476,25 +490,20 @@ __device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depth
 	const int minCostIdx = FindMinIndex(finalCosts, 8);
 	float costVector[MAX_VIEWS];
 	MultiViewScorePlane(images, depthImages, cameras, p, plane, costVector, params);
-	float cost = AggregateMultiViewScores(viewWeights, costVector, params.nNumViews) / NUM_SAMPLES;
-	costs[idx] = cost;
+	cost = AggregateMultiViewScores(viewWeights, costVector, params.nNumViews) / NUM_SAMPLES;
 	if (finalCosts[minCostIdx] < cost && valid[minCostIdx]) {
 		plane = planes[positions[minCostIdx]];
 		plane.w() = neighborDepths[minCostIdx];
-		costs[idx] = finalCosts[minCostIdx];
+		cost = finalCosts[minCostIdx];
 		selectedViews[idx] = newSelectedViews;
 	}
 	const float depth = plane.w();
 
 	// refine estimate
-	constexpr float perturbation = 0.01f;
-	const float depthMinPerturbed = (1.f - perturbation) * depth;
-	const float depthMaxPerturbed = (1.f + perturbation) * depth;
-	float depthPerturbed;
-	do {
-		depthPerturbed = curand_uniform(randState) * (depthMaxPerturbed - depthMinPerturbed) + depthMinPerturbed;
-	} while (depthPerturbed < params.fDepthMin && depthPerturbed > params.fDepthMax);
-	const Point3 perturbedNormal = GeneratePerturbedNormal(cameras[0], p, plane.topLeftCorner<3,1>(), randState, perturbation * (float)M_PI);
+	constexpr float perturbationDepth = 0.005f;
+	constexpr float perturbationNormal = 0.01f * (float)M_PI;
+	const float depthPerturbed = GeneratePerturbedDepth(depth, randState, perturbationDepth, params);
+	const Point3 perturbedNormal = GeneratePerturbedNormal(cameras[0], p, plane.topLeftCorner<3,1>(), randState, perturbationNormal);
 	const Point3 normalRand = GenerateRandomNormal(cameras[0], p, randState);
 	int numValidPlanes = 3;
 	Point3 surfaceNormal;
@@ -526,9 +535,8 @@ __device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depth
 }
 
 // compute the score of the current plane estimate
-__global__ void InitializeScore(const cudaTextureObject_t* images, const cudaTextureObject_t* depthImages, PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params)
+__device__ void InitializePixelScore(const ImagePixels *images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, RandState* randStates, unsigned* selectedViews, const Point2i& p, const PatchMatchCUDA::Params params)
 {
-	const Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
 	const int width = cameras[0].width;
 	const int height = cameras[0].height;
 	if (p.x() >= width || p.y() >= height)
@@ -543,13 +551,13 @@ __global__ void InitializeScore(const cudaTextureObject_t* images, const cudaTex
 		// generate random plane
 		plane.topLeftCorner<3,1>() = GenerateRandomNormal(cameras[0], p, randState);
 		plane.w() = curand_uniform(randState) * (params.fDepthMax - params.fDepthMin) + params.fDepthMin;
-	} else if (plane.topLeftCorner<3,1>().dot(ViewDirection(cameras[0], p)) >= 0.f){
+	} else if (plane.topLeftCorner<3,1>().dot(ViewDirection(cameras[0], p)) >= 0.f) {
 		// generate random normal
 		plane.topLeftCorner<3,1>() = GenerateRandomNormal(cameras[0], p, randState);
 	}
 	// compute costs
 	float costVector[MAX_VIEWS];
-	MultiViewScorePlane((const ImagePixels*)images, (const ImagePixels*)depthImages, cameras, p, plane, costVector, params);
+	MultiViewScorePlane(images, depthImages, cameras, p, plane, costVector, params);
 	// select best views
 	float costVectorSorted[MAX_VIEWS];
 	Sort(costVector, costVectorSorted, params.nNumViews);
@@ -557,22 +565,27 @@ __global__ void InitializeScore(const cudaTextureObject_t* images, const cudaTex
 	for (int i = 0; i < params.nInitTopK; ++i)
 		cost += costVectorSorted[i];
 	const float costThreshold = costVectorSorted[params.nInitTopK - 1];
-	unsigned selectedView = selectedViews[idx];
+	unsigned& selectedView = selectedViews[idx];
 	selectedView = 0;
 	for (int imgId = 0; imgId < params.nNumViews; ++imgId)
 		if (costVector[imgId] <= costThreshold)
 			SetBit(selectedView, imgId);
 	costs[idx] = cost / params.nInitTopK;
 }
+__global__ void InitializeScore(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params)
+{
+	const Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
+	InitializePixelScore((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, costs, (RandState*)randStates, selectedViews, p, params);
+}
 
 // traverse image in a back/red checkerboard pattern
-__global__ void BlackPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params, const int iter)
+__global__ void BlackPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params, const int iter)
 {
 	Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
 	p.y() = p.y() * 2 + (threadIdx.x % 2 == 0 ? 0 : 1);
 	ProcessPixel((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, costs, (RandState*)randStates, selectedViews, p, params, iter);
 }
-__global__ void RedPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params, const int iter)
+__global__ void RedPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params, const int iter)
 {
 	Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
 	p.y() = p.y() * 2 + (threadIdx.x % 2 == 0 ? 1 : 0);
@@ -583,12 +596,12 @@ __global__ void RedPixelProcess(const cudaTextureObject_t* textureImages, const
 
 __host__ void PatchMatchCUDA::RunCUDA()
 {
-	constexpr unsigned BLOCK_W = 32;
-	constexpr unsigned BLOCK_H = (BLOCK_W / 2);
-
 	const unsigned width = cameras[0].width;
 	const unsigned height = cameras[0].height;
 
+	constexpr unsigned BLOCK_W = 32;
+	constexpr unsigned BLOCK_H = (BLOCK_W / 2);
+
 	const dim3 blockSize(BLOCK_W, BLOCK_H, 1);
 	const dim3 gridSizeInitialize((width + BLOCK_H - 1) / BLOCK_H, (height + BLOCK_H - 1) / BLOCK_H, 1);
 	const dim3 gridSizeCheckerboard((width + BLOCK_W - 1) / BLOCK_W, ((height / 2) + BLOCK_H - 1) / BLOCK_H, 1);
@@ -596,10 +609,10 @@ __host__ void PatchMatchCUDA::RunCUDA()
 	InitializeScore<<<gridSizeInitialize, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params);
 	cudaDeviceSynchronize();
 
-	for (int i = 0; i < params.nEstimationIters; ++i) {
-		BlackPixelProcess<<<gridSizeCheckerboard, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, i);
+	for (int iter = 0; iter < params.nEstimationIters; ++iter) {
+		BlackPixelProcess<<<gridSizeCheckerboard, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, iter);
 		cudaDeviceSynchronize();
-		RedPixelProcess<<<gridSizeCheckerboard, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, i);
+		RedPixelProcess<<<gridSizeCheckerboard, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, iter);
 		cudaDeviceSynchronize();
 	}
 

From 6b850e490c29055e96c336b0b4d326b265f7c1f5 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 4 Mar 2022 13:01:44 +0200
Subject: [PATCH 085/252] dense: export selected view neighbors

(cherry picked from commit ebb75aca8f3c0af532a13100e1eff1261550b832)
---
 apps/DensifyPointCloud/DensifyPointCloud.cpp | 13 +++++++++++-
 libs/MVS/Scene.cpp                           | 22 ++++++++++++++++++++
 libs/MVS/Scene.h                             |  1 +
 3 files changed, 35 insertions(+), 1 deletion(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 82391414e..d2942d244 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -49,6 +49,7 @@ namespace OPT {
 String strInputFileName;
 String strOutputFileName;
 String strViewNeighborsFileName;
+String strOutputViewNeighborsFileName;
 String strMeshFileName;
 String strExportROIFileName;
 String strImportROIFileName;
@@ -107,8 +108,9 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	boost::program_options::options_description config("Densify options");
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
-		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the dense point-cloud")
+		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the dense point-cloud (optional)")
 		("view-neighbors-file", boost::program_options::value<std::string>(&OPT::strViewNeighborsFileName), "input filename containing the list of views and their neighbors (optional)")
+		("output-view-neighbors-file", boost::program_options::value<std::string>(&OPT::strOutputViewNeighborsFileName), "output filename containing the generated list of views and their neighbors")
 		#ifdef _USE_CUDA
 		("cuda-device", boost::program_options::value(&nCUDADevice)->default_value(0), "CUDA device number to be used for depth-map estimation (-1 - CPU processing)")
 		#endif
@@ -183,6 +185,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
 	Util::ensureValidPath(OPT::strViewNeighborsFileName);
+	Util::ensureValidPath(OPT::strOutputViewNeighborsFileName);
 	Util::ensureValidPath(OPT::strMeshFileName);
 	Util::ensureValidPath(OPT::strExportROIFileName);
 	Util::ensureValidPath(OPT::strImportROIFileName);
@@ -292,6 +295,14 @@ int main(int argc, LPCTSTR* argv)
 		VERBOSE("error: empty initial point-cloud");
 		return EXIT_FAILURE;
 	}
+	if (!OPT::strOutputViewNeighborsFileName.empty()) {
+		if (!scene.ImagesHaveNeighbors()) {
+			VERBOSE("error: neighbor views not computed yet");
+			return EXIT_FAILURE;
+		}
+		scene.SaveViewNeighbors(MAKE_PATH_SAFE(OPT::strOutputViewNeighborsFileName));
+		return EXIT_SUCCESS;
+	}
 	if (OPT::fMaxSubsceneArea > 0) {
 		// split the scene in sub-scenes by maximum sampling area
 		Scene::ImagesChunkArr chunks;
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index d008808f4..1c883a294 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -446,6 +446,28 @@ bool Scene::LoadViewNeighbors(const String& fileName)
 	DEBUG_EXTRA("View neighbors list loaded (%s)", TD_TIMER_GET_FMT().c_str());
 	return true;
 } // LoadViewNeighbors
+bool Scene::SaveViewNeighbors(const String& fileName) const
+{
+	ASSERT(ImagesHaveNeighbors());
+
+	TD_TIMER_STARTD();
+	
+	File file(fileName, File::WRITE, File::CREATE | File::TRUNCATE);
+	if (!file.isOpen()) {
+		VERBOSE("error: unable to write file '%s'", fileName.c_str());
+		return false;
+	}
+	FOREACH(ID, images) {
+		const Image& imageData = images[ID];
+		file.print("%u", ID);
+		for (const ViewScore& neighbor: imageData.neighbors)
+			file.print(" %u", neighbor.idx.ID);
+		file.print("\n");
+	}
+
+	DEBUG_EXTRA("View neighbors list saved (%s)", TD_TIMER_GET_FMT().c_str());
+	return true;
+} // SaveViewNeighbors
 /*----------------------------------------------------------------*/
 
 // try to load known point-cloud or mesh files
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index c30febd61..3d92e74bc 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -76,6 +76,7 @@ class MVS_API Scene
 
 	bool LoadDMAP(const String& fileName);
 	bool LoadViewNeighbors(const String& fileName);
+	bool SaveViewNeighbors(const String& fileName) const;
 	bool Import(const String& fileName);
 
 	bool Load(const String& fileName, bool bImport=false);

From 3bbd042b0505777eda91840fa0fbd68aecc3ff23 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 4 Mar 2022 14:45:31 +0200
Subject: [PATCH 086/252] common: improve MvgMvsPipeline.py to support partial
 reconstruction steps

---
 MvgMvsPipeline.py | 53 +++++++++++++++++++++++++++++++----------------
 1 file changed, 35 insertions(+), 18 deletions(-)

diff --git a/MvgMvsPipeline.py b/MvgMvsPipeline.py
index af7f0c543..53a4a5cc4 100644
--- a/MvgMvsPipeline.py
+++ b/MvgMvsPipeline.py
@@ -55,12 +55,13 @@
   Option to be passed to command lines (remove - in front of option names)
   e.g. --1 p ULTRA to use the ULTRA preset in openMVG_main_ComputeFeatures
   For example, running the script
-  [MvgMvsPipeline.py input_dir output_dir --1 p HIGH n 8 --2 n ANNL2]
+  [MvgMvsPipeline.py input_dir output_dir --steps 0 1 2 3 4 5 11 12 13 15 --1 p HIGH n 8 --3 n HNSWL2]
+  [--steps 0 1 2 3 4 5 11 12 13 15] runs only the desired steps
   [--1 p HIGH n 8] where --1 refer to openMVG_main_ComputeFeatures,
-  p refers to describerPreset option which HIGH was chosen, and n refers
-  to numThreads which 8 was used. The second step (Compute matches),
-  [--2 n ANNL2] where --2 refer to openMVG_main_ComputeMatches,
-  n refers to nearest_matching_method option which ANNL2 was chosen
+  p refers to describerPreset option and set to HIGH, and n refers
+  to numThreads and set to 8. The second step (Compute matches),
+  [--3 n HNSWL2] where --3 refer to openMVG_main_ComputeMatches,
+  n refers to nearest_matching_method option and set to HNSWL2
 """
 
 import os
@@ -72,8 +73,10 @@
 
 if sys.platform.startswith('win'):
     PATH_DELIM = ';'
+    FOLDER_DELIM = '\\'
 else:
     PATH_DELIM = ':'
+    FOLDER_DELIM = '/'
 
 # add this script's directory to PATH
 os.environ['PATH'] += PATH_DELIM + os.path.dirname(os.path.abspath(__file__))
@@ -195,37 +198,37 @@ def __init__(self):
              ["-i", "%input_dir%", "-o", "%matches_dir%", "-d", "%camera_file_params%"]],
             ["Compute features",             # 1
              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeFeatures"),
-             ["-i", "%matches_dir%/sfm_data.json", "-o", "%matches_dir%", "-m", "SIFT"]],
+             ["-i", "%matches_dir%"+FOLDER_DELIM+"sfm_data.json", "-o", "%matches_dir%", "-m", "SIFT"]],
             ["Compute pairs",                # 2
              os.path.join(OPENMVG_BIN, "openMVG_main_PairGenerator"),
-             ["-i", "%matches_dir%/sfm_data.json", "-o", "%matches_dir%/pairs.bin"]],
+             ["-i", "%matches_dir%"+FOLDER_DELIM+"sfm_data.json", "-o", "%matches_dir%"+FOLDER_DELIM+"pairs.bin"]],
             ["Compute matches",              # 3
              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeMatches"),
-             ["-i", "%matches_dir%/sfm_data.json", "-p", "%matches_dir%/pairs.bin", "-o", "%matches_dir%/matches.putative.bin", "-n", "AUTO"]],
+             ["-i", "%matches_dir%"+FOLDER_DELIM+"sfm_data.json", "-p", "%matches_dir%"+FOLDER_DELIM+"pairs.bin", "-o", "%matches_dir%"+FOLDER_DELIM+"matches.putative.bin", "-n", "AUTO"]],
             ["Filter matches",               # 4
              os.path.join(OPENMVG_BIN, "openMVG_main_GeometricFilter"),
-             ["-i", "%matches_dir%/sfm_data.json", "-m", "%matches_dir%/matches.putative.bin", "-o", "%matches_dir%/matches.f.bin"]],
+             ["-i", "%matches_dir%"+FOLDER_DELIM+"sfm_data.json", "-m", "%matches_dir%"+FOLDER_DELIM+"matches.putative.bin", "-o", "%matches_dir%"+FOLDER_DELIM+"matches.f.bin"]],
             ["Incremental reconstruction",   # 5
              os.path.join(OPENMVG_BIN, "openMVG_main_SfM"),
-             ["-i", "%matches_dir%/sfm_data.json", "-m", "%matches_dir%", "-o", "%reconstruction_dir%", "-s", "INCREMENTAL"]],
+             ["-i", "%matches_dir%"+FOLDER_DELIM+"sfm_data.json", "-m", "%matches_dir%", "-o", "%reconstruction_dir%", "-s", "INCREMENTAL"]],
             ["Global reconstruction",        # 6
              os.path.join(OPENMVG_BIN, "openMVG_main_SfM"),
-             ["-i", "%matches_dir%/sfm_data.json", "-m", "%matches_dir%", "-o", "%reconstruction_dir%", "-s", "GLOBAL", "-M", "%matches_dir%/matches.e.bin"]],
+             ["-i", "%matches_dir%"+FOLDER_DELIM+"sfm_data.json", "-m", "%matches_dir%", "-o", "%reconstruction_dir%", "-s", "GLOBAL", "-M", "%matches_dir%"+FOLDER_DELIM+"matches.e.bin"]],
             ["Colorize Structure",           # 7
              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeSfM_DataColor"),
-             ["-i", "%reconstruction_dir%/sfm_data.bin", "-o", "%reconstruction_dir%/colorized.ply"]],
+             ["-i", "%reconstruction_dir%"+FOLDER_DELIM+"sfm_data.bin", "-o", "%reconstruction_dir%"+FOLDER_DELIM+"colorized.ply"]],
             ["Structure from Known Poses",   # 8
              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeStructureFromKnownPoses"),
-             ["-i", "%reconstruction_dir%/sfm_data.bin", "-m", "%matches_dir%", "-f", "%matches_dir%/matches.f.bin", "-o", "%reconstruction_dir%/robust.bin"]],
+             ["-i", "%reconstruction_dir%"+FOLDER_DELIM+"sfm_data.bin", "-m", "%matches_dir%", "-f", "%matches_dir%"+FOLDER_DELIM+"matches.f.bin", "-o", "%reconstruction_dir%"+FOLDER_DELIM+"robust.bin"]],
             ["Colorized robust triangulation",  # 9
              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeSfM_DataColor"),
-             ["-i", "%reconstruction_dir%/robust.bin", "-o", "%reconstruction_dir%/robust_colorized.ply"]],
+             ["-i", "%reconstruction_dir%"+FOLDER_DELIM+"robust.bin", "-o", "%reconstruction_dir%"+FOLDER_DELIM+"robust_colorized.ply"]],
             ["Control Points Registration",  # 10
              os.path.join(OPENMVG_BIN, "ui_openMVG_control_points_registration"),
-             ["-i", "%reconstruction_dir%/sfm_data.bin"]],
+             ["-i", "%reconstruction_dir%"+FOLDER_DELIM+"sfm_data.bin"]],
             ["Export to openMVS",            # 11
              os.path.join(OPENMVG_BIN, "openMVG_main_openMVG2openMVS"),
-             ["-i", "%reconstruction_dir%/sfm_data.bin", "-o", "\"%mvs_dir%/scene.mvs\"", "-d", "\"%mvs_dir%/images\""]],
+             ["-i", "%reconstruction_dir%"+FOLDER_DELIM+"sfm_data.bin", "-o", "%mvs_dir%"+FOLDER_DELIM+"scene.mvs", "-d", "%mvs_dir%"+FOLDER_DELIM+"images"]],
             ["Densify point cloud",          # 12
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
              ["scene.mvs", "--dense-config-file", "Densify.ini", "--resolution-level", "1", "--number-views", "8", "-w", "\"%mvs_dir%\""]],
@@ -266,6 +269,15 @@ def apply_conf(self, conf):
                 o2.append(co)
             s[2] = o2
 
+    def replace_opt(self, idx, str_exist, str_new):
+        """ replace each existing str_exist with str_new per opt value in step idx data """
+        s = self.steps_data[idx]
+        o2 = []
+        for o in s[2]:
+            co = o.replace(str_exist, str_new)
+            o2.append(co)
+        s[2] = o2
+
 
 CONF = ConfContainer()
 STEPS = StepsStore()
@@ -289,7 +301,7 @@ def apply_conf(self, conf):
                     " \r\n".join([k + " = " + str(PRESET[k]) for k in PRESET]) +
                     " \r\ndefault : " + PRESET_DEFAULT)
 
-GROUP = PARSER.add_argument_group('Passthrough', description="Option to be passed to command lines (remove - in front of option names)\r\ne.g. --1 p ULTRA to use the ULTRA preset in openMVG_main_ComputeFeatures\r\nFor example, running the script as follows,\r\nMvgMvsPipeline.py input_dir output_dir --1 p HIGH n 8 --2 n ANNL2\r\nwhere --1 refer to openMVG_main_ComputeFeatures, p refers to\r\ndescriberPreset option which HIGH was chosen, and n refers to\r\nnumThreads which 8 was used. --2 refer to second step (openMVG_main_ComputeMatches),\r\nn refers to nearest_matching_method option which ANNL2 was chosen")
+GROUP = PARSER.add_argument_group('Passthrough', description="Option to be passed to command lines (remove - in front of option names)\r\ne.g. --1 p ULTRA to use the ULTRA preset in openMVG_main_ComputeFeatures\r\nFor example, running the script as follows,\r\nMvgMvsPipeline.py input_dir output_dir --1 p HIGH n 8 --3 n ANNL2\r\nwhere --1 refer to openMVG_main_ComputeFeatures, p refers to\r\ndescriberPreset option which HIGH was chosen, and n refers to\r\nnumThreads which 8 was used. --3 refer to second step (openMVG_main_ComputeMatches),\r\nn refers to nearest_matching_method option which ANNL2 was chosen")
 for n in range(STEPS.length()):
     GROUP.add_argument('--'+str(n), nargs='+')
 
@@ -343,9 +355,14 @@ def mkdir_ine(dirname):
 if 4 in CONF.steps:    # GeometricFilter
     if 6 in CONF.steps:  # GlobalReconstruction
         # Set the geometric_model of ComputeMatches to Essential
-        STEPS[4].opt = STEPS[4].opt.replace("/matches.f.bin", "/matches.e.bin")
+        STEPS.replace_opt(4, FOLDER_DELIM+"matches.f.bin", FOLDER_DELIM+"matches.e.bin")
         STEPS[4].opt.extend(["-g", "e"])
 
+if 15 in CONF.steps:    # TextureMesh
+    if 14 not in CONF.steps:  # RefineMesh
+        # RefineMesh step is not run, use ReconstructMesh output
+        STEPS.replace_opt(15, "scene_dense_mesh_refine.mvs", "scene_dense_mesh.mvs")
+
 for cstep in CONF.steps:
     printout("#%i. %s" % (cstep, STEPS[cstep].info), effect=INVERSE)
 

From 622989489e43e3cd4eb34ddcff9e597853394e42 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 9 Mar 2022 12:40:25 +0200
Subject: [PATCH 087/252] build: use VCG fork in CI

---
 .appveyor.yml | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/.appveyor.yml b/.appveyor.yml
index 6b08db499..91a94b656 100644
--- a/.appveyor.yml
+++ b/.appveyor.yml
@@ -48,7 +48,7 @@ for:
     # remove outdated versions
     - vcpkg remove --outdated --recurse
     # install dependencies
-    - vcpkg install --recurse --triplet %VCPKG_ARCH% zlib boost-iostreams boost-program-options boost-system boost-serialization eigen3 cgal[core] opencv vcglib glew glfw3
+    - vcpkg install --recurse --triplet %VCPKG_ARCH% zlib boost-iostreams boost-program-options boost-system boost-serialization eigen3 cgal[core] opencv glew glfw3
     - cd "%APPVEYOR_BUILD_FOLDER%"
   # preserve contents of selected directories and files across project builds
   cache:
@@ -56,8 +56,9 @@ for:
   build_script:
     - if "%platform%"=="Win32" set CMAKE_ARCH=-A"x86"
     - if "%platform%"=="x64"   set CMAKE_ARCH=-A"x64"
+    - git clone https://github.com/cdcseacave/VCG.git
     - mkdir bin && cd bin
-    - cmake -G"Visual Studio 16 2019" %CMAKE_ARCH% -DCMAKE_BUILD_TYPE=%Configuration% -DCMAKE_TOOLCHAIN_FILE="C:\tools\vcpkg\scripts\buildsystems\vcpkg.cmake" ..
+    - cmake -G"Visual Studio 16 2019" %CMAKE_ARCH% -DCMAKE_BUILD_TYPE=%Configuration% -DCMAKE_TOOLCHAIN_FILE="C:\tools\vcpkg\scripts\buildsystems\vcpkg.cmake" -DVCG_ROOT="$APPVEYOR_BUILD_FOLDER/VCG" ..
     - cmake --build . --target ALL_BUILD --config %Configuration% -- /maxcpucount:4
 -
   #------------------

From 5d877f05788da29f7540359f0e19b7cf4e7db63d Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 9 Mar 2022 18:33:17 +0200
Subject: [PATCH 088/252] dense: fix CUDA resize bug

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp | 7 +++++--
 libs/MVS/PatchMatchCUDA.cpp                  | 2 +-
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index d2942d244..a261dcfbf 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -95,7 +95,10 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// group of options allowed both on command line and in config file
 	#ifdef _USE_CUDA
+	const unsigned nNumViewsDefault(8);
 	unsigned nCUDADevice;
+	#else
+	const unsigned nNumViewsDefault(5);
 	#endif
 	unsigned nResolutionLevel;
 	unsigned nMaxResolution;
@@ -115,9 +118,9 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("cuda-device", boost::program_options::value(&nCUDADevice)->default_value(0), "CUDA device number to be used for depth-map estimation (-1 - CPU processing)")
 		#endif
 		("resolution-level", boost::program_options::value(&nResolutionLevel)->default_value(1), "how many times to scale down the images before point cloud computation")
-		("max-resolution", boost::program_options::value(&nMaxResolution)->default_value(3200), "do not scale images higher than this resolution")
+		("max-resolution", boost::program_options::value(&nMaxResolution)->default_value(2560), "do not scale images higher than this resolution")
 		("min-resolution", boost::program_options::value(&nMinResolution)->default_value(640), "do not scale images lower than this resolution")
-		("number-views", boost::program_options::value(&nNumViews)->default_value(5), "number of views used for depth-map estimation (0 - all neighbor views available)")
+		("number-views", boost::program_options::value(&nNumViews)->default_value(nNumViewsDefault), "number of views used for depth-map estimation (0 - all neighbor views available)")
 		("number-views-fuse", boost::program_options::value(&nMinViewsFuse)->default_value(3), "minimum number of images that agrees with an estimate during fusion in order to consider it inlier (<2 - only merge depth-maps)")
 		("ignore-mask-label", boost::program_options::value(&nIgnoreMaskLabel)->default_value(-1), "integer value for the label to ignore in the segmentation mask (<0 - disabled)")
 		("estimate-colors", boost::program_options::value(&nEstimateColors)->default_value(2), "estimate the colors for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
index 1603e38a0..9579a76f7 100644
--- a/libs/MVS/PatchMatchCUDA.cpp
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -206,7 +206,7 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 		camera.height = image.rows;
 		camera.width = image.cols;
 		// store camera and image
-		if (i == 0 && prevNumImages < numImages) {
+		if (i == 0 && (prevNumImages < numImages || images[0].size() != image.size())) {
 			// allocate/reallocate PatchMatch CUDA memory
 			if (prevNumImages > 0)
 				ReleaseCUDA();

From 734638528fc312bb8054bbc80e9128a356dcf833 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 21 Mar 2022 11:23:37 +0200
Subject: [PATCH 089/252] common: disable CUDA calls if not selected

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp | 10 +++-----
 apps/ReconstructMesh/ReconstructMesh.cpp     |  3 +++
 apps/RefineMesh/RefineMesh.cpp               | 11 ++++-----
 apps/TextureMesh/TextureMesh.cpp             |  3 +++
 libs/Common/UtilCUDA.cpp                     |  1 +
 libs/Common/UtilCUDA.h                       |  2 ++
 libs/MVS/DepthMap.cpp                        |  8 +++----
 libs/MVS/DepthMap.h                          |  3 ---
 libs/MVS/Mesh.cpp                            | 25 ++++++++++++--------
 libs/MVS/Mesh.h                              |  6 ++---
 libs/MVS/SceneDensify.cpp                    | 11 +++++----
 libs/MVS/SceneRefineCUDA.cpp                 |  2 +-
 12 files changed, 45 insertions(+), 40 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index a261dcfbf..421fb332f 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -91,12 +91,14 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 			#endif
 			), "verbosity level")
 		#endif
+		#ifdef _USE_CUDA
+		("cuda-device", boost::program_options::value(&CUDA::desiredDeviceID)->default_value(0), "CUDA device number to be used for depth-map estimation (-1 - CPU processing)")
+		#endif
 		;
 
 	// group of options allowed both on command line and in config file
 	#ifdef _USE_CUDA
 	const unsigned nNumViewsDefault(8);
-	unsigned nCUDADevice;
 	#else
 	const unsigned nNumViewsDefault(5);
 	#endif
@@ -114,9 +116,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the dense point-cloud (optional)")
 		("view-neighbors-file", boost::program_options::value<std::string>(&OPT::strViewNeighborsFileName), "input filename containing the list of views and their neighbors (optional)")
 		("output-view-neighbors-file", boost::program_options::value<std::string>(&OPT::strOutputViewNeighborsFileName), "output filename containing the generated list of views and their neighbors")
-		#ifdef _USE_CUDA
-		("cuda-device", boost::program_options::value(&nCUDADevice)->default_value(0), "CUDA device number to be used for depth-map estimation (-1 - CPU processing)")
-		#endif
 		("resolution-level", boost::program_options::value(&nResolutionLevel)->default_value(1), "how many times to scale down the images before point cloud computation")
 		("max-resolution", boost::program_options::value(&nMaxResolution)->default_value(2560), "do not scale images higher than this resolution")
 		("min-resolution", boost::program_options::value(&nMinResolution)->default_value(640), "do not scale images lower than this resolution")
@@ -201,9 +200,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	OPTDENSE::init();
 	const bool bValidConfig(OPTDENSE::oConfig.Load(OPT::strDenseConfigFileName));
 	OPTDENSE::update();
-	#ifdef _USE_CUDA
-	OPTDENSE::nCUDADevice = nCUDADevice;
-	#endif
 	OPTDENSE::nResolutionLevel = nResolutionLevel;
 	OPTDENSE::nMaxResolution = nMaxResolution;
 	OPTDENSE::nMinResolution = nMinResolution;
diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index 59e98637e..efd442f72 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -104,6 +104,9 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 			#endif
 			), "verbosity level")
 		#endif
+		#ifdef _USE_CUDA
+		("cuda-device", boost::program_options::value(&CUDA::desiredDeviceID)->default_value(0), "CUDA device number to be used to reconstruct the mesh (-1 - CPU processing)")
+		#endif
 		;
 
 	// group of options allowed both on command line and in config file
diff --git a/apps/RefineMesh/RefineMesh.cpp b/apps/RefineMesh/RefineMesh.cpp
index a134b92f6..c77d91f3b 100644
--- a/apps/RefineMesh/RefineMesh.cpp
+++ b/apps/RefineMesh/RefineMesh.cpp
@@ -64,9 +64,6 @@ float fRatioRigidityElasticity;
 unsigned nMaxFaceArea;
 float fPlanarVertexRatio;
 float fGradientStep;
-#ifdef _USE_CUDA
-bool bUseCUDA;
-#endif
 unsigned nArchiveType;
 int nProcessPriority;
 unsigned nMaxThreads;
@@ -101,6 +98,9 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 			#endif
 			), "verbosity level")
 		#endif
+		#ifdef _USE_CUDA
+		("cuda-device", boost::program_options::value(&CUDA::desiredDeviceID)->default_value(-1), "CUDA device number to be used for mesh refinement (-1 - CPU processing)")
+		#endif
 		;
 
 	// group of options allowed both on command line and in config file
@@ -123,9 +123,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("rigidity-elasticity-ratio", boost::program_options::value(&OPT::fRatioRigidityElasticity)->default_value(0.9f), "scalar ratio used to compute the regularity gradient as a combination of rigidity and elasticity")
 		("gradient-step", boost::program_options::value(&OPT::fGradientStep)->default_value(45.05f), "gradient step to be used instead (0 - auto)")
 		("planar-vertex-ratio", boost::program_options::value(&OPT::fPlanarVertexRatio)->default_value(0.f), "threshold used to remove vertices on planar patches (0 - disabled)")
-		#ifdef _USE_CUDA
-		("use-cuda", boost::program_options::value(&OPT::bUseCUDA)->default_value(false), "refine mesh using CUDA")
-		#endif
 		;
 
 	// hidden options, allowed both on command line and
@@ -241,7 +238,7 @@ int main(int argc, LPCTSTR* argv)
 	}
 	TD_TIMER_START();
 	#ifdef _USE_CUDA
-	if (!OPT::bUseCUDA ||
+	if (CUDA::desiredDeviceID < 0 ||
 		!scene.RefineMeshCUDA(OPT::nResolutionLevel, OPT::nMinResolution, OPT::nMaxViews,
 							  OPT::fDecimateMesh, OPT::nCloseHoles, OPT::nEnsureEdgeSize,
 							  OPT::nMaxFaceArea,
diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index 38f7f3b07..6284c1182 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -95,6 +95,9 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 			#endif
 			), "verbosity level")
 		#endif
+		#ifdef _USE_CUDA
+		("cuda-device", boost::program_options::value(&CUDA::desiredDeviceID)->default_value(0), "CUDA device number to be used to texture the mesh (-1 - CPU processing)")
+		#endif
 		;
 
 	// group of options allowed both on command line and in config file
diff --git a/libs/Common/UtilCUDA.cpp b/libs/Common/UtilCUDA.cpp
index 77b2542bc..73766b711 100644
--- a/libs/Common/UtilCUDA.cpp
+++ b/libs/Common/UtilCUDA.cpp
@@ -20,6 +20,7 @@ namespace CUDA {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+int desiredDeviceID = -1;
 Devices devices;
 
 // GPU Architecture definitions
diff --git a/libs/Common/UtilCUDA.h b/libs/Common/UtilCUDA.h
index c0ed5748d..a558198b8 100644
--- a/libs/Common/UtilCUDA.h
+++ b/libs/Common/UtilCUDA.h
@@ -33,6 +33,8 @@ namespace SEACAVE {
 
 namespace CUDA {
 
+extern int desiredDeviceID;
+
 // global list of initialized devices
 struct Device {
 	CUdevice ID;
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 1f0202d00..7e5826e36 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -69,9 +69,6 @@ namespace MVS {
 DEFOPT_SPACE(OPTDENSE, _T("Dense"))
 
 
-#ifdef _USE_CUDA
-DEFVAR_OPTDENSE_int32(nCUDADevice, "CUDA Device", "CUDA device number to be used for depth-map estimation (-1 - CPU processing)", "0")
-#endif // _USE_CUDA
 DEFVAR_OPTDENSE_uint32(nResolutionLevel, "Resolution Level", "How many times to scale down the images before dense reconstruction", "1")
 MDEFVAR_OPTDENSE_uint32(nMaxResolution, "Max Resolution", "Do not scale images lower than this resolution", "3200")
 MDEFVAR_OPTDENSE_uint32(nMinResolution, "Min Resolution", "Do not scale images lower than this resolution", "640")
@@ -1671,6 +1668,7 @@ bool MVS::ExportPointCloud(const String& fileName, const Image& imageData, const
 
 		// export the array of 3D points
 		Vertex vertex;
+		const Point2f scaleImage(static_cast<float>(depthMap.cols)/imageData.image.cols, static_cast<float>(depthMap.rows)/imageData.image.rows);
 		for (int j=0; j<depthMap.rows; ++j) {
 			for (int i=0; i<depthMap.cols; ++i) {
 				const Depth& depth = depthMap(j,i);
@@ -1679,7 +1677,7 @@ bool MVS::ExportPointCloud(const String& fileName, const Image& imageData, const
 					continue;
 				const Point3f X(P0.TransformPointI2W(Point3(i,j,depth)));
 				vertex.x = X.x; vertex.y = X.y; vertex.z = X.z;
-				const Pixel8U c(imageData.image.empty() ? Pixel8U::WHITE : imageData.image(j,i));
+				const Pixel8U c(imageData.image.empty() ? Pixel8U::WHITE : imageData.image(ROUND2INT(scaleImage.y*j),ROUND2INT(scaleImage.x*i)));
 				vertex.r = c.r; vertex.g = c.g; vertex.b = c.b;
 				ply.put_element(&vertex);
 			}
@@ -1839,7 +1837,7 @@ bool MVS::ImportDepthDataRaw(const String& fileName, String& imageFileName,
 		header.name != HeaderDepthDataRaw::HeaderDepthDataRawName() ||
 		(header.type & HeaderDepthDataRaw::HAS_DEPTH) == 0 ||
 		header.depthWidth <= 0 || header.depthHeight <= 0 ||
-		header.imageWidth < header.depthWidth || header.imageHeight < header.depthHeight)
+		header.imageWidth <= 0 || header.imageHeight <= 0)
 	{
 		DEBUG("error: invalid depth-data file '%s'", fileName.c_str());
 		fclose(f);
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 06a8ff3e3..c9184a2a1 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -87,9 +87,6 @@ enum DepthFlags {
 	ADJUST_FILTER	= (1 << 2),
 	OPTIMIZE		= (REMOVE_SPECKLES|FILL_GAPS)
 };
-#ifdef _USE_CUDA
-extern int nCUDADevice;
-#endif // _USE_CUDA
 extern unsigned nResolutionLevel;
 extern unsigned nMaxResolution;
 extern unsigned nMinResolution;
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 2c2c3b1e5..4861b8e60 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -228,16 +228,21 @@ void Mesh::ComputeNormalFaces()
 	FOREACH(idxFace, faces)
 		faceNormals[idxFace] = normalized(FaceNormal(faces[idxFace]));
 	#else
-	reportCudaError(kernelComputeFaceNormal((int)faces.GetSize(),
-		vertices,
-		faces,
-		CUDA::KernelRT::OutputParam(faceNormals.GetDataSize()),
-		faces.GetSize()
-	));
-	reportCudaError(kernelComputeFaceNormal.GetResult(0,
-		faceNormals
-	));
-	kernelComputeFaceNormal.Reset();
+	if (kernelComputeFaceNormal.IsValid()) {
+		reportCudaError(kernelComputeFaceNormal((int)faces.GetSize(),
+			vertices,
+			faces,
+			CUDA::KernelRT::OutputParam(faceNormals.GetDataSize()),
+			faces.GetSize()
+		));
+		reportCudaError(kernelComputeFaceNormal.GetResult(0,
+			faceNormals
+		));
+		kernelComputeFaceNormal.Reset();
+	} else {
+		FOREACH(idxFace, faces)
+			faceNormals[idxFace] = normalized(FaceNormal(faces[idxFace]));
+	}
 	#endif
 }
 
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 447302769..ffdcc704c 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -132,11 +132,11 @@ class MVS_API Mesh
 	#endif
 
 public:
+	#ifdef _USE_CUDA
 	inline Mesh() {
-		#ifdef _USE_CUDA
-		InitKernels();
-		#endif
+		InitKernels(CUDA::desiredDeviceID);
 	}
+	#endif
 
 	void Release();
 	void ReleaseExtra();
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 8ed77248e..e38b81032 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -1735,9 +1735,12 @@ bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 
 	#ifdef _USE_CUDA
 	// initialize CUDA
-	if (OPTDENSE::nCUDADevice >= 0 && data.nFusionMode >= 0) {
-		data.depthMaps.pmCUDA = new PatchMatchCUDA(OPTDENSE::nCUDADevice);
-		data.depthMaps.pmCUDA->Init(false);
+	if (CUDA::desiredDeviceID >= 0 && data.nFusionMode >= 0) {
+		data.depthMaps.pmCUDA = new PatchMatchCUDA(CUDA::desiredDeviceID);
+		if (CUDA::devices.IsEmpty())
+			data.depthMaps.pmCUDA.Release();
+		else
+			data.depthMaps.pmCUDA->Init(false);
 	}
 	#endif // _USE_CUDA
 
@@ -1770,7 +1773,7 @@ bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 	if (data.nFusionMode >= 0) {
 		#ifdef _USE_CUDA
 		// initialize CUDA
-		if (OPTDENSE::nCUDADevice >= 0 && OPTDENSE::nEstimationGeometricIters) {
+		if (data.depthMaps.pmCUDA && OPTDENSE::nEstimationGeometricIters) {
 			data.depthMaps.pmCUDA->Release();
 			data.depthMaps.pmCUDA->Init(true);
 		}
diff --git a/libs/MVS/SceneRefineCUDA.cpp b/libs/MVS/SceneRefineCUDA.cpp
index 5d4a9a230..24d0f25e3 100644
--- a/libs/MVS/SceneRefineCUDA.cpp
+++ b/libs/MVS/SceneRefineCUDA.cpp
@@ -2076,7 +2076,7 @@ MeshRefineCUDA::MeshRefineCUDA(Scene& _scene, unsigned _nAlternatePair, float _w
 	scene(_scene),
 	images(_scene.images)
 {
-	if (!InitKernels())
+	if (!InitKernels(CUDA::desiredDeviceID))
 		return;
 	// keep only best neighbor views for each image
 	std::unordered_set<uint64_t> mapPairs;

From 14a195953cbf4a39418973c0ac9cef776ba560bd Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 22 Mar 2022 22:18:50 +0200
Subject: [PATCH 090/252] dense: fix split scene and use ROI

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp |  6 +--
 libs/MVS/DepthMap.cpp                        |  4 +-
 libs/MVS/DepthMap.h                          |  2 +-
 libs/MVS/Scene.cpp                           | 43 +++++++++++---------
 4 files changed, 30 insertions(+), 25 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 421fb332f..24b6d4581 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -294,6 +294,8 @@ int main(int argc, LPCTSTR* argv)
 		VERBOSE("error: empty initial point-cloud");
 		return EXIT_FAILURE;
 	}
+	if (!OPT::strViewNeighborsFileName.empty())
+		scene.LoadViewNeighbors(MAKE_PATH_SAFE(OPT::strViewNeighborsFileName));
 	if (!OPT::strOutputViewNeighborsFileName.empty()) {
 		if (!scene.ImagesHaveNeighbors()) {
 			VERBOSE("error: neighbor views not computed yet");
@@ -306,7 +308,7 @@ int main(int argc, LPCTSTR* argv)
 		// split the scene in sub-scenes by maximum sampling area
 		Scene::ImagesChunkArr chunks;
 		scene.Split(chunks, OPT::fMaxSubsceneArea);
-		scene.ExportChunks(chunks, Util::getFilePath(MAKE_PATH_SAFE(OPT::strOutputFileName)), (ARCHIVE_TYPE)OPT::nArchiveType);
+		scene.ExportChunks(chunks, GET_PATH_FULL(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
 		Finalize();
 		return EXIT_SUCCESS;
 	}
@@ -327,8 +329,6 @@ int main(int argc, LPCTSTR* argv)
 		return EXIT_SUCCESS;
 	}
 	if ((ARCHIVE_TYPE)OPT::nArchiveType != ARCHIVE_MVS) {
-		if (!OPT::strViewNeighborsFileName.empty())
-			scene.LoadViewNeighbors(MAKE_PATH_SAFE(OPT::strViewNeighborsFileName));
 		TD_TIMER_START();
 		if (!scene.DenseReconstruction(OPT::nFusionMode)) {
 			if (ABS(OPT::nFusionMode) != 1)
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 7e5826e36..099148404 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -239,14 +239,14 @@ bool DepthData::Save(const String& fileName) const
 	}
 	return true;
 }
-bool DepthData::Load(const String& fileName)
+bool DepthData::Load(const String& fileName, unsigned flags)
 {
 	// serialize in the saved state
 	String imageFileName;
 	IIndexArr IDs;
 	cv::Size imageSize;
 	Camera camera;
-	if (!ImportDepthDataRaw(fileName, imageFileName, IDs, imageSize, camera.K, camera.R, camera.C, dMin, dMax, depthMap, normalMap, confMap))
+	if (!ImportDepthDataRaw(fileName, imageFileName, IDs, imageSize, camera.K, camera.R, camera.C, dMin, dMax, depthMap, normalMap, confMap, flags))
 		return false;
 	ASSERT(!IsValid() || (IDs.size() == images.size() && IDs.front() == GetView().GetID()));
 	ASSERT(depthMap.size() == imageSize);
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index c9184a2a1..918376843 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -240,7 +240,7 @@ struct MVS_API DepthData {
 	void ApplyIgnoreMask(const BitMatrix&);
 
 	bool Save(const String& fileName) const;
-	bool Load(const String& fileName);
+	bool Load(const String& fileName, unsigned flags=7);
 
 	unsigned GetRef();
 	unsigned IncRef(const String& fileName);
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 1c883a294..09290bbf6 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -918,7 +918,7 @@ unsigned Scene::Split(ImagesChunkArr& chunks, float maxArea, int depthMapStep) c
 			if (!imageData.IsValid())
 				continue;
 			DepthData depthData;
-			depthData.Load(ComposeDepthFilePath(imageData.ID, "dmap"));
+			depthData.Load(ComposeDepthFilePath(imageData.ID, "dmap"), 1);
 			if (depthData.IsEmpty())
 				continue;
 			const IIndex numPointsBegin(visibility.size());
@@ -928,30 +928,35 @@ unsigned Scene::Split(ImagesChunkArr& chunks, float maxArea, int depthMapStep) c
 					const Depth depth = depthData.depthMap(r,c);
 					if (depth <= 0)
 						continue;
-					const Point3f& X = samples.emplace_back(Cast<float>(camera.TransformPointI2W(Point3(c,r,depth))));
+					const Point3f X(Cast<float>(camera.TransformPointI2W(Point3(c,r,depth))));
+					if (IsBounded() && !obb.Intersects(X))
+						continue;
 					areas.emplace_back(Footprint(camera, X)*areaScale);
 					visibility.emplace_back(idxImage);
+					samples.emplace_back(X);
 				}
 			}
 			imageAreas[idxImage] = visibility.size()-numPointsBegin;
 		}
-		#if 0
-		const AABB3f aabb(samples.data(), samples.size());
-		#else
-		// try to find a dominant plane, and set the bounding-box center on the plane bottom
-		OBB3f obb(samples.data(), samples.size());
-		obb.m_ext(0) *= 2;
-		#if 1
-		// dump box for visualization
-		OBB3f::POINT pts[8];
-		obb.GetCorners(pts);
-		PointCloud pc;
-		for (int i=0; i<8; ++i)
-			pc.points.emplace_back(pts[i]);
-		pc.Save(MAKE_PATH("scene_obb.ply"));
-		#endif
-		const AABB3f aabb(obb.GetAABB());
-		#endif
+		const AABB3f aabb(IsBounded() ? obb.GetAABB() : [&samples]() {
+			#if 0
+			return AABB3f(samples.data(), samples.size());
+			#else
+			// try to find a dominant plane, and set the bounding-box center on the plane bottom
+			OBB3f obbSamples(samples.data(), samples.size());
+			obbSamples.m_ext(0) *= 2;
+			#if 1
+			// dump box for visualization
+			OBB3f::POINT pts[8];
+			obbSamples.GetCorners(pts);
+			PointCloud pc;
+			for (int i=0; i<8; ++i)
+				pc.points.emplace_back(pts[i]);
+			pc.Save(MAKE_PATH("scene_obb.ply"));
+			#endif
+			return obbSamples.GetAABB();
+			#endif
+		}());
 		octree.Insert(samples, aabb, [](Octree::IDX_TYPE size, Octree::Type /*radius*/) {
 			return size > 128;
 		});

From 83a0f97b25b600a0d24c36addbc6432289fd37ba Mon Sep 17 00:00:00 2001
From: MikeCernea <75977936+MikeCernea@users.noreply.github.com>
Date: Wed, 23 Mar 2022 09:19:02 +0100
Subject: [PATCH 091/252] texture: cleaner and faster ViewSelection (#793)

---
 libs/MVS/Mesh.cpp         |  42 ++++++++++++
 libs/MVS/Mesh.h           |   5 ++
 libs/MVS/SceneTexture.cpp | 132 +++++++++++++++-----------------------
 3 files changed, 98 insertions(+), 81 deletions(-)

diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 4861b8e60..37e3bfc46 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -100,6 +100,7 @@ void Mesh::ReleaseExtra()
 	vertexFaces.Release();
 	vertexBoundary.Release();
 	faceNormals.Release();
+	faceFaces.Release();
 	faceTexcoords.Release();
 	textureDiffuse.release();
 } // ReleaseExtra
@@ -110,6 +111,7 @@ void Mesh::EmptyExtra()
 	vertexFaces.Empty();
 	vertexBoundary.Empty();
 	faceNormals.Empty();
+	faceFaces.Empty();
 	faceTexcoords.Empty();
 	textureDiffuse.release();
 } // EmptyExtra
@@ -186,6 +188,46 @@ void Mesh::ListIncidenteFaces()
 	}
 }
 
+// extract array face adjacencies for each face in the mesh (3 * number of faces);
+// each triple describes the adjacent face triangles for a given face
+// in the following edge order: v1v2, v2v3, v3v1;
+// NO_ID indicates there is no adjacent face on that edge
+void Mesh::ListIncidenteFaceFaces()
+{
+	ASSERT(vertexFaces.size() == vertices.size());
+	struct inserter_data_t {
+		const FIndex idxF;
+		FaceFaces& faces;
+		int idx;
+		inline inserter_data_t(FIndex _idxF, FaceFaces& _faces) : idxF(_idxF), faces(_faces), idx(0) {}
+		inline void operator=(FIndex f) { faces[idx++] = f; }
+	};
+	struct face_back_inserter_t {
+		inserter_data_t* data;
+		inline face_back_inserter_t(inserter_data_t& _data) : data(&_data) {}
+		inline face_back_inserter_t& operator*() { return *this; }
+		inline face_back_inserter_t& operator++() { return *this; }
+		inline void operator=(FIndex f) { if (f != data->idxF) *data = f; }
+	};
+	faceFaces.resize(faces.size());
+	FOREACH(f, faces) {
+		const Face& face = faces[f];
+		const FaceIdxArr* const pFaces[] = {&vertexFaces[face[0]], &vertexFaces[face[1]], &vertexFaces[face[2]]};
+		inserter_data_t inserterData(f, faceFaces[f]);
+		face_back_inserter_t faceBackInserter(inserterData);
+		for (int v=0; v<3; ++v) {
+			const FaceIdxArr& facesI = *pFaces[v];
+			const FaceIdxArr& facesJ = *pFaces[(v+1)%3];
+			std::set_intersection(
+				facesI.begin(), facesI.end(),
+				facesJ.begin(), facesJ.end(),
+				faceBackInserter);
+			if (inserterData.idx == v)
+				inserterData = NO_ID;
+		}
+	}
+}
+
 // check each vertex if it is at the boundary or not
 // (make sure you called ListIncidenteFaces() before)
 void Mesh::ListBoundaryVertices()
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index ffdcc704c..6616c38ae 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -71,6 +71,9 @@ class MVS_API Mesh
 	typedef TPoint2<Type> TexCoord;
 	typedef cList<TexCoord,const TexCoord&,0,8192,FIndex> TexCoordArr;
 
+	typedef TPoint3<FIndex> FaceFaces;
+	typedef cList<FaceFaces,const FaceFaces&,0,8192,FIndex> FaceFacesArr;
+
 	// used to find adjacent face
 	struct FaceCount {
 		int count;
@@ -123,6 +126,7 @@ class MVS_API Mesh
 	BoolArr vertexBoundary; // for each vertex, stores if it is at the boundary or not (optional)
 
 	NormalArr faceNormals; // for each face, the normal to it (optional)
+	FaceFacesArr faceFaces; // for each face, the list of adjacent faces, NO_ID for border edges (optional)
 	TexCoordArr faceTexcoords; // for each face, the texture-coordinates corresponding to the contained vertices (optional)
 
 	Image8U3 textureDiffuse; // texture containing the diffuse color (optional)
@@ -150,6 +154,7 @@ class MVS_API Mesh
 
 	void ListIncidenteVertices();
 	void ListIncidenteFaces();
+	void ListIncidenteFaceFaces();
 	void ListBoundaryVertices();
 	void ComputeNormalFaces();
 	void ComputeNormalVertices();
diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index 084a5fa5b..db0a87a9b 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -426,6 +426,7 @@ struct MeshTexture {
 	// valid the entire time
 	Mesh::VertexFacesArr& vertexFaces; // for each vertex, the list of faces containing it
 	BoolArr& vertexBoundary; // for each vertex, stores if it is at the boundary or not
+	Mesh::FaceFacesArr& faceFaces; // for each face, the list of adjacent faces, NO_ID for border edges (optional)
 	Mesh::TexCoordArr& faceTexcoords; // for each face, the texture-coordinates of the vertices
 	Image8U3& textureDiffuse; // texture containing the diffuse color
 
@@ -443,6 +444,7 @@ MeshTexture::MeshTexture(Scene& _scene, unsigned _nResolutionLevel, unsigned _nM
 	nMinResolution(_nMinResolution),
 	vertexFaces(_scene.mesh.vertexFaces),
 	vertexBoundary(_scene.mesh.vertexBoundary),
+	faceFaces(_scene.mesh.faceFaces),
 	faceTexcoords(_scene.mesh.faceTexcoords),
 	textureDiffuse(_scene.mesh.textureDiffuse),
 	vertices(_scene.mesh.vertices),
@@ -455,6 +457,7 @@ MeshTexture::~MeshTexture()
 {
 	vertexFaces.Release();
 	vertexBoundary.Release();
+	faceFaces.Release();
 }
 
 // extract array of triangles incident to each vertex
@@ -464,6 +467,7 @@ void MeshTexture::ListVertexFaces()
 	scene.mesh.EmptyExtra();
 	scene.mesh.ListIncidenteFaces();
 	scene.mesh.ListBoundaryVertices();
+	scene.mesh.ListIncidenteFaceFaces();
 }
 
 // extract array of faces viewed by each image
@@ -820,11 +824,10 @@ bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmo
 			}
 			Mesh::FaceIdxArr afaces;
 			FOREACH(idxFace, faces) {
-				scene.mesh.GetFaceFaces(idxFace, afaces);
-				ASSERT(ISINSIDE((int)afaces.GetSize(), 1, 4));
-				FOREACHPTR(pIdxFace, afaces) {
-					const FIndex idxFaceAdj = *pIdxFace;
-					if (idxFace >= idxFaceAdj)
+				const Mesh::FaceFaces& afaces = faceFaces[idxFace];
+				for (int v=0; v<3; ++v) {
+					const FIndex idxFaceAdj = afaces[v];
+					if (idxFaceAdj == NO_ID || idxFace >= idxFaceAdj)
 						continue;
 					const bool bInvisibleFace(facesDatas[idxFace].IsEmpty());
 					const bool bInvisibleFaceAdj(facesDatas[idxFaceAdj].IsEmpty());
@@ -835,112 +838,68 @@ bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmo
 					}
 					boost::add_edge(idxFace, idxFaceAdj, graph);
 				}
-				afaces.Empty();
 			}
-			ASSERT((Mesh::FIndex)boost::num_vertices(graph) == faces.GetSize());
+			faceFaces.Release();
+			ASSERT((Mesh::FIndex)boost::num_vertices(graph) == faces.size());
 		}
 
 		// assign the best view to each face
-		LabelArr labels(faces.GetSize());
-		components.Resize(faces.GetSize());
+		LabelArr labels(faces.size());
+		components.Resize(faces.size());
 		{
-			// find connected components
-			const FIndex nComponents(boost::connected_components(graph, components.Begin()));
-
-			// map face ID from global to component space
-			typedef cList<NodeID, NodeID, 0, 128, NodeID> NodeIDs;
-			NodeIDs nodeIDs(faces.GetSize());
-			NodeIDs sizes(nComponents);
-			sizes.Memset(0);
-			FOREACH(c, components)
-				nodeIDs[c] = sizes[components[c]]++;
-
 			// normalize quality values
 			float maxQuality(0);
-			FOREACHPTR(pFaceDatas, facesDatas) {
-				const FaceDataArr& faceDatas = *pFaceDatas;
-				FOREACHPTR(pFaceData, faceDatas)
-					if (maxQuality < pFaceData->quality)
-						maxQuality = pFaceData->quality;
+			for (const FaceDataArr& faceDatas: facesDatas) {
+				for (const FaceData& faceData: faceDatas)
+					if (maxQuality < faceData.quality)
+						maxQuality = faceData.quality;
 			}
 			Histogram32F hist(std::make_pair(0.f, maxQuality), 1000);
-			FOREACHPTR(pFaceDatas, facesDatas) {
-				const FaceDataArr& faceDatas = *pFaceDatas;
-				FOREACHPTR(pFaceData, faceDatas)
-					hist.Add(pFaceData->quality);
+			for (const FaceDataArr& faceDatas: facesDatas) {
+				for (const FaceData& faceData: faceDatas)
+					hist.Add(faceData.quality);
 			}
 			const float normQuality(hist.GetApproximatePermille(0.95f));
 
 			#if TEXOPT_INFERENCE == TEXOPT_INFERENCE_LBP
 			// initialize inference structures
-			CLISTDEFIDX(LBPInference,FIndex) inferences(nComponents);
-			{
-				FOREACH(s, sizes) {
-					const NodeID numNodes(sizes[s]);
-					ASSERT(numNodes > 0);
-					if (numNodes <= 1)
-						continue;
-					LBPInference& inference = inferences[s];
-					inference.SetNumNodes(numNodes);
-					inference.SetSmoothCost(SmoothnessPotts);
-				}
+			const LBPInference::EnergyType MaxEnergy(fRatioDataSmoothness*LBPInference::MaxEnergy);
+			LBPInference inference; {
+				inference.SetNumNodes(faces.size());
+				inference.SetSmoothCost(SmoothnessPotts);
 				EdgeOutIter ei, eie;
 				FOREACH(f, faces) {
-					LBPInference& inference = inferences[components[f]];
 					for (boost::tie(ei, eie) = boost::out_edges(f, graph); ei != eie; ++ei) {
 						ASSERT(f == (FIndex)ei->m_source);
 						const FIndex fAdj((FIndex)ei->m_target);
-						ASSERT(components[f] == components[fAdj]);
+						ASSERT(components.empty() || components[f] == components[fAdj]);
 						if (f < fAdj) // add edges only once
-							inference.SetNeighbors(nodeIDs[f], nodeIDs[fAdj]);
+							inference.SetNeighbors(f, fAdj);
 					}
+					// set costs for label 0 (undefined)
+					inference.SetDataCost((Label)0, f, MaxEnergy);
 				}
 			}
 
-			// set data costs
-			{
-				const LBPInference::EnergyType MaxEnergy(fRatioDataSmoothness*LBPInference::MaxEnergy);
-				// set costs for label 0 (undefined)
-				FOREACH(s, inferences) {
-					LBPInference& inference = inferences[s];
-					if (inference.GetNumNodes() == 0)
-						continue;
-					const NodeID numNodes(sizes[s]);
-					for (NodeID nodeID=0; nodeID<numNodes; ++nodeID)
-						inference.SetDataCost((Label)0, nodeID, MaxEnergy);
-				}
-				// set data costs for all labels (except label 0 - undefined)
-				FOREACH(f, facesDatas) {
-					LBPInference& inference = inferences[components[f]];
-					if (inference.GetNumNodes() == 0)
-						continue;
-					const FaceDataArr& faceDatas = facesDatas[f];
-					const NodeID nodeID(nodeIDs[f]);
-					FOREACHPTR(pFaceData, faceDatas) {
-						const FaceData& faceData = *pFaceData;
-						const Label label((Label)faceData.idxView+1);
-						const float normalizedQuality(faceData.quality>=normQuality ? 1.f : faceData.quality/normQuality);
-						const float dataCost((1.f-normalizedQuality)*MaxEnergy);
-						inference.SetDataCost(label, nodeID, dataCost);
-					}
+			// set data costs for all labels (except label 0 - undefined)
+			FOREACH(f, facesDatas) {
+				const FaceDataArr& faceDatas = facesDatas[f];
+				for (const FaceData& faceData: faceDatas) {
+					const Label label((Label)faceData.idxView+1);
+					const float normalizedQuality(faceData.quality>=normQuality ? 1.f : faceData.quality/normQuality);
+					const float dataCost((1.f-normalizedQuality)*MaxEnergy);
+					inference.SetDataCost(label, f, dataCost);
 				}
 			}
 
 			// assign the optimal view (label) to each face
 			// (label 0 is reserved as undefined)
-			FOREACH(s, inferences) {
-				LBPInference& inference = inferences[s];
-				if (inference.GetNumNodes() == 0)
-					continue;
-				inference.Optimize();
-			}
+			inference.Optimize();
+
 			// extract resulting labeling
 			labels.Memset(0xFF);
 			FOREACH(l, labels) {
-				LBPInference& inference = inferences[components[l]];
-				if (inference.GetNumNodes() == 0)
-					continue;
-				const Label label(inference.GetLabel(nodeIDs[l]));
+				const Label label(inference.GetLabel(l));
 				ASSERT(label < images.GetSize()+1);
 				if (label > 0)
 					labels[l] = label-1;
@@ -948,6 +907,17 @@ bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmo
 			#endif
 
 			#if TEXOPT_INFERENCE == TEXOPT_INFERENCE_TRWS
+			// find connected components
+			const FIndex nComponents(boost::connected_components(graph, components.data()));
+
+			// map face ID from global to component space
+			typedef cList<NodeID, NodeID, 0, 128, NodeID> NodeIDs;
+			NodeIDs nodeIDs(faces.GetSize());
+			NodeIDs sizes(nComponents);
+			sizes.Memset(0);
+			FOREACH(c, components)
+				nodeIDs[c] = sizes[components[c]]++;
+
 			// initialize inference structures
 			const LabelID numLabels(images.GetSize()+1);
 			CLISTDEFIDX(TRWSInference, FIndex) inferences(nComponents);
@@ -1026,7 +996,7 @@ bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmo
 		{
 			// divide graph in sub-graphs of connected faces having the same label
 			EdgeIter ei, eie;
-			const PairIdxArr::IDX startLabelSeamEdges(seamEdges.GetSize());
+			const PairIdxArr::IDX startLabelSeamEdges(seamEdges.size());
 			for (boost::tie(ei, eie) = boost::edges(graph); ei != eie; ++ei) {
 				const FIndex fSource((FIndex)ei->m_source);
 				const FIndex fTarget((FIndex)ei->m_target);
@@ -1039,7 +1009,7 @@ bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmo
 
 			// find connected components: texture patches
 			ASSERT((FIndex)boost::num_vertices(graph) == components.GetSize());
-			const FIndex nComponents(boost::connected_components(graph, components.Begin()));
+			const FIndex nComponents(boost::connected_components(graph, components.data()));
 
 			// create texture patches;
 			// last texture patch contains all faces with no texture

From 168bbdcdf174c0f5e81b21a0f61ae15450c36863 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 25 Mar 2022 17:28:09 +0200
Subject: [PATCH 092/252] dense: render and export depth-maps for each view of
 a given mesh

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp | 13 +++-
 apps/ReconstructMesh/ReconstructMesh.cpp     |  2 +-
 apps/RefineMesh/RefineMesh.cpp               |  4 +-
 apps/TextureMesh/TextureMesh.cpp             |  2 +-
 libs/Common/UtilCUDA.cpp                     |  3 +
 libs/MVS/Mesh.cpp                            | 43 +++++++++++++
 libs/MVS/Mesh.h                              |  1 +
 libs/MVS/Scene.cpp                           | 63 +++++++++++++++++++-
 libs/MVS/Scene.h                             |  1 +
 libs/MVS/SceneDensify.cpp                    |  2 +-
 10 files changed, 126 insertions(+), 8 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 24b6d4581..556deb452 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -54,6 +54,7 @@ String strMeshFileName;
 String strExportROIFileName;
 String strImportROIFileName;
 String strDenseConfigFileName;
+String strExportDepthMapsName;
 float fMaxSubsceneArea;
 float fSampleMesh;
 int nFusionMode;
@@ -92,7 +93,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 			), "verbosity level")
 		#endif
 		#ifdef _USE_CUDA
-		("cuda-device", boost::program_options::value(&CUDA::desiredDeviceID)->default_value(0), "CUDA device number to be used for depth-map estimation (-1 - CPU processing)")
+		("cuda-device", boost::program_options::value(&CUDA::desiredDeviceID)->default_value(-1), "CUDA device number to be used for depth-map estimation (-2 - CPU processing, -1 - best GPU, >=0 - device index)")
 		#endif
 		;
 
@@ -139,6 +140,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("export-roi-file", boost::program_options::value<std::string>(&OPT::strExportROIFileName), "ROI file name to be exported form the scene")
 		("import-roi-file", boost::program_options::value<std::string>(&OPT::strImportROIFileName), "ROI file name to be imported into the scene")
 		("dense-config-file", boost::program_options::value<std::string>(&OPT::strDenseConfigFileName), "optional configuration file for the densifier (overwritten by the command line options)")
+		("export-depth-maps-name", boost::program_options::value<std::string>(&OPT::strExportDepthMapsName), "render given mesh and save the depth-map for every image to this file name base (empty - disabled)")
 		;
 
 	boost::program_options::options_description cmdline_options;
@@ -304,6 +306,15 @@ int main(int argc, LPCTSTR* argv)
 		scene.SaveViewNeighbors(MAKE_PATH_SAFE(OPT::strOutputViewNeighborsFileName));
 		return EXIT_SUCCESS;
 	}
+	if (!OPT::strExportDepthMapsName.empty() && !scene.mesh.IsEmpty()) {
+		// project mesh onto each image and save the resulted depth-maps
+		TD_TIMER_START();
+		if (!scene.ExportMeshToDepthMaps(MAKE_PATH_SAFE(OPT::strExportDepthMapsName)))
+			return EXIT_FAILURE;
+		VERBOSE("Mesh projection completed: %u depth-maps (%s)", scene.images.size(), TD_TIMER_GET_FMT().c_str());
+		Finalize();
+		return EXIT_SUCCESS;
+	}
 	if (OPT::fMaxSubsceneArea > 0) {
 		// split the scene in sub-scenes by maximum sampling area
 		Scene::ImagesChunkArr chunks;
diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index efd442f72..de68513db 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -105,7 +105,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 			), "verbosity level")
 		#endif
 		#ifdef _USE_CUDA
-		("cuda-device", boost::program_options::value(&CUDA::desiredDeviceID)->default_value(0), "CUDA device number to be used to reconstruct the mesh (-1 - CPU processing)")
+		("cuda-device", boost::program_options::value(&CUDA::desiredDeviceID)->default_value(-1), "CUDA device number to be used to reconstruct the mesh (-2 - CPU processing, -1 - best GPU, >=0 - device index)")
 		#endif
 		;
 
diff --git a/apps/RefineMesh/RefineMesh.cpp b/apps/RefineMesh/RefineMesh.cpp
index c77d91f3b..7b68db118 100644
--- a/apps/RefineMesh/RefineMesh.cpp
+++ b/apps/RefineMesh/RefineMesh.cpp
@@ -99,7 +99,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 			), "verbosity level")
 		#endif
 		#ifdef _USE_CUDA
-		("cuda-device", boost::program_options::value(&CUDA::desiredDeviceID)->default_value(-1), "CUDA device number to be used for mesh refinement (-1 - CPU processing)")
+		("cuda-device", boost::program_options::value(&CUDA::desiredDeviceID)->default_value(-2), "CUDA device number to be used for mesh refinement (-2 - CPU processing, -1 - best GPU, >=0 - device index)")
 		#endif
 		;
 
@@ -238,7 +238,7 @@ int main(int argc, LPCTSTR* argv)
 	}
 	TD_TIMER_START();
 	#ifdef _USE_CUDA
-	if (CUDA::desiredDeviceID < 0 ||
+	if (CUDA::desiredDeviceID < -1 ||
 		!scene.RefineMeshCUDA(OPT::nResolutionLevel, OPT::nMinResolution, OPT::nMaxViews,
 							  OPT::fDecimateMesh, OPT::nCloseHoles, OPT::nEnsureEdgeSize,
 							  OPT::nMaxFaceArea,
diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index 6284c1182..74a9fdb96 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -96,7 +96,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 			), "verbosity level")
 		#endif
 		#ifdef _USE_CUDA
-		("cuda-device", boost::program_options::value(&CUDA::desiredDeviceID)->default_value(0), "CUDA device number to be used to texture the mesh (-1 - CPU processing)")
+		("cuda-device", boost::program_options::value(&CUDA::desiredDeviceID)->default_value(-1), "CUDA device number to be used to texture the mesh (-2 - CPU processing, -1 - best GPU, >=0 - device index)")
 		#endif
 		;
 
diff --git a/libs/Common/UtilCUDA.cpp b/libs/Common/UtilCUDA.cpp
index 73766b711..f6b202519 100644
--- a/libs/Common/UtilCUDA.cpp
+++ b/libs/Common/UtilCUDA.cpp
@@ -163,6 +163,9 @@ CUresult _gpuGetMaxGflopsDeviceId(Device& bestDevice)
 // if the given device is -1, the best available device is selected
 CUresult initDevice(int deviceID)
 {
+	if (deviceID < -1)
+		return CUDA_ERROR_INVALID_DEVICE;
+
 	checkCudaError(cuInit(0));
 
 	Device device;
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 37e3bfc46..6db7b106d 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -3958,6 +3958,49 @@ void Mesh::Project(const Camera& camera, DepthMap& depthMap, Image8U3& image) co
 		rasterer.Project(facet);
 	}
 }
+// project mesh to the given camera plane, computing also the normal-map (in camera space)
+void Mesh::Project(const Camera& camera, DepthMap& depthMap, NormalMap& normalMap) const
+{
+	ASSERT(vertexNormals.size() == vertices.size());
+	struct RasterMesh : TRasterMesh<RasterMesh> {
+		typedef TRasterMesh<RasterMesh> Base;
+		const Mesh& mesh;
+		NormalMap& normalMap;
+		const Face::Type* idxVerts;
+		const Matrix3x3f R;
+		RasterMesh(const Mesh& _mesh, const Camera& _camera, DepthMap& _depthMap, NormalMap& _normalMap)
+			: Base(_mesh.vertices, _camera, _depthMap), mesh(_mesh), normalMap(_normalMap), R(camera.R) {}
+		inline void Clear() {
+			Base::Clear();
+			normalMap.memset(0);
+		}
+		inline void Project(const Face& facet) {
+			idxVerts = facet.ptr();
+			Base::Project(facet);
+		}
+		void Raster(const ImageRef& pt, const Point3f& bary) {
+			const Point3f pbary(PerspectiveCorrectBarycentricCoordinates(bary));
+			const Depth z(ComputeDepth(pbary));
+			ASSERT(z > Depth(0));
+			Depth& depth = depthMap(pt);
+			if (depth == Depth(0) || depth > z) {
+				depth = z;
+				normalMap(pt) = R * normalized(
+					mesh.vertexNormals[idxVerts[0]] * pbary[0]+
+					mesh.vertexNormals[idxVerts[1]] * pbary[1]+
+					mesh.vertexNormals[idxVerts[2]] * pbary[2]
+				);
+			}
+		}
+	};
+	if (normalMap.size() != depthMap.size())
+		normalMap.create(depthMap.size());
+	RasterMesh rasterer(*this, camera, depthMap, normalMap);
+	rasterer.Clear();
+	// render the entire mesh
+	for (const Face& facet: faces)
+		rasterer.Project(facet);
+}
 // project mesh to the given camera plane using orthographic projection
 void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap) const
 {
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 6616c38ae..f66d4a51a 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -204,6 +204,7 @@ class MVS_API Mesh
 
 	void Project(const Camera& camera, DepthMap& depthMap) const;
 	void Project(const Camera& camera, DepthMap& depthMap, Image8U3& image) const;
+	void Project(const Camera& camera, DepthMap& depthMap, NormalMap& normalMap) const;
 	void ProjectOrtho(const Camera& camera, DepthMap& depthMap) const;
 	void ProjectOrtho(const Camera& camera, DepthMap& depthMap, Image8U3& image) const;
 	void ProjectOrthoTopDown(unsigned resolution, Image8U3& image, Image8U& mask, Point3& center) const;
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 09290bbf6..982a09722 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -662,6 +662,65 @@ void Scene::SampleMeshWithVisibility(unsigned maxResolution)
 } // SampleMeshWithVisibility
 /*----------------------------------------------------------------*/
 
+bool Scene::ExportMeshToDepthMaps(const String& baseName)
+{
+	ASSERT(!images.empty() && !mesh.IsEmpty());
+	const String ext(Util::getFileExt(baseName).ToLower());
+	const int nType(ext == _T(".dmap") ? 2 : (ext == _T(".pfm") ? 1 : 0));
+	if (nType == 2)
+		mesh.ComputeNormalVertices();
+	DepthMap depthMap;
+	NormalMap normalMap;
+	#ifdef SCENE_USE_OPENMP
+	bool bAbort(false);
+	#pragma omp parallel for private(depthMap, normalMap) schedule(dynamic)
+	for (int _i=0; _i<(int)images.size(); ++_i) {
+		#pragma omp flush (bAbort)
+		if (bAbort)
+			continue;
+		const IIndex idxImage((IIndex)_i);
+	#else
+	FOREACH(idxImage, images) {
+	#endif
+		Image& image = images[idxImage];
+		if (!image.IsValid())
+			continue;
+		const unsigned imageSize(image.RecomputeMaxResolution(OPTDENSE::nResolutionLevel, OPTDENSE::nMinResolution, OPTDENSE::nMaxResolution));
+		image.ResizeImage(imageSize);
+		image.UpdateCamera(platforms);
+		depthMap.create(image.GetSize());
+		if (nType == 2)
+			mesh.Project(image.camera, depthMap, normalMap);
+		else
+			mesh.Project(image.camera, depthMap);
+		const String fileName(Util::insertBeforeFileExt(baseName, String::FormatString("%04u", image.ID)));
+		if ((nType == 2 && ![&]() {
+				IIndexArr IDs(0, image.neighbors.size()+1);
+				IDs.push_back(idxImage);
+				for (const ViewScore& neighbor: image.neighbors)
+					IDs.push_back(neighbor.idx.ID);
+				return ExportDepthDataRaw(fileName, image.name, IDs, image.GetSize(), image.camera.K, image.camera.R, image.camera.C, 0.001f, FLT_MAX, depthMap, normalMap, ConfidenceMap());
+			} ()) ||
+			(nType == 1 && !depthMap.Save(fileName)) ||
+			(nType == 0 && !ExportDepthMap(fileName, depthMap)))
+		{
+			#ifdef SCENE_USE_OPENMP
+			bAbort = true;
+			#pragma omp flush (bAbort)
+			continue;
+			#else
+			return false;
+			#endif
+		}
+	}
+	#ifdef SCENE_USE_OPENMP
+	if (bAbort)
+		return false;
+	#endif
+	return true;
+} // ExportMeshToDepthMaps
+/*----------------------------------------------------------------*/
+
 
 inline float Footprint(const Camera& camera, const Point3f& X) {
 	#if 0
@@ -739,7 +798,7 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 			else
 				wScale = SQUARE(fScaleRatio);
 			Score& score = scores[view];
-			score.score += wAngle * wScale * wROI;
+			score.score += MAXF(wAngle,0.1f) * wScale * wROI;
 			score.avgScale += fScaleRatio;
 			score.avgAngle += fAngle;
 			++score.points;
@@ -786,7 +845,7 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 		neighbor.idx.scale = score.avgScale/score.points;
 		neighbor.idx.angle = score.avgAngle/score.points;
 		neighbor.idx.area = area;
-		neighbor.score = score.score*area;
+		neighbor.score = score.score*MAXF(area,0.01f);
 	}
 	neighbors.Sort();
 	#if TD_VERBOSE != TD_VERBOSE_OFF
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 3d92e74bc..ec20fd7c9 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -83,6 +83,7 @@ class MVS_API Scene
 	bool Save(const String& fileName, ARCHIVE_TYPE type=ARCHIVE_DEFAULT) const;
 
 	void SampleMeshWithVisibility(unsigned maxResolution=320);
+	bool ExportMeshToDepthMaps(const String& baseName);
 
 	bool SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews=3, unsigned nMinPointViews=2, float fOptimAngle=FD2R(12), unsigned nInsideROI=1);
 	static bool FilterNeighborViews(ViewScoreArr& neighbors, float fMinArea=0.1f, float fMinScale=0.2f, float fMaxScale=2.4f, float fMinAngle=FD2R(3), float fMaxAngle=FD2R(45), unsigned nMaxViews=12);
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index e38b81032..f749932d1 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -1735,7 +1735,7 @@ bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 
 	#ifdef _USE_CUDA
 	// initialize CUDA
-	if (CUDA::desiredDeviceID >= 0 && data.nFusionMode >= 0) {
+	if (CUDA::desiredDeviceID >= -1 && data.nFusionMode >= 0) {
 		data.depthMaps.pmCUDA = new PatchMatchCUDA(CUDA::desiredDeviceID);
 		if (CUDA::devices.IsEmpty())
 			data.depthMaps.pmCUDA.Release();

From d33b9fb5c71364e1c331b6d5904b8c90b8cbfd9d Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 7 Apr 2022 19:45:52 +0300
Subject: [PATCH 093/252] interface: export camera intrinsics and BBox

---
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp | 49 ++++++++++++++++++++++++
 apps/Viewer/Scene.cpp                    | 16 +++++++-
 libs/Common/AABB.h                       | 11 ++++++
 libs/Common/OBB.h                        |  4 +-
 libs/MVS/Interface.h                     |  5 ++-
 5 files changed, 80 insertions(+), 5 deletions(-)

diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index 9ea6a361d..f268ffc66 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -1109,6 +1109,54 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 }
 
 
+// export camera intrinsics in txt format
+bool ExportIntrinsicsTxt(const String& fileName, const Interface& scene)
+{
+	LOG_OUT() << "Writing intrinsics: " << fileName << std::endl;
+	size_t idxValidK(MVS::NO_ID);
+	FOREACH(ID, scene.images) {
+		const Interface::Image& image = scene.images[ID];
+		if (!image.IsValid())
+			continue;
+		if (idxValidK == MVS::NO_ID) {
+			idxValidK = ID;
+			continue;
+		}
+		if (scene.GetK(idxValidK) != scene.GetK(ID)) {
+			VERBOSE("error: multiple camera models");
+			return false;
+		}
+	}
+	if (idxValidK != MVS::NO_ID) {
+		const Interface::Image& image = scene.images[idxValidK];
+		String imagefileName(image.name);
+		Util::ensureValidPath(imagefileName);
+		imagefileName = MAKE_PATH_FULL(WORKING_FOLDER_FULL, imagefileName);
+		IMAGEPTR pImage = Image::ReadImageHeader(imagefileName);
+		if (!pImage) {
+			VERBOSE("error: unable to open image file '%s'", imagefileName.c_str());
+			return false;
+		}
+		const Interface::Mat33d& K = scene.platforms[image.platformID].GetFullK(image.cameraID, pImage->GetWidth(), pImage->GetHeight());
+		Eigen::Matrix4d K4(Eigen::Matrix4d::Identity());
+		K4.topLeftCorner<3,3>() = Eigen::Map<const EMat33d>(K.val);
+		Util::ensureFolder(fileName);
+		std::ofstream out(fileName);
+		if (!out.good()) {
+			VERBOSE("error: unable to open file '%s'", fileName.c_str());
+			return false;
+		}
+		out << std::setprecision(12);
+		out << K4(0,0) << _T(" ") << K4(0,1) << _T(" ") << K4(0,2) << _T(" ") << K4(0,3) << _T("\n");
+		out << K4(1,0) << _T(" ") << K4(1,1) << _T(" ") << K4(1,2) << _T(" ") << K4(1,3) << _T("\n");
+		out << K4(2,0) << _T(" ") << K4(2,1) << _T(" ") << K4(2,2) << _T(" ") << K4(2,3) << _T("\n");
+		out << K4(3,0) << _T(" ") << K4(3,1) << _T(" ") << K4(3,2) << _T(" ") << K4(3,3) << _T("\n");
+		return !out.fail();
+	}
+	return false;
+}
+
+
 // export image poses in log format
 // see: http://redwood-data.org/indoor/fileformat.html
 // to support: https://www.tanksandtemples.org/tutorial
@@ -1229,6 +1277,7 @@ int main(int argc, LPCTSTR* argv)
 			return EXIT_FAILURE;
 		if (Util::getFileExt(OPT::strOutputFileName) == _T(".log")) {
 			// write poses in log format
+			ExportIntrinsicsTxt(MAKE_PATH_FULL(WORKING_FOLDER_FULL, String("intrinsics.txt")), scene);
 			ExportImagesLog(MAKE_PATH_SAFE(OPT::strOutputFileName), scene);
 		} else
 		if (Util::getFileExt(OPT::strOutputFileName) == _T(".camera")) {
diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index 99b20e65e..75a054a2f 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -325,12 +325,26 @@ bool Scene::Export(LPCTSTR _fileName, LPCTSTR exportType, bool losslessTexture)
 	if (VERBOSITY_LEVEL > 2 && (bPoints || bMesh))
 		scene.ExportCamerasMLP(Util::getFileFullName(lastFileName)+_T(".mlp"), lastFileName);
 	#endif
+	AABB3f aabb(true);
 	if (scene.IsBounded()) {
 		std::ofstream fs(baseFileName+_T("_roi.txt"));
 		if (fs)
 			fs << scene.obb;
+		aabb = scene.obb.GetAABB();
+	} else {
+		if (!scene.pointcloud.IsEmpty()) {
+			aabb = scene.pointcloud.GetAABB();
+		} else
+		if (!scene.mesh.IsEmpty()) {
+			aabb = scene.mesh.GetAABB();
+		}
+	}
+	if (!aabb.IsEmpty()) {
+		std::ofstream fs(baseFileName+_T("_roi_box.txt"));
+		if (fs)
+			fs << aabb;
 	}
-	return (bPoints || bMesh);
+	return bPoints || bMesh;
 }
 
 void Scene::CompilePointCloud()
diff --git a/libs/Common/AABB.h b/libs/Common/AABB.h
index 61904896b..25cba2d3d 100644
--- a/libs/Common/AABB.h
+++ b/libs/Common/AABB.h
@@ -89,6 +89,17 @@ class TAABB
 	inline TYPE& operator [] (BYTE i) { ASSERT(i<numScalar); return ptMin.data()[i]; }
 	inline TYPE operator [] (BYTE i) const { ASSERT(i<numScalar); return ptMin.data()[i]; }
 
+	friend std::ostream& operator << (std::ostream& st, const TAABB& obb) {
+		st << obb.ptMin; st << std::endl;
+		st << obb.ptMax; st << std::endl;
+		return st;
+	}
+	friend std::istream& operator >> (std::istream& st, TAABB& obb) {
+		st >> obb.ptMin;
+		st >> obb.ptMax;
+		return st;
+	}
+
 	#ifdef _USE_BOOST
 	// implement BOOST serialization
 	template<class Archive>
diff --git a/libs/Common/OBB.h b/libs/Common/OBB.h
index e55eb9a91..564599dc0 100644
--- a/libs/Common/OBB.h
+++ b/libs/Common/OBB.h
@@ -89,13 +89,13 @@ class TOBB
 	inline TYPE& operator [] (BYTE i) { ASSERT(i<numScalar); return m_rot.data()[i]; }
 	inline TYPE operator [] (BYTE i) const { ASSERT(i<numScalar); return m_rot.data()[i]; }
 
-	friend std::ostream& operator << (std::ostream& st, const TOBB<TYPE,DIMS>& obb) {
+	friend std::ostream& operator << (std::ostream& st, const TOBB& obb) {
 		st << obb.m_rot; st << std::endl;
 		st << obb.m_pos; st << std::endl;
 		st << obb.m_ext; st << std::endl;
 		return st;
 	}
-	friend std::istream& operator >> (std::istream& st, TOBB<TYPE,DIMS>& obb) {
+	friend std::istream& operator >> (std::istream& st, TOBB& obb) {
 		st >> obb.m_rot;
 		st >> obb.m_pos;
 		st >> obb.m_ext;
diff --git a/libs/MVS/Interface.h b/libs/MVS/Interface.h
index 7b3d96a0c..fcbb20aed 100644
--- a/libs/MVS/Interface.h
+++ b/libs/MVS/Interface.h
@@ -450,10 +450,11 @@ struct Interface
 		}
 		static Mat33d ScaleK(const Mat33d& _K, double scale) {
 			Mat33d K(_K);
+			const bool bNormalized(K(0,2) < 3 && K(1,2) < 3);
 			K(0,0) *= scale;
 			K(1,1) *= scale;
-			K(0,2) = (K(0,2)+0.5)*scale-0.5;
-			K(1,2) = (K(1,2)+0.5)*scale-0.5;
+			K(0,2) = bNormalized ? K(0,2)*scale : (K(0,2)+0.5)*scale-0.5;
+			K(1,2) = bNormalized ? K(1,2)*scale : (K(1,2)+0.5)*scale-0.5;
 			K(0,1) *= scale;
 			return K;
 		}

From 209c2a5a056443e140916f5bde9ba5b7a5ed3eb4 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 8 Apr 2022 12:22:18 +0300
Subject: [PATCH 094/252] viewer: add center scene and set bbox

---
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp | 51 ++++++++--------
 apps/Viewer/Scene.cpp                    | 74 +++++++++++++++++++++---
 apps/Viewer/Scene.h                      |  4 ++
 apps/Viewer/Viewer.cpp                   |  3 +
 apps/Viewer/Window.cpp                   | 24 +++++++-
 apps/Viewer/Window.h                     |  6 ++
 libs/Common/OBB.h                        |  2 +
 libs/Common/OBB.inl                      | 13 +++++
 libs/MVS/Mesh.cpp                        | 13 +++++
 libs/MVS/Mesh.h                          |  1 +
 libs/MVS/Scene.cpp                       | 64 ++++++++++++++++++++
 libs/MVS/Scene.h                         |  4 ++
 12 files changed, 221 insertions(+), 38 deletions(-)

diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index f268ffc66..9ecd7e8c6 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -1127,33 +1127,32 @@ bool ExportIntrinsicsTxt(const String& fileName, const Interface& scene)
 			return false;
 		}
 	}
-	if (idxValidK != MVS::NO_ID) {
-		const Interface::Image& image = scene.images[idxValidK];
-		String imagefileName(image.name);
-		Util::ensureValidPath(imagefileName);
-		imagefileName = MAKE_PATH_FULL(WORKING_FOLDER_FULL, imagefileName);
-		IMAGEPTR pImage = Image::ReadImageHeader(imagefileName);
-		if (!pImage) {
-			VERBOSE("error: unable to open image file '%s'", imagefileName.c_str());
-			return false;
-		}
-		const Interface::Mat33d& K = scene.platforms[image.platformID].GetFullK(image.cameraID, pImage->GetWidth(), pImage->GetHeight());
-		Eigen::Matrix4d K4(Eigen::Matrix4d::Identity());
-		K4.topLeftCorner<3,3>() = Eigen::Map<const EMat33d>(K.val);
-		Util::ensureFolder(fileName);
-		std::ofstream out(fileName);
-		if (!out.good()) {
-			VERBOSE("error: unable to open file '%s'", fileName.c_str());
-			return false;
-		}
-		out << std::setprecision(12);
-		out << K4(0,0) << _T(" ") << K4(0,1) << _T(" ") << K4(0,2) << _T(" ") << K4(0,3) << _T("\n");
-		out << K4(1,0) << _T(" ") << K4(1,1) << _T(" ") << K4(1,2) << _T(" ") << K4(1,3) << _T("\n");
-		out << K4(2,0) << _T(" ") << K4(2,1) << _T(" ") << K4(2,2) << _T(" ") << K4(2,3) << _T("\n");
-		out << K4(3,0) << _T(" ") << K4(3,1) << _T(" ") << K4(3,2) << _T(" ") << K4(3,3) << _T("\n");
-		return !out.fail();
+	if (idxValidK == MVS::NO_ID)
+		return false;
+	const Interface::Image& image = scene.images[idxValidK];
+	String imagefileName(image.name);
+	Util::ensureValidPath(imagefileName);
+	imagefileName = MAKE_PATH_FULL(WORKING_FOLDER_FULL, imagefileName);
+	IMAGEPTR pImage = Image::ReadImageHeader(imagefileName);
+	if (!pImage) {
+		VERBOSE("error: unable to open image file '%s'", imagefileName.c_str());
+		return false;
 	}
-	return false;
+	const Interface::Mat33d& K = scene.platforms[image.platformID].GetFullK(image.cameraID, pImage->GetWidth(), pImage->GetHeight());
+	Eigen::Matrix4d K4(Eigen::Matrix4d::Identity());
+	K4.topLeftCorner<3,3>() = Eigen::Map<const EMat33d>(K.val);
+	Util::ensureFolder(fileName);
+	std::ofstream out(fileName);
+	if (!out.good()) {
+		VERBOSE("error: unable to open file '%s'", fileName.c_str());
+		return false;
+	}
+	out << std::setprecision(12);
+	out << K4(0,0) << _T(" ") << K4(0,1) << _T(" ") << K4(0,2) << _T(" ") << K4(0,3) << _T("\n");
+	out << K4(1,0) << _T(" ") << K4(1,1) << _T(" ") << K4(1,2) << _T(" ") << K4(1,3) << _T("\n");
+	out << K4(2,0) << _T(" ") << K4(2,1) << _T(" ") << K4(2,2) << _T(" ") << K4(2,3) << _T("\n");
+	out << K4(3,0) << _T(" ") << K4(3,1) << _T(" ") << K4(3,2) << _T(" ") << K4(3,3) << _T("\n");
+	return !out.fail();
 }
 
 
diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index 75a054a2f..dce75ba9d 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -147,6 +147,7 @@ void Scene::Empty()
 	images.Release();
 	scene.Release();
 	sceneName.clear();
+	meshName.clear();
 }
 void Scene::Release()
 {
@@ -224,6 +225,7 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 	DEBUG_EXTRA("Loading: '%s'", Util::getFileNameExt(fileName).c_str());
 	Empty();
 	sceneName = fileName;
+	meshName = meshFileName;
 
 	// load the scene
 	WORKING_FOLDER = Util::getFilePath(fileName);
@@ -298,9 +300,12 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 		images.size()<2?1.f:(float)imageBounds.EnlargePercent(REAL(1)/images.size()).GetSize().norm()));
 	window.camera.maxCamID = images.size();
 	window.SetName(String::FormatString((name + _T(": %s")).c_str(), Util::getFileName(fileName).c_str()));
+	window.clbkSaveScene = DELEGATEBINDCLASS(Window::ClbkSaveScene, &Scene::Save, this);
 	window.clbkExportScene = DELEGATEBINDCLASS(Window::ClbkExportScene, &Scene::Export, this);
+	window.clbkCenterScene = DELEGATEBINDCLASS(Window::ClbkCenterScene, &Scene::Center, this);
 	window.clbkCompilePointCloud = DELEGATEBINDCLASS(Window::ClbkCompilePointCloud, &Scene::CompilePointCloud, this);
 	window.clbkCompileMesh = DELEGATEBINDCLASS(Window::ClbkCompileMesh, &Scene::CompileMesh, this);
+	window.clbkTogleSceneBox = DELEGATEBINDCLASS(Window::ClbkTogleSceneBox, &Scene::TogleSceneBox, this);
 	if (scene.IsBounded())
 		window.clbkCompileBounds = DELEGATEBINDCLASS(Window::ClbkCompileBounds, &Scene::CompileBounds, this);
 	if (!bounds.IsEmpty())
@@ -310,6 +315,25 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 	return true;
 }
 
+// export the scene
+bool Scene::Save(LPCTSTR _fileName)
+{
+	if (!IsOpen())
+		return false;
+	const String fileName(_fileName != NULL ? String(_fileName) : Util::insertBeforeFileExt(sceneName, _T("_new")));
+	MVS::Mesh mesh;
+	if (!scene.mesh.IsEmpty() && !meshName.empty())
+		mesh.Swap(scene.mesh);
+	if (!scene.Save(fileName, scene.mesh.IsEmpty() ? ARCHIVE_MVS : ARCHIVE_DEFAULT)) {
+		DEBUG("error: can not save scene to '%s'", fileName.c_str());
+		return false;
+	}
+	if (!mesh.IsEmpty())
+		scene.mesh.Swap(mesh);
+	sceneName = fileName;
+	return true;
+}
+
 // export the scene
 bool Scene::Export(LPCTSTR _fileName, LPCTSTR exportType, bool losslessTexture) const
 {
@@ -331,13 +355,12 @@ bool Scene::Export(LPCTSTR _fileName, LPCTSTR exportType, bool losslessTexture)
 		if (fs)
 			fs << scene.obb;
 		aabb = scene.obb.GetAABB();
-	} else {
-		if (!scene.pointcloud.IsEmpty()) {
-			aabb = scene.pointcloud.GetAABB();
-		} else
-		if (!scene.mesh.IsEmpty()) {
-			aabb = scene.mesh.GetAABB();
-		}
+	} else
+	if (!scene.pointcloud.IsEmpty()) {
+		aabb = scene.pointcloud.GetAABB();
+	} else
+	if (!scene.mesh.IsEmpty()) {
+		aabb = scene.mesh.GetAABB();
 	}
 	if (!aabb.IsEmpty()) {
 		std::ofstream fs(baseFileName+_T("_roi_box.txt"));
@@ -408,9 +431,11 @@ void Scene::CompileMesh()
 
 void Scene::CompileBounds()
 {
-	if (!scene.IsBounded())
-		return;
 	obbPoints.Release();
+	if (!scene.IsBounded()) {
+		window.bRenderBounds = false;
+		return;
+	}
 	window.bRenderBounds = !window.bRenderBounds;
 	if (window.bRenderBounds) {
 		static const uint8_t indices[12*2] = {
@@ -612,6 +637,37 @@ void Scene::Loop()
 }
 
 
+void Scene::Center()
+{
+	if (!IsOpen())
+		return;
+	scene.Center();
+	CompilePointCloud();
+	CompileMesh();
+	if (scene.IsBounded()) {
+		window.bRenderBounds = false;
+		CompileBounds();
+	}
+	events.AddEvent(new EVTComputeOctree(this));
+}
+
+void Scene::TogleSceneBox()
+{
+	if (!IsOpen())
+		return;
+	const auto EnlargeAABB = [](AABB3f aabb) {
+		return aabb.Enlarge(aabb.GetSize().maxCoeff()*0.03f);
+	};
+	if (scene.IsBounded())
+		scene.obb = OBB3f(true);
+	else if (!scene.pointcloud.IsEmpty())
+		scene.obb.Set(EnlargeAABB(scene.pointcloud.GetAABB()));
+	else if (!scene.mesh.IsEmpty())
+		scene.obb.Set(EnlargeAABB(scene.mesh.GetAABB()));
+	CompileBounds();
+}
+
+
 void Scene::CastRay(const Ray3& ray, int action)
 {
 	if (!IsOctreeValid())
diff --git a/apps/Viewer/Scene.h b/apps/Viewer/Scene.h
index b5f1bee6f..c87378f7d 100644
--- a/apps/Viewer/Scene.h
+++ b/apps/Viewer/Scene.h
@@ -55,6 +55,7 @@ class Scene
 	String name;
 
 	String sceneName;
+	String meshName;
 	MVS::Scene scene;
 	Window window;
 	ImageArr images; // scene photos
@@ -85,6 +86,7 @@ class Scene
 
 	bool Init(const cv::Size&, LPCTSTR windowName, LPCTSTR fileName=NULL, LPCTSTR meshFileName=NULL);
 	bool Open(LPCTSTR fileName, LPCTSTR meshFileName=NULL);
+	bool Save(LPCTSTR fileName=NULL);
 	bool Export(LPCTSTR fileName, LPCTSTR exportType=NULL, bool losslessTexture=false) const;
 	void CompilePointCloud();
 	void CompileMesh();
@@ -93,6 +95,8 @@ class Scene
 	void Draw();
 	void Loop();
 
+	void Center();
+	void TogleSceneBox();
 	void CastRay(const Ray3&, int);
 protected:
 	static void* ThreadWorker(void*);
diff --git a/apps/Viewer/Viewer.cpp b/apps/Viewer/Viewer.cpp
index 1a66ffb84..a31202fe6 100644
--- a/apps/Viewer/Viewer.cpp
+++ b/apps/Viewer/Viewer.cpp
@@ -155,9 +155,12 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 			"\tE: export scene\n"
 			"\tR: reset scene\n"
 			"\tB: render bounds\n"
+			"\tB + Shift: togle bounds\n"
 			"\tC: render cameras\n"
 			"\tC + Shift: render camera trajectory\n"
+			"\tC + Ctrl: center scene\n"
 			"\tLeft/Right: select next camera to view the scene\n"
+			"\tS: save scene\n"
 			"\tT: render mesh texture\n"
 			"\tW: render wire-frame mesh\n"
 			"\tV: render view rays to the selected point\n"
diff --git a/apps/Viewer/Window.cpp b/apps/Viewer/Window.cpp
index e03d6d289..2205aa869 100644
--- a/apps/Viewer/Window.cpp
+++ b/apps/Viewer/Window.cpp
@@ -69,11 +69,14 @@ void Window::Release()
 
 void Window::ReleaseClbk()
 {
+	clbkSaveScene.reset();
 	clbkExportScene.reset();
+	clbkCenterScene.reset();
 	clbkRayScene.reset();
 	clbkCompilePointCloud.reset();
 	clbkCompileMesh.reset();
 	clbkCompileBounds.reset();
+	clbkTogleSceneBox.reset();
 }
 
 bool Window::Init(const cv::Size& _size, LPCTSTR name)
@@ -264,14 +267,23 @@ void Window::Key(int k, int /*scancode*/, int action, int mod)
 		}
 		break;
 	case GLFW_KEY_B:
-		if (action == GLFW_RELEASE)
-			if (clbkCompileBounds != NULL)
-				clbkCompileBounds();
+		if (action == GLFW_RELEASE) {
+			if (mod & GLFW_MOD_SHIFT) {
+				if (clbkTogleSceneBox != NULL)
+					clbkTogleSceneBox();
+			} else {
+				if (clbkCompileBounds != NULL)
+					clbkCompileBounds();
+			}
+		}
 		break;
 	case GLFW_KEY_C:
 		if (action == GLFW_RELEASE) {
 			if (mod & GLFW_MOD_SHIFT) {
 				bRenderCameraTrajectory = !bRenderCameraTrajectory;
+			} else if (mod & GLFW_MOD_CONTROL) {
+				if (clbkCenterScene != NULL)
+					clbkCenterScene();
 			} else {
 				bRenderCameras = !bRenderCameras;
 			}
@@ -294,6 +306,12 @@ void Window::Key(int k, int /*scancode*/, int action, int mod)
 		if (action == GLFW_RELEASE)
 			Reset();
 		break;
+	case GLFW_KEY_S:
+		if (action == GLFW_RELEASE) {
+			if (clbkSaveScene != NULL)
+				clbkSaveScene(NULL);
+		}
+		break;
 	case GLFW_KEY_T:
 		if (action == GLFW_RELEASE) {
 			bRenderTexture = !bRenderTexture;
diff --git a/apps/Viewer/Window.h b/apps/Viewer/Window.h
index 364ad7e27..2f2eeb74b 100644
--- a/apps/Viewer/Window.h
+++ b/apps/Viewer/Window.h
@@ -94,8 +94,12 @@ class Window
 
 	typedef DELEGATE<bool (LPCTSTR, LPCTSTR)> ClbkOpenScene;
 	ClbkOpenScene clbkOpenScene;
+	typedef DELEGATE<bool (LPCTSTR)> ClbkSaveScene;
+	ClbkSaveScene clbkSaveScene;
 	typedef DELEGATE<bool (LPCTSTR, LPCTSTR, bool)> ClbkExportScene;
 	ClbkExportScene clbkExportScene;
+	typedef DELEGATE<void (void)> ClbkCenterScene;
+	ClbkCenterScene clbkCenterScene;
 	typedef DELEGATE<void (const Ray3&, int)> ClbkRayScene;
 	ClbkRayScene clbkRayScene;
 	typedef DELEGATE<void (void)> ClbkCompilePointCloud;
@@ -104,6 +108,8 @@ class Window
 	ClbkCompileMesh clbkCompileMesh;
 	typedef DELEGATE<void (void)> ClbkCompileBounds;
 	ClbkCompileBounds clbkCompileBounds;
+	typedef DELEGATE<void (void)> ClbkTogleSceneBox;
+	ClbkTogleSceneBox clbkTogleSceneBox;
 
 	typedef std::unordered_map<GLFWwindow*,Window*> WindowsMap;
 	static WindowsMap g_mapWindows;
diff --git a/libs/Common/OBB.h b/libs/Common/OBB.h
index 564599dc0..6d623afd8 100644
--- a/libs/Common/OBB.h
+++ b/libs/Common/OBB.h
@@ -50,10 +50,12 @@ class TOBB
 
 	inline TOBB() {}
 	inline TOBB(bool);
+	inline TOBB(const AABB&);
 	inline TOBB(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax);
 	inline TOBB(const POINT* pts, size_t n);
 	inline TOBB(const POINT* pts, size_t n, const TRIANGLE* tris, size_t s);
 
+	inline void Set(const AABB&); // build from AABB
 	inline void Set(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax); // build from rotation matrix from world to local, and local min/max corners
 	inline void Set(const POINT* pts, size_t n); // build from points
 	inline void Set(const POINT* pts, size_t n, const TRIANGLE* tris, size_t s); // build from triangles
diff --git a/libs/Common/OBB.inl b/libs/Common/OBB.inl
index 7596b171d..9f1278b3c 100644
--- a/libs/Common/OBB.inl
+++ b/libs/Common/OBB.inl
@@ -20,6 +20,11 @@ inline TOBB<TYPE,DIMS>::TOBB(bool)
 {
 }
 template <typename TYPE, int DIMS>
+inline TOBB<TYPE,DIMS>::TOBB(const AABB& aabb)
+{
+	Set(aabb);
+}
+template <typename TYPE, int DIMS>
 inline TOBB<TYPE,DIMS>::TOBB(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax)
 {
 	Set(rot, ptMin, ptMax);
@@ -37,6 +42,14 @@ inline TOBB<TYPE,DIMS>::TOBB(const POINT* pts, size_t n, const TRIANGLE* tris, s
 /*----------------------------------------------------------------*/
 
 
+template <typename TYPE, int DIMS>
+inline void TOBB<TYPE,DIMS>::Set(const AABB& aabb)
+{
+	m_rot.setIdentity();
+	m_pos = aabb.GetCenter();
+	m_ext = aabb.GetSize()/TYPE(2);
+}
+
 // build from rotation matrix from world to local, and local min/max corners
 template <typename TYPE, int DIMS>
 inline void TOBB<TYPE,DIMS>::Set(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax)
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 6db7b106d..3d6389a78 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -115,6 +115,19 @@ void Mesh::EmptyExtra()
 	faceTexcoords.Empty();
 	textureDiffuse.release();
 } // EmptyExtra
+void Mesh::Swap(Mesh& rhs)
+{
+	vertices.Swap(rhs.vertices);
+	faces.Swap(rhs.faces);
+	vertexNormals.Swap(rhs.vertexNormals);
+	vertexVertices.Swap(rhs.vertexVertices);
+	vertexFaces.Swap(rhs.vertexFaces);
+	vertexBoundary.Swap(rhs.vertexBoundary);
+	faceNormals.Swap(rhs.faceNormals);
+	faceFaces.Swap(rhs.faceFaces);
+	faceTexcoords.Swap(rhs.faceTexcoords);
+	std::swap(textureDiffuse, rhs.textureDiffuse);
+} // Swap
 /*----------------------------------------------------------------*/
 
 
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index f66d4a51a..5e8bd0e2a 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -145,6 +145,7 @@ class MVS_API Mesh
 	void Release();
 	void ReleaseExtra();
 	void EmptyExtra();
+	void Swap(Mesh&);
 	inline bool IsEmpty() const { return vertices.IsEmpty(); }
 	inline bool HasTexture() const { ASSERT(faceTexcoords.IsEmpty() == textureDiffuse.empty()); return !faceTexcoords.IsEmpty(); }
 
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 982a09722..662c6d8ae 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -1268,3 +1268,67 @@ bool Scene::ExportChunks(const ImagesChunkArr& chunks, const String& path, ARCHI
 	return true;
 } // ExportChunks
 /*----------------------------------------------------------------*/
+
+
+// move scene such that the center is the given point;
+// if center is not given, center it to the center of the bounding-box
+bool Scene::Center(const Point3* pCenter)
+{
+	Point3 center;
+	if (pCenter)
+		center = *pCenter;
+	else if (IsBounded())
+		center = -Point3f(obb.GetCenter());
+	else if (!pointcloud.IsEmpty())
+		center = -Point3f(pointcloud.GetAABB().GetCenter());
+	else if (!mesh.IsEmpty())
+		center = -Point3f(mesh.GetAABB().GetCenter());
+	else
+		return false;
+	const Point3f centerf(Cast<float>(center));
+	if (IsBounded())
+		obb.Translate(centerf);
+	for (Platform& platform: platforms)
+		for (Platform::Pose& pose: platform.poses)
+			pose.C += center;
+	for (Image& image: images)
+		if (image.IsValid())
+			image.UpdateCamera(platforms);
+	for (PointCloud::Point& X: pointcloud.points)
+		X += centerf;
+	for (Mesh::Vertex& X: mesh.vertices)
+		X += centerf;
+	return true;
+} // Center
+
+// scale scene with the given scale;
+// if the scale is not given, scale it such that the bounding-box has largest size 1
+bool Scene::Scale(const REAL* pScale)
+{
+	REAL scale;
+	if (pScale)
+		scale = *pScale;
+	else if (IsBounded())
+		scale = REAL(1)/obb.GetSize().maxCoeff();
+	else if (!pointcloud.IsEmpty())
+		scale = REAL(1)/pointcloud.GetAABB().GetSize().maxCoeff();
+	else if (!mesh.IsEmpty())
+		scale = REAL(1)/mesh.GetAABB().GetSize().maxCoeff();
+	else
+		return false;
+	const float scalef(scale);
+	if (IsBounded())
+		obb.Transform(OBB3f::MATRIX::Identity() * scalef);
+	for (Platform& platform: platforms)
+		for (Platform::Pose& pose: platform.poses)
+			pose.C *= scale;
+	for (Image& image: images)
+		if (image.IsValid())
+			image.UpdateCamera(platforms);
+	for (PointCloud::Point& X: pointcloud.points)
+		X *= scalef;
+	for (Mesh::Vertex& X: mesh.vertices)
+		X *= scalef;
+	return true;
+} // Scale
+/*----------------------------------------------------------------*/
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index ec20fd7c9..a7b12aa82 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -99,6 +99,10 @@ class MVS_API Scene
 	unsigned Split(ImagesChunkArr& chunks, float maxArea, int depthMapStep=8) const;
 	bool ExportChunks(const ImagesChunkArr& chunks, const String& path, ARCHIVE_TYPE type=ARCHIVE_DEFAULT) const;
 
+	// Transform scene
+	bool Center(const Point3* pCenter = NULL);
+	bool Scale(const REAL* pScale = NULL);
+
 	// Dense reconstruction
 	bool DenseReconstruction(int nFusionMode=0);
 	bool ComputeDepthMaps(DenseDepthMapData& data);

From 804492b2f6b512c80b1d21f186e4c2d56dca9104 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 8 Apr 2022 16:57:28 +0300
Subject: [PATCH 095/252] interface: add images scale&save functionality

---
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp | 19 +++++++++++++++
 apps/Viewer/Scene.cpp                    | 22 +++++++++++++++--
 apps/Viewer/Scene.h                      |  2 +-
 apps/Viewer/Viewer.cpp                   |  1 +
 apps/Viewer/Window.cpp                   |  2 +-
 apps/Viewer/Window.h                     |  2 +-
 libs/MVS/Scene.cpp                       | 30 ++++++++++++++++++++++++
 libs/MVS/Scene.h                         |  1 +
 8 files changed, 74 insertions(+), 5 deletions(-)

diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index 9ecd7e8c6..65f73e06a 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -71,6 +71,7 @@ bool bNormalizeIntrinsics;
 String strInputFileName;
 String strOutputFileName;
 String strImageFolder;
+unsigned nMaxResolution;
 unsigned nArchiveType;
 int nProcessPriority;
 unsigned nMaxThreads;
@@ -111,6 +112,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input COLMAP folder containing cameras, images and points files OR input MVS project file")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the MVS project")
 		("image-folder", boost::program_options::value<std::string>(&OPT::strImageFolder)->default_value(COLMAP_IMAGES_FOLDER), "folder to the undistorted images")
+		("max-resolution", boost::program_options::value(&OPT::nMaxResolution)->default_value(0), "make sure image resolution are not not larger than this (0 - disabled)")
 		("normalize,f", boost::program_options::value(&OPT::bNormalizeIntrinsics)->default_value(false), "normalize intrinsics while exporting to MVS format")
 		;
 
@@ -1270,6 +1272,23 @@ int main(int argc, LPCTSTR* argv)
 	TD_TIMER_START();
 
 	if (OPT::bFromOpenMVS) {
+		if (OPT::nMaxResolution > 0) {
+			// scale and save scene images
+			MVS::Scene scene(OPT::nMaxThreads);
+			if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
+				return EXIT_FAILURE;
+			const String folderName(Util::getFilePath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName)) + String::FormatString("images%u" PATH_SEPARATOR_STR, OPT::nMaxResolution));
+			if (!scene.ScaleImages(OPT::nMaxResolution, 0, folderName)) {
+				DEBUG("error: can not scale scene images to '%s'", folderName.c_str());
+				return EXIT_FAILURE;
+			}
+			const String fileName(Util::insertBeforeFileExt(MAKE_PATH_SAFE(OPT::strInputFileName), _T("_new")));
+			if (!scene.Save(fileName, scene.mesh.IsEmpty() ? ARCHIVE_MVS : ARCHIVE_DEFAULT)) {
+				DEBUG("error: can not save scene to '%s'", fileName.c_str());
+				return EXIT_FAILURE;
+			}
+			return EXIT_SUCCESS;
+		}
 		// read MVS input data
 		Interface scene;
 		if (!ARCHIVE::SerializeLoad(scene, MAKE_PATH_SAFE(OPT::strInputFileName)))
diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index dce75ba9d..39b550af1 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -225,7 +225,8 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 	DEBUG_EXTRA("Loading: '%s'", Util::getFileNameExt(fileName).c_str());
 	Empty();
 	sceneName = fileName;
-	meshName = meshFileName;
+	if (meshFileName)
+		meshName = meshFileName;
 
 	// load the scene
 	WORKING_FOLDER = Util::getFilePath(fileName);
@@ -316,14 +317,31 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 }
 
 // export the scene
-bool Scene::Save(LPCTSTR _fileName)
+bool Scene::Save(LPCTSTR _fileName, bool bRescaleImages)
 {
 	if (!IsOpen())
 		return false;
+	REAL imageScale = 0;
+	if (bRescaleImages) {
+		window.SetVisible(false);
+		std::cout << "Enter image resolution scale: ";
+		String strScale;
+		std::cin >> strScale;
+		window.SetVisible(true);
+		imageScale = strScale.From<REAL>(0);
+	}
 	const String fileName(_fileName != NULL ? String(_fileName) : Util::insertBeforeFileExt(sceneName, _T("_new")));
 	MVS::Mesh mesh;
 	if (!scene.mesh.IsEmpty() && !meshName.empty())
 		mesh.Swap(scene.mesh);
+	if (imageScale > 0 && imageScale < 1) {
+		// scale and save images
+		const String folderName(Util::getFilePath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, fileName)) + String::FormatString("images%d" PATH_SEPARATOR_STR, ROUND2INT(imageScale*100)));
+		if (!scene.ScaleImages(0, imageScale, folderName)) {
+			DEBUG("error: can not scale scene images to '%s'", folderName.c_str());
+			return false;
+		}
+	}
 	if (!scene.Save(fileName, scene.mesh.IsEmpty() ? ARCHIVE_MVS : ARCHIVE_DEFAULT)) {
 		DEBUG("error: can not save scene to '%s'", fileName.c_str());
 		return false;
diff --git a/apps/Viewer/Scene.h b/apps/Viewer/Scene.h
index c87378f7d..5997e3011 100644
--- a/apps/Viewer/Scene.h
+++ b/apps/Viewer/Scene.h
@@ -86,7 +86,7 @@ class Scene
 
 	bool Init(const cv::Size&, LPCTSTR windowName, LPCTSTR fileName=NULL, LPCTSTR meshFileName=NULL);
 	bool Open(LPCTSTR fileName, LPCTSTR meshFileName=NULL);
-	bool Save(LPCTSTR fileName=NULL);
+	bool Save(LPCTSTR fileName=NULL, bool bRescaleImages=false);
 	bool Export(LPCTSTR fileName, LPCTSTR exportType=NULL, bool losslessTexture=false) const;
 	void CompilePointCloud();
 	void CompileMesh();
diff --git a/apps/Viewer/Viewer.cpp b/apps/Viewer/Viewer.cpp
index a31202fe6..fe918998a 100644
--- a/apps/Viewer/Viewer.cpp
+++ b/apps/Viewer/Viewer.cpp
@@ -161,6 +161,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 			"\tC + Ctrl: center scene\n"
 			"\tLeft/Right: select next camera to view the scene\n"
 			"\tS: save scene\n"
+			"\tS + Shift: rescale images and save scene\n"
 			"\tT: render mesh texture\n"
 			"\tW: render wire-frame mesh\n"
 			"\tV: render view rays to the selected point\n"
diff --git a/apps/Viewer/Window.cpp b/apps/Viewer/Window.cpp
index 2205aa869..66ce6c669 100644
--- a/apps/Viewer/Window.cpp
+++ b/apps/Viewer/Window.cpp
@@ -309,7 +309,7 @@ void Window::Key(int k, int /*scancode*/, int action, int mod)
 	case GLFW_KEY_S:
 		if (action == GLFW_RELEASE) {
 			if (clbkSaveScene != NULL)
-				clbkSaveScene(NULL);
+				clbkSaveScene(NULL, (mod & GLFW_MOD_SHIFT) != 0);
 		}
 		break;
 	case GLFW_KEY_T:
diff --git a/apps/Viewer/Window.h b/apps/Viewer/Window.h
index 2f2eeb74b..4670ed12b 100644
--- a/apps/Viewer/Window.h
+++ b/apps/Viewer/Window.h
@@ -94,7 +94,7 @@ class Window
 
 	typedef DELEGATE<bool (LPCTSTR, LPCTSTR)> ClbkOpenScene;
 	ClbkOpenScene clbkOpenScene;
-	typedef DELEGATE<bool (LPCTSTR)> ClbkSaveScene;
+	typedef DELEGATE<bool (LPCTSTR, bool)> ClbkSaveScene;
 	ClbkSaveScene clbkSaveScene;
 	typedef DELEGATE<bool (LPCTSTR, LPCTSTR, bool)> ClbkExportScene;
 	ClbkExportScene clbkExportScene;
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 662c6d8ae..6f642ea83 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -1331,4 +1331,34 @@ bool Scene::Scale(const REAL* pScale)
 		X *= scalef;
 	return true;
 } // Scale
+
+// scale image resolutions with the given scale or max-resolution;
+// if folderName is specified, the scaled images are stored there
+bool Scene::ScaleImages(unsigned nMaxResolution, REAL scale, const String& folderName)
+{
+	ASSERT(nMaxResolution > 0 || scale > 0);
+	Util::ensureFolder(folderName);
+	FOREACH(idx, images) {
+		Image& image = images[idx];
+		if (!image.IsValid())
+			continue;
+		unsigned nResolutionLevel(0);
+		unsigned nResolution(image.RecomputeMaxResolution(nResolutionLevel, 0));
+		if (scale > 0)
+			nResolution = ROUND2INT(nResolution*scale);
+		if (nMaxResolution > 0 && nResolution > nMaxResolution)
+			nResolution = nMaxResolution;
+		if (!image.ReloadImage(nResolution, !folderName.empty()))
+			return false;
+		image.UpdateCamera(platforms);
+		if (!folderName.empty()) {
+			if (image.ID == NO_ID)
+				image.ID = idx;
+			image.name = folderName + String::FormatString("%05u%s", image.ID, Util::getFileExt(image.name).c_str());
+			image.image.Save(image.name);
+			image.ReleaseImage();
+		}
+	}
+	return true;
+} // ScaleImages
 /*----------------------------------------------------------------*/
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index a7b12aa82..3d0541e64 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -102,6 +102,7 @@ class MVS_API Scene
 	// Transform scene
 	bool Center(const Point3* pCenter = NULL);
 	bool Scale(const REAL* pScale = NULL);
+	bool ScaleImages(unsigned nMaxResolution = 0, REAL scale = 0, const String& folderName = String());
 
 	// Dense reconstruction
 	bool DenseReconstruction(int nFusionMode=0);

From fc81c6f7240c6f359a9da27c595a7107f730e876 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 8 Apr 2022 17:33:16 +0300
Subject: [PATCH 096/252] viewer: compute bbox with the selected min-number of
 views

---
 apps/Viewer/Scene.cpp   | 4 ++--
 libs/MVS/PointCloud.cpp | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index 39b550af1..0ccbb02c6 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -635,7 +635,7 @@ void Scene::Draw()
 		glDepthMask(GL_FALSE);
 		glBegin(GL_LINES);
 		glColor3f(0.5f,0.1f,0.8f);
-		for (int i=0; i<obbPoints.size(); i+=2) {
+		for (IDX i=0; i<obbPoints.size(); i+=2) {
 			glVertex3fv(obbPoints[i+0].ptr());
 			glVertex3fv(obbPoints[i+1].ptr());
 		}
@@ -679,7 +679,7 @@ void Scene::TogleSceneBox()
 	if (scene.IsBounded())
 		scene.obb = OBB3f(true);
 	else if (!scene.pointcloud.IsEmpty())
-		scene.obb.Set(EnlargeAABB(scene.pointcloud.GetAABB()));
+		scene.obb.Set(EnlargeAABB(scene.pointcloud.GetAABB(window.minViews)));
 	else if (!scene.mesh.IsEmpty())
 		scene.obb.Set(EnlargeAABB(scene.mesh.GetAABB()));
 	CompileBounds();
diff --git a/libs/MVS/PointCloud.cpp b/libs/MVS/PointCloud.cpp
index 446ff22e7..870664c43 100644
--- a/libs/MVS/PointCloud.cpp
+++ b/libs/MVS/PointCloud.cpp
@@ -97,11 +97,11 @@ PointCloud::Box PointCloud::GetAABB(const Box& bound) const
 // with more than the given number of views
 PointCloud::Box PointCloud::GetAABB(unsigned minViews) const
 {
-	if (pointViews.IsEmpty())
+	if (pointViews.empty())
 		return GetAABB();
 	Box box(true);
 	FOREACH(idx, points)
-		if (pointViews[idx].GetSize() >= minViews)
+		if (pointViews[idx].size() >= minViews)
 			box.InsertFull(points[idx]);
 	return box;
 }

From 7bf5cd83bc77d4f17db13495ead8748d903fbe88 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 15 Apr 2022 15:31:20 +0300
Subject: [PATCH 097/252] interface: fix for saving relative paths

---
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index 65f73e06a..e4888ca9a 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -169,6 +169,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// initialize optional options
 	Util::ensureValidFolderPath(OPT::strImageFolder);
 	Util::ensureValidPath(OPT::strOutputFileName);
+	OPT::strImageFolder = MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strImageFolder);
 	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
 	OPT::bFromOpenMVS = (strInputFileNameExt == MVS_EXT);
 	if (OPT::bFromOpenMVS) {
@@ -178,8 +179,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		Util::ensureFolderSlash(OPT::strInputFileName);
 		if (OPT::strOutputFileName.empty())
 			OPT::strOutputFileName = OPT::strInputFileName + _T("scene") MVS_EXT;
-		else
-			OPT::strImageFolder = Util::getRelativePath(Util::getFilePath(OPT::strOutputFileName), OPT::strInputFileName+OPT::strImageFolder);
 	}
 
 	// initialize global options
@@ -963,7 +962,7 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 			img.q = Eigen::Quaterniond(Eigen::Map<const EMat33d>(pose.R.val));
 			img.t = -(img.q * Eigen::Map<const EVec3d>(&pose.C.x));
 			img.idCamera = image.platformID;
-			img.name = MAKE_PATH_REL(OPT::strImageFolder, image.name);
+			img.name = MAKE_PATH_REL(OPT::strImageFolder, MAKE_PATH_FULL(WORKING_FOLDER_FULL, image.name));
 			Camera& camera = cameras[ID];
 			camera.K = Ks[image.platformID];
 			camera.R = pose.R;

From 5aed5fa20f5f396f751229a3d68bff9bc180107c Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 16 Apr 2022 19:47:32 +0300
Subject: [PATCH 098/252] texture: support a given subset of images for
 texturing

---
 apps/TextureMesh/TextureMesh.cpp | 43 +++++++++++++++++++++++++++++++-
 libs/MVS/Scene.h                 |  2 +-
 libs/MVS/SceneTexture.cpp        | 31 ++++++++++++++---------
 3 files changed, 62 insertions(+), 14 deletions(-)

diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index 74a9fdb96..dcf397b10 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -49,6 +49,7 @@ namespace OPT {
 String strInputFileName;
 String strOutputFileName;
 String strMeshFileName;
+String strViewsFileName;
 float fDecimateMesh;
 unsigned nCloseHoles;
 unsigned nResolutionLevel;
@@ -124,6 +125,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	boost::program_options::options_description hidden("Hidden options");
 	hidden.add_options()
 		("mesh-file", boost::program_options::value<std::string>(&OPT::strMeshFileName), "mesh file name to texture (overwrite the existing mesh)")
+		("views-file", boost::program_options::value<std::string>(&OPT::strViewsFileName), "file name containing the list of views to be used for texturing (optional)")
 		;
 
 	boost::program_options::options_description cmdline_options;
@@ -186,6 +188,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	Util::ensureUnifySlash(OPT::strOutputFileName);
 	if (OPT::strOutputFileName.IsEmpty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_texture.mvs");
+	Util::ensureValidPath(OPT::strViewsFileName);
 
 	// initialize global options
 	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
@@ -218,6 +221,40 @@ void Finalize()
 
 } // unnamed namespace
 
+IIndexArr ParseViewsFile(const String& filename, const Scene& scene) {
+	IIndexArr views;
+	std::ifstream file(filename);
+	if (!file.good()) {
+		VERBOSE("error: unable to open views file '%s'", filename.c_str());
+		return views;
+	}
+	while (true) {
+		String imageName;
+		std::getline(file, imageName);
+		if (file.fail() || imageName.empty())
+			break;
+		LPTSTR endIdx;
+		const IDX idx(strtoul(imageName, &endIdx, 10));
+		const size_t szIndex(*endIdx == '\0' ? size_t(0) : imageName.size());
+		FOREACH(idxImage, scene.images) {
+			const Image& image = scene.images[idxImage];
+			if (szIndex == 0) {
+				// try to match by index
+				if (image.ID != idx)
+					continue;
+			} else {
+				// try to match by file name
+				const String name(Util::getFileNameExt(image.name));
+				if (name.size() < szIndex || _tcsnicmp(name, imageName, szIndex) != 0)
+					continue;
+			}
+			views.emplace_back(idxImage);
+			break;
+		}
+	}
+	return views;
+}
+
 int main(int argc, LPCTSTR* argv)
 {
 	#ifdef _DEBUGINFO
@@ -257,10 +294,14 @@ int main(int argc, LPCTSTR* argv)
 			scene.mesh.Save(baseFileName +_T("_decim")+OPT::strExportType);
 		#endif
 	}
+	// fetch list of views to be used for texturing
+	IIndexArr views;
+	if (!OPT::strViewsFileName.empty())
+		views = ParseViewsFile(MAKE_PATH_SAFE(OPT::strViewsFileName), scene);
 
 	// compute mesh texture
 	TD_TIMER_START();
-	if (!scene.TextureMesh(OPT::nResolutionLevel, OPT::nMinResolution, OPT::fOutlierThreshold, OPT::fRatioDataSmoothness, OPT::bGlobalSeamLeveling, OPT::bLocalSeamLeveling, OPT::nTextureSizeMultiple, OPT::nRectPackingHeuristic, Pixel8U(OPT::nColEmpty)))
+	if (!scene.TextureMesh(OPT::nResolutionLevel, OPT::nMinResolution, OPT::fOutlierThreshold, OPT::fRatioDataSmoothness, OPT::bGlobalSeamLeveling, OPT::bLocalSeamLeveling, OPT::nTextureSizeMultiple, OPT::nRectPackingHeuristic, Pixel8U(OPT::nColEmpty), views))
 		return EXIT_FAILURE;
 	VERBOSE("Mesh texturing completed: %u vertices, %u faces (%s)", scene.mesh.vertices.GetSize(), scene.mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
 
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 3d0541e64..4eb8b575e 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -124,7 +124,7 @@ class MVS_API Scene
 	#endif
 
 	// Mesh texturing
-	bool TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, float fOutlierThreshold=0.f, float fRatioDataSmoothness=0.3f, bool bGlobalSeamLeveling=true, bool bLocalSeamLeveling=true, unsigned nTextureSizeMultiple=0, unsigned nRectPackingHeuristic=3, Pixel8U colEmpty=Pixel8U(255,127,39));
+	bool TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, float fOutlierThreshold=0.f, float fRatioDataSmoothness=0.3f, bool bGlobalSeamLeveling=true, bool bLocalSeamLeveling=true, unsigned nTextureSizeMultiple=0, unsigned nRectPackingHeuristic=3, Pixel8U colEmpty=Pixel8U(255,127,39), const IIndexArr& views=IIndexArr());
 
 	#ifdef _USE_BOOST
 	// implement BOOST serialization
diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index db0a87a9b..a064846fa 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -370,13 +370,13 @@ struct MeshTexture {
 
 	void ListVertexFaces();
 
-	bool ListCameraFaces(FaceDataViewArr&, float fOutlierThreshold);
+	bool ListCameraFaces(FaceDataViewArr&, float fOutlierThreshold, const IIndexArr& views);
 
 	#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
 	bool FaceOutlierDetection(FaceDataArr& faceDatas, float fOutlierThreshold) const;
 	#endif
 
-	bool FaceViewSelection(float fOutlierThreshold, float fRatioDataSmoothness);
+	bool FaceViewSelection(float fOutlierThreshold, float fRatioDataSmoothness, const IIndexArr& views);
 
 	void CreateSeamVertices();
 	void GlobalSeamLeveling();
@@ -471,15 +471,20 @@ void MeshTexture::ListVertexFaces()
 }
 
 // extract array of faces viewed by each image
-bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThreshold)
+bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThreshold, const IIndexArr& _views)
 {
 	// create faces octree
 	Mesh::Octree octree;
 	Mesh::FacesInserter::CreateOctree(octree, scene.mesh);
 
 	// extract array of faces viewed by each image
-	facesDatas.Resize(faces.GetSize());
-	Util::Progress progress(_T("Initialized views"), images.GetSize());
+	IIndexArr views(_views);
+	if (views.empty()) {
+		views.resize(images.size());
+		std::iota(views.begin(), views.end(), IIndex(0));
+	}
+	facesDatas.Resize(faces.size());
+	Util::Progress progress(_T("Initialized views"), views.size());
 	typedef float real;
 	TImage<real> imageGradMag;
 	TImage<real>::EMat mGrad[2];
@@ -488,15 +493,15 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 	#ifdef TEXOPT_USE_OPENMP
 	bool bAbort(false);
 	#pragma omp parallel for private(imageGradMag, mGrad, faceMap, depthMap)
-	for (int_t idx=0; idx<(int_t)images.GetSize(); ++idx) {
+	for (int_t idx=0; idx<(int_t)views.size(); ++idx) {
 		#pragma omp flush (bAbort)
 		if (bAbort) {
 			++progress;
 			continue;
 		}
-		const uint32_t idxView((uint32_t)idx);
+		const IIndex idxView(views[(IIndex)idx]);
 	#else
-	FOREACH(idxView, images) {
+	for (IIndex idxView: views) {
 	#endif
 		Image& imageData = images[idxView];
 		if (!imageData.IsValid()) {
@@ -800,7 +805,7 @@ bool MeshTexture::FaceOutlierDetection(FaceDataArr& faceDatas, float thOutlier)
 }
 #endif
 
-bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmoothness)
+bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmoothness, const IIndexArr& views)
 {
 	// extract array of triangles incident to each vertex
 	ListVertexFaces();
@@ -809,7 +814,7 @@ bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmo
 	{
 		// list all views for each face
 		FaceDataViewArr facesDatas;
-		if (!ListCameraFaces(facesDatas, fOutlierThreshold))
+		if (!ListCameraFaces(facesDatas, fOutlierThreshold, views))
 			return false;
 
 		// create faces graph
@@ -1552,6 +1557,8 @@ void MeshTexture::PoissonBlending(const Image32F3& src, Image32F3& dst, const Im
 	for (int i = 0; i < n; ++i)
 		if (mask(i) != empty)
 			indices(i) = nnz++;
+	if (nnz <= 0)
+		return;
 
 	Colors coeffB(nnz);
 	CLISTDEF0(MatEntry) coeffA(0, nnz);
@@ -1909,14 +1916,14 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 }
 
 // texture mesh
-bool Scene::TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, float fOutlierThreshold, float fRatioDataSmoothness, bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty)
+bool Scene::TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, float fOutlierThreshold, float fRatioDataSmoothness, bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, const IIndexArr& views)
 {
 	MeshTexture texture(*this, nResolutionLevel, nMinResolution);
 
 	// assign the best view to each face
 	{
 		TD_TIMER_STARTD();
-		if (!texture.FaceViewSelection(fOutlierThreshold, fRatioDataSmoothness))
+		if (!texture.FaceViewSelection(fOutlierThreshold, fRatioDataSmoothness, views))
 			return false;
 		DEBUG_EXTRA("Assigning the best view to each face completed: %u faces (%s)", mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
 	}

From 0a607d121d01440ab17481986360fa7d358f6ab9 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sun, 17 Apr 2022 11:23:51 +0300
Subject: [PATCH 099/252] build: increase version to 2.0.1

---
 CMakeLists.txt | 2 +-
 README.md      | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4d1eb9dc7..4d921e826 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -31,7 +31,7 @@ PROJECT(OpenMVS)
 
 SET(OpenMVS_MAJOR_VERSION 2)
 SET(OpenMVS_MINOR_VERSION 0)
-SET(OpenMVS_PATCH_VERSION 0)
+SET(OpenMVS_PATCH_VERSION 1)
 SET(OpenMVS_VERSION ${OpenMVS_MAJOR_VERSION}.${OpenMVS_MINOR_VERSION}.${OpenMVS_PATCH_VERSION})
 
 # List configuration options
diff --git a/README.md b/README.md
index ac9a7cfad..01386cec7 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,7 @@
 # OpenMVS: open Multi-View Stereo reconstruction library
 
+[![Watch reconstruction](https://i.imgur.com/S4L0E6r.jpeg)](https://sketchfab.com/models/3aedcdd22c31447199c18dd9aec5d952/embed)
+
 ## Introduction
 
 [OpenMVS (Multi-View Stereo)](http://cdcseacave.github.io/openMVS) is a library for computer-vision scientists and especially targeted to the Multi-View Stereo reconstruction community. While there are mature and complete open-source projects targeting Structure-from-Motion pipelines (like [OpenMVG](https://github.com/openMVG/openMVG)) which recover camera poses and a sparse 3D point-cloud from an input set of images, there are none addressing the last part of the photogrammetry chain-flow. *OpenMVS* aims at filling that gap by providing a complete set of algorithms to recover the full surface of the scene to be reconstructed. The input is a set of camera poses plus the sparse point-cloud and the output is a textured mesh. The main topics covered by this project are:

From 3b2bb8402c9c38c77b8be27461f95284c60b5d21 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sun, 17 Apr 2022 11:46:34 +0300
Subject: [PATCH 100/252] v2.0.1 (#809)

---
 .appveyor.yml                                |   5 +-
 BUILD.md                                     |   2 +-
 CMakeLists.txt                               |   2 +-
 MvgMvsPipeline.py                            |  62 +++--
 README.md                                    |   2 +
 apps/DensifyPointCloud/DensifyPointCloud.cpp |  70 +++++-
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp     |  72 +++++-
 apps/InterfaceVisualSFM/Util.h               |   6 +-
 apps/ReconstructMesh/ReconstructMesh.cpp     |  19 +-
 apps/RefineMesh/RefineMesh.cpp               |  11 +-
 apps/TextureMesh/TextureMesh.cpp             |  50 +++-
 apps/Viewer/Scene.cpp                        | 101 +++++++-
 apps/Viewer/Scene.h                          |   4 +
 apps/Viewer/Viewer.cpp                       |   4 +
 apps/Viewer/Window.cpp                       |  24 +-
 apps/Viewer/Window.h                         |   6 +
 build/Utils.cmake                            |   2 +-
 libs/Common/AABB.h                           |  11 +
 libs/Common/Common.h                         |   2 +-
 libs/Common/FastDelegate.h                   |  10 +-
 libs/Common/FastDelegateBind.h               |   2 +-
 libs/Common/OBB.h                            |  15 ++
 libs/Common/OBB.inl                          |  13 +
 libs/Common/Rotation.h                       |   6 +-
 libs/Common/Rotation.inl                     |   2 +-
 libs/Common/SML.cpp                          |   2 +-
 libs/Common/Types.h                          |   2 +-
 libs/Common/Types.inl                        |  13 +
 libs/Common/Util.cpp                         |   4 +-
 libs/Common/UtilCUDA.cpp                     |   6 +-
 libs/Common/UtilCUDA.h                       |   2 +
 libs/IO/ImageTGA.cpp                         |   2 +-
 libs/IO/json.hpp                             |  10 +-
 libs/IO/tiny_gltf.h                          |  40 +--
 libs/MVS/DepthMap.cpp                        |  15 +-
 libs/MVS/DepthMap.h                          |   6 +-
 libs/MVS/Interface.h                         |   5 +-
 libs/MVS/Mesh.cpp                            | 157 ++++++++++--
 libs/MVS/Mesh.h                              |  15 +-
 libs/MVS/PatchMatchCUDA.cpp                  |   2 +-
 libs/MVS/PatchMatchCUDA.cu                   |  65 +++--
 libs/MVS/PointCloud.cpp                      |   4 +-
 libs/MVS/Scene.cpp                           | 251 +++++++++++++++++--
 libs/MVS/Scene.h                             |  13 +-
 libs/MVS/SceneDensify.cpp                    |  15 +-
 libs/MVS/SceneReconstruct.cpp                |   6 +-
 libs/MVS/SceneRefine.cpp                     |  14 +-
 libs/MVS/SceneRefineCUDA.cpp                 |  16 +-
 libs/MVS/SceneTexture.cpp                    | 163 ++++++------
 libs/MVS/SemiGlobalMatcher.cpp               |   2 +-
 libs/Math/LMFit/CHANGELOG                    |   4 +-
 libs/Math/LMFit/lmmin.cpp                    |   2 +-
 libs/Math/LMFit/lmmin.h                      |   2 +-
 libs/Math/TRWS/MRFEnergy.h                   |   2 +-
 54 files changed, 1024 insertions(+), 319 deletions(-)

diff --git a/.appveyor.yml b/.appveyor.yml
index 6b08db499..91a94b656 100644
--- a/.appveyor.yml
+++ b/.appveyor.yml
@@ -48,7 +48,7 @@ for:
     # remove outdated versions
     - vcpkg remove --outdated --recurse
     # install dependencies
-    - vcpkg install --recurse --triplet %VCPKG_ARCH% zlib boost-iostreams boost-program-options boost-system boost-serialization eigen3 cgal[core] opencv vcglib glew glfw3
+    - vcpkg install --recurse --triplet %VCPKG_ARCH% zlib boost-iostreams boost-program-options boost-system boost-serialization eigen3 cgal[core] opencv glew glfw3
     - cd "%APPVEYOR_BUILD_FOLDER%"
   # preserve contents of selected directories and files across project builds
   cache:
@@ -56,8 +56,9 @@ for:
   build_script:
     - if "%platform%"=="Win32" set CMAKE_ARCH=-A"x86"
     - if "%platform%"=="x64"   set CMAKE_ARCH=-A"x64"
+    - git clone https://github.com/cdcseacave/VCG.git
     - mkdir bin && cd bin
-    - cmake -G"Visual Studio 16 2019" %CMAKE_ARCH% -DCMAKE_BUILD_TYPE=%Configuration% -DCMAKE_TOOLCHAIN_FILE="C:\tools\vcpkg\scripts\buildsystems\vcpkg.cmake" ..
+    - cmake -G"Visual Studio 16 2019" %CMAKE_ARCH% -DCMAKE_BUILD_TYPE=%Configuration% -DCMAKE_TOOLCHAIN_FILE="C:\tools\vcpkg\scripts\buildsystems\vcpkg.cmake" -DVCG_ROOT="$APPVEYOR_BUILD_FOLDER/VCG" ..
     - cmake --build . --target ALL_BUILD --config %Configuration% -- /maxcpucount:4
 -
   #------------------
diff --git a/BUILD.md b/BUILD.md
index 4ddcd4b81..880d4b780 100644
--- a/BUILD.md
+++ b/BUILD.md
@@ -145,7 +145,7 @@ make && sudo make install
 Library usage
 -------------------
 
-In order to use *OpenMVS* as a third-party libray in your project, first compile it as described above or simply use `vcpgk`:
+In order to use *OpenMVS* as a third-party library in your project, first compile it as described above or simply use `vcpgk`:
 ```
 vcpkg install openmvs
 ```
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4d1eb9dc7..4d921e826 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -31,7 +31,7 @@ PROJECT(OpenMVS)
 
 SET(OpenMVS_MAJOR_VERSION 2)
 SET(OpenMVS_MINOR_VERSION 0)
-SET(OpenMVS_PATCH_VERSION 0)
+SET(OpenMVS_PATCH_VERSION 1)
 SET(OpenMVS_VERSION ${OpenMVS_MAJOR_VERSION}.${OpenMVS_MINOR_VERSION}.${OpenMVS_PATCH_VERSION})
 
 # List configuration options
diff --git a/MvgMvsPipeline.py b/MvgMvsPipeline.py
index 48643beb7..53a4a5cc4 100644
--- a/MvgMvsPipeline.py
+++ b/MvgMvsPipeline.py
@@ -36,8 +36,8 @@
     17. Fuse disparity-maps            DensifyPointCloud
 
 positional arguments:
-  input_dir                 the directory wich contains the pictures set.
-  output_dir                the directory wich will contain the resulting files.
+  input_dir                 the directory which contains the pictures set.
+  output_dir                the directory which will contain the resulting files.
 
 optional arguments:
   -h, --help                show this help message and exit
@@ -54,6 +54,14 @@
 Passthrough:
   Option to be passed to command lines (remove - in front of option names)
   e.g. --1 p ULTRA to use the ULTRA preset in openMVG_main_ComputeFeatures
+  For example, running the script
+  [MvgMvsPipeline.py input_dir output_dir --steps 0 1 2 3 4 5 11 12 13 15 --1 p HIGH n 8 --3 n HNSWL2]
+  [--steps 0 1 2 3 4 5 11 12 13 15] runs only the desired steps
+  [--1 p HIGH n 8] where --1 refer to openMVG_main_ComputeFeatures,
+  p refers to describerPreset option and set to HIGH, and n refers
+  to numThreads and set to 8. The second step (Compute matches),
+  [--3 n HNSWL2] where --3 refer to openMVG_main_ComputeMatches,
+  n refers to nearest_matching_method option and set to HNSWL2
 """
 
 import os
@@ -65,8 +73,10 @@
 
 if sys.platform.startswith('win'):
     PATH_DELIM = ';'
+    FOLDER_DELIM = '\\'
 else:
     PATH_DELIM = ':'
+    FOLDER_DELIM = '/'
 
 # add this script's directory to PATH
 os.environ['PATH'] += PATH_DELIM + os.path.dirname(os.path.abspath(__file__))
@@ -188,37 +198,37 @@ def __init__(self):
              ["-i", "%input_dir%", "-o", "%matches_dir%", "-d", "%camera_file_params%"]],
             ["Compute features",             # 1
              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeFeatures"),
-             ["-i", "%matches_dir%/sfm_data.json", "-o", "%matches_dir%", "-m", "SIFT"]],
+             ["-i", "%matches_dir%"+FOLDER_DELIM+"sfm_data.json", "-o", "%matches_dir%", "-m", "SIFT"]],
             ["Compute pairs",                # 2
              os.path.join(OPENMVG_BIN, "openMVG_main_PairGenerator"),
-             ["-i", "%matches_dir%/sfm_data.json", "-o", "%matches_dir%/pairs.bin"]],
+             ["-i", "%matches_dir%"+FOLDER_DELIM+"sfm_data.json", "-o", "%matches_dir%"+FOLDER_DELIM+"pairs.bin"]],
             ["Compute matches",              # 3
              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeMatches"),
-             ["-i", "%matches_dir%/sfm_data.json", "-p", "%matches_dir%/pairs.bin", "-o", "%matches_dir%/matches.putative.bin", "-n", "AUTO"]],
+             ["-i", "%matches_dir%"+FOLDER_DELIM+"sfm_data.json", "-p", "%matches_dir%"+FOLDER_DELIM+"pairs.bin", "-o", "%matches_dir%"+FOLDER_DELIM+"matches.putative.bin", "-n", "AUTO"]],
             ["Filter matches",               # 4
              os.path.join(OPENMVG_BIN, "openMVG_main_GeometricFilter"),
-             ["-i", "%matches_dir%/sfm_data.json", "-m", "%matches_dir%/matches.putative.bin", "-o", "%matches_dir%/matches.f.bin"]],
+             ["-i", "%matches_dir%"+FOLDER_DELIM+"sfm_data.json", "-m", "%matches_dir%"+FOLDER_DELIM+"matches.putative.bin", "-o", "%matches_dir%"+FOLDER_DELIM+"matches.f.bin"]],
             ["Incremental reconstruction",   # 5
              os.path.join(OPENMVG_BIN, "openMVG_main_SfM"),
-             ["-i", "%matches_dir%/sfm_data.json", "-m", "%matches_dir%", "-o", "%reconstruction_dir%", "-s", "INCREMENTAL"]],
+             ["-i", "%matches_dir%"+FOLDER_DELIM+"sfm_data.json", "-m", "%matches_dir%", "-o", "%reconstruction_dir%", "-s", "INCREMENTAL"]],
             ["Global reconstruction",        # 6
              os.path.join(OPENMVG_BIN, "openMVG_main_SfM"),
-             ["-i", "%matches_dir%/sfm_data.json", "-m", "%matches_dir%", "-o", "%reconstruction_dir%", "-s", "GLOBAL", "-M", "%matches_dir%/matches.e.bin"]],
+             ["-i", "%matches_dir%"+FOLDER_DELIM+"sfm_data.json", "-m", "%matches_dir%", "-o", "%reconstruction_dir%", "-s", "GLOBAL", "-M", "%matches_dir%"+FOLDER_DELIM+"matches.e.bin"]],
             ["Colorize Structure",           # 7
              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeSfM_DataColor"),
-             ["-i", "%reconstruction_dir%/sfm_data.bin", "-o", "%reconstruction_dir%/colorized.ply"]],
+             ["-i", "%reconstruction_dir%"+FOLDER_DELIM+"sfm_data.bin", "-o", "%reconstruction_dir%"+FOLDER_DELIM+"colorized.ply"]],
             ["Structure from Known Poses",   # 8
              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeStructureFromKnownPoses"),
-             ["-i", "%reconstruction_dir%/sfm_data.bin", "-m", "%matches_dir%", "-f", "%matches_dir%/matches.f.bin", "-o", "%reconstruction_dir%/robust.bin"]],
+             ["-i", "%reconstruction_dir%"+FOLDER_DELIM+"sfm_data.bin", "-m", "%matches_dir%", "-f", "%matches_dir%"+FOLDER_DELIM+"matches.f.bin", "-o", "%reconstruction_dir%"+FOLDER_DELIM+"robust.bin"]],
             ["Colorized robust triangulation",  # 9
              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeSfM_DataColor"),
-             ["-i", "%reconstruction_dir%/robust.bin", "-o", "%reconstruction_dir%/robust_colorized.ply"]],
+             ["-i", "%reconstruction_dir%"+FOLDER_DELIM+"robust.bin", "-o", "%reconstruction_dir%"+FOLDER_DELIM+"robust_colorized.ply"]],
             ["Control Points Registration",  # 10
              os.path.join(OPENMVG_BIN, "ui_openMVG_control_points_registration"),
-             ["-i", "%reconstruction_dir%/sfm_data.bin"]],
+             ["-i", "%reconstruction_dir%"+FOLDER_DELIM+"sfm_data.bin"]],
             ["Export to openMVS",            # 11
              os.path.join(OPENMVG_BIN, "openMVG_main_openMVG2openMVS"),
-             ["-i", "%reconstruction_dir%/sfm_data.bin", "-o", "\"%mvs_dir%/scene.mvs\"", "-d", "\"%mvs_dir%/images\""]],
+             ["-i", "%reconstruction_dir%"+FOLDER_DELIM+"sfm_data.bin", "-o", "%mvs_dir%"+FOLDER_DELIM+"scene.mvs", "-d", "%mvs_dir%"+FOLDER_DELIM+"images"]],
             ["Densify point cloud",          # 12
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
              ["scene.mvs", "--dense-config-file", "Densify.ini", "--resolution-level", "1", "--number-views", "8", "-w", "\"%mvs_dir%\""]],
@@ -259,6 +269,15 @@ def apply_conf(self, conf):
                 o2.append(co)
             s[2] = o2
 
+    def replace_opt(self, idx, str_exist, str_new):
+        """ replace each existing str_exist with str_new per opt value in step idx data """
+        s = self.steps_data[idx]
+        o2 = []
+        for o in s[2]:
+            co = o.replace(str_exist, str_new)
+            o2.append(co)
+        s[2] = o2
+
 
 CONF = ConfContainer()
 STEPS = StepsStore()
@@ -270,9 +289,9 @@ def apply_conf(self, conf):
     "\r\n".join(("\t%i. %s\t %s" % (t, STEPS[t].info, STEPS[t].cmd) for t in range(STEPS.length())))
     )
 PARSER.add_argument('input_dir',
-                    help="the directory wich contains the pictures set.")
+                    help="the directory which contains the pictures set.")
 PARSER.add_argument('output_dir',
-                    help="the directory wich will contain the resulting files.")
+                    help="the directory which will contain the resulting files.")
 PARSER.add_argument('--steps',
                     type=int,
                     nargs="+",
@@ -282,7 +301,7 @@ def apply_conf(self, conf):
                     " \r\n".join([k + " = " + str(PRESET[k]) for k in PRESET]) +
                     " \r\ndefault : " + PRESET_DEFAULT)
 
-GROUP = PARSER.add_argument_group('Passthrough', description="Option to be passed to command lines (remove - in front of option names)\r\ne.g. --1 p ULTRA to use the ULTRA preset in openMVG_main_ComputeFeatures")
+GROUP = PARSER.add_argument_group('Passthrough', description="Option to be passed to command lines (remove - in front of option names)\r\ne.g. --1 p ULTRA to use the ULTRA preset in openMVG_main_ComputeFeatures\r\nFor example, running the script as follows,\r\nMvgMvsPipeline.py input_dir output_dir --1 p HIGH n 8 --3 n ANNL2\r\nwhere --1 refer to openMVG_main_ComputeFeatures, p refers to\r\ndescriberPreset option which HIGH was chosen, and n refers to\r\nnumThreads which 8 was used. --3 refer to second step (openMVG_main_ComputeMatches),\r\nn refers to nearest_matching_method option which ANNL2 was chosen")
 for n in range(STEPS.length()):
     GROUP.add_argument('--'+str(n), nargs='+')
 
@@ -297,7 +316,7 @@ def mkdir_ine(dirname):
         os.mkdir(dirname)
 
 
-# Absolute path for input and ouput dirs
+# Absolute path for input and output dirs
 CONF.input_dir = os.path.abspath(CONF.input_dir)
 CONF.output_dir = os.path.abspath(CONF.output_dir)
 
@@ -324,7 +343,7 @@ def mkdir_ine(dirname):
     try:
         CONF.steps = PRESET[CONF.preset]
     except KeyError:
-        sys.exit("Unkown preset %s, choose %s" % (CONF.preset, ' or '.join([s for s in PRESET])))
+        sys.exit("Unknown preset %s, choose %s" % (CONF.preset, ' or '.join([s for s in PRESET])))
 elif not CONF.steps:
     CONF.steps = PRESET[PRESET_DEFAULT]
 
@@ -336,9 +355,14 @@ def mkdir_ine(dirname):
 if 4 in CONF.steps:    # GeometricFilter
     if 6 in CONF.steps:  # GlobalReconstruction
         # Set the geometric_model of ComputeMatches to Essential
-        STEPS[4].opt = STEPS[4].opt.replace("/matches.f.bin", "/matches.e.bin")
+        STEPS.replace_opt(4, FOLDER_DELIM+"matches.f.bin", FOLDER_DELIM+"matches.e.bin")
         STEPS[4].opt.extend(["-g", "e"])
 
+if 15 in CONF.steps:    # TextureMesh
+    if 14 not in CONF.steps:  # RefineMesh
+        # RefineMesh step is not run, use ReconstructMesh output
+        STEPS.replace_opt(15, "scene_dense_mesh_refine.mvs", "scene_dense_mesh.mvs")
+
 for cstep in CONF.steps:
     printout("#%i. %s" % (cstep, STEPS[cstep].info), effect=INVERSE)
 
diff --git a/README.md b/README.md
index ac9a7cfad..01386cec7 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,7 @@
 # OpenMVS: open Multi-View Stereo reconstruction library
 
+[![Watch reconstruction](https://i.imgur.com/S4L0E6r.jpeg)](https://sketchfab.com/models/3aedcdd22c31447199c18dd9aec5d952/embed)
+
 ## Introduction
 
 [OpenMVS (Multi-View Stereo)](http://cdcseacave.github.io/openMVS) is a library for computer-vision scientists and especially targeted to the Multi-View Stereo reconstruction community. While there are mature and complete open-source projects targeting Structure-from-Motion pipelines (like [OpenMVG](https://github.com/openMVG/openMVG)) which recover camera poses and a sparse 3D point-cloud from an input set of images, there are none addressing the last part of the photogrammetry chain-flow. *OpenMVS* aims at filling that gap by providing a complete set of algorithms to recover the full surface of the scene to be reconstructed. The input is a set of camera poses plus the sparse point-cloud and the output is a textured mesh. The main topics covered by this project are:
diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index a7675b2ac..556deb452 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -49,8 +49,12 @@ namespace OPT {
 String strInputFileName;
 String strOutputFileName;
 String strViewNeighborsFileName;
+String strOutputViewNeighborsFileName;
 String strMeshFileName;
+String strExportROIFileName;
+String strImportROIFileName;
 String strDenseConfigFileName;
+String strExportDepthMapsName;
 float fMaxSubsceneArea;
 float fSampleMesh;
 int nFusionMode;
@@ -88,11 +92,16 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 			#endif
 			), "verbosity level")
 		#endif
+		#ifdef _USE_CUDA
+		("cuda-device", boost::program_options::value(&CUDA::desiredDeviceID)->default_value(-1), "CUDA device number to be used for depth-map estimation (-2 - CPU processing, -1 - best GPU, >=0 - device index)")
+		#endif
 		;
 
 	// group of options allowed both on command line and in config file
 	#ifdef _USE_CUDA
-	unsigned nCUDADevice;
+	const unsigned nNumViewsDefault(8);
+	#else
+	const unsigned nNumViewsDefault(5);
 	#endif
 	unsigned nResolutionLevel;
 	unsigned nMaxResolution;
@@ -105,15 +114,13 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	boost::program_options::options_description config("Densify options");
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
-		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the dense point-cloud")
+		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the dense point-cloud (optional)")
 		("view-neighbors-file", boost::program_options::value<std::string>(&OPT::strViewNeighborsFileName), "input filename containing the list of views and their neighbors (optional)")
-		#ifdef _USE_CUDA
-		("cuda-device", boost::program_options::value(&nCUDADevice)->default_value(0), "CUDA device number to be used for depth-map estimation (-1 - CPU processing)")
-		#endif
+		("output-view-neighbors-file", boost::program_options::value<std::string>(&OPT::strOutputViewNeighborsFileName), "output filename containing the generated list of views and their neighbors")
 		("resolution-level", boost::program_options::value(&nResolutionLevel)->default_value(1), "how many times to scale down the images before point cloud computation")
-		("max-resolution", boost::program_options::value(&nMaxResolution)->default_value(3200), "do not scale images higher than this resolution")
+		("max-resolution", boost::program_options::value(&nMaxResolution)->default_value(2560), "do not scale images higher than this resolution")
 		("min-resolution", boost::program_options::value(&nMinResolution)->default_value(640), "do not scale images lower than this resolution")
-		("number-views", boost::program_options::value(&nNumViews)->default_value(5), "number of views used for depth-map estimation (0 - all neighbor views available)")
+		("number-views", boost::program_options::value(&nNumViews)->default_value(nNumViewsDefault), "number of views used for depth-map estimation (0 - all neighbor views available)")
 		("number-views-fuse", boost::program_options::value(&nMinViewsFuse)->default_value(3), "minimum number of images that agrees with an estimate during fusion in order to consider it inlier (<2 - only merge depth-maps)")
 		("ignore-mask-label", boost::program_options::value(&nIgnoreMaskLabel)->default_value(-1), "integer value for the label to ignore in the segmentation mask (<0 - disabled)")
 		("estimate-colors", boost::program_options::value(&nEstimateColors)->default_value(2), "estimate the colors for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
@@ -130,7 +137,10 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	boost::program_options::options_description hidden("Hidden options");
 	hidden.add_options()
 		("mesh-file", boost::program_options::value<std::string>(&OPT::strMeshFileName), "mesh file name used for image pair overlap estimation")
+		("export-roi-file", boost::program_options::value<std::string>(&OPT::strExportROIFileName), "ROI file name to be exported form the scene")
+		("import-roi-file", boost::program_options::value<std::string>(&OPT::strImportROIFileName), "ROI file name to be imported into the scene")
 		("dense-config-file", boost::program_options::value<std::string>(&OPT::strDenseConfigFileName), "optional configuration file for the densifier (overwritten by the command line options)")
+		("export-depth-maps-name", boost::program_options::value<std::string>(&OPT::strExportDepthMapsName), "render given mesh and save the depth-map for every image to this file name base (empty - disabled)")
 		;
 
 	boost::program_options::options_description cmdline_options;
@@ -179,7 +189,10 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
 	Util::ensureValidPath(OPT::strViewNeighborsFileName);
+	Util::ensureValidPath(OPT::strOutputViewNeighborsFileName);
 	Util::ensureValidPath(OPT::strMeshFileName);
+	Util::ensureValidPath(OPT::strExportROIFileName);
+	Util::ensureValidPath(OPT::strImportROIFileName);
 	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_dense.mvs");
 
@@ -189,9 +202,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	OPTDENSE::init();
 	const bool bValidConfig(OPTDENSE::oConfig.Load(OPT::strDenseConfigFileName));
 	OPTDENSE::update();
-	#ifdef _USE_CUDA
-	OPTDENSE::nCUDADevice = nCUDADevice;
-	#endif
 	OPTDENSE::nResolutionLevel = nResolutionLevel;
 	OPTDENSE::nMaxResolution = nMaxResolution;
 	OPTDENSE::nMinResolution = nMinResolution;
@@ -263,17 +273,53 @@ int main(int argc, LPCTSTR* argv)
 	// load and estimate a dense point-cloud
 	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
 		return EXIT_FAILURE;
+	if (!OPT::strExportROIFileName.empty() && scene.IsBounded()) {
+		std::ofstream fs(MAKE_PATH_SAFE(OPT::strExportROIFileName));
+		if (!fs)
+			return EXIT_FAILURE;
+		fs << scene.obb;
+		Finalize();
+		return EXIT_SUCCESS;
+	}
+	if (!OPT::strImportROIFileName.empty()) {
+		std::ifstream fs(MAKE_PATH_SAFE(OPT::strImportROIFileName));
+		if (!fs)
+			return EXIT_FAILURE;
+		fs >> scene.obb;
+		scene.Save(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
+		Finalize();
+		return EXIT_SUCCESS;
+	}
 	if (!OPT::strMeshFileName.empty())
 		scene.mesh.Load(MAKE_PATH_SAFE(OPT::strMeshFileName));
 	if (scene.pointcloud.IsEmpty() && OPT::strViewNeighborsFileName.empty() && scene.mesh.IsEmpty()) {
 		VERBOSE("error: empty initial point-cloud");
 		return EXIT_FAILURE;
 	}
+	if (!OPT::strViewNeighborsFileName.empty())
+		scene.LoadViewNeighbors(MAKE_PATH_SAFE(OPT::strViewNeighborsFileName));
+	if (!OPT::strOutputViewNeighborsFileName.empty()) {
+		if (!scene.ImagesHaveNeighbors()) {
+			VERBOSE("error: neighbor views not computed yet");
+			return EXIT_FAILURE;
+		}
+		scene.SaveViewNeighbors(MAKE_PATH_SAFE(OPT::strOutputViewNeighborsFileName));
+		return EXIT_SUCCESS;
+	}
+	if (!OPT::strExportDepthMapsName.empty() && !scene.mesh.IsEmpty()) {
+		// project mesh onto each image and save the resulted depth-maps
+		TD_TIMER_START();
+		if (!scene.ExportMeshToDepthMaps(MAKE_PATH_SAFE(OPT::strExportDepthMapsName)))
+			return EXIT_FAILURE;
+		VERBOSE("Mesh projection completed: %u depth-maps (%s)", scene.images.size(), TD_TIMER_GET_FMT().c_str());
+		Finalize();
+		return EXIT_SUCCESS;
+	}
 	if (OPT::fMaxSubsceneArea > 0) {
 		// split the scene in sub-scenes by maximum sampling area
 		Scene::ImagesChunkArr chunks;
 		scene.Split(chunks, OPT::fMaxSubsceneArea);
-		scene.ExportChunks(chunks, Util::getFilePath(MAKE_PATH_SAFE(OPT::strOutputFileName)), (ARCHIVE_TYPE)OPT::nArchiveType);
+		scene.ExportChunks(chunks, GET_PATH_FULL(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
 		Finalize();
 		return EXIT_SUCCESS;
 	}
@@ -294,8 +340,6 @@ int main(int argc, LPCTSTR* argv)
 		return EXIT_SUCCESS;
 	}
 	if ((ARCHIVE_TYPE)OPT::nArchiveType != ARCHIVE_MVS) {
-		if (!OPT::strViewNeighborsFileName.empty())
-			scene.LoadViewNeighbors(MAKE_PATH_SAFE(OPT::strViewNeighborsFileName));
 		TD_TIMER_START();
 		if (!scene.DenseReconstruction(OPT::nFusionMode)) {
 			if (ABS(OPT::nFusionMode) != 1)
diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index 9ea6a361d..e4888ca9a 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -71,6 +71,7 @@ bool bNormalizeIntrinsics;
 String strInputFileName;
 String strOutputFileName;
 String strImageFolder;
+unsigned nMaxResolution;
 unsigned nArchiveType;
 int nProcessPriority;
 unsigned nMaxThreads;
@@ -111,6 +112,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input COLMAP folder containing cameras, images and points files OR input MVS project file")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the MVS project")
 		("image-folder", boost::program_options::value<std::string>(&OPT::strImageFolder)->default_value(COLMAP_IMAGES_FOLDER), "folder to the undistorted images")
+		("max-resolution", boost::program_options::value(&OPT::nMaxResolution)->default_value(0), "make sure image resolution are not not larger than this (0 - disabled)")
 		("normalize,f", boost::program_options::value(&OPT::bNormalizeIntrinsics)->default_value(false), "normalize intrinsics while exporting to MVS format")
 		;
 
@@ -167,6 +169,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// initialize optional options
 	Util::ensureValidFolderPath(OPT::strImageFolder);
 	Util::ensureValidPath(OPT::strOutputFileName);
+	OPT::strImageFolder = MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strImageFolder);
 	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
 	OPT::bFromOpenMVS = (strInputFileNameExt == MVS_EXT);
 	if (OPT::bFromOpenMVS) {
@@ -176,8 +179,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		Util::ensureFolderSlash(OPT::strInputFileName);
 		if (OPT::strOutputFileName.empty())
 			OPT::strOutputFileName = OPT::strInputFileName + _T("scene") MVS_EXT;
-		else
-			OPT::strImageFolder = Util::getRelativePath(Util::getFilePath(OPT::strOutputFileName), OPT::strInputFileName+OPT::strImageFolder);
 	}
 
 	// initialize global options
@@ -961,7 +962,7 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 			img.q = Eigen::Quaterniond(Eigen::Map<const EMat33d>(pose.R.val));
 			img.t = -(img.q * Eigen::Map<const EVec3d>(&pose.C.x));
 			img.idCamera = image.platformID;
-			img.name = MAKE_PATH_REL(OPT::strImageFolder, image.name);
+			img.name = MAKE_PATH_REL(OPT::strImageFolder, MAKE_PATH_FULL(WORKING_FOLDER_FULL, image.name));
 			Camera& camera = cameras[ID];
 			camera.K = Ks[image.platformID];
 			camera.R = pose.R;
@@ -1109,6 +1110,53 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 }
 
 
+// export camera intrinsics in txt format
+bool ExportIntrinsicsTxt(const String& fileName, const Interface& scene)
+{
+	LOG_OUT() << "Writing intrinsics: " << fileName << std::endl;
+	size_t idxValidK(MVS::NO_ID);
+	FOREACH(ID, scene.images) {
+		const Interface::Image& image = scene.images[ID];
+		if (!image.IsValid())
+			continue;
+		if (idxValidK == MVS::NO_ID) {
+			idxValidK = ID;
+			continue;
+		}
+		if (scene.GetK(idxValidK) != scene.GetK(ID)) {
+			VERBOSE("error: multiple camera models");
+			return false;
+		}
+	}
+	if (idxValidK == MVS::NO_ID)
+		return false;
+	const Interface::Image& image = scene.images[idxValidK];
+	String imagefileName(image.name);
+	Util::ensureValidPath(imagefileName);
+	imagefileName = MAKE_PATH_FULL(WORKING_FOLDER_FULL, imagefileName);
+	IMAGEPTR pImage = Image::ReadImageHeader(imagefileName);
+	if (!pImage) {
+		VERBOSE("error: unable to open image file '%s'", imagefileName.c_str());
+		return false;
+	}
+	const Interface::Mat33d& K = scene.platforms[image.platformID].GetFullK(image.cameraID, pImage->GetWidth(), pImage->GetHeight());
+	Eigen::Matrix4d K4(Eigen::Matrix4d::Identity());
+	K4.topLeftCorner<3,3>() = Eigen::Map<const EMat33d>(K.val);
+	Util::ensureFolder(fileName);
+	std::ofstream out(fileName);
+	if (!out.good()) {
+		VERBOSE("error: unable to open file '%s'", fileName.c_str());
+		return false;
+	}
+	out << std::setprecision(12);
+	out << K4(0,0) << _T(" ") << K4(0,1) << _T(" ") << K4(0,2) << _T(" ") << K4(0,3) << _T("\n");
+	out << K4(1,0) << _T(" ") << K4(1,1) << _T(" ") << K4(1,2) << _T(" ") << K4(1,3) << _T("\n");
+	out << K4(2,0) << _T(" ") << K4(2,1) << _T(" ") << K4(2,2) << _T(" ") << K4(2,3) << _T("\n");
+	out << K4(3,0) << _T(" ") << K4(3,1) << _T(" ") << K4(3,2) << _T(" ") << K4(3,3) << _T("\n");
+	return !out.fail();
+}
+
+
 // export image poses in log format
 // see: http://redwood-data.org/indoor/fileformat.html
 // to support: https://www.tanksandtemples.org/tutorial
@@ -1223,12 +1271,30 @@ int main(int argc, LPCTSTR* argv)
 	TD_TIMER_START();
 
 	if (OPT::bFromOpenMVS) {
+		if (OPT::nMaxResolution > 0) {
+			// scale and save scene images
+			MVS::Scene scene(OPT::nMaxThreads);
+			if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
+				return EXIT_FAILURE;
+			const String folderName(Util::getFilePath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName)) + String::FormatString("images%u" PATH_SEPARATOR_STR, OPT::nMaxResolution));
+			if (!scene.ScaleImages(OPT::nMaxResolution, 0, folderName)) {
+				DEBUG("error: can not scale scene images to '%s'", folderName.c_str());
+				return EXIT_FAILURE;
+			}
+			const String fileName(Util::insertBeforeFileExt(MAKE_PATH_SAFE(OPT::strInputFileName), _T("_new")));
+			if (!scene.Save(fileName, scene.mesh.IsEmpty() ? ARCHIVE_MVS : ARCHIVE_DEFAULT)) {
+				DEBUG("error: can not save scene to '%s'", fileName.c_str());
+				return EXIT_FAILURE;
+			}
+			return EXIT_SUCCESS;
+		}
 		// read MVS input data
 		Interface scene;
 		if (!ARCHIVE::SerializeLoad(scene, MAKE_PATH_SAFE(OPT::strInputFileName)))
 			return EXIT_FAILURE;
 		if (Util::getFileExt(OPT::strOutputFileName) == _T(".log")) {
 			// write poses in log format
+			ExportIntrinsicsTxt(MAKE_PATH_FULL(WORKING_FOLDER_FULL, String("intrinsics.txt")), scene);
 			ExportImagesLog(MAKE_PATH_SAFE(OPT::strOutputFileName), scene);
 		} else
 		if (Util::getFileExt(OPT::strOutputFileName) == _T(".camera")) {
diff --git a/apps/InterfaceVisualSFM/Util.h b/apps/InterfaceVisualSFM/Util.h
index 3afd61f1c..abf7e1d7b 100644
--- a/apps/InterfaceVisualSFM/Util.h
+++ b/apps/InterfaceVisualSFM/Util.h
@@ -125,7 +125,7 @@ bool LoadNVM(std::ifstream& in, std::vector<CameraT>& camera_data, std::vector<P
             camidx.push_back(cidx);    //camera index
             ptidx.push_back(i);        //point index
 
-            //add a measurment to the vector
+            //add a measurement to the vector
             measurements.push_back(Point2D(imx, imy));
             nproj ++;
         }
@@ -268,7 +268,7 @@ bool LoadBundlerOut(const char* name, std::ifstream& in, std::vector<CameraT>& c
             camidx.push_back(cidx);    //camera index
             ptidx.push_back(i);        //point index
 
-            //add a measurment to the vector
+            //add a measurement to the vector
             measurements.push_back(Point2D(imx, -imy));
             nproj ++;
         }
@@ -638,7 +638,7 @@ bool RemoveInvisiblePoints( std::vector<CameraT>& camera_data, std::vector<Point
     if(points_removed == 0) return false;
     std::vector<int>  cv(camera_data.size(), 0);
     //should any cameras be removed ?
-    int min_observation = 20; //cameras should see at leat 20 points
+    int min_observation = 20; //cameras should see at least 20 points
 
     do
     {
diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index 3c9b61aac..de68513db 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -56,6 +56,7 @@ String strOutputFileName;
 String strMeshFileName;
 bool bMeshExport;
 float fDistInsert;
+bool bUseOnlyROI;
 bool bUseConstantWeight;
 bool bUseFreeSpaceSupport;
 float fThicknessFactor;
@@ -66,6 +67,7 @@ float fRemoveSpurious;
 bool bRemoveSpikes;
 unsigned nCloseHoles;
 unsigned nSmoothMesh;
+float fEdgeLength;
 float fSplitMaxArea;
 unsigned nArchiveType;
 int nProcessPriority;
@@ -102,6 +104,9 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 			#endif
 			), "verbosity level")
 		#endif
+		#ifdef _USE_CUDA
+		("cuda-device", boost::program_options::value(&CUDA::desiredDeviceID)->default_value(-1), "CUDA device number to be used to reconstruct the mesh (-2 - CPU processing, -1 - best GPU, >=0 - device index)")
+		#endif
 		;
 
 	// group of options allowed both on command line and in config file
@@ -110,6 +115,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
 		("min-point-distance,d", boost::program_options::value(&OPT::fDistInsert)->default_value(2.5f), "minimum distance in pixels between the projection of two 3D points to consider them different while triangulating (0 - disabled)")
+		("integrate-only-roi", boost::program_options::value(&OPT::bUseOnlyROI)->default_value(false), "use only the points inside the ROI")
 		("constant-weight", boost::program_options::value(&OPT::bUseConstantWeight)->default_value(true), "considers all view weights 1 instead of the available weight")
 		("free-space-support,f", boost::program_options::value(&OPT::bUseFreeSpaceSupport)->default_value(false), "exploits the free-space support in order to reconstruct weakly-represented surfaces")
 		("thickness-factor", boost::program_options::value(&OPT::fThicknessFactor)->default_value(1.f), "multiplier adjusting the minimum thickness considered during visibility weighting")
@@ -123,6 +129,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("remove-spikes", boost::program_options::value(&OPT::bRemoveSpikes)->default_value(true), "flag controlling the removal of spike faces")
 		("close-holes", boost::program_options::value(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the reconstructed surface (0 - disabled)")
 		("smooth", boost::program_options::value(&OPT::nSmoothMesh)->default_value(2), "number of iterations to smooth the reconstructed surface (0 - disabled)")
+		("edge-length", boost::program_options::value(&OPT::fEdgeLength)->default_value(0.f), "remesh such that the average edge length is this size (0 - disabled)")
 		;
 
 	// hidden options, allowed both on command line and
@@ -219,7 +226,7 @@ void Finalize()
 } // unnamed namespace
 
 
-// export 3D coordinates corresponding to 2D ccordinates provided by inputFileName:
+// export 3D coordinates corresponding to 2D coordinates provided by inputFileName:
 // parse image point list; first line is the name of the image to project,
 // each consequent line store the xy coordinates to project:
 // <image-name> <number-of-points>
@@ -275,7 +282,7 @@ bool Export3DProjections(Scene& scene, const String& inputFileName) {
 		if (argc > 0 && argv[0][0] == _T('#'))
 			continue;
 		if (argc < 2) {
-			VERBOSE("Invalid image coordonates: %s", line.c_str());
+			VERBOSE("Invalid image coordinates: %s", line.c_str());
 			continue;
 		}
 		const Point2f pt(
@@ -405,7 +412,7 @@ int main(int argc, LPCTSTR* argv)
 			TD_TIMER_START();
 			if (OPT::bUseConstantWeight)
 				scene.pointcloud.pointWeights.Release();
-			if (!scene.ReconstructMesh(OPT::fDistInsert, OPT::bUseFreeSpaceSupport, 4, OPT::fThicknessFactor, OPT::fQualityFactor))
+			if (!scene.ReconstructMesh(OPT::fDistInsert, OPT::bUseFreeSpaceSupport, OPT::bUseOnlyROI, 4, OPT::fThicknessFactor, OPT::fQualityFactor))
 				return EXIT_FAILURE;
 			VERBOSE("Mesh reconstruction completed: %u vertices, %u faces (%s)", scene.mesh.vertices.GetSize(), scene.mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
 			#if TD_VERBOSE != TD_VERBOSE_OFF
@@ -421,9 +428,9 @@ int main(int argc, LPCTSTR* argv)
 
 		// clean the mesh
 		const float fDecimate(OPT::nTargetFaceNum ? static_cast<float>(OPT::nTargetFaceNum) / scene.mesh.faces.size() : OPT::fDecimateMesh);
-		scene.mesh.Clean(fDecimate, OPT::fRemoveSpurious, OPT::bRemoveSpikes, OPT::nCloseHoles, OPT::nSmoothMesh, false);
-		scene.mesh.Clean(1.f, 0.f, OPT::bRemoveSpikes, OPT::nCloseHoles, 0, false); // extra cleaning trying to close more holes
-		scene.mesh.Clean(1.f, 0.f, false, 0, 0, true); // extra cleaning to remove non-manifold problems created by closing holes
+		scene.mesh.Clean(fDecimate, OPT::fRemoveSpurious, OPT::bRemoveSpikes, OPT::nCloseHoles, OPT::nSmoothMesh, OPT::fEdgeLength, false);
+		scene.mesh.Clean(1.f, 0.f, OPT::bRemoveSpikes, OPT::nCloseHoles, 0u, 0.f, false); // extra cleaning trying to close more holes
+		scene.mesh.Clean(1.f, 0.f, false, 0u, 0u, 0.f, true); // extra cleaning to remove non-manifold problems created by closing holes
 
 		// save the final mesh
 		scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
diff --git a/apps/RefineMesh/RefineMesh.cpp b/apps/RefineMesh/RefineMesh.cpp
index a134b92f6..7b68db118 100644
--- a/apps/RefineMesh/RefineMesh.cpp
+++ b/apps/RefineMesh/RefineMesh.cpp
@@ -64,9 +64,6 @@ float fRatioRigidityElasticity;
 unsigned nMaxFaceArea;
 float fPlanarVertexRatio;
 float fGradientStep;
-#ifdef _USE_CUDA
-bool bUseCUDA;
-#endif
 unsigned nArchiveType;
 int nProcessPriority;
 unsigned nMaxThreads;
@@ -101,6 +98,9 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 			#endif
 			), "verbosity level")
 		#endif
+		#ifdef _USE_CUDA
+		("cuda-device", boost::program_options::value(&CUDA::desiredDeviceID)->default_value(-2), "CUDA device number to be used for mesh refinement (-2 - CPU processing, -1 - best GPU, >=0 - device index)")
+		#endif
 		;
 
 	// group of options allowed both on command line and in config file
@@ -123,9 +123,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("rigidity-elasticity-ratio", boost::program_options::value(&OPT::fRatioRigidityElasticity)->default_value(0.9f), "scalar ratio used to compute the regularity gradient as a combination of rigidity and elasticity")
 		("gradient-step", boost::program_options::value(&OPT::fGradientStep)->default_value(45.05f), "gradient step to be used instead (0 - auto)")
 		("planar-vertex-ratio", boost::program_options::value(&OPT::fPlanarVertexRatio)->default_value(0.f), "threshold used to remove vertices on planar patches (0 - disabled)")
-		#ifdef _USE_CUDA
-		("use-cuda", boost::program_options::value(&OPT::bUseCUDA)->default_value(false), "refine mesh using CUDA")
-		#endif
 		;
 
 	// hidden options, allowed both on command line and
@@ -241,7 +238,7 @@ int main(int argc, LPCTSTR* argv)
 	}
 	TD_TIMER_START();
 	#ifdef _USE_CUDA
-	if (!OPT::bUseCUDA ||
+	if (CUDA::desiredDeviceID < -1 ||
 		!scene.RefineMeshCUDA(OPT::nResolutionLevel, OPT::nMinResolution, OPT::nMaxViews,
 							  OPT::fDecimateMesh, OPT::nCloseHoles, OPT::nEnsureEdgeSize,
 							  OPT::nMaxFaceArea,
diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index 30727663f..dcf397b10 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -49,6 +49,7 @@ namespace OPT {
 String strInputFileName;
 String strOutputFileName;
 String strMeshFileName;
+String strViewsFileName;
 float fDecimateMesh;
 unsigned nCloseHoles;
 unsigned nResolutionLevel;
@@ -95,6 +96,9 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 			#endif
 			), "verbosity level")
 		#endif
+		#ifdef _USE_CUDA
+		("cuda-device", boost::program_options::value(&CUDA::desiredDeviceID)->default_value(-1), "CUDA device number to be used to texture the mesh (-2 - CPU processing, -1 - best GPU, >=0 - device index)")
+		#endif
 		;
 
 	// group of options allowed both on command line and in config file
@@ -121,6 +125,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	boost::program_options::options_description hidden("Hidden options");
 	hidden.add_options()
 		("mesh-file", boost::program_options::value<std::string>(&OPT::strMeshFileName), "mesh file name to texture (overwrite the existing mesh)")
+		("views-file", boost::program_options::value<std::string>(&OPT::strViewsFileName), "file name containing the list of views to be used for texturing (optional)")
 		;
 
 	boost::program_options::options_description cmdline_options;
@@ -183,6 +188,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	Util::ensureUnifySlash(OPT::strOutputFileName);
 	if (OPT::strOutputFileName.IsEmpty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_texture.mvs");
+	Util::ensureValidPath(OPT::strViewsFileName);
 
 	// initialize global options
 	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
@@ -215,6 +221,40 @@ void Finalize()
 
 } // unnamed namespace
 
+IIndexArr ParseViewsFile(const String& filename, const Scene& scene) {
+	IIndexArr views;
+	std::ifstream file(filename);
+	if (!file.good()) {
+		VERBOSE("error: unable to open views file '%s'", filename.c_str());
+		return views;
+	}
+	while (true) {
+		String imageName;
+		std::getline(file, imageName);
+		if (file.fail() || imageName.empty())
+			break;
+		LPTSTR endIdx;
+		const IDX idx(strtoul(imageName, &endIdx, 10));
+		const size_t szIndex(*endIdx == '\0' ? size_t(0) : imageName.size());
+		FOREACH(idxImage, scene.images) {
+			const Image& image = scene.images[idxImage];
+			if (szIndex == 0) {
+				// try to match by index
+				if (image.ID != idx)
+					continue;
+			} else {
+				// try to match by file name
+				const String name(Util::getFileNameExt(image.name));
+				if (name.size() < szIndex || _tcsnicmp(name, imageName, szIndex) != 0)
+					continue;
+			}
+			views.emplace_back(idxImage);
+			break;
+		}
+	}
+	return views;
+}
+
 int main(int argc, LPCTSTR* argv)
 {
 	#ifdef _DEBUGINFO
@@ -247,17 +287,21 @@ int main(int argc, LPCTSTR* argv)
 	// decimate to the desired resolution
 	if (OPT::fDecimateMesh < 1.f) {
 		ASSERT(OPT::fDecimateMesh > 0.f);
-		scene.mesh.Clean(OPT::fDecimateMesh, 0.f, false, OPT::nCloseHoles, 0u, false);
-		scene.mesh.Clean(1.f, 0.f, false, 0, 0u, true); // extra cleaning to remove non-manifold problems created by closing holes
+		scene.mesh.Clean(OPT::fDecimateMesh, 0.f, false, OPT::nCloseHoles, 0u, 0.f, false);
+		scene.mesh.Clean(1.f, 0.f, false, 0u, 0u, 0.f, true); // extra cleaning to remove non-manifold problems created by closing holes
 		#if TD_VERBOSE != TD_VERBOSE_OFF
 		if (VERBOSITY_LEVEL > 3)
 			scene.mesh.Save(baseFileName +_T("_decim")+OPT::strExportType);
 		#endif
 	}
+	// fetch list of views to be used for texturing
+	IIndexArr views;
+	if (!OPT::strViewsFileName.empty())
+		views = ParseViewsFile(MAKE_PATH_SAFE(OPT::strViewsFileName), scene);
 
 	// compute mesh texture
 	TD_TIMER_START();
-	if (!scene.TextureMesh(OPT::nResolutionLevel, OPT::nMinResolution, OPT::fOutlierThreshold, OPT::fRatioDataSmoothness, OPT::bGlobalSeamLeveling, OPT::bLocalSeamLeveling, OPT::nTextureSizeMultiple, OPT::nRectPackingHeuristic, Pixel8U(OPT::nColEmpty)))
+	if (!scene.TextureMesh(OPT::nResolutionLevel, OPT::nMinResolution, OPT::fOutlierThreshold, OPT::fRatioDataSmoothness, OPT::bGlobalSeamLeveling, OPT::bLocalSeamLeveling, OPT::nTextureSizeMultiple, OPT::nRectPackingHeuristic, Pixel8U(OPT::nColEmpty), views))
 		return EXIT_FAILURE;
 	VERBOSE("Mesh texturing completed: %u vertices, %u faces (%s)", scene.mesh.vertices.GetSize(), scene.mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
 
diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index 42c8313c9..0ccbb02c6 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -147,6 +147,7 @@ void Scene::Empty()
 	images.Release();
 	scene.Release();
 	sceneName.clear();
+	meshName.clear();
 }
 void Scene::Release()
 {
@@ -224,6 +225,8 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 	DEBUG_EXTRA("Loading: '%s'", Util::getFileNameExt(fileName).c_str());
 	Empty();
 	sceneName = fileName;
+	if (meshFileName)
+		meshName = meshFileName;
 
 	// load the scene
 	WORKING_FOLDER = Util::getFilePath(fileName);
@@ -298,9 +301,12 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 		images.size()<2?1.f:(float)imageBounds.EnlargePercent(REAL(1)/images.size()).GetSize().norm()));
 	window.camera.maxCamID = images.size();
 	window.SetName(String::FormatString((name + _T(": %s")).c_str(), Util::getFileName(fileName).c_str()));
+	window.clbkSaveScene = DELEGATEBINDCLASS(Window::ClbkSaveScene, &Scene::Save, this);
 	window.clbkExportScene = DELEGATEBINDCLASS(Window::ClbkExportScene, &Scene::Export, this);
+	window.clbkCenterScene = DELEGATEBINDCLASS(Window::ClbkCenterScene, &Scene::Center, this);
 	window.clbkCompilePointCloud = DELEGATEBINDCLASS(Window::ClbkCompilePointCloud, &Scene::CompilePointCloud, this);
 	window.clbkCompileMesh = DELEGATEBINDCLASS(Window::ClbkCompileMesh, &Scene::CompileMesh, this);
+	window.clbkTogleSceneBox = DELEGATEBINDCLASS(Window::ClbkTogleSceneBox, &Scene::TogleSceneBox, this);
 	if (scene.IsBounded())
 		window.clbkCompileBounds = DELEGATEBINDCLASS(Window::ClbkCompileBounds, &Scene::CompileBounds, this);
 	if (!bounds.IsEmpty())
@@ -310,6 +316,42 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 	return true;
 }
 
+// export the scene
+bool Scene::Save(LPCTSTR _fileName, bool bRescaleImages)
+{
+	if (!IsOpen())
+		return false;
+	REAL imageScale = 0;
+	if (bRescaleImages) {
+		window.SetVisible(false);
+		std::cout << "Enter image resolution scale: ";
+		String strScale;
+		std::cin >> strScale;
+		window.SetVisible(true);
+		imageScale = strScale.From<REAL>(0);
+	}
+	const String fileName(_fileName != NULL ? String(_fileName) : Util::insertBeforeFileExt(sceneName, _T("_new")));
+	MVS::Mesh mesh;
+	if (!scene.mesh.IsEmpty() && !meshName.empty())
+		mesh.Swap(scene.mesh);
+	if (imageScale > 0 && imageScale < 1) {
+		// scale and save images
+		const String folderName(Util::getFilePath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, fileName)) + String::FormatString("images%d" PATH_SEPARATOR_STR, ROUND2INT(imageScale*100)));
+		if (!scene.ScaleImages(0, imageScale, folderName)) {
+			DEBUG("error: can not scale scene images to '%s'", folderName.c_str());
+			return false;
+		}
+	}
+	if (!scene.Save(fileName, scene.mesh.IsEmpty() ? ARCHIVE_MVS : ARCHIVE_DEFAULT)) {
+		DEBUG("error: can not save scene to '%s'", fileName.c_str());
+		return false;
+	}
+	if (!mesh.IsEmpty())
+		scene.mesh.Swap(mesh);
+	sceneName = fileName;
+	return true;
+}
+
 // export the scene
 bool Scene::Export(LPCTSTR _fileName, LPCTSTR exportType, bool losslessTexture) const
 {
@@ -325,7 +367,25 @@ bool Scene::Export(LPCTSTR _fileName, LPCTSTR exportType, bool losslessTexture)
 	if (VERBOSITY_LEVEL > 2 && (bPoints || bMesh))
 		scene.ExportCamerasMLP(Util::getFileFullName(lastFileName)+_T(".mlp"), lastFileName);
 	#endif
-	return (bPoints || bMesh);
+	AABB3f aabb(true);
+	if (scene.IsBounded()) {
+		std::ofstream fs(baseFileName+_T("_roi.txt"));
+		if (fs)
+			fs << scene.obb;
+		aabb = scene.obb.GetAABB();
+	} else
+	if (!scene.pointcloud.IsEmpty()) {
+		aabb = scene.pointcloud.GetAABB();
+	} else
+	if (!scene.mesh.IsEmpty()) {
+		aabb = scene.mesh.GetAABB();
+	}
+	if (!aabb.IsEmpty()) {
+		std::ofstream fs(baseFileName+_T("_roi_box.txt"));
+		if (fs)
+			fs << aabb;
+	}
+	return bPoints || bMesh;
 }
 
 void Scene::CompilePointCloud()
@@ -389,9 +449,11 @@ void Scene::CompileMesh()
 
 void Scene::CompileBounds()
 {
-	if (!scene.IsBounded())
-		return;
 	obbPoints.Release();
+	if (!scene.IsBounded()) {
+		window.bRenderBounds = false;
+		return;
+	}
 	window.bRenderBounds = !window.bRenderBounds;
 	if (window.bRenderBounds) {
 		static const uint8_t indices[12*2] = {
@@ -573,7 +635,7 @@ void Scene::Draw()
 		glDepthMask(GL_FALSE);
 		glBegin(GL_LINES);
 		glColor3f(0.5f,0.1f,0.8f);
-		for (int i=0; i<obbPoints.size(); i+=2) {
+		for (IDX i=0; i<obbPoints.size(); i+=2) {
 			glVertex3fv(obbPoints[i+0].ptr());
 			glVertex3fv(obbPoints[i+1].ptr());
 		}
@@ -593,6 +655,37 @@ void Scene::Loop()
 }
 
 
+void Scene::Center()
+{
+	if (!IsOpen())
+		return;
+	scene.Center();
+	CompilePointCloud();
+	CompileMesh();
+	if (scene.IsBounded()) {
+		window.bRenderBounds = false;
+		CompileBounds();
+	}
+	events.AddEvent(new EVTComputeOctree(this));
+}
+
+void Scene::TogleSceneBox()
+{
+	if (!IsOpen())
+		return;
+	const auto EnlargeAABB = [](AABB3f aabb) {
+		return aabb.Enlarge(aabb.GetSize().maxCoeff()*0.03f);
+	};
+	if (scene.IsBounded())
+		scene.obb = OBB3f(true);
+	else if (!scene.pointcloud.IsEmpty())
+		scene.obb.Set(EnlargeAABB(scene.pointcloud.GetAABB(window.minViews)));
+	else if (!scene.mesh.IsEmpty())
+		scene.obb.Set(EnlargeAABB(scene.mesh.GetAABB()));
+	CompileBounds();
+}
+
+
 void Scene::CastRay(const Ray3& ray, int action)
 {
 	if (!IsOctreeValid())
diff --git a/apps/Viewer/Scene.h b/apps/Viewer/Scene.h
index b5f1bee6f..5997e3011 100644
--- a/apps/Viewer/Scene.h
+++ b/apps/Viewer/Scene.h
@@ -55,6 +55,7 @@ class Scene
 	String name;
 
 	String sceneName;
+	String meshName;
 	MVS::Scene scene;
 	Window window;
 	ImageArr images; // scene photos
@@ -85,6 +86,7 @@ class Scene
 
 	bool Init(const cv::Size&, LPCTSTR windowName, LPCTSTR fileName=NULL, LPCTSTR meshFileName=NULL);
 	bool Open(LPCTSTR fileName, LPCTSTR meshFileName=NULL);
+	bool Save(LPCTSTR fileName=NULL, bool bRescaleImages=false);
 	bool Export(LPCTSTR fileName, LPCTSTR exportType=NULL, bool losslessTexture=false) const;
 	void CompilePointCloud();
 	void CompileMesh();
@@ -93,6 +95,8 @@ class Scene
 	void Draw();
 	void Loop();
 
+	void Center();
+	void TogleSceneBox();
 	void CastRay(const Ray3&, int);
 protected:
 	static void* ThreadWorker(void*);
diff --git a/apps/Viewer/Viewer.cpp b/apps/Viewer/Viewer.cpp
index 1a66ffb84..fe918998a 100644
--- a/apps/Viewer/Viewer.cpp
+++ b/apps/Viewer/Viewer.cpp
@@ -155,9 +155,13 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 			"\tE: export scene\n"
 			"\tR: reset scene\n"
 			"\tB: render bounds\n"
+			"\tB + Shift: togle bounds\n"
 			"\tC: render cameras\n"
 			"\tC + Shift: render camera trajectory\n"
+			"\tC + Ctrl: center scene\n"
 			"\tLeft/Right: select next camera to view the scene\n"
+			"\tS: save scene\n"
+			"\tS + Shift: rescale images and save scene\n"
 			"\tT: render mesh texture\n"
 			"\tW: render wire-frame mesh\n"
 			"\tV: render view rays to the selected point\n"
diff --git a/apps/Viewer/Window.cpp b/apps/Viewer/Window.cpp
index e03d6d289..66ce6c669 100644
--- a/apps/Viewer/Window.cpp
+++ b/apps/Viewer/Window.cpp
@@ -69,11 +69,14 @@ void Window::Release()
 
 void Window::ReleaseClbk()
 {
+	clbkSaveScene.reset();
 	clbkExportScene.reset();
+	clbkCenterScene.reset();
 	clbkRayScene.reset();
 	clbkCompilePointCloud.reset();
 	clbkCompileMesh.reset();
 	clbkCompileBounds.reset();
+	clbkTogleSceneBox.reset();
 }
 
 bool Window::Init(const cv::Size& _size, LPCTSTR name)
@@ -264,14 +267,23 @@ void Window::Key(int k, int /*scancode*/, int action, int mod)
 		}
 		break;
 	case GLFW_KEY_B:
-		if (action == GLFW_RELEASE)
-			if (clbkCompileBounds != NULL)
-				clbkCompileBounds();
+		if (action == GLFW_RELEASE) {
+			if (mod & GLFW_MOD_SHIFT) {
+				if (clbkTogleSceneBox != NULL)
+					clbkTogleSceneBox();
+			} else {
+				if (clbkCompileBounds != NULL)
+					clbkCompileBounds();
+			}
+		}
 		break;
 	case GLFW_KEY_C:
 		if (action == GLFW_RELEASE) {
 			if (mod & GLFW_MOD_SHIFT) {
 				bRenderCameraTrajectory = !bRenderCameraTrajectory;
+			} else if (mod & GLFW_MOD_CONTROL) {
+				if (clbkCenterScene != NULL)
+					clbkCenterScene();
 			} else {
 				bRenderCameras = !bRenderCameras;
 			}
@@ -294,6 +306,12 @@ void Window::Key(int k, int /*scancode*/, int action, int mod)
 		if (action == GLFW_RELEASE)
 			Reset();
 		break;
+	case GLFW_KEY_S:
+		if (action == GLFW_RELEASE) {
+			if (clbkSaveScene != NULL)
+				clbkSaveScene(NULL, (mod & GLFW_MOD_SHIFT) != 0);
+		}
+		break;
 	case GLFW_KEY_T:
 		if (action == GLFW_RELEASE) {
 			bRenderTexture = !bRenderTexture;
diff --git a/apps/Viewer/Window.h b/apps/Viewer/Window.h
index 364ad7e27..4670ed12b 100644
--- a/apps/Viewer/Window.h
+++ b/apps/Viewer/Window.h
@@ -94,8 +94,12 @@ class Window
 
 	typedef DELEGATE<bool (LPCTSTR, LPCTSTR)> ClbkOpenScene;
 	ClbkOpenScene clbkOpenScene;
+	typedef DELEGATE<bool (LPCTSTR, bool)> ClbkSaveScene;
+	ClbkSaveScene clbkSaveScene;
 	typedef DELEGATE<bool (LPCTSTR, LPCTSTR, bool)> ClbkExportScene;
 	ClbkExportScene clbkExportScene;
+	typedef DELEGATE<void (void)> ClbkCenterScene;
+	ClbkCenterScene clbkCenterScene;
 	typedef DELEGATE<void (const Ray3&, int)> ClbkRayScene;
 	ClbkRayScene clbkRayScene;
 	typedef DELEGATE<void (void)> ClbkCompilePointCloud;
@@ -104,6 +108,8 @@ class Window
 	ClbkCompileMesh clbkCompileMesh;
 	typedef DELEGATE<void (void)> ClbkCompileBounds;
 	ClbkCompileBounds clbkCompileBounds;
+	typedef DELEGATE<void (void)> ClbkTogleSceneBox;
+	ClbkTogleSceneBox clbkTogleSceneBox;
 
 	typedef std::unordered_map<GLFWwindow*,Window*> WindowsMap;
 	static WindowsMap g_mapWindows;
diff --git a/build/Utils.cmake b/build/Utils.cmake
index a603b543e..2bfbc9822 100644
--- a/build/Utils.cmake
+++ b/build/Utils.cmake
@@ -492,7 +492,7 @@ macro(optimize_default_compiler_settings)
 	  add_extra_compiler_option(-fdiagnostics-show-option)
 	  add_extra_compiler_option(-ftemplate-backtrace-limit=0)
 	  
-	  # The -Wno-long-long is required in 64bit systems when including sytem headers.
+	  # The -Wno-long-long is required in 64bit systems when including system headers.
 	  if(X86_64)
 		add_extra_compiler_option(-Wno-long-long)
 	  endif()
diff --git a/libs/Common/AABB.h b/libs/Common/AABB.h
index 61904896b..25cba2d3d 100644
--- a/libs/Common/AABB.h
+++ b/libs/Common/AABB.h
@@ -89,6 +89,17 @@ class TAABB
 	inline TYPE& operator [] (BYTE i) { ASSERT(i<numScalar); return ptMin.data()[i]; }
 	inline TYPE operator [] (BYTE i) const { ASSERT(i<numScalar); return ptMin.data()[i]; }
 
+	friend std::ostream& operator << (std::ostream& st, const TAABB& obb) {
+		st << obb.ptMin; st << std::endl;
+		st << obb.ptMax; st << std::endl;
+		return st;
+	}
+	friend std::istream& operator >> (std::istream& st, TAABB& obb) {
+		st >> obb.ptMin;
+		st >> obb.ptMax;
+		return st;
+	}
+
 	#ifdef _USE_BOOST
 	// implement BOOST serialization
 	template<class Archive>
diff --git a/libs/Common/Common.h b/libs/Common/Common.h
index 8942f1e14..5db8877eb 100644
--- a/libs/Common/Common.h
+++ b/libs/Common/Common.h
@@ -13,7 +13,7 @@
 
 #include "Config.h"
 
-// macors controling the verbosity
+// macros controlling the verbosity
 #define TD_VERBOSE_OFF		0
 #define TD_VERBOSE_ON		1
 #define TD_VERBOSE_DEBUG	2
diff --git a/libs/Common/FastDelegate.h b/libs/Common/FastDelegate.h
index 51400ae99..de2b8bca7 100644
--- a/libs/Common/FastDelegate.h
+++ b/libs/Common/FastDelegate.h
@@ -302,7 +302,7 @@ struct SimplifyMemFunc<SINGLE_MEMFUNCPTR_SIZE>  {
 	inline static GenericClass *Convert(X *pthis, XFuncType function_to_bind, 
 			GenericMemFuncType &bound_func) {
 #if defined __DMC__  
-		// Digital Mars doesn't allow you to cast between abitrary PMF's, 
+		// Digital Mars doesn't allow you to cast between arbitrary PMF's, 
 		// even though the standard says you can. The 32-bit compiler lets you
 		// static_cast through an int, but the DOS compiler doesn't.
 		bound_func = horrible_cast<GenericMemFuncType>(function_to_bind);
@@ -376,7 +376,7 @@ struct MicrosoftVirtualMFP {
 // returns the 'this' pointer that was used.
 
 // Define a generic class that uses virtual inheritance.
-// It has a trival member function that returns the value of the 'this' pointer.
+// It has a trivial member function that returns the value of the 'this' pointer.
 struct GenericVirtualClass : virtual public GenericClass
 {
 	typedef GenericVirtualClass * (GenericVirtualClass::*ProbePtrType)();
@@ -514,7 +514,7 @@ struct SimplifyMemFunc<SINGLE_MEMFUNCPTR_SIZE + 3*sizeof(int) >
 //
 ////////////////////////////////////////////////////////////////////////////////
 
-// DelegateMemento -- an opaque structure which can hold an arbitary delegate.
+// DelegateMemento -- an opaque structure which can hold an arbitrary delegate.
 // It knows nothing about the calling convention or number of arguments used by
 // the function pointed to.
 // It supplies comparison operators so that it can be stored in STL collections.
@@ -821,7 +821,7 @@ class ClosurePtr : public DelegateMemento {
 //   FastDelegate3<int, char *, double>
 // They can cope with any combination of parameters. The max number of parameters
 // allowed is 8, but it is trivial to increase this limit.
-// Note that we need to treat const member functions seperately.
+// Note that we need to treat const member functions separately.
 // All this class does is to enforce type safety, and invoke the delegate with
 // the correct list of parameters.
 
@@ -1979,7 +1979,7 @@ class FastDelegate< R ( Param1, Param2, Param3, Param4, Param5, Param6, Param7,
 
 // Also declare overloads of a MakeDelegate() global function to 
 // reduce the need for typedefs.
-// We need seperate overloads for const and non-const member functions.
+// We need separate overloads for const and non-const member functions.
 // Also, because of the weird rule about the class of derived member function pointers,
 // implicit downcasts may need to be applied later to the 'this' pointer.
 // That's why two classes (X and Y) appear in the definitions. Y must be implicitly
diff --git a/libs/Common/FastDelegateBind.h b/libs/Common/FastDelegateBind.h
index af5bc8d9e..95b017d3d 100644
--- a/libs/Common/FastDelegateBind.h
+++ b/libs/Common/FastDelegateBind.h
@@ -26,7 +26,7 @@
 //
 // Add another helper, so FastDelegate can be a dropin replacement
 // for boost::bind (in a fair number of cases).
-// Note the elipses, because boost::bind() takes place holders
+// Note the ellipsis, because boost::bind() takes place holders
 // but FastDelegate does not care about them.  Getting the place holder
 // mechanism to work, and play well with boost is a bit tricky, so
 // we do the "easy" thing...
diff --git a/libs/Common/OBB.h b/libs/Common/OBB.h
index 766257b2c..6d623afd8 100644
--- a/libs/Common/OBB.h
+++ b/libs/Common/OBB.h
@@ -50,10 +50,12 @@ class TOBB
 
 	inline TOBB() {}
 	inline TOBB(bool);
+	inline TOBB(const AABB&);
 	inline TOBB(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax);
 	inline TOBB(const POINT* pts, size_t n);
 	inline TOBB(const POINT* pts, size_t n, const TRIANGLE* tris, size_t s);
 
+	inline void Set(const AABB&); // build from AABB
 	inline void Set(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax); // build from rotation matrix from world to local, and local min/max corners
 	inline void Set(const POINT* pts, size_t n); // build from points
 	inline void Set(const POINT* pts, size_t n, const TRIANGLE* tris, size_t s); // build from triangles
@@ -89,6 +91,19 @@ class TOBB
 	inline TYPE& operator [] (BYTE i) { ASSERT(i<numScalar); return m_rot.data()[i]; }
 	inline TYPE operator [] (BYTE i) const { ASSERT(i<numScalar); return m_rot.data()[i]; }
 
+	friend std::ostream& operator << (std::ostream& st, const TOBB& obb) {
+		st << obb.m_rot; st << std::endl;
+		st << obb.m_pos; st << std::endl;
+		st << obb.m_ext; st << std::endl;
+		return st;
+	}
+	friend std::istream& operator >> (std::istream& st, TOBB& obb) {
+		st >> obb.m_rot;
+		st >> obb.m_pos;
+		st >> obb.m_ext;
+		return st;
+	}
+
 	#ifdef _USE_BOOST
 	// implement BOOST serialization
 	template<class Archive>
diff --git a/libs/Common/OBB.inl b/libs/Common/OBB.inl
index 7596b171d..9f1278b3c 100644
--- a/libs/Common/OBB.inl
+++ b/libs/Common/OBB.inl
@@ -20,6 +20,11 @@ inline TOBB<TYPE,DIMS>::TOBB(bool)
 {
 }
 template <typename TYPE, int DIMS>
+inline TOBB<TYPE,DIMS>::TOBB(const AABB& aabb)
+{
+	Set(aabb);
+}
+template <typename TYPE, int DIMS>
 inline TOBB<TYPE,DIMS>::TOBB(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax)
 {
 	Set(rot, ptMin, ptMax);
@@ -37,6 +42,14 @@ inline TOBB<TYPE,DIMS>::TOBB(const POINT* pts, size_t n, const TRIANGLE* tris, s
 /*----------------------------------------------------------------*/
 
 
+template <typename TYPE, int DIMS>
+inline void TOBB<TYPE,DIMS>::Set(const AABB& aabb)
+{
+	m_rot.setIdentity();
+	m_pos = aabb.GetCenter();
+	m_ext = aabb.GetSize()/TYPE(2);
+}
+
 // build from rotation matrix from world to local, and local min/max corners
 template <typename TYPE, int DIMS>
 inline void TOBB<TYPE,DIMS>::Set(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax)
diff --git a/libs/Common/Rotation.h b/libs/Common/Rotation.h
index 22d00a356..585eefd93 100644
--- a/libs/Common/Rotation.h
+++ b/libs/Common/Rotation.h
@@ -66,7 +66,7 @@ template <typename TYPE> class TRMatrixBase;
 	  where (x, y, z) is the normalized direction vector of the axis
 	  and phi is the angle of rtoation.
 
-	  Some usefull quaternions:
+	  Some useful quaternions:
 	  x 	       y 	        z 	       w          Description
 	  0 	       0 	        0 	       1          Identity quaternion,
 													  no rotation
@@ -123,7 +123,7 @@ class TQuaternion : public TMatrix<TYPE,4,1>
 	*/
 	inline void Invert();
 
-	/** makes TQuaternion-representation uniqe, ensuring vector lies
+	/** makes TQuaternion-representation unique, ensuring vector lies
 	in upper (by real part) hemisphere. (inplace)
 	*/
 	inline void MakeUnique();
@@ -141,7 +141,7 @@ class TQuaternion : public TMatrix<TYPE,4,1>
 	*/
 	inline void MultLeft(const TQuaternion<TYPE> &quat);
 
-	/** rotates the given Vector qith the quaternion ( q v q* )
+	/** rotates the given Vector with the quaternion ( q v q* )
 	the resulting vector is given in res
 	@returns 0 in case of no error
 	@author Daniel Grest, June 2003
diff --git a/libs/Common/Rotation.inl b/libs/Common/Rotation.inl
index fb9b4e1d5..f7868723e 100644
--- a/libs/Common/Rotation.inl
+++ b/libs/Common/Rotation.inl
@@ -374,7 +374,7 @@ TQuaternion<TYPE> TQuaternion<TYPE>::
 	TQuaternion<TYPE> res;
 	TYPE a, b;
 	TYPE cosPhi = (TYPE)p.ScalarProduct(q);
-	//adjust angle if neccessary
+	//adjust angle if necessary
 	if (cosPhi < 0) {
 		q.MultiplyIP(-1.0);
 		cosPhi = -cosPhi;
diff --git a/libs/Common/SML.cpp b/libs/Common/SML.cpp
index 32ce6262b..56409fdf3 100644
--- a/libs/Common/SML.cpp
+++ b/libs/Common/SML.cpp
@@ -362,7 +362,7 @@ const SMLVALUE* SML::GetValue(const String& key) const
 
 
 /**
- * Insert or retrieve an item; initializa it if necesary
+ * Insert or retrieve an item; initialize it if necessary
  */
 SMLVALUE& SML::GetValue(const String& key)
 {
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 11ae8f67d..86316cdbb 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -2718,7 +2718,7 @@ class SO2
 	/// Construct from an angle.
 	inline SO2(const Precision l) : mat(exp(l)) {}
 
-	/// Assigment operator from a general matrix. This also calls coerce()
+	/// Assignment operator from a general matrix. This also calls coerce()
 	/// to make sure that the matrix is a valid rotation matrix.
 	inline SO2& operator=(const Mat2& rhs) {
 		mat = rhs;
diff --git a/libs/Common/Types.inl b/libs/Common/Types.inl
index 7cfa7b36e..55c754751 100644
--- a/libs/Common/Types.inl
+++ b/libs/Common/Types.inl
@@ -3601,6 +3601,19 @@ inline Eigen::Matrix<P,R,2,O> operator*(const Eigen::Matrix<P,R,2,O>& lhs, const
 }
 /*----------------------------------------------------------------*/
 
+namespace Eigen {
+
+template <typename Derived>
+std::istream& operator >> (std::istream& st, MatrixBase<Derived>& m) {
+	for (int i = 0; i < m.rows(); ++i)
+		for (int j = 0; j < m.cols(); ++j)
+			st >> m(i, j);
+	return st;
+}
+
+} // namespace Eigen
+/*----------------------------------------------------------------*/
+
 #endif // _USE_EIGEN
 
 
diff --git a/libs/Common/Util.cpp b/libs/Common/Util.cpp
index 68ea8a43d..d263c744a 100644
--- a/libs/Common/Util.cpp
+++ b/libs/Common/Util.cpp
@@ -23,7 +23,9 @@
 #include <pwd.h>
 #endif
 #ifdef _SUPPORT_CPP17
+#if !defined(__GNUC__) || (__GNUC__ > 7)
 #include <filesystem>
+#endif
 #endif // _SUPPORT_CPP17
 
 using namespace SEACAVE;
@@ -437,7 +439,7 @@ String Util::GetOSInfo()
 
 String Util::GetDiskInfo(const String& path)
 {
-	#ifdef _SUPPORT_CPP17
+	#if defined(_SUPPORT_CPP17) && (!defined(__GNUC__) || (__GNUC__ > 7))
 
 	const std::filesystem::space_info si = std::filesystem::space(path.c_str());
 	return String::FormatString("%s (%s) space", formatBytes(si.available).c_str(), formatBytes(si.capacity).c_str());
diff --git a/libs/Common/UtilCUDA.cpp b/libs/Common/UtilCUDA.cpp
index 8b4a79add..f6b202519 100644
--- a/libs/Common/UtilCUDA.cpp
+++ b/libs/Common/UtilCUDA.cpp
@@ -20,6 +20,7 @@ namespace CUDA {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+int desiredDeviceID = -1;
 Devices devices;
 
 // GPU Architecture definitions
@@ -30,7 +31,7 @@ int _convertSMVer2Cores(int major, int minor)
 
 	// Defines for GPU Architecture types (using the SM version to determine the # of cores per SM
 	struct sSMtoCores {
-		int SM; // 0xMm (hexidecimal notation), M = SM Major version, and m = SM minor version
+		int SM; // 0xMm (hexadecimal notation), M = SM Major version, and m = SM minor version
 		int Cores;
 	};
 	const sSMtoCores nGpuArchCoresPerSM[] = {
@@ -162,6 +163,9 @@ CUresult _gpuGetMaxGflopsDeviceId(Device& bestDevice)
 // if the given device is -1, the best available device is selected
 CUresult initDevice(int deviceID)
 {
+	if (deviceID < -1)
+		return CUDA_ERROR_INVALID_DEVICE;
+
 	checkCudaError(cuInit(0));
 
 	Device device;
diff --git a/libs/Common/UtilCUDA.h b/libs/Common/UtilCUDA.h
index c0ed5748d..a558198b8 100644
--- a/libs/Common/UtilCUDA.h
+++ b/libs/Common/UtilCUDA.h
@@ -33,6 +33,8 @@ namespace SEACAVE {
 
 namespace CUDA {
 
+extern int desiredDeviceID;
+
 // global list of initialized devices
 struct Device {
 	CUdevice ID;
diff --git a/libs/IO/ImageTGA.cpp b/libs/IO/ImageTGA.cpp
index 1f50a3408..deefa1227 100644
--- a/libs/IO/ImageTGA.cpp
+++ b/libs/IO/ImageTGA.cpp
@@ -64,7 +64,7 @@ HRESULT CImageTGA::ReadHeader()
 	((ISTREAM*)m_pStream)->setPos(0);
 	TGAINFOHEADER tgaInfo;
 	m_pStream->read(&tgaInfo, sizeof(TGAINFOHEADER));
-	if (tgaInfo.byCMType != 0) {	// palletted images not supported
+	if (tgaInfo.byCMType != 0) {	// paletted images not supported
 		LOG(LT_IMAGE, "error: invalid TGA image");
 		return _INVALIDFILE;
 	}
diff --git a/libs/IO/json.hpp b/libs/IO/json.hpp
index c9af0bed3..b6d30f8c9 100644
--- a/libs/IO/json.hpp
+++ b/libs/IO/json.hpp
@@ -8288,7 +8288,7 @@ class binary_reader
 
     @return whether conversion completed
 
-    @note This function needs to respect the system's endianess, because
+    @note This function needs to respect the system's endianness, because
           bytes in CBOR, MessagePack, and UBJSON are stored in network order
           (big endian) and therefore need reordering on little endian systems.
     */
@@ -8381,7 +8381,7 @@ class binary_reader
     /*!
     @param[in] format   the current format
     @param[in] detail   a detailed error message
-    @param[in] context  further contect information
+    @param[in] context  further contextual information
     @return a message string to use in the parse_error exceptions
     */
     std::string exception_message(const input_format_t format,
@@ -8427,7 +8427,7 @@ class binary_reader
     /// the number of characters read
     std::size_t chars_read = 0;
 
-    /// whether we can assume little endianess
+    /// whether we can assume little endianness
     const bool is_little_endian = little_endianess();
 
     /// the SAX parser
@@ -9707,7 +9707,7 @@ class binary_writer
     @tparam OutputIsLittleEndian Set to true if output data is
                                  required to be little endian
 
-    @note This function needs to respect the system's endianess, because bytes
+    @note This function needs to respect the system's endianness, because bytes
           in CBOR, MessagePack, and UBJSON are stored in network order (big
           endian) and therefore need reordering on little endian systems.
     */
@@ -9770,7 +9770,7 @@ class binary_writer
     }
 
   private:
-    /// whether we can assume little endianess
+    /// whether we can assume little endianness
     const bool is_little_endian = binary_reader<BasicJsonType>::little_endianess();
 
     /// the output
diff --git a/libs/IO/tiny_gltf.h b/libs/IO/tiny_gltf.h
index 15d738cc6..4718b6cab 100644
--- a/libs/IO/tiny_gltf.h
+++ b/libs/IO/tiny_gltf.h
@@ -41,7 +41,7 @@
 //  - v2.2.0 Add loading 16bit PNG support. Add Sparse accessor support(Thanks
 //  to @Ybalrid)
 //  - v2.1.0 Add draco compression.
-//  - v2.0.1 Add comparsion feature(Thanks to @Selmar).
+//  - v2.0.1 Add comparison feature(Thanks to @Selmar).
 //  - v2.0.0 glTF 2.0!.
 //
 // Tiny glTF loader is using following third party libraries:
@@ -428,7 +428,7 @@ TINYGLTF_VALUE_GET(Value::Object, object_value_)
 #pragma clang diagnostic ignored "-Wpadded"
 #endif
 
-/// Agregate object for representing a color
+/// Aggregate object for representing a color
 using ColorValue = std::array<double, 4>;
 
 // === legacy interface ====
@@ -465,7 +465,7 @@ struct Parameter {
     if (it != std::end(json_double_value)) {
       return int(it->second);
     }
-    // As per the spec, if texCoord is ommited, this parameter is 0
+    // As per the spec, if texCoord is omitted, this parameter is 0
     return 0;
   }
 
@@ -477,7 +477,7 @@ struct Parameter {
     if (it != std::end(json_double_value)) {
       return it->second;
     }
-    // As per the spec, if scale is ommited, this paramter is 1
+    // As per the spec, if scale is omitted, this parameter is 1
     return 1;
   }
 
@@ -489,7 +489,7 @@ struct Parameter {
     if (it != std::end(json_double_value)) {
       return it->second;
     }
-    // As per the spec, if strenghth is ommited, this parameter is 1
+    // As per the spec, if strenghth is omitted, this parameter is 1
     return 1;
   }
 
@@ -503,7 +503,7 @@ struct Parameter {
   /// material
   ColorValue ColorFactor() const {
     return {
-        {// this agregate intialize the std::array object, and uses C++11 RVO.
+        {// this aggregate initialize the std::array object, and uses C++11 RVO.
          number_array[0], number_array[1], number_array[2],
          (number_array.size() > 3 ? number_array[3] : 1.0)}};
   }
@@ -989,7 +989,7 @@ struct Primitive {
   int indices;   // The index of the accessor that contains the indices.
   int mode;      // one of TINYGLTF_MODE_***
   std::vector<std::map<std::string, int> > targets;  // array of morph targets,
-  // where each target is a dict with attribues in ["POSITION, "NORMAL",
+  // where each target is a dict with attributes in ["POSITION, "NORMAL",
   // "TANGENT"] pointing
   // to their corresponding accessors
   ExtensionMap extensions;
@@ -1124,7 +1124,7 @@ struct Light {
   std::vector<double> color;
   double intensity{1.0};
   std::string type;
-  double range{0.0};  // 0.0 = inifinite
+  double range{0.0};  // 0.0 = infinite
   SpotLight spot;
 
   Light() : intensity(1.0), range(0.0) {}
@@ -1333,7 +1333,7 @@ class TinyGLTF {
                             unsigned int check_sections = REQUIRE_VERSION);
 
   ///
-  /// Write glTF to stream, buffers and images will be embeded
+  /// Write glTF to stream, buffers and images will be embedded
   ///
   bool WriteGltfSceneToStream(Model *model, std::ostream &stream,
                               bool prettyPrint, bool writeBinary);
@@ -1368,7 +1368,7 @@ class TinyGLTF {
   ///
   /// Set serializing default values(default = false).
   /// When true, default values are force serialized to .glTF.
-  /// This may be helpfull if you want to serialize a full description of glTF
+  /// This may be helpful if you want to serialize a full description of glTF
   /// data.
   ///
   /// TODO(LTE): Supply parsing option as function arguments to
@@ -1395,7 +1395,7 @@ class TinyGLTF {
 
   ///
   /// Specify whether preserve image channales when loading images or not.
-  /// (Not effective when the user suppy their own LoadImageData callbacks)
+  /// (Not effective when the user supply their own LoadImageData callbacks)
   ///
   void SetPreserveImageChannels(bool onoff) {
     preserve_image_channels_ = onoff;
@@ -1528,7 +1528,7 @@ class TinyGLTF {
 #endif
 #endif
 
-// Disable GCC warnigs
+// Disable GCC warnings
 #ifdef __GNUC__
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wtype-limits"
@@ -1718,7 +1718,7 @@ namespace tinygltf {
 struct LoadImageDataOption {
   // true: preserve image channels(e.g. load as RGB image if the image has RGB
   // channels) default `false`(channels are expanded to RGBA for backward
-  // compatiblity).
+  // compatibility).
   bool preserve_channels{false};
 };
 
@@ -2376,7 +2376,7 @@ bool LoadImageData(Image *image, const int image_idx, std::string *err,
 
   // It is possible that the image we want to load is a 16bit per channel image
   // We are going to attempt to load it as 16bit per channel, and if it worked,
-  // set the image data accodingly. We are casting the returned pointer into
+  // set the image data accordingly. We are casting the returned pointer into
   // unsigned char, because we are representing "bytes". But we are updating
   // the Image metadata to signal that this image uses 2 bytes (16bits) per
   // channel:
@@ -4235,7 +4235,7 @@ static bool ParseSparseAccessor(Accessor *accessor, std::string *err,
   }
 
   if (!FindMember(o, "values", values_iterator)) {
-    (*err) = "the sparse object ob ths accessor doesn't have values";
+    (*err) = "the sparse object ob this accessor doesn't have values";
     return false;
   }
 
@@ -4263,7 +4263,7 @@ static bool ParseSparseAccessor(Accessor *accessor, std::string *err,
   accessor->sparse.values.bufferView = values_buffer_view;
   accessor->sparse.values.byteOffset = values_byte_offset;
 
-  // todo check theses values
+  // todo check these values
 
   return true;
 }
@@ -4860,7 +4860,7 @@ static bool ParseMaterial(Material *material, std::string *err, const json &o,
 
   // Old code path. For backward compatibility, we still store material values
   // as Parameter. This will create duplicated information for
-  // example(pbrMetallicRoughness), but should be neglible in terms of memory
+  // example(pbrMetallicRoughness), but should be negligible in terms of memory
   // consumption.
   // TODO(syoyo): Remove in the next major release.
   material->values.clear();
@@ -5098,7 +5098,7 @@ static bool ParseSampler(Sampler *sampler, std::string *err, const json &o,
   ParseIntegerProperty(&wrapT, err, o, "wrapT", false);
   //ParseIntegerProperty(&wrapR, err, o, "wrapR", false);  // tinygltf extension
 
-  // TODO(syoyo): Check the value is alloed one.
+  // TODO(syoyo): Check the value is allowed one.
   // (e.g. we allow 9728(NEAREST), but don't allow 9727)
 
   sampler->minFilter = minFilter;
@@ -6523,7 +6523,7 @@ static void SerializeGltfBufferData(const std::vector<unsigned char> &data,
     SerializeStringProperty("uri", header + encodedData, o);
   } else {
     // Issue #229
-    // size 0 is allowd. Just emit mime header.
+    // size 0 is allowed. Just emit mime header.
     SerializeStringProperty("uri", header, o);
   }
 }
@@ -7042,7 +7042,7 @@ static void SerializeGltfMesh(Mesh &mesh, json &o) {
       JsonAddMember(primitive, "attributes", std::move(attributes));
     }
 
-    // Indicies is optional
+    // Indices is optional
     if (gltfPrimitive.indices > -1) {
       SerializeNumberProperty<int>("indices", gltfPrimitive.indices, primitive);
     }
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 16b3c8948..099148404 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -69,9 +69,6 @@ namespace MVS {
 DEFOPT_SPACE(OPTDENSE, _T("Dense"))
 
 
-#ifdef _USE_CUDA
-DEFVAR_OPTDENSE_int32(nCUDADevice, "CUDA Device", "CUDA device number to be used for depth-map estimation (-1 - CPU processing)", "0")
-#endif // _USE_CUDA
 DEFVAR_OPTDENSE_uint32(nResolutionLevel, "Resolution Level", "How many times to scale down the images before dense reconstruction", "1")
 MDEFVAR_OPTDENSE_uint32(nMaxResolution, "Max Resolution", "Do not scale images lower than this resolution", "3200")
 MDEFVAR_OPTDENSE_uint32(nMinResolution, "Min Resolution", "Do not scale images lower than this resolution", "640")
@@ -82,13 +79,14 @@ DEFVAR_OPTDENSE_uint32(nMinViewsFilter, "Min Views Filter", "minimum number of i
 MDEFVAR_OPTDENSE_uint32(nMinViewsFilterAdjust, "Min Views Filter Adjust", "minimum number of images that agrees with an estimate in order to consider it inlier (0 - disabled)", "1")
 MDEFVAR_OPTDENSE_uint32(nMinViewsTrustPoint, "Min Views Trust Point", "min-number of views so that the point is considered for approximating the depth-maps (<2 - random initialization)", "2")
 MDEFVAR_OPTDENSE_uint32(nNumViews, "Num Views", "Number of views used for depth-map estimation (0 - all views available)", "0", "1", "4")
+MDEFVAR_OPTDENSE_uint32(nPointInsideROI, "Point Inside ROI", "consider a point shared only if inside ROI when estimating the neighbor views (0 - ignore ROI, 1 - weight more ROI points, 2 - consider only ROI points)", "1")
 MDEFVAR_OPTDENSE_bool(bFilterAdjust, "Filter Adjust", "adjust depth estimates during filtering", "1")
 MDEFVAR_OPTDENSE_bool(bAddCorners, "Add Corners", "add support points at image corners with nearest neighbor disparities", "0")
 MDEFVAR_OPTDENSE_float(fViewMinScore, "View Min Score", "Min score to consider a neighbor images (0 - disabled)", "2.0")
 MDEFVAR_OPTDENSE_float(fViewMinScoreRatio, "View Min Score Ratio", "Min score ratio to consider a neighbor images", "0.03")
 MDEFVAR_OPTDENSE_float(fMinArea, "Min Area", "Min shared area for accepting the depth triangulation", "0.05")
 MDEFVAR_OPTDENSE_float(fMinAngle, "Min Angle", "Min angle for accepting the depth triangulation", "3.0")
-MDEFVAR_OPTDENSE_float(fOptimAngle, "Optim Angle", "Optimal angle for computing the depth triangulation", "15.0")
+MDEFVAR_OPTDENSE_float(fOptimAngle, "Optim Angle", "Optimal angle for computing the depth triangulation", "12.0")
 MDEFVAR_OPTDENSE_float(fMaxAngle, "Max Angle", "Max angle for accepting the depth triangulation", "65.0")
 MDEFVAR_OPTDENSE_float(fDescriptorMinMagnitudeThreshold, "Descriptor Min Magnitude Threshold", "minimum texture variance accepted when matching two patches (0 - disabled)", "0.01")
 MDEFVAR_OPTDENSE_float(fDepthDiffThreshold, "Depth Diff Threshold", "maximum variance allowed for the depths during refinement", "0.01")
@@ -241,14 +239,14 @@ bool DepthData::Save(const String& fileName) const
 	}
 	return true;
 }
-bool DepthData::Load(const String& fileName)
+bool DepthData::Load(const String& fileName, unsigned flags)
 {
 	// serialize in the saved state
 	String imageFileName;
 	IIndexArr IDs;
 	cv::Size imageSize;
 	Camera camera;
-	if (!ImportDepthDataRaw(fileName, imageFileName, IDs, imageSize, camera.K, camera.R, camera.C, dMin, dMax, depthMap, normalMap, confMap))
+	if (!ImportDepthDataRaw(fileName, imageFileName, IDs, imageSize, camera.K, camera.R, camera.C, dMin, dMax, depthMap, normalMap, confMap, flags))
 		return false;
 	ASSERT(!IsValid() || (IDs.size() == images.size() && IDs.front() == GetView().GetID()));
 	ASSERT(depthMap.size() == imageSize);
@@ -1670,6 +1668,7 @@ bool MVS::ExportPointCloud(const String& fileName, const Image& imageData, const
 
 		// export the array of 3D points
 		Vertex vertex;
+		const Point2f scaleImage(static_cast<float>(depthMap.cols)/imageData.image.cols, static_cast<float>(depthMap.rows)/imageData.image.rows);
 		for (int j=0; j<depthMap.rows; ++j) {
 			for (int i=0; i<depthMap.cols; ++i) {
 				const Depth& depth = depthMap(j,i);
@@ -1678,7 +1677,7 @@ bool MVS::ExportPointCloud(const String& fileName, const Image& imageData, const
 					continue;
 				const Point3f X(P0.TransformPointI2W(Point3(i,j,depth)));
 				vertex.x = X.x; vertex.y = X.y; vertex.z = X.z;
-				const Pixel8U c(imageData.image.empty() ? Pixel8U::WHITE : imageData.image(j,i));
+				const Pixel8U c(imageData.image.empty() ? Pixel8U::WHITE : imageData.image(ROUND2INT(scaleImage.y*j),ROUND2INT(scaleImage.x*i)));
 				vertex.r = c.r; vertex.g = c.g; vertex.b = c.b;
 				ply.put_element(&vertex);
 			}
@@ -1838,7 +1837,7 @@ bool MVS::ImportDepthDataRaw(const String& fileName, String& imageFileName,
 		header.name != HeaderDepthDataRaw::HeaderDepthDataRawName() ||
 		(header.type & HeaderDepthDataRaw::HAS_DEPTH) == 0 ||
 		header.depthWidth <= 0 || header.depthHeight <= 0 ||
-		header.imageWidth < header.depthWidth || header.imageHeight < header.depthHeight)
+		header.imageWidth <= 0 || header.imageHeight <= 0)
 	{
 		DEBUG("error: invalid depth-data file '%s'", fileName.c_str());
 		fclose(f);
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 10f8d724e..918376843 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -87,9 +87,6 @@ enum DepthFlags {
 	ADJUST_FILTER	= (1 << 2),
 	OPTIMIZE		= (REMOVE_SPECKLES|FILL_GAPS)
 };
-#ifdef _USE_CUDA
-extern int nCUDADevice;
-#endif // _USE_CUDA
 extern unsigned nResolutionLevel;
 extern unsigned nMaxResolution;
 extern unsigned nMinResolution;
@@ -100,6 +97,7 @@ extern unsigned nMinViewsFilter;
 extern unsigned nMinViewsFilterAdjust;
 extern unsigned nMinViewsTrustPoint;
 extern unsigned nNumViews;
+extern unsigned nPointInsideROI;
 extern bool bFilterAdjust;
 extern bool bAddCorners;
 extern float fViewMinScore;
@@ -242,7 +240,7 @@ struct MVS_API DepthData {
 	void ApplyIgnoreMask(const BitMatrix&);
 
 	bool Save(const String& fileName) const;
-	bool Load(const String& fileName);
+	bool Load(const String& fileName, unsigned flags=7);
 
 	unsigned GetRef();
 	unsigned IncRef(const String& fileName);
diff --git a/libs/MVS/Interface.h b/libs/MVS/Interface.h
index 7b3d96a0c..fcbb20aed 100644
--- a/libs/MVS/Interface.h
+++ b/libs/MVS/Interface.h
@@ -450,10 +450,11 @@ struct Interface
 		}
 		static Mat33d ScaleK(const Mat33d& _K, double scale) {
 			Mat33d K(_K);
+			const bool bNormalized(K(0,2) < 3 && K(1,2) < 3);
 			K(0,0) *= scale;
 			K(1,1) *= scale;
-			K(0,2) = (K(0,2)+0.5)*scale-0.5;
-			K(1,2) = (K(1,2)+0.5)*scale-0.5;
+			K(0,2) = bNormalized ? K(0,2)*scale : (K(0,2)+0.5)*scale-0.5;
+			K(1,2) = bNormalized ? K(1,2)*scale : (K(1,2)+0.5)*scale-0.5;
 			K(0,1) *= scale;
 			return K;
 		}
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 381ce9de1..3d6389a78 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -55,6 +55,7 @@ struct unary_function {
 #include <vcg/complex/algorithms/smooth.h>
 #include <vcg/complex/algorithms/hole.h>
 #include <vcg/complex/algorithms/polygon_support.h>
+#include <vcg/complex/algorithms/isotropic_remeshing.h>
 // VCG: mesh simplification
 #include <vcg/complex/algorithms/update/position.h>
 #include <vcg/complex/algorithms/update/bounding.h>
@@ -99,6 +100,7 @@ void Mesh::ReleaseExtra()
 	vertexFaces.Release();
 	vertexBoundary.Release();
 	faceNormals.Release();
+	faceFaces.Release();
 	faceTexcoords.Release();
 	textureDiffuse.release();
 } // ReleaseExtra
@@ -109,9 +111,23 @@ void Mesh::EmptyExtra()
 	vertexFaces.Empty();
 	vertexBoundary.Empty();
 	faceNormals.Empty();
+	faceFaces.Empty();
 	faceTexcoords.Empty();
 	textureDiffuse.release();
 } // EmptyExtra
+void Mesh::Swap(Mesh& rhs)
+{
+	vertices.Swap(rhs.vertices);
+	faces.Swap(rhs.faces);
+	vertexNormals.Swap(rhs.vertexNormals);
+	vertexVertices.Swap(rhs.vertexVertices);
+	vertexFaces.Swap(rhs.vertexFaces);
+	vertexBoundary.Swap(rhs.vertexBoundary);
+	faceNormals.Swap(rhs.faceNormals);
+	faceFaces.Swap(rhs.faceFaces);
+	faceTexcoords.Swap(rhs.faceTexcoords);
+	std::swap(textureDiffuse, rhs.textureDiffuse);
+} // Swap
 /*----------------------------------------------------------------*/
 
 
@@ -185,6 +201,46 @@ void Mesh::ListIncidenteFaces()
 	}
 }
 
+// extract array face adjacencies for each face in the mesh (3 * number of faces);
+// each triple describes the adjacent face triangles for a given face
+// in the following edge order: v1v2, v2v3, v3v1;
+// NO_ID indicates there is no adjacent face on that edge
+void Mesh::ListIncidenteFaceFaces()
+{
+	ASSERT(vertexFaces.size() == vertices.size());
+	struct inserter_data_t {
+		const FIndex idxF;
+		FaceFaces& faces;
+		int idx;
+		inline inserter_data_t(FIndex _idxF, FaceFaces& _faces) : idxF(_idxF), faces(_faces), idx(0) {}
+		inline void operator=(FIndex f) { faces[idx++] = f; }
+	};
+	struct face_back_inserter_t {
+		inserter_data_t* data;
+		inline face_back_inserter_t(inserter_data_t& _data) : data(&_data) {}
+		inline face_back_inserter_t& operator*() { return *this; }
+		inline face_back_inserter_t& operator++() { return *this; }
+		inline void operator=(FIndex f) { if (f != data->idxF) *data = f; }
+	};
+	faceFaces.resize(faces.size());
+	FOREACH(f, faces) {
+		const Face& face = faces[f];
+		const FaceIdxArr* const pFaces[] = {&vertexFaces[face[0]], &vertexFaces[face[1]], &vertexFaces[face[2]]};
+		inserter_data_t inserterData(f, faceFaces[f]);
+		face_back_inserter_t faceBackInserter(inserterData);
+		for (int v=0; v<3; ++v) {
+			const FaceIdxArr& facesI = *pFaces[v];
+			const FaceIdxArr& facesJ = *pFaces[(v+1)%3];
+			std::set_intersection(
+				facesI.begin(), facesI.end(),
+				facesJ.begin(), facesJ.end(),
+				faceBackInserter);
+			if (inserterData.idx == v)
+				inserterData = NO_ID;
+		}
+	}
+}
+
 // check each vertex if it is at the boundary or not
 // (make sure you called ListIncidenteFaces() before)
 void Mesh::ListBoundaryVertices()
@@ -227,16 +283,21 @@ void Mesh::ComputeNormalFaces()
 	FOREACH(idxFace, faces)
 		faceNormals[idxFace] = normalized(FaceNormal(faces[idxFace]));
 	#else
-	reportCudaError(kernelComputeFaceNormal((int)faces.GetSize(),
-		vertices,
-		faces,
-		CUDA::KernelRT::OutputParam(faceNormals.GetDataSize()),
-		faces.GetSize()
-	));
-	reportCudaError(kernelComputeFaceNormal.GetResult(0,
-		faceNormals
-	));
-	kernelComputeFaceNormal.Reset();
+	if (kernelComputeFaceNormal.IsValid()) {
+		reportCudaError(kernelComputeFaceNormal((int)faces.GetSize(),
+			vertices,
+			faces,
+			CUDA::KernelRT::OutputParam(faceNormals.GetDataSize()),
+			faces.GetSize()
+		));
+		reportCudaError(kernelComputeFaceNormal.GetResult(0,
+			faceNormals
+		));
+		kernelComputeFaceNormal.Reset();
+	} else {
+		FOREACH(idxFace, faces)
+			faceNormals[idxFace] = normalized(FaceNormal(faces[idxFace]));
+	}
 	#endif
 }
 
@@ -956,7 +1017,7 @@ struct UsedTypes : public vcg::UsedTypes<
 
 class Vertex : public vcg::Vertex<UsedTypes, vcg::vertex::Coord3f, vcg::vertex::Normal3f, vcg::vertex::VFAdj, vcg::vertex::Mark, vcg::vertex::BitFlags> {};
 class Face   : public vcg::Face<  UsedTypes, vcg::face::VertexRef, vcg::face::Normal3f, vcg::face::FFAdj, vcg::face::VFAdj, vcg::face::Mark, vcg::face::BitFlags> {};
-class Edge   : public vcg::Edge<  UsedTypes, vcg::edge::VertexRef> {};
+class Edge   : public vcg::Edge<  UsedTypes, vcg::edge::VertexRef, vcg::edge::Mark, vcg::edge::BitFlags> {};
 
 class Mesh : public vcg::tri::TriMesh< std::vector<Vertex>, std::vector<Face>, std::vector<Edge> > {};
 
@@ -977,7 +1038,7 @@ class QHelper
 	static QuadricTemp &TD() { return *TDp(); }
 };
 
-typedef BasicVertexPair<Vertex> VertexPair;
+typedef vcg::tri::BasicVertexPair<Vertex> VertexPair;
 
 class TriEdgeCollapse : public vcg::tri::TriEdgeCollapseQuadric<Mesh, VertexPair, TriEdgeCollapse, QHelper> {
 public:
@@ -988,7 +1049,7 @@ class TriEdgeCollapse : public vcg::tri::TriEdgeCollapseQuadric<Mesh, VertexPair
 
 // decimate, clean and smooth mesh
 // fDecimate factor is in range (0..1], if 1 no decimation takes place
-void Mesh::Clean(float fDecimate, float fSpurious, bool bRemoveSpikes, unsigned nCloseHoles, unsigned nSmooth, bool bLastClean)
+void Mesh::Clean(float fDecimate, float fSpurious, bool bRemoveSpikes, unsigned nCloseHoles, unsigned nSmooth, float fEdgeLength, bool bLastClean)
 {
 	if (vertices.IsEmpty() || faces.IsEmpty())
 		return;
@@ -1039,7 +1100,6 @@ void Mesh::Clean(float fDecimate, float fSpurious, bool bRemoveSpikes, unsigned
 		vcg::tri::TriEdgeCollapseQuadricParameter pp;
 		pp.QualityThr = 0.3; // Quality Threshold for penalizing bad shaped faces: the value is in the range [0..1], 0 accept any kind of face (no penalties), 0.5 penalize faces with quality < 0.5, proportionally to their shape
 		pp.PreserveBoundary = false; // the simplification process tries to not affect mesh boundaries during simplification
-		pp.BoundaryWeight = 1; // the importance of the boundary during simplification: the value is in the range (0..+inf), default (1.0) means that the boundary has the same importance as the rest; values greater than 1.0 raise boundary importance and has the effect of removing less vertices on the border
 		pp.PreserveTopology = false; // avoid all collapses that cause a topology change in the mesh (like closing holes, squeezing handles, etc); if checked the genus of the mesh should stay unchanged
 		pp.QualityWeight = false; // use the Per-Vertex quality as a weighting factor for the simplification: the weight is used as an error amplification value, so a vertex with a high quality value will not be simplified and a portion of the mesh with low quality values will be aggressively simplified
 		pp.NormalCheck = false; // try to avoid face flipping effects and try to preserve the original orientation of the surface
@@ -1208,6 +1268,28 @@ void Mesh::Clean(float fDecimate, float fSpurious, bool bRemoveSpikes, unsigned
 		DEBUG_ULTIMATE("Smoothed %d vertices", mesh.vn);
 	}
 
+	// remesh
+	if (fEdgeLength > 0) {
+		vcg::tri::Clean<CLEAN::Mesh>::RemoveDuplicateVertex(mesh);
+		vcg::tri::Clean<CLEAN::Mesh>::RemoveUnreferencedVertex(mesh);
+		vcg::tri::Allocator<CLEAN::Mesh>::CompactEveryVector(mesh);
+		CLEAN::Mesh original;
+		vcg::tri::Append<CLEAN::Mesh,CLEAN::Mesh>::MeshCopy(original, mesh);
+		vcg::tri::IsotropicRemeshing<CLEAN::Mesh>::Params params;
+		params.SetTargetLen(fEdgeLength);
+		params.iter = 3;
+		params.surfDistCheck = false;
+		params.maxSurfDist = fEdgeLength * 0.4f;
+		params.cleanFlag = true;
+		params.userSelectedCreases = false;
+		try {
+			vcg::tri::IsotropicRemeshing<CLEAN::Mesh>::Do(mesh, original, params);
+		}
+		catch(vcg::MissingPreconditionException& e) {
+			VERBOSE("error: %s", e.what());
+		}
+	}
+
 	// clean mesh
 	if (bLastClean && (fSpurious > 0 || bRemoveSpikes || nCloseHoles > 0 || nSmooth > 0)) {
 		const int nNonManifoldFaces = vcg::tri::Clean<CLEAN::Mesh>::RemoveNonManifoldFace(mesh);
@@ -2625,7 +2707,7 @@ static void RemoveConnectedComponents(Polyhedron& p, int size_threshold, float e
 	}
 }
 
-// mode : 0 - tangetial; 1 - across the normal
+// mode : 0 - tangential; 1 - across the normal
 inline Vector ComputeVectorComponent(Vector n, Vector v, int mode)
 {
 	ASSERT((mode>=0) && (mode<2));
@@ -2639,7 +2721,7 @@ inline Vector ComputeVectorComponent(Vector n, Vector v, int mode)
 static void Smooth(Polyhedron& p, double delta, int mode=0)
 {
 	// 0 - both components;
-	// 1 - tangetial;
+	// 1 - tangential;
 	// 2 - normal;
 	// 3 - second order;
 	// 4 - combined;
@@ -3889,6 +3971,49 @@ void Mesh::Project(const Camera& camera, DepthMap& depthMap, Image8U3& image) co
 		rasterer.Project(facet);
 	}
 }
+// project mesh to the given camera plane, computing also the normal-map (in camera space)
+void Mesh::Project(const Camera& camera, DepthMap& depthMap, NormalMap& normalMap) const
+{
+	ASSERT(vertexNormals.size() == vertices.size());
+	struct RasterMesh : TRasterMesh<RasterMesh> {
+		typedef TRasterMesh<RasterMesh> Base;
+		const Mesh& mesh;
+		NormalMap& normalMap;
+		const Face::Type* idxVerts;
+		const Matrix3x3f R;
+		RasterMesh(const Mesh& _mesh, const Camera& _camera, DepthMap& _depthMap, NormalMap& _normalMap)
+			: Base(_mesh.vertices, _camera, _depthMap), mesh(_mesh), normalMap(_normalMap), R(camera.R) {}
+		inline void Clear() {
+			Base::Clear();
+			normalMap.memset(0);
+		}
+		inline void Project(const Face& facet) {
+			idxVerts = facet.ptr();
+			Base::Project(facet);
+		}
+		void Raster(const ImageRef& pt, const Point3f& bary) {
+			const Point3f pbary(PerspectiveCorrectBarycentricCoordinates(bary));
+			const Depth z(ComputeDepth(pbary));
+			ASSERT(z > Depth(0));
+			Depth& depth = depthMap(pt);
+			if (depth == Depth(0) || depth > z) {
+				depth = z;
+				normalMap(pt) = R * normalized(
+					mesh.vertexNormals[idxVerts[0]] * pbary[0]+
+					mesh.vertexNormals[idxVerts[1]] * pbary[1]+
+					mesh.vertexNormals[idxVerts[2]] * pbary[2]
+				);
+			}
+		}
+	};
+	if (normalMap.size() != depthMap.size())
+		normalMap.create(depthMap.size());
+	RasterMesh rasterer(*this, camera, depthMap, normalMap);
+	rasterer.Clear();
+	// render the entire mesh
+	for (const Face& facet: faces)
+		rasterer.Project(facet);
+}
 // project mesh to the given camera plane using orthographic projection
 void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap) const
 {
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 00629b9c4..5e8bd0e2a 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -71,6 +71,9 @@ class MVS_API Mesh
 	typedef TPoint2<Type> TexCoord;
 	typedef cList<TexCoord,const TexCoord&,0,8192,FIndex> TexCoordArr;
 
+	typedef TPoint3<FIndex> FaceFaces;
+	typedef cList<FaceFaces,const FaceFaces&,0,8192,FIndex> FaceFacesArr;
+
 	// used to find adjacent face
 	struct FaceCount {
 		int count;
@@ -123,6 +126,7 @@ class MVS_API Mesh
 	BoolArr vertexBoundary; // for each vertex, stores if it is at the boundary or not (optional)
 
 	NormalArr faceNormals; // for each face, the normal to it (optional)
+	FaceFacesArr faceFaces; // for each face, the list of adjacent faces, NO_ID for border edges (optional)
 	TexCoordArr faceTexcoords; // for each face, the texture-coordinates corresponding to the contained vertices (optional)
 
 	Image8U3 textureDiffuse; // texture containing the diffuse color (optional)
@@ -132,15 +136,16 @@ class MVS_API Mesh
 	#endif
 
 public:
+	#ifdef _USE_CUDA
 	inline Mesh() {
-		#ifdef _USE_CUDA
-		InitKernels();
-		#endif
+		InitKernels(CUDA::desiredDeviceID);
 	}
+	#endif
 
 	void Release();
 	void ReleaseExtra();
 	void EmptyExtra();
+	void Swap(Mesh&);
 	inline bool IsEmpty() const { return vertices.IsEmpty(); }
 	inline bool HasTexture() const { ASSERT(faceTexcoords.IsEmpty() == textureDiffuse.empty()); return !faceTexcoords.IsEmpty(); }
 
@@ -150,6 +155,7 @@ class MVS_API Mesh
 
 	void ListIncidenteVertices();
 	void ListIncidenteFaces();
+	void ListIncidenteFaceFaces();
 	void ListBoundaryVertices();
 	void ComputeNormalFaces();
 	void ComputeNormalVertices();
@@ -161,7 +167,7 @@ class MVS_API Mesh
 	void GetAdjVertexFaces(VIndex, VIndex, FaceIdxArr&) const;
 
 	bool FixNonManifold();
-	void Clean(float fDecimate=0.7f, float fSpurious=10.f, bool bRemoveSpikes=true, unsigned nCloseHoles=30, unsigned nSmoothMesh=2, bool bLastClean=true);
+	void Clean(float fDecimate=0.7f, float fSpurious=10.f, bool bRemoveSpikes=true, unsigned nCloseHoles=30, unsigned nSmoothMesh=2, float fEdgeLength=0, bool bLastClean=true);
 
 	void EnsureEdgeSize(float minEdge=-0.5f, float maxEdge=-4.f, float collapseRatio=0.2, float degenerate_angle_deg=150, int mode=1, int max_iters=50);
 
@@ -199,6 +205,7 @@ class MVS_API Mesh
 
 	void Project(const Camera& camera, DepthMap& depthMap) const;
 	void Project(const Camera& camera, DepthMap& depthMap, Image8U3& image) const;
+	void Project(const Camera& camera, DepthMap& depthMap, NormalMap& normalMap) const;
 	void ProjectOrtho(const Camera& camera, DepthMap& depthMap) const;
 	void ProjectOrtho(const Camera& camera, DepthMap& depthMap, Image8U3& image) const;
 	void ProjectOrthoTopDown(unsigned resolution, Image8U3& image, Image8U& mask, Point3& center) const;
diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
index 1603e38a0..9579a76f7 100644
--- a/libs/MVS/PatchMatchCUDA.cpp
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -206,7 +206,7 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 		camera.height = image.rows;
 		camera.width = image.cols;
 		// store camera and image
-		if (i == 0 && prevNumImages < numImages) {
+		if (i == 0 && (prevNumImages < numImages || images[0].size() != image.size())) {
 			// allocate/reallocate PatchMatch CUDA memory
 			if (prevNumImages > 0)
 				ReleaseCUDA();
diff --git a/libs/MVS/PatchMatchCUDA.cu b/libs/MVS/PatchMatchCUDA.cu
index d295ae1a8..7fe1d4e1d 100644
--- a/libs/MVS/PatchMatchCUDA.cu
+++ b/libs/MVS/PatchMatchCUDA.cu
@@ -202,6 +202,18 @@ __device__ inline Point3 GeneratePerturbedNormal(const PatchMatchCUDA::Camera& c
 	return normalPerturbed.normalized();
 }
 
+// randomly perturb a normal
+__device__ inline float GeneratePerturbedDepth(float depth, RandState* randState, const float perturbation, const PatchMatchCUDA::Params& params)
+{
+	const float depthMinPerturbed = (1.f - perturbation) * depth;
+	const float depthMaxPerturbed = (1.f + perturbation) * depth;
+	float depthPerturbed;
+	do {
+		depthPerturbed = curand_uniform(randState) * (depthMaxPerturbed - depthMinPerturbed) + depthMinPerturbed;
+	} while (depthPerturbed < params.fDepthMin && depthPerturbed > params.fDepthMax);
+	return depthPerturbed;
+}
+
 // interpolate given pixel's estimate to the current position
 __device__ inline float InterpolatePixel(const PatchMatchCUDA::Camera& camera, const Point2i& p, const Point2i& np, float depth, const Point3& normal, const PatchMatchCUDA::Params& params)
 {
@@ -332,7 +344,8 @@ __device__ float ScorePlane(const ImagePixels refImage, const PatchMatchCUDA::Ca
 		return maxCost;
 	const float covarTrgRef = sumRefTrg * bilateralWeightSum - sumRef * sumTrg;
 	const float varRefTrg = sqrt(varRef * varTrg);
-	return max(0.f, min(maxCost, 1.f - covarTrgRef / varRefTrg));
+	const float ncc = 1.f - covarTrgRef / varRefTrg;
+	return max(0.f, min(maxCost, ncc));
 }
 
 // compute photometric score for all neighbor images
@@ -372,7 +385,6 @@ __device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depth
 		return;
 	const int idx = Point2Idx(p, width);
 	RandState* randState = &randStates[idx];
-	Point4& plane = planes[idx];
 
 	// adaptive sampling: 0 up-near, 1 down-near, 2 left-near, 3 right-near, 4 up-far, 5 down-far, 6 left-far, 7 right-far
 	static constexpr int2 dirs[8][11] = {
@@ -466,6 +478,8 @@ __device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depth
 	}
 
 	// propagate best neighbor plane
+	Point4& plane = planes[idx];
+	float& cost = costs[idx];
 	unsigned newSelectedViews = 0;
 	for (int imgId = 0; imgId < params.nNumViews; ++imgId)
 		if (viewWeights[imgId])
@@ -476,25 +490,20 @@ __device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depth
 	const int minCostIdx = FindMinIndex(finalCosts, 8);
 	float costVector[MAX_VIEWS];
 	MultiViewScorePlane(images, depthImages, cameras, p, plane, costVector, params);
-	float cost = AggregateMultiViewScores(viewWeights, costVector, params.nNumViews) / NUM_SAMPLES;
-	costs[idx] = cost;
+	cost = AggregateMultiViewScores(viewWeights, costVector, params.nNumViews) / NUM_SAMPLES;
 	if (finalCosts[minCostIdx] < cost && valid[minCostIdx]) {
 		plane = planes[positions[minCostIdx]];
 		plane.w() = neighborDepths[minCostIdx];
-		costs[idx] = finalCosts[minCostIdx];
+		cost = finalCosts[minCostIdx];
 		selectedViews[idx] = newSelectedViews;
 	}
 	const float depth = plane.w();
 
 	// refine estimate
-	constexpr float perturbation = 0.01f;
-	const float depthMinPerturbed = (1.f - perturbation) * depth;
-	const float depthMaxPerturbed = (1.f + perturbation) * depth;
-	float depthPerturbed;
-	do {
-		depthPerturbed = curand_uniform(randState) * (depthMaxPerturbed - depthMinPerturbed) + depthMinPerturbed;
-	} while (depthPerturbed < params.fDepthMin && depthPerturbed > params.fDepthMax);
-	const Point3 perturbedNormal = GeneratePerturbedNormal(cameras[0], p, plane.topLeftCorner<3,1>(), randState, perturbation * (float)M_PI);
+	constexpr float perturbationDepth = 0.005f;
+	constexpr float perturbationNormal = 0.01f * (float)M_PI;
+	const float depthPerturbed = GeneratePerturbedDepth(depth, randState, perturbationDepth, params);
+	const Point3 perturbedNormal = GeneratePerturbedNormal(cameras[0], p, plane.topLeftCorner<3,1>(), randState, perturbationNormal);
 	const Point3 normalRand = GenerateRandomNormal(cameras[0], p, randState);
 	int numValidPlanes = 3;
 	Point3 surfaceNormal;
@@ -526,9 +535,8 @@ __device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depth
 }
 
 // compute the score of the current plane estimate
-__global__ void InitializeScore(const cudaTextureObject_t* images, const cudaTextureObject_t* depthImages, PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params)
+__device__ void InitializePixelScore(const ImagePixels *images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, RandState* randStates, unsigned* selectedViews, const Point2i& p, const PatchMatchCUDA::Params params)
 {
-	const Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
 	const int width = cameras[0].width;
 	const int height = cameras[0].height;
 	if (p.x() >= width || p.y() >= height)
@@ -543,13 +551,13 @@ __global__ void InitializeScore(const cudaTextureObject_t* images, const cudaTex
 		// generate random plane
 		plane.topLeftCorner<3,1>() = GenerateRandomNormal(cameras[0], p, randState);
 		plane.w() = curand_uniform(randState) * (params.fDepthMax - params.fDepthMin) + params.fDepthMin;
-	} else if (plane.topLeftCorner<3,1>().dot(ViewDirection(cameras[0], p)) >= 0.f){
+	} else if (plane.topLeftCorner<3,1>().dot(ViewDirection(cameras[0], p)) >= 0.f) {
 		// generate random normal
 		plane.topLeftCorner<3,1>() = GenerateRandomNormal(cameras[0], p, randState);
 	}
 	// compute costs
 	float costVector[MAX_VIEWS];
-	MultiViewScorePlane((const ImagePixels*)images, (const ImagePixels*)depthImages, cameras, p, plane, costVector, params);
+	MultiViewScorePlane(images, depthImages, cameras, p, plane, costVector, params);
 	// select best views
 	float costVectorSorted[MAX_VIEWS];
 	Sort(costVector, costVectorSorted, params.nNumViews);
@@ -557,22 +565,27 @@ __global__ void InitializeScore(const cudaTextureObject_t* images, const cudaTex
 	for (int i = 0; i < params.nInitTopK; ++i)
 		cost += costVectorSorted[i];
 	const float costThreshold = costVectorSorted[params.nInitTopK - 1];
-	unsigned selectedView = selectedViews[idx];
+	unsigned& selectedView = selectedViews[idx];
 	selectedView = 0;
 	for (int imgId = 0; imgId < params.nNumViews; ++imgId)
 		if (costVector[imgId] <= costThreshold)
 			SetBit(selectedView, imgId);
 	costs[idx] = cost / params.nInitTopK;
 }
+__global__ void InitializeScore(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params)
+{
+	const Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
+	InitializePixelScore((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, costs, (RandState*)randStates, selectedViews, p, params);
+}
 
 // traverse image in a back/red checkerboard pattern
-__global__ void BlackPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params, const int iter)
+__global__ void BlackPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params, const int iter)
 {
 	Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
 	p.y() = p.y() * 2 + (threadIdx.x % 2 == 0 ? 0 : 1);
 	ProcessPixel((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, costs, (RandState*)randStates, selectedViews, p, params, iter);
 }
-__global__ void RedPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params, const int iter)
+__global__ void RedPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params, const int iter)
 {
 	Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
 	p.y() = p.y() * 2 + (threadIdx.x % 2 == 0 ? 1 : 0);
@@ -583,12 +596,12 @@ __global__ void RedPixelProcess(const cudaTextureObject_t* textureImages, const
 
 __host__ void PatchMatchCUDA::RunCUDA()
 {
-	constexpr unsigned BLOCK_W = 32;
-	constexpr unsigned BLOCK_H = (BLOCK_W / 2);
-
 	const unsigned width = cameras[0].width;
 	const unsigned height = cameras[0].height;
 
+	constexpr unsigned BLOCK_W = 32;
+	constexpr unsigned BLOCK_H = (BLOCK_W / 2);
+
 	const dim3 blockSize(BLOCK_W, BLOCK_H, 1);
 	const dim3 gridSizeInitialize((width + BLOCK_H - 1) / BLOCK_H, (height + BLOCK_H - 1) / BLOCK_H, 1);
 	const dim3 gridSizeCheckerboard((width + BLOCK_W - 1) / BLOCK_W, ((height / 2) + BLOCK_H - 1) / BLOCK_H, 1);
@@ -596,10 +609,10 @@ __host__ void PatchMatchCUDA::RunCUDA()
 	InitializeScore<<<gridSizeInitialize, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params);
 	cudaDeviceSynchronize();
 
-	for (int i = 0; i < params.nEstimationIters; ++i) {
-		BlackPixelProcess<<<gridSizeCheckerboard, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, i);
+	for (int iter = 0; iter < params.nEstimationIters; ++iter) {
+		BlackPixelProcess<<<gridSizeCheckerboard, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, iter);
 		cudaDeviceSynchronize();
-		RedPixelProcess<<<gridSizeCheckerboard, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, i);
+		RedPixelProcess<<<gridSizeCheckerboard, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, iter);
 		cudaDeviceSynchronize();
 	}
 
diff --git a/libs/MVS/PointCloud.cpp b/libs/MVS/PointCloud.cpp
index 446ff22e7..870664c43 100644
--- a/libs/MVS/PointCloud.cpp
+++ b/libs/MVS/PointCloud.cpp
@@ -97,11 +97,11 @@ PointCloud::Box PointCloud::GetAABB(const Box& bound) const
 // with more than the given number of views
 PointCloud::Box PointCloud::GetAABB(unsigned minViews) const
 {
-	if (pointViews.IsEmpty())
+	if (pointViews.empty())
 		return GetAABB();
 	Box box(true);
 	FOREACH(idx, points)
-		if (pointViews[idx].GetSize() >= minViews)
+		if (pointViews[idx].size() >= minViews)
 			box.InsertFull(points[idx]);
 	return box;
 }
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index a7ad1ae11..6f642ea83 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -378,6 +378,18 @@ bool Scene::LoadDMAP(const String& fileName)
 	image.image = imageDepth;
 	cv::resize(image.image, image.image, imageSize);
 
+	#if TD_VERBOSE != TD_VERBOSE_OFF
+	if (VERBOSITY_LEVEL > 2) {
+		ExportDepthMap(ComposeDepthFilePath(image.ID, "png"), depthMap);
+		ExportConfidenceMap(ComposeDepthFilePath(image.ID, "conf.png"), confMap);
+		ExportPointCloud(ComposeDepthFilePath(image.ID, "ply"), image, depthMap, normalMap);
+		if (VERBOSITY_LEVEL > 4) {
+			ExportNormalMap(ComposeDepthFilePath(image.ID, "normal.png"), normalMap);
+			confMap.Save(ComposeDepthFilePath(image.ID, "conf.pfm"));
+		}
+	}
+	#endif
+
 	DEBUG_EXTRA("Scene loaded from depth-map format - %dx%d size, %.2f%%%% coverage (%s):\n"
 		"\t1 images (1 calibrated) with a total of %.2f MPixels (%.2f MPixels/image)\n"
 		"\t%u points, 0 lines",
@@ -434,6 +446,28 @@ bool Scene::LoadViewNeighbors(const String& fileName)
 	DEBUG_EXTRA("View neighbors list loaded (%s)", TD_TIMER_GET_FMT().c_str());
 	return true;
 } // LoadViewNeighbors
+bool Scene::SaveViewNeighbors(const String& fileName) const
+{
+	ASSERT(ImagesHaveNeighbors());
+
+	TD_TIMER_STARTD();
+	
+	File file(fileName, File::WRITE, File::CREATE | File::TRUNCATE);
+	if (!file.isOpen()) {
+		VERBOSE("error: unable to write file '%s'", fileName.c_str());
+		return false;
+	}
+	FOREACH(ID, images) {
+		const Image& imageData = images[ID];
+		file.print("%u", ID);
+		for (const ViewScore& neighbor: imageData.neighbors)
+			file.print(" %u", neighbor.idx.ID);
+		file.print("\n");
+	}
+
+	DEBUG_EXTRA("View neighbors list saved (%s)", TD_TIMER_GET_FMT().c_str());
+	return true;
+} // SaveViewNeighbors
 /*----------------------------------------------------------------*/
 
 // try to load known point-cloud or mesh files
@@ -628,6 +662,65 @@ void Scene::SampleMeshWithVisibility(unsigned maxResolution)
 } // SampleMeshWithVisibility
 /*----------------------------------------------------------------*/
 
+bool Scene::ExportMeshToDepthMaps(const String& baseName)
+{
+	ASSERT(!images.empty() && !mesh.IsEmpty());
+	const String ext(Util::getFileExt(baseName).ToLower());
+	const int nType(ext == _T(".dmap") ? 2 : (ext == _T(".pfm") ? 1 : 0));
+	if (nType == 2)
+		mesh.ComputeNormalVertices();
+	DepthMap depthMap;
+	NormalMap normalMap;
+	#ifdef SCENE_USE_OPENMP
+	bool bAbort(false);
+	#pragma omp parallel for private(depthMap, normalMap) schedule(dynamic)
+	for (int _i=0; _i<(int)images.size(); ++_i) {
+		#pragma omp flush (bAbort)
+		if (bAbort)
+			continue;
+		const IIndex idxImage((IIndex)_i);
+	#else
+	FOREACH(idxImage, images) {
+	#endif
+		Image& image = images[idxImage];
+		if (!image.IsValid())
+			continue;
+		const unsigned imageSize(image.RecomputeMaxResolution(OPTDENSE::nResolutionLevel, OPTDENSE::nMinResolution, OPTDENSE::nMaxResolution));
+		image.ResizeImage(imageSize);
+		image.UpdateCamera(platforms);
+		depthMap.create(image.GetSize());
+		if (nType == 2)
+			mesh.Project(image.camera, depthMap, normalMap);
+		else
+			mesh.Project(image.camera, depthMap);
+		const String fileName(Util::insertBeforeFileExt(baseName, String::FormatString("%04u", image.ID)));
+		if ((nType == 2 && ![&]() {
+				IIndexArr IDs(0, image.neighbors.size()+1);
+				IDs.push_back(idxImage);
+				for (const ViewScore& neighbor: image.neighbors)
+					IDs.push_back(neighbor.idx.ID);
+				return ExportDepthDataRaw(fileName, image.name, IDs, image.GetSize(), image.camera.K, image.camera.R, image.camera.C, 0.001f, FLT_MAX, depthMap, normalMap, ConfidenceMap());
+			} ()) ||
+			(nType == 1 && !depthMap.Save(fileName)) ||
+			(nType == 0 && !ExportDepthMap(fileName, depthMap)))
+		{
+			#ifdef SCENE_USE_OPENMP
+			bAbort = true;
+			#pragma omp flush (bAbort)
+			continue;
+			#else
+			return false;
+			#endif
+		}
+	}
+	#ifdef SCENE_USE_OPENMP
+	if (bAbort)
+		return false;
+	#endif
+	return true;
+} // ExportMeshToDepthMaps
+/*----------------------------------------------------------------*/
+
 
 inline float Footprint(const Camera& camera, const Point3f& X) {
 	#if 0
@@ -643,7 +736,8 @@ inline float Footprint(const Camera& camera, const Point3f& X) {
 // and select the best views for reconstructing the dense point-cloud;
 // extract also all 3D points seen by the reference image;
 // (inspired by: "Multi-View Stereo for Community Photo Collections", Goesele, 2007)
-bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews, unsigned nMinPointViews, float fOptimAngle)
+//  - nInsideROI: 0 - ignore ROI, 1 - weight more ROI points, 2 - consider only ROI points
+bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews, unsigned nMinPointViews, float fOptimAngle, unsigned nInsideROI)
 {
 	ASSERT(points.IsEmpty());
 
@@ -664,14 +758,22 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 		nMinPointViews = nCalibratedImages;
 	unsigned nPoints = 0;
 	imageData.avgDepth = 0;
-	const float sigmaAngle(-1.f/(2.f*SQUARE(fOptimAngle*1.3f)));
+	const float sigmaAngleSmall(-1.f/(2.f*SQUARE(fOptimAngle*0.38f)));
+	const float sigmaAngleLarge(-1.f/(2.f*SQUARE(fOptimAngle*0.7f)));
+	const bool bCheckInsideROI(nInsideROI > 0 && IsBounded());
 	FOREACH(idx, pointcloud.points) {
 		const PointCloud::ViewArr& views = pointcloud.pointViews[idx];
 		ASSERT(views.IsSorted());
 		if (views.FindFirst(ID) == PointCloud::ViewArr::NO_INDEX)
 			continue;
-		// store this point
 		const PointCloud::Point& point = pointcloud.points[idx];
+		float wROI(1.f);
+		if (bCheckInsideROI && !obb.Intersects(point)) {
+			if (nInsideROI > 1)
+				continue;
+			wROI = 0.7f;
+		}
+		// store this point
 		if (views.GetSize() >= nMinPointViews)
 			points.Insert((uint32_t)idx);
 		imageData.avgDepth += (float)imageData.camera.PointDepth(point);
@@ -685,7 +787,7 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 			const Image& imageData2 = images[view];
 			const Point3f V2(imageData2.camera.C - Cast<REAL>(point));
 			const float fAngle(ACOS(ComputeAngle<float,float>(V1.ptr(), V2.ptr())));
-			const float wAngle(fAngle<fOptimAngle ? POW(fAngle/fOptimAngle, 1.5f) : EXP(SQUARE(fAngle-fOptimAngle)*sigmaAngle));
+			const float wAngle(EXP(SQUARE(fAngle-fOptimAngle)*(fAngle<fOptimAngle?sigmaAngleSmall:sigmaAngleLarge)));
 			const float footprint2(Footprint(imageData2.camera, point));
 			const float fScaleRatio(footprint1/footprint2);
 			float wScale;
@@ -696,7 +798,7 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 			else
 				wScale = SQUARE(fScaleRatio);
 			Score& score = scores[view];
-			score.score += wAngle * wScale;
+			score.score += MAXF(wAngle,0.1f) * wScale * wROI;
 			score.avgScale += fScaleRatio;
 			score.avgAngle += fAngle;
 			++score.points;
@@ -743,7 +845,7 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 		neighbor.idx.scale = score.avgScale/score.points;
 		neighbor.idx.angle = score.avgAngle/score.points;
 		neighbor.idx.area = area;
-		neighbor.score = score.score*area;
+		neighbor.score = score.score*MAXF(area,0.01f);
 	}
 	neighbors.Sort();
 	#if TD_VERBOSE != TD_VERBOSE_OFF
@@ -875,7 +977,7 @@ unsigned Scene::Split(ImagesChunkArr& chunks, float maxArea, int depthMapStep) c
 			if (!imageData.IsValid())
 				continue;
 			DepthData depthData;
-			depthData.Load(ComposeDepthFilePath(imageData.ID, "dmap"));
+			depthData.Load(ComposeDepthFilePath(imageData.ID, "dmap"), 1);
 			if (depthData.IsEmpty())
 				continue;
 			const IIndex numPointsBegin(visibility.size());
@@ -885,30 +987,35 @@ unsigned Scene::Split(ImagesChunkArr& chunks, float maxArea, int depthMapStep) c
 					const Depth depth = depthData.depthMap(r,c);
 					if (depth <= 0)
 						continue;
-					const Point3f& X = samples.emplace_back(Cast<float>(camera.TransformPointI2W(Point3(c,r,depth))));
+					const Point3f X(Cast<float>(camera.TransformPointI2W(Point3(c,r,depth))));
+					if (IsBounded() && !obb.Intersects(X))
+						continue;
 					areas.emplace_back(Footprint(camera, X)*areaScale);
 					visibility.emplace_back(idxImage);
+					samples.emplace_back(X);
 				}
 			}
 			imageAreas[idxImage] = visibility.size()-numPointsBegin;
 		}
-		#if 0
-		const AABB3f aabb(samples.data(), samples.size());
-		#else
-		// try to find a dominant plane, and set the bounding-box center on the plane bottom
-		OBB3f obb(samples.data(), samples.size());
-		obb.m_ext(0) *= 2;
-		#if 1
-		// dump box for visualization
-		OBB3f::POINT pts[8];
-		obb.GetCorners(pts);
-		PointCloud pc;
-		for (int i=0; i<8; ++i)
-			pc.points.emplace_back(pts[i]);
-		pc.Save(MAKE_PATH("scene_obb.ply"));
-		#endif
-		const AABB3f aabb(obb.GetAABB());
-		#endif
+		const AABB3f aabb(IsBounded() ? obb.GetAABB() : [&samples]() {
+			#if 0
+			return AABB3f(samples.data(), samples.size());
+			#else
+			// try to find a dominant plane, and set the bounding-box center on the plane bottom
+			OBB3f obbSamples(samples.data(), samples.size());
+			obbSamples.m_ext(0) *= 2;
+			#if 1
+			// dump box for visualization
+			OBB3f::POINT pts[8];
+			obbSamples.GetCorners(pts);
+			PointCloud pc;
+			for (int i=0; i<8; ++i)
+				pc.points.emplace_back(pts[i]);
+			pc.Save(MAKE_PATH("scene_obb.ply"));
+			#endif
+			return obbSamples.GetAABB();
+			#endif
+		}());
 		octree.Insert(samples, aabb, [](Octree::IDX_TYPE size, Octree::Type /*radius*/) {
 			return size > 128;
 		});
@@ -1161,3 +1268,97 @@ bool Scene::ExportChunks(const ImagesChunkArr& chunks, const String& path, ARCHI
 	return true;
 } // ExportChunks
 /*----------------------------------------------------------------*/
+
+
+// move scene such that the center is the given point;
+// if center is not given, center it to the center of the bounding-box
+bool Scene::Center(const Point3* pCenter)
+{
+	Point3 center;
+	if (pCenter)
+		center = *pCenter;
+	else if (IsBounded())
+		center = -Point3f(obb.GetCenter());
+	else if (!pointcloud.IsEmpty())
+		center = -Point3f(pointcloud.GetAABB().GetCenter());
+	else if (!mesh.IsEmpty())
+		center = -Point3f(mesh.GetAABB().GetCenter());
+	else
+		return false;
+	const Point3f centerf(Cast<float>(center));
+	if (IsBounded())
+		obb.Translate(centerf);
+	for (Platform& platform: platforms)
+		for (Platform::Pose& pose: platform.poses)
+			pose.C += center;
+	for (Image& image: images)
+		if (image.IsValid())
+			image.UpdateCamera(platforms);
+	for (PointCloud::Point& X: pointcloud.points)
+		X += centerf;
+	for (Mesh::Vertex& X: mesh.vertices)
+		X += centerf;
+	return true;
+} // Center
+
+// scale scene with the given scale;
+// if the scale is not given, scale it such that the bounding-box has largest size 1
+bool Scene::Scale(const REAL* pScale)
+{
+	REAL scale;
+	if (pScale)
+		scale = *pScale;
+	else if (IsBounded())
+		scale = REAL(1)/obb.GetSize().maxCoeff();
+	else if (!pointcloud.IsEmpty())
+		scale = REAL(1)/pointcloud.GetAABB().GetSize().maxCoeff();
+	else if (!mesh.IsEmpty())
+		scale = REAL(1)/mesh.GetAABB().GetSize().maxCoeff();
+	else
+		return false;
+	const float scalef(scale);
+	if (IsBounded())
+		obb.Transform(OBB3f::MATRIX::Identity() * scalef);
+	for (Platform& platform: platforms)
+		for (Platform::Pose& pose: platform.poses)
+			pose.C *= scale;
+	for (Image& image: images)
+		if (image.IsValid())
+			image.UpdateCamera(platforms);
+	for (PointCloud::Point& X: pointcloud.points)
+		X *= scalef;
+	for (Mesh::Vertex& X: mesh.vertices)
+		X *= scalef;
+	return true;
+} // Scale
+
+// scale image resolutions with the given scale or max-resolution;
+// if folderName is specified, the scaled images are stored there
+bool Scene::ScaleImages(unsigned nMaxResolution, REAL scale, const String& folderName)
+{
+	ASSERT(nMaxResolution > 0 || scale > 0);
+	Util::ensureFolder(folderName);
+	FOREACH(idx, images) {
+		Image& image = images[idx];
+		if (!image.IsValid())
+			continue;
+		unsigned nResolutionLevel(0);
+		unsigned nResolution(image.RecomputeMaxResolution(nResolutionLevel, 0));
+		if (scale > 0)
+			nResolution = ROUND2INT(nResolution*scale);
+		if (nMaxResolution > 0 && nResolution > nMaxResolution)
+			nResolution = nMaxResolution;
+		if (!image.ReloadImage(nResolution, !folderName.empty()))
+			return false;
+		image.UpdateCamera(platforms);
+		if (!folderName.empty()) {
+			if (image.ID == NO_ID)
+				image.ID = idx;
+			image.name = folderName + String::FormatString("%05u%s", image.ID, Util::getFileExt(image.name).c_str());
+			image.image.Save(image.name);
+			image.ReleaseImage();
+		}
+	}
+	return true;
+} // ScaleImages
+/*----------------------------------------------------------------*/
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 3c56867de..4eb8b575e 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -76,14 +76,16 @@ class MVS_API Scene
 
 	bool LoadDMAP(const String& fileName);
 	bool LoadViewNeighbors(const String& fileName);
+	bool SaveViewNeighbors(const String& fileName) const;
 	bool Import(const String& fileName);
 
 	bool Load(const String& fileName, bool bImport=false);
 	bool Save(const String& fileName, ARCHIVE_TYPE type=ARCHIVE_DEFAULT) const;
 
 	void SampleMeshWithVisibility(unsigned maxResolution=320);
+	bool ExportMeshToDepthMaps(const String& baseName);
 
-	bool SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews=3, unsigned nMinPointViews=2, float fOptimAngle=FD2R(10));
+	bool SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews=3, unsigned nMinPointViews=2, float fOptimAngle=FD2R(12), unsigned nInsideROI=1);
 	static bool FilterNeighborViews(ViewScoreArr& neighbors, float fMinArea=0.1f, float fMinScale=0.2f, float fMaxScale=2.4f, float fMinAngle=FD2R(3), float fMaxAngle=FD2R(45), unsigned nMaxViews=12);
 
 	bool ExportCamerasMLP(const String& fileName, const String& fileNameScene) const;
@@ -97,6 +99,11 @@ class MVS_API Scene
 	unsigned Split(ImagesChunkArr& chunks, float maxArea, int depthMapStep=8) const;
 	bool ExportChunks(const ImagesChunkArr& chunks, const String& path, ARCHIVE_TYPE type=ARCHIVE_DEFAULT) const;
 
+	// Transform scene
+	bool Center(const Point3* pCenter = NULL);
+	bool Scale(const REAL* pScale = NULL);
+	bool ScaleImages(unsigned nMaxResolution = 0, REAL scale = 0, const String& folderName = String());
+
 	// Dense reconstruction
 	bool DenseReconstruction(int nFusionMode=0);
 	bool ComputeDepthMaps(DenseDepthMapData& data);
@@ -105,7 +112,7 @@ class MVS_API Scene
 	void PointCloudFilter(int thRemove=-1);
 
 	// Mesh reconstruction
-	bool ReconstructMesh(float distInsert=2, bool bUseFreeSpaceSupport=true, unsigned nItersFixNonManifold=4,
+	bool ReconstructMesh(float distInsert=2, bool bUseFreeSpaceSupport=true, bool bUseOnlyROI=false, unsigned nItersFixNonManifold=4,
 						 float kSigma=2.f, float kQual=1.f, float kb=4.f,
 						 float kf=3.f, float kRel=0.1f/*max 0.3*/, float kAbs=1000.f/*min 500*/, float kOutl=400.f/*max 700.f*/,
 						 float kInf=(float)(INT_MAX/8));
@@ -117,7 +124,7 @@ class MVS_API Scene
 	#endif
 
 	// Mesh texturing
-	bool TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, float fOutlierThreshold=0.f, float fRatioDataSmoothness=0.3f, bool bGlobalSeamLeveling=true, bool bLocalSeamLeveling=true, unsigned nTextureSizeMultiple=0, unsigned nRectPackingHeuristic=3, Pixel8U colEmpty=Pixel8U(255,127,39));
+	bool TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, float fOutlierThreshold=0.f, float fRatioDataSmoothness=0.3f, bool bGlobalSeamLeveling=true, bool bLocalSeamLeveling=true, unsigned nTextureSizeMultiple=0, unsigned nRectPackingHeuristic=3, Pixel8U colEmpty=Pixel8U(255,127,39), const IIndexArr& views=IIndexArr());
 
 	#ifdef _USE_BOOST
 	// implement BOOST serialization
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 9fe6ce358..f749932d1 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -276,7 +276,7 @@ bool DepthMapsData::SelectViews(DepthData& depthData)
 	const IIndex idxImage((IIndex)(&depthData-arrDepthData.Begin()));
 	ASSERT(depthData.neighbors.IsEmpty());
 	if (scene.images[idxImage].neighbors.empty() &&
-		!scene.SelectNeighborViews(idxImage, depthData.points, OPTDENSE::nMinViews, OPTDENSE::nMinViewsTrustPoint>1?OPTDENSE::nMinViewsTrustPoint:2, FD2R(OPTDENSE::fOptimAngle)))
+		!scene.SelectNeighborViews(idxImage, depthData.points, OPTDENSE::nMinViews, OPTDENSE::nMinViewsTrustPoint>1?OPTDENSE::nMinViewsTrustPoint:2, FD2R(OPTDENSE::fOptimAngle), OPTDENSE::nPointInsideROI))
 		return false;
 	depthData.neighbors.CopyOf(scene.images[idxImage].neighbors);
 
@@ -592,7 +592,7 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage, int nGeometricIter)
 
 	// initialize
 	DepthData& depthData(arrDepthData[idxImage]);
-	ASSERT(depthData.images.GetSize() > 1 && !depthData.points.IsEmpty());
+	ASSERT(depthData.images.size() > 1);
 	const DepthData::ViewData& image(depthData.images.First());
 	ASSERT(!image.image.empty() && !depthData.images[1].image.empty());
 	const Image8U::Size size(image.image.size());
@@ -1735,9 +1735,12 @@ bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 
 	#ifdef _USE_CUDA
 	// initialize CUDA
-	if (OPTDENSE::nCUDADevice >= 0 && data.nFusionMode >= 0) {
-		data.depthMaps.pmCUDA = new PatchMatchCUDA(OPTDENSE::nCUDADevice);
-		data.depthMaps.pmCUDA->Init(false);
+	if (CUDA::desiredDeviceID >= -1 && data.nFusionMode >= 0) {
+		data.depthMaps.pmCUDA = new PatchMatchCUDA(CUDA::desiredDeviceID);
+		if (CUDA::devices.IsEmpty())
+			data.depthMaps.pmCUDA.Release();
+		else
+			data.depthMaps.pmCUDA->Init(false);
 	}
 	#endif // _USE_CUDA
 
@@ -1770,7 +1773,7 @@ bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 	if (data.nFusionMode >= 0) {
 		#ifdef _USE_CUDA
 		// initialize CUDA
-		if (OPTDENSE::nCUDADevice >= 0 && OPTDENSE::nEstimationGeometricIters) {
+		if (data.depthMaps.pmCUDA && OPTDENSE::nEstimationGeometricIters) {
 			data.depthMaps.pmCUDA->Release();
 			data.depthMaps.pmCUDA->Init(true);
 		}
diff --git a/libs/MVS/SceneReconstruct.cpp b/libs/MVS/SceneReconstruct.cpp
index 005d975e8..b3fb7d376 100644
--- a/libs/MVS/SceneReconstruct.cpp
+++ b/libs/MVS/SceneReconstruct.cpp
@@ -765,7 +765,7 @@ float computePlaneSphereAngle(const delaunay_t& Tr, const facet_t& facet)
 // Next, the score is computed for all the edges of the directed graph composed of points as vertices.
 // Finally, graph-cut algorithm is used to split the tetrahedrons in inside and outside,
 // and the surface is such extracted.
-bool Scene::ReconstructMesh(float distInsert, bool bUseFreeSpaceSupport, unsigned nItersFixNonManifold,
+bool Scene::ReconstructMesh(float distInsert, bool bUseFreeSpaceSupport, bool bUseOnlyROI, unsigned nItersFixNonManifold,
 							float kSigma, float kQual, float kb,
 							float kf, float kRel, float kAbs, float kOutl,
 							float kInf
@@ -786,8 +786,12 @@ bool Scene::ReconstructMesh(float distInsert, bool bUseFreeSpaceSupport, unsigne
 		std::vector<point_t> vertices(pointcloud.points.GetSize());
 		std::vector<std::ptrdiff_t> indices(pointcloud.points.GetSize());
 		// fetch points
+		if (bUseOnlyROI && !IsBounded())
+			bUseOnlyROI = false;
 		FOREACH(i, pointcloud.points) {
 			const PointCloud::Point& X(pointcloud.points[i]);
+			if (bUseOnlyROI && !obb.Intersects(X))
+				continue;
 			vertices[i] = point_t(X.x, X.y, X.z);
 			indices[i] = i;
 		}
diff --git a/libs/MVS/SceneRefine.cpp b/libs/MVS/SceneRefine.cpp
index 303c0df1b..65f73828d 100644
--- a/libs/MVS/SceneRefine.cpp
+++ b/libs/MVS/SceneRefine.cpp
@@ -488,14 +488,14 @@ void MeshRefine::SubdivideMesh(uint32_t maxArea, float fDecimate, unsigned nClos
 	if (!bNoDecimation) {
 		if (fDecimate > 0.f) {
 			// decimate to the desired resolution
-			scene.mesh.Clean(fDecimate, 0.f, false, nCloseHoles, 0, false);
-			scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0, true);
+			scene.mesh.Clean(fDecimate, 0.f, false, nCloseHoles, 0u, 0.f, false);
+			scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0u, 0.f, true);
 
 			#ifdef MESHOPT_ENSUREEDGESIZE
 			// make sure there are no edges too small or too long
 			if (nEnsureEdgeSize > 0 && bNoSimplification) {
 				scene.mesh.EnsureEdgeSize();
-				scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0, true);
+				scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0u, 0.f, true);
 			}
 			#endif
 
@@ -515,14 +515,14 @@ void MeshRefine::SubdivideMesh(uint32_t maxArea, float fDecimate, unsigned nClos
 				maxAreas.Empty();
 
 				// decimate to the auto detected resolution
-				scene.mesh.Clean(MAXF(0.1f, fMedianArea/fMaxArea), 0.f, false, nCloseHoles, 0, false);
-				scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0, true);
+				scene.mesh.Clean(MAXF(0.1f, fMedianArea/fMaxArea), 0.f, false, nCloseHoles, 0u, 0.f, false);
+				scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0u, 0.f, true);
 
 				#ifdef MESHOPT_ENSUREEDGESIZE
 				// make sure there are no edges too small or too long
 				if (nEnsureEdgeSize > 0 && bNoSimplification) {
 					scene.mesh.EnsureEdgeSize();
-					scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0, true);
+					scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0u, 0.f, true);
 				}
 				#endif
 
@@ -554,7 +554,7 @@ void MeshRefine::SubdivideMesh(uint32_t maxArea, float fDecimate, unsigned nClos
 	#endif
 	{
 		scene.mesh.EnsureEdgeSize();
-		scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0, true);
+		scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0u, 0.f, true);
 	}
 	#endif
 
diff --git a/libs/MVS/SceneRefineCUDA.cpp b/libs/MVS/SceneRefineCUDA.cpp
index a0caa546d..24d0f25e3 100644
--- a/libs/MVS/SceneRefineCUDA.cpp
+++ b/libs/MVS/SceneRefineCUDA.cpp
@@ -2076,7 +2076,7 @@ MeshRefineCUDA::MeshRefineCUDA(Scene& _scene, unsigned _nAlternatePair, float _w
 	scene(_scene),
 	images(_scene.images)
 {
-	if (!InitKernels())
+	if (!InitKernels(CUDA::desiredDeviceID))
 		return;
 	// keep only best neighbor views for each image
 	std::unordered_set<uint64_t> mapPairs;
@@ -2380,14 +2380,14 @@ void MeshRefineCUDA::SubdivideMesh(uint32_t maxArea, float fDecimate, unsigned n
 	if (!bNoDecimation) {
 		if (fDecimate > 0.f) {
 			// decimate to the desired resolution
-			scene.mesh.Clean(fDecimate, 0.f, false, nCloseHoles, 0, false);
-			scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0, true);
+			scene.mesh.Clean(fDecimate, 0.f, false, nCloseHoles, 0u, 0.f, false);
+			scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0u, 0.f, true);
 
 			#ifdef MESHOPT_ENSUREEDGESIZE
 			// make sure there are no edges too small or too long
 			if (nEnsureEdgeSize > 0 && bNoSimplification) {
 				scene.mesh.EnsureEdgeSize();
-				scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0, true);
+				scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0u, 0.f, true);
 			}
 			#endif
 
@@ -2407,14 +2407,14 @@ void MeshRefineCUDA::SubdivideMesh(uint32_t maxArea, float fDecimate, unsigned n
 				maxAreas.Empty();
 
 				// decimate to the auto detected resolution
-				scene.mesh.Clean(MAXF(0.1f, medianArea/maxArea), 0.f, false, nCloseHoles, 0, false);
-				scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0, true);
+				scene.mesh.Clean(MAXF(0.1f, medianArea/maxArea), 0.f, false, nCloseHoles, 0u, 0.f, false);
+				scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0u, 0.f, true);
 
 				#ifdef MESHOPT_ENSUREEDGESIZE
 				// make sure there are no edges too small or too long
 				if (nEnsureEdgeSize > 0 && bNoSimplification) {
 					scene.mesh.EnsureEdgeSize();
-					scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0, true);
+					scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0u, 0.f, true);
 				}
 				#endif
 
@@ -2446,7 +2446,7 @@ void MeshRefineCUDA::SubdivideMesh(uint32_t maxArea, float fDecimate, unsigned n
 	#endif
 	{
 		scene.mesh.EnsureEdgeSize();
-		scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0, true);
+		scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0u, 0.f, true);
 	}
 	#endif
 
diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index 084a5fa5b..a064846fa 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -370,13 +370,13 @@ struct MeshTexture {
 
 	void ListVertexFaces();
 
-	bool ListCameraFaces(FaceDataViewArr&, float fOutlierThreshold);
+	bool ListCameraFaces(FaceDataViewArr&, float fOutlierThreshold, const IIndexArr& views);
 
 	#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
 	bool FaceOutlierDetection(FaceDataArr& faceDatas, float fOutlierThreshold) const;
 	#endif
 
-	bool FaceViewSelection(float fOutlierThreshold, float fRatioDataSmoothness);
+	bool FaceViewSelection(float fOutlierThreshold, float fRatioDataSmoothness, const IIndexArr& views);
 
 	void CreateSeamVertices();
 	void GlobalSeamLeveling();
@@ -426,6 +426,7 @@ struct MeshTexture {
 	// valid the entire time
 	Mesh::VertexFacesArr& vertexFaces; // for each vertex, the list of faces containing it
 	BoolArr& vertexBoundary; // for each vertex, stores if it is at the boundary or not
+	Mesh::FaceFacesArr& faceFaces; // for each face, the list of adjacent faces, NO_ID for border edges (optional)
 	Mesh::TexCoordArr& faceTexcoords; // for each face, the texture-coordinates of the vertices
 	Image8U3& textureDiffuse; // texture containing the diffuse color
 
@@ -443,6 +444,7 @@ MeshTexture::MeshTexture(Scene& _scene, unsigned _nResolutionLevel, unsigned _nM
 	nMinResolution(_nMinResolution),
 	vertexFaces(_scene.mesh.vertexFaces),
 	vertexBoundary(_scene.mesh.vertexBoundary),
+	faceFaces(_scene.mesh.faceFaces),
 	faceTexcoords(_scene.mesh.faceTexcoords),
 	textureDiffuse(_scene.mesh.textureDiffuse),
 	vertices(_scene.mesh.vertices),
@@ -455,6 +457,7 @@ MeshTexture::~MeshTexture()
 {
 	vertexFaces.Release();
 	vertexBoundary.Release();
+	faceFaces.Release();
 }
 
 // extract array of triangles incident to each vertex
@@ -464,18 +467,24 @@ void MeshTexture::ListVertexFaces()
 	scene.mesh.EmptyExtra();
 	scene.mesh.ListIncidenteFaces();
 	scene.mesh.ListBoundaryVertices();
+	scene.mesh.ListIncidenteFaceFaces();
 }
 
 // extract array of faces viewed by each image
-bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThreshold)
+bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThreshold, const IIndexArr& _views)
 {
 	// create faces octree
 	Mesh::Octree octree;
 	Mesh::FacesInserter::CreateOctree(octree, scene.mesh);
 
 	// extract array of faces viewed by each image
-	facesDatas.Resize(faces.GetSize());
-	Util::Progress progress(_T("Initialized views"), images.GetSize());
+	IIndexArr views(_views);
+	if (views.empty()) {
+		views.resize(images.size());
+		std::iota(views.begin(), views.end(), IIndex(0));
+	}
+	facesDatas.Resize(faces.size());
+	Util::Progress progress(_T("Initialized views"), views.size());
 	typedef float real;
 	TImage<real> imageGradMag;
 	TImage<real>::EMat mGrad[2];
@@ -484,15 +493,15 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 	#ifdef TEXOPT_USE_OPENMP
 	bool bAbort(false);
 	#pragma omp parallel for private(imageGradMag, mGrad, faceMap, depthMap)
-	for (int_t idx=0; idx<(int_t)images.GetSize(); ++idx) {
+	for (int_t idx=0; idx<(int_t)views.size(); ++idx) {
 		#pragma omp flush (bAbort)
 		if (bAbort) {
 			++progress;
 			continue;
 		}
-		const uint32_t idxView((uint32_t)idx);
+		const IIndex idxView(views[(IIndex)idx]);
 	#else
-	FOREACH(idxView, images) {
+	for (IIndex idxView: views) {
 	#endif
 		Image& imageData = images[idxView];
 		if (!imageData.IsValid()) {
@@ -796,7 +805,7 @@ bool MeshTexture::FaceOutlierDetection(FaceDataArr& faceDatas, float thOutlier)
 }
 #endif
 
-bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmoothness)
+bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmoothness, const IIndexArr& views)
 {
 	// extract array of triangles incident to each vertex
 	ListVertexFaces();
@@ -805,7 +814,7 @@ bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmo
 	{
 		// list all views for each face
 		FaceDataViewArr facesDatas;
-		if (!ListCameraFaces(facesDatas, fOutlierThreshold))
+		if (!ListCameraFaces(facesDatas, fOutlierThreshold, views))
 			return false;
 
 		// create faces graph
@@ -820,11 +829,10 @@ bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmo
 			}
 			Mesh::FaceIdxArr afaces;
 			FOREACH(idxFace, faces) {
-				scene.mesh.GetFaceFaces(idxFace, afaces);
-				ASSERT(ISINSIDE((int)afaces.GetSize(), 1, 4));
-				FOREACHPTR(pIdxFace, afaces) {
-					const FIndex idxFaceAdj = *pIdxFace;
-					if (idxFace >= idxFaceAdj)
+				const Mesh::FaceFaces& afaces = faceFaces[idxFace];
+				for (int v=0; v<3; ++v) {
+					const FIndex idxFaceAdj = afaces[v];
+					if (idxFaceAdj == NO_ID || idxFace >= idxFaceAdj)
 						continue;
 					const bool bInvisibleFace(facesDatas[idxFace].IsEmpty());
 					const bool bInvisibleFaceAdj(facesDatas[idxFaceAdj].IsEmpty());
@@ -835,112 +843,68 @@ bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmo
 					}
 					boost::add_edge(idxFace, idxFaceAdj, graph);
 				}
-				afaces.Empty();
 			}
-			ASSERT((Mesh::FIndex)boost::num_vertices(graph) == faces.GetSize());
+			faceFaces.Release();
+			ASSERT((Mesh::FIndex)boost::num_vertices(graph) == faces.size());
 		}
 
 		// assign the best view to each face
-		LabelArr labels(faces.GetSize());
-		components.Resize(faces.GetSize());
+		LabelArr labels(faces.size());
+		components.Resize(faces.size());
 		{
-			// find connected components
-			const FIndex nComponents(boost::connected_components(graph, components.Begin()));
-
-			// map face ID from global to component space
-			typedef cList<NodeID, NodeID, 0, 128, NodeID> NodeIDs;
-			NodeIDs nodeIDs(faces.GetSize());
-			NodeIDs sizes(nComponents);
-			sizes.Memset(0);
-			FOREACH(c, components)
-				nodeIDs[c] = sizes[components[c]]++;
-
 			// normalize quality values
 			float maxQuality(0);
-			FOREACHPTR(pFaceDatas, facesDatas) {
-				const FaceDataArr& faceDatas = *pFaceDatas;
-				FOREACHPTR(pFaceData, faceDatas)
-					if (maxQuality < pFaceData->quality)
-						maxQuality = pFaceData->quality;
+			for (const FaceDataArr& faceDatas: facesDatas) {
+				for (const FaceData& faceData: faceDatas)
+					if (maxQuality < faceData.quality)
+						maxQuality = faceData.quality;
 			}
 			Histogram32F hist(std::make_pair(0.f, maxQuality), 1000);
-			FOREACHPTR(pFaceDatas, facesDatas) {
-				const FaceDataArr& faceDatas = *pFaceDatas;
-				FOREACHPTR(pFaceData, faceDatas)
-					hist.Add(pFaceData->quality);
+			for (const FaceDataArr& faceDatas: facesDatas) {
+				for (const FaceData& faceData: faceDatas)
+					hist.Add(faceData.quality);
 			}
 			const float normQuality(hist.GetApproximatePermille(0.95f));
 
 			#if TEXOPT_INFERENCE == TEXOPT_INFERENCE_LBP
 			// initialize inference structures
-			CLISTDEFIDX(LBPInference,FIndex) inferences(nComponents);
-			{
-				FOREACH(s, sizes) {
-					const NodeID numNodes(sizes[s]);
-					ASSERT(numNodes > 0);
-					if (numNodes <= 1)
-						continue;
-					LBPInference& inference = inferences[s];
-					inference.SetNumNodes(numNodes);
-					inference.SetSmoothCost(SmoothnessPotts);
-				}
+			const LBPInference::EnergyType MaxEnergy(fRatioDataSmoothness*LBPInference::MaxEnergy);
+			LBPInference inference; {
+				inference.SetNumNodes(faces.size());
+				inference.SetSmoothCost(SmoothnessPotts);
 				EdgeOutIter ei, eie;
 				FOREACH(f, faces) {
-					LBPInference& inference = inferences[components[f]];
 					for (boost::tie(ei, eie) = boost::out_edges(f, graph); ei != eie; ++ei) {
 						ASSERT(f == (FIndex)ei->m_source);
 						const FIndex fAdj((FIndex)ei->m_target);
-						ASSERT(components[f] == components[fAdj]);
+						ASSERT(components.empty() || components[f] == components[fAdj]);
 						if (f < fAdj) // add edges only once
-							inference.SetNeighbors(nodeIDs[f], nodeIDs[fAdj]);
+							inference.SetNeighbors(f, fAdj);
 					}
+					// set costs for label 0 (undefined)
+					inference.SetDataCost((Label)0, f, MaxEnergy);
 				}
 			}
 
-			// set data costs
-			{
-				const LBPInference::EnergyType MaxEnergy(fRatioDataSmoothness*LBPInference::MaxEnergy);
-				// set costs for label 0 (undefined)
-				FOREACH(s, inferences) {
-					LBPInference& inference = inferences[s];
-					if (inference.GetNumNodes() == 0)
-						continue;
-					const NodeID numNodes(sizes[s]);
-					for (NodeID nodeID=0; nodeID<numNodes; ++nodeID)
-						inference.SetDataCost((Label)0, nodeID, MaxEnergy);
-				}
-				// set data costs for all labels (except label 0 - undefined)
-				FOREACH(f, facesDatas) {
-					LBPInference& inference = inferences[components[f]];
-					if (inference.GetNumNodes() == 0)
-						continue;
-					const FaceDataArr& faceDatas = facesDatas[f];
-					const NodeID nodeID(nodeIDs[f]);
-					FOREACHPTR(pFaceData, faceDatas) {
-						const FaceData& faceData = *pFaceData;
-						const Label label((Label)faceData.idxView+1);
-						const float normalizedQuality(faceData.quality>=normQuality ? 1.f : faceData.quality/normQuality);
-						const float dataCost((1.f-normalizedQuality)*MaxEnergy);
-						inference.SetDataCost(label, nodeID, dataCost);
-					}
+			// set data costs for all labels (except label 0 - undefined)
+			FOREACH(f, facesDatas) {
+				const FaceDataArr& faceDatas = facesDatas[f];
+				for (const FaceData& faceData: faceDatas) {
+					const Label label((Label)faceData.idxView+1);
+					const float normalizedQuality(faceData.quality>=normQuality ? 1.f : faceData.quality/normQuality);
+					const float dataCost((1.f-normalizedQuality)*MaxEnergy);
+					inference.SetDataCost(label, f, dataCost);
 				}
 			}
 
 			// assign the optimal view (label) to each face
 			// (label 0 is reserved as undefined)
-			FOREACH(s, inferences) {
-				LBPInference& inference = inferences[s];
-				if (inference.GetNumNodes() == 0)
-					continue;
-				inference.Optimize();
-			}
+			inference.Optimize();
+
 			// extract resulting labeling
 			labels.Memset(0xFF);
 			FOREACH(l, labels) {
-				LBPInference& inference = inferences[components[l]];
-				if (inference.GetNumNodes() == 0)
-					continue;
-				const Label label(inference.GetLabel(nodeIDs[l]));
+				const Label label(inference.GetLabel(l));
 				ASSERT(label < images.GetSize()+1);
 				if (label > 0)
 					labels[l] = label-1;
@@ -948,6 +912,17 @@ bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmo
 			#endif
 
 			#if TEXOPT_INFERENCE == TEXOPT_INFERENCE_TRWS
+			// find connected components
+			const FIndex nComponents(boost::connected_components(graph, components.data()));
+
+			// map face ID from global to component space
+			typedef cList<NodeID, NodeID, 0, 128, NodeID> NodeIDs;
+			NodeIDs nodeIDs(faces.GetSize());
+			NodeIDs sizes(nComponents);
+			sizes.Memset(0);
+			FOREACH(c, components)
+				nodeIDs[c] = sizes[components[c]]++;
+
 			// initialize inference structures
 			const LabelID numLabels(images.GetSize()+1);
 			CLISTDEFIDX(TRWSInference, FIndex) inferences(nComponents);
@@ -1026,7 +1001,7 @@ bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmo
 		{
 			// divide graph in sub-graphs of connected faces having the same label
 			EdgeIter ei, eie;
-			const PairIdxArr::IDX startLabelSeamEdges(seamEdges.GetSize());
+			const PairIdxArr::IDX startLabelSeamEdges(seamEdges.size());
 			for (boost::tie(ei, eie) = boost::edges(graph); ei != eie; ++ei) {
 				const FIndex fSource((FIndex)ei->m_source);
 				const FIndex fTarget((FIndex)ei->m_target);
@@ -1039,7 +1014,7 @@ bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmo
 
 			// find connected components: texture patches
 			ASSERT((FIndex)boost::num_vertices(graph) == components.GetSize());
-			const FIndex nComponents(boost::connected_components(graph, components.Begin()));
+			const FIndex nComponents(boost::connected_components(graph, components.data()));
 
 			// create texture patches;
 			// last texture patch contains all faces with no texture
@@ -1582,6 +1557,8 @@ void MeshTexture::PoissonBlending(const Image32F3& src, Image32F3& dst, const Im
 	for (int i = 0; i < n; ++i)
 		if (mask(i) != empty)
 			indices(i) = nnz++;
+	if (nnz <= 0)
+		return;
 
 	Colors coeffB(nnz);
 	CLISTDEF0(MatEntry) coeffA(0, nnz);
@@ -1939,14 +1916,14 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 }
 
 // texture mesh
-bool Scene::TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, float fOutlierThreshold, float fRatioDataSmoothness, bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty)
+bool Scene::TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, float fOutlierThreshold, float fRatioDataSmoothness, bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, const IIndexArr& views)
 {
 	MeshTexture texture(*this, nResolutionLevel, nMinResolution);
 
 	// assign the best view to each face
 	{
 		TD_TIMER_STARTD();
-		if (!texture.FaceViewSelection(fOutlierThreshold, fRatioDataSmoothness))
+		if (!texture.FaceViewSelection(fOutlierThreshold, fRatioDataSmoothness, views))
 			return false;
 		DEBUG_EXTRA("Assigning the best view to each face completed: %u faces (%s)", mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
 	}
diff --git a/libs/MVS/SemiGlobalMatcher.cpp b/libs/MVS/SemiGlobalMatcher.cpp
index ef8f4e125..ed6986074 100644
--- a/libs/MVS/SemiGlobalMatcher.cpp
+++ b/libs/MVS/SemiGlobalMatcher.cpp
@@ -1488,7 +1488,7 @@ void SemiGlobalMatcher::ConsistencyCrossCheck(DisparityMap& l2r, const Disparity
 			pixel(-1, r, c);
 }
 
-// Discard disparities that have a hight similarity score
+// Discard disparities that have a high similarity score
 void SemiGlobalMatcher::FilterByCost(DisparityMap& disparityMap, const AccumCostMap& costMap, AccumCost th)
 {
 	ASSERT(th > 0);
diff --git a/libs/Math/LMFit/CHANGELOG b/libs/Math/LMFit/CHANGELOG
index 411c2f64c..d7cdc2f1b 100644
--- a/libs/Math/LMFit/CHANGELOG
+++ b/libs/Math/LMFit/CHANGELOG
@@ -14,7 +14,7 @@ Changes in lmfit-4.0, released 16jul13
   - in consequence thereof, new parameter lists for lmcurve and lmmin
 - code cleanup:
   - ensure strict C90 compliance: no C++ comments; replace non-standard
-    struct assignement (reported by Elio Mazzocca, using LCC)
+    struct assignment (reported by Elio Mazzocca, using LCC)
   - revert malloc trick of release 3.4 (readability is more important)
   - source code comment blocks moved around, to reduce duplications
 - build scripts cleanup:
@@ -64,7 +64,7 @@ Changes in lmfit-3.0, released 2mar10 (preview 27feb10):
 - outer iteration counter starting at zero (C style)
 - replace BUG by LMFIT_DEBUG_MESSAGES and .._MATRIX to allow control by -D
 - remove redundant calculation by exchanging workspaces and lm_lmpar output
-- eliminate unncessary wa1 = -wa1 computation
+- eliminate unnecessary wa1 = -wa1 computation
 - avoid passing wa3 to wa1, choose better names for work arrays in lm_par
 - migrate documentation from brain-damaged asciidoc to pod
 - rewrote interface documentation
diff --git a/libs/Math/LMFit/lmmin.cpp b/libs/Math/LMFit/lmmin.cpp
index d7df8eef8..d7865c958 100644
--- a/libs/Math/LMFit/lmmin.cpp
+++ b/libs/Math/LMFit/lmmin.cpp
@@ -1273,7 +1273,7 @@ void lm_qrsolv(int n, double *r, int ldr, int *ipvt, double *diag,
             qtbpj = -_sin * wa[k] + _cos * qtbpj;
             wa[k] = temp;
 
-            /** accumulate the tranformation in the row of s. **/
+            /** accumulate the transformation in the row of s. **/
 
             for (i = k + 1; i < n; i++) {
                 temp = _cos * r[k * ldr + i] + _sin * sdiag[i];
diff --git a/libs/Math/LMFit/lmmin.h b/libs/Math/LMFit/lmmin.h
index 40168058c..cbc5c9ccc 100644
--- a/libs/Math/LMFit/lmmin.h
+++ b/libs/Math/LMFit/lmmin.h
@@ -18,7 +18,7 @@ typedef struct {
     double epsilon;   /* step used to calculate the jacobian, or 0 for user provided jacobian. */
     double stepbound; /* initial bound to steps in the outer loop. */
     int maxcall;      /* maximum number of iterations. */
-    int scale_diag;   /* UNDOCUMENTED, TESTWISE automatical diag rescaling? */
+    int scale_diag;   /* UNDOCUMENTED, TESTWISE automatic diag rescaling? */
     #ifdef LMFIT_PRINTOUT
     int printflags;   /* OR'ed to produce more noise */
     #endif
diff --git a/libs/Math/TRWS/MRFEnergy.h b/libs/Math/TRWS/MRFEnergy.h
index 73607d04c..084f6cc90 100644
--- a/libs/Math/TRWS/MRFEnergy.h
+++ b/libs/Math/TRWS/MRFEnergy.h
@@ -58,7 +58,7 @@ template <class T> class MRFEnergy
 	// Node i must be NodeId returned by AddNode().
 	void AddNodeData(NodeId i, NodeData data);
 
-	// Adds an edge between i and j. data determins edge parameters
+	// Adds an edge between i and j. data determines edge parameters
 	// (see the corresponding message*.h file for description).
 	// Note: information in data is copied into internal memory.
 	// Cannot be called after energy construction is completed.

From 5a70acdb83b393a829ba3372d37923c7598ba0b3 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 20 Apr 2022 13:09:12 +0300
Subject: [PATCH 101/252] dense: add iters and geometric-iters params

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 556deb452..6090e617d 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -100,14 +100,18 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// group of options allowed both on command line and in config file
 	#ifdef _USE_CUDA
 	const unsigned nNumViewsDefault(8);
+	const unsigned numIters(4);
 	#else
 	const unsigned nNumViewsDefault(5);
+	const unsigned numIters(3);
 	#endif
 	unsigned nResolutionLevel;
 	unsigned nMaxResolution;
 	unsigned nMinResolution;
 	unsigned nNumViews;
 	unsigned nMinViewsFuse;
+	unsigned nEstimationIters;
+	unsigned nEstimationGeometricIters;
 	unsigned nEstimateColors;
 	unsigned nEstimateNormals;
 	int nIgnoreMaskLabel;
@@ -123,6 +127,8 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("number-views", boost::program_options::value(&nNumViews)->default_value(nNumViewsDefault), "number of views used for depth-map estimation (0 - all neighbor views available)")
 		("number-views-fuse", boost::program_options::value(&nMinViewsFuse)->default_value(3), "minimum number of images that agrees with an estimate during fusion in order to consider it inlier (<2 - only merge depth-maps)")
 		("ignore-mask-label", boost::program_options::value(&nIgnoreMaskLabel)->default_value(-1), "integer value for the label to ignore in the segmentation mask (<0 - disabled)")
+		("iters", boost::program_options::value(&nEstimationIters)->default_value(numIters), "number of patch-match iterations")
+		("geometric-iters", boost::program_options::value(&nEstimationGeometricIters)->default_value(2), "number of geometric consistent patch-match iterations (0 - disabled)")
 		("estimate-colors", boost::program_options::value(&nEstimateColors)->default_value(2), "estimate the colors for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
 		("estimate-normals", boost::program_options::value(&nEstimateNormals)->default_value(2), "estimate the normals for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
 		("sub-scene-area", boost::program_options::value(&OPT::fMaxSubsceneArea)->default_value(0.f), "split the scene in sub-scenes such that each sub-scene surface does not exceed the given maximum sampling area (0 - disabled)")
@@ -207,6 +213,8 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	OPTDENSE::nMinResolution = nMinResolution;
 	OPTDENSE::nNumViews = nNumViews;
 	OPTDENSE::nMinViewsFuse = nMinViewsFuse;
+	OPTDENSE::nEstimationIters = nEstimationIters;
+	OPTDENSE::nEstimationGeometricIters = nEstimationGeometricIters;
 	OPTDENSE::nEstimateColors = nEstimateColors;
 	OPTDENSE::nEstimateNormals = nEstimateNormals;
 	OPTDENSE::nIgnoreMaskLabel = nIgnoreMaskLabel;

From 670d20f956ab07e0fce9a98d2d7b07a4c913f47b Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 30 Apr 2022 14:13:17 +0300
Subject: [PATCH 102/252] dense: split scene bounds do not exceed the existing
 ROI

---
 apps/Viewer/Scene.cpp | 25 +++++++++++++++----------
 libs/Common/AABB.h    |  1 +
 libs/Common/AABB.inl  | 27 ++++++++++++++++++++++++++-
 libs/MVS/Scene.cpp    | 14 +++++++++++++-
 4 files changed, 55 insertions(+), 12 deletions(-)

diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index 0ccbb02c6..2d039d5e9 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -249,16 +249,21 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 	AABB3d bounds(true);
 	AABB3d imageBounds(true);
 	Point3d center(Point3d::INF);
-	if (!scene.pointcloud.IsEmpty()) {
-		bounds = scene.pointcloud.GetAABB(MINF(3u,scene.nCalibratedImages));
-		if (bounds.IsEmpty())
-			bounds = scene.pointcloud.GetAABB();
-		center = scene.pointcloud.GetCenter();
-	}
-	if (!scene.mesh.IsEmpty()) {
-		scene.mesh.ComputeNormalFaces();
-		bounds.Insert(scene.mesh.GetAABB());
-		center = scene.mesh.GetCenter();
+	if (scene.IsBounded()) {
+		bounds = AABB3d(scene.obb.GetAABB());
+		center = bounds.GetCenter();
+	} else {
+		if (!scene.pointcloud.IsEmpty()) {
+			bounds = scene.pointcloud.GetAABB(MINF(3u,scene.nCalibratedImages));
+			if (bounds.IsEmpty())
+				bounds = scene.pointcloud.GetAABB();
+			center = scene.pointcloud.GetCenter();
+		}
+		if (!scene.mesh.IsEmpty()) {
+			scene.mesh.ComputeNormalFaces();
+			bounds.Insert(scene.mesh.GetAABB());
+			center = scene.mesh.GetCenter();
+		}
 	}
 
 	// init images
diff --git a/libs/Common/AABB.h b/libs/Common/AABB.h
index 25cba2d3d..da291f321 100644
--- a/libs/Common/AABB.h
+++ b/libs/Common/AABB.h
@@ -62,6 +62,7 @@ class TAABB
 		   void InsertFull(const POINT&);
 		   void Insert(const POINT&);
 		   void Insert(const TAABB&);
+		   void BoundBy(const TAABB&);
 
 	inline void Translate(const POINT&);
 	inline void Transform(const MATRIX&);
diff --git a/libs/Common/AABB.inl b/libs/Common/AABB.inl
index d10543e38..965a51aa0 100644
--- a/libs/Common/AABB.inl
+++ b/libs/Common/AABB.inl
@@ -242,7 +242,7 @@ void TAABB<TYPE,DIMS>::Insert(const POINT& pt)
 }
 /*----------------------------------------------------------------*/
 
-// Update the box such that it contains the given point.
+// Update the box such that it contains the given bounding box.
 template <typename TYPE, int DIMS>
 void TAABB<TYPE,DIMS>::Insert(const TAABB& aabb)
 {
@@ -267,6 +267,31 @@ void TAABB<TYPE,DIMS>::Insert(const TAABB& aabb)
 }
 /*----------------------------------------------------------------*/
 
+// Update the box such that it does not exceed the given bounding box.
+template <typename TYPE, int DIMS>
+void TAABB<TYPE,DIMS>::BoundBy(const TAABB& aabb)
+{
+	if (ptMin[0] < aabb.ptMin[0])
+		ptMin[0] = aabb.ptMin[0];
+	if (ptMax[0] > aabb.ptMax[0])
+		ptMax[0] = aabb.ptMax[0];
+
+	if (DIMS > 1) {
+	if (ptMin[1] < aabb.ptMin[1])
+		ptMin[1] = aabb.ptMin[1];
+	if (ptMax[1] > aabb.ptMax[1])
+		ptMax[1] = aabb.ptMax[1];
+	}
+
+	if (DIMS > 2) {
+	if (ptMin[2] < aabb.ptMin[2])
+		ptMin[2] = aabb.ptMin[2];
+	if (ptMax[2] > aabb.ptMax[2])
+		ptMax[2] = aabb.ptMax[2];
+	}
+}
+/*----------------------------------------------------------------*/
+
 
 // intersection between two AABBs
 template <typename TYPE, int DIMS>
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 6f642ea83..36f4d5c05 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -1166,6 +1166,18 @@ unsigned Scene::Split(ImagesChunkArr& chunks, float maxArea, int depthMapStep) c
 		chunks.RemoveAt(cSmall);
 	}
 	#endif
+	if (IsBounded()) {
+		// make sure the chunks bounding box do not exceed the scene bounding box
+		const AABB3f aabb(obb.GetAABB());
+		RFOREACH(c, chunks) {
+			ImagesChunk& chunk = chunks[c];
+			chunk.aabb.BoundBy(aabb);
+			if (chunk.aabb.IsEmpty()) {
+				DEBUG_ULTIMATE("warning: chunk bounding box is empty");
+				chunks.RemoveAt(c);
+			}
+		}
+	}
 	DEBUG_EXTRA("Scene split (%g max-area): %u chunks (%s)", maxArea, chunks.size(), TD_TIMER_GET_FMT().c_str());
 	#if 0 || defined(_DEBUG)
 	// dump chunks for visualization
@@ -1316,7 +1328,7 @@ bool Scene::Scale(const REAL* pScale)
 		scale = REAL(1)/mesh.GetAABB().GetSize().maxCoeff();
 	else
 		return false;
-	const float scalef(scale);
+	const float scalef(static_cast<float>(scale));
 	if (IsBounded())
 		obb.Transform(OBB3f::MATRIX::Identity() * scalef);
 	for (Platform& platform: platforms)

From 915e0e00dca4b7a18438e97bdf73c657902b7f38 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 7 May 2022 09:31:26 +0300
Subject: [PATCH 103/252] dense: prefer mesh for neighbor selection

---
 apps/Viewer/Scene.cpp     | 8 ++++----
 apps/Viewer/Scene.h       | 2 +-
 apps/Viewer/Viewer.cpp    | 3 +--
 apps/Viewer/Window.cpp    | 2 +-
 apps/Viewer/Window.h      | 2 +-
 libs/Common/List.h        | 7 +++++++
 libs/MVS/SceneDensify.cpp | 2 +-
 7 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index 2d039d5e9..8c2dd59e2 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -358,7 +358,7 @@ bool Scene::Save(LPCTSTR _fileName, bool bRescaleImages)
 }
 
 // export the scene
-bool Scene::Export(LPCTSTR _fileName, LPCTSTR exportType, bool losslessTexture) const
+bool Scene::Export(LPCTSTR _fileName, LPCTSTR exportType) const
 {
 	if (!IsOpen())
 		return false;
@@ -367,7 +367,7 @@ bool Scene::Export(LPCTSTR _fileName, LPCTSTR exportType, bool losslessTexture)
 	const String fileName(_fileName != NULL ? String(_fileName) : sceneName);
 	const String baseFileName(Util::getFileFullName(fileName));
 	const bool bPoints(scene.pointcloud.Save(lastFileName=(baseFileName+_T("_pointcloud.ply"))));
-	const bool bMesh(scene.mesh.Save(lastFileName=(baseFileName+_T("_mesh")+(exportType?exportType:(Util::getFileExt(fileName)==_T(".obj")?_T(".obj"):_T(".ply")))), true, losslessTexture));
+	const bool bMesh(scene.mesh.Save(lastFileName=(baseFileName+_T("_mesh")+(exportType?exportType:(Util::getFileExt(fileName)==_T(".obj")?_T(".obj"):_T(".ply")))), cList<String>(), true));
 	#if TD_VERBOSE != TD_VERBOSE_OFF
 	if (VERBOSITY_LEVEL > 2 && (bPoints || bMesh))
 		scene.ExportCamerasMLP(Util::getFileFullName(lastFileName)+_T(".mlp"), lastFileName);
@@ -683,10 +683,10 @@ void Scene::TogleSceneBox()
 	};
 	if (scene.IsBounded())
 		scene.obb = OBB3f(true);
-	else if (!scene.pointcloud.IsEmpty())
-		scene.obb.Set(EnlargeAABB(scene.pointcloud.GetAABB(window.minViews)));
 	else if (!scene.mesh.IsEmpty())
 		scene.obb.Set(EnlargeAABB(scene.mesh.GetAABB()));
+	else if (!scene.pointcloud.IsEmpty())
+		scene.obb.Set(EnlargeAABB(scene.pointcloud.GetAABB(window.minViews)));
 	CompileBounds();
 }
 
diff --git a/apps/Viewer/Scene.h b/apps/Viewer/Scene.h
index 5997e3011..d1e360833 100644
--- a/apps/Viewer/Scene.h
+++ b/apps/Viewer/Scene.h
@@ -87,7 +87,7 @@ class Scene
 	bool Init(const cv::Size&, LPCTSTR windowName, LPCTSTR fileName=NULL, LPCTSTR meshFileName=NULL);
 	bool Open(LPCTSTR fileName, LPCTSTR meshFileName=NULL);
 	bool Save(LPCTSTR fileName=NULL, bool bRescaleImages=false);
-	bool Export(LPCTSTR fileName, LPCTSTR exportType=NULL, bool losslessTexture=false) const;
+	bool Export(LPCTSTR fileName, LPCTSTR exportType=NULL) const;
 	void CompilePointCloud();
 	void CompileMesh();
 	void CompileBounds();
diff --git a/apps/Viewer/Viewer.cpp b/apps/Viewer/Viewer.cpp
index fe918998a..c6b8d9318 100644
--- a/apps/Viewer/Viewer.cpp
+++ b/apps/Viewer/Viewer.cpp
@@ -98,7 +98,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input project filename containing camera poses and scene (point-cloud/mesh)")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
-		("texture-lossless", boost::program_options::value(&OPT::bLosslessTexture)->default_value(false), "export texture using a lossless image format")
 		;
 
 	// hidden options, allowed both on command line and
@@ -230,7 +229,7 @@ int main(int argc, LPCTSTR* argv)
 		return EXIT_FAILURE;
 	if (viewer.IsOpen() && !OPT::strOutputFileName.IsEmpty()) {
 		// export the scene
-		viewer.Export(MAKE_PATH_SAFE(OPT::strOutputFileName), OPT::strExportType.IsEmpty()?LPCTSTR(NULL):OPT::strExportType.c_str(), OPT::bLosslessTexture);
+		viewer.Export(MAKE_PATH_SAFE(OPT::strOutputFileName), OPT::strExportType.IsEmpty()?LPCTSTR(NULL):OPT::strExportType.c_str());
 	}
 	// enter viewer loop
 	viewer.Loop();
diff --git a/apps/Viewer/Window.cpp b/apps/Viewer/Window.cpp
index 66ce6c669..63bbe1a19 100644
--- a/apps/Viewer/Window.cpp
+++ b/apps/Viewer/Window.cpp
@@ -291,7 +291,7 @@ void Window::Key(int k, int /*scancode*/, int action, int mod)
 		break;
 	case GLFW_KEY_E:
 		if (action == GLFW_RELEASE && clbkExportScene != NULL)
-			clbkExportScene(NULL, NULL, false);
+			clbkExportScene(NULL, NULL);
 		break;
 	case GLFW_KEY_P:
 		switch (sparseType) {
diff --git a/apps/Viewer/Window.h b/apps/Viewer/Window.h
index 4670ed12b..34195ae31 100644
--- a/apps/Viewer/Window.h
+++ b/apps/Viewer/Window.h
@@ -96,7 +96,7 @@ class Window
 	ClbkOpenScene clbkOpenScene;
 	typedef DELEGATE<bool (LPCTSTR, bool)> ClbkSaveScene;
 	ClbkSaveScene clbkSaveScene;
-	typedef DELEGATE<bool (LPCTSTR, LPCTSTR, bool)> ClbkExportScene;
+	typedef DELEGATE<bool (LPCTSTR, LPCTSTR)> ClbkExportScene;
 	ClbkExportScene clbkExportScene;
 	typedef DELEGATE<void (void)> ClbkCenterScene;
 	ClbkCenterScene clbkCenterScene;
diff --git a/libs/Common/List.h b/libs/Common/List.h
index 750aa90c4..b812d92aa 100644
--- a/libs/Common/List.h
+++ b/libs/Common/List.h
@@ -142,6 +142,13 @@ class cList
 		_vector = (TYPE*)(operator new[] (_vectorSize * sizeof(TYPE)));
 		_ArrayCopyConstruct(_vector, rList._vector, _size);
 	}
+	#ifdef _SUPPORT_CPP11
+	// copy constructor: creates a move-copy of the given list
+	cList(cList&& rList) : _size(rList._size), _vectorSize(rList._vectorSize), _vector(rList._vector)
+	{
+		rList._Init();
+	}
+	#endif
 
 	// constructor a list from a raw data array
 	explicit inline cList(TYPE* pDataBegin, TYPE* pDataEnd) : _size((IDX)(pDataEnd-pDataBegin)), _vectorSize(_size)
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index f749932d1..f88631e93 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -1624,7 +1624,7 @@ bool Scene::DenseReconstruction(int nFusionMode)
 bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 {
 	// compute point-cloud from the existing mesh
-	if (pointcloud.IsEmpty() && !mesh.IsEmpty() && !ImagesHaveNeighbors()) {
+	if (!mesh.IsEmpty() && !ImagesHaveNeighbors()) {
 		SampleMeshWithVisibility();
 		mesh.Release();
 	}

From 7299f4655f00702a0bc71d9fbd90fd3bd5fa4602 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 7 May 2022 09:32:15 +0300
Subject: [PATCH 104/252] interface: add support for Metashape's BlocksExchange
 format

---
 .../InterfaceMetashape/InterfaceMetashape.cpp | 215 ++++++++++++++++--
 1 file changed, 195 insertions(+), 20 deletions(-)

diff --git a/apps/InterfaceMetashape/InterfaceMetashape.cpp b/apps/InterfaceMetashape/InterfaceMetashape.cpp
index 1157bf29b..65fe74cb7 100644
--- a/apps/InterfaceMetashape/InterfaceMetashape.cpp
+++ b/apps/InterfaceMetashape/InterfaceMetashape.cpp
@@ -231,24 +231,11 @@ void ImageListParseP(const LPSTR* argv, Matrix3x4& P)
 
 // parse images list containing calibration and pose information
 // and load the corresponding 3D point-cloud
-bool ParseImageListXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t& nCameras, size_t& nPoses)
+bool ParseImageListXML(tinyxml2::XMLDocument& doc, Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t& nCameras, size_t& nPoses)
 {
-	// open image list
-	nCameras = nPoses = 0;
-	const String strInputFileName(MAKE_PATH_SAFE(OPT::strInputFileName));
-	ISTREAMPTR pStream(new File(strInputFileName, File::READ, File::OPEN));
-	if (!((File*)(ISTREAM*)pStream)->isOpen()) {
-		LOG(_T("error: failed opening the input image list"));
-		return false;
-	}
-
-	// parse camera list
+	String strInputFileName(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName));
+	Util::ensureValidPath(strInputFileName);
 	tinyxml2::XMLElement* elem;
-	const size_t nLen(pStream->getSize());
-	String strCameras; strCameras.resize(nLen);
-	pStream->read(&strCameras[0], nLen);
-	tinyxml2::XMLDocument doc;
-	doc.Parse(strCameras.c_str(), nLen);
 	if (doc.ErrorID() != tinyxml2::XML_SUCCESS)
 		goto InvalidDocument;
 	{
@@ -362,7 +349,7 @@ bool ParseImageListXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t&
 	{
 	PMatrix P;
 	size_t argc;
-	const String strPath(GET_PATH_FULL(strInputFileName));
+	const String strPath(Util::getFilePath(strInputFileName));
 	for (tinyxml2::XMLElement* camera=cameras->FirstChildElement(); camera!=NULL; camera=camera->NextSiblingElement()) {
 		unsigned ID;
 		if (0 != _tcsicmp(camera->Value(), _T("camera")) || camera->QueryUnsignedAttribute(_T("id"), &ID) != tinyxml2::XML_SUCCESS)
@@ -388,6 +375,7 @@ bool ParseImageListXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t&
 		const cv::Size& resolution = resolutions[imageData.platformID];
 		imageData.width = resolution.width;
 		imageData.height = resolution.height;
+		imageData.scale = 1;
 		if (!bMetashapeFile && !camera->BoolAttribute(_T("enabled"))) {
 			imageData.poseID = NO_ID;
 			DEBUG_EXTRA("warning: uncalibrated image '%s'", name);
@@ -415,6 +403,7 @@ bool ParseImageListXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t&
 		++nPoses;
 		}
 	}
+	scene.nCalibratedImages = nPoses;
 	}
 
 	// parse bounding-box
@@ -466,6 +455,191 @@ bool ParseImageListXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t&
 	return false;
 }
 
+// parse scene stored in ContextCapture BlocksExchange format containing cameras, images and sparse point-cloud
+bool ParseBlocksExchangeXML(tinyxml2::XMLDocument& doc, Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t& nCameras, size_t& nPoses) {
+	String strInputFileName(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName));
+	Util::ensureValidPath(strInputFileName);
+	const tinyxml2::XMLElement* blocksExchange;
+	const tinyxml2::XMLElement* document;
+	const tinyxml2::XMLElement* photogroups;
+	if (doc.ErrorID() != tinyxml2::XML_SUCCESS ||
+		(blocksExchange=doc.FirstChildElement("BlocksExchange")) == NULL ||
+		(document=blocksExchange->FirstChildElement("Block")) == NULL ||
+		(photogroups=document->FirstChildElement("Photogroups")) == NULL) {
+		VERBOSE("error: invalid scene file");
+		return false;
+	}
+	CLISTDEF0(cv::Size) resolutions;
+	std::unordered_map<IIndex,IIndex> mapImageID;
+	const String strPath(Util::getFilePath(strInputFileName));
+	const tinyxml2::XMLElement* elem;
+	for (const tinyxml2::XMLElement* photogroup=photogroups->FirstChildElement(); photogroup!=NULL; photogroup=photogroup->NextSiblingElement()) {
+		if ((elem=photogroup->FirstChildElement("CameraModelType")) == NULL ||
+			std::strcmp(elem->GetText(), "Perspective") != 0)
+			continue;
+		if ((elem=photogroup->FirstChildElement("ImageDimensions")) == NULL)
+			continue;
+		const IIndex platformID = scene.platforms.size();
+		Platform& platform = scene.platforms.AddEmpty();
+		platform.name = photogroup->FirstChildElement("Name")->GetText();
+		resolutions.emplace_back(
+			elem->FirstChildElement("Width")->UnsignedText(),
+			elem->FirstChildElement("Height")->UnsignedText()
+		);
+		// parse camera
+		Platform::Camera& camera = platform.cameras.AddEmpty();
+		camera.K = KMatrix::IDENTITY;
+		camera.R = RMatrix::IDENTITY;
+		camera.C = CMatrix::ZERO;
+		const float resolutionScale = Camera::GetNormalizationScale(resolutions.back().width, resolutions.back().height);
+		if ((elem=photogroup->FirstChildElement("FocalLengthPixels")) != NULL) {
+			camera.K(0,0) = camera.K(1,1) = photogroup->FirstChildElement("FocalLengthPixels")->DoubleText();
+		} else {
+			camera.K(0,0) = camera.K(1,1) = photogroup->FirstChildElement("FocalLength")->DoubleText() * resolutionScale / photogroup->FirstChildElement("SensorSize")->DoubleText();
+		}
+		if ((elem=photogroup->FirstChildElement("PrincipalPoint")) != NULL) {
+			camera.K(0,2) = elem->FirstChildElement("x")->DoubleText();
+			camera.K(1,2) = elem->FirstChildElement("y")->DoubleText();
+		} else {
+			camera.K(0,2) = resolutions.back().width*REAL(0.5);
+			camera.K(1,2) = resolutions.back().height*REAL(0.5);
+		}
+		if ((elem=photogroup->FirstChildElement("AspectRatio")) != NULL)
+			camera.K(1,1) *= elem->DoubleText();
+		if ((elem=photogroup->FirstChildElement("Skew")) != NULL)
+			camera.K(0,1) = elem->DoubleText();
+		camera.K = camera.GetScaledK(REAL(1)/resolutionScale);
+		// parse distortion parameters
+		DistCoeff& dc = pltDistCoeffs.AddEmpty().AddEmpty(); {
+			const tinyxml2::XMLElement* distortion=photogroup->FirstChildElement("Distortion");
+			if ((elem=distortion->FirstChildElement("K1")) != NULL)
+				dc.k1 = elem->DoubleText();
+			if ((elem=distortion->FirstChildElement("K2")) != NULL)
+				dc.k2 = elem->DoubleText();
+			if ((elem=distortion->FirstChildElement("K3")) != NULL)
+				dc.k3 = elem->DoubleText();
+			if ((elem=distortion->FirstChildElement("P1")) != NULL)
+				dc.p2 = elem->DoubleText();
+			if ((elem=distortion->FirstChildElement("P2")) != NULL)
+				dc.p1 = elem->DoubleText();
+		}
+		++nCameras;
+		for (const tinyxml2::XMLElement* photo=photogroup->FirstChildElement("Photo"); photo!=NULL; photo=photo->NextSiblingElement()) {
+			Image imageData;
+			imageData.platformID = platformID;
+			imageData.cameraID = 0; // only one camera per platform supported by this format
+			imageData.poseID = NO_ID;
+			imageData.ID = photo->FirstChildElement("Id")->UnsignedText();
+			imageData.name = photo->FirstChildElement("ImagePath")->GetText();
+			Util::ensureUnifySlash(imageData.name);
+			imageData.name = MAKE_PATH_FULL(strPath, imageData.name);
+			// set image resolution
+			const cv::Size& resolution = resolutions[imageData.platformID];
+			imageData.width = resolution.width;
+			imageData.height = resolution.height;
+			imageData.scale = 1;
+			// set camera pose
+			const tinyxml2::XMLElement* photoPose = photo->FirstChildElement("Pose");
+			if (photoPose == NULL)
+				continue;
+			if ((elem=photoPose->FirstChildElement("Rotation")) == NULL)
+				continue;
+			imageData.poseID = platform.poses.size();
+			Platform::Pose& pose = platform.poses.AddEmpty();
+			pose.R = Matrix3x3(
+				elem->FirstChildElement("M_00")->DoubleText(),
+				elem->FirstChildElement("M_01")->DoubleText(),
+				elem->FirstChildElement("M_02")->DoubleText(),
+				elem->FirstChildElement("M_10")->DoubleText(),
+				elem->FirstChildElement("M_11")->DoubleText(),
+				elem->FirstChildElement("M_12")->DoubleText(),
+				elem->FirstChildElement("M_20")->DoubleText(),
+				elem->FirstChildElement("M_21")->DoubleText(),
+				elem->FirstChildElement("M_22")->DoubleText());
+			if ((elem=photoPose->FirstChildElement("Center")) == NULL)
+				continue;
+			pose.C = Point3(
+				elem->FirstChildElement("x")->DoubleText(),
+				elem->FirstChildElement("y")->DoubleText(),
+				elem->FirstChildElement("z")->DoubleText());
+			imageData.camera = platform.GetCamera(imageData.cameraID, imageData.poseID);
+			// set depth stats
+			if ((elem=photo->FirstChildElement("MedianDepth")) != NULL)
+				imageData.avgDepth = elem->DoubleText();
+			else if (photo->FirstChildElement("NearDepth") != NULL && photo->FirstChildElement("FarDepth") != NULL)
+				imageData.avgDepth = (photo->FirstChildElement("NearDepth")->DoubleText() + photo->FirstChildElement("FarDepth")->DoubleText())/2;
+			mapImageID.emplace(imageData.ID, static_cast<IIndex>(scene.images.size()));
+			scene.images.emplace_back(std::move(imageData));
+			++nPoses;
+		}
+	}
+	if (scene.images.size() < 2)
+		return false;
+	scene.nCalibratedImages = nPoses;
+	// transform poses to a local coordinate system
+	const bool bLocalCoords(document->FirstChildElement("SRSId") == NULL ||
+		((elem=blocksExchange->FirstChildElement("SpatialReferenceSystems")) != NULL && (elem=elem->FirstChildElement("SRS")) != NULL && (elem=elem->FirstChildElement("Name")) != NULL && _tcsncmp(elem->GetText(), "Local Coordinates", 17) == 0));
+	Point3 center = Point3::ZERO;
+	if (!bLocalCoords) {
+		for (const Image& imageData : scene.images)
+			center += imageData.camera.C;
+		center /= scene.images.size();
+		for (Platform& platform : scene.platforms)
+			for (Platform::Pose& pose : platform.poses)
+				pose.C -= center;
+	}
+	// try to read also the sparse point-cloud
+	const tinyxml2::XMLElement* tiepoints = document->FirstChildElement("TiePoints");
+	if (tiepoints == NULL)
+		return true;
+	for (const tinyxml2::XMLElement* tiepoint=tiepoints->FirstChildElement(); tiepoint!=NULL; tiepoint=tiepoint->NextSiblingElement()) {
+		if ((elem=tiepoint->FirstChildElement("Position")) == NULL)
+			continue;
+		scene.pointcloud.points.emplace_back(
+			elem->FirstChildElement("x")->DoubleText(),
+			elem->FirstChildElement("y")->DoubleText(),
+			elem->FirstChildElement("z")->DoubleText());
+		if (!bLocalCoords)
+			scene.pointcloud.points.back() -= Cast<float>(center);
+		if ((elem=tiepoint->FirstChildElement("Color")) != NULL)
+			scene.pointcloud.colors.emplace_back(
+				(uint8_t)std::clamp(elem->FirstChildElement("Blue")->DoubleText()*255, 0.0, 255.0),
+				(uint8_t)std::clamp(elem->FirstChildElement("Green")->DoubleText()*255, 0.0, 255.0),
+				(uint8_t)std::clamp(elem->FirstChildElement("Red")->DoubleText()*255, 0.0, 255.0));
+		PointCloud::ViewArr views;
+		for (const tinyxml2::XMLElement* view=tiepoint->FirstChildElement("Measurement"); view!=NULL; view=view->NextSiblingElement())
+			views.emplace_back(mapImageID.at(view->FirstChildElement("PhotoId")->UnsignedText()));
+		scene.pointcloud.pointViews.emplace_back(std::move(views));
+	}
+	return true;
+}
+
+// parse scene stored either in Metashape images list format or ContextCapture BlocksExchange format
+bool ParseSceneXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t& nCameras, size_t& nPoses)
+{
+	// parse XML file
+	const String strInputFileName(MAKE_PATH_SAFE(OPT::strInputFileName));
+	tinyxml2::XMLDocument doc; {
+		ISTREAMPTR pStream(new File(strInputFileName, File::READ, File::OPEN));
+		if (!((File*)(ISTREAM*)pStream)->isOpen()) {
+			VERBOSE("error: failed opening the input scene file");
+			return false;
+		}
+		const size_t nLen(pStream->getSize());
+		String str; str.resize(nLen);
+		pStream->read(&str[0], nLen);
+		doc.Parse(str.c_str(), nLen);
+	}
+	if (doc.ErrorID() != tinyxml2::XML_SUCCESS) {
+		VERBOSE("error: invalid XML file");
+		return false;
+	}
+	// parse scene
+	if (doc.FirstChildElement("BlocksExchange") == NULL)
+		return ParseImageListXML(doc, scene, pltDistCoeffs, nCameras, nPoses);
+	return ParseBlocksExchangeXML(doc, scene, pltDistCoeffs, nCameras, nPoses);
+}
+
 // undistort image using Brown's model
 bool UndistortBrown(Image& imageData, uint32_t ID, const DistCoeff& dc, const String& pathData)
 {
@@ -623,12 +797,13 @@ int main(int argc, LPCTSTR* argv)
 
 	// convert data from Metashape format to OpenMVS
 	PlatformDistCoeffs pltDistCoeffs;
-	size_t nCameras, nPoses;
-	if (!ParseImageListXML(scene, pltDistCoeffs, nCameras, nPoses))
+	size_t nCameras(0), nPoses(0);
+	if (!ParseSceneXML(scene, pltDistCoeffs, nCameras, nPoses))
 		return EXIT_FAILURE;
 
 	// undistort images
 	const String pathData(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputImageFolder));
+	const bool bAssignPoints(!scene.pointcloud.IsEmpty() && !scene.pointcloud.IsValid());
 	Util::Progress progress(_T("Processed images"), scene.images.size());
 	GET_LOGCONSOLE().Pause();
 	#ifdef _USE_OPENMP
@@ -653,7 +828,7 @@ int main(int argc, LPCTSTR* argv)
 			#endif
 		}
 		imageData.UpdateCamera(scene.platforms);
-		if (scene.pointcloud.IsValid())
+		if (bAssignPoints)
 			AssignPoints(imageData, ID, scene.pointcloud);
 	}
 	GET_LOGCONSOLE().Play();

From 0efa26dec8676f6f48c926619a869263e5bfbcd3 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 8 Jun 2022 11:23:53 +0300
Subject: [PATCH 105/252] common: use CLISTDEF macro

---
 libs/Common/AutoEstimator.h  |  2 +-
 libs/Common/Octree.inl       |  2 +-
 libs/Common/Types.h          | 10 +++++-----
 libs/MVS/Camera.h            |  2 +-
 libs/MVS/PointCloud.h        |  2 +-
 libs/MVS/SceneDensify.cpp    |  2 +-
 libs/MVS/SceneRefine.cpp     |  4 ++--
 libs/MVS/SceneRefineCUDA.cpp |  4 ++--
 8 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/libs/Common/AutoEstimator.h b/libs/Common/AutoEstimator.h
index 1cdb6bb1c..25d0cd487 100644
--- a/libs/Common/AutoEstimator.h
+++ b/libs/Common/AutoEstimator.h
@@ -88,7 +88,7 @@ struct ErrorIndex {
 #ifdef ACRANSAC_STD_VECTOR
 typedef std::vector<ErrorIndex> ErrorIndexArr;
 #else
-typedef SEACAVE::cList<ErrorIndex,const ErrorIndex&,0> ErrorIndexArr;
+typedef CLISTDEF0(ErrorIndex) ErrorIndexArr;
 #endif
 
 /// Find best NFA and its index wrt square error threshold in e.
diff --git a/libs/Common/Octree.inl b/libs/Common/Octree.inl
index e0e0f298b..f9c317756 100644
--- a/libs/Common/Octree.inl
+++ b/libs/Common/Octree.inl
@@ -774,7 +774,7 @@ inline bool OctreeTest(unsigned iters, unsigned maxItems=1000, bool bRandom=true
 	STATIC_ASSERT(DIMS > 0 && DIMS <= 3);
 	srand(bRandom ? (unsigned)time(NULL) : 0);
 	typedef Eigen::Matrix<TYPE,DIMS,1> POINT_TYPE;
-	typedef SEACAVE::cList<POINT_TYPE,const POINT_TYPE&,0> TestArr;
+	typedef CLISTDEF0(POINT_TYPE) TestArr;
 	typedef TOctree<TestArr,TYPE,DIMS,uint32_t> TestTree;
 	const TYPE ptMinData[] = {0,0,0}, ptMaxData[] = {640,480,240};
 	typename TestTree::AABB_TYPE aabb;
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 86316cdbb..1aefaec14 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -1746,8 +1746,8 @@ typedef TDMatrix<int32_t> DMatrix32S;
 typedef TDMatrix<uint32_t> DMatrix32U;
 typedef TDMatrix<float> DMatrix32F;
 typedef TDMatrix<double> DMatrix64F;
-typedef SEACAVE::cList<DMatrix, const DMatrix&, 2> DMatrixArr;
-typedef SEACAVE::cList<cv::Mat, const cv::Mat&, 2> MatArr;
+typedef CLISTDEF2(DMatrix) DMatrixArr;
+typedef CLISTDEF2(cv::Mat) MatArr;
 /*----------------------------------------------------------------*/
 
 
@@ -1799,7 +1799,7 @@ typedef TDVector<int32_t> DVector32S;
 typedef TDVector<uint32_t> DVector32U;
 typedef TDVector<float> DVector32F;
 typedef TDVector<double> DVector64F;
-typedef SEACAVE::cList<DVector, const DVector&, 2> DVectorArr;
+typedef CLISTDEF2(DVector) DVectorArr;
 /*----------------------------------------------------------------*/
 
 
@@ -2462,7 +2462,7 @@ struct TIndexScore {
 };
 /*----------------------------------------------------------------*/
 typedef TIndexScore<uint32_t, float> IndexScore;
-typedef SEACAVE::cList<IndexScore, const IndexScore&, 0> IndexScoreArr;
+typedef CLISTDEF0(IndexScore) IndexScoreArr;
 /*----------------------------------------------------------------*/
 
 
@@ -2514,7 +2514,7 @@ struct PairIdx {
 	inline bool operator==(const PairIdx& r) const { return (idx == r.idx); }
 };
 /*----------------------------------------------------------------*/
-typedef SEACAVE::cList<PairIdx, const PairIdx&, 0> PairIdxArr;
+typedef CLISTDEF0(PairIdx) PairIdxArr;
 inline PairIdx MakePairIdx(uint32_t idxImageA, uint32_t idxImageB) {
 	return (idxImageA<idxImageB ? PairIdx(idxImageA, idxImageB) : PairIdx(idxImageB, idxImageA));
 }
diff --git a/libs/MVS/Camera.h b/libs/MVS/Camera.h
index c77c4d66b..3d2a368a0 100644
--- a/libs/MVS/Camera.h
+++ b/libs/MVS/Camera.h
@@ -420,7 +420,7 @@ class MVS_API Camera : public CameraIntern
 	BOOST_SERIALIZATION_SPLIT_MEMBER()
 	#endif
 };
-typedef SEACAVE::cList<Camera, const Camera&, 0> CameraArr;
+typedef CLISTDEF0IDX(Camera,uint32_t) CameraArr;
 /*----------------------------------------------------------------*/
 
 MVS_API void DecomposeProjectionMatrix(const PMatrix& P, KMatrix& K, RMatrix& R, CMatrix& C);
diff --git a/libs/MVS/PointCloud.h b/libs/MVS/PointCloud.h
index c0ebf5ad7..f1529befd 100644
--- a/libs/MVS/PointCloud.h
+++ b/libs/MVS/PointCloud.h
@@ -52,7 +52,7 @@ class MVS_API PointCloud
 	typedef IDX Index;
 
 	typedef TPoint3<float> Point;
-	typedef SEACAVE::cList<Point,const Point&,2,8192> PointArr;
+	typedef SEACAVE::cList<Point,const Point&,0,8192> PointArr;
 
 	typedef uint32_t View;
 	typedef SEACAVE::cList<View,const View,0,4,uint32_t> ViewArr;
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index f88631e93..ff1caa5a3 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -182,7 +182,7 @@ bool DepthMapsData::SelectViews(IIndexArr& images, IIndexArr& imagesMap, IIndexA
 	typedef MRFEnergy<TypeGeneral> MRFEnergyType;
 	CAutoPtr<MRFEnergyType> energy(new MRFEnergyType(TypeGeneral::GlobalSize()));
 	CAutoPtrArr<MRFEnergyType::NodeId> nodes(new MRFEnergyType::NodeId[_num_nodes]);
-	typedef SEACAVE::cList<TypeGeneral::REAL, const TypeGeneral::REAL&, 0> EnergyCostArr;
+	typedef SEACAVE::cList<TypeGeneral::REAL, TypeGeneral::REAL, 0> EnergyCostArr;
 	// unary costs: inverse proportional to the image pair score
 	EnergyCostArr arrUnary(_num_labels);
 	for (IIndex n=0; n<_num_nodes; ++n) {
diff --git a/libs/MVS/SceneRefine.cpp b/libs/MVS/SceneRefine.cpp
index 65f73828d..064ded61a 100644
--- a/libs/MVS/SceneRefine.cpp
+++ b/libs/MVS/SceneRefine.cpp
@@ -96,7 +96,7 @@ class MeshRefine {
 		DepthMap depthMap; // depth-map
 		BaryMap baryMap; // barycentric coordinates
 	};
-	typedef SEACAVE::cList<View,const View&,2> ViewsArr;
+	typedef CLISTDEF2(View) ViewsArr;
 
 	// used to render a mesh for optimization
 	struct RasterMesh : TRasterMesh<RasterMesh> {
@@ -411,7 +411,7 @@ void MeshRefine::ListVertexFacesPost()
 void MeshRefine::ListCameraFaces()
 {
 	// extract array of faces viewed by each camera
-	typedef SEACAVE::cList<Mesh::FaceIdxArr,const Mesh::FaceIdxArr&,2> CameraFacesArr;
+	typedef CLISTDEF2(Mesh::FaceIdxArr) CameraFacesArr;
 	CameraFacesArr arrCameraFaces(images.GetSize()); {
 		Mesh::Octree octree;
 		Mesh::FacesInserter::CreateOctree(octree, scene.mesh);
diff --git a/libs/MVS/SceneRefineCUDA.cpp b/libs/MVS/SceneRefineCUDA.cpp
index 24d0f25e3..01fba12ca 100644
--- a/libs/MVS/SceneRefineCUDA.cpp
+++ b/libs/MVS/SceneRefineCUDA.cpp
@@ -1945,7 +1945,7 @@ typedef Mesh::FIndex FIndex;
 class MeshRefineCUDA {
 public:
 	typedef Mesh::FaceIdxArr CameraFaces;
-	typedef SEACAVE::cList<CameraFaces,const CameraFaces&,2> CameraFacesArr;
+	typedef CLISTDEF2(CameraFaces) CameraFacesArr;
 
 	// store necessary data about a view
 	struct View {
@@ -1958,7 +1958,7 @@ class MeshRefineCUDA {
 		inline View() {}
 		inline View(View&) {}
 	};
-	typedef SEACAVE::cList<View,const View&,2> ViewsArr;
+	typedef CLISTDEF2(View) ViewsArr;
 
 	struct CameraCUDA {
 		Matrix3x4f P;

From 7e544a51383550c87d743877551b4b4f3d8c3322 Mon Sep 17 00:00:00 2001
From: Krahets <krahets@163.com>
Date: Sat, 11 Jun 2022 14:52:50 +0800
Subject: [PATCH 106/252] dense: automatic region-of-interest estimation (#823)

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp |  9 +-
 libs/MVS/Scene.cpp                           | 94 +++++++++++++++++++-
 libs/MVS/Scene.h                             |  3 +
 3 files changed, 104 insertions(+), 2 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 6090e617d..fd834473d 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -57,6 +57,7 @@ String strDenseConfigFileName;
 String strExportDepthMapsName;
 float fMaxSubsceneArea;
 float fSampleMesh;
+bool bEstimateROI;
 int nFusionMode;
 int thFilterPointCloud;
 int nExportNumViews;
@@ -136,7 +137,8 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("fusion-mode", boost::program_options::value(&OPT::nFusionMode)->default_value(0), "depth map fusion mode (-2 - fuse disparity-maps, -1 - export disparity-maps only, 0 - depth-maps & fusion, 1 - export depth-maps only)")
 		("filter-point-cloud", boost::program_options::value(&OPT::thFilterPointCloud)->default_value(0), "filter dense point-cloud based on visibility (0 - disabled)")
 		("export-number-views", boost::program_options::value(&OPT::nExportNumViews)->default_value(0), "export points with >= number of views (0 - disabled)")
-		;
+        ("estimate-roi", boost::program_options::value(&OPT::bEstimateROI)->default_value(true), "estimate region-of-interest (0 - disabled)")
+        ;
 
 	// hidden options, allowed both on command line and
 	// in config file, but will not be shown to the user
@@ -281,6 +283,11 @@ int main(int argc, LPCTSTR* argv)
 	// load and estimate a dense point-cloud
 	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
 		return EXIT_FAILURE;
+    if (OPT::bEstimateROI) {
+        // estimate region-of-interest
+        if (!scene.EstimateROI())
+            return EXIT_FAILURE;
+    }
 	if (!OPT::strExportROIFileName.empty() && scene.IsBounded()) {
 		std::ofstream fs(MAKE_PATH_SAFE(OPT::strExportROIFileName));
 		if (!fs)
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 36f4d5c05..9f57aa2be 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -451,7 +451,7 @@ bool Scene::SaveViewNeighbors(const String& fileName) const
 	ASSERT(ImagesHaveNeighbors());
 
 	TD_TIMER_STARTD();
-	
+
 	File file(fileName, File::WRITE, File::CREATE | File::TRUNCATE);
 	if (!file.isOpen()) {
 		VERBOSE("error: unable to write file '%s'", fileName.c_str());
@@ -1374,3 +1374,95 @@ bool Scene::ScaleImages(unsigned nMaxResolution, REAL scale, const String& folde
 	return true;
 } // ScaleImages
 /*----------------------------------------------------------------*/
+
+
+// estimate region-of-interest based on camera positions, directions and sparse points
+// scale specifies the ratio of the ROI's diameter
+bool Scene::EstimateROI(float scale)
+{
+    CameraArr cameras;
+    FOREACH(i, images) {
+        const Image& imageData = images[i];
+        if (!imageData.IsValid())
+            continue;
+        cameras.emplace_back(imageData.camera);
+    }
+    const unsigned nCameras = cameras.size();
+    if (nCameras < 3) {
+        VERBOSE("error: not enough valid views for the ROI estimation");
+        return false;
+    }
+    // compute the camera center and the direction median
+    FloatArr x(nCameras), y(nCameras), z(nCameras), nx(nCameras), ny(nCameras), nz(nCameras);
+    FOREACH(i, cameras) {
+        Point3f camC(cameras[i].C);
+        x[i] = camC.x;
+        y[i] = camC.y;
+        z[i] = camC.z;
+        Point3f camDirect(cameras[i].Direction());
+        nx[i] = camDirect.x;
+        ny[i] = camDirect.y;
+        nz[i] = camDirect.z;
+    }
+    const CMatrix camCenter(x.GetMedian(), y.GetMedian(), z.GetMedian());
+    CMatrix camDirectMed(nx.GetMedian(), ny.GetMedian(), nz.GetMedian());
+    const float camDirectMedLen = (float)norm(camDirectMed);
+    camDirectMed /= camDirectMedLen;
+    #if TD_VERBOSE != TD_VERBOSE_OFF
+    if (VERBOSITY_LEVEL > 2)
+        VERBOSE("The camera positions median is (%f,%f,%f), directions median and norm is (%f,%f,%f), %f",
+                camCenter.x, camCenter.y, camCenter.z, camDirectMed.x, camDirectMed.y, camDirectMed.z, camDirectMedLen);
+    #endif
+    FloatArr cameraDepths(nCameras);
+    FOREACH(i, cameras)
+        cameraDepths[i] = (float)cameras[i].PointDepth(camCenter);
+    // estimate scene center and radius
+    const float depthMedian = cameraDepths.GetMedian();
+    const float camShiftCoeff = TAN(ASIN(CLAMP(camDirectMedLen, -0.999f, 0.999f)));
+    const CMatrix sceneCenter = camCenter + camShiftCoeff * depthMedian * camDirectMed;
+    uint32_t nNegDepth = 0;
+    FOREACH(i, cameras) {
+        const float camDepth = (float)cameras[i].PointDepth(sceneCenter);
+        cameraDepths[i] = ABS(camDepth);
+        if (camDepth <= 0)
+            ++nNegDepth;
+    }
+    // return if ROI cannot be estimated accurately
+    if (nNegDepth >= cameras.size() / 3) {
+        VERBOSE("Inaccurate ROI estimation. The scene will be treated as unbounded (no ROI)");
+        return true;
+    }
+    const float sceneRadius = cameraDepths.GetMedian();
+    #if TD_VERBOSE != TD_VERBOSE_OFF
+    if (VERBOSITY_LEVEL > 2)
+        VERBOSE("The estimated scene center is (%f,%f,%f), radius is %f",
+                sceneCenter.x, sceneCenter.y, sceneCenter.z, sceneRadius);
+    #endif
+    // select points in the ROI
+    Point3fArr ptsInROI;
+    FOREACH(i, pointcloud.points) {
+        const PointCloud::Point& point = pointcloud.points[i];
+        const PointCloud::ViewArr& views = pointcloud.pointViews[i];
+        FOREACH(j, views) {
+            const Image& imageData = images[views[j]];
+            if (!imageData.IsValid())
+                continue;
+            const Camera& camera = imageData.camera;
+            if (camera.PointDepth(point) < sceneRadius * 2.0f * scale) {
+                ptsInROI.emplace_back(point);
+                break;
+            }
+        }
+    }
+    AABB3f aabbROI;
+    if (!ptsInROI.empty()) {
+        aabbROI.Set(ptsInROI.begin(), ptsInROI.size());
+        VERBOSE("Set the ROI by the estimated core points");
+    } else {
+        aabbROI.Set((const Point3f::EVec) Point3f(sceneCenter), sceneRadius * scale);
+        VERBOSE("Set the ROI by the estimated scene center and radius");
+    }
+    obb.Set(aabbROI);
+    return true;
+} // EstimateROI
+/*----------------------------------------------------------------*/
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 4eb8b575e..058420640 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -104,6 +104,9 @@ class MVS_API Scene
 	bool Scale(const REAL* pScale = NULL);
 	bool ScaleImages(unsigned nMaxResolution = 0, REAL scale = 0, const String& folderName = String());
 
+    // Estimate and set region-of-interest
+    bool EstimateROI(float scale=1.f);
+
 	// Dense reconstruction
 	bool DenseReconstruction(int nFusionMode=0);
 	bool ComputeDepthMaps(DenseDepthMapData& data);

From cb984b485754ec05ca08cf502fbd039cc26c29e8 Mon Sep 17 00:00:00 2001
From: Krahets <krahets@163.com>
Date: Mon, 13 Jun 2022 16:42:10 +0800
Subject: [PATCH 107/252] dense: ROI estimation with robust safety check (#825)

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp |  13 +-
 libs/MVS/Scene.cpp                           | 173 ++++++++++---------
 libs/MVS/Scene.h                             |   2 +-
 3 files changed, 94 insertions(+), 94 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index fd834473d..96be5889b 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -57,7 +57,7 @@ String strDenseConfigFileName;
 String strExportDepthMapsName;
 float fMaxSubsceneArea;
 float fSampleMesh;
-bool bEstimateROI;
+int nEstimateROI;
 int nFusionMode;
 int thFilterPointCloud;
 int nExportNumViews;
@@ -137,7 +137,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("fusion-mode", boost::program_options::value(&OPT::nFusionMode)->default_value(0), "depth map fusion mode (-2 - fuse disparity-maps, -1 - export disparity-maps only, 0 - depth-maps & fusion, 1 - export depth-maps only)")
 		("filter-point-cloud", boost::program_options::value(&OPT::thFilterPointCloud)->default_value(0), "filter dense point-cloud based on visibility (0 - disabled)")
 		("export-number-views", boost::program_options::value(&OPT::nExportNumViews)->default_value(0), "export points with >= number of views (0 - disabled)")
-        ("estimate-roi", boost::program_options::value(&OPT::bEstimateROI)->default_value(true), "estimate region-of-interest (0 - disabled)")
+        ("estimate-roi", boost::program_options::value(&OPT::nEstimateROI)->default_value(2), "estimate and set region-of-interest (0 - disabled, 1 - enabled, 2 - adaptive)")
         ;
 
 	// hidden options, allowed both on command line and
@@ -283,12 +283,9 @@ int main(int argc, LPCTSTR* argv)
 	// load and estimate a dense point-cloud
 	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
 		return EXIT_FAILURE;
-    if (OPT::bEstimateROI) {
-        // estimate region-of-interest
-        if (!scene.EstimateROI())
-            return EXIT_FAILURE;
-    }
-	if (!OPT::strExportROIFileName.empty() && scene.IsBounded()) {
+    if (!scene.EstimateROI(OPT::nEstimateROI, 1.f))
+        return EXIT_FAILURE;
+    if (!OPT::strExportROIFileName.empty() && scene.IsBounded()) {
 		std::ofstream fs(MAKE_PATH_SAFE(OPT::strExportROIFileName));
 		if (!fs)
 			return EXIT_FAILURE;
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 9f57aa2be..b9b9e6bdc 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -1378,91 +1378,94 @@ bool Scene::ScaleImages(unsigned nMaxResolution, REAL scale, const String& folde
 
 // estimate region-of-interest based on camera positions, directions and sparse points
 // scale specifies the ratio of the ROI's diameter
-bool Scene::EstimateROI(float scale)
+bool Scene::EstimateROI(int nEstimateROI, float scale)
 {
-    CameraArr cameras;
-    FOREACH(i, images) {
-        const Image& imageData = images[i];
-        if (!imageData.IsValid())
-            continue;
-        cameras.emplace_back(imageData.camera);
-    }
-    const unsigned nCameras = cameras.size();
-    if (nCameras < 3) {
-        VERBOSE("error: not enough valid views for the ROI estimation");
-        return false;
-    }
-    // compute the camera center and the direction median
-    FloatArr x(nCameras), y(nCameras), z(nCameras), nx(nCameras), ny(nCameras), nz(nCameras);
-    FOREACH(i, cameras) {
-        Point3f camC(cameras[i].C);
-        x[i] = camC.x;
-        y[i] = camC.y;
-        z[i] = camC.z;
-        Point3f camDirect(cameras[i].Direction());
-        nx[i] = camDirect.x;
-        ny[i] = camDirect.y;
-        nz[i] = camDirect.z;
-    }
-    const CMatrix camCenter(x.GetMedian(), y.GetMedian(), z.GetMedian());
-    CMatrix camDirectMed(nx.GetMedian(), ny.GetMedian(), nz.GetMedian());
-    const float camDirectMedLen = (float)norm(camDirectMed);
-    camDirectMed /= camDirectMedLen;
-    #if TD_VERBOSE != TD_VERBOSE_OFF
-    if (VERBOSITY_LEVEL > 2)
-        VERBOSE("The camera positions median is (%f,%f,%f), directions median and norm is (%f,%f,%f), %f",
-                camCenter.x, camCenter.y, camCenter.z, camDirectMed.x, camDirectMed.y, camDirectMed.z, camDirectMedLen);
-    #endif
-    FloatArr cameraDepths(nCameras);
-    FOREACH(i, cameras)
-        cameraDepths[i] = (float)cameras[i].PointDepth(camCenter);
-    // estimate scene center and radius
-    const float depthMedian = cameraDepths.GetMedian();
-    const float camShiftCoeff = TAN(ASIN(CLAMP(camDirectMedLen, -0.999f, 0.999f)));
-    const CMatrix sceneCenter = camCenter + camShiftCoeff * depthMedian * camDirectMed;
-    uint32_t nNegDepth = 0;
-    FOREACH(i, cameras) {
-        const float camDepth = (float)cameras[i].PointDepth(sceneCenter);
-        cameraDepths[i] = ABS(camDepth);
-        if (camDepth <= 0)
-            ++nNegDepth;
-    }
-    // return if ROI cannot be estimated accurately
-    if (nNegDepth >= cameras.size() / 3) {
-        VERBOSE("Inaccurate ROI estimation. The scene will be treated as unbounded (no ROI)");
-        return true;
-    }
-    const float sceneRadius = cameraDepths.GetMedian();
-    #if TD_VERBOSE != TD_VERBOSE_OFF
-    if (VERBOSITY_LEVEL > 2)
-        VERBOSE("The estimated scene center is (%f,%f,%f), radius is %f",
-                sceneCenter.x, sceneCenter.y, sceneCenter.z, sceneRadius);
-    #endif
-    // select points in the ROI
-    Point3fArr ptsInROI;
-    FOREACH(i, pointcloud.points) {
-        const PointCloud::Point& point = pointcloud.points[i];
-        const PointCloud::ViewArr& views = pointcloud.pointViews[i];
-        FOREACH(j, views) {
-            const Image& imageData = images[views[j]];
-            if (!imageData.IsValid())
-                continue;
-            const Camera& camera = imageData.camera;
-            if (camera.PointDepth(point) < sceneRadius * 2.0f * scale) {
-                ptsInROI.emplace_back(point);
-                break;
-            }
-        }
-    }
-    AABB3f aabbROI;
-    if (!ptsInROI.empty()) {
-        aabbROI.Set(ptsInROI.begin(), ptsInROI.size());
-        VERBOSE("Set the ROI by the estimated core points");
-    } else {
-        aabbROI.Set((const Point3f::EVec) Point3f(sceneCenter), sceneRadius * scale);
-        VERBOSE("Set the ROI by the estimated scene center and radius");
-    }
-    obb.Set(aabbROI);
-    return true;
+	ASSERT(nEstimateROI >= 0 || nEstimateROI <= 2 || scale > 0);
+	if (nEstimateROI == 0) {
+		DEBUG_ULTIMATE("The scene will be considered as unbounded (no ROI)");
+		return true;
+	}
+	if (!pointcloud.IsValid()) {
+		VERBOSE("error: no valid point-cloud for the ROI estimation");
+		return false;
+	}
+	CameraArr cameras;
+	FOREACH(i, images) {
+		const Image& imageData = images[i];
+		if (!imageData.IsValid())
+			continue;
+		cameras.emplace_back(imageData.camera);
+	}
+	const unsigned nCameras = cameras.size();
+	if (nCameras < 3) {
+		VERBOSE("warning: not enough valid views for the ROI estimation");
+		return true;
+	}
+	// compute the camera center and the direction median
+	FloatArr x(nCameras), y(nCameras), z(nCameras), nx(nCameras), ny(nCameras), nz(nCameras);
+	FOREACH(i, cameras) {
+		const Point3f camC(cameras[i].C);
+		x[i] = camC.x;
+		y[i] = camC.y;
+		z[i] = camC.z;
+		const Point3f camDirect(cameras[i].Direction());
+		nx[i] = camDirect.x;
+		ny[i] = camDirect.y;
+		nz[i] = camDirect.z;
+	}
+	const CMatrix camCenter(x.GetMedian(), y.GetMedian(), z.GetMedian());
+	CMatrix camDirectMean(nx.GetMean(), ny.GetMean(), nz.GetMean());
+	const float camDirectMeanLen = (float)norm(camDirectMean);
+	if (!ISZERO(camDirectMeanLen))
+		camDirectMean /= camDirectMeanLen;
+	if (camDirectMeanLen > FSQRT_2 / 2.f && nEstimateROI == 2) {
+		VERBOSE("The camera directions mean is unbalanced; the scene will be considered unbounded (no ROI)");
+		return true;
+	}
+	DEBUG_ULTIMATE("The camera positions median is (%f,%f,%f), directions mean and norm are (%f,%f,%f), %f",
+				   camCenter.x, camCenter.y, camCenter.z, camDirectMean.x, camDirectMean.y, camDirectMean.z, camDirectMeanLen);
+	FloatArr cameraDistances(nCameras);
+	FOREACH(i, cameras)
+		cameraDistances[i] = (float)cameras[i].Distance(camCenter);
+	// estimate scene center and radius
+	const float camDistMed = cameraDistances.GetMedian();
+	const float camShiftCoeff = TAN(ASIN(CLAMP(camDirectMeanLen, 0.f, 0.999f)));
+	const CMatrix sceneCenter = camCenter + camShiftCoeff * camDistMed * camDirectMean;
+	FOREACH(i, cameras) {
+		if (cameras[i].PointDepth(sceneCenter) <= 0 && nEstimateROI == 2) {
+			VERBOSE("Find a camera not pointing towards the scene center; the scene will be considered unbounded (no ROI)");
+			return true;
+		}
+		cameraDistances[i] = (float)cameras[i].Distance(sceneCenter);
+	}
+	const float sceneRadius = cameraDistances.GetMax();
+	DEBUG_ULTIMATE("The estimated scene center is (%f,%f,%f), radius is %f",
+				   sceneCenter.x, sceneCenter.y, sceneCenter.z, sceneRadius);
+	Point3fArr ptsInROI;
+	FOREACH(i, pointcloud.points) {
+		const PointCloud::Point& point = pointcloud.points[i];
+		const PointCloud::ViewArr& views = pointcloud.pointViews[i];
+		FOREACH(j, views) {
+			const Image& imageData = images[views[j]];
+			if (!imageData.IsValid())
+				continue;
+			const Camera& camera = imageData.camera;
+			if (camera.PointDepth(point) < sceneRadius * 2.0f * scale) {
+				ptsInROI.emplace_back(point);
+				break;
+			}
+		}
+	}
+	;
+	obb.Set(AABB3f(ptsInROI.begin(), ptsInROI.size()));
+	#if TD_VERBOSE != TD_VERBOSE_OFF
+	if (VERBOSITY_LEVEL > 2) {
+		VERBOSE("Set the ROI with the AABB of position (%f,%f,%f) and extent (%f,%f,%f)",
+			    obb.m_pos[0], obb.m_pos[1], obb.m_pos[2], obb.m_ext[0], obb.m_ext[1], obb.m_ext[2]);
+	} else {
+		VERBOSE("Set the ROI by the estimated core points");
+	}
+	#endif
+	return true;
 } // EstimateROI
 /*----------------------------------------------------------------*/
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 058420640..7eae61fc7 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -105,7 +105,7 @@ class MVS_API Scene
 	bool ScaleImages(unsigned nMaxResolution = 0, REAL scale = 0, const String& folderName = String());
 
     // Estimate and set region-of-interest
-    bool EstimateROI(float scale=1.f);
+    bool EstimateROI(int nEstimateROI=0, float scale=1.f);
 
 	// Dense reconstruction
 	bool DenseReconstruction(int nFusionMode=0);

From 8c9848f59f2075b39cef5d7397b9555f3f71105d Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 14 Jun 2022 09:51:15 +0300
Subject: [PATCH 108/252] interface: fix some warnings

---
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp       |  6 +++---
 apps/InterfaceMetashape/InterfaceMetashape.cpp | 14 +++++++-------
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index e4888ca9a..2bb94e690 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -949,7 +949,7 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 	const uint32_t avgPointsPerSmallView(3000), avgPointsPerLargeView(12000);
 	{
 		images.resize(scene.images.size());
-		cameras.resize(scene.images.size());
+		cameras.resize((unsigned)scene.images.size());
 		for (uint32_t ID=0; ID<(uint32_t)scene.images.size(); ++ID) {
 			const Interface::Image& image = scene.images[ID];
 			if (image.poseID == MVS::NO_ID)
@@ -1114,8 +1114,8 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 bool ExportIntrinsicsTxt(const String& fileName, const Interface& scene)
 {
 	LOG_OUT() << "Writing intrinsics: " << fileName << std::endl;
-	size_t idxValidK(MVS::NO_ID);
-	FOREACH(ID, scene.images) {
+	uint32_t idxValidK(MVS::NO_ID);
+	for (uint32_t ID=0; ID<(uint32_t)scene.images.size(); ++ID) {
 		const Interface::Image& image = scene.images[ID];
 		if (!image.IsValid())
 			continue;
diff --git a/apps/InterfaceMetashape/InterfaceMetashape.cpp b/apps/InterfaceMetashape/InterfaceMetashape.cpp
index 65fe74cb7..7eaa1c5d1 100644
--- a/apps/InterfaceMetashape/InterfaceMetashape.cpp
+++ b/apps/InterfaceMetashape/InterfaceMetashape.cpp
@@ -403,7 +403,7 @@ bool ParseImageListXML(tinyxml2::XMLDocument& doc, Scene& scene, PlatformDistCoe
 		++nPoses;
 		}
 	}
-	scene.nCalibratedImages = nPoses;
+	scene.nCalibratedImages = (unsigned)nPoses;
 	}
 
 	// parse bounding-box
@@ -565,9 +565,9 @@ bool ParseBlocksExchangeXML(tinyxml2::XMLDocument& doc, Scene& scene, PlatformDi
 			imageData.camera = platform.GetCamera(imageData.cameraID, imageData.poseID);
 			// set depth stats
 			if ((elem=photo->FirstChildElement("MedianDepth")) != NULL)
-				imageData.avgDepth = elem->DoubleText();
+				imageData.avgDepth = (float)elem->DoubleText();
 			else if (photo->FirstChildElement("NearDepth") != NULL && photo->FirstChildElement("FarDepth") != NULL)
-				imageData.avgDepth = (photo->FirstChildElement("NearDepth")->DoubleText() + photo->FirstChildElement("FarDepth")->DoubleText())/2;
+				imageData.avgDepth = (float)((photo->FirstChildElement("NearDepth")->DoubleText() + photo->FirstChildElement("FarDepth")->DoubleText())/2);
 			mapImageID.emplace(imageData.ID, static_cast<IIndex>(scene.images.size()));
 			scene.images.emplace_back(std::move(imageData));
 			++nPoses;
@@ -575,7 +575,7 @@ bool ParseBlocksExchangeXML(tinyxml2::XMLDocument& doc, Scene& scene, PlatformDi
 	}
 	if (scene.images.size() < 2)
 		return false;
-	scene.nCalibratedImages = nPoses;
+	scene.nCalibratedImages = (unsigned)nPoses;
 	// transform poses to a local coordinate system
 	const bool bLocalCoords(document->FirstChildElement("SRSId") == NULL ||
 		((elem=blocksExchange->FirstChildElement("SpatialReferenceSystems")) != NULL && (elem=elem->FirstChildElement("SRS")) != NULL && (elem=elem->FirstChildElement("Name")) != NULL && _tcsncmp(elem->GetText(), "Local Coordinates", 17) == 0));
@@ -596,9 +596,9 @@ bool ParseBlocksExchangeXML(tinyxml2::XMLDocument& doc, Scene& scene, PlatformDi
 		if ((elem=tiepoint->FirstChildElement("Position")) == NULL)
 			continue;
 		scene.pointcloud.points.emplace_back(
-			elem->FirstChildElement("x")->DoubleText(),
-			elem->FirstChildElement("y")->DoubleText(),
-			elem->FirstChildElement("z")->DoubleText());
+			(float)elem->FirstChildElement("x")->DoubleText(),
+			(float)elem->FirstChildElement("y")->DoubleText(),
+			(float)elem->FirstChildElement("z")->DoubleText());
 		if (!bLocalCoords)
 			scene.pointcloud.points.back() -= Cast<float>(center);
 		if ((elem=tiepoint->FirstChildElement("Color")) != NULL)

From 806c037bdf137d35e6e15a6067253a8d7541590f Mon Sep 17 00:00:00 2001
From: MikeCernea <75977936+MikeCernea@users.noreply.github.com>
Date: Sat, 18 Jun 2022 10:10:08 +0200
Subject: [PATCH 109/252] dense: implement multi-resolution depth-map
 estimation (#818)

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp |   3 +
 libs/Common/List.h                           |   1 +
 libs/MVS/DepthMap.cpp                        |  50 +++-
 libs/MVS/DepthMap.h                          |   6 +-
 libs/MVS/PatchMatchCUDA.cpp                  |   2 +-
 libs/MVS/SceneDensify.cpp                    | 265 ++++++++++++-------
 libs/MVS/SceneDensify.h                      |   2 +
 7 files changed, 208 insertions(+), 121 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 96be5889b..18687b985 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -111,6 +111,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	unsigned nMinResolution;
 	unsigned nNumViews;
 	unsigned nMinViewsFuse;
+	unsigned nSubResolutionLevels;
 	unsigned nEstimationIters;
 	unsigned nEstimationGeometricIters;
 	unsigned nEstimateColors;
@@ -125,6 +126,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("resolution-level", boost::program_options::value(&nResolutionLevel)->default_value(1), "how many times to scale down the images before point cloud computation")
 		("max-resolution", boost::program_options::value(&nMaxResolution)->default_value(2560), "do not scale images higher than this resolution")
 		("min-resolution", boost::program_options::value(&nMinResolution)->default_value(640), "do not scale images lower than this resolution")
+		("sub-resolution-levels", boost::program_options::value(&nSubResolutionLevels)->default_value(2), "number of patch-match sub-resolution iterations (0 - disabled)")
 		("number-views", boost::program_options::value(&nNumViews)->default_value(nNumViewsDefault), "number of views used for depth-map estimation (0 - all neighbor views available)")
 		("number-views-fuse", boost::program_options::value(&nMinViewsFuse)->default_value(3), "minimum number of images that agrees with an estimate during fusion in order to consider it inlier (<2 - only merge depth-maps)")
 		("ignore-mask-label", boost::program_options::value(&nIgnoreMaskLabel)->default_value(-1), "integer value for the label to ignore in the segmentation mask (<0 - disabled)")
@@ -213,6 +215,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	OPTDENSE::nResolutionLevel = nResolutionLevel;
 	OPTDENSE::nMaxResolution = nMaxResolution;
 	OPTDENSE::nMinResolution = nMinResolution;
+	OPTDENSE::nSubResolutionLevels = nSubResolutionLevels;
 	OPTDENSE::nNumViews = nNumViews;
 	OPTDENSE::nMinViewsFuse = nMinViewsFuse;
 	OPTDENSE::nEstimationIters = nEstimationIters;
diff --git a/libs/Common/List.h b/libs/Common/List.h
index b812d92aa..3263c5c09 100644
--- a/libs/Common/List.h
+++ b/libs/Common/List.h
@@ -1603,6 +1603,7 @@ class cListFixed {
 			memcpy(_vector+index, _vector+(--_size), sizeof(TYPE));
 	}
 	inline void Empty() {
+		_ArrayDestruct(_vector, _size);
 		_size = 0;
 	}
 	inline void Sort() {
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 099148404..362cbd590 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -72,6 +72,7 @@ DEFOPT_SPACE(OPTDENSE, _T("Dense"))
 DEFVAR_OPTDENSE_uint32(nResolutionLevel, "Resolution Level", "How many times to scale down the images before dense reconstruction", "1")
 MDEFVAR_OPTDENSE_uint32(nMaxResolution, "Max Resolution", "Do not scale images lower than this resolution", "3200")
 MDEFVAR_OPTDENSE_uint32(nMinResolution, "Min Resolution", "Do not scale images lower than this resolution", "640")
+DEFVAR_OPTDENSE_uint32(nSubResolutionLevels, "SubResolution levels", "Number of lower resolution levels to estimate the depth and normals", "2")
 DEFVAR_OPTDENSE_uint32(nMinViews, "Min Views", "minimum number of agreeing views to validate a depth", "2")
 MDEFVAR_OPTDENSE_uint32(nMaxViews, "Max Views", "maximum number of neighbor images used to compute the depth-map for the reference image", "12")
 DEFVAR_OPTDENSE_uint32(nMinViewsFuse, "Min Views Fuse", "minimum number of images that agrees with an estimate during fusion in order to consider it inlier (<2 - only merge depth-maps)", "2")
@@ -88,7 +89,7 @@ MDEFVAR_OPTDENSE_float(fMinArea, "Min Area", "Min shared area for accepting the
 MDEFVAR_OPTDENSE_float(fMinAngle, "Min Angle", "Min angle for accepting the depth triangulation", "3.0")
 MDEFVAR_OPTDENSE_float(fOptimAngle, "Optim Angle", "Optimal angle for computing the depth triangulation", "12.0")
 MDEFVAR_OPTDENSE_float(fMaxAngle, "Max Angle", "Max angle for accepting the depth triangulation", "65.0")
-MDEFVAR_OPTDENSE_float(fDescriptorMinMagnitudeThreshold, "Descriptor Min Magnitude Threshold", "minimum texture variance accepted when matching two patches (0 - disabled)", "0.01")
+MDEFVAR_OPTDENSE_float(fDescriptorMinMagnitudeThreshold, "Descriptor Min Magnitude Threshold", "minimum texture variance accepted when matching two patches (0 - disabled)", "0.02")
 MDEFVAR_OPTDENSE_float(fDepthDiffThreshold, "Depth Diff Threshold", "maximum variance allowed for the depths during refinement", "0.01")
 MDEFVAR_OPTDENSE_float(fNormalDiffThreshold, "Normal Diff Threshold", "maximum variance allowed for the normal during fusion (degrees)", "25")
 MDEFVAR_OPTDENSE_float(fPairwiseMul, "Pairwise Mul", "pairwise cost scale to match the unary cost", "0.3")
@@ -100,10 +101,7 @@ MDEFVAR_OPTDENSE_int32(nIgnoreMaskLabel, "Ignore Mask Label", "label id used dur
 MDEFVAR_OPTDENSE_uint32(nOptimize, "Optimize", "should we filter the extracted depth-maps?", "7") // see DepthFlags
 MDEFVAR_OPTDENSE_uint32(nEstimateColors, "Estimate Colors", "should we estimate the colors for the dense point-cloud?", "2", "0", "1")
 MDEFVAR_OPTDENSE_uint32(nEstimateNormals, "Estimate Normals", "should we estimate the normals for the dense point-cloud?", "0", "1", "2")
-MDEFVAR_OPTDENSE_float(fNCCThresholdKeep, "NCC Threshold Keep", "Maximum 1-NCC score accepted for a match", "0.55", "0.3")
-#ifdef _USE_CUDA
-MDEFVAR_OPTDENSE_float(fNCCThresholdKeepCUDA, "NCC Threshold Keep CUDA", "Maximum 1-NCC score accepted for a CUDA match (differs from the CPU version cause that has planarity score integrated)", "0.9", "0.6")
-#endif // _USE_CUDA
+MDEFVAR_OPTDENSE_float(fNCCThresholdKeep, "NCC Threshold Keep", "Maximum 1-NCC score accepted for a match", "0.9", "0.5")
 DEFVAR_OPTDENSE_uint32(nEstimationIters, "Estimation Iters", "Number of patch-match iterations", "3")
 DEFVAR_OPTDENSE_uint32(nEstimationGeometricIters, "Estimation Geometric Iters", "Number of geometric consistent patch-match iterations (0 - disabled)", "2")
 MDEFVAR_OPTDENSE_float(fEstimationGeometricWeight, "Estimation Geometric Weight", "pairwise geometric consistency cost weight", "0.1")
@@ -121,6 +119,20 @@ MDEFVAR_OPTDENSE_float(fRandomSmoothBonus, "Random Smooth Bonus", "Score factor
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+//constructor from reference of DepthData
+DepthData::DepthData(const DepthData& srcDepthData) :
+	images(srcDepthData.images),
+	neighbors(srcDepthData.neighbors),
+	points(srcDepthData.points),
+	mask(srcDepthData.mask),
+	depthMap(srcDepthData.depthMap),
+	normalMap(srcDepthData.normalMap),
+	confMap(srcDepthData.confMap),
+	dMin(srcDepthData.dMin),
+	dMax(srcDepthData.dMax),
+	references(srcDepthData.references)
+{}
+
 // return normal in world-space for the given pixel
 // the 3D points can be precomputed and passed here
 void DepthData::GetNormal(const ImageRef& ir, Point3f& N, const TImage<Point3f>* pPointMap) const
@@ -382,12 +394,12 @@ DepthEstimator::DepthEstimator(
 	smoothSigmaDepth(-1.f/(2.f*SQUARE(OPTDENSE::fRandomSmoothDepth))), // used in exp(-x^2 / (2*(0.02^2)))
 	smoothSigmaNormal(-1.f/(2.f*SQUARE(FD2R(OPTDENSE::fRandomSmoothNormal)))), // used in exp(-x^2 / (2*(0.22^2)))
 	thMagnitudeSq(OPTDENSE::fDescriptorMinMagnitudeThreshold>0?SQUARE(OPTDENSE::fDescriptorMinMagnitudeThreshold):-1.f),
-	angle1Range(FD2R(OPTDENSE::fRandomAngle1Range)),
-	angle2Range(FD2R(OPTDENSE::fRandomAngle2Range)),
-	thConfSmall(OPTDENSE::fNCCThresholdKeep*0.2f),
-	thConfBig(OPTDENSE::fNCCThresholdKeep*0.4f),
-	thConfRand(OPTDENSE::fNCCThresholdKeep*0.9f),
-	thRobust(OPTDENSE::fNCCThresholdKeep*1.2f)
+	angle1Range(FD2R(OPTDENSE::fRandomAngle1Range)), //default 0.279252678=FD2R(20)
+	angle2Range(FD2R(OPTDENSE::fRandomAngle2Range)), //default 0.174532920=FD2R(16)
+	thConfSmall(OPTDENSE::fNCCThresholdKeep * 0.66f), // default 0.6
+	thConfBig(OPTDENSE::fNCCThresholdKeep * 0.9f), // default 0.8
+	thConfRand(OPTDENSE::fNCCThresholdKeep * 1.1f), // default 0.99
+	thRobust(OPTDENSE::fNCCThresholdKeep * 4.f / 3.f) // default 1.2
 	#if DENSE_REFINE == DENSE_REFINE_EXACT
 	, thPerturbation(1.f/POW(2.f,float(nIter+1)))
 	#endif
@@ -439,7 +451,7 @@ bool DepthEstimator::FillPixelPatch()
 	}
 	normSq0 = w.normSq0;
 	#endif
-	if (normSq0 < thMagnitudeSq)
+	if (normSq0 < thMagnitudeSq && (lowResDepthMap.empty() || lowResDepthMap(x0) <= 0))
 		return false;
 	reinterpret_cast<Point3&>(X0) = image0.camera.TransformPointI2C(Cast<REAL>(x0));
 	return true;
@@ -496,7 +508,7 @@ float DepthEstimator::ScorePixelImage(const DepthData::ViewData& image1, Depth d
 	const float normSq1(normSqDelta<float,float,nTexels>(texels1.data(), sum/(float)nTexels));
 	#endif
 	const float nrmSq(normSq0*normSq1);
-	if (nrmSq <= 0.f)
+	if (nrmSq <=1e-16f)
 		return thRobust;
 	#if DENSE_NCC == DENSE_NCC_DEFAULT
 	const float num(texels0.dot(texels1));
@@ -532,8 +544,18 @@ float DepthEstimator::ScorePixelImage(const DepthData::ViewData& image1, Depth d
 		}
 		score += OPTDENSE::fEstimationGeometricWeight * consistency;
 	}
+	// apply depth prior weight based on patch textureless
+	if (!lowResDepthMap.empty()) {
+		const Depth d0 = lowResDepthMap(x0);
+		if (d0 > 0) {
+			const float deltaDepth = MINF(DepthSimilarity(d0, depth), 0.5f);
+			const float smoothSigmaDepth(-1.f / (1.f * 0.02f));
+			const float factorDeltaDepth = DENSE_EXP(normSq0 * smoothSigmaDepth);
+			score += deltaDepth * factorDeltaDepth;
+		}
+	}
 	ASSERT(ISFINITE(score));
-	return score;
+	return MIN(2.f, score);
 }
 
 // compute pixel's NCC score
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 918376843..5b0b4c503 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -90,6 +90,7 @@ enum DepthFlags {
 extern unsigned nResolutionLevel;
 extern unsigned nMaxResolution;
 extern unsigned nMinResolution;
+extern unsigned nSubResolutionLevels;
 extern unsigned nMinViews;
 extern unsigned nMaxViews;
 extern unsigned nMinViewsFuse;
@@ -119,9 +120,6 @@ extern unsigned nOptimize;
 extern unsigned nEstimateColors;
 extern unsigned nEstimateNormals;
 extern float fNCCThresholdKeep;
-#ifdef _USE_CUDA
-extern float fNCCThresholdKeepCUDA;
-#endif // _USE_CUDA
 extern unsigned nEstimationIters;
 extern unsigned nEstimationGeometricIters;
 extern float fEstimationGeometricWeight;
@@ -211,6 +209,7 @@ struct MVS_API DepthData {
 	CriticalSection cs; // used to count references
 
 	inline DepthData() : references(0) {}
+	DepthData(const DepthData&);
 
 	inline void ReleaseImages() {
 		for (ViewData& image: images) {
@@ -340,6 +339,7 @@ struct MVS_API DepthEstimator {
 	#if DENSE_NCC == DENSE_NCC_WEIGHTED
 	WeightMap& weightMap0;
 	#endif
+	DepthMap lowResDepthMap;
 
 	const unsigned nIteration; // current PatchMatch iteration
 	const DepthData::ViewDataArr images; // neighbor images used
diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
index 9579a76f7..46ba5815c 100644
--- a/libs/MVS/PatchMatchCUDA.cpp
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -293,7 +293,7 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 
 	// load depth-map, normal-map and confidence-map from CUDA memory
 	const float fNCCThresholdKeep(!params.bGeomConsistency && OPTDENSE::nEstimationGeometricIters ?
-		OPTDENSE::fNCCThresholdKeepCUDA * 1.5f : OPTDENSE::fNCCThresholdKeepCUDA);
+		OPTDENSE::fNCCThresholdKeep * 1.333f : OPTDENSE::fNCCThresholdKeep);
 	if (depthData.confMap.empty())
 		depthData.confMap.create(depthData.depthMap.size());
 	for (int r = 0; r < depthData.depthMap.rows; ++r) {
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index ff1caa5a3..f37a2c15c 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -566,6 +566,28 @@ void* STCALL DepthMapsData::EndDepthMapTmp(void* arg)
 	return NULL;
 }
 
+DepthData DepthMapsData::ScaleDepthData(const DepthData& inputDeptData, float scale) {
+	ASSERT(scale <= 1);
+	if (scale == 1)
+		return inputDeptData;
+	DepthData rescaledDepthData(inputDeptData);
+	FOREACH (idxView, rescaledDepthData.images) {
+		DepthData::ViewData& viewData = rescaledDepthData.images[idxView];
+		cv::resize(viewData.image, viewData.image, cv::Size(), scale, scale, cv::INTER_AREA);
+		viewData.camera = viewData.pImageData->GetCamera(scene.platforms, viewData.image.size());
+		if (!viewData.depthMap.empty()) {
+			cv::resize(viewData.depthMap, viewData.depthMap, cv::Size(), scale, scale, cv::INTER_AREA);
+			viewData.cameraDepthMap = viewData.pImageData->GetCamera(scene.platforms, viewData.depthMap.size());
+		}
+		viewData.Init(rescaledDepthData.images[0].camera);
+	}
+	if (!rescaledDepthData.depthMap.empty())
+		cv::resize(rescaledDepthData.depthMap, rescaledDepthData.depthMap, cv::Size(), scale, scale, cv::INTER_LINEAR);
+	if (!rescaledDepthData.normalMap.empty())
+		cv::resize(rescaledDepthData.normalMap, rescaledDepthData.normalMap, cv::Size(), scale, scale, cv::INTER_NEAREST);
+	return rescaledDepthData;
+}
+
 // estimate depth-map using propagation and random refinement with NCC score
 // as in: "Accurate Multiple View 3D Reconstruction Using Patch-Based Stereo for Large-Scale Scenes", S. Shen, 2013
 // The implementations follows closely the paper, although there are some changes/additions.
@@ -590,147 +612,184 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage, int nGeometricIter)
 
 	TD_TIMER_STARTD();
 
-	// initialize
-	DepthData& depthData(arrDepthData[idxImage]);
-	ASSERT(depthData.images.size() > 1);
-	const DepthData::ViewData& image(depthData.images.First());
-	ASSERT(!image.image.empty() && !depthData.images[1].image.empty());
-	const Image8U::Size size(image.image.size());
-	depthData.confMap.create(size);
 	const unsigned nMaxThreads(scene.nMaxThreads);
 	const unsigned iterBegin(nGeometricIter < 0 ? 0u : OPTDENSE::nEstimationIters+(unsigned)nGeometricIter);
 	const unsigned iterEnd(nGeometricIter < 0 ? OPTDENSE::nEstimationIters : iterBegin+1);
 
-	// init integral images and index to image-ref map for the reference data
-	#if DENSE_NCC == DENSE_NCC_WEIGHTED
-	DepthEstimator::WeightMap weightMap0(size.area()-(size.width+1)*DepthEstimator::nSizeHalfWindow);
-	#else
-	Image64F imageSum0;
-	cv::integral(image.image, imageSum0, CV_64F);
-	#endif
-	if (prevDepthMapSize != size) {
-		BitMatrix mask;
-		if (OPTDENSE::nIgnoreMaskLabel >= 0 && DepthEstimator::ImportIgnoreMask(*depthData.GetView().pImageData, depthData.depthMap.size(), mask, (uint16_t)OPTDENSE::nIgnoreMaskLabel))
-			depthData.ApplyIgnoreMask(mask);
-		DepthEstimator::MapMatrix2ZigzagIdx(size, coords, mask, MAXF(64,(int)nMaxThreads*8));
-		#if 0
-		// show pixels to be processed
-		Image8U cmask(size);
-		cmask.memset(0);
-		for (const DepthEstimator::MapRef& x: coords)
-			cmask(x.y, x.x) = 255;
-		cmask.Show("cmask");
-		#endif
-		if (mask.empty())
-			prevDepthMapSize = size;
-	}
-
 	// init threads
 	ASSERT(nMaxThreads > 0);
 	cList<DepthEstimator> estimators;
-	estimators.Reserve(nMaxThreads);
+	estimators.reserve(nMaxThreads);
 	cList<SEACAVE::Thread> threads;
 	if (nMaxThreads > 1)
-		threads.Resize(nMaxThreads-1); // current thread is also used
+		threads.resize(nMaxThreads-1); // current thread is also used
 	volatile Thread::safe_t idxPixel;
 
-	// initialize the reference confidence map (NCC score map) with the score of the current estimates
-	{
-		// create working threads
-		idxPixel = -1;
-		ASSERT(estimators.IsEmpty());
-		while (estimators.GetSize() < nMaxThreads)
-			estimators.AddConstruct(iterBegin, depthData, idxPixel,
-				#if DENSE_NCC == DENSE_NCC_WEIGHTED
-				weightMap0,
-				#else
-				imageSum0,
-				#endif
-				coords);
-		ASSERT(estimators.GetSize() == threads.GetSize()+1);
-		FOREACH(i, threads)
-			threads[i].start(ScoreDepthMapTmp, &estimators[i]);
-		ScoreDepthMapTmp(&estimators.Last());
-		// wait for the working threads to close
-		FOREACHPTR(pThread, threads)
-			pThread->join();
-		estimators.Release();
-		#if TD_VERBOSE != TD_VERBOSE_OFF
-		// save rough depth map as image
-		if (g_nVerbosityLevel > 4 && nGeometricIter < 0) {
-			ExportDepthMap(ComposeDepthFilePath(image.GetID(), "rough.png"), depthData.depthMap);
-			ExportNormalMap(ComposeDepthFilePath(image.GetID(), "rough.normal.png"), depthData.normalMap);
-			ExportPointCloud(ComposeDepthFilePath(image.GetID(), "rough.ply"), *depthData.images.First().pImageData, depthData.depthMap, depthData.normalMap);
+	// Multi-Resolution : 
+	DepthData& fullResDepthData(arrDepthData[idxImage]);
+	const unsigned totalScaleNumber(nGeometricIter < 0 ? OPTDENSE::nSubResolutionLevels : 0u);
+	DepthMap lowResDepthMap;
+	NormalMap lowResNormalMap;
+	#if DENSE_NCC == DENSE_NCC_WEIGHTED
+	DepthEstimator::WeightMap weightMap0;
+	#else
+	Image64F imageSum0;
+	#endif
+	DepthMap currentSizeResDepthMap;
+	for (int scaleNumber = totalScaleNumber; scaleNumber>=0; scaleNumber--) {
+		// initialize
+		float scale = 1.f / POWI(2, scaleNumber);
+		DepthData currentDepthData(ScaleDepthData(fullResDepthData, scale));
+		DepthData& depthData(scaleNumber==0 ? fullResDepthData : currentDepthData);
+		ASSERT(depthData.images.size() > 1);
+		const DepthData::ViewData& image(depthData.images.front());
+		ASSERT(!image.image.empty() && !depthData.images[1].image.empty());
+		const Image8U::Size size(image.image.size());
+		if (scaleNumber != totalScaleNumber) {
+			cv::resize(lowResDepthMap, depthData.depthMap, size, 0, 0, cv::INTER_LINEAR);
+			cv::resize(lowResNormalMap, depthData.normalMap, size, 0, 0, cv::INTER_NEAREST);
+			depthData.depthMap.copyTo(currentSizeResDepthMap);
+		}
+		else if (totalScaleNumber > 0) {
+			fullResDepthData.depthMap.release();
+			fullResDepthData.normalMap.release();
+			fullResDepthData.confMap.release();
 		}
+		depthData.confMap.create(size);
+
+		// init integral images and index to image-ref map for the reference data
+		#if DENSE_NCC == DENSE_NCC_WEIGHTED
+		weightMap0.clear();
+		weightMap0.resize(size.area()-(size.width+1)*DepthEstimator::nSizeHalfWindow);
+		#else
+		cv::integral(image.image, imageSum0, CV_64F);
 		#endif
-	}
+		if (prevDepthMapSize != size) {
+			BitMatrix mask;
+			if (OPTDENSE::nIgnoreMaskLabel >= 0 && DepthEstimator::ImportIgnoreMask(*depthData.GetView().pImageData, depthData.depthMap.size(), mask, (uint16_t)OPTDENSE::nIgnoreMaskLabel))
+				depthData.ApplyIgnoreMask(mask);
+			DepthEstimator::MapMatrix2ZigzagIdx(size, coords, mask, MAXF(64,(int)nMaxThreads*8));
+			#if 0
+			// show pixels to be processed
+			Image8U cmask(size);
+			cmask.memset(0);
+			for (const DepthEstimator::MapRef& x: coords)
+				cmask(x.y, x.x) = 255;
+			cmask.Show("cmask");
+			#endif
+			if (mask.empty())
+				prevDepthMapSize = size;
+		}
 
-	// run propagation and random refinement cycles on the reference data
-	for (unsigned iter=iterBegin; iter<iterEnd; ++iter) {
-		// create working threads
-		idxPixel = -1;
-		ASSERT(estimators.IsEmpty());
-		while (estimators.GetSize() < nMaxThreads)
-			estimators.AddConstruct(iter, depthData, idxPixel,
-				#if DENSE_NCC == DENSE_NCC_WEIGHTED
-				weightMap0,
-				#else
-				imageSum0,
-				#endif
-				coords);
-		ASSERT(estimators.GetSize() == threads.GetSize()+1);
-		FOREACH(i, threads)
-			threads[i].start(EstimateDepthMapTmp, &estimators[i]);
-		EstimateDepthMapTmp(&estimators.Last());
-		// wait for the working threads to close
-		FOREACHPTR(pThread, threads)
-			pThread->join();
-		estimators.Release();
-		#if 1 && TD_VERBOSE != TD_VERBOSE_OFF
-		// save intermediate depth map as image
-		if (g_nVerbosityLevel > 4) {
-			String path(ComposeDepthFilePath(image.GetID(), "iter")+String::ToString(iter));
-			if (nGeometricIter >= 0)
-				path += String::FormatString(".geo%d", nGeometricIter);
-			ExportDepthMap(path+".png", depthData.depthMap);
-			ExportNormalMap(path+".normal.png", depthData.normalMap);
-			ExportPointCloud(path+".ply", *depthData.images.First().pImageData, depthData.depthMap, depthData.normalMap);
+		// initialize the reference confidence map (NCC score map) with the score of the current estimates
+		{
+			// create working threads
+			idxPixel = -1;
+			ASSERT(estimators.empty());
+			while (estimators.size() < nMaxThreads) {
+				estimators.emplace_back(iterBegin, depthData, idxPixel,
+					#if DENSE_NCC == DENSE_NCC_WEIGHTED
+					weightMap0,
+					#else
+					imageSum0,
+					#endif
+					coords);
+				estimators.Last().lowResDepthMap = currentSizeResDepthMap;
+			}
+			ASSERT(estimators.size() == threads.size()+1);
+			FOREACH(i, threads)
+				threads[i].start(ScoreDepthMapTmp, &estimators[i]);
+			ScoreDepthMapTmp(&estimators.back());
+			// wait for the working threads to close
+			FOREACHPTR(pThread, threads)
+				pThread->join();
+			estimators.clear();
+			#if TD_VERBOSE != TD_VERBOSE_OFF
+			// save rough depth map as image
+			if (g_nVerbosityLevel > 4 && nGeometricIter < 0) {
+				ExportDepthMap(ComposeDepthFilePath(image.GetID(), "rough.png"), depthData.depthMap);
+				ExportNormalMap(ComposeDepthFilePath(image.GetID(), "rough.normal.png"), depthData.normalMap);
+				ExportPointCloud(ComposeDepthFilePath(image.GetID(), "rough.ply"), *depthData.images.First().pImageData, depthData.depthMap, depthData.normalMap);
+			}
+			#endif
+		}
+
+		// run propagation and random refinement cycles on the reference data
+		for (unsigned iter=iterBegin; iter<iterEnd; ++iter) {
+			// create working threads
+			idxPixel = -1;
+			ASSERT(estimators.empty());
+			while (estimators.size() < nMaxThreads) {
+				estimators.emplace_back(iter, depthData, idxPixel,
+					#if DENSE_NCC == DENSE_NCC_WEIGHTED
+					weightMap0,
+					#else
+					imageSum0,
+					#endif
+					coords);
+				estimators.Last().lowResDepthMap = currentSizeResDepthMap;
+			}
+			ASSERT(estimators.size() == threads.size()+1);
+			FOREACH(i, threads)
+				threads[i].start(EstimateDepthMapTmp, &estimators[i]);
+			EstimateDepthMapTmp(&estimators.back());
+			// wait for the working threads to close
+			FOREACHPTR(pThread, threads)
+				pThread->join();
+			estimators.clear();
+			#if 1 && TD_VERBOSE != TD_VERBOSE_OFF
+			// save intermediate depth map as image
+			if (g_nVerbosityLevel > 4) {
+				String path(ComposeDepthFilePath(image.GetID(), "iter")+String::ToString(iter));
+				if (nGeometricIter >= 0)
+					path += String::FormatString(".geo%d", nGeometricIter);
+				ExportDepthMap(path+".png", depthData.depthMap);
+				ExportNormalMap(path+".normal.png", depthData.normalMap);
+				ExportPointCloud(path+".ply", *depthData.images.First().pImageData, depthData.depthMap, depthData.normalMap);
+			}
+			#endif
+		}
+
+		// remember sub-resolution estimates for next iteration
+		if (scaleNumber > 0) {
+			lowResDepthMap = depthData.depthMap;
+			lowResNormalMap = depthData.normalMap;
 		}
-		#endif
 	}
 
+	DepthData& depthData(fullResDepthData);
 	// remove all estimates with too big score and invert confidence map
 	{
 		const float fNCCThresholdKeep(OPTDENSE::fNCCThresholdKeep);
 		if (nGeometricIter < 0 && OPTDENSE::nEstimationGeometricIters)
-			OPTDENSE::fNCCThresholdKeep *= 1.5f;
+			OPTDENSE::fNCCThresholdKeep *= 1.333f;
 		// create working threads
 		idxPixel = -1;
-		ASSERT(estimators.IsEmpty());
-		while (estimators.GetSize() < nMaxThreads)
-			estimators.AddConstruct(0, depthData, idxPixel,
+		ASSERT(estimators.empty());
+		while (estimators.size() < nMaxThreads)
+			estimators.emplace_back(0, depthData, idxPixel,
 				#if DENSE_NCC == DENSE_NCC_WEIGHTED
 				weightMap0,
 				#else
 				imageSum0,
 				#endif
 				coords);
-		ASSERT(estimators.GetSize() == threads.GetSize()+1);
+		ASSERT(estimators.size() == threads.size()+1);
 		FOREACH(i, threads)
 			threads[i].start(EndDepthMapTmp, &estimators[i]);
-		EndDepthMapTmp(&estimators.Last());
+		EndDepthMapTmp(&estimators.back());
 		// wait for the working threads to close
 		FOREACHPTR(pThread, threads)
 			pThread->join();
-		estimators.Release();
+		estimators.clear();
 		OPTDENSE::fNCCThresholdKeep = fNCCThresholdKeep;
 	}
 
-	DEBUG_EXTRA("Depth-map for image %3u %s: %dx%d (%s)", image.GetID(),
-		depthData.images.GetSize() > 2 ?
-			String::FormatString("estimated using %2u images", depthData.images.GetSize()-1).c_str() :
+	DEBUG_EXTRA("Depth-map for image %3u %s: %dx%d (%s)", depthData.images.front().GetID(),
+		depthData.images.size() > 2 ?
+			String::FormatString("estimated using %2u images", depthData.images.size()-1).c_str() :
 			String::FormatString("with image %3u estimated", depthData.images[1].GetID()).c_str(),
-		size.width, size.height, TD_TIMER_GET_FMT().c_str());
+		depthData.depthMap.cols, depthData.depthMap.rows, TD_TIMER_GET_FMT().c_str());
 	return true;
 } // EstimateDepthMap
 /*----------------------------------------------------------------*/
diff --git a/libs/MVS/SceneDensify.h b/libs/MVS/SceneDensify.h
index d8a14b70e..db5e7d1ce 100644
--- a/libs/MVS/SceneDensify.h
+++ b/libs/MVS/SceneDensify.h
@@ -68,6 +68,8 @@ class MVS_API DepthMapsData
 	void MergeDepthMaps(PointCloud& pointcloud, bool bEstimateColor, bool bEstimateNormal);
 	void FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, bool bEstimateNormal);
 
+	DepthData ScaleDepthData(const DepthData& inputDeptData, float scale);
+
 protected:
 	static void* STCALL ScoreDepthMapTmp(void*);
 	static void* STCALL EstimateDepthMapTmp(void*);

From eed4c7d1346a44ce745f6740d370c23a081914c5 Mon Sep 17 00:00:00 2001
From: MikeCernea <75977936+MikeCernea@users.noreply.github.com>
Date: Sat, 18 Jun 2022 11:21:14 +0200
Subject: [PATCH 110/252] dense: implement patch match multi-resolutions on GPU
 (#819)

---
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp |   3 +-
 libs/Common/Types.h                      |   4 +-
 libs/MVS/DepthMap.cpp                    |  40 ++-
 libs/MVS/DepthMap.h                      |  15 +-
 libs/MVS/Image.h                         |   4 +-
 libs/MVS/Interface.h                     |   8 +-
 libs/MVS/PatchMatchCUDA.cpp              | 320 ++++++++++++++---------
 libs/MVS/PatchMatchCUDA.cu               | 109 +++++---
 libs/MVS/PatchMatchCUDA.h                |   2 +-
 libs/MVS/PatchMatchCUDA.inl              |  10 +-
 libs/MVS/Scene.cpp                       |   5 +-
 libs/MVS/SceneDensify.cpp                |  15 +-
 libs/MVS/SceneDensify.h                  |   2 +-
 13 files changed, 347 insertions(+), 190 deletions(-)

diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index 2bb94e690..e88f9b72f 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -860,9 +860,10 @@ bool ImportScene(const String& strFolder, const String& strOutFolder, Interface&
 					}, normalMap);
 				}
 				MVS::ConfidenceMap confMap;
+				MVS::ViewsMap viewsMap;
 				const auto depthMM(std::minmax_element(colDepthMap.data_.cbegin(), colDepthMap.data_.cend()));
 				const MVS::Depth dMin(*depthMM.first), dMax(*depthMM.second);
-				if (!ExportDepthDataRaw(strOutFolder+String::FormatString("depth%04u.dmap", image.ID), MAKE_PATH_FULL(strOutFolder, image.name), IDs, depthMap.size(), K, pose.R, pose.C, dMin, dMax, depthMap, normalMap, confMap))
+				if (!ExportDepthDataRaw(strOutFolder+String::FormatString("depth%04u.dmap", image.ID), MAKE_PATH_FULL(strOutFolder, image.name), IDs, depthMap.size(), K, pose.R, pose.C, dMin, dMax, depthMap, normalMap, confMap, viewsMap))
 					return false;
 			}
 		}
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 1aefaec14..68d7f002d 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -1721,8 +1721,8 @@ class TDMatrix : public cv::Mat_<TYPE>
 	}
 
 	/// pointer to the beginning of the matrix data
-	inline const TYPE* getData() const { ASSERT(cv::Mat::isContinuous()); return (const TYPE*)data; }
-	inline TYPE* getData() { ASSERT(cv::Mat::isContinuous()); return (TYPE*)data; }
+	inline const TYPE* getData() const { ASSERT(cv::Mat::empty() || cv::Mat::isContinuous()); return (const TYPE*)data; }
+	inline TYPE* getData() { ASSERT(cv::Mat::empty() || cv::Mat::isContinuous()); return (TYPE*)data; }
 
 	#ifdef _USE_EIGEN
 	// Access point as Eigen::Map equivalent
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 362cbd590..210b927c7 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -68,7 +68,6 @@ using namespace MVS;
 namespace MVS {
 DEFOPT_SPACE(OPTDENSE, _T("Dense"))
 
-
 DEFVAR_OPTDENSE_uint32(nResolutionLevel, "Resolution Level", "How many times to scale down the images before dense reconstruction", "1")
 MDEFVAR_OPTDENSE_uint32(nMaxResolution, "Max Resolution", "Do not scale images lower than this resolution", "3200")
 MDEFVAR_OPTDENSE_uint32(nMinResolution, "Min Resolution", "Do not scale images lower than this resolution", "640")
@@ -98,7 +97,7 @@ MDEFVAR_OPTDENSE_int32(nOptimizerMaxIters, "Optimizer Max Iters", "MRF optimizer
 MDEFVAR_OPTDENSE_uint32(nSpeckleSize, "Speckle Size", "maximal size of a speckle (small speckles get removed)", "100")
 MDEFVAR_OPTDENSE_uint32(nIpolGapSize, "Interpolate Gap Size", "interpolate small gaps (left<->right, top<->bottom)", "7")
 MDEFVAR_OPTDENSE_int32(nIgnoreMaskLabel, "Ignore Mask Label", "label id used during ignore mask filter (<0 - disabled)", "-1")
-MDEFVAR_OPTDENSE_uint32(nOptimize, "Optimize", "should we filter the extracted depth-maps?", "7") // see DepthFlags
+DEFVAR_OPTDENSE_uint32(nOptimize, "Optimize", "should we filter the extracted depth-maps?", "7") // see DepthFlags
 MDEFVAR_OPTDENSE_uint32(nEstimateColors, "Estimate Colors", "should we estimate the colors for the dense point-cloud?", "2", "0", "1")
 MDEFVAR_OPTDENSE_uint32(nEstimateNormals, "Estimate Normals", "should we estimate the normals for the dense point-cloud?", "0", "1", "2")
 MDEFVAR_OPTDENSE_float(fNCCThresholdKeep, "NCC Threshold Keep", "Maximum 1-NCC score accepted for a match", "0.9", "0.5")
@@ -241,7 +240,7 @@ bool DepthData::Save(const String& fileName) const
 		for (const ViewData& image: images)
 			IDs.push_back(image.GetID());
 		const ViewData& image0 = GetView();
-		if (!ExportDepthDataRaw(fileNameTmp, image0.pImageData->name, IDs, depthMap.size(), image0.camera.K, image0.camera.R, image0.camera.C, dMin, dMax, depthMap, normalMap, confMap))
+		if (!ExportDepthDataRaw(fileNameTmp, image0.pImageData->name, IDs, depthMap.size(), image0.camera.K, image0.camera.R, image0.camera.C, dMin, dMax, depthMap, normalMap, confMap, viewsMap))
 			return false;
 	}
 	if (!File::renameFile(fileNameTmp, fileName)) {
@@ -258,7 +257,7 @@ bool DepthData::Load(const String& fileName, unsigned flags)
 	IIndexArr IDs;
 	cv::Size imageSize;
 	Camera camera;
-	if (!ImportDepthDataRaw(fileName, imageFileName, IDs, imageSize, camera.K, camera.R, camera.C, dMin, dMax, depthMap, normalMap, confMap, flags))
+	if (!ImportDepthDataRaw(fileName, imageFileName, IDs, imageSize, camera.K, camera.R, camera.C, dMin, dMax, depthMap, normalMap, confMap, viewsMap, flags))
 		return false;
 	ASSERT(!IsValid() || (IDs.size() == images.size() && IDs.front() == GetView().GetID()));
 	ASSERT(depthMap.size() == imageSize);
@@ -1773,18 +1772,19 @@ bool MVS::ExportPointCloud(const String& fileName, const Image& imageData, const
 } // ExportPointCloud
 /*----------------------------------------------------------------*/
 
-
 bool MVS::ExportDepthDataRaw(const String& fileName, const String& imageFileName,
 	const IIndexArr& IDs, const cv::Size& imageSize,
 	const KMatrix& K, const RMatrix& R, const CMatrix& C,
 	Depth dMin, Depth dMax,
-	const DepthMap& depthMap, const NormalMap& normalMap, const ConfidenceMap& confMap)
+	const DepthMap& depthMap, const NormalMap& normalMap, const ConfidenceMap& confMap, const ViewsMap& viewsMap)
 {
+	ASSERT(IDs.size() > 1 && IDs.size() < 256);
 	ASSERT(!depthMap.empty());
 	ASSERT(confMap.empty() || depthMap.size() == confMap.size());
+	ASSERT(viewsMap.empty() || depthMap.size() == viewsMap.size());
 	ASSERT(depthMap.width() <= imageSize.width && depthMap.height() <= imageSize.height);
 
-	FILE *f = fopen(fileName, "wb");
+	FILE* f = fopen(fileName, "wb");
 	if (f == NULL) {
 		DEBUG("error: opening file '%s' for writing depth-data", fileName.c_str());
 		return false;
@@ -1804,6 +1804,8 @@ bool MVS::ExportDepthDataRaw(const String& fileName, const String& imageFileName
 		header.type |= HeaderDepthDataRaw::HAS_NORMAL;
 	if (!confMap.empty())
 		header.type |= HeaderDepthDataRaw::HAS_CONF;
+	if (!viewsMap.empty())
+		header.type |= HeaderDepthDataRaw::HAS_VIEWS;
 	fwrite(&header, sizeof(HeaderDepthDataRaw), 1, f);
 
 	// write image file name
@@ -1836,6 +1838,10 @@ bool MVS::ExportDepthDataRaw(const String& fileName, const String& imageFileName
 	if ((header.type & HeaderDepthDataRaw::HAS_CONF) != 0)
 		fwrite(confMap.getData(), sizeof(float), confMap.area(), f);
 
+	// write views-map
+	if ((header.type & HeaderDepthDataRaw::HAS_VIEWS) != 0)
+		fwrite(viewsMap.getData(), sizeof(uint8_t)*4, viewsMap.area(), f);
+
 	const bool bRet(ferror(f) == 0);
 	fclose(f);
 	return bRet;
@@ -1845,9 +1851,9 @@ bool MVS::ImportDepthDataRaw(const String& fileName, String& imageFileName,
 	IIndexArr& IDs, cv::Size& imageSize,
 	KMatrix& K, RMatrix& R, CMatrix& C,
 	Depth& dMin, Depth& dMax,
-	DepthMap& depthMap, NormalMap& normalMap, ConfidenceMap& confMap, unsigned flags)
+	DepthMap& depthMap, NormalMap& normalMap, ConfidenceMap& confMap, ViewsMap& viewsMap, unsigned flags)
 {
-	FILE *f = fopen(fileName, "rb");
+	FILE* f = fopen(fileName, "rb");
 	if (f == NULL) {
 		DEBUG("error: opening file '%s' for reading depth-data", fileName.c_str());
 		return false;
@@ -1859,10 +1865,9 @@ bool MVS::ImportDepthDataRaw(const String& fileName, String& imageFileName,
 		header.name != HeaderDepthDataRaw::HeaderDepthDataRawName() ||
 		(header.type & HeaderDepthDataRaw::HAS_DEPTH) == 0 ||
 		header.depthWidth <= 0 || header.depthHeight <= 0 ||
-		header.imageWidth <= 0 || header.imageHeight <= 0)
+		header.imageWidth < header.depthWidth || header.imageHeight < header.depthHeight)
 	{
 		DEBUG("error: invalid depth-data file '%s'", fileName.c_str());
-		fclose(f);
 		return false;
 	}
 
@@ -1871,12 +1876,13 @@ bool MVS::ImportDepthDataRaw(const String& fileName, String& imageFileName,
 	uint16_t nFileNameSize;
 	fread(&nFileNameSize, sizeof(uint16_t), 1, f);
 	imageFileName.resize(nFileNameSize);
-	fread(&imageFileName[0u], sizeof(char), nFileNameSize, f);
+	fread(imageFileName.data(), sizeof(char), nFileNameSize, f);
 
 	// read neighbor IDs
 	STATIC_ASSERT(sizeof(uint32_t) == sizeof(IIndex));
 	uint32_t nIDs;
 	fread(&nIDs, sizeof(IIndex), 1, f);
+	ASSERT(nIDs > 0 && nIDs < 256);
 	IDs.resize(nIDs);
 	fread(IDs.data(), sizeof(IIndex), nIDs, f);
 
@@ -1913,6 +1919,16 @@ bool MVS::ImportDepthDataRaw(const String& fileName, String& imageFileName,
 		if ((flags & HeaderDepthDataRaw::HAS_CONF) != 0) {
 			confMap.create(header.depthHeight, header.depthWidth);
 			fread(confMap.getData(), sizeof(float), confMap.area(), f);
+		} else {
+			fseek(f, sizeof(float)*header.depthWidth*header.depthHeight, SEEK_CUR);
+		}
+	}
+
+	// read visibility-map
+	if ((header.type & HeaderDepthDataRaw::HAS_VIEWS) != 0) {
+		if ((flags & HeaderDepthDataRaw::HAS_VIEWS) != 0) {
+			viewsMap.create(header.depthHeight, header.depthWidth);
+			fread(viewsMap.getData(), sizeof(uint8_t)*4, viewsMap.area(), f);
 		}
 	}
 
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 5b0b4c503..1c87198dd 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -74,6 +74,10 @@
 
 
 // S T R U C T S ///////////////////////////////////////////////////
+namespace MVS {
+	typedef TMatrix<uint8_t, 4, 1> ViewsID;
+}
+DEFINE_CVDATATYPE(MVS::ViewsID)
 
 namespace MVS {
 
@@ -135,6 +139,8 @@ extern float fRandomSmoothBonus;
 /*----------------------------------------------------------------*/
 
 
+typedef TImage<ViewsID> ViewsMap;
+
 template <int nTexels>
 struct WeightedPatchFix {
 	struct Pixel {
@@ -204,6 +210,7 @@ struct MVS_API DepthData {
 	DepthMap depthMap; // depth-map
 	NormalMap normalMap; // normal-map in camera space
 	ConfidenceMap confMap; // confidence-map
+	ViewsMap viewsMap; // view-IDs map (indexing images vector starting after first view)
 	float dMin, dMax; // global depth range for this image
 	unsigned references; // how many times this depth-map is referenced (on 0 can be safely unloaded)
 	CriticalSection cs; // used to count references
@@ -221,6 +228,7 @@ struct MVS_API DepthData {
 		depthMap.release();
 		normalMap.release();
 		confMap.release();
+		viewsMap.release();
 	}
 
 	inline bool IsValid() const {
@@ -239,7 +247,7 @@ struct MVS_API DepthData {
 	void ApplyIgnoreMask(const BitMatrix&);
 
 	bool Save(const String& fileName) const;
-	bool Load(const String& fileName, unsigned flags=7);
+	bool Load(const String& fileName, unsigned flags=15);
 
 	unsigned GetRef();
 	unsigned IncRef(const String& fileName);
@@ -253,6 +261,7 @@ struct MVS_API DepthData {
 		ar & depthMap;
 		ar & normalMap;
 		ar & confMap;
+		ar & viewsMap;
 		ar & dMin;
 		ar & dMax;
 	}
@@ -491,12 +500,12 @@ MVS_API bool ExportDepthDataRaw(const String&, const String& imageFileName,
 	const IIndexArr&, const cv::Size& imageSize,
 	const KMatrix&, const RMatrix&, const CMatrix&,
 	Depth dMin, Depth dMax,
-	const DepthMap&, const NormalMap&, const ConfidenceMap&);
+	const DepthMap&, const NormalMap&, const ConfidenceMap&, const ViewsMap&);
 MVS_API bool ImportDepthDataRaw(const String&, String& imageFileName,
 	IIndexArr&, cv::Size& imageSize,
 	KMatrix&, RMatrix&, CMatrix&,
 	Depth& dMin, Depth& dMax,
-	DepthMap&, NormalMap&, ConfidenceMap&, unsigned flags=7);
+	DepthMap&, NormalMap&, ConfidenceMap&, ViewsMap&, unsigned flags=15);
 
 MVS_API void CompareDepthMaps(const DepthMap& depthMap, const DepthMap& depthMapGT, uint32_t idxImage, float threshold=0.01f);
 MVS_API void CompareNormalMaps(const NormalMap& normalMap, const NormalMap& normalMapGT, uint32_t idxImage);
diff --git a/libs/MVS/Image.h b/libs/MVS/Image.h
index a920f1e52..5b490e6c6 100644
--- a/libs/MVS/Image.h
+++ b/libs/MVS/Image.h
@@ -49,7 +49,7 @@ typedef uint32_t IIndex;
 typedef cList<IIndex, IIndex, 0, 16, IIndex> IIndexArr;
 
 struct MVS_API ViewInfo {
-	IIndex ID; // image ID
+	IIndex ID; // image local-ID (the index in the scene images list)
 	uint32_t points; // number of 3D points shared with the reference image
 	float scale; // image scale relative to the reference image
 	float angle; // image angle relative to the reference image (radians)
@@ -78,7 +78,7 @@ class MVS_API Image
 	uint32_t platformID; // ID of the associated platform
 	uint32_t cameraID; // ID of the associated camera on the associated platform
 	uint32_t poseID; // ID of the pose of the associated platform
-	uint32_t ID; // global ID of the image
+	uint32_t ID; // global ID of the image (the ID given outside the current scene - ex. the index in the full list of image files)
 	String name; // image file name (relative path)
 	String maskName; // segmentation file name (optional)
 	Camera camera; // view's pose
diff --git a/libs/MVS/Interface.h b/libs/MVS/Interface.h
index fcbb20aed..04ab182a6 100644
--- a/libs/MVS/Interface.h
+++ b/libs/MVS/Interface.h
@@ -703,14 +703,16 @@ struct Interface
 //  - image-file-name is the path to the reference color image
 //  - image-IDs are the reference view ID and neighbor view IDs used to estimate the depth-map
 //  - camera/rotation/position matrices (row-major) is the absolute pose corresponding to the reference view
-//  - depth-map represents the pixel depth
-//  - normal-map (optional) represents the 3D point normal in camera space; same resolution as the depth-map
-//  - confidence-map (optional) represents the 3D point confidence (usually a value in [0,1]); same resolution as the depth-map
+//  - depth-map: the pixels' depth
+//  - normal-map (optional): the 3D point normal in camera space; same resolution as the depth-map
+//  - confidence-map (optional): the 3D point confidence (usually a value in [0,1]); same resolution as the depth-map
+//  - views-map (optional): the pixels' views, indexing image-IDs starting after first view (up to 4); same resolution as the depth-map
 struct HeaderDepthDataRaw {
 	enum {
 		HAS_DEPTH = (1<<0),
 		HAS_NORMAL = (1<<1),
 		HAS_CONF = (1<<2),
+		HAS_VIEWS = (1<<3),
 	};
 	uint16_t name; // file type
 	uint8_t type; // content type
diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
index 46ba5815c..de53a6d61 100644
--- a/libs/MVS/PatchMatchCUDA.cpp
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -88,17 +88,15 @@ void PatchMatchCUDA::ReleaseCUDA()
 	cudaFree(cudaDepthNormalCosts);
 	cudaFree(cudaRandStates);
 	cudaFree(cudaSelectedViews);
-
 	if (params.bGeomConsistency)
 		cudaFree(cudaTextureDepths);
 
 	delete[] depthNormalEstimates;
-	delete[] depthNormalCosts;
 }
 
-void PatchMatchCUDA::Init(bool geom_consistency)
+void PatchMatchCUDA::Init(bool bGeomConsistency)
 {
-	if (geom_consistency) {
+	if (bGeomConsistency) {
 		params.bGeomConsistency = true;
 		params.nEstimationIters = 1;
 	} else {
@@ -119,11 +117,9 @@ void PatchMatchCUDA::AllocatePatchMatchCUDA(const cv::Mat1f& image)
 	depthNormalEstimates = new Point4[size];
 	CUDA::checkCudaCall(cudaMalloc((void**)&cudaDepthNormalEstimates, sizeof(Point4) * size));
 
-	depthNormalCosts = new float[size];
 	CUDA::checkCudaCall(cudaMalloc((void**)&cudaDepthNormalCosts, sizeof(float) * size));
-
-	CUDA::checkCudaCall(cudaMalloc((void**)&cudaRandStates, sizeof(curandState) * size));
 	CUDA::checkCudaCall(cudaMalloc((void**)&cudaSelectedViews, sizeof(unsigned) * size));
+	CUDA::checkCudaCall(cudaMalloc((void**)&cudaRandStates, sizeof(curandState) * size));
 }
 
 void PatchMatchCUDA::AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bInitImage, bool bInitDepthMap)
@@ -180,7 +176,14 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 	TD_TIMER_STARTD();
 
 	ASSERT(depthData.images.size() > 1);
-	const IIndex prevNumImages = (IIndex)images.size();
+
+	// multi-resolution
+	DepthData& fullResDepthData(depthData);
+	const unsigned totalScaleNumber(params.bGeomConsistency ? 0u : OPTDENSE::nSubResolutionLevels);
+	DepthMap lowResDepthMap;
+	NormalMap lowResNormalMap;
+	ViewsMap lowResViewsMap;
+	IIndex prevNumImages = (IIndex)images.size();
 	const IIndex numImages = depthData.images.size();
 	params.nNumViews = (int)numImages-1;
 	params.nInitTopK = std::min(params.nInitTopK, params.nNumViews);
@@ -192,131 +195,210 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 		cudaImageArrays.resize(numImages);
 		textureImages.resize(numImages);
 	}
-	if (params.bGeomConsistency && cudaDepthArrays.size() < numImages-1) {
-		cudaDepthArrays.resize(numImages-1);
-		textureDepths.resize(numImages-1);
+	if (params.bGeomConsistency && cudaDepthArrays.size() < (size_t)params.nNumViews) {
+		cudaDepthArrays.resize(params.nNumViews);
+		textureDepths.resize(params.nNumViews);
 	}
-	for (IIndex i = 0; i < numImages; ++i) {
-		const DepthData::ViewData& view = depthData.images[i];
-		Image32F image = view.image;
-		Camera camera;
-		camera.K = Eigen::Map<const SEACAVE::Matrix3x3::EMat>(view.camera.K.val).cast<float>();
-		camera.R = Eigen::Map<const SEACAVE::Matrix3x3::EMat>(view.camera.R.val).cast<float>();
-		camera.C = Eigen::Map<const SEACAVE::Point3::EVec>(view.camera.C.ptr()).cast<float>();
-		camera.height = image.rows;
-		camera.width = image.cols;
-		// store camera and image
-		if (i == 0 && (prevNumImages < numImages || images[0].size() != image.size())) {
-			// allocate/reallocate PatchMatch CUDA memory
-			if (prevNumImages > 0)
-				ReleaseCUDA();
-			AllocatePatchMatchCUDA(image);
+	const int maxPixelViews(MINF(params.nNumViews, 4));
+	for (int scaleNumber = totalScaleNumber; scaleNumber >= 0; --scaleNumber) {
+		// initialize
+		const float scale = 1.f / POWI(2, scaleNumber);
+		DepthData currentDepthData(DepthMapsData::ScaleDepthData(fullResDepthData, scale));
+		DepthData& depthData(scaleNumber==0 ? fullResDepthData : currentDepthData);
+		const Image8U::Size size(depthData.images.front().image.size());
+		params.bLowResProcessed = false;
+		if (scaleNumber != totalScaleNumber) {
+			// all resolutions, but the smallest one, if multi-resolution is enabled
+			params.bLowResProcessed = true;
+			cv::resize(lowResDepthMap, depthData.depthMap, size, 0, 0, cv::INTER_LINEAR);
+			cv::resize(lowResNormalMap, depthData.normalMap, size, 0, 0, cv::INTER_NEAREST);
+			cv::resize(lowResViewsMap, depthData.viewsMap, size, 0, 0, cv::INTER_NEAREST);
+			CUDA::checkCudaCall(cudaMalloc((void**)&cudaLowDepths, sizeof(float) * size.area()));
+		} else {
+			if (totalScaleNumber > 0) {
+				// smallest resolution, when multi-resolution is enabled
+				fullResDepthData.depthMap.release();
+				fullResDepthData.normalMap.release();
+				fullResDepthData.confMap.release();
+				fullResDepthData.viewsMap.release();
+			}
+			// smallest resolution if multi-resolution is enabled; highest otherwise
+			if (depthData.viewsMap.empty())
+				depthData.viewsMap.create(size);
 		}
-		if (i >= prevNumImages) {
-			// allocate image CUDA memory
-			AllocateImageCUDA(i, image, true, !view.depthMap.empty());
-		} else
-		if (images[i].size() != image.size()) {
-			// reallocate image CUDA memory
-			cudaDestroyTextureObject(textureImages[i]);
-			cudaFreeArray(cudaImageArrays[i]);
-			if (params.bGeomConsistency && i > 0) {
-				cudaDestroyTextureObject(textureDepths[i-1]);
-				cudaFreeArray(cudaDepthArrays[i-1]);
+		if (scaleNumber == 0) {
+			// highest resolution
+			if (depthData.confMap.empty())
+				depthData.confMap.create(size);
+		}
+
+		// set keep threshold to:
+		params.fThresholdKeepCost = OPTDENSE::fNCCThresholdKeep;
+		if (totalScaleNumber) {
+			// multi-resolution enabled
+			if (scaleNumber > 0 && scaleNumber != totalScaleNumber) {
+				// all sub-resolutions, but the smallest and highest
+				params.fThresholdKeepCost = 0.f; // disable filtering
+			} else if (scaleNumber == totalScaleNumber || (!params.bGeomConsistency && OPTDENSE::nEstimationGeometricIters)) {
+				// smallest sub-resolution OR highest resolution and geometric consistency is not running but enabled
+				params.fThresholdKeepCost = OPTDENSE::fNCCThresholdKeep*1.2f;
+			}
+		} else {
+			// multi-resolution disabled
+			if (!params.bGeomConsistency && OPTDENSE::nEstimationGeometricIters) {
+				// geometric consistency is not running but enabled
+				params.fThresholdKeepCost = OPTDENSE::fNCCThresholdKeep*1.2f;
+			}
+		}
+
+		for (IIndex i = 0; i < numImages; ++i) {
+			const DepthData::ViewData& view = depthData.images[i];
+			Image32F image = view.image;
+			Camera camera;
+			camera.K = Eigen::Map<const SEACAVE::Matrix3x3::EMat>(view.camera.K.val).cast<float>();
+			camera.R = Eigen::Map<const SEACAVE::Matrix3x3::EMat>(view.camera.R.val).cast<float>();
+			camera.C = Eigen::Map<const SEACAVE::Point3::EVec>(view.camera.C.ptr()).cast<float>();
+			camera.height = image.rows;
+			camera.width = image.cols;
+			// store camera and image
+			if (i == 0 && (prevNumImages < numImages || images[0].size() != image.size())) {
+				// allocate/reallocate PatchMatch CUDA memory
+				if (prevNumImages > 0)
+					ReleaseCUDA();
+				AllocatePatchMatchCUDA(image);
+			}
+			if (i >= prevNumImages) {
+				// allocate image CUDA memory
+				AllocateImageCUDA(i, image, true, !view.depthMap.empty());
+			} else
+			if (images[i].size() != image.size()) {
+				// reallocate image CUDA memory
+				cudaDestroyTextureObject(textureImages[i]);
+				cudaFreeArray(cudaImageArrays[i]);
+				if (params.bGeomConsistency && i > 0) {
+					cudaDestroyTextureObject(textureDepths[i-1]);
+					cudaFreeArray(cudaDepthArrays[i-1]);
+				}
+				AllocateImageCUDA(i, image, true, !view.depthMap.empty());
+			} else
+			if (params.bGeomConsistency && i > 0 && (view.depthMap.empty() != (cudaDepthArrays[i-1] == NULL))) {
+				// reallocate depth CUDA memory
+				if (cudaDepthArrays[i-1]) {
+					cudaDestroyTextureObject(textureDepths[i-1]);
+					cudaFreeArray(cudaDepthArrays[i-1]);
+				}
+				AllocateImageCUDA(i, image, false, !view.depthMap.empty());
 			}
-			AllocateImageCUDA(i, image, true, !view.depthMap.empty());
-		} else
-		if (params.bGeomConsistency && i > 0 && (view.depthMap.empty() != (cudaDepthArrays[i-1] == NULL))) {
-			// reallocate depth CUDA memory
-			if (cudaDepthArrays[i-1]) {
+			CUDA::checkCudaCall(cudaMemcpy2DToArray(cudaImageArrays[i], 0, 0, image.ptr<float>(), image.step[0], image.cols * sizeof(float), image.rows, cudaMemcpyHostToDevice));
+			if (params.bGeomConsistency && i > 0 && !view.depthMap.empty()) {
+				// set previously computed depth-map
+				DepthMap depthMap(view.depthMap);
+				if (depthMap.size() != image.size())
+					cv::resize(depthMap, depthMap, image.size(), 0, 0, cv::INTER_LINEAR);
+				CUDA::checkCudaCall(cudaMemcpy2DToArray(cudaDepthArrays[i-1], 0, 0, depthMap.ptr<float>(), depthMap.step[0], sizeof(float) * depthMap.cols, depthMap.rows, cudaMemcpyHostToDevice));
+			}
+			images[i] = std::move(image);
+			cameras[i] = std::move(camera);
+		}
+		if (params.bGeomConsistency && cudaDepthArrays.size() > numImages - 1) {
+			for (IIndex i = numImages; i < prevNumImages; ++i) {
+				// free image CUDA memory
 				cudaDestroyTextureObject(textureDepths[i-1]);
 				cudaFreeArray(cudaDepthArrays[i-1]);
 			}
-			AllocateImageCUDA(i, image, false, !view.depthMap.empty());
+			cudaDepthArrays.resize(params.nNumViews);
+			textureDepths.resize(params.nNumViews);
 		}
-		CUDA::checkCudaCall(cudaMemcpy2DToArray(cudaImageArrays[i], 0, 0, image.ptr<float>(), image.step[0], image.cols*sizeof(float), image.rows, cudaMemcpyHostToDevice));
-		if (params.bGeomConsistency && i > 0 && !view.depthMap.empty()) {
-			// set previously computed depth-map
-			DepthMap depthMap(view.depthMap);
-			if (depthMap.size() != image.size())
-				cv::resize(depthMap, depthMap, image.size(), 0, 0, cv::INTER_LINEAR);
-			CUDA::checkCudaCall(cudaMemcpy2DToArray(cudaDepthArrays[i-1], 0, 0, depthMap.ptr<float>(), depthMap.step[0], sizeof(float)*depthMap.cols, depthMap.rows, cudaMemcpyHostToDevice));
-		}
-		images[i] = std::move(image);
-		cameras[i] = std::move(camera);
-	}
-	if (params.bGeomConsistency && cudaDepthArrays.size() > numImages-1) {
-		for (IIndex i = numImages; i < prevNumImages; ++i) {
-			// free image CUDA memory
-			cudaDestroyTextureObject(textureDepths[i-1]);
-			cudaFreeArray(cudaDepthArrays[i-1]);
+		if (prevNumImages > numImages) {
+			for (IIndex i = numImages; i < prevNumImages; ++i) {
+				// free image CUDA memory
+				cudaDestroyTextureObject(textureImages[i]);
+				cudaFreeArray(cudaImageArrays[i]);
+			}
+			images.resize(numImages);
+			cameras.resize(numImages);
+			cudaImageArrays.resize(numImages);
+			textureImages.resize(numImages);
 		}
-		cudaDepthArrays.resize(numImages-1);
-		textureDepths.resize(numImages-1);
-	}
-	if (prevNumImages > numImages) {
-		for (IIndex i = numImages; i < prevNumImages; ++i) {
-			// free image CUDA memory
-			cudaDestroyTextureObject(textureImages[i]);
-			cudaFreeArray(cudaImageArrays[i]);
+		prevNumImages = numImages;
+
+		// setup CUDA memory
+		CUDA::checkCudaCall(cudaMemcpy(cudaTextureImages, textureImages.data(), sizeof(cudaTextureObject_t) * numImages, cudaMemcpyHostToDevice));
+		CUDA::checkCudaCall(cudaMemcpy(cudaCameras, cameras.data(), sizeof(Camera) * numImages, cudaMemcpyHostToDevice));
+		if (params.bGeomConsistency) {
+			// set previously computed depth-maps
+			ASSERT(depthData.depthMap.size() == depthData.GetView().image.size());
+			CUDA::checkCudaCall(cudaMemcpy(cudaTextureDepths, textureDepths.data(), sizeof(cudaTextureObject_t) * params.nNumViews, cudaMemcpyHostToDevice));
 		}
-		images.resize(numImages);
-		cameras.resize(numImages);
-		cudaImageArrays.resize(numImages);
-		textureImages.resize(numImages);
-	}
 
-	// setup CUDA memory
-	CUDA::checkCudaCall(cudaMemcpy(cudaTextureImages, textureImages.data(), sizeof(cudaTextureObject_t)*numImages, cudaMemcpyHostToDevice));
-	CUDA::checkCudaCall(cudaMemcpy(cudaCameras, cameras.data(), sizeof(Camera)*numImages, cudaMemcpyHostToDevice));
-	if (params.bGeomConsistency) {
-		// set previously computed depth-maps
-		ASSERT(depthData.depthMap.size() == depthData.GetView().image.size());
-		CUDA::checkCudaCall(cudaMemcpy(cudaTextureDepths, textureDepths.data(), sizeof(cudaTextureObject_t)*(numImages-1), cudaMemcpyHostToDevice));
-	}
+		// load depth-map and normal-map into CUDA memory
+		for (int r = 0; r < depthData.depthMap.rows; ++r) {
+			const int baseIndex = r * depthData.depthMap.cols;
+			for (int c = 0; c < depthData.depthMap.cols; ++c) {
+				const Normal& n = depthData.normalMap(r, c);
+				const int index = baseIndex + c;
+				Point4& depthNormal = depthNormalEstimates[index];
+				depthNormal.topLeftCorner<3, 1>() = Eigen::Map<const Normal::EVec>(n.ptr());
+				depthNormal.w() = depthData.depthMap(r, c);
+			}
+		}
+		CUDA::checkCudaCall(cudaMemcpy(cudaDepthNormalEstimates, depthNormalEstimates, sizeof(Point4) * depthData.depthMap.size().area(), cudaMemcpyHostToDevice));
 
-	// load depth-map and normal-map into CUDA memory
-	for (int r = 0; r < depthData.depthMap.rows; ++r) {
-		for (int c = 0; c < depthData.depthMap.cols; ++c) {
-			const Normal& n = depthData.normalMap(r,c);
-			const int index = r * depthData.depthMap.cols + c;
-			Point4& depthNormal = depthNormalEstimates[index];
-			depthNormal.topLeftCorner<3,1>() = Eigen::Map<const Normal::EVec>(n.ptr());
-			depthNormal.w() = depthData.depthMap(r,c);
+		// load low resolution depth-map into CUDA memory
+		if (params.bLowResProcessed) {
+			ASSERT(depthData.depthMap.isContinuous());
+			CUDA::checkCudaCall(cudaMemcpy(cudaLowDepths, depthData.depthMap.ptr<float>(), sizeof(float) * depthData.depthMap.size().area(), cudaMemcpyHostToDevice));
 		}
-	}
-	CUDA::checkCudaCall(cudaMemcpy(cudaDepthNormalEstimates, depthNormalEstimates, sizeof(Point4) * depthData.depthMap.size().area(), cudaMemcpyHostToDevice));
-
-	// run CUDA patch-match
-	RunCUDA();
-	CUDA::checkCudaCall(cudaGetLastError());
-
-	// load depth-map, normal-map and confidence-map from CUDA memory
-	const float fNCCThresholdKeep(!params.bGeomConsistency && OPTDENSE::nEstimationGeometricIters ?
-		OPTDENSE::fNCCThresholdKeep * 1.333f : OPTDENSE::fNCCThresholdKeep);
-	if (depthData.confMap.empty())
-		depthData.confMap.create(depthData.depthMap.size());
-	for (int r = 0; r < depthData.depthMap.rows; ++r) {
-		for (int c = 0; c < depthData.depthMap.cols; ++c) {
-			const int index = r * depthData.depthMap.cols + c;
-			const Point4& depthNormal = depthNormalEstimates[index];
-			ASSERT(std::isfinite(depthNormal.w()));
-			// check if the score is good enough
-			// and that the cross-estimates is close enough to the current estimate
-			float& conf = depthData.confMap(r,c);
-			conf = depthNormalCosts[index];
-			ASSERT(std::isfinite(conf));
-			if (depthNormal.w() <= 0 || conf >= fNCCThresholdKeep) {
-				conf = 0;
-				depthData.depthMap(r,c) = 0;
-				depthData.normalMap(r,c) = Normal::ZERO;
-			} else {
-				depthData.depthMap(r,c) = depthNormal.w();
-				depthData.normalMap(r,c) = depthNormal.topLeftCorner<3,1>();
-				// converted ZNCC [0-2] score, where 0 is best, to [0-1] confidence, where 1 is best
-				conf = conf>=1.f ? 0.f : 1.f-conf;
+
+		// run CUDA patch-match
+		ASSERT(!depthData.viewsMap.empty());
+		RunCUDA(depthData.confMap.getData(), (uint32_t*)depthData.viewsMap.getData());
+		CUDA::checkCudaCall(cudaGetLastError());
+		if (params.bLowResProcessed)
+			CUDA::checkCudaCall(cudaFree(cudaLowDepths));
+
+		// load depth-map, normal-map and confidence-map from CUDA memory
+		for (int r = 0; r < depthData.depthMap.rows; ++r) {
+			for (int c = 0; c < depthData.depthMap.cols; ++c) {
+				const int index = r * depthData.depthMap.cols + c;
+				const Point4& depthNormal = depthNormalEstimates[index];
+				const Depth depth = depthNormal.w();
+				ASSERT(std::isfinite(depth));
+				ASSERT(depth==0 || ISINSIDE(depth, depthData.dMin, depthData.dMax));
+				depthData.depthMap(r, c) = depth;
+				depthData.normalMap(r, c) = depthNormal.topLeftCorner<3, 1>();
+				if (scaleNumber == 0) {
+					// converted ZNCC [0-2] score, where 0 is best, to [0-1] confidence, where 1 is best
+					ASSERT(!depthData.confMap.empty());
+					float& conf = depthData.confMap(r, c);
+					conf = conf >= 1.f ? 0.f : 1.f - conf;
+					// map pixel views from bit-mask to index
+					ASSERT(!depthData.viewsMap.empty());
+					ViewsID& views = depthData.viewsMap(r, c);
+					if (depth > 0) {
+						const uint32_t bitviews(*reinterpret_cast<const uint32_t*>(views.val));
+						int j = 0;
+						for (int i = 0; i < 32; ++i) {
+							if (bitviews & (1 << i)) {
+								views[j] = i;
+								if (++j == maxPixelViews)
+									break;
+							}
+						}
+						while (j < 4)
+							views[j++] = 255;
+					} else
+						views = ViewsID(255, 255, 255, 255);
+				}
 			}
 		}
+		
+		// remember sub-resolution estimates for next iteration
+		if (scaleNumber > 0) {
+			lowResDepthMap = depthData.depthMap;
+			lowResNormalMap = depthData.normalMap;
+			lowResViewsMap = depthData.viewsMap;
+		}
 	}
 
 	DEBUG_EXTRA("Depth-map for image %3u %s: %dx%d (%s)", depthData.images.front().GetID(),
diff --git a/libs/MVS/PatchMatchCUDA.cu b/libs/MVS/PatchMatchCUDA.cu
index 7fe1d4e1d..2c0b775e0 100644
--- a/libs/MVS/PatchMatchCUDA.cu
+++ b/libs/MVS/PatchMatchCUDA.cu
@@ -296,10 +296,10 @@ __device__ inline float GeometricConsistencyWeight(const ImagePixels depthImage,
 }
 
 // compute photometric score using weighted ZNCC
-__device__ float ScorePlane(const ImagePixels refImage, const PatchMatchCUDA::Camera& refCamera, const ImagePixels trgImage, const PatchMatchCUDA::Camera& trgCamera, const Point2i& p, const Point4& plane, const PatchMatchCUDA::Params& params)
+__device__ float ScorePlane(const ImagePixels refImage, const PatchMatchCUDA::Camera& refCamera, const ImagePixels trgImage, const PatchMatchCUDA::Camera& trgCamera, const Point2i& p, const Point4& plane, const float lowDepth, const PatchMatchCUDA::Params& params)
 {
 	constexpr float maxCost = 1.2f;
-
+	
 	Matrix3 H = ComputeHomography(refCamera, trgCamera, p.cast<float>(), plane);
 	const Point2 pt = (H * p.cast<float>().homogeneous()).hnormalized();
 	if (pt.x() >= trgCamera.width || pt.x() < 0.f || pt.y() >= trgCamera.height || pt.y() < 0.f)
@@ -337,31 +337,40 @@ __device__ float ScorePlane(const ImagePixels refImage, const PatchMatchCUDA::Ca
 	}
 
 	const float varRef = sumRefRef * bilateralWeightSum - sumRef * sumRef;
+	if (lowDepth <= 0 && varRef < 1e-8f)
+		return maxCost;
 	const float varTrg = sumTrgTrg * bilateralWeightSum - sumTrg * sumTrg;
-
-	constexpr float kMinVar = 1e-5f;
-	if (varRef < kMinVar || varTrg < kMinVar)
+	const float varRefTrg = varRef * varTrg;
+	if (varRefTrg < 1e-16f)
 		return maxCost;
 	const float covarTrgRef = sumRefTrg * bilateralWeightSum - sumRef * sumTrg;
-	const float varRefTrg = sqrt(varRef * varTrg);
-	const float ncc = 1.f - covarTrgRef / varRefTrg;
-	return max(0.f, min(maxCost, ncc));
+	float ncc = 1.f - covarTrgRef / sqrt(varRefTrg);
+
+	// apply depth prior weight based on patch textureless
+	if (lowDepth > 0) {
+		constexpr float smoothSigmaDepth(-1.f / (1.f * 0.02f));
+		const float depth = plane.w();
+		const float deltaDepth = MIN((abs(lowDepth - depth) / lowDepth), 0.5f);
+		const float factorDeltaDepth = exp(varRef * smoothSigmaDepth);
+		ncc += deltaDepth * factorDeltaDepth;
+	}
+	return max(0.f, min(2.f, ncc));
 }
 
 // compute photometric score for all neighbor images
-__device__ inline void MultiViewScorePlane(const ImagePixels *images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, const Point2i& p, const Point4& plane, float* costVector, const PatchMatchCUDA::Params& params)
+__device__ inline void MultiViewScorePlane(const ImagePixels *images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, const Point2i& p, const Point4& plane, const float lowDepth, float* costVector, const PatchMatchCUDA::Params& params)
 {
 	for (int imgId = 1; imgId <= params.nNumViews; ++imgId)
-		costVector[imgId-1] = ScorePlane(images[0], cameras[0], images[imgId], cameras[imgId], p, plane, params);
+		costVector[imgId-1] = ScorePlane(images[0], cameras[0], images[imgId], cameras[imgId], p, plane, lowDepth, params);
 	if (params.bGeomConsistency)
 		for (int imgId = 0; imgId < params.nNumViews; ++imgId)
 			costVector[imgId] += 0.1f * GeometricConsistencyWeight(depthImages[imgId], cameras[0], cameras[imgId+1], plane, p);
 }
 // same as above, but interpolate the plane to current pixel position
-__device__ inline float MultiViewScoreNeighborPlane(const ImagePixels* images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, const Point2i& p, const Point2i& np, Point4 plane, float* costVector, const PatchMatchCUDA::Params& params)
+__device__ inline float MultiViewScoreNeighborPlane(const ImagePixels* images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, const Point2i& p, const Point2i& np, Point4 plane, const float lowDepth, float* costVector, const PatchMatchCUDA::Params& params)
 {
 	plane.w() = InterpolatePixel(cameras[0], p, np, plane.w(), plane.topLeftCorner<3,1>(), params);
-	MultiViewScorePlane(images, depthImages, cameras, p, plane, costVector, params);
+	MultiViewScorePlane(images, depthImages, cameras, p, plane, lowDepth, costVector, params);
 	return plane.w();
 }
 
@@ -372,12 +381,12 @@ __device__ inline float AggregateMultiViewScores(const unsigned* viewWeights, co
 	for (int imgId = 0; imgId < numViews; ++imgId)
 		if (viewWeights[imgId])
 			cost += viewWeights[imgId] * costVector[imgId];
-	return cost;
+	return cost / NUM_SAMPLES;
 }
 
 // propagate and refine the plane estimate for the current pixel employing the asymmetric approach described in:
 // "Multi-View Stereo with Asymmetric Checkerboard Propagation and Multi-Hypothesis Joint View Selection", 2018
-__device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, RandState* randStates, unsigned* selectedViews, const Point2i& p, const PatchMatchCUDA::Params& params, const int iter)
+__device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, RandState* randStates, unsigned* selectedViews, const Point2i& p, const PatchMatchCUDA::Params& params, const int iter)
 {
 	int width = cameras[0].width;
 	int height = cameras[0].height;
@@ -385,6 +394,9 @@ __device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depth
 		return;
 	const int idx = Point2Idx(p, width);
 	RandState* randState = &randStates[idx];
+	float lowDepth = 0;
+	if (params.bLowResProcessed)
+		lowDepth = lowDepths[idx];
 
 	// adaptive sampling: 0 up-near, 1 down-near, 2 left-near, 3 right-near, 4 up-far, 5 down-far, 6 left-far, 7 right-far
 	static constexpr int2 dirs[8][11] = {
@@ -427,7 +439,7 @@ __device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depth
 		if (bestConf < FLT_MAX) {
 			valid[posId] = true;
 			positions[posId] = Point2Idx(bestNx, width);
-			neighborDepths[posId] = MultiViewScoreNeighborPlane(images, depthImages, cameras, p, bestNx, planes[positions[posId]], costArray[posId], params);
+			neighborDepths[posId] = MultiViewScoreNeighborPlane(images, depthImages, cameras, p, bestNx, planes[positions[posId]], lowDepth, costArray[posId], params);
 		}
 	}
 
@@ -486,11 +498,11 @@ __device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depth
 			SetBit(newSelectedViews, imgId);
 	float finalCosts[8];
 	for (int posId = 0; posId < 8; ++posId)
-		finalCosts[posId] = AggregateMultiViewScores(viewWeights, costArray[posId], params.nNumViews) / NUM_SAMPLES;
+		finalCosts[posId] = AggregateMultiViewScores(viewWeights, costArray[posId], params.nNumViews);
 	const int minCostIdx = FindMinIndex(finalCosts, 8);
 	float costVector[MAX_VIEWS];
-	MultiViewScorePlane(images, depthImages, cameras, p, plane, costVector, params);
-	cost = AggregateMultiViewScores(viewWeights, costVector, params.nNumViews) / NUM_SAMPLES;
+	MultiViewScorePlane(images, depthImages, cameras, p, plane, lowDepth, costVector, params);
+	cost = AggregateMultiViewScores(viewWeights, costVector, params.nNumViews);
 	if (finalCosts[minCostIdx] < cost && valid[minCostIdx]) {
 		plane = planes[positions[minCostIdx]];
 		plane.w() = neighborDepths[minCostIdx];
@@ -518,15 +530,15 @@ __device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depth
 		surfaceNormal = ComputeDepthGradient(cameras[0].K, depth, p, ndepths);
 		numValidPlanes = 4;
 	}
-	const int numPlanes = 4;
+	constexpr int numPlanes = 4;
 	const float depths[numPlanes] = {depthPerturbed, depth, depth, depth};
 	const Point3 normals[numPlanes] = {plane.topLeftCorner<3,1>(), perturbedNormal, normalRand, surfaceNormal};
 	for (int i = 0; i < numValidPlanes; ++i) {
 		Point4 newPlane;
 		newPlane.topLeftCorner<3,1>() = normals[i];
 		newPlane.w() = depths[i];
-		MultiViewScorePlane(images, depthImages, cameras, p, newPlane, costVector, params);
-		const float costPlane = AggregateMultiViewScores(viewWeights, costVector, params.nNumViews) / NUM_SAMPLES;
+		MultiViewScorePlane(images, depthImages, cameras, p, newPlane, lowDepth, costVector, params);
+		const float costPlane = AggregateMultiViewScores(viewWeights, costVector, params.nNumViews);
 		if (cost > costPlane) {
 			cost = costPlane;
 			plane = newPlane;
@@ -535,13 +547,16 @@ __device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depth
 }
 
 // compute the score of the current plane estimate
-__device__ void InitializePixelScore(const ImagePixels *images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, RandState* randStates, unsigned* selectedViews, const Point2i& p, const PatchMatchCUDA::Params params)
+__device__ void InitializePixelScore(const ImagePixels *images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, RandState* randStates, unsigned* selectedViews, const Point2i& p, const PatchMatchCUDA::Params params)
 {
 	const int width = cameras[0].width;
 	const int height = cameras[0].height;
 	if (p.x() >= width || p.y() >= height)
 		return;
 	const int idx = Point2Idx(p, width);
+	float lowDepth = 0;
+	if (params.bLowResProcessed)
+		lowDepth = lowDepths[idx];
 	// initialize estimate randomly if not set
 	RandState* randState = &randStates[idx];
 	curand_init(1234/*threadIdx.x*/, p.y(), p.x(), randState);
@@ -557,7 +572,7 @@ __device__ void InitializePixelScore(const ImagePixels *images, const ImagePixel
 	}
 	// compute costs
 	float costVector[MAX_VIEWS];
-	MultiViewScorePlane(images, depthImages, cameras, p, plane, costVector, params);
+	MultiViewScorePlane(images, depthImages, cameras, p, plane, lowDepth, costVector, params);
 	// select best views
 	float costVectorSorted[MAX_VIEWS];
 	Sort(costVector, costVectorSorted, params.nNumViews);
@@ -572,29 +587,46 @@ __device__ void InitializePixelScore(const ImagePixels *images, const ImagePixel
 			SetBit(selectedView, imgId);
 	costs[idx] = cost / params.nInitTopK;
 }
-__global__ void InitializeScore(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params)
+__global__ void InitializeScore(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const PatchMatchCUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params)
 {
 	const Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
-	InitializePixelScore((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, costs, (RandState*)randStates, selectedViews, p, params);
+	InitializePixelScore((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, lowDepths, costs, (RandState*)randStates, selectedViews, p, params);
 }
 
 // traverse image in a back/red checkerboard pattern
-__global__ void BlackPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params, const int iter)
+__global__ void BlackPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const PatchMatchCUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params, const int iter)
 {
 	Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
 	p.y() = p.y() * 2 + (threadIdx.x % 2 == 0 ? 0 : 1);
-	ProcessPixel((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, costs, (RandState*)randStates, selectedViews, p, params, iter);
+	ProcessPixel((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, lowDepths, costs, (RandState*)randStates, selectedViews, p, params, iter);
 }
-__global__ void RedPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params, const int iter)
+__global__ void RedPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const PatchMatchCUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params, const int iter)
 {
 	Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
 	p.y() = p.y() * 2 + (threadIdx.x % 2 == 0 ? 1 : 0);
-	ProcessPixel((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, costs, (RandState*)randStates, selectedViews, p, params, iter);
+	ProcessPixel((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, lowDepths, costs, (RandState*)randStates, selectedViews, p, params, iter);
+}
+
+// filter depth/normals
+__global__ void FilterPlanes(Point4* planes, float* costs, unsigned* selectedViews, int width, int height, const PatchMatchCUDA::Params params)
+{
+	const Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
+	if (p.x() >= width || p.y() >= height)
+		return;
+	const int idx = Point2Idx(p, width);
+	// filter estimates if the score is not good enough
+	Point4& plane = planes[idx];
+	float conf = costs[idx];
+	if (plane.w() <= 0 || conf >= params.fThresholdKeepCost) {
+		conf = 0;
+		plane = Point4::Zero();
+		selectedViews[idx] = 0;
+	}
 }
 /*----------------------------------------------------------------*/
 
 
-__host__ void PatchMatchCUDA::RunCUDA()
+__host__ void PatchMatchCUDA::RunCUDA(float* ptrCostMap, uint32_t* ptrViewsMap)
 {
 	const unsigned width = cameras[0].width;
 	const unsigned height = cameras[0].height;
@@ -603,21 +635,28 @@ __host__ void PatchMatchCUDA::RunCUDA()
 	constexpr unsigned BLOCK_H = (BLOCK_W / 2);
 
 	const dim3 blockSize(BLOCK_W, BLOCK_H, 1);
-	const dim3 gridSizeInitialize((width + BLOCK_H - 1) / BLOCK_H, (height + BLOCK_H - 1) / BLOCK_H, 1);
+	const dim3 gridSizeFull((width + BLOCK_H - 1) / BLOCK_H, (height + BLOCK_H - 1) / BLOCK_H, 1);
 	const dim3 gridSizeCheckerboard((width + BLOCK_W - 1) / BLOCK_W, ((height / 2) + BLOCK_H - 1) / BLOCK_H, 1);
 
-	InitializeScore<<<gridSizeInitialize, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params);
+	InitializeScore<<<gridSizeFull, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaLowDepths, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params);
 	cudaDeviceSynchronize();
 
 	for (int iter = 0; iter < params.nEstimationIters; ++iter) {
-		BlackPixelProcess<<<gridSizeCheckerboard, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, iter);
+		BlackPixelProcess<<<gridSizeCheckerboard, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaLowDepths, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, iter);
 		cudaDeviceSynchronize();
-		RedPixelProcess<<<gridSizeCheckerboard, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, iter);
+		RedPixelProcess<<<gridSizeCheckerboard, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaLowDepths, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, iter);
 		cudaDeviceSynchronize();
 	}
 
+	if (params.fThresholdKeepCost > 0)
+		FilterPlanes<<<gridSizeFull, blockSize>>>(cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaSelectedViews, width, height, params);
+
 	cudaMemcpy(depthNormalEstimates, cudaDepthNormalEstimates, sizeof(Point4) * width * height, cudaMemcpyDeviceToHost);
-	cudaMemcpy(depthNormalCosts, cudaDepthNormalCosts, sizeof(float) * width * height, cudaMemcpyDeviceToHost);
+	if (ptrCostMap)
+		cudaMemcpy(ptrCostMap, cudaDepthNormalCosts, sizeof(float) * width * height, cudaMemcpyDeviceToHost);
+	if (ptrViewsMap)
+		cudaMemcpy(ptrViewsMap, cudaSelectedViews, sizeof(uint32_t) * width * height, cudaMemcpyDeviceToHost);
+
 	cudaDeviceSynchronize();
 }
 /*----------------------------------------------------------------*/
diff --git a/libs/MVS/PatchMatchCUDA.h b/libs/MVS/PatchMatchCUDA.h
index 5049ff18b..22680c90d 100644
--- a/libs/MVS/PatchMatchCUDA.h
+++ b/libs/MVS/PatchMatchCUDA.h
@@ -37,7 +37,7 @@
 
 // I N C L U D E S /////////////////////////////////////////////////
 
-#include "DepthMap.h"
+#include "SceneDensify.h"
 #pragma push_macro("EIGEN_DEFAULT_DENSE_INDEX_TYPE")
 #undef EIGEN_DEFAULT_DENSE_INDEX_TYPE
 #include "PatchMatchCUDA.inl"
diff --git a/libs/MVS/PatchMatchCUDA.inl b/libs/MVS/PatchMatchCUDA.inl
index 5dbc4be1d..349cc33d7 100644
--- a/libs/MVS/PatchMatchCUDA.inl
+++ b/libs/MVS/PatchMatchCUDA.inl
@@ -86,6 +86,8 @@ public:
 		float fDepthMax = 100.f;
 		int nInitTopK = 3;
 		bool bGeomConsistency = false;
+		bool bLowResProcessed = false;
+		float fThresholdKeepCost = 0;
 	};
 
 	struct Camera {
@@ -100,7 +102,7 @@ public:
 	PatchMatchCUDA(int device=0);
 	~PatchMatchCUDA();
 
-	void Init(bool geom_consistency);
+	void Init(bool bGeomConsistency);
 	void Release();
 
 	void EstimateDepthMap(DepthData&);
@@ -112,7 +114,7 @@ private:
 	void ReleaseCUDA();
 	void AllocatePatchMatchCUDA(const cv::Mat1f& image);
 	void AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bInitImage, bool bInitDepthMap);
-	void RunCUDA();
+	void RunCUDA(float* ptrCostMap=NULL, uint32_t* ptrViewsMap=NULL);
 
 public:
 	Params params;
@@ -122,7 +124,6 @@ public:
 	std::vector<cudaTextureObject_t> textureImages;
 	std::vector<cudaTextureObject_t> textureDepths;
 	Point4* depthNormalEstimates;
-	float* depthNormalCosts;
 
 	Camera *cudaCameras;
 	std::vector<cudaArray_t> cudaImageArrays;
@@ -130,9 +131,10 @@ public:
 	cudaTextureObject_t* cudaTextureImages;
 	cudaTextureObject_t* cudaTextureDepths;
 	Point4* cudaDepthNormalEstimates;
+	float* cudaLowDepths;
 	float* cudaDepthNormalCosts;
 	curandState* cudaRandStates;
-	unsigned* cudaSelectedViews;
+	uint32_t* cudaSelectedViews;
 };
 /*----------------------------------------------------------------*/
 
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index b9b9e6bdc..0a97319c5 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -321,7 +321,8 @@ bool Scene::LoadDMAP(const String& fileName)
 	DepthMap depthMap;
 	NormalMap normalMap;
 	ConfidenceMap confMap;
-	if (!ImportDepthDataRaw(fileName, imageFileName, IDs, imageSize, camera.K, camera.R, camera.C, dMin, dMax, depthMap, normalMap, confMap))
+	ViewsMap viewsMap;
+	if (!ImportDepthDataRaw(fileName, imageFileName, IDs, imageSize, camera.K, camera.R, camera.C, dMin, dMax, depthMap, normalMap, confMap, viewsMap))
 		return false;
 
 	// create image
@@ -699,7 +700,7 @@ bool Scene::ExportMeshToDepthMaps(const String& baseName)
 				IDs.push_back(idxImage);
 				for (const ViewScore& neighbor: image.neighbors)
 					IDs.push_back(neighbor.idx.ID);
-				return ExportDepthDataRaw(fileName, image.name, IDs, image.GetSize(), image.camera.K, image.camera.R, image.camera.C, 0.001f, FLT_MAX, depthMap, normalMap, ConfidenceMap());
+				return ExportDepthDataRaw(fileName, image.name, IDs, image.GetSize(), image.camera.K, image.camera.R, image.camera.C, 0.001f, FLT_MAX, depthMap, normalMap, ConfidenceMap(), ViewsMap());
 			} ()) ||
 			(nType == 1 && !depthMap.Save(fileName)) ||
 			(nType == 0 && !ExportDepthMap(fileName, depthMap)))
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index f37a2c15c..af53aab55 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -385,9 +385,10 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 			Depth dMin, dMax;
 			NormalMap normalMap;
 			ConfidenceMap confMap;
+			ViewsMap viewsMap;
 			ImportDepthDataRaw(ComposeDepthFilePath(view.GetID(), "dmap"),
 				imageFileName, IDs, imageSize, view.cameraDepthMap.K, view.cameraDepthMap.R, view.cameraDepthMap.C,
-				dMin, dMax, view.depthMap, normalMap, confMap, 1);
+				dMin, dMax, view.depthMap, normalMap, confMap, viewsMap, 1);
 		}
 		view.Init(viewRef.camera);
 	}
@@ -399,9 +400,10 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 		cv::Size imageSize;
 		Camera camera;
 		ConfidenceMap confMap;
+		ViewsMap viewsMap;
 		if (!ImportDepthDataRaw(ComposeDepthFilePath(viewRef.GetID(), "dmap"),
 				imageFileName, IDs, imageSize, camera.K, camera.R, camera.C, depthData.dMin, depthData.dMax,
-				depthData.depthMap, depthData.normalMap, confMap, 3))
+				depthData.depthMap, depthData.normalMap, confMap, viewsMap, 3))
 			return false;
 		ASSERT(viewRef.image.size() == depthData.depthMap.size());
 	} else if (loadDepthMaps == 0) {
@@ -573,11 +575,14 @@ DepthData DepthMapsData::ScaleDepthData(const DepthData& inputDeptData, float sc
 	DepthData rescaledDepthData(inputDeptData);
 	FOREACH (idxView, rescaledDepthData.images) {
 		DepthData::ViewData& viewData = rescaledDepthData.images[idxView];
+		ASSERT(viewData.depthMap.empty() || viewData.image.size() == viewData.depthMap.size());
 		cv::resize(viewData.image, viewData.image, cv::Size(), scale, scale, cv::INTER_AREA);
-		viewData.camera = viewData.pImageData->GetCamera(scene.platforms, viewData.image.size());
+		viewData.camera = viewData.pImageData->camera;
+		viewData.camera.K = viewData.camera.GetScaledK(viewData.pImageData->GetSize(), viewData.image.size());
 		if (!viewData.depthMap.empty()) {
-			cv::resize(viewData.depthMap, viewData.depthMap, cv::Size(), scale, scale, cv::INTER_AREA);
-			viewData.cameraDepthMap = viewData.pImageData->GetCamera(scene.platforms, viewData.depthMap.size());
+			cv::resize(viewData.depthMap, viewData.depthMap, viewData.image.size(), 0, 0, cv::INTER_AREA);
+			viewData.cameraDepthMap = viewData.pImageData->camera;
+			viewData.cameraDepthMap.K = viewData.cameraDepthMap.GetScaledK(viewData.pImageData->GetSize(), viewData.image.size());
 		}
 		viewData.Init(rescaledDepthData.images[0].camera);
 	}
diff --git a/libs/MVS/SceneDensify.h b/libs/MVS/SceneDensify.h
index db5e7d1ce..34078658f 100644
--- a/libs/MVS/SceneDensify.h
+++ b/libs/MVS/SceneDensify.h
@@ -68,7 +68,7 @@ class MVS_API DepthMapsData
 	void MergeDepthMaps(PointCloud& pointcloud, bool bEstimateColor, bool bEstimateNormal);
 	void FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, bool bEstimateNormal);
 
-	DepthData ScaleDepthData(const DepthData& inputDeptData, float scale);
+	static DepthData ScaleDepthData(const DepthData& inputDeptData, float scale);
 
 protected:
 	static void* STCALL ScoreDepthMapTmp(void*);

From f34a258862af967456b7c4578aa2d8821875eb25 Mon Sep 17 00:00:00 2001
From: Krahets <krahets@163.com>
Date: Sun, 19 Jun 2022 14:38:28 +0800
Subject: [PATCH 111/252] dense: optimize the completeness of the estimated ROI
 (#830)

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp | 6 +++---
 libs/Common/AABB.inl                         | 7 +++++--
 libs/MVS/Scene.cpp                           | 7 +++----
 libs/MVS/Scene.h                             | 4 ++--
 4 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 18687b985..ffd029f30 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -286,9 +286,9 @@ int main(int argc, LPCTSTR* argv)
 	// load and estimate a dense point-cloud
 	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
 		return EXIT_FAILURE;
-    if (!scene.EstimateROI(OPT::nEstimateROI, 1.f))
-        return EXIT_FAILURE;
-    if (!OPT::strExportROIFileName.empty() && scene.IsBounded()) {
+	if (!scene.EstimateROI(OPT::nEstimateROI, 1.1f))
+		return EXIT_FAILURE;
+	if (!OPT::strExportROIFileName.empty() && scene.IsBounded()) {
 		std::ofstream fs(MAKE_PATH_SAFE(OPT::strExportROIFileName));
 		if (!fs)
 			return EXIT_FAILURE;
diff --git a/libs/Common/AABB.inl b/libs/Common/AABB.inl
index 965a51aa0..9e755c3a5 100644
--- a/libs/Common/AABB.inl
+++ b/libs/Common/AABB.inl
@@ -108,8 +108,11 @@ inline TAABB<TYPE,DIMS>& TAABB<TYPE,DIMS>::Enlarge(TYPE x)
 template <typename TYPE, int DIMS>
 inline TAABB<TYPE,DIMS>& TAABB<TYPE,DIMS>::EnlargePercent(TYPE x)
 {
-	ptMin *= x;
-	ptMax *= x;
+	POINT ptSize;
+	GetSize(ptSize);
+	ptSize *= (x - TYPE(1.)) / TYPE(2.);
+	ptMin -= ptSize;
+	ptMax += ptSize;
 	return *this;
 } // Enlarge
 /*----------------------------------------------------------------*/
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 0a97319c5..26886a30b 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -1381,7 +1381,7 @@ bool Scene::ScaleImages(unsigned nMaxResolution, REAL scale, const String& folde
 // scale specifies the ratio of the ROI's diameter
 bool Scene::EstimateROI(int nEstimateROI, float scale)
 {
-	ASSERT(nEstimateROI >= 0 || nEstimateROI <= 2 || scale > 0);
+	ASSERT(nEstimateROI >= 0 && nEstimateROI <= 2 && scale > 0);
 	if (nEstimateROI == 0) {
 		DEBUG_ULTIMATE("The scene will be considered as unbounded (no ROI)");
 		return true;
@@ -1451,14 +1451,13 @@ bool Scene::EstimateROI(int nEstimateROI, float scale)
 			if (!imageData.IsValid())
 				continue;
 			const Camera& camera = imageData.camera;
-			if (camera.PointDepth(point) < sceneRadius * 2.0f * scale) {
+			if (camera.PointDepth(point) < sceneRadius * 2.0f) {
 				ptsInROI.emplace_back(point);
 				break;
 			}
 		}
 	}
-	;
-	obb.Set(AABB3f(ptsInROI.begin(), ptsInROI.size()));
+	obb.Set(AABB3f(ptsInROI.begin(), ptsInROI.size()).EnlargePercent(scale));
 	#if TD_VERBOSE != TD_VERBOSE_OFF
 	if (VERBOSITY_LEVEL > 2) {
 		VERBOSE("Set the ROI with the AABB of position (%f,%f,%f) and extent (%f,%f,%f)",
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 7eae61fc7..f50922379 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -104,8 +104,8 @@ class MVS_API Scene
 	bool Scale(const REAL* pScale = NULL);
 	bool ScaleImages(unsigned nMaxResolution = 0, REAL scale = 0, const String& folderName = String());
 
-    // Estimate and set region-of-interest
-    bool EstimateROI(int nEstimateROI=0, float scale=1.f);
+	// Estimate and set region-of-interest
+	bool EstimateROI(int nEstimateROI=0, float scale=1.f);
 
 	// Dense reconstruction
 	bool DenseReconstruction(int nFusionMode=0);

From a5c3bcb41c10f179eddd076d91d4f46780b0b800 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 20 Jun 2022 16:56:44 +0300
Subject: [PATCH 112/252] dense: add point-cloud statistics

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp |   4 +
 apps/Viewer/Scene.cpp                        |   4 +
 libs/Common/Octree.inl                       |   9 +-
 libs/Common/Util.inl                         | 118 +++++++-------
 libs/MVS/DepthMap.cpp                        |   2 +-
 libs/MVS/Mesh.cpp                            |   6 +-
 libs/MVS/PointCloud.cpp                      | 156 +++++++++++++++++++
 libs/MVS/PointCloud.h                        |   4 +
 libs/MVS/Scene.cpp                           |   2 +-
 libs/MVS/SceneDensify.cpp                    |   4 +-
 10 files changed, 235 insertions(+), 74 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index ffd029f30..3d2b05ee9 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -355,6 +355,10 @@ int main(int argc, LPCTSTR* argv)
 		return EXIT_SUCCESS;
 	}
 	if ((ARCHIVE_TYPE)OPT::nArchiveType != ARCHIVE_MVS) {
+		#if TD_VERBOSE != TD_VERBOSE_OFF
+		if (VERBOSITY_LEVEL > 1 && !scene.pointcloud.IsEmpty())
+			scene.pointcloud.PrintStatistics(scene.images.data(), &scene.obb);
+		#endif
 		TD_TIMER_START();
 		if (!scene.DenseReconstruction(OPT::nFusionMode)) {
 			if (ABS(OPT::nFusionMode) != 1)
diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index 8c2dd59e2..409c4c6bd 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -239,6 +239,8 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 	}
 	if (scene.IsEmpty())
 		return false;
+	if (!scene.pointcloud.IsEmpty())
+		scene.pointcloud.PrintStatistics(scene.images.data(), &scene.obb);
 
 	#if 1
 	// create octree structure used to accelerate selection functionality
@@ -427,6 +429,8 @@ void Scene::CompileMesh()
 	if (scene.mesh.IsEmpty())
 		return;
 	ReleaseMesh();
+	if (scene.mesh.faceNormals.empty())
+		scene.mesh.ComputeNormalFaces();
 	listMesh = glGenLists(1);
 	glNewList(listMesh, GL_COMPILE);
 	// compile mesh
diff --git a/libs/Common/Octree.inl b/libs/Common/Octree.inl
index f9c317756..b63df4c0a 100644
--- a/libs/Common/Octree.inl
+++ b/libs/Common/Octree.inl
@@ -365,7 +365,8 @@ inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(INSERTER& inserte
 template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(IDXARR_TYPE& indices, const AABB_TYPE& aabb) const
 {
-	_Collect(m_root, aabb, IndexInserter(indices));
+	IndexInserter inserter(indices);
+	_Collect(m_root, aabb, inserter);
 }
 
 template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
@@ -377,7 +378,8 @@ inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(INSERTER& inserte
 template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(IDXARR_TYPE& indices, const POINT_TYPE& center, TYPE radius) const
 {
-	_Collect(m_root, AABB_TYPE(center, radius), IndexInserter(indices));
+	IndexInserter inserter(indices);
+	_Collect(m_root, AABB_TYPE(center, radius), inserter);
 }
 
 template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
@@ -390,7 +392,8 @@ template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename COLLECTOR>
 inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(IDXARR_TYPE& indices, const COLLECTOR& collector) const
 {
-	_Collect(m_root, m_radius, collector, IndexInserter(indices));
+	IndexInserter inserter(indices);
+	_Collect(m_root, m_radius, collector, inserter);
 }
 
 template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
diff --git a/libs/Common/Util.inl b/libs/Common/Util.inl
index 67199026e..b39c3030e 100644
--- a/libs/Common/Util.inl
+++ b/libs/Common/Util.inl
@@ -413,7 +413,7 @@ FORCEINLINE TYPE AngleFromRotationMatrix(const TMatrix<TYPE,3,3>& R) {
 // given two 3D vectors,
 // compute the angle between them
 // returns cos(angle)
-template<typename TYPE1, typename TYPE2>
+template<typename TYPE1, typename TYPE2 = TYPE1>
 inline TYPE2 ComputeAngle(const TYPE1* V1, const TYPE1* V2) {
 	// compute the angle between the rays
 	return CLAMP(TYPE2((V1[0]*V2[0]+V1[1]*V2[1]+V1[2]*V2[2])/SQRT((V1[0]*V1[0]+V1[1]*V1[1]+V1[2]*V1[2])*(V2[0]*V2[0]+V2[1]*V2[1]+V2[2]*V2[2]))), TYPE2(-1), TYPE2(1));
@@ -421,7 +421,7 @@ inline TYPE2 ComputeAngle(const TYPE1* V1, const TYPE1* V2) {
 // given three 3D points,
 // compute the angle between the vectors formed by the first point with the other two
 // returns cos(angle)
-template<typename TYPE1, typename TYPE2>
+template<typename TYPE1, typename TYPE2 = TYPE1>
 inline TYPE2 ComputeAngle(const TYPE1* B, const TYPE1* X1, const TYPE1* X2) {
 	// create the two vectors
 	const TYPE1 V1[] = {X1[0]-B[0], X1[1]-B[1], X1[2]-B[2]};
@@ -431,7 +431,7 @@ inline TYPE2 ComputeAngle(const TYPE1* B, const TYPE1* X1, const TYPE1* X2) {
 // given four 3D points,
 // compute the angle between the two vectors formed by the first and second pair of points
 // returns cos(angle)
-template<typename TYPE1, typename TYPE2>
+template<typename TYPE1, typename TYPE2 = TYPE1>
 inline TYPE2 ComputeAngle(const TYPE1* X1, const TYPE1* C1, const TYPE1* X2, const TYPE1* C2) {
 	// subtract out the camera center
 	const TYPE1 V1[] = {X1[0]-C1[0], X1[1]-C1[1], X1[2]-C1[2]};
@@ -790,83 +790,73 @@ inline void ComputeMeanStdOffline(const TYPE* values, size_t size, TYPEW& mean,
 	stddev = SQRT(variance);
 } // ComputeMeanStdOffline
 // same as above, but uses one pass only (online)
-template<typename TYPE, typename TYPEW=TYPE, typename ARGTYPE=const TYPE&>
-struct MeanStdOnline {
-	TYPEW mean;
-	TYPEW stddev;
-	size_t size;
-	MeanStdOnline() : mean(0), stddev(0), size(0) {}
-	MeanStdOnline(const TYPE* values, size_t _size) : mean(0), stddev(0), size(0) {
-		Compute(values, _size);
-	}
-	void Update(ARGTYPE v) {
-		const TYPEW val(v);
-		const TYPEW delta(val-mean);
-		mean += delta / (float)(++size);
-		stddev += delta * (val-mean);
-	}
-	void Compute(const TYPE* values, size_t _size) {
-		for (size_t i=0; i<_size; ++i)
-			Update(values[i]);
-	}
-	TYPEW GetMean() const { return mean; }
-	TYPEW GetVariance() const { return (stddev / (float)(size - 1)); }
-	TYPEW GetStdDev() const { return SQRT(GetVariance()); }
-};
 template<typename TYPE, typename TYPEW>
 inline void ComputeMeanStdOnline(const TYPE* values, size_t size, TYPEW& mean, TYPEW& stddev) {
 	ASSERT(size > 0);
-	mean = TYPEW(0);
-	stddev = TYPEW(0);
-	for (size_t i=0; i<size; ++i) {
-		const TYPEW val(values[i]);
-		const TYPEW delta(val-mean);
-		mean += delta / (i+1);
-		stddev += delta * (val-mean);
+	TYPEW sum(0), sumSq(0);
+	FOREACHRAWPTR(pVal, values, size) {
+		const TYPEW val(*pVal);
+		sum += val;
+		sumSq += SQUARE(val);
 	}
-	const TYPEW variance(stddev / (float)(size - 1));
+	const TYPEW invSize(TYPEW(1)/(float)size);
+	mean = sum * invSize;
+	const TYPEW variance((sumSq - SQUARE(sum) * invSize) / (float)(size - 1));
 	stddev = SQRT(variance);
-} // ComputeMeanStdOnline
-// same as above, but less stable in general (and faster)
-template<typename TYPE, typename TYPEW=TYPE, typename ARGTYPE=const TYPE&>
-struct MeanStdOnlineFast {
-	TYPEW sum;
-	TYPEW sumSq;
+} // ComputeMeanStdOnlineFast
+#define ComputeMeanStd ComputeMeanStdOnline
+// same as above, but an interactive version
+template<typename TYPE, typename TYPEW=TYPE, typename ARGTYPE=const TYPE&, typename TYPER=REAL>
+struct MeanStd {
+	typedef TYPE Type;
+	typedef TYPEW TypeW;
+	typedef TYPER TypeR;
+	typedef ARGTYPE ArgType;
+	TYPEW sum, sumSq;
 	size_t size;
-	MeanStdOnlineFast() : sum(0), sumSq(0), size(0) {}
-	MeanStdOnlineFast(const TYPE* values, size_t _size) : sum(0), sumSq(0), size(0) {
-		Compute(values, _size);
-	}
-	void Update(ARGTYPE v) {
-		const TYPEW val(v);
+	MeanStd() : sum(0), sumSq(0), size(0) {}
+	MeanStd(const Type* values, size_t _size) : MeanStd() { Compute(values, _size); }
+	void Update(ArgType v) {
+		const TYPEW val(static_cast<TYPEW>(v));
 		sum += val;
 		sumSq += SQUARE(val);
 		++size;
 	}
-	void Compute(const TYPE* values, size_t _size) {
+	void Compute(const Type* values, size_t _size) {
 		for (size_t i=0; i<_size; ++i)
 			Update(values[i]);
 	}
-	TYPEW GetMean() const { return sum / (float)size; }
-	TYPEW GetVariance() const { return (sumSq - SQUARE(sum) / (float)size) / (float)(size - 1); }
+	TYPEW GetSum() const { return sum; }
+	TYPEW GetMean() const { return static_cast<TYPEW>(sum / static_cast<TypeR>(size)); }
+	TYPEW GetRMS() const { return static_cast<TYPEW>(SQRT(sumSq / static_cast<TypeR>(size))); }
+	TYPEW GetVarianceN() const { return static_cast<TYPEW>(sumSq - SQUARE(sum) / static_cast<TypeR>(size)); }
+	TYPEW GetVariance() const { return static_cast<TYPEW>(GetVarianceN() / static_cast<TypeR>(size)); }
 	TYPEW GetStdDev() const { return SQRT(GetVariance()); }
+	void Clear() { sum = sumSq = TYPEW(0); size = 0; }
 };
-template<typename TYPE, typename TYPEW>
-inline void ComputeMeanStdOnlineFast(const TYPE* values, size_t size, TYPEW& mean, TYPEW& stddev) {
-	ASSERT(size > 0);
-	TYPEW sum(0), sumSq(0);
-	FOREACHRAWPTR(pVal, values, size) {
-		const TYPEW val(*pVal);
-		sum += val;
-		sumSq += SQUARE(val);
+// same as above, but records also min/max values
+template<typename TYPE, typename TYPEW=TYPE, typename ARGTYPE=const TYPE&, typename TYPER=REAL>
+struct MeanStdMinMax : MeanStd<TYPE,TYPEW,ARGTYPE,TYPER> {
+	typedef MeanStd<TYPE,TYPEW,ARGTYPE,TYPER> Base;
+	typedef TYPE Type;
+	typedef TYPEW TypeW;
+	typedef TYPER TypeR;
+	typedef ARGTYPE ArgType;
+	Type minVal, maxVal;
+	MeanStdMinMax() : minVal(std::numeric_limits<Type>::max()), maxVal(std::numeric_limits<Type>::lowest()) {}
+	MeanStdMinMax(const Type* values, size_t _size) : MeanStdMinMax() { Compute(values, _size); }
+	void Update(ArgType v) {
+		if (minVal > v)
+			minVal = v;
+		if (maxVal < v)
+			maxVal = v;
+		Base::Update(v);
 	}
-	const TYPEW invSize(TYPEW(1)/(float)size);
-	mean = sum * invSize;
-	const TYPEW variance((sumSq - SQUARE(sum) * invSize) / (float)(size - 1));
-	stddev = SQRT(variance);
-} // ComputeMeanStdOnlineFast
-#define ComputeMeanStd ComputeMeanStdOnlineFast
-#define MeanStd MeanStdOnlineFast
+	void Compute(const Type* values, size_t _size) {
+		for (size_t i=0; i<_size; ++i)
+			Update(values[i]);
+	}
+};
 /*----------------------------------------------------------------*/
 
 // given an array of values, compute the X84 threshold as in:
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 210b927c7..7e85a6163 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -522,7 +522,7 @@ float DepthEstimator::ScorePixelImage(const DepthData::ViewData& image1, Depth d
 		#else
 		const float factorDepth(DENSE_EXP(SQUARE((depth-neighbor.depth)/depth) * smoothSigmaDepth));
 		#endif
-		const float factorNormal(DENSE_EXP(SQUARE(ACOS(ComputeAngle<float,float>(normal.ptr(), neighbor.normal.ptr()))) * smoothSigmaNormal));
+		const float factorNormal(DENSE_EXP(SQUARE(ACOS(ComputeAngle(normal.ptr(), neighbor.normal.ptr()))) * smoothSigmaNormal));
 		score *= (1.f - smoothBonusDepth * factorDepth) * (1.f - smoothBonusNormal * factorNormal);
 	}
 	#endif
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 3d6389a78..d0d110634 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -3512,7 +3512,7 @@ void Mesh::CloseHoleQuality(VertexIdxArr& verts)
 			const Normal n(mesh.FaceNormal(face));
 			// compute the angle between the two existing edges of the face
 			// (the angle computation takes into account the case of reversed face)
-			angle = ACOS(ComputeAngle<float,float>(mesh.vertices[face[1]].ptr(), mesh.vertices[face[0]].ptr(), mesh.vertices[face[2]].ptr()));
+			angle = ACOS(ComputeAngle(mesh.vertices[face[1]].ptr(), mesh.vertices[face[0]].ptr(), mesh.vertices[face[2]].ptr()));
 			if (n.dot(mesh.VertexNormal(face[1])) < 0)
 				angle = float(2*M_PI) - angle;
 			// compute quality as a composition of dihedral angle and area/sum(edge^2);
@@ -3541,10 +3541,10 @@ void Mesh::CloseHoleQuality(VertexIdxArr& verts)
 			else {
 				const Normal n0(mesh.FaceNormal(mesh.faces[indices[0]]));
 				if (indices.GetSize() == 1)
-					dihedral = ACOS(ComputeAngle<float,float>(n.ptr(), n0.ptr()));
+					dihedral = ACOS(ComputeAngle(n.ptr(), n0.ptr()));
 				else {
 					const Normal n1(mesh.FaceNormal(mesh.faces[indices[1]]));
-					dihedral = MAXF(ACOS(ComputeAngle<float,float>(n.ptr(), n0.ptr())), ACOS(ComputeAngle<float,float>(n.ptr(), n1.ptr())));
+					dihedral = MAXF(ACOS(ComputeAngle(n.ptr(), n0.ptr())), ACOS(ComputeAngle(n.ptr(), n1.ptr())));
 				}
 			}
 			aspectRatio = ComputeTriangleQuality(mesh.vertices[face[0]], mesh.vertices[face[1]], mesh.vertices[face[2]]);
diff --git a/libs/MVS/PointCloud.cpp b/libs/MVS/PointCloud.cpp
index 870664c43..62571a421 100644
--- a/libs/MVS/PointCloud.cpp
+++ b/libs/MVS/PointCloud.cpp
@@ -321,3 +321,159 @@ bool PointCloud::SaveNViews(const String& fileName, uint32_t minViews, bool bLeg
 	return true;
 } // SaveNViews
 /*----------------------------------------------------------------*/
+
+
+// print various statistics about the point cloud
+void PointCloud::PrintStatistics(const Image* pImages, const OBB3f* pObb) const
+{
+	String strPoints;
+	if (pObb && pObb->IsValid()) {
+		// print points distribution
+		size_t nInsidePoints(0);
+		MeanStdMinMax<double> accInside, accOutside;
+		FOREACH(idx, points) {
+			const bool bInsideROI(pObb->Intersects(points[idx]));
+			if (bInsideROI)
+				++nInsidePoints;
+			if (!pointViews.empty()) {
+				if (bInsideROI)
+					accInside.Update(pointViews[idx].size());
+				else
+					accOutside.Update(pointViews[idx].size());
+			}
+		}
+		strPoints = String::FormatString(
+			"\n - points info:"
+			"\n\t%u points inside ROI (%.2f%%)",
+			nInsidePoints, 100.0*nInsidePoints/GetSize()
+		);
+		if (!pointViews.empty()) {
+			strPoints += String::FormatString(
+				"\n\t inside ROI track length: %g min / %g mean (%g std) / %g max"
+				"\n\toutside ROI track length: %g min / %g mean (%g std) / %g max",
+				accInside.minVal, accInside.GetMean(), accInside.GetStdDev(), accInside.maxVal,
+				accOutside.minVal, accOutside.GetMean(), accOutside.GetStdDev(), accOutside.maxVal
+			);
+		}
+	}
+	String strViews;
+	if (!pointViews.empty()) {
+		// print views distribution
+		size_t nViews(0);
+		size_t nPoints1m(0), nPoints2(0), nPoints3(0), nPoints4p(0);
+		size_t nPointsOpposedViews(0);
+		MeanStdMinMax<double> acc;
+		FOREACH(idx, points) {
+			const PointCloud::ViewArr& views = pointViews[idx];
+			nViews += views.size();
+			switch (views.size()) {
+			case 0:
+			case 1:
+				++nPoints1m;
+				break;
+			case 2:
+				++nPoints2;
+				break;
+			case 3:
+				++nPoints3;
+				break;
+			default:
+				++nPoints4p;
+			}
+			acc.Update(views.size());
+		}
+		strViews = String::FormatString(
+			"\n - visibility info (%u views - %.2f views/point)%s:"
+			"\n\t% 9u points with 1- views (%.2f%%)"
+			"\n\t% 9u points with 2  views (%.2f%%)"
+			"\n\t% 9u points with 3  views (%.2f%%)"
+			"\n\t% 9u points with 4+ views (%.2f%%)"
+			"\n\t%g min / %g mean (%g std) / %g max",
+			nViews, (REAL)nViews/GetSize(),
+			nPointsOpposedViews ? String::FormatString(" (%u (%.2f%%) points with opposed views)", nPointsOpposedViews, 100.f*nPointsOpposedViews/GetSize()).c_str() : "",
+			nPoints1m, 100.f*nPoints1m/GetSize(), nPoints2, 100.f*nPoints2/GetSize(), nPoints3, 100.f*nPoints3/GetSize(), nPoints4p, 100.f*nPoints4p/GetSize(),
+			acc.minVal, acc.GetMean(), acc.GetStdDev(), acc.maxVal
+		);
+	}
+	String strNormals;
+	if (!normals.empty()) {
+		if (!pointViews.empty() && pImages != NULL) {
+			// print normal/views angle distribution
+			size_t nViews(0);
+			size_t nPointsm(0), nPoints3(0), nPoints10(0), nPoints25(0), nPoints40(0), nPoints60(0), nPoints90p(0);
+			const REAL thCosAngle3(COS(D2R(3.f)));
+			const REAL thCosAngle10(COS(D2R(10.f)));
+			const REAL thCosAngle25(COS(D2R(25.f)));
+			const REAL thCosAngle40(COS(D2R(40.f)));
+			const REAL thCosAngle60(COS(D2R(60.f)));
+			const REAL thCosAngle90(COS(D2R(90.f)));
+			FOREACH(idx, points) {
+				const PointCloud::Point& X = points[idx];
+				const PointCloud::Normal& N = normals[idx];
+				const PointCloud::ViewArr& views = pointViews[idx];
+				nViews += views.size();
+				for (IIndex idxImage: views) {
+					const Point3f X2Cam(Cast<float>(pImages[idxImage].camera.C)-X);
+					const REAL cosAngle(ComputeAngle(X2Cam.ptr(), N.ptr()));
+					if (cosAngle <= thCosAngle90)
+						++nPoints90p;
+					else if (cosAngle <= thCosAngle60)
+						++nPoints60;
+					else if (cosAngle <= thCosAngle40)
+						++nPoints40;
+					else if (cosAngle <= thCosAngle25)
+						++nPoints25;
+					else if (cosAngle <= thCosAngle10)
+						++nPoints10;
+					else if (cosAngle <= thCosAngle3)
+						++nPoints3;
+					else
+						++nPointsm;
+				}
+			}
+			strNormals = String::FormatString(
+				"\n - normals visibility info:"
+				"\n\t% 9u points with 3- degrees (%.2f%%)"
+				"\n\t% 9u points with 10 degrees (%.2f%%)"
+				"\n\t% 9u points with 25 degrees (%.2f%%)"
+				"\n\t% 9u points with 40 degrees (%.2f%%)"
+				"\n\t% 9u points with 60 degrees (%.2f%%)"
+				"\n\t% 9u points with 90+ degrees (%.2f%%)",
+				nPointsm, 100.f*nPointsm/nViews, nPoints3, 100.f*nPoints3/nViews, nPoints10, 100.f*nPoints10/nViews,
+				nPoints40, 100.f*nPoints40/nViews, nPoints60, 100.f*nPoints60/nViews, nPoints90p, 100.f*nPoints90p/nViews
+			);
+		} else {
+			strNormals = "\n - normals info";
+		}
+	}
+	String strWeights;
+	if (!pointWeights.empty()) {
+		// print weights statistics
+		MeanStdMinMax<double> acc;
+		for (const PointCloud::WeightArr& weights: pointWeights) {
+			float avgWeight(0);
+			for (PointCloud::Weight w: weights)
+				avgWeight += w;
+			acc.Update(avgWeight/weights.size());
+		}
+		strWeights = String::FormatString(
+			"\n - weights info:"
+			"\n\t%g min / %g mean (%g std) / %g max",
+			acc.minVal, acc.GetMean(), acc.GetStdDev(), acc.maxVal
+		);
+	}
+	String strColors;
+	if (!colors.empty()) {
+		// print colors statistics
+		strColors = "\n - colors";
+	}
+	VERBOSE("Point-cloud composed of %u points with:%s%s%s%s",
+		GetSize(),
+		strPoints.c_str(),
+		strViews.c_str(),
+		strNormals.c_str(),
+		strWeights.c_str(),
+		strColors.c_str()
+	);
+} // PrintStatistics
+/*----------------------------------------------------------------*/
diff --git a/libs/MVS/PointCloud.h b/libs/MVS/PointCloud.h
index f1529befd..7b1c4ea15 100644
--- a/libs/MVS/PointCloud.h
+++ b/libs/MVS/PointCloud.h
@@ -35,6 +35,8 @@
 
 // I N C L U D E S /////////////////////////////////////////////////
 
+#include "Image.h"
+
 
 // D E F I N E S ///////////////////////////////////////////////////
 
@@ -100,6 +102,8 @@ class MVS_API PointCloud
 	bool Save(const String& fileName, bool bLegacyTypes=false) const;
 	bool SaveNViews(const String& fileName, uint32_t minViews, bool bLegacyTypes=false) const;
 
+	void PrintStatistics(const Image* pImages = NULL, const OBB3f* pObb = NULL) const;
+
 	#ifdef _USE_BOOST
 	// implement BOOST serialization
 	template <class Archive>
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 26886a30b..6a7c28a73 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -787,7 +787,7 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 				continue;
 			const Image& imageData2 = images[view];
 			const Point3f V2(imageData2.camera.C - Cast<REAL>(point));
-			const float fAngle(ACOS(ComputeAngle<float,float>(V1.ptr(), V2.ptr())));
+			const float fAngle(ACOS(ComputeAngle(V1.ptr(), V2.ptr())));
 			const float wAngle(EXP(SQUARE(fAngle-fOptimAngle)*(fAngle<fOptimAngle?sigmaAngleSmall:sigmaAngleLarge)));
 			const float footprint2(Footprint(imageData2.camera, point));
 			const float fScaleRatio(footprint1/footprint2);
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index af53aab55..d4bba8a18 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -1465,7 +1465,7 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 				PointCloud::ViewArr& views = pointcloud.pointViews.AddEmpty();
 				views.Insert(idxImage);
 				PointCloud::WeightArr& weights = pointcloud.pointWeights.AddEmpty();
-				REAL confidence(weights.emplace_back(Conf2Weight(depthData.confMap(x),depth)));
+				REAL confidence(weights.emplace_back(Conf2Weight(depthData.confMap.empty() ? 1.f : depthData.confMap(x),depth)));
 				ProjArr& pointProjs = projs.AddEmpty();
 				pointProjs.Insert(Proj(x));
 				const PointCloud::Normal normal(bNormalMap ? Cast<Normal::Type>(imageData.camera.R.t()*Cast<REAL>(depthData.normalMap(x))) : Normal(0,0,-1));
@@ -1501,7 +1501,7 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 						if (normal.dot(normalB) > normalError) {
 							// add view to the 3D point
 							ASSERT(views.FindFirst(idxImageB) == PointCloud::ViewArr::NO_INDEX);
-							const float confidenceB(Conf2Weight(depthDataB.confMap(xB),depthB));
+							const float confidenceB(Conf2Weight(depthDataB.confMap.empty() ? 1.f : depthDataB.confMap(xB),depthB));
 							const IIndex idx(views.InsertSort(idxImageB));
 							weights.InsertAt(idx, confidenceB);
 							pointProjs.InsertAt(idx, Proj(xB));

From b003f243e978ef6073218a45b7db331f4a8f02e3 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 21 Jun 2022 18:21:48 +0300
Subject: [PATCH 113/252] dense: option to remove points by number of views

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp | 15 ++++++++++++---
 libs/MVS/PointCloud.cpp                      |  6 ++++++
 libs/MVS/PointCloud.h                        |  1 +
 3 files changed, 19 insertions(+), 3 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 3d2b05ee9..307c27b80 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -138,7 +138,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(0.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
 		("fusion-mode", boost::program_options::value(&OPT::nFusionMode)->default_value(0), "depth map fusion mode (-2 - fuse disparity-maps, -1 - export disparity-maps only, 0 - depth-maps & fusion, 1 - export depth-maps only)")
 		("filter-point-cloud", boost::program_options::value(&OPT::thFilterPointCloud)->default_value(0), "filter dense point-cloud based on visibility (0 - disabled)")
-		("export-number-views", boost::program_options::value(&OPT::nExportNumViews)->default_value(0), "export points with >= number of views (0 - disabled)")
+		("export-number-views", boost::program_options::value(&OPT::nExportNumViews)->default_value(0), "export points with >= number of views (0 - disabled, <0 - save MVS project too)")
         ("estimate-roi", boost::program_options::value(&OPT::nEstimateROI)->default_value(2), "estimate and set region-of-interest (0 - disabled, 1 - enabled, 2 - adaptive)")
         ;
 
@@ -349,8 +349,17 @@ int main(int argc, LPCTSTR* argv)
 	}
 	if (OPT::nExportNumViews && scene.pointcloud.IsValid()) {
 		// export point-cloud containing only points with N+ views
-		const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
-		scene.pointcloud.SaveNViews(baseFileName+String::FormatString(_T("_%dviews.ply"), OPT::nExportNumViews), (IIndex)OPT::nExportNumViews);
+		const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+
+			String::FormatString(_T("_%dviews"), ABS(OPT::nExportNumViews)));
+		if (OPT::nExportNumViews > 0) {
+			// export point-cloud containing only points with N+ views
+			scene.pointcloud.SaveNViews(baseFileName+_T(".ply"), (IIndex)OPT::nExportNumViews);
+		} else {
+			// save scene and export point-cloud containing only points with N+ views
+			scene.pointcloud.RemoveMinViews((IIndex)-OPT::nExportNumViews);
+			scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
+			scene.pointcloud.Save(baseFileName+_T(".ply"));
+		}
 		Finalize();
 		return EXIT_SUCCESS;
 	}
diff --git a/libs/MVS/PointCloud.cpp b/libs/MVS/PointCloud.cpp
index 62571a421..85e572cfc 100644
--- a/libs/MVS/PointCloud.cpp
+++ b/libs/MVS/PointCloud.cpp
@@ -73,6 +73,12 @@ void PointCloud::RemovePointsOutside(const OBB3f& obb) {
 		if (!obb.Intersects(points[i]))
 			RemovePoint(i);
 }
+void PointCloud::RemoveMinViews(uint32_t thMinViews) {
+	ASSERT(!pointViews.empty());
+	RFOREACH(i, points)
+		if (pointViews[i].size() < thMinViews)
+			RemovePoint(i);
+}
 /*----------------------------------------------------------------*/
 
 
diff --git a/libs/MVS/PointCloud.h b/libs/MVS/PointCloud.h
index 7b1c4ea15..d63f7f066 100644
--- a/libs/MVS/PointCloud.h
+++ b/libs/MVS/PointCloud.h
@@ -92,6 +92,7 @@ class MVS_API PointCloud
 
 	void RemovePoint(IDX);
 	void RemovePointsOutside(const OBB3f&);
+	void RemoveMinViews(uint32_t thMinViews);
 
 	Box GetAABB() const;
 	Box GetAABB(const Box& bound) const;

From a22b954f81041a33cf998c14a6a7bce614981216 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 24 Jun 2022 12:39:26 +0300
Subject: [PATCH 114/252] dense: fix incomplete masks and fine-tune depth-map
 estimation

---
 libs/MVS/DepthMap.cpp     | 23 ++++++++++++++++++-----
 libs/MVS/DepthMap.h       |  2 ++
 libs/MVS/Image.h          |  4 ++--
 libs/MVS/SceneDensify.cpp | 12 ++++++------
 4 files changed, 28 insertions(+), 13 deletions(-)

diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 7e85a6163..87d02db83 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -517,6 +517,7 @@ float DepthEstimator::ScorePixelImage(const DepthData::ViewData& image1, Depth d
 	#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
 	// encourage smoothness
 	for (const NeighborEstimate& neighbor: neighborsClose) {
+		ASSERT(neighbor.depth > 0);
 		#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
 		const float factorDepth(DENSE_EXP(SQUARE(plane.Distance(neighbor.X)/depth) * smoothSigmaDepth));
 		#else
@@ -639,6 +640,7 @@ void DepthEstimator::ProcessPixel(IDX idx)
 			const Depth ndepth(depthMap0(nx));
 			if (ndepth > 0) {
 				#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
+				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
 				neighbors.emplace_back(nx);
 				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
 					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
@@ -655,6 +657,7 @@ void DepthEstimator::ProcessPixel(IDX idx)
 			const Depth ndepth(depthMap0(nx));
 			if (ndepth > 0) {
 				#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
+				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
 				neighbors.emplace_back(nx);
 				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
 					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
@@ -670,22 +673,26 @@ void DepthEstimator::ProcessPixel(IDX idx)
 		if (x0.x < size.width-nSizeHalfWindow) {
 			const ImageRef nx(x0.x+1, x0.y);
 			const Depth ndepth(depthMap0(nx));
-			if (ndepth > 0)
+			if (ndepth > 0) {
+				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
 				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
 					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
 					, Cast<float>(image0.camera.TransformPointI2C(Point3(nx, ndepth)))
 					#endif
 				});
+			}
 		}
 		if (x0.y < size.height-nSizeHalfWindow) {
 			const ImageRef nx(x0.x, x0.y+1);
 			const Depth ndepth(depthMap0(nx));
-			if (ndepth > 0)
+			if (ndepth > 0) {
+				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
 				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
 					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
 					, Cast<float>(image0.camera.TransformPointI2C(Point3(nx, ndepth)))
 					#endif
 				});
+			}
 		}
 		#endif
 	} else {
@@ -696,6 +703,7 @@ void DepthEstimator::ProcessPixel(IDX idx)
 			const Depth ndepth(depthMap0(nx));
 			if (ndepth > 0) {
 				#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
+				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
 				neighbors.emplace_back(nx);
 				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
 					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
@@ -712,6 +720,7 @@ void DepthEstimator::ProcessPixel(IDX idx)
 			const Depth ndepth(depthMap0(nx));
 			if (ndepth > 0) {
 				#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
+				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
 				neighbors.emplace_back(nx);
 				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
 					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
@@ -727,22 +736,26 @@ void DepthEstimator::ProcessPixel(IDX idx)
 		if (x0.x > nSizeHalfWindow) {
 			const ImageRef nx(x0.x-1, x0.y);
 			const Depth ndepth(depthMap0(nx));
-			if (ndepth > 0)
+			if (ndepth > 0) {
+				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
 				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
 					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
 					, Cast<float>(image0.camera.TransformPointI2C(Point3(nx, ndepth)))
 					#endif
 				});
+			}
 		}
 		if (x0.y > nSizeHalfWindow) {
 			const ImageRef nx(x0.x, x0.y-1);
 			const Depth ndepth(depthMap0(nx));
-			if (ndepth > 0)
+			if (ndepth > 0) {
+				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
 				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
 					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
 					, Cast<float>(image0.camera.TransformPointI2C(Point3(nx, ndepth)))
 					#endif
 				});
+			}
 		}
 		#endif
 	}
@@ -763,7 +776,7 @@ void DepthEstimator::ProcessPixel(IDX idx)
 		if (confMap0(nx) >= OPTDENSE::fNCCThresholdKeep)
 			continue;
 		#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
-		NeighborEstimate& neighbor = neighborsClose[n];
+		NeighborEstimate neighbor = neighborsClose[n];
 		#endif
 		neighbor.depth = InterpolatePixel(nx, neighbor.depth, neighbor.normal);
 		CorrectNormal(neighbor.normal);
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 1c87198dd..707b4b4aa 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -437,6 +437,7 @@ struct MVS_API DepthEstimator {
 	inline Normal RandomNormal(const Point3f& viewRay) {
 		Normal normal;
 		Dir2Normal(Point2f(rnd.randomRange(FD2R(0.f),FD2R(180.f)), rnd.randomRange(FD2R(90.f),FD2R(180.f))), normal);
+		ASSERT(ISEQUAL(norm(normal), 1.f));
 		return normal.dot(viewRay) > 0 ? -normal : normal;
 	}
 
@@ -446,6 +447,7 @@ struct MVS_API DepthEstimator {
 		const float cosAngLen(normal.dot(viewDir));
 		if (cosAngLen >= 0)
 			normal = RMatrixBaseF(normal.cross(viewDir), MINF((ACOS(cosAngLen/norm(viewDir))-FD2R(90.f))*1.01f, -0.001f)) * normal;
+		ASSERT(ISEQUAL(norm(normal), 1.f));
 	}
 
 	static bool ImportIgnoreMask(const Image&, const Image8U::Size&, BitMatrix&, uint16_t nIgnoreMaskLabel);
diff --git a/libs/MVS/Image.h b/libs/MVS/Image.h
index 5b490e6c6..642767618 100644
--- a/libs/MVS/Image.h
+++ b/libs/MVS/Image.h
@@ -135,7 +135,7 @@ class MVS_API Image
 		ar & ID;
 		const String relName(MAKE_PATH_REL(WORKING_FOLDER_FULL, name));
 		ar & relName;
-		const String relMaskName(MAKE_PATH_REL(WORKING_FOLDER_FULL, maskName));
+		const String relMaskName(maskName.empty() ? String() : MAKE_PATH_REL(WORKING_FOLDER_FULL, maskName));
 		ar & relMaskName;
 		ar & width & height;
 		ar & neighbors;
@@ -150,7 +150,7 @@ class MVS_API Image
 		ar & name;
 		name = MAKE_PATH_FULL(WORKING_FOLDER_FULL, name);
 		ar & maskName;
-		maskName = MAKE_PATH_FULL(WORKING_FOLDER_FULL, maskName);
+		maskName = maskName.empty() ? String() : MAKE_PATH_FULL(WORKING_FOLDER_FULL, maskName);
 		ar & width & height;
 		ar & neighbors;
 		ar & avgDepth;
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index d4bba8a18..dc17692da 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -504,6 +504,7 @@ void* STCALL DepthMapsData::ScoreDepthMapTmp(void* arg)
 			// replace invalid normal with random values
 			normal = estimator.RandomNormal(viewDir);
 		}
+		ASSERT(ISEQUAL(norm(normal), 1.f));
 		estimator.confMap0(x) = estimator.ScorePixel(depth, normal);
 	}
 	return NULL;
@@ -587,7 +588,7 @@ DepthData DepthMapsData::ScaleDepthData(const DepthData& inputDeptData, float sc
 		viewData.Init(rescaledDepthData.images[0].camera);
 	}
 	if (!rescaledDepthData.depthMap.empty())
-		cv::resize(rescaledDepthData.depthMap, rescaledDepthData.depthMap, cv::Size(), scale, scale, cv::INTER_LINEAR);
+		cv::resize(rescaledDepthData.depthMap, rescaledDepthData.depthMap, cv::Size(), scale, scale, cv::INTER_NEAREST);
 	if (!rescaledDepthData.normalMap.empty())
 		cv::resize(rescaledDepthData.normalMap, rescaledDepthData.normalMap, cv::Size(), scale, scale, cv::INTER_NEAREST);
 	return rescaledDepthData;
@@ -651,7 +652,7 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage, int nGeometricIter)
 		ASSERT(!image.image.empty() && !depthData.images[1].image.empty());
 		const Image8U::Size size(image.image.size());
 		if (scaleNumber != totalScaleNumber) {
-			cv::resize(lowResDepthMap, depthData.depthMap, size, 0, 0, cv::INTER_LINEAR);
+			cv::resize(lowResDepthMap, depthData.depthMap, size, 0, 0, OPTDENSE::nIgnoreMaskLabel >= 0 ? cv::INTER_NEAREST : cv::INTER_LINEAR);
 			cv::resize(lowResNormalMap, depthData.normalMap, size, 0, 0, cv::INTER_NEAREST);
 			depthData.depthMap.copyTo(currentSizeResDepthMap);
 		}
@@ -669,9 +670,9 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage, int nGeometricIter)
 		#else
 		cv::integral(image.image, imageSum0, CV_64F);
 		#endif
-		if (prevDepthMapSize != size) {
+		if (prevDepthMapSize != size || OPTDENSE::nIgnoreMaskLabel >= 0) {
 			BitMatrix mask;
-			if (OPTDENSE::nIgnoreMaskLabel >= 0 && DepthEstimator::ImportIgnoreMask(*depthData.GetView().pImageData, depthData.depthMap.size(), mask, (uint16_t)OPTDENSE::nIgnoreMaskLabel))
+			if (OPTDENSE::nIgnoreMaskLabel >= 0 && DepthEstimator::ImportIgnoreMask(*image.pImageData, depthData.depthMap.size(), mask, (uint16_t)OPTDENSE::nIgnoreMaskLabel))
 				depthData.ApplyIgnoreMask(mask);
 			DepthEstimator::MapMatrix2ZigzagIdx(size, coords, mask, MAXF(64,(int)nMaxThreads*8));
 			#if 0
@@ -682,8 +683,7 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage, int nGeometricIter)
 				cmask(x.y, x.x) = 255;
 			cmask.Show("cmask");
 			#endif
-			if (mask.empty())
-				prevDepthMapSize = size;
+			prevDepthMapSize = size;
 		}
 
 		// initialize the reference confidence map (NCC score map) with the score of the current estimates

From 8b431a2867c9f2c96a8f665a4c2c901952ee0f1c Mon Sep 17 00:00:00 2001
From: MikeCernea <75977936+MikeCernea@users.noreply.github.com>
Date: Tue, 5 Jul 2022 16:30:03 +0200
Subject: [PATCH 115/252] dense: init with sparse point cloud only (#837)

---
 libs/MVS/DepthMap.cpp     | 147 +++++++++++++++++++++++---------------
 libs/MVS/DepthMap.h       |   5 +-
 libs/MVS/SceneDensify.cpp |   2 +-
 3 files changed, 95 insertions(+), 59 deletions(-)

diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 87d02db83..bdb21efd4 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -82,6 +82,7 @@ MDEFVAR_OPTDENSE_uint32(nNumViews, "Num Views", "Number of views used for depth-
 MDEFVAR_OPTDENSE_uint32(nPointInsideROI, "Point Inside ROI", "consider a point shared only if inside ROI when estimating the neighbor views (0 - ignore ROI, 1 - weight more ROI points, 2 - consider only ROI points)", "1")
 MDEFVAR_OPTDENSE_bool(bFilterAdjust, "Filter Adjust", "adjust depth estimates during filtering", "1")
 MDEFVAR_OPTDENSE_bool(bAddCorners, "Add Corners", "add support points at image corners with nearest neighbor disparities", "0")
+MDEFVAR_OPTDENSE_bool(bInitSparse, "Init Sparse", "init depth-map only with the sparse points (no interpolation)", "0")
 MDEFVAR_OPTDENSE_float(fViewMinScore, "View Min Score", "Min score to consider a neighbor images (0 - disabled)", "2.0")
 MDEFVAR_OPTDENSE_float(fViewMinScoreRatio, "View Min Score Ratio", "Min score ratio to consider a neighbor images", "0.03")
 MDEFVAR_OPTDENSE_float(fMinArea, "Min Area", "Min shared area for accepting the depth triangulation", "0.05")
@@ -1109,7 +1110,7 @@ std::pair<float,float> TriangulatePointsDelaunay(const DepthData::ViewData& imag
 // and interpolating normal and depth for all pixels
 bool MVS::TriangulatePoints2DepthMap(
 	const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points,
-	DepthMap& depthMap, NormalMap& normalMap, Depth& dMin, Depth& dMax, bool bAddCorners)
+	DepthMap& depthMap, NormalMap& normalMap, Depth& dMin, Depth& dMax, bool bAddCorners, bool bSparseOnly)
 {
 	ASSERT(image.pImageData != NULL);
 
@@ -1125,50 +1126,68 @@ bool MVS::TriangulatePoints2DepthMap(
 	mesh.ComputeNormalVertices();
 	depthMap.create(image.image.size());
 	normalMap.create(image.image.size());
-	if (!bAddCorners) {
+	if (!bAddCorners || bSparseOnly) {
 		depthMap.memset(0);
 		normalMap.memset(0);
 	}
-	struct RasterDepth : TRasterMeshBase<RasterDepth> {
-		typedef TRasterMeshBase<RasterDepth> Base;
-		using Base::camera;
-		using Base::depthMap;
-		using Base::ptc;
-		using Base::pti;
-		const Mesh::NormalArr& vertexNormals;
-		NormalMap& normalMap;
-		Mesh::Face face;
-		RasterDepth(const Mesh::NormalArr& _vertexNormals, const Camera& _camera, DepthMap& _depthMap, NormalMap& _normalMap)
-			: Base(_camera, _depthMap), vertexNormals(_vertexNormals), normalMap(_normalMap) {}
-		inline void operator()(const ImageRef& pt, const Point3f& bary) {
-			const Point3f pbary(PerspectiveCorrectBarycentricCoordinates(bary));
-			const Depth z(ComputeDepth(pbary));
-			ASSERT(z > Depth(0));
-			depthMap(pt) = z;
-			normalMap(pt) = normalized(
-				vertexNormals[face[0]] * pbary[0]+
-				vertexNormals[face[1]] * pbary[1]+
-				vertexNormals[face[2]] * pbary[2]
-			);
+	if (bSparseOnly) {
+		// just project sparse pointcloud onto depthmap
+		FOREACH(i, mesh.vertices) {
+			const Point2f& x(projs[i]);
+			const Point2i ix(FLOOR2INT(x));
+			const Depth z(mesh.vertices[i].z);
+			const Normal& normal(mesh.vertexNormals[i]);
+			for (const Point2i dx : {Point2i(0,0),Point2i(1,0),Point2i(0,1),Point2i(1,1)}) {
+				const Point2i ax(ix + dx);
+				if (!depthMap.isInside(ax))
+					continue;
+				depthMap(ax) = z;
+				normalMap(ax) = normal;
+			}
+		}
+	} else {
+		// rasterize triangles onto depthmap
+		struct RasterDepth : TRasterMeshBase<RasterDepth> {
+			typedef TRasterMeshBase<RasterDepth> Base;
+			using Base::camera;
+			using Base::depthMap;
+			using Base::ptc;
+			using Base::pti;
+			const Mesh::NormalArr& vertexNormals;
+			NormalMap& normalMap;
+			Mesh::Face face;
+			RasterDepth(const Mesh::NormalArr& _vertexNormals, const Camera& _camera, DepthMap& _depthMap, NormalMap& _normalMap)
+				: Base(_camera, _depthMap), vertexNormals(_vertexNormals), normalMap(_normalMap) {}
+			inline void operator()(const ImageRef& pt, const Point3f& bary) {
+				const Point3f pbary(PerspectiveCorrectBarycentricCoordinates(bary));
+				const Depth z(ComputeDepth(pbary));
+				ASSERT(z > Depth(0));
+				depthMap(pt) = z;
+				normalMap(pt) = normalized(
+					vertexNormals[face[0]] * pbary[0]+
+					vertexNormals[face[1]] * pbary[1]+
+					vertexNormals[face[2]] * pbary[2]
+				);
+			}
+		};
+		RasterDepth rasterer = {mesh.vertexNormals, camera, depthMap, normalMap};
+		for (const Mesh::Face& face : mesh.faces) {
+			rasterer.face = face;
+			rasterer.ptc[0].z = mesh.vertices[face[0]].z;
+			rasterer.ptc[1].z = mesh.vertices[face[1]].z;
+			rasterer.ptc[2].z = mesh.vertices[face[2]].z;
+			Image8U::RasterizeTriangleBary(
+				projs[face[0]],
+				projs[face[1]],
+				projs[face[2]], rasterer);
 		}
-	};
-	RasterDepth rasterer = {mesh.vertexNormals, camera, depthMap, normalMap};
-	for (const Mesh::Face& face : mesh.faces) {
-		rasterer.face = face;
-		rasterer.ptc[0].z = mesh.vertices[face[0]].z;
-		rasterer.ptc[1].z = mesh.vertices[face[1]].z;
-		rasterer.ptc[2].z = mesh.vertices[face[2]].z;
-		Image8U::RasterizeTriangleBary(
-			projs[face[0]],
-			projs[face[1]],
-			projs[face[2]], rasterer);
 	}
 	return true;
 } // TriangulatePoints2DepthMap
 // same as above, but does not estimate the normal-map
 bool MVS::TriangulatePoints2DepthMap(
 	const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points,
-	DepthMap& depthMap, Depth& dMin, Depth& dMax, bool bAddCorners)
+	DepthMap& depthMap, Depth& dMin, Depth& dMax, bool bAddCorners, bool bSparseOnly)
 {
 	ASSERT(image.pImageData != NULL);
 
@@ -1182,29 +1201,45 @@ bool MVS::TriangulatePoints2DepthMap(
 	// create rough depth-map by interpolating inside triangles
 	const Camera& camera = image.camera;
 	depthMap.create(image.image.size());
-	if (!bAddCorners)
+	if (!bAddCorners || bSparseOnly)
 		depthMap.memset(0);
-	struct RasterDepth : TRasterMeshBase<RasterDepth> {
-		typedef TRasterMeshBase<RasterDepth> Base;
-		using Base::depthMap;
-		RasterDepth(const Camera& _camera, DepthMap& _depthMap)
-			: Base(_camera, _depthMap) {}
-		inline void operator()(const ImageRef& pt, const Point3f& bary) {
-			const Point3f pbary(PerspectiveCorrectBarycentricCoordinates(bary));
-			const Depth z(ComputeDepth(pbary));
-			ASSERT(z > Depth(0));
-			depthMap(pt) = z;
+	if (bSparseOnly) {
+		// just project sparse pointcloud onto depthmap
+		FOREACH(i, mesh.vertices) {
+			const Point2f& x(projs[i]);
+			const Point2i ix(FLOOR2INT(x));
+			const Depth z(mesh.vertices[i].z);
+			for (const Point2i dx : {Point2i(0,0),Point2i(1,0),Point2i(0,1),Point2i(1,1)}) {
+				const Point2i ax(ix + dx);
+				if (!depthMap.isInside(ax))
+					continue;
+				depthMap(ax) = z;
+			}
+		}
+	} else {
+		// rasterize triangles onto depthmap
+		struct RasterDepth : TRasterMeshBase<RasterDepth> {
+			typedef TRasterMeshBase<RasterDepth> Base;
+			using Base::depthMap;
+			RasterDepth(const Camera& _camera, DepthMap& _depthMap)
+				: Base(_camera, _depthMap) {}
+			inline void operator()(const ImageRef& pt, const Point3f& bary) {
+				const Point3f pbary(PerspectiveCorrectBarycentricCoordinates(bary));
+				const Depth z(ComputeDepth(pbary));
+				ASSERT(z > Depth(0));
+				depthMap(pt) = z;
+			}
+		};
+		RasterDepth rasterer = {camera, depthMap};
+		for (const Mesh::Face& face : mesh.faces) {
+			rasterer.ptc[0].z = mesh.vertices[face[0]].z;
+			rasterer.ptc[1].z = mesh.vertices[face[1]].z;
+			rasterer.ptc[2].z = mesh.vertices[face[2]].z;
+			Image8U::RasterizeTriangleBary(
+				projs[face[0]],
+				projs[face[1]],
+				projs[face[2]], rasterer);
 		}
-	};
-	RasterDepth rasterer = {camera, depthMap};
-	for (const Mesh::Face& face : mesh.faces) {
-		rasterer.ptc[0].z = mesh.vertices[face[0]].z;
-		rasterer.ptc[1].z = mesh.vertices[face[1]].z;
-		rasterer.ptc[2].z = mesh.vertices[face[2]].z;
-		Image8U::RasterizeTriangleBary(
-			projs[face[0]],
-			projs[face[1]],
-			projs[face[2]], rasterer);
 	}
 	return true;
 } // TriangulatePoints2DepthMap
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 707b4b4aa..70c31c91f 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -105,6 +105,7 @@ extern unsigned nNumViews;
 extern unsigned nPointInsideROI;
 extern bool bFilterAdjust;
 extern bool bAddCorners;
+extern bool bInitSparse;
 extern float fViewMinScore;
 extern float fViewMinScoreRatio;
 extern float fMinArea;
@@ -470,10 +471,10 @@ struct MVS_API DepthEstimator {
 // Tools
 bool TriangulatePoints2DepthMap(
 	const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points,
-	DepthMap& depthMap, NormalMap& normalMap, Depth& dMin, Depth& dMax, bool bAddCorners);
+	DepthMap& depthMap, NormalMap& normalMap, Depth& dMin, Depth& dMax, bool bAddCorners, bool bSparseOnly=false);
 bool TriangulatePoints2DepthMap(
 	const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points,
-	DepthMap& depthMap, Depth& dMin, Depth& dMax, bool bAddCorners);
+	DepthMap& depthMap, Depth& dMin, Depth& dMax, bool bAddCorners, bool bSparseOnly=false);
 
 MVS_API unsigned EstimatePlane(const Point3Arr&, Plane&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MVS_API unsigned EstimatePlaneLockFirstPoint(const Point3Arr&, Plane&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index dc17692da..de9defe29 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -461,7 +461,7 @@ bool DepthMapsData::InitDepthMap(DepthData& depthData)
 
 	ASSERT(depthData.images.GetSize() > 1 && !depthData.points.IsEmpty());
 	const DepthData::ViewData& image(depthData.GetView());
-	TriangulatePoints2DepthMap(image, scene.pointcloud, depthData.points, depthData.depthMap, depthData.normalMap, depthData.dMin, depthData.dMax, OPTDENSE::bAddCorners);
+	TriangulatePoints2DepthMap(image, scene.pointcloud, depthData.points, depthData.depthMap, depthData.normalMap, depthData.dMin, depthData.dMax, OPTDENSE::bAddCorners, OPTDENSE::bInitSparse);
 	depthData.dMin *= 0.9f;
 	depthData.dMax *= 1.1f;
 

From f057ee2642b206b103ea5e30d1fb265f519bbd50 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 6 Jul 2022 15:47:54 +0300
Subject: [PATCH 116/252] common: correct GetMedian() logic

(cherry picked from commit 9d93e51b00def7eccab3eab029427bf0b1789b62)
---
 libs/Common/List.h             | 13 +++++++++++--
 libs/MVS/SemiGlobalMatcher.cpp |  2 +-
 2 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/libs/Common/List.h b/libs/Common/List.h
index 3263c5c09..37e7618fb 100644
--- a/libs/Common/List.h
+++ b/libs/Common/List.h
@@ -631,13 +631,22 @@ class cList
 
 	inline TYPE&	GetNth(IDX index)
 	{
+		ASSERT(index < _size);
 		TYPE* const nth(Begin()+index);
 		std::nth_element(Begin(), nth, End());
 		return *nth;
 	}
-	inline TYPE&	GetMedian()
+	template <typename RTYPE = typename std::conditional<std::is_floating_point<TYPE>::value,TYPE,REAL>::type>
+	inline RTYPE	GetMedian()
 	{
-		return GetNth(_size >> 1);
+		ASSERT(_size > 0);
+		if (_size%2)
+			return static_cast<RTYPE>(GetNth(_size >> 1));
+		TYPE* const nth(Begin() + (_size>>1));
+		std::nth_element(Begin(), nth, End());
+		TYPE* const nth1(nth-1);
+		std::nth_element(Begin(), nth1, nth);
+		return (static_cast<RTYPE>(*nth1) + static_cast<RTYPE>(*nth)) / RTYPE(2);
 	}
 
 	inline TYPE		GetMean()
diff --git a/libs/MVS/SemiGlobalMatcher.cpp b/libs/MVS/SemiGlobalMatcher.cpp
index ed6986074..ecf70d66a 100644
--- a/libs/MVS/SemiGlobalMatcher.cpp
+++ b/libs/MVS/SemiGlobalMatcher.cpp
@@ -1389,7 +1389,7 @@ SemiGlobalMatcher::Index SemiGlobalMatcher::Disparity2RangeMap(const DisparityMa
 					range.minDisp = -range.maxDisp;
 					numDisp = range.numDisp();
 				} else {
-					const Disparity disp(disps.GetMedian()*2);
+					const Disparity disp(disps.GetMedian<Disparity>()*2);
 					const auto minmax(disps.GetMinMax());
 					numDisp = (minmax.second-minmax.first)*2;
 					if (numDisp < minNumDisp) {

From 49ef8900ac161e1ed75cec438f64b401ca8b45d9 Mon Sep 17 00:00:00 2001
From: CanCanZeng <zcc2015@sjtu.edu.cn>
Date: Thu, 7 Jul 2022 01:34:19 +0800
Subject: [PATCH 117/252] interface: fix COLMAP working directory (#844)

---
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index e88f9b72f..751e2e7d8 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -130,7 +130,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		boost::program_options::store(boost::program_options::command_line_parser((int)argc, argv).options(cmdline_options).positional(p).run(), OPT::vm);
 		boost::program_options::notify(OPT::vm);
 		Util::ensureValidPath(OPT::strInputFileName);
-		WORKING_FOLDER = (File::isFolder(OPT::strInputFileName) ? OPT::strInputFileName : Util::getFilePath(OPT::strInputFileName));
 		INIT_WORKING_FOLDER;
 		// parse configuration file
 		std::ifstream ifs(MAKE_PATH_SAFE(OPT::strConfigFileName));

From 558814085ebabaac8f94473a776e9f8907244425 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 14 Jul 2022 09:05:18 +0300
Subject: [PATCH 118/252] dense: make estimate ROI optional

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp | 18 +++++++++---------
 libs/MVS/Scene.cpp                           | 10 +++++-----
 2 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 307c27b80..ccae33a61 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -286,22 +286,22 @@ int main(int argc, LPCTSTR* argv)
 	// load and estimate a dense point-cloud
 	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
 		return EXIT_FAILURE;
-	if (!scene.EstimateROI(OPT::nEstimateROI, 1.1f))
-		return EXIT_FAILURE;
-	if (!OPT::strExportROIFileName.empty() && scene.IsBounded()) {
-		std::ofstream fs(MAKE_PATH_SAFE(OPT::strExportROIFileName));
+	if (!OPT::strImportROIFileName.empty()) {
+		std::ifstream fs(MAKE_PATH_SAFE(OPT::strImportROIFileName));
 		if (!fs)
 			return EXIT_FAILURE;
-		fs << scene.obb;
+		fs >> scene.obb;
+		scene.Save(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
 		Finalize();
 		return EXIT_SUCCESS;
 	}
-	if (!OPT::strImportROIFileName.empty()) {
-		std::ifstream fs(MAKE_PATH_SAFE(OPT::strImportROIFileName));
+	if (!scene.IsBounded())
+		scene.EstimateROI(OPT::nEstimateROI, 1.1f);
+	if (!OPT::strExportROIFileName.empty() && scene.IsBounded()) {
+		std::ofstream fs(MAKE_PATH_SAFE(OPT::strExportROIFileName));
 		if (!fs)
 			return EXIT_FAILURE;
-		fs >> scene.obb;
-		scene.Save(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
+		fs << scene.obb;
 		Finalize();
 		return EXIT_SUCCESS;
 	}
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 6a7c28a73..efd9c46be 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -1384,7 +1384,7 @@ bool Scene::EstimateROI(int nEstimateROI, float scale)
 	ASSERT(nEstimateROI >= 0 && nEstimateROI <= 2 && scale > 0);
 	if (nEstimateROI == 0) {
 		DEBUG_ULTIMATE("The scene will be considered as unbounded (no ROI)");
-		return true;
+		return false;
 	}
 	if (!pointcloud.IsValid()) {
 		VERBOSE("error: no valid point-cloud for the ROI estimation");
@@ -1400,7 +1400,7 @@ bool Scene::EstimateROI(int nEstimateROI, float scale)
 	const unsigned nCameras = cameras.size();
 	if (nCameras < 3) {
 		VERBOSE("warning: not enough valid views for the ROI estimation");
-		return true;
+		return false;
 	}
 	// compute the camera center and the direction median
 	FloatArr x(nCameras), y(nCameras), z(nCameras), nx(nCameras), ny(nCameras), nz(nCameras);
@@ -1421,7 +1421,7 @@ bool Scene::EstimateROI(int nEstimateROI, float scale)
 		camDirectMean /= camDirectMeanLen;
 	if (camDirectMeanLen > FSQRT_2 / 2.f && nEstimateROI == 2) {
 		VERBOSE("The camera directions mean is unbalanced; the scene will be considered unbounded (no ROI)");
-		return true;
+		return false;
 	}
 	DEBUG_ULTIMATE("The camera positions median is (%f,%f,%f), directions mean and norm are (%f,%f,%f), %f",
 				   camCenter.x, camCenter.y, camCenter.z, camDirectMean.x, camDirectMean.y, camDirectMean.z, camDirectMeanLen);
@@ -1434,8 +1434,8 @@ bool Scene::EstimateROI(int nEstimateROI, float scale)
 	const CMatrix sceneCenter = camCenter + camShiftCoeff * camDistMed * camDirectMean;
 	FOREACH(i, cameras) {
 		if (cameras[i].PointDepth(sceneCenter) <= 0 && nEstimateROI == 2) {
-			VERBOSE("Find a camera not pointing towards the scene center; the scene will be considered unbounded (no ROI)");
-			return true;
+			VERBOSE("Found a camera not pointing towards the scene center; the scene will be considered unbounded (no ROI)");
+			return false;
 		}
 		cameraDistances[i] = (float)cameras[i].Distance(sceneCenter);
 	}

From f6634b77e686a033a9d1cf7d24e32ab20f8f06c5 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 26 Jul 2022 13:07:59 +0300
Subject: [PATCH 119/252] common: add support for PowerPC (#848)

(cherry picked from commit 0689083e109098bba56f5c733a976216db56fdc0)
---
 libs/Common/Config.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/libs/Common/Config.h b/libs/Common/Config.h
index b18df786a..ce1e04fae 100644
--- a/libs/Common/Config.h
+++ b/libs/Common/Config.h
@@ -144,7 +144,9 @@
 #endif
 
 
-#if defined(__arm__) || defined (__arm64__) || defined(__aarch64__) || defined(_M_ARM) || defined(_M_ARMT)
+#if defined(__powerpc__)
+#define _PLATFORM_PPC 1
+#elif defined(__arm__) || defined (__arm64__) || defined(__aarch64__) || defined(_M_ARM) || defined(_M_ARMT)
 #define _PLATFORM_ARM 1
 #else
 #define _PLATFORM_X86 1

From d99afe9bc6fbee25f740b7cec30bf6b93d234c97 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 26 Jul 2022 13:08:37 +0300
Subject: [PATCH 120/252] texture: remove unused variable

(cherry picked from commit 404000b1e3031024ac33ddc50ffee34824347b0e)
---
 libs/MVS/SceneTexture.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index a064846fa..1406d6627 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -34,7 +34,6 @@
 #include "RectsBinPack.h"
 // connected components
 #include <boost/graph/adjacency_list.hpp>
-#include <boost/graph/filtered_graph.hpp>
 #include <boost/graph/connected_components.hpp>
 
 using namespace MVS;
@@ -827,7 +826,6 @@ bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmo
 				const Mesh::FIndex idx((Mesh::FIndex)boost::add_vertex(graph));
 				ASSERT(idx == idxFace);
 			}
-			Mesh::FaceIdxArr afaces;
 			FOREACH(idxFace, faces) {
 				const Mesh::FaceFaces& afaces = faceFaces[idxFace];
 				for (int v=0; v<3; ++v) {

From 7a6e08d88a352cd0da95046dd16598e81a2c1bae Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 29 Jul 2022 18:35:20 +0300
Subject: [PATCH 121/252] common: fine-tune ray-triangle intersection function

(cherry picked from commit 7d10647d6224cafdc2ae472d0987ca6252329c27)
---
 libs/Common/Ray.h   |   5 +-
 libs/Common/Ray.inl | 153 +++++++++++++-------------------------------
 libs/Common/Types.h |   8 ++-
 3 files changed, 51 insertions(+), 115 deletions(-)

diff --git a/libs/Common/Ray.h b/libs/Common/Ray.h
index 96bf59a1a..8549a2ea7 100644
--- a/libs/Common/Ray.h
+++ b/libs/Common/Ray.h
@@ -41,6 +41,7 @@ class TTriangle
 
 	inline void Set(const POINT&, const POINT&, const POINT&);
 
+	inline POINT GetCenter() const;
 	inline AABB GetAABB() const;
 	inline PLANE GetPlane() const;
 
@@ -85,10 +86,6 @@ class TRay
 	bool Intersects(const TRIANGLE&, TYPE *t) const;
 	template <bool bCull>
 	bool Intersects(const TRIANGLE&, TYPE fL, TYPE *t) const;
-	bool Intersects(const POINT&, const POINT&, const POINT&,
-					bool bCull, TYPE *t) const;
-	bool Intersects(const POINT&, const POINT&, const POINT&,
-					bool bCull, TYPE fL, TYPE *t) const;
 	bool Intersects(const PLANE& plane, bool bCull,
 					TYPE *t, POINT* pPtHit) const;
 	inline TYPE IntersectsDist(const PLANE& plane) const;
diff --git a/libs/Common/Ray.inl b/libs/Common/Ray.inl
index 7ec8f23b5..271944b5b 100644
--- a/libs/Common/Ray.inl
+++ b/libs/Common/Ray.inl
@@ -30,6 +30,12 @@ inline void TTriangle<TYPE,DIMS>::Set(const POINT& p0, const POINT& p1, const PO
 /*----------------------------------------------------------------*/
 
 
+// get center
+template <typename TYPE, int DIMS>
+inline typename TTriangle<TYPE,DIMS>::POINT TTriangle<TYPE,DIMS>::GetCenter() const
+{
+	return (a + b + c) / TYPE(3);
+}
 // get AABB
 template <typename TYPE, int DIMS>
 inline typename TTriangle<TYPE,DIMS>::AABB TTriangle<TYPE,DIMS>::GetAABB() const
@@ -139,18 +145,18 @@ bool TRay<TYPE,DIMS>::Intersects(const TRIANGLE& tri, TYPE *t) const
 	// if close to 0 ray is parallel
 	const VECTOR pvec(m_vDir.cross(edge2));
 	const TYPE det(edge1.dot(pvec));
-	if ((bCull && (det < ZEROTOLERANCE<TYPE>())) || ISZERO(det))
+	if ((bCull && det < ZEROTOLERANCE<TYPE>()) || (!bCull && ISZERO(det)))
 		return false;
 
 	// distance to plane, < 0 means beyond plane
 	const VECTOR tvec(m_pOrig - tri.a);
 	const TYPE u(tvec.dot(pvec));
-	if (u < TYPE(0) || u > det)
+	if ((bCull && !ISINSIDE(u, -ZEROTOLERANCE<TYPE>(), det+ZEROTOLERANCE<TYPE>())) || (!bCull && (det > TYPE(0) ? (u < -ZEROTOLERANCE<TYPE>() || u > det+ZEROTOLERANCE<TYPE>()) : (u > ZEROTOLERANCE<TYPE>() || u < det-ZEROTOLERANCE<TYPE>()))))
 		return false;
 
 	const VECTOR qvec(tvec.cross(edge1));
 	const TYPE v(m_vDir.dot(qvec));
-	if (v < TYPE(0) || u+v > det)
+	if ((bCull && (v < -ZEROTOLERANCE<TYPE>() || u+v > det+ZEROTOLERANCE<TYPE>())) || (!bCull && (det > TYPE(0) ? (v < -ZEROTOLERANCE<TYPE>() || u+v > det+ZEROTOLERANCE<TYPE>()) : (v > ZEROTOLERANCE<TYPE>() || u+v < det-ZEROTOLERANCE<TYPE>()))))
 		return false;
 
 	if (t)
@@ -160,115 +166,17 @@ bool TRay<TYPE,DIMS>::Intersects(const TRIANGLE& tri, TYPE *t) const
 } // Intersects(Tri)
 /*----------------------------------------------------------------*/
 
-// test for intersection with triangle at certain length (line segment),
-// same as above but test distance to intersection vs segment length.
+// test for intersection with triangle at certain length (line segment);
+// same as above, but test distance to intersection vs segment length
 template <typename TYPE, int DIMS>
 template <bool bCull>
 bool TRay<TYPE,DIMS>::Intersects(const TRIANGLE& tri, TYPE fL, TYPE *t) const
 {
-	const VECTOR edge1(tri.b - tri.a);
-	const VECTOR edge2(tri.c - tri.a);
-
-	// if close to 0 ray is parallel
-	const VECTOR pvec(m_vDir.cross(edge2));
-	const TYPE det(edge1.dot(pvec));
-	if ((bCull && (det < ZEROTOLERANCE<TYPE>())) || ISZERO(det))
-		return false;
-
-	// distance to plane, < 0 means beyond plane
-	const VECTOR tvec(m_pOrig - tri.a);
-	const TYPE u(tvec.dot(pvec));
-	if (u < TYPE(0) || u > det)
-		return false;
-
-	const VECTOR qvec(tvec.cross(edge1));
-	const TYPE v(m_vDir.dot(qvec));
-	if (v < TYPE(0) || u+v > det)
-		return false;
-
-	if (t) {
-		*t = (edge2.dot(qvec)) / det;
-		// collision but not on segment?
-		if (*t > fL) return false;
-	}
-	else {
-		// collision but not on segment?
-		if ((edge2.dot(qvec)) / det > fL) return false;
-	}
-
-	return true;
-} // Intersects(Tri at length)
-/*----------------------------------------------------------------*/
-
-
-// test for intersection with triangle
-template <typename TYPE, int DIMS>
-bool TRay<TYPE,DIMS>::Intersects(const POINT& p0, const POINT& p1, const POINT& p2, bool bCull, TYPE *t) const
-{
-	const VECTOR edge1(p1 - p0);
-	const VECTOR edge2(p2 - p0);
-
-	// if close to 0 ray is parallel
-	const VECTOR pvec = m_vDir.cross(edge2);
-	const TYPE det = edge1.dot(pvec);
-	if ((bCull && (det < ZEROTOLERANCE<TYPE>())) || ISZERO(det))
-		return false;
-
-	// distance to plane, < 0 means beyond plane
-	const VECTOR tvec = m_pOrig - p0;
-	const TYPE u = tvec * pvec;
-	if (u < TYPE(0) || u > det)
-		return false;
-
-	const VECTOR qvec = tvec.cross(edge1);
-	const TYPE v = m_vDir.dot(qvec);
-	if (v < TYPE(0) || u+v > det)
-		return false;
-
-	if (t)
-		*t = (edge2.dot(qvec)) / det;
-
-	return true;
-} // Intersects(Tri)
-/*----------------------------------------------------------------*/
-
-
-// test for intersection with triangle at certain length (line segment),
-// same as above but test distance to intersection vs segment length.
-template <typename TYPE, int DIMS>
-bool TRay<TYPE,DIMS>::Intersects(const POINT& p0, const POINT& p1, const POINT& p2, bool bCull, TYPE fL, TYPE *t) const
-{
-	const VECTOR edge1(p1 - p0);
-	const VECTOR edge2(p2 - p0);
-
-	// if close to 0 ray is parallel
-	const VECTOR pvec = m_vDir.cross(edge2);
-	const TYPE det = edge1.dot(pvec);
-	if ((bCull && (det < ZEROTOLERANCE<TYPE>())) || ISZERO(det))
-		return false;
-
-	// distance to plane, < 0 means beyond plane
-	const VECTOR tvec = m_pOrig - p0;
-	const TYPE u = tvec.dot(pvec);
-	if (u < 0.0f || u > det)
-		return false;
-
-	const VECTOR qvec = tvec.cross(edge1);
-	const TYPE v = m_vDir.dot(qvec);
-	if (v < TYPE(0) || u+v > det)
-		return false;
-
-	if (t) {
-		*t = (edge2.dot(qvec)) / det;
-		// collision but not on segment?
-		if (*t > fL) return false;
-	}
-	else {
-		// collision but not on segment?
-		if ((edge2.dot(qvec)) / det > fL) return false;
-	}
-
-	return true;
+	TYPE _t;
+	TYPE* const pt(t ? t : &_t);
+	Intersects(tri, pt);
+	// collision but not on segment?
+	return *pt <= fL;
 } // Intersects(Tri at length)
 /*----------------------------------------------------------------*/
 
@@ -1007,3 +915,32 @@ GCLASS TConeIntersect<TYPE,DIMS>::Classify(const POINT& p, TYPE& t) const
 	return PLANAR;
 } // Classify
 /*----------------------------------------------------------------*/
+
+#ifndef _RELEASE
+template <typename TYPE>
+bool TestRayTriangleIntersection() {
+	typedef SEACAVE::TTriangle<TYPE,3> Triangle;
+	typedef SEACAVE::TRay<TYPE,3> Ray;
+	typedef typename Ray::POINT Point;
+	typedef typename Point::Scalar Type;
+	const Type scale(10);
+	const Triangle triangle(Point::Random()*scale, Point::Random()*scale, Point::Random()*scale);
+	Type t;
+	const Point center(triangle.GetCenter());
+	const Ray rayCenter(Point::Random()*scale, center, true);
+	if (!rayCenter.Intersects<false>(triangle, &t))
+		return false;
+	const Point _center(rayCenter.GetPoint(t));
+	if (!ISEQUAL(TPoint3<Type>(_center), TPoint3<Type>(center)))
+		return false;
+	const BYTE o((BYTE)(RAND()%3));
+	const Point side((triangle[o]+triangle[(o+1)%3]) / TYPE(2));
+	const Ray raySide(rayCenter.m_pOrig, side, true);
+	if (!raySide.Intersects<false>(triangle, &t))
+		return false;
+	const Point _side(raySide.GetPoint(t));
+	if (!ISEQUAL(TPoint3<Type>(_side), TPoint3<Type>(side)))
+		return false;
+	return true;
+}
+#endif
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 68d7f002d..06a8da4ef 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -1179,12 +1179,14 @@ template<typename _Tp>
 inline bool   ISFINITE(const _Tp* x, size_t n)	{ for (size_t i=0; i<n; ++i) if (ISINFORNAN(x[i])) return false; return true; }
 
 template<typename _Tp>
-inline bool   ISINSIDE(_Tp v,_Tp l0,_Tp l1)	{ return (l0 <= v && v < l1); }
+inline bool   ISINSIDE(_Tp v,_Tp l0,_Tp l1)	{ ASSERT(l0<l1); return l0 <= v && v < l1; }
+template<typename _Tp>
+inline bool   ISINSIDES(_Tp v,_Tp l0,_Tp l1)	{ return l0 < l1 ? ISINSIDE(v, l0, l1) : ISINSIDE(v, l1, l0); }
 
 template<typename _Tp>
-inline _Tp    CLAMP(_Tp v, _Tp c0, _Tp c1)	{ ASSERT(c0<=c1); return MINF(MAXF(v, c0), c1); }
+inline _Tp    CLAMP(_Tp v, _Tp l0, _Tp l1)	{ ASSERT(l0<=l1); return MINF(MAXF(v, l0), l1); }
 template<typename _Tp>
-inline _Tp    CLAMPS(_Tp v, _Tp c0, _Tp c1)	{ if (c0 <= c1) return CLAMP(v, c0, c1); return CLAMP(v, c1, c0); }
+inline _Tp    CLAMPS(_Tp v, _Tp l0, _Tp l1)	{ return l0 <= l1 ? CLAMP(v, l0, l1) : CLAMP(v, l1, l0); }
 
 template<typename _Tp>
 inline _Tp    SIGN(_Tp x)					{ if (x > _Tp(0)) return _Tp(1); if (x < _Tp(0)) return _Tp(-1); return _Tp(0); }

From 2f53998b5de1d2153d3f9337e7baa091aa3d1bb6 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 13 Aug 2022 18:10:59 +0300
Subject: [PATCH 122/252] build: update Dockerfiles

(cherry picked from commit a4405ec4f8d83f119fc7291963c9935be8c328dd)
---
 docker/Dockerfile               | 23 ++++++++---------------
 docker/Dockerfile_CUDA          | 31 ++++++++++++-------------------
 docker/buildFromScratch.sh      |  2 +-
 docker/buildFromScratch_CUDA.sh |  2 ++
 4 files changed, 23 insertions(+), 35 deletions(-)
 create mode 100644 docker/buildFromScratch_CUDA.sh

diff --git a/docker/Dockerfile b/docker/Dockerfile
index a528c34f8..8fb77b421 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -1,16 +1,12 @@
-FROM ubuntu:18.04
+FROM ubuntu:22.04
 
+ARG MASTER
 ARG USER_ID
 ARG GROUP_ID
 
-# Initialize the environment 
-RUN apt update
-RUN apt install -y cmake git vim
-
 # Prepare and empty machine for building:
 RUN apt-get update -yq
-RUN apt-get install -yq
-RUN apt-get -y install git mercurial cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev
+RUN apt-get -yq install build-essential git cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev
 
 # Eigen 
 RUN git clone https://gitlab.com/libeigen/eigen --branch 3.4
@@ -27,16 +23,13 @@ RUN apt-get -y install libboost-iostreams-dev libboost-program-options-dev libbo
 RUN DEBIAN_FRONTEND=noninteractive apt-get install -yq libopencv-dev
 
 # CGAL
-RUN apt-get -y install libcgal-dev libcgal-qt5-dev
+RUN apt-get -yq install libcgal-dev libcgal-qt5-dev
 
 # VCGLib
 RUN git clone https://github.com/cdcseacave/VCG.git vcglib
 
-# Build from stable openMVS release
-RUN git clone https://github.com/cdcseacave/openMVS.git --branch master
-
-# Uncomment below (and comment above) to use the latest commit from the develop branch
-#RUN git clone https://github.com/cdcseacave/openMVS.git --branch develop
+# Build from stable openMVS release or the latest commit from the develop branch
+RUN if [[ -n "$MASTER" ]] ; then git clone https://github.com/cdcseacave/openMVS.git --branch master ; else git clone https://github.com/cdcseacave/openMVS.git --branch develop ; fi
 
 RUN mkdir openMVS_build
 RUN cd openMVS_build &&\
@@ -48,8 +41,8 @@ RUN cd openMVS_build &&\
 	make install
 
 # Set permissions such that the output files can be accessed by the current user (optional)
-RUN addgroup --gid $GROUP_ID user
-RUN adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID user
+RUN addgroup --gid $GROUP_ID user &&\
+	adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID user
 USER user
 
 # Add binaries to path
diff --git a/docker/Dockerfile_CUDA b/docker/Dockerfile_CUDA
index 86f4e8748..46170d2ef 100644
--- a/docker/Dockerfile_CUDA
+++ b/docker/Dockerfile_CUDA
@@ -1,18 +1,14 @@
-FROM nvidia/cuda:11.1-devel-ubuntu18.04
+FROM nvidia/cuda:11.7.1-devel-ubuntu22.04
 
+ARG MASTER
 ARG USER_ID
 ARG GROUP_ID
 
-# Initialize the environment 
-RUN apt update
-RUN apt install -y cmake git vim
-
 # Prepare and empty machine for building:
 RUN apt-get update -yq
-RUN apt-get install -yq
-RUN apt-get -y install git mercurial cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev
+RUN apt-get -yq install build-essential git cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev
 
-ENV PATH=/usr/local/cuda-11.1/bin:$PATH
+ENV PATH=/usr/local/cuda/bin:$PATH
 
 # Eigen 
 RUN git clone https://gitlab.com/libeigen/eigen --branch 3.4
@@ -23,26 +19,23 @@ RUN cd eigen_build &&\
 	cd ..
 
 # Boost
-RUN apt-get -y install libboost-iostreams-dev libboost-program-options-dev libboost-system-dev libboost-serialization-dev
+RUN apt-get -yq install libboost-iostreams-dev libboost-program-options-dev libboost-system-dev libboost-serialization-dev
 
 # OpenCV
-RUN DEBIAN_FRONTEND=noninteractive apt-get install -yq libopencv-dev
+RUN DEBIAN_FRONTEND=noninteractive apt-get -yq install libopencv-dev
 
 # CGAL
-RUN apt-get -y install libcgal-dev libcgal-qt5-dev
+RUN apt-get -yq install libcgal-dev libcgal-qt5-dev
 
 # VCGLib
 RUN git clone https://github.com/cdcseacave/VCG.git vcglib
 
-# Build from stable openMVS release
-RUN git clone https://github.com/cdcseacave/openMVS.git --branch master
-
-# Uncomment below (and comment above) to use the latest commit from the develop branch
-#RUN git clone https://github.com/cdcseacave/openMVS.git --branch develop
+# Build from stable openMVS release or the latest commit from the develop branch
+RUN if [[ -n "$MASTER" ]] ; then git clone https://github.com/cdcseacave/openMVS.git --branch master ; else git clone https://github.com/cdcseacave/openMVS.git --branch develop ; fi
 
 RUN mkdir openMVS_build
 RUN cd openMVS_build &&\
-	cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT=/vcglib -DOpenMVS_USE_CUDA=ON -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs/ -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda-11.1/ -DCUDA_INCLUDE_DIRS=/usr/local/cuda-11.1/include/ -DCUDA_CUDART_LIBRARY=/usr/local/cuda-11.1/lib64 -DCUDA_NVCC_EXECUTABLE=/usr/local/cuda-11.1/bin/
+	cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT=/vcglib -DOpenMVS_USE_CUDA=ON -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs/ -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda/ -DCUDA_INCLUDE_DIRS=/usr/local/cuda/include/ -DCUDA_CUDART_LIBRARY=/usr/local/cuda/lib64 -DCUDA_NVCC_EXECUTABLE=/usr/local/cuda/bin/
 
 # Install OpenMVS library
 RUN cd openMVS_build &&\
@@ -50,8 +43,8 @@ RUN cd openMVS_build &&\
 	make install
 
 # Set permissions such that the output files can be accessed by the current user (optional)
-RUN addgroup --gid $GROUP_ID user
-RUN adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID user
+RUN addgroup --gid $GROUP_ID user &&\
+	adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID user
 USER user
 
 # Add binaries to path
diff --git a/docker/buildFromScratch.sh b/docker/buildFromScratch.sh
index d522ce5d6..c3b873d74 100755
--- a/docker/buildFromScratch.sh
+++ b/docker/buildFromScratch.sh
@@ -1,2 +1,2 @@
 docker build --no-cache -t="openmvs-ubuntu" --build-arg USER_ID=$(id -u) --build-arg GROUP_ID=$(id -g) .;
-docker run -w /working -v $1:/working -it openmvs-ubuntu;
\ No newline at end of file
+docker run --entrypoint bash -w /work -v $1:/work -it openmvs-ubuntu;
diff --git a/docker/buildFromScratch_CUDA.sh b/docker/buildFromScratch_CUDA.sh
new file mode 100644
index 000000000..eb9149fd5
--- /dev/null
+++ b/docker/buildFromScratch_CUDA.sh
@@ -0,0 +1,2 @@
+docker build --no-cache -t="openmvs-ubuntu" --build-arg USER_ID=$(id -u) --build-arg GROUP_ID=$(id -g) --file Dockerfile_CUDA .;
+docker run --gpus=all --entrypoint bash -w /work -v $1:/work -it openmvs-ubuntu;

From dcb2bc444198ad58fd48d5415ede9c2311d5c7ff Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 5 Jul 2022 16:45:48 +0300
Subject: [PATCH 123/252] mvs: improve sub-scene

---
 MvsScalablePipeline.py                       | 171 +++++++++++++++++++
 apps/DensifyPointCloud/DensifyPointCloud.cpp |   6 +-
 apps/ReconstructMesh/ReconstructMesh.cpp     |  18 ++
 libs/Common/AABB.inl                         |   8 +-
 libs/Common/OBB.h                            |   6 +-
 libs/Common/OBB.inl                          |  17 +-
 libs/MVS/Mesh.cpp                            |  27 ++-
 libs/MVS/Mesh.h                              |   1 +
 libs/MVS/Scene.h                             |   2 +-
 libs/MVS/SceneDensify.cpp                    |   7 +-
 10 files changed, 242 insertions(+), 21 deletions(-)
 create mode 100644 MvsScalablePipeline.py

diff --git a/MvsScalablePipeline.py b/MvsScalablePipeline.py
new file mode 100644
index 000000000..c27b7a845
--- /dev/null
+++ b/MvsScalablePipeline.py
@@ -0,0 +1,171 @@
+#!/usr/bin/python3
+# -*- encoding: utf-8 -*-
+"""
+This script helps with OpenMVS scalable pipeline.
+
+Starting from a SfM solution stored into a MVS project accompanied by the undistorted images,
+the fist step is to compute all depth maps without fusion:
+
+DensifyPointCloud scene.mvs --fusion-mode 1
+
+Next split the scene in sub-scenes using the area parameter, which is related to the inverse of GSD;
+it is a bit non intuitive, but normally it should remain constant for a desired memory limit;
+for example you can use the bellow value to limit memory usage to ~16GB:
+
+DensifyPointCloud scene.mvs --sub-scene-area 660000
+
+disable depth-maps re-filtering by creating a file Densify.ini with just this line:
+
+Optimize = 0
+
+and call fusion on each of the sub-scenes like:
+
+DensifyPointCloud scene_0000.mvs --dense-config-file Densify.ini
+............
+DensifyPointCloud scene_000n.mvs --dense-config-file Densify.ini
+
+This script hepls to automate the process of calling DensifyPointCloud/ReconstructMesh on all sub-scenes.
+
+usage: MvsScalablePipeline.py openMVS_module input_scene <options>
+
+ex: MvsScalablePipeline.py DensifyPointCloud scene_XXXX.mvs --number-views-fuse 2
+"""
+
+import os
+import subprocess
+import sys
+import argparse
+
+DEBUG = False
+
+if sys.platform.startswith('win'):
+    PATH_DELIM = ';'
+    FOLDER_DELIM = '\\'
+else:
+    PATH_DELIM = ':'
+    FOLDER_DELIM = '/'
+
+
+def whereis(afile):
+    """
+    return directory in which afile is, None if not found. Look in PATH
+    """
+    if sys.platform.startswith('win'):
+        cmd = "where"
+    else:
+        cmd = "which"
+    try:
+        ret = subprocess.run([cmd, afile], stdout=subprocess.PIPE, stderr=subprocess.STDOUT, check=True)
+        return os.path.split(ret.stdout.decode())[0]
+    except subprocess.CalledProcessError:
+        return None
+
+
+def find(afile):
+    """
+    As whereis look only for executable on linux, this find look for all file type
+    """
+    for d in os.environ['PATH'].split(PATH_DELIM):
+        if os.path.isfile(os.path.join(d, afile)):
+            return d
+    return None
+
+# Try to find openMVS binaries in PATH
+OPENMVS_BIN = whereis("ReconstructMesh")
+
+# Ask user for openMVS directory if not found
+if not OPENMVS_BIN:
+    OPENMVS_BIN = input("openMVS binary folder?\n")
+
+
+# HELPERS for terminal colors
+BLACK, RED, GREEN, YELLOW, BLUE, MAGENTA, CYAN, WHITE = range(8)
+NO_EFFECT, BOLD, UNDERLINE, BLINK, INVERSE, HIDDEN = (0, 1, 4, 5, 7, 8)
+
+
+# from Python cookbook, #475186
+def has_colours(stream):
+    '''
+    Return stream colours capability
+    '''
+    if not hasattr(stream, "isatty"):
+        return False
+    if not stream.isatty():
+        return False  # auto color only on TTYs
+    try:
+        import curses
+        curses.setupterm()
+        return curses.tigetnum("colors") > 2
+    except Exception:
+        # guess false in case of error
+        return False
+
+HAS_COLOURS = has_colours(sys.stdout)
+
+
+def printout(text, colour=WHITE, background=BLACK, effect=NO_EFFECT):
+    """
+    print() with colour
+    """
+    if HAS_COLOURS:
+        seq = "\x1b[%d;%d;%dm" % (effect, 30+colour, 40+background) + text + "\x1b[0m"
+        sys.stdout.write(seq+'\r\n')
+    else:
+        sys.stdout.write(text+'\r\n')
+
+
+# store config and data in
+class ConfContainer:
+    """
+    Container for all the config variables
+    """
+    def __init__(self):
+        pass
+
+CONF = ConfContainer()
+
+# ARGS
+PARSER = argparse.ArgumentParser(
+    formatter_class=argparse.RawTextHelpFormatter,
+    description="Scalable MVS reconstruction with these steps: \r\n" +
+    "MvsScalablePipeline.py openMVS_module input_scene <options>\r\n"
+    )
+PARSER.add_argument('openMVS_modules',
+                    help="the OpenMVS module to use: DensifyPointCloud, ReconstructMesh, etc.")
+PARSER.add_argument('input_scene',
+                    help="the scene name reg to process: scene_XXXX.mvs")
+PARSER.add_argument('passthrough', nargs=argparse.REMAINDER, help="Option to be passed to command lines")
+
+PARSER.parse_args(namespace=CONF)  # store args in the ConfContainer
+
+# Absolute path for input directory
+if len(CONF.input_scene) < 10 or CONF.input_scene[-9:] != '_XXXX.mvs':
+    sys.exit("%s: incalid scene name" % CONF.input_scene)
+CONF.input_scene = os.path.abspath(CONF.input_scene[:-9]+'_{counter:04d}.mvs')
+
+for module_name in CONF.openMVS_modules.split(','):
+    printout("# Module {} start #".format(module_name), colour=RED, effect=BOLD)
+    i = 0
+    while os.path.exists(CONF.input_scene.format(counter=i)):
+        scene_name = CONF.input_scene.format(counter=i)
+        printout("# Process: %s" % os.path.basename(scene_name), colour=GREEN, effect=NO_EFFECT)
+
+        # create a commandline for the current step
+        cmdline = [os.path.join(OPENMVS_BIN, module_name), scene_name] + CONF.passthrough
+        print('Cmd: ' + ' '.join(cmdline))
+
+        if not DEBUG:
+            # Launch the current step
+            try:
+                pStep = subprocess.Popen(cmdline)
+                pStep.wait()
+                if pStep.returncode != 0:
+                    printout("# Warning: step failed", colour=RED, effect=BOLD)
+                    break
+            except KeyboardInterrupt:
+                sys.exit('\r\nProcess canceled by user, all files remains')
+        else:
+            print('\t'.join(cmdline))
+
+        i += 1
+    printout("# Module {} end #".format(module_name), colour=RED, effect=BOLD)
diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index ccae33a61..d32ca59cd 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -57,6 +57,8 @@ String strDenseConfigFileName;
 String strExportDepthMapsName;
 float fMaxSubsceneArea;
 float fSampleMesh;
+float fBorderROI;
+bool bCrop2ROI;
 int nEstimateROI;
 int nFusionMode;
 int thFilterPointCloud;
@@ -139,7 +141,9 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("fusion-mode", boost::program_options::value(&OPT::nFusionMode)->default_value(0), "depth map fusion mode (-2 - fuse disparity-maps, -1 - export disparity-maps only, 0 - depth-maps & fusion, 1 - export depth-maps only)")
 		("filter-point-cloud", boost::program_options::value(&OPT::thFilterPointCloud)->default_value(0), "filter dense point-cloud based on visibility (0 - disabled)")
 		("export-number-views", boost::program_options::value(&OPT::nExportNumViews)->default_value(0), "export points with >= number of views (0 - disabled, <0 - save MVS project too)")
+        ("roi-border", boost::program_options::value(&OPT::fBorderROI)->default_value(0), "add a border to the region-of-interest when cropping the scene (0 - disabled, >0 - percentage, <0 - absolute)")
         ("estimate-roi", boost::program_options::value(&OPT::nEstimateROI)->default_value(2), "estimate and set region-of-interest (0 - disabled, 1 - enabled, 2 - adaptive)")
+        ("crop-to-roi", boost::program_options::value(&OPT::bCrop2ROI)->default_value(true), "crop scene using the region-of-interest")
         ;
 
 	// hidden options, allowed both on command line and
@@ -369,7 +373,7 @@ int main(int argc, LPCTSTR* argv)
 			scene.pointcloud.PrintStatistics(scene.images.data(), &scene.obb);
 		#endif
 		TD_TIMER_START();
-		if (!scene.DenseReconstruction(OPT::nFusionMode)) {
+		if (!scene.DenseReconstruction(OPT::nFusionMode, OPT::bCrop2ROI, OPT::fBorderROI)) {
 			if (ABS(OPT::nFusionMode) != 1)
 				return EXIT_FAILURE;
 			VERBOSE("Depth-maps estimated (%s)", TD_TIMER_GET_FMT().c_str());
diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index de68513db..ae32c722a 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -68,6 +68,8 @@ bool bRemoveSpikes;
 unsigned nCloseHoles;
 unsigned nSmoothMesh;
 float fEdgeLength;
+bool bCrop2ROI;
+float fBorderROI;
 float fSplitMaxArea;
 unsigned nArchiveType;
 int nProcessPriority;
@@ -130,6 +132,8 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("close-holes", boost::program_options::value(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the reconstructed surface (0 - disabled)")
 		("smooth", boost::program_options::value(&OPT::nSmoothMesh)->default_value(2), "number of iterations to smooth the reconstructed surface (0 - disabled)")
 		("edge-length", boost::program_options::value(&OPT::fEdgeLength)->default_value(0.f), "remesh such that the average edge length is this size (0 - disabled)")
+		("roi-border", boost::program_options::value(&OPT::fBorderROI)->default_value(0), "add a border to the region-of-interest when cropping the scene (0 - disabled, >0 - percentage, <0 - absolute)")
+		("crop-to-roi", boost::program_options::value(&OPT::bCrop2ROI)->default_value(true), "crop scene using the region-of-interest")
 		;
 
 	// hidden options, allowed both on command line and
@@ -370,6 +374,11 @@ int main(int argc, LPCTSTR* argv)
 			scene.ExportCamerasMLP(baseFileName+_T(".mlp"), fileName);
 		#endif
 	} else {
+		const OBB3f initialOBB(scene.obb);
+		if (OPT::fBorderROI > 0)
+			scene.obb.EnlargePercent(OPT::fBorderROI);
+		else if (OPT::fBorderROI < 0)
+			scene.obb.Enlarge(-OPT::fBorderROI);
 		if (OPT::strMeshFileName.IsEmpty() && scene.mesh.IsEmpty()) {
 			// reset image resolution to the original size and
 			// make sure the image neighbors are initialized before deleting the point-cloud
@@ -427,10 +436,19 @@ int main(int argc, LPCTSTR* argv)
 		}
 
 		// clean the mesh
+		if (OPT::bCrop2ROI && scene.IsBounded()) {
+			TD_TIMER_START();
+			const size_t numVertices = scene.mesh.vertices.size();
+			const size_t numFaces = scene.mesh.faces.size();
+			scene.mesh.RemoveFacesOutside(scene.obb);
+			VERBOSE("Mesh trimmed to ROI: %u vertices and %u faces removed (%s)",
+				numVertices-scene.mesh.vertices.size(), numFaces-scene.mesh.faces.size(), TD_TIMER_GET_FMT().c_str());
+		}
 		const float fDecimate(OPT::nTargetFaceNum ? static_cast<float>(OPT::nTargetFaceNum) / scene.mesh.faces.size() : OPT::fDecimateMesh);
 		scene.mesh.Clean(fDecimate, OPT::fRemoveSpurious, OPT::bRemoveSpikes, OPT::nCloseHoles, OPT::nSmoothMesh, OPT::fEdgeLength, false);
 		scene.mesh.Clean(1.f, 0.f, OPT::bRemoveSpikes, OPT::nCloseHoles, 0u, 0.f, false); // extra cleaning trying to close more holes
 		scene.mesh.Clean(1.f, 0.f, false, 0u, 0u, 0.f, true); // extra cleaning to remove non-manifold problems created by closing holes
+		scene.obb = initialOBB;
 
 		// save the final mesh
 		scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
diff --git a/libs/Common/AABB.inl b/libs/Common/AABB.inl
index 9e755c3a5..26f7446e3 100644
--- a/libs/Common/AABB.inl
+++ b/libs/Common/AABB.inl
@@ -108,11 +108,9 @@ inline TAABB<TYPE,DIMS>& TAABB<TYPE,DIMS>::Enlarge(TYPE x)
 template <typename TYPE, int DIMS>
 inline TAABB<TYPE,DIMS>& TAABB<TYPE,DIMS>::EnlargePercent(TYPE x)
 {
-	POINT ptSize;
-	GetSize(ptSize);
-	ptSize *= (x - TYPE(1.)) / TYPE(2.);
-	ptMin -= ptSize;
-	ptMax += ptSize;
+	const POINT ptSizeDelta(GetSize() * (x - TYPE(1)) / TYPE(2));
+	ptMin -= ptSizeDelta;
+	ptMax += ptSizeDelta;
 	return *this;
 } // Enlarge
 /*----------------------------------------------------------------*/
diff --git a/libs/Common/OBB.h b/libs/Common/OBB.h
index 6d623afd8..adf321e5a 100644
--- a/libs/Common/OBB.h
+++ b/libs/Common/OBB.h
@@ -54,6 +54,8 @@ class TOBB
 	inline TOBB(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax);
 	inline TOBB(const POINT* pts, size_t n);
 	inline TOBB(const POINT* pts, size_t n, const TRIANGLE* tris, size_t s);
+	template <typename CTYPE>
+	inline TOBB(const TOBB<CTYPE, DIMS>&);
 
 	inline void Set(const AABB&); // build from AABB
 	inline void Set(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax); // build from rotation matrix from world to local, and local min/max corners
@@ -69,8 +71,8 @@ class TOBB
 
 	inline bool IsValid() const;
 
-	inline void Enlarge(TYPE);
-	inline void EnlargePercent(TYPE);
+	inline TOBB& Enlarge(TYPE);
+	inline TOBB& EnlargePercent(TYPE);
 
 	inline void Translate(const POINT&);
 	inline void Transform(const MATRIX&);
diff --git a/libs/Common/OBB.inl b/libs/Common/OBB.inl
index 9f1278b3c..1e2784d17 100644
--- a/libs/Common/OBB.inl
+++ b/libs/Common/OBB.inl
@@ -39,6 +39,15 @@ inline TOBB<TYPE,DIMS>::TOBB(const POINT* pts, size_t n, const TRIANGLE* tris, s
 {
 	Set(pts, n, tris, s);
 } // constructor
+template <typename TYPE, int DIMS>
+template <typename CTYPE>
+inline TOBB<TYPE,DIMS>::TOBB(const TOBB<CTYPE,DIMS>& rhs)
+	:
+	m_rot(rhs.m_rot.template cast<TYPE>()),
+	m_pos(rhs.m_pos.template cast<TYPE>()),
+	m_ext(rhs.m_ext.template cast<TYPE>())
+{
+} // copy constructor
 /*----------------------------------------------------------------*/
 
 
@@ -268,14 +277,16 @@ inline bool TOBB<TYPE,DIMS>::IsValid() const
 
 
 template <typename TYPE, int DIMS>
-inline void TOBB<TYPE,DIMS>::Enlarge(TYPE x)
+inline TOBB<TYPE,DIMS>& TOBB<TYPE,DIMS>::Enlarge(TYPE x)
 {
-	m_ext.array() -= x;
+	m_ext.array() += x;
+	return *this;
 }
 template <typename TYPE, int DIMS>
-inline void TOBB<TYPE,DIMS>::EnlargePercent(TYPE x)
+inline TOBB<TYPE,DIMS>& TOBB<TYPE,DIMS>::EnlargePercent(TYPE x)
 {
 	m_ext *= x;
+	return *this;
 } // Enlarge
 /*----------------------------------------------------------------*/
 
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index d0d110634..75fce9700 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -3631,6 +3631,20 @@ void Mesh::CloseHoleQuality(VertexIdxArr& verts)
 }
 /*----------------------------------------------------------------*/
 
+// crop mesh such that none of its faces is touching or outside the given bounding-box
+void Mesh::RemoveFacesOutside(const OBB3f& obb) {
+	ASSERT(obb.IsValid());
+	VertexIdxArr vertexRemove;
+	FOREACH(i, vertices)
+		if (!obb.Intersects(vertices[i]))
+			vertexRemove.emplace_back(i);
+	if (!vertexRemove.empty()) {
+		if (vertices.size() != vertexFaces.size())
+			ListIncidenteFaces();
+		RemoveVertices(vertexRemove, true);
+	}
+}
+
 // remove the given list of faces
 void Mesh::RemoveFaces(FaceIdxArr& facesRemove, bool bUpdateLists)
 {
@@ -3645,7 +3659,7 @@ void Mesh::RemoveFaces(FaceIdxArr& facesRemove, bool bUpdateLists)
 			idxLast = idxF;
 		}
 	} else {
-		ASSERT(vertices.GetSize() == vertexFaces.GetSize());
+		ASSERT(vertices.size() == vertexFaces.size());
 		RFOREACHPTR(pIdxF, facesRemove) {
 			const FIndex idxF(*pIdxF);
 			if (idxLast == idxF)
@@ -3680,10 +3694,10 @@ void Mesh::RemoveFaces(FaceIdxArr& facesRemove, bool bUpdateLists)
 	vertexVertices.Release();
 }
 
-// remove the given list of vertices
+// remove the given list of vertices, together with all faces containing them
 void Mesh::RemoveVertices(VertexIdxArr& vertexRemove, bool bUpdateLists)
 {
-	ASSERT(vertices.GetSize() == vertexFaces.GetSize());
+	ASSERT(vertices.size() == vertexFaces.size());
 	vertexRemove.Sort();
 	VIndex idxLast(VertexIdxArr::NO_INDEX);
 	if (!bUpdateLists) {
@@ -3691,7 +3705,7 @@ void Mesh::RemoveVertices(VertexIdxArr& vertexRemove, bool bUpdateLists)
 			const VIndex idxV(*pIdxV);
 			if (idxLast == idxV)
 				continue;
-			const VIndex idxVM(vertices.GetSize()-1);
+			const VIndex idxVM(vertices.size()-1);
 			if (idxV < idxVM) {
 				// update all faces of the moved vertex
 				const FaceIdxArr& vf(vertexFaces[idxVM]);
@@ -3709,7 +3723,7 @@ void Mesh::RemoveVertices(VertexIdxArr& vertexRemove, bool bUpdateLists)
 		const VIndex idxV(*pIdxV);
 		if (idxLast == idxV)
 			continue;
-		const VIndex idxVM(vertices.GetSize()-1);
+		const VIndex idxVM(vertices.size()-1);
 		if (idxV < idxVM) {
 			// update all faces of the moved vertex
 			const FaceIdxArr& vf(vertexFaces[idxVM]);
@@ -3725,7 +3739,8 @@ void Mesh::RemoveVertices(VertexIdxArr& vertexRemove, bool bUpdateLists)
 		vertices.RemoveAt(idxV);
 		idxLast = idxV;
 	}
-	RemoveFaces(facesRemove);
+	if (!facesRemove.empty())
+		RemoveFaces(facesRemove);
 }
 
 // remove all vertices that are not assigned to any face
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 5e8bd0e2a..e5ee1052e 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -176,6 +176,7 @@ class MVS_API Mesh
 	void Decimate(VertexIdxArr& verticesRemove);
 	void CloseHole(VertexIdxArr& vertsLoop);
 	void CloseHoleQuality(VertexIdxArr& vertsLoop);
+	void RemoveFacesOutside(const OBB3f&);
 	void RemoveFaces(FaceIdxArr& facesRemove, bool bUpdateLists=false);
 	void RemoveVertices(VertexIdxArr& vertexRemove, bool bUpdateLists=false);
 	VIndex RemoveUnreferencedVertices(bool bUpdateLists=false);
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index f50922379..be1bb9e4f 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -108,7 +108,7 @@ class MVS_API Scene
 	bool EstimateROI(int nEstimateROI=0, float scale=1.f);
 
 	// Dense reconstruction
-	bool DenseReconstruction(int nFusionMode=0);
+	bool DenseReconstruction(int nFusionMode=0, bool bCrop2ROI=true, float fBorderROI=0);
 	bool ComputeDepthMaps(DenseDepthMapData& data);
 	void DenseReconstructionEstimate(void*);
 	void DenseReconstructionFilter(void*);
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index de9defe29..f8c3cac0b 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -1625,7 +1625,7 @@ void DenseDepthMapData::SignalCompleteDepthmapFilter()
 static void* DenseReconstructionEstimateTmp(void*);
 static void* DenseReconstructionFilterTmp(void*);
 
-bool Scene::DenseReconstruction(int nFusionMode)
+bool Scene::DenseReconstruction(int nFusionMode, bool bCrop2ROI, float fBorderROI)
 {
 	DenseDepthMapData data(*this, nFusionMode);
 
@@ -1667,10 +1667,11 @@ bool Scene::DenseReconstruction(int nFusionMode)
 	#endif
 
 	if (!pointcloud.IsEmpty()) {
-		if (IsBounded()) {
+		if (bCrop2ROI && IsBounded()) {
 			TD_TIMER_START();
 			const size_t numPoints = pointcloud.GetSize();
-			pointcloud.RemovePointsOutside(obb);
+			const OBB3f ROI(fBorderROI == 0 ? obb : (fBorderROI > 0 ? OBB3f(obb).EnlargePercent(fBorderROI) : OBB3f(obb).Enlarge(-fBorderROI)));
+			pointcloud.RemovePointsOutside(ROI);
 			VERBOSE("Point-cloud trimmed to ROI: %u points removed (%s)",
 				numPoints-pointcloud.GetSize(), TD_TIMER_GET_FMT().c_str());
 		}

From 142b353b26f283476586b0b3a63e0039a4e09ac8 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 6 Sep 2022 09:21:07 +0300
Subject: [PATCH 124/252] mesh: load GLTF

---
 libs/MVS/Mesh.cpp  | 97 ++++++++++++++++++++++++++++++++++++++++++++++
 libs/MVS/Mesh.h    |  2 +
 libs/MVS/Scene.cpp |  4 +-
 3 files changed, 101 insertions(+), 2 deletions(-)

diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 75fce9700..8d2980adc 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -128,6 +128,26 @@ void Mesh::Swap(Mesh& rhs)
 	faceTexcoords.Swap(rhs.faceTexcoords);
 	std::swap(textureDiffuse, rhs.textureDiffuse);
 } // Swap
+// combine this mesh with the given mesh, without removing duplicate vertices
+void Mesh::Join(const Mesh& mesh)
+{
+	ASSERT(!HasTexture() && !mesh.HasTexture());
+	vertexVertices.Release();
+	vertexFaces.Release();
+	vertexBoundary.Release();
+	faceFaces.Release();
+	if (IsEmpty()) {
+		*this = mesh;
+		return;
+	}
+	const VIndex offsetV(vertices.size());
+	vertices.Join(mesh.vertices);
+	vertexNormals.Join(mesh.vertexNormals);
+	faces.ReserveExtra(mesh.faces.size());
+	for (const Face& face: mesh.faces)
+		faces.emplace_back(face.x+offsetV, face.y+offsetV, face.z+offsetV);
+	faceNormals.Join(mesh.faceNormals);
+}
 /*----------------------------------------------------------------*/
 
 
@@ -1393,6 +1413,9 @@ bool Mesh::Load(const String& fileName)
 	bool ret;
 	if (ext == _T(".obj"))
 		ret = LoadOBJ(fileName);
+	else
+	if (ext == _T(".gltf") || ext == _T(".glb"))
+		ret = LoadGLTF(fileName, ext == _T(".glb"));
 	else
 		ret = LoadPLY(fileName);
 	if (!ret)
@@ -1544,6 +1567,80 @@ bool Mesh::LoadOBJ(const String& fileName)
 	if (pMaterial && pMaterial->LoadDiffuseMap())
 		cv::swap(textureDiffuse, pMaterial->diffuse_map);
 	return true;
+}
+// import the mesh as a GLTF file
+bool Mesh::LoadGLTF(const String& fileName, bool bBinary)
+{
+	ASSERT(!fileName.IsEmpty());
+	Release();
+
+	// load model
+	tinygltf::Model gltfModel; {
+		tinygltf::TinyGLTF loader;
+		std::string err, warn;
+		if (bBinary ?
+			!loader.LoadBinaryFromFile(&gltfModel, &err, &warn, fileName) :
+			!loader.LoadASCIIFromFile(&gltfModel, &err, &warn, fileName))
+			return false;
+		if (!err.empty()) {
+			VERBOSE("error: %s", err.c_str());
+			return false;
+		}
+		if (!warn.empty())
+			DEBUG("warning: %s", warn.c_str());
+	}
+	
+	// parse model
+	for (const tinygltf::Mesh& gltfMesh : gltfModel.meshes) {
+		for (const tinygltf::Primitive& gltfPrimitive : gltfMesh.primitives) {
+			if (gltfPrimitive.mode != TINYGLTF_MODE_TRIANGLES)
+				continue;
+			Mesh mesh;
+			// read vertices
+			{
+				const tinygltf::Accessor& gltfAccessor = gltfModel.accessors[gltfPrimitive.attributes.at("POSITION")];
+				if (gltfAccessor.type != TINYGLTF_TYPE_VEC3)
+					continue;
+				const tinygltf::BufferView& gltfBufferView = gltfModel.bufferViews[gltfAccessor.bufferView];
+				const tinygltf::Buffer& buffer = gltfModel.buffers[gltfBufferView.buffer];
+				const uint8_t* pData = buffer.data.data() + gltfBufferView.byteOffset + gltfAccessor.byteOffset;
+				mesh.vertices.resize((VIndex)gltfAccessor.count);
+				if (gltfAccessor.componentType == TINYGLTF_COMPONENT_TYPE_FLOAT) {
+					ASSERT(gltfBufferView.byteLength == sizeof(Vertex) * gltfAccessor.count);
+					memcpy(mesh.vertices.data(), pData, gltfBufferView.byteLength);
+				}
+				else if (gltfAccessor.componentType == TINYGLTF_COMPONENT_TYPE_DOUBLE) {
+					for (int i = 0; i < gltfAccessor.count; ++i)
+						mesh.vertices[i] = ((const Point3d*)pData)[i];
+				}
+				else {
+					VERBOSE("error: unsupported vertices (component type)");
+					continue;
+				}
+			}
+			// read faces
+			{
+				const tinygltf::Accessor& gltfAccessor = gltfModel.accessors[gltfPrimitive.indices];
+				if (gltfAccessor.type != TINYGLTF_TYPE_SCALAR)
+					continue;
+				const tinygltf::BufferView& gltfBufferView = gltfModel.bufferViews[gltfAccessor.bufferView];
+				const tinygltf::Buffer& buffer = gltfModel.buffers[gltfBufferView.buffer];
+				const uint8_t* pData = buffer.data.data() + gltfBufferView.byteOffset + gltfAccessor.byteOffset;
+				mesh.faces.resize((FIndex)(gltfAccessor.count/3));
+				if (gltfAccessor.componentType == TINYGLTF_COMPONENT_TYPE_INT ||
+					gltfAccessor.componentType == TINYGLTF_COMPONENT_TYPE_UNSIGNED_INT) {
+					ASSERT(gltfBufferView.byteLength == sizeof(uint32_t) * gltfAccessor.count);
+					memcpy(mesh.faces.data(), pData, gltfBufferView.byteLength);
+				}
+				else {
+					VERBOSE("error: unsupported faces (component type)");
+					continue;
+				}
+			}
+			Join(mesh);
+		}
+	}
+	return true;
 } // Load
 /*----------------------------------------------------------------*/
 
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index e5ee1052e..05330e855 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -146,6 +146,7 @@ class MVS_API Mesh
 	void ReleaseExtra();
 	void EmptyExtra();
 	void Swap(Mesh&);
+	void Join(const Mesh&);
 	inline bool IsEmpty() const { return vertices.IsEmpty(); }
 	inline bool HasTexture() const { ASSERT(faceTexcoords.IsEmpty() == textureDiffuse.empty()); return !faceTexcoords.IsEmpty(); }
 
@@ -227,6 +228,7 @@ class MVS_API Mesh
 protected:
 	bool LoadPLY(const String& fileName);
 	bool LoadOBJ(const String& fileName);
+	bool LoadGLTF(const String& fileName, bool bBinary=true);
 
 	bool SavePLY(const String& fileName, const cList<String>& comments=cList<String>(), bool bBinary=true) const;
 	bool SaveOBJ(const String& fileName) const;
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index efd9c46be..8edb0d0ef 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -480,8 +480,8 @@ bool Scene::Import(const String& fileName)
 		Release();
 		return LoadDMAP(fileName);
 	}
-	if (ext == _T(".obj")) {
-		// import mesh from obj file
+	if (ext == _T(".obj") || ext == _T(".gltf") || ext == _T(".glb")) {
+		// import mesh from obj/gltf file
 		Release();
 		return mesh.Load(fileName);
 	}

From bc07459c05cbc10d1de5622d7bcf42e6efcdd428 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 16 Sep 2022 15:58:27 +0300
Subject: [PATCH 125/252] interface: add support for MVSNet format

---
 apps/CMakeLists.txt                      |   1 +
 apps/InterfaceMVSNet/CMakeLists.txt      |  13 +
 apps/InterfaceMVSNet/InterfaceMVSNet.cpp | 355 +++++++++++++++++++++++
 libs/Common/Types.h                      |   3 +
 4 files changed, 372 insertions(+)
 create mode 100644 apps/InterfaceMVSNet/CMakeLists.txt
 create mode 100644 apps/InterfaceMVSNet/InterfaceMVSNet.cpp

diff --git a/apps/CMakeLists.txt b/apps/CMakeLists.txt
index b24044839..6572deb23 100644
--- a/apps/CMakeLists.txt
+++ b/apps/CMakeLists.txt
@@ -1,6 +1,7 @@
 # Add applications
 ADD_SUBDIRECTORY(InterfaceCOLMAP)
 ADD_SUBDIRECTORY(InterfaceMetashape)
+ADD_SUBDIRECTORY(InterfaceMVSNet)
 ADD_SUBDIRECTORY(DensifyPointCloud)
 ADD_SUBDIRECTORY(ReconstructMesh)
 ADD_SUBDIRECTORY(RefineMesh)
diff --git a/apps/InterfaceMVSNet/CMakeLists.txt b/apps/InterfaceMVSNet/CMakeLists.txt
new file mode 100644
index 000000000..e38a82ced
--- /dev/null
+++ b/apps/InterfaceMVSNet/CMakeLists.txt
@@ -0,0 +1,13 @@
+if(MSVC)
+	FILE(GLOB LIBRARY_FILES_C "*.cpp" "*.rc")
+else()
+	FILE(GLOB LIBRARY_FILES_C "*.cpp")
+endif()
+FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
+
+cxx_executable_with_flags(InterfaceMVSNet "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+
+# Install
+INSTALL(TARGETS InterfaceMVSNet
+	EXPORT OpenMVSTargets
+	RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin)
diff --git a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
new file mode 100644
index 000000000..0bf58867d
--- /dev/null
+++ b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
@@ -0,0 +1,355 @@
+/*
+ * InterfaceMVSNet.cpp
+ *
+ * Copyright (c) 2014-2021 SEACAVE
+ *
+ * Author(s):
+ *
+ *      cDc <cdc.seacave@gmail.com>
+ *
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Affero General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Affero General Public License for more details.
+ *
+ * You should have received a copy of the GNU Affero General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * Additional Terms:
+ *
+ *      You are required to preserve legal notices and author attributions in
+ *      that material or in the Appropriate Legal Notices displayed by works
+ *      containing it.
+ */
+
+#include "../../libs/MVS/Common.h"
+#include "../../libs/MVS/Scene.h"
+#include <boost/program_options.hpp>
+
+using namespace MVS;
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+#define APPNAME _T("InterfaceMVSNet")
+#define MVS_EXT _T(".mvs")
+#define MVSNET_IMAGES_FOLDER _T("images")
+#define MVSNET_CAMERAS_FOLDER _T("cams")
+#define MVSNET_IMAGES_EXT _T(".jpg")
+#define MVSNET_CAMERAS_NAME _T("_cam.txt")
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+namespace {
+
+	namespace OPT {
+		String strInputFileName;
+		String strOutputFileName;
+		unsigned nArchiveType;
+		int nProcessPriority;
+		unsigned nMaxThreads;
+		String strConfigFileName;
+		boost::program_options::variables_map vm;
+	} // namespace OPT
+
+	// initialize and parse the command line parameters
+	bool Initialize(size_t argc, LPCTSTR* argv)
+	{
+		// initialize log and console
+		OPEN_LOG();
+		OPEN_LOGCONSOLE();
+
+		// group of options allowed only on command line
+		boost::program_options::options_description generic("Generic options");
+		generic.add_options()
+			("help,h", "produce this help message")
+			("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
+			("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
+			("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: 0-text, 1-binary, 2-compressed binary")
+			("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
+			("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
+			#if TD_VERBOSE != TD_VERBOSE_OFF
+			("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
+				#if TD_VERBOSE == TD_VERBOSE_DEBUG
+				3
+				#else
+				2
+				#endif
+			), "verbosity level")
+			#endif
+			;
+
+		// group of options allowed both on command line and in config file
+		boost::program_options::options_description config("Main options");
+		config.add_options()
+			("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
+			("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
+			;
+
+		boost::program_options::options_description cmdline_options;
+		cmdline_options.add(generic).add(config);
+
+		boost::program_options::options_description config_file_options;
+		config_file_options.add(config);
+
+		boost::program_options::positional_options_description p;
+		p.add("input-file", -1);
+
+		try {
+			// parse command line options
+			boost::program_options::store(boost::program_options::command_line_parser((int)argc, argv).options(cmdline_options).positional(p).run(), OPT::vm);
+			boost::program_options::notify(OPT::vm);
+			INIT_WORKING_FOLDER;
+			// parse configuration file
+			std::ifstream ifs(MAKE_PATH_SAFE(OPT::strConfigFileName));
+			if (ifs) {
+				boost::program_options::store(parse_config_file(ifs, config_file_options), OPT::vm);
+				boost::program_options::notify(OPT::vm);
+			}
+		}
+		catch (const std::exception& e) {
+			LOG(e.what());
+			return false;
+		}
+
+		// initialize the log file
+		OPEN_LOGFILE(MAKE_PATH(APPNAME _T("-") + Util::getUniqueName(0) + _T(".log")).c_str());
+
+		// print application details: version and command line
+		Util::LogBuild();
+		LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
+
+		// validate input
+		Util::ensureValidPath(OPT::strInputFileName);
+		const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
+		const bool bInvalidCommand(OPT::strInputFileName.empty());
+		if (OPT::vm.count("help") || bInvalidCommand) {
+			boost::program_options::options_description visible("Available options");
+			visible.add(generic).add(config);
+			GET_LOG() << visible;
+		}
+		if (bInvalidCommand)
+			return false;
+
+		// initialize optional options
+		Util::ensureValidPath(OPT::strOutputFileName);
+		Util::ensureUnifySlash(OPT::strOutputFileName);
+		if (OPT::strOutputFileName.IsEmpty())
+			OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + "scene" MVS_EXT;
+
+		// initialize global options
+		Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
+		#ifdef _USE_OPENMP
+		if (OPT::nMaxThreads != 0)
+			omp_set_num_threads(OPT::nMaxThreads);
+		#endif
+
+		#ifdef _USE_BREAKPAD
+		// start memory dumper
+		MiniDumper::Create(APPNAME, WORKING_FOLDER);
+		#endif
+		return true;
+	}
+
+	// finalize application instance
+	void Finalize()
+	{
+		#if TD_VERBOSE != TD_VERBOSE_OFF
+		// print memory statistics
+		Util::LogMemoryInfo();
+		#endif
+
+		CLOSE_LOGFILE();
+		CLOSE_LOGCONSOLE();
+		CLOSE_LOG();
+	}
+
+	void ImageListParse(const LPSTR* argv, Point3& C)
+	{
+		// read position vector
+		C.x = String::FromString<REAL>(argv[0]);
+		C.y = String::FromString<REAL>(argv[1]);
+		C.z = String::FromString<REAL>(argv[2]);
+	}
+
+	void ImageListParse(const LPSTR* argv, Matrix3x3& R)
+	{
+		// read rotation matrix
+		R(0, 0) = String::FromString<REAL>(argv[0]);
+		R(0, 1) = String::FromString<REAL>(argv[1]);
+		R(0, 2) = String::FromString<REAL>(argv[2]);
+		R(1, 0) = String::FromString<REAL>(argv[3]);
+		R(1, 1) = String::FromString<REAL>(argv[4]);
+		R(1, 2) = String::FromString<REAL>(argv[5]);
+		R(2, 0) = String::FromString<REAL>(argv[6]);
+		R(2, 1) = String::FromString<REAL>(argv[7]);
+		R(2, 2) = String::FromString<REAL>(argv[8]);
+	}
+
+	void ImageListParse(const LPSTR* argv, Matrix3x4& P)
+	{
+		// read projection matrix
+		P(0, 0) = String::FromString<REAL>(argv[0]);
+		P(0, 1) = String::FromString<REAL>(argv[1]);
+		P(0, 2) = String::FromString<REAL>(argv[2]);
+		P(0, 3) = String::FromString<REAL>(argv[3]);
+		P(1, 0) = String::FromString<REAL>(argv[4]);
+		P(1, 1) = String::FromString<REAL>(argv[5]);
+		P(1, 2) = String::FromString<REAL>(argv[6]);
+		P(1, 3) = String::FromString<REAL>(argv[7]);
+		P(2, 0) = String::FromString<REAL>(argv[8]);
+		P(2, 1) = String::FromString<REAL>(argv[9]);
+		P(2, 2) = String::FromString<REAL>(argv[10]);
+		P(2, 3) = String::FromString<REAL>(argv[11]);
+	}
+
+	// parse scene stored in MVSNet format composed of undistorted images and camera poses
+	// for example see GigaVision benchmark (http://gigamvs.net):
+	// |--sceneX
+	//   |--images
+	//     |--xxx.jpg
+	//     |--xxx.jpg
+	//     ....
+	//     |--xxx.jpg
+	//   |--cams
+	//     |--xxx_cam.txt
+	//     |--xxx_cam.txt
+	//     ....
+	//     |--xxx_cam.txt
+	//   |--render_cams
+	//     |--xxx_cam.txt
+	//     |--xxx_cam.txt
+	//     ....
+	//     |--xxx_cam.txt
+	//
+	// where the camera parameter of one image stored in a cam.txt file contains the camera
+	// extrinsic E = [R|t], intrinsic K and the depth range:
+	//  extrinsic
+	//  E00 E01 E02 E03
+	//  E10 E11 E12 E13
+	//  E20 E21 E22 E23
+	//  E30 E31 E32 E33
+	//
+	//  intrinsic
+	//  K00 K01 K02
+	//  K10 K11 K12
+	//  K20 K21 K22
+	//
+	//  DEPTH_MIN DEPTH_INTERVAL (DEPTH_NUM DEPTH_MAX)
+	bool ParseSceneMVSNet(Scene& scene)
+	{
+		String strPath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName));
+		Util::ensureValidFolderPath(strPath);
+		const std::filesystem::path path(static_cast<std::string&>(strPath));
+		for (const std::filesystem::directory_entry& entry : std::filesystem::directory_iterator(path / MVSNET_IMAGES_FOLDER)) {
+			if (entry.path().extension() != MVSNET_IMAGES_EXT)
+				continue;
+			// parse camera
+			const std::string strCamFileName((path / MVSNET_CAMERAS_FOLDER / entry.path().stem()).string() + MVSNET_CAMERAS_NAME);
+			std::ifstream fcam(strCamFileName);
+			if (!fcam)
+				continue;
+			String line;
+			do {
+				std::getline(fcam, line);
+			} while (line != "extrinsic" && fcam.good());
+			String strP;
+			for (int i = 0; i < 3; ++i) {
+				std::getline(fcam, line);
+				strP += ' ' + line;
+			}
+			if (!fcam.good())
+				continue;
+			size_t argc;
+			CAutoPtrArr<LPSTR> argv;
+			argv = Util::CommandLineToArgvA(strP, argc);
+			if (argc != 12)
+				continue;
+			Matrix3x4 P;
+			ImageListParse(argv, P);
+			do {
+				std::getline(fcam, line);
+			} while (line != "intrinsic" && fcam.good());
+			strP.clear();
+			for (int i = 0; i < 3; ++i) {
+				std::getline(fcam, line);
+				strP += ' ' + line;
+			}
+			if (!fcam.good())
+				continue;
+			argv = Util::CommandLineToArgvA(strP, argc);
+			if (argc != 9)
+				continue;
+			Matrix3x3 K;
+			ImageListParse(argv, K);
+			// setup camera
+			const IIndex platformID = scene.platforms.size();
+			Platform& platform = scene.platforms.emplace_back();
+			Platform::Camera& camera = platform.cameras.AddEmpty();
+			camera.K = K;
+			camera.R = RMatrix::IDENTITY;
+			camera.C = CMatrix::ZERO;
+			// setup image
+			const IIndex ID = scene.images.size();
+			Image& imageData = scene.images.emplace_back();
+			imageData.platformID = platformID;
+			imageData.cameraID = 0; // only one camera per platform supported by this format
+			imageData.poseID = NO_ID;
+			imageData.ID = ID;
+			imageData.name = entry.path().string();
+			Util::ensureUnifySlash(imageData.name);
+			imageData.name = MAKE_PATH_FULL(strPath, imageData.name);
+			// set image resolution
+			IMAGEPTR pimage = Image::ReadImageHeader(imageData.name);
+			imageData.width = pimage->GetWidth();
+			imageData.height = pimage->GetHeight();
+			imageData.scale = 1;
+			// set camera pose
+			imageData.poseID = platform.poses.size();
+			Platform::Pose& pose = platform.poses.AddEmpty();
+			DecomposeProjectionMatrix(P, pose.R, pose.C);
+			imageData.camera = platform.GetCamera(imageData.cameraID, imageData.poseID);
+			const float resolutionScale = Camera::GetNormalizationScale(imageData.width, imageData.height);
+			camera.K = camera.GetScaledK(REAL(1)/resolutionScale);
+		}
+		if (scene.images.size() < 2)
+			return false;
+		scene.nCalibratedImages = (unsigned)scene.images.size();
+		return true;
+	}
+
+} // unnamed namespace
+
+int main(int argc, LPCTSTR* argv)
+{
+	#ifdef _DEBUGINFO
+	// set _crtBreakAlloc index to stop in <dbgheap.c> at allocation
+	_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);// | _CRTDBG_CHECK_ALWAYS_DF);
+	#endif
+
+	if (!Initialize(argc, argv))
+		return EXIT_FAILURE;
+
+	TD_TIMER_START();
+
+	Scene scene(OPT::nMaxThreads);
+
+	// convert data from MVSNet format to OpenMVS
+	if (!ParseSceneMVSNet(scene))
+		return EXIT_FAILURE;
+
+	// write OpenMVS input data
+	scene.Save(MAKE_PATH_SAFE(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
+
+	Finalize();
+	return EXIT_SUCCESS;
+}
+/*----------------------------------------------------------------*/
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 06a8da4ef..474e93ca7 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -39,6 +39,9 @@
 #else
 #include <stdint.h>
 #endif
+#ifdef _SUPPORT_CPP17
+#include <filesystem>
+#endif
 #include <new>
 #include <string>
 #include <codecvt>

From 8bc89d01e858ca7ad57d5759fe37b88d02569f21 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 16 Sep 2022 16:04:13 +0300
Subject: [PATCH 126/252] viewer: enable viewing scenes with only cameras

---
 apps/Viewer/Scene.cpp | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index 409c4c6bd..4bb830b3e 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -237,19 +237,17 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 		// load given mesh
 		scene.mesh.Load(meshFileName);
 	}
-	if (scene.IsEmpty())
-		return false;
 	if (!scene.pointcloud.IsEmpty())
 		scene.pointcloud.PrintStatistics(scene.images.data(), &scene.obb);
 
 	#if 1
 	// create octree structure used to accelerate selection functionality
-	events.AddEvent(new EVTComputeOctree(this));
+	if (!scene.IsEmpty())
+		events.AddEvent(new EVTComputeOctree(this));
 	#endif
 
 	// init scene
 	AABB3d bounds(true);
-	AABB3d imageBounds(true);
 	Point3d center(Point3d::INF);
 	if (scene.IsBounded()) {
 		bounds = AABB3d(scene.obb.GetAABB());
@@ -269,6 +267,7 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 	}
 
 	// init images
+	AABB3d imageBounds(true);
 	images.Reserve(scene.images.size());
 	FOREACH(idxImage, scene.images) {
 		const MVS::Image& imageData = scene.images[idxImage];
@@ -277,6 +276,8 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 		images.emplace_back(idxImage);
 		imageBounds.InsertFull(imageData.camera.C);
 	}
+	if (bounds.IsEmpty())
+		bounds = imageBounds;
 
 	// init and load texture
 	if (scene.mesh.HasTexture()) {
@@ -316,7 +317,7 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 	window.clbkTogleSceneBox = DELEGATEBINDCLASS(Window::ClbkTogleSceneBox, &Scene::TogleSceneBox, this);
 	if (scene.IsBounded())
 		window.clbkCompileBounds = DELEGATEBINDCLASS(Window::ClbkCompileBounds, &Scene::CompileBounds, this);
-	if (!bounds.IsEmpty())
+	if (!scene.IsEmpty())
 		window.clbkRayScene = DELEGATEBINDCLASS(Window::ClbkRayScene, &Scene::CastRay, this);
 	window.Reset(!scene.pointcloud.IsEmpty()&&!scene.mesh.IsEmpty()?Window::SPR_NONE:Window::SPR_ALL,
 		MINF(2u,images.size()));

From 9a8514b2f8ac930524dc45d4f386cc12b2bd7ede Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 17 Sep 2022 12:10:03 +0300
Subject: [PATCH 127/252] dense: initialize neighbor views from image pairs
 baseline if the sparse point-cloud is empty

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp |  4 --
 libs/Common/Types.h                          | 13 ++--
 libs/Common/Util.inl                         | 68 +++++++++++++++++++
 libs/MVS/Camera.h                            |  8 +--
 libs/MVS/DepthMap.cpp                        |  2 +-
 libs/MVS/Scene.cpp                           | 70 ++++++++++++++++++--
 libs/MVS/Scene.h                             |  1 +
 libs/MVS/SceneDensify.cpp                    |  6 ++
 8 files changed, 148 insertions(+), 24 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index d32ca59cd..54d028bb1 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -311,10 +311,6 @@ int main(int argc, LPCTSTR* argv)
 	}
 	if (!OPT::strMeshFileName.empty())
 		scene.mesh.Load(MAKE_PATH_SAFE(OPT::strMeshFileName));
-	if (scene.pointcloud.IsEmpty() && OPT::strViewNeighborsFileName.empty() && scene.mesh.IsEmpty()) {
-		VERBOSE("error: empty initial point-cloud");
-		return EXIT_FAILURE;
-	}
 	if (!OPT::strViewNeighborsFileName.empty())
 		scene.LoadViewNeighbors(MAKE_PATH_SAFE(OPT::strViewNeighborsFileName));
 	if (!OPT::strOutputViewNeighborsFileName.empty()) {
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 474e93ca7..1b730b5ca 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -1607,16 +1607,17 @@ class TDMatrix : public cv::Mat_<TYPE>
 	inline int area() const { ASSERT(dims == 2); return cols*rows; }
 
 	/// Is this coordinate inside the 2D matrix?
-	inline bool isInside(const Size& pt) const {
-		return pt.width>=0 && pt.height>=0 && pt.width<Base::size().width && pt.height<Base::size().height;
+	template <typename T>
+	static inline typename std::enable_if<std::is_integral<T>::value,bool>::type isInside(const cv::Point_<T>& pt, const cv::Size& size) {
+		return pt.x>=T(0) && pt.y>=T(0) && pt.x<T(size.width) && pt.y<T(size.height);
 	}
 	template <typename T>
-	inline typename std::enable_if<std::is_integral<T>::value,bool>::type isInside(const cv::Point_<T>& pt) const {
-		return pt.x>=0 && pt.y>=0 && pt.x<Base::size().width && pt.y<Base::size().height;
+	static inline typename std::enable_if<std::is_floating_point<T>::value,bool>::type isInside(const cv::Point_<T>& pt, const cv::Size& size) {
+		return pt.x>=T(0) && pt.y>=T(0) && pt.x<=T(size.width) && pt.y<=T(size.height);
 	}
 	template <typename T>
-	inline typename std::enable_if<std::is_floating_point<T>::value,bool>::type isInside(const cv::Point_<T>& pt) const {
-		return pt.x>=T(0) && pt.y>=T(0) && pt.x<=T(Base::size().width) && pt.y<=T(Base::size().height);
+	inline bool isInside(const cv::Point_<T>& pt) const {
+		return isInside<T>(pt, Base::size());
 	}
 
 	/// Is this coordinate inside the 2D matrix, and not too close to the edges?
diff --git a/libs/Common/Util.inl b/libs/Common/Util.inl
index b39c3030e..6b0135697 100644
--- a/libs/Common/Util.inl
+++ b/libs/Common/Util.inl
@@ -13,6 +13,23 @@ namespace SEACAVE {
 
 // I N L I N E /////////////////////////////////////////////////////
 
+// normalize inhomogeneous 2D point by the given camera intrinsics K
+// K is assumed to be the [3,3] triangular matrix with: fx, fy, s, cx, cy and scale 1
+template<typename TYPE1, typename TYPE2, typename TYPE3>
+inline void NormalizeProjection(const TYPE1* K, const TYPE2* x, TYPE3* n) {
+	ASSERT(ISZERO(K[3]) && ISZERO(K[6]) && ISZERO(K[7]) && ISEQUAL(K[8], TYPE1(1)));
+	n[0] = TYPE3(K[0]*x[0] + K[1]*x[1] + K[2]);
+	n[1] = TYPE3(            K[4]*x[1] + K[5]);
+} // NormalizeProjection
+// same as above, but using K inverse
+template<typename TYPE1, typename TYPE2, typename TYPE3>
+inline void NormalizeProjectionInv(const TYPE1* K, const TYPE2* x, TYPE3* n) {
+	ASSERT(ISZERO(K[3]) && ISZERO(K[6]) && ISZERO(K[7]) && ISEQUAL(K[8], TYPE1(1)));
+	n[0] = TYPE3((K[4]*x[0] - K[1]*x[1] + (K[5]*K[1]-K[2]*K[4])) / (K[0]*K[4]));
+	n[1] = TYPE3((x[1] - K[5]) / K[4]);
+} // NormalizeProjectionInv
+/*----------------------------------------------------------------*/
+
 // compute relative pose of the given two cameras
 template<typename TYPE>
 inline void ComputeRelativeRotation(const TMatrix<TYPE,3,3>& Ri, const TMatrix<TYPE,3,3>& Rj, TMatrix<TYPE,3,3>& Rij) {
@@ -25,6 +42,57 @@ inline void ComputeRelativePose(const TMatrix<TYPE,3,3>& Ri, const TPoint3<TYPE>
 } // ComputeRelativePose
 /*----------------------------------------------------------------*/
 
+// Triangulate the position of a 3D point
+// given two corresponding normalized projections and the pose of the second camera relative to the first one;
+// returns the triangulated 3D point from the point of view of the first camera
+template<typename TYPE1, typename TYPE2>
+bool TriangulatePoint3D(
+	const TMatrix<TYPE1,3,3>& R, const TPoint3<TYPE1>& C,
+	const TPoint2<TYPE2>& pt1, const TPoint2<TYPE2>& pt2,
+	TPoint3<TYPE1>& X
+) {
+	// convert image points to 3-vectors (of unit length)
+	// used to describe landmark observations/bearings in camera frames
+	const TPoint3<TYPE1> f1(pt1.x,pt1.y,1);
+	const TPoint3<TYPE1> f2(pt2.x,pt2.y,1);
+	const TPoint3<TYPE1> f2_unrotated = R.t() * f2;
+	const TPoint2<TYPE1> b(C.dot(f1), C.dot(f2_unrotated));
+	// optimized inversion of A
+	const TYPE1 a = normSq(f1);
+	const TYPE1 c = f1.dot(f2_unrotated);
+	const TYPE1 d = -normSq(f2_unrotated);
+	const TYPE1 det = a*d+c*c;
+	if (ABS(det) < EPSILONTOLERANCE<TYPE1>())
+		return false;
+	const TYPE1 invDet = TYPE1(1)/det;
+	const TPoint2<TYPE1> lambda((d*b.x+c*b.y)*invDet, (a*b.y-c*b.x)*invDet);
+	const TPoint3<TYPE1> xm = lambda.x * f1;
+	const TPoint3<TYPE1> xn = C + lambda.y * f2_unrotated;
+	X = (xm + xn)*TYPE1(0.5);
+	return true;
+} // TriangulatePoint3D
+// same as above, but using the two camera poses;
+// returns the 3D point in world coordinates
+template<typename TYPE1, typename TYPE2>
+bool TriangulatePoint3D(
+	const TMatrix<TYPE1,3,3>& K1, const TMatrix<TYPE1,3,3>& K2,
+	const TMatrix<TYPE1,3,3>& R1, const TMatrix<TYPE1,3,3>& R2,
+	const TPoint3<TYPE1>& C1, const TPoint3<TYPE1>& C2,
+	const TPoint2<TYPE2>& x1, const TPoint2<TYPE2>& x2,
+	TPoint3<TYPE1>& X
+) {
+	TPoint2<TYPE1> pt1, pt2;
+	NormalizeProjectionInv(K1.val, x1.ptr(), pt1.ptr());
+	NormalizeProjectionInv(K2.val, x2.ptr(), pt2.ptr());
+	TMatrix<TYPE1,3,3> R; TPoint3<TYPE1> C;
+	ComputeRelativePose(R1, C1, R2, C2, R, C);
+	if (!TriangulatePoint3D(R, C, pt1, pt2, X))
+		return false;
+	X = R1.t() * X + C1;
+	return true;
+} // TriangulatePoint3D
+/*----------------------------------------------------------------*/
+
 // compute the homography matrix transforming points from image A to image B,
 // given the relative pose of B with respect to A, and the plane
 // (see R. Hartley, "Multiple View Geometry," 2004, pp. 234)
diff --git a/libs/MVS/Camera.h b/libs/MVS/Camera.h
index 3d2a368a0..93c99d1fc 100644
--- a/libs/MVS/Camera.h
+++ b/libs/MVS/Camera.h
@@ -201,16 +201,10 @@ class MVS_API CameraIntern
 
 	// normalize inhomogeneous 2D point by the given camera intrinsics K
 	// K is assumed to be the [3,3] triangular matrix with: fx, fy, s, cx, cy and scale 1
-	template<typename TYPE1, typename TYPE2, typename TYPE3>
-	static inline void NormalizeProjection(const TYPE1* K, const TYPE2* x, TYPE3* n) {
-		n[0] = TYPE3(K[0]*x[0] + K[1]*x[1] + K[2]);
-		n[1] = TYPE3(            K[4]*x[1] + K[5]);
-	}
 	template <typename TYPE>
 	inline TPoint2<TYPE> NormalizeProjection(const TPoint2<TYPE>& proj) const {
 		TPoint2<TYPE> pt;
-		const TMatrix<TYPE,3,3> invK(GetInvK<TYPE>());
-		NormalizeProjection(invK.val, proj.ptr(), pt.ptr());
+		NormalizeProjectionInv(GetInvK<TYPE>(), proj.ptr(), pt.ptr());
 		return pt;
 	}
 
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index bdb21efd4..1ead72835 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -82,7 +82,7 @@ MDEFVAR_OPTDENSE_uint32(nNumViews, "Num Views", "Number of views used for depth-
 MDEFVAR_OPTDENSE_uint32(nPointInsideROI, "Point Inside ROI", "consider a point shared only if inside ROI when estimating the neighbor views (0 - ignore ROI, 1 - weight more ROI points, 2 - consider only ROI points)", "1")
 MDEFVAR_OPTDENSE_bool(bFilterAdjust, "Filter Adjust", "adjust depth estimates during filtering", "1")
 MDEFVAR_OPTDENSE_bool(bAddCorners, "Add Corners", "add support points at image corners with nearest neighbor disparities", "0")
-MDEFVAR_OPTDENSE_bool(bInitSparse, "Init Sparse", "init depth-map only with the sparse points (no interpolation)", "0")
+MDEFVAR_OPTDENSE_bool(bInitSparse, "Init Sparse", "init depth-map only with the sparse points (no interpolation)", "1")
 MDEFVAR_OPTDENSE_float(fViewMinScore, "View Min Score", "Min score to consider a neighbor images (0 - disabled)", "2.0")
 MDEFVAR_OPTDENSE_float(fViewMinScoreRatio, "View Min Score Ratio", "Min score ratio to consider a neighbor images", "0.03")
 MDEFVAR_OPTDENSE_float(fMinArea, "Min Area", "Min shared area for accepting the depth triangulation", "0.05")
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 8edb0d0ef..cdab5087a 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -723,6 +723,62 @@ bool Scene::ExportMeshToDepthMaps(const String& baseName)
 /*----------------------------------------------------------------*/
 
 
+// create a virtual point-cloud to be used to initialize the neighbor view
+// from image pair points at the intersection of the viewing directions
+bool Scene::EstimateNeighborViewsPointCloud(unsigned maxResolution)
+{
+	constexpr Depth minPercentDepthPerturb(0.3f);
+	constexpr Depth maxPercentDepthPerturb(1.3f);
+	const auto ProjectGridToImage = [&](IIndex idI, IIndex idJ, Depth depth) {
+		const Depth minDepthPerturb(depth * minPercentDepthPerturb);
+		const Depth maxDepthPerturb(depth * maxPercentDepthPerturb);
+		const Image& imageData = images[idI];
+		const Image& imageData2 = images[idJ];
+		const float stepW((float)imageData.width / maxResolution);
+		const float stepH((float)imageData.height / maxResolution);
+		for (unsigned r = 0; r < maxResolution; ++r) {
+			for (unsigned c = 0; c < maxResolution; ++c) {
+				const Point2f x(c*stepW + stepW/2, r*stepH + stepH/2);
+				const Depth depthPerturb(randomRange(minDepthPerturb, maxDepthPerturb));
+				const Point3 X(imageData.camera.TransformPointI2W(Point3(x.x, x.y, depthPerturb)));
+				const Point3 X2(imageData2.camera.TransformPointW2C(X));
+				if (X2.z < 0)
+					continue;
+				const Point2f x2(imageData2.camera.TransformPointC2I(X2));
+				if (!Image8U::isInside(x2, imageData2.GetSize()))
+					continue;
+				pointcloud.points.emplace_back(X);
+				pointcloud.pointViews.emplace_back(idI < idJ ? PointCloud::ViewArr{idI, idJ} : PointCloud::ViewArr{idJ, idI});
+			}
+		}
+	};
+	pointcloud.Release();
+	FOREACH(i, images) {
+		const Image& imageData = images[i];
+		if (!imageData.IsValid())
+			continue;
+		FOREACH(j, images) {
+			if (i == j)
+				continue;
+			const Image& imageData2 = images[j];
+			Point3 X;
+			TriangulatePoint3D(
+				imageData.camera.K, imageData2.camera.K,
+				imageData.camera.R, imageData2.camera.R,
+				imageData.camera.C, imageData2.camera.C,
+				Point2::ZERO, Point2::ZERO, X);
+			const Depth depth((Depth)imageData.camera.PointDepth(X));
+			const Depth depth2((Depth)imageData2.camera.PointDepth(X));
+			if (depth <= 0 || depth2 <= 0)
+				continue;
+			ProjectGridToImage(i, j, depth);
+			ProjectGridToImage(j, i, depth2);
+		}
+	}
+	return true;
+} // EstimateNeighborViewsPointCloud
+/*----------------------------------------------------------------*/
+
 inline float Footprint(const Camera& camera, const Point3f& X) {
 	#if 0
 	const REAL fSphereRadius(1);
@@ -870,16 +926,18 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 bool Scene::FilterNeighborViews(ViewScoreArr& neighbors, float fMinArea, float fMinScale, float fMaxScale, float fMinAngle, float fMaxAngle, unsigned nMaxViews)
 {
 	// remove invalid neighbor views
+	const unsigned nMinViews(MAXF(4u, nMaxViews*3/4));
 	RFOREACH(n, neighbors) {
 		const ViewScore& neighbor = neighbors[n];
-		if (neighbor.idx.area < fMinArea ||
-			!ISINSIDE(neighbor.idx.scale, fMinScale, fMaxScale) ||
-			!ISINSIDE(neighbor.idx.angle, fMinAngle, fMaxAngle))
+		if (neighbors.size() > nMinViews &&
+			(neighbor.idx.area < fMinArea ||
+			 !ISINSIDE(neighbor.idx.scale, fMinScale, fMaxScale) ||
+			 !ISINSIDE(neighbor.idx.angle, fMinAngle, fMaxAngle)))
 			neighbors.RemoveAtMove(n);
 	}
-	if (neighbors.GetSize() > nMaxViews)
-		neighbors.Resize(nMaxViews);
-	return !neighbors.IsEmpty();
+	if (neighbors.size() > nMaxViews)
+		neighbors.resize(nMaxViews);
+	return !neighbors.empty();
 } // FilterNeighborViews
 /*----------------------------------------------------------------*/
 
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index be1bb9e4f..a10cb2da3 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -82,6 +82,7 @@ class MVS_API Scene
 	bool Load(const String& fileName, bool bImport=false);
 	bool Save(const String& fileName, ARCHIVE_TYPE type=ARCHIVE_DEFAULT) const;
 
+	bool EstimateNeighborViewsPointCloud(unsigned maxResolution=16);
 	void SampleMeshWithVisibility(unsigned maxResolution=320);
 	bool ExportMeshToDepthMaps(const String& baseName);
 
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index f8c3cac0b..a6c44e92a 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -1693,6 +1693,12 @@ bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 		SampleMeshWithVisibility();
 		mesh.Release();
 	}
+	
+	// compute point-cloud from the existing mesh
+	if (IsEmpty() && !ImagesHaveNeighbors()) {
+		VERBOSE("warning: empty point-cloud, rough neighbor views selection based on image pairs baseline");
+		EstimateNeighborViewsPointCloud();
+	}
 
 	{
 	// maps global view indices to our list of views to be processed

From 435eabcfd31b2831d23dc12e012e32613d415791 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 17 Sep 2022 12:16:43 +0300
Subject: [PATCH 128/252] interface: make C++17 features optional

---
 apps/InterfaceMVSNet/InterfaceMVSNet.cpp | 529 ++++++++++++-----------
 libs/Common/Util.cpp                     |   5 -
 2 files changed, 267 insertions(+), 267 deletions(-)

diff --git a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
index 0bf58867d..dfe5c2233 100644
--- a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
+++ b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
@@ -50,281 +50,286 @@ using namespace MVS;
 
 namespace {
 
-	namespace OPT {
-		String strInputFileName;
-		String strOutputFileName;
-		unsigned nArchiveType;
-		int nProcessPriority;
-		unsigned nMaxThreads;
-		String strConfigFileName;
-		boost::program_options::variables_map vm;
-	} // namespace OPT
-
-	// initialize and parse the command line parameters
-	bool Initialize(size_t argc, LPCTSTR* argv)
-	{
-		// initialize log and console
-		OPEN_LOG();
-		OPEN_LOGCONSOLE();
-
-		// group of options allowed only on command line
-		boost::program_options::options_description generic("Generic options");
-		generic.add_options()
-			("help,h", "produce this help message")
-			("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
-			("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-			("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: 0-text, 1-binary, 2-compressed binary")
-			("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
-			("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
-			#if TD_VERBOSE != TD_VERBOSE_OFF
-			("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
-				#if TD_VERBOSE == TD_VERBOSE_DEBUG
-				3
-				#else
-				2
-				#endif
-			), "verbosity level")
+namespace OPT {
+	String strInputFileName;
+	String strOutputFileName;
+	unsigned nArchiveType;
+	int nProcessPriority;
+	unsigned nMaxThreads;
+	String strConfigFileName;
+	boost::program_options::variables_map vm;
+} // namespace OPT
+
+// initialize and parse the command line parameters
+bool Initialize(size_t argc, LPCTSTR* argv)
+{
+	// initialize log and console
+	OPEN_LOG();
+	OPEN_LOGCONSOLE();
+
+	// group of options allowed only on command line
+	boost::program_options::options_description generic("Generic options");
+	generic.add_options()
+		("help,h", "produce this help message")
+		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
+		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
+		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
+		#if TD_VERBOSE != TD_VERBOSE_OFF
+		("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
+			#if TD_VERBOSE == TD_VERBOSE_DEBUG
+			3
+			#else
+			2
 			#endif
-			;
-
-		// group of options allowed both on command line and in config file
-		boost::program_options::options_description config("Main options");
-		config.add_options()
-			("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
-			("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
-			;
-
-		boost::program_options::options_description cmdline_options;
-		cmdline_options.add(generic).add(config);
-
-		boost::program_options::options_description config_file_options;
-		config_file_options.add(config);
-
-		boost::program_options::positional_options_description p;
-		p.add("input-file", -1);
-
-		try {
-			// parse command line options
-			boost::program_options::store(boost::program_options::command_line_parser((int)argc, argv).options(cmdline_options).positional(p).run(), OPT::vm);
+		), "verbosity level")
+		#endif
+		;
+
+	// group of options allowed both on command line and in config file
+	boost::program_options::options_description config("Main options");
+	config.add_options()
+		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
+		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
+		;
+
+	boost::program_options::options_description cmdline_options;
+	cmdline_options.add(generic).add(config);
+
+	boost::program_options::options_description config_file_options;
+	config_file_options.add(config);
+
+	boost::program_options::positional_options_description p;
+	p.add("input-file", -1);
+
+	try {
+		// parse command line options
+		boost::program_options::store(boost::program_options::command_line_parser((int)argc, argv).options(cmdline_options).positional(p).run(), OPT::vm);
+		boost::program_options::notify(OPT::vm);
+		INIT_WORKING_FOLDER;
+		// parse configuration file
+		std::ifstream ifs(MAKE_PATH_SAFE(OPT::strConfigFileName));
+		if (ifs) {
+			boost::program_options::store(parse_config_file(ifs, config_file_options), OPT::vm);
 			boost::program_options::notify(OPT::vm);
-			INIT_WORKING_FOLDER;
-			// parse configuration file
-			std::ifstream ifs(MAKE_PATH_SAFE(OPT::strConfigFileName));
-			if (ifs) {
-				boost::program_options::store(parse_config_file(ifs, config_file_options), OPT::vm);
-				boost::program_options::notify(OPT::vm);
-			}
 		}
-		catch (const std::exception& e) {
-			LOG(e.what());
-			return false;
-		}
-
-		// initialize the log file
-		OPEN_LOGFILE(MAKE_PATH(APPNAME _T("-") + Util::getUniqueName(0) + _T(".log")).c_str());
-
-		// print application details: version and command line
-		Util::LogBuild();
-		LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
-
-		// validate input
-		Util::ensureValidPath(OPT::strInputFileName);
-		const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
-		const bool bInvalidCommand(OPT::strInputFileName.empty());
-		if (OPT::vm.count("help") || bInvalidCommand) {
-			boost::program_options::options_description visible("Available options");
-			visible.add(generic).add(config);
-			GET_LOG() << visible;
-		}
-		if (bInvalidCommand)
-			return false;
-
-		// initialize optional options
-		Util::ensureValidPath(OPT::strOutputFileName);
-		Util::ensureUnifySlash(OPT::strOutputFileName);
-		if (OPT::strOutputFileName.IsEmpty())
-			OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + "scene" MVS_EXT;
-
-		// initialize global options
-		Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
-		#ifdef _USE_OPENMP
-		if (OPT::nMaxThreads != 0)
-			omp_set_num_threads(OPT::nMaxThreads);
-		#endif
+	}
+	catch (const std::exception& e) {
+		LOG(e.what());
+		return false;
+	}
 
-		#ifdef _USE_BREAKPAD
-		// start memory dumper
-		MiniDumper::Create(APPNAME, WORKING_FOLDER);
-		#endif
-		return true;
+	// initialize the log file
+	OPEN_LOGFILE(MAKE_PATH(APPNAME _T("-") + Util::getUniqueName(0) + _T(".log")).c_str());
+
+	// print application details: version and command line
+	Util::LogBuild();
+	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
+
+	// validate input
+	Util::ensureValidPath(OPT::strInputFileName);
+	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
+	const bool bInvalidCommand(OPT::strInputFileName.empty());
+	if (OPT::vm.count("help") || bInvalidCommand) {
+		boost::program_options::options_description visible("Available options");
+		visible.add(generic).add(config);
+		GET_LOG() << visible;
 	}
+	if (bInvalidCommand)
+		return false;
+
+	// initialize optional options
+	Util::ensureValidPath(OPT::strOutputFileName);
+	Util::ensureUnifySlash(OPT::strOutputFileName);
+	if (OPT::strOutputFileName.IsEmpty())
+		OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + "scene" MVS_EXT;
+
+	// initialize global options
+	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
+	#ifdef _USE_OPENMP
+	if (OPT::nMaxThreads != 0)
+		omp_set_num_threads(OPT::nMaxThreads);
+	#endif
 
-	// finalize application instance
-	void Finalize()
-	{
-		#if TD_VERBOSE != TD_VERBOSE_OFF
-		// print memory statistics
-		Util::LogMemoryInfo();
-		#endif
+	#ifdef _USE_BREAKPAD
+	// start memory dumper
+	MiniDumper::Create(APPNAME, WORKING_FOLDER);
+	#endif
+	return true;
+}
 
-		CLOSE_LOGFILE();
-		CLOSE_LOGCONSOLE();
-		CLOSE_LOG();
-	}
+// finalize application instance
+void Finalize()
+{
+	#if TD_VERBOSE != TD_VERBOSE_OFF
+	// print memory statistics
+	Util::LogMemoryInfo();
+	#endif
 
-	void ImageListParse(const LPSTR* argv, Point3& C)
-	{
-		// read position vector
-		C.x = String::FromString<REAL>(argv[0]);
-		C.y = String::FromString<REAL>(argv[1]);
-		C.z = String::FromString<REAL>(argv[2]);
-	}
+	CLOSE_LOGFILE();
+	CLOSE_LOGCONSOLE();
+	CLOSE_LOG();
+}
 
-	void ImageListParse(const LPSTR* argv, Matrix3x3& R)
-	{
-		// read rotation matrix
-		R(0, 0) = String::FromString<REAL>(argv[0]);
-		R(0, 1) = String::FromString<REAL>(argv[1]);
-		R(0, 2) = String::FromString<REAL>(argv[2]);
-		R(1, 0) = String::FromString<REAL>(argv[3]);
-		R(1, 1) = String::FromString<REAL>(argv[4]);
-		R(1, 2) = String::FromString<REAL>(argv[5]);
-		R(2, 0) = String::FromString<REAL>(argv[6]);
-		R(2, 1) = String::FromString<REAL>(argv[7]);
-		R(2, 2) = String::FromString<REAL>(argv[8]);
-	}
+void ImageListParse(const LPSTR* argv, Point3& C)
+{
+	// read position vector
+	C.x = String::FromString<REAL>(argv[0]);
+	C.y = String::FromString<REAL>(argv[1]);
+	C.z = String::FromString<REAL>(argv[2]);
+}
 
-	void ImageListParse(const LPSTR* argv, Matrix3x4& P)
-	{
-		// read projection matrix
-		P(0, 0) = String::FromString<REAL>(argv[0]);
-		P(0, 1) = String::FromString<REAL>(argv[1]);
-		P(0, 2) = String::FromString<REAL>(argv[2]);
-		P(0, 3) = String::FromString<REAL>(argv[3]);
-		P(1, 0) = String::FromString<REAL>(argv[4]);
-		P(1, 1) = String::FromString<REAL>(argv[5]);
-		P(1, 2) = String::FromString<REAL>(argv[6]);
-		P(1, 3) = String::FromString<REAL>(argv[7]);
-		P(2, 0) = String::FromString<REAL>(argv[8]);
-		P(2, 1) = String::FromString<REAL>(argv[9]);
-		P(2, 2) = String::FromString<REAL>(argv[10]);
-		P(2, 3) = String::FromString<REAL>(argv[11]);
-	}
+void ImageListParse(const LPSTR* argv, Matrix3x3& R)
+{
+	// read rotation matrix
+	R(0, 0) = String::FromString<REAL>(argv[0]);
+	R(0, 1) = String::FromString<REAL>(argv[1]);
+	R(0, 2) = String::FromString<REAL>(argv[2]);
+	R(1, 0) = String::FromString<REAL>(argv[3]);
+	R(1, 1) = String::FromString<REAL>(argv[4]);
+	R(1, 2) = String::FromString<REAL>(argv[5]);
+	R(2, 0) = String::FromString<REAL>(argv[6]);
+	R(2, 1) = String::FromString<REAL>(argv[7]);
+	R(2, 2) = String::FromString<REAL>(argv[8]);
+}
 
-	// parse scene stored in MVSNet format composed of undistorted images and camera poses
-	// for example see GigaVision benchmark (http://gigamvs.net):
-	// |--sceneX
-	//   |--images
-	//     |--xxx.jpg
-	//     |--xxx.jpg
-	//     ....
-	//     |--xxx.jpg
-	//   |--cams
-	//     |--xxx_cam.txt
-	//     |--xxx_cam.txt
-	//     ....
-	//     |--xxx_cam.txt
-	//   |--render_cams
-	//     |--xxx_cam.txt
-	//     |--xxx_cam.txt
-	//     ....
-	//     |--xxx_cam.txt
-	//
-	// where the camera parameter of one image stored in a cam.txt file contains the camera
-	// extrinsic E = [R|t], intrinsic K and the depth range:
-	//  extrinsic
-	//  E00 E01 E02 E03
-	//  E10 E11 E12 E13
-	//  E20 E21 E22 E23
-	//  E30 E31 E32 E33
-	//
-	//  intrinsic
-	//  K00 K01 K02
-	//  K10 K11 K12
-	//  K20 K21 K22
-	//
-	//  DEPTH_MIN DEPTH_INTERVAL (DEPTH_NUM DEPTH_MAX)
-	bool ParseSceneMVSNet(Scene& scene)
-	{
-		String strPath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName));
-		Util::ensureValidFolderPath(strPath);
-		const std::filesystem::path path(static_cast<std::string&>(strPath));
-		for (const std::filesystem::directory_entry& entry : std::filesystem::directory_iterator(path / MVSNET_IMAGES_FOLDER)) {
-			if (entry.path().extension() != MVSNET_IMAGES_EXT)
-				continue;
-			// parse camera
-			const std::string strCamFileName((path / MVSNET_CAMERAS_FOLDER / entry.path().stem()).string() + MVSNET_CAMERAS_NAME);
-			std::ifstream fcam(strCamFileName);
-			if (!fcam)
-				continue;
-			String line;
-			do {
-				std::getline(fcam, line);
-			} while (line != "extrinsic" && fcam.good());
-			String strP;
-			for (int i = 0; i < 3; ++i) {
-				std::getline(fcam, line);
-				strP += ' ' + line;
-			}
-			if (!fcam.good())
-				continue;
-			size_t argc;
-			CAutoPtrArr<LPSTR> argv;
-			argv = Util::CommandLineToArgvA(strP, argc);
-			if (argc != 12)
-				continue;
-			Matrix3x4 P;
-			ImageListParse(argv, P);
-			do {
-				std::getline(fcam, line);
-			} while (line != "intrinsic" && fcam.good());
-			strP.clear();
-			for (int i = 0; i < 3; ++i) {
-				std::getline(fcam, line);
-				strP += ' ' + line;
-			}
-			if (!fcam.good())
-				continue;
-			argv = Util::CommandLineToArgvA(strP, argc);
-			if (argc != 9)
-				continue;
-			Matrix3x3 K;
-			ImageListParse(argv, K);
-			// setup camera
-			const IIndex platformID = scene.platforms.size();
-			Platform& platform = scene.platforms.emplace_back();
-			Platform::Camera& camera = platform.cameras.AddEmpty();
-			camera.K = K;
-			camera.R = RMatrix::IDENTITY;
-			camera.C = CMatrix::ZERO;
-			// setup image
-			const IIndex ID = scene.images.size();
-			Image& imageData = scene.images.emplace_back();
-			imageData.platformID = platformID;
-			imageData.cameraID = 0; // only one camera per platform supported by this format
-			imageData.poseID = NO_ID;
-			imageData.ID = ID;
-			imageData.name = entry.path().string();
-			Util::ensureUnifySlash(imageData.name);
-			imageData.name = MAKE_PATH_FULL(strPath, imageData.name);
-			// set image resolution
-			IMAGEPTR pimage = Image::ReadImageHeader(imageData.name);
-			imageData.width = pimage->GetWidth();
-			imageData.height = pimage->GetHeight();
-			imageData.scale = 1;
-			// set camera pose
-			imageData.poseID = platform.poses.size();
-			Platform::Pose& pose = platform.poses.AddEmpty();
-			DecomposeProjectionMatrix(P, pose.R, pose.C);
-			imageData.camera = platform.GetCamera(imageData.cameraID, imageData.poseID);
-			const float resolutionScale = Camera::GetNormalizationScale(imageData.width, imageData.height);
-			camera.K = camera.GetScaledK(REAL(1)/resolutionScale);
+void ImageListParse(const LPSTR* argv, Matrix3x4& P)
+{
+	// read projection matrix
+	P(0, 0) = String::FromString<REAL>(argv[0]);
+	P(0, 1) = String::FromString<REAL>(argv[1]);
+	P(0, 2) = String::FromString<REAL>(argv[2]);
+	P(0, 3) = String::FromString<REAL>(argv[3]);
+	P(1, 0) = String::FromString<REAL>(argv[4]);
+	P(1, 1) = String::FromString<REAL>(argv[5]);
+	P(1, 2) = String::FromString<REAL>(argv[6]);
+	P(1, 3) = String::FromString<REAL>(argv[7]);
+	P(2, 0) = String::FromString<REAL>(argv[8]);
+	P(2, 1) = String::FromString<REAL>(argv[9]);
+	P(2, 2) = String::FromString<REAL>(argv[10]);
+	P(2, 3) = String::FromString<REAL>(argv[11]);
+}
+
+// parse scene stored in MVSNet format composed of undistorted images and camera poses
+// for example see GigaVision benchmark (http://gigamvs.net):
+// |--sceneX
+//   |--images
+//     |--xxx.jpg
+//     |--xxx.jpg
+//     ....
+//     |--xxx.jpg
+//   |--cams
+//     |--xxx_cam.txt
+//     |--xxx_cam.txt
+//     ....
+//     |--xxx_cam.txt
+//   |--render_cams
+//     |--xxx_cam.txt
+//     |--xxx_cam.txt
+//     ....
+//     |--xxx_cam.txt
+//
+// where the camera parameter of one image stored in a cam.txt file contains the camera
+// extrinsic E = [R|t], intrinsic K and the depth range:
+//  extrinsic
+//  E00 E01 E02 E03
+//  E10 E11 E12 E13
+//  E20 E21 E22 E23
+//  E30 E31 E32 E33
+//
+//  intrinsic
+//  K00 K01 K02
+//  K10 K11 K12
+//  K20 K21 K22
+//
+//  DEPTH_MIN DEPTH_INTERVAL (DEPTH_NUM DEPTH_MAX)
+bool ParseSceneMVSNet(Scene& scene)
+{
+	#ifdef _SUPPORT_CPP17
+	String strPath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName));
+	Util::ensureValidFolderPath(strPath);
+	const std::filesystem::path path(static_cast<std::string&>(strPath));
+	for (const std::filesystem::directory_entry& entry : std::filesystem::directory_iterator(path / MVSNET_IMAGES_FOLDER)) {
+		if (entry.path().extension() != MVSNET_IMAGES_EXT)
+			continue;
+		// parse camera
+		const std::string strCamFileName((path / MVSNET_CAMERAS_FOLDER / entry.path().stem()).string() + MVSNET_CAMERAS_NAME);
+		std::ifstream fcam(strCamFileName);
+		if (!fcam)
+			continue;
+		String line;
+		do {
+			std::getline(fcam, line);
+		} while (line != "extrinsic" && fcam.good());
+		String strP;
+		for (int i = 0; i < 3; ++i) {
+			std::getline(fcam, line);
+			strP += ' ' + line;
 		}
-		if (scene.images.size() < 2)
-			return false;
-		scene.nCalibratedImages = (unsigned)scene.images.size();
-		return true;
+		if (!fcam.good())
+			continue;
+		size_t argc;
+		CAutoPtrArr<LPSTR> argv;
+		argv = Util::CommandLineToArgvA(strP, argc);
+		if (argc != 12)
+			continue;
+		Matrix3x4 P;
+		ImageListParse(argv, P);
+		do {
+			std::getline(fcam, line);
+		} while (line != "intrinsic" && fcam.good());
+		strP.clear();
+		for (int i = 0; i < 3; ++i) {
+			std::getline(fcam, line);
+			strP += ' ' + line;
+		}
+		if (!fcam.good())
+			continue;
+		argv = Util::CommandLineToArgvA(strP, argc);
+		if (argc != 9)
+			continue;
+		Matrix3x3 K;
+		ImageListParse(argv, K);
+		// setup camera
+		const IIndex platformID = scene.platforms.size();
+		Platform& platform = scene.platforms.emplace_back();
+		Platform::Camera& camera = platform.cameras.AddEmpty();
+		camera.K = K;
+		camera.R = RMatrix::IDENTITY;
+		camera.C = CMatrix::ZERO;
+		// setup image
+		const IIndex ID = scene.images.size();
+		Image& imageData = scene.images.emplace_back();
+		imageData.platformID = platformID;
+		imageData.cameraID = 0; // only one camera per platform supported by this format
+		imageData.poseID = NO_ID;
+		imageData.ID = ID;
+		imageData.name = entry.path().string();
+		Util::ensureUnifySlash(imageData.name);
+		imageData.name = MAKE_PATH_FULL(strPath, imageData.name);
+		// set image resolution
+		IMAGEPTR pimage = Image::ReadImageHeader(imageData.name);
+		imageData.width = pimage->GetWidth();
+		imageData.height = pimage->GetHeight();
+		imageData.scale = 1;
+		// set camera pose
+		imageData.poseID = platform.poses.size();
+		Platform::Pose& pose = platform.poses.AddEmpty();
+		DecomposeProjectionMatrix(P, pose.R, pose.C);
+		imageData.camera = platform.GetCamera(imageData.cameraID, imageData.poseID);
+		const float resolutionScale = Camera::GetNormalizationScale(imageData.width, imageData.height);
+		camera.K = camera.GetScaledK(REAL(1)/resolutionScale);
 	}
+	if (scene.images.size() < 2)
+		return false;
+	scene.nCalibratedImages = (unsigned)scene.images.size();
+	return true;
+	#else
+	VERBOSE("error: C++17 is required to parse MVSNet format");
+	return false;
+	#endif // _SUPPORT_CPP17
+}
 
 } // unnamed namespace
 
diff --git a/libs/Common/Util.cpp b/libs/Common/Util.cpp
index d263c744a..95e5f6ae8 100644
--- a/libs/Common/Util.cpp
+++ b/libs/Common/Util.cpp
@@ -22,11 +22,6 @@
 #endif
 #include <pwd.h>
 #endif
-#ifdef _SUPPORT_CPP17
-#if !defined(__GNUC__) || (__GNUC__ > 7)
-#include <filesystem>
-#endif
-#endif // _SUPPORT_CPP17
 
 using namespace SEACAVE;
 

From 245e2d788cc337cc1dc70fd9e902d374ee8f976d Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 17 Sep 2022 15:17:37 +0300
Subject: [PATCH 129/252] transform: align scene to the given reference scene
 using camera positions

---
 apps/CMakeLists.txt                    |   1 +
 apps/TransformScene/CMakeLists.txt     |  13 ++
 apps/TransformScene/TransformScene.cpp | 210 +++++++++++++++++++++++++
 libs/MVS/DepthMap.h                    |   3 +-
 libs/MVS/Scene.cpp                     |  54 +++++++
 libs/MVS/Scene.h                       |   4 +-
 libs/Math/Common.h                     |   9 +-
 libs/Math/SimilarityTransform.cpp      |  67 ++++++++
 libs/Math/SimilarityTransform.h        |  55 +++++++
 9 files changed, 412 insertions(+), 4 deletions(-)
 create mode 100644 apps/TransformScene/CMakeLists.txt
 create mode 100644 apps/TransformScene/TransformScene.cpp
 create mode 100644 libs/Math/SimilarityTransform.cpp
 create mode 100644 libs/Math/SimilarityTransform.h

diff --git a/apps/CMakeLists.txt b/apps/CMakeLists.txt
index 6572deb23..c6e3b378b 100644
--- a/apps/CMakeLists.txt
+++ b/apps/CMakeLists.txt
@@ -6,4 +6,5 @@ ADD_SUBDIRECTORY(DensifyPointCloud)
 ADD_SUBDIRECTORY(ReconstructMesh)
 ADD_SUBDIRECTORY(RefineMesh)
 ADD_SUBDIRECTORY(TextureMesh)
+ADD_SUBDIRECTORY(TransformScene)
 ADD_SUBDIRECTORY(Viewer)
diff --git a/apps/TransformScene/CMakeLists.txt b/apps/TransformScene/CMakeLists.txt
new file mode 100644
index 000000000..2ea8a7c97
--- /dev/null
+++ b/apps/TransformScene/CMakeLists.txt
@@ -0,0 +1,13 @@
+if(MSVC)
+	FILE(GLOB LIBRARY_FILES_C "*.cpp" "*.rc")
+else()
+	FILE(GLOB LIBRARY_FILES_C "*.cpp")
+endif()
+FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
+
+cxx_executable_with_flags(TransformScene "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+
+# Install
+INSTALL(TARGETS TransformScene
+	EXPORT OpenMVSTargets
+	RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin)
diff --git a/apps/TransformScene/TransformScene.cpp b/apps/TransformScene/TransformScene.cpp
new file mode 100644
index 000000000..6cbffc35e
--- /dev/null
+++ b/apps/TransformScene/TransformScene.cpp
@@ -0,0 +1,210 @@
+/*
+ * TransformScene.cpp
+ *
+ * Copyright (c) 2014-2021 SEACAVE
+ *
+ * Author(s):
+ *
+ *      cDc <cdc.seacave@gmail.com>
+ *
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Affero General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Affero General Public License for more details.
+ *
+ * You should have received a copy of the GNU Affero General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * Additional Terms:
+ *
+ *      You are required to preserve legal notices and author attributions in
+ *      that material or in the Appropriate Legal Notices displayed by works
+ *      containing it.
+ */
+
+#include "../../libs/MVS/Common.h"
+#include "../../libs/MVS/Scene.h"
+#include <boost/program_options.hpp>
+
+using namespace MVS;
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+#define APPNAME _T("TransformScene")
+#define MVS_EXT _T(".mvs")
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+namespace {
+
+namespace OPT {
+	String strInputFileName;
+	String strOutputFileName;
+	String strAlignFileName;
+	unsigned nArchiveType;
+	int nProcessPriority;
+	unsigned nMaxThreads;
+	String strConfigFileName;
+	boost::program_options::variables_map vm;
+} // namespace OPT
+
+// initialize and parse the command line parameters
+bool Initialize(size_t argc, LPCTSTR* argv)
+{
+	// initialize log and console
+	OPEN_LOG();
+	OPEN_LOGCONSOLE();
+
+	// group of options allowed only on command line
+	boost::program_options::options_description generic("Generic options");
+	generic.add_options()
+		("help,h", "produce this help message")
+		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
+		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
+		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
+		#if TD_VERBOSE != TD_VERBOSE_OFF
+		("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
+			#if TD_VERBOSE == TD_VERBOSE_DEBUG
+			3
+			#else
+			2
+			#endif
+		), "verbosity level")
+		#endif
+		;
+
+	// group of options allowed both on command line and in config file
+	boost::program_options::options_description config("Main options");
+	config.add_options()
+		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input scene filename")
+		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the scene")
+		("align-file,o", boost::program_options::value<std::string>(&OPT::strAlignFileName), "input scene filename to which the scene will be cameras aligned")
+		;
+
+	boost::program_options::options_description cmdline_options;
+	cmdline_options.add(generic).add(config);
+
+	boost::program_options::options_description config_file_options;
+	config_file_options.add(config);
+
+	boost::program_options::positional_options_description p;
+	p.add("input-file", -1);
+
+	try {
+		// parse command line options
+		boost::program_options::store(boost::program_options::command_line_parser((int)argc, argv).options(cmdline_options).positional(p).run(), OPT::vm);
+		boost::program_options::notify(OPT::vm);
+		INIT_WORKING_FOLDER;
+		// parse configuration file
+		std::ifstream ifs(MAKE_PATH_SAFE(OPT::strConfigFileName));
+		if (ifs) {
+			boost::program_options::store(parse_config_file(ifs, config_file_options), OPT::vm);
+			boost::program_options::notify(OPT::vm);
+		}
+	}
+	catch (const std::exception& e) {
+		LOG(e.what());
+		return false;
+	}
+
+	// initialize the log file
+	OPEN_LOGFILE(MAKE_PATH(APPNAME _T("-") + Util::getUniqueName(0) + _T(".log")).c_str());
+
+	// print application details: version and command line
+	Util::LogBuild();
+	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
+
+	// validate input
+	Util::ensureValidPath(OPT::strInputFileName);
+	Util::ensureValidPath(OPT::strAlignFileName);
+	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
+	const bool bInvalidCommand(OPT::strInputFileName.empty() || OPT::strAlignFileName.empty());
+	if (OPT::vm.count("help") || bInvalidCommand) {
+		boost::program_options::options_description visible("Available options");
+		visible.add(generic).add(config);
+		GET_LOG() << visible;
+	}
+	if (bInvalidCommand)
+		return false;
+
+	// initialize optional options
+	Util::ensureValidPath(OPT::strOutputFileName);
+	Util::ensureUnifySlash(OPT::strOutputFileName);
+	if (OPT::strOutputFileName.IsEmpty())
+		OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + "_transformed" MVS_EXT;
+
+	// initialize global options
+	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
+	#ifdef _USE_OPENMP
+	if (OPT::nMaxThreads != 0)
+		omp_set_num_threads(OPT::nMaxThreads);
+	#endif
+
+	#ifdef _USE_BREAKPAD
+	// start memory dumper
+	MiniDumper::Create(APPNAME, WORKING_FOLDER);
+	#endif
+	return true;
+}
+
+// finalize application instance
+void Finalize()
+{
+	#if TD_VERBOSE != TD_VERBOSE_OFF
+	// print memory statistics
+	Util::LogMemoryInfo();
+	#endif
+
+	CLOSE_LOGFILE();
+	CLOSE_LOGCONSOLE();
+	CLOSE_LOG();
+}
+
+} // unnamed namespace
+
+int main(int argc, LPCTSTR* argv)
+{
+	#ifdef _DEBUGINFO
+	// set _crtBreakAlloc index to stop in <dbgheap.c> at allocation
+	_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);// | _CRTDBG_CHECK_ALWAYS_DF);
+	#endif
+
+	if (!Initialize(argc, argv))
+		return EXIT_FAILURE;
+
+	TD_TIMER_START();
+
+	Scene scene(OPT::nMaxThreads);
+
+	// load given scene
+	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
+		return EXIT_FAILURE;
+
+	if (!OPT::strAlignFileName.empty()) {
+		// transform this scene such that it best aligns with the given scene based on the camera positions
+		Scene sceneRef(OPT::nMaxThreads);
+		if (!sceneRef.Load(MAKE_PATH_SAFE(OPT::strAlignFileName)))
+			return EXIT_FAILURE;
+		if (!scene.AlignTo(sceneRef))
+			return EXIT_FAILURE;
+		VERBOSE("Scene aligned to the given reference scene");
+	}
+
+	// write OpenMVS input data
+	scene.Save(MAKE_PATH_SAFE(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
+
+	Finalize();
+	return EXIT_SUCCESS;
+}
+/*----------------------------------------------------------------*/
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 70c31c91f..3238c2dc9 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -1,7 +1,7 @@
 /*
 * DepthMap.h
 *
-* Copyright (c) 2014-2015 SEACAVE
+* Copyright (c) 2014-2022 SEACAVE
 *
 * Author(s):
 *
@@ -35,7 +35,6 @@
 
 // I N C L U D E S /////////////////////////////////////////////////
 
-#include "Image.h"
 #include "PointCloud.h"
 
 
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index cdab5087a..8cadc8fbf 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -33,6 +33,7 @@
 #include "Scene.h"
 #define _USE_OPENCV
 #include "Interface.h"
+#include "../Math/SimilarityTransform.h"
 
 using namespace MVS;
 
@@ -1432,6 +1433,59 @@ bool Scene::ScaleImages(unsigned nMaxResolution, REAL scale, const String& folde
 	}
 	return true;
 } // ScaleImages
+
+// apply similarity transform
+void Scene::Transform(const Matrix3x3& rotation, const Point3& translation, REAL scale) {
+	const Matrix3x3 rotationScale(rotation * scale);
+	for (Platform& platform : platforms) {
+		for (Platform::Pose& pose : platform.poses) {
+			pose.R = pose.R * rotation.t();
+			pose.C = rotationScale * pose.C + translation;
+		}
+	}
+	for (Image& image : images) {
+		image.UpdateCamera(platforms);
+	}
+	FOREACH(i, pointcloud.points) {
+		pointcloud.points[i] = rotationScale * Cast<REAL>(pointcloud.points[i]) + translation;
+		if (!pointcloud.normals.empty())
+			pointcloud.normals[i] = rotation * Cast<REAL>(pointcloud.normals[i]);
+	}
+	if (obb.IsValid()) {
+		obb.Transform(Cast<float>(rotationScale));
+		obb.Translate(Cast<float>(translation));
+	}
+}
+
+// transform this scene such that it best aligns with the given scene based on the camera positions
+bool Scene::AlignTo(const Scene& scene)
+{
+	if (images.size() < 3) {
+		DEBUG("error: insufficient number of cameras to perform a similarity transform alignment");
+		return false;
+	}
+	if (images.size() != scene.images.size()) {
+		DEBUG("error: the two scenes differ in number of cameras");
+		return false;
+	}
+	CLISTDEF0(Point3) points, pointsRef;
+	FOREACH(idx, images) {
+		const Image& image = images[idx];
+		if (!image.IsValid())
+			continue;
+		const Image& imageRef = scene.images[idx];
+		if (!imageRef.IsValid())
+			continue;
+		points.emplace_back(image.camera.C);
+		pointsRef.emplace_back(imageRef.camera.C);
+	}
+	Matrix4x4 transform;
+	SimilarityTransform(points, pointsRef, transform);
+	Matrix3x3 rotation; Point3 translation; REAL scale;
+	DecomposeSimilarityTransform(transform, rotation, translation, scale);
+	Transform(rotation, translation, scale);
+	return true;
+} // AlignTo
 /*----------------------------------------------------------------*/
 
 
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index a10cb2da3..60410b342 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -1,7 +1,7 @@
 /*
 * Scene.h
 *
-* Copyright (c) 2014-2015 SEACAVE
+* Copyright (c) 2014-2022 SEACAVE
 *
 * Author(s):
 *
@@ -104,6 +104,8 @@ class MVS_API Scene
 	bool Center(const Point3* pCenter = NULL);
 	bool Scale(const REAL* pScale = NULL);
 	bool ScaleImages(unsigned nMaxResolution = 0, REAL scale = 0, const String& folderName = String());
+	void Transform(const Matrix3x3& rotation, const Point3& translation, REAL scale);
+	bool AlignTo(const Scene&);
 
 	// Estimate and set region-of-interest
 	bool EstimateROI(int nEstimateROI=0, float scale=1.f);
diff --git a/libs/Math/Common.h b/libs/Math/Common.h
index 173bd09d3..e85b1557b 100644
--- a/libs/Math/Common.h
+++ b/libs/Math/Common.h
@@ -23,6 +23,13 @@
 #ifndef MATH_TPL
 #define MATH_TPL GENERAL_TPL
 #endif
-/*----------------------------------------------------------------*/
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// P R O T O T Y P E S /////////////////////////////////////////////
+
+using namespace SEACAVE;
 
 #endif // __MATH_COMMON_H__
diff --git a/libs/Math/SimilarityTransform.cpp b/libs/Math/SimilarityTransform.cpp
new file mode 100644
index 000000000..3920c64a3
--- /dev/null
+++ b/libs/Math/SimilarityTransform.cpp
@@ -0,0 +1,67 @@
+/*
+* SimilarityTransform.cpp
+*
+* Copyright (c) 2014-2022 SEACAVE
+*
+* Author(s):
+*
+*      cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*      You are required to preserve legal notices and author attributions in
+*      that material or in the Appropriate Legal Notices displayed by works
+*      containing it.
+*/
+
+#include "Common.h"
+#include "SimilarityTransform.h"
+
+using namespace MVS;
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+// find the similarity transform that best aligns the given two sets of corresponding 3D points
+bool MVS::SimilarityTransform(const CLISTDEF0(Point3)& points, const CLISTDEF0(Point3)& pointsRef, Matrix4x4& transform)
+{
+	ASSERT(points.size() == pointsRef.size());
+	typedef Eigen::Matrix<REAL,3,Eigen::Dynamic> PointsVec;
+	PointsVec p(3, points.size());
+	PointsVec pRef(3, pointsRef.size());
+	FOREACH(i, points) {
+		p.col(i) = static_cast<const Point3::EVec&>(points[i]);
+		pRef.col(i) = static_cast<const Point3::EVec&>(pointsRef[i]);
+	}
+	transform = Eigen::umeyama(p, pRef);
+	return true;
+} // SimilarityTransform
+/*----------------------------------------------------------------*/
+
+void MVS::DecomposeSimilarityTransform(const Matrix4x4& transform, Matrix3x3& R, Point3& t, REAL& s)
+{
+	const Eigen::Transform<REAL,3,Eigen::Affine,Eigen::RowMajor> T(static_cast<const Matrix4x4::EMat&>(transform));
+	Eigen::Matrix<REAL,3,3> scaling;
+	T.computeRotationScaling(&static_cast<Matrix3x3::EMat&>(R), &scaling);
+	t = T.translation();
+	s = scaling.diagonal().mean();
+} // DecomposeSimilarityTransform
+/*----------------------------------------------------------------*/
diff --git a/libs/Math/SimilarityTransform.h b/libs/Math/SimilarityTransform.h
new file mode 100644
index 000000000..9ee52a7c9
--- /dev/null
+++ b/libs/Math/SimilarityTransform.h
@@ -0,0 +1,55 @@
+/*
+* SimilarityTransform.h
+*
+* Copyright (c) 2014-2022 SEACAVE
+*
+* Author(s):
+*
+*      cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*      You are required to preserve legal notices and author attributions in
+*      that material or in the Appropriate Legal Notices displayed by works
+*      containing it.
+*/
+
+#ifndef _MVS_SIMILARITY_TRANSFORM_H_
+#define _MVS_SIMILARITY_TRANSFORM_H_
+
+
+// I N C L U D E S /////////////////////////////////////////////////
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+namespace MVS {
+
+// find the similarity transform that best aligns the given two sets of corresponding 3D points
+bool SimilarityTransform(const CLISTDEF0(Point3)& points, const CLISTDEF0(Point3)& pointsRef, Matrix4x4& transform);
+
+// decompose similarity transform into rotation, translation and scale
+void DecomposeSimilarityTransform(const Matrix4x4& transform, Matrix3x3& R, Point3& t, REAL& s);
+/*----------------------------------------------------------------*/
+
+} // namespace MVS
+
+#endif // _MVS_SIMILARITY_TRANSFORM_H_

From 79213614bfa0fc203d03bb8505d83c647d74bb48 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 20 Sep 2022 09:07:29 +0300
Subject: [PATCH 130/252] interface: add 2 helper functions

---
 libs/MVS/Interface.h | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/libs/MVS/Interface.h b/libs/MVS/Interface.h
index 04ab182a6..8d1c38394 100644
--- a/libs/MVS/Interface.h
+++ b/libs/MVS/Interface.h
@@ -643,6 +643,15 @@ struct Interface
 		const Image& image = images[imageID];
 		return platforms[image.platformID].GetK(image.cameraID);
 	}
+	Mat33d GetFullK(uint32_t imageID, uint32_t width, uint32_t height) const {
+		const Image& image = images[imageID];
+		return platforms[image.platformID].GetFullK(image.cameraID, width, height);
+	}
+
+	const Platform::Camera& GetCamera(uint32_t imageID) const {
+		const Image& image = images[imageID];
+		return platforms[image.platformID].cameras[image.cameraID];
+	}
 
 	Platform::Pose GetPose(uint32_t imageID) const {
 		const Image& image = images[imageID];

From 7be47b1e8efd3105410d71c0b09f16f0513300c1 Mon Sep 17 00:00:00 2001
From: Piero Toffanin <pt@masseranolabs.com>
Date: Tue, 20 Sep 2022 02:25:01 -0400
Subject: [PATCH 131/252] dense: apply image masks on GPU (#861)

---
 libs/MVS/PatchMatchCUDA.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
index de53a6d61..65efa757a 100644
--- a/libs/MVS/PatchMatchCUDA.cpp
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -401,6 +401,14 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 		}
 	}
 
+	// apply ignore mask
+	if (OPTDENSE::nIgnoreMaskLabel >= 0) {
+		const DepthData::ViewData& view = depthData.GetView();
+		BitMatrix mask;
+		if (DepthEstimator::ImportIgnoreMask(*view.pImageData, depthData.depthMap.size(), mask, (uint16_t)OPTDENSE::nIgnoreMaskLabel))
+			depthData.ApplyIgnoreMask(mask);
+	}
+
 	DEBUG_EXTRA("Depth-map for image %3u %s: %dx%d (%s)", depthData.images.front().GetID(),
 		depthData.images.GetSize() > 2 ?
 		String::FormatString("estimated using %2u images", depthData.images.size()-1).c_str() :

From 75b4d80acdd2c667653175f976d3d80c71ac0579 Mon Sep 17 00:00:00 2001
From: Andrew Delpit <adelpit@gmail.com>
Date: Wed, 21 Sep 2022 00:48:19 -0700
Subject: [PATCH 132/252] texture: fix pixel center convention (#862)

* Add half pixel to convert from center to corner of pixel
* Normalize uv by width instead of width-1
---
 libs/MVS/Camera.h         |  4 +++-
 libs/MVS/SceneTexture.cpp | 11 ++++++++---
 2 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/libs/MVS/Camera.h b/libs/MVS/Camera.h
index c77c4d66b..6ba938778 100644
--- a/libs/MVS/Camera.h
+++ b/libs/MVS/Camera.h
@@ -51,7 +51,9 @@ namespace MVS {
 // (as opposite to standard form t which is negated and has the rotation of the camera already applied P = K[R|t]);
 // the world and camera coordinates system is right handed,
 // with x pointing right, y pointing down, and z pointing forward
-// (see: R. Hartley, "Multiple View Geometry," 2004, pp. 156.)
+// (see: R. Hartley, "Multiple View Geometry," 2004, pp. 156.);
+// the projection in image coordinates uses the convention that the center of a pixel is defined at integer coordinates,
+// i.e. the center is at (0, 0) and the top left corner is at (-0.5, -0.5)
 class MVS_API CameraIntern
 {
 public:
diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index a064846fa..c15cabf70 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -1746,14 +1746,19 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 		TexturePatch& texturePatch = *pTexturePatch;
 	#endif
 		const Image& imageData = images[texturePatch.label];
-		// project vertices and compute bounding-box
+		// project vertices and compute bounding-box;
+		// account for diferences in pixel center convention: while OpenMVS uses the same convention as OpenCV and DirectX 9 where the center
+		// of a pixel is defined at integer coordinates, i.e. the center is at (0, 0) and the top left corner is at (-0.5, -0.5),
+		// DirectX 10+, OpenGL, and Vulkan convention is the center of a pixel is defined at half coordinates, i.e. the center is at (0.5, 0.5)
+		// and the top left corner is at (0, 0)
+		const TexCoord halfPixel(0.5f, 0.5f);
 		AABB2f aabb(true);
 		FOREACHPTR(pIdxFace, texturePatch.faces) {
 			const FIndex idxFace(*pIdxFace);
 			const Face& face = faces[idxFace];
 			TexCoord* texcoords = faceTexcoords.Begin()+idxFace*3;
 			for (int i=0; i<3; ++i) {
-				texcoords[i] = imageData.camera.ProjectPointP(vertices[face[i]]);
+				texcoords[i] = imageData.camera.ProjectPointP(vertices[face[i]]) + halfPixel;
 				ASSERT(imageData.image.isInsideWithBorder(texcoords[i], border));
 				aabb.InsertFull(texcoords[i]);
 			}
@@ -1871,7 +1876,7 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 		}
 
 		// create texture image
-		const float invNorm(1.f/(float)(textureSize-1));
+		const float invNorm(1.f/(float)textureSize);
 		textureDiffuse.create(textureSize, textureSize);
 		textureDiffuse.setTo(cv::Scalar(colEmpty.b, colEmpty.g, colEmpty.r));
 		#ifdef TEXOPT_USE_OPENMP

From 91dedf5409d31d34d8a4c753711205213c7478ce Mon Sep 17 00:00:00 2001
From: Andrew Delpit <adelpit@gmail.com>
Date: Wed, 21 Sep 2022 00:48:19 -0700
Subject: [PATCH 133/252] texture: fix pixel center convention (#862)

* Add half pixel to convert from center to corner of pixel
* Normalize uv by width instead of width-1

(cherry picked from commit 75b4d80acdd2c667653175f976d3d80c71ac0579)
---
 libs/MVS/Camera.h         |  4 +++-
 libs/MVS/SceneTexture.cpp | 11 ++++++++---
 2 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/libs/MVS/Camera.h b/libs/MVS/Camera.h
index 93c99d1fc..063ede568 100644
--- a/libs/MVS/Camera.h
+++ b/libs/MVS/Camera.h
@@ -51,7 +51,9 @@ namespace MVS {
 // (as opposite to standard form t which is negated and has the rotation of the camera already applied P = K[R|t]);
 // the world and camera coordinates system is right handed,
 // with x pointing right, y pointing down, and z pointing forward
-// (see: R. Hartley, "Multiple View Geometry," 2004, pp. 156.)
+// (see: R. Hartley, "Multiple View Geometry," 2004, pp. 156.);
+// the projection in image coordinates uses the convention that the center of a pixel is defined at integer coordinates,
+// i.e. the center is at (0, 0) and the top left corner is at (-0.5, -0.5)
 class MVS_API CameraIntern
 {
 public:
diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index 1406d6627..171d0325d 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -1744,14 +1744,19 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 		TexturePatch& texturePatch = *pTexturePatch;
 	#endif
 		const Image& imageData = images[texturePatch.label];
-		// project vertices and compute bounding-box
+		// project vertices and compute bounding-box;
+		// account for diferences in pixel center convention: while OpenMVS uses the same convention as OpenCV and DirectX 9 where the center
+		// of a pixel is defined at integer coordinates, i.e. the center is at (0, 0) and the top left corner is at (-0.5, -0.5),
+		// DirectX 10+, OpenGL, and Vulkan convention is the center of a pixel is defined at half coordinates, i.e. the center is at (0.5, 0.5)
+		// and the top left corner is at (0, 0)
+		const TexCoord halfPixel(0.5f, 0.5f);
 		AABB2f aabb(true);
 		FOREACHPTR(pIdxFace, texturePatch.faces) {
 			const FIndex idxFace(*pIdxFace);
 			const Face& face = faces[idxFace];
 			TexCoord* texcoords = faceTexcoords.Begin()+idxFace*3;
 			for (int i=0; i<3; ++i) {
-				texcoords[i] = imageData.camera.ProjectPointP(vertices[face[i]]);
+				texcoords[i] = imageData.camera.ProjectPointP(vertices[face[i]]) + halfPixel;
 				ASSERT(imageData.image.isInsideWithBorder(texcoords[i], border));
 				aabb.InsertFull(texcoords[i]);
 			}
@@ -1869,7 +1874,7 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 		}
 
 		// create texture image
-		const float invNorm(1.f/(float)(textureSize-1));
+		const float invNorm(1.f/(float)textureSize);
 		textureDiffuse.create(textureSize, textureSize);
 		textureDiffuse.setTo(cv::Scalar(colEmpty.b, colEmpty.g, colEmpty.r));
 		#ifdef TEXOPT_USE_OPENMP

From 3aba860b630daa7dd8b6aee38a7fc1e5e413d515 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 23 Sep 2022 16:51:34 +0300
Subject: [PATCH 134/252] interface: add comments

---
 libs/MVS/DepthMap.cpp | 1 +
 libs/MVS/Interface.h  | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 1ead72835..f7208ddc8 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -1820,6 +1820,7 @@ bool MVS::ExportPointCloud(const String& fileName, const Image& imageData, const
 } // ExportPointCloud
 /*----------------------------------------------------------------*/
 
+//  - IDs are the reference view ID and neighbor view IDs used to estimate the depth-map (global ID)
 bool MVS::ExportDepthDataRaw(const String& fileName, const String& imageFileName,
 	const IIndexArr& IDs, const cv::Size& imageSize,
 	const KMatrix& K, const RMatrix& R, const CMatrix& C,
diff --git a/libs/MVS/Interface.h b/libs/MVS/Interface.h
index 8d1c38394..666c588e9 100644
--- a/libs/MVS/Interface.h
+++ b/libs/MVS/Interface.h
@@ -710,7 +710,7 @@ struct Interface
 //  - depth-map-resolution, for now only the same resolution as the image is supported
 //  - min/max-depth of the values in the depth-map
 //  - image-file-name is the path to the reference color image
-//  - image-IDs are the reference view ID and neighbor view IDs used to estimate the depth-map
+//  - image-IDs are the reference view ID and neighbor view IDs used to estimate the depth-map (global ID)
 //  - camera/rotation/position matrices (row-major) is the absolute pose corresponding to the reference view
 //  - depth-map: the pixels' depth
 //  - normal-map (optional): the 3D point normal in camera space; same resolution as the depth-map

From 471d00790098c0d6112d2ed8dfe34f7a50db9398 Mon Sep 17 00:00:00 2001
From: Jing Zhao <1125078229@qq.com>
Date: Fri, 23 Sep 2022 21:52:40 +0800
Subject: [PATCH 135/252] mesh: update faceTexcoords in Mesh::RemoveFaces
 (#863)

---
 libs/MVS/Mesh.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 8d2980adc..47e754b79 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -3753,6 +3753,9 @@ void Mesh::RemoveFaces(FaceIdxArr& facesRemove, bool bUpdateLists)
 			if (idxLast == idxF)
 				continue;
 			faces.RemoveAt(idxF);
+			if (!faceTexcoords.IsEmpty()) {
+				faceTexcoords.RemoveAt(idxF * 3, 3);
+			}
 			idxLast = idxF;
 		}
 	} else {
@@ -3785,6 +3788,9 @@ void Mesh::RemoveFaces(FaceIdxArr& facesRemove, bool bUpdateLists)
 				}
 			}
 			faces.RemoveAt(idxF);
+			if (!faceTexcoords.IsEmpty()) {
+				faceTexcoords.RemoveAt(idxF * 3, 3);
+			}
 			idxLast = idxF;
 		}
 	}

From e1e78d16b1dfc9901a004642e6307bb03e4655f8 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 23 Sep 2022 21:15:40 +0300
Subject: [PATCH 136/252] interface: disable MVSNet interface on old GCC

---
 apps/InterfaceMVSNet/InterfaceMVSNet.cpp | 2 +-
 libs/Common/Types.h                      | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
index dfe5c2233..4eb0f77c6 100644
--- a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
+++ b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
@@ -246,7 +246,7 @@ void ImageListParse(const LPSTR* argv, Matrix3x4& P)
 //  DEPTH_MIN DEPTH_INTERVAL (DEPTH_NUM DEPTH_MAX)
 bool ParseSceneMVSNet(Scene& scene)
 {
-	#ifdef _SUPPORT_CPP17
+	#if defined(_SUPPORT_CPP17) && (!defined(__GNUC__) || (__GNUC__ > 7))
 	String strPath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName));
 	Util::ensureValidFolderPath(strPath);
 	const std::filesystem::path path(static_cast<std::string&>(strPath));
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 1b730b5ca..1aef21c4f 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -40,8 +40,10 @@
 #include <stdint.h>
 #endif
 #ifdef _SUPPORT_CPP17
+#if !defined(__GNUC__) || (__GNUC__ > 7)
 #include <filesystem>
 #endif
+#endif
 #include <new>
 #include <string>
 #include <codecvt>

From 64e3f354c9184de2d491aeb02b98017558bd8c9d Mon Sep 17 00:00:00 2001
From: 4CJ7T <108303308+4CJ7T@users.noreply.github.com>
Date: Fri, 30 Sep 2022 22:40:55 -0700
Subject: [PATCH 137/252] common: improve MvsScalablePipeline.py to support
 existing modules and resuming (#867)

---
 MvsScalablePipeline.py | 71 ++++++++++++++++++++++++------------------
 1 file changed, 40 insertions(+), 31 deletions(-)

diff --git a/MvsScalablePipeline.py b/MvsScalablePipeline.py
index c27b7a845..e5a426d54 100644
--- a/MvsScalablePipeline.py
+++ b/MvsScalablePipeline.py
@@ -24,7 +24,7 @@
 ............
 DensifyPointCloud scene_000n.mvs --dense-config-file Densify.ini
 
-This script hepls to automate the process of calling DensifyPointCloud/ReconstructMesh on all sub-scenes.
+This script helps to automate the process of calling DensifyPointCloud/ReconstructMesh on all sub-scenes.
 
 usage: MvsScalablePipeline.py openMVS_module input_scene <options>
 
@@ -35,6 +35,7 @@
 import subprocess
 import sys
 import argparse
+import glob
 
 DEBUG = False
 
@@ -130,7 +131,7 @@ def __init__(self):
     description="Scalable MVS reconstruction with these steps: \r\n" +
     "MvsScalablePipeline.py openMVS_module input_scene <options>\r\n"
     )
-PARSER.add_argument('openMVS_modules',
+PARSER.add_argument('openMVS_module',
                     help="the OpenMVS module to use: DensifyPointCloud, ReconstructMesh, etc.")
 PARSER.add_argument('input_scene',
                     help="the scene name reg to process: scene_XXXX.mvs")
@@ -138,34 +139,42 @@ def __init__(self):
 
 PARSER.parse_args(namespace=CONF)  # store args in the ConfContainer
 
+suffix = os.path.basename(CONF.input_scene).replace('scene_XXXX','')
+CONF.input_scene = CONF.input_scene.replace('_dense','').replace('_mesh','').replace('_refine','').replace('_texture','')
+
 # Absolute path for input directory
 if len(CONF.input_scene) < 10 or CONF.input_scene[-9:] != '_XXXX.mvs':
-    sys.exit("%s: incalid scene name" % CONF.input_scene)
-CONF.input_scene = os.path.abspath(CONF.input_scene[:-9]+'_{counter:04d}.mvs')
-
-for module_name in CONF.openMVS_modules.split(','):
-    printout("# Module {} start #".format(module_name), colour=RED, effect=BOLD)
-    i = 0
-    while os.path.exists(CONF.input_scene.format(counter=i)):
-        scene_name = CONF.input_scene.format(counter=i)
-        printout("# Process: %s" % os.path.basename(scene_name), colour=GREEN, effect=NO_EFFECT)
-
-        # create a commandline for the current step
-        cmdline = [os.path.join(OPENMVS_BIN, module_name), scene_name] + CONF.passthrough
-        print('Cmd: ' + ' '.join(cmdline))
-
-        if not DEBUG:
-            # Launch the current step
-            try:
-                pStep = subprocess.Popen(cmdline)
-                pStep.wait()
-                if pStep.returncode != 0:
-                    printout("# Warning: step failed", colour=RED, effect=BOLD)
-                    break
-            except KeyboardInterrupt:
-                sys.exit('\r\nProcess canceled by user, all files remains')
-        else:
-            print('\t'.join(cmdline))
-
-        i += 1
-    printout("# Module {} end #".format(module_name), colour=RED, effect=BOLD)
+    sys.exit("%s: invalid scene name" % CONF.input_scene)
+
+match CONF.openMVS_module:
+  case 'ReconstructMesh':
+    moduleSuffix = '_mesh.mvs'
+  case 'RefineMesh':
+    moduleSuffix = '_refine.mvs'
+  case 'TextureMesh':
+    moduleSuffix = '_texture.mvs'
+  case _:
+    moduleSuffix = '_dense.mvs'
+
+printout("# Module {} start #".format(CONF.openMVS_module), colour=RED, effect=BOLD)
+for scene_name in glob.glob(os.path.abspath(os.path.join(os.path.dirname(CONF.input_scene), 'scene_[0-9][0-9][0-9][0-9]'+suffix))):
+  if os.path.exists(os.path.splitext(scene_name)[0] + moduleSuffix) == False:
+    printout("# Process: %s" % os.path.basename(scene_name), colour=GREEN, effect=NO_EFFECT)
+
+    # create a commandline for the current step
+    cmdline = [os.path.join(OPENMVS_BIN, CONF.openMVS_module), scene_name] + CONF.passthrough
+    print('Cmd: ' + ' '.join(cmdline))
+
+    if not DEBUG:
+        # Launch the current step
+        try:
+            pStep = subprocess.Popen(cmdline)
+            pStep.wait()
+            if pStep.returncode != 0:
+                printout("# Warning: step failed", colour=RED, effect=BOLD)
+        except KeyboardInterrupt:
+            sys.exit('\r\nProcess canceled by user, all files remains')
+    else:
+        print('\t'.join(cmdline))
+
+printout("# Module {} end #".format(CONF.openMVS_module), colour=RED, effect=BOLD)

From 1d3df169e565dd3f751ccb94b2a20d42f566f813 Mon Sep 17 00:00:00 2001
From: Jing Zhao <1125078229@qq.com>
Date: Wed, 12 Oct 2022 18:22:07 +0800
Subject: [PATCH 138/252] texture: fix data costs in TRWS energy (#880)

---
 libs/MVS/SceneTexture.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index c15cabf70..3dc36ffae 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -943,7 +943,9 @@ bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmo
 					TRWSInference& inference = inferences[components[f]];
 					if (inference.IsEmpty())
 						continue;
-					D.MemsetValue(MaxEnergy);
+					// invisible faces are given a data cost 3 times the edge costs
+					// 3 as each face can have at most 3 edges
+					D.MemsetValue(MaxEnergy * 3);
 					const FaceDataArr& faceDatas = facesDatas[f];
 					FOREACHPTR(pFaceData, faceDatas) {
 						const FaceData& faceData = *pFaceData;

From 4595ac1de7efc4e6fd7ca90ad20f4549091d14e8 Mon Sep 17 00:00:00 2001
From: Piero Toffanin <pt@masseranolabs.com>
Date: Tue, 18 Oct 2022 01:17:02 -0400
Subject: [PATCH 139/252] build: handle nvcc compilers that don't support
 --list-gpu-arch (#886)

---
 CMakeLists.txt | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4d921e826..241c3b039 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -108,6 +108,13 @@ if(OpenMVS_USE_CUDA)
 			message("Working around windows build failure with visual studio. Visual studio 16.10 introduced a compiler bug with compilng CUDA code with C++14. Set the cuda standard to 17 as a workaround.")
 			set(CMAKE_CUDA_STANDARD 17)
 		endif()
+		EXECUTE_PROCESS(COMMAND "${CMAKE_CUDA_COMPILER}" --list-gpu-arch 
+				OUTPUT_VARIABLE LIST_GPU_ARCH 
+				ERROR_QUIET)
+		if(NOT LIST_GPU_ARCH AND OpenMVS_MAX_CUDA_COMPATIBILITY)
+			message(WARNING "Cannot compile for max CUDA compatibility, nvcc does not support --list-gpu-arch")
+			set(OpenMVS_MAX_CUDA_COMPATIBILITY NO)
+		endif()
 		if(NOT OpenMVS_MAX_CUDA_COMPATIBILITY)
 			if(NOT DEFINED CMAKE_CUDA_ARCHITECTURES)
 				SET(CMAKE_CUDA_ARCHITECTURES 75)
@@ -117,9 +124,6 @@ if(OpenMVS_USE_CUDA)
 			# https://arnon.dk/matching-sm-architectures-arch-and-gencode-for-various-nvidia-cards/
 
 			# Extract list of arch and gencodes
-			EXECUTE_PROCESS(COMMAND "${CMAKE_CUDA_COMPILER}" --list-gpu-arch 
-				OUTPUT_VARIABLE LIST_GPU_ARCH 
-				ERROR_QUIET)
 			STRING(REPLACE "\r" "" LIST_GPU_ARCH ${LIST_GPU_ARCH})
 			STRING(REPLACE "\n" ";" LIST_GPU_ARCH ${LIST_GPU_ARCH})
 

From f0ef4b53c4591ff72bb31dc0aa395b52a6a2620c Mon Sep 17 00:00:00 2001
From: Jing Zhao <1125078229@qq.com>
Date: Thu, 20 Oct 2022 09:51:48 +0800
Subject: [PATCH 140/252] mesh: fix ObjModel::MaterialLib::Save() when using
 OpenMP (#891)

---
 libs/IO/OBJ.cpp | 16 +++++++++++++---
 1 file changed, 13 insertions(+), 3 deletions(-)

diff --git a/libs/IO/OBJ.cpp b/libs/IO/OBJ.cpp
index bf82ee43d..0c1f5309b 100644
--- a/libs/IO/OBJ.cpp
+++ b/libs/IO/OBJ.cpp
@@ -61,7 +61,8 @@ bool ObjModel::MaterialLib::Save(const String& prefix, bool texLossless) const
 	for (int_t i = 0; i < (int_t)materials.size(); ++i) {
 		const Material& mat = materials[i];
 		// save material description
-		out << "newmtl " << mat.name << "\n"
+		std::stringstream ss;
+		ss << "newmtl " << mat.name << "\n"
 			<< "Ka 1.000000 1.000000 1.000000" << "\n"
 			<< "Kd " << mat.Kd.r << " " << mat.Kd.g << " " << mat.Kd.b << "\n"
 			<< "Ks 0.000000 0.000000 0.000000" << "\n"
@@ -69,11 +70,20 @@ bool ObjModel::MaterialLib::Save(const String& prefix, bool texLossless) const
 			<< "illum 1" << "\n"
 			<< "Ns 1.000000" << "\n";
 		// save material maps
-		if (mat.diffuse_map.empty())
+		if (mat.diffuse_map.empty()) {
+			#ifdef OBJ_USE_OPENMP
+			#pragma omp critical
+			#endif
+			out << ss.str();
 			continue;
+		}
 		if (mat.diffuse_name.IsEmpty())
 			const_cast<String&>(mat.diffuse_name) = name+"_"+mat.name+"_map_Kd."+(texLossless?"png":"jpg");
-		out << "map_Kd " << mat.diffuse_name << "\n";
+		ss << "map_Kd " << mat.diffuse_name << "\n";
+		#ifdef OBJ_USE_OPENMP
+		#pragma omp critical
+		#endif
+		out << ss.str();
 		const bool bRet(mat.diffuse_map.Save(pathName+mat.diffuse_name));
 		#ifdef OBJ_USE_OPENMP
 		#pragma omp critical

From e0783e43bd0079aede33a378eb274e7c952c9508 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 3 Nov 2022 16:43:42 +0200
Subject: [PATCH 141/252] dense: fix neighbor selection based on a mesh

---
 libs/MVS/Scene.cpp | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 8cadc8fbf..55bd4cf20 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -656,10 +656,12 @@ void Scene::SampleMeshWithVisibility(unsigned maxResolution)
 		}
 	}
 	RFOREACH(idx, pointcloud.points) {
-		if (pointcloud.pointViews[idx].size() < 2)
+		if (pointcloud.pointViews[idx].size() < 2) {
 			pointcloud.RemovePoint(idx);
-		else
-			pointcloud.points[idx] = mesh.vertices[(Mesh::VIndex)idx];
+			continue;
+		}
+		pointcloud.points[idx] = mesh.vertices[(Mesh::VIndex)idx];
+		pointcloud.pointViews[idx].Sort();
 	}
 } // SampleMeshWithVisibility
 /*----------------------------------------------------------------*/

From 291b9f13269937e1e26f136cef93accb7f67cd15 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 5 Nov 2022 11:21:11 +0200
Subject: [PATCH 142/252] dense: ignore invalid input 3D points during
 initialization

---
 libs/MVS/Scene.cpp | 32 ++++++++++++++++++--------------
 1 file changed, 18 insertions(+), 14 deletions(-)

diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 55bd4cf20..18eceb7a0 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -799,20 +799,20 @@ inline float Footprint(const Camera& camera, const Point3f& X) {
 //  - nInsideROI: 0 - ignore ROI, 1 - weight more ROI points, 2 - consider only ROI points
 bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews, unsigned nMinPointViews, float fOptimAngle, unsigned nInsideROI)
 {
-	ASSERT(points.IsEmpty());
+	ASSERT(points.empty());
 
 	// extract the estimated 3D points and the corresponding 2D projections for the reference image
 	Image& imageData = images[ID];
 	ASSERT(imageData.IsValid());
 	ViewScoreArr& neighbors = imageData.neighbors;
-	ASSERT(neighbors.IsEmpty());
+	ASSERT(neighbors.empty());
 	struct Score {
 		float score;
 		float avgScale;
 		float avgAngle;
 		uint32_t points;
 	};
-	CLISTDEF0(Score) scores(images.GetSize());
+	CLISTDEF0(Score) scores(images.size());
 	scores.Memset(0);
 	if (nMinPointViews > nCalibratedImages)
 		nMinPointViews = nCalibratedImages;
@@ -833,10 +833,14 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 				continue;
 			wROI = 0.7f;
 		}
+		const Depth depth((float)imageData.camera.PointDepth(point));
+		ASSERT(depth > 0);
+		if (depth <= 0)
+			continue;
 		// store this point
-		if (views.GetSize() >= nMinPointViews)
-			points.Insert((uint32_t)idx);
-		imageData.avgDepth += (float)imageData.camera.PointDepth(point);
+		if (views.size() >= nMinPointViews)
+			points.push_back((uint32_t)idx);
+		imageData.avgDepth += depth;
 		++nPoints;
 		// score shared views
 		const Point3f V1(imageData.camera.C - Cast<REAL>(point));
@@ -868,7 +872,7 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 	ASSERT(nPoints > 3);
 
 	// select best neighborViews
-	Point2fArr projs(0, points.GetSize());
+	Point2fArr projs(0, points.size());
 	FOREACH(IDB, images) {
 		const Image& imageDataB = images[IDB];
 		if (!imageDataB.IsValid())
@@ -880,7 +884,7 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 		// compute how well the matched features are spread out (image covered area)
 		const Point2f boundsA(imageData.GetSize());
 		const Point2f boundsB(imageDataB.GetSize());
-		ASSERT(projs.IsEmpty());
+		ASSERT(projs.empty());
 		for (uint32_t idx: points) {
 			const PointCloud::ViewArr& views = pointcloud.pointViews[idx];
 			ASSERT(views.IsSorted());
@@ -888,15 +892,15 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 			if (views.FindFirst(IDB) == PointCloud::ViewArr::NO_INDEX)
 				continue;
 			const PointCloud::Point& point = pointcloud.points[idx];
-			Point2f& ptA = projs.AddConstruct(imageData.camera.ProjectPointP(point));
+			Point2f& ptA = projs.emplace_back(imageData.camera.ProjectPointP(point));
 			Point2f ptB = imageDataB.camera.ProjectPointP(point);
 			if (!imageData.camera.IsInside(ptA, boundsA) || !imageDataB.camera.IsInside(ptB, boundsB))
 				projs.RemoveLast();
 		}
-		ASSERT(projs.GetSize() <= score.points);
-		if (projs.IsEmpty())
+		ASSERT(projs.size() <= score.points);
+		if (projs.empty())
 			continue;
-		const float area(ComputeCoveredArea<float,2,16,false>((const float*)projs.Begin(), projs.GetSize(), boundsA.ptr()));
+		const float area(ComputeCoveredArea<float,2,16,false>((const float*)projs.data(), projs.size(), boundsA.ptr()));
 		projs.Empty();
 		// store image score
 		ViewScore& neighbor = neighbors.AddEmpty();
@@ -914,10 +918,10 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 		String msg;
 		FOREACH(n, neighbors)
 			msg += String::FormatString(" %3u(%upts,%.2fscl)", neighbors[n].idx.ID, neighbors[n].idx.points, neighbors[n].idx.scale);
-		VERBOSE("Reference image %3u sees %u views:%s (%u shared points)", ID, neighbors.GetSize(), msg.c_str(), nPoints);
+		VERBOSE("Reference image %3u sees %u views:%s (%u shared points)", ID, neighbors.size(), msg.c_str(), nPoints);
 	}
 	#endif
-	if (points.GetSize() <= 3 || neighbors.GetSize() < MINF(nMinViews,nCalibratedImages-1)) {
+	if (points.size() <= 3 || neighbors.size() < MINF(nMinViews,nCalibratedImages-1)) {
 		DEBUG_EXTRA("error: reference image %3u has not enough images in view", ID);
 		return false;
 	}

From 7cc2b78a49c104abe615917da7d288937f26e041 Mon Sep 17 00:00:00 2001
From: itacernea <62037778+itacernea@users.noreply.github.com>
Date: Sun, 6 Nov 2022 17:40:46 +0100
Subject: [PATCH 143/252] dense: boost low-resolution depth propagation for
 textureless areas (#873)

---
 libs/MVS/DepthMap.cpp      | 10 +++++-----
 libs/MVS/PatchMatchCUDA.cu | 10 +++++-----
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index f7208ddc8..c60937aa8 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -89,7 +89,7 @@ MDEFVAR_OPTDENSE_float(fMinArea, "Min Area", "Min shared area for accepting the
 MDEFVAR_OPTDENSE_float(fMinAngle, "Min Angle", "Min angle for accepting the depth triangulation", "3.0")
 MDEFVAR_OPTDENSE_float(fOptimAngle, "Optim Angle", "Optimal angle for computing the depth triangulation", "12.0")
 MDEFVAR_OPTDENSE_float(fMaxAngle, "Max Angle", "Max angle for accepting the depth triangulation", "65.0")
-MDEFVAR_OPTDENSE_float(fDescriptorMinMagnitudeThreshold, "Descriptor Min Magnitude Threshold", "minimum texture variance accepted when matching two patches (0 - disabled)", "0.02")
+MDEFVAR_OPTDENSE_float(fDescriptorMinMagnitudeThreshold, "Descriptor Min Magnitude Threshold", "minimum patch texture variance accepted when matching two patches (0 - disabled)", "0.02") // 0.02: pixels with patch texture variance below 0.0004 (0.02^2) will be removed from depthmap; 0.12: patch texture variance below 0.02 (0.12^2) is considered texture-less
 MDEFVAR_OPTDENSE_float(fDepthDiffThreshold, "Depth Diff Threshold", "maximum variance allowed for the depths during refinement", "0.01")
 MDEFVAR_OPTDENSE_float(fNormalDiffThreshold, "Normal Diff Threshold", "maximum variance allowed for the normal during fusion (degrees)", "25")
 MDEFVAR_OPTDENSE_float(fPairwiseMul, "Pairwise Mul", "pairwise cost scale to match the unary cost", "0.3")
@@ -549,10 +549,10 @@ float DepthEstimator::ScorePixelImage(const DepthData::ViewData& image1, Depth d
 	if (!lowResDepthMap.empty()) {
 		const Depth d0 = lowResDepthMap(x0);
 		if (d0 > 0) {
-			const float deltaDepth = MINF(DepthSimilarity(d0, depth), 0.5f);
-			const float smoothSigmaDepth(-1.f / (1.f * 0.02f));
-			const float factorDeltaDepth = DENSE_EXP(normSq0 * smoothSigmaDepth);
-			score += deltaDepth * factorDeltaDepth;
+			const float deltaDepth(MINF(DepthSimilarity(d0, depth), 0.5f));
+			const float smoothSigmaDepth(-1.f / (1.f * 0.02f)); // 0.12: patch texture variance below 0.02 (0.12^2) is considered texture-less
+			const float factorDeltaDepth(DENSE_EXP(normSq0 * smoothSigmaDepth));
+			score = (1.f-factorDeltaDepth)*score + factorDeltaDepth*deltaDepth;
 		}
 	}
 	ASSERT(ISFINITE(score));
diff --git a/libs/MVS/PatchMatchCUDA.cu b/libs/MVS/PatchMatchCUDA.cu
index 2c0b775e0..26a9c15d6 100644
--- a/libs/MVS/PatchMatchCUDA.cu
+++ b/libs/MVS/PatchMatchCUDA.cu
@@ -348,11 +348,11 @@ __device__ float ScorePlane(const ImagePixels refImage, const PatchMatchCUDA::Ca
 
 	// apply depth prior weight based on patch textureless
 	if (lowDepth > 0) {
-		constexpr float smoothSigmaDepth(-1.f / (1.f * 0.02f));
-		const float depth = plane.w();
-		const float deltaDepth = MIN((abs(lowDepth - depth) / lowDepth), 0.5f);
-		const float factorDeltaDepth = exp(varRef * smoothSigmaDepth);
-		ncc += deltaDepth * factorDeltaDepth;
+		const float depth(plane.w());
+		const float deltaDepth(MIN((abs(lowDepth-depth) / lowDepth), 0.5f));
+		constexpr float smoothSigmaDepth(-1.f / (1.f * 0.02f)); // 0.12: patch texture variance below 0.02 (0.12^2) is considered texture-less
+		const float factorDeltaDepth(exp(varRef * smoothSigmaDepth));
+		ncc = (1.f-factorDeltaDepth)*ncc + factorDeltaDepth*deltaDepth;
 	}
 	return max(0.f, min(2.f, ncc));
 }

From a977bf5c0d2f657f11674682ca714021de378434 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 12 Nov 2022 18:25:35 +0200
Subject: [PATCH 144/252] transform: estimate scene's volume

(cherry picked from commit bf509a0a220d4bff1c786d6b537d909e473eb252)
---
 apps/DensifyPointCloud/DensifyPointCloud.cpp |   2 +-
 apps/TransformScene/TransformScene.cpp       |  27 +++-
 apps/Viewer/Scene.cpp                        |  25 ++--
 libs/Common/AABB.inl                         |   2 +-
 libs/Common/Plane.h                          |  28 +++-
 libs/Common/Plane.inl                        | 136 ++++++++++++++++++-
 libs/Common/Rotation.h                       |   9 ++
 libs/Common/Rotation.inl                     |  56 ++++++--
 libs/Common/Types.h                          |  30 ++--
 libs/Common/Types.inl                        |  54 ++++----
 libs/MVS/DepthMap.cpp                        | 128 +++++++++++------
 libs/MVS/DepthMap.h                          |   7 +
 libs/MVS/Mesh.cpp                            |  34 +++++
 libs/MVS/Mesh.h                              |   7 +-
 libs/MVS/PointCloud.cpp                      |  74 ++++++++++
 libs/MVS/PointCloud.h                        |  12 +-
 libs/MVS/Scene.cpp                           |  39 ++++++
 libs/MVS/Scene.h                             |   1 +
 libs/Math/Common.h                           |   2 +
 19 files changed, 554 insertions(+), 119 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 54d028bb1..2ce2c1400 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -281,7 +281,7 @@ int main(int argc, LPCTSTR* argv)
 		if (OPT::fSampleMesh > 0)
 			scene.mesh.SamplePoints(OPT::fSampleMesh, 0, pointcloud);
 		else
-			scene.mesh.SamplePoints((unsigned)ROUND2INT(-OPT::fSampleMesh), pointcloud);
+			scene.mesh.SamplePoints(ROUND2INT<unsigned>(-OPT::fSampleMesh), pointcloud);
 		VERBOSE("Sample mesh completed: %u points (%s)", pointcloud.GetSize(), TD_TIMER_GET_FMT().c_str());
 		pointcloud.Save(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+_T(".ply"));
 		Finalize();
diff --git a/apps/TransformScene/TransformScene.cpp b/apps/TransformScene/TransformScene.cpp
index 6cbffc35e..9fd842c42 100644
--- a/apps/TransformScene/TransformScene.cpp
+++ b/apps/TransformScene/TransformScene.cpp
@@ -50,6 +50,10 @@ namespace OPT {
 	String strInputFileName;
 	String strOutputFileName;
 	String strAlignFileName;
+	bool bComputeVolume;
+	float fPlaneThreshold;
+	float fSampleMesh;
+	unsigned nUpAxis;
 	unsigned nArchiveType;
 	int nProcessPriority;
 	unsigned nMaxThreads;
@@ -90,6 +94,10 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input scene filename")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the scene")
 		("align-file,o", boost::program_options::value<std::string>(&OPT::strAlignFileName), "input scene filename to which the scene will be cameras aligned")
+		("compute-volume", boost::program_options::value(&OPT::bComputeVolume)->default_value(false), "compute the volume of the given watertight mesh, or else try to estimate the ground plane and assume the mesh is bounded by it")
+		("plane-threshold", boost::program_options::value(&OPT::fPlaneThreshold)->default_value(0.f), "threshold used to estimate the ground plane (<0 - disabled, 0 - auto, >0 - desired threshold)")
+		("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(-100000.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
+		("up-axis", boost::program_options::value(&OPT::nUpAxis)->default_value(2), "scene axis considered to point upwards (0 - x, 1 - y, 2 - z)")
 		;
 
 	boost::program_options::options_description cmdline_options;
@@ -129,7 +137,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	Util::ensureValidPath(OPT::strInputFileName);
 	Util::ensureValidPath(OPT::strAlignFileName);
 	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
-	const bool bInvalidCommand(OPT::strInputFileName.empty() || OPT::strAlignFileName.empty());
+	const bool bInvalidCommand(OPT::strInputFileName.empty() || (OPT::strAlignFileName.empty() && !OPT::bComputeVolume));
 	if (OPT::vm.count("help") || bInvalidCommand) {
 		boost::program_options::options_description visible("Available options");
 		visible.add(generic).add(config);
@@ -188,7 +196,7 @@ int main(int argc, LPCTSTR* argv)
 	Scene scene(OPT::nMaxThreads);
 
 	// load given scene
-	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
+	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName), OPT::bComputeVolume))
 		return EXIT_FAILURE;
 
 	if (!OPT::strAlignFileName.empty()) {
@@ -198,10 +206,21 @@ int main(int argc, LPCTSTR* argv)
 			return EXIT_FAILURE;
 		if (!scene.AlignTo(sceneRef))
 			return EXIT_FAILURE;
-		VERBOSE("Scene aligned to the given reference scene");
+		VERBOSE("Scene aligned to the given reference scene (%s)", TD_TIMER_GET_FMT().c_str());
 	}
 
-	// write OpenMVS input data
+	if (OPT::bComputeVolume && !scene.mesh.IsEmpty()) {
+		// compute the mesh volume
+		const REAL volume(scene.ComputeLeveledVolume(OPT::fPlaneThreshold, OPT::fSampleMesh, OPT::nUpAxis));
+		if (volume < 0)
+			return EXIT_FAILURE;
+		OPT::nArchiveType = ARCHIVE_DEFAULT;
+		VERBOSE("Mesh volume: %g (%s)", volume, TD_TIMER_GET_FMT().c_str());
+		scene.mesh.Save(Util::getFileFullName(MAKE_PATH_SAFE(OPT::strOutputFileName)) + _T(".ply"));
+		return EXIT_SUCCESS;
+	}
+
+	// write transformed scene
 	scene.Save(MAKE_PATH_SAFE(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
 
 	Finalize();
diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index 4bb830b3e..c05964e89 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -276,6 +276,8 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 		images.emplace_back(idxImage);
 		imageBounds.InsertFull(imageData.camera.C);
 	}
+	if (imageBounds.IsEmpty())
+		imageBounds.Enlarge(0.5);
 	if (bounds.IsEmpty())
 		bounds = imageBounds;
 
@@ -513,18 +515,8 @@ void Scene::Draw()
 			Image& image = images[idx];
 			const MVS::Image& imageData = scene.images[image.idx];
 			const MVS::Camera& camera = imageData.camera;
-			// change coordinates system to the camera space
-			glPushMatrix();
-			glMultMatrixd((GLdouble*)TransL2W((const Matrix3x3::EMat)camera.R, -(const Point3::EVec)camera.C).data());
-			glPointSize(window.pointSize+1.f);
-			glDisable(GL_TEXTURE_2D);
-			// draw camera position and image center
-			const double scaleFocal(window.camera.scaleF);
-			glBegin(GL_POINTS);
-			glColor3f(1,0,0); glVertex3f(0,0,0); // camera position
-			glColor3f(0,1,0); glVertex3f(0,0,(float)scaleFocal); // image center
-			glEnd();
 			// cache image corner coordinates
+			const double scaleFocal(window.camera.scaleF);
 			const Point2d pp(camera.GetPrincipalPoint());
 			const double focal(camera.GetFocalLength()/scaleFocal);
 			const double cx(-pp.x/focal);
@@ -535,6 +527,17 @@ void Scene::Draw()
 			const Point3d ic2(cx, py, scaleFocal);
 			const Point3d ic3(px, py, scaleFocal);
 			const Point3d ic4(px, cy, scaleFocal);
+			// change coordinates system to the camera space
+			glPushMatrix();
+			glMultMatrixd((GLdouble*)TransL2W((const Matrix3x3::EMat)camera.R, -(const Point3::EVec)camera.C).data());
+			glPointSize(window.pointSize+1.f);
+			glDisable(GL_TEXTURE_2D);
+			// draw camera position and image center
+			glBegin(GL_POINTS);
+			glColor3f(1,0,0); glVertex3f(0,0,0); // camera position
+			glColor3f(0,1,0); glVertex3f(0,0,(float)scaleFocal); // image center
+			glColor3f(0,0,1); glVertex3d((0.5*imageData.width-pp.x)/focal, cy, scaleFocal); // image up
+			glEnd();
 			// draw image thumbnail
 			const bool bSelectedImage(idx == window.camera.currentCamID);
 			if (bSelectedImage) {
diff --git a/libs/Common/AABB.inl b/libs/Common/AABB.inl
index 26f7446e3..b645ef12d 100644
--- a/libs/Common/AABB.inl
+++ b/libs/Common/AABB.inl
@@ -91,7 +91,7 @@ template <typename TYPE, int DIMS>
 inline bool TAABB<TYPE,DIMS>::IsEmpty() const
 {
 	for (int i=0; i<DIMS; ++i)
-		if (ptMin[i] > ptMax[i])
+		if (ptMin[i] >= ptMax[i])
 			return true;
 	return false;
 } // IsEmpty
diff --git a/libs/Common/Plane.h b/libs/Common/Plane.h
index 7cd439207..022cfa450 100644
--- a/libs/Common/Plane.h
+++ b/libs/Common/Plane.h
@@ -31,6 +31,8 @@ class TPlane
 	typedef Eigen::Matrix<TYPE,DIMS,1> POINT;
 	typedef SEACAVE::TAABB<TYPE,DIMS> AABB;
 	typedef SEACAVE::TRay<TYPE,DIMS> RAY;
+	enum { numScalar = DIMS+1 };
+	enum { numParams = numScalar-1 };
 
 	VECTOR	m_vN;	// plane normal vector
 	TYPE	m_fD;	// distance to origin
@@ -47,12 +49,21 @@ class TPlane
 	inline void Set(const VECTOR&, const POINT&);
 	inline void Set(const POINT&, const POINT&, const POINT&);
 	inline void Set(const TYPE p[DIMS+1]);
+
+	inline void Invalidate();
+	inline bool IsValid() const;
+
+	int Optimize(const POINT*, size_t, int maxIters=100, double threshold=std::numeric_limits<double>::max());
+
 	inline void Negate();
+	inline TPlane Negated() const;
 
 	inline TYPE Distance(const TPlane&) const;
 	inline TYPE Distance(const POINT&) const;
 	inline TYPE DistanceAbs(const POINT&) const;
 
+	inline POINT ProjectPoint(const POINT&) const;
+
 	inline GCLASS Classify(const POINT&) const;
 	inline GCLASS Classify(const AABB&) const;
 
@@ -62,8 +73,8 @@ class TPlane
 	bool Intersects(const TPlane& plane, RAY& ray) const;
 	bool Intersects(const AABB& aabb) const;
 
-	inline TYPE& operator [] (BYTE i) { ASSERT(i<=DIMS); return m_vN.data()[i]; }
-	inline TYPE operator [] (BYTE i) const { ASSERT(i<=DIMS); return m_vN.data()[i]; }
+	inline TYPE& operator [] (BYTE i) { ASSERT(i<numScalar); return m_vN.data()[i]; }
+	inline TYPE operator [] (BYTE i) const { ASSERT(i<numScalar); return m_vN.data()[i]; }
 
 	#ifdef _USE_BOOST
 	// implement BOOST serialization
@@ -76,6 +87,19 @@ class TPlane
 }; // class TPlane
 /*----------------------------------------------------------------*/
 
+template <typename TYPE, typename TYPEW=TYPE>
+struct FitPlaneOnline {
+	TYPEW sumX, sumSqX, sumXY, sumXZ;
+	TYPEW sumY, sumSqY, sumYZ;
+	TYPEW sumZ, sumSqZ;
+	size_t size;
+	FitPlaneOnline();
+	void Update(const TPoint3<TYPE>& P);
+	TPoint3<TYPEW> GetPlane(TPoint3<TYPEW>& avg, TPoint3<TYPEW>& dir) const;
+	template <typename TYPEE> TPoint3<TYPEE> GetPlane(TPlane<TYPEE,3>& plane) const;
+};
+/*----------------------------------------------------------------*/
+
 
 // Basic frustum class
 // (represented as 6 planes oriented toward outside the frustum volume)
diff --git a/libs/Common/Plane.inl b/libs/Common/Plane.inl
index 2fcbb76f1..957357a7d 100644
--- a/libs/Common/Plane.inl
+++ b/libs/Common/Plane.inl
@@ -69,12 +69,88 @@ inline void TPlane<TYPE,DIMS>::Set(const TYPE p[DIMS+1])
 /*----------------------------------------------------------------*/
 
 
+template <typename TYPE, int DIMS>
+inline void TPlane<TYPE,DIMS>::Invalidate()
+{
+	m_fD = std::numeric_limits<TYPE>::max();
+} // Invalidate
+template <typename TYPE, int DIMS>
+inline bool TPlane<TYPE,DIMS>::IsValid() const
+{
+	return m_fD != std::numeric_limits<TYPE>::max();
+} // IsValid
+/*----------------------------------------------------------------*/
+
+
+// least squares refinement of the line to the given 3D point set
+// (return the number of iterations)
+template <typename TYPE, int DIMS>
+int TPlane<TYPE,DIMS>::Optimize(const POINT* points, size_t size, int maxIters, double threshold)
+{
+	ASSERT(size >= numParams);
+	struct OptimizationFunctor {
+		const POINT* points;
+		const size_t size;
+		const double threshold;
+		// construct with the data points
+		OptimizationFunctor(const POINT* _points, size_t _size, double _th)
+			: points(_points), size(_size), threshold(_th) { ASSERT(size < std::numeric_limits<int>::max()); }
+		static void Residuals(const double* x, int nPoints, const void* pData, double* fvec, double* fjac, int* /*info*/) {
+			const OptimizationFunctor& data = *reinterpret_cast<const OptimizationFunctor*>(pData);
+			ASSERT((size_t)nPoints == data.size && fvec != NULL && fjac == NULL);
+			TPlane<double,DIMS> plane; {
+				Point3d N;
+				plane.m_fD = x[0];
+				Dir2Normal(reinterpret_cast<const Point2d&>(x[1]), N);
+				plane.m_vN = N;
+			}
+			for (size_t i=0; i<data.size; ++i)
+				fvec[i] = MINF(plane.DistanceAbs(data.points[i].template cast<double>()), data.threshold);
+		}
+	} functor(points, size, threshold);
+	double arrParams[numParams]; {
+		arrParams[0] = (double)m_fD;
+		const Point3d N(m_vN.x(), m_vN.y(), m_vN.z());
+		Normal2Dir(N, reinterpret_cast<Point2d&>(arrParams[1]));
+	}
+	lm_control_struct control = {1.e-6, 1.e-7, 1.e-8, 1.e-8, 100.0, maxIters}; // lm_control_float;
+	lm_status_struct status;
+	lmmin(numParams, arrParams, (int)size, &functor, OptimizationFunctor::Residuals, &control, &status);
+	switch (status.info) {
+	//case 4:
+	case 5:
+	case 6:
+	case 7:
+	case 8:
+	case 9:
+	case 10:
+	case 11:
+	case 12:
+		DEBUG_ULTIMATE("error: refine plane: %s", lm_infmsg[status.info]);
+		return 0;
+	}
+	{
+		Point3d N;
+		m_fD = (TYPE)arrParams[0];
+		Dir2Normal(reinterpret_cast<const Point2d&>(arrParams[1]), N);
+		m_vN = Cast<TYPE>(N);
+	}
+	return status.nfev;
+} // Optimize
+/*----------------------------------------------------------------*/
+
+
 template <typename TYPE, int DIMS>
 inline void TPlane<TYPE,DIMS>::Negate()
 {
 	m_vN = -m_vN;
 	m_fD = -m_fD;
-}
+} // Negate
+template <typename TYPE, int DIMS>
+inline TPlane<TYPE,DIMS> TPlane<TYPE,DIMS>::Negated() const
+{
+	return TPlane(-m_vN, -m_fD);
+} // Negated
 /*----------------------------------------------------------------*/
 
 
@@ -99,6 +175,15 @@ inline TYPE TPlane<TYPE,DIMS>::DistanceAbs(const POINT& p) const
 /*----------------------------------------------------------------*/
 
 
+// Calculate point's projection on this plane (closest point to this plane).
+template <typename TYPE, int DIMS>
+inline typename TPlane<TYPE,DIMS>::POINT TPlane<TYPE,DIMS>::ProjectPoint(const POINT& p) const
+{
+	return p - m_vN*Distance(p);
+}
+/*----------------------------------------------------------------*/
+
+
 // Classify point to plane.
 template <typename TYPE, int DIMS>
 inline GCLASS TPlane<TYPE,DIMS>::Classify(const POINT& p) const
@@ -253,6 +338,55 @@ bool TPlane<TYPE,DIMS>::Intersects(const AABB& aabb) const
 /*----------------------------------------------------------------*/
 
 
+// same as above, but online version
+template <typename TYPE, typename TYPEW>
+FitPlaneOnline<TYPE,TYPEW>::FitPlaneOnline()
+	: sumX(0), sumSqX(0), sumXY(0), sumXZ(0), sumY(0), sumSqY(0), sumYZ(0), sumZ(0), sumSqZ(0), size(0)
+{
+}
+template <typename TYPE, typename TYPEW>
+void FitPlaneOnline<TYPE,TYPEW>::Update(const TPoint3<TYPE>& P)
+{
+	const TYPEW X((TYPEW)P.x), Y((TYPEW)P.y), Z((TYPEW)P.z);
+	sumX += X; sumSqX += X*X; sumXY += X*Y; sumXZ += X*Z;
+	sumY += Y; sumSqY += Y*Y; sumYZ += Y*Z;
+	sumZ += Z; sumSqZ += Z*Z;
+	++size;
+}
+template <typename TYPE, typename TYPEW>
+TPoint3<TYPEW> FitPlaneOnline<TYPE,TYPEW>::GetPlane(TPoint3<TYPEW>& avg, TPoint3<TYPEW>& dir) const
+{
+	const TYPEW avgX(sumX/(TYPEW)size), avgY(sumY/(TYPEW)size), avgZ(sumZ/(TYPEW)size);
+	// assemble covariance (lower-triangular) matrix
+	typedef Eigen::Matrix<TYPEW,3,3> Mat3x3;
+	Mat3x3 A;
+	A(0,0) = sumSqX - TYPEW(2)*sumX*avgX + avgX*avgX*(TYPEW)size;
+	A(1,0) = sumXY - sumX*avgY - avgX*sumY + avgX*avgY*(TYPEW)size;
+	A(1,1) = sumSqY - TYPEW(2)*sumY*avgY + avgY*avgY*(TYPEW)size;
+	A(2,0) = sumXZ - sumX*avgZ - avgX*sumZ + avgX*avgZ*(TYPEW)size;
+	A(2,1) = sumYZ - sumY*avgZ - avgY*sumZ + avgY*avgZ*(TYPEW)size;
+	A(2,2) = sumSqZ - TYPEW(2)*sumZ*avgZ + avgZ*avgZ*(TYPEW)size;
+	// the plane normal is simply the eigenvector corresponding to least eigenvalue
+	const Eigen::SelfAdjointEigenSolver<Mat3x3> es(A);
+	ASSERT(ISEQUAL(es.eigenvectors().col(0).norm(), TYPEW(1)));
+	avg = TPoint3<TYPEW>(avgX,avgY,avgZ);
+	dir = es.eigenvectors().col(0);
+	const TYPEW* const vals(es.eigenvalues().data());
+	ASSERT(vals[0] <= vals[1] && vals[1] <= vals[2]);
+	return *reinterpret_cast<const TPoint3<TYPEW>*>(vals);
+}
+template <typename TYPE, typename TYPEW>
+template <typename TYPEE>
+TPoint3<TYPEE> FitPlaneOnline<TYPE,TYPEW>::GetPlane(TPlane<TYPEE,3>& plane) const
+{
+	TPoint3<TYPEW> avg, dir;
+	const TPoint3<TYPEW> quality(GetPlane(avg, dir));
+	plane.Set(TPoint3<TYPEE>(dir), TPoint3<TYPEE>(avg));
+	return TPoint3<TYPEE>(quality);
+}
+/*----------------------------------------------------------------*/
+
+
 // C L A S S  //////////////////////////////////////////////////////
 
 // Construct frustum given a projection matrix.
diff --git a/libs/Common/Rotation.h b/libs/Common/Rotation.h
index 585eefd93..ebc6b85f9 100644
--- a/libs/Common/Rotation.h
+++ b/libs/Common/Rotation.h
@@ -296,6 +296,9 @@ class TRMatrixBase : public TMatrix<TYPE,3,3>
 	/** @brief Initialization with the rotation from roll/pitch/yaw (in rad) */
 	inline TRMatrixBase(TYPE roll, TYPE pitch, TYPE yaw);
 
+	/** @brief Initialization with the rotation from direction dir0 to direction dir1 */
+	inline TRMatrixBase(const Vec& dir0, const Vec& dir1);
+
 	template <typename T> inline TRMatrixBase& operator = (const cv::Matx<T,3,3>& rhs) { BaseBase::operator = (rhs); return *this; }
 	inline TRMatrixBase& operator = (const cv::Mat& rhs) { BaseBase::operator = (rhs); return *this; }
 	#ifdef _USE_EIGEN
@@ -459,6 +462,12 @@ class TRMatrixBase : public TMatrix<TYPE,3,3>
 		@author jw */
 	void SetFromHV(const Vec& xh, const Vec& vy);
 
+	/** @brief Create rotation matrix that rotates from dir0 to dir1
+		@param dir0 represents the first (reference) direction vector
+		@param dir1 represents the second (target) direction vector
+		@author cDc */
+	TRMatrixBase& SetFromDir2Dir(const Vec& dir0, const Vec& dir1);
+
 	/** @brief Calculates quaternion representation for this rotation matrix
 		@attention Scalar part of quaternion will always be non-negative
 				   for sake of uniqueness of the resulting quaternion!
diff --git a/libs/Common/Rotation.inl b/libs/Common/Rotation.inl
index f7868723e..9d72630f3 100644
--- a/libs/Common/Rotation.inl
+++ b/libs/Common/Rotation.inl
@@ -413,7 +413,7 @@ int TQuaternion<TYPE>::SetXYZ(TYPE radX, TYPE radY, TYPE radZ)
 	q_x.Mult(q_y);
 	q_x.Mult(q_z);
 
-	(*this) = q_x;
+	*this = q_x;
 
 	return 0;
 }
@@ -432,7 +432,7 @@ int TQuaternion<TYPE>::SetZYX(TYPE radX, TYPE radY, TYPE radZ)
 	q_z.Mult(q_y);
 	q_z.Mult(q_x);
 
-	(*this) = q_z;
+	*this = q_z;
 
 	return 0;
 }
@@ -551,6 +551,11 @@ inline TRMatrixBase<TYPE>::TRMatrixBase(TYPE roll, TYPE pitch, TYPE yaw)
 {
 	SetXYZ(roll, pitch, yaw);
 }
+template <typename TYPE>
+inline TRMatrixBase<TYPE>::TRMatrixBase(const Vec& dir0, const Vec& dir1)
+{
+	SetFromDir2Dir(dir0, dir1);
+}
 
 
 template <typename TYPE>
@@ -580,7 +585,7 @@ void TRMatrixBase<TYPE>::SetXYZ(TYPE PhiX, TYPE PhiY, TYPE PhiZ)
 	Rx(2,1) = -Rx(1,2); //sin(PhiX);
 	Rx(2,2) = Rx(1,1); //cos(PhiX);
 
-	(*this) = Rx*Ry*Rz;
+	*this = Rx*Ry*Rz;
 	#else
 	const TYPE sin_x = sin(PhiX);
 	const TYPE sin_y = sin(PhiY);
@@ -627,7 +632,7 @@ void TRMatrixBase<TYPE>::SetZYX(TYPE PhiX, TYPE PhiY, TYPE PhiZ)
   Rx(2,1) = -Rx(1,2); //sin(PhiX);
   Rx(2,2) = Rx(1,1); //cos(PhiX);
 
-  (*this) = Rz*Ry*Rx;
+  *this = Rz*Ry*Rx;
 }
 
 
@@ -657,7 +662,7 @@ void TRMatrixBase<TYPE>::SetYXZ(TYPE PhiY, TYPE PhiX, TYPE PhiZ)
   Rx(2,1) = -Rx(1,2); //sin(PhiX);
   Rx(2,2) = Rx(1,1); //cos(PhiX);
 
-  (*this) = Ry*Rx*Rz;
+  *this = Ry*Rx*Rz;
 }
 
 
@@ -687,7 +692,7 @@ void TRMatrixBase<TYPE>::SetZXY(TYPE PhiX, TYPE PhiY, TYPE PhiZ)
   Rx(2,1) = -Rx(1,2); //sin(PhiX);
   Rx(2,2) = Rx(1,1); //cos(PhiX);
 
-  (*this) = Rz*Rx*Ry;
+  *this = Rz*Rx*Ry;
 }
 
 
@@ -697,7 +702,7 @@ void TRMatrixBase<TYPE>::Set(const Vec& wa, TYPE phi)
 {
   // zero rotation  results in identity matrix
   if (ISZERO(phi)) {
-	(*this) = Base::IDENTITY;
+	*this = Base::IDENTITY;
 	return;
   }
 
@@ -720,7 +725,7 @@ void TRMatrixBase<TYPE>::Set(const Vec& wa, TYPE phi)
 
   const Mat Sin_O(Omega *  sin(phi));
   const Mat Cos_O_O((Omega * Omega) * (TYPE(1)-cos(phi)));
-  (*this) = Base::IDENTITY + Sin_O + Cos_O_O;
+  *this = Base::IDENTITY + Sin_O + Cos_O_O;
 }
 
 
@@ -1164,7 +1169,34 @@ void TRMatrixBase<TYPE>::SetFromHV(const Vec& xxx, const Vec& yyy)
 	// compute y base orthogonal in rhs
 	const Vec y0(normalized(cross(z0, x0)));
 
-	(*this).SetFromColumnVectors(x0,  y0,  z0);
+	SetFromColumnVectors(x0,  y0,  z0);
+}
+
+
+template <typename TYPE>
+TRMatrixBase<TYPE>& TRMatrixBase<TYPE>::SetFromDir2Dir(const Vec& dir0, const Vec& dir1)
+{
+	ASSERT(ISEQUAL(norm(dir0), TYPE(1)));
+	ASSERT(ISEQUAL(norm(dir1), TYPE(1)));
+	const TYPE cos01(CLAMP(dir1.dot(dir0), TYPE(-1), TYPE(1)));
+	const TYPE sin01Sq(TYPE(1) - SQUARE(cos01));
+	if (sin01Sq > EPSILONTOLERANCE<TYPE>()) {
+		const Vec v(cross(dir0, dir1));
+		const Mat V(CreateCrossProductMatrix3T<TYPE>(v));
+		*this = Mat::IDENTITY + V + (V*V)*((TYPE(1)-cos01)/sin01Sq);
+	} else {
+		*this = Mat::ZERO;
+		if (cos01 > TYPE(0)) {
+			Base::operator()(0,0) = TYPE(1);
+			Base::operator()(1,1) = TYPE(1);
+			Base::operator()(2,2) = TYPE(1);
+		} else {
+			Base::operator()(0,0) = TYPE(-1);
+			Base::operator()(1,1) = TYPE(-1);
+			Base::operator()(2,2) = TYPE(-1);
+		}
+	}
+	return *this;
 }
 
 
@@ -1202,7 +1234,7 @@ inline void TRMatrixBase<TYPE>::SetRotationAxisAngle(const Vec& rot)
 {
 	#if 0
 	// set rotation using Rodriguez formula
-	(*this) = Mat::IDENTITY;
+	*this = Mat::IDENTITY;
 	const TYPE thetaSq = normSq(rot);
 	if (thetaSq < TYPE(1e-12))
 		return;
@@ -1254,7 +1286,7 @@ inline void TRMatrixBase<TYPE>::SetRotationAxisAngle(const Vec& rot)
 		val[8] = TYPE(1);
 	}
 	#else
-	(*this) = Eigen::SO3<TYPE>(rot).get_matrix();
+	*this = Eigen::SO3<TYPE>(rot).get_matrix();
 	#endif
 }
 
@@ -1262,7 +1294,7 @@ template <typename TYPE>
 inline void TRMatrixBase<TYPE>::Apply(const Vec& delta)
 {
 	const TRMatrixBase dR(delta);
-	(*this) = dR * (*this);
+	*this = dR * (*this);
 }
 
 template <typename TYPE>
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 1aef21c4f..7d72d079a 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -913,46 +913,52 @@ FORCEINLINE int CRound2Int(const double& x) {
 	return c.i;
 }
 #endif
-FORCEINLINE int Floor2Int(float x) {
+template <typename INTTYPE=int>
+FORCEINLINE INTTYPE Floor2Int(float x) {
 	#ifdef _FAST_FLOAT2INT
 	return CRound2Int(double(x)-_float2int_doublemagicroundeps);
 	#else
-	return int(floor(x));
+	return static_cast<INTTYPE>(floor(x));
 	#endif
 }
-FORCEINLINE int Floor2Int(double x) {
+template <typename INTTYPE=int>
+FORCEINLINE INTTYPE Floor2Int(double x) {
 	#ifdef _FAST_FLOAT2INT
 	return CRound2Int(x-_float2int_doublemagicroundeps);
 	#else
-	return int(floor(x));
+	return static_cast<INTTYPE>(floor(x));
 	#endif
 }
-FORCEINLINE int Ceil2Int(float x) {
+template <typename INTTYPE=int>
+FORCEINLINE INTTYPE Ceil2Int(float x) {
 	#ifdef _FAST_FLOAT2INT
 	return CRound2Int(double(x)+_float2int_doublemagicroundeps);
 	#else
-	return int(ceil(x));
+	return static_cast<INTTYPE>(ceil(x));
 	#endif
 }
-FORCEINLINE int Ceil2Int(double x) {
+template <typename INTTYPE=int>
+FORCEINLINE INTTYPE Ceil2Int(double x) {
 	#ifdef _FAST_FLOAT2INT
 	return CRound2Int(x+_float2int_doublemagicroundeps);
 	#else
-	return int(ceil(x));
+	return static_cast<INTTYPE>(ceil(x));
 	#endif
 }
-FORCEINLINE int Round2Int(float x) {
+template <typename INTTYPE=int>
+FORCEINLINE INTTYPE Round2Int(float x) {
 	#ifdef _FAST_FLOAT2INT
 	return CRound2Int(double(x)+_float2int_doublemagicdelta);
 	#else
-	return int(floor(x+.5f));
+	return static_cast<INTTYPE>(floor(x+.5f));
 	#endif
 }
-FORCEINLINE int Round2Int(double x) {
+template <typename INTTYPE=int>
+FORCEINLINE INTTYPE Round2Int(double x) {
 	#ifdef _FAST_FLOAT2INT
 	return CRound2Int(x+_float2int_doublemagicdelta);
 	#else
-	return int(floor(x+.5));
+	return static_cast<INTTYPE>(floor(x+.5));
 	#endif
 }
 /*----------------------------------------------------------------*/
diff --git a/libs/Common/Types.inl b/libs/Common/Types.inl
index 55c754751..e80b02942 100644
--- a/libs/Common/Types.inl
+++ b/libs/Common/Types.inl
@@ -571,58 +571,58 @@ FORCEINLINE bool ISEQUAL(const cv::Matx<TYPE,m,n>& v1, const cv::Matx<TYPE,m,n>&
 }
 
 // round
-template <typename TYPE>
-FORCEINLINE SEACAVE::TPoint2<int32_t> Floor2Int(const cv::Point_<TYPE>& v)
+template <typename TYPE, typename INTTYPE=int>
+FORCEINLINE SEACAVE::TPoint2<INTTYPE> Floor2Int(const cv::Point_<TYPE>& v)
 {
-	return SEACAVE::TPoint2<int32_t>(FLOOR2INT(v.x), FLOOR2INT(v.y));
+	return SEACAVE::TPoint2<INTTYPE>(FLOOR2INT(v.x), FLOOR2INT(v.y));
 }
-template <typename TYPE>
-FORCEINLINE SEACAVE::TPoint2<int32_t> Ceil2Int(const cv::Point_<TYPE>& v)
+template <typename TYPE, typename INTTYPE=int>
+FORCEINLINE SEACAVE::TPoint2<INTTYPE> Ceil2Int(const cv::Point_<TYPE>& v)
 {
-	return SEACAVE::TPoint2<int32_t>(CEIL2INT(v.x), CEIL2INT(v.y));
+	return SEACAVE::TPoint2<INTTYPE>(CEIL2INT(v.x), CEIL2INT(v.y));
 }
-template <typename TYPE>
-FORCEINLINE SEACAVE::TPoint2<int32_t> Round2Int(const cv::Point_<TYPE>& v)
+template <typename TYPE, typename INTTYPE=int>
+FORCEINLINE SEACAVE::TPoint2<INTTYPE> Round2Int(const cv::Point_<TYPE>& v)
 {
-	return SEACAVE::TPoint2<int32_t>(ROUND2INT(v.x), ROUND2INT(v.y));
+	return SEACAVE::TPoint2<INTTYPE>(ROUND2INT(v.x), ROUND2INT(v.y));
 }
 
-template <typename TYPE>
-FORCEINLINE SEACAVE::TPoint3<int32_t> Floor2Int(const cv::Point3_<TYPE>& v)
+template <typename TYPE, typename INTTYPE=int>
+FORCEINLINE SEACAVE::TPoint3<INTTYPE> Floor2Int(const cv::Point3_<TYPE>& v)
 {
-	return SEACAVE::TPoint3<int32_t>(FLOOR2INT(v.x), FLOOR2INT(v.y), FLOOR2INT(v.z));
+	return SEACAVE::TPoint3<INTTYPE>(FLOOR2INT(v.x), FLOOR2INT(v.y), FLOOR2INT(v.z));
 }
-template <typename TYPE>
-FORCEINLINE SEACAVE::TPoint3<int32_t> Ceil2Int(const cv::Point3_<TYPE>& v)
+template <typename TYPE, typename INTTYPE=int>
+FORCEINLINE SEACAVE::TPoint3<INTTYPE> Ceil2Int(const cv::Point3_<TYPE>& v)
 {
-	return SEACAVE::TPoint3<int32_t>(CEIL2INT(v.x), CEIL2INT(v.y), CEIL2INT(v.z));
+	return SEACAVE::TPoint3<INTTYPE>(CEIL2INT(v.x), CEIL2INT(v.y), CEIL2INT(v.z));
 }
-template <typename TYPE>
-FORCEINLINE SEACAVE::TPoint3<int32_t> Round2Int(const cv::Point3_<TYPE>& v)
+template <typename TYPE, typename INTTYPE=int>
+FORCEINLINE SEACAVE::TPoint3<INTTYPE> Round2Int(const cv::Point3_<TYPE>& v)
 {
-	return SEACAVE::TPoint3<int32_t>(ROUND2INT(v.x), ROUND2INT(v.y), ROUND2INT(v.z));
+	return SEACAVE::TPoint3<INTTYPE>(ROUND2INT(v.x), ROUND2INT(v.y), ROUND2INT(v.z));
 }
 
-template <typename TYPE, int m, int n>
-FORCEINLINE SEACAVE::TMatrix<TYPE,m,n> Floor2Int(const cv::Matx<TYPE,m,n>& v)
+template <typename TYPE, int m, int n, typename INTTYPE=int>
+FORCEINLINE SEACAVE::TMatrix<INTTYPE,m,n> Floor2Int(const cv::Matx<TYPE,m,n>& v)
 {
-	SEACAVE::TMatrix<TYPE,m,n> nv;
+	SEACAVE::TMatrix<INTTYPE,m,n> nv;
 	for (int i=0; i<m*n; ++i)
 		nv.val[i] = Floor2Int(v.val[i]);
 	return nv;
 }
-template <typename TYPE, int m, int n>
-FORCEINLINE SEACAVE::TMatrix<TYPE,m,n> Ceil2Int(const cv::Matx<TYPE,m,n>& v)
+template <typename TYPE, int m, int n, typename INTTYPE=int>
+FORCEINLINE SEACAVE::TMatrix<INTTYPE,m,n> Ceil2Int(const cv::Matx<TYPE,m,n>& v)
 {
-	SEACAVE::TMatrix<TYPE,m,n> nv;
+	SEACAVE::TMatrix<INTTYPE,m,n> nv;
 	for (int i=0; i<m*n; ++i)
 		nv.val[i] = Ceil2Int(v.val[i]);
 	return nv;
 }
-template <typename TYPE, int m, int n>
-FORCEINLINE SEACAVE::TMatrix<TYPE,m,n> Round2Int(const cv::Matx<TYPE,m,n>& v)
+template <typename TYPE, int m, int n, typename INTTYPE=int>
+FORCEINLINE SEACAVE::TMatrix<INTTYPE,m,n> Round2Int(const cv::Matx<TYPE,m,n>& v)
 {
-	SEACAVE::TMatrix<TYPE,m,n> nv;
+	SEACAVE::TMatrix<INTTYPE,m,n> nv;
 	for (int i=0; i<m*n; ++i)
 		nv.val[i] = Round2Int(v.val[i]);
 	return nv;
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index c60937aa8..98bb6dab0 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -802,6 +802,9 @@ void DepthEstimator::ProcessPixel(IDX idx)
 		idxScaleRange = 1;
 	else if (conf >= thConfRand) {
 		// try completely random values in order to find an initial estimate
+		#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
+		neighborsClose.Empty();
+		#endif
 		for (unsigned iter=0; iter<OPTDENSE::nRandomIters; ++iter) {
 			const Depth ndepth(RandomDepth(dMinSqr, dMaxSqr));
 			const Normal nnormal(RandomNormal(viewDir));
@@ -1248,41 +1251,47 @@ bool MVS::TriangulatePoints2DepthMap(
 
 namespace MVS {
 
-class PlaneSolverAdaptor
+
+template <typename TYPE>
+class TPlaneSolverAdaptor
 {
 public:
 	enum { MINIMUM_SAMPLES = 3 };
 	enum { MAX_MODELS = 1 };
 
-	typedef Plane Model;
-	typedef cList<Model> Models;
+	typedef TYPE Type;
+	typedef TPoint3<TYPE> Point;
+	typedef CLISTDEF0(Point) Points;
+	typedef TPlane<TYPE,3> Model;
+	typedef CLISTDEF0(Model) Models;
 
-	PlaneSolverAdaptor(const Point3Arr& points)
+	TPlaneSolverAdaptor(const Points& points)
 		: points_(points)
 	{
 	}
-	PlaneSolverAdaptor(const Point3Arr& points, float w, float h, float d)
+	TPlaneSolverAdaptor(const Points& points, float w, float h, float d)
 		: points_(points)
 	{
 		// LogAlpha0 is used to make error data scale invariant
 		// Ratio of containing diagonal image rectangle over image area
 		const float D = SQRT(w*w + h*h + d*d); // diameter
 		const float A = w*h*d+1.f; // volume
-		logalpha0_ = LOG10(2.0f*D/A*0.5f);
+		logalpha0_ = LOG10(2.f*D/A*0.5f);
 	}
 
 	inline bool Fit(const std::vector<size_t>& samples, Models& models) const {
-		Point3 points[3];
-		for (size_t i=0; i<samples.size(); ++i)
+		ASSERT(samples.size() == MINIMUM_SAMPLES);
+		Point points[MINIMUM_SAMPLES];
+		for (size_t i=0; i<MINIMUM_SAMPLES; ++i)
 			points[i] = points_[samples[i]];
 		if (CheckCollinearity(points, 3))
 			return false;
 		models.Resize(1);
-		models[0] = Plane(points[0], points[1], points[2]);
+		models[0] = Model(points[0], points[1], points[2]);
 		return true;
 	}
 
-	inline void EvaluateModel(const Model &model) {
+	inline void EvaluateModel(const Model& model) {
 		model2evaluate = model;
 	}
 
@@ -1290,89 +1299,126 @@ class PlaneSolverAdaptor
 		return SQUARE(model2evaluate.Distance(points_[sample]));
 	}
 
-	inline size_t NumSamples() const { return static_cast<size_t>(points_.GetSize()); }
+	static double Error(const Model& plane, const Points& points) {
+		double e(0);
+		for (const Point& X: points)
+			e += plane.DistanceAbs(X);
+		return e/points.size();
+	}
+
+	inline size_t NumSamples() const { return static_cast<size_t>(points_.size()); }
 	inline double logalpha0() const { return logalpha0_; }
 	inline double multError() const { return 0.5; }
 
 protected:
-	const Point3Arr& points_; // Normalized input data
+	const Points& points_; // Normalized input data
 	double logalpha0_; // Alpha0 is used to make the error adaptive to the image size
 	Model model2evaluate; // current model to be evaluated
 };
 
 // Robustly estimate the plane that fits best the given points
-template <typename Sampler, bool bFixThreshold>
-unsigned TEstimatePlane(const Point3Arr& points, Plane& plane, double& maxThreshold, bool arrInliers[], size_t maxIters)
+template <typename TYPE, typename Sampler, bool bFixThreshold>
+unsigned TEstimatePlane(const CLISTDEF0(TPoint3<TYPE>)& points, TPlane<TYPE,3>& plane, double& maxThreshold, bool arrInliers[], size_t maxIters)
 {
-	const unsigned nPoints = (unsigned)points.GetSize();
+	typedef TPlaneSolverAdaptor<TYPE> PlaneSolverAdaptor;
+
+	plane.Invalidate();
+	
+	const unsigned nPoints = (unsigned)points.size();
 	if (nPoints < PlaneSolverAdaptor::MINIMUM_SAMPLES) {
 		ASSERT("too few points" == NULL);
 		return 0;
 	}
 
 	// normalize points
-	Matrix4x4 H;
-	Point3Arr normPoints;
+	TMatrix<TYPE,4,4> H;
+	typename PlaneSolverAdaptor::Points normPoints;
 	NormalizePoints(points, normPoints, &H);
 
 	// plane robust estimation
 	std::vector<size_t> vec_inliers;
 	Sampler sampler;
 	if (bFixThreshold) {
+		if (maxThreshold == 0)
+			maxThreshold = 0.35/H(0,0);
 		PlaneSolverAdaptor kernel(normPoints);
-		RANSAC(kernel, sampler, vec_inliers, plane, maxThreshold!=0?maxThreshold*H(0,0):0.35, 0.99, maxIters);
+		RANSAC(kernel, sampler, vec_inliers, plane, maxThreshold*H(0,0), 0.99, maxIters);
 		DEBUG_LEVEL(3, "Robust plane: %u/%u points", vec_inliers.size(), nPoints);
 	} else {
+		if (maxThreshold != DBL_MAX)
+			maxThreshold *= H(0,0);
 		PlaneSolverAdaptor kernel(normPoints, 1, 1, 1);
 		const std::pair<double,double> ACRansacOut(ACRANSAC(kernel, sampler, vec_inliers, plane, maxThreshold, 0.99, maxIters));
 		const double& thresholdSq = ACRansacOut.first;
-		maxThreshold = SQRT(thresholdSq);
-		DEBUG_LEVEL(3, "Auto-robust plane: %u/%u points (%g threshold)", vec_inliers.size(), nPoints, maxThreshold/H(0,0));
+		maxThreshold = SQRT(thresholdSq)/H(0,0);
+		DEBUG_LEVEL(3, "Auto-robust plane: %u/%u points (%g threshold)", vec_inliers.size(), nPoints, maxThreshold);
 	}
-	const unsigned inliers_count = (unsigned)vec_inliers.size();
+	unsigned inliers_count = (unsigned)vec_inliers.size();
 	if (inliers_count < PlaneSolverAdaptor::MINIMUM_SAMPLES)
 		return 0;
 
 	// fit plane to all the inliers
-	Point3Arr normInliers(inliers_count);
-	for (uint32_t i=0; i<inliers_count; ++i)
-		normInliers[i] = normPoints[vec_inliers[i]];
-	FitPlane(normInliers.GetData(), normInliers.GetSize(), plane);
-	// if a list of inliers is requested, copy it
-	if (arrInliers) {
-		memset(arrInliers, 0, sizeof(bool)*nPoints);
-		for (uint32_t i=0; i<inliers_count; ++i)
-			arrInliers[vec_inliers[i]] = true;
-	}
+	FitPlaneOnline<TYPE> fitPlane;
+	for (unsigned i=0; i<inliers_count; ++i)
+		fitPlane.Update(normPoints[vec_inliers[i]]);
+	fitPlane.GetPlane(plane);
 
 	// un-normalize plane
-	plane.m_fD /= H(0,0);
-	maxThreshold /= H(0,0);
+	plane.m_fD = (plane.m_fD+plane.m_vN.dot(typename PlaneSolverAdaptor::Model::POINT(H(0,3),H(1,3),H(2,3))))/H(0,0);
 
+	// if a list of inliers is requested, copy it
+	if (arrInliers) {
+		inliers_count = 0;
+		for (unsigned i=0; i<nPoints; ++i)
+			if ((arrInliers[i] = (plane.DistanceAbs(points[i]) <= maxThreshold)) == true)
+				++inliers_count;
+	}
 	return inliers_count;
 } // TEstimatePlane
 
 } // namespace MVS
 
 // Robustly estimate the plane that fits best the given points
-unsigned MVS::EstimatePlane(const Point3Arr& points, Plane& plane, double& maxThreshold, bool arrInliers[], size_t maxIters)
+unsigned MVS::EstimatePlane(const Point3dArr& points, Planed& plane, double& maxThreshold, bool arrInliers[], size_t maxIters)
+{
+	return TEstimatePlane<double,UniformSampler,false>(points, plane, maxThreshold, arrInliers, maxIters);
+} // EstimatePlane
+// Robustly estimate the plane that fits best the given points, making sure the first point is part of the solution (if any)
+unsigned MVS::EstimatePlaneLockFirstPoint(const Point3dArr& points, Planed& plane, double& maxThreshold, bool arrInliers[], size_t maxIters)
+{
+	return TEstimatePlane<double,UniformSamplerLockFirst,false>(points, plane, maxThreshold, arrInliers, maxIters);
+} // EstimatePlaneLockFirstPoint
+// Robustly estimate the plane that fits best the given points using a known threshold
+unsigned MVS::EstimatePlaneTh(const Point3dArr& points, Planed& plane, double maxThreshold, bool arrInliers[], size_t maxIters)
+{
+	return TEstimatePlane<double,UniformSampler,true>(points, plane, maxThreshold, arrInliers, maxIters);
+} // EstimatePlaneTh
+// Robustly estimate the plane that fits best the given points using a known threshold, making sure the first point is part of the solution (if any)
+unsigned MVS::EstimatePlaneThLockFirstPoint(const Point3dArr& points, Planed& plane, double maxThreshold, bool arrInliers[], size_t maxIters)
+{
+	return TEstimatePlane<double,UniformSamplerLockFirst,true>(points, plane, maxThreshold, arrInliers, maxIters);
+} // EstimatePlaneThLockFirstPoint
+/*----------------------------------------------------------------*/
+
+// Robustly estimate the plane that fits best the given points
+unsigned MVS::EstimatePlane(const Point3fArr& points, Planef& plane, double& maxThreshold, bool arrInliers[], size_t maxIters)
 {
-	return TEstimatePlane<UniformSampler,false>(points, plane, maxThreshold, arrInliers, maxIters);
+	return TEstimatePlane<float,UniformSampler,false>(points, plane, maxThreshold, arrInliers, maxIters);
 } // EstimatePlane
 // Robustly estimate the plane that fits best the given points, making sure the first point is part of the solution (if any)
-unsigned MVS::EstimatePlaneLockFirstPoint(const Point3Arr& points, Plane& plane, double& maxThreshold, bool arrInliers[], size_t maxIters)
+unsigned MVS::EstimatePlaneLockFirstPoint(const Point3fArr& points, Planef& plane, double& maxThreshold, bool arrInliers[], size_t maxIters)
 {
-	return TEstimatePlane<UniformSamplerLockFirst,false>(points, plane, maxThreshold, arrInliers, maxIters);
+	return TEstimatePlane<float,UniformSamplerLockFirst,false>(points, plane, maxThreshold, arrInliers, maxIters);
 } // EstimatePlaneLockFirstPoint
 // Robustly estimate the plane that fits best the given points using a known threshold
-unsigned MVS::EstimatePlaneTh(const Point3Arr& points, Plane& plane, double maxThreshold, bool arrInliers[], size_t maxIters)
+unsigned MVS::EstimatePlaneTh(const Point3fArr& points, Planef& plane, double maxThreshold, bool arrInliers[], size_t maxIters)
 {
-	return TEstimatePlane<UniformSampler,true>(points, plane, maxThreshold, arrInliers, maxIters);
+	return TEstimatePlane<float,UniformSampler,true>(points, plane, maxThreshold, arrInliers, maxIters);
 } // EstimatePlaneTh
 // Robustly estimate the plane that fits best the given points using a known threshold, making sure the first point is part of the solution (if any)
-unsigned MVS::EstimatePlaneThLockFirstPoint(const Point3Arr& points, Plane& plane, double maxThreshold, bool arrInliers[], size_t maxIters)
+unsigned MVS::EstimatePlaneThLockFirstPoint(const Point3fArr& points, Planef& plane, double maxThreshold, bool arrInliers[], size_t maxIters)
 {
-	return TEstimatePlane<UniformSamplerLockFirst,true>(points, plane, maxThreshold, arrInliers, maxIters);
+	return TEstimatePlane<float,UniformSamplerLockFirst,true>(points, plane, maxThreshold, arrInliers, maxIters);
 } // EstimatePlaneThLockFirstPoint
 /*----------------------------------------------------------------*/
 
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 3238c2dc9..911091916 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -191,6 +191,7 @@ struct MVS_API DepthData {
 		}
 
 		static bool NeedScaleImage(float scale) {
+			ASSERT(scale > 0);
 			return ABS(scale-1.f) >= 0.15f;
 		}
 		template <typename IMAGE>
@@ -475,10 +476,16 @@ bool TriangulatePoints2DepthMap(
 	const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points,
 	DepthMap& depthMap, Depth& dMin, Depth& dMax, bool bAddCorners, bool bSparseOnly=false);
 
+// Robustly estimate the plane that fits best the given points
 MVS_API unsigned EstimatePlane(const Point3Arr&, Plane&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MVS_API unsigned EstimatePlaneLockFirstPoint(const Point3Arr&, Plane&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MVS_API unsigned EstimatePlaneTh(const Point3Arr&, Plane&, double maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MVS_API unsigned EstimatePlaneThLockFirstPoint(const Point3Arr&, Plane&, double maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
+// same for float points
+MATH_API unsigned EstimatePlane(const Point3fArr&, Planef&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
+MATH_API unsigned EstimatePlaneLockFirstPoint(const Point3fArr&, Planef&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
+MATH_API unsigned EstimatePlaneTh(const Point3fArr&, Planef&, double maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
+MATH_API unsigned EstimatePlaneThLockFirstPoint(const Point3fArr&, Planef&, double maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 
 MVS_API void EstimatePointColors(const ImageArr& images, PointCloud& pointcloud);
 MVS_API void EstimatePointNormals(const ImageArr& images, PointCloud& pointcloud, int numNeighbors=16/*K-nearest neighbors*/);
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 47e754b79..8c26d8458 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -151,6 +151,19 @@ void Mesh::Join(const Mesh& mesh)
 /*----------------------------------------------------------------*/
 
 
+bool Mesh::IsWatertight()
+{
+	if (vertexBoundary.empty()) {
+		if (vertexFaces.empty())
+			ListIncidenteFaces();
+		ListBoundaryVertices();
+	}
+	for (const bool b : vertexBoundary)
+		if (b)
+			return false;
+	return true;
+}
+
 // compute the axis-aligned bounding-box of the mesh
 Mesh::Box Mesh::GetAABB() const
 {
@@ -3912,6 +3925,27 @@ void Mesh::ConvertTexturePerVertex(Mesh& mesh) const
 /*----------------------------------------------------------------*/
 
 
+// estimate the ground-plane as the plane agreeing with most vertices
+//  - sampleMesh: uniformly samples points on the mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)
+//  - planeThreshold: threshold used to estimate the ground plane (0 - auto)
+Planef Mesh::EstimateGroundPlane(const ImageArr& images, float sampleMesh, float planeThreshold, const String& fileExportPlane) const
+{
+	ASSERT(!IsEmpty());
+	PointCloud pointcloud;
+	if (sampleMesh != 0) {
+		// create the point cloud by sampling the mesh
+		if (sampleMesh > 0)
+			SamplePoints(sampleMesh, 0, pointcloud);
+		else
+			SamplePoints(ROUND2INT<unsigned>(-sampleMesh), pointcloud);
+	} else {
+		// create the point cloud containing all vertices
+		for (const Vertex& X: vertices)
+			pointcloud.points.emplace_back(X);
+	}
+	return pointcloud.EstimateGroundPlane(images, planeThreshold, fileExportPlane);
+}
+/*----------------------------------------------------------------*/
 
 
 // computes the centroid of the given mesh face
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 05330e855..f8d10da29 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -147,8 +147,9 @@ class MVS_API Mesh
 	void EmptyExtra();
 	void Swap(Mesh&);
 	void Join(const Mesh&);
-	inline bool IsEmpty() const { return vertices.IsEmpty(); }
-	inline bool HasTexture() const { ASSERT(faceTexcoords.IsEmpty() == textureDiffuse.empty()); return !faceTexcoords.IsEmpty(); }
+	inline bool IsEmpty() const { return vertices.empty(); }
+	bool IsWatertight();
+	inline bool HasTexture() const { ASSERT(faceTexcoords.empty() == textureDiffuse.empty()); return !faceTexcoords.empty(); }
 
 	Box GetAABB() const;
 	Box GetAABB(const Box& bound) const;
@@ -196,6 +197,8 @@ class MVS_API Mesh
 		return n;
 	}
 
+	Planef EstimateGroundPlane(const ImageArr& images, float sampleMesh=0, float planeThreshold=0, const String& fileExportPlane="") const;
+
 	Vertex ComputeCentroid(FIndex) const;
 	Type ComputeArea(FIndex) const;
 	REAL ComputeArea() const;
diff --git a/libs/MVS/PointCloud.cpp b/libs/MVS/PointCloud.cpp
index 85e572cfc..cb70bf63a 100644
--- a/libs/MVS/PointCloud.cpp
+++ b/libs/MVS/PointCloud.cpp
@@ -31,6 +31,7 @@
 
 #include "Common.h"
 #include "PointCloud.h"
+#include "DepthMap.h"
 
 using namespace MVS;
 
@@ -132,6 +133,79 @@ PointCloud::Point PointCloud::GetCenter() const
 /*----------------------------------------------------------------*/
 
 
+// estimate the ground-plane as the plane agreeing with most points
+//  - planeThreshold: threshold used to estimate the ground plane (0 - auto)
+Planef PointCloud::EstimateGroundPlane(const ImageArr& images, float planeThreshold, const String& fileExportPlane) const
+{
+	ASSERT(!IsEmpty());
+
+	// remove some random points to speed up plane fitting
+	const unsigned randMinPoints(100000);
+	PointArr workPoints;
+	const PointArr* pPoints;
+	if (GetSize() > randMinPoints) {
+		#ifndef _RELEASE
+		SEACAVE::Random rnd(SEACAVE::Random::default_seed);
+		#else
+		SEACAVE::Random rnd;
+		#endif
+		const REAL randPointsRatio(MAXF(REAL(1e-4),(REAL)randMinPoints/GetSize()));
+		const SEACAVE::Random::result_type randPointsTh(CEIL2INT<SEACAVE::Random::result_type>(randPointsRatio*SEACAVE::Random::max()));
+		workPoints.reserve(CEIL2INT<PointArr::IDX>(randPointsRatio*GetSize()));
+		for (const Point& X: points)
+			if (rnd() <= randPointsTh)
+				workPoints.emplace_back(X);
+		pPoints = &workPoints;
+	} else {
+		pPoints = &points;
+	}
+
+	// fit plane to the point-cloud
+	Planef plane;
+	const float minInliersRatio(0.05f);
+	double threshold(planeThreshold>0 ? (double)planeThreshold : DBL_MAX);
+	const unsigned numInliers(planeThreshold > 0 ? EstimatePlaneTh(*pPoints, plane, threshold) : EstimatePlane(*pPoints, plane, threshold));
+	if (numInliers < MINF(ROUND2INT<unsigned>(minInliersRatio*pPoints->size()), 1000u)) {
+		plane.Invalidate();
+		return plane;
+	}
+
+	// refine plane to inliers
+	plane.Optimize((const Planef::POINT*)pPoints->data(), pPoints->size(), 100, threshold);
+
+	// make sure the plane is well oriented, negate plane normal if it faces same direction as cameras on average
+	if (!images.empty()) {
+		FloatArr cosView(0, images.size());
+		for (const Image& imageData: images) {
+			if (!imageData.IsValid())
+				continue;
+			cosView.push_back(plane.m_vN.dot((const Point3f::EVecMap&)Cast<float>(imageData.camera.Direction())));
+		}
+		if (cosView.GetMedian() > 0)
+			plane.Negate();
+	}
+
+	// export points on the found plane if requested
+	if (!fileExportPlane.empty()) {
+		PointCloud pc;
+		const Point orig(Point(plane.m_vN)*-plane.m_fD);
+		pc.colors.emplace_back(Color::RED);
+		pc.points.emplace_back(orig);
+		for (const Point& X: *pPoints) {
+			const float dist(plane.DistanceAbs(X));
+			if (dist < threshold) {
+				pc.points.emplace_back(X);
+				const uint8_t color((uint8_t)(255.f*(1.f-dist/threshold)));
+				pc.colors.emplace_back(color, color, color);
+			}
+		}
+		pc.Save(fileExportPlane);
+	}
+	return plane;
+}
+/*----------------------------------------------------------------*/
+
+
 // define a PLY file format composed only of vertices
 namespace BasicPLY {
 	typedef PointCloud::Point Point;
diff --git a/libs/MVS/PointCloud.h b/libs/MVS/PointCloud.h
index d63f7f066..901823757 100644
--- a/libs/MVS/PointCloud.h
+++ b/libs/MVS/PointCloud.h
@@ -54,21 +54,21 @@ class MVS_API PointCloud
 	typedef IDX Index;
 
 	typedef TPoint3<float> Point;
-	typedef SEACAVE::cList<Point,const Point&,0,8192> PointArr;
+	typedef CLISTDEF0IDX(Point,Index) PointArr;
 
 	typedef uint32_t View;
 	typedef SEACAVE::cList<View,const View,0,4,uint32_t> ViewArr;
-	typedef SEACAVE::cList<ViewArr> PointViewArr;
+	typedef CLISTDEFIDX(ViewArr,Index) PointViewArr;
 
 	typedef float Weight;
 	typedef SEACAVE::cList<Weight,const Weight,0,4,uint32_t> WeightArr;
-	typedef SEACAVE::cList<WeightArr> PointWeightArr;
+	typedef CLISTDEFIDX(WeightArr,Index) PointWeightArr;
 
 	typedef TPoint3<float> Normal;
-	typedef CLISTDEF0(Normal) NormalArr;
+	typedef CLISTDEF0IDX(Normal,Index) NormalArr;
 
 	typedef Pixel8U Color;
-	typedef CLISTDEF0(Color) ColorArr;
+	typedef CLISTDEF0IDX(Color,Index) ColorArr;
 
 	typedef AABB3f Box;
 
@@ -99,6 +99,8 @@ class MVS_API PointCloud
 	Box GetAABB(unsigned minViews) const;
 	Point GetCenter() const;
 
+	Planef EstimateGroundPlane(const ImageArr& images, float planeThreshold=0, const String& fileExportPlane="") const;
+
 	bool Load(const String& fileName);
 	bool Save(const String& fileName, bool bLegacyTypes=false) const;
 	bool SaveNViews(const String& fileName, uint32_t minViews, bool bLegacyTypes=false) const;
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 18eceb7a0..8b4ab6f2d 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -1457,6 +1457,14 @@ void Scene::Transform(const Matrix3x3& rotation, const Point3& translation, REAL
 		if (!pointcloud.normals.empty())
 			pointcloud.normals[i] = rotation * Cast<REAL>(pointcloud.normals[i]);
 	}
+	FOREACH(i, mesh.vertices) {
+		mesh.vertices[i] = rotationScale * Cast<REAL>(mesh.vertices[i]) + translation;
+		if (!mesh.vertexNormals.empty())
+			mesh.vertexNormals[i] = rotation * Cast<REAL>(mesh.vertexNormals[i]);
+	}
+	FOREACH(i, mesh.faceNormals) {
+		mesh.faceNormals[i] = rotation * Cast<REAL>(mesh.faceNormals[i]);
+	}
 	if (obb.IsValid()) {
 		obb.Transform(Cast<float>(rotationScale));
 		obb.Translate(Cast<float>(translation));
@@ -1492,6 +1500,37 @@ bool Scene::AlignTo(const Scene& scene)
 	Transform(rotation, translation, scale);
 	return true;
 } // AlignTo
+
+// estimate ground plane, transform scene such that it is positioned at origin, and compute the volume of the mesh;
+//  - planeThreshold: threshold used to estimate the ground plane (0 - auto)
+//  - sampleMesh: uniformly samples points on the mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)
+// returns <0 if an error occurred
+REAL Scene::ComputeLeveledVolume(float planeThreshold, float sampleMesh, unsigned upAxis, bool verbose)
+{
+	ASSERT(!mesh.IsEmpty());
+	if (planeThreshold >= 0 && !mesh.IsWatertight()) {
+		// assume the mesh is opened only at the contact with the ground plane;
+		// move mesh such that the ground plane is at the origin so that the volume can be computed
+		TD_TIMER_START();
+		Planef groundPlane(mesh.EstimateGroundPlane(images, sampleMesh, planeThreshold, verbose?MAKE_PATH("ground_plane.ply"):String()));
+		if (!groundPlane.IsValid()) {
+			VERBOSE("error: can not estimate the ground plane");
+			return -1;
+		}
+		const Point3f up(upAxis==0?1.f:0.f, upAxis==1?1.f:0.f, upAxis==2?1.f:0.f);
+		if (groundPlane.m_vN.dot(Point3f::EVec(up)) < 0.f)
+			groundPlane.Negate();
+		VERBOSE("Ground plane estimated at: (%.2f,%.2f,%.2f) %.2f (%s)",
+			groundPlane.m_vN.x(), groundPlane.m_vN.y(), groundPlane.m_vN.z(), groundPlane.m_fD, TD_TIMER_GET_FMT().c_str());
+		// transform the scene such that the up vector aligns with ground plane normal,
+		// and the mesh center projected on the ground plane is at the origin
+		const Matrix3x3 rotation(RMatrix(Cast<REAL>(up), Cast<REAL>(Point3f(groundPlane.m_vN))));
+		const Point3 translation(-Cast<REAL>(Point3f(groundPlane.ProjectPoint(mesh.GetCenter()))));
+		const REAL scale(1);
+		Transform(rotation, translation, scale);
+	}
+	return mesh.ComputeVolume();
+}
 /*----------------------------------------------------------------*/
 
 
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 60410b342..c6a1fe9a8 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -106,6 +106,7 @@ class MVS_API Scene
 	bool ScaleImages(unsigned nMaxResolution = 0, REAL scale = 0, const String& folderName = String());
 	void Transform(const Matrix3x3& rotation, const Point3& translation, REAL scale);
 	bool AlignTo(const Scene&);
+	REAL ComputeLeveledVolume(float planeThreshold=0, float sampleMesh=-100000, unsigned upAxis=2, bool verbose=true);
 
 	// Estimate and set region-of-interest
 	bool EstimateROI(int nEstimateROI=0, float scale=1.f);
diff --git a/libs/Math/Common.h b/libs/Math/Common.h
index e85b1557b..df0647076 100644
--- a/libs/Math/Common.h
+++ b/libs/Math/Common.h
@@ -24,6 +24,8 @@
 #define MATH_TPL GENERAL_TPL
 #endif
 
+#include "LMFit/lmmin.h"
+
 
 // D E F I N E S ///////////////////////////////////////////////////
 

From 6d6a19971280b86d7f6f3d8caf36d655b18b63bf Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 17 Nov 2022 18:26:43 +0200
Subject: [PATCH 145/252] texture: small code cleanup

(cherry picked from commit a7b3a067da2c1c79aeb32caba748ca6e27d175f9)
---
 libs/MVS/SceneTexture.cpp | 264 +++++++++++++++++---------------------
 1 file changed, 118 insertions(+), 146 deletions(-)

diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index 171d0325d..17ddc24f0 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -174,7 +174,7 @@ struct MeshTexture {
 
 	// used to store info about a face (view, quality)
 	struct FaceData {
-		VIndex idxView;// the view seeing this face
+		IIndex idxView;// the view seeing this face
 		float quality; // how well the face is seen by this view
 		#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
 		Color color; // additionally store mean color (used to remove outliers)
@@ -233,7 +233,7 @@ struct MeshTexture {
 		Patch& GetPatch(uint32_t idxPatch) {
 			const uint32_t idx(patches.Find(idxPatch));
 			if (idx == NO_ID)
-				return patches.AddConstruct(idxPatch);
+				return patches.emplace_back(idxPatch);
 			return patches[idx];
 		}
 		inline void SortByPatchIndex(IndexArr& indices) const {
@@ -312,55 +312,6 @@ struct MeshTexture {
 
 	// used to interpolate adjustments color over the whole texture patch
 	typedef TImage<Color> ColorMap;
-	struct RasterPatchColorData {
-		const TexCoord* tri;
-		Color colors[3];
-		ColorMap& image;
-		inline RasterPatchColorData(ColorMap& _image) : image(_image) {}
-		inline cv::Size Size() const { return image.size(); }
-		inline void operator()(const ImageRef& pt, const Point3f& bary) {
-			ASSERT(image.isInside(pt));
-			image(pt) = colors[0]*bary.x + colors[1]*bary.y + colors[2]*bary.z;
-		}
-	};
-
-	// used to compute the coverage of a texture patch
-	struct RasterPatchCoverageData {
-		const TexCoord* tri;
-		Image8U& image;
-		inline RasterPatchCoverageData(Image8U& _image) : image(_image) {}
-		inline void operator()(const ImageRef& pt) {
-			ASSERT(image.isInside(pt));
-			image(pt) = interior;
-		}
-	};
-
-	// used to draw the average edge color of a texture patch
-	struct RasterPatchMeanEdgeData {
-		Image32F3& image;
-		Image8U& mask;
-		const Image32F3& image0;
-		const Image8U3& image1;
-		const TexCoord p0, p0Dir;
-		const TexCoord p1, p1Dir;
-		const float length;
-		const Sampler sampler;
-		inline RasterPatchMeanEdgeData(Image32F3& _image, Image8U& _mask, const Image32F3& _image0, const Image8U3& _image1,
-									   const TexCoord& _p0, const TexCoord& _p0Adj, const TexCoord& _p1, const TexCoord& _p1Adj)
-			: image(_image), mask(_mask), image0(_image0), image1(_image1),
-			p0(_p0), p0Dir(_p0Adj-_p0), p1(_p1), p1Dir(_p1Adj-_p1), length((float)norm(p0Dir)), sampler() {}
-		inline void operator()(const ImageRef& pt) {
-			const float l((float)norm(TexCoord(pt)-p0)/length);
-			// compute mean color
-			const TexCoord samplePos0(p0 + p0Dir * l);
-			AccumColor accumColor(image0.sample<Sampler,Color>(sampler, samplePos0), 1.f);
-			const TexCoord samplePos1(p1 + p1Dir * l);
-			accumColor.Add(image1.sample<Sampler,Color>(sampler, samplePos1)/255.f, 1.f);
-			image(pt) = accumColor.Normalized();
-			// set mask edge also
-			mask(pt) = border;
-		}
-	};
 
 
 public:
@@ -619,8 +570,8 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 	if (fOutlierThreshold > 0) {
 		// try to detect outlier views for each face
 		// (views for which the face is occluded by a dynamic object in the scene, ex. pedestrians)
-		FOREACHPTR(pFaceDatas, facesDatas)
-			FaceOutlierDetection(*pFaceDatas, fOutlierThreshold);
+		for (FaceDataArr& faceDatas: facesDatas)
+			FaceOutlierDetection(faceDatas, fOutlierThreshold);
 	}
 	#endif
 	return true;
@@ -836,7 +787,7 @@ bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmo
 					const bool bInvisibleFaceAdj(facesDatas[idxFaceAdj].IsEmpty());
 					if (bInvisibleFace || bInvisibleFaceAdj) {
 						if (bInvisibleFace != bInvisibleFaceAdj)
-							seamEdges.AddConstruct(idxFace, idxFaceAdj);
+							seamEdges.emplace_back(idxFace, idxFaceAdj);
 						continue;
 					}
 					boost::add_edge(idxFace, idxFaceAdj, graph);
@@ -943,8 +894,7 @@ bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmo
 						continue;
 					D.MemsetValue(MaxEnergy);
 					const FaceDataArr& faceDatas = facesDatas[f];
-					FOREACHPTR(pFaceData, faceDatas) {
-						const FaceData& faceData = *pFaceData;
+					for (const FaceData& faceData: faceDatas) {
 						const Label label((Label)faceData.idxView);
 						const float normalizedQuality(faceData.quality>=normQuality ? 1.f : faceData.quality/normQuality);
 						const EnergyType dataCost(MaxEnergy*(1.f-normalizedQuality));
@@ -1005,7 +955,7 @@ bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmo
 				const FIndex fTarget((FIndex)ei->m_target);
 				ASSERT(components[fSource] == components[fTarget]);
 				if (labels[fSource] != labels[fTarget])
-					seamEdges.AddConstruct(fSource, fTarget);
+					seamEdges.emplace_back(fSource, fTarget);
 			}
 			for (const PairIdx *pEdge=seamEdges.Begin()+startLabelSeamEdges, *pEdgeEnd=seamEdges.End(); pEdge!=pEdgeEnd; ++pEdge)
 				boost::remove_edge(pEdge->i, pEdge->j, graph);
@@ -1074,29 +1024,29 @@ void MeshTexture::CreateSeamVertices()
 	uint32_t vs0[2], vs1[2];
 	std::unordered_map<VIndex, uint32_t> mapVertexSeam;
 	const unsigned numPatches(texturePatches.GetSize()-1);
-	FOREACHPTR(pEdge, seamEdges) {
+	for (const PairIdx& edge: seamEdges) {
 		// store edge for the later seam optimization
-		ASSERT(pEdge->i < pEdge->j);
-		const uint32_t idxPatch0(mapIdxPatch[components[pEdge->i]]);
-		const uint32_t idxPatch1(mapIdxPatch[components[pEdge->j]]);
+		ASSERT(edge.i < edge.j);
+		const uint32_t idxPatch0(mapIdxPatch[components[edge.i]]);
+		const uint32_t idxPatch1(mapIdxPatch[components[edge.j]]);
 		ASSERT(idxPatch0 != idxPatch1 || idxPatch0 == numPatches);
 		if (idxPatch0 == idxPatch1)
 			continue;
 		seamVertices.ReserveExtra(2);
-		scene.mesh.GetEdgeVertices(pEdge->i, pEdge->j, vs0, vs1);
-		ASSERT(faces[pEdge->i][vs0[0]] == faces[pEdge->j][vs1[0]]);
-		ASSERT(faces[pEdge->i][vs0[1]] == faces[pEdge->j][vs1[1]]);
-		vs[0] = faces[pEdge->i][vs0[0]];
-		vs[1] = faces[pEdge->i][vs0[1]];
+		scene.mesh.GetEdgeVertices(edge.i, edge.j, vs0, vs1);
+		ASSERT(faces[edge.i][vs0[0]] == faces[edge.j][vs1[0]]);
+		ASSERT(faces[edge.i][vs0[1]] == faces[edge.j][vs1[1]]);
+		vs[0] = faces[edge.i][vs0[0]];
+		vs[1] = faces[edge.i][vs0[1]];
 
 		const auto itSeamVertex0(mapVertexSeam.emplace(std::make_pair(vs[0], seamVertices.GetSize())));
 		if (itSeamVertex0.second)
-			seamVertices.AddConstruct(vs[0]);
+			seamVertices.emplace_back(vs[0]);
 		SeamVertex& seamVertex0 = seamVertices[itSeamVertex0.first->second];
 
 		const auto itSeamVertex1(mapVertexSeam.emplace(std::make_pair(vs[1], seamVertices.GetSize())));
 		if (itSeamVertex1.second)
-			seamVertices.AddConstruct(vs[1]);
+			seamVertices.emplace_back(vs[1]);
 		SeamVertex& seamVertex1 = seamVertices[itSeamVertex1.first->second];
 
 		if (idxPatch0 < numPatches) {
@@ -1104,22 +1054,22 @@ void MeshTexture::CreateSeamVertices()
 			SeamVertex::Patch& patch00 = seamVertex0.GetPatch(idxPatch0);
 			SeamVertex::Patch& patch10 = seamVertex1.GetPatch(idxPatch0);
 			ASSERT(patch00.edges.Find(itSeamVertex1.first->second) == NO_ID);
-			patch00.edges.AddConstruct(itSeamVertex1.first->second).idxFace = pEdge->i;
-			patch00.proj = faceTexcoords[pEdge->i*3+vs0[0]]+offset0;
+			patch00.edges.emplace_back(itSeamVertex1.first->second).idxFace = edge.i;
+			patch00.proj = faceTexcoords[edge.i*3+vs0[0]]+offset0;
 			ASSERT(patch10.edges.Find(itSeamVertex0.first->second) == NO_ID);
-			patch10.edges.AddConstruct(itSeamVertex0.first->second).idxFace = pEdge->i;
-			patch10.proj = faceTexcoords[pEdge->i*3+vs0[1]]+offset0;
+			patch10.edges.emplace_back(itSeamVertex0.first->second).idxFace = edge.i;
+			patch10.proj = faceTexcoords[edge.i*3+vs0[1]]+offset0;
 		}
 		if (idxPatch1 < numPatches) {
 			const TexCoord offset1(texturePatches[idxPatch1].rect.tl());
 			SeamVertex::Patch& patch01 = seamVertex0.GetPatch(idxPatch1);
 			SeamVertex::Patch& patch11 = seamVertex1.GetPatch(idxPatch1);
 			ASSERT(patch01.edges.Find(itSeamVertex1.first->second) == NO_ID);
-			patch01.edges.AddConstruct(itSeamVertex1.first->second).idxFace = pEdge->j;
-			patch01.proj = faceTexcoords[pEdge->j*3+vs1[0]]+offset1;
+			patch01.edges.emplace_back(itSeamVertex1.first->second).idxFace = edge.j;
+			patch01.proj = faceTexcoords[edge.j*3+vs1[0]]+offset1;
 			ASSERT(patch11.edges.Find(itSeamVertex0.first->second) == NO_ID);
-			patch11.edges.AddConstruct(itSeamVertex0.first->second).idxFace = pEdge->j;
-			patch11.proj = faceTexcoords[pEdge->j*3+vs1[1]]+offset1;
+			patch11.edges.emplace_back(itSeamVertex0.first->second).idxFace = edge.j;
+			patch11.proj = faceTexcoords[edge.j*3+vs1[1]]+offset1;
 		}
 	}
 	seamEdges.Release();
@@ -1159,9 +1109,9 @@ void MeshTexture::GlobalSeamLeveling()
 			// vertex is part of multiple patches
 			const SeamVertex& seamVertex = seamVertices[patchIndex.idxSeamVertex];
 			ASSERT(seamVertex.idxVertex == i);
-			FOREACHPTR(pPatch, seamVertex.patches) {
-				ASSERT(pPatch->idxPatch != numPatches);
-				vertpatch2row[pPatch->idxPatch] = rowsX++;
+			for (const SeamVertex::Patch& patch: seamVertex.patches) {
+				ASSERT(patch.idxPatch != numPatches);
+				vertpatch2row[patch.idxPatch] = rowsX++;
 			}
 		} else
 		if (patchIndex.idxPatch < numPatches) {
@@ -1184,8 +1134,7 @@ void MeshTexture::GlobalSeamLeveling()
 			if (idxPatch == numPatches)
 				continue;
 			const MatIdx col(vertpatch2rows[v].at(idxPatch));
-			FOREACHPTR(pAdjVert, adjVerts) {
-				const VIndex vAdj(*pAdjVert);
+			for (const VIndex vAdj: adjVerts) {
 				if (v >= vAdj)
 					continue;
 				VertexPatchIterator itVAdj(patchIndices[vAdj], seamVertices);
@@ -1193,8 +1142,8 @@ void MeshTexture::GlobalSeamLeveling()
 					const uint32_t idxPatchAdj(itVAdj);
 					if (idxPatch == idxPatchAdj) {
 						const MatIdx colAdj(vertpatch2rows[vAdj].at(idxPatchAdj));
-						rows.AddConstruct(rowsGamma, col, lambda);
-						rows.AddConstruct(rowsGamma, colAdj, -lambda);
+						rows.emplace_back(rowsGamma, col, lambda);
+						rows.emplace_back(rowsGamma, colAdj, -lambda);
 						++rowsGamma;
 					}
 				}
@@ -1211,8 +1160,7 @@ void MeshTexture::GlobalSeamLeveling()
 	IndexArr indices;
 	Colors vertexColors;
 	Colors coeffB;
-	FOREACHPTR(pSeamVertex, seamVertices) {
-		const SeamVertex& seamVertex = *pSeamVertex;
+	for (const SeamVertex& seamVertex: seamVertices) {
 		if (seamVertex.patches.GetSize() < 2)
 			continue;
 		seamVertex.SortByPatchIndex(indices);
@@ -1221,8 +1169,8 @@ void MeshTexture::GlobalSeamLeveling()
 			const SeamVertex::Patch& patch0 = seamVertex.patches[indices[i]];
 			ASSERT(patch0.idxPatch < numPatches);
 			SampleImage sampler(images[texturePatches[patch0.idxPatch].label].image);
-			FOREACHPTR(pEdge, patch0.edges) {
-				const SeamVertex& seamVertex1 = seamVertices[pEdge->idxSeamVertex];
+			for (const SeamVertex::Patch::Edge& edge: patch0.edges) {
+				const SeamVertex& seamVertex1 = seamVertices[edge.idxSeamVertex];
 				const SeamVertex::Patches::IDX idxPatch1(seamVertex1.patches.Find(patch0.idxPatch));
 				ASSERT(idxPatch1 != SeamVertex::Patches::NO_INDEX);
 				const SeamVertex::Patch& patch1 = seamVertex1.patches[idxPatch1];
@@ -1243,8 +1191,8 @@ void MeshTexture::GlobalSeamLeveling()
 				const MatIdx rowA((MatIdx)coeffB.GetSize());
 				coeffB.Insert(color1 - color0);
 				ASSERT(ISFINITE(coeffB.Last()));
-				rows.AddConstruct(rowA, col0,  1.f);
-				rows.AddConstruct(rowA, col1, -1.f);
+				rows.emplace_back(rowA, col0,  1.f);
+				rows.emplace_back(rowA, col1, -1.f);
 			}
 		}
 	}
@@ -1275,7 +1223,7 @@ void MeshTexture::GlobalSeamLeveling()
 		#endif
 		for (int channel=0; channel<3; ++channel) {
 			// init right hand side vector
-			const Eigen::Map< Eigen::VectorXf, Eigen::Unaligned, Eigen::Stride<0,3> > b(coeffB.Begin()->ptr()+channel, rowsA);
+			const Eigen::Map< Eigen::VectorXf, Eigen::Unaligned, Eigen::Stride<0,3> > b(coeffB.front().ptr()+channel, rowsA);
 			const Eigen::VectorXf Rhs(SparseMat(A.transpose()) * b);
 			// solve for x
 			const Eigen::VectorXf x(solver.solve(Rhs));
@@ -1299,9 +1247,18 @@ void MeshTexture::GlobalSeamLeveling()
 		ColorMap imageAdj(texturePatch.rect.size());
 		imageAdj.memset(0);
 		// interpolate color adjustments over the whole patch
-		RasterPatchColorData data(imageAdj);
-		FOREACHPTR(pIdxFace, texturePatch.faces) {
-			const FIndex idxFace(*pIdxFace);
+		struct RasterPatch {
+			const TexCoord* tri;
+			Color colors[3];
+			ColorMap& image;
+			inline RasterPatch(ColorMap& _image) : image(_image) {}
+			inline cv::Size Size() const { return image.size(); }
+			inline void operator()(const ImageRef& pt, const Point3f& bary) {
+				ASSERT(image.isInside(pt));
+				image(pt) = colors[0]*bary.x + colors[1]*bary.y + colors[2]*bary.z;
+			}
+		} data(imageAdj);
+		for (const FIndex idxFace: texturePatch.faces) {
 			const Face& face = faces[idxFace];
 			data.tri = faceTexcoords.Begin()+idxFace*3;
 			for (int v=0; v<3; ++v)
@@ -1565,7 +1522,7 @@ void MeshTexture::PoissonBlending(const Image32F3& src, Image32F3& dst, const Im
 		case border: {
 			const MatIdx idx(indices(i));
 			ASSERT(idx != -1);
-			coeffA.AddConstruct(idx, idx, 1.f);
+			coeffA.emplace_back(idx, idx, 1.f);
 			coeffB[idx] = (const Color&)dst(i);
 		} break;
 		case interior: {
@@ -1576,11 +1533,11 @@ void MeshTexture::PoissonBlending(const Image32F3& src, Image32F3& dst, const Im
 			const MatIdx idxDown(indices(i + width));
 			// all indices should be either border conditions or part of the optimization
 			ASSERT(idxUp != -1 && idxLeft != -1 && idxCenter != -1 && idxRight != -1 && idxDown != -1);
-			coeffA.AddConstruct(idxCenter, idxUp, 1.f);
-			coeffA.AddConstruct(idxCenter, idxLeft, 1.f);
-			coeffA.AddConstruct(idxCenter, idxCenter,-4.f);
-			coeffA.AddConstruct(idxCenter, idxRight, 1.f);
-			coeffA.AddConstruct(idxCenter, idxDown, 1.f);
+			coeffA.emplace_back(idxCenter, idxUp, 1.f);
+			coeffA.emplace_back(idxCenter, idxLeft, 1.f);
+			coeffA.emplace_back(idxCenter, idxCenter,-4.f);
+			coeffA.emplace_back(idxCenter, idxRight, 1.f);
+			coeffA.emplace_back(idxCenter, idxDown, 1.f);
 			// set target coefficient
 			coeffB[idxCenter] = (bias == 1.f ?
 								 ColorLaplacian(src,i) :
@@ -1603,7 +1560,7 @@ void MeshTexture::PoissonBlending(const Image32F3& src, Image32F3& dst, const Im
 	#endif
 	ASSERT(solver.info() == Eigen::Success);
 	for (int channel=0; channel<3; ++channel) {
-		const Eigen::Map< Eigen::VectorXf, Eigen::Unaligned, Eigen::Stride<0,3> > b(coeffB.Begin()->ptr()+channel, nnz);
+		const Eigen::Map< Eigen::VectorXf, Eigen::Unaligned, Eigen::Stride<0,3> > b(coeffB.front().ptr()+channel, nnz);
 		const Eigen::VectorXf x(solver.solve(b));
 		ASSERT(solver.info() == Eigen::Success);
 		for (int i = 0; i < n; ++i) {
@@ -1616,8 +1573,8 @@ void MeshTexture::PoissonBlending(const Image32F3& src, Image32F3& dst, const Im
 
 void MeshTexture::LocalSeamLeveling()
 {
-	ASSERT(!seamVertices.IsEmpty());
-	const unsigned numPatches(texturePatches.GetSize()-1);
+	ASSERT(!seamVertices.empty());
+	const unsigned numPatches(texturePatches.size()-1);
 
 	// adjust texture patches locally, so that the border continues smoothly inside the patch
 	#ifdef TEXOPT_USE_OPENMP
@@ -1627,27 +1584,34 @@ void MeshTexture::LocalSeamLeveling()
 	for (unsigned i=0; i<numPatches; ++i) {
 	#endif
 		const uint32_t idxPatch((uint32_t)i);
-		TexturePatch& texturePatch = texturePatches[idxPatch];
+		const TexturePatch& texturePatch = texturePatches[idxPatch];
 		// extract image
 		const Image8U3& image0(images[texturePatch.label].image);
 		Image32F3 image, imageOrg;
 		image0(texturePatch.rect).convertTo(image, CV_32FC3, 1.0/255.0);
 		image.copyTo(imageOrg);
 		// render patch coverage
-		Image8U mask(texturePatch.rect.size()); {
+		Image8U mask(image.size()); {
 			mask.memset(0);
-			RasterPatchCoverageData data(mask);
-			FOREACHPTR(pIdxFace, texturePatch.faces) {
-				const FIndex idxFace(*pIdxFace);
-				data.tri = faceTexcoords.Begin()+idxFace*3;
+			struct RasterMesh {
+				const TexCoord* tri;
+				Image8U& image;
+				inline RasterMesh(Image8U& _image) : image(_image) {}
+				inline void operator()(const ImageRef& pt) {
+					ASSERT(image.isInside(pt));
+					image(pt) = interior;
+				}
+			} data(mask);
+			for (const FIndex idxFace: texturePatch.faces) {
+				data.tri = faceTexcoords.data()+idxFace*3;
 				ColorMap::RasterizeTriangle(data.tri[0], data.tri[1], data.tri[2], data);
 			}
 		}
 		// render the patch border meeting neighbor patches
+		const Sampler sampler;
 		const TexCoord offset(texturePatch.rect.tl());
-		FOREACHPTR(pSeamVertex, seamVertices) {
-			const SeamVertex& seamVertex0 = *pSeamVertex;
-			if (seamVertex0.patches.GetSize() < 2)
+		for (const SeamVertex& seamVertex0: seamVertices) {
+			if (seamVertex0.patches.size() < 2)
 				continue;
 			const uint32_t idxVertPatch0(seamVertex0.patches.Find(idxPatch));
 			if (idxVertPatch0 == SeamVertex::Patches::NO_INDEX)
@@ -1655,9 +1619,9 @@ void MeshTexture::LocalSeamLeveling()
 			const SeamVertex::Patch& patch0 = seamVertex0.patches[idxVertPatch0];
 			const TexCoord p0(patch0.proj-offset);
 			// for each edge of this vertex belonging to this patch...
-			FOREACHPTR(pEdge0, patch0.edges) {
+			for (const SeamVertex::Patch::Edge& edge0: patch0.edges) {
 				// select the same edge leaving from the adjacent vertex
-				const SeamVertex& seamVertex1 = seamVertices[pEdge0->idxSeamVertex];
+				const SeamVertex& seamVertex1 = seamVertices[edge0.idxSeamVertex];
 				const uint32_t idxVertPatch0Adj(seamVertex1.patches.Find(idxPatch));
 				ASSERT(idxVertPatch0Adj != SeamVertex::Patches::NO_INDEX);
 				const SeamVertex::Patch& patch0Adj = seamVertex1.patches[idxVertPatch0Adj];
@@ -1667,7 +1631,7 @@ void MeshTexture::LocalSeamLeveling()
 					if (idxVertPatch1 == idxVertPatch0)
 						continue;
 					const SeamVertex::Patch& patch1 = seamVertex0.patches[idxVertPatch1];
-					const uint32_t idxEdge1(patch1.edges.Find(pEdge0->idxSeamVertex));
+					const uint32_t idxEdge1(patch1.edges.Find(edge0.idxSeamVertex));
 					if (idxEdge1 == SeamVertex::Patch::Edges::NO_INDEX)
 						continue;
 					const TexCoord& p1(patch1.proj);
@@ -1679,33 +1643,46 @@ void MeshTexture::LocalSeamLeveling()
 					// this is an edge separating two (valid) patches;
 					// draw it on this patch as the mean color of the two patches
 					const Image8U3& image1(images[texturePatches[patch1.idxPatch].label].image);
-					RasterPatchMeanEdgeData data(image, mask, imageOrg, image1, p0, p0Adj, p1, p1Adj);
+					struct RasterPatch {
+						Image32F3& image;
+						Image8U& mask;
+						const Image32F3& image0;
+						const Image8U3& image1;
+						const TexCoord p0, p0Dir;
+						const TexCoord p1, p1Dir;
+						const float length;
+						const Sampler sampler;
+						inline RasterPatch(Image32F3& _image, Image8U& _mask, const Image32F3& _image0, const Image8U3& _image1,
+							const TexCoord& _p0, const TexCoord& _p0Adj, const TexCoord& _p1, const TexCoord& _p1Adj)
+							: image(_image), mask(_mask), image0(_image0), image1(_image1),
+							p0(_p0), p0Dir(_p0Adj-_p0), p1(_p1), p1Dir(_p1Adj-_p1), length((float)norm(p0Dir)), sampler() {}
+						inline void operator()(const ImageRef& pt) {
+							const float l((float)norm(TexCoord(pt)-p0)/length);
+							// compute mean color
+							const TexCoord samplePos0(p0 + p0Dir * l);
+							const Color color0(image0.sample<Sampler,Color>(sampler, samplePos0));
+							const TexCoord samplePos1(p1 + p1Dir * l);
+							const Color color1(image1.sample<Sampler,Color>(sampler, samplePos1)/255.f);
+							image(pt) = Color((color0 + color1) * 0.5f);
+							// set mask edge also
+							mask(pt) = border;
+						}
+					} data(image, mask, imageOrg, image1, p0, p0Adj, p1, p1Adj);
 					Image32F3::DrawLine(p0, p0Adj, data);
 					// skip remaining patches,
 					// as a manifold edge is shared by maximum two face (one in each patch), which we found already
 					break;
 				}
 			}
-		}
-		// render the vertices at the patch border meeting neighbor patches
-		const Sampler sampler;
-		FOREACHPTR(pSeamVertex, seamVertices) {
-			const SeamVertex& seamVertex = *pSeamVertex;
-			if (seamVertex.patches.GetSize() < 2)
-				continue;
-			const uint32_t idxVertPatch(seamVertex.patches.Find(idxPatch));
-			if (idxVertPatch == SeamVertex::Patches::NO_INDEX)
-				continue;
+			// render the vertex at the patch border meeting neighbor patches
 			AccumColor accumColor;
 			// for each patch...
-			FOREACHPTR(pPatch, seamVertex.patches) {
-				const SeamVertex::Patch& patch = *pPatch;
+			for (const SeamVertex::Patch& patch: seamVertex0.patches) {
 				// add its view to the vertex mean color
 				const Image8U3& img(images[texturePatches[patch.idxPatch].label].image);
 				accumColor.Add(img.sample<Sampler,Color>(sampler, patch.proj)/255.f, 1.f);
 			}
-			const SeamVertex::Patch& thisPatch = seamVertex.patches[idxVertPatch];
-			const ImageRef pt(ROUND2INT(thisPatch.proj-offset));
+			const ImageRef pt(ROUND2INT(patch0.proj-offset));
 			image(pt) = accumColor.Normalized();
 			mask(pt) = border;
 		}
@@ -1715,7 +1692,7 @@ void MeshTexture::LocalSeamLeveling()
 		// compute texture patch blending
 		PoissonBlending(imageOrg, image, mask);
 		// apply color correction to the patch image
-		cv::Mat imagePatch(images[texturePatch.label].image(texturePatch.rect));
+		cv::Mat imagePatch(image0(texturePatch.rect));
 		for (int r=0; r<image.rows; ++r) {
 			for (int c=0; c<image.cols; ++c) {
 				if (mask(r,c) == empty)
@@ -1733,9 +1710,9 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 {
 	// project patches in the corresponding view and compute texture-coordinates and bounding-box
 	const int border(2);
-	faceTexcoords.Resize(faces.GetSize()*3);
+	faceTexcoords.resize(faces.size()*3);
 	#ifdef TEXOPT_USE_OPENMP
-	const unsigned numPatches(texturePatches.GetSize()-1);
+	const unsigned numPatches(texturePatches.size()-1);
 	#pragma omp parallel for schedule(dynamic)
 	for (int_t idx=0; idx<(int_t)numPatches; ++idx) {
 		TexturePatch& texturePatch = texturePatches[(uint32_t)idx];
@@ -1751,8 +1728,7 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 		// and the top left corner is at (0, 0)
 		const TexCoord halfPixel(0.5f, 0.5f);
 		AABB2f aabb(true);
-		FOREACHPTR(pIdxFace, texturePatch.faces) {
-			const FIndex idxFace(*pIdxFace);
+		for (const FIndex idxFace: texturePatch.faces) {
 			const Face& face = faces[idxFace];
 			TexCoord* texcoords = faceTexcoords.Begin()+idxFace*3;
 			for (int i=0; i<3; ++i) {
@@ -1771,8 +1747,7 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 		ASSERT(imageData.image.isInside(texturePatch.rect.tl()));
 		ASSERT(imageData.image.isInside(texturePatch.rect.br()));
 		const TexCoord offset(texturePatch.rect.tl());
-		FOREACHPTR(pIdxFace, texturePatch.faces) {
-			const FIndex idxFace(*pIdxFace);
+		for (const FIndex idxFace: texturePatch.faces) {
 			TexCoord* texcoords = faceTexcoords.Begin()+idxFace*3;
 			for (int v=0; v<3; ++v)
 				texcoords[v] -= offset;
@@ -1783,8 +1758,7 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 		TexturePatch& texturePatch = texturePatches.Last();
 		const int sizePatch(border*2+1);
 		texturePatch.rect = cv::Rect(0,0, sizePatch,sizePatch);
-		FOREACHPTR(pIdxFace, texturePatch.faces) {
-			const FIndex idxFace(*pIdxFace);
+		for (const FIndex idxFace: texturePatch.faces) {
 			TexCoord* texcoords = faceTexcoords.Begin()+idxFace*3;
 			for (int i=0; i<3; ++i)
 				texcoords[i] = TexCoord(0.5f, 0.5f);
@@ -1812,9 +1786,9 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 	}
 
 	// merge texture patches with overlapping rectangles
-	for (unsigned i=0; i<texturePatches.GetSize()-2; ++i) {
+	for (unsigned i=0; i<texturePatches.size()-1; ++i) {
 		TexturePatch& texturePatchBig = texturePatches[i];
-		for (unsigned j=1; j<texturePatches.GetSize()-1; ++j) {
+		for (unsigned j=1; j<texturePatches.size(); ++j) {
 			if (i == j)
 				continue;
 			TexturePatch& texturePatchSmall = texturePatches[j];
@@ -1824,9 +1798,8 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 				continue;
 			// translate texture coordinates
 			const TexCoord offset(texturePatchSmall.rect.tl()-texturePatchBig.rect.tl());
-			FOREACHPTR(pIdxFace, texturePatchSmall.faces) {
-				const FIndex idxFace(*pIdxFace);
-				TexCoord* texcoords = faceTexcoords.Begin()+idxFace*3;
+			for (const FIndex idxFace: texturePatchSmall.faces) {
+				TexCoord* texcoords = faceTexcoords.data()+idxFace*3;
 				for (int v=0; v<3; ++v)
 					texcoords[v] += offset;
 			}
@@ -1902,9 +1875,8 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 			}
 			// compute final texture coordinates
 			const TexCoord offset(rect.tl());
-			FOREACHPTR(pIdxFace, texturePatch.faces) {
-				const FIndex idxFace(*pIdxFace);
-				TexCoord* texcoords = faceTexcoords.Begin()+idxFace*3;
+			for (const FIndex idxFace: texturePatch.faces) {
+				TexCoord* texcoords = faceTexcoords.data()+idxFace*3;
 				for (int v=0; v<3; ++v) {
 					TexCoord& texcoord = texcoords[v];
 					// translate, normalize and flip Y axis

From 191d475dfaa59d0957cf488226682a9f6d748229 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 19 Nov 2022 19:22:41 +0200
Subject: [PATCH 146/252] transform: robustify volume estimation

---
 apps/TransformScene/TransformScene.cpp |   9 +-
 libs/Common/Plane.inl                  |   8 +-
 libs/Common/Types.h                    |   4 +-
 libs/MVS/PointCloud.cpp                |  11 +-
 libs/MVS/Scene.cpp                     |   4 +-
 libs/Math/Common.h                     |   1 +
 libs/Math/RobustNorms.h                | 143 +++++++++++++++++++++++++
 libs/Math/RobustNorms.png              | Bin 0 -> 73478 bytes
 libs/Math/SimilarityTransform.cpp      |   6 +-
 libs/Math/SimilarityTransform.h        |  10 +-
 10 files changed, 172 insertions(+), 24 deletions(-)
 create mode 100644 libs/Math/RobustNorms.h
 create mode 100644 libs/Math/RobustNorms.png

diff --git a/apps/TransformScene/TransformScene.cpp b/apps/TransformScene/TransformScene.cpp
index 9fd842c42..72b90bcae 100644
--- a/apps/TransformScene/TransformScene.cpp
+++ b/apps/TransformScene/TransformScene.cpp
@@ -96,7 +96,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("align-file,o", boost::program_options::value<std::string>(&OPT::strAlignFileName), "input scene filename to which the scene will be cameras aligned")
 		("compute-volume", boost::program_options::value(&OPT::bComputeVolume)->default_value(false), "compute the volume of the given watertight mesh, or else try to estimate the ground plane and assume the mesh is bounded by it")
 		("plane-threshold", boost::program_options::value(&OPT::fPlaneThreshold)->default_value(0.f), "threshold used to estimate the ground plane (<0 - disabled, 0 - auto, >0 - desired threshold)")
-		("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(-100000.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
+		("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(-300000.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
 		("up-axis", boost::program_options::value(&OPT::nUpAxis)->default_value(2), "scene axis considered to point upwards (0 - x, 1 - y, 2 - z)")
 		;
 
@@ -212,12 +212,11 @@ int main(int argc, LPCTSTR* argv)
 	if (OPT::bComputeVolume && !scene.mesh.IsEmpty()) {
 		// compute the mesh volume
 		const REAL volume(scene.ComputeLeveledVolume(OPT::fPlaneThreshold, OPT::fSampleMesh, OPT::nUpAxis));
-		if (volume < 0)
-			return EXIT_FAILURE;
-		OPT::nArchiveType = ARCHIVE_DEFAULT;
 		VERBOSE("Mesh volume: %g (%s)", volume, TD_TIMER_GET_FMT().c_str());
 		scene.mesh.Save(Util::getFileFullName(MAKE_PATH_SAFE(OPT::strOutputFileName)) + _T(".ply"));
-		return EXIT_SUCCESS;
+		if (scene.images.empty())
+			return EXIT_SUCCESS;
+		OPT::nArchiveType = ARCHIVE_DEFAULT;
 	}
 
 	// write transformed scene
diff --git a/libs/Common/Plane.inl b/libs/Common/Plane.inl
index 957357a7d..e638c2b56 100644
--- a/libs/Common/Plane.inl
+++ b/libs/Common/Plane.inl
@@ -91,10 +91,10 @@ int TPlane<TYPE,DIMS>::Optimize(const POINT* points, size_t size, int maxIters,
 	struct OptimizationFunctor {
 		const POINT* points;
 		const size_t size;
-		const double threshold;
+		const RobustNorm::GemanMcClure<double> robust;
 		// construct with the data points
 		OptimizationFunctor(const POINT* _points, size_t _size, double _th)
-			: points(_points), size(_size), threshold(_th) { ASSERT(size < std::numeric_limits<int>::max()); }
+			: points(_points), size(_size), robust(_th) { ASSERT(size < std::numeric_limits<int>::max()); }
 		static void Residuals(const double* x, int nPoints, const void* pData, double* fvec, double* fjac, int* /*info*/) {
 			const OptimizationFunctor& data = *reinterpret_cast<const OptimizationFunctor*>(pData);
 			ASSERT((size_t)nPoints == data.size && fvec != NULL && fjac == NULL);
@@ -105,7 +105,7 @@ int TPlane<TYPE,DIMS>::Optimize(const POINT* points, size_t size, int maxIters,
 				plane.m_vN = N;
 			}
 			for (size_t i=0; i<data.size; ++i)
-				fvec[i] = MINF(plane.DistanceAbs(data.points[i].template cast<double>()), data.threshold);
+				fvec[i] = data.robust(plane.Distance(data.points[i].template cast<double>()));
 		}
 	} functor(points, size, threshold);
 	double arrParams[numParams]; {
@@ -113,7 +113,7 @@ int TPlane<TYPE,DIMS>::Optimize(const POINT* points, size_t size, int maxIters,
 		const Point3d N(m_vN.x(), m_vN.y(), m_vN.z());
 		Normal2Dir(N, reinterpret_cast<Point2d&>(arrParams[1]));
 	}
-	lm_control_struct control = {1.e-6, 1.e-7, 1.e-8, 1.e-8, 100.0, maxIters}; // lm_control_float;
+	lm_control_struct control = {1.e-6, 1.e-7, 1.e-8, 1.e-7, 100.0, maxIters}; // lm_control_float;
 	lm_status_struct status;
 	lmmin(numParams, arrParams, (int)size, &functor, OptimizationFunctor::Residuals, &control, &status);
 	switch (status.info) {
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 7d72d079a..3586e9c6c 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -628,11 +628,11 @@ constexpr T& NEGATE(T& a) {
 }
 template<typename T>
 constexpr T SQUARE(const T& a) {
-	return (a * a);
+	return a * a;
 }
 template<typename T>
 constexpr T CUBE(const T& a) {
-	return (a * a * a);
+	return a * a * a;
 }
 template<typename T>
 inline T SQRT(const T& a) {
diff --git a/libs/MVS/PointCloud.cpp b/libs/MVS/PointCloud.cpp
index cb70bf63a..17143ea8d 100644
--- a/libs/MVS/PointCloud.cpp
+++ b/libs/MVS/PointCloud.cpp
@@ -140,7 +140,7 @@ Planef PointCloud::EstimateGroundPlane(const ImageArr& images, float planeThresh
 	ASSERT(!IsEmpty());
 
 	// remove some random points to speed up plane fitting
-	const unsigned randMinPoints(100000);
+	const unsigned randMinPoints(150000);
 	PointArr workPoints;
 	const PointArr* pPoints;
 	if (GetSize() > randMinPoints) {
@@ -169,9 +169,16 @@ Planef PointCloud::EstimateGroundPlane(const ImageArr& images, float planeThresh
 		plane.Invalidate();
 		return plane;
 	}
+	if (planeThreshold <= 0)
+		DEBUG("Ground plane estimated threshold: %g", threshold);
 
 	// refine plane to inliers
-	plane.Optimize((const Planef::POINT*)pPoints->data(), pPoints->size(), 100, threshold);
+	CLISTDEF0(Planef::POINT) inliers;
+	const float maxThreshold(static_cast<float>(threshold * 2));
+	for (const Point& X: *pPoints)
+		if (plane.DistanceAbs(X) < maxThreshold)
+			inliers.emplace_back(X);
+	plane.Optimize(inliers.data(), inliers.size(), 100, threshold);
 
 	// make sure the plane is well oriented, negate plane normal if it faces same direction as cameras on average
 	if (!images.empty()) {
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 8b4ab6f2d..d0ddf3531 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -1524,8 +1524,8 @@ REAL Scene::ComputeLeveledVolume(float planeThreshold, float sampleMesh, unsigne
 			groundPlane.m_vN.x(), groundPlane.m_vN.y(), groundPlane.m_vN.z(), groundPlane.m_fD, TD_TIMER_GET_FMT().c_str());
 		// transform the scene such that the up vector aligns with ground plane normal,
 		// and the mesh center projected on the ground plane is at the origin
-		const Matrix3x3 rotation(RMatrix(Cast<REAL>(up), Cast<REAL>(Point3f(groundPlane.m_vN))));
-		const Point3 translation(-Cast<REAL>(Point3f(groundPlane.ProjectPoint(mesh.GetCenter()))));
+		const Matrix3x3 rotation(RMatrix(Cast<REAL>(up), Cast<REAL>(Point3f(groundPlane.m_vN))).t());
+		const Point3 translation(rotation*-Cast<REAL>(Point3f(groundPlane.ProjectPoint(mesh.GetCenter()))));
 		const REAL scale(1);
 		Transform(rotation, translation, scale);
 	}
diff --git a/libs/Math/Common.h b/libs/Math/Common.h
index df0647076..62fd0b287 100644
--- a/libs/Math/Common.h
+++ b/libs/Math/Common.h
@@ -25,6 +25,7 @@
 #endif
 
 #include "LMFit/lmmin.h"
+#include "RobustNorms.h"
 
 
 // D E F I N E S ///////////////////////////////////////////////////
diff --git a/libs/Math/RobustNorms.h b/libs/Math/RobustNorms.h
new file mode 100644
index 000000000..3f5830a63
--- /dev/null
+++ b/libs/Math/RobustNorms.h
@@ -0,0 +1,143 @@
+/*
+* RobustNorms.h
+*
+* Copyright (c) 2014-2022 SEACAVE
+*
+* Author(s):
+*
+*      cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*      You are required to preserve legal notices and author attributions in
+*      that material or in the Appropriate Legal Notices displayed by works
+*      containing it.
+*/
+
+#ifndef _SEACAVE_ROBUSTNORMS_H_
+#define _SEACAVE_ROBUSTNORMS_H_
+
+
+// I N C L U D E S /////////////////////////////////////////////////
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+namespace SEACAVE {
+
+// M-estimators to be used during nonlinear refinement for increased robustness to outlier residuals:
+//   new_residual = robustNorm(residual)
+namespace RobustNorm {
+
+template<typename TYPE>
+struct L1 {
+	inline TYPE operator()(const TYPE& r) const {
+		return r / (std::sqrt(std::abs(r)) + TYPE(1e-12));
+	}
+};
+
+template<typename TYPE>
+struct Exp {
+	inline Exp(const TYPE& _threshold)
+		: sigma(TYPE(-1) / (TYPE(2) * SQUARE(_threshold))) { ASSERT(_threshold > 0); }
+	inline TYPE operator()(const TYPE& r) const {
+		return r * std::exp(SQUARE(r)*sigma);
+	}
+	const TYPE sigma;
+};
+
+template<typename TYPE>
+struct BlakeZisserman {
+	inline BlakeZisserman(const TYPE& _threshold)
+		: threshold(_threshold), invThreshold(TYPE(1)/threshold), eps(std::exp(-SQUARE(threshold))) { ASSERT(_threshold > 0); }
+	inline TYPE operator()(const TYPE& r) const {
+		return -log(std::exp(-SQUARE(r) * invThreshold) + eps);
+	}
+	const TYPE threshold;
+	const TYPE invThreshold;
+	const TYPE eps;
+};
+
+template<typename TYPE>
+struct Huber {
+	inline Huber(const TYPE& _threshold)
+		: threshold(_threshold) { ASSERT(_threshold > 0); }
+	inline TYPE operator()(const TYPE& r) const {
+		const TYPE dAbs(std::abs(r));
+		if (dAbs <= threshold)
+			return r;
+		return std::copysign(std::sqrt(threshold * (TYPE(2) * dAbs - threshold)), r);
+	}
+	const TYPE threshold;
+};
+
+template<typename TYPE>
+struct PseudoHuber {
+	inline PseudoHuber(const TYPE& _threshold)
+		: threshold(_threshold), thresholdSq(SQUARE(_threshold)), invThreshold(TYPE(1)/threshold) { ASSERT(_threshold > 0); }
+	inline TYPE operator()(const TYPE& r) const {
+		return std::sqrt(TYPE(2) * thresholdSq * (std::sqrt(TYPE(1) + SQUARE(r * invThreshold)) - TYPE(1)));
+	}
+	const TYPE threshold;
+	const TYPE thresholdSq;
+	const TYPE invThreshold;
+};
+
+template<typename TYPE>
+struct GemanMcClure {
+	inline GemanMcClure(const TYPE& _threshold)
+		: thresholdSq(SQUARE(_threshold)) { ASSERT(_threshold > 0); }
+	inline TYPE operator()(const TYPE& r) const {
+		return r * std::sqrt(thresholdSq/(thresholdSq+SQUARE(r)));
+	}
+	const TYPE thresholdSq;
+};
+
+template<typename TYPE>
+struct Cauchy {
+	inline Cauchy(const TYPE& _threshold)
+		: thresholdSq(SQUARE(_threshold)), invThresholdSq(TYPE(1)/thresholdSq) { ASSERT(_threshold > 0); }
+	inline TYPE operator()(const TYPE& r) const {
+		return std::sqrt(thresholdSq*log(TYPE(1)+SQUARE(r)*invThresholdSq));
+	}
+	const TYPE thresholdSq;
+	const TYPE invThresholdSq;
+};
+
+template<typename TYPE>
+struct Tukey {
+	inline Tukey(const TYPE& _threshold)
+		: threshold(_threshold), thresholdCb6(CUBE(_threshold)/TYPE(6)), invThreshold(TYPE(1)/threshold), sqrtThresholdCb6(std::sqrt(thresholdCb6)) { ASSERT(_threshold > 0); }
+	inline TYPE operator()(const TYPE& r) const {
+		return std::abs(r) < threshold ? std::sqrt(thresholdSq6*(TYPE(1)-CUBE(TYPE(1)-SQUARE(r*invThreshold)))) : sqrtThresholdCb6;
+	}
+	const TYPE threshold;
+	const TYPE thresholdCb6;
+	const TYPE invThreshold;
+	const TYPE sqrtThresholdCb6;
+};
+
+} // namespace RobustNorm
+/*----------------------------------------------------------------*/
+
+} // namespace SEACAVE
+
+#endif // _SEACAVE_ROBUSTNORMS_H_
diff --git a/libs/Math/RobustNorms.png b/libs/Math/RobustNorms.png
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HcmV?d00001

diff --git a/libs/Math/SimilarityTransform.cpp b/libs/Math/SimilarityTransform.cpp
index 3920c64a3..1b5685d95 100644
--- a/libs/Math/SimilarityTransform.cpp
+++ b/libs/Math/SimilarityTransform.cpp
@@ -32,8 +32,6 @@
 #include "Common.h"
 #include "SimilarityTransform.h"
 
-using namespace MVS;
-
 
 // D E F I N E S ///////////////////////////////////////////////////
 
@@ -41,7 +39,7 @@ using namespace MVS;
 // S T R U C T S ///////////////////////////////////////////////////
 
 // find the similarity transform that best aligns the given two sets of corresponding 3D points
-bool MVS::SimilarityTransform(const CLISTDEF0(Point3)& points, const CLISTDEF0(Point3)& pointsRef, Matrix4x4& transform)
+bool SEACAVE::SimilarityTransform(const CLISTDEF0(Point3)& points, const CLISTDEF0(Point3)& pointsRef, Matrix4x4& transform)
 {
 	ASSERT(points.size() == pointsRef.size());
 	typedef Eigen::Matrix<REAL,3,Eigen::Dynamic> PointsVec;
@@ -56,7 +54,7 @@ bool MVS::SimilarityTransform(const CLISTDEF0(Point3)& points, const CLISTDEF0(P
 } // SimilarityTransform
 /*----------------------------------------------------------------*/
 
-void MVS::DecomposeSimilarityTransform(const Matrix4x4& transform, Matrix3x3& R, Point3& t, REAL& s)
+void SEACAVE::DecomposeSimilarityTransform(const Matrix4x4& transform, Matrix3x3& R, Point3& t, REAL& s)
 {
 	const Eigen::Transform<REAL,3,Eigen::Affine,Eigen::RowMajor> T(static_cast<const Matrix4x4::EMat&>(transform));
 	Eigen::Matrix<REAL,3,3> scaling;
diff --git a/libs/Math/SimilarityTransform.h b/libs/Math/SimilarityTransform.h
index 9ee52a7c9..0c69bfa56 100644
--- a/libs/Math/SimilarityTransform.h
+++ b/libs/Math/SimilarityTransform.h
@@ -29,8 +29,8 @@
 *      containing it.
 */
 
-#ifndef _MVS_SIMILARITY_TRANSFORM_H_
-#define _MVS_SIMILARITY_TRANSFORM_H_
+#ifndef _SEACAVE_SIMILARITY_TRANSFORM_H_
+#define _SEACAVE_SIMILARITY_TRANSFORM_H_
 
 
 // I N C L U D E S /////////////////////////////////////////////////
@@ -41,7 +41,7 @@
 
 // S T R U C T S ///////////////////////////////////////////////////
 
-namespace MVS {
+namespace SEACAVE {
 
 // find the similarity transform that best aligns the given two sets of corresponding 3D points
 bool SimilarityTransform(const CLISTDEF0(Point3)& points, const CLISTDEF0(Point3)& pointsRef, Matrix4x4& transform);
@@ -50,6 +50,6 @@ bool SimilarityTransform(const CLISTDEF0(Point3)& points, const CLISTDEF0(Point3
 void DecomposeSimilarityTransform(const Matrix4x4& transform, Matrix3x3& R, Point3& t, REAL& s);
 /*----------------------------------------------------------------*/
 
-} // namespace MVS
+} // namespace SEACAVE
 
-#endif // _MVS_SIMILARITY_TRANSFORM_H_
+#endif // _SEACAVE_SIMILARITY_TRANSFORM_H_

From 3a738d5a5c893b9d3d7303e4bd138296868c68a9 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 21 Nov 2022 16:21:40 +0200
Subject: [PATCH 147/252] common: fix some warnings

---
 .gitignore                     |   1 +
 BUILD.md                       | 133 ++++---------------------
 CMakeLists.txt                 |   4 +-
 libs/Common/Plane.h            |   2 -
 libs/Common/Plane.inl          |  95 +++++++-----------
 libs/Common/Rotation.inl       |  36 +++++++
 libs/Common/Types.h            |  12 +--
 libs/Common/Types.inl          |   2 +-
 libs/Common/Util.inl           | 172 ---------------------------------
 libs/MVS/DepthMap.cpp          |  69 ++++++++++++-
 libs/MVS/DepthMap.h            |   2 +
 libs/MVS/Mesh.cpp              |   2 +-
 libs/MVS/PatchMatchCUDA.cpp    |   2 +-
 libs/MVS/PointCloud.cpp        |   2 +-
 libs/MVS/RectsBinPack.cpp      |   2 +-
 libs/MVS/SceneDensify.cpp      |   2 +-
 libs/MVS/SceneRefine.cpp       |   4 +-
 libs/MVS/SceneRefineCUDA.cpp   |   4 +-
 libs/MVS/SemiGlobalMatcher.cpp |   2 +-
 libs/Math/RobustNorms.h        |  28 +++++-
 vcpkg.json                     |  36 +++++++
 21 files changed, 244 insertions(+), 368 deletions(-)
 create mode 100644 vcpkg.json

diff --git a/.gitignore b/.gitignore
index a12459285..c301e5a4e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -36,3 +36,4 @@ CMakeSettings.json
 .vscode/
 out/
 bin*/
+make*/
diff --git a/BUILD.md b/BUILD.md
index 880d4b780..28fda265c 100644
--- a/BUILD.md
+++ b/BUILD.md
@@ -2,14 +2,15 @@
 Dependencies
 ------------
 
-*OpenMVS* relies on a number of open source libraries, some of which are optional. For details on customizing the build process, see the compilation instructions.
+*OpenMVS* relies on a number of open source libraries, some optional, which are managed automatically by [vcpkg](https://github.com/Microsoft/vcpkg). For details on customizing the build process, see the build instructions.
 * [Eigen](http://eigen.tuxfamily.org) version 3.4 or higher
 * [OpenCV](http://opencv.org) version 2.4 or higher
-* [Ceres](http://ceres-solver.org) version 1.10 or higher
+* [Ceres](http://ceres-solver.org) version 1.10 or higher (optional)
 * [CGAL](http://www.cgal.org) version 4.2 or higher
 * [Boost](http://www.boost.org) version 1.56 or higher
 * [VCG](http://vcg.isti.cnr.it/vcglib)
-* [GLFW](http://www.glfw.org)
+* [CUDA](https://developer.nvidia.com/cuda-downloads) (optional)
+* [GLFW](http://www.glfw.org) (optional)
 
 ------------------
 Build instructions
@@ -18,127 +19,29 @@ Build instructions
 Required tools:
 * [CMake](http://www.cmake.org)
 * [git](https://git-scm.com)
-* C/C++ compiler like Visual Studio or GCC
+* C/C++ compiler like Visual Studio 2019, GCC or Clang
 
--------------------
-Windows compilation
--------------------
+The dependencies can be fetched and built automatically using `vcpkg` on all major platform, by setting the environment variable `VCPKG_ROOT` to point to its path or by using the `cmake` parameter `-DCMAKE_TOOLCHAIN_FILE=[path to vcpkg]/scripts/buildsystems/vcpkg.cmake`.
 
-Visual Studio 2008 or newer are supported. Please note that the development is done mainly on Windows, so this platform build is well tested. The latest pre-built binaries for fast testing can be download from [here](https://github.com/cdcseacave/openMVS_sample/releases/latest). Visual Studio 2017 and dependencies automation tool [vcpkg](https://github.com/Microsoft/vcpkg) are used in this example.
+The latest pre-built stable binaries can be download from [here](https://github.com/cdcseacave/openMVS_sample/releases/latest).
 
 ```
-#Make a toplevel directory for deps & build & src somewhere:
-mkdir OpenMVS
-cd OpenMVS
-
-#Get and install dependencies using vcpkg;
-#choose the desired triplet, like "x64-windows", by setting the VCPKG_DEFAULT_TRIPLET environment variable or by specifying it after each package:
-vcpkg install zlib boost-iostreams boost-program-options boost-system boost-serialization eigen3 cgal[core] opencv vcglib glew glfw3
-
-#Get VCGLib (Required):
-git clone https://github.com/cdcseacave/VCG.git
-
-#Get and unpack OpenMVS in OpenMVS/src:
-git clone https://github.com/cdcseacave/openMVS.git src
+#Clone OpenMVS
+git clone --recurse-submodules https://github.com/cdcseacave/openMVS.git
 
 #Make build directory:
-mkdir build
-cd build
-
-#Run CMake, where VCPKG_ROOT environment variable points to the root of vcpkg installation:
-cmake . ..\src -G "Visual Studio 15 2017 Win64" -DCMAKE_TOOLCHAIN_FILE=%VCPKG_ROOT%\scripts\buildsystems\vcpkg.cmake -DVCPKG_TARGET_TRIPLET=x64-windows
-
-#Open the solution in MSVC and build it
-```
-
------------------
-Linux compilation
------------------
-
-[Ubuntu](http://www.ubuntu.com) 16.04 is used next as the example linux distribution.
-
-```
-#Prepare and empty machine for building:
-sudo apt-get update -qq && sudo apt-get install -qq
-sudo apt-get -y install git cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev
-main_path=`pwd`
-
-#Eigen (Required)
-git clone https://gitlab.com/libeigen/eigen.git --branch 3.4
-mkdir eigen_build && cd eigen_build
-cmake . ../eigen
-make && sudo make install
-cd ..
-
-#Boost (Required)
-sudo apt-get -y install libboost-iostreams-dev libboost-program-options-dev libboost-system-dev libboost-serialization-dev
-
-#OpenCV (Required)
-sudo apt-get -y install libopencv-dev
-
-#CGAL (Required)
-sudo apt-get -y install libcgal-dev libcgal-qt5-dev
-
-#VCGLib (Required)
-git clone https://github.com/cdcseacave/VCG.git vcglib
-
-#Ceres (Optional)
-sudo apt-get -y install libatlas-base-dev libsuitesparse-dev
-git clone https://ceres-solver.googlesource.com/ceres-solver ceres-solver
-mkdir ceres_build && cd ceres_build
-cmake . ../ceres-solver/ -DMINIGLOG=ON -DBUILD_TESTING=OFF -DBUILD_EXAMPLES=OFF
-make -j2 && sudo make install
-cd ..
-
-#GLFW3 (Optional)
-sudo apt-get -y install freeglut3-dev libglew-dev libglfw3-dev
-
-#OpenMVS
-git clone https://github.com/cdcseacave/openMVS.git openMVS
-mkdir openMVS_build && cd openMVS_build
-cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT="$main_path/vcglib"
-
-#If you want to use OpenMVS as shared library, add to the CMake command:
--DBUILD_SHARED_LIBS=ON
-
-#Install OpenMVS library (optional):
-make -j2 && sudo make install
-```
-
---------------------
-Mac OS X compilation
---------------------
-
-Install dependencies, run CMake and make.
-
-```
-#Install dependencies
-brew update
-brew install boost eigen opencv cgal
-main_path=`pwd`
-
-#GLFW3 (Optional)
-brew install glew glfw3
-
-#VCGLib (Required)
-git clone https://github.com/cdcseacave/VCG.git vcglib
-
-#Getting the OpenMVS sources:
-git clone https://github.com/cdcseacave/openMVS.git
-
-#Build OpenMVS
-mkdir openMVS_build && cd openMVS_build
-cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT="$main_path/vcglib"
+cd openMVS
+mkdir make
+cd make
 
-#Alternatively, build using XCode
-cmake . ../openMVS -G "Xcode" -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT="$main_path/vcglib"
-xcodebuild -configuration Release
+#Run CMake:
+cmake ..
 
-#If you want to use OpenMVS as shared library, add to the CMake command:
--DBUILD_SHARED_LIBS=ON
+#Build:
+cmake --build . -j4
 
 #Install OpenMVS library (optional):
-make && sudo make install
+cmake --install .
 ```
 
 -------------------
@@ -150,7 +53,7 @@ In order to use *OpenMVS* as a third-party library in your project, first compil
 vcpkg install openmvs
 ```
 
-And inside your project CMake script, use:
+Inside your project CMake script, use:
 ```
 find_package(OpenMVS)
 if(OpenMVS_FOUND)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 241c3b039..c69049a80 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -30,8 +30,8 @@ ENDIF()
 PROJECT(OpenMVS)
 
 SET(OpenMVS_MAJOR_VERSION 2)
-SET(OpenMVS_MINOR_VERSION 0)
-SET(OpenMVS_PATCH_VERSION 1)
+SET(OpenMVS_MINOR_VERSION 1)
+SET(OpenMVS_PATCH_VERSION 0)
 SET(OpenMVS_VERSION ${OpenMVS_MAJOR_VERSION}.${OpenMVS_MINOR_VERSION}.${OpenMVS_PATCH_VERSION})
 
 # List configuration options
diff --git a/libs/Common/Plane.h b/libs/Common/Plane.h
index 022cfa450..681d044c9 100644
--- a/libs/Common/Plane.h
+++ b/libs/Common/Plane.h
@@ -53,8 +53,6 @@ class TPlane
 	inline void Invalidate();
 	inline bool IsValid() const;
 
-	int Optimize(const POINT*, size_t, int maxIters=100, double threshold=std::numeric_limits<double>::max());
-
 	inline void Negate();
 	inline TPlane Negated() const;
 
diff --git a/libs/Common/Plane.inl b/libs/Common/Plane.inl
index e638c2b56..0d15cc319 100644
--- a/libs/Common/Plane.inl
+++ b/libs/Common/Plane.inl
@@ -82,64 +82,6 @@ inline bool TPlane<TYPE,DIMS>::IsValid() const
 /*----------------------------------------------------------------*/
 
 
-// least squares refinement of the line to the given 3D point set
-// (return the number of iterations)
-template <typename TYPE, int DIMS>
-int TPlane<TYPE,DIMS>::Optimize(const POINT* points, size_t size, int maxIters, double threshold)
-{
-	ASSERT(size >= numParams);
-	struct OptimizationFunctor {
-		const POINT* points;
-		const size_t size;
-		const RobustNorm::GemanMcClure<double> robust;
-		// construct with the data points
-		OptimizationFunctor(const POINT* _points, size_t _size, double _th)
-			: points(_points), size(_size), robust(_th) { ASSERT(size < std::numeric_limits<int>::max()); }
-		static void Residuals(const double* x, int nPoints, const void* pData, double* fvec, double* fjac, int* /*info*/) {
-			const OptimizationFunctor& data = *reinterpret_cast<const OptimizationFunctor*>(pData);
-			ASSERT((size_t)nPoints == data.size && fvec != NULL && fjac == NULL);
-			TPlane<double,DIMS> plane; {
-				Point3d N;
-				plane.m_fD = x[0];
-				Dir2Normal(reinterpret_cast<const Point2d&>(x[1]), N);
-				plane.m_vN = N;
-			}
-			for (size_t i=0; i<data.size; ++i)
-				fvec[i] = data.robust(plane.Distance(data.points[i].template cast<double>()));
-		}
-	} functor(points, size, threshold);
-	double arrParams[numParams]; {
-		arrParams[0] = (double)m_fD;
-		const Point3d N(m_vN.x(), m_vN.y(), m_vN.z());
-		Normal2Dir(N, reinterpret_cast<Point2d&>(arrParams[1]));
-	}
-	lm_control_struct control = {1.e-6, 1.e-7, 1.e-8, 1.e-7, 100.0, maxIters}; // lm_control_float;
-	lm_status_struct status;
-	lmmin(numParams, arrParams, (int)size, &functor, OptimizationFunctor::Residuals, &control, &status);
-	switch (status.info) {
-	//case 4:
-	case 5:
-	case 6:
-	case 7:
-	case 8:
-	case 9:
-	case 10:
-	case 11:
-	case 12:
-		DEBUG_ULTIMATE("error: refine plane: %s", lm_infmsg[status.info]);
-		return 0;
-	}
-	{
-		Point3d N;
-		m_fD = (TYPE)arrParams[0];
-		Dir2Normal(reinterpret_cast<const Point2d&>(arrParams[1]), N);
-		m_vN = Cast<TYPE>(N);
-	}
-	return status.nfev;
-} // Optimize
-/*----------------------------------------------------------------*/
-
-
 template <typename TYPE, int DIMS>
 inline void TPlane<TYPE,DIMS>::Negate()
 {
@@ -387,6 +329,43 @@ TPoint3<TYPEE> FitPlaneOnline<TYPE,TYPEW>::GetPlane(TPlane<TYPEE,3>& plane) cons
 /*----------------------------------------------------------------*/
 
 
+// Least squares fits a plane to a 3D point set.
+// See http://www.geometrictools.com/Documentation/LeastSquaresFitting.pdf
+// Returns a fitting quality (1 - lambda_min/lambda_max):
+//  1 is best (zero variance orthogonally to the fitting line)
+//  0 is worst (isotropic case, returns a plane with default direction)
+template <typename TYPE>
+TYPE FitPlane(const TPoint3<TYPE>* points, size_t size, TPlane<TYPE>& plane) {
+	// compute a point on the plane, which is shown to be the centroid of the points
+	const Eigen::Map< const Eigen::Matrix<TYPE,Eigen::Dynamic,3,Eigen::RowMajor> > vPoints((const TYPE*)points, size, 3);
+	const TPoint3<TYPE> c(vPoints.colwise().mean());
+
+	// assemble covariance matrix; matrix numbering:
+	// 0          
+	// 1 2
+	// 3 4 5          
+	Eigen::Matrix<TYPE,3,3,Eigen::RowMajor> A(Eigen::Matrix<TYPE,3,3,Eigen::RowMajor>::Zero());
+	FOREACHRAWPTR(pPt, points, size) {
+		const TPoint3<TYPE> X(*pPt - c);
+		A(0,0) += X.x*X.x;
+		A(1,0) += X.x*X.y;
+		A(1,1) += X.y*X.y;
+		A(2,0) += X.x*X.z;
+		A(2,1) += X.y*X.z;
+		A(2,2) += X.z*X.z;
+	}
+
+	// the plane normal is simply the eigenvector corresponding to least eigenvalue
+	const Eigen::SelfAdjointEigenSolver< Eigen::Matrix<TYPE,3,3,Eigen::RowMajor> > es(A);
+	ASSERT(ISEQUAL(es.eigenvectors().col(0).norm(), TYPE(1)));
+	plane.Set(es.eigenvectors().col(0), c);
+	const TYPE* const vals(es.eigenvalues().data());
+	ASSERT(vals[0] <= vals[1] && vals[1] <= vals[2]);
+	return TYPE(1) - vals[0]/vals[1];
+}
+/*----------------------------------------------------------------*/
+
+
 // C L A S S  //////////////////////////////////////////////////////
 
 // Construct frustum given a projection matrix.
diff --git a/libs/Common/Rotation.inl b/libs/Common/Rotation.inl
index 9d72630f3..81b2d0097 100644
--- a/libs/Common/Rotation.inl
+++ b/libs/Common/Rotation.inl
@@ -1524,4 +1524,40 @@ void TRMatrixBase<TYPE>::EnforceOrthogonality()
 }
 /*----------------------------------------------------------------*/
 
+
+// if the matrix is a rotation, then the the transpose should be the inverse
+template<typename TYPE>
+inline bool IsRotationMatrix(const TMatrix<TYPE,3,3>& R) {
+	ASSERT(sizeof(TMatrix<TYPE,3,3>) == sizeof(TRMatrixBase<TYPE>));
+	return ((const TRMatrixBase<TYPE>&)R).IsValid();
+} // IsRotationMatrix
+template<typename TYPE, int O>
+inline bool IsRotationMatrix(const Eigen::Matrix<TYPE,3,3,O>& R) {
+	// the trace should be three and the determinant should be one
+	return (ISEQUAL(R.determinant(), TYPE(1)) && ISEQUAL((R*R.transpose()).trace(), TYPE(3)));
+} // IsRotationMatrix
+/*----------------------------------------------------------------*/
+
+// enforce matrix orthogonality
+template<typename TYPE>
+inline void EnsureRotationMatrix(TMatrix<TYPE,3,3>& R) {
+	ASSERT(sizeof(TMatrix<TYPE,3,3>) == sizeof(TRMatrixBase<TYPE>));
+	((TRMatrixBase<TYPE>&)R).EnforceOrthogonality();
+} // EnsureRotationMatrix
+/*----------------------------------------------------------------*/
+
+
+// compute the distance on SO(3) between the two given rotations
+// using log(R) as in: "Efficient and Robust Large-Scale Rotation Averaging", 2013
+// same result as above, but returns directly the angle
+template<typename TYPE>
+inline TYPE ComputeAngleSO3(const TMatrix<TYPE,3,3>& I) {
+	return TYPE(norm(((const TRMatrixBase<TYPE>&)I).GetRotationAxisAngle()));
+} // ComputeAngleSO3
+template<typename TYPE>
+FORCEINLINE TYPE ComputeAngleSO3(const TMatrix<TYPE,3,3>& R1, const TMatrix<TYPE,3,3>& R2) {
+	return ComputeAngleSO3(TMatrix<TYPE,3,3>(R1*R2.t()));
+} // ComputeAngleSO3
+/*----------------------------------------------------------------*/
+
 } // namespace SEACAVE
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 3586e9c6c..8d0e83895 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -651,7 +651,7 @@ inline T LOG10(const T& a) {
 	return T(log10(a));
 }
 template<typename T>
-constexpr T powi(T base, int exp) {
+constexpr T powi(T base, unsigned exp) {
 	T result(1);
 	while (exp) {
 		if (exp & 1)
@@ -661,15 +661,15 @@ constexpr T powi(T base, int exp) {
 	}
 	return result;
 }
-constexpr int log2i(int val) {
+constexpr int log2i(unsigned val) {
 	int ret = -1;
-	while (val > 0) {
+	while (val) {
 		val >>= 1;
-		ret++;
+		++ret;
 	}
 	return ret;
 }
-template <int N> constexpr inline int log2i() { return 1+log2i<(N>>1)>(); }
+template <unsigned N> constexpr inline int log2i() { return 1+log2i<(N>>1)>(); }
 template <>   constexpr inline int log2i<0>() { return -1; }
 template <>   constexpr inline int log2i<1>() { return 0; }
 template <>   constexpr inline int log2i<2>() { return 1; }
@@ -2801,6 +2801,7 @@ class SO2
 #endif // _USE_EIGEN
 
 #include "Types.inl"
+#include "Util.inl"
 #include "Rotation.h"
 #include "Sphere.h"
 #include "AABB.h"
@@ -2808,7 +2809,6 @@ class SO2
 #include "Plane.h"
 #include "Ray.h"
 #include "Octree.h"
-#include "Util.inl"
 #include "UtilCUDA.h"
 
 #endif // __SEACAVE_TYPES_H__
diff --git a/libs/Common/Types.inl b/libs/Common/Types.inl
index e80b02942..b951c7931 100644
--- a/libs/Common/Types.inl
+++ b/libs/Common/Types.inl
@@ -41,7 +41,7 @@ INT_TYPE cvRANSACUpdateNumIters(REAL_TYPE p, REAL_TYPE ep, INT_TYPE modelPoints,
 		return 0;
 	num = SEACAVE::LOGN(num);
 	denom = SEACAVE::LOGN(denom);
-	return (denom >= 0 || -num >= (-denom)*maxIters ? maxIters : (INT_TYPE)ROUND2INT(num/denom));
+	return (denom >= 0 || -num >= (-denom)*maxIters ? maxIters : ROUND2INT<INT_TYPE>(num/denom));
 }
 #endif
 
diff --git a/libs/Common/Util.inl b/libs/Common/Util.inl
index 6b0135697..def11b278 100644
--- a/libs/Common/Util.inl
+++ b/libs/Common/Util.inl
@@ -177,28 +177,6 @@ inline TMatrix<TYPE,3,3> CreateF(const TMatrix<TYPE,3,3>& R, const TMatrix<TYPE,
 /*----------------------------------------------------------------*/
 
 
-// if the matrix is a rotation, then the the transpose should be the inverse
-template<typename TYPE>
-inline bool IsRotationMatrix(const TMatrix<TYPE,3,3>& R) {
-	ASSERT(sizeof(TMatrix<TYPE,3,3>) == sizeof(TRMatrixBase<TYPE>));
-	return ((const TRMatrixBase<TYPE>&)R).IsValid();
-} // IsRotationMatrix
-template<typename TYPE, int O>
-inline bool IsRotationMatrix(const Eigen::Matrix<TYPE,3,3,O>& R) {
-	// the trace should be three and the determinant should be one
-	return (ISEQUAL(R.determinant(), TYPE(1)) && ISEQUAL((R*R.transpose()).trace(), TYPE(3)));
-} // IsRotationMatrix
-/*----------------------------------------------------------------*/
-
-// enforce matrix orthogonality
-template<typename TYPE>
-inline void EnsureRotationMatrix(TMatrix<TYPE,3,3>& R) {
-	ASSERT(sizeof(TMatrix<TYPE,3,3>) == sizeof(TRMatrixBase<TYPE>));
-	((TRMatrixBase<TYPE>&)R).EnforceOrthogonality();
-} // EnsureRotationMatrix
-/*----------------------------------------------------------------*/
-
-
 // compute the angle between the two rotations given
 // as in: "Disambiguating Visual Relations Using Loop Constraints", 2010
 // returns cos(angle) (same as cos(ComputeAngleSO3(I))
@@ -210,17 +188,6 @@ template<typename TYPE>
 FORCEINLINE TYPE ComputeAngle(const TMatrix<TYPE,3,3>& R1, const TMatrix<TYPE,3,3>& R2) {
 	return ComputeAngle(TMatrix<TYPE,3,3>(R1*R2.t()));
 } // ComputeAngle
-// compute the distance on SO(3) between the two given rotations
-// using log(R) as in: "Efficient and Robust Large-Scale Rotation Averaging", 2013
-// same result as above, but returns directly the angle
-template<typename TYPE>
-inline TYPE ComputeAngleSO3(const TMatrix<TYPE,3,3>& I) {
-	return TYPE(norm(((const TRMatrixBase<TYPE>&)I).GetRotationAxisAngle()));
-} // ComputeAngleSO3
-template<typename TYPE>
-FORCEINLINE TYPE ComputeAngleSO3(const TMatrix<TYPE,3,3>& R1, const TMatrix<TYPE,3,3>& R2) {
-	return ComputeAngleSO3(TMatrix<TYPE,3,3>(R1*R2.t()));
-} // ComputeAngleSO3
 /*----------------------------------------------------------------*/
 
 
@@ -1223,143 +1190,4 @@ void NormalizePoints(const CLISTDEF0(TPoint3<TYPE>)& pointsIn, CLISTDEF0(TPoint3
 }
 /*----------------------------------------------------------------*/
 
-
-// Least squares fits a plane to a 3D point set.
-// See http://www.geometrictools.com/Documentation/LeastSquaresFitting.pdf
-// Returns a fitting quality (1 - lambda_min/lambda_max):
-//  1 is best (zero variance orthogonally to the fitting line)
-//  0 is worst (isotropic case, returns a plane with default direction)
-template <typename TYPE>
-TYPE FitPlane(const TPoint3<TYPE>* points, size_t size, TPlane<TYPE>& plane) {
-	// compute a point on the plane, which is shown to be the centroid of the points
-	const Eigen::Map< const Eigen::Matrix<TYPE,Eigen::Dynamic,3,Eigen::RowMajor> > vPoints((const TYPE*)points, size, 3);
-	const TPoint3<TYPE> c(vPoints.colwise().mean());
-
-	// assemble covariance matrix; matrix numbering:
-	// 0          
-	// 1 2
-	// 3 4 5          
-	Eigen::Matrix<TYPE,3,3,Eigen::RowMajor> A(Eigen::Matrix<TYPE,3,3,Eigen::RowMajor>::Zero());
-	FOREACHRAWPTR(pPt, points, size) {
-		const TPoint3<TYPE> X(*pPt - c);
-		A(0,0) += X.x*X.x;
-		A(1,0) += X.x*X.y;
-		A(1,1) += X.y*X.y;
-		A(2,0) += X.x*X.z;
-		A(2,1) += X.y*X.z;
-		A(2,2) += X.z*X.z;
-	}
-
-	// the plane normal is simply the eigenvector corresponding to least eigenvalue
-	const Eigen::SelfAdjointEigenSolver< Eigen::Matrix<TYPE,3,3,Eigen::RowMajor> > es(A);
-	ASSERT(ISEQUAL(es.eigenvectors().col(0).norm(), TYPE(1)));
-	plane.Set(es.eigenvectors().col(0), c);
-	const TYPE* const vals(es.eigenvalues().data());
-	ASSERT(vals[0] <= vals[1] && vals[1] <= vals[2]);
-	return TYPE(1) - vals[0]/vals[1];
-}
-/*----------------------------------------------------------------*/
-
-
-template<typename TYPE>
-struct CLeastSquares {
-	inline TYPE operator()(const TYPE) const {
-		return TYPE(1);
-	}
-};
-
-/*
-template<typename TYPE>
-struct CHuber_TorrMurray {
-	inline TYPE operator()(const TYPE d) const {
-		const TYPE b = 0.02;
-
-		const TYPE d_abs = ABS(d);
-		if (d_abs < b)
-			return TYPE(1);
-		if (d_abs < 3 * b)
-			return b / d; //I think this is possibly wrong--should use 1/root(d)
-		return TYPE(0); //TODO, probably best to just return SIGMA/d;
-	}
-};
-*/
-
-template<typename TYPE>
-struct CHuber {
-	inline CHuber(TYPE _threshold = 0.005) : threshold(_threshold) {}
-	inline TYPE operator()(const TYPE d) const {
-		const TYPE d_abs(ABS(d));
-		if (d_abs < threshold)
-			return TYPE(1);
-		return SQRT(threshold * (TYPE(2) * d_abs - threshold)) / d_abs;
-	}
-	const TYPE threshold;
-};
-
-template<typename TYPE>
-struct CBlakeZisserman { // Blake-Zisserman Gaussian + uniform
-	inline CBlakeZisserman(TYPE _threshold = 0.005) : threshold(_threshold) {}
-	inline TYPE operator()(const TYPE d) const {
-		const TYPE SD_INV = TYPE(1) / (0.5 * threshold);
-		const TYPE eps = exp(-SQUARE(threshold * SD_INV)); //Equally likely to be inlier or outlier at thresh
-		const TYPE d_abs = ABS(d) + 1e-12;
-		const TYPE zeroPoint = log(TYPE(1) + eps); //Needed for LS...
-
-		const TYPE dCost_sq = zeroPoint - log(exp(-SQUARE(d * SD_INV)) + eps);
-		ASSERT(dCost_sq >= 0); // Cost computation failed?
-
-		return SQRT(dCost_sq) / d_abs;
-	}
-	const TYPE threshold;
-};
-
-template<typename TYPE>
-struct CPseudoHuber {
-	inline CPseudoHuber(TYPE _threshold = 0.005) : threshold(_threshold) {}
-	inline TYPE operator()(const TYPE d) const {
-		const TYPE b_sq = SQUARE(threshold);
-		const TYPE d_abs = ABS(d) + 1e-12;
-
-		//C(delta) = 2*b^2*(sqrt(1+(delta/b)^2) - 1);
-		return SQRT(TYPE(2) * b_sq * (sqrt(1 + SQUARE(d * (1.0 / threshold))) - 1)) / d_abs;
-	}
-	const TYPE threshold;
-};
-
-template<typename TYPE>
-struct CL1 {
-	inline TYPE operator()(const TYPE d) const {
-		return TYPE(1) / (SQRT(ABS(d)) + 1e-12);
-	}
-};
-
-typedef CBlakeZisserman<REAL> CRobustNorm;
-/*----------------------------------------------------------------*/
-
-
-// makes sure the inverse NCC score does not exceed 0.3
-#if 0
-template <typename T>
-inline T robustincc(const T x) { return x / (T(1) + T(3) * x); }
-template <typename T>
-inline T robustinccg(const T x) { return T(1)/SQUARE(T(1) + T(3) * x); }
-template <typename T>
-inline T unrobustincc(const T y) { return y / (T(1) - T(3) * y); }
-#elif 0
-template <typename T>
-inline T robustincc(const T x) { return T(1)-EXP(x*x*T(-4)); }
-template <typename T>
-inline T robustinccg(const T x) { return T(8)*x*EXP(x*x*T(-4)); }
-template <typename T>
-inline T unrobustincc(const T y) { return SQRT(-LOGN(T(1) - y))/T(2); }
-#else
-template <typename T>
-inline T robustincc(const T x) { return x/SQRT(T(0.3)+x*x); }
-template <typename T>
-inline T robustinccg(const T x) { return T(0.3)/((T(0.3)+x*x)*SQRT(T(0.3)+x*x)); }
-template <typename T>
-inline T unrobustincc(const T y) { return (SQRT(30)*y)/(T(10)*SQRT(T(1) - y*y)); }
-#endif
-/*----------------------------------------------------------------*/
-
 } // namespace SEACAVE
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 98bb6dab0..23ffb134e 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -351,7 +351,7 @@ void DepthEstimator::MapMatrix2ZigzagIdx(const Image8U::Size& size, DepthEstimat
 	}
 }
 
-// replace POWI(0.5f, (int)idxScaleRange):      0    1      2       3       4         5         6           7           8             9             10              11
+// replace POWI(0.5f, idxScaleRange):           0    1      2       3       4         5         6           7           8             9             10              11
 const float DepthEstimator::scaleRanges[12] = {1.f, 0.5f, 0.25f, 0.125f, 0.0625f, 0.03125f, 0.015625f, 0.0078125f, 0.00390625f, 0.001953125f, 0.0009765625f, 0.00048828125f};
 
 DepthEstimator::DepthEstimator(
@@ -1251,6 +1251,63 @@ bool MVS::TriangulatePoints2DepthMap(
 
 namespace MVS {
 
+// least squares refinement of the given plane to the 3D point set
+// (return the number of iterations)
+template <typename TYPE>
+int OptimizePlane(TPlane<TYPE,3>& plane, const Eigen::Matrix<TYPE,3,1>* points, size_t size, int maxIters, TYPE threshold)
+{
+	typedef TPlane<TYPE,3> PLANE;
+	typedef Eigen::Matrix<TYPE,3,1> POINT;
+	ASSERT(size >= PLANE::numParams);
+	struct OptimizationFunctor {
+		const POINT* points;
+		const size_t size;
+		const RobustNorm::GemanMcClure<double> robust;
+		// construct with the data points
+		OptimizationFunctor(const POINT* _points, size_t _size, double _th)
+			: points(_points), size(_size), robust(_th) { ASSERT(size < (size_t)std::numeric_limits<int>::max()); }
+		static void Residuals(const double* x, int nPoints, const void* pData, double* fvec, double* fjac, int* /*info*/) {
+			const OptimizationFunctor& data = *reinterpret_cast<const OptimizationFunctor*>(pData);
+			ASSERT((size_t)nPoints == data.size && fvec != NULL && fjac == NULL);
+			TPlane<double,3> plane; {
+				Point3d N;
+				plane.m_fD = x[0];
+				Dir2Normal(reinterpret_cast<const Point2d&>(x[1]), N);
+				plane.m_vN = N;
+			}
+			for (size_t i=0; i<data.size; ++i)
+				fvec[i] = data.robust(plane.Distance(data.points[i].template cast<double>()));
+		}
+	} functor(points, size, threshold);
+	double arrParams[PLANE::numParams]; {
+		arrParams[0] = (double)plane.m_fD;
+		const Point3d N(plane.m_vN.x(), plane.m_vN.y(), plane.m_vN.z());
+		Normal2Dir(N, reinterpret_cast<Point2d&>(arrParams[1]));
+	}
+	lm_control_struct control = {1.e-6, 1.e-7, 1.e-8, 1.e-7, 100.0, maxIters}; // lm_control_float;
+	lm_status_struct status;
+	lmmin(PLANE::numParams, arrParams, (int)size, &functor, OptimizationFunctor::Residuals, &control, &status);
+	switch (status.info) {
+	//case 4:
+	case 5:
+	case 6:
+	case 7:
+	case 8:
+	case 9:
+	case 10:
+	case 11:
+	case 12:
+		DEBUG_ULTIMATE("error: refine plane: %s", lm_infmsg[status.info]);
+		return 0;
+	}
+	{
+		Point3d N;
+		plane.m_fD = (TYPE)arrParams[0];
+		Dir2Normal(reinterpret_cast<const Point2d&>(arrParams[1]), N);
+		plane.m_vN = Cast<TYPE>(N);
+	}
+	return status.nfev;
+}
 
 template <typename TYPE>
 class TPlaneSolverAdaptor
@@ -1398,6 +1455,11 @@ unsigned MVS::EstimatePlaneThLockFirstPoint(const Point3dArr& points, Planed& pl
 {
 	return TEstimatePlane<double,UniformSamplerLockFirst,true>(points, plane, maxThreshold, arrInliers, maxIters);
 } // EstimatePlaneThLockFirstPoint
+// least squares refinement of the given plane to the 3D point set
+int MVS::OptimizePlane(Planed& plane, const Eigen::Vector3d* points, size_t size, int maxIters, double threshold)
+{
+	return OptimizePlane<double>(plane, points, size, maxIters, threshold);
+} // OptimizePlane
 /*----------------------------------------------------------------*/
 
 // Robustly estimate the plane that fits best the given points
@@ -1420,6 +1482,11 @@ unsigned MVS::EstimatePlaneThLockFirstPoint(const Point3fArr& points, Planef& pl
 {
 	return TEstimatePlane<float,UniformSamplerLockFirst,true>(points, plane, maxThreshold, arrInliers, maxIters);
 } // EstimatePlaneThLockFirstPoint
+// least squares refinement of the given plane to the 3D point set
+int MVS::OptimizePlane(Planef& plane, const Eigen::Vector3f* points, size_t size, int maxIters, float threshold)
+{
+	return OptimizePlane<float>(plane, points, size, maxIters, threshold);
+} // OptimizePlane
 /*----------------------------------------------------------------*/
 
 
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 911091916..09c396432 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -481,11 +481,13 @@ MVS_API unsigned EstimatePlane(const Point3Arr&, Plane&, double& maxThreshold, b
 MVS_API unsigned EstimatePlaneLockFirstPoint(const Point3Arr&, Plane&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MVS_API unsigned EstimatePlaneTh(const Point3Arr&, Plane&, double maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MVS_API unsigned EstimatePlaneThLockFirstPoint(const Point3Arr&, Plane&, double maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
+MATH_API int OptimizePlane(Planed& plane, const Eigen::Vector3d* points, size_t size, int maxIters, double threshold);
 // same for float points
 MATH_API unsigned EstimatePlane(const Point3fArr&, Planef&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MATH_API unsigned EstimatePlaneLockFirstPoint(const Point3fArr&, Planef&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MATH_API unsigned EstimatePlaneTh(const Point3fArr&, Planef&, double maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MATH_API unsigned EstimatePlaneThLockFirstPoint(const Point3fArr&, Planef&, double maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
+MATH_API int OptimizePlane(Planef& plane, const Eigen::Vector3f* points, size_t size, int maxIters, float threshold);
 
 MVS_API void EstimatePointColors(const ImageArr& images, PointCloud& pointcloud);
 MVS_API void EstimatePointNormals(const ImageArr& images, PointCloud& pointcloud, int numNeighbors=16/*K-nearest neighbors*/);
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 8c26d8458..35a6e19cf 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -1623,7 +1623,7 @@ bool Mesh::LoadGLTF(const String& fileName, bool bBinary)
 					memcpy(mesh.vertices.data(), pData, gltfBufferView.byteLength);
 				}
 				else if (gltfAccessor.componentType == TINYGLTF_COMPONENT_TYPE_DOUBLE) {
-					for (int i = 0; i < gltfAccessor.count; ++i)
+					for (VIndex i = 0; i < gltfAccessor.count; ++i)
 						mesh.vertices[i] = ((const Point3d*)pData)[i];
 				}
 				else {
diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
index 65efa757a..203669bcc 100644
--- a/libs/MVS/PatchMatchCUDA.cpp
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -200,7 +200,7 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 		textureDepths.resize(params.nNumViews);
 	}
 	const int maxPixelViews(MINF(params.nNumViews, 4));
-	for (int scaleNumber = totalScaleNumber; scaleNumber >= 0; --scaleNumber) {
+	for (unsigned scaleNumber = totalScaleNumber+1; scaleNumber-- > 0; ) {
 		// initialize
 		const float scale = 1.f / POWI(2, scaleNumber);
 		DepthData currentDepthData(DepthMapsData::ScaleDepthData(fullResDepthData, scale));
diff --git a/libs/MVS/PointCloud.cpp b/libs/MVS/PointCloud.cpp
index 17143ea8d..6c6bf04f8 100644
--- a/libs/MVS/PointCloud.cpp
+++ b/libs/MVS/PointCloud.cpp
@@ -178,7 +178,7 @@ Planef PointCloud::EstimateGroundPlane(const ImageArr& images, float planeThresh
 	for (const Point& X: *pPoints)
 		if (plane.DistanceAbs(X) < maxThreshold)
 			inliers.emplace_back(X);
-	plane.Optimize(inliers.data(), inliers.size(), 100, threshold);
+	OptimizePlane(plane, inliers.data(), inliers.size(), 100, static_cast<float>(threshold));
 
 	// make sure the plane is well oriented, negate plane normal if it faces same direction as cameras on average
 	if (!images.empty()) {
diff --git a/libs/MVS/RectsBinPack.cpp b/libs/MVS/RectsBinPack.cpp
index e9472cb61..3a376fd8f 100644
--- a/libs/MVS/RectsBinPack.cpp
+++ b/libs/MVS/RectsBinPack.cpp
@@ -522,7 +522,7 @@ int MaxRectsBinPack::ComputeTextureSize(const RectArr& rects, int mult)
 		return ((sizeTex+mult-1)/mult)*mult;
 	}
 	// ... as power of two
-	return POWI((int)2, CEIL2INT(LOGN((float)sizeTex) / LOGN(2.f)));
+	return POWI(2, CEIL2INT<unsigned>(LOGN((float)sizeTex) / LOGN(2.f)));
 }
 /*----------------------------------------------------------------*/
 
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index a6c44e92a..fb2372f02 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -642,7 +642,7 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage, int nGeometricIter)
 	Image64F imageSum0;
 	#endif
 	DepthMap currentSizeResDepthMap;
-	for (int scaleNumber = totalScaleNumber; scaleNumber>=0; scaleNumber--) {
+	for (unsigned scaleNumber = totalScaleNumber+1; scaleNumber-- > 0; ) {
 		// initialize
 		float scale = 1.f / POWI(2, scaleNumber);
 		DepthData currentDepthData(ScaleDepthData(fullResDepthData, scale));
diff --git a/libs/MVS/SceneRefine.cpp b/libs/MVS/SceneRefine.cpp
index 064ded61a..98614c471 100644
--- a/libs/MVS/SceneRefine.cpp
+++ b/libs/MVS/SceneRefine.cpp
@@ -1292,8 +1292,8 @@ bool Scene::RefineMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsig
 	// run the mesh optimization on multiple scales (coarse to fine)
 	for (unsigned nScale=0; nScale<nScales; ++nScale) {
 		// init images
-		const Real scale(POWI(fScaleStep, (int)(nScales-nScale-1)));
-		const Real step(POWI(2.f, (int)(nScales-nScale)));
+		const Real scale(POWI(fScaleStep, nScales-nScale-1));
+		const Real step(POWI(2.f, nScales-nScale));
 		DEBUG_ULTIMATE("Refine mesh at: %.2f image scale", scale);
 		if (!refine.InitImages(scale, Real(0.12)*step+Real(0.2)))
 			return false;
diff --git a/libs/MVS/SceneRefineCUDA.cpp b/libs/MVS/SceneRefineCUDA.cpp
index 01fba12ca..c98803ac8 100644
--- a/libs/MVS/SceneRefineCUDA.cpp
+++ b/libs/MVS/SceneRefineCUDA.cpp
@@ -2799,8 +2799,8 @@ bool Scene::RefineMeshCUDA(unsigned nResolutionLevel, unsigned nMinResolution, u
 	// run the mesh optimization on multiple scales (coarse to fine)
 	for (unsigned nScale=0; nScale<nScales; ++nScale) {
 		// init images
-		const float scale(POWI(fScaleStep, (int)(nScales-nScale-1)));
-		const float step(POWI(2.f, (int)(nScales-nScale)));
+		const float scale(POWI(fScaleStep, nScales-nScale-1));
+		const float step(POWI(2.f, nScales-nScale));
 		DEBUG_ULTIMATE("Refine mesh at: %.2f image scale", scale);
 		if (!refine.InitImages(scale, 0.12f*step+0.2f))
 			return false;
diff --git a/libs/MVS/SemiGlobalMatcher.cpp b/libs/MVS/SemiGlobalMatcher.cpp
index ecf70d66a..89bcd0e47 100644
--- a/libs/MVS/SemiGlobalMatcher.cpp
+++ b/libs/MVS/SemiGlobalMatcher.cpp
@@ -596,7 +596,7 @@ void SemiGlobalMatcher::Match(const Scene& scene, IIndex idxImage, IIndex numNei
 				const REAL _scale(scale*0.5);
 				Matrix3x3 _H(H); Matrix4x4 _Q(Q);
 				Image::ScaleStereoRectification(_H, _Q, _scale);
-				ExportDisparityDataRawFull(String::FormatString("%s_%d.dimap", pairName.c_str(), log2i(ROUND2INT(REAL(1)/_scale))), leftDisparityMap, costMap, Image8U::computeResize(leftImage.GetSize(), _scale), H, _Q, 1);
+				ExportDisparityDataRawFull(String::FormatString("%s_%d.dimap", pairName.c_str(), LOG2I(ROUND2INT<unsigned>(REAL(1)/_scale))), leftDisparityMap, costMap, Image8U::computeResize(leftImage.GetSize(), _scale), H, _Q, 1);
 			}
 			#endif
 			// initialize
diff --git a/libs/Math/RobustNorms.h b/libs/Math/RobustNorms.h
index 3f5830a63..e31d05fe4 100644
--- a/libs/Math/RobustNorms.h
+++ b/libs/Math/RobustNorms.h
@@ -127,7 +127,7 @@ struct Tukey {
 	inline Tukey(const TYPE& _threshold)
 		: threshold(_threshold), thresholdCb6(CUBE(_threshold)/TYPE(6)), invThreshold(TYPE(1)/threshold), sqrtThresholdCb6(std::sqrt(thresholdCb6)) { ASSERT(_threshold > 0); }
 	inline TYPE operator()(const TYPE& r) const {
-		return std::abs(r) < threshold ? std::sqrt(thresholdSq6*(TYPE(1)-CUBE(TYPE(1)-SQUARE(r*invThreshold)))) : sqrtThresholdCb6;
+		return std::abs(r) < threshold ? std::sqrt(thresholdCb6*(TYPE(1)-CUBE(TYPE(1)-SQUARE(r*invThreshold)))) : sqrtThresholdCb6;
 	}
 	const TYPE threshold;
 	const TYPE thresholdCb6;
@@ -138,6 +138,32 @@ struct Tukey {
 } // namespace RobustNorm
 /*----------------------------------------------------------------*/
 
+
+// makes sure the inverse NCC score does not exceed 0.3
+#if 0
+template <typename T>
+inline T robustincc(const T x) { return x / (T(1) + T(3) * x); }
+template <typename T>
+inline T robustinccg(const T x) { return T(1)/SQUARE(T(1) + T(3) * x); }
+template <typename T>
+inline T unrobustincc(const T y) { return y / (T(1) - T(3) * y); }
+#elif 0
+template <typename T>
+inline T robustincc(const T x) { return T(1)-EXP(x*x*T(-4)); }
+template <typename T>
+inline T robustinccg(const T x) { return T(8)*x*EXP(x*x*T(-4)); }
+template <typename T>
+inline T unrobustincc(const T y) { return SQRT(-LOGN(T(1) - y))/T(2); }
+#else
+template <typename T>
+inline T robustincc(const T x) { return x/SQRT(T(0.3)+x*x); }
+template <typename T>
+inline T robustinccg(const T x) { return T(0.3)/((T(0.3)+x*x)*SQRT(T(0.3)+x*x)); }
+template <typename T>
+inline T unrobustincc(const T y) { return (SQRT(30)*y)/(T(10)*SQRT(T(1) - y*y)); }
+#endif
+/*----------------------------------------------------------------*/
+
 } // namespace SEACAVE
 
 #endif // _SEACAVE_ROBUSTNORMS_H_
diff --git a/vcpkg.json b/vcpkg.json
new file mode 100644
index 000000000..f5cb22bdb
--- /dev/null
+++ b/vcpkg.json
@@ -0,0 +1,36 @@
+{
+  "name": "openmvs",
+  "version": "2.1.0",
+  "description": "OpenMVS: open Multi-View Stereo reconstruction library",
+  "homepage": "https://cdcseacave.github.io/openMVS",
+  "dependencies": [
+    "boost-iostreams",
+    "boost-program-options",
+    "boost-serialization",
+    "boost-system",
+    "boost-throw-exception",
+    {
+      "name": "cgal",
+      "default-features": false
+    },
+    "eigen3",
+    "glew",
+    "glfw3",
+    "libpng",
+    "opencv",
+    "tiff",
+    "vcglib",
+    "zlib"
+  ],
+  "features": {
+    "cuda": {
+      "description": "CUDA support for OpenMVS",
+      "dependencies": [
+        "cuda"
+      ]
+    },
+    "openmp": {
+      "description": "OpenMP support for OpenMVS"
+    }
+  }
+}

From bcad1eaadff463bbb7995d19f9eeae3e818a99c2 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 22 Nov 2022 09:42:03 +0200
Subject: [PATCH 148/252] common: fix small memory leak in Octree (#896)

---
 libs/Common/Octree.inl | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/libs/Common/Octree.inl b/libs/Common/Octree.inl
index b63df4c0a..69eca377a 100644
--- a/libs/Common/Octree.inl
+++ b/libs/Common/Octree.inl
@@ -167,6 +167,7 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_Insert(CELL_TYPE& cell, const P
 	// if this child cell needs to be divided further
 	if (bForceSplit || insertData.split(size, radius)) {
 		// init node and proceed recursively
+		ASSERT(cell.m_child == NULL);
 		cell.m_child = new CELL_TYPE[CELL_TYPE::numChildren];
 		cell.Node().center = center;
 		struct ChildData {
@@ -223,15 +224,14 @@ inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Insert(const ITEMARR_TYPE
 	// create root as node, even if we do not need to divide
 	m_indices.Reserve(items.size());
 	// divide cell
-	m_root.m_child = new CELL_TYPE[CELL_TYPE::numChildren];
-	m_root.Node().center = aabb.GetCenter();
+	const POINT_TYPE center = aabb.GetCenter();
 	m_radius = aabb.GetSize().maxCoeff()/Type(2);
 	// single connected list of next item indices
 	_InsertData<Functor> insertData = {items.size(), split};
 	std::iota(insertData.successors.begin(), insertData.successors.end(), IDX_TYPE(1));
 	insertData.successors.back() = _InsertData<Functor>::NO_INDEX;
 	// setup each cell
-	_Insert<Functor,true>(m_root, m_root.GetCenter(), m_radius, 0, items.size(), insertData);
+	_Insert<Functor,true>(m_root, center, m_radius, 0, items.size(), insertData);
 }
 template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename Functor>

From 29a8118582dcd7d725164246a81fc7689202028d Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 22 Nov 2022 09:46:05 +0200
Subject: [PATCH 149/252] common: add continuous integration workflow

---
 .github/workflows/continuous_integration.yml | 104 +++++++++++++++++++
 1 file changed, 104 insertions(+)
 create mode 100644 .github/workflows/continuous_integration.yml

diff --git a/.github/workflows/continuous_integration.yml b/.github/workflows/continuous_integration.yml
new file mode 100644
index 000000000..0d24b3cf6
--- /dev/null
+++ b/.github/workflows/continuous_integration.yml
@@ -0,0 +1,104 @@
+name: Continuous Integration
+run-name: ${{ github.actor }} is building OpenMVS
+
+on:
+  push:
+    branches: [master, develop]
+  pull_request:
+    branches: [master, develop]
+  # Allows to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+env:
+  CTEST_OUTPUT_ON_FAILURE: 1
+
+defaults:
+  run:
+    shell: bash
+
+jobs:
+  build-tests:
+    name: Build on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest,  macOS-latest, windows-latest]
+        include:
+          - os: windows-latest
+            triplet: x64-windows-release
+            build-type: Release
+          - os: ubuntu-latest
+            triplet: x64-linux-release
+            build-type: Release
+          - os: macos-latest
+            triplet: x64-osx
+            build-type: Release
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Restore artifacts, or setup vcpkg for building artifacts
+        uses: lukka/run-vcpkg@v10.6
+        with:
+          # Location of the vcpkg as submodule of the repository.
+          vcpkgDirectory: '${{ github.workspace }}/vcpkg'
+          vcpkgGitCommitId: '4cb4a5c5ddcb9de0c83c85837ee6974c8333f032'
+          # Since the cache must be invalidated when content of the vcpkg.json file changes, let's
+          # compute its hash and append this to the computed cache's key.
+          appendedCacheKey: ${{ hashFiles( '**/vcpkg.json' ) }}
+
+      - name: Install Ubuntu dependencies
+        if: matrix.os == 'ubuntu-latest'
+        run: |
+          sudo apt-get update -y
+          sudo apt-get install -y autoconf-archive libxmu-dev libdbus-1-dev libxtst-dev libxi-dev libxinerama-dev libxcursor-dev xorg-dev libgl-dev libglu1-mesa-dev pkg-config
+
+      - name: Install macOS dependencies
+        if: matrix.os == 'macOS-latest'
+        run: |
+          brew install automake autoconf-archive
+
+      - name: Configure CMake
+        run: |
+          cmake -S . -B make -DCMAKE_BUILD_TYPE=${{ matrix.build-type }} -DVCPKG_TARGET_TRIPLET=${{ matrix.triplet }}
+
+      - name: Build
+        working-directory: ./make
+        run: |
+          rm -rf ../vcpkg/buildtrees
+          rm -rf ../vcpkg/downloads
+          cmake --build . --config ${{ matrix.build-type }} --parallel $(nproc)
+
+      - name: Unit Tests
+        working-directory: ./make
+        run: |
+          ctest -j$(nproc) --build-config ${{ matrix.build-type }}
+
+      - name: Zip Windows release
+        if: matrix.os == 'windows-latest'
+        uses: TheDoctor0/zip-release@0.6.2
+        with:
+          type: 'zip'
+          directory: ${{ github.workspace }}/make/bin/
+          recursive_exclusions: '*.exp'
+          filename: 'OpenMVS_Windows.zip'
+
+      - name: Deploy Windows release
+        if: matrix.os == 'windows-latest'
+        uses: WebFreak001/deploy-nightly@v1.2.0
+        id: deploynightly
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        with:
+          upload_url: https://uploads.github.com/repos/cdcseacave/openMVS/releases/64600462/assets{?name,label}
+          release_id: 64600462
+          asset_path: ${{ github.workspace }}/make/bin/OpenMVS_Windows.zip
+          asset_name: OpenMVS_Windows_x64_$$.zip
+          asset_content_type: application/zip
+          max_releases: 7
+
+      - name: Display Windows release link
+        if: matrix.os == 'windows-latest'
+        run: |
+          echo ${{steps.deploynightly.outputs.url}}
\ No newline at end of file

From ae14fc54c072c8dc9bcce909150ff89c6e7da86c Mon Sep 17 00:00:00 2001
From: Mike Cernea <75977936+MikeCernea@users.noreply.github.com>
Date: Tue, 22 Nov 2022 11:02:17 +0100
Subject: [PATCH 150/252] texture: use virtual faces for charts creation (#807)

---
 apps/TextureMesh/TextureMesh.cpp |   4 +-
 libs/Common/Util.inl             |   6 +-
 libs/MVS/Mesh.cpp                |  47 ++-
 libs/MVS/Mesh.h                  |   2 +
 libs/MVS/Scene.h                 |   2 +-
 libs/MVS/SceneTexture.cpp        | 654 ++++++++++++++++++++++++-------
 6 files changed, 554 insertions(+), 161 deletions(-)

diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index dcf397b10..78fed4f0b 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -54,6 +54,7 @@ float fDecimateMesh;
 unsigned nCloseHoles;
 unsigned nResolutionLevel;
 unsigned nMinResolution;
+unsigned minCommonCameras;
 float fOutlierThreshold;
 float fRatioDataSmoothness;
 bool bGlobalSeamLeveling;
@@ -112,6 +113,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("min-resolution", boost::program_options::value(&OPT::nMinResolution)->default_value(640), "do not scale images lower than this resolution")
 		("outlier-threshold", boost::program_options::value(&OPT::fOutlierThreshold)->default_value(6e-2f), "threshold used to find and remove outlier face textures (0 - disabled)")
 		("cost-smoothness-ratio", boost::program_options::value(&OPT::fRatioDataSmoothness)->default_value(0.1f), "ratio used to adjust the preference for more compact patches (1 - best quality/worst compactness, ~0 - worst quality/best compactness)")
+		("virtual-face-images", boost::program_options::value(&OPT::minCommonCameras)->default_value(0), "generate texture patches using virtual faces composed of coplanar triangles sharing at least this number of views (0 - disabled, 3 - good value)")
 		("global-seam-leveling", boost::program_options::value(&OPT::bGlobalSeamLeveling)->default_value(true), "generate uniform texture patches using global seam leveling")
 		("local-seam-leveling", boost::program_options::value(&OPT::bLocalSeamLeveling)->default_value(true), "generate uniform texture patch borders using local seam leveling")
 		("texture-size-multiple", boost::program_options::value(&OPT::nTextureSizeMultiple)->default_value(0), "texture size should be a multiple of this value (0 - power of two)")
@@ -301,7 +303,7 @@ int main(int argc, LPCTSTR* argv)
 
 	// compute mesh texture
 	TD_TIMER_START();
-	if (!scene.TextureMesh(OPT::nResolutionLevel, OPT::nMinResolution, OPT::fOutlierThreshold, OPT::fRatioDataSmoothness, OPT::bGlobalSeamLeveling, OPT::bLocalSeamLeveling, OPT::nTextureSizeMultiple, OPT::nRectPackingHeuristic, Pixel8U(OPT::nColEmpty), views))
+	if (!scene.TextureMesh(OPT::nResolutionLevel, OPT::nMinResolution, OPT::minCommonCameras, OPT::fOutlierThreshold, OPT::fRatioDataSmoothness, OPT::bGlobalSeamLeveling, OPT::bLocalSeamLeveling, OPT::nTextureSizeMultiple, OPT::nRectPackingHeuristic, Pixel8U(OPT::nColEmpty), views))
 		return EXIT_FAILURE;
 	VERBOSE("Mesh texturing completed: %u vertices, %u faces (%s)", scene.mesh.vertices.GetSize(), scene.mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
 
diff --git a/libs/Common/Util.inl b/libs/Common/Util.inl
index def11b278..381975929 100644
--- a/libs/Common/Util.inl
+++ b/libs/Common/Util.inl
@@ -450,9 +450,13 @@ FORCEINLINE TYPE AngleFromRotationMatrix(const TMatrix<TYPE,3,3>& R) {
 // returns cos(angle)
 template<typename TYPE1, typename TYPE2 = TYPE1>
 inline TYPE2 ComputeAngle(const TYPE1* V1, const TYPE1* V2) {
-	// compute the angle between the rays
 	return CLAMP(TYPE2((V1[0]*V2[0]+V1[1]*V2[1]+V1[2]*V2[2])/SQRT((V1[0]*V1[0]+V1[1]*V1[1]+V1[2]*V1[2])*(V2[0]*V2[0]+V2[1]*V2[1]+V2[2]*V2[2]))), TYPE2(-1), TYPE2(1));
 } // ComputeAngle
+// same as above, but with the vectors normalized
+template<typename TYPE1, typename TYPE2 = TYPE1>
+inline TYPE2 ComputeAngleN(const TYPE1* V1, const TYPE1* V2) {
+	return CLAMP(TYPE2(V1[0]*V2[0]+V1[1]*V2[1]+V1[2]*V2[2]), TYPE2(-1), TYPE2(1));
+} // ComputeAngleN
 // given three 3D points,
 // compute the angle between the vectors formed by the first point with the other two
 // returns cos(angle)
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 35a6e19cf..a791f98af 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -360,12 +360,6 @@ void Mesh::ComputeNormalVertices()
 // The normal of a vertex v computed as a weighted sum f the incident face normals.
 // The weight is simply the angle of the involved wedge. Described in:
 // G. Thurmer, C. A. Wuthrich "Computing vertex normals from polygonal facets", Journal of Graphics Tools, 1998
-inline float AngleN(const Mesh::Normal& p1, const Mesh::Normal& p2) {
-	float t(p1.dot(p2));
-	if (t>1) t = 1; else
-	if (t<-1) t = -1;
-	return acosf(t);
-}
 void Mesh::ComputeNormalVertices()
 {
 	ASSERT(!faceNormals.IsEmpty());
@@ -380,14 +374,49 @@ void Mesh::ComputeNormalVertices()
 		const Normal e0(normalized(v1-v0));
 		const Normal e1(normalized(v2-v1));
 		const Normal e2(normalized(v0-v2));
-		vertexNormals[face[0]] += t*AngleN(e0, -e2);
-		vertexNormals[face[1]] += t*AngleN(-e0, e1);
-		vertexNormals[face[2]] += t*AngleN(-e1, e2);
+		vertexNormals[face[0]] += t*ACOS(-ComputeAngleN(e0.ptr(), e2.ptr()));
+		vertexNormals[face[1]] += t*ACOS(-ComputeAngleN(e0.ptr(), e1.ptr()));
+		vertexNormals[face[2]] += t*ACOS(-ComputeAngleN(e1.ptr(), e2.ptr()));
 	}
 	FOREACHPTR(pVertexNormal, vertexNormals)
 		normalize(*pVertexNormal);
 }
 #endif
+
+// Smoothen the normals for each face
+//  - fMaxGradient: maximum angle (in degrees) difference between neighbor normals that is
+//    allowed to take into consideration; higher angles are ignored
+//  - fOriginalWeight: weight (0..1] to use for current normal value when averaging with neighbor normals
+//  - nIterations: number of times to repeat the smoothening process
+void Mesh::SmoothNormalFaces(float fMaxGradient, float fOriginalWeight, unsigned nIterations) {
+	if (faceNormals.size() != faces.size())
+		ComputeNormalFaces();
+	if (vertexFaces.size() != vertices.size())
+		ListIncidenteFaces();
+	if (faceFaces.size() != faces.size())
+		ListIncidenteFaceFaces();
+	const float cosMaxGradient = COS(FD2R(fMaxGradient));
+	for (unsigned rep = 0; rep < nIterations; ++rep) {
+		NormalArr newFaceNormals(faceNormals.size());
+		FOREACH(idxFace, faces) {
+			const Face& face = faces[idxFace];
+			const Normal& originalNormal = faceNormals[idxFace];
+			Normal sumNeighborNormals = Normal::ZERO;
+			for (int i = 0; i < 3; ++i) {
+				const FIndex fIdx = faceFaces[idxFace][i];
+				if (fIdx == NO_ID)
+					continue;
+				const Normal& neighborNormal = faceNormals[fIdx];
+				if (ComputeAngleN(originalNormal.ptr(), neighborNormal.ptr()) >= cosMaxGradient)
+					sumNeighborNormals += neighborNormal;
+			}
+			const Normal avgNeighborsNormal = normalized(sumNeighborNormals);
+			const Normal newFaceNormal = normalized(originalNormal * fOriginalWeight + avgNeighborsNormal * (1.f - fOriginalWeight));
+			newFaceNormals[idxFace] = newFaceNormal;
+		}
+		newFaceNormals.Swap(faceNormals);
+	}
+}
 /*----------------------------------------------------------------*/
 
 
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index f8d10da29..4e50c58a6 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -162,6 +162,8 @@ class MVS_API Mesh
 	void ComputeNormalFaces();
 	void ComputeNormalVertices();
 
+	void SmoothNormalFaces(float fMaxGradient=25.f, float fOriginalWeight=0.5f, unsigned nIterations=3);
+
 	void GetEdgeFaces(VIndex, VIndex, FaceIdxArr&) const;
 	void GetFaceFaces(FIndex, FaceIdxArr&) const;
 	void GetEdgeVertices(FIndex, FIndex, uint32_t vs0[2], uint32_t vs1[2]) const;
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index c6a1fe9a8..83540938e 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -131,7 +131,7 @@ class MVS_API Scene
 	#endif
 
 	// Mesh texturing
-	bool TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, float fOutlierThreshold=0.f, float fRatioDataSmoothness=0.3f, bool bGlobalSeamLeveling=true, bool bLocalSeamLeveling=true, unsigned nTextureSizeMultiple=0, unsigned nRectPackingHeuristic=3, Pixel8U colEmpty=Pixel8U(255,127,39), const IIndexArr& views=IIndexArr());
+	bool TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned minCommonCameras=0, float fOutlierThreshold=0.f, float fRatioDataSmoothness=0.3f, bool bGlobalSeamLeveling=true, bool bLocalSeamLeveling=true, unsigned nTextureSizeMultiple=0, unsigned nRectPackingHeuristic=3, Pixel8U colEmpty=Pixel8U(255,127,39), const IIndexArr& views=IIndexArr());
 
 	#ifdef _USE_BOOST
 	// implement BOOST serialization
diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index 17ddc24f0..9345d5cf9 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -125,6 +125,7 @@ struct TRWSInference {
 }
 #endif
 
+
 // S T R U C T S ///////////////////////////////////////////////////
 
 typedef Mesh::Vertex Vertex;
@@ -183,6 +184,8 @@ struct MeshTexture {
 	typedef cList<FaceData,const FaceData&,0,8,uint32_t> FaceDataArr; // store information about one face seen from several views
 	typedef cList<FaceDataArr,const FaceDataArr&,2,1024,FIndex> FaceDataViewArr; // store data for all the faces of the mesh
 
+	typedef cList<Mesh::FaceIdxArr, const Mesh::FaceIdxArr&,2,1024, FIndex> VirtualFaceIdxsArr; // store face indices for each virtual face
+
 	// used to assign a view to a face
 	typedef uint32_t Label;
 	typedef cList<Label,Label,0,1024,FIndex> LabelArr;
@@ -325,9 +328,12 @@ struct MeshTexture {
 	#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
 	bool FaceOutlierDetection(FaceDataArr& faceDatas, float fOutlierThreshold) const;
 	#endif
+	
+	void CreateVirtualFaces(const FaceDataViewArr& facesDatas, FaceDataViewArr& virtualFacesDatas, VirtualFaceIdxsArr& virtualFaces, unsigned minCommonCameras=2, float thMaxNormalDeviation=25.f) const;
+	IIndexArr SelectBestView(const FaceDataArr& faceDatas, FIndex fid, unsigned minCommonCameras, float ratioAngleToQuality) const;
 
-	bool FaceViewSelection(float fOutlierThreshold, float fRatioDataSmoothness, const IIndexArr& views);
-
+	bool FaceViewSelection(unsigned minCommonCameras, float fOutlierThreshold, float fRatioDataSmoothness, const IIndexArr& views);
+	
 	void CreateSeamVertices();
 	void GlobalSeamLeveling();
 	void LocalSeamLeveling();
@@ -491,6 +497,8 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 		cv::filter2D(imageGradMag, grad[1], cv::DataType<real>::type, kernel.t());
 		#endif
 		(TImage<real>::EMatMap)imageGradMag = (mGrad[0].cwiseAbs2()+mGrad[1].cwiseAbs2()).cwiseSqrt();
+		// apply some blur on the gradient to lower noise/glossiness effects onto face-quality score
+		cv::GaussianBlur(imageGradMag, imageGradMag, cv::Size(15, 15), 0, 0, cv::BORDER_DEFAULT);
 		// select faces inside view frustum
 		Mesh::FaceIdxArr cameraFaces;
 		Mesh::FacesInserter inserter(cameraFaces);
@@ -516,6 +524,11 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 		#pragma omp critical
 		#endif
 		{
+		// faceQuality is influenced by :
+		// + area: the higher the area the more gradient scores will be added to the face quality
+		// + sharpness: sharper image or image resolution or how close is to the face will result in higher gradient on the same face
+		//				ON GLOSS IMAGES it happens to have a high volatile sharpness depending on how the light reflects under different angles
+		// + angle: low angle increases the surface area
 		for (int j=0; j<faceMap.rows; ++j) {
 			for (int i=0; i<faceMap.cols; ++i) {
 				const FIndex& idxFace = faceMap(j,i);
@@ -548,11 +561,24 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 				}
 			}
 		}
+		// adjust face quality with camera angle relative to face normal
+		// tries to increase chances of a camera with perpendicular view on the surface (smoothened normals) to be selected
+		FOREACH(idxFace, facesDatas) {
+			FaceDataArr& faceDatas = facesDatas[idxFace];
+			if (faceDatas.empty() || faceDatas.back().idxView != idxView)
+				continue;
+			const Face& f = faces[idxFace];
+			const Vertex faceCenter((vertices[f[0]] + vertices[f[1]] + vertices[f[2]]) / 3.f);
+			const Point3f camDir(Cast<Mesh::Type>(imageData.camera.C) - faceCenter);
+			const Normal& faceNormal = scene.mesh.faceNormals[idxFace];
+			const float cosFaceCam(MAXF(0.001f, ComputeAngle(camDir.ptr(), faceNormal.ptr())));
+			faceDatas.back().quality *= SQUARE(cosFaceCam);
+		}
 		#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
 		FOREACH(idxFace, areas) {
 			const uint32_t& area = areas[idxFace];
 			if (area > 0) {
-				Color& color = facesDatas[idxFace].Last().color;
+				Color& color = facesDatas[idxFace].back().color;
 				color = RGB2YCBCR(Color(color * (1.f/(float)area)));
 			}
 		}
@@ -577,6 +603,199 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 	return true;
 }
 
+// order the camera view scores with highest score first and return the list of first <minCommonCameras> cameras
+// ratioAngleToQuality represents the ratio in witch we combine normal angle to quality for a face to obtain the selection score
+//  - a ratio of 1 means only angle is considered
+//  - a ratio of 0.5 means angle and quality are equally important
+//  - a ratio of 0 means only camera quality is considered when sorting
+IIndexArr MeshTexture::SelectBestView(const FaceDataArr& faceDatas, FIndex fid, unsigned minCommonCameras, float ratioAngleToQuality) const
+{
+	ASSERT(!faceDatas.empty());
+	#if 1
+	
+	// compute scores based on the view quality and its angle to the face normal
+	float maxQuality = 0;
+	for (const FaceData& faceData: faceDatas)
+		maxQuality = MAXF(maxQuality, faceData.quality);
+	const Face& f = faces[fid];
+	const Vertex faceCenter((vertices[f[0]] + vertices[f[1]] + vertices[f[2]]) / 3.f);
+	CLISTDEF0IDX(float,IIndex) scores(faceDatas.size());
+	FOREACH(idxFaceData, faceDatas) {
+		const FaceData& faceData = faceDatas[idxFaceData];
+		const Image& imageData = images[faceData.idxView];
+		const Point3f camDir(Cast<Mesh::Type>(imageData.camera.C) - faceCenter);
+		const Normal& faceNormal = scene.mesh.faceNormals[fid];
+		const float cosFaceCam(ComputeAngle(camDir.ptr(), faceNormal.ptr()));
+		scores[idxFaceData] = ratioAngleToQuality*cosFaceCam + (1.f-ratioAngleToQuality)*faceData.quality/maxQuality;
+	}
+	// and sort the scores from to highest to smallest to get the best overall cameras
+	IIndexArr scorePodium(faceDatas.size());
+	std::iota(scorePodium.begin(), scorePodium.end(), 0);
+	scorePodium.Sort([&scores](IIndex i, IIndex j) {
+		return scores[i] > scores[j];
+	});
+
+	#else
+	
+	// sort qualityPodium in relation to faceDatas[index].quality decreasing
+	IIndexArr qualityPodium(faceDatas.size());
+	std::iota(qualityPodium.begin(), qualityPodium.end(), 0);
+	qualityPodium.Sort([&faceDatas](IIndex i, IIndex j) {
+		return faceDatas[i].quality > faceDatas[j].quality;
+	});
+
+	// sort anglePodium in relation to face angle to camera increasing
+	const Face& f = faces[fid];
+	const Vertex faceCenter((vertices[f[0]] + vertices[f[1]] + vertices[f[2]]) / 3.f);
+	CLISTDEF0IDX(float,IIndex) cameraAngles(0, faceDatas.size());
+	for (const FaceData& faceData: faceDatas) {
+		const Image& imageData = images[faceData.idxView];
+		const Point3f camDir(Cast<Mesh::Type>(imageData.camera.C) - faceCenter);
+		const Normal& faceNormal = scene.mesh.faceNormals[fid];
+		const float cosFaceCam(ComputeAngle(camDir.ptr(), faceNormal.ptr()));
+		cameraAngles.emplace_back(cosFaceCam);
+	}
+	IIndexArr anglePodium(faceDatas.size());
+	std::iota(anglePodium.begin(), anglePodium.end(), 0);
+	anglePodium.Sort([&cameraAngles](IIndex i, IIndex j) {
+		return cameraAngles[i] > cameraAngles[j];
+	});
+
+	// combine podium scores to get overall podium
+	// and sort the scores in smallest to highest to get the best overall camera for current virtual face
+	CLISTDEF0IDX(float,IIndex) scores(faceDatas.size());
+	scores.Memset(0);
+	FOREACH(sIdx, faceDatas) {
+		scores[anglePodium[sIdx]] += ratioAngleToQuality * (sIdx+1);
+		scores[qualityPodium[sIdx]] += (1.f - ratioAngleToQuality) * (sIdx+1);
+	}
+	IIndexArr scorePodium(faceDatas.size());
+	std::iota(scorePodium.begin(), scorePodium.end(), 0);
+	scorePodium.Sort([&scores](IIndex i, IIndex j) {
+		return scores[i] < scores[j];
+	});
+	
+	#endif
+	IIndexArr cameras(MIN(minCommonCameras, faceDatas.size()));
+	FOREACH(i, cameras)
+		cameras[i] = faceDatas[scorePodium[i]].idxView;
+	return cameras;
+}
+
+static bool IsFaceVisible(const MeshTexture::FaceDataArr& faceDatas, const IIndexArr& cameraList) {
+	size_t camFoundCounter(0);
+	for (const MeshTexture::FaceData& faceData : faceDatas) {
+		const IIndex cfCam = faceData.idxView;
+		for (IIndex camId : cameraList) {
+			if (cfCam == camId) {
+				if (++camFoundCounter == cameraList.size())
+					return true;	
+				break;
+			}
+		}
+	}
+	return camFoundCounter == cameraList.size();
+}
+
+// build virtual faces with:
+// - similar normal
+// - high percentage of common images that see them
+void MeshTexture::CreateVirtualFaces(const FaceDataViewArr& facesDatas, FaceDataViewArr& virtualFacesDatas, VirtualFaceIdxsArr& virtualFaces, unsigned minCommonCameras, float thMaxNormalDeviation) const
+{
+	const float ratioAngleToQuality(0.67f);
+	const float cosMaxNormalDeviation(COS(FD2R(thMaxNormalDeviation)));
+	Mesh::FaceIdxArr remainingFaces(faces.size());
+	std::iota(remainingFaces.begin(), remainingFaces.end(), 0);
+	std::vector<bool> selectedFaces(faces.size(), false);
+	cQueue<FIndex, FIndex, 0> currentVirtualFaceQueue;
+	std::unordered_set<FIndex> queuedFaces;
+	do {
+		const FIndex startPos = RAND() % remainingFaces.size();
+		const FIndex virtualFaceCenterFaceID = remainingFaces[startPos];
+		ASSERT(currentVirtualFaceQueue.IsEmpty());
+		const Normal& normalCenter = scene.mesh.faceNormals[virtualFaceCenterFaceID];
+		const FaceDataArr& centerFaceDatas = facesDatas[virtualFaceCenterFaceID];
+		// select the common cameras
+		Mesh::FaceIdxArr virtualFace;
+		FaceDataArr virtualFaceDatas;
+		if (centerFaceDatas.empty()) {
+			virtualFace.emplace_back(virtualFaceCenterFaceID);
+			selectedFaces[virtualFaceCenterFaceID] = true;
+			const auto posToErase = remainingFaces.FindFirst(virtualFaceCenterFaceID);
+			ASSERT(posToErase != Mesh::FaceIdxArr::NO_INDEX);
+			remainingFaces.RemoveAtMove(posToErase);
+		} else {
+			const IIndexArr selectedCams = SelectBestView(centerFaceDatas, virtualFaceCenterFaceID, minCommonCameras, ratioAngleToQuality);
+			currentVirtualFaceQueue.AddTail(virtualFaceCenterFaceID);
+			queuedFaces.clear();
+			do {
+				const FIndex currentFaceId = currentVirtualFaceQueue.GetHead();
+				currentVirtualFaceQueue.PopHead();
+				// check for condition to add in current virtual face
+				// normal angle smaller than thMaxNormalDeviation degrees
+				const Normal& faceNormal = scene.mesh.faceNormals[currentFaceId];
+				const float cosFaceToCenter(ComputeAngleN(normalCenter.ptr(), faceNormal.ptr()));
+				if (cosFaceToCenter < cosMaxNormalDeviation)
+					continue;
+				// check if current face is seen by all cameras in selectedCams
+				ASSERT(!selectedCams.empty());
+				if (!IsFaceVisible(facesDatas[currentFaceId], selectedCams))
+					continue;
+				// remove it from remaining faces and add it to the virtual face
+				{
+					const auto posToErase = remainingFaces.FindFirst(currentFaceId);
+					ASSERT(posToErase != Mesh::FaceIdxArr::NO_INDEX);
+					remainingFaces.RemoveAtMove(posToErase);
+					selectedFaces[currentFaceId] = true;
+					virtualFace.push_back(currentFaceId);
+				}
+				// add all new neighbors to the queue
+				const Mesh::FaceFaces& ffaces = faceFaces[currentFaceId];
+				for (int i = 0; i < 3; ++i) {
+					const FIndex fIdx = ffaces[i];
+					if (fIdx == NO_ID)
+						continue;
+					if (!selectedFaces[fIdx] && queuedFaces.find(fIdx) == queuedFaces.end()) {
+						currentVirtualFaceQueue.AddTail(fIdx);
+						queuedFaces.emplace(fIdx);
+					}
+				}
+			} while (!currentVirtualFaceQueue.IsEmpty());
+			// compute virtual face quality and create virtual face
+			for (IIndex idxView: selectedCams) {
+				FaceData& virtualFaceData = virtualFaceDatas.AddEmpty();
+				virtualFaceData.quality = 0;
+				virtualFaceData.idxView = idxView;
+				#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
+				virtualFaceData.color = Point3f::ZERO;
+				#endif
+				unsigned processedFaces(0);
+				for (FIndex fid : virtualFace) {
+					const FaceDataArr& faceDatas = facesDatas[fid];
+					for (FaceData& faceData: faceDatas) {
+						if (faceData.idxView == idxView) {
+							virtualFaceData.quality += faceData.quality;
+							#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
+							virtualFaceData.color += faceData.color;
+							#endif
+							++processedFaces;
+							break;
+						}
+					}
+				}
+				ASSERT(processedFaces > 0);
+				virtualFaceData.quality /= processedFaces;
+				#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
+				virtualFaceData.color /= processedFaces;
+				#endif
+			}
+			ASSERT(!virtualFaceDatas.empty());
+		}
+		virtualFacesDatas.emplace_back(std::move(virtualFaceDatas));
+		virtualFaces.emplace_back(std::move(virtualFace));
+	} while (!remainingFaces.empty());
+}
+
 #if TEXOPT_FACEOUTLIER == TEXOPT_FACEOUTLIER_MEDIAN
 
 // decrease the quality of / remove all views in which the face's projection
@@ -755,13 +974,16 @@ bool MeshTexture::FaceOutlierDetection(FaceDataArr& faceDatas, float thOutlier)
 }
 #endif
 
-bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmoothness, const IIndexArr& views)
+bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThreshold, float fRatioDataSmoothness, const IIndexArr& views)
 {
 	// extract array of triangles incident to each vertex
 	ListVertexFaces();
 
 	// create texture patches
 	{
+		// compute face normals and smoothen them
+		scene.mesh.SmoothNormalFaces();
+
 		// list all views for each face
 		FaceDataViewArr facesDatas;
 		if (!ListCameraFaces(facesDatas, fOutlierThreshold, views))
@@ -772,177 +994,310 @@ bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmo
 		typedef boost::graph_traits<Graph>::edge_iterator EdgeIter;
 		typedef boost::graph_traits<Graph>::out_edge_iterator EdgeOutIter;
 		Graph graph;
-		{
-			FOREACH(idxFace, faces) {
+		LabelArr labels;
+
+		// construct and use virtual faces for patch creation instead of actual mesh faces;
+		// the virtual faces are composed of coplanar triangles sharing same views
+		const bool bUseVirtualFaces(minCommonCameras > 0);
+		if (bUseVirtualFaces) {
+			// 1) create FaceToVirtualFaceMap
+			FaceDataViewArr virtualFacesDatas;
+			VirtualFaceIdxsArr virtualFaces; // stores each virtual face as an array of mesh face ID
+			CreateVirtualFaces(facesDatas, virtualFacesDatas, virtualFaces, minCommonCameras);
+			Mesh::FaceIdxArr mapFaceToVirtualFace(faces.size()); // for each mesh face ID, store the virtual face ID witch contains it
+			size_t controlCounter(0);
+			FOREACH(idxVF, virtualFaces) {
+				const Mesh::FaceIdxArr& vf = virtualFaces[idxVF];
+				for (FIndex idxFace : vf) {
+					mapFaceToVirtualFace[idxFace] = idxVF;
+					++controlCounter;
+				}
+			}
+			ASSERT(controlCounter == faces.size());
+			// 2) create function to find virtual faces neighbors
+			VirtualFaceIdxsArr virtualFaceNeighbors; { // for each virtual face, the list of virtual faces with at least one vertex in common
+				virtualFaceNeighbors.resize(virtualFaces.size());
+				FOREACH(idxVF, virtualFaces) {
+					const Mesh::FaceIdxArr& vf = virtualFaces[idxVF];
+					Mesh::FaceIdxArr& vfNeighbors = virtualFaceNeighbors[idxVF];
+					for (FIndex idxFace : vf) {
+						const Mesh::FaceFaces& adjFaces = faceFaces[idxFace];
+						for (int i = 0; i < 3; ++i) {
+							const FIndex fAdj(adjFaces[i]);
+							if (fAdj == NO_ID)
+								continue;
+							if (mapFaceToVirtualFace[fAdj] == idxVF)
+								continue;
+							if (fAdj != idxFace && vfNeighbors.Find(mapFaceToVirtualFace[fAdj]) == Mesh::FaceIdxArr::NO_INDEX) {
+								vfNeighbors.emplace_back(mapFaceToVirtualFace[fAdj]);
+							}
+						}
+					}
+				}
+			}
+			// 3) use virtual faces to build the graph
+			// 4) assign images to virtual faces
+			// 5) spread image ID to each mesh face from virtual face
+			FOREACH(idxFace, virtualFaces) {
 				const Mesh::FIndex idx((Mesh::FIndex)boost::add_vertex(graph));
 				ASSERT(idx == idxFace);
 			}
-			FOREACH(idxFace, faces) {
-				const Mesh::FaceFaces& afaces = faceFaces[idxFace];
-				for (int v=0; v<3; ++v) {
-					const FIndex idxFaceAdj = afaces[v];
-					if (idxFaceAdj == NO_ID || idxFace >= idxFaceAdj)
+			FOREACH(idxVirtualFace, virtualFaces) {
+				const Mesh::FaceIdxArr& afaces = virtualFaceNeighbors[idxVirtualFace];
+				for (FIndex idxVirtualFaceAdj: afaces) {
+					if (idxVirtualFace >= idxVirtualFaceAdj)
 						continue;
-					const bool bInvisibleFace(facesDatas[idxFace].IsEmpty());
-					const bool bInvisibleFaceAdj(facesDatas[idxFaceAdj].IsEmpty());
-					if (bInvisibleFace || bInvisibleFaceAdj) {
-						if (bInvisibleFace != bInvisibleFaceAdj)
-							seamEdges.emplace_back(idxFace, idxFaceAdj);
+					const bool bInvisibleFace(virtualFacesDatas[idxVirtualFace].empty());
+					const bool bInvisibleFaceAdj(virtualFacesDatas[idxVirtualFaceAdj].empty());
+					if (bInvisibleFace || bInvisibleFaceAdj)
 						continue;
-					}
-					boost::add_edge(idxFace, idxFaceAdj, graph);
+					boost::add_edge(idxVirtualFace, idxVirtualFaceAdj, graph);
 				}
 			}
-			faceFaces.Release();
-			ASSERT((Mesh::FIndex)boost::num_vertices(graph) == faces.size());
-		}
-
-		// assign the best view to each face
-		LabelArr labels(faces.size());
-		components.Resize(faces.size());
-		{
-			// normalize quality values
-			float maxQuality(0);
-			for (const FaceDataArr& faceDatas: facesDatas) {
-				for (const FaceData& faceData: faceDatas)
-					if (maxQuality < faceData.quality)
-						maxQuality = faceData.quality;
-			}
-			Histogram32F hist(std::make_pair(0.f, maxQuality), 1000);
-			for (const FaceDataArr& faceDatas: facesDatas) {
-				for (const FaceData& faceData: faceDatas)
-					hist.Add(faceData.quality);
-			}
-			const float normQuality(hist.GetApproximatePermille(0.95f));
-
-			#if TEXOPT_INFERENCE == TEXOPT_INFERENCE_LBP
-			// initialize inference structures
-			const LBPInference::EnergyType MaxEnergy(fRatioDataSmoothness*LBPInference::MaxEnergy);
-			LBPInference inference; {
-				inference.SetNumNodes(faces.size());
-				inference.SetSmoothCost(SmoothnessPotts);
-				EdgeOutIter ei, eie;
-				FOREACH(f, faces) {
-					for (boost::tie(ei, eie) = boost::out_edges(f, graph); ei != eie; ++ei) {
-						ASSERT(f == (FIndex)ei->m_source);
-						const FIndex fAdj((FIndex)ei->m_target);
-						ASSERT(components.empty() || components[f] == components[fAdj]);
-						if (f < fAdj) // add edges only once
-							inference.SetNeighbors(f, fAdj);
+			ASSERT((Mesh::FIndex)boost::num_vertices(graph) == virtualFaces.size());
+			// assign the best view to each face
+			labels.resize(faces.size());
+			components.resize(faces.size()); {
+				// normalize quality values
+				float maxQuality(0);
+				for (const FaceDataArr& faceDatas: virtualFacesDatas) {
+					for (const FaceData& faceData: faceDatas)
+						if (maxQuality < faceData.quality)
+							maxQuality = faceData.quality;
+				}
+				Histogram32F hist(std::make_pair(0.f, maxQuality), 1000);
+				for (const FaceDataArr& faceDatas: virtualFacesDatas) {
+					for (const FaceData& faceData: faceDatas)
+						hist.Add(faceData.quality);
+				}
+				const float normQuality(hist.GetApproximatePermille(0.95f));
+
+				#if TEXOPT_INFERENCE == TEXOPT_INFERENCE_LBP
+				// initialize inference structures
+				const LBPInference::EnergyType MaxEnergy(fRatioDataSmoothness*LBPInference::MaxEnergy);
+				LBPInference inference; {
+					inference.SetNumNodes(virtualFaces.size());
+					inference.SetSmoothCost(SmoothnessPotts);
+					EdgeOutIter ei, eie;
+					FOREACH(f, virtualFaces) {
+						for (boost::tie(ei, eie) = boost::out_edges(f, graph); ei != eie; ++ei) {
+							ASSERT(f == (FIndex)ei->m_source);
+							const FIndex fAdj((FIndex)ei->m_target);
+							ASSERT(components.empty() || components[f] == components[fAdj]);
+							if (f < fAdj) // add edges only once
+								inference.SetNeighbors(f, fAdj);
+						}
+						// set costs for label 0 (undefined)
+						inference.SetDataCost((Label)0, f, MaxEnergy);
 					}
-					// set costs for label 0 (undefined)
-					inference.SetDataCost((Label)0, f, MaxEnergy);
 				}
-			}
 
-			// set data costs for all labels (except label 0 - undefined)
-			FOREACH(f, facesDatas) {
-				const FaceDataArr& faceDatas = facesDatas[f];
-				for (const FaceData& faceData: faceDatas) {
-					const Label label((Label)faceData.idxView+1);
-					const float normalizedQuality(faceData.quality>=normQuality ? 1.f : faceData.quality/normQuality);
-					const float dataCost((1.f-normalizedQuality)*MaxEnergy);
-					inference.SetDataCost(label, f, dataCost);
+				// set data costs for all labels (except label 0 - undefined)
+				FOREACH(f, virtualFacesDatas) {
+					const FaceDataArr& faceDatas = virtualFacesDatas[f];
+					for (const FaceData& faceData: faceDatas) {
+						const Label label((Label)faceData.idxView+1);
+						const float normalizedQuality(faceData.quality>=normQuality ? 1.f : faceData.quality/normQuality);
+						const float dataCost((1.f-normalizedQuality)*MaxEnergy);
+						inference.SetDataCost(label, f, dataCost);
+					}
 				}
-			}
 
-			// assign the optimal view (label) to each face
-			// (label 0 is reserved as undefined)
-			inference.Optimize();
-
-			// extract resulting labeling
-			labels.Memset(0xFF);
-			FOREACH(l, labels) {
-				const Label label(inference.GetLabel(l));
-				ASSERT(label < images.GetSize()+1);
-				if (label > 0)
-					labels[l] = label-1;
-			}
-			#endif
+				// assign the optimal view (label) to each face
+				// (label 0 is reserved as undefined)
+				inference.Optimize();
 
-			#if TEXOPT_INFERENCE == TEXOPT_INFERENCE_TRWS
-			// find connected components
-			const FIndex nComponents(boost::connected_components(graph, components.data()));
+				// extract resulting labeling
+				LabelArr virtualLabels(virtualFaces.size());
+				virtualLabels.Memset(0xFF);
+				FOREACH(l, virtualLabels) {
+					const Label label(inference.GetLabel(l));
+					ASSERT(label < images.GetSize()+1);
+					if (label > 0)
+						virtualLabels[l] = label-1;
+				}
+				FOREACH(l, labels) {
+					labels[l] = virtualLabels[mapFaceToVirtualFace[l]];
+				}
+				#endif
+			}
 
-			// map face ID from global to component space
-			typedef cList<NodeID, NodeID, 0, 128, NodeID> NodeIDs;
-			NodeIDs nodeIDs(faces.GetSize());
-			NodeIDs sizes(nComponents);
-			sizes.Memset(0);
-			FOREACH(c, components)
-				nodeIDs[c] = sizes[components[c]]++;
-
-			// initialize inference structures
-			const LabelID numLabels(images.GetSize()+1);
-			CLISTDEFIDX(TRWSInference, FIndex) inferences(nComponents);
-			FOREACH(s, sizes) {
-				const NodeID numNodes(sizes[s]);
-				ASSERT(numNodes > 0);
-				if (numNodes <= 1)
+			graph.clear();
+		}
+		
+		// create the graph of faces: each vertex is a face and the edges are the edges shared by the faces
+		FOREACH(idxFace, faces) {
+			const Mesh::FIndex idx((Mesh::FIndex)boost::add_vertex(graph));
+			ASSERT(idx == idxFace);
+		}
+		FOREACH(idxFace, faces) {
+			const Mesh::FaceFaces& afaces = faceFaces[idxFace];
+			for (int v=0; v<3; ++v) {
+				const FIndex idxFaceAdj = afaces[v];
+				if (idxFaceAdj == NO_ID || idxFace >= idxFaceAdj)
+					continue;
+				const bool bInvisibleFace(facesDatas[idxFace].IsEmpty());
+				const bool bInvisibleFaceAdj(facesDatas[idxFaceAdj].IsEmpty());
+				if (bInvisibleFace || bInvisibleFaceAdj) {
+					if (bInvisibleFace != bInvisibleFaceAdj)
+						seamEdges.emplace_back(idxFace, idxFaceAdj);
 					continue;
-				TRWSInference& inference = inferences[s];
-				inference.Init(numNodes, numLabels);
+				}
+				boost::add_edge(idxFace, idxFaceAdj, graph);
 			}
-
-			// set data costs
+		}
+		faceFaces.Release();
+		ASSERT((Mesh::FIndex)boost::num_vertices(graph) == faces.size());
+
+		// start patch creation starting directly from individual faces
+		if (!bUseVirtualFaces) {
+			// assign the best view to each face
+			labels.resize(faces.size());
+			components.resize(faces.size());
 			{
-				// add nodes
-				CLISTDEF0(EnergyType) D(numLabels);
+				// normalize quality values
+				float maxQuality(0);
+				for (const FaceDataArr& faceDatas: facesDatas) {
+					for (const FaceData& faceData: faceDatas)
+						if (maxQuality < faceData.quality)
+							maxQuality = faceData.quality;
+				}
+				Histogram32F hist(std::make_pair(0.f, maxQuality), 1000);
+				for (const FaceDataArr& faceDatas: facesDatas) {
+					for (const FaceData& faceData: faceDatas)
+						hist.Add(faceData.quality);
+				}
+				const float normQuality(hist.GetApproximatePermille(0.95f));
+
+				#if TEXOPT_INFERENCE == TEXOPT_INFERENCE_LBP
+				// initialize inference structures
+				const LBPInference::EnergyType MaxEnergy(fRatioDataSmoothness*LBPInference::MaxEnergy);
+				LBPInference inference; {
+					inference.SetNumNodes(faces.size());
+					inference.SetSmoothCost(SmoothnessPotts);
+					EdgeOutIter ei, eie;
+					FOREACH(f, faces) {
+						for (boost::tie(ei, eie) = boost::out_edges(f, graph); ei != eie; ++ei) {
+							ASSERT(f == (FIndex)ei->m_source);
+							const FIndex fAdj((FIndex)ei->m_target);
+							ASSERT(components.empty() || components[f] == components[fAdj]);
+							if (f < fAdj) // add edges only once
+								inference.SetNeighbors(f, fAdj);
+						}
+						// set costs for label 0 (undefined)
+						inference.SetDataCost((Label)0, f, MaxEnergy);
+					}
+				}
+
+				// set data costs for all labels (except label 0 - undefined)
 				FOREACH(f, facesDatas) {
-					TRWSInference& inference = inferences[components[f]];
-					if (inference.IsEmpty())
-						continue;
-					D.MemsetValue(MaxEnergy);
 					const FaceDataArr& faceDatas = facesDatas[f];
 					for (const FaceData& faceData: faceDatas) {
-						const Label label((Label)faceData.idxView);
+						const Label label((Label)faceData.idxView+1);
 						const float normalizedQuality(faceData.quality>=normQuality ? 1.f : faceData.quality/normQuality);
-						const EnergyType dataCost(MaxEnergy*(1.f-normalizedQuality));
-						D[label] = dataCost;
+						const float dataCost((1.f-normalizedQuality)*MaxEnergy);
+						inference.SetDataCost(label, f, dataCost);
 					}
-					const NodeID nodeID(nodeIDs[f]);
-					inference.AddNode(nodeID, D.Begin());
 				}
-				// add edges
-				EdgeOutIter ei, eie;
-				FOREACH(f, faces) {
-					TRWSInference& inference = inferences[components[f]];
-					if (inference.IsEmpty())
+
+				// assign the optimal view (label) to each face
+				// (label 0 is reserved as undefined)
+				inference.Optimize();
+
+				// extract resulting labeling
+				labels.Memset(0xFF);
+				FOREACH(l, labels) {
+					const Label label(inference.GetLabel(l));
+					ASSERT(label < images.size()+1);
+					if (label > 0)
+						labels[l] = label-1;
+				}
+				#endif
+
+				#if TEXOPT_INFERENCE == TEXOPT_INFERENCE_TRWS
+				// find connected components
+				const FIndex nComponents(boost::connected_components(graph, components.data()));
+
+				// map face ID from global to component space
+				typedef cList<NodeID, NodeID, 0, 128, NodeID> NodeIDs;
+				NodeIDs nodeIDs(faces.GetSize());
+				NodeIDs sizes(nComponents);
+				sizes.Memset(0);
+				FOREACH(c, components)
+					nodeIDs[c] = sizes[components[c]]++;
+
+				// initialize inference structures
+				const LabelID numLabels(images.GetSize()+1);
+				CLISTDEFIDX(TRWSInference, FIndex) inferences(nComponents);
+				FOREACH(s, sizes) {
+					const NodeID numNodes(sizes[s]);
+					ASSERT(numNodes > 0);
+					if (numNodes <= 1)
 						continue;
-					for (boost::tie(ei, eie) = boost::out_edges(f, graph); ei != eie; ++ei) {
-						ASSERT(f == (FIndex)ei->m_source);
-						const FIndex fAdj((FIndex)ei->m_target);
-						ASSERT(components[f] == components[fAdj]);
-						if (f < fAdj) // add edges only once
-							inference.AddEdge(nodeIDs[f], nodeIDs[fAdj]);
+					TRWSInference& inference = inferences[s];
+					inference.Init(numNodes, numLabels);
+				}
+
+				// set data costs
+				{
+					// add nodes
+					CLISTDEF0(EnergyType) D(numLabels);
+					FOREACH(f, facesDatas) {
+						TRWSInference& inference = inferences[components[f]];
+						if (inference.IsEmpty())
+							continue;
+						D.MemsetValue(MaxEnergy);
+						const FaceDataArr& faceDatas = facesDatas[f];
+						for (const FaceData& faceData: faceDatas) {
+							const Label label((Label)faceData.idxView);
+							const float normalizedQuality(faceData.quality>=normQuality ? 1.f : faceData.quality/normQuality);
+							const EnergyType dataCost(MaxEnergy*(1.f-normalizedQuality));
+							D[label] = dataCost;
+						}
+						const NodeID nodeID(nodeIDs[f]);
+						inference.AddNode(nodeID, D.Begin());
+					}
+					// add edges
+					EdgeOutIter ei, eie;
+					FOREACH(f, faces) {
+						TRWSInference& inference = inferences[components[f]];
+						if (inference.IsEmpty())
+							continue;
+						for (boost::tie(ei, eie) = boost::out_edges(f, graph); ei != eie; ++ei) {
+							ASSERT(f == (FIndex)ei->m_source);
+							const FIndex fAdj((FIndex)ei->m_target);
+							ASSERT(components[f] == components[fAdj]);
+							if (f < fAdj) // add edges only once
+								inference.AddEdge(nodeIDs[f], nodeIDs[fAdj]);
+						}
 					}
 				}
-			}
 
-			// assign the optimal view (label) to each face
-			#ifdef TEXOPT_USE_OPENMP
-			#pragma omp parallel for schedule(dynamic)
-			for (int i=0; i<(int)inferences.GetSize(); ++i) {
-			#else
-			FOREACH(i, inferences) {
-			#endif
-				TRWSInference& inference = inferences[i];
-				if (inference.IsEmpty())
-					continue;
-				inference.Optimize();
-			}
-			// extract resulting labeling
-			labels.Memset(0xFF);
-			FOREACH(l, labels) {
-				TRWSInference& inference = inferences[components[l]];
-				if (inference.IsEmpty())
-					continue;
-				const Label label(inference.GetLabel(nodeIDs[l]));
-				ASSERT(label >= 0 && label < numLabels);
-				if (label < images.GetSize())
-					labels[l] = label;
+				// assign the optimal view (label) to each face
+				#ifdef TEXOPT_USE_OPENMP
+				#pragma omp parallel for schedule(dynamic)
+				for (int i=0; i<(int)inferences.GetSize(); ++i) {
+				#else
+				FOREACH(i, inferences) {
+				#endif
+					TRWSInference& inference = inferences[i];
+					if (inference.IsEmpty())
+						continue;
+					inference.Optimize();
+				}
+				// extract resulting labeling
+				labels.Memset(0xFF);
+				FOREACH(l, labels) {
+					TRWSInference& inference = inferences[components[l]];
+					if (inference.IsEmpty())
+						continue;
+					const Label label(inference.GetLabel(nodeIDs[l]));
+					ASSERT(label >= 0 && label < numLabels);
+					if (label < images.GetSize())
+						labels[l] = label;
+				}
+				#endif
 			}
-			#endif
 		}
 
 		// create texture patches
@@ -1891,14 +2246,15 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 }
 
 // texture mesh
-bool Scene::TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, float fOutlierThreshold, float fRatioDataSmoothness, bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, const IIndexArr& views)
+//  - minCommonCameras: generate texture patches using virtual faces composed of coplanar triangles sharing at least this number of views (0 - disabled, 3 - good value)
+bool Scene::TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned minCommonCameras, float fOutlierThreshold, float fRatioDataSmoothness, bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, const IIndexArr& views)
 {
 	MeshTexture texture(*this, nResolutionLevel, nMinResolution);
 
 	// assign the best view to each face
 	{
 		TD_TIMER_STARTD();
-		if (!texture.FaceViewSelection(fOutlierThreshold, fRatioDataSmoothness, views))
+		if (!texture.FaceViewSelection(minCommonCameras, fOutlierThreshold, fRatioDataSmoothness, views))
 			return false;
 		DEBUG_EXTRA("Assigning the best view to each face completed: %u faces (%s)", mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
 	}

From ce8bbdb769c370a0181609c7a92d881b9e500611 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 22 Nov 2022 12:46:51 +0200
Subject: [PATCH 151/252] common: CI uploads release artifact

---
 .github/workflows/continuous_integration.yml  | 33 +++----------------
 .../InterfaceMetashape/InterfaceMetashape.cpp |  4 +--
 2 files changed, 7 insertions(+), 30 deletions(-)

diff --git a/.github/workflows/continuous_integration.yml b/.github/workflows/continuous_integration.yml
index 0d24b3cf6..7c327e6e9 100644
--- a/.github/workflows/continuous_integration.yml
+++ b/.github/workflows/continuous_integration.yml
@@ -41,12 +41,8 @@ jobs:
       - name: Restore artifacts, or setup vcpkg for building artifacts
         uses: lukka/run-vcpkg@v10.6
         with:
-          # Location of the vcpkg as submodule of the repository.
           vcpkgDirectory: '${{ github.workspace }}/vcpkg'
           vcpkgGitCommitId: '4cb4a5c5ddcb9de0c83c85837ee6974c8333f032'
-          # Since the cache must be invalidated when content of the vcpkg.json file changes, let's
-          # compute its hash and append this to the computed cache's key.
-          appendedCacheKey: ${{ hashFiles( '**/vcpkg.json' ) }}
 
       - name: Install Ubuntu dependencies
         if: matrix.os == 'ubuntu-latest'
@@ -75,30 +71,11 @@ jobs:
         run: |
           ctest -j$(nproc) --build-config ${{ matrix.build-type }}
 
-      - name: Zip Windows release
-        if: matrix.os == 'windows-latest'
-        uses: TheDoctor0/zip-release@0.6.2
-        with:
-          type: 'zip'
-          directory: ${{ github.workspace }}/make/bin/
-          recursive_exclusions: '*.exp'
-          filename: 'OpenMVS_Windows.zip'
-
       - name: Deploy Windows release
         if: matrix.os == 'windows-latest'
-        uses: WebFreak001/deploy-nightly@v1.2.0
-        id: deploynightly
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        uses: actions/upload-artifact@v3
         with:
-          upload_url: https://uploads.github.com/repos/cdcseacave/openMVS/releases/64600462/assets{?name,label}
-          release_id: 64600462
-          asset_path: ${{ github.workspace }}/make/bin/OpenMVS_Windows.zip
-          asset_name: OpenMVS_Windows_x64_$$.zip
-          asset_content_type: application/zip
-          max_releases: 7
-
-      - name: Display Windows release link
-        if: matrix.os == 'windows-latest'
-        run: |
-          echo ${{steps.deploynightly.outputs.url}}
\ No newline at end of file
+          name: OpenMVS_Windows_Release_x64
+          path: |
+            ${{ github.workspace }}/make/bin/**/x64
+            !${{ github.workspace }}/make/bin/**/*.exp
diff --git a/apps/InterfaceMetashape/InterfaceMetashape.cpp b/apps/InterfaceMetashape/InterfaceMetashape.cpp
index 7eaa1c5d1..2ebbda805 100644
--- a/apps/InterfaceMetashape/InterfaceMetashape.cpp
+++ b/apps/InterfaceMetashape/InterfaceMetashape.cpp
@@ -824,7 +824,7 @@ int main(int argc, LPCTSTR* argv)
 			#pragma omp flush (bAbort)
 			continue;
 			#else
-			return false;
+			return EXIT_FAILURE;
 			#endif
 		}
 		imageData.UpdateCamera(scene.platforms);
@@ -834,7 +834,7 @@ int main(int argc, LPCTSTR* argv)
 	GET_LOGCONSOLE().Play();
 	#ifdef _USE_OPENMP
 	if (bAbort)
-		return EXIT_SUCCESS;
+		return EXIT_FAILURE;
 	#endif
 	progress.close();
 

From 99185edc999c062779329dc7fd2cfb86ca6c049d Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 24 Nov 2022 10:35:27 +0200
Subject: [PATCH 152/252] common: fix warnings

---
 apps/InterfaceMVSNet/InterfaceMVSNet.cpp       | 4 ++++
 apps/InterfaceMetashape/InterfaceMetashape.cpp | 2 +-
 apps/ReconstructMesh/ReconstructMesh.cpp       | 3 +--
 vcpkg.json                                     | 1 +
 4 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
index 4eb0f77c6..08d76a142 100644
--- a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
+++ b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
@@ -354,6 +354,10 @@ int main(int argc, LPCTSTR* argv)
 	// write OpenMVS input data
 	scene.Save(MAKE_PATH_SAFE(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
 
+	VERBOSE("Imported data: %u platforms, %u images, %u vertices (%s)",
+		scene.platforms.size(), scene.images.size(), scene.pointcloud.GetSize(),
+		TD_TIMER_GET_FMT().c_str());
+
 	Finalize();
 	return EXIT_SUCCESS;
 }
diff --git a/apps/InterfaceMetashape/InterfaceMetashape.cpp b/apps/InterfaceMetashape/InterfaceMetashape.cpp
index 2ebbda805..4886973ab 100644
--- a/apps/InterfaceMetashape/InterfaceMetashape.cpp
+++ b/apps/InterfaceMetashape/InterfaceMetashape.cpp
@@ -849,7 +849,7 @@ int main(int argc, LPCTSTR* argv)
 	scene.Save(MAKE_PATH_SAFE(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
 
 	VERBOSE("Exported data: %u platforms, %u cameras, %u poses, %u images, %u vertices (%s)",
-			scene.platforms.GetSize(), nCameras, nPoses, scene.images.GetSize(), scene.pointcloud.GetSize(),
+			scene.platforms.size(), nCameras, nPoses, scene.images.size(), scene.pointcloud.GetSize(),
 			TD_TIMER_GET_FMT().c_str());
 
 	Finalize();
diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index ae32c722a..9e61d153b 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -246,8 +246,7 @@ void Finalize()
 bool Export3DProjections(Scene& scene, const String& inputFileName) {
 	SML smlPointList(_T("ImagePoints"));
 	smlPointList.Load(inputFileName);
-	const LPSMLARR& arrSmlChild = smlPointList.GetArrChildren();
-	ASSERT(arrSmlChild.size() <= 1);
+	ASSERT(smlPointList.GetArrChildren().size() <= 1);
 	IDX idx(0);
 
 	// read image name
diff --git a/vcpkg.json b/vcpkg.json
index f5cb22bdb..17eae3888 100644
--- a/vcpkg.json
+++ b/vcpkg.json
@@ -18,6 +18,7 @@
     "glfw3",
     "libpng",
     "opencv",
+	"opengl",
     "tiff",
     "vcglib",
     "zlib"

From 79214de0fcea9e28a205de7e0d2fc91713c4eedd Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 24 Nov 2022 10:49:24 +0200
Subject: [PATCH 153/252] build: add workaround missing zstd  library in vcpkg
 boost

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

diff --git a/CMakeLists.txt b/CMakeLists.txt
index c69049a80..f16ccb1e7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -176,6 +176,10 @@ if(Boost_FOUND)
 	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_BOOST)
 	ADD_DEFINITIONS(${Boost_DEFINITIONS})
 	LINK_DIRECTORIES(${Boost_LIBRARY_DIRS})
+	if(NOT MSVC AND DEFINED CMAKE_TOOLCHAIN_FILE)
+		# work around this missing library link in vcpkg
+		LIST(APPEND Boost_LIBRARIES zstd)
+	endif()
 	SET(_USE_BOOST TRUE)
 endif()
 

From 99caa9cb8aea217f16b1bb997e5ea1a6b543621d Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 24 Nov 2022 12:49:08 +0200
Subject: [PATCH 154/252] build: disable Appveyor CI

---
 .appveyor.yml | 124 --------------------------------------------------
 README.md     |   4 +-
 2 files changed, 2 insertions(+), 126 deletions(-)
 delete mode 100644 .appveyor.yml

diff --git a/.appveyor.yml b/.appveyor.yml
deleted file mode 100644
index 91a94b656..000000000
--- a/.appveyor.yml
+++ /dev/null
@@ -1,124 +0,0 @@
-# specify version format
-version: "{build}"
-
-image:
-  - Visual Studio 2019
-  - ubuntu1804
-  - macos
-
-platform:
-  - x64
-
-# specify custom environment variables
-environment:
-  APPVEYOR_SAVE_CACHE_ON_ERROR: true
-
-# build configuration, i.e. Debug, Release, etc.
-configuration:
-  - Debug
-  - Release
-
-# branches to build
-branches:
-  # blacklist
-  except:
-    - gh-pages
-
-for:
--
-  #------------------
-  # Windows 10
-  #------------------
-  matrix:
-    only:
-      - image: Visual Studio 2019
-  # scripts that are called at very beginning, before repo cloning
-  init:
-    - ver
-    - cmake --version
-    - msbuild /version
-  # scripts that run after cloning repository
-  install:
-    # update vcpkg
-    - cd C:\tools\vcpkg
-    - git pull
-    - .\bootstrap-vcpkg.bat
-    - if "%platform%"=="Win32" set VCPKG_ARCH=x86-windows
-    - if "%platform%"=="x64"   set VCPKG_ARCH=x64-windows
-    # remove outdated versions
-    - vcpkg remove --outdated --recurse
-    # install dependencies
-    - vcpkg install --recurse --triplet %VCPKG_ARCH% zlib boost-iostreams boost-program-options boost-system boost-serialization eigen3 cgal[core] opencv glew glfw3
-    - cd "%APPVEYOR_BUILD_FOLDER%"
-  # preserve contents of selected directories and files across project builds
-  cache:
-    - 'C:\tools\vcpkg\installed'
-  build_script:
-    - if "%platform%"=="Win32" set CMAKE_ARCH=-A"x86"
-    - if "%platform%"=="x64"   set CMAKE_ARCH=-A"x64"
-    - git clone https://github.com/cdcseacave/VCG.git
-    - mkdir bin && cd bin
-    - cmake -G"Visual Studio 16 2019" %CMAKE_ARCH% -DCMAKE_BUILD_TYPE=%Configuration% -DCMAKE_TOOLCHAIN_FILE="C:\tools\vcpkg\scripts\buildsystems\vcpkg.cmake" -DVCG_ROOT="$APPVEYOR_BUILD_FOLDER/VCG" ..
-    - cmake --build . --target ALL_BUILD --config %Configuration% -- /maxcpucount:4
--
-  #------------------
-  # Ubuntu 18.04 LTS
-  #------------------
-  matrix:
-    only:
-      - image: ubuntu1804
-  # scripts that are called at very beginning, before repo cloning
-  init:
-    - lsb_release -a
-    - cmake --version
-    - gcc -v
-  # scripts that run after cloning repository
-  install:
-    - sudo apt-get update -qq && sudo apt-get install -qq
-    - sudo apt-get -y install build-essential git cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev libxmu-dev libxi-dev
-    - sudo apt-get -y install libboost-iostreams-dev libboost-program-options-dev libboost-system-dev libboost-serialization-dev
-    - sudo apt-get -y install libopencv-dev libcgal-dev libcgal-qt5-dev libatlas-base-dev
-    - sudo apt-get -y install freeglut3-dev libglew-dev libglfw3-dev
-  # preserve contents of selected directories and files across project builds
-  cache:
-    - '/usr/lib/x86_64-linux-gnu/'
-  build_script:
-    - git clone https://github.com/cdcseacave/VCG.git
-    - git clone --single-branch --branch 3.4 https://gitlab.com/libeigen/eigen.git
-    - mkdir eigen_build && cd eigen_build
-    - cmake . ../eigen
-    - make && sudo make install
-    - cd ..
-    - mkdir bin && cd bin
-    - cmake -DCMAKE_BUILD_TYPE=$Configuration -DVCG_ROOT="$APPVEYOR_BUILD_FOLDER/VCG" ..
-    - make
--
-  #------------------
-  # MacOS
-  #------------------
-  matrix:
-    only:
-      - image: macos
-  # scripts that are called at very beginning, before repo cloning
-  init:
-    - system_profiler SPSoftwareDataType
-    - cmake --version
-    - gcc -v
-  # scripts that run after cloning repository
-  install:
-    - brew update
-    - printf "#%s/bin/bash\nbrew install libomp boost eigen opencv cgal glew glfw3\nexit 0\n" "!" > install.sh
-    - chmod +x install.sh
-    - ./install.sh
-  # preserve contents of selected directories and files across project builds
-  cache:
-    - '/usr/local/Cellar/'
-  build_script:
-    - git clone https://github.com/cdcseacave/VCG.git
-    - mkdir bin && cd bin
-    - cmake -DCMAKE_BUILD_TYPE=$CONFIGURATION -DVCG_ROOT="$APPVEYOR_BUILD_FOLDER/VCG" ..
-    - make
-  
-on_success:
-  - cmd: 7z a OpenMVS_x64.7z "C:\projects\openmvs\bin\bin\vc16\x64\%Configuration%\*.exe" "C:\projects\openmvs\bin\bin\vc16\x64\%Configuration%\*.dll"
-  - cmd: appveyor PushArtifact OpenMVS_x64.7z
diff --git a/README.md b/README.md
index 01386cec7..9cad520bb 100644
--- a/README.md
+++ b/README.md
@@ -15,8 +15,8 @@ See the complete [documentation](https://github.com/cdcseacave/openMVS/wiki) on
 
 ## Build
 
-See the [building](https://github.com/cdcseacave/openMVS/wiki/Building) wiki page. Windows and Ubuntu x64 continuous integration status [![Build Status](https://ci.appveyor.com/api/projects/status/github/cdcseacave/openmvs?branch=master&svg=true)](https://ci.appveyor.com/project/cdcseacave/openmvs)
-Automatic Windows x64 binary builds can be found for each commit on its Appveyor Artifacts page.
+See the [building](https://github.com/cdcseacave/openMVS/wiki/Building) wiki page. Windows, Ubuntu and MacOS x64 continuous integration status [![Continuous Integration](https://github.com/cdcseacave/openMVS/actions/workflows/continuous_integration.yml/badge.svg)](https://github.com/cdcseacave/openMVS/actions/workflows/continuous_integration.yml)
+Automatic Windows x64 binary builds can be found for each commit on its Artifacts page.
 
 ## Example
 

From c1fdb297a21c2be3211776226cb56827fad1cc44 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 25 Nov 2022 23:39:13 +0200
Subject: [PATCH 155/252] build: add tests

---
 CMakeLists.txt            |  10 ++-
 apps/CMakeLists.txt       |   3 +
 apps/Tests/CMakeLists.txt |  13 +++
 apps/Tests/Tests.cpp      |  73 +++++++++++++++++
 libs/Common/List.h        | 167 ++++++++++++++++++--------------------
 libs/Common/Octree.h      |   2 -
 libs/Common/Octree.inl    |  13 ++-
 libs/Common/Ray.inl       |  43 +++++-----
 libs/Common/Types.h       |  12 +--
 libs/MVS/Mesh.cpp         |   1 -
 10 files changed, 208 insertions(+), 129 deletions(-)
 create mode 100644 apps/Tests/CMakeLists.txt
 create mode 100644 apps/Tests/Tests.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index f16ccb1e7..25cbf60bd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -47,6 +47,7 @@ SET(OpenMVS_USE_FAST_INVSQRT OFF CACHE BOOL "Use an optimized code to compute th
 SET(OpenMVS_USE_FAST_CBRT ON CACHE BOOL "Use an optimized code to compute the cubic root")
 SET(OpenMVS_USE_SSE ON CACHE BOOL "Enable SSE optimizations")
 SET(OpenMVS_MAX_CUDA_COMPATIBILITY OFF CACHE BOOL "Build for maximum CUDA device compatibility")
+SET(OpenMVS_ENABLE_TESTS ON CACHE BOOL "Enable test code")
 
 # Define helper functions and macros.
 INCLUDE(build/Utils.cmake)
@@ -245,9 +246,16 @@ if(OpenMVS_BUILD_TOOLS)
 endif()
 ADD_SUBDIRECTORY(docs)
 
+if (OpenMVS_ENABLE_TESTS)
+	# enable testing functionality
+	ENABLE_TESTING()
+	# define tests
+	ADD_TEST(NAME Tests COMMAND $<TARGET_FILE:Tests>)
+endif()
+
 # Export the package for use from the build-tree
 # (this registers the build-tree with a global CMake-registry)
-export(PACKAGE OpenMVS)
+EXPORT(PACKAGE OpenMVS)
 
 # Install the export set for use with the install-tree
 INSTALL(EXPORT OpenMVSTargets
diff --git a/apps/CMakeLists.txt b/apps/CMakeLists.txt
index c6e3b378b..7f7ea6584 100644
--- a/apps/CMakeLists.txt
+++ b/apps/CMakeLists.txt
@@ -8,3 +8,6 @@ ADD_SUBDIRECTORY(RefineMesh)
 ADD_SUBDIRECTORY(TextureMesh)
 ADD_SUBDIRECTORY(TransformScene)
 ADD_SUBDIRECTORY(Viewer)
+if(OpenMVS_ENABLE_TESTS)
+    ADD_SUBDIRECTORY(Tests)
+endif()
diff --git a/apps/Tests/CMakeLists.txt b/apps/Tests/CMakeLists.txt
new file mode 100644
index 000000000..0a95ce02e
--- /dev/null
+++ b/apps/Tests/CMakeLists.txt
@@ -0,0 +1,13 @@
+if(MSVC)
+	FILE(GLOB LIBRARY_FILES_C "*.cpp" "*.rc")
+else()
+	FILE(GLOB LIBRARY_FILES_C "*.cpp")
+endif()
+FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
+
+cxx_executable_with_flags(Tests "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+
+# Install
+INSTALL(TARGETS Tests
+	EXPORT OpenMVSTargets
+	RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin)
diff --git a/apps/Tests/Tests.cpp b/apps/Tests/Tests.cpp
new file mode 100644
index 000000000..2e5b31856
--- /dev/null
+++ b/apps/Tests/Tests.cpp
@@ -0,0 +1,73 @@
+/*
+ * Tests.cpp
+ *
+ * Copyright (c) 2014-2021 SEACAVE
+ *
+ * Author(s):
+ *
+ *      cDc <cdc.seacave@gmail.com>
+ *
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Affero General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Affero General Public License for more details.
+ *
+ * You should have received a copy of the GNU Affero General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * Additional Terms:
+ *
+ *      You are required to preserve legal notices and author attributions in
+ *      that material or in the Appropriate Legal Notices displayed by works
+ *      containing it.
+ */
+
+#include "../../libs/MVS/Common.h"
+#include "../../libs/MVS/Scene.h"
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+// test MVS functionality
+int main(int argc, LPCTSTR* argv)
+{
+	OPEN_LOG();
+	OPEN_LOGCONSOLE();
+	Util::Init();
+	TD_TIMER_START();
+	if (!SEACAVE::cListTest<true>(100)) {
+		VERBOSE("ERROR: cListTest failed!");
+		return EXIT_FAILURE;
+	}
+	if (!SEACAVE::OctreeTest<double,2>(100)) {
+		VERBOSE("ERROR: OctreeTest<double,2> failed!");
+		return EXIT_FAILURE;
+	}
+	if (!SEACAVE::OctreeTest<float,3>(100)) {
+		VERBOSE("ERROR: OctreeTest<float,3> failed!");
+		return EXIT_FAILURE;
+	}
+	if (!SEACAVE::TestRayTriangleIntersection<float>(1000)) {
+		VERBOSE("ERROR: TestRayTriangleIntersection<float> failed!");
+		return EXIT_FAILURE;
+	}
+	if (!SEACAVE::TestRayTriangleIntersection<double>(1000)) {
+		VERBOSE("ERROR: TestRayTriangleIntersection<double> failed!");
+		return EXIT_FAILURE;
+	}
+	VERBOSE("All tests passed (%s)", TD_TIMER_GET_FMT().c_str());
+	CLOSE_LOGCONSOLE();
+	CLOSE_LOG();
+	return EXIT_SUCCESS;
+}
+/*----------------------------------------------------------------*/
diff --git a/libs/Common/List.h b/libs/Common/List.h
index 37e7618fb..2404c4832 100644
--- a/libs/Common/List.h
+++ b/libs/Common/List.h
@@ -1424,106 +1424,93 @@ inline bool ValidIDX(const IDX_TYPE& idx) {
 
 
 // some test functions
-// run cListTest(99999);
-#if 0
-inline bool cListTestIter(unsigned elems) {
-	std::vector<int> arrR;
-	cList<int, int, 0> arr0;
-	cList<int, int, 1> arr1;
-	cList<int, int, 2> arr2;
-	cList<int, int, 1> arrC;
-	for (unsigned i=0; i<elems; ++i) {
-		const int e = RAND();
-		arrR.push_back(e);
-		arr0.InsertSort(e);
-		arr1.InsertSort(e);
-		arr2.InsertSort(e);
-		arrC.Insert(e);
-	}
-	std::sort(arrR.begin(), arrR.end());
-	arrC.Sort([](int a, int b) { return a<b; });
-	for (size_t i=0; i<arrR.size(); ++i) {
-		const int e = arrR[i];
-		if (arrC[i] != e ||
-			arr0[i] != e ||
-			arr1[i] != e ||
-			arr2[i] != e)
-		{
-			ASSERT("there is a problem" == NULL);
-			return false;
+template <bool dummy>
+inline bool cListTest(unsigned iters) {
+	for (unsigned i=0; i<iters; ++i) {
+		const unsigned elems = 100+RAND()%1000;
+		std::vector<int> arrR;
+		cList<int, int, 0> arr0;
+		cList<int, int, 1> arr1;
+		cList<int, int, 2> arr2;
+		cList<int, int, 1> arrC;
+		for (unsigned i=0; i<elems; ++i) {
+			const int e = RAND();
+			arrR.push_back(e);
+			arr0.InsertSort(e);
+			arr1.InsertSort(e);
+			arr2.InsertSort(e);
+			arrC.Insert(e);
 		}
-	}
-	for (size_t i=0; i<6; ++i) {
-		const unsigned nDel = RAND()%arrR.size();
-		arrR.erase(arrR.begin()+nDel);
-		arr0.RemoveAtMove(nDel);
-		arr1.RemoveAtMove(nDel);
-		arr2.RemoveAtMove(nDel);
-	}
-	if (arrR.size() != arr0.GetSize() ||
-		arrR.size() != arr1.GetSize() ||
-		arrR.size() != arr2.GetSize())
-	{
-		ASSERT("there is a problem" == NULL);
-		return false;
-	}
-	for (size_t i=0; i<6; ++i) {
-		const unsigned nDel = RAND()%arrR.size();
-		const unsigned nCount = 1+RAND()%(arrR.size()/10+1);
-		if (nDel + nCount >= arrR.size())
-			continue;
-		arrR.erase(arrR.begin()+nDel, arrR.begin()+nDel+nCount);
-		arr0.RemoveAtMove(nDel, nCount);
-		arr1.RemoveAtMove(nDel, nCount);
-		arr2.RemoveAtMove(nDel, nCount);
-	}
-	if (arrR.size() != arr0.GetSize() ||
-		arrR.size() != arr1.GetSize() ||
-		arrR.size() != arr2.GetSize())
-	{
-		ASSERT("there is a problem" == NULL);
-		return false;
-	}
-	for (size_t i=0; i<arrR.size(); ++i) {
-		const int e = arrR[i];
-		if (arr0[i] != e ||
-			arr1[i] != e ||
-			arr2[i] != e)
-		{
+		std::sort(arrR.begin(), arrR.end());
+		arrC.Sort([](int a, int b) { return a<b; });
+		for (size_t i=0; i<arrR.size(); ++i) {
+			const int e = arrR[i];
+			if (arrC[i] != e ||
+				arr0[i] != e ||
+				arr1[i] != e ||
+				arr2[i] != e) {
+				ASSERT("there is a problem" == NULL);
+				return false;
+			}
+		}
+		for (size_t i=0; i<6; ++i) {
+			const unsigned nDel = RAND()%arrR.size();
+			arrR.erase(arrR.begin()+nDel);
+			arr0.RemoveAtMove(nDel);
+			arr1.RemoveAtMove(nDel);
+			arr2.RemoveAtMove(nDel);
+		}
+		if (arrR.size() != arr0.GetSize() ||
+			arrR.size() != arr1.GetSize() ||
+			arrR.size() != arr2.GetSize()) {
 			ASSERT("there is a problem" == NULL);
 			return false;
 		}
-	}
-	cList<int, int, 1> arrS(1+RAND()%(2*elems));
-	for (size_t i=0; i<6; ++i) {
-		arrS.Insert(RAND());
-	}
-	arrS.RemoveLast(RAND()%arrS.GetSize());
-	arrS.CopyOf(&arrR[0], arrR.size());
-	for (size_t i=0; i<6; ++i) {
-		arrS.Insert(RAND());
-	}
-	arrS.RemoveLast(6);
-	for (size_t i=0; i<arrR.size(); ++i) {
-		const int e = arrR[i];
-		if (arrS[i] != e)
-		{
+		for (size_t i=0; i<6; ++i) {
+			const unsigned nDel = RAND()%arrR.size();
+			const unsigned nCount = 1+RAND()%(arrR.size()/10+1);
+			if (nDel + nCount >= arrR.size())
+				continue;
+			arrR.erase(arrR.begin()+nDel, arrR.begin()+nDel+nCount);
+			arr0.RemoveAtMove(nDel, nCount);
+			arr1.RemoveAtMove(nDel, nCount);
+			arr2.RemoveAtMove(nDel, nCount);
+		}
+		if (arrR.size() != arr0.GetSize() ||
+			arrR.size() != arr1.GetSize() ||
+			arrR.size() != arr2.GetSize()) {
 			ASSERT("there is a problem" == NULL);
 			return false;
 		}
+		for (size_t i=0; i<arrR.size(); ++i) {
+			const int e = arrR[i];
+			if (arr0[i] != e ||
+				arr1[i] != e ||
+				arr2[i] != e) {
+				ASSERT("there is a problem" == NULL);
+				return false;
+			}
+		}
+		cList<int, int, 1> arrS(1+RAND()%(2*elems));
+		for (size_t i=0; i<6; ++i) {
+			arrS.Insert(RAND());
+		}
+		arrS.RemoveLast(RAND()%arrS.GetSize());
+		arrS.CopyOf(&arrR[0], arrR.size());
+		for (size_t i=0; i<6; ++i) {
+			arrS.Insert(RAND());
+		}
+		arrS.RemoveLast(6);
+		for (size_t i=0; i<arrR.size(); ++i) {
+			const int e = arrR[i];
+			if (arrS[i] != e) {
+				ASSERT("there is a problem" == NULL);
+				return false;
+			}
+		}
 	}
 	return true;
 }
-inline bool cListTest(unsigned iters) {
-	srand((unsigned)time(NULL));
-	for (unsigned i=0; i<iters; ++i) {
-		const unsigned elems = 100+RAND()%1000;
-		if (!cListTestIter(elems))
-			return false;
-	}
-	return true;
-}
-#endif
 /*----------------------------------------------------------------*/
 
 
diff --git a/libs/Common/Octree.h b/libs/Common/Octree.h
index 70acd14c6..8e9272d1c 100644
--- a/libs/Common/Octree.h
+++ b/libs/Common/Octree.h
@@ -197,7 +197,6 @@ class TOctree
 	CELL_TYPE m_root; // first cell of the tree (always of Node type)
 	TYPE m_radius; // size of the sphere containing all cells
 
-#ifndef _RELEASE
 public:
 	typedef struct DEBUGINFO_TYPE {
 		size_t memSize;		// total memory used
@@ -225,7 +224,6 @@ class TOctree
 
 protected:
 	void _GetDebugInfo(const CELL_TYPE&, unsigned, DEBUGINFO&) const;
-#endif
 }; // class TOctree
 /*----------------------------------------------------------------*/
 
diff --git a/libs/Common/Octree.inl b/libs/Common/Octree.inl
index 69eca377a..8a3305947 100644
--- a/libs/Common/Octree.inl
+++ b/libs/Common/Octree.inl
@@ -722,7 +722,6 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::SplitVolume(float maxArea, AREAE
 /*----------------------------------------------------------------*/
 
 
-#ifndef _RELEASE
 template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_GetDebugInfo(const CELL_TYPE& cell, unsigned nDepth, DEBUGINFO& info) const
 {
@@ -796,12 +795,11 @@ inline bool OctreeTest(unsigned iters, unsigned maxItems=1000, bool bRandom=true
 		TestArr items(elems);
 		FOREACH(i, items)
 			for (int j=0; j<DIMS; ++j)
-				items[i](j) = RAND()%ROUND2INT(ptMaxData[j]);
+				items[i](j) = static_cast<TYPE>(RAND()%ROUND2INT(ptMaxData[j]));
 		// random query point
 		POINT_TYPE pt;
-		pt(0) = RAND()%ROUND2INT(ptMaxData[0]);
-		if (DIMS > 1) pt(1) = RAND()%ROUND2INT(ptMaxData[1]);
-		if (DIMS > 2) pt(2) = RAND()%ROUND2INT(ptMaxData[2]);
+		for (int j=0; j<DIMS; ++j)
+			pt(j) = static_cast<TYPE>(RAND()%ROUND2INT(ptMaxData[j]));
 		const TYPE radius(TYPE(3+RAND()%30));
 		// build octree and find interest items
 		TestTree tree(items, aabb, [](typename TestTree::IDX_TYPE size, typename TestTree::Type radius) {
@@ -835,8 +833,8 @@ inline bool OctreeTest(unsigned iters, unsigned maxItems=1000, bool bRandom=true
 			}
 		}
 		nTotalMatches += nMatches;
-		nTotalMissed += trueIndices.size()-nMatches;
-		nTotalExtra += indices.size()-nMatches;
+		nTotalMissed += (unsigned)trueIndices.size()-nMatches;
+		nTotalExtra += (unsigned)indices.size()-nMatches;
 		#ifndef _RELEASE
 		// print stats
 		typename TestTree::DEBUGINFO_TYPE info;
@@ -850,4 +848,3 @@ inline bool OctreeTest(unsigned iters, unsigned maxItems=1000, bool bRandom=true
 	#endif
 	return (nTotalMissed == 0 && nTotalExtra == 0);
 }
-#endif
diff --git a/libs/Common/Ray.inl b/libs/Common/Ray.inl
index 271944b5b..c4e6e9f30 100644
--- a/libs/Common/Ray.inl
+++ b/libs/Common/Ray.inl
@@ -916,31 +916,32 @@ GCLASS TConeIntersect<TYPE,DIMS>::Classify(const POINT& p, TYPE& t) const
 } // Classify
 /*----------------------------------------------------------------*/
 
-#ifndef _RELEASE
 template <typename TYPE>
-bool TestRayTriangleIntersection() {
+bool TestRayTriangleIntersection(unsigned iters) {
 	typedef SEACAVE::TTriangle<TYPE,3> Triangle;
 	typedef SEACAVE::TRay<TYPE,3> Ray;
 	typedef typename Ray::POINT Point;
 	typedef typename Point::Scalar Type;
-	const Type scale(10);
-	const Triangle triangle(Point::Random()*scale, Point::Random()*scale, Point::Random()*scale);
-	Type t;
-	const Point center(triangle.GetCenter());
-	const Ray rayCenter(Point::Random()*scale, center, true);
-	if (!rayCenter.Intersects<false>(triangle, &t))
-		return false;
-	const Point _center(rayCenter.GetPoint(t));
-	if (!ISEQUAL(TPoint3<Type>(_center), TPoint3<Type>(center)))
-		return false;
-	const BYTE o((BYTE)(RAND()%3));
-	const Point side((triangle[o]+triangle[(o+1)%3]) / TYPE(2));
-	const Ray raySide(rayCenter.m_pOrig, side, true);
-	if (!raySide.Intersects<false>(triangle, &t))
-		return false;
-	const Point _side(raySide.GetPoint(t));
-	if (!ISEQUAL(TPoint3<Type>(_side), TPoint3<Type>(side)))
-		return false;
+	constexpr Type zeroEps(ZEROTOLERANCE<Type>() * 1000);
+	for (unsigned iter=0; iter<iters; ++iter) {
+		const Type scale(10);
+		const Triangle triangle(Point::Random()*scale, Point::Random()*scale, Point::Random()*scale);
+		Type t;
+		const Point center(triangle.GetCenter());
+		const Ray rayCenter(Point::Random()*scale, center, true);
+		if (!rayCenter.Intersects<false>(triangle, &t))
+			return false;
+		const Point _center(rayCenter.GetPoint(t));
+		if ((_center-center).norm() > zeroEps)
+			return false;
+		const BYTE o((BYTE)(RAND()%3));
+		const Point side((triangle[o]+triangle[(o+1)%3]) / TYPE(2));
+		const Ray raySide(rayCenter.m_pOrig, side, true);
+		if (!raySide.Intersects<false>(triangle, &t))
+			return false;
+		const Point _side(raySide.GetPoint(t));
+		if ((_side-side).norm() > zeroEps)
+			return false;
+	}
 	return true;
 }
-#endif
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 8d0e83895..8bd6008b1 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -1206,18 +1206,18 @@ template<typename _Tp>
 inline _Tp    ABS(_Tp    x)					{ return std::abs(x); }
 
 template<typename _Tp>
-inline _Tp    ZEROTOLERANCE()				{ return _Tp(0); }
+constexpr _Tp    ZEROTOLERANCE()			{ return _Tp(0); }
 template<>
-inline float  ZEROTOLERANCE()				{ return FZERO_TOLERANCE; }
+constexpr float  ZEROTOLERANCE()			{ return FZERO_TOLERANCE; }
 template<>
-inline double ZEROTOLERANCE()				{ return ZERO_TOLERANCE; }
+constexpr double ZEROTOLERANCE()			{ return ZERO_TOLERANCE; }
 
 template<typename _Tp>
-inline _Tp    EPSILONTOLERANCE()			{ return std::numeric_limits<_Tp>::epsilon(); }
+constexpr _Tp    EPSILONTOLERANCE()			{ return std::numeric_limits<_Tp>::epsilon(); }
 template<>
-inline float  EPSILONTOLERANCE()			{ return 0.00001f; }
+constexpr float  EPSILONTOLERANCE()			{ return 0.00001f; }
 template<>
-inline double EPSILONTOLERANCE()			{ return 1e-10; }
+constexpr double EPSILONTOLERANCE()			{ return 1e-10; }
 
 inline bool   ISZERO(float  x)				{ return ABS(x) < FZERO_TOLERANCE; }
 inline bool   ISZERO(double x)				{ return ABS(x) < ZERO_TOLERANCE; }
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index a791f98af..64fae4725 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -399,7 +399,6 @@ void Mesh::SmoothNormalFaces(float fMaxGradient, float fOriginalWeight, unsigned
 	for (unsigned rep = 0; rep < nIterations; ++rep) {
 		NormalArr newFaceNormals(faceNormals.size());
 		FOREACH(idxFace, faces) {
-			const Face& face = faces[idxFace];
 			const Normal& originalNormal = faceNormals[idxFace];
 			Normal sumNeighborNormals = Normal::ZERO;
 			for (int i = 0; i < 3; ++i) {

From ccce4b519f1e93b20b272e0b05f104fa326e444f Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 26 Nov 2022 11:50:51 +0200
Subject: [PATCH 156/252] build: add pipeline test

---
 CMakeLists.txt                   |   3 +-
 apps/Tests/CMakeLists.txt        |   2 +
 apps/Tests/Tests.cpp             |  72 ++++++++++++++++++++++----
 apps/Tests/data/images/00000.jpg | Bin 0 -> 286347 bytes
 apps/Tests/data/images/00001.jpg | Bin 0 -> 303625 bytes
 apps/Tests/data/images/00002.jpg | Bin 0 -> 295933 bytes
 apps/Tests/data/images/00003.jpg | Bin 0 -> 296986 bytes
 apps/Tests/data/scene.mvs        | Bin 0 -> 119447 bytes
 apps/Viewer/Viewer.cpp           |   1 -
 libs/Common/Config.h             |  19 ++++---
 libs/Common/Ray.inl              |   4 +-
 libs/IO/ImageTIFF.cpp            |  84 +++++++++++++++----------------
 libs/MVS/PatchMatchCUDA.cpp      |   1 -
 libs/MVS/Scene.cpp               |   3 +-
 libs/MVS/SceneDensify.cpp        |   2 +-
 libs/MVS/SceneReconstruct.cpp    |   3 +-
 libs/MVS/SceneRefine.cpp         |   2 +-
 libs/MVS/SceneTexture.cpp        |   4 +-
 libs/Math/TRWS/typeGeneral.h     |   5 +-
 19 files changed, 130 insertions(+), 75 deletions(-)
 create mode 100644 apps/Tests/data/images/00000.jpg
 create mode 100644 apps/Tests/data/images/00001.jpg
 create mode 100644 apps/Tests/data/images/00002.jpg
 create mode 100644 apps/Tests/data/images/00003.jpg
 create mode 100644 apps/Tests/data/scene.mvs

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 25cbf60bd..39ec359ac 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -250,7 +250,8 @@ if (OpenMVS_ENABLE_TESTS)
 	# enable testing functionality
 	ENABLE_TESTING()
 	# define tests
-	ADD_TEST(NAME Tests COMMAND $<TARGET_FILE:Tests>)
+	ADD_TEST(NAME UnitTests COMMAND $<TARGET_FILE:Tests> "0")
+	ADD_TEST(NAME PipelineTest COMMAND $<TARGET_FILE:Tests> "1")
 endif()
 
 # Export the package for use from the build-tree
diff --git a/apps/Tests/CMakeLists.txt b/apps/Tests/CMakeLists.txt
index 0a95ce02e..192178b32 100644
--- a/apps/Tests/CMakeLists.txt
+++ b/apps/Tests/CMakeLists.txt
@@ -5,6 +5,8 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
+ADD_DEFINITIONS(-D_DATA_PATH="${CMAKE_CURRENT_SOURCE_DIR}/data/")
+
 cxx_executable_with_flags(Tests "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
diff --git a/apps/Tests/Tests.cpp b/apps/Tests/Tests.cpp
index 2e5b31856..bebce02cb 100644
--- a/apps/Tests/Tests.cpp
+++ b/apps/Tests/Tests.cpp
@@ -32,40 +32,90 @@
 #include "../../libs/MVS/Common.h"
 #include "../../libs/MVS/Scene.h"
 
+using namespace MVS;
+
 
 // D E F I N E S ///////////////////////////////////////////////////
 
 
 // S T R U C T S ///////////////////////////////////////////////////
 
-// test MVS functionality
-int main(int argc, LPCTSTR* argv)
+// test various algorithms independently
+bool UnitTests()
 {
-	OPEN_LOG();
-	OPEN_LOGCONSOLE();
-	Util::Init();
 	TD_TIMER_START();
 	if (!SEACAVE::cListTest<true>(100)) {
 		VERBOSE("ERROR: cListTest failed!");
-		return EXIT_FAILURE;
+		return false;
 	}
 	if (!SEACAVE::OctreeTest<double,2>(100)) {
 		VERBOSE("ERROR: OctreeTest<double,2> failed!");
-		return EXIT_FAILURE;
+		return false;
 	}
 	if (!SEACAVE::OctreeTest<float,3>(100)) {
 		VERBOSE("ERROR: OctreeTest<float,3> failed!");
-		return EXIT_FAILURE;
+		return false;
 	}
 	if (!SEACAVE::TestRayTriangleIntersection<float>(1000)) {
 		VERBOSE("ERROR: TestRayTriangleIntersection<float> failed!");
-		return EXIT_FAILURE;
+		return false;
 	}
 	if (!SEACAVE::TestRayTriangleIntersection<double>(1000)) {
 		VERBOSE("ERROR: TestRayTriangleIntersection<double> failed!");
-		return EXIT_FAILURE;
+		return false;
+	}
+	VERBOSE("All unit tests passed (%s)", TD_TIMER_GET_FMT().c_str());
+	return true;
+}
+
+
+// test MVS stages on a small sample dataset
+bool PipelineTest()
+{
+	TD_TIMER_START();
+	Scene scene;
+	if (!scene.Load(MAKE_PATH("scene.mvs"))) {
+		VERBOSE("ERROR: TestDataset failed loading the scene!");
+		return false;
+	}
+	OPTDENSE::init();
+	if (!scene.DenseReconstruction() || scene.pointcloud.GetSize() < 200000u) {
+		VERBOSE("ERROR: TestDataset failed estimating dense point cloud!");
+		return false;
+	}
+	if (!scene.ReconstructMesh() || scene.mesh.faces.size() < 80000u) {
+		VERBOSE("ERROR: TestDataset failed reconstructing the mesh!");
+		return false;
+	}
+	constexpr float decimate = 0.5f;
+	scene.mesh.Clean(decimate);
+	if (!ISINSIDE(scene.mesh.faces.size(), 35000u, 50000u)) {
+		VERBOSE("ERROR: TestDataset failed cleaning the mesh!");
+		return false;
+	}
+	if (!scene.TextureMesh(0, 0) || !scene.mesh.HasTexture()) {
+		VERBOSE("ERROR: TestDataset failed texturing the mesh!");
+		return false;
+	}
+	VERBOSE("All pipeline stages passed (%s)", TD_TIMER_GET_FMT().c_str());
+	return true;
+}
+
+// test OpenMVS functionality
+int main(int argc, LPCTSTR* argv)
+{
+	OPEN_LOG();
+	OPEN_LOGCONSOLE();
+	Util::Init();
+	WORKING_FOLDER = _DATA_PATH;
+	INIT_WORKING_FOLDER;
+	if (argc < 2 || std::atoi(argv[1]) == 0) {
+		if (!UnitTests())
+			return EXIT_FAILURE;
+	} else {
+		if (!PipelineTest())
+			return EXIT_FAILURE;
 	}
-	VERBOSE("All tests passed (%s)", TD_TIMER_GET_FMT().c_str());
 	CLOSE_LOGCONSOLE();
 	CLOSE_LOG();
 	return EXIT_SUCCESS;
diff --git a/apps/Tests/data/images/00000.jpg b/apps/Tests/data/images/00000.jpg
new file mode 100644
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HcmV?d00001

diff --git a/apps/Viewer/Viewer.cpp b/apps/Viewer/Viewer.cpp
index c6b8d9318..27aa73d93 100644
--- a/apps/Viewer/Viewer.cpp
+++ b/apps/Viewer/Viewer.cpp
@@ -50,7 +50,6 @@ namespace OPT {
 String strInputFileName;
 String strOutputFileName;
 String strMeshFileName;
-bool bLosslessTexture;
 unsigned nArchiveType;
 int nProcessPriority;
 unsigned nMaxThreads;
diff --git a/libs/Common/Config.h b/libs/Common/Config.h
index ce1e04fae..cc37aab23 100644
--- a/libs/Common/Config.h
+++ b/libs/Common/Config.h
@@ -142,6 +142,9 @@
 #if __cplusplus >= 201703L || __clang_major__ >= 5
 #define _SUPPORT_CPP17
 #endif
+#if __cplusplus >= 202002L || __clang_major__ >= 10
+#define _SUPPORT_CPP20
+#endif
 
 
 #if defined(__powerpc__)
@@ -168,7 +171,7 @@
 #	define RESTRICT  __restrict //applied to a function parameter
 #	define MEMALLOC __declspec(noalias) __declspec(restrict)
 #	define DEPRECATED __declspec(deprecated)
-#	define NOWARNUNUSED
+#	define MAYBEUNUSED
 #	define HOT
 #	define COLD
 #	define THREADLOCAL __declspec(thread)
@@ -181,7 +184,7 @@
 #	define RESTRICT  __restrict__
 #	define MEMALLOC __attribute__ ((__malloc__))
 #	define DEPRECATED __attribute__ ((__deprecated__))
-#	define NOWARNUNUSED __attribute__ ((unused))
+#	define MAYBEUNUSED __attribute__ ((unused))
 #	define HOT __attribute__((hot)) __attribute__((optimize("-O3"))) __attribute__((optimize("-ffast-math"))) //optimize for speed, even in debug
 #	define COLD __attribute__((cold)) //optimize for size
 #	define THREADLOCAL __thread
@@ -194,7 +197,7 @@
 #	define RESTRICT
 #	define MEMALLOC
 #	define DEPRECATED
-#	define NOWARNUNUSED
+#	define MAYBEUNUSED
 #	define HOT
 #	define COLD
 #	define THREADLOCAL __thread
@@ -204,6 +207,10 @@
 #ifndef _SUPPORT_CPP11
 #	define constexpr inline
 #endif
+#ifdef _SUPPORT_CPP17
+#	undef MAYBEUNUSED
+#	define MAYBEUNUSED [[maybe_unused]]
+#endif
 
 #define SAFE_DELETE(p)		{ if (p!=NULL) { delete (p);     (p)=NULL; } }
 #define SAFE_DELETE_ARR(p)	{ if (p!=NULL) { delete [] (p);  (p)=NULL; } }
@@ -260,13 +267,13 @@ namespace SEACAVE_ASSERT
 }
 
 #define STATIC_ASSERT(expression) \
-	NOWARNUNUSED typedef char CTA##__LINE__[::SEACAVE_ASSERT::compile_time_assert<(bool)(expression)>::value]
+	MAYBEUNUSED typedef char CTA##__LINE__[::SEACAVE_ASSERT::compile_time_assert<(bool)(expression)>::value]
 
 #define ASSERT_ARE_SAME_TYPE(type1, type2) \
-	NOWARNUNUSED typedef char AAST##__LINE__[::SEACAVE_ASSERT::assert_are_same_type<type1,type2>::value]
+	MAYBEUNUSED typedef char AAST##__LINE__[::SEACAVE_ASSERT::assert_are_same_type<type1,type2>::value]
 
 #define ASSERT_ARE_NOT_SAME_TYPE(type1, type2) \
-	NOWARNUNUSED typedef char AANST##__LINE__[::SEACAVE_ASSERT::assert_are_not_same_type<type1,type2>::value]
+	MAYBEUNUSED typedef char AANST##__LINE__[::SEACAVE_ASSERT::assert_are_not_same_type<type1,type2>::value]
 /*----------------------------------------------------------------*/
 
 #endif // __SEACAVE_CONFIG_H__
diff --git a/libs/Common/Ray.inl b/libs/Common/Ray.inl
index c4e6e9f30..1078f3086 100644
--- a/libs/Common/Ray.inl
+++ b/libs/Common/Ray.inl
@@ -929,7 +929,7 @@ bool TestRayTriangleIntersection(unsigned iters) {
 		Type t;
 		const Point center(triangle.GetCenter());
 		const Ray rayCenter(Point::Random()*scale, center, true);
-		if (!rayCenter.Intersects<false>(triangle, &t))
+		if (!rayCenter.template Intersects<false>(triangle, &t))
 			return false;
 		const Point _center(rayCenter.GetPoint(t));
 		if ((_center-center).norm() > zeroEps)
@@ -937,7 +937,7 @@ bool TestRayTriangleIntersection(unsigned iters) {
 		const BYTE o((BYTE)(RAND()%3));
 		const Point side((triangle[o]+triangle[(o+1)%3]) / TYPE(2));
 		const Ray raySide(rayCenter.m_pOrig, side, true);
-		if (!raySide.Intersects<false>(triangle, &t))
+		if (!raySide.template Intersects<false>(triangle, &t))
 			return false;
 		const Point _side(raySide.GetPoint(t));
 		if ((_side-side).norm() > zeroEps)
diff --git a/libs/IO/ImageTIFF.cpp b/libs/IO/ImageTIFF.cpp
index 86252c0db..bfdd7e177 100644
--- a/libs/IO/ImageTIFF.cpp
+++ b/libs/IO/ImageTIFF.cpp
@@ -76,10 +76,10 @@ extern "C" {
 	static tmsize_t _tiffisReadProc(thandle_t fd, void* buf, tmsize_t size);
 	static tmsize_t _tiffosWriteProc(thandle_t fd, void* buf, tmsize_t size);
 	static tmsize_t _tiffisWriteProc(thandle_t, void*, tmsize_t);
-	static uint64   _tiffosSeekProc(thandle_t fd, uint64 off, int whence);
-	static uint64   _tiffisSeekProc(thandle_t fd, uint64 off, int whence);
-	static uint64   _tiffosSizeProc(thandle_t fd);
-	static uint64   _tiffisSizeProc(thandle_t fd);
+	static uint64_t _tiffosSeekProc(thandle_t fd, uint64_t off, int whence);
+	static uint64_t _tiffisSeekProc(thandle_t fd, uint64_t off, int whence);
+	static uint64_t _tiffosSizeProc(thandle_t fd);
+	static uint64_t _tiffisSizeProc(thandle_t fd);
 	static int      _tiffosCloseProc(thandle_t fd);
 	static int      _tiffisCloseProc(thandle_t fd);
 	static int 	    _tiffDummyMapProc(thandle_t, void** base, toff_t* size);
@@ -132,26 +132,26 @@ extern "C" {
 		return 0;
 	}
 
-	static uint64 _tiffosSeekProc(thandle_t fd, uint64 off, int whence)
+	static uint64_t _tiffosSeekProc(thandle_t fd, uint64_t off, int whence)
 	{
 		tiffos_data	*data = reinterpret_cast<tiffos_data *>(fd);
 		OSTREAM* os = data->stream;
 
 		// if the stream has already failed, don't do anything
 		if (os == NULL)
-			return static_cast<uint64>(-1);
+			return static_cast<uint64_t>(-1);
 
 		bool bSucceeded(true);
 		switch (whence) {
 		case SEEK_SET:
 		{
 			// Compute 64-bit offset
-			uint64 new_offset = static_cast<uint64>(data->start_pos) + off;
+			uint64_t new_offset = static_cast<uint64_t>(data->start_pos) + off;
 
 			// Verify that value does not overflow
 			size_f_t offset = static_cast<size_f_t>(new_offset);
-			if (static_cast<uint64>(offset) != new_offset)
-				return static_cast<uint64>(-1);
+			if (static_cast<uint64_t>(offset) != new_offset)
+				return static_cast<uint64_t>(-1);
 
 			bSucceeded = os->setPos(offset);
 			break;
@@ -160,8 +160,8 @@ extern "C" {
 		{
 			// Verify that value does not overflow
 			size_f_t offset = static_cast<size_f_t>(off);
-			if (static_cast<uint64>(offset) != off)
-				return static_cast<uint64>(-1);
+			if (static_cast<uint64_t>(offset) != off)
+				return static_cast<uint64_t>(-1);
 
 			bSucceeded = os->setPos(os->getPos()+offset);
 			break;
@@ -170,8 +170,8 @@ extern "C" {
 		{
 			// Verify that value does not overflow
 			size_f_t offset = static_cast<size_f_t>(off);
-			if (static_cast<uint64>(offset) != off)
-				return static_cast<uint64>(-1);
+			if (static_cast<uint64_t>(offset) != off)
+				return static_cast<uint64_t>(-1);
 
 			bSucceeded = os->setPos(os->getSize()-offset);
 			break;
@@ -199,23 +199,23 @@ extern "C" {
 			}
 
 			// only do something if desired seek position is valid
-			if ((static_cast<uint64>(origin) + off) > static_cast<uint64>(data->start_pos)) {
-				uint64	num_fill;
+			if ((static_cast<uint64_t>(origin) + off) > static_cast<uint64_t>(data->start_pos)) {
+				uint64_t	num_fill;
 				// extend the stream to the expected size
 				os->setPos(os->getSize());
-				num_fill = (static_cast<uint64>(origin)) + off - os->getPos();
+				num_fill = (static_cast<uint64_t>(origin)) + off - os->getPos();
 				const char dummy = '\0';
-				for (uint64 i = 0; i < num_fill; i++)
+				for (uint64_t i = 0; i < num_fill; i++)
 					os->write(&dummy, 1);
 				// retry the seek
-				os->setPos(static_cast<size_f_t>(static_cast<uint64>(origin) + off));
+				os->setPos(static_cast<size_f_t>(static_cast<uint64_t>(origin) + off));
 			}
 		}
 
-		return static_cast<uint64>(os->getPos());
+		return static_cast<uint64_t>(os->getPos());
 	}
 
-	static uint64 _tiffisSeekProc(thandle_t fd, uint64 off, int whence)
+	static uint64_t _tiffisSeekProc(thandle_t fd, uint64_t off, int whence)
 	{
 		tiffis_data	*data = reinterpret_cast<tiffis_data *>(fd);
 		ISTREAM* is = data->stream;
@@ -224,12 +224,12 @@ extern "C" {
 		case SEEK_SET:
 		{
 			// Compute 64-bit offset
-			uint64 new_offset = static_cast<uint64>(data->start_pos) + off;
+			uint64_t new_offset = static_cast<uint64_t>(data->start_pos) + off;
 
 			// Verify that value does not overflow
 			size_f_t offset = static_cast<size_f_t>(new_offset);
-			if (static_cast<uint64>(offset) != new_offset)
-				return static_cast<uint64>(-1);
+			if (static_cast<uint64_t>(offset) != new_offset)
+				return static_cast<uint64_t>(-1);
 
 			is->setPos(offset);
 			break;
@@ -238,8 +238,8 @@ extern "C" {
 		{
 			// Verify that value does not overflow
 			size_f_t offset = static_cast<size_f_t>(off);
-			if (static_cast<uint64>(offset) != off)
-				return static_cast<uint64>(-1);
+			if (static_cast<uint64_t>(offset) != off)
+				return static_cast<uint64_t>(-1);
 
 			is->setPos(is->getPos()+offset);
 			break;
@@ -248,27 +248,27 @@ extern "C" {
 		{
 			// Verify that value does not overflow
 			size_f_t offset = static_cast<size_f_t>(off);
-			if (static_cast<uint64>(offset) != off)
-				return static_cast<uint64>(-1);
+			if (static_cast<uint64_t>(offset) != off)
+				return static_cast<uint64_t>(-1);
 
 			is->setPos(is->getSize()-offset);
 			break;
 		}
 		}
 
-		return (uint64)(is->getPos() - data->start_pos);
+		return (uint64_t)(is->getPos() - data->start_pos);
 	}
 
-	static uint64 _tiffosSizeProc(thandle_t fd)
+	static uint64_t _tiffosSizeProc(thandle_t fd)
 	{
 		tiffos_data	*data = reinterpret_cast<tiffos_data *>(fd);
-		return (uint64)data->stream->getSize();
+		return (uint64_t)data->stream->getSize();
 	}
 
-	static uint64 _tiffisSizeProc(thandle_t fd)
+	static uint64_t _tiffisSizeProc(thandle_t fd)
 	{
 		tiffis_data	*data = reinterpret_cast<tiffis_data *>(fd);
-		return (uint64)data->stream->getSize();
+		return (uint64_t)data->stream->getSize();
 	}
 
 	static int _tiffosCloseProc(thandle_t fd)
@@ -448,7 +448,7 @@ HRESULT CImageTIFF::ReadData(void* pData, PIXELFORMAT dataFormat, Size nStride,
 {
 	if (m_state && m_width && m_height) {
 		TIFF* tif = (TIFF*)m_state;
-		uint32 tile_width0 = m_width, tile_height0 = 0;
+		uint32_t tile_width0 = m_width, tile_height0 = 0;
 		int is_tiled = TIFFIsTiled(tif);
 		uint16 photometric;
 		TIFFGetField(tif, TIFFTAG_PHOTOMETRIC, &photometric);
@@ -477,14 +477,14 @@ HRESULT CImageTIFF::ReadData(void* pData, PIXELFORMAT dataFormat, Size nStride,
 				tile_width0 = m_width;
 
 			if (tile_height0 <= 0 ||
-				(!is_tiled && tile_height0 == std::numeric_limits<uint32>::max()))
+				(!is_tiled && tile_height0 == std::numeric_limits<uint32_t>::max()))
 				tile_height0 = m_height;
 
 			uint8_t* data = (uint8_t*)pData;
 			if (!is_tiled && tile_height0 == 1 && dataFormat == m_format && nStride == m_stride) {
 				// read image directly to the data buffer
 				for (Size j=0; j<m_height; ++j, data+=lineWidth)
-					if (!TIFFReadRGBAStrip(tif, j, (uint32*)data)) {
+					if (!TIFFReadRGBAStrip(tif, j, (uint32_t*)data)) {
 						Close();
 						return _INVALIDFILE;
 					}
@@ -494,13 +494,13 @@ HRESULT CImageTIFF::ReadData(void* pData, PIXELFORMAT dataFormat, Size nStride,
 				CLISTDEF0(uint8_t) _buffer(buffer_size);
 				uint8_t* buffer = _buffer.Begin();
 
-				for (uint32 y = 0; y < m_height; y += tile_height0, data += lineWidth*tile_height0) {
-					uint32 tile_height = tile_height0;
+				for (uint32_t y = 0; y < m_height; y += tile_height0, data += lineWidth*tile_height0) {
+					uint32_t tile_height = tile_height0;
 					if (y + tile_height > m_height)
 						tile_height = m_height - y;
 
-					for (uint32 x = 0; x < m_width; x += tile_width0) {
-						uint32 tile_width = tile_width0;
+					for (uint32_t x = 0; x < m_width; x += tile_width0) {
+						uint32_t tile_width = tile_width0;
 						if (x + tile_width > m_width)
 							tile_width = m_width - x;
 
@@ -510,9 +510,9 @@ HRESULT CImageTIFF::ReadData(void* pData, PIXELFORMAT dataFormat, Size nStride,
 						{
 							uint8_t* bstart = buffer;
 							if (!is_tiled)
-								ok = TIFFReadRGBAStrip(tif, y, (uint32*)buffer);
+								ok = TIFFReadRGBAStrip(tif, y, (uint32_t*)buffer);
 							else {
-								ok = TIFFReadRGBATile(tif, x, y, (uint32*)buffer);
+								ok = TIFFReadRGBATile(tif, x, y, (uint32_t*)buffer);
 								//Tiles fill the buffer from the bottom up
 								bstart += (tile_height0 - tile_height) * tile_width0 * 4;
 							}
@@ -521,7 +521,7 @@ HRESULT CImageTIFF::ReadData(void* pData, PIXELFORMAT dataFormat, Size nStride,
 								return _INVALIDFILE;
 							}
 
-							for (uint32 i = 0; i < tile_height; ++i) {
+							for (uint32_t i = 0; i < tile_height; ++i) {
 								uint8_t* dst = data + x*3 + lineWidth*(tile_height - i - 1);
 								uint8_t* src = bstart + i*tile_width0*4;
 								if (!FilterFormat(dst, dataFormat, nStride, src, m_format, m_stride, tile_width)) {
diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
index 203669bcc..ac872df0b 100644
--- a/libs/MVS/PatchMatchCUDA.cpp
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -364,7 +364,6 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 				const Point4& depthNormal = depthNormalEstimates[index];
 				const Depth depth = depthNormal.w();
 				ASSERT(std::isfinite(depth));
-				ASSERT(depth==0 || ISINSIDE(depth, depthData.dMin, depthData.dMax));
 				depthData.depthMap(r, c) = depth;
 				depthData.normalMap(r, c) = depthNormal.topLeftCorner<3, 1>();
 				if (scaleNumber == 0) {
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index d0ddf3531..09f2976a2 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -419,8 +419,7 @@ bool Scene::LoadViewNeighbors(const String& fileName)
 	// parse image list
 	SML smlImages(_T("ImageNeighbors"));
 	smlImages.Load(fileName);
-	const LPSMLARR&	arrSmlChild = smlImages.GetArrChildren();
-	ASSERT(arrSmlChild.size() <= 1);
+	ASSERT(smlImages.GetArrChildren().size() <= 1);
 
 	// fetch image IDs list
 	size_t argc;
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index fb2372f02..a7e6f95ce 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -523,7 +523,7 @@ void* STCALL DepthMapsData::EndDepthMapTmp(void* arg)
 {
 	DepthEstimator& estimator = *((DepthEstimator*)arg);
 	IDX idx;
-	const float fOptimAngle(FD2R(OPTDENSE::fOptimAngle));
+	MAYBEUNUSED const float fOptimAngle(FD2R(OPTDENSE::fOptimAngle));
 	while ((idx=(IDX)Thread::safeInc(estimator.idxPixel)) < estimator.coords.GetSize()) {
 		const ImageRef& x = estimator.coords[idx];
 		ASSERT(estimator.depthMap0(x) >= 0);
diff --git a/libs/MVS/SceneReconstruct.cpp b/libs/MVS/SceneReconstruct.cpp
index b3fb7d376..a684d3b77 100644
--- a/libs/MVS/SceneReconstruct.cpp
+++ b/libs/MVS/SceneReconstruct.cpp
@@ -1100,10 +1100,11 @@ bool Scene::ReconstructMesh(float distInsert, bool bUseFreeSpaceSupport, bool bU
 		// create graph
 		MaxFlow<cell_size_t,edge_cap_t> graph(delaunay.number_of_cells());
 		// set weights
+		constexpr edge_cap_t maxCap(FLT_MAX*0.0001f);
 		for (delaunay_t::All_cells_iterator ci=delaunay.all_cells_begin(), ce=delaunay.all_cells_end(); ci!=ce; ++ci) {
 			const cell_size_t ciID(ci->info());
 			const cell_info_t& ciInfo(infoCells[ciID]);
-			graph.AddNode(ciID, ciInfo.s, ciInfo.t);
+			graph.AddNode(ciID, ciInfo.s, MINF(ciInfo.t, maxCap));
 			for (int i=0; i<4; ++i) {
 				const cell_handle_t cj(ci->neighbor(i));
 				const cell_size_t cjID(cj->info());
diff --git a/libs/MVS/SceneRefine.cpp b/libs/MVS/SceneRefine.cpp
index 98614c471..bf1201d14 100644
--- a/libs/MVS/SceneRefine.cpp
+++ b/libs/MVS/SceneRefine.cpp
@@ -934,7 +934,7 @@ void MeshRefine::ComputePhotometricGradient(
 			const Point3 X(rayA*REAL(depthA)+cameraA.C);
 			// project point in second image and
 			// projection Jacobian matrix in the second image of the 3D point on the surface
-			const float depthB(ProjectVertex(cameraB.P.val, X.ptr(), xB.ptr(), xJac.val));
+			MAYBEUNUSED const float depthB(ProjectVertex(cameraB.P.val, X.ptr(), xB.ptr(), xJac.val));
 			ASSERT(depthB > 0);
 			// compute gradient in image B
 			const TMatrix<Real,1,2> gB(viewB.imageGrad.sample<Sampler,View::Grad>(sampler, xB));
diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index 9345d5cf9..8de671f7a 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -1039,7 +1039,7 @@ bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThr
 			// 4) assign images to virtual faces
 			// 5) spread image ID to each mesh face from virtual face
 			FOREACH(idxFace, virtualFaces) {
-				const Mesh::FIndex idx((Mesh::FIndex)boost::add_vertex(graph));
+				MAYBEUNUSED const Mesh::FIndex idx((Mesh::FIndex)boost::add_vertex(graph));
 				ASSERT(idx == idxFace);
 			}
 			FOREACH(idxVirtualFace, virtualFaces) {
@@ -1127,7 +1127,7 @@ bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThr
 		
 		// create the graph of faces: each vertex is a face and the edges are the edges shared by the faces
 		FOREACH(idxFace, faces) {
-			const Mesh::FIndex idx((Mesh::FIndex)boost::add_vertex(graph));
+			MAYBEUNUSED const Mesh::FIndex idx((Mesh::FIndex)boost::add_vertex(graph));
 			ASSERT(idx == idxFace);
 		}
 		FOREACH(idxFace, faces) {
diff --git a/libs/Math/TRWS/typeGeneral.h b/libs/Math/TRWS/typeGeneral.h
index 4d1d7cd4d..3afd59459 100644
--- a/libs/Math/TRWS/typeGeneral.h
+++ b/libs/Math/TRWS/typeGeneral.h
@@ -480,20 +480,17 @@ inline TypeGeneral::REAL TypeGeneral::Edge::UpdateMessage(GlobalSize Kglobal, Lo
 	{
 		assert(Ksource.m_K == Kdest.m_K);
 
-		int k, kMin;
+		int k;
 
 		m_message->m_data[0] = gamma*source->m_data[0] - m_message->m_data[0];
-		kMin = 0;
 		vMin = m_message->m_data[0];
 
 		for (k=1; k<Ksource.m_K; k++)
 		{
 			m_message->m_data[k] = gamma*source->m_data[k] - m_message->m_data[k];
-			kMin = 0;
 			vMin = buf->m_data[0];
 			if (vMin > m_message->m_data[k])
 			{
-				kMin = k;
 				vMin = m_message->m_data[k];
 			}
 		}

From 1598696235a6f425295c4230e5b7fcf468b4bb4b Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 26 Nov 2022 11:53:02 +0200
Subject: [PATCH 157/252] dense: add postprocess-dmaps and remove-dmaps params

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp |  8 +++++++-
 apps/Tests/Tests.cpp                         | 13 ++++++++++---
 libs/MVS/DepthMap.cpp                        |  1 +
 libs/MVS/DepthMap.h                          |  1 +
 libs/MVS/SceneDensify.cpp                    | 10 ++++++++++
 5 files changed, 29 insertions(+), 4 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 2ce2c1400..cd958d810 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -118,7 +118,9 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	unsigned nEstimationGeometricIters;
 	unsigned nEstimateColors;
 	unsigned nEstimateNormals;
+	unsigned nOptimize;
 	int nIgnoreMaskLabel;
+	bool bRemoveDmaps;
 	boost::program_options::options_description config("Densify options");
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
@@ -138,12 +140,14 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("estimate-normals", boost::program_options::value(&nEstimateNormals)->default_value(2), "estimate the normals for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
 		("sub-scene-area", boost::program_options::value(&OPT::fMaxSubsceneArea)->default_value(0.f), "split the scene in sub-scenes such that each sub-scene surface does not exceed the given maximum sampling area (0 - disabled)")
 		("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(0.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
-		("fusion-mode", boost::program_options::value(&OPT::nFusionMode)->default_value(0), "depth map fusion mode (-2 - fuse disparity-maps, -1 - export disparity-maps only, 0 - depth-maps & fusion, 1 - export depth-maps only)")
+		("fusion-mode", boost::program_options::value(&OPT::nFusionMode)->default_value(0), "depth-maps fusion mode (-2 - fuse disparity-maps, -1 - export disparity-maps only, 0 - depth-maps & fusion, 1 - export depth-maps only)")
+		("postprocess-dmaps", boost::program_options::value(&nOptimize)->default_value(7), "flags used to filter the depth-maps after estimation (0 - disabled, 1 - remove-speckles, 2 - fill-gaps, 4 - adjust-filter)")
 		("filter-point-cloud", boost::program_options::value(&OPT::thFilterPointCloud)->default_value(0), "filter dense point-cloud based on visibility (0 - disabled)")
 		("export-number-views", boost::program_options::value(&OPT::nExportNumViews)->default_value(0), "export points with >= number of views (0 - disabled, <0 - save MVS project too)")
         ("roi-border", boost::program_options::value(&OPT::fBorderROI)->default_value(0), "add a border to the region-of-interest when cropping the scene (0 - disabled, >0 - percentage, <0 - absolute)")
         ("estimate-roi", boost::program_options::value(&OPT::nEstimateROI)->default_value(2), "estimate and set region-of-interest (0 - disabled, 1 - enabled, 2 - adaptive)")
         ("crop-to-roi", boost::program_options::value(&OPT::bCrop2ROI)->default_value(true), "crop scene using the region-of-interest")
+        ("remove-dmaps", boost::program_options::value(&bRemoveDmaps)->default_value(false), "remove depth-maps after fusion")
         ;
 
 	// hidden options, allowed both on command line and
@@ -226,7 +230,9 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	OPTDENSE::nEstimationGeometricIters = nEstimationGeometricIters;
 	OPTDENSE::nEstimateColors = nEstimateColors;
 	OPTDENSE::nEstimateNormals = nEstimateNormals;
+	OPTDENSE::nOptimize = nOptimize;
 	OPTDENSE::nIgnoreMaskLabel = nIgnoreMaskLabel;
+	OPTDENSE::bRemoveDmaps = bRemoveDmaps;
 	if (!bValidConfig && !OPT::strDenseConfigFileName.empty())
 		OPTDENSE::oConfig.Save(OPT::strDenseConfigFileName);
 
diff --git a/apps/Tests/Tests.cpp b/apps/Tests/Tests.cpp
index bebce02cb..218437b7a 100644
--- a/apps/Tests/Tests.cpp
+++ b/apps/Tests/Tests.cpp
@@ -70,7 +70,7 @@ bool UnitTests()
 
 
 // test MVS stages on a small sample dataset
-bool PipelineTest()
+bool PipelineTest(bool verbose=false)
 {
 	TD_TIMER_START();
 	Scene scene;
@@ -79,17 +79,22 @@ bool PipelineTest()
 		return false;
 	}
 	OPTDENSE::init();
+	OPTDENSE::bRemoveDmaps = true;
 	if (!scene.DenseReconstruction() || scene.pointcloud.GetSize() < 200000u) {
 		VERBOSE("ERROR: TestDataset failed estimating dense point cloud!");
 		return false;
 	}
-	if (!scene.ReconstructMesh() || scene.mesh.faces.size() < 80000u) {
+	if (verbose)
+		scene.pointcloud.Save(MAKE_PATH("scene_dense.ply"));
+	if (!scene.ReconstructMesh() || scene.mesh.faces.size() < 75000u) {
 		VERBOSE("ERROR: TestDataset failed reconstructing the mesh!");
 		return false;
 	}
+	if (verbose)
+		scene.mesh.Save(MAKE_PATH("scene_dense_mesh.ply"));
 	constexpr float decimate = 0.5f;
 	scene.mesh.Clean(decimate);
-	if (!ISINSIDE(scene.mesh.faces.size(), 35000u, 50000u)) {
+	if (!ISINSIDE(scene.mesh.faces.size(), 35000u, 45000u)) {
 		VERBOSE("ERROR: TestDataset failed cleaning the mesh!");
 		return false;
 	}
@@ -97,6 +102,8 @@ bool PipelineTest()
 		VERBOSE("ERROR: TestDataset failed texturing the mesh!");
 		return false;
 	}
+	if (verbose)
+		scene.mesh.Save(MAKE_PATH("scene_dense_mesh_texture.ply"));
 	VERBOSE("All pipeline stages passed (%s)", TD_TIMER_GET_FMT().c_str());
 	return true;
 }
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 23ffb134e..a3e33014e 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -83,6 +83,7 @@ MDEFVAR_OPTDENSE_uint32(nPointInsideROI, "Point Inside ROI", "consider a point s
 MDEFVAR_OPTDENSE_bool(bFilterAdjust, "Filter Adjust", "adjust depth estimates during filtering", "1")
 MDEFVAR_OPTDENSE_bool(bAddCorners, "Add Corners", "add support points at image corners with nearest neighbor disparities", "0")
 MDEFVAR_OPTDENSE_bool(bInitSparse, "Init Sparse", "init depth-map only with the sparse points (no interpolation)", "1")
+MDEFVAR_OPTDENSE_bool(bRemoveDmaps, "Remove Dmaps", "remove depth-maps after fusion", "0")
 MDEFVAR_OPTDENSE_float(fViewMinScore, "View Min Score", "Min score to consider a neighbor images (0 - disabled)", "2.0")
 MDEFVAR_OPTDENSE_float(fViewMinScoreRatio, "View Min Score Ratio", "Min score ratio to consider a neighbor images", "0.03")
 MDEFVAR_OPTDENSE_float(fMinArea, "Min Area", "Min shared area for accepting the depth triangulation", "0.05")
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 09c396432..73e2fc58c 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -105,6 +105,7 @@ extern unsigned nPointInsideROI;
 extern bool bFilterAdjust;
 extern bool bAddCorners;
 extern bool bInitSparse;
+extern bool bRemoveDmaps;
 extern float fViewMinScore;
 extern float fViewMinScoreRatio;
 extern float fMinArea;
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index a7e6f95ce..ee7929612 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -1680,6 +1680,16 @@ bool Scene::DenseReconstruction(int nFusionMode, bool bCrop2ROI, float fBorderRO
 		if (pointcloud.normals.IsEmpty() && OPTDENSE::nEstimateNormals == 1)
 			EstimatePointNormals(images, pointcloud);
 	}
+
+	if (OPTDENSE::bRemoveDmaps) {
+		// delete all depth-map files
+		FOREACH(i, images) {
+			const DepthData& depthData = data.depthMaps.arrDepthData[i];
+			if (!depthData.IsValid())
+				continue;
+			File::deleteFile(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"));
+		}
+	}
 	return true;
 } // DenseReconstruction
 /*----------------------------------------------------------------*/

From 58ba572c8521f9506f4144cd54752f921f5367ce Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 26 Nov 2022 20:56:53 +0200
Subject: [PATCH 158/252] common: update octree code to use union

---
 build/Utils.cmake      |  1 -
 libs/Common/Octree.h   | 14 ++++++++------
 libs/Common/Octree.inl | 11 ++++++-----
 libs/Common/Types.h    |  4 ++--
 4 files changed, 16 insertions(+), 14 deletions(-)

diff --git a/build/Utils.cmake b/build/Utils.cmake
index 2bfbc9822..0cb2d8e1a 100644
--- a/build/Utils.cmake
+++ b/build/Utils.cmake
@@ -451,7 +451,6 @@ macro(optimize_default_compiler_settings)
 	  add_extra_compiler_option(-Werror=sequence-point)
 	  add_extra_compiler_option(-Wformat)
 	  add_extra_compiler_option(-Werror=format-security -Wformat)
-	  add_extra_compiler_option(-Wstrict-prototypes)
 	  add_extra_compiler_option(-Winit-self)
 	  add_extra_compiler_option(-Wsign-promo)
 	  add_extra_compiler_option(-Wreorder)
diff --git a/libs/Common/Octree.h b/libs/Common/Octree.h
index 8e9272d1c..aabbd336d 100644
--- a/libs/Common/Octree.h
+++ b/libs/Common/Octree.h
@@ -57,7 +57,6 @@ class TOctree
 			SIZE_TYPE size; // number of items contained by this cell in the global array
 			DATA_TYPE data; // user data associated with this leaf
 		} LEAF_TYPE;
-		enum { dataSize = (sizeof(NODE_TYPE)>sizeof(LEAF_TYPE) ? sizeof(NODE_TYPE) : sizeof(LEAF_TYPE)) };
 		enum { numChildren = (2<<(DIMS-1)) };
 
 	public:
@@ -73,10 +72,10 @@ class TOctree
 
 		inline bool	IsLeaf() const { return (m_child==NULL); }
 		inline const CELL_TYPE& GetChild(int i) const { ASSERT(!IsLeaf() && i<numChildren); return m_child[i]; }
-		inline const NODE_TYPE& Node() const { ASSERT(!IsLeaf()); return *reinterpret_cast<const NODE_TYPE*>(m_data); }
-		inline NODE_TYPE& Node() { ASSERT(!IsLeaf()); return *reinterpret_cast<NODE_TYPE*>(m_data); }
-		inline const LEAF_TYPE& Leaf() const { ASSERT(IsLeaf()); return *reinterpret_cast<const LEAF_TYPE*>(m_data); }
-		inline LEAF_TYPE& Leaf() { ASSERT(IsLeaf()); return *reinterpret_cast<LEAF_TYPE*>(m_data); }
+		inline const NODE_TYPE& Node() const { ASSERT(!IsLeaf()); return m_node; }
+		inline NODE_TYPE& Node() { ASSERT(!IsLeaf()); return m_node; }
+		inline const LEAF_TYPE& Leaf() const { ASSERT(IsLeaf()); return m_leaf; }
+		inline LEAF_TYPE& Leaf() { ASSERT(IsLeaf()); return m_leaf; }
 		inline const POINT_TYPE& GetCenter() const { return Node().center; }
 		inline AABB_TYPE GetAabb(TYPE radius) const { return AABB_TYPE(Node().center, radius); }
 		inline AABB_TYPE GetChildAabb(unsigned idxChild, TYPE radius) const { const TYPE childRadius(radius / TYPE(2)); return AABB_TYPE(ComputeChildCenter(Node().center, childRadius, idxChild), childRadius); }
@@ -89,7 +88,10 @@ class TOctree
 
 	public:
 		CELL_TYPE* m_child; // if not a leaf, 2^DIMS child objects
-		uint8_t m_data[dataSize]; // a LEAF_TYPE or NODE_TYPE object, if it is a leaf or not respectively
+		union { // a LEAF_TYPE or NODE_TYPE object, if it is a leaf or not respectively
+			NODE_TYPE m_node;
+			LEAF_TYPE m_leaf;
+		};
 	};
 	typedef SEACAVE::cList<CELL_TYPE*,CELL_TYPE*,0,256,IDX_TYPE> CELLPTRARR_TYPE;
 
diff --git a/libs/Common/Octree.inl b/libs/Common/Octree.inl
index 8a3305947..e51d1feb9 100644
--- a/libs/Common/Octree.inl
+++ b/libs/Common/Octree.inl
@@ -41,10 +41,10 @@ template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CELL_TYPE::Swap(CELL_TYPE& rhs)
 {
 	std::swap(m_child, rhs.m_child);
-	uint8_t tmpData[dataSize];
-	memcpy(tmpData, m_data, dataSize);
-	memcpy(m_data, rhs.m_data, dataSize);
-	memcpy(rhs.m_data, tmpData, dataSize);
+	if (IsLeaf())
+		std::swap(m_leaf, rhs.m_leaf);
+	else
+		std::swap(m_node, rhs.m_node);
 } // Swap
 /*----------------------------------------------------------------*/
 
@@ -714,7 +714,8 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::SplitVolume(float maxArea, AREAE
 {
 	CELL_TYPE parent;
 	parent.m_child = new CELL_TYPE[1];
-	parent.m_child[0] = m_root;
+	parent.m_child[0].m_child = m_root.m_child;
+	parent.m_child[0].Node() = m_root.Node();
 	parent.Node().center = m_root.Node().center + POINT_TYPE::Constant(m_radius);
 	_SplitVolume(parent, m_radius*TYPE(2), 0, maxArea, areaEstimator, chunkInserter);
 	parent.m_child[0].m_child = NULL;
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 8bd6008b1..d5dcb27e2 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -1397,8 +1397,8 @@ class TPoint3 : public cv::Point3_<TYPE>
 	inline TYPE* ptr() { return &x; }
 
 	// 1D element access
-	inline const TYPE& operator [](size_t i) const { ASSERT(i>=0 && i<3); return ptr()[i]; }
-	inline TYPE& operator [](size_t i) { ASSERT(i>=0 && i<3); return ptr()[i]; }
+	inline const TYPE& operator [](BYTE i) const { ASSERT(i<3); return ptr()[i]; }
+	inline TYPE& operator [](BYTE i) { ASSERT(i<3); return ptr()[i]; }
 
 	// Access point as vector equivalent
 	inline operator const Vec& () const { return *((const Vec*)this); }

From f08b44c780e4b4e6b818f3b7c002196a94ad6b7a Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sun, 27 Nov 2022 19:40:17 +0200
Subject: [PATCH 159/252] transform: add texture transfer between two meshes

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp |   2 +-
 apps/TextureMesh/TextureMesh.cpp             |   2 +-
 apps/TransformScene/TransformScene.cpp       |  22 +-
 apps/Viewer/Scene.cpp                        |  14 +-
 libs/MVS/Mesh.cpp                            | 327 ++++++++++++++++---
 libs/MVS/Mesh.h                              |   5 +
 libs/MVS/SceneTexture.cpp                    |  36 +-
 7 files changed, 328 insertions(+), 80 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index cd958d810..949314db9 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -280,7 +280,7 @@ int main(int argc, LPCTSTR* argv)
 	Scene scene(OPT::nMaxThreads);
 	if (OPT::fSampleMesh != 0) {
 		// sample input mesh and export the obtained point-cloud
-		if (!scene.mesh.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
+		if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName), true) || scene.mesh.IsEmpty())
 			return EXIT_FAILURE;
 		TD_TIMER_START();
 		PointCloud pointcloud;
diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index 78fed4f0b..483d60972 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -84,7 +84,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "produce this help message")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-		("export-type", boost::program_options::value<std::string>(&OPT::strExportType)->default_value(_T("glb")), "file type used to export the 3D scene (ply, obj, glb or gltf)")
+		("export-type", boost::program_options::value<std::string>(&OPT::strExportType)->default_value(_T("ply")), "file type used to export the 3D scene (ply, obj, glb or gltf)")
 		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
diff --git a/apps/TransformScene/TransformScene.cpp b/apps/TransformScene/TransformScene.cpp
index 72b90bcae..580750fac 100644
--- a/apps/TransformScene/TransformScene.cpp
+++ b/apps/TransformScene/TransformScene.cpp
@@ -50,6 +50,7 @@ namespace OPT {
 	String strInputFileName;
 	String strOutputFileName;
 	String strAlignFileName;
+	String strTransferTextureFileName;
 	bool bComputeVolume;
 	float fPlaneThreshold;
 	float fSampleMesh;
@@ -93,7 +94,8 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input scene filename")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the scene")
-		("align-file,o", boost::program_options::value<std::string>(&OPT::strAlignFileName), "input scene filename to which the scene will be cameras aligned")
+		("align-file,a", boost::program_options::value<std::string>(&OPT::strAlignFileName), "input scene filename to which the scene will be cameras aligned")
+		("transfer-texture-file,t", boost::program_options::value<std::string>(&OPT::strTransferTextureFileName), "input mesh filename to which the texture of the scene's mesh will be transfered to (the two meshes should be aligned and the new mesh to have UV-map)")
 		("compute-volume", boost::program_options::value(&OPT::bComputeVolume)->default_value(false), "compute the volume of the given watertight mesh, or else try to estimate the ground plane and assume the mesh is bounded by it")
 		("plane-threshold", boost::program_options::value(&OPT::fPlaneThreshold)->default_value(0.f), "threshold used to estimate the ground plane (<0 - disabled, 0 - auto, >0 - desired threshold)")
 		("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(-300000.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
@@ -136,8 +138,9 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
 	Util::ensureValidPath(OPT::strAlignFileName);
+	Util::ensureValidPath(OPT::strTransferTextureFileName);
 	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
-	const bool bInvalidCommand(OPT::strInputFileName.empty() || (OPT::strAlignFileName.empty() && !OPT::bComputeVolume));
+	const bool bInvalidCommand(OPT::strInputFileName.empty() || (OPT::strAlignFileName.empty() && OPT::strTransferTextureFileName.empty() && !OPT::bComputeVolume));
 	if (OPT::vm.count("help") || bInvalidCommand) {
 		boost::program_options::options_description visible("Available options");
 		visible.add(generic).add(config);
@@ -196,7 +199,7 @@ int main(int argc, LPCTSTR* argv)
 	Scene scene(OPT::nMaxThreads);
 
 	// load given scene
-	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName), OPT::bComputeVolume))
+	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName), !OPT::strTransferTextureFileName.empty() || OPT::bComputeVolume))
 		return EXIT_FAILURE;
 
 	if (!OPT::strAlignFileName.empty()) {
@@ -209,6 +212,19 @@ int main(int argc, LPCTSTR* argv)
 		VERBOSE("Scene aligned to the given reference scene (%s)", TD_TIMER_GET_FMT().c_str());
 	}
 
+	if (!OPT::strTransferTextureFileName.empty()) {
+		// transfer the texture of the scene's mesh to the new mesh;
+		// the two meshes should be aligned and the new mesh to have UV-coordinates
+		Mesh newMesh;
+		if (!newMesh.Load(MAKE_PATH_SAFE(OPT::strTransferTextureFileName)))
+			return EXIT_FAILURE;
+		if (!scene.mesh.TransferTexture(newMesh))
+			return EXIT_FAILURE;
+		newMesh.Save(Util::getFileFullName(MAKE_PATH_SAFE(OPT::strOutputFileName)) + _T(".ply"));
+		VERBOSE("Texture transfered (%s)", TD_TIMER_GET_FMT().c_str());
+		return EXIT_SUCCESS;
+	}
+
 	if (OPT::bComputeVolume && !scene.mesh.IsEmpty()) {
 		// compute the mesh volume
 		const REAL volume(scene.ComputeLeveledVolume(OPT::fPlaneThreshold, OPT::fSampleMesh, OPT::nUpAxis));
diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index c05964e89..1ea0431a8 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -434,6 +434,10 @@ void Scene::CompileMesh()
 	ReleaseMesh();
 	if (scene.mesh.faceNormals.empty())
 		scene.mesh.ComputeNormalFaces();
+	// translate, normalize and flip Y axis of the texture coordinates
+	MVS::Mesh::TexCoordArr normFaceTexcoords;
+	if (scene.mesh.HasTexture())
+		scene.mesh.FaceTexcoordsNormalize(normFaceTexcoords, true);
 	listMesh = glGenLists(1);
 	glNewList(listMesh, GL_COMPILE);
 	// compile mesh
@@ -447,8 +451,8 @@ void Scene::CompileMesh()
 		const MVS::Mesh::Normal& n = scene.mesh.faceNormals[i];
 		glNormal3fv(n.ptr());
 		for (int j = 0; j < 3; ++j) {
-			if (!scene.mesh.faceTexcoords.IsEmpty() && window.bRenderTexture) {
-				const MVS::Mesh::TexCoord& t = scene.mesh.faceTexcoords[i * 3 + j];
+			if (!normFaceTexcoords.empty() && window.bRenderTexture) {
+				const MVS::Mesh::TexCoord& t = normFaceTexcoords[i * 3 + j];
 				glTexCoord2fv(t.ptr());
 			}
 			const MVS::Mesh::Vertex& p = scene.mesh.vertices[face[j]];
@@ -496,9 +500,9 @@ void Scene::Draw()
 	if (listMesh) {
 		glEnable(GL_DEPTH_TEST);
 		glEnable(GL_CULL_FACE);
-		if (!scene.mesh.faceTexcoords.IsEmpty() && window.bRenderTexture) {
+		if (!scene.mesh.faceTexcoords.empty() && window.bRenderTexture) {
 			glEnable(GL_TEXTURE_2D);
-			textures.First().Bind();
+			textures.front().Bind();
 			glCallList(listMesh);
 			glDisable(GL_TEXTURE_2D);
 		} else {
@@ -730,7 +734,7 @@ void Scene::CastRay(const Ray3& ray, int action)
 			window.selectionPoints[0] = scene.mesh.vertices[face[0]];
 			window.selectionPoints[1] = scene.mesh.vertices[face[1]];
 			window.selectionPoints[2] = scene.mesh.vertices[face[2]];
-			window.selectionPoints[3] = (ray.m_pOrig + ray.m_vDir*intRay.pick.dist).cast<float>();
+			window.selectionPoints[3] = ray.GetPoint(intRay.pick.dist).cast<float>();
 			window.selectionType = Window::SEL_TRIANGLE;
 			window.selectionTime = now;
 			window.selectionIdx = intRay.pick.idx;
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 64fae4725..9554577c7 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -83,6 +83,21 @@ using namespace MVS;
 
 // D E F I N E S ///////////////////////////////////////////////////
 
+// uncomment to enable multi-threading based on OpenMP
+#ifdef _USE_OPENMP
+#define MESH_USE_OPENMP
+#endif
+
+// select fast ray-face intersection search method
+#define USE_MESH_BF 0 // brute-force
+#define USE_MESH_OCTREE 1 // octree (misses some triangles)
+#define USE_MESH_BVH 2 // BVH (misses some triangles)
+#define USE_MESH_INT USE_MESH_BF
+
+#if USE_MESH_INT == USE_MESH_BVH
+#include <unsupported/Eigen/BVH>
+#endif
+
 
 // S T R U C T S ///////////////////////////////////////////////////
 
@@ -224,7 +239,7 @@ void Mesh::ListIncidenteVertices()
 void Mesh::ListIncidenteFaces()
 {
 	vertexFaces.Empty();
-	vertexFaces.Resize(vertices.GetSize());
+	vertexFaces.resize(vertices.size());
 	FOREACH(i, faces) {
 		const Face& face = faces[i];
 		for (int v=0; v<3; ++v) {
@@ -339,7 +354,7 @@ void Mesh::ComputeNormalFaces()
 // computes the vertex normal as the area weighted face normals average
 void Mesh::ComputeNormalVertices()
 {
-	vertexNormals.Resize(vertices.GetSize());
+	vertexNormals.resize(vertices.size());
 	vertexNormals.Memset(0);
 	for (const Face& face: faces) {
 		const Vertex& v0 = vertices[face[0]];
@@ -1399,6 +1414,55 @@ void Mesh::Clean(float fDecimate, float fSpurious, bool bRemoveSpikes, unsigned
 /*----------------------------------------------------------------*/
 
 
+// project vertices and compute bounding-box;
+// account for diferences in pixel center convention: while OpenMVS uses the same convention as OpenCV and DirectX 9 where the center
+// of a pixel is defined at integer coordinates, i.e. the center is at (0, 0) and the top left corner is at (-0.5, -0.5),
+// DirectX 10+, OpenGL, and Vulkan convention is the center of a pixel is defined at half coordinates, i.e. the center is at (0.5, 0.5)
+// and the top left corner is at (0, 0)
+static const Mesh::TexCoord halfPixel(0.5f, 0.5f);
+
+// translate, normalize and flip Y axis of the texture coordinates
+void Mesh::FaceTexcoordsNormalize(TexCoordArr& newFaceTexcoords, bool flipY) const
+{
+	ASSERT(!faceTexcoords.empty() && !textureDiffuse.empty());
+	const TexCoord invNorm(1.f/(float)textureDiffuse.cols, 1.f/(float)textureDiffuse.rows);
+	newFaceTexcoords.resize(faceTexcoords.size());
+	if (flipY) {
+		FOREACH(i, faceTexcoords) {
+			const TexCoord& texcoord = faceTexcoords[i];
+			newFaceTexcoords[i] = TexCoord(
+				(texcoord.x+halfPixel.x)*invNorm.x,
+				1.f-(texcoord.y+halfPixel.y)*invNorm.y
+			);
+		}
+	} else {
+		FOREACH(i, faceTexcoords)
+			newFaceTexcoords[i] = (faceTexcoords[i]+halfPixel)*invNorm;
+	}
+} // FaceTexcoordsNormalize
+
+// flip Y axis, unnormalize and translate back texture coordinates
+void Mesh::FaceTexcoordsUnnormalize(TexCoordArr& newFaceTexcoords, bool flipY) const
+{
+	ASSERT(!faceTexcoords.empty() && !textureDiffuse.empty());
+	const TexCoord scale((float)textureDiffuse.cols, (float)textureDiffuse.rows);
+	newFaceTexcoords.resize(faceTexcoords.size());
+	if (flipY) {
+		FOREACH(i, faceTexcoords) {
+			const TexCoord& texcoord = faceTexcoords[i];
+			newFaceTexcoords[i] = TexCoord(
+				texcoord.x*scale.x-halfPixel.x,
+				(1.f-texcoord.y)*scale.y-halfPixel.y
+			);
+		}
+	} else {
+		FOREACH(i, faceTexcoords)
+			newFaceTexcoords[i] = faceTexcoords[i]*scale - halfPixel;
+	}
+} // FaceTexcoordsUnnormalize
+/*----------------------------------------------------------------*/
+
+
 // define a PLY file format composed only of vertices and triangles
 namespace BasicPLY {
 	// list of property information for a vertex
@@ -1496,7 +1560,7 @@ bool Mesh::LoadPLY(const String& fileName)
 		int elem_count;
 		LPCSTR elem_name = ply.setup_element_read(i, &elem_count);
 		if (PLY::equal_strings(BasicPLY::elem_names[0], elem_name)) {
-			ASSERT(vertices.GetSize() == (VIndex)elem_count);
+			ASSERT(vertices.size() == (VIndex)elem_count);
 			ply.setup_property(BasicPLY::vert_props[0]);
 			ply.setup_property(BasicPLY::vert_props[1]);
 			ply.setup_property(BasicPLY::vert_props[2]);
@@ -1504,7 +1568,7 @@ bool Mesh::LoadPLY(const String& fileName)
 				ply.get_element(pVert);
 		} else
 		if (PLY::equal_strings(BasicPLY::elem_names[1], elem_name)) {
-			ASSERT(faces.GetSize() == (FIndex)elem_count);
+			ASSERT(faces.size() == (FIndex)elem_count);
 			if (ply.find_property(ply.elems[i], BasicPLY::face_tex_props[1].name.c_str()) == -1) {
 				// load vertex indices
 				BasicPLY::Face face;
@@ -1520,7 +1584,7 @@ bool Mesh::LoadPLY(const String& fileName)
 				}
 			} else {
 				// load vertex indices and texture coordinates
-				faceTexcoords.Resize((FIndex)elem_count*3);
+				faceTexcoords.resize((FIndex)elem_count*3);
 				BasicPLY::FaceTex face;
 				ply.setup_property(BasicPLY::face_tex_props[0]);
 				ply.setup_property(BasicPLY::face_tex_props[1]);
@@ -1530,13 +1594,13 @@ bool Mesh::LoadPLY(const String& fileName)
 						DEBUG_EXTRA("error: unsupported mesh file (face not triangle)");
 						return false;
 					}
-					memcpy(faces.Begin()+f, face.face.pFace, sizeof(VIndex)*3);
+					memcpy(faces.data()+f, face.face.pFace, sizeof(VIndex)*3);
 					delete[] face.face.pFace;
 					if (face.tex.num != 6) {
 						DEBUG_EXTRA("error: unsupported mesh file (texture coordinates not per face vertex)");
 						return false;
 					}
-					memcpy(faceTexcoords.Begin()+f*3, face.tex.pTex, sizeof(TexCoord)*3);
+					memcpy(faceTexcoords.data()+f*3, face.tex.pTex, sizeof(TexCoord)*3);
 					delete[] face.tex.pTex;
 				}
 				// load the texture
@@ -1547,6 +1611,10 @@ bool Mesh::LoadPLY(const String& fileName)
 						break;
 					}
 				}
+				// flip Y axis, unnormalize and translate back texture coordinates
+				TexCoordArr unnormFaceTexcoords;
+				FaceTexcoordsUnnormalize(unnormFaceTexcoords, true);
+				faceTexcoords.Swap(unnormFaceTexcoords);
 			}
 		} else {
 			ply.get_other_element();
@@ -1590,13 +1658,13 @@ bool Mesh::LoadOBJ(const String& fileName)
 	faces.Reserve((FIndex)group.faces.size());
 	for (const ObjModel::Face& f: group.faces) {
 		ASSERT(f.vertices[0] != NO_ID);
-		faces.AddConstruct(f.vertices[0], f.vertices[1], f.vertices[2]);
+		faces.emplace_back(f.vertices[0], f.vertices[1], f.vertices[2]);
 		if (f.texcoords[0] != NO_ID) {
 			for (int i=0; i<3; ++i)
-				faceTexcoords.AddConstruct(model.get_texcoords()[f.texcoords[i]]);
+				faceTexcoords.emplace_back(model.get_texcoords()[f.texcoords[i]]);
 		}
 		if (f.normals[0] != NO_ID) {
-			Normal& n = faceNormals.AddConstruct(Normal::ZERO);
+			Normal& n = faceNormals.emplace_back(Normal::ZERO);
 			for (int i=0; i<3; ++i)
 				n += normalized(model.get_normals()[f.normals[i]]);
 			normalize(n);
@@ -1607,6 +1675,13 @@ bool Mesh::LoadOBJ(const String& fileName)
 	ObjModel::MaterialLib::Material* pMaterial(model.GetMaterial(group.material_name));
 	if (pMaterial && pMaterial->LoadDiffuseMap())
 		cv::swap(textureDiffuse, pMaterial->diffuse_map);
+	
+	// flip Y axis, unnormalize and translate back texture coordinates
+	if (!faceTexcoords.empty()) {
+		TexCoordArr unnormFaceTexcoords;
+		FaceTexcoordsUnnormalize(unnormFaceTexcoords, true);
+		faceTexcoords.Swap(unnormFaceTexcoords);
+	}
 	return true;
 }
 // import the mesh as a GLTF file
@@ -1706,11 +1781,11 @@ bool Mesh::Save(const String& fileName, const cList<String>& comments, bool bBin
 // export the mesh as a PLY file
 bool Mesh::SavePLY(const String& fileName, const cList<String>& comments, bool bBinary) const
 {
-	ASSERT(!fileName.IsEmpty());
+	ASSERT(!fileName.empty());
 	Util::ensureFolder(fileName);
 
 	// create PLY object
-	const size_t bufferSize(vertices.GetSize()*(4*3/*pos*/+2/*eol*/) + faces.GetSize()*(1*1/*len*/+4*3/*idx*/+2/*eol*/) + 2048/*extra size*/);
+	const size_t bufferSize(vertices.size()*(4*3/*pos*/+2/*eol*/) + faces.size()*(1*1/*len*/+4*3/*idx*/+2/*eol*/) + 2048/*extra size*/);
 	PLY ply;
 	if (!ply.write(fileName, 2, BasicPLY::elem_names, bBinary?PLY::BINARY_LE:PLY::ASCII, bufferSize)) {
 		DEBUG_EXTRA("error: can not create the mesh file");
@@ -1723,12 +1798,12 @@ bool Mesh::SavePLY(const String& fileName, const cList<String>& comments, bool b
 
 	// export texture file name as comment if needed
 	String textureFileName;
-	if (!faceTexcoords.IsEmpty() && !textureDiffuse.empty()) {
+	if (!faceTexcoords.empty() && !textureDiffuse.empty()) {
 		textureFileName = Util::getFileFullName(fileName)+_T(".png");
 		ply.append_comment((_T("TextureFile ")+Util::getFileNameExt(textureFileName)).c_str());
 	}
 
-	if (vertexNormals.IsEmpty()) {
+	if (vertexNormals.empty()) {
 		// describe what properties go into the vertex elements
 		ply.describe_property(BasicPLY::elem_names[0], 3, BasicPLY::vert_props);
 
@@ -1736,7 +1811,7 @@ bool Mesh::SavePLY(const String& fileName, const cList<String>& comments, bool b
 		FOREACHPTR(pVert, vertices)
 			ply.put_element(pVert);
 	} else {
-		ASSERT(vertices.GetSize() == vertexNormals.GetSize());
+		ASSERT(vertices.size() == vertexNormals.size());
 
 		// describe what properties go into the vertex elements
 		ply.describe_property(BasicPLY::elem_names[0], 6, BasicPLY::vert_normal_props);
@@ -1752,7 +1827,7 @@ bool Mesh::SavePLY(const String& fileName, const cList<String>& comments, bool b
 	if (ply.get_current_element_count() == 0)
 		return false;
 
-	if (faceTexcoords.IsEmpty()) {
+	if (faceTexcoords.empty()) {
 		// describe what properties go into the vertex elements
 		ply.describe_property(BasicPLY::elem_names[1], 1, BasicPLY::face_props);
 
@@ -1763,7 +1838,11 @@ bool Mesh::SavePLY(const String& fileName, const cList<String>& comments, bool b
 			ply.put_element(&face);
 		}
 	} else {
-		ASSERT(faceTexcoords.GetSize() == faces.GetSize()*3);
+		ASSERT(faceTexcoords.size() == faces.size()*3);
+
+		// translate, normalize and flip Y axis of the texture coordinates
+		TexCoordArr normFaceTexcoords;
+		FaceTexcoordsNormalize(normFaceTexcoords, true);
 
 		// describe what properties go into the vertex elements
 		ply.describe_property(BasicPLY::elem_names[1], 2, BasicPLY::face_tex_props);
@@ -1771,8 +1850,8 @@ bool Mesh::SavePLY(const String& fileName, const cList<String>& comments, bool b
 		// export the array of faces
 		BasicPLY::FaceTex face = {{3},{6}};
 		FOREACH(f, faces) {
-			face.face.pFace = faces.Begin()+f;
-			face.tex.pTex = faceTexcoords.Begin()+f*3;
+			face.face.pFace = faces.data()+f;
+			face.tex.pTex = normFaceTexcoords.data()+f*3;
 			ply.put_element(&face);
 		}
 
@@ -1789,7 +1868,7 @@ bool Mesh::SavePLY(const String& fileName, const cList<String>& comments, bool b
 // export the mesh as a OBJ file
 bool Mesh::SaveOBJ(const String& fileName) const
 {
-	ASSERT(!fileName.IsEmpty());
+	ASSERT(!fileName.empty());
 	Util::ensureFolder(fileName);
 
 	// create the OBJ model
@@ -1797,35 +1876,38 @@ bool Mesh::SaveOBJ(const String& fileName) const
 
 	// store vertices
 	ASSERT(sizeof(ObjModel::Vertex) == sizeof(Vertex));
-	model.get_vertices().insert(model.get_vertices().begin(), vertices.Begin(), vertices.End());
+	model.get_vertices().insert(model.get_vertices().begin(), vertices.begin(), vertices.end());
 
 	// store vertex normals
 	ASSERT(sizeof(ObjModel::Normal) == sizeof(Normal));
 	ASSERT(model.get_vertices().size() < std::numeric_limits<VIndex>::max());
-	if (!vertexNormals.IsEmpty()) {
-		ASSERT(vertexNormals.GetSize() == vertices.GetSize());
-		model.get_normals().insert(model.get_normals().begin(), vertexNormals.Begin(), vertexNormals.End());
+	if (!vertexNormals.empty()) {
+		ASSERT(vertexNormals.size() == vertices.size());
+		model.get_normals().insert(model.get_normals().begin(), vertexNormals.begin(), vertexNormals.end());
 	}
 
 	// store face texture coordinates
 	ASSERT(sizeof(ObjModel::TexCoord) == sizeof(TexCoord));
-	if (!faceTexcoords.IsEmpty()) {
-		ASSERT(faceTexcoords.GetSize() == faces.GetSize()*3);
-		model.get_texcoords().insert(model.get_texcoords().begin(), faceTexcoords.Begin(), faceTexcoords.End());
+	if (!faceTexcoords.empty()) {
+		// translate, normalize and flip Y axis of the texture coordinates
+		TexCoordArr normFaceTexcoords;
+		FaceTexcoordsNormalize(normFaceTexcoords, true);
+		ASSERT(normFaceTexcoords.size() == faces.size()*3);
+		model.get_texcoords().insert(model.get_texcoords().begin(), normFaceTexcoords.begin(), normFaceTexcoords.end());
 	}
 
 	// store faces
 	ObjModel::Group& group = model.AddGroup(_T("material_0"));
-	group.faces.reserve(faces.GetSize());
+	group.faces.reserve(faces.size());
 	FOREACH(idxFace, faces) {
 		const Face& face = faces[idxFace];
 		ObjModel::Face f;
 		memset(&f, 0xFF, sizeof(ObjModel::Face));
 		for (int i=0; i<3; ++i) {
 			f.vertices[i] = face[i];
-			if (!faceTexcoords.IsEmpty())
+			if (!faceTexcoords.empty())
 				f.texcoords[i] = idxFace*3+i;
-			if (!vertexNormals.IsEmpty())
+			if (!vertexNormals.empty())
 				f.normals[i] = face[i];
 		}
 		group.faces.push_back(f);
@@ -1936,18 +2018,15 @@ bool Mesh::SaveGLTF(const String& fileName, bool bBinary) const
 		vertexTexcoordAccessor.count = mesh.faceTexcoords.size();
 		vertexTexcoordAccessor.type = TINYGLTF_TYPE_VEC2;
 		gltfModel.accessors.emplace_back(std::move(vertexTexcoordAccessor));
-		// setup texture coordinates (flip Y)
+		// setup texture coordinates
 		STATIC_ASSERT(2 * sizeof(TexCoord::Type) == sizeof(TexCoord)); // TexCoordArr should be continuous
 		ASSERT(mesh.vertices.size() == mesh.faceTexcoords.size());
 		tinygltf::BufferView vertexTexcoordBufferView;
 		vertexTexcoordBufferView.name = "vertexTexcoordBufferView";
 		vertexTexcoordBufferView.buffer = (int)gltfModel.buffers.size();
-		TexCoordArr flipTexcoords(mesh.faceTexcoords.size());
-		FOREACH(i, mesh.faceTexcoords) {
-			flipTexcoords[i].x = mesh.faceTexcoords[i].x;
-			flipTexcoords[i].y = 1.f - mesh.faceTexcoords[i].y;
-		}
-		ExtendBufferGLTF(flipTexcoords.data(), flipTexcoords.size(), gltfBuffer,
+		TexCoordArr normFaceTexcoords;
+		mesh.FaceTexcoordsNormalize(normFaceTexcoords, false);
+		ExtendBufferGLTF(normFaceTexcoords.data(), normFaceTexcoords.size(), gltfBuffer,
 			vertexTexcoordBufferView.byteOffset, vertexTexcoordBufferView.byteLength);
 		gltfModel.bufferViews.emplace_back(std::move(vertexTexcoordBufferView));
 		// setup texture
@@ -3788,15 +3867,14 @@ void Mesh::RemoveFaces(FaceIdxArr& facesRemove, bool bUpdateLists)
 {
 	facesRemove.Sort();
 	FIndex idxLast(FaceIdxArr::NO_INDEX);
-	if (!bUpdateLists || vertexFaces.IsEmpty()) {
+	if (!bUpdateLists || vertexFaces.empty()) {
 		RFOREACHPTR(pIdxF, facesRemove) {
 			const FIndex idxF(*pIdxF);
 			if (idxLast == idxF)
 				continue;
 			faces.RemoveAt(idxF);
-			if (!faceTexcoords.IsEmpty()) {
+			if (!faceTexcoords.empty())
 				faceTexcoords.RemoveAt(idxF * 3, 3);
-			}
 			idxLast = idxF;
 		}
 	} else {
@@ -3829,9 +3907,8 @@ void Mesh::RemoveFaces(FaceIdxArr& facesRemove, bool bUpdateLists)
 				}
 			}
 			faces.RemoveAt(idxF);
-			if (!faceTexcoords.IsEmpty()) {
+			if (!faceTexcoords.empty())
 				faceTexcoords.RemoveAt(idxF * 3, 3);
-			}
 			idxLast = idxF;
 		}
 	}
@@ -4091,7 +4168,7 @@ void Mesh::SamplePoints(REAL samplingDensity, unsigned mumPointsTheoretic, Point
 				const TexCoord& TA = faceTexcoords[idxTexCoord+1];
 				const TexCoord& TB = faceTexcoords[idxTexCoord+2];
 				const TexCoord xt(TO + static_cast<TexCoord::Type>(x)*(TA - TO) + static_cast<TexCoord::Type>(y)*(TB - TO));
-				pointcloud.colors.emplace_back(textureDiffuse.sampleSafe(Point2f(xt.x*textureDiffuse.width(), (1.f-xt.y)*textureDiffuse.height())));
+				pointcloud.colors.emplace_back(textureDiffuse.sampleSafe(xt));
 			}
 		}
 	}
@@ -4114,7 +4191,7 @@ void Mesh::Project(const Camera& camera, DepthMap& depthMap) const
 }
 void Mesh::Project(const Camera& camera, DepthMap& depthMap, Image8U3& image) const
 {
-	ASSERT(!faceTexcoords.IsEmpty() && !textureDiffuse.empty());
+	ASSERT(!faceTexcoords.empty() && !textureDiffuse.empty());
 	struct RasterMesh : TRasterMesh<RasterMesh> {
 		typedef TRasterMesh<RasterMesh> Base;
 		const Mesh& mesh;
@@ -4137,7 +4214,7 @@ void Mesh::Project(const Camera& camera, DepthMap& depthMap, Image8U3& image) co
 				xt  = mesh.faceTexcoords[idxFaceTex+0] * pbary[0];
 				xt += mesh.faceTexcoords[idxFaceTex+1] * pbary[1];
 				xt += mesh.faceTexcoords[idxFaceTex+2] * pbary[2];
-				image(pt) = mesh.textureDiffuse.sampleSafe(Point2f(xt.x*mesh.textureDiffuse.width(), (1.f-xt.y)*mesh.textureDiffuse.height()));
+				image(pt) = mesh.textureDiffuse.sampleSafe(xt);
 			}
 		}
 	};
@@ -4220,7 +4297,7 @@ void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap) const
 }
 void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap, Image8U3& image) const
 {
-	ASSERT(!faceTexcoords.IsEmpty() && !textureDiffuse.empty());
+	ASSERT(!faceTexcoords.empty() && !textureDiffuse.empty());
 	struct RasterMesh : TRasterMesh<RasterMesh> {
 		typedef TRasterMesh<RasterMesh> Base;
 		const Mesh& mesh;
@@ -4246,7 +4323,7 @@ void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap, Image8U3& imag
 				xt  = mesh.faceTexcoords[idxFaceTex+0] * bary[0];
 				xt += mesh.faceTexcoords[idxFaceTex+1] * bary[1];
 				xt += mesh.faceTexcoords[idxFaceTex+2] * bary[2];
-				image(pt) = mesh.textureDiffuse.sampleSafe(Point2f(xt.x*mesh.textureDiffuse.width(), (1.f-xt.y)*mesh.textureDiffuse.height()));
+				image(pt) = mesh.textureDiffuse.sampleSafe(xt);
 			}
 		}
 	};
@@ -4373,6 +4450,162 @@ Mesh Mesh::SubMesh(const FaceIdxArr& chunk) const
 /*----------------------------------------------------------------*/
 
 
+
+// transfer the texture of this mesh to the new mesh;
+// the two meshes should be aligned and the new mesh to have UV-coordinates
+#if USE_MESH_INT == USE_MESH_BVH
+struct FaceBox {
+	Eigen::AlignedBox3f box;
+	Mesh::FIndex idxFace;
+};
+inline Eigen::AlignedBox3f bounding_box(const FaceBox& faceBox) {
+	return faceBox.box;
+}
+#endif
+bool Mesh::TransferTexture(Mesh& mesh, unsigned textureSize)
+{
+	ASSERT(HasTexture() && mesh.HasTexture());
+	if (vertexFaces.size() != vertices.size())
+		ListIncidenteFaces();
+	if (mesh.vertexNormals.size() != mesh.vertices.size())
+		mesh.ComputeNormalVertices();
+	if (mesh.textureDiffuse.empty())
+		mesh.textureDiffuse.create(textureSize, textureSize);
+	#if USE_MESH_INT == USE_MESH_BVH
+	std::vector<FaceBox> boxes;
+	boxes.reserve(faces.size());
+	FOREACH(idxFace, faces)
+		boxes.emplace_back([this](FIndex idxFace) {
+			const Face& face = faces[idxFace];
+			Eigen::AlignedBox3f box;
+			box.extend<Eigen::Vector3f>(vertices[face[0]]);
+			box.extend<Eigen::Vector3f>(vertices[face[1]]);
+			box.extend<Eigen::Vector3f>(vertices[face[2]]);
+			return FaceBox{box, idxFace};
+		} (idxFace));
+	typedef Eigen::KdBVH<Type,3,FaceBox> BVH;
+	BVH tree(boxes.begin(), boxes.end());
+	#endif
+	struct IntersectRayMesh {
+		const Mesh& mesh;
+		const Ray3f& ray;
+		IndexDist pick;
+		IntersectRayMesh(const Mesh& _mesh, const Ray3f& _ray)
+			: mesh(_mesh), ray(_ray) {
+			#if USE_MESH_INT == USE_MESH_BF
+			FOREACH(idxFace, mesh.faces)
+				IntersectsRayFace(idxFace);
+			#endif
+		}
+		inline void IntersectsRayFace(FIndex idxFace) {
+			const Face& face = mesh.faces[idxFace];
+			Type dist;
+			if (ray.Intersects<true>(Triangle3f(mesh.vertices[face[0]], mesh.vertices[face[1]], mesh.vertices[face[2]]), &dist)) {
+				ASSERT(dist >= 0);
+				if (pick.dist > dist) {
+					pick.dist = dist;
+					pick.idx = idxFace;
+				}
+			}
+		}
+		#if USE_MESH_INT == USE_MESH_BVH
+		inline bool intersectVolume(const BVH::Volume &volume) {
+			return ray.Intersects(AABB3f(volume.min(), volume.max()));
+		}
+		inline bool intersectObject(const BVH::Object &object) {
+			IntersectsRayFace(object.idxFace);
+			return false;
+		}
+		#endif
+	};
+	#if USE_MESH_INT == USE_MESH_BF || USE_MESH_INT == USE_MESH_BVH
+	const float diagonal(GetAABB().GetSize().norm());
+	#elif USE_MESH_INT == USE_MESH_OCTREE
+	const Octree octree(vertices, [](Octree::IDX_TYPE size, Octree::Type /*radius*/) {
+		return size > 8;
+	});
+	const float diagonal(octree.GetAabb().GetSize().norm());
+	struct OctreeIntersectRayMesh : IntersectRayMesh {
+		OctreeIntersectRayMesh(const Octree& octree, const Mesh& _mesh, const Ray3f& _ray)
+			: IntersectRayMesh(_mesh, _ray) {
+			octree.Collect(*this, *this);
+		}
+		inline bool Intersects(const Octree::POINT_TYPE& center, Octree::Type radius) const {
+			return ray.Intersects(AABB3f(center, radius));
+		}
+		void operator () (const Octree::IDX_TYPE* idices, Octree::IDX_TYPE size) {
+			// store all contained faces only once
+			std::unordered_set<FIndex> set;
+			FOREACHRAWPTR(pIdx, idices, size) {
+				const VIndex idxVertex((VIndex)*pIdx);
+				const FaceIdxArr& faces = mesh.vertexFaces[idxVertex];
+				set.insert(faces.begin(), faces.end());
+			}
+			// test face intersection and keep the closest
+			for (FIndex idxFace : set)
+				IntersectsRayFace(idxFace);
+		}
+	};
+	#endif
+	#ifdef MESH_USE_OPENMP
+	#pragma omp parallel for schedule(dynamic)
+	for (int_t i=0; i<(int_t)mesh.faces.size(); ++i) {
+		const FIndex idxFace((FIndex)i);
+	#else
+	FOREACH(idxFace, mesh.faces) {
+	#endif
+		struct RasterTraiangle {
+			#if USE_MESH_INT == USE_MESH_OCTREE
+			const Octree& octree;
+			#elif USE_MESH_INT == USE_MESH_BVH
+			BVH& tree;
+			#endif
+			const Mesh& meshRef;
+			Mesh& meshTrg;
+			const Face& face;
+			float diagonal;
+			inline cv::Size Size() const { return meshTrg.textureDiffuse.size(); }
+			inline void operator()(const ImageRef& pt, const Point3f& bary) {
+				ASSERT(meshTrg.textureDiffuse.isInside(pt));
+				const Vertex X(meshTrg.vertices[face[0]]*bary.x + meshTrg.vertices[face[1]]*bary.y + meshTrg.vertices[face[2]]*bary.z);
+				const Normal N(normalized(meshTrg.vertexNormals[face[0]]*bary.x + meshTrg.vertexNormals[face[1]]*bary.y + meshTrg.vertexNormals[face[2]]*bary.z));
+				const Ray3f ray(Vertex(X+N*diagonal), Normal(-N));
+				#if USE_MESH_INT == USE_MESH_BF
+				const IntersectRayMesh intRay(meshRef, ray);
+				#elif USE_MESH_INT == USE_MESH_BVH
+				IntersectRayMesh intRay(meshRef, ray);
+				Eigen::BVIntersect(tree, intRay);
+				#else
+				const OctreeIntersectRayMesh intRay(octree, meshRef, ray);
+				#endif
+				if (intRay.pick.IsValid()) {
+					const FIndex refIdxFace((FIndex)intRay.pick.idx);
+					const Face& refFace = meshRef.faces[refIdxFace];
+					const Vertex refX(ray.GetPoint((Type)intRay.pick.dist));
+					const Vertex baryRef(CorrectBarycentricCoordinates(BarycentricCoordinatesUV(meshRef.vertices[refFace[0]], meshRef.vertices[refFace[1]], meshRef.vertices[refFace[2]], refX)));
+					const TexCoord* tri = meshRef.faceTexcoords.data()+refIdxFace*3;
+					const TexCoord x(tri[0]*baryRef.x + tri[1]*baryRef.y + tri[2]*baryRef.z);
+					const Pixel8U color(meshRef.textureDiffuse.sample(x));
+					meshTrg.textureDiffuse(pt) = color;
+				}
+			}
+		#if USE_MESH_INT == USE_MESH_BF
+		} data{*this, mesh, mesh.faces[idxFace], diagonal};
+		#elif USE_MESH_INT == USE_MESH_BVH
+		} data{tree, *this, mesh, mesh.faces[idxFace], diagonal};
+		#else
+		} data{octree, *this, mesh, mesh.faces[idxFace], diagonal};
+		#endif
+		// render triangle and for each pixel interpolate the color
+		// from the triangle corners using barycentric coordinates
+		const TexCoord* tri = mesh.faceTexcoords.data()+idxFace*3;
+		Image8U::RasterizeTriangleBary(tri[0], tri[1], tri[2], data);
+	}
+	return true;
+} // TransferTexture
+/*----------------------------------------------------------------*/
+
+
 #ifdef _USE_CUDA
 CUDA::KernelRT Mesh::kernelComputeFaceNormal;
 
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 4e50c58a6..0d0640363 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -186,6 +186,9 @@ class MVS_API Mesh
 	VIndex RemoveUnreferencedVertices(bool bUpdateLists=false);
 	void ConvertTexturePerVertex(Mesh&) const;
 
+	void FaceTexcoordsNormalize(TexCoordArr& newFaceTexcoords, bool flipY=true) const;
+	void FaceTexcoordsUnnormalize(TexCoordArr& newFaceTexcoords, bool flipY=true) const;
+
 	inline Normal FaceNormal(const Face& f) const {
 		return ComputeTriangleNormal(vertices[f[0]], vertices[f[1]], vertices[f[2]]);
 	}
@@ -220,6 +223,8 @@ class MVS_API Mesh
 	bool Split(FacesChunkArr&, float maxArea);
 	Mesh SubMesh(const FaceIdxArr& faces) const;
 
+	bool TransferTexture(Mesh& mesh, unsigned textureSize=1024);
+
 	// file IO
 	bool Load(const String& fileName);
 	bool Save(const String& fileName, const cList<String>& comments=cList<String>(), bool bBinary=true) const;
diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index 8de671f7a..0d17bc8c3 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -1949,17 +1949,15 @@ void MeshTexture::LocalSeamLeveling()
 		Image8U mask(image.size()); {
 			mask.memset(0);
 			struct RasterMesh {
-				const TexCoord* tri;
 				Image8U& image;
-				inline RasterMesh(Image8U& _image) : image(_image) {}
 				inline void operator()(const ImageRef& pt) {
 					ASSERT(image.isInside(pt));
 					image(pt) = interior;
 				}
-			} data(mask);
+			} data{mask};
 			for (const FIndex idxFace: texturePatch.faces) {
-				data.tri = faceTexcoords.data()+idxFace*3;
-				ColorMap::RasterizeTriangle(data.tri[0], data.tri[1], data.tri[2], data);
+				const TexCoord* tri = faceTexcoords.data()+idxFace*3;
+				ColorMap::RasterizeTriangle(tri[0], tri[1], tri[2], data);
 			}
 		}
 		// render the patch border meeting neighbor patches
@@ -2076,18 +2074,12 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 		TexturePatch& texturePatch = *pTexturePatch;
 	#endif
 		const Image& imageData = images[texturePatch.label];
-		// project vertices and compute bounding-box;
-		// account for diferences in pixel center convention: while OpenMVS uses the same convention as OpenCV and DirectX 9 where the center
-		// of a pixel is defined at integer coordinates, i.e. the center is at (0, 0) and the top left corner is at (-0.5, -0.5),
-		// DirectX 10+, OpenGL, and Vulkan convention is the center of a pixel is defined at half coordinates, i.e. the center is at (0.5, 0.5)
-		// and the top left corner is at (0, 0)
-		const TexCoord halfPixel(0.5f, 0.5f);
 		AABB2f aabb(true);
 		for (const FIndex idxFace: texturePatch.faces) {
 			const Face& face = faces[idxFace];
-			TexCoord* texcoords = faceTexcoords.Begin()+idxFace*3;
+			TexCoord* texcoords = faceTexcoords.data()+idxFace*3;
 			for (int i=0; i<3; ++i) {
-				texcoords[i] = imageData.camera.ProjectPointP(vertices[face[i]]) + halfPixel;
+				texcoords[i] = imageData.camera.ProjectPointP(vertices[face[i]]);
 				ASSERT(imageData.image.isInsideWithBorder(texcoords[i], border));
 				aabb.InsertFull(texcoords[i]);
 			}
@@ -2103,7 +2095,7 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 		ASSERT(imageData.image.isInside(texturePatch.rect.br()));
 		const TexCoord offset(texturePatch.rect.tl());
 		for (const FIndex idxFace: texturePatch.faces) {
-			TexCoord* texcoords = faceTexcoords.Begin()+idxFace*3;
+			TexCoord* texcoords = faceTexcoords.data()+idxFace*3;
 			for (int v=0; v<3; ++v)
 				texcoords[v] -= offset;
 		}
@@ -2114,7 +2106,7 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 		const int sizePatch(border*2+1);
 		texturePatch.rect = cv::Rect(0,0, sizePatch,sizePatch);
 		for (const FIndex idxFace: texturePatch.faces) {
-			TexCoord* texcoords = faceTexcoords.Begin()+idxFace*3;
+			TexCoord* texcoords = faceTexcoords.data()+idxFace*3;
 			for (int i=0; i<3; ++i)
 				texcoords[i] = TexCoord(0.5f, 0.5f);
 		}
@@ -2195,23 +2187,22 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 			default:
 				ABORT("error: unknown RectsBinPack type");
 			}
-			DEBUG_ULTIMATE("\tpacking texture completed: %u patches, %u texture-size (%s)", rects.GetSize(), textureSize, TD_TIMER_GET_FMT().c_str());
+			DEBUG_ULTIMATE("\tpacking texture completed: %u patches, %u texture-size (%s)", rects.size(), textureSize, TD_TIMER_GET_FMT().c_str());
 			if (bPacked)
 				break;
 			textureSize *= 2;
 		}
 
 		// create texture image
-		const float invNorm(1.f/(float)textureSize);
 		textureDiffuse.create(textureSize, textureSize);
 		textureDiffuse.setTo(cv::Scalar(colEmpty.b, colEmpty.g, colEmpty.r));
 		#ifdef TEXOPT_USE_OPENMP
 		#pragma omp parallel for schedule(dynamic)
-		for (int_t i=0; i<(int_t)texturePatches.GetSize(); ++i) {
+		for (int_t i=0; i<(int_t)texturePatches.size(); ++i) {
+			const uint32_t idxPatch((uint32_t)i);
 		#else
-		FOREACH(i, texturePatches) {
+		FOREACH(idxPatch, texturePatches) {
 		#endif
-			const uint32_t idxPatch((uint32_t)i);
 			const TexturePatch& texturePatch = texturePatches[idxPatch];
 			const RectsBinPack::Rect& rect = rects[idxPatch];
 			// copy patch image
@@ -2234,10 +2225,9 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 				TexCoord* texcoords = faceTexcoords.data()+idxFace*3;
 				for (int v=0; v<3; ++v) {
 					TexCoord& texcoord = texcoords[v];
-					// translate, normalize and flip Y axis
 					texcoord = TexCoord(
-						(texcoord[x]+offset.x)*invNorm,
-						1.f-(texcoord[y]+offset.y)*invNorm
+						texcoord[x]+offset.x,
+						texcoord[y]+offset.y
 					);
 				}
 			}

From 517e8da55eb946b951d3760a3a9bcd6a208afe39 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 28 Nov 2022 00:47:13 +0200
Subject: [PATCH 160/252] texture: add texture sharpening

---
 apps/TextureMesh/TextureMesh.cpp |  4 +++-
 libs/MVS/Camera.cpp              | 16 +++++++---------
 libs/MVS/DepthMap.cpp            | 23 +++++++++++------------
 libs/MVS/DepthMap.h              |  2 +-
 libs/MVS/Mesh.cpp                |  4 ++--
 libs/MVS/Scene.cpp               |  2 +-
 libs/MVS/Scene.h                 | 11 ++++++++---
 libs/MVS/SceneTexture.cpp        | 18 ++++++++++++++----
 8 files changed, 47 insertions(+), 33 deletions(-)

diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index 483d60972..e2b1dc1c4 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -62,6 +62,7 @@ bool bLocalSeamLeveling;
 unsigned nTextureSizeMultiple;
 unsigned nRectPackingHeuristic;
 uint32_t nColEmpty;
+float fSharpnessWeight;
 unsigned nOrthoMapResolution;
 unsigned nArchiveType;
 int nProcessPriority;
@@ -119,6 +120,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("texture-size-multiple", boost::program_options::value(&OPT::nTextureSizeMultiple)->default_value(0), "texture size should be a multiple of this value (0 - power of two)")
 		("patch-packing-heuristic", boost::program_options::value(&OPT::nRectPackingHeuristic)->default_value(3), "specify the heuristic used when deciding where to place a new patch (0 - best fit, 3 - good speed, 100 - best speed)")
 		("empty-color", boost::program_options::value(&OPT::nColEmpty)->default_value(0x00FF7F27), "color used for faces not covered by any image")
+		("sharpness-weight", boost::program_options::value(&OPT::fSharpnessWeight)->default_value(0.5f), "amount of sharpness to be applied on the texture (0 - disabled)")
 		("orthographic-image-resolution", boost::program_options::value(&OPT::nOrthoMapResolution)->default_value(0), "orthographic image resolution to be generated from the textured mesh - the mesh is expected to be already geo-referenced or at least properly oriented (0 - disabled)")
 		;
 
@@ -303,7 +305,7 @@ int main(int argc, LPCTSTR* argv)
 
 	// compute mesh texture
 	TD_TIMER_START();
-	if (!scene.TextureMesh(OPT::nResolutionLevel, OPT::nMinResolution, OPT::minCommonCameras, OPT::fOutlierThreshold, OPT::fRatioDataSmoothness, OPT::bGlobalSeamLeveling, OPT::bLocalSeamLeveling, OPT::nTextureSizeMultiple, OPT::nRectPackingHeuristic, Pixel8U(OPT::nColEmpty), views))
+	if (!scene.TextureMesh(OPT::nResolutionLevel, OPT::nMinResolution, OPT::minCommonCameras, OPT::fOutlierThreshold, OPT::fRatioDataSmoothness, OPT::bGlobalSeamLeveling, OPT::bLocalSeamLeveling, OPT::nTextureSizeMultiple, OPT::nRectPackingHeuristic, Pixel8U(OPT::nColEmpty), OPT::fSharpnessWeight, views))
 		return EXIT_FAILURE;
 	VERBOSE("Mesh texturing completed: %u vertices, %u faces (%s)", scene.mesh.vertices.GetSize(), scene.mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
 
diff --git a/libs/MVS/Camera.cpp b/libs/MVS/Camera.cpp
index cdcdbc154..01464b713 100644
--- a/libs/MVS/Camera.cpp
+++ b/libs/MVS/Camera.cpp
@@ -135,9 +135,9 @@ void MVS::DecomposeProjectionMatrix(const PMatrix& P, KMatrix& K, RMatrix& R, CM
 {
 	// extract camera center as the right null vector of P
 	const Vec4 hC(P.RightNullVector());
-	C = (const CMatrix&)hC * INVERT(hC[3]);
+	C = CMatrix(hC[0],hC[1],hC[2]) * INVERT(hC[3]);
 	// perform RQ decomposition
-	const cv::Mat mP(3,4,cv::DataType<REAL>::type,(void*)P.val);
+	const cv::Mat mP(3,4,cv::DataType<REAL>::type,const_cast<REAL*>(P.val));
 	cv::RQDecomp3x3(mP(cv::Rect(0,0, 3,3)), K, R);
 	// normalize calibration matrix
 	K *= INVERT(K(2,2));
@@ -162,9 +162,9 @@ void MVS::DecomposeProjectionMatrix(const PMatrix& P, RMatrix& R, CMatrix& C)
 	#endif
 	// extract camera center as the right null vector of P
 	const Vec4 hC(P.RightNullVector());
-	C = (const CMatrix&)hC * INVERT(hC[3]);
+	C = CMatrix(hC[0],hC[1],hC[2]) * INVERT(hC[3]);
 	// get rotation
-	const cv::Mat mP(3,4,cv::DataType<REAL>::type,(void*)P.val);
+	const cv::Mat mP(3,4,cv::DataType<REAL>::type,const_cast<REAL*>(P.val));
 	mP(cv::Rect(0,0, 3,3)).copyTo(R);
 	ASSERT(R.IsValid());
 } // DecomposeProjectionMatrix
@@ -174,17 +174,15 @@ void MVS::DecomposeProjectionMatrix(const PMatrix& P, RMatrix& R, CMatrix& C)
 void MVS::AssembleProjectionMatrix(const KMatrix& K, const RMatrix& R, const CMatrix& C, PMatrix& P)
 {
 	// compute temporary matrices
-	cv::Mat mP(3,4,cv::DataType<REAL>::type,(void*)P.val);
+	cv::Mat mP(3,4,cv::DataType<REAL>::type,const_cast<REAL*>(P.val));
 	cv::Mat M(mP, cv::Rect(0,0, 3,3));
 	cv::Mat(K * R).copyTo(M); //3x3
 	mP.col(3) = M * cv::Mat(-C); //3x1
 } // AssembleProjectionMatrix
 void MVS::AssembleProjectionMatrix(const RMatrix& R, const CMatrix& C, PMatrix& P)
 {
-	Eigen::Map<Matrix3x3::EMat,0,Eigen::Stride<4,0> > eM(P.val);
-	eM = (const Matrix3x3::EMat)R;
-	Eigen::Map< Point3::EVec,0,Eigen::Stride<0,4> > eT(P.val+3);
-	eT = ((const Matrix3x3::EMat)R) * (-((const Point3::EVec)C)); //3x1
+	Eigen::Map<Matrix3x3::EMat,0,Eigen::Stride<4,0> >(P.val) = (const Matrix3x3::EMat)R;
+	Eigen::Map<Point3::EVec,0,Eigen::Stride<0,4> >(P.val+3) = ((const Matrix3x3::EMat)R) * (-((const Point3::EVec)C));
 } // AssembleProjectionMatrix
 /*----------------------------------------------------------------*/
 
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index a3e33014e..b72690de4 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -454,7 +454,7 @@ bool DepthEstimator::FillPixelPatch()
 	#endif
 	if (normSq0 < thMagnitudeSq && (lowResDepthMap.empty() || lowResDepthMap(x0) <= 0))
 		return false;
-	reinterpret_cast<Point3&>(X0) = image0.camera.TransformPointI2C(Cast<REAL>(x0));
+	X0 = image0.camera.TransformPointI2C(Cast<REAL>(x0));
 	return true;
 }
 
@@ -532,7 +532,7 @@ float DepthEstimator::ScorePixelImage(const DepthData::ViewData& image1, Depth d
 	if (!image1.depthMap.empty()) {
 		ASSERT(OPTDENSE::fEstimationGeometricWeight > 0);
 		float consistency(4.f);
-		const Point3f X1(image1.Tl*Point3f(float(X0(0))*depth,float(X0(1))*depth,depth)+image1.Tm); // Kj * Rj * (Ri.t() * X + Ci - Cj)
+		const Point3f X1(image1.Tl*Point3f(float(X0.x)*depth,float(X0.y)*depth,depth)+image1.Tm); // Kj * Rj * (Ri.t() * X + Ci - Cj)
 		if (X1.z > 0) {
 			const Point2f x1(X1);
 			if (image1.depthMap.isInsideWithBorder<float,1>(x1)) {
@@ -563,7 +563,7 @@ float DepthEstimator::ScorePixelImage(const DepthData::ViewData& image1, Depth d
 // compute pixel's NCC score
 float DepthEstimator::ScorePixel(Depth depth, const Normal& normal)
 {
-	ASSERT(depth > 0 && normal.dot(Cast<float>(static_cast<const Point3&>(X0))) <= 0);
+	ASSERT(depth > 0 && normal.dot(Cast<float>(X0)) <= 0);
 	// compute score for this pixel as seen in each view
 	ASSERT(scores.size() == images.size());
 	FOREACH(idxView, images)
@@ -764,7 +764,7 @@ void DepthEstimator::ProcessPixel(IDX idx)
 	float& conf = confMap0(x0);
 	Depth& depth = depthMap0(x0);
 	Normal& normal = normalMap0(x0);
-	const Normal viewDir(Cast<float>(reinterpret_cast<const Point3&>(X0)));
+	const Normal viewDir(Cast<float>(X0));
 	ASSERT(depth > 0 && normal.dot(viewDir) <= 0);
 	#if DENSE_REFINE == DENSE_REFINE_ITER
 	// check if any of the neighbor estimates are better then the current estimate
@@ -948,7 +948,7 @@ Depth DepthEstimator::InterpolatePixel(const ImageRef& nx, Depth depth, const No
 		#else
 		const Point3 planeN(normal);
 		const REAL planeD(planeN.dot(image0.camera.TransformPointI2C(Point3(nx, depth))));
-		depthNew = (Depth)(planeD / planeN.dot(reinterpret_cast<const Point3&>(X0)));
+		depthNew = (Depth)(planeD / planeN.dot(X0));
 		#endif
 	}
 	#endif
@@ -960,10 +960,10 @@ Depth DepthEstimator::InterpolatePixel(const ImageRef& nx, Depth depth, const No
 void DepthEstimator::InitPlane(Depth depth, const Normal& normal)
 {
 	#if 0
-	plane.Set(reinterpret_cast<const Vec3f&>(normal), Vec3f(depth*Cast<float>(X0)));
+	plane.Set(normal, Normal(Cast<float>(X0)*depth));
 	#else
-	plane.m_vN = reinterpret_cast<const Vec3f&>(normal);
-	plane.m_fD = -depth*reinterpret_cast<const Vec3f&>(normal).dot(Cast<float>(X0));
+	plane.m_vN = normal;
+	plane.m_fD = -depth*normal.dot(Cast<float>(X0));
 	#endif
 }
 #endif
@@ -979,7 +979,7 @@ DepthEstimator::PixelEstimate DepthEstimator::PerturbEstimate(const PixelEstimat
 	ptbEst.depth = CLAMP(rnd.randomUniform(minDepth, maxDepth), dMin, dMax);
 
 	// perturb normal
-	const Normal viewDir(Cast<float>(static_cast<const Point3&>(X0)));
+	const Normal viewDir(Cast<float>(X0));
 	std::uniform_real_distribution<float> urd(-1.f, 1.f);
 	const int numMaxTrials = 3;
 	int numTrials = 0;
@@ -1023,7 +1023,6 @@ std::pair<float,float> TriangulatePointsDelaunay(const DepthData::ViewData& imag
 	typedef CGAL::Delaunay_triangulation_2<kernel_t, triangulation_data_structure_t> Delaunay;
 	typedef Delaunay::Face_circulator FaceCirculator;
 	typedef Delaunay::Face_handle FaceHandle;
-	typedef Delaunay::Vertex_circulator VertexCirculator;
 	typedef Delaunay::Vertex_handle VertexHandle;
 	typedef kernel_t::Point_2 CPoint;
 
@@ -1543,7 +1542,7 @@ void MVS::EstimatePointNormals(const ImageArr& images, PointCloud& pointcloud, i
 	// fetch the point set
 	std::vector<PointVectorPair> pointvectors(pointcloud.points.GetSize());
 	FOREACH(i, pointcloud.points)
-		(Point3d&)(pointvectors[i].first) = pointcloud.points[i];
+		reinterpret_cast<Point3d&>(pointvectors[i].first) = pointcloud.points[i];
 	// estimates normals direction;
 	// Note: pca_estimate_normals() requires an iterator over points
 	// as well as property maps to access each point's position and normal.
@@ -1571,7 +1570,7 @@ void MVS::EstimatePointNormals(const ImageArr& images, PointCloud& pointcloud, i
 		PointCloud::Normal& normal = pointcloud.normals[i];
 		const PointCloud::Point& point = pointcloud.points[i];
 		const PointCloud::ViewArr& views= pointcloud.pointViews[i];
-		normal = (const Point3d&)(pointvectors[i].second);
+		normal = reinterpret_cast<const Point3d&>(pointvectors[i].second);
 		// correct normal orientation
 		ASSERT(!views.IsEmpty());
 		const Image& imageData = images[views.First()];
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 73e2fc58c..cda6e74b8 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -327,7 +327,7 @@ struct MVS_API DepthEstimator {
 	#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
 	CLISTDEF0IDX(NeighborEstimate,IIndex) neighborsClose; // close neighbor pixel depths to be used for smoothing
 	#endif
-	Vec3 X0;	      //
+	Point3 X0;	      //
 	ImageRef x0;	  // constants during one pixel loop
 	float normSq0;	  //
 	#if DENSE_NCC != DENSE_NCC_WEIGHTED
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 9554577c7..5bb7088d4 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -4280,7 +4280,7 @@ void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap) const
 			: Base(_vertices, _camera, _depthMap) {}
 		inline bool ProjectVertex(const Mesh::Vertex& pt, int v) {
 			return (ptc[v] = camera.TransformPointW2C(Cast<REAL>(pt))).z > 0 &&
-				depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointC2I(reinterpret_cast<const Point2&>(ptc[v])));
+				depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointC2I(Point2(ptc[v].x,ptc[v].y)));
 		}
 		void Raster(const ImageRef& pt, const Point3f& bary) {
 			const Depth z(ComputeDepth(bary));
@@ -4312,7 +4312,7 @@ void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap, Image8U3& imag
 		}
 		inline bool ProjectVertex(const Mesh::Vertex& pt, int v) {
 			return (ptc[v] = camera.TransformPointW2C(Cast<REAL>(pt))).z > 0 &&
-				depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointC2I(reinterpret_cast<const Point2&>(ptc[v])));
+				depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointC2I(Point2(ptc[v].x,ptc[v].y)));
 		}
 		void Raster(const ImageRef& pt, const Point3f& bary) {
 			const Depth z(ComputeDepth(bary));
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 09f2976a2..3b8023207 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -645,7 +645,7 @@ void Scene::SampleMeshWithVisibility(unsigned maxResolution)
 			const Point3f xz(camera.TransformPointW2I3(Cast<REAL>(mesh.vertices[idxVertex])));
 			if (xz.z <= 0)
 				continue;
-			const Point2f& x(reinterpret_cast<const Point2f&>(xz));
+			const Point2f x(xz.x, xz.y);
 			if (depthMap.isInsideWithBorder<float,1>(x) && xz.z * thFrontDepth < depthMap(ROUND2INT(x))) {
 				#ifdef SCENE_USE_OPENMP
 				#pragma omp critical
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 83540938e..c3807e966 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -125,13 +125,18 @@ class MVS_API Scene
 						 float kInf=(float)(INT_MAX/8));
 
 	// Mesh refinement
-	bool RefineMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned nMaxViews, float fDecimateMesh, unsigned nCloseHoles, unsigned nEnsureEdgeSize, unsigned nMaxFaceArea, unsigned nScales, float fScaleStep, unsigned nReduceMemory, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity, float fThPlanarVertex, float fGradientStep);
+	bool RefineMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned nMaxViews, float fDecimateMesh, unsigned nCloseHoles, unsigned nEnsureEdgeSize,
+		unsigned nMaxFaceArea, unsigned nScales, float fScaleStep, unsigned nReduceMemory, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity,
+		float fThPlanarVertex, float fGradientStep);
 	#ifdef _USE_CUDA
-	bool RefineMeshCUDA(unsigned nResolutionLevel, unsigned nMinResolution, unsigned nMaxViews, float fDecimateMesh, unsigned nCloseHoles, unsigned nEnsureEdgeSize, unsigned nMaxFaceArea, unsigned nScales, float fScaleStep, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity, float fGradientStep);
+	bool RefineMeshCUDA(unsigned nResolutionLevel, unsigned nMinResolution, unsigned nMaxViews, float fDecimateMesh, unsigned nCloseHoles, unsigned nEnsureEdgeSize,
+		unsigned nMaxFaceArea, unsigned nScales, float fScaleStep, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity, float fGradientStep);
 	#endif
 
 	// Mesh texturing
-	bool TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned minCommonCameras=0, float fOutlierThreshold=0.f, float fRatioDataSmoothness=0.3f, bool bGlobalSeamLeveling=true, bool bLocalSeamLeveling=true, unsigned nTextureSizeMultiple=0, unsigned nRectPackingHeuristic=3, Pixel8U colEmpty=Pixel8U(255,127,39), const IIndexArr& views=IIndexArr());
+	bool TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned minCommonCameras=0, float fOutlierThreshold=0.f, float fRatioDataSmoothness=0.3f,
+		bool bGlobalSeamLeveling=true, bool bLocalSeamLeveling=true, unsigned nTextureSizeMultiple=0, unsigned nRectPackingHeuristic=3, Pixel8U colEmpty=Pixel8U(255,127,39),
+		float fSharpnessWeight=0.5f, const IIndexArr& views=IIndexArr());
 
 	#ifdef _USE_BOOST
 	// implement BOOST serialization
diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index 0d17bc8c3..ff7dbbd26 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -337,7 +337,7 @@ struct MeshTexture {
 	void CreateSeamVertices();
 	void GlobalSeamLeveling();
 	void LocalSeamLeveling();
-	void GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty);
+	void GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, float fSharpnessWeight);
 
 	template <typename PIXEL>
 	static inline PIXEL RGB2YCBCR(const PIXEL& v) {
@@ -2059,7 +2059,7 @@ void MeshTexture::LocalSeamLeveling()
 	}
 }
 
-void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty)
+void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, float fSharpnessWeight)
 {
 	// project patches in the corresponding view and compute texture-coordinates and bounding-box
 	const int border(2);
@@ -2232,12 +2232,22 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 				}
 			}
 		}
+		// apply some sharpening
+		if (fSharpnessWeight > 0) {
+			constexpr double sigma = 1.5;
+			Image8U3 blurryTextureDiffuse;
+			cv::GaussianBlur(textureDiffuse, blurryTextureDiffuse, cv::Size(), sigma);
+			cv::addWeighted(textureDiffuse, 1+fSharpnessWeight, blurryTextureDiffuse, -fSharpnessWeight, 0, textureDiffuse);
+		}
 	}
 }
 
 // texture mesh
 //  - minCommonCameras: generate texture patches using virtual faces composed of coplanar triangles sharing at least this number of views (0 - disabled, 3 - good value)
-bool Scene::TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned minCommonCameras, float fOutlierThreshold, float fRatioDataSmoothness, bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, const IIndexArr& views)
+//  - fSharpnessWeight: sharpness weight to be applied on the texture (0 - disabled, 0.5 - good value)
+bool Scene::TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned minCommonCameras, float fOutlierThreshold, float fRatioDataSmoothness,
+	bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, float fSharpnessWeight,
+	const IIndexArr& views)
 {
 	MeshTexture texture(*this, nResolutionLevel, nMinResolution);
 
@@ -2252,7 +2262,7 @@ bool Scene::TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsi
 	// generate the texture image and atlas
 	{
 		TD_TIMER_STARTD();
-		texture.GenerateTexture(bGlobalSeamLeveling, bLocalSeamLeveling, nTextureSizeMultiple, nRectPackingHeuristic, colEmpty);
+		texture.GenerateTexture(bGlobalSeamLeveling, bLocalSeamLeveling, nTextureSizeMultiple, nRectPackingHeuristic, colEmpty, fSharpnessWeight);
 		DEBUG_EXTRA("Generating texture atlas and image completed: %u patches, %u image size (%s)", texture.texturePatches.GetSize(), mesh.textureDiffuse.width(), TD_TIMER_GET_FMT().c_str());
 	}
 

From f62b38d5d02266452bb16dbcf153963001c09f93 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 28 Nov 2022 12:28:07 +0200
Subject: [PATCH 161/252] v2.1.0 (#906)

* Improve depth-map estimation in textureless areas using multi-resolution
* Add texture sharpening
* Ground plane estimation
* Estimate volume from the reconstructed mesh
* Texture transfer between two meshes
* Automatic Region-Of-Interest estimation
* Simplify build with vcpkg
* Add tests
* Add Continuous Integration action
* Various bug fixes
---
 .appveyor.yml                                 | 124 ---
 .github/workflows/continuous_integration.yml  |  81 ++
 .gitignore                                    |   1 +
 BUILD.md                                      | 133 +--
 CMakeLists.txt                                |  29 +-
 MvsScalablePipeline.py                        | 180 ++++
 README.md                                     |   4 +-
 apps/CMakeLists.txt                           |   5 +
 apps/DensifyPointCloud/DensifyPointCloud.cpp  |  72 +-
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp      |  10 +-
 apps/InterfaceMVSNet/CMakeLists.txt           |  13 +
 apps/InterfaceMVSNet/InterfaceMVSNet.cpp      | 364 +++++++
 .../InterfaceMetashape/InterfaceMetashape.cpp | 221 +++-
 apps/ReconstructMesh/ReconstructMesh.cpp      |  21 +-
 apps/Tests/CMakeLists.txt                     |  15 +
 apps/Tests/Tests.cpp                          | 130 +++
 apps/Tests/data/images/00000.jpg              | Bin 0 -> 286347 bytes
 apps/Tests/data/images/00001.jpg              | Bin 0 -> 303625 bytes
 apps/Tests/data/images/00002.jpg              | Bin 0 -> 295933 bytes
 apps/Tests/data/images/00003.jpg              | Bin 0 -> 296986 bytes
 apps/Tests/data/scene.mvs                     | Bin 0 -> 119447 bytes
 apps/TextureMesh/TextureMesh.cpp              |   8 +-
 apps/TransformScene/CMakeLists.txt            |  13 +
 apps/TransformScene/TransformScene.cpp        | 244 +++++
 apps/Viewer/Scene.cpp                         |  87 +-
 apps/Viewer/Scene.h                           |   2 +-
 apps/Viewer/Viewer.cpp                        |   4 +-
 apps/Viewer/Window.cpp                        |   2 +-
 apps/Viewer/Window.h                          |   2 +-
 build/Utils.cmake                             |   1 -
 docker/Dockerfile                             |  23 +-
 docker/Dockerfile_CUDA                        |  31 +-
 docker/buildFromScratch.sh                    |   2 +-
 docker/buildFromScratch_CUDA.sh               |   2 +
 libs/Common/AABB.h                            |   1 +
 libs/Common/AABB.inl                          |  34 +-
 libs/Common/AutoEstimator.h                   |   2 +-
 libs/Common/Config.h                          |  23 +-
 libs/Common/List.h                            | 188 ++--
 libs/Common/OBB.h                             |   6 +-
 libs/Common/OBB.inl                           |  17 +-
 libs/Common/Octree.h                          |  16 +-
 libs/Common/Octree.inl                        |  41 +-
 libs/Common/Plane.h                           |  26 +-
 libs/Common/Plane.inl                         | 115 ++-
 libs/Common/Ray.h                             |   5 +-
 libs/Common/Ray.inl                           | 154 +--
 libs/Common/Rotation.h                        |   9 +
 libs/Common/Rotation.inl                      |  92 +-
 libs/Common/Types.h                           | 102 +-
 libs/Common/Types.inl                         |  56 +-
 libs/Common/Util.cpp                          |   5 -
 libs/Common/Util.inl                          | 364 +++----
 libs/IO/ImageTIFF.cpp                         |  84 +-
 libs/IO/OBJ.cpp                               |  16 +-
 libs/MVS/Camera.cpp                           |  16 +-
 libs/MVS/Camera.h                             |  10 +-
 libs/MVS/DepthMap.cpp                         | 484 ++++++---
 libs/MVS/DepthMap.h                           |  43 +-
 libs/MVS/Image.h                              |   8 +-
 libs/MVS/Interface.h                          |  19 +-
 libs/MVS/Mesh.cpp                             | 539 ++++++++--
 libs/MVS/Mesh.h                               |  17 +-
 libs/MVS/PatchMatchCUDA.cpp                   | 327 +++---
 libs/MVS/PatchMatchCUDA.cu                    | 109 +-
 libs/MVS/PatchMatchCUDA.h                     |   2 +-
 libs/MVS/PatchMatchCUDA.inl                   |  10 +-
 libs/MVS/PointCloud.cpp                       | 243 +++++
 libs/MVS/PointCloud.h                         |  17 +-
 libs/MVS/RectsBinPack.cpp                     |   2 +-
 libs/MVS/Scene.cpp                            | 329 +++++-
 libs/MVS/Scene.h                              |  22 +-
 libs/MVS/SceneDensify.cpp                     | 309 +++---
 libs/MVS/SceneDensify.h                       |   2 +
 libs/MVS/SceneReconstruct.cpp                 |   3 +-
 libs/MVS/SceneRefine.cpp                      |  10 +-
 libs/MVS/SceneRefineCUDA.cpp                  |   8 +-
 libs/MVS/SceneTexture.cpp                     | 966 ++++++++++++------
 libs/MVS/SemiGlobalMatcher.cpp                |   4 +-
 libs/Math/Common.h                            |  12 +-
 libs/Math/RobustNorms.h                       | 169 +++
 libs/Math/RobustNorms.png                     | Bin 0 -> 73478 bytes
 libs/Math/SimilarityTransform.cpp             |  65 ++
 libs/Math/SimilarityTransform.h               |  55 +
 libs/Math/TRWS/typeGeneral.h                  |   5 +-
 vcpkg.json                                    |  37 +
 86 files changed, 5126 insertions(+), 1896 deletions(-)
 delete mode 100644 .appveyor.yml
 create mode 100644 .github/workflows/continuous_integration.yml
 create mode 100644 MvsScalablePipeline.py
 create mode 100644 apps/InterfaceMVSNet/CMakeLists.txt
 create mode 100644 apps/InterfaceMVSNet/InterfaceMVSNet.cpp
 create mode 100644 apps/Tests/CMakeLists.txt
 create mode 100644 apps/Tests/Tests.cpp
 create mode 100644 apps/Tests/data/images/00000.jpg
 create mode 100644 apps/Tests/data/images/00001.jpg
 create mode 100644 apps/Tests/data/images/00002.jpg
 create mode 100644 apps/Tests/data/images/00003.jpg
 create mode 100644 apps/Tests/data/scene.mvs
 create mode 100644 apps/TransformScene/CMakeLists.txt
 create mode 100644 apps/TransformScene/TransformScene.cpp
 create mode 100644 docker/buildFromScratch_CUDA.sh
 create mode 100644 libs/Math/RobustNorms.h
 create mode 100644 libs/Math/RobustNorms.png
 create mode 100644 libs/Math/SimilarityTransform.cpp
 create mode 100644 libs/Math/SimilarityTransform.h
 create mode 100644 vcpkg.json

diff --git a/.appveyor.yml b/.appveyor.yml
deleted file mode 100644
index 91a94b656..000000000
--- a/.appveyor.yml
+++ /dev/null
@@ -1,124 +0,0 @@
-# specify version format
-version: "{build}"
-
-image:
-  - Visual Studio 2019
-  - ubuntu1804
-  - macos
-
-platform:
-  - x64
-
-# specify custom environment variables
-environment:
-  APPVEYOR_SAVE_CACHE_ON_ERROR: true
-
-# build configuration, i.e. Debug, Release, etc.
-configuration:
-  - Debug
-  - Release
-
-# branches to build
-branches:
-  # blacklist
-  except:
-    - gh-pages
-
-for:
--
-  #------------------
-  # Windows 10
-  #------------------
-  matrix:
-    only:
-      - image: Visual Studio 2019
-  # scripts that are called at very beginning, before repo cloning
-  init:
-    - ver
-    - cmake --version
-    - msbuild /version
-  # scripts that run after cloning repository
-  install:
-    # update vcpkg
-    - cd C:\tools\vcpkg
-    - git pull
-    - .\bootstrap-vcpkg.bat
-    - if "%platform%"=="Win32" set VCPKG_ARCH=x86-windows
-    - if "%platform%"=="x64"   set VCPKG_ARCH=x64-windows
-    # remove outdated versions
-    - vcpkg remove --outdated --recurse
-    # install dependencies
-    - vcpkg install --recurse --triplet %VCPKG_ARCH% zlib boost-iostreams boost-program-options boost-system boost-serialization eigen3 cgal[core] opencv glew glfw3
-    - cd "%APPVEYOR_BUILD_FOLDER%"
-  # preserve contents of selected directories and files across project builds
-  cache:
-    - 'C:\tools\vcpkg\installed'
-  build_script:
-    - if "%platform%"=="Win32" set CMAKE_ARCH=-A"x86"
-    - if "%platform%"=="x64"   set CMAKE_ARCH=-A"x64"
-    - git clone https://github.com/cdcseacave/VCG.git
-    - mkdir bin && cd bin
-    - cmake -G"Visual Studio 16 2019" %CMAKE_ARCH% -DCMAKE_BUILD_TYPE=%Configuration% -DCMAKE_TOOLCHAIN_FILE="C:\tools\vcpkg\scripts\buildsystems\vcpkg.cmake" -DVCG_ROOT="$APPVEYOR_BUILD_FOLDER/VCG" ..
-    - cmake --build . --target ALL_BUILD --config %Configuration% -- /maxcpucount:4
--
-  #------------------
-  # Ubuntu 18.04 LTS
-  #------------------
-  matrix:
-    only:
-      - image: ubuntu1804
-  # scripts that are called at very beginning, before repo cloning
-  init:
-    - lsb_release -a
-    - cmake --version
-    - gcc -v
-  # scripts that run after cloning repository
-  install:
-    - sudo apt-get update -qq && sudo apt-get install -qq
-    - sudo apt-get -y install build-essential git cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev libxmu-dev libxi-dev
-    - sudo apt-get -y install libboost-iostreams-dev libboost-program-options-dev libboost-system-dev libboost-serialization-dev
-    - sudo apt-get -y install libopencv-dev libcgal-dev libcgal-qt5-dev libatlas-base-dev
-    - sudo apt-get -y install freeglut3-dev libglew-dev libglfw3-dev
-  # preserve contents of selected directories and files across project builds
-  cache:
-    - '/usr/lib/x86_64-linux-gnu/'
-  build_script:
-    - git clone https://github.com/cdcseacave/VCG.git
-    - git clone --single-branch --branch 3.4 https://gitlab.com/libeigen/eigen.git
-    - mkdir eigen_build && cd eigen_build
-    - cmake . ../eigen
-    - make && sudo make install
-    - cd ..
-    - mkdir bin && cd bin
-    - cmake -DCMAKE_BUILD_TYPE=$Configuration -DVCG_ROOT="$APPVEYOR_BUILD_FOLDER/VCG" ..
-    - make
--
-  #------------------
-  # MacOS
-  #------------------
-  matrix:
-    only:
-      - image: macos
-  # scripts that are called at very beginning, before repo cloning
-  init:
-    - system_profiler SPSoftwareDataType
-    - cmake --version
-    - gcc -v
-  # scripts that run after cloning repository
-  install:
-    - brew update
-    - printf "#%s/bin/bash\nbrew install libomp boost eigen opencv cgal glew glfw3\nexit 0\n" "!" > install.sh
-    - chmod +x install.sh
-    - ./install.sh
-  # preserve contents of selected directories and files across project builds
-  cache:
-    - '/usr/local/Cellar/'
-  build_script:
-    - git clone https://github.com/cdcseacave/VCG.git
-    - mkdir bin && cd bin
-    - cmake -DCMAKE_BUILD_TYPE=$CONFIGURATION -DVCG_ROOT="$APPVEYOR_BUILD_FOLDER/VCG" ..
-    - make
-  
-on_success:
-  - cmd: 7z a OpenMVS_x64.7z "C:\projects\openmvs\bin\bin\vc16\x64\%Configuration%\*.exe" "C:\projects\openmvs\bin\bin\vc16\x64\%Configuration%\*.dll"
-  - cmd: appveyor PushArtifact OpenMVS_x64.7z
diff --git a/.github/workflows/continuous_integration.yml b/.github/workflows/continuous_integration.yml
new file mode 100644
index 000000000..7c327e6e9
--- /dev/null
+++ b/.github/workflows/continuous_integration.yml
@@ -0,0 +1,81 @@
+name: Continuous Integration
+run-name: ${{ github.actor }} is building OpenMVS
+
+on:
+  push:
+    branches: [master, develop]
+  pull_request:
+    branches: [master, develop]
+  # Allows to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+env:
+  CTEST_OUTPUT_ON_FAILURE: 1
+
+defaults:
+  run:
+    shell: bash
+
+jobs:
+  build-tests:
+    name: Build on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest,  macOS-latest, windows-latest]
+        include:
+          - os: windows-latest
+            triplet: x64-windows-release
+            build-type: Release
+          - os: ubuntu-latest
+            triplet: x64-linux-release
+            build-type: Release
+          - os: macos-latest
+            triplet: x64-osx
+            build-type: Release
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Restore artifacts, or setup vcpkg for building artifacts
+        uses: lukka/run-vcpkg@v10.6
+        with:
+          vcpkgDirectory: '${{ github.workspace }}/vcpkg'
+          vcpkgGitCommitId: '4cb4a5c5ddcb9de0c83c85837ee6974c8333f032'
+
+      - name: Install Ubuntu dependencies
+        if: matrix.os == 'ubuntu-latest'
+        run: |
+          sudo apt-get update -y
+          sudo apt-get install -y autoconf-archive libxmu-dev libdbus-1-dev libxtst-dev libxi-dev libxinerama-dev libxcursor-dev xorg-dev libgl-dev libglu1-mesa-dev pkg-config
+
+      - name: Install macOS dependencies
+        if: matrix.os == 'macOS-latest'
+        run: |
+          brew install automake autoconf-archive
+
+      - name: Configure CMake
+        run: |
+          cmake -S . -B make -DCMAKE_BUILD_TYPE=${{ matrix.build-type }} -DVCPKG_TARGET_TRIPLET=${{ matrix.triplet }}
+
+      - name: Build
+        working-directory: ./make
+        run: |
+          rm -rf ../vcpkg/buildtrees
+          rm -rf ../vcpkg/downloads
+          cmake --build . --config ${{ matrix.build-type }} --parallel $(nproc)
+
+      - name: Unit Tests
+        working-directory: ./make
+        run: |
+          ctest -j$(nproc) --build-config ${{ matrix.build-type }}
+
+      - name: Deploy Windows release
+        if: matrix.os == 'windows-latest'
+        uses: actions/upload-artifact@v3
+        with:
+          name: OpenMVS_Windows_Release_x64
+          path: |
+            ${{ github.workspace }}/make/bin/**/x64
+            !${{ github.workspace }}/make/bin/**/*.exp
diff --git a/.gitignore b/.gitignore
index a12459285..c301e5a4e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -36,3 +36,4 @@ CMakeSettings.json
 .vscode/
 out/
 bin*/
+make*/
diff --git a/BUILD.md b/BUILD.md
index 880d4b780..28fda265c 100644
--- a/BUILD.md
+++ b/BUILD.md
@@ -2,14 +2,15 @@
 Dependencies
 ------------
 
-*OpenMVS* relies on a number of open source libraries, some of which are optional. For details on customizing the build process, see the compilation instructions.
+*OpenMVS* relies on a number of open source libraries, some optional, which are managed automatically by [vcpkg](https://github.com/Microsoft/vcpkg). For details on customizing the build process, see the build instructions.
 * [Eigen](http://eigen.tuxfamily.org) version 3.4 or higher
 * [OpenCV](http://opencv.org) version 2.4 or higher
-* [Ceres](http://ceres-solver.org) version 1.10 or higher
+* [Ceres](http://ceres-solver.org) version 1.10 or higher (optional)
 * [CGAL](http://www.cgal.org) version 4.2 or higher
 * [Boost](http://www.boost.org) version 1.56 or higher
 * [VCG](http://vcg.isti.cnr.it/vcglib)
-* [GLFW](http://www.glfw.org)
+* [CUDA](https://developer.nvidia.com/cuda-downloads) (optional)
+* [GLFW](http://www.glfw.org) (optional)
 
 ------------------
 Build instructions
@@ -18,127 +19,29 @@ Build instructions
 Required tools:
 * [CMake](http://www.cmake.org)
 * [git](https://git-scm.com)
-* C/C++ compiler like Visual Studio or GCC
+* C/C++ compiler like Visual Studio 2019, GCC or Clang
 
--------------------
-Windows compilation
--------------------
+The dependencies can be fetched and built automatically using `vcpkg` on all major platform, by setting the environment variable `VCPKG_ROOT` to point to its path or by using the `cmake` parameter `-DCMAKE_TOOLCHAIN_FILE=[path to vcpkg]/scripts/buildsystems/vcpkg.cmake`.
 
-Visual Studio 2008 or newer are supported. Please note that the development is done mainly on Windows, so this platform build is well tested. The latest pre-built binaries for fast testing can be download from [here](https://github.com/cdcseacave/openMVS_sample/releases/latest). Visual Studio 2017 and dependencies automation tool [vcpkg](https://github.com/Microsoft/vcpkg) are used in this example.
+The latest pre-built stable binaries can be download from [here](https://github.com/cdcseacave/openMVS_sample/releases/latest).
 
 ```
-#Make a toplevel directory for deps & build & src somewhere:
-mkdir OpenMVS
-cd OpenMVS
-
-#Get and install dependencies using vcpkg;
-#choose the desired triplet, like "x64-windows", by setting the VCPKG_DEFAULT_TRIPLET environment variable or by specifying it after each package:
-vcpkg install zlib boost-iostreams boost-program-options boost-system boost-serialization eigen3 cgal[core] opencv vcglib glew glfw3
-
-#Get VCGLib (Required):
-git clone https://github.com/cdcseacave/VCG.git
-
-#Get and unpack OpenMVS in OpenMVS/src:
-git clone https://github.com/cdcseacave/openMVS.git src
+#Clone OpenMVS
+git clone --recurse-submodules https://github.com/cdcseacave/openMVS.git
 
 #Make build directory:
-mkdir build
-cd build
-
-#Run CMake, where VCPKG_ROOT environment variable points to the root of vcpkg installation:
-cmake . ..\src -G "Visual Studio 15 2017 Win64" -DCMAKE_TOOLCHAIN_FILE=%VCPKG_ROOT%\scripts\buildsystems\vcpkg.cmake -DVCPKG_TARGET_TRIPLET=x64-windows
-
-#Open the solution in MSVC and build it
-```
-
------------------
-Linux compilation
------------------
-
-[Ubuntu](http://www.ubuntu.com) 16.04 is used next as the example linux distribution.
-
-```
-#Prepare and empty machine for building:
-sudo apt-get update -qq && sudo apt-get install -qq
-sudo apt-get -y install git cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev
-main_path=`pwd`
-
-#Eigen (Required)
-git clone https://gitlab.com/libeigen/eigen.git --branch 3.4
-mkdir eigen_build && cd eigen_build
-cmake . ../eigen
-make && sudo make install
-cd ..
-
-#Boost (Required)
-sudo apt-get -y install libboost-iostreams-dev libboost-program-options-dev libboost-system-dev libboost-serialization-dev
-
-#OpenCV (Required)
-sudo apt-get -y install libopencv-dev
-
-#CGAL (Required)
-sudo apt-get -y install libcgal-dev libcgal-qt5-dev
-
-#VCGLib (Required)
-git clone https://github.com/cdcseacave/VCG.git vcglib
-
-#Ceres (Optional)
-sudo apt-get -y install libatlas-base-dev libsuitesparse-dev
-git clone https://ceres-solver.googlesource.com/ceres-solver ceres-solver
-mkdir ceres_build && cd ceres_build
-cmake . ../ceres-solver/ -DMINIGLOG=ON -DBUILD_TESTING=OFF -DBUILD_EXAMPLES=OFF
-make -j2 && sudo make install
-cd ..
-
-#GLFW3 (Optional)
-sudo apt-get -y install freeglut3-dev libglew-dev libglfw3-dev
-
-#OpenMVS
-git clone https://github.com/cdcseacave/openMVS.git openMVS
-mkdir openMVS_build && cd openMVS_build
-cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT="$main_path/vcglib"
-
-#If you want to use OpenMVS as shared library, add to the CMake command:
--DBUILD_SHARED_LIBS=ON
-
-#Install OpenMVS library (optional):
-make -j2 && sudo make install
-```
-
---------------------
-Mac OS X compilation
---------------------
-
-Install dependencies, run CMake and make.
-
-```
-#Install dependencies
-brew update
-brew install boost eigen opencv cgal
-main_path=`pwd`
-
-#GLFW3 (Optional)
-brew install glew glfw3
-
-#VCGLib (Required)
-git clone https://github.com/cdcseacave/VCG.git vcglib
-
-#Getting the OpenMVS sources:
-git clone https://github.com/cdcseacave/openMVS.git
-
-#Build OpenMVS
-mkdir openMVS_build && cd openMVS_build
-cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT="$main_path/vcglib"
+cd openMVS
+mkdir make
+cd make
 
-#Alternatively, build using XCode
-cmake . ../openMVS -G "Xcode" -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT="$main_path/vcglib"
-xcodebuild -configuration Release
+#Run CMake:
+cmake ..
 
-#If you want to use OpenMVS as shared library, add to the CMake command:
--DBUILD_SHARED_LIBS=ON
+#Build:
+cmake --build . -j4
 
 #Install OpenMVS library (optional):
-make && sudo make install
+cmake --install .
 ```
 
 -------------------
@@ -150,7 +53,7 @@ In order to use *OpenMVS* as a third-party library in your project, first compil
 vcpkg install openmvs
 ```
 
-And inside your project CMake script, use:
+Inside your project CMake script, use:
 ```
 find_package(OpenMVS)
 if(OpenMVS_FOUND)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4d921e826..39ec359ac 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -30,8 +30,8 @@ ENDIF()
 PROJECT(OpenMVS)
 
 SET(OpenMVS_MAJOR_VERSION 2)
-SET(OpenMVS_MINOR_VERSION 0)
-SET(OpenMVS_PATCH_VERSION 1)
+SET(OpenMVS_MINOR_VERSION 1)
+SET(OpenMVS_PATCH_VERSION 0)
 SET(OpenMVS_VERSION ${OpenMVS_MAJOR_VERSION}.${OpenMVS_MINOR_VERSION}.${OpenMVS_PATCH_VERSION})
 
 # List configuration options
@@ -47,6 +47,7 @@ SET(OpenMVS_USE_FAST_INVSQRT OFF CACHE BOOL "Use an optimized code to compute th
 SET(OpenMVS_USE_FAST_CBRT ON CACHE BOOL "Use an optimized code to compute the cubic root")
 SET(OpenMVS_USE_SSE ON CACHE BOOL "Enable SSE optimizations")
 SET(OpenMVS_MAX_CUDA_COMPATIBILITY OFF CACHE BOOL "Build for maximum CUDA device compatibility")
+SET(OpenMVS_ENABLE_TESTS ON CACHE BOOL "Enable test code")
 
 # Define helper functions and macros.
 INCLUDE(build/Utils.cmake)
@@ -108,6 +109,13 @@ if(OpenMVS_USE_CUDA)
 			message("Working around windows build failure with visual studio. Visual studio 16.10 introduced a compiler bug with compilng CUDA code with C++14. Set the cuda standard to 17 as a workaround.")
 			set(CMAKE_CUDA_STANDARD 17)
 		endif()
+		EXECUTE_PROCESS(COMMAND "${CMAKE_CUDA_COMPILER}" --list-gpu-arch 
+				OUTPUT_VARIABLE LIST_GPU_ARCH 
+				ERROR_QUIET)
+		if(NOT LIST_GPU_ARCH AND OpenMVS_MAX_CUDA_COMPATIBILITY)
+			message(WARNING "Cannot compile for max CUDA compatibility, nvcc does not support --list-gpu-arch")
+			set(OpenMVS_MAX_CUDA_COMPATIBILITY NO)
+		endif()
 		if(NOT OpenMVS_MAX_CUDA_COMPATIBILITY)
 			if(NOT DEFINED CMAKE_CUDA_ARCHITECTURES)
 				SET(CMAKE_CUDA_ARCHITECTURES 75)
@@ -117,9 +125,6 @@ if(OpenMVS_USE_CUDA)
 			# https://arnon.dk/matching-sm-architectures-arch-and-gencode-for-various-nvidia-cards/
 
 			# Extract list of arch and gencodes
-			EXECUTE_PROCESS(COMMAND "${CMAKE_CUDA_COMPILER}" --list-gpu-arch 
-				OUTPUT_VARIABLE LIST_GPU_ARCH 
-				ERROR_QUIET)
 			STRING(REPLACE "\r" "" LIST_GPU_ARCH ${LIST_GPU_ARCH})
 			STRING(REPLACE "\n" ";" LIST_GPU_ARCH ${LIST_GPU_ARCH})
 
@@ -172,6 +177,10 @@ if(Boost_FOUND)
 	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_BOOST)
 	ADD_DEFINITIONS(${Boost_DEFINITIONS})
 	LINK_DIRECTORIES(${Boost_LIBRARY_DIRS})
+	if(NOT MSVC AND DEFINED CMAKE_TOOLCHAIN_FILE)
+		# work around this missing library link in vcpkg
+		LIST(APPEND Boost_LIBRARIES zstd)
+	endif()
 	SET(_USE_BOOST TRUE)
 endif()
 
@@ -237,9 +246,17 @@ if(OpenMVS_BUILD_TOOLS)
 endif()
 ADD_SUBDIRECTORY(docs)
 
+if (OpenMVS_ENABLE_TESTS)
+	# enable testing functionality
+	ENABLE_TESTING()
+	# define tests
+	ADD_TEST(NAME UnitTests COMMAND $<TARGET_FILE:Tests> "0")
+	ADD_TEST(NAME PipelineTest COMMAND $<TARGET_FILE:Tests> "1")
+endif()
+
 # Export the package for use from the build-tree
 # (this registers the build-tree with a global CMake-registry)
-export(PACKAGE OpenMVS)
+EXPORT(PACKAGE OpenMVS)
 
 # Install the export set for use with the install-tree
 INSTALL(EXPORT OpenMVSTargets
diff --git a/MvsScalablePipeline.py b/MvsScalablePipeline.py
new file mode 100644
index 000000000..e5a426d54
--- /dev/null
+++ b/MvsScalablePipeline.py
@@ -0,0 +1,180 @@
+#!/usr/bin/python3
+# -*- encoding: utf-8 -*-
+"""
+This script helps with OpenMVS scalable pipeline.
+
+Starting from a SfM solution stored into a MVS project accompanied by the undistorted images,
+the fist step is to compute all depth maps without fusion:
+
+DensifyPointCloud scene.mvs --fusion-mode 1
+
+Next split the scene in sub-scenes using the area parameter, which is related to the inverse of GSD;
+it is a bit non intuitive, but normally it should remain constant for a desired memory limit;
+for example you can use the bellow value to limit memory usage to ~16GB:
+
+DensifyPointCloud scene.mvs --sub-scene-area 660000
+
+disable depth-maps re-filtering by creating a file Densify.ini with just this line:
+
+Optimize = 0
+
+and call fusion on each of the sub-scenes like:
+
+DensifyPointCloud scene_0000.mvs --dense-config-file Densify.ini
+............
+DensifyPointCloud scene_000n.mvs --dense-config-file Densify.ini
+
+This script helps to automate the process of calling DensifyPointCloud/ReconstructMesh on all sub-scenes.
+
+usage: MvsScalablePipeline.py openMVS_module input_scene <options>
+
+ex: MvsScalablePipeline.py DensifyPointCloud scene_XXXX.mvs --number-views-fuse 2
+"""
+
+import os
+import subprocess
+import sys
+import argparse
+import glob
+
+DEBUG = False
+
+if sys.platform.startswith('win'):
+    PATH_DELIM = ';'
+    FOLDER_DELIM = '\\'
+else:
+    PATH_DELIM = ':'
+    FOLDER_DELIM = '/'
+
+
+def whereis(afile):
+    """
+    return directory in which afile is, None if not found. Look in PATH
+    """
+    if sys.platform.startswith('win'):
+        cmd = "where"
+    else:
+        cmd = "which"
+    try:
+        ret = subprocess.run([cmd, afile], stdout=subprocess.PIPE, stderr=subprocess.STDOUT, check=True)
+        return os.path.split(ret.stdout.decode())[0]
+    except subprocess.CalledProcessError:
+        return None
+
+
+def find(afile):
+    """
+    As whereis look only for executable on linux, this find look for all file type
+    """
+    for d in os.environ['PATH'].split(PATH_DELIM):
+        if os.path.isfile(os.path.join(d, afile)):
+            return d
+    return None
+
+# Try to find openMVS binaries in PATH
+OPENMVS_BIN = whereis("ReconstructMesh")
+
+# Ask user for openMVS directory if not found
+if not OPENMVS_BIN:
+    OPENMVS_BIN = input("openMVS binary folder?\n")
+
+
+# HELPERS for terminal colors
+BLACK, RED, GREEN, YELLOW, BLUE, MAGENTA, CYAN, WHITE = range(8)
+NO_EFFECT, BOLD, UNDERLINE, BLINK, INVERSE, HIDDEN = (0, 1, 4, 5, 7, 8)
+
+
+# from Python cookbook, #475186
+def has_colours(stream):
+    '''
+    Return stream colours capability
+    '''
+    if not hasattr(stream, "isatty"):
+        return False
+    if not stream.isatty():
+        return False  # auto color only on TTYs
+    try:
+        import curses
+        curses.setupterm()
+        return curses.tigetnum("colors") > 2
+    except Exception:
+        # guess false in case of error
+        return False
+
+HAS_COLOURS = has_colours(sys.stdout)
+
+
+def printout(text, colour=WHITE, background=BLACK, effect=NO_EFFECT):
+    """
+    print() with colour
+    """
+    if HAS_COLOURS:
+        seq = "\x1b[%d;%d;%dm" % (effect, 30+colour, 40+background) + text + "\x1b[0m"
+        sys.stdout.write(seq+'\r\n')
+    else:
+        sys.stdout.write(text+'\r\n')
+
+
+# store config and data in
+class ConfContainer:
+    """
+    Container for all the config variables
+    """
+    def __init__(self):
+        pass
+
+CONF = ConfContainer()
+
+# ARGS
+PARSER = argparse.ArgumentParser(
+    formatter_class=argparse.RawTextHelpFormatter,
+    description="Scalable MVS reconstruction with these steps: \r\n" +
+    "MvsScalablePipeline.py openMVS_module input_scene <options>\r\n"
+    )
+PARSER.add_argument('openMVS_module',
+                    help="the OpenMVS module to use: DensifyPointCloud, ReconstructMesh, etc.")
+PARSER.add_argument('input_scene',
+                    help="the scene name reg to process: scene_XXXX.mvs")
+PARSER.add_argument('passthrough', nargs=argparse.REMAINDER, help="Option to be passed to command lines")
+
+PARSER.parse_args(namespace=CONF)  # store args in the ConfContainer
+
+suffix = os.path.basename(CONF.input_scene).replace('scene_XXXX','')
+CONF.input_scene = CONF.input_scene.replace('_dense','').replace('_mesh','').replace('_refine','').replace('_texture','')
+
+# Absolute path for input directory
+if len(CONF.input_scene) < 10 or CONF.input_scene[-9:] != '_XXXX.mvs':
+    sys.exit("%s: invalid scene name" % CONF.input_scene)
+
+match CONF.openMVS_module:
+  case 'ReconstructMesh':
+    moduleSuffix = '_mesh.mvs'
+  case 'RefineMesh':
+    moduleSuffix = '_refine.mvs'
+  case 'TextureMesh':
+    moduleSuffix = '_texture.mvs'
+  case _:
+    moduleSuffix = '_dense.mvs'
+
+printout("# Module {} start #".format(CONF.openMVS_module), colour=RED, effect=BOLD)
+for scene_name in glob.glob(os.path.abspath(os.path.join(os.path.dirname(CONF.input_scene), 'scene_[0-9][0-9][0-9][0-9]'+suffix))):
+  if os.path.exists(os.path.splitext(scene_name)[0] + moduleSuffix) == False:
+    printout("# Process: %s" % os.path.basename(scene_name), colour=GREEN, effect=NO_EFFECT)
+
+    # create a commandline for the current step
+    cmdline = [os.path.join(OPENMVS_BIN, CONF.openMVS_module), scene_name] + CONF.passthrough
+    print('Cmd: ' + ' '.join(cmdline))
+
+    if not DEBUG:
+        # Launch the current step
+        try:
+            pStep = subprocess.Popen(cmdline)
+            pStep.wait()
+            if pStep.returncode != 0:
+                printout("# Warning: step failed", colour=RED, effect=BOLD)
+        except KeyboardInterrupt:
+            sys.exit('\r\nProcess canceled by user, all files remains')
+    else:
+        print('\t'.join(cmdline))
+
+printout("# Module {} end #".format(CONF.openMVS_module), colour=RED, effect=BOLD)
diff --git a/README.md b/README.md
index 01386cec7..9cad520bb 100644
--- a/README.md
+++ b/README.md
@@ -15,8 +15,8 @@ See the complete [documentation](https://github.com/cdcseacave/openMVS/wiki) on
 
 ## Build
 
-See the [building](https://github.com/cdcseacave/openMVS/wiki/Building) wiki page. Windows and Ubuntu x64 continuous integration status [![Build Status](https://ci.appveyor.com/api/projects/status/github/cdcseacave/openmvs?branch=master&svg=true)](https://ci.appveyor.com/project/cdcseacave/openmvs)
-Automatic Windows x64 binary builds can be found for each commit on its Appveyor Artifacts page.
+See the [building](https://github.com/cdcseacave/openMVS/wiki/Building) wiki page. Windows, Ubuntu and MacOS x64 continuous integration status [![Continuous Integration](https://github.com/cdcseacave/openMVS/actions/workflows/continuous_integration.yml/badge.svg)](https://github.com/cdcseacave/openMVS/actions/workflows/continuous_integration.yml)
+Automatic Windows x64 binary builds can be found for each commit on its Artifacts page.
 
 ## Example
 
diff --git a/apps/CMakeLists.txt b/apps/CMakeLists.txt
index b24044839..7f7ea6584 100644
--- a/apps/CMakeLists.txt
+++ b/apps/CMakeLists.txt
@@ -1,8 +1,13 @@
 # Add applications
 ADD_SUBDIRECTORY(InterfaceCOLMAP)
 ADD_SUBDIRECTORY(InterfaceMetashape)
+ADD_SUBDIRECTORY(InterfaceMVSNet)
 ADD_SUBDIRECTORY(DensifyPointCloud)
 ADD_SUBDIRECTORY(ReconstructMesh)
 ADD_SUBDIRECTORY(RefineMesh)
 ADD_SUBDIRECTORY(TextureMesh)
+ADD_SUBDIRECTORY(TransformScene)
 ADD_SUBDIRECTORY(Viewer)
+if(OpenMVS_ENABLE_TESTS)
+    ADD_SUBDIRECTORY(Tests)
+endif()
diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 556deb452..949314db9 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -57,6 +57,9 @@ String strDenseConfigFileName;
 String strExportDepthMapsName;
 float fMaxSubsceneArea;
 float fSampleMesh;
+float fBorderROI;
+bool bCrop2ROI;
+int nEstimateROI;
 int nFusionMode;
 int thFilterPointCloud;
 int nExportNumViews;
@@ -100,17 +103,24 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// group of options allowed both on command line and in config file
 	#ifdef _USE_CUDA
 	const unsigned nNumViewsDefault(8);
+	const unsigned numIters(4);
 	#else
 	const unsigned nNumViewsDefault(5);
+	const unsigned numIters(3);
 	#endif
 	unsigned nResolutionLevel;
 	unsigned nMaxResolution;
 	unsigned nMinResolution;
 	unsigned nNumViews;
 	unsigned nMinViewsFuse;
+	unsigned nSubResolutionLevels;
+	unsigned nEstimationIters;
+	unsigned nEstimationGeometricIters;
 	unsigned nEstimateColors;
 	unsigned nEstimateNormals;
+	unsigned nOptimize;
 	int nIgnoreMaskLabel;
+	bool bRemoveDmaps;
 	boost::program_options::options_description config("Densify options");
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
@@ -120,17 +130,25 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("resolution-level", boost::program_options::value(&nResolutionLevel)->default_value(1), "how many times to scale down the images before point cloud computation")
 		("max-resolution", boost::program_options::value(&nMaxResolution)->default_value(2560), "do not scale images higher than this resolution")
 		("min-resolution", boost::program_options::value(&nMinResolution)->default_value(640), "do not scale images lower than this resolution")
+		("sub-resolution-levels", boost::program_options::value(&nSubResolutionLevels)->default_value(2), "number of patch-match sub-resolution iterations (0 - disabled)")
 		("number-views", boost::program_options::value(&nNumViews)->default_value(nNumViewsDefault), "number of views used for depth-map estimation (0 - all neighbor views available)")
 		("number-views-fuse", boost::program_options::value(&nMinViewsFuse)->default_value(3), "minimum number of images that agrees with an estimate during fusion in order to consider it inlier (<2 - only merge depth-maps)")
 		("ignore-mask-label", boost::program_options::value(&nIgnoreMaskLabel)->default_value(-1), "integer value for the label to ignore in the segmentation mask (<0 - disabled)")
+		("iters", boost::program_options::value(&nEstimationIters)->default_value(numIters), "number of patch-match iterations")
+		("geometric-iters", boost::program_options::value(&nEstimationGeometricIters)->default_value(2), "number of geometric consistent patch-match iterations (0 - disabled)")
 		("estimate-colors", boost::program_options::value(&nEstimateColors)->default_value(2), "estimate the colors for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
 		("estimate-normals", boost::program_options::value(&nEstimateNormals)->default_value(2), "estimate the normals for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
 		("sub-scene-area", boost::program_options::value(&OPT::fMaxSubsceneArea)->default_value(0.f), "split the scene in sub-scenes such that each sub-scene surface does not exceed the given maximum sampling area (0 - disabled)")
 		("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(0.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
-		("fusion-mode", boost::program_options::value(&OPT::nFusionMode)->default_value(0), "depth map fusion mode (-2 - fuse disparity-maps, -1 - export disparity-maps only, 0 - depth-maps & fusion, 1 - export depth-maps only)")
+		("fusion-mode", boost::program_options::value(&OPT::nFusionMode)->default_value(0), "depth-maps fusion mode (-2 - fuse disparity-maps, -1 - export disparity-maps only, 0 - depth-maps & fusion, 1 - export depth-maps only)")
+		("postprocess-dmaps", boost::program_options::value(&nOptimize)->default_value(7), "flags used to filter the depth-maps after estimation (0 - disabled, 1 - remove-speckles, 2 - fill-gaps, 4 - adjust-filter)")
 		("filter-point-cloud", boost::program_options::value(&OPT::thFilterPointCloud)->default_value(0), "filter dense point-cloud based on visibility (0 - disabled)")
-		("export-number-views", boost::program_options::value(&OPT::nExportNumViews)->default_value(0), "export points with >= number of views (0 - disabled)")
-		;
+		("export-number-views", boost::program_options::value(&OPT::nExportNumViews)->default_value(0), "export points with >= number of views (0 - disabled, <0 - save MVS project too)")
+        ("roi-border", boost::program_options::value(&OPT::fBorderROI)->default_value(0), "add a border to the region-of-interest when cropping the scene (0 - disabled, >0 - percentage, <0 - absolute)")
+        ("estimate-roi", boost::program_options::value(&OPT::nEstimateROI)->default_value(2), "estimate and set region-of-interest (0 - disabled, 1 - enabled, 2 - adaptive)")
+        ("crop-to-roi", boost::program_options::value(&OPT::bCrop2ROI)->default_value(true), "crop scene using the region-of-interest")
+        ("remove-dmaps", boost::program_options::value(&bRemoveDmaps)->default_value(false), "remove depth-maps after fusion")
+        ;
 
 	// hidden options, allowed both on command line and
 	// in config file, but will not be shown to the user
@@ -205,11 +223,16 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	OPTDENSE::nResolutionLevel = nResolutionLevel;
 	OPTDENSE::nMaxResolution = nMaxResolution;
 	OPTDENSE::nMinResolution = nMinResolution;
+	OPTDENSE::nSubResolutionLevels = nSubResolutionLevels;
 	OPTDENSE::nNumViews = nNumViews;
 	OPTDENSE::nMinViewsFuse = nMinViewsFuse;
+	OPTDENSE::nEstimationIters = nEstimationIters;
+	OPTDENSE::nEstimationGeometricIters = nEstimationGeometricIters;
 	OPTDENSE::nEstimateColors = nEstimateColors;
 	OPTDENSE::nEstimateNormals = nEstimateNormals;
+	OPTDENSE::nOptimize = nOptimize;
 	OPTDENSE::nIgnoreMaskLabel = nIgnoreMaskLabel;
+	OPTDENSE::bRemoveDmaps = bRemoveDmaps;
 	if (!bValidConfig && !OPT::strDenseConfigFileName.empty())
 		OPTDENSE::oConfig.Save(OPT::strDenseConfigFileName);
 
@@ -257,14 +280,14 @@ int main(int argc, LPCTSTR* argv)
 	Scene scene(OPT::nMaxThreads);
 	if (OPT::fSampleMesh != 0) {
 		// sample input mesh and export the obtained point-cloud
-		if (!scene.mesh.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
+		if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName), true) || scene.mesh.IsEmpty())
 			return EXIT_FAILURE;
 		TD_TIMER_START();
 		PointCloud pointcloud;
 		if (OPT::fSampleMesh > 0)
 			scene.mesh.SamplePoints(OPT::fSampleMesh, 0, pointcloud);
 		else
-			scene.mesh.SamplePoints((unsigned)ROUND2INT(-OPT::fSampleMesh), pointcloud);
+			scene.mesh.SamplePoints(ROUND2INT<unsigned>(-OPT::fSampleMesh), pointcloud);
 		VERBOSE("Sample mesh completed: %u points (%s)", pointcloud.GetSize(), TD_TIMER_GET_FMT().c_str());
 		pointcloud.Save(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+_T(".ply"));
 		Finalize();
@@ -273,29 +296,27 @@ int main(int argc, LPCTSTR* argv)
 	// load and estimate a dense point-cloud
 	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
 		return EXIT_FAILURE;
-	if (!OPT::strExportROIFileName.empty() && scene.IsBounded()) {
-		std::ofstream fs(MAKE_PATH_SAFE(OPT::strExportROIFileName));
+	if (!OPT::strImportROIFileName.empty()) {
+		std::ifstream fs(MAKE_PATH_SAFE(OPT::strImportROIFileName));
 		if (!fs)
 			return EXIT_FAILURE;
-		fs << scene.obb;
+		fs >> scene.obb;
+		scene.Save(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
 		Finalize();
 		return EXIT_SUCCESS;
 	}
-	if (!OPT::strImportROIFileName.empty()) {
-		std::ifstream fs(MAKE_PATH_SAFE(OPT::strImportROIFileName));
+	if (!scene.IsBounded())
+		scene.EstimateROI(OPT::nEstimateROI, 1.1f);
+	if (!OPT::strExportROIFileName.empty() && scene.IsBounded()) {
+		std::ofstream fs(MAKE_PATH_SAFE(OPT::strExportROIFileName));
 		if (!fs)
 			return EXIT_FAILURE;
-		fs >> scene.obb;
-		scene.Save(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
+		fs << scene.obb;
 		Finalize();
 		return EXIT_SUCCESS;
 	}
 	if (!OPT::strMeshFileName.empty())
 		scene.mesh.Load(MAKE_PATH_SAFE(OPT::strMeshFileName));
-	if (scene.pointcloud.IsEmpty() && OPT::strViewNeighborsFileName.empty() && scene.mesh.IsEmpty()) {
-		VERBOSE("error: empty initial point-cloud");
-		return EXIT_FAILURE;
-	}
 	if (!OPT::strViewNeighborsFileName.empty())
 		scene.LoadViewNeighbors(MAKE_PATH_SAFE(OPT::strViewNeighborsFileName));
 	if (!OPT::strOutputViewNeighborsFileName.empty()) {
@@ -334,14 +355,27 @@ int main(int argc, LPCTSTR* argv)
 	}
 	if (OPT::nExportNumViews && scene.pointcloud.IsValid()) {
 		// export point-cloud containing only points with N+ views
-		const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
-		scene.pointcloud.SaveNViews(baseFileName+String::FormatString(_T("_%dviews.ply"), OPT::nExportNumViews), (IIndex)OPT::nExportNumViews);
+		const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+
+			String::FormatString(_T("_%dviews"), ABS(OPT::nExportNumViews)));
+		if (OPT::nExportNumViews > 0) {
+			// export point-cloud containing only points with N+ views
+			scene.pointcloud.SaveNViews(baseFileName+_T(".ply"), (IIndex)OPT::nExportNumViews);
+		} else {
+			// save scene and export point-cloud containing only points with N+ views
+			scene.pointcloud.RemoveMinViews((IIndex)-OPT::nExportNumViews);
+			scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
+			scene.pointcloud.Save(baseFileName+_T(".ply"));
+		}
 		Finalize();
 		return EXIT_SUCCESS;
 	}
 	if ((ARCHIVE_TYPE)OPT::nArchiveType != ARCHIVE_MVS) {
+		#if TD_VERBOSE != TD_VERBOSE_OFF
+		if (VERBOSITY_LEVEL > 1 && !scene.pointcloud.IsEmpty())
+			scene.pointcloud.PrintStatistics(scene.images.data(), &scene.obb);
+		#endif
 		TD_TIMER_START();
-		if (!scene.DenseReconstruction(OPT::nFusionMode)) {
+		if (!scene.DenseReconstruction(OPT::nFusionMode, OPT::bCrop2ROI, OPT::fBorderROI)) {
 			if (ABS(OPT::nFusionMode) != 1)
 				return EXIT_FAILURE;
 			VERBOSE("Depth-maps estimated (%s)", TD_TIMER_GET_FMT().c_str());
diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index e4888ca9a..751e2e7d8 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -130,7 +130,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		boost::program_options::store(boost::program_options::command_line_parser((int)argc, argv).options(cmdline_options).positional(p).run(), OPT::vm);
 		boost::program_options::notify(OPT::vm);
 		Util::ensureValidPath(OPT::strInputFileName);
-		WORKING_FOLDER = (File::isFolder(OPT::strInputFileName) ? OPT::strInputFileName : Util::getFilePath(OPT::strInputFileName));
 		INIT_WORKING_FOLDER;
 		// parse configuration file
 		std::ifstream ifs(MAKE_PATH_SAFE(OPT::strConfigFileName));
@@ -860,9 +859,10 @@ bool ImportScene(const String& strFolder, const String& strOutFolder, Interface&
 					}, normalMap);
 				}
 				MVS::ConfidenceMap confMap;
+				MVS::ViewsMap viewsMap;
 				const auto depthMM(std::minmax_element(colDepthMap.data_.cbegin(), colDepthMap.data_.cend()));
 				const MVS::Depth dMin(*depthMM.first), dMax(*depthMM.second);
-				if (!ExportDepthDataRaw(strOutFolder+String::FormatString("depth%04u.dmap", image.ID), MAKE_PATH_FULL(strOutFolder, image.name), IDs, depthMap.size(), K, pose.R, pose.C, dMin, dMax, depthMap, normalMap, confMap))
+				if (!ExportDepthDataRaw(strOutFolder+String::FormatString("depth%04u.dmap", image.ID), MAKE_PATH_FULL(strOutFolder, image.name), IDs, depthMap.size(), K, pose.R, pose.C, dMin, dMax, depthMap, normalMap, confMap, viewsMap))
 					return false;
 			}
 		}
@@ -949,7 +949,7 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 	const uint32_t avgPointsPerSmallView(3000), avgPointsPerLargeView(12000);
 	{
 		images.resize(scene.images.size());
-		cameras.resize(scene.images.size());
+		cameras.resize((unsigned)scene.images.size());
 		for (uint32_t ID=0; ID<(uint32_t)scene.images.size(); ++ID) {
 			const Interface::Image& image = scene.images[ID];
 			if (image.poseID == MVS::NO_ID)
@@ -1114,8 +1114,8 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 bool ExportIntrinsicsTxt(const String& fileName, const Interface& scene)
 {
 	LOG_OUT() << "Writing intrinsics: " << fileName << std::endl;
-	size_t idxValidK(MVS::NO_ID);
-	FOREACH(ID, scene.images) {
+	uint32_t idxValidK(MVS::NO_ID);
+	for (uint32_t ID=0; ID<(uint32_t)scene.images.size(); ++ID) {
 		const Interface::Image& image = scene.images[ID];
 		if (!image.IsValid())
 			continue;
diff --git a/apps/InterfaceMVSNet/CMakeLists.txt b/apps/InterfaceMVSNet/CMakeLists.txt
new file mode 100644
index 000000000..e38a82ced
--- /dev/null
+++ b/apps/InterfaceMVSNet/CMakeLists.txt
@@ -0,0 +1,13 @@
+if(MSVC)
+	FILE(GLOB LIBRARY_FILES_C "*.cpp" "*.rc")
+else()
+	FILE(GLOB LIBRARY_FILES_C "*.cpp")
+endif()
+FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
+
+cxx_executable_with_flags(InterfaceMVSNet "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+
+# Install
+INSTALL(TARGETS InterfaceMVSNet
+	EXPORT OpenMVSTargets
+	RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin)
diff --git a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
new file mode 100644
index 000000000..08d76a142
--- /dev/null
+++ b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
@@ -0,0 +1,364 @@
+/*
+ * InterfaceMVSNet.cpp
+ *
+ * Copyright (c) 2014-2021 SEACAVE
+ *
+ * Author(s):
+ *
+ *      cDc <cdc.seacave@gmail.com>
+ *
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Affero General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Affero General Public License for more details.
+ *
+ * You should have received a copy of the GNU Affero General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * Additional Terms:
+ *
+ *      You are required to preserve legal notices and author attributions in
+ *      that material or in the Appropriate Legal Notices displayed by works
+ *      containing it.
+ */
+
+#include "../../libs/MVS/Common.h"
+#include "../../libs/MVS/Scene.h"
+#include <boost/program_options.hpp>
+
+using namespace MVS;
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+#define APPNAME _T("InterfaceMVSNet")
+#define MVS_EXT _T(".mvs")
+#define MVSNET_IMAGES_FOLDER _T("images")
+#define MVSNET_CAMERAS_FOLDER _T("cams")
+#define MVSNET_IMAGES_EXT _T(".jpg")
+#define MVSNET_CAMERAS_NAME _T("_cam.txt")
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+namespace {
+
+namespace OPT {
+	String strInputFileName;
+	String strOutputFileName;
+	unsigned nArchiveType;
+	int nProcessPriority;
+	unsigned nMaxThreads;
+	String strConfigFileName;
+	boost::program_options::variables_map vm;
+} // namespace OPT
+
+// initialize and parse the command line parameters
+bool Initialize(size_t argc, LPCTSTR* argv)
+{
+	// initialize log and console
+	OPEN_LOG();
+	OPEN_LOGCONSOLE();
+
+	// group of options allowed only on command line
+	boost::program_options::options_description generic("Generic options");
+	generic.add_options()
+		("help,h", "produce this help message")
+		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
+		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
+		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
+		#if TD_VERBOSE != TD_VERBOSE_OFF
+		("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
+			#if TD_VERBOSE == TD_VERBOSE_DEBUG
+			3
+			#else
+			2
+			#endif
+		), "verbosity level")
+		#endif
+		;
+
+	// group of options allowed both on command line and in config file
+	boost::program_options::options_description config("Main options");
+	config.add_options()
+		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
+		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
+		;
+
+	boost::program_options::options_description cmdline_options;
+	cmdline_options.add(generic).add(config);
+
+	boost::program_options::options_description config_file_options;
+	config_file_options.add(config);
+
+	boost::program_options::positional_options_description p;
+	p.add("input-file", -1);
+
+	try {
+		// parse command line options
+		boost::program_options::store(boost::program_options::command_line_parser((int)argc, argv).options(cmdline_options).positional(p).run(), OPT::vm);
+		boost::program_options::notify(OPT::vm);
+		INIT_WORKING_FOLDER;
+		// parse configuration file
+		std::ifstream ifs(MAKE_PATH_SAFE(OPT::strConfigFileName));
+		if (ifs) {
+			boost::program_options::store(parse_config_file(ifs, config_file_options), OPT::vm);
+			boost::program_options::notify(OPT::vm);
+		}
+	}
+	catch (const std::exception& e) {
+		LOG(e.what());
+		return false;
+	}
+
+	// initialize the log file
+	OPEN_LOGFILE(MAKE_PATH(APPNAME _T("-") + Util::getUniqueName(0) + _T(".log")).c_str());
+
+	// print application details: version and command line
+	Util::LogBuild();
+	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
+
+	// validate input
+	Util::ensureValidPath(OPT::strInputFileName);
+	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
+	const bool bInvalidCommand(OPT::strInputFileName.empty());
+	if (OPT::vm.count("help") || bInvalidCommand) {
+		boost::program_options::options_description visible("Available options");
+		visible.add(generic).add(config);
+		GET_LOG() << visible;
+	}
+	if (bInvalidCommand)
+		return false;
+
+	// initialize optional options
+	Util::ensureValidPath(OPT::strOutputFileName);
+	Util::ensureUnifySlash(OPT::strOutputFileName);
+	if (OPT::strOutputFileName.IsEmpty())
+		OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + "scene" MVS_EXT;
+
+	// initialize global options
+	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
+	#ifdef _USE_OPENMP
+	if (OPT::nMaxThreads != 0)
+		omp_set_num_threads(OPT::nMaxThreads);
+	#endif
+
+	#ifdef _USE_BREAKPAD
+	// start memory dumper
+	MiniDumper::Create(APPNAME, WORKING_FOLDER);
+	#endif
+	return true;
+}
+
+// finalize application instance
+void Finalize()
+{
+	#if TD_VERBOSE != TD_VERBOSE_OFF
+	// print memory statistics
+	Util::LogMemoryInfo();
+	#endif
+
+	CLOSE_LOGFILE();
+	CLOSE_LOGCONSOLE();
+	CLOSE_LOG();
+}
+
+void ImageListParse(const LPSTR* argv, Point3& C)
+{
+	// read position vector
+	C.x = String::FromString<REAL>(argv[0]);
+	C.y = String::FromString<REAL>(argv[1]);
+	C.z = String::FromString<REAL>(argv[2]);
+}
+
+void ImageListParse(const LPSTR* argv, Matrix3x3& R)
+{
+	// read rotation matrix
+	R(0, 0) = String::FromString<REAL>(argv[0]);
+	R(0, 1) = String::FromString<REAL>(argv[1]);
+	R(0, 2) = String::FromString<REAL>(argv[2]);
+	R(1, 0) = String::FromString<REAL>(argv[3]);
+	R(1, 1) = String::FromString<REAL>(argv[4]);
+	R(1, 2) = String::FromString<REAL>(argv[5]);
+	R(2, 0) = String::FromString<REAL>(argv[6]);
+	R(2, 1) = String::FromString<REAL>(argv[7]);
+	R(2, 2) = String::FromString<REAL>(argv[8]);
+}
+
+void ImageListParse(const LPSTR* argv, Matrix3x4& P)
+{
+	// read projection matrix
+	P(0, 0) = String::FromString<REAL>(argv[0]);
+	P(0, 1) = String::FromString<REAL>(argv[1]);
+	P(0, 2) = String::FromString<REAL>(argv[2]);
+	P(0, 3) = String::FromString<REAL>(argv[3]);
+	P(1, 0) = String::FromString<REAL>(argv[4]);
+	P(1, 1) = String::FromString<REAL>(argv[5]);
+	P(1, 2) = String::FromString<REAL>(argv[6]);
+	P(1, 3) = String::FromString<REAL>(argv[7]);
+	P(2, 0) = String::FromString<REAL>(argv[8]);
+	P(2, 1) = String::FromString<REAL>(argv[9]);
+	P(2, 2) = String::FromString<REAL>(argv[10]);
+	P(2, 3) = String::FromString<REAL>(argv[11]);
+}
+
+// parse scene stored in MVSNet format composed of undistorted images and camera poses
+// for example see GigaVision benchmark (http://gigamvs.net):
+// |--sceneX
+//   |--images
+//     |--xxx.jpg
+//     |--xxx.jpg
+//     ....
+//     |--xxx.jpg
+//   |--cams
+//     |--xxx_cam.txt
+//     |--xxx_cam.txt
+//     ....
+//     |--xxx_cam.txt
+//   |--render_cams
+//     |--xxx_cam.txt
+//     |--xxx_cam.txt
+//     ....
+//     |--xxx_cam.txt
+//
+// where the camera parameter of one image stored in a cam.txt file contains the camera
+// extrinsic E = [R|t], intrinsic K and the depth range:
+//  extrinsic
+//  E00 E01 E02 E03
+//  E10 E11 E12 E13
+//  E20 E21 E22 E23
+//  E30 E31 E32 E33
+//
+//  intrinsic
+//  K00 K01 K02
+//  K10 K11 K12
+//  K20 K21 K22
+//
+//  DEPTH_MIN DEPTH_INTERVAL (DEPTH_NUM DEPTH_MAX)
+bool ParseSceneMVSNet(Scene& scene)
+{
+	#if defined(_SUPPORT_CPP17) && (!defined(__GNUC__) || (__GNUC__ > 7))
+	String strPath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName));
+	Util::ensureValidFolderPath(strPath);
+	const std::filesystem::path path(static_cast<std::string&>(strPath));
+	for (const std::filesystem::directory_entry& entry : std::filesystem::directory_iterator(path / MVSNET_IMAGES_FOLDER)) {
+		if (entry.path().extension() != MVSNET_IMAGES_EXT)
+			continue;
+		// parse camera
+		const std::string strCamFileName((path / MVSNET_CAMERAS_FOLDER / entry.path().stem()).string() + MVSNET_CAMERAS_NAME);
+		std::ifstream fcam(strCamFileName);
+		if (!fcam)
+			continue;
+		String line;
+		do {
+			std::getline(fcam, line);
+		} while (line != "extrinsic" && fcam.good());
+		String strP;
+		for (int i = 0; i < 3; ++i) {
+			std::getline(fcam, line);
+			strP += ' ' + line;
+		}
+		if (!fcam.good())
+			continue;
+		size_t argc;
+		CAutoPtrArr<LPSTR> argv;
+		argv = Util::CommandLineToArgvA(strP, argc);
+		if (argc != 12)
+			continue;
+		Matrix3x4 P;
+		ImageListParse(argv, P);
+		do {
+			std::getline(fcam, line);
+		} while (line != "intrinsic" && fcam.good());
+		strP.clear();
+		for (int i = 0; i < 3; ++i) {
+			std::getline(fcam, line);
+			strP += ' ' + line;
+		}
+		if (!fcam.good())
+			continue;
+		argv = Util::CommandLineToArgvA(strP, argc);
+		if (argc != 9)
+			continue;
+		Matrix3x3 K;
+		ImageListParse(argv, K);
+		// setup camera
+		const IIndex platformID = scene.platforms.size();
+		Platform& platform = scene.platforms.emplace_back();
+		Platform::Camera& camera = platform.cameras.AddEmpty();
+		camera.K = K;
+		camera.R = RMatrix::IDENTITY;
+		camera.C = CMatrix::ZERO;
+		// setup image
+		const IIndex ID = scene.images.size();
+		Image& imageData = scene.images.emplace_back();
+		imageData.platformID = platformID;
+		imageData.cameraID = 0; // only one camera per platform supported by this format
+		imageData.poseID = NO_ID;
+		imageData.ID = ID;
+		imageData.name = entry.path().string();
+		Util::ensureUnifySlash(imageData.name);
+		imageData.name = MAKE_PATH_FULL(strPath, imageData.name);
+		// set image resolution
+		IMAGEPTR pimage = Image::ReadImageHeader(imageData.name);
+		imageData.width = pimage->GetWidth();
+		imageData.height = pimage->GetHeight();
+		imageData.scale = 1;
+		// set camera pose
+		imageData.poseID = platform.poses.size();
+		Platform::Pose& pose = platform.poses.AddEmpty();
+		DecomposeProjectionMatrix(P, pose.R, pose.C);
+		imageData.camera = platform.GetCamera(imageData.cameraID, imageData.poseID);
+		const float resolutionScale = Camera::GetNormalizationScale(imageData.width, imageData.height);
+		camera.K = camera.GetScaledK(REAL(1)/resolutionScale);
+	}
+	if (scene.images.size() < 2)
+		return false;
+	scene.nCalibratedImages = (unsigned)scene.images.size();
+	return true;
+	#else
+	VERBOSE("error: C++17 is required to parse MVSNet format");
+	return false;
+	#endif // _SUPPORT_CPP17
+}
+
+} // unnamed namespace
+
+int main(int argc, LPCTSTR* argv)
+{
+	#ifdef _DEBUGINFO
+	// set _crtBreakAlloc index to stop in <dbgheap.c> at allocation
+	_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);// | _CRTDBG_CHECK_ALWAYS_DF);
+	#endif
+
+	if (!Initialize(argc, argv))
+		return EXIT_FAILURE;
+
+	TD_TIMER_START();
+
+	Scene scene(OPT::nMaxThreads);
+
+	// convert data from MVSNet format to OpenMVS
+	if (!ParseSceneMVSNet(scene))
+		return EXIT_FAILURE;
+
+	// write OpenMVS input data
+	scene.Save(MAKE_PATH_SAFE(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
+
+	VERBOSE("Imported data: %u platforms, %u images, %u vertices (%s)",
+		scene.platforms.size(), scene.images.size(), scene.pointcloud.GetSize(),
+		TD_TIMER_GET_FMT().c_str());
+
+	Finalize();
+	return EXIT_SUCCESS;
+}
+/*----------------------------------------------------------------*/
diff --git a/apps/InterfaceMetashape/InterfaceMetashape.cpp b/apps/InterfaceMetashape/InterfaceMetashape.cpp
index 1157bf29b..4886973ab 100644
--- a/apps/InterfaceMetashape/InterfaceMetashape.cpp
+++ b/apps/InterfaceMetashape/InterfaceMetashape.cpp
@@ -231,24 +231,11 @@ void ImageListParseP(const LPSTR* argv, Matrix3x4& P)
 
 // parse images list containing calibration and pose information
 // and load the corresponding 3D point-cloud
-bool ParseImageListXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t& nCameras, size_t& nPoses)
+bool ParseImageListXML(tinyxml2::XMLDocument& doc, Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t& nCameras, size_t& nPoses)
 {
-	// open image list
-	nCameras = nPoses = 0;
-	const String strInputFileName(MAKE_PATH_SAFE(OPT::strInputFileName));
-	ISTREAMPTR pStream(new File(strInputFileName, File::READ, File::OPEN));
-	if (!((File*)(ISTREAM*)pStream)->isOpen()) {
-		LOG(_T("error: failed opening the input image list"));
-		return false;
-	}
-
-	// parse camera list
+	String strInputFileName(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName));
+	Util::ensureValidPath(strInputFileName);
 	tinyxml2::XMLElement* elem;
-	const size_t nLen(pStream->getSize());
-	String strCameras; strCameras.resize(nLen);
-	pStream->read(&strCameras[0], nLen);
-	tinyxml2::XMLDocument doc;
-	doc.Parse(strCameras.c_str(), nLen);
 	if (doc.ErrorID() != tinyxml2::XML_SUCCESS)
 		goto InvalidDocument;
 	{
@@ -362,7 +349,7 @@ bool ParseImageListXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t&
 	{
 	PMatrix P;
 	size_t argc;
-	const String strPath(GET_PATH_FULL(strInputFileName));
+	const String strPath(Util::getFilePath(strInputFileName));
 	for (tinyxml2::XMLElement* camera=cameras->FirstChildElement(); camera!=NULL; camera=camera->NextSiblingElement()) {
 		unsigned ID;
 		if (0 != _tcsicmp(camera->Value(), _T("camera")) || camera->QueryUnsignedAttribute(_T("id"), &ID) != tinyxml2::XML_SUCCESS)
@@ -388,6 +375,7 @@ bool ParseImageListXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t&
 		const cv::Size& resolution = resolutions[imageData.platformID];
 		imageData.width = resolution.width;
 		imageData.height = resolution.height;
+		imageData.scale = 1;
 		if (!bMetashapeFile && !camera->BoolAttribute(_T("enabled"))) {
 			imageData.poseID = NO_ID;
 			DEBUG_EXTRA("warning: uncalibrated image '%s'", name);
@@ -415,6 +403,7 @@ bool ParseImageListXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t&
 		++nPoses;
 		}
 	}
+	scene.nCalibratedImages = (unsigned)nPoses;
 	}
 
 	// parse bounding-box
@@ -466,6 +455,191 @@ bool ParseImageListXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t&
 	return false;
 }
 
+// parse scene stored in ContextCapture BlocksExchange format containing cameras, images and sparse point-cloud
+bool ParseBlocksExchangeXML(tinyxml2::XMLDocument& doc, Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t& nCameras, size_t& nPoses) {
+	String strInputFileName(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName));
+	Util::ensureValidPath(strInputFileName);
+	const tinyxml2::XMLElement* blocksExchange;
+	const tinyxml2::XMLElement* document;
+	const tinyxml2::XMLElement* photogroups;
+	if (doc.ErrorID() != tinyxml2::XML_SUCCESS ||
+		(blocksExchange=doc.FirstChildElement("BlocksExchange")) == NULL ||
+		(document=blocksExchange->FirstChildElement("Block")) == NULL ||
+		(photogroups=document->FirstChildElement("Photogroups")) == NULL) {
+		VERBOSE("error: invalid scene file");
+		return false;
+	}
+	CLISTDEF0(cv::Size) resolutions;
+	std::unordered_map<IIndex,IIndex> mapImageID;
+	const String strPath(Util::getFilePath(strInputFileName));
+	const tinyxml2::XMLElement* elem;
+	for (const tinyxml2::XMLElement* photogroup=photogroups->FirstChildElement(); photogroup!=NULL; photogroup=photogroup->NextSiblingElement()) {
+		if ((elem=photogroup->FirstChildElement("CameraModelType")) == NULL ||
+			std::strcmp(elem->GetText(), "Perspective") != 0)
+			continue;
+		if ((elem=photogroup->FirstChildElement("ImageDimensions")) == NULL)
+			continue;
+		const IIndex platformID = scene.platforms.size();
+		Platform& platform = scene.platforms.AddEmpty();
+		platform.name = photogroup->FirstChildElement("Name")->GetText();
+		resolutions.emplace_back(
+			elem->FirstChildElement("Width")->UnsignedText(),
+			elem->FirstChildElement("Height")->UnsignedText()
+		);
+		// parse camera
+		Platform::Camera& camera = platform.cameras.AddEmpty();
+		camera.K = KMatrix::IDENTITY;
+		camera.R = RMatrix::IDENTITY;
+		camera.C = CMatrix::ZERO;
+		const float resolutionScale = Camera::GetNormalizationScale(resolutions.back().width, resolutions.back().height);
+		if ((elem=photogroup->FirstChildElement("FocalLengthPixels")) != NULL) {
+			camera.K(0,0) = camera.K(1,1) = photogroup->FirstChildElement("FocalLengthPixels")->DoubleText();
+		} else {
+			camera.K(0,0) = camera.K(1,1) = photogroup->FirstChildElement("FocalLength")->DoubleText() * resolutionScale / photogroup->FirstChildElement("SensorSize")->DoubleText();
+		}
+		if ((elem=photogroup->FirstChildElement("PrincipalPoint")) != NULL) {
+			camera.K(0,2) = elem->FirstChildElement("x")->DoubleText();
+			camera.K(1,2) = elem->FirstChildElement("y")->DoubleText();
+		} else {
+			camera.K(0,2) = resolutions.back().width*REAL(0.5);
+			camera.K(1,2) = resolutions.back().height*REAL(0.5);
+		}
+		if ((elem=photogroup->FirstChildElement("AspectRatio")) != NULL)
+			camera.K(1,1) *= elem->DoubleText();
+		if ((elem=photogroup->FirstChildElement("Skew")) != NULL)
+			camera.K(0,1) = elem->DoubleText();
+		camera.K = camera.GetScaledK(REAL(1)/resolutionScale);
+		// parse distortion parameters
+		DistCoeff& dc = pltDistCoeffs.AddEmpty().AddEmpty(); {
+			const tinyxml2::XMLElement* distortion=photogroup->FirstChildElement("Distortion");
+			if ((elem=distortion->FirstChildElement("K1")) != NULL)
+				dc.k1 = elem->DoubleText();
+			if ((elem=distortion->FirstChildElement("K2")) != NULL)
+				dc.k2 = elem->DoubleText();
+			if ((elem=distortion->FirstChildElement("K3")) != NULL)
+				dc.k3 = elem->DoubleText();
+			if ((elem=distortion->FirstChildElement("P1")) != NULL)
+				dc.p2 = elem->DoubleText();
+			if ((elem=distortion->FirstChildElement("P2")) != NULL)
+				dc.p1 = elem->DoubleText();
+		}
+		++nCameras;
+		for (const tinyxml2::XMLElement* photo=photogroup->FirstChildElement("Photo"); photo!=NULL; photo=photo->NextSiblingElement()) {
+			Image imageData;
+			imageData.platformID = platformID;
+			imageData.cameraID = 0; // only one camera per platform supported by this format
+			imageData.poseID = NO_ID;
+			imageData.ID = photo->FirstChildElement("Id")->UnsignedText();
+			imageData.name = photo->FirstChildElement("ImagePath")->GetText();
+			Util::ensureUnifySlash(imageData.name);
+			imageData.name = MAKE_PATH_FULL(strPath, imageData.name);
+			// set image resolution
+			const cv::Size& resolution = resolutions[imageData.platformID];
+			imageData.width = resolution.width;
+			imageData.height = resolution.height;
+			imageData.scale = 1;
+			// set camera pose
+			const tinyxml2::XMLElement* photoPose = photo->FirstChildElement("Pose");
+			if (photoPose == NULL)
+				continue;
+			if ((elem=photoPose->FirstChildElement("Rotation")) == NULL)
+				continue;
+			imageData.poseID = platform.poses.size();
+			Platform::Pose& pose = platform.poses.AddEmpty();
+			pose.R = Matrix3x3(
+				elem->FirstChildElement("M_00")->DoubleText(),
+				elem->FirstChildElement("M_01")->DoubleText(),
+				elem->FirstChildElement("M_02")->DoubleText(),
+				elem->FirstChildElement("M_10")->DoubleText(),
+				elem->FirstChildElement("M_11")->DoubleText(),
+				elem->FirstChildElement("M_12")->DoubleText(),
+				elem->FirstChildElement("M_20")->DoubleText(),
+				elem->FirstChildElement("M_21")->DoubleText(),
+				elem->FirstChildElement("M_22")->DoubleText());
+			if ((elem=photoPose->FirstChildElement("Center")) == NULL)
+				continue;
+			pose.C = Point3(
+				elem->FirstChildElement("x")->DoubleText(),
+				elem->FirstChildElement("y")->DoubleText(),
+				elem->FirstChildElement("z")->DoubleText());
+			imageData.camera = platform.GetCamera(imageData.cameraID, imageData.poseID);
+			// set depth stats
+			if ((elem=photo->FirstChildElement("MedianDepth")) != NULL)
+				imageData.avgDepth = (float)elem->DoubleText();
+			else if (photo->FirstChildElement("NearDepth") != NULL && photo->FirstChildElement("FarDepth") != NULL)
+				imageData.avgDepth = (float)((photo->FirstChildElement("NearDepth")->DoubleText() + photo->FirstChildElement("FarDepth")->DoubleText())/2);
+			mapImageID.emplace(imageData.ID, static_cast<IIndex>(scene.images.size()));
+			scene.images.emplace_back(std::move(imageData));
+			++nPoses;
+		}
+	}
+	if (scene.images.size() < 2)
+		return false;
+	scene.nCalibratedImages = (unsigned)nPoses;
+	// transform poses to a local coordinate system
+	const bool bLocalCoords(document->FirstChildElement("SRSId") == NULL ||
+		((elem=blocksExchange->FirstChildElement("SpatialReferenceSystems")) != NULL && (elem=elem->FirstChildElement("SRS")) != NULL && (elem=elem->FirstChildElement("Name")) != NULL && _tcsncmp(elem->GetText(), "Local Coordinates", 17) == 0));
+	Point3 center = Point3::ZERO;
+	if (!bLocalCoords) {
+		for (const Image& imageData : scene.images)
+			center += imageData.camera.C;
+		center /= scene.images.size();
+		for (Platform& platform : scene.platforms)
+			for (Platform::Pose& pose : platform.poses)
+				pose.C -= center;
+	}
+	// try to read also the sparse point-cloud
+	const tinyxml2::XMLElement* tiepoints = document->FirstChildElement("TiePoints");
+	if (tiepoints == NULL)
+		return true;
+	for (const tinyxml2::XMLElement* tiepoint=tiepoints->FirstChildElement(); tiepoint!=NULL; tiepoint=tiepoint->NextSiblingElement()) {
+		if ((elem=tiepoint->FirstChildElement("Position")) == NULL)
+			continue;
+		scene.pointcloud.points.emplace_back(
+			(float)elem->FirstChildElement("x")->DoubleText(),
+			(float)elem->FirstChildElement("y")->DoubleText(),
+			(float)elem->FirstChildElement("z")->DoubleText());
+		if (!bLocalCoords)
+			scene.pointcloud.points.back() -= Cast<float>(center);
+		if ((elem=tiepoint->FirstChildElement("Color")) != NULL)
+			scene.pointcloud.colors.emplace_back(
+				(uint8_t)std::clamp(elem->FirstChildElement("Blue")->DoubleText()*255, 0.0, 255.0),
+				(uint8_t)std::clamp(elem->FirstChildElement("Green")->DoubleText()*255, 0.0, 255.0),
+				(uint8_t)std::clamp(elem->FirstChildElement("Red")->DoubleText()*255, 0.0, 255.0));
+		PointCloud::ViewArr views;
+		for (const tinyxml2::XMLElement* view=tiepoint->FirstChildElement("Measurement"); view!=NULL; view=view->NextSiblingElement())
+			views.emplace_back(mapImageID.at(view->FirstChildElement("PhotoId")->UnsignedText()));
+		scene.pointcloud.pointViews.emplace_back(std::move(views));
+	}
+	return true;
+}
+
+// parse scene stored either in Metashape images list format or ContextCapture BlocksExchange format
+bool ParseSceneXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t& nCameras, size_t& nPoses)
+{
+	// parse XML file
+	const String strInputFileName(MAKE_PATH_SAFE(OPT::strInputFileName));
+	tinyxml2::XMLDocument doc; {
+		ISTREAMPTR pStream(new File(strInputFileName, File::READ, File::OPEN));
+		if (!((File*)(ISTREAM*)pStream)->isOpen()) {
+			VERBOSE("error: failed opening the input scene file");
+			return false;
+		}
+		const size_t nLen(pStream->getSize());
+		String str; str.resize(nLen);
+		pStream->read(&str[0], nLen);
+		doc.Parse(str.c_str(), nLen);
+	}
+	if (doc.ErrorID() != tinyxml2::XML_SUCCESS) {
+		VERBOSE("error: invalid XML file");
+		return false;
+	}
+	// parse scene
+	if (doc.FirstChildElement("BlocksExchange") == NULL)
+		return ParseImageListXML(doc, scene, pltDistCoeffs, nCameras, nPoses);
+	return ParseBlocksExchangeXML(doc, scene, pltDistCoeffs, nCameras, nPoses);
+}
+
 // undistort image using Brown's model
 bool UndistortBrown(Image& imageData, uint32_t ID, const DistCoeff& dc, const String& pathData)
 {
@@ -623,12 +797,13 @@ int main(int argc, LPCTSTR* argv)
 
 	// convert data from Metashape format to OpenMVS
 	PlatformDistCoeffs pltDistCoeffs;
-	size_t nCameras, nPoses;
-	if (!ParseImageListXML(scene, pltDistCoeffs, nCameras, nPoses))
+	size_t nCameras(0), nPoses(0);
+	if (!ParseSceneXML(scene, pltDistCoeffs, nCameras, nPoses))
 		return EXIT_FAILURE;
 
 	// undistort images
 	const String pathData(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputImageFolder));
+	const bool bAssignPoints(!scene.pointcloud.IsEmpty() && !scene.pointcloud.IsValid());
 	Util::Progress progress(_T("Processed images"), scene.images.size());
 	GET_LOGCONSOLE().Pause();
 	#ifdef _USE_OPENMP
@@ -649,17 +824,17 @@ int main(int argc, LPCTSTR* argv)
 			#pragma omp flush (bAbort)
 			continue;
 			#else
-			return false;
+			return EXIT_FAILURE;
 			#endif
 		}
 		imageData.UpdateCamera(scene.platforms);
-		if (scene.pointcloud.IsValid())
+		if (bAssignPoints)
 			AssignPoints(imageData, ID, scene.pointcloud);
 	}
 	GET_LOGCONSOLE().Play();
 	#ifdef _USE_OPENMP
 	if (bAbort)
-		return EXIT_SUCCESS;
+		return EXIT_FAILURE;
 	#endif
 	progress.close();
 
@@ -674,7 +849,7 @@ int main(int argc, LPCTSTR* argv)
 	scene.Save(MAKE_PATH_SAFE(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
 
 	VERBOSE("Exported data: %u platforms, %u cameras, %u poses, %u images, %u vertices (%s)",
-			scene.platforms.GetSize(), nCameras, nPoses, scene.images.GetSize(), scene.pointcloud.GetSize(),
+			scene.platforms.size(), nCameras, nPoses, scene.images.size(), scene.pointcloud.GetSize(),
 			TD_TIMER_GET_FMT().c_str());
 
 	Finalize();
diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index de68513db..9e61d153b 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -68,6 +68,8 @@ bool bRemoveSpikes;
 unsigned nCloseHoles;
 unsigned nSmoothMesh;
 float fEdgeLength;
+bool bCrop2ROI;
+float fBorderROI;
 float fSplitMaxArea;
 unsigned nArchiveType;
 int nProcessPriority;
@@ -130,6 +132,8 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("close-holes", boost::program_options::value(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the reconstructed surface (0 - disabled)")
 		("smooth", boost::program_options::value(&OPT::nSmoothMesh)->default_value(2), "number of iterations to smooth the reconstructed surface (0 - disabled)")
 		("edge-length", boost::program_options::value(&OPT::fEdgeLength)->default_value(0.f), "remesh such that the average edge length is this size (0 - disabled)")
+		("roi-border", boost::program_options::value(&OPT::fBorderROI)->default_value(0), "add a border to the region-of-interest when cropping the scene (0 - disabled, >0 - percentage, <0 - absolute)")
+		("crop-to-roi", boost::program_options::value(&OPT::bCrop2ROI)->default_value(true), "crop scene using the region-of-interest")
 		;
 
 	// hidden options, allowed both on command line and
@@ -242,8 +246,7 @@ void Finalize()
 bool Export3DProjections(Scene& scene, const String& inputFileName) {
 	SML smlPointList(_T("ImagePoints"));
 	smlPointList.Load(inputFileName);
-	const LPSMLARR& arrSmlChild = smlPointList.GetArrChildren();
-	ASSERT(arrSmlChild.size() <= 1);
+	ASSERT(smlPointList.GetArrChildren().size() <= 1);
 	IDX idx(0);
 
 	// read image name
@@ -370,6 +373,11 @@ int main(int argc, LPCTSTR* argv)
 			scene.ExportCamerasMLP(baseFileName+_T(".mlp"), fileName);
 		#endif
 	} else {
+		const OBB3f initialOBB(scene.obb);
+		if (OPT::fBorderROI > 0)
+			scene.obb.EnlargePercent(OPT::fBorderROI);
+		else if (OPT::fBorderROI < 0)
+			scene.obb.Enlarge(-OPT::fBorderROI);
 		if (OPT::strMeshFileName.IsEmpty() && scene.mesh.IsEmpty()) {
 			// reset image resolution to the original size and
 			// make sure the image neighbors are initialized before deleting the point-cloud
@@ -427,10 +435,19 @@ int main(int argc, LPCTSTR* argv)
 		}
 
 		// clean the mesh
+		if (OPT::bCrop2ROI && scene.IsBounded()) {
+			TD_TIMER_START();
+			const size_t numVertices = scene.mesh.vertices.size();
+			const size_t numFaces = scene.mesh.faces.size();
+			scene.mesh.RemoveFacesOutside(scene.obb);
+			VERBOSE("Mesh trimmed to ROI: %u vertices and %u faces removed (%s)",
+				numVertices-scene.mesh.vertices.size(), numFaces-scene.mesh.faces.size(), TD_TIMER_GET_FMT().c_str());
+		}
 		const float fDecimate(OPT::nTargetFaceNum ? static_cast<float>(OPT::nTargetFaceNum) / scene.mesh.faces.size() : OPT::fDecimateMesh);
 		scene.mesh.Clean(fDecimate, OPT::fRemoveSpurious, OPT::bRemoveSpikes, OPT::nCloseHoles, OPT::nSmoothMesh, OPT::fEdgeLength, false);
 		scene.mesh.Clean(1.f, 0.f, OPT::bRemoveSpikes, OPT::nCloseHoles, 0u, 0.f, false); // extra cleaning trying to close more holes
 		scene.mesh.Clean(1.f, 0.f, false, 0u, 0u, 0.f, true); // extra cleaning to remove non-manifold problems created by closing holes
+		scene.obb = initialOBB;
 
 		// save the final mesh
 		scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
diff --git a/apps/Tests/CMakeLists.txt b/apps/Tests/CMakeLists.txt
new file mode 100644
index 000000000..192178b32
--- /dev/null
+++ b/apps/Tests/CMakeLists.txt
@@ -0,0 +1,15 @@
+if(MSVC)
+	FILE(GLOB LIBRARY_FILES_C "*.cpp" "*.rc")
+else()
+	FILE(GLOB LIBRARY_FILES_C "*.cpp")
+endif()
+FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
+
+ADD_DEFINITIONS(-D_DATA_PATH="${CMAKE_CURRENT_SOURCE_DIR}/data/")
+
+cxx_executable_with_flags(Tests "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+
+# Install
+INSTALL(TARGETS Tests
+	EXPORT OpenMVSTargets
+	RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin)
diff --git a/apps/Tests/Tests.cpp b/apps/Tests/Tests.cpp
new file mode 100644
index 000000000..218437b7a
--- /dev/null
+++ b/apps/Tests/Tests.cpp
@@ -0,0 +1,130 @@
+/*
+ * Tests.cpp
+ *
+ * Copyright (c) 2014-2021 SEACAVE
+ *
+ * Author(s):
+ *
+ *      cDc <cdc.seacave@gmail.com>
+ *
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Affero General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Affero General Public License for more details.
+ *
+ * You should have received a copy of the GNU Affero General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * Additional Terms:
+ *
+ *      You are required to preserve legal notices and author attributions in
+ *      that material or in the Appropriate Legal Notices displayed by works
+ *      containing it.
+ */
+
+#include "../../libs/MVS/Common.h"
+#include "../../libs/MVS/Scene.h"
+
+using namespace MVS;
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+// test various algorithms independently
+bool UnitTests()
+{
+	TD_TIMER_START();
+	if (!SEACAVE::cListTest<true>(100)) {
+		VERBOSE("ERROR: cListTest failed!");
+		return false;
+	}
+	if (!SEACAVE::OctreeTest<double,2>(100)) {
+		VERBOSE("ERROR: OctreeTest<double,2> failed!");
+		return false;
+	}
+	if (!SEACAVE::OctreeTest<float,3>(100)) {
+		VERBOSE("ERROR: OctreeTest<float,3> failed!");
+		return false;
+	}
+	if (!SEACAVE::TestRayTriangleIntersection<float>(1000)) {
+		VERBOSE("ERROR: TestRayTriangleIntersection<float> failed!");
+		return false;
+	}
+	if (!SEACAVE::TestRayTriangleIntersection<double>(1000)) {
+		VERBOSE("ERROR: TestRayTriangleIntersection<double> failed!");
+		return false;
+	}
+	VERBOSE("All unit tests passed (%s)", TD_TIMER_GET_FMT().c_str());
+	return true;
+}
+
+
+// test MVS stages on a small sample dataset
+bool PipelineTest(bool verbose=false)
+{
+	TD_TIMER_START();
+	Scene scene;
+	if (!scene.Load(MAKE_PATH("scene.mvs"))) {
+		VERBOSE("ERROR: TestDataset failed loading the scene!");
+		return false;
+	}
+	OPTDENSE::init();
+	OPTDENSE::bRemoveDmaps = true;
+	if (!scene.DenseReconstruction() || scene.pointcloud.GetSize() < 200000u) {
+		VERBOSE("ERROR: TestDataset failed estimating dense point cloud!");
+		return false;
+	}
+	if (verbose)
+		scene.pointcloud.Save(MAKE_PATH("scene_dense.ply"));
+	if (!scene.ReconstructMesh() || scene.mesh.faces.size() < 75000u) {
+		VERBOSE("ERROR: TestDataset failed reconstructing the mesh!");
+		return false;
+	}
+	if (verbose)
+		scene.mesh.Save(MAKE_PATH("scene_dense_mesh.ply"));
+	constexpr float decimate = 0.5f;
+	scene.mesh.Clean(decimate);
+	if (!ISINSIDE(scene.mesh.faces.size(), 35000u, 45000u)) {
+		VERBOSE("ERROR: TestDataset failed cleaning the mesh!");
+		return false;
+	}
+	if (!scene.TextureMesh(0, 0) || !scene.mesh.HasTexture()) {
+		VERBOSE("ERROR: TestDataset failed texturing the mesh!");
+		return false;
+	}
+	if (verbose)
+		scene.mesh.Save(MAKE_PATH("scene_dense_mesh_texture.ply"));
+	VERBOSE("All pipeline stages passed (%s)", TD_TIMER_GET_FMT().c_str());
+	return true;
+}
+
+// test OpenMVS functionality
+int main(int argc, LPCTSTR* argv)
+{
+	OPEN_LOG();
+	OPEN_LOGCONSOLE();
+	Util::Init();
+	WORKING_FOLDER = _DATA_PATH;
+	INIT_WORKING_FOLDER;
+	if (argc < 2 || std::atoi(argv[1]) == 0) {
+		if (!UnitTests())
+			return EXIT_FAILURE;
+	} else {
+		if (!PipelineTest())
+			return EXIT_FAILURE;
+	}
+	CLOSE_LOGCONSOLE();
+	CLOSE_LOG();
+	return EXIT_SUCCESS;
+}
+/*----------------------------------------------------------------*/
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HcmV?d00001

diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index dcf397b10..e2b1dc1c4 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -54,6 +54,7 @@ float fDecimateMesh;
 unsigned nCloseHoles;
 unsigned nResolutionLevel;
 unsigned nMinResolution;
+unsigned minCommonCameras;
 float fOutlierThreshold;
 float fRatioDataSmoothness;
 bool bGlobalSeamLeveling;
@@ -61,6 +62,7 @@ bool bLocalSeamLeveling;
 unsigned nTextureSizeMultiple;
 unsigned nRectPackingHeuristic;
 uint32_t nColEmpty;
+float fSharpnessWeight;
 unsigned nOrthoMapResolution;
 unsigned nArchiveType;
 int nProcessPriority;
@@ -83,7 +85,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "produce this help message")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-		("export-type", boost::program_options::value<std::string>(&OPT::strExportType)->default_value(_T("glb")), "file type used to export the 3D scene (ply, obj, glb or gltf)")
+		("export-type", boost::program_options::value<std::string>(&OPT::strExportType)->default_value(_T("ply")), "file type used to export the 3D scene (ply, obj, glb or gltf)")
 		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
@@ -112,11 +114,13 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("min-resolution", boost::program_options::value(&OPT::nMinResolution)->default_value(640), "do not scale images lower than this resolution")
 		("outlier-threshold", boost::program_options::value(&OPT::fOutlierThreshold)->default_value(6e-2f), "threshold used to find and remove outlier face textures (0 - disabled)")
 		("cost-smoothness-ratio", boost::program_options::value(&OPT::fRatioDataSmoothness)->default_value(0.1f), "ratio used to adjust the preference for more compact patches (1 - best quality/worst compactness, ~0 - worst quality/best compactness)")
+		("virtual-face-images", boost::program_options::value(&OPT::minCommonCameras)->default_value(0), "generate texture patches using virtual faces composed of coplanar triangles sharing at least this number of views (0 - disabled, 3 - good value)")
 		("global-seam-leveling", boost::program_options::value(&OPT::bGlobalSeamLeveling)->default_value(true), "generate uniform texture patches using global seam leveling")
 		("local-seam-leveling", boost::program_options::value(&OPT::bLocalSeamLeveling)->default_value(true), "generate uniform texture patch borders using local seam leveling")
 		("texture-size-multiple", boost::program_options::value(&OPT::nTextureSizeMultiple)->default_value(0), "texture size should be a multiple of this value (0 - power of two)")
 		("patch-packing-heuristic", boost::program_options::value(&OPT::nRectPackingHeuristic)->default_value(3), "specify the heuristic used when deciding where to place a new patch (0 - best fit, 3 - good speed, 100 - best speed)")
 		("empty-color", boost::program_options::value(&OPT::nColEmpty)->default_value(0x00FF7F27), "color used for faces not covered by any image")
+		("sharpness-weight", boost::program_options::value(&OPT::fSharpnessWeight)->default_value(0.5f), "amount of sharpness to be applied on the texture (0 - disabled)")
 		("orthographic-image-resolution", boost::program_options::value(&OPT::nOrthoMapResolution)->default_value(0), "orthographic image resolution to be generated from the textured mesh - the mesh is expected to be already geo-referenced or at least properly oriented (0 - disabled)")
 		;
 
@@ -301,7 +305,7 @@ int main(int argc, LPCTSTR* argv)
 
 	// compute mesh texture
 	TD_TIMER_START();
-	if (!scene.TextureMesh(OPT::nResolutionLevel, OPT::nMinResolution, OPT::fOutlierThreshold, OPT::fRatioDataSmoothness, OPT::bGlobalSeamLeveling, OPT::bLocalSeamLeveling, OPT::nTextureSizeMultiple, OPT::nRectPackingHeuristic, Pixel8U(OPT::nColEmpty), views))
+	if (!scene.TextureMesh(OPT::nResolutionLevel, OPT::nMinResolution, OPT::minCommonCameras, OPT::fOutlierThreshold, OPT::fRatioDataSmoothness, OPT::bGlobalSeamLeveling, OPT::bLocalSeamLeveling, OPT::nTextureSizeMultiple, OPT::nRectPackingHeuristic, Pixel8U(OPT::nColEmpty), OPT::fSharpnessWeight, views))
 		return EXIT_FAILURE;
 	VERBOSE("Mesh texturing completed: %u vertices, %u faces (%s)", scene.mesh.vertices.GetSize(), scene.mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
 
diff --git a/apps/TransformScene/CMakeLists.txt b/apps/TransformScene/CMakeLists.txt
new file mode 100644
index 000000000..2ea8a7c97
--- /dev/null
+++ b/apps/TransformScene/CMakeLists.txt
@@ -0,0 +1,13 @@
+if(MSVC)
+	FILE(GLOB LIBRARY_FILES_C "*.cpp" "*.rc")
+else()
+	FILE(GLOB LIBRARY_FILES_C "*.cpp")
+endif()
+FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
+
+cxx_executable_with_flags(TransformScene "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+
+# Install
+INSTALL(TARGETS TransformScene
+	EXPORT OpenMVSTargets
+	RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin)
diff --git a/apps/TransformScene/TransformScene.cpp b/apps/TransformScene/TransformScene.cpp
new file mode 100644
index 000000000..580750fac
--- /dev/null
+++ b/apps/TransformScene/TransformScene.cpp
@@ -0,0 +1,244 @@
+/*
+ * TransformScene.cpp
+ *
+ * Copyright (c) 2014-2021 SEACAVE
+ *
+ * Author(s):
+ *
+ *      cDc <cdc.seacave@gmail.com>
+ *
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Affero General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Affero General Public License for more details.
+ *
+ * You should have received a copy of the GNU Affero General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * Additional Terms:
+ *
+ *      You are required to preserve legal notices and author attributions in
+ *      that material or in the Appropriate Legal Notices displayed by works
+ *      containing it.
+ */
+
+#include "../../libs/MVS/Common.h"
+#include "../../libs/MVS/Scene.h"
+#include <boost/program_options.hpp>
+
+using namespace MVS;
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+#define APPNAME _T("TransformScene")
+#define MVS_EXT _T(".mvs")
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+namespace {
+
+namespace OPT {
+	String strInputFileName;
+	String strOutputFileName;
+	String strAlignFileName;
+	String strTransferTextureFileName;
+	bool bComputeVolume;
+	float fPlaneThreshold;
+	float fSampleMesh;
+	unsigned nUpAxis;
+	unsigned nArchiveType;
+	int nProcessPriority;
+	unsigned nMaxThreads;
+	String strConfigFileName;
+	boost::program_options::variables_map vm;
+} // namespace OPT
+
+// initialize and parse the command line parameters
+bool Initialize(size_t argc, LPCTSTR* argv)
+{
+	// initialize log and console
+	OPEN_LOG();
+	OPEN_LOGCONSOLE();
+
+	// group of options allowed only on command line
+	boost::program_options::options_description generic("Generic options");
+	generic.add_options()
+		("help,h", "produce this help message")
+		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
+		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
+		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
+		#if TD_VERBOSE != TD_VERBOSE_OFF
+		("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
+			#if TD_VERBOSE == TD_VERBOSE_DEBUG
+			3
+			#else
+			2
+			#endif
+		), "verbosity level")
+		#endif
+		;
+
+	// group of options allowed both on command line and in config file
+	boost::program_options::options_description config("Main options");
+	config.add_options()
+		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input scene filename")
+		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the scene")
+		("align-file,a", boost::program_options::value<std::string>(&OPT::strAlignFileName), "input scene filename to which the scene will be cameras aligned")
+		("transfer-texture-file,t", boost::program_options::value<std::string>(&OPT::strTransferTextureFileName), "input mesh filename to which the texture of the scene's mesh will be transfered to (the two meshes should be aligned and the new mesh to have UV-map)")
+		("compute-volume", boost::program_options::value(&OPT::bComputeVolume)->default_value(false), "compute the volume of the given watertight mesh, or else try to estimate the ground plane and assume the mesh is bounded by it")
+		("plane-threshold", boost::program_options::value(&OPT::fPlaneThreshold)->default_value(0.f), "threshold used to estimate the ground plane (<0 - disabled, 0 - auto, >0 - desired threshold)")
+		("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(-300000.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
+		("up-axis", boost::program_options::value(&OPT::nUpAxis)->default_value(2), "scene axis considered to point upwards (0 - x, 1 - y, 2 - z)")
+		;
+
+	boost::program_options::options_description cmdline_options;
+	cmdline_options.add(generic).add(config);
+
+	boost::program_options::options_description config_file_options;
+	config_file_options.add(config);
+
+	boost::program_options::positional_options_description p;
+	p.add("input-file", -1);
+
+	try {
+		// parse command line options
+		boost::program_options::store(boost::program_options::command_line_parser((int)argc, argv).options(cmdline_options).positional(p).run(), OPT::vm);
+		boost::program_options::notify(OPT::vm);
+		INIT_WORKING_FOLDER;
+		// parse configuration file
+		std::ifstream ifs(MAKE_PATH_SAFE(OPT::strConfigFileName));
+		if (ifs) {
+			boost::program_options::store(parse_config_file(ifs, config_file_options), OPT::vm);
+			boost::program_options::notify(OPT::vm);
+		}
+	}
+	catch (const std::exception& e) {
+		LOG(e.what());
+		return false;
+	}
+
+	// initialize the log file
+	OPEN_LOGFILE(MAKE_PATH(APPNAME _T("-") + Util::getUniqueName(0) + _T(".log")).c_str());
+
+	// print application details: version and command line
+	Util::LogBuild();
+	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
+
+	// validate input
+	Util::ensureValidPath(OPT::strInputFileName);
+	Util::ensureValidPath(OPT::strAlignFileName);
+	Util::ensureValidPath(OPT::strTransferTextureFileName);
+	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
+	const bool bInvalidCommand(OPT::strInputFileName.empty() || (OPT::strAlignFileName.empty() && OPT::strTransferTextureFileName.empty() && !OPT::bComputeVolume));
+	if (OPT::vm.count("help") || bInvalidCommand) {
+		boost::program_options::options_description visible("Available options");
+		visible.add(generic).add(config);
+		GET_LOG() << visible;
+	}
+	if (bInvalidCommand)
+		return false;
+
+	// initialize optional options
+	Util::ensureValidPath(OPT::strOutputFileName);
+	Util::ensureUnifySlash(OPT::strOutputFileName);
+	if (OPT::strOutputFileName.IsEmpty())
+		OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + "_transformed" MVS_EXT;
+
+	// initialize global options
+	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
+	#ifdef _USE_OPENMP
+	if (OPT::nMaxThreads != 0)
+		omp_set_num_threads(OPT::nMaxThreads);
+	#endif
+
+	#ifdef _USE_BREAKPAD
+	// start memory dumper
+	MiniDumper::Create(APPNAME, WORKING_FOLDER);
+	#endif
+	return true;
+}
+
+// finalize application instance
+void Finalize()
+{
+	#if TD_VERBOSE != TD_VERBOSE_OFF
+	// print memory statistics
+	Util::LogMemoryInfo();
+	#endif
+
+	CLOSE_LOGFILE();
+	CLOSE_LOGCONSOLE();
+	CLOSE_LOG();
+}
+
+} // unnamed namespace
+
+int main(int argc, LPCTSTR* argv)
+{
+	#ifdef _DEBUGINFO
+	// set _crtBreakAlloc index to stop in <dbgheap.c> at allocation
+	_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);// | _CRTDBG_CHECK_ALWAYS_DF);
+	#endif
+
+	if (!Initialize(argc, argv))
+		return EXIT_FAILURE;
+
+	TD_TIMER_START();
+
+	Scene scene(OPT::nMaxThreads);
+
+	// load given scene
+	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName), !OPT::strTransferTextureFileName.empty() || OPT::bComputeVolume))
+		return EXIT_FAILURE;
+
+	if (!OPT::strAlignFileName.empty()) {
+		// transform this scene such that it best aligns with the given scene based on the camera positions
+		Scene sceneRef(OPT::nMaxThreads);
+		if (!sceneRef.Load(MAKE_PATH_SAFE(OPT::strAlignFileName)))
+			return EXIT_FAILURE;
+		if (!scene.AlignTo(sceneRef))
+			return EXIT_FAILURE;
+		VERBOSE("Scene aligned to the given reference scene (%s)", TD_TIMER_GET_FMT().c_str());
+	}
+
+	if (!OPT::strTransferTextureFileName.empty()) {
+		// transfer the texture of the scene's mesh to the new mesh;
+		// the two meshes should be aligned and the new mesh to have UV-coordinates
+		Mesh newMesh;
+		if (!newMesh.Load(MAKE_PATH_SAFE(OPT::strTransferTextureFileName)))
+			return EXIT_FAILURE;
+		if (!scene.mesh.TransferTexture(newMesh))
+			return EXIT_FAILURE;
+		newMesh.Save(Util::getFileFullName(MAKE_PATH_SAFE(OPT::strOutputFileName)) + _T(".ply"));
+		VERBOSE("Texture transfered (%s)", TD_TIMER_GET_FMT().c_str());
+		return EXIT_SUCCESS;
+	}
+
+	if (OPT::bComputeVolume && !scene.mesh.IsEmpty()) {
+		// compute the mesh volume
+		const REAL volume(scene.ComputeLeveledVolume(OPT::fPlaneThreshold, OPT::fSampleMesh, OPT::nUpAxis));
+		VERBOSE("Mesh volume: %g (%s)", volume, TD_TIMER_GET_FMT().c_str());
+		scene.mesh.Save(Util::getFileFullName(MAKE_PATH_SAFE(OPT::strOutputFileName)) + _T(".ply"));
+		if (scene.images.empty())
+			return EXIT_SUCCESS;
+		OPT::nArchiveType = ARCHIVE_DEFAULT;
+	}
+
+	// write transformed scene
+	scene.Save(MAKE_PATH_SAFE(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
+
+	Finalize();
+	return EXIT_SUCCESS;
+}
+/*----------------------------------------------------------------*/
diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index 0ccbb02c6..1ea0431a8 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -237,31 +237,37 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 		// load given mesh
 		scene.mesh.Load(meshFileName);
 	}
-	if (scene.IsEmpty())
-		return false;
+	if (!scene.pointcloud.IsEmpty())
+		scene.pointcloud.PrintStatistics(scene.images.data(), &scene.obb);
 
 	#if 1
 	// create octree structure used to accelerate selection functionality
-	events.AddEvent(new EVTComputeOctree(this));
+	if (!scene.IsEmpty())
+		events.AddEvent(new EVTComputeOctree(this));
 	#endif
 
 	// init scene
 	AABB3d bounds(true);
-	AABB3d imageBounds(true);
 	Point3d center(Point3d::INF);
-	if (!scene.pointcloud.IsEmpty()) {
-		bounds = scene.pointcloud.GetAABB(MINF(3u,scene.nCalibratedImages));
-		if (bounds.IsEmpty())
-			bounds = scene.pointcloud.GetAABB();
-		center = scene.pointcloud.GetCenter();
-	}
-	if (!scene.mesh.IsEmpty()) {
-		scene.mesh.ComputeNormalFaces();
-		bounds.Insert(scene.mesh.GetAABB());
-		center = scene.mesh.GetCenter();
+	if (scene.IsBounded()) {
+		bounds = AABB3d(scene.obb.GetAABB());
+		center = bounds.GetCenter();
+	} else {
+		if (!scene.pointcloud.IsEmpty()) {
+			bounds = scene.pointcloud.GetAABB(MINF(3u,scene.nCalibratedImages));
+			if (bounds.IsEmpty())
+				bounds = scene.pointcloud.GetAABB();
+			center = scene.pointcloud.GetCenter();
+		}
+		if (!scene.mesh.IsEmpty()) {
+			scene.mesh.ComputeNormalFaces();
+			bounds.Insert(scene.mesh.GetAABB());
+			center = scene.mesh.GetCenter();
+		}
 	}
 
 	// init images
+	AABB3d imageBounds(true);
 	images.Reserve(scene.images.size());
 	FOREACH(idxImage, scene.images) {
 		const MVS::Image& imageData = scene.images[idxImage];
@@ -270,6 +276,10 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 		images.emplace_back(idxImage);
 		imageBounds.InsertFull(imageData.camera.C);
 	}
+	if (imageBounds.IsEmpty())
+		imageBounds.Enlarge(0.5);
+	if (bounds.IsEmpty())
+		bounds = imageBounds;
 
 	// init and load texture
 	if (scene.mesh.HasTexture()) {
@@ -309,7 +319,7 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 	window.clbkTogleSceneBox = DELEGATEBINDCLASS(Window::ClbkTogleSceneBox, &Scene::TogleSceneBox, this);
 	if (scene.IsBounded())
 		window.clbkCompileBounds = DELEGATEBINDCLASS(Window::ClbkCompileBounds, &Scene::CompileBounds, this);
-	if (!bounds.IsEmpty())
+	if (!scene.IsEmpty())
 		window.clbkRayScene = DELEGATEBINDCLASS(Window::ClbkRayScene, &Scene::CastRay, this);
 	window.Reset(!scene.pointcloud.IsEmpty()&&!scene.mesh.IsEmpty()?Window::SPR_NONE:Window::SPR_ALL,
 		MINF(2u,images.size()));
@@ -353,7 +363,7 @@ bool Scene::Save(LPCTSTR _fileName, bool bRescaleImages)
 }
 
 // export the scene
-bool Scene::Export(LPCTSTR _fileName, LPCTSTR exportType, bool losslessTexture) const
+bool Scene::Export(LPCTSTR _fileName, LPCTSTR exportType) const
 {
 	if (!IsOpen())
 		return false;
@@ -362,7 +372,7 @@ bool Scene::Export(LPCTSTR _fileName, LPCTSTR exportType, bool losslessTexture)
 	const String fileName(_fileName != NULL ? String(_fileName) : sceneName);
 	const String baseFileName(Util::getFileFullName(fileName));
 	const bool bPoints(scene.pointcloud.Save(lastFileName=(baseFileName+_T("_pointcloud.ply"))));
-	const bool bMesh(scene.mesh.Save(lastFileName=(baseFileName+_T("_mesh")+(exportType?exportType:(Util::getFileExt(fileName)==_T(".obj")?_T(".obj"):_T(".ply")))), true, losslessTexture));
+	const bool bMesh(scene.mesh.Save(lastFileName=(baseFileName+_T("_mesh")+(exportType?exportType:(Util::getFileExt(fileName)==_T(".obj")?_T(".obj"):_T(".ply")))), cList<String>(), true));
 	#if TD_VERBOSE != TD_VERBOSE_OFF
 	if (VERBOSITY_LEVEL > 2 && (bPoints || bMesh))
 		scene.ExportCamerasMLP(Util::getFileFullName(lastFileName)+_T(".mlp"), lastFileName);
@@ -422,6 +432,12 @@ void Scene::CompileMesh()
 	if (scene.mesh.IsEmpty())
 		return;
 	ReleaseMesh();
+	if (scene.mesh.faceNormals.empty())
+		scene.mesh.ComputeNormalFaces();
+	// translate, normalize and flip Y axis of the texture coordinates
+	MVS::Mesh::TexCoordArr normFaceTexcoords;
+	if (scene.mesh.HasTexture())
+		scene.mesh.FaceTexcoordsNormalize(normFaceTexcoords, true);
 	listMesh = glGenLists(1);
 	glNewList(listMesh, GL_COMPILE);
 	// compile mesh
@@ -435,8 +451,8 @@ void Scene::CompileMesh()
 		const MVS::Mesh::Normal& n = scene.mesh.faceNormals[i];
 		glNormal3fv(n.ptr());
 		for (int j = 0; j < 3; ++j) {
-			if (!scene.mesh.faceTexcoords.IsEmpty() && window.bRenderTexture) {
-				const MVS::Mesh::TexCoord& t = scene.mesh.faceTexcoords[i * 3 + j];
+			if (!normFaceTexcoords.empty() && window.bRenderTexture) {
+				const MVS::Mesh::TexCoord& t = normFaceTexcoords[i * 3 + j];
 				glTexCoord2fv(t.ptr());
 			}
 			const MVS::Mesh::Vertex& p = scene.mesh.vertices[face[j]];
@@ -484,9 +500,9 @@ void Scene::Draw()
 	if (listMesh) {
 		glEnable(GL_DEPTH_TEST);
 		glEnable(GL_CULL_FACE);
-		if (!scene.mesh.faceTexcoords.IsEmpty() && window.bRenderTexture) {
+		if (!scene.mesh.faceTexcoords.empty() && window.bRenderTexture) {
 			glEnable(GL_TEXTURE_2D);
-			textures.First().Bind();
+			textures.front().Bind();
 			glCallList(listMesh);
 			glDisable(GL_TEXTURE_2D);
 		} else {
@@ -503,18 +519,8 @@ void Scene::Draw()
 			Image& image = images[idx];
 			const MVS::Image& imageData = scene.images[image.idx];
 			const MVS::Camera& camera = imageData.camera;
-			// change coordinates system to the camera space
-			glPushMatrix();
-			glMultMatrixd((GLdouble*)TransL2W((const Matrix3x3::EMat)camera.R, -(const Point3::EVec)camera.C).data());
-			glPointSize(window.pointSize+1.f);
-			glDisable(GL_TEXTURE_2D);
-			// draw camera position and image center
-			const double scaleFocal(window.camera.scaleF);
-			glBegin(GL_POINTS);
-			glColor3f(1,0,0); glVertex3f(0,0,0); // camera position
-			glColor3f(0,1,0); glVertex3f(0,0,(float)scaleFocal); // image center
-			glEnd();
 			// cache image corner coordinates
+			const double scaleFocal(window.camera.scaleF);
 			const Point2d pp(camera.GetPrincipalPoint());
 			const double focal(camera.GetFocalLength()/scaleFocal);
 			const double cx(-pp.x/focal);
@@ -525,6 +531,17 @@ void Scene::Draw()
 			const Point3d ic2(cx, py, scaleFocal);
 			const Point3d ic3(px, py, scaleFocal);
 			const Point3d ic4(px, cy, scaleFocal);
+			// change coordinates system to the camera space
+			glPushMatrix();
+			glMultMatrixd((GLdouble*)TransL2W((const Matrix3x3::EMat)camera.R, -(const Point3::EVec)camera.C).data());
+			glPointSize(window.pointSize+1.f);
+			glDisable(GL_TEXTURE_2D);
+			// draw camera position and image center
+			glBegin(GL_POINTS);
+			glColor3f(1,0,0); glVertex3f(0,0,0); // camera position
+			glColor3f(0,1,0); glVertex3f(0,0,(float)scaleFocal); // image center
+			glColor3f(0,0,1); glVertex3d((0.5*imageData.width-pp.x)/focal, cy, scaleFocal); // image up
+			glEnd();
 			// draw image thumbnail
 			const bool bSelectedImage(idx == window.camera.currentCamID);
 			if (bSelectedImage) {
@@ -678,10 +695,10 @@ void Scene::TogleSceneBox()
 	};
 	if (scene.IsBounded())
 		scene.obb = OBB3f(true);
-	else if (!scene.pointcloud.IsEmpty())
-		scene.obb.Set(EnlargeAABB(scene.pointcloud.GetAABB(window.minViews)));
 	else if (!scene.mesh.IsEmpty())
 		scene.obb.Set(EnlargeAABB(scene.mesh.GetAABB()));
+	else if (!scene.pointcloud.IsEmpty())
+		scene.obb.Set(EnlargeAABB(scene.pointcloud.GetAABB(window.minViews)));
 	CompileBounds();
 }
 
@@ -717,7 +734,7 @@ void Scene::CastRay(const Ray3& ray, int action)
 			window.selectionPoints[0] = scene.mesh.vertices[face[0]];
 			window.selectionPoints[1] = scene.mesh.vertices[face[1]];
 			window.selectionPoints[2] = scene.mesh.vertices[face[2]];
-			window.selectionPoints[3] = (ray.m_pOrig + ray.m_vDir*intRay.pick.dist).cast<float>();
+			window.selectionPoints[3] = ray.GetPoint(intRay.pick.dist).cast<float>();
 			window.selectionType = Window::SEL_TRIANGLE;
 			window.selectionTime = now;
 			window.selectionIdx = intRay.pick.idx;
diff --git a/apps/Viewer/Scene.h b/apps/Viewer/Scene.h
index 5997e3011..d1e360833 100644
--- a/apps/Viewer/Scene.h
+++ b/apps/Viewer/Scene.h
@@ -87,7 +87,7 @@ class Scene
 	bool Init(const cv::Size&, LPCTSTR windowName, LPCTSTR fileName=NULL, LPCTSTR meshFileName=NULL);
 	bool Open(LPCTSTR fileName, LPCTSTR meshFileName=NULL);
 	bool Save(LPCTSTR fileName=NULL, bool bRescaleImages=false);
-	bool Export(LPCTSTR fileName, LPCTSTR exportType=NULL, bool losslessTexture=false) const;
+	bool Export(LPCTSTR fileName, LPCTSTR exportType=NULL) const;
 	void CompilePointCloud();
 	void CompileMesh();
 	void CompileBounds();
diff --git a/apps/Viewer/Viewer.cpp b/apps/Viewer/Viewer.cpp
index fe918998a..27aa73d93 100644
--- a/apps/Viewer/Viewer.cpp
+++ b/apps/Viewer/Viewer.cpp
@@ -50,7 +50,6 @@ namespace OPT {
 String strInputFileName;
 String strOutputFileName;
 String strMeshFileName;
-bool bLosslessTexture;
 unsigned nArchiveType;
 int nProcessPriority;
 unsigned nMaxThreads;
@@ -98,7 +97,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input project filename containing camera poses and scene (point-cloud/mesh)")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
-		("texture-lossless", boost::program_options::value(&OPT::bLosslessTexture)->default_value(false), "export texture using a lossless image format")
 		;
 
 	// hidden options, allowed both on command line and
@@ -230,7 +228,7 @@ int main(int argc, LPCTSTR* argv)
 		return EXIT_FAILURE;
 	if (viewer.IsOpen() && !OPT::strOutputFileName.IsEmpty()) {
 		// export the scene
-		viewer.Export(MAKE_PATH_SAFE(OPT::strOutputFileName), OPT::strExportType.IsEmpty()?LPCTSTR(NULL):OPT::strExportType.c_str(), OPT::bLosslessTexture);
+		viewer.Export(MAKE_PATH_SAFE(OPT::strOutputFileName), OPT::strExportType.IsEmpty()?LPCTSTR(NULL):OPT::strExportType.c_str());
 	}
 	// enter viewer loop
 	viewer.Loop();
diff --git a/apps/Viewer/Window.cpp b/apps/Viewer/Window.cpp
index 66ce6c669..63bbe1a19 100644
--- a/apps/Viewer/Window.cpp
+++ b/apps/Viewer/Window.cpp
@@ -291,7 +291,7 @@ void Window::Key(int k, int /*scancode*/, int action, int mod)
 		break;
 	case GLFW_KEY_E:
 		if (action == GLFW_RELEASE && clbkExportScene != NULL)
-			clbkExportScene(NULL, NULL, false);
+			clbkExportScene(NULL, NULL);
 		break;
 	case GLFW_KEY_P:
 		switch (sparseType) {
diff --git a/apps/Viewer/Window.h b/apps/Viewer/Window.h
index 4670ed12b..34195ae31 100644
--- a/apps/Viewer/Window.h
+++ b/apps/Viewer/Window.h
@@ -96,7 +96,7 @@ class Window
 	ClbkOpenScene clbkOpenScene;
 	typedef DELEGATE<bool (LPCTSTR, bool)> ClbkSaveScene;
 	ClbkSaveScene clbkSaveScene;
-	typedef DELEGATE<bool (LPCTSTR, LPCTSTR, bool)> ClbkExportScene;
+	typedef DELEGATE<bool (LPCTSTR, LPCTSTR)> ClbkExportScene;
 	ClbkExportScene clbkExportScene;
 	typedef DELEGATE<void (void)> ClbkCenterScene;
 	ClbkCenterScene clbkCenterScene;
diff --git a/build/Utils.cmake b/build/Utils.cmake
index 2bfbc9822..0cb2d8e1a 100644
--- a/build/Utils.cmake
+++ b/build/Utils.cmake
@@ -451,7 +451,6 @@ macro(optimize_default_compiler_settings)
 	  add_extra_compiler_option(-Werror=sequence-point)
 	  add_extra_compiler_option(-Wformat)
 	  add_extra_compiler_option(-Werror=format-security -Wformat)
-	  add_extra_compiler_option(-Wstrict-prototypes)
 	  add_extra_compiler_option(-Winit-self)
 	  add_extra_compiler_option(-Wsign-promo)
 	  add_extra_compiler_option(-Wreorder)
diff --git a/docker/Dockerfile b/docker/Dockerfile
index a528c34f8..8fb77b421 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -1,16 +1,12 @@
-FROM ubuntu:18.04
+FROM ubuntu:22.04
 
+ARG MASTER
 ARG USER_ID
 ARG GROUP_ID
 
-# Initialize the environment 
-RUN apt update
-RUN apt install -y cmake git vim
-
 # Prepare and empty machine for building:
 RUN apt-get update -yq
-RUN apt-get install -yq
-RUN apt-get -y install git mercurial cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev
+RUN apt-get -yq install build-essential git cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev
 
 # Eigen 
 RUN git clone https://gitlab.com/libeigen/eigen --branch 3.4
@@ -27,16 +23,13 @@ RUN apt-get -y install libboost-iostreams-dev libboost-program-options-dev libbo
 RUN DEBIAN_FRONTEND=noninteractive apt-get install -yq libopencv-dev
 
 # CGAL
-RUN apt-get -y install libcgal-dev libcgal-qt5-dev
+RUN apt-get -yq install libcgal-dev libcgal-qt5-dev
 
 # VCGLib
 RUN git clone https://github.com/cdcseacave/VCG.git vcglib
 
-# Build from stable openMVS release
-RUN git clone https://github.com/cdcseacave/openMVS.git --branch master
-
-# Uncomment below (and comment above) to use the latest commit from the develop branch
-#RUN git clone https://github.com/cdcseacave/openMVS.git --branch develop
+# Build from stable openMVS release or the latest commit from the develop branch
+RUN if [[ -n "$MASTER" ]] ; then git clone https://github.com/cdcseacave/openMVS.git --branch master ; else git clone https://github.com/cdcseacave/openMVS.git --branch develop ; fi
 
 RUN mkdir openMVS_build
 RUN cd openMVS_build &&\
@@ -48,8 +41,8 @@ RUN cd openMVS_build &&\
 	make install
 
 # Set permissions such that the output files can be accessed by the current user (optional)
-RUN addgroup --gid $GROUP_ID user
-RUN adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID user
+RUN addgroup --gid $GROUP_ID user &&\
+	adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID user
 USER user
 
 # Add binaries to path
diff --git a/docker/Dockerfile_CUDA b/docker/Dockerfile_CUDA
index 86f4e8748..46170d2ef 100644
--- a/docker/Dockerfile_CUDA
+++ b/docker/Dockerfile_CUDA
@@ -1,18 +1,14 @@
-FROM nvidia/cuda:11.1-devel-ubuntu18.04
+FROM nvidia/cuda:11.7.1-devel-ubuntu22.04
 
+ARG MASTER
 ARG USER_ID
 ARG GROUP_ID
 
-# Initialize the environment 
-RUN apt update
-RUN apt install -y cmake git vim
-
 # Prepare and empty machine for building:
 RUN apt-get update -yq
-RUN apt-get install -yq
-RUN apt-get -y install git mercurial cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev
+RUN apt-get -yq install build-essential git cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev
 
-ENV PATH=/usr/local/cuda-11.1/bin:$PATH
+ENV PATH=/usr/local/cuda/bin:$PATH
 
 # Eigen 
 RUN git clone https://gitlab.com/libeigen/eigen --branch 3.4
@@ -23,26 +19,23 @@ RUN cd eigen_build &&\
 	cd ..
 
 # Boost
-RUN apt-get -y install libboost-iostreams-dev libboost-program-options-dev libboost-system-dev libboost-serialization-dev
+RUN apt-get -yq install libboost-iostreams-dev libboost-program-options-dev libboost-system-dev libboost-serialization-dev
 
 # OpenCV
-RUN DEBIAN_FRONTEND=noninteractive apt-get install -yq libopencv-dev
+RUN DEBIAN_FRONTEND=noninteractive apt-get -yq install libopencv-dev
 
 # CGAL
-RUN apt-get -y install libcgal-dev libcgal-qt5-dev
+RUN apt-get -yq install libcgal-dev libcgal-qt5-dev
 
 # VCGLib
 RUN git clone https://github.com/cdcseacave/VCG.git vcglib
 
-# Build from stable openMVS release
-RUN git clone https://github.com/cdcseacave/openMVS.git --branch master
-
-# Uncomment below (and comment above) to use the latest commit from the develop branch
-#RUN git clone https://github.com/cdcseacave/openMVS.git --branch develop
+# Build from stable openMVS release or the latest commit from the develop branch
+RUN if [[ -n "$MASTER" ]] ; then git clone https://github.com/cdcseacave/openMVS.git --branch master ; else git clone https://github.com/cdcseacave/openMVS.git --branch develop ; fi
 
 RUN mkdir openMVS_build
 RUN cd openMVS_build &&\
-	cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT=/vcglib -DOpenMVS_USE_CUDA=ON -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs/ -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda-11.1/ -DCUDA_INCLUDE_DIRS=/usr/local/cuda-11.1/include/ -DCUDA_CUDART_LIBRARY=/usr/local/cuda-11.1/lib64 -DCUDA_NVCC_EXECUTABLE=/usr/local/cuda-11.1/bin/
+	cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT=/vcglib -DOpenMVS_USE_CUDA=ON -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs/ -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda/ -DCUDA_INCLUDE_DIRS=/usr/local/cuda/include/ -DCUDA_CUDART_LIBRARY=/usr/local/cuda/lib64 -DCUDA_NVCC_EXECUTABLE=/usr/local/cuda/bin/
 
 # Install OpenMVS library
 RUN cd openMVS_build &&\
@@ -50,8 +43,8 @@ RUN cd openMVS_build &&\
 	make install
 
 # Set permissions such that the output files can be accessed by the current user (optional)
-RUN addgroup --gid $GROUP_ID user
-RUN adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID user
+RUN addgroup --gid $GROUP_ID user &&\
+	adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID user
 USER user
 
 # Add binaries to path
diff --git a/docker/buildFromScratch.sh b/docker/buildFromScratch.sh
index d522ce5d6..c3b873d74 100755
--- a/docker/buildFromScratch.sh
+++ b/docker/buildFromScratch.sh
@@ -1,2 +1,2 @@
 docker build --no-cache -t="openmvs-ubuntu" --build-arg USER_ID=$(id -u) --build-arg GROUP_ID=$(id -g) .;
-docker run -w /working -v $1:/working -it openmvs-ubuntu;
\ No newline at end of file
+docker run --entrypoint bash -w /work -v $1:/work -it openmvs-ubuntu;
diff --git a/docker/buildFromScratch_CUDA.sh b/docker/buildFromScratch_CUDA.sh
new file mode 100644
index 000000000..eb9149fd5
--- /dev/null
+++ b/docker/buildFromScratch_CUDA.sh
@@ -0,0 +1,2 @@
+docker build --no-cache -t="openmvs-ubuntu" --build-arg USER_ID=$(id -u) --build-arg GROUP_ID=$(id -g) --file Dockerfile_CUDA .;
+docker run --gpus=all --entrypoint bash -w /work -v $1:/work -it openmvs-ubuntu;
diff --git a/libs/Common/AABB.h b/libs/Common/AABB.h
index 25cba2d3d..da291f321 100644
--- a/libs/Common/AABB.h
+++ b/libs/Common/AABB.h
@@ -62,6 +62,7 @@ class TAABB
 		   void InsertFull(const POINT&);
 		   void Insert(const POINT&);
 		   void Insert(const TAABB&);
+		   void BoundBy(const TAABB&);
 
 	inline void Translate(const POINT&);
 	inline void Transform(const MATRIX&);
diff --git a/libs/Common/AABB.inl b/libs/Common/AABB.inl
index d10543e38..b645ef12d 100644
--- a/libs/Common/AABB.inl
+++ b/libs/Common/AABB.inl
@@ -91,7 +91,7 @@ template <typename TYPE, int DIMS>
 inline bool TAABB<TYPE,DIMS>::IsEmpty() const
 {
 	for (int i=0; i<DIMS; ++i)
-		if (ptMin[i] > ptMax[i])
+		if (ptMin[i] >= ptMax[i])
 			return true;
 	return false;
 } // IsEmpty
@@ -108,8 +108,9 @@ inline TAABB<TYPE,DIMS>& TAABB<TYPE,DIMS>::Enlarge(TYPE x)
 template <typename TYPE, int DIMS>
 inline TAABB<TYPE,DIMS>& TAABB<TYPE,DIMS>::EnlargePercent(TYPE x)
 {
-	ptMin *= x;
-	ptMax *= x;
+	const POINT ptSizeDelta(GetSize() * (x - TYPE(1)) / TYPE(2));
+	ptMin -= ptSizeDelta;
+	ptMax += ptSizeDelta;
 	return *this;
 } // Enlarge
 /*----------------------------------------------------------------*/
@@ -242,7 +243,7 @@ void TAABB<TYPE,DIMS>::Insert(const POINT& pt)
 }
 /*----------------------------------------------------------------*/
 
-// Update the box such that it contains the given point.
+// Update the box such that it contains the given bounding box.
 template <typename TYPE, int DIMS>
 void TAABB<TYPE,DIMS>::Insert(const TAABB& aabb)
 {
@@ -267,6 +268,31 @@ void TAABB<TYPE,DIMS>::Insert(const TAABB& aabb)
 }
 /*----------------------------------------------------------------*/
 
+// Update the box such that it does not exceed the given bounding box.
+template <typename TYPE, int DIMS>
+void TAABB<TYPE,DIMS>::BoundBy(const TAABB& aabb)
+{
+	if (ptMin[0] < aabb.ptMin[0])
+		ptMin[0] = aabb.ptMin[0];
+	if (ptMax[0] > aabb.ptMax[0])
+		ptMax[0] = aabb.ptMax[0];
+
+	if (DIMS > 1) {
+	if (ptMin[1] < aabb.ptMin[1])
+		ptMin[1] = aabb.ptMin[1];
+	if (ptMax[1] > aabb.ptMax[1])
+		ptMax[1] = aabb.ptMax[1];
+	}
+
+	if (DIMS > 2) {
+	if (ptMin[2] < aabb.ptMin[2])
+		ptMin[2] = aabb.ptMin[2];
+	if (ptMax[2] > aabb.ptMax[2])
+		ptMax[2] = aabb.ptMax[2];
+	}
+}
+/*----------------------------------------------------------------*/
+
 
 // intersection between two AABBs
 template <typename TYPE, int DIMS>
diff --git a/libs/Common/AutoEstimator.h b/libs/Common/AutoEstimator.h
index 1cdb6bb1c..25d0cd487 100644
--- a/libs/Common/AutoEstimator.h
+++ b/libs/Common/AutoEstimator.h
@@ -88,7 +88,7 @@ struct ErrorIndex {
 #ifdef ACRANSAC_STD_VECTOR
 typedef std::vector<ErrorIndex> ErrorIndexArr;
 #else
-typedef SEACAVE::cList<ErrorIndex,const ErrorIndex&,0> ErrorIndexArr;
+typedef CLISTDEF0(ErrorIndex) ErrorIndexArr;
 #endif
 
 /// Find best NFA and its index wrt square error threshold in e.
diff --git a/libs/Common/Config.h b/libs/Common/Config.h
index b18df786a..cc37aab23 100644
--- a/libs/Common/Config.h
+++ b/libs/Common/Config.h
@@ -142,9 +142,14 @@
 #if __cplusplus >= 201703L || __clang_major__ >= 5
 #define _SUPPORT_CPP17
 #endif
+#if __cplusplus >= 202002L || __clang_major__ >= 10
+#define _SUPPORT_CPP20
+#endif
 
 
-#if defined(__arm__) || defined (__arm64__) || defined(__aarch64__) || defined(_M_ARM) || defined(_M_ARMT)
+#if defined(__powerpc__)
+#define _PLATFORM_PPC 1
+#elif defined(__arm__) || defined (__arm64__) || defined(__aarch64__) || defined(_M_ARM) || defined(_M_ARMT)
 #define _PLATFORM_ARM 1
 #else
 #define _PLATFORM_X86 1
@@ -166,7 +171,7 @@
 #	define RESTRICT  __restrict //applied to a function parameter
 #	define MEMALLOC __declspec(noalias) __declspec(restrict)
 #	define DEPRECATED __declspec(deprecated)
-#	define NOWARNUNUSED
+#	define MAYBEUNUSED
 #	define HOT
 #	define COLD
 #	define THREADLOCAL __declspec(thread)
@@ -179,7 +184,7 @@
 #	define RESTRICT  __restrict__
 #	define MEMALLOC __attribute__ ((__malloc__))
 #	define DEPRECATED __attribute__ ((__deprecated__))
-#	define NOWARNUNUSED __attribute__ ((unused))
+#	define MAYBEUNUSED __attribute__ ((unused))
 #	define HOT __attribute__((hot)) __attribute__((optimize("-O3"))) __attribute__((optimize("-ffast-math"))) //optimize for speed, even in debug
 #	define COLD __attribute__((cold)) //optimize for size
 #	define THREADLOCAL __thread
@@ -192,7 +197,7 @@
 #	define RESTRICT
 #	define MEMALLOC
 #	define DEPRECATED
-#	define NOWARNUNUSED
+#	define MAYBEUNUSED
 #	define HOT
 #	define COLD
 #	define THREADLOCAL __thread
@@ -202,6 +207,10 @@
 #ifndef _SUPPORT_CPP11
 #	define constexpr inline
 #endif
+#ifdef _SUPPORT_CPP17
+#	undef MAYBEUNUSED
+#	define MAYBEUNUSED [[maybe_unused]]
+#endif
 
 #define SAFE_DELETE(p)		{ if (p!=NULL) { delete (p);     (p)=NULL; } }
 #define SAFE_DELETE_ARR(p)	{ if (p!=NULL) { delete [] (p);  (p)=NULL; } }
@@ -258,13 +267,13 @@ namespace SEACAVE_ASSERT
 }
 
 #define STATIC_ASSERT(expression) \
-	NOWARNUNUSED typedef char CTA##__LINE__[::SEACAVE_ASSERT::compile_time_assert<(bool)(expression)>::value]
+	MAYBEUNUSED typedef char CTA##__LINE__[::SEACAVE_ASSERT::compile_time_assert<(bool)(expression)>::value]
 
 #define ASSERT_ARE_SAME_TYPE(type1, type2) \
-	NOWARNUNUSED typedef char AAST##__LINE__[::SEACAVE_ASSERT::assert_are_same_type<type1,type2>::value]
+	MAYBEUNUSED typedef char AAST##__LINE__[::SEACAVE_ASSERT::assert_are_same_type<type1,type2>::value]
 
 #define ASSERT_ARE_NOT_SAME_TYPE(type1, type2) \
-	NOWARNUNUSED typedef char AANST##__LINE__[::SEACAVE_ASSERT::assert_are_not_same_type<type1,type2>::value]
+	MAYBEUNUSED typedef char AANST##__LINE__[::SEACAVE_ASSERT::assert_are_not_same_type<type1,type2>::value]
 /*----------------------------------------------------------------*/
 
 #endif // __SEACAVE_CONFIG_H__
diff --git a/libs/Common/List.h b/libs/Common/List.h
index 750aa90c4..2404c4832 100644
--- a/libs/Common/List.h
+++ b/libs/Common/List.h
@@ -142,6 +142,13 @@ class cList
 		_vector = (TYPE*)(operator new[] (_vectorSize * sizeof(TYPE)));
 		_ArrayCopyConstruct(_vector, rList._vector, _size);
 	}
+	#ifdef _SUPPORT_CPP11
+	// copy constructor: creates a move-copy of the given list
+	cList(cList&& rList) : _size(rList._size), _vectorSize(rList._vectorSize), _vector(rList._vector)
+	{
+		rList._Init();
+	}
+	#endif
 
 	// constructor a list from a raw data array
 	explicit inline cList(TYPE* pDataBegin, TYPE* pDataEnd) : _size((IDX)(pDataEnd-pDataBegin)), _vectorSize(_size)
@@ -624,13 +631,22 @@ class cList
 
 	inline TYPE&	GetNth(IDX index)
 	{
+		ASSERT(index < _size);
 		TYPE* const nth(Begin()+index);
 		std::nth_element(Begin(), nth, End());
 		return *nth;
 	}
-	inline TYPE&	GetMedian()
+	template <typename RTYPE = typename std::conditional<std::is_floating_point<TYPE>::value,TYPE,REAL>::type>
+	inline RTYPE	GetMedian()
 	{
-		return GetNth(_size >> 1);
+		ASSERT(_size > 0);
+		if (_size%2)
+			return static_cast<RTYPE>(GetNth(_size >> 1));
+		TYPE* const nth(Begin() + (_size>>1));
+		std::nth_element(Begin(), nth, End());
+		TYPE* const nth1(nth-1);
+		std::nth_element(Begin(), nth1, nth);
+		return (static_cast<RTYPE>(*nth1) + static_cast<RTYPE>(*nth)) / RTYPE(2);
 	}
 
 	inline TYPE		GetMean()
@@ -1408,106 +1424,93 @@ inline bool ValidIDX(const IDX_TYPE& idx) {
 
 
 // some test functions
-// run cListTest(99999);
-#if 0
-inline bool cListTestIter(unsigned elems) {
-	std::vector<int> arrR;
-	cList<int, int, 0> arr0;
-	cList<int, int, 1> arr1;
-	cList<int, int, 2> arr2;
-	cList<int, int, 1> arrC;
-	for (unsigned i=0; i<elems; ++i) {
-		const int e = RAND();
-		arrR.push_back(e);
-		arr0.InsertSort(e);
-		arr1.InsertSort(e);
-		arr2.InsertSort(e);
-		arrC.Insert(e);
-	}
-	std::sort(arrR.begin(), arrR.end());
-	arrC.Sort([](int a, int b) { return a<b; });
-	for (size_t i=0; i<arrR.size(); ++i) {
-		const int e = arrR[i];
-		if (arrC[i] != e ||
-			arr0[i] != e ||
-			arr1[i] != e ||
-			arr2[i] != e)
-		{
-			ASSERT("there is a problem" == NULL);
-			return false;
+template <bool dummy>
+inline bool cListTest(unsigned iters) {
+	for (unsigned i=0; i<iters; ++i) {
+		const unsigned elems = 100+RAND()%1000;
+		std::vector<int> arrR;
+		cList<int, int, 0> arr0;
+		cList<int, int, 1> arr1;
+		cList<int, int, 2> arr2;
+		cList<int, int, 1> arrC;
+		for (unsigned i=0; i<elems; ++i) {
+			const int e = RAND();
+			arrR.push_back(e);
+			arr0.InsertSort(e);
+			arr1.InsertSort(e);
+			arr2.InsertSort(e);
+			arrC.Insert(e);
 		}
-	}
-	for (size_t i=0; i<6; ++i) {
-		const unsigned nDel = RAND()%arrR.size();
-		arrR.erase(arrR.begin()+nDel);
-		arr0.RemoveAtMove(nDel);
-		arr1.RemoveAtMove(nDel);
-		arr2.RemoveAtMove(nDel);
-	}
-	if (arrR.size() != arr0.GetSize() ||
-		arrR.size() != arr1.GetSize() ||
-		arrR.size() != arr2.GetSize())
-	{
-		ASSERT("there is a problem" == NULL);
-		return false;
-	}
-	for (size_t i=0; i<6; ++i) {
-		const unsigned nDel = RAND()%arrR.size();
-		const unsigned nCount = 1+RAND()%(arrR.size()/10+1);
-		if (nDel + nCount >= arrR.size())
-			continue;
-		arrR.erase(arrR.begin()+nDel, arrR.begin()+nDel+nCount);
-		arr0.RemoveAtMove(nDel, nCount);
-		arr1.RemoveAtMove(nDel, nCount);
-		arr2.RemoveAtMove(nDel, nCount);
-	}
-	if (arrR.size() != arr0.GetSize() ||
-		arrR.size() != arr1.GetSize() ||
-		arrR.size() != arr2.GetSize())
-	{
-		ASSERT("there is a problem" == NULL);
-		return false;
-	}
-	for (size_t i=0; i<arrR.size(); ++i) {
-		const int e = arrR[i];
-		if (arr0[i] != e ||
-			arr1[i] != e ||
-			arr2[i] != e)
-		{
+		std::sort(arrR.begin(), arrR.end());
+		arrC.Sort([](int a, int b) { return a<b; });
+		for (size_t i=0; i<arrR.size(); ++i) {
+			const int e = arrR[i];
+			if (arrC[i] != e ||
+				arr0[i] != e ||
+				arr1[i] != e ||
+				arr2[i] != e) {
+				ASSERT("there is a problem" == NULL);
+				return false;
+			}
+		}
+		for (size_t i=0; i<6; ++i) {
+			const unsigned nDel = RAND()%arrR.size();
+			arrR.erase(arrR.begin()+nDel);
+			arr0.RemoveAtMove(nDel);
+			arr1.RemoveAtMove(nDel);
+			arr2.RemoveAtMove(nDel);
+		}
+		if (arrR.size() != arr0.GetSize() ||
+			arrR.size() != arr1.GetSize() ||
+			arrR.size() != arr2.GetSize()) {
 			ASSERT("there is a problem" == NULL);
 			return false;
 		}
-	}
-	cList<int, int, 1> arrS(1+RAND()%(2*elems));
-	for (size_t i=0; i<6; ++i) {
-		arrS.Insert(RAND());
-	}
-	arrS.RemoveLast(RAND()%arrS.GetSize());
-	arrS.CopyOf(&arrR[0], arrR.size());
-	for (size_t i=0; i<6; ++i) {
-		arrS.Insert(RAND());
-	}
-	arrS.RemoveLast(6);
-	for (size_t i=0; i<arrR.size(); ++i) {
-		const int e = arrR[i];
-		if (arrS[i] != e)
-		{
+		for (size_t i=0; i<6; ++i) {
+			const unsigned nDel = RAND()%arrR.size();
+			const unsigned nCount = 1+RAND()%(arrR.size()/10+1);
+			if (nDel + nCount >= arrR.size())
+				continue;
+			arrR.erase(arrR.begin()+nDel, arrR.begin()+nDel+nCount);
+			arr0.RemoveAtMove(nDel, nCount);
+			arr1.RemoveAtMove(nDel, nCount);
+			arr2.RemoveAtMove(nDel, nCount);
+		}
+		if (arrR.size() != arr0.GetSize() ||
+			arrR.size() != arr1.GetSize() ||
+			arrR.size() != arr2.GetSize()) {
 			ASSERT("there is a problem" == NULL);
 			return false;
 		}
+		for (size_t i=0; i<arrR.size(); ++i) {
+			const int e = arrR[i];
+			if (arr0[i] != e ||
+				arr1[i] != e ||
+				arr2[i] != e) {
+				ASSERT("there is a problem" == NULL);
+				return false;
+			}
+		}
+		cList<int, int, 1> arrS(1+RAND()%(2*elems));
+		for (size_t i=0; i<6; ++i) {
+			arrS.Insert(RAND());
+		}
+		arrS.RemoveLast(RAND()%arrS.GetSize());
+		arrS.CopyOf(&arrR[0], arrR.size());
+		for (size_t i=0; i<6; ++i) {
+			arrS.Insert(RAND());
+		}
+		arrS.RemoveLast(6);
+		for (size_t i=0; i<arrR.size(); ++i) {
+			const int e = arrR[i];
+			if (arrS[i] != e) {
+				ASSERT("there is a problem" == NULL);
+				return false;
+			}
+		}
 	}
 	return true;
 }
-inline bool cListTest(unsigned iters) {
-	srand((unsigned)time(NULL));
-	for (unsigned i=0; i<iters; ++i) {
-		const unsigned elems = 100+RAND()%1000;
-		if (!cListTestIter(elems))
-			return false;
-	}
-	return true;
-}
-#endif
 /*----------------------------------------------------------------*/
 
 
@@ -1596,6 +1599,7 @@ class cListFixed {
 			memcpy(_vector+index, _vector+(--_size), sizeof(TYPE));
 	}
 	inline void Empty() {
+		_ArrayDestruct(_vector, _size);
 		_size = 0;
 	}
 	inline void Sort() {
diff --git a/libs/Common/OBB.h b/libs/Common/OBB.h
index 6d623afd8..adf321e5a 100644
--- a/libs/Common/OBB.h
+++ b/libs/Common/OBB.h
@@ -54,6 +54,8 @@ class TOBB
 	inline TOBB(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax);
 	inline TOBB(const POINT* pts, size_t n);
 	inline TOBB(const POINT* pts, size_t n, const TRIANGLE* tris, size_t s);
+	template <typename CTYPE>
+	inline TOBB(const TOBB<CTYPE, DIMS>&);
 
 	inline void Set(const AABB&); // build from AABB
 	inline void Set(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax); // build from rotation matrix from world to local, and local min/max corners
@@ -69,8 +71,8 @@ class TOBB
 
 	inline bool IsValid() const;
 
-	inline void Enlarge(TYPE);
-	inline void EnlargePercent(TYPE);
+	inline TOBB& Enlarge(TYPE);
+	inline TOBB& EnlargePercent(TYPE);
 
 	inline void Translate(const POINT&);
 	inline void Transform(const MATRIX&);
diff --git a/libs/Common/OBB.inl b/libs/Common/OBB.inl
index 9f1278b3c..1e2784d17 100644
--- a/libs/Common/OBB.inl
+++ b/libs/Common/OBB.inl
@@ -39,6 +39,15 @@ inline TOBB<TYPE,DIMS>::TOBB(const POINT* pts, size_t n, const TRIANGLE* tris, s
 {
 	Set(pts, n, tris, s);
 } // constructor
+template <typename TYPE, int DIMS>
+template <typename CTYPE>
+inline TOBB<TYPE,DIMS>::TOBB(const TOBB<CTYPE,DIMS>& rhs)
+	:
+	m_rot(rhs.m_rot.template cast<TYPE>()),
+	m_pos(rhs.m_pos.template cast<TYPE>()),
+	m_ext(rhs.m_ext.template cast<TYPE>())
+{
+} // copy constructor
 /*----------------------------------------------------------------*/
 
 
@@ -268,14 +277,16 @@ inline bool TOBB<TYPE,DIMS>::IsValid() const
 
 
 template <typename TYPE, int DIMS>
-inline void TOBB<TYPE,DIMS>::Enlarge(TYPE x)
+inline TOBB<TYPE,DIMS>& TOBB<TYPE,DIMS>::Enlarge(TYPE x)
 {
-	m_ext.array() -= x;
+	m_ext.array() += x;
+	return *this;
 }
 template <typename TYPE, int DIMS>
-inline void TOBB<TYPE,DIMS>::EnlargePercent(TYPE x)
+inline TOBB<TYPE,DIMS>& TOBB<TYPE,DIMS>::EnlargePercent(TYPE x)
 {
 	m_ext *= x;
+	return *this;
 } // Enlarge
 /*----------------------------------------------------------------*/
 
diff --git a/libs/Common/Octree.h b/libs/Common/Octree.h
index 70acd14c6..aabbd336d 100644
--- a/libs/Common/Octree.h
+++ b/libs/Common/Octree.h
@@ -57,7 +57,6 @@ class TOctree
 			SIZE_TYPE size; // number of items contained by this cell in the global array
 			DATA_TYPE data; // user data associated with this leaf
 		} LEAF_TYPE;
-		enum { dataSize = (sizeof(NODE_TYPE)>sizeof(LEAF_TYPE) ? sizeof(NODE_TYPE) : sizeof(LEAF_TYPE)) };
 		enum { numChildren = (2<<(DIMS-1)) };
 
 	public:
@@ -73,10 +72,10 @@ class TOctree
 
 		inline bool	IsLeaf() const { return (m_child==NULL); }
 		inline const CELL_TYPE& GetChild(int i) const { ASSERT(!IsLeaf() && i<numChildren); return m_child[i]; }
-		inline const NODE_TYPE& Node() const { ASSERT(!IsLeaf()); return *reinterpret_cast<const NODE_TYPE*>(m_data); }
-		inline NODE_TYPE& Node() { ASSERT(!IsLeaf()); return *reinterpret_cast<NODE_TYPE*>(m_data); }
-		inline const LEAF_TYPE& Leaf() const { ASSERT(IsLeaf()); return *reinterpret_cast<const LEAF_TYPE*>(m_data); }
-		inline LEAF_TYPE& Leaf() { ASSERT(IsLeaf()); return *reinterpret_cast<LEAF_TYPE*>(m_data); }
+		inline const NODE_TYPE& Node() const { ASSERT(!IsLeaf()); return m_node; }
+		inline NODE_TYPE& Node() { ASSERT(!IsLeaf()); return m_node; }
+		inline const LEAF_TYPE& Leaf() const { ASSERT(IsLeaf()); return m_leaf; }
+		inline LEAF_TYPE& Leaf() { ASSERT(IsLeaf()); return m_leaf; }
 		inline const POINT_TYPE& GetCenter() const { return Node().center; }
 		inline AABB_TYPE GetAabb(TYPE radius) const { return AABB_TYPE(Node().center, radius); }
 		inline AABB_TYPE GetChildAabb(unsigned idxChild, TYPE radius) const { const TYPE childRadius(radius / TYPE(2)); return AABB_TYPE(ComputeChildCenter(Node().center, childRadius, idxChild), childRadius); }
@@ -89,7 +88,10 @@ class TOctree
 
 	public:
 		CELL_TYPE* m_child; // if not a leaf, 2^DIMS child objects
-		uint8_t m_data[dataSize]; // a LEAF_TYPE or NODE_TYPE object, if it is a leaf or not respectively
+		union { // a LEAF_TYPE or NODE_TYPE object, if it is a leaf or not respectively
+			NODE_TYPE m_node;
+			LEAF_TYPE m_leaf;
+		};
 	};
 	typedef SEACAVE::cList<CELL_TYPE*,CELL_TYPE*,0,256,IDX_TYPE> CELLPTRARR_TYPE;
 
@@ -197,7 +199,6 @@ class TOctree
 	CELL_TYPE m_root; // first cell of the tree (always of Node type)
 	TYPE m_radius; // size of the sphere containing all cells
 
-#ifndef _RELEASE
 public:
 	typedef struct DEBUGINFO_TYPE {
 		size_t memSize;		// total memory used
@@ -225,7 +226,6 @@ class TOctree
 
 protected:
 	void _GetDebugInfo(const CELL_TYPE&, unsigned, DEBUGINFO&) const;
-#endif
 }; // class TOctree
 /*----------------------------------------------------------------*/
 
diff --git a/libs/Common/Octree.inl b/libs/Common/Octree.inl
index e0e0f298b..e51d1feb9 100644
--- a/libs/Common/Octree.inl
+++ b/libs/Common/Octree.inl
@@ -41,10 +41,10 @@ template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::CELL_TYPE::Swap(CELL_TYPE& rhs)
 {
 	std::swap(m_child, rhs.m_child);
-	uint8_t tmpData[dataSize];
-	memcpy(tmpData, m_data, dataSize);
-	memcpy(m_data, rhs.m_data, dataSize);
-	memcpy(rhs.m_data, tmpData, dataSize);
+	if (IsLeaf())
+		std::swap(m_leaf, rhs.m_leaf);
+	else
+		std::swap(m_node, rhs.m_node);
 } // Swap
 /*----------------------------------------------------------------*/
 
@@ -167,6 +167,7 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_Insert(CELL_TYPE& cell, const P
 	// if this child cell needs to be divided further
 	if (bForceSplit || insertData.split(size, radius)) {
 		// init node and proceed recursively
+		ASSERT(cell.m_child == NULL);
 		cell.m_child = new CELL_TYPE[CELL_TYPE::numChildren];
 		cell.Node().center = center;
 		struct ChildData {
@@ -223,15 +224,14 @@ inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Insert(const ITEMARR_TYPE
 	// create root as node, even if we do not need to divide
 	m_indices.Reserve(items.size());
 	// divide cell
-	m_root.m_child = new CELL_TYPE[CELL_TYPE::numChildren];
-	m_root.Node().center = aabb.GetCenter();
+	const POINT_TYPE center = aabb.GetCenter();
 	m_radius = aabb.GetSize().maxCoeff()/Type(2);
 	// single connected list of next item indices
 	_InsertData<Functor> insertData = {items.size(), split};
 	std::iota(insertData.successors.begin(), insertData.successors.end(), IDX_TYPE(1));
 	insertData.successors.back() = _InsertData<Functor>::NO_INDEX;
 	// setup each cell
-	_Insert<Functor,true>(m_root, m_root.GetCenter(), m_radius, 0, items.size(), insertData);
+	_Insert<Functor,true>(m_root, center, m_radius, 0, items.size(), insertData);
 }
 template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename Functor>
@@ -365,7 +365,8 @@ inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(INSERTER& inserte
 template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(IDXARR_TYPE& indices, const AABB_TYPE& aabb) const
 {
-	_Collect(m_root, aabb, IndexInserter(indices));
+	IndexInserter inserter(indices);
+	_Collect(m_root, aabb, inserter);
 }
 
 template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
@@ -377,7 +378,8 @@ inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(INSERTER& inserte
 template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(IDXARR_TYPE& indices, const POINT_TYPE& center, TYPE radius) const
 {
-	_Collect(m_root, AABB_TYPE(center, radius), IndexInserter(indices));
+	IndexInserter inserter(indices);
+	_Collect(m_root, AABB_TYPE(center, radius), inserter);
 }
 
 template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
@@ -390,7 +392,8 @@ template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 template <typename COLLECTOR>
 inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(IDXARR_TYPE& indices, const COLLECTOR& collector) const
 {
-	_Collect(m_root, m_radius, collector, IndexInserter(indices));
+	IndexInserter inserter(indices);
+	_Collect(m_root, m_radius, collector, inserter);
 }
 
 template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
@@ -711,7 +714,8 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::SplitVolume(float maxArea, AREAE
 {
 	CELL_TYPE parent;
 	parent.m_child = new CELL_TYPE[1];
-	parent.m_child[0] = m_root;
+	parent.m_child[0].m_child = m_root.m_child;
+	parent.m_child[0].Node() = m_root.Node();
 	parent.Node().center = m_root.Node().center + POINT_TYPE::Constant(m_radius);
 	_SplitVolume(parent, m_radius*TYPE(2), 0, maxArea, areaEstimator, chunkInserter);
 	parent.m_child[0].m_child = NULL;
@@ -719,7 +723,6 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::SplitVolume(float maxArea, AREAE
 /*----------------------------------------------------------------*/
 
 
-#ifndef _RELEASE
 template <typename ITEMARR_TYPE, typename TYPE, int DIMS, typename DATA_TYPE>
 void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_GetDebugInfo(const CELL_TYPE& cell, unsigned nDepth, DEBUGINFO& info) const
 {
@@ -774,7 +777,7 @@ inline bool OctreeTest(unsigned iters, unsigned maxItems=1000, bool bRandom=true
 	STATIC_ASSERT(DIMS > 0 && DIMS <= 3);
 	srand(bRandom ? (unsigned)time(NULL) : 0);
 	typedef Eigen::Matrix<TYPE,DIMS,1> POINT_TYPE;
-	typedef SEACAVE::cList<POINT_TYPE,const POINT_TYPE&,0> TestArr;
+	typedef CLISTDEF0(POINT_TYPE) TestArr;
 	typedef TOctree<TestArr,TYPE,DIMS,uint32_t> TestTree;
 	const TYPE ptMinData[] = {0,0,0}, ptMaxData[] = {640,480,240};
 	typename TestTree::AABB_TYPE aabb;
@@ -793,12 +796,11 @@ inline bool OctreeTest(unsigned iters, unsigned maxItems=1000, bool bRandom=true
 		TestArr items(elems);
 		FOREACH(i, items)
 			for (int j=0; j<DIMS; ++j)
-				items[i](j) = RAND()%ROUND2INT(ptMaxData[j]);
+				items[i](j) = static_cast<TYPE>(RAND()%ROUND2INT(ptMaxData[j]));
 		// random query point
 		POINT_TYPE pt;
-		pt(0) = RAND()%ROUND2INT(ptMaxData[0]);
-		if (DIMS > 1) pt(1) = RAND()%ROUND2INT(ptMaxData[1]);
-		if (DIMS > 2) pt(2) = RAND()%ROUND2INT(ptMaxData[2]);
+		for (int j=0; j<DIMS; ++j)
+			pt(j) = static_cast<TYPE>(RAND()%ROUND2INT(ptMaxData[j]));
 		const TYPE radius(TYPE(3+RAND()%30));
 		// build octree and find interest items
 		TestTree tree(items, aabb, [](typename TestTree::IDX_TYPE size, typename TestTree::Type radius) {
@@ -832,8 +834,8 @@ inline bool OctreeTest(unsigned iters, unsigned maxItems=1000, bool bRandom=true
 			}
 		}
 		nTotalMatches += nMatches;
-		nTotalMissed += trueIndices.size()-nMatches;
-		nTotalExtra += indices.size()-nMatches;
+		nTotalMissed += (unsigned)trueIndices.size()-nMatches;
+		nTotalExtra += (unsigned)indices.size()-nMatches;
 		#ifndef _RELEASE
 		// print stats
 		typename TestTree::DEBUGINFO_TYPE info;
@@ -847,4 +849,3 @@ inline bool OctreeTest(unsigned iters, unsigned maxItems=1000, bool bRandom=true
 	#endif
 	return (nTotalMissed == 0 && nTotalExtra == 0);
 }
-#endif
diff --git a/libs/Common/Plane.h b/libs/Common/Plane.h
index 7cd439207..681d044c9 100644
--- a/libs/Common/Plane.h
+++ b/libs/Common/Plane.h
@@ -31,6 +31,8 @@ class TPlane
 	typedef Eigen::Matrix<TYPE,DIMS,1> POINT;
 	typedef SEACAVE::TAABB<TYPE,DIMS> AABB;
 	typedef SEACAVE::TRay<TYPE,DIMS> RAY;
+	enum { numScalar = DIMS+1 };
+	enum { numParams = numScalar-1 };
 
 	VECTOR	m_vN;	// plane normal vector
 	TYPE	m_fD;	// distance to origin
@@ -47,12 +49,19 @@ class TPlane
 	inline void Set(const VECTOR&, const POINT&);
 	inline void Set(const POINT&, const POINT&, const POINT&);
 	inline void Set(const TYPE p[DIMS+1]);
+
+	inline void Invalidate();
+	inline bool IsValid() const;
+
 	inline void Negate();
+	inline TPlane Negated() const;
 
 	inline TYPE Distance(const TPlane&) const;
 	inline TYPE Distance(const POINT&) const;
 	inline TYPE DistanceAbs(const POINT&) const;
 
+	inline POINT ProjectPoint(const POINT&) const;
+
 	inline GCLASS Classify(const POINT&) const;
 	inline GCLASS Classify(const AABB&) const;
 
@@ -62,8 +71,8 @@ class TPlane
 	bool Intersects(const TPlane& plane, RAY& ray) const;
 	bool Intersects(const AABB& aabb) const;
 
-	inline TYPE& operator [] (BYTE i) { ASSERT(i<=DIMS); return m_vN.data()[i]; }
-	inline TYPE operator [] (BYTE i) const { ASSERT(i<=DIMS); return m_vN.data()[i]; }
+	inline TYPE& operator [] (BYTE i) { ASSERT(i<numScalar); return m_vN.data()[i]; }
+	inline TYPE operator [] (BYTE i) const { ASSERT(i<numScalar); return m_vN.data()[i]; }
 
 	#ifdef _USE_BOOST
 	// implement BOOST serialization
@@ -76,6 +85,19 @@ class TPlane
 }; // class TPlane
 /*----------------------------------------------------------------*/
 
+template <typename TYPE, typename TYPEW=TYPE>
+struct FitPlaneOnline {
+	TYPEW sumX, sumSqX, sumXY, sumXZ;
+	TYPEW sumY, sumSqY, sumYZ;
+	TYPEW sumZ, sumSqZ;
+	size_t size;
+	FitPlaneOnline();
+	void Update(const TPoint3<TYPE>& P);
+	TPoint3<TYPEW> GetPlane(TPoint3<TYPEW>& avg, TPoint3<TYPEW>& dir) const;
+	template <typename TYPEE> TPoint3<TYPEE> GetPlane(TPlane<TYPEE,3>& plane) const;
+};
+/*----------------------------------------------------------------*/
+
 
 // Basic frustum class
 // (represented as 6 planes oriented toward outside the frustum volume)
diff --git a/libs/Common/Plane.inl b/libs/Common/Plane.inl
index 2fcbb76f1..0d15cc319 100644
--- a/libs/Common/Plane.inl
+++ b/libs/Common/Plane.inl
@@ -69,12 +69,30 @@ inline void TPlane<TYPE,DIMS>::Set(const TYPE p[DIMS+1])
 /*----------------------------------------------------------------*/
 
 
+template <typename TYPE, int DIMS>
+inline void TPlane<TYPE,DIMS>::Invalidate()
+{
+	m_fD = std::numeric_limits<TYPE>::max();
+} // Invalidate
+template <typename TYPE, int DIMS>
+inline bool TPlane<TYPE,DIMS>::IsValid() const
+{
+	return m_fD != std::numeric_limits<TYPE>::max();
+} // IsValid
+/*----------------------------------------------------------------*/
+
+
 template <typename TYPE, int DIMS>
 inline void TPlane<TYPE,DIMS>::Negate()
 {
 	m_vN = -m_vN;
 	m_fD = -m_fD;
-}
+} // Negate
+template <typename TYPE, int DIMS>
+inline TPlane<TYPE,DIMS> TPlane<TYPE,DIMS>::Negated() const
+{
+	return TPlane(-m_vN, -m_fD);
+} // Negated
 /*----------------------------------------------------------------*/
 
 
@@ -99,6 +117,15 @@ inline TYPE TPlane<TYPE,DIMS>::DistanceAbs(const POINT& p) const
 /*----------------------------------------------------------------*/
 
 
+// Calculate point's projection on this plane (closest point to this plane).
+template <typename TYPE, int DIMS>
+inline typename TPlane<TYPE,DIMS>::POINT TPlane<TYPE,DIMS>::ProjectPoint(const POINT& p) const
+{
+	return p - m_vN*Distance(p);
+}
+/*----------------------------------------------------------------*/
+
+
 // Classify point to plane.
 template <typename TYPE, int DIMS>
 inline GCLASS TPlane<TYPE,DIMS>::Classify(const POINT& p) const
@@ -253,6 +280,92 @@ bool TPlane<TYPE,DIMS>::Intersects(const AABB& aabb) const
 /*----------------------------------------------------------------*/
 
 
+// same as above, but online version
+template <typename TYPE, typename TYPEW>
+FitPlaneOnline<TYPE,TYPEW>::FitPlaneOnline()
+	: sumX(0), sumSqX(0), sumXY(0), sumXZ(0), sumY(0), sumSqY(0), sumYZ(0), sumZ(0), sumSqZ(0), size(0)
+{
+}
+template <typename TYPE, typename TYPEW>
+void FitPlaneOnline<TYPE,TYPEW>::Update(const TPoint3<TYPE>& P)
+{
+	const TYPEW X((TYPEW)P.x), Y((TYPEW)P.y), Z((TYPEW)P.z);
+	sumX += X; sumSqX += X*X; sumXY += X*Y; sumXZ += X*Z;
+	sumY += Y; sumSqY += Y*Y; sumYZ += Y*Z;
+	sumZ += Z; sumSqZ += Z*Z;
+	++size;
+}
+template <typename TYPE, typename TYPEW>
+TPoint3<TYPEW> FitPlaneOnline<TYPE,TYPEW>::GetPlane(TPoint3<TYPEW>& avg, TPoint3<TYPEW>& dir) const
+{
+	const TYPEW avgX(sumX/(TYPEW)size), avgY(sumY/(TYPEW)size), avgZ(sumZ/(TYPEW)size);
+	// assemble covariance (lower-triangular) matrix
+	typedef Eigen::Matrix<TYPEW,3,3> Mat3x3;
+	Mat3x3 A;
+	A(0,0) = sumSqX - TYPEW(2)*sumX*avgX + avgX*avgX*(TYPEW)size;
+	A(1,0) = sumXY - sumX*avgY - avgX*sumY + avgX*avgY*(TYPEW)size;
+	A(1,1) = sumSqY - TYPEW(2)*sumY*avgY + avgY*avgY*(TYPEW)size;
+	A(2,0) = sumXZ - sumX*avgZ - avgX*sumZ + avgX*avgZ*(TYPEW)size;
+	A(2,1) = sumYZ - sumY*avgZ - avgY*sumZ + avgY*avgZ*(TYPEW)size;
+	A(2,2) = sumSqZ - TYPEW(2)*sumZ*avgZ + avgZ*avgZ*(TYPEW)size;
+	// the plane normal is simply the eigenvector corresponding to least eigenvalue
+	const Eigen::SelfAdjointEigenSolver<Mat3x3> es(A);
+	ASSERT(ISEQUAL(es.eigenvectors().col(0).norm(), TYPEW(1)));
+	avg = TPoint3<TYPEW>(avgX,avgY,avgZ);
+	dir = es.eigenvectors().col(0);
+	const TYPEW* const vals(es.eigenvalues().data());
+	ASSERT(vals[0] <= vals[1] && vals[1] <= vals[2]);
+	return *reinterpret_cast<const TPoint3<TYPEW>*>(vals);
+}
+template <typename TYPE, typename TYPEW>
+template <typename TYPEE>
+TPoint3<TYPEE> FitPlaneOnline<TYPE,TYPEW>::GetPlane(TPlane<TYPEE,3>& plane) const
+{
+	TPoint3<TYPEW> avg, dir;
+	const TPoint3<TYPEW> quality(GetPlane(avg, dir));
+	plane.Set(TPoint3<TYPEE>(dir), TPoint3<TYPEE>(avg));
+	return TPoint3<TYPEE>(quality);
+}
+/*----------------------------------------------------------------*/
+
+
+// Least squares fits a plane to a 3D point set.
+// See http://www.geometrictools.com/Documentation/LeastSquaresFitting.pdf
+// Returns a fitting quality (1 - lambda_min/lambda_max):
+//  1 is best (zero variance orthogonally to the fitting line)
+//  0 is worst (isotropic case, returns a plane with default direction)
+template <typename TYPE>
+TYPE FitPlane(const TPoint3<TYPE>* points, size_t size, TPlane<TYPE>& plane) {
+	// compute a point on the plane, which is shown to be the centroid of the points
+	const Eigen::Map< const Eigen::Matrix<TYPE,Eigen::Dynamic,3,Eigen::RowMajor> > vPoints((const TYPE*)points, size, 3);
+	const TPoint3<TYPE> c(vPoints.colwise().mean());
+
+	// assemble covariance matrix; matrix numbering:
+	// 0          
+	// 1 2
+	// 3 4 5          
+	Eigen::Matrix<TYPE,3,3,Eigen::RowMajor> A(Eigen::Matrix<TYPE,3,3,Eigen::RowMajor>::Zero());
+	FOREACHRAWPTR(pPt, points, size) {
+		const TPoint3<TYPE> X(*pPt - c);
+		A(0,0) += X.x*X.x;
+		A(1,0) += X.x*X.y;
+		A(1,1) += X.y*X.y;
+		A(2,0) += X.x*X.z;
+		A(2,1) += X.y*X.z;
+		A(2,2) += X.z*X.z;
+	}
+
+	// the plane normal is simply the eigenvector corresponding to least eigenvalue
+	const Eigen::SelfAdjointEigenSolver< Eigen::Matrix<TYPE,3,3,Eigen::RowMajor> > es(A);
+	ASSERT(ISEQUAL(es.eigenvectors().col(0).norm(), TYPE(1)));
+	plane.Set(es.eigenvectors().col(0), c);
+	const TYPE* const vals(es.eigenvalues().data());
+	ASSERT(vals[0] <= vals[1] && vals[1] <= vals[2]);
+	return TYPE(1) - vals[0]/vals[1];
+}
+/*----------------------------------------------------------------*/
+
+
 // C L A S S  //////////////////////////////////////////////////////
 
 // Construct frustum given a projection matrix.
diff --git a/libs/Common/Ray.h b/libs/Common/Ray.h
index 96bf59a1a..8549a2ea7 100644
--- a/libs/Common/Ray.h
+++ b/libs/Common/Ray.h
@@ -41,6 +41,7 @@ class TTriangle
 
 	inline void Set(const POINT&, const POINT&, const POINT&);
 
+	inline POINT GetCenter() const;
 	inline AABB GetAABB() const;
 	inline PLANE GetPlane() const;
 
@@ -85,10 +86,6 @@ class TRay
 	bool Intersects(const TRIANGLE&, TYPE *t) const;
 	template <bool bCull>
 	bool Intersects(const TRIANGLE&, TYPE fL, TYPE *t) const;
-	bool Intersects(const POINT&, const POINT&, const POINT&,
-					bool bCull, TYPE *t) const;
-	bool Intersects(const POINT&, const POINT&, const POINT&,
-					bool bCull, TYPE fL, TYPE *t) const;
 	bool Intersects(const PLANE& plane, bool bCull,
 					TYPE *t, POINT* pPtHit) const;
 	inline TYPE IntersectsDist(const PLANE& plane) const;
diff --git a/libs/Common/Ray.inl b/libs/Common/Ray.inl
index 7ec8f23b5..1078f3086 100644
--- a/libs/Common/Ray.inl
+++ b/libs/Common/Ray.inl
@@ -30,6 +30,12 @@ inline void TTriangle<TYPE,DIMS>::Set(const POINT& p0, const POINT& p1, const PO
 /*----------------------------------------------------------------*/
 
 
+// get center
+template <typename TYPE, int DIMS>
+inline typename TTriangle<TYPE,DIMS>::POINT TTriangle<TYPE,DIMS>::GetCenter() const
+{
+	return (a + b + c) / TYPE(3);
+}
 // get AABB
 template <typename TYPE, int DIMS>
 inline typename TTriangle<TYPE,DIMS>::AABB TTriangle<TYPE,DIMS>::GetAABB() const
@@ -139,18 +145,18 @@ bool TRay<TYPE,DIMS>::Intersects(const TRIANGLE& tri, TYPE *t) const
 	// if close to 0 ray is parallel
 	const VECTOR pvec(m_vDir.cross(edge2));
 	const TYPE det(edge1.dot(pvec));
-	if ((bCull && (det < ZEROTOLERANCE<TYPE>())) || ISZERO(det))
+	if ((bCull && det < ZEROTOLERANCE<TYPE>()) || (!bCull && ISZERO(det)))
 		return false;
 
 	// distance to plane, < 0 means beyond plane
 	const VECTOR tvec(m_pOrig - tri.a);
 	const TYPE u(tvec.dot(pvec));
-	if (u < TYPE(0) || u > det)
+	if ((bCull && !ISINSIDE(u, -ZEROTOLERANCE<TYPE>(), det+ZEROTOLERANCE<TYPE>())) || (!bCull && (det > TYPE(0) ? (u < -ZEROTOLERANCE<TYPE>() || u > det+ZEROTOLERANCE<TYPE>()) : (u > ZEROTOLERANCE<TYPE>() || u < det-ZEROTOLERANCE<TYPE>()))))
 		return false;
 
 	const VECTOR qvec(tvec.cross(edge1));
 	const TYPE v(m_vDir.dot(qvec));
-	if (v < TYPE(0) || u+v > det)
+	if ((bCull && (v < -ZEROTOLERANCE<TYPE>() || u+v > det+ZEROTOLERANCE<TYPE>())) || (!bCull && (det > TYPE(0) ? (v < -ZEROTOLERANCE<TYPE>() || u+v > det+ZEROTOLERANCE<TYPE>()) : (v > ZEROTOLERANCE<TYPE>() || u+v < det-ZEROTOLERANCE<TYPE>()))))
 		return false;
 
 	if (t)
@@ -160,115 +166,17 @@ bool TRay<TYPE,DIMS>::Intersects(const TRIANGLE& tri, TYPE *t) const
 } // Intersects(Tri)
 /*----------------------------------------------------------------*/
 
-// test for intersection with triangle at certain length (line segment),
-// same as above but test distance to intersection vs segment length.
+// test for intersection with triangle at certain length (line segment);
+// same as above, but test distance to intersection vs segment length
 template <typename TYPE, int DIMS>
 template <bool bCull>
 bool TRay<TYPE,DIMS>::Intersects(const TRIANGLE& tri, TYPE fL, TYPE *t) const
 {
-	const VECTOR edge1(tri.b - tri.a);
-	const VECTOR edge2(tri.c - tri.a);
-
-	// if close to 0 ray is parallel
-	const VECTOR pvec(m_vDir.cross(edge2));
-	const TYPE det(edge1.dot(pvec));
-	if ((bCull && (det < ZEROTOLERANCE<TYPE>())) || ISZERO(det))
-		return false;
-
-	// distance to plane, < 0 means beyond plane
-	const VECTOR tvec(m_pOrig - tri.a);
-	const TYPE u(tvec.dot(pvec));
-	if (u < TYPE(0) || u > det)
-		return false;
-
-	const VECTOR qvec(tvec.cross(edge1));
-	const TYPE v(m_vDir.dot(qvec));
-	if (v < TYPE(0) || u+v > det)
-		return false;
-
-	if (t) {
-		*t = (edge2.dot(qvec)) / det;
-		// collision but not on segment?
-		if (*t > fL) return false;
-	}
-	else {
-		// collision but not on segment?
-		if ((edge2.dot(qvec)) / det > fL) return false;
-	}
-
-	return true;
-} // Intersects(Tri at length)
-/*----------------------------------------------------------------*/
-
-
-// test for intersection with triangle
-template <typename TYPE, int DIMS>
-bool TRay<TYPE,DIMS>::Intersects(const POINT& p0, const POINT& p1, const POINT& p2, bool bCull, TYPE *t) const
-{
-	const VECTOR edge1(p1 - p0);
-	const VECTOR edge2(p2 - p0);
-
-	// if close to 0 ray is parallel
-	const VECTOR pvec = m_vDir.cross(edge2);
-	const TYPE det = edge1.dot(pvec);
-	if ((bCull && (det < ZEROTOLERANCE<TYPE>())) || ISZERO(det))
-		return false;
-
-	// distance to plane, < 0 means beyond plane
-	const VECTOR tvec = m_pOrig - p0;
-	const TYPE u = tvec * pvec;
-	if (u < TYPE(0) || u > det)
-		return false;
-
-	const VECTOR qvec = tvec.cross(edge1);
-	const TYPE v = m_vDir.dot(qvec);
-	if (v < TYPE(0) || u+v > det)
-		return false;
-
-	if (t)
-		*t = (edge2.dot(qvec)) / det;
-
-	return true;
-} // Intersects(Tri)
-/*----------------------------------------------------------------*/
-
-
-// test for intersection with triangle at certain length (line segment),
-// same as above but test distance to intersection vs segment length.
-template <typename TYPE, int DIMS>
-bool TRay<TYPE,DIMS>::Intersects(const POINT& p0, const POINT& p1, const POINT& p2, bool bCull, TYPE fL, TYPE *t) const
-{
-	const VECTOR edge1(p1 - p0);
-	const VECTOR edge2(p2 - p0);
-
-	// if close to 0 ray is parallel
-	const VECTOR pvec = m_vDir.cross(edge2);
-	const TYPE det = edge1.dot(pvec);
-	if ((bCull && (det < ZEROTOLERANCE<TYPE>())) || ISZERO(det))
-		return false;
-
-	// distance to plane, < 0 means beyond plane
-	const VECTOR tvec = m_pOrig - p0;
-	const TYPE u = tvec.dot(pvec);
-	if (u < 0.0f || u > det)
-		return false;
-
-	const VECTOR qvec = tvec.cross(edge1);
-	const TYPE v = m_vDir.dot(qvec);
-	if (v < TYPE(0) || u+v > det)
-		return false;
-
-	if (t) {
-		*t = (edge2.dot(qvec)) / det;
-		// collision but not on segment?
-		if (*t > fL) return false;
-	}
-	else {
-		// collision but not on segment?
-		if ((edge2.dot(qvec)) / det > fL) return false;
-	}
-
-	return true;
+	TYPE _t;
+	TYPE* const pt(t ? t : &_t);
+	Intersects(tri, pt);
+	// collision but not on segment?
+	return *pt <= fL;
 } // Intersects(Tri at length)
 /*----------------------------------------------------------------*/
 
@@ -1007,3 +915,33 @@ GCLASS TConeIntersect<TYPE,DIMS>::Classify(const POINT& p, TYPE& t) const
 	return PLANAR;
 } // Classify
 /*----------------------------------------------------------------*/
+
+template <typename TYPE>
+bool TestRayTriangleIntersection(unsigned iters) {
+	typedef SEACAVE::TTriangle<TYPE,3> Triangle;
+	typedef SEACAVE::TRay<TYPE,3> Ray;
+	typedef typename Ray::POINT Point;
+	typedef typename Point::Scalar Type;
+	constexpr Type zeroEps(ZEROTOLERANCE<Type>() * 1000);
+	for (unsigned iter=0; iter<iters; ++iter) {
+		const Type scale(10);
+		const Triangle triangle(Point::Random()*scale, Point::Random()*scale, Point::Random()*scale);
+		Type t;
+		const Point center(triangle.GetCenter());
+		const Ray rayCenter(Point::Random()*scale, center, true);
+		if (!rayCenter.template Intersects<false>(triangle, &t))
+			return false;
+		const Point _center(rayCenter.GetPoint(t));
+		if ((_center-center).norm() > zeroEps)
+			return false;
+		const BYTE o((BYTE)(RAND()%3));
+		const Point side((triangle[o]+triangle[(o+1)%3]) / TYPE(2));
+		const Ray raySide(rayCenter.m_pOrig, side, true);
+		if (!raySide.template Intersects<false>(triangle, &t))
+			return false;
+		const Point _side(raySide.GetPoint(t));
+		if ((_side-side).norm() > zeroEps)
+			return false;
+	}
+	return true;
+}
diff --git a/libs/Common/Rotation.h b/libs/Common/Rotation.h
index 585eefd93..ebc6b85f9 100644
--- a/libs/Common/Rotation.h
+++ b/libs/Common/Rotation.h
@@ -296,6 +296,9 @@ class TRMatrixBase : public TMatrix<TYPE,3,3>
 	/** @brief Initialization with the rotation from roll/pitch/yaw (in rad) */
 	inline TRMatrixBase(TYPE roll, TYPE pitch, TYPE yaw);
 
+	/** @brief Initialization with the rotation from direction dir0 to direction dir1 */
+	inline TRMatrixBase(const Vec& dir0, const Vec& dir1);
+
 	template <typename T> inline TRMatrixBase& operator = (const cv::Matx<T,3,3>& rhs) { BaseBase::operator = (rhs); return *this; }
 	inline TRMatrixBase& operator = (const cv::Mat& rhs) { BaseBase::operator = (rhs); return *this; }
 	#ifdef _USE_EIGEN
@@ -459,6 +462,12 @@ class TRMatrixBase : public TMatrix<TYPE,3,3>
 		@author jw */
 	void SetFromHV(const Vec& xh, const Vec& vy);
 
+	/** @brief Create rotation matrix that rotates from dir0 to dir1
+		@param dir0 represents the first (reference) direction vector
+		@param dir1 represents the second (target) direction vector
+		@author cDc */
+	TRMatrixBase& SetFromDir2Dir(const Vec& dir0, const Vec& dir1);
+
 	/** @brief Calculates quaternion representation for this rotation matrix
 		@attention Scalar part of quaternion will always be non-negative
 				   for sake of uniqueness of the resulting quaternion!
diff --git a/libs/Common/Rotation.inl b/libs/Common/Rotation.inl
index f7868723e..81b2d0097 100644
--- a/libs/Common/Rotation.inl
+++ b/libs/Common/Rotation.inl
@@ -413,7 +413,7 @@ int TQuaternion<TYPE>::SetXYZ(TYPE radX, TYPE radY, TYPE radZ)
 	q_x.Mult(q_y);
 	q_x.Mult(q_z);
 
-	(*this) = q_x;
+	*this = q_x;
 
 	return 0;
 }
@@ -432,7 +432,7 @@ int TQuaternion<TYPE>::SetZYX(TYPE radX, TYPE radY, TYPE radZ)
 	q_z.Mult(q_y);
 	q_z.Mult(q_x);
 
-	(*this) = q_z;
+	*this = q_z;
 
 	return 0;
 }
@@ -551,6 +551,11 @@ inline TRMatrixBase<TYPE>::TRMatrixBase(TYPE roll, TYPE pitch, TYPE yaw)
 {
 	SetXYZ(roll, pitch, yaw);
 }
+template <typename TYPE>
+inline TRMatrixBase<TYPE>::TRMatrixBase(const Vec& dir0, const Vec& dir1)
+{
+	SetFromDir2Dir(dir0, dir1);
+}
 
 
 template <typename TYPE>
@@ -580,7 +585,7 @@ void TRMatrixBase<TYPE>::SetXYZ(TYPE PhiX, TYPE PhiY, TYPE PhiZ)
 	Rx(2,1) = -Rx(1,2); //sin(PhiX);
 	Rx(2,2) = Rx(1,1); //cos(PhiX);
 
-	(*this) = Rx*Ry*Rz;
+	*this = Rx*Ry*Rz;
 	#else
 	const TYPE sin_x = sin(PhiX);
 	const TYPE sin_y = sin(PhiY);
@@ -627,7 +632,7 @@ void TRMatrixBase<TYPE>::SetZYX(TYPE PhiX, TYPE PhiY, TYPE PhiZ)
   Rx(2,1) = -Rx(1,2); //sin(PhiX);
   Rx(2,2) = Rx(1,1); //cos(PhiX);
 
-  (*this) = Rz*Ry*Rx;
+  *this = Rz*Ry*Rx;
 }
 
 
@@ -657,7 +662,7 @@ void TRMatrixBase<TYPE>::SetYXZ(TYPE PhiY, TYPE PhiX, TYPE PhiZ)
   Rx(2,1) = -Rx(1,2); //sin(PhiX);
   Rx(2,2) = Rx(1,1); //cos(PhiX);
 
-  (*this) = Ry*Rx*Rz;
+  *this = Ry*Rx*Rz;
 }
 
 
@@ -687,7 +692,7 @@ void TRMatrixBase<TYPE>::SetZXY(TYPE PhiX, TYPE PhiY, TYPE PhiZ)
   Rx(2,1) = -Rx(1,2); //sin(PhiX);
   Rx(2,2) = Rx(1,1); //cos(PhiX);
 
-  (*this) = Rz*Rx*Ry;
+  *this = Rz*Rx*Ry;
 }
 
 
@@ -697,7 +702,7 @@ void TRMatrixBase<TYPE>::Set(const Vec& wa, TYPE phi)
 {
   // zero rotation  results in identity matrix
   if (ISZERO(phi)) {
-	(*this) = Base::IDENTITY;
+	*this = Base::IDENTITY;
 	return;
   }
 
@@ -720,7 +725,7 @@ void TRMatrixBase<TYPE>::Set(const Vec& wa, TYPE phi)
 
   const Mat Sin_O(Omega *  sin(phi));
   const Mat Cos_O_O((Omega * Omega) * (TYPE(1)-cos(phi)));
-  (*this) = Base::IDENTITY + Sin_O + Cos_O_O;
+  *this = Base::IDENTITY + Sin_O + Cos_O_O;
 }
 
 
@@ -1164,7 +1169,34 @@ void TRMatrixBase<TYPE>::SetFromHV(const Vec& xxx, const Vec& yyy)
 	// compute y base orthogonal in rhs
 	const Vec y0(normalized(cross(z0, x0)));
 
-	(*this).SetFromColumnVectors(x0,  y0,  z0);
+	SetFromColumnVectors(x0,  y0,  z0);
+}
+
+
+template <typename TYPE>
+TRMatrixBase<TYPE>& TRMatrixBase<TYPE>::SetFromDir2Dir(const Vec& dir0, const Vec& dir1)
+{
+	ASSERT(ISEQUAL(norm(dir0), TYPE(1)));
+	ASSERT(ISEQUAL(norm(dir1), TYPE(1)));
+	const TYPE cos01(CLAMP(dir1.dot(dir0), TYPE(-1), TYPE(1)));
+	const TYPE sin01Sq(TYPE(1) - SQUARE(cos01));
+	if (sin01Sq > EPSILONTOLERANCE<TYPE>()) {
+		const Vec v(cross(dir0, dir1));
+		const Mat V(CreateCrossProductMatrix3T<TYPE>(v));
+		*this = Mat::IDENTITY + V + (V*V)*((TYPE(1)-cos01)/sin01Sq);
+	} else {
+		*this = Mat::ZERO;
+		if (cos01 > TYPE(0)) {
+			Base::operator()(0,0) = TYPE(1);
+			Base::operator()(1,1) = TYPE(1);
+			Base::operator()(2,2) = TYPE(1);
+		} else {
+			Base::operator()(0,0) = TYPE(-1);
+			Base::operator()(1,1) = TYPE(-1);
+			Base::operator()(2,2) = TYPE(-1);
+		}
+	}
+	return *this;
 }
 
 
@@ -1202,7 +1234,7 @@ inline void TRMatrixBase<TYPE>::SetRotationAxisAngle(const Vec& rot)
 {
 	#if 0
 	// set rotation using Rodriguez formula
-	(*this) = Mat::IDENTITY;
+	*this = Mat::IDENTITY;
 	const TYPE thetaSq = normSq(rot);
 	if (thetaSq < TYPE(1e-12))
 		return;
@@ -1254,7 +1286,7 @@ inline void TRMatrixBase<TYPE>::SetRotationAxisAngle(const Vec& rot)
 		val[8] = TYPE(1);
 	}
 	#else
-	(*this) = Eigen::SO3<TYPE>(rot).get_matrix();
+	*this = Eigen::SO3<TYPE>(rot).get_matrix();
 	#endif
 }
 
@@ -1262,7 +1294,7 @@ template <typename TYPE>
 inline void TRMatrixBase<TYPE>::Apply(const Vec& delta)
 {
 	const TRMatrixBase dR(delta);
-	(*this) = dR * (*this);
+	*this = dR * (*this);
 }
 
 template <typename TYPE>
@@ -1492,4 +1524,40 @@ void TRMatrixBase<TYPE>::EnforceOrthogonality()
 }
 /*----------------------------------------------------------------*/
 
+
+// if the matrix is a rotation, then the the transpose should be the inverse
+template<typename TYPE>
+inline bool IsRotationMatrix(const TMatrix<TYPE,3,3>& R) {
+	ASSERT(sizeof(TMatrix<TYPE,3,3>) == sizeof(TRMatrixBase<TYPE>));
+	return ((const TRMatrixBase<TYPE>&)R).IsValid();
+} // IsRotationMatrix
+template<typename TYPE, int O>
+inline bool IsRotationMatrix(const Eigen::Matrix<TYPE,3,3,O>& R) {
+	// the trace should be three and the determinant should be one
+	return (ISEQUAL(R.determinant(), TYPE(1)) && ISEQUAL((R*R.transpose()).trace(), TYPE(3)));
+} // IsRotationMatrix
+/*----------------------------------------------------------------*/
+
+// enforce matrix orthogonality
+template<typename TYPE>
+inline void EnsureRotationMatrix(TMatrix<TYPE,3,3>& R) {
+	ASSERT(sizeof(TMatrix<TYPE,3,3>) == sizeof(TRMatrixBase<TYPE>));
+	((TRMatrixBase<TYPE>&)R).EnforceOrthogonality();
+} // EnsureRotationMatrix
+/*----------------------------------------------------------------*/
+
+
+// compute the distance on SO(3) between the two given rotations
+// using log(R) as in: "Efficient and Robust Large-Scale Rotation Averaging", 2013
+// same result as above, but returns directly the angle
+template<typename TYPE>
+inline TYPE ComputeAngleSO3(const TMatrix<TYPE,3,3>& I) {
+	return TYPE(norm(((const TRMatrixBase<TYPE>&)I).GetRotationAxisAngle()));
+} // ComputeAngleSO3
+template<typename TYPE>
+FORCEINLINE TYPE ComputeAngleSO3(const TMatrix<TYPE,3,3>& R1, const TMatrix<TYPE,3,3>& R2) {
+	return ComputeAngleSO3(TMatrix<TYPE,3,3>(R1*R2.t()));
+} // ComputeAngleSO3
+/*----------------------------------------------------------------*/
+
 } // namespace SEACAVE
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 86316cdbb..d5dcb27e2 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -39,6 +39,11 @@
 #else
 #include <stdint.h>
 #endif
+#ifdef _SUPPORT_CPP17
+#if !defined(__GNUC__) || (__GNUC__ > 7)
+#include <filesystem>
+#endif
+#endif
 #include <new>
 #include <string>
 #include <codecvt>
@@ -623,11 +628,11 @@ constexpr T& NEGATE(T& a) {
 }
 template<typename T>
 constexpr T SQUARE(const T& a) {
-	return (a * a);
+	return a * a;
 }
 template<typename T>
 constexpr T CUBE(const T& a) {
-	return (a * a * a);
+	return a * a * a;
 }
 template<typename T>
 inline T SQRT(const T& a) {
@@ -646,7 +651,7 @@ inline T LOG10(const T& a) {
 	return T(log10(a));
 }
 template<typename T>
-constexpr T powi(T base, int exp) {
+constexpr T powi(T base, unsigned exp) {
 	T result(1);
 	while (exp) {
 		if (exp & 1)
@@ -656,15 +661,15 @@ constexpr T powi(T base, int exp) {
 	}
 	return result;
 }
-constexpr int log2i(int val) {
+constexpr int log2i(unsigned val) {
 	int ret = -1;
-	while (val > 0) {
+	while (val) {
 		val >>= 1;
-		ret++;
+		++ret;
 	}
 	return ret;
 }
-template <int N> constexpr inline int log2i() { return 1+log2i<(N>>1)>(); }
+template <unsigned N> constexpr inline int log2i() { return 1+log2i<(N>>1)>(); }
 template <>   constexpr inline int log2i<0>() { return -1; }
 template <>   constexpr inline int log2i<1>() { return 0; }
 template <>   constexpr inline int log2i<2>() { return 1; }
@@ -908,46 +913,52 @@ FORCEINLINE int CRound2Int(const double& x) {
 	return c.i;
 }
 #endif
-FORCEINLINE int Floor2Int(float x) {
+template <typename INTTYPE=int>
+FORCEINLINE INTTYPE Floor2Int(float x) {
 	#ifdef _FAST_FLOAT2INT
 	return CRound2Int(double(x)-_float2int_doublemagicroundeps);
 	#else
-	return int(floor(x));
+	return static_cast<INTTYPE>(floor(x));
 	#endif
 }
-FORCEINLINE int Floor2Int(double x) {
+template <typename INTTYPE=int>
+FORCEINLINE INTTYPE Floor2Int(double x) {
 	#ifdef _FAST_FLOAT2INT
 	return CRound2Int(x-_float2int_doublemagicroundeps);
 	#else
-	return int(floor(x));
+	return static_cast<INTTYPE>(floor(x));
 	#endif
 }
-FORCEINLINE int Ceil2Int(float x) {
+template <typename INTTYPE=int>
+FORCEINLINE INTTYPE Ceil2Int(float x) {
 	#ifdef _FAST_FLOAT2INT
 	return CRound2Int(double(x)+_float2int_doublemagicroundeps);
 	#else
-	return int(ceil(x));
+	return static_cast<INTTYPE>(ceil(x));
 	#endif
 }
-FORCEINLINE int Ceil2Int(double x) {
+template <typename INTTYPE=int>
+FORCEINLINE INTTYPE Ceil2Int(double x) {
 	#ifdef _FAST_FLOAT2INT
 	return CRound2Int(x+_float2int_doublemagicroundeps);
 	#else
-	return int(ceil(x));
+	return static_cast<INTTYPE>(ceil(x));
 	#endif
 }
-FORCEINLINE int Round2Int(float x) {
+template <typename INTTYPE=int>
+FORCEINLINE INTTYPE Round2Int(float x) {
 	#ifdef _FAST_FLOAT2INT
 	return CRound2Int(double(x)+_float2int_doublemagicdelta);
 	#else
-	return int(floor(x+.5f));
+	return static_cast<INTTYPE>(floor(x+.5f));
 	#endif
 }
-FORCEINLINE int Round2Int(double x) {
+template <typename INTTYPE=int>
+FORCEINLINE INTTYPE Round2Int(double x) {
 	#ifdef _FAST_FLOAT2INT
 	return CRound2Int(x+_float2int_doublemagicdelta);
 	#else
-	return int(floor(x+.5));
+	return static_cast<INTTYPE>(floor(x+.5));
 	#endif
 }
 /*----------------------------------------------------------------*/
@@ -1179,12 +1190,14 @@ template<typename _Tp>
 inline bool   ISFINITE(const _Tp* x, size_t n)	{ for (size_t i=0; i<n; ++i) if (ISINFORNAN(x[i])) return false; return true; }
 
 template<typename _Tp>
-inline bool   ISINSIDE(_Tp v,_Tp l0,_Tp l1)	{ return (l0 <= v && v < l1); }
+inline bool   ISINSIDE(_Tp v,_Tp l0,_Tp l1)	{ ASSERT(l0<l1); return l0 <= v && v < l1; }
+template<typename _Tp>
+inline bool   ISINSIDES(_Tp v,_Tp l0,_Tp l1)	{ return l0 < l1 ? ISINSIDE(v, l0, l1) : ISINSIDE(v, l1, l0); }
 
 template<typename _Tp>
-inline _Tp    CLAMP(_Tp v, _Tp c0, _Tp c1)	{ ASSERT(c0<=c1); return MINF(MAXF(v, c0), c1); }
+inline _Tp    CLAMP(_Tp v, _Tp l0, _Tp l1)	{ ASSERT(l0<=l1); return MINF(MAXF(v, l0), l1); }
 template<typename _Tp>
-inline _Tp    CLAMPS(_Tp v, _Tp c0, _Tp c1)	{ if (c0 <= c1) return CLAMP(v, c0, c1); return CLAMP(v, c1, c0); }
+inline _Tp    CLAMPS(_Tp v, _Tp l0, _Tp l1)	{ return l0 <= l1 ? CLAMP(v, l0, l1) : CLAMP(v, l1, l0); }
 
 template<typename _Tp>
 inline _Tp    SIGN(_Tp x)					{ if (x > _Tp(0)) return _Tp(1); if (x < _Tp(0)) return _Tp(-1); return _Tp(0); }
@@ -1193,18 +1206,18 @@ template<typename _Tp>
 inline _Tp    ABS(_Tp    x)					{ return std::abs(x); }
 
 template<typename _Tp>
-inline _Tp    ZEROTOLERANCE()				{ return _Tp(0); }
+constexpr _Tp    ZEROTOLERANCE()			{ return _Tp(0); }
 template<>
-inline float  ZEROTOLERANCE()				{ return FZERO_TOLERANCE; }
+constexpr float  ZEROTOLERANCE()			{ return FZERO_TOLERANCE; }
 template<>
-inline double ZEROTOLERANCE()				{ return ZERO_TOLERANCE; }
+constexpr double ZEROTOLERANCE()			{ return ZERO_TOLERANCE; }
 
 template<typename _Tp>
-inline _Tp    EPSILONTOLERANCE()			{ return std::numeric_limits<_Tp>::epsilon(); }
+constexpr _Tp    EPSILONTOLERANCE()			{ return std::numeric_limits<_Tp>::epsilon(); }
 template<>
-inline float  EPSILONTOLERANCE()			{ return 0.00001f; }
+constexpr float  EPSILONTOLERANCE()			{ return 0.00001f; }
 template<>
-inline double EPSILONTOLERANCE()			{ return 1e-10; }
+constexpr double EPSILONTOLERANCE()			{ return 1e-10; }
 
 inline bool   ISZERO(float  x)				{ return ABS(x) < FZERO_TOLERANCE; }
 inline bool   ISZERO(double x)				{ return ABS(x) < ZERO_TOLERANCE; }
@@ -1384,8 +1397,8 @@ class TPoint3 : public cv::Point3_<TYPE>
 	inline TYPE* ptr() { return &x; }
 
 	// 1D element access
-	inline const TYPE& operator [](size_t i) const { ASSERT(i>=0 && i<3); return ptr()[i]; }
-	inline TYPE& operator [](size_t i) { ASSERT(i>=0 && i<3); return ptr()[i]; }
+	inline const TYPE& operator [](BYTE i) const { ASSERT(i<3); return ptr()[i]; }
+	inline TYPE& operator [](BYTE i) { ASSERT(i<3); return ptr()[i]; }
 
 	// Access point as vector equivalent
 	inline operator const Vec& () const { return *((const Vec*)this); }
@@ -1602,16 +1615,17 @@ class TDMatrix : public cv::Mat_<TYPE>
 	inline int area() const { ASSERT(dims == 2); return cols*rows; }
 
 	/// Is this coordinate inside the 2D matrix?
-	inline bool isInside(const Size& pt) const {
-		return pt.width>=0 && pt.height>=0 && pt.width<Base::size().width && pt.height<Base::size().height;
+	template <typename T>
+	static inline typename std::enable_if<std::is_integral<T>::value,bool>::type isInside(const cv::Point_<T>& pt, const cv::Size& size) {
+		return pt.x>=T(0) && pt.y>=T(0) && pt.x<T(size.width) && pt.y<T(size.height);
 	}
 	template <typename T>
-	inline typename std::enable_if<std::is_integral<T>::value,bool>::type isInside(const cv::Point_<T>& pt) const {
-		return pt.x>=0 && pt.y>=0 && pt.x<Base::size().width && pt.y<Base::size().height;
+	static inline typename std::enable_if<std::is_floating_point<T>::value,bool>::type isInside(const cv::Point_<T>& pt, const cv::Size& size) {
+		return pt.x>=T(0) && pt.y>=T(0) && pt.x<=T(size.width) && pt.y<=T(size.height);
 	}
 	template <typename T>
-	inline typename std::enable_if<std::is_floating_point<T>::value,bool>::type isInside(const cv::Point_<T>& pt) const {
-		return pt.x>=T(0) && pt.y>=T(0) && pt.x<=T(Base::size().width) && pt.y<=T(Base::size().height);
+	inline bool isInside(const cv::Point_<T>& pt) const {
+		return isInside<T>(pt, Base::size());
 	}
 
 	/// Is this coordinate inside the 2D matrix, and not too close to the edges?
@@ -1721,8 +1735,8 @@ class TDMatrix : public cv::Mat_<TYPE>
 	}
 
 	/// pointer to the beginning of the matrix data
-	inline const TYPE* getData() const { ASSERT(cv::Mat::isContinuous()); return (const TYPE*)data; }
-	inline TYPE* getData() { ASSERT(cv::Mat::isContinuous()); return (TYPE*)data; }
+	inline const TYPE* getData() const { ASSERT(cv::Mat::empty() || cv::Mat::isContinuous()); return (const TYPE*)data; }
+	inline TYPE* getData() { ASSERT(cv::Mat::empty() || cv::Mat::isContinuous()); return (TYPE*)data; }
 
 	#ifdef _USE_EIGEN
 	// Access point as Eigen::Map equivalent
@@ -1746,8 +1760,8 @@ typedef TDMatrix<int32_t> DMatrix32S;
 typedef TDMatrix<uint32_t> DMatrix32U;
 typedef TDMatrix<float> DMatrix32F;
 typedef TDMatrix<double> DMatrix64F;
-typedef SEACAVE::cList<DMatrix, const DMatrix&, 2> DMatrixArr;
-typedef SEACAVE::cList<cv::Mat, const cv::Mat&, 2> MatArr;
+typedef CLISTDEF2(DMatrix) DMatrixArr;
+typedef CLISTDEF2(cv::Mat) MatArr;
 /*----------------------------------------------------------------*/
 
 
@@ -1799,7 +1813,7 @@ typedef TDVector<int32_t> DVector32S;
 typedef TDVector<uint32_t> DVector32U;
 typedef TDVector<float> DVector32F;
 typedef TDVector<double> DVector64F;
-typedef SEACAVE::cList<DVector, const DVector&, 2> DVectorArr;
+typedef CLISTDEF2(DVector) DVectorArr;
 /*----------------------------------------------------------------*/
 
 
@@ -2462,7 +2476,7 @@ struct TIndexScore {
 };
 /*----------------------------------------------------------------*/
 typedef TIndexScore<uint32_t, float> IndexScore;
-typedef SEACAVE::cList<IndexScore, const IndexScore&, 0> IndexScoreArr;
+typedef CLISTDEF0(IndexScore) IndexScoreArr;
 /*----------------------------------------------------------------*/
 
 
@@ -2514,7 +2528,7 @@ struct PairIdx {
 	inline bool operator==(const PairIdx& r) const { return (idx == r.idx); }
 };
 /*----------------------------------------------------------------*/
-typedef SEACAVE::cList<PairIdx, const PairIdx&, 0> PairIdxArr;
+typedef CLISTDEF0(PairIdx) PairIdxArr;
 inline PairIdx MakePairIdx(uint32_t idxImageA, uint32_t idxImageB) {
 	return (idxImageA<idxImageB ? PairIdx(idxImageA, idxImageB) : PairIdx(idxImageB, idxImageA));
 }
@@ -2787,6 +2801,7 @@ class SO2
 #endif // _USE_EIGEN
 
 #include "Types.inl"
+#include "Util.inl"
 #include "Rotation.h"
 #include "Sphere.h"
 #include "AABB.h"
@@ -2794,7 +2809,6 @@ class SO2
 #include "Plane.h"
 #include "Ray.h"
 #include "Octree.h"
-#include "Util.inl"
 #include "UtilCUDA.h"
 
 #endif // __SEACAVE_TYPES_H__
diff --git a/libs/Common/Types.inl b/libs/Common/Types.inl
index 55c754751..b951c7931 100644
--- a/libs/Common/Types.inl
+++ b/libs/Common/Types.inl
@@ -41,7 +41,7 @@ INT_TYPE cvRANSACUpdateNumIters(REAL_TYPE p, REAL_TYPE ep, INT_TYPE modelPoints,
 		return 0;
 	num = SEACAVE::LOGN(num);
 	denom = SEACAVE::LOGN(denom);
-	return (denom >= 0 || -num >= (-denom)*maxIters ? maxIters : (INT_TYPE)ROUND2INT(num/denom));
+	return (denom >= 0 || -num >= (-denom)*maxIters ? maxIters : ROUND2INT<INT_TYPE>(num/denom));
 }
 #endif
 
@@ -571,58 +571,58 @@ FORCEINLINE bool ISEQUAL(const cv::Matx<TYPE,m,n>& v1, const cv::Matx<TYPE,m,n>&
 }
 
 // round
-template <typename TYPE>
-FORCEINLINE SEACAVE::TPoint2<int32_t> Floor2Int(const cv::Point_<TYPE>& v)
+template <typename TYPE, typename INTTYPE=int>
+FORCEINLINE SEACAVE::TPoint2<INTTYPE> Floor2Int(const cv::Point_<TYPE>& v)
 {
-	return SEACAVE::TPoint2<int32_t>(FLOOR2INT(v.x), FLOOR2INT(v.y));
+	return SEACAVE::TPoint2<INTTYPE>(FLOOR2INT(v.x), FLOOR2INT(v.y));
 }
-template <typename TYPE>
-FORCEINLINE SEACAVE::TPoint2<int32_t> Ceil2Int(const cv::Point_<TYPE>& v)
+template <typename TYPE, typename INTTYPE=int>
+FORCEINLINE SEACAVE::TPoint2<INTTYPE> Ceil2Int(const cv::Point_<TYPE>& v)
 {
-	return SEACAVE::TPoint2<int32_t>(CEIL2INT(v.x), CEIL2INT(v.y));
+	return SEACAVE::TPoint2<INTTYPE>(CEIL2INT(v.x), CEIL2INT(v.y));
 }
-template <typename TYPE>
-FORCEINLINE SEACAVE::TPoint2<int32_t> Round2Int(const cv::Point_<TYPE>& v)
+template <typename TYPE, typename INTTYPE=int>
+FORCEINLINE SEACAVE::TPoint2<INTTYPE> Round2Int(const cv::Point_<TYPE>& v)
 {
-	return SEACAVE::TPoint2<int32_t>(ROUND2INT(v.x), ROUND2INT(v.y));
+	return SEACAVE::TPoint2<INTTYPE>(ROUND2INT(v.x), ROUND2INT(v.y));
 }
 
-template <typename TYPE>
-FORCEINLINE SEACAVE::TPoint3<int32_t> Floor2Int(const cv::Point3_<TYPE>& v)
+template <typename TYPE, typename INTTYPE=int>
+FORCEINLINE SEACAVE::TPoint3<INTTYPE> Floor2Int(const cv::Point3_<TYPE>& v)
 {
-	return SEACAVE::TPoint3<int32_t>(FLOOR2INT(v.x), FLOOR2INT(v.y), FLOOR2INT(v.z));
+	return SEACAVE::TPoint3<INTTYPE>(FLOOR2INT(v.x), FLOOR2INT(v.y), FLOOR2INT(v.z));
 }
-template <typename TYPE>
-FORCEINLINE SEACAVE::TPoint3<int32_t> Ceil2Int(const cv::Point3_<TYPE>& v)
+template <typename TYPE, typename INTTYPE=int>
+FORCEINLINE SEACAVE::TPoint3<INTTYPE> Ceil2Int(const cv::Point3_<TYPE>& v)
 {
-	return SEACAVE::TPoint3<int32_t>(CEIL2INT(v.x), CEIL2INT(v.y), CEIL2INT(v.z));
+	return SEACAVE::TPoint3<INTTYPE>(CEIL2INT(v.x), CEIL2INT(v.y), CEIL2INT(v.z));
 }
-template <typename TYPE>
-FORCEINLINE SEACAVE::TPoint3<int32_t> Round2Int(const cv::Point3_<TYPE>& v)
+template <typename TYPE, typename INTTYPE=int>
+FORCEINLINE SEACAVE::TPoint3<INTTYPE> Round2Int(const cv::Point3_<TYPE>& v)
 {
-	return SEACAVE::TPoint3<int32_t>(ROUND2INT(v.x), ROUND2INT(v.y), ROUND2INT(v.z));
+	return SEACAVE::TPoint3<INTTYPE>(ROUND2INT(v.x), ROUND2INT(v.y), ROUND2INT(v.z));
 }
 
-template <typename TYPE, int m, int n>
-FORCEINLINE SEACAVE::TMatrix<TYPE,m,n> Floor2Int(const cv::Matx<TYPE,m,n>& v)
+template <typename TYPE, int m, int n, typename INTTYPE=int>
+FORCEINLINE SEACAVE::TMatrix<INTTYPE,m,n> Floor2Int(const cv::Matx<TYPE,m,n>& v)
 {
-	SEACAVE::TMatrix<TYPE,m,n> nv;
+	SEACAVE::TMatrix<INTTYPE,m,n> nv;
 	for (int i=0; i<m*n; ++i)
 		nv.val[i] = Floor2Int(v.val[i]);
 	return nv;
 }
-template <typename TYPE, int m, int n>
-FORCEINLINE SEACAVE::TMatrix<TYPE,m,n> Ceil2Int(const cv::Matx<TYPE,m,n>& v)
+template <typename TYPE, int m, int n, typename INTTYPE=int>
+FORCEINLINE SEACAVE::TMatrix<INTTYPE,m,n> Ceil2Int(const cv::Matx<TYPE,m,n>& v)
 {
-	SEACAVE::TMatrix<TYPE,m,n> nv;
+	SEACAVE::TMatrix<INTTYPE,m,n> nv;
 	for (int i=0; i<m*n; ++i)
 		nv.val[i] = Ceil2Int(v.val[i]);
 	return nv;
 }
-template <typename TYPE, int m, int n>
-FORCEINLINE SEACAVE::TMatrix<TYPE,m,n> Round2Int(const cv::Matx<TYPE,m,n>& v)
+template <typename TYPE, int m, int n, typename INTTYPE=int>
+FORCEINLINE SEACAVE::TMatrix<INTTYPE,m,n> Round2Int(const cv::Matx<TYPE,m,n>& v)
 {
-	SEACAVE::TMatrix<TYPE,m,n> nv;
+	SEACAVE::TMatrix<INTTYPE,m,n> nv;
 	for (int i=0; i<m*n; ++i)
 		nv.val[i] = Round2Int(v.val[i]);
 	return nv;
diff --git a/libs/Common/Util.cpp b/libs/Common/Util.cpp
index d263c744a..95e5f6ae8 100644
--- a/libs/Common/Util.cpp
+++ b/libs/Common/Util.cpp
@@ -22,11 +22,6 @@
 #endif
 #include <pwd.h>
 #endif
-#ifdef _SUPPORT_CPP17
-#if !defined(__GNUC__) || (__GNUC__ > 7)
-#include <filesystem>
-#endif
-#endif // _SUPPORT_CPP17
 
 using namespace SEACAVE;
 
diff --git a/libs/Common/Util.inl b/libs/Common/Util.inl
index 67199026e..381975929 100644
--- a/libs/Common/Util.inl
+++ b/libs/Common/Util.inl
@@ -13,6 +13,23 @@ namespace SEACAVE {
 
 // I N L I N E /////////////////////////////////////////////////////
 
+// normalize inhomogeneous 2D point by the given camera intrinsics K
+// K is assumed to be the [3,3] triangular matrix with: fx, fy, s, cx, cy and scale 1
+template<typename TYPE1, typename TYPE2, typename TYPE3>
+inline void NormalizeProjection(const TYPE1* K, const TYPE2* x, TYPE3* n) {
+	ASSERT(ISZERO(K[3]) && ISZERO(K[6]) && ISZERO(K[7]) && ISEQUAL(K[8], TYPE1(1)));
+	n[0] = TYPE3(K[0]*x[0] + K[1]*x[1] + K[2]);
+	n[1] = TYPE3(            K[4]*x[1] + K[5]);
+} // NormalizeProjection
+// same as above, but using K inverse
+template<typename TYPE1, typename TYPE2, typename TYPE3>
+inline void NormalizeProjectionInv(const TYPE1* K, const TYPE2* x, TYPE3* n) {
+	ASSERT(ISZERO(K[3]) && ISZERO(K[6]) && ISZERO(K[7]) && ISEQUAL(K[8], TYPE1(1)));
+	n[0] = TYPE3((K[4]*x[0] - K[1]*x[1] + (K[5]*K[1]-K[2]*K[4])) / (K[0]*K[4]));
+	n[1] = TYPE3((x[1] - K[5]) / K[4]);
+} // NormalizeProjectionInv
+/*----------------------------------------------------------------*/
+
 // compute relative pose of the given two cameras
 template<typename TYPE>
 inline void ComputeRelativeRotation(const TMatrix<TYPE,3,3>& Ri, const TMatrix<TYPE,3,3>& Rj, TMatrix<TYPE,3,3>& Rij) {
@@ -25,6 +42,57 @@ inline void ComputeRelativePose(const TMatrix<TYPE,3,3>& Ri, const TPoint3<TYPE>
 } // ComputeRelativePose
 /*----------------------------------------------------------------*/
 
+// Triangulate the position of a 3D point
+// given two corresponding normalized projections and the pose of the second camera relative to the first one;
+// returns the triangulated 3D point from the point of view of the first camera
+template<typename TYPE1, typename TYPE2>
+bool TriangulatePoint3D(
+	const TMatrix<TYPE1,3,3>& R, const TPoint3<TYPE1>& C,
+	const TPoint2<TYPE2>& pt1, const TPoint2<TYPE2>& pt2,
+	TPoint3<TYPE1>& X
+) {
+	// convert image points to 3-vectors (of unit length)
+	// used to describe landmark observations/bearings in camera frames
+	const TPoint3<TYPE1> f1(pt1.x,pt1.y,1);
+	const TPoint3<TYPE1> f2(pt2.x,pt2.y,1);
+	const TPoint3<TYPE1> f2_unrotated = R.t() * f2;
+	const TPoint2<TYPE1> b(C.dot(f1), C.dot(f2_unrotated));
+	// optimized inversion of A
+	const TYPE1 a = normSq(f1);
+	const TYPE1 c = f1.dot(f2_unrotated);
+	const TYPE1 d = -normSq(f2_unrotated);
+	const TYPE1 det = a*d+c*c;
+	if (ABS(det) < EPSILONTOLERANCE<TYPE1>())
+		return false;
+	const TYPE1 invDet = TYPE1(1)/det;
+	const TPoint2<TYPE1> lambda((d*b.x+c*b.y)*invDet, (a*b.y-c*b.x)*invDet);
+	const TPoint3<TYPE1> xm = lambda.x * f1;
+	const TPoint3<TYPE1> xn = C + lambda.y * f2_unrotated;
+	X = (xm + xn)*TYPE1(0.5);
+	return true;
+} // TriangulatePoint3D
+// same as above, but using the two camera poses;
+// returns the 3D point in world coordinates
+template<typename TYPE1, typename TYPE2>
+bool TriangulatePoint3D(
+	const TMatrix<TYPE1,3,3>& K1, const TMatrix<TYPE1,3,3>& K2,
+	const TMatrix<TYPE1,3,3>& R1, const TMatrix<TYPE1,3,3>& R2,
+	const TPoint3<TYPE1>& C1, const TPoint3<TYPE1>& C2,
+	const TPoint2<TYPE2>& x1, const TPoint2<TYPE2>& x2,
+	TPoint3<TYPE1>& X
+) {
+	TPoint2<TYPE1> pt1, pt2;
+	NormalizeProjectionInv(K1.val, x1.ptr(), pt1.ptr());
+	NormalizeProjectionInv(K2.val, x2.ptr(), pt2.ptr());
+	TMatrix<TYPE1,3,3> R; TPoint3<TYPE1> C;
+	ComputeRelativePose(R1, C1, R2, C2, R, C);
+	if (!TriangulatePoint3D(R, C, pt1, pt2, X))
+		return false;
+	X = R1.t() * X + C1;
+	return true;
+} // TriangulatePoint3D
+/*----------------------------------------------------------------*/
+
 // compute the homography matrix transforming points from image A to image B,
 // given the relative pose of B with respect to A, and the plane
 // (see R. Hartley, "Multiple View Geometry," 2004, pp. 234)
@@ -109,28 +177,6 @@ inline TMatrix<TYPE,3,3> CreateF(const TMatrix<TYPE,3,3>& R, const TMatrix<TYPE,
 /*----------------------------------------------------------------*/
 
 
-// if the matrix is a rotation, then the the transpose should be the inverse
-template<typename TYPE>
-inline bool IsRotationMatrix(const TMatrix<TYPE,3,3>& R) {
-	ASSERT(sizeof(TMatrix<TYPE,3,3>) == sizeof(TRMatrixBase<TYPE>));
-	return ((const TRMatrixBase<TYPE>&)R).IsValid();
-} // IsRotationMatrix
-template<typename TYPE, int O>
-inline bool IsRotationMatrix(const Eigen::Matrix<TYPE,3,3,O>& R) {
-	// the trace should be three and the determinant should be one
-	return (ISEQUAL(R.determinant(), TYPE(1)) && ISEQUAL((R*R.transpose()).trace(), TYPE(3)));
-} // IsRotationMatrix
-/*----------------------------------------------------------------*/
-
-// enforce matrix orthogonality
-template<typename TYPE>
-inline void EnsureRotationMatrix(TMatrix<TYPE,3,3>& R) {
-	ASSERT(sizeof(TMatrix<TYPE,3,3>) == sizeof(TRMatrixBase<TYPE>));
-	((TRMatrixBase<TYPE>&)R).EnforceOrthogonality();
-} // EnsureRotationMatrix
-/*----------------------------------------------------------------*/
-
-
 // compute the angle between the two rotations given
 // as in: "Disambiguating Visual Relations Using Loop Constraints", 2010
 // returns cos(angle) (same as cos(ComputeAngleSO3(I))
@@ -142,17 +188,6 @@ template<typename TYPE>
 FORCEINLINE TYPE ComputeAngle(const TMatrix<TYPE,3,3>& R1, const TMatrix<TYPE,3,3>& R2) {
 	return ComputeAngle(TMatrix<TYPE,3,3>(R1*R2.t()));
 } // ComputeAngle
-// compute the distance on SO(3) between the two given rotations
-// using log(R) as in: "Efficient and Robust Large-Scale Rotation Averaging", 2013
-// same result as above, but returns directly the angle
-template<typename TYPE>
-inline TYPE ComputeAngleSO3(const TMatrix<TYPE,3,3>& I) {
-	return TYPE(norm(((const TRMatrixBase<TYPE>&)I).GetRotationAxisAngle()));
-} // ComputeAngleSO3
-template<typename TYPE>
-FORCEINLINE TYPE ComputeAngleSO3(const TMatrix<TYPE,3,3>& R1, const TMatrix<TYPE,3,3>& R2) {
-	return ComputeAngleSO3(TMatrix<TYPE,3,3>(R1*R2.t()));
-} // ComputeAngleSO3
 /*----------------------------------------------------------------*/
 
 
@@ -413,15 +448,19 @@ FORCEINLINE TYPE AngleFromRotationMatrix(const TMatrix<TYPE,3,3>& R) {
 // given two 3D vectors,
 // compute the angle between them
 // returns cos(angle)
-template<typename TYPE1, typename TYPE2>
+template<typename TYPE1, typename TYPE2 = TYPE1>
 inline TYPE2 ComputeAngle(const TYPE1* V1, const TYPE1* V2) {
-	// compute the angle between the rays
 	return CLAMP(TYPE2((V1[0]*V2[0]+V1[1]*V2[1]+V1[2]*V2[2])/SQRT((V1[0]*V1[0]+V1[1]*V1[1]+V1[2]*V1[2])*(V2[0]*V2[0]+V2[1]*V2[1]+V2[2]*V2[2]))), TYPE2(-1), TYPE2(1));
 } // ComputeAngle
+// same as above, but with the vectors normalized
+template<typename TYPE1, typename TYPE2 = TYPE1>
+inline TYPE2 ComputeAngleN(const TYPE1* V1, const TYPE1* V2) {
+	return CLAMP(TYPE2(V1[0]*V2[0]+V1[1]*V2[1]+V1[2]*V2[2]), TYPE2(-1), TYPE2(1));
+} // ComputeAngleN
 // given three 3D points,
 // compute the angle between the vectors formed by the first point with the other two
 // returns cos(angle)
-template<typename TYPE1, typename TYPE2>
+template<typename TYPE1, typename TYPE2 = TYPE1>
 inline TYPE2 ComputeAngle(const TYPE1* B, const TYPE1* X1, const TYPE1* X2) {
 	// create the two vectors
 	const TYPE1 V1[] = {X1[0]-B[0], X1[1]-B[1], X1[2]-B[2]};
@@ -431,7 +470,7 @@ inline TYPE2 ComputeAngle(const TYPE1* B, const TYPE1* X1, const TYPE1* X2) {
 // given four 3D points,
 // compute the angle between the two vectors formed by the first and second pair of points
 // returns cos(angle)
-template<typename TYPE1, typename TYPE2>
+template<typename TYPE1, typename TYPE2 = TYPE1>
 inline TYPE2 ComputeAngle(const TYPE1* X1, const TYPE1* C1, const TYPE1* X2, const TYPE1* C2) {
 	// subtract out the camera center
 	const TYPE1 V1[] = {X1[0]-C1[0], X1[1]-C1[1], X1[2]-C1[2]};
@@ -790,83 +829,73 @@ inline void ComputeMeanStdOffline(const TYPE* values, size_t size, TYPEW& mean,
 	stddev = SQRT(variance);
 } // ComputeMeanStdOffline
 // same as above, but uses one pass only (online)
-template<typename TYPE, typename TYPEW=TYPE, typename ARGTYPE=const TYPE&>
-struct MeanStdOnline {
-	TYPEW mean;
-	TYPEW stddev;
-	size_t size;
-	MeanStdOnline() : mean(0), stddev(0), size(0) {}
-	MeanStdOnline(const TYPE* values, size_t _size) : mean(0), stddev(0), size(0) {
-		Compute(values, _size);
-	}
-	void Update(ARGTYPE v) {
-		const TYPEW val(v);
-		const TYPEW delta(val-mean);
-		mean += delta / (float)(++size);
-		stddev += delta * (val-mean);
-	}
-	void Compute(const TYPE* values, size_t _size) {
-		for (size_t i=0; i<_size; ++i)
-			Update(values[i]);
-	}
-	TYPEW GetMean() const { return mean; }
-	TYPEW GetVariance() const { return (stddev / (float)(size - 1)); }
-	TYPEW GetStdDev() const { return SQRT(GetVariance()); }
-};
 template<typename TYPE, typename TYPEW>
 inline void ComputeMeanStdOnline(const TYPE* values, size_t size, TYPEW& mean, TYPEW& stddev) {
 	ASSERT(size > 0);
-	mean = TYPEW(0);
-	stddev = TYPEW(0);
-	for (size_t i=0; i<size; ++i) {
-		const TYPEW val(values[i]);
-		const TYPEW delta(val-mean);
-		mean += delta / (i+1);
-		stddev += delta * (val-mean);
+	TYPEW sum(0), sumSq(0);
+	FOREACHRAWPTR(pVal, values, size) {
+		const TYPEW val(*pVal);
+		sum += val;
+		sumSq += SQUARE(val);
 	}
-	const TYPEW variance(stddev / (float)(size - 1));
+	const TYPEW invSize(TYPEW(1)/(float)size);
+	mean = sum * invSize;
+	const TYPEW variance((sumSq - SQUARE(sum) * invSize) / (float)(size - 1));
 	stddev = SQRT(variance);
-} // ComputeMeanStdOnline
-// same as above, but less stable in general (and faster)
-template<typename TYPE, typename TYPEW=TYPE, typename ARGTYPE=const TYPE&>
-struct MeanStdOnlineFast {
-	TYPEW sum;
-	TYPEW sumSq;
+} // ComputeMeanStdOnlineFast
+#define ComputeMeanStd ComputeMeanStdOnline
+// same as above, but an interactive version
+template<typename TYPE, typename TYPEW=TYPE, typename ARGTYPE=const TYPE&, typename TYPER=REAL>
+struct MeanStd {
+	typedef TYPE Type;
+	typedef TYPEW TypeW;
+	typedef TYPER TypeR;
+	typedef ARGTYPE ArgType;
+	TYPEW sum, sumSq;
 	size_t size;
-	MeanStdOnlineFast() : sum(0), sumSq(0), size(0) {}
-	MeanStdOnlineFast(const TYPE* values, size_t _size) : sum(0), sumSq(0), size(0) {
-		Compute(values, _size);
-	}
-	void Update(ARGTYPE v) {
-		const TYPEW val(v);
+	MeanStd() : sum(0), sumSq(0), size(0) {}
+	MeanStd(const Type* values, size_t _size) : MeanStd() { Compute(values, _size); }
+	void Update(ArgType v) {
+		const TYPEW val(static_cast<TYPEW>(v));
 		sum += val;
 		sumSq += SQUARE(val);
 		++size;
 	}
-	void Compute(const TYPE* values, size_t _size) {
+	void Compute(const Type* values, size_t _size) {
 		for (size_t i=0; i<_size; ++i)
 			Update(values[i]);
 	}
-	TYPEW GetMean() const { return sum / (float)size; }
-	TYPEW GetVariance() const { return (sumSq - SQUARE(sum) / (float)size) / (float)(size - 1); }
+	TYPEW GetSum() const { return sum; }
+	TYPEW GetMean() const { return static_cast<TYPEW>(sum / static_cast<TypeR>(size)); }
+	TYPEW GetRMS() const { return static_cast<TYPEW>(SQRT(sumSq / static_cast<TypeR>(size))); }
+	TYPEW GetVarianceN() const { return static_cast<TYPEW>(sumSq - SQUARE(sum) / static_cast<TypeR>(size)); }
+	TYPEW GetVariance() const { return static_cast<TYPEW>(GetVarianceN() / static_cast<TypeR>(size)); }
 	TYPEW GetStdDev() const { return SQRT(GetVariance()); }
+	void Clear() { sum = sumSq = TYPEW(0); size = 0; }
 };
-template<typename TYPE, typename TYPEW>
-inline void ComputeMeanStdOnlineFast(const TYPE* values, size_t size, TYPEW& mean, TYPEW& stddev) {
-	ASSERT(size > 0);
-	TYPEW sum(0), sumSq(0);
-	FOREACHRAWPTR(pVal, values, size) {
-		const TYPEW val(*pVal);
-		sum += val;
-		sumSq += SQUARE(val);
+// same as above, but records also min/max values
+template<typename TYPE, typename TYPEW=TYPE, typename ARGTYPE=const TYPE&, typename TYPER=REAL>
+struct MeanStdMinMax : MeanStd<TYPE,TYPEW,ARGTYPE,TYPER> {
+	typedef MeanStd<TYPE,TYPEW,ARGTYPE,TYPER> Base;
+	typedef TYPE Type;
+	typedef TYPEW TypeW;
+	typedef TYPER TypeR;
+	typedef ARGTYPE ArgType;
+	Type minVal, maxVal;
+	MeanStdMinMax() : minVal(std::numeric_limits<Type>::max()), maxVal(std::numeric_limits<Type>::lowest()) {}
+	MeanStdMinMax(const Type* values, size_t _size) : MeanStdMinMax() { Compute(values, _size); }
+	void Update(ArgType v) {
+		if (minVal > v)
+			minVal = v;
+		if (maxVal < v)
+			maxVal = v;
+		Base::Update(v);
 	}
-	const TYPEW invSize(TYPEW(1)/(float)size);
-	mean = sum * invSize;
-	const TYPEW variance((sumSq - SQUARE(sum) * invSize) / (float)(size - 1));
-	stddev = SQRT(variance);
-} // ComputeMeanStdOnlineFast
-#define ComputeMeanStd ComputeMeanStdOnlineFast
-#define MeanStd MeanStdOnlineFast
+	void Compute(const Type* values, size_t _size) {
+		for (size_t i=0; i<_size; ++i)
+			Update(values[i]);
+	}
+};
 /*----------------------------------------------------------------*/
 
 // given an array of values, compute the X84 threshold as in:
@@ -1165,143 +1194,4 @@ void NormalizePoints(const CLISTDEF0(TPoint3<TYPE>)& pointsIn, CLISTDEF0(TPoint3
 }
 /*----------------------------------------------------------------*/
 
-
-// Least squares fits a plane to a 3D point set.
-// See http://www.geometrictools.com/Documentation/LeastSquaresFitting.pdf
-// Returns a fitting quality (1 - lambda_min/lambda_max):
-//  1 is best (zero variance orthogonally to the fitting line)
-//  0 is worst (isotropic case, returns a plane with default direction)
-template <typename TYPE>
-TYPE FitPlane(const TPoint3<TYPE>* points, size_t size, TPlane<TYPE>& plane) {
-	// compute a point on the plane, which is shown to be the centroid of the points
-	const Eigen::Map< const Eigen::Matrix<TYPE,Eigen::Dynamic,3,Eigen::RowMajor> > vPoints((const TYPE*)points, size, 3);
-	const TPoint3<TYPE> c(vPoints.colwise().mean());
-
-	// assemble covariance matrix; matrix numbering:
-	// 0          
-	// 1 2
-	// 3 4 5          
-	Eigen::Matrix<TYPE,3,3,Eigen::RowMajor> A(Eigen::Matrix<TYPE,3,3,Eigen::RowMajor>::Zero());
-	FOREACHRAWPTR(pPt, points, size) {
-		const TPoint3<TYPE> X(*pPt - c);
-		A(0,0) += X.x*X.x;
-		A(1,0) += X.x*X.y;
-		A(1,1) += X.y*X.y;
-		A(2,0) += X.x*X.z;
-		A(2,1) += X.y*X.z;
-		A(2,2) += X.z*X.z;
-	}
-
-	// the plane normal is simply the eigenvector corresponding to least eigenvalue
-	const Eigen::SelfAdjointEigenSolver< Eigen::Matrix<TYPE,3,3,Eigen::RowMajor> > es(A);
-	ASSERT(ISEQUAL(es.eigenvectors().col(0).norm(), TYPE(1)));
-	plane.Set(es.eigenvectors().col(0), c);
-	const TYPE* const vals(es.eigenvalues().data());
-	ASSERT(vals[0] <= vals[1] && vals[1] <= vals[2]);
-	return TYPE(1) - vals[0]/vals[1];
-}
-/*----------------------------------------------------------------*/
-
-
-template<typename TYPE>
-struct CLeastSquares {
-	inline TYPE operator()(const TYPE) const {
-		return TYPE(1);
-	}
-};
-
-/*
-template<typename TYPE>
-struct CHuber_TorrMurray {
-	inline TYPE operator()(const TYPE d) const {
-		const TYPE b = 0.02;
-
-		const TYPE d_abs = ABS(d);
-		if (d_abs < b)
-			return TYPE(1);
-		if (d_abs < 3 * b)
-			return b / d; //I think this is possibly wrong--should use 1/root(d)
-		return TYPE(0); //TODO, probably best to just return SIGMA/d;
-	}
-};
-*/
-
-template<typename TYPE>
-struct CHuber {
-	inline CHuber(TYPE _threshold = 0.005) : threshold(_threshold) {}
-	inline TYPE operator()(const TYPE d) const {
-		const TYPE d_abs(ABS(d));
-		if (d_abs < threshold)
-			return TYPE(1);
-		return SQRT(threshold * (TYPE(2) * d_abs - threshold)) / d_abs;
-	}
-	const TYPE threshold;
-};
-
-template<typename TYPE>
-struct CBlakeZisserman { // Blake-Zisserman Gaussian + uniform
-	inline CBlakeZisserman(TYPE _threshold = 0.005) : threshold(_threshold) {}
-	inline TYPE operator()(const TYPE d) const {
-		const TYPE SD_INV = TYPE(1) / (0.5 * threshold);
-		const TYPE eps = exp(-SQUARE(threshold * SD_INV)); //Equally likely to be inlier or outlier at thresh
-		const TYPE d_abs = ABS(d) + 1e-12;
-		const TYPE zeroPoint = log(TYPE(1) + eps); //Needed for LS...
-
-		const TYPE dCost_sq = zeroPoint - log(exp(-SQUARE(d * SD_INV)) + eps);
-		ASSERT(dCost_sq >= 0); // Cost computation failed?
-
-		return SQRT(dCost_sq) / d_abs;
-	}
-	const TYPE threshold;
-};
-
-template<typename TYPE>
-struct CPseudoHuber {
-	inline CPseudoHuber(TYPE _threshold = 0.005) : threshold(_threshold) {}
-	inline TYPE operator()(const TYPE d) const {
-		const TYPE b_sq = SQUARE(threshold);
-		const TYPE d_abs = ABS(d) + 1e-12;
-
-		//C(delta) = 2*b^2*(sqrt(1+(delta/b)^2) - 1);
-		return SQRT(TYPE(2) * b_sq * (sqrt(1 + SQUARE(d * (1.0 / threshold))) - 1)) / d_abs;
-	}
-	const TYPE threshold;
-};
-
-template<typename TYPE>
-struct CL1 {
-	inline TYPE operator()(const TYPE d) const {
-		return TYPE(1) / (SQRT(ABS(d)) + 1e-12);
-	}
-};
-
-typedef CBlakeZisserman<REAL> CRobustNorm;
-/*----------------------------------------------------------------*/
-
-
-// makes sure the inverse NCC score does not exceed 0.3
-#if 0
-template <typename T>
-inline T robustincc(const T x) { return x / (T(1) + T(3) * x); }
-template <typename T>
-inline T robustinccg(const T x) { return T(1)/SQUARE(T(1) + T(3) * x); }
-template <typename T>
-inline T unrobustincc(const T y) { return y / (T(1) - T(3) * y); }
-#elif 0
-template <typename T>
-inline T robustincc(const T x) { return T(1)-EXP(x*x*T(-4)); }
-template <typename T>
-inline T robustinccg(const T x) { return T(8)*x*EXP(x*x*T(-4)); }
-template <typename T>
-inline T unrobustincc(const T y) { return SQRT(-LOGN(T(1) - y))/T(2); }
-#else
-template <typename T>
-inline T robustincc(const T x) { return x/SQRT(T(0.3)+x*x); }
-template <typename T>
-inline T robustinccg(const T x) { return T(0.3)/((T(0.3)+x*x)*SQRT(T(0.3)+x*x)); }
-template <typename T>
-inline T unrobustincc(const T y) { return (SQRT(30)*y)/(T(10)*SQRT(T(1) - y*y)); }
-#endif
-/*----------------------------------------------------------------*/
-
 } // namespace SEACAVE
diff --git a/libs/IO/ImageTIFF.cpp b/libs/IO/ImageTIFF.cpp
index 86252c0db..bfdd7e177 100644
--- a/libs/IO/ImageTIFF.cpp
+++ b/libs/IO/ImageTIFF.cpp
@@ -76,10 +76,10 @@ extern "C" {
 	static tmsize_t _tiffisReadProc(thandle_t fd, void* buf, tmsize_t size);
 	static tmsize_t _tiffosWriteProc(thandle_t fd, void* buf, tmsize_t size);
 	static tmsize_t _tiffisWriteProc(thandle_t, void*, tmsize_t);
-	static uint64   _tiffosSeekProc(thandle_t fd, uint64 off, int whence);
-	static uint64   _tiffisSeekProc(thandle_t fd, uint64 off, int whence);
-	static uint64   _tiffosSizeProc(thandle_t fd);
-	static uint64   _tiffisSizeProc(thandle_t fd);
+	static uint64_t _tiffosSeekProc(thandle_t fd, uint64_t off, int whence);
+	static uint64_t _tiffisSeekProc(thandle_t fd, uint64_t off, int whence);
+	static uint64_t _tiffosSizeProc(thandle_t fd);
+	static uint64_t _tiffisSizeProc(thandle_t fd);
 	static int      _tiffosCloseProc(thandle_t fd);
 	static int      _tiffisCloseProc(thandle_t fd);
 	static int 	    _tiffDummyMapProc(thandle_t, void** base, toff_t* size);
@@ -132,26 +132,26 @@ extern "C" {
 		return 0;
 	}
 
-	static uint64 _tiffosSeekProc(thandle_t fd, uint64 off, int whence)
+	static uint64_t _tiffosSeekProc(thandle_t fd, uint64_t off, int whence)
 	{
 		tiffos_data	*data = reinterpret_cast<tiffos_data *>(fd);
 		OSTREAM* os = data->stream;
 
 		// if the stream has already failed, don't do anything
 		if (os == NULL)
-			return static_cast<uint64>(-1);
+			return static_cast<uint64_t>(-1);
 
 		bool bSucceeded(true);
 		switch (whence) {
 		case SEEK_SET:
 		{
 			// Compute 64-bit offset
-			uint64 new_offset = static_cast<uint64>(data->start_pos) + off;
+			uint64_t new_offset = static_cast<uint64_t>(data->start_pos) + off;
 
 			// Verify that value does not overflow
 			size_f_t offset = static_cast<size_f_t>(new_offset);
-			if (static_cast<uint64>(offset) != new_offset)
-				return static_cast<uint64>(-1);
+			if (static_cast<uint64_t>(offset) != new_offset)
+				return static_cast<uint64_t>(-1);
 
 			bSucceeded = os->setPos(offset);
 			break;
@@ -160,8 +160,8 @@ extern "C" {
 		{
 			// Verify that value does not overflow
 			size_f_t offset = static_cast<size_f_t>(off);
-			if (static_cast<uint64>(offset) != off)
-				return static_cast<uint64>(-1);
+			if (static_cast<uint64_t>(offset) != off)
+				return static_cast<uint64_t>(-1);
 
 			bSucceeded = os->setPos(os->getPos()+offset);
 			break;
@@ -170,8 +170,8 @@ extern "C" {
 		{
 			// Verify that value does not overflow
 			size_f_t offset = static_cast<size_f_t>(off);
-			if (static_cast<uint64>(offset) != off)
-				return static_cast<uint64>(-1);
+			if (static_cast<uint64_t>(offset) != off)
+				return static_cast<uint64_t>(-1);
 
 			bSucceeded = os->setPos(os->getSize()-offset);
 			break;
@@ -199,23 +199,23 @@ extern "C" {
 			}
 
 			// only do something if desired seek position is valid
-			if ((static_cast<uint64>(origin) + off) > static_cast<uint64>(data->start_pos)) {
-				uint64	num_fill;
+			if ((static_cast<uint64_t>(origin) + off) > static_cast<uint64_t>(data->start_pos)) {
+				uint64_t	num_fill;
 				// extend the stream to the expected size
 				os->setPos(os->getSize());
-				num_fill = (static_cast<uint64>(origin)) + off - os->getPos();
+				num_fill = (static_cast<uint64_t>(origin)) + off - os->getPos();
 				const char dummy = '\0';
-				for (uint64 i = 0; i < num_fill; i++)
+				for (uint64_t i = 0; i < num_fill; i++)
 					os->write(&dummy, 1);
 				// retry the seek
-				os->setPos(static_cast<size_f_t>(static_cast<uint64>(origin) + off));
+				os->setPos(static_cast<size_f_t>(static_cast<uint64_t>(origin) + off));
 			}
 		}
 
-		return static_cast<uint64>(os->getPos());
+		return static_cast<uint64_t>(os->getPos());
 	}
 
-	static uint64 _tiffisSeekProc(thandle_t fd, uint64 off, int whence)
+	static uint64_t _tiffisSeekProc(thandle_t fd, uint64_t off, int whence)
 	{
 		tiffis_data	*data = reinterpret_cast<tiffis_data *>(fd);
 		ISTREAM* is = data->stream;
@@ -224,12 +224,12 @@ extern "C" {
 		case SEEK_SET:
 		{
 			// Compute 64-bit offset
-			uint64 new_offset = static_cast<uint64>(data->start_pos) + off;
+			uint64_t new_offset = static_cast<uint64_t>(data->start_pos) + off;
 
 			// Verify that value does not overflow
 			size_f_t offset = static_cast<size_f_t>(new_offset);
-			if (static_cast<uint64>(offset) != new_offset)
-				return static_cast<uint64>(-1);
+			if (static_cast<uint64_t>(offset) != new_offset)
+				return static_cast<uint64_t>(-1);
 
 			is->setPos(offset);
 			break;
@@ -238,8 +238,8 @@ extern "C" {
 		{
 			// Verify that value does not overflow
 			size_f_t offset = static_cast<size_f_t>(off);
-			if (static_cast<uint64>(offset) != off)
-				return static_cast<uint64>(-1);
+			if (static_cast<uint64_t>(offset) != off)
+				return static_cast<uint64_t>(-1);
 
 			is->setPos(is->getPos()+offset);
 			break;
@@ -248,27 +248,27 @@ extern "C" {
 		{
 			// Verify that value does not overflow
 			size_f_t offset = static_cast<size_f_t>(off);
-			if (static_cast<uint64>(offset) != off)
-				return static_cast<uint64>(-1);
+			if (static_cast<uint64_t>(offset) != off)
+				return static_cast<uint64_t>(-1);
 
 			is->setPos(is->getSize()-offset);
 			break;
 		}
 		}
 
-		return (uint64)(is->getPos() - data->start_pos);
+		return (uint64_t)(is->getPos() - data->start_pos);
 	}
 
-	static uint64 _tiffosSizeProc(thandle_t fd)
+	static uint64_t _tiffosSizeProc(thandle_t fd)
 	{
 		tiffos_data	*data = reinterpret_cast<tiffos_data *>(fd);
-		return (uint64)data->stream->getSize();
+		return (uint64_t)data->stream->getSize();
 	}
 
-	static uint64 _tiffisSizeProc(thandle_t fd)
+	static uint64_t _tiffisSizeProc(thandle_t fd)
 	{
 		tiffis_data	*data = reinterpret_cast<tiffis_data *>(fd);
-		return (uint64)data->stream->getSize();
+		return (uint64_t)data->stream->getSize();
 	}
 
 	static int _tiffosCloseProc(thandle_t fd)
@@ -448,7 +448,7 @@ HRESULT CImageTIFF::ReadData(void* pData, PIXELFORMAT dataFormat, Size nStride,
 {
 	if (m_state && m_width && m_height) {
 		TIFF* tif = (TIFF*)m_state;
-		uint32 tile_width0 = m_width, tile_height0 = 0;
+		uint32_t tile_width0 = m_width, tile_height0 = 0;
 		int is_tiled = TIFFIsTiled(tif);
 		uint16 photometric;
 		TIFFGetField(tif, TIFFTAG_PHOTOMETRIC, &photometric);
@@ -477,14 +477,14 @@ HRESULT CImageTIFF::ReadData(void* pData, PIXELFORMAT dataFormat, Size nStride,
 				tile_width0 = m_width;
 
 			if (tile_height0 <= 0 ||
-				(!is_tiled && tile_height0 == std::numeric_limits<uint32>::max()))
+				(!is_tiled && tile_height0 == std::numeric_limits<uint32_t>::max()))
 				tile_height0 = m_height;
 
 			uint8_t* data = (uint8_t*)pData;
 			if (!is_tiled && tile_height0 == 1 && dataFormat == m_format && nStride == m_stride) {
 				// read image directly to the data buffer
 				for (Size j=0; j<m_height; ++j, data+=lineWidth)
-					if (!TIFFReadRGBAStrip(tif, j, (uint32*)data)) {
+					if (!TIFFReadRGBAStrip(tif, j, (uint32_t*)data)) {
 						Close();
 						return _INVALIDFILE;
 					}
@@ -494,13 +494,13 @@ HRESULT CImageTIFF::ReadData(void* pData, PIXELFORMAT dataFormat, Size nStride,
 				CLISTDEF0(uint8_t) _buffer(buffer_size);
 				uint8_t* buffer = _buffer.Begin();
 
-				for (uint32 y = 0; y < m_height; y += tile_height0, data += lineWidth*tile_height0) {
-					uint32 tile_height = tile_height0;
+				for (uint32_t y = 0; y < m_height; y += tile_height0, data += lineWidth*tile_height0) {
+					uint32_t tile_height = tile_height0;
 					if (y + tile_height > m_height)
 						tile_height = m_height - y;
 
-					for (uint32 x = 0; x < m_width; x += tile_width0) {
-						uint32 tile_width = tile_width0;
+					for (uint32_t x = 0; x < m_width; x += tile_width0) {
+						uint32_t tile_width = tile_width0;
 						if (x + tile_width > m_width)
 							tile_width = m_width - x;
 
@@ -510,9 +510,9 @@ HRESULT CImageTIFF::ReadData(void* pData, PIXELFORMAT dataFormat, Size nStride,
 						{
 							uint8_t* bstart = buffer;
 							if (!is_tiled)
-								ok = TIFFReadRGBAStrip(tif, y, (uint32*)buffer);
+								ok = TIFFReadRGBAStrip(tif, y, (uint32_t*)buffer);
 							else {
-								ok = TIFFReadRGBATile(tif, x, y, (uint32*)buffer);
+								ok = TIFFReadRGBATile(tif, x, y, (uint32_t*)buffer);
 								//Tiles fill the buffer from the bottom up
 								bstart += (tile_height0 - tile_height) * tile_width0 * 4;
 							}
@@ -521,7 +521,7 @@ HRESULT CImageTIFF::ReadData(void* pData, PIXELFORMAT dataFormat, Size nStride,
 								return _INVALIDFILE;
 							}
 
-							for (uint32 i = 0; i < tile_height; ++i) {
+							for (uint32_t i = 0; i < tile_height; ++i) {
 								uint8_t* dst = data + x*3 + lineWidth*(tile_height - i - 1);
 								uint8_t* src = bstart + i*tile_width0*4;
 								if (!FilterFormat(dst, dataFormat, nStride, src, m_format, m_stride, tile_width)) {
diff --git a/libs/IO/OBJ.cpp b/libs/IO/OBJ.cpp
index bf82ee43d..0c1f5309b 100644
--- a/libs/IO/OBJ.cpp
+++ b/libs/IO/OBJ.cpp
@@ -61,7 +61,8 @@ bool ObjModel::MaterialLib::Save(const String& prefix, bool texLossless) const
 	for (int_t i = 0; i < (int_t)materials.size(); ++i) {
 		const Material& mat = materials[i];
 		// save material description
-		out << "newmtl " << mat.name << "\n"
+		std::stringstream ss;
+		ss << "newmtl " << mat.name << "\n"
 			<< "Ka 1.000000 1.000000 1.000000" << "\n"
 			<< "Kd " << mat.Kd.r << " " << mat.Kd.g << " " << mat.Kd.b << "\n"
 			<< "Ks 0.000000 0.000000 0.000000" << "\n"
@@ -69,11 +70,20 @@ bool ObjModel::MaterialLib::Save(const String& prefix, bool texLossless) const
 			<< "illum 1" << "\n"
 			<< "Ns 1.000000" << "\n";
 		// save material maps
-		if (mat.diffuse_map.empty())
+		if (mat.diffuse_map.empty()) {
+			#ifdef OBJ_USE_OPENMP
+			#pragma omp critical
+			#endif
+			out << ss.str();
 			continue;
+		}
 		if (mat.diffuse_name.IsEmpty())
 			const_cast<String&>(mat.diffuse_name) = name+"_"+mat.name+"_map_Kd."+(texLossless?"png":"jpg");
-		out << "map_Kd " << mat.diffuse_name << "\n";
+		ss << "map_Kd " << mat.diffuse_name << "\n";
+		#ifdef OBJ_USE_OPENMP
+		#pragma omp critical
+		#endif
+		out << ss.str();
 		const bool bRet(mat.diffuse_map.Save(pathName+mat.diffuse_name));
 		#ifdef OBJ_USE_OPENMP
 		#pragma omp critical
diff --git a/libs/MVS/Camera.cpp b/libs/MVS/Camera.cpp
index cdcdbc154..01464b713 100644
--- a/libs/MVS/Camera.cpp
+++ b/libs/MVS/Camera.cpp
@@ -135,9 +135,9 @@ void MVS::DecomposeProjectionMatrix(const PMatrix& P, KMatrix& K, RMatrix& R, CM
 {
 	// extract camera center as the right null vector of P
 	const Vec4 hC(P.RightNullVector());
-	C = (const CMatrix&)hC * INVERT(hC[3]);
+	C = CMatrix(hC[0],hC[1],hC[2]) * INVERT(hC[3]);
 	// perform RQ decomposition
-	const cv::Mat mP(3,4,cv::DataType<REAL>::type,(void*)P.val);
+	const cv::Mat mP(3,4,cv::DataType<REAL>::type,const_cast<REAL*>(P.val));
 	cv::RQDecomp3x3(mP(cv::Rect(0,0, 3,3)), K, R);
 	// normalize calibration matrix
 	K *= INVERT(K(2,2));
@@ -162,9 +162,9 @@ void MVS::DecomposeProjectionMatrix(const PMatrix& P, RMatrix& R, CMatrix& C)
 	#endif
 	// extract camera center as the right null vector of P
 	const Vec4 hC(P.RightNullVector());
-	C = (const CMatrix&)hC * INVERT(hC[3]);
+	C = CMatrix(hC[0],hC[1],hC[2]) * INVERT(hC[3]);
 	// get rotation
-	const cv::Mat mP(3,4,cv::DataType<REAL>::type,(void*)P.val);
+	const cv::Mat mP(3,4,cv::DataType<REAL>::type,const_cast<REAL*>(P.val));
 	mP(cv::Rect(0,0, 3,3)).copyTo(R);
 	ASSERT(R.IsValid());
 } // DecomposeProjectionMatrix
@@ -174,17 +174,15 @@ void MVS::DecomposeProjectionMatrix(const PMatrix& P, RMatrix& R, CMatrix& C)
 void MVS::AssembleProjectionMatrix(const KMatrix& K, const RMatrix& R, const CMatrix& C, PMatrix& P)
 {
 	// compute temporary matrices
-	cv::Mat mP(3,4,cv::DataType<REAL>::type,(void*)P.val);
+	cv::Mat mP(3,4,cv::DataType<REAL>::type,const_cast<REAL*>(P.val));
 	cv::Mat M(mP, cv::Rect(0,0, 3,3));
 	cv::Mat(K * R).copyTo(M); //3x3
 	mP.col(3) = M * cv::Mat(-C); //3x1
 } // AssembleProjectionMatrix
 void MVS::AssembleProjectionMatrix(const RMatrix& R, const CMatrix& C, PMatrix& P)
 {
-	Eigen::Map<Matrix3x3::EMat,0,Eigen::Stride<4,0> > eM(P.val);
-	eM = (const Matrix3x3::EMat)R;
-	Eigen::Map< Point3::EVec,0,Eigen::Stride<0,4> > eT(P.val+3);
-	eT = ((const Matrix3x3::EMat)R) * (-((const Point3::EVec)C)); //3x1
+	Eigen::Map<Matrix3x3::EMat,0,Eigen::Stride<4,0> >(P.val) = (const Matrix3x3::EMat)R;
+	Eigen::Map<Point3::EVec,0,Eigen::Stride<0,4> >(P.val+3) = ((const Matrix3x3::EMat)R) * (-((const Point3::EVec)C));
 } // AssembleProjectionMatrix
 /*----------------------------------------------------------------*/
 
diff --git a/libs/MVS/Camera.h b/libs/MVS/Camera.h
index 6ba938778..063ede568 100644
--- a/libs/MVS/Camera.h
+++ b/libs/MVS/Camera.h
@@ -203,16 +203,10 @@ class MVS_API CameraIntern
 
 	// normalize inhomogeneous 2D point by the given camera intrinsics K
 	// K is assumed to be the [3,3] triangular matrix with: fx, fy, s, cx, cy and scale 1
-	template<typename TYPE1, typename TYPE2, typename TYPE3>
-	static inline void NormalizeProjection(const TYPE1* K, const TYPE2* x, TYPE3* n) {
-		n[0] = TYPE3(K[0]*x[0] + K[1]*x[1] + K[2]);
-		n[1] = TYPE3(            K[4]*x[1] + K[5]);
-	}
 	template <typename TYPE>
 	inline TPoint2<TYPE> NormalizeProjection(const TPoint2<TYPE>& proj) const {
 		TPoint2<TYPE> pt;
-		const TMatrix<TYPE,3,3> invK(GetInvK<TYPE>());
-		NormalizeProjection(invK.val, proj.ptr(), pt.ptr());
+		NormalizeProjectionInv(GetInvK<TYPE>(), proj.ptr(), pt.ptr());
 		return pt;
 	}
 
@@ -422,7 +416,7 @@ class MVS_API Camera : public CameraIntern
 	BOOST_SERIALIZATION_SPLIT_MEMBER()
 	#endif
 };
-typedef SEACAVE::cList<Camera, const Camera&, 0> CameraArr;
+typedef CLISTDEF0IDX(Camera,uint32_t) CameraArr;
 /*----------------------------------------------------------------*/
 
 MVS_API void DecomposeProjectionMatrix(const PMatrix& P, KMatrix& K, RMatrix& R, CMatrix& C);
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 099148404..b72690de4 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -68,10 +68,10 @@ using namespace MVS;
 namespace MVS {
 DEFOPT_SPACE(OPTDENSE, _T("Dense"))
 
-
 DEFVAR_OPTDENSE_uint32(nResolutionLevel, "Resolution Level", "How many times to scale down the images before dense reconstruction", "1")
 MDEFVAR_OPTDENSE_uint32(nMaxResolution, "Max Resolution", "Do not scale images lower than this resolution", "3200")
 MDEFVAR_OPTDENSE_uint32(nMinResolution, "Min Resolution", "Do not scale images lower than this resolution", "640")
+DEFVAR_OPTDENSE_uint32(nSubResolutionLevels, "SubResolution levels", "Number of lower resolution levels to estimate the depth and normals", "2")
 DEFVAR_OPTDENSE_uint32(nMinViews, "Min Views", "minimum number of agreeing views to validate a depth", "2")
 MDEFVAR_OPTDENSE_uint32(nMaxViews, "Max Views", "maximum number of neighbor images used to compute the depth-map for the reference image", "12")
 DEFVAR_OPTDENSE_uint32(nMinViewsFuse, "Min Views Fuse", "minimum number of images that agrees with an estimate during fusion in order to consider it inlier (<2 - only merge depth-maps)", "2")
@@ -82,13 +82,15 @@ MDEFVAR_OPTDENSE_uint32(nNumViews, "Num Views", "Number of views used for depth-
 MDEFVAR_OPTDENSE_uint32(nPointInsideROI, "Point Inside ROI", "consider a point shared only if inside ROI when estimating the neighbor views (0 - ignore ROI, 1 - weight more ROI points, 2 - consider only ROI points)", "1")
 MDEFVAR_OPTDENSE_bool(bFilterAdjust, "Filter Adjust", "adjust depth estimates during filtering", "1")
 MDEFVAR_OPTDENSE_bool(bAddCorners, "Add Corners", "add support points at image corners with nearest neighbor disparities", "0")
+MDEFVAR_OPTDENSE_bool(bInitSparse, "Init Sparse", "init depth-map only with the sparse points (no interpolation)", "1")
+MDEFVAR_OPTDENSE_bool(bRemoveDmaps, "Remove Dmaps", "remove depth-maps after fusion", "0")
 MDEFVAR_OPTDENSE_float(fViewMinScore, "View Min Score", "Min score to consider a neighbor images (0 - disabled)", "2.0")
 MDEFVAR_OPTDENSE_float(fViewMinScoreRatio, "View Min Score Ratio", "Min score ratio to consider a neighbor images", "0.03")
 MDEFVAR_OPTDENSE_float(fMinArea, "Min Area", "Min shared area for accepting the depth triangulation", "0.05")
 MDEFVAR_OPTDENSE_float(fMinAngle, "Min Angle", "Min angle for accepting the depth triangulation", "3.0")
 MDEFVAR_OPTDENSE_float(fOptimAngle, "Optim Angle", "Optimal angle for computing the depth triangulation", "12.0")
 MDEFVAR_OPTDENSE_float(fMaxAngle, "Max Angle", "Max angle for accepting the depth triangulation", "65.0")
-MDEFVAR_OPTDENSE_float(fDescriptorMinMagnitudeThreshold, "Descriptor Min Magnitude Threshold", "minimum texture variance accepted when matching two patches (0 - disabled)", "0.01")
+MDEFVAR_OPTDENSE_float(fDescriptorMinMagnitudeThreshold, "Descriptor Min Magnitude Threshold", "minimum patch texture variance accepted when matching two patches (0 - disabled)", "0.02") // 0.02: pixels with patch texture variance below 0.0004 (0.02^2) will be removed from depthmap; 0.12: patch texture variance below 0.02 (0.12^2) is considered texture-less
 MDEFVAR_OPTDENSE_float(fDepthDiffThreshold, "Depth Diff Threshold", "maximum variance allowed for the depths during refinement", "0.01")
 MDEFVAR_OPTDENSE_float(fNormalDiffThreshold, "Normal Diff Threshold", "maximum variance allowed for the normal during fusion (degrees)", "25")
 MDEFVAR_OPTDENSE_float(fPairwiseMul, "Pairwise Mul", "pairwise cost scale to match the unary cost", "0.3")
@@ -97,13 +99,10 @@ MDEFVAR_OPTDENSE_int32(nOptimizerMaxIters, "Optimizer Max Iters", "MRF optimizer
 MDEFVAR_OPTDENSE_uint32(nSpeckleSize, "Speckle Size", "maximal size of a speckle (small speckles get removed)", "100")
 MDEFVAR_OPTDENSE_uint32(nIpolGapSize, "Interpolate Gap Size", "interpolate small gaps (left<->right, top<->bottom)", "7")
 MDEFVAR_OPTDENSE_int32(nIgnoreMaskLabel, "Ignore Mask Label", "label id used during ignore mask filter (<0 - disabled)", "-1")
-MDEFVAR_OPTDENSE_uint32(nOptimize, "Optimize", "should we filter the extracted depth-maps?", "7") // see DepthFlags
+DEFVAR_OPTDENSE_uint32(nOptimize, "Optimize", "should we filter the extracted depth-maps?", "7") // see DepthFlags
 MDEFVAR_OPTDENSE_uint32(nEstimateColors, "Estimate Colors", "should we estimate the colors for the dense point-cloud?", "2", "0", "1")
 MDEFVAR_OPTDENSE_uint32(nEstimateNormals, "Estimate Normals", "should we estimate the normals for the dense point-cloud?", "0", "1", "2")
-MDEFVAR_OPTDENSE_float(fNCCThresholdKeep, "NCC Threshold Keep", "Maximum 1-NCC score accepted for a match", "0.55", "0.3")
-#ifdef _USE_CUDA
-MDEFVAR_OPTDENSE_float(fNCCThresholdKeepCUDA, "NCC Threshold Keep CUDA", "Maximum 1-NCC score accepted for a CUDA match (differs from the CPU version cause that has planarity score integrated)", "0.9", "0.6")
-#endif // _USE_CUDA
+MDEFVAR_OPTDENSE_float(fNCCThresholdKeep, "NCC Threshold Keep", "Maximum 1-NCC score accepted for a match", "0.9", "0.5")
 DEFVAR_OPTDENSE_uint32(nEstimationIters, "Estimation Iters", "Number of patch-match iterations", "3")
 DEFVAR_OPTDENSE_uint32(nEstimationGeometricIters, "Estimation Geometric Iters", "Number of geometric consistent patch-match iterations (0 - disabled)", "2")
 MDEFVAR_OPTDENSE_float(fEstimationGeometricWeight, "Estimation Geometric Weight", "pairwise geometric consistency cost weight", "0.1")
@@ -121,6 +120,20 @@ MDEFVAR_OPTDENSE_float(fRandomSmoothBonus, "Random Smooth Bonus", "Score factor
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+//constructor from reference of DepthData
+DepthData::DepthData(const DepthData& srcDepthData) :
+	images(srcDepthData.images),
+	neighbors(srcDepthData.neighbors),
+	points(srcDepthData.points),
+	mask(srcDepthData.mask),
+	depthMap(srcDepthData.depthMap),
+	normalMap(srcDepthData.normalMap),
+	confMap(srcDepthData.confMap),
+	dMin(srcDepthData.dMin),
+	dMax(srcDepthData.dMax),
+	references(srcDepthData.references)
+{}
+
 // return normal in world-space for the given pixel
 // the 3D points can be precomputed and passed here
 void DepthData::GetNormal(const ImageRef& ir, Point3f& N, const TImage<Point3f>* pPointMap) const
@@ -229,7 +242,7 @@ bool DepthData::Save(const String& fileName) const
 		for (const ViewData& image: images)
 			IDs.push_back(image.GetID());
 		const ViewData& image0 = GetView();
-		if (!ExportDepthDataRaw(fileNameTmp, image0.pImageData->name, IDs, depthMap.size(), image0.camera.K, image0.camera.R, image0.camera.C, dMin, dMax, depthMap, normalMap, confMap))
+		if (!ExportDepthDataRaw(fileNameTmp, image0.pImageData->name, IDs, depthMap.size(), image0.camera.K, image0.camera.R, image0.camera.C, dMin, dMax, depthMap, normalMap, confMap, viewsMap))
 			return false;
 	}
 	if (!File::renameFile(fileNameTmp, fileName)) {
@@ -246,7 +259,7 @@ bool DepthData::Load(const String& fileName, unsigned flags)
 	IIndexArr IDs;
 	cv::Size imageSize;
 	Camera camera;
-	if (!ImportDepthDataRaw(fileName, imageFileName, IDs, imageSize, camera.K, camera.R, camera.C, dMin, dMax, depthMap, normalMap, confMap, flags))
+	if (!ImportDepthDataRaw(fileName, imageFileName, IDs, imageSize, camera.K, camera.R, camera.C, dMin, dMax, depthMap, normalMap, confMap, viewsMap, flags))
 		return false;
 	ASSERT(!IsValid() || (IDs.size() == images.size() && IDs.front() == GetView().GetID()));
 	ASSERT(depthMap.size() == imageSize);
@@ -339,7 +352,7 @@ void DepthEstimator::MapMatrix2ZigzagIdx(const Image8U::Size& size, DepthEstimat
 	}
 }
 
-// replace POWI(0.5f, (int)idxScaleRange):      0    1      2       3       4         5         6           7           8             9             10              11
+// replace POWI(0.5f, idxScaleRange):           0    1      2       3       4         5         6           7           8             9             10              11
 const float DepthEstimator::scaleRanges[12] = {1.f, 0.5f, 0.25f, 0.125f, 0.0625f, 0.03125f, 0.015625f, 0.0078125f, 0.00390625f, 0.001953125f, 0.0009765625f, 0.00048828125f};
 
 DepthEstimator::DepthEstimator(
@@ -382,12 +395,12 @@ DepthEstimator::DepthEstimator(
 	smoothSigmaDepth(-1.f/(2.f*SQUARE(OPTDENSE::fRandomSmoothDepth))), // used in exp(-x^2 / (2*(0.02^2)))
 	smoothSigmaNormal(-1.f/(2.f*SQUARE(FD2R(OPTDENSE::fRandomSmoothNormal)))), // used in exp(-x^2 / (2*(0.22^2)))
 	thMagnitudeSq(OPTDENSE::fDescriptorMinMagnitudeThreshold>0?SQUARE(OPTDENSE::fDescriptorMinMagnitudeThreshold):-1.f),
-	angle1Range(FD2R(OPTDENSE::fRandomAngle1Range)),
-	angle2Range(FD2R(OPTDENSE::fRandomAngle2Range)),
-	thConfSmall(OPTDENSE::fNCCThresholdKeep*0.2f),
-	thConfBig(OPTDENSE::fNCCThresholdKeep*0.4f),
-	thConfRand(OPTDENSE::fNCCThresholdKeep*0.9f),
-	thRobust(OPTDENSE::fNCCThresholdKeep*1.2f)
+	angle1Range(FD2R(OPTDENSE::fRandomAngle1Range)), //default 0.279252678=FD2R(20)
+	angle2Range(FD2R(OPTDENSE::fRandomAngle2Range)), //default 0.174532920=FD2R(16)
+	thConfSmall(OPTDENSE::fNCCThresholdKeep * 0.66f), // default 0.6
+	thConfBig(OPTDENSE::fNCCThresholdKeep * 0.9f), // default 0.8
+	thConfRand(OPTDENSE::fNCCThresholdKeep * 1.1f), // default 0.99
+	thRobust(OPTDENSE::fNCCThresholdKeep * 4.f / 3.f) // default 1.2
 	#if DENSE_REFINE == DENSE_REFINE_EXACT
 	, thPerturbation(1.f/POW(2.f,float(nIter+1)))
 	#endif
@@ -439,9 +452,9 @@ bool DepthEstimator::FillPixelPatch()
 	}
 	normSq0 = w.normSq0;
 	#endif
-	if (normSq0 < thMagnitudeSq)
+	if (normSq0 < thMagnitudeSq && (lowResDepthMap.empty() || lowResDepthMap(x0) <= 0))
 		return false;
-	reinterpret_cast<Point3&>(X0) = image0.camera.TransformPointI2C(Cast<REAL>(x0));
+	X0 = image0.camera.TransformPointI2C(Cast<REAL>(x0));
 	return true;
 }
 
@@ -496,7 +509,7 @@ float DepthEstimator::ScorePixelImage(const DepthData::ViewData& image1, Depth d
 	const float normSq1(normSqDelta<float,float,nTexels>(texels1.data(), sum/(float)nTexels));
 	#endif
 	const float nrmSq(normSq0*normSq1);
-	if (nrmSq <= 0.f)
+	if (nrmSq <=1e-16f)
 		return thRobust;
 	#if DENSE_NCC == DENSE_NCC_DEFAULT
 	const float num(texels0.dot(texels1));
@@ -506,19 +519,20 @@ float DepthEstimator::ScorePixelImage(const DepthData::ViewData& image1, Depth d
 	#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
 	// encourage smoothness
 	for (const NeighborEstimate& neighbor: neighborsClose) {
+		ASSERT(neighbor.depth > 0);
 		#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
 		const float factorDepth(DENSE_EXP(SQUARE(plane.Distance(neighbor.X)/depth) * smoothSigmaDepth));
 		#else
 		const float factorDepth(DENSE_EXP(SQUARE((depth-neighbor.depth)/depth) * smoothSigmaDepth));
 		#endif
-		const float factorNormal(DENSE_EXP(SQUARE(ACOS(ComputeAngle<float,float>(normal.ptr(), neighbor.normal.ptr()))) * smoothSigmaNormal));
+		const float factorNormal(DENSE_EXP(SQUARE(ACOS(ComputeAngle(normal.ptr(), neighbor.normal.ptr()))) * smoothSigmaNormal));
 		score *= (1.f - smoothBonusDepth * factorDepth) * (1.f - smoothBonusNormal * factorNormal);
 	}
 	#endif
 	if (!image1.depthMap.empty()) {
 		ASSERT(OPTDENSE::fEstimationGeometricWeight > 0);
 		float consistency(4.f);
-		const Point3f X1(image1.Tl*Point3f(float(X0(0))*depth,float(X0(1))*depth,depth)+image1.Tm); // Kj * Rj * (Ri.t() * X + Ci - Cj)
+		const Point3f X1(image1.Tl*Point3f(float(X0.x)*depth,float(X0.y)*depth,depth)+image1.Tm); // Kj * Rj * (Ri.t() * X + Ci - Cj)
 		if (X1.z > 0) {
 			const Point2f x1(X1);
 			if (image1.depthMap.isInsideWithBorder<float,1>(x1)) {
@@ -532,14 +546,24 @@ float DepthEstimator::ScorePixelImage(const DepthData::ViewData& image1, Depth d
 		}
 		score += OPTDENSE::fEstimationGeometricWeight * consistency;
 	}
+	// apply depth prior weight based on patch textureless
+	if (!lowResDepthMap.empty()) {
+		const Depth d0 = lowResDepthMap(x0);
+		if (d0 > 0) {
+			const float deltaDepth(MINF(DepthSimilarity(d0, depth), 0.5f));
+			const float smoothSigmaDepth(-1.f / (1.f * 0.02f)); // 0.12: patch texture variance below 0.02 (0.12^2) is considered texture-less
+			const float factorDeltaDepth(DENSE_EXP(normSq0 * smoothSigmaDepth));
+			score = (1.f-factorDeltaDepth)*score + factorDeltaDepth*deltaDepth;
+		}
+	}
 	ASSERT(ISFINITE(score));
-	return score;
+	return MIN(2.f, score);
 }
 
 // compute pixel's NCC score
 float DepthEstimator::ScorePixel(Depth depth, const Normal& normal)
 {
-	ASSERT(depth > 0 && normal.dot(Cast<float>(static_cast<const Point3&>(X0))) <= 0);
+	ASSERT(depth > 0 && normal.dot(Cast<float>(X0)) <= 0);
 	// compute score for this pixel as seen in each view
 	ASSERT(scores.size() == images.size());
 	FOREACH(idxView, images)
@@ -618,6 +642,7 @@ void DepthEstimator::ProcessPixel(IDX idx)
 			const Depth ndepth(depthMap0(nx));
 			if (ndepth > 0) {
 				#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
+				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
 				neighbors.emplace_back(nx);
 				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
 					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
@@ -634,6 +659,7 @@ void DepthEstimator::ProcessPixel(IDX idx)
 			const Depth ndepth(depthMap0(nx));
 			if (ndepth > 0) {
 				#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
+				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
 				neighbors.emplace_back(nx);
 				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
 					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
@@ -649,22 +675,26 @@ void DepthEstimator::ProcessPixel(IDX idx)
 		if (x0.x < size.width-nSizeHalfWindow) {
 			const ImageRef nx(x0.x+1, x0.y);
 			const Depth ndepth(depthMap0(nx));
-			if (ndepth > 0)
+			if (ndepth > 0) {
+				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
 				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
 					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
 					, Cast<float>(image0.camera.TransformPointI2C(Point3(nx, ndepth)))
 					#endif
 				});
+			}
 		}
 		if (x0.y < size.height-nSizeHalfWindow) {
 			const ImageRef nx(x0.x, x0.y+1);
 			const Depth ndepth(depthMap0(nx));
-			if (ndepth > 0)
+			if (ndepth > 0) {
+				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
 				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
 					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
 					, Cast<float>(image0.camera.TransformPointI2C(Point3(nx, ndepth)))
 					#endif
 				});
+			}
 		}
 		#endif
 	} else {
@@ -675,6 +705,7 @@ void DepthEstimator::ProcessPixel(IDX idx)
 			const Depth ndepth(depthMap0(nx));
 			if (ndepth > 0) {
 				#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
+				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
 				neighbors.emplace_back(nx);
 				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
 					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
@@ -691,6 +722,7 @@ void DepthEstimator::ProcessPixel(IDX idx)
 			const Depth ndepth(depthMap0(nx));
 			if (ndepth > 0) {
 				#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
+				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
 				neighbors.emplace_back(nx);
 				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
 					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
@@ -706,29 +738,33 @@ void DepthEstimator::ProcessPixel(IDX idx)
 		if (x0.x > nSizeHalfWindow) {
 			const ImageRef nx(x0.x-1, x0.y);
 			const Depth ndepth(depthMap0(nx));
-			if (ndepth > 0)
+			if (ndepth > 0) {
+				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
 				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
 					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
 					, Cast<float>(image0.camera.TransformPointI2C(Point3(nx, ndepth)))
 					#endif
 				});
+			}
 		}
 		if (x0.y > nSizeHalfWindow) {
 			const ImageRef nx(x0.x, x0.y-1);
 			const Depth ndepth(depthMap0(nx));
-			if (ndepth > 0)
+			if (ndepth > 0) {
+				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
 				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
 					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
 					, Cast<float>(image0.camera.TransformPointI2C(Point3(nx, ndepth)))
 					#endif
 				});
+			}
 		}
 		#endif
 	}
 	float& conf = confMap0(x0);
 	Depth& depth = depthMap0(x0);
 	Normal& normal = normalMap0(x0);
-	const Normal viewDir(Cast<float>(reinterpret_cast<const Point3&>(X0)));
+	const Normal viewDir(Cast<float>(X0));
 	ASSERT(depth > 0 && normal.dot(viewDir) <= 0);
 	#if DENSE_REFINE == DENSE_REFINE_ITER
 	// check if any of the neighbor estimates are better then the current estimate
@@ -742,7 +778,7 @@ void DepthEstimator::ProcessPixel(IDX idx)
 		if (confMap0(nx) >= OPTDENSE::fNCCThresholdKeep)
 			continue;
 		#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
-		NeighborEstimate& neighbor = neighborsClose[n];
+		NeighborEstimate neighbor = neighborsClose[n];
 		#endif
 		neighbor.depth = InterpolatePixel(nx, neighbor.depth, neighbor.normal);
 		CorrectNormal(neighbor.normal);
@@ -767,6 +803,9 @@ void DepthEstimator::ProcessPixel(IDX idx)
 		idxScaleRange = 1;
 	else if (conf >= thConfRand) {
 		// try completely random values in order to find an initial estimate
+		#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
+		neighborsClose.Empty();
+		#endif
 		for (unsigned iter=0; iter<OPTDENSE::nRandomIters; ++iter) {
 			const Depth ndepth(RandomDepth(dMinSqr, dMaxSqr));
 			const Normal nnormal(RandomNormal(viewDir));
@@ -909,7 +948,7 @@ Depth DepthEstimator::InterpolatePixel(const ImageRef& nx, Depth depth, const No
 		#else
 		const Point3 planeN(normal);
 		const REAL planeD(planeN.dot(image0.camera.TransformPointI2C(Point3(nx, depth))));
-		depthNew = (Depth)(planeD / planeN.dot(reinterpret_cast<const Point3&>(X0)));
+		depthNew = (Depth)(planeD / planeN.dot(X0));
 		#endif
 	}
 	#endif
@@ -921,10 +960,10 @@ Depth DepthEstimator::InterpolatePixel(const ImageRef& nx, Depth depth, const No
 void DepthEstimator::InitPlane(Depth depth, const Normal& normal)
 {
 	#if 0
-	plane.Set(reinterpret_cast<const Vec3f&>(normal), Vec3f(depth*Cast<float>(X0)));
+	plane.Set(normal, Normal(Cast<float>(X0)*depth));
 	#else
-	plane.m_vN = reinterpret_cast<const Vec3f&>(normal);
-	plane.m_fD = -depth*reinterpret_cast<const Vec3f&>(normal).dot(Cast<float>(X0));
+	plane.m_vN = normal;
+	plane.m_fD = -depth*normal.dot(Cast<float>(X0));
 	#endif
 }
 #endif
@@ -940,7 +979,7 @@ DepthEstimator::PixelEstimate DepthEstimator::PerturbEstimate(const PixelEstimat
 	ptbEst.depth = CLAMP(rnd.randomUniform(minDepth, maxDepth), dMin, dMax);
 
 	// perturb normal
-	const Normal viewDir(Cast<float>(static_cast<const Point3&>(X0)));
+	const Normal viewDir(Cast<float>(X0));
 	std::uniform_real_distribution<float> urd(-1.f, 1.f);
 	const int numMaxTrials = 3;
 	int numTrials = 0;
@@ -984,7 +1023,6 @@ std::pair<float,float> TriangulatePointsDelaunay(const DepthData::ViewData& imag
 	typedef CGAL::Delaunay_triangulation_2<kernel_t, triangulation_data_structure_t> Delaunay;
 	typedef Delaunay::Face_circulator FaceCirculator;
 	typedef Delaunay::Face_handle FaceHandle;
-	typedef Delaunay::Vertex_circulator VertexCirculator;
 	typedef Delaunay::Vertex_handle VertexHandle;
 	typedef kernel_t::Point_2 CPoint;
 
@@ -1075,7 +1113,7 @@ std::pair<float,float> TriangulatePointsDelaunay(const DepthData::ViewData& imag
 // and interpolating normal and depth for all pixels
 bool MVS::TriangulatePoints2DepthMap(
 	const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points,
-	DepthMap& depthMap, NormalMap& normalMap, Depth& dMin, Depth& dMax, bool bAddCorners)
+	DepthMap& depthMap, NormalMap& normalMap, Depth& dMin, Depth& dMax, bool bAddCorners, bool bSparseOnly)
 {
 	ASSERT(image.pImageData != NULL);
 
@@ -1091,50 +1129,68 @@ bool MVS::TriangulatePoints2DepthMap(
 	mesh.ComputeNormalVertices();
 	depthMap.create(image.image.size());
 	normalMap.create(image.image.size());
-	if (!bAddCorners) {
+	if (!bAddCorners || bSparseOnly) {
 		depthMap.memset(0);
 		normalMap.memset(0);
 	}
-	struct RasterDepth : TRasterMeshBase<RasterDepth> {
-		typedef TRasterMeshBase<RasterDepth> Base;
-		using Base::camera;
-		using Base::depthMap;
-		using Base::ptc;
-		using Base::pti;
-		const Mesh::NormalArr& vertexNormals;
-		NormalMap& normalMap;
-		Mesh::Face face;
-		RasterDepth(const Mesh::NormalArr& _vertexNormals, const Camera& _camera, DepthMap& _depthMap, NormalMap& _normalMap)
-			: Base(_camera, _depthMap), vertexNormals(_vertexNormals), normalMap(_normalMap) {}
-		inline void operator()(const ImageRef& pt, const Point3f& bary) {
-			const Point3f pbary(PerspectiveCorrectBarycentricCoordinates(bary));
-			const Depth z(ComputeDepth(pbary));
-			ASSERT(z > Depth(0));
-			depthMap(pt) = z;
-			normalMap(pt) = normalized(
-				vertexNormals[face[0]] * pbary[0]+
-				vertexNormals[face[1]] * pbary[1]+
-				vertexNormals[face[2]] * pbary[2]
-			);
+	if (bSparseOnly) {
+		// just project sparse pointcloud onto depthmap
+		FOREACH(i, mesh.vertices) {
+			const Point2f& x(projs[i]);
+			const Point2i ix(FLOOR2INT(x));
+			const Depth z(mesh.vertices[i].z);
+			const Normal& normal(mesh.vertexNormals[i]);
+			for (const Point2i dx : {Point2i(0,0),Point2i(1,0),Point2i(0,1),Point2i(1,1)}) {
+				const Point2i ax(ix + dx);
+				if (!depthMap.isInside(ax))
+					continue;
+				depthMap(ax) = z;
+				normalMap(ax) = normal;
+			}
+		}
+	} else {
+		// rasterize triangles onto depthmap
+		struct RasterDepth : TRasterMeshBase<RasterDepth> {
+			typedef TRasterMeshBase<RasterDepth> Base;
+			using Base::camera;
+			using Base::depthMap;
+			using Base::ptc;
+			using Base::pti;
+			const Mesh::NormalArr& vertexNormals;
+			NormalMap& normalMap;
+			Mesh::Face face;
+			RasterDepth(const Mesh::NormalArr& _vertexNormals, const Camera& _camera, DepthMap& _depthMap, NormalMap& _normalMap)
+				: Base(_camera, _depthMap), vertexNormals(_vertexNormals), normalMap(_normalMap) {}
+			inline void operator()(const ImageRef& pt, const Point3f& bary) {
+				const Point3f pbary(PerspectiveCorrectBarycentricCoordinates(bary));
+				const Depth z(ComputeDepth(pbary));
+				ASSERT(z > Depth(0));
+				depthMap(pt) = z;
+				normalMap(pt) = normalized(
+					vertexNormals[face[0]] * pbary[0]+
+					vertexNormals[face[1]] * pbary[1]+
+					vertexNormals[face[2]] * pbary[2]
+				);
+			}
+		};
+		RasterDepth rasterer = {mesh.vertexNormals, camera, depthMap, normalMap};
+		for (const Mesh::Face& face : mesh.faces) {
+			rasterer.face = face;
+			rasterer.ptc[0].z = mesh.vertices[face[0]].z;
+			rasterer.ptc[1].z = mesh.vertices[face[1]].z;
+			rasterer.ptc[2].z = mesh.vertices[face[2]].z;
+			Image8U::RasterizeTriangleBary(
+				projs[face[0]],
+				projs[face[1]],
+				projs[face[2]], rasterer);
 		}
-	};
-	RasterDepth rasterer = {mesh.vertexNormals, camera, depthMap, normalMap};
-	for (const Mesh::Face& face : mesh.faces) {
-		rasterer.face = face;
-		rasterer.ptc[0].z = mesh.vertices[face[0]].z;
-		rasterer.ptc[1].z = mesh.vertices[face[1]].z;
-		rasterer.ptc[2].z = mesh.vertices[face[2]].z;
-		Image8U::RasterizeTriangleBary(
-			projs[face[0]],
-			projs[face[1]],
-			projs[face[2]], rasterer);
 	}
 	return true;
 } // TriangulatePoints2DepthMap
 // same as above, but does not estimate the normal-map
 bool MVS::TriangulatePoints2DepthMap(
 	const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points,
-	DepthMap& depthMap, Depth& dMin, Depth& dMax, bool bAddCorners)
+	DepthMap& depthMap, Depth& dMin, Depth& dMax, bool bAddCorners, bool bSparseOnly)
 {
 	ASSERT(image.pImageData != NULL);
 
@@ -1148,29 +1204,45 @@ bool MVS::TriangulatePoints2DepthMap(
 	// create rough depth-map by interpolating inside triangles
 	const Camera& camera = image.camera;
 	depthMap.create(image.image.size());
-	if (!bAddCorners)
+	if (!bAddCorners || bSparseOnly)
 		depthMap.memset(0);
-	struct RasterDepth : TRasterMeshBase<RasterDepth> {
-		typedef TRasterMeshBase<RasterDepth> Base;
-		using Base::depthMap;
-		RasterDepth(const Camera& _camera, DepthMap& _depthMap)
-			: Base(_camera, _depthMap) {}
-		inline void operator()(const ImageRef& pt, const Point3f& bary) {
-			const Point3f pbary(PerspectiveCorrectBarycentricCoordinates(bary));
-			const Depth z(ComputeDepth(pbary));
-			ASSERT(z > Depth(0));
-			depthMap(pt) = z;
+	if (bSparseOnly) {
+		// just project sparse pointcloud onto depthmap
+		FOREACH(i, mesh.vertices) {
+			const Point2f& x(projs[i]);
+			const Point2i ix(FLOOR2INT(x));
+			const Depth z(mesh.vertices[i].z);
+			for (const Point2i dx : {Point2i(0,0),Point2i(1,0),Point2i(0,1),Point2i(1,1)}) {
+				const Point2i ax(ix + dx);
+				if (!depthMap.isInside(ax))
+					continue;
+				depthMap(ax) = z;
+			}
+		}
+	} else {
+		// rasterize triangles onto depthmap
+		struct RasterDepth : TRasterMeshBase<RasterDepth> {
+			typedef TRasterMeshBase<RasterDepth> Base;
+			using Base::depthMap;
+			RasterDepth(const Camera& _camera, DepthMap& _depthMap)
+				: Base(_camera, _depthMap) {}
+			inline void operator()(const ImageRef& pt, const Point3f& bary) {
+				const Point3f pbary(PerspectiveCorrectBarycentricCoordinates(bary));
+				const Depth z(ComputeDepth(pbary));
+				ASSERT(z > Depth(0));
+				depthMap(pt) = z;
+			}
+		};
+		RasterDepth rasterer = {camera, depthMap};
+		for (const Mesh::Face& face : mesh.faces) {
+			rasterer.ptc[0].z = mesh.vertices[face[0]].z;
+			rasterer.ptc[1].z = mesh.vertices[face[1]].z;
+			rasterer.ptc[2].z = mesh.vertices[face[2]].z;
+			Image8U::RasterizeTriangleBary(
+				projs[face[0]],
+				projs[face[1]],
+				projs[face[2]], rasterer);
 		}
-	};
-	RasterDepth rasterer = {camera, depthMap};
-	for (const Mesh::Face& face : mesh.faces) {
-		rasterer.ptc[0].z = mesh.vertices[face[0]].z;
-		rasterer.ptc[1].z = mesh.vertices[face[1]].z;
-		rasterer.ptc[2].z = mesh.vertices[face[2]].z;
-		Image8U::RasterizeTriangleBary(
-			projs[face[0]],
-			projs[face[1]],
-			projs[face[2]], rasterer);
 	}
 	return true;
 } // TriangulatePoints2DepthMap
@@ -1179,41 +1251,104 @@ bool MVS::TriangulatePoints2DepthMap(
 
 namespace MVS {
 
-class PlaneSolverAdaptor
+// least squares refinement of the given plane to the 3D point set
+// (return the number of iterations)
+template <typename TYPE>
+int OptimizePlane(TPlane<TYPE,3>& plane, const Eigen::Matrix<TYPE,3,1>* points, size_t size, int maxIters, TYPE threshold)
+{
+	typedef TPlane<TYPE,3> PLANE;
+	typedef Eigen::Matrix<TYPE,3,1> POINT;
+	ASSERT(size >= PLANE::numParams);
+	struct OptimizationFunctor {
+		const POINT* points;
+		const size_t size;
+		const RobustNorm::GemanMcClure<double> robust;
+		// construct with the data points
+		OptimizationFunctor(const POINT* _points, size_t _size, double _th)
+			: points(_points), size(_size), robust(_th) { ASSERT(size < (size_t)std::numeric_limits<int>::max()); }
+		static void Residuals(const double* x, int nPoints, const void* pData, double* fvec, double* fjac, int* /*info*/) {
+			const OptimizationFunctor& data = *reinterpret_cast<const OptimizationFunctor*>(pData);
+			ASSERT((size_t)nPoints == data.size && fvec != NULL && fjac == NULL);
+			TPlane<double,3> plane; {
+				Point3d N;
+				plane.m_fD = x[0];
+				Dir2Normal(reinterpret_cast<const Point2d&>(x[1]), N);
+				plane.m_vN = N;
+			}
+			for (size_t i=0; i<data.size; ++i)
+				fvec[i] = data.robust(plane.Distance(data.points[i].template cast<double>()));
+		}
+	} functor(points, size, threshold);
+	double arrParams[PLANE::numParams]; {
+		arrParams[0] = (double)plane.m_fD;
+		const Point3d N(plane.m_vN.x(), plane.m_vN.y(), plane.m_vN.z());
+		Normal2Dir(N, reinterpret_cast<Point2d&>(arrParams[1]));
+	}
+	lm_control_struct control = {1.e-6, 1.e-7, 1.e-8, 1.e-7, 100.0, maxIters}; // lm_control_float;
+	lm_status_struct status;
+	lmmin(PLANE::numParams, arrParams, (int)size, &functor, OptimizationFunctor::Residuals, &control, &status);
+	switch (status.info) {
+	//case 4:
+	case 5:
+	case 6:
+	case 7:
+	case 8:
+	case 9:
+	case 10:
+	case 11:
+	case 12:
+		DEBUG_ULTIMATE("error: refine plane: %s", lm_infmsg[status.info]);
+		return 0;
+	}
+	{
+		Point3d N;
+		plane.m_fD = (TYPE)arrParams[0];
+		Dir2Normal(reinterpret_cast<const Point2d&>(arrParams[1]), N);
+		plane.m_vN = Cast<TYPE>(N);
+	}
+	return status.nfev;
+}
+
+template <typename TYPE>
+class TPlaneSolverAdaptor
 {
 public:
 	enum { MINIMUM_SAMPLES = 3 };
 	enum { MAX_MODELS = 1 };
 
-	typedef Plane Model;
-	typedef cList<Model> Models;
+	typedef TYPE Type;
+	typedef TPoint3<TYPE> Point;
+	typedef CLISTDEF0(Point) Points;
+	typedef TPlane<TYPE,3> Model;
+	typedef CLISTDEF0(Model) Models;
 
-	PlaneSolverAdaptor(const Point3Arr& points)
+	TPlaneSolverAdaptor(const Points& points)
 		: points_(points)
 	{
 	}
-	PlaneSolverAdaptor(const Point3Arr& points, float w, float h, float d)
+	TPlaneSolverAdaptor(const Points& points, float w, float h, float d)
 		: points_(points)
 	{
 		// LogAlpha0 is used to make error data scale invariant
 		// Ratio of containing diagonal image rectangle over image area
 		const float D = SQRT(w*w + h*h + d*d); // diameter
 		const float A = w*h*d+1.f; // volume
-		logalpha0_ = LOG10(2.0f*D/A*0.5f);
+		logalpha0_ = LOG10(2.f*D/A*0.5f);
 	}
 
 	inline bool Fit(const std::vector<size_t>& samples, Models& models) const {
-		Point3 points[3];
-		for (size_t i=0; i<samples.size(); ++i)
+		ASSERT(samples.size() == MINIMUM_SAMPLES);
+		Point points[MINIMUM_SAMPLES];
+		for (size_t i=0; i<MINIMUM_SAMPLES; ++i)
 			points[i] = points_[samples[i]];
 		if (CheckCollinearity(points, 3))
 			return false;
 		models.Resize(1);
-		models[0] = Plane(points[0], points[1], points[2]);
+		models[0] = Model(points[0], points[1], points[2]);
 		return true;
 	}
 
-	inline void EvaluateModel(const Model &model) {
+	inline void EvaluateModel(const Model& model) {
 		model2evaluate = model;
 	}
 
@@ -1221,90 +1356,137 @@ class PlaneSolverAdaptor
 		return SQUARE(model2evaluate.Distance(points_[sample]));
 	}
 
-	inline size_t NumSamples() const { return static_cast<size_t>(points_.GetSize()); }
+	static double Error(const Model& plane, const Points& points) {
+		double e(0);
+		for (const Point& X: points)
+			e += plane.DistanceAbs(X);
+		return e/points.size();
+	}
+
+	inline size_t NumSamples() const { return static_cast<size_t>(points_.size()); }
 	inline double logalpha0() const { return logalpha0_; }
 	inline double multError() const { return 0.5; }
 
 protected:
-	const Point3Arr& points_; // Normalized input data
+	const Points& points_; // Normalized input data
 	double logalpha0_; // Alpha0 is used to make the error adaptive to the image size
 	Model model2evaluate; // current model to be evaluated
 };
 
 // Robustly estimate the plane that fits best the given points
-template <typename Sampler, bool bFixThreshold>
-unsigned TEstimatePlane(const Point3Arr& points, Plane& plane, double& maxThreshold, bool arrInliers[], size_t maxIters)
+template <typename TYPE, typename Sampler, bool bFixThreshold>
+unsigned TEstimatePlane(const CLISTDEF0(TPoint3<TYPE>)& points, TPlane<TYPE,3>& plane, double& maxThreshold, bool arrInliers[], size_t maxIters)
 {
-	const unsigned nPoints = (unsigned)points.GetSize();
+	typedef TPlaneSolverAdaptor<TYPE> PlaneSolverAdaptor;
+
+	plane.Invalidate();
+	
+	const unsigned nPoints = (unsigned)points.size();
 	if (nPoints < PlaneSolverAdaptor::MINIMUM_SAMPLES) {
 		ASSERT("too few points" == NULL);
 		return 0;
 	}
 
 	// normalize points
-	Matrix4x4 H;
-	Point3Arr normPoints;
+	TMatrix<TYPE,4,4> H;
+	typename PlaneSolverAdaptor::Points normPoints;
 	NormalizePoints(points, normPoints, &H);
 
 	// plane robust estimation
 	std::vector<size_t> vec_inliers;
 	Sampler sampler;
 	if (bFixThreshold) {
+		if (maxThreshold == 0)
+			maxThreshold = 0.35/H(0,0);
 		PlaneSolverAdaptor kernel(normPoints);
-		RANSAC(kernel, sampler, vec_inliers, plane, maxThreshold!=0?maxThreshold*H(0,0):0.35, 0.99, maxIters);
+		RANSAC(kernel, sampler, vec_inliers, plane, maxThreshold*H(0,0), 0.99, maxIters);
 		DEBUG_LEVEL(3, "Robust plane: %u/%u points", vec_inliers.size(), nPoints);
 	} else {
+		if (maxThreshold != DBL_MAX)
+			maxThreshold *= H(0,0);
 		PlaneSolverAdaptor kernel(normPoints, 1, 1, 1);
 		const std::pair<double,double> ACRansacOut(ACRANSAC(kernel, sampler, vec_inliers, plane, maxThreshold, 0.99, maxIters));
 		const double& thresholdSq = ACRansacOut.first;
-		maxThreshold = SQRT(thresholdSq);
-		DEBUG_LEVEL(3, "Auto-robust plane: %u/%u points (%g threshold)", vec_inliers.size(), nPoints, maxThreshold/H(0,0));
+		maxThreshold = SQRT(thresholdSq)/H(0,0);
+		DEBUG_LEVEL(3, "Auto-robust plane: %u/%u points (%g threshold)", vec_inliers.size(), nPoints, maxThreshold);
 	}
-	const unsigned inliers_count = (unsigned)vec_inliers.size();
+	unsigned inliers_count = (unsigned)vec_inliers.size();
 	if (inliers_count < PlaneSolverAdaptor::MINIMUM_SAMPLES)
 		return 0;
 
 	// fit plane to all the inliers
-	Point3Arr normInliers(inliers_count);
-	for (uint32_t i=0; i<inliers_count; ++i)
-		normInliers[i] = normPoints[vec_inliers[i]];
-	FitPlane(normInliers.GetData(), normInliers.GetSize(), plane);
-	// if a list of inliers is requested, copy it
-	if (arrInliers) {
-		memset(arrInliers, 0, sizeof(bool)*nPoints);
-		for (uint32_t i=0; i<inliers_count; ++i)
-			arrInliers[vec_inliers[i]] = true;
-	}
+	FitPlaneOnline<TYPE> fitPlane;
+	for (unsigned i=0; i<inliers_count; ++i)
+		fitPlane.Update(normPoints[vec_inliers[i]]);
+	fitPlane.GetPlane(plane);
 
 	// un-normalize plane
-	plane.m_fD /= H(0,0);
-	maxThreshold /= H(0,0);
+	plane.m_fD = (plane.m_fD+plane.m_vN.dot(typename PlaneSolverAdaptor::Model::POINT(H(0,3),H(1,3),H(2,3))))/H(0,0);
 
+	// if a list of inliers is requested, copy it
+	if (arrInliers) {
+		inliers_count = 0;
+		for (unsigned i=0; i<nPoints; ++i)
+			if ((arrInliers[i] = (plane.DistanceAbs(points[i]) <= maxThreshold)) == true)
+				++inliers_count;
+	}
 	return inliers_count;
 } // TEstimatePlane
 
 } // namespace MVS
 
 // Robustly estimate the plane that fits best the given points
-unsigned MVS::EstimatePlane(const Point3Arr& points, Plane& plane, double& maxThreshold, bool arrInliers[], size_t maxIters)
+unsigned MVS::EstimatePlane(const Point3dArr& points, Planed& plane, double& maxThreshold, bool arrInliers[], size_t maxIters)
 {
-	return TEstimatePlane<UniformSampler,false>(points, plane, maxThreshold, arrInliers, maxIters);
+	return TEstimatePlane<double,UniformSampler,false>(points, plane, maxThreshold, arrInliers, maxIters);
 } // EstimatePlane
 // Robustly estimate the plane that fits best the given points, making sure the first point is part of the solution (if any)
-unsigned MVS::EstimatePlaneLockFirstPoint(const Point3Arr& points, Plane& plane, double& maxThreshold, bool arrInliers[], size_t maxIters)
+unsigned MVS::EstimatePlaneLockFirstPoint(const Point3dArr& points, Planed& plane, double& maxThreshold, bool arrInliers[], size_t maxIters)
 {
-	return TEstimatePlane<UniformSamplerLockFirst,false>(points, plane, maxThreshold, arrInliers, maxIters);
+	return TEstimatePlane<double,UniformSamplerLockFirst,false>(points, plane, maxThreshold, arrInliers, maxIters);
 } // EstimatePlaneLockFirstPoint
 // Robustly estimate the plane that fits best the given points using a known threshold
-unsigned MVS::EstimatePlaneTh(const Point3Arr& points, Plane& plane, double maxThreshold, bool arrInliers[], size_t maxIters)
+unsigned MVS::EstimatePlaneTh(const Point3dArr& points, Planed& plane, double maxThreshold, bool arrInliers[], size_t maxIters)
 {
-	return TEstimatePlane<UniformSampler,true>(points, plane, maxThreshold, arrInliers, maxIters);
+	return TEstimatePlane<double,UniformSampler,true>(points, plane, maxThreshold, arrInliers, maxIters);
 } // EstimatePlaneTh
 // Robustly estimate the plane that fits best the given points using a known threshold, making sure the first point is part of the solution (if any)
-unsigned MVS::EstimatePlaneThLockFirstPoint(const Point3Arr& points, Plane& plane, double maxThreshold, bool arrInliers[], size_t maxIters)
+unsigned MVS::EstimatePlaneThLockFirstPoint(const Point3dArr& points, Planed& plane, double maxThreshold, bool arrInliers[], size_t maxIters)
 {
-	return TEstimatePlane<UniformSamplerLockFirst,true>(points, plane, maxThreshold, arrInliers, maxIters);
+	return TEstimatePlane<double,UniformSamplerLockFirst,true>(points, plane, maxThreshold, arrInliers, maxIters);
 } // EstimatePlaneThLockFirstPoint
+// least squares refinement of the given plane to the 3D point set
+int MVS::OptimizePlane(Planed& plane, const Eigen::Vector3d* points, size_t size, int maxIters, double threshold)
+{
+	return OptimizePlane<double>(plane, points, size, maxIters, threshold);
+} // OptimizePlane
+/*----------------------------------------------------------------*/
+
+// Robustly estimate the plane that fits best the given points
+unsigned MVS::EstimatePlane(const Point3fArr& points, Planef& plane, double& maxThreshold, bool arrInliers[], size_t maxIters)
+{
+	return TEstimatePlane<float,UniformSampler,false>(points, plane, maxThreshold, arrInliers, maxIters);
+} // EstimatePlane
+// Robustly estimate the plane that fits best the given points, making sure the first point is part of the solution (if any)
+unsigned MVS::EstimatePlaneLockFirstPoint(const Point3fArr& points, Planef& plane, double& maxThreshold, bool arrInliers[], size_t maxIters)
+{
+	return TEstimatePlane<float,UniformSamplerLockFirst,false>(points, plane, maxThreshold, arrInliers, maxIters);
+} // EstimatePlaneLockFirstPoint
+// Robustly estimate the plane that fits best the given points using a known threshold
+unsigned MVS::EstimatePlaneTh(const Point3fArr& points, Planef& plane, double maxThreshold, bool arrInliers[], size_t maxIters)
+{
+	return TEstimatePlane<float,UniformSampler,true>(points, plane, maxThreshold, arrInliers, maxIters);
+} // EstimatePlaneTh
+// Robustly estimate the plane that fits best the given points using a known threshold, making sure the first point is part of the solution (if any)
+unsigned MVS::EstimatePlaneThLockFirstPoint(const Point3fArr& points, Planef& plane, double maxThreshold, bool arrInliers[], size_t maxIters)
+{
+	return TEstimatePlane<float,UniformSamplerLockFirst,true>(points, plane, maxThreshold, arrInliers, maxIters);
+} // EstimatePlaneThLockFirstPoint
+// least squares refinement of the given plane to the 3D point set
+int MVS::OptimizePlane(Planef& plane, const Eigen::Vector3f* points, size_t size, int maxIters, float threshold)
+{
+	return OptimizePlane<float>(plane, points, size, maxIters, threshold);
+} // OptimizePlane
 /*----------------------------------------------------------------*/
 
 
@@ -1360,7 +1542,7 @@ void MVS::EstimatePointNormals(const ImageArr& images, PointCloud& pointcloud, i
 	// fetch the point set
 	std::vector<PointVectorPair> pointvectors(pointcloud.points.GetSize());
 	FOREACH(i, pointcloud.points)
-		(Point3d&)(pointvectors[i].first) = pointcloud.points[i];
+		reinterpret_cast<Point3d&>(pointvectors[i].first) = pointcloud.points[i];
 	// estimates normals direction;
 	// Note: pca_estimate_normals() requires an iterator over points
 	// as well as property maps to access each point's position and normal.
@@ -1388,7 +1570,7 @@ void MVS::EstimatePointNormals(const ImageArr& images, PointCloud& pointcloud, i
 		PointCloud::Normal& normal = pointcloud.normals[i];
 		const PointCloud::Point& point = pointcloud.points[i];
 		const PointCloud::ViewArr& views= pointcloud.pointViews[i];
-		normal = (const Point3d&)(pointvectors[i].second);
+		normal = reinterpret_cast<const Point3d&>(pointvectors[i].second);
 		// correct normal orientation
 		ASSERT(!views.IsEmpty());
 		const Image& imageData = images[views.First()];
@@ -1751,18 +1933,20 @@ bool MVS::ExportPointCloud(const String& fileName, const Image& imageData, const
 } // ExportPointCloud
 /*----------------------------------------------------------------*/
 
-
+//  - IDs are the reference view ID and neighbor view IDs used to estimate the depth-map (global ID)
 bool MVS::ExportDepthDataRaw(const String& fileName, const String& imageFileName,
 	const IIndexArr& IDs, const cv::Size& imageSize,
 	const KMatrix& K, const RMatrix& R, const CMatrix& C,
 	Depth dMin, Depth dMax,
-	const DepthMap& depthMap, const NormalMap& normalMap, const ConfidenceMap& confMap)
+	const DepthMap& depthMap, const NormalMap& normalMap, const ConfidenceMap& confMap, const ViewsMap& viewsMap)
 {
+	ASSERT(IDs.size() > 1 && IDs.size() < 256);
 	ASSERT(!depthMap.empty());
 	ASSERT(confMap.empty() || depthMap.size() == confMap.size());
+	ASSERT(viewsMap.empty() || depthMap.size() == viewsMap.size());
 	ASSERT(depthMap.width() <= imageSize.width && depthMap.height() <= imageSize.height);
 
-	FILE *f = fopen(fileName, "wb");
+	FILE* f = fopen(fileName, "wb");
 	if (f == NULL) {
 		DEBUG("error: opening file '%s' for writing depth-data", fileName.c_str());
 		return false;
@@ -1782,6 +1966,8 @@ bool MVS::ExportDepthDataRaw(const String& fileName, const String& imageFileName
 		header.type |= HeaderDepthDataRaw::HAS_NORMAL;
 	if (!confMap.empty())
 		header.type |= HeaderDepthDataRaw::HAS_CONF;
+	if (!viewsMap.empty())
+		header.type |= HeaderDepthDataRaw::HAS_VIEWS;
 	fwrite(&header, sizeof(HeaderDepthDataRaw), 1, f);
 
 	// write image file name
@@ -1814,6 +2000,10 @@ bool MVS::ExportDepthDataRaw(const String& fileName, const String& imageFileName
 	if ((header.type & HeaderDepthDataRaw::HAS_CONF) != 0)
 		fwrite(confMap.getData(), sizeof(float), confMap.area(), f);
 
+	// write views-map
+	if ((header.type & HeaderDepthDataRaw::HAS_VIEWS) != 0)
+		fwrite(viewsMap.getData(), sizeof(uint8_t)*4, viewsMap.area(), f);
+
 	const bool bRet(ferror(f) == 0);
 	fclose(f);
 	return bRet;
@@ -1823,9 +2013,9 @@ bool MVS::ImportDepthDataRaw(const String& fileName, String& imageFileName,
 	IIndexArr& IDs, cv::Size& imageSize,
 	KMatrix& K, RMatrix& R, CMatrix& C,
 	Depth& dMin, Depth& dMax,
-	DepthMap& depthMap, NormalMap& normalMap, ConfidenceMap& confMap, unsigned flags)
+	DepthMap& depthMap, NormalMap& normalMap, ConfidenceMap& confMap, ViewsMap& viewsMap, unsigned flags)
 {
-	FILE *f = fopen(fileName, "rb");
+	FILE* f = fopen(fileName, "rb");
 	if (f == NULL) {
 		DEBUG("error: opening file '%s' for reading depth-data", fileName.c_str());
 		return false;
@@ -1837,10 +2027,9 @@ bool MVS::ImportDepthDataRaw(const String& fileName, String& imageFileName,
 		header.name != HeaderDepthDataRaw::HeaderDepthDataRawName() ||
 		(header.type & HeaderDepthDataRaw::HAS_DEPTH) == 0 ||
 		header.depthWidth <= 0 || header.depthHeight <= 0 ||
-		header.imageWidth <= 0 || header.imageHeight <= 0)
+		header.imageWidth < header.depthWidth || header.imageHeight < header.depthHeight)
 	{
 		DEBUG("error: invalid depth-data file '%s'", fileName.c_str());
-		fclose(f);
 		return false;
 	}
 
@@ -1849,12 +2038,13 @@ bool MVS::ImportDepthDataRaw(const String& fileName, String& imageFileName,
 	uint16_t nFileNameSize;
 	fread(&nFileNameSize, sizeof(uint16_t), 1, f);
 	imageFileName.resize(nFileNameSize);
-	fread(&imageFileName[0u], sizeof(char), nFileNameSize, f);
+	fread(imageFileName.data(), sizeof(char), nFileNameSize, f);
 
 	// read neighbor IDs
 	STATIC_ASSERT(sizeof(uint32_t) == sizeof(IIndex));
 	uint32_t nIDs;
 	fread(&nIDs, sizeof(IIndex), 1, f);
+	ASSERT(nIDs > 0 && nIDs < 256);
 	IDs.resize(nIDs);
 	fread(IDs.data(), sizeof(IIndex), nIDs, f);
 
@@ -1891,6 +2081,16 @@ bool MVS::ImportDepthDataRaw(const String& fileName, String& imageFileName,
 		if ((flags & HeaderDepthDataRaw::HAS_CONF) != 0) {
 			confMap.create(header.depthHeight, header.depthWidth);
 			fread(confMap.getData(), sizeof(float), confMap.area(), f);
+		} else {
+			fseek(f, sizeof(float)*header.depthWidth*header.depthHeight, SEEK_CUR);
+		}
+	}
+
+	// read visibility-map
+	if ((header.type & HeaderDepthDataRaw::HAS_VIEWS) != 0) {
+		if ((flags & HeaderDepthDataRaw::HAS_VIEWS) != 0) {
+			viewsMap.create(header.depthHeight, header.depthWidth);
+			fread(viewsMap.getData(), sizeof(uint8_t)*4, viewsMap.area(), f);
 		}
 	}
 
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 918376843..cda6e74b8 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -1,7 +1,7 @@
 /*
 * DepthMap.h
 *
-* Copyright (c) 2014-2015 SEACAVE
+* Copyright (c) 2014-2022 SEACAVE
 *
 * Author(s):
 *
@@ -35,7 +35,6 @@
 
 // I N C L U D E S /////////////////////////////////////////////////
 
-#include "Image.h"
 #include "PointCloud.h"
 
 
@@ -74,6 +73,10 @@
 
 
 // S T R U C T S ///////////////////////////////////////////////////
+namespace MVS {
+	typedef TMatrix<uint8_t, 4, 1> ViewsID;
+}
+DEFINE_CVDATATYPE(MVS::ViewsID)
 
 namespace MVS {
 
@@ -90,6 +93,7 @@ enum DepthFlags {
 extern unsigned nResolutionLevel;
 extern unsigned nMaxResolution;
 extern unsigned nMinResolution;
+extern unsigned nSubResolutionLevels;
 extern unsigned nMinViews;
 extern unsigned nMaxViews;
 extern unsigned nMinViewsFuse;
@@ -100,6 +104,8 @@ extern unsigned nNumViews;
 extern unsigned nPointInsideROI;
 extern bool bFilterAdjust;
 extern bool bAddCorners;
+extern bool bInitSparse;
+extern bool bRemoveDmaps;
 extern float fViewMinScore;
 extern float fViewMinScoreRatio;
 extern float fMinArea;
@@ -119,9 +125,6 @@ extern unsigned nOptimize;
 extern unsigned nEstimateColors;
 extern unsigned nEstimateNormals;
 extern float fNCCThresholdKeep;
-#ifdef _USE_CUDA
-extern float fNCCThresholdKeepCUDA;
-#endif // _USE_CUDA
 extern unsigned nEstimationIters;
 extern unsigned nEstimationGeometricIters;
 extern float fEstimationGeometricWeight;
@@ -137,6 +140,8 @@ extern float fRandomSmoothBonus;
 /*----------------------------------------------------------------*/
 
 
+typedef TImage<ViewsID> ViewsMap;
+
 template <int nTexels>
 struct WeightedPatchFix {
 	struct Pixel {
@@ -187,6 +192,7 @@ struct MVS_API DepthData {
 		}
 
 		static bool NeedScaleImage(float scale) {
+			ASSERT(scale > 0);
 			return ABS(scale-1.f) >= 0.15f;
 		}
 		template <typename IMAGE>
@@ -206,11 +212,13 @@ struct MVS_API DepthData {
 	DepthMap depthMap; // depth-map
 	NormalMap normalMap; // normal-map in camera space
 	ConfidenceMap confMap; // confidence-map
+	ViewsMap viewsMap; // view-IDs map (indexing images vector starting after first view)
 	float dMin, dMax; // global depth range for this image
 	unsigned references; // how many times this depth-map is referenced (on 0 can be safely unloaded)
 	CriticalSection cs; // used to count references
 
 	inline DepthData() : references(0) {}
+	DepthData(const DepthData&);
 
 	inline void ReleaseImages() {
 		for (ViewData& image: images) {
@@ -222,6 +230,7 @@ struct MVS_API DepthData {
 		depthMap.release();
 		normalMap.release();
 		confMap.release();
+		viewsMap.release();
 	}
 
 	inline bool IsValid() const {
@@ -240,7 +249,7 @@ struct MVS_API DepthData {
 	void ApplyIgnoreMask(const BitMatrix&);
 
 	bool Save(const String& fileName) const;
-	bool Load(const String& fileName, unsigned flags=7);
+	bool Load(const String& fileName, unsigned flags=15);
 
 	unsigned GetRef();
 	unsigned IncRef(const String& fileName);
@@ -254,6 +263,7 @@ struct MVS_API DepthData {
 		ar & depthMap;
 		ar & normalMap;
 		ar & confMap;
+		ar & viewsMap;
 		ar & dMin;
 		ar & dMax;
 	}
@@ -317,7 +327,7 @@ struct MVS_API DepthEstimator {
 	#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
 	CLISTDEF0IDX(NeighborEstimate,IIndex) neighborsClose; // close neighbor pixel depths to be used for smoothing
 	#endif
-	Vec3 X0;	      //
+	Point3 X0;	      //
 	ImageRef x0;	  // constants during one pixel loop
 	float normSq0;	  //
 	#if DENSE_NCC != DENSE_NCC_WEIGHTED
@@ -340,6 +350,7 @@ struct MVS_API DepthEstimator {
 	#if DENSE_NCC == DENSE_NCC_WEIGHTED
 	WeightMap& weightMap0;
 	#endif
+	DepthMap lowResDepthMap;
 
 	const unsigned nIteration; // current PatchMatch iteration
 	const DepthData::ViewDataArr images; // neighbor images used
@@ -428,6 +439,7 @@ struct MVS_API DepthEstimator {
 	inline Normal RandomNormal(const Point3f& viewRay) {
 		Normal normal;
 		Dir2Normal(Point2f(rnd.randomRange(FD2R(0.f),FD2R(180.f)), rnd.randomRange(FD2R(90.f),FD2R(180.f))), normal);
+		ASSERT(ISEQUAL(norm(normal), 1.f));
 		return normal.dot(viewRay) > 0 ? -normal : normal;
 	}
 
@@ -437,6 +449,7 @@ struct MVS_API DepthEstimator {
 		const float cosAngLen(normal.dot(viewDir));
 		if (cosAngLen >= 0)
 			normal = RMatrixBaseF(normal.cross(viewDir), MINF((ACOS(cosAngLen/norm(viewDir))-FD2R(90.f))*1.01f, -0.001f)) * normal;
+		ASSERT(ISEQUAL(norm(normal), 1.f));
 	}
 
 	static bool ImportIgnoreMask(const Image&, const Image8U::Size&, BitMatrix&, uint16_t nIgnoreMaskLabel);
@@ -459,15 +472,23 @@ struct MVS_API DepthEstimator {
 // Tools
 bool TriangulatePoints2DepthMap(
 	const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points,
-	DepthMap& depthMap, NormalMap& normalMap, Depth& dMin, Depth& dMax, bool bAddCorners);
+	DepthMap& depthMap, NormalMap& normalMap, Depth& dMin, Depth& dMax, bool bAddCorners, bool bSparseOnly=false);
 bool TriangulatePoints2DepthMap(
 	const DepthData::ViewData& image, const PointCloud& pointcloud, const IndexArr& points,
-	DepthMap& depthMap, Depth& dMin, Depth& dMax, bool bAddCorners);
+	DepthMap& depthMap, Depth& dMin, Depth& dMax, bool bAddCorners, bool bSparseOnly=false);
 
+// Robustly estimate the plane that fits best the given points
 MVS_API unsigned EstimatePlane(const Point3Arr&, Plane&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MVS_API unsigned EstimatePlaneLockFirstPoint(const Point3Arr&, Plane&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MVS_API unsigned EstimatePlaneTh(const Point3Arr&, Plane&, double maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MVS_API unsigned EstimatePlaneThLockFirstPoint(const Point3Arr&, Plane&, double maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
+MATH_API int OptimizePlane(Planed& plane, const Eigen::Vector3d* points, size_t size, int maxIters, double threshold);
+// same for float points
+MATH_API unsigned EstimatePlane(const Point3fArr&, Planef&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
+MATH_API unsigned EstimatePlaneLockFirstPoint(const Point3fArr&, Planef&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
+MATH_API unsigned EstimatePlaneTh(const Point3fArr&, Planef&, double maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
+MATH_API unsigned EstimatePlaneThLockFirstPoint(const Point3fArr&, Planef&, double maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
+MATH_API int OptimizePlane(Planef& plane, const Eigen::Vector3f* points, size_t size, int maxIters, float threshold);
 
 MVS_API void EstimatePointColors(const ImageArr& images, PointCloud& pointcloud);
 MVS_API void EstimatePointNormals(const ImageArr& images, PointCloud& pointcloud, int numNeighbors=16/*K-nearest neighbors*/);
@@ -491,12 +512,12 @@ MVS_API bool ExportDepthDataRaw(const String&, const String& imageFileName,
 	const IIndexArr&, const cv::Size& imageSize,
 	const KMatrix&, const RMatrix&, const CMatrix&,
 	Depth dMin, Depth dMax,
-	const DepthMap&, const NormalMap&, const ConfidenceMap&);
+	const DepthMap&, const NormalMap&, const ConfidenceMap&, const ViewsMap&);
 MVS_API bool ImportDepthDataRaw(const String&, String& imageFileName,
 	IIndexArr&, cv::Size& imageSize,
 	KMatrix&, RMatrix&, CMatrix&,
 	Depth& dMin, Depth& dMax,
-	DepthMap&, NormalMap&, ConfidenceMap&, unsigned flags=7);
+	DepthMap&, NormalMap&, ConfidenceMap&, ViewsMap&, unsigned flags=15);
 
 MVS_API void CompareDepthMaps(const DepthMap& depthMap, const DepthMap& depthMapGT, uint32_t idxImage, float threshold=0.01f);
 MVS_API void CompareNormalMaps(const NormalMap& normalMap, const NormalMap& normalMapGT, uint32_t idxImage);
diff --git a/libs/MVS/Image.h b/libs/MVS/Image.h
index a920f1e52..642767618 100644
--- a/libs/MVS/Image.h
+++ b/libs/MVS/Image.h
@@ -49,7 +49,7 @@ typedef uint32_t IIndex;
 typedef cList<IIndex, IIndex, 0, 16, IIndex> IIndexArr;
 
 struct MVS_API ViewInfo {
-	IIndex ID; // image ID
+	IIndex ID; // image local-ID (the index in the scene images list)
 	uint32_t points; // number of 3D points shared with the reference image
 	float scale; // image scale relative to the reference image
 	float angle; // image angle relative to the reference image (radians)
@@ -78,7 +78,7 @@ class MVS_API Image
 	uint32_t platformID; // ID of the associated platform
 	uint32_t cameraID; // ID of the associated camera on the associated platform
 	uint32_t poseID; // ID of the pose of the associated platform
-	uint32_t ID; // global ID of the image
+	uint32_t ID; // global ID of the image (the ID given outside the current scene - ex. the index in the full list of image files)
 	String name; // image file name (relative path)
 	String maskName; // segmentation file name (optional)
 	Camera camera; // view's pose
@@ -135,7 +135,7 @@ class MVS_API Image
 		ar & ID;
 		const String relName(MAKE_PATH_REL(WORKING_FOLDER_FULL, name));
 		ar & relName;
-		const String relMaskName(MAKE_PATH_REL(WORKING_FOLDER_FULL, maskName));
+		const String relMaskName(maskName.empty() ? String() : MAKE_PATH_REL(WORKING_FOLDER_FULL, maskName));
 		ar & relMaskName;
 		ar & width & height;
 		ar & neighbors;
@@ -150,7 +150,7 @@ class MVS_API Image
 		ar & name;
 		name = MAKE_PATH_FULL(WORKING_FOLDER_FULL, name);
 		ar & maskName;
-		maskName = MAKE_PATH_FULL(WORKING_FOLDER_FULL, maskName);
+		maskName = maskName.empty() ? String() : MAKE_PATH_FULL(WORKING_FOLDER_FULL, maskName);
 		ar & width & height;
 		ar & neighbors;
 		ar & avgDepth;
diff --git a/libs/MVS/Interface.h b/libs/MVS/Interface.h
index fcbb20aed..666c588e9 100644
--- a/libs/MVS/Interface.h
+++ b/libs/MVS/Interface.h
@@ -643,6 +643,15 @@ struct Interface
 		const Image& image = images[imageID];
 		return platforms[image.platformID].GetK(image.cameraID);
 	}
+	Mat33d GetFullK(uint32_t imageID, uint32_t width, uint32_t height) const {
+		const Image& image = images[imageID];
+		return platforms[image.platformID].GetFullK(image.cameraID, width, height);
+	}
+
+	const Platform::Camera& GetCamera(uint32_t imageID) const {
+		const Image& image = images[imageID];
+		return platforms[image.platformID].cameras[image.cameraID];
+	}
 
 	Platform::Pose GetPose(uint32_t imageID) const {
 		const Image& image = images[imageID];
@@ -701,16 +710,18 @@ struct Interface
 //  - depth-map-resolution, for now only the same resolution as the image is supported
 //  - min/max-depth of the values in the depth-map
 //  - image-file-name is the path to the reference color image
-//  - image-IDs are the reference view ID and neighbor view IDs used to estimate the depth-map
+//  - image-IDs are the reference view ID and neighbor view IDs used to estimate the depth-map (global ID)
 //  - camera/rotation/position matrices (row-major) is the absolute pose corresponding to the reference view
-//  - depth-map represents the pixel depth
-//  - normal-map (optional) represents the 3D point normal in camera space; same resolution as the depth-map
-//  - confidence-map (optional) represents the 3D point confidence (usually a value in [0,1]); same resolution as the depth-map
+//  - depth-map: the pixels' depth
+//  - normal-map (optional): the 3D point normal in camera space; same resolution as the depth-map
+//  - confidence-map (optional): the 3D point confidence (usually a value in [0,1]); same resolution as the depth-map
+//  - views-map (optional): the pixels' views, indexing image-IDs starting after first view (up to 4); same resolution as the depth-map
 struct HeaderDepthDataRaw {
 	enum {
 		HAS_DEPTH = (1<<0),
 		HAS_NORMAL = (1<<1),
 		HAS_CONF = (1<<2),
+		HAS_VIEWS = (1<<3),
 	};
 	uint16_t name; // file type
 	uint8_t type; // content type
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 3d6389a78..5bb7088d4 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -83,6 +83,21 @@ using namespace MVS;
 
 // D E F I N E S ///////////////////////////////////////////////////
 
+// uncomment to enable multi-threading based on OpenMP
+#ifdef _USE_OPENMP
+#define MESH_USE_OPENMP
+#endif
+
+// select fast ray-face intersection search method
+#define USE_MESH_BF 0 // brute-force
+#define USE_MESH_OCTREE 1 // octree (misses some triangles)
+#define USE_MESH_BVH 2 // BVH (misses some triangles)
+#define USE_MESH_INT USE_MESH_BF
+
+#if USE_MESH_INT == USE_MESH_BVH
+#include <unsupported/Eigen/BVH>
+#endif
+
 
 // S T R U C T S ///////////////////////////////////////////////////
 
@@ -128,9 +143,42 @@ void Mesh::Swap(Mesh& rhs)
 	faceTexcoords.Swap(rhs.faceTexcoords);
 	std::swap(textureDiffuse, rhs.textureDiffuse);
 } // Swap
+// combine this mesh with the given mesh, without removing duplicate vertices
+void Mesh::Join(const Mesh& mesh)
+{
+	ASSERT(!HasTexture() && !mesh.HasTexture());
+	vertexVertices.Release();
+	vertexFaces.Release();
+	vertexBoundary.Release();
+	faceFaces.Release();
+	if (IsEmpty()) {
+		*this = mesh;
+		return;
+	}
+	const VIndex offsetV(vertices.size());
+	vertices.Join(mesh.vertices);
+	vertexNormals.Join(mesh.vertexNormals);
+	faces.ReserveExtra(mesh.faces.size());
+	for (const Face& face: mesh.faces)
+		faces.emplace_back(face.x+offsetV, face.y+offsetV, face.z+offsetV);
+	faceNormals.Join(mesh.faceNormals);
+}
 /*----------------------------------------------------------------*/
 
 
+bool Mesh::IsWatertight()
+{
+	if (vertexBoundary.empty()) {
+		if (vertexFaces.empty())
+			ListIncidenteFaces();
+		ListBoundaryVertices();
+	}
+	for (const bool b : vertexBoundary)
+		if (b)
+			return false;
+	return true;
+}
+
 // compute the axis-aligned bounding-box of the mesh
 Mesh::Box Mesh::GetAABB() const
 {
@@ -191,7 +239,7 @@ void Mesh::ListIncidenteVertices()
 void Mesh::ListIncidenteFaces()
 {
 	vertexFaces.Empty();
-	vertexFaces.Resize(vertices.GetSize());
+	vertexFaces.resize(vertices.size());
 	FOREACH(i, faces) {
 		const Face& face = faces[i];
 		for (int v=0; v<3; ++v) {
@@ -306,7 +354,7 @@ void Mesh::ComputeNormalFaces()
 // computes the vertex normal as the area weighted face normals average
 void Mesh::ComputeNormalVertices()
 {
-	vertexNormals.Resize(vertices.GetSize());
+	vertexNormals.resize(vertices.size());
 	vertexNormals.Memset(0);
 	for (const Face& face: faces) {
 		const Vertex& v0 = vertices[face[0]];
@@ -327,12 +375,6 @@ void Mesh::ComputeNormalVertices()
 // The normal of a vertex v computed as a weighted sum f the incident face normals.
 // The weight is simply the angle of the involved wedge. Described in:
 // G. Thurmer, C. A. Wuthrich "Computing vertex normals from polygonal facets", Journal of Graphics Tools, 1998
-inline float AngleN(const Mesh::Normal& p1, const Mesh::Normal& p2) {
-	float t(p1.dot(p2));
-	if (t>1) t = 1; else
-	if (t<-1) t = -1;
-	return acosf(t);
-}
 void Mesh::ComputeNormalVertices()
 {
 	ASSERT(!faceNormals.IsEmpty());
@@ -347,14 +389,48 @@ void Mesh::ComputeNormalVertices()
 		const Normal e0(normalized(v1-v0));
 		const Normal e1(normalized(v2-v1));
 		const Normal e2(normalized(v0-v2));
-		vertexNormals[face[0]] += t*AngleN(e0, -e2);
-		vertexNormals[face[1]] += t*AngleN(-e0, e1);
-		vertexNormals[face[2]] += t*AngleN(-e1, e2);
+		vertexNormals[face[0]] += t*ACOS(-ComputeAngleN(e0.ptr(), e2.ptr()));
+		vertexNormals[face[1]] += t*ACOS(-ComputeAngleN(e0.ptr(), e1.ptr()));
+		vertexNormals[face[2]] += t*ACOS(-ComputeAngleN(e1.ptr(), e2.ptr()));
 	}
 	FOREACHPTR(pVertexNormal, vertexNormals)
 		normalize(*pVertexNormal);
 }
 #endif
+
+// Smoothen the normals for each face
+//  - fMaxGradient: maximum angle (in degrees) difference between neighbor normals that is
+//    allowed to take into consideration; higher angles are ignored
+//  - fOriginalWeight: weight (0..1] to use for current normal value when averaging with neighbor normals
+//  - nIterations: number of times to repeat the smoothening process
+void Mesh::SmoothNormalFaces(float fMaxGradient, float fOriginalWeight, unsigned nIterations) {
+	if (faceNormals.size() != faces.size())
+		ComputeNormalFaces();
+	if (vertexFaces.size() != vertices.size())
+		ListIncidenteFaces();
+	if (faceFaces.size() != faces.size())
+		ListIncidenteFaceFaces();
+	const float cosMaxGradient = COS(FD2R(fMaxGradient));
+	for (unsigned rep = 0; rep < nIterations; ++rep) {
+		NormalArr newFaceNormals(faceNormals.size());
+		FOREACH(idxFace, faces) {
+			const Normal& originalNormal = faceNormals[idxFace];
+			Normal sumNeighborNormals = Normal::ZERO;
+			for (int i = 0; i < 3; ++i) {
+				const FIndex fIdx = faceFaces[idxFace][i];
+				if (fIdx == NO_ID)
+					continue;
+				const Normal& neighborNormal = faceNormals[fIdx];
+				if (ComputeAngleN(originalNormal.ptr(), neighborNormal.ptr()) >= cosMaxGradient)
+					sumNeighborNormals += neighborNormal;
+			}
+			const Normal avgNeighborsNormal = normalized(sumNeighborNormals);
+			const Normal newFaceNormal = normalized(originalNormal * fOriginalWeight + avgNeighborsNormal * (1.f - fOriginalWeight));
+			newFaceNormals[idxFace] = newFaceNormal;
+		}
+		newFaceNormals.Swap(faceNormals);
+	}
+}
 /*----------------------------------------------------------------*/
 
 
@@ -1338,6 +1414,55 @@ void Mesh::Clean(float fDecimate, float fSpurious, bool bRemoveSpikes, unsigned
 /*----------------------------------------------------------------*/
 
 
+// project vertices and compute bounding-box;
+// account for diferences in pixel center convention: while OpenMVS uses the same convention as OpenCV and DirectX 9 where the center
+// of a pixel is defined at integer coordinates, i.e. the center is at (0, 0) and the top left corner is at (-0.5, -0.5),
+// DirectX 10+, OpenGL, and Vulkan convention is the center of a pixel is defined at half coordinates, i.e. the center is at (0.5, 0.5)
+// and the top left corner is at (0, 0)
+static const Mesh::TexCoord halfPixel(0.5f, 0.5f);
+
+// translate, normalize and flip Y axis of the texture coordinates
+void Mesh::FaceTexcoordsNormalize(TexCoordArr& newFaceTexcoords, bool flipY) const
+{
+	ASSERT(!faceTexcoords.empty() && !textureDiffuse.empty());
+	const TexCoord invNorm(1.f/(float)textureDiffuse.cols, 1.f/(float)textureDiffuse.rows);
+	newFaceTexcoords.resize(faceTexcoords.size());
+	if (flipY) {
+		FOREACH(i, faceTexcoords) {
+			const TexCoord& texcoord = faceTexcoords[i];
+			newFaceTexcoords[i] = TexCoord(
+				(texcoord.x+halfPixel.x)*invNorm.x,
+				1.f-(texcoord.y+halfPixel.y)*invNorm.y
+			);
+		}
+	} else {
+		FOREACH(i, faceTexcoords)
+			newFaceTexcoords[i] = (faceTexcoords[i]+halfPixel)*invNorm;
+	}
+} // FaceTexcoordsNormalize
+
+// flip Y axis, unnormalize and translate back texture coordinates
+void Mesh::FaceTexcoordsUnnormalize(TexCoordArr& newFaceTexcoords, bool flipY) const
+{
+	ASSERT(!faceTexcoords.empty() && !textureDiffuse.empty());
+	const TexCoord scale((float)textureDiffuse.cols, (float)textureDiffuse.rows);
+	newFaceTexcoords.resize(faceTexcoords.size());
+	if (flipY) {
+		FOREACH(i, faceTexcoords) {
+			const TexCoord& texcoord = faceTexcoords[i];
+			newFaceTexcoords[i] = TexCoord(
+				texcoord.x*scale.x-halfPixel.x,
+				(1.f-texcoord.y)*scale.y-halfPixel.y
+			);
+		}
+	} else {
+		FOREACH(i, faceTexcoords)
+			newFaceTexcoords[i] = faceTexcoords[i]*scale - halfPixel;
+	}
+} // FaceTexcoordsUnnormalize
+/*----------------------------------------------------------------*/
+
+
 // define a PLY file format composed only of vertices and triangles
 namespace BasicPLY {
 	// list of property information for a vertex
@@ -1393,6 +1518,9 @@ bool Mesh::Load(const String& fileName)
 	bool ret;
 	if (ext == _T(".obj"))
 		ret = LoadOBJ(fileName);
+	else
+	if (ext == _T(".gltf") || ext == _T(".glb"))
+		ret = LoadGLTF(fileName, ext == _T(".glb"));
 	else
 		ret = LoadPLY(fileName);
 	if (!ret)
@@ -1432,7 +1560,7 @@ bool Mesh::LoadPLY(const String& fileName)
 		int elem_count;
 		LPCSTR elem_name = ply.setup_element_read(i, &elem_count);
 		if (PLY::equal_strings(BasicPLY::elem_names[0], elem_name)) {
-			ASSERT(vertices.GetSize() == (VIndex)elem_count);
+			ASSERT(vertices.size() == (VIndex)elem_count);
 			ply.setup_property(BasicPLY::vert_props[0]);
 			ply.setup_property(BasicPLY::vert_props[1]);
 			ply.setup_property(BasicPLY::vert_props[2]);
@@ -1440,7 +1568,7 @@ bool Mesh::LoadPLY(const String& fileName)
 				ply.get_element(pVert);
 		} else
 		if (PLY::equal_strings(BasicPLY::elem_names[1], elem_name)) {
-			ASSERT(faces.GetSize() == (FIndex)elem_count);
+			ASSERT(faces.size() == (FIndex)elem_count);
 			if (ply.find_property(ply.elems[i], BasicPLY::face_tex_props[1].name.c_str()) == -1) {
 				// load vertex indices
 				BasicPLY::Face face;
@@ -1456,7 +1584,7 @@ bool Mesh::LoadPLY(const String& fileName)
 				}
 			} else {
 				// load vertex indices and texture coordinates
-				faceTexcoords.Resize((FIndex)elem_count*3);
+				faceTexcoords.resize((FIndex)elem_count*3);
 				BasicPLY::FaceTex face;
 				ply.setup_property(BasicPLY::face_tex_props[0]);
 				ply.setup_property(BasicPLY::face_tex_props[1]);
@@ -1466,13 +1594,13 @@ bool Mesh::LoadPLY(const String& fileName)
 						DEBUG_EXTRA("error: unsupported mesh file (face not triangle)");
 						return false;
 					}
-					memcpy(faces.Begin()+f, face.face.pFace, sizeof(VIndex)*3);
+					memcpy(faces.data()+f, face.face.pFace, sizeof(VIndex)*3);
 					delete[] face.face.pFace;
 					if (face.tex.num != 6) {
 						DEBUG_EXTRA("error: unsupported mesh file (texture coordinates not per face vertex)");
 						return false;
 					}
-					memcpy(faceTexcoords.Begin()+f*3, face.tex.pTex, sizeof(TexCoord)*3);
+					memcpy(faceTexcoords.data()+f*3, face.tex.pTex, sizeof(TexCoord)*3);
 					delete[] face.tex.pTex;
 				}
 				// load the texture
@@ -1483,6 +1611,10 @@ bool Mesh::LoadPLY(const String& fileName)
 						break;
 					}
 				}
+				// flip Y axis, unnormalize and translate back texture coordinates
+				TexCoordArr unnormFaceTexcoords;
+				FaceTexcoordsUnnormalize(unnormFaceTexcoords, true);
+				faceTexcoords.Swap(unnormFaceTexcoords);
 			}
 		} else {
 			ply.get_other_element();
@@ -1526,13 +1658,13 @@ bool Mesh::LoadOBJ(const String& fileName)
 	faces.Reserve((FIndex)group.faces.size());
 	for (const ObjModel::Face& f: group.faces) {
 		ASSERT(f.vertices[0] != NO_ID);
-		faces.AddConstruct(f.vertices[0], f.vertices[1], f.vertices[2]);
+		faces.emplace_back(f.vertices[0], f.vertices[1], f.vertices[2]);
 		if (f.texcoords[0] != NO_ID) {
 			for (int i=0; i<3; ++i)
-				faceTexcoords.AddConstruct(model.get_texcoords()[f.texcoords[i]]);
+				faceTexcoords.emplace_back(model.get_texcoords()[f.texcoords[i]]);
 		}
 		if (f.normals[0] != NO_ID) {
-			Normal& n = faceNormals.AddConstruct(Normal::ZERO);
+			Normal& n = faceNormals.emplace_back(Normal::ZERO);
 			for (int i=0; i<3; ++i)
 				n += normalized(model.get_normals()[f.normals[i]]);
 			normalize(n);
@@ -1543,6 +1675,87 @@ bool Mesh::LoadOBJ(const String& fileName)
 	ObjModel::MaterialLib::Material* pMaterial(model.GetMaterial(group.material_name));
 	if (pMaterial && pMaterial->LoadDiffuseMap())
 		cv::swap(textureDiffuse, pMaterial->diffuse_map);
+	
+	// flip Y axis, unnormalize and translate back texture coordinates
+	if (!faceTexcoords.empty()) {
+		TexCoordArr unnormFaceTexcoords;
+		FaceTexcoordsUnnormalize(unnormFaceTexcoords, true);
+		faceTexcoords.Swap(unnormFaceTexcoords);
+	}
+	return true;
+}
+// import the mesh as a GLTF file
+bool Mesh::LoadGLTF(const String& fileName, bool bBinary)
+{
+	ASSERT(!fileName.IsEmpty());
+	Release();
+
+	// load model
+	tinygltf::Model gltfModel; {
+		tinygltf::TinyGLTF loader;
+		std::string err, warn;
+		if (bBinary ?
+			!loader.LoadBinaryFromFile(&gltfModel, &err, &warn, fileName) :
+			!loader.LoadASCIIFromFile(&gltfModel, &err, &warn, fileName))
+			return false;
+		if (!err.empty()) {
+			VERBOSE("error: %s", err.c_str());
+			return false;
+		}
+		if (!warn.empty())
+			DEBUG("warning: %s", warn.c_str());
+	}
+	
+	// parse model
+	for (const tinygltf::Mesh& gltfMesh : gltfModel.meshes) {
+		for (const tinygltf::Primitive& gltfPrimitive : gltfMesh.primitives) {
+			if (gltfPrimitive.mode != TINYGLTF_MODE_TRIANGLES)
+				continue;
+			Mesh mesh;
+			// read vertices
+			{
+				const tinygltf::Accessor& gltfAccessor = gltfModel.accessors[gltfPrimitive.attributes.at("POSITION")];
+				if (gltfAccessor.type != TINYGLTF_TYPE_VEC3)
+					continue;
+				const tinygltf::BufferView& gltfBufferView = gltfModel.bufferViews[gltfAccessor.bufferView];
+				const tinygltf::Buffer& buffer = gltfModel.buffers[gltfBufferView.buffer];
+				const uint8_t* pData = buffer.data.data() + gltfBufferView.byteOffset + gltfAccessor.byteOffset;
+				mesh.vertices.resize((VIndex)gltfAccessor.count);
+				if (gltfAccessor.componentType == TINYGLTF_COMPONENT_TYPE_FLOAT) {
+					ASSERT(gltfBufferView.byteLength == sizeof(Vertex) * gltfAccessor.count);
+					memcpy(mesh.vertices.data(), pData, gltfBufferView.byteLength);
+				}
+				else if (gltfAccessor.componentType == TINYGLTF_COMPONENT_TYPE_DOUBLE) {
+					for (VIndex i = 0; i < gltfAccessor.count; ++i)
+						mesh.vertices[i] = ((const Point3d*)pData)[i];
+				}
+				else {
+					VERBOSE("error: unsupported vertices (component type)");
+					continue;
+				}
+			}
+			// read faces
+			{
+				const tinygltf::Accessor& gltfAccessor = gltfModel.accessors[gltfPrimitive.indices];
+				if (gltfAccessor.type != TINYGLTF_TYPE_SCALAR)
+					continue;
+				const tinygltf::BufferView& gltfBufferView = gltfModel.bufferViews[gltfAccessor.bufferView];
+				const tinygltf::Buffer& buffer = gltfModel.buffers[gltfBufferView.buffer];
+				const uint8_t* pData = buffer.data.data() + gltfBufferView.byteOffset + gltfAccessor.byteOffset;
+				mesh.faces.resize((FIndex)(gltfAccessor.count/3));
+				if (gltfAccessor.componentType == TINYGLTF_COMPONENT_TYPE_INT ||
+					gltfAccessor.componentType == TINYGLTF_COMPONENT_TYPE_UNSIGNED_INT) {
+					ASSERT(gltfBufferView.byteLength == sizeof(uint32_t) * gltfAccessor.count);
+					memcpy(mesh.faces.data(), pData, gltfBufferView.byteLength);
+				}
+				else {
+					VERBOSE("error: unsupported faces (component type)");
+					continue;
+				}
+			}
+			Join(mesh);
+		}
+	}
 	return true;
 } // Load
 /*----------------------------------------------------------------*/
@@ -1568,11 +1781,11 @@ bool Mesh::Save(const String& fileName, const cList<String>& comments, bool bBin
 // export the mesh as a PLY file
 bool Mesh::SavePLY(const String& fileName, const cList<String>& comments, bool bBinary) const
 {
-	ASSERT(!fileName.IsEmpty());
+	ASSERT(!fileName.empty());
 	Util::ensureFolder(fileName);
 
 	// create PLY object
-	const size_t bufferSize(vertices.GetSize()*(4*3/*pos*/+2/*eol*/) + faces.GetSize()*(1*1/*len*/+4*3/*idx*/+2/*eol*/) + 2048/*extra size*/);
+	const size_t bufferSize(vertices.size()*(4*3/*pos*/+2/*eol*/) + faces.size()*(1*1/*len*/+4*3/*idx*/+2/*eol*/) + 2048/*extra size*/);
 	PLY ply;
 	if (!ply.write(fileName, 2, BasicPLY::elem_names, bBinary?PLY::BINARY_LE:PLY::ASCII, bufferSize)) {
 		DEBUG_EXTRA("error: can not create the mesh file");
@@ -1585,12 +1798,12 @@ bool Mesh::SavePLY(const String& fileName, const cList<String>& comments, bool b
 
 	// export texture file name as comment if needed
 	String textureFileName;
-	if (!faceTexcoords.IsEmpty() && !textureDiffuse.empty()) {
+	if (!faceTexcoords.empty() && !textureDiffuse.empty()) {
 		textureFileName = Util::getFileFullName(fileName)+_T(".png");
 		ply.append_comment((_T("TextureFile ")+Util::getFileNameExt(textureFileName)).c_str());
 	}
 
-	if (vertexNormals.IsEmpty()) {
+	if (vertexNormals.empty()) {
 		// describe what properties go into the vertex elements
 		ply.describe_property(BasicPLY::elem_names[0], 3, BasicPLY::vert_props);
 
@@ -1598,7 +1811,7 @@ bool Mesh::SavePLY(const String& fileName, const cList<String>& comments, bool b
 		FOREACHPTR(pVert, vertices)
 			ply.put_element(pVert);
 	} else {
-		ASSERT(vertices.GetSize() == vertexNormals.GetSize());
+		ASSERT(vertices.size() == vertexNormals.size());
 
 		// describe what properties go into the vertex elements
 		ply.describe_property(BasicPLY::elem_names[0], 6, BasicPLY::vert_normal_props);
@@ -1614,7 +1827,7 @@ bool Mesh::SavePLY(const String& fileName, const cList<String>& comments, bool b
 	if (ply.get_current_element_count() == 0)
 		return false;
 
-	if (faceTexcoords.IsEmpty()) {
+	if (faceTexcoords.empty()) {
 		// describe what properties go into the vertex elements
 		ply.describe_property(BasicPLY::elem_names[1], 1, BasicPLY::face_props);
 
@@ -1625,7 +1838,11 @@ bool Mesh::SavePLY(const String& fileName, const cList<String>& comments, bool b
 			ply.put_element(&face);
 		}
 	} else {
-		ASSERT(faceTexcoords.GetSize() == faces.GetSize()*3);
+		ASSERT(faceTexcoords.size() == faces.size()*3);
+
+		// translate, normalize and flip Y axis of the texture coordinates
+		TexCoordArr normFaceTexcoords;
+		FaceTexcoordsNormalize(normFaceTexcoords, true);
 
 		// describe what properties go into the vertex elements
 		ply.describe_property(BasicPLY::elem_names[1], 2, BasicPLY::face_tex_props);
@@ -1633,8 +1850,8 @@ bool Mesh::SavePLY(const String& fileName, const cList<String>& comments, bool b
 		// export the array of faces
 		BasicPLY::FaceTex face = {{3},{6}};
 		FOREACH(f, faces) {
-			face.face.pFace = faces.Begin()+f;
-			face.tex.pTex = faceTexcoords.Begin()+f*3;
+			face.face.pFace = faces.data()+f;
+			face.tex.pTex = normFaceTexcoords.data()+f*3;
 			ply.put_element(&face);
 		}
 
@@ -1651,7 +1868,7 @@ bool Mesh::SavePLY(const String& fileName, const cList<String>& comments, bool b
 // export the mesh as a OBJ file
 bool Mesh::SaveOBJ(const String& fileName) const
 {
-	ASSERT(!fileName.IsEmpty());
+	ASSERT(!fileName.empty());
 	Util::ensureFolder(fileName);
 
 	// create the OBJ model
@@ -1659,35 +1876,38 @@ bool Mesh::SaveOBJ(const String& fileName) const
 
 	// store vertices
 	ASSERT(sizeof(ObjModel::Vertex) == sizeof(Vertex));
-	model.get_vertices().insert(model.get_vertices().begin(), vertices.Begin(), vertices.End());
+	model.get_vertices().insert(model.get_vertices().begin(), vertices.begin(), vertices.end());
 
 	// store vertex normals
 	ASSERT(sizeof(ObjModel::Normal) == sizeof(Normal));
 	ASSERT(model.get_vertices().size() < std::numeric_limits<VIndex>::max());
-	if (!vertexNormals.IsEmpty()) {
-		ASSERT(vertexNormals.GetSize() == vertices.GetSize());
-		model.get_normals().insert(model.get_normals().begin(), vertexNormals.Begin(), vertexNormals.End());
+	if (!vertexNormals.empty()) {
+		ASSERT(vertexNormals.size() == vertices.size());
+		model.get_normals().insert(model.get_normals().begin(), vertexNormals.begin(), vertexNormals.end());
 	}
 
 	// store face texture coordinates
 	ASSERT(sizeof(ObjModel::TexCoord) == sizeof(TexCoord));
-	if (!faceTexcoords.IsEmpty()) {
-		ASSERT(faceTexcoords.GetSize() == faces.GetSize()*3);
-		model.get_texcoords().insert(model.get_texcoords().begin(), faceTexcoords.Begin(), faceTexcoords.End());
+	if (!faceTexcoords.empty()) {
+		// translate, normalize and flip Y axis of the texture coordinates
+		TexCoordArr normFaceTexcoords;
+		FaceTexcoordsNormalize(normFaceTexcoords, true);
+		ASSERT(normFaceTexcoords.size() == faces.size()*3);
+		model.get_texcoords().insert(model.get_texcoords().begin(), normFaceTexcoords.begin(), normFaceTexcoords.end());
 	}
 
 	// store faces
 	ObjModel::Group& group = model.AddGroup(_T("material_0"));
-	group.faces.reserve(faces.GetSize());
+	group.faces.reserve(faces.size());
 	FOREACH(idxFace, faces) {
 		const Face& face = faces[idxFace];
 		ObjModel::Face f;
 		memset(&f, 0xFF, sizeof(ObjModel::Face));
 		for (int i=0; i<3; ++i) {
 			f.vertices[i] = face[i];
-			if (!faceTexcoords.IsEmpty())
+			if (!faceTexcoords.empty())
 				f.texcoords[i] = idxFace*3+i;
-			if (!vertexNormals.IsEmpty())
+			if (!vertexNormals.empty())
 				f.normals[i] = face[i];
 		}
 		group.faces.push_back(f);
@@ -1798,18 +2018,15 @@ bool Mesh::SaveGLTF(const String& fileName, bool bBinary) const
 		vertexTexcoordAccessor.count = mesh.faceTexcoords.size();
 		vertexTexcoordAccessor.type = TINYGLTF_TYPE_VEC2;
 		gltfModel.accessors.emplace_back(std::move(vertexTexcoordAccessor));
-		// setup texture coordinates (flip Y)
+		// setup texture coordinates
 		STATIC_ASSERT(2 * sizeof(TexCoord::Type) == sizeof(TexCoord)); // TexCoordArr should be continuous
 		ASSERT(mesh.vertices.size() == mesh.faceTexcoords.size());
 		tinygltf::BufferView vertexTexcoordBufferView;
 		vertexTexcoordBufferView.name = "vertexTexcoordBufferView";
 		vertexTexcoordBufferView.buffer = (int)gltfModel.buffers.size();
-		TexCoordArr flipTexcoords(mesh.faceTexcoords.size());
-		FOREACH(i, mesh.faceTexcoords) {
-			flipTexcoords[i].x = mesh.faceTexcoords[i].x;
-			flipTexcoords[i].y = 1.f - mesh.faceTexcoords[i].y;
-		}
-		ExtendBufferGLTF(flipTexcoords.data(), flipTexcoords.size(), gltfBuffer,
+		TexCoordArr normFaceTexcoords;
+		mesh.FaceTexcoordsNormalize(normFaceTexcoords, false);
+		ExtendBufferGLTF(normFaceTexcoords.data(), normFaceTexcoords.size(), gltfBuffer,
 			vertexTexcoordBufferView.byteOffset, vertexTexcoordBufferView.byteLength);
 		gltfModel.bufferViews.emplace_back(std::move(vertexTexcoordBufferView));
 		// setup texture
@@ -3512,7 +3729,7 @@ void Mesh::CloseHoleQuality(VertexIdxArr& verts)
 			const Normal n(mesh.FaceNormal(face));
 			// compute the angle between the two existing edges of the face
 			// (the angle computation takes into account the case of reversed face)
-			angle = ACOS(ComputeAngle<float,float>(mesh.vertices[face[1]].ptr(), mesh.vertices[face[0]].ptr(), mesh.vertices[face[2]].ptr()));
+			angle = ACOS(ComputeAngle(mesh.vertices[face[1]].ptr(), mesh.vertices[face[0]].ptr(), mesh.vertices[face[2]].ptr()));
 			if (n.dot(mesh.VertexNormal(face[1])) < 0)
 				angle = float(2*M_PI) - angle;
 			// compute quality as a composition of dihedral angle and area/sum(edge^2);
@@ -3541,10 +3758,10 @@ void Mesh::CloseHoleQuality(VertexIdxArr& verts)
 			else {
 				const Normal n0(mesh.FaceNormal(mesh.faces[indices[0]]));
 				if (indices.GetSize() == 1)
-					dihedral = ACOS(ComputeAngle<float,float>(n.ptr(), n0.ptr()));
+					dihedral = ACOS(ComputeAngle(n.ptr(), n0.ptr()));
 				else {
 					const Normal n1(mesh.FaceNormal(mesh.faces[indices[1]]));
-					dihedral = MAXF(ACOS(ComputeAngle<float,float>(n.ptr(), n0.ptr())), ACOS(ComputeAngle<float,float>(n.ptr(), n1.ptr())));
+					dihedral = MAXF(ACOS(ComputeAngle(n.ptr(), n0.ptr())), ACOS(ComputeAngle(n.ptr(), n1.ptr())));
 				}
 			}
 			aspectRatio = ComputeTriangleQuality(mesh.vertices[face[0]], mesh.vertices[face[1]], mesh.vertices[face[2]]);
@@ -3631,21 +3848,37 @@ void Mesh::CloseHoleQuality(VertexIdxArr& verts)
 }
 /*----------------------------------------------------------------*/
 
+// crop mesh such that none of its faces is touching or outside the given bounding-box
+void Mesh::RemoveFacesOutside(const OBB3f& obb) {
+	ASSERT(obb.IsValid());
+	VertexIdxArr vertexRemove;
+	FOREACH(i, vertices)
+		if (!obb.Intersects(vertices[i]))
+			vertexRemove.emplace_back(i);
+	if (!vertexRemove.empty()) {
+		if (vertices.size() != vertexFaces.size())
+			ListIncidenteFaces();
+		RemoveVertices(vertexRemove, true);
+	}
+}
+
 // remove the given list of faces
 void Mesh::RemoveFaces(FaceIdxArr& facesRemove, bool bUpdateLists)
 {
 	facesRemove.Sort();
 	FIndex idxLast(FaceIdxArr::NO_INDEX);
-	if (!bUpdateLists || vertexFaces.IsEmpty()) {
+	if (!bUpdateLists || vertexFaces.empty()) {
 		RFOREACHPTR(pIdxF, facesRemove) {
 			const FIndex idxF(*pIdxF);
 			if (idxLast == idxF)
 				continue;
 			faces.RemoveAt(idxF);
+			if (!faceTexcoords.empty())
+				faceTexcoords.RemoveAt(idxF * 3, 3);
 			idxLast = idxF;
 		}
 	} else {
-		ASSERT(vertices.GetSize() == vertexFaces.GetSize());
+		ASSERT(vertices.size() == vertexFaces.size());
 		RFOREACHPTR(pIdxF, facesRemove) {
 			const FIndex idxF(*pIdxF);
 			if (idxLast == idxF)
@@ -3674,16 +3907,18 @@ void Mesh::RemoveFaces(FaceIdxArr& facesRemove, bool bUpdateLists)
 				}
 			}
 			faces.RemoveAt(idxF);
+			if (!faceTexcoords.empty())
+				faceTexcoords.RemoveAt(idxF * 3, 3);
 			idxLast = idxF;
 		}
 	}
 	vertexVertices.Release();
 }
 
-// remove the given list of vertices
+// remove the given list of vertices, together with all faces containing them
 void Mesh::RemoveVertices(VertexIdxArr& vertexRemove, bool bUpdateLists)
 {
-	ASSERT(vertices.GetSize() == vertexFaces.GetSize());
+	ASSERT(vertices.size() == vertexFaces.size());
 	vertexRemove.Sort();
 	VIndex idxLast(VertexIdxArr::NO_INDEX);
 	if (!bUpdateLists) {
@@ -3691,7 +3926,7 @@ void Mesh::RemoveVertices(VertexIdxArr& vertexRemove, bool bUpdateLists)
 			const VIndex idxV(*pIdxV);
 			if (idxLast == idxV)
 				continue;
-			const VIndex idxVM(vertices.GetSize()-1);
+			const VIndex idxVM(vertices.size()-1);
 			if (idxV < idxVM) {
 				// update all faces of the moved vertex
 				const FaceIdxArr& vf(vertexFaces[idxVM]);
@@ -3709,7 +3944,7 @@ void Mesh::RemoveVertices(VertexIdxArr& vertexRemove, bool bUpdateLists)
 		const VIndex idxV(*pIdxV);
 		if (idxLast == idxV)
 			continue;
-		const VIndex idxVM(vertices.GetSize()-1);
+		const VIndex idxVM(vertices.size()-1);
 		if (idxV < idxVM) {
 			// update all faces of the moved vertex
 			const FaceIdxArr& vf(vertexFaces[idxVM]);
@@ -3725,7 +3960,8 @@ void Mesh::RemoveVertices(VertexIdxArr& vertexRemove, bool bUpdateLists)
 		vertices.RemoveAt(idxV);
 		idxLast = idxV;
 	}
-	RemoveFaces(facesRemove);
+	if (!facesRemove.empty())
+		RemoveFaces(facesRemove);
 }
 
 // remove all vertices that are not assigned to any face
@@ -3794,6 +4030,27 @@ void Mesh::ConvertTexturePerVertex(Mesh& mesh) const
 /*----------------------------------------------------------------*/
 
 
+// estimate the ground-plane as the plane agreeing with most vertices
+//  - sampleMesh: uniformly samples points on the mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)
+//  - planeThreshold: threshold used to estimate the ground plane (0 - auto)
+Planef Mesh::EstimateGroundPlane(const ImageArr& images, float sampleMesh, float planeThreshold, const String& fileExportPlane) const
+{
+	ASSERT(!IsEmpty());
+	PointCloud pointcloud;
+	if (sampleMesh != 0) {
+		// create the point cloud by sampling the mesh
+		if (sampleMesh > 0)
+			SamplePoints(sampleMesh, 0, pointcloud);
+		else
+			SamplePoints(ROUND2INT<unsigned>(-sampleMesh), pointcloud);
+	} else {
+		// create the point cloud containing all vertices
+		for (const Vertex& X: vertices)
+			pointcloud.points.emplace_back(X);
+	}
+	return pointcloud.EstimateGroundPlane(images, planeThreshold, fileExportPlane);
+}
+/*----------------------------------------------------------------*/
 
 
 // computes the centroid of the given mesh face
@@ -3911,7 +4168,7 @@ void Mesh::SamplePoints(REAL samplingDensity, unsigned mumPointsTheoretic, Point
 				const TexCoord& TA = faceTexcoords[idxTexCoord+1];
 				const TexCoord& TB = faceTexcoords[idxTexCoord+2];
 				const TexCoord xt(TO + static_cast<TexCoord::Type>(x)*(TA - TO) + static_cast<TexCoord::Type>(y)*(TB - TO));
-				pointcloud.colors.emplace_back(textureDiffuse.sampleSafe(Point2f(xt.x*textureDiffuse.width(), (1.f-xt.y)*textureDiffuse.height())));
+				pointcloud.colors.emplace_back(textureDiffuse.sampleSafe(xt));
 			}
 		}
 	}
@@ -3934,7 +4191,7 @@ void Mesh::Project(const Camera& camera, DepthMap& depthMap) const
 }
 void Mesh::Project(const Camera& camera, DepthMap& depthMap, Image8U3& image) const
 {
-	ASSERT(!faceTexcoords.IsEmpty() && !textureDiffuse.empty());
+	ASSERT(!faceTexcoords.empty() && !textureDiffuse.empty());
 	struct RasterMesh : TRasterMesh<RasterMesh> {
 		typedef TRasterMesh<RasterMesh> Base;
 		const Mesh& mesh;
@@ -3957,7 +4214,7 @@ void Mesh::Project(const Camera& camera, DepthMap& depthMap, Image8U3& image) co
 				xt  = mesh.faceTexcoords[idxFaceTex+0] * pbary[0];
 				xt += mesh.faceTexcoords[idxFaceTex+1] * pbary[1];
 				xt += mesh.faceTexcoords[idxFaceTex+2] * pbary[2];
-				image(pt) = mesh.textureDiffuse.sampleSafe(Point2f(xt.x*mesh.textureDiffuse.width(), (1.f-xt.y)*mesh.textureDiffuse.height()));
+				image(pt) = mesh.textureDiffuse.sampleSafe(xt);
 			}
 		}
 	};
@@ -4023,7 +4280,7 @@ void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap) const
 			: Base(_vertices, _camera, _depthMap) {}
 		inline bool ProjectVertex(const Mesh::Vertex& pt, int v) {
 			return (ptc[v] = camera.TransformPointW2C(Cast<REAL>(pt))).z > 0 &&
-				depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointC2I(reinterpret_cast<const Point2&>(ptc[v])));
+				depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointC2I(Point2(ptc[v].x,ptc[v].y)));
 		}
 		void Raster(const ImageRef& pt, const Point3f& bary) {
 			const Depth z(ComputeDepth(bary));
@@ -4040,7 +4297,7 @@ void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap) const
 }
 void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap, Image8U3& image) const
 {
-	ASSERT(!faceTexcoords.IsEmpty() && !textureDiffuse.empty());
+	ASSERT(!faceTexcoords.empty() && !textureDiffuse.empty());
 	struct RasterMesh : TRasterMesh<RasterMesh> {
 		typedef TRasterMesh<RasterMesh> Base;
 		const Mesh& mesh;
@@ -4055,7 +4312,7 @@ void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap, Image8U3& imag
 		}
 		inline bool ProjectVertex(const Mesh::Vertex& pt, int v) {
 			return (ptc[v] = camera.TransformPointW2C(Cast<REAL>(pt))).z > 0 &&
-				depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointC2I(reinterpret_cast<const Point2&>(ptc[v])));
+				depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointC2I(Point2(ptc[v].x,ptc[v].y)));
 		}
 		void Raster(const ImageRef& pt, const Point3f& bary) {
 			const Depth z(ComputeDepth(bary));
@@ -4066,7 +4323,7 @@ void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap, Image8U3& imag
 				xt  = mesh.faceTexcoords[idxFaceTex+0] * bary[0];
 				xt += mesh.faceTexcoords[idxFaceTex+1] * bary[1];
 				xt += mesh.faceTexcoords[idxFaceTex+2] * bary[2];
-				image(pt) = mesh.textureDiffuse.sampleSafe(Point2f(xt.x*mesh.textureDiffuse.width(), (1.f-xt.y)*mesh.textureDiffuse.height()));
+				image(pt) = mesh.textureDiffuse.sampleSafe(xt);
 			}
 		}
 	};
@@ -4193,6 +4450,162 @@ Mesh Mesh::SubMesh(const FaceIdxArr& chunk) const
 /*----------------------------------------------------------------*/
 
 
+
+// transfer the texture of this mesh to the new mesh;
+// the two meshes should be aligned and the new mesh to have UV-coordinates
+#if USE_MESH_INT == USE_MESH_BVH
+struct FaceBox {
+	Eigen::AlignedBox3f box;
+	Mesh::FIndex idxFace;
+};
+inline Eigen::AlignedBox3f bounding_box(const FaceBox& faceBox) {
+	return faceBox.box;
+}
+#endif
+bool Mesh::TransferTexture(Mesh& mesh, unsigned textureSize)
+{
+	ASSERT(HasTexture() && mesh.HasTexture());
+	if (vertexFaces.size() != vertices.size())
+		ListIncidenteFaces();
+	if (mesh.vertexNormals.size() != mesh.vertices.size())
+		mesh.ComputeNormalVertices();
+	if (mesh.textureDiffuse.empty())
+		mesh.textureDiffuse.create(textureSize, textureSize);
+	#if USE_MESH_INT == USE_MESH_BVH
+	std::vector<FaceBox> boxes;
+	boxes.reserve(faces.size());
+	FOREACH(idxFace, faces)
+		boxes.emplace_back([this](FIndex idxFace) {
+			const Face& face = faces[idxFace];
+			Eigen::AlignedBox3f box;
+			box.extend<Eigen::Vector3f>(vertices[face[0]]);
+			box.extend<Eigen::Vector3f>(vertices[face[1]]);
+			box.extend<Eigen::Vector3f>(vertices[face[2]]);
+			return FaceBox{box, idxFace};
+		} (idxFace));
+	typedef Eigen::KdBVH<Type,3,FaceBox> BVH;
+	BVH tree(boxes.begin(), boxes.end());
+	#endif
+	struct IntersectRayMesh {
+		const Mesh& mesh;
+		const Ray3f& ray;
+		IndexDist pick;
+		IntersectRayMesh(const Mesh& _mesh, const Ray3f& _ray)
+			: mesh(_mesh), ray(_ray) {
+			#if USE_MESH_INT == USE_MESH_BF
+			FOREACH(idxFace, mesh.faces)
+				IntersectsRayFace(idxFace);
+			#endif
+		}
+		inline void IntersectsRayFace(FIndex idxFace) {
+			const Face& face = mesh.faces[idxFace];
+			Type dist;
+			if (ray.Intersects<true>(Triangle3f(mesh.vertices[face[0]], mesh.vertices[face[1]], mesh.vertices[face[2]]), &dist)) {
+				ASSERT(dist >= 0);
+				if (pick.dist > dist) {
+					pick.dist = dist;
+					pick.idx = idxFace;
+				}
+			}
+		}
+		#if USE_MESH_INT == USE_MESH_BVH
+		inline bool intersectVolume(const BVH::Volume &volume) {
+			return ray.Intersects(AABB3f(volume.min(), volume.max()));
+		}
+		inline bool intersectObject(const BVH::Object &object) {
+			IntersectsRayFace(object.idxFace);
+			return false;
+		}
+		#endif
+	};
+	#if USE_MESH_INT == USE_MESH_BF || USE_MESH_INT == USE_MESH_BVH
+	const float diagonal(GetAABB().GetSize().norm());
+	#elif USE_MESH_INT == USE_MESH_OCTREE
+	const Octree octree(vertices, [](Octree::IDX_TYPE size, Octree::Type /*radius*/) {
+		return size > 8;
+	});
+	const float diagonal(octree.GetAabb().GetSize().norm());
+	struct OctreeIntersectRayMesh : IntersectRayMesh {
+		OctreeIntersectRayMesh(const Octree& octree, const Mesh& _mesh, const Ray3f& _ray)
+			: IntersectRayMesh(_mesh, _ray) {
+			octree.Collect(*this, *this);
+		}
+		inline bool Intersects(const Octree::POINT_TYPE& center, Octree::Type radius) const {
+			return ray.Intersects(AABB3f(center, radius));
+		}
+		void operator () (const Octree::IDX_TYPE* idices, Octree::IDX_TYPE size) {
+			// store all contained faces only once
+			std::unordered_set<FIndex> set;
+			FOREACHRAWPTR(pIdx, idices, size) {
+				const VIndex idxVertex((VIndex)*pIdx);
+				const FaceIdxArr& faces = mesh.vertexFaces[idxVertex];
+				set.insert(faces.begin(), faces.end());
+			}
+			// test face intersection and keep the closest
+			for (FIndex idxFace : set)
+				IntersectsRayFace(idxFace);
+		}
+	};
+	#endif
+	#ifdef MESH_USE_OPENMP
+	#pragma omp parallel for schedule(dynamic)
+	for (int_t i=0; i<(int_t)mesh.faces.size(); ++i) {
+		const FIndex idxFace((FIndex)i);
+	#else
+	FOREACH(idxFace, mesh.faces) {
+	#endif
+		struct RasterTraiangle {
+			#if USE_MESH_INT == USE_MESH_OCTREE
+			const Octree& octree;
+			#elif USE_MESH_INT == USE_MESH_BVH
+			BVH& tree;
+			#endif
+			const Mesh& meshRef;
+			Mesh& meshTrg;
+			const Face& face;
+			float diagonal;
+			inline cv::Size Size() const { return meshTrg.textureDiffuse.size(); }
+			inline void operator()(const ImageRef& pt, const Point3f& bary) {
+				ASSERT(meshTrg.textureDiffuse.isInside(pt));
+				const Vertex X(meshTrg.vertices[face[0]]*bary.x + meshTrg.vertices[face[1]]*bary.y + meshTrg.vertices[face[2]]*bary.z);
+				const Normal N(normalized(meshTrg.vertexNormals[face[0]]*bary.x + meshTrg.vertexNormals[face[1]]*bary.y + meshTrg.vertexNormals[face[2]]*bary.z));
+				const Ray3f ray(Vertex(X+N*diagonal), Normal(-N));
+				#if USE_MESH_INT == USE_MESH_BF
+				const IntersectRayMesh intRay(meshRef, ray);
+				#elif USE_MESH_INT == USE_MESH_BVH
+				IntersectRayMesh intRay(meshRef, ray);
+				Eigen::BVIntersect(tree, intRay);
+				#else
+				const OctreeIntersectRayMesh intRay(octree, meshRef, ray);
+				#endif
+				if (intRay.pick.IsValid()) {
+					const FIndex refIdxFace((FIndex)intRay.pick.idx);
+					const Face& refFace = meshRef.faces[refIdxFace];
+					const Vertex refX(ray.GetPoint((Type)intRay.pick.dist));
+					const Vertex baryRef(CorrectBarycentricCoordinates(BarycentricCoordinatesUV(meshRef.vertices[refFace[0]], meshRef.vertices[refFace[1]], meshRef.vertices[refFace[2]], refX)));
+					const TexCoord* tri = meshRef.faceTexcoords.data()+refIdxFace*3;
+					const TexCoord x(tri[0]*baryRef.x + tri[1]*baryRef.y + tri[2]*baryRef.z);
+					const Pixel8U color(meshRef.textureDiffuse.sample(x));
+					meshTrg.textureDiffuse(pt) = color;
+				}
+			}
+		#if USE_MESH_INT == USE_MESH_BF
+		} data{*this, mesh, mesh.faces[idxFace], diagonal};
+		#elif USE_MESH_INT == USE_MESH_BVH
+		} data{tree, *this, mesh, mesh.faces[idxFace], diagonal};
+		#else
+		} data{octree, *this, mesh, mesh.faces[idxFace], diagonal};
+		#endif
+		// render triangle and for each pixel interpolate the color
+		// from the triangle corners using barycentric coordinates
+		const TexCoord* tri = mesh.faceTexcoords.data()+idxFace*3;
+		Image8U::RasterizeTriangleBary(tri[0], tri[1], tri[2], data);
+	}
+	return true;
+} // TransferTexture
+/*----------------------------------------------------------------*/
+
+
 #ifdef _USE_CUDA
 CUDA::KernelRT Mesh::kernelComputeFaceNormal;
 
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 5e8bd0e2a..0d0640363 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -146,8 +146,10 @@ class MVS_API Mesh
 	void ReleaseExtra();
 	void EmptyExtra();
 	void Swap(Mesh&);
-	inline bool IsEmpty() const { return vertices.IsEmpty(); }
-	inline bool HasTexture() const { ASSERT(faceTexcoords.IsEmpty() == textureDiffuse.empty()); return !faceTexcoords.IsEmpty(); }
+	void Join(const Mesh&);
+	inline bool IsEmpty() const { return vertices.empty(); }
+	bool IsWatertight();
+	inline bool HasTexture() const { ASSERT(faceTexcoords.empty() == textureDiffuse.empty()); return !faceTexcoords.empty(); }
 
 	Box GetAABB() const;
 	Box GetAABB(const Box& bound) const;
@@ -160,6 +162,8 @@ class MVS_API Mesh
 	void ComputeNormalFaces();
 	void ComputeNormalVertices();
 
+	void SmoothNormalFaces(float fMaxGradient=25.f, float fOriginalWeight=0.5f, unsigned nIterations=3);
+
 	void GetEdgeFaces(VIndex, VIndex, FaceIdxArr&) const;
 	void GetFaceFaces(FIndex, FaceIdxArr&) const;
 	void GetEdgeVertices(FIndex, FIndex, uint32_t vs0[2], uint32_t vs1[2]) const;
@@ -176,11 +180,15 @@ class MVS_API Mesh
 	void Decimate(VertexIdxArr& verticesRemove);
 	void CloseHole(VertexIdxArr& vertsLoop);
 	void CloseHoleQuality(VertexIdxArr& vertsLoop);
+	void RemoveFacesOutside(const OBB3f&);
 	void RemoveFaces(FaceIdxArr& facesRemove, bool bUpdateLists=false);
 	void RemoveVertices(VertexIdxArr& vertexRemove, bool bUpdateLists=false);
 	VIndex RemoveUnreferencedVertices(bool bUpdateLists=false);
 	void ConvertTexturePerVertex(Mesh&) const;
 
+	void FaceTexcoordsNormalize(TexCoordArr& newFaceTexcoords, bool flipY=true) const;
+	void FaceTexcoordsUnnormalize(TexCoordArr& newFaceTexcoords, bool flipY=true) const;
+
 	inline Normal FaceNormal(const Face& f) const {
 		return ComputeTriangleNormal(vertices[f[0]], vertices[f[1]], vertices[f[2]]);
 	}
@@ -194,6 +202,8 @@ class MVS_API Mesh
 		return n;
 	}
 
+	Planef EstimateGroundPlane(const ImageArr& images, float sampleMesh=0, float planeThreshold=0, const String& fileExportPlane="") const;
+
 	Vertex ComputeCentroid(FIndex) const;
 	Type ComputeArea(FIndex) const;
 	REAL ComputeArea() const;
@@ -213,6 +223,8 @@ class MVS_API Mesh
 	bool Split(FacesChunkArr&, float maxArea);
 	Mesh SubMesh(const FaceIdxArr& faces) const;
 
+	bool TransferTexture(Mesh& mesh, unsigned textureSize=1024);
+
 	// file IO
 	bool Load(const String& fileName);
 	bool Save(const String& fileName, const cList<String>& comments=cList<String>(), bool bBinary=true) const;
@@ -226,6 +238,7 @@ class MVS_API Mesh
 protected:
 	bool LoadPLY(const String& fileName);
 	bool LoadOBJ(const String& fileName);
+	bool LoadGLTF(const String& fileName, bool bBinary=true);
 
 	bool SavePLY(const String& fileName, const cList<String>& comments=cList<String>(), bool bBinary=true) const;
 	bool SaveOBJ(const String& fileName) const;
diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
index 9579a76f7..ac872df0b 100644
--- a/libs/MVS/PatchMatchCUDA.cpp
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -88,17 +88,15 @@ void PatchMatchCUDA::ReleaseCUDA()
 	cudaFree(cudaDepthNormalCosts);
 	cudaFree(cudaRandStates);
 	cudaFree(cudaSelectedViews);
-
 	if (params.bGeomConsistency)
 		cudaFree(cudaTextureDepths);
 
 	delete[] depthNormalEstimates;
-	delete[] depthNormalCosts;
 }
 
-void PatchMatchCUDA::Init(bool geom_consistency)
+void PatchMatchCUDA::Init(bool bGeomConsistency)
 {
-	if (geom_consistency) {
+	if (bGeomConsistency) {
 		params.bGeomConsistency = true;
 		params.nEstimationIters = 1;
 	} else {
@@ -119,11 +117,9 @@ void PatchMatchCUDA::AllocatePatchMatchCUDA(const cv::Mat1f& image)
 	depthNormalEstimates = new Point4[size];
 	CUDA::checkCudaCall(cudaMalloc((void**)&cudaDepthNormalEstimates, sizeof(Point4) * size));
 
-	depthNormalCosts = new float[size];
 	CUDA::checkCudaCall(cudaMalloc((void**)&cudaDepthNormalCosts, sizeof(float) * size));
-
-	CUDA::checkCudaCall(cudaMalloc((void**)&cudaRandStates, sizeof(curandState) * size));
 	CUDA::checkCudaCall(cudaMalloc((void**)&cudaSelectedViews, sizeof(unsigned) * size));
+	CUDA::checkCudaCall(cudaMalloc((void**)&cudaRandStates, sizeof(curandState) * size));
 }
 
 void PatchMatchCUDA::AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bInitImage, bool bInitDepthMap)
@@ -180,7 +176,14 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 	TD_TIMER_STARTD();
 
 	ASSERT(depthData.images.size() > 1);
-	const IIndex prevNumImages = (IIndex)images.size();
+
+	// multi-resolution
+	DepthData& fullResDepthData(depthData);
+	const unsigned totalScaleNumber(params.bGeomConsistency ? 0u : OPTDENSE::nSubResolutionLevels);
+	DepthMap lowResDepthMap;
+	NormalMap lowResNormalMap;
+	ViewsMap lowResViewsMap;
+	IIndex prevNumImages = (IIndex)images.size();
 	const IIndex numImages = depthData.images.size();
 	params.nNumViews = (int)numImages-1;
 	params.nInitTopK = std::min(params.nInitTopK, params.nNumViews);
@@ -192,131 +195,217 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 		cudaImageArrays.resize(numImages);
 		textureImages.resize(numImages);
 	}
-	if (params.bGeomConsistency && cudaDepthArrays.size() < numImages-1) {
-		cudaDepthArrays.resize(numImages-1);
-		textureDepths.resize(numImages-1);
+	if (params.bGeomConsistency && cudaDepthArrays.size() < (size_t)params.nNumViews) {
+		cudaDepthArrays.resize(params.nNumViews);
+		textureDepths.resize(params.nNumViews);
 	}
-	for (IIndex i = 0; i < numImages; ++i) {
-		const DepthData::ViewData& view = depthData.images[i];
-		Image32F image = view.image;
-		Camera camera;
-		camera.K = Eigen::Map<const SEACAVE::Matrix3x3::EMat>(view.camera.K.val).cast<float>();
-		camera.R = Eigen::Map<const SEACAVE::Matrix3x3::EMat>(view.camera.R.val).cast<float>();
-		camera.C = Eigen::Map<const SEACAVE::Point3::EVec>(view.camera.C.ptr()).cast<float>();
-		camera.height = image.rows;
-		camera.width = image.cols;
-		// store camera and image
-		if (i == 0 && (prevNumImages < numImages || images[0].size() != image.size())) {
-			// allocate/reallocate PatchMatch CUDA memory
-			if (prevNumImages > 0)
-				ReleaseCUDA();
-			AllocatePatchMatchCUDA(image);
+	const int maxPixelViews(MINF(params.nNumViews, 4));
+	for (unsigned scaleNumber = totalScaleNumber+1; scaleNumber-- > 0; ) {
+		// initialize
+		const float scale = 1.f / POWI(2, scaleNumber);
+		DepthData currentDepthData(DepthMapsData::ScaleDepthData(fullResDepthData, scale));
+		DepthData& depthData(scaleNumber==0 ? fullResDepthData : currentDepthData);
+		const Image8U::Size size(depthData.images.front().image.size());
+		params.bLowResProcessed = false;
+		if (scaleNumber != totalScaleNumber) {
+			// all resolutions, but the smallest one, if multi-resolution is enabled
+			params.bLowResProcessed = true;
+			cv::resize(lowResDepthMap, depthData.depthMap, size, 0, 0, cv::INTER_LINEAR);
+			cv::resize(lowResNormalMap, depthData.normalMap, size, 0, 0, cv::INTER_NEAREST);
+			cv::resize(lowResViewsMap, depthData.viewsMap, size, 0, 0, cv::INTER_NEAREST);
+			CUDA::checkCudaCall(cudaMalloc((void**)&cudaLowDepths, sizeof(float) * size.area()));
+		} else {
+			if (totalScaleNumber > 0) {
+				// smallest resolution, when multi-resolution is enabled
+				fullResDepthData.depthMap.release();
+				fullResDepthData.normalMap.release();
+				fullResDepthData.confMap.release();
+				fullResDepthData.viewsMap.release();
+			}
+			// smallest resolution if multi-resolution is enabled; highest otherwise
+			if (depthData.viewsMap.empty())
+				depthData.viewsMap.create(size);
 		}
-		if (i >= prevNumImages) {
-			// allocate image CUDA memory
-			AllocateImageCUDA(i, image, true, !view.depthMap.empty());
-		} else
-		if (images[i].size() != image.size()) {
-			// reallocate image CUDA memory
-			cudaDestroyTextureObject(textureImages[i]);
-			cudaFreeArray(cudaImageArrays[i]);
-			if (params.bGeomConsistency && i > 0) {
-				cudaDestroyTextureObject(textureDepths[i-1]);
-				cudaFreeArray(cudaDepthArrays[i-1]);
+		if (scaleNumber == 0) {
+			// highest resolution
+			if (depthData.confMap.empty())
+				depthData.confMap.create(size);
+		}
+
+		// set keep threshold to:
+		params.fThresholdKeepCost = OPTDENSE::fNCCThresholdKeep;
+		if (totalScaleNumber) {
+			// multi-resolution enabled
+			if (scaleNumber > 0 && scaleNumber != totalScaleNumber) {
+				// all sub-resolutions, but the smallest and highest
+				params.fThresholdKeepCost = 0.f; // disable filtering
+			} else if (scaleNumber == totalScaleNumber || (!params.bGeomConsistency && OPTDENSE::nEstimationGeometricIters)) {
+				// smallest sub-resolution OR highest resolution and geometric consistency is not running but enabled
+				params.fThresholdKeepCost = OPTDENSE::fNCCThresholdKeep*1.2f;
+			}
+		} else {
+			// multi-resolution disabled
+			if (!params.bGeomConsistency && OPTDENSE::nEstimationGeometricIters) {
+				// geometric consistency is not running but enabled
+				params.fThresholdKeepCost = OPTDENSE::fNCCThresholdKeep*1.2f;
+			}
+		}
+
+		for (IIndex i = 0; i < numImages; ++i) {
+			const DepthData::ViewData& view = depthData.images[i];
+			Image32F image = view.image;
+			Camera camera;
+			camera.K = Eigen::Map<const SEACAVE::Matrix3x3::EMat>(view.camera.K.val).cast<float>();
+			camera.R = Eigen::Map<const SEACAVE::Matrix3x3::EMat>(view.camera.R.val).cast<float>();
+			camera.C = Eigen::Map<const SEACAVE::Point3::EVec>(view.camera.C.ptr()).cast<float>();
+			camera.height = image.rows;
+			camera.width = image.cols;
+			// store camera and image
+			if (i == 0 && (prevNumImages < numImages || images[0].size() != image.size())) {
+				// allocate/reallocate PatchMatch CUDA memory
+				if (prevNumImages > 0)
+					ReleaseCUDA();
+				AllocatePatchMatchCUDA(image);
 			}
-			AllocateImageCUDA(i, image, true, !view.depthMap.empty());
-		} else
-		if (params.bGeomConsistency && i > 0 && (view.depthMap.empty() != (cudaDepthArrays[i-1] == NULL))) {
-			// reallocate depth CUDA memory
-			if (cudaDepthArrays[i-1]) {
+			if (i >= prevNumImages) {
+				// allocate image CUDA memory
+				AllocateImageCUDA(i, image, true, !view.depthMap.empty());
+			} else
+			if (images[i].size() != image.size()) {
+				// reallocate image CUDA memory
+				cudaDestroyTextureObject(textureImages[i]);
+				cudaFreeArray(cudaImageArrays[i]);
+				if (params.bGeomConsistency && i > 0) {
+					cudaDestroyTextureObject(textureDepths[i-1]);
+					cudaFreeArray(cudaDepthArrays[i-1]);
+				}
+				AllocateImageCUDA(i, image, true, !view.depthMap.empty());
+			} else
+			if (params.bGeomConsistency && i > 0 && (view.depthMap.empty() != (cudaDepthArrays[i-1] == NULL))) {
+				// reallocate depth CUDA memory
+				if (cudaDepthArrays[i-1]) {
+					cudaDestroyTextureObject(textureDepths[i-1]);
+					cudaFreeArray(cudaDepthArrays[i-1]);
+				}
+				AllocateImageCUDA(i, image, false, !view.depthMap.empty());
+			}
+			CUDA::checkCudaCall(cudaMemcpy2DToArray(cudaImageArrays[i], 0, 0, image.ptr<float>(), image.step[0], image.cols * sizeof(float), image.rows, cudaMemcpyHostToDevice));
+			if (params.bGeomConsistency && i > 0 && !view.depthMap.empty()) {
+				// set previously computed depth-map
+				DepthMap depthMap(view.depthMap);
+				if (depthMap.size() != image.size())
+					cv::resize(depthMap, depthMap, image.size(), 0, 0, cv::INTER_LINEAR);
+				CUDA::checkCudaCall(cudaMemcpy2DToArray(cudaDepthArrays[i-1], 0, 0, depthMap.ptr<float>(), depthMap.step[0], sizeof(float) * depthMap.cols, depthMap.rows, cudaMemcpyHostToDevice));
+			}
+			images[i] = std::move(image);
+			cameras[i] = std::move(camera);
+		}
+		if (params.bGeomConsistency && cudaDepthArrays.size() > numImages - 1) {
+			for (IIndex i = numImages; i < prevNumImages; ++i) {
+				// free image CUDA memory
 				cudaDestroyTextureObject(textureDepths[i-1]);
 				cudaFreeArray(cudaDepthArrays[i-1]);
 			}
-			AllocateImageCUDA(i, image, false, !view.depthMap.empty());
-		}
-		CUDA::checkCudaCall(cudaMemcpy2DToArray(cudaImageArrays[i], 0, 0, image.ptr<float>(), image.step[0], image.cols*sizeof(float), image.rows, cudaMemcpyHostToDevice));
-		if (params.bGeomConsistency && i > 0 && !view.depthMap.empty()) {
-			// set previously computed depth-map
-			DepthMap depthMap(view.depthMap);
-			if (depthMap.size() != image.size())
-				cv::resize(depthMap, depthMap, image.size(), 0, 0, cv::INTER_LINEAR);
-			CUDA::checkCudaCall(cudaMemcpy2DToArray(cudaDepthArrays[i-1], 0, 0, depthMap.ptr<float>(), depthMap.step[0], sizeof(float)*depthMap.cols, depthMap.rows, cudaMemcpyHostToDevice));
+			cudaDepthArrays.resize(params.nNumViews);
+			textureDepths.resize(params.nNumViews);
 		}
-		images[i] = std::move(image);
-		cameras[i] = std::move(camera);
-	}
-	if (params.bGeomConsistency && cudaDepthArrays.size() > numImages-1) {
-		for (IIndex i = numImages; i < prevNumImages; ++i) {
-			// free image CUDA memory
-			cudaDestroyTextureObject(textureDepths[i-1]);
-			cudaFreeArray(cudaDepthArrays[i-1]);
+		if (prevNumImages > numImages) {
+			for (IIndex i = numImages; i < prevNumImages; ++i) {
+				// free image CUDA memory
+				cudaDestroyTextureObject(textureImages[i]);
+				cudaFreeArray(cudaImageArrays[i]);
+			}
+			images.resize(numImages);
+			cameras.resize(numImages);
+			cudaImageArrays.resize(numImages);
+			textureImages.resize(numImages);
 		}
-		cudaDepthArrays.resize(numImages-1);
-		textureDepths.resize(numImages-1);
-	}
-	if (prevNumImages > numImages) {
-		for (IIndex i = numImages; i < prevNumImages; ++i) {
-			// free image CUDA memory
-			cudaDestroyTextureObject(textureImages[i]);
-			cudaFreeArray(cudaImageArrays[i]);
+		prevNumImages = numImages;
+
+		// setup CUDA memory
+		CUDA::checkCudaCall(cudaMemcpy(cudaTextureImages, textureImages.data(), sizeof(cudaTextureObject_t) * numImages, cudaMemcpyHostToDevice));
+		CUDA::checkCudaCall(cudaMemcpy(cudaCameras, cameras.data(), sizeof(Camera) * numImages, cudaMemcpyHostToDevice));
+		if (params.bGeomConsistency) {
+			// set previously computed depth-maps
+			ASSERT(depthData.depthMap.size() == depthData.GetView().image.size());
+			CUDA::checkCudaCall(cudaMemcpy(cudaTextureDepths, textureDepths.data(), sizeof(cudaTextureObject_t) * params.nNumViews, cudaMemcpyHostToDevice));
 		}
-		images.resize(numImages);
-		cameras.resize(numImages);
-		cudaImageArrays.resize(numImages);
-		textureImages.resize(numImages);
-	}
 
-	// setup CUDA memory
-	CUDA::checkCudaCall(cudaMemcpy(cudaTextureImages, textureImages.data(), sizeof(cudaTextureObject_t)*numImages, cudaMemcpyHostToDevice));
-	CUDA::checkCudaCall(cudaMemcpy(cudaCameras, cameras.data(), sizeof(Camera)*numImages, cudaMemcpyHostToDevice));
-	if (params.bGeomConsistency) {
-		// set previously computed depth-maps
-		ASSERT(depthData.depthMap.size() == depthData.GetView().image.size());
-		CUDA::checkCudaCall(cudaMemcpy(cudaTextureDepths, textureDepths.data(), sizeof(cudaTextureObject_t)*(numImages-1), cudaMemcpyHostToDevice));
-	}
+		// load depth-map and normal-map into CUDA memory
+		for (int r = 0; r < depthData.depthMap.rows; ++r) {
+			const int baseIndex = r * depthData.depthMap.cols;
+			for (int c = 0; c < depthData.depthMap.cols; ++c) {
+				const Normal& n = depthData.normalMap(r, c);
+				const int index = baseIndex + c;
+				Point4& depthNormal = depthNormalEstimates[index];
+				depthNormal.topLeftCorner<3, 1>() = Eigen::Map<const Normal::EVec>(n.ptr());
+				depthNormal.w() = depthData.depthMap(r, c);
+			}
+		}
+		CUDA::checkCudaCall(cudaMemcpy(cudaDepthNormalEstimates, depthNormalEstimates, sizeof(Point4) * depthData.depthMap.size().area(), cudaMemcpyHostToDevice));
 
-	// load depth-map and normal-map into CUDA memory
-	for (int r = 0; r < depthData.depthMap.rows; ++r) {
-		for (int c = 0; c < depthData.depthMap.cols; ++c) {
-			const Normal& n = depthData.normalMap(r,c);
-			const int index = r * depthData.depthMap.cols + c;
-			Point4& depthNormal = depthNormalEstimates[index];
-			depthNormal.topLeftCorner<3,1>() = Eigen::Map<const Normal::EVec>(n.ptr());
-			depthNormal.w() = depthData.depthMap(r,c);
+		// load low resolution depth-map into CUDA memory
+		if (params.bLowResProcessed) {
+			ASSERT(depthData.depthMap.isContinuous());
+			CUDA::checkCudaCall(cudaMemcpy(cudaLowDepths, depthData.depthMap.ptr<float>(), sizeof(float) * depthData.depthMap.size().area(), cudaMemcpyHostToDevice));
 		}
-	}
-	CUDA::checkCudaCall(cudaMemcpy(cudaDepthNormalEstimates, depthNormalEstimates, sizeof(Point4) * depthData.depthMap.size().area(), cudaMemcpyHostToDevice));
-
-	// run CUDA patch-match
-	RunCUDA();
-	CUDA::checkCudaCall(cudaGetLastError());
-
-	// load depth-map, normal-map and confidence-map from CUDA memory
-	const float fNCCThresholdKeep(!params.bGeomConsistency && OPTDENSE::nEstimationGeometricIters ?
-		OPTDENSE::fNCCThresholdKeepCUDA * 1.5f : OPTDENSE::fNCCThresholdKeepCUDA);
-	if (depthData.confMap.empty())
-		depthData.confMap.create(depthData.depthMap.size());
-	for (int r = 0; r < depthData.depthMap.rows; ++r) {
-		for (int c = 0; c < depthData.depthMap.cols; ++c) {
-			const int index = r * depthData.depthMap.cols + c;
-			const Point4& depthNormal = depthNormalEstimates[index];
-			ASSERT(std::isfinite(depthNormal.w()));
-			// check if the score is good enough
-			// and that the cross-estimates is close enough to the current estimate
-			float& conf = depthData.confMap(r,c);
-			conf = depthNormalCosts[index];
-			ASSERT(std::isfinite(conf));
-			if (depthNormal.w() <= 0 || conf >= fNCCThresholdKeep) {
-				conf = 0;
-				depthData.depthMap(r,c) = 0;
-				depthData.normalMap(r,c) = Normal::ZERO;
-			} else {
-				depthData.depthMap(r,c) = depthNormal.w();
-				depthData.normalMap(r,c) = depthNormal.topLeftCorner<3,1>();
-				// converted ZNCC [0-2] score, where 0 is best, to [0-1] confidence, where 1 is best
-				conf = conf>=1.f ? 0.f : 1.f-conf;
+
+		// run CUDA patch-match
+		ASSERT(!depthData.viewsMap.empty());
+		RunCUDA(depthData.confMap.getData(), (uint32_t*)depthData.viewsMap.getData());
+		CUDA::checkCudaCall(cudaGetLastError());
+		if (params.bLowResProcessed)
+			CUDA::checkCudaCall(cudaFree(cudaLowDepths));
+
+		// load depth-map, normal-map and confidence-map from CUDA memory
+		for (int r = 0; r < depthData.depthMap.rows; ++r) {
+			for (int c = 0; c < depthData.depthMap.cols; ++c) {
+				const int index = r * depthData.depthMap.cols + c;
+				const Point4& depthNormal = depthNormalEstimates[index];
+				const Depth depth = depthNormal.w();
+				ASSERT(std::isfinite(depth));
+				depthData.depthMap(r, c) = depth;
+				depthData.normalMap(r, c) = depthNormal.topLeftCorner<3, 1>();
+				if (scaleNumber == 0) {
+					// converted ZNCC [0-2] score, where 0 is best, to [0-1] confidence, where 1 is best
+					ASSERT(!depthData.confMap.empty());
+					float& conf = depthData.confMap(r, c);
+					conf = conf >= 1.f ? 0.f : 1.f - conf;
+					// map pixel views from bit-mask to index
+					ASSERT(!depthData.viewsMap.empty());
+					ViewsID& views = depthData.viewsMap(r, c);
+					if (depth > 0) {
+						const uint32_t bitviews(*reinterpret_cast<const uint32_t*>(views.val));
+						int j = 0;
+						for (int i = 0; i < 32; ++i) {
+							if (bitviews & (1 << i)) {
+								views[j] = i;
+								if (++j == maxPixelViews)
+									break;
+							}
+						}
+						while (j < 4)
+							views[j++] = 255;
+					} else
+						views = ViewsID(255, 255, 255, 255);
+				}
 			}
 		}
+		
+		// remember sub-resolution estimates for next iteration
+		if (scaleNumber > 0) {
+			lowResDepthMap = depthData.depthMap;
+			lowResNormalMap = depthData.normalMap;
+			lowResViewsMap = depthData.viewsMap;
+		}
+	}
+
+	// apply ignore mask
+	if (OPTDENSE::nIgnoreMaskLabel >= 0) {
+		const DepthData::ViewData& view = depthData.GetView();
+		BitMatrix mask;
+		if (DepthEstimator::ImportIgnoreMask(*view.pImageData, depthData.depthMap.size(), mask, (uint16_t)OPTDENSE::nIgnoreMaskLabel))
+			depthData.ApplyIgnoreMask(mask);
 	}
 
 	DEBUG_EXTRA("Depth-map for image %3u %s: %dx%d (%s)", depthData.images.front().GetID(),
diff --git a/libs/MVS/PatchMatchCUDA.cu b/libs/MVS/PatchMatchCUDA.cu
index 7fe1d4e1d..26a9c15d6 100644
--- a/libs/MVS/PatchMatchCUDA.cu
+++ b/libs/MVS/PatchMatchCUDA.cu
@@ -296,10 +296,10 @@ __device__ inline float GeometricConsistencyWeight(const ImagePixels depthImage,
 }
 
 // compute photometric score using weighted ZNCC
-__device__ float ScorePlane(const ImagePixels refImage, const PatchMatchCUDA::Camera& refCamera, const ImagePixels trgImage, const PatchMatchCUDA::Camera& trgCamera, const Point2i& p, const Point4& plane, const PatchMatchCUDA::Params& params)
+__device__ float ScorePlane(const ImagePixels refImage, const PatchMatchCUDA::Camera& refCamera, const ImagePixels trgImage, const PatchMatchCUDA::Camera& trgCamera, const Point2i& p, const Point4& plane, const float lowDepth, const PatchMatchCUDA::Params& params)
 {
 	constexpr float maxCost = 1.2f;
-
+	
 	Matrix3 H = ComputeHomography(refCamera, trgCamera, p.cast<float>(), plane);
 	const Point2 pt = (H * p.cast<float>().homogeneous()).hnormalized();
 	if (pt.x() >= trgCamera.width || pt.x() < 0.f || pt.y() >= trgCamera.height || pt.y() < 0.f)
@@ -337,31 +337,40 @@ __device__ float ScorePlane(const ImagePixels refImage, const PatchMatchCUDA::Ca
 	}
 
 	const float varRef = sumRefRef * bilateralWeightSum - sumRef * sumRef;
+	if (lowDepth <= 0 && varRef < 1e-8f)
+		return maxCost;
 	const float varTrg = sumTrgTrg * bilateralWeightSum - sumTrg * sumTrg;
-
-	constexpr float kMinVar = 1e-5f;
-	if (varRef < kMinVar || varTrg < kMinVar)
+	const float varRefTrg = varRef * varTrg;
+	if (varRefTrg < 1e-16f)
 		return maxCost;
 	const float covarTrgRef = sumRefTrg * bilateralWeightSum - sumRef * sumTrg;
-	const float varRefTrg = sqrt(varRef * varTrg);
-	const float ncc = 1.f - covarTrgRef / varRefTrg;
-	return max(0.f, min(maxCost, ncc));
+	float ncc = 1.f - covarTrgRef / sqrt(varRefTrg);
+
+	// apply depth prior weight based on patch textureless
+	if (lowDepth > 0) {
+		const float depth(plane.w());
+		const float deltaDepth(MIN((abs(lowDepth-depth) / lowDepth), 0.5f));
+		constexpr float smoothSigmaDepth(-1.f / (1.f * 0.02f)); // 0.12: patch texture variance below 0.02 (0.12^2) is considered texture-less
+		const float factorDeltaDepth(exp(varRef * smoothSigmaDepth));
+		ncc = (1.f-factorDeltaDepth)*ncc + factorDeltaDepth*deltaDepth;
+	}
+	return max(0.f, min(2.f, ncc));
 }
 
 // compute photometric score for all neighbor images
-__device__ inline void MultiViewScorePlane(const ImagePixels *images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, const Point2i& p, const Point4& plane, float* costVector, const PatchMatchCUDA::Params& params)
+__device__ inline void MultiViewScorePlane(const ImagePixels *images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, const Point2i& p, const Point4& plane, const float lowDepth, float* costVector, const PatchMatchCUDA::Params& params)
 {
 	for (int imgId = 1; imgId <= params.nNumViews; ++imgId)
-		costVector[imgId-1] = ScorePlane(images[0], cameras[0], images[imgId], cameras[imgId], p, plane, params);
+		costVector[imgId-1] = ScorePlane(images[0], cameras[0], images[imgId], cameras[imgId], p, plane, lowDepth, params);
 	if (params.bGeomConsistency)
 		for (int imgId = 0; imgId < params.nNumViews; ++imgId)
 			costVector[imgId] += 0.1f * GeometricConsistencyWeight(depthImages[imgId], cameras[0], cameras[imgId+1], plane, p);
 }
 // same as above, but interpolate the plane to current pixel position
-__device__ inline float MultiViewScoreNeighborPlane(const ImagePixels* images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, const Point2i& p, const Point2i& np, Point4 plane, float* costVector, const PatchMatchCUDA::Params& params)
+__device__ inline float MultiViewScoreNeighborPlane(const ImagePixels* images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, const Point2i& p, const Point2i& np, Point4 plane, const float lowDepth, float* costVector, const PatchMatchCUDA::Params& params)
 {
 	plane.w() = InterpolatePixel(cameras[0], p, np, plane.w(), plane.topLeftCorner<3,1>(), params);
-	MultiViewScorePlane(images, depthImages, cameras, p, plane, costVector, params);
+	MultiViewScorePlane(images, depthImages, cameras, p, plane, lowDepth, costVector, params);
 	return plane.w();
 }
 
@@ -372,12 +381,12 @@ __device__ inline float AggregateMultiViewScores(const unsigned* viewWeights, co
 	for (int imgId = 0; imgId < numViews; ++imgId)
 		if (viewWeights[imgId])
 			cost += viewWeights[imgId] * costVector[imgId];
-	return cost;
+	return cost / NUM_SAMPLES;
 }
 
 // propagate and refine the plane estimate for the current pixel employing the asymmetric approach described in:
 // "Multi-View Stereo with Asymmetric Checkerboard Propagation and Multi-Hypothesis Joint View Selection", 2018
-__device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, RandState* randStates, unsigned* selectedViews, const Point2i& p, const PatchMatchCUDA::Params& params, const int iter)
+__device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, RandState* randStates, unsigned* selectedViews, const Point2i& p, const PatchMatchCUDA::Params& params, const int iter)
 {
 	int width = cameras[0].width;
 	int height = cameras[0].height;
@@ -385,6 +394,9 @@ __device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depth
 		return;
 	const int idx = Point2Idx(p, width);
 	RandState* randState = &randStates[idx];
+	float lowDepth = 0;
+	if (params.bLowResProcessed)
+		lowDepth = lowDepths[idx];
 
 	// adaptive sampling: 0 up-near, 1 down-near, 2 left-near, 3 right-near, 4 up-far, 5 down-far, 6 left-far, 7 right-far
 	static constexpr int2 dirs[8][11] = {
@@ -427,7 +439,7 @@ __device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depth
 		if (bestConf < FLT_MAX) {
 			valid[posId] = true;
 			positions[posId] = Point2Idx(bestNx, width);
-			neighborDepths[posId] = MultiViewScoreNeighborPlane(images, depthImages, cameras, p, bestNx, planes[positions[posId]], costArray[posId], params);
+			neighborDepths[posId] = MultiViewScoreNeighborPlane(images, depthImages, cameras, p, bestNx, planes[positions[posId]], lowDepth, costArray[posId], params);
 		}
 	}
 
@@ -486,11 +498,11 @@ __device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depth
 			SetBit(newSelectedViews, imgId);
 	float finalCosts[8];
 	for (int posId = 0; posId < 8; ++posId)
-		finalCosts[posId] = AggregateMultiViewScores(viewWeights, costArray[posId], params.nNumViews) / NUM_SAMPLES;
+		finalCosts[posId] = AggregateMultiViewScores(viewWeights, costArray[posId], params.nNumViews);
 	const int minCostIdx = FindMinIndex(finalCosts, 8);
 	float costVector[MAX_VIEWS];
-	MultiViewScorePlane(images, depthImages, cameras, p, plane, costVector, params);
-	cost = AggregateMultiViewScores(viewWeights, costVector, params.nNumViews) / NUM_SAMPLES;
+	MultiViewScorePlane(images, depthImages, cameras, p, plane, lowDepth, costVector, params);
+	cost = AggregateMultiViewScores(viewWeights, costVector, params.nNumViews);
 	if (finalCosts[minCostIdx] < cost && valid[minCostIdx]) {
 		plane = planes[positions[minCostIdx]];
 		plane.w() = neighborDepths[minCostIdx];
@@ -518,15 +530,15 @@ __device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depth
 		surfaceNormal = ComputeDepthGradient(cameras[0].K, depth, p, ndepths);
 		numValidPlanes = 4;
 	}
-	const int numPlanes = 4;
+	constexpr int numPlanes = 4;
 	const float depths[numPlanes] = {depthPerturbed, depth, depth, depth};
 	const Point3 normals[numPlanes] = {plane.topLeftCorner<3,1>(), perturbedNormal, normalRand, surfaceNormal};
 	for (int i = 0; i < numValidPlanes; ++i) {
 		Point4 newPlane;
 		newPlane.topLeftCorner<3,1>() = normals[i];
 		newPlane.w() = depths[i];
-		MultiViewScorePlane(images, depthImages, cameras, p, newPlane, costVector, params);
-		const float costPlane = AggregateMultiViewScores(viewWeights, costVector, params.nNumViews) / NUM_SAMPLES;
+		MultiViewScorePlane(images, depthImages, cameras, p, newPlane, lowDepth, costVector, params);
+		const float costPlane = AggregateMultiViewScores(viewWeights, costVector, params.nNumViews);
 		if (cost > costPlane) {
 			cost = costPlane;
 			plane = newPlane;
@@ -535,13 +547,16 @@ __device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depth
 }
 
 // compute the score of the current plane estimate
-__device__ void InitializePixelScore(const ImagePixels *images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, RandState* randStates, unsigned* selectedViews, const Point2i& p, const PatchMatchCUDA::Params params)
+__device__ void InitializePixelScore(const ImagePixels *images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, RandState* randStates, unsigned* selectedViews, const Point2i& p, const PatchMatchCUDA::Params params)
 {
 	const int width = cameras[0].width;
 	const int height = cameras[0].height;
 	if (p.x() >= width || p.y() >= height)
 		return;
 	const int idx = Point2Idx(p, width);
+	float lowDepth = 0;
+	if (params.bLowResProcessed)
+		lowDepth = lowDepths[idx];
 	// initialize estimate randomly if not set
 	RandState* randState = &randStates[idx];
 	curand_init(1234/*threadIdx.x*/, p.y(), p.x(), randState);
@@ -557,7 +572,7 @@ __device__ void InitializePixelScore(const ImagePixels *images, const ImagePixel
 	}
 	// compute costs
 	float costVector[MAX_VIEWS];
-	MultiViewScorePlane(images, depthImages, cameras, p, plane, costVector, params);
+	MultiViewScorePlane(images, depthImages, cameras, p, plane, lowDepth, costVector, params);
 	// select best views
 	float costVectorSorted[MAX_VIEWS];
 	Sort(costVector, costVectorSorted, params.nNumViews);
@@ -572,29 +587,46 @@ __device__ void InitializePixelScore(const ImagePixels *images, const ImagePixel
 			SetBit(selectedView, imgId);
 	costs[idx] = cost / params.nInitTopK;
 }
-__global__ void InitializeScore(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params)
+__global__ void InitializeScore(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const PatchMatchCUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params)
 {
 	const Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
-	InitializePixelScore((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, costs, (RandState*)randStates, selectedViews, p, params);
+	InitializePixelScore((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, lowDepths, costs, (RandState*)randStates, selectedViews, p, params);
 }
 
 // traverse image in a back/red checkerboard pattern
-__global__ void BlackPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params, const int iter)
+__global__ void BlackPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const PatchMatchCUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params, const int iter)
 {
 	Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
 	p.y() = p.y() * 2 + (threadIdx.x % 2 == 0 ? 0 : 1);
-	ProcessPixel((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, costs, (RandState*)randStates, selectedViews, p, params, iter);
+	ProcessPixel((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, lowDepths, costs, (RandState*)randStates, selectedViews, p, params, iter);
 }
-__global__ void RedPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const PatchMatchCUDA::Camera* cameras, Point4* planes, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params, const int iter)
+__global__ void RedPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const PatchMatchCUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params, const int iter)
 {
 	Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
 	p.y() = p.y() * 2 + (threadIdx.x % 2 == 0 ? 1 : 0);
-	ProcessPixel((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, costs, (RandState*)randStates, selectedViews, p, params, iter);
+	ProcessPixel((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, lowDepths, costs, (RandState*)randStates, selectedViews, p, params, iter);
+}
+
+// filter depth/normals
+__global__ void FilterPlanes(Point4* planes, float* costs, unsigned* selectedViews, int width, int height, const PatchMatchCUDA::Params params)
+{
+	const Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
+	if (p.x() >= width || p.y() >= height)
+		return;
+	const int idx = Point2Idx(p, width);
+	// filter estimates if the score is not good enough
+	Point4& plane = planes[idx];
+	float conf = costs[idx];
+	if (plane.w() <= 0 || conf >= params.fThresholdKeepCost) {
+		conf = 0;
+		plane = Point4::Zero();
+		selectedViews[idx] = 0;
+	}
 }
 /*----------------------------------------------------------------*/
 
 
-__host__ void PatchMatchCUDA::RunCUDA()
+__host__ void PatchMatchCUDA::RunCUDA(float* ptrCostMap, uint32_t* ptrViewsMap)
 {
 	const unsigned width = cameras[0].width;
 	const unsigned height = cameras[0].height;
@@ -603,21 +635,28 @@ __host__ void PatchMatchCUDA::RunCUDA()
 	constexpr unsigned BLOCK_H = (BLOCK_W / 2);
 
 	const dim3 blockSize(BLOCK_W, BLOCK_H, 1);
-	const dim3 gridSizeInitialize((width + BLOCK_H - 1) / BLOCK_H, (height + BLOCK_H - 1) / BLOCK_H, 1);
+	const dim3 gridSizeFull((width + BLOCK_H - 1) / BLOCK_H, (height + BLOCK_H - 1) / BLOCK_H, 1);
 	const dim3 gridSizeCheckerboard((width + BLOCK_W - 1) / BLOCK_W, ((height / 2) + BLOCK_H - 1) / BLOCK_H, 1);
 
-	InitializeScore<<<gridSizeInitialize, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params);
+	InitializeScore<<<gridSizeFull, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaLowDepths, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params);
 	cudaDeviceSynchronize();
 
 	for (int iter = 0; iter < params.nEstimationIters; ++iter) {
-		BlackPixelProcess<<<gridSizeCheckerboard, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, iter);
+		BlackPixelProcess<<<gridSizeCheckerboard, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaLowDepths, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, iter);
 		cudaDeviceSynchronize();
-		RedPixelProcess<<<gridSizeCheckerboard, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, iter);
+		RedPixelProcess<<<gridSizeCheckerboard, blockSize>>>(cudaTextureImages, cudaTextureDepths, cudaCameras, cudaDepthNormalEstimates, cudaLowDepths, cudaDepthNormalCosts, cudaRandStates, cudaSelectedViews, params, iter);
 		cudaDeviceSynchronize();
 	}
 
+	if (params.fThresholdKeepCost > 0)
+		FilterPlanes<<<gridSizeFull, blockSize>>>(cudaDepthNormalEstimates, cudaDepthNormalCosts, cudaSelectedViews, width, height, params);
+
 	cudaMemcpy(depthNormalEstimates, cudaDepthNormalEstimates, sizeof(Point4) * width * height, cudaMemcpyDeviceToHost);
-	cudaMemcpy(depthNormalCosts, cudaDepthNormalCosts, sizeof(float) * width * height, cudaMemcpyDeviceToHost);
+	if (ptrCostMap)
+		cudaMemcpy(ptrCostMap, cudaDepthNormalCosts, sizeof(float) * width * height, cudaMemcpyDeviceToHost);
+	if (ptrViewsMap)
+		cudaMemcpy(ptrViewsMap, cudaSelectedViews, sizeof(uint32_t) * width * height, cudaMemcpyDeviceToHost);
+
 	cudaDeviceSynchronize();
 }
 /*----------------------------------------------------------------*/
diff --git a/libs/MVS/PatchMatchCUDA.h b/libs/MVS/PatchMatchCUDA.h
index 5049ff18b..22680c90d 100644
--- a/libs/MVS/PatchMatchCUDA.h
+++ b/libs/MVS/PatchMatchCUDA.h
@@ -37,7 +37,7 @@
 
 // I N C L U D E S /////////////////////////////////////////////////
 
-#include "DepthMap.h"
+#include "SceneDensify.h"
 #pragma push_macro("EIGEN_DEFAULT_DENSE_INDEX_TYPE")
 #undef EIGEN_DEFAULT_DENSE_INDEX_TYPE
 #include "PatchMatchCUDA.inl"
diff --git a/libs/MVS/PatchMatchCUDA.inl b/libs/MVS/PatchMatchCUDA.inl
index 5dbc4be1d..349cc33d7 100644
--- a/libs/MVS/PatchMatchCUDA.inl
+++ b/libs/MVS/PatchMatchCUDA.inl
@@ -86,6 +86,8 @@ public:
 		float fDepthMax = 100.f;
 		int nInitTopK = 3;
 		bool bGeomConsistency = false;
+		bool bLowResProcessed = false;
+		float fThresholdKeepCost = 0;
 	};
 
 	struct Camera {
@@ -100,7 +102,7 @@ public:
 	PatchMatchCUDA(int device=0);
 	~PatchMatchCUDA();
 
-	void Init(bool geom_consistency);
+	void Init(bool bGeomConsistency);
 	void Release();
 
 	void EstimateDepthMap(DepthData&);
@@ -112,7 +114,7 @@ private:
 	void ReleaseCUDA();
 	void AllocatePatchMatchCUDA(const cv::Mat1f& image);
 	void AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bInitImage, bool bInitDepthMap);
-	void RunCUDA();
+	void RunCUDA(float* ptrCostMap=NULL, uint32_t* ptrViewsMap=NULL);
 
 public:
 	Params params;
@@ -122,7 +124,6 @@ public:
 	std::vector<cudaTextureObject_t> textureImages;
 	std::vector<cudaTextureObject_t> textureDepths;
 	Point4* depthNormalEstimates;
-	float* depthNormalCosts;
 
 	Camera *cudaCameras;
 	std::vector<cudaArray_t> cudaImageArrays;
@@ -130,9 +131,10 @@ public:
 	cudaTextureObject_t* cudaTextureImages;
 	cudaTextureObject_t* cudaTextureDepths;
 	Point4* cudaDepthNormalEstimates;
+	float* cudaLowDepths;
 	float* cudaDepthNormalCosts;
 	curandState* cudaRandStates;
-	unsigned* cudaSelectedViews;
+	uint32_t* cudaSelectedViews;
 };
 /*----------------------------------------------------------------*/
 
diff --git a/libs/MVS/PointCloud.cpp b/libs/MVS/PointCloud.cpp
index 870664c43..6c6bf04f8 100644
--- a/libs/MVS/PointCloud.cpp
+++ b/libs/MVS/PointCloud.cpp
@@ -31,6 +31,7 @@
 
 #include "Common.h"
 #include "PointCloud.h"
+#include "DepthMap.h"
 
 using namespace MVS;
 
@@ -73,6 +74,12 @@ void PointCloud::RemovePointsOutside(const OBB3f& obb) {
 		if (!obb.Intersects(points[i]))
 			RemovePoint(i);
 }
+void PointCloud::RemoveMinViews(uint32_t thMinViews) {
+	ASSERT(!pointViews.empty());
+	RFOREACH(i, points)
+		if (pointViews[i].size() < thMinViews)
+			RemovePoint(i);
+}
 /*----------------------------------------------------------------*/
 
 
@@ -126,6 +133,86 @@ PointCloud::Point PointCloud::GetCenter() const
 /*----------------------------------------------------------------*/
 
 
+// estimate the ground-plane as the plane agreeing with most points
+//  - planeThreshold: threshold used to estimate the ground plane (0 - auto)
+Planef PointCloud::EstimateGroundPlane(const ImageArr& images, float planeThreshold, const String& fileExportPlane) const
+{
+	ASSERT(!IsEmpty());
+
+	// remove some random points to speed up plane fitting
+	const unsigned randMinPoints(150000);
+	PointArr workPoints;
+	const PointArr* pPoints;
+	if (GetSize() > randMinPoints) {
+		#ifndef _RELEASE
+		SEACAVE::Random rnd(SEACAVE::Random::default_seed);
+		#else
+		SEACAVE::Random rnd;
+		#endif
+		const REAL randPointsRatio(MAXF(REAL(1e-4),(REAL)randMinPoints/GetSize()));
+		const SEACAVE::Random::result_type randPointsTh(CEIL2INT<SEACAVE::Random::result_type>(randPointsRatio*SEACAVE::Random::max()));
+		workPoints.reserve(CEIL2INT<PointArr::IDX>(randPointsRatio*GetSize()));
+		for (const Point& X: points)
+			if (rnd() <= randPointsTh)
+				workPoints.emplace_back(X);
+		pPoints = &workPoints;
+	} else {
+		pPoints = &points;
+	}
+
+	// fit plane to the point-cloud
+	Planef plane;
+	const float minInliersRatio(0.05f);
+	double threshold(planeThreshold>0 ? (double)planeThreshold : DBL_MAX);
+	const unsigned numInliers(planeThreshold > 0 ? EstimatePlaneTh(*pPoints, plane, threshold) : EstimatePlane(*pPoints, plane, threshold));
+	if (numInliers < MINF(ROUND2INT<unsigned>(minInliersRatio*pPoints->size()), 1000u)) {
+		plane.Invalidate();
+		return plane;
+	}
+	if (planeThreshold <= 0)
+		DEBUG("Ground plane estimated threshold: %g", threshold);
+
+	// refine plane to inliers
+	CLISTDEF0(Planef::POINT) inliers;
+	const float maxThreshold(static_cast<float>(threshold * 2));
+	for (const Point& X: *pPoints)
+		if (plane.DistanceAbs(X) < maxThreshold)
+			inliers.emplace_back(X);
+	OptimizePlane(plane, inliers.data(), inliers.size(), 100, static_cast<float>(threshold));
+
+	// make sure the plane is well oriented, negate plane normal if it faces same direction as cameras on average
+	if (!images.empty()) {
+		FloatArr cosView(0, images.size());
+		for (const Image& imageData: images) {
+			if (!imageData.IsValid())
+				continue;
+			cosView.push_back(plane.m_vN.dot((const Point3f::EVecMap&)Cast<float>(imageData.camera.Direction())));
+		}
+		if (cosView.GetMedian() > 0)
+			plane.Negate();
+	}
+
+	// export points on the found plane if requested
+	if (!fileExportPlane.empty()) {
+		PointCloud pc;
+		const Point orig(Point(plane.m_vN)*-plane.m_fD);
+		pc.colors.emplace_back(Color::RED);
+		pc.points.emplace_back(orig);
+		for (const Point& X: *pPoints) {
+			const float dist(plane.DistanceAbs(X));
+			if (dist < threshold) {
+				pc.points.emplace_back(X);
+				const uint8_t color((uint8_t)(255.f*(1.f-dist/threshold)));
+				pc.colors.emplace_back(color, color, color);
+			}
+		}
+		pc.Save(fileExportPlane);
+	}
+	return plane;
+}
+/*----------------------------------------------------------------*/
+
+
 // define a PLY file format composed only of vertices
 namespace BasicPLY {
 	typedef PointCloud::Point Point;
@@ -321,3 +408,159 @@ bool PointCloud::SaveNViews(const String& fileName, uint32_t minViews, bool bLeg
 	return true;
 } // SaveNViews
 /*----------------------------------------------------------------*/
+
+
+// print various statistics about the point cloud
+void PointCloud::PrintStatistics(const Image* pImages, const OBB3f* pObb) const
+{
+	String strPoints;
+	if (pObb && pObb->IsValid()) {
+		// print points distribution
+		size_t nInsidePoints(0);
+		MeanStdMinMax<double> accInside, accOutside;
+		FOREACH(idx, points) {
+			const bool bInsideROI(pObb->Intersects(points[idx]));
+			if (bInsideROI)
+				++nInsidePoints;
+			if (!pointViews.empty()) {
+				if (bInsideROI)
+					accInside.Update(pointViews[idx].size());
+				else
+					accOutside.Update(pointViews[idx].size());
+			}
+		}
+		strPoints = String::FormatString(
+			"\n - points info:"
+			"\n\t%u points inside ROI (%.2f%%)",
+			nInsidePoints, 100.0*nInsidePoints/GetSize()
+		);
+		if (!pointViews.empty()) {
+			strPoints += String::FormatString(
+				"\n\t inside ROI track length: %g min / %g mean (%g std) / %g max"
+				"\n\toutside ROI track length: %g min / %g mean (%g std) / %g max",
+				accInside.minVal, accInside.GetMean(), accInside.GetStdDev(), accInside.maxVal,
+				accOutside.minVal, accOutside.GetMean(), accOutside.GetStdDev(), accOutside.maxVal
+			);
+		}
+	}
+	String strViews;
+	if (!pointViews.empty()) {
+		// print views distribution
+		size_t nViews(0);
+		size_t nPoints1m(0), nPoints2(0), nPoints3(0), nPoints4p(0);
+		size_t nPointsOpposedViews(0);
+		MeanStdMinMax<double> acc;
+		FOREACH(idx, points) {
+			const PointCloud::ViewArr& views = pointViews[idx];
+			nViews += views.size();
+			switch (views.size()) {
+			case 0:
+			case 1:
+				++nPoints1m;
+				break;
+			case 2:
+				++nPoints2;
+				break;
+			case 3:
+				++nPoints3;
+				break;
+			default:
+				++nPoints4p;
+			}
+			acc.Update(views.size());
+		}
+		strViews = String::FormatString(
+			"\n - visibility info (%u views - %.2f views/point)%s:"
+			"\n\t% 9u points with 1- views (%.2f%%)"
+			"\n\t% 9u points with 2  views (%.2f%%)"
+			"\n\t% 9u points with 3  views (%.2f%%)"
+			"\n\t% 9u points with 4+ views (%.2f%%)"
+			"\n\t%g min / %g mean (%g std) / %g max",
+			nViews, (REAL)nViews/GetSize(),
+			nPointsOpposedViews ? String::FormatString(" (%u (%.2f%%) points with opposed views)", nPointsOpposedViews, 100.f*nPointsOpposedViews/GetSize()).c_str() : "",
+			nPoints1m, 100.f*nPoints1m/GetSize(), nPoints2, 100.f*nPoints2/GetSize(), nPoints3, 100.f*nPoints3/GetSize(), nPoints4p, 100.f*nPoints4p/GetSize(),
+			acc.minVal, acc.GetMean(), acc.GetStdDev(), acc.maxVal
+		);
+	}
+	String strNormals;
+	if (!normals.empty()) {
+		if (!pointViews.empty() && pImages != NULL) {
+			// print normal/views angle distribution
+			size_t nViews(0);
+			size_t nPointsm(0), nPoints3(0), nPoints10(0), nPoints25(0), nPoints40(0), nPoints60(0), nPoints90p(0);
+			const REAL thCosAngle3(COS(D2R(3.f)));
+			const REAL thCosAngle10(COS(D2R(10.f)));
+			const REAL thCosAngle25(COS(D2R(25.f)));
+			const REAL thCosAngle40(COS(D2R(40.f)));
+			const REAL thCosAngle60(COS(D2R(60.f)));
+			const REAL thCosAngle90(COS(D2R(90.f)));
+			FOREACH(idx, points) {
+				const PointCloud::Point& X = points[idx];
+				const PointCloud::Normal& N = normals[idx];
+				const PointCloud::ViewArr& views = pointViews[idx];
+				nViews += views.size();
+				for (IIndex idxImage: views) {
+					const Point3f X2Cam(Cast<float>(pImages[idxImage].camera.C)-X);
+					const REAL cosAngle(ComputeAngle(X2Cam.ptr(), N.ptr()));
+					if (cosAngle <= thCosAngle90)
+						++nPoints90p;
+					else if (cosAngle <= thCosAngle60)
+						++nPoints60;
+					else if (cosAngle <= thCosAngle40)
+						++nPoints40;
+					else if (cosAngle <= thCosAngle25)
+						++nPoints25;
+					else if (cosAngle <= thCosAngle10)
+						++nPoints10;
+					else if (cosAngle <= thCosAngle3)
+						++nPoints3;
+					else
+						++nPointsm;
+				}
+			}
+			strNormals = String::FormatString(
+				"\n - normals visibility info:"
+				"\n\t% 9u points with 3- degrees (%.2f%%)"
+				"\n\t% 9u points with 10 degrees (%.2f%%)"
+				"\n\t% 9u points with 25 degrees (%.2f%%)"
+				"\n\t% 9u points with 40 degrees (%.2f%%)"
+				"\n\t% 9u points with 60 degrees (%.2f%%)"
+				"\n\t% 9u points with 90+ degrees (%.2f%%)",
+				nPointsm, 100.f*nPointsm/nViews, nPoints3, 100.f*nPoints3/nViews, nPoints10, 100.f*nPoints10/nViews,
+				nPoints40, 100.f*nPoints40/nViews, nPoints60, 100.f*nPoints60/nViews, nPoints90p, 100.f*nPoints90p/nViews
+			);
+		} else {
+			strNormals = "\n - normals info";
+		}
+	}
+	String strWeights;
+	if (!pointWeights.empty()) {
+		// print weights statistics
+		MeanStdMinMax<double> acc;
+		for (const PointCloud::WeightArr& weights: pointWeights) {
+			float avgWeight(0);
+			for (PointCloud::Weight w: weights)
+				avgWeight += w;
+			acc.Update(avgWeight/weights.size());
+		}
+		strWeights = String::FormatString(
+			"\n - weights info:"
+			"\n\t%g min / %g mean (%g std) / %g max",
+			acc.minVal, acc.GetMean(), acc.GetStdDev(), acc.maxVal
+		);
+	}
+	String strColors;
+	if (!colors.empty()) {
+		// print colors statistics
+		strColors = "\n - colors";
+	}
+	VERBOSE("Point-cloud composed of %u points with:%s%s%s%s",
+		GetSize(),
+		strPoints.c_str(),
+		strViews.c_str(),
+		strNormals.c_str(),
+		strWeights.c_str(),
+		strColors.c_str()
+	);
+} // PrintStatistics
+/*----------------------------------------------------------------*/
diff --git a/libs/MVS/PointCloud.h b/libs/MVS/PointCloud.h
index c0ebf5ad7..901823757 100644
--- a/libs/MVS/PointCloud.h
+++ b/libs/MVS/PointCloud.h
@@ -35,6 +35,8 @@
 
 // I N C L U D E S /////////////////////////////////////////////////
 
+#include "Image.h"
+
 
 // D E F I N E S ///////////////////////////////////////////////////
 
@@ -52,21 +54,21 @@ class MVS_API PointCloud
 	typedef IDX Index;
 
 	typedef TPoint3<float> Point;
-	typedef SEACAVE::cList<Point,const Point&,2,8192> PointArr;
+	typedef CLISTDEF0IDX(Point,Index) PointArr;
 
 	typedef uint32_t View;
 	typedef SEACAVE::cList<View,const View,0,4,uint32_t> ViewArr;
-	typedef SEACAVE::cList<ViewArr> PointViewArr;
+	typedef CLISTDEFIDX(ViewArr,Index) PointViewArr;
 
 	typedef float Weight;
 	typedef SEACAVE::cList<Weight,const Weight,0,4,uint32_t> WeightArr;
-	typedef SEACAVE::cList<WeightArr> PointWeightArr;
+	typedef CLISTDEFIDX(WeightArr,Index) PointWeightArr;
 
 	typedef TPoint3<float> Normal;
-	typedef CLISTDEF0(Normal) NormalArr;
+	typedef CLISTDEF0IDX(Normal,Index) NormalArr;
 
 	typedef Pixel8U Color;
-	typedef CLISTDEF0(Color) ColorArr;
+	typedef CLISTDEF0IDX(Color,Index) ColorArr;
 
 	typedef AABB3f Box;
 
@@ -90,16 +92,21 @@ class MVS_API PointCloud
 
 	void RemovePoint(IDX);
 	void RemovePointsOutside(const OBB3f&);
+	void RemoveMinViews(uint32_t thMinViews);
 
 	Box GetAABB() const;
 	Box GetAABB(const Box& bound) const;
 	Box GetAABB(unsigned minViews) const;
 	Point GetCenter() const;
 
+	Planef EstimateGroundPlane(const ImageArr& images, float planeThreshold=0, const String& fileExportPlane="") const;
+
 	bool Load(const String& fileName);
 	bool Save(const String& fileName, bool bLegacyTypes=false) const;
 	bool SaveNViews(const String& fileName, uint32_t minViews, bool bLegacyTypes=false) const;
 
+	void PrintStatistics(const Image* pImages = NULL, const OBB3f* pObb = NULL) const;
+
 	#ifdef _USE_BOOST
 	// implement BOOST serialization
 	template <class Archive>
diff --git a/libs/MVS/RectsBinPack.cpp b/libs/MVS/RectsBinPack.cpp
index e9472cb61..3a376fd8f 100644
--- a/libs/MVS/RectsBinPack.cpp
+++ b/libs/MVS/RectsBinPack.cpp
@@ -522,7 +522,7 @@ int MaxRectsBinPack::ComputeTextureSize(const RectArr& rects, int mult)
 		return ((sizeTex+mult-1)/mult)*mult;
 	}
 	// ... as power of two
-	return POWI((int)2, CEIL2INT(LOGN((float)sizeTex) / LOGN(2.f)));
+	return POWI(2, CEIL2INT<unsigned>(LOGN((float)sizeTex) / LOGN(2.f)));
 }
 /*----------------------------------------------------------------*/
 
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 6f642ea83..3b8023207 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -33,6 +33,7 @@
 #include "Scene.h"
 #define _USE_OPENCV
 #include "Interface.h"
+#include "../Math/SimilarityTransform.h"
 
 using namespace MVS;
 
@@ -321,7 +322,8 @@ bool Scene::LoadDMAP(const String& fileName)
 	DepthMap depthMap;
 	NormalMap normalMap;
 	ConfidenceMap confMap;
-	if (!ImportDepthDataRaw(fileName, imageFileName, IDs, imageSize, camera.K, camera.R, camera.C, dMin, dMax, depthMap, normalMap, confMap))
+	ViewsMap viewsMap;
+	if (!ImportDepthDataRaw(fileName, imageFileName, IDs, imageSize, camera.K, camera.R, camera.C, dMin, dMax, depthMap, normalMap, confMap, viewsMap))
 		return false;
 
 	// create image
@@ -417,8 +419,7 @@ bool Scene::LoadViewNeighbors(const String& fileName)
 	// parse image list
 	SML smlImages(_T("ImageNeighbors"));
 	smlImages.Load(fileName);
-	const LPSMLARR&	arrSmlChild = smlImages.GetArrChildren();
-	ASSERT(arrSmlChild.size() <= 1);
+	ASSERT(smlImages.GetArrChildren().size() <= 1);
 
 	// fetch image IDs list
 	size_t argc;
@@ -451,7 +452,7 @@ bool Scene::SaveViewNeighbors(const String& fileName) const
 	ASSERT(ImagesHaveNeighbors());
 
 	TD_TIMER_STARTD();
-	
+
 	File file(fileName, File::WRITE, File::CREATE | File::TRUNCATE);
 	if (!file.isOpen()) {
 		VERBOSE("error: unable to write file '%s'", fileName.c_str());
@@ -479,8 +480,8 @@ bool Scene::Import(const String& fileName)
 		Release();
 		return LoadDMAP(fileName);
 	}
-	if (ext == _T(".obj")) {
-		// import mesh from obj file
+	if (ext == _T(".obj") || ext == _T(".gltf") || ext == _T(".glb")) {
+		// import mesh from obj/gltf file
 		Release();
 		return mesh.Load(fileName);
 	}
@@ -644,7 +645,7 @@ void Scene::SampleMeshWithVisibility(unsigned maxResolution)
 			const Point3f xz(camera.TransformPointW2I3(Cast<REAL>(mesh.vertices[idxVertex])));
 			if (xz.z <= 0)
 				continue;
-			const Point2f& x(reinterpret_cast<const Point2f&>(xz));
+			const Point2f x(xz.x, xz.y);
 			if (depthMap.isInsideWithBorder<float,1>(x) && xz.z * thFrontDepth < depthMap(ROUND2INT(x))) {
 				#ifdef SCENE_USE_OPENMP
 				#pragma omp critical
@@ -654,10 +655,12 @@ void Scene::SampleMeshWithVisibility(unsigned maxResolution)
 		}
 	}
 	RFOREACH(idx, pointcloud.points) {
-		if (pointcloud.pointViews[idx].size() < 2)
+		if (pointcloud.pointViews[idx].size() < 2) {
 			pointcloud.RemovePoint(idx);
-		else
-			pointcloud.points[idx] = mesh.vertices[(Mesh::VIndex)idx];
+			continue;
+		}
+		pointcloud.points[idx] = mesh.vertices[(Mesh::VIndex)idx];
+		pointcloud.pointViews[idx].Sort();
 	}
 } // SampleMeshWithVisibility
 /*----------------------------------------------------------------*/
@@ -699,7 +702,7 @@ bool Scene::ExportMeshToDepthMaps(const String& baseName)
 				IDs.push_back(idxImage);
 				for (const ViewScore& neighbor: image.neighbors)
 					IDs.push_back(neighbor.idx.ID);
-				return ExportDepthDataRaw(fileName, image.name, IDs, image.GetSize(), image.camera.K, image.camera.R, image.camera.C, 0.001f, FLT_MAX, depthMap, normalMap, ConfidenceMap());
+				return ExportDepthDataRaw(fileName, image.name, IDs, image.GetSize(), image.camera.K, image.camera.R, image.camera.C, 0.001f, FLT_MAX, depthMap, normalMap, ConfidenceMap(), ViewsMap());
 			} ()) ||
 			(nType == 1 && !depthMap.Save(fileName)) ||
 			(nType == 0 && !ExportDepthMap(fileName, depthMap)))
@@ -722,6 +725,62 @@ bool Scene::ExportMeshToDepthMaps(const String& baseName)
 /*----------------------------------------------------------------*/
 
 
+// create a virtual point-cloud to be used to initialize the neighbor view
+// from image pair points at the intersection of the viewing directions
+bool Scene::EstimateNeighborViewsPointCloud(unsigned maxResolution)
+{
+	constexpr Depth minPercentDepthPerturb(0.3f);
+	constexpr Depth maxPercentDepthPerturb(1.3f);
+	const auto ProjectGridToImage = [&](IIndex idI, IIndex idJ, Depth depth) {
+		const Depth minDepthPerturb(depth * minPercentDepthPerturb);
+		const Depth maxDepthPerturb(depth * maxPercentDepthPerturb);
+		const Image& imageData = images[idI];
+		const Image& imageData2 = images[idJ];
+		const float stepW((float)imageData.width / maxResolution);
+		const float stepH((float)imageData.height / maxResolution);
+		for (unsigned r = 0; r < maxResolution; ++r) {
+			for (unsigned c = 0; c < maxResolution; ++c) {
+				const Point2f x(c*stepW + stepW/2, r*stepH + stepH/2);
+				const Depth depthPerturb(randomRange(minDepthPerturb, maxDepthPerturb));
+				const Point3 X(imageData.camera.TransformPointI2W(Point3(x.x, x.y, depthPerturb)));
+				const Point3 X2(imageData2.camera.TransformPointW2C(X));
+				if (X2.z < 0)
+					continue;
+				const Point2f x2(imageData2.camera.TransformPointC2I(X2));
+				if (!Image8U::isInside(x2, imageData2.GetSize()))
+					continue;
+				pointcloud.points.emplace_back(X);
+				pointcloud.pointViews.emplace_back(idI < idJ ? PointCloud::ViewArr{idI, idJ} : PointCloud::ViewArr{idJ, idI});
+			}
+		}
+	};
+	pointcloud.Release();
+	FOREACH(i, images) {
+		const Image& imageData = images[i];
+		if (!imageData.IsValid())
+			continue;
+		FOREACH(j, images) {
+			if (i == j)
+				continue;
+			const Image& imageData2 = images[j];
+			Point3 X;
+			TriangulatePoint3D(
+				imageData.camera.K, imageData2.camera.K,
+				imageData.camera.R, imageData2.camera.R,
+				imageData.camera.C, imageData2.camera.C,
+				Point2::ZERO, Point2::ZERO, X);
+			const Depth depth((Depth)imageData.camera.PointDepth(X));
+			const Depth depth2((Depth)imageData2.camera.PointDepth(X));
+			if (depth <= 0 || depth2 <= 0)
+				continue;
+			ProjectGridToImage(i, j, depth);
+			ProjectGridToImage(j, i, depth2);
+		}
+	}
+	return true;
+} // EstimateNeighborViewsPointCloud
+/*----------------------------------------------------------------*/
+
 inline float Footprint(const Camera& camera, const Point3f& X) {
 	#if 0
 	const REAL fSphereRadius(1);
@@ -739,20 +798,20 @@ inline float Footprint(const Camera& camera, const Point3f& X) {
 //  - nInsideROI: 0 - ignore ROI, 1 - weight more ROI points, 2 - consider only ROI points
 bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews, unsigned nMinPointViews, float fOptimAngle, unsigned nInsideROI)
 {
-	ASSERT(points.IsEmpty());
+	ASSERT(points.empty());
 
 	// extract the estimated 3D points and the corresponding 2D projections for the reference image
 	Image& imageData = images[ID];
 	ASSERT(imageData.IsValid());
 	ViewScoreArr& neighbors = imageData.neighbors;
-	ASSERT(neighbors.IsEmpty());
+	ASSERT(neighbors.empty());
 	struct Score {
 		float score;
 		float avgScale;
 		float avgAngle;
 		uint32_t points;
 	};
-	CLISTDEF0(Score) scores(images.GetSize());
+	CLISTDEF0(Score) scores(images.size());
 	scores.Memset(0);
 	if (nMinPointViews > nCalibratedImages)
 		nMinPointViews = nCalibratedImages;
@@ -773,10 +832,14 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 				continue;
 			wROI = 0.7f;
 		}
+		const Depth depth((float)imageData.camera.PointDepth(point));
+		ASSERT(depth > 0);
+		if (depth <= 0)
+			continue;
 		// store this point
-		if (views.GetSize() >= nMinPointViews)
-			points.Insert((uint32_t)idx);
-		imageData.avgDepth += (float)imageData.camera.PointDepth(point);
+		if (views.size() >= nMinPointViews)
+			points.push_back((uint32_t)idx);
+		imageData.avgDepth += depth;
 		++nPoints;
 		// score shared views
 		const Point3f V1(imageData.camera.C - Cast<REAL>(point));
@@ -786,7 +849,7 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 				continue;
 			const Image& imageData2 = images[view];
 			const Point3f V2(imageData2.camera.C - Cast<REAL>(point));
-			const float fAngle(ACOS(ComputeAngle<float,float>(V1.ptr(), V2.ptr())));
+			const float fAngle(ACOS(ComputeAngle(V1.ptr(), V2.ptr())));
 			const float wAngle(EXP(SQUARE(fAngle-fOptimAngle)*(fAngle<fOptimAngle?sigmaAngleSmall:sigmaAngleLarge)));
 			const float footprint2(Footprint(imageData2.camera, point));
 			const float fScaleRatio(footprint1/footprint2);
@@ -808,7 +871,7 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 	ASSERT(nPoints > 3);
 
 	// select best neighborViews
-	Point2fArr projs(0, points.GetSize());
+	Point2fArr projs(0, points.size());
 	FOREACH(IDB, images) {
 		const Image& imageDataB = images[IDB];
 		if (!imageDataB.IsValid())
@@ -820,7 +883,7 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 		// compute how well the matched features are spread out (image covered area)
 		const Point2f boundsA(imageData.GetSize());
 		const Point2f boundsB(imageDataB.GetSize());
-		ASSERT(projs.IsEmpty());
+		ASSERT(projs.empty());
 		for (uint32_t idx: points) {
 			const PointCloud::ViewArr& views = pointcloud.pointViews[idx];
 			ASSERT(views.IsSorted());
@@ -828,15 +891,15 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 			if (views.FindFirst(IDB) == PointCloud::ViewArr::NO_INDEX)
 				continue;
 			const PointCloud::Point& point = pointcloud.points[idx];
-			Point2f& ptA = projs.AddConstruct(imageData.camera.ProjectPointP(point));
+			Point2f& ptA = projs.emplace_back(imageData.camera.ProjectPointP(point));
 			Point2f ptB = imageDataB.camera.ProjectPointP(point);
 			if (!imageData.camera.IsInside(ptA, boundsA) || !imageDataB.camera.IsInside(ptB, boundsB))
 				projs.RemoveLast();
 		}
-		ASSERT(projs.GetSize() <= score.points);
-		if (projs.IsEmpty())
+		ASSERT(projs.size() <= score.points);
+		if (projs.empty())
 			continue;
-		const float area(ComputeCoveredArea<float,2,16,false>((const float*)projs.Begin(), projs.GetSize(), boundsA.ptr()));
+		const float area(ComputeCoveredArea<float,2,16,false>((const float*)projs.data(), projs.size(), boundsA.ptr()));
 		projs.Empty();
 		// store image score
 		ViewScore& neighbor = neighbors.AddEmpty();
@@ -854,10 +917,10 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 		String msg;
 		FOREACH(n, neighbors)
 			msg += String::FormatString(" %3u(%upts,%.2fscl)", neighbors[n].idx.ID, neighbors[n].idx.points, neighbors[n].idx.scale);
-		VERBOSE("Reference image %3u sees %u views:%s (%u shared points)", ID, neighbors.GetSize(), msg.c_str(), nPoints);
+		VERBOSE("Reference image %3u sees %u views:%s (%u shared points)", ID, neighbors.size(), msg.c_str(), nPoints);
 	}
 	#endif
-	if (points.GetSize() <= 3 || neighbors.GetSize() < MINF(nMinViews,nCalibratedImages-1)) {
+	if (points.size() <= 3 || neighbors.size() < MINF(nMinViews,nCalibratedImages-1)) {
 		DEBUG_EXTRA("error: reference image %3u has not enough images in view", ID);
 		return false;
 	}
@@ -869,16 +932,18 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 bool Scene::FilterNeighborViews(ViewScoreArr& neighbors, float fMinArea, float fMinScale, float fMaxScale, float fMinAngle, float fMaxAngle, unsigned nMaxViews)
 {
 	// remove invalid neighbor views
+	const unsigned nMinViews(MAXF(4u, nMaxViews*3/4));
 	RFOREACH(n, neighbors) {
 		const ViewScore& neighbor = neighbors[n];
-		if (neighbor.idx.area < fMinArea ||
-			!ISINSIDE(neighbor.idx.scale, fMinScale, fMaxScale) ||
-			!ISINSIDE(neighbor.idx.angle, fMinAngle, fMaxAngle))
+		if (neighbors.size() > nMinViews &&
+			(neighbor.idx.area < fMinArea ||
+			 !ISINSIDE(neighbor.idx.scale, fMinScale, fMaxScale) ||
+			 !ISINSIDE(neighbor.idx.angle, fMinAngle, fMaxAngle)))
 			neighbors.RemoveAtMove(n);
 	}
-	if (neighbors.GetSize() > nMaxViews)
-		neighbors.Resize(nMaxViews);
-	return !neighbors.IsEmpty();
+	if (neighbors.size() > nMaxViews)
+		neighbors.resize(nMaxViews);
+	return !neighbors.empty();
 } // FilterNeighborViews
 /*----------------------------------------------------------------*/
 
@@ -1166,6 +1231,18 @@ unsigned Scene::Split(ImagesChunkArr& chunks, float maxArea, int depthMapStep) c
 		chunks.RemoveAt(cSmall);
 	}
 	#endif
+	if (IsBounded()) {
+		// make sure the chunks bounding box do not exceed the scene bounding box
+		const AABB3f aabb(obb.GetAABB());
+		RFOREACH(c, chunks) {
+			ImagesChunk& chunk = chunks[c];
+			chunk.aabb.BoundBy(aabb);
+			if (chunk.aabb.IsEmpty()) {
+				DEBUG_ULTIMATE("warning: chunk bounding box is empty");
+				chunks.RemoveAt(c);
+			}
+		}
+	}
 	DEBUG_EXTRA("Scene split (%g max-area): %u chunks (%s)", maxArea, chunks.size(), TD_TIMER_GET_FMT().c_str());
 	#if 0 || defined(_DEBUG)
 	// dump chunks for visualization
@@ -1316,7 +1393,7 @@ bool Scene::Scale(const REAL* pScale)
 		scale = REAL(1)/mesh.GetAABB().GetSize().maxCoeff();
 	else
 		return false;
-	const float scalef(scale);
+	const float scalef(static_cast<float>(scale));
 	if (IsBounded())
 		obb.Transform(OBB3f::MATRIX::Identity() * scalef);
 	for (Platform& platform: platforms)
@@ -1361,4 +1438,190 @@ bool Scene::ScaleImages(unsigned nMaxResolution, REAL scale, const String& folde
 	}
 	return true;
 } // ScaleImages
+
+// apply similarity transform
+void Scene::Transform(const Matrix3x3& rotation, const Point3& translation, REAL scale) {
+	const Matrix3x3 rotationScale(rotation * scale);
+	for (Platform& platform : platforms) {
+		for (Platform::Pose& pose : platform.poses) {
+			pose.R = pose.R * rotation.t();
+			pose.C = rotationScale * pose.C + translation;
+		}
+	}
+	for (Image& image : images) {
+		image.UpdateCamera(platforms);
+	}
+	FOREACH(i, pointcloud.points) {
+		pointcloud.points[i] = rotationScale * Cast<REAL>(pointcloud.points[i]) + translation;
+		if (!pointcloud.normals.empty())
+			pointcloud.normals[i] = rotation * Cast<REAL>(pointcloud.normals[i]);
+	}
+	FOREACH(i, mesh.vertices) {
+		mesh.vertices[i] = rotationScale * Cast<REAL>(mesh.vertices[i]) + translation;
+		if (!mesh.vertexNormals.empty())
+			mesh.vertexNormals[i] = rotation * Cast<REAL>(mesh.vertexNormals[i]);
+	}
+	FOREACH(i, mesh.faceNormals) {
+		mesh.faceNormals[i] = rotation * Cast<REAL>(mesh.faceNormals[i]);
+	}
+	if (obb.IsValid()) {
+		obb.Transform(Cast<float>(rotationScale));
+		obb.Translate(Cast<float>(translation));
+	}
+}
+
+// transform this scene such that it best aligns with the given scene based on the camera positions
+bool Scene::AlignTo(const Scene& scene)
+{
+	if (images.size() < 3) {
+		DEBUG("error: insufficient number of cameras to perform a similarity transform alignment");
+		return false;
+	}
+	if (images.size() != scene.images.size()) {
+		DEBUG("error: the two scenes differ in number of cameras");
+		return false;
+	}
+	CLISTDEF0(Point3) points, pointsRef;
+	FOREACH(idx, images) {
+		const Image& image = images[idx];
+		if (!image.IsValid())
+			continue;
+		const Image& imageRef = scene.images[idx];
+		if (!imageRef.IsValid())
+			continue;
+		points.emplace_back(image.camera.C);
+		pointsRef.emplace_back(imageRef.camera.C);
+	}
+	Matrix4x4 transform;
+	SimilarityTransform(points, pointsRef, transform);
+	Matrix3x3 rotation; Point3 translation; REAL scale;
+	DecomposeSimilarityTransform(transform, rotation, translation, scale);
+	Transform(rotation, translation, scale);
+	return true;
+} // AlignTo
+
+// estimate ground plane, transform scene such that it is positioned at origin, and compute the volume of the mesh;
+//  - planeThreshold: threshold used to estimate the ground plane (0 - auto)
+//  - sampleMesh: uniformly samples points on the mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)
+// returns <0 if an error occurred
+REAL Scene::ComputeLeveledVolume(float planeThreshold, float sampleMesh, unsigned upAxis, bool verbose)
+{
+	ASSERT(!mesh.IsEmpty());
+	if (planeThreshold >= 0 && !mesh.IsWatertight()) {
+		// assume the mesh is opened only at the contact with the ground plane;
+		// move mesh such that the ground plane is at the origin so that the volume can be computed
+		TD_TIMER_START();
+		Planef groundPlane(mesh.EstimateGroundPlane(images, sampleMesh, planeThreshold, verbose?MAKE_PATH("ground_plane.ply"):String()));
+		if (!groundPlane.IsValid()) {
+			VERBOSE("error: can not estimate the ground plane");
+			return -1;
+		}
+		const Point3f up(upAxis==0?1.f:0.f, upAxis==1?1.f:0.f, upAxis==2?1.f:0.f);
+		if (groundPlane.m_vN.dot(Point3f::EVec(up)) < 0.f)
+			groundPlane.Negate();
+		VERBOSE("Ground plane estimated at: (%.2f,%.2f,%.2f) %.2f (%s)",
+			groundPlane.m_vN.x(), groundPlane.m_vN.y(), groundPlane.m_vN.z(), groundPlane.m_fD, TD_TIMER_GET_FMT().c_str());
+		// transform the scene such that the up vector aligns with ground plane normal,
+		// and the mesh center projected on the ground plane is at the origin
+		const Matrix3x3 rotation(RMatrix(Cast<REAL>(up), Cast<REAL>(Point3f(groundPlane.m_vN))).t());
+		const Point3 translation(rotation*-Cast<REAL>(Point3f(groundPlane.ProjectPoint(mesh.GetCenter()))));
+		const REAL scale(1);
+		Transform(rotation, translation, scale);
+	}
+	return mesh.ComputeVolume();
+}
+/*----------------------------------------------------------------*/
+
+
+// estimate region-of-interest based on camera positions, directions and sparse points
+// scale specifies the ratio of the ROI's diameter
+bool Scene::EstimateROI(int nEstimateROI, float scale)
+{
+	ASSERT(nEstimateROI >= 0 && nEstimateROI <= 2 && scale > 0);
+	if (nEstimateROI == 0) {
+		DEBUG_ULTIMATE("The scene will be considered as unbounded (no ROI)");
+		return false;
+	}
+	if (!pointcloud.IsValid()) {
+		VERBOSE("error: no valid point-cloud for the ROI estimation");
+		return false;
+	}
+	CameraArr cameras;
+	FOREACH(i, images) {
+		const Image& imageData = images[i];
+		if (!imageData.IsValid())
+			continue;
+		cameras.emplace_back(imageData.camera);
+	}
+	const unsigned nCameras = cameras.size();
+	if (nCameras < 3) {
+		VERBOSE("warning: not enough valid views for the ROI estimation");
+		return false;
+	}
+	// compute the camera center and the direction median
+	FloatArr x(nCameras), y(nCameras), z(nCameras), nx(nCameras), ny(nCameras), nz(nCameras);
+	FOREACH(i, cameras) {
+		const Point3f camC(cameras[i].C);
+		x[i] = camC.x;
+		y[i] = camC.y;
+		z[i] = camC.z;
+		const Point3f camDirect(cameras[i].Direction());
+		nx[i] = camDirect.x;
+		ny[i] = camDirect.y;
+		nz[i] = camDirect.z;
+	}
+	const CMatrix camCenter(x.GetMedian(), y.GetMedian(), z.GetMedian());
+	CMatrix camDirectMean(nx.GetMean(), ny.GetMean(), nz.GetMean());
+	const float camDirectMeanLen = (float)norm(camDirectMean);
+	if (!ISZERO(camDirectMeanLen))
+		camDirectMean /= camDirectMeanLen;
+	if (camDirectMeanLen > FSQRT_2 / 2.f && nEstimateROI == 2) {
+		VERBOSE("The camera directions mean is unbalanced; the scene will be considered unbounded (no ROI)");
+		return false;
+	}
+	DEBUG_ULTIMATE("The camera positions median is (%f,%f,%f), directions mean and norm are (%f,%f,%f), %f",
+				   camCenter.x, camCenter.y, camCenter.z, camDirectMean.x, camDirectMean.y, camDirectMean.z, camDirectMeanLen);
+	FloatArr cameraDistances(nCameras);
+	FOREACH(i, cameras)
+		cameraDistances[i] = (float)cameras[i].Distance(camCenter);
+	// estimate scene center and radius
+	const float camDistMed = cameraDistances.GetMedian();
+	const float camShiftCoeff = TAN(ASIN(CLAMP(camDirectMeanLen, 0.f, 0.999f)));
+	const CMatrix sceneCenter = camCenter + camShiftCoeff * camDistMed * camDirectMean;
+	FOREACH(i, cameras) {
+		if (cameras[i].PointDepth(sceneCenter) <= 0 && nEstimateROI == 2) {
+			VERBOSE("Found a camera not pointing towards the scene center; the scene will be considered unbounded (no ROI)");
+			return false;
+		}
+		cameraDistances[i] = (float)cameras[i].Distance(sceneCenter);
+	}
+	const float sceneRadius = cameraDistances.GetMax();
+	DEBUG_ULTIMATE("The estimated scene center is (%f,%f,%f), radius is %f",
+				   sceneCenter.x, sceneCenter.y, sceneCenter.z, sceneRadius);
+	Point3fArr ptsInROI;
+	FOREACH(i, pointcloud.points) {
+		const PointCloud::Point& point = pointcloud.points[i];
+		const PointCloud::ViewArr& views = pointcloud.pointViews[i];
+		FOREACH(j, views) {
+			const Image& imageData = images[views[j]];
+			if (!imageData.IsValid())
+				continue;
+			const Camera& camera = imageData.camera;
+			if (camera.PointDepth(point) < sceneRadius * 2.0f) {
+				ptsInROI.emplace_back(point);
+				break;
+			}
+		}
+	}
+	obb.Set(AABB3f(ptsInROI.begin(), ptsInROI.size()).EnlargePercent(scale));
+	#if TD_VERBOSE != TD_VERBOSE_OFF
+	if (VERBOSITY_LEVEL > 2) {
+		VERBOSE("Set the ROI with the AABB of position (%f,%f,%f) and extent (%f,%f,%f)",
+			    obb.m_pos[0], obb.m_pos[1], obb.m_pos[2], obb.m_ext[0], obb.m_ext[1], obb.m_ext[2]);
+	} else {
+		VERBOSE("Set the ROI by the estimated core points");
+	}
+	#endif
+	return true;
+} // EstimateROI
 /*----------------------------------------------------------------*/
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 4eb8b575e..c3807e966 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -1,7 +1,7 @@
 /*
 * Scene.h
 *
-* Copyright (c) 2014-2015 SEACAVE
+* Copyright (c) 2014-2022 SEACAVE
 *
 * Author(s):
 *
@@ -82,6 +82,7 @@ class MVS_API Scene
 	bool Load(const String& fileName, bool bImport=false);
 	bool Save(const String& fileName, ARCHIVE_TYPE type=ARCHIVE_DEFAULT) const;
 
+	bool EstimateNeighborViewsPointCloud(unsigned maxResolution=16);
 	void SampleMeshWithVisibility(unsigned maxResolution=320);
 	bool ExportMeshToDepthMaps(const String& baseName);
 
@@ -103,9 +104,15 @@ class MVS_API Scene
 	bool Center(const Point3* pCenter = NULL);
 	bool Scale(const REAL* pScale = NULL);
 	bool ScaleImages(unsigned nMaxResolution = 0, REAL scale = 0, const String& folderName = String());
+	void Transform(const Matrix3x3& rotation, const Point3& translation, REAL scale);
+	bool AlignTo(const Scene&);
+	REAL ComputeLeveledVolume(float planeThreshold=0, float sampleMesh=-100000, unsigned upAxis=2, bool verbose=true);
+
+	// Estimate and set region-of-interest
+	bool EstimateROI(int nEstimateROI=0, float scale=1.f);
 
 	// Dense reconstruction
-	bool DenseReconstruction(int nFusionMode=0);
+	bool DenseReconstruction(int nFusionMode=0, bool bCrop2ROI=true, float fBorderROI=0);
 	bool ComputeDepthMaps(DenseDepthMapData& data);
 	void DenseReconstructionEstimate(void*);
 	void DenseReconstructionFilter(void*);
@@ -118,13 +125,18 @@ class MVS_API Scene
 						 float kInf=(float)(INT_MAX/8));
 
 	// Mesh refinement
-	bool RefineMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned nMaxViews, float fDecimateMesh, unsigned nCloseHoles, unsigned nEnsureEdgeSize, unsigned nMaxFaceArea, unsigned nScales, float fScaleStep, unsigned nReduceMemory, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity, float fThPlanarVertex, float fGradientStep);
+	bool RefineMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned nMaxViews, float fDecimateMesh, unsigned nCloseHoles, unsigned nEnsureEdgeSize,
+		unsigned nMaxFaceArea, unsigned nScales, float fScaleStep, unsigned nReduceMemory, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity,
+		float fThPlanarVertex, float fGradientStep);
 	#ifdef _USE_CUDA
-	bool RefineMeshCUDA(unsigned nResolutionLevel, unsigned nMinResolution, unsigned nMaxViews, float fDecimateMesh, unsigned nCloseHoles, unsigned nEnsureEdgeSize, unsigned nMaxFaceArea, unsigned nScales, float fScaleStep, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity, float fGradientStep);
+	bool RefineMeshCUDA(unsigned nResolutionLevel, unsigned nMinResolution, unsigned nMaxViews, float fDecimateMesh, unsigned nCloseHoles, unsigned nEnsureEdgeSize,
+		unsigned nMaxFaceArea, unsigned nScales, float fScaleStep, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity, float fGradientStep);
 	#endif
 
 	// Mesh texturing
-	bool TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, float fOutlierThreshold=0.f, float fRatioDataSmoothness=0.3f, bool bGlobalSeamLeveling=true, bool bLocalSeamLeveling=true, unsigned nTextureSizeMultiple=0, unsigned nRectPackingHeuristic=3, Pixel8U colEmpty=Pixel8U(255,127,39), const IIndexArr& views=IIndexArr());
+	bool TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned minCommonCameras=0, float fOutlierThreshold=0.f, float fRatioDataSmoothness=0.3f,
+		bool bGlobalSeamLeveling=true, bool bLocalSeamLeveling=true, unsigned nTextureSizeMultiple=0, unsigned nRectPackingHeuristic=3, Pixel8U colEmpty=Pixel8U(255,127,39),
+		float fSharpnessWeight=0.5f, const IIndexArr& views=IIndexArr());
 
 	#ifdef _USE_BOOST
 	// implement BOOST serialization
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index f749932d1..ee7929612 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -182,7 +182,7 @@ bool DepthMapsData::SelectViews(IIndexArr& images, IIndexArr& imagesMap, IIndexA
 	typedef MRFEnergy<TypeGeneral> MRFEnergyType;
 	CAutoPtr<MRFEnergyType> energy(new MRFEnergyType(TypeGeneral::GlobalSize()));
 	CAutoPtrArr<MRFEnergyType::NodeId> nodes(new MRFEnergyType::NodeId[_num_nodes]);
-	typedef SEACAVE::cList<TypeGeneral::REAL, const TypeGeneral::REAL&, 0> EnergyCostArr;
+	typedef SEACAVE::cList<TypeGeneral::REAL, TypeGeneral::REAL, 0> EnergyCostArr;
 	// unary costs: inverse proportional to the image pair score
 	EnergyCostArr arrUnary(_num_labels);
 	for (IIndex n=0; n<_num_nodes; ++n) {
@@ -385,9 +385,10 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 			Depth dMin, dMax;
 			NormalMap normalMap;
 			ConfidenceMap confMap;
+			ViewsMap viewsMap;
 			ImportDepthDataRaw(ComposeDepthFilePath(view.GetID(), "dmap"),
 				imageFileName, IDs, imageSize, view.cameraDepthMap.K, view.cameraDepthMap.R, view.cameraDepthMap.C,
-				dMin, dMax, view.depthMap, normalMap, confMap, 1);
+				dMin, dMax, view.depthMap, normalMap, confMap, viewsMap, 1);
 		}
 		view.Init(viewRef.camera);
 	}
@@ -399,9 +400,10 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 		cv::Size imageSize;
 		Camera camera;
 		ConfidenceMap confMap;
+		ViewsMap viewsMap;
 		if (!ImportDepthDataRaw(ComposeDepthFilePath(viewRef.GetID(), "dmap"),
 				imageFileName, IDs, imageSize, camera.K, camera.R, camera.C, depthData.dMin, depthData.dMax,
-				depthData.depthMap, depthData.normalMap, confMap, 3))
+				depthData.depthMap, depthData.normalMap, confMap, viewsMap, 3))
 			return false;
 		ASSERT(viewRef.image.size() == depthData.depthMap.size());
 	} else if (loadDepthMaps == 0) {
@@ -459,7 +461,7 @@ bool DepthMapsData::InitDepthMap(DepthData& depthData)
 
 	ASSERT(depthData.images.GetSize() > 1 && !depthData.points.IsEmpty());
 	const DepthData::ViewData& image(depthData.GetView());
-	TriangulatePoints2DepthMap(image, scene.pointcloud, depthData.points, depthData.depthMap, depthData.normalMap, depthData.dMin, depthData.dMax, OPTDENSE::bAddCorners);
+	TriangulatePoints2DepthMap(image, scene.pointcloud, depthData.points, depthData.depthMap, depthData.normalMap, depthData.dMin, depthData.dMax, OPTDENSE::bAddCorners, OPTDENSE::bInitSparse);
 	depthData.dMin *= 0.9f;
 	depthData.dMax *= 1.1f;
 
@@ -502,6 +504,7 @@ void* STCALL DepthMapsData::ScoreDepthMapTmp(void* arg)
 			// replace invalid normal with random values
 			normal = estimator.RandomNormal(viewDir);
 		}
+		ASSERT(ISEQUAL(norm(normal), 1.f));
 		estimator.confMap0(x) = estimator.ScorePixel(depth, normal);
 	}
 	return NULL;
@@ -520,7 +523,7 @@ void* STCALL DepthMapsData::EndDepthMapTmp(void* arg)
 {
 	DepthEstimator& estimator = *((DepthEstimator*)arg);
 	IDX idx;
-	const float fOptimAngle(FD2R(OPTDENSE::fOptimAngle));
+	MAYBEUNUSED const float fOptimAngle(FD2R(OPTDENSE::fOptimAngle));
 	while ((idx=(IDX)Thread::safeInc(estimator.idxPixel)) < estimator.coords.GetSize()) {
 		const ImageRef& x = estimator.coords[idx];
 		ASSERT(estimator.depthMap0(x) >= 0);
@@ -566,6 +569,31 @@ void* STCALL DepthMapsData::EndDepthMapTmp(void* arg)
 	return NULL;
 }
 
+DepthData DepthMapsData::ScaleDepthData(const DepthData& inputDeptData, float scale) {
+	ASSERT(scale <= 1);
+	if (scale == 1)
+		return inputDeptData;
+	DepthData rescaledDepthData(inputDeptData);
+	FOREACH (idxView, rescaledDepthData.images) {
+		DepthData::ViewData& viewData = rescaledDepthData.images[idxView];
+		ASSERT(viewData.depthMap.empty() || viewData.image.size() == viewData.depthMap.size());
+		cv::resize(viewData.image, viewData.image, cv::Size(), scale, scale, cv::INTER_AREA);
+		viewData.camera = viewData.pImageData->camera;
+		viewData.camera.K = viewData.camera.GetScaledK(viewData.pImageData->GetSize(), viewData.image.size());
+		if (!viewData.depthMap.empty()) {
+			cv::resize(viewData.depthMap, viewData.depthMap, viewData.image.size(), 0, 0, cv::INTER_AREA);
+			viewData.cameraDepthMap = viewData.pImageData->camera;
+			viewData.cameraDepthMap.K = viewData.cameraDepthMap.GetScaledK(viewData.pImageData->GetSize(), viewData.image.size());
+		}
+		viewData.Init(rescaledDepthData.images[0].camera);
+	}
+	if (!rescaledDepthData.depthMap.empty())
+		cv::resize(rescaledDepthData.depthMap, rescaledDepthData.depthMap, cv::Size(), scale, scale, cv::INTER_NEAREST);
+	if (!rescaledDepthData.normalMap.empty())
+		cv::resize(rescaledDepthData.normalMap, rescaledDepthData.normalMap, cv::Size(), scale, scale, cv::INTER_NEAREST);
+	return rescaledDepthData;
+}
+
 // estimate depth-map using propagation and random refinement with NCC score
 // as in: "Accurate Multiple View 3D Reconstruction Using Patch-Based Stereo for Large-Scale Scenes", S. Shen, 2013
 // The implementations follows closely the paper, although there are some changes/additions.
@@ -590,147 +618,183 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage, int nGeometricIter)
 
 	TD_TIMER_STARTD();
 
-	// initialize
-	DepthData& depthData(arrDepthData[idxImage]);
-	ASSERT(depthData.images.size() > 1);
-	const DepthData::ViewData& image(depthData.images.First());
-	ASSERT(!image.image.empty() && !depthData.images[1].image.empty());
-	const Image8U::Size size(image.image.size());
-	depthData.confMap.create(size);
 	const unsigned nMaxThreads(scene.nMaxThreads);
 	const unsigned iterBegin(nGeometricIter < 0 ? 0u : OPTDENSE::nEstimationIters+(unsigned)nGeometricIter);
 	const unsigned iterEnd(nGeometricIter < 0 ? OPTDENSE::nEstimationIters : iterBegin+1);
 
-	// init integral images and index to image-ref map for the reference data
-	#if DENSE_NCC == DENSE_NCC_WEIGHTED
-	DepthEstimator::WeightMap weightMap0(size.area()-(size.width+1)*DepthEstimator::nSizeHalfWindow);
-	#else
-	Image64F imageSum0;
-	cv::integral(image.image, imageSum0, CV_64F);
-	#endif
-	if (prevDepthMapSize != size) {
-		BitMatrix mask;
-		if (OPTDENSE::nIgnoreMaskLabel >= 0 && DepthEstimator::ImportIgnoreMask(*depthData.GetView().pImageData, depthData.depthMap.size(), mask, (uint16_t)OPTDENSE::nIgnoreMaskLabel))
-			depthData.ApplyIgnoreMask(mask);
-		DepthEstimator::MapMatrix2ZigzagIdx(size, coords, mask, MAXF(64,(int)nMaxThreads*8));
-		#if 0
-		// show pixels to be processed
-		Image8U cmask(size);
-		cmask.memset(0);
-		for (const DepthEstimator::MapRef& x: coords)
-			cmask(x.y, x.x) = 255;
-		cmask.Show("cmask");
-		#endif
-		if (mask.empty())
-			prevDepthMapSize = size;
-	}
-
 	// init threads
 	ASSERT(nMaxThreads > 0);
 	cList<DepthEstimator> estimators;
-	estimators.Reserve(nMaxThreads);
+	estimators.reserve(nMaxThreads);
 	cList<SEACAVE::Thread> threads;
 	if (nMaxThreads > 1)
-		threads.Resize(nMaxThreads-1); // current thread is also used
+		threads.resize(nMaxThreads-1); // current thread is also used
 	volatile Thread::safe_t idxPixel;
 
-	// initialize the reference confidence map (NCC score map) with the score of the current estimates
-	{
-		// create working threads
-		idxPixel = -1;
-		ASSERT(estimators.IsEmpty());
-		while (estimators.GetSize() < nMaxThreads)
-			estimators.AddConstruct(iterBegin, depthData, idxPixel,
-				#if DENSE_NCC == DENSE_NCC_WEIGHTED
-				weightMap0,
-				#else
-				imageSum0,
-				#endif
-				coords);
-		ASSERT(estimators.GetSize() == threads.GetSize()+1);
-		FOREACH(i, threads)
-			threads[i].start(ScoreDepthMapTmp, &estimators[i]);
-		ScoreDepthMapTmp(&estimators.Last());
-		// wait for the working threads to close
-		FOREACHPTR(pThread, threads)
-			pThread->join();
-		estimators.Release();
-		#if TD_VERBOSE != TD_VERBOSE_OFF
-		// save rough depth map as image
-		if (g_nVerbosityLevel > 4 && nGeometricIter < 0) {
-			ExportDepthMap(ComposeDepthFilePath(image.GetID(), "rough.png"), depthData.depthMap);
-			ExportNormalMap(ComposeDepthFilePath(image.GetID(), "rough.normal.png"), depthData.normalMap);
-			ExportPointCloud(ComposeDepthFilePath(image.GetID(), "rough.ply"), *depthData.images.First().pImageData, depthData.depthMap, depthData.normalMap);
+	// Multi-Resolution : 
+	DepthData& fullResDepthData(arrDepthData[idxImage]);
+	const unsigned totalScaleNumber(nGeometricIter < 0 ? OPTDENSE::nSubResolutionLevels : 0u);
+	DepthMap lowResDepthMap;
+	NormalMap lowResNormalMap;
+	#if DENSE_NCC == DENSE_NCC_WEIGHTED
+	DepthEstimator::WeightMap weightMap0;
+	#else
+	Image64F imageSum0;
+	#endif
+	DepthMap currentSizeResDepthMap;
+	for (unsigned scaleNumber = totalScaleNumber+1; scaleNumber-- > 0; ) {
+		// initialize
+		float scale = 1.f / POWI(2, scaleNumber);
+		DepthData currentDepthData(ScaleDepthData(fullResDepthData, scale));
+		DepthData& depthData(scaleNumber==0 ? fullResDepthData : currentDepthData);
+		ASSERT(depthData.images.size() > 1);
+		const DepthData::ViewData& image(depthData.images.front());
+		ASSERT(!image.image.empty() && !depthData.images[1].image.empty());
+		const Image8U::Size size(image.image.size());
+		if (scaleNumber != totalScaleNumber) {
+			cv::resize(lowResDepthMap, depthData.depthMap, size, 0, 0, OPTDENSE::nIgnoreMaskLabel >= 0 ? cv::INTER_NEAREST : cv::INTER_LINEAR);
+			cv::resize(lowResNormalMap, depthData.normalMap, size, 0, 0, cv::INTER_NEAREST);
+			depthData.depthMap.copyTo(currentSizeResDepthMap);
+		}
+		else if (totalScaleNumber > 0) {
+			fullResDepthData.depthMap.release();
+			fullResDepthData.normalMap.release();
+			fullResDepthData.confMap.release();
 		}
+		depthData.confMap.create(size);
+
+		// init integral images and index to image-ref map for the reference data
+		#if DENSE_NCC == DENSE_NCC_WEIGHTED
+		weightMap0.clear();
+		weightMap0.resize(size.area()-(size.width+1)*DepthEstimator::nSizeHalfWindow);
+		#else
+		cv::integral(image.image, imageSum0, CV_64F);
 		#endif
-	}
+		if (prevDepthMapSize != size || OPTDENSE::nIgnoreMaskLabel >= 0) {
+			BitMatrix mask;
+			if (OPTDENSE::nIgnoreMaskLabel >= 0 && DepthEstimator::ImportIgnoreMask(*image.pImageData, depthData.depthMap.size(), mask, (uint16_t)OPTDENSE::nIgnoreMaskLabel))
+				depthData.ApplyIgnoreMask(mask);
+			DepthEstimator::MapMatrix2ZigzagIdx(size, coords, mask, MAXF(64,(int)nMaxThreads*8));
+			#if 0
+			// show pixels to be processed
+			Image8U cmask(size);
+			cmask.memset(0);
+			for (const DepthEstimator::MapRef& x: coords)
+				cmask(x.y, x.x) = 255;
+			cmask.Show("cmask");
+			#endif
+			prevDepthMapSize = size;
+		}
 
-	// run propagation and random refinement cycles on the reference data
-	for (unsigned iter=iterBegin; iter<iterEnd; ++iter) {
-		// create working threads
-		idxPixel = -1;
-		ASSERT(estimators.IsEmpty());
-		while (estimators.GetSize() < nMaxThreads)
-			estimators.AddConstruct(iter, depthData, idxPixel,
-				#if DENSE_NCC == DENSE_NCC_WEIGHTED
-				weightMap0,
-				#else
-				imageSum0,
-				#endif
-				coords);
-		ASSERT(estimators.GetSize() == threads.GetSize()+1);
-		FOREACH(i, threads)
-			threads[i].start(EstimateDepthMapTmp, &estimators[i]);
-		EstimateDepthMapTmp(&estimators.Last());
-		// wait for the working threads to close
-		FOREACHPTR(pThread, threads)
-			pThread->join();
-		estimators.Release();
-		#if 1 && TD_VERBOSE != TD_VERBOSE_OFF
-		// save intermediate depth map as image
-		if (g_nVerbosityLevel > 4) {
-			String path(ComposeDepthFilePath(image.GetID(), "iter")+String::ToString(iter));
-			if (nGeometricIter >= 0)
-				path += String::FormatString(".geo%d", nGeometricIter);
-			ExportDepthMap(path+".png", depthData.depthMap);
-			ExportNormalMap(path+".normal.png", depthData.normalMap);
-			ExportPointCloud(path+".ply", *depthData.images.First().pImageData, depthData.depthMap, depthData.normalMap);
+		// initialize the reference confidence map (NCC score map) with the score of the current estimates
+		{
+			// create working threads
+			idxPixel = -1;
+			ASSERT(estimators.empty());
+			while (estimators.size() < nMaxThreads) {
+				estimators.emplace_back(iterBegin, depthData, idxPixel,
+					#if DENSE_NCC == DENSE_NCC_WEIGHTED
+					weightMap0,
+					#else
+					imageSum0,
+					#endif
+					coords);
+				estimators.Last().lowResDepthMap = currentSizeResDepthMap;
+			}
+			ASSERT(estimators.size() == threads.size()+1);
+			FOREACH(i, threads)
+				threads[i].start(ScoreDepthMapTmp, &estimators[i]);
+			ScoreDepthMapTmp(&estimators.back());
+			// wait for the working threads to close
+			FOREACHPTR(pThread, threads)
+				pThread->join();
+			estimators.clear();
+			#if TD_VERBOSE != TD_VERBOSE_OFF
+			// save rough depth map as image
+			if (g_nVerbosityLevel > 4 && nGeometricIter < 0) {
+				ExportDepthMap(ComposeDepthFilePath(image.GetID(), "rough.png"), depthData.depthMap);
+				ExportNormalMap(ComposeDepthFilePath(image.GetID(), "rough.normal.png"), depthData.normalMap);
+				ExportPointCloud(ComposeDepthFilePath(image.GetID(), "rough.ply"), *depthData.images.First().pImageData, depthData.depthMap, depthData.normalMap);
+			}
+			#endif
+		}
+
+		// run propagation and random refinement cycles on the reference data
+		for (unsigned iter=iterBegin; iter<iterEnd; ++iter) {
+			// create working threads
+			idxPixel = -1;
+			ASSERT(estimators.empty());
+			while (estimators.size() < nMaxThreads) {
+				estimators.emplace_back(iter, depthData, idxPixel,
+					#if DENSE_NCC == DENSE_NCC_WEIGHTED
+					weightMap0,
+					#else
+					imageSum0,
+					#endif
+					coords);
+				estimators.Last().lowResDepthMap = currentSizeResDepthMap;
+			}
+			ASSERT(estimators.size() == threads.size()+1);
+			FOREACH(i, threads)
+				threads[i].start(EstimateDepthMapTmp, &estimators[i]);
+			EstimateDepthMapTmp(&estimators.back());
+			// wait for the working threads to close
+			FOREACHPTR(pThread, threads)
+				pThread->join();
+			estimators.clear();
+			#if 1 && TD_VERBOSE != TD_VERBOSE_OFF
+			// save intermediate depth map as image
+			if (g_nVerbosityLevel > 4) {
+				String path(ComposeDepthFilePath(image.GetID(), "iter")+String::ToString(iter));
+				if (nGeometricIter >= 0)
+					path += String::FormatString(".geo%d", nGeometricIter);
+				ExportDepthMap(path+".png", depthData.depthMap);
+				ExportNormalMap(path+".normal.png", depthData.normalMap);
+				ExportPointCloud(path+".ply", *depthData.images.First().pImageData, depthData.depthMap, depthData.normalMap);
+			}
+			#endif
+		}
+
+		// remember sub-resolution estimates for next iteration
+		if (scaleNumber > 0) {
+			lowResDepthMap = depthData.depthMap;
+			lowResNormalMap = depthData.normalMap;
 		}
-		#endif
 	}
 
+	DepthData& depthData(fullResDepthData);
 	// remove all estimates with too big score and invert confidence map
 	{
 		const float fNCCThresholdKeep(OPTDENSE::fNCCThresholdKeep);
 		if (nGeometricIter < 0 && OPTDENSE::nEstimationGeometricIters)
-			OPTDENSE::fNCCThresholdKeep *= 1.5f;
+			OPTDENSE::fNCCThresholdKeep *= 1.333f;
 		// create working threads
 		idxPixel = -1;
-		ASSERT(estimators.IsEmpty());
-		while (estimators.GetSize() < nMaxThreads)
-			estimators.AddConstruct(0, depthData, idxPixel,
+		ASSERT(estimators.empty());
+		while (estimators.size() < nMaxThreads)
+			estimators.emplace_back(0, depthData, idxPixel,
 				#if DENSE_NCC == DENSE_NCC_WEIGHTED
 				weightMap0,
 				#else
 				imageSum0,
 				#endif
 				coords);
-		ASSERT(estimators.GetSize() == threads.GetSize()+1);
+		ASSERT(estimators.size() == threads.size()+1);
 		FOREACH(i, threads)
 			threads[i].start(EndDepthMapTmp, &estimators[i]);
-		EndDepthMapTmp(&estimators.Last());
+		EndDepthMapTmp(&estimators.back());
 		// wait for the working threads to close
 		FOREACHPTR(pThread, threads)
 			pThread->join();
-		estimators.Release();
+		estimators.clear();
 		OPTDENSE::fNCCThresholdKeep = fNCCThresholdKeep;
 	}
 
-	DEBUG_EXTRA("Depth-map for image %3u %s: %dx%d (%s)", image.GetID(),
-		depthData.images.GetSize() > 2 ?
-			String::FormatString("estimated using %2u images", depthData.images.GetSize()-1).c_str() :
+	DEBUG_EXTRA("Depth-map for image %3u %s: %dx%d (%s)", depthData.images.front().GetID(),
+		depthData.images.size() > 2 ?
+			String::FormatString("estimated using %2u images", depthData.images.size()-1).c_str() :
 			String::FormatString("with image %3u estimated", depthData.images[1].GetID()).c_str(),
-		size.width, size.height, TD_TIMER_GET_FMT().c_str());
+		depthData.depthMap.cols, depthData.depthMap.rows, TD_TIMER_GET_FMT().c_str());
 	return true;
 } // EstimateDepthMap
 /*----------------------------------------------------------------*/
@@ -1401,7 +1465,7 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 				PointCloud::ViewArr& views = pointcloud.pointViews.AddEmpty();
 				views.Insert(idxImage);
 				PointCloud::WeightArr& weights = pointcloud.pointWeights.AddEmpty();
-				REAL confidence(weights.emplace_back(Conf2Weight(depthData.confMap(x),depth)));
+				REAL confidence(weights.emplace_back(Conf2Weight(depthData.confMap.empty() ? 1.f : depthData.confMap(x),depth)));
 				ProjArr& pointProjs = projs.AddEmpty();
 				pointProjs.Insert(Proj(x));
 				const PointCloud::Normal normal(bNormalMap ? Cast<Normal::Type>(imageData.camera.R.t()*Cast<REAL>(depthData.normalMap(x))) : Normal(0,0,-1));
@@ -1437,7 +1501,7 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 						if (normal.dot(normalB) > normalError) {
 							// add view to the 3D point
 							ASSERT(views.FindFirst(idxImageB) == PointCloud::ViewArr::NO_INDEX);
-							const float confidenceB(Conf2Weight(depthDataB.confMap(xB),depthB));
+							const float confidenceB(Conf2Weight(depthDataB.confMap.empty() ? 1.f : depthDataB.confMap(xB),depthB));
 							const IIndex idx(views.InsertSort(idxImageB));
 							weights.InsertAt(idx, confidenceB);
 							pointProjs.InsertAt(idx, Proj(xB));
@@ -1561,7 +1625,7 @@ void DenseDepthMapData::SignalCompleteDepthmapFilter()
 static void* DenseReconstructionEstimateTmp(void*);
 static void* DenseReconstructionFilterTmp(void*);
 
-bool Scene::DenseReconstruction(int nFusionMode)
+bool Scene::DenseReconstruction(int nFusionMode, bool bCrop2ROI, float fBorderROI)
 {
 	DenseDepthMapData data(*this, nFusionMode);
 
@@ -1603,10 +1667,11 @@ bool Scene::DenseReconstruction(int nFusionMode)
 	#endif
 
 	if (!pointcloud.IsEmpty()) {
-		if (IsBounded()) {
+		if (bCrop2ROI && IsBounded()) {
 			TD_TIMER_START();
 			const size_t numPoints = pointcloud.GetSize();
-			pointcloud.RemovePointsOutside(obb);
+			const OBB3f ROI(fBorderROI == 0 ? obb : (fBorderROI > 0 ? OBB3f(obb).EnlargePercent(fBorderROI) : OBB3f(obb).Enlarge(-fBorderROI)));
+			pointcloud.RemovePointsOutside(ROI);
 			VERBOSE("Point-cloud trimmed to ROI: %u points removed (%s)",
 				numPoints-pointcloud.GetSize(), TD_TIMER_GET_FMT().c_str());
 		}
@@ -1615,6 +1680,16 @@ bool Scene::DenseReconstruction(int nFusionMode)
 		if (pointcloud.normals.IsEmpty() && OPTDENSE::nEstimateNormals == 1)
 			EstimatePointNormals(images, pointcloud);
 	}
+
+	if (OPTDENSE::bRemoveDmaps) {
+		// delete all depth-map files
+		FOREACH(i, images) {
+			const DepthData& depthData = data.depthMaps.arrDepthData[i];
+			if (!depthData.IsValid())
+				continue;
+			File::deleteFile(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"));
+		}
+	}
 	return true;
 } // DenseReconstruction
 /*----------------------------------------------------------------*/
@@ -1624,10 +1699,16 @@ bool Scene::DenseReconstruction(int nFusionMode)
 bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 {
 	// compute point-cloud from the existing mesh
-	if (pointcloud.IsEmpty() && !mesh.IsEmpty() && !ImagesHaveNeighbors()) {
+	if (!mesh.IsEmpty() && !ImagesHaveNeighbors()) {
 		SampleMeshWithVisibility();
 		mesh.Release();
 	}
+	
+	// compute point-cloud from the existing mesh
+	if (IsEmpty() && !ImagesHaveNeighbors()) {
+		VERBOSE("warning: empty point-cloud, rough neighbor views selection based on image pairs baseline");
+		EstimateNeighborViewsPointCloud();
+	}
 
 	{
 	// maps global view indices to our list of views to be processed
diff --git a/libs/MVS/SceneDensify.h b/libs/MVS/SceneDensify.h
index d8a14b70e..34078658f 100644
--- a/libs/MVS/SceneDensify.h
+++ b/libs/MVS/SceneDensify.h
@@ -68,6 +68,8 @@ class MVS_API DepthMapsData
 	void MergeDepthMaps(PointCloud& pointcloud, bool bEstimateColor, bool bEstimateNormal);
 	void FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, bool bEstimateNormal);
 
+	static DepthData ScaleDepthData(const DepthData& inputDeptData, float scale);
+
 protected:
 	static void* STCALL ScoreDepthMapTmp(void*);
 	static void* STCALL EstimateDepthMapTmp(void*);
diff --git a/libs/MVS/SceneReconstruct.cpp b/libs/MVS/SceneReconstruct.cpp
index b3fb7d376..a684d3b77 100644
--- a/libs/MVS/SceneReconstruct.cpp
+++ b/libs/MVS/SceneReconstruct.cpp
@@ -1100,10 +1100,11 @@ bool Scene::ReconstructMesh(float distInsert, bool bUseFreeSpaceSupport, bool bU
 		// create graph
 		MaxFlow<cell_size_t,edge_cap_t> graph(delaunay.number_of_cells());
 		// set weights
+		constexpr edge_cap_t maxCap(FLT_MAX*0.0001f);
 		for (delaunay_t::All_cells_iterator ci=delaunay.all_cells_begin(), ce=delaunay.all_cells_end(); ci!=ce; ++ci) {
 			const cell_size_t ciID(ci->info());
 			const cell_info_t& ciInfo(infoCells[ciID]);
-			graph.AddNode(ciID, ciInfo.s, ciInfo.t);
+			graph.AddNode(ciID, ciInfo.s, MINF(ciInfo.t, maxCap));
 			for (int i=0; i<4; ++i) {
 				const cell_handle_t cj(ci->neighbor(i));
 				const cell_size_t cjID(cj->info());
diff --git a/libs/MVS/SceneRefine.cpp b/libs/MVS/SceneRefine.cpp
index 65f73828d..bf1201d14 100644
--- a/libs/MVS/SceneRefine.cpp
+++ b/libs/MVS/SceneRefine.cpp
@@ -96,7 +96,7 @@ class MeshRefine {
 		DepthMap depthMap; // depth-map
 		BaryMap baryMap; // barycentric coordinates
 	};
-	typedef SEACAVE::cList<View,const View&,2> ViewsArr;
+	typedef CLISTDEF2(View) ViewsArr;
 
 	// used to render a mesh for optimization
 	struct RasterMesh : TRasterMesh<RasterMesh> {
@@ -411,7 +411,7 @@ void MeshRefine::ListVertexFacesPost()
 void MeshRefine::ListCameraFaces()
 {
 	// extract array of faces viewed by each camera
-	typedef SEACAVE::cList<Mesh::FaceIdxArr,const Mesh::FaceIdxArr&,2> CameraFacesArr;
+	typedef CLISTDEF2(Mesh::FaceIdxArr) CameraFacesArr;
 	CameraFacesArr arrCameraFaces(images.GetSize()); {
 		Mesh::Octree octree;
 		Mesh::FacesInserter::CreateOctree(octree, scene.mesh);
@@ -934,7 +934,7 @@ void MeshRefine::ComputePhotometricGradient(
 			const Point3 X(rayA*REAL(depthA)+cameraA.C);
 			// project point in second image and
 			// projection Jacobian matrix in the second image of the 3D point on the surface
-			const float depthB(ProjectVertex(cameraB.P.val, X.ptr(), xB.ptr(), xJac.val));
+			MAYBEUNUSED const float depthB(ProjectVertex(cameraB.P.val, X.ptr(), xB.ptr(), xJac.val));
 			ASSERT(depthB > 0);
 			// compute gradient in image B
 			const TMatrix<Real,1,2> gB(viewB.imageGrad.sample<Sampler,View::Grad>(sampler, xB));
@@ -1292,8 +1292,8 @@ bool Scene::RefineMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsig
 	// run the mesh optimization on multiple scales (coarse to fine)
 	for (unsigned nScale=0; nScale<nScales; ++nScale) {
 		// init images
-		const Real scale(POWI(fScaleStep, (int)(nScales-nScale-1)));
-		const Real step(POWI(2.f, (int)(nScales-nScale)));
+		const Real scale(POWI(fScaleStep, nScales-nScale-1));
+		const Real step(POWI(2.f, nScales-nScale));
 		DEBUG_ULTIMATE("Refine mesh at: %.2f image scale", scale);
 		if (!refine.InitImages(scale, Real(0.12)*step+Real(0.2)))
 			return false;
diff --git a/libs/MVS/SceneRefineCUDA.cpp b/libs/MVS/SceneRefineCUDA.cpp
index 24d0f25e3..c98803ac8 100644
--- a/libs/MVS/SceneRefineCUDA.cpp
+++ b/libs/MVS/SceneRefineCUDA.cpp
@@ -1945,7 +1945,7 @@ typedef Mesh::FIndex FIndex;
 class MeshRefineCUDA {
 public:
 	typedef Mesh::FaceIdxArr CameraFaces;
-	typedef SEACAVE::cList<CameraFaces,const CameraFaces&,2> CameraFacesArr;
+	typedef CLISTDEF2(CameraFaces) CameraFacesArr;
 
 	// store necessary data about a view
 	struct View {
@@ -1958,7 +1958,7 @@ class MeshRefineCUDA {
 		inline View() {}
 		inline View(View&) {}
 	};
-	typedef SEACAVE::cList<View,const View&,2> ViewsArr;
+	typedef CLISTDEF2(View) ViewsArr;
 
 	struct CameraCUDA {
 		Matrix3x4f P;
@@ -2799,8 +2799,8 @@ bool Scene::RefineMeshCUDA(unsigned nResolutionLevel, unsigned nMinResolution, u
 	// run the mesh optimization on multiple scales (coarse to fine)
 	for (unsigned nScale=0; nScale<nScales; ++nScale) {
 		// init images
-		const float scale(POWI(fScaleStep, (int)(nScales-nScale-1)));
-		const float step(POWI(2.f, (int)(nScales-nScale)));
+		const float scale(POWI(fScaleStep, nScales-nScale-1));
+		const float step(POWI(2.f, nScales-nScale));
 		DEBUG_ULTIMATE("Refine mesh at: %.2f image scale", scale);
 		if (!refine.InitImages(scale, 0.12f*step+0.2f))
 			return false;
diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index 3dc36ffae..ff7dbbd26 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -34,7 +34,6 @@
 #include "RectsBinPack.h"
 // connected components
 #include <boost/graph/adjacency_list.hpp>
-#include <boost/graph/filtered_graph.hpp>
 #include <boost/graph/connected_components.hpp>
 
 using namespace MVS;
@@ -126,6 +125,7 @@ struct TRWSInference {
 }
 #endif
 
+
 // S T R U C T S ///////////////////////////////////////////////////
 
 typedef Mesh::Vertex Vertex;
@@ -175,7 +175,7 @@ struct MeshTexture {
 
 	// used to store info about a face (view, quality)
 	struct FaceData {
-		VIndex idxView;// the view seeing this face
+		IIndex idxView;// the view seeing this face
 		float quality; // how well the face is seen by this view
 		#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
 		Color color; // additionally store mean color (used to remove outliers)
@@ -184,6 +184,8 @@ struct MeshTexture {
 	typedef cList<FaceData,const FaceData&,0,8,uint32_t> FaceDataArr; // store information about one face seen from several views
 	typedef cList<FaceDataArr,const FaceDataArr&,2,1024,FIndex> FaceDataViewArr; // store data for all the faces of the mesh
 
+	typedef cList<Mesh::FaceIdxArr, const Mesh::FaceIdxArr&,2,1024, FIndex> VirtualFaceIdxsArr; // store face indices for each virtual face
+
 	// used to assign a view to a face
 	typedef uint32_t Label;
 	typedef cList<Label,Label,0,1024,FIndex> LabelArr;
@@ -234,7 +236,7 @@ struct MeshTexture {
 		Patch& GetPatch(uint32_t idxPatch) {
 			const uint32_t idx(patches.Find(idxPatch));
 			if (idx == NO_ID)
-				return patches.AddConstruct(idxPatch);
+				return patches.emplace_back(idxPatch);
 			return patches[idx];
 		}
 		inline void SortByPatchIndex(IndexArr& indices) const {
@@ -313,55 +315,6 @@ struct MeshTexture {
 
 	// used to interpolate adjustments color over the whole texture patch
 	typedef TImage<Color> ColorMap;
-	struct RasterPatchColorData {
-		const TexCoord* tri;
-		Color colors[3];
-		ColorMap& image;
-		inline RasterPatchColorData(ColorMap& _image) : image(_image) {}
-		inline cv::Size Size() const { return image.size(); }
-		inline void operator()(const ImageRef& pt, const Point3f& bary) {
-			ASSERT(image.isInside(pt));
-			image(pt) = colors[0]*bary.x + colors[1]*bary.y + colors[2]*bary.z;
-		}
-	};
-
-	// used to compute the coverage of a texture patch
-	struct RasterPatchCoverageData {
-		const TexCoord* tri;
-		Image8U& image;
-		inline RasterPatchCoverageData(Image8U& _image) : image(_image) {}
-		inline void operator()(const ImageRef& pt) {
-			ASSERT(image.isInside(pt));
-			image(pt) = interior;
-		}
-	};
-
-	// used to draw the average edge color of a texture patch
-	struct RasterPatchMeanEdgeData {
-		Image32F3& image;
-		Image8U& mask;
-		const Image32F3& image0;
-		const Image8U3& image1;
-		const TexCoord p0, p0Dir;
-		const TexCoord p1, p1Dir;
-		const float length;
-		const Sampler sampler;
-		inline RasterPatchMeanEdgeData(Image32F3& _image, Image8U& _mask, const Image32F3& _image0, const Image8U3& _image1,
-									   const TexCoord& _p0, const TexCoord& _p0Adj, const TexCoord& _p1, const TexCoord& _p1Adj)
-			: image(_image), mask(_mask), image0(_image0), image1(_image1),
-			p0(_p0), p0Dir(_p0Adj-_p0), p1(_p1), p1Dir(_p1Adj-_p1), length((float)norm(p0Dir)), sampler() {}
-		inline void operator()(const ImageRef& pt) {
-			const float l((float)norm(TexCoord(pt)-p0)/length);
-			// compute mean color
-			const TexCoord samplePos0(p0 + p0Dir * l);
-			AccumColor accumColor(image0.sample<Sampler,Color>(sampler, samplePos0), 1.f);
-			const TexCoord samplePos1(p1 + p1Dir * l);
-			accumColor.Add(image1.sample<Sampler,Color>(sampler, samplePos1)/255.f, 1.f);
-			image(pt) = accumColor.Normalized();
-			// set mask edge also
-			mask(pt) = border;
-		}
-	};
 
 
 public:
@@ -375,13 +328,16 @@ struct MeshTexture {
 	#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
 	bool FaceOutlierDetection(FaceDataArr& faceDatas, float fOutlierThreshold) const;
 	#endif
+	
+	void CreateVirtualFaces(const FaceDataViewArr& facesDatas, FaceDataViewArr& virtualFacesDatas, VirtualFaceIdxsArr& virtualFaces, unsigned minCommonCameras=2, float thMaxNormalDeviation=25.f) const;
+	IIndexArr SelectBestView(const FaceDataArr& faceDatas, FIndex fid, unsigned minCommonCameras, float ratioAngleToQuality) const;
 
-	bool FaceViewSelection(float fOutlierThreshold, float fRatioDataSmoothness, const IIndexArr& views);
-
+	bool FaceViewSelection(unsigned minCommonCameras, float fOutlierThreshold, float fRatioDataSmoothness, const IIndexArr& views);
+	
 	void CreateSeamVertices();
 	void GlobalSeamLeveling();
 	void LocalSeamLeveling();
-	void GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty);
+	void GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, float fSharpnessWeight);
 
 	template <typename PIXEL>
 	static inline PIXEL RGB2YCBCR(const PIXEL& v) {
@@ -541,6 +497,8 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 		cv::filter2D(imageGradMag, grad[1], cv::DataType<real>::type, kernel.t());
 		#endif
 		(TImage<real>::EMatMap)imageGradMag = (mGrad[0].cwiseAbs2()+mGrad[1].cwiseAbs2()).cwiseSqrt();
+		// apply some blur on the gradient to lower noise/glossiness effects onto face-quality score
+		cv::GaussianBlur(imageGradMag, imageGradMag, cv::Size(15, 15), 0, 0, cv::BORDER_DEFAULT);
 		// select faces inside view frustum
 		Mesh::FaceIdxArr cameraFaces;
 		Mesh::FacesInserter inserter(cameraFaces);
@@ -566,6 +524,11 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 		#pragma omp critical
 		#endif
 		{
+		// faceQuality is influenced by :
+		// + area: the higher the area the more gradient scores will be added to the face quality
+		// + sharpness: sharper image or image resolution or how close is to the face will result in higher gradient on the same face
+		//				ON GLOSS IMAGES it happens to have a high volatile sharpness depending on how the light reflects under different angles
+		// + angle: low angle increases the surface area
 		for (int j=0; j<faceMap.rows; ++j) {
 			for (int i=0; i<faceMap.cols; ++i) {
 				const FIndex& idxFace = faceMap(j,i);
@@ -598,11 +561,24 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 				}
 			}
 		}
+		// adjust face quality with camera angle relative to face normal
+		// tries to increase chances of a camera with perpendicular view on the surface (smoothened normals) to be selected
+		FOREACH(idxFace, facesDatas) {
+			FaceDataArr& faceDatas = facesDatas[idxFace];
+			if (faceDatas.empty() || faceDatas.back().idxView != idxView)
+				continue;
+			const Face& f = faces[idxFace];
+			const Vertex faceCenter((vertices[f[0]] + vertices[f[1]] + vertices[f[2]]) / 3.f);
+			const Point3f camDir(Cast<Mesh::Type>(imageData.camera.C) - faceCenter);
+			const Normal& faceNormal = scene.mesh.faceNormals[idxFace];
+			const float cosFaceCam(MAXF(0.001f, ComputeAngle(camDir.ptr(), faceNormal.ptr())));
+			faceDatas.back().quality *= SQUARE(cosFaceCam);
+		}
 		#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
 		FOREACH(idxFace, areas) {
 			const uint32_t& area = areas[idxFace];
 			if (area > 0) {
-				Color& color = facesDatas[idxFace].Last().color;
+				Color& color = facesDatas[idxFace].back().color;
 				color = RGB2YCBCR(Color(color * (1.f/(float)area)));
 			}
 		}
@@ -620,13 +596,206 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 	if (fOutlierThreshold > 0) {
 		// try to detect outlier views for each face
 		// (views for which the face is occluded by a dynamic object in the scene, ex. pedestrians)
-		FOREACHPTR(pFaceDatas, facesDatas)
-			FaceOutlierDetection(*pFaceDatas, fOutlierThreshold);
+		for (FaceDataArr& faceDatas: facesDatas)
+			FaceOutlierDetection(faceDatas, fOutlierThreshold);
 	}
 	#endif
 	return true;
 }
 
+// order the camera view scores with highest score first and return the list of first <minCommonCameras> cameras
+// ratioAngleToQuality represents the ratio in witch we combine normal angle to quality for a face to obtain the selection score
+//  - a ratio of 1 means only angle is considered
+//  - a ratio of 0.5 means angle and quality are equally important
+//  - a ratio of 0 means only camera quality is considered when sorting
+IIndexArr MeshTexture::SelectBestView(const FaceDataArr& faceDatas, FIndex fid, unsigned minCommonCameras, float ratioAngleToQuality) const
+{
+	ASSERT(!faceDatas.empty());
+	#if 1
+	
+	// compute scores based on the view quality and its angle to the face normal
+	float maxQuality = 0;
+	for (const FaceData& faceData: faceDatas)
+		maxQuality = MAXF(maxQuality, faceData.quality);
+	const Face& f = faces[fid];
+	const Vertex faceCenter((vertices[f[0]] + vertices[f[1]] + vertices[f[2]]) / 3.f);
+	CLISTDEF0IDX(float,IIndex) scores(faceDatas.size());
+	FOREACH(idxFaceData, faceDatas) {
+		const FaceData& faceData = faceDatas[idxFaceData];
+		const Image& imageData = images[faceData.idxView];
+		const Point3f camDir(Cast<Mesh::Type>(imageData.camera.C) - faceCenter);
+		const Normal& faceNormal = scene.mesh.faceNormals[fid];
+		const float cosFaceCam(ComputeAngle(camDir.ptr(), faceNormal.ptr()));
+		scores[idxFaceData] = ratioAngleToQuality*cosFaceCam + (1.f-ratioAngleToQuality)*faceData.quality/maxQuality;
+	}
+	// and sort the scores from to highest to smallest to get the best overall cameras
+	IIndexArr scorePodium(faceDatas.size());
+	std::iota(scorePodium.begin(), scorePodium.end(), 0);
+	scorePodium.Sort([&scores](IIndex i, IIndex j) {
+		return scores[i] > scores[j];
+	});
+
+	#else
+	
+	// sort qualityPodium in relation to faceDatas[index].quality decreasing
+	IIndexArr qualityPodium(faceDatas.size());
+	std::iota(qualityPodium.begin(), qualityPodium.end(), 0);
+	qualityPodium.Sort([&faceDatas](IIndex i, IIndex j) {
+		return faceDatas[i].quality > faceDatas[j].quality;
+	});
+
+	// sort anglePodium in relation to face angle to camera increasing
+	const Face& f = faces[fid];
+	const Vertex faceCenter((vertices[f[0]] + vertices[f[1]] + vertices[f[2]]) / 3.f);
+	CLISTDEF0IDX(float,IIndex) cameraAngles(0, faceDatas.size());
+	for (const FaceData& faceData: faceDatas) {
+		const Image& imageData = images[faceData.idxView];
+		const Point3f camDir(Cast<Mesh::Type>(imageData.camera.C) - faceCenter);
+		const Normal& faceNormal = scene.mesh.faceNormals[fid];
+		const float cosFaceCam(ComputeAngle(camDir.ptr(), faceNormal.ptr()));
+		cameraAngles.emplace_back(cosFaceCam);
+	}
+	IIndexArr anglePodium(faceDatas.size());
+	std::iota(anglePodium.begin(), anglePodium.end(), 0);
+	anglePodium.Sort([&cameraAngles](IIndex i, IIndex j) {
+		return cameraAngles[i] > cameraAngles[j];
+	});
+
+	// combine podium scores to get overall podium
+	// and sort the scores in smallest to highest to get the best overall camera for current virtual face
+	CLISTDEF0IDX(float,IIndex) scores(faceDatas.size());
+	scores.Memset(0);
+	FOREACH(sIdx, faceDatas) {
+		scores[anglePodium[sIdx]] += ratioAngleToQuality * (sIdx+1);
+		scores[qualityPodium[sIdx]] += (1.f - ratioAngleToQuality) * (sIdx+1);
+	}
+	IIndexArr scorePodium(faceDatas.size());
+	std::iota(scorePodium.begin(), scorePodium.end(), 0);
+	scorePodium.Sort([&scores](IIndex i, IIndex j) {
+		return scores[i] < scores[j];
+	});
+	
+	#endif
+	IIndexArr cameras(MIN(minCommonCameras, faceDatas.size()));
+	FOREACH(i, cameras)
+		cameras[i] = faceDatas[scorePodium[i]].idxView;
+	return cameras;
+}
+
+static bool IsFaceVisible(const MeshTexture::FaceDataArr& faceDatas, const IIndexArr& cameraList) {
+	size_t camFoundCounter(0);
+	for (const MeshTexture::FaceData& faceData : faceDatas) {
+		const IIndex cfCam = faceData.idxView;
+		for (IIndex camId : cameraList) {
+			if (cfCam == camId) {
+				if (++camFoundCounter == cameraList.size())
+					return true;	
+				break;
+			}
+		}
+	}
+	return camFoundCounter == cameraList.size();
+}
+
+// build virtual faces with:
+// - similar normal
+// - high percentage of common images that see them
+void MeshTexture::CreateVirtualFaces(const FaceDataViewArr& facesDatas, FaceDataViewArr& virtualFacesDatas, VirtualFaceIdxsArr& virtualFaces, unsigned minCommonCameras, float thMaxNormalDeviation) const
+{
+	const float ratioAngleToQuality(0.67f);
+	const float cosMaxNormalDeviation(COS(FD2R(thMaxNormalDeviation)));
+	Mesh::FaceIdxArr remainingFaces(faces.size());
+	std::iota(remainingFaces.begin(), remainingFaces.end(), 0);
+	std::vector<bool> selectedFaces(faces.size(), false);
+	cQueue<FIndex, FIndex, 0> currentVirtualFaceQueue;
+	std::unordered_set<FIndex> queuedFaces;
+	do {
+		const FIndex startPos = RAND() % remainingFaces.size();
+		const FIndex virtualFaceCenterFaceID = remainingFaces[startPos];
+		ASSERT(currentVirtualFaceQueue.IsEmpty());
+		const Normal& normalCenter = scene.mesh.faceNormals[virtualFaceCenterFaceID];
+		const FaceDataArr& centerFaceDatas = facesDatas[virtualFaceCenterFaceID];
+		// select the common cameras
+		Mesh::FaceIdxArr virtualFace;
+		FaceDataArr virtualFaceDatas;
+		if (centerFaceDatas.empty()) {
+			virtualFace.emplace_back(virtualFaceCenterFaceID);
+			selectedFaces[virtualFaceCenterFaceID] = true;
+			const auto posToErase = remainingFaces.FindFirst(virtualFaceCenterFaceID);
+			ASSERT(posToErase != Mesh::FaceIdxArr::NO_INDEX);
+			remainingFaces.RemoveAtMove(posToErase);
+		} else {
+			const IIndexArr selectedCams = SelectBestView(centerFaceDatas, virtualFaceCenterFaceID, minCommonCameras, ratioAngleToQuality);
+			currentVirtualFaceQueue.AddTail(virtualFaceCenterFaceID);
+			queuedFaces.clear();
+			do {
+				const FIndex currentFaceId = currentVirtualFaceQueue.GetHead();
+				currentVirtualFaceQueue.PopHead();
+				// check for condition to add in current virtual face
+				// normal angle smaller than thMaxNormalDeviation degrees
+				const Normal& faceNormal = scene.mesh.faceNormals[currentFaceId];
+				const float cosFaceToCenter(ComputeAngleN(normalCenter.ptr(), faceNormal.ptr()));
+				if (cosFaceToCenter < cosMaxNormalDeviation)
+					continue;
+				// check if current face is seen by all cameras in selectedCams
+				ASSERT(!selectedCams.empty());
+				if (!IsFaceVisible(facesDatas[currentFaceId], selectedCams))
+					continue;
+				// remove it from remaining faces and add it to the virtual face
+				{
+					const auto posToErase = remainingFaces.FindFirst(currentFaceId);
+					ASSERT(posToErase != Mesh::FaceIdxArr::NO_INDEX);
+					remainingFaces.RemoveAtMove(posToErase);
+					selectedFaces[currentFaceId] = true;
+					virtualFace.push_back(currentFaceId);
+				}
+				// add all new neighbors to the queue
+				const Mesh::FaceFaces& ffaces = faceFaces[currentFaceId];
+				for (int i = 0; i < 3; ++i) {
+					const FIndex fIdx = ffaces[i];
+					if (fIdx == NO_ID)
+						continue;
+					if (!selectedFaces[fIdx] && queuedFaces.find(fIdx) == queuedFaces.end()) {
+						currentVirtualFaceQueue.AddTail(fIdx);
+						queuedFaces.emplace(fIdx);
+					}
+				}
+			} while (!currentVirtualFaceQueue.IsEmpty());
+			// compute virtual face quality and create virtual face
+			for (IIndex idxView: selectedCams) {
+				FaceData& virtualFaceData = virtualFaceDatas.AddEmpty();
+				virtualFaceData.quality = 0;
+				virtualFaceData.idxView = idxView;
+				#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
+				virtualFaceData.color = Point3f::ZERO;
+				#endif
+				unsigned processedFaces(0);
+				for (FIndex fid : virtualFace) {
+					const FaceDataArr& faceDatas = facesDatas[fid];
+					for (FaceData& faceData: faceDatas) {
+						if (faceData.idxView == idxView) {
+							virtualFaceData.quality += faceData.quality;
+							#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
+							virtualFaceData.color += faceData.color;
+							#endif
+							++processedFaces;
+							break;
+						}
+					}
+				}
+				ASSERT(processedFaces > 0);
+				virtualFaceData.quality /= processedFaces;
+				#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
+				virtualFaceData.color /= processedFaces;
+				#endif
+			}
+			ASSERT(!virtualFaceDatas.empty());
+		}
+		virtualFacesDatas.emplace_back(std::move(virtualFaceDatas));
+		virtualFaces.emplace_back(std::move(virtualFace));
+	} while (!remainingFaces.empty());
+}
+
 #if TEXOPT_FACEOUTLIER == TEXOPT_FACEOUTLIER_MEDIAN
 
 // decrease the quality of / remove all views in which the face's projection
@@ -805,13 +974,16 @@ bool MeshTexture::FaceOutlierDetection(FaceDataArr& faceDatas, float thOutlier)
 }
 #endif
 
-bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmoothness, const IIndexArr& views)
+bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThreshold, float fRatioDataSmoothness, const IIndexArr& views)
 {
 	// extract array of triangles incident to each vertex
 	ListVertexFaces();
 
 	// create texture patches
 	{
+		// compute face normals and smoothen them
+		scene.mesh.SmoothNormalFaces();
+
 		// list all views for each face
 		FaceDataViewArr facesDatas;
 		if (!ListCameraFaces(facesDatas, fOutlierThreshold, views))
@@ -822,181 +994,310 @@ bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmo
 		typedef boost::graph_traits<Graph>::edge_iterator EdgeIter;
 		typedef boost::graph_traits<Graph>::out_edge_iterator EdgeOutIter;
 		Graph graph;
-		{
-			FOREACH(idxFace, faces) {
-				const Mesh::FIndex idx((Mesh::FIndex)boost::add_vertex(graph));
-				ASSERT(idx == idxFace);
+		LabelArr labels;
+
+		// construct and use virtual faces for patch creation instead of actual mesh faces;
+		// the virtual faces are composed of coplanar triangles sharing same views
+		const bool bUseVirtualFaces(minCommonCameras > 0);
+		if (bUseVirtualFaces) {
+			// 1) create FaceToVirtualFaceMap
+			FaceDataViewArr virtualFacesDatas;
+			VirtualFaceIdxsArr virtualFaces; // stores each virtual face as an array of mesh face ID
+			CreateVirtualFaces(facesDatas, virtualFacesDatas, virtualFaces, minCommonCameras);
+			Mesh::FaceIdxArr mapFaceToVirtualFace(faces.size()); // for each mesh face ID, store the virtual face ID witch contains it
+			size_t controlCounter(0);
+			FOREACH(idxVF, virtualFaces) {
+				const Mesh::FaceIdxArr& vf = virtualFaces[idxVF];
+				for (FIndex idxFace : vf) {
+					mapFaceToVirtualFace[idxFace] = idxVF;
+					++controlCounter;
+				}
 			}
-			Mesh::FaceIdxArr afaces;
-			FOREACH(idxFace, faces) {
-				const Mesh::FaceFaces& afaces = faceFaces[idxFace];
-				for (int v=0; v<3; ++v) {
-					const FIndex idxFaceAdj = afaces[v];
-					if (idxFaceAdj == NO_ID || idxFace >= idxFaceAdj)
-						continue;
-					const bool bInvisibleFace(facesDatas[idxFace].IsEmpty());
-					const bool bInvisibleFaceAdj(facesDatas[idxFaceAdj].IsEmpty());
-					if (bInvisibleFace || bInvisibleFaceAdj) {
-						if (bInvisibleFace != bInvisibleFaceAdj)
-							seamEdges.AddConstruct(idxFace, idxFaceAdj);
-						continue;
+			ASSERT(controlCounter == faces.size());
+			// 2) create function to find virtual faces neighbors
+			VirtualFaceIdxsArr virtualFaceNeighbors; { // for each virtual face, the list of virtual faces with at least one vertex in common
+				virtualFaceNeighbors.resize(virtualFaces.size());
+				FOREACH(idxVF, virtualFaces) {
+					const Mesh::FaceIdxArr& vf = virtualFaces[idxVF];
+					Mesh::FaceIdxArr& vfNeighbors = virtualFaceNeighbors[idxVF];
+					for (FIndex idxFace : vf) {
+						const Mesh::FaceFaces& adjFaces = faceFaces[idxFace];
+						for (int i = 0; i < 3; ++i) {
+							const FIndex fAdj(adjFaces[i]);
+							if (fAdj == NO_ID)
+								continue;
+							if (mapFaceToVirtualFace[fAdj] == idxVF)
+								continue;
+							if (fAdj != idxFace && vfNeighbors.Find(mapFaceToVirtualFace[fAdj]) == Mesh::FaceIdxArr::NO_INDEX) {
+								vfNeighbors.emplace_back(mapFaceToVirtualFace[fAdj]);
+							}
+						}
 					}
-					boost::add_edge(idxFace, idxFaceAdj, graph);
 				}
 			}
-			faceFaces.Release();
-			ASSERT((Mesh::FIndex)boost::num_vertices(graph) == faces.size());
-		}
-
-		// assign the best view to each face
-		LabelArr labels(faces.size());
-		components.Resize(faces.size());
-		{
-			// normalize quality values
-			float maxQuality(0);
-			for (const FaceDataArr& faceDatas: facesDatas) {
-				for (const FaceData& faceData: faceDatas)
-					if (maxQuality < faceData.quality)
-						maxQuality = faceData.quality;
+			// 3) use virtual faces to build the graph
+			// 4) assign images to virtual faces
+			// 5) spread image ID to each mesh face from virtual face
+			FOREACH(idxFace, virtualFaces) {
+				MAYBEUNUSED const Mesh::FIndex idx((Mesh::FIndex)boost::add_vertex(graph));
+				ASSERT(idx == idxFace);
 			}
-			Histogram32F hist(std::make_pair(0.f, maxQuality), 1000);
-			for (const FaceDataArr& faceDatas: facesDatas) {
-				for (const FaceData& faceData: faceDatas)
-					hist.Add(faceData.quality);
+			FOREACH(idxVirtualFace, virtualFaces) {
+				const Mesh::FaceIdxArr& afaces = virtualFaceNeighbors[idxVirtualFace];
+				for (FIndex idxVirtualFaceAdj: afaces) {
+					if (idxVirtualFace >= idxVirtualFaceAdj)
+						continue;
+					const bool bInvisibleFace(virtualFacesDatas[idxVirtualFace].empty());
+					const bool bInvisibleFaceAdj(virtualFacesDatas[idxVirtualFaceAdj].empty());
+					if (bInvisibleFace || bInvisibleFaceAdj)
+						continue;
+					boost::add_edge(idxVirtualFace, idxVirtualFaceAdj, graph);
+				}
 			}
-			const float normQuality(hist.GetApproximatePermille(0.95f));
-
-			#if TEXOPT_INFERENCE == TEXOPT_INFERENCE_LBP
-			// initialize inference structures
-			const LBPInference::EnergyType MaxEnergy(fRatioDataSmoothness*LBPInference::MaxEnergy);
-			LBPInference inference; {
-				inference.SetNumNodes(faces.size());
-				inference.SetSmoothCost(SmoothnessPotts);
-				EdgeOutIter ei, eie;
-				FOREACH(f, faces) {
-					for (boost::tie(ei, eie) = boost::out_edges(f, graph); ei != eie; ++ei) {
-						ASSERT(f == (FIndex)ei->m_source);
-						const FIndex fAdj((FIndex)ei->m_target);
-						ASSERT(components.empty() || components[f] == components[fAdj]);
-						if (f < fAdj) // add edges only once
-							inference.SetNeighbors(f, fAdj);
+			ASSERT((Mesh::FIndex)boost::num_vertices(graph) == virtualFaces.size());
+			// assign the best view to each face
+			labels.resize(faces.size());
+			components.resize(faces.size()); {
+				// normalize quality values
+				float maxQuality(0);
+				for (const FaceDataArr& faceDatas: virtualFacesDatas) {
+					for (const FaceData& faceData: faceDatas)
+						if (maxQuality < faceData.quality)
+							maxQuality = faceData.quality;
+				}
+				Histogram32F hist(std::make_pair(0.f, maxQuality), 1000);
+				for (const FaceDataArr& faceDatas: virtualFacesDatas) {
+					for (const FaceData& faceData: faceDatas)
+						hist.Add(faceData.quality);
+				}
+				const float normQuality(hist.GetApproximatePermille(0.95f));
+
+				#if TEXOPT_INFERENCE == TEXOPT_INFERENCE_LBP
+				// initialize inference structures
+				const LBPInference::EnergyType MaxEnergy(fRatioDataSmoothness*LBPInference::MaxEnergy);
+				LBPInference inference; {
+					inference.SetNumNodes(virtualFaces.size());
+					inference.SetSmoothCost(SmoothnessPotts);
+					EdgeOutIter ei, eie;
+					FOREACH(f, virtualFaces) {
+						for (boost::tie(ei, eie) = boost::out_edges(f, graph); ei != eie; ++ei) {
+							ASSERT(f == (FIndex)ei->m_source);
+							const FIndex fAdj((FIndex)ei->m_target);
+							ASSERT(components.empty() || components[f] == components[fAdj]);
+							if (f < fAdj) // add edges only once
+								inference.SetNeighbors(f, fAdj);
+						}
+						// set costs for label 0 (undefined)
+						inference.SetDataCost((Label)0, f, MaxEnergy);
 					}
-					// set costs for label 0 (undefined)
-					inference.SetDataCost((Label)0, f, MaxEnergy);
 				}
-			}
 
-			// set data costs for all labels (except label 0 - undefined)
-			FOREACH(f, facesDatas) {
-				const FaceDataArr& faceDatas = facesDatas[f];
-				for (const FaceData& faceData: faceDatas) {
-					const Label label((Label)faceData.idxView+1);
-					const float normalizedQuality(faceData.quality>=normQuality ? 1.f : faceData.quality/normQuality);
-					const float dataCost((1.f-normalizedQuality)*MaxEnergy);
-					inference.SetDataCost(label, f, dataCost);
+				// set data costs for all labels (except label 0 - undefined)
+				FOREACH(f, virtualFacesDatas) {
+					const FaceDataArr& faceDatas = virtualFacesDatas[f];
+					for (const FaceData& faceData: faceDatas) {
+						const Label label((Label)faceData.idxView+1);
+						const float normalizedQuality(faceData.quality>=normQuality ? 1.f : faceData.quality/normQuality);
+						const float dataCost((1.f-normalizedQuality)*MaxEnergy);
+						inference.SetDataCost(label, f, dataCost);
+					}
 				}
-			}
 
-			// assign the optimal view (label) to each face
-			// (label 0 is reserved as undefined)
-			inference.Optimize();
-
-			// extract resulting labeling
-			labels.Memset(0xFF);
-			FOREACH(l, labels) {
-				const Label label(inference.GetLabel(l));
-				ASSERT(label < images.GetSize()+1);
-				if (label > 0)
-					labels[l] = label-1;
-			}
-			#endif
+				// assign the optimal view (label) to each face
+				// (label 0 is reserved as undefined)
+				inference.Optimize();
 
-			#if TEXOPT_INFERENCE == TEXOPT_INFERENCE_TRWS
-			// find connected components
-			const FIndex nComponents(boost::connected_components(graph, components.data()));
+				// extract resulting labeling
+				LabelArr virtualLabels(virtualFaces.size());
+				virtualLabels.Memset(0xFF);
+				FOREACH(l, virtualLabels) {
+					const Label label(inference.GetLabel(l));
+					ASSERT(label < images.GetSize()+1);
+					if (label > 0)
+						virtualLabels[l] = label-1;
+				}
+				FOREACH(l, labels) {
+					labels[l] = virtualLabels[mapFaceToVirtualFace[l]];
+				}
+				#endif
+			}
 
-			// map face ID from global to component space
-			typedef cList<NodeID, NodeID, 0, 128, NodeID> NodeIDs;
-			NodeIDs nodeIDs(faces.GetSize());
-			NodeIDs sizes(nComponents);
-			sizes.Memset(0);
-			FOREACH(c, components)
-				nodeIDs[c] = sizes[components[c]]++;
-
-			// initialize inference structures
-			const LabelID numLabels(images.GetSize()+1);
-			CLISTDEFIDX(TRWSInference, FIndex) inferences(nComponents);
-			FOREACH(s, sizes) {
-				const NodeID numNodes(sizes[s]);
-				ASSERT(numNodes > 0);
-				if (numNodes <= 1)
+			graph.clear();
+		}
+		
+		// create the graph of faces: each vertex is a face and the edges are the edges shared by the faces
+		FOREACH(idxFace, faces) {
+			MAYBEUNUSED const Mesh::FIndex idx((Mesh::FIndex)boost::add_vertex(graph));
+			ASSERT(idx == idxFace);
+		}
+		FOREACH(idxFace, faces) {
+			const Mesh::FaceFaces& afaces = faceFaces[idxFace];
+			for (int v=0; v<3; ++v) {
+				const FIndex idxFaceAdj = afaces[v];
+				if (idxFaceAdj == NO_ID || idxFace >= idxFaceAdj)
 					continue;
-				TRWSInference& inference = inferences[s];
-				inference.Init(numNodes, numLabels);
+				const bool bInvisibleFace(facesDatas[idxFace].IsEmpty());
+				const bool bInvisibleFaceAdj(facesDatas[idxFaceAdj].IsEmpty());
+				if (bInvisibleFace || bInvisibleFaceAdj) {
+					if (bInvisibleFace != bInvisibleFaceAdj)
+						seamEdges.emplace_back(idxFace, idxFaceAdj);
+					continue;
+				}
+				boost::add_edge(idxFace, idxFaceAdj, graph);
 			}
-
-			// set data costs
+		}
+		faceFaces.Release();
+		ASSERT((Mesh::FIndex)boost::num_vertices(graph) == faces.size());
+
+		// start patch creation starting directly from individual faces
+		if (!bUseVirtualFaces) {
+			// assign the best view to each face
+			labels.resize(faces.size());
+			components.resize(faces.size());
 			{
-				// add nodes
-				CLISTDEF0(EnergyType) D(numLabels);
+				// normalize quality values
+				float maxQuality(0);
+				for (const FaceDataArr& faceDatas: facesDatas) {
+					for (const FaceData& faceData: faceDatas)
+						if (maxQuality < faceData.quality)
+							maxQuality = faceData.quality;
+				}
+				Histogram32F hist(std::make_pair(0.f, maxQuality), 1000);
+				for (const FaceDataArr& faceDatas: facesDatas) {
+					for (const FaceData& faceData: faceDatas)
+						hist.Add(faceData.quality);
+				}
+				const float normQuality(hist.GetApproximatePermille(0.95f));
+
+				#if TEXOPT_INFERENCE == TEXOPT_INFERENCE_LBP
+				// initialize inference structures
+				const LBPInference::EnergyType MaxEnergy(fRatioDataSmoothness*LBPInference::MaxEnergy);
+				LBPInference inference; {
+					inference.SetNumNodes(faces.size());
+					inference.SetSmoothCost(SmoothnessPotts);
+					EdgeOutIter ei, eie;
+					FOREACH(f, faces) {
+						for (boost::tie(ei, eie) = boost::out_edges(f, graph); ei != eie; ++ei) {
+							ASSERT(f == (FIndex)ei->m_source);
+							const FIndex fAdj((FIndex)ei->m_target);
+							ASSERT(components.empty() || components[f] == components[fAdj]);
+							if (f < fAdj) // add edges only once
+								inference.SetNeighbors(f, fAdj);
+						}
+						// set costs for label 0 (undefined)
+						inference.SetDataCost((Label)0, f, MaxEnergy);
+					}
+				}
+
+				// set data costs for all labels (except label 0 - undefined)
 				FOREACH(f, facesDatas) {
-					TRWSInference& inference = inferences[components[f]];
-					if (inference.IsEmpty())
-						continue;
-					// invisible faces are given a data cost 3 times the edge costs
-					// 3 as each face can have at most 3 edges
-					D.MemsetValue(MaxEnergy * 3);
 					const FaceDataArr& faceDatas = facesDatas[f];
-					FOREACHPTR(pFaceData, faceDatas) {
-						const FaceData& faceData = *pFaceData;
-						const Label label((Label)faceData.idxView);
+					for (const FaceData& faceData: faceDatas) {
+						const Label label((Label)faceData.idxView+1);
 						const float normalizedQuality(faceData.quality>=normQuality ? 1.f : faceData.quality/normQuality);
-						const EnergyType dataCost(MaxEnergy*(1.f-normalizedQuality));
-						D[label] = dataCost;
+						const float dataCost((1.f-normalizedQuality)*MaxEnergy);
+						inference.SetDataCost(label, f, dataCost);
 					}
-					const NodeID nodeID(nodeIDs[f]);
-					inference.AddNode(nodeID, D.Begin());
 				}
-				// add edges
-				EdgeOutIter ei, eie;
-				FOREACH(f, faces) {
-					TRWSInference& inference = inferences[components[f]];
-					if (inference.IsEmpty())
+
+				// assign the optimal view (label) to each face
+				// (label 0 is reserved as undefined)
+				inference.Optimize();
+
+				// extract resulting labeling
+				labels.Memset(0xFF);
+				FOREACH(l, labels) {
+					const Label label(inference.GetLabel(l));
+					ASSERT(label < images.size()+1);
+					if (label > 0)
+						labels[l] = label-1;
+				}
+				#endif
+
+				#if TEXOPT_INFERENCE == TEXOPT_INFERENCE_TRWS
+				// find connected components
+				const FIndex nComponents(boost::connected_components(graph, components.data()));
+
+				// map face ID from global to component space
+				typedef cList<NodeID, NodeID, 0, 128, NodeID> NodeIDs;
+				NodeIDs nodeIDs(faces.GetSize());
+				NodeIDs sizes(nComponents);
+				sizes.Memset(0);
+				FOREACH(c, components)
+					nodeIDs[c] = sizes[components[c]]++;
+
+				// initialize inference structures
+				const LabelID numLabels(images.GetSize()+1);
+				CLISTDEFIDX(TRWSInference, FIndex) inferences(nComponents);
+				FOREACH(s, sizes) {
+					const NodeID numNodes(sizes[s]);
+					ASSERT(numNodes > 0);
+					if (numNodes <= 1)
 						continue;
-					for (boost::tie(ei, eie) = boost::out_edges(f, graph); ei != eie; ++ei) {
-						ASSERT(f == (FIndex)ei->m_source);
-						const FIndex fAdj((FIndex)ei->m_target);
-						ASSERT(components[f] == components[fAdj]);
-						if (f < fAdj) // add edges only once
-							inference.AddEdge(nodeIDs[f], nodeIDs[fAdj]);
+					TRWSInference& inference = inferences[s];
+					inference.Init(numNodes, numLabels);
+				}
+
+				// set data costs
+				{
+					// add nodes
+					CLISTDEF0(EnergyType) D(numLabels);
+					FOREACH(f, facesDatas) {
+						TRWSInference& inference = inferences[components[f]];
+						if (inference.IsEmpty())
+							continue;
+						D.MemsetValue(MaxEnergy);
+						const FaceDataArr& faceDatas = facesDatas[f];
+						for (const FaceData& faceData: faceDatas) {
+							const Label label((Label)faceData.idxView);
+							const float normalizedQuality(faceData.quality>=normQuality ? 1.f : faceData.quality/normQuality);
+							const EnergyType dataCost(MaxEnergy*(1.f-normalizedQuality));
+							D[label] = dataCost;
+						}
+						const NodeID nodeID(nodeIDs[f]);
+						inference.AddNode(nodeID, D.Begin());
+					}
+					// add edges
+					EdgeOutIter ei, eie;
+					FOREACH(f, faces) {
+						TRWSInference& inference = inferences[components[f]];
+						if (inference.IsEmpty())
+							continue;
+						for (boost::tie(ei, eie) = boost::out_edges(f, graph); ei != eie; ++ei) {
+							ASSERT(f == (FIndex)ei->m_source);
+							const FIndex fAdj((FIndex)ei->m_target);
+							ASSERT(components[f] == components[fAdj]);
+							if (f < fAdj) // add edges only once
+								inference.AddEdge(nodeIDs[f], nodeIDs[fAdj]);
+						}
 					}
 				}
-			}
 
-			// assign the optimal view (label) to each face
-			#ifdef TEXOPT_USE_OPENMP
-			#pragma omp parallel for schedule(dynamic)
-			for (int i=0; i<(int)inferences.GetSize(); ++i) {
-			#else
-			FOREACH(i, inferences) {
-			#endif
-				TRWSInference& inference = inferences[i];
-				if (inference.IsEmpty())
-					continue;
-				inference.Optimize();
-			}
-			// extract resulting labeling
-			labels.Memset(0xFF);
-			FOREACH(l, labels) {
-				TRWSInference& inference = inferences[components[l]];
-				if (inference.IsEmpty())
-					continue;
-				const Label label(inference.GetLabel(nodeIDs[l]));
-				ASSERT(label >= 0 && label < numLabels);
-				if (label < images.GetSize())
-					labels[l] = label;
+				// assign the optimal view (label) to each face
+				#ifdef TEXOPT_USE_OPENMP
+				#pragma omp parallel for schedule(dynamic)
+				for (int i=0; i<(int)inferences.GetSize(); ++i) {
+				#else
+				FOREACH(i, inferences) {
+				#endif
+					TRWSInference& inference = inferences[i];
+					if (inference.IsEmpty())
+						continue;
+					inference.Optimize();
+				}
+				// extract resulting labeling
+				labels.Memset(0xFF);
+				FOREACH(l, labels) {
+					TRWSInference& inference = inferences[components[l]];
+					if (inference.IsEmpty())
+						continue;
+					const Label label(inference.GetLabel(nodeIDs[l]));
+					ASSERT(label >= 0 && label < numLabels);
+					if (label < images.GetSize())
+						labels[l] = label;
+				}
+				#endif
 			}
-			#endif
 		}
 
 		// create texture patches
@@ -1009,7 +1310,7 @@ bool MeshTexture::FaceViewSelection(float fOutlierThreshold, float fRatioDataSmo
 				const FIndex fTarget((FIndex)ei->m_target);
 				ASSERT(components[fSource] == components[fTarget]);
 				if (labels[fSource] != labels[fTarget])
-					seamEdges.AddConstruct(fSource, fTarget);
+					seamEdges.emplace_back(fSource, fTarget);
 			}
 			for (const PairIdx *pEdge=seamEdges.Begin()+startLabelSeamEdges, *pEdgeEnd=seamEdges.End(); pEdge!=pEdgeEnd; ++pEdge)
 				boost::remove_edge(pEdge->i, pEdge->j, graph);
@@ -1078,29 +1379,29 @@ void MeshTexture::CreateSeamVertices()
 	uint32_t vs0[2], vs1[2];
 	std::unordered_map<VIndex, uint32_t> mapVertexSeam;
 	const unsigned numPatches(texturePatches.GetSize()-1);
-	FOREACHPTR(pEdge, seamEdges) {
+	for (const PairIdx& edge: seamEdges) {
 		// store edge for the later seam optimization
-		ASSERT(pEdge->i < pEdge->j);
-		const uint32_t idxPatch0(mapIdxPatch[components[pEdge->i]]);
-		const uint32_t idxPatch1(mapIdxPatch[components[pEdge->j]]);
+		ASSERT(edge.i < edge.j);
+		const uint32_t idxPatch0(mapIdxPatch[components[edge.i]]);
+		const uint32_t idxPatch1(mapIdxPatch[components[edge.j]]);
 		ASSERT(idxPatch0 != idxPatch1 || idxPatch0 == numPatches);
 		if (idxPatch0 == idxPatch1)
 			continue;
 		seamVertices.ReserveExtra(2);
-		scene.mesh.GetEdgeVertices(pEdge->i, pEdge->j, vs0, vs1);
-		ASSERT(faces[pEdge->i][vs0[0]] == faces[pEdge->j][vs1[0]]);
-		ASSERT(faces[pEdge->i][vs0[1]] == faces[pEdge->j][vs1[1]]);
-		vs[0] = faces[pEdge->i][vs0[0]];
-		vs[1] = faces[pEdge->i][vs0[1]];
+		scene.mesh.GetEdgeVertices(edge.i, edge.j, vs0, vs1);
+		ASSERT(faces[edge.i][vs0[0]] == faces[edge.j][vs1[0]]);
+		ASSERT(faces[edge.i][vs0[1]] == faces[edge.j][vs1[1]]);
+		vs[0] = faces[edge.i][vs0[0]];
+		vs[1] = faces[edge.i][vs0[1]];
 
 		const auto itSeamVertex0(mapVertexSeam.emplace(std::make_pair(vs[0], seamVertices.GetSize())));
 		if (itSeamVertex0.second)
-			seamVertices.AddConstruct(vs[0]);
+			seamVertices.emplace_back(vs[0]);
 		SeamVertex& seamVertex0 = seamVertices[itSeamVertex0.first->second];
 
 		const auto itSeamVertex1(mapVertexSeam.emplace(std::make_pair(vs[1], seamVertices.GetSize())));
 		if (itSeamVertex1.second)
-			seamVertices.AddConstruct(vs[1]);
+			seamVertices.emplace_back(vs[1]);
 		SeamVertex& seamVertex1 = seamVertices[itSeamVertex1.first->second];
 
 		if (idxPatch0 < numPatches) {
@@ -1108,22 +1409,22 @@ void MeshTexture::CreateSeamVertices()
 			SeamVertex::Patch& patch00 = seamVertex0.GetPatch(idxPatch0);
 			SeamVertex::Patch& patch10 = seamVertex1.GetPatch(idxPatch0);
 			ASSERT(patch00.edges.Find(itSeamVertex1.first->second) == NO_ID);
-			patch00.edges.AddConstruct(itSeamVertex1.first->second).idxFace = pEdge->i;
-			patch00.proj = faceTexcoords[pEdge->i*3+vs0[0]]+offset0;
+			patch00.edges.emplace_back(itSeamVertex1.first->second).idxFace = edge.i;
+			patch00.proj = faceTexcoords[edge.i*3+vs0[0]]+offset0;
 			ASSERT(patch10.edges.Find(itSeamVertex0.first->second) == NO_ID);
-			patch10.edges.AddConstruct(itSeamVertex0.first->second).idxFace = pEdge->i;
-			patch10.proj = faceTexcoords[pEdge->i*3+vs0[1]]+offset0;
+			patch10.edges.emplace_back(itSeamVertex0.first->second).idxFace = edge.i;
+			patch10.proj = faceTexcoords[edge.i*3+vs0[1]]+offset0;
 		}
 		if (idxPatch1 < numPatches) {
 			const TexCoord offset1(texturePatches[idxPatch1].rect.tl());
 			SeamVertex::Patch& patch01 = seamVertex0.GetPatch(idxPatch1);
 			SeamVertex::Patch& patch11 = seamVertex1.GetPatch(idxPatch1);
 			ASSERT(patch01.edges.Find(itSeamVertex1.first->second) == NO_ID);
-			patch01.edges.AddConstruct(itSeamVertex1.first->second).idxFace = pEdge->j;
-			patch01.proj = faceTexcoords[pEdge->j*3+vs1[0]]+offset1;
+			patch01.edges.emplace_back(itSeamVertex1.first->second).idxFace = edge.j;
+			patch01.proj = faceTexcoords[edge.j*3+vs1[0]]+offset1;
 			ASSERT(patch11.edges.Find(itSeamVertex0.first->second) == NO_ID);
-			patch11.edges.AddConstruct(itSeamVertex0.first->second).idxFace = pEdge->j;
-			patch11.proj = faceTexcoords[pEdge->j*3+vs1[1]]+offset1;
+			patch11.edges.emplace_back(itSeamVertex0.first->second).idxFace = edge.j;
+			patch11.proj = faceTexcoords[edge.j*3+vs1[1]]+offset1;
 		}
 	}
 	seamEdges.Release();
@@ -1163,9 +1464,9 @@ void MeshTexture::GlobalSeamLeveling()
 			// vertex is part of multiple patches
 			const SeamVertex& seamVertex = seamVertices[patchIndex.idxSeamVertex];
 			ASSERT(seamVertex.idxVertex == i);
-			FOREACHPTR(pPatch, seamVertex.patches) {
-				ASSERT(pPatch->idxPatch != numPatches);
-				vertpatch2row[pPatch->idxPatch] = rowsX++;
+			for (const SeamVertex::Patch& patch: seamVertex.patches) {
+				ASSERT(patch.idxPatch != numPatches);
+				vertpatch2row[patch.idxPatch] = rowsX++;
 			}
 		} else
 		if (patchIndex.idxPatch < numPatches) {
@@ -1188,8 +1489,7 @@ void MeshTexture::GlobalSeamLeveling()
 			if (idxPatch == numPatches)
 				continue;
 			const MatIdx col(vertpatch2rows[v].at(idxPatch));
-			FOREACHPTR(pAdjVert, adjVerts) {
-				const VIndex vAdj(*pAdjVert);
+			for (const VIndex vAdj: adjVerts) {
 				if (v >= vAdj)
 					continue;
 				VertexPatchIterator itVAdj(patchIndices[vAdj], seamVertices);
@@ -1197,8 +1497,8 @@ void MeshTexture::GlobalSeamLeveling()
 					const uint32_t idxPatchAdj(itVAdj);
 					if (idxPatch == idxPatchAdj) {
 						const MatIdx colAdj(vertpatch2rows[vAdj].at(idxPatchAdj));
-						rows.AddConstruct(rowsGamma, col, lambda);
-						rows.AddConstruct(rowsGamma, colAdj, -lambda);
+						rows.emplace_back(rowsGamma, col, lambda);
+						rows.emplace_back(rowsGamma, colAdj, -lambda);
 						++rowsGamma;
 					}
 				}
@@ -1215,8 +1515,7 @@ void MeshTexture::GlobalSeamLeveling()
 	IndexArr indices;
 	Colors vertexColors;
 	Colors coeffB;
-	FOREACHPTR(pSeamVertex, seamVertices) {
-		const SeamVertex& seamVertex = *pSeamVertex;
+	for (const SeamVertex& seamVertex: seamVertices) {
 		if (seamVertex.patches.GetSize() < 2)
 			continue;
 		seamVertex.SortByPatchIndex(indices);
@@ -1225,8 +1524,8 @@ void MeshTexture::GlobalSeamLeveling()
 			const SeamVertex::Patch& patch0 = seamVertex.patches[indices[i]];
 			ASSERT(patch0.idxPatch < numPatches);
 			SampleImage sampler(images[texturePatches[patch0.idxPatch].label].image);
-			FOREACHPTR(pEdge, patch0.edges) {
-				const SeamVertex& seamVertex1 = seamVertices[pEdge->idxSeamVertex];
+			for (const SeamVertex::Patch::Edge& edge: patch0.edges) {
+				const SeamVertex& seamVertex1 = seamVertices[edge.idxSeamVertex];
 				const SeamVertex::Patches::IDX idxPatch1(seamVertex1.patches.Find(patch0.idxPatch));
 				ASSERT(idxPatch1 != SeamVertex::Patches::NO_INDEX);
 				const SeamVertex::Patch& patch1 = seamVertex1.patches[idxPatch1];
@@ -1247,8 +1546,8 @@ void MeshTexture::GlobalSeamLeveling()
 				const MatIdx rowA((MatIdx)coeffB.GetSize());
 				coeffB.Insert(color1 - color0);
 				ASSERT(ISFINITE(coeffB.Last()));
-				rows.AddConstruct(rowA, col0,  1.f);
-				rows.AddConstruct(rowA, col1, -1.f);
+				rows.emplace_back(rowA, col0,  1.f);
+				rows.emplace_back(rowA, col1, -1.f);
 			}
 		}
 	}
@@ -1279,7 +1578,7 @@ void MeshTexture::GlobalSeamLeveling()
 		#endif
 		for (int channel=0; channel<3; ++channel) {
 			// init right hand side vector
-			const Eigen::Map< Eigen::VectorXf, Eigen::Unaligned, Eigen::Stride<0,3> > b(coeffB.Begin()->ptr()+channel, rowsA);
+			const Eigen::Map< Eigen::VectorXf, Eigen::Unaligned, Eigen::Stride<0,3> > b(coeffB.front().ptr()+channel, rowsA);
 			const Eigen::VectorXf Rhs(SparseMat(A.transpose()) * b);
 			// solve for x
 			const Eigen::VectorXf x(solver.solve(Rhs));
@@ -1303,9 +1602,18 @@ void MeshTexture::GlobalSeamLeveling()
 		ColorMap imageAdj(texturePatch.rect.size());
 		imageAdj.memset(0);
 		// interpolate color adjustments over the whole patch
-		RasterPatchColorData data(imageAdj);
-		FOREACHPTR(pIdxFace, texturePatch.faces) {
-			const FIndex idxFace(*pIdxFace);
+		struct RasterPatch {
+			const TexCoord* tri;
+			Color colors[3];
+			ColorMap& image;
+			inline RasterPatch(ColorMap& _image) : image(_image) {}
+			inline cv::Size Size() const { return image.size(); }
+			inline void operator()(const ImageRef& pt, const Point3f& bary) {
+				ASSERT(image.isInside(pt));
+				image(pt) = colors[0]*bary.x + colors[1]*bary.y + colors[2]*bary.z;
+			}
+		} data(imageAdj);
+		for (const FIndex idxFace: texturePatch.faces) {
 			const Face& face = faces[idxFace];
 			data.tri = faceTexcoords.Begin()+idxFace*3;
 			for (int v=0; v<3; ++v)
@@ -1569,7 +1877,7 @@ void MeshTexture::PoissonBlending(const Image32F3& src, Image32F3& dst, const Im
 		case border: {
 			const MatIdx idx(indices(i));
 			ASSERT(idx != -1);
-			coeffA.AddConstruct(idx, idx, 1.f);
+			coeffA.emplace_back(idx, idx, 1.f);
 			coeffB[idx] = (const Color&)dst(i);
 		} break;
 		case interior: {
@@ -1580,11 +1888,11 @@ void MeshTexture::PoissonBlending(const Image32F3& src, Image32F3& dst, const Im
 			const MatIdx idxDown(indices(i + width));
 			// all indices should be either border conditions or part of the optimization
 			ASSERT(idxUp != -1 && idxLeft != -1 && idxCenter != -1 && idxRight != -1 && idxDown != -1);
-			coeffA.AddConstruct(idxCenter, idxUp, 1.f);
-			coeffA.AddConstruct(idxCenter, idxLeft, 1.f);
-			coeffA.AddConstruct(idxCenter, idxCenter,-4.f);
-			coeffA.AddConstruct(idxCenter, idxRight, 1.f);
-			coeffA.AddConstruct(idxCenter, idxDown, 1.f);
+			coeffA.emplace_back(idxCenter, idxUp, 1.f);
+			coeffA.emplace_back(idxCenter, idxLeft, 1.f);
+			coeffA.emplace_back(idxCenter, idxCenter,-4.f);
+			coeffA.emplace_back(idxCenter, idxRight, 1.f);
+			coeffA.emplace_back(idxCenter, idxDown, 1.f);
 			// set target coefficient
 			coeffB[idxCenter] = (bias == 1.f ?
 								 ColorLaplacian(src,i) :
@@ -1607,7 +1915,7 @@ void MeshTexture::PoissonBlending(const Image32F3& src, Image32F3& dst, const Im
 	#endif
 	ASSERT(solver.info() == Eigen::Success);
 	for (int channel=0; channel<3; ++channel) {
-		const Eigen::Map< Eigen::VectorXf, Eigen::Unaligned, Eigen::Stride<0,3> > b(coeffB.Begin()->ptr()+channel, nnz);
+		const Eigen::Map< Eigen::VectorXf, Eigen::Unaligned, Eigen::Stride<0,3> > b(coeffB.front().ptr()+channel, nnz);
 		const Eigen::VectorXf x(solver.solve(b));
 		ASSERT(solver.info() == Eigen::Success);
 		for (int i = 0; i < n; ++i) {
@@ -1620,8 +1928,8 @@ void MeshTexture::PoissonBlending(const Image32F3& src, Image32F3& dst, const Im
 
 void MeshTexture::LocalSeamLeveling()
 {
-	ASSERT(!seamVertices.IsEmpty());
-	const unsigned numPatches(texturePatches.GetSize()-1);
+	ASSERT(!seamVertices.empty());
+	const unsigned numPatches(texturePatches.size()-1);
 
 	// adjust texture patches locally, so that the border continues smoothly inside the patch
 	#ifdef TEXOPT_USE_OPENMP
@@ -1631,27 +1939,32 @@ void MeshTexture::LocalSeamLeveling()
 	for (unsigned i=0; i<numPatches; ++i) {
 	#endif
 		const uint32_t idxPatch((uint32_t)i);
-		TexturePatch& texturePatch = texturePatches[idxPatch];
+		const TexturePatch& texturePatch = texturePatches[idxPatch];
 		// extract image
 		const Image8U3& image0(images[texturePatch.label].image);
 		Image32F3 image, imageOrg;
 		image0(texturePatch.rect).convertTo(image, CV_32FC3, 1.0/255.0);
 		image.copyTo(imageOrg);
 		// render patch coverage
-		Image8U mask(texturePatch.rect.size()); {
+		Image8U mask(image.size()); {
 			mask.memset(0);
-			RasterPatchCoverageData data(mask);
-			FOREACHPTR(pIdxFace, texturePatch.faces) {
-				const FIndex idxFace(*pIdxFace);
-				data.tri = faceTexcoords.Begin()+idxFace*3;
-				ColorMap::RasterizeTriangle(data.tri[0], data.tri[1], data.tri[2], data);
+			struct RasterMesh {
+				Image8U& image;
+				inline void operator()(const ImageRef& pt) {
+					ASSERT(image.isInside(pt));
+					image(pt) = interior;
+				}
+			} data{mask};
+			for (const FIndex idxFace: texturePatch.faces) {
+				const TexCoord* tri = faceTexcoords.data()+idxFace*3;
+				ColorMap::RasterizeTriangle(tri[0], tri[1], tri[2], data);
 			}
 		}
 		// render the patch border meeting neighbor patches
+		const Sampler sampler;
 		const TexCoord offset(texturePatch.rect.tl());
-		FOREACHPTR(pSeamVertex, seamVertices) {
-			const SeamVertex& seamVertex0 = *pSeamVertex;
-			if (seamVertex0.patches.GetSize() < 2)
+		for (const SeamVertex& seamVertex0: seamVertices) {
+			if (seamVertex0.patches.size() < 2)
 				continue;
 			const uint32_t idxVertPatch0(seamVertex0.patches.Find(idxPatch));
 			if (idxVertPatch0 == SeamVertex::Patches::NO_INDEX)
@@ -1659,9 +1972,9 @@ void MeshTexture::LocalSeamLeveling()
 			const SeamVertex::Patch& patch0 = seamVertex0.patches[idxVertPatch0];
 			const TexCoord p0(patch0.proj-offset);
 			// for each edge of this vertex belonging to this patch...
-			FOREACHPTR(pEdge0, patch0.edges) {
+			for (const SeamVertex::Patch::Edge& edge0: patch0.edges) {
 				// select the same edge leaving from the adjacent vertex
-				const SeamVertex& seamVertex1 = seamVertices[pEdge0->idxSeamVertex];
+				const SeamVertex& seamVertex1 = seamVertices[edge0.idxSeamVertex];
 				const uint32_t idxVertPatch0Adj(seamVertex1.patches.Find(idxPatch));
 				ASSERT(idxVertPatch0Adj != SeamVertex::Patches::NO_INDEX);
 				const SeamVertex::Patch& patch0Adj = seamVertex1.patches[idxVertPatch0Adj];
@@ -1671,7 +1984,7 @@ void MeshTexture::LocalSeamLeveling()
 					if (idxVertPatch1 == idxVertPatch0)
 						continue;
 					const SeamVertex::Patch& patch1 = seamVertex0.patches[idxVertPatch1];
-					const uint32_t idxEdge1(patch1.edges.Find(pEdge0->idxSeamVertex));
+					const uint32_t idxEdge1(patch1.edges.Find(edge0.idxSeamVertex));
 					if (idxEdge1 == SeamVertex::Patch::Edges::NO_INDEX)
 						continue;
 					const TexCoord& p1(patch1.proj);
@@ -1683,33 +1996,46 @@ void MeshTexture::LocalSeamLeveling()
 					// this is an edge separating two (valid) patches;
 					// draw it on this patch as the mean color of the two patches
 					const Image8U3& image1(images[texturePatches[patch1.idxPatch].label].image);
-					RasterPatchMeanEdgeData data(image, mask, imageOrg, image1, p0, p0Adj, p1, p1Adj);
+					struct RasterPatch {
+						Image32F3& image;
+						Image8U& mask;
+						const Image32F3& image0;
+						const Image8U3& image1;
+						const TexCoord p0, p0Dir;
+						const TexCoord p1, p1Dir;
+						const float length;
+						const Sampler sampler;
+						inline RasterPatch(Image32F3& _image, Image8U& _mask, const Image32F3& _image0, const Image8U3& _image1,
+							const TexCoord& _p0, const TexCoord& _p0Adj, const TexCoord& _p1, const TexCoord& _p1Adj)
+							: image(_image), mask(_mask), image0(_image0), image1(_image1),
+							p0(_p0), p0Dir(_p0Adj-_p0), p1(_p1), p1Dir(_p1Adj-_p1), length((float)norm(p0Dir)), sampler() {}
+						inline void operator()(const ImageRef& pt) {
+							const float l((float)norm(TexCoord(pt)-p0)/length);
+							// compute mean color
+							const TexCoord samplePos0(p0 + p0Dir * l);
+							const Color color0(image0.sample<Sampler,Color>(sampler, samplePos0));
+							const TexCoord samplePos1(p1 + p1Dir * l);
+							const Color color1(image1.sample<Sampler,Color>(sampler, samplePos1)/255.f);
+							image(pt) = Color((color0 + color1) * 0.5f);
+							// set mask edge also
+							mask(pt) = border;
+						}
+					} data(image, mask, imageOrg, image1, p0, p0Adj, p1, p1Adj);
 					Image32F3::DrawLine(p0, p0Adj, data);
 					// skip remaining patches,
 					// as a manifold edge is shared by maximum two face (one in each patch), which we found already
 					break;
 				}
 			}
-		}
-		// render the vertices at the patch border meeting neighbor patches
-		const Sampler sampler;
-		FOREACHPTR(pSeamVertex, seamVertices) {
-			const SeamVertex& seamVertex = *pSeamVertex;
-			if (seamVertex.patches.GetSize() < 2)
-				continue;
-			const uint32_t idxVertPatch(seamVertex.patches.Find(idxPatch));
-			if (idxVertPatch == SeamVertex::Patches::NO_INDEX)
-				continue;
+			// render the vertex at the patch border meeting neighbor patches
 			AccumColor accumColor;
 			// for each patch...
-			FOREACHPTR(pPatch, seamVertex.patches) {
-				const SeamVertex::Patch& patch = *pPatch;
+			for (const SeamVertex::Patch& patch: seamVertex0.patches) {
 				// add its view to the vertex mean color
 				const Image8U3& img(images[texturePatches[patch.idxPatch].label].image);
 				accumColor.Add(img.sample<Sampler,Color>(sampler, patch.proj)/255.f, 1.f);
 			}
-			const SeamVertex::Patch& thisPatch = seamVertex.patches[idxVertPatch];
-			const ImageRef pt(ROUND2INT(thisPatch.proj-offset));
+			const ImageRef pt(ROUND2INT(patch0.proj-offset));
 			image(pt) = accumColor.Normalized();
 			mask(pt) = border;
 		}
@@ -1719,7 +2045,7 @@ void MeshTexture::LocalSeamLeveling()
 		// compute texture patch blending
 		PoissonBlending(imageOrg, image, mask);
 		// apply color correction to the patch image
-		cv::Mat imagePatch(images[texturePatch.label].image(texturePatch.rect));
+		cv::Mat imagePatch(image0(texturePatch.rect));
 		for (int r=0; r<image.rows; ++r) {
 			for (int c=0; c<image.cols; ++c) {
 				if (mask(r,c) == empty)
@@ -1733,13 +2059,13 @@ void MeshTexture::LocalSeamLeveling()
 	}
 }
 
-void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty)
+void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, float fSharpnessWeight)
 {
 	// project patches in the corresponding view and compute texture-coordinates and bounding-box
 	const int border(2);
-	faceTexcoords.Resize(faces.GetSize()*3);
+	faceTexcoords.resize(faces.size()*3);
 	#ifdef TEXOPT_USE_OPENMP
-	const unsigned numPatches(texturePatches.GetSize()-1);
+	const unsigned numPatches(texturePatches.size()-1);
 	#pragma omp parallel for schedule(dynamic)
 	for (int_t idx=0; idx<(int_t)numPatches; ++idx) {
 		TexturePatch& texturePatch = texturePatches[(uint32_t)idx];
@@ -1748,19 +2074,12 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 		TexturePatch& texturePatch = *pTexturePatch;
 	#endif
 		const Image& imageData = images[texturePatch.label];
-		// project vertices and compute bounding-box;
-		// account for diferences in pixel center convention: while OpenMVS uses the same convention as OpenCV and DirectX 9 where the center
-		// of a pixel is defined at integer coordinates, i.e. the center is at (0, 0) and the top left corner is at (-0.5, -0.5),
-		// DirectX 10+, OpenGL, and Vulkan convention is the center of a pixel is defined at half coordinates, i.e. the center is at (0.5, 0.5)
-		// and the top left corner is at (0, 0)
-		const TexCoord halfPixel(0.5f, 0.5f);
 		AABB2f aabb(true);
-		FOREACHPTR(pIdxFace, texturePatch.faces) {
-			const FIndex idxFace(*pIdxFace);
+		for (const FIndex idxFace: texturePatch.faces) {
 			const Face& face = faces[idxFace];
-			TexCoord* texcoords = faceTexcoords.Begin()+idxFace*3;
+			TexCoord* texcoords = faceTexcoords.data()+idxFace*3;
 			for (int i=0; i<3; ++i) {
-				texcoords[i] = imageData.camera.ProjectPointP(vertices[face[i]]) + halfPixel;
+				texcoords[i] = imageData.camera.ProjectPointP(vertices[face[i]]);
 				ASSERT(imageData.image.isInsideWithBorder(texcoords[i], border));
 				aabb.InsertFull(texcoords[i]);
 			}
@@ -1775,9 +2094,8 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 		ASSERT(imageData.image.isInside(texturePatch.rect.tl()));
 		ASSERT(imageData.image.isInside(texturePatch.rect.br()));
 		const TexCoord offset(texturePatch.rect.tl());
-		FOREACHPTR(pIdxFace, texturePatch.faces) {
-			const FIndex idxFace(*pIdxFace);
-			TexCoord* texcoords = faceTexcoords.Begin()+idxFace*3;
+		for (const FIndex idxFace: texturePatch.faces) {
+			TexCoord* texcoords = faceTexcoords.data()+idxFace*3;
 			for (int v=0; v<3; ++v)
 				texcoords[v] -= offset;
 		}
@@ -1787,9 +2105,8 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 		TexturePatch& texturePatch = texturePatches.Last();
 		const int sizePatch(border*2+1);
 		texturePatch.rect = cv::Rect(0,0, sizePatch,sizePatch);
-		FOREACHPTR(pIdxFace, texturePatch.faces) {
-			const FIndex idxFace(*pIdxFace);
-			TexCoord* texcoords = faceTexcoords.Begin()+idxFace*3;
+		for (const FIndex idxFace: texturePatch.faces) {
+			TexCoord* texcoords = faceTexcoords.data()+idxFace*3;
 			for (int i=0; i<3; ++i)
 				texcoords[i] = TexCoord(0.5f, 0.5f);
 		}
@@ -1816,9 +2133,9 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 	}
 
 	// merge texture patches with overlapping rectangles
-	for (unsigned i=0; i<texturePatches.GetSize()-2; ++i) {
+	for (unsigned i=0; i<texturePatches.size()-1; ++i) {
 		TexturePatch& texturePatchBig = texturePatches[i];
-		for (unsigned j=1; j<texturePatches.GetSize()-1; ++j) {
+		for (unsigned j=1; j<texturePatches.size(); ++j) {
 			if (i == j)
 				continue;
 			TexturePatch& texturePatchSmall = texturePatches[j];
@@ -1828,9 +2145,8 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 				continue;
 			// translate texture coordinates
 			const TexCoord offset(texturePatchSmall.rect.tl()-texturePatchBig.rect.tl());
-			FOREACHPTR(pIdxFace, texturePatchSmall.faces) {
-				const FIndex idxFace(*pIdxFace);
-				TexCoord* texcoords = faceTexcoords.Begin()+idxFace*3;
+			for (const FIndex idxFace: texturePatchSmall.faces) {
+				TexCoord* texcoords = faceTexcoords.data()+idxFace*3;
 				for (int v=0; v<3; ++v)
 					texcoords[v] += offset;
 			}
@@ -1871,23 +2187,22 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 			default:
 				ABORT("error: unknown RectsBinPack type");
 			}
-			DEBUG_ULTIMATE("\tpacking texture completed: %u patches, %u texture-size (%s)", rects.GetSize(), textureSize, TD_TIMER_GET_FMT().c_str());
+			DEBUG_ULTIMATE("\tpacking texture completed: %u patches, %u texture-size (%s)", rects.size(), textureSize, TD_TIMER_GET_FMT().c_str());
 			if (bPacked)
 				break;
 			textureSize *= 2;
 		}
 
 		// create texture image
-		const float invNorm(1.f/(float)textureSize);
 		textureDiffuse.create(textureSize, textureSize);
 		textureDiffuse.setTo(cv::Scalar(colEmpty.b, colEmpty.g, colEmpty.r));
 		#ifdef TEXOPT_USE_OPENMP
 		#pragma omp parallel for schedule(dynamic)
-		for (int_t i=0; i<(int_t)texturePatches.GetSize(); ++i) {
+		for (int_t i=0; i<(int_t)texturePatches.size(); ++i) {
+			const uint32_t idxPatch((uint32_t)i);
 		#else
-		FOREACH(i, texturePatches) {
+		FOREACH(idxPatch, texturePatches) {
 		#endif
-			const uint32_t idxPatch((uint32_t)i);
 			const TexturePatch& texturePatch = texturePatches[idxPatch];
 			const RectsBinPack::Rect& rect = rects[idxPatch];
 			// copy patch image
@@ -1906,31 +2221,40 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 			}
 			// compute final texture coordinates
 			const TexCoord offset(rect.tl());
-			FOREACHPTR(pIdxFace, texturePatch.faces) {
-				const FIndex idxFace(*pIdxFace);
-				TexCoord* texcoords = faceTexcoords.Begin()+idxFace*3;
+			for (const FIndex idxFace: texturePatch.faces) {
+				TexCoord* texcoords = faceTexcoords.data()+idxFace*3;
 				for (int v=0; v<3; ++v) {
 					TexCoord& texcoord = texcoords[v];
-					// translate, normalize and flip Y axis
 					texcoord = TexCoord(
-						(texcoord[x]+offset.x)*invNorm,
-						1.f-(texcoord[y]+offset.y)*invNorm
+						texcoord[x]+offset.x,
+						texcoord[y]+offset.y
 					);
 				}
 			}
 		}
+		// apply some sharpening
+		if (fSharpnessWeight > 0) {
+			constexpr double sigma = 1.5;
+			Image8U3 blurryTextureDiffuse;
+			cv::GaussianBlur(textureDiffuse, blurryTextureDiffuse, cv::Size(), sigma);
+			cv::addWeighted(textureDiffuse, 1+fSharpnessWeight, blurryTextureDiffuse, -fSharpnessWeight, 0, textureDiffuse);
+		}
 	}
 }
 
 // texture mesh
-bool Scene::TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, float fOutlierThreshold, float fRatioDataSmoothness, bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, const IIndexArr& views)
+//  - minCommonCameras: generate texture patches using virtual faces composed of coplanar triangles sharing at least this number of views (0 - disabled, 3 - good value)
+//  - fSharpnessWeight: sharpness weight to be applied on the texture (0 - disabled, 0.5 - good value)
+bool Scene::TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned minCommonCameras, float fOutlierThreshold, float fRatioDataSmoothness,
+	bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, float fSharpnessWeight,
+	const IIndexArr& views)
 {
 	MeshTexture texture(*this, nResolutionLevel, nMinResolution);
 
 	// assign the best view to each face
 	{
 		TD_TIMER_STARTD();
-		if (!texture.FaceViewSelection(fOutlierThreshold, fRatioDataSmoothness, views))
+		if (!texture.FaceViewSelection(minCommonCameras, fOutlierThreshold, fRatioDataSmoothness, views))
 			return false;
 		DEBUG_EXTRA("Assigning the best view to each face completed: %u faces (%s)", mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
 	}
@@ -1938,7 +2262,7 @@ bool Scene::TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, floa
 	// generate the texture image and atlas
 	{
 		TD_TIMER_STARTD();
-		texture.GenerateTexture(bGlobalSeamLeveling, bLocalSeamLeveling, nTextureSizeMultiple, nRectPackingHeuristic, colEmpty);
+		texture.GenerateTexture(bGlobalSeamLeveling, bLocalSeamLeveling, nTextureSizeMultiple, nRectPackingHeuristic, colEmpty, fSharpnessWeight);
 		DEBUG_EXTRA("Generating texture atlas and image completed: %u patches, %u image size (%s)", texture.texturePatches.GetSize(), mesh.textureDiffuse.width(), TD_TIMER_GET_FMT().c_str());
 	}
 
diff --git a/libs/MVS/SemiGlobalMatcher.cpp b/libs/MVS/SemiGlobalMatcher.cpp
index ed6986074..89bcd0e47 100644
--- a/libs/MVS/SemiGlobalMatcher.cpp
+++ b/libs/MVS/SemiGlobalMatcher.cpp
@@ -596,7 +596,7 @@ void SemiGlobalMatcher::Match(const Scene& scene, IIndex idxImage, IIndex numNei
 				const REAL _scale(scale*0.5);
 				Matrix3x3 _H(H); Matrix4x4 _Q(Q);
 				Image::ScaleStereoRectification(_H, _Q, _scale);
-				ExportDisparityDataRawFull(String::FormatString("%s_%d.dimap", pairName.c_str(), log2i(ROUND2INT(REAL(1)/_scale))), leftDisparityMap, costMap, Image8U::computeResize(leftImage.GetSize(), _scale), H, _Q, 1);
+				ExportDisparityDataRawFull(String::FormatString("%s_%d.dimap", pairName.c_str(), LOG2I(ROUND2INT<unsigned>(REAL(1)/_scale))), leftDisparityMap, costMap, Image8U::computeResize(leftImage.GetSize(), _scale), H, _Q, 1);
 			}
 			#endif
 			// initialize
@@ -1389,7 +1389,7 @@ SemiGlobalMatcher::Index SemiGlobalMatcher::Disparity2RangeMap(const DisparityMa
 					range.minDisp = -range.maxDisp;
 					numDisp = range.numDisp();
 				} else {
-					const Disparity disp(disps.GetMedian()*2);
+					const Disparity disp(disps.GetMedian<Disparity>()*2);
 					const auto minmax(disps.GetMinMax());
 					numDisp = (minmax.second-minmax.first)*2;
 					if (numDisp < minNumDisp) {
diff --git a/libs/Math/Common.h b/libs/Math/Common.h
index 173bd09d3..62fd0b287 100644
--- a/libs/Math/Common.h
+++ b/libs/Math/Common.h
@@ -23,6 +23,16 @@
 #ifndef MATH_TPL
 #define MATH_TPL GENERAL_TPL
 #endif
-/*----------------------------------------------------------------*/
+
+#include "LMFit/lmmin.h"
+#include "RobustNorms.h"
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// P R O T O T Y P E S /////////////////////////////////////////////
+
+using namespace SEACAVE;
 
 #endif // __MATH_COMMON_H__
diff --git a/libs/Math/RobustNorms.h b/libs/Math/RobustNorms.h
new file mode 100644
index 000000000..e31d05fe4
--- /dev/null
+++ b/libs/Math/RobustNorms.h
@@ -0,0 +1,169 @@
+/*
+* RobustNorms.h
+*
+* Copyright (c) 2014-2022 SEACAVE
+*
+* Author(s):
+*
+*      cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*      You are required to preserve legal notices and author attributions in
+*      that material or in the Appropriate Legal Notices displayed by works
+*      containing it.
+*/
+
+#ifndef _SEACAVE_ROBUSTNORMS_H_
+#define _SEACAVE_ROBUSTNORMS_H_
+
+
+// I N C L U D E S /////////////////////////////////////////////////
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+namespace SEACAVE {
+
+// M-estimators to be used during nonlinear refinement for increased robustness to outlier residuals:
+//   new_residual = robustNorm(residual)
+namespace RobustNorm {
+
+template<typename TYPE>
+struct L1 {
+	inline TYPE operator()(const TYPE& r) const {
+		return r / (std::sqrt(std::abs(r)) + TYPE(1e-12));
+	}
+};
+
+template<typename TYPE>
+struct Exp {
+	inline Exp(const TYPE& _threshold)
+		: sigma(TYPE(-1) / (TYPE(2) * SQUARE(_threshold))) { ASSERT(_threshold > 0); }
+	inline TYPE operator()(const TYPE& r) const {
+		return r * std::exp(SQUARE(r)*sigma);
+	}
+	const TYPE sigma;
+};
+
+template<typename TYPE>
+struct BlakeZisserman {
+	inline BlakeZisserman(const TYPE& _threshold)
+		: threshold(_threshold), invThreshold(TYPE(1)/threshold), eps(std::exp(-SQUARE(threshold))) { ASSERT(_threshold > 0); }
+	inline TYPE operator()(const TYPE& r) const {
+		return -log(std::exp(-SQUARE(r) * invThreshold) + eps);
+	}
+	const TYPE threshold;
+	const TYPE invThreshold;
+	const TYPE eps;
+};
+
+template<typename TYPE>
+struct Huber {
+	inline Huber(const TYPE& _threshold)
+		: threshold(_threshold) { ASSERT(_threshold > 0); }
+	inline TYPE operator()(const TYPE& r) const {
+		const TYPE dAbs(std::abs(r));
+		if (dAbs <= threshold)
+			return r;
+		return std::copysign(std::sqrt(threshold * (TYPE(2) * dAbs - threshold)), r);
+	}
+	const TYPE threshold;
+};
+
+template<typename TYPE>
+struct PseudoHuber {
+	inline PseudoHuber(const TYPE& _threshold)
+		: threshold(_threshold), thresholdSq(SQUARE(_threshold)), invThreshold(TYPE(1)/threshold) { ASSERT(_threshold > 0); }
+	inline TYPE operator()(const TYPE& r) const {
+		return std::sqrt(TYPE(2) * thresholdSq * (std::sqrt(TYPE(1) + SQUARE(r * invThreshold)) - TYPE(1)));
+	}
+	const TYPE threshold;
+	const TYPE thresholdSq;
+	const TYPE invThreshold;
+};
+
+template<typename TYPE>
+struct GemanMcClure {
+	inline GemanMcClure(const TYPE& _threshold)
+		: thresholdSq(SQUARE(_threshold)) { ASSERT(_threshold > 0); }
+	inline TYPE operator()(const TYPE& r) const {
+		return r * std::sqrt(thresholdSq/(thresholdSq+SQUARE(r)));
+	}
+	const TYPE thresholdSq;
+};
+
+template<typename TYPE>
+struct Cauchy {
+	inline Cauchy(const TYPE& _threshold)
+		: thresholdSq(SQUARE(_threshold)), invThresholdSq(TYPE(1)/thresholdSq) { ASSERT(_threshold > 0); }
+	inline TYPE operator()(const TYPE& r) const {
+		return std::sqrt(thresholdSq*log(TYPE(1)+SQUARE(r)*invThresholdSq));
+	}
+	const TYPE thresholdSq;
+	const TYPE invThresholdSq;
+};
+
+template<typename TYPE>
+struct Tukey {
+	inline Tukey(const TYPE& _threshold)
+		: threshold(_threshold), thresholdCb6(CUBE(_threshold)/TYPE(6)), invThreshold(TYPE(1)/threshold), sqrtThresholdCb6(std::sqrt(thresholdCb6)) { ASSERT(_threshold > 0); }
+	inline TYPE operator()(const TYPE& r) const {
+		return std::abs(r) < threshold ? std::sqrt(thresholdCb6*(TYPE(1)-CUBE(TYPE(1)-SQUARE(r*invThreshold)))) : sqrtThresholdCb6;
+	}
+	const TYPE threshold;
+	const TYPE thresholdCb6;
+	const TYPE invThreshold;
+	const TYPE sqrtThresholdCb6;
+};
+
+} // namespace RobustNorm
+/*----------------------------------------------------------------*/
+
+
+// makes sure the inverse NCC score does not exceed 0.3
+#if 0
+template <typename T>
+inline T robustincc(const T x) { return x / (T(1) + T(3) * x); }
+template <typename T>
+inline T robustinccg(const T x) { return T(1)/SQUARE(T(1) + T(3) * x); }
+template <typename T>
+inline T unrobustincc(const T y) { return y / (T(1) - T(3) * y); }
+#elif 0
+template <typename T>
+inline T robustincc(const T x) { return T(1)-EXP(x*x*T(-4)); }
+template <typename T>
+inline T robustinccg(const T x) { return T(8)*x*EXP(x*x*T(-4)); }
+template <typename T>
+inline T unrobustincc(const T y) { return SQRT(-LOGN(T(1) - y))/T(2); }
+#else
+template <typename T>
+inline T robustincc(const T x) { return x/SQRT(T(0.3)+x*x); }
+template <typename T>
+inline T robustinccg(const T x) { return T(0.3)/((T(0.3)+x*x)*SQRT(T(0.3)+x*x)); }
+template <typename T>
+inline T unrobustincc(const T y) { return (SQRT(30)*y)/(T(10)*SQRT(T(1) - y*y)); }
+#endif
+/*----------------------------------------------------------------*/
+
+} // namespace SEACAVE
+
+#endif // _SEACAVE_ROBUSTNORMS_H_
diff --git a/libs/Math/RobustNorms.png b/libs/Math/RobustNorms.png
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diff --git a/libs/Math/SimilarityTransform.cpp b/libs/Math/SimilarityTransform.cpp
new file mode 100644
index 000000000..1b5685d95
--- /dev/null
+++ b/libs/Math/SimilarityTransform.cpp
@@ -0,0 +1,65 @@
+/*
+* SimilarityTransform.cpp
+*
+* Copyright (c) 2014-2022 SEACAVE
+*
+* Author(s):
+*
+*      cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*      You are required to preserve legal notices and author attributions in
+*      that material or in the Appropriate Legal Notices displayed by works
+*      containing it.
+*/
+
+#include "Common.h"
+#include "SimilarityTransform.h"
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+// find the similarity transform that best aligns the given two sets of corresponding 3D points
+bool SEACAVE::SimilarityTransform(const CLISTDEF0(Point3)& points, const CLISTDEF0(Point3)& pointsRef, Matrix4x4& transform)
+{
+	ASSERT(points.size() == pointsRef.size());
+	typedef Eigen::Matrix<REAL,3,Eigen::Dynamic> PointsVec;
+	PointsVec p(3, points.size());
+	PointsVec pRef(3, pointsRef.size());
+	FOREACH(i, points) {
+		p.col(i) = static_cast<const Point3::EVec&>(points[i]);
+		pRef.col(i) = static_cast<const Point3::EVec&>(pointsRef[i]);
+	}
+	transform = Eigen::umeyama(p, pRef);
+	return true;
+} // SimilarityTransform
+/*----------------------------------------------------------------*/
+
+void SEACAVE::DecomposeSimilarityTransform(const Matrix4x4& transform, Matrix3x3& R, Point3& t, REAL& s)
+{
+	const Eigen::Transform<REAL,3,Eigen::Affine,Eigen::RowMajor> T(static_cast<const Matrix4x4::EMat&>(transform));
+	Eigen::Matrix<REAL,3,3> scaling;
+	T.computeRotationScaling(&static_cast<Matrix3x3::EMat&>(R), &scaling);
+	t = T.translation();
+	s = scaling.diagonal().mean();
+} // DecomposeSimilarityTransform
+/*----------------------------------------------------------------*/
diff --git a/libs/Math/SimilarityTransform.h b/libs/Math/SimilarityTransform.h
new file mode 100644
index 000000000..0c69bfa56
--- /dev/null
+++ b/libs/Math/SimilarityTransform.h
@@ -0,0 +1,55 @@
+/*
+* SimilarityTransform.h
+*
+* Copyright (c) 2014-2022 SEACAVE
+*
+* Author(s):
+*
+*      cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*      You are required to preserve legal notices and author attributions in
+*      that material or in the Appropriate Legal Notices displayed by works
+*      containing it.
+*/
+
+#ifndef _SEACAVE_SIMILARITY_TRANSFORM_H_
+#define _SEACAVE_SIMILARITY_TRANSFORM_H_
+
+
+// I N C L U D E S /////////////////////////////////////////////////
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+namespace SEACAVE {
+
+// find the similarity transform that best aligns the given two sets of corresponding 3D points
+bool SimilarityTransform(const CLISTDEF0(Point3)& points, const CLISTDEF0(Point3)& pointsRef, Matrix4x4& transform);
+
+// decompose similarity transform into rotation, translation and scale
+void DecomposeSimilarityTransform(const Matrix4x4& transform, Matrix3x3& R, Point3& t, REAL& s);
+/*----------------------------------------------------------------*/
+
+} // namespace SEACAVE
+
+#endif // _SEACAVE_SIMILARITY_TRANSFORM_H_
diff --git a/libs/Math/TRWS/typeGeneral.h b/libs/Math/TRWS/typeGeneral.h
index 4d1d7cd4d..3afd59459 100644
--- a/libs/Math/TRWS/typeGeneral.h
+++ b/libs/Math/TRWS/typeGeneral.h
@@ -480,20 +480,17 @@ inline TypeGeneral::REAL TypeGeneral::Edge::UpdateMessage(GlobalSize Kglobal, Lo
 	{
 		assert(Ksource.m_K == Kdest.m_K);
 
-		int k, kMin;
+		int k;
 
 		m_message->m_data[0] = gamma*source->m_data[0] - m_message->m_data[0];
-		kMin = 0;
 		vMin = m_message->m_data[0];
 
 		for (k=1; k<Ksource.m_K; k++)
 		{
 			m_message->m_data[k] = gamma*source->m_data[k] - m_message->m_data[k];
-			kMin = 0;
 			vMin = buf->m_data[0];
 			if (vMin > m_message->m_data[k])
 			{
-				kMin = k;
 				vMin = m_message->m_data[k];
 			}
 		}
diff --git a/vcpkg.json b/vcpkg.json
new file mode 100644
index 000000000..17eae3888
--- /dev/null
+++ b/vcpkg.json
@@ -0,0 +1,37 @@
+{
+  "name": "openmvs",
+  "version": "2.1.0",
+  "description": "OpenMVS: open Multi-View Stereo reconstruction library",
+  "homepage": "https://cdcseacave.github.io/openMVS",
+  "dependencies": [
+    "boost-iostreams",
+    "boost-program-options",
+    "boost-serialization",
+    "boost-system",
+    "boost-throw-exception",
+    {
+      "name": "cgal",
+      "default-features": false
+    },
+    "eigen3",
+    "glew",
+    "glfw3",
+    "libpng",
+    "opencv",
+	"opengl",
+    "tiff",
+    "vcglib",
+    "zlib"
+  ],
+  "features": {
+    "cuda": {
+      "description": "CUDA support for OpenMVS",
+      "dependencies": [
+        "cuda"
+      ]
+    },
+    "openmp": {
+      "description": "OpenMP support for OpenMVS"
+    }
+  }
+}

From 917f5524746336d3c5b6ed6fd8c858106418fa8a Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 2 Dec 2022 22:30:20 +0200
Subject: [PATCH 162/252] mesh: add transfer texture between two identical
 meshes

---
 libs/Common/List.h |  17 +++
 libs/MVS/Mesh.cpp  | 307 +++++++++++++++++++++++++++------------------
 libs/MVS/Mesh.h    |   2 +-
 3 files changed, 201 insertions(+), 125 deletions(-)

diff --git a/libs/Common/List.h b/libs/Common/List.h
index 2404c4832..740ad3d3d 100644
--- a/libs/Common/List.h
+++ b/libs/Common/List.h
@@ -285,6 +285,15 @@ class cList
 		_vector[idx1] = _vector[idx2];
 		_vector[idx2] = tmp;
 	}
+	
+	inline bool		operator==(const cList& rList) const {
+		if (_size != rList._size)
+			return false;
+		for (IDX i = 0; i < _size; ++i)
+			if (_vector[i] != rList._vector[i])
+				return false;
+		return true;
+	}
 
 	// Set the allocated memory (normally used for types without constructor).
 	inline void		Memset(uint8_t val)
@@ -1574,6 +1583,14 @@ class cListFixed {
 		ASSERT(index < _size);
 		return _vector[index];
 	}
+	inline bool operator==(const cListFixed& rList) const {
+		if (_size != rList._size)
+			return false;
+		for (IDX i = 0; i < _size; ++i)
+			if (_vector[i] != rList._vector[i])
+				return false;
+		return true;
+	}
 	inline TYPE& AddEmpty() {
 		ASSERT(_size < N);
 		return _vector[_size++];
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 5bb7088d4..5f6a8715d 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -4462,144 +4462,203 @@ inline Eigen::AlignedBox3f bounding_box(const FaceBox& faceBox) {
 	return faceBox.box;
 }
 #endif
-bool Mesh::TransferTexture(Mesh& mesh, unsigned textureSize)
+bool Mesh::TransferTexture(Mesh& mesh, unsigned borderSize, unsigned textureSize)
 {
 	ASSERT(HasTexture() && mesh.HasTexture());
-	if (vertexFaces.size() != vertices.size())
-		ListIncidenteFaces();
-	if (mesh.vertexNormals.size() != mesh.vertices.size())
-		mesh.ComputeNormalVertices();
 	if (mesh.textureDiffuse.empty())
 		mesh.textureDiffuse.create(textureSize, textureSize);
-	#if USE_MESH_INT == USE_MESH_BVH
-	std::vector<FaceBox> boxes;
-	boxes.reserve(faces.size());
-	FOREACH(idxFace, faces)
-		boxes.emplace_back([this](FIndex idxFace) {
-			const Face& face = faces[idxFace];
-			Eigen::AlignedBox3f box;
-			box.extend<Eigen::Vector3f>(vertices[face[0]]);
-			box.extend<Eigen::Vector3f>(vertices[face[1]]);
-			box.extend<Eigen::Vector3f>(vertices[face[2]]);
-			return FaceBox{box, idxFace};
-		} (idxFace));
-	typedef Eigen::KdBVH<Type,3,FaceBox> BVH;
-	BVH tree(boxes.begin(), boxes.end());
-	#endif
-	struct IntersectRayMesh {
-		const Mesh& mesh;
-		const Ray3f& ray;
-		IndexDist pick;
-		IntersectRayMesh(const Mesh& _mesh, const Ray3f& _ray)
-			: mesh(_mesh), ray(_ray) {
-			#if USE_MESH_INT == USE_MESH_BF
-			FOREACH(idxFace, mesh.faces)
-				IntersectsRayFace(idxFace);
-			#endif
-		}
-		inline void IntersectsRayFace(FIndex idxFace) {
-			const Face& face = mesh.faces[idxFace];
-			Type dist;
-			if (ray.Intersects<true>(Triangle3f(mesh.vertices[face[0]], mesh.vertices[face[1]], mesh.vertices[face[2]]), &dist)) {
-				ASSERT(dist >= 0);
-				if (pick.dist > dist) {
-					pick.dist = dist;
-					pick.idx = idxFace;
+	Image8U mask(mesh.textureDiffuse.size(), uint8_t(255));
+	if (vertices == mesh.vertices && faces == mesh.faces) {
+		// the two meshes are identical, only the texture coordinates are different;
+		// directly transfer the texture onto the new coordinates
+		#ifndef MESH_USE_OPENMP
+		#pragma omp parallel for schedule(dynamic)
+		for (int_t i=0; i<(int_t)mesh.faces.size(); ++i) {
+			const FIndex idxFace((FIndex)i);
+		#else
+		FOREACH(idxFace, mesh.faces) {
+		#endif
+			struct RasterTriangle {
+				const Mesh& meshRef;
+				Mesh& meshTrg;
+				Image8U& mask;
+				const TexCoord* tri;
+				inline cv::Size Size() const { return meshTrg.textureDiffuse.size(); }
+				inline void operator()(const ImageRef& pt, const Point3f& bary) {
+					ASSERT(meshTrg.textureDiffuse.isInside(pt));
+					const TexCoord x(tri[0]*bary.x + tri[1]*bary.y + tri[2]*bary.z);
+					const Pixel8U color(meshRef.textureDiffuse.sample(x));
+					meshTrg.textureDiffuse(pt) = color;
+					mask(pt) = 0;
 				}
-			}
+			} data{*this, mesh, mask, faceTexcoords.data()+idxFace*3};
+			// render triangle and for each pixel interpolate the color
+			// from the triangle corners using barycentric coordinates
+			const TexCoord* tri = mesh.faceTexcoords.data()+idxFace*3;
+			Image8U::RasterizeTriangleBary(tri[0], tri[1], tri[2], data);
 		}
+	} else {
+		// the two meshes are different, transfer the texture by finding the closest point
+		// on the two surfaces
+		if (vertexFaces.size() != vertices.size())
+			ListIncidenteFaces();
+		if (mesh.vertexNormals.size() != mesh.vertices.size())
+			mesh.ComputeNormalVertices();
 		#if USE_MESH_INT == USE_MESH_BVH
-		inline bool intersectVolume(const BVH::Volume &volume) {
-			return ray.Intersects(AABB3f(volume.min(), volume.max()));
-		}
-		inline bool intersectObject(const BVH::Object &object) {
-			IntersectsRayFace(object.idxFace);
-			return false;
-		}
+		std::vector<FaceBox> boxes;
+		boxes.reserve(faces.size());
+		FOREACH(idxFace, faces)
+			boxes.emplace_back([this](FIndex idxFace) {
+				const Face& face = faces[idxFace];
+				Eigen::AlignedBox3f box;
+				box.extend<Eigen::Vector3f>(vertices[face[0]]);
+				box.extend<Eigen::Vector3f>(vertices[face[1]]);
+				box.extend<Eigen::Vector3f>(vertices[face[2]]);
+				return FaceBox{box, idxFace};
+			} (idxFace));
+		typedef Eigen::KdBVH<Type,3,FaceBox> BVH;
+		BVH tree(boxes.begin(), boxes.end());
 		#endif
-	};
-	#if USE_MESH_INT == USE_MESH_BF || USE_MESH_INT == USE_MESH_BVH
-	const float diagonal(GetAABB().GetSize().norm());
-	#elif USE_MESH_INT == USE_MESH_OCTREE
-	const Octree octree(vertices, [](Octree::IDX_TYPE size, Octree::Type /*radius*/) {
-		return size > 8;
-	});
-	const float diagonal(octree.GetAabb().GetSize().norm());
-	struct OctreeIntersectRayMesh : IntersectRayMesh {
-		OctreeIntersectRayMesh(const Octree& octree, const Mesh& _mesh, const Ray3f& _ray)
-			: IntersectRayMesh(_mesh, _ray) {
-			octree.Collect(*this, *this);
-		}
-		inline bool Intersects(const Octree::POINT_TYPE& center, Octree::Type radius) const {
-			return ray.Intersects(AABB3f(center, radius));
-		}
-		void operator () (const Octree::IDX_TYPE* idices, Octree::IDX_TYPE size) {
-			// store all contained faces only once
-			std::unordered_set<FIndex> set;
-			FOREACHRAWPTR(pIdx, idices, size) {
-				const VIndex idxVertex((VIndex)*pIdx);
-				const FaceIdxArr& faces = mesh.vertexFaces[idxVertex];
-				set.insert(faces.begin(), faces.end());
-			}
-			// test face intersection and keep the closest
-			for (FIndex idxFace : set)
-				IntersectsRayFace(idxFace);
-		}
-	};
-	#endif
-	#ifdef MESH_USE_OPENMP
-	#pragma omp parallel for schedule(dynamic)
-	for (int_t i=0; i<(int_t)mesh.faces.size(); ++i) {
-		const FIndex idxFace((FIndex)i);
-	#else
-	FOREACH(idxFace, mesh.faces) {
-	#endif
-		struct RasterTraiangle {
-			#if USE_MESH_INT == USE_MESH_OCTREE
-			const Octree& octree;
-			#elif USE_MESH_INT == USE_MESH_BVH
-			BVH& tree;
-			#endif
-			const Mesh& meshRef;
-			Mesh& meshTrg;
-			const Face& face;
-			float diagonal;
-			inline cv::Size Size() const { return meshTrg.textureDiffuse.size(); }
-			inline void operator()(const ImageRef& pt, const Point3f& bary) {
-				ASSERT(meshTrg.textureDiffuse.isInside(pt));
-				const Vertex X(meshTrg.vertices[face[0]]*bary.x + meshTrg.vertices[face[1]]*bary.y + meshTrg.vertices[face[2]]*bary.z);
-				const Normal N(normalized(meshTrg.vertexNormals[face[0]]*bary.x + meshTrg.vertexNormals[face[1]]*bary.y + meshTrg.vertexNormals[face[2]]*bary.z));
-				const Ray3f ray(Vertex(X+N*diagonal), Normal(-N));
+		struct IntersectRayMesh {
+			const Mesh& mesh;
+			const Ray3f& ray;
+			IndexDist pick;
+			IntersectRayMesh(const Mesh& _mesh, const Ray3f& _ray)
+				: mesh(_mesh), ray(_ray) {
 				#if USE_MESH_INT == USE_MESH_BF
-				const IntersectRayMesh intRay(meshRef, ray);
-				#elif USE_MESH_INT == USE_MESH_BVH
-				IntersectRayMesh intRay(meshRef, ray);
-				Eigen::BVIntersect(tree, intRay);
-				#else
-				const OctreeIntersectRayMesh intRay(octree, meshRef, ray);
+				FOREACH(idxFace, mesh.faces)
+					IntersectsRayFace(idxFace);
 				#endif
-				if (intRay.pick.IsValid()) {
-					const FIndex refIdxFace((FIndex)intRay.pick.idx);
-					const Face& refFace = meshRef.faces[refIdxFace];
-					const Vertex refX(ray.GetPoint((Type)intRay.pick.dist));
-					const Vertex baryRef(CorrectBarycentricCoordinates(BarycentricCoordinatesUV(meshRef.vertices[refFace[0]], meshRef.vertices[refFace[1]], meshRef.vertices[refFace[2]], refX)));
-					const TexCoord* tri = meshRef.faceTexcoords.data()+refIdxFace*3;
-					const TexCoord x(tri[0]*baryRef.x + tri[1]*baryRef.y + tri[2]*baryRef.z);
-					const Pixel8U color(meshRef.textureDiffuse.sample(x));
-					meshTrg.textureDiffuse(pt) = color;
+			}
+			inline void IntersectsRayFace(FIndex idxFace) {
+				const Face& face = mesh.faces[idxFace];
+				Type dist;
+				if (ray.Intersects<true>(Triangle3f(mesh.vertices[face[0]], mesh.vertices[face[1]], mesh.vertices[face[2]]), &dist)) {
+					ASSERT(dist >= 0);
+					if (pick.dist > dist) {
+						pick.dist = dist;
+						pick.idx = idxFace;
+					}
+				}
+			}
+			#if USE_MESH_INT == USE_MESH_BVH
+			inline bool intersectVolume(const BVH::Volume &volume) {
+				return ray.Intersects(AABB3f(volume.min(), volume.max()));
+			}
+			inline bool intersectObject(const BVH::Object &object) {
+				IntersectsRayFace(object.idxFace);
+				return false;
+			}
+			#endif
+		};
+		#if USE_MESH_INT == USE_MESH_BF || USE_MESH_INT == USE_MESH_BVH
+		const float diagonal(GetAABB().GetSize().norm());
+		#elif USE_MESH_INT == USE_MESH_OCTREE
+		const Octree octree(vertices, [](Octree::IDX_TYPE size, Octree::Type /*radius*/) {
+			return size > 8;
+		});
+		const float diagonal(octree.GetAabb().GetSize().norm());
+		struct OctreeIntersectRayMesh : IntersectRayMesh {
+			OctreeIntersectRayMesh(const Octree& octree, const Mesh& _mesh, const Ray3f& _ray)
+				: IntersectRayMesh(_mesh, _ray) {
+				octree.Collect(*this, *this);
+			}
+			inline bool Intersects(const Octree::POINT_TYPE& center, Octree::Type radius) const {
+				return ray.Intersects(AABB3f(center, radius));
+			}
+			void operator () (const Octree::IDX_TYPE* idices, Octree::IDX_TYPE size) {
+				// store all contained faces only once
+				std::unordered_set<FIndex> set;
+				FOREACHRAWPTR(pIdx, idices, size) {
+					const VIndex idxVertex((VIndex)*pIdx);
+					const FaceIdxArr& faces = mesh.vertexFaces[idxVertex];
+					set.insert(faces.begin(), faces.end());
 				}
+				// test face intersection and keep the closest
+				for (FIndex idxFace : set)
+					IntersectsRayFace(idxFace);
 			}
-		#if USE_MESH_INT == USE_MESH_BF
-		} data{*this, mesh, mesh.faces[idxFace], diagonal};
-		#elif USE_MESH_INT == USE_MESH_BVH
-		} data{tree, *this, mesh, mesh.faces[idxFace], diagonal};
+		};
+		#endif
+		#ifdef MESH_USE_OPENMP
+		#pragma omp parallel for schedule(dynamic)
+		for (int_t i=0; i<(int_t)mesh.faces.size(); ++i) {
+			const FIndex idxFace((FIndex)i);
 		#else
-		} data{octree, *this, mesh, mesh.faces[idxFace], diagonal};
+		FOREACH(idxFace, mesh.faces) {
 		#endif
-		// render triangle and for each pixel interpolate the color
-		// from the triangle corners using barycentric coordinates
-		const TexCoord* tri = mesh.faceTexcoords.data()+idxFace*3;
-		Image8U::RasterizeTriangleBary(tri[0], tri[1], tri[2], data);
+			struct RasterTriangle {
+				#if USE_MESH_INT == USE_MESH_OCTREE
+				const Octree& octree;
+				#elif USE_MESH_INT == USE_MESH_BVH
+				BVH& tree;
+				#endif
+				const Mesh& meshRef;
+				Mesh& meshTrg;
+				Image8U& mask;
+				const Face& face;
+				float diagonal;
+				inline cv::Size Size() const { return meshTrg.textureDiffuse.size(); }
+				inline void operator()(const ImageRef& pt, const Point3f& bary) {
+					ASSERT(meshTrg.textureDiffuse.isInside(pt));
+					const Vertex X(meshTrg.vertices[face[0]]*bary.x + meshTrg.vertices[face[1]]*bary.y + meshTrg.vertices[face[2]]*bary.z);
+					const Normal N(normalized(meshTrg.vertexNormals[face[0]]*bary.x + meshTrg.vertexNormals[face[1]]*bary.y + meshTrg.vertexNormals[face[2]]*bary.z));
+					const Ray3f ray(Vertex(X+N*diagonal), Normal(-N));
+					#if USE_MESH_INT == USE_MESH_BF
+					const IntersectRayMesh intRay(meshRef, ray);
+					#elif USE_MESH_INT == USE_MESH_BVH
+					IntersectRayMesh intRay(meshRef, ray);
+					Eigen::BVIntersect(tree, intRay);
+					#else
+					const OctreeIntersectRayMesh intRay(octree, meshRef, ray);
+					#endif
+					if (intRay.pick.IsValid()) {
+						const FIndex refIdxFace((FIndex)intRay.pick.idx);
+						const Face& refFace = meshRef.faces[refIdxFace];
+						const Vertex refX(ray.GetPoint((Type)intRay.pick.dist));
+						const Vertex baryRef(CorrectBarycentricCoordinates(BarycentricCoordinatesUV(meshRef.vertices[refFace[0]], meshRef.vertices[refFace[1]], meshRef.vertices[refFace[2]], refX)));
+						const TexCoord* tri = meshRef.faceTexcoords.data()+refIdxFace*3;
+						const TexCoord x(tri[0]*baryRef.x + tri[1]*baryRef.y + tri[2]*baryRef.z);
+						const Pixel8U color(meshRef.textureDiffuse.sample(x));
+						meshTrg.textureDiffuse(pt) = color;
+						mask(pt) = 0;
+					}
+				}
+			#if USE_MESH_INT == USE_MESH_BF
+			} data{*this, mesh, mask, mesh.faces[idxFace], diagonal};
+			#elif USE_MESH_INT == USE_MESH_BVH
+			} data{tree, *this, mesh, mask, mesh.faces[idxFace], diagonal};
+			#else
+			} data{octree, *this, mesh, mask, mesh.faces[idxFace], diagonal};
+			#endif
+			// render triangle and for each pixel interpolate the color
+			// from the triangle corners using barycentric coordinates
+			const TexCoord* tri = mesh.faceTexcoords.data()+idxFace*3;
+			Image8U::RasterizeTriangleBary(tri[0], tri[1], tri[2], data);
+		}
+	}
+	// fill border
+	if (borderSize > 0) {
+		ASSERT(mask.size().area() == mesh.textureDiffuse.size().area());
+		const int border(static_cast<int>(borderSize));
+		CLISTDEF0(int) idx_valid_pixels;
+		idx_valid_pixels.push_back(-1);
+		ASSERT(mask.isContinuous());
+		const int size(mask.size().area());
+		for (int i=0; i<size; ++i)
+			if (!mask(i))
+				idx_valid_pixels.push_back(i);
+		Image32F dists; cv::Mat_<int32_t> labels;
+		cv::distanceTransform(mask, dists, labels, cv::DIST_L1, 3, cv::DIST_LABEL_PIXEL);
+		ASSERT(mesh.textureDiffuse.isContinuous());
+		for (int i=0; i<size; ++i) {
+			const int dist = static_cast<int>(dists(i));
+			if (dist > 0 && dist <= border) {
+				const int label(labels(i));
+				const int idx_closest_pixel(idx_valid_pixels[label]);
+				mesh.textureDiffuse(i) = mesh.textureDiffuse(idx_closest_pixel);
+			}
+		}
 	}
 	return true;
 } // TransferTexture
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 0d0640363..565bb2157 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -223,7 +223,7 @@ class MVS_API Mesh
 	bool Split(FacesChunkArr&, float maxArea);
 	Mesh SubMesh(const FaceIdxArr& faces) const;
 
-	bool TransferTexture(Mesh& mesh, unsigned textureSize=1024);
+	bool TransferTexture(Mesh& mesh, unsigned borderSize=3, unsigned textureSize=1024);
 
 	// file IO
 	bool Load(const String& fileName);

From 56a6536d24ed76ceb30909eb5f3ab93ac113ded7 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 3 Dec 2022 14:36:52 +0200
Subject: [PATCH 163/252] transform: add --export-type param

---
 apps/TransformScene/TransformScene.cpp | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

diff --git a/apps/TransformScene/TransformScene.cpp b/apps/TransformScene/TransformScene.cpp
index 580750fac..f416ea41c 100644
--- a/apps/TransformScene/TransformScene.cpp
+++ b/apps/TransformScene/TransformScene.cpp
@@ -58,6 +58,7 @@ namespace OPT {
 	unsigned nArchiveType;
 	int nProcessPriority;
 	unsigned nMaxThreads;
+	String strExportType;
 	String strConfigFileName;
 	boost::program_options::variables_map vm;
 } // namespace OPT
@@ -75,6 +76,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "produce this help message")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
+		("export-type", boost::program_options::value<std::string>(&OPT::strExportType)->default_value(_T("ply")), "file type used to export the 3D scene (ply, obj, glb or gltf)")
 		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
@@ -148,6 +150,17 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	}
 	if (bInvalidCommand)
 		return false;
+	OPT::strExportType = OPT::strExportType.ToLower();
+	if (OPT::strExportType == _T("obj"))
+		OPT::strExportType =  _T(".obj");
+	else
+	if (OPT::strExportType == _T("glb"))
+		OPT::strExportType =  _T(".glb");
+	else
+	if (OPT::strExportType == _T("gltf"))
+		OPT::strExportType =  _T(".gltf");
+	else
+		OPT::strExportType =  _T(".ply");
 
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
@@ -220,7 +233,7 @@ int main(int argc, LPCTSTR* argv)
 			return EXIT_FAILURE;
 		if (!scene.mesh.TransferTexture(newMesh))
 			return EXIT_FAILURE;
-		newMesh.Save(Util::getFileFullName(MAKE_PATH_SAFE(OPT::strOutputFileName)) + _T(".ply"));
+		newMesh.Save(Util::getFileFullName(MAKE_PATH_SAFE(OPT::strOutputFileName)) + OPT::strExportType);
 		VERBOSE("Texture transfered (%s)", TD_TIMER_GET_FMT().c_str());
 		return EXIT_SUCCESS;
 	}
@@ -229,7 +242,7 @@ int main(int argc, LPCTSTR* argv)
 		// compute the mesh volume
 		const REAL volume(scene.ComputeLeveledVolume(OPT::fPlaneThreshold, OPT::fSampleMesh, OPT::nUpAxis));
 		VERBOSE("Mesh volume: %g (%s)", volume, TD_TIMER_GET_FMT().c_str());
-		scene.mesh.Save(Util::getFileFullName(MAKE_PATH_SAFE(OPT::strOutputFileName)) + _T(".ply"));
+		scene.mesh.Save(Util::getFileFullName(MAKE_PATH_SAFE(OPT::strOutputFileName)) + OPT::strExportType);
 		if (scene.images.empty())
 			return EXIT_SUCCESS;
 		OPT::nArchiveType = ARCHIVE_DEFAULT;

From a8507a01f95c7e50244dbd931cd11aa68ce3f863 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sun, 4 Dec 2022 13:39:51 +0200
Subject: [PATCH 164/252] transform: import face IDs subset to use for texture
 transfer

---
 apps/TransformScene/TransformScene.cpp | 16 +++++++++++++++-
 libs/Common/List.h                     |  6 ++++--
 libs/MVS/Mesh.cpp                      | 17 ++++++++++-------
 libs/MVS/Mesh.h                        |  2 +-
 4 files changed, 30 insertions(+), 11 deletions(-)

diff --git a/apps/TransformScene/TransformScene.cpp b/apps/TransformScene/TransformScene.cpp
index f416ea41c..0fd93ae89 100644
--- a/apps/TransformScene/TransformScene.cpp
+++ b/apps/TransformScene/TransformScene.cpp
@@ -51,6 +51,7 @@ namespace OPT {
 	String strOutputFileName;
 	String strAlignFileName;
 	String strTransferTextureFileName;
+	String strIndicesFileName;
 	bool bComputeVolume;
 	float fPlaneThreshold;
 	float fSampleMesh;
@@ -98,6 +99,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the scene")
 		("align-file,a", boost::program_options::value<std::string>(&OPT::strAlignFileName), "input scene filename to which the scene will be cameras aligned")
 		("transfer-texture-file,t", boost::program_options::value<std::string>(&OPT::strTransferTextureFileName), "input mesh filename to which the texture of the scene's mesh will be transfered to (the two meshes should be aligned and the new mesh to have UV-map)")
+		("indices-file", boost::program_options::value<std::string>(&OPT::strIndicesFileName), "input indices filename to be used with ex. texture transfer to select a subset of the scene's mesh")
 		("compute-volume", boost::program_options::value(&OPT::bComputeVolume)->default_value(false), "compute the volume of the given watertight mesh, or else try to estimate the ground plane and assume the mesh is bounded by it")
 		("plane-threshold", boost::program_options::value(&OPT::fPlaneThreshold)->default_value(0.f), "threshold used to estimate the ground plane (<0 - disabled, 0 - auto, >0 - desired threshold)")
 		("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(-300000.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
@@ -141,6 +143,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	Util::ensureValidPath(OPT::strInputFileName);
 	Util::ensureValidPath(OPT::strAlignFileName);
 	Util::ensureValidPath(OPT::strTransferTextureFileName);
+	Util::ensureValidPath(OPT::strIndicesFileName);
 	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
 	const bool bInvalidCommand(OPT::strInputFileName.empty() || (OPT::strAlignFileName.empty() && OPT::strTransferTextureFileName.empty() && !OPT::bComputeVolume));
 	if (OPT::vm.count("help") || bInvalidCommand) {
@@ -231,7 +234,18 @@ int main(int argc, LPCTSTR* argv)
 		Mesh newMesh;
 		if (!newMesh.Load(MAKE_PATH_SAFE(OPT::strTransferTextureFileName)))
 			return EXIT_FAILURE;
-		if (!scene.mesh.TransferTexture(newMesh))
+		Mesh::FaceIdxArr faceSubsetIndices;
+		if (!OPT::strIndicesFileName.empty()) {
+			std::ifstream in(OPT::strIndicesFileName.c_str());
+			while (true) {
+				String index;
+				in >> index;
+				if (!in.good())
+					break;
+				faceSubsetIndices.emplace_back(index.From<Mesh::FIndex>());
+			}
+		}
+		if (!scene.mesh.TransferTexture(newMesh, faceSubsetIndices))
 			return EXIT_FAILURE;
 		newMesh.Save(Util::getFileFullName(MAKE_PATH_SAFE(OPT::strOutputFileName)) + OPT::strExportType);
 		VERBOSE("Texture transfered (%s)", TD_TIMER_GET_FMT().c_str());
diff --git a/libs/Common/List.h b/libs/Common/List.h
index 740ad3d3d..87a352176 100644
--- a/libs/Common/List.h
+++ b/libs/Common/List.h
@@ -23,8 +23,10 @@
 // cList index type
 #ifdef _SUPPORT_CPP11
 #define ARR2IDX(arr) typename std::remove_reference<decltype(arr)>::type::size_type
+#define SIZE2IDX(arr) typename std::remove_const<typename std::remove_reference<decltype(arr)>::type>::type
 #else
 #define ARR2IDX(arr) IDX
+#define SIZE2IDX(arr) IDX
 #endif
 
 // cList iterator by index
@@ -44,10 +46,10 @@
 
 // raw data array iterator by index
 #ifndef FOREACHRAW
-#define FOREACHRAW(var, sz) for (IDX var=0, var##Size=(sz); var<var##Size; ++var)
+#define FOREACHRAW(var, sz) for (SIZE2IDX(sz) var=0, var##Size=(sz); var<var##Size; ++var)
 #endif
 #ifndef RFOREACHRAW
-#define RFOREACHRAW(var, sz) for (IDX var=sz; var-->0; )
+#define RFOREACHRAW(var, sz) for (SIZE2IDX(sz) var=sz; var-->0; )
 #endif
 // raw data array iterator by pointer
 #ifndef FOREACHRAWPTR
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 5f6a8715d..02b884e44 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -4462,22 +4462,24 @@ inline Eigen::AlignedBox3f bounding_box(const FaceBox& faceBox) {
 	return faceBox.box;
 }
 #endif
-bool Mesh::TransferTexture(Mesh& mesh, unsigned borderSize, unsigned textureSize)
+bool Mesh::TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices, unsigned borderSize, unsigned textureSize)
 {
 	ASSERT(HasTexture() && mesh.HasTexture());
 	if (mesh.textureDiffuse.empty())
 		mesh.textureDiffuse.create(textureSize, textureSize);
 	Image8U mask(mesh.textureDiffuse.size(), uint8_t(255));
+	const FIndex num_faces(faceSubsetIndices.empty() ? faces.size() : faceSubsetIndices.size());
 	if (vertices == mesh.vertices && faces == mesh.faces) {
 		// the two meshes are identical, only the texture coordinates are different;
 		// directly transfer the texture onto the new coordinates
 		#ifndef MESH_USE_OPENMP
 		#pragma omp parallel for schedule(dynamic)
-		for (int_t i=0; i<(int_t)mesh.faces.size(); ++i) {
-			const FIndex idxFace((FIndex)i);
+		for (int_t i=0; i<(int_t)num_faces; ++i) {
+			const FIndex idx((FIndex)i);
 		#else
-		FOREACH(idxFace, mesh.faces) {
+		FOREACHRAW(idx, num_faces) {
 		#endif
+			const FIndex idxFace(faceSubsetIndices.empty() ? idx : faceSubsetIndices[idx]);
 			struct RasterTriangle {
 				const Mesh& meshRef;
 				Mesh& meshTrg;
@@ -4582,11 +4584,12 @@ bool Mesh::TransferTexture(Mesh& mesh, unsigned borderSize, unsigned textureSize
 		#endif
 		#ifdef MESH_USE_OPENMP
 		#pragma omp parallel for schedule(dynamic)
-		for (int_t i=0; i<(int_t)mesh.faces.size(); ++i) {
-			const FIndex idxFace((FIndex)i);
+		for (int_t i=0; i<(int_t)num_faces; ++i) {
+			const FIndex idx((FIndex)i);
 		#else
-		FOREACH(idxFace, mesh.faces) {
+		FOREACHRAW(idx, num_faces) {
 		#endif
+			const FIndex idxFace(faceSubsetIndices.empty() ? idx : faceSubsetIndices[idx]);
 			struct RasterTriangle {
 				#if USE_MESH_INT == USE_MESH_OCTREE
 				const Octree& octree;
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 565bb2157..f91028407 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -223,7 +223,7 @@ class MVS_API Mesh
 	bool Split(FacesChunkArr&, float maxArea);
 	Mesh SubMesh(const FaceIdxArr& faces) const;
 
-	bool TransferTexture(Mesh& mesh, unsigned borderSize=3, unsigned textureSize=1024);
+	bool TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices={}, unsigned borderSize=3, unsigned textureSize=1024);
 
 	// file IO
 	bool Load(const String& fileName);

From 0c9d9128ba13a7df70ca3a93257255355d533d2c Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 6 Dec 2022 23:53:54 +0200
Subject: [PATCH 165/252] interface: add Python API

---
 BUILD.md                                 |  42 +++++++
 CMakeLists.txt                           |  55 ++++++---
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp |   2 +-
 apps/RefineMesh/RefineMesh.cpp           |   9 +-
 apps/TextureMesh/TextureMesh.cpp         |   4 +-
 build/Utils.cmake                        |  11 +-
 libs/Common/Common.h                     |   4 +-
 libs/MVS/CMakeLists.txt                  |  21 +++-
 libs/MVS/PythonWrapper.cpp               | 136 +++++++++++++++++++++++
 libs/MVS/Scene.h                         |   4 +-
 libs/MVS/SceneRefine.cpp                 |   2 +-
 libs/MVS/SemiGlobalMatcher.h             |   4 +-
 vcpkg.json                               |   6 +
 13 files changed, 264 insertions(+), 36 deletions(-)
 create mode 100644 libs/MVS/PythonWrapper.cpp

diff --git a/BUILD.md b/BUILD.md
index 28fda265c..ffc29becf 100644
--- a/BUILD.md
+++ b/BUILD.md
@@ -64,3 +64,45 @@ endif()
 add_executable(your_project source_code.cpp)
 target_link_libraries(your_project PRIVATE OpenMVS::MVS)
 ```
+
+-------------------
+Python API
+-------------------
+
+The Python API can be enable by setting the `OpenMVS_USE_PYTHON` option to `ON` when running `cmake`. The Python API is built as a shared library and can be used in any Python project. Example:
+```
+import pyOpenMVS
+    
+def run_mvs():
+    # set the working folder; all files used next are relative to this folder (optional)
+    pyOpenMVS.set_working_folder("folder/containing/the/scene")
+    # create an empty scene
+    scene = pyOpenMVS.Scene()
+    # load a MVS scene from a file
+    if not scene.load("scene.mvs"):
+        print("ERROR: scene could not be loaded")
+        return
+    # estimate depth-maps and fuse them into a point-cloud
+    if not scene.dense_reconstruction():
+        print("ERROR: could not dense reconstruct the scene")
+        return
+    scene.save_pointcloud("pointcloud.ply")
+    # reconstruct a mesh from the point-cloud
+    if not scene.reconstruct_mesh():
+        print("ERROR: could not reconstruct the mesh for this scene")
+        return
+    scene.save_mesh("mesh.ply")
+    # refine the mesh using gradient descent optimization (optional)
+    if not scene.refine_mesh():
+        print("ERROR: could not refine the mesh for this scene")
+        return
+    scene.save_mesh("refined_mesh.ply")
+    # texture the mesh using the input images
+    if not scene.texture_mesh():
+        print("ERROR: could not texture the mesh for this scene")
+        return
+    scene.save_mesh("textured_mesh.ply")
+
+if __name__ == "__main__":
+    run_mvs()
+```
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 39ec359ac..ecc99eb9c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -14,6 +14,22 @@ IF(POLICY CMP0104)
 	CMAKE_POLICY(SET CMP0104 NEW)
 ENDIF()
 
+# List configuration options
+SET(OpenMVS_BUILD_TOOLS ON CACHE BOOL "Build example applications")
+SET(OpenMVS_USE_NONFREE ON CACHE BOOL "Build non-free (patented) functionality")
+SET(OpenMVS_USE_OPENMP ON CACHE BOOL "Enable OpenMP library")
+SET(OpenMVS_USE_OPENGL ON CACHE BOOL "Enable OpenGL library")
+SET(OpenMVS_USE_BREAKPAD ON CACHE BOOL "Enable BreakPad library")
+SET(OpenMVS_USE_PYTHON OFF CACHE BOOL "Enable Python library bindings")
+SET(OpenMVS_USE_CERES OFF CACHE BOOL "Enable CERES optimization library")
+SET(OpenMVS_USE_CUDA ON CACHE BOOL "Enable CUDA library")
+SET(OpenMVS_USE_FAST_FLOAT2INT ON CACHE BOOL "Use an optimized code to convert real numbers to int")
+SET(OpenMVS_USE_FAST_INVSQRT OFF CACHE BOOL "Use an optimized code to compute the inverse square root (slower in fact on modern compilers)")
+SET(OpenMVS_USE_FAST_CBRT ON CACHE BOOL "Use an optimized code to compute the cubic root")
+SET(OpenMVS_USE_SSE ON CACHE BOOL "Enable SSE optimizations")
+SET(OpenMVS_MAX_CUDA_COMPATIBILITY OFF CACHE BOOL "Build for maximum CUDA device compatibility")
+SET(OpenMVS_ENABLE_TESTS ON CACHE BOOL "Enable test code")
+
 # Load automatically VCPKG toolchain if available
 IF(NOT DEFINED CMAKE_TOOLCHAIN_FILE AND DEFINED ENV{VCPKG_ROOT})
 	SET(CMAKE_TOOLCHAIN_FILE "$ENV{VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake" CACHE STRING "")
@@ -21,6 +37,13 @@ IF(NOT DEFINED CMAKE_TOOLCHAIN_FILE AND DEFINED ENV{VCPKG_ROOT})
 		SET(VCPKG_TARGET_TRIPLET "$ENV{VCPKG_DEFAULT_TRIPLET}" CACHE STRING "")
 	ENDIF()
 ENDIF()
+IF(OpenMVS_USE_PYTHON)
+	LIST(APPEND VCPKG_MANIFEST_FEATURES "python")
+	SET(PARTIAL_BUILD_SHARED_LIBS ON)
+ENDIF()
+IF(OpenMVS_USE_CUDA)
+	LIST(APPEND VCPKG_MANIFEST_FEATURES "cuda")
+ENDIF()
 
 # Name of the project.
 #
@@ -34,21 +57,6 @@ SET(OpenMVS_MINOR_VERSION 1)
 SET(OpenMVS_PATCH_VERSION 0)
 SET(OpenMVS_VERSION ${OpenMVS_MAJOR_VERSION}.${OpenMVS_MINOR_VERSION}.${OpenMVS_PATCH_VERSION})
 
-# List configuration options
-SET(OpenMVS_BUILD_TOOLS ON CACHE BOOL "Build example applications")
-SET(OpenMVS_USE_NONFREE ON CACHE BOOL "Build non-free (patented) functionality")
-SET(OpenMVS_USE_OPENMP ON CACHE BOOL "Enable OpenMP library")
-SET(OpenMVS_USE_OPENGL ON CACHE BOOL "Enable OpenGL library")
-SET(OpenMVS_USE_BREAKPAD ON CACHE BOOL "Enable BreakPad library")
-SET(OpenMVS_USE_CERES OFF CACHE BOOL "Enable CERES optimization library")
-SET(OpenMVS_USE_CUDA ON CACHE BOOL "Enable CUDA library")
-SET(OpenMVS_USE_FAST_FLOAT2INT ON CACHE BOOL "Use an optimized code to convert real numbers to int")
-SET(OpenMVS_USE_FAST_INVSQRT OFF CACHE BOOL "Use an optimized code to compute the inverse square root (slower in fact on modern compilers)")
-SET(OpenMVS_USE_FAST_CBRT ON CACHE BOOL "Use an optimized code to compute the cubic root")
-SET(OpenMVS_USE_SSE ON CACHE BOOL "Enable SSE optimizations")
-SET(OpenMVS_MAX_CUDA_COMPATIBILITY OFF CACHE BOOL "Build for maximum CUDA device compatibility")
-SET(OpenMVS_ENABLE_TESTS ON CACHE BOOL "Enable test code")
-
 # Define helper functions and macros.
 INCLUDE(build/Utils.cmake)
 
@@ -170,7 +178,18 @@ if(OpenMVS_USE_BREAKPAD)
 	endif()
 endif()
 
-FIND_PACKAGE(Boost COMPONENTS iostreams program_options system serialization REQUIRED)
+if(OpenMVS_USE_PYTHON)
+	FIND_PACKAGE(PythonLibs 3.0 REQUIRED)
+	if(PythonLibs_FOUND)
+		INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
+		LIST(APPEND OpenMVS_EXTRA_INCLUDES ${PYTHON_INCLUDE_DIRS})
+		LIST(APPEND OpenMVS_EXTRA_LIBS ${PYTHON_LIBRARIES})
+	else()
+		MESSAGE("-- Can't find Python. Continuing without it.")
+	endif()
+endif()
+
+FIND_PACKAGE(Boost REQUIRED COMPONENTS iostreams program_options system serialization OPTIONAL_COMPONENTS python3)
 if(Boost_FOUND)
 	LIST(APPEND OpenMVS_EXTRA_INCLUDES ${Boost_INCLUDE_DIRS})
 	INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
@@ -182,6 +201,10 @@ if(Boost_FOUND)
 		LIST(APPEND Boost_LIBRARIES zstd)
 	endif()
 	SET(_USE_BOOST TRUE)
+	if(Boost_python3_FOUND)
+		LIST(APPEND OpenMVS_DEFINITIONS -D_USE_BOOST_PYTHON)
+		SET(_USE_BOOST_PYTHON TRUE)
+	endif()
 endif()
 
 FIND_PACKAGE(Eigen3 REQUIRED)
diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index 751e2e7d8..f8fefc7b2 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -910,7 +910,7 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 					LOG("error: no image using camera %u of platform %u", 0, ID);
 					continue;
 				}
-				IMAGEPTR ptrImage(Image::ReadImageHeader(MAKE_PATH_SAFE(pImage->name.c_str())));
+				IMAGEPTR ptrImage(Image::ReadImageHeader(MAKE_PATH_SAFE(pImage->name)));
 				if (ptrImage == NULL)
 					return false;
 				cam.width = ptrImage->GetWidth();
diff --git a/apps/RefineMesh/RefineMesh.cpp b/apps/RefineMesh/RefineMesh.cpp
index 7b68db118..f08aecbba 100644
--- a/apps/RefineMesh/RefineMesh.cpp
+++ b/apps/RefineMesh/RefineMesh.cpp
@@ -115,14 +115,14 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("close-holes", boost::program_options::value(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the input surface (0 - disabled)")
 		("ensure-edge-size", boost::program_options::value(&OPT::nEnsureEdgeSize)->default_value(1), "ensure edge size and improve vertex valence of the input surface (0 - disabled, 1 - auto, 2 - force)")
 		("max-face-area", boost::program_options::value(&OPT::nMaxFaceArea)->default_value(32), "maximum face area projected in any pair of images that is not subdivided (0 - disabled)")
-		("scales", boost::program_options::value(&OPT::nScales)->default_value(3), "how many iterations to run mesh optimization on multi-scale images")
+		("scales", boost::program_options::value(&OPT::nScales)->default_value(2), "how many iterations to run mesh optimization on multi-scale images")
 		("scale-step", boost::program_options::value(&OPT::fScaleStep)->default_value(0.5f), "image scale factor used at each mesh optimization step")
-		("reduce-memory", boost::program_options::value(&OPT::nReduceMemory)->default_value(1), "recompute some data in order to reduce memory requirements")
 		("alternate-pair", boost::program_options::value(&OPT::nAlternatePair)->default_value(0), "refine mesh using an image pair alternatively as reference (0 - both, 1 - alternate, 2 - only left, 3 - only right)")
 		("regularity-weight", boost::program_options::value(&OPT::fRegularityWeight)->default_value(0.2f), "scalar regularity weight to balance between photo-consistency and regularization terms during mesh optimization")
 		("rigidity-elasticity-ratio", boost::program_options::value(&OPT::fRatioRigidityElasticity)->default_value(0.9f), "scalar ratio used to compute the regularity gradient as a combination of rigidity and elasticity")
 		("gradient-step", boost::program_options::value(&OPT::fGradientStep)->default_value(45.05f), "gradient step to be used instead (0 - auto)")
 		("planar-vertex-ratio", boost::program_options::value(&OPT::fPlanarVertexRatio)->default_value(0.f), "threshold used to remove vertices on planar patches (0 - disabled)")
+		("reduce-memory", boost::program_options::value(&OPT::nReduceMemory)->default_value(1), "recompute some data in order to reduce memory requirements")
 		;
 
 	// hidden options, allowed both on command line and
@@ -252,11 +252,12 @@ int main(int argc, LPCTSTR* argv)
 						  OPT::fDecimateMesh, OPT::nCloseHoles, OPT::nEnsureEdgeSize,
 						  OPT::nMaxFaceArea,
 						  OPT::nScales, OPT::fScaleStep,
-						  OPT::nReduceMemory, OPT::nAlternatePair,
+						  OPT::nAlternatePair,
 						  OPT::fRegularityWeight,
 						  OPT::fRatioRigidityElasticity,
+						  OPT::fGradientStep,
 						  OPT::fPlanarVertexRatio,
-						  OPT::fGradientStep))
+						  OPT::nReduceMemory))
 		return EXIT_FAILURE;
 	VERBOSE("Mesh refinement completed: %u vertices, %u faces (%s)", scene.mesh.vertices.GetSize(), scene.mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
 
diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index e2b1dc1c4..6bf906613 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -305,7 +305,9 @@ int main(int argc, LPCTSTR* argv)
 
 	// compute mesh texture
 	TD_TIMER_START();
-	if (!scene.TextureMesh(OPT::nResolutionLevel, OPT::nMinResolution, OPT::minCommonCameras, OPT::fOutlierThreshold, OPT::fRatioDataSmoothness, OPT::bGlobalSeamLeveling, OPT::bLocalSeamLeveling, OPT::nTextureSizeMultiple, OPT::nRectPackingHeuristic, Pixel8U(OPT::nColEmpty), OPT::fSharpnessWeight, views))
+	if (!scene.TextureMesh(OPT::nResolutionLevel, OPT::nMinResolution, OPT::minCommonCameras, OPT::fOutlierThreshold, OPT::fRatioDataSmoothness,
+						   OPT::bGlobalSeamLeveling, OPT::bLocalSeamLeveling, OPT::nTextureSizeMultiple, OPT::nRectPackingHeuristic, Pixel8U(OPT::nColEmpty),
+						   OPT::fSharpnessWeight, views))
 		return EXIT_FAILURE;
 	VERBOSE("Mesh texturing completed: %u vertices, %u faces (%s)", scene.mesh.vertices.GetSize(), scene.mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
 
diff --git a/build/Utils.cmake b/build/Utils.cmake
index 0cb2d8e1a..9c2430faa 100644
--- a/build/Utils.cmake
+++ b/build/Utils.cmake
@@ -646,12 +646,8 @@ macro(optimize_default_compiler_settings)
 
 	# Extra link libs if the user selects building static libs:
 	# Android does not need these settings because they are already set by toolchain file
-	if(CMAKE_COMPILER_IS_GNUCXX AND NOT ANDROID)
-		if(BUILD_SHARED_LIBS)
-			set(BUILD_EXTRA_FLAGS "${BUILD_EXTRA_FLAGS} -fPIC")
-		else()
-			set(BUILD_EXTRA_LINKER_LIBS "${BUILD_EXTRA_LINKER_LIBS} stdc++")
-		endif()
+	if(CMAKE_COMPILER_IS_GNUCXX AND NOT ANDROID AND NOT BUILD_SHARED_LIBS)
+		set(BUILD_EXTRA_LINKER_LIBS "${BUILD_EXTRA_LINKER_LIBS} stdc++")
 	endif()
 
 	# Add user supplied extra options (optimization, etc...)
@@ -839,6 +835,9 @@ function(cxx_library_with_type name folder type cxx_flags)
   endif()
   # Set project folder
   set_target_properties("${name}" PROPERTIES FOLDER "${folder}")
+  if(BUILD_SHARED_LIBS OR PARTIAL_BUILD_SHARED_LIBS)
+    set_target_properties("${name}" PROPERTIES POSITION_INDEPENDENT_CODE ON)
+  endif()
 endfunction()
 
 # cxx_executable_with_flags(name cxx_flags libs srcs...)
diff --git a/libs/Common/Common.h b/libs/Common/Common.h
index 5db8877eb..ff5300157 100644
--- a/libs/Common/Common.h
+++ b/libs/Common/Common.h
@@ -91,8 +91,8 @@ extern String g_strWorkingFolderFull; // full path to current folder
 #define WORKING_FOLDER_FULL	g_strWorkingFolderFull // full path to current folder
 #endif
 #define INIT_WORKING_FOLDER	{SEACAVE::Util::ensureValidFolderPath(WORKING_FOLDER); WORKING_FOLDER_FULL = SEACAVE::Util::getFullPath(WORKING_FOLDER);} // initialize working folders
-#define MAKE_PATH(str)		SEACAVE::Util::getSimplifiedPath(WORKING_FOLDER+(str)) // add working directory to the given file name
-#define MAKE_PATH_SAFE(str)	(SEACAVE::Util::isFullPath(str) ? SEACAVE::String(str) : MAKE_PATH(str)) // add working directory to the given file name only if not full path already
+#define MAKE_PATH(str)		SEACAVE::Util::getSimplifiedPath(WORKING_FOLDER+SEACAVE::String(str)) // add working directory to the given file name
+#define MAKE_PATH_SAFE(str)	(SEACAVE::Util::isFullPath((str).c_str()) ? SEACAVE::String(str) : MAKE_PATH(str)) // add working directory to the given file name only if not full path already
 #define MAKE_PATH_FULL(p,s) (SEACAVE::Util::isFullPath((s).c_str()) ? SEACAVE::String(s) : SEACAVE::Util::getSimplifiedPath((p)+(s))) // add the given path to the given file name
 #define MAKE_PATH_REL(p,s)	((s).compare(0,(p).size(),p) ? SEACAVE::String(s) : SEACAVE::String(SEACAVE::String((s).substr((p).size())))) // remove the given path from the given file name
 #define GET_PATH_FULL(str)	(SEACAVE::Util::isFullPath((str).c_str()) ? SEACAVE::Util::getFilePath(str) : SEACAVE::Util::getSimplifiedPath(WORKING_FOLDER_FULL+SEACAVE::Util::getFilePath(str))) // retrieve the full path to the given file
diff --git a/libs/MVS/CMakeLists.txt b/libs/MVS/CMakeLists.txt
index 79dbaba65..853386508 100644
--- a/libs/MVS/CMakeLists.txt
+++ b/libs/MVS/CMakeLists.txt
@@ -32,6 +32,9 @@ if(_USE_CUDA)
 	LIST(APPEND LIBRARY_FILES_C ${LIBRARY_FILES_CUDA})
 endif()
 
+GET_FILENAME_COMPONENT(PATH_PythonWrapper_cpp ${CMAKE_CURRENT_SOURCE_DIR}/PythonWrapper.cpp ABSOLUTE)
+LIST(REMOVE_ITEM LIBRARY_FILES_C "${PATH_PythonWrapper_cpp}")
+
 cxx_library_with_type(MVS "Libs" "" "${cxx_default}"
 	${LIBRARY_FILES_C} ${LIBRARY_FILES_H}
 )
@@ -43,10 +46,26 @@ endif()
 
 # Link its dependencies
 if(_USE_CUDA)
-	set_target_properties(MVS PROPERTIES CUDA_ARCHITECTURES "50;72;75")
+	SET_TARGET_PROPERTIES(MVS PROPERTIES CUDA_ARCHITECTURES "50;72;75")
 endif()
 TARGET_LINK_LIBRARIES(MVS PRIVATE Common Math IO CGAL::CGAL ${CERES_LIBRARIES} ${CUDA_CUDA_LIBRARY})
 
+if(OpenMVS_USE_PYTHON)
+	# Create the Python wrapper
+	cxx_library_with_type(pyOpenMVS "Libs" "SHARED" "${cxx_default}"
+		${PATH_PythonWrapper_cpp}
+	)
+	# Link its dependencies
+	if(_USE_CUDA)
+		SET_TARGET_PROPERTIES(pyOpenMVS PROPERTIES CUDA_ARCHITECTURES "50;72;75")
+	endif()
+	TARGET_LINK_LIBRARIES(pyOpenMVS PRIVATE MVS ${OpenMVS_EXTRA_LIBS})
+	# Suppress prefix "lib" because Python does not allow this prefix
+	SET_TARGET_PROPERTIES(pyOpenMVS PROPERTIES PREFIX "")
+	# Install
+	INSTALL(TARGETS pyOpenMVS DESTINATION "${PYTHON_INSTALL_PATH}")
+endif()
+
 # Install
 SET_TARGET_PROPERTIES(MVS PROPERTIES
 	PUBLIC_HEADER "${LIBRARY_FILES_H}")
diff --git a/libs/MVS/PythonWrapper.cpp b/libs/MVS/PythonWrapper.cpp
new file mode 100644
index 000000000..fd5827db6
--- /dev/null
+++ b/libs/MVS/PythonWrapper.cpp
@@ -0,0 +1,136 @@
+/*
+* PythonWrapper.cpp
+*
+* Copyright (c) 2014-2022 SEACAVE
+*
+* Author(s):
+*
+*      cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*      You are required to preserve legal notices and author attributions in
+*      that material or in the Appropriate Legal Notices displayed by works
+*      containing it.
+*/
+
+#ifdef _USE_BOOST_PYTHON
+
+#undef _USRDLL
+#define _LIB
+#include "Common.h"
+#include "Scene.h"
+#undef _LIB
+#define _USRDLL
+#define BOOST_PYTHON_STATIC_LIB
+#include <boost/python.hpp>
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+namespace pyMVS {
+
+class Scene : public MVS::Scene
+{
+public:
+	Scene(unsigned _nMaxThreads=0) : MVS::Scene(_nMaxThreads) {
+		Util::Init();
+		INIT_WORKING_FOLDER;
+		MVS::OPTDENSE::init();
+	}
+
+	bool pyLoad(const std::string& fileName, bool bImport=false) {
+		return Load(MAKE_PATH_SAFE(fileName), bImport);
+	}
+	bool pySave(const std::string& fileName, int type=ARCHIVE_DEFAULT) const {
+		return Save(MAKE_PATH_SAFE(fileName), static_cast<ARCHIVE_TYPE>(type));
+	}
+
+	bool pySavePointCloud(const std::string& fileName) const {
+		return pointcloud.Save(MAKE_PATH_SAFE(fileName));
+	}
+
+	bool pyLoadMesh(const std::string& fileName) {
+		return mesh.Load(MAKE_PATH_SAFE(fileName));
+	}
+	bool pySaveMesh(const std::string& fileName) const {
+		return mesh.Save(MAKE_PATH_SAFE(fileName));
+	}
+
+	bool pyDenseReconstruction(unsigned nResolutionLevel=1, int nFusionMode=0, bool bCrop2ROI=true, float fBorderROI=0) {
+		MVS::OPTDENSE::nResolutionLevel = nResolutionLevel;
+		return DenseReconstruction(nFusionMode, bCrop2ROI, fBorderROI);
+	}
+	bool pyReconstructMesh(float distInsert=2, bool bUseFreeSpaceSupport=false, bool bUseOnlyROI=false) {
+		return ReconstructMesh(distInsert, bUseFreeSpaceSupport, bUseOnlyROI);
+	}
+	void pyCleanMesh(float fDecimate=1.f, float fRemoveSpurious=20.f, bool bRemoveSpikes=true, unsigned nCloseHoles=30, unsigned nSmoothMesh=2, float fEdgeLength=0.f, bool bCrop2ROI=false) {
+		if (bCrop2ROI && IsBounded()) {
+			const size_t numVertices = mesh.vertices.size();
+			const size_t numFaces = mesh.faces.size();
+			mesh.RemoveFacesOutside(obb);
+		}
+		mesh.Clean(fDecimate, fRemoveSpurious, bRemoveSpikes, nCloseHoles, nSmoothMesh, fEdgeLength, false);
+		mesh.Clean(1.f, 0.f, bRemoveSpikes, nCloseHoles, 0u, 0.f, false); // extra cleaning trying to close more holes
+		mesh.Clean(1.f, 0.f, false, 0u, 0u, 0.f, true); // extra cleaning to remove non-manifold problems created by closing holes
+	}
+	bool pyRefineMesh(unsigned nResolutionLevel=0, unsigned nEnsureEdgeSize=1, unsigned nMaxFaceArea=32, unsigned nScales=2, float fScaleStep=0.5f, float fRegularityWeight=0.2f) {
+		return RefineMesh(nResolutionLevel, 640/*nMinResolution*/, 8/*nMaxViews*/, 0.f/*fDecimateMesh*/, 30/*nCloseHoles*/, nEnsureEdgeSize,
+			nMaxFaceArea, nScales, fScaleStep, 0/*nAlternatePair*/, fRegularityWeight, 0.9f/*fRatioRigidityElasticity*/, 45.05f/*fGradientStep*/);
+	}
+	bool pyTextureMesh(unsigned nResolutionLevel=0, uint32_t nColEmpty=0x00FF7F27) {
+		return TextureMesh(nResolutionLevel, 640/*nMinResolution*/, 0/*minCommonCameras*/, 0.f/*fOutlierThreshold*/, 0.3f/*fRatioDataSmoothness*/,
+			true/*bGlobalSeamLeveling*/, true/*bLocalSeamLeveling*/, 0/*nTextureSizeMultiple*/, 3/*nRectPackingHeuristic*/, Pixel8U(nColEmpty));
+	}
+};
+
+void SetWorkingFolder(const std::string& folder) {
+	WORKING_FOLDER = folder;
+	Util::ensureValidFolderPath(WORKING_FOLDER);
+	INIT_WORKING_FOLDER;
+}
+
+BOOST_PYTHON_MODULE(pyOpenMVS) {
+	using namespace boost::python;
+	
+	class_<Scene, boost::noncopyable, boost::shared_ptr<Scene>>("Scene", init<unsigned>(arg("max_threads")=0))
+		.def("load", &Scene::pyLoad, (arg("file_path"), arg("import")=true))
+		.def("save", &Scene::pySave, (arg("file_path"), arg("type")=static_cast<int>(ARCHIVE_DEFAULT)))
+		.def("save_pointcloud", &Scene::pySavePointCloud, (arg("file_path")))
+		.def("load_mesh", &Scene::pyLoadMesh, (arg("file_path")))
+		.def("save_mesh", &Scene::pySaveMesh, (arg("file_path")))
+		.def("scale_images", &Scene::ScaleImages)
+		.def("transform", &Scene::Transform)
+		.def("align_to", &Scene::AlignTo)
+		.def("dense_reconstruction", &Scene::pyDenseReconstruction, (arg("resolution_level")=0, arg("fusion_mode")=0, arg("crop_to_roi")=true, arg("roi_border")=0.f))
+		.def("reconstruct_mesh", &Scene::pyReconstructMesh, (arg("dist_insert")=2, arg("use_free_space_support")=false, arg("use_only_roi")=false))
+		.def("clean_mesh", &Scene::pyCleanMesh, (arg("decimate")=1.f, arg("remove_spurious")=20.f, arg("remove_spikes")=true, arg("close_holes")=30, arg("smooth_mesh")=2, arg("edge_length")=0.f, arg("crop_to_roi")=true))
+		.def("refine_mesh", &Scene::pyRefineMesh, (arg("resolution_level")=0, arg("ensure_edge_size")=1, arg("max_face_area")=32, arg("scales")=2, arg("scale_step")=0.5f, arg("regularity_weight")=0.2f))
+		.def("texture_mesh", &Scene::pyTextureMesh, (arg("resolution_level")=0, arg("empty_color")=0x00FF7F27))
+		.def("compute_leveled_volume", &Scene::ComputeLeveledVolume);
+	
+	def("set_working_folder", &SetWorkingFolder);
+} // BOOST_PYTHON_MODULE
+/*----------------------------------------------------------------*/
+
+} // namespace pyMVS
+
+#endif // _USE_BOOST_PYTHON
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index c3807e966..93d6cf5b1 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -126,8 +126,8 @@ class MVS_API Scene
 
 	// Mesh refinement
 	bool RefineMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned nMaxViews, float fDecimateMesh, unsigned nCloseHoles, unsigned nEnsureEdgeSize,
-		unsigned nMaxFaceArea, unsigned nScales, float fScaleStep, unsigned nReduceMemory, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity,
-		float fThPlanarVertex, float fGradientStep);
+		unsigned nMaxFaceArea, unsigned nScales, float fScaleStep, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity, float fGradientStep,
+		float fThPlanarVertex=0.f, unsigned nReduceMemory=1);
 	#ifdef _USE_CUDA
 	bool RefineMeshCUDA(unsigned nResolutionLevel, unsigned nMinResolution, unsigned nMaxViews, float fDecimateMesh, unsigned nCloseHoles, unsigned nEnsureEdgeSize,
 		unsigned nMaxFaceArea, unsigned nScales, float fScaleStep, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity, float fGradientStep);
diff --git a/libs/MVS/SceneRefine.cpp b/libs/MVS/SceneRefine.cpp
index bf1201d14..79875f302 100644
--- a/libs/MVS/SceneRefine.cpp
+++ b/libs/MVS/SceneRefine.cpp
@@ -1280,7 +1280,7 @@ class MeshProblem : public FirstOrderFunction, public IterationCallback
 bool Scene::RefineMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned nMaxViews,
 					   float fDecimateMesh, unsigned nCloseHoles, unsigned nEnsureEdgeSize, unsigned nMaxFaceArea,
 					   unsigned nScales, float fScaleStep,
-					   unsigned nReduceMemory, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity, float fThPlanarVertex, float fGradientStep)
+					   unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity, float fGradientStep, float fThPlanarVertex, unsigned nReduceMemory)
 {
 	if (pointcloud.IsEmpty() && !ImagesHaveNeighbors())
 		SampleMeshWithVisibility();
diff --git a/libs/MVS/SemiGlobalMatcher.h b/libs/MVS/SemiGlobalMatcher.h
index 740840db4..372a7c0fe 100644
--- a/libs/MVS/SemiGlobalMatcher.h
+++ b/libs/MVS/SemiGlobalMatcher.h
@@ -142,8 +142,8 @@ class MVS_API SemiGlobalMatcher
 		}
 	};
 
-	typedef MVS_API Point2f DepthRange;
-	typedef MVS_API TImage<DepthRange> DepthRangeMap;
+	typedef Point2f DepthRange;
+	typedef TImage<DepthRange> DepthRangeMap;
 
 public:
 	SemiGlobalMatcher(SgmSubpixelMode subpixelMode=SUBPIXEL_LC_BLEND, Disparity subpixelSteps=4, AccumCost P1=3, AccumCost P2=4, float P2alpha=14, float P2beta=38);
diff --git a/vcpkg.json b/vcpkg.json
index 17eae3888..a74f701ea 100644
--- a/vcpkg.json
+++ b/vcpkg.json
@@ -24,6 +24,12 @@
     "zlib"
   ],
   "features": {
+    "python": {
+      "description": "Python bindings for OpenMVS",
+      "dependencies": [
+        "boost-python"
+      ]
+    },
     "cuda": {
       "description": "CUDA support for OpenMVS",
       "dependencies": [

From 0c2228e4be5d778b02cb64510d31fce863b4a2f0 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 7 Dec 2022 00:12:21 +0200
Subject: [PATCH 166/252] common: disable TImage::Show() on release

---
 libs/Common/Types.h            | 3 +++
 libs/Common/Types.inl          | 2 ++
 libs/MVS/SceneDensify.cpp      | 2 +-
 libs/MVS/SemiGlobalMatcher.cpp | 4 +++-
 libs/MVS/SemiGlobalMatcher.h   | 2 ++
 5 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index d5dcb27e2..93b27eba7 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -2201,7 +2201,10 @@ class TImage : public TDMatrix<TYPE>
 
 	bool Load(const String&);
 	bool Save(const String&) const;
+
+	#ifndef _RELEASE
 	void Show(const String& winname, int delay=0, bool bDestroy=true) const;
+	#endif
 
 	#ifdef _USE_BOOST
 	// serialize
diff --git a/libs/Common/Types.inl b/libs/Common/Types.inl
index b951c7931..d4129e1ad 100644
--- a/libs/Common/Types.inl
+++ b/libs/Common/Types.inl
@@ -3077,6 +3077,7 @@ bool TImage<TYPE>::Save(const String& fileName) const
 }
 /*----------------------------------------------------------------*/
 
+#ifndef _RELEASE
 template <typename TYPE>
 void TImage<TYPE>::Show(const String& winname, int delay, bool bDestroy) const
 {
@@ -3086,6 +3087,7 @@ void TImage<TYPE>::Show(const String& winname, int delay, bool bDestroy) const
 		cv::destroyWindow(winname);
 }
 /*----------------------------------------------------------------*/
+#endif
 
 
 // C L A S S  //////////////////////////////////////////////////////
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index ee7929612..b2969c7d3 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -675,7 +675,7 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage, int nGeometricIter)
 			if (OPTDENSE::nIgnoreMaskLabel >= 0 && DepthEstimator::ImportIgnoreMask(*image.pImageData, depthData.depthMap.size(), mask, (uint16_t)OPTDENSE::nIgnoreMaskLabel))
 				depthData.ApplyIgnoreMask(mask);
 			DepthEstimator::MapMatrix2ZigzagIdx(size, coords, mask, MAXF(64,(int)nMaxThreads*8));
-			#if 0
+			#if 0 && !defined(_RELEASE)
 			// show pixels to be processed
 			Image8U cmask(size);
 			cmask.memset(0);
diff --git a/libs/MVS/SemiGlobalMatcher.cpp b/libs/MVS/SemiGlobalMatcher.cpp
index 89bcd0e47..2b0757921 100644
--- a/libs/MVS/SemiGlobalMatcher.cpp
+++ b/libs/MVS/SemiGlobalMatcher.cpp
@@ -866,7 +866,7 @@ void SemiGlobalMatcher::Match(const ViewData& leftImage, const ViewData& rightIm
 	const cv::Size sizeValid(size.width-2*halfWindowSizeX, size.height-2*halfWindowSizeY);
 	ASSERT(leftImage.imageColor.size() == size);
 
-	#if 0
+	#if 0 && !defined(_RELEASE)
 	// display search info (average disparity and range)
 	DisplayState(sizeValid);
 	#endif
@@ -1811,6 +1811,7 @@ void SemiGlobalMatcher::RefineDisparityMap(DisparityMap& disparityMap) const
 }
 
 
+#ifndef _RELEASE
 // extract disparity and range from the pixel-map
 void SemiGlobalMatcher::DisplayState(const cv::Size& size) const
 {
@@ -1831,6 +1832,7 @@ void SemiGlobalMatcher::DisplayState(const cv::Size& size) const
 
 	cv::destroyAllWindows();
 }
+#endif
 
 // Compute the disparity-map for the rectified image from the given depth-map of the un-rectified image;
 // the disparity map needs to be already constructed at the desired size (valid size, excluding the border)
diff --git a/libs/MVS/SemiGlobalMatcher.h b/libs/MVS/SemiGlobalMatcher.h
index 372a7c0fe..36117b495 100644
--- a/libs/MVS/SemiGlobalMatcher.h
+++ b/libs/MVS/SemiGlobalMatcher.h
@@ -178,7 +178,9 @@ class MVS_API SemiGlobalMatcher
 	static void FlipDirection(const DisparityMap& l2r, DisparityMap& r2l);
 	static void UpscaleMask(MaskMap& maskMap, const cv::Size& size2x);
 	void RefineDisparityMap(DisparityMap& disparityMap) const;
+	#ifndef _RELEASE
 	void DisplayState(const cv::Size& size) const;
+	#endif
 
 	static CLISTDEF0IDX(AccumCost,int) GenerateP2s(AccumCost P2, float P2alpha, float P2beta);
 	static void Depth2DisparityMap(const DepthMap&, const Matrix3x3& invH, const Matrix4x4& invQ, Disparity subpixelSteps, DisparityMap&);

From 000443e2adc3a1cd4b2e2125d8e61e4ae1725d38 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 7 Dec 2022 00:20:33 +0200
Subject: [PATCH 167/252] build: disable CUDA during continuous integration

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

diff --git a/.github/workflows/continuous_integration.yml b/.github/workflows/continuous_integration.yml
index 7c327e6e9..b5e9c1cdb 100644
--- a/.github/workflows/continuous_integration.yml
+++ b/.github/workflows/continuous_integration.yml
@@ -57,7 +57,7 @@ jobs:
 
       - name: Configure CMake
         run: |
-          cmake -S . -B make -DCMAKE_BUILD_TYPE=${{ matrix.build-type }} -DVCPKG_TARGET_TRIPLET=${{ matrix.triplet }}
+          cmake -S . -B make -DCMAKE_BUILD_TYPE=${{ matrix.build-type }} -DVCPKG_TARGET_TRIPLET=${{ matrix.triplet }} -DOpenMVS_USE_CUDA=OFF
 
       - name: Build
         working-directory: ./make

From 516306a99279a8a30db5cf9d6050a493960ccebe Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 27 Dec 2022 10:09:19 +0200
Subject: [PATCH 168/252] common: implement custom RQ decomposition

---
 libs/Common/Util.inl | 91 ++++++++++++++++++++++++++++++++++++++++++++
 libs/MVS/Camera.cpp  |  3 +-
 2 files changed, 92 insertions(+), 2 deletions(-)

diff --git a/libs/Common/Util.inl b/libs/Common/Util.inl
index 381975929..386c4adf3 100644
--- a/libs/Common/Util.inl
+++ b/libs/Common/Util.inl
@@ -177,6 +177,97 @@ inline TMatrix<TYPE,3,3> CreateF(const TMatrix<TYPE,3,3>& R, const TMatrix<TYPE,
 /*----------------------------------------------------------------*/
 
 
+// computes an RQ decomposition of 3x3 matrices as in:
+// "Computing euler angles from a rotation matrix", Gregory G Slabaugh, 1999
+template <typename Scalar>
+inline void RQDecomp3x3(Eigen::Matrix<Scalar,3,3> M, Eigen::Matrix<Scalar,3,3>& R, Eigen::Matrix<Scalar,3,3>& Q) {
+	// find Givens rotation for x axis:
+	//       | 1  0  0 |
+	//  Qx = | 0  c  s |, c = m33/sqrt(m32^2 + m33^2), s = m32/sqrt(m32^2 + m33^2)
+	//       | 0 -s  c |
+	Eigen::Matrix<Scalar,2,1> cs = Eigen::Matrix<Scalar,2,1>(M(2,2), M(2,1)).normalized();
+	Eigen::Matrix<Scalar,3,3> Qx{ {1, 0, 0}, {0, cs.x(), cs.y()}, {0, -cs.y(), cs.x()} };
+	R.noalias() = M * Qx;
+	ASSERT(std::abs(R(2,1)) < FLT_EPSILON);
+	R(2,1) = 0;
+	// find Givens rotation for y axis:
+	//       | c  0 -s |
+	//  Qy = | 0  1  0 |, c = m33/sqrt(m31^2 + m33^2), s = -m31/sqrt(m31^2 + m33^2)
+	//       | s  0  c |
+	cs = Eigen::Matrix<Scalar,2,1>(R(2,2), -R(2,0)).normalized();
+	Eigen::Matrix<Scalar,3,3> Qy{ {cs.x(), 0, -cs.y()}, {0, 1, 0}, {cs.y(), 0, cs.x()} };
+	M.noalias() = R * Qy;
+	ASSERT(std::abs(M(2,0)) < FLT_EPSILON);
+	M(2,0) = 0;
+	// find Givens rotation for z axis:
+	//       | c  s  0 |
+	//  Qz = |-s  c  0 |, c = m22/sqrt(m21^2 + m22^2), s = m21/sqrt(m21^2 + m22^2)
+	//       | 0  0  1 |
+	cs = Eigen::Matrix<Scalar,2,1>(M(1,1), M(1,0)).normalized();
+	Eigen::Matrix<Scalar,3,3> Qz{ {cs.x(), cs.y(), 0}, {-cs.y(), cs.x(), 0}, {0, 0, 1} };
+	R.noalias() = M * Qz;
+	ASSERT(std::abs(R(1,0)) < FLT_EPSILON);
+	R(1,0) = 0;
+	// solve the decomposition ambiguity:
+	//  - diagonal entries of R, except the last one, shall be positive
+	//  - rotate R by 180 degree if necessary
+	if (R(0,0) < 0) {
+		if (R(1,1) < 0) {
+			// rotate around z for 180 degree:
+			//  |-1,  0,  0|
+			//  | 0, -1,  0|
+			//  | 0,  0,  1|
+			R(0,0) *= -1;
+			R(0,1) *= -1;
+			R(1,1) *= -1;
+			Qz(0,0) *= -1;
+			Qz(0,1) *= -1;
+			Qz(1,0) *= -1;
+			Qz(1,1) *= -1;
+		} else {
+			// rotate around y for 180 degree:
+			//  |-1,  0,  0|
+			//  | 0,  1,  0|
+			//  | 0,  0, -1|
+			R(0,0) *= -1;
+			R(0,2) *= -1;
+			R(1,2) *= -1;
+			R(2,2) *= -1;
+			Qz.transposeInPlace();
+			Qy(0,0) *= -1;
+			Qy(0,2) *= -1;
+			Qy(2,0) *= -1;
+			Qy(2,2) *= -1;
+		}
+	} else if (R(1,1) < 0) {
+		// rotate around x for 180 degree:
+		//  | 1,  0,  0|
+		//  | 0, -1,  0|
+		//  | 0,  0, -1|
+		R(0,1) *= -1;
+		R(0,2) *= -1;
+		R(1,1) *= -1;
+		R(1,2) *= -1;
+		R(2,2) *= -1;
+		Qz.transposeInPlace();
+		Qy.transposeInPlace();
+		Qx(1,1) *= -1;
+		Qx(1,2) *= -1;
+		Qx(2,1) *= -1;
+		Qx(2,2) *= -1;
+	}
+	// calculate orthogonal matrix
+	Q.noalias() = Qz.transpose() * Qy.transpose() * Qx.transpose();
+}
+template <typename TYPE>
+inline void RQDecomp3x3(const TMatrix<TYPE,3,3>& M, TMatrix<TYPE,3,3>& R, TMatrix<TYPE,3,3>& Q) {
+	Eigen::Matrix<TYPE,3,3> _M((TMatrix<TYPE,3,3>::CEMatMap)M), _R((TMatrix<TYPE,3,3>::CEMatMap)R), _Q((TMatrix<TYPE,3,3>::CEMatMap)Q);
+	RQDecomp3x3<TYPE>(_M, _R, _Q);
+	R = _R; Q = _Q;
+} // RQDecomp3x3
+/*----------------------------------------------------------------*/
+
+
 // compute the angle between the two rotations given
 // as in: "Disambiguating Visual Relations Using Loop Constraints", 2010
 // returns cos(angle) (same as cos(ComputeAngleSO3(I))
diff --git a/libs/MVS/Camera.cpp b/libs/MVS/Camera.cpp
index 01464b713..48380da81 100644
--- a/libs/MVS/Camera.cpp
+++ b/libs/MVS/Camera.cpp
@@ -137,8 +137,7 @@ void MVS::DecomposeProjectionMatrix(const PMatrix& P, KMatrix& K, RMatrix& R, CM
 	const Vec4 hC(P.RightNullVector());
 	C = CMatrix(hC[0],hC[1],hC[2]) * INVERT(hC[3]);
 	// perform RQ decomposition
-	const cv::Mat mP(3,4,cv::DataType<REAL>::type,const_cast<REAL*>(P.val));
-	cv::RQDecomp3x3(mP(cv::Rect(0,0, 3,3)), K, R);
+	RQDecomp3x3<REAL>(cv::Mat(3,4,cv::DataType<REAL>::type,const_cast<REAL*>(P.val))(cv::Rect(0,0, 3,3)), K, R);
 	// normalize calibration matrix
 	K *= INVERT(K(2,2));
 	// ensure positive focal length

From 2874f19fbcdf3c4d7c3b98866b7d57f8129dac29 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 27 Dec 2022 13:03:50 +0200
Subject: [PATCH 169/252] dense: load mask with predefined '.mask.png'
 extension

---
 .github/workflows/continuous_integration.yml |  2 +-
 CMakeLists.txt                               |  1 +
 apps/DensifyPointCloud/DensifyPointCloud.cpp |  2 +-
 libs/Common/Common.h                         |  2 +-
 libs/Common/Strings.h                        | 36 ++++++++++++++++++++
 libs/Common/Util.inl                         |  3 +-
 libs/MVS/DepthMap.cpp                        |  8 ++---
 7 files changed, 46 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/continuous_integration.yml b/.github/workflows/continuous_integration.yml
index b5e9c1cdb..a4429f315 100644
--- a/.github/workflows/continuous_integration.yml
+++ b/.github/workflows/continuous_integration.yml
@@ -39,7 +39,7 @@ jobs:
         uses: actions/checkout@v3
 
       - name: Restore artifacts, or setup vcpkg for building artifacts
-        uses: lukka/run-vcpkg@v10.6
+        uses: lukka/run-vcpkg@v10
         with:
           vcpkgDirectory: '${{ github.workspace }}/vcpkg'
           vcpkgGitCommitId: '4cb4a5c5ddcb9de0c83c85837ee6974c8333f032'
diff --git a/CMakeLists.txt b/CMakeLists.txt
index ecc99eb9c..98b85630e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -184,6 +184,7 @@ if(OpenMVS_USE_PYTHON)
 		INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
 		LIST(APPEND OpenMVS_EXTRA_INCLUDES ${PYTHON_INCLUDE_DIRS})
 		LIST(APPEND OpenMVS_EXTRA_LIBS ${PYTHON_LIBRARIES})
+		MESSAGE(STATUS "Python ${PYTHON_VERSION} found (include: ${PYTHON_INCLUDE_DIRS})")
 	else()
 		MESSAGE("-- Can't find Python. Continuing without it.")
 	endif()
diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 949314db9..599e28d36 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -133,7 +133,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("sub-resolution-levels", boost::program_options::value(&nSubResolutionLevels)->default_value(2), "number of patch-match sub-resolution iterations (0 - disabled)")
 		("number-views", boost::program_options::value(&nNumViews)->default_value(nNumViewsDefault), "number of views used for depth-map estimation (0 - all neighbor views available)")
 		("number-views-fuse", boost::program_options::value(&nMinViewsFuse)->default_value(3), "minimum number of images that agrees with an estimate during fusion in order to consider it inlier (<2 - only merge depth-maps)")
-		("ignore-mask-label", boost::program_options::value(&nIgnoreMaskLabel)->default_value(-1), "integer value for the label to ignore in the segmentation mask (<0 - disabled)")
+		("ignore-mask-label", boost::program_options::value(&nIgnoreMaskLabel)->default_value(-1), "integer value for the label to ignore in the segmentation mask; the mask for each image is stored in the MVS scene or next to each image with '.mask.png' extension (<0 - disabled)")
 		("iters", boost::program_options::value(&nEstimationIters)->default_value(numIters), "number of patch-match iterations")
 		("geometric-iters", boost::program_options::value(&nEstimationGeometricIters)->default_value(2), "number of geometric consistent patch-match iterations (0 - disabled)")
 		("estimate-colors", boost::program_options::value(&nEstimateColors)->default_value(2), "estimate the colors for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
diff --git a/libs/Common/Common.h b/libs/Common/Common.h
index ff5300157..1384c316f 100644
--- a/libs/Common/Common.h
+++ b/libs/Common/Common.h
@@ -94,7 +94,7 @@ extern String g_strWorkingFolderFull; // full path to current folder
 #define MAKE_PATH(str)		SEACAVE::Util::getSimplifiedPath(WORKING_FOLDER+SEACAVE::String(str)) // add working directory to the given file name
 #define MAKE_PATH_SAFE(str)	(SEACAVE::Util::isFullPath((str).c_str()) ? SEACAVE::String(str) : MAKE_PATH(str)) // add working directory to the given file name only if not full path already
 #define MAKE_PATH_FULL(p,s) (SEACAVE::Util::isFullPath((s).c_str()) ? SEACAVE::String(s) : SEACAVE::Util::getSimplifiedPath((p)+(s))) // add the given path to the given file name
-#define MAKE_PATH_REL(p,s)	((s).compare(0,(p).size(),p) ? SEACAVE::String(s) : SEACAVE::String(SEACAVE::String((s).substr((p).size())))) // remove the given path from the given file name
+#define MAKE_PATH_REL(p,s)	SEACAVE::Util::getRelativePath(p,s) // remove the given path from the given file name
 #define GET_PATH_FULL(str)	(SEACAVE::Util::isFullPath((str).c_str()) ? SEACAVE::Util::getFilePath(str) : SEACAVE::Util::getSimplifiedPath(WORKING_FOLDER_FULL+SEACAVE::Util::getFilePath(str))) // retrieve the full path to the given file
 
 
diff --git a/libs/Common/Strings.h b/libs/Common/Strings.h
index 711d0a5de..187f32d0e 100644
--- a/libs/Common/Strings.h
+++ b/libs/Common/Strings.h
@@ -34,6 +34,22 @@ class GENERAL_API String : public std::string
 	inline String(size_t n, value_type v) : Base(n, v) {}
 	inline String(LPCTSTR sz, size_t count) : Base(sz, count) {}
 	inline String(LPCTSTR sz, size_t offset, size_t count) : Base(sz, offset, count) {}
+	#ifdef _SUPPORT_CPP11
+	inline String(Base&& rhs) : Base(std::forward<Base>(rhs)) {}
+	inline String(String&& rhs) : Base(std::forward<Base>(rhs)) {}
+	inline String(const String& rhs) : Base(rhs) {}
+
+	inline String& operator=(Base&& rhs) { Base::operator=(std::forward<Base>(rhs)); return *this; }
+	inline String& operator=(String&& rhs) { Base::operator=(std::forward<Base>(rhs)); return *this; }
+	inline String& operator=(TCHAR rhs) { Base::operator=(rhs); return *this; }
+	inline String& operator=(LPCTSTR rhs) { Base::operator=(rhs); return *this; }
+	inline String& operator=(const String& rhs) { Base::operator=(rhs); return *this; }
+	#endif
+
+	inline String& operator+=(TCHAR rhs) { *this = (*this) + rhs; return *this; }
+	inline String& operator+=(LPCTSTR rhs) { *this = (*this) + rhs; return *this; }
+	inline String& operator+=(const Base& rhs) { *this = (*this) + rhs; return *this; }
+	inline String& operator+=(const String& rhs) { *this = (*this) + rhs; return *this; }
 
 	inline void Release() { return clear(); }
 	inline bool IsEmpty() const { return empty(); }
@@ -189,6 +205,26 @@ class GENERAL_API String : public std::string
 };
 /*----------------------------------------------------------------*/
 
+inline String operator+(const String& lhs, TCHAR rhs) { return std::operator+(lhs, rhs); }
+inline String operator+(const String& lhs, LPCTSTR rhs) { return std::operator+(lhs, rhs); }
+inline String operator+(const String& lhs, const std::string& rhs) { return std::operator+(lhs, rhs); }
+inline String operator+(TCHAR lhs, const String& rhs) { return std::operator+(lhs, rhs); }
+inline String operator+(LPCTSTR lhs, const String& rhs) { return std::operator+(lhs, rhs); }
+inline String operator+(const std::string& lhs, const String& rhs) { return std::operator+(lhs, rhs); }
+inline String operator+(const String& lhs, const String& rhs) { return std::operator+(lhs, rhs); }
+#ifdef _SUPPORT_CPP11
+inline String operator+(String&& lhs, TCHAR rhs) { return std::operator+(std::forward<String::Base>(lhs), rhs); }
+inline String operator+(String&& lhs, LPCTSTR rhs) { return std::operator+(std::forward<String::Base>(lhs), rhs); }
+inline String operator+(String&& lhs, const std::string& rhs) { return std::operator+(std::forward<String::Base>(lhs), rhs); }
+inline String operator+(TCHAR lhs, String&& rhs) { return std::operator+(lhs, std::forward<String::Base>(rhs)); }
+inline String operator+(LPCTSTR lhs, String&& rhs) { return std::operator+(lhs, std::forward<String::Base>(rhs)); }
+inline String operator+(const std::string& lhs, String&& rhs) { return std::operator+(lhs, std::forward<String::Base>(rhs)); }
+inline String operator+(const String& lhs, String&& rhs) { return std::operator+(lhs, std::forward<String::Base>(rhs)); }
+inline String operator+(String&& lhs, const String& rhs) { return std::operator+(std::forward<String::Base>(lhs), rhs); }
+inline String operator+(String&& lhs, String&& rhs) { return std::operator+(std::forward<String::Base>(lhs), std::forward<String::Base>(rhs)); }
+#endif
+/*----------------------------------------------------------------*/
+
 } // namespace SEACAVE
 
 
diff --git a/libs/Common/Util.inl b/libs/Common/Util.inl
index 386c4adf3..2c5003201 100644
--- a/libs/Common/Util.inl
+++ b/libs/Common/Util.inl
@@ -261,7 +261,8 @@ inline void RQDecomp3x3(Eigen::Matrix<Scalar,3,3> M, Eigen::Matrix<Scalar,3,3>&
 }
 template <typename TYPE>
 inline void RQDecomp3x3(const TMatrix<TYPE,3,3>& M, TMatrix<TYPE,3,3>& R, TMatrix<TYPE,3,3>& Q) {
-	Eigen::Matrix<TYPE,3,3> _M((TMatrix<TYPE,3,3>::CEMatMap)M), _R((TMatrix<TYPE,3,3>::CEMatMap)R), _Q((TMatrix<TYPE,3,3>::CEMatMap)Q);
+	const Eigen::Matrix<TYPE,3,3> _M((typename TMatrix<TYPE,3,3>::CEMatMap)M);
+	Eigen::Matrix<TYPE,3,3> _R, _Q;
 	RQDecomp3x3<TYPE>(_M, _R, _Q);
 	R = _R; Q = _Q;
 } // RQDecomp3x3
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index b72690de4..9ec91bc25 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -296,15 +296,15 @@ unsigned DepthData::DecRef()
 // S T R U C T S ///////////////////////////////////////////////////
 
 // try to load and apply mask to the depth map;
+// the mask for each image is stored in the MVS scene or next to each image with '.mask.png' extension;
 // the mask marks as false pixels that should be ignored
 bool DepthEstimator::ImportIgnoreMask(const Image& image0, const Image8U::Size& size, BitMatrix& bmask, uint16_t nIgnoreMaskLabel)
 {
 	ASSERT(image0.IsValid() && !image0.image.empty());
-	if (image0.maskName.empty())
-		return false;
+	const String maskFileName(image0.maskName.empty() ? Util::getFileFullName(image0.name)+".mask.png" : image0.maskName);
 	Image16U mask;
-	if (!mask.Load(image0.maskName)) {
-		DEBUG("warning: can not load the segmentation mask '%s'", image0.maskName.c_str());
+	if (!mask.Load(maskFileName)) {
+		DEBUG("warning: can not load the segmentation mask '%s'", maskFileName.c_str());
 		return false;
 	}
 	cv::resize(mask, mask, size, 0, 0, cv::INTER_NEAREST);

From 6702bf463b5f867179968cdd56176f25667713da Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 30 Jan 2023 15:45:40 +0200
Subject: [PATCH 170/252] common: fix OBB::GetCorners()

---
 libs/Common/OBB.inl | 50 +++++++++++++--------------------------------
 1 file changed, 14 insertions(+), 36 deletions(-)

diff --git a/libs/Common/OBB.inl b/libs/Common/OBB.inl
index 1e2784d17..6a8dd7622 100644
--- a/libs/Common/OBB.inl
+++ b/libs/Common/OBB.inl
@@ -341,10 +341,11 @@ inline void TOBB<TYPE,DIMS>::GetCorners(POINT pts[numCorners]) const
 			m_rot.row(0)*m_ext[0],
 			m_rot.row(1)*m_ext[1]
 		};
-		pts[0] = m_pos - pEAxis[0] - pEAxis[1];
-		pts[1] = m_pos + pEAxis[0] - pEAxis[1];
-		pts[2] = m_pos + pEAxis[0] + pEAxis[1];
-		pts[3] = m_pos - pEAxis[0] + pEAxis[1];
+		const POINT pos(m_rot.transpose()*m_pos);
+		pts[0] = pos - pEAxis[0] - pEAxis[1];
+		pts[1] = pos + pEAxis[0] - pEAxis[1];
+		pts[2] = pos + pEAxis[0] + pEAxis[1];
+		pts[3] = pos - pEAxis[0] + pEAxis[1];
 	}
 	if (DIMS == 3) {
 		const POINT pEAxis[3] = {
@@ -352,47 +353,24 @@ inline void TOBB<TYPE,DIMS>::GetCorners(POINT pts[numCorners]) const
 			m_rot.row(1)*m_ext[1],
 			m_rot.row(2)*m_ext[2]
 		};
-		pts[0] = m_pos - pEAxis[0] - pEAxis[1] - pEAxis[2];
-		pts[1] = m_pos - pEAxis[0] - pEAxis[1] + pEAxis[2];
-		pts[2] = m_pos + pEAxis[0] - pEAxis[1] - pEAxis[2];
-		pts[3] = m_pos + pEAxis[0] - pEAxis[1] + pEAxis[2];
-		pts[4] = m_pos + pEAxis[0] + pEAxis[1] - pEAxis[2];
-		pts[5] = m_pos + pEAxis[0] + pEAxis[1] + pEAxis[2];
-		pts[6] = m_pos - pEAxis[0] + pEAxis[1] - pEAxis[2];
-		pts[7] = m_pos - pEAxis[0] + pEAxis[1] + pEAxis[2];
+		const POINT pos(m_rot.transpose()*m_pos);
+		pts[0] = pos - pEAxis[0] - pEAxis[1] - pEAxis[2];
+		pts[1] = pos - pEAxis[0] - pEAxis[1] + pEAxis[2];
+		pts[2] = pos + pEAxis[0] - pEAxis[1] - pEAxis[2];
+		pts[3] = pos + pEAxis[0] - pEAxis[1] + pEAxis[2];
+		pts[4] = pos + pEAxis[0] + pEAxis[1] - pEAxis[2];
+		pts[5] = pos + pEAxis[0] + pEAxis[1] + pEAxis[2];
+		pts[6] = pos - pEAxis[0] + pEAxis[1] - pEAxis[2];
+		pts[7] = pos - pEAxis[0] + pEAxis[1] + pEAxis[2];
 	}
 } // GetCorners
 // constructs the corner of the aligned bounding box in world space
 template <typename TYPE, int DIMS>
 inline typename TOBB<TYPE,DIMS>::AABB TOBB<TYPE,DIMS>::GetAABB() const
 {
-	#if 0
-	if (DIMS == 2) {
-		const POINT pEAxis[2] = {
-			m_rot.row(0)*m_ext[0],
-			m_rot.row(1)*m_ext[1]
-		};
-		return AABB(
-			m_pos - pEAxis[0] - pEAxis[1],
-			m_pos + pEAxis[0] + pEAxis[1]
-		);
-	}
-	if (DIMS == 3) {
-		const POINT pEAxis[3] = {
-			m_rot.row(0)*m_ext[0],
-			m_rot.row(1)*m_ext[1],
-			m_rot.row(2)*m_ext[2]
-		};
-		return AABB(
-			m_pos - pEAxis[0] - pEAxis[1] - pEAxis[2],
-			m_pos + pEAxis[0] + pEAxis[1] + pEAxis[2]
-		);
-	}
-	#else
 	POINT pts[numCorners];
 	GetCorners(pts);
 	return AABB(pts, numCorners);
-	#endif
 } // GetAABB
 /*----------------------------------------------------------------*/
 

From 0f83ba470dc8da69003bbea0f71979520ba574e9 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 16 Mar 2023 13:31:18 +0200
Subject: [PATCH 171/252] interface: fix import for ContextCapture
 BlocksExchange format

---
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp      |  2 +-
 .../InterfaceMetashape/InterfaceMetashape.cpp | 31 ++++++++++++-------
 libs/MVS/Mesh.cpp                             |  4 +--
 3 files changed, 22 insertions(+), 15 deletions(-)

diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index f8fefc7b2..f8f112ae7 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -89,7 +89,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// group of options allowed only on command line
 	boost::program_options::options_description generic("Generic options");
 	generic.add_options()
-		("help,h", "produce this help message")
+		("help,h", "imports SfM or MVS scene stored in COLMAP undistoreted format OR exports MVS scene to COLMAP format")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
 		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
diff --git a/apps/InterfaceMetashape/InterfaceMetashape.cpp b/apps/InterfaceMetashape/InterfaceMetashape.cpp
index 4886973ab..1e4e46aac 100644
--- a/apps/InterfaceMetashape/InterfaceMetashape.cpp
+++ b/apps/InterfaceMetashape/InterfaceMetashape.cpp
@@ -71,7 +71,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// group of options allowed only on command line
 	boost::program_options::options_description generic("Generic options");
 	generic.add_options()
-		("help,h", "produce this help message")
+		("help,h", "imports SfM scene stored either in Metashape Agisoft/BlocksExchange or ContextCapture BlocksExchange XML format")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
 		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: 0-text, 1-binary, 2-compressed binary")
@@ -186,6 +186,7 @@ struct DistCoeff {
 		};
 	};
 	DistCoeff() : k1(0), k2(0), p1(0), p2(0), k3(0), k4(0), k5(0), k6(0) {}
+	bool HasDistortion() const { return k1 != 0 || k2 != 0 || k3 != 0 || k4 != 0 || k5 != 0 || k6 != 0; }
 };
 typedef cList<DistCoeff> DistCoeffs;
 typedef cList<DistCoeffs> PlatformDistCoeffs;
@@ -512,16 +513,18 @@ bool ParseBlocksExchangeXML(tinyxml2::XMLDocument& doc, Scene& scene, PlatformDi
 		// parse distortion parameters
 		DistCoeff& dc = pltDistCoeffs.AddEmpty().AddEmpty(); {
 			const tinyxml2::XMLElement* distortion=photogroup->FirstChildElement("Distortion");
-			if ((elem=distortion->FirstChildElement("K1")) != NULL)
-				dc.k1 = elem->DoubleText();
-			if ((elem=distortion->FirstChildElement("K2")) != NULL)
-				dc.k2 = elem->DoubleText();
-			if ((elem=distortion->FirstChildElement("K3")) != NULL)
-				dc.k3 = elem->DoubleText();
-			if ((elem=distortion->FirstChildElement("P1")) != NULL)
-				dc.p2 = elem->DoubleText();
-			if ((elem=distortion->FirstChildElement("P2")) != NULL)
-				dc.p1 = elem->DoubleText();
+			if (distortion) {
+				if ((elem=distortion->FirstChildElement("K1")) != NULL)
+					dc.k1 = elem->DoubleText();
+				if ((elem=distortion->FirstChildElement("K2")) != NULL)
+					dc.k2 = elem->DoubleText();
+				if ((elem=distortion->FirstChildElement("K3")) != NULL)
+					dc.k3 = elem->DoubleText();
+				if ((elem=distortion->FirstChildElement("P1")) != NULL)
+					dc.p2 = elem->DoubleText();
+				if ((elem=distortion->FirstChildElement("P2")) != NULL)
+					dc.p1 = elem->DoubleText();
+			}
 		}
 		++nCameras;
 		for (const tinyxml2::XMLElement* photo=photogroup->FirstChildElement("Photo"); photo!=NULL; photo=photo->NextSiblingElement()) {
@@ -643,6 +646,10 @@ bool ParseSceneXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t& nCam
 // undistort image using Brown's model
 bool UndistortBrown(Image& imageData, uint32_t ID, const DistCoeff& dc, const String& pathData)
 {
+	// do we need to undistort?
+	if (!dc.HasDistortion())
+		return true;
+
 	// load image pixels
 	if (!imageData.ReloadImage())
 		return false;
@@ -803,7 +810,7 @@ int main(int argc, LPCTSTR* argv)
 
 	// undistort images
 	const String pathData(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputImageFolder));
-	const bool bAssignPoints(!scene.pointcloud.IsEmpty() && !scene.pointcloud.IsValid());
+	const bool bAssignPoints(scene.pointcloud.IsEmpty() || !scene.pointcloud.IsValid());
 	Util::Progress progress(_T("Processed images"), scene.images.size());
 	GET_LOGCONSOLE().Pause();
 	#ifdef _USE_OPENMP
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 02b884e44..4e45ce1bd 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -4280,7 +4280,7 @@ void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap) const
 			: Base(_vertices, _camera, _depthMap) {}
 		inline bool ProjectVertex(const Mesh::Vertex& pt, int v) {
 			return (ptc[v] = camera.TransformPointW2C(Cast<REAL>(pt))).z > 0 &&
-				depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointC2I(Point2(ptc[v].x,ptc[v].y)));
+				depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointOrthoC2I(ptc[v]));
 		}
 		void Raster(const ImageRef& pt, const Point3f& bary) {
 			const Depth z(ComputeDepth(bary));
@@ -4312,7 +4312,7 @@ void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap, Image8U3& imag
 		}
 		inline bool ProjectVertex(const Mesh::Vertex& pt, int v) {
 			return (ptc[v] = camera.TransformPointW2C(Cast<REAL>(pt))).z > 0 &&
-				depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointC2I(Point2(ptc[v].x,ptc[v].y)));
+				depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointOrthoC2I(ptc[v]));
 		}
 		void Raster(const ImageRef& pt, const Point3f& bary) {
 			const Depth z(ComputeDepth(bary));

From fe9458004c4ae9c1ba048295943d508156d0f437 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 16 Mar 2023 14:03:03 +0200
Subject: [PATCH 172/252] build: update vcpkg for CI

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

diff --git a/.github/workflows/continuous_integration.yml b/.github/workflows/continuous_integration.yml
index a4429f315..fe8fd76b9 100644
--- a/.github/workflows/continuous_integration.yml
+++ b/.github/workflows/continuous_integration.yml
@@ -42,7 +42,7 @@ jobs:
         uses: lukka/run-vcpkg@v10
         with:
           vcpkgDirectory: '${{ github.workspace }}/vcpkg'
-          vcpkgGitCommitId: '4cb4a5c5ddcb9de0c83c85837ee6974c8333f032'
+          vcpkgGitCommitId: 'a7b6122f6b6504d16d96117336a0562693579933'
 
       - name: Install Ubuntu dependencies
         if: matrix.os == 'ubuntu-latest'

From 97776fea60ac319941b1016139fe3df5bf9cc6e1 Mon Sep 17 00:00:00 2001
From: Kenshi Takayama <kenshi84@protonmail.ch>
Date: Fri, 17 Mar 2023 17:47:50 +0900
Subject: [PATCH 173/252] dense: add --mask-path to specify folder containing
 mask images (#940)

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 599e28d36..9cb89edbf 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -55,6 +55,7 @@ String strExportROIFileName;
 String strImportROIFileName;
 String strDenseConfigFileName;
 String strExportDepthMapsName;
+String strMaskPath;
 float fMaxSubsceneArea;
 float fSampleMesh;
 float fBorderROI;
@@ -134,6 +135,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("number-views", boost::program_options::value(&nNumViews)->default_value(nNumViewsDefault), "number of views used for depth-map estimation (0 - all neighbor views available)")
 		("number-views-fuse", boost::program_options::value(&nMinViewsFuse)->default_value(3), "minimum number of images that agrees with an estimate during fusion in order to consider it inlier (<2 - only merge depth-maps)")
 		("ignore-mask-label", boost::program_options::value(&nIgnoreMaskLabel)->default_value(-1), "integer value for the label to ignore in the segmentation mask; the mask for each image is stored in the MVS scene or next to each image with '.mask.png' extension (<0 - disabled)")
+		("mask-path", boost::program_options::value<std::string>(&OPT::strMaskPath), "path to folder containing mask images with '.mask.png' extension")
 		("iters", boost::program_options::value(&nEstimationIters)->default_value(numIters), "number of patch-match iterations")
 		("geometric-iters", boost::program_options::value(&nEstimationGeometricIters)->default_value(2), "number of geometric consistent patch-match iterations (0 - disabled)")
 		("estimate-colors", boost::program_options::value(&nEstimateColors)->default_value(2), "estimate the colors for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
@@ -296,6 +298,20 @@ int main(int argc, LPCTSTR* argv)
 	// load and estimate a dense point-cloud
 	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
 		return EXIT_FAILURE;
+	if (!OPT::strMaskPath.empty()) {
+		Util::ensureValidFolderPath(OPT::strMaskPath);
+		for (Image& image : scene.images) {
+			if (!image.maskName.empty()) {
+				VERBOSE("error: Image %s has non-empty maskName %s", image.name.c_str(), image.maskName.c_str());
+				return EXIT_FAILURE;
+			}
+			image.maskName = OPT::strMaskPath + Util::getFileName(image.name) + ".mask.png";
+			if (!File::access(image.maskName)) {
+				VERBOSE("error: Mask image %s not found", image.maskName.c_str());
+				return EXIT_FAILURE;
+			}
+		}
+	}
 	if (!OPT::strImportROIFileName.empty()) {
 		std::ifstream fs(MAKE_PATH_SAFE(OPT::strImportROIFileName));
 		if (!fs)

From 5adaa5c74223eb37b9c5e046407b648033eae420 Mon Sep 17 00:00:00 2001
From: yanxke <yke@yanke.org>
Date: Fri, 17 Mar 2023 01:51:44 -0700
Subject: [PATCH 174/252] build: simplify docker build and reduce build image
 (#952)

---
 docker/Dockerfile          | 47 +++----------------
 docker/Dockerfile_CUDA     | 51 ---------------------
 docker/README.md           |  8 +++-
 docker/buildFromScratch.sh | 36 ++++++++++++++-
 docker/buildInDocker.sh    | 94 ++++++++++++++++++++++++++++++++++++++
 5 files changed, 142 insertions(+), 94 deletions(-)
 delete mode 100644 docker/Dockerfile_CUDA
 create mode 100755 docker/buildInDocker.sh

diff --git a/docker/Dockerfile b/docker/Dockerfile
index 8fb77b421..95a5c5d43 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -1,48 +1,15 @@
-FROM ubuntu:22.04
+ARG BASE_IMAGE=ubuntu:22.04
 
-ARG MASTER
+FROM $BASE_IMAGE
+
+ARG MASTER=0
 ARG USER_ID
 ARG GROUP_ID
+ARG CUDA=0
 
-# Prepare and empty machine for building:
-RUN apt-get update -yq
-RUN apt-get -yq install build-essential git cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev
-
-# Eigen 
-RUN git clone https://gitlab.com/libeigen/eigen --branch 3.4
-RUN mkdir eigen_build
-RUN cd eigen_build &&\
-	cmake . ../eigen &&\
-	make && make install &&\
-	cd ..
-
-# Boost
-RUN apt-get -y install libboost-iostreams-dev libboost-program-options-dev libboost-system-dev libboost-serialization-dev
-
-# OpenCV
-RUN DEBIAN_FRONTEND=noninteractive apt-get install -yq libopencv-dev
-
-# CGAL
-RUN apt-get -yq install libcgal-dev libcgal-qt5-dev
-
-# VCGLib
-RUN git clone https://github.com/cdcseacave/VCG.git vcglib
-
-# Build from stable openMVS release or the latest commit from the develop branch
-RUN if [[ -n "$MASTER" ]] ; then git clone https://github.com/cdcseacave/openMVS.git --branch master ; else git clone https://github.com/cdcseacave/openMVS.git --branch develop ; fi
-
-RUN mkdir openMVS_build
-RUN cd openMVS_build &&\
-	cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT=/vcglib -DOpenMVS_USE_CUDA=OFF
-
-# Install OpenMVS library
-RUN cd openMVS_build &&\
-	make -j4 &&\
-	make install
+COPY buildInDocker.sh /tmp/buildInDocker.sh
+RUN /tmp/buildInDocker.sh --cuda $CUDA --user_id $USER_ID --group_id $GROUP_ID --master $MASTER && rm /tmp/buildInDocker.sh
 
-# Set permissions such that the output files can be accessed by the current user (optional)
-RUN addgroup --gid $GROUP_ID user &&\
-	adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID user
 USER user
 
 # Add binaries to path
diff --git a/docker/Dockerfile_CUDA b/docker/Dockerfile_CUDA
deleted file mode 100644
index 46170d2ef..000000000
--- a/docker/Dockerfile_CUDA
+++ /dev/null
@@ -1,51 +0,0 @@
-FROM nvidia/cuda:11.7.1-devel-ubuntu22.04
-
-ARG MASTER
-ARG USER_ID
-ARG GROUP_ID
-
-# Prepare and empty machine for building:
-RUN apt-get update -yq
-RUN apt-get -yq install build-essential git cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev
-
-ENV PATH=/usr/local/cuda/bin:$PATH
-
-# Eigen 
-RUN git clone https://gitlab.com/libeigen/eigen --branch 3.4
-RUN mkdir eigen_build
-RUN cd eigen_build &&\
-	cmake . ../eigen -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda/ &&\
-	make && make install &&\
-	cd ..
-
-# Boost
-RUN apt-get -yq install libboost-iostreams-dev libboost-program-options-dev libboost-system-dev libboost-serialization-dev
-
-# OpenCV
-RUN DEBIAN_FRONTEND=noninteractive apt-get -yq install libopencv-dev
-
-# CGAL
-RUN apt-get -yq install libcgal-dev libcgal-qt5-dev
-
-# VCGLib
-RUN git clone https://github.com/cdcseacave/VCG.git vcglib
-
-# Build from stable openMVS release or the latest commit from the develop branch
-RUN if [[ -n "$MASTER" ]] ; then git clone https://github.com/cdcseacave/openMVS.git --branch master ; else git clone https://github.com/cdcseacave/openMVS.git --branch develop ; fi
-
-RUN mkdir openMVS_build
-RUN cd openMVS_build &&\
-	cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT=/vcglib -DOpenMVS_USE_CUDA=ON -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs/ -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda/ -DCUDA_INCLUDE_DIRS=/usr/local/cuda/include/ -DCUDA_CUDART_LIBRARY=/usr/local/cuda/lib64 -DCUDA_NVCC_EXECUTABLE=/usr/local/cuda/bin/
-
-# Install OpenMVS library
-RUN cd openMVS_build &&\
-	make -j4 &&\
-	make install
-
-# Set permissions such that the output files can be accessed by the current user (optional)
-RUN addgroup --gid $GROUP_ID user &&\
-	adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID user
-USER user
-
-# Add binaries to path
-ENV PATH /usr/local/bin/OpenMVS:$PATH
diff --git a/docker/README.md b/docker/README.md
index d0008569e..014a8c0c1 100644
--- a/docker/README.md
+++ b/docker/README.md
@@ -14,7 +14,13 @@
 
 You can also build the docker image from scratch based on the **Dockerfile** (perhaps with your own changes / modifications) using:
 
-        ./buildFromScratch.sh /path/where/your/SFM/results/are
+```sh
+./buildFromScratch.sh --workspace /path/where/your/SFM/results/are
+# With CUDA support:
+./buildFromScratch.sh --cuda --workspace /path/where/your/SFM/results/are
+# From master branch:
+./buildFromScratch.sh --master --workspace /path/where/your/SFM/results/are
+```
 
 ## NOTES
 
diff --git a/docker/buildFromScratch.sh b/docker/buildFromScratch.sh
index c3b873d74..f474e44e8 100755
--- a/docker/buildFromScratch.sh
+++ b/docker/buildFromScratch.sh
@@ -1,2 +1,34 @@
-docker build --no-cache -t="openmvs-ubuntu" --build-arg USER_ID=$(id -u) --build-arg GROUP_ID=$(id -g) .;
-docker run --entrypoint bash -w /work -v $1:/work -it openmvs-ubuntu;
+# Example use:
+# ./buildFromScratch.sh --cuda --master --workspace /home/username/datapath/
+
+WORKSPACE=`pwd`
+
+while [[ $# -gt 0 ]]; do
+    key="$1"
+    case $key in
+        --cuda)
+            CUDA_BUILD_ARGS="--build-arg CUDA=1 --build-arg BASE_IMAGE=nvidia/cuda:11.8.0-devel-ubuntu22.04"
+            CUDA_RUNTIME_ARGS="--gpus all"
+            CUDA_CONTAINER_SUFFIX="-cuda"
+            shift
+            ;;
+        --master)
+            MASTER_ARGS="--build-arg MASTER=1"
+            shift
+            ;;
+        --workspace)
+            WORKSPACE=$2
+            shift
+            shift
+            ;;
+        *)
+            echo "Unknown argument: $key"
+            exit 1
+            ;;
+    esac
+done
+
+echo Running with workspace: $WORKSPACE
+
+docker build --no-cache -t=openmvs-ubuntu$CUDA_CONTAINER_SUFFIX --build-arg USER_ID=$(id -u) --build-arg GROUP_ID=$(id -g) $CUDA_BUILD_ARGS $MASTER_ARGS .;
+docker run $CUDA_RUNTIME_ARGS --entrypoint bash -w /work -v $WORKSPACE:/work -it openmvs-ubuntu$CUDA_CONTAINER_SUFFIX;
diff --git a/docker/buildInDocker.sh b/docker/buildInDocker.sh
new file mode 100755
index 000000000..18f8216d5
--- /dev/null
+++ b/docker/buildInDocker.sh
@@ -0,0 +1,94 @@
+#!/bin/bash
+
+set -e
+
+# Parse arguments to see if --cuda was passed and equals 1 or --master was passed and equals 1
+while [[ $# -gt 0 ]]; do
+    key="$1"
+    case $key in
+        --cuda)
+            CUDA="$2"
+            shift
+            shift
+            ;;
+        --master)
+            MASTER="$2"
+            shift
+            shift
+            ;;
+        --user_id)
+            USER_ID="$2"
+            shift
+            shift
+            ;;
+        --group_id)
+            GROUP_ID="$2"
+            shift
+            shift
+            ;;
+        *)
+            echo "Unknown argument: $key"
+            exit 1
+            ;;
+    esac
+done
+
+if [[ "$CUDA" == "1" ]]; then
+    echo "Building with CUDA support"
+    EIGEN_BUILD_ARG="-DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda/"
+    OPENMVS_BUILD_ARG="-DOpenMVS_USE_CUDA=ON -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs/ -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda/ -DCUDA_INCLUDE_DIRS=/usr/local/cuda/include/ -DCUDA_CUDART_LIBRARY=/usr/local/cuda/lib64 -DCUDA_NVCC_EXECUTABLE=/usr/local/cuda/bin/"
+else
+    echo "Building without CUDA support"
+    EIGEN_BUILD_ARG=""
+    OPENMVS_BUILD_ARG="-DOpenMVS_USE_CUDA=OFF"
+fi
+
+if [[ "$MASTER" == "1" ]]; then
+    echo "Pulling from master branch"
+else
+    echo "Pulling from develop branch"
+fi
+
+apt-get update -yq
+apt-get -yq install build-essential git cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev
+
+# Eigen
+git clone https://gitlab.com/libeigen/eigen --branch 3.4
+mkdir eigen_build
+cd eigen_build &&\
+    cmake . ../eigen $EIGEN_BUILD_ARG &&\
+    make && make install &&\
+    cd .. && rm -rf eigen_build eigen
+
+# Boost
+apt-get -y install libboost-iostreams-dev libboost-program-options-dev libboost-system-dev libboost-serialization-dev
+
+# OpenCV
+DEBIAN_FRONTEND=noninteractive apt-get install -yq libopencv-dev
+
+# CGAL
+apt-get -yq install libcgal-dev libcgal-qt5-dev
+
+# VCGLib
+git clone https://github.com/cdcseacave/VCG.git vcglib
+
+# Build from stable openMVS release or the latest commit from the develop branch
+if [[ "$MASTER" == "1" ]]; then
+    git clone https://github.com/cdcseacave/openMVS.git --branch master
+else
+    git clone https://github.com/cdcseacave/openMVS.git --branch develop
+fi
+
+mkdir openMVS_build
+cd openMVS_build &&\
+    cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT=/vcglib $OPENMVS_BUILD_ARG
+
+# Install OpenMVS library
+make -j4 &&\
+    make install &&\
+    cd .. && rm -rf openMVS_build vcglib
+
+# Set permissions such that the output files can be accessed by the current user (optional)
+echo "Setting permissions for user $USER_ID:$GROUP_ID"
+addgroup --gid $GROUP_ID user &&\
+    adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID user

From 7d4c444f746184dbe1658622a5dc0f6b351f2b0c Mon Sep 17 00:00:00 2001
From: yanxke <yke@yanke.org>
Date: Fri, 17 Mar 2023 01:55:31 -0700
Subject: [PATCH 175/252] interface: fix InterfaceOpenMVG and
 InterfaceVisualSFM build (#951)

---
 apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp     | 8 ++++----
 apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp | 4 ++--
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp b/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
index edc7ccb81..6902a0974 100644
--- a/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
+++ b/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
@@ -415,7 +415,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	Util::ensureValidPath(OPT::strInputFileName);
 	Util::ensureUnifySlash(OPT::strInputFileName);
 	Util::ensureUnifySlash(OPT::strOutputImageFolder);
-	Util::ensureDirectorySlash(OPT::strOutputImageFolder);
+	Util::ensureFolderSlash(OPT::strOutputImageFolder);
 	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
 	OPT::bOpenMVS2OpenMVG = (strInputFileNameExt == MVS_EXT);
 	#ifdef _USE_OPENMVG
@@ -440,10 +440,10 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	Util::ensureUnifySlash(OPT::strOutputFileName);
 	if (OPT::bOpenMVS2OpenMVG) {
 		if (OPT::strOutputFileName.IsEmpty())
-			OPT::strOutputFileName = Util::getFullFileName(OPT::strInputFileName);
+			OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName);
 	} else {
 		if (OPT::strOutputFileName.IsEmpty())
-			OPT::strOutputFileName = Util::getFullFileName(OPT::strInputFileName) + MVS_EXT;
+			OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + MVS_EXT;
 	}
 
 	// initialize global options
@@ -602,7 +602,7 @@ int main(int argc, LPCTSTR* argv)
 			image.name = view.second->s_Img_path;
 			Util::ensureUnifySlash(image.name);
 			Util::strTrim(image.name, PATH_SEPARATOR_STR);
-			String pathRoot(sfm_data.s_root_path); Util::ensureDirectorySlash(pathRoot);
+			String pathRoot(sfm_data.s_root_path); Util::ensureFolderSlash(pathRoot);
 			const String srcImage(MAKE_PATH_FULL(WORKING_FOLDER_FULL, pathRoot+image.name));
 			image.name = MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputImageFolder+image.name);
 			Util::ensureDirectory(image.name);
diff --git a/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp b/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
index 8398b6cf4..3bab64dc1 100644
--- a/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
+++ b/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
@@ -270,9 +270,9 @@ void UndistortImage(const Camera& camera, const REAL& k1, const Image8U3 imgIn,
 		for (int u=0; u<w; ++u) {
 			// compute corresponding coordinates in the distorted image
 			pt.x = (float)u; pt.y = (float)v;
-			Camera::NormalizeProjection(invK.val, pt.ptr(), pt.ptr());
+			NormalizeProjection(invK.val, pt.ptr(), pt.ptr());
 			pt = DistortPointR1(pt, k1);
-			Camera::NormalizeProjection(K.val, pt.ptr(), pt.ptr());
+			NormalizeProjection(K.val, pt.ptr(), pt.ptr());
 
 			// if coordinates in range
 			Pixel8U& col = imgOut(v,u);

From 98aca50c0d34344480f08fbdb3587e14bb1135d1 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 17 Mar 2023 13:02:05 +0200
Subject: [PATCH 176/252] interface: fix Metashape import with point-cloud

---
 .../InterfaceMetashape/InterfaceMetashape.cpp | 24 +++++++++----------
 libs/MVS/PointCloud.h                         |  8 +++----
 2 files changed, 15 insertions(+), 17 deletions(-)

diff --git a/apps/InterfaceMetashape/InterfaceMetashape.cpp b/apps/InterfaceMetashape/InterfaceMetashape.cpp
index 1e4e46aac..4215e64bf 100644
--- a/apps/InterfaceMetashape/InterfaceMetashape.cpp
+++ b/apps/InterfaceMetashape/InterfaceMetashape.cpp
@@ -148,7 +148,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
 	Util::ensureUnifySlash(OPT::strOutputFileName);
-	if (OPT::strOutputFileName.IsEmpty())
+	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + MVS_EXT;
 
 	// initialize global options
@@ -660,7 +660,7 @@ bool UndistortBrown(Image& imageData, uint32_t ID, const DistCoeff& dc, const St
 	#if 1
 	const KMatrix& K(prevK);
 	#else
-	const KMatrix K(cv::getOptimalNewCameraMatrix(prevK, distCoeffs, imageData.GetSize(), 0.0, cv::Size(), NULL, true));
+	const KMatrix K(cv::getOptimalNewCameraMatrix(prevK, distCoeffs, imageData.size(), 0.0, cv::Size(), NULL, true));
 	ASSERT(K(0,2) == Camera::ComposeK(prevK(0,0), prevK(1,1), imageData.width(), imageData.height())(0,2));
 	ASSERT(K(1,2) == Camera::ComposeK(prevK(0,0), prevK(1,1), imageData.width(), imageData.height())(1,2));
 	if (K.IsEqual(prevK)) {
@@ -693,7 +693,7 @@ void AssignPoints(const Image& imageData, uint32_t ID, PointCloud& pointcloud)
 	const Depth thCloseDepth(0.1f);
 
 	// sort points by depth
-	IndexScoreArr points(0, pointcloud.points.GetSize());
+	IndexScoreArr points(0, pointcloud.points.size());
 	FOREACH(p, pointcloud.points) {
 		const PointCloud::Point& X(pointcloud.points[p]);
 		const float d((float)imageData.camera.PointDepth(X));
@@ -717,7 +717,7 @@ void AssignPoints(const Image& imageData, uint32_t ID, PointCloud& pointcloud)
 		ASSERT(Xc.z > 0);
 		// skip point if the (cos) angle between
 		// its normal and the point to view vector is negative
-		if (!pointcloud.normals.IsEmpty() && Xc.dot(pointcloud.normals[pPD->idx]) > 0)
+		if (!pointcloud.normals.empty() && Xc.dot(pointcloud.normals[pPD->idx]) > 0)
 			continue;
 		const Point2f x(imageData.camera.TransformPointC2I(Xc));
 		const ImageRef ir(ROUND2INT(x));
@@ -794,23 +794,21 @@ int main(int argc, LPCTSTR* argv)
 
 	Scene scene(OPT::nMaxThreads);
 
-	// read the 3D point-cloud if available
-	if (!OPT::strPointsFileName.empty()) {
-		if (!scene.pointcloud.Load(MAKE_PATH_SAFE(OPT::strPointsFileName)))
-			return EXIT_FAILURE;
-		ASSERT(!scene.pointcloud.IsValid());
-		scene.pointcloud.pointViews.Resize(scene.pointcloud.points.GetSize());
-	}
-
 	// convert data from Metashape format to OpenMVS
 	PlatformDistCoeffs pltDistCoeffs;
 	size_t nCameras(0), nPoses(0);
 	if (!ParseSceneXML(scene, pltDistCoeffs, nCameras, nPoses))
 		return EXIT_FAILURE;
 
+	// read the 3D point-cloud if available
+	if (!OPT::strPointsFileName.empty() && !scene.pointcloud.Load(MAKE_PATH_SAFE(OPT::strPointsFileName)))
+		return EXIT_FAILURE;
+	const bool bAssignPoints(!scene.pointcloud.IsEmpty() && !scene.pointcloud.IsValid());
+	if (bAssignPoints)
+		scene.pointcloud.pointViews.resize(scene.pointcloud.GetSize());
+
 	// undistort images
 	const String pathData(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputImageFolder));
-	const bool bAssignPoints(scene.pointcloud.IsEmpty() || !scene.pointcloud.IsValid());
 	Util::Progress progress(_T("Processed images"), scene.images.size());
 	GET_LOGCONSOLE().Pause();
 	#ifdef _USE_OPENMP
diff --git a/libs/MVS/PointCloud.h b/libs/MVS/PointCloud.h
index 901823757..a8ac0483f 100644
--- a/libs/MVS/PointCloud.h
+++ b/libs/MVS/PointCloud.h
@@ -86,9 +86,9 @@ class MVS_API PointCloud
 
 	void Release();
 
-	inline bool IsEmpty() const { ASSERT(points.GetSize() == pointViews.GetSize() || pointViews.IsEmpty()); return points.IsEmpty(); }
-	inline bool IsValid() const { ASSERT(points.GetSize() == pointViews.GetSize() || pointViews.IsEmpty()); return !pointViews.IsEmpty(); }
-	inline size_t GetSize() const { ASSERT(points.GetSize() == pointViews.GetSize() || pointViews.IsEmpty()); return points.GetSize(); }
+	inline bool IsEmpty() const { ASSERT(points.size() == pointViews.size() || pointViews.empty()); return points.empty(); }
+	inline bool IsValid() const { ASSERT(points.size() == pointViews.size() || pointViews.empty()); return !pointViews.empty(); }
+	inline size_t GetSize() const { ASSERT(points.size() == pointViews.size() || pointViews.empty()); return points.size(); }
 
 	void RemovePoint(IDX);
 	void RemovePointsOutside(const OBB3f&);
@@ -156,7 +156,7 @@ struct IntersectRayPoints {
 		// test ray-point intersection and keep the closest
 		FOREACHRAWPTR(pIdx, idices, size) {
 			const PointCloud::Index idx(*pIdx);
-			if (!pointcloud.pointViews.IsEmpty() && pointcloud.pointViews[idx].size() < minViews)
+			if (!pointcloud.pointViews.empty() && pointcloud.pointViews[idx].size() < minViews)
 				continue;
 			const PointCloud::Point& X = pointcloud.points[idx];
 			REAL dist;

From 148b1296e5846611f5672b000dcff7c7ee47627c Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 20 Mar 2023 11:07:29 +0200
Subject: [PATCH 177/252] interface: initialize average scene depth per image
 while importing Metashape

---
 .../InterfaceMetashape/InterfaceMetashape.cpp | 38 +++++++++++++++++--
 libs/MVS/Interface.h                          | 15 ++++++++
 2 files changed, 49 insertions(+), 4 deletions(-)

diff --git a/apps/InterfaceMetashape/InterfaceMetashape.cpp b/apps/InterfaceMetashape/InterfaceMetashape.cpp
index 4215e64bf..5f3d6edaf 100644
--- a/apps/InterfaceMetashape/InterfaceMetashape.cpp
+++ b/apps/InterfaceMetashape/InterfaceMetashape.cpp
@@ -571,6 +571,8 @@ bool ParseBlocksExchangeXML(tinyxml2::XMLDocument& doc, Scene& scene, PlatformDi
 				imageData.avgDepth = (float)elem->DoubleText();
 			else if (photo->FirstChildElement("NearDepth") != NULL && photo->FirstChildElement("FarDepth") != NULL)
 				imageData.avgDepth = (float)((photo->FirstChildElement("NearDepth")->DoubleText() + photo->FirstChildElement("FarDepth")->DoubleText())/2);
+			else
+				imageData.avgDepth = 0;
 			mapImageID.emplace(imageData.ID, static_cast<IIndex>(scene.images.size()));
 			scene.images.emplace_back(std::move(imageData));
 			++nPoses;
@@ -699,7 +701,7 @@ void AssignPoints(const Image& imageData, uint32_t ID, PointCloud& pointcloud)
 		const float d((float)imageData.camera.PointDepth(X));
 		if (d <= 0)
 			continue;
-		points.AddConstruct((uint32_t)p, d);
+		points.emplace_back((uint32_t)p, d);
 	}
 	points.Sort();
 
@@ -843,18 +845,46 @@ int main(int argc, LPCTSTR* argv)
 	#endif
 	progress.close();
 
-	// filter invalid points
-	if (!scene.pointcloud.IsEmpty()) {
+	if (scene.pointcloud.IsValid()) {
+		// filter invalid points
 		RFOREACH(i, scene.pointcloud.points)
 			if (scene.pointcloud.pointViews[i].size() < 2)
 				scene.pointcloud.RemovePoint(i);
+		// compute average scene depth per image
+		if (!std::any_of(scene.images.begin(), scene.images.end(), [](const Image& imageData) { return imageData.avgDepth > 0; })) {
+			std::vector<float> avgDepths(scene.images.size(), 0.f);
+			std::vector<uint32_t> numDepths(scene.images.size(), 0u);
+			FOREACH(idxPoint, scene.pointcloud.points) {
+				const Point3 X(scene.pointcloud.points[idxPoint]);
+				for (const PointCloud::View& idxImage: scene.pointcloud.pointViews[idxPoint]) {
+					const Image& imageData = scene.images[idxImage];
+					const float depth((float)imageData.camera.PointDepth(X));
+					if (depth <= 0) {
+						avgDepths[idxImage] += depth;
+						++numDepths[idxImage];
+					}
+				}
+			}
+			FOREACH(idxImage, scene.images) {
+				Image& imageData = scene.images[idxImage];
+				if (numDepths[idxImage] > 0)
+					imageData.avgDepth = avgDepths[idxImage] / numDepths[idxImage];
+			}
+		}
 	}
 
+	// print average scene depth per image stats
+	MeanStdMinMax<float,double> acc;
+	for (const Image& imageData: scene.images)
+		if (imageData.avgDepth > 0)
+			acc.Update(imageData.avgDepth);
+
 	// write OpenMVS input data
 	scene.Save(MAKE_PATH_SAFE(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
 
-	VERBOSE("Exported data: %u platforms, %u cameras, %u poses, %u images, %u vertices (%s)",
+	VERBOSE("Exported data: %u platforms, %u cameras, %u poses, %u images, %u vertices, %g min / %g mean (%g std) / %g max average scene depth per image (%s)",
 			scene.platforms.size(), nCameras, nPoses, scene.images.size(), scene.pointcloud.GetSize(),
+			acc.minVal, acc.GetMean(), acc.GetStdDev(), acc.maxVal,
 			TD_TIMER_GET_FMT().c_str());
 
 	Finalize();
diff --git a/libs/MVS/Interface.h b/libs/MVS/Interface.h
index 666c588e9..b48af5c0b 100644
--- a/libs/MVS/Interface.h
+++ b/libs/MVS/Interface.h
@@ -386,6 +386,21 @@ struct Interface
 			static uint32_t GetNormalizationScale(uint32_t width, uint32_t height) { return std::max(width, height); }
 			uint32_t GetNormalizationScale() const { return GetNormalizationScale(width, height); }
 
+			// project point: camera to image (homogeneous) coordinates
+			inline Pos3d operator * (const Pos3d& X) const {
+				return Pos3d(
+					K(0,2)+K(0,0)*X.x/X.z,
+					K(1,2)+K(1,1)*X.y/X.z,
+					1.0);
+			}
+			// back-project point: image (z is the depth) to camera coordinates
+			inline Pos3d operator / (const Pos3d& x) const {
+				return Pos3d(
+					(x.x-K(0,2))*x.z/K(0,0),
+					(x.y-K(1,2))*x.z/K(1,1),
+					1.0);
+			}
+
 			template <class Archive>
 			void serialize(Archive& ar, const unsigned int version) {
 				ar & name;

From 8093255f27415d1193f5c02b7e2137b6739fe87f Mon Sep 17 00:00:00 2001
From: Satyajit Ghana <satyajitghana7@gmail.com>
Date: Sat, 1 Apr 2023 14:18:34 +0530
Subject: [PATCH 178/252] build: added GUI support to docker; working viewer
 (#954)

---
 .devcontainer/Dockerfile                      |  39 ++
 .devcontainer/devcontainer.json               |  37 ++
 .../library-scripts/common-debian.sh          | 454 ++++++++++++++++++
 .devcontainer/postCreateCommand.sh            |  12 +
 docker/README.md                              |   6 +-
 docker/buildFromScratch.sh                    |  23 +-
 docker/buildFromScratch_CUDA.sh               |   2 -
 docker/buildInDocker.sh                       |   3 +-
 8 files changed, 567 insertions(+), 9 deletions(-)
 create mode 100644 .devcontainer/Dockerfile
 create mode 100644 .devcontainer/devcontainer.json
 create mode 100644 .devcontainer/library-scripts/common-debian.sh
 create mode 100755 .devcontainer/postCreateCommand.sh
 delete mode 100644 docker/buildFromScratch_CUDA.sh

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
new file mode 100644
index 000000000..11a6d0e10
--- /dev/null
+++ b/.devcontainer/Dockerfile
@@ -0,0 +1,39 @@
+FROM ubuntu:22.04
+
+ARG USERNAME=openmvs
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+ARG INSTALL_ZSH="true"
+
+# Prepare and empty machine for building:
+RUN apt-get update -yq
+
+COPY .devcontainer/library-scripts/*.sh /tmp/library-scripts/
+RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
+    && /bin/bash /tmp/library-scripts/common-debian.sh "${INSTALL_ZSH}" "${USERNAME}" "${USER_UID}" "${USER_GID}" "${UPGRADE_PACKAGES}" "true" "true"\
+    #
+    # ****************************************************************************
+    # * TODO: Add any additional OS packages you want included in the definition *
+    # * here. We want to do this before cleanup to keep the "layer" small.       *
+    # ****************************************************************************
+    # && apt-get -y install --no-install-recommends <your-package-list-here> \
+    #
+    && apt-get -y install --no-install-recommends build-essential git cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev libglew-dev libglfw3-dev \
+    # Boost
+    libboost-iostreams-dev libboost-program-options-dev libboost-system-dev libboost-serialization-dev \
+    # OpenCV
+    libopencv-dev \
+    # CGAL
+    libcgal-dev libcgal-qt5-dev \
+    && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* /tmp/library-scripts
+
+# Eigen 
+RUN git clone https://gitlab.com/libeigen/eigen --branch 3.4
+RUN mkdir eigen_build
+RUN cd eigen_build &&\
+    cmake . ../eigen &&\
+    make && make install &&\
+    cd ..
+
+# VCGLib
+RUN git clone https://github.com/cdcseacave/VCG.git vcglib
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
new file mode 100644
index 000000000..b1ee085c6
--- /dev/null
+++ b/.devcontainer/devcontainer.json
@@ -0,0 +1,37 @@
+// For format details, see https://aka.ms/devcontainer.json. For config options, see the
+// README at: https://github.com/devcontainers/templates/tree/main/src/cpp
+{
+	"name": "OpenMVS",
+	"build": {
+		"dockerfile": "Dockerfile",
+		"context": ".."
+	},
+	// Features to add to the dev container. More info: https://containers.dev/features.
+	// "features": {},
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],
+	// Use 'postCreateCommand' to run commands after the container is created.
+	"postCreateCommand": "./.devcontainer/postCreateCommand.sh",
+	// Configure tool-specific properties.
+	"customizations": {
+		"vscode": {
+			"extensions": [
+				"ms-vscode.cpptools",
+				"ms-vscode.cmake-tools",
+				"twxs.cmake",
+				"josetr.cmake-language-support-vscode"
+			]
+		}
+	},
+	"containerEnv": {
+		"DISPLAY": "unix:0"
+	},
+	"remoteEnv": {
+		"PATH": "/usr/local/bin/OpenMVS:${containerEnv:PATH}"
+	},
+	"mounts": [
+		"source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached"
+	],
+	// Uncomment to connect as root instead. More info: https://aka.ms/dev-containers-non-root.
+	"remoteUser": "openmvs"
+}
\ No newline at end of file
diff --git a/.devcontainer/library-scripts/common-debian.sh b/.devcontainer/library-scripts/common-debian.sh
new file mode 100644
index 000000000..bf1f9e2ed
--- /dev/null
+++ b/.devcontainer/library-scripts/common-debian.sh
@@ -0,0 +1,454 @@
+#!/usr/bin/env bash
+#-------------------------------------------------------------------------------------------------------------
+# Copyright (c) Microsoft Corporation. All rights reserved.
+# Licensed under the MIT License. See https://go.microsoft.com/fwlink/?linkid=2090316 for license information.
+#-------------------------------------------------------------------------------------------------------------
+#
+# Docs: https://github.com/microsoft/vscode-dev-containers/blob/main/script-library/docs/common.md
+# Maintainer: The VS Code and Codespaces Teams
+#
+# Syntax: ./common-debian.sh [install zsh flag] [username] [user UID] [user GID] [upgrade packages flag] [install Oh My Zsh! flag] [Add non-free packages]
+
+set -e
+
+INSTALL_ZSH=${1:-"true"}
+USERNAME=${2:-"automatic"}
+USER_UID=${3:-"automatic"}
+USER_GID=${4:-"automatic"}
+UPGRADE_PACKAGES=${5:-"true"}
+INSTALL_OH_MYS=${6:-"true"}
+ADD_NON_FREE_PACKAGES=${7:-"false"}
+SCRIPT_DIR="$(cd $(dirname "${BASH_SOURCE[0]}") && pwd)"
+MARKER_FILE="/usr/local/etc/vscode-dev-containers/common"
+
+if [ "$(id -u)" -ne 0 ]; then
+    echo -e 'Script must be run as root. Use sudo, su, or add "USER root" to your Dockerfile before running this script.'
+    exit 1
+fi
+
+# Ensure that login shells get the correct path if the user updated the PATH using ENV.
+rm -f /etc/profile.d/00-restore-env.sh
+echo "export PATH=${PATH//$(sh -lc 'echo $PATH')/\$PATH}" > /etc/profile.d/00-restore-env.sh
+chmod +x /etc/profile.d/00-restore-env.sh
+
+# If in automatic mode, determine if a user already exists, if not use vscode
+if [ "${USERNAME}" = "auto" ] || [ "${USERNAME}" = "automatic" ]; then
+    USERNAME=""
+    POSSIBLE_USERS=("vscode" "node" "codespace" "$(awk -v val=1000 -F ":" '$3==val{print $1}' /etc/passwd)")
+    for CURRENT_USER in ${POSSIBLE_USERS[@]}; do
+        if id -u ${CURRENT_USER} > /dev/null 2>&1; then
+            USERNAME=${CURRENT_USER}
+            break
+        fi
+    done
+    if [ "${USERNAME}" = "" ]; then
+        USERNAME=vscode
+    fi
+elif [ "${USERNAME}" = "none" ]; then
+    USERNAME=root
+    USER_UID=0
+    USER_GID=0
+fi
+
+# Load markers to see which steps have already run
+if [ -f "${MARKER_FILE}" ]; then
+    echo "Marker file found:"
+    cat "${MARKER_FILE}"
+    source "${MARKER_FILE}"
+fi
+
+# Ensure apt is in non-interactive to avoid prompts
+export DEBIAN_FRONTEND=noninteractive
+
+# Function to call apt-get if needed
+apt_get_update_if_needed()
+{
+    if [ ! -d "/var/lib/apt/lists" ] || [ "$(ls /var/lib/apt/lists/ | wc -l)" = "0" ]; then
+        echo "Running apt-get update..."
+        apt-get update
+    else
+        echo "Skipping apt-get update."
+    fi
+}
+
+# Run install apt-utils to avoid debconf warning then verify presence of other common developer tools and dependencies
+if [ "${PACKAGES_ALREADY_INSTALLED}" != "true" ]; then
+
+    package_list="apt-utils \
+        openssh-client \
+        gnupg2 \
+        dirmngr \
+        iproute2 \
+        procps \
+        lsof \
+        htop \
+        net-tools \
+        psmisc \
+        curl \
+        wget \
+        rsync \
+        ca-certificates \
+        unzip \
+        zip \
+        nano \
+        vim-tiny \
+        less \
+        jq \
+        lsb-release \
+        apt-transport-https \
+        dialog \
+        libc6 \
+        libgcc1 \
+        libkrb5-3 \
+        libgssapi-krb5-2 \
+        libicu[0-9][0-9] \
+        liblttng-ust[0-9] \
+        libstdc++6 \
+        zlib1g \
+        locales \
+        sudo \
+        ncdu \
+        man-db \
+        strace \
+        manpages \
+        manpages-dev \
+        init-system-helpers"
+        
+    # Needed for adding manpages-posix and manpages-posix-dev which are non-free packages in Debian
+    if [ "${ADD_NON_FREE_PACKAGES}" = "true" ]; then
+        # Bring in variables from /etc/os-release like VERSION_CODENAME
+        . /etc/os-release
+        sed -i -E "s/deb http:\/\/(deb|httpredir)\.debian\.org\/debian ${VERSION_CODENAME} main/deb http:\/\/\1\.debian\.org\/debian ${VERSION_CODENAME} main contrib non-free/" /etc/apt/sources.list
+        sed -i -E "s/deb-src http:\/\/(deb|httredir)\.debian\.org\/debian ${VERSION_CODENAME} main/deb http:\/\/\1\.debian\.org\/debian ${VERSION_CODENAME} main contrib non-free/" /etc/apt/sources.list
+        sed -i -E "s/deb http:\/\/(deb|httpredir)\.debian\.org\/debian ${VERSION_CODENAME}-updates main/deb http:\/\/\1\.debian\.org\/debian ${VERSION_CODENAME}-updates main contrib non-free/" /etc/apt/sources.list
+        sed -i -E "s/deb-src http:\/\/(deb|httpredir)\.debian\.org\/debian ${VERSION_CODENAME}-updates main/deb http:\/\/\1\.debian\.org\/debian ${VERSION_CODENAME}-updates main contrib non-free/" /etc/apt/sources.list
+        sed -i "s/deb http:\/\/security\.debian\.org\/debian-security ${VERSION_CODENAME}\/updates main/deb http:\/\/security\.debian\.org\/debian-security ${VERSION_CODENAME}\/updates main contrib non-free/" /etc/apt/sources.list
+        sed -i "s/deb-src http:\/\/security\.debian\.org\/debian-security ${VERSION_CODENAME}\/updates main/deb http:\/\/security\.debian\.org\/debian-security ${VERSION_CODENAME}\/updates main contrib non-free/" /etc/apt/sources.list
+        sed -i "s/deb http:\/\/deb\.debian\.org\/debian ${VERSION_CODENAME}-backports main/deb http:\/\/deb\.debian\.org\/debian ${VERSION_CODENAME}-backports main contrib non-free/" /etc/apt/sources.list 
+        sed -i "s/deb-src http:\/\/deb\.debian\.org\/debian ${VERSION_CODENAME}-backports main/deb http:\/\/deb\.debian\.org\/debian ${VERSION_CODENAME}-backports main contrib non-free/" /etc/apt/sources.list
+        # Handle bullseye location for security https://www.debian.org/releases/bullseye/amd64/release-notes/ch-information.en.html
+        sed -i "s/deb http:\/\/security\.debian\.org\/debian-security ${VERSION_CODENAME}-security main/deb http:\/\/security\.debian\.org\/debian-security ${VERSION_CODENAME}-security main contrib non-free/" /etc/apt/sources.list
+        sed -i "s/deb-src http:\/\/security\.debian\.org\/debian-security ${VERSION_CODENAME}-security main/deb http:\/\/security\.debian\.org\/debian-security ${VERSION_CODENAME}-security main contrib non-free/" /etc/apt/sources.list
+        echo "Running apt-get update..."
+        apt-get update
+        package_list="${package_list} manpages-posix manpages-posix-dev"
+    else
+        apt_get_update_if_needed
+    fi
+
+    # Install libssl1.1 if available
+    if [[ ! -z $(apt-cache --names-only search ^libssl1.1$) ]]; then
+        package_list="${package_list}       libssl1.1"
+    fi
+    
+    # Install appropriate version of libssl1.0.x if available
+    libssl_package=$(dpkg-query -f '${db:Status-Abbrev}\t${binary:Package}\n' -W 'libssl1\.0\.?' 2>&1 || echo '')
+    if [ "$(echo "$LIlibssl_packageBSSL" | grep -o 'libssl1\.0\.[0-9]:' | uniq | sort | wc -l)" -eq 0 ]; then
+        if [[ ! -z $(apt-cache --names-only search ^libssl1.0.2$) ]]; then
+            # Debian 9
+            package_list="${package_list}       libssl1.0.2"
+        elif [[ ! -z $(apt-cache --names-only search ^libssl1.0.0$) ]]; then
+            # Ubuntu 18.04, 16.04, earlier
+            package_list="${package_list}       libssl1.0.0"
+        fi
+    fi
+
+    echo "Packages to verify are installed: ${package_list}"
+    apt-get -y install --no-install-recommends ${package_list} 2> >( grep -v 'debconf: delaying package configuration, since apt-utils is not installed' >&2 )
+        
+    # Install git if not already installed (may be more recent than distro version)
+    if ! type git > /dev/null 2>&1; then
+        apt-get -y install --no-install-recommends git
+    fi
+
+    PACKAGES_ALREADY_INSTALLED="true"
+fi
+
+# Get to latest versions of all packages
+if [ "${UPGRADE_PACKAGES}" = "true" ]; then
+    apt_get_update_if_needed
+    apt-get -y upgrade --no-install-recommends
+    apt-get autoremove -y
+fi
+
+# Ensure at least the en_US.UTF-8 UTF-8 locale is available.
+# Common need for both applications and things like the agnoster ZSH theme.
+if [ "${LOCALE_ALREADY_SET}" != "true" ] && ! grep -o -E '^\s*en_US.UTF-8\s+UTF-8' /etc/locale.gen > /dev/null; then
+    echo "en_US.UTF-8 UTF-8" >> /etc/locale.gen 
+    locale-gen
+    LOCALE_ALREADY_SET="true"
+fi
+
+# Create or update a non-root user to match UID/GID.
+group_name="${USERNAME}"
+if id -u ${USERNAME} > /dev/null 2>&1; then
+    # User exists, update if needed
+    if [ "${USER_GID}" != "automatic" ] && [ "$USER_GID" != "$(id -g $USERNAME)" ]; then 
+        group_name="$(id -gn $USERNAME)"
+        groupmod --gid $USER_GID ${group_name}
+        usermod --gid $USER_GID $USERNAME
+    fi
+    if [ "${USER_UID}" != "automatic" ] && [ "$USER_UID" != "$(id -u $USERNAME)" ]; then 
+        usermod --uid $USER_UID $USERNAME
+    fi
+else
+    # Create user
+    if [ "${USER_GID}" = "automatic" ]; then
+        groupadd $USERNAME
+    else
+        groupadd --gid $USER_GID $USERNAME
+    fi
+    if [ "${USER_UID}" = "automatic" ]; then 
+        useradd -s /bin/bash --gid $USERNAME -m $USERNAME
+    else
+        useradd -s /bin/bash --uid $USER_UID --gid $USERNAME -m $USERNAME
+    fi
+fi
+
+# Add sudo support for non-root user
+if [ "${USERNAME}" != "root" ] && [ "${EXISTING_NON_ROOT_USER}" != "${USERNAME}" ]; then
+    echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME
+    chmod 0440 /etc/sudoers.d/$USERNAME
+    EXISTING_NON_ROOT_USER="${USERNAME}"
+fi
+
+# ** Shell customization section **
+if [ "${USERNAME}" = "root" ]; then 
+    user_rc_path="/root"
+else
+    user_rc_path="/home/${USERNAME}"
+fi
+
+# Restore user .bashrc defaults from skeleton file if it doesn't exist or is empty
+if [ ! -f "${user_rc_path}/.bashrc" ] || [ ! -s "${user_rc_path}/.bashrc" ] ; then
+    cp  /etc/skel/.bashrc "${user_rc_path}/.bashrc"
+fi
+
+# Restore user .profile defaults from skeleton file if it doesn't exist or is empty
+if  [ ! -f "${user_rc_path}/.profile" ] || [ ! -s "${user_rc_path}/.profile" ] ; then
+    cp  /etc/skel/.profile "${user_rc_path}/.profile"
+fi
+
+# .bashrc/.zshrc snippet
+rc_snippet="$(cat << 'EOF'
+
+if [ -z "${USER}" ]; then export USER=$(whoami); fi
+if [[ "${PATH}" != *"$HOME/.local/bin"* ]]; then export PATH="${PATH}:$HOME/.local/bin"; fi
+
+# Display optional first run image specific notice if configured and terminal is interactive
+if [ -t 1 ] && [[ "${TERM_PROGRAM}" = "vscode" || "${TERM_PROGRAM}" = "codespaces" ]] && [ ! -f "$HOME/.config/vscode-dev-containers/first-run-notice-already-displayed" ]; then
+    if [ -f "/usr/local/etc/vscode-dev-containers/first-run-notice.txt" ]; then
+        cat "/usr/local/etc/vscode-dev-containers/first-run-notice.txt"
+    elif [ -f "/workspaces/.codespaces/shared/first-run-notice.txt" ]; then
+        cat "/workspaces/.codespaces/shared/first-run-notice.txt"
+    fi
+    mkdir -p "$HOME/.config/vscode-dev-containers"
+    # Mark first run notice as displayed after 10s to avoid problems with fast terminal refreshes hiding it
+    ((sleep 10s; touch "$HOME/.config/vscode-dev-containers/first-run-notice-already-displayed") &)
+fi
+
+# Set the default git editor if not already set
+if [ -z "$(git config --get core.editor)" ] && [ -z "${GIT_EDITOR}" ]; then
+    if  [ "${TERM_PROGRAM}" = "vscode" ]; then
+        if [[ -n $(command -v code-insiders) &&  -z $(command -v code) ]]; then 
+            export GIT_EDITOR="code-insiders --wait"
+        else 
+            export GIT_EDITOR="code --wait"
+        fi
+    fi
+fi
+
+EOF
+)"
+
+# code shim, it fallbacks to code-insiders if code is not available
+cat << 'EOF' > /usr/local/bin/code
+#!/bin/sh
+
+get_in_path_except_current() {
+    which -a "$1" | grep -A1 "$0" | grep -v "$0"
+}
+
+code="$(get_in_path_except_current code)"
+
+if [ -n "$code" ]; then
+    exec "$code" "$@"
+elif [ "$(command -v code-insiders)" ]; then
+    exec code-insiders "$@"
+else
+    echo "code or code-insiders is not installed" >&2
+    exit 127
+fi
+EOF
+chmod +x /usr/local/bin/code
+
+# systemctl shim - tells people to use 'service' if systemd is not running
+cat << 'EOF' > /usr/local/bin/systemctl
+#!/bin/sh
+set -e
+if [ -d "/run/systemd/system" ]; then
+    exec /bin/systemctl "$@"
+else
+    echo '\n"systemd" is not running in this container due to its overhead.\nUse the "service" command to start services instead. e.g.: \n\nservice --status-all'
+fi
+EOF
+chmod +x /usr/local/bin/systemctl
+
+# Codespaces bash and OMZ themes - partly inspired by https://github.com/ohmyzsh/ohmyzsh/blob/master/themes/robbyrussell.zsh-theme
+codespaces_bash="$(cat \
+<<'EOF'
+
+# Codespaces bash prompt theme
+__bash_prompt() {
+    local userpart='`export XIT=$? \
+        && [ ! -z "${GITHUB_USER}" ] && echo -n "\[\033[0;32m\]@${GITHUB_USER} " || echo -n "\[\033[0;32m\]\u " \
+        && [ "$XIT" -ne "0" ] && echo -n "\[\033[1;31m\]➜" || echo -n "\[\033[0m\]➜"`'
+    local gitbranch='`\
+        if [ "$(git config --get codespaces-theme.hide-status 2>/dev/null)" != 1 ]; then \
+            export BRANCH=$(git symbolic-ref --short HEAD 2>/dev/null || git rev-parse --short HEAD 2>/dev/null); \
+            if [ "${BRANCH}" != "" ]; then \
+                echo -n "\[\033[0;36m\](\[\033[1;31m\]${BRANCH}" \
+                && if git ls-files --error-unmatch -m --directory --no-empty-directory -o --exclude-standard ":/*" > /dev/null 2>&1; then \
+                        echo -n " \[\033[1;33m\]✗"; \
+                fi \
+                && echo -n "\[\033[0;36m\]) "; \
+            fi; \
+        fi`'
+    local lightblue='\[\033[1;34m\]'
+    local removecolor='\[\033[0m\]'
+    PS1="${userpart} ${lightblue}\w ${gitbranch}${removecolor}\$ "
+    unset -f __bash_prompt
+}
+__bash_prompt
+
+EOF
+)"
+
+codespaces_zsh="$(cat \
+<<'EOF'
+# Codespaces zsh prompt theme
+__zsh_prompt() {
+    local prompt_username
+    if [ ! -z "${GITHUB_USER}" ]; then 
+        prompt_username="@${GITHUB_USER}"
+    else
+        prompt_username="%n"
+    fi
+    PROMPT="%{$fg[green]%}${prompt_username} %(?:%{$reset_color%}➜ :%{$fg_bold[red]%}➜ )" # User/exit code arrow
+    PROMPT+='%{$fg_bold[blue]%}%(5~|%-1~/…/%3~|%4~)%{$reset_color%} ' # cwd
+    PROMPT+='$([ "$(git config --get codespaces-theme.hide-status 2>/dev/null)" != 1 ] && git_prompt_info)' # Git status
+    PROMPT+='%{$fg[white]%}$ %{$reset_color%}'
+    unset -f __zsh_prompt
+}
+ZSH_THEME_GIT_PROMPT_PREFIX="%{$fg_bold[cyan]%}(%{$fg_bold[red]%}"
+ZSH_THEME_GIT_PROMPT_SUFFIX="%{$reset_color%} "
+ZSH_THEME_GIT_PROMPT_DIRTY=" %{$fg_bold[yellow]%}✗%{$fg_bold[cyan]%})"
+ZSH_THEME_GIT_PROMPT_CLEAN="%{$fg_bold[cyan]%})"
+__zsh_prompt
+
+EOF
+)"
+
+# Add RC snippet and custom bash prompt
+if [ "${RC_SNIPPET_ALREADY_ADDED}" != "true" ]; then
+    echo "${rc_snippet}" >> /etc/bash.bashrc
+    echo "${codespaces_bash}" >> "${user_rc_path}/.bashrc"
+    echo 'export PROMPT_DIRTRIM=4' >> "${user_rc_path}/.bashrc"
+    if [ "${USERNAME}" != "root" ]; then
+        echo "${codespaces_bash}" >> "/root/.bashrc"
+        echo 'export PROMPT_DIRTRIM=4' >> "/root/.bashrc"
+    fi
+    chown ${USERNAME}:${group_name} "${user_rc_path}/.bashrc"
+    RC_SNIPPET_ALREADY_ADDED="true"
+fi
+
+# Optionally install and configure zsh and Oh My Zsh!
+if [ "${INSTALL_ZSH}" = "true" ]; then
+    if ! type zsh > /dev/null 2>&1; then
+        apt_get_update_if_needed
+        apt-get install -y zsh
+    fi
+    if [ "${ZSH_ALREADY_INSTALLED}" != "true" ]; then
+        echo "${rc_snippet}" >> /etc/zsh/zshrc
+        ZSH_ALREADY_INSTALLED="true"
+    fi
+
+    # Adapted, simplified inline Oh My Zsh! install steps that adds, defaults to a codespaces theme.
+    # See https://github.com/ohmyzsh/ohmyzsh/blob/master/tools/install.sh for official script.
+    oh_my_install_dir="${user_rc_path}/.oh-my-zsh"
+    if [ ! -d "${oh_my_install_dir}" ] && [ "${INSTALL_OH_MYS}" = "true" ]; then
+        template_path="${oh_my_install_dir}/templates/zshrc.zsh-template"
+        user_rc_file="${user_rc_path}/.zshrc"
+        umask g-w,o-w
+        mkdir -p ${oh_my_install_dir}
+        git clone --depth=1 \
+            -c core.eol=lf \
+            -c core.autocrlf=false \
+            -c fsck.zeroPaddedFilemode=ignore \
+            -c fetch.fsck.zeroPaddedFilemode=ignore \
+            -c receive.fsck.zeroPaddedFilemode=ignore \
+            "https://github.com/ohmyzsh/ohmyzsh" "${oh_my_install_dir}" 2>&1
+        echo -e "$(cat "${template_path}")\nDISABLE_AUTO_UPDATE=true\nDISABLE_UPDATE_PROMPT=true" > ${user_rc_file}
+        sed -i -e 's/ZSH_THEME=.*/ZSH_THEME="codespaces"/g' ${user_rc_file}
+
+        mkdir -p ${oh_my_install_dir}/custom/themes
+        echo "${codespaces_zsh}" > "${oh_my_install_dir}/custom/themes/codespaces.zsh-theme"
+        # Shrink git while still enabling updates
+        cd "${oh_my_install_dir}"
+        git repack -a -d -f --depth=1 --window=1
+        # Copy to non-root user if one is specified
+        if [ "${USERNAME}" != "root" ]; then
+            cp -rf "${user_rc_file}" "${oh_my_install_dir}" /root
+            chown -R ${USERNAME}:${group_name} "${user_rc_path}"
+        fi
+    fi
+fi
+
+# Persist image metadata info, script if meta.env found in same directory
+meta_info_script="$(cat << 'EOF'
+#!/bin/sh
+. /usr/local/etc/vscode-dev-containers/meta.env
+
+# Minimal output
+if [ "$1" = "version" ] || [ "$1" = "image-version" ]; then
+    echo "${VERSION}"
+    exit 0
+elif [ "$1" = "release" ]; then
+    echo "${GIT_REPOSITORY_RELEASE}"
+    exit 0
+elif [ "$1" = "content" ] || [ "$1" = "content-url" ] || [ "$1" = "contents" ] || [ "$1" = "contents-url" ]; then
+    echo "${CONTENTS_URL}"
+    exit 0
+fi
+
+#Full output
+echo
+echo "Development container image information"
+echo
+if [ ! -z "${VERSION}" ]; then echo "- Image version: ${VERSION}"; fi
+if [ ! -z "${DEFINITION_ID}" ]; then echo "- Definition ID: ${DEFINITION_ID}"; fi
+if [ ! -z "${VARIANT}" ]; then echo "- Variant: ${VARIANT}"; fi
+if [ ! -z "${GIT_REPOSITORY}" ]; then echo "- Source code repository: ${GIT_REPOSITORY}"; fi
+if [ ! -z "${GIT_REPOSITORY_RELEASE}" ]; then echo "- Source code release/branch: ${GIT_REPOSITORY_RELEASE}"; fi
+if [ ! -z "${BUILD_TIMESTAMP}" ]; then echo "- Timestamp: ${BUILD_TIMESTAMP}"; fi
+if [ ! -z "${CONTENTS_URL}" ]; then echo && echo "More info: ${CONTENTS_URL}"; fi
+echo
+EOF
+)"
+if [ -f "${SCRIPT_DIR}/meta.env" ]; then
+    mkdir -p /usr/local/etc/vscode-dev-containers/
+    cp -f "${SCRIPT_DIR}/meta.env" /usr/local/etc/vscode-dev-containers/meta.env
+    echo "${meta_info_script}" > /usr/local/bin/devcontainer-info
+    chmod +x /usr/local/bin/devcontainer-info
+fi
+
+# Write marker file
+mkdir -p "$(dirname "${MARKER_FILE}")"
+echo -e "\
+    PACKAGES_ALREADY_INSTALLED=${PACKAGES_ALREADY_INSTALLED}\n\
+    LOCALE_ALREADY_SET=${LOCALE_ALREADY_SET}\n\
+    EXISTING_NON_ROOT_USER=${EXISTING_NON_ROOT_USER}\n\
+    RC_SNIPPET_ALREADY_ADDED=${RC_SNIPPET_ALREADY_ADDED}\n\
+    ZSH_ALREADY_INSTALLED=${ZSH_ALREADY_INSTALLED}" > "${MARKER_FILE}"
+
+echo "Done!"
\ No newline at end of file
diff --git a/.devcontainer/postCreateCommand.sh b/.devcontainer/postCreateCommand.sh
new file mode 100755
index 000000000..3185a858b
--- /dev/null
+++ b/.devcontainer/postCreateCommand.sh
@@ -0,0 +1,12 @@
+#!/bin/bash
+
+rm -rf openMVS_build && mkdir openMVS_build
+
+cd openMVS_build &&\
+    cmake .. -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT=/vcglib
+
+# add below args for CUDA, refer docker/buildInDocker.sh for base container and additional stuff required
+# -DOpenMVS_USE_CUDA=ON -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs/ -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda/ -DCUDA_INCLUDE_DIRS=/usr/local/cuda/include/ -DCUDA_CUDART_LIBRARY=/usr/local/cuda/lib64 -DCUDA_NVCC_EXECUTABLE=/usr/local/cuda/bin/
+
+# Install OpenMVS library
+make -j && sudo make install
\ No newline at end of file
diff --git a/docker/README.md b/docker/README.md
index 014a8c0c1..f80a7cefc 100644
--- a/docker/README.md
+++ b/docker/README.md
@@ -6,7 +6,9 @@
 1. Make sure docker is installed on your local machine.
 2. Run the 'easy start' script, using the *full local path* to the folder with your SFM input files (perhaps output from openMVG or COLMAP):
 
-	./QUICK_START.sh /path/where/your/SFM/results/are
+```
+./QUICK_START.sh /path/where/your/SFM/results/are
+```
 
 3. This will put you in a directory (inside the Docker container) mounted to the local path you specified so that you can run openMVS binaries on your own SFM inputs. Enjoy!
 
@@ -26,6 +28,8 @@ You can also build the docker image from scratch based on the **Dockerfile** (pe
 
 + This workflow is pinned to build from [openMVS 1.0](https://github.com/cdcseacave/openMVS/releases/tag/v1.0). To build from a different release, or build from the latest commit on master, open up the Dockerfile and comment/uncomment as directed.
 
++ Display is also supported inside docker. If there are any issues with `xauth` make sure to run `xhost +` on your host machine.
+
 + Running openMVS binaries can use a lot of memory (depending on the size of your data set/ imagery). Docker has a relatively small default memory setting (2Gb on Mac). You will probably want to increase this before you run any larger workflows. From Docker desktop on Mac for example, just open the Docker GUI, go to the *Advanced* tab and increase via the slider:
 
 ![alt text][dockerParam]
diff --git a/docker/buildFromScratch.sh b/docker/buildFromScratch.sh
index f474e44e8..3d3e6dd73 100755
--- a/docker/buildFromScratch.sh
+++ b/docker/buildFromScratch.sh
@@ -1,14 +1,19 @@
+#!/bin/bash
+
 # Example use:
 # ./buildFromScratch.sh --cuda --master --workspace /home/username/datapath/
 
-WORKSPACE=`pwd`
+WORKSPACE=$(pwd)
+
 
 while [[ $# -gt 0 ]]; do
     key="$1"
     case $key in
         --cuda)
             CUDA_BUILD_ARGS="--build-arg CUDA=1 --build-arg BASE_IMAGE=nvidia/cuda:11.8.0-devel-ubuntu22.04"
-            CUDA_RUNTIME_ARGS="--gpus all"
+
+            CUDA_RUNTIME_ARGS="--gpus all -e NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics"
+
             CUDA_CONTAINER_SUFFIX="-cuda"
             shift
             ;;
@@ -28,7 +33,15 @@ while [[ $# -gt 0 ]]; do
     esac
 done
 
-echo Running with workspace: $WORKSPACE
+# no need to do `xhost +` anymore
+XSOCK=/tmp/.X11-unix
+XAUTH=/tmp/.docker.xauth
+touch $XAUTH
+xauth nlist "$DISPLAY" | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
+DISPLAY_ARGS="--volume=$XSOCK:$XSOCK:rw --volume=$XAUTH:$XAUTH:rw --env=XAUTHORITY=$XAUTH --env=DISPLAY=unix$DISPLAY"
+
+echo Running with workspace: "$WORKSPACE"
+
+docker build -t="openmvs-ubuntu$CUDA_CONTAINER_SUFFIX" --build-arg "USER_ID=$(id -u)" --build-arg "GROUP_ID=$(id -g)" $CUDA_BUILD_ARGS $MASTER_ARGS . 
+docker run $CUDA_RUNTIME_ARGS --entrypoint bash --ipc=host --shm-size=4gb -w /work -v "$WORKSPACE:/work" $DISPLAY_ARGS -it openmvs-ubuntu$CUDA_CONTAINER_SUFFIX
 
-docker build --no-cache -t=openmvs-ubuntu$CUDA_CONTAINER_SUFFIX --build-arg USER_ID=$(id -u) --build-arg GROUP_ID=$(id -g) $CUDA_BUILD_ARGS $MASTER_ARGS .;
-docker run $CUDA_RUNTIME_ARGS --entrypoint bash -w /work -v $WORKSPACE:/work -it openmvs-ubuntu$CUDA_CONTAINER_SUFFIX;
diff --git a/docker/buildFromScratch_CUDA.sh b/docker/buildFromScratch_CUDA.sh
deleted file mode 100644
index eb9149fd5..000000000
--- a/docker/buildFromScratch_CUDA.sh
+++ /dev/null
@@ -1,2 +0,0 @@
-docker build --no-cache -t="openmvs-ubuntu" --build-arg USER_ID=$(id -u) --build-arg GROUP_ID=$(id -g) --file Dockerfile_CUDA .;
-docker run --gpus=all --entrypoint bash -w /work -v $1:/work -it openmvs-ubuntu;
diff --git a/docker/buildInDocker.sh b/docker/buildInDocker.sh
index 18f8216d5..c33917a88 100755
--- a/docker/buildInDocker.sh
+++ b/docker/buildInDocker.sh
@@ -50,7 +50,8 @@ else
 fi
 
 apt-get update -yq
-apt-get -yq install build-essential git cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev
+
+apt-get -yq install build-essential git cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev libglew-dev libglfw3-dev
 
 # Eigen
 git clone https://gitlab.com/libeigen/eigen --branch 3.4

From 6d0e77211b6c81ce07ab2d2f3285da9078afe9f6 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 10 Apr 2023 02:35:43 +0300
Subject: [PATCH 179/252] build: add script to build Docker container on
 Windows (#966)

---
 .gitattributes              |  5 ++++
 docker/buildFromScratch.cmd | 49 +++++++++++++++++++++++++++++++++++++
 2 files changed, 54 insertions(+)
 create mode 100644 .gitattributes
 create mode 100644 docker/buildFromScratch.cmd

diff --git a/.gitattributes b/.gitattributes
new file mode 100644
index 000000000..c0a459940
--- /dev/null
+++ b/.gitattributes
@@ -0,0 +1,5 @@
+# Ensure shell scripts uses the correct line ending.
+Dockerfile  eol=lf
+*.sh        eol=lf
+*.bat       eol=crlf
+*.cmd       eol=crlf
diff --git a/docker/buildFromScratch.cmd b/docker/buildFromScratch.cmd
new file mode 100644
index 000000000..bbb10a12b
--- /dev/null
+++ b/docker/buildFromScratch.cmd
@@ -0,0 +1,49 @@
+@echo off
+
+set WORKSPACE=%CD%
+
+set CUDA_BUILD_ARGS=
+set CUDA_RUNTIME_ARGS=
+set CUDA_CONTAINER_SUFFIX=
+set MASTER_ARGS=
+set DISPLAY_ARGS=
+
+:parse_args
+if "%~1" == "" goto build_image
+if "%~1" == "--cuda" (
+  set "CUDA_BUILD_ARGS=--build-arg CUDA=1 --build-arg BASE_IMAGE=nvidia/cuda:11.8.0-devel-ubuntu22.04"
+  set "CUDA_RUNTIME_ARGS=--gpus all -e NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics"
+  set "CUDA_CONTAINER_SUFFIX=-cuda"
+  shift
+  goto parse_args
+)
+if "%~1" == "--master" (
+  set "MASTER_ARGS=--build-arg MASTER=1"
+  shift
+  goto parse_args
+)
+if "%~1" == "--workspace" (
+  set "WORKSPACE=%~2"
+  shift
+  shift
+  goto parse_args
+)
+if "%~1" == "--gui" (
+  set "XSOCK=\\.\pipe\X11-unix"
+  set "XAUTH=%TEMP%\docker.xauth"
+  set "DISPLAY_ARGS=-e ^"DISPLAY=%COMPUTERNAME%:0.0^" -v ^"%XAUTH%:%XAUTH%:rw^" -e ^"XAUTHORITY=%XAUTH%^""
+  shift
+  goto parse_args
+)
+echo Unknown argument: %~1
+exit /b 1
+
+:build_image
+echo Running with workspace: %WORKSPACE%
+
+docker build -t="openmvs-ubuntu%CUDA_CONTAINER_SUFFIX%" --build-arg "USER_ID=1001" --build-arg "GROUP_ID=1001" %CUDA_BUILD_ARGS% %MASTER_ARGS% .
+if errorlevel 1 exit /b 1
+
+docker run %CUDA_RUNTIME_ARGS% --entrypoint bash --ipc=host --shm-size=4gb -w /work -v "%WORKSPACE%:/work" %DISPLAY_ARGS% -it openmvs-ubuntu%CUDA_CONTAINER_SUFFIX%
+
+exit /b 0

From 744d456dfada568bba4114e90ebe040e6faac461 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 11 Apr 2023 18:51:01 +0300
Subject: [PATCH 180/252] interface: import images with invalid poses

---
 apps/InterfaceMetashape/InterfaceMetashape.cpp | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/apps/InterfaceMetashape/InterfaceMetashape.cpp b/apps/InterfaceMetashape/InterfaceMetashape.cpp
index 5f3d6edaf..7ce1eb56b 100644
--- a/apps/InterfaceMetashape/InterfaceMetashape.cpp
+++ b/apps/InterfaceMetashape/InterfaceMetashape.cpp
@@ -528,7 +528,8 @@ bool ParseBlocksExchangeXML(tinyxml2::XMLDocument& doc, Scene& scene, PlatformDi
 		}
 		++nCameras;
 		for (const tinyxml2::XMLElement* photo=photogroup->FirstChildElement("Photo"); photo!=NULL; photo=photo->NextSiblingElement()) {
-			Image imageData;
+			const IIndex idxImage = scene.images.size();
+			Image& imageData = scene.images.AddEmpty();
 			imageData.platformID = platformID;
 			imageData.cameraID = 0; // only one camera per platform supported by this format
 			imageData.poseID = NO_ID;
@@ -536,6 +537,7 @@ bool ParseBlocksExchangeXML(tinyxml2::XMLDocument& doc, Scene& scene, PlatformDi
 			imageData.name = photo->FirstChildElement("ImagePath")->GetText();
 			Util::ensureUnifySlash(imageData.name);
 			imageData.name = MAKE_PATH_FULL(strPath, imageData.name);
+			mapImageID.emplace(imageData.ID, idxImage);
 			// set image resolution
 			const cv::Size& resolution = resolutions[imageData.platformID];
 			imageData.width = resolution.width;
@@ -573,8 +575,6 @@ bool ParseBlocksExchangeXML(tinyxml2::XMLDocument& doc, Scene& scene, PlatformDi
 				imageData.avgDepth = (float)((photo->FirstChildElement("NearDepth")->DoubleText() + photo->FirstChildElement("FarDepth")->DoubleText())/2);
 			else
 				imageData.avgDepth = 0;
-			mapImageID.emplace(imageData.ID, static_cast<IIndex>(scene.images.size()));
-			scene.images.emplace_back(std::move(imageData));
 			++nPoses;
 		}
 	}
@@ -825,6 +825,8 @@ int main(int argc, LPCTSTR* argv)
 	#endif
 		++progress;
 		Image& imageData = scene.images[ID];
+		if (!imageData.IsValid())
+			continue;
 		if (!UndistortBrown(imageData, ID, pltDistCoeffs[imageData.platformID][imageData.cameraID], pathData)) {
 			#ifdef _USE_OPENMP
 			bAbort = true;

From 285de9b0368190aa95a6e389944a0bd4dba67388 Mon Sep 17 00:00:00 2001
From: 4CJ7T <108303308+4CJ7T@users.noreply.github.com>
Date: Fri, 28 Apr 2023 06:27:35 -0700
Subject: [PATCH 181/252] common: add COLMAP SfM to MvgMvsPipeline.py (#977)

---
 MvgMvsPipeline.py | 102 ++++++++++++++++++++++++++++++----------------
 1 file changed, 66 insertions(+), 36 deletions(-)

diff --git a/MvgMvsPipeline.py b/MvgMvsPipeline.py
index 53a4a5cc4..edf00e7e3 100644
--- a/MvgMvsPipeline.py
+++ b/MvgMvsPipeline.py
@@ -3,16 +3,17 @@
 #
 # Created by @FlachyJoe
 """
-This script is for an easy use of OpenMVG and OpenMVS
+This script is for an easy use of OpenMVG, COLMAP, and OpenMVS
 
 usage: MvgMvs_Pipeline.py [-h] [--steps STEPS [STEPS ...]] [--preset PRESET]
                           [--0 0 [0 ...]] [--1 1 [1 ...]] [--2 2 [2 ...]]
                           [--3 3 [3 ...]] [--4 4 [4 ...]] [--5 5 [5 ...]]
                           [--6 6 [6 ...]] [--7 7 [7 ...]] [--8 8 [8 ...]]
                           [--9 9 [9 ...]] [--10 10 [10 ...]] [--11 11 [11 ...]]
-                          [--12 12 [12 ...]] [--13 13 [13 ...]]
-                          [--14 14 [14 ...]] [--15 15 [15 ...]]
-                          [--16 16 [16 ...]] [--17 17 [17 ...]]
+                          [--12 12 [12 ...]] [--13 13 [13 ...]] [--14 14 [14 ...]]
+                          [--15 15 [15 ...]] [--16 16 [16 ...]] [--17 17 [17 ...]]
+                          [--18 18 [18 ...]] [--19 19 [19 ...]] [--20 20 [20 ...]]
+                          [--21 21 [21 ...]] [--22 22 [22 ...]]
                           input_dir output_dir
 
 Photogrammetry reconstruction with these steps:
@@ -21,19 +22,24 @@
     2. Compute pairs                   openMVG_main_PairGenerator
     3. Compute matches                 openMVG_main_ComputeMatches
     4. Filter matches                  openMVG_main_GeometricFilter
-    5. Incremental reconstruction      openMVG_main_IncrementalSfM
-    6. Global reconstruction           openMVG_main_GlobalSfM
+    5. Incremental reconstruction      openMVG_main_SfM
+    6. Global reconstruction           openMVG_main_SfM
     7. Colorize Structure              openMVG_main_ComputeSfM_DataColor
     8. Structure from Known Poses      openMVG_main_ComputeStructureFromKnownPoses
     9. Colorized robust triangulation  openMVG_main_ComputeSfM_DataColor
     10. Control Points Registration    ui_openMVG_control_points_registration
     11. Export to openMVS              openMVG_main_openMVG2openMVS
-    12. Densify point-cloud            DensifyPointCloud
-    13. Reconstruct the mesh           ReconstructMesh
-    14. Refine the mesh                RefineMesh
-    15. Texture the mesh               TextureMesh
-    16. Estimate disparity-maps        DensifyPointCloud
-    17. Fuse disparity-maps            DensifyPointCloud
+    12. Feature Extractor              colmap
+    13. Exhaustive Matcher             colmap
+    14. Mapper                         colmap
+    15. Image Undistorter              colmap
+    16. Export to openMVS              InterfaceCOLMAP
+    17. Densify point-cloud            DensifyPointCloud
+    18. Reconstruct the mesh           ReconstructMesh
+    19. Refine the mesh                RefineMesh
+    20. Texture the mesh               TextureMesh
+    21. Estimate disparity-maps        DensifyPointCloud
+    22. Fuse disparity-maps            DensifyPointCloud
 
 positional arguments:
   input_dir                 the directory which contains the pictures set.
@@ -43,20 +49,22 @@
   -h, --help                show this help message and exit
   --steps STEPS [STEPS ...] steps to process
   --preset PRESET           steps list preset in
-                            SEQUENTIAL = [0, 1, 2, 3, 4, 5, 11, 12, 13, 14, 15]
-                            GLOBAL = [0, 1, 2, 3, 4, 6, 11, 12, 13, 14, 15]
-                            MVG_SEQ = [0, 1, 2, 3, 4, 5, 7, 8, 9]
-                            MVG_GLOBAL = [0, 1, 2, 3, 4, 6, 7, 8, 9]
-                            MVS = [12, 13, 14, 15]
-                            MVS_SGM = [16, 17]
+                            SEQUENTIAL = [0, 1, 2, 3, 4, 5, 11, 17, 18, 19, 20]
+                            GLOBAL = [0, 1, 2, 3, 4, 6, 11, 17, 18, 19, 20]
+                            MVG_SEQ = [0, 1, 2, 3, 4, 5, 7, 8, 9, 11]
+                            MVG_GLOBAL = [0, 1, 2, 3, 4, 6, 7, 8, 9, 11]
+                            COLMAP_MVS = [12, 13, 14, 15, 16, 17, 18, 19, 20]
+                            COLMAP = [12, 13, 14, 15, 16]
+                            MVS = [17, 18, 19, 20]
+                            MVS_SGM = [21, 22]
                             default : SEQUENTIAL
 
 Passthrough:
   Option to be passed to command lines (remove - in front of option names)
   e.g. --1 p ULTRA to use the ULTRA preset in openMVG_main_ComputeFeatures
   For example, running the script
-  [MvgMvsPipeline.py input_dir output_dir --steps 0 1 2 3 4 5 11 12 13 15 --1 p HIGH n 8 --3 n HNSWL2]
-  [--steps 0 1 2 3 4 5 11 12 13 15] runs only the desired steps
+  [MvgMvsPipeline.py input_dir output_dir --steps 0 1 2 3 4 5 11 17 18 20 --1 p HIGH n 8 --3 n HNSWL2]
+  [--steps 0 1 2 3 4 5 11 17 18 20] runs only the desired steps
   [--1 p HIGH n 8] where --1 refer to openMVG_main_ComputeFeatures,
   p refers to describerPreset option and set to HIGH, and n refers
   to numThreads and set to 8. The second step (Compute matches),
@@ -110,29 +118,36 @@ def find(afile):
     return None
 
 
-# Try to find openMVG and openMVS binaries in PATH
+# Try to find openMVG, COLMAP, and openMVS binaries in PATH
 OPENMVG_BIN = whereis("openMVG_main_SfMInit_ImageListing")
+COLMAP_BIN = whereis("colmap")
 OPENMVS_BIN = whereis("ReconstructMesh")
 
 # Try to find openMVG camera sensor database
 CAMERA_SENSOR_DB_FILE = "sensor_width_camera_database.txt"
 CAMERA_SENSOR_DB_DIRECTORY = find(CAMERA_SENSOR_DB_FILE)
 
-# Ask user for openMVG and openMVS directories if not found
+# Ask user for openMVG, COLMAP, and openMVS directories if not found
 if not OPENMVG_BIN:
     OPENMVG_BIN = input("openMVG binary folder?\n")
+if not COLMAP_BIN:
+    COLMAP_BIN = input("COLMAP binary folder?\n")
 if not OPENMVS_BIN:
     OPENMVS_BIN = input("openMVS binary folder?\n")
 if not CAMERA_SENSOR_DB_DIRECTORY:
     CAMERA_SENSOR_DB_DIRECTORY = input("openMVG camera database (%s) folder?\n" % CAMERA_SENSOR_DB_FILE)
+COLMAP_BIN = os.path.join(COLMAP_BIN, "colmap")
+if sys.platform.startswith('win'):
+    COLMAP_BIN += ".bat"
 
-
-PRESET = {'SEQUENTIAL': [0, 1, 2, 3, 4, 5, 11, 12, 13, 14, 15],
-          'GLOBAL': [0, 1, 2, 3, 4, 6, 11, 12, 13, 14, 15],
+PRESET = {'SEQUENTIAL': [0, 1, 2, 3, 4, 5, 11, 17, 18, 19, 20],
+          'GLOBAL': [0, 1, 2, 3, 4, 6, 11, 17, 18, 19, 20],
           'MVG_SEQ': [0, 1, 2, 3, 4, 5, 7, 8, 9, 11],
           'MVG_GLOBAL': [0, 1, 2, 3, 4, 6, 7, 8, 9, 11],
-          'MVS': [12, 13, 14, 15],
-          'MVS_SGM': [16, 17]}
+          'COLMAP_MVS': [12, 13, 14, 15, 16, 17, 18, 19, 20],
+          'COLMAP': [12, 13, 14, 15, 16],
+          'MVS': [17, 18, 19, 20],
+          'MVS_SGM': [21, 22]}
 
 PRESET_DEFAULT = 'SEQUENTIAL'
 
@@ -229,22 +244,37 @@ def __init__(self):
             ["Export to openMVS",            # 11
              os.path.join(OPENMVG_BIN, "openMVG_main_openMVG2openMVS"),
              ["-i", "%reconstruction_dir%"+FOLDER_DELIM+"sfm_data.bin", "-o", "%mvs_dir%"+FOLDER_DELIM+"scene.mvs", "-d", "%mvs_dir%"+FOLDER_DELIM+"images"]],
-            ["Densify point cloud",          # 12
+            ["Feature Extractor",            # 12
+             COLMAP_BIN,
+             ["feature_extractor", "--database_path", "%matches_dir%"+FOLDER_DELIM+"database.db", "--image_path", "%input_dir%"]],
+            ["Exhaustive Matcher",           # 13
+             COLMAP_BIN,
+             ["exhaustive_matcher", "--database_path", "%matches_dir%"+FOLDER_DELIM+"database.db"]],
+            ["Mapper",                       # 14
+             COLMAP_BIN,
+             ["mapper", "--database_path", "%matches_dir%"+FOLDER_DELIM+"database.db", "--image_path", "%input_dir%", "--output_path", "%reconstruction_dir%"]],
+            ["Image Undistorter",            # 15
+             COLMAP_BIN,
+             ["image_undistorter", "--image_path", "%input_dir%", "--input_path", "%reconstruction_dir%"+FOLDER_DELIM+"0", "--output_path", "%reconstruction_dir%"+FOLDER_DELIM+"dense", "--output_type", "COLMAP"]],
+            ["Export to openMVS",            # 16
+             os.path.join(OPENMVS_BIN, "InterfaceCOLMAP"),
+             ["-i", "%reconstruction_dir%"+FOLDER_DELIM+"dense", "-o", "scene.mvs", "--image-folder", "%reconstruction_dir%"+FOLDER_DELIM+"dense"+FOLDER_DELIM+"images", "-w", "\"%mvs_dir%\""]],
+            ["Densify point cloud",          # 17
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
              ["scene.mvs", "--dense-config-file", "Densify.ini", "--resolution-level", "1", "--number-views", "8", "-w", "\"%mvs_dir%\""]],
-            ["Reconstruct the mesh",         # 13
+            ["Reconstruct the mesh",         # 18
              os.path.join(OPENMVS_BIN, "ReconstructMesh"),
              ["scene_dense.mvs", "-w", "\"%mvs_dir%\""]],
-            ["Refine the mesh",              # 14
+            ["Refine the mesh",              # 19
              os.path.join(OPENMVS_BIN, "RefineMesh"),
              ["scene_dense_mesh.mvs", "--scales", "1", "--gradient-step", "25.05", "-w", "\"%mvs_dir%\""]],
-            ["Texture the mesh",             # 15
+            ["Texture the mesh",             # 20
              os.path.join(OPENMVS_BIN, "TextureMesh"),
              ["scene_dense_mesh_refine.mvs", "--decimate", "0.5", "-w", "\"%mvs_dir%\""]],
-            ["Estimate disparity-maps",      # 16
+            ["Estimate disparity-maps",      # 21
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
              ["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-1", "-w", "\"%mvs_dir%\""]],
-            ["Fuse disparity-maps",          # 17
+            ["Fuse disparity-maps",          # 22
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
              ["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-2", "-w", "\"%mvs_dir%\""]]
             ]
@@ -358,10 +388,10 @@ def mkdir_ine(dirname):
         STEPS.replace_opt(4, FOLDER_DELIM+"matches.f.bin", FOLDER_DELIM+"matches.e.bin")
         STEPS[4].opt.extend(["-g", "e"])
 
-if 15 in CONF.steps:    # TextureMesh
-    if 14 not in CONF.steps:  # RefineMesh
+if 20 in CONF.steps:    # TextureMesh
+    if 19 not in CONF.steps:  # RefineMesh
         # RefineMesh step is not run, use ReconstructMesh output
-        STEPS.replace_opt(15, "scene_dense_mesh_refine.mvs", "scene_dense_mesh.mvs")
+        STEPS.replace_opt(20, "scene_dense_mesh_refine.mvs", "scene_dense_mesh.mvs")
 
 for cstep in CONF.steps:
     printout("#%i. %s" % (cstep, STEPS[cstep].info), effect=INVERSE)

From b41a8cea1fe420df7c7bc9501b0de46781f76997 Mon Sep 17 00:00:00 2001
From: Popa Bogdan-Gabriel <72195271+PxGluz@users.noreply.github.com>
Date: Thu, 4 May 2023 14:15:54 +0300
Subject: [PATCH 182/252] texture: detect and ignore invalid image pixels
 generated by lens distortion (#968)

---
 libs/MVS/SceneTexture.cpp | 44 ++++++++++++++++++++++++++++++++++++++-
 1 file changed, 43 insertions(+), 1 deletion(-)

diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index ff7dbbd26..e62dbefcc 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -151,6 +151,9 @@ struct MeshTexture {
 		typedef TRasterMesh<RasterMesh> Base;
 		FaceMap& faceMap;
 		FIndex idxFace;
+		Image8U invalidMask;
+		bool validFace;
+
 		RasterMesh(const Mesh::VertexArr& _vertices, const Camera& _camera, DepthMap& _depthMap, FaceMap& _faceMap)
 			: Base(_vertices, _camera, _depthMap), faceMap(_faceMap) {}
 		void Clear() {
@@ -164,7 +167,7 @@ struct MeshTexture {
 			Depth& depth = depthMap(pt);
 			if (depth == 0 || depth > z) {
 				depth = z;
-				faceMap(pt) = idxFace;
+				faceMap(pt) = validFace && (validFace = (invalidMask(pt) == 0)) ? idxFace : NO_ID;
 			}
 		}
 	};
@@ -394,6 +397,37 @@ struct MeshTexture {
 	Scene& scene; // the mesh vertices and faces
 };
 
+// creating an invalid mask for the given image corresponding to
+// the invalid pixels generated during image correction for the lens distortion;
+// the returned mask has the same size as the image and is set to non-zero for invalid pixels
+static Image8U DetectInvalidImageRegions(const Image8U3& image)
+{
+	const cv::Scalar upDiff(3);
+	const int flags(8 | (255 << 8));
+	Image8U invalidMask(image.rows + 2, image.cols + 2);
+	invalidMask.memset(0);
+	Image8U imageGray;
+	cv::cvtColor(image, imageGray, cv::COLOR_BGR2GRAY);
+	if (imageGray(0, 0) == 0)
+		cv::floodFill(imageGray, invalidMask, cv::Point(0, 0), 255, NULL, cv::Scalar(0), upDiff, flags);
+	if (imageGray(image.rows / 2, 0) == 0)
+		cv::floodFill(imageGray, invalidMask, cv::Point(0, image.rows / 2), 255, NULL, cv::Scalar(0), upDiff, flags);
+	if (imageGray(image.rows - 1, 0) == 0)
+		cv::floodFill(imageGray, invalidMask, cv::Point(0, image.rows - 1), 255, NULL, cv::Scalar(0), upDiff, flags);
+	if (imageGray(image.rows - 1, image.cols / 2) == 0)
+		cv::floodFill(imageGray, invalidMask, cv::Point(image.cols / 2, image.rows - 1), 255, NULL, cv::Scalar(0), upDiff, flags);
+	if (imageGray(image.rows - 1, image.cols - 1) == 0)
+		cv::floodFill(imageGray, invalidMask, cv::Point(image.cols - 1, image.rows - 1), 255, NULL, cv::Scalar(0), upDiff, flags);
+	if (imageGray(image.rows / 2, image.cols - 1) == 0)
+		cv::floodFill(imageGray, invalidMask, cv::Point(image.cols - 1, image.rows / 2), 255, NULL, cv::Scalar(0), upDiff, flags);
+	if (imageGray(0, image.cols - 1) == 0)
+		cv::floodFill(imageGray, invalidMask, cv::Point(image.cols - 1, 0), 255, NULL, cv::Scalar(0), upDiff, flags);
+	if (imageGray(0, image.cols / 2) == 0)
+		cv::floodFill(imageGray, invalidMask, cv::Point(image.cols / 2, 0), 255, NULL, cv::Scalar(0), upDiff, flags);
+	invalidMask = invalidMask(cv::Rect(1,1, imageGray.cols,imageGray.rows));
+	return invalidMask;
+}
+
 MeshTexture::MeshTexture(Scene& _scene, unsigned _nResolutionLevel, unsigned _nMinResolution)
 	:
 	nResolutionLevel(_nResolutionLevel),
@@ -510,10 +544,18 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 		depthMap.create(imageData.height, imageData.width);
 		RasterMesh rasterer(vertices, imageData.camera, depthMap, faceMap);
 		rasterer.Clear();
+		rasterer.invalidMask = DetectInvalidImageRegions(imageData.image);
+		#if TD_VERBOSE != TD_VERBOSE_OFF
+		if (VERBOSITY_LEVEL > 2)
+			cv::imwrite(String::FormatString("invalidMask%04d.png", idxView), rasterer.invalidMask);
+		#endif
 		for (auto idxFace : cameraFaces) {
+			rasterer.validFace = true;
 			const Face& facet = faces[idxFace];
 			rasterer.idxFace = idxFace;
 			rasterer.Project(facet);
+			if (!rasterer.validFace)
+				rasterer.Project(facet);
 		}
 		// compute the projection area of visible faces
 		#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA

From af8578ae5e4a2be804b9959ff678bd0157f5af82 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 4 May 2023 14:23:15 +0300
Subject: [PATCH 183/252] transform: transform scene by the given matrix

---
 apps/TransformScene/TransformScene.cpp | 42 +++++++++++++++++++++++---
 libs/MVS/PythonWrapper.cpp             |  3 +-
 libs/MVS/Scene.cpp                     | 32 ++++++++++++++++++--
 libs/MVS/Scene.h                       |  2 ++
 4 files changed, 71 insertions(+), 8 deletions(-)

diff --git a/apps/TransformScene/TransformScene.cpp b/apps/TransformScene/TransformScene.cpp
index 0fd93ae89..d6c864a28 100644
--- a/apps/TransformScene/TransformScene.cpp
+++ b/apps/TransformScene/TransformScene.cpp
@@ -50,6 +50,7 @@ namespace OPT {
 	String strInputFileName;
 	String strOutputFileName;
 	String strAlignFileName;
+	String strTransformFileName;
 	String strTransferTextureFileName;
 	String strIndicesFileName;
 	bool bComputeVolume;
@@ -98,7 +99,8 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input scene filename")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the scene")
 		("align-file,a", boost::program_options::value<std::string>(&OPT::strAlignFileName), "input scene filename to which the scene will be cameras aligned")
-		("transfer-texture-file,t", boost::program_options::value<std::string>(&OPT::strTransferTextureFileName), "input mesh filename to which the texture of the scene's mesh will be transfered to (the two meshes should be aligned and the new mesh to have UV-map)")
+		("transform-file,t", boost::program_options::value<std::string>(&OPT::strTransformFileName), "input transform filename by which the scene will transformed")
+		("transfer-texture-file", boost::program_options::value<std::string>(&OPT::strTransferTextureFileName), "input mesh filename to which the texture of the scene's mesh will be transfered to (the two meshes should be aligned and the new mesh to have UV-map)")
 		("indices-file", boost::program_options::value<std::string>(&OPT::strIndicesFileName), "input indices filename to be used with ex. texture transfer to select a subset of the scene's mesh")
 		("compute-volume", boost::program_options::value(&OPT::bComputeVolume)->default_value(false), "compute the volume of the given watertight mesh, or else try to estimate the ground plane and assume the mesh is bounded by it")
 		("plane-threshold", boost::program_options::value(&OPT::fPlaneThreshold)->default_value(0.f), "threshold used to estimate the ground plane (<0 - disabled, 0 - auto, >0 - desired threshold)")
@@ -142,10 +144,12 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
 	Util::ensureValidPath(OPT::strAlignFileName);
+	Util::ensureValidPath(OPT::strTransformFileName);
 	Util::ensureValidPath(OPT::strTransferTextureFileName);
 	Util::ensureValidPath(OPT::strIndicesFileName);
 	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
-	const bool bInvalidCommand(OPT::strInputFileName.empty() || (OPT::strAlignFileName.empty() && OPT::strTransferTextureFileName.empty() && !OPT::bComputeVolume));
+	const bool bInvalidCommand(OPT::strInputFileName.empty() ||
+		(OPT::strAlignFileName.empty() && OPT::strTransformFileName.empty() && OPT::strTransferTextureFileName.empty() && !OPT::bComputeVolume));
 	if (OPT::vm.count("help") || bInvalidCommand) {
 		boost::program_options::options_description visible("Available options");
 		visible.add(generic).add(config);
@@ -215,7 +219,7 @@ int main(int argc, LPCTSTR* argv)
 	Scene scene(OPT::nMaxThreads);
 
 	// load given scene
-	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName), !OPT::strTransferTextureFileName.empty() || OPT::bComputeVolume))
+	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName), !OPT::strTransformFileName.empty() || !OPT::strTransferTextureFileName.empty() || OPT::bComputeVolume))
 		return EXIT_FAILURE;
 
 	if (!OPT::strAlignFileName.empty()) {
@@ -228,6 +232,31 @@ int main(int argc, LPCTSTR* argv)
 		VERBOSE("Scene aligned to the given reference scene (%s)", TD_TIMER_GET_FMT().c_str());
 	}
 
+	if (!OPT::strTransformFileName.empty()) {
+		// transform this scene by the given transform matrix
+		std::ifstream file(MAKE_PATH_SAFE(OPT::strTransformFileName));
+		std::string strLine;
+		std::vector<double> transformValues;
+		while (std::getline(file, strLine)) {
+			errno = 0;
+			char* strEnd{};
+			const double v = std::strtod(strLine.c_str(), &strEnd);
+			if (errno == ERANGE || strEnd == strLine.c_str())
+				continue;
+			transformValues.push_back(v);
+		}
+		if (transformValues.size() != 12 &&
+			(transformValues.size() != 16 || transformValues[12] != 0 || transformValues[13] != 0 || transformValues[14] != 0 || transformValues[15] != 1)) {
+			VERBOSE("error: invalid transform");
+			return EXIT_FAILURE;
+		}
+		Matrix3x4 transform;
+		for (unsigned i=0; i<12; ++i)
+			transform[i] = transformValues[i];
+		scene.Transform(transform);
+		VERBOSE("Scene transformed by the given transformation matrix (%s)", TD_TIMER_GET_FMT().c_str());
+	}
+
 	if (!OPT::strTransferTextureFileName.empty()) {
 		// transfer the texture of the scene's mesh to the new mesh;
 		// the two meshes should be aligned and the new mesh to have UV-coordinates
@@ -263,7 +292,12 @@ int main(int argc, LPCTSTR* argv)
 	}
 
 	// write transformed scene
-	scene.Save(MAKE_PATH_SAFE(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
+	if (scene.IsValid())
+		scene.Save(MAKE_PATH_SAFE(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
+	else if (!scene.pointcloud.IsEmpty())
+		scene.pointcloud.Save(Util::getFileFullName(MAKE_PATH_SAFE(OPT::strOutputFileName)) + ".ply");
+	else if (!scene.mesh.IsEmpty())
+		scene.mesh.Save(Util::getFileFullName(MAKE_PATH_SAFE(OPT::strOutputFileName)) + ".ply");
 
 	Finalize();
 	return EXIT_SUCCESS;
diff --git a/libs/MVS/PythonWrapper.cpp b/libs/MVS/PythonWrapper.cpp
index fd5827db6..62a8a1d71 100644
--- a/libs/MVS/PythonWrapper.cpp
+++ b/libs/MVS/PythonWrapper.cpp
@@ -118,7 +118,8 @@ BOOST_PYTHON_MODULE(pyOpenMVS) {
 		.def("load_mesh", &Scene::pyLoadMesh, (arg("file_path")))
 		.def("save_mesh", &Scene::pySaveMesh, (arg("file_path")))
 		.def("scale_images", &Scene::ScaleImages)
-		.def("transform", &Scene::Transform)
+		.def("transform", static_cast<void (Scene:: *)(const Matrix3x3&, const Point3&, REAL)>(&Scene::Transform))
+		.def("transform34", static_cast<void (Scene:: *)(const Matrix3x4&)>(&Scene::Transform))
 		.def("align_to", &Scene::AlignTo)
 		.def("dense_reconstruction", &Scene::pyDenseReconstruction, (arg("resolution_level")=0, arg("fusion_mode")=0, arg("crop_to_roi")=true, arg("roi_border")=0.f))
 		.def("reconstruct_mesh", &Scene::pyReconstructMesh, (arg("dist_insert")=2, arg("use_free_space_support")=false, arg("use_only_roi")=false))
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 3b8023207..7043b0106 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -59,6 +59,11 @@ void Scene::Release()
 	mesh.Release();
 }
 
+bool Scene::IsValid() const
+{
+	return !platforms.IsEmpty() && !images.IsEmpty();
+}
+
 bool Scene::IsEmpty() const
 {
 	return pointcloud.IsEmpty() && mesh.IsEmpty();
@@ -122,6 +127,7 @@ bool Scene::LoadInterface(const String & fileName)
 	for (const Interface::Image& image: obj.images) {
 		const uint32_t ID(images.size());
 		Image& imageData = images.AddEmpty();
+		imageData.ID = (image.ID == NO_ID ? ID : image.ID);
 		imageData.name = image.name;
 		Util::ensureUnifySlash(imageData.name);
 		imageData.name = MAKE_PATH_FULL(WORKING_FOLDER_FULL, imageData.name);
@@ -137,7 +143,6 @@ bool Scene::LoadInterface(const String & fileName)
 		}
 		imageData.platformID = image.platformID;
 		imageData.cameraID = image.cameraID;
-		imageData.ID = (image.ID == NO_ID ? ID : image.ID);
 		// init camera
 		const Interface::Platform::Camera& camera = obj.platforms[image.platformID].cameras[image.cameraID];
 		if (camera.HasResolution()) {
@@ -1440,7 +1445,8 @@ bool Scene::ScaleImages(unsigned nMaxResolution, REAL scale, const String& folde
 } // ScaleImages
 
 // apply similarity transform
-void Scene::Transform(const Matrix3x3& rotation, const Point3& translation, REAL scale) {
+void Scene::Transform(const Matrix3x3& rotation, const Point3& translation, REAL scale)
+{
 	const Matrix3x3 rotationScale(rotation * scale);
 	for (Platform& platform : platforms) {
 		for (Platform::Pose& pose : platform.poses) {
@@ -1449,7 +1455,8 @@ void Scene::Transform(const Matrix3x3& rotation, const Point3& translation, REAL
 		}
 	}
 	for (Image& image : images) {
-		image.UpdateCamera(platforms);
+		if (image.IsValid())
+			image.UpdateCamera(platforms);
 	}
 	FOREACH(i, pointcloud.points) {
 		pointcloud.points[i] = rotationScale * Cast<REAL>(pointcloud.points[i]) + translation;
@@ -1469,6 +1476,25 @@ void Scene::Transform(const Matrix3x3& rotation, const Point3& translation, REAL
 		obb.Translate(Cast<float>(translation));
 	}
 }
+void Scene::Transform(const Matrix3x4& transform)
+{
+	#if 1
+	Matrix3x3 mscale, rotation;
+	RQDecomp3x3<REAL>(cv::Mat(3,4,cv::DataType<REAL>::type,const_cast<REAL*>(transform.val))(cv::Rect(0,0, 3,3)), mscale, rotation);
+	const Point3 translation = transform.col(3);
+	#else
+	Eigen::Matrix<REAL,4,4> transform4x4 = Eigen::Matrix<REAL,4,4>::Identity();
+	transform4x4.topLeftCorner<3,4>() = static_cast<const Matrix3x4::CEMatMap>(transform);
+	Eigen::Transform<REAL, 3, Eigen::Isometry> transformIsometry(transform4x4);
+	Eigen::Matrix<REAL,3,3> mrotation;
+	Eigen::Matrix<REAL,3,3> mscale;
+	transformIsometry.computeRotationScaling(&mrotation, &mscale);
+	const Point3 translation = transformIsometry.translation();
+	const Matrix3x3 rotation = mrotation;
+	#endif
+	ASSERT(mscale(0,0) > 0 && ISEQUAL(mscale(0,0), mscale(1,1)) && ISEQUAL(mscale(0,0), mscale(2,2)));
+	Transform(rotation, translation, mscale(0,0));
+} // Transform
 
 // transform this scene such that it best aligns with the given scene based on the camera positions
 bool Scene::AlignTo(const Scene& scene)
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 93d6cf5b1..e49f717ef 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -67,6 +67,7 @@ class MVS_API Scene
 		: obb(true), nMaxThreads(Thread::getMaxThreads(_nMaxThreads)) {}
 
 	void Release();
+	bool IsValid() const;
 	bool IsEmpty() const;
 	bool ImagesHaveNeighbors() const;
 	bool IsBounded() const { return obb.IsValid(); }
@@ -105,6 +106,7 @@ class MVS_API Scene
 	bool Scale(const REAL* pScale = NULL);
 	bool ScaleImages(unsigned nMaxResolution = 0, REAL scale = 0, const String& folderName = String());
 	void Transform(const Matrix3x3& rotation, const Point3& translation, REAL scale);
+	void Transform(const Matrix3x4& transform);
 	bool AlignTo(const Scene&);
 	REAL ComputeLeveledVolume(float planeThreshold=0, float sampleMesh=-100000, unsigned upAxis=2, bool verbose=true);
 

From 2c82a66e3bf0c933941a4b42a3816d31370bdc91 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 4 May 2023 14:24:10 +0300
Subject: [PATCH 184/252] viewer: add support for importing a point-cloud

---
 apps/Viewer/Scene.cpp | 5 ++++-
 libs/MVS/Mesh.cpp     | 1 +
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index 1ea0431a8..69683dc75 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -235,7 +235,10 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 		return false;
 	if (meshFileName) {
 		// load given mesh
-		scene.mesh.Load(meshFileName);
+		if (!scene.mesh.Load(meshFileName)) {
+			// try to load as a point-cloud
+			scene.pointcloud.Load(meshFileName);
+		}
 	}
 	if (!scene.pointcloud.IsEmpty())
 		scene.pointcloud.PrintStatistics(scene.images.data(), &scene.obb);
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 4e45ce1bd..76678846b 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -1551,6 +1551,7 @@ bool Mesh::LoadPLY(const String& fileName)
 		}
 	}
 	if (vertices.IsEmpty() || faces.IsEmpty()) {
+		Release();
 		DEBUG_EXTRA("error: invalid mesh file");
 		return false;
 	}

From af5c939683fbfa7927bb3ccb4adbae76573924ce Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 18 May 2023 15:37:10 +0300
Subject: [PATCH 185/252] build: update vcpkg in CI

---
 .devcontainer/devcontainer.json              | 5 +++++
 .github/workflows/continuous_integration.yml | 2 +-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index b1ee085c6..f9b245244 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -32,6 +32,11 @@
 	"mounts": [
 		"source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached"
 	],
+	"features": {
+		"ghcr.io/devcontainers/features/sshd:1": {
+			"version": "latest"
+		}
+	},
 	// Uncomment to connect as root instead. More info: https://aka.ms/dev-containers-non-root.
 	"remoteUser": "openmvs"
 }
\ No newline at end of file
diff --git a/.github/workflows/continuous_integration.yml b/.github/workflows/continuous_integration.yml
index fe8fd76b9..47b7ac369 100644
--- a/.github/workflows/continuous_integration.yml
+++ b/.github/workflows/continuous_integration.yml
@@ -42,7 +42,7 @@ jobs:
         uses: lukka/run-vcpkg@v10
         with:
           vcpkgDirectory: '${{ github.workspace }}/vcpkg'
-          vcpkgGitCommitId: 'a7b6122f6b6504d16d96117336a0562693579933'
+          vcpkgGitCommitId: '7b30311f0a79d395bf2d933d82fec1853c6a4e77'
 
       - name: Install Ubuntu dependencies
         if: matrix.os == 'ubuntu-latest'

From c69bae4f9813eb9b5a0a9d6e6ae9437c54e59a30 Mon Sep 17 00:00:00 2001
From: Sanheiii <35133371+Sanheiii@users.noreply.github.com>
Date: Sun, 21 May 2023 01:49:57 +0800
Subject: [PATCH 186/252] texture: add image mask support (#967)

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp |  2 +-
 apps/TextureMesh/TextureMesh.cpp             |  4 +-
 libs/MVS/DepthMap.cpp                        | 21 +++---
 libs/MVS/DepthMap.h                          |  2 +-
 libs/MVS/PatchMatchCUDA.cpp                  |  2 +-
 libs/MVS/Scene.h                             |  2 +-
 libs/MVS/SceneDensify.cpp                    |  2 +-
 libs/MVS/SceneTexture.cpp                    | 67 +++++++++++---------
 8 files changed, 59 insertions(+), 43 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 9cb89edbf..0e22f8aaa 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -134,7 +134,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("sub-resolution-levels", boost::program_options::value(&nSubResolutionLevels)->default_value(2), "number of patch-match sub-resolution iterations (0 - disabled)")
 		("number-views", boost::program_options::value(&nNumViews)->default_value(nNumViewsDefault), "number of views used for depth-map estimation (0 - all neighbor views available)")
 		("number-views-fuse", boost::program_options::value(&nMinViewsFuse)->default_value(3), "minimum number of images that agrees with an estimate during fusion in order to consider it inlier (<2 - only merge depth-maps)")
-		("ignore-mask-label", boost::program_options::value(&nIgnoreMaskLabel)->default_value(-1), "integer value for the label to ignore in the segmentation mask; the mask for each image is stored in the MVS scene or next to each image with '.mask.png' extension (<0 - disabled)")
+		("ignore-mask-label", boost::program_options::value(&nIgnoreMaskLabel)->default_value(-1), "label value to ignore in the image mask, stored in the MVS scene or next to each image with '.mask.png' extension (<0 - disabled)")
 		("mask-path", boost::program_options::value<std::string>(&OPT::strMaskPath), "path to folder containing mask images with '.mask.png' extension")
 		("iters", boost::program_options::value(&nEstimationIters)->default_value(numIters), "number of patch-match iterations")
 		("geometric-iters", boost::program_options::value(&nEstimationGeometricIters)->default_value(2), "number of geometric consistent patch-match iterations (0 - disabled)")
diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index 6bf906613..acc1c2b51 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -63,6 +63,7 @@ unsigned nTextureSizeMultiple;
 unsigned nRectPackingHeuristic;
 uint32_t nColEmpty;
 float fSharpnessWeight;
+int nIgnoreMaskLabel;
 unsigned nOrthoMapResolution;
 unsigned nArchiveType;
 int nProcessPriority;
@@ -122,6 +123,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("empty-color", boost::program_options::value(&OPT::nColEmpty)->default_value(0x00FF7F27), "color used for faces not covered by any image")
 		("sharpness-weight", boost::program_options::value(&OPT::fSharpnessWeight)->default_value(0.5f), "amount of sharpness to be applied on the texture (0 - disabled)")
 		("orthographic-image-resolution", boost::program_options::value(&OPT::nOrthoMapResolution)->default_value(0), "orthographic image resolution to be generated from the textured mesh - the mesh is expected to be already geo-referenced or at least properly oriented (0 - disabled)")
+		("ignore-mask-label", boost::program_options::value(&OPT::nIgnoreMaskLabel)->default_value(-1), "label value to ignore in the image mask, stored in the MVS scene or next to each image with '.mask.png' extension (-1 - auto estimate mask for lens distortion, -2 - disabled)")
 		;
 
 	// hidden options, allowed both on command line and
@@ -307,7 +309,7 @@ int main(int argc, LPCTSTR* argv)
 	TD_TIMER_START();
 	if (!scene.TextureMesh(OPT::nResolutionLevel, OPT::nMinResolution, OPT::minCommonCameras, OPT::fOutlierThreshold, OPT::fRatioDataSmoothness,
 						   OPT::bGlobalSeamLeveling, OPT::bLocalSeamLeveling, OPT::nTextureSizeMultiple, OPT::nRectPackingHeuristic, Pixel8U(OPT::nColEmpty),
-						   OPT::fSharpnessWeight, views))
+						   OPT::fSharpnessWeight, OPT::nIgnoreMaskLabel, views))
 		return EXIT_FAILURE;
 	VERBOSE("Mesh texturing completed: %u vertices, %u faces (%s)", scene.mesh.vertices.GetSize(), scene.mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
 
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 9ec91bc25..8346349c5 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -297,8 +297,9 @@ unsigned DepthData::DecRef()
 
 // try to load and apply mask to the depth map;
 // the mask for each image is stored in the MVS scene or next to each image with '.mask.png' extension;
-// the mask marks as false pixels that should be ignored
-bool DepthEstimator::ImportIgnoreMask(const Image& image0, const Image8U::Size& size, BitMatrix& bmask, uint16_t nIgnoreMaskLabel)
+// the mask marks as false (or 0) pixels that should be ignored
+//  - pMask: optional output mask; if defined, the mask is returned in this image instead of the BitMatrix
+bool DepthEstimator::ImportIgnoreMask(const Image& image0, const Image8U::Size& size, uint16_t nIgnoreMaskLabel, BitMatrix& bmask, Image8U* pMask)
 {
 	ASSERT(image0.IsValid() && !image0.image.empty());
 	const String maskFileName(image0.maskName.empty() ? Util::getFileFullName(image0.name)+".mask.png" : image0.maskName);
@@ -308,12 +309,16 @@ bool DepthEstimator::ImportIgnoreMask(const Image& image0, const Image8U::Size&
 		return false;
 	}
 	cv::resize(mask, mask, size, 0, 0, cv::INTER_NEAREST);
-	bmask.create(size);
-	bmask.memset(0xFF);
-	for (int r=0; r<size.height; ++r) {
-		for (int c=0; c<size.width; ++c) {
-			if (mask(r,c) == nIgnoreMaskLabel)
-				bmask.unset(r,c);
+	if (pMask) {
+		*pMask = (mask != nIgnoreMaskLabel);
+	} else {
+		bmask.create(size);
+		bmask.memset(0xFF);
+		for (int r=0; r<size.height; ++r) {
+			for (int c=0; c<size.width; ++c) {
+				if (mask(r,c) == nIgnoreMaskLabel)
+					bmask.unset(r,c);
+			}
 		}
 	}
 	return true;
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index cda6e74b8..cf5d6527e 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -452,7 +452,7 @@ struct MVS_API DepthEstimator {
 		ASSERT(ISEQUAL(norm(normal), 1.f));
 	}
 
-	static bool ImportIgnoreMask(const Image&, const Image8U::Size&, BitMatrix&, uint16_t nIgnoreMaskLabel);
+	static bool ImportIgnoreMask(const Image&, const Image8U::Size&, uint16_t nIgnoreMaskLabel, BitMatrix&, Image8U* =NULL);
 	static void MapMatrix2ZigzagIdx(const Image8U::Size& size, DepthEstimator::MapRefArr& coords, const BitMatrix& mask, int rawStride=16);
 
 	const float smoothBonusDepth, smoothBonusNormal;
diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
index ac872df0b..1a6c95f99 100644
--- a/libs/MVS/PatchMatchCUDA.cpp
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -404,7 +404,7 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 	if (OPTDENSE::nIgnoreMaskLabel >= 0) {
 		const DepthData::ViewData& view = depthData.GetView();
 		BitMatrix mask;
-		if (DepthEstimator::ImportIgnoreMask(*view.pImageData, depthData.depthMap.size(), mask, (uint16_t)OPTDENSE::nIgnoreMaskLabel))
+		if (DepthEstimator::ImportIgnoreMask(*view.pImageData, depthData.depthMap.size(), (uint16_t)OPTDENSE::nIgnoreMaskLabel, mask))
 			depthData.ApplyIgnoreMask(mask);
 	}
 
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index e49f717ef..8c2c35ce5 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -138,7 +138,7 @@ class MVS_API Scene
 	// Mesh texturing
 	bool TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned minCommonCameras=0, float fOutlierThreshold=0.f, float fRatioDataSmoothness=0.3f,
 		bool bGlobalSeamLeveling=true, bool bLocalSeamLeveling=true, unsigned nTextureSizeMultiple=0, unsigned nRectPackingHeuristic=3, Pixel8U colEmpty=Pixel8U(255,127,39),
-		float fSharpnessWeight=0.5f, const IIndexArr& views=IIndexArr());
+		float fSharpnessWeight=0.5f, int ignoreMaskLabel = -1, const IIndexArr& views=IIndexArr());
 
 	#ifdef _USE_BOOST
 	// implement BOOST serialization
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index b2969c7d3..95038c26f 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -672,7 +672,7 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage, int nGeometricIter)
 		#endif
 		if (prevDepthMapSize != size || OPTDENSE::nIgnoreMaskLabel >= 0) {
 			BitMatrix mask;
-			if (OPTDENSE::nIgnoreMaskLabel >= 0 && DepthEstimator::ImportIgnoreMask(*image.pImageData, depthData.depthMap.size(), mask, (uint16_t)OPTDENSE::nIgnoreMaskLabel))
+			if (OPTDENSE::nIgnoreMaskLabel >= 0 && DepthEstimator::ImportIgnoreMask(*image.pImageData, depthData.depthMap.size(), (uint16_t)OPTDENSE::nIgnoreMaskLabel, mask))
 				depthData.ApplyIgnoreMask(mask);
 			DepthEstimator::MapMatrix2ZigzagIdx(size, coords, mask, MAXF(64,(int)nMaxThreads*8));
 			#if 0 && !defined(_RELEASE)
diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index e62dbefcc..e8404ba50 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -151,7 +151,7 @@ struct MeshTexture {
 		typedef TRasterMesh<RasterMesh> Base;
 		FaceMap& faceMap;
 		FIndex idxFace;
-		Image8U invalidMask;
+		Image8U mask;
 		bool validFace;
 
 		RasterMesh(const Mesh::VertexArr& _vertices, const Camera& _camera, DepthMap& _depthMap, FaceMap& _faceMap)
@@ -167,7 +167,7 @@ struct MeshTexture {
 			Depth& depth = depthMap(pt);
 			if (depth == 0 || depth > z) {
 				depth = z;
-				faceMap(pt) = validFace && (validFace = (invalidMask(pt) == 0)) ? idxFace : NO_ID;
+				faceMap(pt) = validFace && (validFace = (mask(pt) != 0)) ? idxFace : NO_ID;
 			}
 		}
 	};
@@ -326,7 +326,7 @@ struct MeshTexture {
 
 	void ListVertexFaces();
 
-	bool ListCameraFaces(FaceDataViewArr&, float fOutlierThreshold, const IIndexArr& views);
+	bool ListCameraFaces(FaceDataViewArr&, float fOutlierThreshold, int nIgnoreMaskLabel, const IIndexArr& views);
 
 	#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
 	bool FaceOutlierDetection(FaceDataArr& faceDatas, float fOutlierThreshold) const;
@@ -335,7 +335,7 @@ struct MeshTexture {
 	void CreateVirtualFaces(const FaceDataViewArr& facesDatas, FaceDataViewArr& virtualFacesDatas, VirtualFaceIdxsArr& virtualFaces, unsigned minCommonCameras=2, float thMaxNormalDeviation=25.f) const;
 	IIndexArr SelectBestView(const FaceDataArr& faceDatas, FIndex fid, unsigned minCommonCameras, float ratioAngleToQuality) const;
 
-	bool FaceViewSelection(unsigned minCommonCameras, float fOutlierThreshold, float fRatioDataSmoothness, const IIndexArr& views);
+	bool FaceViewSelection(unsigned minCommonCameras, float fOutlierThreshold, float fRatioDataSmoothness, int nIgnoreMaskLabel, const IIndexArr& views);
 	
 	void CreateSeamVertices();
 	void GlobalSeamLeveling();
@@ -399,33 +399,33 @@ struct MeshTexture {
 
 // creating an invalid mask for the given image corresponding to
 // the invalid pixels generated during image correction for the lens distortion;
-// the returned mask has the same size as the image and is set to non-zero for invalid pixels
+// the returned mask has the same size as the image and is set to zero for invalid pixels
 static Image8U DetectInvalidImageRegions(const Image8U3& image)
 {
 	const cv::Scalar upDiff(3);
 	const int flags(8 | (255 << 8));
-	Image8U invalidMask(image.rows + 2, image.cols + 2);
-	invalidMask.memset(0);
+	Image8U mask(image.rows + 2, image.cols + 2);
+	mask.memset(0);
 	Image8U imageGray;
 	cv::cvtColor(image, imageGray, cv::COLOR_BGR2GRAY);
 	if (imageGray(0, 0) == 0)
-		cv::floodFill(imageGray, invalidMask, cv::Point(0, 0), 255, NULL, cv::Scalar(0), upDiff, flags);
+		cv::floodFill(imageGray, mask, cv::Point(0, 0), 255, NULL, cv::Scalar(0), upDiff, flags);
 	if (imageGray(image.rows / 2, 0) == 0)
-		cv::floodFill(imageGray, invalidMask, cv::Point(0, image.rows / 2), 255, NULL, cv::Scalar(0), upDiff, flags);
+		cv::floodFill(imageGray, mask, cv::Point(0, image.rows / 2), 255, NULL, cv::Scalar(0), upDiff, flags);
 	if (imageGray(image.rows - 1, 0) == 0)
-		cv::floodFill(imageGray, invalidMask, cv::Point(0, image.rows - 1), 255, NULL, cv::Scalar(0), upDiff, flags);
+		cv::floodFill(imageGray, mask, cv::Point(0, image.rows - 1), 255, NULL, cv::Scalar(0), upDiff, flags);
 	if (imageGray(image.rows - 1, image.cols / 2) == 0)
-		cv::floodFill(imageGray, invalidMask, cv::Point(image.cols / 2, image.rows - 1), 255, NULL, cv::Scalar(0), upDiff, flags);
+		cv::floodFill(imageGray, mask, cv::Point(image.cols / 2, image.rows - 1), 255, NULL, cv::Scalar(0), upDiff, flags);
 	if (imageGray(image.rows - 1, image.cols - 1) == 0)
-		cv::floodFill(imageGray, invalidMask, cv::Point(image.cols - 1, image.rows - 1), 255, NULL, cv::Scalar(0), upDiff, flags);
+		cv::floodFill(imageGray, mask, cv::Point(image.cols - 1, image.rows - 1), 255, NULL, cv::Scalar(0), upDiff, flags);
 	if (imageGray(image.rows / 2, image.cols - 1) == 0)
-		cv::floodFill(imageGray, invalidMask, cv::Point(image.cols - 1, image.rows / 2), 255, NULL, cv::Scalar(0), upDiff, flags);
+		cv::floodFill(imageGray, mask, cv::Point(image.cols - 1, image.rows / 2), 255, NULL, cv::Scalar(0), upDiff, flags);
 	if (imageGray(0, image.cols - 1) == 0)
-		cv::floodFill(imageGray, invalidMask, cv::Point(image.cols - 1, 0), 255, NULL, cv::Scalar(0), upDiff, flags);
+		cv::floodFill(imageGray, mask, cv::Point(image.cols - 1, 0), 255, NULL, cv::Scalar(0), upDiff, flags);
 	if (imageGray(0, image.cols / 2) == 0)
-		cv::floodFill(imageGray, invalidMask, cv::Point(image.cols / 2, 0), 255, NULL, cv::Scalar(0), upDiff, flags);
-	invalidMask = invalidMask(cv::Rect(1,1, imageGray.cols,imageGray.rows));
-	return invalidMask;
+		cv::floodFill(imageGray, mask, cv::Point(image.cols / 2, 0), 255, NULL, cv::Scalar(0), upDiff, flags);
+	mask = (mask(cv::Rect(1,1, imageGray.cols,imageGray.rows)) == 0);
+	return mask;
 }
 
 MeshTexture::MeshTexture(Scene& _scene, unsigned _nResolutionLevel, unsigned _nMinResolution)
@@ -461,7 +461,7 @@ void MeshTexture::ListVertexFaces()
 }
 
 // extract array of faces viewed by each image
-bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThreshold, const IIndexArr& _views)
+bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThreshold, int nIgnoreMaskLabel, const IIndexArr& _views)
 {
 	// create faces octree
 	Mesh::Octree octree;
@@ -540,15 +540,22 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 		const Frustum frustum(Frustum::MATRIX3x4(((PMatrix::CEMatMap)imageData.camera.P).cast<float>()), (float)imageData.width, (float)imageData.height);
 		octree.Traverse(frustum, inserter);
 		// project all triangles in this view and keep the closest ones
-		faceMap.create(imageData.height, imageData.width);
-		depthMap.create(imageData.height, imageData.width);
+		faceMap.create(imageData.GetSize());
+		depthMap.create(imageData.GetSize());
 		RasterMesh rasterer(vertices, imageData.camera, depthMap, faceMap);
+		if (nIgnoreMaskLabel >= 0) {
+			// import mask
+			BitMatrix bmask;
+			DepthEstimator::ImportIgnoreMask(imageData, imageData.GetSize(), (uint16_t)OPTDENSE::nIgnoreMaskLabel, bmask, &rasterer.mask);
+		} else if (nIgnoreMaskLabel == -1) {
+			// creating mask to discard invalid regions created during image radial undistortion
+			rasterer.mask = DetectInvalidImageRegions(imageData.image);
+			#if TD_VERBOSE != TD_VERBOSE_OFF
+			if (VERBOSITY_LEVEL > 2)
+				cv::imwrite(String::FormatString("umask%04d.png", idxView), rasterer.mask);
+			#endif
+		}
 		rasterer.Clear();
-		rasterer.invalidMask = DetectInvalidImageRegions(imageData.image);
-		#if TD_VERBOSE != TD_VERBOSE_OFF
-		if (VERBOSITY_LEVEL > 2)
-			cv::imwrite(String::FormatString("invalidMask%04d.png", idxView), rasterer.invalidMask);
-		#endif
 		for (auto idxFace : cameraFaces) {
 			rasterer.validFace = true;
 			const Face& facet = faces[idxFace];
@@ -562,6 +569,7 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 		CLISTDEF0IDX(uint32_t,FIndex) areas(faces.GetSize());
 		areas.Memset(0);
 		#endif
+
 		#ifdef TEXOPT_USE_OPENMP
 		#pragma omp critical
 		#endif
@@ -1016,7 +1024,7 @@ bool MeshTexture::FaceOutlierDetection(FaceDataArr& faceDatas, float thOutlier)
 }
 #endif
 
-bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThreshold, float fRatioDataSmoothness, const IIndexArr& views)
+bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThreshold, float fRatioDataSmoothness, int nIgnoreMaskLabel, const IIndexArr& views)
 {
 	// extract array of triangles incident to each vertex
 	ListVertexFaces();
@@ -1028,7 +1036,7 @@ bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThr
 
 		// list all views for each face
 		FaceDataViewArr facesDatas;
-		if (!ListCameraFaces(facesDatas, fOutlierThreshold, views))
+		if (!ListCameraFaces(facesDatas, fOutlierThreshold, nIgnoreMaskLabel, views))
 			return false;
 
 		// create faces graph
@@ -2287,16 +2295,17 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 // texture mesh
 //  - minCommonCameras: generate texture patches using virtual faces composed of coplanar triangles sharing at least this number of views (0 - disabled, 3 - good value)
 //  - fSharpnessWeight: sharpness weight to be applied on the texture (0 - disabled, 0.5 - good value)
+//  - nIgnoreMaskLabel: label value to ignore in the image mask, stored in the MVS scene or next to each image with '.mask.png' extension (-1 - auto estimate mask for lens distortion, -2 - disabled)
 bool Scene::TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned minCommonCameras, float fOutlierThreshold, float fRatioDataSmoothness,
 	bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, float fSharpnessWeight,
-	const IIndexArr& views)
+	int nIgnoreMaskLabel, const IIndexArr& views)
 {
 	MeshTexture texture(*this, nResolutionLevel, nMinResolution);
 
 	// assign the best view to each face
 	{
 		TD_TIMER_STARTD();
-		if (!texture.FaceViewSelection(minCommonCameras, fOutlierThreshold, fRatioDataSmoothness, views))
+		if (!texture.FaceViewSelection(minCommonCameras, fOutlierThreshold, fRatioDataSmoothness, nIgnoreMaskLabel, views))
 			return false;
 		DEBUG_EXTRA("Assigning the best view to each face completed: %u faces (%s)", mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
 	}

From 845f664e9e1c4da3fdab7b3b88da875935a48d88 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 24 May 2023 09:47:35 +0300
Subject: [PATCH 187/252] interface: export to COLMAP in binary format

---
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp | 229 +++++++++++++++++------
 1 file changed, 171 insertions(+), 58 deletions(-)

diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index f8f112ae7..a7f4eeeff 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -220,22 +220,19 @@ typedef uint64_t image_pair_t;
 typedef uint32_t point2D_t;
 typedef uint64_t point3D_t;
 
-typedef std::unordered_map<camera_t,String> CameraModelMap;
-CameraModelMap mapCameraModel;
-
-void DefineCameraModels() {
-	COLMAP::mapCameraModel.emplace(0, "SIMPLE_PINHOLE");
-	COLMAP::mapCameraModel.emplace(1, "PINHOLE");
-	COLMAP::mapCameraModel.emplace(2, "SIMPLE_RADIAL");
-	COLMAP::mapCameraModel.emplace(3, "RADIAL");
-	COLMAP::mapCameraModel.emplace(4, "OPENCV");
-	COLMAP::mapCameraModel.emplace(5, "OPENCV_FISHEYE");
-	COLMAP::mapCameraModel.emplace(6, "FULL_OPENCV");
-	COLMAP::mapCameraModel.emplace(7, "FOV");
-	COLMAP::mapCameraModel.emplace(8, "SIMPLE_RADIAL_FISHEYE");
-	COLMAP::mapCameraModel.emplace(9, "RADIAL_FISHEYE");
-	COLMAP::mapCameraModel.emplace(10, "THIN_PRISM_FISHEYE");
-}
+const std::vector<String> mapCameraModel = {
+	"SIMPLE_PINHOLE",
+	"PINHOLE",
+	"SIMPLE_RADIAL",
+	"RADIAL",
+	"OPENCV",
+	"OPENCV_FISHEYE",
+	"FULL_OPENCV",
+	"FOV",
+	"SIMPLE_RADIAL_FISHEYE",
+	"RADIAL_FISHEYE",
+	"THIN_PRISM_FISHEYE"
+};
 
 // tools
 bool NextLine(std::istream& stream, std::istringstream& in, bool bIgnoreEmpty=true) {
@@ -256,7 +253,7 @@ struct Camera {
 	String model; // camera model name
 	uint32_t width, height; // camera resolution
 	std::vector<REAL> params; // camera parameters
-	bool parsedNumCameras = false;
+	uint64_t numCameras{0}; // only for binary format
 
 	Camera() {}
 	Camera(uint32_t _ID) : ID(_ID) {}
@@ -287,6 +284,12 @@ struct Camera {
 		return ReadTXT(stream);
 	}	
 
+	bool Write(std::ostream& stream, bool binary) {
+		if (binary)
+			return WriteBIN(stream);
+		return WriteTXT(stream);
+	}
+
 	// Camera list with one line of data per camera:
 	//   CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]
 	bool ReadTXT(std::istream& stream) {
@@ -310,14 +313,13 @@ struct Camera {
 		if (stream.peek() == EOF)
 			return false;
 
-		if (!parsedNumCameras) {
+		if (numCameras == 0) {
 			// Read the first entry in the binary file
-			ReadBinaryLittleEndian<uint64_t>(&stream);
-			parsedNumCameras = true;
+			numCameras = ReadBinaryLittleEndian<uint64_t>(&stream);
 		}
 
 		ID = ReadBinaryLittleEndian<camera_t>(&stream)-1;
-		model = mapCameraModel.at(ReadBinaryLittleEndian<int>(&stream));
+		model = mapCameraModel[ReadBinaryLittleEndian<int>(&stream)];
 		width = (uint32_t)ReadBinaryLittleEndian<uint64_t>(&stream);
 		height = (uint32_t)ReadBinaryLittleEndian<uint64_t>(&stream);
 		if (model != _T("PINHOLE"))
@@ -327,7 +329,7 @@ struct Camera {
 		return true;
 	}
 
-	bool Write(std::ostream& out) const {
+	bool WriteTXT(std::ostream& out) const {
 		out << ID+1 << _T(" ") << model << _T(" ") << width << _T(" ") << height;
 		if (out.fail())
 			return false;
@@ -339,6 +341,23 @@ struct Camera {
 		out << std::endl;
 		return true;
 	}
+
+	bool WriteBIN(std::ostream& stream) {
+		if (numCameras != 0) {
+			// Write the first entry in the binary file
+			WriteBinaryLittleEndian<uint64_t>(&stream, numCameras);
+			numCameras = 0;
+		}
+
+		WriteBinaryLittleEndian<camera_t>(&stream, ID+1);
+		const int64 modelId(std::distance(mapCameraModel.begin(), std::find(mapCameraModel.begin(), mapCameraModel.end(), model)));
+		WriteBinaryLittleEndian<int>(&stream, (int)modelId);
+		WriteBinaryLittleEndian<uint64_t>(&stream, width);
+		WriteBinaryLittleEndian<uint64_t>(&stream, height);
+		for (REAL param: params)
+			WriteBinaryLittleEndian<double>(&stream, param);
+		return !stream.fail();
+	}
 };
 typedef std::vector<Camera> Cameras;
 // structure describing an image
@@ -353,7 +372,7 @@ struct Image {
 	uint32_t idCamera; // ID of the associated camera
 	String name; // image file name
 	std::vector<Proj> projs; // known image projections
-	bool parsedNumRegImages = false;
+	uint64_t numRegImages{0}; // only for binary format
 
 	Image() {}
 	Image(uint32_t _ID) : ID(_ID) {}
@@ -365,6 +384,12 @@ struct Image {
 		return ReadTXT(stream); 
 	}
 
+	bool Write(std::ostream& stream, bool binary) {
+		if (binary)
+			return WriteBIN(stream);
+		return WriteTXT(stream);
+	}
+
 	// Image list with two lines of data per image:
 	//   IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME
 	//   POINTS2D[] as (X, Y, POINT3D_ID)
@@ -388,6 +413,7 @@ struct Image {
 			in >> proj.p(0) >> proj.p(1) >> (int&)proj.idPoint;
 			if (in.fail())
 				break;
+			--proj.idPoint;
 			projs.emplace_back(proj);
 		}
 		return true;
@@ -399,10 +425,9 @@ struct Image {
 		if (stream.peek() == EOF)
 			return false;
 
-		if (!parsedNumRegImages) {
+		if (!numRegImages) {
 			// Read the first entry in the binary file
-			ReadBinaryLittleEndian<uint64_t>(&stream);
-			parsedNumRegImages = true;
+			numRegImages = ReadBinaryLittleEndian<uint64_t>(&stream);
 		}
 
 		ID = ReadBinaryLittleEndian<image_t>(&stream)-1;
@@ -416,13 +441,13 @@ struct Image {
 		idCamera = ReadBinaryLittleEndian<camera_t>(&stream)-1;
 
 		name = "";
-		char nameChar;
-		do {
+		while (true) {
+			char nameChar;
 			stream.read(&nameChar, 1);
-			if (nameChar != '\0') {
-				name += nameChar;
-			}
-		} while (nameChar != '\0');
+			if (nameChar == '\0')
+				break;
+			name += nameChar;
+		}
 		Util::ensureValidPath(name);
 
 		const size_t numPoints2D = ReadBinaryLittleEndian<uint64_t>(&stream);
@@ -431,13 +456,13 @@ struct Image {
 			Proj proj;
 			proj.p(0) = (float)ReadBinaryLittleEndian<double>(&stream);
 			proj.p(1) = (float)ReadBinaryLittleEndian<double>(&stream);
-			proj.idPoint = (uint32_t)ReadBinaryLittleEndian<point3D_t>(&stream);
+			proj.idPoint = (uint32_t)ReadBinaryLittleEndian<point3D_t>(&stream)-1;
 			projs.emplace_back(proj);
 		}
 		return true;
 	}
 
-	bool Write(std::ostream& out) const {
+	bool WriteTXT(std::ostream& out) const {
 		out << ID+1 << _T(" ")
 			<< q.w() << _T(" ") << q.x() << _T(" ") << q.y() << _T(" ") << q.z() << _T(" ")
 			<< t(0) << _T(" ") << t(1) << _T(" ") << t(2) << _T(" ")
@@ -451,6 +476,37 @@ struct Image {
 		out << std::endl;
 		return !out.fail();
 	}
+
+	bool WriteBIN(std::ostream& stream) {
+		if (numRegImages != 0) {
+			// Write the first entry in the binary file
+			WriteBinaryLittleEndian<uint64_t>(&stream, numRegImages);
+			numRegImages = 0;
+		}
+
+		WriteBinaryLittleEndian<image_t>(&stream, ID+1);
+
+		WriteBinaryLittleEndian<double>(&stream, q.w());
+		WriteBinaryLittleEndian<double>(&stream, q.x());
+		WriteBinaryLittleEndian<double>(&stream, q.y());
+		WriteBinaryLittleEndian<double>(&stream, q.z());
+
+		WriteBinaryLittleEndian<double>(&stream, t(0));
+		WriteBinaryLittleEndian<double>(&stream, t(1));
+		WriteBinaryLittleEndian<double>(&stream, t(2));
+
+		WriteBinaryLittleEndian<camera_t>(&stream, idCamera+1);
+
+		stream.write(name.c_str(), name.size()+1);
+
+		WriteBinaryLittleEndian<uint64_t>(&stream, projs.size());
+		for (const Proj& proj: projs) {
+			WriteBinaryLittleEndian<double>(&stream, proj.p(0));
+			WriteBinaryLittleEndian<double>(&stream, proj.p(1));
+			WriteBinaryLittleEndian<point3D_t>(&stream, proj.idPoint+1);
+		}
+		return !stream.fail();
+	}
 };
 typedef std::vector<Image> Images;
 // structure describing a 3D point
@@ -464,7 +520,7 @@ struct Point {
 	Interface::Col3 c; // BGR color
 	float e; // error
 	std::vector<Track> tracks; // point track
-	bool parsedNumPoints3D = false;
+	uint64_t numPoints3D{0}; // only for binary format
 
 	Point() {}
 	Point(uint32_t _ID) : ID(_ID) {}
@@ -476,6 +532,12 @@ struct Point {
 		return ReadTXT(stream);
 	}
 
+	bool Write(std::ostream& stream, bool binary) {
+		if (binary)
+			return WriteBIN(stream);
+		return WriteTXT(stream);
+	}
+
 	// 3D point list with one line of data per point:
 	//   POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)
 	bool ReadTXT(std::istream& stream) {
@@ -511,10 +573,9 @@ struct Point {
 		if (stream.peek() == EOF)
 			return false;
 
-		if (!parsedNumPoints3D) {
+		if (!numPoints3D) {
 			// Read the first entry in the binary file
-			ReadBinaryLittleEndian<uint64_t>(&stream);
-			parsedNumPoints3D = true;
+			numPoints3D = ReadBinaryLittleEndian<uint64_t>(&stream);
 		}
 
 		int r,g,b;
@@ -541,7 +602,7 @@ struct Point {
 		return !tracks.empty();
 	}
 
-	bool Write(std::ostream& out) const {
+	bool WriteTXT(std::ostream& out) const {
 		ASSERT(!tracks.empty());
 		const int r(c.z),g(c.y),b(c.x);
 		out << ID+1 << _T(" ")
@@ -556,6 +617,31 @@ struct Point {
 		out << std::endl;
 		return !out.fail();
 	}
+
+	bool WriteBIN(std::ostream& stream) {
+		ASSERT(!tracks.empty());
+		if (numPoints3D != 0) {
+			// Write the first entry in the binary file
+			WriteBinaryLittleEndian<uint64_t>(&stream, numPoints3D);
+			numPoints3D = 0;
+		}
+
+		WriteBinaryLittleEndian<point3D_t>(&stream, ID+1);
+		WriteBinaryLittleEndian<double>(&stream, p.x);
+		WriteBinaryLittleEndian<double>(&stream, p.y);
+		WriteBinaryLittleEndian<double>(&stream, p.z);
+		WriteBinaryLittleEndian<uint8_t>(&stream, c.z);
+		WriteBinaryLittleEndian<uint8_t>(&stream, c.y);
+		WriteBinaryLittleEndian<uint8_t>(&stream, c.x);
+		WriteBinaryLittleEndian<double>(&stream, e);
+
+		WriteBinaryLittleEndian<uint64_t>(&stream, tracks.size());
+		for (const Track& track: tracks) {
+			WriteBinaryLittleEndian<image_t>(&stream, track.idImage+1);
+			WriteBinaryLittleEndian<point2D_t>(&stream, track.idProj+1);
+		}
+		return !stream.fail();
+	}
 };
 typedef std::vector<Point> Points;
 // structure describing an 2D dynamic matrix
@@ -624,7 +710,6 @@ bool DetermineInputSource(const String& filenameTXT, const String& filenameBIN,
 
 bool ImportScene(const String& strFolder, const String& strOutFolder, Interface& scene)
 {
-	COLMAP::DefineCameraModels();
 	// read camera list
 	typedef std::unordered_map<uint32_t,uint32_t> CamerasMap;
 	CamerasMap mapCameras;
@@ -871,7 +956,7 @@ bool ImportScene(const String& strFolder, const String& strOutFolder, Interface&
 }
 
 
-bool ExportScene(const String& strFolder, const Interface& scene)
+bool ExportScene(const String& strFolder, const Interface& scene, bool binary = true)
 {
 	Util::ensureFolder(strFolder+COLMAP_SPARSE_FOLDER);
 
@@ -879,16 +964,22 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 	CLISTDEF0IDX(KMatrix,uint32_t) Ks;
 	CLISTDEF0IDX(COLMAP::Camera,uint32_t) cams;
 	{
-		const String filenameCameras(strFolder+COLMAP_CAMERAS_TXT);
+		const String filenameCameras(strFolder+(binary?COLMAP_CAMERAS_BIN:COLMAP_CAMERAS_TXT));
 		LOG_OUT() << "Writing cameras: " << filenameCameras << std::endl;
-		std::ofstream file(filenameCameras);
+		std::ofstream file(filenameCameras, binary ? std::ios::trunc|std::ios::binary : std::ios::trunc);
 		if (!file.good()) {
 			VERBOSE("error: unable to open file '%s'", filenameCameras.c_str());
 			return false;
 		}
-		file << _T("# Camera list with one line of data per camera:") << std::endl;
-		file << _T("#   CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]") << std::endl;
 		COLMAP::Camera cam;
+		if (binary) {
+			cam.numCameras = 0;
+			for (const Interface::Platform& platform: scene.platforms)
+				cam.numCameras += (uint32_t)platform.cameras.size();
+		} else {
+			file << _T("# Camera list with one line of data per camera:") << std::endl;
+			file << _T("#   CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]") << std::endl;
+		}
 		cam.model = _T("PINHOLE");
 		cam.params.resize(4);
 		for (uint32_t ID=0; ID<(uint32_t)scene.platforms.size(); ++ID) {
@@ -929,7 +1020,7 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 				cam.params[2] = camera.K(0,2);
 				cam.params[3] = camera.K(1,2);
 			}
-			if (!cam.Write(file))
+			if (!cam.Write(file, binary))
 				return false;
 			KMatrix& K = Ks.emplace_back(KMatrix::IDENTITY);
 			K(0,0) = cam.params[0];
@@ -980,15 +1071,20 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 	if (bSparsePointCloud) {
 		// write points list
 		{
-			const String filenamePoints(strFolder+COLMAP_POINTS_TXT);
+			const String filenamePoints(strFolder+(binary?COLMAP_POINTS_BIN:COLMAP_POINTS_TXT));
 			LOG_OUT() << "Writing points: " << filenamePoints << std::endl;
-			std::ofstream file(filenamePoints);
+			std::ofstream file(filenamePoints, binary ? std::ios::trunc|std::ios::binary : std::ios::trunc);
 			if (!file.good()) {
 				VERBOSE("error: unable to open file '%s'", filenamePoints.c_str());
 				return false;
 			}
-			file << _T("# 3D point list with one line of data per point:") << std::endl;
-			file << _T("#   POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)") << std::endl;
+			uint64_t numPoints3D = 0;
+			if (binary) {
+				numPoints3D = scene.vertices.size();
+			} else {
+				file << _T("# 3D point list with one line of data per point:") << std::endl;
+				file << _T("#   POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)") << std::endl;
+			}
 			for (uint32_t ID=0; ID<(uint32_t)scene.vertices.size(); ++ID) {
 				const Interface::Vertex& vertex = scene.vertices[ID];
 				COLMAP::Point point;
@@ -1005,7 +1101,11 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 				}
 				point.c = scene.verticesColor.empty() ? Interface::Col3(255,255,255) : scene.verticesColor[ID].c;
 				point.e = 0;
-				if (!point.Write(file))
+				if (numPoints3D != 0) {
+					point.numPoints3D = numPoints3D;
+					numPoints3D = 0;
+				}
+				if (!point.Write(file, binary))
 					return false;
 			}
 		}
@@ -1089,20 +1189,33 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 
 	// write images list
 	{
-		const String filenameImages(strFolder+COLMAP_IMAGES_TXT);
+		const String filenameImages(strFolder+(binary?COLMAP_IMAGES_BIN:COLMAP_IMAGES_TXT));
 		LOG_OUT() << "Writing images: " << filenameImages << std::endl;
-		std::ofstream file(filenameImages);
+		std::ofstream file(filenameImages, binary ? std::ios::trunc|std::ios::binary : std::ios::trunc);
 		if (!file.good()) {
 			VERBOSE("error: unable to open file '%s'", filenameImages.c_str());
 			return false;
 		}
-		file << _T("# Image list with two lines of data per image:") << std::endl;
-		file << _T("#   IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME") << std::endl;
-		file << _T("#   POINTS2D[] as (X, Y, POINT3D_ID)") << std::endl;
-		for (const COLMAP::Image& img: images) {
+		uint64_t numRegImages = 0;
+		if (binary) {
+			for (const COLMAP::Image& img: images) {
+				if (bSparsePointCloud && img.projs.empty())
+					continue;
+				++numRegImages;
+			}
+		} else {
+			file << _T("# Image list with two lines of data per image:") << std::endl;
+			file << _T("#   IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME") << std::endl;
+			file << _T("#   POINTS2D[] as (X, Y, POINT3D_ID)") << std::endl;
+		}
+		for (COLMAP::Image& img: images) {
 			if (bSparsePointCloud && img.projs.empty())
 				continue;
-			if (!img.Write(file))
+			if (numRegImages != 0) {
+				img.numRegImages = numRegImages;
+				numRegImages = 0;
+			}
+			if (!img.Write(file, binary))
 				return false;
 		}
 	}

From 15d4fd37740fbc38545a76c840c26f0f8f8c24ba Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 1 Jun 2023 07:52:09 +0300
Subject: [PATCH 188/252] interface: force sparse point cloud COLMAP export

---
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index a7f4eeeff..03d16b2be 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -68,6 +68,7 @@ namespace {
 namespace OPT {
 bool bFromOpenMVS; // conversion direction
 bool bNormalizeIntrinsics;
+bool bForceSparsePointCloud;
 String strInputFileName;
 String strOutputFileName;
 String strImageFolder;
@@ -114,6 +115,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("image-folder", boost::program_options::value<std::string>(&OPT::strImageFolder)->default_value(COLMAP_IMAGES_FOLDER), "folder to the undistorted images")
 		("max-resolution", boost::program_options::value(&OPT::nMaxResolution)->default_value(0), "make sure image resolution are not not larger than this (0 - disabled)")
 		("normalize,f", boost::program_options::value(&OPT::bNormalizeIntrinsics)->default_value(false), "normalize intrinsics while exporting to MVS format")
+		("force-points,p", boost::program_options::value(&OPT::bForceSparsePointCloud)->default_value(false), "force exporting point-cloud as sparse points also even if dense point-cloud detected")
 		;
 
 	boost::program_options::options_description cmdline_options;
@@ -956,7 +958,7 @@ bool ImportScene(const String& strFolder, const String& strOutFolder, Interface&
 }
 
 
-bool ExportScene(const String& strFolder, const Interface& scene, bool binary = true)
+bool ExportScene(const String& strFolder, const Interface& scene, bool bForceSparsePointCloud = false, bool binary = true)
 {
 	Util::ensureFolder(strFolder+COLMAP_SPARSE_FOLDER);
 
@@ -1068,7 +1070,7 @@ bool ExportScene(const String& strFolder, const Interface& scene, bool binary =
 
 	// auto-select dense or sparse mode based on number of points
 	const bool bSparsePointCloud(scene.vertices.size() < (size_t)maxNumPointsSparse);
-	if (bSparsePointCloud) {
+	if (bSparsePointCloud || bForceSparsePointCloud) {
 		// write points list
 		{
 			const String filenamePoints(strFolder+(binary?COLMAP_POINTS_BIN:COLMAP_POINTS_TXT));
@@ -1154,7 +1156,8 @@ bool ExportScene(const String& strFolder, const Interface& scene, bool binary =
 		Util::ensureFolder(strFolder+COLMAP_STEREO_CONSISTENCYGRAPHS_FOLDER);
 		Util::ensureFolder(strFolder+COLMAP_STEREO_DEPTHMAPS_FOLDER);
 		Util::ensureFolder(strFolder+COLMAP_STEREO_NORMALMAPS_FOLDER);
-	} else {
+	}
+	if (!bSparsePointCloud) {
 		// export dense point-cloud
 		const String filenameDensePoints(strFolder+COLMAP_DENSE_POINTS);
 		const String filenameDenseVisPoints(strFolder+COLMAP_DENSE_POINTS_VISIBILITY);
@@ -1416,7 +1419,7 @@ int main(int argc, LPCTSTR* argv)
 		} else {
 			// write COLMAP input data
 			Util::ensureFolderSlash(OPT::strOutputFileName);
-			ExportScene(MAKE_PATH_SAFE(OPT::strOutputFileName), scene);
+			ExportScene(MAKE_PATH_SAFE(OPT::strOutputFileName), scene, OPT::bForceSparsePointCloud);
 		}
 		VERBOSE("Input data exported: %u images & %u vertices (%s)", scene.images.size(), scene.vertices.size(), TD_TIMER_GET_FMT().c_str());
 	} else {

From ced6ff34234a7bded1d67a7d4433f9f98dd104a2 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 1 Jun 2023 08:36:22 +0300
Subject: [PATCH 189/252] interface: detect same platform for MVSNet import

---
 apps/InterfaceMVSNet/InterfaceMVSNet.cpp | 23 +++++---
 libs/MVS/Camera.cpp                      |  2 +-
 libs/MVS/Scene.cpp                       | 72 ++++++++++++------------
 3 files changed, 51 insertions(+), 46 deletions(-)

diff --git a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
index 08d76a142..299e47b44 100644
--- a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
+++ b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
@@ -250,6 +250,7 @@ bool ParseSceneMVSNet(Scene& scene)
 	String strPath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName));
 	Util::ensureValidFolderPath(strPath);
 	const std::filesystem::path path(static_cast<std::string&>(strPath));
+	IIndex prevPlatformID = NO_ID;
 	for (const std::filesystem::directory_entry& entry : std::filesystem::directory_iterator(path / MVSNET_IMAGES_FOLDER)) {
 		if (entry.path().extension() != MVSNET_IMAGES_EXT)
 			continue;
@@ -292,12 +293,18 @@ bool ParseSceneMVSNet(Scene& scene)
 		Matrix3x3 K;
 		ImageListParse(argv, K);
 		// setup camera
-		const IIndex platformID = scene.platforms.size();
-		Platform& platform = scene.platforms.emplace_back();
-		Platform::Camera& camera = platform.cameras.AddEmpty();
-		camera.K = K;
-		camera.R = RMatrix::IDENTITY;
-		camera.C = CMatrix::ZERO;
+		IIndex platformID;
+		if (prevPlatformID == NO_ID || !K.IsEqual(scene.platforms[prevPlatformID].cameras[0].K, 1e-3)) {
+			prevPlatformID = platformID = scene.platforms.size();
+			Platform& platform = scene.platforms.emplace_back();
+			Platform::Camera& camera = platform.cameras.emplace_back();
+			camera.K = K;
+			camera.R = RMatrix::IDENTITY;
+			camera.C = CMatrix::ZERO;
+		} else {
+			platformID = prevPlatformID;
+		}
+		Platform& platform = scene.platforms[platformID];
 		// setup image
 		const IIndex ID = scene.images.size();
 		Image& imageData = scene.images.emplace_back();
@@ -315,11 +322,9 @@ bool ParseSceneMVSNet(Scene& scene)
 		imageData.scale = 1;
 		// set camera pose
 		imageData.poseID = platform.poses.size();
-		Platform::Pose& pose = platform.poses.AddEmpty();
+		Platform::Pose& pose = platform.poses.emplace_back();
 		DecomposeProjectionMatrix(P, pose.R, pose.C);
 		imageData.camera = platform.GetCamera(imageData.cameraID, imageData.poseID);
-		const float resolutionScale = Camera::GetNormalizationScale(imageData.width, imageData.height);
-		camera.K = camera.GetScaledK(REAL(1)/resolutionScale);
 	}
 	if (scene.images.size() < 2)
 		return false;
diff --git a/libs/MVS/Camera.cpp b/libs/MVS/Camera.cpp
index 48380da81..95acf5338 100644
--- a/libs/MVS/Camera.cpp
+++ b/libs/MVS/Camera.cpp
@@ -157,7 +157,7 @@ void MVS::DecomposeProjectionMatrix(const PMatrix& P, RMatrix& R, CMatrix& C)
 	#ifndef _RELEASE
 	KMatrix K;
 	DecomposeProjectionMatrix(P, K, R, C);
-	ASSERT(K.IsEqual(Matrix3x3::IDENTITY));
+	ASSERT(K.IsEqual(Matrix3x3::IDENTITY, 1e-5));
 	#endif
 	// extract camera center as the right null vector of P
 	const Vec4 hC(P.RightNullVector());
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 7043b0106..e0c920ce6 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -89,13 +89,13 @@ bool Scene::LoadInterface(const String & fileName)
 
 	// import platforms and cameras
 	ASSERT(!obj.platforms.empty());
-	platforms.Reserve((uint32_t)obj.platforms.size());
+	platforms.reserve((uint32_t)obj.platforms.size());
 	for (const Interface::Platform& itPlatform: obj.platforms) {
-		Platform& platform = platforms.AddEmpty();
+		Platform& platform = platforms.emplace_back();
 		platform.name = itPlatform.name;
-		platform.cameras.Reserve((uint32_t)itPlatform.cameras.size());
+		platform.cameras.reserve((uint32_t)itPlatform.cameras.size());
 		for (const Interface::Platform::Camera& itCamera: itPlatform.cameras) {
-			Platform::Camera& camera = platform.cameras.AddEmpty();
+			Platform::Camera& camera = platform.cameras.emplace_back();
 			camera.K = itCamera.K;
 			camera.R = itCamera.R;
 			camera.C = itCamera.C;
@@ -106,27 +106,27 @@ bool Scene::LoadInterface(const String & fileName)
 			}
 			DEBUG_EXTRA("Camera model loaded: platform %u; camera %2u; f %.3fx%.3f; poses %u", platforms.size()-1, platform.cameras.size()-1, camera.K(0,0), camera.K(1,1), itPlatform.poses.size());
 		}
-		ASSERT(platform.cameras.GetSize() == itPlatform.cameras.size());
-		platform.poses.Reserve((uint32_t)itPlatform.poses.size());
+		ASSERT(platform.cameras.size() == itPlatform.cameras.size());
+		platform.poses.reserve((uint32_t)itPlatform.poses.size());
 		for (const Interface::Platform::Pose& itPose: itPlatform.poses) {
-			Platform::Pose& pose = platform.poses.AddEmpty();
+			Platform::Pose& pose = platform.poses.emplace_back();
 			pose.R = itPose.R;
 			pose.C = itPose.C;
 		}
-		ASSERT(platform.poses.GetSize() == itPlatform.poses.size());
+		ASSERT(platform.poses.size() == itPlatform.poses.size());
 	}
-	ASSERT(platforms.GetSize() == obj.platforms.size());
-	if (platforms.IsEmpty())
+	ASSERT(platforms.size() == obj.platforms.size());
+	if (platforms.empty())
 		return false;
 
 	// import images
 	nCalibratedImages = 0;
 	size_t nTotalPixels(0);
 	ASSERT(!obj.images.empty());
-	images.Reserve((uint32_t)obj.images.size());
+	images.reserve((uint32_t)obj.images.size());
 	for (const Interface::Image& image: obj.images) {
 		const uint32_t ID(images.size());
-		Image& imageData = images.AddEmpty();
+		Image& imageData = images.emplace_back();
 		imageData.ID = (image.ID == NO_ID ? ID : image.ID);
 		imageData.name = image.name;
 		Util::ensureUnifySlash(imageData.name);
@@ -160,26 +160,26 @@ bool Scene::LoadInterface(const String & fileName)
 		nTotalPixels += imageData.width * imageData.height;
 		DEBUG_ULTIMATE("Image loaded %3u: %s", ID, Util::getFileNameExt(imageData.name).c_str());
 	}
-	if (images.GetSize() < 2)
+	if (images.size() < 2)
 		return false;
 
 	// import 3D points
 	if (!obj.vertices.empty()) {
 		bool bValidWeights(false);
-		pointcloud.points.Resize(obj.vertices.size());
-		pointcloud.pointViews.Resize(obj.vertices.size());
-		pointcloud.pointWeights.Resize(obj.vertices.size());
+		pointcloud.points.resize(obj.vertices.size());
+		pointcloud.pointViews.resize(obj.vertices.size());
+		pointcloud.pointWeights.resize(obj.vertices.size());
 		FOREACH(i, pointcloud.points) {
 			const Interface::Vertex& vertex = obj.vertices[i];
 			PointCloud::Point& point = pointcloud.points[i];
 			point = vertex.X;
 			PointCloud::ViewArr& views = pointcloud.pointViews[i];
-			views.Resize((PointCloud::ViewArr::IDX)vertex.views.size());
+			views.resize((PointCloud::ViewArr::IDX)vertex.views.size());
 			PointCloud::WeightArr& weights = pointcloud.pointWeights[i];
-			weights.Resize((PointCloud::ViewArr::IDX)vertex.views.size());
-			CLISTDEF0(PointCloud::ViewArr::IDX) indices(views.GetSize());
-			std::iota(indices.Begin(), indices.End(), 0);
-			std::sort(indices.Begin(), indices.End(), [&](IndexArr::Type i0, IndexArr::Type i1) -> bool {
+			weights.resize((PointCloud::ViewArr::IDX)vertex.views.size());
+			CLISTDEF0(PointCloud::ViewArr::IDX) indices(views.size());
+			std::iota(indices.begin(), indices.end(), 0);
+			std::sort(indices.begin(), indices.end(), [&](IndexArr::Type i0, IndexArr::Type i1) -> bool {
 				return vertex.views[i0].imageID < vertex.views[i1].imageID;
 			});
 			ASSERT(vertex.views.size() >= 2);
@@ -210,8 +210,8 @@ bool Scene::LoadInterface(const String & fileName)
 				"\t%u images (%u calibrated) with a total of %.2f MPixels (%.2f MPixels/image)\n"
 				"\t%u points, %u vertices, %u faces",
 				TD_TIMER_GET_FMT().c_str(),
-				images.GetSize(), nCalibratedImages, (double)nTotalPixels/(1024.0*1024.0), (double)nTotalPixels/(1024.0*1024.0*nCalibratedImages),
-				pointcloud.points.GetSize(), mesh.vertices.GetSize(), mesh.faces.GetSize());
+				images.size(), nCalibratedImages, (double)nTotalPixels/(1024.0*1024.0), (double)nTotalPixels/(1024.0*1024.0*nCalibratedImages),
+				pointcloud.points.size(), mesh.vertices.size(), mesh.faces.size());
 	return true;
 } // LoadInterface
 
@@ -221,29 +221,29 @@ bool Scene::SaveInterface(const String & fileName, int version) const
 	Interface obj;
 
 	// export platforms
-	obj.platforms.reserve(platforms.GetSize());
+	obj.platforms.reserve(platforms.size());
 	for (const Platform& platform: platforms) {
 		Interface::Platform plat;
-		plat.cameras.reserve(platform.cameras.GetSize());
+		plat.cameras.reserve(platform.cameras.size());
 		for (const Platform::Camera& camera: platform.cameras) {
 			Interface::Platform::Camera cam;
 			cam.K = camera.K;
 			cam.R = camera.R;
 			cam.C = camera.C;
-			plat.cameras.push_back(cam);
+			plat.cameras.emplace_back(cam);
 		}
-		plat.poses.reserve(platform.poses.GetSize());
+		plat.poses.reserve(platform.poses.size());
 		for (const Platform::Pose& pose: platform.poses) {
 			Interface::Platform::Pose p;
 			p.R = pose.R;
 			p.C = pose.C;
-			plat.poses.push_back(p);
+			plat.poses.emplace_back(p);
 		}
-		obj.platforms.push_back(plat);
+		obj.platforms.emplace_back(std::move(plat));
 	}
 
 	// export images
-	obj.images.resize(images.GetSize());
+	obj.images.resize(images.size());
 	FOREACH(i, images) {
 		const Image& imageData = images[i];
 		MVS::Interface::Image& image = obj.images[i];
@@ -262,14 +262,14 @@ bool Scene::SaveInterface(const String & fileName, int version) const
 	}
 
 	// export 3D points
-	obj.vertices.resize(pointcloud.points.GetSize());
+	obj.vertices.resize(pointcloud.points.size());
 	FOREACH(i, pointcloud.points) {
 		const PointCloud::Point& point = pointcloud.points[i];
 		const PointCloud::ViewArr& views = pointcloud.pointViews[i];
 		MVS::Interface::Vertex& vertex = obj.vertices[i];
 		ASSERT(sizeof(vertex.X.x) == sizeof(point.x));
 		vertex.X = point;
-		vertex.views.resize(views.GetSize());
+		vertex.views.resize(views.size());
 		views.ForEach([&](PointCloud::ViewArr::IDX v) {
 			MVS::Interface::Vertex::View& view = vertex.views[v];
 			view.imageID = views[v];
@@ -277,7 +277,7 @@ bool Scene::SaveInterface(const String & fileName, int version) const
 		});
 	}
 	if (!pointcloud.normals.IsEmpty()) {
-		obj.verticesNormal.resize(pointcloud.normals.GetSize());
+		obj.verticesNormal.resize(pointcloud.normals.size());
 		FOREACH(i, pointcloud.normals) {
 			const PointCloud::Normal& normal = pointcloud.normals[i];
 			MVS::Interface::Normal& vertexNormal = obj.verticesNormal[i];
@@ -285,7 +285,7 @@ bool Scene::SaveInterface(const String & fileName, int version) const
 		}
 	}
 	if (!pointcloud.colors.IsEmpty()) {
-		obj.verticesColor.resize(pointcloud.colors.GetSize());
+		obj.verticesColor.resize(pointcloud.colors.size());
 		FOREACH(i, pointcloud.colors) {
 			const PointCloud::Color& color = pointcloud.colors[i];
 			MVS::Interface::Color& vertexColor = obj.verticesColor[i];
@@ -306,8 +306,8 @@ bool Scene::SaveInterface(const String & fileName, int version) const
 				"\t%u images (%u calibrated)\n"
 				"\t%u points, %u vertices, %u faces",
 				TD_TIMER_GET_FMT().c_str(),
-				images.GetSize(), nCalibratedImages,
-				pointcloud.points.GetSize(), mesh.vertices.GetSize(), mesh.faces.GetSize());
+				images.size(), nCalibratedImages,
+				pointcloud.points.size(), mesh.vertices.size(), mesh.faces.size());
 	return true;
 } // SaveInterface
 /*----------------------------------------------------------------*/

From 4efd9b4807bd70f3ebdd916c907ee5573f99d7fa Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 16 Jun 2023 11:16:31 +0300
Subject: [PATCH 190/252] dense: estimate point-cloud scales

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp | 16 ++++
 libs/MVS/Camera.h                            | 37 ++++++++
 libs/MVS/DepthMap.cpp                        |  2 +
 libs/MVS/PointCloud.cpp                      | 98 +++++++++++++++++++-
 libs/MVS/PointCloud.h                        |  5 +-
 libs/MVS/Scene.cpp                           | 16 +---
 6 files changed, 154 insertions(+), 20 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 0e22f8aaa..33d0bfd66 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -62,6 +62,7 @@ float fBorderROI;
 bool bCrop2ROI;
 int nEstimateROI;
 int nFusionMode;
+float fEstimateScale;
 int thFilterPointCloud;
 int nExportNumViews;
 int nArchiveType;
@@ -140,6 +141,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("geometric-iters", boost::program_options::value(&nEstimationGeometricIters)->default_value(2), "number of geometric consistent patch-match iterations (0 - disabled)")
 		("estimate-colors", boost::program_options::value(&nEstimateColors)->default_value(2), "estimate the colors for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
 		("estimate-normals", boost::program_options::value(&nEstimateNormals)->default_value(2), "estimate the normals for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
+		("estimate-scale", boost::program_options::value(&OPT::fEstimateScale)->default_value(0.f), "estimate the point-scale for the dense point-cloud (scale multiplier, 0 - disabled)")
 		("sub-scene-area", boost::program_options::value(&OPT::fMaxSubsceneArea)->default_value(0.f), "split the scene in sub-scenes such that each sub-scene surface does not exceed the given maximum sampling area (0 - disabled)")
 		("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(0.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
 		("fusion-mode", boost::program_options::value(&OPT::nFusionMode)->default_value(0), "depth-maps fusion mode (-2 - fuse disparity-maps, -1 - export disparity-maps only, 0 - depth-maps & fusion, 1 - export depth-maps only)")
@@ -385,6 +387,20 @@ int main(int argc, LPCTSTR* argv)
 		Finalize();
 		return EXIT_SUCCESS;
 	}
+	if (OPT::fEstimateScale > 0 && !scene.pointcloud.IsEmpty() && !scene.images.empty()) {
+		// simply export existing point-cloud with scale
+		if (scene.pointcloud.normals.empty()) {
+			if (!scene.pointcloud.IsValid()) {
+				VERBOSE("error: can not estimate normals as the point-cloud is not valid");
+				return EXIT_FAILURE;
+			}
+			EstimatePointNormals(scene.images, scene.pointcloud);
+		}
+		const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
+		scene.pointcloud.SaveWithScale(baseFileName+_T("_scale.ply"), scene.images, OPT::fEstimateScale);
+		Finalize();
+		return EXIT_SUCCESS;
+	}
 	if ((ARCHIVE_TYPE)OPT::nArchiveType != ARCHIVE_MVS) {
 		#if TD_VERBOSE != TD_VERBOSE_OFF
 		if (VERBOSITY_LEVEL > 1 && !scene.pointcloud.IsEmpty())
diff --git a/libs/MVS/Camera.h b/libs/MVS/Camera.h
index 063ede568..2d600eaca 100644
--- a/libs/MVS/Camera.h
+++ b/libs/MVS/Camera.h
@@ -402,6 +402,43 @@ class MVS_API Camera : public CameraIntern
 		return TransformPointOrthoC2I(TransformPointW2C(X));
 	}
 
+	// compute the projection scale in this camera of the given world point
+	template <typename TYPE>
+	inline TYPE GetFootprintImage(const TPoint3<TYPE>& X) const {
+		#if 0
+		const TYPE fSphereRadius(1);
+		const TPoint3<TYPE> camX(TransformPointW2C(X));
+		return norm(TransformPointC2I(TPoint3<TYPE>(camX.x+fSphereRadius,camX.y,camX.z))-TransformPointC2I(camX));
+		#else
+		return GetFocalLength() / PointDepth(X);
+		#endif
+	}
+	// compute the surface the projected pixel covers at the given depth
+	template <typename TYPE>
+	inline TYPE GetFootprintWorldSq(const TPoint2<TYPE>& x, TYPE depth) const {
+		#if 0
+		return SQUARE(GetFocalLength());
+		#else
+		// improved version of the above
+		return SQUARE(depth) / (SQUARE(GetFocalLength()) + normSq(TransformPointI2V(x)));
+		#endif
+	}
+	template <typename TYPE>
+	inline TYPE GetFootprintWorld(const TPoint2<TYPE>& x, TYPE depth) const {
+		return depth / SQRT(SQUARE(GetFocalLength()) + normSq(TransformPointI2V(x)));
+	}
+	// same as above, but the 3D point is given
+	template <typename TYPE>
+	inline TYPE GetFootprintWorldSq(const TPoint3<TYPE>& X) const {
+		const TPoint3<TYPE> camX(TransformPointW2C(X));
+		return GetFootprintWorldSq(TPoint2<TYPE>(camX.x/camX.z,camX.y/camX.z), camX.z);
+	}
+	template <typename TYPE>
+	inline TYPE GetFootprintWorld(const TPoint3<TYPE>& X) const {
+		const TPoint3<TYPE> camX(TransformPointW2C(X));
+		return GetFootprintWorld(TPoint2<TYPE>(camX.x/camX.z,camX.y/camX.z), camX.z);
+	}
+
 	#ifdef _USE_BOOST
 	// implement BOOST serialization
 	template<class Archive>
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 8346349c5..0a681317c 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -1540,6 +1540,8 @@ void MVS::EstimatePointNormals(const ImageArr& images, PointCloud& pointcloud, i
 {
 	TD_TIMER_START();
 
+	ASSERT(pointcloud.IsValid());
+
 	typedef CGAL::Simple_cartesian<double> kernel_t;
 	typedef kernel_t::Point_3 point_t;
 	typedef kernel_t::Vector_3 vector_t;
diff --git a/libs/MVS/PointCloud.cpp b/libs/MVS/PointCloud.cpp
index 6c6bf04f8..1a77087fb 100644
--- a/libs/MVS/PointCloud.cpp
+++ b/libs/MVS/PointCloud.cpp
@@ -223,6 +223,8 @@ namespace BasicPLY {
 		Point p;
 		Color c;
 		Normal n;
+		float scale;
+		float confidence;
 	};
 	static const PLY::PlyProperty vert_props[] = {
 		{"x",     PLY::Float32, PLY::Float32, offsetof(PointColNormal,p.x), 0, 0, 0, 0},
@@ -233,7 +235,9 @@ namespace BasicPLY {
 		{"blue",  PLY::Uint8,   PLY::Uint8,   offsetof(PointColNormal,c.b), 0, 0, 0, 0},
 		{"nx",    PLY::Float32, PLY::Float32, offsetof(PointColNormal,n.x), 0, 0, 0, 0},
 		{"ny",    PLY::Float32, PLY::Float32, offsetof(PointColNormal,n.y), 0, 0, 0, 0},
-		{"nz",    PLY::Float32, PLY::Float32, offsetof(PointColNormal,n.z), 0, 0, 0, 0}
+		{"nz",    PLY::Float32, PLY::Float32, offsetof(PointColNormal,n.z), 0, 0, 0, 0},
+		{"scale", PLY::Float32, PLY::Float32, offsetof(PointColNormal,scale), 0, 0, 0, 0},
+		{"confidence", PLY::Float32, PLY::Float32, offsetof(PointColNormal,confidence), 0, 0, 0, 0}
 	};
 	// list of the kinds of elements in the PLY
 	static const char* elem_names[] = {
@@ -296,7 +300,7 @@ bool PointCloud::Load(const String& fileName)
 } // Load
 
 // save the dense point cloud as PLY file
-bool PointCloud::Save(const String& fileName, bool bLegacyTypes) const
+bool PointCloud::Save(const String& fileName, bool bLegacyTypes, bool bBinary) const
 {
 	if (points.IsEmpty())
 		return false;
@@ -308,7 +312,7 @@ bool PointCloud::Save(const String& fileName, bool bLegacyTypes) const
 	PLY ply;
 	if (bLegacyTypes)
 		ply.set_legacy_type_names();
-	if (!ply.write(fileName, 1, BasicPLY::elem_names, PLY::BINARY_LE, 64*1024))
+	if (!ply.write(fileName, 1, BasicPLY::elem_names, bBinary?PLY::BINARY_LE:PLY::ASCII, 64*1024))
 		return false;
 
 	if (normals.IsEmpty()) {
@@ -353,7 +357,7 @@ bool PointCloud::Save(const String& fileName, bool bLegacyTypes) const
 } // Save
 
 // save the dense point cloud having >=N views as PLY file
-bool PointCloud::SaveNViews(const String& fileName, uint32_t minViews, bool bLegacyTypes) const
+bool PointCloud::SaveNViews(const String& fileName, uint32_t minViews, bool bLegacyTypes, bool bBinary) const
 {
 	if (points.IsEmpty())
 		return false;
@@ -365,7 +369,7 @@ bool PointCloud::SaveNViews(const String& fileName, uint32_t minViews, bool bLeg
 	PLY ply;
 	if (bLegacyTypes)
 		ply.set_legacy_type_names();
-	if (!ply.write(fileName, 1, BasicPLY::elem_names, PLY::BINARY_LE, 64*1024))
+	if (!ply.write(fileName, 1, BasicPLY::elem_names, bBinary?PLY::BINARY_LE:PLY::ASCII, 64*1024))
 		return false;
 
 	if (normals.IsEmpty()) {
@@ -407,6 +411,90 @@ bool PointCloud::SaveNViews(const String& fileName, uint32_t minViews, bool bLeg
 	DEBUG_EXTRA("Point-cloud saved: %u points with at least %u views each (%s)", numPoints, minViews, TD_TIMER_GET_FMT().c_str());
 	return true;
 } // SaveNViews
+
+// save the dense point cloud + scale as PLY file
+bool PointCloud::SaveWithScale(const String& fileName, const ImageArr& images, float scaleMult, bool bLegacyTypes, bool bBinary) const
+{
+	if (points.empty())
+		return false;
+
+	TD_TIMER_STARTD();
+
+	// create PLY object
+	ASSERT(!fileName.empty());
+	Util::ensureFolder(fileName);
+	PLY ply;
+	if (bLegacyTypes)
+		ply.set_legacy_type_names();
+	if (!ply.write(fileName, 1, BasicPLY::elem_names, bBinary?PLY::BINARY_LE:PLY::ASCII, 64*1024))
+		return false;
+
+	// describe what properties go into the vertex elements
+	ply.describe_property(BasicPLY::elem_names[0], 11, BasicPLY::vert_props);
+
+	// export the array of 3D points
+	BasicPLY::PointColNormal vertex;
+	FOREACH(i, points) {
+		// export the vertex position, normal and scale
+		vertex.p = points[i];
+		if (colors.empty())
+			vertex.c = Color::WHITE;
+		else
+			vertex.c = colors[i];
+		if (normals.empty())
+			vertex.n = Vec3f::ZERO;
+		else
+			vertex.n = normals[i];
+		#if 0
+		// one sample per view
+		vertex.confidence = 1;
+		for (IIndex idxView: pointViews[i]) {
+			const float scale((float)images[idxView].camera.GetFootprintWorld(Cast<REAL>(vertex.p)));
+			ASSERT(scale > 0);
+			vertex.scale = scale*scaleMult;
+			ply.put_element(&vertex);
+		}
+		#else
+		// one sample per point
+		vertex.scale = FLT_MAX;
+		if (pointWeights.empty()) {
+			vertex.confidence = (float)pointViews[i].size();
+			for (IIndex idxView: pointViews[i]) {
+				const float scale((float)images[idxView].camera.GetFootprintWorld(Cast<REAL>(vertex.p)));
+				ASSERT(scale > 0);
+				if (vertex.scale > scale)
+					vertex.scale = scale;
+			}
+		} else {
+			vertex.confidence = 0;
+			float scaleWeightBest = FLT_MAX;
+			FOREACH(j, pointViews[i]) {
+				const IIndex idxView = pointViews[i][j];
+				const float scale((float)images[idxView].camera.GetFootprintWorld(Cast<REAL>(vertex.p)));
+				ASSERT(scale > 0);
+				const float conf(pointWeights[i][j]);
+				const float scaleWeight(scale/conf);
+				if (scaleWeightBest > scaleWeight) {
+					scaleWeightBest = scaleWeight;
+					vertex.scale = scale;
+					vertex.confidence = conf;
+				}
+			}
+		}
+		ASSERT(vertex.scale != FLT_MAX);
+		vertex.scale *= scaleMult;
+		ply.put_element(&vertex);
+		#endif
+	}
+	ASSERT(ply.get_current_element_count() == (int)points.size());
+
+	// write the header
+	if (!ply.header_complete())
+		return false;
+
+	DEBUG_EXTRA("Point-cloud saved: %u points with scale (%s)", points.size(), TD_TIMER_GET_FMT().c_str());
+	return true;
+} // SaveWithScale
 /*----------------------------------------------------------------*/
 
 
diff --git a/libs/MVS/PointCloud.h b/libs/MVS/PointCloud.h
index a8ac0483f..6576d70b9 100644
--- a/libs/MVS/PointCloud.h
+++ b/libs/MVS/PointCloud.h
@@ -102,8 +102,9 @@ class MVS_API PointCloud
 	Planef EstimateGroundPlane(const ImageArr& images, float planeThreshold=0, const String& fileExportPlane="") const;
 
 	bool Load(const String& fileName);
-	bool Save(const String& fileName, bool bLegacyTypes=false) const;
-	bool SaveNViews(const String& fileName, uint32_t minViews, bool bLegacyTypes=false) const;
+	bool Save(const String& fileName, bool bLegacyTypes=false, bool bBinary=true) const;
+	bool SaveNViews(const String& fileName, uint32_t minViews, bool bLegacyTypes=false, bool bBinary=true) const;
+	bool SaveWithScale(const String& fileName, const ImageArr& images, float scaleMult, bool bLegacyTypes=false, bool bBinary=true) const;
 
 	void PrintStatistics(const Image* pImages = NULL, const OBB3f* pObb = NULL) const;
 
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index e0c920ce6..8d7a037b8 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -786,16 +786,6 @@ bool Scene::EstimateNeighborViewsPointCloud(unsigned maxResolution)
 } // EstimateNeighborViewsPointCloud
 /*----------------------------------------------------------------*/
 
-inline float Footprint(const Camera& camera, const Point3f& X) {
-	#if 0
-	const REAL fSphereRadius(1);
-	const Point3 cX(camera.TransformPointW2C(Cast<REAL>(X)));
-	return (float)norm(camera.TransformPointC2I(Point3(cX.x+fSphereRadius,cX.y,cX.z))-camera.TransformPointC2I(cX))+std::numeric_limits<float>::epsilon();
-	#else
-	return (float)(camera.GetFocalLength()/camera.PointDepth(X));
-	#endif
-}
-
 // compute visibility for the reference image
 // and select the best views for reconstructing the dense point-cloud;
 // extract also all 3D points seen by the reference image;
@@ -848,7 +838,7 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 		++nPoints;
 		// score shared views
 		const Point3f V1(imageData.camera.C - Cast<REAL>(point));
-		const float footprint1(Footprint(imageData.camera, point));
+		const float footprint1(imageData.camera.GetFootprintImage(point));
 		for (const PointCloud::View& view: views) {
 			if (view == ID)
 				continue;
@@ -856,7 +846,7 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 			const Point3f V2(imageData2.camera.C - Cast<REAL>(point));
 			const float fAngle(ACOS(ComputeAngle(V1.ptr(), V2.ptr())));
 			const float wAngle(EXP(SQUARE(fAngle-fOptimAngle)*(fAngle<fOptimAngle?sigmaAngleSmall:sigmaAngleLarge)));
-			const float footprint2(Footprint(imageData2.camera, point));
+			const float footprint2(imageData2.camera.GetFootprintImage(point));
 			const float fScaleRatio(footprint1/footprint2);
 			float wScale;
 			if (fScaleRatio > 1.6f)
@@ -1060,7 +1050,7 @@ unsigned Scene::Split(ImagesChunkArr& chunks, float maxArea, int depthMapStep) c
 					const Point3f X(Cast<float>(camera.TransformPointI2W(Point3(c,r,depth))));
 					if (IsBounded() && !obb.Intersects(X))
 						continue;
-					areas.emplace_back(Footprint(camera, X)*areaScale);
+					areas.emplace_back(camera.GetFootprintImage(X)*areaScale);
 					visibility.emplace_back(idxImage);
 					samples.emplace_back(X);
 				}

From 017161ec6bf14e2f04dd5633872c8a08ab0ad071 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 16 Jun 2023 11:47:55 +0300
Subject: [PATCH 191/252] build: update vcpkg in CI

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

diff --git a/.github/workflows/continuous_integration.yml b/.github/workflows/continuous_integration.yml
index 47b7ac369..40fb45076 100644
--- a/.github/workflows/continuous_integration.yml
+++ b/.github/workflows/continuous_integration.yml
@@ -42,7 +42,7 @@ jobs:
         uses: lukka/run-vcpkg@v10
         with:
           vcpkgDirectory: '${{ github.workspace }}/vcpkg'
-          vcpkgGitCommitId: '7b30311f0a79d395bf2d933d82fec1853c6a4e77'
+          vcpkgGitCommitId: '1e90576cf5e931fa1b59ea289b9615fef6441306'
 
       - name: Install Ubuntu dependencies
         if: matrix.os == 'ubuntu-latest'

From 2d95bdc4bfeca681037e98ce925daccaf3ae328a Mon Sep 17 00:00:00 2001
From: Daniel Lawrence Lu <daniel.lawrence.lu+github@gmail.com>
Date: Tue, 20 Jun 2023 02:00:03 -0700
Subject: [PATCH 192/252] common: fix incorrect comparison in
 BufferedOutputStream (#1010)

---
 libs/Common/Filters.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libs/Common/Filters.h b/libs/Common/Filters.h
index 55218cc59..e84f3547c 100644
--- a/libs/Common/Filters.h
+++ b/libs/Common/Filters.h
@@ -103,7 +103,7 @@ class BufferedOutputStream : public LayerOutputStream<managed> {
 				if (this->s->write(buf, bufSize) == STREAM_ERROR)
 					return STREAM_ERROR;
 				pos = 0;
-				if (len >= bufSize) {
+				if (len < bufSize) {
 					if (this->s->write(b, len) == STREAM_ERROR)
 						return STREAM_ERROR;
 					break;

From 3cb7f7a11b12c95ceb898948e81b34ce6dd90a52 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 28 Jun 2023 15:25:21 +0300
Subject: [PATCH 193/252] interface: add Polycam importer

---
 apps/CMakeLists.txt                           |   1 +
 .../InterfaceMetashape/InterfaceMetashape.cpp |   9 +-
 apps/InterfacePolycam/CMakeLists.txt          |  13 +
 apps/InterfacePolycam/InterfacePolycam.cpp    | 363 ++++++++++++++++++
 libs/Common/List.h                            |  53 ++-
 libs/MVS/Camera.h                             |   2 +-
 libs/MVS/Interface.h                          |   2 +-
 libs/MVS/SceneDensify.cpp                     |   6 +
 8 files changed, 423 insertions(+), 26 deletions(-)
 create mode 100644 apps/InterfacePolycam/CMakeLists.txt
 create mode 100644 apps/InterfacePolycam/InterfacePolycam.cpp

diff --git a/apps/CMakeLists.txt b/apps/CMakeLists.txt
index 7f7ea6584..3bb00c6c6 100644
--- a/apps/CMakeLists.txt
+++ b/apps/CMakeLists.txt
@@ -2,6 +2,7 @@
 ADD_SUBDIRECTORY(InterfaceCOLMAP)
 ADD_SUBDIRECTORY(InterfaceMetashape)
 ADD_SUBDIRECTORY(InterfaceMVSNet)
+ADD_SUBDIRECTORY(InterfacePolycam)
 ADD_SUBDIRECTORY(DensifyPointCloud)
 ADD_SUBDIRECTORY(ReconstructMesh)
 ADD_SUBDIRECTORY(RefineMesh)
diff --git a/apps/InterfaceMetashape/InterfaceMetashape.cpp b/apps/InterfaceMetashape/InterfaceMetashape.cpp
index 7ce1eb56b..12f3ebada 100644
--- a/apps/InterfaceMetashape/InterfaceMetashape.cpp
+++ b/apps/InterfaceMetashape/InterfaceMetashape.cpp
@@ -93,7 +93,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
 		("points-file,p", boost::program_options::value<std::string>(&OPT::strPointsFileName), "input filename containing the 3D points")
-		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
+		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the scene")
 		("output-image-folder", boost::program_options::value<std::string>(&OPT::strOutputImageFolder)->default_value("undistorted_images"), "output folder to store undistorted images")
 		;
 
@@ -133,9 +133,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// validate input
 	Util::ensureValidPath(OPT::strPointsFileName);
 	Util::ensureValidPath(OPT::strInputFileName);
-	Util::ensureValidPath(OPT::strOutputImageFolder);
-	Util::ensureFolderSlash(OPT::strOutputImageFolder);
-	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
+	Util::ensureValidFolderPath(OPT::strOutputImageFolder);
 	const bool bInvalidCommand(OPT::strInputFileName.empty());
 	if (OPT::vm.count("help") || bInvalidCommand) {
 		boost::program_options::options_description visible("Available options");
@@ -146,8 +144,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		return false;
 
 	// initialize optional options
-	Util::ensureValidPath(OPT::strOutputFileName);
-	Util::ensureUnifySlash(OPT::strOutputFileName);
+	Util::ensureValidFolderPath(OPT::strOutputFileName);
 	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + MVS_EXT;
 
diff --git a/apps/InterfacePolycam/CMakeLists.txt b/apps/InterfacePolycam/CMakeLists.txt
new file mode 100644
index 000000000..de8fda125
--- /dev/null
+++ b/apps/InterfacePolycam/CMakeLists.txt
@@ -0,0 +1,13 @@
+if(MSVC)
+	FILE(GLOB LIBRARY_FILES_C "*.cpp" "*.rc")
+else()
+	FILE(GLOB LIBRARY_FILES_C "*.cpp")
+endif()
+FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
+
+cxx_executable_with_flags(InterfacePolycam "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+
+# Install
+INSTALL(TARGETS InterfacePolycam
+	EXPORT OpenMVSTargets
+	RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin)
diff --git a/apps/InterfacePolycam/InterfacePolycam.cpp b/apps/InterfacePolycam/InterfacePolycam.cpp
new file mode 100644
index 000000000..89f4ee7c7
--- /dev/null
+++ b/apps/InterfacePolycam/InterfacePolycam.cpp
@@ -0,0 +1,363 @@
+/*
+ * InterfacePolycam.cpp
+ *
+ * Copyright (c) 2014-2023 SEACAVE
+ *
+ * Author(s):
+ *
+ *      cDc <cdc.seacave@gmail.com>
+ *
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Affero General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Affero General Public License for more details.
+ *
+ * You should have received a copy of the GNU Affero General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * Additional Terms:
+ *
+ *      You are required to preserve legal notices and author attributions in
+ *      that material or in the Appropriate Legal Notices displayed by works
+ *      containing it.
+ */
+
+#include "../../libs/MVS/Common.h"
+#include "../../libs/MVS/Scene.h"
+#include "../../libs/IO/json.hpp"
+#include <boost/program_options.hpp>
+
+using namespace MVS;
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+#define APPNAME _T("InterfacePolycam")
+#define MVS_EXT _T(".mvs")
+#define JSON_EXT _T(".json")
+#define DEPTH_EXT _T(".png")
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+namespace {
+
+namespace OPT {
+String strInputFileName;
+String strOutputFileName;
+unsigned nArchiveType;
+int nProcessPriority;
+unsigned nMaxThreads;
+String strConfigFileName;
+boost::program_options::variables_map vm;
+} // namespace OPT
+
+// initialize and parse the command line parameters
+bool Initialize(size_t argc, LPCTSTR* argv)
+{
+	// initialize log and console
+	OPEN_LOG();
+	OPEN_LOGCONSOLE();
+
+	// group of options allowed only on command line
+	boost::program_options::options_description generic("Generic options");
+	generic.add_options()
+		("help,h", "imports SfM scene stored Polycam format")
+		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
+		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
+		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
+		#if TD_VERBOSE != TD_VERBOSE_OFF
+		("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
+			#if TD_VERBOSE == TD_VERBOSE_DEBUG
+			3
+			#else
+			2
+			#endif
+			), "verbosity level")
+		#endif
+		;
+
+	// group of options allowed both on command line and in config file
+	boost::program_options::options_description config("Main options");
+	config.add_options()
+		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input folder containing Polycam camera poses, images and depth-maps")
+		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the scene")
+		;
+
+	boost::program_options::options_description cmdline_options;
+	cmdline_options.add(generic).add(config);
+
+	boost::program_options::options_description config_file_options;
+	config_file_options.add(config);
+
+	boost::program_options::positional_options_description p;
+	p.add("input-file", -1);
+
+	try {
+		// parse command line options
+		boost::program_options::store(boost::program_options::command_line_parser((int)argc, argv).options(cmdline_options).positional(p).run(), OPT::vm);
+		boost::program_options::notify(OPT::vm);
+		INIT_WORKING_FOLDER;
+		// parse configuration file
+		std::ifstream ifs(MAKE_PATH_SAFE(OPT::strConfigFileName));
+		if (ifs) {
+			boost::program_options::store(parse_config_file(ifs, config_file_options), OPT::vm);
+			boost::program_options::notify(OPT::vm);
+		}
+	}
+	catch (const std::exception& e) {
+		LOG(e.what());
+		return false;
+	}
+
+	// initialize the log file
+	OPEN_LOGFILE(MAKE_PATH(APPNAME _T("-")+Util::getUniqueName(0)+_T(".log")).c_str());
+
+	// print application details: version and command line
+	Util::LogBuild();
+	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
+
+	// validate input
+	Util::ensureValidFolderPath(OPT::strInputFileName);
+	const bool bInvalidCommand(OPT::strInputFileName.empty());
+	if (OPT::vm.count("help") || bInvalidCommand) {
+		boost::program_options::options_description visible("Available options");
+		visible.add(generic).add(config);
+		GET_LOG() << visible;
+	}
+	if (bInvalidCommand)
+		return false;
+
+	// initialize optional options
+	Util::ensureValidFolderPath(OPT::strOutputFileName);
+	if (OPT::strOutputFileName.empty())
+		OPT::strOutputFileName = "scene" MVS_EXT;
+
+	// initialize global options
+	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
+	#ifdef _USE_OPENMP
+	if (OPT::nMaxThreads != 0)
+		omp_set_num_threads(OPT::nMaxThreads);
+	#endif
+
+	#ifdef _USE_BREAKPAD
+	// start memory dumper
+	MiniDumper::Create(APPNAME, WORKING_FOLDER);
+	#endif
+	return true;
+}
+
+// finalize application instance
+void Finalize()
+{
+	#if TD_VERBOSE != TD_VERBOSE_OFF
+	// print memory statistics
+	Util::LogMemoryInfo();
+	#endif
+
+	CLOSE_LOGFILE();
+	CLOSE_LOGCONSOLE();
+	CLOSE_LOG();
+}
+
+// parse image containing calibration, pose, and depth-map information
+bool ParseImage(Scene& scene, const String& imagePath, const String& cameraPath, const String& depthPath,
+	const std::unordered_map<String, IIndex>& mapImageName)
+{
+	nlohmann::json data = nlohmann::json::parse(std::ifstream(cameraPath));
+	if (data.empty())
+		return false;
+	const cv::Size resolution(data["width"].get<uint32_t>(), data["height"].get<uint32_t>());
+	// set platform
+	const IIndex platformID = scene.platforms.size();
+	Platform& platform = scene.platforms.AddEmpty();
+	Platform::Camera& camera = platform.cameras.AddEmpty();
+	camera.K = KMatrix::IDENTITY;
+	camera.R = RMatrix::IDENTITY;
+	camera.C = CMatrix::ZERO;
+	camera.K(0,0) = data["fx"].get<float>();
+	camera.K(1,1) = data["fy"].get<float>();
+	camera.K(0,2) = data["cx"].get<float>();
+	camera.K(1,2) = data["cy"].get<float>();
+	// set image
+	const IIndex imageID = scene.images.size();
+	Image& imageData = scene.images.AddEmpty();
+	imageData.platformID = platformID;
+	imageData.cameraID = 0; // only one camera per platform supported by this format
+	imageData.poseID = NO_ID;
+	imageData.ID = imageID;
+	imageData.name = imagePath;
+	ASSERT(Util::isFullPath(imageData.name));
+	// set image resolution
+	imageData.width = resolution.width;
+	imageData.height = resolution.height;
+	imageData.scale = 1;
+	// set camera pose
+	imageData.poseID = platform.poses.size();
+	Platform::Pose& pose = platform.poses.AddEmpty();
+	const Eigen::Matrix3d R_session_arkitcam{
+		{data["t_00"].get<double>(), data["t_01"].get<double>(), data["t_02"].get<double>()},
+		{data["t_10"].get<double>(), data["t_11"].get<double>(), data["t_12"].get<double>()},
+		{data["t_20"].get<double>(), data["t_21"].get<double>(), data["t_22"].get<double>()}
+	};
+	const Eigen::Vector3d t_session_arkitcam{
+		data["t_03"].get<double>(),
+		data["t_13"].get<double>(),
+		data["t_23"].get<double>()
+	};
+	const Eigen::Affine3d T_session_arkitcam{
+		Eigen::Affine3d(Eigen::Translation3d(t_session_arkitcam)) * Eigen::Affine3d(Eigen::AngleAxisd(R_session_arkitcam))
+	};
+	const Eigen::Affine3d T_cam_arkitcam{
+		Eigen::AngleAxisd(M_PI, Eigen::Vector3d::UnitX())
+	};
+	const Eigen::Matrix4d P{
+		(T_cam_arkitcam * T_session_arkitcam.inverse()).matrix()
+	};
+	pose.R = P.template topLeftCorner<3, 3>();
+	pose.R.EnforceOrthogonality();
+	const Point3d t = P.template topRightCorner<3, 1>();
+	pose.C = pose.R.t() * (-t);
+	imageData.camera = platform.GetCamera(imageData.cameraID, imageData.poseID);
+	// set image neighbors if available
+	nlohmann::json::const_iterator itNeighbors = data.find("neighbors");
+	if (itNeighbors != data.end()) {
+		const std::vector<uint64_t> neighborTimestamps = itNeighbors->get<std::vector<uint64_t>>();
+		for (uint64_t timestamp: neighborTimestamps) {
+			const String neighborName = std::to_string(timestamp);
+			const IIndex neighborID = mapImageName.at(neighborName);
+			if (neighborID != imageData.ID)
+				imageData.neighbors.emplace_back(ViewScore{ViewInfo{neighborID, 0, 1.f, FD2R(15.f), 0.5f}, 3.f});
+		}
+	}
+	// load and convert depth-map
+	DepthMap depthMap; {
+		constexpr double depthScale{1000.0};
+		const cv::Mat imgDepthMap = cv::imread(depthPath, cv::IMREAD_ANYDEPTH);
+		if (imgDepthMap.empty())
+			return false;
+		imgDepthMap.convertTo(depthMap, CV_32FC1, 1.0/depthScale);
+	}
+	IIndexArr IDs = {imageData.ID};
+	IDs.JoinFunctor(imageData.neighbors.size(), [&imageData](IIndex i) {
+		return imageData.neighbors[i].idx.ID;
+	});
+	double dMin, dMax;
+	cv::minMaxIdx(depthMap, &dMin, &dMax, NULL, NULL, depthMap > 0);
+	const NormalMap normalMap;
+	const ConfidenceMap confMap;
+	const ViewsMap viewsMap;
+	if (!ExportDepthDataRaw(MAKE_PATH(String::FormatString("depth%04u.dmap", imageData.ID)),
+		imageData.name, IDs, resolution,
+		camera.K, pose.R, pose.C,
+		(float)dMin, (float)dMax,
+		depthMap, normalMap, confMap, viewsMap))
+		return false;
+	return true;
+}
+
+// parse scene stored in Polycam format
+bool ParseScene(Scene& scene, const String& scenePath)
+{
+	#ifdef _SUPPORT_CPP17
+	size_t numCorrectedFolders(0), numFolders(0);
+	for (const auto& file: std::filesystem::directory_iterator(scenePath.c_str())) {
+		if (file.path().stem() == "corrected_cameras" ||
+			file.path().stem() == "corrected_depth" ||
+			file.path().stem() == "corrected_images")
+			++numCorrectedFolders;
+		else
+		if (file.path().stem() == "cameras" ||
+			file.path().stem() == "depth" ||
+			file.path().stem() == "images")
+			++numFolders;
+	}
+	if (numFolders != 3) {
+		VERBOSE("Invalid scene folder");
+		return false;
+	}
+	if (numCorrectedFolders == 3) {
+		// corrected data
+		CLISTDEFIDX(String, IIndex) imagePaths;
+		for (const auto& file: std::filesystem::directory_iterator((scenePath + "corrected_images").c_str()))
+			imagePaths.emplace_back(file.path().string());
+		VERBOSE("Parsing corrected data: %u...", imagePaths.size());
+		std::unordered_map<String, IIndex> mapImageName;
+		mapImageName.reserve(imagePaths.size());
+		for (String& imagePath: imagePaths) {
+			Util::ensureValidPath(imagePath);
+			mapImageName.emplace(Util::getFileName(imagePath), static_cast<IIndex>(mapImageName.size()));
+		}
+		for (const String& imagePath: imagePaths) {
+			const String imageName = Util::getFileName(imagePath);
+			const String cameraPath(scenePath + "corrected_cameras" + PATH_SEPARATOR_STR + imageName + JSON_EXT);
+			const String depthPath(scenePath + "corrected_depth" + PATH_SEPARATOR_STR + imageName + DEPTH_EXT);
+			if (!ParseImage(scene, imagePath, cameraPath, depthPath, mapImageName))
+				return false;
+		}
+	} else {
+		// raw data
+		CLISTDEFIDX(String, IIndex) imagePaths;
+		for (const auto& file: std::filesystem::directory_iterator((scenePath + "images").c_str()))
+			imagePaths.emplace_back(file.path().string());
+		VERBOSE("Parsing raw data: %u...", imagePaths.size());
+		std::unordered_map<String, IIndex> mapImageName;
+		mapImageName.reserve(imagePaths.size());
+		for (String& imagePath: imagePaths) {
+			Util::ensureValidPath(imagePath);
+			mapImageName.emplace(Util::getFileName(imagePath), static_cast<IIndex>(mapImageName.size()));
+		}
+		for (const String& imagePath: imagePaths) {
+			const String imageName = Util::getFileName(imagePath);
+			const String cameraPath(scenePath + "cameras" + PATH_SEPARATOR_STR + imageName + JSON_EXT);
+			const String depthPath(scenePath + "depth" + PATH_SEPARATOR_STR + imageName + DEPTH_EXT);
+			if (!ParseImage(scene, imagePath, cameraPath, depthPath, mapImageName))
+				return false;
+		}
+	}
+	return true;
+	#else
+	return false;
+	#endif
+}
+
+} // unnamed namespace
+
+int main(int argc, LPCTSTR* argv)
+{
+	#ifdef _DEBUGINFO
+	// set _crtBreakAlloc index to stop in <dbgheap.c> at allocation
+	_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);// | _CRTDBG_CHECK_ALWAYS_DF);
+	#endif
+
+	if (!Initialize(argc, argv))
+		return EXIT_FAILURE;
+
+	TD_TIMER_START();
+
+	Scene scene(OPT::nMaxThreads);
+
+	// convert data from Polycam format to OpenMVS
+	if (!ParseScene(scene, MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName)))
+		return EXIT_FAILURE;
+
+	// write OpenMVS input data
+	scene.Save(MAKE_PATH_SAFE(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
+
+	VERBOSE("Exported data: %u platforms, %u cameras, %u poses, %u images (%s)",
+			scene.platforms.size(), scene.images.size(), scene.images.size(), scene.images.size(),
+			TD_TIMER_GET_FMT().c_str());
+
+	Finalize();
+	return EXIT_SUCCESS;
+}
+/*----------------------------------------------------------------*/
diff --git a/libs/Common/List.h b/libs/Common/List.h
index 87a352176..4e2906381 100644
--- a/libs/Common/List.h
+++ b/libs/Common/List.h
@@ -172,15 +172,15 @@ class cList
 	}
 
 	// copy the content from the given list
-	inline	cList&	operator=(const cList& rList)
+	inline cList&	operator=(const cList& rList)
 	{
 		return CopyOf(rList);
 	}
 
-	inline	cList&	CopyOf(const cList& rList, bool bForceResize=false)
+	inline cList&	CopyOf(const cList& rList, bool bForceResize=false)
 	{
 		if (this == &rList)
-			return (*this);
+			return *this;
 		if (bForceResize || _vectorSize < rList._vectorSize) {
 			_Release();
 			_vectorSize = rList._vectorSize;
@@ -196,13 +196,13 @@ class cList
 			}
 		}
 		_size = rList._size;
-		return (*this);
+		return *this;
 	}
 
-	inline	cList&	CopyOf(const TYPE* pData, IDX nSize, bool bForceResize=false)
+	inline cList&	CopyOf(const TYPE* pData, IDX nSize, bool bForceResize=false)
 	{
 		if (_vector == pData)
-			return (*this);
+			return *this;
 		if (bForceResize || _vectorSize < nSize) {
 			_Release();
 			_vectorSize = nSize;
@@ -218,56 +218,72 @@ class cList
 			}
 		}
 		_size = nSize;
-		return (*this);
+		return *this;
 	}
 
 	// release current list and swap the content with the given list
-	inline	cList&	CopyOfRemove(cList& rList)
+	inline cList&	CopyOfRemove(cList& rList)
 	{
 		if (this == &rList)
-			return (*this);
+			return *this;
 		_Release();
 		_size = rList._size;
 		_vectorSize = rList._vectorSize;
 		_vector = rList._vector;
 		rList._vector = NULL;
 		rList._size = rList._vectorSize = 0;
-		return (*this);
+		return *this;
 	}
 
-	inline	void	Join(const cList& rList)
+	inline cList&	Join(const cList& rList)
 	{
 		if (this == &rList || rList._size == 0)
-			return;
+			return *this;
 		const IDX newSize = _size + rList._size;
 		Reserve(newSize);
 		_ArrayCopyConstruct(_vector+_size, rList._vector, rList._size);
 		_size = newSize;
+		return *this;
 	}
-	inline	void	Join(const TYPE* pData, IDX nSize)
+	inline cList&	Join(const TYPE* pData, IDX nSize)
 	{
 		const IDX newSize = _size + nSize;
 		Reserve(newSize);
 		_ArrayCopyConstruct(_vector+_size, pData, nSize);
 		_size = newSize;
+		return *this;
 	}
 
-	inline	void	JoinRemove(cList& rList)
+	template <typename Functor>
+	inline cList&	JoinFunctor(IDX nSize, const Functor& functor) {
+		Reserve(_size + nSize);
+		if (useConstruct) {
+			for (IDX n=0; n<nSize; ++n)
+				new(_vector+_size++) TYPE(functor(n));
+		} else {
+			for (IDX n=0; n<nSize; ++n)
+				*(_vector+_size++) = functor(n);
+		}
+		return *this;
+	}
+
+	inline cList&	JoinRemove(cList& rList)
 	{
 		if (this == &rList || rList._size == 0)
-			return;
+			return *this;
 		const IDX newSize(_size + rList._size);
 		Reserve(newSize);
 		_ArrayMoveConstruct<true>(_vector+_size, rList._vector, rList._size);
 		_size = newSize;
 		rList._size = 0;
+		return *this;
 	}
 
 	// Swap the elements of the two lists.
-	inline	void	Swap(cList& rList)
+	inline cList&	Swap(cList& rList)
 	{
 		if (this == &rList)
-			return;
+			return *this;
 		const IDX tmpSize = _size;
 		_size = rList._size;
 		rList._size = tmpSize;
@@ -277,10 +293,11 @@ class cList
 		TYPE* const tmpVector = _vector;
 		_vector = rList._vector;
 		rList._vector = tmpVector;
+		return *this;
 	}
 
 	// Swap the two elements.
-	inline	void	Swap(IDX idx1, IDX idx2)
+	inline void		Swap(IDX idx1, IDX idx2)
 	{
 		ASSERT(idx1 < _size && idx2 < _size);
 		TYPE tmp = _vector[idx1];
diff --git a/libs/MVS/Camera.h b/libs/MVS/Camera.h
index 2d600eaca..2d58be523 100644
--- a/libs/MVS/Camera.h
+++ b/libs/MVS/Camera.h
@@ -410,7 +410,7 @@ class MVS_API Camera : public CameraIntern
 		const TPoint3<TYPE> camX(TransformPointW2C(X));
 		return norm(TransformPointC2I(TPoint3<TYPE>(camX.x+fSphereRadius,camX.y,camX.z))-TransformPointC2I(camX));
 		#else
-		return GetFocalLength() / PointDepth(X);
+		return static_cast<TYPE>(GetFocalLength() / PointDepth(X));
 		#endif
 	}
 	// compute the surface the projected pixel covers at the given depth
diff --git a/libs/MVS/Interface.h b/libs/MVS/Interface.h
index b48af5c0b..6cbad1eb4 100644
--- a/libs/MVS/Interface.h
+++ b/libs/MVS/Interface.h
@@ -746,7 +746,7 @@ struct HeaderDepthDataRaw {
 	float dMin, dMax; // depth range for this view
 	// image file name length followed by the characters: uint16_t nFileNameSize; char* FileName
 	// number of view IDs followed by view ID and neighbor view IDs: uint32_t nIDs; uint32_t* IDs
-	// camera, rotation and position matrices (row-major): double K[3][3], R[3][3], C[3]
+	// camera, rotation and position matrices (row-major) at image resolution: double K[3][3], R[3][3], C[3]
 	// depth, normal, confidence maps: float depthMap[height][width], normalMap[height][width][3], confMap[height][width]
 	inline HeaderDepthDataRaw() : name(0), type(0), padding(0) {}
 	static uint16_t HeaderDepthDataRawName() { return *reinterpret_cast<const uint16_t*>("DR"); }
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 95038c26f..1aaa89f90 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -389,6 +389,7 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 			ImportDepthDataRaw(ComposeDepthFilePath(view.GetID(), "dmap"),
 				imageFileName, IDs, imageSize, view.cameraDepthMap.K, view.cameraDepthMap.R, view.cameraDepthMap.C,
 				dMin, dMax, view.depthMap, normalMap, confMap, viewsMap, 1);
+			ASSERT(viewRef.image.size() == view.depthMap.size());
 		}
 		view.Init(viewRef.camera);
 	}
@@ -406,6 +407,11 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 				depthData.depthMap, depthData.normalMap, confMap, viewsMap, 3))
 			return false;
 		ASSERT(viewRef.image.size() == depthData.depthMap.size());
+		ASSERT(depthData.normalMap.empty() || viewRef.image.size() == depthData.normalMap.size());
+		if (depthData.normalMap.empty()) {
+			// estimate normal map
+			EstimateNormalMap(viewRef.camera.K, depthData.depthMap, depthData.normalMap);
+		}
 	} else if (loadDepthMaps == 0) {
 		// initialize depth and normal maps
 		if (OPTDENSE::nMinViewsTrustPoint < 2 || depthData.points.empty()) {

From cbe6c934230e5a04da4fe5375fea03f9c0acc790 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 28 Jun 2023 16:35:24 +0300
Subject: [PATCH 194/252] build: update vcpkg in CI

---
 .github/workflows/continuous_integration.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/continuous_integration.yml b/.github/workflows/continuous_integration.yml
index 40fb45076..7a6e7dc11 100644
--- a/.github/workflows/continuous_integration.yml
+++ b/.github/workflows/continuous_integration.yml
@@ -39,10 +39,10 @@ jobs:
         uses: actions/checkout@v3
 
       - name: Restore artifacts, or setup vcpkg for building artifacts
-        uses: lukka/run-vcpkg@v10
+        uses: lukka/run-vcpkg@v11
         with:
           vcpkgDirectory: '${{ github.workspace }}/vcpkg'
-          vcpkgGitCommitId: '1e90576cf5e931fa1b59ea289b9615fef6441306'
+          vcpkgGitCommitId: 'f6a5d4e8eb7476b8d7fc12a56dff300c1c986131'
 
       - name: Install Ubuntu dependencies
         if: matrix.os == 'ubuntu-latest'

From 5fb4d9e6f7ef19dc6aa405527924be5c8cf79dde Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sun, 2 Jul 2023 11:26:17 +0300
Subject: [PATCH 195/252] dense: detect and improve tower like structure
 reconstruction (#1017)

* add tower mesh

* compute cameras focus point

* export 3d_centerline

* fix line export

* add line

* fix line

* fix ply header and add bynary/ascii option

* add camera focus debug

* add focus point computation

* add automatic tower check rules and tower modes command argument

* fit line

* finetune

* finetune

* try new optimization

* add tower mode with autodetection and forced mode

* lower radius avg startpoint
add debug for why not tower

* clean code

* hide

---------

Co-authored-by: Mihai <itacernea@yahoo.com>
---
 apps/DensifyPointCloud/DensifyPointCloud.cpp |   4 +
 libs/Common/Common.h                         |   6 +
 libs/Common/Line.h                           |  95 ++++
 libs/Common/Line.inl                         | 215 ++++++++
 libs/Common/Plane.h                          |   8 +-
 libs/Common/Plane.inl                        |  89 +++-
 libs/Common/Types.h                          |   1 +
 libs/MVS/Camera.cpp                          |  44 ++
 libs/MVS/Camera.h                            |   1 +
 libs/MVS/DepthMap.cpp                        |  68 ---
 libs/MVS/DepthMap.h                          |   2 -
 libs/MVS/PointCloud.cpp                      |  14 +-
 libs/MVS/PointCloud.h                        |   2 +-
 libs/MVS/Scene.cpp                           | 534 +++++++++++++++++--
 libs/MVS/Scene.h                             |  12 +-
 libs/Math/RobustNorms.h                      |   7 +
 16 files changed, 967 insertions(+), 135 deletions(-)
 create mode 100644 libs/Common/Line.h
 create mode 100644 libs/Common/Line.inl

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 33d0bfd66..9a50c58ee 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -61,6 +61,7 @@ float fSampleMesh;
 float fBorderROI;
 bool bCrop2ROI;
 int nEstimateROI;
+int	nTowerMode;
 int nFusionMode;
 float fEstimateScale;
 int thFilterPointCloud;
@@ -152,6 +153,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
         ("estimate-roi", boost::program_options::value(&OPT::nEstimateROI)->default_value(2), "estimate and set region-of-interest (0 - disabled, 1 - enabled, 2 - adaptive)")
         ("crop-to-roi", boost::program_options::value(&OPT::bCrop2ROI)->default_value(true), "crop scene using the region-of-interest")
         ("remove-dmaps", boost::program_options::value(&bRemoveDmaps)->default_value(false), "remove depth-maps after fusion")
+		("tower-mode", boost::program_options::value(&OPT::nTowerMode)->default_value(3), "add a cylinder of points in the center of ROI; scene assume to be Z-up oriented (0 - disabled, 1 - replace, 2 - append, 3 - select neighbors, <0 - force tower mode)")
         ;
 
 	// hidden options, allowed both on command line and
@@ -333,6 +335,8 @@ int main(int argc, LPCTSTR* argv)
 		Finalize();
 		return EXIT_SUCCESS;
 	}
+	if (OPT::nTowerMode!=0)
+		scene.InitTowerScene(OPT::nTowerMode);
 	if (!OPT::strMeshFileName.empty())
 		scene.mesh.Load(MAKE_PATH_SAFE(OPT::strMeshFileName));
 	if (!OPT::strViewNeighborsFileName.empty())
diff --git a/libs/Common/Common.h b/libs/Common/Common.h
index 1384c316f..eba19aeae 100644
--- a/libs/Common/Common.h
+++ b/libs/Common/Common.h
@@ -188,6 +188,8 @@ typedef TOBB<float, 2> OBB2f;
 typedef TOBB<float, 3> OBB3f;
 typedef TRay<float, 2> Ray2f;
 typedef TRay<float, 3> Ray3f;
+typedef TLine<float, 2> Line2f;
+typedef TLine<float, 3> Line3f;
 typedef TTriangle<float, 2> Triangle2f;
 typedef TTriangle<float, 3> Triangle3f;
 typedef TPlane<float> Planef;
@@ -209,6 +211,8 @@ typedef TOBB<double, 2> OBB2d;
 typedef TOBB<double, 3> OBB3d;
 typedef TRay<double, 2> Ray2d;
 typedef TRay<double, 3> Ray3d;
+typedef TLine<double, 2> Line2d;
+typedef TLine<double, 3> Line3d;
 typedef TTriangle<double, 2> Triangle2d;
 typedef TTriangle<double, 3> Triangle3d;
 typedef TPlane<double> Planed;
@@ -230,6 +234,8 @@ typedef TOBB<REAL, 2> OBB2;
 typedef TOBB<REAL, 3> OBB3;
 typedef TRay<REAL, 2> Ray2;
 typedef TRay<REAL, 3> Ray3;
+typedef TLine<REAL, 2> Line2;
+typedef TLine<REAL, 3> Line3;
 typedef TTriangle<REAL, 2> Triangle2;
 typedef TTriangle<REAL, 3> Triangle3;
 typedef TPlane<REAL> Plane;
diff --git a/libs/Common/Line.h b/libs/Common/Line.h
new file mode 100644
index 000000000..408a1a864
--- /dev/null
+++ b/libs/Common/Line.h
@@ -0,0 +1,95 @@
+////////////////////////////////////////////////////////////////////
+// Line.h
+//
+// Copyright 2023 cDc@seacave
+// Distributed under the Boost Software License, Version 1.0
+// (See http://www.boost.org/LICENSE_1_0.txt)
+
+#ifndef __SEACAVE_LINE_H__
+#define __SEACAVE_LINE_H__
+
+
+// I N C L U D E S /////////////////////////////////////////////////
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+namespace SEACAVE {
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+// Generic line class represented as two points
+template <typename TYPE, int DIMS>
+class TLine
+{
+	STATIC_ASSERT(DIMS > 1 && DIMS <= 3);
+
+public:
+	typedef Eigen::Matrix<TYPE,DIMS,1> VECTOR;
+	typedef Eigen::Matrix<TYPE,DIMS,1> POINT;
+	typedef SEACAVE::TAABB<TYPE,DIMS> AABB;
+	typedef SEACAVE::TRay<TYPE,DIMS> RAY;
+	enum { numScalar = (2*DIMS) };
+	enum { numParams = numScalar-1 };
+
+	POINT	pt1, pt2;	// line description
+
+	//---------------------------------------
+
+	inline TLine() {}
+	inline TLine(const POINT& pt1, const POINT& pt2);
+	template <typename CTYPE>
+	inline TLine(const TLine<CTYPE,DIMS>&);
+
+	inline void Set(const POINT& pt1, const POINT& pt2);
+
+	int Optimize(const POINT*, size_t, int maxIters=100);
+	template <typename RobustNormFunctor>
+	int Optimize(const POINT*, size_t, const RobustNormFunctor& robust, int maxIters=100);
+
+	inline TYPE GetLength() const;
+	inline TYPE GetLengthSq() const;
+	inline POINT GetCenter() const;
+	inline VECTOR GetDir() const;
+	inline VECTOR GetNormDir() const;
+	inline RAY GetRay() const;
+
+	inline bool IsSame(const TLine&, TYPE th) const;
+
+	bool Intersects(const AABB& aabb) const;
+	bool Intersects(const AABB& aabb, TYPE& t) const;
+
+	inline TYPE DistanceSq(const POINT&) const;
+	inline TYPE Distance(const POINT&) const;
+
+	inline TYPE Classify(const POINT&) const;
+	inline POINT ProjectPoint(const POINT&) const;
+
+	inline TYPE& operator [] (BYTE i) { ASSERT(i<numScalar); return pt1.data()[i]; }
+	inline TYPE operator [] (BYTE i) const { ASSERT(i<numScalar); return pt1.data()[i]; }
+
+	#ifdef _USE_BOOST
+	// implement BOOST serialization
+	template<class Archive>
+	void serialize(Archive& ar, const unsigned int /*version*/) {
+		ar & pt1;
+		ar & pt2;
+	}
+	#endif
+}; // class TLine
+/*----------------------------------------------------------------*/
+
+template <typename TYPE, typename TYPEW=TYPE>
+struct FitLineOnline : FitPlaneOnline<TYPE,TYPEW,true> {
+	template <typename TYPEE> TPoint3<TYPEE> GetLine(TLine<TYPEE,3>& line) const;
+};
+/*----------------------------------------------------------------*/
+
+
+#include "Line.inl"
+/*----------------------------------------------------------------*/
+
+} // namespace SEACAVE
+
+#endif // __SEACAVE_LINE_H__
diff --git a/libs/Common/Line.inl b/libs/Common/Line.inl
new file mode 100644
index 000000000..bd7897cd8
--- /dev/null
+++ b/libs/Common/Line.inl
@@ -0,0 +1,215 @@
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+
+// C L A S S  //////////////////////////////////////////////////////
+
+template <typename TYPE, int DIMS>
+inline TLine<TYPE,DIMS>::TLine(const POINT& _pt1, const POINT& _pt2)
+	:
+	pt1(_pt1), pt2(_pt2)
+{
+	ASSERT(!ISZERO((_pt1-_pt2).norm()));
+} // constructor
+template <typename TYPE, int DIMS>
+template <typename CTYPE>
+inline TLine<TYPE,DIMS>::TLine(const TLine<CTYPE,DIMS>& rhs)
+	:
+	pt1(rhs.pt1.template cast<TYPE>()), pt2(rhs.pt2.template cast<TYPE>())
+{
+} // copy constructor
+/*----------------------------------------------------------------*/
+
+
+// set attributes
+template <typename TYPE, int DIMS>
+inline void TLine<TYPE,DIMS>::Set(const POINT& _pt1, const POINT& _pt2)
+{
+	ASSERT(!ISZERO((_pt1-_pt2).norm()));
+	pt1 = _pt1;
+	pt2 = _pt2;
+}
+/*----------------------------------------------------------------*/
+
+
+// least squares refinement of the line to the given 3D point set
+// (return the number of iterations)
+template <typename TYPE, int DIMS>
+template <typename RobustNormFunctor>
+int TLine<TYPE,DIMS>::Optimize(const POINT* points, size_t size, const RobustNormFunctor& robust, int maxIters)
+{
+	ASSERT(DIMS == 3);
+	ASSERT(size >= numParams);
+	struct OptimizationFunctor {
+		const POINT* points;
+		size_t size;
+		double scale;
+		const RobustNormFunctor& robust;
+		// construct with the data points
+		OptimizationFunctor(const POINT* _points, size_t _size, const RobustNormFunctor& _robust)
+			: points(_points), size(_size), robust(_robust) { ASSERT(size < std::numeric_limits<int>::max()); }
+		static void Residuals(const double* x, int nPoints, const void* pData, double* fvec, double* fjac, int* /*info*/) {
+			const OptimizationFunctor& data = *reinterpret_cast<const OptimizationFunctor*>(pData);
+			ASSERT((size_t)nPoints == data.size && fvec != NULL && fjac == NULL);
+			TLine<double,DIMS> line;
+			for (int j=0; j<DIMS; ++j)
+				line.pt1(j) = x[j];
+			DirScale2Vector(x+DIMS, &data.scale, line.pt2.data());
+			line.pt2 += line.pt1;
+			for (size_t i=0; i<data.size; ++i)
+				fvec[i] = data.robust(line.Distance(data.points[i].template cast<double>()));
+		}
+	} functor(points, size, robust);
+	double arrParams[numParams];
+	for (int j=0; j<DIMS; ++j)
+		arrParams[j] = (double)pt1(j);
+	POINT dir(pt2-pt1);
+	Vector2DirScale(dir.data(), arrParams+DIMS, &functor.scale);
+	lm_control_struct control = {1.e-6, 1.e-7, 1.e-8, 1.e-8, 100.0, maxIters}; // lm_control_float;
+	lm_status_struct status;
+	lmmin(numParams, arrParams, (int)size, &functor, OptimizationFunctor::Residuals, &control, &status);
+	switch (status.info) {
+	//case 4:
+	case 5:
+	case 6:
+	case 7:
+	case 8:
+	case 9:
+	case 10:
+	case 11:
+	case 12:
+		DEBUG_ULTIMATE("error: refine line: %s", lm_infmsg[status.info]);
+		return 0;
+	}
+	for (int j=0; j<DIMS; ++j)
+		pt1(j) = (TYPE)arrParams[j];
+	DirScale2Vector(arrParams+DIMS, &functor.scale, dir.data());
+	pt2 = pt1+dir;
+	return status.nfev;
+}
+template <typename TYPE, int DIMS>
+int TLine<TYPE,DIMS>::Optimize(const POINT* points, size_t size, int maxIters)
+{
+	const auto identity = [](double x) { return x; };
+	return Optimize(points, size, identity, maxIters);
+} // Optimize
+/*----------------------------------------------------------------*/
+
+
+// get attributes
+template <typename TYPE, int DIMS>
+inline TYPE TLine<TYPE,DIMS>::GetLength() const
+{
+	return (pt2 - pt1).norm();
+}
+template <typename TYPE, int DIMS>
+inline TYPE TLine<TYPE,DIMS>::GetLengthSq() const
+{
+	return (pt2 - pt1).squaredNorm();
+}
+template <typename TYPE, int DIMS>
+inline typename TLine<TYPE,DIMS>::POINT TLine<TYPE,DIMS>::GetCenter() const
+{
+	return (pt2 + pt1) / TYPE(2);
+}
+template <typename TYPE, int DIMS>
+inline typename TLine<TYPE,DIMS>::VECTOR TLine<TYPE,DIMS>::GetDir() const
+{
+	return (pt2 - pt1);
+}
+template <typename TYPE, int DIMS>
+inline typename TLine<TYPE,DIMS>::VECTOR TLine<TYPE,DIMS>::GetNormDir() const
+{
+	return (pt2 - pt1).normalized();
+}
+template <typename TYPE, int DIMS>
+inline typename TLine<TYPE,DIMS>::RAY TLine<TYPE,DIMS>::GetRay() const
+{
+	return RAY(pt1, GetNormDir());
+}
+/*----------------------------------------------------------------*/
+
+
+template <typename TYPE, int DIMS>
+inline bool TLine<TYPE,DIMS>::IsSame(const TLine& line, TYPE th) const
+{
+	const TYPE thSq(SQUARE(th));
+	const VECTOR l(pt2-pt1);
+	const TYPE invLenSq(INVERT(l.squaredNorm()));
+	const VECTOR r1(pt1-line.pt1);
+	const TYPE dSq1((l.cross(r1)).squaredNorm()*invLenSq);
+	if (dSq1 > thSq)
+		return false;
+	const VECTOR r2(pt1-line.pt2);
+	const TYPE dSq2((l.cross(r2)).squaredNorm()*invLenSq);
+	return dSq2 <= thSq;
+}
+/*----------------------------------------------------------------*/
+
+
+// test for intersection with aabb
+template <typename TYPE, int DIMS>
+bool TLine<TYPE,DIMS>::Intersects(const AABB &aabb) const
+{
+	return GetRay().Intersects(aabb);
+} // Intersects(AABB)
+template <typename TYPE, int DIMS>
+bool TLine<TYPE,DIMS>::Intersects(const AABB &aabb, TYPE& t) const
+{
+	return GetRay().Intersects(aabb, t);
+} // Intersects(AABB)
+/*----------------------------------------------------------------*/
+
+// Computes the distance between the line and a point.
+template <typename TYPE, int DIMS>
+inline TYPE TLine<TYPE,DIMS>::DistanceSq(const POINT& pt) const
+{
+	const VECTOR l(pt2-pt1), r(pt1-pt);
+	if (DIMS == 2)
+		return TYPE(SQUARE(l[0]*r[1]-r[0]*l[1])/(l[0]*l[0]+l[1]*l[1]));
+	ASSERT(DIMS == 3);
+	return TYPE((l.cross(r)).squaredNorm()/l.squaredNorm());
+} // DistanceSq(POINT)
+template <typename TYPE, int DIMS>
+inline TYPE TLine<TYPE,DIMS>::Distance(const POINT& pt) const
+{
+	return SQRT(DistanceSq(pt));
+} // Distance(POINT)
+/*----------------------------------------------------------------*/
+
+
+// Computes the position on the line segment of the point projection.
+// Returns 0 if it coincides with the first point, and 1 if it coincides with the second point.
+template <typename TYPE, int DIMS>
+inline TYPE TLine<TYPE,DIMS>::Classify(const POINT& p) const
+{
+	const VECTOR vL(pt2 - pt1);
+	ASSERT(!ISZERO(vL.squaredNorm()));
+	const VECTOR vP(p - pt1);
+	return vL.dot(vP) / vL.squaredNorm();
+} // Classify(POINT)
+// Calculate point's projection on this line (closest point to this line).
+template <typename TYPE, int DIMS>
+inline typename TLine<TYPE,DIMS>::POINT TLine<TYPE,DIMS>::ProjectPoint(const POINT& p) const
+{
+	const VECTOR vL(pt2 - pt1);
+	ASSERT(!ISZERO(vL.squaredNorm()));
+	const VECTOR vP(p - pt1);
+	return pt1 + vL * (vL.dot(vP) / vL.squaredNorm());
+} // ProjectPoint
+/*----------------------------------------------------------------*/
+
+
+template <typename TYPE, typename TYPEW>
+template <typename TYPEE>
+TPoint3<TYPEE> FitLineOnline<TYPE,TYPEW>::GetLine(TLine<TYPEE,3>& line) const
+{
+	TPoint3<TYPEW> avg, dir;
+	const TPoint3<TYPEW> quality(this->GetModel(avg, dir));
+	const TPoint3<TYPEW> pt2(avg+dir);
+	line.Set(TPoint3<TYPEE>(avg), TPoint3<TYPEE>(pt2));
+	return TPoint3<TYPEE>(quality);
+}
+/*----------------------------------------------------------------*/
diff --git a/libs/Common/Plane.h b/libs/Common/Plane.h
index 681d044c9..8623928e9 100644
--- a/libs/Common/Plane.h
+++ b/libs/Common/Plane.h
@@ -50,6 +50,10 @@ class TPlane
 	inline void Set(const POINT&, const POINT&, const POINT&);
 	inline void Set(const TYPE p[DIMS+1]);
 
+	int Optimize(const POINT*, size_t, int maxIters=100);
+	template <typename RobustNormFunctor>
+	int Optimize(const POINT*, size_t, const RobustNormFunctor& robust, int maxIters=100);
+
 	inline void Invalidate();
 	inline bool IsValid() const;
 
@@ -85,7 +89,7 @@ class TPlane
 }; // class TPlane
 /*----------------------------------------------------------------*/
 
-template <typename TYPE, typename TYPEW=TYPE>
+template <typename TYPE, typename TYPEW=TYPE, bool bFitLineMode=false>
 struct FitPlaneOnline {
 	TYPEW sumX, sumSqX, sumXY, sumXZ;
 	TYPEW sumY, sumSqY, sumYZ;
@@ -93,7 +97,7 @@ struct FitPlaneOnline {
 	size_t size;
 	FitPlaneOnline();
 	void Update(const TPoint3<TYPE>& P);
-	TPoint3<TYPEW> GetPlane(TPoint3<TYPEW>& avg, TPoint3<TYPEW>& dir) const;
+	TPoint3<TYPEW> GetModel(TPoint3<TYPEW>& avg, TPoint3<TYPEW>& dir) const;
 	template <typename TYPEE> TPoint3<TYPEE> GetPlane(TPlane<TYPEE,3>& plane) const;
 };
 /*----------------------------------------------------------------*/
diff --git a/libs/Common/Plane.inl b/libs/Common/Plane.inl
index 0d15cc319..bd7e61083 100644
--- a/libs/Common/Plane.inl
+++ b/libs/Common/Plane.inl
@@ -69,6 +69,72 @@ inline void TPlane<TYPE,DIMS>::Set(const TYPE p[DIMS+1])
 /*----------------------------------------------------------------*/
 
 
+// least squares refinement of the given plane to the 3D point set
+// (return the number of iterations)
+template <typename TYPE, int DIMS>
+template <typename RobustNormFunctor>
+int TPlane<TYPE,DIMS>::Optimize(const POINT* points, size_t size, const RobustNormFunctor& robust, int maxIters)
+{
+	ASSERT(DIMS == 3);
+	ASSERT(size >= numParams);
+	struct OptimizationFunctor {
+		const POINT* points;
+		const size_t size;
+		const RobustNormFunctor& robust;
+		// construct with the data points
+		OptimizationFunctor(const POINT* _points, size_t _size, const RobustNormFunctor& _robust)
+			: points(_points), size(_size), robust(_robust) { ASSERT(size < (size_t)std::numeric_limits<int>::max()); }
+		static void Residuals(const double* x, int nPoints, const void* pData, double* fvec, double* fjac, int* /*info*/) {
+			const OptimizationFunctor& data = *reinterpret_cast<const OptimizationFunctor*>(pData);
+			ASSERT((size_t)nPoints == data.size && fvec != NULL && fjac == NULL);
+			TPlane<double,3> plane; {
+				Point3d N;
+				plane.m_fD = x[0];
+				Dir2Normal(reinterpret_cast<const Point2d&>(x[1]), N);
+				plane.m_vN = N;
+			}
+			for (size_t i=0; i<data.size; ++i)
+				fvec[i] = data.robust(plane.Distance(data.points[i].template cast<double>()));
+		}
+	} functor(points, size, robust);
+	double arrParams[numParams]; {
+		arrParams[0] = (double)m_fD;
+		const Point3d N(m_vN.x(), m_vN.y(), m_vN.z());
+		Normal2Dir(N, reinterpret_cast<Point2d&>(arrParams[1]));
+	}
+	lm_control_struct control = {1.e-6, 1.e-7, 1.e-8, 1.e-7, 100.0, maxIters}; // lm_control_float;
+	lm_status_struct status;
+	lmmin(numParams, arrParams, (int)size, &functor, OptimizationFunctor::Residuals, &control, &status);
+	switch (status.info) {
+	//case 4:
+	case 5:
+	case 6:
+	case 7:
+	case 8:
+	case 9:
+	case 10:
+	case 11:
+	case 12:
+		DEBUG_ULTIMATE("error: refine plane: %s", lm_infmsg[status.info]);
+		return 0;
+	}
+	// set plane
+	{
+		Point3d N;
+		Dir2Normal(reinterpret_cast<const Point2d&>(arrParams[1]), N);
+		Set(Cast<TYPE>(N), (TYPE)arrParams[0]);
+	}
+	return status.nfev;
+}
+template <typename TYPE, int DIMS>
+int TPlane<TYPE,DIMS>::Optimize(const POINT* points, size_t size, int maxIters)
+{
+	const auto identity = [](double x) { return x; };
+	return Optimize(points, size, identity, maxIters);
+} // Optimize
+/*----------------------------------------------------------------*/
+
+
 template <typename TYPE, int DIMS>
 inline void TPlane<TYPE,DIMS>::Invalidate()
 {
@@ -281,13 +347,13 @@ bool TPlane<TYPE,DIMS>::Intersects(const AABB& aabb) const
 
 
 // same as above, but online version
-template <typename TYPE, typename TYPEW>
-FitPlaneOnline<TYPE,TYPEW>::FitPlaneOnline()
+template <typename TYPE, typename TYPEW, bool bFitLineMode>
+FitPlaneOnline<TYPE,TYPEW,bFitLineMode>::FitPlaneOnline()
 	: sumX(0), sumSqX(0), sumXY(0), sumXZ(0), sumY(0), sumSqY(0), sumYZ(0), sumZ(0), sumSqZ(0), size(0)
 {
 }
-template <typename TYPE, typename TYPEW>
-void FitPlaneOnline<TYPE,TYPEW>::Update(const TPoint3<TYPE>& P)
+template <typename TYPE, typename TYPEW, bool bFitLineMode>
+void FitPlaneOnline<TYPE,TYPEW,bFitLineMode>::Update(const TPoint3<TYPE>& P)
 {
 	const TYPEW X((TYPEW)P.x), Y((TYPEW)P.y), Z((TYPEW)P.z);
 	sumX += X; sumSqX += X*X; sumXY += X*Y; sumXZ += X*Z;
@@ -295,8 +361,8 @@ void FitPlaneOnline<TYPE,TYPEW>::Update(const TPoint3<TYPE>& P)
 	sumZ += Z; sumSqZ += Z*Z;
 	++size;
 }
-template <typename TYPE, typename TYPEW>
-TPoint3<TYPEW> FitPlaneOnline<TYPE,TYPEW>::GetPlane(TPoint3<TYPEW>& avg, TPoint3<TYPEW>& dir) const
+template <typename TYPE, typename TYPEW, bool bFitLineMode>
+TPoint3<TYPEW> FitPlaneOnline<TYPE,TYPEW,bFitLineMode>::GetModel(TPoint3<TYPEW>& avg, TPoint3<TYPEW>& dir) const
 {
 	const TYPEW avgX(sumX/(TYPEW)size), avgY(sumY/(TYPEW)size), avgZ(sumZ/(TYPEW)size);
 	// assemble covariance (lower-triangular) matrix
@@ -309,20 +375,21 @@ TPoint3<TYPEW> FitPlaneOnline<TYPE,TYPEW>::GetPlane(TPoint3<TYPEW>& avg, TPoint3
 	A(2,1) = sumYZ - sumY*avgZ - avgY*sumZ + avgY*avgZ*(TYPEW)size;
 	A(2,2) = sumSqZ - TYPEW(2)*sumZ*avgZ + avgZ*avgZ*(TYPEW)size;
 	// the plane normal is simply the eigenvector corresponding to least eigenvalue
+	const int nAxis(bFitLineMode ? 2 : 0);
 	const Eigen::SelfAdjointEigenSolver<Mat3x3> es(A);
-	ASSERT(ISEQUAL(es.eigenvectors().col(0).norm(), TYPEW(1)));
+	ASSERT(ISEQUAL(es.eigenvectors().col(nAxis).norm(), TYPEW(1)));
 	avg = TPoint3<TYPEW>(avgX,avgY,avgZ);
-	dir = es.eigenvectors().col(0);
+	dir = es.eigenvectors().col(nAxis);
 	const TYPEW* const vals(es.eigenvalues().data());
 	ASSERT(vals[0] <= vals[1] && vals[1] <= vals[2]);
 	return *reinterpret_cast<const TPoint3<TYPEW>*>(vals);
 }
-template <typename TYPE, typename TYPEW>
+template <typename TYPE, typename TYPEW, bool bFitLineMode>
 template <typename TYPEE>
-TPoint3<TYPEE> FitPlaneOnline<TYPE,TYPEW>::GetPlane(TPlane<TYPEE,3>& plane) const
+TPoint3<TYPEE> FitPlaneOnline<TYPE,TYPEW,bFitLineMode>::GetPlane(TPlane<TYPEE,3>& plane) const
 {
 	TPoint3<TYPEW> avg, dir;
-	const TPoint3<TYPEW> quality(GetPlane(avg, dir));
+	const TPoint3<TYPEW> quality(GetModel(avg, dir));
 	plane.Set(TPoint3<TYPEE>(dir), TPoint3<TYPEE>(avg));
 	return TPoint3<TYPEE>(quality);
 }
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 93b27eba7..04f309857 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -2811,6 +2811,7 @@ class SO2
 #include "OBB.h"
 #include "Plane.h"
 #include "Ray.h"
+#include "Line.h"
 #include "Octree.h"
 #include "UtilCUDA.h"
 
diff --git a/libs/MVS/Camera.cpp b/libs/MVS/Camera.cpp
index 95acf5338..17e049e4a 100644
--- a/libs/MVS/Camera.cpp
+++ b/libs/MVS/Camera.cpp
@@ -185,6 +185,50 @@ void MVS::AssembleProjectionMatrix(const RMatrix& R, const CMatrix& C, PMatrix&
 } // AssembleProjectionMatrix
 /*----------------------------------------------------------------*/
 
+// compute the focus of attention of a set of cameras; only cameras
+// that have the focus of attention in front of them are considered
+Point3 MVS::ComputeCamerasFocusPoint(const CameraArr& cameras, const Point3* pInitialFocus)
+{
+	// set initial focus point
+	Point3 focus;
+	if (pInitialFocus == NULL) {
+		// initialize focus point to the average camera center
+		focus = Point3::ZERO;
+		for (const Camera& camera: cameras)
+			focus += camera.C;
+		focus /= cameras.size();
+		// compute average distance to the cameras
+		REAL avgDist = 0;
+		for (const Camera& camera: cameras)
+			avgDist += SQRT(camera.DistanceSq(focus));
+		avgDist /= cameras.size();
+		// move focus point to the average distance in front of first camera
+		focus = cameras.front().C + cameras.front().Direction()*avgDist;
+	} else
+		focus = *pInitialFocus;
+	// compute focus point as the point in front of the active cameras,
+	// closest to the view direction of each camera
+	uint32_t numActive = 0;
+	Point3::EVec smp(Point3::EVec::Zero());
+	Matrix3x3::EMat smTm(Matrix3x3::EMat::Zero());
+	for (const Camera& camera: cameras) {
+		if (!camera.IsInFront(focus))
+			continue;
+		// https://en.wikipedia.org/wiki/Line–line_intersection#In_more_than_two_dimensions
+		const Point3::EVec dir = camera.Direction();
+		const Matrix3x3::EMat m(Matrix3x3::EMat::Identity() - dir * dir.transpose());
+		const Matrix3x3::EMat mTm(m.transpose() * m);
+		const Point3::EVec s = mTm * Point3::EVec(camera.C);
+		smp += s;
+		smTm += mTm;
+		++numActive;
+	}
+	if (numActive >= 2)
+		focus = smTm.inverse() * smp;
+	return focus;
+} // ComputeCamerasFocusPoint
+/*----------------------------------------------------------------*/
+
 
 
 namespace MVS {
diff --git a/libs/MVS/Camera.h b/libs/MVS/Camera.h
index 2d58be523..0d27daf03 100644
--- a/libs/MVS/Camera.h
+++ b/libs/MVS/Camera.h
@@ -460,6 +460,7 @@ MVS_API void DecomposeProjectionMatrix(const PMatrix& P, KMatrix& K, RMatrix& R,
 MVS_API void DecomposeProjectionMatrix(const PMatrix& P, RMatrix& R, CMatrix& C);
 MVS_API void AssembleProjectionMatrix(const KMatrix& K, const RMatrix& R, const CMatrix& C, PMatrix& P);
 MVS_API void AssembleProjectionMatrix(const RMatrix& R, const CMatrix& C, PMatrix& P);
+MVS_API Point3 ComputeCamerasFocusPoint(const CameraArr& cameras, const Point3* pInitialFocus=NULL);
 /*----------------------------------------------------------------*/
 
 } // namespace MVS
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 0a681317c..142a5e41b 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -1256,64 +1256,6 @@ bool MVS::TriangulatePoints2DepthMap(
 
 namespace MVS {
 
-// least squares refinement of the given plane to the 3D point set
-// (return the number of iterations)
-template <typename TYPE>
-int OptimizePlane(TPlane<TYPE,3>& plane, const Eigen::Matrix<TYPE,3,1>* points, size_t size, int maxIters, TYPE threshold)
-{
-	typedef TPlane<TYPE,3> PLANE;
-	typedef Eigen::Matrix<TYPE,3,1> POINT;
-	ASSERT(size >= PLANE::numParams);
-	struct OptimizationFunctor {
-		const POINT* points;
-		const size_t size;
-		const RobustNorm::GemanMcClure<double> robust;
-		// construct with the data points
-		OptimizationFunctor(const POINT* _points, size_t _size, double _th)
-			: points(_points), size(_size), robust(_th) { ASSERT(size < (size_t)std::numeric_limits<int>::max()); }
-		static void Residuals(const double* x, int nPoints, const void* pData, double* fvec, double* fjac, int* /*info*/) {
-			const OptimizationFunctor& data = *reinterpret_cast<const OptimizationFunctor*>(pData);
-			ASSERT((size_t)nPoints == data.size && fvec != NULL && fjac == NULL);
-			TPlane<double,3> plane; {
-				Point3d N;
-				plane.m_fD = x[0];
-				Dir2Normal(reinterpret_cast<const Point2d&>(x[1]), N);
-				plane.m_vN = N;
-			}
-			for (size_t i=0; i<data.size; ++i)
-				fvec[i] = data.robust(plane.Distance(data.points[i].template cast<double>()));
-		}
-	} functor(points, size, threshold);
-	double arrParams[PLANE::numParams]; {
-		arrParams[0] = (double)plane.m_fD;
-		const Point3d N(plane.m_vN.x(), plane.m_vN.y(), plane.m_vN.z());
-		Normal2Dir(N, reinterpret_cast<Point2d&>(arrParams[1]));
-	}
-	lm_control_struct control = {1.e-6, 1.e-7, 1.e-8, 1.e-7, 100.0, maxIters}; // lm_control_float;
-	lm_status_struct status;
-	lmmin(PLANE::numParams, arrParams, (int)size, &functor, OptimizationFunctor::Residuals, &control, &status);
-	switch (status.info) {
-	//case 4:
-	case 5:
-	case 6:
-	case 7:
-	case 8:
-	case 9:
-	case 10:
-	case 11:
-	case 12:
-		DEBUG_ULTIMATE("error: refine plane: %s", lm_infmsg[status.info]);
-		return 0;
-	}
-	{
-		Point3d N;
-		plane.m_fD = (TYPE)arrParams[0];
-		Dir2Normal(reinterpret_cast<const Point2d&>(arrParams[1]), N);
-		plane.m_vN = Cast<TYPE>(N);
-	}
-	return status.nfev;
-}
-
 template <typename TYPE>
 class TPlaneSolverAdaptor
 {
@@ -1460,11 +1402,6 @@ unsigned MVS::EstimatePlaneThLockFirstPoint(const Point3dArr& points, Planed& pl
 {
 	return TEstimatePlane<double,UniformSamplerLockFirst,true>(points, plane, maxThreshold, arrInliers, maxIters);
 } // EstimatePlaneThLockFirstPoint
-// least squares refinement of the given plane to the 3D point set
-int MVS::OptimizePlane(Planed& plane, const Eigen::Vector3d* points, size_t size, int maxIters, double threshold)
-{
-	return OptimizePlane<double>(plane, points, size, maxIters, threshold);
-} // OptimizePlane
 /*----------------------------------------------------------------*/
 
 // Robustly estimate the plane that fits best the given points
@@ -1487,11 +1424,6 @@ unsigned MVS::EstimatePlaneThLockFirstPoint(const Point3fArr& points, Planef& pl
 {
 	return TEstimatePlane<float,UniformSamplerLockFirst,true>(points, plane, maxThreshold, arrInliers, maxIters);
 } // EstimatePlaneThLockFirstPoint
-// least squares refinement of the given plane to the 3D point set
-int MVS::OptimizePlane(Planef& plane, const Eigen::Vector3f* points, size_t size, int maxIters, float threshold)
-{
-	return OptimizePlane<float>(plane, points, size, maxIters, threshold);
-} // OptimizePlane
 /*----------------------------------------------------------------*/
 
 
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index cf5d6527e..3bbd77c44 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -482,13 +482,11 @@ MVS_API unsigned EstimatePlane(const Point3Arr&, Plane&, double& maxThreshold, b
 MVS_API unsigned EstimatePlaneLockFirstPoint(const Point3Arr&, Plane&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MVS_API unsigned EstimatePlaneTh(const Point3Arr&, Plane&, double maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MVS_API unsigned EstimatePlaneThLockFirstPoint(const Point3Arr&, Plane&, double maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
-MATH_API int OptimizePlane(Planed& plane, const Eigen::Vector3d* points, size_t size, int maxIters, double threshold);
 // same for float points
 MATH_API unsigned EstimatePlane(const Point3fArr&, Planef&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MATH_API unsigned EstimatePlaneLockFirstPoint(const Point3fArr&, Planef&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MATH_API unsigned EstimatePlaneTh(const Point3fArr&, Planef&, double maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MATH_API unsigned EstimatePlaneThLockFirstPoint(const Point3fArr&, Planef&, double maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
-MATH_API int OptimizePlane(Planef& plane, const Eigen::Vector3f* points, size_t size, int maxIters, float threshold);
 
 MVS_API void EstimatePointColors(const ImageArr& images, PointCloud& pointcloud);
 MVS_API void EstimatePointNormals(const ImageArr& images, PointCloud& pointcloud, int numNeighbors=16/*K-nearest neighbors*/);
diff --git a/libs/MVS/PointCloud.cpp b/libs/MVS/PointCloud.cpp
index 1a77087fb..2920b8978 100644
--- a/libs/MVS/PointCloud.cpp
+++ b/libs/MVS/PointCloud.cpp
@@ -41,6 +41,17 @@ using namespace MVS;
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+PointCloud& MVS::PointCloud::Swap(PointCloud& rhs)
+{
+	points.Swap(rhs.points);
+	pointViews.Swap(rhs.pointViews);
+	pointWeights.Swap(rhs.pointWeights);
+	normals.Swap(rhs.normals);
+	colors.Swap(rhs.colors);
+	return *this;
+}
+/*----------------------------------------------------------------*/
+
 void PointCloud::Release()
 {
 	points.Release();
@@ -178,7 +189,8 @@ Planef PointCloud::EstimateGroundPlane(const ImageArr& images, float planeThresh
 	for (const Point& X: *pPoints)
 		if (plane.DistanceAbs(X) < maxThreshold)
 			inliers.emplace_back(X);
-	OptimizePlane(plane, inliers.data(), inliers.size(), 100, static_cast<float>(threshold));
+	const RobustNorm::GemanMcClure<double> robust(threshold);
+	plane.Optimize(inliers.data(), inliers.size(), robust);
 
 	// make sure the plane is well oriented, negate plane normal if it faces same direction as cameras on average
 	if (!images.empty()) {
diff --git a/libs/MVS/PointCloud.h b/libs/MVS/PointCloud.h
index 6576d70b9..d01365eb1 100644
--- a/libs/MVS/PointCloud.h
+++ b/libs/MVS/PointCloud.h
@@ -82,7 +82,7 @@ class MVS_API PointCloud
 	ColorArr colors;
 
 public:
-	inline PointCloud() {}
+	PointCloud& Swap(PointCloud&);
 
 	void Release();
 
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 8d7a037b8..165d46ebe 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -862,67 +862,85 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 			++score.points;
 		}
 	}
-	imageData.avgDepth /= nPoints;
-	ASSERT(nPoints > 3);
+	if(nPoints > 3)
+		imageData.avgDepth /= nPoints;
 
 	// select best neighborViews
-	Point2fArr projs(0, points.size());
-	FOREACH(IDB, images) {
-		const Image& imageDataB = images[IDB];
-		if (!imageDataB.IsValid())
-			continue;
-		const Score& score = scores[IDB];
-		if (score.points < 3)
-			continue;
-		ASSERT(ID != IDB);
-		// compute how well the matched features are spread out (image covered area)
-		const Point2f boundsA(imageData.GetSize());
-		const Point2f boundsB(imageDataB.GetSize());
-		ASSERT(projs.empty());
-		for (uint32_t idx: points) {
-			const PointCloud::ViewArr& views = pointcloud.pointViews[idx];
-			ASSERT(views.IsSorted());
-			ASSERT(views.FindFirst(ID) != PointCloud::ViewArr::NO_INDEX);
-			if (views.FindFirst(IDB) == PointCloud::ViewArr::NO_INDEX)
+	if (neighbors.empty()) {
+		Point2fArr projs(0, points.size());
+		FOREACH(IDB, images) {
+			const Image& imageDataB = images[IDB];
+			if (!imageDataB.IsValid())
 				continue;
-			const PointCloud::Point& point = pointcloud.points[idx];
-			Point2f& ptA = projs.emplace_back(imageData.camera.ProjectPointP(point));
-			Point2f ptB = imageDataB.camera.ProjectPointP(point);
-			if (!imageData.camera.IsInside(ptA, boundsA) || !imageDataB.camera.IsInside(ptB, boundsB))
-				projs.RemoveLast();
+			const Score& score = scores[IDB];
+			if (score.points < 3)
+				continue;
+			ASSERT(ID != IDB);
+			// compute how well the matched features are spread out (image covered area)
+			const Point2f boundsA(imageData.GetSize());
+			const Point2f boundsB(imageDataB.GetSize());
+			ASSERT(projs.empty());
+			for (uint32_t idx: points) {
+				const PointCloud::ViewArr& views = pointcloud.pointViews[idx];
+				ASSERT(views.IsSorted());
+				ASSERT(views.FindFirst(ID) != PointCloud::ViewArr::NO_INDEX);
+				if (views.FindFirst(IDB) == PointCloud::ViewArr::NO_INDEX)
+					continue;
+				const PointCloud::Point& point = pointcloud.points[idx];
+				Point2f& ptA = projs.emplace_back(imageData.camera.ProjectPointP(point));
+				Point2f ptB = imageDataB.camera.ProjectPointP(point);
+				if (!imageData.camera.IsInside(ptA, boundsA) || !imageDataB.camera.IsInside(ptB, boundsB))
+					projs.RemoveLast();
+			}
+			ASSERT(projs.size() <= score.points);
+			if (projs.empty())
+				continue;
+			const float area(ComputeCoveredArea<float,2,16,false>((const float*)projs.data(), projs.size(), boundsA.ptr()));
+			projs.Empty();
+			// store image score
+			ViewScore& neighbor = neighbors.AddEmpty();
+			neighbor.idx.ID = IDB;
+			neighbor.idx.points = score.points;
+			neighbor.idx.scale = score.avgScale/score.points;
+			neighbor.idx.angle = score.avgAngle/score.points;
+			neighbor.idx.area = area;
+			neighbor.score = score.score*MAXF(area,0.01f);
 		}
-		ASSERT(projs.size() <= score.points);
-		if (projs.empty())
-			continue;
-		const float area(ComputeCoveredArea<float,2,16,false>((const float*)projs.data(), projs.size(), boundsA.ptr()));
-		projs.Empty();
-		// store image score
-		ViewScore& neighbor = neighbors.AddEmpty();
-		neighbor.idx.ID = IDB;
-		neighbor.idx.points = score.points;
-		neighbor.idx.scale = score.avgScale/score.points;
-		neighbor.idx.angle = score.avgAngle/score.points;
-		neighbor.idx.area = area;
-		neighbor.score = score.score*MAXF(area,0.01f);
-	}
-	neighbors.Sort();
-	#if TD_VERBOSE != TD_VERBOSE_OFF
-	// print neighbor views
-	if (VERBOSITY_LEVEL > 2) {
-		String msg;
-		FOREACH(n, neighbors)
-			msg += String::FormatString(" %3u(%upts,%.2fscl)", neighbors[n].idx.ID, neighbors[n].idx.points, neighbors[n].idx.scale);
-		VERBOSE("Reference image %3u sees %u views:%s (%u shared points)", ID, neighbors.size(), msg.c_str(), nPoints);
+		neighbors.Sort();
+		#if TD_VERBOSE != TD_VERBOSE_OFF
+		// print neighbor views
+		if (VERBOSITY_LEVEL > 2) {
+			String msg;
+			FOREACH(n, neighbors)
+				msg += String::FormatString(" %3u(%upts,%.2fscl)", neighbors[n].idx.ID, neighbors[n].idx.points, neighbors[n].idx.scale);
+			VERBOSE("Reference image %3u sees %u views:%s (%u shared points)", ID, neighbors.size(), msg.c_str(), nPoints);
+		}
+		#endif
 	}
-	#endif
 	if (points.size() <= 3 || neighbors.size() < MINF(nMinViews,nCalibratedImages-1)) {
 		DEBUG_EXTRA("error: reference image %3u has not enough images in view", ID);
 		return false;
 	}
 	return true;
 } // SelectNeighborViews
+
+void Scene::SelectNeighborViews(unsigned nMinViews, unsigned nMinPointViews, float fOptimAngle, unsigned nInsideROI)
+{
+	#ifdef DENSE_USE_OPENMP
+	#pragma omp parallel for shared(data, bAbort)
+	for (int_t ID=0; ID<(int_t)images.GetSize(); ++ID) {
+		const IIndex idxImage((IIndex)ID);
+	#else
+	FOREACH(idxImage, images) {
+	#endif
+		// select image neighbors
+		IndexArr points;
+		SelectNeighborViews(idxImage, points, nMinViews, nMinPointViews, fOptimAngle, nInsideROI);
+	}
+} // SelectNeighborViews
 /*----------------------------------------------------------------*/
 
+
 // keep only the best neighbors for the reference image
 bool Scene::FilterNeighborViews(ViewScoreArr& neighbors, float fMinArea, float fMinScale, float fMaxScale, float fMinAngle, float fMaxAngle, unsigned nMaxViews)
 {
@@ -1008,6 +1026,78 @@ bool Scene::ExportCamerasMLP(const String& fileName, const String& fileNameScene
 
 	return true;
 } // ExportCamerasMLP
+
+bool Scene::ExportLinesPLY(const String& fileName, const CLISTDEF0IDX(Line3f,uint32_t)& lines, const Pixel8U* colors, bool bBinary) {
+	// define a PLY file format composed only of vertices and edges
+	// vertex definition
+	struct PLYVertex {
+		float x, y, z;
+	};
+	// list of property information for a vertex
+	static PLY::PlyProperty vert_props[] = {
+		{"x", PLY::Float32, PLY::Float32, offsetof(PLYVertex,x), 0, 0, 0, 0},
+		{"y", PLY::Float32, PLY::Float32, offsetof(PLYVertex,y), 0, 0, 0, 0},
+		{"z", PLY::Float32, PLY::Float32, offsetof(PLYVertex,z), 0, 0, 0, 0},
+	};
+	// edge definition
+	struct PLYEdge {
+		int v1, v2;
+		uint8_t r, g, b;
+	};
+	// list of property information for a edge
+	static PLY::PlyProperty edge_props[] = {
+		{"vertex1", PLY::Uint32, PLY::Uint32, offsetof(PLYEdge,v1), 0, 0, 0, 0},
+		{"vertex2", PLY::Uint32, PLY::Uint32, offsetof(PLYEdge,v2), 0, 0, 0, 0},
+		{"red", PLY::Uint8, PLY::Uint8, offsetof(PLYEdge,r), 0, 0, 0, 0},
+		{"green", PLY::Uint8, PLY::Uint8, offsetof(PLYEdge,g), 0, 0, 0, 0},
+		{"blue", PLY::Uint8, PLY::Uint8, offsetof(PLYEdge,b), 0, 0, 0, 0},
+	};
+	// list of the kinds of elements in the PLY
+	static const char* elem_names[] = {
+		"vertex", "edge"
+	};
+
+	// create PLY object
+	ASSERT(!fileName.empty());
+	Util::ensureFolder(fileName);
+	const size_t memBufferSize(2 * (8 * 3/*pos*/ + 3 * 3/*color*/ + 6/*space*/ + 2/*eol*/) + 2048/*extra size*/);
+	PLY ply;
+	if (!ply.write(fileName, 2, elem_names, bBinary?PLY::BINARY_LE:PLY::ASCII, memBufferSize))
+		return false;
+
+	// describe what properties go into the vertex elements
+	ply.describe_property("vertex", 3, vert_props);
+	PLYVertex v;
+	FOREACH(i, lines) {
+		const Line3f& line = lines[i];
+		v.x = line.pt1.x(); v.y = line.pt1.y(); v.z = line.pt1.z();
+		ply.put_element(&v);
+		v.x = line.pt2.x(); v.y = line.pt2.y(); v.z = line.pt2.z();
+		ply.put_element(&v);
+	}
+	
+	// describe what properties go into the edge elements
+	if (colors) {
+		ply.describe_property("edge", 5, edge_props);
+		PLYEdge edge;
+		FOREACH(i, lines) {
+			const Pixel8U& color = colors[i];
+			edge.r = color.r; edge.g = color.g; edge.b = color.b;
+			edge.v1 = i*2+0; edge.v2 = i*2+1;
+			ply.put_element(&edge);
+		}
+	} else {
+		ply.describe_property("edge", 2, edge_props);
+		PLYEdge edge;
+		FOREACH(i, lines) {
+			edge.v1 = i*2+0; edge.v2 = i*2+1;
+			ply.put_element(&edge);
+		}
+	}
+	
+	// write to file
+	return ply.header_complete();
+} // ExportLinesPLY
 /*----------------------------------------------------------------*/
 
 
@@ -1641,3 +1731,351 @@ bool Scene::EstimateROI(int nEstimateROI, float scale)
 	return true;
 } // EstimateROI
 /*----------------------------------------------------------------*/
+
+
+// calculate the center(X,Y) of the cylinder, the radius and min/max Z
+// from camera position and sparse point cloud, if that exists
+// returns result of checks if the scene camera positions satisfies tower criteria:
+//	- cameras fit a long and slim bounding box
+//  - majority of cameras focus toward a middle line
+bool Scene::ComputeTowerCylinder(Point2f& centerPoint, float& fRadius, float& fROIRadius, float& zMin, float& zMax, float& minCamZ, const int towerMode)
+{
+	// disregard tower mode for scenes with less than 20 cameras
+	if (towerMode > 0 && images.size() < 20) {
+		DEBUG("error: too few images to be a tower: '%d'", images.size());
+		return false;
+	}
+
+	AABB3f aabbOutsideCameras(true);
+	CLISTDEF0(Point2f) cameras2D(images.size());
+	FloatArr camHeigths;
+	FitLineOnline<float> fitline;
+	FOREACH(imgIdx, images) {
+		const Eigen::Vector3f camPos(Cast<float>(images[imgIdx].camera.C));
+		fitline.Update(camPos);
+		aabbOutsideCameras.InsertFull(camPos);
+		cameras2D[imgIdx] = Point2f(camPos.x(), camPos.y());
+		camHeigths.InsertSortUnique(camPos.z());
+	}
+	Line3f camCenterLine;
+	Point3f quality = fitline.GetLine(camCenterLine);
+	// check if ROI is mostly long and narrow on one direction
+	if (quality.y / quality.z > 0.6f || quality.x / quality.y < 0.8f) {
+		// does not seem to be a line
+		if (towerMode > 0) {
+			DEBUG("error: does not seem to be a tower: X(%.2f), Y(%.2f), Z(%.2f)", quality.x, quality.y, quality.z);
+			return false;
+		}
+	}
+
+	// get the height of the lowest camera
+	minCamZ = aabbOutsideCameras.ptMin.z();
+	centerPoint = ((camCenterLine.pt1+camCenterLine.pt2)*0.5f).topLeftCorner<2,1>();
+	zMin = MINF(aabbOutsideCameras.ptMax.z(), aabbOutsideCameras.ptMin.z()) - 5;
+	// if sparse point cloud is loaded use lowest point as zMin
+	float fMinPointsZ = std::numeric_limits<float>::max();
+	float fMaxPointsZ = std::numeric_limits<float>::lowest();
+	FOREACH(pIdx, pointcloud.points) {
+		if (!obb.IsValid() || obb.Intersects(pointcloud.points[pIdx])) {
+			const float pz = pointcloud.points[pIdx].z;
+			if (pz < fMinPointsZ)
+				fMinPointsZ = pz;
+			if (pz > fMaxPointsZ)
+				fMaxPointsZ = pz;			
+		}
+	}
+	zMin = MINF(zMin, fMinPointsZ);
+	zMax = MAXF(aabbOutsideCameras.ptMax.z(), fMaxPointsZ);
+	
+	// calculate tower radius as median distance from tower center to cameras
+	FloatArr cameraDistancesToMiddle(cameras2D.size());
+	FOREACH (camIdx, cameras2D)
+		cameraDistancesToMiddle[camIdx] = norm(cameras2D[camIdx] - centerPoint);
+	const float fMedianDistance = cameraDistancesToMiddle.GetMedian();
+	fRadius = MAXF(0.2f, (fMedianDistance - 1.f) / 3.f);
+	// get the average of top 85 to 95% of the highest distances to center
+	if (!cameraDistancesToMiddle.empty()) {
+		float avgTopDistance(0);
+		cameraDistancesToMiddle.Sort();
+		const size_t topIdx(CEIL2INT(cameraDistancesToMiddle.size() * 0.95f));
+		const size_t botIdx(FLOOR2INT(cameraDistancesToMiddle.size() * 0.85f));
+		for (size_t i = botIdx; i < topIdx; ++i) {
+			avgTopDistance += cameraDistancesToMiddle[i];
+		}
+		avgTopDistance /= topIdx - botIdx;
+		fROIRadius = avgTopDistance;
+	} else {
+		fROIRadius = fRadius;
+	}
+	return true;
+} // ComputeTowerCylinder
+
+size_t Scene::DrawCircle(PointCloud& pc, PointCloud::PointArr& outCircle, const Point3f& circleCenter, const float circleRadius, const unsigned nTargetPoints, const float fStartAngle, const float fAngleBetweenPoints)
+{
+	outCircle.Release();
+	for (unsigned pIdx = 0; pIdx < nTargetPoints; ++pIdx) {
+		const float fAngle(fStartAngle + fAngleBetweenPoints * pIdx);
+		ASSERT(fAngle <= FTWO_PI);
+		const Normal n(cos(fAngle), sin(fAngle), 0);
+		ASSERT(ISEQUAL(norm(n), 1.f));
+		const Point3f newPoint(circleCenter + circleRadius * n);
+		// select cameras seeing this point
+		PointCloud::ViewArr views;
+		FOREACH(idxImg, images) {
+			const Image& image = images[idxImg];
+			const Point3f xz(image.camera.TransformPointW2I3(Cast<REAL>(newPoint)));
+			const Point2f x(xz.x, xz.y);
+			if (!Image8U::isInside<float>(x, image.GetSize()) ||
+				xz.z <= 0)
+				continue;
+			if (n.dot(Cast<float>(image.camera.RayPoint<REAL>(x))) >= 0)
+				continue;
+			views.emplace_back(idxImg);
+		}
+		if (views.size() >= 2) {
+			outCircle.emplace_back(newPoint);
+			pc.points.emplace_back(newPoint);
+			pc.pointViews.emplace_back(views);
+			pc.normals.emplace_back(n);
+			pc.colors.emplace_back(Pixel8U::YELLOW);
+			pc.pointWeights.emplace_back(PointCloud::WeightArr{1.f});
+		}
+	}
+	return outCircle.size();
+} // DrawCircle
+
+PointCloud Scene::BuildTowerMesh(const PointCloud& origPointCloud, const Point2f& centerPoint, const float fRadius, const float fROIRadius, const float zMin, const float zMax, const float minCamZ, bool bFixRadius)
+{
+	const unsigned nTargetDensity(10);
+	const unsigned nTargetCircles(ROUND2INT((zMax - zMin) * nTargetDensity)); // how many circles in cylinder
+	const float fCircleFrequence((zMax - zMin) / nTargetCircles); // the distance between neighbor circles
+	PointCloud towerPC;
+	PointCloud::PointArr circlePoints;
+	Mesh::VertexVerticesArr meshCircles;
+	if (bFixRadius) {
+		const unsigned nTargetPoints(MAX(10, ROUND2INT(FTWO_PI * fRadius * nTargetDensity))); // how many points on each circle
+		const float fAngleBetweenPoints(FTWO_PI / nTargetPoints); // the angle between neighbor points on the circle	
+		for (unsigned cIdx = 0; cIdx < nTargetCircles; ++cIdx) {
+			const Point3f circleCenter(centerPoint, zMin + fCircleFrequence * cIdx); // center point of the circle
+			const float fStartAngle(fAngleBetweenPoints * SEACAVE::random()); // starting angle for the first point
+			DrawCircle(towerPC, circlePoints, circleCenter, fRadius, nTargetPoints, fStartAngle, fAngleBetweenPoints);
+			if (!circlePoints.empty()) {
+				// add points to vertex  list
+				Mesh::VertexIdxArr circleVertices;
+				Mesh::VIndex vIdx = mesh.vertices.size();
+				for (const Point3f& p: circlePoints) {
+					mesh.vertices.emplace_back(p);
+					circleVertices.emplace_back(vIdx++);
+				}
+				meshCircles.emplace_back(circleVertices);
+			}
+		}
+	} else {
+		cList<FloatArr> sliceDistances(nTargetCircles);
+		for (const Point3f& P : origPointCloud.points) {
+			const float d(norm(Point2f(P.x, P.y) - centerPoint));
+			if (d <= fROIRadius) {
+				const float fIdx((zMax - P.z) * nTargetDensity);
+				int bIdx(FLOOR2INT(fIdx));
+				int tIdx(FLOOR2INT(fIdx+0.5f));
+				if (bIdx == tIdx && bIdx > 0)
+					bIdx--;
+				if (tIdx >= (int)nTargetCircles)
+					tIdx = nTargetCircles - 1;
+				if (bIdx < (int)nTargetCircles - 1)
+					sliceDistances[bIdx].emplace_back(d);
+				if (tIdx > 0)
+					sliceDistances[tIdx].emplace_back(d);
+			}
+		}
+		FloatArr circleRadii;
+		for (unsigned cIdx = 0; cIdx < nTargetCircles; ++cIdx) {
+			const float circleZ(zMax - fCircleFrequence * cIdx);
+			FloatArr& pDistances = sliceDistances[cIdx];
+			float circleRadius(fRadius);
+			if (circleZ < minCamZ) {
+				// use fixed radius under lowest camera position
+				circleRadius = fRadius;
+			} else {
+				if (pDistances.size() > 2) {
+					pDistances.Sort();
+					const size_t topIdx(MIN(pDistances.size() - 1, CEIL2INT(pDistances.size() * 0.95f)));
+					const size_t botIdx(MAX(1, FLOOR2INT(pDistances.size() * 0.5f)));
+					float avgTopDistance(0);
+					for (size_t i = botIdx; i < topIdx; ++i)
+						avgTopDistance += pDistances[i];
+					avgTopDistance /= topIdx - botIdx;
+					if (avgTopDistance < fROIRadius * 0.8f)
+						circleRadius = avgTopDistance;
+				}
+			}
+			circleRadii.emplace_back(circleRadius);
+		}
+		// smoothen radii
+		if (circleRadii.size() > 2) {
+			for (int ri = 1; ri < circleRadii.size() - 1; ++ri) {
+				const float aboveRad(circleRadii[ri - 1]);
+				float& circleRadius = circleRadii[ri];
+				const float beloweRad(circleRadii[ri + 1]);
+				const float AbvCrtDeltaPrc = ABS(aboveRad - circleRadius) / aboveRad;
+				const float BelCrtDeltaPrc = ABS(circleRadius - beloweRad) / circleRadius;
+				// set current radius as average of the most similar values in the closest 7 neighbors
+				if (ri > 2 && ri < circleRadii.size() - 5) {
+					FloatArr neighSeven(7);
+					FOREACH(i, neighSeven)
+						neighSeven[i] = circleRadii[ri - 2 + i];
+					neighSeven.Sort();
+					const float medianRadius(neighSeven.GetMedian());
+					circleRadius = ABS(medianRadius-aboveRad) < ABS(medianRadius-beloweRad) ? aboveRad : beloweRad;
+				}
+				else {
+					circleRadius = (aboveRad + beloweRad) / 2.f;
+				}
+			}
+		}
+		// add circles
+		FOREACH(rIdx, circleRadii) {
+			float circleRadius(circleRadii[rIdx]);
+			const float circleZ(zMax - fCircleFrequence * rIdx);
+			const Point3f circleCenter(centerPoint, circleZ); // center point of the circle
+			const unsigned nTargetPoints(MAX(10, ROUND2INT(FTWO_PI * circleRadius * nTargetDensity))); // how many points on each circle
+			const float fAngleBetweenPoints(FTWO_PI / nTargetPoints); // the angle between neighbor points on the circle
+			const float fStartAngle(fAngleBetweenPoints * SEACAVE::random()); // starting angle for the first point
+			DrawCircle(towerPC, circlePoints, circleCenter, circleRadius, nTargetPoints, fStartAngle, fAngleBetweenPoints);
+			if (!circlePoints.IsEmpty()) {
+				//add points to vertex  list
+				Mesh::VertexIdxArr circleVertices;
+				Mesh::VIndex vIdx = mesh.vertices.size();
+				FOREACH(pIdx, circlePoints) {
+					const Point3f& p = circlePoints[pIdx];
+					mesh.vertices.emplace_back(p);
+					circleVertices.emplace_back(vIdx);
+					++vIdx;
+				}
+				meshCircles.emplace_back(circleVertices);
+			}
+		}
+	}
+	
+	#if TD_VERBOSE != TD_VERBOSE_OFF
+	if (VERBOSITY_LEVEL > 2) {
+		// Build faces from meshCircles
+		for (Mesh::VIndex cIdx = 1; cIdx < meshCircles.size(); ++cIdx) {
+			if (meshCircles[cIdx - 1].size() > 1 || meshCircles[cIdx].size() > 1) {
+				Mesh::VertexIdxArr& topPoints = meshCircles[cIdx - 1];
+				Mesh::VertexIdxArr& botPoints = meshCircles[cIdx];
+				// build faces with all the points in the two lists
+				bool bInverted(false);
+				if (topPoints.size() > botPoints.size()) {
+					topPoints.swap(botPoints);
+					bInverted = true;
+				}
+				const float topStep(1.0f / topPoints.size());
+				const float botStep(1.0f / botPoints.size());
+				for (Mesh::VIndex ti=0, bi=0; ti < topPoints.size() && bi<botPoints.size(); ++ti) {
+					do {
+						const Mesh::VIndex& v0(topPoints[ti]);
+						const Mesh::VIndex& v1(botPoints[bi]);
+						const Mesh::VIndex& v2(botPoints[(++bi)%botPoints.size()]);
+						if (!bInverted)
+							mesh.faces.emplace_back(v0, v1, v2);
+						else
+							mesh.faces.emplace_back(v0, v2, v1);
+					} while (bi<botPoints.size() && (ti+1)*topStep > (bi+1)*botStep);
+					if (topPoints.size() > 1) {
+						const Mesh::VIndex& v0(topPoints[ti]);
+						const Mesh::VIndex& v1(botPoints[bi%botPoints.size()]);
+						const Mesh::VIndex& v2(topPoints[(ti+1)%topPoints.size()]);
+						if (!bInverted)
+							mesh.faces.emplace_back(v0, v1, v2);
+						else
+							mesh.faces.emplace_back(v0, v2, v1);
+					}
+					if (topPoints.size() != botPoints.size()) {
+						// add closing face
+						const Mesh::VIndex& v0(topPoints[0]);
+						const Mesh::VIndex& v1(botPoints[botPoints.size()-1]);
+						const Mesh::VIndex& v2(botPoints[0]);
+						if (!bInverted)
+							mesh.faces.emplace_back(v0, v1, v2);
+						else
+							mesh.faces.emplace_back(v0, v2, v1);
+					}
+				}
+				if (bInverted) {
+					topPoints.swap(botPoints);
+				}
+			}
+		}
+		mesh.Save("towermesh_dbg.ply");
+		towerPC.Save("cylinder.ply");
+	}
+	#endif
+	return towerPC;
+}
+
+
+// compute points on a cylinder placed in the middle of scene's cameras
+// this function assumes the scene is Z-up and units are meters
+//  - towerMode:  0 - disabled, 1 - replace, 2 - append, 3 - select neighbors, 4 - select neighbors and append, <0 - force tower mode
+void Scene::InitTowerScene(const int towerMode)
+{
+	float fRadius;
+	float fROIRadius;
+	float zMax, zMin, minCamZ;
+	Point2f centerPoint;
+	if (!ComputeTowerCylinder(centerPoint, fRadius, fROIRadius, zMin, zMax, minCamZ, towerMode))
+		return;
+	DEBUG("Scene camera positions identified ROI as a tower, select neighbors as if ROI is a tower");
+
+	// add nTargetPoints points on each circle
+	PointCloud towerPC(BuildTowerMesh(pointcloud, centerPoint, fRadius, fROIRadius, zMin, zMax, minCamZ, false));
+
+	switch (ABS(towerMode)) {
+	case 1: { // replace
+		pointcloud = std::move(towerPC);
+		break;
+	}
+	case 2: { // append
+		bool bHasNormal(pointcloud.normals.size() == pointcloud.GetSize());
+		bool bHasColor(pointcloud.colors.size() == pointcloud.GetSize());
+		bool bHasWeights(pointcloud.pointWeights.size() == pointcloud.GetSize());
+		FOREACH(idxPoint, towerPC.points) {
+			pointcloud.points.emplace_back(towerPC.points[idxPoint]);
+			pointcloud.pointViews.emplace_back(towerPC.pointViews[idxPoint]);
+			if (bHasNormal)
+				pointcloud.normals.emplace_back(towerPC.normals[idxPoint]);
+			if (bHasColor)
+				pointcloud.colors.emplace_back(towerPC.colors[idxPoint]);
+			if (bHasWeights)
+				pointcloud.pointWeights.emplace_back(towerPC.pointWeights[idxPoint]);
+		}
+		break;
+	}
+	case 3: { // select neighbors and remove added points
+		pointcloud.Swap(towerPC);
+		SelectNeighborViews(OPTDENSE::nMinViews, OPTDENSE::nMinViewsTrustPoint>1?OPTDENSE::nMinViewsTrustPoint:2, FD2R(OPTDENSE::fOptimAngle), OPTDENSE::nPointInsideROI);
+		pointcloud.Swap(towerPC);
+		break;
+	}
+	case 4: { // select neighbors
+		pointcloud.Swap(towerPC);
+		SelectNeighborViews(OPTDENSE::nMinViews, OPTDENSE::nMinViewsTrustPoint>1?OPTDENSE::nMinViewsTrustPoint:2, FD2R(OPTDENSE::fOptimAngle), OPTDENSE::nPointInsideROI);
+		pointcloud.Swap(towerPC);
+		bool bHasNormal(pointcloud.normals.size() == pointcloud.GetSize());
+		bool bHasColor(pointcloud.colors.size() == pointcloud.GetSize());
+		bool bHasWeights(pointcloud.pointWeights.size() == pointcloud.GetSize());
+		FOREACH(idxPoint, towerPC.points) {
+			pointcloud.points.emplace_back(towerPC.points[idxPoint]);
+			pointcloud.pointViews.emplace_back(towerPC.pointViews[idxPoint]);
+			if (bHasNormal)
+				pointcloud.normals.emplace_back(towerPC.normals[idxPoint]);
+			if (bHasColor)
+				pointcloud.colors.emplace_back(towerPC.colors[idxPoint]);
+			if (bHasWeights)
+				pointcloud.pointWeights.emplace_back(towerPC.pointWeights[idxPoint]);
+		}
+		break;
+	}
+	}
+} // InitTowerScene
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 8c2c35ce5..308367a9a 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -87,10 +87,12 @@ class MVS_API Scene
 	void SampleMeshWithVisibility(unsigned maxResolution=320);
 	bool ExportMeshToDepthMaps(const String& baseName);
 
-	bool SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews=3, unsigned nMinPointViews=2, float fOptimAngle=FD2R(12), unsigned nInsideROI=1);
+	bool SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews = 3, unsigned nMinPointViews = 2, float fOptimAngle = FD2R(12), unsigned nInsideROI = 1);
+	void SelectNeighborViews(unsigned nMinViews = 3, unsigned nMinPointViews = 2, float fOptimAngle = FD2R(12), unsigned nInsideROI = 1);
 	static bool FilterNeighborViews(ViewScoreArr& neighbors, float fMinArea=0.1f, float fMinScale=0.2f, float fMaxScale=2.4f, float fMinAngle=FD2R(3), float fMaxAngle=FD2R(45), unsigned nMaxViews=12);
 
 	bool ExportCamerasMLP(const String& fileName, const String& fileNameScene) const;
+	static bool ExportLinesPLY(const String& fileName, const CLISTDEF0IDX(Line3f,uint32_t)& lines, const Pixel8U* colors=NULL, bool bBinary=true);
 
 	// sub-scene split and save
 	struct ImagesChunk {
@@ -112,7 +114,13 @@ class MVS_API Scene
 
 	// Estimate and set region-of-interest
 	bool EstimateROI(int nEstimateROI=0, float scale=1.f);
-
+	
+	// Tower scene
+	bool ComputeTowerCylinder(Point2f& centerPoint, float& fRadius, float& fROIRadius, float& zMin, float& zMax, float& minCamZ, const int towerMode);
+	void InitTowerScene(const int towerMode);
+	size_t DrawCircle(PointCloud& pc,PointCloud::PointArr& outCircle, const Point3f& circleCenter, const float circleRadius, const unsigned nTargetPoints, const float fStartAngle, const float fAngleBetweenPoints);
+	PointCloud BuildTowerMesh(const PointCloud& origPointCloud, const Point2f& centerPoint, const float fRadius, const float fROIRadius, const float zMin, const float zMax, const float minCamZ, bool bFixRadius = false);
+	
 	// Dense reconstruction
 	bool DenseReconstruction(int nFusionMode=0, bool bCrop2ROI=true, float fBorderROI=0);
 	bool ComputeDepthMaps(DenseDepthMapData& data);
diff --git a/libs/Math/RobustNorms.h b/libs/Math/RobustNorms.h
index e31d05fe4..5935bb433 100644
--- a/libs/Math/RobustNorms.h
+++ b/libs/Math/RobustNorms.h
@@ -47,6 +47,13 @@ namespace SEACAVE {
 //   new_residual = robustNorm(residual)
 namespace RobustNorm {
 
+template<typename TYPE>
+struct Identity {
+	inline TYPE operator()(const TYPE& r) const {
+		return r;
+	}
+};
+
 template<typename TYPE>
 struct L1 {
 	inline TYPE operator()(const TYPE& r) const {

From f790ad61606be8a51c0d8024801f4599fc0b0faf Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 4 Jul 2023 14:03:37 +0300
Subject: [PATCH 196/252] interface: fix BlocksExchange importer

---
 .github/workflows/continuous_integration.yml   | 2 +-
 apps/InterfaceMetashape/InterfaceMetashape.cpp | 4 ++--
 apps/InterfacePolycam/InterfacePolycam.cpp     | 4 ++--
 libs/Common/Types.h                            | 1 +
 4 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/continuous_integration.yml b/.github/workflows/continuous_integration.yml
index 7a6e7dc11..94e1b985d 100644
--- a/.github/workflows/continuous_integration.yml
+++ b/.github/workflows/continuous_integration.yml
@@ -42,7 +42,7 @@ jobs:
         uses: lukka/run-vcpkg@v11
         with:
           vcpkgDirectory: '${{ github.workspace }}/vcpkg'
-          vcpkgGitCommitId: 'f6a5d4e8eb7476b8d7fc12a56dff300c1c986131'
+          vcpkgGitCommitId: '4a3c366f2d0d0eaf034bfa649124768df7cfe813'
 
       - name: Install Ubuntu dependencies
         if: matrix.os == 'ubuntu-latest'
diff --git a/apps/InterfaceMetashape/InterfaceMetashape.cpp b/apps/InterfaceMetashape/InterfaceMetashape.cpp
index 12f3ebada..068e9505c 100644
--- a/apps/InterfaceMetashape/InterfaceMetashape.cpp
+++ b/apps/InterfaceMetashape/InterfaceMetashape.cpp
@@ -144,7 +144,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		return false;
 
 	// initialize optional options
-	Util::ensureValidFolderPath(OPT::strOutputFileName);
+	Util::ensureValidPath(OPT::strOutputFileName);
 	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + MVS_EXT;
 
@@ -858,7 +858,7 @@ int main(int argc, LPCTSTR* argv)
 				for (const PointCloud::View& idxImage: scene.pointcloud.pointViews[idxPoint]) {
 					const Image& imageData = scene.images[idxImage];
 					const float depth((float)imageData.camera.PointDepth(X));
-					if (depth <= 0) {
+					if (depth > 0) {
 						avgDepths[idxImage] += depth;
 						++numDepths[idxImage];
 					}
diff --git a/apps/InterfacePolycam/InterfacePolycam.cpp b/apps/InterfacePolycam/InterfacePolycam.cpp
index 89f4ee7c7..9100b1b5b 100644
--- a/apps/InterfacePolycam/InterfacePolycam.cpp
+++ b/apps/InterfacePolycam/InterfacePolycam.cpp
@@ -223,9 +223,9 @@ bool ParseImage(Scene& scene, const String& imagePath, const String& cameraPath,
 	const Eigen::Matrix4d P{
 		(T_cam_arkitcam * T_session_arkitcam.inverse()).matrix()
 	};
-	pose.R = P.template topLeftCorner<3, 3>();
+	pose.R = P.topLeftCorner<3, 3>().eval();
 	pose.R.EnforceOrthogonality();
-	const Point3d t = P.template topRightCorner<3, 1>();
+	const Point3d t = P.topRightCorner<3, 1>().eval();
 	pose.C = pose.R.t() * (-t);
 	imageData.camera = platform.GetCamera(imageData.cameraID, imageData.poseID);
 	// set image neighbors if available
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 04f309857..d5b567431 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -2803,6 +2803,7 @@ class SO2
 
 #endif // _USE_EIGEN
 
+#include "../Math/LMFit/lmmin.h"
 #include "Types.inl"
 #include "Util.inl"
 #include "Rotation.h"

From fb0a65de6ada704db92cb11e8f79fb51e6fa7bf9 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 4 Jul 2023 19:11:49 +0300
Subject: [PATCH 197/252] mesh: crop mesh to input ROI

---
 apps/InterfaceMVSNet/InterfaceMVSNet.cpp |  1 -
 apps/ReconstructMesh/ReconstructMesh.cpp | 27 ++++++++++++++++++++----
 apps/RefineMesh/RefineMesh.cpp           |  2 --
 apps/TextureMesh/TextureMesh.cpp         |  2 --
 apps/TransformScene/TransformScene.cpp   |  1 -
 5 files changed, 23 insertions(+), 10 deletions(-)

diff --git a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
index 299e47b44..31da44f71 100644
--- a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
+++ b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
@@ -141,7 +141,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
-	Util::ensureUnifySlash(OPT::strOutputFileName);
 	if (OPT::strOutputFileName.IsEmpty())
 		OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + "scene" MVS_EXT;
 
diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index 9e61d153b..43586e20c 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -54,6 +54,8 @@ namespace OPT {
 String strInputFileName;
 String strOutputFileName;
 String strMeshFileName;
+String strImportROIFileName;
+String strImagePointsFileName;
 bool bMeshExport;
 float fDistInsert;
 bool bUseOnlyROI;
@@ -74,7 +76,6 @@ float fSplitMaxArea;
 unsigned nArchiveType;
 int nProcessPriority;
 unsigned nMaxThreads;
-String strImagePointsFileName;
 String strExportType;
 String strConfigFileName;
 boost::program_options::variables_map vm;
@@ -143,6 +144,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("mesh-file", boost::program_options::value<std::string>(&OPT::strMeshFileName), "mesh file name to clean (skips the reconstruction step)")
 		("mesh-export", boost::program_options::value(&OPT::bMeshExport)->default_value(false), "just export the mesh contained in loaded project")
 		("split-max-area", boost::program_options::value(&OPT::fSplitMaxArea)->default_value(0.f), "maximum surface area that a sub-mesh can contain (0 - disabled)")
+		("import-roi-file", boost::program_options::value<std::string>(&OPT::strImportROIFileName), "ROI file name to be imported into the scene")
 		("image-points-file", boost::program_options::value<std::string>(&OPT::strImagePointsFileName), "input filename containing the list of points from an image to project on the mesh (optional)")
 		;
 
@@ -181,7 +183,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
-	Util::ensureUnifySlash(OPT::strInputFileName);
 	if (OPT::vm.count("help") || OPT::strInputFileName.IsEmpty()) {
 		boost::program_options::options_description visible("Available options");
 		visible.add(generic).add(config_main).add(config_clean);
@@ -193,7 +194,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
-	Util::ensureUnifySlash(OPT::strOutputFileName);
+	Util::ensureValidPath(OPT::strImportROIFileName);
 	Util::ensureValidPath(OPT::strImagePointsFileName);
 	if (OPT::strOutputFileName.IsEmpty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_mesh.mvs");
@@ -344,7 +345,7 @@ int main(int argc, LPCTSTR* argv)
 
 	Scene scene(OPT::nMaxThreads);
 	// load project
-	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName), OPT::fSplitMaxArea > 0 || OPT::fDecimateMesh < 1 || OPT::nTargetFaceNum > 0))
+	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName), OPT::fSplitMaxArea > 0 || OPT::fDecimateMesh < 1 || OPT::nTargetFaceNum > 0 || !OPT::strImportROIFileName.empty()))
 		return EXIT_FAILURE;
 	const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
 	if (OPT::fSplitMaxArea > 0) {
@@ -356,6 +357,24 @@ int main(int argc, LPCTSTR* argv)
 		return EXIT_SUCCESS;
 	}
 
+	if (!OPT::strImportROIFileName.empty()) {
+		std::ifstream fs(MAKE_PATH_SAFE(OPT::strImportROIFileName));
+		if (!fs)
+			return EXIT_FAILURE;
+		fs >> scene.obb;
+		if (OPT::bCrop2ROI && !scene.mesh.IsEmpty() && !scene.IsValid()) {
+			TD_TIMER_START();
+			const size_t numVertices = scene.mesh.vertices.size();
+			const size_t numFaces = scene.mesh.faces.size();
+			scene.mesh.RemoveFacesOutside(scene.obb);
+			VERBOSE("Mesh trimmed to ROI: %u vertices and %u faces removed (%s)",
+				numVertices-scene.mesh.vertices.size(), numFaces-scene.mesh.faces.size(), TD_TIMER_GET_FMT().c_str());
+			scene.mesh.Save(baseFileName+OPT::strExportType);
+			Finalize();
+			return EXIT_SUCCESS;
+		}
+	}
+
 	if (!OPT::strImagePointsFileName.empty() && !scene.mesh.IsEmpty()) {
 		Export3DProjections(scene, MAKE_PATH_SAFE(OPT::strImagePointsFileName));
 		return EXIT_SUCCESS;
diff --git a/apps/RefineMesh/RefineMesh.cpp b/apps/RefineMesh/RefineMesh.cpp
index f08aecbba..c0960935d 100644
--- a/apps/RefineMesh/RefineMesh.cpp
+++ b/apps/RefineMesh/RefineMesh.cpp
@@ -167,7 +167,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
-	Util::ensureUnifySlash(OPT::strInputFileName);
 	if (OPT::vm.count("help") || OPT::strInputFileName.IsEmpty()) {
 		boost::program_options::options_description visible("Available options");
 		visible.add(generic).add(config);
@@ -179,7 +178,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
-	Util::ensureUnifySlash(OPT::strOutputFileName);
 	if (OPT::strOutputFileName.IsEmpty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_refine.mvs");
 
diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index acc1c2b51..8409a2ef2 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -169,7 +169,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
-	Util::ensureUnifySlash(OPT::strInputFileName);
 	if (OPT::vm.count("help") || OPT::strInputFileName.IsEmpty()) {
 		boost::program_options::options_description visible("Available options");
 		visible.add(generic).add(config);
@@ -191,7 +190,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
-	Util::ensureUnifySlash(OPT::strOutputFileName);
 	if (OPT::strOutputFileName.IsEmpty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_texture.mvs");
 	Util::ensureValidPath(OPT::strViewsFileName);
diff --git a/apps/TransformScene/TransformScene.cpp b/apps/TransformScene/TransformScene.cpp
index d6c864a28..ec293a7af 100644
--- a/apps/TransformScene/TransformScene.cpp
+++ b/apps/TransformScene/TransformScene.cpp
@@ -171,7 +171,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
-	Util::ensureUnifySlash(OPT::strOutputFileName);
 	if (OPT::strOutputFileName.IsEmpty())
 		OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + "_transformed" MVS_EXT;
 

From d2d874d6a3e2d3935889edf71729ff88aae92a2b Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 4 Jul 2023 23:52:51 +0300
Subject: [PATCH 198/252] common: v2.2.0

---
 CMakeLists.txt                   | 22 +---------------------
 build/Templates/ConfigLocal.h.in |  6 ++++++
 libs/Common/Config.h             |  2 ++
 libs/Common/Util.cpp             |  7 +++++++
 libs/IO/CMakeLists.txt           |  6 +++---
 5 files changed, 19 insertions(+), 24 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 98b85630e..5a1345915 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,7 +16,6 @@ ENDIF()
 
 # List configuration options
 SET(OpenMVS_BUILD_TOOLS ON CACHE BOOL "Build example applications")
-SET(OpenMVS_USE_NONFREE ON CACHE BOOL "Build non-free (patented) functionality")
 SET(OpenMVS_USE_OPENMP ON CACHE BOOL "Enable OpenMP library")
 SET(OpenMVS_USE_OPENGL ON CACHE BOOL "Enable OpenGL library")
 SET(OpenMVS_USE_BREAKPAD ON CACHE BOOL "Enable BreakPad library")
@@ -53,7 +52,7 @@ ENDIF()
 PROJECT(OpenMVS)
 
 SET(OpenMVS_MAJOR_VERSION 2)
-SET(OpenMVS_MINOR_VERSION 1)
+SET(OpenMVS_MINOR_VERSION 2)
 SET(OpenMVS_PATCH_VERSION 0)
 SET(OpenMVS_VERSION ${OpenMVS_MAJOR_VERSION}.${OpenMVS_MINOR_VERSION}.${OpenMVS_PATCH_VERSION})
 
@@ -71,7 +70,6 @@ SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build/Modules)
 
 # Find required packages
 SET(OpenMVS_EXTRA_INCLUDES "")
-SET(OpenMVS_DEFINITIONS "")
 SET(OpenMVS_EXTRA_LIBS "")
 
 if(OpenMVS_USE_OPENMP)
@@ -79,7 +77,6 @@ if(OpenMVS_USE_OPENMP)
 	FIND_PACKAGE(OpenMP)
 	if(OPENMP_FOUND)
 		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
-		LIST(APPEND OpenMVS_DEFINITIONS -D_USE_OPENMP)
 		SET(_USE_OPENMP TRUE)
 		#cmake only check for separate OpenMP library on AppleClang 7+
 		#https://github.com/Kitware/CMake/blob/42212f7539040139ecec092547b7d58ef12a4d72/Modules/FindOpenMP.cmake#L252
@@ -99,7 +96,6 @@ if(OpenMVS_USE_OPENGL)
 	FIND_PACKAGE(OpenGL)
 	if(OPENGL_FOUND)
 		INCLUDE_DIRECTORIES(${OPENGL_INCLUDE_DIR})
-		LIST(APPEND OpenMVS_DEFINITIONS -D_USE_OPENGL)
 		ADD_DEFINITIONS(${OpenGL_DEFINITIONS})
 		SET(_USE_OPENGL TRUE)
 	else()
@@ -155,7 +151,6 @@ if(OpenMVS_USE_CUDA)
 		endif()
 		SET(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} --expt-relaxed-constexpr")
 		INCLUDE_DIRECTORIES(${CUDA_INCLUDE_DIRS})
-		LIST(APPEND OpenMVS_DEFINITIONS -D_USE_CUDA)
 		SET(_USE_CUDA TRUE)
 	else()
 		SET(CUDA_CUDA_LIBRARY "")
@@ -169,7 +164,6 @@ if(OpenMVS_USE_BREAKPAD)
 	FIND_PACKAGE(BREAKPAD)
 	if(BREAKPAD_FOUND)
 		INCLUDE_DIRECTORIES(${BREAKPAD_INCLUDE_DIRS})
-		LIST(APPEND OpenMVS_DEFINITIONS -D_USE_BREAKPAD)
 		ADD_DEFINITIONS(${BREAKPAD_DEFINITIONS})
 		SET(_USE_BREAKPAD TRUE)
 		LIST(APPEND OpenMVS_EXTRA_LIBS ${BREAKPAD_LIBS})
@@ -194,7 +188,6 @@ FIND_PACKAGE(Boost REQUIRED COMPONENTS iostreams program_options system serializ
 if(Boost_FOUND)
 	LIST(APPEND OpenMVS_EXTRA_INCLUDES ${Boost_INCLUDE_DIRS})
 	INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
-	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_BOOST)
 	ADD_DEFINITIONS(${Boost_DEFINITIONS})
 	LINK_DIRECTORIES(${Boost_LIBRARY_DIRS})
 	if(NOT MSVC AND DEFINED CMAKE_TOOLCHAIN_FILE)
@@ -203,7 +196,6 @@ if(Boost_FOUND)
 	endif()
 	SET(_USE_BOOST TRUE)
 	if(Boost_python3_FOUND)
-		LIST(APPEND OpenMVS_DEFINITIONS -D_USE_BOOST_PYTHON)
 		SET(_USE_BOOST_PYTHON TRUE)
 	endif()
 endif()
@@ -212,7 +204,6 @@ FIND_PACKAGE(Eigen3 REQUIRED)
 if(EIGEN3_FOUND)
 	LIST(APPEND OpenMVS_EXTRA_INCLUDES ${EIGEN3_INCLUDE_DIR})
 	INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
-	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_EIGEN)
 	ADD_DEFINITIONS(${EIGEN3_DEFINITIONS})
 	SET(_USE_EIGEN TRUE)
 	MESSAGE(STATUS "Eigen ${EIGEN3_VERSION} found (include: ${EIGEN3_INCLUDE_DIR})")
@@ -233,33 +224,22 @@ LIST(REMOVE_DUPLICATES OpenMVS_EXTRA_INCLUDES)
 LIST(REMOVE_DUPLICATES OpenMVS_EXTRA_LIBS)
 
 # Set defines
-if(OpenMVS_USE_NONFREE)
-	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_NONFREE)
-	SET(_USE_NONFREE TRUE)
-endif()
 if(OpenMVS_USE_FAST_FLOAT2INT)
-	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_FAST_FLOAT2INT)
 	SET(_USE_FAST_FLOAT2INT TRUE)
 endif()
 if(OpenMVS_USE_FAST_INVSQRT)
-	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_FAST_INVSQRT)
 	SET(_USE_FAST_INVSQRT TRUE)
 endif()
 if(OpenMVS_USE_FAST_CBRT)
-	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_FAST_CBRT)
 	SET(_USE_FAST_CBRT TRUE)
 endif()
 if(OpenMVS_USE_SSE)
-	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_SSE)
 	SET(_USE_SSE TRUE)
 endif()
 if(OpenMVS_USE_CERES)
-	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_CERES)
 	SET(_USE_CERES TRUE)
 endif()
 
-ADD_DEFINITIONS(${OpenMVS_DEFINITIONS})
-
 INCLUDE_DIRECTORIES("${OpenMVS_SOURCE_DIR}")
 INCLUDE_DIRECTORIES("${CMAKE_BINARY_DIR}")
 
diff --git a/build/Templates/ConfigLocal.h.in b/build/Templates/ConfigLocal.h.in
index 24ba104d3..39ac2925a 100644
--- a/build/Templates/ConfigLocal.h.in
+++ b/build/Templates/ConfigLocal.h.in
@@ -24,6 +24,9 @@
 // Boost support
 #cmakedefine _USE_BOOST
 
+// Boost with Python support
+#cmakedefine _USE_BOOST_PYTHON
+
 // Eigen Matrix & Linear Algebra Library
 #cmakedefine _USE_EIGEN
 
@@ -53,6 +56,9 @@
 // Fast float to int support
 #cmakedefine _USE_FAST_FLOAT2INT
 
+// Fast INVSQRT support
+#cmakedefine _USE_FAST_INVSQRT
+
 // Fast CBRT support
 #cmakedefine _USE_FAST_CBRT
 
diff --git a/libs/Common/Config.h b/libs/Common/Config.h
index cc37aab23..d74b5c8df 100644
--- a/libs/Common/Config.h
+++ b/libs/Common/Config.h
@@ -10,6 +10,8 @@
 
 // Configure everything that needs to be globally known
 
+#include "ConfigLocal.h"
+
 
 // D E F I N E S ///////////////////////////////////////////////////
 
diff --git a/libs/Common/Util.cpp b/libs/Common/Util.cpp
index 95e5f6ae8..1ae22cb66 100644
--- a/libs/Common/Util.cpp
+++ b/libs/Common/Util.cpp
@@ -667,6 +667,13 @@ bool OSSupportsAVX()
 // print details about the current build and PC
 void Util::LogBuild()
 {
+	LOG(_T("OpenMVS %s v%u.%u.%u"),
+		#ifdef _ENVIRONMENT64
+		_T("x64"),
+		#else
+		_T("x32"),
+		#endif
+		OpenMVS_MAJOR_VERSION, OpenMVS_MINOR_VERSION, OpenMVS_PATCH_VERSION);
 	#if TD_VERBOSE == TD_VERBOSE_OFF
 	LOG(_T("Build date: ") __DATE__);
 	#else
diff --git a/libs/IO/CMakeLists.txt b/libs/IO/CMakeLists.txt
index da3c15920..0f0595194 100644
--- a/libs/IO/CMakeLists.txt
+++ b/libs/IO/CMakeLists.txt
@@ -2,7 +2,7 @@
 FIND_PACKAGE(PNG QUIET)
 if(PNG_FOUND)
 	INCLUDE_DIRECTORIES(${PNG_INCLUDE_DIRS})
-	ADD_DEFINITIONS(${PNG_DEFINITIONS} -D_USE_PNG)
+	ADD_DEFINITIONS(${PNG_DEFINITIONS})
 	SET(_USE_PNG TRUE CACHE INTERNAL "")
 else()
 	SET(PNG_LIBRARIES "")
@@ -10,7 +10,7 @@ endif()
 FIND_PACKAGE(JPEG QUIET)
 if(JPEG_FOUND)
 	INCLUDE_DIRECTORIES(${JPEG_INCLUDE_DIR})
-	ADD_DEFINITIONS(${JPEG_DEFINITIONS} -D_USE_JPG)
+	ADD_DEFINITIONS(${JPEG_DEFINITIONS})
 	SET(_USE_JPG TRUE CACHE INTERNAL "")
 else()
 	SET(JPEG_LIBRARIES "")
@@ -18,7 +18,7 @@ endif()
 FIND_PACKAGE(TIFF QUIET)
 if(TIFF_FOUND)
 	INCLUDE_DIRECTORIES(${TIFF_INCLUDE_DIR})
-	ADD_DEFINITIONS(${TIFF_DEFINITIONS} -D_USE_TIFF)
+	ADD_DEFINITIONS(${TIFF_DEFINITIONS})
 	SET(_USE_TIFF TRUE CACHE INTERNAL "")
 else()
 	SET(TIFF_LIBRARIES "")

From 0d9460537d53a7fc1c6e3c24da771963985c26fb Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 5 Jul 2023 00:06:39 +0300
Subject: [PATCH 199/252] v2.2.0 (#1021)

 - add python API
 - COLMAP support in MvgMvsPipeline.py
 - interface for binary COLMAP
 - interface for Polycam scenes
 - tower mode #1017
 - estimate 3D points scale
 - transform scene by a given transform matrix
 - unify Docker scripts and add support for GUI
 - fix incorrect comparison in BufferedOutputStream #1010
 - add lines structure
 - compute the focus of attention of a set of cameras
 - add image mask support in mesh texturing
---
 .devcontainer/Dockerfile                      |  39 ++
 .devcontainer/devcontainer.json               |  42 ++
 .../library-scripts/common-debian.sh          | 454 ++++++++++++
 .devcontainer/postCreateCommand.sh            |  12 +
 .gitattributes                                |   5 +
 .github/workflows/continuous_integration.yml  |   6 +-
 BUILD.md                                      |  42 ++
 CMakeLists.txt                                |  74 +-
 MvgMvsPipeline.py                             | 102 ++-
 apps/CMakeLists.txt                           |   1 +
 apps/DensifyPointCloud/DensifyPointCloud.cpp  |  38 +-
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp      | 242 +++++--
 apps/InterfaceMVSNet/InterfaceMVSNet.cpp      |  24 +-
 .../InterfaceMetashape/InterfaceMetashape.cpp | 106 ++-
 apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp    |   8 +-
 apps/InterfacePolycam/CMakeLists.txt          |  13 +
 apps/InterfacePolycam/InterfacePolycam.cpp    | 363 ++++++++++
 .../InterfaceVisualSFM/InterfaceVisualSFM.cpp |   4 +-
 apps/ReconstructMesh/ReconstructMesh.cpp      |  27 +-
 apps/RefineMesh/RefineMesh.cpp                |  11 +-
 apps/TextureMesh/TextureMesh.cpp              |   8 +-
 apps/TransformScene/TransformScene.cpp        |  76 +-
 apps/Viewer/Scene.cpp                         |   5 +-
 build/Templates/ConfigLocal.h.in              |   6 +
 build/Utils.cmake                             |  11 +-
 docker/Dockerfile                             |  47 +-
 docker/Dockerfile_CUDA                        |  51 --
 docker/README.md                              |  14 +-
 docker/buildFromScratch.cmd                   |  49 ++
 docker/buildFromScratch.sh                    |  49 +-
 docker/buildFromScratch_CUDA.sh               |   2 -
 docker/buildInDocker.sh                       |  95 +++
 libs/Common/Common.h                          |  12 +-
 libs/Common/Config.h                          |   2 +
 libs/Common/Filters.h                         |   2 +-
 libs/Common/Line.h                            |  95 +++
 libs/Common/Line.inl                          | 215 ++++++
 libs/Common/List.h                            |  76 +-
 libs/Common/OBB.inl                           |  50 +-
 libs/Common/Plane.h                           |   8 +-
 libs/Common/Plane.inl                         |  89 ++-
 libs/Common/Sampler.inl                       |  66 +-
 libs/Common/Strings.h                         |  36 +
 libs/Common/Types.h                           |   5 +
 libs/Common/Types.inl                         |   2 +
 libs/Common/Util.cpp                          |   7 +
 libs/Common/Util.inl                          |  94 ++-
 libs/IO/CMakeLists.txt                        |   6 +-
 libs/MVS/CMakeLists.txt                       |  21 +-
 libs/MVS/Camera.cpp                           |  49 +-
 libs/MVS/Camera.h                             |  38 +
 libs/MVS/DepthMap.cpp                         |  99 +--
 libs/MVS/DepthMap.h                           |   4 +-
 libs/MVS/Interface.h                          |  17 +-
 libs/MVS/Mesh.cpp                             | 315 +++++----
 libs/MVS/Mesh.h                               |   4 +-
 libs/MVS/PatchMatchCUDA.cpp                   |   2 +-
 libs/MVS/PointCloud.cpp                       | 112 ++-
 libs/MVS/PointCloud.h                         |  17 +-
 libs/MVS/PythonWrapper.cpp                    | 137 ++++
 libs/MVS/Scene.cpp                            | 654 +++++++++++++++---
 libs/MVS/Scene.h                              |  20 +-
 libs/MVS/SceneDensify.cpp                     |  12 +-
 libs/MVS/SceneRefine.cpp                      |   2 +-
 libs/MVS/SceneTexture.cpp                     |  71 +-
 libs/MVS/SemiGlobalMatcher.cpp                |   4 +-
 libs/MVS/SemiGlobalMatcher.h                  |   6 +-
 libs/Math/RobustNorms.h                       |   7 +
 vcpkg.json                                    |   6 +
 69 files changed, 3610 insertions(+), 778 deletions(-)
 create mode 100644 .devcontainer/Dockerfile
 create mode 100644 .devcontainer/devcontainer.json
 create mode 100644 .devcontainer/library-scripts/common-debian.sh
 create mode 100755 .devcontainer/postCreateCommand.sh
 create mode 100644 .gitattributes
 create mode 100644 apps/InterfacePolycam/CMakeLists.txt
 create mode 100644 apps/InterfacePolycam/InterfacePolycam.cpp
 delete mode 100644 docker/Dockerfile_CUDA
 create mode 100644 docker/buildFromScratch.cmd
 delete mode 100644 docker/buildFromScratch_CUDA.sh
 create mode 100755 docker/buildInDocker.sh
 create mode 100644 libs/Common/Line.h
 create mode 100644 libs/Common/Line.inl
 create mode 100644 libs/MVS/PythonWrapper.cpp

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
new file mode 100644
index 000000000..11a6d0e10
--- /dev/null
+++ b/.devcontainer/Dockerfile
@@ -0,0 +1,39 @@
+FROM ubuntu:22.04
+
+ARG USERNAME=openmvs
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+ARG INSTALL_ZSH="true"
+
+# Prepare and empty machine for building:
+RUN apt-get update -yq
+
+COPY .devcontainer/library-scripts/*.sh /tmp/library-scripts/
+RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
+    && /bin/bash /tmp/library-scripts/common-debian.sh "${INSTALL_ZSH}" "${USERNAME}" "${USER_UID}" "${USER_GID}" "${UPGRADE_PACKAGES}" "true" "true"\
+    #
+    # ****************************************************************************
+    # * TODO: Add any additional OS packages you want included in the definition *
+    # * here. We want to do this before cleanup to keep the "layer" small.       *
+    # ****************************************************************************
+    # && apt-get -y install --no-install-recommends <your-package-list-here> \
+    #
+    && apt-get -y install --no-install-recommends build-essential git cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev libglew-dev libglfw3-dev \
+    # Boost
+    libboost-iostreams-dev libboost-program-options-dev libboost-system-dev libboost-serialization-dev \
+    # OpenCV
+    libopencv-dev \
+    # CGAL
+    libcgal-dev libcgal-qt5-dev \
+    && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* /tmp/library-scripts
+
+# Eigen 
+RUN git clone https://gitlab.com/libeigen/eigen --branch 3.4
+RUN mkdir eigen_build
+RUN cd eigen_build &&\
+    cmake . ../eigen &&\
+    make && make install &&\
+    cd ..
+
+# VCGLib
+RUN git clone https://github.com/cdcseacave/VCG.git vcglib
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
new file mode 100644
index 000000000..f9b245244
--- /dev/null
+++ b/.devcontainer/devcontainer.json
@@ -0,0 +1,42 @@
+// For format details, see https://aka.ms/devcontainer.json. For config options, see the
+// README at: https://github.com/devcontainers/templates/tree/main/src/cpp
+{
+	"name": "OpenMVS",
+	"build": {
+		"dockerfile": "Dockerfile",
+		"context": ".."
+	},
+	// Features to add to the dev container. More info: https://containers.dev/features.
+	// "features": {},
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],
+	// Use 'postCreateCommand' to run commands after the container is created.
+	"postCreateCommand": "./.devcontainer/postCreateCommand.sh",
+	// Configure tool-specific properties.
+	"customizations": {
+		"vscode": {
+			"extensions": [
+				"ms-vscode.cpptools",
+				"ms-vscode.cmake-tools",
+				"twxs.cmake",
+				"josetr.cmake-language-support-vscode"
+			]
+		}
+	},
+	"containerEnv": {
+		"DISPLAY": "unix:0"
+	},
+	"remoteEnv": {
+		"PATH": "/usr/local/bin/OpenMVS:${containerEnv:PATH}"
+	},
+	"mounts": [
+		"source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached"
+	],
+	"features": {
+		"ghcr.io/devcontainers/features/sshd:1": {
+			"version": "latest"
+		}
+	},
+	// Uncomment to connect as root instead. More info: https://aka.ms/dev-containers-non-root.
+	"remoteUser": "openmvs"
+}
\ No newline at end of file
diff --git a/.devcontainer/library-scripts/common-debian.sh b/.devcontainer/library-scripts/common-debian.sh
new file mode 100644
index 000000000..bf1f9e2ed
--- /dev/null
+++ b/.devcontainer/library-scripts/common-debian.sh
@@ -0,0 +1,454 @@
+#!/usr/bin/env bash
+#-------------------------------------------------------------------------------------------------------------
+# Copyright (c) Microsoft Corporation. All rights reserved.
+# Licensed under the MIT License. See https://go.microsoft.com/fwlink/?linkid=2090316 for license information.
+#-------------------------------------------------------------------------------------------------------------
+#
+# Docs: https://github.com/microsoft/vscode-dev-containers/blob/main/script-library/docs/common.md
+# Maintainer: The VS Code and Codespaces Teams
+#
+# Syntax: ./common-debian.sh [install zsh flag] [username] [user UID] [user GID] [upgrade packages flag] [install Oh My Zsh! flag] [Add non-free packages]
+
+set -e
+
+INSTALL_ZSH=${1:-"true"}
+USERNAME=${2:-"automatic"}
+USER_UID=${3:-"automatic"}
+USER_GID=${4:-"automatic"}
+UPGRADE_PACKAGES=${5:-"true"}
+INSTALL_OH_MYS=${6:-"true"}
+ADD_NON_FREE_PACKAGES=${7:-"false"}
+SCRIPT_DIR="$(cd $(dirname "${BASH_SOURCE[0]}") && pwd)"
+MARKER_FILE="/usr/local/etc/vscode-dev-containers/common"
+
+if [ "$(id -u)" -ne 0 ]; then
+    echo -e 'Script must be run as root. Use sudo, su, or add "USER root" to your Dockerfile before running this script.'
+    exit 1
+fi
+
+# Ensure that login shells get the correct path if the user updated the PATH using ENV.
+rm -f /etc/profile.d/00-restore-env.sh
+echo "export PATH=${PATH//$(sh -lc 'echo $PATH')/\$PATH}" > /etc/profile.d/00-restore-env.sh
+chmod +x /etc/profile.d/00-restore-env.sh
+
+# If in automatic mode, determine if a user already exists, if not use vscode
+if [ "${USERNAME}" = "auto" ] || [ "${USERNAME}" = "automatic" ]; then
+    USERNAME=""
+    POSSIBLE_USERS=("vscode" "node" "codespace" "$(awk -v val=1000 -F ":" '$3==val{print $1}' /etc/passwd)")
+    for CURRENT_USER in ${POSSIBLE_USERS[@]}; do
+        if id -u ${CURRENT_USER} > /dev/null 2>&1; then
+            USERNAME=${CURRENT_USER}
+            break
+        fi
+    done
+    if [ "${USERNAME}" = "" ]; then
+        USERNAME=vscode
+    fi
+elif [ "${USERNAME}" = "none" ]; then
+    USERNAME=root
+    USER_UID=0
+    USER_GID=0
+fi
+
+# Load markers to see which steps have already run
+if [ -f "${MARKER_FILE}" ]; then
+    echo "Marker file found:"
+    cat "${MARKER_FILE}"
+    source "${MARKER_FILE}"
+fi
+
+# Ensure apt is in non-interactive to avoid prompts
+export DEBIAN_FRONTEND=noninteractive
+
+# Function to call apt-get if needed
+apt_get_update_if_needed()
+{
+    if [ ! -d "/var/lib/apt/lists" ] || [ "$(ls /var/lib/apt/lists/ | wc -l)" = "0" ]; then
+        echo "Running apt-get update..."
+        apt-get update
+    else
+        echo "Skipping apt-get update."
+    fi
+}
+
+# Run install apt-utils to avoid debconf warning then verify presence of other common developer tools and dependencies
+if [ "${PACKAGES_ALREADY_INSTALLED}" != "true" ]; then
+
+    package_list="apt-utils \
+        openssh-client \
+        gnupg2 \
+        dirmngr \
+        iproute2 \
+        procps \
+        lsof \
+        htop \
+        net-tools \
+        psmisc \
+        curl \
+        wget \
+        rsync \
+        ca-certificates \
+        unzip \
+        zip \
+        nano \
+        vim-tiny \
+        less \
+        jq \
+        lsb-release \
+        apt-transport-https \
+        dialog \
+        libc6 \
+        libgcc1 \
+        libkrb5-3 \
+        libgssapi-krb5-2 \
+        libicu[0-9][0-9] \
+        liblttng-ust[0-9] \
+        libstdc++6 \
+        zlib1g \
+        locales \
+        sudo \
+        ncdu \
+        man-db \
+        strace \
+        manpages \
+        manpages-dev \
+        init-system-helpers"
+        
+    # Needed for adding manpages-posix and manpages-posix-dev which are non-free packages in Debian
+    if [ "${ADD_NON_FREE_PACKAGES}" = "true" ]; then
+        # Bring in variables from /etc/os-release like VERSION_CODENAME
+        . /etc/os-release
+        sed -i -E "s/deb http:\/\/(deb|httpredir)\.debian\.org\/debian ${VERSION_CODENAME} main/deb http:\/\/\1\.debian\.org\/debian ${VERSION_CODENAME} main contrib non-free/" /etc/apt/sources.list
+        sed -i -E "s/deb-src http:\/\/(deb|httredir)\.debian\.org\/debian ${VERSION_CODENAME} main/deb http:\/\/\1\.debian\.org\/debian ${VERSION_CODENAME} main contrib non-free/" /etc/apt/sources.list
+        sed -i -E "s/deb http:\/\/(deb|httpredir)\.debian\.org\/debian ${VERSION_CODENAME}-updates main/deb http:\/\/\1\.debian\.org\/debian ${VERSION_CODENAME}-updates main contrib non-free/" /etc/apt/sources.list
+        sed -i -E "s/deb-src http:\/\/(deb|httpredir)\.debian\.org\/debian ${VERSION_CODENAME}-updates main/deb http:\/\/\1\.debian\.org\/debian ${VERSION_CODENAME}-updates main contrib non-free/" /etc/apt/sources.list
+        sed -i "s/deb http:\/\/security\.debian\.org\/debian-security ${VERSION_CODENAME}\/updates main/deb http:\/\/security\.debian\.org\/debian-security ${VERSION_CODENAME}\/updates main contrib non-free/" /etc/apt/sources.list
+        sed -i "s/deb-src http:\/\/security\.debian\.org\/debian-security ${VERSION_CODENAME}\/updates main/deb http:\/\/security\.debian\.org\/debian-security ${VERSION_CODENAME}\/updates main contrib non-free/" /etc/apt/sources.list
+        sed -i "s/deb http:\/\/deb\.debian\.org\/debian ${VERSION_CODENAME}-backports main/deb http:\/\/deb\.debian\.org\/debian ${VERSION_CODENAME}-backports main contrib non-free/" /etc/apt/sources.list 
+        sed -i "s/deb-src http:\/\/deb\.debian\.org\/debian ${VERSION_CODENAME}-backports main/deb http:\/\/deb\.debian\.org\/debian ${VERSION_CODENAME}-backports main contrib non-free/" /etc/apt/sources.list
+        # Handle bullseye location for security https://www.debian.org/releases/bullseye/amd64/release-notes/ch-information.en.html
+        sed -i "s/deb http:\/\/security\.debian\.org\/debian-security ${VERSION_CODENAME}-security main/deb http:\/\/security\.debian\.org\/debian-security ${VERSION_CODENAME}-security main contrib non-free/" /etc/apt/sources.list
+        sed -i "s/deb-src http:\/\/security\.debian\.org\/debian-security ${VERSION_CODENAME}-security main/deb http:\/\/security\.debian\.org\/debian-security ${VERSION_CODENAME}-security main contrib non-free/" /etc/apt/sources.list
+        echo "Running apt-get update..."
+        apt-get update
+        package_list="${package_list} manpages-posix manpages-posix-dev"
+    else
+        apt_get_update_if_needed
+    fi
+
+    # Install libssl1.1 if available
+    if [[ ! -z $(apt-cache --names-only search ^libssl1.1$) ]]; then
+        package_list="${package_list}       libssl1.1"
+    fi
+    
+    # Install appropriate version of libssl1.0.x if available
+    libssl_package=$(dpkg-query -f '${db:Status-Abbrev}\t${binary:Package}\n' -W 'libssl1\.0\.?' 2>&1 || echo '')
+    if [ "$(echo "$LIlibssl_packageBSSL" | grep -o 'libssl1\.0\.[0-9]:' | uniq | sort | wc -l)" -eq 0 ]; then
+        if [[ ! -z $(apt-cache --names-only search ^libssl1.0.2$) ]]; then
+            # Debian 9
+            package_list="${package_list}       libssl1.0.2"
+        elif [[ ! -z $(apt-cache --names-only search ^libssl1.0.0$) ]]; then
+            # Ubuntu 18.04, 16.04, earlier
+            package_list="${package_list}       libssl1.0.0"
+        fi
+    fi
+
+    echo "Packages to verify are installed: ${package_list}"
+    apt-get -y install --no-install-recommends ${package_list} 2> >( grep -v 'debconf: delaying package configuration, since apt-utils is not installed' >&2 )
+        
+    # Install git if not already installed (may be more recent than distro version)
+    if ! type git > /dev/null 2>&1; then
+        apt-get -y install --no-install-recommends git
+    fi
+
+    PACKAGES_ALREADY_INSTALLED="true"
+fi
+
+# Get to latest versions of all packages
+if [ "${UPGRADE_PACKAGES}" = "true" ]; then
+    apt_get_update_if_needed
+    apt-get -y upgrade --no-install-recommends
+    apt-get autoremove -y
+fi
+
+# Ensure at least the en_US.UTF-8 UTF-8 locale is available.
+# Common need for both applications and things like the agnoster ZSH theme.
+if [ "${LOCALE_ALREADY_SET}" != "true" ] && ! grep -o -E '^\s*en_US.UTF-8\s+UTF-8' /etc/locale.gen > /dev/null; then
+    echo "en_US.UTF-8 UTF-8" >> /etc/locale.gen 
+    locale-gen
+    LOCALE_ALREADY_SET="true"
+fi
+
+# Create or update a non-root user to match UID/GID.
+group_name="${USERNAME}"
+if id -u ${USERNAME} > /dev/null 2>&1; then
+    # User exists, update if needed
+    if [ "${USER_GID}" != "automatic" ] && [ "$USER_GID" != "$(id -g $USERNAME)" ]; then 
+        group_name="$(id -gn $USERNAME)"
+        groupmod --gid $USER_GID ${group_name}
+        usermod --gid $USER_GID $USERNAME
+    fi
+    if [ "${USER_UID}" != "automatic" ] && [ "$USER_UID" != "$(id -u $USERNAME)" ]; then 
+        usermod --uid $USER_UID $USERNAME
+    fi
+else
+    # Create user
+    if [ "${USER_GID}" = "automatic" ]; then
+        groupadd $USERNAME
+    else
+        groupadd --gid $USER_GID $USERNAME
+    fi
+    if [ "${USER_UID}" = "automatic" ]; then 
+        useradd -s /bin/bash --gid $USERNAME -m $USERNAME
+    else
+        useradd -s /bin/bash --uid $USER_UID --gid $USERNAME -m $USERNAME
+    fi
+fi
+
+# Add sudo support for non-root user
+if [ "${USERNAME}" != "root" ] && [ "${EXISTING_NON_ROOT_USER}" != "${USERNAME}" ]; then
+    echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME
+    chmod 0440 /etc/sudoers.d/$USERNAME
+    EXISTING_NON_ROOT_USER="${USERNAME}"
+fi
+
+# ** Shell customization section **
+if [ "${USERNAME}" = "root" ]; then 
+    user_rc_path="/root"
+else
+    user_rc_path="/home/${USERNAME}"
+fi
+
+# Restore user .bashrc defaults from skeleton file if it doesn't exist or is empty
+if [ ! -f "${user_rc_path}/.bashrc" ] || [ ! -s "${user_rc_path}/.bashrc" ] ; then
+    cp  /etc/skel/.bashrc "${user_rc_path}/.bashrc"
+fi
+
+# Restore user .profile defaults from skeleton file if it doesn't exist or is empty
+if  [ ! -f "${user_rc_path}/.profile" ] || [ ! -s "${user_rc_path}/.profile" ] ; then
+    cp  /etc/skel/.profile "${user_rc_path}/.profile"
+fi
+
+# .bashrc/.zshrc snippet
+rc_snippet="$(cat << 'EOF'
+
+if [ -z "${USER}" ]; then export USER=$(whoami); fi
+if [[ "${PATH}" != *"$HOME/.local/bin"* ]]; then export PATH="${PATH}:$HOME/.local/bin"; fi
+
+# Display optional first run image specific notice if configured and terminal is interactive
+if [ -t 1 ] && [[ "${TERM_PROGRAM}" = "vscode" || "${TERM_PROGRAM}" = "codespaces" ]] && [ ! -f "$HOME/.config/vscode-dev-containers/first-run-notice-already-displayed" ]; then
+    if [ -f "/usr/local/etc/vscode-dev-containers/first-run-notice.txt" ]; then
+        cat "/usr/local/etc/vscode-dev-containers/first-run-notice.txt"
+    elif [ -f "/workspaces/.codespaces/shared/first-run-notice.txt" ]; then
+        cat "/workspaces/.codespaces/shared/first-run-notice.txt"
+    fi
+    mkdir -p "$HOME/.config/vscode-dev-containers"
+    # Mark first run notice as displayed after 10s to avoid problems with fast terminal refreshes hiding it
+    ((sleep 10s; touch "$HOME/.config/vscode-dev-containers/first-run-notice-already-displayed") &)
+fi
+
+# Set the default git editor if not already set
+if [ -z "$(git config --get core.editor)" ] && [ -z "${GIT_EDITOR}" ]; then
+    if  [ "${TERM_PROGRAM}" = "vscode" ]; then
+        if [[ -n $(command -v code-insiders) &&  -z $(command -v code) ]]; then 
+            export GIT_EDITOR="code-insiders --wait"
+        else 
+            export GIT_EDITOR="code --wait"
+        fi
+    fi
+fi
+
+EOF
+)"
+
+# code shim, it fallbacks to code-insiders if code is not available
+cat << 'EOF' > /usr/local/bin/code
+#!/bin/sh
+
+get_in_path_except_current() {
+    which -a "$1" | grep -A1 "$0" | grep -v "$0"
+}
+
+code="$(get_in_path_except_current code)"
+
+if [ -n "$code" ]; then
+    exec "$code" "$@"
+elif [ "$(command -v code-insiders)" ]; then
+    exec code-insiders "$@"
+else
+    echo "code or code-insiders is not installed" >&2
+    exit 127
+fi
+EOF
+chmod +x /usr/local/bin/code
+
+# systemctl shim - tells people to use 'service' if systemd is not running
+cat << 'EOF' > /usr/local/bin/systemctl
+#!/bin/sh
+set -e
+if [ -d "/run/systemd/system" ]; then
+    exec /bin/systemctl "$@"
+else
+    echo '\n"systemd" is not running in this container due to its overhead.\nUse the "service" command to start services instead. e.g.: \n\nservice --status-all'
+fi
+EOF
+chmod +x /usr/local/bin/systemctl
+
+# Codespaces bash and OMZ themes - partly inspired by https://github.com/ohmyzsh/ohmyzsh/blob/master/themes/robbyrussell.zsh-theme
+codespaces_bash="$(cat \
+<<'EOF'
+
+# Codespaces bash prompt theme
+__bash_prompt() {
+    local userpart='`export XIT=$? \
+        && [ ! -z "${GITHUB_USER}" ] && echo -n "\[\033[0;32m\]@${GITHUB_USER} " || echo -n "\[\033[0;32m\]\u " \
+        && [ "$XIT" -ne "0" ] && echo -n "\[\033[1;31m\]➜" || echo -n "\[\033[0m\]➜"`'
+    local gitbranch='`\
+        if [ "$(git config --get codespaces-theme.hide-status 2>/dev/null)" != 1 ]; then \
+            export BRANCH=$(git symbolic-ref --short HEAD 2>/dev/null || git rev-parse --short HEAD 2>/dev/null); \
+            if [ "${BRANCH}" != "" ]; then \
+                echo -n "\[\033[0;36m\](\[\033[1;31m\]${BRANCH}" \
+                && if git ls-files --error-unmatch -m --directory --no-empty-directory -o --exclude-standard ":/*" > /dev/null 2>&1; then \
+                        echo -n " \[\033[1;33m\]✗"; \
+                fi \
+                && echo -n "\[\033[0;36m\]) "; \
+            fi; \
+        fi`'
+    local lightblue='\[\033[1;34m\]'
+    local removecolor='\[\033[0m\]'
+    PS1="${userpart} ${lightblue}\w ${gitbranch}${removecolor}\$ "
+    unset -f __bash_prompt
+}
+__bash_prompt
+
+EOF
+)"
+
+codespaces_zsh="$(cat \
+<<'EOF'
+# Codespaces zsh prompt theme
+__zsh_prompt() {
+    local prompt_username
+    if [ ! -z "${GITHUB_USER}" ]; then 
+        prompt_username="@${GITHUB_USER}"
+    else
+        prompt_username="%n"
+    fi
+    PROMPT="%{$fg[green]%}${prompt_username} %(?:%{$reset_color%}➜ :%{$fg_bold[red]%}➜ )" # User/exit code arrow
+    PROMPT+='%{$fg_bold[blue]%}%(5~|%-1~/…/%3~|%4~)%{$reset_color%} ' # cwd
+    PROMPT+='$([ "$(git config --get codespaces-theme.hide-status 2>/dev/null)" != 1 ] && git_prompt_info)' # Git status
+    PROMPT+='%{$fg[white]%}$ %{$reset_color%}'
+    unset -f __zsh_prompt
+}
+ZSH_THEME_GIT_PROMPT_PREFIX="%{$fg_bold[cyan]%}(%{$fg_bold[red]%}"
+ZSH_THEME_GIT_PROMPT_SUFFIX="%{$reset_color%} "
+ZSH_THEME_GIT_PROMPT_DIRTY=" %{$fg_bold[yellow]%}✗%{$fg_bold[cyan]%})"
+ZSH_THEME_GIT_PROMPT_CLEAN="%{$fg_bold[cyan]%})"
+__zsh_prompt
+
+EOF
+)"
+
+# Add RC snippet and custom bash prompt
+if [ "${RC_SNIPPET_ALREADY_ADDED}" != "true" ]; then
+    echo "${rc_snippet}" >> /etc/bash.bashrc
+    echo "${codespaces_bash}" >> "${user_rc_path}/.bashrc"
+    echo 'export PROMPT_DIRTRIM=4' >> "${user_rc_path}/.bashrc"
+    if [ "${USERNAME}" != "root" ]; then
+        echo "${codespaces_bash}" >> "/root/.bashrc"
+        echo 'export PROMPT_DIRTRIM=4' >> "/root/.bashrc"
+    fi
+    chown ${USERNAME}:${group_name} "${user_rc_path}/.bashrc"
+    RC_SNIPPET_ALREADY_ADDED="true"
+fi
+
+# Optionally install and configure zsh and Oh My Zsh!
+if [ "${INSTALL_ZSH}" = "true" ]; then
+    if ! type zsh > /dev/null 2>&1; then
+        apt_get_update_if_needed
+        apt-get install -y zsh
+    fi
+    if [ "${ZSH_ALREADY_INSTALLED}" != "true" ]; then
+        echo "${rc_snippet}" >> /etc/zsh/zshrc
+        ZSH_ALREADY_INSTALLED="true"
+    fi
+
+    # Adapted, simplified inline Oh My Zsh! install steps that adds, defaults to a codespaces theme.
+    # See https://github.com/ohmyzsh/ohmyzsh/blob/master/tools/install.sh for official script.
+    oh_my_install_dir="${user_rc_path}/.oh-my-zsh"
+    if [ ! -d "${oh_my_install_dir}" ] && [ "${INSTALL_OH_MYS}" = "true" ]; then
+        template_path="${oh_my_install_dir}/templates/zshrc.zsh-template"
+        user_rc_file="${user_rc_path}/.zshrc"
+        umask g-w,o-w
+        mkdir -p ${oh_my_install_dir}
+        git clone --depth=1 \
+            -c core.eol=lf \
+            -c core.autocrlf=false \
+            -c fsck.zeroPaddedFilemode=ignore \
+            -c fetch.fsck.zeroPaddedFilemode=ignore \
+            -c receive.fsck.zeroPaddedFilemode=ignore \
+            "https://github.com/ohmyzsh/ohmyzsh" "${oh_my_install_dir}" 2>&1
+        echo -e "$(cat "${template_path}")\nDISABLE_AUTO_UPDATE=true\nDISABLE_UPDATE_PROMPT=true" > ${user_rc_file}
+        sed -i -e 's/ZSH_THEME=.*/ZSH_THEME="codespaces"/g' ${user_rc_file}
+
+        mkdir -p ${oh_my_install_dir}/custom/themes
+        echo "${codespaces_zsh}" > "${oh_my_install_dir}/custom/themes/codespaces.zsh-theme"
+        # Shrink git while still enabling updates
+        cd "${oh_my_install_dir}"
+        git repack -a -d -f --depth=1 --window=1
+        # Copy to non-root user if one is specified
+        if [ "${USERNAME}" != "root" ]; then
+            cp -rf "${user_rc_file}" "${oh_my_install_dir}" /root
+            chown -R ${USERNAME}:${group_name} "${user_rc_path}"
+        fi
+    fi
+fi
+
+# Persist image metadata info, script if meta.env found in same directory
+meta_info_script="$(cat << 'EOF'
+#!/bin/sh
+. /usr/local/etc/vscode-dev-containers/meta.env
+
+# Minimal output
+if [ "$1" = "version" ] || [ "$1" = "image-version" ]; then
+    echo "${VERSION}"
+    exit 0
+elif [ "$1" = "release" ]; then
+    echo "${GIT_REPOSITORY_RELEASE}"
+    exit 0
+elif [ "$1" = "content" ] || [ "$1" = "content-url" ] || [ "$1" = "contents" ] || [ "$1" = "contents-url" ]; then
+    echo "${CONTENTS_URL}"
+    exit 0
+fi
+
+#Full output
+echo
+echo "Development container image information"
+echo
+if [ ! -z "${VERSION}" ]; then echo "- Image version: ${VERSION}"; fi
+if [ ! -z "${DEFINITION_ID}" ]; then echo "- Definition ID: ${DEFINITION_ID}"; fi
+if [ ! -z "${VARIANT}" ]; then echo "- Variant: ${VARIANT}"; fi
+if [ ! -z "${GIT_REPOSITORY}" ]; then echo "- Source code repository: ${GIT_REPOSITORY}"; fi
+if [ ! -z "${GIT_REPOSITORY_RELEASE}" ]; then echo "- Source code release/branch: ${GIT_REPOSITORY_RELEASE}"; fi
+if [ ! -z "${BUILD_TIMESTAMP}" ]; then echo "- Timestamp: ${BUILD_TIMESTAMP}"; fi
+if [ ! -z "${CONTENTS_URL}" ]; then echo && echo "More info: ${CONTENTS_URL}"; fi
+echo
+EOF
+)"
+if [ -f "${SCRIPT_DIR}/meta.env" ]; then
+    mkdir -p /usr/local/etc/vscode-dev-containers/
+    cp -f "${SCRIPT_DIR}/meta.env" /usr/local/etc/vscode-dev-containers/meta.env
+    echo "${meta_info_script}" > /usr/local/bin/devcontainer-info
+    chmod +x /usr/local/bin/devcontainer-info
+fi
+
+# Write marker file
+mkdir -p "$(dirname "${MARKER_FILE}")"
+echo -e "\
+    PACKAGES_ALREADY_INSTALLED=${PACKAGES_ALREADY_INSTALLED}\n\
+    LOCALE_ALREADY_SET=${LOCALE_ALREADY_SET}\n\
+    EXISTING_NON_ROOT_USER=${EXISTING_NON_ROOT_USER}\n\
+    RC_SNIPPET_ALREADY_ADDED=${RC_SNIPPET_ALREADY_ADDED}\n\
+    ZSH_ALREADY_INSTALLED=${ZSH_ALREADY_INSTALLED}" > "${MARKER_FILE}"
+
+echo "Done!"
\ No newline at end of file
diff --git a/.devcontainer/postCreateCommand.sh b/.devcontainer/postCreateCommand.sh
new file mode 100755
index 000000000..3185a858b
--- /dev/null
+++ b/.devcontainer/postCreateCommand.sh
@@ -0,0 +1,12 @@
+#!/bin/bash
+
+rm -rf openMVS_build && mkdir openMVS_build
+
+cd openMVS_build &&\
+    cmake .. -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT=/vcglib
+
+# add below args for CUDA, refer docker/buildInDocker.sh for base container and additional stuff required
+# -DOpenMVS_USE_CUDA=ON -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs/ -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda/ -DCUDA_INCLUDE_DIRS=/usr/local/cuda/include/ -DCUDA_CUDART_LIBRARY=/usr/local/cuda/lib64 -DCUDA_NVCC_EXECUTABLE=/usr/local/cuda/bin/
+
+# Install OpenMVS library
+make -j && sudo make install
\ No newline at end of file
diff --git a/.gitattributes b/.gitattributes
new file mode 100644
index 000000000..c0a459940
--- /dev/null
+++ b/.gitattributes
@@ -0,0 +1,5 @@
+# Ensure shell scripts uses the correct line ending.
+Dockerfile  eol=lf
+*.sh        eol=lf
+*.bat       eol=crlf
+*.cmd       eol=crlf
diff --git a/.github/workflows/continuous_integration.yml b/.github/workflows/continuous_integration.yml
index 7c327e6e9..94e1b985d 100644
--- a/.github/workflows/continuous_integration.yml
+++ b/.github/workflows/continuous_integration.yml
@@ -39,10 +39,10 @@ jobs:
         uses: actions/checkout@v3
 
       - name: Restore artifacts, or setup vcpkg for building artifacts
-        uses: lukka/run-vcpkg@v10.6
+        uses: lukka/run-vcpkg@v11
         with:
           vcpkgDirectory: '${{ github.workspace }}/vcpkg'
-          vcpkgGitCommitId: '4cb4a5c5ddcb9de0c83c85837ee6974c8333f032'
+          vcpkgGitCommitId: '4a3c366f2d0d0eaf034bfa649124768df7cfe813'
 
       - name: Install Ubuntu dependencies
         if: matrix.os == 'ubuntu-latest'
@@ -57,7 +57,7 @@ jobs:
 
       - name: Configure CMake
         run: |
-          cmake -S . -B make -DCMAKE_BUILD_TYPE=${{ matrix.build-type }} -DVCPKG_TARGET_TRIPLET=${{ matrix.triplet }}
+          cmake -S . -B make -DCMAKE_BUILD_TYPE=${{ matrix.build-type }} -DVCPKG_TARGET_TRIPLET=${{ matrix.triplet }} -DOpenMVS_USE_CUDA=OFF
 
       - name: Build
         working-directory: ./make
diff --git a/BUILD.md b/BUILD.md
index 28fda265c..ffc29becf 100644
--- a/BUILD.md
+++ b/BUILD.md
@@ -64,3 +64,45 @@ endif()
 add_executable(your_project source_code.cpp)
 target_link_libraries(your_project PRIVATE OpenMVS::MVS)
 ```
+
+-------------------
+Python API
+-------------------
+
+The Python API can be enable by setting the `OpenMVS_USE_PYTHON` option to `ON` when running `cmake`. The Python API is built as a shared library and can be used in any Python project. Example:
+```
+import pyOpenMVS
+    
+def run_mvs():
+    # set the working folder; all files used next are relative to this folder (optional)
+    pyOpenMVS.set_working_folder("folder/containing/the/scene")
+    # create an empty scene
+    scene = pyOpenMVS.Scene()
+    # load a MVS scene from a file
+    if not scene.load("scene.mvs"):
+        print("ERROR: scene could not be loaded")
+        return
+    # estimate depth-maps and fuse them into a point-cloud
+    if not scene.dense_reconstruction():
+        print("ERROR: could not dense reconstruct the scene")
+        return
+    scene.save_pointcloud("pointcloud.ply")
+    # reconstruct a mesh from the point-cloud
+    if not scene.reconstruct_mesh():
+        print("ERROR: could not reconstruct the mesh for this scene")
+        return
+    scene.save_mesh("mesh.ply")
+    # refine the mesh using gradient descent optimization (optional)
+    if not scene.refine_mesh():
+        print("ERROR: could not refine the mesh for this scene")
+        return
+    scene.save_mesh("refined_mesh.ply")
+    # texture the mesh using the input images
+    if not scene.texture_mesh():
+        print("ERROR: could not texture the mesh for this scene")
+        return
+    scene.save_mesh("textured_mesh.ply")
+
+if __name__ == "__main__":
+    run_mvs()
+```
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 39ec359ac..5a1345915 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -14,6 +14,21 @@ IF(POLICY CMP0104)
 	CMAKE_POLICY(SET CMP0104 NEW)
 ENDIF()
 
+# List configuration options
+SET(OpenMVS_BUILD_TOOLS ON CACHE BOOL "Build example applications")
+SET(OpenMVS_USE_OPENMP ON CACHE BOOL "Enable OpenMP library")
+SET(OpenMVS_USE_OPENGL ON CACHE BOOL "Enable OpenGL library")
+SET(OpenMVS_USE_BREAKPAD ON CACHE BOOL "Enable BreakPad library")
+SET(OpenMVS_USE_PYTHON OFF CACHE BOOL "Enable Python library bindings")
+SET(OpenMVS_USE_CERES OFF CACHE BOOL "Enable CERES optimization library")
+SET(OpenMVS_USE_CUDA ON CACHE BOOL "Enable CUDA library")
+SET(OpenMVS_USE_FAST_FLOAT2INT ON CACHE BOOL "Use an optimized code to convert real numbers to int")
+SET(OpenMVS_USE_FAST_INVSQRT OFF CACHE BOOL "Use an optimized code to compute the inverse square root (slower in fact on modern compilers)")
+SET(OpenMVS_USE_FAST_CBRT ON CACHE BOOL "Use an optimized code to compute the cubic root")
+SET(OpenMVS_USE_SSE ON CACHE BOOL "Enable SSE optimizations")
+SET(OpenMVS_MAX_CUDA_COMPATIBILITY OFF CACHE BOOL "Build for maximum CUDA device compatibility")
+SET(OpenMVS_ENABLE_TESTS ON CACHE BOOL "Enable test code")
+
 # Load automatically VCPKG toolchain if available
 IF(NOT DEFINED CMAKE_TOOLCHAIN_FILE AND DEFINED ENV{VCPKG_ROOT})
 	SET(CMAKE_TOOLCHAIN_FILE "$ENV{VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake" CACHE STRING "")
@@ -21,6 +36,13 @@ IF(NOT DEFINED CMAKE_TOOLCHAIN_FILE AND DEFINED ENV{VCPKG_ROOT})
 		SET(VCPKG_TARGET_TRIPLET "$ENV{VCPKG_DEFAULT_TRIPLET}" CACHE STRING "")
 	ENDIF()
 ENDIF()
+IF(OpenMVS_USE_PYTHON)
+	LIST(APPEND VCPKG_MANIFEST_FEATURES "python")
+	SET(PARTIAL_BUILD_SHARED_LIBS ON)
+ENDIF()
+IF(OpenMVS_USE_CUDA)
+	LIST(APPEND VCPKG_MANIFEST_FEATURES "cuda")
+ENDIF()
 
 # Name of the project.
 #
@@ -30,25 +52,10 @@ ENDIF()
 PROJECT(OpenMVS)
 
 SET(OpenMVS_MAJOR_VERSION 2)
-SET(OpenMVS_MINOR_VERSION 1)
+SET(OpenMVS_MINOR_VERSION 2)
 SET(OpenMVS_PATCH_VERSION 0)
 SET(OpenMVS_VERSION ${OpenMVS_MAJOR_VERSION}.${OpenMVS_MINOR_VERSION}.${OpenMVS_PATCH_VERSION})
 
-# List configuration options
-SET(OpenMVS_BUILD_TOOLS ON CACHE BOOL "Build example applications")
-SET(OpenMVS_USE_NONFREE ON CACHE BOOL "Build non-free (patented) functionality")
-SET(OpenMVS_USE_OPENMP ON CACHE BOOL "Enable OpenMP library")
-SET(OpenMVS_USE_OPENGL ON CACHE BOOL "Enable OpenGL library")
-SET(OpenMVS_USE_BREAKPAD ON CACHE BOOL "Enable BreakPad library")
-SET(OpenMVS_USE_CERES OFF CACHE BOOL "Enable CERES optimization library")
-SET(OpenMVS_USE_CUDA ON CACHE BOOL "Enable CUDA library")
-SET(OpenMVS_USE_FAST_FLOAT2INT ON CACHE BOOL "Use an optimized code to convert real numbers to int")
-SET(OpenMVS_USE_FAST_INVSQRT OFF CACHE BOOL "Use an optimized code to compute the inverse square root (slower in fact on modern compilers)")
-SET(OpenMVS_USE_FAST_CBRT ON CACHE BOOL "Use an optimized code to compute the cubic root")
-SET(OpenMVS_USE_SSE ON CACHE BOOL "Enable SSE optimizations")
-SET(OpenMVS_MAX_CUDA_COMPATIBILITY OFF CACHE BOOL "Build for maximum CUDA device compatibility")
-SET(OpenMVS_ENABLE_TESTS ON CACHE BOOL "Enable test code")
-
 # Define helper functions and macros.
 INCLUDE(build/Utils.cmake)
 
@@ -63,7 +70,6 @@ SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build/Modules)
 
 # Find required packages
 SET(OpenMVS_EXTRA_INCLUDES "")
-SET(OpenMVS_DEFINITIONS "")
 SET(OpenMVS_EXTRA_LIBS "")
 
 if(OpenMVS_USE_OPENMP)
@@ -71,7 +77,6 @@ if(OpenMVS_USE_OPENMP)
 	FIND_PACKAGE(OpenMP)
 	if(OPENMP_FOUND)
 		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
-		LIST(APPEND OpenMVS_DEFINITIONS -D_USE_OPENMP)
 		SET(_USE_OPENMP TRUE)
 		#cmake only check for separate OpenMP library on AppleClang 7+
 		#https://github.com/Kitware/CMake/blob/42212f7539040139ecec092547b7d58ef12a4d72/Modules/FindOpenMP.cmake#L252
@@ -91,7 +96,6 @@ if(OpenMVS_USE_OPENGL)
 	FIND_PACKAGE(OpenGL)
 	if(OPENGL_FOUND)
 		INCLUDE_DIRECTORIES(${OPENGL_INCLUDE_DIR})
-		LIST(APPEND OpenMVS_DEFINITIONS -D_USE_OPENGL)
 		ADD_DEFINITIONS(${OpenGL_DEFINITIONS})
 		SET(_USE_OPENGL TRUE)
 	else()
@@ -147,7 +151,6 @@ if(OpenMVS_USE_CUDA)
 		endif()
 		SET(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} --expt-relaxed-constexpr")
 		INCLUDE_DIRECTORIES(${CUDA_INCLUDE_DIRS})
-		LIST(APPEND OpenMVS_DEFINITIONS -D_USE_CUDA)
 		SET(_USE_CUDA TRUE)
 	else()
 		SET(CUDA_CUDA_LIBRARY "")
@@ -161,7 +164,6 @@ if(OpenMVS_USE_BREAKPAD)
 	FIND_PACKAGE(BREAKPAD)
 	if(BREAKPAD_FOUND)
 		INCLUDE_DIRECTORIES(${BREAKPAD_INCLUDE_DIRS})
-		LIST(APPEND OpenMVS_DEFINITIONS -D_USE_BREAKPAD)
 		ADD_DEFINITIONS(${BREAKPAD_DEFINITIONS})
 		SET(_USE_BREAKPAD TRUE)
 		LIST(APPEND OpenMVS_EXTRA_LIBS ${BREAKPAD_LIBS})
@@ -170,11 +172,22 @@ if(OpenMVS_USE_BREAKPAD)
 	endif()
 endif()
 
-FIND_PACKAGE(Boost COMPONENTS iostreams program_options system serialization REQUIRED)
+if(OpenMVS_USE_PYTHON)
+	FIND_PACKAGE(PythonLibs 3.0 REQUIRED)
+	if(PythonLibs_FOUND)
+		INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
+		LIST(APPEND OpenMVS_EXTRA_INCLUDES ${PYTHON_INCLUDE_DIRS})
+		LIST(APPEND OpenMVS_EXTRA_LIBS ${PYTHON_LIBRARIES})
+		MESSAGE(STATUS "Python ${PYTHON_VERSION} found (include: ${PYTHON_INCLUDE_DIRS})")
+	else()
+		MESSAGE("-- Can't find Python. Continuing without it.")
+	endif()
+endif()
+
+FIND_PACKAGE(Boost REQUIRED COMPONENTS iostreams program_options system serialization OPTIONAL_COMPONENTS python3)
 if(Boost_FOUND)
 	LIST(APPEND OpenMVS_EXTRA_INCLUDES ${Boost_INCLUDE_DIRS})
 	INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
-	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_BOOST)
 	ADD_DEFINITIONS(${Boost_DEFINITIONS})
 	LINK_DIRECTORIES(${Boost_LIBRARY_DIRS})
 	if(NOT MSVC AND DEFINED CMAKE_TOOLCHAIN_FILE)
@@ -182,13 +195,15 @@ if(Boost_FOUND)
 		LIST(APPEND Boost_LIBRARIES zstd)
 	endif()
 	SET(_USE_BOOST TRUE)
+	if(Boost_python3_FOUND)
+		SET(_USE_BOOST_PYTHON TRUE)
+	endif()
 endif()
 
 FIND_PACKAGE(Eigen3 REQUIRED)
 if(EIGEN3_FOUND)
 	LIST(APPEND OpenMVS_EXTRA_INCLUDES ${EIGEN3_INCLUDE_DIR})
 	INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
-	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_EIGEN)
 	ADD_DEFINITIONS(${EIGEN3_DEFINITIONS})
 	SET(_USE_EIGEN TRUE)
 	MESSAGE(STATUS "Eigen ${EIGEN3_VERSION} found (include: ${EIGEN3_INCLUDE_DIR})")
@@ -209,33 +224,22 @@ LIST(REMOVE_DUPLICATES OpenMVS_EXTRA_INCLUDES)
 LIST(REMOVE_DUPLICATES OpenMVS_EXTRA_LIBS)
 
 # Set defines
-if(OpenMVS_USE_NONFREE)
-	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_NONFREE)
-	SET(_USE_NONFREE TRUE)
-endif()
 if(OpenMVS_USE_FAST_FLOAT2INT)
-	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_FAST_FLOAT2INT)
 	SET(_USE_FAST_FLOAT2INT TRUE)
 endif()
 if(OpenMVS_USE_FAST_INVSQRT)
-	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_FAST_INVSQRT)
 	SET(_USE_FAST_INVSQRT TRUE)
 endif()
 if(OpenMVS_USE_FAST_CBRT)
-	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_FAST_CBRT)
 	SET(_USE_FAST_CBRT TRUE)
 endif()
 if(OpenMVS_USE_SSE)
-	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_SSE)
 	SET(_USE_SSE TRUE)
 endif()
 if(OpenMVS_USE_CERES)
-	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_CERES)
 	SET(_USE_CERES TRUE)
 endif()
 
-ADD_DEFINITIONS(${OpenMVS_DEFINITIONS})
-
 INCLUDE_DIRECTORIES("${OpenMVS_SOURCE_DIR}")
 INCLUDE_DIRECTORIES("${CMAKE_BINARY_DIR}")
 
diff --git a/MvgMvsPipeline.py b/MvgMvsPipeline.py
index 53a4a5cc4..edf00e7e3 100644
--- a/MvgMvsPipeline.py
+++ b/MvgMvsPipeline.py
@@ -3,16 +3,17 @@
 #
 # Created by @FlachyJoe
 """
-This script is for an easy use of OpenMVG and OpenMVS
+This script is for an easy use of OpenMVG, COLMAP, and OpenMVS
 
 usage: MvgMvs_Pipeline.py [-h] [--steps STEPS [STEPS ...]] [--preset PRESET]
                           [--0 0 [0 ...]] [--1 1 [1 ...]] [--2 2 [2 ...]]
                           [--3 3 [3 ...]] [--4 4 [4 ...]] [--5 5 [5 ...]]
                           [--6 6 [6 ...]] [--7 7 [7 ...]] [--8 8 [8 ...]]
                           [--9 9 [9 ...]] [--10 10 [10 ...]] [--11 11 [11 ...]]
-                          [--12 12 [12 ...]] [--13 13 [13 ...]]
-                          [--14 14 [14 ...]] [--15 15 [15 ...]]
-                          [--16 16 [16 ...]] [--17 17 [17 ...]]
+                          [--12 12 [12 ...]] [--13 13 [13 ...]] [--14 14 [14 ...]]
+                          [--15 15 [15 ...]] [--16 16 [16 ...]] [--17 17 [17 ...]]
+                          [--18 18 [18 ...]] [--19 19 [19 ...]] [--20 20 [20 ...]]
+                          [--21 21 [21 ...]] [--22 22 [22 ...]]
                           input_dir output_dir
 
 Photogrammetry reconstruction with these steps:
@@ -21,19 +22,24 @@
     2. Compute pairs                   openMVG_main_PairGenerator
     3. Compute matches                 openMVG_main_ComputeMatches
     4. Filter matches                  openMVG_main_GeometricFilter
-    5. Incremental reconstruction      openMVG_main_IncrementalSfM
-    6. Global reconstruction           openMVG_main_GlobalSfM
+    5. Incremental reconstruction      openMVG_main_SfM
+    6. Global reconstruction           openMVG_main_SfM
     7. Colorize Structure              openMVG_main_ComputeSfM_DataColor
     8. Structure from Known Poses      openMVG_main_ComputeStructureFromKnownPoses
     9. Colorized robust triangulation  openMVG_main_ComputeSfM_DataColor
     10. Control Points Registration    ui_openMVG_control_points_registration
     11. Export to openMVS              openMVG_main_openMVG2openMVS
-    12. Densify point-cloud            DensifyPointCloud
-    13. Reconstruct the mesh           ReconstructMesh
-    14. Refine the mesh                RefineMesh
-    15. Texture the mesh               TextureMesh
-    16. Estimate disparity-maps        DensifyPointCloud
-    17. Fuse disparity-maps            DensifyPointCloud
+    12. Feature Extractor              colmap
+    13. Exhaustive Matcher             colmap
+    14. Mapper                         colmap
+    15. Image Undistorter              colmap
+    16. Export to openMVS              InterfaceCOLMAP
+    17. Densify point-cloud            DensifyPointCloud
+    18. Reconstruct the mesh           ReconstructMesh
+    19. Refine the mesh                RefineMesh
+    20. Texture the mesh               TextureMesh
+    21. Estimate disparity-maps        DensifyPointCloud
+    22. Fuse disparity-maps            DensifyPointCloud
 
 positional arguments:
   input_dir                 the directory which contains the pictures set.
@@ -43,20 +49,22 @@
   -h, --help                show this help message and exit
   --steps STEPS [STEPS ...] steps to process
   --preset PRESET           steps list preset in
-                            SEQUENTIAL = [0, 1, 2, 3, 4, 5, 11, 12, 13, 14, 15]
-                            GLOBAL = [0, 1, 2, 3, 4, 6, 11, 12, 13, 14, 15]
-                            MVG_SEQ = [0, 1, 2, 3, 4, 5, 7, 8, 9]
-                            MVG_GLOBAL = [0, 1, 2, 3, 4, 6, 7, 8, 9]
-                            MVS = [12, 13, 14, 15]
-                            MVS_SGM = [16, 17]
+                            SEQUENTIAL = [0, 1, 2, 3, 4, 5, 11, 17, 18, 19, 20]
+                            GLOBAL = [0, 1, 2, 3, 4, 6, 11, 17, 18, 19, 20]
+                            MVG_SEQ = [0, 1, 2, 3, 4, 5, 7, 8, 9, 11]
+                            MVG_GLOBAL = [0, 1, 2, 3, 4, 6, 7, 8, 9, 11]
+                            COLMAP_MVS = [12, 13, 14, 15, 16, 17, 18, 19, 20]
+                            COLMAP = [12, 13, 14, 15, 16]
+                            MVS = [17, 18, 19, 20]
+                            MVS_SGM = [21, 22]
                             default : SEQUENTIAL
 
 Passthrough:
   Option to be passed to command lines (remove - in front of option names)
   e.g. --1 p ULTRA to use the ULTRA preset in openMVG_main_ComputeFeatures
   For example, running the script
-  [MvgMvsPipeline.py input_dir output_dir --steps 0 1 2 3 4 5 11 12 13 15 --1 p HIGH n 8 --3 n HNSWL2]
-  [--steps 0 1 2 3 4 5 11 12 13 15] runs only the desired steps
+  [MvgMvsPipeline.py input_dir output_dir --steps 0 1 2 3 4 5 11 17 18 20 --1 p HIGH n 8 --3 n HNSWL2]
+  [--steps 0 1 2 3 4 5 11 17 18 20] runs only the desired steps
   [--1 p HIGH n 8] where --1 refer to openMVG_main_ComputeFeatures,
   p refers to describerPreset option and set to HIGH, and n refers
   to numThreads and set to 8. The second step (Compute matches),
@@ -110,29 +118,36 @@ def find(afile):
     return None
 
 
-# Try to find openMVG and openMVS binaries in PATH
+# Try to find openMVG, COLMAP, and openMVS binaries in PATH
 OPENMVG_BIN = whereis("openMVG_main_SfMInit_ImageListing")
+COLMAP_BIN = whereis("colmap")
 OPENMVS_BIN = whereis("ReconstructMesh")
 
 # Try to find openMVG camera sensor database
 CAMERA_SENSOR_DB_FILE = "sensor_width_camera_database.txt"
 CAMERA_SENSOR_DB_DIRECTORY = find(CAMERA_SENSOR_DB_FILE)
 
-# Ask user for openMVG and openMVS directories if not found
+# Ask user for openMVG, COLMAP, and openMVS directories if not found
 if not OPENMVG_BIN:
     OPENMVG_BIN = input("openMVG binary folder?\n")
+if not COLMAP_BIN:
+    COLMAP_BIN = input("COLMAP binary folder?\n")
 if not OPENMVS_BIN:
     OPENMVS_BIN = input("openMVS binary folder?\n")
 if not CAMERA_SENSOR_DB_DIRECTORY:
     CAMERA_SENSOR_DB_DIRECTORY = input("openMVG camera database (%s) folder?\n" % CAMERA_SENSOR_DB_FILE)
+COLMAP_BIN = os.path.join(COLMAP_BIN, "colmap")
+if sys.platform.startswith('win'):
+    COLMAP_BIN += ".bat"
 
-
-PRESET = {'SEQUENTIAL': [0, 1, 2, 3, 4, 5, 11, 12, 13, 14, 15],
-          'GLOBAL': [0, 1, 2, 3, 4, 6, 11, 12, 13, 14, 15],
+PRESET = {'SEQUENTIAL': [0, 1, 2, 3, 4, 5, 11, 17, 18, 19, 20],
+          'GLOBAL': [0, 1, 2, 3, 4, 6, 11, 17, 18, 19, 20],
           'MVG_SEQ': [0, 1, 2, 3, 4, 5, 7, 8, 9, 11],
           'MVG_GLOBAL': [0, 1, 2, 3, 4, 6, 7, 8, 9, 11],
-          'MVS': [12, 13, 14, 15],
-          'MVS_SGM': [16, 17]}
+          'COLMAP_MVS': [12, 13, 14, 15, 16, 17, 18, 19, 20],
+          'COLMAP': [12, 13, 14, 15, 16],
+          'MVS': [17, 18, 19, 20],
+          'MVS_SGM': [21, 22]}
 
 PRESET_DEFAULT = 'SEQUENTIAL'
 
@@ -229,22 +244,37 @@ def __init__(self):
             ["Export to openMVS",            # 11
              os.path.join(OPENMVG_BIN, "openMVG_main_openMVG2openMVS"),
              ["-i", "%reconstruction_dir%"+FOLDER_DELIM+"sfm_data.bin", "-o", "%mvs_dir%"+FOLDER_DELIM+"scene.mvs", "-d", "%mvs_dir%"+FOLDER_DELIM+"images"]],
-            ["Densify point cloud",          # 12
+            ["Feature Extractor",            # 12
+             COLMAP_BIN,
+             ["feature_extractor", "--database_path", "%matches_dir%"+FOLDER_DELIM+"database.db", "--image_path", "%input_dir%"]],
+            ["Exhaustive Matcher",           # 13
+             COLMAP_BIN,
+             ["exhaustive_matcher", "--database_path", "%matches_dir%"+FOLDER_DELIM+"database.db"]],
+            ["Mapper",                       # 14
+             COLMAP_BIN,
+             ["mapper", "--database_path", "%matches_dir%"+FOLDER_DELIM+"database.db", "--image_path", "%input_dir%", "--output_path", "%reconstruction_dir%"]],
+            ["Image Undistorter",            # 15
+             COLMAP_BIN,
+             ["image_undistorter", "--image_path", "%input_dir%", "--input_path", "%reconstruction_dir%"+FOLDER_DELIM+"0", "--output_path", "%reconstruction_dir%"+FOLDER_DELIM+"dense", "--output_type", "COLMAP"]],
+            ["Export to openMVS",            # 16
+             os.path.join(OPENMVS_BIN, "InterfaceCOLMAP"),
+             ["-i", "%reconstruction_dir%"+FOLDER_DELIM+"dense", "-o", "scene.mvs", "--image-folder", "%reconstruction_dir%"+FOLDER_DELIM+"dense"+FOLDER_DELIM+"images", "-w", "\"%mvs_dir%\""]],
+            ["Densify point cloud",          # 17
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
              ["scene.mvs", "--dense-config-file", "Densify.ini", "--resolution-level", "1", "--number-views", "8", "-w", "\"%mvs_dir%\""]],
-            ["Reconstruct the mesh",         # 13
+            ["Reconstruct the mesh",         # 18
              os.path.join(OPENMVS_BIN, "ReconstructMesh"),
              ["scene_dense.mvs", "-w", "\"%mvs_dir%\""]],
-            ["Refine the mesh",              # 14
+            ["Refine the mesh",              # 19
              os.path.join(OPENMVS_BIN, "RefineMesh"),
              ["scene_dense_mesh.mvs", "--scales", "1", "--gradient-step", "25.05", "-w", "\"%mvs_dir%\""]],
-            ["Texture the mesh",             # 15
+            ["Texture the mesh",             # 20
              os.path.join(OPENMVS_BIN, "TextureMesh"),
              ["scene_dense_mesh_refine.mvs", "--decimate", "0.5", "-w", "\"%mvs_dir%\""]],
-            ["Estimate disparity-maps",      # 16
+            ["Estimate disparity-maps",      # 21
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
              ["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-1", "-w", "\"%mvs_dir%\""]],
-            ["Fuse disparity-maps",          # 17
+            ["Fuse disparity-maps",          # 22
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
              ["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-2", "-w", "\"%mvs_dir%\""]]
             ]
@@ -358,10 +388,10 @@ def mkdir_ine(dirname):
         STEPS.replace_opt(4, FOLDER_DELIM+"matches.f.bin", FOLDER_DELIM+"matches.e.bin")
         STEPS[4].opt.extend(["-g", "e"])
 
-if 15 in CONF.steps:    # TextureMesh
-    if 14 not in CONF.steps:  # RefineMesh
+if 20 in CONF.steps:    # TextureMesh
+    if 19 not in CONF.steps:  # RefineMesh
         # RefineMesh step is not run, use ReconstructMesh output
-        STEPS.replace_opt(15, "scene_dense_mesh_refine.mvs", "scene_dense_mesh.mvs")
+        STEPS.replace_opt(20, "scene_dense_mesh_refine.mvs", "scene_dense_mesh.mvs")
 
 for cstep in CONF.steps:
     printout("#%i. %s" % (cstep, STEPS[cstep].info), effect=INVERSE)
diff --git a/apps/CMakeLists.txt b/apps/CMakeLists.txt
index 7f7ea6584..3bb00c6c6 100644
--- a/apps/CMakeLists.txt
+++ b/apps/CMakeLists.txt
@@ -2,6 +2,7 @@
 ADD_SUBDIRECTORY(InterfaceCOLMAP)
 ADD_SUBDIRECTORY(InterfaceMetashape)
 ADD_SUBDIRECTORY(InterfaceMVSNet)
+ADD_SUBDIRECTORY(InterfacePolycam)
 ADD_SUBDIRECTORY(DensifyPointCloud)
 ADD_SUBDIRECTORY(ReconstructMesh)
 ADD_SUBDIRECTORY(RefineMesh)
diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 949314db9..9a50c58ee 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -55,12 +55,15 @@ String strExportROIFileName;
 String strImportROIFileName;
 String strDenseConfigFileName;
 String strExportDepthMapsName;
+String strMaskPath;
 float fMaxSubsceneArea;
 float fSampleMesh;
 float fBorderROI;
 bool bCrop2ROI;
 int nEstimateROI;
+int	nTowerMode;
 int nFusionMode;
+float fEstimateScale;
 int thFilterPointCloud;
 int nExportNumViews;
 int nArchiveType;
@@ -133,11 +136,13 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("sub-resolution-levels", boost::program_options::value(&nSubResolutionLevels)->default_value(2), "number of patch-match sub-resolution iterations (0 - disabled)")
 		("number-views", boost::program_options::value(&nNumViews)->default_value(nNumViewsDefault), "number of views used for depth-map estimation (0 - all neighbor views available)")
 		("number-views-fuse", boost::program_options::value(&nMinViewsFuse)->default_value(3), "minimum number of images that agrees with an estimate during fusion in order to consider it inlier (<2 - only merge depth-maps)")
-		("ignore-mask-label", boost::program_options::value(&nIgnoreMaskLabel)->default_value(-1), "integer value for the label to ignore in the segmentation mask (<0 - disabled)")
+		("ignore-mask-label", boost::program_options::value(&nIgnoreMaskLabel)->default_value(-1), "label value to ignore in the image mask, stored in the MVS scene or next to each image with '.mask.png' extension (<0 - disabled)")
+		("mask-path", boost::program_options::value<std::string>(&OPT::strMaskPath), "path to folder containing mask images with '.mask.png' extension")
 		("iters", boost::program_options::value(&nEstimationIters)->default_value(numIters), "number of patch-match iterations")
 		("geometric-iters", boost::program_options::value(&nEstimationGeometricIters)->default_value(2), "number of geometric consistent patch-match iterations (0 - disabled)")
 		("estimate-colors", boost::program_options::value(&nEstimateColors)->default_value(2), "estimate the colors for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
 		("estimate-normals", boost::program_options::value(&nEstimateNormals)->default_value(2), "estimate the normals for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
+		("estimate-scale", boost::program_options::value(&OPT::fEstimateScale)->default_value(0.f), "estimate the point-scale for the dense point-cloud (scale multiplier, 0 - disabled)")
 		("sub-scene-area", boost::program_options::value(&OPT::fMaxSubsceneArea)->default_value(0.f), "split the scene in sub-scenes such that each sub-scene surface does not exceed the given maximum sampling area (0 - disabled)")
 		("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(0.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
 		("fusion-mode", boost::program_options::value(&OPT::nFusionMode)->default_value(0), "depth-maps fusion mode (-2 - fuse disparity-maps, -1 - export disparity-maps only, 0 - depth-maps & fusion, 1 - export depth-maps only)")
@@ -148,6 +153,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
         ("estimate-roi", boost::program_options::value(&OPT::nEstimateROI)->default_value(2), "estimate and set region-of-interest (0 - disabled, 1 - enabled, 2 - adaptive)")
         ("crop-to-roi", boost::program_options::value(&OPT::bCrop2ROI)->default_value(true), "crop scene using the region-of-interest")
         ("remove-dmaps", boost::program_options::value(&bRemoveDmaps)->default_value(false), "remove depth-maps after fusion")
+		("tower-mode", boost::program_options::value(&OPT::nTowerMode)->default_value(3), "add a cylinder of points in the center of ROI; scene assume to be Z-up oriented (0 - disabled, 1 - replace, 2 - append, 3 - select neighbors, <0 - force tower mode)")
         ;
 
 	// hidden options, allowed both on command line and
@@ -296,6 +302,20 @@ int main(int argc, LPCTSTR* argv)
 	// load and estimate a dense point-cloud
 	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
 		return EXIT_FAILURE;
+	if (!OPT::strMaskPath.empty()) {
+		Util::ensureValidFolderPath(OPT::strMaskPath);
+		for (Image& image : scene.images) {
+			if (!image.maskName.empty()) {
+				VERBOSE("error: Image %s has non-empty maskName %s", image.name.c_str(), image.maskName.c_str());
+				return EXIT_FAILURE;
+			}
+			image.maskName = OPT::strMaskPath + Util::getFileName(image.name) + ".mask.png";
+			if (!File::access(image.maskName)) {
+				VERBOSE("error: Mask image %s not found", image.maskName.c_str());
+				return EXIT_FAILURE;
+			}
+		}
+	}
 	if (!OPT::strImportROIFileName.empty()) {
 		std::ifstream fs(MAKE_PATH_SAFE(OPT::strImportROIFileName));
 		if (!fs)
@@ -315,6 +335,8 @@ int main(int argc, LPCTSTR* argv)
 		Finalize();
 		return EXIT_SUCCESS;
 	}
+	if (OPT::nTowerMode!=0)
+		scene.InitTowerScene(OPT::nTowerMode);
 	if (!OPT::strMeshFileName.empty())
 		scene.mesh.Load(MAKE_PATH_SAFE(OPT::strMeshFileName));
 	if (!OPT::strViewNeighborsFileName.empty())
@@ -369,6 +391,20 @@ int main(int argc, LPCTSTR* argv)
 		Finalize();
 		return EXIT_SUCCESS;
 	}
+	if (OPT::fEstimateScale > 0 && !scene.pointcloud.IsEmpty() && !scene.images.empty()) {
+		// simply export existing point-cloud with scale
+		if (scene.pointcloud.normals.empty()) {
+			if (!scene.pointcloud.IsValid()) {
+				VERBOSE("error: can not estimate normals as the point-cloud is not valid");
+				return EXIT_FAILURE;
+			}
+			EstimatePointNormals(scene.images, scene.pointcloud);
+		}
+		const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
+		scene.pointcloud.SaveWithScale(baseFileName+_T("_scale.ply"), scene.images, OPT::fEstimateScale);
+		Finalize();
+		return EXIT_SUCCESS;
+	}
 	if ((ARCHIVE_TYPE)OPT::nArchiveType != ARCHIVE_MVS) {
 		#if TD_VERBOSE != TD_VERBOSE_OFF
 		if (VERBOSITY_LEVEL > 1 && !scene.pointcloud.IsEmpty())
diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index 751e2e7d8..03d16b2be 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -68,6 +68,7 @@ namespace {
 namespace OPT {
 bool bFromOpenMVS; // conversion direction
 bool bNormalizeIntrinsics;
+bool bForceSparsePointCloud;
 String strInputFileName;
 String strOutputFileName;
 String strImageFolder;
@@ -89,7 +90,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// group of options allowed only on command line
 	boost::program_options::options_description generic("Generic options");
 	generic.add_options()
-		("help,h", "produce this help message")
+		("help,h", "imports SfM or MVS scene stored in COLMAP undistoreted format OR exports MVS scene to COLMAP format")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
 		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
@@ -114,6 +115,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("image-folder", boost::program_options::value<std::string>(&OPT::strImageFolder)->default_value(COLMAP_IMAGES_FOLDER), "folder to the undistorted images")
 		("max-resolution", boost::program_options::value(&OPT::nMaxResolution)->default_value(0), "make sure image resolution are not not larger than this (0 - disabled)")
 		("normalize,f", boost::program_options::value(&OPT::bNormalizeIntrinsics)->default_value(false), "normalize intrinsics while exporting to MVS format")
+		("force-points,p", boost::program_options::value(&OPT::bForceSparsePointCloud)->default_value(false), "force exporting point-cloud as sparse points also even if dense point-cloud detected")
 		;
 
 	boost::program_options::options_description cmdline_options;
@@ -220,22 +222,19 @@ typedef uint64_t image_pair_t;
 typedef uint32_t point2D_t;
 typedef uint64_t point3D_t;
 
-typedef std::unordered_map<camera_t,String> CameraModelMap;
-CameraModelMap mapCameraModel;
-
-void DefineCameraModels() {
-	COLMAP::mapCameraModel.emplace(0, "SIMPLE_PINHOLE");
-	COLMAP::mapCameraModel.emplace(1, "PINHOLE");
-	COLMAP::mapCameraModel.emplace(2, "SIMPLE_RADIAL");
-	COLMAP::mapCameraModel.emplace(3, "RADIAL");
-	COLMAP::mapCameraModel.emplace(4, "OPENCV");
-	COLMAP::mapCameraModel.emplace(5, "OPENCV_FISHEYE");
-	COLMAP::mapCameraModel.emplace(6, "FULL_OPENCV");
-	COLMAP::mapCameraModel.emplace(7, "FOV");
-	COLMAP::mapCameraModel.emplace(8, "SIMPLE_RADIAL_FISHEYE");
-	COLMAP::mapCameraModel.emplace(9, "RADIAL_FISHEYE");
-	COLMAP::mapCameraModel.emplace(10, "THIN_PRISM_FISHEYE");
-}
+const std::vector<String> mapCameraModel = {
+	"SIMPLE_PINHOLE",
+	"PINHOLE",
+	"SIMPLE_RADIAL",
+	"RADIAL",
+	"OPENCV",
+	"OPENCV_FISHEYE",
+	"FULL_OPENCV",
+	"FOV",
+	"SIMPLE_RADIAL_FISHEYE",
+	"RADIAL_FISHEYE",
+	"THIN_PRISM_FISHEYE"
+};
 
 // tools
 bool NextLine(std::istream& stream, std::istringstream& in, bool bIgnoreEmpty=true) {
@@ -256,7 +255,7 @@ struct Camera {
 	String model; // camera model name
 	uint32_t width, height; // camera resolution
 	std::vector<REAL> params; // camera parameters
-	bool parsedNumCameras = false;
+	uint64_t numCameras{0}; // only for binary format
 
 	Camera() {}
 	Camera(uint32_t _ID) : ID(_ID) {}
@@ -287,6 +286,12 @@ struct Camera {
 		return ReadTXT(stream);
 	}	
 
+	bool Write(std::ostream& stream, bool binary) {
+		if (binary)
+			return WriteBIN(stream);
+		return WriteTXT(stream);
+	}
+
 	// Camera list with one line of data per camera:
 	//   CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]
 	bool ReadTXT(std::istream& stream) {
@@ -310,14 +315,13 @@ struct Camera {
 		if (stream.peek() == EOF)
 			return false;
 
-		if (!parsedNumCameras) {
+		if (numCameras == 0) {
 			// Read the first entry in the binary file
-			ReadBinaryLittleEndian<uint64_t>(&stream);
-			parsedNumCameras = true;
+			numCameras = ReadBinaryLittleEndian<uint64_t>(&stream);
 		}
 
 		ID = ReadBinaryLittleEndian<camera_t>(&stream)-1;
-		model = mapCameraModel.at(ReadBinaryLittleEndian<int>(&stream));
+		model = mapCameraModel[ReadBinaryLittleEndian<int>(&stream)];
 		width = (uint32_t)ReadBinaryLittleEndian<uint64_t>(&stream);
 		height = (uint32_t)ReadBinaryLittleEndian<uint64_t>(&stream);
 		if (model != _T("PINHOLE"))
@@ -327,7 +331,7 @@ struct Camera {
 		return true;
 	}
 
-	bool Write(std::ostream& out) const {
+	bool WriteTXT(std::ostream& out) const {
 		out << ID+1 << _T(" ") << model << _T(" ") << width << _T(" ") << height;
 		if (out.fail())
 			return false;
@@ -339,6 +343,23 @@ struct Camera {
 		out << std::endl;
 		return true;
 	}
+
+	bool WriteBIN(std::ostream& stream) {
+		if (numCameras != 0) {
+			// Write the first entry in the binary file
+			WriteBinaryLittleEndian<uint64_t>(&stream, numCameras);
+			numCameras = 0;
+		}
+
+		WriteBinaryLittleEndian<camera_t>(&stream, ID+1);
+		const int64 modelId(std::distance(mapCameraModel.begin(), std::find(mapCameraModel.begin(), mapCameraModel.end(), model)));
+		WriteBinaryLittleEndian<int>(&stream, (int)modelId);
+		WriteBinaryLittleEndian<uint64_t>(&stream, width);
+		WriteBinaryLittleEndian<uint64_t>(&stream, height);
+		for (REAL param: params)
+			WriteBinaryLittleEndian<double>(&stream, param);
+		return !stream.fail();
+	}
 };
 typedef std::vector<Camera> Cameras;
 // structure describing an image
@@ -353,7 +374,7 @@ struct Image {
 	uint32_t idCamera; // ID of the associated camera
 	String name; // image file name
 	std::vector<Proj> projs; // known image projections
-	bool parsedNumRegImages = false;
+	uint64_t numRegImages{0}; // only for binary format
 
 	Image() {}
 	Image(uint32_t _ID) : ID(_ID) {}
@@ -365,6 +386,12 @@ struct Image {
 		return ReadTXT(stream); 
 	}
 
+	bool Write(std::ostream& stream, bool binary) {
+		if (binary)
+			return WriteBIN(stream);
+		return WriteTXT(stream);
+	}
+
 	// Image list with two lines of data per image:
 	//   IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME
 	//   POINTS2D[] as (X, Y, POINT3D_ID)
@@ -388,6 +415,7 @@ struct Image {
 			in >> proj.p(0) >> proj.p(1) >> (int&)proj.idPoint;
 			if (in.fail())
 				break;
+			--proj.idPoint;
 			projs.emplace_back(proj);
 		}
 		return true;
@@ -399,10 +427,9 @@ struct Image {
 		if (stream.peek() == EOF)
 			return false;
 
-		if (!parsedNumRegImages) {
+		if (!numRegImages) {
 			// Read the first entry in the binary file
-			ReadBinaryLittleEndian<uint64_t>(&stream);
-			parsedNumRegImages = true;
+			numRegImages = ReadBinaryLittleEndian<uint64_t>(&stream);
 		}
 
 		ID = ReadBinaryLittleEndian<image_t>(&stream)-1;
@@ -416,13 +443,13 @@ struct Image {
 		idCamera = ReadBinaryLittleEndian<camera_t>(&stream)-1;
 
 		name = "";
-		char nameChar;
-		do {
+		while (true) {
+			char nameChar;
 			stream.read(&nameChar, 1);
-			if (nameChar != '\0') {
-				name += nameChar;
-			}
-		} while (nameChar != '\0');
+			if (nameChar == '\0')
+				break;
+			name += nameChar;
+		}
 		Util::ensureValidPath(name);
 
 		const size_t numPoints2D = ReadBinaryLittleEndian<uint64_t>(&stream);
@@ -431,13 +458,13 @@ struct Image {
 			Proj proj;
 			proj.p(0) = (float)ReadBinaryLittleEndian<double>(&stream);
 			proj.p(1) = (float)ReadBinaryLittleEndian<double>(&stream);
-			proj.idPoint = (uint32_t)ReadBinaryLittleEndian<point3D_t>(&stream);
+			proj.idPoint = (uint32_t)ReadBinaryLittleEndian<point3D_t>(&stream)-1;
 			projs.emplace_back(proj);
 		}
 		return true;
 	}
 
-	bool Write(std::ostream& out) const {
+	bool WriteTXT(std::ostream& out) const {
 		out << ID+1 << _T(" ")
 			<< q.w() << _T(" ") << q.x() << _T(" ") << q.y() << _T(" ") << q.z() << _T(" ")
 			<< t(0) << _T(" ") << t(1) << _T(" ") << t(2) << _T(" ")
@@ -451,6 +478,37 @@ struct Image {
 		out << std::endl;
 		return !out.fail();
 	}
+
+	bool WriteBIN(std::ostream& stream) {
+		if (numRegImages != 0) {
+			// Write the first entry in the binary file
+			WriteBinaryLittleEndian<uint64_t>(&stream, numRegImages);
+			numRegImages = 0;
+		}
+
+		WriteBinaryLittleEndian<image_t>(&stream, ID+1);
+
+		WriteBinaryLittleEndian<double>(&stream, q.w());
+		WriteBinaryLittleEndian<double>(&stream, q.x());
+		WriteBinaryLittleEndian<double>(&stream, q.y());
+		WriteBinaryLittleEndian<double>(&stream, q.z());
+
+		WriteBinaryLittleEndian<double>(&stream, t(0));
+		WriteBinaryLittleEndian<double>(&stream, t(1));
+		WriteBinaryLittleEndian<double>(&stream, t(2));
+
+		WriteBinaryLittleEndian<camera_t>(&stream, idCamera+1);
+
+		stream.write(name.c_str(), name.size()+1);
+
+		WriteBinaryLittleEndian<uint64_t>(&stream, projs.size());
+		for (const Proj& proj: projs) {
+			WriteBinaryLittleEndian<double>(&stream, proj.p(0));
+			WriteBinaryLittleEndian<double>(&stream, proj.p(1));
+			WriteBinaryLittleEndian<point3D_t>(&stream, proj.idPoint+1);
+		}
+		return !stream.fail();
+	}
 };
 typedef std::vector<Image> Images;
 // structure describing a 3D point
@@ -464,7 +522,7 @@ struct Point {
 	Interface::Col3 c; // BGR color
 	float e; // error
 	std::vector<Track> tracks; // point track
-	bool parsedNumPoints3D = false;
+	uint64_t numPoints3D{0}; // only for binary format
 
 	Point() {}
 	Point(uint32_t _ID) : ID(_ID) {}
@@ -476,6 +534,12 @@ struct Point {
 		return ReadTXT(stream);
 	}
 
+	bool Write(std::ostream& stream, bool binary) {
+		if (binary)
+			return WriteBIN(stream);
+		return WriteTXT(stream);
+	}
+
 	// 3D point list with one line of data per point:
 	//   POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)
 	bool ReadTXT(std::istream& stream) {
@@ -511,10 +575,9 @@ struct Point {
 		if (stream.peek() == EOF)
 			return false;
 
-		if (!parsedNumPoints3D) {
+		if (!numPoints3D) {
 			// Read the first entry in the binary file
-			ReadBinaryLittleEndian<uint64_t>(&stream);
-			parsedNumPoints3D = true;
+			numPoints3D = ReadBinaryLittleEndian<uint64_t>(&stream);
 		}
 
 		int r,g,b;
@@ -541,7 +604,7 @@ struct Point {
 		return !tracks.empty();
 	}
 
-	bool Write(std::ostream& out) const {
+	bool WriteTXT(std::ostream& out) const {
 		ASSERT(!tracks.empty());
 		const int r(c.z),g(c.y),b(c.x);
 		out << ID+1 << _T(" ")
@@ -556,6 +619,31 @@ struct Point {
 		out << std::endl;
 		return !out.fail();
 	}
+
+	bool WriteBIN(std::ostream& stream) {
+		ASSERT(!tracks.empty());
+		if (numPoints3D != 0) {
+			// Write the first entry in the binary file
+			WriteBinaryLittleEndian<uint64_t>(&stream, numPoints3D);
+			numPoints3D = 0;
+		}
+
+		WriteBinaryLittleEndian<point3D_t>(&stream, ID+1);
+		WriteBinaryLittleEndian<double>(&stream, p.x);
+		WriteBinaryLittleEndian<double>(&stream, p.y);
+		WriteBinaryLittleEndian<double>(&stream, p.z);
+		WriteBinaryLittleEndian<uint8_t>(&stream, c.z);
+		WriteBinaryLittleEndian<uint8_t>(&stream, c.y);
+		WriteBinaryLittleEndian<uint8_t>(&stream, c.x);
+		WriteBinaryLittleEndian<double>(&stream, e);
+
+		WriteBinaryLittleEndian<uint64_t>(&stream, tracks.size());
+		for (const Track& track: tracks) {
+			WriteBinaryLittleEndian<image_t>(&stream, track.idImage+1);
+			WriteBinaryLittleEndian<point2D_t>(&stream, track.idProj+1);
+		}
+		return !stream.fail();
+	}
 };
 typedef std::vector<Point> Points;
 // structure describing an 2D dynamic matrix
@@ -624,7 +712,6 @@ bool DetermineInputSource(const String& filenameTXT, const String& filenameBIN,
 
 bool ImportScene(const String& strFolder, const String& strOutFolder, Interface& scene)
 {
-	COLMAP::DefineCameraModels();
 	// read camera list
 	typedef std::unordered_map<uint32_t,uint32_t> CamerasMap;
 	CamerasMap mapCameras;
@@ -871,7 +958,7 @@ bool ImportScene(const String& strFolder, const String& strOutFolder, Interface&
 }
 
 
-bool ExportScene(const String& strFolder, const Interface& scene)
+bool ExportScene(const String& strFolder, const Interface& scene, bool bForceSparsePointCloud = false, bool binary = true)
 {
 	Util::ensureFolder(strFolder+COLMAP_SPARSE_FOLDER);
 
@@ -879,16 +966,22 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 	CLISTDEF0IDX(KMatrix,uint32_t) Ks;
 	CLISTDEF0IDX(COLMAP::Camera,uint32_t) cams;
 	{
-		const String filenameCameras(strFolder+COLMAP_CAMERAS_TXT);
+		const String filenameCameras(strFolder+(binary?COLMAP_CAMERAS_BIN:COLMAP_CAMERAS_TXT));
 		LOG_OUT() << "Writing cameras: " << filenameCameras << std::endl;
-		std::ofstream file(filenameCameras);
+		std::ofstream file(filenameCameras, binary ? std::ios::trunc|std::ios::binary : std::ios::trunc);
 		if (!file.good()) {
 			VERBOSE("error: unable to open file '%s'", filenameCameras.c_str());
 			return false;
 		}
-		file << _T("# Camera list with one line of data per camera:") << std::endl;
-		file << _T("#   CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]") << std::endl;
 		COLMAP::Camera cam;
+		if (binary) {
+			cam.numCameras = 0;
+			for (const Interface::Platform& platform: scene.platforms)
+				cam.numCameras += (uint32_t)platform.cameras.size();
+		} else {
+			file << _T("# Camera list with one line of data per camera:") << std::endl;
+			file << _T("#   CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]") << std::endl;
+		}
 		cam.model = _T("PINHOLE");
 		cam.params.resize(4);
 		for (uint32_t ID=0; ID<(uint32_t)scene.platforms.size(); ++ID) {
@@ -910,7 +1003,7 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 					LOG("error: no image using camera %u of platform %u", 0, ID);
 					continue;
 				}
-				IMAGEPTR ptrImage(Image::ReadImageHeader(MAKE_PATH_SAFE(pImage->name.c_str())));
+				IMAGEPTR ptrImage(Image::ReadImageHeader(MAKE_PATH_SAFE(pImage->name)));
 				if (ptrImage == NULL)
 					return false;
 				cam.width = ptrImage->GetWidth();
@@ -929,7 +1022,7 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 				cam.params[2] = camera.K(0,2);
 				cam.params[3] = camera.K(1,2);
 			}
-			if (!cam.Write(file))
+			if (!cam.Write(file, binary))
 				return false;
 			KMatrix& K = Ks.emplace_back(KMatrix::IDENTITY);
 			K(0,0) = cam.params[0];
@@ -977,18 +1070,23 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 
 	// auto-select dense or sparse mode based on number of points
 	const bool bSparsePointCloud(scene.vertices.size() < (size_t)maxNumPointsSparse);
-	if (bSparsePointCloud) {
+	if (bSparsePointCloud || bForceSparsePointCloud) {
 		// write points list
 		{
-			const String filenamePoints(strFolder+COLMAP_POINTS_TXT);
+			const String filenamePoints(strFolder+(binary?COLMAP_POINTS_BIN:COLMAP_POINTS_TXT));
 			LOG_OUT() << "Writing points: " << filenamePoints << std::endl;
-			std::ofstream file(filenamePoints);
+			std::ofstream file(filenamePoints, binary ? std::ios::trunc|std::ios::binary : std::ios::trunc);
 			if (!file.good()) {
 				VERBOSE("error: unable to open file '%s'", filenamePoints.c_str());
 				return false;
 			}
-			file << _T("# 3D point list with one line of data per point:") << std::endl;
-			file << _T("#   POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)") << std::endl;
+			uint64_t numPoints3D = 0;
+			if (binary) {
+				numPoints3D = scene.vertices.size();
+			} else {
+				file << _T("# 3D point list with one line of data per point:") << std::endl;
+				file << _T("#   POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)") << std::endl;
+			}
 			for (uint32_t ID=0; ID<(uint32_t)scene.vertices.size(); ++ID) {
 				const Interface::Vertex& vertex = scene.vertices[ID];
 				COLMAP::Point point;
@@ -1005,7 +1103,11 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 				}
 				point.c = scene.verticesColor.empty() ? Interface::Col3(255,255,255) : scene.verticesColor[ID].c;
 				point.e = 0;
-				if (!point.Write(file))
+				if (numPoints3D != 0) {
+					point.numPoints3D = numPoints3D;
+					numPoints3D = 0;
+				}
+				if (!point.Write(file, binary))
 					return false;
 			}
 		}
@@ -1054,7 +1156,8 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 		Util::ensureFolder(strFolder+COLMAP_STEREO_CONSISTENCYGRAPHS_FOLDER);
 		Util::ensureFolder(strFolder+COLMAP_STEREO_DEPTHMAPS_FOLDER);
 		Util::ensureFolder(strFolder+COLMAP_STEREO_NORMALMAPS_FOLDER);
-	} else {
+	}
+	if (!bSparsePointCloud) {
 		// export dense point-cloud
 		const String filenameDensePoints(strFolder+COLMAP_DENSE_POINTS);
 		const String filenameDenseVisPoints(strFolder+COLMAP_DENSE_POINTS_VISIBILITY);
@@ -1089,20 +1192,33 @@ bool ExportScene(const String& strFolder, const Interface& scene)
 
 	// write images list
 	{
-		const String filenameImages(strFolder+COLMAP_IMAGES_TXT);
+		const String filenameImages(strFolder+(binary?COLMAP_IMAGES_BIN:COLMAP_IMAGES_TXT));
 		LOG_OUT() << "Writing images: " << filenameImages << std::endl;
-		std::ofstream file(filenameImages);
+		std::ofstream file(filenameImages, binary ? std::ios::trunc|std::ios::binary : std::ios::trunc);
 		if (!file.good()) {
 			VERBOSE("error: unable to open file '%s'", filenameImages.c_str());
 			return false;
 		}
-		file << _T("# Image list with two lines of data per image:") << std::endl;
-		file << _T("#   IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME") << std::endl;
-		file << _T("#   POINTS2D[] as (X, Y, POINT3D_ID)") << std::endl;
-		for (const COLMAP::Image& img: images) {
+		uint64_t numRegImages = 0;
+		if (binary) {
+			for (const COLMAP::Image& img: images) {
+				if (bSparsePointCloud && img.projs.empty())
+					continue;
+				++numRegImages;
+			}
+		} else {
+			file << _T("# Image list with two lines of data per image:") << std::endl;
+			file << _T("#   IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME") << std::endl;
+			file << _T("#   POINTS2D[] as (X, Y, POINT3D_ID)") << std::endl;
+		}
+		for (COLMAP::Image& img: images) {
 			if (bSparsePointCloud && img.projs.empty())
 				continue;
-			if (!img.Write(file))
+			if (numRegImages != 0) {
+				img.numRegImages = numRegImages;
+				numRegImages = 0;
+			}
+			if (!img.Write(file, binary))
 				return false;
 		}
 	}
@@ -1303,7 +1419,7 @@ int main(int argc, LPCTSTR* argv)
 		} else {
 			// write COLMAP input data
 			Util::ensureFolderSlash(OPT::strOutputFileName);
-			ExportScene(MAKE_PATH_SAFE(OPT::strOutputFileName), scene);
+			ExportScene(MAKE_PATH_SAFE(OPT::strOutputFileName), scene, OPT::bForceSparsePointCloud);
 		}
 		VERBOSE("Input data exported: %u images & %u vertices (%s)", scene.images.size(), scene.vertices.size(), TD_TIMER_GET_FMT().c_str());
 	} else {
diff --git a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
index 08d76a142..31da44f71 100644
--- a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
+++ b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
@@ -141,7 +141,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
-	Util::ensureUnifySlash(OPT::strOutputFileName);
 	if (OPT::strOutputFileName.IsEmpty())
 		OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + "scene" MVS_EXT;
 
@@ -250,6 +249,7 @@ bool ParseSceneMVSNet(Scene& scene)
 	String strPath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName));
 	Util::ensureValidFolderPath(strPath);
 	const std::filesystem::path path(static_cast<std::string&>(strPath));
+	IIndex prevPlatformID = NO_ID;
 	for (const std::filesystem::directory_entry& entry : std::filesystem::directory_iterator(path / MVSNET_IMAGES_FOLDER)) {
 		if (entry.path().extension() != MVSNET_IMAGES_EXT)
 			continue;
@@ -292,12 +292,18 @@ bool ParseSceneMVSNet(Scene& scene)
 		Matrix3x3 K;
 		ImageListParse(argv, K);
 		// setup camera
-		const IIndex platformID = scene.platforms.size();
-		Platform& platform = scene.platforms.emplace_back();
-		Platform::Camera& camera = platform.cameras.AddEmpty();
-		camera.K = K;
-		camera.R = RMatrix::IDENTITY;
-		camera.C = CMatrix::ZERO;
+		IIndex platformID;
+		if (prevPlatformID == NO_ID || !K.IsEqual(scene.platforms[prevPlatformID].cameras[0].K, 1e-3)) {
+			prevPlatformID = platformID = scene.platforms.size();
+			Platform& platform = scene.platforms.emplace_back();
+			Platform::Camera& camera = platform.cameras.emplace_back();
+			camera.K = K;
+			camera.R = RMatrix::IDENTITY;
+			camera.C = CMatrix::ZERO;
+		} else {
+			platformID = prevPlatformID;
+		}
+		Platform& platform = scene.platforms[platformID];
 		// setup image
 		const IIndex ID = scene.images.size();
 		Image& imageData = scene.images.emplace_back();
@@ -315,11 +321,9 @@ bool ParseSceneMVSNet(Scene& scene)
 		imageData.scale = 1;
 		// set camera pose
 		imageData.poseID = platform.poses.size();
-		Platform::Pose& pose = platform.poses.AddEmpty();
+		Platform::Pose& pose = platform.poses.emplace_back();
 		DecomposeProjectionMatrix(P, pose.R, pose.C);
 		imageData.camera = platform.GetCamera(imageData.cameraID, imageData.poseID);
-		const float resolutionScale = Camera::GetNormalizationScale(imageData.width, imageData.height);
-		camera.K = camera.GetScaledK(REAL(1)/resolutionScale);
 	}
 	if (scene.images.size() < 2)
 		return false;
diff --git a/apps/InterfaceMetashape/InterfaceMetashape.cpp b/apps/InterfaceMetashape/InterfaceMetashape.cpp
index 4886973ab..068e9505c 100644
--- a/apps/InterfaceMetashape/InterfaceMetashape.cpp
+++ b/apps/InterfaceMetashape/InterfaceMetashape.cpp
@@ -71,7 +71,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// group of options allowed only on command line
 	boost::program_options::options_description generic("Generic options");
 	generic.add_options()
-		("help,h", "produce this help message")
+		("help,h", "imports SfM scene stored either in Metashape Agisoft/BlocksExchange or ContextCapture BlocksExchange XML format")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
 		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: 0-text, 1-binary, 2-compressed binary")
@@ -93,7 +93,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
 		("points-file,p", boost::program_options::value<std::string>(&OPT::strPointsFileName), "input filename containing the 3D points")
-		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
+		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the scene")
 		("output-image-folder", boost::program_options::value<std::string>(&OPT::strOutputImageFolder)->default_value("undistorted_images"), "output folder to store undistorted images")
 		;
 
@@ -133,9 +133,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// validate input
 	Util::ensureValidPath(OPT::strPointsFileName);
 	Util::ensureValidPath(OPT::strInputFileName);
-	Util::ensureValidPath(OPT::strOutputImageFolder);
-	Util::ensureFolderSlash(OPT::strOutputImageFolder);
-	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
+	Util::ensureValidFolderPath(OPT::strOutputImageFolder);
 	const bool bInvalidCommand(OPT::strInputFileName.empty());
 	if (OPT::vm.count("help") || bInvalidCommand) {
 		boost::program_options::options_description visible("Available options");
@@ -147,8 +145,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
-	Util::ensureUnifySlash(OPT::strOutputFileName);
-	if (OPT::strOutputFileName.IsEmpty())
+	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + MVS_EXT;
 
 	// initialize global options
@@ -186,6 +183,7 @@ struct DistCoeff {
 		};
 	};
 	DistCoeff() : k1(0), k2(0), p1(0), p2(0), k3(0), k4(0), k5(0), k6(0) {}
+	bool HasDistortion() const { return k1 != 0 || k2 != 0 || k3 != 0 || k4 != 0 || k5 != 0 || k6 != 0; }
 };
 typedef cList<DistCoeff> DistCoeffs;
 typedef cList<DistCoeffs> PlatformDistCoeffs;
@@ -512,20 +510,23 @@ bool ParseBlocksExchangeXML(tinyxml2::XMLDocument& doc, Scene& scene, PlatformDi
 		// parse distortion parameters
 		DistCoeff& dc = pltDistCoeffs.AddEmpty().AddEmpty(); {
 			const tinyxml2::XMLElement* distortion=photogroup->FirstChildElement("Distortion");
-			if ((elem=distortion->FirstChildElement("K1")) != NULL)
-				dc.k1 = elem->DoubleText();
-			if ((elem=distortion->FirstChildElement("K2")) != NULL)
-				dc.k2 = elem->DoubleText();
-			if ((elem=distortion->FirstChildElement("K3")) != NULL)
-				dc.k3 = elem->DoubleText();
-			if ((elem=distortion->FirstChildElement("P1")) != NULL)
-				dc.p2 = elem->DoubleText();
-			if ((elem=distortion->FirstChildElement("P2")) != NULL)
-				dc.p1 = elem->DoubleText();
+			if (distortion) {
+				if ((elem=distortion->FirstChildElement("K1")) != NULL)
+					dc.k1 = elem->DoubleText();
+				if ((elem=distortion->FirstChildElement("K2")) != NULL)
+					dc.k2 = elem->DoubleText();
+				if ((elem=distortion->FirstChildElement("K3")) != NULL)
+					dc.k3 = elem->DoubleText();
+				if ((elem=distortion->FirstChildElement("P1")) != NULL)
+					dc.p2 = elem->DoubleText();
+				if ((elem=distortion->FirstChildElement("P2")) != NULL)
+					dc.p1 = elem->DoubleText();
+			}
 		}
 		++nCameras;
 		for (const tinyxml2::XMLElement* photo=photogroup->FirstChildElement("Photo"); photo!=NULL; photo=photo->NextSiblingElement()) {
-			Image imageData;
+			const IIndex idxImage = scene.images.size();
+			Image& imageData = scene.images.AddEmpty();
 			imageData.platformID = platformID;
 			imageData.cameraID = 0; // only one camera per platform supported by this format
 			imageData.poseID = NO_ID;
@@ -533,6 +534,7 @@ bool ParseBlocksExchangeXML(tinyxml2::XMLDocument& doc, Scene& scene, PlatformDi
 			imageData.name = photo->FirstChildElement("ImagePath")->GetText();
 			Util::ensureUnifySlash(imageData.name);
 			imageData.name = MAKE_PATH_FULL(strPath, imageData.name);
+			mapImageID.emplace(imageData.ID, idxImage);
 			// set image resolution
 			const cv::Size& resolution = resolutions[imageData.platformID];
 			imageData.width = resolution.width;
@@ -568,8 +570,8 @@ bool ParseBlocksExchangeXML(tinyxml2::XMLDocument& doc, Scene& scene, PlatformDi
 				imageData.avgDepth = (float)elem->DoubleText();
 			else if (photo->FirstChildElement("NearDepth") != NULL && photo->FirstChildElement("FarDepth") != NULL)
 				imageData.avgDepth = (float)((photo->FirstChildElement("NearDepth")->DoubleText() + photo->FirstChildElement("FarDepth")->DoubleText())/2);
-			mapImageID.emplace(imageData.ID, static_cast<IIndex>(scene.images.size()));
-			scene.images.emplace_back(std::move(imageData));
+			else
+				imageData.avgDepth = 0;
 			++nPoses;
 		}
 	}
@@ -643,6 +645,10 @@ bool ParseSceneXML(Scene& scene, PlatformDistCoeffs& pltDistCoeffs, size_t& nCam
 // undistort image using Brown's model
 bool UndistortBrown(Image& imageData, uint32_t ID, const DistCoeff& dc, const String& pathData)
 {
+	// do we need to undistort?
+	if (!dc.HasDistortion())
+		return true;
+
 	// load image pixels
 	if (!imageData.ReloadImage())
 		return false;
@@ -653,7 +659,7 @@ bool UndistortBrown(Image& imageData, uint32_t ID, const DistCoeff& dc, const St
 	#if 1
 	const KMatrix& K(prevK);
 	#else
-	const KMatrix K(cv::getOptimalNewCameraMatrix(prevK, distCoeffs, imageData.GetSize(), 0.0, cv::Size(), NULL, true));
+	const KMatrix K(cv::getOptimalNewCameraMatrix(prevK, distCoeffs, imageData.size(), 0.0, cv::Size(), NULL, true));
 	ASSERT(K(0,2) == Camera::ComposeK(prevK(0,0), prevK(1,1), imageData.width(), imageData.height())(0,2));
 	ASSERT(K(1,2) == Camera::ComposeK(prevK(0,0), prevK(1,1), imageData.width(), imageData.height())(1,2));
 	if (K.IsEqual(prevK)) {
@@ -686,13 +692,13 @@ void AssignPoints(const Image& imageData, uint32_t ID, PointCloud& pointcloud)
 	const Depth thCloseDepth(0.1f);
 
 	// sort points by depth
-	IndexScoreArr points(0, pointcloud.points.GetSize());
+	IndexScoreArr points(0, pointcloud.points.size());
 	FOREACH(p, pointcloud.points) {
 		const PointCloud::Point& X(pointcloud.points[p]);
 		const float d((float)imageData.camera.PointDepth(X));
 		if (d <= 0)
 			continue;
-		points.AddConstruct((uint32_t)p, d);
+		points.emplace_back((uint32_t)p, d);
 	}
 	points.Sort();
 
@@ -710,7 +716,7 @@ void AssignPoints(const Image& imageData, uint32_t ID, PointCloud& pointcloud)
 		ASSERT(Xc.z > 0);
 		// skip point if the (cos) angle between
 		// its normal and the point to view vector is negative
-		if (!pointcloud.normals.IsEmpty() && Xc.dot(pointcloud.normals[pPD->idx]) > 0)
+		if (!pointcloud.normals.empty() && Xc.dot(pointcloud.normals[pPD->idx]) > 0)
 			continue;
 		const Point2f x(imageData.camera.TransformPointC2I(Xc));
 		const ImageRef ir(ROUND2INT(x));
@@ -787,23 +793,21 @@ int main(int argc, LPCTSTR* argv)
 
 	Scene scene(OPT::nMaxThreads);
 
-	// read the 3D point-cloud if available
-	if (!OPT::strPointsFileName.empty()) {
-		if (!scene.pointcloud.Load(MAKE_PATH_SAFE(OPT::strPointsFileName)))
-			return EXIT_FAILURE;
-		ASSERT(!scene.pointcloud.IsValid());
-		scene.pointcloud.pointViews.Resize(scene.pointcloud.points.GetSize());
-	}
-
 	// convert data from Metashape format to OpenMVS
 	PlatformDistCoeffs pltDistCoeffs;
 	size_t nCameras(0), nPoses(0);
 	if (!ParseSceneXML(scene, pltDistCoeffs, nCameras, nPoses))
 		return EXIT_FAILURE;
 
+	// read the 3D point-cloud if available
+	if (!OPT::strPointsFileName.empty() && !scene.pointcloud.Load(MAKE_PATH_SAFE(OPT::strPointsFileName)))
+		return EXIT_FAILURE;
+	const bool bAssignPoints(!scene.pointcloud.IsEmpty() && !scene.pointcloud.IsValid());
+	if (bAssignPoints)
+		scene.pointcloud.pointViews.resize(scene.pointcloud.GetSize());
+
 	// undistort images
 	const String pathData(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputImageFolder));
-	const bool bAssignPoints(!scene.pointcloud.IsEmpty() && !scene.pointcloud.IsValid());
 	Util::Progress progress(_T("Processed images"), scene.images.size());
 	GET_LOGCONSOLE().Pause();
 	#ifdef _USE_OPENMP
@@ -818,6 +822,8 @@ int main(int argc, LPCTSTR* argv)
 	#endif
 		++progress;
 		Image& imageData = scene.images[ID];
+		if (!imageData.IsValid())
+			continue;
 		if (!UndistortBrown(imageData, ID, pltDistCoeffs[imageData.platformID][imageData.cameraID], pathData)) {
 			#ifdef _USE_OPENMP
 			bAbort = true;
@@ -838,18 +844,46 @@ int main(int argc, LPCTSTR* argv)
 	#endif
 	progress.close();
 
-	// filter invalid points
-	if (!scene.pointcloud.IsEmpty()) {
+	if (scene.pointcloud.IsValid()) {
+		// filter invalid points
 		RFOREACH(i, scene.pointcloud.points)
 			if (scene.pointcloud.pointViews[i].size() < 2)
 				scene.pointcloud.RemovePoint(i);
+		// compute average scene depth per image
+		if (!std::any_of(scene.images.begin(), scene.images.end(), [](const Image& imageData) { return imageData.avgDepth > 0; })) {
+			std::vector<float> avgDepths(scene.images.size(), 0.f);
+			std::vector<uint32_t> numDepths(scene.images.size(), 0u);
+			FOREACH(idxPoint, scene.pointcloud.points) {
+				const Point3 X(scene.pointcloud.points[idxPoint]);
+				for (const PointCloud::View& idxImage: scene.pointcloud.pointViews[idxPoint]) {
+					const Image& imageData = scene.images[idxImage];
+					const float depth((float)imageData.camera.PointDepth(X));
+					if (depth > 0) {
+						avgDepths[idxImage] += depth;
+						++numDepths[idxImage];
+					}
+				}
+			}
+			FOREACH(idxImage, scene.images) {
+				Image& imageData = scene.images[idxImage];
+				if (numDepths[idxImage] > 0)
+					imageData.avgDepth = avgDepths[idxImage] / numDepths[idxImage];
+			}
+		}
 	}
 
+	// print average scene depth per image stats
+	MeanStdMinMax<float,double> acc;
+	for (const Image& imageData: scene.images)
+		if (imageData.avgDepth > 0)
+			acc.Update(imageData.avgDepth);
+
 	// write OpenMVS input data
 	scene.Save(MAKE_PATH_SAFE(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
 
-	VERBOSE("Exported data: %u platforms, %u cameras, %u poses, %u images, %u vertices (%s)",
+	VERBOSE("Exported data: %u platforms, %u cameras, %u poses, %u images, %u vertices, %g min / %g mean (%g std) / %g max average scene depth per image (%s)",
 			scene.platforms.size(), nCameras, nPoses, scene.images.size(), scene.pointcloud.GetSize(),
+			acc.minVal, acc.GetMean(), acc.GetStdDev(), acc.maxVal,
 			TD_TIMER_GET_FMT().c_str());
 
 	Finalize();
diff --git a/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp b/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
index edc7ccb81..6902a0974 100644
--- a/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
+++ b/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
@@ -415,7 +415,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	Util::ensureValidPath(OPT::strInputFileName);
 	Util::ensureUnifySlash(OPT::strInputFileName);
 	Util::ensureUnifySlash(OPT::strOutputImageFolder);
-	Util::ensureDirectorySlash(OPT::strOutputImageFolder);
+	Util::ensureFolderSlash(OPT::strOutputImageFolder);
 	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
 	OPT::bOpenMVS2OpenMVG = (strInputFileNameExt == MVS_EXT);
 	#ifdef _USE_OPENMVG
@@ -440,10 +440,10 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	Util::ensureUnifySlash(OPT::strOutputFileName);
 	if (OPT::bOpenMVS2OpenMVG) {
 		if (OPT::strOutputFileName.IsEmpty())
-			OPT::strOutputFileName = Util::getFullFileName(OPT::strInputFileName);
+			OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName);
 	} else {
 		if (OPT::strOutputFileName.IsEmpty())
-			OPT::strOutputFileName = Util::getFullFileName(OPT::strInputFileName) + MVS_EXT;
+			OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + MVS_EXT;
 	}
 
 	// initialize global options
@@ -602,7 +602,7 @@ int main(int argc, LPCTSTR* argv)
 			image.name = view.second->s_Img_path;
 			Util::ensureUnifySlash(image.name);
 			Util::strTrim(image.name, PATH_SEPARATOR_STR);
-			String pathRoot(sfm_data.s_root_path); Util::ensureDirectorySlash(pathRoot);
+			String pathRoot(sfm_data.s_root_path); Util::ensureFolderSlash(pathRoot);
 			const String srcImage(MAKE_PATH_FULL(WORKING_FOLDER_FULL, pathRoot+image.name));
 			image.name = MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputImageFolder+image.name);
 			Util::ensureDirectory(image.name);
diff --git a/apps/InterfacePolycam/CMakeLists.txt b/apps/InterfacePolycam/CMakeLists.txt
new file mode 100644
index 000000000..de8fda125
--- /dev/null
+++ b/apps/InterfacePolycam/CMakeLists.txt
@@ -0,0 +1,13 @@
+if(MSVC)
+	FILE(GLOB LIBRARY_FILES_C "*.cpp" "*.rc")
+else()
+	FILE(GLOB LIBRARY_FILES_C "*.cpp")
+endif()
+FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
+
+cxx_executable_with_flags(InterfacePolycam "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+
+# Install
+INSTALL(TARGETS InterfacePolycam
+	EXPORT OpenMVSTargets
+	RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin)
diff --git a/apps/InterfacePolycam/InterfacePolycam.cpp b/apps/InterfacePolycam/InterfacePolycam.cpp
new file mode 100644
index 000000000..9100b1b5b
--- /dev/null
+++ b/apps/InterfacePolycam/InterfacePolycam.cpp
@@ -0,0 +1,363 @@
+/*
+ * InterfacePolycam.cpp
+ *
+ * Copyright (c) 2014-2023 SEACAVE
+ *
+ * Author(s):
+ *
+ *      cDc <cdc.seacave@gmail.com>
+ *
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Affero General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Affero General Public License for more details.
+ *
+ * You should have received a copy of the GNU Affero General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * Additional Terms:
+ *
+ *      You are required to preserve legal notices and author attributions in
+ *      that material or in the Appropriate Legal Notices displayed by works
+ *      containing it.
+ */
+
+#include "../../libs/MVS/Common.h"
+#include "../../libs/MVS/Scene.h"
+#include "../../libs/IO/json.hpp"
+#include <boost/program_options.hpp>
+
+using namespace MVS;
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+#define APPNAME _T("InterfacePolycam")
+#define MVS_EXT _T(".mvs")
+#define JSON_EXT _T(".json")
+#define DEPTH_EXT _T(".png")
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+namespace {
+
+namespace OPT {
+String strInputFileName;
+String strOutputFileName;
+unsigned nArchiveType;
+int nProcessPriority;
+unsigned nMaxThreads;
+String strConfigFileName;
+boost::program_options::variables_map vm;
+} // namespace OPT
+
+// initialize and parse the command line parameters
+bool Initialize(size_t argc, LPCTSTR* argv)
+{
+	// initialize log and console
+	OPEN_LOG();
+	OPEN_LOGCONSOLE();
+
+	// group of options allowed only on command line
+	boost::program_options::options_description generic("Generic options");
+	generic.add_options()
+		("help,h", "imports SfM scene stored Polycam format")
+		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
+		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
+		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
+		#if TD_VERBOSE != TD_VERBOSE_OFF
+		("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
+			#if TD_VERBOSE == TD_VERBOSE_DEBUG
+			3
+			#else
+			2
+			#endif
+			), "verbosity level")
+		#endif
+		;
+
+	// group of options allowed both on command line and in config file
+	boost::program_options::options_description config("Main options");
+	config.add_options()
+		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input folder containing Polycam camera poses, images and depth-maps")
+		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the scene")
+		;
+
+	boost::program_options::options_description cmdline_options;
+	cmdline_options.add(generic).add(config);
+
+	boost::program_options::options_description config_file_options;
+	config_file_options.add(config);
+
+	boost::program_options::positional_options_description p;
+	p.add("input-file", -1);
+
+	try {
+		// parse command line options
+		boost::program_options::store(boost::program_options::command_line_parser((int)argc, argv).options(cmdline_options).positional(p).run(), OPT::vm);
+		boost::program_options::notify(OPT::vm);
+		INIT_WORKING_FOLDER;
+		// parse configuration file
+		std::ifstream ifs(MAKE_PATH_SAFE(OPT::strConfigFileName));
+		if (ifs) {
+			boost::program_options::store(parse_config_file(ifs, config_file_options), OPT::vm);
+			boost::program_options::notify(OPT::vm);
+		}
+	}
+	catch (const std::exception& e) {
+		LOG(e.what());
+		return false;
+	}
+
+	// initialize the log file
+	OPEN_LOGFILE(MAKE_PATH(APPNAME _T("-")+Util::getUniqueName(0)+_T(".log")).c_str());
+
+	// print application details: version and command line
+	Util::LogBuild();
+	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
+
+	// validate input
+	Util::ensureValidFolderPath(OPT::strInputFileName);
+	const bool bInvalidCommand(OPT::strInputFileName.empty());
+	if (OPT::vm.count("help") || bInvalidCommand) {
+		boost::program_options::options_description visible("Available options");
+		visible.add(generic).add(config);
+		GET_LOG() << visible;
+	}
+	if (bInvalidCommand)
+		return false;
+
+	// initialize optional options
+	Util::ensureValidFolderPath(OPT::strOutputFileName);
+	if (OPT::strOutputFileName.empty())
+		OPT::strOutputFileName = "scene" MVS_EXT;
+
+	// initialize global options
+	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
+	#ifdef _USE_OPENMP
+	if (OPT::nMaxThreads != 0)
+		omp_set_num_threads(OPT::nMaxThreads);
+	#endif
+
+	#ifdef _USE_BREAKPAD
+	// start memory dumper
+	MiniDumper::Create(APPNAME, WORKING_FOLDER);
+	#endif
+	return true;
+}
+
+// finalize application instance
+void Finalize()
+{
+	#if TD_VERBOSE != TD_VERBOSE_OFF
+	// print memory statistics
+	Util::LogMemoryInfo();
+	#endif
+
+	CLOSE_LOGFILE();
+	CLOSE_LOGCONSOLE();
+	CLOSE_LOG();
+}
+
+// parse image containing calibration, pose, and depth-map information
+bool ParseImage(Scene& scene, const String& imagePath, const String& cameraPath, const String& depthPath,
+	const std::unordered_map<String, IIndex>& mapImageName)
+{
+	nlohmann::json data = nlohmann::json::parse(std::ifstream(cameraPath));
+	if (data.empty())
+		return false;
+	const cv::Size resolution(data["width"].get<uint32_t>(), data["height"].get<uint32_t>());
+	// set platform
+	const IIndex platformID = scene.platforms.size();
+	Platform& platform = scene.platforms.AddEmpty();
+	Platform::Camera& camera = platform.cameras.AddEmpty();
+	camera.K = KMatrix::IDENTITY;
+	camera.R = RMatrix::IDENTITY;
+	camera.C = CMatrix::ZERO;
+	camera.K(0,0) = data["fx"].get<float>();
+	camera.K(1,1) = data["fy"].get<float>();
+	camera.K(0,2) = data["cx"].get<float>();
+	camera.K(1,2) = data["cy"].get<float>();
+	// set image
+	const IIndex imageID = scene.images.size();
+	Image& imageData = scene.images.AddEmpty();
+	imageData.platformID = platformID;
+	imageData.cameraID = 0; // only one camera per platform supported by this format
+	imageData.poseID = NO_ID;
+	imageData.ID = imageID;
+	imageData.name = imagePath;
+	ASSERT(Util::isFullPath(imageData.name));
+	// set image resolution
+	imageData.width = resolution.width;
+	imageData.height = resolution.height;
+	imageData.scale = 1;
+	// set camera pose
+	imageData.poseID = platform.poses.size();
+	Platform::Pose& pose = platform.poses.AddEmpty();
+	const Eigen::Matrix3d R_session_arkitcam{
+		{data["t_00"].get<double>(), data["t_01"].get<double>(), data["t_02"].get<double>()},
+		{data["t_10"].get<double>(), data["t_11"].get<double>(), data["t_12"].get<double>()},
+		{data["t_20"].get<double>(), data["t_21"].get<double>(), data["t_22"].get<double>()}
+	};
+	const Eigen::Vector3d t_session_arkitcam{
+		data["t_03"].get<double>(),
+		data["t_13"].get<double>(),
+		data["t_23"].get<double>()
+	};
+	const Eigen::Affine3d T_session_arkitcam{
+		Eigen::Affine3d(Eigen::Translation3d(t_session_arkitcam)) * Eigen::Affine3d(Eigen::AngleAxisd(R_session_arkitcam))
+	};
+	const Eigen::Affine3d T_cam_arkitcam{
+		Eigen::AngleAxisd(M_PI, Eigen::Vector3d::UnitX())
+	};
+	const Eigen::Matrix4d P{
+		(T_cam_arkitcam * T_session_arkitcam.inverse()).matrix()
+	};
+	pose.R = P.topLeftCorner<3, 3>().eval();
+	pose.R.EnforceOrthogonality();
+	const Point3d t = P.topRightCorner<3, 1>().eval();
+	pose.C = pose.R.t() * (-t);
+	imageData.camera = platform.GetCamera(imageData.cameraID, imageData.poseID);
+	// set image neighbors if available
+	nlohmann::json::const_iterator itNeighbors = data.find("neighbors");
+	if (itNeighbors != data.end()) {
+		const std::vector<uint64_t> neighborTimestamps = itNeighbors->get<std::vector<uint64_t>>();
+		for (uint64_t timestamp: neighborTimestamps) {
+			const String neighborName = std::to_string(timestamp);
+			const IIndex neighborID = mapImageName.at(neighborName);
+			if (neighborID != imageData.ID)
+				imageData.neighbors.emplace_back(ViewScore{ViewInfo{neighborID, 0, 1.f, FD2R(15.f), 0.5f}, 3.f});
+		}
+	}
+	// load and convert depth-map
+	DepthMap depthMap; {
+		constexpr double depthScale{1000.0};
+		const cv::Mat imgDepthMap = cv::imread(depthPath, cv::IMREAD_ANYDEPTH);
+		if (imgDepthMap.empty())
+			return false;
+		imgDepthMap.convertTo(depthMap, CV_32FC1, 1.0/depthScale);
+	}
+	IIndexArr IDs = {imageData.ID};
+	IDs.JoinFunctor(imageData.neighbors.size(), [&imageData](IIndex i) {
+		return imageData.neighbors[i].idx.ID;
+	});
+	double dMin, dMax;
+	cv::minMaxIdx(depthMap, &dMin, &dMax, NULL, NULL, depthMap > 0);
+	const NormalMap normalMap;
+	const ConfidenceMap confMap;
+	const ViewsMap viewsMap;
+	if (!ExportDepthDataRaw(MAKE_PATH(String::FormatString("depth%04u.dmap", imageData.ID)),
+		imageData.name, IDs, resolution,
+		camera.K, pose.R, pose.C,
+		(float)dMin, (float)dMax,
+		depthMap, normalMap, confMap, viewsMap))
+		return false;
+	return true;
+}
+
+// parse scene stored in Polycam format
+bool ParseScene(Scene& scene, const String& scenePath)
+{
+	#ifdef _SUPPORT_CPP17
+	size_t numCorrectedFolders(0), numFolders(0);
+	for (const auto& file: std::filesystem::directory_iterator(scenePath.c_str())) {
+		if (file.path().stem() == "corrected_cameras" ||
+			file.path().stem() == "corrected_depth" ||
+			file.path().stem() == "corrected_images")
+			++numCorrectedFolders;
+		else
+		if (file.path().stem() == "cameras" ||
+			file.path().stem() == "depth" ||
+			file.path().stem() == "images")
+			++numFolders;
+	}
+	if (numFolders != 3) {
+		VERBOSE("Invalid scene folder");
+		return false;
+	}
+	if (numCorrectedFolders == 3) {
+		// corrected data
+		CLISTDEFIDX(String, IIndex) imagePaths;
+		for (const auto& file: std::filesystem::directory_iterator((scenePath + "corrected_images").c_str()))
+			imagePaths.emplace_back(file.path().string());
+		VERBOSE("Parsing corrected data: %u...", imagePaths.size());
+		std::unordered_map<String, IIndex> mapImageName;
+		mapImageName.reserve(imagePaths.size());
+		for (String& imagePath: imagePaths) {
+			Util::ensureValidPath(imagePath);
+			mapImageName.emplace(Util::getFileName(imagePath), static_cast<IIndex>(mapImageName.size()));
+		}
+		for (const String& imagePath: imagePaths) {
+			const String imageName = Util::getFileName(imagePath);
+			const String cameraPath(scenePath + "corrected_cameras" + PATH_SEPARATOR_STR + imageName + JSON_EXT);
+			const String depthPath(scenePath + "corrected_depth" + PATH_SEPARATOR_STR + imageName + DEPTH_EXT);
+			if (!ParseImage(scene, imagePath, cameraPath, depthPath, mapImageName))
+				return false;
+		}
+	} else {
+		// raw data
+		CLISTDEFIDX(String, IIndex) imagePaths;
+		for (const auto& file: std::filesystem::directory_iterator((scenePath + "images").c_str()))
+			imagePaths.emplace_back(file.path().string());
+		VERBOSE("Parsing raw data: %u...", imagePaths.size());
+		std::unordered_map<String, IIndex> mapImageName;
+		mapImageName.reserve(imagePaths.size());
+		for (String& imagePath: imagePaths) {
+			Util::ensureValidPath(imagePath);
+			mapImageName.emplace(Util::getFileName(imagePath), static_cast<IIndex>(mapImageName.size()));
+		}
+		for (const String& imagePath: imagePaths) {
+			const String imageName = Util::getFileName(imagePath);
+			const String cameraPath(scenePath + "cameras" + PATH_SEPARATOR_STR + imageName + JSON_EXT);
+			const String depthPath(scenePath + "depth" + PATH_SEPARATOR_STR + imageName + DEPTH_EXT);
+			if (!ParseImage(scene, imagePath, cameraPath, depthPath, mapImageName))
+				return false;
+		}
+	}
+	return true;
+	#else
+	return false;
+	#endif
+}
+
+} // unnamed namespace
+
+int main(int argc, LPCTSTR* argv)
+{
+	#ifdef _DEBUGINFO
+	// set _crtBreakAlloc index to stop in <dbgheap.c> at allocation
+	_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);// | _CRTDBG_CHECK_ALWAYS_DF);
+	#endif
+
+	if (!Initialize(argc, argv))
+		return EXIT_FAILURE;
+
+	TD_TIMER_START();
+
+	Scene scene(OPT::nMaxThreads);
+
+	// convert data from Polycam format to OpenMVS
+	if (!ParseScene(scene, MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName)))
+		return EXIT_FAILURE;
+
+	// write OpenMVS input data
+	scene.Save(MAKE_PATH_SAFE(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
+
+	VERBOSE("Exported data: %u platforms, %u cameras, %u poses, %u images (%s)",
+			scene.platforms.size(), scene.images.size(), scene.images.size(), scene.images.size(),
+			TD_TIMER_GET_FMT().c_str());
+
+	Finalize();
+	return EXIT_SUCCESS;
+}
+/*----------------------------------------------------------------*/
diff --git a/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp b/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
index 8398b6cf4..3bab64dc1 100644
--- a/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
+++ b/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
@@ -270,9 +270,9 @@ void UndistortImage(const Camera& camera, const REAL& k1, const Image8U3 imgIn,
 		for (int u=0; u<w; ++u) {
 			// compute corresponding coordinates in the distorted image
 			pt.x = (float)u; pt.y = (float)v;
-			Camera::NormalizeProjection(invK.val, pt.ptr(), pt.ptr());
+			NormalizeProjection(invK.val, pt.ptr(), pt.ptr());
 			pt = DistortPointR1(pt, k1);
-			Camera::NormalizeProjection(K.val, pt.ptr(), pt.ptr());
+			NormalizeProjection(K.val, pt.ptr(), pt.ptr());
 
 			// if coordinates in range
 			Pixel8U& col = imgOut(v,u);
diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index 9e61d153b..43586e20c 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -54,6 +54,8 @@ namespace OPT {
 String strInputFileName;
 String strOutputFileName;
 String strMeshFileName;
+String strImportROIFileName;
+String strImagePointsFileName;
 bool bMeshExport;
 float fDistInsert;
 bool bUseOnlyROI;
@@ -74,7 +76,6 @@ float fSplitMaxArea;
 unsigned nArchiveType;
 int nProcessPriority;
 unsigned nMaxThreads;
-String strImagePointsFileName;
 String strExportType;
 String strConfigFileName;
 boost::program_options::variables_map vm;
@@ -143,6 +144,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("mesh-file", boost::program_options::value<std::string>(&OPT::strMeshFileName), "mesh file name to clean (skips the reconstruction step)")
 		("mesh-export", boost::program_options::value(&OPT::bMeshExport)->default_value(false), "just export the mesh contained in loaded project")
 		("split-max-area", boost::program_options::value(&OPT::fSplitMaxArea)->default_value(0.f), "maximum surface area that a sub-mesh can contain (0 - disabled)")
+		("import-roi-file", boost::program_options::value<std::string>(&OPT::strImportROIFileName), "ROI file name to be imported into the scene")
 		("image-points-file", boost::program_options::value<std::string>(&OPT::strImagePointsFileName), "input filename containing the list of points from an image to project on the mesh (optional)")
 		;
 
@@ -181,7 +183,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
-	Util::ensureUnifySlash(OPT::strInputFileName);
 	if (OPT::vm.count("help") || OPT::strInputFileName.IsEmpty()) {
 		boost::program_options::options_description visible("Available options");
 		visible.add(generic).add(config_main).add(config_clean);
@@ -193,7 +194,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
-	Util::ensureUnifySlash(OPT::strOutputFileName);
+	Util::ensureValidPath(OPT::strImportROIFileName);
 	Util::ensureValidPath(OPT::strImagePointsFileName);
 	if (OPT::strOutputFileName.IsEmpty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_mesh.mvs");
@@ -344,7 +345,7 @@ int main(int argc, LPCTSTR* argv)
 
 	Scene scene(OPT::nMaxThreads);
 	// load project
-	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName), OPT::fSplitMaxArea > 0 || OPT::fDecimateMesh < 1 || OPT::nTargetFaceNum > 0))
+	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName), OPT::fSplitMaxArea > 0 || OPT::fDecimateMesh < 1 || OPT::nTargetFaceNum > 0 || !OPT::strImportROIFileName.empty()))
 		return EXIT_FAILURE;
 	const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
 	if (OPT::fSplitMaxArea > 0) {
@@ -356,6 +357,24 @@ int main(int argc, LPCTSTR* argv)
 		return EXIT_SUCCESS;
 	}
 
+	if (!OPT::strImportROIFileName.empty()) {
+		std::ifstream fs(MAKE_PATH_SAFE(OPT::strImportROIFileName));
+		if (!fs)
+			return EXIT_FAILURE;
+		fs >> scene.obb;
+		if (OPT::bCrop2ROI && !scene.mesh.IsEmpty() && !scene.IsValid()) {
+			TD_TIMER_START();
+			const size_t numVertices = scene.mesh.vertices.size();
+			const size_t numFaces = scene.mesh.faces.size();
+			scene.mesh.RemoveFacesOutside(scene.obb);
+			VERBOSE("Mesh trimmed to ROI: %u vertices and %u faces removed (%s)",
+				numVertices-scene.mesh.vertices.size(), numFaces-scene.mesh.faces.size(), TD_TIMER_GET_FMT().c_str());
+			scene.mesh.Save(baseFileName+OPT::strExportType);
+			Finalize();
+			return EXIT_SUCCESS;
+		}
+	}
+
 	if (!OPT::strImagePointsFileName.empty() && !scene.mesh.IsEmpty()) {
 		Export3DProjections(scene, MAKE_PATH_SAFE(OPT::strImagePointsFileName));
 		return EXIT_SUCCESS;
diff --git a/apps/RefineMesh/RefineMesh.cpp b/apps/RefineMesh/RefineMesh.cpp
index 7b68db118..c0960935d 100644
--- a/apps/RefineMesh/RefineMesh.cpp
+++ b/apps/RefineMesh/RefineMesh.cpp
@@ -115,14 +115,14 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("close-holes", boost::program_options::value(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the input surface (0 - disabled)")
 		("ensure-edge-size", boost::program_options::value(&OPT::nEnsureEdgeSize)->default_value(1), "ensure edge size and improve vertex valence of the input surface (0 - disabled, 1 - auto, 2 - force)")
 		("max-face-area", boost::program_options::value(&OPT::nMaxFaceArea)->default_value(32), "maximum face area projected in any pair of images that is not subdivided (0 - disabled)")
-		("scales", boost::program_options::value(&OPT::nScales)->default_value(3), "how many iterations to run mesh optimization on multi-scale images")
+		("scales", boost::program_options::value(&OPT::nScales)->default_value(2), "how many iterations to run mesh optimization on multi-scale images")
 		("scale-step", boost::program_options::value(&OPT::fScaleStep)->default_value(0.5f), "image scale factor used at each mesh optimization step")
-		("reduce-memory", boost::program_options::value(&OPT::nReduceMemory)->default_value(1), "recompute some data in order to reduce memory requirements")
 		("alternate-pair", boost::program_options::value(&OPT::nAlternatePair)->default_value(0), "refine mesh using an image pair alternatively as reference (0 - both, 1 - alternate, 2 - only left, 3 - only right)")
 		("regularity-weight", boost::program_options::value(&OPT::fRegularityWeight)->default_value(0.2f), "scalar regularity weight to balance between photo-consistency and regularization terms during mesh optimization")
 		("rigidity-elasticity-ratio", boost::program_options::value(&OPT::fRatioRigidityElasticity)->default_value(0.9f), "scalar ratio used to compute the regularity gradient as a combination of rigidity and elasticity")
 		("gradient-step", boost::program_options::value(&OPT::fGradientStep)->default_value(45.05f), "gradient step to be used instead (0 - auto)")
 		("planar-vertex-ratio", boost::program_options::value(&OPT::fPlanarVertexRatio)->default_value(0.f), "threshold used to remove vertices on planar patches (0 - disabled)")
+		("reduce-memory", boost::program_options::value(&OPT::nReduceMemory)->default_value(1), "recompute some data in order to reduce memory requirements")
 		;
 
 	// hidden options, allowed both on command line and
@@ -167,7 +167,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
-	Util::ensureUnifySlash(OPT::strInputFileName);
 	if (OPT::vm.count("help") || OPT::strInputFileName.IsEmpty()) {
 		boost::program_options::options_description visible("Available options");
 		visible.add(generic).add(config);
@@ -179,7 +178,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
-	Util::ensureUnifySlash(OPT::strOutputFileName);
 	if (OPT::strOutputFileName.IsEmpty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_refine.mvs");
 
@@ -252,11 +250,12 @@ int main(int argc, LPCTSTR* argv)
 						  OPT::fDecimateMesh, OPT::nCloseHoles, OPT::nEnsureEdgeSize,
 						  OPT::nMaxFaceArea,
 						  OPT::nScales, OPT::fScaleStep,
-						  OPT::nReduceMemory, OPT::nAlternatePair,
+						  OPT::nAlternatePair,
 						  OPT::fRegularityWeight,
 						  OPT::fRatioRigidityElasticity,
+						  OPT::fGradientStep,
 						  OPT::fPlanarVertexRatio,
-						  OPT::fGradientStep))
+						  OPT::nReduceMemory))
 		return EXIT_FAILURE;
 	VERBOSE("Mesh refinement completed: %u vertices, %u faces (%s)", scene.mesh.vertices.GetSize(), scene.mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
 
diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index e2b1dc1c4..8409a2ef2 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -63,6 +63,7 @@ unsigned nTextureSizeMultiple;
 unsigned nRectPackingHeuristic;
 uint32_t nColEmpty;
 float fSharpnessWeight;
+int nIgnoreMaskLabel;
 unsigned nOrthoMapResolution;
 unsigned nArchiveType;
 int nProcessPriority;
@@ -122,6 +123,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("empty-color", boost::program_options::value(&OPT::nColEmpty)->default_value(0x00FF7F27), "color used for faces not covered by any image")
 		("sharpness-weight", boost::program_options::value(&OPT::fSharpnessWeight)->default_value(0.5f), "amount of sharpness to be applied on the texture (0 - disabled)")
 		("orthographic-image-resolution", boost::program_options::value(&OPT::nOrthoMapResolution)->default_value(0), "orthographic image resolution to be generated from the textured mesh - the mesh is expected to be already geo-referenced or at least properly oriented (0 - disabled)")
+		("ignore-mask-label", boost::program_options::value(&OPT::nIgnoreMaskLabel)->default_value(-1), "label value to ignore in the image mask, stored in the MVS scene or next to each image with '.mask.png' extension (-1 - auto estimate mask for lens distortion, -2 - disabled)")
 		;
 
 	// hidden options, allowed both on command line and
@@ -167,7 +169,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
-	Util::ensureUnifySlash(OPT::strInputFileName);
 	if (OPT::vm.count("help") || OPT::strInputFileName.IsEmpty()) {
 		boost::program_options::options_description visible("Available options");
 		visible.add(generic).add(config);
@@ -189,7 +190,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
-	Util::ensureUnifySlash(OPT::strOutputFileName);
 	if (OPT::strOutputFileName.IsEmpty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_texture.mvs");
 	Util::ensureValidPath(OPT::strViewsFileName);
@@ -305,7 +305,9 @@ int main(int argc, LPCTSTR* argv)
 
 	// compute mesh texture
 	TD_TIMER_START();
-	if (!scene.TextureMesh(OPT::nResolutionLevel, OPT::nMinResolution, OPT::minCommonCameras, OPT::fOutlierThreshold, OPT::fRatioDataSmoothness, OPT::bGlobalSeamLeveling, OPT::bLocalSeamLeveling, OPT::nTextureSizeMultiple, OPT::nRectPackingHeuristic, Pixel8U(OPT::nColEmpty), OPT::fSharpnessWeight, views))
+	if (!scene.TextureMesh(OPT::nResolutionLevel, OPT::nMinResolution, OPT::minCommonCameras, OPT::fOutlierThreshold, OPT::fRatioDataSmoothness,
+						   OPT::bGlobalSeamLeveling, OPT::bLocalSeamLeveling, OPT::nTextureSizeMultiple, OPT::nRectPackingHeuristic, Pixel8U(OPT::nColEmpty),
+						   OPT::fSharpnessWeight, OPT::nIgnoreMaskLabel, views))
 		return EXIT_FAILURE;
 	VERBOSE("Mesh texturing completed: %u vertices, %u faces (%s)", scene.mesh.vertices.GetSize(), scene.mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
 
diff --git a/apps/TransformScene/TransformScene.cpp b/apps/TransformScene/TransformScene.cpp
index 580750fac..ec293a7af 100644
--- a/apps/TransformScene/TransformScene.cpp
+++ b/apps/TransformScene/TransformScene.cpp
@@ -50,7 +50,9 @@ namespace OPT {
 	String strInputFileName;
 	String strOutputFileName;
 	String strAlignFileName;
+	String strTransformFileName;
 	String strTransferTextureFileName;
+	String strIndicesFileName;
 	bool bComputeVolume;
 	float fPlaneThreshold;
 	float fSampleMesh;
@@ -58,6 +60,7 @@ namespace OPT {
 	unsigned nArchiveType;
 	int nProcessPriority;
 	unsigned nMaxThreads;
+	String strExportType;
 	String strConfigFileName;
 	boost::program_options::variables_map vm;
 } // namespace OPT
@@ -75,6 +78,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "produce this help message")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
+		("export-type", boost::program_options::value<std::string>(&OPT::strExportType)->default_value(_T("ply")), "file type used to export the 3D scene (ply, obj, glb or gltf)")
 		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
@@ -95,7 +99,9 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input scene filename")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the scene")
 		("align-file,a", boost::program_options::value<std::string>(&OPT::strAlignFileName), "input scene filename to which the scene will be cameras aligned")
-		("transfer-texture-file,t", boost::program_options::value<std::string>(&OPT::strTransferTextureFileName), "input mesh filename to which the texture of the scene's mesh will be transfered to (the two meshes should be aligned and the new mesh to have UV-map)")
+		("transform-file,t", boost::program_options::value<std::string>(&OPT::strTransformFileName), "input transform filename by which the scene will transformed")
+		("transfer-texture-file", boost::program_options::value<std::string>(&OPT::strTransferTextureFileName), "input mesh filename to which the texture of the scene's mesh will be transfered to (the two meshes should be aligned and the new mesh to have UV-map)")
+		("indices-file", boost::program_options::value<std::string>(&OPT::strIndicesFileName), "input indices filename to be used with ex. texture transfer to select a subset of the scene's mesh")
 		("compute-volume", boost::program_options::value(&OPT::bComputeVolume)->default_value(false), "compute the volume of the given watertight mesh, or else try to estimate the ground plane and assume the mesh is bounded by it")
 		("plane-threshold", boost::program_options::value(&OPT::fPlaneThreshold)->default_value(0.f), "threshold used to estimate the ground plane (<0 - disabled, 0 - auto, >0 - desired threshold)")
 		("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(-300000.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
@@ -138,9 +144,12 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
 	Util::ensureValidPath(OPT::strAlignFileName);
+	Util::ensureValidPath(OPT::strTransformFileName);
 	Util::ensureValidPath(OPT::strTransferTextureFileName);
+	Util::ensureValidPath(OPT::strIndicesFileName);
 	const String strInputFileNameExt(Util::getFileExt(OPT::strInputFileName).ToLower());
-	const bool bInvalidCommand(OPT::strInputFileName.empty() || (OPT::strAlignFileName.empty() && OPT::strTransferTextureFileName.empty() && !OPT::bComputeVolume));
+	const bool bInvalidCommand(OPT::strInputFileName.empty() ||
+		(OPT::strAlignFileName.empty() && OPT::strTransformFileName.empty() && OPT::strTransferTextureFileName.empty() && !OPT::bComputeVolume));
 	if (OPT::vm.count("help") || bInvalidCommand) {
 		boost::program_options::options_description visible("Available options");
 		visible.add(generic).add(config);
@@ -148,10 +157,20 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	}
 	if (bInvalidCommand)
 		return false;
+	OPT::strExportType = OPT::strExportType.ToLower();
+	if (OPT::strExportType == _T("obj"))
+		OPT::strExportType =  _T(".obj");
+	else
+	if (OPT::strExportType == _T("glb"))
+		OPT::strExportType =  _T(".glb");
+	else
+	if (OPT::strExportType == _T("gltf"))
+		OPT::strExportType =  _T(".gltf");
+	else
+		OPT::strExportType =  _T(".ply");
 
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
-	Util::ensureUnifySlash(OPT::strOutputFileName);
 	if (OPT::strOutputFileName.IsEmpty())
 		OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + "_transformed" MVS_EXT;
 
@@ -199,7 +218,7 @@ int main(int argc, LPCTSTR* argv)
 	Scene scene(OPT::nMaxThreads);
 
 	// load given scene
-	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName), !OPT::strTransferTextureFileName.empty() || OPT::bComputeVolume))
+	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName), !OPT::strTransformFileName.empty() || !OPT::strTransferTextureFileName.empty() || OPT::bComputeVolume))
 		return EXIT_FAILURE;
 
 	if (!OPT::strAlignFileName.empty()) {
@@ -212,15 +231,51 @@ int main(int argc, LPCTSTR* argv)
 		VERBOSE("Scene aligned to the given reference scene (%s)", TD_TIMER_GET_FMT().c_str());
 	}
 
+	if (!OPT::strTransformFileName.empty()) {
+		// transform this scene by the given transform matrix
+		std::ifstream file(MAKE_PATH_SAFE(OPT::strTransformFileName));
+		std::string strLine;
+		std::vector<double> transformValues;
+		while (std::getline(file, strLine)) {
+			errno = 0;
+			char* strEnd{};
+			const double v = std::strtod(strLine.c_str(), &strEnd);
+			if (errno == ERANGE || strEnd == strLine.c_str())
+				continue;
+			transformValues.push_back(v);
+		}
+		if (transformValues.size() != 12 &&
+			(transformValues.size() != 16 || transformValues[12] != 0 || transformValues[13] != 0 || transformValues[14] != 0 || transformValues[15] != 1)) {
+			VERBOSE("error: invalid transform");
+			return EXIT_FAILURE;
+		}
+		Matrix3x4 transform;
+		for (unsigned i=0; i<12; ++i)
+			transform[i] = transformValues[i];
+		scene.Transform(transform);
+		VERBOSE("Scene transformed by the given transformation matrix (%s)", TD_TIMER_GET_FMT().c_str());
+	}
+
 	if (!OPT::strTransferTextureFileName.empty()) {
 		// transfer the texture of the scene's mesh to the new mesh;
 		// the two meshes should be aligned and the new mesh to have UV-coordinates
 		Mesh newMesh;
 		if (!newMesh.Load(MAKE_PATH_SAFE(OPT::strTransferTextureFileName)))
 			return EXIT_FAILURE;
-		if (!scene.mesh.TransferTexture(newMesh))
+		Mesh::FaceIdxArr faceSubsetIndices;
+		if (!OPT::strIndicesFileName.empty()) {
+			std::ifstream in(OPT::strIndicesFileName.c_str());
+			while (true) {
+				String index;
+				in >> index;
+				if (!in.good())
+					break;
+				faceSubsetIndices.emplace_back(index.From<Mesh::FIndex>());
+			}
+		}
+		if (!scene.mesh.TransferTexture(newMesh, faceSubsetIndices))
 			return EXIT_FAILURE;
-		newMesh.Save(Util::getFileFullName(MAKE_PATH_SAFE(OPT::strOutputFileName)) + _T(".ply"));
+		newMesh.Save(Util::getFileFullName(MAKE_PATH_SAFE(OPT::strOutputFileName)) + OPT::strExportType);
 		VERBOSE("Texture transfered (%s)", TD_TIMER_GET_FMT().c_str());
 		return EXIT_SUCCESS;
 	}
@@ -229,14 +284,19 @@ int main(int argc, LPCTSTR* argv)
 		// compute the mesh volume
 		const REAL volume(scene.ComputeLeveledVolume(OPT::fPlaneThreshold, OPT::fSampleMesh, OPT::nUpAxis));
 		VERBOSE("Mesh volume: %g (%s)", volume, TD_TIMER_GET_FMT().c_str());
-		scene.mesh.Save(Util::getFileFullName(MAKE_PATH_SAFE(OPT::strOutputFileName)) + _T(".ply"));
+		scene.mesh.Save(Util::getFileFullName(MAKE_PATH_SAFE(OPT::strOutputFileName)) + OPT::strExportType);
 		if (scene.images.empty())
 			return EXIT_SUCCESS;
 		OPT::nArchiveType = ARCHIVE_DEFAULT;
 	}
 
 	// write transformed scene
-	scene.Save(MAKE_PATH_SAFE(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
+	if (scene.IsValid())
+		scene.Save(MAKE_PATH_SAFE(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
+	else if (!scene.pointcloud.IsEmpty())
+		scene.pointcloud.Save(Util::getFileFullName(MAKE_PATH_SAFE(OPT::strOutputFileName)) + ".ply");
+	else if (!scene.mesh.IsEmpty())
+		scene.mesh.Save(Util::getFileFullName(MAKE_PATH_SAFE(OPT::strOutputFileName)) + ".ply");
 
 	Finalize();
 	return EXIT_SUCCESS;
diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index 1ea0431a8..69683dc75 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -235,7 +235,10 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
 		return false;
 	if (meshFileName) {
 		// load given mesh
-		scene.mesh.Load(meshFileName);
+		if (!scene.mesh.Load(meshFileName)) {
+			// try to load as a point-cloud
+			scene.pointcloud.Load(meshFileName);
+		}
 	}
 	if (!scene.pointcloud.IsEmpty())
 		scene.pointcloud.PrintStatistics(scene.images.data(), &scene.obb);
diff --git a/build/Templates/ConfigLocal.h.in b/build/Templates/ConfigLocal.h.in
index 24ba104d3..39ac2925a 100644
--- a/build/Templates/ConfigLocal.h.in
+++ b/build/Templates/ConfigLocal.h.in
@@ -24,6 +24,9 @@
 // Boost support
 #cmakedefine _USE_BOOST
 
+// Boost with Python support
+#cmakedefine _USE_BOOST_PYTHON
+
 // Eigen Matrix & Linear Algebra Library
 #cmakedefine _USE_EIGEN
 
@@ -53,6 +56,9 @@
 // Fast float to int support
 #cmakedefine _USE_FAST_FLOAT2INT
 
+// Fast INVSQRT support
+#cmakedefine _USE_FAST_INVSQRT
+
 // Fast CBRT support
 #cmakedefine _USE_FAST_CBRT
 
diff --git a/build/Utils.cmake b/build/Utils.cmake
index 0cb2d8e1a..9c2430faa 100644
--- a/build/Utils.cmake
+++ b/build/Utils.cmake
@@ -646,12 +646,8 @@ macro(optimize_default_compiler_settings)
 
 	# Extra link libs if the user selects building static libs:
 	# Android does not need these settings because they are already set by toolchain file
-	if(CMAKE_COMPILER_IS_GNUCXX AND NOT ANDROID)
-		if(BUILD_SHARED_LIBS)
-			set(BUILD_EXTRA_FLAGS "${BUILD_EXTRA_FLAGS} -fPIC")
-		else()
-			set(BUILD_EXTRA_LINKER_LIBS "${BUILD_EXTRA_LINKER_LIBS} stdc++")
-		endif()
+	if(CMAKE_COMPILER_IS_GNUCXX AND NOT ANDROID AND NOT BUILD_SHARED_LIBS)
+		set(BUILD_EXTRA_LINKER_LIBS "${BUILD_EXTRA_LINKER_LIBS} stdc++")
 	endif()
 
 	# Add user supplied extra options (optimization, etc...)
@@ -839,6 +835,9 @@ function(cxx_library_with_type name folder type cxx_flags)
   endif()
   # Set project folder
   set_target_properties("${name}" PROPERTIES FOLDER "${folder}")
+  if(BUILD_SHARED_LIBS OR PARTIAL_BUILD_SHARED_LIBS)
+    set_target_properties("${name}" PROPERTIES POSITION_INDEPENDENT_CODE ON)
+  endif()
 endfunction()
 
 # cxx_executable_with_flags(name cxx_flags libs srcs...)
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 8fb77b421..95a5c5d43 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -1,48 +1,15 @@
-FROM ubuntu:22.04
+ARG BASE_IMAGE=ubuntu:22.04
 
-ARG MASTER
+FROM $BASE_IMAGE
+
+ARG MASTER=0
 ARG USER_ID
 ARG GROUP_ID
+ARG CUDA=0
 
-# Prepare and empty machine for building:
-RUN apt-get update -yq
-RUN apt-get -yq install build-essential git cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev
-
-# Eigen 
-RUN git clone https://gitlab.com/libeigen/eigen --branch 3.4
-RUN mkdir eigen_build
-RUN cd eigen_build &&\
-	cmake . ../eigen &&\
-	make && make install &&\
-	cd ..
-
-# Boost
-RUN apt-get -y install libboost-iostreams-dev libboost-program-options-dev libboost-system-dev libboost-serialization-dev
-
-# OpenCV
-RUN DEBIAN_FRONTEND=noninteractive apt-get install -yq libopencv-dev
-
-# CGAL
-RUN apt-get -yq install libcgal-dev libcgal-qt5-dev
-
-# VCGLib
-RUN git clone https://github.com/cdcseacave/VCG.git vcglib
-
-# Build from stable openMVS release or the latest commit from the develop branch
-RUN if [[ -n "$MASTER" ]] ; then git clone https://github.com/cdcseacave/openMVS.git --branch master ; else git clone https://github.com/cdcseacave/openMVS.git --branch develop ; fi
-
-RUN mkdir openMVS_build
-RUN cd openMVS_build &&\
-	cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT=/vcglib -DOpenMVS_USE_CUDA=OFF
-
-# Install OpenMVS library
-RUN cd openMVS_build &&\
-	make -j4 &&\
-	make install
+COPY buildInDocker.sh /tmp/buildInDocker.sh
+RUN /tmp/buildInDocker.sh --cuda $CUDA --user_id $USER_ID --group_id $GROUP_ID --master $MASTER && rm /tmp/buildInDocker.sh
 
-# Set permissions such that the output files can be accessed by the current user (optional)
-RUN addgroup --gid $GROUP_ID user &&\
-	adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID user
 USER user
 
 # Add binaries to path
diff --git a/docker/Dockerfile_CUDA b/docker/Dockerfile_CUDA
deleted file mode 100644
index 46170d2ef..000000000
--- a/docker/Dockerfile_CUDA
+++ /dev/null
@@ -1,51 +0,0 @@
-FROM nvidia/cuda:11.7.1-devel-ubuntu22.04
-
-ARG MASTER
-ARG USER_ID
-ARG GROUP_ID
-
-# Prepare and empty machine for building:
-RUN apt-get update -yq
-RUN apt-get -yq install build-essential git cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev
-
-ENV PATH=/usr/local/cuda/bin:$PATH
-
-# Eigen 
-RUN git clone https://gitlab.com/libeigen/eigen --branch 3.4
-RUN mkdir eigen_build
-RUN cd eigen_build &&\
-	cmake . ../eigen -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda/ &&\
-	make && make install &&\
-	cd ..
-
-# Boost
-RUN apt-get -yq install libboost-iostreams-dev libboost-program-options-dev libboost-system-dev libboost-serialization-dev
-
-# OpenCV
-RUN DEBIAN_FRONTEND=noninteractive apt-get -yq install libopencv-dev
-
-# CGAL
-RUN apt-get -yq install libcgal-dev libcgal-qt5-dev
-
-# VCGLib
-RUN git clone https://github.com/cdcseacave/VCG.git vcglib
-
-# Build from stable openMVS release or the latest commit from the develop branch
-RUN if [[ -n "$MASTER" ]] ; then git clone https://github.com/cdcseacave/openMVS.git --branch master ; else git clone https://github.com/cdcseacave/openMVS.git --branch develop ; fi
-
-RUN mkdir openMVS_build
-RUN cd openMVS_build &&\
-	cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT=/vcglib -DOpenMVS_USE_CUDA=ON -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs/ -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda/ -DCUDA_INCLUDE_DIRS=/usr/local/cuda/include/ -DCUDA_CUDART_LIBRARY=/usr/local/cuda/lib64 -DCUDA_NVCC_EXECUTABLE=/usr/local/cuda/bin/
-
-# Install OpenMVS library
-RUN cd openMVS_build &&\
-	make -j4 &&\
-	make install
-
-# Set permissions such that the output files can be accessed by the current user (optional)
-RUN addgroup --gid $GROUP_ID user &&\
-	adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID user
-USER user
-
-# Add binaries to path
-ENV PATH /usr/local/bin/OpenMVS:$PATH
diff --git a/docker/README.md b/docker/README.md
index d0008569e..f80a7cefc 100644
--- a/docker/README.md
+++ b/docker/README.md
@@ -6,7 +6,9 @@
 1. Make sure docker is installed on your local machine.
 2. Run the 'easy start' script, using the *full local path* to the folder with your SFM input files (perhaps output from openMVG or COLMAP):
 
-	./QUICK_START.sh /path/where/your/SFM/results/are
+```
+./QUICK_START.sh /path/where/your/SFM/results/are
+```
 
 3. This will put you in a directory (inside the Docker container) mounted to the local path you specified so that you can run openMVS binaries on your own SFM inputs. Enjoy!
 
@@ -14,12 +16,20 @@
 
 You can also build the docker image from scratch based on the **Dockerfile** (perhaps with your own changes / modifications) using:
 
-        ./buildFromScratch.sh /path/where/your/SFM/results/are
+```sh
+./buildFromScratch.sh --workspace /path/where/your/SFM/results/are
+# With CUDA support:
+./buildFromScratch.sh --cuda --workspace /path/where/your/SFM/results/are
+# From master branch:
+./buildFromScratch.sh --master --workspace /path/where/your/SFM/results/are
+```
 
 ## NOTES
 
 + This workflow is pinned to build from [openMVS 1.0](https://github.com/cdcseacave/openMVS/releases/tag/v1.0). To build from a different release, or build from the latest commit on master, open up the Dockerfile and comment/uncomment as directed.
 
++ Display is also supported inside docker. If there are any issues with `xauth` make sure to run `xhost +` on your host machine.
+
 + Running openMVS binaries can use a lot of memory (depending on the size of your data set/ imagery). Docker has a relatively small default memory setting (2Gb on Mac). You will probably want to increase this before you run any larger workflows. From Docker desktop on Mac for example, just open the Docker GUI, go to the *Advanced* tab and increase via the slider:
 
 ![alt text][dockerParam]
diff --git a/docker/buildFromScratch.cmd b/docker/buildFromScratch.cmd
new file mode 100644
index 000000000..bbb10a12b
--- /dev/null
+++ b/docker/buildFromScratch.cmd
@@ -0,0 +1,49 @@
+@echo off
+
+set WORKSPACE=%CD%
+
+set CUDA_BUILD_ARGS=
+set CUDA_RUNTIME_ARGS=
+set CUDA_CONTAINER_SUFFIX=
+set MASTER_ARGS=
+set DISPLAY_ARGS=
+
+:parse_args
+if "%~1" == "" goto build_image
+if "%~1" == "--cuda" (
+  set "CUDA_BUILD_ARGS=--build-arg CUDA=1 --build-arg BASE_IMAGE=nvidia/cuda:11.8.0-devel-ubuntu22.04"
+  set "CUDA_RUNTIME_ARGS=--gpus all -e NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics"
+  set "CUDA_CONTAINER_SUFFIX=-cuda"
+  shift
+  goto parse_args
+)
+if "%~1" == "--master" (
+  set "MASTER_ARGS=--build-arg MASTER=1"
+  shift
+  goto parse_args
+)
+if "%~1" == "--workspace" (
+  set "WORKSPACE=%~2"
+  shift
+  shift
+  goto parse_args
+)
+if "%~1" == "--gui" (
+  set "XSOCK=\\.\pipe\X11-unix"
+  set "XAUTH=%TEMP%\docker.xauth"
+  set "DISPLAY_ARGS=-e ^"DISPLAY=%COMPUTERNAME%:0.0^" -v ^"%XAUTH%:%XAUTH%:rw^" -e ^"XAUTHORITY=%XAUTH%^""
+  shift
+  goto parse_args
+)
+echo Unknown argument: %~1
+exit /b 1
+
+:build_image
+echo Running with workspace: %WORKSPACE%
+
+docker build -t="openmvs-ubuntu%CUDA_CONTAINER_SUFFIX%" --build-arg "USER_ID=1001" --build-arg "GROUP_ID=1001" %CUDA_BUILD_ARGS% %MASTER_ARGS% .
+if errorlevel 1 exit /b 1
+
+docker run %CUDA_RUNTIME_ARGS% --entrypoint bash --ipc=host --shm-size=4gb -w /work -v "%WORKSPACE%:/work" %DISPLAY_ARGS% -it openmvs-ubuntu%CUDA_CONTAINER_SUFFIX%
+
+exit /b 0
diff --git a/docker/buildFromScratch.sh b/docker/buildFromScratch.sh
index c3b873d74..3d3e6dd73 100755
--- a/docker/buildFromScratch.sh
+++ b/docker/buildFromScratch.sh
@@ -1,2 +1,47 @@
-docker build --no-cache -t="openmvs-ubuntu" --build-arg USER_ID=$(id -u) --build-arg GROUP_ID=$(id -g) .;
-docker run --entrypoint bash -w /work -v $1:/work -it openmvs-ubuntu;
+#!/bin/bash
+
+# Example use:
+# ./buildFromScratch.sh --cuda --master --workspace /home/username/datapath/
+
+WORKSPACE=$(pwd)
+
+
+while [[ $# -gt 0 ]]; do
+    key="$1"
+    case $key in
+        --cuda)
+            CUDA_BUILD_ARGS="--build-arg CUDA=1 --build-arg BASE_IMAGE=nvidia/cuda:11.8.0-devel-ubuntu22.04"
+
+            CUDA_RUNTIME_ARGS="--gpus all -e NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics"
+
+            CUDA_CONTAINER_SUFFIX="-cuda"
+            shift
+            ;;
+        --master)
+            MASTER_ARGS="--build-arg MASTER=1"
+            shift
+            ;;
+        --workspace)
+            WORKSPACE=$2
+            shift
+            shift
+            ;;
+        *)
+            echo "Unknown argument: $key"
+            exit 1
+            ;;
+    esac
+done
+
+# no need to do `xhost +` anymore
+XSOCK=/tmp/.X11-unix
+XAUTH=/tmp/.docker.xauth
+touch $XAUTH
+xauth nlist "$DISPLAY" | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
+DISPLAY_ARGS="--volume=$XSOCK:$XSOCK:rw --volume=$XAUTH:$XAUTH:rw --env=XAUTHORITY=$XAUTH --env=DISPLAY=unix$DISPLAY"
+
+echo Running with workspace: "$WORKSPACE"
+
+docker build -t="openmvs-ubuntu$CUDA_CONTAINER_SUFFIX" --build-arg "USER_ID=$(id -u)" --build-arg "GROUP_ID=$(id -g)" $CUDA_BUILD_ARGS $MASTER_ARGS . 
+docker run $CUDA_RUNTIME_ARGS --entrypoint bash --ipc=host --shm-size=4gb -w /work -v "$WORKSPACE:/work" $DISPLAY_ARGS -it openmvs-ubuntu$CUDA_CONTAINER_SUFFIX
+
diff --git a/docker/buildFromScratch_CUDA.sh b/docker/buildFromScratch_CUDA.sh
deleted file mode 100644
index eb9149fd5..000000000
--- a/docker/buildFromScratch_CUDA.sh
+++ /dev/null
@@ -1,2 +0,0 @@
-docker build --no-cache -t="openmvs-ubuntu" --build-arg USER_ID=$(id -u) --build-arg GROUP_ID=$(id -g) --file Dockerfile_CUDA .;
-docker run --gpus=all --entrypoint bash -w /work -v $1:/work -it openmvs-ubuntu;
diff --git a/docker/buildInDocker.sh b/docker/buildInDocker.sh
new file mode 100755
index 000000000..c33917a88
--- /dev/null
+++ b/docker/buildInDocker.sh
@@ -0,0 +1,95 @@
+#!/bin/bash
+
+set -e
+
+# Parse arguments to see if --cuda was passed and equals 1 or --master was passed and equals 1
+while [[ $# -gt 0 ]]; do
+    key="$1"
+    case $key in
+        --cuda)
+            CUDA="$2"
+            shift
+            shift
+            ;;
+        --master)
+            MASTER="$2"
+            shift
+            shift
+            ;;
+        --user_id)
+            USER_ID="$2"
+            shift
+            shift
+            ;;
+        --group_id)
+            GROUP_ID="$2"
+            shift
+            shift
+            ;;
+        *)
+            echo "Unknown argument: $key"
+            exit 1
+            ;;
+    esac
+done
+
+if [[ "$CUDA" == "1" ]]; then
+    echo "Building with CUDA support"
+    EIGEN_BUILD_ARG="-DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda/"
+    OPENMVS_BUILD_ARG="-DOpenMVS_USE_CUDA=ON -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs/ -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda/ -DCUDA_INCLUDE_DIRS=/usr/local/cuda/include/ -DCUDA_CUDART_LIBRARY=/usr/local/cuda/lib64 -DCUDA_NVCC_EXECUTABLE=/usr/local/cuda/bin/"
+else
+    echo "Building without CUDA support"
+    EIGEN_BUILD_ARG=""
+    OPENMVS_BUILD_ARG="-DOpenMVS_USE_CUDA=OFF"
+fi
+
+if [[ "$MASTER" == "1" ]]; then
+    echo "Pulling from master branch"
+else
+    echo "Pulling from develop branch"
+fi
+
+apt-get update -yq
+
+apt-get -yq install build-essential git cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev libglew-dev libglfw3-dev
+
+# Eigen
+git clone https://gitlab.com/libeigen/eigen --branch 3.4
+mkdir eigen_build
+cd eigen_build &&\
+    cmake . ../eigen $EIGEN_BUILD_ARG &&\
+    make && make install &&\
+    cd .. && rm -rf eigen_build eigen
+
+# Boost
+apt-get -y install libboost-iostreams-dev libboost-program-options-dev libboost-system-dev libboost-serialization-dev
+
+# OpenCV
+DEBIAN_FRONTEND=noninteractive apt-get install -yq libopencv-dev
+
+# CGAL
+apt-get -yq install libcgal-dev libcgal-qt5-dev
+
+# VCGLib
+git clone https://github.com/cdcseacave/VCG.git vcglib
+
+# Build from stable openMVS release or the latest commit from the develop branch
+if [[ "$MASTER" == "1" ]]; then
+    git clone https://github.com/cdcseacave/openMVS.git --branch master
+else
+    git clone https://github.com/cdcseacave/openMVS.git --branch develop
+fi
+
+mkdir openMVS_build
+cd openMVS_build &&\
+    cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT=/vcglib $OPENMVS_BUILD_ARG
+
+# Install OpenMVS library
+make -j4 &&\
+    make install &&\
+    cd .. && rm -rf openMVS_build vcglib
+
+# Set permissions such that the output files can be accessed by the current user (optional)
+echo "Setting permissions for user $USER_ID:$GROUP_ID"
+addgroup --gid $GROUP_ID user &&\
+    adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID user
diff --git a/libs/Common/Common.h b/libs/Common/Common.h
index 5db8877eb..eba19aeae 100644
--- a/libs/Common/Common.h
+++ b/libs/Common/Common.h
@@ -91,10 +91,10 @@ extern String g_strWorkingFolderFull; // full path to current folder
 #define WORKING_FOLDER_FULL	g_strWorkingFolderFull // full path to current folder
 #endif
 #define INIT_WORKING_FOLDER	{SEACAVE::Util::ensureValidFolderPath(WORKING_FOLDER); WORKING_FOLDER_FULL = SEACAVE::Util::getFullPath(WORKING_FOLDER);} // initialize working folders
-#define MAKE_PATH(str)		SEACAVE::Util::getSimplifiedPath(WORKING_FOLDER+(str)) // add working directory to the given file name
-#define MAKE_PATH_SAFE(str)	(SEACAVE::Util::isFullPath(str) ? SEACAVE::String(str) : MAKE_PATH(str)) // add working directory to the given file name only if not full path already
+#define MAKE_PATH(str)		SEACAVE::Util::getSimplifiedPath(WORKING_FOLDER+SEACAVE::String(str)) // add working directory to the given file name
+#define MAKE_PATH_SAFE(str)	(SEACAVE::Util::isFullPath((str).c_str()) ? SEACAVE::String(str) : MAKE_PATH(str)) // add working directory to the given file name only if not full path already
 #define MAKE_PATH_FULL(p,s) (SEACAVE::Util::isFullPath((s).c_str()) ? SEACAVE::String(s) : SEACAVE::Util::getSimplifiedPath((p)+(s))) // add the given path to the given file name
-#define MAKE_PATH_REL(p,s)	((s).compare(0,(p).size(),p) ? SEACAVE::String(s) : SEACAVE::String(SEACAVE::String((s).substr((p).size())))) // remove the given path from the given file name
+#define MAKE_PATH_REL(p,s)	SEACAVE::Util::getRelativePath(p,s) // remove the given path from the given file name
 #define GET_PATH_FULL(str)	(SEACAVE::Util::isFullPath((str).c_str()) ? SEACAVE::Util::getFilePath(str) : SEACAVE::Util::getSimplifiedPath(WORKING_FOLDER_FULL+SEACAVE::Util::getFilePath(str))) // retrieve the full path to the given file
 
 
@@ -188,6 +188,8 @@ typedef TOBB<float, 2> OBB2f;
 typedef TOBB<float, 3> OBB3f;
 typedef TRay<float, 2> Ray2f;
 typedef TRay<float, 3> Ray3f;
+typedef TLine<float, 2> Line2f;
+typedef TLine<float, 3> Line3f;
 typedef TTriangle<float, 2> Triangle2f;
 typedef TTriangle<float, 3> Triangle3f;
 typedef TPlane<float> Planef;
@@ -209,6 +211,8 @@ typedef TOBB<double, 2> OBB2d;
 typedef TOBB<double, 3> OBB3d;
 typedef TRay<double, 2> Ray2d;
 typedef TRay<double, 3> Ray3d;
+typedef TLine<double, 2> Line2d;
+typedef TLine<double, 3> Line3d;
 typedef TTriangle<double, 2> Triangle2d;
 typedef TTriangle<double, 3> Triangle3d;
 typedef TPlane<double> Planed;
@@ -230,6 +234,8 @@ typedef TOBB<REAL, 2> OBB2;
 typedef TOBB<REAL, 3> OBB3;
 typedef TRay<REAL, 2> Ray2;
 typedef TRay<REAL, 3> Ray3;
+typedef TLine<REAL, 2> Line2;
+typedef TLine<REAL, 3> Line3;
 typedef TTriangle<REAL, 2> Triangle2;
 typedef TTriangle<REAL, 3> Triangle3;
 typedef TPlane<REAL> Plane;
diff --git a/libs/Common/Config.h b/libs/Common/Config.h
index cc37aab23..d74b5c8df 100644
--- a/libs/Common/Config.h
+++ b/libs/Common/Config.h
@@ -10,6 +10,8 @@
 
 // Configure everything that needs to be globally known
 
+#include "ConfigLocal.h"
+
 
 // D E F I N E S ///////////////////////////////////////////////////
 
diff --git a/libs/Common/Filters.h b/libs/Common/Filters.h
index 55218cc59..e84f3547c 100644
--- a/libs/Common/Filters.h
+++ b/libs/Common/Filters.h
@@ -103,7 +103,7 @@ class BufferedOutputStream : public LayerOutputStream<managed> {
 				if (this->s->write(buf, bufSize) == STREAM_ERROR)
 					return STREAM_ERROR;
 				pos = 0;
-				if (len >= bufSize) {
+				if (len < bufSize) {
 					if (this->s->write(b, len) == STREAM_ERROR)
 						return STREAM_ERROR;
 					break;
diff --git a/libs/Common/Line.h b/libs/Common/Line.h
new file mode 100644
index 000000000..408a1a864
--- /dev/null
+++ b/libs/Common/Line.h
@@ -0,0 +1,95 @@
+////////////////////////////////////////////////////////////////////
+// Line.h
+//
+// Copyright 2023 cDc@seacave
+// Distributed under the Boost Software License, Version 1.0
+// (See http://www.boost.org/LICENSE_1_0.txt)
+
+#ifndef __SEACAVE_LINE_H__
+#define __SEACAVE_LINE_H__
+
+
+// I N C L U D E S /////////////////////////////////////////////////
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+namespace SEACAVE {
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+// Generic line class represented as two points
+template <typename TYPE, int DIMS>
+class TLine
+{
+	STATIC_ASSERT(DIMS > 1 && DIMS <= 3);
+
+public:
+	typedef Eigen::Matrix<TYPE,DIMS,1> VECTOR;
+	typedef Eigen::Matrix<TYPE,DIMS,1> POINT;
+	typedef SEACAVE::TAABB<TYPE,DIMS> AABB;
+	typedef SEACAVE::TRay<TYPE,DIMS> RAY;
+	enum { numScalar = (2*DIMS) };
+	enum { numParams = numScalar-1 };
+
+	POINT	pt1, pt2;	// line description
+
+	//---------------------------------------
+
+	inline TLine() {}
+	inline TLine(const POINT& pt1, const POINT& pt2);
+	template <typename CTYPE>
+	inline TLine(const TLine<CTYPE,DIMS>&);
+
+	inline void Set(const POINT& pt1, const POINT& pt2);
+
+	int Optimize(const POINT*, size_t, int maxIters=100);
+	template <typename RobustNormFunctor>
+	int Optimize(const POINT*, size_t, const RobustNormFunctor& robust, int maxIters=100);
+
+	inline TYPE GetLength() const;
+	inline TYPE GetLengthSq() const;
+	inline POINT GetCenter() const;
+	inline VECTOR GetDir() const;
+	inline VECTOR GetNormDir() const;
+	inline RAY GetRay() const;
+
+	inline bool IsSame(const TLine&, TYPE th) const;
+
+	bool Intersects(const AABB& aabb) const;
+	bool Intersects(const AABB& aabb, TYPE& t) const;
+
+	inline TYPE DistanceSq(const POINT&) const;
+	inline TYPE Distance(const POINT&) const;
+
+	inline TYPE Classify(const POINT&) const;
+	inline POINT ProjectPoint(const POINT&) const;
+
+	inline TYPE& operator [] (BYTE i) { ASSERT(i<numScalar); return pt1.data()[i]; }
+	inline TYPE operator [] (BYTE i) const { ASSERT(i<numScalar); return pt1.data()[i]; }
+
+	#ifdef _USE_BOOST
+	// implement BOOST serialization
+	template<class Archive>
+	void serialize(Archive& ar, const unsigned int /*version*/) {
+		ar & pt1;
+		ar & pt2;
+	}
+	#endif
+}; // class TLine
+/*----------------------------------------------------------------*/
+
+template <typename TYPE, typename TYPEW=TYPE>
+struct FitLineOnline : FitPlaneOnline<TYPE,TYPEW,true> {
+	template <typename TYPEE> TPoint3<TYPEE> GetLine(TLine<TYPEE,3>& line) const;
+};
+/*----------------------------------------------------------------*/
+
+
+#include "Line.inl"
+/*----------------------------------------------------------------*/
+
+} // namespace SEACAVE
+
+#endif // __SEACAVE_LINE_H__
diff --git a/libs/Common/Line.inl b/libs/Common/Line.inl
new file mode 100644
index 000000000..bd7897cd8
--- /dev/null
+++ b/libs/Common/Line.inl
@@ -0,0 +1,215 @@
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+
+// C L A S S  //////////////////////////////////////////////////////
+
+template <typename TYPE, int DIMS>
+inline TLine<TYPE,DIMS>::TLine(const POINT& _pt1, const POINT& _pt2)
+	:
+	pt1(_pt1), pt2(_pt2)
+{
+	ASSERT(!ISZERO((_pt1-_pt2).norm()));
+} // constructor
+template <typename TYPE, int DIMS>
+template <typename CTYPE>
+inline TLine<TYPE,DIMS>::TLine(const TLine<CTYPE,DIMS>& rhs)
+	:
+	pt1(rhs.pt1.template cast<TYPE>()), pt2(rhs.pt2.template cast<TYPE>())
+{
+} // copy constructor
+/*----------------------------------------------------------------*/
+
+
+// set attributes
+template <typename TYPE, int DIMS>
+inline void TLine<TYPE,DIMS>::Set(const POINT& _pt1, const POINT& _pt2)
+{
+	ASSERT(!ISZERO((_pt1-_pt2).norm()));
+	pt1 = _pt1;
+	pt2 = _pt2;
+}
+/*----------------------------------------------------------------*/
+
+
+// least squares refinement of the line to the given 3D point set
+// (return the number of iterations)
+template <typename TYPE, int DIMS>
+template <typename RobustNormFunctor>
+int TLine<TYPE,DIMS>::Optimize(const POINT* points, size_t size, const RobustNormFunctor& robust, int maxIters)
+{
+	ASSERT(DIMS == 3);
+	ASSERT(size >= numParams);
+	struct OptimizationFunctor {
+		const POINT* points;
+		size_t size;
+		double scale;
+		const RobustNormFunctor& robust;
+		// construct with the data points
+		OptimizationFunctor(const POINT* _points, size_t _size, const RobustNormFunctor& _robust)
+			: points(_points), size(_size), robust(_robust) { ASSERT(size < std::numeric_limits<int>::max()); }
+		static void Residuals(const double* x, int nPoints, const void* pData, double* fvec, double* fjac, int* /*info*/) {
+			const OptimizationFunctor& data = *reinterpret_cast<const OptimizationFunctor*>(pData);
+			ASSERT((size_t)nPoints == data.size && fvec != NULL && fjac == NULL);
+			TLine<double,DIMS> line;
+			for (int j=0; j<DIMS; ++j)
+				line.pt1(j) = x[j];
+			DirScale2Vector(x+DIMS, &data.scale, line.pt2.data());
+			line.pt2 += line.pt1;
+			for (size_t i=0; i<data.size; ++i)
+				fvec[i] = data.robust(line.Distance(data.points[i].template cast<double>()));
+		}
+	} functor(points, size, robust);
+	double arrParams[numParams];
+	for (int j=0; j<DIMS; ++j)
+		arrParams[j] = (double)pt1(j);
+	POINT dir(pt2-pt1);
+	Vector2DirScale(dir.data(), arrParams+DIMS, &functor.scale);
+	lm_control_struct control = {1.e-6, 1.e-7, 1.e-8, 1.e-8, 100.0, maxIters}; // lm_control_float;
+	lm_status_struct status;
+	lmmin(numParams, arrParams, (int)size, &functor, OptimizationFunctor::Residuals, &control, &status);
+	switch (status.info) {
+	//case 4:
+	case 5:
+	case 6:
+	case 7:
+	case 8:
+	case 9:
+	case 10:
+	case 11:
+	case 12:
+		DEBUG_ULTIMATE("error: refine line: %s", lm_infmsg[status.info]);
+		return 0;
+	}
+	for (int j=0; j<DIMS; ++j)
+		pt1(j) = (TYPE)arrParams[j];
+	DirScale2Vector(arrParams+DIMS, &functor.scale, dir.data());
+	pt2 = pt1+dir;
+	return status.nfev;
+}
+template <typename TYPE, int DIMS>
+int TLine<TYPE,DIMS>::Optimize(const POINT* points, size_t size, int maxIters)
+{
+	const auto identity = [](double x) { return x; };
+	return Optimize(points, size, identity, maxIters);
+} // Optimize
+/*----------------------------------------------------------------*/
+
+
+// get attributes
+template <typename TYPE, int DIMS>
+inline TYPE TLine<TYPE,DIMS>::GetLength() const
+{
+	return (pt2 - pt1).norm();
+}
+template <typename TYPE, int DIMS>
+inline TYPE TLine<TYPE,DIMS>::GetLengthSq() const
+{
+	return (pt2 - pt1).squaredNorm();
+}
+template <typename TYPE, int DIMS>
+inline typename TLine<TYPE,DIMS>::POINT TLine<TYPE,DIMS>::GetCenter() const
+{
+	return (pt2 + pt1) / TYPE(2);
+}
+template <typename TYPE, int DIMS>
+inline typename TLine<TYPE,DIMS>::VECTOR TLine<TYPE,DIMS>::GetDir() const
+{
+	return (pt2 - pt1);
+}
+template <typename TYPE, int DIMS>
+inline typename TLine<TYPE,DIMS>::VECTOR TLine<TYPE,DIMS>::GetNormDir() const
+{
+	return (pt2 - pt1).normalized();
+}
+template <typename TYPE, int DIMS>
+inline typename TLine<TYPE,DIMS>::RAY TLine<TYPE,DIMS>::GetRay() const
+{
+	return RAY(pt1, GetNormDir());
+}
+/*----------------------------------------------------------------*/
+
+
+template <typename TYPE, int DIMS>
+inline bool TLine<TYPE,DIMS>::IsSame(const TLine& line, TYPE th) const
+{
+	const TYPE thSq(SQUARE(th));
+	const VECTOR l(pt2-pt1);
+	const TYPE invLenSq(INVERT(l.squaredNorm()));
+	const VECTOR r1(pt1-line.pt1);
+	const TYPE dSq1((l.cross(r1)).squaredNorm()*invLenSq);
+	if (dSq1 > thSq)
+		return false;
+	const VECTOR r2(pt1-line.pt2);
+	const TYPE dSq2((l.cross(r2)).squaredNorm()*invLenSq);
+	return dSq2 <= thSq;
+}
+/*----------------------------------------------------------------*/
+
+
+// test for intersection with aabb
+template <typename TYPE, int DIMS>
+bool TLine<TYPE,DIMS>::Intersects(const AABB &aabb) const
+{
+	return GetRay().Intersects(aabb);
+} // Intersects(AABB)
+template <typename TYPE, int DIMS>
+bool TLine<TYPE,DIMS>::Intersects(const AABB &aabb, TYPE& t) const
+{
+	return GetRay().Intersects(aabb, t);
+} // Intersects(AABB)
+/*----------------------------------------------------------------*/
+
+// Computes the distance between the line and a point.
+template <typename TYPE, int DIMS>
+inline TYPE TLine<TYPE,DIMS>::DistanceSq(const POINT& pt) const
+{
+	const VECTOR l(pt2-pt1), r(pt1-pt);
+	if (DIMS == 2)
+		return TYPE(SQUARE(l[0]*r[1]-r[0]*l[1])/(l[0]*l[0]+l[1]*l[1]));
+	ASSERT(DIMS == 3);
+	return TYPE((l.cross(r)).squaredNorm()/l.squaredNorm());
+} // DistanceSq(POINT)
+template <typename TYPE, int DIMS>
+inline TYPE TLine<TYPE,DIMS>::Distance(const POINT& pt) const
+{
+	return SQRT(DistanceSq(pt));
+} // Distance(POINT)
+/*----------------------------------------------------------------*/
+
+
+// Computes the position on the line segment of the point projection.
+// Returns 0 if it coincides with the first point, and 1 if it coincides with the second point.
+template <typename TYPE, int DIMS>
+inline TYPE TLine<TYPE,DIMS>::Classify(const POINT& p) const
+{
+	const VECTOR vL(pt2 - pt1);
+	ASSERT(!ISZERO(vL.squaredNorm()));
+	const VECTOR vP(p - pt1);
+	return vL.dot(vP) / vL.squaredNorm();
+} // Classify(POINT)
+// Calculate point's projection on this line (closest point to this line).
+template <typename TYPE, int DIMS>
+inline typename TLine<TYPE,DIMS>::POINT TLine<TYPE,DIMS>::ProjectPoint(const POINT& p) const
+{
+	const VECTOR vL(pt2 - pt1);
+	ASSERT(!ISZERO(vL.squaredNorm()));
+	const VECTOR vP(p - pt1);
+	return pt1 + vL * (vL.dot(vP) / vL.squaredNorm());
+} // ProjectPoint
+/*----------------------------------------------------------------*/
+
+
+template <typename TYPE, typename TYPEW>
+template <typename TYPEE>
+TPoint3<TYPEE> FitLineOnline<TYPE,TYPEW>::GetLine(TLine<TYPEE,3>& line) const
+{
+	TPoint3<TYPEW> avg, dir;
+	const TPoint3<TYPEW> quality(this->GetModel(avg, dir));
+	const TPoint3<TYPEW> pt2(avg+dir);
+	line.Set(TPoint3<TYPEE>(avg), TPoint3<TYPEE>(pt2));
+	return TPoint3<TYPEE>(quality);
+}
+/*----------------------------------------------------------------*/
diff --git a/libs/Common/List.h b/libs/Common/List.h
index 2404c4832..4e2906381 100644
--- a/libs/Common/List.h
+++ b/libs/Common/List.h
@@ -23,8 +23,10 @@
 // cList index type
 #ifdef _SUPPORT_CPP11
 #define ARR2IDX(arr) typename std::remove_reference<decltype(arr)>::type::size_type
+#define SIZE2IDX(arr) typename std::remove_const<typename std::remove_reference<decltype(arr)>::type>::type
 #else
 #define ARR2IDX(arr) IDX
+#define SIZE2IDX(arr) IDX
 #endif
 
 // cList iterator by index
@@ -44,10 +46,10 @@
 
 // raw data array iterator by index
 #ifndef FOREACHRAW
-#define FOREACHRAW(var, sz) for (IDX var=0, var##Size=(sz); var<var##Size; ++var)
+#define FOREACHRAW(var, sz) for (SIZE2IDX(sz) var=0, var##Size=(sz); var<var##Size; ++var)
 #endif
 #ifndef RFOREACHRAW
-#define RFOREACHRAW(var, sz) for (IDX var=sz; var-->0; )
+#define RFOREACHRAW(var, sz) for (SIZE2IDX(sz) var=sz; var-->0; )
 #endif
 // raw data array iterator by pointer
 #ifndef FOREACHRAWPTR
@@ -170,15 +172,15 @@ class cList
 	}
 
 	// copy the content from the given list
-	inline	cList&	operator=(const cList& rList)
+	inline cList&	operator=(const cList& rList)
 	{
 		return CopyOf(rList);
 	}
 
-	inline	cList&	CopyOf(const cList& rList, bool bForceResize=false)
+	inline cList&	CopyOf(const cList& rList, bool bForceResize=false)
 	{
 		if (this == &rList)
-			return (*this);
+			return *this;
 		if (bForceResize || _vectorSize < rList._vectorSize) {
 			_Release();
 			_vectorSize = rList._vectorSize;
@@ -194,13 +196,13 @@ class cList
 			}
 		}
 		_size = rList._size;
-		return (*this);
+		return *this;
 	}
 
-	inline	cList&	CopyOf(const TYPE* pData, IDX nSize, bool bForceResize=false)
+	inline cList&	CopyOf(const TYPE* pData, IDX nSize, bool bForceResize=false)
 	{
 		if (_vector == pData)
-			return (*this);
+			return *this;
 		if (bForceResize || _vectorSize < nSize) {
 			_Release();
 			_vectorSize = nSize;
@@ -216,56 +218,72 @@ class cList
 			}
 		}
 		_size = nSize;
-		return (*this);
+		return *this;
 	}
 
 	// release current list and swap the content with the given list
-	inline	cList&	CopyOfRemove(cList& rList)
+	inline cList&	CopyOfRemove(cList& rList)
 	{
 		if (this == &rList)
-			return (*this);
+			return *this;
 		_Release();
 		_size = rList._size;
 		_vectorSize = rList._vectorSize;
 		_vector = rList._vector;
 		rList._vector = NULL;
 		rList._size = rList._vectorSize = 0;
-		return (*this);
+		return *this;
 	}
 
-	inline	void	Join(const cList& rList)
+	inline cList&	Join(const cList& rList)
 	{
 		if (this == &rList || rList._size == 0)
-			return;
+			return *this;
 		const IDX newSize = _size + rList._size;
 		Reserve(newSize);
 		_ArrayCopyConstruct(_vector+_size, rList._vector, rList._size);
 		_size = newSize;
+		return *this;
 	}
-	inline	void	Join(const TYPE* pData, IDX nSize)
+	inline cList&	Join(const TYPE* pData, IDX nSize)
 	{
 		const IDX newSize = _size + nSize;
 		Reserve(newSize);
 		_ArrayCopyConstruct(_vector+_size, pData, nSize);
 		_size = newSize;
+		return *this;
+	}
+
+	template <typename Functor>
+	inline cList&	JoinFunctor(IDX nSize, const Functor& functor) {
+		Reserve(_size + nSize);
+		if (useConstruct) {
+			for (IDX n=0; n<nSize; ++n)
+				new(_vector+_size++) TYPE(functor(n));
+		} else {
+			for (IDX n=0; n<nSize; ++n)
+				*(_vector+_size++) = functor(n);
+		}
+		return *this;
 	}
 
-	inline	void	JoinRemove(cList& rList)
+	inline cList&	JoinRemove(cList& rList)
 	{
 		if (this == &rList || rList._size == 0)
-			return;
+			return *this;
 		const IDX newSize(_size + rList._size);
 		Reserve(newSize);
 		_ArrayMoveConstruct<true>(_vector+_size, rList._vector, rList._size);
 		_size = newSize;
 		rList._size = 0;
+		return *this;
 	}
 
 	// Swap the elements of the two lists.
-	inline	void	Swap(cList& rList)
+	inline cList&	Swap(cList& rList)
 	{
 		if (this == &rList)
-			return;
+			return *this;
 		const IDX tmpSize = _size;
 		_size = rList._size;
 		rList._size = tmpSize;
@@ -275,16 +293,26 @@ class cList
 		TYPE* const tmpVector = _vector;
 		_vector = rList._vector;
 		rList._vector = tmpVector;
+		return *this;
 	}
 
 	// Swap the two elements.
-	inline	void	Swap(IDX idx1, IDX idx2)
+	inline void		Swap(IDX idx1, IDX idx2)
 	{
 		ASSERT(idx1 < _size && idx2 < _size);
 		TYPE tmp = _vector[idx1];
 		_vector[idx1] = _vector[idx2];
 		_vector[idx2] = tmp;
 	}
+	
+	inline bool		operator==(const cList& rList) const {
+		if (_size != rList._size)
+			return false;
+		for (IDX i = 0; i < _size; ++i)
+			if (_vector[i] != rList._vector[i])
+				return false;
+		return true;
+	}
 
 	// Set the allocated memory (normally used for types without constructor).
 	inline void		Memset(uint8_t val)
@@ -1574,6 +1602,14 @@ class cListFixed {
 		ASSERT(index < _size);
 		return _vector[index];
 	}
+	inline bool operator==(const cListFixed& rList) const {
+		if (_size != rList._size)
+			return false;
+		for (IDX i = 0; i < _size; ++i)
+			if (_vector[i] != rList._vector[i])
+				return false;
+		return true;
+	}
 	inline TYPE& AddEmpty() {
 		ASSERT(_size < N);
 		return _vector[_size++];
diff --git a/libs/Common/OBB.inl b/libs/Common/OBB.inl
index 1e2784d17..6a8dd7622 100644
--- a/libs/Common/OBB.inl
+++ b/libs/Common/OBB.inl
@@ -341,10 +341,11 @@ inline void TOBB<TYPE,DIMS>::GetCorners(POINT pts[numCorners]) const
 			m_rot.row(0)*m_ext[0],
 			m_rot.row(1)*m_ext[1]
 		};
-		pts[0] = m_pos - pEAxis[0] - pEAxis[1];
-		pts[1] = m_pos + pEAxis[0] - pEAxis[1];
-		pts[2] = m_pos + pEAxis[0] + pEAxis[1];
-		pts[3] = m_pos - pEAxis[0] + pEAxis[1];
+		const POINT pos(m_rot.transpose()*m_pos);
+		pts[0] = pos - pEAxis[0] - pEAxis[1];
+		pts[1] = pos + pEAxis[0] - pEAxis[1];
+		pts[2] = pos + pEAxis[0] + pEAxis[1];
+		pts[3] = pos - pEAxis[0] + pEAxis[1];
 	}
 	if (DIMS == 3) {
 		const POINT pEAxis[3] = {
@@ -352,47 +353,24 @@ inline void TOBB<TYPE,DIMS>::GetCorners(POINT pts[numCorners]) const
 			m_rot.row(1)*m_ext[1],
 			m_rot.row(2)*m_ext[2]
 		};
-		pts[0] = m_pos - pEAxis[0] - pEAxis[1] - pEAxis[2];
-		pts[1] = m_pos - pEAxis[0] - pEAxis[1] + pEAxis[2];
-		pts[2] = m_pos + pEAxis[0] - pEAxis[1] - pEAxis[2];
-		pts[3] = m_pos + pEAxis[0] - pEAxis[1] + pEAxis[2];
-		pts[4] = m_pos + pEAxis[0] + pEAxis[1] - pEAxis[2];
-		pts[5] = m_pos + pEAxis[0] + pEAxis[1] + pEAxis[2];
-		pts[6] = m_pos - pEAxis[0] + pEAxis[1] - pEAxis[2];
-		pts[7] = m_pos - pEAxis[0] + pEAxis[1] + pEAxis[2];
+		const POINT pos(m_rot.transpose()*m_pos);
+		pts[0] = pos - pEAxis[0] - pEAxis[1] - pEAxis[2];
+		pts[1] = pos - pEAxis[0] - pEAxis[1] + pEAxis[2];
+		pts[2] = pos + pEAxis[0] - pEAxis[1] - pEAxis[2];
+		pts[3] = pos + pEAxis[0] - pEAxis[1] + pEAxis[2];
+		pts[4] = pos + pEAxis[0] + pEAxis[1] - pEAxis[2];
+		pts[5] = pos + pEAxis[0] + pEAxis[1] + pEAxis[2];
+		pts[6] = pos - pEAxis[0] + pEAxis[1] - pEAxis[2];
+		pts[7] = pos - pEAxis[0] + pEAxis[1] + pEAxis[2];
 	}
 } // GetCorners
 // constructs the corner of the aligned bounding box in world space
 template <typename TYPE, int DIMS>
 inline typename TOBB<TYPE,DIMS>::AABB TOBB<TYPE,DIMS>::GetAABB() const
 {
-	#if 0
-	if (DIMS == 2) {
-		const POINT pEAxis[2] = {
-			m_rot.row(0)*m_ext[0],
-			m_rot.row(1)*m_ext[1]
-		};
-		return AABB(
-			m_pos - pEAxis[0] - pEAxis[1],
-			m_pos + pEAxis[0] + pEAxis[1]
-		);
-	}
-	if (DIMS == 3) {
-		const POINT pEAxis[3] = {
-			m_rot.row(0)*m_ext[0],
-			m_rot.row(1)*m_ext[1],
-			m_rot.row(2)*m_ext[2]
-		};
-		return AABB(
-			m_pos - pEAxis[0] - pEAxis[1] - pEAxis[2],
-			m_pos + pEAxis[0] + pEAxis[1] + pEAxis[2]
-		);
-	}
-	#else
 	POINT pts[numCorners];
 	GetCorners(pts);
 	return AABB(pts, numCorners);
-	#endif
 } // GetAABB
 /*----------------------------------------------------------------*/
 
diff --git a/libs/Common/Plane.h b/libs/Common/Plane.h
index 681d044c9..8623928e9 100644
--- a/libs/Common/Plane.h
+++ b/libs/Common/Plane.h
@@ -50,6 +50,10 @@ class TPlane
 	inline void Set(const POINT&, const POINT&, const POINT&);
 	inline void Set(const TYPE p[DIMS+1]);
 
+	int Optimize(const POINT*, size_t, int maxIters=100);
+	template <typename RobustNormFunctor>
+	int Optimize(const POINT*, size_t, const RobustNormFunctor& robust, int maxIters=100);
+
 	inline void Invalidate();
 	inline bool IsValid() const;
 
@@ -85,7 +89,7 @@ class TPlane
 }; // class TPlane
 /*----------------------------------------------------------------*/
 
-template <typename TYPE, typename TYPEW=TYPE>
+template <typename TYPE, typename TYPEW=TYPE, bool bFitLineMode=false>
 struct FitPlaneOnline {
 	TYPEW sumX, sumSqX, sumXY, sumXZ;
 	TYPEW sumY, sumSqY, sumYZ;
@@ -93,7 +97,7 @@ struct FitPlaneOnline {
 	size_t size;
 	FitPlaneOnline();
 	void Update(const TPoint3<TYPE>& P);
-	TPoint3<TYPEW> GetPlane(TPoint3<TYPEW>& avg, TPoint3<TYPEW>& dir) const;
+	TPoint3<TYPEW> GetModel(TPoint3<TYPEW>& avg, TPoint3<TYPEW>& dir) const;
 	template <typename TYPEE> TPoint3<TYPEE> GetPlane(TPlane<TYPEE,3>& plane) const;
 };
 /*----------------------------------------------------------------*/
diff --git a/libs/Common/Plane.inl b/libs/Common/Plane.inl
index 0d15cc319..bd7e61083 100644
--- a/libs/Common/Plane.inl
+++ b/libs/Common/Plane.inl
@@ -69,6 +69,72 @@ inline void TPlane<TYPE,DIMS>::Set(const TYPE p[DIMS+1])
 /*----------------------------------------------------------------*/
 
 
+// least squares refinement of the given plane to the 3D point set
+// (return the number of iterations)
+template <typename TYPE, int DIMS>
+template <typename RobustNormFunctor>
+int TPlane<TYPE,DIMS>::Optimize(const POINT* points, size_t size, const RobustNormFunctor& robust, int maxIters)
+{
+	ASSERT(DIMS == 3);
+	ASSERT(size >= numParams);
+	struct OptimizationFunctor {
+		const POINT* points;
+		const size_t size;
+		const RobustNormFunctor& robust;
+		// construct with the data points
+		OptimizationFunctor(const POINT* _points, size_t _size, const RobustNormFunctor& _robust)
+			: points(_points), size(_size), robust(_robust) { ASSERT(size < (size_t)std::numeric_limits<int>::max()); }
+		static void Residuals(const double* x, int nPoints, const void* pData, double* fvec, double* fjac, int* /*info*/) {
+			const OptimizationFunctor& data = *reinterpret_cast<const OptimizationFunctor*>(pData);
+			ASSERT((size_t)nPoints == data.size && fvec != NULL && fjac == NULL);
+			TPlane<double,3> plane; {
+				Point3d N;
+				plane.m_fD = x[0];
+				Dir2Normal(reinterpret_cast<const Point2d&>(x[1]), N);
+				plane.m_vN = N;
+			}
+			for (size_t i=0; i<data.size; ++i)
+				fvec[i] = data.robust(plane.Distance(data.points[i].template cast<double>()));
+		}
+	} functor(points, size, robust);
+	double arrParams[numParams]; {
+		arrParams[0] = (double)m_fD;
+		const Point3d N(m_vN.x(), m_vN.y(), m_vN.z());
+		Normal2Dir(N, reinterpret_cast<Point2d&>(arrParams[1]));
+	}
+	lm_control_struct control = {1.e-6, 1.e-7, 1.e-8, 1.e-7, 100.0, maxIters}; // lm_control_float;
+	lm_status_struct status;
+	lmmin(numParams, arrParams, (int)size, &functor, OptimizationFunctor::Residuals, &control, &status);
+	switch (status.info) {
+	//case 4:
+	case 5:
+	case 6:
+	case 7:
+	case 8:
+	case 9:
+	case 10:
+	case 11:
+	case 12:
+		DEBUG_ULTIMATE("error: refine plane: %s", lm_infmsg[status.info]);
+		return 0;
+	}
+	// set plane
+	{
+		Point3d N;
+		Dir2Normal(reinterpret_cast<const Point2d&>(arrParams[1]), N);
+		Set(Cast<TYPE>(N), (TYPE)arrParams[0]);
+	}
+	return status.nfev;
+}
+template <typename TYPE, int DIMS>
+int TPlane<TYPE,DIMS>::Optimize(const POINT* points, size_t size, int maxIters)
+{
+	const auto identity = [](double x) { return x; };
+	return Optimize(points, size, identity, maxIters);
+} // Optimize
+/*----------------------------------------------------------------*/
+
+
 template <typename TYPE, int DIMS>
 inline void TPlane<TYPE,DIMS>::Invalidate()
 {
@@ -281,13 +347,13 @@ bool TPlane<TYPE,DIMS>::Intersects(const AABB& aabb) const
 
 
 // same as above, but online version
-template <typename TYPE, typename TYPEW>
-FitPlaneOnline<TYPE,TYPEW>::FitPlaneOnline()
+template <typename TYPE, typename TYPEW, bool bFitLineMode>
+FitPlaneOnline<TYPE,TYPEW,bFitLineMode>::FitPlaneOnline()
 	: sumX(0), sumSqX(0), sumXY(0), sumXZ(0), sumY(0), sumSqY(0), sumYZ(0), sumZ(0), sumSqZ(0), size(0)
 {
 }
-template <typename TYPE, typename TYPEW>
-void FitPlaneOnline<TYPE,TYPEW>::Update(const TPoint3<TYPE>& P)
+template <typename TYPE, typename TYPEW, bool bFitLineMode>
+void FitPlaneOnline<TYPE,TYPEW,bFitLineMode>::Update(const TPoint3<TYPE>& P)
 {
 	const TYPEW X((TYPEW)P.x), Y((TYPEW)P.y), Z((TYPEW)P.z);
 	sumX += X; sumSqX += X*X; sumXY += X*Y; sumXZ += X*Z;
@@ -295,8 +361,8 @@ void FitPlaneOnline<TYPE,TYPEW>::Update(const TPoint3<TYPE>& P)
 	sumZ += Z; sumSqZ += Z*Z;
 	++size;
 }
-template <typename TYPE, typename TYPEW>
-TPoint3<TYPEW> FitPlaneOnline<TYPE,TYPEW>::GetPlane(TPoint3<TYPEW>& avg, TPoint3<TYPEW>& dir) const
+template <typename TYPE, typename TYPEW, bool bFitLineMode>
+TPoint3<TYPEW> FitPlaneOnline<TYPE,TYPEW,bFitLineMode>::GetModel(TPoint3<TYPEW>& avg, TPoint3<TYPEW>& dir) const
 {
 	const TYPEW avgX(sumX/(TYPEW)size), avgY(sumY/(TYPEW)size), avgZ(sumZ/(TYPEW)size);
 	// assemble covariance (lower-triangular) matrix
@@ -309,20 +375,21 @@ TPoint3<TYPEW> FitPlaneOnline<TYPE,TYPEW>::GetPlane(TPoint3<TYPEW>& avg, TPoint3
 	A(2,1) = sumYZ - sumY*avgZ - avgY*sumZ + avgY*avgZ*(TYPEW)size;
 	A(2,2) = sumSqZ - TYPEW(2)*sumZ*avgZ + avgZ*avgZ*(TYPEW)size;
 	// the plane normal is simply the eigenvector corresponding to least eigenvalue
+	const int nAxis(bFitLineMode ? 2 : 0);
 	const Eigen::SelfAdjointEigenSolver<Mat3x3> es(A);
-	ASSERT(ISEQUAL(es.eigenvectors().col(0).norm(), TYPEW(1)));
+	ASSERT(ISEQUAL(es.eigenvectors().col(nAxis).norm(), TYPEW(1)));
 	avg = TPoint3<TYPEW>(avgX,avgY,avgZ);
-	dir = es.eigenvectors().col(0);
+	dir = es.eigenvectors().col(nAxis);
 	const TYPEW* const vals(es.eigenvalues().data());
 	ASSERT(vals[0] <= vals[1] && vals[1] <= vals[2]);
 	return *reinterpret_cast<const TPoint3<TYPEW>*>(vals);
 }
-template <typename TYPE, typename TYPEW>
+template <typename TYPE, typename TYPEW, bool bFitLineMode>
 template <typename TYPEE>
-TPoint3<TYPEE> FitPlaneOnline<TYPE,TYPEW>::GetPlane(TPlane<TYPEE,3>& plane) const
+TPoint3<TYPEE> FitPlaneOnline<TYPE,TYPEW,bFitLineMode>::GetPlane(TPlane<TYPEE,3>& plane) const
 {
 	TPoint3<TYPEW> avg, dir;
-	const TPoint3<TYPEW> quality(GetPlane(avg, dir));
+	const TPoint3<TYPEW> quality(GetModel(avg, dir));
 	plane.Set(TPoint3<TYPEE>(dir), TPoint3<TYPEE>(avg));
 	return TPoint3<TYPEE>(quality);
 }
diff --git a/libs/Common/Sampler.inl b/libs/Common/Sampler.inl
index 9870facda..e22b21f84 100644
--- a/libs/Common/Sampler.inl
+++ b/libs/Common/Sampler.inl
@@ -22,12 +22,12 @@ namespace Sampler {
 // Note: The following functors generalize the sampling to more than two neighbors
 // They all contains the width variable that specify the number of neighbors used for sampling
 //
-// All contain the operator () with the following definition:
+// All contain the operator() with the following definition:
 //
 //   @brief Computes weight associated to neighboring pixels
 //   @author Romuald Perrot <perrot.romuald_AT_gmail.com>
 //   @param x Sampling position
-//   @param[out] weigth Sampling factors associated to the neighboring
+//   @param[out] weight Sampling factors associated to the neighboring
 //   @note weight must be at least width length
 // Linear sampling (ie: linear interpolation between two pixels)
 template <typename TYPE>
@@ -39,9 +39,9 @@ struct Linear {
 
 	inline Linear() {}
 	
-	inline void operator () (const TYPE x, TYPE* const weigth) const {
-		weigth[0] = TYPE(1) - x;
-		weigth[1] = x;
+	inline void operator() (const TYPE x, TYPE* const weight) const {
+		weight[0] = TYPE(1) - x;
+		weight[1] = x;
 	}
 };
 
@@ -70,19 +70,19 @@ struct Cubic {
 	const TYPE sharpness;
 	inline Cubic(const TYPE& _sharpness=TYPE(0.5)) : sharpness(_sharpness) {}
 
-	inline void operator () (const TYPE x, TYPE* const weigth) const {
+	inline void operator() (const TYPE x, TYPE* const weight) const {
 		// remember :
 		// A      B    x  C       D
 
-		// weigth[0] -> weight for A
+		// weight[0] -> weight for A
 		// weight[1] -> weight for B
 		// weight[2] -> weight for C
-		// weight[3] -> weigth for D
+		// weight[3] -> weight for D
 
-		weigth[0] = CubicInter12(x + TYPE(1));
-		weigth[1] = CubicInter01(x);
-		weigth[2] = CubicInter01(TYPE(1) - x);
-		weigth[3] = CubicInter12(TYPE(2) - x);
+		weight[0] = CubicInter12(x + TYPE(1));
+		weight[1] = CubicInter01(x);
+		weight[2] = CubicInter01(TYPE(1) - x);
+		weight[3] = CubicInter12(TYPE(2) - x);
 	}
 
 	// Cubic interpolation for x (in [0,1])
@@ -170,11 +170,11 @@ struct Spline16 {
 
 	inline Spline16() {}
 
-	inline void operator () (const TYPE x, TYPE* const weigth) const {
-		weigth[0] = ((TYPE(-1) / TYPE(3) * x + TYPE(4) / TYPE(5)) * x - TYPE(7) / TYPE(15)) * x;
-		weigth[1] = ((x - TYPE(9) / TYPE(5)) * x - TYPE(1) / TYPE(5)) * x + TYPE(1);
-		weigth[2] = ((TYPE(6) / TYPE(5) - x) * x + TYPE(4) / TYPE(5)) * x;
-		weigth[3] = ((TYPE(1) / TYPE(3) * x - TYPE(1) / TYPE(5)) * x - TYPE(2) / TYPE(15)) * x;
+	inline void operator() (const TYPE x, TYPE* const weight) const {
+		weight[0] = ((TYPE(-1) / TYPE(3) * x + TYPE(4) / TYPE(5)) * x - TYPE(7) / TYPE(15)) * x;
+		weight[1] = ((x - TYPE(9) / TYPE(5)) * x - TYPE(1) / TYPE(5)) * x + TYPE(1);
+		weight[2] = ((TYPE(6) / TYPE(5) - x) * x + TYPE(4) / TYPE(5)) * x;
+		weight[3] = ((TYPE(1) / TYPE(3) * x - TYPE(1) / TYPE(5)) * x - TYPE(2) / TYPE(15)) * x;
 	}
 };
 
@@ -189,13 +189,13 @@ struct Spline36 {
 
 	inline Spline36() {}
 
-	inline void operator () (const TYPE x, TYPE* const weigth) const {
-		weigth[0] = ((TYPE(1) / TYPE(11) * x - TYPE(45) / TYPE(209)) * x + TYPE(26) / TYPE(209)) * x;
-		weigth[1] = ((TYPE(-6) / TYPE(11) * x + TYPE(270) / TYPE(209)) * x - TYPE(156) / TYPE(209)) * x;
-		weigth[2] = ((TYPE(13) / TYPE(11) * x - TYPE(453) / TYPE(209)) * x - TYPE(3) / TYPE(209)) * x + TYPE(1);
-		weigth[3] = ((TYPE(-13) / TYPE(11) * x + TYPE(288) / TYPE(209)) * x + TYPE(168) / TYPE(209)) * x;
-		weigth[4] = ((TYPE(6) / TYPE(11) * x - TYPE(72) / TYPE(209)) * x - TYPE(42) / TYPE(209)) * x;
-		weigth[5] = ((TYPE(-1) / TYPE(11) * x + TYPE(12) / TYPE(209)) * x + TYPE(7) / TYPE(209)) * x;
+	inline void operator() (const TYPE x, TYPE* const weight) const {
+		weight[0] = ((TYPE(1) / TYPE(11) * x - TYPE(45) / TYPE(209)) * x + TYPE(26) / TYPE(209)) * x;
+		weight[1] = ((TYPE(-6) / TYPE(11) * x + TYPE(270) / TYPE(209)) * x - TYPE(156) / TYPE(209)) * x;
+		weight[2] = ((TYPE(13) / TYPE(11) * x - TYPE(453) / TYPE(209)) * x - TYPE(3) / TYPE(209)) * x + TYPE(1);
+		weight[3] = ((TYPE(-13) / TYPE(11) * x + TYPE(288) / TYPE(209)) * x + TYPE(168) / TYPE(209)) * x;
+		weight[4] = ((TYPE(6) / TYPE(11) * x - TYPE(72) / TYPE(209)) * x - TYPE(42) / TYPE(209)) * x;
+		weight[5] = ((TYPE(-1) / TYPE(11) * x + TYPE(12) / TYPE(209)) * x + TYPE(7) / TYPE(209)) * x;
 	}
 };
 
@@ -210,15 +210,15 @@ struct Spline64 {
 
 	inline Spline64() {}
 
-	inline void operator () (const TYPE x, TYPE* const weigth) const {
-		weigth[0] = ((TYPE(-1) / TYPE(41) * x + TYPE(168) / TYPE(2911)) * x - TYPE(97) / TYPE(2911)) * x;
-		weigth[1] = ((TYPE(6) / TYPE(41) * x - TYPE(1008) / TYPE(2911)) * x +  TYPE(582) / TYPE(2911)) * x;
-		weigth[2] = ((TYPE(-24) / TYPE(41) * x + TYPE(4032) / TYPE(2911)) * x - TYPE(2328) / TYPE(2911)) * x;
-		weigth[3] = ((TYPE(49) / TYPE(41) * x - TYPE(6387) / TYPE(2911)) * x - TYPE(3) / TYPE(2911)) * x + TYPE(1);
-		weigth[4] = ((TYPE(-49) / TYPE(41) * x + TYPE(4050) / TYPE(2911)) * x + TYPE(2340) / TYPE(2911)) * x;
-		weigth[5] = ((TYPE(24) / TYPE(41) * x - TYPE(1080) / TYPE(2911)) * x - TYPE(624) / TYPE(2911)) * x;
-		weigth[6] = ((TYPE(-6) / TYPE(41) * x + TYPE(270) / TYPE(2911)) * x + TYPE(156) / TYPE(2911)) * x;
-		weigth[7] = ((TYPE(1) / TYPE(41) * x - TYPE(45) / TYPE(2911)) * x - TYPE(26) / TYPE(2911)) * x;
+	inline void operator() (const TYPE x, TYPE* const weight) const {
+		weight[0] = ((TYPE(-1) / TYPE(41) * x + TYPE(168) / TYPE(2911)) * x - TYPE(97) / TYPE(2911)) * x;
+		weight[1] = ((TYPE(6) / TYPE(41) * x - TYPE(1008) / TYPE(2911)) * x +  TYPE(582) / TYPE(2911)) * x;
+		weight[2] = ((TYPE(-24) / TYPE(41) * x + TYPE(4032) / TYPE(2911)) * x - TYPE(2328) / TYPE(2911)) * x;
+		weight[3] = ((TYPE(49) / TYPE(41) * x - TYPE(6387) / TYPE(2911)) * x - TYPE(3) / TYPE(2911)) * x + TYPE(1);
+		weight[4] = ((TYPE(-49) / TYPE(41) * x + TYPE(4050) / TYPE(2911)) * x + TYPE(2340) / TYPE(2911)) * x;
+		weight[5] = ((TYPE(24) / TYPE(41) * x - TYPE(1080) / TYPE(2911)) * x - TYPE(624) / TYPE(2911)) * x;
+		weight[6] = ((TYPE(-6) / TYPE(41) * x + TYPE(270) / TYPE(2911)) * x + TYPE(156) / TYPE(2911)) * x;
+		weight[7] = ((TYPE(1) / TYPE(41) * x - TYPE(45) / TYPE(2911)) * x - TYPE(26) / TYPE(2911)) * x;
 	}
 };
 
diff --git a/libs/Common/Strings.h b/libs/Common/Strings.h
index 711d0a5de..187f32d0e 100644
--- a/libs/Common/Strings.h
+++ b/libs/Common/Strings.h
@@ -34,6 +34,22 @@ class GENERAL_API String : public std::string
 	inline String(size_t n, value_type v) : Base(n, v) {}
 	inline String(LPCTSTR sz, size_t count) : Base(sz, count) {}
 	inline String(LPCTSTR sz, size_t offset, size_t count) : Base(sz, offset, count) {}
+	#ifdef _SUPPORT_CPP11
+	inline String(Base&& rhs) : Base(std::forward<Base>(rhs)) {}
+	inline String(String&& rhs) : Base(std::forward<Base>(rhs)) {}
+	inline String(const String& rhs) : Base(rhs) {}
+
+	inline String& operator=(Base&& rhs) { Base::operator=(std::forward<Base>(rhs)); return *this; }
+	inline String& operator=(String&& rhs) { Base::operator=(std::forward<Base>(rhs)); return *this; }
+	inline String& operator=(TCHAR rhs) { Base::operator=(rhs); return *this; }
+	inline String& operator=(LPCTSTR rhs) { Base::operator=(rhs); return *this; }
+	inline String& operator=(const String& rhs) { Base::operator=(rhs); return *this; }
+	#endif
+
+	inline String& operator+=(TCHAR rhs) { *this = (*this) + rhs; return *this; }
+	inline String& operator+=(LPCTSTR rhs) { *this = (*this) + rhs; return *this; }
+	inline String& operator+=(const Base& rhs) { *this = (*this) + rhs; return *this; }
+	inline String& operator+=(const String& rhs) { *this = (*this) + rhs; return *this; }
 
 	inline void Release() { return clear(); }
 	inline bool IsEmpty() const { return empty(); }
@@ -189,6 +205,26 @@ class GENERAL_API String : public std::string
 };
 /*----------------------------------------------------------------*/
 
+inline String operator+(const String& lhs, TCHAR rhs) { return std::operator+(lhs, rhs); }
+inline String operator+(const String& lhs, LPCTSTR rhs) { return std::operator+(lhs, rhs); }
+inline String operator+(const String& lhs, const std::string& rhs) { return std::operator+(lhs, rhs); }
+inline String operator+(TCHAR lhs, const String& rhs) { return std::operator+(lhs, rhs); }
+inline String operator+(LPCTSTR lhs, const String& rhs) { return std::operator+(lhs, rhs); }
+inline String operator+(const std::string& lhs, const String& rhs) { return std::operator+(lhs, rhs); }
+inline String operator+(const String& lhs, const String& rhs) { return std::operator+(lhs, rhs); }
+#ifdef _SUPPORT_CPP11
+inline String operator+(String&& lhs, TCHAR rhs) { return std::operator+(std::forward<String::Base>(lhs), rhs); }
+inline String operator+(String&& lhs, LPCTSTR rhs) { return std::operator+(std::forward<String::Base>(lhs), rhs); }
+inline String operator+(String&& lhs, const std::string& rhs) { return std::operator+(std::forward<String::Base>(lhs), rhs); }
+inline String operator+(TCHAR lhs, String&& rhs) { return std::operator+(lhs, std::forward<String::Base>(rhs)); }
+inline String operator+(LPCTSTR lhs, String&& rhs) { return std::operator+(lhs, std::forward<String::Base>(rhs)); }
+inline String operator+(const std::string& lhs, String&& rhs) { return std::operator+(lhs, std::forward<String::Base>(rhs)); }
+inline String operator+(const String& lhs, String&& rhs) { return std::operator+(lhs, std::forward<String::Base>(rhs)); }
+inline String operator+(String&& lhs, const String& rhs) { return std::operator+(std::forward<String::Base>(lhs), rhs); }
+inline String operator+(String&& lhs, String&& rhs) { return std::operator+(std::forward<String::Base>(lhs), std::forward<String::Base>(rhs)); }
+#endif
+/*----------------------------------------------------------------*/
+
 } // namespace SEACAVE
 
 
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index d5dcb27e2..d5b567431 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -2201,7 +2201,10 @@ class TImage : public TDMatrix<TYPE>
 
 	bool Load(const String&);
 	bool Save(const String&) const;
+
+	#ifndef _RELEASE
 	void Show(const String& winname, int delay=0, bool bDestroy=true) const;
+	#endif
 
 	#ifdef _USE_BOOST
 	// serialize
@@ -2800,6 +2803,7 @@ class SO2
 
 #endif // _USE_EIGEN
 
+#include "../Math/LMFit/lmmin.h"
 #include "Types.inl"
 #include "Util.inl"
 #include "Rotation.h"
@@ -2808,6 +2812,7 @@ class SO2
 #include "OBB.h"
 #include "Plane.h"
 #include "Ray.h"
+#include "Line.h"
 #include "Octree.h"
 #include "UtilCUDA.h"
 
diff --git a/libs/Common/Types.inl b/libs/Common/Types.inl
index b951c7931..d4129e1ad 100644
--- a/libs/Common/Types.inl
+++ b/libs/Common/Types.inl
@@ -3077,6 +3077,7 @@ bool TImage<TYPE>::Save(const String& fileName) const
 }
 /*----------------------------------------------------------------*/
 
+#ifndef _RELEASE
 template <typename TYPE>
 void TImage<TYPE>::Show(const String& winname, int delay, bool bDestroy) const
 {
@@ -3086,6 +3087,7 @@ void TImage<TYPE>::Show(const String& winname, int delay, bool bDestroy) const
 		cv::destroyWindow(winname);
 }
 /*----------------------------------------------------------------*/
+#endif
 
 
 // C L A S S  //////////////////////////////////////////////////////
diff --git a/libs/Common/Util.cpp b/libs/Common/Util.cpp
index 95e5f6ae8..1ae22cb66 100644
--- a/libs/Common/Util.cpp
+++ b/libs/Common/Util.cpp
@@ -667,6 +667,13 @@ bool OSSupportsAVX()
 // print details about the current build and PC
 void Util::LogBuild()
 {
+	LOG(_T("OpenMVS %s v%u.%u.%u"),
+		#ifdef _ENVIRONMENT64
+		_T("x64"),
+		#else
+		_T("x32"),
+		#endif
+		OpenMVS_MAJOR_VERSION, OpenMVS_MINOR_VERSION, OpenMVS_PATCH_VERSION);
 	#if TD_VERBOSE == TD_VERBOSE_OFF
 	LOG(_T("Build date: ") __DATE__);
 	#else
diff --git a/libs/Common/Util.inl b/libs/Common/Util.inl
index 381975929..b0ffa0ff1 100644
--- a/libs/Common/Util.inl
+++ b/libs/Common/Util.inl
@@ -177,6 +177,98 @@ inline TMatrix<TYPE,3,3> CreateF(const TMatrix<TYPE,3,3>& R, const TMatrix<TYPE,
 /*----------------------------------------------------------------*/
 
 
+// computes an RQ decomposition of 3x3 matrices as in:
+// "Computing euler angles from a rotation matrix", Gregory G Slabaugh, 1999
+template <typename Scalar>
+inline void RQDecomp3x3(Eigen::Matrix<Scalar,3,3> M, Eigen::Matrix<Scalar,3,3>& R, Eigen::Matrix<Scalar,3,3>& Q) {
+	// find Givens rotation for x axis:
+	//       | 1  0  0 |
+	//  Qx = | 0  c  s |, c = m33/sqrt(m32^2 + m33^2), s = m32/sqrt(m32^2 + m33^2)
+	//       | 0 -s  c |
+	Eigen::Matrix<Scalar,2,1> cs = Eigen::Matrix<Scalar,2,1>(M(2,2), M(2,1)).normalized();
+	Eigen::Matrix<Scalar,3,3> Qx{ {1, 0, 0}, {0, cs.x(), cs.y()}, {0, -cs.y(), cs.x()} };
+	R.noalias() = M * Qx;
+	ASSERT(std::abs(R(2,1)) < FLT_EPSILON);
+	R(2,1) = 0;
+	// find Givens rotation for y axis:
+	//       | c  0 -s |
+	//  Qy = | 0  1  0 |, c = m33/sqrt(m31^2 + m33^2), s = -m31/sqrt(m31^2 + m33^2)
+	//       | s  0  c |
+	cs = Eigen::Matrix<Scalar,2,1>(R(2,2), -R(2,0)).normalized();
+	Eigen::Matrix<Scalar,3,3> Qy{ {cs.x(), 0, -cs.y()}, {0, 1, 0}, {cs.y(), 0, cs.x()} };
+	M.noalias() = R * Qy;
+	ASSERT(std::abs(M(2,0)) < FLT_EPSILON);
+	M(2,0) = 0;
+	// find Givens rotation for z axis:
+	//       | c  s  0 |
+	//  Qz = |-s  c  0 |, c = m22/sqrt(m21^2 + m22^2), s = m21/sqrt(m21^2 + m22^2)
+	//       | 0  0  1 |
+	cs = Eigen::Matrix<Scalar,2,1>(M(1,1), M(1,0)).normalized();
+	Eigen::Matrix<Scalar,3,3> Qz{ {cs.x(), cs.y(), 0}, {-cs.y(), cs.x(), 0}, {0, 0, 1} };
+	R.noalias() = M * Qz;
+	ASSERT(std::abs(R(1,0)) < FLT_EPSILON);
+	R(1,0) = 0;
+	// solve the decomposition ambiguity:
+	//  - diagonal entries of R, except the last one, shall be positive
+	//  - rotate R by 180 degree if necessary
+	if (R(0,0) < 0) {
+		if (R(1,1) < 0) {
+			// rotate around z for 180 degree:
+			//  |-1,  0,  0|
+			//  | 0, -1,  0|
+			//  | 0,  0,  1|
+			R(0,0) *= -1;
+			R(0,1) *= -1;
+			R(1,1) *= -1;
+			Qz(0,0) *= -1;
+			Qz(0,1) *= -1;
+			Qz(1,0) *= -1;
+			Qz(1,1) *= -1;
+		} else {
+			// rotate around y for 180 degree:
+			//  |-1,  0,  0|
+			//  | 0,  1,  0|
+			//  | 0,  0, -1|
+			R(0,0) *= -1;
+			R(0,2) *= -1;
+			R(1,2) *= -1;
+			R(2,2) *= -1;
+			Qz.transposeInPlace();
+			Qy(0,0) *= -1;
+			Qy(0,2) *= -1;
+			Qy(2,0) *= -1;
+			Qy(2,2) *= -1;
+		}
+	} else if (R(1,1) < 0) {
+		// rotate around x for 180 degree:
+		//  | 1,  0,  0|
+		//  | 0, -1,  0|
+		//  | 0,  0, -1|
+		R(0,1) *= -1;
+		R(0,2) *= -1;
+		R(1,1) *= -1;
+		R(1,2) *= -1;
+		R(2,2) *= -1;
+		Qz.transposeInPlace();
+		Qy.transposeInPlace();
+		Qx(1,1) *= -1;
+		Qx(1,2) *= -1;
+		Qx(2,1) *= -1;
+		Qx(2,2) *= -1;
+	}
+	// calculate orthogonal matrix
+	Q.noalias() = Qz.transpose() * Qy.transpose() * Qx.transpose();
+}
+template <typename TYPE>
+inline void RQDecomp3x3(const TMatrix<TYPE,3,3>& M, TMatrix<TYPE,3,3>& R, TMatrix<TYPE,3,3>& Q) {
+	const Eigen::Matrix<TYPE,3,3> _M((typename TMatrix<TYPE,3,3>::CEMatMap)M);
+	Eigen::Matrix<TYPE,3,3> _R, _Q;
+	RQDecomp3x3<TYPE>(_M, _R, _Q);
+	R = _R; Q = _Q;
+} // RQDecomp3x3
+/*----------------------------------------------------------------*/
+
+
 // compute the angle between the two rotations given
 // as in: "Disambiguating Visual Relations Using Loop Constraints", 2010
 // returns cos(angle) (same as cos(ComputeAngleSO3(I))
@@ -1097,7 +1189,7 @@ inline void ExampleKDE() {
 		File f;
 		SamplesInserter(const String& fileName)
 			: f(fileName, File::WRITE, File::CREATE | File::TRUNCATE) {}
-		inline void operator () (Real x, Real y) {
+		inline void operator() (Real x, Real y) {
 			f.print("%g\t%g\n", x, y);
 		}
 		inline bool SamplePeak(bool bMaxRegion) const {
diff --git a/libs/IO/CMakeLists.txt b/libs/IO/CMakeLists.txt
index da3c15920..0f0595194 100644
--- a/libs/IO/CMakeLists.txt
+++ b/libs/IO/CMakeLists.txt
@@ -2,7 +2,7 @@
 FIND_PACKAGE(PNG QUIET)
 if(PNG_FOUND)
 	INCLUDE_DIRECTORIES(${PNG_INCLUDE_DIRS})
-	ADD_DEFINITIONS(${PNG_DEFINITIONS} -D_USE_PNG)
+	ADD_DEFINITIONS(${PNG_DEFINITIONS})
 	SET(_USE_PNG TRUE CACHE INTERNAL "")
 else()
 	SET(PNG_LIBRARIES "")
@@ -10,7 +10,7 @@ endif()
 FIND_PACKAGE(JPEG QUIET)
 if(JPEG_FOUND)
 	INCLUDE_DIRECTORIES(${JPEG_INCLUDE_DIR})
-	ADD_DEFINITIONS(${JPEG_DEFINITIONS} -D_USE_JPG)
+	ADD_DEFINITIONS(${JPEG_DEFINITIONS})
 	SET(_USE_JPG TRUE CACHE INTERNAL "")
 else()
 	SET(JPEG_LIBRARIES "")
@@ -18,7 +18,7 @@ endif()
 FIND_PACKAGE(TIFF QUIET)
 if(TIFF_FOUND)
 	INCLUDE_DIRECTORIES(${TIFF_INCLUDE_DIR})
-	ADD_DEFINITIONS(${TIFF_DEFINITIONS} -D_USE_TIFF)
+	ADD_DEFINITIONS(${TIFF_DEFINITIONS})
 	SET(_USE_TIFF TRUE CACHE INTERNAL "")
 else()
 	SET(TIFF_LIBRARIES "")
diff --git a/libs/MVS/CMakeLists.txt b/libs/MVS/CMakeLists.txt
index 79dbaba65..853386508 100644
--- a/libs/MVS/CMakeLists.txt
+++ b/libs/MVS/CMakeLists.txt
@@ -32,6 +32,9 @@ if(_USE_CUDA)
 	LIST(APPEND LIBRARY_FILES_C ${LIBRARY_FILES_CUDA})
 endif()
 
+GET_FILENAME_COMPONENT(PATH_PythonWrapper_cpp ${CMAKE_CURRENT_SOURCE_DIR}/PythonWrapper.cpp ABSOLUTE)
+LIST(REMOVE_ITEM LIBRARY_FILES_C "${PATH_PythonWrapper_cpp}")
+
 cxx_library_with_type(MVS "Libs" "" "${cxx_default}"
 	${LIBRARY_FILES_C} ${LIBRARY_FILES_H}
 )
@@ -43,10 +46,26 @@ endif()
 
 # Link its dependencies
 if(_USE_CUDA)
-	set_target_properties(MVS PROPERTIES CUDA_ARCHITECTURES "50;72;75")
+	SET_TARGET_PROPERTIES(MVS PROPERTIES CUDA_ARCHITECTURES "50;72;75")
 endif()
 TARGET_LINK_LIBRARIES(MVS PRIVATE Common Math IO CGAL::CGAL ${CERES_LIBRARIES} ${CUDA_CUDA_LIBRARY})
 
+if(OpenMVS_USE_PYTHON)
+	# Create the Python wrapper
+	cxx_library_with_type(pyOpenMVS "Libs" "SHARED" "${cxx_default}"
+		${PATH_PythonWrapper_cpp}
+	)
+	# Link its dependencies
+	if(_USE_CUDA)
+		SET_TARGET_PROPERTIES(pyOpenMVS PROPERTIES CUDA_ARCHITECTURES "50;72;75")
+	endif()
+	TARGET_LINK_LIBRARIES(pyOpenMVS PRIVATE MVS ${OpenMVS_EXTRA_LIBS})
+	# Suppress prefix "lib" because Python does not allow this prefix
+	SET_TARGET_PROPERTIES(pyOpenMVS PROPERTIES PREFIX "")
+	# Install
+	INSTALL(TARGETS pyOpenMVS DESTINATION "${PYTHON_INSTALL_PATH}")
+endif()
+
 # Install
 SET_TARGET_PROPERTIES(MVS PROPERTIES
 	PUBLIC_HEADER "${LIBRARY_FILES_H}")
diff --git a/libs/MVS/Camera.cpp b/libs/MVS/Camera.cpp
index 01464b713..17e049e4a 100644
--- a/libs/MVS/Camera.cpp
+++ b/libs/MVS/Camera.cpp
@@ -137,8 +137,7 @@ void MVS::DecomposeProjectionMatrix(const PMatrix& P, KMatrix& K, RMatrix& R, CM
 	const Vec4 hC(P.RightNullVector());
 	C = CMatrix(hC[0],hC[1],hC[2]) * INVERT(hC[3]);
 	// perform RQ decomposition
-	const cv::Mat mP(3,4,cv::DataType<REAL>::type,const_cast<REAL*>(P.val));
-	cv::RQDecomp3x3(mP(cv::Rect(0,0, 3,3)), K, R);
+	RQDecomp3x3<REAL>(cv::Mat(3,4,cv::DataType<REAL>::type,const_cast<REAL*>(P.val))(cv::Rect(0,0, 3,3)), K, R);
 	// normalize calibration matrix
 	K *= INVERT(K(2,2));
 	// ensure positive focal length
@@ -158,7 +157,7 @@ void MVS::DecomposeProjectionMatrix(const PMatrix& P, RMatrix& R, CMatrix& C)
 	#ifndef _RELEASE
 	KMatrix K;
 	DecomposeProjectionMatrix(P, K, R, C);
-	ASSERT(K.IsEqual(Matrix3x3::IDENTITY));
+	ASSERT(K.IsEqual(Matrix3x3::IDENTITY, 1e-5));
 	#endif
 	// extract camera center as the right null vector of P
 	const Vec4 hC(P.RightNullVector());
@@ -186,6 +185,50 @@ void MVS::AssembleProjectionMatrix(const RMatrix& R, const CMatrix& C, PMatrix&
 } // AssembleProjectionMatrix
 /*----------------------------------------------------------------*/
 
+// compute the focus of attention of a set of cameras; only cameras
+// that have the focus of attention in front of them are considered
+Point3 MVS::ComputeCamerasFocusPoint(const CameraArr& cameras, const Point3* pInitialFocus)
+{
+	// set initial focus point
+	Point3 focus;
+	if (pInitialFocus == NULL) {
+		// initialize focus point to the average camera center
+		focus = Point3::ZERO;
+		for (const Camera& camera: cameras)
+			focus += camera.C;
+		focus /= cameras.size();
+		// compute average distance to the cameras
+		REAL avgDist = 0;
+		for (const Camera& camera: cameras)
+			avgDist += SQRT(camera.DistanceSq(focus));
+		avgDist /= cameras.size();
+		// move focus point to the average distance in front of first camera
+		focus = cameras.front().C + cameras.front().Direction()*avgDist;
+	} else
+		focus = *pInitialFocus;
+	// compute focus point as the point in front of the active cameras,
+	// closest to the view direction of each camera
+	uint32_t numActive = 0;
+	Point3::EVec smp(Point3::EVec::Zero());
+	Matrix3x3::EMat smTm(Matrix3x3::EMat::Zero());
+	for (const Camera& camera: cameras) {
+		if (!camera.IsInFront(focus))
+			continue;
+		// https://en.wikipedia.org/wiki/Line–line_intersection#In_more_than_two_dimensions
+		const Point3::EVec dir = camera.Direction();
+		const Matrix3x3::EMat m(Matrix3x3::EMat::Identity() - dir * dir.transpose());
+		const Matrix3x3::EMat mTm(m.transpose() * m);
+		const Point3::EVec s = mTm * Point3::EVec(camera.C);
+		smp += s;
+		smTm += mTm;
+		++numActive;
+	}
+	if (numActive >= 2)
+		focus = smTm.inverse() * smp;
+	return focus;
+} // ComputeCamerasFocusPoint
+/*----------------------------------------------------------------*/
+
 
 
 namespace MVS {
diff --git a/libs/MVS/Camera.h b/libs/MVS/Camera.h
index 063ede568..0d27daf03 100644
--- a/libs/MVS/Camera.h
+++ b/libs/MVS/Camera.h
@@ -402,6 +402,43 @@ class MVS_API Camera : public CameraIntern
 		return TransformPointOrthoC2I(TransformPointW2C(X));
 	}
 
+	// compute the projection scale in this camera of the given world point
+	template <typename TYPE>
+	inline TYPE GetFootprintImage(const TPoint3<TYPE>& X) const {
+		#if 0
+		const TYPE fSphereRadius(1);
+		const TPoint3<TYPE> camX(TransformPointW2C(X));
+		return norm(TransformPointC2I(TPoint3<TYPE>(camX.x+fSphereRadius,camX.y,camX.z))-TransformPointC2I(camX));
+		#else
+		return static_cast<TYPE>(GetFocalLength() / PointDepth(X));
+		#endif
+	}
+	// compute the surface the projected pixel covers at the given depth
+	template <typename TYPE>
+	inline TYPE GetFootprintWorldSq(const TPoint2<TYPE>& x, TYPE depth) const {
+		#if 0
+		return SQUARE(GetFocalLength());
+		#else
+		// improved version of the above
+		return SQUARE(depth) / (SQUARE(GetFocalLength()) + normSq(TransformPointI2V(x)));
+		#endif
+	}
+	template <typename TYPE>
+	inline TYPE GetFootprintWorld(const TPoint2<TYPE>& x, TYPE depth) const {
+		return depth / SQRT(SQUARE(GetFocalLength()) + normSq(TransformPointI2V(x)));
+	}
+	// same as above, but the 3D point is given
+	template <typename TYPE>
+	inline TYPE GetFootprintWorldSq(const TPoint3<TYPE>& X) const {
+		const TPoint3<TYPE> camX(TransformPointW2C(X));
+		return GetFootprintWorldSq(TPoint2<TYPE>(camX.x/camX.z,camX.y/camX.z), camX.z);
+	}
+	template <typename TYPE>
+	inline TYPE GetFootprintWorld(const TPoint3<TYPE>& X) const {
+		const TPoint3<TYPE> camX(TransformPointW2C(X));
+		return GetFootprintWorld(TPoint2<TYPE>(camX.x/camX.z,camX.y/camX.z), camX.z);
+	}
+
 	#ifdef _USE_BOOST
 	// implement BOOST serialization
 	template<class Archive>
@@ -423,6 +460,7 @@ MVS_API void DecomposeProjectionMatrix(const PMatrix& P, KMatrix& K, RMatrix& R,
 MVS_API void DecomposeProjectionMatrix(const PMatrix& P, RMatrix& R, CMatrix& C);
 MVS_API void AssembleProjectionMatrix(const KMatrix& K, const RMatrix& R, const CMatrix& C, PMatrix& P);
 MVS_API void AssembleProjectionMatrix(const RMatrix& R, const CMatrix& C, PMatrix& P);
+MVS_API Point3 ComputeCamerasFocusPoint(const CameraArr& cameras, const Point3* pInitialFocus=NULL);
 /*----------------------------------------------------------------*/
 
 } // namespace MVS
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index b72690de4..142a5e41b 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -296,24 +296,29 @@ unsigned DepthData::DecRef()
 // S T R U C T S ///////////////////////////////////////////////////
 
 // try to load and apply mask to the depth map;
-// the mask marks as false pixels that should be ignored
-bool DepthEstimator::ImportIgnoreMask(const Image& image0, const Image8U::Size& size, BitMatrix& bmask, uint16_t nIgnoreMaskLabel)
+// the mask for each image is stored in the MVS scene or next to each image with '.mask.png' extension;
+// the mask marks as false (or 0) pixels that should be ignored
+//  - pMask: optional output mask; if defined, the mask is returned in this image instead of the BitMatrix
+bool DepthEstimator::ImportIgnoreMask(const Image& image0, const Image8U::Size& size, uint16_t nIgnoreMaskLabel, BitMatrix& bmask, Image8U* pMask)
 {
 	ASSERT(image0.IsValid() && !image0.image.empty());
-	if (image0.maskName.empty())
-		return false;
+	const String maskFileName(image0.maskName.empty() ? Util::getFileFullName(image0.name)+".mask.png" : image0.maskName);
 	Image16U mask;
-	if (!mask.Load(image0.maskName)) {
-		DEBUG("warning: can not load the segmentation mask '%s'", image0.maskName.c_str());
+	if (!mask.Load(maskFileName)) {
+		DEBUG("warning: can not load the segmentation mask '%s'", maskFileName.c_str());
 		return false;
 	}
 	cv::resize(mask, mask, size, 0, 0, cv::INTER_NEAREST);
-	bmask.create(size);
-	bmask.memset(0xFF);
-	for (int r=0; r<size.height; ++r) {
-		for (int c=0; c<size.width; ++c) {
-			if (mask(r,c) == nIgnoreMaskLabel)
-				bmask.unset(r,c);
+	if (pMask) {
+		*pMask = (mask != nIgnoreMaskLabel);
+	} else {
+		bmask.create(size);
+		bmask.memset(0xFF);
+		for (int r=0; r<size.height; ++r) {
+			for (int c=0; c<size.width; ++c) {
+				if (mask(r,c) == nIgnoreMaskLabel)
+					bmask.unset(r,c);
+			}
 		}
 	}
 	return true;
@@ -1251,64 +1256,6 @@ bool MVS::TriangulatePoints2DepthMap(
 
 namespace MVS {
 
-// least squares refinement of the given plane to the 3D point set
-// (return the number of iterations)
-template <typename TYPE>
-int OptimizePlane(TPlane<TYPE,3>& plane, const Eigen::Matrix<TYPE,3,1>* points, size_t size, int maxIters, TYPE threshold)
-{
-	typedef TPlane<TYPE,3> PLANE;
-	typedef Eigen::Matrix<TYPE,3,1> POINT;
-	ASSERT(size >= PLANE::numParams);
-	struct OptimizationFunctor {
-		const POINT* points;
-		const size_t size;
-		const RobustNorm::GemanMcClure<double> robust;
-		// construct with the data points
-		OptimizationFunctor(const POINT* _points, size_t _size, double _th)
-			: points(_points), size(_size), robust(_th) { ASSERT(size < (size_t)std::numeric_limits<int>::max()); }
-		static void Residuals(const double* x, int nPoints, const void* pData, double* fvec, double* fjac, int* /*info*/) {
-			const OptimizationFunctor& data = *reinterpret_cast<const OptimizationFunctor*>(pData);
-			ASSERT((size_t)nPoints == data.size && fvec != NULL && fjac == NULL);
-			TPlane<double,3> plane; {
-				Point3d N;
-				plane.m_fD = x[0];
-				Dir2Normal(reinterpret_cast<const Point2d&>(x[1]), N);
-				plane.m_vN = N;
-			}
-			for (size_t i=0; i<data.size; ++i)
-				fvec[i] = data.robust(plane.Distance(data.points[i].template cast<double>()));
-		}
-	} functor(points, size, threshold);
-	double arrParams[PLANE::numParams]; {
-		arrParams[0] = (double)plane.m_fD;
-		const Point3d N(plane.m_vN.x(), plane.m_vN.y(), plane.m_vN.z());
-		Normal2Dir(N, reinterpret_cast<Point2d&>(arrParams[1]));
-	}
-	lm_control_struct control = {1.e-6, 1.e-7, 1.e-8, 1.e-7, 100.0, maxIters}; // lm_control_float;
-	lm_status_struct status;
-	lmmin(PLANE::numParams, arrParams, (int)size, &functor, OptimizationFunctor::Residuals, &control, &status);
-	switch (status.info) {
-	//case 4:
-	case 5:
-	case 6:
-	case 7:
-	case 8:
-	case 9:
-	case 10:
-	case 11:
-	case 12:
-		DEBUG_ULTIMATE("error: refine plane: %s", lm_infmsg[status.info]);
-		return 0;
-	}
-	{
-		Point3d N;
-		plane.m_fD = (TYPE)arrParams[0];
-		Dir2Normal(reinterpret_cast<const Point2d&>(arrParams[1]), N);
-		plane.m_vN = Cast<TYPE>(N);
-	}
-	return status.nfev;
-}
-
 template <typename TYPE>
 class TPlaneSolverAdaptor
 {
@@ -1455,11 +1402,6 @@ unsigned MVS::EstimatePlaneThLockFirstPoint(const Point3dArr& points, Planed& pl
 {
 	return TEstimatePlane<double,UniformSamplerLockFirst,true>(points, plane, maxThreshold, arrInliers, maxIters);
 } // EstimatePlaneThLockFirstPoint
-// least squares refinement of the given plane to the 3D point set
-int MVS::OptimizePlane(Planed& plane, const Eigen::Vector3d* points, size_t size, int maxIters, double threshold)
-{
-	return OptimizePlane<double>(plane, points, size, maxIters, threshold);
-} // OptimizePlane
 /*----------------------------------------------------------------*/
 
 // Robustly estimate the plane that fits best the given points
@@ -1482,11 +1424,6 @@ unsigned MVS::EstimatePlaneThLockFirstPoint(const Point3fArr& points, Planef& pl
 {
 	return TEstimatePlane<float,UniformSamplerLockFirst,true>(points, plane, maxThreshold, arrInliers, maxIters);
 } // EstimatePlaneThLockFirstPoint
-// least squares refinement of the given plane to the 3D point set
-int MVS::OptimizePlane(Planef& plane, const Eigen::Vector3f* points, size_t size, int maxIters, float threshold)
-{
-	return OptimizePlane<float>(plane, points, size, maxIters, threshold);
-} // OptimizePlane
 /*----------------------------------------------------------------*/
 
 
@@ -1535,6 +1472,8 @@ void MVS::EstimatePointNormals(const ImageArr& images, PointCloud& pointcloud, i
 {
 	TD_TIMER_START();
 
+	ASSERT(pointcloud.IsValid());
+
 	typedef CGAL::Simple_cartesian<double> kernel_t;
 	typedef kernel_t::Point_3 point_t;
 	typedef kernel_t::Vector_3 vector_t;
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index cda6e74b8..3bbd77c44 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -452,7 +452,7 @@ struct MVS_API DepthEstimator {
 		ASSERT(ISEQUAL(norm(normal), 1.f));
 	}
 
-	static bool ImportIgnoreMask(const Image&, const Image8U::Size&, BitMatrix&, uint16_t nIgnoreMaskLabel);
+	static bool ImportIgnoreMask(const Image&, const Image8U::Size&, uint16_t nIgnoreMaskLabel, BitMatrix&, Image8U* =NULL);
 	static void MapMatrix2ZigzagIdx(const Image8U::Size& size, DepthEstimator::MapRefArr& coords, const BitMatrix& mask, int rawStride=16);
 
 	const float smoothBonusDepth, smoothBonusNormal;
@@ -482,13 +482,11 @@ MVS_API unsigned EstimatePlane(const Point3Arr&, Plane&, double& maxThreshold, b
 MVS_API unsigned EstimatePlaneLockFirstPoint(const Point3Arr&, Plane&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MVS_API unsigned EstimatePlaneTh(const Point3Arr&, Plane&, double maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MVS_API unsigned EstimatePlaneThLockFirstPoint(const Point3Arr&, Plane&, double maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
-MATH_API int OptimizePlane(Planed& plane, const Eigen::Vector3d* points, size_t size, int maxIters, double threshold);
 // same for float points
 MATH_API unsigned EstimatePlane(const Point3fArr&, Planef&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MATH_API unsigned EstimatePlaneLockFirstPoint(const Point3fArr&, Planef&, double& maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MATH_API unsigned EstimatePlaneTh(const Point3fArr&, Planef&, double maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
 MATH_API unsigned EstimatePlaneThLockFirstPoint(const Point3fArr&, Planef&, double maxThreshold, bool arrInliers[]=NULL, size_t maxIters=0);
-MATH_API int OptimizePlane(Planef& plane, const Eigen::Vector3f* points, size_t size, int maxIters, float threshold);
 
 MVS_API void EstimatePointColors(const ImageArr& images, PointCloud& pointcloud);
 MVS_API void EstimatePointNormals(const ImageArr& images, PointCloud& pointcloud, int numNeighbors=16/*K-nearest neighbors*/);
diff --git a/libs/MVS/Interface.h b/libs/MVS/Interface.h
index 666c588e9..6cbad1eb4 100644
--- a/libs/MVS/Interface.h
+++ b/libs/MVS/Interface.h
@@ -386,6 +386,21 @@ struct Interface
 			static uint32_t GetNormalizationScale(uint32_t width, uint32_t height) { return std::max(width, height); }
 			uint32_t GetNormalizationScale() const { return GetNormalizationScale(width, height); }
 
+			// project point: camera to image (homogeneous) coordinates
+			inline Pos3d operator * (const Pos3d& X) const {
+				return Pos3d(
+					K(0,2)+K(0,0)*X.x/X.z,
+					K(1,2)+K(1,1)*X.y/X.z,
+					1.0);
+			}
+			// back-project point: image (z is the depth) to camera coordinates
+			inline Pos3d operator / (const Pos3d& x) const {
+				return Pos3d(
+					(x.x-K(0,2))*x.z/K(0,0),
+					(x.y-K(1,2))*x.z/K(1,1),
+					1.0);
+			}
+
 			template <class Archive>
 			void serialize(Archive& ar, const unsigned int version) {
 				ar & name;
@@ -731,7 +746,7 @@ struct HeaderDepthDataRaw {
 	float dMin, dMax; // depth range for this view
 	// image file name length followed by the characters: uint16_t nFileNameSize; char* FileName
 	// number of view IDs followed by view ID and neighbor view IDs: uint32_t nIDs; uint32_t* IDs
-	// camera, rotation and position matrices (row-major): double K[3][3], R[3][3], C[3]
+	// camera, rotation and position matrices (row-major) at image resolution: double K[3][3], R[3][3], C[3]
 	// depth, normal, confidence maps: float depthMap[height][width], normalMap[height][width][3], confMap[height][width]
 	inline HeaderDepthDataRaw() : name(0), type(0), padding(0) {}
 	static uint16_t HeaderDepthDataRawName() { return *reinterpret_cast<const uint16_t*>("DR"); }
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 5bb7088d4..e708f6767 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -1551,6 +1551,7 @@ bool Mesh::LoadPLY(const String& fileName)
 		}
 	}
 	if (vertices.IsEmpty() || faces.IsEmpty()) {
+		Release();
 		DEBUG_EXTRA("error: invalid mesh file");
 		return false;
 	}
@@ -4280,7 +4281,7 @@ void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap) const
 			: Base(_vertices, _camera, _depthMap) {}
 		inline bool ProjectVertex(const Mesh::Vertex& pt, int v) {
 			return (ptc[v] = camera.TransformPointW2C(Cast<REAL>(pt))).z > 0 &&
-				depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointC2I(Point2(ptc[v].x,ptc[v].y)));
+				depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointOrthoC2I(ptc[v]));
 		}
 		void Raster(const ImageRef& pt, const Point3f& bary) {
 			const Depth z(ComputeDepth(bary));
@@ -4312,7 +4313,7 @@ void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap, Image8U3& imag
 		}
 		inline bool ProjectVertex(const Mesh::Vertex& pt, int v) {
 			return (ptc[v] = camera.TransformPointW2C(Cast<REAL>(pt))).z > 0 &&
-				depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointC2I(Point2(ptc[v].x,ptc[v].y)));
+				depthMap.isInsideWithBorder<float,3>(pti[v] = camera.TransformPointOrthoC2I(ptc[v]));
 		}
 		void Raster(const ImageRef& pt, const Point3f& bary) {
 			const Depth z(ComputeDepth(bary));
@@ -4462,144 +4463,206 @@ inline Eigen::AlignedBox3f bounding_box(const FaceBox& faceBox) {
 	return faceBox.box;
 }
 #endif
-bool Mesh::TransferTexture(Mesh& mesh, unsigned textureSize)
+bool Mesh::TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices, unsigned borderSize, unsigned textureSize)
 {
 	ASSERT(HasTexture() && mesh.HasTexture());
-	if (vertexFaces.size() != vertices.size())
-		ListIncidenteFaces();
-	if (mesh.vertexNormals.size() != mesh.vertices.size())
-		mesh.ComputeNormalVertices();
 	if (mesh.textureDiffuse.empty())
 		mesh.textureDiffuse.create(textureSize, textureSize);
-	#if USE_MESH_INT == USE_MESH_BVH
-	std::vector<FaceBox> boxes;
-	boxes.reserve(faces.size());
-	FOREACH(idxFace, faces)
-		boxes.emplace_back([this](FIndex idxFace) {
-			const Face& face = faces[idxFace];
-			Eigen::AlignedBox3f box;
-			box.extend<Eigen::Vector3f>(vertices[face[0]]);
-			box.extend<Eigen::Vector3f>(vertices[face[1]]);
-			box.extend<Eigen::Vector3f>(vertices[face[2]]);
-			return FaceBox{box, idxFace};
-		} (idxFace));
-	typedef Eigen::KdBVH<Type,3,FaceBox> BVH;
-	BVH tree(boxes.begin(), boxes.end());
-	#endif
-	struct IntersectRayMesh {
-		const Mesh& mesh;
-		const Ray3f& ray;
-		IndexDist pick;
-		IntersectRayMesh(const Mesh& _mesh, const Ray3f& _ray)
-			: mesh(_mesh), ray(_ray) {
-			#if USE_MESH_INT == USE_MESH_BF
-			FOREACH(idxFace, mesh.faces)
-				IntersectsRayFace(idxFace);
-			#endif
-		}
-		inline void IntersectsRayFace(FIndex idxFace) {
-			const Face& face = mesh.faces[idxFace];
-			Type dist;
-			if (ray.Intersects<true>(Triangle3f(mesh.vertices[face[0]], mesh.vertices[face[1]], mesh.vertices[face[2]]), &dist)) {
-				ASSERT(dist >= 0);
-				if (pick.dist > dist) {
-					pick.dist = dist;
-					pick.idx = idxFace;
+	Image8U mask(mesh.textureDiffuse.size(), uint8_t(255));
+	const FIndex num_faces(faceSubsetIndices.empty() ? faces.size() : faceSubsetIndices.size());
+	if (vertices == mesh.vertices && faces == mesh.faces) {
+		// the two meshes are identical, only the texture coordinates are different;
+		// directly transfer the texture onto the new coordinates
+		#ifndef MESH_USE_OPENMP
+		#pragma omp parallel for schedule(dynamic)
+		for (int_t i=0; i<(int_t)num_faces; ++i) {
+			const FIndex idx((FIndex)i);
+		#else
+		FOREACHRAW(idx, num_faces) {
+		#endif
+			const FIndex idxFace(faceSubsetIndices.empty() ? idx : faceSubsetIndices[idx]);
+			struct RasterTriangle {
+				const Mesh& meshRef;
+				Mesh& meshTrg;
+				Image8U& mask;
+				const TexCoord* tri;
+				inline cv::Size Size() const { return meshTrg.textureDiffuse.size(); }
+				inline void operator()(const ImageRef& pt, const Point3f& bary) {
+					ASSERT(meshTrg.textureDiffuse.isInside(pt));
+					const TexCoord x(tri[0]*bary.x + tri[1]*bary.y + tri[2]*bary.z);
+					const Pixel8U color(meshRef.textureDiffuse.sample(x));
+					meshTrg.textureDiffuse(pt) = color;
+					mask(pt) = 0;
 				}
-			}
+			} data{*this, mesh, mask, faceTexcoords.data()+idxFace*3};
+			// render triangle and for each pixel interpolate the color
+			// from the triangle corners using barycentric coordinates
+			const TexCoord* tri = mesh.faceTexcoords.data()+idxFace*3;
+			Image8U::RasterizeTriangleBary(tri[0], tri[1], tri[2], data);
 		}
+	} else {
+		// the two meshes are different, transfer the texture by finding the closest point
+		// on the two surfaces
+		if (vertexFaces.size() != vertices.size())
+			ListIncidenteFaces();
+		if (mesh.vertexNormals.size() != mesh.vertices.size())
+			mesh.ComputeNormalVertices();
 		#if USE_MESH_INT == USE_MESH_BVH
-		inline bool intersectVolume(const BVH::Volume &volume) {
-			return ray.Intersects(AABB3f(volume.min(), volume.max()));
-		}
-		inline bool intersectObject(const BVH::Object &object) {
-			IntersectsRayFace(object.idxFace);
-			return false;
-		}
+		std::vector<FaceBox> boxes;
+		boxes.reserve(faces.size());
+		FOREACH(idxFace, faces)
+			boxes.emplace_back([this](FIndex idxFace) {
+				const Face& face = faces[idxFace];
+				Eigen::AlignedBox3f box;
+				box.extend<Eigen::Vector3f>(vertices[face[0]]);
+				box.extend<Eigen::Vector3f>(vertices[face[1]]);
+				box.extend<Eigen::Vector3f>(vertices[face[2]]);
+				return FaceBox{box, idxFace};
+			} (idxFace));
+		typedef Eigen::KdBVH<Type,3,FaceBox> BVH;
+		BVH tree(boxes.begin(), boxes.end());
 		#endif
-	};
-	#if USE_MESH_INT == USE_MESH_BF || USE_MESH_INT == USE_MESH_BVH
-	const float diagonal(GetAABB().GetSize().norm());
-	#elif USE_MESH_INT == USE_MESH_OCTREE
-	const Octree octree(vertices, [](Octree::IDX_TYPE size, Octree::Type /*radius*/) {
-		return size > 8;
-	});
-	const float diagonal(octree.GetAabb().GetSize().norm());
-	struct OctreeIntersectRayMesh : IntersectRayMesh {
-		OctreeIntersectRayMesh(const Octree& octree, const Mesh& _mesh, const Ray3f& _ray)
-			: IntersectRayMesh(_mesh, _ray) {
-			octree.Collect(*this, *this);
-		}
-		inline bool Intersects(const Octree::POINT_TYPE& center, Octree::Type radius) const {
-			return ray.Intersects(AABB3f(center, radius));
-		}
-		void operator () (const Octree::IDX_TYPE* idices, Octree::IDX_TYPE size) {
-			// store all contained faces only once
-			std::unordered_set<FIndex> set;
-			FOREACHRAWPTR(pIdx, idices, size) {
-				const VIndex idxVertex((VIndex)*pIdx);
-				const FaceIdxArr& faces = mesh.vertexFaces[idxVertex];
-				set.insert(faces.begin(), faces.end());
-			}
-			// test face intersection and keep the closest
-			for (FIndex idxFace : set)
-				IntersectsRayFace(idxFace);
-		}
-	};
-	#endif
-	#ifdef MESH_USE_OPENMP
-	#pragma omp parallel for schedule(dynamic)
-	for (int_t i=0; i<(int_t)mesh.faces.size(); ++i) {
-		const FIndex idxFace((FIndex)i);
-	#else
-	FOREACH(idxFace, mesh.faces) {
-	#endif
-		struct RasterTraiangle {
-			#if USE_MESH_INT == USE_MESH_OCTREE
-			const Octree& octree;
-			#elif USE_MESH_INT == USE_MESH_BVH
-			BVH& tree;
-			#endif
-			const Mesh& meshRef;
-			Mesh& meshTrg;
-			const Face& face;
-			float diagonal;
-			inline cv::Size Size() const { return meshTrg.textureDiffuse.size(); }
-			inline void operator()(const ImageRef& pt, const Point3f& bary) {
-				ASSERT(meshTrg.textureDiffuse.isInside(pt));
-				const Vertex X(meshTrg.vertices[face[0]]*bary.x + meshTrg.vertices[face[1]]*bary.y + meshTrg.vertices[face[2]]*bary.z);
-				const Normal N(normalized(meshTrg.vertexNormals[face[0]]*bary.x + meshTrg.vertexNormals[face[1]]*bary.y + meshTrg.vertexNormals[face[2]]*bary.z));
-				const Ray3f ray(Vertex(X+N*diagonal), Normal(-N));
+		struct IntersectRayMesh {
+			const Mesh& mesh;
+			const Ray3f& ray;
+			IndexDist pick;
+			IntersectRayMesh(const Mesh& _mesh, const Ray3f& _ray)
+				: mesh(_mesh), ray(_ray) {
 				#if USE_MESH_INT == USE_MESH_BF
-				const IntersectRayMesh intRay(meshRef, ray);
-				#elif USE_MESH_INT == USE_MESH_BVH
-				IntersectRayMesh intRay(meshRef, ray);
-				Eigen::BVIntersect(tree, intRay);
-				#else
-				const OctreeIntersectRayMesh intRay(octree, meshRef, ray);
+				FOREACH(idxFace, mesh.faces)
+					IntersectsRayFace(idxFace);
 				#endif
-				if (intRay.pick.IsValid()) {
-					const FIndex refIdxFace((FIndex)intRay.pick.idx);
-					const Face& refFace = meshRef.faces[refIdxFace];
-					const Vertex refX(ray.GetPoint((Type)intRay.pick.dist));
-					const Vertex baryRef(CorrectBarycentricCoordinates(BarycentricCoordinatesUV(meshRef.vertices[refFace[0]], meshRef.vertices[refFace[1]], meshRef.vertices[refFace[2]], refX)));
-					const TexCoord* tri = meshRef.faceTexcoords.data()+refIdxFace*3;
-					const TexCoord x(tri[0]*baryRef.x + tri[1]*baryRef.y + tri[2]*baryRef.z);
-					const Pixel8U color(meshRef.textureDiffuse.sample(x));
-					meshTrg.textureDiffuse(pt) = color;
+			}
+			inline void IntersectsRayFace(FIndex idxFace) {
+				const Face& face = mesh.faces[idxFace];
+				Type dist;
+				if (ray.Intersects<true>(Triangle3f(mesh.vertices[face[0]], mesh.vertices[face[1]], mesh.vertices[face[2]]), &dist)) {
+					ASSERT(dist >= 0);
+					if (pick.dist > dist) {
+						pick.dist = dist;
+						pick.idx = idxFace;
+					}
+				}
+			}
+			#if USE_MESH_INT == USE_MESH_BVH
+			inline bool intersectVolume(const BVH::Volume &volume) {
+				return ray.Intersects(AABB3f(volume.min(), volume.max()));
+			}
+			inline bool intersectObject(const BVH::Object &object) {
+				IntersectsRayFace(object.idxFace);
+				return false;
+			}
+			#endif
+		};
+		#if USE_MESH_INT == USE_MESH_BF || USE_MESH_INT == USE_MESH_BVH
+		const float diagonal(GetAABB().GetSize().norm());
+		#elif USE_MESH_INT == USE_MESH_OCTREE
+		const Octree octree(vertices, [](Octree::IDX_TYPE size, Octree::Type /*radius*/) {
+			return size > 8;
+		});
+		const float diagonal(octree.GetAabb().GetSize().norm());
+		struct OctreeIntersectRayMesh : IntersectRayMesh {
+			OctreeIntersectRayMesh(const Octree& octree, const Mesh& _mesh, const Ray3f& _ray)
+				: IntersectRayMesh(_mesh, _ray) {
+				octree.Collect(*this, *this);
+			}
+			inline bool Intersects(const Octree::POINT_TYPE& center, Octree::Type radius) const {
+				return ray.Intersects(AABB3f(center, radius));
+			}
+			void operator() (const Octree::IDX_TYPE* idices, Octree::IDX_TYPE size) {
+				// store all contained faces only once
+				std::unordered_set<FIndex> set;
+				FOREACHRAWPTR(pIdx, idices, size) {
+					const VIndex idxVertex((VIndex)*pIdx);
+					const FaceIdxArr& faces = mesh.vertexFaces[idxVertex];
+					set.insert(faces.begin(), faces.end());
 				}
+				// test face intersection and keep the closest
+				for (FIndex idxFace : set)
+					IntersectsRayFace(idxFace);
 			}
-		#if USE_MESH_INT == USE_MESH_BF
-		} data{*this, mesh, mesh.faces[idxFace], diagonal};
-		#elif USE_MESH_INT == USE_MESH_BVH
-		} data{tree, *this, mesh, mesh.faces[idxFace], diagonal};
+		};
+		#endif
+		#ifdef MESH_USE_OPENMP
+		#pragma omp parallel for schedule(dynamic)
+		for (int_t i=0; i<(int_t)num_faces; ++i) {
+			const FIndex idx((FIndex)i);
 		#else
-		} data{octree, *this, mesh, mesh.faces[idxFace], diagonal};
+		FOREACHRAW(idx, num_faces) {
 		#endif
-		// render triangle and for each pixel interpolate the color
-		// from the triangle corners using barycentric coordinates
-		const TexCoord* tri = mesh.faceTexcoords.data()+idxFace*3;
-		Image8U::RasterizeTriangleBary(tri[0], tri[1], tri[2], data);
+			const FIndex idxFace(faceSubsetIndices.empty() ? idx : faceSubsetIndices[idx]);
+			struct RasterTriangle {
+				#if USE_MESH_INT == USE_MESH_OCTREE
+				const Octree& octree;
+				#elif USE_MESH_INT == USE_MESH_BVH
+				BVH& tree;
+				#endif
+				const Mesh& meshRef;
+				Mesh& meshTrg;
+				Image8U& mask;
+				const Face& face;
+				float diagonal;
+				inline cv::Size Size() const { return meshTrg.textureDiffuse.size(); }
+				inline void operator()(const ImageRef& pt, const Point3f& bary) {
+					ASSERT(meshTrg.textureDiffuse.isInside(pt));
+					const Vertex X(meshTrg.vertices[face[0]]*bary.x + meshTrg.vertices[face[1]]*bary.y + meshTrg.vertices[face[2]]*bary.z);
+					const Normal N(normalized(meshTrg.vertexNormals[face[0]]*bary.x + meshTrg.vertexNormals[face[1]]*bary.y + meshTrg.vertexNormals[face[2]]*bary.z));
+					const Ray3f ray(Vertex(X+N*diagonal), Normal(-N));
+					#if USE_MESH_INT == USE_MESH_BF
+					const IntersectRayMesh intRay(meshRef, ray);
+					#elif USE_MESH_INT == USE_MESH_BVH
+					IntersectRayMesh intRay(meshRef, ray);
+					Eigen::BVIntersect(tree, intRay);
+					#else
+					const OctreeIntersectRayMesh intRay(octree, meshRef, ray);
+					#endif
+					if (intRay.pick.IsValid()) {
+						const FIndex refIdxFace((FIndex)intRay.pick.idx);
+						const Face& refFace = meshRef.faces[refIdxFace];
+						const Vertex refX(ray.GetPoint((Type)intRay.pick.dist));
+						const Vertex baryRef(CorrectBarycentricCoordinates(BarycentricCoordinatesUV(meshRef.vertices[refFace[0]], meshRef.vertices[refFace[1]], meshRef.vertices[refFace[2]], refX)));
+						const TexCoord* tri = meshRef.faceTexcoords.data()+refIdxFace*3;
+						const TexCoord x(tri[0]*baryRef.x + tri[1]*baryRef.y + tri[2]*baryRef.z);
+						const Pixel8U color(meshRef.textureDiffuse.sample(x));
+						meshTrg.textureDiffuse(pt) = color;
+						mask(pt) = 0;
+					}
+				}
+			#if USE_MESH_INT == USE_MESH_BF
+			} data{*this, mesh, mask, mesh.faces[idxFace], diagonal};
+			#elif USE_MESH_INT == USE_MESH_BVH
+			} data{tree, *this, mesh, mask, mesh.faces[idxFace], diagonal};
+			#else
+			} data{octree, *this, mesh, mask, mesh.faces[idxFace], diagonal};
+			#endif
+			// render triangle and for each pixel interpolate the color
+			// from the triangle corners using barycentric coordinates
+			const TexCoord* tri = mesh.faceTexcoords.data()+idxFace*3;
+			Image8U::RasterizeTriangleBary(tri[0], tri[1], tri[2], data);
+		}
+	}
+	// fill border
+	if (borderSize > 0) {
+		ASSERT(mask.size().area() == mesh.textureDiffuse.size().area());
+		const int border(static_cast<int>(borderSize));
+		CLISTDEF0(int) idx_valid_pixels;
+		idx_valid_pixels.push_back(-1);
+		ASSERT(mask.isContinuous());
+		const int size(mask.size().area());
+		for (int i=0; i<size; ++i)
+			if (!mask(i))
+				idx_valid_pixels.push_back(i);
+		Image32F dists; cv::Mat_<int32_t> labels;
+		cv::distanceTransform(mask, dists, labels, cv::DIST_L1, 3, cv::DIST_LABEL_PIXEL);
+		ASSERT(mesh.textureDiffuse.isContinuous());
+		for (int i=0; i<size; ++i) {
+			const int dist = static_cast<int>(dists(i));
+			if (dist > 0 && dist <= border) {
+				const int label(labels(i));
+				const int idx_closest_pixel(idx_valid_pixels[label]);
+				mesh.textureDiffuse(i) = mesh.textureDiffuse(idx_closest_pixel);
+			}
+		}
 	}
 	return true;
 } // TransferTexture
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 0d0640363..214e2f21c 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -223,7 +223,7 @@ class MVS_API Mesh
 	bool Split(FacesChunkArr&, float maxArea);
 	Mesh SubMesh(const FaceIdxArr& faces) const;
 
-	bool TransferTexture(Mesh& mesh, unsigned textureSize=1024);
+	bool TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices={}, unsigned borderSize=3, unsigned textureSize=1024);
 
 	// file IO
 	bool Load(const String& fileName);
@@ -360,7 +360,7 @@ struct IntersectRayMesh {
 		return ray.Intersects(AABB3f(center, radius));
 	}
 
-	void operator () (const IDX* idices, IDX size) {
+	void operator() (const IDX* idices, IDX size) {
 		// store all intersected faces only once
 		typedef std::unordered_set<Mesh::FIndex> FaceSet;
 		FaceSet set;
diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
index ac872df0b..1a6c95f99 100644
--- a/libs/MVS/PatchMatchCUDA.cpp
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -404,7 +404,7 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 	if (OPTDENSE::nIgnoreMaskLabel >= 0) {
 		const DepthData::ViewData& view = depthData.GetView();
 		BitMatrix mask;
-		if (DepthEstimator::ImportIgnoreMask(*view.pImageData, depthData.depthMap.size(), mask, (uint16_t)OPTDENSE::nIgnoreMaskLabel))
+		if (DepthEstimator::ImportIgnoreMask(*view.pImageData, depthData.depthMap.size(), (uint16_t)OPTDENSE::nIgnoreMaskLabel, mask))
 			depthData.ApplyIgnoreMask(mask);
 	}
 
diff --git a/libs/MVS/PointCloud.cpp b/libs/MVS/PointCloud.cpp
index 6c6bf04f8..2920b8978 100644
--- a/libs/MVS/PointCloud.cpp
+++ b/libs/MVS/PointCloud.cpp
@@ -41,6 +41,17 @@ using namespace MVS;
 
 // S T R U C T S ///////////////////////////////////////////////////
 
+PointCloud& MVS::PointCloud::Swap(PointCloud& rhs)
+{
+	points.Swap(rhs.points);
+	pointViews.Swap(rhs.pointViews);
+	pointWeights.Swap(rhs.pointWeights);
+	normals.Swap(rhs.normals);
+	colors.Swap(rhs.colors);
+	return *this;
+}
+/*----------------------------------------------------------------*/
+
 void PointCloud::Release()
 {
 	points.Release();
@@ -178,7 +189,8 @@ Planef PointCloud::EstimateGroundPlane(const ImageArr& images, float planeThresh
 	for (const Point& X: *pPoints)
 		if (plane.DistanceAbs(X) < maxThreshold)
 			inliers.emplace_back(X);
-	OptimizePlane(plane, inliers.data(), inliers.size(), 100, static_cast<float>(threshold));
+	const RobustNorm::GemanMcClure<double> robust(threshold);
+	plane.Optimize(inliers.data(), inliers.size(), robust);
 
 	// make sure the plane is well oriented, negate plane normal if it faces same direction as cameras on average
 	if (!images.empty()) {
@@ -223,6 +235,8 @@ namespace BasicPLY {
 		Point p;
 		Color c;
 		Normal n;
+		float scale;
+		float confidence;
 	};
 	static const PLY::PlyProperty vert_props[] = {
 		{"x",     PLY::Float32, PLY::Float32, offsetof(PointColNormal,p.x), 0, 0, 0, 0},
@@ -233,7 +247,9 @@ namespace BasicPLY {
 		{"blue",  PLY::Uint8,   PLY::Uint8,   offsetof(PointColNormal,c.b), 0, 0, 0, 0},
 		{"nx",    PLY::Float32, PLY::Float32, offsetof(PointColNormal,n.x), 0, 0, 0, 0},
 		{"ny",    PLY::Float32, PLY::Float32, offsetof(PointColNormal,n.y), 0, 0, 0, 0},
-		{"nz",    PLY::Float32, PLY::Float32, offsetof(PointColNormal,n.z), 0, 0, 0, 0}
+		{"nz",    PLY::Float32, PLY::Float32, offsetof(PointColNormal,n.z), 0, 0, 0, 0},
+		{"scale", PLY::Float32, PLY::Float32, offsetof(PointColNormal,scale), 0, 0, 0, 0},
+		{"confidence", PLY::Float32, PLY::Float32, offsetof(PointColNormal,confidence), 0, 0, 0, 0}
 	};
 	// list of the kinds of elements in the PLY
 	static const char* elem_names[] = {
@@ -296,7 +312,7 @@ bool PointCloud::Load(const String& fileName)
 } // Load
 
 // save the dense point cloud as PLY file
-bool PointCloud::Save(const String& fileName, bool bLegacyTypes) const
+bool PointCloud::Save(const String& fileName, bool bLegacyTypes, bool bBinary) const
 {
 	if (points.IsEmpty())
 		return false;
@@ -308,7 +324,7 @@ bool PointCloud::Save(const String& fileName, bool bLegacyTypes) const
 	PLY ply;
 	if (bLegacyTypes)
 		ply.set_legacy_type_names();
-	if (!ply.write(fileName, 1, BasicPLY::elem_names, PLY::BINARY_LE, 64*1024))
+	if (!ply.write(fileName, 1, BasicPLY::elem_names, bBinary?PLY::BINARY_LE:PLY::ASCII, 64*1024))
 		return false;
 
 	if (normals.IsEmpty()) {
@@ -353,7 +369,7 @@ bool PointCloud::Save(const String& fileName, bool bLegacyTypes) const
 } // Save
 
 // save the dense point cloud having >=N views as PLY file
-bool PointCloud::SaveNViews(const String& fileName, uint32_t minViews, bool bLegacyTypes) const
+bool PointCloud::SaveNViews(const String& fileName, uint32_t minViews, bool bLegacyTypes, bool bBinary) const
 {
 	if (points.IsEmpty())
 		return false;
@@ -365,7 +381,7 @@ bool PointCloud::SaveNViews(const String& fileName, uint32_t minViews, bool bLeg
 	PLY ply;
 	if (bLegacyTypes)
 		ply.set_legacy_type_names();
-	if (!ply.write(fileName, 1, BasicPLY::elem_names, PLY::BINARY_LE, 64*1024))
+	if (!ply.write(fileName, 1, BasicPLY::elem_names, bBinary?PLY::BINARY_LE:PLY::ASCII, 64*1024))
 		return false;
 
 	if (normals.IsEmpty()) {
@@ -407,6 +423,90 @@ bool PointCloud::SaveNViews(const String& fileName, uint32_t minViews, bool bLeg
 	DEBUG_EXTRA("Point-cloud saved: %u points with at least %u views each (%s)", numPoints, minViews, TD_TIMER_GET_FMT().c_str());
 	return true;
 } // SaveNViews
+
+// save the dense point cloud + scale as PLY file
+bool PointCloud::SaveWithScale(const String& fileName, const ImageArr& images, float scaleMult, bool bLegacyTypes, bool bBinary) const
+{
+	if (points.empty())
+		return false;
+
+	TD_TIMER_STARTD();
+
+	// create PLY object
+	ASSERT(!fileName.empty());
+	Util::ensureFolder(fileName);
+	PLY ply;
+	if (bLegacyTypes)
+		ply.set_legacy_type_names();
+	if (!ply.write(fileName, 1, BasicPLY::elem_names, bBinary?PLY::BINARY_LE:PLY::ASCII, 64*1024))
+		return false;
+
+	// describe what properties go into the vertex elements
+	ply.describe_property(BasicPLY::elem_names[0], 11, BasicPLY::vert_props);
+
+	// export the array of 3D points
+	BasicPLY::PointColNormal vertex;
+	FOREACH(i, points) {
+		// export the vertex position, normal and scale
+		vertex.p = points[i];
+		if (colors.empty())
+			vertex.c = Color::WHITE;
+		else
+			vertex.c = colors[i];
+		if (normals.empty())
+			vertex.n = Vec3f::ZERO;
+		else
+			vertex.n = normals[i];
+		#if 0
+		// one sample per view
+		vertex.confidence = 1;
+		for (IIndex idxView: pointViews[i]) {
+			const float scale((float)images[idxView].camera.GetFootprintWorld(Cast<REAL>(vertex.p)));
+			ASSERT(scale > 0);
+			vertex.scale = scale*scaleMult;
+			ply.put_element(&vertex);
+		}
+		#else
+		// one sample per point
+		vertex.scale = FLT_MAX;
+		if (pointWeights.empty()) {
+			vertex.confidence = (float)pointViews[i].size();
+			for (IIndex idxView: pointViews[i]) {
+				const float scale((float)images[idxView].camera.GetFootprintWorld(Cast<REAL>(vertex.p)));
+				ASSERT(scale > 0);
+				if (vertex.scale > scale)
+					vertex.scale = scale;
+			}
+		} else {
+			vertex.confidence = 0;
+			float scaleWeightBest = FLT_MAX;
+			FOREACH(j, pointViews[i]) {
+				const IIndex idxView = pointViews[i][j];
+				const float scale((float)images[idxView].camera.GetFootprintWorld(Cast<REAL>(vertex.p)));
+				ASSERT(scale > 0);
+				const float conf(pointWeights[i][j]);
+				const float scaleWeight(scale/conf);
+				if (scaleWeightBest > scaleWeight) {
+					scaleWeightBest = scaleWeight;
+					vertex.scale = scale;
+					vertex.confidence = conf;
+				}
+			}
+		}
+		ASSERT(vertex.scale != FLT_MAX);
+		vertex.scale *= scaleMult;
+		ply.put_element(&vertex);
+		#endif
+	}
+	ASSERT(ply.get_current_element_count() == (int)points.size());
+
+	// write the header
+	if (!ply.header_complete())
+		return false;
+
+	DEBUG_EXTRA("Point-cloud saved: %u points with scale (%s)", points.size(), TD_TIMER_GET_FMT().c_str());
+	return true;
+} // SaveWithScale
 /*----------------------------------------------------------------*/
 
 
diff --git a/libs/MVS/PointCloud.h b/libs/MVS/PointCloud.h
index 901823757..fe43372ff 100644
--- a/libs/MVS/PointCloud.h
+++ b/libs/MVS/PointCloud.h
@@ -82,13 +82,13 @@ class MVS_API PointCloud
 	ColorArr colors;
 
 public:
-	inline PointCloud() {}
+	PointCloud& Swap(PointCloud&);
 
 	void Release();
 
-	inline bool IsEmpty() const { ASSERT(points.GetSize() == pointViews.GetSize() || pointViews.IsEmpty()); return points.IsEmpty(); }
-	inline bool IsValid() const { ASSERT(points.GetSize() == pointViews.GetSize() || pointViews.IsEmpty()); return !pointViews.IsEmpty(); }
-	inline size_t GetSize() const { ASSERT(points.GetSize() == pointViews.GetSize() || pointViews.IsEmpty()); return points.GetSize(); }
+	inline bool IsEmpty() const { ASSERT(points.size() == pointViews.size() || pointViews.empty()); return points.empty(); }
+	inline bool IsValid() const { ASSERT(points.size() == pointViews.size() || pointViews.empty()); return !pointViews.empty(); }
+	inline size_t GetSize() const { ASSERT(points.size() == pointViews.size() || pointViews.empty()); return points.size(); }
 
 	void RemovePoint(IDX);
 	void RemovePointsOutside(const OBB3f&);
@@ -102,8 +102,9 @@ class MVS_API PointCloud
 	Planef EstimateGroundPlane(const ImageArr& images, float planeThreshold=0, const String& fileExportPlane="") const;
 
 	bool Load(const String& fileName);
-	bool Save(const String& fileName, bool bLegacyTypes=false) const;
-	bool SaveNViews(const String& fileName, uint32_t minViews, bool bLegacyTypes=false) const;
+	bool Save(const String& fileName, bool bLegacyTypes=false, bool bBinary=true) const;
+	bool SaveNViews(const String& fileName, uint32_t minViews, bool bLegacyTypes=false, bool bBinary=true) const;
+	bool SaveWithScale(const String& fileName, const ImageArr& images, float scaleMult, bool bLegacyTypes=false, bool bBinary=true) const;
 
 	void PrintStatistics(const Image* pImages = NULL, const OBB3f* pObb = NULL) const;
 
@@ -152,11 +153,11 @@ struct IntersectRayPoints {
 		return coneIntersect(Sphere3(center.cast<REAL>(), REAL(radius) * SQRT_3));
 	}
 
-	void operator () (const IDX* idices, IDX size) {
+	void operator() (const IDX* idices, IDX size) {
 		// test ray-point intersection and keep the closest
 		FOREACHRAWPTR(pIdx, idices, size) {
 			const PointCloud::Index idx(*pIdx);
-			if (!pointcloud.pointViews.IsEmpty() && pointcloud.pointViews[idx].size() < minViews)
+			if (!pointcloud.pointViews.empty() && pointcloud.pointViews[idx].size() < minViews)
 				continue;
 			const PointCloud::Point& X = pointcloud.points[idx];
 			REAL dist;
diff --git a/libs/MVS/PythonWrapper.cpp b/libs/MVS/PythonWrapper.cpp
new file mode 100644
index 000000000..62a8a1d71
--- /dev/null
+++ b/libs/MVS/PythonWrapper.cpp
@@ -0,0 +1,137 @@
+/*
+* PythonWrapper.cpp
+*
+* Copyright (c) 2014-2022 SEACAVE
+*
+* Author(s):
+*
+*      cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*      You are required to preserve legal notices and author attributions in
+*      that material or in the Appropriate Legal Notices displayed by works
+*      containing it.
+*/
+
+#ifdef _USE_BOOST_PYTHON
+
+#undef _USRDLL
+#define _LIB
+#include "Common.h"
+#include "Scene.h"
+#undef _LIB
+#define _USRDLL
+#define BOOST_PYTHON_STATIC_LIB
+#include <boost/python.hpp>
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+namespace pyMVS {
+
+class Scene : public MVS::Scene
+{
+public:
+	Scene(unsigned _nMaxThreads=0) : MVS::Scene(_nMaxThreads) {
+		Util::Init();
+		INIT_WORKING_FOLDER;
+		MVS::OPTDENSE::init();
+	}
+
+	bool pyLoad(const std::string& fileName, bool bImport=false) {
+		return Load(MAKE_PATH_SAFE(fileName), bImport);
+	}
+	bool pySave(const std::string& fileName, int type=ARCHIVE_DEFAULT) const {
+		return Save(MAKE_PATH_SAFE(fileName), static_cast<ARCHIVE_TYPE>(type));
+	}
+
+	bool pySavePointCloud(const std::string& fileName) const {
+		return pointcloud.Save(MAKE_PATH_SAFE(fileName));
+	}
+
+	bool pyLoadMesh(const std::string& fileName) {
+		return mesh.Load(MAKE_PATH_SAFE(fileName));
+	}
+	bool pySaveMesh(const std::string& fileName) const {
+		return mesh.Save(MAKE_PATH_SAFE(fileName));
+	}
+
+	bool pyDenseReconstruction(unsigned nResolutionLevel=1, int nFusionMode=0, bool bCrop2ROI=true, float fBorderROI=0) {
+		MVS::OPTDENSE::nResolutionLevel = nResolutionLevel;
+		return DenseReconstruction(nFusionMode, bCrop2ROI, fBorderROI);
+	}
+	bool pyReconstructMesh(float distInsert=2, bool bUseFreeSpaceSupport=false, bool bUseOnlyROI=false) {
+		return ReconstructMesh(distInsert, bUseFreeSpaceSupport, bUseOnlyROI);
+	}
+	void pyCleanMesh(float fDecimate=1.f, float fRemoveSpurious=20.f, bool bRemoveSpikes=true, unsigned nCloseHoles=30, unsigned nSmoothMesh=2, float fEdgeLength=0.f, bool bCrop2ROI=false) {
+		if (bCrop2ROI && IsBounded()) {
+			const size_t numVertices = mesh.vertices.size();
+			const size_t numFaces = mesh.faces.size();
+			mesh.RemoveFacesOutside(obb);
+		}
+		mesh.Clean(fDecimate, fRemoveSpurious, bRemoveSpikes, nCloseHoles, nSmoothMesh, fEdgeLength, false);
+		mesh.Clean(1.f, 0.f, bRemoveSpikes, nCloseHoles, 0u, 0.f, false); // extra cleaning trying to close more holes
+		mesh.Clean(1.f, 0.f, false, 0u, 0u, 0.f, true); // extra cleaning to remove non-manifold problems created by closing holes
+	}
+	bool pyRefineMesh(unsigned nResolutionLevel=0, unsigned nEnsureEdgeSize=1, unsigned nMaxFaceArea=32, unsigned nScales=2, float fScaleStep=0.5f, float fRegularityWeight=0.2f) {
+		return RefineMesh(nResolutionLevel, 640/*nMinResolution*/, 8/*nMaxViews*/, 0.f/*fDecimateMesh*/, 30/*nCloseHoles*/, nEnsureEdgeSize,
+			nMaxFaceArea, nScales, fScaleStep, 0/*nAlternatePair*/, fRegularityWeight, 0.9f/*fRatioRigidityElasticity*/, 45.05f/*fGradientStep*/);
+	}
+	bool pyTextureMesh(unsigned nResolutionLevel=0, uint32_t nColEmpty=0x00FF7F27) {
+		return TextureMesh(nResolutionLevel, 640/*nMinResolution*/, 0/*minCommonCameras*/, 0.f/*fOutlierThreshold*/, 0.3f/*fRatioDataSmoothness*/,
+			true/*bGlobalSeamLeveling*/, true/*bLocalSeamLeveling*/, 0/*nTextureSizeMultiple*/, 3/*nRectPackingHeuristic*/, Pixel8U(nColEmpty));
+	}
+};
+
+void SetWorkingFolder(const std::string& folder) {
+	WORKING_FOLDER = folder;
+	Util::ensureValidFolderPath(WORKING_FOLDER);
+	INIT_WORKING_FOLDER;
+}
+
+BOOST_PYTHON_MODULE(pyOpenMVS) {
+	using namespace boost::python;
+	
+	class_<Scene, boost::noncopyable, boost::shared_ptr<Scene>>("Scene", init<unsigned>(arg("max_threads")=0))
+		.def("load", &Scene::pyLoad, (arg("file_path"), arg("import")=true))
+		.def("save", &Scene::pySave, (arg("file_path"), arg("type")=static_cast<int>(ARCHIVE_DEFAULT)))
+		.def("save_pointcloud", &Scene::pySavePointCloud, (arg("file_path")))
+		.def("load_mesh", &Scene::pyLoadMesh, (arg("file_path")))
+		.def("save_mesh", &Scene::pySaveMesh, (arg("file_path")))
+		.def("scale_images", &Scene::ScaleImages)
+		.def("transform", static_cast<void (Scene:: *)(const Matrix3x3&, const Point3&, REAL)>(&Scene::Transform))
+		.def("transform34", static_cast<void (Scene:: *)(const Matrix3x4&)>(&Scene::Transform))
+		.def("align_to", &Scene::AlignTo)
+		.def("dense_reconstruction", &Scene::pyDenseReconstruction, (arg("resolution_level")=0, arg("fusion_mode")=0, arg("crop_to_roi")=true, arg("roi_border")=0.f))
+		.def("reconstruct_mesh", &Scene::pyReconstructMesh, (arg("dist_insert")=2, arg("use_free_space_support")=false, arg("use_only_roi")=false))
+		.def("clean_mesh", &Scene::pyCleanMesh, (arg("decimate")=1.f, arg("remove_spurious")=20.f, arg("remove_spikes")=true, arg("close_holes")=30, arg("smooth_mesh")=2, arg("edge_length")=0.f, arg("crop_to_roi")=true))
+		.def("refine_mesh", &Scene::pyRefineMesh, (arg("resolution_level")=0, arg("ensure_edge_size")=1, arg("max_face_area")=32, arg("scales")=2, arg("scale_step")=0.5f, arg("regularity_weight")=0.2f))
+		.def("texture_mesh", &Scene::pyTextureMesh, (arg("resolution_level")=0, arg("empty_color")=0x00FF7F27))
+		.def("compute_leveled_volume", &Scene::ComputeLeveledVolume);
+	
+	def("set_working_folder", &SetWorkingFolder);
+} // BOOST_PYTHON_MODULE
+/*----------------------------------------------------------------*/
+
+} // namespace pyMVS
+
+#endif // _USE_BOOST_PYTHON
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 3b8023207..165d46ebe 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -59,6 +59,11 @@ void Scene::Release()
 	mesh.Release();
 }
 
+bool Scene::IsValid() const
+{
+	return !platforms.IsEmpty() && !images.IsEmpty();
+}
+
 bool Scene::IsEmpty() const
 {
 	return pointcloud.IsEmpty() && mesh.IsEmpty();
@@ -84,13 +89,13 @@ bool Scene::LoadInterface(const String & fileName)
 
 	// import platforms and cameras
 	ASSERT(!obj.platforms.empty());
-	platforms.Reserve((uint32_t)obj.platforms.size());
+	platforms.reserve((uint32_t)obj.platforms.size());
 	for (const Interface::Platform& itPlatform: obj.platforms) {
-		Platform& platform = platforms.AddEmpty();
+		Platform& platform = platforms.emplace_back();
 		platform.name = itPlatform.name;
-		platform.cameras.Reserve((uint32_t)itPlatform.cameras.size());
+		platform.cameras.reserve((uint32_t)itPlatform.cameras.size());
 		for (const Interface::Platform::Camera& itCamera: itPlatform.cameras) {
-			Platform::Camera& camera = platform.cameras.AddEmpty();
+			Platform::Camera& camera = platform.cameras.emplace_back();
 			camera.K = itCamera.K;
 			camera.R = itCamera.R;
 			camera.C = itCamera.C;
@@ -101,27 +106,28 @@ bool Scene::LoadInterface(const String & fileName)
 			}
 			DEBUG_EXTRA("Camera model loaded: platform %u; camera %2u; f %.3fx%.3f; poses %u", platforms.size()-1, platform.cameras.size()-1, camera.K(0,0), camera.K(1,1), itPlatform.poses.size());
 		}
-		ASSERT(platform.cameras.GetSize() == itPlatform.cameras.size());
-		platform.poses.Reserve((uint32_t)itPlatform.poses.size());
+		ASSERT(platform.cameras.size() == itPlatform.cameras.size());
+		platform.poses.reserve((uint32_t)itPlatform.poses.size());
 		for (const Interface::Platform::Pose& itPose: itPlatform.poses) {
-			Platform::Pose& pose = platform.poses.AddEmpty();
+			Platform::Pose& pose = platform.poses.emplace_back();
 			pose.R = itPose.R;
 			pose.C = itPose.C;
 		}
-		ASSERT(platform.poses.GetSize() == itPlatform.poses.size());
+		ASSERT(platform.poses.size() == itPlatform.poses.size());
 	}
-	ASSERT(platforms.GetSize() == obj.platforms.size());
-	if (platforms.IsEmpty())
+	ASSERT(platforms.size() == obj.platforms.size());
+	if (platforms.empty())
 		return false;
 
 	// import images
 	nCalibratedImages = 0;
 	size_t nTotalPixels(0);
 	ASSERT(!obj.images.empty());
-	images.Reserve((uint32_t)obj.images.size());
+	images.reserve((uint32_t)obj.images.size());
 	for (const Interface::Image& image: obj.images) {
 		const uint32_t ID(images.size());
-		Image& imageData = images.AddEmpty();
+		Image& imageData = images.emplace_back();
+		imageData.ID = (image.ID == NO_ID ? ID : image.ID);
 		imageData.name = image.name;
 		Util::ensureUnifySlash(imageData.name);
 		imageData.name = MAKE_PATH_FULL(WORKING_FOLDER_FULL, imageData.name);
@@ -137,7 +143,6 @@ bool Scene::LoadInterface(const String & fileName)
 		}
 		imageData.platformID = image.platformID;
 		imageData.cameraID = image.cameraID;
-		imageData.ID = (image.ID == NO_ID ? ID : image.ID);
 		// init camera
 		const Interface::Platform::Camera& camera = obj.platforms[image.platformID].cameras[image.cameraID];
 		if (camera.HasResolution()) {
@@ -155,26 +160,26 @@ bool Scene::LoadInterface(const String & fileName)
 		nTotalPixels += imageData.width * imageData.height;
 		DEBUG_ULTIMATE("Image loaded %3u: %s", ID, Util::getFileNameExt(imageData.name).c_str());
 	}
-	if (images.GetSize() < 2)
+	if (images.size() < 2)
 		return false;
 
 	// import 3D points
 	if (!obj.vertices.empty()) {
 		bool bValidWeights(false);
-		pointcloud.points.Resize(obj.vertices.size());
-		pointcloud.pointViews.Resize(obj.vertices.size());
-		pointcloud.pointWeights.Resize(obj.vertices.size());
+		pointcloud.points.resize(obj.vertices.size());
+		pointcloud.pointViews.resize(obj.vertices.size());
+		pointcloud.pointWeights.resize(obj.vertices.size());
 		FOREACH(i, pointcloud.points) {
 			const Interface::Vertex& vertex = obj.vertices[i];
 			PointCloud::Point& point = pointcloud.points[i];
 			point = vertex.X;
 			PointCloud::ViewArr& views = pointcloud.pointViews[i];
-			views.Resize((PointCloud::ViewArr::IDX)vertex.views.size());
+			views.resize((PointCloud::ViewArr::IDX)vertex.views.size());
 			PointCloud::WeightArr& weights = pointcloud.pointWeights[i];
-			weights.Resize((PointCloud::ViewArr::IDX)vertex.views.size());
-			CLISTDEF0(PointCloud::ViewArr::IDX) indices(views.GetSize());
-			std::iota(indices.Begin(), indices.End(), 0);
-			std::sort(indices.Begin(), indices.End(), [&](IndexArr::Type i0, IndexArr::Type i1) -> bool {
+			weights.resize((PointCloud::ViewArr::IDX)vertex.views.size());
+			CLISTDEF0(PointCloud::ViewArr::IDX) indices(views.size());
+			std::iota(indices.begin(), indices.end(), 0);
+			std::sort(indices.begin(), indices.end(), [&](IndexArr::Type i0, IndexArr::Type i1) -> bool {
 				return vertex.views[i0].imageID < vertex.views[i1].imageID;
 			});
 			ASSERT(vertex.views.size() >= 2);
@@ -205,8 +210,8 @@ bool Scene::LoadInterface(const String & fileName)
 				"\t%u images (%u calibrated) with a total of %.2f MPixels (%.2f MPixels/image)\n"
 				"\t%u points, %u vertices, %u faces",
 				TD_TIMER_GET_FMT().c_str(),
-				images.GetSize(), nCalibratedImages, (double)nTotalPixels/(1024.0*1024.0), (double)nTotalPixels/(1024.0*1024.0*nCalibratedImages),
-				pointcloud.points.GetSize(), mesh.vertices.GetSize(), mesh.faces.GetSize());
+				images.size(), nCalibratedImages, (double)nTotalPixels/(1024.0*1024.0), (double)nTotalPixels/(1024.0*1024.0*nCalibratedImages),
+				pointcloud.points.size(), mesh.vertices.size(), mesh.faces.size());
 	return true;
 } // LoadInterface
 
@@ -216,29 +221,29 @@ bool Scene::SaveInterface(const String & fileName, int version) const
 	Interface obj;
 
 	// export platforms
-	obj.platforms.reserve(platforms.GetSize());
+	obj.platforms.reserve(platforms.size());
 	for (const Platform& platform: platforms) {
 		Interface::Platform plat;
-		plat.cameras.reserve(platform.cameras.GetSize());
+		plat.cameras.reserve(platform.cameras.size());
 		for (const Platform::Camera& camera: platform.cameras) {
 			Interface::Platform::Camera cam;
 			cam.K = camera.K;
 			cam.R = camera.R;
 			cam.C = camera.C;
-			plat.cameras.push_back(cam);
+			plat.cameras.emplace_back(cam);
 		}
-		plat.poses.reserve(platform.poses.GetSize());
+		plat.poses.reserve(platform.poses.size());
 		for (const Platform::Pose& pose: platform.poses) {
 			Interface::Platform::Pose p;
 			p.R = pose.R;
 			p.C = pose.C;
-			plat.poses.push_back(p);
+			plat.poses.emplace_back(p);
 		}
-		obj.platforms.push_back(plat);
+		obj.platforms.emplace_back(std::move(plat));
 	}
 
 	// export images
-	obj.images.resize(images.GetSize());
+	obj.images.resize(images.size());
 	FOREACH(i, images) {
 		const Image& imageData = images[i];
 		MVS::Interface::Image& image = obj.images[i];
@@ -257,14 +262,14 @@ bool Scene::SaveInterface(const String & fileName, int version) const
 	}
 
 	// export 3D points
-	obj.vertices.resize(pointcloud.points.GetSize());
+	obj.vertices.resize(pointcloud.points.size());
 	FOREACH(i, pointcloud.points) {
 		const PointCloud::Point& point = pointcloud.points[i];
 		const PointCloud::ViewArr& views = pointcloud.pointViews[i];
 		MVS::Interface::Vertex& vertex = obj.vertices[i];
 		ASSERT(sizeof(vertex.X.x) == sizeof(point.x));
 		vertex.X = point;
-		vertex.views.resize(views.GetSize());
+		vertex.views.resize(views.size());
 		views.ForEach([&](PointCloud::ViewArr::IDX v) {
 			MVS::Interface::Vertex::View& view = vertex.views[v];
 			view.imageID = views[v];
@@ -272,7 +277,7 @@ bool Scene::SaveInterface(const String & fileName, int version) const
 		});
 	}
 	if (!pointcloud.normals.IsEmpty()) {
-		obj.verticesNormal.resize(pointcloud.normals.GetSize());
+		obj.verticesNormal.resize(pointcloud.normals.size());
 		FOREACH(i, pointcloud.normals) {
 			const PointCloud::Normal& normal = pointcloud.normals[i];
 			MVS::Interface::Normal& vertexNormal = obj.verticesNormal[i];
@@ -280,7 +285,7 @@ bool Scene::SaveInterface(const String & fileName, int version) const
 		}
 	}
 	if (!pointcloud.colors.IsEmpty()) {
-		obj.verticesColor.resize(pointcloud.colors.GetSize());
+		obj.verticesColor.resize(pointcloud.colors.size());
 		FOREACH(i, pointcloud.colors) {
 			const PointCloud::Color& color = pointcloud.colors[i];
 			MVS::Interface::Color& vertexColor = obj.verticesColor[i];
@@ -301,8 +306,8 @@ bool Scene::SaveInterface(const String & fileName, int version) const
 				"\t%u images (%u calibrated)\n"
 				"\t%u points, %u vertices, %u faces",
 				TD_TIMER_GET_FMT().c_str(),
-				images.GetSize(), nCalibratedImages,
-				pointcloud.points.GetSize(), mesh.vertices.GetSize(), mesh.faces.GetSize());
+				images.size(), nCalibratedImages,
+				pointcloud.points.size(), mesh.vertices.size(), mesh.faces.size());
 	return true;
 } // SaveInterface
 /*----------------------------------------------------------------*/
@@ -781,16 +786,6 @@ bool Scene::EstimateNeighborViewsPointCloud(unsigned maxResolution)
 } // EstimateNeighborViewsPointCloud
 /*----------------------------------------------------------------*/
 
-inline float Footprint(const Camera& camera, const Point3f& X) {
-	#if 0
-	const REAL fSphereRadius(1);
-	const Point3 cX(camera.TransformPointW2C(Cast<REAL>(X)));
-	return (float)norm(camera.TransformPointC2I(Point3(cX.x+fSphereRadius,cX.y,cX.z))-camera.TransformPointC2I(cX))+std::numeric_limits<float>::epsilon();
-	#else
-	return (float)(camera.GetFocalLength()/camera.PointDepth(X));
-	#endif
-}
-
 // compute visibility for the reference image
 // and select the best views for reconstructing the dense point-cloud;
 // extract also all 3D points seen by the reference image;
@@ -843,7 +838,7 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 		++nPoints;
 		// score shared views
 		const Point3f V1(imageData.camera.C - Cast<REAL>(point));
-		const float footprint1(Footprint(imageData.camera, point));
+		const float footprint1(imageData.camera.GetFootprintImage(point));
 		for (const PointCloud::View& view: views) {
 			if (view == ID)
 				continue;
@@ -851,7 +846,7 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 			const Point3f V2(imageData2.camera.C - Cast<REAL>(point));
 			const float fAngle(ACOS(ComputeAngle(V1.ptr(), V2.ptr())));
 			const float wAngle(EXP(SQUARE(fAngle-fOptimAngle)*(fAngle<fOptimAngle?sigmaAngleSmall:sigmaAngleLarge)));
-			const float footprint2(Footprint(imageData2.camera, point));
+			const float footprint2(imageData2.camera.GetFootprintImage(point));
 			const float fScaleRatio(footprint1/footprint2);
 			float wScale;
 			if (fScaleRatio > 1.6f)
@@ -867,67 +862,85 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 			++score.points;
 		}
 	}
-	imageData.avgDepth /= nPoints;
-	ASSERT(nPoints > 3);
+	if(nPoints > 3)
+		imageData.avgDepth /= nPoints;
 
 	// select best neighborViews
-	Point2fArr projs(0, points.size());
-	FOREACH(IDB, images) {
-		const Image& imageDataB = images[IDB];
-		if (!imageDataB.IsValid())
-			continue;
-		const Score& score = scores[IDB];
-		if (score.points < 3)
-			continue;
-		ASSERT(ID != IDB);
-		// compute how well the matched features are spread out (image covered area)
-		const Point2f boundsA(imageData.GetSize());
-		const Point2f boundsB(imageDataB.GetSize());
-		ASSERT(projs.empty());
-		for (uint32_t idx: points) {
-			const PointCloud::ViewArr& views = pointcloud.pointViews[idx];
-			ASSERT(views.IsSorted());
-			ASSERT(views.FindFirst(ID) != PointCloud::ViewArr::NO_INDEX);
-			if (views.FindFirst(IDB) == PointCloud::ViewArr::NO_INDEX)
+	if (neighbors.empty()) {
+		Point2fArr projs(0, points.size());
+		FOREACH(IDB, images) {
+			const Image& imageDataB = images[IDB];
+			if (!imageDataB.IsValid())
+				continue;
+			const Score& score = scores[IDB];
+			if (score.points < 3)
 				continue;
-			const PointCloud::Point& point = pointcloud.points[idx];
-			Point2f& ptA = projs.emplace_back(imageData.camera.ProjectPointP(point));
-			Point2f ptB = imageDataB.camera.ProjectPointP(point);
-			if (!imageData.camera.IsInside(ptA, boundsA) || !imageDataB.camera.IsInside(ptB, boundsB))
-				projs.RemoveLast();
+			ASSERT(ID != IDB);
+			// compute how well the matched features are spread out (image covered area)
+			const Point2f boundsA(imageData.GetSize());
+			const Point2f boundsB(imageDataB.GetSize());
+			ASSERT(projs.empty());
+			for (uint32_t idx: points) {
+				const PointCloud::ViewArr& views = pointcloud.pointViews[idx];
+				ASSERT(views.IsSorted());
+				ASSERT(views.FindFirst(ID) != PointCloud::ViewArr::NO_INDEX);
+				if (views.FindFirst(IDB) == PointCloud::ViewArr::NO_INDEX)
+					continue;
+				const PointCloud::Point& point = pointcloud.points[idx];
+				Point2f& ptA = projs.emplace_back(imageData.camera.ProjectPointP(point));
+				Point2f ptB = imageDataB.camera.ProjectPointP(point);
+				if (!imageData.camera.IsInside(ptA, boundsA) || !imageDataB.camera.IsInside(ptB, boundsB))
+					projs.RemoveLast();
+			}
+			ASSERT(projs.size() <= score.points);
+			if (projs.empty())
+				continue;
+			const float area(ComputeCoveredArea<float,2,16,false>((const float*)projs.data(), projs.size(), boundsA.ptr()));
+			projs.Empty();
+			// store image score
+			ViewScore& neighbor = neighbors.AddEmpty();
+			neighbor.idx.ID = IDB;
+			neighbor.idx.points = score.points;
+			neighbor.idx.scale = score.avgScale/score.points;
+			neighbor.idx.angle = score.avgAngle/score.points;
+			neighbor.idx.area = area;
+			neighbor.score = score.score*MAXF(area,0.01f);
 		}
-		ASSERT(projs.size() <= score.points);
-		if (projs.empty())
-			continue;
-		const float area(ComputeCoveredArea<float,2,16,false>((const float*)projs.data(), projs.size(), boundsA.ptr()));
-		projs.Empty();
-		// store image score
-		ViewScore& neighbor = neighbors.AddEmpty();
-		neighbor.idx.ID = IDB;
-		neighbor.idx.points = score.points;
-		neighbor.idx.scale = score.avgScale/score.points;
-		neighbor.idx.angle = score.avgAngle/score.points;
-		neighbor.idx.area = area;
-		neighbor.score = score.score*MAXF(area,0.01f);
-	}
-	neighbors.Sort();
-	#if TD_VERBOSE != TD_VERBOSE_OFF
-	// print neighbor views
-	if (VERBOSITY_LEVEL > 2) {
-		String msg;
-		FOREACH(n, neighbors)
-			msg += String::FormatString(" %3u(%upts,%.2fscl)", neighbors[n].idx.ID, neighbors[n].idx.points, neighbors[n].idx.scale);
-		VERBOSE("Reference image %3u sees %u views:%s (%u shared points)", ID, neighbors.size(), msg.c_str(), nPoints);
+		neighbors.Sort();
+		#if TD_VERBOSE != TD_VERBOSE_OFF
+		// print neighbor views
+		if (VERBOSITY_LEVEL > 2) {
+			String msg;
+			FOREACH(n, neighbors)
+				msg += String::FormatString(" %3u(%upts,%.2fscl)", neighbors[n].idx.ID, neighbors[n].idx.points, neighbors[n].idx.scale);
+			VERBOSE("Reference image %3u sees %u views:%s (%u shared points)", ID, neighbors.size(), msg.c_str(), nPoints);
+		}
+		#endif
 	}
-	#endif
 	if (points.size() <= 3 || neighbors.size() < MINF(nMinViews,nCalibratedImages-1)) {
 		DEBUG_EXTRA("error: reference image %3u has not enough images in view", ID);
 		return false;
 	}
 	return true;
 } // SelectNeighborViews
+
+void Scene::SelectNeighborViews(unsigned nMinViews, unsigned nMinPointViews, float fOptimAngle, unsigned nInsideROI)
+{
+	#ifdef DENSE_USE_OPENMP
+	#pragma omp parallel for shared(data, bAbort)
+	for (int_t ID=0; ID<(int_t)images.GetSize(); ++ID) {
+		const IIndex idxImage((IIndex)ID);
+	#else
+	FOREACH(idxImage, images) {
+	#endif
+		// select image neighbors
+		IndexArr points;
+		SelectNeighborViews(idxImage, points, nMinViews, nMinPointViews, fOptimAngle, nInsideROI);
+	}
+} // SelectNeighborViews
 /*----------------------------------------------------------------*/
 
+
 // keep only the best neighbors for the reference image
 bool Scene::FilterNeighborViews(ViewScoreArr& neighbors, float fMinArea, float fMinScale, float fMaxScale, float fMinAngle, float fMaxAngle, unsigned nMaxViews)
 {
@@ -1013,6 +1026,78 @@ bool Scene::ExportCamerasMLP(const String& fileName, const String& fileNameScene
 
 	return true;
 } // ExportCamerasMLP
+
+bool Scene::ExportLinesPLY(const String& fileName, const CLISTDEF0IDX(Line3f,uint32_t)& lines, const Pixel8U* colors, bool bBinary) {
+	// define a PLY file format composed only of vertices and edges
+	// vertex definition
+	struct PLYVertex {
+		float x, y, z;
+	};
+	// list of property information for a vertex
+	static PLY::PlyProperty vert_props[] = {
+		{"x", PLY::Float32, PLY::Float32, offsetof(PLYVertex,x), 0, 0, 0, 0},
+		{"y", PLY::Float32, PLY::Float32, offsetof(PLYVertex,y), 0, 0, 0, 0},
+		{"z", PLY::Float32, PLY::Float32, offsetof(PLYVertex,z), 0, 0, 0, 0},
+	};
+	// edge definition
+	struct PLYEdge {
+		int v1, v2;
+		uint8_t r, g, b;
+	};
+	// list of property information for a edge
+	static PLY::PlyProperty edge_props[] = {
+		{"vertex1", PLY::Uint32, PLY::Uint32, offsetof(PLYEdge,v1), 0, 0, 0, 0},
+		{"vertex2", PLY::Uint32, PLY::Uint32, offsetof(PLYEdge,v2), 0, 0, 0, 0},
+		{"red", PLY::Uint8, PLY::Uint8, offsetof(PLYEdge,r), 0, 0, 0, 0},
+		{"green", PLY::Uint8, PLY::Uint8, offsetof(PLYEdge,g), 0, 0, 0, 0},
+		{"blue", PLY::Uint8, PLY::Uint8, offsetof(PLYEdge,b), 0, 0, 0, 0},
+	};
+	// list of the kinds of elements in the PLY
+	static const char* elem_names[] = {
+		"vertex", "edge"
+	};
+
+	// create PLY object
+	ASSERT(!fileName.empty());
+	Util::ensureFolder(fileName);
+	const size_t memBufferSize(2 * (8 * 3/*pos*/ + 3 * 3/*color*/ + 6/*space*/ + 2/*eol*/) + 2048/*extra size*/);
+	PLY ply;
+	if (!ply.write(fileName, 2, elem_names, bBinary?PLY::BINARY_LE:PLY::ASCII, memBufferSize))
+		return false;
+
+	// describe what properties go into the vertex elements
+	ply.describe_property("vertex", 3, vert_props);
+	PLYVertex v;
+	FOREACH(i, lines) {
+		const Line3f& line = lines[i];
+		v.x = line.pt1.x(); v.y = line.pt1.y(); v.z = line.pt1.z();
+		ply.put_element(&v);
+		v.x = line.pt2.x(); v.y = line.pt2.y(); v.z = line.pt2.z();
+		ply.put_element(&v);
+	}
+	
+	// describe what properties go into the edge elements
+	if (colors) {
+		ply.describe_property("edge", 5, edge_props);
+		PLYEdge edge;
+		FOREACH(i, lines) {
+			const Pixel8U& color = colors[i];
+			edge.r = color.r; edge.g = color.g; edge.b = color.b;
+			edge.v1 = i*2+0; edge.v2 = i*2+1;
+			ply.put_element(&edge);
+		}
+	} else {
+		ply.describe_property("edge", 2, edge_props);
+		PLYEdge edge;
+		FOREACH(i, lines) {
+			edge.v1 = i*2+0; edge.v2 = i*2+1;
+			ply.put_element(&edge);
+		}
+	}
+	
+	// write to file
+	return ply.header_complete();
+} // ExportLinesPLY
 /*----------------------------------------------------------------*/
 
 
@@ -1055,7 +1140,7 @@ unsigned Scene::Split(ImagesChunkArr& chunks, float maxArea, int depthMapStep) c
 					const Point3f X(Cast<float>(camera.TransformPointI2W(Point3(c,r,depth))));
 					if (IsBounded() && !obb.Intersects(X))
 						continue;
-					areas.emplace_back(Footprint(camera, X)*areaScale);
+					areas.emplace_back(camera.GetFootprintImage(X)*areaScale);
 					visibility.emplace_back(idxImage);
 					samples.emplace_back(X);
 				}
@@ -1440,7 +1525,8 @@ bool Scene::ScaleImages(unsigned nMaxResolution, REAL scale, const String& folde
 } // ScaleImages
 
 // apply similarity transform
-void Scene::Transform(const Matrix3x3& rotation, const Point3& translation, REAL scale) {
+void Scene::Transform(const Matrix3x3& rotation, const Point3& translation, REAL scale)
+{
 	const Matrix3x3 rotationScale(rotation * scale);
 	for (Platform& platform : platforms) {
 		for (Platform::Pose& pose : platform.poses) {
@@ -1449,7 +1535,8 @@ void Scene::Transform(const Matrix3x3& rotation, const Point3& translation, REAL
 		}
 	}
 	for (Image& image : images) {
-		image.UpdateCamera(platforms);
+		if (image.IsValid())
+			image.UpdateCamera(platforms);
 	}
 	FOREACH(i, pointcloud.points) {
 		pointcloud.points[i] = rotationScale * Cast<REAL>(pointcloud.points[i]) + translation;
@@ -1469,6 +1556,25 @@ void Scene::Transform(const Matrix3x3& rotation, const Point3& translation, REAL
 		obb.Translate(Cast<float>(translation));
 	}
 }
+void Scene::Transform(const Matrix3x4& transform)
+{
+	#if 1
+	Matrix3x3 mscale, rotation;
+	RQDecomp3x3<REAL>(cv::Mat(3,4,cv::DataType<REAL>::type,const_cast<REAL*>(transform.val))(cv::Rect(0,0, 3,3)), mscale, rotation);
+	const Point3 translation = transform.col(3);
+	#else
+	Eigen::Matrix<REAL,4,4> transform4x4 = Eigen::Matrix<REAL,4,4>::Identity();
+	transform4x4.topLeftCorner<3,4>() = static_cast<const Matrix3x4::CEMatMap>(transform);
+	Eigen::Transform<REAL, 3, Eigen::Isometry> transformIsometry(transform4x4);
+	Eigen::Matrix<REAL,3,3> mrotation;
+	Eigen::Matrix<REAL,3,3> mscale;
+	transformIsometry.computeRotationScaling(&mrotation, &mscale);
+	const Point3 translation = transformIsometry.translation();
+	const Matrix3x3 rotation = mrotation;
+	#endif
+	ASSERT(mscale(0,0) > 0 && ISEQUAL(mscale(0,0), mscale(1,1)) && ISEQUAL(mscale(0,0), mscale(2,2)));
+	Transform(rotation, translation, mscale(0,0));
+} // Transform
 
 // transform this scene such that it best aligns with the given scene based on the camera positions
 bool Scene::AlignTo(const Scene& scene)
@@ -1625,3 +1731,351 @@ bool Scene::EstimateROI(int nEstimateROI, float scale)
 	return true;
 } // EstimateROI
 /*----------------------------------------------------------------*/
+
+
+// calculate the center(X,Y) of the cylinder, the radius and min/max Z
+// from camera position and sparse point cloud, if that exists
+// returns result of checks if the scene camera positions satisfies tower criteria:
+//	- cameras fit a long and slim bounding box
+//  - majority of cameras focus toward a middle line
+bool Scene::ComputeTowerCylinder(Point2f& centerPoint, float& fRadius, float& fROIRadius, float& zMin, float& zMax, float& minCamZ, const int towerMode)
+{
+	// disregard tower mode for scenes with less than 20 cameras
+	if (towerMode > 0 && images.size() < 20) {
+		DEBUG("error: too few images to be a tower: '%d'", images.size());
+		return false;
+	}
+
+	AABB3f aabbOutsideCameras(true);
+	CLISTDEF0(Point2f) cameras2D(images.size());
+	FloatArr camHeigths;
+	FitLineOnline<float> fitline;
+	FOREACH(imgIdx, images) {
+		const Eigen::Vector3f camPos(Cast<float>(images[imgIdx].camera.C));
+		fitline.Update(camPos);
+		aabbOutsideCameras.InsertFull(camPos);
+		cameras2D[imgIdx] = Point2f(camPos.x(), camPos.y());
+		camHeigths.InsertSortUnique(camPos.z());
+	}
+	Line3f camCenterLine;
+	Point3f quality = fitline.GetLine(camCenterLine);
+	// check if ROI is mostly long and narrow on one direction
+	if (quality.y / quality.z > 0.6f || quality.x / quality.y < 0.8f) {
+		// does not seem to be a line
+		if (towerMode > 0) {
+			DEBUG("error: does not seem to be a tower: X(%.2f), Y(%.2f), Z(%.2f)", quality.x, quality.y, quality.z);
+			return false;
+		}
+	}
+
+	// get the height of the lowest camera
+	minCamZ = aabbOutsideCameras.ptMin.z();
+	centerPoint = ((camCenterLine.pt1+camCenterLine.pt2)*0.5f).topLeftCorner<2,1>();
+	zMin = MINF(aabbOutsideCameras.ptMax.z(), aabbOutsideCameras.ptMin.z()) - 5;
+	// if sparse point cloud is loaded use lowest point as zMin
+	float fMinPointsZ = std::numeric_limits<float>::max();
+	float fMaxPointsZ = std::numeric_limits<float>::lowest();
+	FOREACH(pIdx, pointcloud.points) {
+		if (!obb.IsValid() || obb.Intersects(pointcloud.points[pIdx])) {
+			const float pz = pointcloud.points[pIdx].z;
+			if (pz < fMinPointsZ)
+				fMinPointsZ = pz;
+			if (pz > fMaxPointsZ)
+				fMaxPointsZ = pz;			
+		}
+	}
+	zMin = MINF(zMin, fMinPointsZ);
+	zMax = MAXF(aabbOutsideCameras.ptMax.z(), fMaxPointsZ);
+	
+	// calculate tower radius as median distance from tower center to cameras
+	FloatArr cameraDistancesToMiddle(cameras2D.size());
+	FOREACH (camIdx, cameras2D)
+		cameraDistancesToMiddle[camIdx] = norm(cameras2D[camIdx] - centerPoint);
+	const float fMedianDistance = cameraDistancesToMiddle.GetMedian();
+	fRadius = MAXF(0.2f, (fMedianDistance - 1.f) / 3.f);
+	// get the average of top 85 to 95% of the highest distances to center
+	if (!cameraDistancesToMiddle.empty()) {
+		float avgTopDistance(0);
+		cameraDistancesToMiddle.Sort();
+		const size_t topIdx(CEIL2INT(cameraDistancesToMiddle.size() * 0.95f));
+		const size_t botIdx(FLOOR2INT(cameraDistancesToMiddle.size() * 0.85f));
+		for (size_t i = botIdx; i < topIdx; ++i) {
+			avgTopDistance += cameraDistancesToMiddle[i];
+		}
+		avgTopDistance /= topIdx - botIdx;
+		fROIRadius = avgTopDistance;
+	} else {
+		fROIRadius = fRadius;
+	}
+	return true;
+} // ComputeTowerCylinder
+
+size_t Scene::DrawCircle(PointCloud& pc, PointCloud::PointArr& outCircle, const Point3f& circleCenter, const float circleRadius, const unsigned nTargetPoints, const float fStartAngle, const float fAngleBetweenPoints)
+{
+	outCircle.Release();
+	for (unsigned pIdx = 0; pIdx < nTargetPoints; ++pIdx) {
+		const float fAngle(fStartAngle + fAngleBetweenPoints * pIdx);
+		ASSERT(fAngle <= FTWO_PI);
+		const Normal n(cos(fAngle), sin(fAngle), 0);
+		ASSERT(ISEQUAL(norm(n), 1.f));
+		const Point3f newPoint(circleCenter + circleRadius * n);
+		// select cameras seeing this point
+		PointCloud::ViewArr views;
+		FOREACH(idxImg, images) {
+			const Image& image = images[idxImg];
+			const Point3f xz(image.camera.TransformPointW2I3(Cast<REAL>(newPoint)));
+			const Point2f x(xz.x, xz.y);
+			if (!Image8U::isInside<float>(x, image.GetSize()) ||
+				xz.z <= 0)
+				continue;
+			if (n.dot(Cast<float>(image.camera.RayPoint<REAL>(x))) >= 0)
+				continue;
+			views.emplace_back(idxImg);
+		}
+		if (views.size() >= 2) {
+			outCircle.emplace_back(newPoint);
+			pc.points.emplace_back(newPoint);
+			pc.pointViews.emplace_back(views);
+			pc.normals.emplace_back(n);
+			pc.colors.emplace_back(Pixel8U::YELLOW);
+			pc.pointWeights.emplace_back(PointCloud::WeightArr{1.f});
+		}
+	}
+	return outCircle.size();
+} // DrawCircle
+
+PointCloud Scene::BuildTowerMesh(const PointCloud& origPointCloud, const Point2f& centerPoint, const float fRadius, const float fROIRadius, const float zMin, const float zMax, const float minCamZ, bool bFixRadius)
+{
+	const unsigned nTargetDensity(10);
+	const unsigned nTargetCircles(ROUND2INT((zMax - zMin) * nTargetDensity)); // how many circles in cylinder
+	const float fCircleFrequence((zMax - zMin) / nTargetCircles); // the distance between neighbor circles
+	PointCloud towerPC;
+	PointCloud::PointArr circlePoints;
+	Mesh::VertexVerticesArr meshCircles;
+	if (bFixRadius) {
+		const unsigned nTargetPoints(MAX(10, ROUND2INT(FTWO_PI * fRadius * nTargetDensity))); // how many points on each circle
+		const float fAngleBetweenPoints(FTWO_PI / nTargetPoints); // the angle between neighbor points on the circle	
+		for (unsigned cIdx = 0; cIdx < nTargetCircles; ++cIdx) {
+			const Point3f circleCenter(centerPoint, zMin + fCircleFrequence * cIdx); // center point of the circle
+			const float fStartAngle(fAngleBetweenPoints * SEACAVE::random()); // starting angle for the first point
+			DrawCircle(towerPC, circlePoints, circleCenter, fRadius, nTargetPoints, fStartAngle, fAngleBetweenPoints);
+			if (!circlePoints.empty()) {
+				// add points to vertex  list
+				Mesh::VertexIdxArr circleVertices;
+				Mesh::VIndex vIdx = mesh.vertices.size();
+				for (const Point3f& p: circlePoints) {
+					mesh.vertices.emplace_back(p);
+					circleVertices.emplace_back(vIdx++);
+				}
+				meshCircles.emplace_back(circleVertices);
+			}
+		}
+	} else {
+		cList<FloatArr> sliceDistances(nTargetCircles);
+		for (const Point3f& P : origPointCloud.points) {
+			const float d(norm(Point2f(P.x, P.y) - centerPoint));
+			if (d <= fROIRadius) {
+				const float fIdx((zMax - P.z) * nTargetDensity);
+				int bIdx(FLOOR2INT(fIdx));
+				int tIdx(FLOOR2INT(fIdx+0.5f));
+				if (bIdx == tIdx && bIdx > 0)
+					bIdx--;
+				if (tIdx >= (int)nTargetCircles)
+					tIdx = nTargetCircles - 1;
+				if (bIdx < (int)nTargetCircles - 1)
+					sliceDistances[bIdx].emplace_back(d);
+				if (tIdx > 0)
+					sliceDistances[tIdx].emplace_back(d);
+			}
+		}
+		FloatArr circleRadii;
+		for (unsigned cIdx = 0; cIdx < nTargetCircles; ++cIdx) {
+			const float circleZ(zMax - fCircleFrequence * cIdx);
+			FloatArr& pDistances = sliceDistances[cIdx];
+			float circleRadius(fRadius);
+			if (circleZ < minCamZ) {
+				// use fixed radius under lowest camera position
+				circleRadius = fRadius;
+			} else {
+				if (pDistances.size() > 2) {
+					pDistances.Sort();
+					const size_t topIdx(MIN(pDistances.size() - 1, CEIL2INT(pDistances.size() * 0.95f)));
+					const size_t botIdx(MAX(1, FLOOR2INT(pDistances.size() * 0.5f)));
+					float avgTopDistance(0);
+					for (size_t i = botIdx; i < topIdx; ++i)
+						avgTopDistance += pDistances[i];
+					avgTopDistance /= topIdx - botIdx;
+					if (avgTopDistance < fROIRadius * 0.8f)
+						circleRadius = avgTopDistance;
+				}
+			}
+			circleRadii.emplace_back(circleRadius);
+		}
+		// smoothen radii
+		if (circleRadii.size() > 2) {
+			for (int ri = 1; ri < circleRadii.size() - 1; ++ri) {
+				const float aboveRad(circleRadii[ri - 1]);
+				float& circleRadius = circleRadii[ri];
+				const float beloweRad(circleRadii[ri + 1]);
+				const float AbvCrtDeltaPrc = ABS(aboveRad - circleRadius) / aboveRad;
+				const float BelCrtDeltaPrc = ABS(circleRadius - beloweRad) / circleRadius;
+				// set current radius as average of the most similar values in the closest 7 neighbors
+				if (ri > 2 && ri < circleRadii.size() - 5) {
+					FloatArr neighSeven(7);
+					FOREACH(i, neighSeven)
+						neighSeven[i] = circleRadii[ri - 2 + i];
+					neighSeven.Sort();
+					const float medianRadius(neighSeven.GetMedian());
+					circleRadius = ABS(medianRadius-aboveRad) < ABS(medianRadius-beloweRad) ? aboveRad : beloweRad;
+				}
+				else {
+					circleRadius = (aboveRad + beloweRad) / 2.f;
+				}
+			}
+		}
+		// add circles
+		FOREACH(rIdx, circleRadii) {
+			float circleRadius(circleRadii[rIdx]);
+			const float circleZ(zMax - fCircleFrequence * rIdx);
+			const Point3f circleCenter(centerPoint, circleZ); // center point of the circle
+			const unsigned nTargetPoints(MAX(10, ROUND2INT(FTWO_PI * circleRadius * nTargetDensity))); // how many points on each circle
+			const float fAngleBetweenPoints(FTWO_PI / nTargetPoints); // the angle between neighbor points on the circle
+			const float fStartAngle(fAngleBetweenPoints * SEACAVE::random()); // starting angle for the first point
+			DrawCircle(towerPC, circlePoints, circleCenter, circleRadius, nTargetPoints, fStartAngle, fAngleBetweenPoints);
+			if (!circlePoints.IsEmpty()) {
+				//add points to vertex  list
+				Mesh::VertexIdxArr circleVertices;
+				Mesh::VIndex vIdx = mesh.vertices.size();
+				FOREACH(pIdx, circlePoints) {
+					const Point3f& p = circlePoints[pIdx];
+					mesh.vertices.emplace_back(p);
+					circleVertices.emplace_back(vIdx);
+					++vIdx;
+				}
+				meshCircles.emplace_back(circleVertices);
+			}
+		}
+	}
+	
+	#if TD_VERBOSE != TD_VERBOSE_OFF
+	if (VERBOSITY_LEVEL > 2) {
+		// Build faces from meshCircles
+		for (Mesh::VIndex cIdx = 1; cIdx < meshCircles.size(); ++cIdx) {
+			if (meshCircles[cIdx - 1].size() > 1 || meshCircles[cIdx].size() > 1) {
+				Mesh::VertexIdxArr& topPoints = meshCircles[cIdx - 1];
+				Mesh::VertexIdxArr& botPoints = meshCircles[cIdx];
+				// build faces with all the points in the two lists
+				bool bInverted(false);
+				if (topPoints.size() > botPoints.size()) {
+					topPoints.swap(botPoints);
+					bInverted = true;
+				}
+				const float topStep(1.0f / topPoints.size());
+				const float botStep(1.0f / botPoints.size());
+				for (Mesh::VIndex ti=0, bi=0; ti < topPoints.size() && bi<botPoints.size(); ++ti) {
+					do {
+						const Mesh::VIndex& v0(topPoints[ti]);
+						const Mesh::VIndex& v1(botPoints[bi]);
+						const Mesh::VIndex& v2(botPoints[(++bi)%botPoints.size()]);
+						if (!bInverted)
+							mesh.faces.emplace_back(v0, v1, v2);
+						else
+							mesh.faces.emplace_back(v0, v2, v1);
+					} while (bi<botPoints.size() && (ti+1)*topStep > (bi+1)*botStep);
+					if (topPoints.size() > 1) {
+						const Mesh::VIndex& v0(topPoints[ti]);
+						const Mesh::VIndex& v1(botPoints[bi%botPoints.size()]);
+						const Mesh::VIndex& v2(topPoints[(ti+1)%topPoints.size()]);
+						if (!bInverted)
+							mesh.faces.emplace_back(v0, v1, v2);
+						else
+							mesh.faces.emplace_back(v0, v2, v1);
+					}
+					if (topPoints.size() != botPoints.size()) {
+						// add closing face
+						const Mesh::VIndex& v0(topPoints[0]);
+						const Mesh::VIndex& v1(botPoints[botPoints.size()-1]);
+						const Mesh::VIndex& v2(botPoints[0]);
+						if (!bInverted)
+							mesh.faces.emplace_back(v0, v1, v2);
+						else
+							mesh.faces.emplace_back(v0, v2, v1);
+					}
+				}
+				if (bInverted) {
+					topPoints.swap(botPoints);
+				}
+			}
+		}
+		mesh.Save("towermesh_dbg.ply");
+		towerPC.Save("cylinder.ply");
+	}
+	#endif
+	return towerPC;
+}
+
+
+// compute points on a cylinder placed in the middle of scene's cameras
+// this function assumes the scene is Z-up and units are meters
+//  - towerMode:  0 - disabled, 1 - replace, 2 - append, 3 - select neighbors, 4 - select neighbors and append, <0 - force tower mode
+void Scene::InitTowerScene(const int towerMode)
+{
+	float fRadius;
+	float fROIRadius;
+	float zMax, zMin, minCamZ;
+	Point2f centerPoint;
+	if (!ComputeTowerCylinder(centerPoint, fRadius, fROIRadius, zMin, zMax, minCamZ, towerMode))
+		return;
+	DEBUG("Scene camera positions identified ROI as a tower, select neighbors as if ROI is a tower");
+
+	// add nTargetPoints points on each circle
+	PointCloud towerPC(BuildTowerMesh(pointcloud, centerPoint, fRadius, fROIRadius, zMin, zMax, minCamZ, false));
+
+	switch (ABS(towerMode)) {
+	case 1: { // replace
+		pointcloud = std::move(towerPC);
+		break;
+	}
+	case 2: { // append
+		bool bHasNormal(pointcloud.normals.size() == pointcloud.GetSize());
+		bool bHasColor(pointcloud.colors.size() == pointcloud.GetSize());
+		bool bHasWeights(pointcloud.pointWeights.size() == pointcloud.GetSize());
+		FOREACH(idxPoint, towerPC.points) {
+			pointcloud.points.emplace_back(towerPC.points[idxPoint]);
+			pointcloud.pointViews.emplace_back(towerPC.pointViews[idxPoint]);
+			if (bHasNormal)
+				pointcloud.normals.emplace_back(towerPC.normals[idxPoint]);
+			if (bHasColor)
+				pointcloud.colors.emplace_back(towerPC.colors[idxPoint]);
+			if (bHasWeights)
+				pointcloud.pointWeights.emplace_back(towerPC.pointWeights[idxPoint]);
+		}
+		break;
+	}
+	case 3: { // select neighbors and remove added points
+		pointcloud.Swap(towerPC);
+		SelectNeighborViews(OPTDENSE::nMinViews, OPTDENSE::nMinViewsTrustPoint>1?OPTDENSE::nMinViewsTrustPoint:2, FD2R(OPTDENSE::fOptimAngle), OPTDENSE::nPointInsideROI);
+		pointcloud.Swap(towerPC);
+		break;
+	}
+	case 4: { // select neighbors
+		pointcloud.Swap(towerPC);
+		SelectNeighborViews(OPTDENSE::nMinViews, OPTDENSE::nMinViewsTrustPoint>1?OPTDENSE::nMinViewsTrustPoint:2, FD2R(OPTDENSE::fOptimAngle), OPTDENSE::nPointInsideROI);
+		pointcloud.Swap(towerPC);
+		bool bHasNormal(pointcloud.normals.size() == pointcloud.GetSize());
+		bool bHasColor(pointcloud.colors.size() == pointcloud.GetSize());
+		bool bHasWeights(pointcloud.pointWeights.size() == pointcloud.GetSize());
+		FOREACH(idxPoint, towerPC.points) {
+			pointcloud.points.emplace_back(towerPC.points[idxPoint]);
+			pointcloud.pointViews.emplace_back(towerPC.pointViews[idxPoint]);
+			if (bHasNormal)
+				pointcloud.normals.emplace_back(towerPC.normals[idxPoint]);
+			if (bHasColor)
+				pointcloud.colors.emplace_back(towerPC.colors[idxPoint]);
+			if (bHasWeights)
+				pointcloud.pointWeights.emplace_back(towerPC.pointWeights[idxPoint]);
+		}
+		break;
+	}
+	}
+} // InitTowerScene
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index c3807e966..308367a9a 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -67,6 +67,7 @@ class MVS_API Scene
 		: obb(true), nMaxThreads(Thread::getMaxThreads(_nMaxThreads)) {}
 
 	void Release();
+	bool IsValid() const;
 	bool IsEmpty() const;
 	bool ImagesHaveNeighbors() const;
 	bool IsBounded() const { return obb.IsValid(); }
@@ -86,10 +87,12 @@ class MVS_API Scene
 	void SampleMeshWithVisibility(unsigned maxResolution=320);
 	bool ExportMeshToDepthMaps(const String& baseName);
 
-	bool SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews=3, unsigned nMinPointViews=2, float fOptimAngle=FD2R(12), unsigned nInsideROI=1);
+	bool SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews = 3, unsigned nMinPointViews = 2, float fOptimAngle = FD2R(12), unsigned nInsideROI = 1);
+	void SelectNeighborViews(unsigned nMinViews = 3, unsigned nMinPointViews = 2, float fOptimAngle = FD2R(12), unsigned nInsideROI = 1);
 	static bool FilterNeighborViews(ViewScoreArr& neighbors, float fMinArea=0.1f, float fMinScale=0.2f, float fMaxScale=2.4f, float fMinAngle=FD2R(3), float fMaxAngle=FD2R(45), unsigned nMaxViews=12);
 
 	bool ExportCamerasMLP(const String& fileName, const String& fileNameScene) const;
+	static bool ExportLinesPLY(const String& fileName, const CLISTDEF0IDX(Line3f,uint32_t)& lines, const Pixel8U* colors=NULL, bool bBinary=true);
 
 	// sub-scene split and save
 	struct ImagesChunk {
@@ -105,12 +108,19 @@ class MVS_API Scene
 	bool Scale(const REAL* pScale = NULL);
 	bool ScaleImages(unsigned nMaxResolution = 0, REAL scale = 0, const String& folderName = String());
 	void Transform(const Matrix3x3& rotation, const Point3& translation, REAL scale);
+	void Transform(const Matrix3x4& transform);
 	bool AlignTo(const Scene&);
 	REAL ComputeLeveledVolume(float planeThreshold=0, float sampleMesh=-100000, unsigned upAxis=2, bool verbose=true);
 
 	// Estimate and set region-of-interest
 	bool EstimateROI(int nEstimateROI=0, float scale=1.f);
-
+	
+	// Tower scene
+	bool ComputeTowerCylinder(Point2f& centerPoint, float& fRadius, float& fROIRadius, float& zMin, float& zMax, float& minCamZ, const int towerMode);
+	void InitTowerScene(const int towerMode);
+	size_t DrawCircle(PointCloud& pc,PointCloud::PointArr& outCircle, const Point3f& circleCenter, const float circleRadius, const unsigned nTargetPoints, const float fStartAngle, const float fAngleBetweenPoints);
+	PointCloud BuildTowerMesh(const PointCloud& origPointCloud, const Point2f& centerPoint, const float fRadius, const float fROIRadius, const float zMin, const float zMax, const float minCamZ, bool bFixRadius = false);
+	
 	// Dense reconstruction
 	bool DenseReconstruction(int nFusionMode=0, bool bCrop2ROI=true, float fBorderROI=0);
 	bool ComputeDepthMaps(DenseDepthMapData& data);
@@ -126,8 +136,8 @@ class MVS_API Scene
 
 	// Mesh refinement
 	bool RefineMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned nMaxViews, float fDecimateMesh, unsigned nCloseHoles, unsigned nEnsureEdgeSize,
-		unsigned nMaxFaceArea, unsigned nScales, float fScaleStep, unsigned nReduceMemory, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity,
-		float fThPlanarVertex, float fGradientStep);
+		unsigned nMaxFaceArea, unsigned nScales, float fScaleStep, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity, float fGradientStep,
+		float fThPlanarVertex=0.f, unsigned nReduceMemory=1);
 	#ifdef _USE_CUDA
 	bool RefineMeshCUDA(unsigned nResolutionLevel, unsigned nMinResolution, unsigned nMaxViews, float fDecimateMesh, unsigned nCloseHoles, unsigned nEnsureEdgeSize,
 		unsigned nMaxFaceArea, unsigned nScales, float fScaleStep, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity, float fGradientStep);
@@ -136,7 +146,7 @@ class MVS_API Scene
 	// Mesh texturing
 	bool TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned minCommonCameras=0, float fOutlierThreshold=0.f, float fRatioDataSmoothness=0.3f,
 		bool bGlobalSeamLeveling=true, bool bLocalSeamLeveling=true, unsigned nTextureSizeMultiple=0, unsigned nRectPackingHeuristic=3, Pixel8U colEmpty=Pixel8U(255,127,39),
-		float fSharpnessWeight=0.5f, const IIndexArr& views=IIndexArr());
+		float fSharpnessWeight=0.5f, int ignoreMaskLabel = -1, const IIndexArr& views=IIndexArr());
 
 	#ifdef _USE_BOOST
 	// implement BOOST serialization
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index ee7929612..02c31ae3b 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -389,6 +389,7 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 			ImportDepthDataRaw(ComposeDepthFilePath(view.GetID(), "dmap"),
 				imageFileName, IDs, imageSize, view.cameraDepthMap.K, view.cameraDepthMap.R, view.cameraDepthMap.C,
 				dMin, dMax, view.depthMap, normalMap, confMap, viewsMap, 1);
+			ASSERT(viewRef.image.size() == view.depthMap.size());
 		}
 		view.Init(viewRef.camera);
 	}
@@ -406,6 +407,11 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 				depthData.depthMap, depthData.normalMap, confMap, viewsMap, 3))
 			return false;
 		ASSERT(viewRef.image.size() == depthData.depthMap.size());
+		ASSERT(depthData.normalMap.empty() || viewRef.image.size() == depthData.normalMap.size());
+		if (depthData.normalMap.empty()) {
+			// estimate normal map
+			EstimateNormalMap(viewRef.camera.K, depthData.depthMap, depthData.normalMap);
+		}
 	} else if (loadDepthMaps == 0) {
 		// initialize depth and normal maps
 		if (OPTDENSE::nMinViewsTrustPoint < 2 || depthData.points.empty()) {
@@ -672,10 +678,10 @@ bool DepthMapsData::EstimateDepthMap(IIndex idxImage, int nGeometricIter)
 		#endif
 		if (prevDepthMapSize != size || OPTDENSE::nIgnoreMaskLabel >= 0) {
 			BitMatrix mask;
-			if (OPTDENSE::nIgnoreMaskLabel >= 0 && DepthEstimator::ImportIgnoreMask(*image.pImageData, depthData.depthMap.size(), mask, (uint16_t)OPTDENSE::nIgnoreMaskLabel))
+			if (OPTDENSE::nIgnoreMaskLabel >= 0 && DepthEstimator::ImportIgnoreMask(*image.pImageData, depthData.depthMap.size(), (uint16_t)OPTDENSE::nIgnoreMaskLabel, mask))
 				depthData.ApplyIgnoreMask(mask);
 			DepthEstimator::MapMatrix2ZigzagIdx(size, coords, mask, MAXF(64,(int)nMaxThreads*8));
-			#if 0
+			#if 0 && !defined(_RELEASE)
 			// show pixels to be processed
 			Image8U cmask(size);
 			cmask.memset(0);
@@ -2212,7 +2218,7 @@ void Scene::PointCloudFilter(int thRemove)
 		inline bool Intersects(const Octree::POINT_TYPE& center, Octree::Type radius) const {
 			return coneIntersect(Sphere(center, radius*Real(SQRT_3)));
 		}
-		inline void operator () (const IDX* idices, IDX size) {
+		inline void operator() (const IDX* idices, IDX size) {
 			const Real thSimilar(0.01f);
 			Real dist;
 			FOREACHRAWPTR(pIdx, idices, size) {
diff --git a/libs/MVS/SceneRefine.cpp b/libs/MVS/SceneRefine.cpp
index bf1201d14..79875f302 100644
--- a/libs/MVS/SceneRefine.cpp
+++ b/libs/MVS/SceneRefine.cpp
@@ -1280,7 +1280,7 @@ class MeshProblem : public FirstOrderFunction, public IterationCallback
 bool Scene::RefineMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned nMaxViews,
 					   float fDecimateMesh, unsigned nCloseHoles, unsigned nEnsureEdgeSize, unsigned nMaxFaceArea,
 					   unsigned nScales, float fScaleStep,
-					   unsigned nReduceMemory, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity, float fThPlanarVertex, float fGradientStep)
+					   unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity, float fGradientStep, float fThPlanarVertex, unsigned nReduceMemory)
 {
 	if (pointcloud.IsEmpty() && !ImagesHaveNeighbors())
 		SampleMeshWithVisibility();
diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index ff7dbbd26..e8404ba50 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -151,6 +151,9 @@ struct MeshTexture {
 		typedef TRasterMesh<RasterMesh> Base;
 		FaceMap& faceMap;
 		FIndex idxFace;
+		Image8U mask;
+		bool validFace;
+
 		RasterMesh(const Mesh::VertexArr& _vertices, const Camera& _camera, DepthMap& _depthMap, FaceMap& _faceMap)
 			: Base(_vertices, _camera, _depthMap), faceMap(_faceMap) {}
 		void Clear() {
@@ -164,7 +167,7 @@ struct MeshTexture {
 			Depth& depth = depthMap(pt);
 			if (depth == 0 || depth > z) {
 				depth = z;
-				faceMap(pt) = idxFace;
+				faceMap(pt) = validFace && (validFace = (mask(pt) != 0)) ? idxFace : NO_ID;
 			}
 		}
 	};
@@ -323,7 +326,7 @@ struct MeshTexture {
 
 	void ListVertexFaces();
 
-	bool ListCameraFaces(FaceDataViewArr&, float fOutlierThreshold, const IIndexArr& views);
+	bool ListCameraFaces(FaceDataViewArr&, float fOutlierThreshold, int nIgnoreMaskLabel, const IIndexArr& views);
 
 	#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
 	bool FaceOutlierDetection(FaceDataArr& faceDatas, float fOutlierThreshold) const;
@@ -332,7 +335,7 @@ struct MeshTexture {
 	void CreateVirtualFaces(const FaceDataViewArr& facesDatas, FaceDataViewArr& virtualFacesDatas, VirtualFaceIdxsArr& virtualFaces, unsigned minCommonCameras=2, float thMaxNormalDeviation=25.f) const;
 	IIndexArr SelectBestView(const FaceDataArr& faceDatas, FIndex fid, unsigned minCommonCameras, float ratioAngleToQuality) const;
 
-	bool FaceViewSelection(unsigned minCommonCameras, float fOutlierThreshold, float fRatioDataSmoothness, const IIndexArr& views);
+	bool FaceViewSelection(unsigned minCommonCameras, float fOutlierThreshold, float fRatioDataSmoothness, int nIgnoreMaskLabel, const IIndexArr& views);
 	
 	void CreateSeamVertices();
 	void GlobalSeamLeveling();
@@ -394,6 +397,37 @@ struct MeshTexture {
 	Scene& scene; // the mesh vertices and faces
 };
 
+// creating an invalid mask for the given image corresponding to
+// the invalid pixels generated during image correction for the lens distortion;
+// the returned mask has the same size as the image and is set to zero for invalid pixels
+static Image8U DetectInvalidImageRegions(const Image8U3& image)
+{
+	const cv::Scalar upDiff(3);
+	const int flags(8 | (255 << 8));
+	Image8U mask(image.rows + 2, image.cols + 2);
+	mask.memset(0);
+	Image8U imageGray;
+	cv::cvtColor(image, imageGray, cv::COLOR_BGR2GRAY);
+	if (imageGray(0, 0) == 0)
+		cv::floodFill(imageGray, mask, cv::Point(0, 0), 255, NULL, cv::Scalar(0), upDiff, flags);
+	if (imageGray(image.rows / 2, 0) == 0)
+		cv::floodFill(imageGray, mask, cv::Point(0, image.rows / 2), 255, NULL, cv::Scalar(0), upDiff, flags);
+	if (imageGray(image.rows - 1, 0) == 0)
+		cv::floodFill(imageGray, mask, cv::Point(0, image.rows - 1), 255, NULL, cv::Scalar(0), upDiff, flags);
+	if (imageGray(image.rows - 1, image.cols / 2) == 0)
+		cv::floodFill(imageGray, mask, cv::Point(image.cols / 2, image.rows - 1), 255, NULL, cv::Scalar(0), upDiff, flags);
+	if (imageGray(image.rows - 1, image.cols - 1) == 0)
+		cv::floodFill(imageGray, mask, cv::Point(image.cols - 1, image.rows - 1), 255, NULL, cv::Scalar(0), upDiff, flags);
+	if (imageGray(image.rows / 2, image.cols - 1) == 0)
+		cv::floodFill(imageGray, mask, cv::Point(image.cols - 1, image.rows / 2), 255, NULL, cv::Scalar(0), upDiff, flags);
+	if (imageGray(0, image.cols - 1) == 0)
+		cv::floodFill(imageGray, mask, cv::Point(image.cols - 1, 0), 255, NULL, cv::Scalar(0), upDiff, flags);
+	if (imageGray(0, image.cols / 2) == 0)
+		cv::floodFill(imageGray, mask, cv::Point(image.cols / 2, 0), 255, NULL, cv::Scalar(0), upDiff, flags);
+	mask = (mask(cv::Rect(1,1, imageGray.cols,imageGray.rows)) == 0);
+	return mask;
+}
+
 MeshTexture::MeshTexture(Scene& _scene, unsigned _nResolutionLevel, unsigned _nMinResolution)
 	:
 	nResolutionLevel(_nResolutionLevel),
@@ -427,7 +461,7 @@ void MeshTexture::ListVertexFaces()
 }
 
 // extract array of faces viewed by each image
-bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThreshold, const IIndexArr& _views)
+bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThreshold, int nIgnoreMaskLabel, const IIndexArr& _views)
 {
 	// create faces octree
 	Mesh::Octree octree;
@@ -506,20 +540,36 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 		const Frustum frustum(Frustum::MATRIX3x4(((PMatrix::CEMatMap)imageData.camera.P).cast<float>()), (float)imageData.width, (float)imageData.height);
 		octree.Traverse(frustum, inserter);
 		// project all triangles in this view and keep the closest ones
-		faceMap.create(imageData.height, imageData.width);
-		depthMap.create(imageData.height, imageData.width);
+		faceMap.create(imageData.GetSize());
+		depthMap.create(imageData.GetSize());
 		RasterMesh rasterer(vertices, imageData.camera, depthMap, faceMap);
+		if (nIgnoreMaskLabel >= 0) {
+			// import mask
+			BitMatrix bmask;
+			DepthEstimator::ImportIgnoreMask(imageData, imageData.GetSize(), (uint16_t)OPTDENSE::nIgnoreMaskLabel, bmask, &rasterer.mask);
+		} else if (nIgnoreMaskLabel == -1) {
+			// creating mask to discard invalid regions created during image radial undistortion
+			rasterer.mask = DetectInvalidImageRegions(imageData.image);
+			#if TD_VERBOSE != TD_VERBOSE_OFF
+			if (VERBOSITY_LEVEL > 2)
+				cv::imwrite(String::FormatString("umask%04d.png", idxView), rasterer.mask);
+			#endif
+		}
 		rasterer.Clear();
 		for (auto idxFace : cameraFaces) {
+			rasterer.validFace = true;
 			const Face& facet = faces[idxFace];
 			rasterer.idxFace = idxFace;
 			rasterer.Project(facet);
+			if (!rasterer.validFace)
+				rasterer.Project(facet);
 		}
 		// compute the projection area of visible faces
 		#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
 		CLISTDEF0IDX(uint32_t,FIndex) areas(faces.GetSize());
 		areas.Memset(0);
 		#endif
+
 		#ifdef TEXOPT_USE_OPENMP
 		#pragma omp critical
 		#endif
@@ -974,7 +1024,7 @@ bool MeshTexture::FaceOutlierDetection(FaceDataArr& faceDatas, float thOutlier)
 }
 #endif
 
-bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThreshold, float fRatioDataSmoothness, const IIndexArr& views)
+bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThreshold, float fRatioDataSmoothness, int nIgnoreMaskLabel, const IIndexArr& views)
 {
 	// extract array of triangles incident to each vertex
 	ListVertexFaces();
@@ -986,7 +1036,7 @@ bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThr
 
 		// list all views for each face
 		FaceDataViewArr facesDatas;
-		if (!ListCameraFaces(facesDatas, fOutlierThreshold, views))
+		if (!ListCameraFaces(facesDatas, fOutlierThreshold, nIgnoreMaskLabel, views))
 			return false;
 
 		// create faces graph
@@ -2245,16 +2295,17 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 // texture mesh
 //  - minCommonCameras: generate texture patches using virtual faces composed of coplanar triangles sharing at least this number of views (0 - disabled, 3 - good value)
 //  - fSharpnessWeight: sharpness weight to be applied on the texture (0 - disabled, 0.5 - good value)
+//  - nIgnoreMaskLabel: label value to ignore in the image mask, stored in the MVS scene or next to each image with '.mask.png' extension (-1 - auto estimate mask for lens distortion, -2 - disabled)
 bool Scene::TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned minCommonCameras, float fOutlierThreshold, float fRatioDataSmoothness,
 	bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, float fSharpnessWeight,
-	const IIndexArr& views)
+	int nIgnoreMaskLabel, const IIndexArr& views)
 {
 	MeshTexture texture(*this, nResolutionLevel, nMinResolution);
 
 	// assign the best view to each face
 	{
 		TD_TIMER_STARTD();
-		if (!texture.FaceViewSelection(minCommonCameras, fOutlierThreshold, fRatioDataSmoothness, views))
+		if (!texture.FaceViewSelection(minCommonCameras, fOutlierThreshold, fRatioDataSmoothness, nIgnoreMaskLabel, views))
 			return false;
 		DEBUG_EXTRA("Assigning the best view to each face completed: %u faces (%s)", mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
 	}
diff --git a/libs/MVS/SemiGlobalMatcher.cpp b/libs/MVS/SemiGlobalMatcher.cpp
index 89bcd0e47..2b0757921 100644
--- a/libs/MVS/SemiGlobalMatcher.cpp
+++ b/libs/MVS/SemiGlobalMatcher.cpp
@@ -866,7 +866,7 @@ void SemiGlobalMatcher::Match(const ViewData& leftImage, const ViewData& rightIm
 	const cv::Size sizeValid(size.width-2*halfWindowSizeX, size.height-2*halfWindowSizeY);
 	ASSERT(leftImage.imageColor.size() == size);
 
-	#if 0
+	#if 0 && !defined(_RELEASE)
 	// display search info (average disparity and range)
 	DisplayState(sizeValid);
 	#endif
@@ -1811,6 +1811,7 @@ void SemiGlobalMatcher::RefineDisparityMap(DisparityMap& disparityMap) const
 }
 
 
+#ifndef _RELEASE
 // extract disparity and range from the pixel-map
 void SemiGlobalMatcher::DisplayState(const cv::Size& size) const
 {
@@ -1831,6 +1832,7 @@ void SemiGlobalMatcher::DisplayState(const cv::Size& size) const
 
 	cv::destroyAllWindows();
 }
+#endif
 
 // Compute the disparity-map for the rectified image from the given depth-map of the un-rectified image;
 // the disparity map needs to be already constructed at the desired size (valid size, excluding the border)
diff --git a/libs/MVS/SemiGlobalMatcher.h b/libs/MVS/SemiGlobalMatcher.h
index 740840db4..36117b495 100644
--- a/libs/MVS/SemiGlobalMatcher.h
+++ b/libs/MVS/SemiGlobalMatcher.h
@@ -142,8 +142,8 @@ class MVS_API SemiGlobalMatcher
 		}
 	};
 
-	typedef MVS_API Point2f DepthRange;
-	typedef MVS_API TImage<DepthRange> DepthRangeMap;
+	typedef Point2f DepthRange;
+	typedef TImage<DepthRange> DepthRangeMap;
 
 public:
 	SemiGlobalMatcher(SgmSubpixelMode subpixelMode=SUBPIXEL_LC_BLEND, Disparity subpixelSteps=4, AccumCost P1=3, AccumCost P2=4, float P2alpha=14, float P2beta=38);
@@ -178,7 +178,9 @@ class MVS_API SemiGlobalMatcher
 	static void FlipDirection(const DisparityMap& l2r, DisparityMap& r2l);
 	static void UpscaleMask(MaskMap& maskMap, const cv::Size& size2x);
 	void RefineDisparityMap(DisparityMap& disparityMap) const;
+	#ifndef _RELEASE
 	void DisplayState(const cv::Size& size) const;
+	#endif
 
 	static CLISTDEF0IDX(AccumCost,int) GenerateP2s(AccumCost P2, float P2alpha, float P2beta);
 	static void Depth2DisparityMap(const DepthMap&, const Matrix3x3& invH, const Matrix4x4& invQ, Disparity subpixelSteps, DisparityMap&);
diff --git a/libs/Math/RobustNorms.h b/libs/Math/RobustNorms.h
index e31d05fe4..5935bb433 100644
--- a/libs/Math/RobustNorms.h
+++ b/libs/Math/RobustNorms.h
@@ -47,6 +47,13 @@ namespace SEACAVE {
 //   new_residual = robustNorm(residual)
 namespace RobustNorm {
 
+template<typename TYPE>
+struct Identity {
+	inline TYPE operator()(const TYPE& r) const {
+		return r;
+	}
+};
+
 template<typename TYPE>
 struct L1 {
 	inline TYPE operator()(const TYPE& r) const {
diff --git a/vcpkg.json b/vcpkg.json
index 17eae3888..a74f701ea 100644
--- a/vcpkg.json
+++ b/vcpkg.json
@@ -24,6 +24,12 @@
     "zlib"
   ],
   "features": {
+    "python": {
+      "description": "Python bindings for OpenMVS",
+      "dependencies": [
+        "boost-python"
+      ]
+    },
     "cuda": {
       "description": "CUDA support for OpenMVS",
       "dependencies": [

From 5347df23c13a008fd31596c54a3d0b5cf1c95acf Mon Sep 17 00:00:00 2001
From: nianjiuhuiyi <64776403+nianjiuhuiyi@users.noreply.github.com>
Date: Thu, 13 Jul 2023 22:39:22 +0800
Subject: [PATCH 200/252] transform: simplify transform matrix parsing (#1026)

---
 apps/TransformScene/TransformScene.cpp | 20 +++++++++++---------
 1 file changed, 11 insertions(+), 9 deletions(-)

diff --git a/apps/TransformScene/TransformScene.cpp b/apps/TransformScene/TransformScene.cpp
index ec293a7af..10c700362 100644
--- a/apps/TransformScene/TransformScene.cpp
+++ b/apps/TransformScene/TransformScene.cpp
@@ -234,16 +234,18 @@ int main(int argc, LPCTSTR* argv)
 	if (!OPT::strTransformFileName.empty()) {
 		// transform this scene by the given transform matrix
 		std::ifstream file(MAKE_PATH_SAFE(OPT::strTransformFileName));
-		std::string strLine;
+		std::string value;
 		std::vector<double> transformValues;
-		while (std::getline(file, strLine)) {
-			errno = 0;
-			char* strEnd{};
-			const double v = std::strtod(strLine.c_str(), &strEnd);
-			if (errno == ERANGE || strEnd == strLine.c_str())
-				continue;
-			transformValues.push_back(v);
-		}
+		while (file >> value) {
+			double v;
+                        try {
+                                v = std::stod(value);
+                        }
+                        catch (...) {
+                                continue;
+                        }
+                        transformValues.push_back(v);
+                }
 		if (transformValues.size() != 12 &&
 			(transformValues.size() != 16 || transformValues[12] != 0 || transformValues[13] != 0 || transformValues[14] != 0 || transformValues[15] != 1)) {
 			VERBOSE("error: invalid transform");

From a12e1824b128f7a5e5868dc191cb3c4942fa8913 Mon Sep 17 00:00:00 2001
From: Seth P <csparker247@gmail.com>
Date: Fri, 14 Jul 2023 11:01:36 -0400
Subject: [PATCH 201/252] io: support images with .jpeg file extension (#1027)

---
 libs/IO/Image.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libs/IO/Image.cpp b/libs/IO/Image.cpp
index 0a9de141f..3d3e1cecb 100644
--- a/libs/IO/Image.cpp
+++ b/libs/IO/Image.cpp
@@ -893,7 +893,7 @@ CImage* CImage::Create(LPCTSTR szName, IMCREATE mode)
 		pImage = new CImagePNG();
 	#endif
 	#ifdef _IMAGE_JPG
-	else if (_tcsncicmp(fext, _T(".jpg"), 4) == 0)
+	else if (_tcsncicmp(fext, _T(".jpg"), 4) == 0 || _tcsncicmp(fext, _T(".jpeg"), 5) == 0)
 		pImage = new CImageJPG();
 	#endif
 	#ifdef _IMAGE_TIFF

From 028c806f3032cdf9e45a702096cae49bacde1044 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 15 Jul 2023 00:26:47 +0300
Subject: [PATCH 202/252] common: fix some warnings

---
 libs/Common/Types.cpp |  2 +-
 libs/MVS/Mesh.cpp     |  2 +-
 libs/MVS/Scene.cpp    | 18 ++++++++----------
 3 files changed, 10 insertions(+), 12 deletions(-)

diff --git a/libs/Common/Types.cpp b/libs/Common/Types.cpp
index a07e91652..7d7b8c96e 100644
--- a/libs/Common/Types.cpp
+++ b/libs/Common/Types.cpp
@@ -55,7 +55,7 @@ String cvMat2String(const TYPE* M, uint32_t rows, uint32_t cols, uint32_t step,
 	for (uint32_t i=0; i<rows; ++i) {
 		const TYPE* Mi = M+i*step;
 		for (uint32_t j=0; j<cols; ++j) {
-			_stprintf(buf, format, Mi[j]);
+			_sntprintf(buf, 32, format, Mi[j]);
 			str += buf;
 		}
 		str += _T("\n");
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index e708f6767..d22b0ef58 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -4105,7 +4105,7 @@ void Mesh::SamplePoints(REAL samplingDensity, PointCloud& pointcloud) const
 {
 	// compute the total area to deduce the number of points
 	const REAL area(ComputeArea());
-	const unsigned theoreticNumberOfPoints((unsigned)CEIL2INT(area * samplingDensity));
+	const unsigned theoreticNumberOfPoints(CEIL2INT<unsigned>(area * samplingDensity));
 	return SamplePoints(samplingDensity, theoreticNumberOfPoints, pointcloud);
 }
 void Mesh::SamplePoints(REAL samplingDensity, unsigned mumPointsTheoretic, PointCloud& pointcloud) const
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 165d46ebe..4ab045811 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -1899,8 +1899,8 @@ PointCloud Scene::BuildTowerMesh(const PointCloud& origPointCloud, const Point2f
 			} else {
 				if (pDistances.size() > 2) {
 					pDistances.Sort();
-					const size_t topIdx(MIN(pDistances.size() - 1, CEIL2INT(pDistances.size() * 0.95f)));
-					const size_t botIdx(MAX(1, FLOOR2INT(pDistances.size() * 0.5f)));
+					const size_t topIdx(MIN(pDistances.size() - 1, CEIL2INT<size_t>(pDistances.size() * 0.95f)));
+					const size_t botIdx(MAX(1u, FLOOR2INT<unsigned>(pDistances.size() * 0.5f)));
 					float avgTopDistance(0);
 					for (size_t i = botIdx; i < topIdx; ++i)
 						avgTopDistance += pDistances[i];
@@ -1913,23 +1913,21 @@ PointCloud Scene::BuildTowerMesh(const PointCloud& origPointCloud, const Point2f
 		}
 		// smoothen radii
 		if (circleRadii.size() > 2) {
-			for (int ri = 1; ri < circleRadii.size() - 1; ++ri) {
+			for (size_t ri = 1; ri < circleRadii.size() - 1; ++ri) {
 				const float aboveRad(circleRadii[ri - 1]);
 				float& circleRadius = circleRadii[ri];
-				const float beloweRad(circleRadii[ri + 1]);
+				const float belowRad(circleRadii[ri + 1]);
 				const float AbvCrtDeltaPrc = ABS(aboveRad - circleRadius) / aboveRad;
-				const float BelCrtDeltaPrc = ABS(circleRadius - beloweRad) / circleRadius;
+				const float BelCrtDeltaPrc = ABS(circleRadius - belowRad) / circleRadius;
 				// set current radius as average of the most similar values in the closest 7 neighbors
 				if (ri > 2 && ri < circleRadii.size() - 5) {
 					FloatArr neighSeven(7);
 					FOREACH(i, neighSeven)
 						neighSeven[i] = circleRadii[ri - 2 + i];
-					neighSeven.Sort();
 					const float medianRadius(neighSeven.GetMedian());
-					circleRadius = ABS(medianRadius-aboveRad) < ABS(medianRadius-beloweRad) ? aboveRad : beloweRad;
-				}
-				else {
-					circleRadius = (aboveRad + beloweRad) / 2.f;
+					circleRadius = ABS(medianRadius-aboveRad) < ABS(medianRadius-belowRad) ? aboveRad : belowRad;
+				} else {
+					circleRadius = (aboveRad + belowRad) / 2.f;
 				}
 			}
 		}

From 742eabf4ea649b29810c5b570627c19911832ebc Mon Sep 17 00:00:00 2001
From: Seth P <csparker247@gmail.com>
Date: Fri, 14 Jul 2023 17:27:46 -0400
Subject: [PATCH 203/252] common: remove all usages of cv::String (#1028)

---
 libs/MVS/SemiGlobalMatcher.cpp | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/libs/MVS/SemiGlobalMatcher.cpp b/libs/MVS/SemiGlobalMatcher.cpp
index 2b0757921..33da89f06 100644
--- a/libs/MVS/SemiGlobalMatcher.cpp
+++ b/libs/MVS/SemiGlobalMatcher.cpp
@@ -49,7 +49,7 @@ using namespace STEREO;
 #ifdef _USE_FILTER_DEMO
 #include "opencv2/ximgproc/disparity_filter.hpp"
 
-const cv::String keys =
+const String keys =
 "{help h usage ? |        | print this message                                                }"
 "{GT             |None    | optional ground-truth disparity (MPI-Sintel or Middlebury format) }"
 "{dst_path       |None    | optional path to save the resulting filtered disparity map        }"
@@ -93,12 +93,12 @@ int disparityFiltering(cv::Mat left, cv::Mat right, int argc, const LPCSTR* argv
 		return 0;
 	}
 
-	cv::String GT_path = parser.get<cv::String>("GT");
-	cv::String dst_path = parser.get<cv::String>("dst_path");
-	cv::String dst_raw_path = parser.get<cv::String>("dst_raw_path");
-	cv::String dst_conf_path = parser.get<cv::String>("dst_conf_path");
-	cv::String algo = parser.get<cv::String>("algorithm");
-	cv::String filter = parser.get<cv::String>("filter");
+	String GT_path = parser.get<String>("GT");
+	String dst_path = parser.get<String>("dst_path");
+	String dst_raw_path = parser.get<String>("dst_raw_path");
+	String dst_conf_path = parser.get<String>("dst_conf_path");
+	String algo = parser.get<String>("algorithm");
+	String filter = parser.get<String>("filter");
 	bool no_display = parser.has("no-display");
 	bool no_downscale = parser.has("no-downscale");
 	int max_disp = parser.get<int>("max_disparity");

From b58a6874bf3d044e1b7f885f4474f13d2b7c249e Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 5 Aug 2023 16:13:25 +0300
Subject: [PATCH 204/252] common: save/load results as point-cloud/mesh PLY
 instead of MVS files

---
 MvgMvsPipeline.py                             |   9 +-
 apps/DensifyPointCloud/DensifyPointCloud.cpp  |  23 +-
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp      |  77 +-
 apps/InterfaceMVSNet/InterfaceMVSNet.cpp      |   4 +-
 .../InterfaceMetashape/InterfaceMetashape.cpp |   2 +-
 apps/InterfacePolycam/InterfacePolycam.cpp    |   6 +-
 apps/ReconstructMesh/ReconstructMesh.cpp      |  37 +-
 apps/RefineMesh/RefineMesh.cpp                |  37 +-
 apps/TextureMesh/TextureMesh.cpp              |  29 +-
 apps/TransformScene/TransformScene.cpp        |  52 +-
 apps/Viewer/Scene.cpp                         |   7 +-
 apps/Viewer/Scene.h                           |   3 +-
 apps/Viewer/Viewer.cpp                        |   2 +-
 libs/Common/File.h                            | 249 +++--
 libs/Common/Filters.h                         | 445 +++++----
 libs/Common/List.h                            |   4 +-
 libs/Common/Streams.h                         | 151 ++-
 libs/IO/PLY.cpp                               | 919 +++++++++---------
 libs/IO/PLY.h                                 | 271 +++---
 libs/MVS/Camera.h                             |  10 +
 libs/MVS/Common.h                             |   4 +
 libs/MVS/DepthMap.cpp                         |   2 -
 libs/MVS/Image.h                              |  26 +-
 libs/MVS/Interface.h                          |  45 +-
 libs/MVS/Mesh.cpp                             | 277 +++---
 libs/MVS/Mesh.h                               |  25 +-
 libs/MVS/PointCloud.cpp                       | 230 +++--
 libs/MVS/PointCloud.h                         |   2 +-
 libs/MVS/Scene.cpp                            |  67 +-
 libs/MVS/Scene.h                              |   8 +-
 libs/MVS/SceneDensify.cpp                     |  84 +-
 libs/MVS/SceneRefine.cpp                      |   6 +-
 libs/MVS/SceneRefineCUDA.cpp                  |   6 +-
 libs/MVS/SemiGlobalMatcher.cpp                |  12 +-
 34 files changed, 1713 insertions(+), 1418 deletions(-)

diff --git a/MvgMvsPipeline.py b/MvgMvsPipeline.py
index edf00e7e3..fd380ebf6 100644
--- a/MvgMvsPipeline.py
+++ b/MvgMvsPipeline.py
@@ -264,13 +264,13 @@ def __init__(self):
              ["scene.mvs", "--dense-config-file", "Densify.ini", "--resolution-level", "1", "--number-views", "8", "-w", "\"%mvs_dir%\""]],
             ["Reconstruct the mesh",         # 18
              os.path.join(OPENMVS_BIN, "ReconstructMesh"),
-             ["scene_dense.mvs", "-w", "\"%mvs_dir%\""]],
+             ["scene_dense.mvs", "-p", "scene_dense.ply", "-w", "\"%mvs_dir%\""]],
             ["Refine the mesh",              # 19
              os.path.join(OPENMVS_BIN, "RefineMesh"),
-             ["scene_dense_mesh.mvs", "--scales", "1", "--gradient-step", "25.05", "-w", "\"%mvs_dir%\""]],
+             ["scene_dense.mvs", "-m", "scene_dense_mesh.ply", "-o", "scene_dense_mesh_refine.mvs", "--scales", "1", "--gradient-step", "25.05", "-w", "\"%mvs_dir%\""]],
             ["Texture the mesh",             # 20
              os.path.join(OPENMVS_BIN, "TextureMesh"),
-             ["scene_dense_mesh_refine.mvs", "--decimate", "0.5", "-w", "\"%mvs_dir%\""]],
+             ["scene_dense.mvs", "-m", "scene_dense_mesh_refine.ply", "-o", "scene_dense_mesh_refine_texture.mvs", "--decimate", "0.5", "-w", "\"%mvs_dir%\""]],
             ["Estimate disparity-maps",      # 21
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
              ["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-1", "-w", "\"%mvs_dir%\""]],
@@ -391,7 +391,8 @@ def mkdir_ine(dirname):
 if 20 in CONF.steps:    # TextureMesh
     if 19 not in CONF.steps:  # RefineMesh
         # RefineMesh step is not run, use ReconstructMesh output
-        STEPS.replace_opt(20, "scene_dense_mesh_refine.mvs", "scene_dense_mesh.mvs")
+        STEPS.replace_opt(20, "scene_dense_mesh_refine.ply", "scene_dense_mesh.ply")
+        STEPS.replace_opt(20, "scene_dense_mesh_refine_texture.mvs", "scene_dense_mesh_texture.mvs")
 
 for cstep in CONF.steps:
     printout("#%i. %s" % (cstep, STEPS[cstep].info), effect=INVERSE)
diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 9a50c58ee..cde482a86 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -47,6 +47,7 @@ namespace {
 
 namespace OPT {
 String strInputFileName;
+String strPointCloudFileName;
 String strOutputFileName;
 String strViewNeighborsFileName;
 String strOutputViewNeighborsFileName;
@@ -86,7 +87,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "produce this help message")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: -1-interface, 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
@@ -127,6 +128,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	boost::program_options::options_description config("Densify options");
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
+		("pointcloud-file,p", boost::program_options::value<std::string>(&OPT::strPointCloudFileName), "sparse point-cloud with views file name to densify (overwrite existing point-cloud)")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the dense point-cloud (optional)")
 		("view-neighbors-file", boost::program_options::value<std::string>(&OPT::strViewNeighborsFileName), "input filename containing the list of views and their neighbors (optional)")
 		("output-view-neighbors-file", boost::program_options::value<std::string>(&OPT::strOutputViewNeighborsFileName), "output filename containing the generated list of views and their neighbors")
@@ -211,6 +213,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		return false;
 
 	// initialize optional options
+	Util::ensureValidPath(OPT::strPointCloudFileName);
 	Util::ensureValidPath(OPT::strOutputFileName);
 	Util::ensureValidPath(OPT::strViewNeighborsFileName);
 	Util::ensureValidPath(OPT::strOutputViewNeighborsFileName);
@@ -300,8 +303,13 @@ int main(int argc, LPCTSTR* argv)
 		return EXIT_SUCCESS;
 	}
 	// load and estimate a dense point-cloud
-	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
+	const Scene::SCENE_TYPE sceneType(scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)));
+	if (sceneType == Scene::SCENE_NA)
 		return EXIT_FAILURE;
+	if (!OPT::strPointCloudFileName.empty() && !scene.pointcloud.Load(MAKE_PATH_SAFE(OPT::strPointCloudFileName))) {
+		VERBOSE("error: cannot load point-cloud file");
+		return EXIT_FAILURE;
+	}
 	if (!OPT::strMaskPath.empty()) {
 		Util::ensureValidFolderPath(OPT::strMaskPath);
 		for (Image& image : scene.images) {
@@ -405,11 +413,14 @@ int main(int argc, LPCTSTR* argv)
 		Finalize();
 		return EXIT_SUCCESS;
 	}
-	if ((ARCHIVE_TYPE)OPT::nArchiveType != ARCHIVE_MVS) {
+	PointCloud sparsePointCloud;
+	if (OPT::nArchiveType != ARCHIVE_MVS || sceneType == Scene::SCENE_INTERFACE) {
 		#if TD_VERBOSE != TD_VERBOSE_OFF
 		if (VERBOSITY_LEVEL > 1 && !scene.pointcloud.IsEmpty())
 			scene.pointcloud.PrintStatistics(scene.images.data(), &scene.obb);
 		#endif
+		if (OPT::nArchiveType == ARCHIVE_MVS)
+			sparsePointCloud = scene.pointcloud;
 		TD_TIMER_START();
 		if (!scene.DenseReconstruction(OPT::nFusionMode, OPT::bCrop2ROI, OPT::fBorderROI)) {
 			if (ABS(OPT::nFusionMode) != 1)
@@ -423,12 +434,14 @@ int main(int argc, LPCTSTR* argv)
 
 	// save the final point-cloud
 	const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
-	scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
-	scene.pointcloud.Save(baseFileName+_T(".ply"));
+	scene.pointcloud.Save(baseFileName+_T(".ply"), OPT::nArchiveType==ARCHIVE_MVS);
 	#if TD_VERBOSE != TD_VERBOSE_OFF
 	if (VERBOSITY_LEVEL > 2)
 		scene.ExportCamerasMLP(baseFileName+_T(".mlp"), baseFileName+_T(".ply"));
 	#endif
+	if (OPT::nArchiveType == ARCHIVE_MVS)
+		scene.pointcloud.Swap(sparsePointCloud);
+	scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
 
 	Finalize();
 	return EXIT_SUCCESS;
diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index 03d16b2be..d3c431cc9 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -31,8 +31,6 @@
 
 #include "../../libs/MVS/Common.h"
 #include "../../libs/MVS/Scene.h"
-#define _USE_OPENCV
-#include "../../libs/MVS/Interface.h"
 #include <boost/program_options.hpp>
 #include "endian.h"
 
@@ -72,7 +70,6 @@ bool bForceSparsePointCloud;
 String strInputFileName;
 String strOutputFileName;
 String strImageFolder;
-unsigned nMaxResolution;
 unsigned nArchiveType;
 int nProcessPriority;
 unsigned nMaxThreads;
@@ -93,7 +90,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "imports SfM or MVS scene stored in COLMAP undistoreted format OR exports MVS scene to COLMAP format")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: -1-interface, 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
@@ -113,7 +110,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input COLMAP folder containing cameras, images and points files OR input MVS project file")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the MVS project")
 		("image-folder", boost::program_options::value<std::string>(&OPT::strImageFolder)->default_value(COLMAP_IMAGES_FOLDER), "folder to the undistorted images")
-		("max-resolution", boost::program_options::value(&OPT::nMaxResolution)->default_value(0), "make sure image resolution are not not larger than this (0 - disabled)")
 		("normalize,f", boost::program_options::value(&OPT::bNormalizeIntrinsics)->default_value(false), "normalize intrinsics while exporting to MVS format")
 		("force-points,p", boost::program_options::value(&OPT::bForceSparsePointCloud)->default_value(false), "force exporting point-cloud as sparse points also even if dense point-cloud detected")
 		;
@@ -710,7 +706,7 @@ bool DetermineInputSource(const String& filenameTXT, const String& filenameBIN,
 }
 
 
-bool ImportScene(const String& strFolder, const String& strOutFolder, Interface& scene)
+bool ImportScene(const String& strFolder, const String& strOutFolder, Interface& scene, PointCloud& pointcloud)
 {
 	// read camera list
 	typedef std::unordered_map<uint32_t,uint32_t> CamerasMap;
@@ -800,7 +796,7 @@ bool ImportScene(const String& strFolder, const String& strOutFolder, Interface&
 	// read points list
 	const String filenameDensePoints(strFolder+COLMAP_DENSE_POINTS);
 	const String filenameDenseVisPoints(strFolder+COLMAP_DENSE_POINTS_VISIBILITY);
-	if (!File::access(filenameDensePoints) || !File::access(filenameDenseVisPoints)) {
+	{
 		// parse sparse point-cloud
 		const String filenamePointsTXT(strFolder+COLMAP_POINTS_TXT);
 		const String filenamePointsBIN(strFolder+COLMAP_POINTS_BIN);
@@ -811,7 +807,6 @@ bool ImportScene(const String& strFolder, const String& strOutFolder, Interface&
 			return false;
 		}
 		LOG_OUT() << "Reading points: " << filenamePoints << std::endl;
-
 		COLMAP::Point point;
 		while (file.good() && point.Read(file, binary)) {
 			Interface::Vertex vertex;
@@ -827,10 +822,11 @@ bool ImportScene(const String& strFolder, const String& strOutFolder, Interface&
 			scene.vertices.emplace_back(std::move(vertex));
 			scene.verticesColor.emplace_back(Interface::Color{point.c});
 		}
-	} else {
+	}
+	pointcloud.Release();
+	if (File::access(filenameDensePoints) && File::access(filenameDenseVisPoints)) {
 		// parse dense point-cloud
 		LOG_OUT() << "Reading points: " << filenameDensePoints << " and " << filenameDenseVisPoints << std::endl;
-		PointCloud pointcloud;
 		if (!pointcloud.Load(filenameDensePoints)) {
 			VERBOSE("error: unable to open file '%s'", filenameDensePoints.c_str());
 			return false;
@@ -846,22 +842,17 @@ bool ImportScene(const String& strFolder, const String& strOutFolder, Interface&
 			VERBOSE("error: point-cloud and visibility have different size");
 			return false;
 		}
+		pointcloud.pointViews.resize(numPoints);
 		for (size_t i=0; i<numPoints; ++i) {
-			Interface::Vertex vertex;
-			vertex.X = pointcloud.points[i];
+			PointCloud::ViewArr& views = pointcloud.pointViews[i];
 			uint32_t numViews(0);
 			file.read(&numViews, sizeof(uint32_t));
 			for (uint32_t v=0; v<numViews; ++v) {
-				Interface::Vertex::View view;
-				file.read(&view.imageID, sizeof(uint32_t));
-				view.confidence = 0;
-				vertex.views.emplace_back(view);
+				uint32_t imageID;
+				file.read(&imageID, sizeof(uint32_t));
+				views.emplace_back(imageID);
 			}
-			std::sort(vertex.views.begin(), vertex.views.end(),
-				[](const Interface::Vertex::View& view0, const Interface::Vertex::View& view1) { return view0.imageID < view1.imageID; });
-			scene.vertices.emplace_back(std::move(vertex));
-			scene.verticesNormal.emplace_back(Interface::Normal{pointcloud.normals[i]});
-			scene.verticesColor.emplace_back(Interface::Color{pointcloud.colors[i]});
+			views.Sort();
 		}
 	}
 
@@ -994,7 +985,7 @@ bool ExportScene(const String& strFolder, const Interface& scene, bool bForceSpa
 				const Interface::Image* pImage(NULL);
 				for (uint32_t i=0; i<(uint32_t)scene.images.size(); ++i) {
 					const Interface::Image& image = scene.images[i];
-					if (image.platformID == ID && image.cameraID == 0 && image.poseID != MVS::NO_ID) {
+					if (image.platformID == ID && image.cameraID == 0 && image.poseID != NO_ID) {
 						pImage = &image;
 						break;
 					}
@@ -1045,7 +1036,7 @@ bool ExportScene(const String& strFolder, const Interface& scene, bool bForceSpa
 		cameras.resize((unsigned)scene.images.size());
 		for (uint32_t ID=0; ID<(uint32_t)scene.images.size(); ++ID) {
 			const Interface::Image& image = scene.images[ID];
-			if (image.poseID == MVS::NO_ID)
+			if (image.poseID == NO_ID)
 				continue;
 			const Interface::Platform& platform = scene.platforms[image.platformID];
 			const Interface::Platform::Pose& pose = platform.poses[image.poseID];
@@ -1184,7 +1175,7 @@ bool ExportScene(const String& strFolder, const Interface& scene, bool bForceSpa
 				file.write(&view.imageID, sizeof(uint32_t));
 			}
 		}
-		if (!pointcloud.Save(filenameDensePoints, true)) {
+		if (!pointcloud.Save(filenameDensePoints, false, true)) {
 			VERBOSE("error: unable to write file '%s'", filenameDensePoints.c_str());
 			return false;
 		}
@@ -1230,12 +1221,12 @@ bool ExportScene(const String& strFolder, const Interface& scene, bool bForceSpa
 bool ExportIntrinsicsTxt(const String& fileName, const Interface& scene)
 {
 	LOG_OUT() << "Writing intrinsics: " << fileName << std::endl;
-	uint32_t idxValidK(MVS::NO_ID);
+	uint32_t idxValidK(NO_ID);
 	for (uint32_t ID=0; ID<(uint32_t)scene.images.size(); ++ID) {
 		const Interface::Image& image = scene.images[ID];
 		if (!image.IsValid())
 			continue;
-		if (idxValidK == MVS::NO_ID) {
+		if (idxValidK == NO_ID) {
 			idxValidK = ID;
 			continue;
 		}
@@ -1244,7 +1235,7 @@ bool ExportIntrinsicsTxt(const String& fileName, const Interface& scene)
 			return false;
 		}
 	}
-	if (idxValidK == MVS::NO_ID)
+	if (idxValidK == NO_ID)
 		return false;
 	const Interface::Image& image = scene.images[idxValidK];
 	String imagefileName(image.name);
@@ -1295,7 +1286,7 @@ bool ExportImagesLog(const String& fileName, const Interface& scene)
 		const Interface::Image& image = scene.images[ID];
 		Eigen::Matrix3d R(Eigen::Matrix3d::Identity());
 		Eigen::Vector3d t(Eigen::Vector3d::Zero());
-		if (image.poseID != MVS::NO_ID) {
+		if (image.poseID != NO_ID) {
 			const Interface::Platform& platform = scene.platforms[image.platformID];
 			const Interface::Platform::Pose& pose = platform.poses[image.poseID];
 			R = Eigen::Map<const EMat33d>(pose.R.val).transpose();
@@ -1336,7 +1327,7 @@ bool ExportImagesCamera(const String& pathName, const Interface& scene)
 		RMatrix R(RMatrix::IDENTITY);
 		CMatrix t(CMatrix::ZERO);
 		unsigned width(0), height(0);
-		if (image.platformID != MVS::NO_ID && image.cameraID != MVS::NO_ID) {
+		if (image.platformID != NO_ID && image.cameraID != NO_ID) {
 			const Interface::Platform& platform = scene.platforms[image.platformID];
 			const Interface::Platform::Camera& camera = platform.cameras[image.cameraID];
 			if (camera.HasResolution()) {
@@ -1349,7 +1340,7 @@ bool ExportImagesCamera(const String& pathName, const Interface& scene)
 				height = pImage->GetHeight();
 				K = platform.GetFullK(image.cameraID, width, height);
 			}
-			if (image.poseID != MVS::NO_ID) {
+			if (image.poseID != NO_ID) {
 				const Interface::Platform::Pose& pose = platform.poses[image.poseID];
 				R = pose.R.t();
 				t = pose.C;
@@ -1387,23 +1378,6 @@ int main(int argc, LPCTSTR* argv)
 	TD_TIMER_START();
 
 	if (OPT::bFromOpenMVS) {
-		if (OPT::nMaxResolution > 0) {
-			// scale and save scene images
-			MVS::Scene scene(OPT::nMaxThreads);
-			if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
-				return EXIT_FAILURE;
-			const String folderName(Util::getFilePath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName)) + String::FormatString("images%u" PATH_SEPARATOR_STR, OPT::nMaxResolution));
-			if (!scene.ScaleImages(OPT::nMaxResolution, 0, folderName)) {
-				DEBUG("error: can not scale scene images to '%s'", folderName.c_str());
-				return EXIT_FAILURE;
-			}
-			const String fileName(Util::insertBeforeFileExt(MAKE_PATH_SAFE(OPT::strInputFileName), _T("_new")));
-			if (!scene.Save(fileName, scene.mesh.IsEmpty() ? ARCHIVE_MVS : ARCHIVE_DEFAULT)) {
-				DEBUG("error: can not save scene to '%s'", fileName.c_str());
-				return EXIT_FAILURE;
-			}
-			return EXIT_SUCCESS;
-		}
 		// read MVS input data
 		Interface scene;
 		if (!ARCHIVE::SerializeLoad(scene, MAKE_PATH_SAFE(OPT::strInputFileName)))
@@ -1426,13 +1400,18 @@ int main(int argc, LPCTSTR* argv)
 		// read COLMAP input data
 		Interface scene;
 		const String strOutFolder(Util::getFilePath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputFileName)));
-		if (!ImportScene(MAKE_PATH_SAFE(OPT::strInputFileName), strOutFolder, scene))
+		PointCloud pointcloud;
+		if (!ImportScene(MAKE_PATH_SAFE(OPT::strInputFileName), strOutFolder, scene, pointcloud))
 			return EXIT_FAILURE;
 		// write MVS input data
 		Util::ensureFolder(strOutFolder);
 		if (!ARCHIVE::SerializeSave(scene, MAKE_PATH_SAFE(OPT::strOutputFileName)))
 			return EXIT_FAILURE;
-		VERBOSE("Exported data: %u images & %u vertices (%s)", scene.images.size(), scene.vertices.size(), TD_TIMER_GET_FMT().c_str());
+		if (!pointcloud.IsEmpty() && !pointcloud.Save(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)) + _T(".ply"), true))
+			return EXIT_FAILURE;
+		VERBOSE("Exported data: %u images, %u points%s (%s)",
+			scene.images.size(), scene.vertices.size(), pointcloud.IsEmpty()?"":String::FormatString(", %d dense points", pointcloud.GetSize()).c_str(),
+			TD_TIMER_GET_FMT().c_str());
 	}
 
 	Finalize();
diff --git a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
index 31da44f71..d258559d3 100644
--- a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
+++ b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
@@ -73,7 +73,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "produce this help message")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: -1-interface, 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
@@ -141,7 +141,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// initialize optional options
 	Util::ensureValidPath(OPT::strOutputFileName);
-	if (OPT::strOutputFileName.IsEmpty())
+	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + "scene" MVS_EXT;
 
 	// initialize global options
diff --git a/apps/InterfaceMetashape/InterfaceMetashape.cpp b/apps/InterfaceMetashape/InterfaceMetashape.cpp
index 068e9505c..994c0428f 100644
--- a/apps/InterfaceMetashape/InterfaceMetashape.cpp
+++ b/apps/InterfaceMetashape/InterfaceMetashape.cpp
@@ -74,7 +74,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "imports SfM scene stored either in Metashape Agisoft/BlocksExchange or ContextCapture BlocksExchange XML format")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: -1-interface, 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
diff --git a/apps/InterfacePolycam/InterfacePolycam.cpp b/apps/InterfacePolycam/InterfacePolycam.cpp
index 9100b1b5b..c0b42fb7a 100644
--- a/apps/InterfacePolycam/InterfacePolycam.cpp
+++ b/apps/InterfacePolycam/InterfacePolycam.cpp
@@ -72,7 +72,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "imports SfM scene stored Polycam format")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: -1-interface, 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
@@ -236,7 +236,7 @@ bool ParseImage(Scene& scene, const String& imagePath, const String& cameraPath,
 			const String neighborName = std::to_string(timestamp);
 			const IIndex neighborID = mapImageName.at(neighborName);
 			if (neighborID != imageData.ID)
-				imageData.neighbors.emplace_back(ViewScore{ViewInfo{neighborID, 0, 1.f, FD2R(15.f), 0.5f}, 3.f});
+				imageData.neighbors.emplace_back(ViewScore{neighborID, 0, 1.f, FD2R(15.f), 0.5f, 3.f});
 		}
 	}
 	// load and convert depth-map
@@ -249,7 +249,7 @@ bool ParseImage(Scene& scene, const String& imagePath, const String& cameraPath,
 	}
 	IIndexArr IDs = {imageData.ID};
 	IDs.JoinFunctor(imageData.neighbors.size(), [&imageData](IIndex i) {
-		return imageData.neighbors[i].idx.ID;
+		return imageData.neighbors[i].ID;
 	});
 	double dMin, dMax;
 	cv::minMaxIdx(depthMap, &dMin, &dMax, NULL, NULL, depthMap > 0);
diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index 43586e20c..24a74b945 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -52,6 +52,7 @@ namespace {
 
 namespace OPT {
 String strInputFileName;
+String strPointCloudFileName;
 String strOutputFileName;
 String strMeshFileName;
 String strImportROIFileName;
@@ -95,7 +96,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
 		("export-type", boost::program_options::value<std::string>(&OPT::strExportType)->default_value(_T("ply")), "file type used to export the 3D scene (ply or obj)")
-		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: -1-interface, 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
@@ -116,6 +117,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	boost::program_options::options_description config_main("Reconstruct options");
 	config_main.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
+		("pointcloud-file,p", boost::program_options::value<std::string>(&OPT::strPointCloudFileName), "dense point-cloud with views file name to reconstruct (overwrite existing point-cloud)")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
 		("min-point-distance,d", boost::program_options::value(&OPT::fDistInsert)->default_value(2.5f), "minimum distance in pixels between the projection of two 3D points to consider them different while triangulating (0 - disabled)")
 		("integrate-only-roi", boost::program_options::value(&OPT::bUseOnlyROI)->default_value(false), "use only the points inside the ROI")
@@ -183,20 +185,24 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
-	if (OPT::vm.count("help") || OPT::strInputFileName.IsEmpty()) {
+	if (OPT::vm.count("help") || OPT::strInputFileName.empty()) {
 		boost::program_options::options_description visible("Available options");
 		visible.add(generic).add(config_main).add(config_clean);
 		GET_LOG() << visible;
 	}
-	if (OPT::strInputFileName.IsEmpty())
+	if (OPT::strInputFileName.empty())
 		return false;
 	OPT::strExportType = OPT::strExportType.ToLower() == _T("obj") ? _T(".obj") : _T(".ply");
 
 	// initialize optional options
+	Util::ensureValidPath(OPT::strPointCloudFileName);
 	Util::ensureValidPath(OPT::strOutputFileName);
 	Util::ensureValidPath(OPT::strImportROIFileName);
 	Util::ensureValidPath(OPT::strImagePointsFileName);
-	if (OPT::strOutputFileName.IsEmpty())
+	Util::ensureValidPath(OPT::strMeshFileName);
+	if (OPT::strPointCloudFileName.empty() && OPT::nArchiveType == ARCHIVE_MVS)
+		OPT::strPointCloudFileName = Util::getFileFullName(OPT::strInputFileName) + _T(".ply");
+	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_mesh.mvs");
 
 	// initialize global options
@@ -345,8 +351,18 @@ int main(int argc, LPCTSTR* argv)
 
 	Scene scene(OPT::nMaxThreads);
 	// load project
-	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName), OPT::fSplitMaxArea > 0 || OPT::fDecimateMesh < 1 || OPT::nTargetFaceNum > 0 || !OPT::strImportROIFileName.empty()))
+	const Scene::SCENE_TYPE sceneType(scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName),
+		OPT::fSplitMaxArea > 0 || OPT::fDecimateMesh < 1 || OPT::nTargetFaceNum > 0 || !OPT::strImportROIFileName.empty()));
+	if (sceneType == Scene::SCENE_NA)
 		return EXIT_FAILURE;
+	if (!OPT::strPointCloudFileName.empty() && !scene.pointcloud.Load(MAKE_PATH_SAFE(OPT::strPointCloudFileName))) {
+		VERBOSE("error: cannot load point-cloud file");
+		return EXIT_FAILURE;
+	}
+	if (!OPT::strMeshFileName.empty() && !scene.mesh.Load(MAKE_PATH_SAFE(OPT::strMeshFileName))) {
+		VERBOSE("error: cannot load mesh file");
+		return EXIT_FAILURE;
+	}
 	const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
 	if (OPT::fSplitMaxArea > 0) {
 		// split mesh using max-area constraint
@@ -397,13 +413,13 @@ int main(int argc, LPCTSTR* argv)
 			scene.obb.EnlargePercent(OPT::fBorderROI);
 		else if (OPT::fBorderROI < 0)
 			scene.obb.Enlarge(-OPT::fBorderROI);
-		if (OPT::strMeshFileName.IsEmpty() && scene.mesh.IsEmpty()) {
+		if (OPT::strMeshFileName.empty() && scene.mesh.IsEmpty()) {
 			// reset image resolution to the original size and
 			// make sure the image neighbors are initialized before deleting the point-cloud
 			#ifdef RECMESH_USE_OPENMP
 			bool bAbort(false);
 			#pragma omp parallel for
-			for (int_t idx=0; idx<(int_t)scene.images.GetSize(); ++idx) {
+			for (int_t idx=0; idx<(int_t)scene.images.size(); ++idx) {
 				#pragma omp flush (bAbort)
 				if (bAbort)
 					continue;
@@ -426,7 +442,7 @@ int main(int argc, LPCTSTR* argv)
 				}
 				imageData.UpdateCamera(scene.platforms);
 				// select neighbor views
-				if (imageData.neighbors.IsEmpty()) {
+				if (imageData.neighbors.empty()) {
 					IndexArr points;
 					scene.SelectNeighborViews(idxImage, points);
 				}
@@ -448,7 +464,7 @@ int main(int argc, LPCTSTR* argv)
 				scene.mesh.Save(baseFileName+_T("_raw")+OPT::strExportType);
 			}
 			#endif
-		} else if (!OPT::strMeshFileName.IsEmpty()) {
+		} else if (!OPT::strMeshFileName.empty()) {
 			// load existing mesh to clean
 			scene.mesh.Load(MAKE_PATH_SAFE(OPT::strMeshFileName));
 		}
@@ -469,12 +485,13 @@ int main(int argc, LPCTSTR* argv)
 		scene.obb = initialOBB;
 
 		// save the final mesh
-		scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
 		scene.mesh.Save(baseFileName+OPT::strExportType);
 		#if TD_VERBOSE != TD_VERBOSE_OFF
 		if (VERBOSITY_LEVEL > 2)
 			scene.ExportCamerasMLP(baseFileName+_T(".mlp"), baseFileName+OPT::strExportType);
 		#endif
+		if (OPT::nArchiveType != ARCHIVE_MVS || sceneType != Scene::SCENE_INTERFACE)
+			scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
 	}
 
 	if (!OPT::strImagePointsFileName.empty()) {
diff --git a/apps/RefineMesh/RefineMesh.cpp b/apps/RefineMesh/RefineMesh.cpp
index c0960935d..7848d585a 100644
--- a/apps/RefineMesh/RefineMesh.cpp
+++ b/apps/RefineMesh/RefineMesh.cpp
@@ -47,8 +47,8 @@ namespace {
 
 namespace OPT {
 String strInputFileName;
-String strOutputFileName;
 String strMeshFileName;
+String strOutputFileName;
 unsigned nResolutionLevel;
 unsigned nMinResolution;
 unsigned nMaxViews;
@@ -86,7 +86,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
 		("export-type", boost::program_options::value<std::string>(&OPT::strExportType)->default_value(_T("ply")), "file type used to export the 3D scene (ply or obj)")
-		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: -1-interface, 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
@@ -107,6 +107,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	boost::program_options::options_description config("Refine options");
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
+		("mesh-file,m", boost::program_options::value<std::string>(&OPT::strMeshFileName), "mesh file name to refine (overwrite existing mesh)")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
 		("resolution-level", boost::program_options::value(&OPT::nResolutionLevel)->default_value(0), "how many times to scale down the images before mesh refinement")
 		("min-resolution", boost::program_options::value(&OPT::nMinResolution)->default_value(640), "do not scale images lower than this resolution")
@@ -125,18 +126,11 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("reduce-memory", boost::program_options::value(&OPT::nReduceMemory)->default_value(1), "recompute some data in order to reduce memory requirements")
 		;
 
-	// hidden options, allowed both on command line and
-	// in config file, but will not be shown to the user
-	boost::program_options::options_description hidden("Hidden options");
-	hidden.add_options()
-		("mesh-file", boost::program_options::value<std::string>(&OPT::strMeshFileName), "mesh file name to refine (overwrite the existing mesh)")
-		;
-
 	boost::program_options::options_description cmdline_options;
-	cmdline_options.add(generic).add(config).add(hidden);
+	cmdline_options.add(generic).add(config);
 
 	boost::program_options::options_description config_file_options;
-	config_file_options.add(config).add(hidden);
+	config_file_options.add(config);
 
 	boost::program_options::positional_options_description p;
 	p.add("input-file", -1);
@@ -167,18 +161,21 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
-	if (OPT::vm.count("help") || OPT::strInputFileName.IsEmpty()) {
+	if (OPT::vm.count("help") || OPT::strInputFileName.empty()) {
 		boost::program_options::options_description visible("Available options");
 		visible.add(generic).add(config);
 		GET_LOG() << visible;
 	}
-	if (OPT::strInputFileName.IsEmpty())
+	if (OPT::strInputFileName.empty())
 		return false;
 	OPT::strExportType = OPT::strExportType.ToLower() == _T("obj") ? _T(".obj") : _T(".ply");
 
 	// initialize optional options
+	Util::ensureValidPath(OPT::strMeshFileName);
 	Util::ensureValidPath(OPT::strOutputFileName);
-	if (OPT::strOutputFileName.IsEmpty())
+	if (OPT::strMeshFileName.empty() && OPT::nArchiveType == ARCHIVE_MVS)
+		OPT::strMeshFileName = Util::getFileFullName(OPT::strInputFileName) + _T(".ply");
+	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_refine.mvs");
 
 	// initialize global options
@@ -224,11 +221,12 @@ int main(int argc, LPCTSTR* argv)
 
 	Scene scene(OPT::nMaxThreads);
 	// load and refine the coarse mesh
-	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
+	const Scene::SCENE_TYPE sceneType(scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)));
+	if (sceneType == Scene::SCENE_NA)
+		return EXIT_FAILURE;
+	if (!OPT::strMeshFileName.empty() && !scene.mesh.Load(MAKE_PATH_SAFE(OPT::strMeshFileName))) {
+		VERBOSE("error: cannot load mesh file");
 		return EXIT_FAILURE;
-	if (!OPT::strMeshFileName.IsEmpty()) {
-		// load given coarse mesh
-		scene.mesh.Load(MAKE_PATH_SAFE(OPT::strMeshFileName));
 	}
 	if (scene.mesh.IsEmpty()) {
 		VERBOSE("error: empty initial mesh");
@@ -261,12 +259,13 @@ int main(int argc, LPCTSTR* argv)
 
 	// save the final mesh
 	const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
-	scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
 	scene.mesh.Save(baseFileName+OPT::strExportType);
 	#if TD_VERBOSE != TD_VERBOSE_OFF
 	if (VERBOSITY_LEVEL > 2)
 		scene.ExportCamerasMLP(baseFileName+_T(".mlp"), baseFileName+OPT::strExportType);
 	#endif
+	if (OPT::nArchiveType != ARCHIVE_MVS || sceneType != Scene::SCENE_INTERFACE)
+		scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
 
 	Finalize();
 	return EXIT_SUCCESS;
diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index 8409a2ef2..351c2b3a0 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -47,8 +47,8 @@ namespace {
 
 namespace OPT {
 String strInputFileName;
-String strOutputFileName;
 String strMeshFileName;
+String strOutputFileName;
 String strViewsFileName;
 float fDecimateMesh;
 unsigned nCloseHoles;
@@ -87,7 +87,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
 		("export-type", boost::program_options::value<std::string>(&OPT::strExportType)->default_value(_T("ply")), "file type used to export the 3D scene (ply, obj, glb or gltf)")
-		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: -1-interface, 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
@@ -108,6 +108,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	boost::program_options::options_description config("Texture options");
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
+		("mesh-file,m", boost::program_options::value<std::string>(&OPT::strMeshFileName), "mesh file name to texture (overwrite existing mesh)")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
 		("decimate", boost::program_options::value(&OPT::fDecimateMesh)->default_value(1.f), "decimation factor in range [0..1] to be applied to the input surface before refinement (0 - auto, 1 - disabled)")
 		("close-holes", boost::program_options::value(&OPT::nCloseHoles)->default_value(30), "try to close small holes in the input surface (0 - disabled)")
@@ -130,7 +131,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	// in config file, but will not be shown to the user
 	boost::program_options::options_description hidden("Hidden options");
 	hidden.add_options()
-		("mesh-file", boost::program_options::value<std::string>(&OPT::strMeshFileName), "mesh file name to texture (overwrite the existing mesh)")
 		("views-file", boost::program_options::value<std::string>(&OPT::strViewsFileName), "file name containing the list of views to be used for texturing (optional)")
 		;
 
@@ -169,12 +169,12 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 
 	// validate input
 	Util::ensureValidPath(OPT::strInputFileName);
-	if (OPT::vm.count("help") || OPT::strInputFileName.IsEmpty()) {
+	if (OPT::vm.count("help") || OPT::strInputFileName.empty()) {
 		boost::program_options::options_description visible("Available options");
 		visible.add(generic).add(config);
 		GET_LOG() << visible;
 	}
-	if (OPT::strInputFileName.IsEmpty())
+	if (OPT::strInputFileName.empty())
 		return false;
 	OPT::strExportType = OPT::strExportType.ToLower();
 	if (OPT::strExportType == _T("obj"))
@@ -189,10 +189,13 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		OPT::strExportType =  _T(".ply");
 
 	// initialize optional options
+	Util::ensureValidPath(OPT::strMeshFileName);
 	Util::ensureValidPath(OPT::strOutputFileName);
-	if (OPT::strOutputFileName.IsEmpty())
-		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_texture.mvs");
 	Util::ensureValidPath(OPT::strViewsFileName);
+	if (OPT::strMeshFileName.empty() && OPT::nArchiveType == ARCHIVE_MVS)
+		OPT::strMeshFileName = Util::getFileFullName(OPT::strInputFileName) + _T(".ply");
+	if (OPT::strOutputFileName.empty())
+		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_texture.mvs");
 
 	// initialize global options
 	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
@@ -271,11 +274,12 @@ int main(int argc, LPCTSTR* argv)
 
 	Scene scene(OPT::nMaxThreads);
 	// load and texture the mesh
-	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
+	const Scene::SCENE_TYPE sceneType(scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)));
+	if (sceneType == Scene::SCENE_NA)
+		return EXIT_FAILURE;
+	if (!OPT::strMeshFileName.empty() && !scene.mesh.Load(MAKE_PATH_SAFE(OPT::strMeshFileName))) {
+		VERBOSE("error: cannot load mesh file");
 		return EXIT_FAILURE;
-	if (!OPT::strMeshFileName.IsEmpty()) {
-		// load given mesh
-		scene.mesh.Load(MAKE_PATH_SAFE(OPT::strMeshFileName));
 	}
 	if (scene.mesh.IsEmpty()) {
 		VERBOSE("error: empty initial mesh");
@@ -312,12 +316,13 @@ int main(int argc, LPCTSTR* argv)
 	VERBOSE("Mesh texturing completed: %u vertices, %u faces (%s)", scene.mesh.vertices.GetSize(), scene.mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
 
 	// save the final mesh
-	scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
 	scene.mesh.Save(baseFileName+OPT::strExportType);
 	#if TD_VERBOSE != TD_VERBOSE_OFF
 	if (VERBOSITY_LEVEL > 2)
 		scene.ExportCamerasMLP(baseFileName+_T(".mlp"), baseFileName+OPT::strExportType);
 	#endif
+	if (OPT::nArchiveType != ARCHIVE_MVS || sceneType != Scene::SCENE_INTERFACE)
+		scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
 	}
 
 	if (OPT::nOrthoMapResolution) {
diff --git a/apps/TransformScene/TransformScene.cpp b/apps/TransformScene/TransformScene.cpp
index 10c700362..f2f14562f 100644
--- a/apps/TransformScene/TransformScene.cpp
+++ b/apps/TransformScene/TransformScene.cpp
@@ -48,6 +48,8 @@ namespace {
 
 namespace OPT {
 	String strInputFileName;
+	String strPointCloudFileName;
+	String strMeshFileName;
 	String strOutputFileName;
 	String strAlignFileName;
 	String strTransformFileName;
@@ -56,6 +58,7 @@ namespace OPT {
 	bool bComputeVolume;
 	float fPlaneThreshold;
 	float fSampleMesh;
+	unsigned nMaxResolution;
 	unsigned nUpAxis;
 	unsigned nArchiveType;
 	int nProcessPriority;
@@ -79,7 +82,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
 		("export-type", boost::program_options::value<std::string>(&OPT::strExportType)->default_value(_T("ply")), "file type used to export the 3D scene (ply, obj, glb or gltf)")
-		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: -1-interface, 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
@@ -97,6 +100,8 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	boost::program_options::options_description config("Main options");
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input scene filename")
+		("pointcloud-file,p", boost::program_options::value<std::string>(&OPT::strPointCloudFileName), "dense point-cloud with views file name to transform (overwrite existing point-cloud)")
+		("mesh-file,m", boost::program_options::value<std::string>(&OPT::strMeshFileName), "mesh file name to transform (overwrite existing mesh)")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the scene")
 		("align-file,a", boost::program_options::value<std::string>(&OPT::strAlignFileName), "input scene filename to which the scene will be cameras aligned")
 		("transform-file,t", boost::program_options::value<std::string>(&OPT::strTransformFileName), "input transform filename by which the scene will transformed")
@@ -105,6 +110,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("compute-volume", boost::program_options::value(&OPT::bComputeVolume)->default_value(false), "compute the volume of the given watertight mesh, or else try to estimate the ground plane and assume the mesh is bounded by it")
 		("plane-threshold", boost::program_options::value(&OPT::fPlaneThreshold)->default_value(0.f), "threshold used to estimate the ground plane (<0 - disabled, 0 - auto, >0 - desired threshold)")
 		("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(-300000.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
+		("max-resolution", boost::program_options::value(&OPT::nMaxResolution)->default_value(0), "make sure image resolution are not not larger than this (0 - disabled)")
 		("up-axis", boost::program_options::value(&OPT::nUpAxis)->default_value(2), "scene axis considered to point upwards (0 - x, 1 - y, 2 - z)")
 		;
 
@@ -170,8 +176,12 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		OPT::strExportType =  _T(".ply");
 
 	// initialize optional options
+	Util::ensureValidPath(OPT::strPointCloudFileName);
+	Util::ensureValidPath(OPT::strMeshFileName);
 	Util::ensureValidPath(OPT::strOutputFileName);
-	if (OPT::strOutputFileName.IsEmpty())
+	if (OPT::strMeshFileName.empty() && OPT::nArchiveType == ARCHIVE_MVS)
+		OPT::strMeshFileName = Util::getFileFullName(OPT::strInputFileName) + _T(".ply");
+	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + "_transformed" MVS_EXT;
 
 	// initialize global options
@@ -218,8 +228,19 @@ int main(int argc, LPCTSTR* argv)
 	Scene scene(OPT::nMaxThreads);
 
 	// load given scene
-	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName), !OPT::strTransformFileName.empty() || !OPT::strTransferTextureFileName.empty() || OPT::bComputeVolume))
+	const Scene::SCENE_TYPE sceneType(scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName),
+		!OPT::strTransformFileName.empty() || !OPT::strTransferTextureFileName.empty() || OPT::bComputeVolume));
+	if (sceneType == Scene::SCENE_NA)
 		return EXIT_FAILURE;
+	if (!OPT::strPointCloudFileName.empty() && !scene.pointcloud.Load(MAKE_PATH_SAFE(OPT::strPointCloudFileName))) {
+		VERBOSE("error: cannot load point-cloud file");
+		return EXIT_FAILURE;
+	}
+	if (!OPT::strMeshFileName.empty() && !scene.mesh.Load(MAKE_PATH_SAFE(OPT::strMeshFileName))) {
+		VERBOSE("error: cannot load mesh file");
+		return EXIT_FAILURE;
+	}
+	const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
 
 	if (!OPT::strAlignFileName.empty()) {
 		// transform this scene such that it best aligns with the given scene based on the camera positions
@@ -277,28 +298,35 @@ int main(int argc, LPCTSTR* argv)
 		}
 		if (!scene.mesh.TransferTexture(newMesh, faceSubsetIndices))
 			return EXIT_FAILURE;
-		newMesh.Save(Util::getFileFullName(MAKE_PATH_SAFE(OPT::strOutputFileName)) + OPT::strExportType);
+		newMesh.Save(baseFileName + OPT::strExportType);
 		VERBOSE("Texture transfered (%s)", TD_TIMER_GET_FMT().c_str());
 		return EXIT_SUCCESS;
 	}
 
+	if (OPT::nMaxResolution > 0) {
+		// scale scene images
+		const String folderName(Util::getFilePath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName)) + String::FormatString("images%u" PATH_SEPARATOR_STR, OPT::nMaxResolution));
+		if (!scene.ScaleImages(OPT::nMaxResolution, 0, folderName)) {
+			DEBUG("error: can not scale scene images to '%s'", folderName.c_str());
+			return EXIT_FAILURE;
+		}
+	}
+
 	if (OPT::bComputeVolume && !scene.mesh.IsEmpty()) {
 		// compute the mesh volume
 		const REAL volume(scene.ComputeLeveledVolume(OPT::fPlaneThreshold, OPT::fSampleMesh, OPT::nUpAxis));
 		VERBOSE("Mesh volume: %g (%s)", volume, TD_TIMER_GET_FMT().c_str());
-		scene.mesh.Save(Util::getFileFullName(MAKE_PATH_SAFE(OPT::strOutputFileName)) + OPT::strExportType);
-		if (scene.images.empty())
-			return EXIT_SUCCESS;
-		OPT::nArchiveType = ARCHIVE_DEFAULT;
 	}
 
 	// write transformed scene
 	if (scene.IsValid())
 		scene.Save(MAKE_PATH_SAFE(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
-	else if (!scene.pointcloud.IsEmpty())
-		scene.pointcloud.Save(Util::getFileFullName(MAKE_PATH_SAFE(OPT::strOutputFileName)) + ".ply");
-	else if (!scene.mesh.IsEmpty())
-		scene.mesh.Save(Util::getFileFullName(MAKE_PATH_SAFE(OPT::strOutputFileName)) + ".ply");
+	if (!scene.IsValid() || OPT::nArchiveType == ARCHIVE_MVS) {
+		if (!scene.pointcloud.IsEmpty())
+			scene.pointcloud.Save(baseFileName + _T(".ply"), OPT::nArchiveType==ARCHIVE_MVS);
+		if (!scene.mesh.IsEmpty())
+			scene.mesh.Save(baseFileName + OPT::strExportType);
+	}
 
 	Finalize();
 	return EXIT_SUCCESS;
diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index 69683dc75..b19eb4107 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -122,8 +122,9 @@ void* Scene::ThreadWorker(void*) {
 SEACAVE::EventQueue Scene::events;
 SEACAVE::Thread Scene::thread;
 
-Scene::Scene()
+Scene::Scene(ARCHIVE_TYPE _nArchiveType)
 	:
+	nArchiveType(_nArchiveType),
 	listPointCloud(0),
 	listMesh(0)
 {
@@ -355,7 +356,7 @@ bool Scene::Save(LPCTSTR _fileName, bool bRescaleImages)
 			return false;
 		}
 	}
-	if (!scene.Save(fileName, scene.mesh.IsEmpty() ? ARCHIVE_MVS : ARCHIVE_DEFAULT)) {
+	if (!scene.Save(fileName, nArchiveType)) {
 		DEBUG("error: can not save scene to '%s'", fileName.c_str());
 		return false;
 	}
@@ -374,7 +375,7 @@ bool Scene::Export(LPCTSTR _fileName, LPCTSTR exportType) const
 	String lastFileName;
 	const String fileName(_fileName != NULL ? String(_fileName) : sceneName);
 	const String baseFileName(Util::getFileFullName(fileName));
-	const bool bPoints(scene.pointcloud.Save(lastFileName=(baseFileName+_T("_pointcloud.ply"))));
+	const bool bPoints(scene.pointcloud.Save(lastFileName=(baseFileName+_T("_pointcloud.ply")), nArchiveType==ARCHIVE_MVS));
 	const bool bMesh(scene.mesh.Save(lastFileName=(baseFileName+_T("_mesh")+(exportType?exportType:(Util::getFileExt(fileName)==_T(".obj")?_T(".obj"):_T(".ply")))), cList<String>(), true));
 	#if TD_VERBOSE != TD_VERBOSE_OFF
 	if (VERBOSITY_LEVEL > 2 && (bPoints || bMesh))
diff --git a/apps/Viewer/Scene.h b/apps/Viewer/Scene.h
index d1e360833..b0b16e0e4 100644
--- a/apps/Viewer/Scene.h
+++ b/apps/Viewer/Scene.h
@@ -52,6 +52,7 @@ class Scene
 	typedef MVS::Mesh::Octree OctreeMesh;
 
 public:
+	ARCHIVE_TYPE nArchiveType;
 	String name;
 
 	String sceneName;
@@ -73,7 +74,7 @@ class Scene
 	static SEACAVE::Thread thread; // worker thread
 
 public:
-	Scene();
+	explicit Scene(ARCHIVE_TYPE _nArchiveType = ARCHIVE_MVS);
 	~Scene();
 
 	void Empty();
diff --git a/apps/Viewer/Viewer.cpp b/apps/Viewer/Viewer.cpp
index 27aa73d93..e442d533b 100644
--- a/apps/Viewer/Viewer.cpp
+++ b/apps/Viewer/Viewer.cpp
@@ -76,7 +76,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
 		("export-type", boost::program_options::value<std::string>(&OPT::strExportType), "file type used to export the 3D scene (ply or obj)")
-		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: -1-interface, 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(0), "process priority (normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads that this process should use (0 - use all available cores)")
 		("max-memory", boost::program_options::value(&OPT::nMaxMemory)->default_value(0), "maximum amount of memory in MB that this process should use (0 - use all available memory)")
diff --git a/libs/Common/File.h b/libs/Common/File.h
index 9c4be9a7f..2e431bccd 100644
--- a/libs/Common/File.h
+++ b/libs/Common/File.h
@@ -75,17 +75,27 @@
 #include <dirent.h>
 #define _taccess access
 #endif
+#ifdef __APPLE__
+#define fdatasync fsync
+#endif
 
 
 // D E F I N E S ///////////////////////////////////////////////////
 
-/* size of the stored file size variable */
+// size of the stored file size variable
 #ifdef LARGEFILESIZE
 #define FILESIZE	size_f_t
 #else
 #define FILESIZE	size_t
 #endif
 
+// invalid file handle
+#ifdef _MSC_VER
+#define FILE_INVALID_HANDLE INVALID_HANDLE_VALUE
+#else
+#define FILE_INVALID_HANDLE int(-1)
+#endif
+
 
 namespace SEACAVE {
 
@@ -106,44 +116,72 @@ class GENERAL_API File : public IOStream {
 		TRUNCATE = 0x04
 	} FMCREATE;
 
-	typedef enum FMFALGS_TYPE {
-		NOBUFFER = 0x01,
-		RANDOM = 0x02,
-		SEQUENTIAL = 0x03
-	} FMFALGS;
-
-#ifdef _MSC_VER
-	typedef enum FMACCESS_TYPE {
-		READ = GENERIC_READ,
-		WRITE = GENERIC_WRITE,
-		RW = READ | WRITE
-	} FMACCESS;
-
-	typedef enum FMCHECKACCESS_TYPE {
-		CA_EXIST	= 0, // existence
-		CA_WRITE	= 2, // write
-		CA_READ		= 4, // read
-		CA_RW		= CA_READ | CA_WRITE
-	} FMCHECKACCESS;
+	typedef enum FMFLAGS_TYPE {
+		SYNC = 0x01,
+		NOBUFFER = 0x02,
+		RANDOM = 0x04,
+		SEQUENTIAL = 0x08
+	} FMFLAGS;
 
-	File() : h(INVALID_HANDLE_VALUE) {
+	inline File() : h(FILE_INVALID_HANDLE) {
 		#ifndef _RELEASE
 		breakRead = -1;
 		breakWrite = -1;
 		#endif
 	}
-
-	File(LPCTSTR aFileName, int access, int mode, int flags=0) : h(INVALID_HANDLE_VALUE) {
+	inline File(LPCTSTR aFileName, int access, int mode, int flags=0) : h(FILE_INVALID_HANDLE) {
 		#ifndef _RELEASE
 		breakRead = -1;
 		breakWrite = -1;
 		#endif
-		open(aFileName, access, mode, flags);
+		File::open(aFileName, access, mode, flags);
+	}
+
+	virtual ~File() {
+		File::close();
 	}
 
+	#ifdef _SUPPORT_CPP11
+	inline File(File&& rhs) : h(rhs.h) {
+		#ifndef _RELEASE
+		breakRead = rhs.breakRead;
+		breakWrite = rhs.breakWrite;
+		#endif
+		rhs.h = FILE_INVALID_HANDLE;
+	}
+
+	inline File& operator=(File&& rhs) {
+		h = rhs.h;
+		#ifndef _RELEASE
+		breakRead = rhs.breakRead;
+		breakWrite = rhs.breakWrite;
+		#endif
+		rhs.h = FILE_INVALID_HANDLE;
+		return *this;
+	}
+	#endif
+
+	bool isOpen() const {
+		return h != FILE_INVALID_HANDLE;
+	}
+
+#ifdef _MSC_VER
+	typedef enum FMACCESS_TYPE {
+		READ = GENERIC_READ,
+		WRITE = GENERIC_WRITE,
+		RW = READ | WRITE
+	} FMACCESS;
+
+	typedef enum FMCHECKACCESS_TYPE {
+		CA_EXIST	= F_OK, // existence
+		CA_WRITE	= W_OK, // write
+		CA_READ		= R_OK, // read
+		CA_RW		= R_OK | W_OK,
+	} FMCHECKACCESS;
+
 	/**
 	 * Open the file specified.
-	 * If there are errors, h is set to INVALID_HANDLE_VALUE.
+	 * If there are errors, h is set to FILE_INVALID_HANDLE.
 	 * Use isOpen() to check.
 	 */
 	virtual void open(LPCTSTR aFileName, int access, int mode, int flags=0) {
@@ -164,6 +202,8 @@ class GENERAL_API File : public IOStream {
 		}
 
 		DWORD f = 0;
+		if (flags & SYNC)
+			f |= FILE_FLAG_WRITE_THROUGH;
 		if (flags & NOBUFFER)
 			f |= FILE_FLAG_NO_BUFFERING;
 		if (flags & RANDOM)
@@ -174,17 +214,16 @@ class GENERAL_API File : public IOStream {
 		h = ::CreateFile(aFileName, access, FILE_SHARE_READ, NULL, m, f, NULL);
 	}
 
-	bool isOpen() { return h != INVALID_HANDLE_VALUE; };
-
 	virtual void close() {
 		if (isOpen()) {
 			FlushFileBuffers(h);
 			CloseHandle(h);
-			h = INVALID_HANDLE_VALUE;
+			h = FILE_INVALID_HANDLE;
 		}
 	}
 
 	uint32_t getLastModified() {
+		ASSERT(isOpen());
 		FILETIME f = {0};
 		::GetFileTime(h, NULL, NULL, &f);
 		return convertTime(&f);
@@ -203,7 +242,8 @@ class GENERAL_API File : public IOStream {
 		return 0;
 	}
 
-	virtual size_f_t getSize() const {
+	size_f_t getSize() const override {
+		ASSERT(isOpen());
 		DWORD x;
 		DWORD l = ::GetFileSize(h, &x);
 		if ((l == INVALID_FILE_SIZE) && (GetLastError() != NO_ERROR))
@@ -224,7 +264,8 @@ class GENERAL_API File : public IOStream {
 		return true;
 	}
 
-	virtual size_f_t getPos() const {
+	size_f_t getPos() const override {
+		ASSERT(isOpen());
 		LONG x = 0;
 		const DWORD l = ::SetFilePointer(h, 0, &x, FILE_CURRENT);
 		if (l == INVALID_SET_FILE_POINTER)
@@ -232,22 +273,26 @@ class GENERAL_API File : public IOStream {
 		return (size_f_t)l | ((size_f_t)x)<<32;
 	}
 
-	virtual bool setPos(size_f_t pos) {
+	bool setPos(size_f_t pos) override {
+		ASSERT(isOpen());
 		LONG x = (LONG) (pos>>32);
 		return (::SetFilePointer(h, (DWORD)(pos & 0xffffffff), &x, FILE_BEGIN) != INVALID_SET_FILE_POINTER);
 	}
 
 	virtual bool setEndPos(size_f_t pos) {
+		ASSERT(isOpen());
 		LONG x = (LONG) (pos>>32);
 		return (::SetFilePointer(h, (DWORD)(pos & 0xffffffff), &x, FILE_END) != INVALID_SET_FILE_POINTER);
 	}
 
 	virtual bool movePos(size_f_t pos) {
+		ASSERT(isOpen());
 		LONG x = (LONG) (pos>>32);
 		return (::SetFilePointer(h, (DWORD)(pos & 0xffffffff), &x, FILE_CURRENT) != INVALID_SET_FILE_POINTER);
 	}
 
-	virtual size_t read(void* buf, size_t len) {
+	size_t read(void* buf, size_t len) override {
+		ASSERT(isOpen());
 		#ifndef _RELEASE
 		if (breakRead != (size_t)(-1)) {
 			if (breakRead <= len) {
@@ -264,7 +309,8 @@ class GENERAL_API File : public IOStream {
 		return x;
 	}
 
-	virtual size_t write(const void* buf, size_t len) {
+	size_t write(const void* buf, size_t len) override {
+		ASSERT(isOpen());
 		#ifndef _RELEASE
 		if (breakWrite != (size_t)(-1)) {
 			if (breakWrite <= len) {
@@ -286,15 +332,13 @@ class GENERAL_API File : public IOStream {
 		return (SetEndOfFile(h) != FALSE);
 	}
 
-	virtual size_t flush() {
-		if (isOpen())
-			return 0;
-		if (!FlushFileBuffers(h))
-			return STREAM_ERROR;
-		return 0;
+	size_t flush() override {
+		ASSERT(isOpen());
+		return (FlushFileBuffers(h) ? 0 : STREAM_ERROR);
 	}
 
 	virtual bool getInfo(BY_HANDLE_FILE_INFORMATION* fileInfo) {
+		ASSERT(isOpen());
 		return (GetFileInformationByHandle(h, fileInfo) != FALSE);
 	}
 
@@ -320,7 +364,7 @@ class GENERAL_API File : public IOStream {
 
 	static size_f_t getSize(LPCTSTR aFileName) {
 		const HANDLE fh = ::CreateFile(aFileName, FILE_READ_ATTRIBUTES, FILE_SHARE_READ, NULL, OPEN_EXISTING, FILE_FLAG_NO_BUFFERING, NULL);
-		if (fh == INVALID_HANDLE_VALUE)
+		if (fh == FILE_INVALID_HANDLE)
 			return SIZE_NA;
 		DWORD x;
 		DWORD l = ::GetFileSize(fh, &x);
@@ -331,17 +375,16 @@ class GENERAL_API File : public IOStream {
 	}
 
 
-	static size_f_t findFiles(const String& _strPath, const String& strMask, bool bProcessSubdir, FileInfoArr& arrFiles)
-	{	// List all the files.
+	static size_f_t findFiles(const String& _strPath, const String& strMask, bool bProcessSubdir, FileInfoArr& arrFiles) {
+		// List all the files.
 		WIN32_FIND_DATA fd;
 		HANDLE hFind;
 		size_f_t totalSize = 0;
 		String strPath(_strPath);
 		Util::ensureFolderSlash(strPath);
-		// Find all the files in this folder.
+		//Find all the files in this folder.
 		hFind = FindFirstFile((strPath + strMask).c_str(), &fd);
-		if (hFind != INVALID_HANDLE_VALUE)
-		{
+		if (hFind != FILE_INVALID_HANDLE) {
 			do {
 				// this is a file that can be used
 				if (fd.dwFileAttributes & FILE_ATTRIBUTE_DIRECTORY)
@@ -356,16 +399,14 @@ class GENERAL_API File : public IOStream {
 				#endif
 				fileInfo.attrib = fd.dwFileAttributes;
 				totalSize += fileInfo.size;
-			}
-			while (FindNextFile(hFind, &fd));
+			} while (FindNextFile(hFind, &fd));
 			FindClose(hFind);
 		}
-		// Process the subfolders also...
+		//Process the subfolders also...
 		if (!bProcessSubdir)
 			return totalSize;
 		hFind = FindFirstFile((strPath + '*').c_str(), &fd);
-		if (hFind != INVALID_HANDLE_VALUE)
-		{
+		if (hFind != FILE_INVALID_HANDLE) {
 			do {
 				// if SUBDIR then process that too
 				if (!(fd.dwFileAttributes & FILE_ATTRIBUTE_DIRECTORY))
@@ -376,8 +417,7 @@ class GENERAL_API File : public IOStream {
 					continue;
 				// Process all subfolders recursively
 				totalSize += findFiles(strPath + fd.cFileName + PATH_SEPARATOR, strMask, true, arrFiles);
-			}
-			while (FindNextFile(hFind, &fd));
+			} while (FindNextFile(hFind, &fd));
 			FindClose(hFind);
 		}
 		return totalSize;
@@ -399,24 +439,9 @@ class GENERAL_API File : public IOStream {
 		CA_EXEC		= X_OK, // execute
 	} FMCHECKACCESS;
 
-	File() : h(-1) {
-		#ifndef _RELEASE
-		breakRead = -1;
-		breakWrite = -1;
-		#endif
-	}
-
-	File(LPCTSTR aFileName, int access, int mode, int flags=0) : h(-1) {
-		#ifndef _RELEASE
-		breakRead = -1;
-		breakWrite = -1;
-		#endif
-		open(aFileName, access, mode, flags);
-	}
-
 	/**
 	 * Open the file specified.
-	 * If there are errors, h is set to -1.
+	 * If there are errors, h is set to FILE_INVALID_HANDLE.
 	 * Use isOpen() to check.
 	 */
 	virtual void open(LPCTSTR aFileName, int access, int mode, int flags=0) {
@@ -437,47 +462,49 @@ class GENERAL_API File : public IOStream {
 		if (mode & TRUNCATE)
 			m |= O_TRUNC;
 
+		if (flags & SYNC)
+			m |= O_DSYNC;
 		#ifndef __APPLE__
 		if (flags & NOBUFFER)
 			m |= O_DIRECT;
 		#endif
-		h = ::open(aFileName, m, S_IRUSR | S_IWUSR | S_IRGRP | S_IROTH);
+		h = ::open(aFileName, m, S_IRUSR | S_IWUSR);
 	}
 
-	bool isOpen() { return h != -1; };
-
 	virtual void close() {
-		if (h != -1) {
+		if (h != FILE_INVALID_HANDLE) {
 			::close(h);
-			h = -1;
+			h = FILE_INVALID_HANDLE;
 		}
 	}
 
 	uint32_t getLastModified() {
+		ASSERT(isOpen());
 		struct stat s;
 		if (::fstat(h, &s) == -1)
 			return 0;
-
 		return (uint32_t)s.st_mtime;
 	}
 
-	virtual size_f_t getSize() const {
+	size_f_t getSize() const override {
+		ASSERT(isOpen());
 		struct stat s;
 		if (::fstat(h, &s) == -1)
 			return SIZE_NA;
-
 		return (size_f_t)s.st_size;
 	}
 
-	virtual size_f_t getPos() const {
-		return (size_f_t) lseek(h, 0, SEEK_CUR);
+	size_f_t getPos() const override {
+		ASSERT(isOpen());
+		return (size_f_t)lseek(h, 0, SEEK_CUR);
 	}
 
-	virtual bool setPos(size_f_t pos) { return lseek(h, (off_t)pos, SEEK_SET) != (off_t)-1; };
-	virtual void setEndPos(size_f_t pos) { lseek(h, (off_t)pos, SEEK_END); };
-	virtual void movePos(size_f_t pos) { lseek(h, (off_t)pos, SEEK_CUR); };
+	bool setPos(size_f_t pos) override { ASSERT(isOpen()); return lseek(h, (off_t)pos, SEEK_SET) != (off_t)-1; }
+	virtual bool setEndPos(size_f_t pos) { ASSERT(isOpen()); return lseek(h, (off_t)pos, SEEK_END) != (off_t)-1; }
+	virtual bool movePos(size_f_t pos) { ASSERT(isOpen()); return lseek(h, (off_t)pos, SEEK_CUR) != (off_t)-1; }
 
-	virtual size_t read(void* buf, size_t len) {
+	size_t read(void* buf, size_t len) override {
+		ASSERT(isOpen());
 		#ifndef _RELEASE
 		if (breakRead != (size_t)(-1)) {
 			if (breakRead <= len) {
@@ -494,7 +521,8 @@ class GENERAL_API File : public IOStream {
 		return (size_t)x;
 	}
 
-	virtual size_t write(const void* buf, size_t len) {
+	size_t write(const void* buf, size_t len) override {
+		ASSERT(isOpen());
 		#ifndef _RELEASE
 		if (breakWrite != (size_t)(-1)) {
 			if (breakWrite <= len) {
@@ -514,14 +542,17 @@ class GENERAL_API File : public IOStream {
 	}
 
 	virtual bool setEOF() {
+		ASSERT(isOpen());
 		return (ftruncate(h, (off_t)getPos()) != -1);
 	}
 	virtual bool setSize(size_f_t newSize) {
+		ASSERT(isOpen());
 		return (ftruncate(h, (off_t)newSize) != -1);
 	}
 
-	virtual size_t flush() {
-		return fsync(h);
+	size_t flush() override {
+		ASSERT(isOpen());
+		return fdatasync(h);
 	}
 
 	static void deleteFile(LPCTSTR aFileName) { ::remove(aFileName); }
@@ -538,10 +569,10 @@ class GENERAL_API File : public IOStream {
 	}
 
 	static size_f_t getSize(LPCTSTR aFileName) {
-		struct stat s;
-		if (stat(aFileName, &s) == -1)
+		struct stat buf;
+		if (stat(aFileName, &buf) != 0)
 			return SIZE_NA;
-		return s.st_size;
+		return buf.st_size;
 	}
 
 #endif // _MSC_VER
@@ -576,6 +607,38 @@ class GENERAL_API File : public IOStream {
 		return S_ISREG(buf.st_mode) || S_ISLNK(buf.st_mode) || S_ISSOCK(buf.st_mode) || S_ISFIFO(buf.st_mode);
 	}
 
+	// time the file was originally created
+	static time_t getCreated(LPCTSTR path) {
+		struct stat buf;
+		if (stat(path, &buf) != 0) return 0;
+		return buf.st_ctime;
+	}
+	// time the file was last modified
+	static time_t getModified(LPCTSTR path) {
+		struct stat buf;
+		if (stat(path, &buf) != 0) return 0;
+		return buf.st_mtime;
+	}
+	// time the file was accessed
+	static time_t getAccessed(LPCTSTR path) {
+		struct stat buf;
+		if (stat(path, &buf) != 0) return 0;
+		return buf.st_atime;
+	}
+
+	// set the current folder
+	static bool setCurrentFolder(LPCTSTR path) {
+		if (!isFolder(path))
+			return false;
+		#ifdef _MSC_VER
+		// Windows implementation - this returns non-zero for success
+		return (SetCurrentDirectory(path) != 0);
+		#else
+		// Unix implementation - this returns zero for success
+		return (chdir(path) == 0);
+		#endif
+	}
+
 	template <class VECTOR>
 	inline size_t write(const VECTOR& arr) {
 		const typename VECTOR::IDX nSize(arr.GetSize());
@@ -593,12 +656,10 @@ class GENERAL_API File : public IOStream {
 		return nBytes;
 	}
 
-	virtual ~File() {
-		File::close();
-	}
-
-	static LPCSTR getClassType() { return "File"; }
-	virtual LPCSTR getClassName() const { return File::getClassType(); }
+	enum { LAYER_ID_IN=3 };
+	InputStream* getInputStream(int typ=InputStream::LAYER_ID_IN) override { return (typ == LAYER_ID_IN ? static_cast<InputStream*>(this) : IOStream::getInputStream(typ)); }
+	enum { LAYER_ID_OUT=3 };
+	OutputStream* getOutputStream(int typ=OutputStream::LAYER_ID_OUT) override { return (typ == LAYER_ID_OUT ? static_cast<OutputStream*>(this) : IOStream::getOutputStream(typ)); }
 
 protected:
 	#ifdef _MSC_VER
diff --git a/libs/Common/Filters.h b/libs/Common/Filters.h
index e84f3547c..ae3d385a6 100644
--- a/libs/Common/Filters.h
+++ b/libs/Common/Filters.h
@@ -21,76 +21,82 @@ namespace SEACAVE {
 
 // S T R U C T S ///////////////////////////////////////////////////
 
-#define LAYER_MASK	1
-
-template<bool managed>
-class MaskInputStream : public LayerInputStream<managed> {
+template<bool managed=true>
+class BufferedInputStream : public LayerInputStream<managed> {
 public:
-	MaskInputStream(InputStream* aStream, size_f_t nPos, size_f_t nSize) : LayerInputStream<managed>(aStream), startPos(nPos), size(nSize), pos(0) { }
-	virtual ~MaskInputStream() { }
+	typedef LayerInputStream<managed> Base;
 
-	size_t read(void* wbuf, size_t len) {
-		if (pos >= size)
-			return 0;
-		if (!this->s->setPos(startPos + pos))
-			return STREAM_ERROR;
-		if (pos+(size_f_t)len > size)
-			len = (size_t)(size - pos);
-		const size_t r = this->s->read(wbuf, len);
-		if (r == STREAM_ERROR)
-			return STREAM_ERROR;
-		pos += r;
-		return r;
+	BufferedInputStream(InputStream* aStream, size_t aBufSize)
+		: Base(aStream), buf(new uint8_t[aBufSize]), bufSize(aBufSize), cache(0), pos(0) { ASSERT(aBufSize > 0); }
+	virtual ~BufferedInputStream() {
+		delete[] buf;
 	}
 
-	size_f_t	getSize() const {
-		return size;
+	size_t		read(void* wbuf, size_t len) override {
+		uint8_t* b = (uint8_t*)wbuf;
+		const size_t l2 = len;
+		do {
+			ASSERT(pos <= cache);
+			if (pos == cache) {
+				if (len >= bufSize) {
+					const size_t r = Base::read(b, len);
+					if (r == STREAM_ERROR)
+						return STREAM_ERROR;
+					return l2 - len + r;
+				}
+				pos = 0;
+				switch (cache = Base::read(buf, bufSize)) {
+					case 0:
+						return l2 - len;
+					case STREAM_ERROR:
+						return STREAM_ERROR;
+				}
+			}
+			const size_t n = MINF(cache - pos, len);
+			memcpy(b, buf + pos, n);
+			b += n;
+			pos += n;
+			len -= n;
+		} while (len > 0);
+		return l2;
 	}
 
-	bool		setPos(size_f_t wpos) {
-		if (wpos > size)
-			pos = size;
-		else
-			pos = wpos;
-		return true;
+	bool		setPos(size_f_t wpos) override {
+		pos = cache = 0;
+		return Base::setPos(wpos);
 	}
 
-	size_f_t	getPos() const {
-		return pos;
+	size_f_t	getPos() const override {
+		const size_f_t r = Base::getPos();
+		if (r == SIZE_NA)
+			return SIZE_NA;
+		return r-(cache-pos);
 	}
 
-	InputStream* getInputStream(int typ) { return (typ == LAYER_MASK ? this : this->s->getInputStream(typ)); }
+	enum { LAYER_ID_IN=1 };
+	InputStream* getInputStream(int typ=InputStream::LAYER_ID_IN) override { return (typ == LAYER_ID_IN ? static_cast<InputStream*>(this) : Base::getInputStream(typ)); }
 
 private:
-	const size_f_t size;
-	const size_f_t startPos;
-	size_f_t pos;
+	uint8_t* const buf;
+	const size_t bufSize;
+	size_t cache;
+	size_t pos;
 };
 
 
-#define LAYER_BUFFER	2
-
-template<bool managed>
+template<bool managed=true>
 class BufferedOutputStream : public LayerOutputStream<managed> {
 public:
-	BufferedOutputStream(OutputStream* aStream, size_t aBufSize) : LayerOutputStream<managed>(aStream), buf(new uint8_t[aBufSize]), bufSize(aBufSize), pos(0) { }
+	typedef LayerOutputStream<managed> Base;
+
+	BufferedOutputStream(OutputStream* aStream, size_t aBufSize)
+		: Base(aStream), buf(new uint8_t[aBufSize]), bufSize(aBufSize), pos(0) { }
 	virtual ~BufferedOutputStream() {
 		flush();
 		delete[] buf;
 	}
 
-	size_t flush() {
-		size_t ret = 0;
-		if (pos > 0) {
-			ret = this->s->write(buf, pos);
-			pos = 0;
-			if (ret == STREAM_ERROR)
-				return STREAM_ERROR;
-		}
-		return ret + this->s->flush();
-	}
-
-	size_t write(const void* wbuf, size_t len) {
+	size_t		write(const void* wbuf, size_t len) override {
 		if (len < bufSize - pos) {
 			memcpy(buf + pos, (const uint8_t*)wbuf, len);
 			pos += len;
@@ -100,11 +106,11 @@ class BufferedOutputStream : public LayerOutputStream<managed> {
 		const size_t l2 = len;
 		do {
 			if (pos == bufSize) {
-				if (this->s->write(buf, bufSize) == STREAM_ERROR)
+				if (Base::write(buf, bufSize) == STREAM_ERROR)
 					return STREAM_ERROR;
 				pos = 0;
 				if (len < bufSize) {
-					if (this->s->write(b, len) == STREAM_ERROR)
+					if (Base::write(b, len) == STREAM_ERROR)
 						return STREAM_ERROR;
 					break;
 				}
@@ -118,128 +124,134 @@ class BufferedOutputStream : public LayerOutputStream<managed> {
 		return l2;
 	}
 
-	OutputStream* getOutputStream(int typ) { return (typ == LAYER_BUFFER ? this : this->s->getOutputStream(typ)); }
+	size_f_t	getSize() const override {
+		const size_f_t r = Base::getSize();
+		if (r == SIZE_NA)
+			return SIZE_NA;
+		return r + pos;
+	}
+
+	bool		setPos(size_f_t wpos) override {
+		if (pos > 0) {
+			const size_t ret = Base::write(buf, pos);
+			pos = 0;
+			if (ret == STREAM_ERROR)
+				return false;
+		}
+		return Base::setPos(wpos);
+	}
+
+	size_f_t	getPos() const override {
+		const size_f_t r = Base::getPos();
+		if (r == SIZE_NA)
+			return SIZE_NA;
+		return r + pos;
+	}
+
+	size_t		flush() override {
+		size_t ret = 0;
+		if (pos > 0) {
+			ret = Base::write(buf, pos);
+			pos = 0;
+			if (ret == STREAM_ERROR)
+				return STREAM_ERROR;
+		}
+		return ret + Base::flush();
+	}
+
+	enum { LAYER_ID_OUT=1 };
+	OutputStream* getOutputStream(int typ=OutputStream::LAYER_ID_OUT) override { return (typ == LAYER_ID_OUT ? static_cast<OutputStream*>(this) : Base::getOutputStream(typ)); }
 
 private:
 	uint8_t* const buf;
 	const size_t bufSize;
 	size_t pos;
 };
+/*----------------------------------------------------------------*/
 
 
-template<bool managed>
-class BufferedInputStream : public LayerInputStream<managed> {
+
+template<class Filter, bool managed=true>
+class FilteredInputStream : public LayerInputStream<managed> {
 public:
-	BufferedInputStream(InputStream* aStream, size_t aBufSize) : LayerInputStream<managed>(aStream), buf(new uint8_t[aBufSize]), bufSize(aBufSize), maxCache(0), caching(0), pos(0) { }
-	virtual ~BufferedInputStream() {
+	typedef LayerInputStream<managed> Base;
+
+	FilteredInputStream(InputStream* pFile, size_t nFilteredSize, size_t nBufSize, void* pData)
+		: Base(pFile), buf(new uint8_t[nBufSize]), filteredSize(nFilteredSize), bufSize(nBufSize), valid(0), pos(0), filter(pData), more(true) {}
+	virtual ~FilteredInputStream() {
 		delete[] buf;
 	}
 
-	size_t read(void* wbuf, size_t len) {
-		uint8_t* b = (uint8_t*)wbuf;
+	/**
+	* Read data through filter, keep calling until len returns 0.
+	* @param rbuf Data buffer
+	* @param len Buffer size on entry, bytes actually read on exit
+	* @return Length of data in buffer
+	*/
+	size_t		read(void* rbuf, size_t len) override {
+		uint8_t* rb = (uint8_t*)rbuf;
+
 		const size_t l2 = len;
-		do {
-			if (caching < maxCache) {
-				size_t sliceLen = bufSize-caching;
-				if (sliceLen > FILE_READ_MINBUF_SIZE+(FILE_READ_MINBUF_SIZE/2))
-					sliceLen = FILE_READ_MINBUF_SIZE;
-				const size_t r = this->s->read(buf+caching, sliceLen);
-				if (r == STREAM_ERROR)
+		while (more && len) {
+			if (pos == valid) {
+				valid = Base::read(buf, bufSize);
+				if (valid == STREAM_ERROR)
 					return STREAM_ERROR;
-				caching += r;
-				if (r != sliceLen) {
-					maxCache = caching;
-				}
-			}
-			else if (pos == maxCache) {
-				if (len >= bufSize) {
-					const size_t r = this->s->read(b, len);
-					if (r == STREAM_ERROR)
-						return STREAM_ERROR;
-					return l2 - len + r;
-				}
 				pos = 0;
-				switch (caching = this->s->read(buf, FILE_READ_MINBUF_SIZE)) {
-					case 0:
-						maxCache = 0;
-						return l2 - len;
-					case FILE_READ_MINBUF_SIZE:
-						maxCache = bufSize;
-						break;
-					case STREAM_ERROR:
-						return STREAM_ERROR;
-					default: // < FILE_READ_MINBUF_SIZE
-						maxCache = caching;
-				}
 			}
-			const size_t n = MINF(caching - pos, len);
-			memcpy(b, buf + pos, n);
-			b += n;
-			pos += n;
+			size_t m = valid - pos;
+			size_t n = len;
+			more = filter(buf + pos, m, rb, n);
+			pos += m;
+			rb += n;
 			len -= n;
-		} while (len > 0);
-		return l2;
+		}
+		return l2-len;
 	}
 
-	bool		setPos(size_f_t wpos) {
-		pos = caching = maxCache = 0;
-		return this->s->setPos(wpos);
+	size_f_t	getSize() const override {
+		return filteredSize;
+	}
+
+	bool		setPos(size_f_t wpos) override {
+		valid = pos = 0;
+		return Base::setPos(wpos);
 	}
 
-	size_f_t	getPos() const {
-		const size_f_t r = this->s->getPos();
+	size_f_t	getPos() const override {
+		const size_f_t r = Base::getPos();
 		if (r == SIZE_NA)
 			return SIZE_NA;
-		return r-(caching-pos);
+		return r-(valid-pos);
 	}
 
-	InputStream* getInputStream(int typ) { return (typ == LAYER_BUFFER ? this : this->s->getInputStream(typ)); }
+	enum { LAYER_ID_IN=2 };
+	InputStream* getInputStream(int typ=InputStream::LAYER_ID_IN) override { return (typ == LAYER_ID_IN ? static_cast<InputStream*>(this) : Base::getInputStream(typ)); }
 
 private:
 	uint8_t* const buf;
+	const size_t filteredSize;
 	const size_t bufSize;
-	size_t maxCache;
-	size_t caching;
+	size_t valid;
 	size_t pos;
+	Filter filter;
+	bool more;
 };
 
 
-#define LAYER_ZIP	3
-
-template<class Filter, bool managed>
+template<class Filter, bool managed=true>
 class FilteredOutputStream : public LayerOutputStream<managed> {
 public:
-	using OutputStream::write;
+	typedef LayerOutputStream<managed> Base;
 
-	FilteredOutputStream(OutputStream* aFile, size_t aBufSize, void* pData) : LayerOutputStream<managed>(aFile), buf(new uint8_t[aBufSize]), bufSize(aBufSize), filter(pData), flushed(false) {}
+	FilteredOutputStream(OutputStream* aFile, size_t aBufSize, void* pData)
+		: Base(aFile), buf(new uint8_t[aBufSize]), bufSize(aBufSize), filter(pData), flushed(false) {}
 	virtual ~FilteredOutputStream() {
+		flush();
 		delete[] buf;
 	}
 
-	size_t flush() {
-		if (flushed)
-			return this->s->flush();
-
-		flushed = true;
-		size_t written = 0;
-
-		for (;;) {
-			size_t n = bufSize;
-			size_t zero = 0;
-			bool more = filter(NULL, zero, buf, n);
-
-			written += this->s->write(buf, n);
-
-			if (!more)
-				break;
-		}
-		const size_t r = this->s->flush();
-		if (r == STREAM_ERROR)
-			return STREAM_ERROR;
-		return written + r;
-	}
-
-	size_t write(const void* wbuf, size_t len) {
+	size_t		write(const void* wbuf, size_t len) override {
 		if (flushed)
 			return STREAM_ERROR;
 
@@ -253,7 +265,7 @@ class FilteredOutputStream : public LayerOutputStream<managed> {
 			wb += m;
 			len -= m;
 
-			const size_t r = this->s->write(buf, n);
+			const size_t r = Base::write(buf, n);
 			if (r == STREAM_ERROR)
 				return STREAM_ERROR;
 			written += r;
@@ -268,92 +280,41 @@ class FilteredOutputStream : public LayerOutputStream<managed> {
 		return written;
 	}
 
-	OutputStream* getOutputStream(int typ) { return (typ == LAYER_ZIP ? this : this->s->getOutputStream(typ)); }
-
-private:
-	uint8_t* const buf;
-	const size_t bufSize;
-	Filter filter;
-	bool flushed;
-};
-
-template<class Filter, bool managed>
-class FilteredInputStream : public LayerInputStream<managed> {
-public:
-	FilteredInputStream(InputStream* pFile, size_t nFilteredSize, size_t nBufSize, void* pData) : LayerInputStream<managed>(pFile), buf(new uint8_t[nBufSize]), filteredSize(nFilteredSize), bufSize(nBufSize), valid(0), pos(0), filter(pData), more(true) {}
-	virtual ~FilteredInputStream() {
-		delete[] buf;
-	}
+	size_t		flush() override {
+		if (flushed)
+			return Base::flush();
 
-	/**
-	* Read data through filter, keep calling until len returns 0.
-	* @param rbuf Data buffer
-	* @param len Buffer size on entry, bytes actually read on exit
-	* @return Length of data in buffer
-	*/
-	size_t read(void* rbuf, size_t len) {
-		uint8_t* rb = (uint8_t*)rbuf;
+		flushed = true;
+		size_t written = 0;
 
-		const size_t l2 = len;
-		while (more && len) {
-			#if ZIP_MODE == BZIP2_MODE
-			size_t n = len;
-			filter.flush(rb, n);
-			rb += n;
-			len -= n;
-			#endif
+		while (true) {
+			size_t n = bufSize;
+			size_t zero = 0;
+			bool more = filter(NULL, zero, buf, n);
 
-			if (pos == valid) {
-				valid = this->s->read(buf, bufSize);
-				if (valid == STREAM_ERROR)
-					return STREAM_ERROR;
-				pos = 0;
-			}
+			written += Base::write(buf, n);
 
-			size_t m = valid - pos;
-			#if ZIP_MODE == BZIP2_MODE
-			n = len;
-			#else
-			size_t n = len;
-			#endif
-			more = filter(buf + pos, m, rb, n);
-			pos += m;
-			rb += n;
-			len -= n;
+			if (!more)
+				break;
 		}
-		return l2-len;
-	}
-
-	size_f_t	getSize() const {
-		return filteredSize;
-	}
-
-	bool		setPos(size_f_t wpos) {
-		valid = pos = 0;
-		return this->s->setPos(wpos);
-	}
-
-	size_f_t	getPos() const {
-		const size_f_t r = this->s->getPos();
-		if (r == SIZE_NA)
-			return SIZE_NA;
-		return r-(valid-pos);
+		const size_t r = Base::flush();
+		if (r == STREAM_ERROR)
+			return STREAM_ERROR;
+		return written + r;
 	}
 
-	InputStream* getInputStream(int typ) { return (typ == LAYER_ZIP ? this : this->s->getInputStream(typ)); }
+	enum { LAYER_ID_OUT=2 };
+	OutputStream* getOutputStream(int typ=OutputStream::LAYER_ID_OUT) override { return (typ == LAYER_ID_OUT ? static_cast<OutputStream*>(this) : Base::getOutputStream(typ)); }
 
 private:
 	uint8_t* const buf;
-	const size_t filteredSize;
 	const size_t bufSize;
-	size_t valid;
-	size_t pos;
 	Filter filter;
-	bool more;
+	bool flushed;
 };
+/*----------------------------------------------------------------*/
 
 
-#define LAYER_TOKEN	4
 
 #ifdef _UNICODE
 #define TOKEN_SIZE		2 //in bytes
@@ -362,12 +323,14 @@ class FilteredInputStream : public LayerInputStream<managed> {
 #endif
 #define TOKEN_MAXBUF	(2048*TOKEN_SIZE) //in bytes
 #define TOKEN_MAXIGN	32 //in TCHARs
-template<bool managed>
+
+template<bool managed=true>
 class TokenInputStream : public LayerInputStream<managed> {
 public:
 	typedef LayerInputStream<managed> Base;
 
-	TokenInputStream(InputStream* aStream, TCHAR aToken=_T('\n')) : LayerInputStream<managed>(aStream), pos(TOKEN_MAXBUF), eos(false), token(aToken) { arrIgnore[0] = _T('\0'); }
+	TokenInputStream(InputStream* aStream, TCHAR aToken=_T('\n'))
+		: Base(aStream), pos(TOKEN_MAXBUF), eos(false), token(aToken) { arrIgnore[0] = _T('\0'); }
 	virtual ~TokenInputStream() {
 	}
 
@@ -504,9 +467,9 @@ class TokenInputStream : public LayerInputStream<managed> {
 			return l2-len;
 		}
 		// if end of stream return
-		if (n < len / TOKEN_SIZE) {
+		if (n < len * TOKEN_SIZE) {
 			eos = true;
-			return l2-len;
+			return n / TOKEN_SIZE;
 		}
 		// we reached the end of the buffer, signal it
 		return l2+1;
@@ -546,7 +509,7 @@ class TokenInputStream : public LayerInputStream<managed> {
 		return ret;
 	}
 
-	size_t		read(void* wbuf, size_t len) {
+	size_t		read(void* wbuf, size_t len) override {
 		size_t n = 0;
 		if (pos < TOKEN_MAXBUF) {
 			n = TOKEN_MAXBUF-pos;
@@ -558,20 +521,20 @@ class TokenInputStream : public LayerInputStream<managed> {
 		}
 		if (len == 0)
 			return n;
-		const size_t r = this->s->read((uint8_t*)wbuf+n, len);
+		const size_t r = Base::read((uint8_t*)wbuf+n, len);
 		if (r == STREAM_ERROR)
 			return STREAM_ERROR;
 		return n+r;
 	}
 
-	bool		setPos(size_f_t wpos) {
+	bool		setPos(size_f_t wpos) override {
 		eos = false;
 		pos = TOKEN_MAXBUF;
-		return this->s->setPos(wpos);
+		return Base::setPos(wpos);
 	}
 
-	size_f_t	getPos() const {
-		const size_f_t r = this->s->getPos();
+	size_f_t	getPos() const override {
+		const size_f_t r = Base::getPos();
 		if (r == SIZE_NA)
 			return SIZE_NA;
 		return r-(TOKEN_MAXBUF-pos);
@@ -581,7 +544,8 @@ class TokenInputStream : public LayerInputStream<managed> {
 		return eos;
 	}
 
-	InputStream* getInputStream(int typ) { return (typ == LAYER_TOKEN ? this : this->s->getInputStream(typ)); }
+	enum { LAYER_ID_IN=5 };
+	InputStream* getInputStream(int typ=InputStream::LAYER_ID_IN) override { return (typ == LAYER_ID_IN ? static_cast<InputStream*>(this) : Base::getInputStream(typ)); }
 
 private:
 	uint8_t buf[TOKEN_MAXBUF+TOKEN_SIZE];
@@ -592,6 +556,57 @@ class TokenInputStream : public LayerInputStream<managed> {
 };
 /*----------------------------------------------------------------*/
 
+
+
+template<bool managed=true>
+class MaskInputStream : public LayerInputStream<managed> {
+public:
+	typedef LayerInputStream<managed> Base;
+
+	MaskInputStream(InputStream* aStream, size_f_t nPos, size_f_t nSize)
+		: Base(aStream), startPos(nPos), size(nSize), pos(0) { }
+	virtual ~MaskInputStream() { }
+
+	size_t		read(void* wbuf, size_t len) override {
+		if (pos >= size)
+			return 0;
+		if (!Base::setPos(startPos + pos))
+			return STREAM_ERROR;
+		if (pos+(size_f_t)len > size)
+			len = (size_t)(size - pos);
+		const size_t r = Base::read(wbuf, len);
+		if (r == STREAM_ERROR)
+			return STREAM_ERROR;
+		pos += r;
+		return r;
+	}
+
+	size_f_t	getSize() const override {
+		return size;
+	}
+
+	bool		setPos(size_f_t wpos) override {
+		if (wpos > size)
+			pos = size;
+		else
+			pos = wpos;
+		return true;
+	}
+
+	size_f_t	getPos() const override {
+		return pos;
+	}
+
+	enum { LAYER_ID_IN=6 };
+	InputStream* getInputStream(int typ=InputStream::LAYER_ID_IN) override { return (typ == LAYER_ID_IN ? static_cast<InputStream*>(this) : Base::getInputStream(typ)); }
+
+private:
+	const size_f_t size;
+	const size_f_t startPos;
+	size_f_t pos;
+};
+/*----------------------------------------------------------------*/
+
 } // namespace SEACAVE
 
 #endif // __SEACAVE_FILTERS_H__
diff --git a/libs/Common/List.h b/libs/Common/List.h
index 4e2906381..fbe108dfb 100644
--- a/libs/Common/List.h
+++ b/libs/Common/List.h
@@ -61,11 +61,11 @@
 
 // constructs a cList reference to a given raw data array
 #ifndef CLISTREFRAW
-#define CLISTREFRAW(CLIST, var, arr, sz) uint8_t _ArrData##var[sizeof(CLIST)]; new(_ArrData##var) CLIST(sz, arr); const CLIST& var(*((const CLIST*)_ArrData##var))
+#define CLISTREFRAW(CLIST, var, arr, sz) uint8_t _ArrData##var[sizeof(CLIST)]; new(_ArrData##var) CLIST(sz, const_cast<CLIST::Type*>(arr)); const CLIST& var(*reinterpret_cast<const CLIST*>(_ArrData##var))
 #endif
 // constructs a cList reference to a given std::_vector
 #ifndef CLISTREFVECTOR
-#define CLISTREFVECTOR(CLIST, var, vec) uint8_t _ArrData##var[sizeof(CLIST)]; new(_ArrData##var) CLIST(vec.size(), &vec[0]); const CLIST& var(*((const CLIST*)_ArrData##var))
+#define CLISTREFVECTOR(CLIST, var, vec) uint8_t _ArrData##var[sizeof(CLIST)]; new(_ArrData##var) CLIST(vec.size(), const_cast<CLIST::Type*>(&vec[0])); const CLIST& var(*reinterpret_cast<const CLIST*>(_ArrData##var))
 #endif
 
 #define CLISTDEF0(TYPE) SEACAVE::cList< TYPE, const TYPE&, 0 >
diff --git a/libs/Common/Streams.h b/libs/Common/Streams.h
index b732ea528..3c02237b8 100644
--- a/libs/Common/Streams.h
+++ b/libs/Common/Streams.h
@@ -11,19 +11,14 @@
 
 // I N C L U D E S /////////////////////////////////////////////////
 
+#include "AutoPtr.h"
+
 
 // D E F I N E S ///////////////////////////////////////////////////
 
 #define SIZE_NA					((size_f_t)-1)
 #define STREAM_ERROR			((size_t)-1)
 
-#define FILE_WRITE_MINBUF_SIZE	(128*1024)						// The min size the file write buffer should allocate.
-#define FILE_WRITE_MAXBUF_SIZE	(100*1024*1024)					// The max size the file write buffer should allocate.
-#define FILE_READ_MINBUF_SIZE	(512*1024)						// The min size the file read buffer should allocate.
-#define FILE_READ_MAXBUF_SIZE	(200*1024*1024)					// The max size the file read buffer should allocate.
-
-#define LAYER_BASE				0
-
 
 namespace SEACAVE {
 
@@ -41,6 +36,12 @@ typedef IOStream IOSTREAM;
 class GENERAL_API NOINITVTABLE Stream {
 public:
 	virtual ~Stream() { }
+
+	// Identify stream type
+	virtual InputStream* getInputStream(int) { return NULL; }
+	virtual OutputStream* getOutputStream(int) { return NULL; }
+	virtual IOStream* getIOStream(int, int) { return NULL; }
+
 	// Get the length of the stream.
 	//         SIZE_NA if there were errors.
 	virtual size_f_t	getSize() const = 0;
@@ -51,6 +52,21 @@ class GENERAL_API NOINITVTABLE Stream {
 	virtual size_f_t	getPos() const = 0;
 };
 
+class GENERAL_API NOINITVTABLE InputStream : public Stream {
+public:
+	virtual ~InputStream() { }
+	/**
+	 * Call this function until it returns 0 to get all bytes.
+	 * @return The number of bytes read. len reflects the number of bytes
+	 *		   actually read from the stream source in this call.
+	 *         STREAM_ERROR if there were errors.
+	 */
+	virtual size_t	read(void* buf, size_t len) = 0;
+
+	enum { LAYER_ID_IN=0 };
+	InputStream* getInputStream(int typ=LAYER_ID_IN) override { return (typ == LAYER_ID_IN ? this : (InputStream*)NULL); }
+};
+
 class GENERAL_API NOINITVTABLE OutputStream : public Stream {
 public:
 	virtual ~OutputStream() { }
@@ -70,12 +86,10 @@ class GENERAL_API NOINITVTABLE OutputStream : public Stream {
 		if (len > 2048) {
 			const size_t count((size_t)_vsctprintf(szFormat, args));
 			ASSERT(count != (size_t)-1);
-			TCHAR* const buffer(new TCHAR[count]);
-			_vsntprintf(buffer, count, szFormat, args);
+			CAutoPtrArr<TCHAR> szBufferDyn(new TCHAR[count+1]);
+			_vsntprintf(szBufferDyn, count+1, szFormat, args);
 			va_end(args);
-			const size_t size(write(buffer, count));
-			delete[] buffer;
-			return size;
+			return write(szBufferDyn, count);
 		}
 		va_end(args);
 		return write(szBuffer, len);
@@ -100,75 +114,128 @@ class GENERAL_API NOINITVTABLE OutputStream : public Stream {
 	 */
 	virtual size_t	flush() = 0;
 
-	virtual OutputStream* getOutputStream(int typ) { return (typ == LAYER_BASE ? this : NULL); }
+	enum { LAYER_ID_OUT=0 };
+	OutputStream* getOutputStream(int typ=LAYER_ID_OUT) override { return (typ == LAYER_ID_OUT ? this : (OutputStream*)NULL); }
 };
 
-class GENERAL_API NOINITVTABLE InputStream : public Stream {
+class GENERAL_API NOINITVTABLE IOStream : public InputStream, public OutputStream {
 public:
-	virtual ~InputStream() { }
-	/**
-	 * Call this function until it returns 0 to get all bytes.
-	 * @return The number of bytes read. len reflects the number of bytes
-	 *		   actually read from the stream source in this call.
-	 *         STREAM_ERROR if there were errors.
-	 */
-	virtual size_t	read(void* buf, size_t len) = 0;
-
-	virtual InputStream* getInputStream(int typ) { return (typ == LAYER_BASE ? this : NULL); }
+	InputStream* getInputStream(int typ=LAYER_ID_IN) override { return InputStream::getInputStream(typ); }
+	OutputStream* getOutputStream(int typ=LAYER_ID_OUT) override { return OutputStream::getOutputStream(typ); }
+	IOStream* getIOStream(int typIn=LAYER_ID_IN, int typOut=LAYER_ID_OUT) override {
+		return ((InputStream*)this)->getInputStream(typIn) != NULL &&
+			((OutputStream*)this)->getOutputStream(typOut) != NULL ? this : (IOStream*)NULL;
+	}
 };
+/*----------------------------------------------------------------*/
 
-class GENERAL_API NOINITVTABLE IOStream : public InputStream, public OutputStream {
+
+
+template<bool managed=true>
+class LayerInputStream : public InputStream {
 public:
-	static LPCSTR getClassType() { return "IOStream"; }
-	virtual LPCSTR getClassName() const { return IOStream::getClassType(); }
+	LayerInputStream(InputStream* aStream) : s(aStream) { ASSERT(s != NULL); }
+	virtual ~LayerInputStream() noexcept { if (managed) delete s; }
+
+	InputStream* getInputStream(int typ=InputStream::LAYER_ID_IN) override { return s->getInputStream(typ); }
+
+	size_t		read(void* wbuf, size_t len) override {
+		return s->read(wbuf, len);
+	}
+
+	size_f_t	getSize() const override {
+		return s->getSize();
+	}
+
+	bool		setPos(size_f_t wpos) override {
+		return s->setPos(wpos);
+	}
+
+	size_f_t	getPos() const override {
+		return s->getPos();
+	}
+
+protected:
+	InputStream* const s;
 };
 
-template<bool managed>
+template<bool managed=true>
 class LayerOutputStream : public OutputStream {
 public:
 	LayerOutputStream(OutputStream* aStream) : s(aStream) {}
-	virtual ~LayerOutputStream() { if (managed) delete s; }
+	virtual ~LayerOutputStream() noexcept { if (managed) delete s; }
 
-	OutputStream* getOutputStream(int typ) { return s->getOutputStream(typ); }
+	OutputStream* getOutputStream(int typ=OutputStream::LAYER_ID_OUT) override { return s->getOutputStream(typ); }
 
-	size_f_t	getSize() const {
+	size_t		write(const void* buf, size_t len) override {
+		return s->write(buf, len);
+	}
+
+	size_t		flush() override {
+		return s->flush();
+	}
+
+	size_f_t	getSize() const override {
 		return s->getSize();
 	}
 
-	bool		setPos(size_f_t wpos) {
+	bool		setPos(size_f_t wpos) override {
 		return s->setPos(wpos);
 	}
 
-	size_f_t	getPos() const {
+	size_f_t	getPos() const override {
 		return s->getPos();
 	}
 
 protected:
 	OutputStream* const s;
 };
+/*----------------------------------------------------------------*/
 
-template<bool managed>
-class LayerInputStream : public InputStream {
+
+
+template<bool managed=true>
+class LayerIOStream : public IOStream {
 public:
-	LayerInputStream(InputStream* aStream) : s(aStream) { ASSERT(s != NULL); }
-	virtual ~LayerInputStream() { if (managed) delete s; }
+	LayerIOStream(InputStream* aStream) : s(aStream), sIn(aStream), sOut(NULL) { ASSERT(aStream != NULL); }
+	LayerIOStream(OutputStream* aStream) : s(aStream), sIn(NULL), sOut(aStream) { ASSERT(aStream != NULL); }
+	LayerIOStream(InputStream* streamIn, OutputStream* streamOut) : s(NULL), sIn(streamIn), sOut(streamOut) { ASSERT(sIn != NULL || sOut != NULL); }
+	virtual ~LayerIOStream() noexcept { if (managed) { delete sIn; delete sOut; } }
 
-	InputStream* getInputStream(int typ) { return s->getInputStream(typ); }
+	InputStream* getInputStream(int typ=InputStream::LAYER_ID_IN) override { return (sIn ? sIn->getInputStream(typ) : NULL); }
+	OutputStream* getOutputStream(int typ=OutputStream::LAYER_ID_OUT) override { return (sOut ? sOut->getOutputStream(typ) : NULL); }
 
-	size_f_t	getSize() const {
+	size_f_t	getSize() const override {
 		return s->getSize();
 	}
 
-	bool		setPos(size_f_t wpos) {
+	bool		setPos(size_f_t wpos) override {
 		return s->setPos(wpos);
 	}
 
-	size_f_t	getPos() const {
+	size_f_t	getPos() const override {
 		return s->getPos();
 	}
 
+	size_t		read(void* wbuf, size_t len) override {
+		return sIn->read(wbuf, len);
+	}
+
+	size_t		write(const void* buf, size_t len) override {
+		return sOut->write(buf, len);
+	}
+
+	size_t		flush() override {
+		return sOut->flush();
+	}
+
+	operator InputStream* () const { return sIn; }
+	operator OutputStream* () const { return sOut; }
+
 protected:
-	InputStream* const s;
+	Stream* const s;
+	InputStream* const sIn;
+	OutputStream* const sOut;
 };
 /*----------------------------------------------------------------*/
 
diff --git a/libs/IO/PLY.cpp b/libs/IO/PLY.cpp
index a1b4d94a6..4dbfa5e11 100644
--- a/libs/IO/PLY.cpp
+++ b/libs/IO/PLY.cpp
@@ -1,7 +1,7 @@
 ////////////////////////////////////////////////////////////////////
 // PLY.cpp
 //
-// Copyright 2007 cDc@seacave
+// Copyright 2023 cDc@seacave
 // Distributed under the Boost Software License, Version 1.0
 // (See http://www.boost.org/LICENSE_1_0.txt)
 
@@ -65,9 +65,8 @@ Init PLY data as empty.
 
 PLY::PLY()
 	:
-	mfp(NULL), f(NULL), ostream(NULL),
 	which_elem(NULL), other_elems(NULL), current_rules(NULL), rule_list(NULL),
-	write_type_names(type_names)
+	istream(NULL), mfp(NULL), write_type_names(type_names)
 {
 }
 
@@ -83,17 +82,28 @@ Free the memory used by a PLY file.
 
 void PLY::release()
 {
-	flush();
 	if (mfp) {
 		delete mfp;
 		mfp = NULL;
+		ostream = NULL;
+	} else
+	if (istream) {
+		if (static_cast<Stream*>(istream)->getInputStream(ISTREAM::LAYER_ID_IN)) {
+			IOSTREAM* const iostream(static_cast<Stream*>(istream)->getIOStream(ISTREAM::LAYER_ID_IN, OSTREAM::LAYER_ID_OUT));
+			if (iostream)
+				delete iostream;
+			else
+				delete istream;
+		} else {
+			ASSERT(static_cast<Stream*>(ostream)->getOutputStream(OSTREAM::LAYER_ID_OUT));
+			IOSTREAM* const iostream(static_cast<Stream*>(ostream)->getIOStream(ISTREAM::LAYER_ID_IN, OSTREAM::LAYER_ID_OUT));
+			if (iostream)
+				delete iostream;
+			else
+				delete ostream;
+		}
+		istream = NULL;
 	}
-	f = NULL;
-	if (!filename.empty()) {
-		filename.clear();
-		delete ostream;
-	}
-	ostream = NULL;
 	if (!elems.empty()) {
 		for (size_t i=0; i<elems.size(); ++i) {
 			PlyElement* elem = elems[i];
@@ -107,13 +117,13 @@ void PLY::release()
 		}
 		elems.clear();
 	}
-	if (other_elems != NULL) {
+	if (other_elems) {
 		for (size_t i=0; i<other_elems->other_list.size(); ++i) {
 			OtherElem& elem = other_elems->other_list[i];
 			delete[] elem.other_data;
 			delete elem.other_props;
 		}
-		delete other_elems;
+		delete other_elems; other_elems = NULL;
 	}
 	comments.clear();
 	obj_info.clear();
@@ -131,46 +141,61 @@ void PLY::release()
 Given a file pointer, get ready to write PLY data to the file.
 
 Entry:
-f          - the given file pointer
+fp         - the given file pointer
 nelems     - number of elements in object
 elem_names - list of element names
 file_type  - file type, either ascii or binary
+memBufferSize - memory file initial size (useful if the ply size is unknown)
 
 Exit:
 returns a pointer to a PlyFile, used to refer to this file, or NULL if error
 ******************************************************************************/
 
-bool PLY::write(LPCSTR filename, int nelems, LPCSTR* elem_names, int file_type, size_t bufferSize)
+bool PLY::write(LPCSTR _filename, int nelems, LPCSTR* elem_names, int _file_type, size_t memBufferSize)
 {
-	this->filename = filename;
-	return write(ostream, nelems, elem_names, file_type, bufferSize);
+	filename = _filename;
+	if (memBufferSize == 0) {
+		// create output file now
+		File* const pf(new File(filename.c_str(), File::WRITE, File::CREATE | File::TRUNCATE));
+		if (!pf->isOpen())
+			return false;
+		return write(new BufferedOutputStream<true>(pf, 64*1024), nelems, elem_names, _file_type, memBufferSize);
+	}
+	return write((OSTREAM*)NULL, nelems, elem_names, _file_type, memBufferSize);
 }
 
-bool PLY::write(OSTREAM* f, int nelems, LPCSTR* elem_names, int file_type, size_t bufferSize)
+bool PLY::write(OSTREAM* fp, int nelems, LPCSTR* elem_names, int _file_type, size_t memBufferSize)
 {
-	/* create a record for this object */
-	this->file_type = file_type;
-	this->version = 1.0;
-	this->ostream = f;
-	this->other_elems = NULL;
+	// create a record for this object 
+	file_type = _file_type;
+	version = 1.0;
+	other_elems = NULL;
 
-	/* init buffer if requested */
-	if (bufferSize > 0) {
-		mfp = new MemFile(bufferSize);
-		this->f = mfp;
+	if (memBufferSize > 0) {
+		// write ply into a memory buffer, and save it to disk at the end;
+		// useful in case the number of ply elements is not know from the start
+		// in order to avoid an additional file copy operation
+		ASSERT(fp == NULL && !filename.empty());
+		mfp = new MemFile(memBufferSize);
+		ostream = mfp;
 	} else {
-		this->f = f;
+		// directly write ply data to disk;
+		// in case the number of ply elements is unknown from the start,
+		// they are written into a temporary file and the header is written
+		// at the end using a file copy operation
+		ASSERT(fp != NULL);
+		ostream = fp;
+		mfp = NULL;
 	}
 
-	/* tuck aside the names of the elements */
-	this->elems.resize(nelems);
+	// tuck aside the names of the elements 
+	elems.resize(nelems);
 	for (int i = 0; i < nelems; ++i) {
 		PlyElement* elem = new PlyElement;
 		elem->name = elem_names[i];
 		elem->num = 0;
-		this->elems[i] = elem;
+		elems[i] = elem;
 	}
-
 	return true;
 }
 
@@ -187,19 +212,19 @@ prop_list - list of properties
 ******************************************************************************/
 
 void PLY::element_layout(
-	const char *elem_name,
+	const char* elem_name,
 	int nelems,
 	int nprops,
-	PlyProperty *prop_list
+	PlyProperty* prop_list
 	)
 {
-	/* look for appropriate element */
+	// look for appropriate element 
 	PlyElement *elem = find_element(elem_name);
 	if (elem == NULL)
 		abort_ply("error: element_layout: can't find element '%s'", elem_name);
 	elem->num = nelems;
 
-	/* copy the list of properties */
+	// copy the list of properties 
 	elem->props.resize(nprops);
 	elem->store_prop.resize(nprops);
 
@@ -220,21 +245,21 @@ elem_name - name of element that information is being specified about
 prop      - the new property
 ******************************************************************************/
 
-void PLY::describe_property(const char *elem_name, const PlyProperty& prop)
+void PLY::describe_property(const char* elem_name, const PlyProperty& prop)
 {
-	/* look for appropriate element */
+	// look for appropriate element 
 	put_element_setup(elem_name);
 
-	/* describe property */
+	// describe property 
 	describe_property(prop);
 }
 
-void PLY::describe_property(const char *elem_name, int nprops, const PlyProperty* props)
+void PLY::describe_property(const char* elem_name, int nprops, const PlyProperty* props)
 {
-	/* look for appropriate element */
+	// look for appropriate element 
 	put_element_setup(elem_name);
 
-	/* describe properties */
+	// describe properties 
 	for (int i=0; i<nprops; ++i)
 		describe_property(props[i]);
 }
@@ -248,9 +273,9 @@ elem_name - name of element that information is being specified about
 nelems    - number of elements of this type to be written
 ******************************************************************************/
 
-void PLY::element_count(const char *elem_name, int nelems)
+void PLY::element_count(const char* elem_name, int nelems)
 {
-	/* look for appropriate element */
+	// look for appropriate element 
 	PlyElement *elem = find_element(elem_name);
 	if (elem == NULL)
 		abort_ply("error: element_count: can't find element '%s'", elem_name);
@@ -262,22 +287,36 @@ void PLY::element_count(const char *elem_name, int nelems)
 Signal that we've described everything a PLY file's header and that the
 header should be written to the file.
 
-If buffered mode used, call this function at the end, when everything
-was written already.
+This function can be also called at the end, in which case the file is close,
+the header is written in a new file and the already written content is copied
+from the temporary file.
 ******************************************************************************/
 
 bool PLY::header_complete()
 {
-	if (!filename.empty()) {
-		ostream = new File(filename.c_str(), File::WRITE, File::CREATE | File::TRUNCATE);
-		if (!((File*)ostream)->isOpen())
+	std::string filenameTmp;
+	if (mfp != NULL) {
+		// ply data was written into a memory buffer,
+		// now write the header to disk and append the data in memory
+		ostream = NULL;
+	} else if (!filename.empty() && ostream->getPos() > 0) {
+		// close this file, rename it, and open a new file to write the header 
+		delete ostream; ostream = NULL;
+		filenameTmp = filename+".tmp";
+		if (!File::renameFile(filename.c_str(), filenameTmp.c_str()))
 			return false;
-		ostream = new BufferedOutputStream<true>(ostream, FILE_WRITE_MINBUF_SIZE);
+	}
+	if (ostream == NULL) {
+		File* const pf(new File(filename.c_str(), File::WRITE, File::CREATE | File::TRUNCATE));
+		if (!pf->isOpen())
+			return false;
+		ostream = new BufferedOutputStream<true>(pf, 64*1024);
 	}
 
+	// write header 
 	ostream->print("ply\n");
 
-	switch (this->file_type) {
+	switch (file_type) {
 	case ASCII:
 		ostream->print("format ascii 1.0\n");
 		break;
@@ -288,39 +327,38 @@ bool PLY::header_complete()
 		ostream->print("format binary_little_endian 1.0\n");
 		break;
 	default:
-		abort_ply("error: ply_header_complete: bad file type = %d\n", this->file_type);
+		abort_ply("error: ply_header_complete: bad file type = %d\n", file_type);
 	}
 
-	/* write out the comments */
-	for (size_t i = 0; i < this->comments.size(); ++i)
-		ostream->print("comment %s\n", this->comments[i].c_str());
+	// write out the comments 
+	for (size_t i = 0; i < comments.size(); ++i)
+		ostream->print("comment %s\n", comments[i].c_str());
 
-	/* write out object information */
-	for (size_t i = 0; i < this->obj_info.size(); ++i)
-		ostream->print("obj_info %s\n", this->obj_info[i].c_str());
+	// write out object information 
+	for (size_t i = 0; i < obj_info.size(); ++i)
+		ostream->print("obj_info %s\n", obj_info[i].c_str());
 
-	/* write out information about each element */
-	for (size_t i = 0; i < this->elems.size(); ++i) {
-		PlyElement *elem = this->elems[i];
+	// write out information about each element 
+	for (size_t i = 0; i < elems.size(); ++i) {
+		PlyElement *elem = elems[i];
+		ASSERT(elem->num > 0);
 		ostream->print("element %s %d\n", elem->name.c_str(), elem->num);
 
-		/* write out each property */
+		// write out each property 
 		for (size_t j = 0; j < elem->props.size(); ++j) {
 			PlyProperty *prop = elem->props[j];
 			if (prop->is_list == LIST) {
 				ostream->print("property list ");
-				write_scalar_type(ostream, prop->count_external);
+				write_scalar_type(prop->count_external);
 				ostream->print(" ");
-				write_scalar_type(ostream, prop->external_type);
+				write_scalar_type(prop->external_type);
 				ostream->print(" %s\n", prop->name.c_str());
-			}
-			else if (prop->is_list == STRING) {
+			} else if (prop->is_list == STRING) {
 				ostream->print("property string");
 				ostream->print(" %s\n", prop->name.c_str());
-			}
-			else {
+			} else {
 				ostream->print("property ");
-				write_scalar_type(ostream, prop->external_type);
+				write_scalar_type(prop->external_type);
 				ostream->print(" %s\n", prop->name.c_str());
 			}
 		}
@@ -328,12 +366,26 @@ bool PLY::header_complete()
 
 	ostream->print("end_header\n");
 
-	/* write the body also if fully buffered */
-	if (mfp && mfp->getSize() > 0) {
+	if (mfp != NULL) {
+		// now write the ply data from memory to disk
 		ostream->write(mfp->getBuffer(), mfp->getSize());
 		delete mfp; mfp = NULL;
+	} else if (!filenameTmp.empty()) {
+		// append the body of the ply from the temp file, and delete it 
+		File ftmp(filenameTmp.c_str(), File::READ, File::OPEN);
+		if (!ftmp.isOpen())
+			return false;
+		Unsigned8Arr buffer(256 * 1024);
+		size_t len;
+		while ((len = ftmp.read(buffer.data(), buffer.size())) > 0)
+			ostream->write(buffer.data(), len);
+		ftmp.close();
+		File::deleteFile(filenameTmp.c_str());
+	} else {
+		// element writing is starting next, reset counters 
+		for (size_t i = 0; i < elems.size(); ++i)
+			elems[i]->num = 0;
 	}
-
 	return true;
 }
 
@@ -346,12 +398,12 @@ before a call to the routine ply_put_element().
 elem_name - name of element we're talking about
 ******************************************************************************/
 
-void PLY::put_element_setup(const char *elem_name)
+void PLY::put_element_setup(const char* elem_name)
 {
 	PlyElement *elem = find_element(elem_name);
 	if (elem == NULL)
 		abort_ply("error: put_element_setup: can't find element '%s'", elem_name);
-	this->which_elem = elem;
+	which_elem = elem;
 }
 
 
@@ -372,16 +424,16 @@ void PLY::put_element(const void* elem_ptr)
 	ValueType val;
 	char **other_ptr;
 
-	PlyElement *elem = this->which_elem;
-	elem_data = (char *)elem_ptr;
-	other_ptr = (char **)(((char *)elem_ptr) + elem->other_offset);
+	PlyElement *elem = which_elem;
+	elem_data = (char*)elem_ptr;
+	other_ptr = (char**)(elem_data + elem->other_offset);
 
-	/* write out either to an ascii or binary file */
-	if (this->file_type == ASCII) {
+	// write out either to an ascii or binary file 
+	if (file_type == ASCII) {
 
-		/* write an ascii file */
+		// write an ascii file 
 
-		/* write out each property of the element */
+		// write out each property of the element 
 		for (size_t j = 0; j < elem->props.size(); ++j) {
 
 			PlyProperty *prop = elem->props[j];
@@ -389,21 +441,21 @@ void PLY::put_element(const void* elem_ptr)
 			if (elem->store_prop[j] == OTHER_PROP)
 				elem_data = *other_ptr;
 			else
-				elem_data = (char *)elem_ptr;
+				elem_data = (char*)elem_ptr;
 
 			switch (prop->is_list) {
-			case SCALAR: {  /* scalar */
+			case SCALAR: {  // scalar 
 				item = elem_data + prop->offset;
 				get_stored_item((void*)item, prop->internal_type, val);
 				write_ascii_item(val, prop->internal_type, prop->external_type);
 				break;
 			}
-			case LIST: {   /* list */
+			case LIST: {   // list 
 				item = elem_data + prop->count_offset;
 				get_stored_item((void*)item, prop->count_internal, val);
 				write_ascii_item(val, prop->count_internal, prop->count_external);
 				const int list_count(ValueType2Type<int>(val, prop->count_external));
-				item_ptr = (char **)(elem_data + prop->offset);
+				item_ptr = (char**)(elem_data + prop->offset);
 				item = item_ptr[0];
 				const int item_size = ply_type_size[prop->internal_type];
 				for (int k = 0; k < list_count; k++) {
@@ -413,10 +465,10 @@ void PLY::put_element(const void* elem_ptr)
 				}
 				break;
 			}
-			case STRING: {  /* string */
+			case STRING: {  // string 
 				item = elem_data + prop->offset;
-				char **str = (char **)item;
-				f->print("\"%s\"", *str);
+				char** str = (char**)item;
+				ostream->print("\"%s\"", *str);
 				break;
 			}
 			default:
@@ -424,33 +476,32 @@ void PLY::put_element(const void* elem_ptr)
 			}
 		}
 
-		f->print("\n");
-	}
-	else {
+		ostream->print("\n");
+	} else {
 
-		/* write a binary file */
+		// write a binary file 
 
-		/* write out each property of the element */
+		// write out each property of the element 
 		for (size_t j = 0; j < elem->props.size(); ++j) {
 			PlyProperty *prop = elem->props[j];
 			if (elem->store_prop[j] == OTHER_PROP)
 				elem_data = *other_ptr;
 			else
-				elem_data = (char *) elem_ptr;
+				elem_data = (char*)elem_ptr;
 			switch (prop->is_list) {
-			case SCALAR: {  /* scalar */
+			case SCALAR: {  // scalar 
 				item = elem_data + prop->offset;
 				get_stored_item((void*)item, prop->internal_type, val);
 				write_binary_item(val, prop->internal_type, prop->external_type);
 				break;
 			}
-			case LIST: {    /* list */
+			case LIST: {    // list 
 				item = elem_data + prop->count_offset;
 				int item_size = ply_type_size[prop->count_internal];
 				get_stored_item((void*)item, prop->count_internal, val);
 				write_binary_item(val, prop->count_internal, prop->count_external);
 				const int list_count(ValueType2Type<int>(val, prop->count_external));
-				item_ptr = (char **)(elem_data + prop->offset);
+				item_ptr = (char**)(elem_data + prop->offset);
 				item = item_ptr[0];
 				item_size = ply_type_size[prop->internal_type];
 				for (int k = 0; k < list_count; k++) {
@@ -460,16 +511,16 @@ void PLY::put_element(const void* elem_ptr)
 				}
 				break;
 			}
-			case STRING: {  /* string */
+			case STRING: {  // string 
 				item = elem_data + prop->offset;
-				char **str = (char **) item;
+				char** str = (char**)item;
 
-				/* write the length */
-				const int len = (int)strlen(*str) + 1;
-				f->write(&len, sizeof(int));
+				// write the length 
+				const int len = (int)_tcslen(*str) + 1;
+				ostream->write(&len, sizeof(int));
 
-				/* write the string, including the null character */
-				f->write(*str, len);
+				// write the string, including the null character 
+				ostream->write(*str, len);
 				break;
 			}
 			default:
@@ -478,17 +529,8 @@ void PLY::put_element(const void* elem_ptr)
 		}
 	}
 
-	/* if buffered mode, count element items */
-	if (mfp) {
-		if (ostream != NULL) {
-			if (mfp->getSizeBuffer()-mfp->getSize() < 256) {
-				ostream->write(mfp->getBuffer(), mfp->getSize());
-				mfp->setSize(0);
-			}
-		} else {
-			elem->num++;
-		}
-	}
+	// count element items 
+	elem->num++;
 }
 
 
@@ -502,7 +544,7 @@ void PLY::put_element(const void* elem_ptr)
 Given a file pointer, get ready to read PLY data from the file.
 
 Entry:
-f          - the given file pointer
+fp - the given file pointer
 
 Exit:
 nelems     - number of elements in object
@@ -510,52 +552,51 @@ elem_names - list of element names
 returns a pointer to a PlyFile, used to refer to this file, or NULL if error
 ******************************************************************************/
 
-bool PLY::read(LPCSTR filename)
+bool PLY::read(LPCSTR _filename)
 {
-	this->filename = filename;
-	istream = new File(filename, File::READ, File::OPEN);
-	if (!((File*)istream)->isOpen())
+	filename = _filename;
+	File* const pf(new File(_filename, File::READ, File::OPEN));
+	if (!pf->isOpen())
 		return false;
-	return read(new BufferedInputStream<true>(istream, FILE_READ_MINBUF_SIZE));
+	return read(new BufferedInputStream<true>(pf, 64*1024));
 }
 
-bool PLY::read(ISTREAM* f)
+bool PLY::read(ISTREAM* fp)
 {
-	/* create record for this object */
+	// create record for this object 
 	ASSERT(elems.empty());
-	this->istream = f;
-	this->other_elems = NULL;
-	this->rule_list = NULL;
+	other_elems = NULL;
+	rule_list = NULL;
+	istream = fp;
 
-	/* read and parse the file's header */
+	// read and parse the file's header 
 	int nwords;
 	char *orig_line;
 	STRISTREAM sfp(istream);
 	char **words = get_words(sfp, &nwords, &orig_line);
 	if (words == NULL)
 		return false;
-	if (!equal_strings (words[0], "ply")) {
+	if (!equal_strings(words[0], "ply")) {
 		free(words);
 		return false;
 	}
 	free(words);
 
-	/* parse words */
+	// parse words 
 	while ((words = get_words(sfp, &nwords, &orig_line)) != NULL) {
 		if (equal_strings(words[0], "format")) {
 			if (nwords != 3)
 				return false;
 			if (equal_strings(words[1], "ascii"))
-				this->file_type = ASCII;
+				file_type = ASCII;
 			else if (equal_strings(words[1], "binary_big_endian"))
-				this->file_type = BINARY_BE;
+				file_type = BINARY_BE;
 			else if (equal_strings(words[1], "binary_little_endian"))
-				this->file_type = BINARY_LE;
+				file_type = BINARY_LE;
 			else
 				return false;
-			this->version = (float)atof(words[2]);
-		}
-		else if (equal_strings(words[0], "element"))
+			version = (float)atof(words[2]);
+		} else if (equal_strings(words[0], "element"))
 			add_element((const char**)words, nwords);
 		else if (equal_strings(words[0], "property"))
 			add_property((const char**)words, nwords);
@@ -571,16 +612,15 @@ bool PLY::read(ISTREAM* f)
 	}
 	sfp.emptyBuffer();
 
-	/* create tags for each property of each element, to be used */
-	/* later to say whether or not to store each property for the user */
-	for (size_t i = 0; i < this->elems.size(); ++i) {
-		PlyElement *elem = this->elems[i];
+	// create tags for each property of each element, to be used 
+	// later to say whether or not to store each property for the user 
+	for (size_t i = 0; i < elems.size(); ++i) {
+		PlyElement *elem = elems[i];
 		elem->store_prop.resize(elem->props.size());
 		for (size_t j = 0; j < elem->props.size(); ++j)
 			elem->store_prop[j] = DONT_STORE_PROP;
-		elem->other_offset = NO_OTHER_PROPS; /* no "other" props by default */
+		elem->other_offset = NO_OTHER_PROPS; // no "other" props by default 
 	}
-
 	return true;
 }
 
@@ -596,14 +636,14 @@ props     - the list of properties returned
 returns number of elements of this type in the file
 ******************************************************************************/
 
-int PLY::get_element_description(const char *elem_name, std::vector<PlyProperty*>& prop_list) const
+int PLY::get_element_description(const char* elem_name, std::vector<PlyProperty*>& prop_list) const
 {
-	/* find information about the element */
+	// find information about the element 
 	PlyElement *elem = find_element(elem_name);
 	if (elem == NULL)
 		return 0;
 
-	/* make a copy of the element's property list */
+	// make a copy of the element's property list 
 	prop_list.resize(elem->props.size());
 	for (size_t i = 0; i < elem->props.size(); ++i) {
 		PlyProperty *prop = new PlyProperty;
@@ -626,32 +666,32 @@ prop_list - list of properties
 ******************************************************************************/
 
 void PLY::get_element_setup(
-	const char *elem_name,
+	const char* elem_name,
 	int nprops,
-	PlyProperty *prop_list
+	PlyProperty* prop_list
 	)
 {
-	/* find information about the element */
+	// find information about the element 
 	PlyElement *elem = find_element(elem_name);
-	this->which_elem = elem;
+	which_elem = elem;
 
-	/* deposit the property information into the element's description */
+	// deposit the property information into the element's description 
 	for (int i = 0; i < nprops; ++i) {
-		/* look for actual property */
+		// look for actual property 
 		int index = find_property(elem, prop_list[i].name.c_str());
 		if (index == -1) {
 			DEBUG("warning: Can't find property '%s' in element '%s'", prop_list[i].name.c_str(), elem_name);
 			continue;
 		}
 
-		/* store its description */
+		// store its description 
 		PlyProperty *prop = elem->props[index];
 		prop->internal_type = prop_list[i].internal_type;
 		prop->offset = prop_list[i].offset;
 		prop->count_internal = prop_list[i].count_internal;
 		prop->count_offset = prop_list[i].count_offset;
 
-		/* specify that the user wants this property */
+		// specify that the user wants this property 
 		elem->store_prop[index] = STORE_PROP;
 	}
 }
@@ -668,19 +708,16 @@ elem_name - which element we're talking about
 prop      - property to add to those that will be returned
 ******************************************************************************/
 
-void PLY::get_property(
-	const char *elem_name,
-	PlyProperty *prop
-	)
+void PLY::get_property(const char* elem_name, PlyProperty* prop)
 {
-	/* find information about the element */
+	// find information about the element 
 	PlyElement *elem = find_element(elem_name);
-	this->which_elem = elem;
+	which_elem = elem;
 
-	/* deposit the property information into the element's description */
+	// deposit the property information into the element's description 
 	int index = find_property(elem, prop->name.c_str());
 	if (index == -1) {
-		DEBUG("warning:  Can't find property '%s' in element '%s'", prop->name.c_str(), elem_name);
+		DEBUG("warning: Can't find property '%s' in element '%s'", prop->name.c_str(), elem_name);
 		return;
 	}
 	PlyProperty *prop_ptr = elem->props[index];
@@ -689,7 +726,7 @@ void PLY::get_property(
 	prop_ptr->count_internal = prop->count_internal;
 	prop_ptr->count_offset   = prop->count_offset;
 
-	/* specify that the user wants this property */
+	// specify that the user wants this property 
 	elem->store_prop[index] = STORE_PROP;
 }
 
@@ -705,7 +742,7 @@ elem_ptr - pointer to location where the element information should be put
 
 void PLY::get_element(void* elem_ptr)
 {
-	if (this->file_type == ASCII)
+	if (file_type == ASCII)
 		ascii_get_element((uint8_t*)elem_ptr);
 	else
 		binary_get_element((uint8_t*)elem_ptr);
@@ -723,7 +760,7 @@ returns the list of comments
 
 std::vector<std::string>& PLY::get_comments()
 {
-	return (this->comments);
+	return comments;
 }
 
 
@@ -739,7 +776,7 @@ returns the list of object info lines
 
 std::vector<std::string>& PLY::get_obj_info()
 {
-	return (this->obj_info);
+	return obj_info;
 }
 
 
@@ -753,53 +790,53 @@ information.
 elem    - element for which we want to save away other properties
 ******************************************************************************/
 
-void PLY::setup_other_props(PlyElement *elem)
+void PLY::setup_other_props(PlyElement* elem)
 {
 	int size = 0;
 
-	/* Examine each property in decreasing order of size. */
-	/* We do this so that all data types will be aligned by */
-	/* word, half-word, or whatever within the structure. */
+	// Examine each property in decreasing order of size. 
+	// We do this so that all data types will be aligned by 
+	// word, half-word, or whatever within the structure. 
 	for (int type_size = 8; type_size > 0; type_size /= 2) {
 
-		/* add up the space taken by each property, and save this information */
-		/* away in the property descriptor */
+		// add up the space taken by each property, and save this information 
+		// away in the property descriptor 
 		for (size_t i = 0; i < elem->props.size(); ++i) {
 
-			/* don't bother with properties we've been asked to store explicitly */
+			// don't bother with properties we've been asked to store explicitly 
 			if (elem->store_prop[i])
 				continue;
 
 			PlyProperty *prop = elem->props[i];
 
-			/* internal types will be same as external */
+			// internal types will be same as external 
 			prop->internal_type = prop->external_type;
 			prop->count_internal = prop->count_external;
 
-			/* list case */
+			// list case 
 			if (prop->is_list == LIST) {
 
-				/* pointer to list */
-				if (type_size == sizeof (void *)) {
+				// pointer to list 
+				if (type_size == sizeof(void *)) {
 					prop->offset = size;
-					size += sizeof (void *);    /* always use size of a pointer here */
+					size += sizeof(void *);    // always use size of a pointer here 
 				}
 
-				/* count of number of list elements */
+				// count of number of list elements 
 				if (type_size == ply_type_size[prop->count_external]) {
 					prop->count_offset = size;
 					size += ply_type_size[prop->count_external];
 				}
 			}
-			/* string */
+			// string 
 			else if (prop->is_list == STRING) {
-				/* pointer to string */
-				if (type_size == sizeof (char *)) {
+				// pointer to string 
+				if (type_size == sizeof(char*)) {
 					prop->offset = size;
-					size += sizeof (char *);
+					size += sizeof(char*);
 				}
 			}
-			/* scalar */
+			// scalar 
 			else if (type_size == ply_type_size[prop->external_type]) {
 				prop->offset = size;
 				size += ply_type_size[prop->external_type];
@@ -808,7 +845,7 @@ void PLY::setup_other_props(PlyElement *elem)
 
 	}
 
-	/* save the size for the other_props structure */
+	// save the size for the other_props structure 
 	elem->other_size = size;
 }
 
@@ -825,18 +862,18 @@ offset  - offset to where other_props will be stored inside user's structure
 returns pointer to structure containing description of other_props
 ******************************************************************************/
 
-PLY::PlyOtherProp* PLY::get_other_properties(PlyElement *elem, int offset)
+PLY::PlyOtherProp* PLY::get_other_properties(PlyElement* elem, int offset)
 {
-	/* remember that this is the "current" element */
-	this->which_elem = elem;
+	// remember that this is the "current" element 
+	which_elem = elem;
 
-	/* save the offset to where to store the other_props */
+	// save the offset to where to store the other_props 
 	elem->other_offset = offset;
 
-	/* place the appropriate pointers, etc. in the element's property list */
+	// place the appropriate pointers, etc. in the element's property list 
 	setup_other_props(elem);
 
-	/* create structure for describing other_props */
+	// create structure for describing other_props 
 	PlyOtherProp *other = new PlyOtherProp;
 	other->name = elem->name;
 	#if 0
@@ -844,13 +881,13 @@ PLY::PlyOtherProp* PLY::get_other_properties(PlyElement *elem, int offset)
 		other->size = 0;
 		other->props = NULL;
 		other->nprops = 0;
-		return (other);
+		return other;
 	}
 	#endif
 	other->size = elem->other_size;
 	other->props.reserve(elem->props.size());
 
-	/* save descriptions of each "other" property */
+	// save descriptions of each "other" property 
 	for (size_t i = 0; i < elem->props.size(); ++i) {
 		if (elem->store_prop[i])
 			continue;
@@ -859,11 +896,11 @@ PLY::PlyOtherProp* PLY::get_other_properties(PlyElement *elem, int offset)
 		other->props.push_back(prop);
 	}
 
-	/* set other_offset pointer appropriately if there are NO other properties */
+	// set other_offset pointer appropriately if there are NO other properties 
 	if (other->props.empty())
 		elem->other_offset = NO_OTHER_PROPS;
 
-	/* return structure */
+	// return structure 
 	return other;
 }
 
@@ -881,20 +918,17 @@ offset    - offset to where other_props will be stored inside user's structure
 returns pointer to structure containing description of other_props
 ******************************************************************************/
 
-PLY::PlyOtherProp* PLY::get_other_properties(
-	const char *elem_name,
-	int offset
-	)
+PLY::PlyOtherProp* PLY::get_other_properties(const char* elem_name, int offset)
 {
-	/* find information about the element */
+	// find information about the element 
 	PlyElement *elem = find_element(elem_name);
 	if (elem == NULL) {
 		DEBUG("warning: get_other_properties: Can't find element '%s'", elem_name);
-		return (NULL);
+		return NULL;
 	}
 
 	PlyOtherProp *other = get_other_properties(elem, offset);
-	return (other);
+	return other;
 }
 
 
@@ -920,36 +954,36 @@ returns pointer to ALL the "other" element data for this PLY file
 
 PLY::PlyOtherElems* PLY::get_other_element()
 {
-	PlyElement *elem = this->which_elem;
+	PlyElement *elem = which_elem;
 
-	/* create room for the new "other" element, initializing the */
-	/* other data structure if necessary */
+	// create room for the new "other" element, initializing the 
+	// other data structure if necessary 
 	OtherElem other;
 
-	/* count of element instances in file */
+	// count of element instances in file 
 	other.elem_count = elem->num;
 
-	/* save name of element */
+	// save name of element 
 	other.elem_name = elem->name;
 
-	/* create a list to hold all the current elements */
+	// create a list to hold all the current elements 
 	other.other_data = new OtherData*[other.elem_count];
 
-	/* set up for getting elements */
+	// set up for getting elements 
 	other.other_props = get_other_properties(elem->name.c_str(), offsetof(OtherData,other_props));
 
-	/* grab all these elements */
+	// grab all these elements 
 	for (int i = 0; i < other.elem_count; ++i) {
-		/* grab and element from the file */
+		// grab and element from the file 
 		other.other_data[i] = new OtherData;
 		get_element((uint8_t*)other.other_data[i]);
 	}
 
-	/* return pointer to the other elements data */
+	// return pointer to the other elements data 
 	if (other_elems == NULL)
 		other_elems = new PlyOtherElems;
 	other_elems->other_list.push_back(other);
-	return (other_elems);
+	return other_elems;
 }
 
 
@@ -961,16 +995,16 @@ Write out the "other" elements specified for this PLY file.
 
 void PLY::put_other_elements()
 {
-	/* make sure we have other elements to write */
-	if (this->other_elems == NULL)
+	// make sure we have other elements to write 
+	if (other_elems == NULL)
 		return;
 
-	/* write out the data for each "other" element */
-	for (size_t i = 0; i < this->other_elems->other_list.size(); ++i) {
-		OtherElem *other = &(this->other_elems->other_list[i]);
+	// write out the data for each "other" element 
+	for (size_t i = 0; i < other_elems->other_list.size(); ++i) {
+		OtherElem *other = &(other_elems->other_list[i]);
 		put_element_setup(other->elem_name.c_str());
 
-		/* write out each instance of the current element */
+		// write out each instance of the current element 
 		for (int j = 0; j < other->elem_count; ++j)
 			put_element(other->other_data[j]);
 	}
@@ -983,22 +1017,6 @@ void PLY::put_other_elements()
 /*******************/
 
 
-/******************************************************************************
-Flush a PLY file.
-******************************************************************************/
-
-void PLY::flush()
-{
-	if (ostream != NULL) {
-		if (mfp != NULL) {
-			ostream->write(mfp->getBuffer(), mfp->getSize());
-			mfp->setSize(0);
-		}
-		ostream->flush();
-	}
-}
-
-
 /******************************************************************************
 Use old PLY type names during writing for backward compatibility.
 ******************************************************************************/
@@ -1019,10 +1037,10 @@ version - version of the file
 file_type - PLY_ASCII, PLY_BINARY_BE, or PLY_BINARY_LE
 ******************************************************************************/
 
-void PLY::get_info(float *version, int *file_type)
+void PLY::get_info(float* _version, int* _file_type)
 {
-	*version = this->version;
-	*file_type = this->file_type;
+	*_version = version;
+	*_file_type = file_type;
 }
 
 
@@ -1036,7 +1054,7 @@ element - name of element we're looking for
 returns the element, or NULL if not found
 ******************************************************************************/
 
-PLY::PlyElement* PLY::find_element(const char *element) const
+PLY::PlyElement* PLY::find_element(const char* element) const
 {
 	for (size_t i=0; i<elems.size(); ++i)
 		if (equal_strings(element, elems[i]->name.c_str()))
@@ -1056,7 +1074,7 @@ prop_name - name of property to find
 returns the index to position in list
 ******************************************************************************/
 
-int PLY::find_property(PlyElement *elem, const char *prop_name) const
+int PLY::find_property(PlyElement* elem, const char* prop_name) const
 {
 	for (size_t i=0; i<elem->props.size(); ++i)
 		if (equal_strings(prop_name, elem->props[i]->name.c_str()))
@@ -1081,19 +1099,19 @@ void PLY::ascii_get_element(uint8_t* elem_ptr)
 	char *other_data(NULL);
 	int other_flag(0);
 
-	/* the kind of element we're reading currently */
-	PlyElement *elem = this->which_elem;
+	// the kind of element we're reading currently 
+	PlyElement *elem = which_elem;
 
-	/* do we need to setup for other_props? */
+	// do we need to setup for other_props? 
 	if (elem->other_offset != NO_OTHER_PROPS) {
 		other_flag = 1;
-		/* make room for other_props */
+		// make room for other_props 
 		other_data = new char[elem->other_size];
-		/* store pointer in user's structure to the other_props */
+		// store pointer in user's structure to the other_props 
 		*((char**)(elem_ptr + elem->other_offset)) = other_data;
 	}
 
-	/* read in the element */
+	// read in the element 
 	int nwords;
 	char **words;
 	{
@@ -1109,28 +1127,27 @@ void PLY::ascii_get_element(uint8_t* elem_ptr)
 		PlyProperty *prop = elem->props[j];
 		const int store_it(elem->store_prop[j] | other_flag);
 
-		/* store either in the user's structure or in other_props */
+		// store either in the user's structure or in other_props 
 		if (elem->store_prop[j])
 			elem_data = (char*)elem_ptr;
 		else
 			elem_data = other_data;
 
-		if (prop->is_list == LIST) {       /* a list */
-			/* get and store the number of items in the list */
+		if (prop->is_list == LIST) {       // a list 
+			// get and store the number of items in the list 
 			get_ascii_item(words[which_word++], prop->count_external, val);
 			if (store_it) {
 				item = elem_data + prop->count_offset;
 				store_item(item, prop->count_internal, val, prop->count_external);
 			}
 
-			/* allocate space for an array of items and store a ptr to the array */
+			// allocate space for an array of items and store a ptr to the array 
 			const int list_count(ValueType2Type<int>(val, prop->count_external));
-			char **store_array = (char**)(elem_data + prop->offset);
+			char** store_array = (char**)(elem_data + prop->offset);
 			if (list_count == 0) {
 				if (store_it)
 					*store_array = NULL;
-			}
-			else {
+			} else {
 				const int item_size(ply_type_size[prop->internal_type]);
 
 				if (store_it) {
@@ -1139,7 +1156,7 @@ void PLY::ascii_get_element(uint8_t* elem_ptr)
 					*store_array = item_ptr;
 				}
 
-				/* read items and store them into the array */
+				// read items and store them into the array 
 				for (int k = 0; k < list_count; k++) {
 					get_ascii_item(words[which_word++], prop->external_type, val);
 					if (store_it) {
@@ -1148,18 +1165,14 @@ void PLY::ascii_get_element(uint8_t* elem_ptr)
 					}
 				}
 			}
-
-		}
-		else if (prop->is_list == STRING) {   /* a string */
+		} else if (prop->is_list == STRING) {   // a string 
 			if (store_it) {
 				item = elem_data + prop->offset;
-				*((char **)item) = strdup(words[which_word++]);
-			}
-			else {
+				*((char**)item) = strdup(words[which_word++]);
+			} else {
 				which_word++;
 			}
-		}
-		else {                               /* a scalar */
+		} else {                               // a scalar 
 			get_ascii_item(words[which_word++], prop->external_type, val);
 			if (store_it) {
 				item = elem_data + prop->offset;
@@ -1188,76 +1201,71 @@ void PLY::binary_get_element(uint8_t* elem_ptr)
 	char *other_data(NULL);
 	int other_flag(0);
 
-	/* the kind of element we're reading currently */
-	PlyElement *elem = this->which_elem;
+	// the kind of element we're reading currently 
+	PlyElement* elem = which_elem;
 
-	/* do we need to setup for other_props? */
+	// do we need to setup for other_props? 
 	if (elem->other_offset != NO_OTHER_PROPS) {
 		other_flag = 1;
-		/* make room for other_props */
+		// make room for other_props 
 		other_data = new char[elem->other_size];
-		/* store pointer in user's structure to the other_props */
-		*((char **)(elem_ptr + elem->other_offset)) = other_data;
+		// store pointer in user's structure to the other_props 
+		*((char**)(elem_ptr + elem->other_offset)) = other_data;
 	}
 
-	/* read in a number of elements */
+	// read in a number of elements 
 	for (size_t j = 0; j < elem->props.size(); ++j) {
 		PlyProperty *prop = elem->props[j];
 		const int store_it(elem->store_prop[j] | other_flag);
 
-		/* store either in the user's structure or in other_props */
+		// store either in the user's structure or in other_props 
 		if (elem->store_prop[j])
 			elem_data = (char*)elem_ptr;
 		else
 			elem_data = other_data;
 
-		if (prop->is_list == LIST) {          /* list */
-
-			/* get and store the number of items in the list */
-			get_binary_item(istream, prop->count_external, val);
+		if (prop->is_list == LIST) {          // list 
+			// get and store the number of items in the list 
+			get_binary_item(prop->count_external, val);
 			if (store_it) {
 				item = elem_data + prop->count_offset;
 				store_item(item, prop->count_internal, val, prop->count_external);
 			}
 
-			/* allocate space for an array of items and store a ptr to the array */
+			// allocate space for an array of items and store a ptr to the array 
 			const int list_count(ValueType2Type<int>(val, prop->count_external));
 			const int item_size(ply_type_size[prop->internal_type]);
-			char **store_array = (char**)(elem_data + prop->offset);
+			char** store_array = (char**)(elem_data + prop->offset);
 			if (list_count == 0) {
 				if (store_it)
 					*store_array = NULL;
-			}
-			else {
+			} else {
 				if (store_it) {
 					item_ptr = new char[item_size * list_count];
 					item = item_ptr;
 					*store_array = item_ptr;
 				}
 
-				/* read items and store them into the array */
+				// read items and store them into the array 
 				for (int k = 0; k < list_count; k++) {
-					get_binary_item(istream, prop->external_type, val);
+					get_binary_item(prop->external_type, val);
 					if (store_it) {
 						store_item(item, prop->internal_type, val, prop->external_type);
 						item += item_size;
 					}
 				}
 			}
-
-		}
-		else if (prop->is_list == STRING) {     /* string */
+		} else if (prop->is_list == STRING) {     // string 
 			int len;
 			istream->read(&len, sizeof(int));
 			char *str = new char[len];
 			istream->read(str, len);
 			if (store_it) {
 				item = elem_data + prop->offset;
-				*((char **)item) = str;
+				*((char**)item) = str;
 			}
-		}
-		else {                                   /* scalar */
-			get_binary_item(istream, prop->external_type, val);
+		} else {                                   // scalar 
+			get_binary_item(prop->external_type, val);
 			if (store_it) {
 				item = elem_data + prop->offset;
 				store_item(item, prop->internal_type, val, prop->external_type);
@@ -1271,18 +1279,17 @@ void PLY::binary_get_element(uint8_t* elem_ptr)
 Write to a file the word that represents a PLY data type.
 
 Entry:
-fp   - file pointer
 code - code for type
 ******************************************************************************/
 
-void PLY::write_scalar_type(OSTREAM* fp, int code)
+void PLY::write_scalar_type(int code)
 {
-	/* make sure this is a valid code */
+	// make sure this is a valid code 
 	if (code <= StartType || code >= EndType)
 		abort_ply("error: write_scalar_type: bad data code = %d", code);
 
-	/* write the code to a file */
-	fp->print("%s", write_type_names[code]);
+	// write the code to a file 
+	ostream->print("%s", write_type_names[code]);
 }
 
 
@@ -1293,7 +1300,7 @@ IMPORTANT: The calling routine should call "free" on the returned pointer once
 finished with it.
 
 Entry:
-sfp       - file to read from
+sfp - string file to read from
 
 Exit:
 nwords    - number of words returned
@@ -1301,7 +1308,7 @@ orig_line - the original line of characters
 returns a list of words from the line, or NULL if end-of-file
 ******************************************************************************/
 
-char** PLY::get_words(STRISTREAM& sfp, int *nwords, char **orig_line)
+char** PLY::get_words(STRISTREAM& sfp, int* nwords, char** orig_line)
 {
 	const int BIG_STRING = 4096;
 	char str[BIG_STRING];
@@ -1311,20 +1318,20 @@ char** PLY::get_words(STRISTREAM& sfp, int *nwords, char **orig_line)
 	int num_words = 0;
 	char *ptr, *ptr2;
 
-	char **words = (char **)malloc(sizeof (char *) * max_words);
+	char** words = (char**)malloc(sizeof(char*) * max_words);
 
-	/* read in a line */
+	// read in a line 
 	size_t len(sfp.readLine(str, BIG_STRING-2));
 	if (len == 0 || len == STREAM_ERROR) {
 		*nwords = 0;
 		*orig_line = NULL;
 		free(words);
-		return (NULL);
+		return NULL;
 	}
 
-	/* convert line-feed and tabs into spaces */
-	/* (this guarantees that there will be a space before the */
-	/*  null character at the end of the string) */
+	// convert line-feed and tabs into spaces 
+	// (this guarantees that there will be a space before the 
+	//  null character at the end of the string) 
 	if (str[len-1] == '\r')
 		--len;
 	str[len] = '\n';
@@ -1345,59 +1352,56 @@ char** PLY::get_words(STRISTREAM& sfp, int *nwords, char **orig_line)
 	}
 	EXIT_LOOP:
 
-	/* find the words in the line */
+	// find the words in the line 
 	ptr = str;
 	while (*ptr != '\0') {
 
-		/* jump over leading spaces */
+		// jump over leading spaces 
 		while (*ptr == ' ')
 			ptr++;
 
-		/* break if we reach the end */
+		// break if we reach the end 
 		if (*ptr == '\0')
 			break;
 
-		/* allocate more room for words if necessary */
+		// allocate more room for words if necessary 
 		if (num_words >= max_words) {
 			max_words += 10;
-			words = (char **) realloc (words, sizeof (char *) * max_words);
+			words = (char**)realloc(words, sizeof(char*) * max_words);
 		}
 
-		if (*ptr == '\"') {  /* a quote indicates that we have a string */
-
-			/* skip over leading quote */
+		if (*ptr == '\"') {  // a quote indicates that we have a string 
+			// skip over leading quote 
 			ptr++;
 
-			/* save pointer to beginning of word */
+			// save pointer to beginning of word 
 			words[num_words++] = ptr;
 
-			/* find trailing quote or end of line */
+			// find trailing quote or end of line 
 			while (*ptr != '\"' && *ptr != '\0')
 				ptr++;
 
-			/* replace quote with a null character to mark the end of the word */
-			/* if we are not already at the end of the line */
+			// replace quote with a null character to mark the end of the word 
+			// if we are not already at the end of the line 
 			if (*ptr != '\0')
 				*ptr++ = '\0';
-		}
-		else {               /* non-string */
-
-			/* save pointer to beginning of word */
+		} else {               // non-string 
+			// save pointer to beginning of word 
 			words[num_words++] = ptr;
 
-			/* jump over non-spaces */
+			// jump over non-spaces 
 			while (*ptr != ' ')
 				ptr++;
 
-			/* place a null character here to mark the end of the word */
+			// place a null character here to mark the end of the word 
 			*ptr++ = '\0';
 		}
 	}
 
-	/* return the list of words */
+	// return the list of words 
 	*nwords = num_words;
 	*orig_line = str_copy;
-	return (words);
+	return words;
 }
 
 
@@ -1419,35 +1423,35 @@ void PLY::write_binary_item(
 	switch (to_type) {
 	case Int8: {
 		const int8_t v(ValueType2Type<int8_t>(val, from_type));
-		f->write(&v, 1);
+		ostream->write(&v, 1);
 		break; }
 	case Int16: {
 		const int16_t v(ValueType2Type<int16_t>(val, from_type));
-		f->write(&v, 2);
+		ostream->write(&v, 2);
 		break; }
 	case Int32: {
 		const int32_t v(ValueType2Type<int32_t>(val, from_type));
-		f->write(&v, 4);
+		ostream->write(&v, 4);
 		break; }
 	case Uint8: {
 		const uint8_t v(ValueType2Type<uint8_t>(val, from_type));
-		f->write(&v, 1);
+		ostream->write(&v, 1);
 		break; }
 	case Uint16: {
 		const uint16_t v(ValueType2Type<uint16_t>(val, from_type));
-		f->write(&v, 2);
+		ostream->write(&v, 2);
 		break; }
 	case Uint32: {
 		const uint32_t v(ValueType2Type<uint32_t>(val, from_type));
-		f->write(&v, 4);
+		ostream->write(&v, 4);
 		break; }
 	case Float32: {
 		const float v(ValueType2Type<float>(val, from_type));
-		f->write(&v, 4);
+		ostream->write(&v, 4);
 		break; }
 	case Float64: {
 		const double v(ValueType2Type<double>(val, from_type));
-		f->write(&v, 8);
+		ostream->write(&v, 8);
 		break; }
 	default:
 		abort_ply("error: write_binary_item: bad type = %d", to_type);
@@ -1474,16 +1478,16 @@ void PLY::write_ascii_item(
 	case Int8:
 	case Int16:
 	case Int32:
-		f->print("%d ", ValueType2Type<int32_t>(val, from_type));
+		ostream->print("%d ", ValueType2Type<int32_t>(val, from_type));
 		break;
 	case Uint8:
 	case Uint16:
 	case Uint32:
-		f->print("%u ", ValueType2Type<uint32_t>(val, from_type));
+		ostream->print("%u ", ValueType2Type<uint32_t>(val, from_type));
 		break;
 	case Float32:
 	case Float64:
-		f->print("%g ", ValueType2Type<double>(val, from_type));
+		ostream->print("%g ", ValueType2Type<double>(val, from_type));
 		break;
 	default:
 		abort_ply("error: write_ascii_item: bad type = %d", to_type);
@@ -1504,35 +1508,35 @@ val        - extracted value
 ******************************************************************************/
 
 void PLY::get_stored_item(
-	void *ptr,
+	const void* ptr,
 	int type,
 	ValueType& val
 	)
 {
 	switch (type) {
 	case Int8:
-		val.i8 = *((int8_t*)ptr);
+		val.i8 = *((const int8_t*)ptr);
 		break;
 	case Uint8:
-		val.u8 = *((uint8_t*)ptr);
+		val.u8 = *((const uint8_t*)ptr);
 		break;
 	case Int16:
-		val.i16 = *((int16_t*)ptr);
+		val.i16 = *((const int16_t*)ptr);
 		break;
 	case Uint16:
-		val.u16 = *((uint16_t*)ptr);
+		val.u16 = *((const uint16_t*)ptr);
 		break;
 	case Int32:
-		val.i32 = *((int32_t*)ptr);
+		val.i32 = *((const int32_t*)ptr);
 		break;
 	case Uint32:
-		val.u32 = *((uint32_t*)ptr);
+		val.u32 = *((const uint32_t*)ptr);
 		break;
 	case Float32:
-		val.f = *((float*)ptr);
+		val.f = *((const float*)ptr);
 		break;
 	case Float64:
-		val.d = *((double*)ptr);
+		val.d = *((const double*)ptr);
 		break;
 	default:
 		abort_ply("error: get_stored_item: bad type = %d", type);
@@ -1545,43 +1549,38 @@ Get the value of an item from a binary file, and place the result
 into an integer, an unsigned integer and a double.
 
 Entry:
-fp         - file to get item from
 type       - data type supposedly in the word
 
 Exit:
 val        - store value
 ******************************************************************************/
 
-void PLY::get_binary_item(
-	ISTREAM* fp,
-	int type,
-	ValueType& val
-	)
+void PLY::get_binary_item(int type, ValueType& val)
 {
 	switch (type) {
 	case Int8:
-		fp->read(&val.i8, 1);
+		istream->read(&val.i8, 1);
 		break;
 	case Uint8:
-		fp->read(&val.u8, 1);
+		istream->read(&val.u8, 1);
 		break;
 	case Int16:
-		fp->read(&val.i16, 2);
+		istream->read(&val.i16, 2);
 		break;
 	case Uint16:
-		fp->read(&val.u16, 2);
+		istream->read(&val.u16, 2);
 		break;
 	case Int32:
-		fp->read(&val.i32, 4);
+		istream->read(&val.i32, 4);
 		break;
 	case Uint32:
-		fp->read(&val.u32, 4);
+		istream->read(&val.u32, 4);
 		break;
 	case Float32:
-		fp->read(&val.f, 4);
+		istream->read(&val.f, 4);
 		break;
 	case Float64:
-		fp->read(&val.d, 8);
+		istream->read(&val.d, 8);
 		break;
 	default:
 		abort_ply("error: get_binary_item: bad type = %d", type);
@@ -1601,11 +1600,7 @@ type       - data type supposedly in the word
 val        - store value
 ******************************************************************************/
 
-void PLY::get_ascii_item(
-	const char* word,
-	int type,
-	ValueType& val
-	)
+void PLY::get_ascii_item(const char* word, int type, ValueType& val)
 {
 	switch (type) {
 	case Int8:
@@ -1624,7 +1619,7 @@ void PLY::get_ascii_item(
 		val.i32 = atoi(word);
 		break;
 	case Uint32:
-		val.u32 = strtoul(word, (char **)NULL, 10);
+		val.u32 = strtoul(word, (char**)NULL, 10);
 		break;
 	case Float32:
 		val.f = (float)atof(word);
@@ -1696,15 +1691,15 @@ words   - list of words describing the element
 nwords  - number of words in the list
 ******************************************************************************/
 
-void PLY::add_element(const char **words, int /*nwords*/)
+void PLY::add_element(const char** words, int /*nwords*/)
 {
-	/* create the new element */
+	// create the new element 
 	PlyElement *elem = new PlyElement;
 	elem->name = words[1];
 	elem->num = atoi(words[2]);
 
-	/* add the new element to the object's list */
-	this->elems.push_back(elem);
+	// add the new element to the object's list 
+	elems.push_back(elem);
 }
 
 
@@ -1718,20 +1713,20 @@ name - name of property type
 returns integer code for property, or 0 if not found
 ******************************************************************************/
 
-int PLY::get_prop_type(const char *type_name)
+int PLY::get_prop_type(const char* type_name)
 {
-	/* try to match the type name */
+	// try to match the type name 
 	for (int i = StartType + 1; i < EndType; ++i)
 		if (equal_strings (type_name, type_names[i]))
-			return (i);
+			return i;
 
-	/* see if we can match an old type name */
+	// see if we can match an old type name 
 	for (int i = StartType + 1; i < EndType; ++i)
 		if (equal_strings (type_name, old_type_names[i]))
-			return (i);
+			return i;
 
-	/* if we get here, we didn't find the type */
-	return (0);
+	// if we get here, we didn't find the type 
+	return 0;
 }
 
 
@@ -1743,35 +1738,33 @@ words   - list of words describing the property
 nwords  - number of words in the list
 ******************************************************************************/
 
-void PLY::add_property(const char **words, int /*nwords*/)
+void PLY::add_property(const char** words, int /*nwords*/)
 {
-	/* create the new property */
+	// create the new property 
 	PlyProperty *prop = new PlyProperty;
 
-	if (equal_strings(words[1], "list")) {          /* list */
+	if (equal_strings(words[1], "list")) {          // list 
 		prop->count_external = get_prop_type (words[2]);
 		prop->external_type = get_prop_type (words[3]);
 		prop->name = words[4];
 		prop->is_list = LIST;
-	}
-	else if (equal_strings(words[1], "string")) {   /* string */
+	} else if (equal_strings(words[1], "string")) {   // string 
 		prop->count_external = Int8;
 		prop->external_type = Int8;
 		prop->name = words[2];
 		prop->is_list = STRING;
-	}
-	else {                                           /* scalar */
+	} else {                                           // scalar 
 		prop->external_type = get_prop_type (words[1]);
 		prop->name = words[2];
 		prop->is_list = SCALAR;
 	}
 
-	/* internal types are the same as external by default */
+	// internal types are the same as external by default 
 	prop->internal_type = prop->external_type;
 	prop->count_internal = prop->count_external;
 
-	/* add this property to the list of properties of the current element */
-	PlyElement *elem = this->elems.back();
+	// add this property to the list of properties of the current element 
+	PlyElement *elem = elems.back();
 	elem->props.push_back(prop);
 }
 
@@ -1783,9 +1776,9 @@ Add a comment to a PLY file descriptor.
 line    - line containing comment
 ******************************************************************************/
 
-void PLY::add_comment(const char *line)
+void PLY::add_comment(const char* line)
 {
-	/* skip over "comment" and leading spaces and tabs */
+	// skip over "comment" and leading spaces and tabs 
 	int i = 7;
 	while (line[i] == ' ' || line[i] == '\t')
 		i++;
@@ -1800,9 +1793,9 @@ Add a some object information to a PLY file descriptor.
 line    - line containing text info
 ******************************************************************************/
 
-void PLY::add_obj_info(const char *line)
+void PLY::add_obj_info(const char* line)
 {
-	/* skip over "obj_info" and leading spaces and tabs */
+	// skip over "obj_info" and leading spaces and tabs 
 	int i = 8;
 	while (line[i] == ' ' || line[i] == '\t')
 		i++;
@@ -1841,11 +1834,11 @@ returns the number of elements
 
 int PLY::get_element_list(std::vector<std::string>& elem_names) const
 {
-	/* create the list of element names */
+	// create the list of element names 
 	elem_names.resize(elems.size());
 	for (size_t i = 0; i < elems.size(); ++i)
 		elem_names[i] = elems[i]->name;
-	/* return the number of elements and the list of element names */
+	// return the number of elements and the list of element names 
 	return (int)elems.size();
 }
 
@@ -1857,9 +1850,9 @@ Append a comment to a PLY file.
 comment - the comment to append
 ******************************************************************************/
 
-void PLY::append_comment(const char *comment)
+void PLY::append_comment(const char* comment)
 {
-	/* add comment to list */
+	// add comment to list 
 	comments.push_back(comment);
 }
 
@@ -1886,10 +1879,10 @@ Append object information (arbitrary text) to a PLY file.
 obj_info - the object info to append
 ******************************************************************************/
 
-void PLY::append_obj_info(const char *obj_info)
+void PLY::append_obj_info(const char* _obj_info)
 {
-	/* add info to list */
-	this->obj_info.push_back(obj_info);
+	// add info to list 
+	obj_info.push_back(_obj_info);
 }
 
 
@@ -1922,16 +1915,16 @@ returns pointer to the name of this next element
 LPCSTR PLY::setup_element_read(int index, int* elem_count)
 {
 	if ((size_t)index > elems.size()) {
-		DEBUG("warning:  No element with index %d", index);
-		return (0);
+		DEBUG("warning: No element with index %d", index);
+		return 0;
 	}
 
 	PlyElement* elem = elems[index];
 
-	/* set this to be the current element */
+	// set this to be the current element 
 	which_elem = elem;
 
-	/* return the number of such elements in the file and the element's name */
+	// return the number of such elements in the file and the element's name 
 	*elem_count = elem->num;
 	return elem->name.c_str();
 }
@@ -1948,12 +1941,12 @@ prop    - property to add to those that will be returned
 
 void PLY::setup_property(const PlyProperty& prop)
 {
-	PlyElement *elem = this->which_elem;
+	PlyElement *elem = which_elem;
 
-	/* deposit the property information into the element's description */
+	// deposit the property information into the element's description 
 	int index = find_property(elem, prop.name.c_str());
 	if (index == -1) {
-		DEBUG("warning:  Can't find property '%s' in element '%s'", prop.name.c_str(), elem->name.c_str());
+		DEBUG("warning: Can't find property '%s' in element '%s'", prop.name.c_str(), elem->name.c_str());
 		return;
 	}
 	PlyProperty *prop_ptr = elem->props[index];
@@ -1962,7 +1955,7 @@ void PLY::setup_property(const PlyProperty& prop)
 	prop_ptr->count_internal = prop.count_internal;
 	prop_ptr->count_offset   = prop.count_offset;
 
-	/* specify that the user wants this property */
+	// specify that the user wants this property 
 	elem->store_prop[index] = STORE_PROP;
 }
 
@@ -1980,7 +1973,7 @@ returns pointer to structure containing description of other_props
 
 PLY::PlyOtherProp* PLY::get_other_properties(int offset)
 {
-	return get_other_properties(this->which_elem, offset);
+	return get_other_properties(which_elem, offset);
 }
 
 
@@ -1993,20 +1986,17 @@ elem_name - name of element that information is being described
 nelems    - number of elements of this type to be written
 ******************************************************************************/
 
-void PLY::describe_element(
-	char *elem_name,
-	int nelems
-	)
+void PLY::describe_element(const char* elem_name, int nelems)
 {
-	/* look for appropriate element */
+	// look for appropriate element 
 	PlyElement *elem = find_element(elem_name);
 	if (elem == NULL)
 		abort_ply("error: describe_element: can't find element '%s'",elem_name);
 
 	elem->num = nelems;
 
-	/* now this element is the current element */
-	this->which_elem = elem;
+	// now this element is the current element 
+	which_elem = elem;
 }
 
 
@@ -2019,9 +2009,9 @@ prop      - the new property
 
 void PLY::describe_property(const PlyProperty& prop)
 {
-	PlyElement *elem = this->which_elem;
+	PlyElement *elem = which_elem;
 
-	/* copy the new property */
+	// copy the new property 
 	PlyProperty *elem_prop = new PlyProperty;
 	copy_property(*elem_prop, prop);
 	elem->props.push_back(elem_prop);
@@ -2039,14 +2029,14 @@ void PLY::describe_other_properties(
 	int offset
 	)
 {
-	/* look for appropriate element */
+	// look for appropriate element 
 	PlyElement *elem = find_element(other->name.c_str());
 	if (elem == NULL) {
 		DEBUG("warning: describe_other_properties: can't find element '%s'", other->name.c_str());
 		return;
 	}
 
-	/* copy the other properties */
+	// copy the other properties 
 	for (size_t i = 0; i < other->props.size(); ++i) {
 		PlyProperty *prop = new PlyProperty;
 		copy_property(*prop, *other->props[i]);
@@ -2054,7 +2044,7 @@ void PLY::describe_other_properties(
 		elem->store_prop.push_back(OTHER_PROP);
 	}
 
-	/* save other info about other properties */
+	// save other info about other properties 
 	elem->other_size = other->size;
 	elem->other_offset = offset;
 }
@@ -2068,16 +2058,16 @@ PLY file.  These other elements were presumably read from another PLY file.
 other_elems - info about other elements that we want to store
 ******************************************************************************/
 
-void PLY::describe_other_elements(PlyOtherElems *other_elems)
+void PLY::describe_other_elements(PlyOtherElems* _other_elems)
 {
-	/* ignore this call if there is no other element */
-	if (other_elems == NULL)
+	// ignore this call if there is no other element 
+	if (_other_elems == NULL)
 		return;
 
-	/* save pointer to this information */
-	this->other_elems = other_elems;
+	// save pointer to this information 
+	other_elems = _other_elems;
 
-	/* describe the other properties of this element */
+	// describe the other properties of this element 
 	for (size_t i = 0; i < other_elems->other_list.size(); ++i) {
 		OtherElem *other = &(other_elems->other_list[i]);
 		element_count(other->elem_name.c_str(), other->elem_count);
@@ -2098,7 +2088,7 @@ elem_name - name of the element that we're making the rules for
 returns pointer to the default rules
 ******************************************************************************/
 
-PLY::PlyPropRules* PLY::init_rule(const char *elem_name)
+PLY::PlyPropRules* PLY::init_rule(const char* elem_name)
 {
 	PlyElement *elem = find_element(elem_name);
 	if (elem == NULL)
@@ -2109,17 +2099,17 @@ PLY::PlyPropRules* PLY::init_rule(const char *elem_name)
 	rules->max_props = 0;
 	rules->rule_list = NULL;
 
-	/* see if there are other rules we should use */
+	// see if there are other rules we should use 
 	if (elem->props.empty())
-		return (rules);
+		return rules;
 
-	/* default is to use averaging rule */
+	// default is to use averaging rule 
 	rules->rule_list = new int[elem->props.size()];
 	for (size_t i = 0; i < elem->props.size(); ++i)
 		rules->rule_list[i] = AVERAGE_RULE;
 
-	/* try to match the element, property and rule name */
-	for (PlyRuleList *list = this->rule_list; list != NULL; list = list->next) {
+	// try to match the element, property and rule name 
+	for (PlyRuleList *list = rule_list; list != NULL; list = list->next) {
 
 		if (!equal_strings(list->element, elem->name.c_str()))
 			continue;
@@ -2130,7 +2120,7 @@ PLY::PlyPropRules* PLY::init_rule(const char *elem_name)
 
 				found_prop = 1;
 
-				/* look for matching rule name */
+				// look for matching rule name 
 				for (int j = 0; rule_name_list[j].code != -1; ++j)
 					if (equal_strings(list->name, rule_name_list[j].name.c_str())) {
 						rules->rule_list[i] = rule_name_list[j].code;
@@ -2144,7 +2134,7 @@ PLY::PlyPropRules* PLY::init_rule(const char *elem_name)
 		}
 	}
 
-	return (rules);
+	return rules;
 }
 
 
@@ -2157,18 +2147,18 @@ prop_name - name of the property whose rule we're modifying
 rule_type - type of rule (MAXIMUM_RULE, MINIMUM_RULE, MAJORITY_RULE, etc.)
 ******************************************************************************/
 
-void PLY::modify_rule(PlyPropRules *rules, const char *prop_name, int rule_type)
+void PLY::modify_rule(PlyPropRules* rules, const char* prop_name, int rule_type)
 {
 	PlyElement *elem = rules->elem;
 
-	/* find the property and modify its rule type */
+	// find the property and modify its rule type 
 	for (size_t i = 0; i < elem->props.size(); ++i)
 		if (equal_strings(elem->props[i]->name.c_str(), prop_name)) {
 			rules->rule_list[i] = rule_type;
 			return;
 		}
 
-		/* we didn't find the property if we get here */
+		// we didn't find the property if we get here 
 		abort_ply("error: modify_rule: Can't find property '%s'", prop_name);
 }
 
@@ -2180,10 +2170,10 @@ Begin to create a set of properties from a set of propagation rules.
 rules - rules for the element
 ******************************************************************************/
 
-void PLY::start_props(PlyPropRules *rules)
+void PLY::start_props(PlyPropRules* rules)
 {
-	/* save pointer to the rules in the PLY object */
-	this->current_rules = rules;
+	// save pointer to the rules in the PLY object 
+	current_rules = rules;
 }
 
 
@@ -2196,11 +2186,11 @@ weight      - weights for this set of properties
 other_props - the properties to use
 ******************************************************************************/
 
-void PLY::weight_props(float weight, void *other_props)
+void PLY::weight_props(float weight, void* other_props)
 {
-	PlyPropRules *rules = this->current_rules;
+	PlyPropRules *rules = current_rules;
 
-	/* allocate space for properties and weights, if necessary */
+	// allocate space for properties and weights, if necessary 
 	if (rules->max_props == 0) {
 		rules->max_props = 6;
 	}
@@ -2210,7 +2200,7 @@ void PLY::weight_props(float weight, void *other_props)
 	rules->props.reserve(rules->max_props);
 	rules->weights.reserve(rules->max_props);
 
-	/* remember these new properties and their weights */
+	// remember these new properties and their weights 
 	rules->props.push_back(other_props);
 	rules->weights.push_back(weight);
 }
@@ -2227,31 +2217,27 @@ returns a pointer to the new properties
 
 void* PLY::get_new_props()
 {
-	PlyPropRules *rules = this->current_rules;
+	PlyPropRules *rules = current_rules;
 	PlyElement *elem = rules->elem;
 	PlyProperty *prop;
 	int offset;
 	int type;
 	ValueType val;
-	int random_pick;
 
-	/* return NULL if we've got no "other" properties */
+	// return NULL if we've got no "other" properties 
 	if (elem->other_size == 0)
-		return (NULL);
+		return NULL;
 
-	/* create room for combined other properties */
+	// create room for combined other properties 
 	char *new_data = new char[elem->other_size];
 
-	/* make sure there is enough room to store values we're to combine */
+	// make sure there is enough room to store values we're to combine 
 	vals.resize(rules->props.size());
 
-	/* in case we need a random choice */
-	random_pick = FLOOR2INT(SEACAVE::random() * rules->props.size());
-
-	/* calculate the combination for each "other" property of the element */
+	// calculate the combination for each "other" property of the element 
 	for (size_t i = 0; i < elem->props.size(); ++i) {
 
-		/* don't bother with properties we've been asked to store explicitly */
+		// don't bother with properties we've been asked to store explicitly 
 		if (elem->store_prop[i])
 			continue;
 
@@ -2259,15 +2245,15 @@ void* PLY::get_new_props()
 		offset = prop->offset;
 		type = prop->external_type;
 
-		/* collect together all the values we're to combine */
+		// collect together all the values we're to combine 
 		for (size_t j = 0; j < rules->props.size(); ++j) {
-			char* data = (char *)rules->props[j];
+			char* data = (char*)rules->props[j];
 			void* ptr = (void *)(data + offset);
 			get_stored_item((void*)ptr, type, val);
 			vals[j] = ValueType2Type<double>(val, type);
 		}
 
-		/* calculate the combined value */
+		// calculate the combined value 
 		switch (rules->rule_list[i]) {
 		case AVERAGE_RULE: {
 			double sum = 0;
@@ -2294,7 +2280,7 @@ void* PLY::get_new_props()
 			break;
 						  }
 		case RANDOM_RULE: {
-			val.d = vals[random_pick];
+			val.d = vals[FLOOR2INT(SEACAVE::random() * rules->props.size())];
 			break;
 						  }
 		case SAME_RULE: {
@@ -2308,11 +2294,11 @@ void* PLY::get_new_props()
 			abort_ply("error: get_new_props: Bad rule = %d", rules->rule_list[i]);
 		}
 
-		/* store the combined value */
-		store_item((void*)(new_data + offset), type, val, Float64);
+		// store the combined value 
+		store_item(new_data + offset, type, val, Float64);
 	}
 
-	return ((void*)new_data);
+	return new_data;
 }
 
 
@@ -2320,9 +2306,9 @@ void* PLY::get_new_props()
 Set the list of user-specified property combination rules.
 ******************************************************************************/
 
-void PLY::set_prop_rules(PlyRuleList *prop_rules)
+void PLY::set_prop_rules(PlyRuleList* prop_rules)
 {
-	this->rule_list = prop_rules;
+	rule_list = prop_rules;
 }
 
 
@@ -2339,26 +2325,25 @@ returns pointer to the new rule list
 ******************************************************************************/
 
 PLY::PlyRuleList* PLY::append_prop_rule(
-	PlyRuleList *rule_list,
-	const char *name,
-	const char *property
+	PlyRuleList* rule_list,
+	const char* name,
+	const char* property
 	)
 {
 	char *str2;
 	char *ptr;
 
-	/* find . */
+	// find . 
 	char *str = strdup(property);
 	for (ptr = str; *ptr != '\0' && *ptr != '.'; ptr++) ;
 
-	/* split string at . */
+	// split string at . 
 	if (*ptr == '.') {
 		*ptr = '\0';
 		str2 = ptr + 1;
-	}
-	else {
+	} else {
 		DEBUG("warning: Can't find property '%s' for rule '%s'", property, name);
-		return (rule_list);
+		return rule_list;
 	}
 
 	PlyRuleList *rule = new PlyRuleList;
@@ -2367,18 +2352,18 @@ PLY::PlyRuleList* PLY::append_prop_rule(
 	rule->property = str2;
 	rule->next = NULL;
 
-	/* either start rule list or append to it */
+	// either start rule list or append to it 
 	if (rule_list == NULL)
 		rule_list = rule;
-	else {                      /* append new rule to current list */
+	else {                      // append new rule to current list 
 		PlyRuleList *rule_ptr = rule_list;
 		while (rule_ptr->next != NULL)
 			rule_ptr = rule_ptr->next;
 		rule_ptr->next = rule;
 	}
 
-	/* return pointer to list */
-	return (rule_list);
+	// return pointer to list 
+	return rule_list;
 }
 
 
@@ -2392,7 +2377,7 @@ name - name of rule we're trying to match
 returns 1 if we find a match, 0 if not
 ******************************************************************************/
 
-int PLY::matches_rule_name(const char *name)
+int PLY::matches_rule_name(const char* name)
 {
 	for (int i = 0; rule_name_list[i].code != -1; ++i)
 		if (equal_strings(rule_name_list[i].name.c_str(), name))
diff --git a/libs/IO/PLY.h b/libs/IO/PLY.h
index d6354edef..44a0f259e 100644
--- a/libs/IO/PLY.h
+++ b/libs/IO/PLY.h
@@ -1,22 +1,26 @@
-/*
-
-PLY polygon files parser.
-(originally by Greg Turk, heavily modified by cDc@seacave)
-
-A PLY file contains a single polygonal _object_.
-
-An object is composed of lists of _elements_.  Typical elements are
-vertices, faces, edges and materials.
-
-Each type of element for a given object has one or more _properties_
-associated with the element type.  For instance, a vertex element may
-have as properties three floating-point values x,y,z and three unsigned
-chars for red, green and blue.
-
-*/
-
-#ifndef __PLY_H__
-#define __PLY_H__
+////////////////////////////////////////////////////////////////////
+// PLY.h
+//
+// Copyright 2023 cDc@seacave
+// Distributed under the Boost Software License, Version 1.0
+// (See http://www.boost.org/LICENSE_1_0.txt)
+//
+// PLY polygon files parser.
+// (originally by Greg Turk, heavily modified by cDc@seacave)
+// 
+// A PLY file contains a single polygonal _object_.
+// 
+// An object is composed of lists of _elements_.  Typical elements are
+// vertices, faces, edges and materials.
+// 
+// Each type of element for a given object has one or more _properties_
+// associated with the element type.  For instance, a vertex element may
+// have as properties three floating-point values x,y,z and three unsigned
+// chars for red, green and blue.
+
+
+#ifndef __SEACAVE_PLY_H__
+#define __SEACAVE_PLY_H__
 
 
 // I N C L U D E S /////////////////////////////////////////////////
@@ -24,8 +28,8 @@ chars for red, green and blue.
 
 // D E F I N E S ///////////////////////////////////////////////////
 
-#define PLY_OKAY    0           /* ply routine worked okay */
-#define PLY_ERROR  -1           /* error in ply routine */
+#define PLY_OKAY   0                  // ply routine worked okay 
+#define PLY_ERROR -1                  // error in ply routine 
 
 
 // S T R U C T S ///////////////////////////////////////////////////
@@ -35,9 +39,9 @@ class IO_API PLY
 public:
 	// scalar data types supported by PLY format
 	enum FileType {
-		ASCII     = 1, // ascii PLY file
-		BINARY_BE = 2, // binary PLY file, big endian
-		BINARY_LE = 3, // binary PLY file, little endian
+		ASCII     = 1,                // ascii PLY file
+		BINARY_BE = 2,                // binary PLY file, big endian
+		BINARY_LE = 3,                // binary PLY file, little endian
 	};
 	enum DataType {
 		StartType = 0,
@@ -67,67 +71,67 @@ class IO_API PLY
 
 	// description of a property
 	struct PlyProperty {
-		std::string name;             /* property name */
-		int external_type;            /* file's data type */
-		int internal_type;            /* program's data type */
-		int offset;                   /* offset bytes of prop in a struct */
-
-		int is_list;                  /* 0 = scalar, 1 = list, 2 = char string */
-		int count_external;           /* file's count type */
-		int count_internal;           /* program's count type */
-		int count_offset;             /* offset byte for list count */
+		std::string name;             // property name 
+		int external_type;            // file's data type 
+		int internal_type;            // program's data type 
+		int offset;                   // offset bytes of prop in a struct 
+
+		int is_list;                  // 0 = scalar, 1 = list, 2 = char string 
+		int count_external;           // file's count type 
+		int count_internal;           // program's count type 
+		int count_offset;             // offset byte for list count 
 	};
 
 	// description of an element
 	struct PlyElement {
-		std::string name;             /* element name */
-		int num;                      /* number of elements in this object */
-		int size;                     /* size of element (bytes) or -1 if variable */
-		std::vector<PlyProperty*> props;/* list of properties in the file */
-		std::vector<char> store_prop; /* flags: property wanted by user? */
-		int other_offset;             /* offset to un-asked-for props, or -1 if none*/
-		int other_size;               /* size of other_props structure */
+		std::string name;             // element name 
+		int num;                      // number of elements in this object 
+		int size;                     // size of element (bytes) or -1 if variable 
+		std::vector<PlyProperty*> props;// list of properties in the file 
+		std::vector<char> store_prop; // flags: property wanted by user? 
+		int other_offset;             // offset to un-asked-for props, or -1 if none
+		int other_size;               // size of other_props structure 
 	};
 
 	// describes other properties in an element
 	struct PlyOtherProp {
-		std::string name;             /* element name */
-		int size;                     /* size of other_props */
-		std::vector<PlyProperty*> props;/* list of properties in other_props */
+		std::string name;             // element name 
+		int size;                     // size of other_props 
+		std::vector<PlyProperty*> props;// list of properties in other_props 
 	};
 
 	// for storing other_props for an other element
 	struct OtherData {
-		void *other_props;
+		void* other_props;
 	};
 
 	// data for one "other" element
 	struct OtherElem {
-		std::string elem_name;       /* names of other elements */
-		int elem_count;              /* count of instances of each element */
-		OtherData **other_data;      /* actual property data for the elements */
-		PlyOtherProp *other_props;   /* description of the property data */
+		std::string elem_name;        // names of other elements 
+		int elem_count;               // count of instances of each element 
+		OtherData** other_data;       // actual property data for the elements 
+		PlyOtherProp* other_props;    // description of the property data 
 	};
 
 	// "other" elements, not interpreted by user
 	struct PlyOtherElems {
-		std::vector<OtherElem> other_list;/* list of data for other elements */
+		std::vector<OtherElem> other_list;// list of data for other elements 
 	};
 
 	// rules for combining "other" properties
 	struct PlyPropRules {
-		PlyElement *elem;      /* element whose rules we are making */
-		int *rule_list;        /* types of rules (AVERAGE_PLY, MAJORITY_PLY, etc.) */
-		uint32_t max_props;    /* maximum number of properties we have room for now */
-		std::vector<void*> props;/* list of properties we're combining */
-		std::vector<float> weights;/* list of weights of the properties */
+		PlyElement* elem;             // element whose rules we are making 
+		int* rule_list;               // types of rules (AVERAGE_PLY, MAJORITY_PLY, etc.) 
+		uint32_t max_props;           // maximum number of properties we have room for now 
+		std::vector<void*> props;     // list of properties we're combining 
+		std::vector<float> weights;   // list of weights of the properties 
 	};
 
 	struct PlyRuleList {
-		LPCSTR name;                 /* name of the rule */
-		char *element;               /* name of element that rule applies to */
-		char *property;              /* name of property that rule applies to */
-		struct PlyRuleList *next;    /* pointer for linked list of rules */
+		LPCSTR name;                  // name of the rule 
+		char* element;                // name of element that rule applies to 
+		char* property;               // name of property that rule applies to 
+		struct PlyRuleList* next;     // pointer for linked list of rules 
 	};
 
 	// property propagation rules
@@ -156,107 +160,107 @@ class IO_API PLY
 
 	bool read(LPCSTR);
 	bool read(SEACAVE::ISTREAM*);
-	bool write(LPCSTR, int, LPCSTR*, int, size_t = 0);
-	bool write(SEACAVE::OSTREAM*, int, LPCSTR*, int, size_t = 0);
-	void flush();
+	bool write(LPCSTR, int, LPCSTR*, int, size_t memBufferSize=0);
+	bool write(SEACAVE::OSTREAM*, int, LPCSTR*, int, size_t memBufferSize=0);
 	void release();
 
 	void set_legacy_type_names();
 
-	void get_info(float *, int *);
+	void get_info(float*, int*);
 
-	void append_comment(const char *);
-	void append_obj_info(const char *);
+	void append_comment(const char*);
+	void append_obj_info(const char*);
 	void copy_comments(const PLY&);
 	void copy_obj_info(const PLY&);
 	std::vector<std::string>& get_comments();
 	std::vector<std::string>& get_obj_info();
 
-	void describe_property(const char *, const PlyProperty&);
-	void describe_property(const char *, int nprops, const PlyProperty*);
-	void get_property(const char *, PlyProperty *);
+	void describe_property(const char*, const PlyProperty&);
+	void describe_property(const char*, int nprops, const PlyProperty*);
+	void get_property(const char*, PlyProperty*);
 	void get_element(void*);
 
-	PlyOtherElems *get_other_element();
+	PlyOtherElems* get_other_element();
 
 	int get_element_list(std::vector<std::string>&) const;
 	void setup_property(const PlyProperty&);
 	LPCSTR setup_element_read(int, int*);
-	PlyOtherProp *get_other_properties(int);
+	PlyOtherProp* get_other_properties(int);
 
-	void element_count(const char *, int);
+	int get_elements_count() const { return (int)elems.size(); }
 	int get_current_element_count() const { return which_elem->num; }
-	void describe_element(char *, int);
+	void element_count(const char*, int);
+	void describe_element(const char*, int);
 	void describe_property(const PlyProperty&);
-	void describe_other_properties(PlyOtherProp *, int);
-	void describe_other_elements( PlyOtherElems *);
-	void get_element_setup(const char *, int, PlyProperty *);
-	int get_element_description(const char *, std::vector<PlyProperty*>&) const;
-	void element_layout(const char *, int, int, PlyProperty *);
+	void describe_other_properties(PlyOtherProp*, int);
+	void describe_other_elements( PlyOtherElems*);
+	void get_element_setup(const char*, int, PlyProperty*);
+	int get_element_description(const char*, std::vector<PlyProperty*>&) const;
+	void element_layout(const char*, int, int, PlyProperty*);
 
 	bool header_complete();
-	void put_element_setup(const char *);
+	void put_element_setup(const char*);
 	void put_element(const void*);
 	void put_other_elements();
 
-	PlyPropRules *init_rule(const char *);
-	void modify_rule(PlyPropRules *, const char *, int);
-	void start_props(PlyPropRules *);
-	void weight_props(float, void *);
-	void *get_new_props();
-	void set_prop_rules(PlyRuleList *);
-	PlyRuleList *append_prop_rule(PlyRuleList *, const char *, const char *);
+	PlyPropRules* init_rule(const char*);
+	void modify_rule(PlyPropRules*, const char*, int);
+	void start_props(PlyPropRules*);
+	void weight_props(float, void*);
+	void* get_new_props();
+	void set_prop_rules(PlyRuleList*);
+	PlyRuleList* append_prop_rule(PlyRuleList*, const char*, const char*);
 
-	/* find an element in a ply's list */
-	PlyElement* find_element(const char *) const;
-	/* find a property in an element's list */
-	int find_property(PlyElement *, const char *) const;
+	// find an element in a ply's list 
+	PlyElement* find_element(const char*) const;
+	// find a property in an element's list 
+	int find_property(PlyElement*, const char*) const;
 
 	static inline bool equal_strings(const char* s1, const char* s2) { return _tcscmp(s1, s2) == 0; }
 
 protected:
-	/* write to a file the word describing a PLY file data type */
-	void write_scalar_type(SEACAVE::OSTREAM*, int);
+	// write to a file the word describing a PLY file data type 
+	void write_scalar_type(int);
 
-	/* read a line from a file and break it up into separate words */
+	// read a line from a file and break it up into separate words 
 	typedef SEACAVE::TokenInputStream<false> STRISTREAM;
-	char **get_words(STRISTREAM&, int *, char **);
+	char** get_words(STRISTREAM&, int*, char**);
 
-	/* write an item to a file */
+	// write an item to a file 
 	void write_binary_item(const ValueType&, int, int);
 	void write_ascii_item(const ValueType&, int, int);
 
-	/* return the value of a stored item */
-	void get_stored_item(void*, int, ValueType&);
+	// return the value of a stored item 
+	static void get_stored_item(const void*, int, ValueType&);
 
-	/* get binary or ascii item and store it according to ptr and type */
-	void get_binary_item(SEACAVE::ISTREAM*, int, ValueType&);
-	void get_ascii_item(const char*, int, ValueType&);
+	// get binary or ascii item and store it according to ptr and type 
+	void get_binary_item(int, ValueType&);
+	static void get_ascii_item(const char*, int, ValueType&);
 
-	/* store a value into where a pointer and a type specify */
-	void store_item(void*, int, const ValueType&, int);
+	// store a value into where a pointer and a type specify 
+	static void store_item(void*, int, const ValueType&, int);
 
-	/* add information to a PLY file descriptor */
-	void add_element(const char **, int);
-	void add_property(const char **, int);
-	void add_comment(const char *);
-	void add_obj_info(const char *);
+	// add information to a PLY file descriptor 
+	void add_element(const char**, int);
+	void add_property(const char**, int);
+	void add_comment(const char*);
+	void add_obj_info(const char*);
 
-	/* get a bunch of elements from a file */
+	// get a bunch of elements from a file 
 	void ascii_get_element(uint8_t*);
 	void binary_get_element(uint8_t*);
 
-	void setup_other_props(PlyElement *);
-	PlyOtherProp *get_other_properties(PlyElement *, int);
-	PlyOtherProp *get_other_properties(const char *, int);
+	void setup_other_props(PlyElement*);
+	PlyOtherProp* get_other_properties(PlyElement*, int);
+	PlyOtherProp* get_other_properties(const char*, int);
 
-	int matches_rule_name(const char *);
-	int get_prop_type(const char *);
+	int matches_rule_name(const char*);
+	int get_prop_type(const char*);
 
-	/* copy a property */
+	// copy a property 
 	static void copy_property(PlyProperty&, const PlyProperty&);
 
-	/* return the value as T stored in val as type */
+	// return the value as T stored in val as type 
 	template <typename T>
 	static inline T ValueType2Type(const ValueType& val, int type) {
 		switch (type) {
@@ -281,32 +285,31 @@ class IO_API PLY
 		return T(0);
 	}
 
-public:
+protected:
 	// description of PLY file
-	std::string filename;          /* file name */
-	SEACAVE::MemFile* mfp;         /* mem file pointer */
-	SEACAVE::OSTREAM* f;           /* output file pointer */
+	std::string filename;             // file name 
+	int file_type;                    // ascii or binary 
+	float version;                    // version number of file 
+	std::vector<PlyElement*> elems;   // list of elements 
+	std::vector<std::string> comments;// list of comments 
+	std::vector<std::string> obj_info;// list of object info items 
+	PlyElement* which_elem;           // element we're currently reading or writing 
+	PlyOtherElems* other_elems;       // "other" elements from a PLY file 
+	PlyPropRules* current_rules;      // current propagation rules 
+	PlyRuleList* rule_list;           // rule list from user 
+	std::vector<double> vals;         // rule list from user 
+
 	union {
-		SEACAVE::ISTREAM* istream; /* input file pointer */
-		SEACAVE::OSTREAM* ostream; /* output file pointer */
+		SEACAVE::ISTREAM* istream;    // input file pointer
+		SEACAVE::OSTREAM* ostream;    // output file pointer
 	};
-	int file_type;                 /* ascii or binary */
-	float version;                 /* version number of file */
-	std::vector<PlyElement*> elems;/* list of elements */
-	std::vector<std::string> comments;/* list of comments */
-	std::vector<std::string> obj_info;/* list of object info items */
-	PlyElement *which_elem;        /* element we're currently reading or writing */
-	PlyOtherElems *other_elems;    /* "other" elements from a PLY file */
-	PlyPropRules *current_rules;   /* current propagation rules */
-	PlyRuleList *rule_list;        /* rule list from user */
-	std::vector<double> vals;      /* rule list from user */
-	const char* const* write_type_names; /* names of scalar types to be used for writing (new types by default) */
+	SEACAVE::MemFile* mfp;            // mem-file pointer (optional)
+	const char* const* write_type_names; // names of scalar types to be used for writing (new types by default)
 
-protected:
-	static const char* const type_names[9]; // names of scalar types
-	static const char* const old_type_names[9]; // old names of types for backward compatibility
+	static const char* const type_names[9]; // names of scalar types 
+	static const char* const old_type_names[9]; // old names of types for backward compatibility 
 	static const int ply_type_size[9];
 	static const RuleName rule_name_list[7];
 };
 
-#endif // __PLY_H__
+#endif // __SEACAVE_PLY_H__
diff --git a/libs/MVS/Camera.h b/libs/MVS/Camera.h
index 0d27daf03..c4674ae8f 100644
--- a/libs/MVS/Camera.h
+++ b/libs/MVS/Camera.h
@@ -131,6 +131,16 @@ class MVS_API CameraIntern
 		return invK;
 	}
 
+	// scale image pixel coordinates with the given scale such that it accounts for
+	// the convention that the center of a pixel is defined at integer coordinates
+	template<typename TYPE>
+	static inline TPoint2<TYPE> ScaleImagePixel(const TPoint2<TYPE>& x, TYPE s) {
+		return TPoint2<TYPE>(
+			(x.x+TYPE(0.5))*s-TYPE(0.5),
+			(x.y+TYPE(0.5))*s-TYPE(0.5)
+		);
+	}
+
 	// return scaled K (assuming standard K format)
 	template<typename TYPE>
 	static inline TMatrix<TYPE,3,3> ScaleK(const TMatrix<TYPE,3,3>& K, TYPE s) {
diff --git a/libs/MVS/Common.h b/libs/MVS/Common.h
index c3125a765..080ef0cc7 100644
--- a/libs/MVS/Common.h
+++ b/libs/MVS/Common.h
@@ -58,6 +58,10 @@
 
 using namespace SEACAVE;
 
+#define _USE_OPENCV
+#define _DISABLE_NO_ID
+#include "Interface.h"
+
 namespace MVS {
 
 /*----------------------------------------------------------------*/
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 142a5e41b..d2178b622 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -32,8 +32,6 @@
 #include "Common.h"
 #include "DepthMap.h"
 #include "Mesh.h"
-#define _USE_OPENCV
-#include "Interface.h"
 #include "../Common/AutoEstimator.h"
 // CGAL: depth-map initialization
 #include <CGAL/Simple_cartesian.h>
diff --git a/libs/MVS/Image.h b/libs/MVS/Image.h
index 642767618..6e8c46952 100644
--- a/libs/MVS/Image.h
+++ b/libs/MVS/Image.h
@@ -46,28 +46,8 @@
 namespace MVS {
 
 typedef uint32_t IIndex;
-typedef cList<IIndex, IIndex, 0, 16, IIndex> IIndexArr;
-
-struct MVS_API ViewInfo {
-	IIndex ID; // image local-ID (the index in the scene images list)
-	uint32_t points; // number of 3D points shared with the reference image
-	float scale; // image scale relative to the reference image
-	float angle; // image angle relative to the reference image (radians)
-	float area; // common image area relative to the reference image (ratio)
-
-	#ifdef _USE_BOOST
-				// implement BOOST serialization
-	template<class Archive>
-	void serialize(Archive& ar, const unsigned int /*version*/) {
-		ar & ID;
-		ar & points;
-		ar & scale;
-		ar & angle;
-		ar & area;
-	}
-	#endif
-};
-typedef MVS_API TIndexScore<ViewInfo, float> ViewScore;
+typedef SEACAVE::cList<IIndex, IIndex, 0, 16, IIndex> IIndexArr;
+typedef _INTERFACE_NAMESPACE::Interface::Image::ViewScore ViewScore;
 typedef MVS_API CLISTDEF0IDX(ViewScore, IIndex) ViewScoreArr;
 /*----------------------------------------------------------------*/
 
@@ -89,7 +69,7 @@ class MVS_API Image
 	float avgDepth; // average depth of the points seen by this camera
 
 public:
-	inline Image() : poseID(NO_ID), width(0), height(0) {}
+	inline Image() : poseID(NO_ID), width(0), height(0), avgDepth(0) {}
 
 	inline bool IsValid() const { return poseID != NO_ID; }
 	inline bool HasResolution() const { return width > 0 && height > 0; }
diff --git a/libs/MVS/Interface.h b/libs/MVS/Interface.h
index 6cbad1eb4..920e93b21 100644
--- a/libs/MVS/Interface.h
+++ b/libs/MVS/Interface.h
@@ -13,7 +13,7 @@
 // D E F I N E S ///////////////////////////////////////////////////
 
 #define MVSI_PROJECT_ID "MVSI" // identifies the project stream
-#define MVSI_PROJECT_VER ((uint32_t)6) // identifies the version of a project stream
+#define MVSI_PROJECT_VER ((uint32_t)7) // identifies the version of a project stream
 
 // set a default namespace name if none given
 #ifndef _INTERFACE_NAMESPACE
@@ -26,6 +26,11 @@
 #define _USE_CUSTOM_CV
 #endif
 
+// set to disable custom NO_ID declaration
+#ifndef _DISABLE_NO_ID
+#define _INTERFACE_NO_ID
+#endif
+
 
 // S T R U C T S ///////////////////////////////////////////////////
 
@@ -162,7 +167,9 @@ class Matx
 namespace _INTERFACE_NAMESPACE {
 
 // invalid index
+#ifdef _INTERFACE_NO_ID
 constexpr uint32_t NO_ID {std::numeric_limits<uint32_t>::max()};
+#endif
 
 // custom serialization
 namespace ARCHIVE {
@@ -514,14 +521,40 @@ struct Interface
 
 	// structure describing an image
 	struct Image {
+		// structure describing how an other image relates to this image in terms of overlap,
+		// i.e. how many 3D points are shared between the two images, base-line and common area,
+		// useful for ex. when selecting the best images to densly match with
+		struct ViewScore {
+			uint32_t ID; // image local-ID, the index in this scene images list
+			uint32_t points; // number of 3D points shared with the reference image
+			float scale; // image scale relative to the reference image
+			float angle; // image angle relative to the reference image (radians)
+			float area; // common image area relative to the reference image (ratio)
+			float score; // aggregated image score relative to the reference image (larger is better)
+
+			template<class Archive>
+			void serialize(Archive& ar, const unsigned int /*version*/) {
+				ar & ID;
+				ar & points;
+				ar & scale;
+				ar & angle;
+				ar & area;
+				ar & score;
+			}
+		};
+		
 		std::string name; // image file name
 		std::string maskName; // segmentation file name (optional)
 		uint32_t platformID; // ID of the associated platform
 		uint32_t cameraID; // ID of the associated camera on the associated platform
 		uint32_t poseID; // ID of the pose of the associated platform
-		uint32_t ID; // ID of this image in the global space (optional)
+		uint32_t ID; // image global-ID, ex. the ID given outside the current scene, like the index in the full list of image files (optional)
+		float minDepth; // minimum depth of the points seen by this image (optional)
+		float avgDepth; // average depth of the points seen by this image (optional)
+		float maxDepth; // maximum depth of the points seen by this image (optional)
+		std::vector<ViewScore> viewScores; // list of view scores for this image (optional)
 
-		Image() : platformID(NO_ID), cameraID(NO_ID), poseID(NO_ID), ID(NO_ID) {}
+		Image() : platformID(NO_ID), cameraID(NO_ID), poseID(NO_ID), ID(NO_ID), minDepth(0), avgDepth(0), maxDepth(0) {}
 
 		bool IsValid() const { return poseID != NO_ID; }
 
@@ -537,6 +570,12 @@ struct Interface
 			if (version > 2) {
 				ar & ID;
 			}
+			if (version > 6) {
+				ar & minDepth;
+				ar & avgDepth;
+				ar & maxDepth;
+				ar & viewScores;
+			}
 		}
 	};
 	typedef std::vector<Image> ImageArr;
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index d22b0ef58..4debab8f7 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -1464,51 +1464,110 @@ void Mesh::FaceTexcoordsUnnormalize(TexCoordArr& newFaceTexcoords, bool flipY) c
 
 
 // define a PLY file format composed only of vertices and triangles
+namespace MeshInternal {
 namespace BasicPLY {
-	// list of property information for a vertex
-	static const PLY::PlyProperty vert_props[] = {
-		{"x", PLY::Float32, PLY::Float32, offsetof(Mesh::Vertex,x), 0, 0, 0, 0},
-		{"y", PLY::Float32, PLY::Float32, offsetof(Mesh::Vertex,y), 0, 0, 0, 0},
-		{"z", PLY::Float32, PLY::Float32, offsetof(Mesh::Vertex,z), 0, 0, 0, 0}
+	// list of the kinds of elements in the PLY
+	static const char* elem_names[] = {
+		"vertex",
+		"face"
 	};
-	struct VertexNormal {
+	// list of property information for a vertex
+	struct Vertex {
 		Mesh::Vertex v;
 		Mesh::Normal n;
+		static void InitLoadProps(PLY& ply, int elem_count,
+			Mesh::VertexArr& vertices, Mesh::NormalArr& vertexNormals)
+		{
+			PLY::PlyElement* elm = ply.find_element(elem_names[0]);
+			const size_t nMaxProps(SizeOfArray(props));
+			for (size_t p=0; p<nMaxProps; ++p) {
+				if (ply.find_property(elm, props[p].name.c_str()) < 0)
+					continue;
+				ply.setup_property(props[p]);
+				switch (p) {
+				case 0: vertices.resize((IDX)elem_count); break;
+				case 3: vertexNormals.resize((IDX)elem_count); break;
+				}
+			}
+		}
+		static void Select(PLY& ply) {
+			ply.put_element_setup(elem_names[0]);
+		}
+		static void InitSaveProps(PLY& ply, int elem_count,
+			bool bNormals)
+		{
+			ply.describe_property(elem_names[0], 3, props+0);
+			if (bNormals)
+				ply.describe_property(elem_names[0], 3, props+3);
+			if (elem_count)
+				ply.element_count(elem_names[0], elem_count);
+		}
+		static const PLY::PlyProperty props[9];
 	};
-	static const PLY::PlyProperty vert_normal_props[] = {
-		{ "x", PLY::Float32, PLY::Float32, offsetof(VertexNormal,v.x), 0, 0, 0, 0},
-		{ "y", PLY::Float32, PLY::Float32, offsetof(VertexNormal,v.y), 0, 0, 0, 0},
-		{ "z", PLY::Float32, PLY::Float32, offsetof(VertexNormal,v.z), 0, 0, 0, 0},
-		{"nx", PLY::Float32, PLY::Float32, offsetof(VertexNormal,n.x), 0, 0, 0, 0},
-		{"ny", PLY::Float32, PLY::Float32, offsetof(VertexNormal,n.y), 0, 0, 0, 0},
-		{"nz", PLY::Float32, PLY::Float32, offsetof(VertexNormal,n.z), 0, 0, 0, 0}
+	const PLY::PlyProperty Vertex::props[] = {
+		{"x",             PLY::Float32, PLY::Float32, offsetof(Vertex,v.x), 0, 0, 0, 0},
+		{"y",             PLY::Float32, PLY::Float32, offsetof(Vertex,v.y), 0, 0, 0, 0},
+		{"z",             PLY::Float32, PLY::Float32, offsetof(Vertex,v.z), 0, 0, 0, 0},
+		{"nx",            PLY::Float32, PLY::Float32, offsetof(Vertex,n.x), 0, 0, 0, 0},
+		{"ny",            PLY::Float32, PLY::Float32, offsetof(Vertex,n.y), 0, 0, 0, 0},
+		{"nz",            PLY::Float32, PLY::Float32, offsetof(Vertex,n.z), 0, 0, 0, 0}
 	};
 	// list of property information for a face
 	struct Face {
-		uint8_t num;
-		Mesh::Face* pFace;
-	};
-	static const PLY::PlyProperty face_props[] = {
-		{"vertex_indices", PLY::Uint32, PLY::Uint32, offsetof(Face,pFace), 1, PLY::Uint8, PLY::Uint8, offsetof(Face,num)}
-	};
-	struct TexCoord {
-		uint8_t num;
-		Mesh::TexCoord* pTex;
-	};
-	struct FaceTex {
-		Face face;
-		TexCoord tex;
-	};
-	static const PLY::PlyProperty face_tex_props[] = {
-		{"vertex_indices", PLY::Uint32, PLY::Uint32, offsetof(FaceTex,face.pFace), 1, PLY::Uint8, PLY::Uint8, offsetof(FaceTex,face.num)},
-		{"texcoord", PLY::Float32, PLY::Float32, offsetof(FaceTex,tex.pTex), 1, PLY::Uint8, PLY::Uint8, offsetof(FaceTex,tex.num)}
+		struct FaceIndices {
+			uint8_t num;
+			Mesh::Face* pFace;
+		} face;
+		struct TexCoord {
+			uint8_t num;
+			Mesh::TexCoord* pTex;
+		} tex;
+		Mesh::TexChunk chunk;
+		float weight;
+		static void InitLoadProps(PLY& ply, int elem_count,
+			Mesh::FaceArr& faces, Mesh::TexCoordArr& faceTexcoords, Mesh::TexChunkArr& faceTextureChunks)
+		{
+			PLY::PlyElement* elm = ply.find_element(elem_names[1]);
+			const size_t nMaxProps(SizeOfArray(props));
+			for (size_t p=0; p<nMaxProps; ++p) {
+				if (ply.find_property(elm, props[p].name.c_str()) < 0)
+					continue;
+				ply.setup_property(props[p]);
+				switch (p) {
+				case 0: faces.resize((IDX)elem_count); break;
+				case 1: faceTexcoords.resize((IDX)elem_count*3); break;
+				case 2: faceTextureChunks.resize((IDX)elem_count); break;
+				}
+			}
+		}
+		static void Select(PLY& ply) {
+			ply.put_element_setup(elem_names[1]);
+		}
+		static void InitSaveProps(
+			PLY& ply, int elem_count,
+			bool bFaces, bool bTexcoord, bool bTexnumber, bool bFaceweight=false)
+		{
+			if (bFaces)
+				ply.describe_property(elem_names[1], props[0]);
+			if (bTexcoord)
+				ply.describe_property(elem_names[1], props[1]);
+			if (bTexnumber)
+				ply.describe_property(elem_names[1], props[2]);
+			if (bFaceweight)
+				ply.describe_property(elem_names[1], props[3]);
+			if (elem_count)
+				ply.element_count(elem_names[1], elem_count);
+		}
+		static const PLY::PlyProperty props[4];
 	};
-	// list of the kinds of elements in the PLY
-	static const char* elem_names[] = {
-		"vertex",
-		"face"
+	const PLY::PlyProperty Face::props[] = {
+		{"vertex_indices", PLY::Uint32,  PLY::Uint32,  offsetof(Face,face.pFace), 1, PLY::Uint8, PLY::Uint8, offsetof(Face,face.num)},
+		{"texcoord",       PLY::Float32, PLY::Float32, offsetof(Face,tex.pTex),   1, PLY::Uint8, PLY::Uint8, offsetof(Face,tex.num)},
+		{"texnumber",      PLY::Int32,   PLY::Uint8,   offsetof(Face,chunk),      0, 0,          0,          0},
+		{"weight",         PLY::Float32, PLY::Float32, offsetof(Face,weight),     0, 0,          0,          0},
 	};
 } // namespace BasicPLY
+} // namespace MeshInternal
 
 // import the mesh from the given file
 bool Mesh::Load(const String& fileName)
@@ -1535,68 +1594,62 @@ bool Mesh::LoadPLY(const String& fileName)
 	Release();
 
 	// open PLY file and read header
+	using namespace MeshInternal;
 	PLY ply;
 	if (!ply.read(fileName)) {
 		DEBUG_EXTRA("error: invalid PLY file");
 		return false;
 	}
-	for (int i = 0; i < (int)ply.elems.size(); ++i) {
+	for (int i = 0; i < ply.get_elements_count(); ++i) {
 		int elem_count;
 		LPCSTR elem_name = ply.setup_element_read(i, &elem_count);
 		if (PLY::equal_strings(BasicPLY::elem_names[0], elem_name)) {
-			vertices.Resize(elem_count);
+			vertices.resize(elem_count);
 		} else
 		if (PLY::equal_strings(BasicPLY::elem_names[1], elem_name)) {
-			faces.Resize(elem_count);
+			faces.resize(elem_count);
 		}
 	}
+	if (vertices.empty() && faces.empty())
+		return true;
 	if (vertices.IsEmpty() || faces.IsEmpty()) {
-		Release();
 		DEBUG_EXTRA("error: invalid mesh file");
 		return false;
 	}
 
 	// read PLY body
-	for (int i = 0; i < (int)ply.elems.size(); i++) {
+	for (int i = 0; i < ply.get_elements_count(); i++) {
 		int elem_count;
 		LPCSTR elem_name = ply.setup_element_read(i, &elem_count);
 		if (PLY::equal_strings(BasicPLY::elem_names[0], elem_name)) {
 			ASSERT(vertices.size() == (VIndex)elem_count);
-			ply.setup_property(BasicPLY::vert_props[0]);
-			ply.setup_property(BasicPLY::vert_props[1]);
-			ply.setup_property(BasicPLY::vert_props[2]);
-			FOREACHPTR(pVert, vertices)
-				ply.get_element(pVert);
+			BasicPLY::Vertex::InitLoadProps(ply, elem_count, vertices, vertexNormals);
+			if (vertexNormals.empty()) {
+				for (Vertex& vert: vertices)
+					ply.get_element(&vert);
+			} else {
+				BasicPLY::Vertex vertex;
+				for (int v=0; v<elem_count; ++v) {
+					ply.get_element(&vertex);
+					vertices[v] = vertex.v;
+					vertexNormals[v] = vertex.n;
+				}
+			}
 		} else
 		if (PLY::equal_strings(BasicPLY::elem_names[1], elem_name)) {
 			ASSERT(faces.size() == (FIndex)elem_count);
-			if (ply.find_property(ply.elems[i], BasicPLY::face_tex_props[1].name.c_str()) == -1) {
-				// load vertex indices
-				BasicPLY::Face face;
-				ply.setup_property(BasicPLY::face_props[0]);
-				FOREACHPTR(pFace, faces) {
-					ply.get_element(&face);
-					if (face.num != 3) {
-						DEBUG_EXTRA("error: unsupported mesh file (face not triangle)");
-						return false;
-					}
-					memcpy(pFace, face.pFace, sizeof(VIndex)*3);
-					delete[] face.pFace;
+			TexChunkArr faceTextureChunks; // TODO: replace with mesh texture chunks when implemented
+			BasicPLY::Face::InitLoadProps(ply, elem_count, faces, faceTexcoords, faceTextureChunks);
+			BasicPLY::Face face;
+			FOREACH(f, faces) {
+				ply.get_element(&face);
+				if (face.face.num != 3) {
+					DEBUG_EXTRA("error: unsupported mesh file (face not triangle)");
+					return false;
 				}
-			} else {
-				// load vertex indices and texture coordinates
-				faceTexcoords.resize((FIndex)elem_count*3);
-				BasicPLY::FaceTex face;
-				ply.setup_property(BasicPLY::face_tex_props[0]);
-				ply.setup_property(BasicPLY::face_tex_props[1]);
-				FOREACH(f, faces) {
-					ply.get_element(&face);
-					if (face.face.num != 3) {
-						DEBUG_EXTRA("error: unsupported mesh file (face not triangle)");
-						return false;
-					}
-					memcpy(faces.data()+f, face.face.pFace, sizeof(VIndex)*3);
-					delete[] face.face.pFace;
+				memcpy(faces.data()+f, face.face.pFace, sizeof(Face));
+				delete[] face.face.pFace;
+				if (!faceTexcoords.empty()) {
 					if (face.tex.num != 6) {
 						DEBUG_EXTRA("error: unsupported mesh file (texture coordinates not per face vertex)");
 						return false;
@@ -1604,6 +1657,10 @@ bool Mesh::LoadPLY(const String& fileName)
 					memcpy(faceTexcoords.data()+f*3, face.tex.pTex, sizeof(TexCoord)*3);
 					delete[] face.tex.pTex;
 				}
+				if (!faceTextureChunks.empty())
+					faceTextureChunks[f] = face.chunk;
+			}
+			if (!faceTexcoords.empty()) {
 				// load the texture
 				for (const std::string& comment: ply.get_comments()) {
 					if (_tcsncmp(comment.c_str(), _T("TextureFile "), 12) == 0) {
@@ -1780,76 +1837,66 @@ bool Mesh::Save(const String& fileName, const cList<String>& comments, bool bBin
 	return true;
 }
 // export the mesh as a PLY file
-bool Mesh::SavePLY(const String& fileName, const cList<String>& comments, bool bBinary) const
+bool Mesh::SavePLY(const String& fileName, const cList<String>& comments, bool bBinary, bool bTexLossless) const
 {
 	ASSERT(!fileName.empty());
 	Util::ensureFolder(fileName);
 
 	// create PLY object
-	const size_t bufferSize(vertices.size()*(4*3/*pos*/+2/*eol*/) + faces.size()*(1*1/*len*/+4*3/*idx*/+2/*eol*/) + 2048/*extra size*/);
+	using namespace MeshInternal;
 	PLY ply;
-	if (!ply.write(fileName, 2, BasicPLY::elem_names, bBinary?PLY::BINARY_LE:PLY::ASCII, bufferSize)) {
+	if (!ply.write(fileName, 2, BasicPLY::elem_names, bBinary?PLY::BINARY_LE:PLY::ASCII)) {
 		DEBUG_EXTRA("error: can not create the mesh file");
 		return false;
 	}
 
 	// export comments
-	FOREACHPTR(pStr, comments)
-		ply.append_comment(pStr->c_str());
+	for (const String& comment: comments)
+		ply.append_comment(comment);
 
 	// export texture file name as comment if needed
 	String textureFileName;
 	if (!faceTexcoords.empty() && !textureDiffuse.empty()) {
-		textureFileName = Util::getFileFullName(fileName)+_T(".png");
+		textureFileName = Util::getFileFullName(fileName)+(bTexLossless?_T(".png"):_T(".jpg"));
 		ply.append_comment((_T("TextureFile ")+Util::getFileNameExt(textureFileName)).c_str());
 	}
 
-	if (vertexNormals.empty()) {
-		// describe what properties go into the vertex elements
-		ply.describe_property(BasicPLY::elem_names[0], 3, BasicPLY::vert_props);
+	// describe what properties go into vertex and face elements
+	ASSERT(vertexNormals.empty() || vertexNormals.size() == vertices.size());
+	BasicPLY::Vertex::InitSaveProps(ply, (int)vertices.size(), !vertexNormals.empty());
+	BasicPLY::Face::InitSaveProps(ply, (int)faces.size(), !faces.empty(), !faceTexcoords.empty(), false);
+	if (!ply.header_complete())
+		return false;
 
-		// export the array of vertices
+	// export the array of vertices
+	BasicPLY::Vertex::Select(ply);
+	if (vertexNormals.empty()) {
 		FOREACHPTR(pVert, vertices)
 			ply.put_element(pVert);
 	} else {
-		ASSERT(vertices.size() == vertexNormals.size());
-
-		// describe what properties go into the vertex elements
-		ply.describe_property(BasicPLY::elem_names[0], 6, BasicPLY::vert_normal_props);
-
-		// export the array of vertices
-		BasicPLY::VertexNormal vn;
+		BasicPLY::Vertex v;
 		FOREACH(i, vertices) {
-			vn.v = vertices[i];
-			vn.n = vertexNormals[i];
-			ply.put_element(&vn);
+			v.v = vertices[i];
+			v.n = vertexNormals[i];
+			ply.put_element(&v);
 		}
 	}
-	if (ply.get_current_element_count() == 0)
-		return false;
+	ASSERT(ply.get_current_element_count() == (int)vertices.size());
 
+	// export the array of faces
+	BasicPLY::Face::Select(ply);
+	BasicPLY::Face face = {{3},{6}};
 	if (faceTexcoords.empty()) {
-		// describe what properties go into the vertex elements
-		ply.describe_property(BasicPLY::elem_names[1], 1, BasicPLY::face_props);
-
-		// export the array of faces
-		BasicPLY::Face face = {3};
 		FOREACHPTR(pFace, faces) {
-			face.pFace = pFace;
+			face.face.pFace = const_cast<Face*>(pFace);
 			ply.put_element(&face);
 		}
 	} else {
-		ASSERT(faceTexcoords.size() == faces.size()*3);
-
 		// translate, normalize and flip Y axis of the texture coordinates
 		TexCoordArr normFaceTexcoords;
 		FaceTexcoordsNormalize(normFaceTexcoords, true);
 
-		// describe what properties go into the vertex elements
-		ply.describe_property(BasicPLY::elem_names[1], 2, BasicPLY::face_tex_props);
-
 		// export the array of faces
-		BasicPLY::FaceTex face = {{3},{6}};
 		FOREACH(f, faces) {
 			face.face.pFace = faces.data()+f;
 			face.tex.pTex = normFaceTexcoords.data()+f*3;
@@ -1860,11 +1907,9 @@ bool Mesh::SavePLY(const String& fileName, const cList<String>& comments, bool b
 		if (!textureDiffuse.empty())
 			textureDiffuse.Save(textureFileName);
 	}
-	if (ply.get_current_element_count() == 0)
-		return false;
+	ASSERT(ply.get_current_element_count() == (int)faces.size());
 
-	// write to file
-	return ply.header_complete();
+	return true;
 }
 // export the mesh as a OBJ file
 bool Mesh::SaveOBJ(const String& fileName) const
@@ -2111,24 +2156,24 @@ bool Mesh::Save(const VertexArr& vertices, const String& fileName, bool bBinary)
 	Util::ensureFolder(fileName);
 
 	// create PLY object
-	const size_t bufferSize(vertices.GetSize()*(4*3/*pos*/+2/*eol*/) + 2048/*extra size*/);
+	using namespace MeshInternal;
 	PLY ply;
-	if (!ply.write(fileName, 1, BasicPLY::elem_names, bBinary?PLY::BINARY_LE:PLY::ASCII, bufferSize)) {
+	if (!ply.write(fileName, 1, BasicPLY::elem_names, bBinary?PLY::BINARY_LE:PLY::ASCII)) {
 		DEBUG_EXTRA("error: can not create the mesh file");
 		return false;
 	}
 
-	// describe what properties go into the vertex elements
-	ply.describe_property(BasicPLY::elem_names[0], 3, BasicPLY::vert_props);
+	// describe what properties go into vertex and face elements
+	BasicPLY::Vertex::InitSaveProps(ply, (int)vertices.size(), false);
+	if (!ply.header_complete())
+		return false;
 
 	// export the array of vertices
 	FOREACHPTR(pVert, vertices)
 		ply.put_element(pVert);
-	if (ply.get_current_element_count() == 0)
-		return false;
+	ASSERT(ply.get_current_element_count() == (int)vertices.size());
 
-	// write to file
-	return ply.header_complete();
+	return true;
 }
 /*----------------------------------------------------------------*/
 
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 214e2f21c..8d962e11f 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -57,22 +57,25 @@ class MVS_API Mesh
 	typedef TPoint3<VIndex> Face;
 	typedef uint32_t FIndex;
 
-	typedef cList<Vertex,const Vertex&,0,8192,VIndex> VertexArr;
-	typedef cList<Face,const Face&,0,8192,FIndex> FaceArr;
+	typedef SEACAVE::cList<Vertex,const Vertex&,0,8192,VIndex> VertexArr;
+	typedef SEACAVE::cList<Face,const Face&,0,8192,FIndex> FaceArr;
 
-	typedef cList<VIndex,VIndex,0,8,VIndex> VertexIdxArr;
-	typedef cList<FIndex,FIndex,0,8,FIndex> FaceIdxArr;
-	typedef cList<VertexIdxArr,const VertexIdxArr&,2,8192,VIndex> VertexVerticesArr;
-	typedef cList<FaceIdxArr,const FaceIdxArr&,2,8192,VIndex> VertexFacesArr;
+	typedef SEACAVE::cList<VIndex,VIndex,0,8,VIndex> VertexIdxArr;
+	typedef SEACAVE::cList<FIndex,FIndex,0,8,FIndex> FaceIdxArr;
+	typedef SEACAVE::cList<VertexIdxArr,const VertexIdxArr&,2,8192,VIndex> VertexVerticesArr;
+	typedef SEACAVE::cList<FaceIdxArr,const FaceIdxArr&,2,8192,VIndex> VertexFacesArr;
 
 	typedef TPoint3<Type> Normal;
-	typedef cList<Normal,const Normal&,0,8192,FIndex> NormalArr;
+	typedef SEACAVE::cList<Normal,const Normal&,0,8192,FIndex> NormalArr;
 
 	typedef TPoint2<Type> TexCoord;
-	typedef cList<TexCoord,const TexCoord&,0,8192,FIndex> TexCoordArr;
+	typedef SEACAVE::cList<TexCoord,const TexCoord&,0,8192,FIndex> TexCoordArr;
+
+	typedef uint8_t TexChunk;
+	typedef SEACAVE::cList<TexChunk,const TexChunk&,0,8192,FIndex> TexChunkArr;
 
 	typedef TPoint3<FIndex> FaceFaces;
-	typedef cList<FaceFaces,const FaceFaces&,0,8192,FIndex> FaceFacesArr;
+	typedef SEACAVE::cList<FaceFaces,const FaceFaces&,0,8192,FIndex> FaceFacesArr;
 
 	// used to find adjacent face
 	struct FaceCount {
@@ -114,7 +117,7 @@ class MVS_API Mesh
 		FaceIdxArr faces;
 		Box box;
 	};
-	typedef cList<FaceChunk,const FaceChunk&,2,16,uint32_t> FacesChunkArr;
+	typedef SEACAVE::cList<FaceChunk,const FaceChunk&,2,16,uint32_t> FacesChunkArr;
 
 public:
 	VertexArr vertices;
@@ -240,7 +243,7 @@ class MVS_API Mesh
 	bool LoadOBJ(const String& fileName);
 	bool LoadGLTF(const String& fileName, bool bBinary=true);
 
-	bool SavePLY(const String& fileName, const cList<String>& comments=cList<String>(), bool bBinary=true) const;
+	bool SavePLY(const String& fileName, const cList<String>& comments=cList<String>(), bool bBinary=true, bool bTexLossless=true) const;
 	bool SaveOBJ(const String& fileName) const;
 	bool SaveGLTF(const String& fileName, bool bBinary=true) const;
 
diff --git a/libs/MVS/PointCloud.cpp b/libs/MVS/PointCloud.cpp
index 2920b8978..15689a058 100644
--- a/libs/MVS/PointCloud.cpp
+++ b/libs/MVS/PointCloud.cpp
@@ -226,46 +226,95 @@ Planef PointCloud::EstimateGroundPlane(const ImageArr& images, float planeThresh
 
 
 // define a PLY file format composed only of vertices
+namespace PointCloudInternal {
 namespace BasicPLY {
-	typedef PointCloud::Point Point;
-	typedef PointCloud::Color Color;
-	typedef PointCloud::Normal Normal;
-	// list of property information for a vertex
-	struct PointColNormal {
-		Point p;
-		Color c;
-		Normal n;
-		float scale;
-		float confidence;
-	};
-	static const PLY::PlyProperty vert_props[] = {
-		{"x",     PLY::Float32, PLY::Float32, offsetof(PointColNormal,p.x), 0, 0, 0, 0},
-		{"y",     PLY::Float32, PLY::Float32, offsetof(PointColNormal,p.y), 0, 0, 0, 0},
-		{"z",     PLY::Float32, PLY::Float32, offsetof(PointColNormal,p.z), 0, 0, 0, 0},
-		{"red",   PLY::Uint8,   PLY::Uint8,   offsetof(PointColNormal,c.r), 0, 0, 0, 0},
-		{"green", PLY::Uint8,   PLY::Uint8,   offsetof(PointColNormal,c.g), 0, 0, 0, 0},
-		{"blue",  PLY::Uint8,   PLY::Uint8,   offsetof(PointColNormal,c.b), 0, 0, 0, 0},
-		{"nx",    PLY::Float32, PLY::Float32, offsetof(PointColNormal,n.x), 0, 0, 0, 0},
-		{"ny",    PLY::Float32, PLY::Float32, offsetof(PointColNormal,n.y), 0, 0, 0, 0},
-		{"nz",    PLY::Float32, PLY::Float32, offsetof(PointColNormal,n.z), 0, 0, 0, 0},
-		{"scale", PLY::Float32, PLY::Float32, offsetof(PointColNormal,scale), 0, 0, 0, 0},
-		{"confidence", PLY::Float32, PLY::Float32, offsetof(PointColNormal,confidence), 0, 0, 0, 0}
-	};
 	// list of the kinds of elements in the PLY
 	static const char* elem_names[] = {
 		"vertex"
 	};
+	// list of property information for a vertex
+	struct Vertex {
+		PointCloud::Point p;
+		PointCloud::Color c;
+		PointCloud::Normal n;
+		struct Views {
+			uint8_t num;
+			uint32_t* pIndices;
+			float* pWeights;
+		} views;
+		float confidence;
+		float scale;
+		static void InitLoadProps(PLY& ply, int elem_count,
+			PointCloud::PointArr& points, PointCloud::ColorArr& colors, PointCloud::NormalArr& normals, PointCloud::PointViewArr& views, PointCloud::PointWeightArr& weights)
+		{
+			PLY::PlyElement* elm = ply.find_element(elem_names[0]);
+			const size_t nMaxProps(SizeOfArray(props));
+			for (size_t p=0; p<nMaxProps; ++p) {
+				if (ply.find_property(elm, props[p].name.c_str()) < 0)
+					continue;
+				ply.setup_property(props[p]);
+				switch (p) {
+				case 0: points.resize((IDX)elem_count); break;
+				case 3: case 13: colors.resize((IDX)elem_count); break;
+				case 6: normals.resize((IDX)elem_count); break;
+				case 9: views.resize((IDX)elem_count); break;
+				case 10: weights.resize((IDX)elem_count); break;
+				}
+			}
+		}
+		static void InitSaveProps(PLY& ply, int elem_count,
+			bool bColors, bool bNormals, bool bViews, bool bWeights, bool bConfidence=false, bool bScale=false)
+		{
+			ply.describe_property(elem_names[0], 3, props+0);
+			if (bColors)
+				ply.describe_property(elem_names[0], 3, props+3);
+			if (bNormals)
+				ply.describe_property(elem_names[0], 3, props+6);
+			if (bViews)
+				ply.describe_property(elem_names[0], props[9]);
+			if (bWeights)
+				ply.describe_property(elem_names[0], props[10]);
+			if (bConfidence)
+				ply.describe_property(elem_names[0], props[11]);
+			if (bScale)
+				ply.describe_property(elem_names[0], props[12]);
+			if (elem_count)
+				ply.element_count(elem_names[0], elem_count);
+		}
+		static const PLY::PlyProperty props[16];
+	};
+	const PLY::PlyProperty Vertex::props[16] = {
+		{"x",             PLY::Float32, PLY::Float32, offsetof(Vertex,p.x), 0, 0, 0, 0},
+		{"y",             PLY::Float32, PLY::Float32, offsetof(Vertex,p.y), 0, 0, 0, 0},
+		{"z",             PLY::Float32, PLY::Float32, offsetof(Vertex,p.z), 0, 0, 0, 0},
+		{"red",           PLY::Uint8,   PLY::Uint8,   offsetof(Vertex,c.r), 0, 0, 0, 0},
+		{"green",         PLY::Uint8,   PLY::Uint8,   offsetof(Vertex,c.g), 0, 0, 0, 0},
+		{"blue",          PLY::Uint8,   PLY::Uint8,   offsetof(Vertex,c.b), 0, 0, 0, 0},
+		{"nx",            PLY::Float32, PLY::Float32, offsetof(Vertex,n.x), 0, 0, 0, 0},
+		{"ny",            PLY::Float32, PLY::Float32, offsetof(Vertex,n.y), 0, 0, 0, 0},
+		{"nz",            PLY::Float32, PLY::Float32, offsetof(Vertex,n.z), 0, 0, 0, 0},
+		{"view_indices",  PLY::Uint32,  PLY::Uint32,  offsetof(Vertex,views.pIndices), 1, PLY::Uint8, PLY::Uint8, offsetof(Vertex,views.num)},
+		{"view_weights",  PLY::Float32, PLY::Float32, offsetof(Vertex,views.pWeights), 1, PLY::Uint8, PLY::Uint8, offsetof(Vertex,views.num)},
+		{"confidence",    PLY::Float32, PLY::Float32, offsetof(Vertex,confidence), 0, 0, 0, 0},
+		{"value",         PLY::Float32, PLY::Float32, offsetof(Vertex,scale), 0, 0, 0, 0},
+		// duplicates
+		{"diffuse_red",   PLY::Uint8,   PLY::Uint8,   offsetof(Vertex,c.r), 0, 0, 0, 0},
+		{"diffuse_green", PLY::Uint8,   PLY::Uint8,   offsetof(Vertex,c.g), 0, 0, 0, 0},
+		{"diffuse_blue",  PLY::Uint8,   PLY::Uint8,   offsetof(Vertex,c.b), 0, 0, 0, 0}
+	};
 } // namespace BasicPLY
+} // namespace PointCloudInternal
 
 // load the dense point cloud from a PLY file
 bool PointCloud::Load(const String& fileName)
 {
 	TD_TIMER_STARTD();
 
-	ASSERT(!fileName.IsEmpty());
+	ASSERT(!fileName.empty());
 	Release();
 
 	// open PLY file and read header
+	using namespace PointCloudInternal;
 	PLY ply;
 	if (!ply.read(fileName)) {
 		DEBUG_EXTRA("error: invalid PLY file");
@@ -273,98 +322,82 @@ bool PointCloud::Load(const String& fileName)
 	}
 
 	// read PLY body
-	BasicPLY::PointColNormal vertex;
-	for (int i = 0; i < (int)ply.elems.size(); i++) {
+	for (int i = 0; i < ply.get_elements_count(); i++) {
 		int elem_count;
 		LPCSTR elem_name = ply.setup_element_read(i, &elem_count);
 		if (PLY::equal_strings(BasicPLY::elem_names[0], elem_name)) {
-			PLY::PlyElement* elm = ply.find_element(elem_name);
-			const size_t nMaxProps(SizeOfArray(BasicPLY::vert_props));
-			for (size_t p=0; p<nMaxProps; ++p) {
-				if (ply.find_property(elm, BasicPLY::vert_props[p].name.c_str()) < 0)
-					continue;
-				ply.setup_property(BasicPLY::vert_props[p]);
-				switch (p) {
-				case 0: points.Resize((IDX)elem_count); break;
-				case 3: colors.Resize((IDX)elem_count); break;
-				case 6: normals.Resize((IDX)elem_count); break;
-				}
-			}
+			BasicPLY::Vertex::InitLoadProps(ply, elem_count, points, colors, normals, pointViews, pointWeights);
+			BasicPLY::Vertex vertex;
 			for (int v=0; v<elem_count; ++v) {
 				ply.get_element(&vertex);
 				points[v] = vertex.p;
-				if (!colors.IsEmpty())
+				if (!colors.empty())
 					colors[v] = vertex.c;
-				if (!normals.IsEmpty())
+				if (!normals.empty())
 					normals[v] = vertex.n;
+				if (!pointViews.empty())
+					pointViews[v].CopyOfRemove(ViewArr(vertex.views.num, vertex.views.pIndices));
+				if (!pointWeights.empty())
+					pointWeights[v].CopyOfRemove(WeightArr(vertex.views.num, vertex.views.pWeights));
 			}
 		} else {
 			ply.get_other_element();
 		}
 	}
-	if (points.IsEmpty()) {
+	if (points.empty()) {
 		DEBUG_EXTRA("error: invalid point-cloud");
 		return false;
 	}
 
-	DEBUG_EXTRA("Point-cloud loaded: %u points (%s)", points.GetSize(), TD_TIMER_GET_FMT().c_str());
+	DEBUG_EXTRA("Point-cloud '%s' loaded: %u points (%s)", Util::getFileNameExt(fileName).c_str(), points.size(), TD_TIMER_GET_FMT().c_str());
 	return true;
 } // Load
 
 // save the dense point cloud as PLY file
-bool PointCloud::Save(const String& fileName, bool bLegacyTypes, bool bBinary) const
+bool PointCloud::Save(const String& fileName, bool bViews, bool bLegacyTypes, bool bBinary) const
 {
-	if (points.IsEmpty())
+	if (points.empty())
 		return false;
 	TD_TIMER_STARTD();
 
 	// create PLY object
-	ASSERT(!fileName.IsEmpty());
+	ASSERT(!fileName.empty());
 	Util::ensureFolder(fileName);
+	using namespace PointCloudInternal;
 	PLY ply;
 	if (bLegacyTypes)
 		ply.set_legacy_type_names();
-	if (!ply.write(fileName, 1, BasicPLY::elem_names, bBinary?PLY::BINARY_LE:PLY::ASCII, 64*1024))
+	if (!ply.write(fileName, 1, BasicPLY::elem_names, bBinary?PLY::BINARY_LE:PLY::ASCII))
 		return false;
 
-	if (normals.IsEmpty()) {
-		// describe what properties go into the vertex elements
-		ply.describe_property(BasicPLY::elem_names[0], 6, BasicPLY::vert_props);
-
-		// write the header
-		ply.element_count(BasicPLY::elem_names[0], (int)points.GetSize());
-		if (!ply.header_complete())
-			return false;
-
-		// export the array of 3D points
-		BasicPLY::PointColNormal vertex;
-		FOREACH(i, points) {
-			// export the vertex position, normal and color
-			vertex.p = points[i];
-			vertex.c = (!colors.IsEmpty() ? colors[i] : Color::WHITE);
-			ply.put_element(&vertex);
-		}
-	} else {
-		// describe what properties go into the vertex elements
-		ply.describe_property(BasicPLY::elem_names[0], 9, BasicPLY::vert_props);
-
-		// write the header
-		ply.element_count(BasicPLY::elem_names[0], (int)points.GetSize());
-		if (!ply.header_complete())
-			return false;
+	// write the header
+	BasicPLY::Vertex::InitSaveProps(ply, (int)points.size(), !colors.empty(), !normals.empty(),
+		bViews && !pointViews.empty(), bViews && !pointWeights.empty());
+	if (!ply.header_complete())
+		return false;
 
-		// export the array of 3D points
-		BasicPLY::PointColNormal vertex;
-		FOREACH(i, points) {
-			// export the vertex position, normal and color
-			vertex.p = points[i];
+	// export the array of 3D points
+	BasicPLY::Vertex vertex;
+	FOREACH(i, points) {
+		// export the vertex position, color, normal and views
+		vertex.p = points[i];
+		if (!colors.empty())
+			vertex.c = colors[i];
+		if (!normals.empty())
 			vertex.n = normals[i];
-			vertex.c = (!colors.IsEmpty() ? colors[i] : Color::WHITE);
-			ply.put_element(&vertex);
+		if (!pointViews.empty()) {
+			vertex.views.num = pointViews[i].size();
+			vertex.views.pIndices = pointViews[i].data();
 		}
+		if (!pointWeights.empty()) {
+			ASSERT(vertex.views.num == pointWeights[i].size());
+			vertex.views.pWeights = pointWeights[i].data();
+		}
+		ply.put_element(&vertex);
 	}
+	ASSERT(ply.get_current_element_count() == (int)points.size());
 
-	DEBUG_EXTRA("Point-cloud saved: %u points (%s)", points.GetSize(), TD_TIMER_GET_FMT().c_str());
+	DEBUG_EXTRA("Point-cloud '%s' saved: %u points (%s)", Util::getFileNameExt(fileName).c_str(), points.GetSize(), TD_TIMER_GET_FMT().c_str());
 	return true;
 } // Save
 
@@ -378,39 +411,39 @@ bool PointCloud::SaveNViews(const String& fileName, uint32_t minViews, bool bLeg
 	// create PLY object
 	ASSERT(!fileName.IsEmpty());
 	Util::ensureFolder(fileName);
+	using namespace PointCloudInternal;
 	PLY ply;
 	if (bLegacyTypes)
 		ply.set_legacy_type_names();
 	if (!ply.write(fileName, 1, BasicPLY::elem_names, bBinary?PLY::BINARY_LE:PLY::ASCII, 64*1024))
 		return false;
 
+	BasicPLY::Vertex vertex;
 	if (normals.IsEmpty()) {
 		// describe what properties go into the vertex elements
-		ply.describe_property(BasicPLY::elem_names[0], 6, BasicPLY::vert_props);
+		ply.describe_property(BasicPLY::elem_names[0], 6, BasicPLY::Vertex::props);
 
 		// export the array of 3D points
-		BasicPLY::PointColNormal vertex;
 		FOREACH(i, points) {
 			if (pointViews[i].size() < minViews)
 				continue;
-			// export the vertex position, normal and color
+			// export the vertex position and color
 			vertex.p = points[i];
-			vertex.c = (!colors.IsEmpty() ? colors[i] : Color::WHITE);
+			vertex.c = colors.empty() ? Pixel8U::WHITE : colors[i];
 			ply.put_element(&vertex);
 		}
 	} else {
 		// describe what properties go into the vertex elements
-		ply.describe_property(BasicPLY::elem_names[0], 9, BasicPLY::vert_props);
+		ply.describe_property(BasicPLY::elem_names[0], 9, BasicPLY::Vertex::props);
 
 		// export the array of 3D points
-		BasicPLY::PointColNormal vertex;
 		FOREACH(i, points) {
 			if (pointViews[i].size() < minViews)
 				continue;
 			// export the vertex position, normal and color
 			vertex.p = points[i];
 			vertex.n = normals[i];
-			vertex.c = (!colors.IsEmpty() ? colors[i] : Color::WHITE);
+			vertex.c = colors.empty() ? Pixel8U::WHITE : colors[i];
 			ply.put_element(&vertex);
 		}
 	}
@@ -435,27 +468,24 @@ bool PointCloud::SaveWithScale(const String& fileName, const ImageArr& images, f
 	// create PLY object
 	ASSERT(!fileName.empty());
 	Util::ensureFolder(fileName);
+	using namespace PointCloudInternal;
 	PLY ply;
 	if (bLegacyTypes)
 		ply.set_legacy_type_names();
-	if (!ply.write(fileName, 1, BasicPLY::elem_names, bBinary?PLY::BINARY_LE:PLY::ASCII, 64*1024))
+	if (!ply.write(fileName, 1, BasicPLY::elem_names, bBinary?PLY::BINARY_LE:PLY::ASCII))
 		return false;
 
-	// describe what properties go into the vertex elements
-	ply.describe_property(BasicPLY::elem_names[0], 11, BasicPLY::vert_props);
-
 	// export the array of 3D points
-	BasicPLY::PointColNormal vertex;
+	BasicPLY::Vertex::InitSaveProps(ply, (int)points.size(), !colors.empty(), !normals.empty(), false, false, true, true);
+	if (!ply.header_complete())
+		return false;
+	BasicPLY::Vertex vertex;
 	FOREACH(i, points) {
 		// export the vertex position, normal and scale
 		vertex.p = points[i];
-		if (colors.empty())
-			vertex.c = Color::WHITE;
-		else
+		if (!colors.empty())
 			vertex.c = colors[i];
-		if (normals.empty())
-			vertex.n = Vec3f::ZERO;
-		else
+		if (!normals.empty())
 			vertex.n = normals[i];
 		#if 0
 		// one sample per view
@@ -500,10 +530,6 @@ bool PointCloud::SaveWithScale(const String& fileName, const ImageArr& images, f
 	}
 	ASSERT(ply.get_current_element_count() == (int)points.size());
 
-	// write the header
-	if (!ply.header_complete())
-		return false;
-
 	DEBUG_EXTRA("Point-cloud saved: %u points with scale (%s)", points.size(), TD_TIMER_GET_FMT().c_str());
 	return true;
 } // SaveWithScale
diff --git a/libs/MVS/PointCloud.h b/libs/MVS/PointCloud.h
index fe43372ff..f2ad21e03 100644
--- a/libs/MVS/PointCloud.h
+++ b/libs/MVS/PointCloud.h
@@ -102,7 +102,7 @@ class MVS_API PointCloud
 	Planef EstimateGroundPlane(const ImageArr& images, float planeThreshold=0, const String& fileExportPlane="") const;
 
 	bool Load(const String& fileName);
-	bool Save(const String& fileName, bool bLegacyTypes=false, bool bBinary=true) const;
+	bool Save(const String& fileName, bool bViews=false, bool bLegacyTypes=false, bool bBinary=true) const;
 	bool SaveNViews(const String& fileName, uint32_t minViews, bool bLegacyTypes=false, bool bBinary=true) const;
 	bool SaveWithScale(const String& fileName, const ImageArr& images, float scaleMult, bool bLegacyTypes=false, bool bBinary=true) const;
 
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 4ab045811..74e84675d 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -31,8 +31,6 @@
 
 #include "Common.h"
 #include "Scene.h"
-#define _USE_OPENCV
-#include "Interface.h"
 #include "../Math/SimilarityTransform.h"
 
 using namespace MVS;
@@ -156,6 +154,9 @@ bool Scene::LoadInterface(const String & fileName)
 				return false;
 		}
 		imageData.UpdateCamera(platforms);
+		// init neighbors
+		imageData.neighbors.CopyOf(image.viewScores.data(), (uint32_t)image.viewScores.size());
+		imageData.avgDepth = image.avgDepth;
 		++nCalibratedImages;
 		nTotalPixels += imageData.width * imageData.height;
 		DEBUG_ULTIMATE("Image loaded %3u: %s", ID, Util::getFileNameExt(imageData.name).c_str());
@@ -259,6 +260,8 @@ bool Scene::SaveInterface(const String & fileName, int version) const
 			if (!platform.cameras[image.cameraID].HasResolution())
 				platform.SetFullK(image.cameraID, imageData.camera.K, imageData.width, imageData.height);
 		}
+		image.viewScores = std::vector<MVS::Interface::Image::ViewScore>(imageData.neighbors.begin(), imageData.neighbors.end());
+		image.avgDepth = imageData.avgDepth;
 	}
 
 	// export 3D points
@@ -445,7 +448,7 @@ bool Scene::LoadViewNeighbors(const String& fileName)
 		FOREACH(i, imageData.neighbors) {
 			const IIndex nID(String::FromString<IIndex>(argv[i+1], NO_ID));
 			ASSERT(nID != NO_ID);
-			imageData.neighbors[i] = ViewScore{ViewInfo{nID, 0, 1.f, FD2R(15.f), 0.5f}, 3.f};
+			imageData.neighbors[i] = ViewScore{nID, 0, 1.f, FD2R(15.f), 0.5f, 3.f};
 		}
 	}
 
@@ -467,7 +470,7 @@ bool Scene::SaveViewNeighbors(const String& fileName) const
 		const Image& imageData = images[ID];
 		file.print("%u", ID);
 		for (const ViewScore& neighbor: imageData.neighbors)
-			file.print(" %u", neighbor.idx.ID);
+			file.print(" %u", neighbor.ID);
 		file.print("\n");
 	}
 
@@ -500,7 +503,7 @@ bool Scene::Import(const String& fileName)
 			DEBUG_EXTRA("error: invalid PLY file");
 			return false;
 		}
-		for (int i = 0; i < (int)ply.elems.size(); ++i) {
+		for (int i = 0; i < ply.get_elements_count(); ++i) {
 			int elem_count;
 			LPCSTR elem_name = ply.setup_element_read(i, &elem_count);
 			if (PLY::equal_strings("vertex", elem_name)) {
@@ -520,7 +523,7 @@ bool Scene::Import(const String& fileName)
 } // Import
 /*----------------------------------------------------------------*/
 
-bool Scene::Load(const String& fileName, bool bImport)
+Scene::SCENE_TYPE Scene::Load(const String& fileName, bool bImport)
 {
 	TD_TIMER_STARTD();
 	Release();
@@ -529,25 +532,25 @@ bool Scene::Load(const String& fileName, bool bImport)
 	// open the input stream
 	std::ifstream fs(fileName, std::ios::in | std::ios::binary);
 	if (!fs.is_open())
-		return false;
+		return SCENE_NA;
 	// load project header ID
 	char szHeader[4];
 	fs.read(szHeader, 4);
 	if (!fs || _tcsncmp(szHeader, PROJECT_ID, 4) != 0) {
 		fs.close();
 		if (bImport && Import(fileName))
-			return true;
+			return SCENE_IMPORT;
 		if (LoadInterface(fileName))
-			return true;
+			return SCENE_INTERFACE;
 		VERBOSE("error: invalid project");
-		return false;
+		return SCENE_NA;
 	}
 	// load project version
 	uint32_t nVer;
 	fs.read((char*)&nVer, sizeof(uint32_t));
 	if (!fs || nVer != PROJECT_VER) {
 		VERBOSE("error: different project version");
-		return false;
+		return SCENE_NA;
 	}
 	// load stream type
 	uint32_t nType;
@@ -557,7 +560,7 @@ bool Scene::Load(const String& fileName, bool bImport)
 	fs.read((char*)&nReserved, sizeof(uint64_t));
 	// serialize in the current state
 	if (!SerializeLoad(*this, fs, (ARCHIVE_TYPE)nType))
-		return false;
+		return SCENE_NA;
 	// init images
 	nCalibratedImages = 0;
 	size_t nTotalPixels(0);
@@ -575,9 +578,13 @@ bool Scene::Load(const String& fileName, bool bImport)
 				TD_TIMER_GET_FMT().c_str(),
 				images.GetSize(), nCalibratedImages, (double)nTotalPixels/(1024.0*1024.0), (double)nTotalPixels/(1024.0*1024.0*nCalibratedImages),
 				pointcloud.points.GetSize(), mesh.vertices.GetSize(), mesh.faces.GetSize());
-	return true;
+	return SCENE_MVS;
 	#else
-	return false;
+	if (bImport && Import(fileName))
+		return SCENE_IMPORT;
+	if (LoadInterface(fileName))
+		return SCENE_INTERFACE;
+	return SCENE_NA;
 	#endif
 } // Load
 
@@ -706,7 +713,7 @@ bool Scene::ExportMeshToDepthMaps(const String& baseName)
 				IIndexArr IDs(0, image.neighbors.size()+1);
 				IDs.push_back(idxImage);
 				for (const ViewScore& neighbor: image.neighbors)
-					IDs.push_back(neighbor.idx.ID);
+					IDs.push_back(neighbor.ID);
 				return ExportDepthDataRaw(fileName, image.name, IDs, image.GetSize(), image.camera.K, image.camera.R, image.camera.C, 0.001f, FLT_MAX, depthMap, normalMap, ConfidenceMap(), ViewsMap());
 			} ()) ||
 			(nType == 1 && !depthMap.Save(fileName)) ||
@@ -899,20 +906,22 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 			projs.Empty();
 			// store image score
 			ViewScore& neighbor = neighbors.AddEmpty();
-			neighbor.idx.ID = IDB;
-			neighbor.idx.points = score.points;
-			neighbor.idx.scale = score.avgScale/score.points;
-			neighbor.idx.angle = score.avgAngle/score.points;
-			neighbor.idx.area = area;
+			neighbor.ID = IDB;
+			neighbor.points = score.points;
+			neighbor.scale = score.avgScale/score.points;
+			neighbor.angle = score.avgAngle/score.points;
+			neighbor.area = area;
 			neighbor.score = score.score*MAXF(area,0.01f);
 		}
-		neighbors.Sort();
+		neighbors.Sort([](const ViewScore& i, const ViewScore& j) {
+			return i.score > j.score;
+		});
 		#if TD_VERBOSE != TD_VERBOSE_OFF
 		// print neighbor views
 		if (VERBOSITY_LEVEL > 2) {
 			String msg;
 			FOREACH(n, neighbors)
-				msg += String::FormatString(" %3u(%upts,%.2fscl)", neighbors[n].idx.ID, neighbors[n].idx.points, neighbors[n].idx.scale);
+				msg += String::FormatString(" %3u(%upts,%.2fscl)", neighbors[n].ID, neighbors[n].points, neighbors[n].scale);
 			VERBOSE("Reference image %3u sees %u views:%s (%u shared points)", ID, neighbors.size(), msg.c_str(), nPoints);
 		}
 		#endif
@@ -949,9 +958,9 @@ bool Scene::FilterNeighborViews(ViewScoreArr& neighbors, float fMinArea, float f
 	RFOREACH(n, neighbors) {
 		const ViewScore& neighbor = neighbors[n];
 		if (neighbors.size() > nMinViews &&
-			(neighbor.idx.area < fMinArea ||
-			 !ISINSIDE(neighbor.idx.scale, fMinScale, fMaxScale) ||
-			 !ISINSIDE(neighbor.idx.angle, fMinAngle, fMaxAngle)))
+			(neighbor.area < fMinArea ||
+			 !ISINSIDE(neighbor.scale, fMinScale, fMaxScale) ||
+			 !ISINSIDE(neighbor.angle, fMinAngle, fMaxAngle)))
 			neighbors.RemoveAtMove(n);
 	}
 	if (neighbors.size() > nMaxViews)
@@ -1389,13 +1398,13 @@ bool Scene::ExportChunks(const ImagesChunkArr& chunks, const String& path, ARCHI
 		for (Image& image: subset.images) {
 			RFOREACH(i, image.neighbors) {
 				ViewScore& neighbor = image.neighbors[i];
-				const auto itImage(mapImages.find(neighbor.idx.ID));
+				const auto itImage(mapImages.find(neighbor.ID));
 				if (itImage == mapImages.end()) {
 					image.neighbors.RemoveAtMove(i);
 					continue;
 				}
 				ASSERT(itImage->second < subset.images.size());
-				neighbor.idx.ID = itImage->second;
+				neighbor.ID = itImage->second;
 			}
 		}
 		// extract point-cloud
@@ -1742,7 +1751,7 @@ bool Scene::ComputeTowerCylinder(Point2f& centerPoint, float& fRadius, float& fR
 {
 	// disregard tower mode for scenes with less than 20 cameras
 	if (towerMode > 0 && images.size() < 20) {
-		DEBUG("error: too few images to be a tower: '%d'", images.size());
+		DEBUG_ULTIMATE("error: too few images to be a tower: '%d'", images.size());
 		return false;
 	}
 
@@ -1763,7 +1772,7 @@ bool Scene::ComputeTowerCylinder(Point2f& centerPoint, float& fRadius, float& fR
 	if (quality.y / quality.z > 0.6f || quality.x / quality.y < 0.8f) {
 		// does not seem to be a line
 		if (towerMode > 0) {
-			DEBUG("error: does not seem to be a tower: X(%.2f), Y(%.2f), Z(%.2f)", quality.x, quality.y, quality.z);
+			DEBUG_ULTIMATE("error: does not seem to be a tower: X(%.2f), Y(%.2f), Z(%.2f)", quality.x, quality.y, quality.z);
 			return false;
 		}
 	}
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 308367a9a..8580c623e 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -80,7 +80,13 @@ class MVS_API Scene
 	bool SaveViewNeighbors(const String& fileName) const;
 	bool Import(const String& fileName);
 
-	bool Load(const String& fileName, bool bImport=false);
+	enum SCENE_TYPE {
+		SCENE_NA = 0,
+		SCENE_INTERFACE = 1,
+		SCENE_MVS = 2,
+		SCENE_IMPORT = 3,
+	};
+	SCENE_TYPE Load(const String& fileName, bool bImport=false);
 	bool Save(const String& fileName, ARCHIVE_TYPE type=ARCHIVE_DEFAULT) const;
 
 	bool EstimateNeighborViewsPointCloud(unsigned maxResolution=16);
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 02c31ae3b..19b451d95 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -158,13 +158,13 @@ bool DepthMapsData::SelectViews(IIndexArr& images, IIndexArr& imagesMap, IIndexA
 		const IIndex idx(images[i]);
 		ASSERT(imagesMap[idx] != NO_ID);
 		const ViewScoreArr& neighbors(arrDepthData[idx].neighbors);
-		ASSERT(neighbors.GetSize() <= OPTDENSE::nMaxViews);
+		ASSERT(neighbors.size() <= OPTDENSE::nMaxViews);
 		// register edges
-		FOREACHPTR(pNeighbor, neighbors) {
-			const IIndex idx2(pNeighbor->idx.ID);
+		for (const ViewScore& neighbor: neighbors) {
+			const IIndex idx2(neighbor.ID);
 			ASSERT(imagesMap[idx2] != NO_ID);
-			edges[MakePairIdx(idx,idx2)] = pNeighbor->idx.area;
-			totScore += pNeighbor->score;
+			edges[MakePairIdx(idx,idx2)] = neighbor.area;
+			totScore += neighbor.score;
 			++numScores;
 		}
 	}
@@ -178,7 +178,7 @@ bool DepthMapsData::SelectViews(IIndexArr& images, IIndexArr& imagesMap, IIndexA
 	const float fEmptyPairwise = 8.f*OPTDENSE::fPairwiseMul;
 	const float fSamePairwise = 24.f*OPTDENSE::fPairwiseMul;
 	const IIndex _num_labels = OPTDENSE::nMaxViews+1; // N neighbors and an empty state
-	const IIndex _num_nodes = images.GetSize();
+	const IIndex _num_nodes = images.size();
 	typedef MRFEnergy<TypeGeneral> MRFEnergyType;
 	CAutoPtr<MRFEnergyType> energy(new MRFEnergyType(TypeGeneral::GlobalSize()));
 	CAutoPtrArr<MRFEnergyType::NodeId> nodes(new MRFEnergyType::NodeId[_num_nodes]);
@@ -189,8 +189,8 @@ bool DepthMapsData::SelectViews(IIndexArr& images, IIndexArr& imagesMap, IIndexA
 		const ViewScoreArr& neighbors(arrDepthData[images[n]].neighbors);
 		FOREACH(k, neighbors)
 			arrUnary[k] = avgScore/neighbors[k].score; // use average score to normalize the values (not to depend so much on the number of features in the scene)
-		arrUnary[neighbors.GetSize()] = fEmptyUnaryMult*(neighbors.IsEmpty()?avgScore*0.01f:arrUnary[neighbors.GetSize()-1]);
-		nodes[n] = energy->AddNode(TypeGeneral::LocalSize(neighbors.GetSize()+1), TypeGeneral::NodeData(arrUnary.Begin()));
+		arrUnary[neighbors.size()] = fEmptyUnaryMult*(neighbors.empty()?avgScore*0.01f:arrUnary[neighbors.size()-1]);
+		nodes[n] = energy->AddNode(TypeGeneral::LocalSize(neighbors.size()+1), TypeGeneral::NodeData(arrUnary.data()));
 	}
 	// pairwise costs: as ratios between the area to be covered and the area actually covered
 	EnergyCostArr arrPairwise(_num_labels*_num_labels);
@@ -201,17 +201,17 @@ bool DepthMapsData::SelectViews(IIndexArr& images, IIndexArr& imagesMap, IIndexA
 		const ViewScoreArr& neighborsJ(arrDepthData[pair.j].neighbors);
 		arrPairwise.Empty();
 		FOREACHPTR(pNj, neighborsJ) {
-			const IIndex i(pNj->idx.ID);
-			const float areaJ(area/pNj->idx.area);
+			const IIndex i(pNj->ID);
+			const float areaJ(area/pNj->area);
 			FOREACHPTR(pNi, neighborsI) {
-				const IIndex j(pNi->idx.ID);
-				const float areaI(area/pNi->idx.area);
+				const IIndex j(pNi->ID);
+				const float areaI(area/pNi->area);
 				arrPairwise.Insert(pair.i == i && pair.j == j ? fSamePairwise : fPairwiseMul*(areaI+areaJ));
 			}
 			arrPairwise.Insert(fEmptyPairwise+fPairwiseMul*areaJ);
 		}
 		for (const ViewScore& Ni: neighborsI) {
-			const float areaI(area/Ni.idx.area);
+			const float areaI(area/Ni.area);
 			arrPairwise.Insert(fPairwiseMul*areaI+fEmptyPairwise);
 		}
 		arrPairwise.Insert(fEmptyPairwise*2);
@@ -247,7 +247,7 @@ bool DepthMapsData::SelectViews(IIndexArr& images, IIndexArr& imagesMap, IIndexA
 			idxNeighbor = NO_ID; // empty
 		} else {
 			idxNeighbor = label;
-			DEBUG_ULTIMATE("\treference image %3u paired with target image %3u (idx %2u)", images[n], neighbors[label].idx.ID, label);
+			DEBUG_ULTIMATE("\treference image %3u paired with target image %3u (idx %2u)", images[n], neighbors[label].ID, label);
 		}
 	}
 
@@ -317,8 +317,8 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 		// set target image as the given neighbor
 		const ViewScore& neighbor = depthData.neighbors[idxNeighbor];
 		DepthData::ViewData& viewTrg = depthData.images.AddEmpty();
-		viewTrg.pImageData = &scene.images[neighbor.idx.ID];
-		viewTrg.scale = neighbor.idx.scale;
+		viewTrg.pImageData = &scene.images[neighbor.ID];
+		viewTrg.scale = neighbor.scale;
 		viewTrg.camera = viewTrg.pImageData->camera;
 		if (loadImages) {
 			viewTrg.pImageData->image.toGray(viewTrg.image, cv::COLOR_BGR2GRAY, true);
@@ -328,7 +328,7 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 			if (DepthData::ViewData::NeedScaleImage(viewTrg.scale))
 				viewTrg.camera = viewTrg.pImageData->GetCamera(scene.platforms, Image8U::computeResize(viewTrg.pImageData->image.size(), viewTrg.scale));
 		}
-		DEBUG_EXTRA("Reference image %3u paired with image %3u", idxImage, neighbor.idx.ID);
+		DEBUG_EXTRA("Reference image %3u paired with image %3u", idxImage, neighbor.ID);
 	} else {
 		// initialize all neighbor views too (global reconstruction is used)
 		const float fMinScore(MAXF(depthData.neighbors.First().score*OPTDENSE::fViewMinScoreRatio, OPTDENSE::fViewMinScore));
@@ -338,8 +338,8 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 				(neighbor.score < fMinScore))
 				break;
 			DepthData::ViewData& viewTrg = depthData.images.AddEmpty();
-			viewTrg.pImageData = &scene.images[neighbor.idx.ID];
-			viewTrg.scale = neighbor.idx.scale;
+			viewTrg.pImageData = &scene.images[neighbor.ID];
+			viewTrg.scale = neighbor.scale;
 			viewTrg.camera = viewTrg.pImageData->camera;
 			if (loadImages) {
 				viewTrg.pImageData->image.toGray(viewTrg.image, cv::COLOR_BGR2GRAY, true);
@@ -354,20 +354,20 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 		// print selected views
 		if (g_nVerbosityLevel > 2) {
 			String msg;
-			for (IIndex i=1; i<depthData.images.GetSize(); ++i)
+			for (IIndex i=1; i<depthData.images.size(); ++i)
 				msg += String::FormatString(" %3u(%.2fscl)", depthData.images[i].GetID(), depthData.images[i].scale);
-			VERBOSE("Reference image %3u paired with %u views:%s (%u shared points)", idxImage, depthData.images.GetSize()-1, msg.c_str(), depthData.points.GetSize());
+			VERBOSE("Reference image %3u paired with %u views:%s (%u shared points)", idxImage, depthData.images.size()-1, msg.c_str(), depthData.points.GetSize());
 		} else
-		DEBUG_EXTRA("Reference image %3u paired with %u views", idxImage, depthData.images.GetSize()-1);
+		DEBUG_EXTRA("Reference image %3u paired with %u views", idxImage, depthData.images.size()-1);
 		#endif
 	}
-	if (depthData.images.GetSize() < 2) {
+	if (depthData.images.size() < 2) {
 		depthData.images.Release();
 		return false;
 	}
 
 	// initialize reference image as well
-	DepthData::ViewData& viewRef = depthData.images.First();
+	DepthData::ViewData& viewRef = depthData.images.front();
 	viewRef.scale = 1;
 	viewRef.pImageData = &scene.images[idxImage];
 	viewRef.camera = viewRef.pImageData->camera;
@@ -1077,7 +1077,7 @@ bool DepthMapsData::FilterDepthMap(DepthData& depthDataRef, const IIndexArr& idx
 			confMap.create(sizeRef);
 			confMap.memset(0);
 		}
-		const IIndex idxView = depthDataRef.neighbors[idxNeighbors[(IIndex)n]].idx.ID;
+		const IIndex idxView = depthDataRef.neighbors[idxNeighbors[(IIndex)n]].ID;
 		const DepthData& depthData = arrDepthData[idxView];
 		const Camera& camera = depthData.images.First().camera;
 		const Image8U::Size size(depthData.depthMap.size());
@@ -1180,7 +1180,7 @@ bool DepthMapsData::FilterDepthMap(DepthData& depthDataRef, const IIndexArr& idx
 							negConf += confMaps[n](xRef);
 						} else {
 							// free-space violation
-							const DepthData& depthData = arrDepthData[depthDataRef.neighbors[idxNeighbors[n]].idx.ID];
+							const DepthData& depthData = arrDepthData[depthDataRef.neighbors[idxNeighbors[n]].ID];
 							const Camera& camera = depthData.images.First().camera;
 							const Point3 X(cameraRef.TransformPointI2W(Point3(xRef.x,xRef.y,depth)));
 							const ImageRef x(ROUND2INT(camera.TransformPointW2I(X)));
@@ -1434,10 +1434,10 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 		const DepthData& depthData(arrDepthData[idxImage]);
 		ASSERT(!depthData.images.IsEmpty() && !depthData.neighbors.IsEmpty());
 		for (const ViewScore& neighbor: depthData.neighbors) {
-			DepthIndex& depthIdxs = arrDepthIdx[neighbor.idx.ID];
+			DepthIndex& depthIdxs = arrDepthIdx[neighbor.ID];
 			if (!depthIdxs.empty())
 				continue;
-			const DepthData& depthDataB(arrDepthData[neighbor.idx.ID]);
+			const DepthData& depthDataB(arrDepthData[neighbor.ID]);
 			if (depthDataB.IsEmpty())
 				continue;
 			depthIdxs.create(depthDataB.depthMap.size());
@@ -1481,8 +1481,8 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 				Pixel32F C(Cast<float>(imageData.image(x))*confidence);
 				PointCloud::Normal N(normal*confidence);
 				invalidDepths.Empty();
-				FOREACHPTR(pNeighbor, depthData.neighbors) {
-					const IIndex idxImageB(pNeighbor->idx.ID);
+				for (const ViewScore& neighbor: depthData.neighbors) {
+					const IIndex idxImageB(neighbor.ID);
 					DepthData& depthDataB = arrDepthData[idxImageB];
 					if (depthDataB.IsEmpty())
 						continue;
@@ -1526,7 +1526,7 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 						invalidDepths.Insert(&depthB);
 					}
 				}
-				if (views.GetSize() < nMinViewsFuse) {
+				if (views.size() < nMinViewsFuse) {
 					// remove point
 					FOREACH(v, views) {
 						const IIndex idxImageB(views[v]);
@@ -1544,30 +1544,30 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 					point = X*nrm;
 					ASSERT(ISFINITE(point));
 					if (bEstimateColor)
-						pointcloud.colors.AddConstruct((C*(float)nrm).cast<uint8_t>());
+						pointcloud.colors.emplace_back((C*(float)nrm).cast<uint8_t>());
 					if (bEstimateNormal)
-						pointcloud.normals.AddConstruct(normalized(N*(float)nrm));
+						pointcloud.normals.emplace_back(normalized(N*(float)nrm));
 					// invalidate all neighbor depths that do not agree with it
 					for (Depth* pDepth: invalidDepths)
 						*pDepth = 0;
 				}
 			}
 		}
-		ASSERT(pointcloud.points.GetSize() == pointcloud.pointViews.GetSize() && pointcloud.points.GetSize() == pointcloud.pointWeights.GetSize() && pointcloud.points.GetSize() == projs.GetSize());
-		DEBUG_ULTIMATE("Depths map for reference image %3u fused using %u depths maps: %u new points (%s)", idxImage, depthData.images.GetSize()-1, pointcloud.points.GetSize()-nNumPointsPrev, TD_TIMER_GET_FMT().c_str());
-		progress.display(pConnection-connections.Begin());
+		ASSERT(pointcloud.points.size() == pointcloud.pointViews.size() && pointcloud.points.size() == pointcloud.pointWeights.size() && pointcloud.points.size() == projs.size());
+		DEBUG_ULTIMATE("Depths map for reference image %3u fused using %u depths maps: %u new points (%s)", idxImage, depthData.images.size()-1, pointcloud.points.size()-nNumPointsPrev, TD_TIMER_GET_FMT().c_str());
+		progress.display(pConnection-connections.data());
 	}
 	GET_LOGCONSOLE().Play();
 	progress.close();
 	arrDepthIdx.Release();
 
-	DEBUG_EXTRA("Depth-maps fused and filtered: %u depth-maps, %u depths, %u points (%d%%%%) (%s)", connections.GetSize(), nDepths, pointcloud.points.GetSize(), ROUND2INT((100.f*pointcloud.points.GetSize())/nDepths), TD_TIMER_GET_FMT().c_str());
+	DEBUG_EXTRA("Depth-maps fused and filtered: %u depth-maps, %u depths, %u points (%d%%%%) (%s)", connections.size(), nDepths, pointcloud.points.size(), ROUND2INT((100.f*pointcloud.points.size())/nDepths), TD_TIMER_GET_FMT().c_str());
 
-	if (bEstimateNormal && !pointcloud.points.IsEmpty() && pointcloud.normals.IsEmpty()) {
+	if (bEstimateNormal && !pointcloud.points.empty() && pointcloud.normals.empty()) {
 		// estimate normal also if requested (quite expensive if normal-maps not available)
 		TD_TIMER_STARTD();
-		pointcloud.normals.Resize(pointcloud.points.GetSize());
-		const int64_t nPoints((int64_t)pointcloud.points.GetSize());
+		pointcloud.normals.resize(pointcloud.points.size());
+		const int64_t nPoints((int64_t)pointcloud.points.size());
 		#ifdef DENSE_USE_OPENMP
 		#pragma omp parallel for
 		#endif
@@ -2103,7 +2103,7 @@ void Scene::DenseReconstructionFilter(void* pData)
 			const unsigned numMaxNeighbors(8);
 			IIndexArr idxNeighbors(0, depthData.neighbors.GetSize());
 			FOREACH(n, depthData.neighbors) {
-				const IIndex idxView = depthData.neighbors[n].idx.ID;
+				const IIndex idxView = depthData.neighbors[n].ID;
 				DepthData& depthDataPair = data.depthMaps.arrDepthData[idxView];
 				if (!depthDataPair.IsValid())
 					continue;
@@ -2123,7 +2123,7 @@ void Scene::DenseReconstructionFilter(void* pData)
 			}
 			// unload referenced depth-maps
 			FOREACHPTR(pIdxNeighbor, idxNeighbors) {
-				const IIndex idxView = depthData.neighbors[*pIdxNeighbor].idx.ID;
+				const IIndex idxView = depthData.neighbors[*pIdxNeighbor].ID;
 				DepthData& depthDataPair = data.depthMaps.arrDepthData[idxView];
 				depthDataPair.DecRef();
 			}
diff --git a/libs/MVS/SceneRefine.cpp b/libs/MVS/SceneRefine.cpp
index 79875f302..4896e492b 100644
--- a/libs/MVS/SceneRefine.cpp
+++ b/libs/MVS/SceneRefine.cpp
@@ -1056,9 +1056,9 @@ void MeshRefine::ThSelectNeighbors(uint32_t idxImage, std::unordered_set<uint64_
 	ViewScoreArr neighbors(imageData.neighbors);
 	Scene::FilterNeighborViews(neighbors, fMinArea, fMinScale, fMaxScale, fMinAngle, fMaxAngle, nMaxViews);
 	Lock l(cs);
-	FOREACHPTR(pNeighbor, neighbors) {
-		ASSERT(images[pNeighbor->idx.ID].IsValid());
-		mapPairs.insert(MakePairIdx((uint32_t)idxImage, pNeighbor->idx.ID));
+	for (const ViewScore& neighbor: neighbors) {
+		ASSERT(images[neighbor.ID].IsValid());
+		mapPairs.insert(MakePairIdx((uint32_t)idxImage, neighbor.ID));
 	}
 }
 void MeshRefine::ThInitImage(uint32_t idxImage, Real scale, Real sigma)
diff --git a/libs/MVS/SceneRefineCUDA.cpp b/libs/MVS/SceneRefineCUDA.cpp
index c98803ac8..422eff075 100644
--- a/libs/MVS/SceneRefineCUDA.cpp
+++ b/libs/MVS/SceneRefineCUDA.cpp
@@ -2091,9 +2091,9 @@ MeshRefineCUDA::MeshRefineCUDA(Scene& _scene, unsigned _nAlternatePair, float _w
 			continue;
 		ViewScoreArr neighbors(imageData.neighbors);
 		Scene::FilterNeighborViews(neighbors, fMinArea, fMinScale, fMaxScale, fMinAngle, fMaxAngle, nMaxViews);
-		FOREACHPTR(pNeighbor, neighbors) {
-			ASSERT(images[pNeighbor->idx.ID].IsValid());
-			mapPairs.insert(MakePairIdx((uint32_t)idxImage, pNeighbor->idx.ID));
+		for (const ViewScore& neighbor: neighbors) {
+			ASSERT(images[neighbor.ID].IsValid());
+			mapPairs.insert(MakePairIdx((uint32_t)idxImage, neighbor.ID));
 		}
 	}
 	pairs.Reserve(mapPairs.size());
diff --git a/libs/MVS/SemiGlobalMatcher.cpp b/libs/MVS/SemiGlobalMatcher.cpp
index 33da89f06..9e1b43e5e 100644
--- a/libs/MVS/SemiGlobalMatcher.cpp
+++ b/libs/MVS/SemiGlobalMatcher.cpp
@@ -534,12 +534,12 @@ void SemiGlobalMatcher::Match(const Scene& scene, IIndex idxImage, IIndex numNei
 	FOREACH(idxNeighbor, leftImage.neighbors) {
 		const ViewScore& neighbor = leftImage.neighbors[idxNeighbor];
 		// exclude neighbors that over the limit or too small score
-		ASSERT(scene.images[neighbor.idx.ID].IsValid());
+		ASSERT(scene.images[neighbor.ID].IsValid());
 		if ((numNeighbors && idxNeighbor >= numNeighbors) ||
 			(neighbor.score < fMinScore))
 			break;
 		// check if the disparity-map was already estimated for the same image pairs
-		const Image& rightImage = scene.images[neighbor.idx.ID];
+		const Image& rightImage = scene.images[neighbor.ID];
 		const String pairName(MAKE_PATH(String::FormatString("%04u_%04u", leftImage.ID, rightImage.ID)));
 		if (File::isPresent((pairName+".dimap").c_str()) || File::isPresent(MAKE_PATH(String::FormatString("%04u_%04u.dimap", rightImage.ID, leftImage.ID))))
 			continue;
@@ -555,7 +555,7 @@ void SemiGlobalMatcher::Match(const Scene& scene, IIndex idxImage, IIndex numNei
 			const PointCloud::ViewArr& views = scene.pointcloud.pointViews[idxPoint];
 			if (views.FindFirst(idxImage) != PointCloud::ViewArr::NO_INDEX) {
 				points.push_back((uint32_t)idxPoint);
-				if (views.FindFirst(neighbor.idx.ID) != PointCloud::ViewArr::NO_INDEX) {
+				if (views.FindFirst(neighbor.ID) != PointCloud::ViewArr::NO_INDEX) {
 					const Point3 X(scene.pointcloud.points[idxPoint]);
 					leftPoints.emplace_back(leftImage.camera.TransformPointW2I3(X));
 					rightPoints.emplace_back(rightImage.camera.TransformPointW2I3(X));
@@ -753,12 +753,12 @@ void SemiGlobalMatcher::Fuse(const Scene& scene, IIndex idxImage, IIndex numNeig
 	FOREACH(idxNeighbor, leftImage.neighbors) {
 		const ViewScore& neighbor = leftImage.neighbors[idxNeighbor];
 		// exclude neighbors that over the limit or too small score
-		ASSERT(scene.images[neighbor.idx.ID].IsValid());
+		ASSERT(scene.images[neighbor.ID].IsValid());
 		if ((numNeighbors && idxNeighbor >= numNeighbors) ||
 			(neighbor.score < fMinScore))
 			break;
 		// check if the disparity-map was estimated for this images pair
-		const Image& rightImage = scene.images[neighbor.idx.ID];
+		const Image& rightImage = scene.images[neighbor.ID];
 		Disparity subpixelSteps;
 		cv::Size imageSize; Matrix3x3 H; Matrix4x4 Q;
 		DisparityMap disparityMap; AccumCostMap costMap;
@@ -2354,7 +2354,7 @@ bool MVS::STEREO::ExportCamerasEngin(const Scene& scene, const String& fileName)
 			image.neighbors.size()
 		);
 		for (const auto& neighbor: image.neighbors)
-			f.print(" %u", neighbor.idx.ID);
+			f.print(" %u", neighbor.ID);
 		f.print("\n");
 	}
 

From a84072de0433fcd66f51784c00f53488b4a9810b Mon Sep 17 00:00:00 2001
From: autoantwort <41973254+autoantwort@users.noreply.github.com>
Date: Mon, 14 Aug 2023 07:47:16 +0200
Subject: [PATCH 205/252] build: enable SSE on non-ARM systems only (#1042)

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

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5a1345915..f0221349f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -25,7 +25,6 @@ SET(OpenMVS_USE_CUDA ON CACHE BOOL "Enable CUDA library")
 SET(OpenMVS_USE_FAST_FLOAT2INT ON CACHE BOOL "Use an optimized code to convert real numbers to int")
 SET(OpenMVS_USE_FAST_INVSQRT OFF CACHE BOOL "Use an optimized code to compute the inverse square root (slower in fact on modern compilers)")
 SET(OpenMVS_USE_FAST_CBRT ON CACHE BOOL "Use an optimized code to compute the cubic root")
-SET(OpenMVS_USE_SSE ON CACHE BOOL "Enable SSE optimizations")
 SET(OpenMVS_MAX_CUDA_COMPATIBILITY OFF CACHE BOOL "Build for maximum CUDA device compatibility")
 SET(OpenMVS_ENABLE_TESTS ON CACHE BOOL "Enable test code")
 
@@ -51,6 +50,9 @@ ENDIF()
 # ${OpenMVS_BINARY_DIR}.
 PROJECT(OpenMVS)
 
+cmake_policy(SET CMP0127 NEW)
+cmake_dependent_option(OpenMVS_USE_SSE "Enable SSE optimizations" ON "NOT CMAKE_SYSTEM_PROCESSOR MATCHES \"^(arm|ARM|aarch64|AARCH64).\"" OFF)
+
 SET(OpenMVS_MAJOR_VERSION 2)
 SET(OpenMVS_MINOR_VERSION 2)
 SET(OpenMVS_PATCH_VERSION 0)

From a5707ae843222cf0a51a617c67dafb88cdfd2e4b Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 18 Aug 2023 10:54:32 +0300
Subject: [PATCH 206/252] interface: add Nerfstudio and RTMV importer (#1047)

Co-authored-by: Mihai Cernea <mihai.cernea@dronedeploy.com>
---
 apps/InterfaceMVSNet/InterfaceMVSNet.cpp   | 254 ++++++++++++++++++++-
 apps/InterfacePolycam/InterfacePolycam.cpp |   1 +
 libs/MVS/PointCloud.cpp                    |  12 +-
 libs/MVS/Scene.cpp                         |   4 +-
 vcpkg.json                                 |   9 +-
 5 files changed, 266 insertions(+), 14 deletions(-)

diff --git a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
index d258559d3..9cc9b9217 100644
--- a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
+++ b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
@@ -31,6 +31,8 @@
 
 #include "../../libs/MVS/Common.h"
 #include "../../libs/MVS/Scene.h"
+#define JSON_NOEXCEPTION
+#include "../../libs/IO/json.hpp"
 #include <boost/program_options.hpp>
 
 using namespace MVS;
@@ -44,6 +46,8 @@ using namespace MVS;
 #define MVSNET_CAMERAS_FOLDER _T("cams")
 #define MVSNET_IMAGES_EXT _T(".jpg")
 #define MVSNET_CAMERAS_NAME _T("_cam.txt")
+#define RTMV_CAMERAS_EXT _T(".json")
+#define NERFSTUDIO_TRANSFORMS _T("transforms.json")
 
 
 // S T R U C T S ///////////////////////////////////////////////////
@@ -217,17 +221,14 @@ void ImageListParse(const LPSTR* argv, Matrix3x4& P)
 //     |--xxx.jpg
 //     |--xxx.jpg
 //     ....
-//     |--xxx.jpg
 //   |--cams
 //     |--xxx_cam.txt
 //     |--xxx_cam.txt
 //     ....
-//     |--xxx_cam.txt
 //   |--render_cams
 //     |--xxx_cam.txt
 //     |--xxx_cam.txt
 //     ....
-//     |--xxx_cam.txt
 //
 // where the camera parameter of one image stored in a cam.txt file contains the camera
 // extrinsic E = [R|t], intrinsic K and the depth range:
@@ -243,12 +244,11 @@ void ImageListParse(const LPSTR* argv, Matrix3x4& P)
 //  K20 K21 K22
 //
 //  DEPTH_MIN DEPTH_INTERVAL (DEPTH_NUM DEPTH_MAX)
-bool ParseSceneMVSNet(Scene& scene)
+bool ParseSceneMVSNet(Scene& scene, const std::filesystem::path& path)
 {
 	#if defined(_SUPPORT_CPP17) && (!defined(__GNUC__) || (__GNUC__ > 7))
-	String strPath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName));
+	String strPath(path.string());
 	Util::ensureValidFolderPath(strPath);
-	const std::filesystem::path path(static_cast<std::string&>(strPath));
 	IIndex prevPlatformID = NO_ID;
 	for (const std::filesystem::directory_entry& entry : std::filesystem::directory_iterator(path / MVSNET_IMAGES_FOLDER)) {
 		if (entry.path().extension() != MVSNET_IMAGES_EXT)
@@ -335,6 +335,246 @@ bool ParseSceneMVSNet(Scene& scene)
 	#endif // _SUPPORT_CPP17
 }
 
+// RTMV scene format: http://www.cs.umd.edu/~mmeshry/projects/rtmv
+// |--sceneX
+//   |--images
+//     |--xxx.jpg
+//     |--xxx.jpg
+//     ....
+//   |--outputs (optional)
+//     |--depthxxxx.exr
+//     |--normalxxxx.exr
+//     ....
+//   |--transforms.json
+bool ParseSceneNerfstudio(Scene& scene, const std::filesystem::path& path)
+{
+	const nlohmann::json data = nlohmann::json::parse(std::ifstream((path / NERFSTUDIO_TRANSFORMS).string()));
+	if (data.empty())
+		return false;
+	// parse camera
+	const cv::Size resolution(data["w"].get<uint32_t>(), data["h"].get<uint32_t>());
+	const IIndex platformID = scene.platforms.size();
+	Platform& platform = scene.platforms.emplace_back();
+	Platform::Camera& camera = platform.cameras.emplace_back();
+	camera.K = KMatrix::IDENTITY;
+	camera.R = RMatrix::IDENTITY;
+	camera.C = CMatrix::ZERO;
+	camera.K(0,0) = data["fl_x"].get<REAL>();
+	camera.K(1,1) = data["fl_y"].get<REAL>();
+	camera.K(0,2) = data["cx"].get<REAL>();
+	camera.K(1,2) = data["cy"].get<REAL>();
+	const String cameraModel = data["camera_model"].get<std::string>();
+	if (cameraModel == "SIMPLE_PINHOLE") {
+	} else
+	// check ZERO radial distortion for all "PERSPECTIVE" type cameras
+	if (cameraModel == "PINHOLE" || cameraModel == "SIMPLE_RADIAL" || cameraModel == "RADIAL" || cameraModel == "OPENCV") {
+		const REAL k1 = data["k1"].get<REAL>();
+		const REAL k2 = data["k2"].get<REAL>();
+		const REAL p1 = data["p1"].get<REAL>();
+		const REAL p2 = data["p2"].get<REAL>();
+		if (k1 != 0 || k2 != 0 || p1 != 0 || p2 != 0) {
+			VERBOSE("error: radial distortion not supported");
+			return false;
+		}
+	} else {
+		VERBOSE("error: camera model not supported");
+		return false;
+	}
+	// parse images
+	const nlohmann::json& frames = data["frames"];
+	for (const nlohmann::json& frame: frames) {
+		// set image
+		// frames expected to be ordered in JSON
+		const IIndex imageID = scene.images.size(); 
+		const String strFileName((path / frame["file_path"].get<std::string>()).string());
+		Image& imageData = scene.images.AddEmpty();
+		imageData.platformID = platformID;
+		imageData.cameraID = 0; // only one camera per platform supported by this format
+		imageData.poseID = NO_ID;
+		imageData.ID = imageID;
+		imageData.name = strFileName;
+		ASSERT(Util::isFullPath(imageData.name));
+		// set image resolution
+		imageData.width = resolution.width;
+		imageData.height = resolution.height;
+		imageData.scale = 1;
+		// load camera pose
+		imageData.poseID = platform.poses.size();
+		Platform::Pose& pose = platform.poses.AddEmpty();
+		const auto Ps = frame["transform_matrix"].get<std::vector<std::vector<double>>>();
+		Eigen::Matrix4d P{
+			{Ps[0][0], Ps[0][1], Ps[0][2], Ps[0][3]},
+			{Ps[1][0], Ps[1][1], Ps[1][2], Ps[1][3]},
+			{Ps[2][0], Ps[2][1], Ps[2][2], Ps[2][3]},
+			{Ps[3][0], Ps[3][1], Ps[3][2], Ps[3][3]}
+		};
+		// revert nerfstudio conversion:
+		// convert from COLMAP's camera coordinate system (OpenCV) to ours (OpenGL)
+        //   c2w[0:3, 1:3] *= -1
+        //   c2w = c2w[np.array([1, 0, 2, 3]), :]
+        //   c2w[2, :] *= -1
+		P.row(2) *= -1;
+		P.row(0).swap(P.row(1));
+		P.col(2) *= -1;
+		P.col(1) *= -1;
+		// set camera pose
+		pose.R = P.topLeftCorner<3, 3>().transpose().eval();
+		pose.R.EnforceOrthogonality();
+		pose.C = P.topRightCorner<3, 1>().eval();
+		imageData.camera = platform.GetCamera(imageData.cameraID, imageData.poseID);
+		// try reading depth-map and normal-map
+		DepthMap depthMap; {
+			const String depthPath((path.parent_path() / String::FormatString("outputs/depth%04u.exr", imageID).c_str()).string());
+			const cv::Mat imgDepthMap = cv::imread(depthPath, cv::IMREAD_UNCHANGED);
+			if (imgDepthMap.empty()) {
+				VERBOSE("Unable to load depthmap %s.", depthPath.c_str());
+				continue;
+			}
+			imgDepthMap.convertTo(depthMap, CV_32FC1);
+		}
+		NormalMap normalMap; {
+			const String normalPath((path.parent_path() / String::FormatString("outputs/normal%04u.exr", imageID).c_str()).string());
+			const cv::Mat imgNormalMap = cv::imread(normalPath, cv::IMREAD_UNCHANGED);
+			if (imgNormalMap.empty()) {
+				VERBOSE("Unable to load normalMap %s.", normalPath.c_str());
+				continue;
+			}
+			imgNormalMap.convertTo(normalMap, CV_32FC3);
+		}
+		const ConfidenceMap confMap;
+		const ViewsMap viewsMap;
+		const IIndexArr IDs = {imageID};
+		double dMin, dMax;
+		cv::minMaxIdx(depthMap, &dMin, &dMax, NULL, NULL, depthMap > 0);
+		const String dmapPath((path.parent_path() / String::FormatString("depth%04u.dmap", imageID).c_str()).string());
+		if (!ExportDepthDataRaw(dmapPath,
+			imageData.name, IDs, resolution,
+			camera.K, pose.R, pose.C,
+			(float)dMin, (float)dMax,
+			depthMap, normalMap, confMap, viewsMap))
+		{
+			VERBOSE("Unable to save dmap: %s", dmapPath);
+			continue;
+		}
+	}
+	if (scene.images.size() < 2)
+		return false;
+	scene.nCalibratedImages = (unsigned)scene.images.size();
+	return true;
+}
+
+// RTMV scene format: http://www.cs.umd.edu/~mmeshry/projects/rtmv
+// |--sceneX
+//   |--xxx.jpg
+//   |--xxx.json
+//   ....
+bool ParseSceneRTMV(Scene& scene, const std::filesystem::path& path)
+{
+	#if defined(_SUPPORT_CPP17) && (!defined(__GNUC__) || (__GNUC__ > 7))
+	IIndex prevPlatformID = NO_ID;
+	for (const std::filesystem::directory_entry& entry : std::filesystem::directory_iterator(path)) {
+		if (entry.path().extension() != RTMV_CAMERAS_EXT)
+			continue;
+		// parse camera
+		const std::string strFileName((path / entry.path().stem()).string());
+		const nlohmann::json dataCamera = nlohmann::json::parse(std::ifstream(strFileName+RTMV_CAMERAS_EXT));
+		if (dataCamera.empty())
+			continue;
+		const nlohmann::json& data = dataCamera["camera_data"];
+		const cv::Size resolution(data["width"].get<uint32_t>(), data["height"].get<uint32_t>());
+		// set platform
+		Matrix3x3 K = Matrix3x3::IDENTITY;
+		K(0,0) = data["intrinsics"]["fx"].get<REAL>();
+		K(1,1) = data["intrinsics"]["fy"].get<REAL>();
+		K(0,2) = data["intrinsics"]["cx"].get<REAL>();
+		K(1,2) = data["intrinsics"]["cy"].get<REAL>();
+		IIndex platformID;
+		if (prevPlatformID == NO_ID || !K.IsEqual(scene.platforms[prevPlatformID].cameras[0].K, 1e-3)) {
+			prevPlatformID = platformID = scene.platforms.size();
+			Platform& platform = scene.platforms.emplace_back();
+			Platform::Camera& camera = platform.cameras.emplace_back();
+			camera.K = K;
+			camera.R = RMatrix::IDENTITY;
+			camera.C = CMatrix::ZERO;
+		} else {
+			platformID = prevPlatformID;
+		}
+		Platform& platform = scene.platforms[platformID];
+		// set image
+		const IIndex imageID = scene.images.size();
+		Image& imageData = scene.images.AddEmpty();
+		imageData.platformID = platformID;
+		imageData.cameraID = 0; // only one camera per platform supported by this format
+		imageData.poseID = NO_ID;
+		imageData.ID = imageID;
+		imageData.name = strFileName+".jpg";
+		ASSERT(Util::isFullPath(imageData.name));
+		// set image resolution
+		imageData.width = resolution.width;
+		imageData.height = resolution.height;
+		imageData.scale = 1;
+		// load camera pose
+		imageData.poseID = platform.poses.size();
+		Platform::Pose& pose = platform.poses.AddEmpty();
+		const auto Ps = data["cam2world"].get<std::vector<std::vector<double>>>();
+		Eigen::Matrix4d P{
+			{Ps[0][0], Ps[1][0], Ps[2][0], Ps[3][0]},
+			{Ps[0][1], Ps[1][1], Ps[2][1], Ps[3][1]},
+			{Ps[0][2], Ps[1][2], Ps[2][2], Ps[3][2]},
+			{Ps[0][3], Ps[1][3], Ps[2][3], Ps[3][3]}
+		};
+		// apply the same transforms as nerfstudio converter
+		P.row(2) *= -1;
+		P.row(0).swap(P.row(1));
+		P.col(2) *= -1;
+		P.col(1) *= -1;
+		// set camera pose
+		pose.R = P.topLeftCorner<3, 3>().transpose().eval();
+		pose.R.EnforceOrthogonality();
+		pose.C = P.topRightCorner<3, 1>().eval();
+		imageData.camera = platform.GetCamera(imageData.cameraID, imageData.poseID);
+	}
+	if (scene.images.size() < 2)
+		return false;
+	scene.nCalibratedImages = (unsigned)scene.images.size();
+	return true;
+	#else
+	VERBOSE("error: C++17 is required to parse MVSNet format");
+	return false;
+	#endif // _SUPPORT_CPP17
+}
+
+bool ParseScene(Scene& scene)
+{
+	#if defined(_SUPPORT_CPP17) && (!defined(__GNUC__) || (__GNUC__ > 7))
+	String strPath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strInputFileName));
+	Util::ensureValidFolderPath(strPath);
+	const std::filesystem::path path(static_cast<const std::string&>(strPath));
+	enum Type {
+		MVSNet = 0,
+		NERFSTUDIO,
+		RTMV,
+	} sceneType = MVSNet;
+	for (const std::filesystem::directory_entry& entry : std::filesystem::directory_iterator(path)) {
+		if (entry.path().extension() == RTMV_CAMERAS_EXT) {
+			if (entry.path().filename() == NERFSTUDIO_TRANSFORMS) {
+				sceneType = NERFSTUDIO;
+				break;
+			}
+			sceneType = RTMV;
+		}
+	}
+	switch (sceneType) {
+	case NERFSTUDIO: return ParseSceneNerfstudio(scene, path);
+	case RTMV: return ParseSceneRTMV(scene, path);
+	default: return ParseSceneMVSNet(scene, path);
+	}
+	#else
+	VERBOSE("error: C++17 is required to parse MVSNet format");
+	return false;
+	#endif // _SUPPORT_CPP17
+}
+
 } // unnamed namespace
 
 int main(int argc, LPCTSTR* argv)
@@ -352,7 +592,7 @@ int main(int argc, LPCTSTR* argv)
 	Scene scene(OPT::nMaxThreads);
 
 	// convert data from MVSNet format to OpenMVS
-	if (!ParseSceneMVSNet(scene))
+	if (!ParseScene(scene))
 		return EXIT_FAILURE;
 
 	// write OpenMVS input data
diff --git a/apps/InterfacePolycam/InterfacePolycam.cpp b/apps/InterfacePolycam/InterfacePolycam.cpp
index c0b42fb7a..31c532e9a 100644
--- a/apps/InterfacePolycam/InterfacePolycam.cpp
+++ b/apps/InterfacePolycam/InterfacePolycam.cpp
@@ -31,6 +31,7 @@
 
 #include "../../libs/MVS/Common.h"
 #include "../../libs/MVS/Scene.h"
+#define JSON_NOEXCEPTION
 #include "../../libs/IO/json.hpp"
 #include <boost/program_options.hpp>
 
diff --git a/libs/MVS/PointCloud.cpp b/libs/MVS/PointCloud.cpp
index 15689a058..c62920961 100644
--- a/libs/MVS/PointCloud.cpp
+++ b/libs/MVS/PointCloud.cpp
@@ -335,10 +335,14 @@ bool PointCloud::Load(const String& fileName)
 					colors[v] = vertex.c;
 				if (!normals.empty())
 					normals[v] = vertex.n;
-				if (!pointViews.empty())
-					pointViews[v].CopyOfRemove(ViewArr(vertex.views.num, vertex.views.pIndices));
-				if (!pointWeights.empty())
-					pointWeights[v].CopyOfRemove(WeightArr(vertex.views.num, vertex.views.pWeights));
+				if (!pointViews.empty()) {
+					ViewArr pv(vertex.views.num, vertex.views.pIndices);
+					pointViews[v].CopyOfRemove(pv);
+				}
+				if (!pointWeights.empty()){
+					WeightArr pw(vertex.views.num, vertex.views.pWeights);
+					pointWeights[v].CopyOfRemove(pw);
+				}
 			}
 		} else {
 			ply.get_other_element();
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 74e84675d..4943cf4af 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -1799,7 +1799,7 @@ bool Scene::ComputeTowerCylinder(Point2f& centerPoint, float& fRadius, float& fR
 	// calculate tower radius as median distance from tower center to cameras
 	FloatArr cameraDistancesToMiddle(cameras2D.size());
 	FOREACH (camIdx, cameras2D)
-		cameraDistancesToMiddle[camIdx] = norm(cameras2D[camIdx] - centerPoint);
+		cameraDistancesToMiddle[camIdx] = (float)norm(cameras2D[camIdx] - centerPoint);
 	const float fMedianDistance = cameraDistancesToMiddle.GetMedian();
 	fRadius = MAXF(0.2f, (fMedianDistance - 1.f) / 3.f);
 	// get the average of top 85 to 95% of the highest distances to center
@@ -1882,7 +1882,7 @@ PointCloud Scene::BuildTowerMesh(const PointCloud& origPointCloud, const Point2f
 	} else {
 		cList<FloatArr> sliceDistances(nTargetCircles);
 		for (const Point3f& P : origPointCloud.points) {
-			const float d(norm(Point2f(P.x, P.y) - centerPoint));
+			const float d((float)norm(Point2f(P.x, P.y) - centerPoint));
 			if (d <= fROIRadius) {
 				const float fIdx((zMax - P.z) * nTargetDensity);
 				int bIdx(FLOOR2INT(fIdx));
diff --git a/vcpkg.json b/vcpkg.json
index a74f701ea..0c1542b1a 100644
--- a/vcpkg.json
+++ b/vcpkg.json
@@ -1,6 +1,6 @@
 {
   "name": "openmvs",
-  "version": "2.1.0",
+  "version": "2.2.0",
   "description": "OpenMVS: open Multi-View Stereo reconstruction library",
   "homepage": "https://cdcseacave.github.io/openMVS",
   "dependencies": [
@@ -17,6 +17,13 @@
     "glew",
     "glfw3",
     "libpng",
+    {
+      "name": "opencv",
+      "features": [
+        "eigen",
+        "openexr"
+      ]
+    },
     "opencv",
 	"opengl",
     "tiff",

From f57daf5b77d1334d73cd1817c8dc64edf14f3778 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sun, 20 Aug 2023 19:08:42 +0300
Subject: [PATCH 207/252] interface: add depth and mask importer to RTMV

---
 apps/InterfaceMVSNet/InterfaceMVSNet.cpp | 150 ++++++++++++++++++++---
 libs/MVS/Mesh.cpp                        |   2 +-
 2 files changed, 131 insertions(+), 21 deletions(-)

diff --git a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
index 9cc9b9217..b1d7a97ec 100644
--- a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
+++ b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
@@ -40,6 +40,11 @@ using namespace MVS;
 
 // D E F I N E S ///////////////////////////////////////////////////
 
+// uncomment to enable multi-threading based on OpenMP
+#ifdef _USE_OPENMP
+#define MVSNET_USE_OPENMP
+#endif
+
 #define APPNAME _T("InterfaceMVSNet")
 #define MVS_EXT _T(".mvs")
 #define MVSNET_IMAGES_FOLDER _T("images")
@@ -214,6 +219,20 @@ void ImageListParse(const LPSTR* argv, Matrix3x4& P)
 	P(2, 3) = String::FromString<REAL>(argv[11]);
 }
 
+// convert a range-map to depth-map
+void RangeToDepthMap(const Image32F& rangeMap, const Camera& camera, DepthMap& depthMap)
+{
+	depthMap.create(rangeMap.size());
+	for (int y = 0; y < depthMap.rows; ++y) {
+		const float* const rangeRow = rangeMap.ptr<float>(y);
+		float* const depthRow = depthMap.ptr<float>(y);
+		for (int x = 0; x < depthMap.cols; ++x) {
+			const float range = rangeRow[x];
+			depthRow[x] = (Depth)(range <= 0 ? 0 : normalized(camera.TransformPointI2C(Point2(x,y))).z*range);
+		}
+	}
+}
+
 // parse scene stored in MVSNet format composed of undistorted images and camera poses
 // for example see GigaVision benchmark (http://gigamvs.net):
 // |--sceneX
@@ -381,6 +400,8 @@ bool ParseSceneNerfstudio(Scene& scene, const std::filesystem::path& path)
 		return false;
 	}
 	// parse images
+	String workPath(path.parent_path().string());
+	Util::ensureFolderSlash(workPath);
 	const nlohmann::json& frames = data["frames"];
 	for (const nlohmann::json& frame: frames) {
 		// set image
@@ -400,7 +421,7 @@ bool ParseSceneNerfstudio(Scene& scene, const std::filesystem::path& path)
 		imageData.scale = 1;
 		// load camera pose
 		imageData.poseID = platform.poses.size();
-		Platform::Pose& pose = platform.poses.AddEmpty();
+		Platform::Pose& pose = platform.poses.emplace_back();
 		const auto Ps = frame["transform_matrix"].get<std::vector<std::vector<double>>>();
 		Eigen::Matrix4d P{
 			{Ps[0][0], Ps[0][1], Ps[0][2], Ps[0][3]},
@@ -425,28 +446,27 @@ bool ParseSceneNerfstudio(Scene& scene, const std::filesystem::path& path)
 		// try reading depth-map and normal-map
 		DepthMap depthMap; {
 			const String depthPath((path.parent_path() / String::FormatString("outputs/depth%04u.exr", imageID).c_str()).string());
-			const cv::Mat imgDepthMap = cv::imread(depthPath, cv::IMREAD_UNCHANGED);
-			if (imgDepthMap.empty()) {
+			const Image32F rangeMap = cv::imread(depthPath, cv::IMREAD_UNCHANGED);
+			if (rangeMap.empty()) {
 				VERBOSE("Unable to load depthmap %s.", depthPath.c_str());
 				continue;
 			}
-			imgDepthMap.convertTo(depthMap, CV_32FC1);
+			RangeToDepthMap(rangeMap, imageData.camera, depthMap);
 		}
 		NormalMap normalMap; {
 			const String normalPath((path.parent_path() / String::FormatString("outputs/normal%04u.exr", imageID).c_str()).string());
-			const cv::Mat imgNormalMap = cv::imread(normalPath, cv::IMREAD_UNCHANGED);
-			if (imgNormalMap.empty()) {
+			normalMap = cv::imread(normalPath, cv::IMREAD_UNCHANGED);
+			if (normalMap.empty()) {
 				VERBOSE("Unable to load normalMap %s.", normalPath.c_str());
 				continue;
 			}
-			imgNormalMap.convertTo(normalMap, CV_32FC3);
 		}
 		const ConfidenceMap confMap;
 		const ViewsMap viewsMap;
 		const IIndexArr IDs = {imageID};
 		double dMin, dMax;
 		cv::minMaxIdx(depthMap, &dMin, &dMax, NULL, NULL, depthMap > 0);
-		const String dmapPath((path.parent_path() / String::FormatString("depth%04u.dmap", imageID).c_str()).string());
+		const String dmapPath(workPath + String::FormatString("depth%04u.dmap", imageID));
 		if (!ExportDepthDataRaw(dmapPath,
 			imageData.name, IDs, resolution,
 			camera.K, pose.R, pose.C,
@@ -465,18 +485,42 @@ bool ParseSceneNerfstudio(Scene& scene, const std::filesystem::path& path)
 
 // RTMV scene format: http://www.cs.umd.edu/~mmeshry/projects/rtmv
 // |--sceneX
-//   |--xxx.jpg
+//   |--xxx.exr
+//   |--xxx.seg.exr
+//   |--xxx.depth.exr
 //   |--xxx.json
 //   ....
 bool ParseSceneRTMV(Scene& scene, const std::filesystem::path& path)
 {
+	String strImagePath((path / "images").string());
+	Util::ensureFolderSlash(strImagePath);
+	Util::ensureFolder(strImagePath);
+	String workPath(path.parent_path().string());
+	Util::ensureFolderSlash(workPath);
+	std::vector<String> strImageNames;
 	#if defined(_SUPPORT_CPP17) && (!defined(__GNUC__) || (__GNUC__ > 7))
-	IIndex prevPlatformID = NO_ID;
 	for (const std::filesystem::directory_entry& entry : std::filesystem::directory_iterator(path)) {
 		if (entry.path().extension() != RTMV_CAMERAS_EXT)
 			continue;
+		strImageNames.emplace_back(entry.path().stem().string());
+	}
+	#else
+	VERBOSE("error: C++17 is required to parse RTMV format");
+	return false;
+	#endif // _SUPPORT_CPP17
+	IIndex prevPlatformID = NO_ID;
+	scene.images.resize((IIndex)strImageNames.size());
+	scene.platforms.reserve((IIndex)strImageNames.size());
+	#ifdef MVSNET_USE_OPENMP
+	#pragma omp parallel for schedule(dynamic)
+	for (int_t i=0; i<(int_t)strImageNames.size(); ++i) {
+	#else
+	FOREACH(i, strImageNames) {
+	#endif
+		const IIndex imageID((IIndex)i);
+		const String& strImageName(strImageNames[imageID]);
 		// parse camera
-		const std::string strFileName((path / entry.path().stem()).string());
+		const String strFileName((path / strImageName.c_str()).string());
 		const nlohmann::json dataCamera = nlohmann::json::parse(std::ifstream(strFileName+RTMV_CAMERAS_EXT));
 		if (dataCamera.empty())
 			continue;
@@ -490,32 +534,58 @@ bool ParseSceneRTMV(Scene& scene, const std::filesystem::path& path)
 		K(1,2) = data["intrinsics"]["cy"].get<REAL>();
 		IIndex platformID;
 		if (prevPlatformID == NO_ID || !K.IsEqual(scene.platforms[prevPlatformID].cameras[0].K, 1e-3)) {
+			#ifdef MVSNET_USE_OPENMP
+			#pragma omp critical
+			#endif
+			{
 			prevPlatformID = platformID = scene.platforms.size();
 			Platform& platform = scene.platforms.emplace_back();
 			Platform::Camera& camera = platform.cameras.emplace_back();
+			platform.poses.reserve((IIndex)strImageNames.size());
 			camera.K = K;
 			camera.R = RMatrix::IDENTITY;
 			camera.C = CMatrix::ZERO;
+			}
 		} else {
 			platformID = prevPlatformID;
 		}
 		Platform& platform = scene.platforms[platformID];
 		// set image
-		const IIndex imageID = scene.images.size();
-		Image& imageData = scene.images.AddEmpty();
+		Image& imageData = scene.images[imageID];
 		imageData.platformID = platformID;
 		imageData.cameraID = 0; // only one camera per platform supported by this format
 		imageData.poseID = NO_ID;
 		imageData.ID = imageID;
-		imageData.name = strFileName+".jpg";
+		imageData.name = strImagePath+strImageName+".jpg";
 		ASSERT(Util::isFullPath(imageData.name));
+		{
+			cv::Mat image = cv::imread(strFileName+".exr", cv::IMREAD_UNCHANGED);
+			ASSERT(image.type() == CV_32FC4);
+			std::vector<cv::Mat> channels;
+			cv::split(image, channels);
+			cv::merge(std::vector<cv::Mat>{channels[0], channels[1], channels[2]}, image);
+			image.convertTo(imageData.image, CV_8UC3, 255);
+		}
+		ASSERT(resolution == imageData.image.size());
+		if (imageData.image.empty()) {
+			VERBOSE("Unable to load image %s.", (strFileName+".exr").c_str());
+			continue;
+		}
+		cv::imwrite(imageData.name, imageData.image);
+		imageData.ReleaseImage();
 		// set image resolution
 		imageData.width = resolution.width;
 		imageData.height = resolution.height;
 		imageData.scale = 1;
 		// load camera pose
-		imageData.poseID = platform.poses.size();
-		Platform::Pose& pose = platform.poses.AddEmpty();
+		#ifdef MVSNET_USE_OPENMP
+		#pragma omp critical
+		#endif
+		{
+			imageData.poseID = platform.poses.size();
+			platform.poses.emplace_back();
+		}
+		Platform::Pose& pose = platform.poses[imageData.poseID];
 		const auto Ps = data["cam2world"].get<std::vector<std::vector<double>>>();
 		Eigen::Matrix4d P{
 			{Ps[0][0], Ps[1][0], Ps[2][0], Ps[3][0]},
@@ -533,15 +603,55 @@ bool ParseSceneRTMV(Scene& scene, const std::filesystem::path& path)
 		pose.R.EnforceOrthogonality();
 		pose.C = P.topRightCorner<3, 1>().eval();
 		imageData.camera = platform.GetCamera(imageData.cameraID, imageData.poseID);
+		// try reading the segmentation mask
+		{
+			cv::Mat imgMask = cv::imread(strFileName+".seg.exr", cv::IMREAD_UNCHANGED);
+			if (imgMask.empty()) {
+				VERBOSE("Unable to load segmentation mask %s.", (strFileName+".seg.exr").c_str());
+				continue;
+			}
+			ASSERT(imgMask.type() == CV_32FC4);
+			ASSERT(resolution == imgMask.size());
+			std::vector<cv::Mat> channels;
+			cv::split(imgMask, channels);
+			channels[0].convertTo(imgMask, CV_16U);
+			imageData.maskName = strImagePath+strImageName+".mask.png";
+			cv::imwrite(imageData.maskName, imgMask);
+		}
+		// try reading the depth-map
+		DepthMap depthMap; {
+			const cv::Mat imgDepthMap = cv::imread(strFileName+".depth.exr", cv::IMREAD_UNCHANGED);
+			if (imgDepthMap.empty()) {
+				VERBOSE("Unable to load depthmap %s.", (strFileName+".depth.exr").c_str());
+				continue;
+			}
+			ASSERT(imgDepthMap.type() == CV_32FC4);
+			ASSERT(resolution == imgDepthMap.size());
+			std::vector<cv::Mat> channels;
+			cv::split(imgDepthMap, channels);
+			RangeToDepthMap(channels[0], imageData.camera, depthMap);
+		}
+		const NormalMap normalMap;
+		const ConfidenceMap confMap;
+		const ViewsMap viewsMap;
+		const IIndexArr IDs = {imageID};
+		double dMin, dMax;
+		cv::minMaxIdx(depthMap, &dMin, &dMax, NULL, NULL, depthMap > 0);
+		const String dmapPath(workPath + String::FormatString("depth%04u.dmap", imageID));
+		if (!ExportDepthDataRaw(dmapPath,
+			imageData.name, IDs, resolution,
+			K, pose.R, pose.C,
+			(float)dMin, (float)dMax,
+			depthMap, normalMap, confMap, viewsMap))
+		{
+			VERBOSE("Unable to save dmap: %s", dmapPath);
+			continue;
+		}
 	}
 	if (scene.images.size() < 2)
 		return false;
 	scene.nCalibratedImages = (unsigned)scene.images.size();
 	return true;
-	#else
-	VERBOSE("error: C++17 is required to parse MVSNet format");
-	return false;
-	#endif // _SUPPORT_CPP17
 }
 
 bool ParseScene(Scene& scene)
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 4debab8f7..98d8e4de8 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -4518,7 +4518,7 @@ bool Mesh::TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices, unsi
 	if (vertices == mesh.vertices && faces == mesh.faces) {
 		// the two meshes are identical, only the texture coordinates are different;
 		// directly transfer the texture onto the new coordinates
-		#ifndef MESH_USE_OPENMP
+		#ifdef MESH_USE_OPENMP
 		#pragma omp parallel for schedule(dynamic)
 		for (int_t i=0; i<(int_t)num_faces; ++i) {
 			const FIndex idx((FIndex)i);

From e3664e5f1468c466416084aed342fef33e80c6f7 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 30 Aug 2023 14:35:47 +0300
Subject: [PATCH 208/252] interface: fix color import from BlocksExchange

---
 apps/InterfaceMetashape/InterfaceMetashape.cpp | 8 ++++----
 libs/Common/Types.inl                          | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/apps/InterfaceMetashape/InterfaceMetashape.cpp b/apps/InterfaceMetashape/InterfaceMetashape.cpp
index 994c0428f..5a7b9bf5f 100644
--- a/apps/InterfaceMetashape/InterfaceMetashape.cpp
+++ b/apps/InterfaceMetashape/InterfaceMetashape.cpp
@@ -605,9 +605,9 @@ bool ParseBlocksExchangeXML(tinyxml2::XMLDocument& doc, Scene& scene, PlatformDi
 			scene.pointcloud.points.back() -= Cast<float>(center);
 		if ((elem=tiepoint->FirstChildElement("Color")) != NULL)
 			scene.pointcloud.colors.emplace_back(
-				(uint8_t)std::clamp(elem->FirstChildElement("Blue")->DoubleText()*255, 0.0, 255.0),
-				(uint8_t)std::clamp(elem->FirstChildElement("Green")->DoubleText()*255, 0.0, 255.0),
-				(uint8_t)std::clamp(elem->FirstChildElement("Red")->DoubleText()*255, 0.0, 255.0));
+				(uint8_t)CLAMP(elem->FirstChildElement("Red")->DoubleText()*255, 0.0, 255.0),
+				(uint8_t)CLAMP(elem->FirstChildElement("Green")->DoubleText()*255, 0.0, 255.0),
+				(uint8_t)CLAMP(elem->FirstChildElement("Blue")->DoubleText()*255, 0.0, 255.0));
 		PointCloud::ViewArr views;
 		for (const tinyxml2::XMLElement* view=tiepoint->FirstChildElement("Measurement"); view!=NULL; view=view->NextSiblingElement())
 			views.emplace_back(mapImageID.at(view->FirstChildElement("PhotoId")->UnsignedText()));
@@ -678,7 +678,7 @@ bool UndistortBrown(Image& imageData, uint32_t ID, const DistCoeff& dc, const St
 
 	// save undistorted image
 	imageData.image = imgUndist;
-	imageData.name = pathData + String::FormatString(_T("%05u.png"), ID);
+	imageData.name = pathData + String::FormatString(_T("%05u.jpg"), ID);
 	Util::ensureFolder(imageData.name);
 	return imageData.image.Save(imageData.name);
 }
diff --git a/libs/Common/Types.inl b/libs/Common/Types.inl
index d4129e1ad..4dbd3cb0c 100644
--- a/libs/Common/Types.inl
+++ b/libs/Common/Types.inl
@@ -3040,7 +3040,7 @@ bool TImage<TYPE>::Save(const String& fileName) const
 	} else
 	if (ext == ".jpg") {
 		compression_params.push_back(cv::IMWRITE_JPEG_QUALITY);
-		compression_params.push_back(80);
+		compression_params.push_back(95);
 	} else
 	if (ext == ".pfm") {
 		if (Base::depth() != CV_32F)

From 0a6ef820be64958fa98c0e2cd9201bc2ae7d4e69 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 31 Aug 2023 17:46:08 +0300
Subject: [PATCH 209/252] viewer: refactor scene with external geometry loading

---
 CMakeLists.txt                           |  9 +++--
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp | 49 +++++++++++++++++++++++-
 apps/Viewer/Scene.cpp                    | 36 +++++++++++------
 apps/Viewer/Scene.h                      |  7 ++--
 apps/Viewer/Viewer.cpp                   | 26 +++++--------
 apps/Viewer/Window.cpp                   |  6 +--
 6 files changed, 94 insertions(+), 39 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index f0221349f..aaff4117a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -27,6 +27,7 @@ SET(OpenMVS_USE_FAST_INVSQRT OFF CACHE BOOL "Use an optimized code to compute th
 SET(OpenMVS_USE_FAST_CBRT ON CACHE BOOL "Use an optimized code to compute the cubic root")
 SET(OpenMVS_MAX_CUDA_COMPATIBILITY OFF CACHE BOOL "Build for maximum CUDA device compatibility")
 SET(OpenMVS_ENABLE_TESTS ON CACHE BOOL "Enable test code")
+SET(OpenMVS_USE_SSE ON CACHE BOOL "Enable SSE optimizations")
 
 # Load automatically VCPKG toolchain if available
 IF(NOT DEFINED CMAKE_TOOLCHAIN_FILE AND DEFINED ENV{VCPKG_ROOT})
@@ -50,14 +51,16 @@ ENDIF()
 # ${OpenMVS_BINARY_DIR}.
 PROJECT(OpenMVS)
 
-cmake_policy(SET CMP0127 NEW)
-cmake_dependent_option(OpenMVS_USE_SSE "Enable SSE optimizations" ON "NOT CMAKE_SYSTEM_PROCESSOR MATCHES \"^(arm|ARM|aarch64|AARCH64).\"" OFF)
-
 SET(OpenMVS_MAJOR_VERSION 2)
 SET(OpenMVS_MINOR_VERSION 2)
 SET(OpenMVS_PATCH_VERSION 0)
 SET(OpenMVS_VERSION ${OpenMVS_MAJOR_VERSION}.${OpenMVS_MINOR_VERSION}.${OpenMVS_PATCH_VERSION})
 
+# Disable SSE on unsuported platforms
+IF(CMAKE_SYSTEM_PROCESSOR MATCHES "^(arm|ARM|aarch64|AARCH64)")
+	SET(OpenMVS_USE_SSE OFF)
+ENDIF()
+
 # Define helper functions and macros.
 INCLUDE(build/Utils.cmake)
 
diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index d3c431cc9..ac4eeda91 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -68,6 +68,7 @@ bool bFromOpenMVS; // conversion direction
 bool bNormalizeIntrinsics;
 bool bForceSparsePointCloud;
 String strInputFileName;
+String strPointCloudFileName;
 String strOutputFileName;
 String strImageFolder;
 unsigned nArchiveType;
@@ -108,10 +109,11 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	boost::program_options::options_description config("Main options");
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input COLMAP folder containing cameras, images and points files OR input MVS project file")
+		("pointcloud-file,p", boost::program_options::value<std::string>(&OPT::strPointCloudFileName), "point-cloud with views file name (overwrite existing point-cloud)")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the MVS project")
 		("image-folder", boost::program_options::value<std::string>(&OPT::strImageFolder)->default_value(COLMAP_IMAGES_FOLDER), "folder to the undistorted images")
 		("normalize,f", boost::program_options::value(&OPT::bNormalizeIntrinsics)->default_value(false), "normalize intrinsics while exporting to MVS format")
-		("force-points,p", boost::program_options::value(&OPT::bForceSparsePointCloud)->default_value(false), "force exporting point-cloud as sparse points also even if dense point-cloud detected")
+		("force-points,e", boost::program_options::value(&OPT::bForceSparsePointCloud)->default_value(false), "force exporting point-cloud as sparse points also even if dense point-cloud detected")
 		;
 
 	boost::program_options::options_description cmdline_options;
@@ -127,7 +129,6 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		// parse command line options
 		boost::program_options::store(boost::program_options::command_line_parser((int)argc, argv).options(cmdline_options).positional(p).run(), OPT::vm);
 		boost::program_options::notify(OPT::vm);
-		Util::ensureValidPath(OPT::strInputFileName);
 		INIT_WORKING_FOLDER;
 		// parse configuration file
 		std::ifstream ifs(MAKE_PATH_SAFE(OPT::strConfigFileName));
@@ -149,6 +150,8 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
 
 	// validate input
+	Util::ensureValidPath(OPT::strInputFileName);
+	Util::ensureValidPath(OPT::strPointCloudFileName);
 	const bool bInvalidCommand(OPT::strInputFileName.empty());
 	if (OPT::vm.count("help") || bInvalidCommand) {
 		boost::program_options::options_description visible("Available options");
@@ -949,6 +952,46 @@ bool ImportScene(const String& strFolder, const String& strOutFolder, Interface&
 }
 
 
+bool ImportPointCloud(const String& strPointCloudFileName, Interface& scene)
+{
+	PointCloud pointcloud;
+	if (!pointcloud.Load(strPointCloudFileName)) {
+		VERBOSE("error: cannot load point-cloud file");
+		return false;
+	}
+	if (!pointcloud.IsValid()) {
+		VERBOSE("error: loaded point-cloud does not have visibility information");
+		return false;
+	}
+	// replace scene point-cloud with the loaded one
+	scene.vertices.clear();
+	scene.verticesColor.clear();
+	scene.verticesNormal.clear();
+	scene.vertices.reserve(pointcloud.points.size());
+	if (!pointcloud.colors.empty())
+		scene.verticesColor.reserve(pointcloud.points.size());
+	if (!pointcloud.normals.empty())
+		scene.verticesNormal.reserve(pointcloud.points.size());
+	FOREACH(i, pointcloud.points) {
+		Interface::Vertex vertex;
+		vertex.X = pointcloud.points[i];
+		vertex.views.reserve(pointcloud.pointViews[i].size());
+		FOREACH(j, pointcloud.pointViews[i]) {
+			Interface::Vertex::View& view = vertex.views.emplace_back();
+			view.imageID = pointcloud.pointViews[i][j];
+			view.confidence = (pointcloud.pointWeights.empty() ? 0.f : pointcloud.pointWeights[i][j]);
+		}
+		scene.vertices.emplace_back(std::move(vertex));
+		if (!pointcloud.colors.empty()) {
+			const Pixel8U& c = pointcloud.colors[i];
+			scene.verticesColor.emplace_back(Interface::Color{Interface::Col3{c.b, c.g, c.r}});
+		}
+		if (!pointcloud.normals.empty())
+			scene.verticesNormal.emplace_back(Interface::Normal{pointcloud.normals[i]});
+	}
+	return true;
+}
+
 bool ExportScene(const String& strFolder, const Interface& scene, bool bForceSparsePointCloud = false, bool binary = true)
 {
 	Util::ensureFolder(strFolder+COLMAP_SPARSE_FOLDER);
@@ -1392,6 +1435,8 @@ int main(int argc, LPCTSTR* argv)
 			ExportImagesCamera((OPT::strOutputFileName=Util::getFileFullName(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputFileName)))+PATH_SEPARATOR, scene);
 		} else {
 			// write COLMAP input data
+			if (!OPT::strPointCloudFileName.empty() && !ImportPointCloud(MAKE_PATH_SAFE(OPT::strPointCloudFileName), scene))
+				return EXIT_FAILURE;
 			Util::ensureFolderSlash(OPT::strOutputFileName);
 			ExportScene(MAKE_PATH_SAFE(OPT::strOutputFileName), scene, OPT::bForceSparsePointCloud);
 		}
diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index b19eb4107..d837502e1 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -148,7 +148,7 @@ void Scene::Empty()
 	images.Release();
 	scene.Release();
 	sceneName.clear();
-	meshName.clear();
+	geometryName.clear();
 }
 void Scene::Release()
 {
@@ -177,7 +177,7 @@ void Scene::ReleaseMesh()
 	}
 }
 
-bool Scene::Init(const cv::Size& size, LPCTSTR windowName, LPCTSTR fileName, LPCTSTR meshFileName)
+bool Scene::Init(const cv::Size& size, LPCTSTR windowName, LPCTSTR fileName, LPCTSTR geometryFileName)
 {
 	ASSERT(scene.IsEmpty());
 
@@ -216,29 +216,36 @@ bool Scene::Init(const cv::Size& size, LPCTSTR windowName, LPCTSTR fileName, LPC
 	// open scene or init empty scene
 	window.SetCamera(Camera());
 	if (fileName != NULL)
-		Open(fileName, meshFileName);
+		Open(fileName, geometryFileName);
 	window.SetVisible(true);
 	return true;
 }
-bool Scene::Open(LPCTSTR fileName, LPCTSTR meshFileName)
+bool Scene::Open(LPCTSTR fileName, LPCTSTR geometryFileName)
 {
 	ASSERT(fileName);
 	DEBUG_EXTRA("Loading: '%s'", Util::getFileNameExt(fileName).c_str());
 	Empty();
 	sceneName = fileName;
-	if (meshFileName)
-		meshName = meshFileName;
 
 	// load the scene
 	WORKING_FOLDER = Util::getFilePath(fileName);
 	INIT_WORKING_FOLDER;
 	if (!scene.Load(fileName, true))
 		return false;
-	if (meshFileName) {
-		// load given mesh
-		if (!scene.mesh.Load(meshFileName)) {
-			// try to load as a point-cloud
-			scene.pointcloud.Load(meshFileName);
+	if (geometryFileName) {
+		// try to load given mesh
+		MVS::Mesh mesh;
+		MVS::PointCloud pointcloud;
+		if (mesh.Load(geometryFileName)) {
+			scene.mesh.Swap(mesh);
+			geometryName = geometryFileName;
+			geometryMesh = true;
+		} else
+		// try to load as a point-cloud
+		if (pointcloud.Load(geometryFileName)) {
+			scene.pointcloud.Swap(pointcloud);
+			geometryName = geometryFileName;
+			geometryMesh = false;
 		}
 	}
 	if (!scene.pointcloud.IsEmpty())
@@ -346,8 +353,11 @@ bool Scene::Save(LPCTSTR _fileName, bool bRescaleImages)
 	}
 	const String fileName(_fileName != NULL ? String(_fileName) : Util::insertBeforeFileExt(sceneName, _T("_new")));
 	MVS::Mesh mesh;
-	if (!scene.mesh.IsEmpty() && !meshName.empty())
+	if (!scene.mesh.IsEmpty() && !geometryName.empty() && geometryMesh)
 		mesh.Swap(scene.mesh);
+	MVS::PointCloud pointcloud;
+	if (!scene.pointcloud.IsEmpty() && !geometryName.empty() && !geometryMesh)
+		pointcloud.Swap(scene.pointcloud);
 	if (imageScale > 0 && imageScale < 1) {
 		// scale and save images
 		const String folderName(Util::getFilePath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, fileName)) + String::FormatString("images%d" PATH_SEPARATOR_STR, ROUND2INT(imageScale*100)));
@@ -362,6 +372,8 @@ bool Scene::Save(LPCTSTR _fileName, bool bRescaleImages)
 	}
 	if (!mesh.IsEmpty())
 		scene.mesh.Swap(mesh);
+	if (!pointcloud.IsEmpty())
+		scene.pointcloud.Swap(pointcloud);
 	sceneName = fileName;
 	return true;
 }
diff --git a/apps/Viewer/Scene.h b/apps/Viewer/Scene.h
index b0b16e0e4..48251d31d 100644
--- a/apps/Viewer/Scene.h
+++ b/apps/Viewer/Scene.h
@@ -56,7 +56,8 @@ class Scene
 	String name;
 
 	String sceneName;
-	String meshName;
+	String geometryName;
+	bool geometryMesh;
 	MVS::Scene scene;
 	Window window;
 	ImageArr images; // scene photos
@@ -85,8 +86,8 @@ class Scene
 	inline bool IsOpen() const { return IsValid() && !scene.IsEmpty(); }
 	inline bool IsOctreeValid() const { return !octPoints.IsEmpty() || !octMesh.IsEmpty(); }
 
-	bool Init(const cv::Size&, LPCTSTR windowName, LPCTSTR fileName=NULL, LPCTSTR meshFileName=NULL);
-	bool Open(LPCTSTR fileName, LPCTSTR meshFileName=NULL);
+	bool Init(const cv::Size&, LPCTSTR windowName, LPCTSTR fileName=NULL, LPCTSTR geometryFileName=NULL);
+	bool Open(LPCTSTR fileName, LPCTSTR geometryFileName=NULL);
 	bool Save(LPCTSTR fileName=NULL, bool bRescaleImages=false);
 	bool Export(LPCTSTR fileName, LPCTSTR exportType=NULL) const;
 	void CompilePointCloud();
diff --git a/apps/Viewer/Viewer.cpp b/apps/Viewer/Viewer.cpp
index e442d533b..d23e63cd3 100644
--- a/apps/Viewer/Viewer.cpp
+++ b/apps/Viewer/Viewer.cpp
@@ -48,8 +48,8 @@ namespace {
 
 namespace OPT {
 String strInputFileName;
+String strGeometryFileName;
 String strOutputFileName;
-String strMeshFileName;
 unsigned nArchiveType;
 int nProcessPriority;
 unsigned nMaxThreads;
@@ -96,21 +96,15 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	boost::program_options::options_description config("Viewer options");
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input project filename containing camera poses and scene (point-cloud/mesh)")
+		("geometry-file,g", boost::program_options::value<std::string>(&OPT::strGeometryFileName), "mesh or point-cloud with views file name (overwrite existing geometry)")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the mesh")
 		;
 
-	// hidden options, allowed both on command line and
-	// in config file, but will not be shown to the user
-	boost::program_options::options_description hidden("Hidden options");
-	hidden.add_options()
-		("mesh-file", boost::program_options::value<std::string>(&OPT::strMeshFileName), "mesh file name to texture (overwrite the existing mesh)")
-		;
-
 	boost::program_options::options_description cmdline_options;
-	cmdline_options.add(generic).add(config).add(hidden);
+	cmdline_options.add(generic).add(config);
 
 	boost::program_options::options_description config_file_options;
-	config_file_options.add(config).add(hidden);
+	config_file_options.add(config);
 
 	boost::program_options::positional_options_description p;
 	p.add("input-file", -1);
@@ -171,12 +165,12 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 			"\n")
 			<< visible;
 	}
-	if (!OPT::strExportType.IsEmpty())
+	if (!OPT::strExportType.empty())
 		OPT::strExportType = OPT::strExportType.ToLower() == _T("obj") ? _T(".obj") : _T(".ply");
 
 	// initialize optional options
+	Util::ensureValidPath(OPT::strGeometryFileName);
 	Util::ensureValidPath(OPT::strOutputFileName);
-	Util::ensureValidPath(OPT::strMeshFileName);
 
 	// initialize global options
 	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
@@ -223,12 +217,12 @@ int main(int argc, LPCTSTR* argv)
 	// create viewer
 	Scene viewer;
 	if (!viewer.Init(cv::Size(1280, 720), APPNAME,
-			OPT::strInputFileName.IsEmpty() ? NULL : MAKE_PATH_SAFE(OPT::strInputFileName).c_str(),
-			OPT::strMeshFileName.IsEmpty() ? NULL : MAKE_PATH_SAFE(OPT::strMeshFileName).c_str()))
+			OPT::strInputFileName.empty() ? NULL : MAKE_PATH_SAFE(OPT::strInputFileName).c_str(),
+			OPT::strGeometryFileName.empty() ? NULL : MAKE_PATH_SAFE(OPT::strGeometryFileName).c_str()))
 		return EXIT_FAILURE;
-	if (viewer.IsOpen() && !OPT::strOutputFileName.IsEmpty()) {
+	if (viewer.IsOpen() && !OPT::strOutputFileName.empty()) {
 		// export the scene
-		viewer.Export(MAKE_PATH_SAFE(OPT::strOutputFileName), OPT::strExportType.IsEmpty()?LPCTSTR(NULL):OPT::strExportType.c_str());
+		viewer.Export(MAKE_PATH_SAFE(OPT::strOutputFileName), OPT::strExportType.empty()?LPCTSTR(NULL):OPT::strExportType.c_str());
 	}
 	// enter viewer loop
 	viewer.Loop();
diff --git a/apps/Viewer/Window.cpp b/apps/Viewer/Window.cpp
index 63bbe1a19..85f64e923 100644
--- a/apps/Viewer/Window.cpp
+++ b/apps/Viewer/Window.cpp
@@ -454,9 +454,9 @@ void Window::Drop(int count, const char** paths)
 		String fileName(paths[0]);
 		Util::ensureUnifySlash(fileName);
 		if (count > 1) {
-			String meshFileName(paths[1]);
-			Util::ensureUnifySlash(meshFileName);
-			clbkOpenScene(fileName, meshFileName);
+			String geometryFileName(paths[1]);
+			Util::ensureUnifySlash(geometryFileName);
+			clbkOpenScene(fileName, geometryFileName);
 		} else {
 			clbkOpenScene(fileName, NULL);
 		}

From 70de228102e88f9cd316c26941036a58748d2641 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 1 Sep 2023 10:41:31 +0300
Subject: [PATCH 210/252] build: fix optional python with vcpkg

---
 CMakeLists.txt | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index aaff4117a..34d8e8372 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -177,19 +177,21 @@ if(OpenMVS_USE_BREAKPAD)
 	endif()
 endif()
 
+SET(Boost_EXTRA_COMPONENTS "")
 if(OpenMVS_USE_PYTHON)
 	FIND_PACKAGE(PythonLibs 3.0 REQUIRED)
 	if(PythonLibs_FOUND)
 		INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
 		LIST(APPEND OpenMVS_EXTRA_INCLUDES ${PYTHON_INCLUDE_DIRS})
 		LIST(APPEND OpenMVS_EXTRA_LIBS ${PYTHON_LIBRARIES})
+		LIST(APPEND Boost_EXTRA_COMPONENTS python3)
 		MESSAGE(STATUS "Python ${PYTHON_VERSION} found (include: ${PYTHON_INCLUDE_DIRS})")
 	else()
 		MESSAGE("-- Can't find Python. Continuing without it.")
 	endif()
 endif()
 
-FIND_PACKAGE(Boost REQUIRED COMPONENTS iostreams program_options system serialization OPTIONAL_COMPONENTS python3)
+FIND_PACKAGE(Boost REQUIRED COMPONENTS iostreams program_options system serialization ${Boost_EXTRA_COMPONENTS})
 if(Boost_FOUND)
 	LIST(APPEND OpenMVS_EXTRA_INCLUDES ${Boost_INCLUDE_DIRS})
 	INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
@@ -200,8 +202,10 @@ if(Boost_FOUND)
 		LIST(APPEND Boost_LIBRARIES zstd)
 	endif()
 	SET(_USE_BOOST TRUE)
-	if(Boost_python3_FOUND)
-		SET(_USE_BOOST_PYTHON TRUE)
+	if(OpenMVS_USE_PYTHON)
+		if(Boost_python3_FOUND)
+			SET(_USE_BOOST_PYTHON TRUE)
+		endif()
 	endif()
 endif()
 

From c84b15b4b44f5eaa28240cf2398206b7b6710b51 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 1 Sep 2023 13:58:37 +0300
Subject: [PATCH 211/252] interface: fix for old GCC without filesystem support

---
 apps/InterfaceMVSNet/InterfaceMVSNet.cpp   | 49 ++++++++++------------
 apps/InterfacePolycam/InterfacePolycam.cpp |  2 +-
 libs/Common/Ray.inl                        |  2 +-
 libs/Common/Strings.h                      |  2 +-
 libs/Common/Types.h                        |  4 ++
 libs/Common/Util.h                         |  5 ++-
 libs/MVS/SceneReconstruct.cpp              |  2 +-
 7 files changed, 33 insertions(+), 33 deletions(-)

diff --git a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
index b1d7a97ec..f3027a9f4 100644
--- a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
+++ b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
@@ -263,17 +263,15 @@ void RangeToDepthMap(const Image32F& rangeMap, const Camera& camera, DepthMap& d
 //  K20 K21 K22
 //
 //  DEPTH_MIN DEPTH_INTERVAL (DEPTH_NUM DEPTH_MAX)
-bool ParseSceneMVSNet(Scene& scene, const std::filesystem::path& path)
+bool ParseSceneMVSNet(Scene& scene, const String& strPath)
 {
 	#if defined(_SUPPORT_CPP17) && (!defined(__GNUC__) || (__GNUC__ > 7))
-	String strPath(path.string());
-	Util::ensureValidFolderPath(strPath);
 	IIndex prevPlatformID = NO_ID;
-	for (const std::filesystem::directory_entry& entry : std::filesystem::directory_iterator(path / MVSNET_IMAGES_FOLDER)) {
+	for (const std::filesystem::directory_entry& entry : std::filesystem::directory_iterator((strPath + MVSNET_IMAGES_FOLDER).c_str())) {
 		if (entry.path().extension() != MVSNET_IMAGES_EXT)
 			continue;
 		// parse camera
-		const std::string strCamFileName((path / MVSNET_CAMERAS_FOLDER / entry.path().stem()).string() + MVSNET_CAMERAS_NAME);
+		const std::string strCamFileName(strPath + MVSNET_CAMERAS_FOLDER PATH_SEPARATOR_STR + entry.path().stem().string().c_str() + MVSNET_CAMERAS_NAME);
 		std::ifstream fcam(strCamFileName);
 		if (!fcam)
 			continue;
@@ -365,9 +363,9 @@ bool ParseSceneMVSNet(Scene& scene, const std::filesystem::path& path)
 //     |--normalxxxx.exr
 //     ....
 //   |--transforms.json
-bool ParseSceneNerfstudio(Scene& scene, const std::filesystem::path& path)
+bool ParseSceneNerfstudio(Scene& scene, const String& strPath)
 {
-	const nlohmann::json data = nlohmann::json::parse(std::ifstream((path / NERFSTUDIO_TRANSFORMS).string()));
+	const nlohmann::json data = nlohmann::json::parse(std::ifstream(strPath + NERFSTUDIO_TRANSFORMS));
 	if (data.empty())
 		return false;
 	// parse camera
@@ -400,15 +398,13 @@ bool ParseSceneNerfstudio(Scene& scene, const std::filesystem::path& path)
 		return false;
 	}
 	// parse images
-	String workPath(path.parent_path().string());
-	Util::ensureFolderSlash(workPath);
 	const nlohmann::json& frames = data["frames"];
 	for (const nlohmann::json& frame: frames) {
 		// set image
 		// frames expected to be ordered in JSON
 		const IIndex imageID = scene.images.size(); 
-		const String strFileName((path / frame["file_path"].get<std::string>()).string());
-		Image& imageData = scene.images.AddEmpty();
+		const String strFileName(strPath + frame["file_path"].get<std::string>().c_str());
+		Image& imageData = scene.images.emplace_back();
 		imageData.platformID = platformID;
 		imageData.cameraID = 0; // only one camera per platform supported by this format
 		imageData.poseID = NO_ID;
@@ -431,9 +427,9 @@ bool ParseSceneNerfstudio(Scene& scene, const std::filesystem::path& path)
 		};
 		// revert nerfstudio conversion:
 		// convert from COLMAP's camera coordinate system (OpenCV) to ours (OpenGL)
-        //   c2w[0:3, 1:3] *= -1
-        //   c2w = c2w[np.array([1, 0, 2, 3]), :]
-        //   c2w[2, :] *= -1
+		//   c2w[0:3, 1:3] *= -1
+		//   c2w = c2w[np.array([1, 0, 2, 3]), :]
+		//   c2w[2, :] *= -1
 		P.row(2) *= -1;
 		P.row(0).swap(P.row(1));
 		P.col(2) *= -1;
@@ -445,7 +441,7 @@ bool ParseSceneNerfstudio(Scene& scene, const std::filesystem::path& path)
 		imageData.camera = platform.GetCamera(imageData.cameraID, imageData.poseID);
 		// try reading depth-map and normal-map
 		DepthMap depthMap; {
-			const String depthPath((path.parent_path() / String::FormatString("outputs/depth%04u.exr", imageID).c_str()).string());
+			const String depthPath(strPath + String::FormatString("outputs/depth%04u.exr", imageID));
 			const Image32F rangeMap = cv::imread(depthPath, cv::IMREAD_UNCHANGED);
 			if (rangeMap.empty()) {
 				VERBOSE("Unable to load depthmap %s.", depthPath.c_str());
@@ -454,7 +450,7 @@ bool ParseSceneNerfstudio(Scene& scene, const std::filesystem::path& path)
 			RangeToDepthMap(rangeMap, imageData.camera, depthMap);
 		}
 		NormalMap normalMap; {
-			const String normalPath((path.parent_path() / String::FormatString("outputs/normal%04u.exr", imageID).c_str()).string());
+			const String normalPath(strPath + String::FormatString("outputs/normal%04u.exr", imageID));
 			normalMap = cv::imread(normalPath, cv::IMREAD_UNCHANGED);
 			if (normalMap.empty()) {
 				VERBOSE("Unable to load normalMap %s.", normalPath.c_str());
@@ -466,7 +462,7 @@ bool ParseSceneNerfstudio(Scene& scene, const std::filesystem::path& path)
 		const IIndexArr IDs = {imageID};
 		double dMin, dMax;
 		cv::minMaxIdx(depthMap, &dMin, &dMax, NULL, NULL, depthMap > 0);
-		const String dmapPath(workPath + String::FormatString("depth%04u.dmap", imageID));
+		const String dmapPath(strPath + String::FormatString("depth%04u.dmap", imageID));
 		if (!ExportDepthDataRaw(dmapPath,
 			imageData.name, IDs, resolution,
 			camera.K, pose.R, pose.C,
@@ -490,16 +486,13 @@ bool ParseSceneNerfstudio(Scene& scene, const std::filesystem::path& path)
 //   |--xxx.depth.exr
 //   |--xxx.json
 //   ....
-bool ParseSceneRTMV(Scene& scene, const std::filesystem::path& path)
+bool ParseSceneRTMV(Scene& scene, const String& strPath)
 {
-	String strImagePath((path / "images").string());
-	Util::ensureFolderSlash(strImagePath);
+	const String strImagePath(strPath + "images/");
 	Util::ensureFolder(strImagePath);
-	String workPath(path.parent_path().string());
-	Util::ensureFolderSlash(workPath);
 	std::vector<String> strImageNames;
 	#if defined(_SUPPORT_CPP17) && (!defined(__GNUC__) || (__GNUC__ > 7))
-	for (const std::filesystem::directory_entry& entry : std::filesystem::directory_iterator(path)) {
+	for (const std::filesystem::directory_entry& entry : std::filesystem::directory_iterator(strPath.c_str())) {
 		if (entry.path().extension() != RTMV_CAMERAS_EXT)
 			continue;
 		strImageNames.emplace_back(entry.path().stem().string());
@@ -520,7 +513,7 @@ bool ParseSceneRTMV(Scene& scene, const std::filesystem::path& path)
 		const IIndex imageID((IIndex)i);
 		const String& strImageName(strImageNames[imageID]);
 		// parse camera
-		const String strFileName((path / strImageName.c_str()).string());
+		const String strFileName(strPath + strImageName);
 		const nlohmann::json dataCamera = nlohmann::json::parse(std::ifstream(strFileName+RTMV_CAMERAS_EXT));
 		if (dataCamera.empty())
 			continue;
@@ -637,7 +630,7 @@ bool ParseSceneRTMV(Scene& scene, const std::filesystem::path& path)
 		const IIndexArr IDs = {imageID};
 		double dMin, dMax;
 		cv::minMaxIdx(depthMap, &dMin, &dMax, NULL, NULL, depthMap > 0);
-		const String dmapPath(workPath + String::FormatString("depth%04u.dmap", imageID));
+		const String dmapPath(strPath + String::FormatString("depth%04u.dmap", imageID));
 		if (!ExportDepthDataRaw(dmapPath,
 			imageData.name, IDs, resolution,
 			K, pose.R, pose.C,
@@ -675,9 +668,9 @@ bool ParseScene(Scene& scene)
 		}
 	}
 	switch (sceneType) {
-	case NERFSTUDIO: return ParseSceneNerfstudio(scene, path);
-	case RTMV: return ParseSceneRTMV(scene, path);
-	default: return ParseSceneMVSNet(scene, path);
+	case NERFSTUDIO: return ParseSceneNerfstudio(scene, strPath);
+	case RTMV: return ParseSceneRTMV(scene, strPath);
+	default: return ParseSceneMVSNet(scene, strPath);
 	}
 	#else
 	VERBOSE("error: C++17 is required to parse MVSNet format");
diff --git a/apps/InterfacePolycam/InterfacePolycam.cpp b/apps/InterfacePolycam/InterfacePolycam.cpp
index 31c532e9a..fb63e2291 100644
--- a/apps/InterfacePolycam/InterfacePolycam.cpp
+++ b/apps/InterfacePolycam/InterfacePolycam.cpp
@@ -269,7 +269,7 @@ bool ParseImage(Scene& scene, const String& imagePath, const String& cameraPath,
 // parse scene stored in Polycam format
 bool ParseScene(Scene& scene, const String& scenePath)
 {
-	#ifdef _SUPPORT_CPP17
+	#if defined(_SUPPORT_CPP17) && (!defined(__GNUC__) || (__GNUC__ > 7))
 	size_t numCorrectedFolders(0), numFolders(0);
 	for (const auto& file: std::filesystem::directory_iterator(scenePath.c_str())) {
 		if (file.path().stem() == "corrected_cameras" ||
diff --git a/libs/Common/Ray.inl b/libs/Common/Ray.inl
index 1078f3086..6dfc98209 100644
--- a/libs/Common/Ray.inl
+++ b/libs/Common/Ray.inl
@@ -922,7 +922,7 @@ bool TestRayTriangleIntersection(unsigned iters) {
 	typedef SEACAVE::TRay<TYPE,3> Ray;
 	typedef typename Ray::POINT Point;
 	typedef typename Point::Scalar Type;
-	constexpr Type zeroEps(ZEROTOLERANCE<Type>() * 1000);
+	constexpr Type zeroEps(std::is_same<TYPE,float>::value ? 0.1f : 0.0001f);
 	for (unsigned iter=0; iter<iters; ++iter) {
 		const Type scale(10);
 		const Triangle triangle(Point::Random()*scale, Point::Random()*scale, Point::Random()*scale);
diff --git a/libs/Common/Strings.h b/libs/Common/Strings.h
index 187f32d0e..aae49c8d3 100644
--- a/libs/Common/Strings.h
+++ b/libs/Common/Strings.h
@@ -41,10 +41,10 @@ class GENERAL_API String : public std::string
 
 	inline String& operator=(Base&& rhs) { Base::operator=(std::forward<Base>(rhs)); return *this; }
 	inline String& operator=(String&& rhs) { Base::operator=(std::forward<Base>(rhs)); return *this; }
+	#endif
 	inline String& operator=(TCHAR rhs) { Base::operator=(rhs); return *this; }
 	inline String& operator=(LPCTSTR rhs) { Base::operator=(rhs); return *this; }
 	inline String& operator=(const String& rhs) { Base::operator=(rhs); return *this; }
-	#endif
 
 	inline String& operator+=(TCHAR rhs) { *this = (*this) + rhs; return *this; }
 	inline String& operator+=(LPCTSTR rhs) { *this = (*this) + rhs; return *this; }
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index d5b567431..37a7d5c6a 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -2143,7 +2143,11 @@ class TImage : public TDMatrix<TYPE>
 	inline TImage(const Size& sz) : Base(sz) {}
 	inline TImage(const Size& sz, const TYPE& v) : Base(sz, v) {}
 	inline TImage(const Size& sz, TYPE* _data, size_t _step=Base::AUTO_STEP) : Base(sz.height, sz.width, _data, _step) {}
+	#ifdef _SUPPORT_CPP11
+	inline TImage(cv::Mat&& rhs) : Base(std::forward<cv::Mat>(rhs)) {}
 
+	inline TImage& operator = (cv::Mat&& rhs) { BaseBase::operator=(std::forward<cv::Mat>(rhs)); return *this; }
+	#endif
 	inline TImage& operator = (const Base& rhs) { BaseBase::operator=(rhs); return *this; }
 	inline TImage& operator = (const BaseBase& rhs) { BaseBase::operator=(rhs); return *this; }
 	inline TImage& operator = (const cv::MatExpr& rhs) { BaseBase::operator=(rhs); return *this; }
diff --git a/libs/Common/Util.h b/libs/Common/Util.h
index 871f92835..95050e89f 100644
--- a/libs/Common/Util.h
+++ b/libs/Common/Util.h
@@ -457,7 +457,10 @@ class GENERAL_API Util
 	}
 
 	static String getFilePath(const String& path) {
-		const String::size_type i = path.rfind(PATH_SEPARATOR);
+		const String::size_type size = path.size();
+		if (size < 3)
+			return String();
+		const String::size_type i = path.rfind(PATH_SEPARATOR, size-2);
 		return (i != String::npos) ? path.substr(0, i+1) : String();
 	}
 	static String getFileFullName(const String& path) {
diff --git a/libs/MVS/SceneReconstruct.cpp b/libs/MVS/SceneReconstruct.cpp
index a684d3b77..1cf5e6c1a 100644
--- a/libs/MVS/SceneReconstruct.cpp
+++ b/libs/MVS/SceneReconstruct.cpp
@@ -1100,7 +1100,7 @@ bool Scene::ReconstructMesh(float distInsert, bool bUseFreeSpaceSupport, bool bU
 		// create graph
 		MaxFlow<cell_size_t,edge_cap_t> graph(delaunay.number_of_cells());
 		// set weights
-		constexpr edge_cap_t maxCap(FLT_MAX*0.0001f);
+		constexpr edge_cap_t maxCap(3.402823466e+34f/*FLT_MAX*0.0001f*/);
 		for (delaunay_t::All_cells_iterator ci=delaunay.all_cells_begin(), ce=delaunay.all_cells_end(); ci!=ce; ++ci) {
 			const cell_size_t ciID(ci->info());
 			const cell_info_t& ciInfo(infoCells[ciID]);

From 91c9c2c9c1541400463a9792786472e3f9a264c1 Mon Sep 17 00:00:00 2001
From: t-kusanagi <46693526+t-kusanagi@users.noreply.github.com>
Date: Wed, 6 Sep 2023 16:12:07 +0900
Subject: [PATCH 212/252] common: add an A100 CUDA parameter (#1053)

---
 libs/Common/UtilCUDA.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libs/Common/UtilCUDA.cpp b/libs/Common/UtilCUDA.cpp
index f6b202519..dddc6d5a4 100644
--- a/libs/Common/UtilCUDA.cpp
+++ b/libs/Common/UtilCUDA.cpp
@@ -50,6 +50,7 @@ int _convertSMVer2Cores(int major, int minor)
 		{0x70, 64 }, // Volta Generation (SM 7.0) GV100 class
 		{0x72, 64 }, // Volta Generation (SM 7.2) GV10B class
 		{0x75, 64 }, // Turing Generation (SM 7.5) TU1xx class
+		{0x80, 64 }, // Ampere Generation (SM 8.0) GA100 class
 		{-1, -1}
 	};
 

From c1b1cc99d87125e77cd7f0355417d9a5ccda056c Mon Sep 17 00:00:00 2001
From: 4CJ7T <108303308+4CJ7T@users.noreply.github.com>
Date: Wed, 20 Sep 2023 21:28:03 -0700
Subject: [PATCH 213/252] common: add Python utility for reading DMAP files
 (#1059)

---
 .../python/MvgMvsPipeline.py                  |  0
 .../python/MvgOptimizeSfM.py                  |  0
 scripts/python/MvsReadDMAP.py                 | 42 ++++++++++++
 .../python/MvsScalablePipeline.py             |  0
 scripts/python/MvsUtils.py                    | 67 +++++++++++++++++++
 5 files changed, 109 insertions(+)
 rename MvgMvsPipeline.py => scripts/python/MvgMvsPipeline.py (100%)
 rename MvgOptimizeSfM.py => scripts/python/MvgOptimizeSfM.py (100%)
 create mode 100644 scripts/python/MvsReadDMAP.py
 rename MvsScalablePipeline.py => scripts/python/MvsScalablePipeline.py (100%)
 create mode 100644 scripts/python/MvsUtils.py

diff --git a/MvgMvsPipeline.py b/scripts/python/MvgMvsPipeline.py
similarity index 100%
rename from MvgMvsPipeline.py
rename to scripts/python/MvgMvsPipeline.py
diff --git a/MvgOptimizeSfM.py b/scripts/python/MvgOptimizeSfM.py
similarity index 100%
rename from MvgOptimizeSfM.py
rename to scripts/python/MvgOptimizeSfM.py
diff --git a/scripts/python/MvsReadDMAP.py b/scripts/python/MvsReadDMAP.py
new file mode 100644
index 000000000..c1a5b81c6
--- /dev/null
+++ b/scripts/python/MvsReadDMAP.py
@@ -0,0 +1,42 @@
+'''
+Example usage of MvsUtils.py for exporting dmap file content.
+
+usage: MvsReadDMAP.py [-h] [--input INPUT] [--output OUTPUT]
+'''
+
+from argparse import ArgumentParser
+from concurrent.futures import ProcessPoolExecutor
+from glob import glob
+from MvsUtils import loadDMAP
+import numpy as np
+import os
+import pyvips
+
+def exportDMAPContent(dmap_path):
+  dmap = loadDMAP(dmap_path)
+  
+  basename = os.path.splitext(os.path.basename(dmap['file_name']))[0]
+  
+  pyvips.Image.new_from_array(np.uint8(dmap['depth_map'] * (1 / dmap['depth_max']) * 255)).write_to_file('%s_depth_map.png' % basename)
+  if dmap['has_normal']:
+    pyvips.Image.new_from_array(np.uint8((dmap['normal_map'] @ -dmap['R'] + 1) * 0.5 * 255)).write_to_file('%s_normal_map.png' % basename)
+  if dmap['has_conf']:
+    pyvips.Image.new_from_array(np.uint8(dmap['confidence_map'] * (1 / dmap['confidence_map'].max()) * 255)).write_to_file('%s_confidence_map.png' % basename)
+
+def main():
+  parser = ArgumentParser()
+  parser.add_argument('-i', '--input', type=str, required=True, help='path to the depth map directory')
+  parser.add_argument('-t', '--threads', type=int, default=int(os.cpu_count() * 0.5) - 1, help='number of parallel computations')
+  parser.add_argument('-o', '--output', type=str, required=True, help='path to the output directory')
+  args = parser.parse_args()
+  
+  dmap_paths = glob(os.path.join(args.input, '*.dmap'))
+  
+  os.makedirs(args.output, exist_ok = True)
+  os.chdir(args.output)
+  
+  with ProcessPoolExecutor(max_workers=args.threads) as executor:
+    executor.map(exportDMAPContent, dmap_paths)
+
+if __name__ == '__main__':
+  main()
diff --git a/MvsScalablePipeline.py b/scripts/python/MvsScalablePipeline.py
similarity index 100%
rename from MvsScalablePipeline.py
rename to scripts/python/MvsScalablePipeline.py
diff --git a/scripts/python/MvsUtils.py b/scripts/python/MvsUtils.py
new file mode 100644
index 000000000..92447b4a3
--- /dev/null
+++ b/scripts/python/MvsUtils.py
@@ -0,0 +1,67 @@
+'''
+OpenMVS python utilities.
+
+E.g., from MvsUtils import loadDMAP
+'''
+
+import numpy as np
+
+def loadDMAP(dmap_path):
+  with open(dmap_path, 'rb') as dmap:
+    file_type = dmap.read(2).decode()
+    content_type = np.frombuffer(dmap.read(1), dtype=np.dtype('B'))
+    reserve = np.frombuffer(dmap.read(1), dtype=np.dtype('B'))
+    
+    has_depth = content_type > 0
+    has_normal = content_type in [3, 7, 11, 15]
+    has_conf = content_type in [5, 7, 13, 15]
+    has_views = content_type in [9, 11, 13, 15]
+    
+    image_width, image_height = np.frombuffer(dmap.read(8), dtype=np.dtype('I'))
+    depth_width, depth_height = np.frombuffer(dmap.read(8), dtype=np.dtype('I'))
+    
+    if (file_type != 'DR' or has_depth == False or depth_width <= 0 or depth_height <= 0 or image_width < depth_width or image_height < depth_height):
+      print('error: opening file \'%s\' for reading depth-data' % dmap_path)
+      return None
+    
+    depth_min, depth_max = np.frombuffer(dmap.read(8), dtype=np.dtype('f'))
+    
+    file_name_length = np.frombuffer(dmap.read(2), dtype=np.dtype('H'))[0]
+    file_name = dmap.read(file_name_length).decode()
+    
+    view_ids_length = np.frombuffer(dmap.read(4), dtype=np.dtype('I'))[0]
+    reference_view_id, *neighbor_view_ids = np.frombuffer(dmap.read(4 * view_ids_length), dtype=np.dtype('I'))
+    
+    K = np.frombuffer(dmap.read(72), dtype=np.dtype('d')).reshape(3, 3)
+    R = np.frombuffer(dmap.read(72), dtype=np.dtype('d')).reshape(3, 3)
+    C = np.frombuffer(dmap.read(24), dtype=np.dtype('d'))
+    
+    depth_length = depth_width * depth_height
+    depth_map = np.frombuffer(dmap.read(4 * depth_length), dtype=np.dtype('f')).reshape(depth_height, depth_width)
+    normal_map = np.frombuffer(dmap.read(4 * depth_length * 3), dtype=np.dtype('f')).reshape(depth_height, depth_width, 3) if has_normal else np.asarray([])
+    confidence_map = np.frombuffer(dmap.read(4 * depth_length), dtype=np.dtype('f')).reshape(depth_height, depth_width) if has_conf else np.asarray([])
+    views_map = np.frombuffer(dmap.read(depth_length * 4), dtype=np.dtype('B')).reshape(depth_height, depth_width, 4) if has_views else np.asarray([])
+  
+  data = {
+    'has_normal': has_normal,
+    'has_conf': has_conf,
+    'has_views': has_views,
+    'image_width': image_width,
+    'image_height': image_height,
+    'depth_width': depth_width,
+    'depth_height': depth_height,
+    'depth_min': depth_min,
+    'depth_max': depth_max,
+    'file_name': file_name,
+    'reference_view_id': reference_view_id,
+    'neighbor_view_ids': neighbor_view_ids,
+    'K': K,
+    'R': R,
+    'C': C,
+    'depth_map': depth_map,
+    'normal_map': normal_map,
+    'confidence_map': confidence_map,
+    'views_map': views_map
+  }
+  
+  return data

From 42b8816f1363a1b34d6e42f2a3b207c5dfa6dfbc Mon Sep 17 00:00:00 2001
From: Bouke van der Bijl <i@bou.ke>
Date: Thu, 21 Sep 2023 06:29:43 +0200
Subject: [PATCH 214/252] io: add .jpeg file extension support (#1060)

---
 libs/IO/Image.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libs/IO/Image.cpp b/libs/IO/Image.cpp
index 0a9de141f..3d3e1cecb 100644
--- a/libs/IO/Image.cpp
+++ b/libs/IO/Image.cpp
@@ -893,7 +893,7 @@ CImage* CImage::Create(LPCTSTR szName, IMCREATE mode)
 		pImage = new CImagePNG();
 	#endif
 	#ifdef _IMAGE_JPG
-	else if (_tcsncicmp(fext, _T(".jpg"), 4) == 0)
+	else if (_tcsncicmp(fext, _T(".jpg"), 4) == 0 || _tcsncicmp(fext, _T(".jpeg"), 5) == 0)
 		pImage = new CImageJPG();
 	#endif
 	#ifdef _IMAGE_TIFF

From 19fc79272608806e21503724ecc99fe37691777e Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 17 Oct 2023 17:36:35 +0300
Subject: [PATCH 215/252] mesh: improve texture transfer

---
 libs/Common/Types.inl | 10 ++++++----
 libs/MVS/Mesh.cpp     | 32 +++++++++++++++++---------------
 2 files changed, 23 insertions(+), 19 deletions(-)

diff --git a/libs/Common/Types.inl b/libs/Common/Types.inl
index 4dbd3cb0c..58b9ca85e 100644
--- a/libs/Common/Types.inl
+++ b/libs/Common/Types.inl
@@ -2613,20 +2613,21 @@ void TImage<TYPE>::RasterizeTriangleBary(const TPoint2<T>& v1, const TPoint2<T>&
 	if (boxMax.x < T(0) || boxMin.x > T(size.width - 1) ||
 		boxMax.y < T(0) || boxMin.y > T(size.height - 1))
 		return;
-	// ignore back oriented triangles (negative area)
-	const T area(EdgeFunction(v1, v2, v3));
-	if (area <= 0)
-		return;
 	// clip bounding-box to be fully contained by the image
 	ImageRef boxMinI(FLOOR2INT(boxMin));
 	ImageRef boxMaxI(CEIL2INT(boxMax));
 	Base::clip(boxMinI, boxMaxI, size);
 	// parse all pixels inside the bounding-box
+	const T area(EdgeFunction(v1, v2, v3));
+	ASSERTM(area < 0, "UV triangle of negative area");
 	const T invArea(T(1) / area);
 	for (int y = boxMinI.y; y <= boxMaxI.y; ++y) {
 		for (int x = boxMinI.x; x <= boxMaxI.x; ++x) {
 			const ImageRef pt(x, y);
 			const TPoint2<T> p(Cast<T>(pt));
+			// discard point if not in triangle;
+			// testing only for negative barycentric coordinates
+			// guarantees all will be in [0,1] at the end of all checks
 			const T b1(EdgeFunction(v2, v3, p));
 			if (b1 < 0)
 				continue;
@@ -2636,6 +2637,7 @@ void TImage<TYPE>::RasterizeTriangleBary(const TPoint2<T>& v1, const TPoint2<T>&
 			const T b3(EdgeFunction(v1, v2, p));
 			if (b3 < 0)
 				continue;
+			// output pixel
 			parser(pt, TPoint3<T>(b1, b2, b3) * invArea);
 		}
 	}
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 98d8e4de8..764121d6e 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -4511,10 +4511,12 @@ inline Eigen::AlignedBox3f bounding_box(const FaceBox& faceBox) {
 bool Mesh::TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices, unsigned borderSize, unsigned textureSize)
 {
 	ASSERT(HasTexture() && mesh.HasTexture());
-	if (mesh.textureDiffuse.empty())
+	if (mesh.textureDiffuse.empty()) {
 		mesh.textureDiffuse.create(textureSize, textureSize);
+		mesh.textureDiffuse.memset(0);
+	}
 	Image8U mask(mesh.textureDiffuse.size(), uint8_t(255));
-	const FIndex num_faces(faceSubsetIndices.empty() ? faces.size() : faceSubsetIndices.size());
+	const FIndex num_faces(faceSubsetIndices.empty() ? mesh.faces.size() : faceSubsetIndices.size());
 	if (vertices == mesh.vertices && faces == mesh.faces) {
 		// the two meshes are identical, only the texture coordinates are different;
 		// directly transfer the texture onto the new coordinates
@@ -4581,10 +4583,9 @@ bool Mesh::TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices, unsi
 			inline void IntersectsRayFace(FIndex idxFace) {
 				const Face& face = mesh.faces[idxFace];
 				Type dist;
-				if (ray.Intersects<true>(Triangle3f(mesh.vertices[face[0]], mesh.vertices[face[1]], mesh.vertices[face[2]]), &dist)) {
-					ASSERT(dist >= 0);
-					if (pick.dist > dist) {
-						pick.dist = dist;
+				if (ray.Intersects<false>(Triangle3f(mesh.vertices[face[0]], mesh.vertices[face[1]], mesh.vertices[face[2]]), &dist)) {
+					if (pick.dist > ABS(dist)) {
+						pick.dist = ABS(dist);
 						pick.idx = idxFace;
 					}
 				}
@@ -4600,12 +4601,10 @@ bool Mesh::TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices, unsi
 			#endif
 		};
 		#if USE_MESH_INT == USE_MESH_BF || USE_MESH_INT == USE_MESH_BVH
-		const float diagonal(GetAABB().GetSize().norm());
 		#elif USE_MESH_INT == USE_MESH_OCTREE
 		const Octree octree(vertices, [](Octree::IDX_TYPE size, Octree::Type /*radius*/) {
 			return size > 8;
 		});
-		const float diagonal(octree.GetAabb().GetSize().norm());
 		struct OctreeIntersectRayMesh : IntersectRayMesh {
 			OctreeIntersectRayMesh(const Octree& octree, const Mesh& _mesh, const Ray3f& _ray)
 				: IntersectRayMesh(_mesh, _ray) {
@@ -4646,13 +4645,16 @@ bool Mesh::TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices, unsi
 				Mesh& meshTrg;
 				Image8U& mask;
 				const Face& face;
-				float diagonal;
 				inline cv::Size Size() const { return meshTrg.textureDiffuse.size(); }
 				inline void operator()(const ImageRef& pt, const Point3f& bary) {
 					ASSERT(meshTrg.textureDiffuse.isInside(pt));
-					const Vertex X(meshTrg.vertices[face[0]]*bary.x + meshTrg.vertices[face[1]]*bary.y + meshTrg.vertices[face[2]]*bary.z);
-					const Normal N(normalized(meshTrg.vertexNormals[face[0]]*bary.x + meshTrg.vertexNormals[face[1]]*bary.y + meshTrg.vertexNormals[face[2]]*bary.z));
-					const Ray3f ray(Vertex(X+N*diagonal), Normal(-N));
+					const Vertex X(meshTrg.vertices[face[0]]*bary.x
+								 + meshTrg.vertices[face[1]]*bary.y
+								 + meshTrg.vertices[face[2]]*bary.z);
+					const Normal N(normalized(meshTrg.vertexNormals[face[0]]*bary.x
+											+ meshTrg.vertexNormals[face[1]]*bary.y
+											+ meshTrg.vertexNormals[face[2]]*bary.z));
+					const Ray3f ray((Vertex(X)), Normal(N));
 					#if USE_MESH_INT == USE_MESH_BF
 					const IntersectRayMesh intRay(meshRef, ray);
 					#elif USE_MESH_INT == USE_MESH_BVH
@@ -4674,11 +4676,11 @@ bool Mesh::TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices, unsi
 					}
 				}
 			#if USE_MESH_INT == USE_MESH_BF
-			} data{*this, mesh, mask, mesh.faces[idxFace], diagonal};
+			} data{*this, mesh, mask, mesh.faces[idxFace]};
 			#elif USE_MESH_INT == USE_MESH_BVH
-			} data{tree, *this, mesh, mask, mesh.faces[idxFace], diagonal};
+			} data{tree, *this, mesh, mask, mesh.faces[idxFace]};
 			#else
-			} data{octree, *this, mesh, mask, mesh.faces[idxFace], diagonal};
+			} data{octree, *this, mesh, mask, mesh.faces[idxFace]};
 			#endif
 			// render triangle and for each pixel interpolate the color
 			// from the triangle corners using barycentric coordinates

From f711e4ab906818b3b7e2d50f0d1fd56e5d200602 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 17 Oct 2023 19:02:53 +0300
Subject: [PATCH 216/252] interface: account for different pixel center
 conventions as COLMAP uses pixel center at (0.5,0.5)  (#1070)

---
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp | 31 ++++++++++++------------
 1 file changed, 15 insertions(+), 16 deletions(-)

diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index ac4eeda91..67bc111e5 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -741,10 +741,11 @@ bool ImportScene(const String& strFolder, const String& strOutFolder, Interface&
 			Interface::Platform::Camera camera;
 			camera.name = colmapCamera.model;
 			camera.K = Interface::Mat33d::eye();
+			// account for different pixel center conventions as COLMAP uses pixel center at (0.5,0.5) 
 			camera.K(0,0) = colmapCamera.params[0];
 			camera.K(1,1) = colmapCamera.params[1];
-			camera.K(0,2) = colmapCamera.params[2];
-			camera.K(1,2) = colmapCamera.params[3];
+			camera.K(0,2) = colmapCamera.params[2]-REAL(0.5);
+			camera.K(1,2) = colmapCamera.params[3]-REAL(0.5);
 			camera.R = Interface::Mat33d::eye();
 			camera.C = Interface::Pos3d(0,0,0);
 			if (OPT::bNormalizeIntrinsics) {
@@ -1023,6 +1024,7 @@ bool ExportScene(const String& strFolder, const Interface& scene, bool bForceSpa
 			ASSERT(platform.cameras.size() == 1); // only one camera per platform supported
 			const Interface::Platform::Camera& camera = platform.cameras[0];
 			cam.ID = ID;
+			KMatrix K;
 			if (camera.width == 0 || camera.height == 0) {
 				// find one image using this camera
 				const Interface::Image* pImage(NULL);
@@ -1043,26 +1045,20 @@ bool ExportScene(const String& strFolder, const Interface& scene, bool bForceSpa
 				cam.width = ptrImage->GetWidth();
 				cam.height = ptrImage->GetHeight();
 				// unnormalize camera intrinsics
-				const Interface::Mat33d K(platform.GetFullK(0, cam.width, cam.height));
-				cam.params[0] = K(0,0);
-				cam.params[1] = K(1,1);
-				cam.params[2] = K(0,2);
-				cam.params[3] = K(1,2);
+				K = platform.GetFullK(0, cam.width, cam.height);
 			} else {
 				cam.width = camera.width;
 				cam.height = camera.height;
-				cam.params[0] = camera.K(0,0);
-				cam.params[1] = camera.K(1,1);
-				cam.params[2] = camera.K(0,2);
-				cam.params[3] = camera.K(1,2);
+				K = camera.K;
 			}
+			// account for different pixel center conventions as COLMAP uses pixel center at (0.5,0.5) 
+			cam.params[0] = K(0,0);
+			cam.params[1] = K(1,1);
+			cam.params[2] = K(0,2)+REAL(0.5);
+			cam.params[3] = K(1,2)+REAL(0.5);
 			if (!cam.Write(file, binary))
 				return false;
-			KMatrix& K = Ks.emplace_back(KMatrix::IDENTITY);
-			K(0,0) = cam.params[0];
-			K(1,1) = cam.params[1];
-			K(0,2) = cam.params[2];
-			K(1,2) = cam.params[3];
+			Ks.emplace_back(K);
 			cams.emplace_back(cam);
 		}
 	}
@@ -1133,6 +1129,9 @@ bool ExportScene(const String& strFolder, const Interface& scene, bool bForceSpa
 					proj.idPoint = ID;
 					const Point3 X(vertex.X);
 					ProjectVertex_3x4_3_2(cameras[view.imageID].P.val, X.ptr(), proj.p.data());
+					// account for different pixel center conventions as COLMAP uses pixel center at (0.5,0.5) 
+					proj.p[0] += REAL(0.5);
+					proj.p[1] += REAL(0.5);
 					img.projs.emplace_back(proj);
 				}
 				point.c = scene.verticesColor.empty() ? Interface::Col3(255,255,255) : scene.verticesColor[ID].c;

From 95deceaa461ae4428d44894f799b745316481aa4 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 23 Oct 2023 12:43:36 +0300
Subject: [PATCH 217/252] texture: add multi texture support (#1074)

---
 apps/TextureMesh/TextureMesh.cpp |   6 +-
 apps/Viewer/Scene.cpp            | 104 ++++---
 apps/Viewer/Scene.h              |   2 +-
 libs/Common/Types.inl            |   6 +-
 libs/MVS/Mesh.cpp                | 506 ++++++++++++++++++-------------
 libs/MVS/Mesh.h                  |  20 +-
 libs/MVS/RectsBinPack.cpp        | 113 +++----
 libs/MVS/RectsBinPack.h          |  24 +-
 libs/MVS/Scene.h                 |   2 +-
 libs/MVS/SceneTexture.cpp        | 173 ++++++-----
 10 files changed, 545 insertions(+), 411 deletions(-)

diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index 351c2b3a0..5c6e0ebfb 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -68,6 +68,7 @@ unsigned nOrthoMapResolution;
 unsigned nArchiveType;
 int nProcessPriority;
 unsigned nMaxThreads;
+int nMaxTextureSize;
 String strExportType;
 String strConfigFileName;
 boost::program_options::variables_map vm;
@@ -125,6 +126,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("sharpness-weight", boost::program_options::value(&OPT::fSharpnessWeight)->default_value(0.5f), "amount of sharpness to be applied on the texture (0 - disabled)")
 		("orthographic-image-resolution", boost::program_options::value(&OPT::nOrthoMapResolution)->default_value(0), "orthographic image resolution to be generated from the textured mesh - the mesh is expected to be already geo-referenced or at least properly oriented (0 - disabled)")
 		("ignore-mask-label", boost::program_options::value(&OPT::nIgnoreMaskLabel)->default_value(-1), "label value to ignore in the image mask, stored in the MVS scene or next to each image with '.mask.png' extension (-1 - auto estimate mask for lens distortion, -2 - disabled)")
+		("max-texture-size", boost::program_options::value(&OPT::nMaxTextureSize)->default_value(8192), "maximum texture size, split it in multiple textures of this size if needed (0 - unbounded)")
 		;
 
 	// hidden options, allowed both on command line and
@@ -286,7 +288,7 @@ int main(int argc, LPCTSTR* argv)
 		return EXIT_FAILURE;
 	}
 	const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
-	if (OPT::nOrthoMapResolution && !scene.mesh.textureDiffuse.empty()) {
+	if (OPT::nOrthoMapResolution && !scene.mesh.HasTexture()) {
 		// the input mesh is already textured and an orthographic projection was requested
 		goto ProjectOrtho;
 	}
@@ -311,7 +313,7 @@ int main(int argc, LPCTSTR* argv)
 	TD_TIMER_START();
 	if (!scene.TextureMesh(OPT::nResolutionLevel, OPT::nMinResolution, OPT::minCommonCameras, OPT::fOutlierThreshold, OPT::fRatioDataSmoothness,
 						   OPT::bGlobalSeamLeveling, OPT::bLocalSeamLeveling, OPT::nTextureSizeMultiple, OPT::nRectPackingHeuristic, Pixel8U(OPT::nColEmpty),
-						   OPT::fSharpnessWeight, OPT::nIgnoreMaskLabel, views))
+						   OPT::fSharpnessWeight, OPT::nIgnoreMaskLabel, OPT::nMaxTextureSize, views))
 		return EXIT_FAILURE;
 	VERBOSE("Mesh texturing completed: %u vertices, %u faces (%s)", scene.mesh.vertices.GetSize(), scene.mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
 
diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index d837502e1..d4765ac32 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -125,8 +125,7 @@ SEACAVE::Thread Scene::thread;
 Scene::Scene(ARCHIVE_TYPE _nArchiveType)
 	:
 	nArchiveType(_nArchiveType),
-	listPointCloud(0),
-	listMesh(0)
+	listPointCloud(0)
 {
 }
 Scene::~Scene()
@@ -171,9 +170,10 @@ void Scene::ReleasePointCloud()
 }
 void Scene::ReleaseMesh()
 {
-	if (listMesh) {
-		glDeleteLists(listMesh, 1);
-		listMesh = 0;
+	if (!listMeshes.empty()) {
+		for (GLuint listMesh: listMeshes)
+			glDeleteLists(listMesh, 1);
+		listMeshes.Release();
 	}
 }
 
@@ -294,18 +294,21 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR geometryFileName)
 
 	// init and load texture
 	if (scene.mesh.HasTexture()) {
-		Image& image = textures.AddEmpty();
-		ASSERT(image.idx == NO_ID);
-		#if 0
-		cv::flip(scene.mesh.textureDiffuse, scene.mesh.textureDiffuse, 0);
-		image.SetImage(scene.mesh.textureDiffuse);
-		scene.mesh.textureDiffuse.release();
-		#else // preserve texture, used only to be able to export the mesh
-		Image8U3 textureDiffuse;
-		cv::flip(scene.mesh.textureDiffuse, textureDiffuse, 0);
-		image.SetImage(textureDiffuse);
-		#endif
-		image.GenerateMipmap();
+		FOREACH(i, scene.mesh.texturesDiffuse) {
+			Image& image = textures.emplace_back();
+			ASSERT(image.idx == NO_ID);
+			#if 0
+			Image8U3& textureDiffuse = scene.mesh.texturesDiffuse[i];
+			cv::flip(textureDiffuse, textureDiffuse, 0);
+			image.SetImage(textureDiffuse);
+			textureDiffuse.release();
+			#else // preserve texture, used only to be able to export the mesh
+			Image8U3 textureDiffuse;
+			cv::flip(scene.mesh.texturesDiffuse[i], textureDiffuse, 0);
+			image.SetImage(textureDiffuse);
+			#endif
+			image.GenerateMipmap();
+		}
 	}
 
 	// init display lists
@@ -423,15 +426,15 @@ void Scene::CompilePointCloud()
 	glNewList(listPointCloud, GL_COMPILE);
 	ASSERT((window.sparseType&(Window::SPR_POINTS|Window::SPR_LINES)) != 0);
 	// compile point-cloud
-	if (!scene.pointcloud.IsEmpty() && (window.sparseType&Window::SPR_POINTS) != 0) {
+	if ((window.sparseType&Window::SPR_POINTS) != 0) {
 		ASSERT_ARE_SAME_TYPE(float, MVS::PointCloud::Point::Type);
 		glBegin(GL_POINTS);
 		glColor3f(1.f,1.f,1.f);
 		FOREACH(i, scene.pointcloud.points) {
-			if (!scene.pointcloud.pointViews.IsEmpty() &&
+			if (!scene.pointcloud.pointViews.empty() &&
 				scene.pointcloud.pointViews[i].size() < window.minViews)
 				continue;
-			if (!scene.pointcloud.colors.IsEmpty()) {
+			if (!scene.pointcloud.colors.empty()) {
 				const MVS::PointCloud::Color& c = scene.pointcloud.colors[i];
 				glColor3ub(c.r,c.g,c.b);
 			}
@@ -452,31 +455,37 @@ void Scene::CompileMesh()
 		scene.mesh.ComputeNormalFaces();
 	// translate, normalize and flip Y axis of the texture coordinates
 	MVS::Mesh::TexCoordArr normFaceTexcoords;
-	if (scene.mesh.HasTexture())
+	if (scene.mesh.HasTexture() && window.bRenderTexture)
 		scene.mesh.FaceTexcoordsNormalize(normFaceTexcoords, true);
-	listMesh = glGenLists(1);
-	glNewList(listMesh, GL_COMPILE);
-	// compile mesh
-	ASSERT_ARE_SAME_TYPE(float, MVS::Mesh::Vertex::Type);
-	ASSERT_ARE_SAME_TYPE(float, MVS::Mesh::Normal::Type);
-	ASSERT_ARE_SAME_TYPE(float, MVS::Mesh::TexCoord::Type);
-	glColor3f(1.f, 1.f, 1.f);
-	glBegin(GL_TRIANGLES);
-	FOREACH(i, scene.mesh.faces) {
-		const MVS::Mesh::Face& face = scene.mesh.faces[i];
-		const MVS::Mesh::Normal& n = scene.mesh.faceNormals[i];
-		glNormal3fv(n.ptr());
-		for (int j = 0; j < 3; ++j) {
-			if (!normFaceTexcoords.empty() && window.bRenderTexture) {
-				const MVS::Mesh::TexCoord& t = normFaceTexcoords[i * 3 + j];
-				glTexCoord2fv(t.ptr());
+	MVS::Mesh::TexIndex texIdx(0);
+	do {
+		GLuint& listMesh = listMeshes.emplace_back(glGenLists(1));
+		listMesh = glGenLists(1);
+		glNewList(listMesh, GL_COMPILE);
+		// compile mesh
+		ASSERT_ARE_SAME_TYPE(float, MVS::Mesh::Vertex::Type);
+		ASSERT_ARE_SAME_TYPE(float, MVS::Mesh::Normal::Type);
+		ASSERT_ARE_SAME_TYPE(float, MVS::Mesh::TexCoord::Type);
+		glColor3f(1.f, 1.f, 1.f);
+		glBegin(GL_TRIANGLES);
+		FOREACH(idxFace, scene.mesh.faces) {
+			if (!scene.mesh.faceTexindices.empty() && scene.mesh.faceTexindices[idxFace] != texIdx)
+				continue;
+			const MVS::Mesh::Face& face = scene.mesh.faces[idxFace];
+			const MVS::Mesh::Normal& n = scene.mesh.faceNormals[idxFace];
+			glNormal3fv(n.ptr());
+			for (int j = 0; j < 3; ++j) {
+				if (!normFaceTexcoords.empty()) {
+					const MVS::Mesh::TexCoord& t = normFaceTexcoords[idxFace*3 + j];
+					glTexCoord2fv(t.ptr());
+				}
+				const MVS::Mesh::Vertex& p = scene.mesh.vertices[face[j]];
+				glVertex3fv(p.ptr());
 			}
-			const MVS::Mesh::Vertex& p = scene.mesh.vertices[face[j]];
-			glVertex3fv(p.ptr());
 		}
-	}
-	glEnd();
-	glEndList();
+		glEnd();
+		glEndList();
+	} while (++texIdx < scene.mesh.texturesDiffuse.size());
 }
 
 void Scene::CompileBounds()
@@ -513,17 +522,20 @@ void Scene::Draw()
 		glCallList(listPointCloud);
 	}
 	// render mesh
-	if (listMesh) {
+	if (!listMeshes.empty()) {
 		glEnable(GL_DEPTH_TEST);
 		glEnable(GL_CULL_FACE);
 		if (!scene.mesh.faceTexcoords.empty() && window.bRenderTexture) {
 			glEnable(GL_TEXTURE_2D);
-			textures.front().Bind();
-			glCallList(listMesh);
+			FOREACH(i, listMeshes) {
+				textures[i].Bind();
+				glCallList(listMeshes[i]);
+			}
 			glDisable(GL_TEXTURE_2D);
 		} else {
 			glEnable(GL_LIGHTING);
-			glCallList(listMesh);
+			for (GLuint listMesh: listMeshes)
+				glCallList(listMesh);
 			glDisable(GL_LIGHTING);
 		}
 	}
diff --git a/apps/Viewer/Scene.h b/apps/Viewer/Scene.h
index 48251d31d..e86574889 100644
--- a/apps/Viewer/Scene.h
+++ b/apps/Viewer/Scene.h
@@ -68,7 +68,7 @@ class Scene
 	Point3fArr obbPoints;
 
 	GLuint listPointCloud;
-	GLuint listMesh;
+	CLISTDEF0IDX(GLuint,MVS::Mesh::TexIndex) listMeshes;
 
 	// multi-threading
 	static SEACAVE::EventQueue events; // internal events queue (processed by the working threads)
diff --git a/libs/Common/Types.inl b/libs/Common/Types.inl
index 58b9ca85e..fa02932d7 100644
--- a/libs/Common/Types.inl
+++ b/libs/Common/Types.inl
@@ -2617,9 +2617,11 @@ void TImage<TYPE>::RasterizeTriangleBary(const TPoint2<T>& v1, const TPoint2<T>&
 	ImageRef boxMinI(FLOOR2INT(boxMin));
 	ImageRef boxMaxI(CEIL2INT(boxMax));
 	Base::clip(boxMinI, boxMaxI, size);
-	// parse all pixels inside the bounding-box
+	// ignore back oriented triangles (negative area)
 	const T area(EdgeFunction(v1, v2, v3));
-	ASSERTM(area < 0, "UV triangle of negative area");
+	if (area <= 0)
+		return;
+	// parse all pixels inside the bounding-box
 	const T invArea(T(1) / area);
 	for (int y = boxMinI.y; y <= boxMaxI.y; ++y) {
 		for (int x = boxMinI.x; x <= boxMaxI.x; ++x) {
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 764121d6e..7c5aee748 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -117,7 +117,7 @@ void Mesh::ReleaseExtra()
 	faceNormals.Release();
 	faceFaces.Release();
 	faceTexcoords.Release();
-	textureDiffuse.release();
+	texturesDiffuse.Release();
 } // ReleaseExtra
 void Mesh::EmptyExtra()
 {
@@ -128,7 +128,7 @@ void Mesh::EmptyExtra()
 	faceNormals.Empty();
 	faceFaces.Empty();
 	faceTexcoords.Empty();
-	textureDiffuse.release();
+	texturesDiffuse.Empty();
 } // EmptyExtra
 void Mesh::Swap(Mesh& rhs)
 {
@@ -141,7 +141,8 @@ void Mesh::Swap(Mesh& rhs)
 	faceNormals.Swap(rhs.faceNormals);
 	faceFaces.Swap(rhs.faceFaces);
 	faceTexcoords.Swap(rhs.faceTexcoords);
-	std::swap(textureDiffuse, rhs.textureDiffuse);
+	faceTexindices.Swap(rhs.faceTexindices);
+	std::swap(texturesDiffuse, rhs.texturesDiffuse);
 } // Swap
 // combine this mesh with the given mesh, without removing duplicate vertices
 void Mesh::Join(const Mesh& mesh)
@@ -1424,40 +1425,54 @@ static const Mesh::TexCoord halfPixel(0.5f, 0.5f);
 // translate, normalize and flip Y axis of the texture coordinates
 void Mesh::FaceTexcoordsNormalize(TexCoordArr& newFaceTexcoords, bool flipY) const
 {
-	ASSERT(!faceTexcoords.empty() && !textureDiffuse.empty());
-	const TexCoord invNorm(1.f/(float)textureDiffuse.cols, 1.f/(float)textureDiffuse.rows);
+	ASSERT(HasTexture());
+	TexCoordArr invNorms(texturesDiffuse.size());
+	FOREACH(i, texturesDiffuse) {
+		ASSERT(!texturesDiffuse[i].empty());
+		invNorms[i] = TexCoord(1.f/(float)texturesDiffuse[i].cols, 1.f/(float)texturesDiffuse[i].rows);
+	}
 	newFaceTexcoords.resize(faceTexcoords.size());
 	if (flipY) {
 		FOREACH(i, faceTexcoords) {
 			const TexCoord& texcoord = faceTexcoords[i];
+			const TexCoord& invNorm = invNorms[GetFaceTextureIndex(i/3)];
 			newFaceTexcoords[i] = TexCoord(
 				(texcoord.x+halfPixel.x)*invNorm.x,
 				1.f-(texcoord.y+halfPixel.y)*invNorm.y
 			);
 		}
 	} else {
-		FOREACH(i, faceTexcoords)
+		FOREACH(i, faceTexcoords) {
+			const TexCoord& invNorm = invNorms[GetFaceTextureIndex(i/3)];
 			newFaceTexcoords[i] = (faceTexcoords[i]+halfPixel)*invNorm;
+		}
 	}
 } // FaceTexcoordsNormalize
 
 // flip Y axis, unnormalize and translate back texture coordinates
 void Mesh::FaceTexcoordsUnnormalize(TexCoordArr& newFaceTexcoords, bool flipY) const
 {
-	ASSERT(!faceTexcoords.empty() && !textureDiffuse.empty());
-	const TexCoord scale((float)textureDiffuse.cols, (float)textureDiffuse.rows);
+	ASSERT(HasTexture());
+	TexCoordArr scales(texturesDiffuse.size());
+	FOREACH(i, texturesDiffuse) {
+		ASSERT(!texturesDiffuse[i].empty());
+		scales[i] = TexCoord((float)texturesDiffuse[i].cols, (float)texturesDiffuse[i].rows);
+	}
 	newFaceTexcoords.resize(faceTexcoords.size());
 	if (flipY) {
 		FOREACH(i, faceTexcoords) {
 			const TexCoord& texcoord = faceTexcoords[i];
+			const TexCoord& scale = scales[GetFaceTextureIndex(i/3)];
 			newFaceTexcoords[i] = TexCoord(
 				texcoord.x*scale.x-halfPixel.x,
 				(1.f-texcoord.y)*scale.y-halfPixel.y
 			);
 		}
 	} else {
-		FOREACH(i, faceTexcoords)
+		FOREACH(i, faceTexcoords) {
+			const TexCoord& scale = scales[GetFaceTextureIndex(i/3)];
 			newFaceTexcoords[i] = faceTexcoords[i]*scale - halfPixel;
+		}
 	}
 } // FaceTexcoordsUnnormalize
 /*----------------------------------------------------------------*/
@@ -1522,10 +1537,10 @@ namespace BasicPLY {
 			uint8_t num;
 			Mesh::TexCoord* pTex;
 		} tex;
-		Mesh::TexChunk chunk;
+		Mesh::TexIndex texId;
 		float weight;
 		static void InitLoadProps(PLY& ply, int elem_count,
-			Mesh::FaceArr& faces, Mesh::TexCoordArr& faceTexcoords, Mesh::TexChunkArr& faceTextureChunks)
+			Mesh::FaceArr& faces, Mesh::TexCoordArr& faceTexcoords, Mesh::TexIndexArr& faceTexindices)
 		{
 			PLY::PlyElement* elm = ply.find_element(elem_names[1]);
 			const size_t nMaxProps(SizeOfArray(props));
@@ -1536,7 +1551,7 @@ namespace BasicPLY {
 				switch (p) {
 				case 0: faces.resize((IDX)elem_count); break;
 				case 1: faceTexcoords.resize((IDX)elem_count*3); break;
-				case 2: faceTextureChunks.resize((IDX)elem_count); break;
+				case 2: faceTexindices.resize((IDX)elem_count); break;
 				}
 			}
 		}
@@ -1563,7 +1578,7 @@ namespace BasicPLY {
 	const PLY::PlyProperty Face::props[] = {
 		{"vertex_indices", PLY::Uint32,  PLY::Uint32,  offsetof(Face,face.pFace), 1, PLY::Uint8, PLY::Uint8, offsetof(Face,face.num)},
 		{"texcoord",       PLY::Float32, PLY::Float32, offsetof(Face,tex.pTex),   1, PLY::Uint8, PLY::Uint8, offsetof(Face,tex.num)},
-		{"texnumber",      PLY::Int32,   PLY::Uint8,   offsetof(Face,chunk),      0, 0,          0,          0},
+		{"texnumber",      PLY::Int32,   PLY::Uint8,   offsetof(Face,texId),      0, 0,          0,          0},
 		{"weight",         PLY::Float32, PLY::Float32, offsetof(Face,weight),     0, 0,          0,          0},
 	};
 } // namespace BasicPLY
@@ -1638,8 +1653,7 @@ bool Mesh::LoadPLY(const String& fileName)
 		} else
 		if (PLY::equal_strings(BasicPLY::elem_names[1], elem_name)) {
 			ASSERT(faces.size() == (FIndex)elem_count);
-			TexChunkArr faceTextureChunks; // TODO: replace with mesh texture chunks when implemented
-			BasicPLY::Face::InitLoadProps(ply, elem_count, faces, faceTexcoords, faceTextureChunks);
+			BasicPLY::Face::InitLoadProps(ply, elem_count, faces, faceTexcoords, faceTexindices);
 			BasicPLY::Face face;
 			FOREACH(f, faces) {
 				ply.get_element(&face);
@@ -1657,18 +1671,19 @@ bool Mesh::LoadPLY(const String& fileName)
 					memcpy(faceTexcoords.data()+f*3, face.tex.pTex, sizeof(TexCoord)*3);
 					delete[] face.tex.pTex;
 				}
-				if (!faceTextureChunks.empty())
-					faceTextureChunks[f] = face.chunk;
+				if (!faceTexindices.empty())
+					faceTexindices[f] = face.texId;
 			}
 			if (!faceTexcoords.empty()) {
 				// load the texture
 				for (const std::string& comment: ply.get_comments()) {
 					if (_tcsncmp(comment.c_str(), _T("TextureFile "), 12) == 0) {
 						const String textureFileName(comment.substr(12));
-						textureDiffuse.Load(Util::getFilePath(fileName)+textureFileName);
-						break;
+						texturesDiffuse.emplace_back().Load(Util::getFilePath(fileName)+textureFileName);
 					}
 				}
+				if (texturesDiffuse.size() <= 1)
+					faceTexindices.Release();
 				// flip Y axis, unnormalize and translate back texture coordinates
 				TexCoordArr unnormFaceTexcoords;
 				FaceTexcoordsUnnormalize(unnormFaceTexcoords, true);
@@ -1692,7 +1707,8 @@ bool Mesh::LoadOBJ(const String& fileName)
 		DEBUG_EXTRA("error: invalid OBJ file");
 		return false;
 	}
-	if (model.get_vertices().empty() || model.get_groups().size() != 1 || model.get_groups()[0].faces.empty()) {
+
+	if (model.get_vertices().empty() || model.get_groups().empty()) {
 		DEBUG_EXTRA("error: invalid mesh file");
 		return false;
 	}
@@ -1711,31 +1727,35 @@ bool Mesh::LoadOBJ(const String& fileName)
 	}
 
 	// store faces
-	const ObjModel::Group& group = model.get_groups()[0];
-	ASSERT(group.faces.size() < std::numeric_limits<FIndex>::max());
-	faces.Reserve((FIndex)group.faces.size());
-	for (const ObjModel::Face& f: group.faces) {
-		ASSERT(f.vertices[0] != NO_ID);
-		faces.emplace_back(f.vertices[0], f.vertices[1], f.vertices[2]);
-		if (f.texcoords[0] != NO_ID) {
-			for (int i=0; i<3; ++i)
-				faceTexcoords.emplace_back(model.get_texcoords()[f.texcoords[i]]);
-		}
-		if (f.normals[0] != NO_ID) {
-			Normal& n = faceNormals.emplace_back(Normal::ZERO);
-			for (int i=0; i<3; ++i)
-				n += normalized(model.get_normals()[f.normals[i]]);
-			normalize(n);
+	FOREACH(groupIdx, model.get_groups()) {
+		const auto& group = model.get_groups()[groupIdx];
+		ASSERT(group.faces.size() < std::numeric_limits<FIndex>::max());
+		faces.reserve((FIndex)group.faces.size());
+		for (const ObjModel::Face& f: group.faces) {
+			ASSERT(f.vertices[0] != NO_ID);
+			faces.emplace_back(f.vertices[0], f.vertices[1], f.vertices[2]);
+			if (f.texcoords[0] != NO_ID) {
+				for (int i=0; i<3; ++i)
+					faceTexcoords.emplace_back(model.get_texcoords()[f.texcoords[i]]);
+				faceTexindices.emplace_back((TexIndex)groupIdx);
+			}
+			if (f.normals[0] != NO_ID) {
+				Normal& n = faceNormals.emplace_back(Normal::ZERO);
+				for (int i=0; i<3; ++i)
+					n += normalized(model.get_normals()[f.normals[i]]);
+				normalize(n);
+			}
 		}
+		// store texture
+		ObjModel::MaterialLib::Material* pMaterial(model.GetMaterial(group.material_name));
+		if (pMaterial && pMaterial->LoadDiffuseMap())
+			texturesDiffuse.emplace_back(pMaterial->diffuse_map);
 	}
 
-	// store texture
-	ObjModel::MaterialLib::Material* pMaterial(model.GetMaterial(group.material_name));
-	if (pMaterial && pMaterial->LoadDiffuseMap())
-		cv::swap(textureDiffuse, pMaterial->diffuse_map);
-	
 	// flip Y axis, unnormalize and translate back texture coordinates
 	if (!faceTexcoords.empty()) {
+		if (texturesDiffuse.size() <= 1)
+			faceTexindices.Release();
 		TexCoordArr unnormFaceTexcoords;
 		FaceTexcoordsUnnormalize(unnormFaceTexcoords, true);
 		faceTexcoords.Swap(unnormFaceTexcoords);
@@ -1763,7 +1783,7 @@ bool Mesh::LoadGLTF(const String& fileName, bool bBinary)
 		if (!warn.empty())
 			DEBUG("warning: %s", warn.c_str());
 	}
-	
+
 	// parse model
 	for (const tinygltf::Mesh& gltfMesh : gltfModel.meshes) {
 		for (const tinygltf::Primitive& gltfPrimitive : gltfMesh.primitives) {
@@ -1855,16 +1875,18 @@ bool Mesh::SavePLY(const String& fileName, const cList<String>& comments, bool b
 		ply.append_comment(comment);
 
 	// export texture file name as comment if needed
-	String textureFileName;
-	if (!faceTexcoords.empty() && !textureDiffuse.empty()) {
-		textureFileName = Util::getFileFullName(fileName)+(bTexLossless?_T(".png"):_T(".jpg"));
-		ply.append_comment((_T("TextureFile ")+Util::getFileNameExt(textureFileName)).c_str());
+	if (HasTexture()) {
+		FOREACH(texId, texturesDiffuse) {
+		    const String textureFileName(Util::getFileFullName(fileName) + std::to_string(texId).c_str() + (bTexLossless?_T(".png"):_T(".jpg")));
+		    ply.append_comment((_T("TextureFile ")+Util::getFileNameExt(textureFileName)).c_str());
+		    texturesDiffuse[texId].Save(textureFileName);
+		}
 	}
 
 	// describe what properties go into vertex and face elements
 	ASSERT(vertexNormals.empty() || vertexNormals.size() == vertices.size());
 	BasicPLY::Vertex::InitSaveProps(ply, (int)vertices.size(), !vertexNormals.empty());
-	BasicPLY::Face::InitSaveProps(ply, (int)faces.size(), !faces.empty(), !faceTexcoords.empty(), false);
+	BasicPLY::Face::InitSaveProps(ply, (int)faces.size(), !faces.empty(), !faceTexcoords.empty(), !faceTexindices.empty());
 	if (!ply.header_complete())
 		return false;
 
@@ -1900,12 +1922,10 @@ bool Mesh::SavePLY(const String& fileName, const cList<String>& comments, bool b
 		FOREACH(f, faces) {
 			face.face.pFace = faces.data()+f;
 			face.tex.pTex = normFaceTexcoords.data()+f*3;
+			if (!faceTexindices.empty())
+				face.texId = faceTexindices[f];
 			ply.put_element(&face);
 		}
-
-		// export the texture
-		if (!textureDiffuse.empty())
-			textureDiffuse.Save(textureFileName);
 	}
 	ASSERT(ply.get_current_element_count() == (int)faces.size());
 
@@ -1943,27 +1963,31 @@ bool Mesh::SaveOBJ(const String& fileName) const
 	}
 
 	// store faces
-	ObjModel::Group& group = model.AddGroup(_T("material_0"));
-	group.faces.reserve(faces.size());
-	FOREACH(idxFace, faces) {
-		const Face& face = faces[idxFace];
-		ObjModel::Face f;
-		memset(&f, 0xFF, sizeof(ObjModel::Face));
-		for (int i=0; i<3; ++i) {
-			f.vertices[i] = face[i];
-			if (!faceTexcoords.empty())
-				f.texcoords[i] = idxFace*3+i;
-			if (!vertexNormals.empty())
-				f.normals[i] = face[i];
+	FOREACH(idxTexture, texturesDiffuse) {
+		ObjModel::Group& group = model.AddGroup(_T("material_" + std::to_string(idxTexture)));
+		group.faces.reserve(faces.size());
+		FOREACH(idxFace, faces) {
+			const auto texIdx = faceTexindices[idxFace];
+			if (texIdx != idxTexture)
+			    continue;
+
+			const Face& face = faces[idxFace];
+			ObjModel::Face f;
+			memset(&f, 0xFF, sizeof(ObjModel::Face));
+			for (int i=0; i<3; ++i) {
+				f.vertices[i] = face[i];
+				if (!faceTexcoords.empty())
+					f.texcoords[i] = idxFace*3+i;
+				if (!vertexNormals.empty())
+					f.normals[i] = face[i];
+			}
+			group.faces.push_back(f);
 		}
-		group.faces.push_back(f);
+		ObjModel::MaterialLib::Material* pMaterial(model.GetMaterial(group.material_name));
+		ASSERT(pMaterial != NULL);
+		pMaterial->diffuse_map = texturesDiffuse[idxTexture];
 	}
 
-	// store texture
-	ObjModel::MaterialLib::Material* pMaterial(model.GetMaterial(group.material_name));
-	ASSERT(pMaterial != NULL);
-	pMaterial->diffuse_map = textureDiffuse;
-
 	return model.Save(fileName);
 }
 // export the mesh as a GLTF file
@@ -1975,136 +1999,148 @@ void ExtendBufferGLTF(const T* src, size_t size, tinygltf::Buffer& dst, size_t&
 	dst.data.resize(byte_offset + byte_length);
 	memcpy(&dst.data[byte_offset], &src[0], byte_length);
 }
+
 bool Mesh::SaveGLTF(const String& fileName, bool bBinary) const
 {
-	ASSERT(!fileName.IsEmpty());
+	ASSERT(!fileName.empty());
 	Util::ensureFolder(fileName);
 
-	// store a copy of the mesh if it has texture, in order to convert
-	// the texture coordinates from per face to per vertex
-	Mesh meshCompressed;
-	if (HasTexture())
-		ConvertTexturePerVertex(meshCompressed);
-	const Mesh& mesh(HasTexture() ? meshCompressed : *this);
+	std::vector<Mesh> meshes;
+	if (texturesDiffuse.size() > 1) {
+		meshes = SplitMeshPerTextureBlob();
+		for (Mesh& mesh: meshes) {
+			Mesh convertedMesh;
+			mesh.ConvertTexturePerVertex(convertedMesh);
+			mesh.Swap(convertedMesh);
+		}
+	} else {
+		Mesh convertedMesh;
+		ConvertTexturePerVertex(convertedMesh);
+		meshes.emplace_back(std::move(convertedMesh));
+	}
 
 	// create GLTF model
 	tinygltf::Model gltfModel;
 	tinygltf::Scene gltfScene;
 	tinygltf::Mesh gltfMesh;
-	tinygltf::Primitive gltfPrimitive;
 	tinygltf::Buffer gltfBuffer;
 	gltfScene.name = "scene";
 	gltfMesh.name = "mesh";
 
-	// setup vertices
-	{
-		STATIC_ASSERT(3 * sizeof(Vertex::Type) == sizeof(Vertex)); // VertexArr should be continuous
-		const Box box(GetAABB());
-		gltfPrimitive.attributes["POSITION"] = (int)gltfModel.accessors.size();
-		tinygltf::Accessor vertexPositionAccessor;
-		vertexPositionAccessor.name = "vertexPositionAccessor";
-		vertexPositionAccessor.bufferView = (int)gltfModel.bufferViews.size();
-		vertexPositionAccessor.type = TINYGLTF_TYPE_VEC3;
-		vertexPositionAccessor.componentType = TINYGLTF_COMPONENT_TYPE_FLOAT;
-		vertexPositionAccessor.count = mesh.vertices.size();
-		vertexPositionAccessor.minValues = {box.ptMin.x(), box.ptMin.y(), box.ptMin.z()};
-		vertexPositionAccessor.maxValues = {box.ptMax.x(), box.ptMax.y(), box.ptMax.z()};
-		gltfModel.accessors.emplace_back(std::move(vertexPositionAccessor));
-		// setup vertices buffer
-		tinygltf::BufferView vertexPositionBufferView;
-		vertexPositionBufferView.name = "vertexPositionBufferView";
-		vertexPositionBufferView.buffer = (int)gltfModel.buffers.size();
-		ExtendBufferGLTF(mesh.vertices.data(), mesh.vertices.size(), gltfBuffer,
-			vertexPositionBufferView.byteOffset, vertexPositionBufferView.byteLength);
-		gltfModel.bufferViews.emplace_back(std::move(vertexPositionBufferView));
-	}
-
-	// setup faces
-	{
-		STATIC_ASSERT(3 * sizeof(Face::Type) == sizeof(Face)); // FaceArr should be continuous
-		gltfPrimitive.indices = (int)gltfModel.accessors.size();
-		tinygltf::Accessor triangleAccessor;
-		triangleAccessor.name = "triangleAccessor";
-		triangleAccessor.bufferView = (int)gltfModel.bufferViews.size();
-		triangleAccessor.type = TINYGLTF_TYPE_SCALAR;
-		triangleAccessor.componentType = TINYGLTF_COMPONENT_TYPE_UNSIGNED_INT;
-		triangleAccessor.count = mesh.faces.size() * 3;
-		gltfModel.accessors.emplace_back(std::move(triangleAccessor));
-		// setup triangles buffer
-		tinygltf::BufferView triangleBufferView;
-		triangleBufferView.name = "triangleBufferView";
-		triangleBufferView.buffer = (int)gltfModel.buffers.size();
-		ExtendBufferGLTF(mesh.faces.data(), mesh.faces.size(), gltfBuffer,
-			triangleBufferView.byteOffset, triangleBufferView.byteLength);
-		gltfModel.bufferViews.emplace_back(std::move(triangleBufferView));
-		gltfPrimitive.mode = TINYGLTF_MODE_TRIANGLES;
-	}
-
-	// setup material
-	gltfPrimitive.material = (int)gltfModel.materials.size();
-	tinygltf::Material gltfMaterial;
-	gltfMaterial.name = "material";
-	gltfMaterial.doubleSided = true;
-	if (mesh.HasTexture()) {
-		// setup texture
-		gltfMaterial.emissiveFactor = std::vector<double>{0,0,0};
-		gltfMaterial.pbrMetallicRoughness.baseColorTexture.index = (int)gltfModel.textures.size();
-		gltfMaterial.pbrMetallicRoughness.baseColorTexture.texCoord = 0;
-		gltfMaterial.pbrMetallicRoughness.baseColorFactor = std::vector<double>{1,1,1,1};
-		gltfMaterial.pbrMetallicRoughness.metallicFactor = 0;
-		gltfMaterial.pbrMetallicRoughness.roughnessFactor = 1;
-		gltfMaterial.extensions = {{"KHR_materials_unlit", {}}};
-		gltfModel.extensionsUsed = {"KHR_materials_unlit"};
-		// setup texture coordinates accessor
-		gltfPrimitive.attributes["TEXCOORD_0"] = (int)gltfModel.accessors.size();
-		tinygltf::Accessor vertexTexcoordAccessor;
-		vertexTexcoordAccessor.name = "vertexTexcoordAccessor";
-		vertexTexcoordAccessor.bufferView = (int)gltfModel.bufferViews.size();
-		vertexTexcoordAccessor.componentType = TINYGLTF_COMPONENT_TYPE_FLOAT;
-		vertexTexcoordAccessor.count = mesh.faceTexcoords.size();
-		vertexTexcoordAccessor.type = TINYGLTF_TYPE_VEC2;
-		gltfModel.accessors.emplace_back(std::move(vertexTexcoordAccessor));
-		// setup texture coordinates
-		STATIC_ASSERT(2 * sizeof(TexCoord::Type) == sizeof(TexCoord)); // TexCoordArr should be continuous
-		ASSERT(mesh.vertices.size() == mesh.faceTexcoords.size());
-		tinygltf::BufferView vertexTexcoordBufferView;
-		vertexTexcoordBufferView.name = "vertexTexcoordBufferView";
-		vertexTexcoordBufferView.buffer = (int)gltfModel.buffers.size();
-		TexCoordArr normFaceTexcoords;
-		mesh.FaceTexcoordsNormalize(normFaceTexcoords, false);
-		ExtendBufferGLTF(normFaceTexcoords.data(), normFaceTexcoords.size(), gltfBuffer,
-			vertexTexcoordBufferView.byteOffset, vertexTexcoordBufferView.byteLength);
-		gltfModel.bufferViews.emplace_back(std::move(vertexTexcoordBufferView));
-		// setup texture
-		tinygltf::Texture texture;
-		texture.name = "texture";
-		texture.source = (int)gltfModel.images.size();
-		texture.sampler = (int)gltfModel.samplers.size();
-		gltfModel.textures.emplace_back(std::move(texture));
-		// setup texture image
-		tinygltf::Image image;
-		image.name = Util::getFileFullName(fileName);
-		image.width = mesh.textureDiffuse.cols;
-		image.height = mesh.textureDiffuse.rows;
-		image.component = 3;
-		image.bits = 8;
-		image.pixel_type = TINYGLTF_COMPONENT_TYPE_UNSIGNED_BYTE;
-		image.mimeType = "image/png";
-		image.image.resize(mesh.textureDiffuse.size().area() * 3);
-		mesh.textureDiffuse.copyTo(cv::Mat(mesh.textureDiffuse.size(), CV_8UC3, image.image.data()));
-		gltfModel.images.emplace_back(std::move(image));
-		// setup texture sampler
-		tinygltf::Sampler sampler;
-		sampler.name = "sampler";
-		sampler.minFilter = TINYGLTF_TEXTURE_FILTER_LINEAR;
-		sampler.magFilter = TINYGLTF_TEXTURE_FILTER_LINEAR;
-		sampler.wrapS = TINYGLTF_TEXTURE_WRAP_CLAMP_TO_EDGE;
-		sampler.wrapT = TINYGLTF_TEXTURE_WRAP_CLAMP_TO_EDGE;
-		gltfModel.samplers.emplace_back(std::move(sampler));
-	}
-	gltfModel.materials.emplace_back(std::move(gltfMaterial));
-	gltfModel.buffers.emplace_back(std::move(gltfBuffer));
-	gltfMesh.primitives.emplace_back(std::move(gltfPrimitive));
+	for (size_t meshId = 0; meshId < meshes.size(); meshId++) {
+		const Mesh& mesh = meshes[meshId];
+		ASSERT(mesh.HasTextureCoordinatesPerVertex());
+		tinygltf::Primitive gltfPrimitive;
+		// setup vertices
+		{
+			STATIC_ASSERT(3 * sizeof(Vertex::Type) == sizeof(Vertex)); // VertexArr should be continuous
+			const Box box(GetAABB());
+			gltfPrimitive.attributes["POSITION"] = (int)gltfModel.accessors.size();
+			tinygltf::Accessor vertexPositionAccessor;
+			vertexPositionAccessor.name = "vertexPositionAccessor";
+			vertexPositionAccessor.bufferView = (int)gltfModel.bufferViews.size();
+			vertexPositionAccessor.type = TINYGLTF_TYPE_VEC3;
+			vertexPositionAccessor.componentType = TINYGLTF_COMPONENT_TYPE_FLOAT;
+			vertexPositionAccessor.count = mesh.vertices.size();
+			vertexPositionAccessor.minValues = {box.ptMin.x(), box.ptMin.y(), box.ptMin.z()};
+			vertexPositionAccessor.maxValues = {box.ptMax.x(), box.ptMax.y(), box.ptMax.z()};
+			gltfModel.accessors.emplace_back(std::move(vertexPositionAccessor));
+			// setup vertices buffer
+			tinygltf::BufferView vertexPositionBufferView;
+			vertexPositionBufferView.name = "vertexPositionBufferView";
+			vertexPositionBufferView.buffer = (int)gltfModel.buffers.size();
+			ExtendBufferGLTF(mesh.vertices.data(), mesh.vertices.size(), gltfBuffer,
+				vertexPositionBufferView.byteOffset, vertexPositionBufferView.byteLength);
+			gltfModel.bufferViews.emplace_back(std::move(vertexPositionBufferView));
+		}
+
+		// setup faces
+		{
+			STATIC_ASSERT(3 * sizeof(Face::Type) == sizeof(Face)); // FaceArr should be continuous
+			gltfPrimitive.indices = (int)gltfModel.accessors.size();
+			tinygltf::Accessor triangleAccessor;
+			triangleAccessor.name = "triangleAccessor";
+			triangleAccessor.bufferView = (int)gltfModel.bufferViews.size();
+			triangleAccessor.type = TINYGLTF_TYPE_SCALAR;
+			triangleAccessor.componentType = TINYGLTF_COMPONENT_TYPE_UNSIGNED_INT;
+			triangleAccessor.count = mesh.faces.size() * 3;
+			gltfModel.accessors.emplace_back(std::move(triangleAccessor));
+			// setup triangles buffer
+			tinygltf::BufferView triangleBufferView;
+			triangleBufferView.name = "triangleBufferView";
+			triangleBufferView.buffer = (int)gltfModel.buffers.size();
+			ExtendBufferGLTF(mesh.faces.data(), mesh.faces.size(), gltfBuffer,
+				triangleBufferView.byteOffset, triangleBufferView.byteLength);
+			gltfModel.bufferViews.emplace_back(std::move(triangleBufferView));
+			gltfPrimitive.mode = TINYGLTF_MODE_TRIANGLES;
+		}
+
+		// setup material
+		gltfPrimitive.material = (int)gltfModel.materials.size();
+		tinygltf::Material gltfMaterial;
+		gltfMaterial.name = "material";
+		gltfMaterial.doubleSided = true;
+		if (mesh.HasTexture()) {
+			// setup texture
+			gltfMaterial.emissiveFactor = std::vector<double>{0,0,0};
+			gltfMaterial.pbrMetallicRoughness.baseColorTexture.index = (int)gltfModel.textures.size();
+			gltfMaterial.pbrMetallicRoughness.baseColorTexture.texCoord = 0;
+			gltfMaterial.pbrMetallicRoughness.baseColorFactor = std::vector<double>{1,1,1,1};
+			gltfMaterial.pbrMetallicRoughness.metallicFactor = 0;
+			gltfMaterial.pbrMetallicRoughness.roughnessFactor = 1;
+			gltfMaterial.extensions = {{"KHR_materials_unlit", {}}};
+			gltfModel.extensionsUsed = {"KHR_materials_unlit"};
+			// setup texture coordinates accessor
+			gltfPrimitive.attributes["TEXCOORD_0"] = (int)gltfModel.accessors.size();
+			tinygltf::Accessor vertexTexcoordAccessor;
+			vertexTexcoordAccessor.name = "vertexTexcoordAccessor";
+			vertexTexcoordAccessor.bufferView = (int)gltfModel.bufferViews.size();
+			vertexTexcoordAccessor.componentType = TINYGLTF_COMPONENT_TYPE_FLOAT;
+			vertexTexcoordAccessor.count = mesh.faceTexcoords.size();
+			vertexTexcoordAccessor.type = TINYGLTF_TYPE_VEC2;
+			gltfModel.accessors.emplace_back(std::move(vertexTexcoordAccessor));
+			// setup texture coordinates
+			STATIC_ASSERT(2 * sizeof(TexCoord::Type) == sizeof(TexCoord)); // TexCoordArr should be continuous
+			ASSERT(mesh.vertices.size() == mesh.faceTexcoords.size());
+			tinygltf::BufferView vertexTexcoordBufferView;
+			vertexTexcoordBufferView.name = "vertexTexcoordBufferView";
+			vertexTexcoordBufferView.buffer = (int)gltfModel.buffers.size();
+			TexCoordArr normFaceTexcoords;
+			mesh.FaceTexcoordsNormalize(normFaceTexcoords, false);
+			ExtendBufferGLTF(normFaceTexcoords.data(), normFaceTexcoords.size(), gltfBuffer,
+				vertexTexcoordBufferView.byteOffset, vertexTexcoordBufferView.byteLength);
+			gltfModel.bufferViews.emplace_back(std::move(vertexTexcoordBufferView));
+			// setup texture
+			tinygltf::Texture texture;
+			texture.name = "texture";
+			texture.source = (int)gltfModel.images.size();
+			texture.sampler = (int)gltfModel.samplers.size();
+			gltfModel.textures.emplace_back(std::move(texture));
+			// setup texture image
+			tinygltf::Image image;
+			image.name = Util::getFileFullName(fileName) + "_" + std::to_string(meshId).c_str();
+			image.width = mesh.texturesDiffuse[0].cols;
+			image.height = mesh.texturesDiffuse[0].rows;
+			image.component = 3;
+			image.bits = 8;
+			image.pixel_type = TINYGLTF_COMPONENT_TYPE_UNSIGNED_BYTE;
+			image.mimeType = "image/png";
+			image.image.resize(mesh.texturesDiffuse[0].size().area() * 3);
+			mesh.texturesDiffuse[0].copyTo(cv::Mat(mesh.texturesDiffuse[0].size(), CV_8UC3, image.image.data()));
+			gltfModel.images.emplace_back(std::move(image));
+			// setup texture sampler
+			tinygltf::Sampler sampler;
+			sampler.name = "sampler";
+			sampler.minFilter = TINYGLTF_TEXTURE_FILTER_LINEAR;
+			sampler.magFilter = TINYGLTF_TEXTURE_FILTER_LINEAR;
+			sampler.wrapS = TINYGLTF_TEXTURE_WRAP_CLAMP_TO_EDGE;
+			sampler.wrapT = TINYGLTF_TEXTURE_WRAP_CLAMP_TO_EDGE;
+			gltfModel.samplers.emplace_back(std::move(sampler));
+		}
+		gltfModel.materials.emplace_back(std::move(gltfMaterial));
+		gltfModel.buffers.emplace_back(std::move(gltfBuffer));
+		gltfMesh.primitives.emplace_back(std::move(gltfPrimitive));
+	}
 
 	// setup scene node
 	gltfScene.nodes.emplace_back((int)gltfModel.nodes.size());
@@ -4032,8 +4068,10 @@ void Mesh::ConvertTexturePerVertex(Mesh& mesh) const
 	ASSERT(HasTexture());
 	mesh.vertices = vertices;
 	mesh.faces.resize(faces.size());
-	mesh.faceTexcoords.reserve(vertices.size()*3/2);
 	mesh.faceTexcoords.resize(vertices.size());
+	if (!faceTexindices.empty())
+		mesh.faceTexindices.resize(vertices.size());
+
 	VertexIdxArr mapVertices(vertices.size(), vertices.size()*3/2);
 	mapVertices.Memset(0xff);
 	FOREACH(idxF, faces) {
@@ -4042,6 +4080,7 @@ void Mesh::ConvertTexturePerVertex(Mesh& mesh) const
 		// with the same position, but different texture coordinates
 		const Face& face = faces[idxF];
 		Face& newface = mesh.faces[idxF];
+		const TexIndex ti = !faceTexindices.empty() ? faceTexindices[idxF] : 0;
 		for (int i=0; i<3; ++i) {
 			const TexCoord& tc = faceTexcoords[idxF*3+i];
 			VIndex idxV(face[i]);
@@ -4050,6 +4089,8 @@ void Mesh::ConvertTexturePerVertex(Mesh& mesh) const
 				if (idxVT == NO_ID) {
 					// vertex seen for the first time, so just copy it
 					mesh.faceTexcoords[newface[i] = idxVT = idxV] = tc;
+					if (!faceTexindices.empty())
+						mesh.faceTexindices[newface[i] = idxVT = idxV] = ti;
 					break;
 				}
 				// vertex already seen in an other face, check the texture coordinates
@@ -4063,6 +4104,8 @@ void Mesh::ConvertTexturePerVertex(Mesh& mesh) const
 					mapVertices.emplace_back(newface[i] = idxVT = mesh.vertices.size());
 					mesh.vertices.emplace_back(vertices[face[i]]);
 					mesh.faceTexcoords.emplace_back(tc);
+					if (!faceTexindices.empty())
+						mesh.faceTexindices.emplace_back(ti);
 					break;
 				}
 				// continue with the next linked vertex which share the position,
@@ -4071,7 +4114,7 @@ void Mesh::ConvertTexturePerVertex(Mesh& mesh) const
 			}
 		}
 	}
-	mesh.textureDiffuse = textureDiffuse;
+	mesh.texturesDiffuse = texturesDiffuse;
 } // ConvertTexturePerVertex
 /*----------------------------------------------------------------*/
 
@@ -4213,8 +4256,9 @@ void Mesh::SamplePoints(REAL samplingDensity, unsigned mumPointsTheoretic, Point
 				const TexCoord& TO = faceTexcoords[idxTexCoord+0];
 				const TexCoord& TA = faceTexcoords[idxTexCoord+1];
 				const TexCoord& TB = faceTexcoords[idxTexCoord+2];
+				const TexIndex& TI = faceTexindices[idxFace];
 				const TexCoord xt(TO + static_cast<TexCoord::Type>(x)*(TA - TO) + static_cast<TexCoord::Type>(y)*(TB - TO));
-				pointcloud.colors.emplace_back(textureDiffuse.sampleSafe(xt));
+				pointcloud.colors.emplace_back(texturesDiffuse[TI].sampleSafe(xt));
 			}
 		}
 	}
@@ -4237,7 +4281,7 @@ void Mesh::Project(const Camera& camera, DepthMap& depthMap) const
 }
 void Mesh::Project(const Camera& camera, DepthMap& depthMap, Image8U3& image) const
 {
-	ASSERT(!faceTexcoords.empty() && !textureDiffuse.empty());
+	ASSERT(!faceTexcoords.empty() && !texturesDiffuse.empty());
 	struct RasterMesh : TRasterMesh<RasterMesh> {
 		typedef TRasterMesh<RasterMesh> Base;
 		const Mesh& mesh;
@@ -4260,7 +4304,8 @@ void Mesh::Project(const Camera& camera, DepthMap& depthMap, Image8U3& image) co
 				xt  = mesh.faceTexcoords[idxFaceTex+0] * pbary[0];
 				xt += mesh.faceTexcoords[idxFaceTex+1] * pbary[1];
 				xt += mesh.faceTexcoords[idxFaceTex+2] * pbary[2];
-				image(pt) = mesh.textureDiffuse.sampleSafe(xt);
+				const auto texIdx = mesh.faceTexindices[idxFaceTex / 3];
+				image(pt) = mesh.texturesDiffuse[texIdx].sampleSafe(xt);
 			}
 		}
 	};
@@ -4343,7 +4388,7 @@ void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap) const
 }
 void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap, Image8U3& image) const
 {
-	ASSERT(!faceTexcoords.empty() && !textureDiffuse.empty());
+	ASSERT(!faceTexcoords.empty() && !texturesDiffuse.empty());
 	struct RasterMesh : TRasterMesh<RasterMesh> {
 		typedef TRasterMesh<RasterMesh> Base;
 		const Mesh& mesh;
@@ -4369,7 +4414,8 @@ void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap, Image8U3& imag
 				xt  = mesh.faceTexcoords[idxFaceTex+0] * bary[0];
 				xt += mesh.faceTexcoords[idxFaceTex+1] * bary[1];
 				xt += mesh.faceTexcoords[idxFaceTex+2] * bary[2];
-				image(pt) = mesh.textureDiffuse.sampleSafe(xt);
+				auto texIdx = mesh.faceTexindices[idxFaceTex / 3];
+				image(pt) = mesh.texturesDiffuse[texIdx].sampleSafe(xt);
 			}
 		}
 	};
@@ -4386,7 +4432,7 @@ void Mesh::ProjectOrtho(const Camera& camera, DepthMap& depthMap, Image8U3& imag
 // assuming the mesh is properly oriented, ortho-project it to a camera looking from top to down
 void Mesh::ProjectOrthoTopDown(unsigned resolution, Image8U3& image, Image8U& mask, Point3& center) const
 {
-	ASSERT(!IsEmpty() && !textureDiffuse.empty());
+	ASSERT(!IsEmpty() && !texturesDiffuse.empty());
 	// initialize camera
 	const AABB3f box(vertices.Begin(), vertices.GetSize());
 	const Point3 size(Vertex(box.GetSize())*1.01f/*border*/);
@@ -4485,16 +4531,44 @@ Mesh Mesh::SubMesh(const FaceIdxArr& chunk) const
 	Mesh mesh;
 	mesh.vertices = vertices;
 	mesh.faces.reserve(chunk.size());
-	for (FIndex idxFace: chunk)
+	if (!faceTexcoords.empty())
+		mesh.faceTexcoords.reserve(chunk.size()*3);
+	for (FIndex idxFace: chunk) {
 		mesh.faces.emplace_back(faces[idxFace]);
+		if (!faceTexcoords.empty()) {
+			const TexCoord* tri = faceTexcoords.data()+idxFace*3;
+			for (int i = 0; i < 3; ++i)
+				mesh.faceTexcoords.emplace_back(tri[i]);
+		}
+	}
 	mesh.ListIncidenteFaces();
 	mesh.RemoveUnreferencedVertices();
-	// fix non-manifold vertices and edges
 	mesh.FixNonManifold();
 	return mesh;
 } // SubMesh
 /*----------------------------------------------------------------*/
 
+// extract one sub-mesh for each texture, i.e. for each value of faceTexindices;
+std::vector<Mesh> Mesh::SplitMeshPerTextureBlob() const {
+
+	ASSERT(HasTexture());
+	if (texturesDiffuse.size() == 1)
+		return {*this};
+	ASSERT(faceTexindices.size() == faces.size());
+	std::vector<Mesh> submeshes;
+	submeshes.reserve(texturesDiffuse.size());
+	FOREACH(texId, texturesDiffuse) {
+		FaceIdxArr chunk;
+		FOREACH(idxFace, faceTexindices) {
+			if (faceTexindices[idxFace] == texId)
+				chunk.push_back(idxFace);
+		}
+		Mesh submesh = SubMesh(chunk);
+		submesh.texturesDiffuse.emplace_back(texturesDiffuse[texId]);
+		submeshes.emplace_back(std::move(submesh));
+	}
+	return submeshes;
+}
 
 
 // transfer the texture of this mesh to the new mesh;
@@ -4511,11 +4585,9 @@ inline Eigen::AlignedBox3f bounding_box(const FaceBox& faceBox) {
 bool Mesh::TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices, unsigned borderSize, unsigned textureSize)
 {
 	ASSERT(HasTexture() && mesh.HasTexture());
-	if (mesh.textureDiffuse.empty()) {
-		mesh.textureDiffuse.create(textureSize, textureSize);
-		mesh.textureDiffuse.memset(0);
-	}
-	Image8U mask(mesh.textureDiffuse.size(), uint8_t(255));
+	if (mesh.texturesDiffuse.empty())
+		mesh.texturesDiffuse.emplace_back(textureSize, textureSize).memset(0);
+	Image8U mask(mesh.texturesDiffuse.back().size(), uint8_t(255));
 	const FIndex num_faces(faceSubsetIndices.empty() ? mesh.faces.size() : faceSubsetIndices.size());
 	if (vertices == mesh.vertices && faces == mesh.faces) {
 		// the two meshes are identical, only the texture coordinates are different;
@@ -4533,15 +4605,16 @@ bool Mesh::TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices, unsi
 				Mesh& meshTrg;
 				Image8U& mask;
 				const TexCoord* tri;
-				inline cv::Size Size() const { return meshTrg.textureDiffuse.size(); }
+				const TexIndex texId;
+				inline cv::Size Size() const { return meshTrg.texturesDiffuse[0].size(); }
 				inline void operator()(const ImageRef& pt, const Point3f& bary) {
-					ASSERT(meshTrg.textureDiffuse.isInside(pt));
+					ASSERT(meshTrg.texturesDiffuse[texId].isInside(pt));
 					const TexCoord x(tri[0]*bary.x + tri[1]*bary.y + tri[2]*bary.z);
-					const Pixel8U color(meshRef.textureDiffuse.sample(x));
-					meshTrg.textureDiffuse(pt) = color;
+					const Pixel8U color(meshRef.texturesDiffuse[texId].sample(x));
+					meshTrg.texturesDiffuse[texId](pt) = color;
 					mask(pt) = 0;
 				}
-			} data{*this, mesh, mask, faceTexcoords.data()+idxFace*3};
+			} data{*this, mesh, mask, faceTexcoords.data()+idxFace*3, mesh.faceTexindices[idxFace]};
 			// render triangle and for each pixel interpolate the color
 			// from the triangle corners using barycentric coordinates
 			const TexCoord* tri = mesh.faceTexcoords.data()+idxFace*3;
@@ -4645,16 +4718,17 @@ bool Mesh::TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices, unsi
 				Mesh& meshTrg;
 				Image8U& mask;
 				const Face& face;
-				inline cv::Size Size() const { return meshTrg.textureDiffuse.size(); }
+				const TexIndex texId;
+				inline cv::Size Size() const { return meshTrg.texturesDiffuse.back().size(); }
 				inline void operator()(const ImageRef& pt, const Point3f& bary) {
-					ASSERT(meshTrg.textureDiffuse.isInside(pt));
+					ASSERT(meshTrg.texturesDiffuse[texId].isInside(pt));
 					const Vertex X(meshTrg.vertices[face[0]]*bary.x
 								 + meshTrg.vertices[face[1]]*bary.y
 								 + meshTrg.vertices[face[2]]*bary.z);
 					const Normal N(normalized(meshTrg.vertexNormals[face[0]]*bary.x
 											+ meshTrg.vertexNormals[face[1]]*bary.y
 											+ meshTrg.vertexNormals[face[2]]*bary.z));
-					const Ray3f ray((Vertex(X)), Normal(N));
+					const Ray3f ray(X, N);
 					#if USE_MESH_INT == USE_MESH_BF
 					const IntersectRayMesh intRay(meshRef, ray);
 					#elif USE_MESH_INT == USE_MESH_BVH
@@ -4670,17 +4744,17 @@ bool Mesh::TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices, unsi
 						const Vertex baryRef(CorrectBarycentricCoordinates(BarycentricCoordinatesUV(meshRef.vertices[refFace[0]], meshRef.vertices[refFace[1]], meshRef.vertices[refFace[2]], refX)));
 						const TexCoord* tri = meshRef.faceTexcoords.data()+refIdxFace*3;
 						const TexCoord x(tri[0]*baryRef.x + tri[1]*baryRef.y + tri[2]*baryRef.z);
-						const Pixel8U color(meshRef.textureDiffuse.sample(x));
-						meshTrg.textureDiffuse(pt) = color;
+						const Pixel8U color(meshRef.texturesDiffuse[texId].sample(x));
+						meshTrg.texturesDiffuse.back()(pt) = color;
 						mask(pt) = 0;
 					}
 				}
 			#if USE_MESH_INT == USE_MESH_BF
-			} data{*this, mesh, mask, mesh.faces[idxFace]};
+			} data{*this, mesh, mask, mesh.faces[idxFace], mesh.faceTexindices[idxFace]};
 			#elif USE_MESH_INT == USE_MESH_BVH
-			} data{tree, *this, mesh, mask, mesh.faces[idxFace]};
+			} data{tree, *this, mesh, mask, mesh.faces[idxFace], mesh.faceTexindices[idxFace]};
 			#else
-			} data{octree, *this, mesh, mask, mesh.faces[idxFace]};
+			} data{octree, *this, mesh, mask, mesh.faces[idxFace], mesh.faceTexindices[idxFace]};
 			#endif
 			// render triangle and for each pixel interpolate the color
 			// from the triangle corners using barycentric coordinates
@@ -4690,7 +4764,7 @@ bool Mesh::TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices, unsi
 	}
 	// fill border
 	if (borderSize > 0) {
-		ASSERT(mask.size().area() == mesh.textureDiffuse.size().area());
+		ASSERT(mask.size().area() == mesh.texturesDiffuse[0].size().area());
 		const int border(static_cast<int>(borderSize));
 		CLISTDEF0(int) idx_valid_pixels;
 		idx_valid_pixels.push_back(-1);
@@ -4701,13 +4775,13 @@ bool Mesh::TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices, unsi
 				idx_valid_pixels.push_back(i);
 		Image32F dists; cv::Mat_<int32_t> labels;
 		cv::distanceTransform(mask, dists, labels, cv::DIST_L1, 3, cv::DIST_LABEL_PIXEL);
-		ASSERT(mesh.textureDiffuse.isContinuous());
+		ASSERT(mesh.texturesDiffuse[0].isContinuous());
 		for (int i=0; i<size; ++i) {
 			const int dist = static_cast<int>(dists(i));
 			if (dist > 0 && dist <= border) {
 				const int label(labels(i));
 				const int idx_closest_pixel(idx_valid_pixels[label]);
-				mesh.textureDiffuse(i) = mesh.textureDiffuse(idx_closest_pixel);
+				mesh.texturesDiffuse[0](i) = mesh.texturesDiffuse[0](idx_closest_pixel);
 			}
 		}
 	}
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 8d962e11f..2310927a3 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -71,8 +71,9 @@ class MVS_API Mesh
 	typedef TPoint2<Type> TexCoord;
 	typedef SEACAVE::cList<TexCoord,const TexCoord&,0,8192,FIndex> TexCoordArr;
 
-	typedef uint8_t TexChunk;
-	typedef SEACAVE::cList<TexChunk,const TexChunk&,0,8192,FIndex> TexChunkArr;
+	typedef uint8_t TexIndex;
+	typedef SEACAVE::cList<TexIndex,const TexIndex&,0,8192,FIndex> TexIndexArr;
+	typedef SEACAVE::cList<Image8U3,const Image8U3&,2,4,TexIndex> Image8U3Arr;
 
 	typedef TPoint3<FIndex> FaceFaces;
 	typedef SEACAVE::cList<FaceFaces,const FaceFaces&,0,8192,FIndex> FaceFacesArr;
@@ -130,9 +131,10 @@ class MVS_API Mesh
 
 	NormalArr faceNormals; // for each face, the normal to it (optional)
 	FaceFacesArr faceFaces; // for each face, the list of adjacent faces, NO_ID for border edges (optional)
-	TexCoordArr faceTexcoords; // for each face, the texture-coordinates corresponding to the contained vertices (optional)
+	TexCoordArr faceTexcoords; // for each face, the texture-coordinates corresponding to its vertices, 3x num faces OR for each vertex (optional)
+	TexIndexArr faceTexindices; // for each face, the corresponding index of the texture (optional)
 
-	Image8U3 textureDiffuse; // texture containing the diffuse color (optional)
+	Image8U3Arr texturesDiffuse; // textures containing the diffuse color (optional)
 
 	#ifdef _USE_CUDA
 	static CUDA::KernelRT kernelComputeFaceNormal;
@@ -150,9 +152,10 @@ class MVS_API Mesh
 	void EmptyExtra();
 	void Swap(Mesh&);
 	void Join(const Mesh&);
-	inline bool IsEmpty() const { return vertices.empty(); }
+	bool IsEmpty() const { return vertices.empty(); }
 	bool IsWatertight();
-	inline bool HasTexture() const { ASSERT(faceTexcoords.empty() == textureDiffuse.empty()); return !faceTexcoords.empty(); }
+	bool HasTexture() const { ASSERT(faces.size()*3 == faceTexcoords.size() || vertices.size() == faceTexcoords.size()); return !faceTexcoords.empty() && !texturesDiffuse.empty(); }
+	bool HasTextureCoordinatesPerVertex() const { return !faceTexcoords.empty() && vertices.size() == faceTexcoords.size(); }
 
 	Box GetAABB() const;
 	Box GetAABB(const Box& bound) const;
@@ -187,8 +190,10 @@ class MVS_API Mesh
 	void RemoveFaces(FaceIdxArr& facesRemove, bool bUpdateLists=false);
 	void RemoveVertices(VertexIdxArr& vertexRemove, bool bUpdateLists=false);
 	VIndex RemoveUnreferencedVertices(bool bUpdateLists=false);
+	std::vector<Mesh> SplitMeshPerTextureBlob() const;
 	void ConvertTexturePerVertex(Mesh&) const;
 
+	TexIndex GetFaceTextureIndex(FIndex idxF) const { return faceTexindices.empty() ? 0 : faceTexindices[idxF]; }
 	void FaceTexcoordsNormalize(TexCoordArr& newFaceTexcoords, bool flipY=true) const;
 	void FaceTexcoordsUnnormalize(TexCoordArr& newFaceTexcoords, bool flipY=true) const;
 
@@ -264,7 +269,8 @@ class MVS_API Mesh
 		ar & vertexBoundary;
 		ar & faceNormals;
 		ar & faceTexcoords;
-		ar & textureDiffuse;
+		ar & faceTexindices;
+		ar & texturesDiffuse;
 	}
 	#endif
 };
diff --git a/libs/MVS/RectsBinPack.cpp b/libs/MVS/RectsBinPack.cpp
index 3a376fd8f..0f93358c8 100644
--- a/libs/MVS/RectsBinPack.cpp
+++ b/libs/MVS/RectsBinPack.cpp
@@ -88,12 +88,10 @@ MaxRectsBinPack::Rect MaxRectsBinPack::Insert(int width, int height, FreeRectCho
 	return newNode;
 }
 
-bool MaxRectsBinPack::Insert(RectArr& rects, FreeRectChoiceHeuristic method)
+MaxRectsBinPack::RectWIdxArr MaxRectsBinPack::Insert(RectWIdxArr& unplacedRects, FreeRectChoiceHeuristic method)
 {
-	cList<IDX, IDX, 0> indices(rects.GetSize());
-	std::iota(indices.Begin(), indices.End(), 0);
-	RectArr newRects(rects.GetSize());
-	while (!rects.IsEmpty()) {
+	RectWIdxArr placedRects;
+	while (!unplacedRects.IsEmpty()) {
 		int bestScore1 = std::numeric_limits<int>::max();
 		int bestScore2 = std::numeric_limits<int>::max();
 		IDX bestRectIndex = NO_IDX;
@@ -108,9 +106,9 @@ bool MaxRectsBinPack::Insert(RectArr& rects, FreeRectChoiceHeuristic method)
 			IDX privBestRectIndex = NO_IDX;
 			Rect privBestNode;
 			#pragma omp for nowait
-			for (int_t i=0; i<(int_t)rects.GetSize(); ++i) {
+			for (int_t i=0; i<(int_t)unplacedRects.GetSize(); ++i) {
 				int score1, score2;
-				Rect newNode(ScoreRect(rects[i].width, rects[i].height, method, score1, score2));
+				Rect newNode(ScoreRect(unplacedRects[i].rect.width, unplacedRects[i].rect.height, method, score1, score2));
 				if (score1 < privBestScore1 || (score1 == privBestScore1 && score2 < privBestScore2)) {
 					privBestScore1 = score1;
 					privBestScore2 = score2;
@@ -141,24 +139,18 @@ bool MaxRectsBinPack::Insert(RectArr& rects, FreeRectChoiceHeuristic method)
 		}
 		#endif
 
-		// if no place found...
+		// if no place found, return the placed rectangles list
 		if (bestRectIndex == NO_IDX) {
-			// restore the original rectangles
-			FOREACH(j, rects)
-				newRects[indices[j]] = rects[j];
-			rects.Swap(newRects);
-			return false;
+			break;
 		}
 
 		// store rectangle
 		PlaceRect(bestNode);
 
-		newRects[indices[bestRectIndex]] = bestNode;
-		rects.RemoveAt(bestRectIndex);
-		indices.RemoveAt(bestRectIndex);
+		placedRects.Insert(RectWIdx{bestNode, unplacedRects[bestRectIndex].patchIdx});
+		unplacedRects.RemoveAt(bestRectIndex);
 	}
-	rects.Swap(newRects);
-	return true;
+	return placedRects;
 }
 
 void MaxRectsBinPack::PlaceRect(const Rect &node)
@@ -524,6 +516,13 @@ int MaxRectsBinPack::ComputeTextureSize(const RectArr& rects, int mult)
 	// ... as power of two
 	return POWI(2, CEIL2INT<unsigned>(LOGN((float)sizeTex) / LOGN(2.f)));
 }
+
+int MaxRectsBinPack::ComputeTextureSize(const RectWIdxArr& rectsWIdx, int mult) {
+	RectArr rects(rectsWIdx.GetSize());
+	FOREACH(i, rectsWIdx)
+		rects[i] = rectsWIdx[i].rect;
+	return ComputeTextureSize(rects, mult);
+}
 /*----------------------------------------------------------------*/
 
 
@@ -563,7 +562,7 @@ void GuillotineBinPack::Init(int width, int height)
 	freeRectangles.push_back(n);
 }
 
-bool GuillotineBinPack::Insert(RectArr& rects, bool merge,
+GuillotineBinPack::RectWIdxArr GuillotineBinPack::Insert(RectWIdxArr& unplacedRects, bool merge,
 							   FreeRectChoiceHeuristic rectChoice, GuillotineSplitHeuristic splitMethod)
 {
 	// Remember variables about the best packing choice we have made so far during the iteration process.
@@ -571,19 +570,18 @@ bool GuillotineBinPack::Insert(RectArr& rects, bool merge,
 	size_t bestRect = 0;
 	bool bestFlipped = false;
 
-	// Pack rectangles one at a time until we have cleared the rects array of all rectangles.
-	// rects will get destroyed in the process.
-	cList<IDX, IDX, 0> indices(rects.GetSize());
-	std::iota(indices.Begin(), indices.End(), 0);
-	RectArr newRects(rects.GetSize());
-	while (!rects.IsEmpty()) {
+	// Pack rectangles one at a time until we have cleared the rects array of all rectangles or there is no space.
+	// unplacedRects will get destroyed in the process.
+	RectWIdxArr placedRects;
+	while (!unplacedRects.IsEmpty()) {
 		// Stores the penalty score of the best rectangle placement - bigger=worse, smaller=better.
 		int bestScore = std::numeric_limits<int>::max();
 
 		for (size_t i = 0; i < freeRectangles.size(); ++i) {
-			for (size_t j = 0; j < rects.GetSize(); ++j) {
+			for (size_t j = 0; j < unplacedRects.GetSize(); ++j) {
+				Rect currentRect = unplacedRects[j].rect;
 				// If this rectangle is a perfect match, we pick it instantly.
-				if (rects[j].width == freeRectangles[i].width && rects[j].height == freeRectangles[i].height) {
+				if (currentRect.width == freeRectangles[i].width && currentRect.height == freeRectangles[i].height) {
 					bestFreeRect = i;
 					bestRect = j;
 					bestFlipped = false;
@@ -592,7 +590,7 @@ bool GuillotineBinPack::Insert(RectArr& rects, bool merge,
 					break;
 				}
 				// If flipping this rectangle is a perfect match, pick that then.
-				else if (rects[j].height == freeRectangles[i].width && rects[j].width == freeRectangles[i].height) {
+				else if (currentRect.height == freeRectangles[i].width && currentRect.width == freeRectangles[i].height) {
 					bestFreeRect = i;
 					bestRect = j;
 					bestFlipped = true;
@@ -601,8 +599,8 @@ bool GuillotineBinPack::Insert(RectArr& rects, bool merge,
 					break;
 				}
 				// Try if we can fit the rectangle upright.
-				else if (rects[j].width <= freeRectangles[i].width && rects[j].height <= freeRectangles[i].height) {
-					int score = ScoreByHeuristic(rects[j].width, rects[j].height, freeRectangles[i], rectChoice);
+				else if (currentRect.width <= freeRectangles[i].width && currentRect.height <= freeRectangles[i].height) {
+					int score = ScoreByHeuristic(currentRect.width, currentRect.height, freeRectangles[i], rectChoice);
 					if (score < bestScore) {
 						bestFreeRect = i;
 						bestRect = j;
@@ -611,8 +609,8 @@ bool GuillotineBinPack::Insert(RectArr& rects, bool merge,
 					}
 				}
 				// If not, then perhaps flipping sideways will make it fit?
-				else if (rects[j].height <= freeRectangles[i].width && rects[j].width <= freeRectangles[i].height) {
-					int score = ScoreByHeuristic(rects[j].height, rects[j].width, freeRectangles[i], rectChoice);
+				else if (currentRect.height <= freeRectangles[i].width && currentRect.width <= freeRectangles[i].height) {
+					int score = ScoreByHeuristic(currentRect.height, currentRect.width, freeRectangles[i], rectChoice);
 					if (score < bestScore) {
 						bestFreeRect = i;
 						bestRect = j;
@@ -625,19 +623,15 @@ bool GuillotineBinPack::Insert(RectArr& rects, bool merge,
 
 		// If we didn't manage to find any rectangle to pack, abort.
 		if (bestScore == std::numeric_limits<int>::max()) {
-			// restore the original rectangles
-			FOREACH(j, rects)
-				newRects[indices[j]] = rects[j];
-			rects.Swap(newRects);
-			return false;
+			break;
 		}
 
 		// Otherwise, we're good to go and do the actual packing.
 		Rect newNode;
 		newNode.x = freeRectangles[bestFreeRect].x;
 		newNode.y = freeRectangles[bestFreeRect].y;
-		newNode.width = rects[bestRect].width;
-		newNode.height = rects[bestRect].height;
+		newNode.width = unplacedRects[bestRect].rect.width;
+		newNode.height = unplacedRects[bestRect].rect.height;
 
 		if (bestFlipped)
 			std::swap(newNode.width, newNode.height);
@@ -647,9 +641,8 @@ bool GuillotineBinPack::Insert(RectArr& rects, bool merge,
 		freeRectangles.erase(freeRectangles.begin() + bestFreeRect);
 
 		// Remove the rectangle we just packed from the input list.
-		newRects[indices[bestRect]] = newNode;
-		rects.RemoveAt(bestRect);
-		indices.RemoveAt(bestRect);
+		placedRects.Insert(MaxRectsBinPack::RectWIdx{newNode, unplacedRects[bestRect].patchIdx});
+		unplacedRects.RemoveAt(bestRect);
 
 		// Perform a Rectangle Merge step if desired.
 		if (merge)
@@ -661,7 +654,7 @@ bool GuillotineBinPack::Insert(RectArr& rects, bool merge,
 		// Check that we're really producing correct packings here.
 		ASSERT(disjointRects.Add(newNode) == true);
 	}
-	return true;
+	return placedRects;
 }
 
 GuillotineBinPack::Rect GuillotineBinPack::Insert(int width, int height, bool merge, FreeRectChoiceHeuristic rectChoice, GuillotineSplitHeuristic splitMethod)
@@ -984,12 +977,10 @@ void SkylineBinPack::Init(int width, int height, bool useWasteMap_)
 	}
 }
 
-bool SkylineBinPack::Insert(RectArr& rects, LevelChoiceHeuristic method)
+SkylineBinPack::RectWIdxArr SkylineBinPack::Insert(RectWIdxArr& unplacedRects, LevelChoiceHeuristic method)
 {
-	cList<IDX, IDX, 0> indices(rects.GetSize());
-	std::iota(indices.Begin(), indices.End(), 0);
-	RectArr newRects(rects.GetSize());
-	while (!rects.IsEmpty()) {
+	RectWIdxArr placedRects;
+	while (!unplacedRects.IsEmpty()) {
 		int bestScore1 = std::numeric_limits<int>::max();
 		int bestScore2 = std::numeric_limits<int>::max();
 		int bestSkylineIndex = -1;
@@ -1005,9 +996,9 @@ bool SkylineBinPack::Insert(RectArr& rects, LevelChoiceHeuristic method)
 			IDX privBestRectIndex = NO_IDX;
 			Rect privBestNode;
 			#pragma omp for nowait
-			for (int_t i=0; i<(int_t)rects.GetSize(); ++i) {
+			for (int_t i=0; i<(int_t)unplacedRects.GetSize(); ++i) {
 				int score1, score2, index;
-				Rect newNode(ScoreRect(rects[i].width, rects[i].height, method, score1, score2, index));
+				Rect newNode(ScoreRect(unplacedRects[i].rect.width, unplacedRects[i].rect.height, method, score1, score2, index));
 				if (score1 < privBestScore1 || (score1 == privBestScore1 && score2 < privBestScore2)) {
 					privBestScore1 = score1;
 					privBestScore2 = score2;
@@ -1028,9 +1019,9 @@ bool SkylineBinPack::Insert(RectArr& rects, LevelChoiceHeuristic method)
 			}
 		}
 		#else
-		FOREACH(i, rects) {
+		FOREACH(i, unplacedRects) {
 			int score1, score2, index;
-			Rect newNode(ScoreRect(rects[i].width, rects[i].height, method, score1, score2, index));
+			Rect newNode(ScoreRect(unplacedRects[i].rect.width, unplacedRects[i].rect.height, method, score1, score2, index));
 			if (score1 < bestScore1 || (score1 == bestScore1 && score2 < bestScore2)) {
 				bestNode = newNode;
 				bestScore1 = score1;
@@ -1041,13 +1032,9 @@ bool SkylineBinPack::Insert(RectArr& rects, LevelChoiceHeuristic method)
 		}
 		#endif
 
-		// if no place found...
+		// if no place found, give up
 		if (bestRectIndex == NO_IDX) {
-			// restore the original rectangles
-			FOREACH(j, rects)
-				newRects[indices[j]] = rects[j];
-			rects.Swap(newRects);
-			return false;
+			break;
 		}
 
 		// Perform the actual packing.
@@ -1056,14 +1043,12 @@ bool SkylineBinPack::Insert(RectArr& rects, LevelChoiceHeuristic method)
 		disjointRects.Add(bestNode);
 		#endif
 		AddSkylineLevel(bestSkylineIndex, bestNode);
-		usedSurfaceArea += rects[bestRectIndex].area();
+		usedSurfaceArea += unplacedRects[bestRectIndex].rect.area();
 
-		newRects[indices[bestRectIndex]] = bestNode;
-		rects.RemoveAt(bestRectIndex);
-		indices.RemoveAt(bestRectIndex);
+		placedRects.Insert(MaxRectsBinPack::RectWIdx{bestNode, unplacedRects[bestRectIndex].patchIdx});
+		unplacedRects.RemoveAt(bestRectIndex);
 	}
-	rects.Swap(newRects);
-	return true;
+	return placedRects;
 }
 
 SkylineBinPack::Rect SkylineBinPack::Insert(int width, int height, LevelChoiceHeuristic method)
diff --git a/libs/MVS/RectsBinPack.h b/libs/MVS/RectsBinPack.h
index 390ec1a9f..c1ef9b048 100644
--- a/libs/MVS/RectsBinPack.h
+++ b/libs/MVS/RectsBinPack.h
@@ -57,8 +57,17 @@ namespace MVS {
 class MaxRectsBinPack
 {
 public:
+	// A simple rectangle
 	typedef cv::Rect Rect;
+	// A rectangle that stores an index of origin
+	typedef struct {
+	    Rect rect;
+	    uint32_t patchIdx;
+	} RectWIdx;
+	/// A list of rectangles
 	typedef CLISTDEF0(Rect) RectArr;
+	/// A list of rectangles along their original indices
+	typedef CLISTDEF0(RectWIdx) RectWIdxArr;
 
 	/// Instantiates a bin of size (0,0). Call Init to create a new bin.
 	MaxRectsBinPack();
@@ -84,7 +93,7 @@ class MaxRectsBinPack
 	/// @param rects [IN/OUT] The list of rectangles to insert; the rectangles will be modified with the new coordinates in the process.
 	/// @param method The rectangle placement rule to use when packing.
 	/// returns true if all rectangles were inserted
-	bool Insert(RectArr& rects, FreeRectChoiceHeuristic method=RectBestShortSideFit);
+	RectWIdxArr Insert(RectWIdxArr& rects, FreeRectChoiceHeuristic method=RectBestShortSideFit);
 
 	/// Inserts a single rectangle into the bin, possibly rotated.
 	Rect Insert(int width, int height, FreeRectChoiceHeuristic method=RectBestShortSideFit);
@@ -94,6 +103,7 @@ class MaxRectsBinPack
 
 	/// Computes an approximate texture atlas size.
 	static int ComputeTextureSize(const RectArr& rects, int mult=0);
+	static int ComputeTextureSize(const RectWIdxArr& rects, int mult=0);
 
 	/// Returns true if a is contained/on the border in b.
 	static inline bool IsContainedIn(const Rect& a, const Rect& b) {
@@ -190,8 +200,12 @@ class DisjointRectCollection
 class GuillotineBinPack
 {
 public:
+	// A simple rectangle
 	typedef cv::Rect Rect;
+	/// A list of rectangles
 	typedef CLISTDEF0(Rect) RectArr;
+	/// A list of rectangles along their original indices
+	typedef CLISTDEF0(MaxRectsBinPack::RectWIdx) RectWIdxArr;
 
 	/// The initial bin size will be (0,0). Call Init to set the bin size.
 	GuillotineBinPack();
@@ -243,7 +257,7 @@ class GuillotineBinPack
 	/// @param merge If true, performs Rectangle Merge operations during the packing process.
 	/// @param rectChoice The free rectangle choice heuristic rule to use.
 	/// @param splitMethod The free rectangle split heuristic rule to use.
-	bool Insert(RectArr& rects, bool merge,
+	RectWIdxArr Insert(RectWIdxArr& rects, bool merge,
 				FreeRectChoiceHeuristic rectChoice, GuillotineSplitHeuristic splitMethod);
 
 	/// Computes the ratio of used/total surface area. 0.00 means no space is yet used, 1.00 means the whole bin is used.
@@ -311,8 +325,12 @@ class GuillotineBinPack
 class SkylineBinPack
 {
 public:
+	// A simple rectangle
 	typedef cv::Rect Rect;
+	/// A list of rectangles
 	typedef CLISTDEF0(Rect) RectArr;
+	/// A list of rectangles along their original indices
+	typedef CLISTDEF0(MaxRectsBinPack::RectWIdx) RectWIdxArr;
 
 	/// Instantiates a bin of size (0,0). Call Init to create a new bin.
 	SkylineBinPack();
@@ -335,7 +353,7 @@ class SkylineBinPack
 	/// Inserts the given list of rectangles in an offline/batch mode, possibly rotated.
 	/// @param rects [in/out] The list of rectangles to insert. This vector will be update in the process.
 	/// @param method The rectangle placement rule to use when packing.
-	bool Insert(RectArr& rects, LevelChoiceHeuristic method);
+	RectWIdxArr Insert(RectWIdxArr& rects, LevelChoiceHeuristic method);
 
 	/// Inserts a single rectangle into the bin, possibly rotated.
 	Rect Insert(int width, int height, LevelChoiceHeuristic method);
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 8580c623e..8eaa96369 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -152,7 +152,7 @@ class MVS_API Scene
 	// Mesh texturing
 	bool TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned minCommonCameras=0, float fOutlierThreshold=0.f, float fRatioDataSmoothness=0.3f,
 		bool bGlobalSeamLeveling=true, bool bLocalSeamLeveling=true, unsigned nTextureSizeMultiple=0, unsigned nRectPackingHeuristic=3, Pixel8U colEmpty=Pixel8U(255,127,39),
-		float fSharpnessWeight=0.5f, int ignoreMaskLabel = -1, const IIndexArr& views=IIndexArr());
+		float fSharpnessWeight=0.5f, int ignoreMaskLabel=-1, int maxTextureSize=0, const IIndexArr& views=IIndexArr());
 
 	#ifdef _USE_BOOST
 	// implement BOOST serialization
diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index e8404ba50..e15f06169 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -133,6 +133,7 @@ typedef Mesh::VIndex VIndex;
 typedef Mesh::Face Face;
 typedef Mesh::FIndex FIndex;
 typedef Mesh::TexCoord TexCoord;
+typedef Mesh::TexIndex TexIndex;
 
 typedef int MatIdx;
 typedef Eigen::Triplet<float,MatIdx> MatEntry;
@@ -340,7 +341,7 @@ struct MeshTexture {
 	void CreateSeamVertices();
 	void GlobalSeamLeveling();
 	void LocalSeamLeveling();
-	void GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, float fSharpnessWeight);
+	void GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, float fSharpnessWeight, int maxTextureSize);
 
 	template <typename PIXEL>
 	static inline PIXEL RGB2YCBCR(const PIXEL& v) {
@@ -387,7 +388,8 @@ struct MeshTexture {
 	BoolArr& vertexBoundary; // for each vertex, stores if it is at the boundary or not
 	Mesh::FaceFacesArr& faceFaces; // for each face, the list of adjacent faces, NO_ID for border edges (optional)
 	Mesh::TexCoordArr& faceTexcoords; // for each face, the texture-coordinates of the vertices
-	Image8U3& textureDiffuse; // texture containing the diffuse color
+	Mesh::TexIndexArr& faceTexindices; // for each face, the texture-coordinates of the vertices
+	Mesh::Image8U3Arr& texturesDiffuse; // texture containing the diffuse color
 
 	// constant the entire time
 	Mesh::VertexArr& vertices;
@@ -436,7 +438,8 @@ MeshTexture::MeshTexture(Scene& _scene, unsigned _nResolutionLevel, unsigned _nM
 	vertexBoundary(_scene.mesh.vertexBoundary),
 	faceFaces(_scene.mesh.faceFaces),
 	faceTexcoords(_scene.mesh.faceTexcoords),
-	textureDiffuse(_scene.mesh.textureDiffuse),
+	faceTexindices(_scene.mesh.faceTexindices),
+	texturesDiffuse(_scene.mesh.texturesDiffuse),
 	vertices(_scene.mesh.vertices),
 	faces(_scene.mesh.faces),
 	images(_scene.images),
@@ -556,7 +559,7 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 			#endif
 		}
 		rasterer.Clear();
-		for (auto idxFace : cameraFaces) {
+		for (FIndex idxFace : cameraFaces) {
 			rasterer.validFace = true;
 			const Face& facet = faces[idxFace];
 			rasterer.idxFace = idxFace;
@@ -2109,11 +2112,12 @@ void MeshTexture::LocalSeamLeveling()
 	}
 }
 
-void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, float fSharpnessWeight)
+void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, float fSharpnessWeight, int maxTextureSize)
 {
 	// project patches in the corresponding view and compute texture-coordinates and bounding-box
 	const int border(2);
 	faceTexcoords.resize(faces.size()*3);
+	faceTexindices.resize(faces.size());
 	#ifdef TEXOPT_USE_OPENMP
 	const unsigned numPatches(texturePatches.size()-1);
 	#pragma omp parallel for schedule(dynamic)
@@ -2210,84 +2214,115 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 	// create texture
 	{
 		// arrange texture patches to fit the smallest possible texture image
-		RectsBinPack::RectArr rects(texturePatches.GetSize());
-		FOREACH(i, texturePatches)
-			rects[i] = texturePatches[i].rect;
-		int textureSize(RectsBinPack::ComputeTextureSize(rects, nTextureSizeMultiple));
-		// increase texture size till all patches fit
-		while (true) {
-			TD_TIMER_STARTD();
-			bool bPacked(false);
+		RectsBinPack::RectWIdxArr unplacedRects(texturePatches.size());
+		FOREACH(i, texturePatches) {
+			if (maxTextureSize > 0 && (texturePatches[i].rect.width > maxTextureSize || texturePatches[i].rect.height > maxTextureSize)) {
+			    DEBUG("error: a patch of size %u x %u does not fit the texture", texturePatches[i].rect.width, texturePatches[i].rect.height);
+			    ABORT("the maximum texture size chosen cannot fit a patch");
+			}
+			unplacedRects[i] = {texturePatches[i].rect, i};
+		}
+
+		// pack patches: one pack per texture file
+		CLISTDEF2IDX(RectsBinPack::RectWIdxArr, TexIndex) placedRects; {
+			// increase texture size till all patches fit
 			const unsigned typeRectsBinPack(nRectPackingHeuristic/100);
 			const unsigned typeSplit((nRectPackingHeuristic-typeRectsBinPack*100)/10);
 			const unsigned typeHeuristic(nRectPackingHeuristic%10);
-			switch (typeRectsBinPack) {
-			case 0: {
-				MaxRectsBinPack pack(textureSize, textureSize);
-				bPacked = pack.Insert(rects, (MaxRectsBinPack::FreeRectChoiceHeuristic)typeHeuristic);
-				break; }
-			case 1: {
-				SkylineBinPack pack(textureSize, textureSize, typeSplit!=0);
-				bPacked = pack.Insert(rects, (SkylineBinPack::LevelChoiceHeuristic)typeHeuristic);
-				break; }
-			case 2: {
-				GuillotineBinPack pack(textureSize, textureSize);
-				bPacked = pack.Insert(rects, false, (GuillotineBinPack::FreeRectChoiceHeuristic)typeHeuristic, (GuillotineBinPack::GuillotineSplitHeuristic)typeSplit);
-				break; }
-			default:
-				ABORT("error: unknown RectsBinPack type");
+			int textureSize = 0;
+			while (!unplacedRects.empty()) {
+				TD_TIMER_STARTD();
+				if (textureSize == 0) {
+					textureSize = RectsBinPack::ComputeTextureSize(unplacedRects, nTextureSizeMultiple);
+					if (maxTextureSize > 0 && textureSize > maxTextureSize)
+						textureSize = maxTextureSize;
+				}
+
+				RectsBinPack::RectWIdxArr newPlacedRects;
+				switch (typeRectsBinPack) {
+				case 0: {
+					MaxRectsBinPack pack(textureSize, textureSize);
+					newPlacedRects = pack.Insert(unplacedRects, (MaxRectsBinPack::FreeRectChoiceHeuristic)typeHeuristic);
+					break; }
+				case 1: {
+					SkylineBinPack pack(textureSize, textureSize, typeSplit!=0);
+					newPlacedRects = pack.Insert(unplacedRects, (SkylineBinPack::LevelChoiceHeuristic)typeHeuristic);
+					break; }
+				case 2: {
+					GuillotineBinPack pack(textureSize, textureSize);
+					newPlacedRects = pack.Insert(unplacedRects, false, (GuillotineBinPack::FreeRectChoiceHeuristic)typeHeuristic, (GuillotineBinPack::GuillotineSplitHeuristic)typeSplit);
+					break; }
+				default:
+					ABORT("error: unknown RectsBinPack type");
+				}
+				DEBUG_ULTIMATE("\tpacking texture completed: %u initial patches, %u placed patches, %u texture-size, %u textures (%s)", texturePatches.size(), newPlacedRects.GetSize(), textureSize, placedRects.size(), TD_TIMER_GET_FMT().c_str());
+
+				if (textureSize == maxTextureSize || unplacedRects.empty()) {
+					// create texture image
+					placedRects.emplace_back(std::move(newPlacedRects));
+					texturesDiffuse.emplace_back(textureSize, textureSize).setTo(cv::Scalar(colEmpty.b, colEmpty.g, colEmpty.r));
+					textureSize = 0;
+				} else {
+					// try again with a bigger texture
+					textureSize *= 2;
+					if (maxTextureSize > 0)
+						textureSize = std::max(textureSize, maxTextureSize);
+					unplacedRects.JoinRemove(newPlacedRects);
+				}
 			}
-			DEBUG_ULTIMATE("\tpacking texture completed: %u patches, %u texture-size (%s)", rects.size(), textureSize, TD_TIMER_GET_FMT().c_str());
-			if (bPacked)
-				break;
-			textureSize *= 2;
 		}
 
-		// create texture image
-		textureDiffuse.create(textureSize, textureSize);
-		textureDiffuse.setTo(cv::Scalar(colEmpty.b, colEmpty.g, colEmpty.r));
 		#ifdef TEXOPT_USE_OPENMP
 		#pragma omp parallel for schedule(dynamic)
-		for (int_t i=0; i<(int_t)texturePatches.size(); ++i) {
-			const uint32_t idxPatch((uint32_t)i);
+		for (int_t i=0; i<(int_t)placedRects.size(); ++i) {
+			for (int_t j=0; j<(int_t)placedRects[(TexIndex)i].size(); ++j) {
+				const TexIndex idxTexture((TexIndex)i);
+				const uint32_t idxPlacedPatch((uint32_t)j);
 		#else
-		FOREACH(idxPatch, texturePatches) {
+		FOREACH(idxTexture, placedRects) {
+			FOREACH(idxPlacedPatch, placedRects[idxTexture]) {
 		#endif
-			const TexturePatch& texturePatch = texturePatches[idxPatch];
-			const RectsBinPack::Rect& rect = rects[idxPatch];
-			// copy patch image
-			ASSERT((rect.width == texturePatch.rect.width && rect.height == texturePatch.rect.height) ||
-				   (rect.height == texturePatch.rect.width && rect.width == texturePatch.rect.height));
-			int x(0), y(1);
-			if (texturePatch.label != NO_ID) {
-				const Image& imageData = images[texturePatch.label];
-				cv::Mat patch(imageData.image(texturePatch.rect));
-				if (rect.width != texturePatch.rect.width) {
-					// flip patch and texture-coordinates
-					patch = patch.t();
-					x = 1; y = 0;
+				const TexturePatch& texturePatch = texturePatches[placedRects[idxTexture][idxPlacedPatch].patchIdx];
+				const RectsBinPack::Rect& rect = placedRects[idxTexture][idxPlacedPatch].rect;
+				// copy patch image
+				ASSERT((rect.width == texturePatch.rect.width && rect.height == texturePatch.rect.height) ||
+					(rect.height == texturePatch.rect.width && rect.width == texturePatch.rect.height));
+				int x(0), y(1);
+				if (texturePatch.label != NO_ID) {
+					const Image& imageData = images[texturePatch.label];
+					cv::Mat patch(imageData.image(texturePatch.rect));
+					if (rect.width != texturePatch.rect.width) {
+						// flip patch and texture-coordinates
+						patch = patch.t();
+						x = 1; y = 0;
+					}
+					patch.copyTo(texturesDiffuse[idxTexture](rect));
 				}
-				patch.copyTo(textureDiffuse(rect));
-			}
-			// compute final texture coordinates
-			const TexCoord offset(rect.tl());
-			for (const FIndex idxFace: texturePatch.faces) {
-				TexCoord* texcoords = faceTexcoords.data()+idxFace*3;
-				for (int v=0; v<3; ++v) {
-					TexCoord& texcoord = texcoords[v];
-					texcoord = TexCoord(
-						texcoord[x]+offset.x,
-						texcoord[y]+offset.y
-					);
+				// compute final texture coordinates
+				const TexCoord offset(rect.tl());
+				for (const FIndex idxFace: texturePatch.faces) {
+					TexCoord* texcoords = faceTexcoords.data()+idxFace*3;
+					faceTexindices[idxFace] = idxTexture;
+					for (int v=0; v<3; ++v) {
+						TexCoord& texcoord = texcoords[v];
+						texcoord = TexCoord(
+							texcoord[x]+offset.x,
+							texcoord[y]+offset.y
+						);
+					}
 				}
 			}
 		}
+		if (texturesDiffuse.size() == 1)
+			faceTexindices.Release();
 		// apply some sharpening
 		if (fSharpnessWeight > 0) {
 			constexpr double sigma = 1.5;
-			Image8U3 blurryTextureDiffuse;
-			cv::GaussianBlur(textureDiffuse, blurryTextureDiffuse, cv::Size(), sigma);
-			cv::addWeighted(textureDiffuse, 1+fSharpnessWeight, blurryTextureDiffuse, -fSharpnessWeight, 0, textureDiffuse);
+			for (auto &textureDiffuse: texturesDiffuse) {
+			    Image8U3 blurryTextureDiffuse;
+			    cv::GaussianBlur(textureDiffuse, blurryTextureDiffuse, cv::Size(), sigma);
+			    cv::addWeighted(textureDiffuse, 1+fSharpnessWeight, blurryTextureDiffuse, -fSharpnessWeight, 0, textureDiffuse);
+			}
 		}
 	}
 }
@@ -2298,7 +2333,7 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 //  - nIgnoreMaskLabel: label value to ignore in the image mask, stored in the MVS scene or next to each image with '.mask.png' extension (-1 - auto estimate mask for lens distortion, -2 - disabled)
 bool Scene::TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned minCommonCameras, float fOutlierThreshold, float fRatioDataSmoothness,
 	bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, float fSharpnessWeight,
-	int nIgnoreMaskLabel, const IIndexArr& views)
+	int nIgnoreMaskLabel, int maxTextureSize, const IIndexArr& views)
 {
 	MeshTexture texture(*this, nResolutionLevel, nMinResolution);
 
@@ -2313,8 +2348,8 @@ bool Scene::TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsi
 	// generate the texture image and atlas
 	{
 		TD_TIMER_STARTD();
-		texture.GenerateTexture(bGlobalSeamLeveling, bLocalSeamLeveling, nTextureSizeMultiple, nRectPackingHeuristic, colEmpty, fSharpnessWeight);
-		DEBUG_EXTRA("Generating texture atlas and image completed: %u patches, %u image size (%s)", texture.texturePatches.GetSize(), mesh.textureDiffuse.width(), TD_TIMER_GET_FMT().c_str());
+		texture.GenerateTexture(bGlobalSeamLeveling, bLocalSeamLeveling, nTextureSizeMultiple, nRectPackingHeuristic, colEmpty, fSharpnessWeight, maxTextureSize);
+		DEBUG_EXTRA("Generating texture atlas and image completed: %u patches, %u image size, %u textures (%s)", texture.texturePatches.GetSize(), mesh.texturesDiffuse[0].width(), mesh.texturesDiffuse.size(), TD_TIMER_GET_FMT().c_str());
 	}
 
 	return true;

From ecd5dde52b1b6e80e5814fda784e4bee2801680a Mon Sep 17 00:00:00 2001
From: 4CJ7T <108303308+4CJ7T@users.noreply.github.com>
Date: Mon, 23 Oct 2023 02:48:29 -0700
Subject: [PATCH 218/252] interface: add Python utility for reading MVS scenes
 (#1069)

---
 scripts/python/MvsReadDMAP.py |   8 +-
 scripts/python/MvsReadMVS.py  |  35 +++++++
 scripts/python/MvsUtils.py    | 189 ++++++++++++++++++++++++++++------
 3 files changed, 195 insertions(+), 37 deletions(-)
 create mode 100644 scripts/python/MvsReadMVS.py

diff --git a/scripts/python/MvsReadDMAP.py b/scripts/python/MvsReadDMAP.py
index c1a5b81c6..deb354744 100644
--- a/scripts/python/MvsReadDMAP.py
+++ b/scripts/python/MvsReadDMAP.py
@@ -1,5 +1,5 @@
 '''
-Example usage of MvsUtils.py for exporting dmap file content.
+Example usage of MvsUtils.py for reading DMAP file content.
 
 usage: MvsReadDMAP.py [-h] [--input INPUT] [--output OUTPUT]
 '''
@@ -25,9 +25,9 @@ def exportDMAPContent(dmap_path):
 
 def main():
   parser = ArgumentParser()
-  parser.add_argument('-i', '--input', type=str, required=True, help='path to the depth map directory')
-  parser.add_argument('-t', '--threads', type=int, default=int(os.cpu_count() * 0.5) - 1, help='number of parallel computations')
-  parser.add_argument('-o', '--output', type=str, required=True, help='path to the output directory')
+  parser.add_argument('-i', '--input', type=str, required=True, help='Path to the DMAP file directory')
+  parser.add_argument('-t', '--threads', type=int, default=int(os.cpu_count() * 0.5) - 1, help='Number of parallel computations')
+  parser.add_argument('-o', '--output', type=str, required=True, help='Path to the output directory')
   args = parser.parse_args()
   
   dmap_paths = glob(os.path.join(args.input, '*.dmap'))
diff --git a/scripts/python/MvsReadMVS.py b/scripts/python/MvsReadMVS.py
new file mode 100644
index 000000000..597e962a3
--- /dev/null
+++ b/scripts/python/MvsReadMVS.py
@@ -0,0 +1,35 @@
+'''
+Example usage of MvsUtils.py for reading MVS interface archive content.
+
+usage: MvsReadMVS.py [-h] [--input INPUT] [--output OUTPUT]
+'''
+
+from argparse import ArgumentParser
+import json
+from MvsUtils import loadMVSInterface
+import os
+
+def main():
+  parser = ArgumentParser()
+  parser.add_argument('-i', '--input', type=str, required=True, help='Path to the MVS interface archive')
+  parser.add_argument('-o', '--output', type=str, required=True, help='Path to the output json file')
+  args = parser.parse_args()
+  
+  mvs = loadMVSInterface(args.input)
+  
+  for platform_index in range(len(mvs['platforms'])):
+    for camera_index in range(len(mvs['platforms'][platform_index]['cameras'])):
+      camera = mvs['platforms'][platform_index]['cameras'][camera_index]
+      image_max = max(camera['width'], camera['height'])
+      fx = camera['K'][0][0] / image_max
+      fy = camera['K'][1][1] / image_max
+      poses_size = len(camera['poses'])
+      print('Camera model loaded: platform {}; camera {}; f {:.3f}x{:.3f}; poses {}'.format(platform_index, camera_index, fx, fy, poses_size))
+  
+  os.makedirs(os.path.dirname(args.output), exist_ok = True)
+  
+  with open(args.output, 'w') as file:
+    json.dump(mvs, file, indent=2)
+
+if __name__ == '__main__':
+  main()
diff --git a/scripts/python/MvsUtils.py b/scripts/python/MvsUtils.py
index 92447b4a3..9286cf13c 100644
--- a/scripts/python/MvsUtils.py
+++ b/scripts/python/MvsUtils.py
@@ -1,7 +1,7 @@
 '''
 OpenMVS python utilities.
 
-E.g., from MvsUtils import loadDMAP
+E.g., from MvsUtils import loadDMAP, loadMVSInterface
 '''
 
 import numpy as np
@@ -21,47 +21,170 @@ def loadDMAP(dmap_path):
     depth_width, depth_height = np.frombuffer(dmap.read(8), dtype=np.dtype('I'))
     
     if (file_type != 'DR' or has_depth == False or depth_width <= 0 or depth_height <= 0 or image_width < depth_width or image_height < depth_height):
-      print('error: opening file \'%s\' for reading depth-data' % dmap_path)
-      return None
+      print('error: opening file \'{}\' for reading depth-data'.format(dmap_path))
+      return
     
     depth_min, depth_max = np.frombuffer(dmap.read(8), dtype=np.dtype('f'))
     
-    file_name_length = np.frombuffer(dmap.read(2), dtype=np.dtype('H'))[0]
-    file_name = dmap.read(file_name_length).decode()
+    file_name_size = np.frombuffer(dmap.read(2), dtype=np.dtype('H'))[0]
+    file_name = dmap.read(file_name_size).decode()
     
-    view_ids_length = np.frombuffer(dmap.read(4), dtype=np.dtype('I'))[0]
-    reference_view_id, *neighbor_view_ids = np.frombuffer(dmap.read(4 * view_ids_length), dtype=np.dtype('I'))
+    view_ids_size = np.frombuffer(dmap.read(4), dtype=np.dtype('I'))[0]
+    reference_view_id, *neighbor_view_ids = np.frombuffer(dmap.read(4 * view_ids_size), dtype=np.dtype('I'))
     
     K = np.frombuffer(dmap.read(72), dtype=np.dtype('d')).reshape(3, 3)
     R = np.frombuffer(dmap.read(72), dtype=np.dtype('d')).reshape(3, 3)
     C = np.frombuffer(dmap.read(24), dtype=np.dtype('d'))
     
-    depth_length = depth_width * depth_height
-    depth_map = np.frombuffer(dmap.read(4 * depth_length), dtype=np.dtype('f')).reshape(depth_height, depth_width)
-    normal_map = np.frombuffer(dmap.read(4 * depth_length * 3), dtype=np.dtype('f')).reshape(depth_height, depth_width, 3) if has_normal else np.asarray([])
-    confidence_map = np.frombuffer(dmap.read(4 * depth_length), dtype=np.dtype('f')).reshape(depth_height, depth_width) if has_conf else np.asarray([])
-    views_map = np.frombuffer(dmap.read(depth_length * 4), dtype=np.dtype('B')).reshape(depth_height, depth_width, 4) if has_views else np.asarray([])
+    data = {
+      'has_normal': has_normal,
+      'has_conf': has_conf,
+      'has_views': has_views,
+      'image_width': image_width,
+      'image_height': image_height,
+      'depth_width': depth_width,
+      'depth_height': depth_height,
+      'depth_min': depth_min,
+      'depth_max': depth_max,
+      'file_name': file_name,
+      'reference_view_id': reference_view_id,
+      'neighbor_view_ids': neighbor_view_ids,
+      'K': K,
+      'R': R,
+      'C': C
+    }
+    
+    map_size = depth_width * depth_height
+    depth_map = np.frombuffer(dmap.read(4 * map_size), dtype=np.dtype('f')).reshape(depth_height, depth_width)
+    data.update({'depth_map': depth_map})
+    if has_normal:
+      normal_map = np.frombuffer(dmap.read(4 * map_size * 3), dtype=np.dtype('f')).reshape(depth_height, depth_width, 3)
+      data.update({'normal_map': normal_map})
+    if has_conf:
+      confidence_map = np.frombuffer(dmap.read(4 * map_size), dtype=np.dtype('f')).reshape(depth_height, depth_width)
+      data.update({'confidence_map': confidence_map})
+    if has_views:
+      views_map = np.frombuffer(dmap.read(map_size * 4), dtype=np.dtype('B')).reshape(depth_height, depth_width, 4)
+      data.update({'views_map': views_map})
   
-  data = {
-    'has_normal': has_normal,
-    'has_conf': has_conf,
-    'has_views': has_views,
-    'image_width': image_width,
-    'image_height': image_height,
-    'depth_width': depth_width,
-    'depth_height': depth_height,
-    'depth_min': depth_min,
-    'depth_max': depth_max,
-    'file_name': file_name,
-    'reference_view_id': reference_view_id,
-    'neighbor_view_ids': neighbor_view_ids,
-    'K': K,
-    'R': R,
-    'C': C,
-    'depth_map': depth_map,
-    'normal_map': normal_map,
-    'confidence_map': confidence_map,
-    'views_map': views_map
-  }
+  return data
+
+def loadMVSInterface(archive_path):
+  with open(archive_path, 'rb') as mvs:
+    archive_type = mvs.read(4).decode()
+    version = np.frombuffer(mvs.read(4), dtype=np.dtype('I')).tolist()[0]
+    reserve = np.frombuffer(mvs.read(4), dtype=np.dtype('I'))
+    
+    if archive_type != 'MVSI':
+      print('error: opening file \'{}\''.format(archive_path))
+      return
+    
+    data = {
+      'project_stream': archive_type,
+      'project_stream_version': version,
+      'platforms': [],
+      'images': [],
+      'vertices': [],
+      'vertices_normal': [],
+      'vertices_color': []
+    }
+    
+    platforms_size = np.frombuffer(mvs.read(8), dtype=np.dtype('Q'))[0]
+    for platform_index in range(platforms_size):
+      platform_name_size = np.frombuffer(mvs.read(8), dtype=np.dtype('Q'))[0]
+      platform_name = mvs.read(platform_name_size).decode()
+      data['platforms'].append({'name': platform_name, 'cameras': []})
+      cameras_size = np.frombuffer(mvs.read(8), dtype=np.dtype('Q'))[0]
+      for camera_index in range(cameras_size):
+        camera_name_size = np.frombuffer(mvs.read(8), dtype=np.dtype('Q'))[0]
+        camera_name = mvs.read(camera_name_size).decode()
+        data['platforms'][platform_index]['cameras'].append({'name': camera_name})
+        if version > 3:
+          band_name_size = np.frombuffer(mvs.read(8), dtype=np.dtype('Q'))[0]
+          band_name = mvs.read(band_name_size).decode()
+          data['platforms'][platform_index]['cameras'][camera_index].update({'band_name': band_name})
+        if version > 0:
+          width, height = np.frombuffer(mvs.read(8), dtype=np.dtype('I')).tolist()
+          data['platforms'][platform_index]['cameras'][camera_index].update({'width': width, 'height': height})
+        K = np.asarray(np.frombuffer(mvs.read(72), dtype=np.dtype('d'))).reshape(3, 3).tolist()
+        data['platforms'][platform_index]['cameras'][camera_index].update({'K': K, 'poses': []})
+        identity_matrix = np.asarray(np.frombuffer(mvs.read(96), dtype=np.dtype('d'))).reshape(4, 3)
+        poses_size = np.frombuffer(mvs.read(8), dtype=np.dtype('Q'))[0]
+        for _ in range(poses_size):
+          R = np.asarray(np.frombuffer(mvs.read(72), dtype=np.dtype('d'))).reshape(3, 3).tolist()
+          C = np.asarray(np.frombuffer(mvs.read(24), dtype=np.dtype('d'))).tolist()
+          data['platforms'][platform_index]['cameras'][camera_index]['poses'].append({'R': R, 'C': C})
+    
+    images_size = np.frombuffer(mvs.read(8), dtype=np.dtype('Q'))[0]
+    for image_index in range(images_size):
+      name_size = np.frombuffer(mvs.read(8), dtype=np.dtype('Q'))[0]
+      name = mvs.read(name_size).decode()
+      data['images'].append({'name': name})
+      if version > 4:
+        mask_name_size = np.frombuffer(mvs.read(8), dtype=np.dtype('Q'))[0]
+        mask_name = mvs.read(mask_name_size).decode()
+        data['images'][image_index].update({'mask_name': mask_name})
+      platform_id, camera_id, pose_id = np.frombuffer(mvs.read(12), dtype=np.dtype('I')).tolist()
+      data['images'][image_index].update({'platform_id': platform_id, 'camera_id': camera_id, 'pose_id': pose_id})
+      if version > 2:
+        id = np.frombuffer(mvs.read(4), dtype=np.dtype('I')).tolist()[0]
+        data['images'][image_index].update({'id': id})
+      if version > 6:
+        min_depth, avg_depth, max_depth = np.frombuffer(mvs.read(12), dtype=np.dtype('f')).tolist()
+        data['images'][image_index].update({'min_depth': min_depth, 'avg_depth': avg_depth, 'max_depth': max_depth, 'view_scores': []})
+        view_score_size = np.frombuffer(mvs.read(8), dtype=np.dtype('Q'))[0]
+        for _ in range(view_score_size):
+          id, points = np.frombuffer(mvs.read(8), dtype=np.dtype('I')).tolist()
+          scale, angle, area, score = np.frombuffer(mvs.read(16), dtype=np.dtype('f')).tolist()
+          data['images'][image_index]['view_scores'].append({'id': id, 'points': points, 'scale': scale, 'angle': angle, 'area': area, 'score': score})
+    
+    vertices_size = np.frombuffer(mvs.read(8), dtype=np.dtype('Q'))[0]
+    for vertex_index in range(vertices_size):
+      X = np.frombuffer(mvs.read(12), dtype=np.dtype('f')).tolist()
+      data['vertices'].append({'X': X, 'views': []})
+      views_size = np.frombuffer(mvs.read(8), dtype=np.dtype('Q'))[0]
+      for _ in range(views_size):
+        image_id = np.frombuffer(mvs.read(4), dtype=np.dtype('I')).tolist()[0]
+        confidence = np.frombuffer(mvs.read(4), dtype=np.dtype('f')).tolist()[0]
+        data['vertices'][vertex_index]['views'].append({'image_id': image_id, 'confidence': confidence})
+    
+    vertices_normal_size = np.frombuffer(mvs.read(8), dtype=np.dtype('Q'))[0]
+    for _ in range(vertices_normal_size):
+      normal = np.frombuffer(mvs.read(12), dtype=np.dtype('f')).tolist()
+      data['vertices_normal'].append(normal)
+    
+    vertices_color_size = np.frombuffer(mvs.read(8), dtype=np.dtype('Q'))[0]
+    for _ in range(vertices_color_size):
+      color = np.frombuffer(mvs.read(3), dtype=np.dtype('B')).tolist()
+      data['vertices_color'].append(color)
+    
+    if version > 0:
+      data.update({'lines': [], 'lines_normal': [], 'lines_color': []})
+      lines_size = np.frombuffer(mvs.read(8), dtype=np.dtype('Q'))[0]
+      for line_index in range(lines_size):
+        pt1 = np.frombuffer(mvs.read(12), dtype=np.dtype('f')).tolist()
+        pt2 = np.frombuffer(mvs.read(12), dtype=np.dtype('f')).tolist()
+        data['lines'].append({'pt1': pt1, 'pt2': pt2, 'views': []})
+        views_size = np.frombuffer(mvs.read(8), dtype=np.dtype('Q'))[0]
+        for _ in range(views_size):
+          image_id = np.frombuffer(mvs.read(4), dtype=np.dtype('I')).tolist()[0]
+          confidence = np.frombuffer(mvs.read(4), dtype=np.dtype('f')).tolist()[0]
+          data['lines'][line_index]['views'].append({'image_id': image_id, 'confidence': confidence})
+      lines_normal_size = np.frombuffer(mvs.read(8), dtype=np.dtype('Q'))[0]
+      for _ in range(lines_normal_size):
+        normal = np.frombuffer(mvs.read(12), dtype=np.dtype('f')).tolist()
+        data['lines_normal'].append(normal)
+      lines_color_size = np.frombuffer(mvs.read(8), dtype=np.dtype('Q'))[0]
+      for _ in range(lines_color_size):
+        color = np.frombuffer(mvs.read(3), dtype=np.dtype('B')).tolist()
+        data['lines_color'].append(color)
+      if version > 1:
+        transform = np.frombuffer(mvs.read(128), dtype=np.dtype('d')).reshape(4, 4).tolist()
+        data.update({'transform': transform})
+        if version > 5:
+          rot = np.frombuffer(mvs.read(72), dtype=np.dtype('d')).reshape(3, 3).tolist()
+          pt_min = np.frombuffer(mvs.read(24), dtype=np.dtype('d')).tolist()
+          pt_max = np.frombuffer(mvs.read(24), dtype=np.dtype('d')).tolist()
+          data.update({'obb': {'rot': rot, 'pt_min': pt_min, 'pt_max': pt_max}})
   
   return data

From 15a1407ac9d85274b549becee48298cb7c6c59fd Mon Sep 17 00:00:00 2001
From: magwe <magwe@users.noreply.github.com>
Date: Sat, 28 Oct 2023 01:43:17 +0200
Subject: [PATCH 219/252] build: enforce Eigen >= 3.4 (#1078)

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

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 34d8e8372..83e3f733c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -209,7 +209,7 @@ if(Boost_FOUND)
 	endif()
 endif()
 
-FIND_PACKAGE(Eigen3 REQUIRED)
+FIND_PACKAGE(Eigen3 3.4 REQUIRED)
 if(EIGEN3_FOUND)
 	LIST(APPEND OpenMVS_EXTRA_INCLUDES ${EIGEN3_INCLUDE_DIR})
 	INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})

From 34961de026e9c727a4ad6dbb013d5425af5b7ce6 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 4 Nov 2023 09:51:01 +0200
Subject: [PATCH 220/252] common: clean frustum creation

---
 libs/Common/Plane.h   |  18 +++--
 libs/Common/Plane.inl | 169 ++++++++++++++++--------------------------
 libs/MVS/Camera.h     |  21 ++++++
 3 files changed, 93 insertions(+), 115 deletions(-)

diff --git a/libs/Common/Plane.h b/libs/Common/Plane.h
index 8623928e9..96af10df5 100644
--- a/libs/Common/Plane.h
+++ b/libs/Common/Plane.h
@@ -44,11 +44,13 @@ class TPlane
 	inline TPlane(const VECTOR&, const POINT&);
 	inline TPlane(const POINT&, const POINT&, const POINT&);
 	inline TPlane(const TYPE p[DIMS+1]);
+	inline TPlane(const Eigen::Matrix<TYPE,DIMS+1,1>&);
 
 	inline void Set(const VECTOR&, TYPE);
 	inline void Set(const VECTOR&, const POINT&);
 	inline void Set(const POINT&, const POINT&, const POINT&);
 	inline void Set(const TYPE p[DIMS+1]);
+	inline void Set(const Eigen::Matrix<TYPE,DIMS+1,1>&);
 
 	int Optimize(const POINT*, size_t, int maxIters=100);
 	template <typename RobustNormFunctor>
@@ -103,7 +105,7 @@ struct FitPlaneOnline {
 /*----------------------------------------------------------------*/
 
 
-// Basic frustum class
+// Basic 3D frustum class
 // (represented as 6 planes oriented toward outside the frustum volume)
 template <typename TYPE, int DIMS=6>
 class TFrustum
@@ -113,12 +115,12 @@ class TFrustum
 public:
 	typedef Eigen::Matrix<TYPE,4,4,Eigen::RowMajor> MATRIX4x4;
 	typedef Eigen::Matrix<TYPE,3,4,Eigen::RowMajor> MATRIX3x4;
-	typedef Eigen::Matrix<TYPE,4,1> VECTOR4;
 	typedef Eigen::Matrix<TYPE,3,1> VECTOR;
 	typedef Eigen::Matrix<TYPE,3,1> POINT;
 	typedef SEACAVE::TPlane<TYPE,3> PLANE;
 	typedef SEACAVE::TSphere<TYPE,3> SPHERE;
 	typedef SEACAVE::TAABB<TYPE,3> AABB;
+	enum { numCorners = (1<<3) };
 
 	PLANE	m_planes[DIMS];	// left, right, top, bottom, near and far planes
 
@@ -127,13 +129,13 @@ class TFrustum
 	inline TFrustum() {}
 	inline TFrustum(const MATRIX4x4&);
 	inline TFrustum(const MATRIX3x4&);
-	inline TFrustum(const MATRIX4x4&, TYPE width, TYPE height, TYPE near=TYPE(0.0001), TYPE far=TYPE(1000));
-	inline TFrustum(const MATRIX3x4&, TYPE width, TYPE height, TYPE near=TYPE(0.0001), TYPE far=TYPE(1000));
+	inline TFrustum(const MATRIX4x4&, TYPE width, TYPE height, TYPE nearZ=TYPE(0.0001), TYPE farZ=TYPE(1000));
+	inline TFrustum(const MATRIX3x4&, TYPE width, TYPE height, TYPE nearZ=TYPE(0.0001), TYPE farZ=TYPE(1000));
 
-	template <int MODE> void Set(const MATRIX4x4&);
-	template <int MODE> void Set(const MATRIX3x4&);
-	void Set(const MATRIX4x4&, TYPE width, TYPE height, TYPE near=TYPE(0.0001), TYPE far=TYPE(1000));
-	void Set(const MATRIX3x4&, TYPE width, TYPE height, TYPE near=TYPE(0.0001), TYPE far=TYPE(1000));
+	void Set(const MATRIX4x4&, TYPE width, TYPE height, TYPE nearZ=TYPE(0.0001), TYPE farZ=TYPE(1000));
+	void Set(const MATRIX3x4&, TYPE width, TYPE height, TYPE nearZ=TYPE(0.0001), TYPE farZ=TYPE(1000));
+	void Set(const VECTOR corners[numCorners]);
+	void SetProjectionGL(const MATRIX4x4&);
 
 	GCLASS Classify(const POINT&) const;
 	GCLASS Classify(const SPHERE&) const;
diff --git a/libs/Common/Plane.inl b/libs/Common/Plane.inl
index bd7e61083..119a2f4d7 100644
--- a/libs/Common/Plane.inl
+++ b/libs/Common/Plane.inl
@@ -36,6 +36,12 @@ template <typename TYPE, int DIMS>
 inline TPlane<TYPE,DIMS>::TPlane(const TYPE p[DIMS+1])
 {
 	Set(p);
+}
+// Construct plane given its standard equation: Ax + By + Cz + D = 0
+template <typename TYPE, int DIMS>
+inline TPlane<TYPE,DIMS>::TPlane(const Eigen::Matrix<TYPE,DIMS+1,1>& v)
+{
+	Set(v);
 } // constructors
 /*----------------------------------------------------------------*/
 
@@ -64,7 +70,14 @@ inline void TPlane<TYPE,DIMS>::Set(const TYPE p[DIMS+1])
 {
 	const Eigen::Map<const VECTOR> vN(p);
 	const TYPE invD(INVERT(vN.norm()));
-	Set(vN*invD, p[3]*invD);
+	Set(vN*invD, p[DIMS]*invD);
+}
+template <typename TYPE, int DIMS>
+inline void TPlane<TYPE,DIMS>::Set(const Eigen::Matrix<TYPE,DIMS+1,1>& v)
+{
+	const VECTOR vN = v.template topLeftCorner<3,1>();
+	const TYPE invD(INVERT(vN.norm()));
+	Set(vN*invD, v(DIMS)*invD);
 } // Set
 /*----------------------------------------------------------------*/
 
@@ -459,124 +472,66 @@ inline TFrustum<TYPE,DIMS>::TFrustum(const MATRIX3x4& m, TYPE w, TYPE h, TYPE n,
 /*----------------------------------------------------------------*/
 
 
-/**
- * Retrieve active frustum planes, normals pointing outwards.
- * -> IN/OUT: RDFRUSTUM - address to 6 planes
- */
-template <typename TYPE, int DIMS>
-template <int MODE>
-void TFrustum<TYPE,DIMS>::Set(const MATRIX4x4& m)
-{
-	// left plane
-	m_planes[0].Set(-(m.col(3)+m.col(0)));
-	// right plane
-	if (DIMS > 1)
-	m_planes[1].Set(-(m.col(3)-m.col(0)));
-	// top plane
-	if (DIMS > 2)
-	m_planes[2].Set(-(m.col(3)+m.col(1)));
-	// bottom plane
-	if (DIMS > 3)
-	m_planes[3].Set(-(m.col(3)-m.col(1)));
-	// near plane
-	if (DIMS > 4)
-	m_planes[4].Set(MODE ? -(m.col(3)+m.col(2)) : -m.col(2));
-	// far plane
-	if (DIMS > 5)
-	m_planes[5].Set(-(m.col(3)-m.col(2)));
-}
-// same as above, but the last row of the matrix is (0,0,0,1)
-template <typename TYPE, int DIMS>
-template <int MODE>
-void TFrustum<TYPE,DIMS>::Set(const MATRIX3x4& m)
-{
-	// left plane
-	m_planes[0].Set(VECTOR4(
-		-(m(0,3)+m(0,0)),
-		-(m(1,3)+m(1,0)),
-		-(m(2,3)+m(2,0)),
-		-TYPE(1)
-	));
-	// right plane
-	if (DIMS > 1)
-	m_planes[1].Set(VECTOR4(
-		-(m(0,3)-m(0,0)),
-		-(m(1,3)-m(1,0)),
-		-(m(2,3)-m(2,0)),
-		-TYPE(1)
-	));
-	// top plane
-	if (DIMS > 2)
-	m_planes[2].Set(VECTOR4(
-		-(m(0,3)+m(0,1)),
-		-(m(1,3)+m(1,1)),
-		-(m(2,3)+m(2,1)),
-		-TYPE(1)
-	));
-	// bottom plane
-	if (DIMS > 3)
-	m_planes[3].Set(VECTOR4(
-		-(m(0,3)-m(0,1)),
-		-(m(1,3)-m(1,1)),
-		-(m(2,3)-m(2,1)),
-		-TYPE(1)
-	));
-	// near plane
-	if (DIMS > 4)
-	m_planes[4].Set(MODE ?
-		VECTOR4(
-		-(m(0,3)+m(0,2)),
-		-(m(1,3)+m(1,2)),
-		-(m(2,3)+m(2,2)),
-		-TYPE(1))
-		:
-		VECTOR4(
-		-m(0,2),
-		-m(1,2),
-		-m(2,2),
-		TYPE(0))
-	);
-	// far plane
-	if (DIMS > 5)
-	m_planes[5].Set(VECTOR4(
-		-(m(0,3)-m(0,2)),
-		-(m(1,3)-m(1,2)),
-		-(m(2,3)-m(2,2)),
-		-TYPE(1)
-	));
-}
-// same as above, but from SfM projection matrix and image plane details
+// Set frustum planes, normals pointing outwards, from SfM projection matrix and image plane details
 template <typename TYPE, int DIMS>
 void TFrustum<TYPE,DIMS>::Set(const MATRIX4x4& m, TYPE w, TYPE h, TYPE n, TYPE f)
 {
-	const VECTOR4 ltn(0,0,n,1), rtn(w*n,0,n,1), lbn(0,h*n,n,1), rbn(w*n,h*n,n,1);
-	const VECTOR4 ltf(0,0,f,1), rtf(w*f,0,f,1), lbf(0,h*f,f,1), rbf(w*f,h*f,f,1);
+	const VECTOR ltn(0,0,n), rtn(w*n,0,n), lbn(0,h*n,n), rbn(w*n,h*n,n);
+	const VECTOR ltf(0,0,f), rtf(w*f,0,f), lbf(0,h*f,f), rbf(w*f,h*f,f);
 	const MATRIX4x4 inv(m.inverse());
-	const VECTOR4 ltn3D(inv*ltn), rtn3D(inv*rtn), lbn3D(inv*lbn), rbn3D(inv*rbn);
-	const VECTOR4 ltf3D(inv*ltf), rtf3D(inv*rtf), lbf3D(inv*lbf), rbf3D(inv*rbf);
-	m_planes[0].Set(ltn3D.template topRows<3>(), ltf3D.template topRows<3>(), lbf3D.template topRows<3>());
-	if (DIMS > 1)
-	m_planes[1].Set(rtn3D.template topRows<3>(), rbf3D.template topRows<3>(), rtf3D.template topRows<3>());
-	if (DIMS > 2)
-	m_planes[2].Set(ltn3D.template topRows<3>(), rtf3D.template topRows<3>(), ltf3D.template topRows<3>());
-	if (DIMS > 3)
-	m_planes[3].Set(lbn3D.template topRows<3>(), lbf3D.template topRows<3>(), rbf3D.template topRows<3>());
-	if (DIMS > 4)
-	m_planes[4].Set(ltn3D.template topRows<3>(), lbn3D.template topRows<3>(), rbn3D.template topRows<3>());
-	if (DIMS > 5)
-	m_planes[5].Set(ltf3D.template topRows<3>(), rtf3D.template topRows<3>(), rbf3D.template topRows<3>());
+	const VECTOR corners[] = {
+		(inv*ltn.homogeneous()).template topRows<3>(),
+		(inv*rtn.homogeneous()).template topRows<3>(),
+		(inv*lbn.homogeneous()).template topRows<3>(),
+		(inv*rbn.homogeneous()).template topRows<3>(),
+		(inv*ltf.homogeneous()).template topRows<3>(),
+		(inv*rtf.homogeneous()).template topRows<3>(),
+		(inv*lbf.homogeneous()).template topRows<3>(),
+		(inv*rbf.homogeneous()).template topRows<3>()
+	};
+	Set(corners);
 }
 template <typename TYPE, int DIMS>
 void TFrustum<TYPE,DIMS>::Set(const MATRIX3x4& m, TYPE w, TYPE h, TYPE n, TYPE f)
 {
 	MATRIX4x4 M(MATRIX4x4::Identity());
-	#ifdef __GNUC__
-	M.topLeftCorner(3,4) = m;
-	#else
 	M.template topLeftCorner<3,4>() = m;
-	#endif
 	Set(M, w, h, n, f);
+}
+// Set frustum planes, normals pointing outwards, from the given corners
+template <typename TYPE, int DIMS>
+void TFrustum<TYPE,DIMS>::Set(const VECTOR corners[numCorners])
+{
+	// left clipping plane
+	m_planes[0].Set(corners[0], corners[4], corners[6]);
+	if (DIMS > 1) // right clipping plane
+	m_planes[1].Set(corners[1], corners[7], corners[5]);
+	if (DIMS > 2) // top clipping plane
+	m_planes[2].Set(corners[0], corners[5], corners[4]);
+	if (DIMS > 3) // bottom clipping plane
+	m_planes[3].Set(corners[2], corners[6], corners[7]);
+	if (DIMS > 4) // near clipping plane
+	m_planes[4].Set(corners[0], corners[2], corners[3]);
+	if (DIMS > 5) // far clipping plane
+	m_planes[5].Set(corners[4], corners[5], corners[7]);
 } // Set
+// Set frustum planes, normals pointing outwards, from the OpenGL projection-view matrix
+template <typename TYPE, int DIMS>
+void TFrustum<TYPE,DIMS>::SetProjectionGL(const MATRIX4x4& mProjectionView)
+{
+	// left clipping plane
+	m_planes[0].Set(-mProjectionView.row(3) - mProjectionView.row(0));
+	if (DIMS > 1) // right clipping plane
+	m_planes[1].Set(-mProjectionView.row(3) + mProjectionView.row(0));
+	if (DIMS > 2) // top clipping plane
+	m_planes[2].Set(-mProjectionView.row(3) + mProjectionView.row(1));
+	if (DIMS > 3) // bottom clipping plane
+	m_planes[3].Set(-mProjectionView.row(3) - mProjectionView.row(1));
+	if (DIMS > 4) // near clipping plane
+	m_planes[4].Set(-mProjectionView.row(3) - mProjectionView.row(2));
+	if (DIMS > 5) // far clipping plane
+	m_planes[5].Set(-mProjectionView.row(3) + mProjectionView.row(2));
+}
 /*----------------------------------------------------------------*/
 
 
diff --git a/libs/MVS/Camera.h b/libs/MVS/Camera.h
index c4674ae8f..8c49c35a1 100644
--- a/libs/MVS/Camera.h
+++ b/libs/MVS/Camera.h
@@ -211,6 +211,27 @@ class MVS_API CameraIntern
 			width, height );
 	}
 
+	// return the OpenGL projection matrix corresponding to K:
+	// - flip: if true, flip the y axis to match OpenGL image convention
+	template<typename TYPE>
+	static inline TMatrix<TYPE,4,4> ProjectionMatrixOpenGL(const TMatrix<TYPE,3,3>& K, const cv::Size& size, TYPE nearZ, TYPE farZ, bool flip = true) {
+		// based on https://strawlab.org/2011/11/05/augmented-reality-with-OpenGL
+		const TYPE fx(K(0,0)), fy(K(1,1));
+		const TYPE cx(K(0,2)+0.5f), cy(K(1,2)+0.5f);
+		const TYPE skew(K(0,1));
+		const TYPE ihw(TYPE(2)/size.width), ihh(TYPE(2)/size.height);
+		const TYPE iy(flip ? TYPE(-1) : TYPE(1));
+		const TYPE ilen(TYPE(1)/(farZ-nearZ));
+		return TMatrix<TYPE,4,4>(
+			fx*ihw, skew*ihw, cx*ihw-TYPE(1), 0,
+			0, iy*fy*ihh, iy*(cy*ihh-TYPE(1)), 0,
+			0, 0, (farZ+nearZ)*ilen, -TYPE(2)*farZ*nearZ*ilen,
+			0, 0, 1, 0);
+	}
+	inline Matrix4x4 GetProjectionMatrixOpenGL(const cv::Size& size, REAL nearZ, REAL farZ, bool flipY = true) const {
+		return ProjectionMatrixOpenGL(K, size, nearZ, farZ, flipY);
+	}
+
 	// normalize inhomogeneous 2D point by the given camera intrinsics K
 	// K is assumed to be the [3,3] triangular matrix with: fx, fy, s, cx, cy and scale 1
 	template <typename TYPE>

From 88765f6e0a3797df61625973c55630069fb911d2 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 7 Nov 2023 20:49:14 +0200
Subject: [PATCH 221/252] mesh: improve fix non-manifold algorithm

---
 libs/Common/Plane.h           |   2 -
 libs/Common/Plane.inl         |  10 -
 libs/Common/Types.h           |   2 +-
 libs/Common/Types.inl         |  23 ++
 libs/MVS/Mesh.cpp             | 740 ++++++++--------------------------
 libs/MVS/Mesh.h               |   4 +-
 libs/MVS/SceneReconstruct.cpp |   4 +-
 7 files changed, 191 insertions(+), 594 deletions(-)

diff --git a/libs/Common/Plane.h b/libs/Common/Plane.h
index 96af10df5..7b396e961 100644
--- a/libs/Common/Plane.h
+++ b/libs/Common/Plane.h
@@ -127,8 +127,6 @@ class TFrustum
 	//---------------------------------------
 
 	inline TFrustum() {}
-	inline TFrustum(const MATRIX4x4&);
-	inline TFrustum(const MATRIX3x4&);
 	inline TFrustum(const MATRIX4x4&, TYPE width, TYPE height, TYPE nearZ=TYPE(0.0001), TYPE farZ=TYPE(1000));
 	inline TFrustum(const MATRIX3x4&, TYPE width, TYPE height, TYPE nearZ=TYPE(0.0001), TYPE farZ=TYPE(1000));
 
diff --git a/libs/Common/Plane.inl b/libs/Common/Plane.inl
index 119a2f4d7..e1956cb87 100644
--- a/libs/Common/Plane.inl
+++ b/libs/Common/Plane.inl
@@ -450,16 +450,6 @@ TYPE FitPlane(const TPoint3<TYPE>* points, size_t size, TPlane<TYPE>& plane) {
 
 // Construct frustum given a projection matrix.
 template <typename TYPE, int DIMS>
-inline TFrustum<TYPE,DIMS>::TFrustum(const MATRIX4x4& m)
-{
-	Set<0>(m);
-}
-template <typename TYPE, int DIMS>
-inline TFrustum<TYPE,DIMS>::TFrustum(const MATRIX3x4& m)
-{
-	Set<0>(m);
-}
-template <typename TYPE, int DIMS>
 inline TFrustum<TYPE,DIMS>::TFrustum(const MATRIX4x4& m, TYPE w, TYPE h, TYPE n, TYPE f)
 {
 	Set(m, w, h, n, f);
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 37a7d5c6a..6d27cbc34 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -2403,7 +2403,7 @@ struct TAccumulator {
 	AccumType value;
 	WeightType weight;
 
-	inline TAccumulator() : value(0), weight(0) {}
+	inline TAccumulator() : value(INITTO(static_cast<Type*>(NULL), 0)), weight(0) {}
 	inline TAccumulator(const Type& v, const WeightType& w) : value(v), weight(w) {}
 	inline bool IsEmpty() const { return weight <= 0; }
 	// adds the given weighted value to the internal value
diff --git a/libs/Common/Types.inl b/libs/Common/Types.inl
index fa02932d7..5854e337f 100644
--- a/libs/Common/Types.inl
+++ b/libs/Common/Types.inl
@@ -666,6 +666,29 @@ FORCEINLINE bool ISFINITE(const Eigen::Matrix<TYPE,R,C>& m)
 {
 	return ISFINITE(m.data(), m.size());
 }
+
+
+// initializing both scalar and matrix variables
+template <typename Scalar, typename Value>
+FORCEINLINE Scalar INITTO(const Scalar*, Value v)
+{
+	return static_cast<Scalar>(v);
+}
+template <typename Scalar, typename Value>
+FORCEINLINE TPoint2<Scalar> INITTO(const TPoint2<Scalar>*, Value v)
+{
+	return TPoint2<Scalar>(static_cast<Scalar>(v));
+}
+template <typename Scalar, typename Value>
+FORCEINLINE TPoint3<Scalar> INITTO(const TPoint3<Scalar>*, Value v)
+{
+	return TPoint3<Scalar>(static_cast<Scalar>(v));
+}
+template <typename Scalar, int Rows, int Cols, typename Value>
+FORCEINLINE Eigen::Matrix<Scalar,Rows,Cols> INITTO(const Eigen::Matrix<Scalar,Rows,Cols>*, Value v)
+{
+	return Eigen::Matrix<Scalar,Rows,Cols>::Constant(static_cast<Scalar>(v));
+}
 /*----------------------------------------------------------------*/
 
 template <typename TYPE>
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 7c5aee748..a479c5e33 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -439,10 +439,10 @@ void Mesh::GetEdgeFaces(VIndex v0, VIndex v1, FaceIdxArr& afaces) const
 {
 	const FaceIdxArr& faces0 = vertexFaces[v0];
 	const FaceIdxArr& faces1 = vertexFaces[v1];
-	std::unordered_set<FIndex> setFaces1(faces1.Begin(), faces1.End());
-	FOREACH(i, faces0) {
-		if (setFaces1.find(faces0[i]) != setFaces1.end())
-			afaces.Insert(faces0[i]);
+	std::unordered_set<FIndex> setFaces1(faces1.begin(), faces1.end());
+	for (FIndex idxFace: faces0) {
+		if (setFaces1.find(idxFace) != setFaces1.end())
+			afaces.Insert(idxFace);
 	}
 }
 
@@ -453,19 +453,19 @@ void Mesh::GetFaceFaces(FIndex f, FaceIdxArr& afaces) const
 	const FaceIdxArr& faces1 = vertexFaces[face[1]];
 	const FaceIdxArr& faces2 = vertexFaces[face[2]];
 	std::unordered_set<FIndex> setFaces(faces1.Begin(), faces1.End());
-	FOREACHPTR(pIdxFace, faces0) {
-		if (f != *pIdxFace && setFaces.find(*pIdxFace) != setFaces.end())
-			afaces.InsertSortUnique(*pIdxFace);
+	for (FIndex idxFace: faces0) {
+		if (f != idxFace && setFaces.find(idxFace) != setFaces.end())
+			afaces.InsertSortUnique(idxFace);
 	}
-	FOREACHPTR(pIdxFace, faces2) {
-		if (f != *pIdxFace && setFaces.find(*pIdxFace) != setFaces.end())
-			afaces.InsertSortUnique(*pIdxFace);
+	for (FIndex idxFace: faces2) {
+		if (f != idxFace && setFaces.find(idxFace) != setFaces.end())
+			afaces.InsertSortUnique(idxFace);
 	}
 	setFaces.clear();
 	setFaces.insert(faces2.Begin(), faces2.End());
-	FOREACHPTR(pIdxFace, faces0) {
-		if (f != *pIdxFace && setFaces.find(*pIdxFace) != setFaces.end())
-			afaces.InsertSortUnique(*pIdxFace);
+	for (FIndex idxFace: faces0) {
+		if (f != idxFace && setFaces.find(idxFace) != setFaces.end())
+			afaces.InsertSortUnique(idxFace);
 	}
 }
 
@@ -483,17 +483,60 @@ void Mesh::GetEdgeVertices(FIndex f0, FIndex f1, uint32_t* vs0, uint32_t* vs1) c
 	}
 }
 
+// get the edge orientation in the given face:
+// return false for backward, true for forward
+bool Mesh::GetEdgeOrientation(FIndex idxFace, VIndex iV0, VIndex iV1) const
+{
+	const Face& face = faces[idxFace];
+	const VIndex i0 = FindVertex(face, iV0);
+	ASSERT(i0 != NO_ID);
+	ASSERT(face[(i0+1)%3] == iV1 || face[(i0+2)%3] == iV1);
+	return face[(i0+1)%3] == iV1;
+}
+
+// find the adjacent face for the given face edge;
+// return NO_ID if no adjacent faces exist OR
+// more than one adjacent face exist OR
+// the edge have opposite orientations in each face
+Mesh::FIndex Mesh::GetEdgeAdjacentFace(FIndex idxFace, VIndex iV0, VIndex iV1) const
+{
+	// iterate over all faces containing the first vertex
+	ASSERT(vertexFaces.size() == vertices.size());
+	const bool edgeOrientation = GetEdgeOrientation(idxFace, iV0, iV1);
+	FIndex idxFaceAdj = NO_ID;
+	for (FIndex iF: vertexFaces[iV0]) {
+		// if this adjacent face is not the analyzed face
+		if (iF != idxFace) {
+			// iterate over all face vertices
+			const Face& face = faces[iF];
+			for (int i = 0; i < 3; ++i) {
+				// if the face vertex is the second vertex
+				if (face[i] == iV1) {
+					// check if there are more than two adjacent faces (manifold constraint)
+					if (idxFaceAdj != NO_ID)
+						return NO_ID;
+					// check if edge vertices ordering is opposite in the two faces (manifold constraint)
+					if (GetEdgeOrientation(iF, iV0, iV1) == edgeOrientation)
+						return NO_ID;
+					idxFaceAdj = iF;
+				}
+			}
+		}
+	}
+	return idxFaceAdj;
+}
+
 void Mesh::GetAdjVertices(VIndex v, VertexIdxArr& indices) const
 {
 	ASSERT(vertexFaces.GetSize() == vertices.GetSize());
 	const FaceIdxArr& idxFaces = vertexFaces[v];
 	std::unordered_set<VIndex> setIndices;
-	FOREACHPTR(pIdxFace, idxFaces) {
-		const Face& face = faces[*pIdxFace];
+	for (FIndex idxFace: idxFaces) {
+		const Face& face = faces[idxFace];
 		for (int i=0; i<3; ++i) {
 			const VIndex vAdj(face[i]);
 			if (vAdj != v && setIndices.insert(vAdj).second)
-				indices.Insert(vAdj);
+				indices.emplace_back(vAdj);
 		}
 	}
 }
@@ -502,586 +545,129 @@ void Mesh::GetAdjVertexFaces(VIndex idxVCenter, VIndex idxVAdj, FaceIdxArr& indi
 {
 	ASSERT(vertexFaces.GetSize() == vertices.GetSize());
 	const FaceIdxArr& idxFaces = vertexFaces[idxVCenter];
-	FOREACHPTR(pIdxFace, idxFaces) {
-		const Face& face = faces[*pIdxFace];
+	for (FIndex idxFace: idxFaces) {
+		const Face& face = faces[idxFace];
 		ASSERT(FindVertex(face, idxVCenter) != NO_ID);
 		if (FindVertex(face, idxVAdj) != NO_ID)
-			indices.Insert(*pIdxFace);
+			indices.emplace_back(idxFace);
 	}
 }
 /*----------------------------------------------------------------*/
 
-
-#if 0
-#define DEFINE_FACE_VERTS(n) \
-	const Face& f##n = faces[componentFaces[n]]; \
-	const uint32_t idx##n(Mesh::FindVertex(f##n, (VIndex)v)); \
-	const VIndex v##n##1(f##n[(idx##n+1)%3]); \
-	const VIndex v##n##2(f##n[(idx##n+2)%3])
-#define IS_LOOP_FACE4(a, b, c, d) \
-	(v##a##2 == v##b##1 && v##b##2 == v##c##1 && v##c##2 == v##d##1 && v##d##2 == v##a##1)
-#define IS_LOOP_FACE3(a, b, c) \
-	(v##a##2 == v##b##1 && v##b##2 == v##c##1 && v##c##2 == v##a##1)
-
-namespace FIX_NONMANIFOLD {
-typedef Mesh::VIndex VIndex;
-typedef Mesh::FIndex FIndex;
-typedef uint32_t Index;
-struct Node;
-struct Edge {
-	Node* pPrev; // a node that points to this node
-	Node* pNext; // the next node
-	FIndex fIdx; // index of the face that generated this edge (the link from this node to the next)
-	inline Edge() : pPrev(NULL), pNext(NULL), fIdx(NO_ID) {}
-	inline bool IsEmpty() const { return (fIdx == NO_ID); }
-};
-struct Node {
-	VIndex vIdx;
-	Edge edge;
-	uint32_t idComponent;
-	inline Node(VIndex _vIdx) : vIdx(_vIdx), idComponent(NO_ID) {}
-};
-struct Graph {
-	typedef std::unordered_map<VIndex, Index> VertexMap;
-	typedef SEACAVE::cList<Node> Nodes;
-
-	VertexMap index2idx;
-	Nodes nodes;
-	UnsignedArr components;
-
-	inline void Clear() {
-		nodes.Empty();
-		components.Empty();
-		index2idx.clear();
-	}
-	inline Index NumNodes() const { return (Index)nodes.GetSize(); }
-	void AddEdge(VIndex vIdx0, VIndex vIdx1, FIndex fIdx) {
-		const auto vert0(index2idx.insert(std::make_pair(vIdx0, NumNodes())));
-		Node& n0 = (vert0.second ? nodes.AddConstruct(vIdx0) : nodes[vert0.first->second]);
-		const auto vert1(index2idx.insert(std::make_pair(vIdx1, NumNodes())));
-		Node& n1 = (vert1.second ? nodes.AddConstruct(vIdx1) : nodes[vert1.first->second]);
-		n0.edge.pNext = &n1;
-		n0.edge.fIdx = fIdx;
-		n1.edge.pPrev = &n0;
-	}
-	VIndex ComputeComponents() {
-		ASSERT(components.IsEmpty());
-		VIndex vIdxMultiComponent(NO_ID);
-		unsigned nCount(0);
-		do {
-			// find first node not visited yet
-			Node* pNode;
-			FOREACHPTR(pN, nodes) {
-				if (pN->idComponent == NO_ID) {
-					pNode = pN;
-					break;
-				}
-			}
-			const uint32_t id((uint32_t)components.GetSize());
-			unsigned& size = components.AddConstruct(0);
-			Node* const pStartNode(pNode);
-			do {
-				++size;
-				pNode->idComponent = id;
-				if (pNode->edge.pNext == NULL)
-					break;
-				ASSERT(pNode->edge.pNext->edge.pPrev != NULL);
-				if (pNode->edge.pNext->edge.pPrev != pNode)
-					vIdxMultiComponent = pNode->edge.pNext->vIdx;
-			} while ((pNode=pNode->edge.pNext) != pStartNode && pNode->idComponent == NO_ID);
-			nCount += size;
-			if (pNode != NULL && pNode->idComponent < id) {
-				const uint32_t prev_id(pNode->idComponent);
-				components.RemoveLast();
-				pNode = pStartNode;
-				do {
-					pNode->idComponent = prev_id;
-				} while ((pNode=pNode->edge.pNext)->idComponent != prev_id);
-			}
-		} while (nCount < nodes.GetSize());
-		return vIdxMultiComponent;
-	}
-};
-} // namespace FIX_NONMANIFOLD
-
-// find all non-manifold vertices and for each, duplicate the vertex,
-// assigning the new vertex to the smallest connected set of faces
-// return true if problems were found
-bool Mesh::FixNonManifold()
+// fix non-manifold vertices and edges;
+// return the number of non-manifold issues found
+unsigned Mesh::FixNonManifold(float magDisplacementDuplicateVertices, VertexIdxArr* duplicatedVertices)
 {
-	TD_TIMER_STARTD();
-	using namespace FIX_NONMANIFOLD;
-	ASSERT(!vertices.IsEmpty() && !faces.IsEmpty());
-	if (vertexFaces.GetSize() != vertices.GetSize())
-		ListIncidenteFaces();
-	Graph graph;
-	IndexArr componentFaces;
-	IndexArr componentVertices;
-	std::unordered_set<FIndex> removeFaces;
-	unsigned nNonManifoldVertices(0), nPyramid3(0), nPyramid4(0);
-	FOREACH(v, vertices) {
-		const FaceIdxArr& vFaces = vertexFaces[v];
-		FOREACHPTR(pFIdx, vFaces) {
-			const Face& f(faces[*pFIdx]);
-			const uint32_t i(FindVertex(f, (VIndex)v));
-			graph.AddEdge(f[(i+1)%3], f[(i+2)%3], (uint32_t)*pFIdx);
-		}
-		// find all connected sub-graphs
-		const VIndex vIdxMultiComponent(graph.ComputeComponents());
-		if (graph.components.GetSize() <= 1) {
-			graph.Clear();
-			continue;
-		}
-		// there are at least two connected components (usually exactly two);
-		// duplicate the vertex and assign the duplicate to the smallest component
-		ASSERT(graph.components.GetSize() > 1);
-		size_t nLongestCompIdx(0);
-		FOREACH(c, graph.components) {
-			if (graph.components[nLongestCompIdx] < graph.components[c])
-				nLongestCompIdx = c;
-		}
-		FOREACH(c, graph.components) {
-			if (c == nLongestCompIdx)
-				continue;
-			ASSERT(componentVertices.IsEmpty() && componentFaces.IsEmpty());
-			FOREACHPTR(pNode, graph.nodes) {
-				if (pNode->idComponent != c)
-					continue;
-				ASSERT(!pNode->edge.IsEmpty());
-				componentVertices.Insert(pNode->vIdx);
-				componentFaces.Insert(pNode->edge.fIdx);
-			}
-			if (componentFaces.GetSize() == 3 && componentVertices.GetSize() == 3 && graph.components.GetSize() == 2 && vFaces.GetSize() > 6) {
-				// this is the case of a legitimate vertex on the surface and a pyramid rising from the neighboring surface
-				// having the apex this vertex and the base formed by 3 vertices;
-				// check that 3 faces form a loop
-				DEFINE_FACE_VERTS(0);
-				DEFINE_FACE_VERTS(1);
-				DEFINE_FACE_VERTS(2);
-				ASSERT(IS_LOOP_FACE3(0,1,2));
-				// to find the right vertex order for the new face,
-				// set first two vertices in the order appearing in any of the three existing faces,
-				// and the third as the remaining one
-				faces.AddConstruct(
-					v01,
-					v02,
-					(v02 == v11 ? v12 : v22)
-				);
-				// remove component faces and create a new face from the three component vertices
-				ASSERT(componentVertices.GetSize() == graph.components[c]);
-				FOREACHPTR(pFIdx, componentFaces)
-					removeFaces.insert(*pFIdx);
-				++nPyramid3;
-			#if 1
-			} else if (componentFaces.GetSize() == 4 && componentVertices.GetSize() == 4 && graph.components.GetSize() == 2 && vFaces.GetSize() > 8) {
-				// this is the case of a legitimate vertex on the surface and a pyramid rising from the neighboring surface
-				// having the apex this vertex and the base formed by 4 vertices;
-				// check that 3 faces form a loop
-				DEFINE_FACE_VERTS(0);
-				DEFINE_FACE_VERTS(1);
-				DEFINE_FACE_VERTS(2);
-				DEFINE_FACE_VERTS(3);
-				// to find the right vertex order for the new faces,
-				// use the fact that the faces are already in link order,
-				// so set first new face as the linked vertices of the first two faces
-				// and second new face as the linked vertices of the last two faces
-				ASSERT(IS_LOOP_FACE4(0,1,2,3));
-				faces.AddConstruct(v01, v02, v12);
-				faces.AddConstruct(v21, v22, v32);
-				// remove component faces and create two new faces from the four component vertices
-				ASSERT(componentVertices.GetSize() == graph.components[c]);
-				FOREACHPTR(pFIdx, componentFaces)
-					removeFaces.insert(*pFIdx);
-				++nPyramid4;
-			#endif
-			} else {
-				// simply duplicate the vertex and assign it to the component faces
-				const VIndex newIndex((VIndex)vertices.GetSize());
-				Vertex& pos(vertices.AddEmpty());
-				pos = vertices[v];
-				FOREACHPTR(pFIdx, componentFaces)
-					GetVertex(faces[*pFIdx], (VIndex)v) = newIndex;
-			}
-			componentVertices.Empty();
-			componentFaces.Empty();
-		}
-		graph.Clear();
-		++nNonManifoldVertices;
-	}
-	if (!removeFaces.empty()) {
-		// remove old faces;
-		// delete them in reverse order since the remove operation is simply replacing the removed item with the last item
-		std::vector<FIndex> orderedRemoveFaces;
-		orderedRemoveFaces.reserve(removeFaces.size());
-		for (FIndex fIdx: removeFaces)
-			orderedRemoveFaces.push_back(fIdx);
-		std::sort(orderedRemoveFaces.begin(), orderedRemoveFaces.end());
-		std::vector<FIndex>::const_iterator it(orderedRemoveFaces.cend());
-		do {
-			faces.RemoveAt(*(--it));
-		} while (it != orderedRemoveFaces.cbegin());
-	}
-	DEBUG("Fixed %u non-manifold vertices and %u faces removed: %u pyramid3 and %u pyramid4 (%s)", nNonManifoldVertices, removeFaces.size(), nPyramid3, nPyramid4, TD_TIMER_GET_FMT().c_str());
-	return (nNonManifoldVertices > 0);
-} // FixNonManifold
-#undef IS_LINK_FACE3
-#undef IS_LOOP_FACE3
-#undef IS_LOOP_FACE4
-#undef DEFINE_FACE_VERTS
-#else
-#define DEFINE_FACE_VERTS(n) \
-	const Face& f##n = faces[*itFace++]; \
-	const uint32_t idx##n(Mesh::FindVertex(f##n, (VIndex)v)); \
-	const VIndex v##n##1(f##n[(idx##n+1)%3]); \
-	const VIndex v##n##2(f##n[(idx##n+2)%3])
-#define IS_LOOP_FACE3(a, b, c) \
-	(v##a##2 == v##b##1 && v##b##2 == v##c##1 && v##c##2 == v##a##1)
-#define IS_LINK_FACE3(a, b, c) \
-	(v##a##2 == v##b##1 && v##b##2 == v##c##1)
-#define DEFINE_FACES4(a, b, c, d, go2) \
-	if (IS_LINK_FACE3(a,b,c)) { \
-		if (!IS_LINK_FACE3(c,d,a)) \
-			goto go2; \
-		faces.AddConstruct(v##a##1, v##a##2, v##b##2); \
-		faces.AddConstruct(v##c##1, v##c##2, v##d##2); \
-	}
-#define DEFINE_REMOVE3(go2) \
-	/* check that 3 faces form a loop */ \
-	itFace = componentFaces.cbegin(); \
-	DEFINE_FACE_VERTS(0); \
-	DEFINE_FACE_VERTS(1); \
-	DEFINE_FACE_VERTS(2); \
-	if (!IS_LOOP_FACE3(0,1,2) && !IS_LOOP_FACE3(0,2,1)) \
-		goto go2; \
-	/* to find the right vertex order for the new face, */ \
-	/* set first two vertices in the order appearing in any of the three existing faces, */ \
-	/* and the third as the remaining one */ \
-	faces.AddConstruct( \
-		v01, \
-		v02, \
-		(v02 == v11 ? v12 : v22) \
-	); \
-	/* remove component faces and create a new face from the three component vertices */ \
-	for (auto fIdx: componentFaces) \
-		removeFaces.insert(fIdx); \
-	++nPyramid3
-#define DEFINE_REMOVE4(go2) \
-	/* check that 3 faces form a loop */ \
-	itFace = componentFaces.cbegin(); \
-	DEFINE_FACE_VERTS(0); \
-	DEFINE_FACE_VERTS(1); \
-	DEFINE_FACE_VERTS(2); \
-	DEFINE_FACE_VERTS(3); \
-	/* to find the right vertex order for the new faces, */ \
-	/* find the link order of the face */ \
-	DEFINE_FACES4(0,1,2,3, go2) else \
-	DEFINE_FACES4(0,1,3,2, go2) else \
-	DEFINE_FACES4(0,2,1,3, go2) else \
-	DEFINE_FACES4(0,2,3,1, go2) else \
-	DEFINE_FACES4(0,3,1,2, go2) else \
-	DEFINE_FACES4(0,3,2,1, go2) else \
-		goto go2; \
-	/* remove component faces and create two new faces from the four component vertices */ \
-	for (auto fIdx: componentFaces) \
-		removeFaces.insert(fIdx); \
-	++nPyramid4
-#define DEFINE_REMOVE_FACES \
-	if (!removeFaces.empty()) { \
-		/* remove old faces; */ \
-		/* delete them in reverse order since the remove operation is simply replacing the removed item with the last item */ \
-		std::vector<FIndex> orderedRemoveFaces; \
-		orderedRemoveFaces.reserve(removeFaces.size()); \
-		nRemoveFaces += (unsigned)removeFaces.size(); \
-		for (FIndex fIdx: removeFaces) \
-			orderedRemoveFaces.push_back(fIdx); \
-		removeFaces.clear(); \
-		std::sort(orderedRemoveFaces.begin(), orderedRemoveFaces.end()); \
-		std::vector<FIndex>::const_iterator it(orderedRemoveFaces.cend()); \
-		do { \
-			faces.RemoveAt(*(--it)); \
-		} while (it != orderedRemoveFaces.cbegin()); \
-	}
-
-struct VertexInfo {
-	typedef Mesh::VIndex VIndex;
-	typedef Mesh::FIndex FIndex;
-	typedef boost::property<boost::vertex_index1_t, VIndex> VertexProperty;
-	typedef boost::property<boost::edge_index_t, FIndex> EdgeProperty;
-	typedef boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, VertexProperty, EdgeProperty> Graph;
-	typedef boost::graph_traits<Graph>::vertex_descriptor Vertex;
-	typedef boost::graph_traits<Graph>::edge_descriptor Edge;
-	typedef boost::property_map<Graph, boost::vertex_index1_t>::type VertexIndex1Map;
-	typedef boost::property_map<Graph, boost::edge_index_t>::type EdgeIndexMap;
-	typedef boost::graph_traits<Graph>::vertex_iterator VertexIter;
-	typedef boost::graph_traits<Graph>::out_edge_iterator EdgeIter;
-	typedef std::unordered_map<Vertex, Graph::vertices_size_type> Components;
-	typedef boost::associative_property_map<Components> ComponentMap;
-	typedef std::unordered_map<VIndex, Vertex> VertexMap;
-	typedef std::unordered_set<Vertex> VertexSet;
-	struct FilterVertex {
-		FilterVertex() {}
-		FilterVertex(const VertexSet* _filterVerts) : filterVerts(_filterVerts) {}
-		template <typename Vertex>
-		bool operator()(const Vertex& v) const {
-			return (filterVerts->find(v) == filterVerts->cend());
-		}
-		const VertexSet* filterVerts;
-	};
-	struct FilterEdge {
-		FilterEdge() {}
-		FilterEdge(const Graph* _graph, const VertexSet* _filterVerts) : graph(_graph), filterVerts(_filterVerts) {}
-		template <typename Edge>
-		bool operator()(const Edge& e) const {
-			return (filterVerts->find(boost::source(e,*graph)) == filterVerts->cend() &&
-					filterVerts->find(boost::target(e,*graph)) == filterVerts->cend());
-		}
-		const Graph* graph;
-		const VertexSet* filterVerts;
-	};
-
-	VertexMap index2idx; // useful/valid only during graph creation
-	Graph graph;
-	VertexIndex1Map vertexIndex1;
-	EdgeIndexMap edgeIndex;
-	Components components;
-	VertexSet filterVerts;
-
-	inline VertexInfo() {
-		vertexIndex1 = boost::get(boost::vertex_index1, graph);
-		edgeIndex = boost::get(boost::edge_index, graph);
-	}
-	Vertex AddVertex(VIndex v) {
-		auto vert(index2idx.insert(std::make_pair(v, Vertex())));
-		if (vert.second) {
-			vert.first->second = boost::add_vertex(graph);
-			vertexIndex1[vert.first->second] = v;
-		}
-		return vert.first->second;
-	}
-	void AddEdge(VIndex v0, VIndex v1, FIndex f) {
-		boost::add_edge(AddVertex(v0), AddVertex(v1), f, graph);
-	}
-	size_t ComputeComponents() {
-		components.clear();
-		ComponentMap componentMap(components);
-		return boost::connected_components(graph, componentMap);
-	}
-	size_t ComputeFilteredComponents() {
-		ASSERT(!filterVerts.empty());
-		FilterEdge filterEdge(&graph, &filterVerts);
-		FilterVertex filterVertex(&filterVerts);
-		boost::filtered_graph<Graph, FilterEdge, FilterVertex> filterGraph(graph, filterEdge, filterVertex);
-		components.clear();
-		ComponentMap componentMap(components);
-		const size_t nComponents(boost::connected_components(filterGraph, componentMap));
-		filterVerts.clear();
-		return nComponents;
-	}
-	void Clear() {
-		graph.clear();
-		index2idx.clear();
-	}
-};
-
-// find all non-manifold edges/vertices and for each, duplicate the vertex,
-// assigning the new vertex to the smallest connected set of faces;
-// return true if problems were found
-bool Mesh::FixNonManifold()
-{
-	TD_TIMER_STARTD();
-	ASSERT(!vertices.IsEmpty() && !faces.IsEmpty());
-	if (vertexFaces.GetSize() != vertices.GetSize())
+	ASSERT(!vertices.empty() && !faces.empty());
+	if (vertexFaces.size() != vertices.size())
 		ListIncidenteFaces();
-	VertexInfo vertexInfo;
-	IntArr sizes;
-	unsigned nNonManifoldVertices(0), nNonManifoldEdges(0), nRemoveFaces(0), nPyramid3(0), nPyramid4(0);
-	std::unordered_set<FIndex> seenFaces;
-	std::unordered_set<FIndex> removeFaces;
-	std::unordered_set<FIndex> componentFaces;
-	std::unordered_set<FIndex>::const_iterator itFace;
-	VertexInfo::EdgeIter ei, eie;
-	// fix non-manifold edges
-	ASSERT(seenFaces.empty());
-	FOREACH(v, vertices) {
-		const FaceIdxArr& vFaces = vertexFaces[v];
-		if (vFaces.GetSize() < 3)
-			continue;
-		FOREACHPTR(pFIdx, vFaces) {
-			const Face& f(faces[*pFIdx]);
-			const uint32_t i(FindVertex(f, v));
-			vertexInfo.AddEdge(f[(i+1)%3], f[(i+2)%3], *pFIdx);
-		}
-		for (const auto& idx2id: vertexInfo.index2idx) {
-			boost::tie(ei, eie) = boost::out_edges(idx2id.second, vertexInfo.graph);
-			if (std::distance(ei, eie) >= 4) {
-				ASSERT(vertexInfo.filterVerts.empty());
-				// do not proceed, if any of the faces was removed
-				FOREACHPTR(pFIdx, vFaces) {
-					if (seenFaces.find(*pFIdx) != seenFaces.cend())
-						goto ABORT_EDGE;
-				}
-				{
-				// current vertex and this vertex form the non-manifold edge
-				if (vertexInfo.ComputeComponents() > 1) {
-					// filter-out all vertices not belonging to this component
-					const size_t mainComp(vertexInfo.components[idx2id.second]);
-					for (const auto& idx2id: vertexInfo.index2idx) {
-						if (vertexInfo.components[idx2id.second] != mainComp)
-							vertexInfo.filterVerts.insert(idx2id.second);
-					}
-				}
-				// filter-out this vertex to find the two components to be split
-				vertexInfo.filterVerts.insert(idx2id.second);
-				const size_t nComponents(vertexInfo.ComputeFilteredComponents());
-				if (nComponents < 2)
-					break; // something is wrong, the vertex configuration is not as expected
-				// find all vertices in the smallest component
-				sizes.Resize(nComponents);
-				sizes.Memset(0);
-				for (const auto& comp: vertexInfo.components)
-					++sizes[comp.second];
-				size_t nLongestCompIdx(0);
-				for (size_t s=1; s<sizes.GetSize(); ++s) {
-					if (sizes[nLongestCompIdx] < sizes[s])
-						nLongestCompIdx = s;
+	// iterate over all vertices and separates the components
+	// incident to the same vertex by duplicating the vertex
+	unsigned numNonManifoldIssues(0);
+	CLISTDEF0IDX(int, FIndex) components(faces.size());
+	FOREACH(idxVert, vertices) {
+		// reset component indices to which each face connected to this vertex
+		const FaceIdxArr& vertFaces = vertexFaces[idxVert];
+		for (FIndex iF: vertFaces)
+			components[iF] = -1;
+		// find the components connected to this vertex
+		FaceIdxArr queueFaces;
+		queueFaces.reserve(vertFaces.size());
+		FIndex idxFaceNext(0);
+		int component(0);
+		for ( ; ; ++component) {
+			// find one face not yet belonging to a component
+			while (idxFaceNext < vertFaces.size()) {
+				const FIndex iF(vertFaces[idxFaceNext++]);
+				if (components[iF] == -1) {
+					// add component as seed to the list
+					queueFaces.push_back(iF);
+					// mark the current face with a new component
+					components[iF] = component;
+					// process component
+					goto ProcessComponent;
 				}
-				FOREACH(s, sizes) {
-					if (s == nLongestCompIdx)
+			}
+			// no more components found
+			break;
+			ProcessComponent:
+			// grow seed face component until no more connected faces found
+			do {
+				const FIndex idxFaceCurrent(queueFaces.back());
+				queueFaces.pop_back();
+				const Face& face = faces[idxFaceCurrent];
+				// go over all vertices of the current face
+				for (int i = 0; i < 3; ++i) {
+					const VIndex idxVertAdj(face[i]);
+					if (idxVertAdj == idxVert)
 						continue;
-					ASSERT(componentFaces.empty());
-					Mesh::Vertex pos(vertices[idx2id.first]);
-					for (const auto& comp: vertexInfo.components) {
-						if (comp.second == s) {
-							for (boost::tie(ei, eie) = boost::out_edges(comp.first, vertexInfo.graph); ei != eie; ++ei)
-								componentFaces.insert(vertexInfo.edgeIndex[*ei]);
-							pos += vertices[vertexInfo.vertexIndex1[comp.first]];
-						}
+					// if there is exactly one face adjacent to this edge
+					// tag it with the current component and add it to the queue
+					const FIndex idxFaceAdj(GetEdgeAdjacentFace(idxFaceCurrent, idxVert, idxVertAdj));
+					if (idxFaceAdj != NO_ID && components[idxFaceAdj] == -1) {
+						components[idxFaceAdj] = component;
+						queueFaces.push_back(idxFaceAdj);
 					}
-					const size_t nComponentVertices(sizes[s]+1); // including intersection vertex (this vertex)
-					if (componentFaces.size() != nComponentVertices) {
-						componentFaces.clear();
-						break; // something is wrong, the vertex configuration is not as expected
-					}
-					if (componentFaces.size() == 3/* && vertexInfo.components.size() > 6*/) {
-						// this is the case of a legitimate vertex on the surface and a pyramid rising from the neighboring surface
-						// having the apex the current vertex and the base formed by 3 vertices - one being this vertex;
- 						DEFINE_REMOVE3(GENERAL_EDGE);
-					#if 1
-					} else if (componentFaces.size() == 4/* && vertexInfo.components.size() > 8*/) {
-						// this is the case of a legitimate vertex on the surface and a pyramid rising from the neighboring surface
-						// having the apex the current vertex and the base formed by 4 vertices - one being this vertex;
-						DEFINE_REMOVE4(GENERAL_EDGE);
-					#endif
-					} else {
-						GENERAL_EDGE:
-						// simply duplicate the vertex and assign it to the component faces
-						const Mesh::VIndex newIndex((Mesh::VIndex)vertices.GetSize());
-						for (auto fIdx: componentFaces)
-							GetVertex(faces[fIdx], (VIndex)v) = newIndex;
-						vertices.Insert(pos / nComponentVertices);
-					}
-					for (auto fIdx: componentFaces)
-						seenFaces.insert(fIdx);
-					componentFaces.clear();
-				}
-				++nNonManifoldEdges;
 				}
-				ABORT_EDGE:
-				break;
-			}
+			} while (!queueFaces.empty());
 		}
-		vertexInfo.Clear();
-	}
-	seenFaces.clear();
-	DEFINE_REMOVE_FACES;
-	// fix non-manifold vertices
-	if (nNonManifoldEdges)
-		ListIncidenteFaces();
-	ASSERT(seenFaces.empty());
-	FOREACH(v, vertices) {
-		const FaceIdxArr& vFaces = vertexFaces[v];
-		if (vFaces.GetSize() < 2)
+		// if there is only one component, continue with the next vertex
+		if (component <= 1)
 			continue;
-		FOREACHPTR(pFIdx, vFaces) {
-			const Face& f(faces[*pFIdx]);
-			const uint32_t i(FindVertex(f, v));
-			vertexInfo.AddEdge(f[(i+1)%3], f[(i+2)%3], *pFIdx);
-		}
-		// find all connected sub-graphs
-		const size_t nComponents(vertexInfo.ComputeComponents());
-		if (nComponents == 1)
-			goto ABORT_VERTEX;
-		// do not proceed, if any of the faces was removed
-		FOREACHPTR(pFIdx, vFaces) {
-			if (seenFaces.find(*pFIdx) != seenFaces.cend())
-				goto ABORT_VERTEX;
-		}
-		{
-		// there are at least two connected components (usually exactly two);
-		// duplicate the vertex and assign the duplicate to the smallest component
-		ASSERT(nComponents > 1);
-		sizes.Resize(nComponents);
-		sizes.Memset(0);
-		for (const auto& comp: vertexInfo.components)
-			++sizes[comp.second];
-		size_t nLongestCompIdx(0);
-		for (size_t s=1; s<sizes.GetSize(); ++s) {
-			if (sizes[nLongestCompIdx] < sizes[s])
-				nLongestCompIdx = s;
-		}
-		FOREACH(s, sizes) {
-			if (s == nLongestCompIdx)
-				continue;
-			ASSERT(componentFaces.empty());
-			for (const auto& idx2id: vertexInfo.index2idx) {
-				if (vertexInfo.components[idx2id.second] == s) {
-					for (boost::tie(ei, eie) = boost::out_edges(idx2id.second, vertexInfo.graph); ei != eie; ++ei)
-						componentFaces.insert(vertexInfo.edgeIndex[*ei]);
+		// separate the vertex components
+		for (int c = 1; c < component; ++c) {
+			// duplicate the point to achieve the separation
+			const VIndex idxVertNew = vertices.size();
+			const Vertex v = vertices[idxVert];
+			vertices.emplace_back(v);
+			if (duplicatedVertices)
+				duplicatedVertices->emplace_back(idxVert);
+			// update the face indices of the current component
+			FaceIdxArr& vertFacesNew = vertexFaces.emplace_back();
+			FaceIdxArr& vertFaces = vertexFaces[idxVert];
+			RFOREACH(ivf, vertFaces) {
+				const FIndex idxFace = vertFaces[ivf];
+				if (components[idxFace] != c)
+					continue;
+				// link face to the new vertex and remove it from the original vertex
+				Face& face = faces[idxFace];
+				for (int i = 0; i < 3; ++i) {
+					if (face[i] == idxVert) {
+						face[i] = idxVertNew;
+						vertFacesNew.InsertAt(0, idxFace);
+						break;
+					}
 				}
+				vertFaces.erase(vertFaces.begin()+ivf);
 			}
-			if (componentFaces.size() == 3 && sizes[s] == 3 && nComponents == 2/* && vFaces.GetSize() > 6*/) {
-				// this is the case of a legitimate vertex on the surface and a pyramid rising from the neighboring surface
-				// having the apex this vertex and the base formed by 3 vertices;
-				DEFINE_REMOVE3(GENERAL_VERTEX);
-			#if 1
-			} else if (componentFaces.size() == 4 && sizes[s] == 4 && nComponents == 2/* && vFaces.GetSize() > 8*/) {
-				// this is the case of a legitimate vertex on the surface and a pyramid rising from the neighboring surface
-				// having the apex this vertex and the base formed by 4 vertices;
-				DEFINE_REMOVE4(GENERAL_VERTEX);
-			#endif
-			} else {
-				GENERAL_VERTEX:
-				// simply duplicate the vertex and assign it to the component faces
-				const VIndex newIndex((VIndex)vertices.GetSize());
-				Vertex& pos(vertices.AddEmpty());
-				pos = vertices[v];
-				for (auto fIdx: componentFaces)
-					GetVertex(faces[fIdx], (VIndex)v) = newIndex;
-			}
-			for (auto fIdx: componentFaces)
-				seenFaces.insert(fIdx);
-			componentFaces.clear();
+			++numNonManifoldIssues;
 		}
-		++nNonManifoldVertices;
+		// adjust vertex positions
+		if (magDisplacementDuplicateVertices > 0) {
+			// list changed vertices
+			VertexIdxArr verts(component);
+			verts[0] = idxVert;
+			for (int c = 1; c < component; ++c)
+				verts[c] = vertices.size()-(component-c);
+			// adjust the position of the vertices in the direction
+			// to the center of the first ring of faces
+			FOREACH(i, verts) {
+				const VIndex idxVert(verts[i]);
+				VertexIdxArr adjVerts;
+				GetAdjVertices(idxVert, adjVerts);
+				TAccumulator<Vertex> accum;
+				for (VIndex iV: adjVerts)
+					accum.Add(vertices[iV], 1.f);
+				const Vertex bv(accum.Normalized());
+				Vertex& v(vertices[idxVert]);
+				const Vertex dir(bv-v);
+				v += dir * magDisplacementDuplicateVertices;
+			}
 		}
-		ABORT_VERTEX:;
-		vertexInfo.Clear();
 	}
-	seenFaces.clear();
-	if (nNonManifoldVertices)
-		vertexFaces.Empty();
-	DEFINE_REMOVE_FACES;
-	DEBUG_ULTIMATE("Fixed %u/%u non-manifold edges/vertices and %u faces removed: %u pyramid3 and %u pyramid4 (%s)", nNonManifoldEdges, nNonManifoldVertices, nRemoveFaces, nPyramid3, nPyramid4, TD_TIMER_GET_FMT().c_str());
-	return (nNonManifoldEdges > 0 || nNonManifoldVertices > 0);
-} // FixNonManifold
-#undef DEFINE_REMOVE_FACES
-#undef DEFINE_REMOVE3
-#undef DEFINE_REMOVE4
-#undef DEFINE_FACES4
-#undef IS_LINK_FACE3
-#undef IS_LOOP_FACE3
-#undef DEFINE_FACE_VERTS
-#endif
+	vertexFaces.Release();
+	return numNonManifoldIssues;
+}
 /*----------------------------------------------------------------*/
 
 namespace CLEAN {
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 2310927a3..5298e132f 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -173,10 +173,12 @@ class MVS_API Mesh
 	void GetEdgeFaces(VIndex, VIndex, FaceIdxArr&) const;
 	void GetFaceFaces(FIndex, FaceIdxArr&) const;
 	void GetEdgeVertices(FIndex, FIndex, uint32_t vs0[2], uint32_t vs1[2]) const;
+	bool GetEdgeOrientation(FIndex, VIndex, VIndex) const;
+	FIndex GetEdgeAdjacentFace(FIndex, VIndex, VIndex) const;
 	void GetAdjVertices(VIndex, VertexIdxArr&) const;
 	void GetAdjVertexFaces(VIndex, VIndex, FaceIdxArr&) const;
 
-	bool FixNonManifold();
+	unsigned FixNonManifold(float magDisplacementDuplicateVertices = 0.01f, VertexIdxArr* duplicatedVertices = NULL);
 	void Clean(float fDecimate=0.7f, float fSpurious=10.f, bool bRemoveSpikes=true, unsigned nCloseHoles=30, unsigned nSmoothMesh=2, float fEdgeLength=0, bool bLastClean=true);
 
 	void EnsureEdgeSize(float minEdge=-0.5f, float maxEdge=-4.f, float collapseRatio=0.2, float degenerate_angle_deg=150, int mode=1, int max_iters=50);
diff --git a/libs/MVS/SceneReconstruct.cpp b/libs/MVS/SceneReconstruct.cpp
index 1cf5e6c1a..03b8c4adb 100644
--- a/libs/MVS/SceneReconstruct.cpp
+++ b/libs/MVS/SceneReconstruct.cpp
@@ -1157,9 +1157,7 @@ bool Scene::ReconstructMesh(float distInsert, bool bUseFreeSpaceSupport, bool bU
 	}
 
 	// fix non-manifold vertices and edges
-	for (unsigned i=0; i<nItersFixNonManifold; ++i)
-		if (!mesh.FixNonManifold())
-			break;
+	mesh.FixNonManifold();
 	return true;
 }
 /*----------------------------------------------------------------*/

From b7adc80ae29d335ea62ded04dbfef564bfeb32fc Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 8 Nov 2023 12:01:30 +0200
Subject: [PATCH 222/252] common: support culling on/off in rasterization

---
 libs/Common/Types.h   |  2 +-
 libs/Common/Types.inl | 14 ++++---
 libs/MVS/Mesh.cpp     | 92 ++++++++++++++++++++++++++-----------------
 libs/MVS/Mesh.h       |  3 +-
 4 files changed, 67 insertions(+), 44 deletions(-)

diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 6d27cbc34..0047424a6 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -2188,7 +2188,7 @@ class TImage : public TDMatrix<TYPE>
 
 	template <typename T, typename PARSER>
 	static void RasterizeTriangle(const TPoint2<T>& v1, const TPoint2<T>& v2, const TPoint2<T>& v3, PARSER& parser);
-	template <typename T, typename PARSER>
+	template <typename T, typename PARSER, bool CULL=true>
 	static void RasterizeTriangleBary(const TPoint2<T>& v1, const TPoint2<T>& v2, const TPoint2<T>& v3, PARSER& parser);
 	template <typename T, typename PARSER>
 	static void RasterizeTriangleDepth(TPoint3<T> p1, TPoint3<T> p2, TPoint3<T> p3, PARSER& parser);
diff --git a/libs/Common/Types.inl b/libs/Common/Types.inl
index 5854e337f..f2fdb27b2 100644
--- a/libs/Common/Types.inl
+++ b/libs/Common/Types.inl
@@ -2625,7 +2625,7 @@ void TImage<TYPE>::RasterizeTriangle(const TPoint2<T>& v1, const TPoint2<T>& v2,
 // same as above, but raster a triangle using barycentric coordinates:
 // https://www.scratchapixel.com/lessons/3d-basic-rendering/rasterization-practical-implementation
 template <typename TYPE>
-template <typename T, typename PARSER>
+template <typename T, typename PARSER, bool CULL>
 void TImage<TYPE>::RasterizeTriangleBary(const TPoint2<T>& v1, const TPoint2<T>& v2, const TPoint2<T>& v3, PARSER& parser)
 {
 	// compute bounding-box fully containing the triangle
@@ -2642,7 +2642,7 @@ void TImage<TYPE>::RasterizeTriangleBary(const TPoint2<T>& v1, const TPoint2<T>&
 	Base::clip(boxMinI, boxMaxI, size);
 	// ignore back oriented triangles (negative area)
 	const T area(EdgeFunction(v1, v2, v3));
-	if (area <= 0)
+	if (CULL && area <= 0)
 		return;
 	// parse all pixels inside the bounding-box
 	const T invArea(T(1) / area);
@@ -2653,17 +2653,17 @@ void TImage<TYPE>::RasterizeTriangleBary(const TPoint2<T>& v1, const TPoint2<T>&
 			// discard point if not in triangle;
 			// testing only for negative barycentric coordinates
 			// guarantees all will be in [0,1] at the end of all checks
-			const T b1(EdgeFunction(v2, v3, p));
+			const T b1(EdgeFunction(v2, v3, p) * invArea);
 			if (b1 < 0)
 				continue;
-			const T b2(EdgeFunction(v3, v1, p));
+			const T b2(EdgeFunction(v3, v1, p) * invArea);
 			if (b2 < 0)
 				continue;
-			const T b3(EdgeFunction(v1, v2, p));
+			const T b3(EdgeFunction(v1, v2, p) * invArea);
 			if (b3 < 0)
 				continue;
 			// output pixel
-			parser(pt, TPoint3<T>(b1, b2, b3) * invArea);
+			parser(pt, TPoint3<T>(b1, b2, b3));
 		}
 	}
 }
@@ -3047,6 +3047,8 @@ bool TImage<TYPE>::Load(const String& fileName)
 			cv::cvtColor(img, img, cv::COLOR_BGRA2GRAY);
 		else if (img.channels() == 1 && Base::channels() == 4)
 			cv::cvtColor(img, img, cv::COLOR_GRAY2BGRA);
+		else if (img.channels() == 4 && Base::channels() == 3)
+			cv::cvtColor(img, img, cv::COLOR_BGRA2BGR);
 	}
 	if (img.type() == Base::type())
 		cv::swap(img, *this);
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index a479c5e33..fb582abf0 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -1011,26 +1011,36 @@ static const Mesh::TexCoord halfPixel(0.5f, 0.5f);
 // translate, normalize and flip Y axis of the texture coordinates
 void Mesh::FaceTexcoordsNormalize(TexCoordArr& newFaceTexcoords, bool flipY) const
 {
-	ASSERT(HasTexture());
-	TexCoordArr invNorms(texturesDiffuse.size());
-	FOREACH(i, texturesDiffuse) {
-		ASSERT(!texturesDiffuse[i].empty());
-		invNorms[i] = TexCoord(1.f/(float)texturesDiffuse[i].cols, 1.f/(float)texturesDiffuse[i].rows);
-	}
+	ASSERT(HasTextureCoordinates());
 	newFaceTexcoords.resize(faceTexcoords.size());
-	if (flipY) {
-		FOREACH(i, faceTexcoords) {
-			const TexCoord& texcoord = faceTexcoords[i];
-			const TexCoord& invNorm = invNorms[GetFaceTextureIndex(i/3)];
-			newFaceTexcoords[i] = TexCoord(
-				(texcoord.x+halfPixel.x)*invNorm.x,
-				1.f-(texcoord.y+halfPixel.y)*invNorm.y
-			);
-		}
+	if (texturesDiffuse.empty()) {
+		if (flipY) {
+			FOREACH(i, faceTexcoords) {
+				const TexCoord& texcoord = faceTexcoords[i];
+				newFaceTexcoords[i] = TexCoord(texcoord.x, 1.f-texcoord.y);
+			}
+		} else
+			newFaceTexcoords = faceTexcoords;
 	} else {
-		FOREACH(i, faceTexcoords) {
-			const TexCoord& invNorm = invNorms[GetFaceTextureIndex(i/3)];
-			newFaceTexcoords[i] = (faceTexcoords[i]+halfPixel)*invNorm;
+		TexCoordArr invNorms(texturesDiffuse.size());
+		FOREACH(i, texturesDiffuse) {
+			ASSERT(!texturesDiffuse[i].empty());
+			invNorms[i] = TexCoord(1.f/(float)texturesDiffuse[i].cols, 1.f/(float)texturesDiffuse[i].rows);
+		}
+		if (flipY) {
+			FOREACH(i, faceTexcoords) {
+				const TexCoord& texcoord = faceTexcoords[i];
+				const TexCoord& invNorm = invNorms[GetFaceTextureIndex(i/3)];
+				newFaceTexcoords[i] = TexCoord(
+					(texcoord.x+halfPixel.x)*invNorm.x,
+					1.f-(texcoord.y+halfPixel.y)*invNorm.y
+				);
+			}
+		} else {
+			FOREACH(i, faceTexcoords) {
+				const TexCoord& invNorm = invNorms[GetFaceTextureIndex(i/3)];
+				newFaceTexcoords[i] = (faceTexcoords[i]+halfPixel)*invNorm;
+			}
 		}
 	}
 } // FaceTexcoordsNormalize
@@ -1038,26 +1048,36 @@ void Mesh::FaceTexcoordsNormalize(TexCoordArr& newFaceTexcoords, bool flipY) con
 // flip Y axis, unnormalize and translate back texture coordinates
 void Mesh::FaceTexcoordsUnnormalize(TexCoordArr& newFaceTexcoords, bool flipY) const
 {
-	ASSERT(HasTexture());
-	TexCoordArr scales(texturesDiffuse.size());
-	FOREACH(i, texturesDiffuse) {
-		ASSERT(!texturesDiffuse[i].empty());
-		scales[i] = TexCoord((float)texturesDiffuse[i].cols, (float)texturesDiffuse[i].rows);
-	}
+	ASSERT(HasTextureCoordinates());
 	newFaceTexcoords.resize(faceTexcoords.size());
-	if (flipY) {
-		FOREACH(i, faceTexcoords) {
-			const TexCoord& texcoord = faceTexcoords[i];
-			const TexCoord& scale = scales[GetFaceTextureIndex(i/3)];
-			newFaceTexcoords[i] = TexCoord(
-				texcoord.x*scale.x-halfPixel.x,
-				(1.f-texcoord.y)*scale.y-halfPixel.y
-			);
-		}
+	if (texturesDiffuse.empty()) {
+		if (flipY) {
+			FOREACH(i, faceTexcoords) {
+				const TexCoord& texcoord = faceTexcoords[i];
+				newFaceTexcoords[i] = TexCoord(texcoord.x, 1.f-texcoord.y);
+			}
+		} else
+			newFaceTexcoords = faceTexcoords;
 	} else {
-		FOREACH(i, faceTexcoords) {
-			const TexCoord& scale = scales[GetFaceTextureIndex(i/3)];
-			newFaceTexcoords[i] = faceTexcoords[i]*scale - halfPixel;
+		TexCoordArr scales(texturesDiffuse.size());
+		FOREACH(i, texturesDiffuse) {
+			ASSERT(!texturesDiffuse[i].empty());
+			scales[i] = TexCoord((float)texturesDiffuse[i].cols, (float)texturesDiffuse[i].rows);
+		}
+		if (flipY) {
+			FOREACH(i, faceTexcoords) {
+				const TexCoord& texcoord = faceTexcoords[i];
+				const TexCoord& scale = scales[GetFaceTextureIndex(i/3)];
+				newFaceTexcoords[i] = TexCoord(
+					texcoord.x*scale.x-halfPixel.x,
+					(1.f-texcoord.y)*scale.y-halfPixel.y
+				);
+			}
+		} else {
+			FOREACH(i, faceTexcoords) {
+				const TexCoord& scale = scales[GetFaceTextureIndex(i/3)];
+				newFaceTexcoords[i] = faceTexcoords[i]*scale - halfPixel;
+			}
 		}
 	}
 } // FaceTexcoordsUnnormalize
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 5298e132f..5f14e8f5c 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -154,7 +154,8 @@ class MVS_API Mesh
 	void Join(const Mesh&);
 	bool IsEmpty() const { return vertices.empty(); }
 	bool IsWatertight();
-	bool HasTexture() const { ASSERT(faces.size()*3 == faceTexcoords.size() || vertices.size() == faceTexcoords.size()); return !faceTexcoords.empty() && !texturesDiffuse.empty(); }
+	bool HasTexture() const { return HasTextureCoordinates() && !texturesDiffuse.empty(); }
+	bool HasTextureCoordinates() const { ASSERT(faces.size()*3 == faceTexcoords.size() || vertices.size() == faceTexcoords.size()); return !faceTexcoords.empty(); }
 	bool HasTextureCoordinatesPerVertex() const { return !faceTexcoords.empty() && vertices.size() == faceTexcoords.size(); }
 
 	Box GetAABB() const;

From d9b7416c4fee64f3c22e447df63156c213249e9e Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 8 Nov 2023 12:21:22 +0200
Subject: [PATCH 223/252] mesh: unify vector calling convention

---
 libs/MVS/Mesh.cpp | 202 +++++++++++++++++++++++-----------------------
 libs/MVS/Mesh.h   |   2 +-
 2 files changed, 101 insertions(+), 103 deletions(-)

diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index fb582abf0..d0820e2c0 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -221,8 +221,8 @@ Mesh::Vertex Mesh::GetCenter() const
 // extract array of vertices incident to each vertex
 void Mesh::ListIncidenteVertices()
 {
-	vertexVertices.Empty();
-	vertexVertices.Resize(vertices.GetSize());
+	vertexVertices.clear();
+	vertexVertices.resize(vertices.size());
 	FOREACH(i, faces) {
 		const Face& face = faces[i];
 		for (int v=0; v<3; ++v) {
@@ -230,22 +230,22 @@ void Mesh::ListIncidenteVertices()
 			for (int i=1; i<3; ++i) {
 				const VIndex idxVert(face[(v+i)%3]);
 				if (verts.Find(idxVert) == VertexIdxArr::NO_INDEX)
-					verts.Insert(idxVert);
+					verts.emplace_back(idxVert);
 			}
 		}
 	}
 }
 
-// extract array of triangles incident to each vertex
+// extract the (ordered) array of triangles incident to each vertex
 void Mesh::ListIncidenteFaces()
 {
-	vertexFaces.Empty();
+	vertexFaces.clear();
 	vertexFaces.resize(vertices.size());
 	FOREACH(i, faces) {
 		const Face& face = faces[i];
 		for (int v=0; v<3; ++v) {
 			ASSERT(vertexFaces[face[v]].Find(i) == FaceIdxArr::NO_INDEX);
-			vertexFaces[face[v]].Insert(i);
+			vertexFaces[face[v]].emplace_back(i);
 		}
 	}
 }
@@ -294,8 +294,8 @@ void Mesh::ListIncidenteFaceFaces()
 // (make sure you called ListIncidenteFaces() before)
 void Mesh::ListBoundaryVertices()
 {
-	vertexBoundary.Empty();
-	vertexBoundary.Resize(vertices.GetSize());
+	vertexBoundary.clear();
+	vertexBoundary.resize(vertices.size());
 	vertexBoundary.Memset(0);
 	VertCountMap mapVerts; mapVerts.reserve(12*2);
 	FOREACH(idxV, vertices) {
@@ -327,17 +327,17 @@ void Mesh::ListBoundaryVertices()
 // compute normal for all faces
 void Mesh::ComputeNormalFaces()
 {
-	faceNormals.Resize(faces.GetSize());
+	faceNormals.resize(faces.size());
 	#ifndef _USE_CUDA
 	FOREACH(idxFace, faces)
 		faceNormals[idxFace] = normalized(FaceNormal(faces[idxFace]));
 	#else
 	if (kernelComputeFaceNormal.IsValid()) {
-		reportCudaError(kernelComputeFaceNormal((int)faces.GetSize(),
+		reportCudaError(kernelComputeFaceNormal((int)faces.size(),
 			vertices,
 			faces,
 			CUDA::KernelRT::OutputParam(faceNormals.GetDataSize()),
-			faces.GetSize()
+			faces.size()
 		));
 		reportCudaError(kernelComputeFaceNormal.GetResult(0,
 			faceNormals
@@ -378,8 +378,8 @@ void Mesh::ComputeNormalVertices()
 // G. Thurmer, C. A. Wuthrich "Computing vertex normals from polygonal facets", Journal of Graphics Tools, 1998
 void Mesh::ComputeNormalVertices()
 {
-	ASSERT(!faceNormals.IsEmpty());
-	vertexNormals.Resize(vertices.GetSize());
+	ASSERT(!faceNormals.empty());
+	vertexNormals.resize(vertices.size());
 	vertexNormals.Memset(0);
 	FOREACH(idxFace, faces) {
 		const Face& face = faces[idxFace];
@@ -394,8 +394,8 @@ void Mesh::ComputeNormalVertices()
 		vertexNormals[face[1]] += t*ACOS(-ComputeAngleN(e0.ptr(), e1.ptr()));
 		vertexNormals[face[2]] += t*ACOS(-ComputeAngleN(e1.ptr(), e2.ptr()));
 	}
-	FOREACHPTR(pVertexNormal, vertexNormals)
-		normalize(*pVertexNormal);
+	for (Normal& vertexNormal: vertexNormals)
+		normalize(vertexNormal);
 }
 #endif
 
@@ -452,7 +452,7 @@ void Mesh::GetFaceFaces(FIndex f, FaceIdxArr& afaces) const
 	const FaceIdxArr& faces0 = vertexFaces[face[0]];
 	const FaceIdxArr& faces1 = vertexFaces[face[1]];
 	const FaceIdxArr& faces2 = vertexFaces[face[2]];
-	std::unordered_set<FIndex> setFaces(faces1.Begin(), faces1.End());
+	std::unordered_set<FIndex> setFaces(faces1.begin(), faces1.end());
 	for (FIndex idxFace: faces0) {
 		if (f != idxFace && setFaces.find(idxFace) != setFaces.end())
 			afaces.InsertSortUnique(idxFace);
@@ -462,7 +462,7 @@ void Mesh::GetFaceFaces(FIndex f, FaceIdxArr& afaces) const
 			afaces.InsertSortUnique(idxFace);
 	}
 	setFaces.clear();
-	setFaces.insert(faces2.Begin(), faces2.End());
+	setFaces.insert(faces2.begin(), faces2.end());
 	for (FIndex idxFace: faces0) {
 		if (f != idxFace && setFaces.find(idxFace) != setFaces.end())
 			afaces.InsertSortUnique(idxFace);
@@ -528,7 +528,7 @@ Mesh::FIndex Mesh::GetEdgeAdjacentFace(FIndex idxFace, VIndex iV0, VIndex iV1) c
 
 void Mesh::GetAdjVertices(VIndex v, VertexIdxArr& indices) const
 {
-	ASSERT(vertexFaces.GetSize() == vertices.GetSize());
+	ASSERT(vertexFaces.size() == vertices.size());
 	const FaceIdxArr& idxFaces = vertexFaces[v];
 	std::unordered_set<VIndex> setIndices;
 	for (FIndex idxFace: idxFaces) {
@@ -543,7 +543,7 @@ void Mesh::GetAdjVertices(VIndex v, VertexIdxArr& indices) const
 
 void Mesh::GetAdjVertexFaces(VIndex idxVCenter, VIndex idxVAdj, FaceIdxArr& indices) const
 {
-	ASSERT(vertexFaces.GetSize() == vertices.GetSize());
+	ASSERT(vertexFaces.size() == vertices.size());
 	const FaceIdxArr& idxFaces = vertexFaces[idxVCenter];
 	for (FIndex idxFace: idxFaces) {
 		const Face& face = faces[idxFace];
@@ -638,7 +638,7 @@ unsigned Mesh::FixNonManifold(float magDisplacementDuplicateVertices, VertexIdxA
 						break;
 					}
 				}
-				vertFaces.erase(vertFaces.begin()+ivf);
+				vertFaces.RemoveAtMove(ivf);
 			}
 			++numNonManifoldIssues;
 		}
@@ -714,13 +714,13 @@ class TriEdgeCollapse : public vcg::tri::TriEdgeCollapseQuadric<Mesh, VertexPair
 // fDecimate factor is in range (0..1], if 1 no decimation takes place
 void Mesh::Clean(float fDecimate, float fSpurious, bool bRemoveSpikes, unsigned nCloseHoles, unsigned nSmooth, float fEdgeLength, bool bLastClean)
 {
-	if (vertices.IsEmpty() || faces.IsEmpty())
+	if (vertices.empty() || faces.empty())
 		return;
 	TD_TIMER_STARTD();
 	// create VCG mesh
 	CLEAN::Mesh mesh;
 	{
-		CLEAN::Mesh::VertexIterator vi = vcg::tri::Allocator<CLEAN::Mesh>::AddVertices(mesh, vertices.GetSize());
+		CLEAN::Mesh::VertexIterator vi = vcg::tri::Allocator<CLEAN::Mesh>::AddVertices(mesh, vertices.size());
 		FOREACHPTR(pVert, vertices) {
 			const Vertex& p(*pVert);
 			CLEAN::Vertex::CoordType& P((*vi).P());
@@ -736,7 +736,7 @@ void Mesh::Clean(float fDecimate, float fSpurious, bool bRemoveSpikes, unsigned
 			idx = &*vi;
 			++vi;
 		}
-		CLEAN::Mesh::FaceIterator fi = vcg::tri::Allocator<CLEAN::Mesh>::AddFaces(mesh, faces.GetSize());
+		CLEAN::Mesh::FaceIterator fi = vcg::tri::Allocator<CLEAN::Mesh>::AddFaces(mesh, faces.size());
 		FOREACHPTR(pFace, faces) {
 			const Face& f(*pFace);
 			ASSERT((*fi).VN() == 3);
@@ -841,10 +841,10 @@ void Mesh::Clean(float fDecimate, float fSpurious, bool bRemoveSpikes, unsigned
 			edgeLens.Insert((P1-P0).Norm());
 		}
 		#if 0
-		const auto ret(ComputeX84Threshold<float,float>(edgeLens.Begin(), edgeLens.GetSize(), 3.f*fSpurious));
+		const auto ret(ComputeX84Threshold<float,float>(edgeLens.Begin(), edgeLens.size(), 3.f*fSpurious));
 		const float thLongEdge(ret.first+ret.second);
 		#else
-		const float thLongEdge(edgeLens.GetNth(edgeLens.GetSize()*95/100)*fSpurious);
+		const float thLongEdge(edgeLens.GetNth(edgeLens.size()*95/100)*fSpurious);
 		#endif
 		// remove faces with too long edges
 		const size_t numLongFaces(vcg::tri::UpdateSelection<CLEAN::Mesh>::FaceOutOfRangeEdge(mesh, 0, thLongEdge));
@@ -971,7 +971,7 @@ void Mesh::Clean(float fDecimate, float fSpurious, bool bRemoveSpikes, unsigned
 
 	// import VCG mesh
 	{
-		ASSERT(vertices.IsEmpty() && faces.IsEmpty());
+		ASSERT(vertices.empty() && faces.empty());
 		vertices.Reserve(mesh.VN());
 		vcg::SimpleTempData<CLEAN::Mesh::VertContainer, VIndex> indices(mesh.vert);
 		VIndex idx(0);
@@ -996,7 +996,7 @@ void Mesh::Clean(float fDecimate, float fSpurious, bool bRemoveSpikes, unsigned
 			f[2] = indices[fp->cV(2)];
 		}
 	}
-	DEBUG("Cleaned mesh: %u vertices, %u faces (%s)", vertices.GetSize(), faces.GetSize(), TD_TIMER_GET_FMT().c_str());
+	DEBUG("Cleaned mesh: %u vertices, %u faces (%s)", vertices.size(), faces.size(), TD_TIMER_GET_FMT().c_str());
 } // Clean
 /*----------------------------------------------------------------*/
 
@@ -1205,13 +1205,13 @@ bool Mesh::Load(const String& fileName)
 		ret = LoadPLY(fileName);
 	if (!ret)
 		return false;
-	DEBUG_EXTRA("Mesh loaded: %u vertices, %u faces (%s)", vertices.GetSize(), faces.GetSize(), TD_TIMER_GET_FMT().c_str());
+	DEBUG_EXTRA("Mesh loaded: %u vertices, %u faces (%s)", vertices.size(), faces.size(), TD_TIMER_GET_FMT().c_str());
 	return true;
 }
 // import the mesh as a PLY file
 bool Mesh::LoadPLY(const String& fileName)
 {
-	ASSERT(!fileName.IsEmpty());
+	ASSERT(!fileName.empty());
 	Release();
 
 	// open PLY file and read header
@@ -1233,7 +1233,7 @@ bool Mesh::LoadPLY(const String& fileName)
 	}
 	if (vertices.empty() && faces.empty())
 		return true;
-	if (vertices.IsEmpty() || faces.IsEmpty()) {
+	if (vertices.empty() || faces.empty()) {
 		DEBUG_EXTRA("error: invalid mesh file");
 		return false;
 	}
@@ -1304,7 +1304,7 @@ bool Mesh::LoadPLY(const String& fileName)
 // import the mesh as a OBJ file
 bool Mesh::LoadOBJ(const String& fileName)
 {
-	ASSERT(!fileName.IsEmpty());
+	ASSERT(!fileName.empty());
 	Release();
 
 	// open and parse OBJ file
@@ -1371,7 +1371,7 @@ bool Mesh::LoadOBJ(const String& fileName)
 // import the mesh as a GLTF file
 bool Mesh::LoadGLTF(const String& fileName, bool bBinary)
 {
-	ASSERT(!fileName.IsEmpty());
+	ASSERT(!fileName.empty());
 	Release();
 
 	// load model
@@ -1459,7 +1459,7 @@ bool Mesh::Save(const String& fileName, const cList<String>& comments, bool bBin
 		ret = SavePLY(ext != _T(".ply") ? String(fileName+_T(".ply")) : fileName, comments, bBinary);
 	if (!ret)
 		return false;
-	DEBUG_EXTRA("Mesh saved: %u vertices, %u faces (%s)", vertices.GetSize(), faces.GetSize(), TD_TIMER_GET_FMT().c_str());
+	DEBUG_EXTRA("Mesh saved: %u vertices, %u faces (%s)", vertices.size(), faces.size(), TD_TIMER_GET_FMT().c_str());
 	return true;
 }
 // export the mesh as a PLY file
@@ -1794,7 +1794,7 @@ bool Mesh::Save(const FacesChunkArr& chunks, const String& fileName, const cList
 
 bool Mesh::Save(const VertexArr& vertices, const String& fileName, bool bBinary)
 {
-	ASSERT(!fileName.IsEmpty());
+	ASSERT(!fileName.empty());
 	Util::ensureFolder(fileName);
 
 	// create PLY object
@@ -2698,16 +2698,16 @@ static void EnsureEdgeSize(Polyhedron& p, double epsilonMin, double epsilonMax,
 			ComputeStatsEdge(p, edge);
 
 		// process big edges
-		ASSERT(bigEdges.IsEmpty());
+		ASSERT(bigEdges.empty());
 		for (Halfedge_iterator h = p.edges_begin(); h != p.edges_end(); ++h, ++h) {
 			ASSERT(++Halfedge_iterator(h) == h->opposite());
 			const double edgeSize(edge_size(h));
 			if (edgeSize > epsilonMax)
-				bigEdges.AddConstruct(h, (float)edgeSize);
+				bigEdges.emplace_back(h, (float)edgeSize);
 		}
-		DEBUG_LEVEL(3, "Big edges: %u", bigEdges.GetSize());
+		DEBUG_LEVEL(3, "Big edges: %u", bigEdges.size());
 		bigEdges.Sort(); // process big edges first
-		for (EdgeScoreArr::IDX i=0; i<bigEdges.GetSize(); ++i) {
+		for (EdgeScoreArr::IDX i=0; i<bigEdges.size(); ++i) {
 			Vertex::Halfedge_handle h(bigEdges[i].idx);
 			if (!CanSplitEdge(h))
 				continue;
@@ -2945,7 +2945,7 @@ class TMeshBuilder : public CGAL::Modifier_base<HDS>
 	void operator() (HDS& hds) {
 		typedef typename HDS::Vertex::Point Point;
 		CGAL::Polyhedron_incremental_builder_3<HDS> B(hds, false);
-		B.begin_surface(vertices.GetSize(), faces.GetSize());
+		B.begin_surface(vertices.size(), faces.size());
 		// add the vertices		
 		FOREACH(i, vertices) {
 			const Mesh::Vertex& v = vertices[i];
@@ -3040,7 +3040,7 @@ void Mesh::EnsureEdgeSize(float epsilonMin, float epsilonMax, float collapseRati
 // is bigger than the given number of pixels
 void Mesh::Subdivide(const AreaArr& maxAreas, uint32_t maxArea)
 {
-	ASSERT(vertexFaces.GetSize() == vertices.GetSize());
+	ASSERT(vertexFaces.size() == vertices.size());
 
 	// each face that needs to split, remember for each edge the new vertex index
 	// (each new vertex index corresponds to the edge opposed to the existing vertex index)
@@ -3065,10 +3065,10 @@ void Mesh::Subdivide(const AreaArr& maxAreas, uint32_t maxArea)
 	typedef Mesh::FacetCountMap FacetCountMap;
 
 	// for each image, compute the projection area of visible faces
-	FacetSplitMap mapSplits; mapSplits.reserve(faces.GetSize());
+	FacetSplitMap mapSplits; mapSplits.reserve(faces.size());
 	FacetCountMap mapFaces; mapFaces.reserve(12*3);
-	vertices.Reserve(vertices.GetSize()*2);
-	faces.Reserve(faces.GetSize()*3);
+	vertices.Reserve(vertices.size()*2);
+	faces.Reserve(faces.size()*3);
 	const uint32_t maxAreaTh(2*maxArea);
 	FOREACH(f, maxAreas) {
 		const AreaArr::Type area(maxAreas[f]);
@@ -3088,8 +3088,8 @@ void Mesh::Subdivide(const AreaArr& maxAreas, uint32_t maxArea)
 			}
 			// create a new vertex at the middle of the current edge
 			// (current edge is the opposite edge to the current vertex index)
-			split.idxVert[i] = newface[i] = vertices.GetSize();
-			vertices.AddConstruct((vertices[face[(i+1)%3]]+vertices[face[(i+2)%3]])*0.5f);
+			split.idxVert[i] = newface[i] = vertices.size();
+			vertices.emplace_back((vertices[face[(i+1)%3]]+vertices[face[(i+2)%3]])*0.5f);
 		}
 		// create the last three faces, defined by one old and two new vertices
 		for (int i=0; i<3; ++i) {
@@ -3211,7 +3211,7 @@ void Mesh::Subdivide(const AreaArr& maxAreas, uint32_t maxArea)
 	}
 
 	// remove all faces that split
-	ASSERT(faces.GetSize()-(faces.GetCapacity()/3)/*initial size*/ > mapSplits.size());
+	ASSERT(faces.size()-(faces.capacity()/3)/*initial size*/ > mapSplits.size());
 	for (const auto& s: mapSplits)
 		faces.RemoveAt(s.first);
 }
@@ -3221,32 +3221,32 @@ void Mesh::Subdivide(const AreaArr& maxAreas, uint32_t maxArea)
 //#define DECIMATE_JOINHOLES // not finished
 void Mesh::Decimate(VertexIdxArr& verticesRemove)
 {
-	ASSERT(vertices.GetSize() == vertexFaces.GetSize());
-	FaceIdxArr facesRemove(0, verticesRemove.GetSize()*8);
+	ASSERT(vertices.size() == vertexFaces.size());
+	FaceIdxArr facesRemove(0, verticesRemove.size()*8);
 	#ifdef DECIMATE_JOINHOLES
 	cList<VertexIdxArr> holes;
 	#endif
 	FOREACHPTR(pIdxV, verticesRemove) {
 		const VIndex idxV(*pIdxV);
-		ASSERT(idxV < vertices.GetSize());
+		ASSERT(idxV < vertices.size());
 		// create the list of consecutive vertices around selected vertex
 		VertexIdxArr verts;
 		{
 			FaceIdxArr& vf(vertexFaces[idxV]);
-			if (vf.IsEmpty())
+			if (vf.empty())
 				continue;
-			const FIndex n(vf.GetSize());
+			const FIndex n(vf.size());
 			facesRemove.Join(vf);
-			ASSERT(verts.IsEmpty());
+			ASSERT(verts.empty());
 			{
 				// add vertices of the first face
-				const Face& f = faces[vf.First()];
+				const Face& f = faces[vf.front()];
 				const uint32_t i(FindVertex(f, idxV));
 				verts.Insert(f[(i+1)%3]);
 				verts.Insert(f[(i+2)%3]);
 				vf.RemoveAt(0);
 			}
-			while (verts.GetSize() < n) {
+			while (verts.size() < n) {
 				// find the face that contains our vertex and the last added vertex
 				const VIndex idxVL(verts.Last());
 				FOREACH(idxF, vf) {
@@ -3258,7 +3258,7 @@ void Mesh::Decimate(VertexIdxArr& verticesRemove)
 					// add the missing vertex at the end
 					ASSERT(f[(i+2)%3] == idxV);
 					const FIndex idxVN(f[(i+1)%3]);
-					ASSERT(verts.First() != idxVN);
+					ASSERT(verts.front() != idxVN);
 					verts.Insert(idxVN);
 					vf.RemoveAt(idxF);
 					goto NEXT_FACE_FORWARD;
@@ -3273,9 +3273,9 @@ void Mesh::Decimate(VertexIdxArr& verticesRemove)
 				break;
 				NEXT_FACE_FORWARD:;
 			}
-			while (!vf.IsEmpty()) {
+			while (!vf.empty()) {
 				// find the face that contains our vertex and the first added vertex
-				const VIndex idxVF(verts.First());
+				const VIndex idxVF(verts.front());
 				FOREACH(idxF, vf) {
 					const Face& f = faces[vf[idxF]];
 					ASSERT(FindVertex(f, idxV) != NO_ID);
@@ -3285,7 +3285,7 @@ void Mesh::Decimate(VertexIdxArr& verticesRemove)
 					// add the missing vertex at the beginning
 					ASSERT(f[(i+1)%3] == idxV);
 					const FIndex idxVP(f[(i+2)%3]);
-					ASSERT(verts.Last() != idxVP || vf.GetSize() == 1);
+					ASSERT(verts.Last() != idxVP || vf.size() == 1);
 					if (verts.Last() != idxVP)
 						verts.InsertAt(0, idxVP);
 					vf.RemoveAt(idxF);
@@ -3315,23 +3315,23 @@ void Mesh::Decimate(VertexIdxArr& verticesRemove)
 			// extend the hole with the new loop vertices
 			VertexIdxArr& hole(*pHole);
 			hole.RemoveAtMove(idxVH);
-			const VIndex idxS((idxVH+hole.GetSize()-1)%hole.GetSize());
+			const VIndex idxS((idxVH+hole.size()-1)%hole.size());
 			const VIndex idxL(verts.Find(hole[idxS]));
 			ASSERT(idxL != VertexIdxArr::NO_INDEX);
-			ASSERT(verts[(idxL+verts.GetSize()-1)%verts.GetSize()] == hole[(idxS+1)%hole.GetSize()]);
-			const VIndex n(verts.GetSize()-2);
+			ASSERT(verts[(idxL+verts.size()-1)%verts.size()] == hole[(idxS+1)%hole.size()]);
+			const VIndex n(verts.size()-2);
 			for (VIndex v=1; v<=n; ++v)
-				hole.InsertAt(idxS+v, verts[(idxL+v)%verts.GetSize()]);
+				hole.InsertAt(idxS+v, verts[(idxL+v)%verts.size()]);
 			goto NEXT_VERTEX;
 		}
 		// or create a new hole
-		if (verts.GetSize() < 3)
+		if (verts.size() < 3)
 			continue;
 		verts.Swap(holes.AddEmpty());
 		#else
 		// close the holes defined by the complete loop of consecutive vertices
 		// (the loop can be opened, cause some of the vertices can be on the border)
-		if (verts.GetSize() > 2)
+		if (verts.size() > 2)
 			CloseHoleQuality(verts);
 		#endif
 		NEXT_VERTEX:;
@@ -3339,7 +3339,7 @@ void Mesh::Decimate(VertexIdxArr& verticesRemove)
 	#ifndef _RELEASE
 	// check all removed vertices are completely disconnected from the mesh
 	FOREACHPTR(pIdxV, verticesRemove)
-		ASSERT(vertexFaces[*pIdxV].IsEmpty());
+		ASSERT(vertexFaces[*pIdxV].empty());
 	#endif
 
 	// remove deleted faces
@@ -3352,18 +3352,16 @@ void Mesh::Decimate(VertexIdxArr& verticesRemove)
 	// close the holes defined by the complete loop of consecutive vertices
 	// (the loop can be opened, cause some of the vertices can be on the border)
 	FOREACHPTR(pHole, holes) {
-		ASSERT(pHole->GetSize() > 2);
+		ASSERT(pHole->size() > 2);
 		CloseHoleQuality(*pHole);
 	}
 	#endif
 
 	#ifndef _RELEASE
 	// check all faces see valid vertices
-	FOREACH(idxF, faces) {
-		const Face& face = faces[idxF];
+	for (const Face& face: faces)
 		for (int v=0; v<3; ++v)
-			ASSERT(face[v] < vertices.GetSize());
-	}
+			ASSERT(face[v] < vertices.size());
 	#endif
 }
 /*----------------------------------------------------------------*/
@@ -3372,28 +3370,28 @@ void Mesh::Decimate(VertexIdxArr& verticesRemove)
 // split it recursively in two halves till the splits becomes a face
 void Mesh::CloseHole(VertexIdxArr& split0)
 {
-	ASSERT(split0.GetSize() >= 3);
-	if (split0.GetSize() == 3) {
-		const FIndex idxF(faces.GetSize());
-		faces.AddConstruct(split0[0], split0[1], split0[2]);
+	ASSERT(split0.size() >= 3);
+	if (split0.size() == 3) {
+		const FIndex idxF(faces.size());
+		faces.emplace_back(split0[0], split0[1], split0[2]);
 		for (int v=0; v<3; ++v) {
 			#ifndef _RELEASE
 			FaceIdxArr indices;
 			GetAdjVertexFaces(split0[v], split0[(v+1)%3], indices);
-			ASSERT(indices.GetSize() < 2);
+			ASSERT(indices.size() < 2);
 			indices.Empty();
 			GetAdjVertexFaces(split0[v], split0[(v+2)%3], indices);
-			ASSERT(indices.GetSize() < 2);
+			ASSERT(indices.size() < 2);
 			#endif
 			vertexFaces[split0[v]].Insert(idxF);
 		}
 		return;
 	}
-	const VIndex i(split0.GetSize() >> 1);
-	const VIndex j(split0.GetSize()-i);
+	const VIndex i(split0.size() >> 1);
+	const VIndex j(split0.size()-i);
 	VertexIdxArr split1(0, j+1);
-	split1.Join(split0.Begin()+i, j);
-	split1.Insert(split0.First());
+	split1.Join(split0.data()+i, j);
+	split1.emplace_back(split0.front());
 	split0.RemoveLast(j-1);
 	CloseHole(split0);
 	CloseHole(split1);
@@ -3425,27 +3423,27 @@ void Mesh::CloseHoleQuality(VertexIdxArr& verts)
 			// which are possible not to exist if the edges are on the border
 			FaceIdxArr indices;
 			mesh.GetAdjVertexFaces(face[2], face[0], indices);
-			if (indices.GetSize() > 1) {
+			if (indices.size() > 1) {
 				aspectRatio = -1;
 				return;
 			}
 			indices.Empty();
 			mesh.GetAdjVertexFaces(face[0], face[1], indices);
-			if (indices.GetSize() > 1) {
+			if (indices.size() > 1) {
 				aspectRatio = -1;
 				return;
 			}
-			const FIndex i0(indices.GetSize());
+			const FIndex i0(indices.size());
 			mesh.GetAdjVertexFaces(face[1], face[2], indices);
-			if (indices.GetSize()-i0 > 1) {
+			if (indices.size()-i0 > 1) {
 				aspectRatio = -1;
 				return;
 			}
-			if (indices.IsEmpty())
+			if (indices.empty())
 				dihedral = FD2R(33.f);
 			else {
 				const Normal n0(mesh.FaceNormal(mesh.faces[indices[0]]));
-				if (indices.GetSize() == 1)
+				if (indices.size() == 1)
 					dihedral = ACOS(ComputeAngle(n.ptr(), n0.ptr()));
 				else {
 					const Normal n1(mesh.FaceNormal(mesh.faces[indices[1]]));
@@ -3471,10 +3469,10 @@ void Mesh::CloseHoleQuality(VertexIdxArr& verts)
 	};
 
 	// create the initial list of new possible face along the edge of the hole
-	ASSERT(verts.GetSize() > 2);
-	cList<CandidateFace> candidateFaces(0, verts.GetSize());
+	ASSERT(verts.size() > 2);
+	cList<CandidateFace> candidateFaces(0, verts.size());
 	FOREACH(v, verts) {
-		if (candidateFaces.AddConstruct(verts[v], verts[(v+1)%verts.GetSize()], verts[(v+2)%verts.GetSize()], *this).aspectRatio < 0)
+		if (candidateFaces.emplace_back(verts[v], verts[(v+1)%verts.size()], verts[(v+2)%verts.size()], *this).aspectRatio < 0)
 			candidateFaces.RemoveLast();
 	}
 	candidateFaces.Sort();
@@ -3482,25 +3480,25 @@ void Mesh::CloseHoleQuality(VertexIdxArr& verts)
 	// add new faces until there are only two vertices left
 	while(true) {
 		// add the best candidate face
-		ASSERT(!candidateFaces.IsEmpty());
+		ASSERT(!candidateFaces.empty());
 		const Face& candidateFace = candidateFaces.Last();
 		ASSERT(verts.Find(candidateFace[0]) != VertexIdxArr::NO_INDEX);
 		ASSERT(verts.Find(candidateFace[1]) != VertexIdxArr::NO_INDEX);
 		ASSERT(verts.Find(candidateFace[2]) != VertexIdxArr::NO_INDEX);
-		const FIndex idxF(faces.GetSize());
+		const FIndex idxF(faces.size());
 		faces.Insert(candidateFace);
 		for (int v=0; v<3; ++v) {
 			#ifndef _RELEASE
 			FaceIdxArr indices;
 			GetAdjVertexFaces(candidateFace[v], candidateFace[(v+1)%3], indices);
-			ASSERT(indices.GetSize() < 2);
+			ASSERT(indices.size() < 2);
 			indices.Empty();
 			GetAdjVertexFaces(candidateFace[v], candidateFace[(v+2)%3], indices);
-			ASSERT(indices.GetSize() < 2);
+			ASSERT(indices.size() < 2);
 			#endif
 			vertexFaces[candidateFace[v]].Insert(idxF);
 		}
-		if (verts.GetSize() <= 3)
+		if (verts.size() <= 3)
 			break;
 		const VIndex idxV(verts.Find(candidateFace[1]));
 		// remove all candidate face containing this vertex
@@ -3516,11 +3514,11 @@ void Mesh::CloseHoleQuality(VertexIdxArr& verts)
 			}
 		}
 		// insert the two new candidate faces
-		const VIndex idxB(idxV+verts.GetSize());
-		const VIndex idxVB2(verts[(idxB-2)%verts.GetSize()]);
-		const VIndex idxVB1(verts[(idxB-1)%verts.GetSize()]);
-		const VIndex idxVF1(verts[(idxV+1)%verts.GetSize()]);
-		const VIndex idxVF2(verts[(idxV+2)%verts.GetSize()]);
+		const VIndex idxB(idxV+verts.size());
+		const VIndex idxVB2(verts[(idxB-2)%verts.size()]);
+		const VIndex idxVB1(verts[(idxB-1)%verts.size()]);
+		const VIndex idxVF1(verts[(idxV+1)%verts.size()]);
+		const VIndex idxVF2(verts[(idxV+2)%verts.size()]);
 		{
 			const CandidateFace newCandidateFace(idxVB2, idxVB1, idxVF1, *this);
 			if (newCandidateFace.aspectRatio >= 0)
@@ -3639,11 +3637,11 @@ void Mesh::RemoveVertices(VertexIdxArr& vertexRemove, bool bUpdateLists)
 			FOREACHPTR(pIdxF, vf)
 				GetVertex(faces[*pIdxF], idxVM) = idxV;
 		}
-		if (!vertexFaces.IsEmpty()) {
+		if (!vertexFaces.empty()) {
 			facesRemove.Join(vertexFaces[idxV]);
 			vertexFaces.RemoveAt(idxV);
 		}
-		if (!vertexVertices.IsEmpty())
+		if (!vertexVertices.empty())
 			vertexVertices.RemoveAt(idxV);
 		vertices.RemoveAt(idxV);
 		idxLast = idxV;
@@ -4040,7 +4038,7 @@ void Mesh::ProjectOrthoTopDown(unsigned resolution, Image8U3& image, Image8U& ma
 {
 	ASSERT(!IsEmpty() && !texturesDiffuse.empty());
 	// initialize camera
-	const AABB3f box(vertices.Begin(), vertices.GetSize());
+	const AABB3f box(vertices.data(), vertices.size());
 	const Point3 size(Vertex(box.GetSize())*1.01f/*border*/);
 	center = Vertex(box.GetCenter());
 	Camera camera;
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 5f14e8f5c..2d742da11 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -126,7 +126,7 @@ class MVS_API Mesh
 
 	NormalArr vertexNormals; // for each vertex, the normal to the surface in that point (optional)
 	VertexVerticesArr vertexVertices; // for each vertex, the list of adjacent vertices (optional)
-	VertexFacesArr vertexFaces; // for each vertex, the list of faces containing it (optional)
+	VertexFacesArr vertexFaces; // for each vertex, the ordered list of faces containing it (optional)
 	BoolArr vertexBoundary; // for each vertex, stores if it is at the boundary or not (optional)
 
 	NormalArr faceNormals; // for each face, the normal to it (optional)

From 48cc91cd8f01b78b529f24be635f7365f2a4bd40 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 9 Nov 2023 11:30:22 +0200
Subject: [PATCH 224/252] transform: improve texture transfer robustness

---
 apps/TransformScene/TransformScene.cpp |  4 +--
 libs/Common/Ray.inl                    |  2 +-
 libs/MVS/Mesh.cpp                      | 38 ++++++++++++++++----------
 libs/MVS/Mesh.h                        |  2 +-
 4 files changed, 27 insertions(+), 19 deletions(-)

diff --git a/apps/TransformScene/TransformScene.cpp b/apps/TransformScene/TransformScene.cpp
index f2f14562f..61cd124f9 100644
--- a/apps/TransformScene/TransformScene.cpp
+++ b/apps/TransformScene/TransformScene.cpp
@@ -179,10 +179,10 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	Util::ensureValidPath(OPT::strPointCloudFileName);
 	Util::ensureValidPath(OPT::strMeshFileName);
 	Util::ensureValidPath(OPT::strOutputFileName);
-	if (OPT::strMeshFileName.empty() && OPT::nArchiveType == ARCHIVE_MVS)
+	if (OPT::strMeshFileName.empty() && OPT::nArchiveType == ARCHIVE_MVS && strInputFileNameExt == MVS_EXT)
 		OPT::strMeshFileName = Util::getFileFullName(OPT::strInputFileName) + _T(".ply");
 	if (OPT::strOutputFileName.empty())
-		OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + "_transformed" MVS_EXT;
+		OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + _T("_transformed") MVS_EXT;
 
 	// initialize global options
 	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
diff --git a/libs/Common/Ray.inl b/libs/Common/Ray.inl
index 6dfc98209..bb1ec4194 100644
--- a/libs/Common/Ray.inl
+++ b/libs/Common/Ray.inl
@@ -145,7 +145,7 @@ bool TRay<TYPE,DIMS>::Intersects(const TRIANGLE& tri, TYPE *t) const
 	// if close to 0 ray is parallel
 	const VECTOR pvec(m_vDir.cross(edge2));
 	const TYPE det(edge1.dot(pvec));
-	if ((bCull && det < ZEROTOLERANCE<TYPE>()) || (!bCull && ISZERO(det)))
+	if ((bCull ? det : ABS(det)) < ZEROTOLERANCE<TYPE>() * TYPE(0.001))
 		return false;
 
 	// distance to plane, < 0 means beyond plane
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index d0820e2c0..589ad880a 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -92,7 +92,7 @@ using namespace MVS;
 #define USE_MESH_BF 0 // brute-force
 #define USE_MESH_OCTREE 1 // octree (misses some triangles)
 #define USE_MESH_BVH 2 // BVH (misses some triangles)
-#define USE_MESH_INT USE_MESH_BF
+#define USE_MESH_INT USE_MESH_BVH
 
 #if USE_MESH_INT == USE_MESH_BVH
 #include <unsupported/Eigen/BVH>
@@ -4188,9 +4188,16 @@ inline Eigen::AlignedBox3f bounding_box(const FaceBox& faceBox) {
 #endif
 bool Mesh::TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices, unsigned borderSize, unsigned textureSize)
 {
-	ASSERT(HasTexture() && mesh.HasTexture());
-	if (mesh.texturesDiffuse.empty())
+	ASSERT(HasTexture() && mesh.HasTextureCoordinates());
+	if (mesh.texturesDiffuse.empty()) {
+		// create the texture at specified resolution and
+		// scale the UV-coordinates to the new resolution (assuming normalized coordinates)
 		mesh.texturesDiffuse.emplace_back(textureSize, textureSize).memset(0);
+		for (TexCoord& tex: mesh.faceTexcoords) {
+			ASSERT(tex.x <= 1 && tex.y <= 1);
+			tex *= (Mesh::Type)textureSize;
+		}
+	}
 	Image8U mask(mesh.texturesDiffuse.back().size(), uint8_t(255));
 	const FIndex num_faces(faceSubsetIndices.empty() ? mesh.faces.size() : faceSubsetIndices.size());
 	if (vertices == mesh.vertices && faces == mesh.faces) {
@@ -4222,7 +4229,7 @@ bool Mesh::TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices, unsi
 			// render triangle and for each pixel interpolate the color
 			// from the triangle corners using barycentric coordinates
 			const TexCoord* tri = mesh.faceTexcoords.data()+idxFace*3;
-			Image8U::RasterizeTriangleBary(tri[0], tri[1], tri[2], data);
+			Image8U::RasterizeTriangleBary<TexCoord::Type,RasterTriangle,false>(tri[0], tri[1], tri[2], data);
 		}
 	} else {
 		// the two meshes are different, transfer the texture by finding the closest point
@@ -4260,7 +4267,8 @@ bool Mesh::TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices, unsi
 			inline void IntersectsRayFace(FIndex idxFace) {
 				const Face& face = mesh.faces[idxFace];
 				Type dist;
-				if (ray.Intersects<false>(Triangle3f(mesh.vertices[face[0]], mesh.vertices[face[1]], mesh.vertices[face[2]]), &dist)) {
+				if (ray.Intersects<false>(Triangle3f(
+					mesh.vertices[face.x], mesh.vertices[face.y], mesh.vertices[face.z]), &dist)) {
 					if (pick.dist > ABS(dist)) {
 						pick.dist = ABS(dist);
 						pick.idx = idxFace;
@@ -4326,12 +4334,12 @@ bool Mesh::TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices, unsi
 				inline cv::Size Size() const { return meshTrg.texturesDiffuse.back().size(); }
 				inline void operator()(const ImageRef& pt, const Point3f& bary) {
 					ASSERT(meshTrg.texturesDiffuse[texId].isInside(pt));
-					const Vertex X(meshTrg.vertices[face[0]]*bary.x
-								 + meshTrg.vertices[face[1]]*bary.y
-								 + meshTrg.vertices[face[2]]*bary.z);
-					const Normal N(normalized(meshTrg.vertexNormals[face[0]]*bary.x
-											+ meshTrg.vertexNormals[face[1]]*bary.y
-											+ meshTrg.vertexNormals[face[2]]*bary.z));
+					const Vertex X(meshTrg.vertices[face.x]*bary.x
+								 + meshTrg.vertices[face.y]*bary.y
+								 + meshTrg.vertices[face.z]*bary.z);
+					const Normal N(normalized(meshTrg.vertexNormals[face.x]*bary.x
+											+ meshTrg.vertexNormals[face.y]*bary.y
+											+ meshTrg.vertexNormals[face.z]*bary.z));
 					const Ray3f ray(X, N);
 					#if USE_MESH_INT == USE_MESH_BF
 					const IntersectRayMesh intRay(meshRef, ray);
@@ -4354,16 +4362,16 @@ bool Mesh::TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices, unsi
 					}
 				}
 			#if USE_MESH_INT == USE_MESH_BF
-			} data{*this, mesh, mask, mesh.faces[idxFace], mesh.faceTexindices[idxFace]};
+			} data{*this, mesh, mask, mesh.faces[idxFace], mesh.GetFaceTextureIndex(idxFace)};
 			#elif USE_MESH_INT == USE_MESH_BVH
-			} data{tree, *this, mesh, mask, mesh.faces[idxFace], mesh.faceTexindices[idxFace]};
+			} data{tree, *this, mesh, mask, mesh.faces[idxFace], mesh.GetFaceTextureIndex(idxFace)};
 			#else
-			} data{octree, *this, mesh, mask, mesh.faces[idxFace], mesh.faceTexindices[idxFace]};
+			} data{octree, *this, mesh, mask, mesh.faces[idxFace], mesh.GetFaceTextureIndex(idxFace)};
 			#endif
 			// render triangle and for each pixel interpolate the color
 			// from the triangle corners using barycentric coordinates
 			const TexCoord* tri = mesh.faceTexcoords.data()+idxFace*3;
-			Image8U::RasterizeTriangleBary(tri[0], tri[1], tri[2], data);
+			Image8U::RasterizeTriangleBary<TexCoord::Type,RasterTriangle,false>(tri[0], tri[1], tri[2], data);
 		}
 	}
 	// fill border
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 2d742da11..1801155d2 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -234,7 +234,7 @@ class MVS_API Mesh
 	bool Split(FacesChunkArr&, float maxArea);
 	Mesh SubMesh(const FaceIdxArr& faces) const;
 
-	bool TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices={}, unsigned borderSize=3, unsigned textureSize=1024);
+	bool TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices={}, unsigned borderSize=3, unsigned textureSize=4096);
 
 	// file IO
 	bool Load(const String& fileName);

From 40800a4522505ff4351f7f4b32ffb0f92ad4d6ca Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 11 Nov 2023 13:23:19 +0200
Subject: [PATCH 225/252] common: unify library initialization and closing

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp  | 46 ++++++-------------
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp      | 36 ++++++---------
 apps/InterfaceMVSNet/InterfaceMVSNet.cpp      | 35 ++++++--------
 .../InterfaceMetashape/InterfaceMetashape.cpp | 35 ++++++--------
 apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp    | 34 ++++++--------
 apps/InterfacePolycam/InterfacePolycam.cpp    | 35 ++++++--------
 .../InterfaceVisualSFM/InterfaceVisualSFM.cpp | 36 ++++++---------
 apps/ReconstructMesh/ReconstructMesh.cpp      | 39 ++++++----------
 apps/RefineMesh/RefineMesh.cpp                | 37 ++++++---------
 apps/Tests/Tests.cpp                          |  5 +-
 apps/TextureMesh/TextureMesh.cpp              | 36 ++++++---------
 apps/TransformScene/TransformScene.cpp        | 35 ++++++--------
 apps/Viewer/Viewer.cpp                        | 37 ++++++---------
 libs/Common/UtilCUDA.h                        |  1 -
 libs/MVS/Common.cpp                           | 33 +++++++++++++
 libs/MVS/Common.h                             |  3 ++
 libs/MVS/PythonWrapper.cpp                    |  5 +-
 17 files changed, 224 insertions(+), 264 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index cde482a86..4bcb55e57 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -74,8 +74,17 @@ String strConfigFileName;
 boost::program_options::variables_map vm;
 } // namespace OPT
 
+class Application {
+public:
+	Application() {}
+	~Application() { Finalize(); }
+
+	bool Initialize(size_t argc, LPCTSTR* argv);
+	void Finalize();
+}; // Application
+
 // initialize and parse the command line parameters
-bool Initialize(size_t argc, LPCTSTR* argv)
+bool Application::Initialize(size_t argc, LPCTSTR* argv)
 {
 	// initialize log and console
 	OPEN_LOG();
@@ -245,29 +254,14 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	if (!bValidConfig && !OPT::strDenseConfigFileName.empty())
 		OPTDENSE::oConfig.Save(OPT::strDenseConfigFileName);
 
-	// initialize global options
-	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
-	#ifdef _USE_OPENMP
-	if (OPT::nMaxThreads != 0)
-		omp_set_num_threads(OPT::nMaxThreads);
-	#endif
-
-	#ifdef _USE_BREAKPAD
-	// start memory dumper
-	MiniDumper::Create(APPNAME, WORKING_FOLDER);
-	#endif
-
-	Util::Init();
+	MVS::Initialize(APPNAME, OPT::nMaxThreads, OPT::nProcessPriority);
 	return true;
 }
 
 // finalize application instance
-void Finalize()
+void Application::Finalize()
 {
-	#if TD_VERBOSE != TD_VERBOSE_OFF
-	// print memory statistics
-	Util::LogMemoryInfo();
-	#endif
+	MVS::Finalize();
 
 	CLOSE_LOGFILE();
 	CLOSE_LOGCONSOLE();
@@ -283,7 +277,8 @@ int main(int argc, LPCTSTR* argv)
 	_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);// | _CRTDBG_CHECK_ALWAYS_DF);
 	#endif
 
-	if (!Initialize(argc, argv))
+	Application application;
+	if (!application.Initialize(argc, argv))
 		return EXIT_FAILURE;
 
 	Scene scene(OPT::nMaxThreads);
@@ -299,7 +294,6 @@ int main(int argc, LPCTSTR* argv)
 			scene.mesh.SamplePoints(ROUND2INT<unsigned>(-OPT::fSampleMesh), pointcloud);
 		VERBOSE("Sample mesh completed: %u points (%s)", pointcloud.GetSize(), TD_TIMER_GET_FMT().c_str());
 		pointcloud.Save(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+_T(".ply"));
-		Finalize();
 		return EXIT_SUCCESS;
 	}
 	// load and estimate a dense point-cloud
@@ -330,7 +324,6 @@ int main(int argc, LPCTSTR* argv)
 			return EXIT_FAILURE;
 		fs >> scene.obb;
 		scene.Save(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
-		Finalize();
 		return EXIT_SUCCESS;
 	}
 	if (!scene.IsBounded())
@@ -340,7 +333,6 @@ int main(int argc, LPCTSTR* argv)
 		if (!fs)
 			return EXIT_FAILURE;
 		fs << scene.obb;
-		Finalize();
 		return EXIT_SUCCESS;
 	}
 	if (OPT::nTowerMode!=0)
@@ -363,7 +355,6 @@ int main(int argc, LPCTSTR* argv)
 		if (!scene.ExportMeshToDepthMaps(MAKE_PATH_SAFE(OPT::strExportDepthMapsName)))
 			return EXIT_FAILURE;
 		VERBOSE("Mesh projection completed: %u depth-maps (%s)", scene.images.size(), TD_TIMER_GET_FMT().c_str());
-		Finalize();
 		return EXIT_SUCCESS;
 	}
 	if (OPT::fMaxSubsceneArea > 0) {
@@ -371,7 +362,6 @@ int main(int argc, LPCTSTR* argv)
 		Scene::ImagesChunkArr chunks;
 		scene.Split(chunks, OPT::fMaxSubsceneArea);
 		scene.ExportChunks(chunks, GET_PATH_FULL(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
-		Finalize();
 		return EXIT_SUCCESS;
 	}
 	if (OPT::thFilterPointCloud < 0) {
@@ -380,7 +370,6 @@ int main(int argc, LPCTSTR* argv)
 		const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+_T("_filtered"));
 		scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
 		scene.pointcloud.Save(baseFileName+_T(".ply"));
-		Finalize();
 		return EXIT_SUCCESS;
 	}
 	if (OPT::nExportNumViews && scene.pointcloud.IsValid()) {
@@ -396,7 +385,6 @@ int main(int argc, LPCTSTR* argv)
 			scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
 			scene.pointcloud.Save(baseFileName+_T(".ply"));
 		}
-		Finalize();
 		return EXIT_SUCCESS;
 	}
 	if (OPT::fEstimateScale > 0 && !scene.pointcloud.IsEmpty() && !scene.images.empty()) {
@@ -410,7 +398,6 @@ int main(int argc, LPCTSTR* argv)
 		}
 		const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
 		scene.pointcloud.SaveWithScale(baseFileName+_T("_scale.ply"), scene.images, OPT::fEstimateScale);
-		Finalize();
 		return EXIT_SUCCESS;
 	}
 	PointCloud sparsePointCloud;
@@ -426,7 +413,6 @@ int main(int argc, LPCTSTR* argv)
 			if (ABS(OPT::nFusionMode) != 1)
 				return EXIT_FAILURE;
 			VERBOSE("Depth-maps estimated (%s)", TD_TIMER_GET_FMT().c_str());
-			Finalize();
 			return EXIT_SUCCESS;
 		}
 		VERBOSE("Densifying point-cloud completed: %u points (%s)", scene.pointcloud.GetSize(), TD_TIMER_GET_FMT().c_str());
@@ -442,8 +428,6 @@ int main(int argc, LPCTSTR* argv)
 	if (OPT::nArchiveType == ARCHIVE_MVS)
 		scene.pointcloud.Swap(sparsePointCloud);
 	scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
-
-	Finalize();
 	return EXIT_SUCCESS;
 }
 /*----------------------------------------------------------------*/
diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index 67bc111e5..571c5d1e7 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -78,8 +78,17 @@ String strConfigFileName;
 boost::program_options::variables_map vm;
 } // namespace OPT
 
+class Application {
+public:
+	Application() {}
+	~Application() { Finalize(); }
+
+	bool Initialize(size_t argc, LPCTSTR* argv);
+	void Finalize();
+}; // Application
+
 // initialize and parse the command line parameters
-bool Initialize(size_t argc, LPCTSTR* argv)
+bool Application::Initialize(size_t argc, LPCTSTR* argv)
 {
 	// initialize log and console
 	OPEN_LOG();
@@ -181,29 +190,14 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 			OPT::strOutputFileName = OPT::strInputFileName + _T("scene") MVS_EXT;
 	}
 
-	// initialize global options
-	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
-	#ifdef _USE_OPENMP
-	if (OPT::nMaxThreads != 0)
-		omp_set_num_threads(OPT::nMaxThreads);
-	#endif
-
-	#ifdef _USE_BREAKPAD
-	// start memory dumper
-	MiniDumper::Create(APPNAME, WORKING_FOLDER);
-	#endif
-
-	Util::Init();
+	MVS::Initialize(APPNAME, OPT::nMaxThreads, OPT::nProcessPriority);
 	return true;
 }
 
 // finalize application instance
-void Finalize()
+void Application::Finalize()
 {
-	#if TD_VERBOSE != TD_VERBOSE_OFF
-	// print memory statistics
-	Util::LogMemoryInfo();
-	#endif
+	MVS::Finalize();
 
 	CLOSE_LOGFILE();
 	CLOSE_LOGCONSOLE();
@@ -1414,7 +1408,8 @@ int main(int argc, LPCTSTR* argv)
 	_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);// | _CRTDBG_CHECK_ALWAYS_DF);
 	#endif
 
-	if (!Initialize(argc, argv))
+	Application application;
+	if (!application.Initialize(argc, argv))
 		return EXIT_FAILURE;
 
 	TD_TIMER_START();
@@ -1458,7 +1453,6 @@ int main(int argc, LPCTSTR* argv)
 			TD_TIMER_GET_FMT().c_str());
 	}
 
-	Finalize();
 	return EXIT_SUCCESS;
 }
 /*----------------------------------------------------------------*/
diff --git a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
index f3027a9f4..fa9247ba5 100644
--- a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
+++ b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
@@ -69,8 +69,17 @@ namespace OPT {
 	boost::program_options::variables_map vm;
 } // namespace OPT
 
+class Application {
+public:
+	Application() {}
+	~Application() { Finalize(); }
+
+	bool Initialize(size_t argc, LPCTSTR* argv);
+	void Finalize();
+}; // Application
+
 // initialize and parse the command line parameters
-bool Initialize(size_t argc, LPCTSTR* argv)
+bool Application::Initialize(size_t argc, LPCTSTR* argv)
 {
 	// initialize log and console
 	OPEN_LOG();
@@ -153,27 +162,14 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + "scene" MVS_EXT;
 
-	// initialize global options
-	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
-	#ifdef _USE_OPENMP
-	if (OPT::nMaxThreads != 0)
-		omp_set_num_threads(OPT::nMaxThreads);
-	#endif
-
-	#ifdef _USE_BREAKPAD
-	// start memory dumper
-	MiniDumper::Create(APPNAME, WORKING_FOLDER);
-	#endif
+	MVS::Initialize(APPNAME, OPT::nMaxThreads, OPT::nProcessPriority);
 	return true;
 }
 
 // finalize application instance
-void Finalize()
+void Application::Finalize()
 {
-	#if TD_VERBOSE != TD_VERBOSE_OFF
-	// print memory statistics
-	Util::LogMemoryInfo();
-	#endif
+	MVS::Finalize();
 
 	CLOSE_LOGFILE();
 	CLOSE_LOGCONSOLE();
@@ -687,7 +683,8 @@ int main(int argc, LPCTSTR* argv)
 	_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);// | _CRTDBG_CHECK_ALWAYS_DF);
 	#endif
 
-	if (!Initialize(argc, argv))
+	Application application;
+	if (!application.Initialize(argc, argv))
 		return EXIT_FAILURE;
 
 	TD_TIMER_START();
@@ -704,8 +701,6 @@ int main(int argc, LPCTSTR* argv)
 	VERBOSE("Imported data: %u platforms, %u images, %u vertices (%s)",
 		scene.platforms.size(), scene.images.size(), scene.pointcloud.GetSize(),
 		TD_TIMER_GET_FMT().c_str());
-
-	Finalize();
 	return EXIT_SUCCESS;
 }
 /*----------------------------------------------------------------*/
diff --git a/apps/InterfaceMetashape/InterfaceMetashape.cpp b/apps/InterfaceMetashape/InterfaceMetashape.cpp
index 5a7b9bf5f..03a80ce87 100644
--- a/apps/InterfaceMetashape/InterfaceMetashape.cpp
+++ b/apps/InterfaceMetashape/InterfaceMetashape.cpp
@@ -61,8 +61,17 @@ String strConfigFileName;
 boost::program_options::variables_map vm;
 } // namespace OPT
 
+class Application {
+public:
+	Application() {}
+	~Application() { Finalize(); }
+
+	bool Initialize(size_t argc, LPCTSTR* argv);
+	void Finalize();
+}; // Application
+
 // initialize and parse the command line parameters
-bool Initialize(size_t argc, LPCTSTR* argv)
+bool Application::Initialize(size_t argc, LPCTSTR* argv)
 {
 	// initialize log and console
 	OPEN_LOG();
@@ -148,27 +157,14 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + MVS_EXT;
 
-	// initialize global options
-	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
-	#ifdef _USE_OPENMP
-	if (OPT::nMaxThreads != 0)
-		omp_set_num_threads(OPT::nMaxThreads);
-	#endif
-
-	#ifdef _USE_BREAKPAD
-	// start memory dumper
-	MiniDumper::Create(APPNAME, WORKING_FOLDER);
-	#endif
+	MVS::Initialize(APPNAME, OPT::nMaxThreads, OPT::nProcessPriority);
 	return true;
 }
 
 // finalize application instance
-void Finalize()
+void Application::Finalize()
 {
-	#if TD_VERBOSE != TD_VERBOSE_OFF
-	// print memory statistics
-	Util::LogMemoryInfo();
-	#endif
+	MVS::Finalize();
 
 	CLOSE_LOGFILE();
 	CLOSE_LOGCONSOLE();
@@ -786,7 +782,8 @@ int main(int argc, LPCTSTR* argv)
 	_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);// | _CRTDBG_CHECK_ALWAYS_DF);
 	#endif
 
-	if (!Initialize(argc, argv))
+	Application application;
+	if (!application.Initialize(argc, argv))
 		return EXIT_FAILURE;
 
 	TD_TIMER_START();
@@ -885,8 +882,6 @@ int main(int argc, LPCTSTR* argv)
 			scene.platforms.size(), nCameras, nPoses, scene.images.size(), scene.pointcloud.GetSize(),
 			acc.minVal, acc.GetMean(), acc.GetStdDev(), acc.maxVal,
 			TD_TIMER_GET_FMT().c_str());
-
-	Finalize();
 	return EXIT_SUCCESS;
 }
 /*----------------------------------------------------------------*/
diff --git a/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp b/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
index 6902a0974..fa3dc6b33 100644
--- a/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
+++ b/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
@@ -339,8 +339,17 @@ String strConfigFileName;
 boost::program_options::variables_map vm;
 } // namespace OPT
 
+class Application {
+public:
+	Application() {}
+	~Application() { Finalize(); }
+
+	bool Initialize(size_t argc, LPCTSTR* argv);
+	void Finalize();
+}; // Application
+
 // initialize and parse the command line parameters
-bool Initialize(size_t argc, LPCTSTR* argv)
+bool Application::Initialize(size_t argc, LPCTSTR* argv)
 {
 	// initialize log and console
 	OPEN_LOG();
@@ -446,27 +455,14 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 			OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + MVS_EXT;
 	}
 
-	// initialize global options
-	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
-	#ifdef _USE_OPENMP
-	if (OPT::nMaxThreads != 0)
-		omp_set_num_threads(OPT::nMaxThreads);
-	#endif
-
-	#ifdef _USE_BREAKPAD
-	// start memory dumper
-	MiniDumper::Create(APPNAME, WORKING_FOLDER);
-	#endif
+	MVS::Initialize(APPNAME, OPT::nMaxThreads, OPT::nProcessPriority);
 	return true;
 }
 
 // finalize application instance
-void Finalize()
+void Application::Finalize()
 {
-	#if TD_VERBOSE != TD_VERBOSE_OFF
-	// print memory statistics
-	Util::LogMemoryInfo();
-	#endif
+	MVS::Finalize();
 
 	CLOSE_LOGFILE();
 	CLOSE_LOGCONSOLE();
@@ -482,7 +478,8 @@ int main(int argc, LPCTSTR* argv)
 	_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);// | _CRTDBG_CHECK_ALWAYS_DF);
 	#endif
 
-	if (!Initialize(argc, argv))
+	Application application;
+	if (!application.Initialize(argc, argv))
 		return EXIT_FAILURE;
 
 	TD_TIMER_START();
@@ -753,7 +750,6 @@ int main(int argc, LPCTSTR* argv)
 				TD_TIMER_GET_FMT().c_str());
 	}
 
-	Finalize();
 	return EXIT_SUCCESS;
 }
 /*----------------------------------------------------------------*/
diff --git a/apps/InterfacePolycam/InterfacePolycam.cpp b/apps/InterfacePolycam/InterfacePolycam.cpp
index fb63e2291..2bc771175 100644
--- a/apps/InterfacePolycam/InterfacePolycam.cpp
+++ b/apps/InterfacePolycam/InterfacePolycam.cpp
@@ -60,8 +60,17 @@ String strConfigFileName;
 boost::program_options::variables_map vm;
 } // namespace OPT
 
+class Application {
+public:
+	Application() {}
+	~Application() { Finalize(); }
+
+	bool Initialize(size_t argc, LPCTSTR* argv);
+	void Finalize();
+}; // Application
+
 // initialize and parse the command line parameters
-bool Initialize(size_t argc, LPCTSTR* argv)
+bool Application::Initialize(size_t argc, LPCTSTR* argv)
 {
 	// initialize log and console
 	OPEN_LOG();
@@ -143,27 +152,14 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = "scene" MVS_EXT;
 
-	// initialize global options
-	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
-	#ifdef _USE_OPENMP
-	if (OPT::nMaxThreads != 0)
-		omp_set_num_threads(OPT::nMaxThreads);
-	#endif
-
-	#ifdef _USE_BREAKPAD
-	// start memory dumper
-	MiniDumper::Create(APPNAME, WORKING_FOLDER);
-	#endif
+	MVS::Initialize(APPNAME, OPT::nMaxThreads, OPT::nProcessPriority);
 	return true;
 }
 
 // finalize application instance
-void Finalize()
+void Application::Finalize()
 {
-	#if TD_VERBOSE != TD_VERBOSE_OFF
-	// print memory statistics
-	Util::LogMemoryInfo();
-	#endif
+	MVS::Finalize();
 
 	CLOSE_LOGFILE();
 	CLOSE_LOGCONSOLE();
@@ -340,7 +336,8 @@ int main(int argc, LPCTSTR* argv)
 	_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);// | _CRTDBG_CHECK_ALWAYS_DF);
 	#endif
 
-	if (!Initialize(argc, argv))
+	Application application;
+	if (!application.Initialize(argc, argv))
 		return EXIT_FAILURE;
 
 	TD_TIMER_START();
@@ -357,8 +354,6 @@ int main(int argc, LPCTSTR* argv)
 	VERBOSE("Exported data: %u platforms, %u cameras, %u poses, %u images (%s)",
 			scene.platforms.size(), scene.images.size(), scene.images.size(), scene.images.size(),
 			TD_TIMER_GET_FMT().c_str());
-
-	Finalize();
 	return EXIT_SUCCESS;
 }
 /*----------------------------------------------------------------*/
diff --git a/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp b/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
index 3bab64dc1..0f3d832d4 100644
--- a/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
+++ b/apps/InterfaceVisualSFM/InterfaceVisualSFM.cpp
@@ -62,8 +62,17 @@ String strConfigFileName;
 boost::program_options::variables_map vm;
 } // namespace OPT
 
+class Application {
+public:
+	Application() {}
+	~Application() { Finalize(); }
+
+	bool Initialize(size_t argc, LPCTSTR* argv);
+	void Finalize();
+}; // Application
+
 // initialize and parse the command line parameters
-bool Initialize(size_t argc, LPCTSTR* argv)
+bool Application::Initialize(size_t argc, LPCTSTR* argv)
 {
 	// initialize log and console
 	OPEN_LOG();
@@ -160,29 +169,14 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 			OPT::strOutputImageFolder = Util::getRelativePath(Util::getFilePath(OPT::strOutputFileName), Util::getFilePath(OPT::strInputFileName)+OPT::strOutputImageFolder);
 	}
 
-	// initialize global options
-	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
-	#ifdef _USE_OPENMP
-	if (OPT::nMaxThreads != 0)
-		omp_set_num_threads(OPT::nMaxThreads);
-	#endif
-
-	#ifdef _USE_BREAKPAD
-	// start memory dumper
-	MiniDumper::Create(APPNAME, WORKING_FOLDER);
-	#endif
-
-	Util::Init();
+	MVS::Initialize(APPNAME, OPT::nMaxThreads, OPT::nProcessPriority);
 	return true;
 }
 
 // finalize application instance
-void Finalize()
+void Application::Finalize()
 {
-	#if TD_VERBOSE != TD_VERBOSE_OFF
-	// print memory statistics
-	Util::LogMemoryInfo();
-	#endif
+	MVS::Finalize();
 
 	CLOSE_LOGFILE();
 	CLOSE_LOGCONSOLE();
@@ -590,7 +584,8 @@ int main(int argc, LPCTSTR* argv)
 	_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);// | _CRTDBG_CHECK_ALWAYS_DF);
 	#endif
 
-	if (!Initialize(argc, argv))
+	Application application;
+	if (!application.Initialize(argc, argv))
 		return EXIT_FAILURE;
 
 	if (OPT::bFromOpenMVS) {
@@ -607,7 +602,6 @@ int main(int argc, LPCTSTR* argv)
 		}
 	}
 
-	Finalize();
 	return EXIT_SUCCESS;
 }
 /*----------------------------------------------------------------*/
diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index 24a74b945..0825e790d 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -82,8 +82,17 @@ String strConfigFileName;
 boost::program_options::variables_map vm;
 } // namespace OPT
 
+class Application {
+public:
+	Application() {}
+	~Application() { Finalize(); }
+
+	bool Initialize(size_t argc, LPCTSTR* argv);
+	void Finalize();
+}; // Application
+
 // initialize and parse the command line parameters
-bool Initialize(size_t argc, LPCTSTR* argv)
+bool Application::Initialize(size_t argc, LPCTSTR* argv)
 {
 	// initialize log and console
 	OPEN_LOG();
@@ -205,29 +214,14 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_mesh.mvs");
 
-	// initialize global options
-	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
-	#ifdef _USE_OPENMP
-	if (OPT::nMaxThreads != 0)
-		omp_set_num_threads(OPT::nMaxThreads);
-	#endif
-
-	#ifdef _USE_BREAKPAD
-	// start memory dumper
-	MiniDumper::Create(APPNAME, WORKING_FOLDER);
-	#endif
-
-	Util::Init();
+	MVS::Initialize(APPNAME, OPT::nMaxThreads, OPT::nProcessPriority);
 	return true;
 }
 
 // finalize application instance
-void Finalize()
+void Application::Finalize()
 {
-	#if TD_VERBOSE != TD_VERBOSE_OFF
-	// print memory statistics
-	Util::LogMemoryInfo();
-	#endif
+	MVS::Finalize();
 
 	CLOSE_LOGFILE();
 	CLOSE_LOGCONSOLE();
@@ -346,7 +340,8 @@ int main(int argc, LPCTSTR* argv)
 	_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);// | _CRTDBG_CHECK_ALWAYS_DF);
 	#endif
 
-	if (!Initialize(argc, argv))
+	Application application;
+	if (!application.Initialize(argc, argv))
 		return EXIT_FAILURE;
 
 	Scene scene(OPT::nMaxThreads);
@@ -369,7 +364,6 @@ int main(int argc, LPCTSTR* argv)
 		Mesh::FacesChunkArr chunks;
 		if (scene.mesh.Split(chunks, OPT::fSplitMaxArea))
 			scene.mesh.Save(chunks, baseFileName);
-		Finalize();
 		return EXIT_SUCCESS;
 	}
 
@@ -386,7 +380,6 @@ int main(int argc, LPCTSTR* argv)
 			VERBOSE("Mesh trimmed to ROI: %u vertices and %u faces removed (%s)",
 				numVertices-scene.mesh.vertices.size(), numFaces-scene.mesh.faces.size(), TD_TIMER_GET_FMT().c_str());
 			scene.mesh.Save(baseFileName+OPT::strExportType);
-			Finalize();
 			return EXIT_SUCCESS;
 		}
 	}
@@ -498,8 +491,6 @@ int main(int argc, LPCTSTR* argv)
 		Export3DProjections(scene, MAKE_PATH_SAFE(OPT::strImagePointsFileName));
 		return EXIT_SUCCESS;
 	}
-
-	Finalize();
 	return EXIT_SUCCESS;
 }
 /*----------------------------------------------------------------*/
diff --git a/apps/RefineMesh/RefineMesh.cpp b/apps/RefineMesh/RefineMesh.cpp
index 7848d585a..daa16f206 100644
--- a/apps/RefineMesh/RefineMesh.cpp
+++ b/apps/RefineMesh/RefineMesh.cpp
@@ -72,8 +72,17 @@ String strConfigFileName;
 boost::program_options::variables_map vm;
 } // namespace OPT
 
+class Application {
+public:
+	Application() {}
+	~Application() { Finalize(); }
+
+	bool Initialize(size_t argc, LPCTSTR* argv);
+	void Finalize();
+}; // Application
+
 // initialize and parse the command line parameters
-bool Initialize(size_t argc, LPCTSTR* argv)
+bool Application::Initialize(size_t argc, LPCTSTR* argv)
 {
 	// initialize log and console
 	OPEN_LOG();
@@ -178,29 +187,14 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_refine.mvs");
 
-	// initialize global options
-	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
-	#ifdef _USE_OPENMP
-	if (OPT::nMaxThreads != 0)
-		omp_set_num_threads(OPT::nMaxThreads);
-	#endif
-
-	#ifdef _USE_BREAKPAD
-	// start memory dumper
-	MiniDumper::Create(APPNAME, WORKING_FOLDER);
-	#endif
-
-	Util::Init();
+	MVS::Initialize(APPNAME, OPT::nMaxThreads, OPT::nProcessPriority);
 	return true;
 }
 
 // finalize application instance
-void Finalize()
+void Application::Finalize()
 {
-	#if TD_VERBOSE != TD_VERBOSE_OFF
-	// print memory statistics
-	Util::LogMemoryInfo();
-	#endif
+	MVS::Finalize();
 
 	CLOSE_LOGFILE();
 	CLOSE_LOGCONSOLE();
@@ -216,7 +210,8 @@ int main(int argc, LPCTSTR* argv)
 	_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);// | _CRTDBG_CHECK_ALWAYS_DF);
 	#endif
 
-	if (!Initialize(argc, argv))
+	Application application;
+	if (!application.Initialize(argc, argv))
 		return EXIT_FAILURE;
 
 	Scene scene(OPT::nMaxThreads);
@@ -266,8 +261,6 @@ int main(int argc, LPCTSTR* argv)
 	#endif
 	if (OPT::nArchiveType != ARCHIVE_MVS || sceneType != Scene::SCENE_INTERFACE)
 		scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
-
-	Finalize();
 	return EXIT_SUCCESS;
 }
 /*----------------------------------------------------------------*/
diff --git a/apps/Tests/Tests.cpp b/apps/Tests/Tests.cpp
index 218437b7a..f0f8365b8 100644
--- a/apps/Tests/Tests.cpp
+++ b/apps/Tests/Tests.cpp
@@ -37,6 +37,8 @@ using namespace MVS;
 
 // D E F I N E S ///////////////////////////////////////////////////
 
+#define APPNAME _T("Tests")
+
 
 // S T R U C T S ///////////////////////////////////////////////////
 
@@ -113,7 +115,7 @@ int main(int argc, LPCTSTR* argv)
 {
 	OPEN_LOG();
 	OPEN_LOGCONSOLE();
-	Util::Init();
+	MVS::Initialize(APPNAME);
 	WORKING_FOLDER = _DATA_PATH;
 	INIT_WORKING_FOLDER;
 	if (argc < 2 || std::atoi(argv[1]) == 0) {
@@ -123,6 +125,7 @@ int main(int argc, LPCTSTR* argv)
 		if (!PipelineTest())
 			return EXIT_FAILURE;
 	}
+	MVS::Finalize();
 	CLOSE_LOGCONSOLE();
 	CLOSE_LOG();
 	return EXIT_SUCCESS;
diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index 5c6e0ebfb..a4ef69935 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -74,8 +74,17 @@ String strConfigFileName;
 boost::program_options::variables_map vm;
 } // namespace OPT
 
+class Application {
+public:
+	Application() {}
+	~Application() { Finalize(); }
+
+	bool Initialize(size_t argc, LPCTSTR* argv);
+	void Finalize();
+}; // Application
+
 // initialize and parse the command line parameters
-bool Initialize(size_t argc, LPCTSTR* argv)
+bool Application::Initialize(size_t argc, LPCTSTR* argv)
 {
 	// initialize log and console
 	OPEN_LOG();
@@ -199,29 +208,14 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_texture.mvs");
 
-	// initialize global options
-	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
-	#ifdef _USE_OPENMP
-	if (OPT::nMaxThreads != 0)
-		omp_set_num_threads(OPT::nMaxThreads);
-	#endif
-
-	#ifdef _USE_BREAKPAD
-	// start memory dumper
-	MiniDumper::Create(APPNAME, WORKING_FOLDER);
-	#endif
-
-	Util::Init();
+	MVS::Initialize(APPNAME, OPT::nMaxThreads, OPT::nProcessPriority);
 	return true;
 }
 
 // finalize application instance
-void Finalize()
+void Application::Finalize()
 {
-	#if TD_VERBOSE != TD_VERBOSE_OFF
-	// print memory statistics
-	Util::LogMemoryInfo();
-	#endif
+	MVS::Finalize();
 
 	CLOSE_LOGFILE();
 	CLOSE_LOGCONSOLE();
@@ -271,7 +265,8 @@ int main(int argc, LPCTSTR* argv)
 	_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);// | _CRTDBG_CHECK_ALWAYS_DF);
 	#endif
 
-	if (!Initialize(argc, argv))
+	Application application;
+	if (!application.Initialize(argc, argv))
 		return EXIT_FAILURE;
 
 	Scene scene(OPT::nMaxThreads);
@@ -343,7 +338,6 @@ int main(int argc, LPCTSTR* argv)
 		sml.Save(baseFileName+_T("_orthomap.txt"));
 	}
 
-	Finalize();
 	return EXIT_SUCCESS;
 }
 /*----------------------------------------------------------------*/
diff --git a/apps/TransformScene/TransformScene.cpp b/apps/TransformScene/TransformScene.cpp
index 61cd124f9..bdf78f054 100644
--- a/apps/TransformScene/TransformScene.cpp
+++ b/apps/TransformScene/TransformScene.cpp
@@ -68,8 +68,17 @@ namespace OPT {
 	boost::program_options::variables_map vm;
 } // namespace OPT
 
+class Application {
+public:
+	Application() {}
+	~Application() { Finalize(); }
+
+	bool Initialize(size_t argc, LPCTSTR* argv);
+	void Finalize();
+}; // Application
+
 // initialize and parse the command line parameters
-bool Initialize(size_t argc, LPCTSTR* argv)
+bool Application::Initialize(size_t argc, LPCTSTR* argv)
 {
 	// initialize log and console
 	OPEN_LOG();
@@ -184,27 +193,14 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + _T("_transformed") MVS_EXT;
 
-	// initialize global options
-	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
-	#ifdef _USE_OPENMP
-	if (OPT::nMaxThreads != 0)
-		omp_set_num_threads(OPT::nMaxThreads);
-	#endif
-
-	#ifdef _USE_BREAKPAD
-	// start memory dumper
-	MiniDumper::Create(APPNAME, WORKING_FOLDER);
-	#endif
+	MVS::Initialize(APPNAME, OPT::nMaxThreads, OPT::nProcessPriority);
 	return true;
 }
 
 // finalize application instance
-void Finalize()
+void Application::Finalize()
 {
-	#if TD_VERBOSE != TD_VERBOSE_OFF
-	// print memory statistics
-	Util::LogMemoryInfo();
-	#endif
+	MVS::Finalize();
 
 	CLOSE_LOGFILE();
 	CLOSE_LOGCONSOLE();
@@ -220,7 +216,8 @@ int main(int argc, LPCTSTR* argv)
 	_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);// | _CRTDBG_CHECK_ALWAYS_DF);
 	#endif
 
-	if (!Initialize(argc, argv))
+	Application application;
+	if (!application.Initialize(argc, argv))
 		return EXIT_FAILURE;
 
 	TD_TIMER_START();
@@ -327,8 +324,6 @@ int main(int argc, LPCTSTR* argv)
 		if (!scene.mesh.IsEmpty())
 			scene.mesh.Save(baseFileName + OPT::strExportType);
 	}
-
-	Finalize();
 	return EXIT_SUCCESS;
 }
 /*----------------------------------------------------------------*/
diff --git a/apps/Viewer/Viewer.cpp b/apps/Viewer/Viewer.cpp
index d23e63cd3..5bff3c2bf 100644
--- a/apps/Viewer/Viewer.cpp
+++ b/apps/Viewer/Viewer.cpp
@@ -62,8 +62,17 @@ bool bLogFile;
 boost::program_options::variables_map vm;
 } // namespace OPT
 
+class Application {
+public:
+	Application() {}
+	~Application() { Finalize(); }
+
+	bool Initialize(size_t argc, LPCTSTR* argv);
+	void Finalize();
+}; // Application
+
 // initialize and parse the command line parameters
-bool Initialize(size_t argc, LPCTSTR* argv)
+bool Application::Initialize(size_t argc, LPCTSTR* argv)
 {
 	// initialize log and console
 	OPEN_LOG();
@@ -172,29 +181,14 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	Util::ensureValidPath(OPT::strGeometryFileName);
 	Util::ensureValidPath(OPT::strOutputFileName);
 
-	// initialize global options
-	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
-	#ifdef _USE_OPENMP
-	if (OPT::nMaxThreads != 0)
-		omp_set_num_threads(OPT::nMaxThreads);
-	#endif
-
-	#ifdef _USE_BREAKPAD
-	// start memory dumper
-	MiniDumper::Create(APPNAME, WORKING_FOLDER);
-	#endif
-
-	Util::Init();
+	MVS::Initialize(APPNAME, OPT::nMaxThreads, OPT::nProcessPriority);
 	return true;
 }
 
 // finalize application instance
-void Finalize()
+void Application::Finalize()
 {
-	#if TD_VERBOSE != TD_VERBOSE_OFF
-	// print memory statistics
-	Util::LogMemoryInfo();
-	#endif
+	MVS::Finalize();
 
 	if (OPT::bLogFile)
 		CLOSE_LOGFILE();
@@ -211,7 +205,8 @@ int main(int argc, LPCTSTR* argv)
 	_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);// | _CRTDBG_CHECK_ALWAYS_DF);
 	#endif
 
-	if (!Initialize(argc, argv))
+	Application application;
+	if (!application.Initialize(argc, argv))
 		return EXIT_FAILURE;
 
 	// create viewer
@@ -226,8 +221,6 @@ int main(int argc, LPCTSTR* argv)
 	}
 	// enter viewer loop
 	viewer.Loop();
-
-	Finalize();
 	return EXIT_SUCCESS;
 }
 /*----------------------------------------------------------------*/
diff --git a/libs/Common/UtilCUDA.h b/libs/Common/UtilCUDA.h
index a558198b8..44d869d6b 100644
--- a/libs/Common/UtilCUDA.h
+++ b/libs/Common/UtilCUDA.h
@@ -316,7 +316,6 @@ class KernelRT
 	inline KernelRT() : hKernel(NULL) {}
 	inline KernelRT(const ModuleRTPtr& _ptrModule, LPCSTR functionName) : ptrModule(_ptrModule) { Reset(functionName); }
 	inline KernelRT(LPCSTR program, LPCSTR functionName, int mode=JIT::AUTO) { Reset(program, functionName, mode); }
-	inline ~KernelRT() { Release(); }
 
 	inline bool IsValid() const {
 		ASSERT(hKernel == NULL || (ptrModule != NULL && ptrModule->IsValid()));
diff --git a/libs/MVS/Common.cpp b/libs/MVS/Common.cpp
index ac3a71c19..2af2c8278 100644
--- a/libs/MVS/Common.cpp
+++ b/libs/MVS/Common.cpp
@@ -34,3 +34,36 @@
 // Common.obj will contain the pre-compiled type information
 
 #include "Common.h"
+#include "Mesh.h"
+
+using namespace MVS;
+
+void MVS::Initialize(LPCTSTR appname, unsigned nMaxThreads, int nProcessPriority) {
+	// initialize thread options
+	Process::setCurrentProcessPriority((Process::Priority)nProcessPriority);
+	#ifdef _USE_OPENMP
+	if (nMaxThreads != 0)
+		omp_set_num_threads(nMaxThreads);
+	#endif
+
+	#ifdef _USE_BREAKPAD
+	// initialize crash memory dumper
+	MiniDumper::Create(appname, WORKING_FOLDER);
+	#endif
+
+	// initialize random number generator
+	Util::Init();
+}
+
+void MVS::Finalize() {
+	#if TD_VERBOSE != TD_VERBOSE_OFF
+	// print memory statistics
+	Util::LogMemoryInfo();
+	#endif
+
+	#ifdef _USE_CUDA
+	// release static CUDA kernels before CUDA context is destroyed
+	Mesh::kernelComputeFaceNormal.Release();
+	#endif
+}
+/*----------------------------------------------------------------*/
diff --git a/libs/MVS/Common.h b/libs/MVS/Common.h
index 080ef0cc7..3d4c8ee4e 100644
--- a/libs/MVS/Common.h
+++ b/libs/MVS/Common.h
@@ -64,6 +64,9 @@ using namespace SEACAVE;
 
 namespace MVS {
 
+// Initialize / close the library; should be called at the beginning and end of the program
+void Initialize(LPCTSTR appname, unsigned nMaxThreads=0, int nProcessPriority=0);
+void Finalize();
 /*----------------------------------------------------------------*/
 
 } // namespace MVS
diff --git a/libs/MVS/PythonWrapper.cpp b/libs/MVS/PythonWrapper.cpp
index 62a8a1d71..7838ca5a1 100644
--- a/libs/MVS/PythonWrapper.cpp
+++ b/libs/MVS/PythonWrapper.cpp
@@ -52,10 +52,13 @@ class Scene : public MVS::Scene
 {
 public:
 	Scene(unsigned _nMaxThreads=0) : MVS::Scene(_nMaxThreads) {
-		Util::Init();
 		INIT_WORKING_FOLDER;
+		MVS::Initialize("pyMVS", _nMaxThreads);
 		MVS::OPTDENSE::init();
 	}
+	~Scene() {
+		MVS::Finalize();
+	}
 
 	bool pyLoad(const std::string& fileName, bool bImport=false) {
 		return Load(MAKE_PATH_SAFE(fileName), bImport);

From 3c19cddfca58caebf574394dfd823d9fc155ecc2 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 11 Nov 2023 15:50:00 +0200
Subject: [PATCH 226/252] common: improve Eigen interface for custom types

---
 libs/Common/Octree.h              |   5 +-
 libs/Common/Octree.inl            |   6 +-
 libs/Common/Ray.inl               |  48 ++++++-----
 libs/Common/Types.h               |  52 +++++------
 libs/MVS/Mesh.h                   |   2 +-
 libs/MVS/PatchMatchCUDA.cpp       |   2 +-
 libs/MVS/SceneReconstruct.cpp     |   3 +-
 libs/MVS/SceneRefine.cpp          |   3 +-
 libs/MVS/SceneRefineCUDA.cpp      |   3 +-
 libs/MVS/SceneTexture.cpp         | 139 +++++++++++++++---------------
 libs/Math/SimilarityTransform.cpp |   5 +-
 11 files changed, 134 insertions(+), 134 deletions(-)

diff --git a/libs/Common/Octree.h b/libs/Common/Octree.h
index aabbd336d..de1bbadbf 100644
--- a/libs/Common/Octree.h
+++ b/libs/Common/Octree.h
@@ -160,11 +160,10 @@ class TOctree
 	inline const CELL_TYPE& GetRoot() const { return m_root; }
 	inline TYPE GetRadius() const { return m_radius; }
 	inline AABB_TYPE GetAabb() const { return m_root.GetAabb(m_radius); }
-	inline bool IsEmpty() const { return m_indices.IsEmpty(); }
-	inline size_t GetNumItems() const { return m_indices.GetSize(); }
+	inline bool IsEmpty() const { return m_indices.empty(); }
+	inline size_t GetNumItems() const { return m_indices.size(); }
 	inline const IDXARR_TYPE& GetIndexArr() const { return m_indices; }
 	inline const ITEM_TYPE* GetItems() const { return m_items; }
-	inline const POINT_TYPE& GetItem(IDX_TYPE idx) const { ASSERT(m_items != NULL); return m_items[idx]; }
 	inline void ResetItems() { m_items = NULL; }
 
 protected:
diff --git a/libs/Common/Octree.inl b/libs/Common/Octree.inl
index e51d1feb9..0a5592981 100644
--- a/libs/Common/Octree.inl
+++ b/libs/Common/Octree.inl
@@ -183,7 +183,7 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_Insert(CELL_TYPE& cell, const P
 		} childD;
 		IDX_TYPE idx(start);
 		for (IDX_TYPE i=0; i<size; ++i) {
-			const unsigned idxChild(cell.ComputeChild(GetItem(idx)));
+			const unsigned idxChild(cell.ComputeChild(m_items[idx]));
 			if (childD.Size(idxChild) == 0)
 				childD.Start(idxChild) = idx;
 			else
@@ -297,7 +297,7 @@ void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::_Collect(const CELL_TYPE& cell,
 		// add all items contained by the bounding-box
 		for (IDX_TYPE i=0; i<cell.Leaf().size; ++i) {
 			const IDX_TYPE idx = m_indices[cell.Leaf().idxBegin + i];
-			if (aabb.Intersects(GetItem(idx)))
+			if (aabb.Intersects(m_items[idx]))
 				inserter(idx);
 		}
 		return;
@@ -408,7 +408,7 @@ inline void TOctree<ITEMARR_TYPE,TYPE,DIMS,DATA_TYPE>::Collect(IDX_TYPE maxNeigh
 		const POINT_TYPE center(aabb.GetCenter());
 		FOREACH(i, indices) {
 			const IDX_TYPE& idx = indices[i];
-			const TYPE score(-(center-GetItem(idx)).squaredNorm());
+			const TYPE score(-(center-m_items[idx]).squaredNorm());
 			indexscores[i] = ItemIndexScore(idx,score);
 		}
 		indices.Empty();
diff --git a/libs/Common/Ray.inl b/libs/Common/Ray.inl
index bb1ec4194..34d4f455d 100644
--- a/libs/Common/Ray.inl
+++ b/libs/Common/Ray.inl
@@ -137,31 +137,35 @@ inline TRay<TYPE,DIMS>& TRay<TYPE,DIMS>::operator*=(const MATRIX& m)
 // test for intersection with triangle
 template <typename TYPE, int DIMS>
 template <bool bCull>
-bool TRay<TYPE,DIMS>::Intersects(const TRIANGLE& tri, TYPE *t) const
+bool TRay<TYPE,DIMS>::Intersects(const TRIANGLE& tri, TYPE *pt) const
 {
 	const VECTOR edge1(tri.b - tri.a);
 	const VECTOR edge2(tri.c - tri.a);
-
-	// if close to 0 ray is parallel
 	const VECTOR pvec(m_vDir.cross(edge2));
 	const TYPE det(edge1.dot(pvec));
-	if ((bCull ? det : ABS(det)) < ZEROTOLERANCE<TYPE>() * TYPE(0.001))
+	// check if ray and triangle plane are parallel
+	if ((bCull ? det : ABS(det)) < ZEROTOLERANCE<TYPE>() * TYPE(0.01))
 		return false;
-
-	// distance to plane, < 0 means beyond plane
+	const TYPE invDet(TYPE(1) / det);
 	const VECTOR tvec(m_pOrig - tri.a);
-	const TYPE u(tvec.dot(pvec));
-	if ((bCull && !ISINSIDE(u, -ZEROTOLERANCE<TYPE>(), det+ZEROTOLERANCE<TYPE>())) || (!bCull && (det > TYPE(0) ? (u < -ZEROTOLERANCE<TYPE>() || u > det+ZEROTOLERANCE<TYPE>()) : (u > ZEROTOLERANCE<TYPE>() || u < det-ZEROTOLERANCE<TYPE>()))))
+	const TYPE u(tvec.dot(pvec) * invDet);
+	// check if intersection is outside of the line segment defined by points a and c
+	if (u < -ZEROTOLERANCE<TYPE>() * TYPE(10))
 		return false;
-
 	const VECTOR qvec(tvec.cross(edge1));
-	const TYPE v(m_vDir.dot(qvec));
-	if ((bCull && (v < -ZEROTOLERANCE<TYPE>() || u+v > det+ZEROTOLERANCE<TYPE>())) || (!bCull && (det > TYPE(0) ? (v < -ZEROTOLERANCE<TYPE>() || u+v > det+ZEROTOLERANCE<TYPE>()) : (v > ZEROTOLERANCE<TYPE>() || u+v < det-ZEROTOLERANCE<TYPE>()))))
+	const TYPE v(m_vDir.dot(qvec) * invDet);
+	// check if intersection is outside of the line segment defined by points a and b
+	if (v < -ZEROTOLERANCE<TYPE>() * TYPE(10))
 		return false;
-
-	if (t)
-		*t = (edge2.dot(qvec)) / det;
-
+	// check if intersection is outside of the line segment defined by points b and c
+	if (u + v > TYPE(1) + ZEROTOLERANCE<TYPE>() * TYPE(10))
+		return false;
+	const TYPE t(edge2.dot(qvec) * invDet);
+	// check if intersection is behind the ray origin
+	if (bCull && t < -ZEROTOLERANCE<TYPE>())
+		return false;
+	if (pt)
+		*pt = t;
 	return true;
 } // Intersects(Tri)
 /*----------------------------------------------------------------*/
@@ -922,25 +926,25 @@ bool TestRayTriangleIntersection(unsigned iters) {
 	typedef SEACAVE::TRay<TYPE,3> Ray;
 	typedef typename Ray::POINT Point;
 	typedef typename Point::Scalar Type;
-	constexpr Type zeroEps(std::is_same<TYPE,float>::value ? 0.1f : 0.0001f);
-	for (unsigned iter=0; iter<iters; ++iter) {
+	constexpr Type zeroEps(std::is_same<TYPE,float>::value ? 0.01f : 0.00001f);
+	for (unsigned iter=0, lives=iters/100; iter<iters; ++iter) {
 		const Type scale(10);
 		const Triangle triangle(Point::Random()*scale, Point::Random()*scale, Point::Random()*scale);
 		Type t;
 		const Point center(triangle.GetCenter());
 		const Ray rayCenter(Point::Random()*scale, center, true);
-		if (!rayCenter.template Intersects<false>(triangle, &t))
+		if (!rayCenter.template Intersects<false>(triangle, &t) && !lives--)
 			return false;
 		const Point _center(rayCenter.GetPoint(t));
-		if ((_center-center).norm() > zeroEps)
+		if ((_center-center).norm() > zeroEps && !lives--)
 			return false;
 		const BYTE o((BYTE)(RAND()%3));
-		const Point side((triangle[o]+triangle[(o+1)%3]) / TYPE(2));
+		const Point side(((triangle[o].template cast<double>()+triangle[(o+1)%3].template cast<double>()) / 2.0).template cast<TYPE>());
 		const Ray raySide(rayCenter.m_pOrig, side, true);
-		if (!raySide.template Intersects<false>(triangle, &t))
+		if (!raySide.template Intersects<false>(triangle, &t) && !lives--)
 			return false;
 		const Point _side(raySide.GetPoint(t));
-		if ((_side-side).norm() > zeroEps)
+		if ((_side-side).norm() > zeroEps && !lives--)
 			return false;
 	}
 	return true;
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 0047424a6..aa3264ade 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -1182,10 +1182,10 @@ inline void sse_prefetch(const void* p) {_mm_prefetch((const char*)p, _MM_HINT_N
 
 // C L A S S E S ///////////////////////////////////////////////////
 
-inline bool   ISINFORNAN(float x)			{ return (std::isinf(x) || std::isnan(x)); }
-inline bool   ISINFORNAN(double x)			{ return (std::isinf(x) || std::isnan(x)); }
-inline bool   ISFINITE(float x)				{ return (!std::isinf(x) && !std::isnan(x)); }
-inline bool   ISFINITE(double x)			{ return (!std::isinf(x) && !std::isnan(x)); }
+inline bool   ISINFORNAN(float x)			{ return std::isinf(x) || std::isnan(x); }
+inline bool   ISINFORNAN(double x)			{ return std::isinf(x) || std::isnan(x); }
+inline bool   ISFINITE(float x)				{ return std::isfinite(x); }
+inline bool   ISFINITE(double x)			{ return std::isfinite(x); }
 template<typename _Tp>
 inline bool   ISFINITE(const _Tp* x, size_t n)	{ for (size_t i=0; i<n; ++i) if (ISINFORNAN(x[i])) return false; return true; }
 
@@ -1267,6 +1267,7 @@ class TPoint2 : public cv::Point_<TYPE>
 	#ifdef _USE_EIGEN
 	EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(TYPE,2)
 	typedef Eigen::Matrix<TYPE,2,1> EVec;
+	typedef Eigen::Map<const EVec> CEVecMap;
 	typedef Eigen::Map<EVec> EVecMap;
 	#endif
 
@@ -1283,7 +1284,7 @@ class TPoint2 : public cv::Point_<TYPE>
 	template <typename T> inline TPoint2(const cv::Matx<T,2,1>& rhs) : Base(rhs(0),rhs(1)) {}
 	template <typename T> inline TPoint2(const cv::Matx<T,1,2>& rhs) : Base(rhs(0),rhs(1)) {}
 	#ifdef _USE_EIGEN
-	inline TPoint2(const EVec& rhs) { operator EVec& () = rhs; }
+	inline TPoint2(const EVec& rhs) { operator EVecMap () = rhs; }
 	#endif
 	explicit inline TPoint2(const TYPE& _x) : Base(_x,_x) {}
 	inline TPoint2(const TYPE& _x, const TYPE& _y) : Base(_x,_y) {}
@@ -1293,7 +1294,7 @@ class TPoint2 : public cv::Point_<TYPE>
 	template <typename T> inline TPoint2& operator = (const cv::Matx<T,2,1>& rhs) { operator Vec& () = rhs; return *this; }
 	template <typename T> inline TPoint2& operator = (const cv::Matx<T,1,2>& rhs) { operator VecT& () = rhs; return *this; }
 	#ifdef _USE_EIGEN
-	inline TPoint2& operator = (const EVec& rhs) { operator EVec& () = rhs; return *this; }
+	inline TPoint2& operator = (const EVec& rhs) { operator EVecMap () = rhs; return *this; }
 	#endif
 
 	// conversion to another data type
@@ -1321,10 +1322,9 @@ class TPoint2 : public cv::Point_<TYPE>
 
 	#ifdef _USE_EIGEN
 	// Access point as Eigen equivalent
-	inline operator const EVec& () const { return *((const EVec*)this); }
-	inline operator EVec& () { return *((EVec*)this); }
+	inline operator EVec () const { return CEVecMap((const TYPE*)this); }
 	// Access point as Eigen::Map equivalent
-	inline operator const EVecMap () const { return EVecMap((TYPE*)this); }
+	inline operator const CEVecMap () const { return CEVecMap((const TYPE*)this); }
 	inline operator EVecMap () { return EVecMap((TYPE*)this); }
 	#endif
 
@@ -1359,6 +1359,7 @@ class TPoint3 : public cv::Point3_<TYPE>
 	#ifdef _USE_EIGEN
 	EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(TYPE,3)
 	typedef Eigen::Matrix<TYPE,3,1> EVec;
+	typedef Eigen::Map<const EVec> CEVecMap;
 	typedef Eigen::Map<EVec> EVecMap;
 	#endif
 
@@ -1375,7 +1376,7 @@ class TPoint3 : public cv::Point3_<TYPE>
 	template <typename T> inline TPoint3(const cv::Matx<T,3,1>& rhs) : Base(rhs(0),rhs(1),rhs(2)) {}
 	template <typename T> inline TPoint3(const cv::Matx<T,1,3>& rhs) : Base(rhs(0),rhs(1),rhs(2)) {}
 	#ifdef _USE_EIGEN
-	inline TPoint3(const EVec& rhs) { operator EVec& () = rhs; }
+	inline TPoint3(const EVec& rhs) { operator EVecMap () = rhs; }
 	#endif
 	explicit inline TPoint3(const TYPE& _x) : Base(_x,_x,_x) {}
 	inline TPoint3(const TYPE& _x, const TYPE& _y, const TYPE& _z) : Base(_x,_y,_z) {}
@@ -1386,7 +1387,7 @@ class TPoint3 : public cv::Point3_<TYPE>
 	template <typename T> inline TPoint3& operator = (const cv::Matx<T,3,1>& rhs)  { operator Vec& () = rhs; return *this; }
 	template <typename T> inline TPoint3& operator = (const cv::Matx<T,1,3>& rhs)  { operator VecT& () = rhs; return *this; }
 	#ifdef _USE_EIGEN
-	inline TPoint3& operator = (const EVec& rhs) { operator EVec& () = rhs; return *this; }
+	inline TPoint3& operator = (const EVec& rhs) { operator EVecMap () = rhs; return *this; }
 	#endif
 
 	// conversion to another data type
@@ -1401,19 +1402,18 @@ class TPoint3 : public cv::Point3_<TYPE>
 	inline TYPE& operator [](BYTE i) { ASSERT(i<3); return ptr()[i]; }
 
 	// Access point as vector equivalent
-	inline operator const Vec& () const { return *((const Vec*)this); }
-	inline operator Vec& () { return *((Vec*)this); }
+	inline operator const Vec& () const { return *reinterpret_cast<const Vec*>(this); }
+	inline operator Vec& () { return *reinterpret_cast<Vec*>(this); }
 
 	// Access point as transposed vector equivalent
-	inline operator const VecT& () const { return *((const VecT*)this); }
-	inline operator VecT& () { return *((VecT*)this); }
+	inline operator const VecT& () const { return *reinterpret_cast<const VecT*>(this); }
+	inline operator VecT& () { return *reinterpret_cast<VecT*>(this); }
 
 	#ifdef _USE_EIGEN
 	// Access point as Eigen equivalent
-	inline operator const EVec& () const { return *((const EVec*)this); }
-	inline operator EVec& () { return *((EVec*)this); }
+	inline operator EVec () const { return CEVecMap((const TYPE*)this); }
 	// Access point as Eigen::Map equivalent
-	inline operator const EVecMap () const { return EVecMap((TYPE*)this); }
+	inline operator const EVecMap () const { return CEVecMap((const TYPE*)this); }
 	inline operator EVecMap () { return EVecMap((TYPE*)this); }
 	#endif
 
@@ -1470,7 +1470,7 @@ class TMatrix : public cv::Matx<TYPE,m,n>
 	template <typename T> inline TMatrix(const cv::Point3_<T>& rhs) : Base(rhs.x, rhs.y, rhs.z) {}
 	inline TMatrix(const cv::Mat& rhs) : Base(rhs) {}
 	#ifdef _USE_EIGEN
-	inline TMatrix(const EMat& rhs) { operator EMat& () = rhs; }
+	inline TMatrix(const EMat& rhs) { operator EMatMap () = rhs; }
 	#endif
 
 	TMatrix(TYPE v0); //!< 1x1 matrix
@@ -1507,7 +1507,7 @@ class TMatrix : public cv::Matx<TYPE,m,n>
 	template <typename T> inline TMatrix& operator = (const cv::Matx<T,m,n>& rhs) { Base::operator = (rhs); return *this; }
 	inline TMatrix& operator = (const cv::Mat& rhs) { Base::operator = (rhs); return *this; }
 	#ifdef _USE_EIGEN
-	inline TMatrix& operator = (const EMat& rhs) { operator EMat& () = rhs; return *this; }
+	inline TMatrix& operator = (const EMat& rhs) { operator EMatMap () = rhs; return *this; }
 	#endif
 
 	inline bool IsEqual(const Base&) const;
@@ -1518,13 +1518,12 @@ class TMatrix : public cv::Matx<TYPE,m,n>
 	inline TYPE& operator [](size_t i) { ASSERT(i<elems); return val[i]; }
 
 	// Access point as vector equivalent
-	inline operator const Vec& () const { return *((const Vec*)this); }
-	inline operator Vec& () { return *((Vec*)this); }
+	inline operator const Vec& () const { return *reinterpret_cast<const Vec*>(this); }
+	inline operator Vec& () { return *reinterpret_cast<Vec*>(this); }
 
 	#ifdef _USE_EIGEN
 	// Access point as Eigen equivalent
-	inline operator const EMat& () const { return *((const EMat*)this); }
-	inline operator EMat& () { return *((EMat*)this); }
+	inline operator EMat () const { return CEMatMap((const TYPE*)val); }
 	// Access point as Eigen::Map equivalent
 	inline operator CEMatMap() const { return CEMatMap((const TYPE*)val); }
 	inline operator EMatMap () { return EMatMap((TYPE*)val); }
@@ -1560,6 +1559,7 @@ class TDMatrix : public cv::Mat_<TYPE>
 	typedef cv::Size Size;
 	#ifdef _USE_EIGEN
 	typedef Eigen::Matrix<TYPE,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> EMat;
+	typedef Eigen::Map<const EMat> CEMatMap;
 	typedef Eigen::Map<EMat> EMatMap;
 	#endif
 
@@ -1739,8 +1739,10 @@ class TDMatrix : public cv::Mat_<TYPE>
 	inline TYPE* getData() { ASSERT(cv::Mat::empty() || cv::Mat::isContinuous()); return (TYPE*)data; }
 
 	#ifdef _USE_EIGEN
+	// Access point as Eigen equivalent
+	inline operator EMat () const { return CEMatMap(getData(), rows, cols); }
 	// Access point as Eigen::Map equivalent
-	inline operator const EMatMap () const { return EMatMap(getData(), rows, cols); }
+	inline operator const CEMatMap () const { return CEMatMap(getData(), rows, cols); }
 	inline operator EMatMap () { return EMatMap(getData(), rows, cols); }
 	#endif
 
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 1801155d2..648504994 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -155,7 +155,7 @@ class MVS_API Mesh
 	bool IsEmpty() const { return vertices.empty(); }
 	bool IsWatertight();
 	bool HasTexture() const { return HasTextureCoordinates() && !texturesDiffuse.empty(); }
-	bool HasTextureCoordinates() const { ASSERT(faces.size()*3 == faceTexcoords.size() || vertices.size() == faceTexcoords.size()); return !faceTexcoords.empty(); }
+	bool HasTextureCoordinates() const { ASSERT(faceTexcoords.empty() || faces.size()*3 == faceTexcoords.size() || vertices.size() == faceTexcoords.size()); return !faceTexcoords.empty(); }
 	bool HasTextureCoordinatesPerVertex() const { return !faceTexcoords.empty() && vertices.size() == faceTexcoords.size(); }
 
 	Box GetAABB() const;
diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
index 1a6c95f99..814e73e9c 100644
--- a/libs/MVS/PatchMatchCUDA.cpp
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -363,7 +363,7 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 				const int index = r * depthData.depthMap.cols + c;
 				const Point4& depthNormal = depthNormalEstimates[index];
 				const Depth depth = depthNormal.w();
-				ASSERT(std::isfinite(depth));
+				ASSERT(ISFINITE(depth));
 				depthData.depthMap(r, c) = depth;
 				depthData.normalMap(r, c) = depthNormal.topLeftCorner<3, 1>();
 				if (scaleNumber == 0) {
diff --git a/libs/MVS/SceneReconstruct.cpp b/libs/MVS/SceneReconstruct.cpp
index 03b8c4adb..a6c6d5cce 100644
--- a/libs/MVS/SceneReconstruct.cpp
+++ b/libs/MVS/SceneReconstruct.cpp
@@ -398,8 +398,7 @@ void fetchCellFacets(const delaunay_t& Tr, const std::vector<facet_t>& hullFacet
 	// find all facets on the convex-hull in camera's view
 	// create the 4 frustum planes
 	ASSERT(facets.empty());
-	typedef TFrustum<REAL,4> Frustum;
-	Frustum frustum(imageData.camera.P, imageData.width, imageData.height, 0, 1);
+	const TFrustum<REAL,4> frustum(imageData.camera.P, imageData.width, imageData.height, 0, 1);
 	// loop over all cells
 	const point_t ptOrigin(MVS2CGAL(imageData.camera.C));
 	for (const facet_t& face: hullFacets) {
diff --git a/libs/MVS/SceneRefine.cpp b/libs/MVS/SceneRefine.cpp
index 4896e492b..8628351dd 100644
--- a/libs/MVS/SceneRefine.cpp
+++ b/libs/MVS/SceneRefine.cpp
@@ -419,8 +419,7 @@ void MeshRefine::ListCameraFaces()
 			const Image& imageData = images[ID];
 			if (!imageData.IsValid())
 				continue;
-			typedef TFrustum<float,5> Frustum;
-			const Frustum frustum(Frustum::MATRIX3x4(((PMatrix::CEMatMap)imageData.camera.P).cast<float>()), (float)imageData.width, (float)imageData.height);
+			const TFrustum<float,5> frustum(Matrix3x4f(imageData.camera.P), (float)imageData.width, (float)imageData.height);
 			Mesh::FacesInserter inserter(arrCameraFaces[ID]);
 			octree.Traverse(frustum, inserter);
 		}
diff --git a/libs/MVS/SceneRefineCUDA.cpp b/libs/MVS/SceneRefineCUDA.cpp
index 422eff075..2cade9ddc 100644
--- a/libs/MVS/SceneRefineCUDA.cpp
+++ b/libs/MVS/SceneRefineCUDA.cpp
@@ -2308,8 +2308,7 @@ void MeshRefineCUDA::ListCameraFaces()
 			const Image& imageData = images[ID];
 			if (!imageData.IsValid())
 				continue;
-			typedef TFrustum<float,5> Frustum;
-			const Frustum frustum(Frustum::MATRIX3x4(((PMatrix::CEMatMap)imageData.camera.P).cast<float>()), (float)imageData.width, (float)imageData.height);
+			const TFrustum<float,5> frustum(Matrix3x4f(imageData.camera.P), (float)imageData.width, (float)imageData.height);
 			Mesh::FacesInserter inserter(arrCameraFaces[ID]);
 			octree.Traverse(frustum, inserter);
 		}
diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index e15f06169..8235c6842 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -244,7 +244,7 @@ struct MeshTexture {
 			return patches[idx];
 		}
 		inline void SortByPatchIndex(IndexArr& indices) const {
-			indices.Resize(patches.GetSize());
+			indices.resize(patches.size());
 			std::iota(indices.Begin(), indices.End(), 0);
 			std::sort(indices.Begin(), indices.End(), [&](IndexArr::Type i0, IndexArr::Type i1) -> bool {
 				return patches[i0].idxPatch < patches[i1].idxPatch;
@@ -280,7 +280,7 @@ struct MeshTexture {
 		inline bool Next() {
 			if (pPatches == NULL)
 				return (idx++ == NO_ID);
-			if (++idx >= pPatches->GetSize())
+			if (++idx >= pPatches->size())
 				return false;
 			idxPatch = (*pPatches)[idx].idxPatch;
 			return true;
@@ -476,7 +476,7 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 		views.resize(images.size());
 		std::iota(views.begin(), views.end(), IIndex(0));
 	}
-	facesDatas.Resize(faces.size());
+	facesDatas.resize(faces.size());
 	Util::Progress progress(_T("Initialized views"), views.size());
 	typedef float real;
 	TImage<real> imageGradMag;
@@ -539,8 +539,7 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 		// select faces inside view frustum
 		Mesh::FaceIdxArr cameraFaces;
 		Mesh::FacesInserter inserter(cameraFaces);
-		typedef TFrustum<float,5> Frustum;
-		const Frustum frustum(Frustum::MATRIX3x4(((PMatrix::CEMatMap)imageData.camera.P).cast<float>()), (float)imageData.width, (float)imageData.height);
+		const TFrustum<float,5> frustum(Matrix3x4f(imageData.camera.P), (float)imageData.width, (float)imageData.height);
 		octree.Traverse(frustum, inserter);
 		// project all triangles in this view and keep the closest ones
 		faceMap.create(imageData.GetSize());
@@ -569,7 +568,7 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 		}
 		// compute the projection area of visible faces
 		#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
-		CLISTDEF0IDX(uint32_t,FIndex) areas(faces.GetSize());
+		CLISTDEF0IDX(uint32_t,FIndex) areas(faces.size());
 		areas.Memset(0);
 		#endif
 
@@ -593,10 +592,10 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 				uint32_t& area = areas[idxFace];
 				if (area++ == 0) {
 				#else
-				if (faceDatas.IsEmpty() || faceDatas.Last().idxView != idxView) {
+				if (faceDatas.empty() || faceDatas.back().idxView != idxView) {
 				#endif
 					// create new face-data
-					FaceData& faceData = faceDatas.AddEmpty();
+					FaceData& faceData = faceDatas.emplace_back();
 					faceData.idxView = idxView;
 					faceData.quality = imageGradMag(j,i);
 					#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
@@ -604,8 +603,8 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
 					#endif
 				} else {
 					// update face-data
-					ASSERT(!faceDatas.IsEmpty());
-					FaceData& faceData = faceDatas.Last();
+					ASSERT(!faceDatas.empty());
+					FaceData& faceData = faceDatas.back();
 					ASSERT(faceData.idxView == idxView);
 					faceData.quality += imageGradMag(j,i);
 					#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
@@ -816,7 +815,7 @@ void MeshTexture::CreateVirtualFaces(const FaceDataViewArr& facesDatas, FaceData
 			} while (!currentVirtualFaceQueue.IsEmpty());
 			// compute virtual face quality and create virtual face
 			for (IIndex idxView: selectedCams) {
-				FaceData& virtualFaceData = virtualFaceDatas.AddEmpty();
+				FaceData& virtualFaceData = virtualFaceDatas.emplace_back();
 				virtualFaceData.quality = 0;
 				virtualFaceData.idxView = idxView;
 				#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
@@ -860,11 +859,11 @@ bool MeshTexture::FaceOutlierDetection(FaceDataArr& faceDatas, float thOutlier)
 		thOutlier = 0.15f*255.f;
 
 	// init colors array
-	if (faceDatas.GetSize() <= 3)
+	if (faceDatas.size() <= 3)
 		return false;
 	FloatArr channels[3];
 	for (int c=0; c<3; ++c)
-		channels[c].Resize(faceDatas.GetSize());
+		channels[c].resize(faceDatas.size());
 	FOREACH(i, faceDatas) {
 		const Color& color = faceDatas[i].color;
 		for (int c=0; c<3; ++c)
@@ -874,14 +873,14 @@ bool MeshTexture::FaceOutlierDetection(FaceDataArr& faceDatas, float thOutlier)
 	// find median
 	for (int c=0; c<3; ++c)
 		channels[c].Sort();
-	const unsigned idxMedian(faceDatas.GetSize() >> 1);
+	const unsigned idxMedian(faceDatas.size() >> 1);
 	Color median;
 	for (int c=0; c<3; ++c)
 		median[c] = channels[c][idxMedian];
 
 	// abort if there are not at least 3 inliers
 	int nInliers(0);
-	BoolArr inliers(faceDatas.GetSize());
+	BoolArr inliers(faceDatas.size());
 	FOREACH(i, faceDatas) {
 		const Color& color = faceDatas[i].color;
 		for (int c=0; c<3; ++c) {
@@ -894,7 +893,7 @@ bool MeshTexture::FaceOutlierDetection(FaceDataArr& faceDatas, float thOutlier)
 		++nInliers;
 		CONTINUE_LOOP:;
 	}
-	if (nInliers == faceDatas.GetSize())
+	if (nInliers == faceDatas.size())
 		return true;
 	if (nInliers < 3)
 		return false;
@@ -937,10 +936,10 @@ bool MeshTexture::FaceOutlierDetection(FaceDataArr& faceDatas, float thOutlier)
 	const unsigned minInliers(4);
 
 	// init colors array
-	if (faceDatas.GetSize() <= minInliers)
+	if (faceDatas.size() <= minInliers)
 		return false;
-	Eigen::Matrix3Xd colorsAll(3, faceDatas.GetSize());
-	BoolArr inliers(faceDatas.GetSize());
+	Eigen::Matrix3Xd colorsAll(3, faceDatas.size());
+	BoolArr inliers(faceDatas.size());
 	FOREACH(i, faceDatas) {
 		colorsAll.col(i) = ((const Color::EVec)faceDatas[i].color).cast<double>();
 		inliers[i] = true;
@@ -948,7 +947,7 @@ bool MeshTexture::FaceOutlierDetection(FaceDataArr& faceDatas, float thOutlier)
 
 	// perform outlier removal; abort if something goes wrong
 	// (number of inliers below threshold or can not invert the covariance)
-	size_t numInliers(faceDatas.GetSize());
+	size_t numInliers(faceDatas.size());
 	Eigen::Vector3d mean;
 	Eigen::Matrix3d covariance;
 	Eigen::Matrix3d covarianceInv;
@@ -998,7 +997,7 @@ bool MeshTexture::FaceOutlierDetection(FaceDataArr& faceDatas, float thOutlier)
 				}
 			}
 		}
-		if (numInliers == faceDatas.GetSize())
+		if (numInliers == faceDatas.size())
 			return true;
 		if (numInliers < minInliers)
 			return false;
@@ -1109,8 +1108,7 @@ bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThr
 			}
 			ASSERT((Mesh::FIndex)boost::num_vertices(graph) == virtualFaces.size());
 			// assign the best view to each face
-			labels.resize(faces.size());
-			components.resize(faces.size()); {
+			labels.resize(faces.size()); {
 				// normalize quality values
 				float maxQuality(0);
 				for (const FaceDataArr& faceDatas: virtualFacesDatas) {
@@ -1136,7 +1134,6 @@ bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThr
 						for (boost::tie(ei, eie) = boost::out_edges(f, graph); ei != eie; ++ei) {
 							ASSERT(f == (FIndex)ei->m_source);
 							const FIndex fAdj((FIndex)ei->m_target);
-							ASSERT(components.empty() || components[f] == components[fAdj]);
 							if (f < fAdj) // add edges only once
 								inference.SetNeighbors(f, fAdj);
 						}
@@ -1165,7 +1162,7 @@ bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThr
 				virtualLabels.Memset(0xFF);
 				FOREACH(l, virtualLabels) {
 					const Label label(inference.GetLabel(l));
-					ASSERT(label < images.GetSize()+1);
+					ASSERT(label < images.size()+1);
 					if (label > 0)
 						virtualLabels[l] = label-1;
 				}
@@ -1189,8 +1186,8 @@ bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThr
 				const FIndex idxFaceAdj = afaces[v];
 				if (idxFaceAdj == NO_ID || idxFace >= idxFaceAdj)
 					continue;
-				const bool bInvisibleFace(facesDatas[idxFace].IsEmpty());
-				const bool bInvisibleFaceAdj(facesDatas[idxFaceAdj].IsEmpty());
+				const bool bInvisibleFace(facesDatas[idxFace].empty());
+				const bool bInvisibleFaceAdj(facesDatas[idxFaceAdj].empty());
 				if (bInvisibleFace || bInvisibleFaceAdj) {
 					if (bInvisibleFace != bInvisibleFaceAdj)
 						seamEdges.emplace_back(idxFace, idxFaceAdj);
@@ -1205,9 +1202,7 @@ bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThr
 		// start patch creation starting directly from individual faces
 		if (!bUseVirtualFaces) {
 			// assign the best view to each face
-			labels.resize(faces.size());
-			components.resize(faces.size());
-			{
+			labels.resize(faces.size()); {
 				// normalize quality values
 				float maxQuality(0);
 				for (const FaceDataArr& faceDatas: facesDatas) {
@@ -1233,7 +1228,6 @@ bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThr
 						for (boost::tie(ei, eie) = boost::out_edges(f, graph); ei != eie; ++ei) {
 							ASSERT(f == (FIndex)ei->m_source);
 							const FIndex fAdj((FIndex)ei->m_target);
-							ASSERT(components.empty() || components[f] == components[fAdj]);
 							if (f < fAdj) // add edges only once
 								inference.SetNeighbors(f, fAdj);
 						}
@@ -1269,18 +1263,20 @@ bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThr
 
 				#if TEXOPT_INFERENCE == TEXOPT_INFERENCE_TRWS
 				// find connected components
+				ASSERT((FIndex)boost::num_vertices(graph) == faces.size());
+				components.resize(faces.size());
 				const FIndex nComponents(boost::connected_components(graph, components.data()));
 
 				// map face ID from global to component space
 				typedef cList<NodeID, NodeID, 0, 128, NodeID> NodeIDs;
-				NodeIDs nodeIDs(faces.GetSize());
+				NodeIDs nodeIDs(faces.size());
 				NodeIDs sizes(nComponents);
 				sizes.Memset(0);
 				FOREACH(c, components)
 					nodeIDs[c] = sizes[components[c]]++;
 
 				// initialize inference structures
-				const LabelID numLabels(images.GetSize()+1);
+				const LabelID numLabels(images.size()+1);
 				CLISTDEFIDX(TRWSInference, FIndex) inferences(nComponents);
 				FOREACH(s, sizes) {
 					const NodeID numNodes(sizes[s]);
@@ -1329,7 +1325,7 @@ bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThr
 				// assign the optimal view (label) to each face
 				#ifdef TEXOPT_USE_OPENMP
 				#pragma omp parallel for schedule(dynamic)
-				for (int i=0; i<(int)inferences.GetSize(); ++i) {
+				for (int i=0; i<(int)inferences.size(); ++i) {
 				#else
 				FOREACH(i, inferences) {
 				#endif
@@ -1346,7 +1342,7 @@ bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThr
 						continue;
 					const Label label(inference.GetLabel(nodeIDs[l]));
 					ASSERT(label >= 0 && label < numLabels);
-					if (label < images.GetSize())
+					if (label < images.size())
 						labels[l] = label;
 				}
 				#endif
@@ -1361,7 +1357,7 @@ bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThr
 			for (boost::tie(ei, eie) = boost::edges(graph); ei != eie; ++ei) {
 				const FIndex fSource((FIndex)ei->m_source);
 				const FIndex fTarget((FIndex)ei->m_target);
-				ASSERT(components[fSource] == components[fTarget]);
+				ASSERT(components.empty() || components[fSource] == components[fTarget]);
 				if (labels[fSource] != labels[fTarget])
 					seamEdges.emplace_back(fSource, fTarget);
 			}
@@ -1369,7 +1365,8 @@ bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThr
 				boost::remove_edge(pEdge->i, pEdge->j, graph);
 
 			// find connected components: texture patches
-			ASSERT((FIndex)boost::num_vertices(graph) == components.GetSize());
+			ASSERT((FIndex)boost::num_vertices(graph) == faces.size());
+			components.resize(faces.size());
 			const FIndex nComponents(boost::connected_components(graph, components.data()));
 
 			// create texture patches;
@@ -1378,27 +1375,27 @@ bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThr
 			sizes.Memset(0);
 			FOREACH(c, components)
 				++sizes[components[c]];
-			texturePatches.Resize(nComponents+1);
-			texturePatches.Last().label = NO_ID;
+			texturePatches.resize(nComponents+1);
+			texturePatches.back().label = NO_ID;
 			FOREACH(f, faces) {
 				const Label label(labels[f]);
 				const FIndex c(components[f]);
 				TexturePatch& texturePatch = texturePatches[c];
-				ASSERT(texturePatch.label == label || texturePatch.faces.IsEmpty());
+				ASSERT(texturePatch.label == label || texturePatch.faces.empty());
 				if (label == NO_ID) {
 					texturePatch.label = NO_ID;
-					texturePatches.Last().faces.Insert(f);
+					texturePatches.back().faces.Insert(f);
 				} else {
-					if (texturePatch.faces.IsEmpty()) {
+					if (texturePatch.faces.empty()) {
 						texturePatch.label = label;
-						texturePatch.faces.Reserve(sizes[c]);
+						texturePatch.faces.reserve(sizes[c]);
 					}
 					texturePatch.faces.Insert(f);
 				}
 			}
 			// remove all patches with invalid label (except the last one)
 			// and create the map from the old index to the new one
-			mapIdxPatch.Resize(nComponents);
+			mapIdxPatch.resize(nComponents);
 			std::iota(mapIdxPatch.Begin(), mapIdxPatch.End(), 0);
 			for (FIndex t = nComponents; t-- > 0; ) {
 				if (texturePatches[t].label == NO_ID) {
@@ -1406,14 +1403,14 @@ bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThr
 					mapIdxPatch.RemoveAtMove(t);
 				}
 			}
-			const unsigned numPatches(texturePatches.GetSize()-1);
+			const unsigned numPatches(texturePatches.size()-1);
 			uint32_t idxPatch(0);
-			for (IndexArr::IDX i=0; i<mapIdxPatch.GetSize(); ++i) {
+			for (IndexArr::IDX i=0; i<mapIdxPatch.size(); ++i) {
 				while (i < mapIdxPatch[i])
 					mapIdxPatch.InsertAt(i++, numPatches);
 				mapIdxPatch[i] = idxPatch++;
 			}
-			while (mapIdxPatch.GetSize() <= nComponents)
+			while (mapIdxPatch.size() <= nComponents)
 				mapIdxPatch.Insert(numPatches);
 		}
 	}
@@ -1431,7 +1428,7 @@ void MeshTexture::CreateSeamVertices()
 	VIndex vs[2];
 	uint32_t vs0[2], vs1[2];
 	std::unordered_map<VIndex, uint32_t> mapVertexSeam;
-	const unsigned numPatches(texturePatches.GetSize()-1);
+	const unsigned numPatches(texturePatches.size()-1);
 	for (const PairIdx& edge: seamEdges) {
 		// store edge for the later seam optimization
 		ASSERT(edge.i < edge.j);
@@ -1447,12 +1444,12 @@ void MeshTexture::CreateSeamVertices()
 		vs[0] = faces[edge.i][vs0[0]];
 		vs[1] = faces[edge.i][vs0[1]];
 
-		const auto itSeamVertex0(mapVertexSeam.emplace(std::make_pair(vs[0], seamVertices.GetSize())));
+		const auto itSeamVertex0(mapVertexSeam.emplace(std::make_pair(vs[0], seamVertices.size())));
 		if (itSeamVertex0.second)
 			seamVertices.emplace_back(vs[0]);
 		SeamVertex& seamVertex0 = seamVertices[itSeamVertex0.first->second];
 
-		const auto itSeamVertex1(mapVertexSeam.emplace(std::make_pair(vs[1], seamVertices.GetSize())));
+		const auto itSeamVertex1(mapVertexSeam.emplace(std::make_pair(vs[1], seamVertices.size())));
 		if (itSeamVertex1.second)
 			seamVertices.emplace_back(vs[1]);
 		SeamVertex& seamVertex1 = seamVertices[itSeamVertex1.first->second];
@@ -1485,11 +1482,11 @@ void MeshTexture::CreateSeamVertices()
 
 void MeshTexture::GlobalSeamLeveling()
 {
-	ASSERT(!seamVertices.IsEmpty());
-	const unsigned numPatches(texturePatches.GetSize()-1);
+	ASSERT(!seamVertices.empty());
+	const unsigned numPatches(texturePatches.size()-1);
 
 	// find the patch ID for each vertex
-	PatchIndices patchIndices(vertices.GetSize());
+	PatchIndices patchIndices(vertices.size());
 	patchIndices.Memset(0);
 	FOREACH(f, faces) {
 		const uint32_t idxPatch(mapIdxPatch[components[f]]);
@@ -1499,17 +1496,17 @@ void MeshTexture::GlobalSeamLeveling()
 	}
 	FOREACH(i, seamVertices) {
 		const SeamVertex& seamVertex = seamVertices[i];
-		ASSERT(!seamVertex.patches.IsEmpty());
+		ASSERT(!seamVertex.patches.empty());
 		PatchIndex& patchIndex = patchIndices[seamVertex.idxVertex];
 		patchIndex.bIndex = true;
 		patchIndex.idxSeamVertex = i;
 	}
 
 	// assign a row index within the solution vector x to each vertex/patch
-	ASSERT(vertices.GetSize() < static_cast<VIndex>(std::numeric_limits<MatIdx>::max()));
+	ASSERT(vertices.size() < static_cast<VIndex>(std::numeric_limits<MatIdx>::max()));
 	MatIdx rowsX(0);
 	typedef std::unordered_map<uint32_t,MatIdx> VertexPatch2RowMap;
-	cList<VertexPatch2RowMap> vertpatch2rows(vertices.GetSize());
+	cList<VertexPatch2RowMap> vertpatch2rows(vertices.size());
 	FOREACH(i, vertices) {
 		const PatchIndex& patchIndex = patchIndices[i];
 		VertexPatch2RowMap& vertpatch2row = vertpatch2rows[i];
@@ -1532,7 +1529,7 @@ void MeshTexture::GlobalSeamLeveling()
 	const float lambda(0.1f);
 	MatIdx rowsGamma(0);
 	Mesh::VertexIdxArr adjVerts;
-	CLISTDEF0(MatEntry) rows(0, vertices.GetSize()*4);
+	CLISTDEF0(MatEntry) rows(0, vertices.size()*4);
 	FOREACH(v, vertices) {
 		adjVerts.Empty();
 		scene.mesh.GetAdjVertices(v, adjVerts);
@@ -1558,7 +1555,7 @@ void MeshTexture::GlobalSeamLeveling()
 			}
 		}
 	}
-	ASSERT(rows.GetSize()/2 < static_cast<IDX>(std::numeric_limits<MatIdx>::max()));
+	ASSERT(rows.size()/2 < static_cast<IDX>(std::numeric_limits<MatIdx>::max()));
 
 	SparseMat Gamma(rowsGamma, rowsX);
 	Gamma.setFromTriplets(rows.Begin(), rows.End());
@@ -1569,10 +1566,10 @@ void MeshTexture::GlobalSeamLeveling()
 	Colors vertexColors;
 	Colors coeffB;
 	for (const SeamVertex& seamVertex: seamVertices) {
-		if (seamVertex.patches.GetSize() < 2)
+		if (seamVertex.patches.size() < 2)
 			continue;
 		seamVertex.SortByPatchIndex(indices);
-		vertexColors.Resize(indices.GetSize());
+		vertexColors.resize(indices.size());
 		FOREACH(i, indices) {
 			const SeamVertex::Patch& patch0 = seamVertex.patches[indices[i]];
 			ASSERT(patch0.idxPatch < numPatches);
@@ -1587,26 +1584,26 @@ void MeshTexture::GlobalSeamLeveling()
 			vertexColors[i] = sampler.GetColor();
 		}
 		const VertexPatch2RowMap& vertpatch2row = vertpatch2rows[seamVertex.idxVertex];
-		for (IDX i=0; i<indices.GetSize()-1; ++i) {
+		for (IDX i=0; i<indices.size()-1; ++i) {
 			const uint32_t idxPatch0(seamVertex.patches[indices[i]].idxPatch);
 			const Color& color0 = vertexColors[i];
 			const MatIdx col0(vertpatch2row.at(idxPatch0));
-			for (IDX j=i+1; j<indices.GetSize(); ++j) {
+			for (IDX j=i+1; j<indices.size(); ++j) {
 				const uint32_t idxPatch1(seamVertex.patches[indices[j]].idxPatch);
 				const Color& color1 = vertexColors[j];
 				const MatIdx col1(vertpatch2row.at(idxPatch1));
 				ASSERT(idxPatch0 < idxPatch1);
-				const MatIdx rowA((MatIdx)coeffB.GetSize());
+				const MatIdx rowA((MatIdx)coeffB.size());
 				coeffB.Insert(color1 - color0);
-				ASSERT(ISFINITE(coeffB.Last()));
+				ASSERT(ISFINITE(coeffB.back()));
 				rows.emplace_back(rowA, col0,  1.f);
 				rows.emplace_back(rowA, col1, -1.f);
 			}
 		}
 	}
-	ASSERT(coeffB.GetSize() < static_cast<IDX>(std::numeric_limits<MatIdx>::max()));
+	ASSERT(coeffB.size() < static_cast<IDX>(std::numeric_limits<MatIdx>::max()));
 
-	const MatIdx rowsA((MatIdx)coeffB.GetSize());
+	const MatIdx rowsA((MatIdx)coeffB.size());
 	SparseMat A(rowsA, rowsX);
 	A.setFromTriplets(rows.Begin(), rows.End());
 	rows.Release();
@@ -2156,7 +2153,7 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 	}
 	{
 		// init last patch to point to a small uniform color patch
-		TexturePatch& texturePatch = texturePatches.Last();
+		TexturePatch& texturePatch = texturePatches.back();
 		const int sizePatch(border*2+1);
 		texturePatch.rect = cv::Rect(0,0, sizePatch,sizePatch);
 		for (const FIndex idxFace: texturePatch.faces) {
@@ -2167,7 +2164,7 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 	}
 
 	// perform seam leveling
-	if (texturePatches.GetSize() > 2 && (bGlobalSeamLeveling || bLocalSeamLeveling)) {
+	if (texturePatches.size() > 2 && (bGlobalSeamLeveling || bLocalSeamLeveling)) {
 		// create seam vertices and edges
 		CreateSeamVertices();
 
@@ -2255,7 +2252,7 @@ void MeshTexture::GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLevel
 				default:
 					ABORT("error: unknown RectsBinPack type");
 				}
-				DEBUG_ULTIMATE("\tpacking texture completed: %u initial patches, %u placed patches, %u texture-size, %u textures (%s)", texturePatches.size(), newPlacedRects.GetSize(), textureSize, placedRects.size(), TD_TIMER_GET_FMT().c_str());
+				DEBUG_ULTIMATE("\tpacking texture completed: %u initial patches, %u placed patches, %u texture-size, %u textures (%s)", texturePatches.size(), newPlacedRects.size(), textureSize, placedRects.size(), TD_TIMER_GET_FMT().c_str());
 
 				if (textureSize == maxTextureSize || unplacedRects.empty()) {
 					// create texture image
@@ -2342,14 +2339,14 @@ bool Scene::TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsi
 		TD_TIMER_STARTD();
 		if (!texture.FaceViewSelection(minCommonCameras, fOutlierThreshold, fRatioDataSmoothness, nIgnoreMaskLabel, views))
 			return false;
-		DEBUG_EXTRA("Assigning the best view to each face completed: %u faces (%s)", mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
+		DEBUG_EXTRA("Assigning the best view to each face completed: %u faces (%s)", mesh.faces.size(), TD_TIMER_GET_FMT().c_str());
 	}
 
 	// generate the texture image and atlas
 	{
 		TD_TIMER_STARTD();
 		texture.GenerateTexture(bGlobalSeamLeveling, bLocalSeamLeveling, nTextureSizeMultiple, nRectPackingHeuristic, colEmpty, fSharpnessWeight, maxTextureSize);
-		DEBUG_EXTRA("Generating texture atlas and image completed: %u patches, %u image size, %u textures (%s)", texture.texturePatches.GetSize(), mesh.texturesDiffuse[0].width(), mesh.texturesDiffuse.size(), TD_TIMER_GET_FMT().c_str());
+		DEBUG_EXTRA("Generating texture atlas and image completed: %u patches, %u image size, %u textures (%s)", texture.texturePatches.size(), mesh.texturesDiffuse[0].width(), mesh.texturesDiffuse.size(), TD_TIMER_GET_FMT().c_str());
 	}
 
 	return true;
diff --git a/libs/Math/SimilarityTransform.cpp b/libs/Math/SimilarityTransform.cpp
index 1b5685d95..f35b220e1 100644
--- a/libs/Math/SimilarityTransform.cpp
+++ b/libs/Math/SimilarityTransform.cpp
@@ -57,8 +57,9 @@ bool SEACAVE::SimilarityTransform(const CLISTDEF0(Point3)& points, const CLISTDE
 void SEACAVE::DecomposeSimilarityTransform(const Matrix4x4& transform, Matrix3x3& R, Point3& t, REAL& s)
 {
 	const Eigen::Transform<REAL,3,Eigen::Affine,Eigen::RowMajor> T(static_cast<const Matrix4x4::EMat&>(transform));
-	Eigen::Matrix<REAL,3,3> scaling;
-	T.computeRotationScaling(&static_cast<Matrix3x3::EMat&>(R), &scaling);
+	Eigen::Matrix<REAL,3,3> rotation, scaling;
+	T.computeRotationScaling(&rotation, &scaling);
+	R = rotation;
 	t = T.translation();
 	s = scaling.diagonal().mean();
 } // DecomposeSimilarityTransform

From ac4389959f995f57952b78850029aa2d00601ba1 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sun, 12 Nov 2023 00:13:47 +0200
Subject: [PATCH 227/252] texture: fix non-OMP code and some warnings

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp |  8 ++++----
 apps/InterfaceMVSNet/InterfaceMVSNet.cpp     |  4 ++--
 apps/ReconstructMesh/ReconstructMesh.cpp     |  4 ++--
 apps/RefineMesh/RefineMesh.cpp               |  4 ++--
 apps/TextureMesh/TextureMesh.cpp             |  4 ++--
 apps/TransformScene/TransformScene.cpp       |  6 +++---
 build/Utils.cmake                            |  1 +
 libs/Common/Timer.cpp                        |  2 +-
 libs/Common/Util.h                           | 10 +++++-----
 libs/MVS/RectsBinPack.cpp                    |  6 +++---
 libs/MVS/Scene.cpp                           |  2 --
 11 files changed, 25 insertions(+), 26 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 4bcb55e57..68fe70641 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -401,12 +401,12 @@ int main(int argc, LPCTSTR* argv)
 		return EXIT_SUCCESS;
 	}
 	PointCloud sparsePointCloud;
-	if (OPT::nArchiveType != ARCHIVE_MVS || sceneType == Scene::SCENE_INTERFACE) {
+	if ((ARCHIVE_TYPE)OPT::nArchiveType != ARCHIVE_MVS || sceneType == Scene::SCENE_INTERFACE) {
 		#if TD_VERBOSE != TD_VERBOSE_OFF
 		if (VERBOSITY_LEVEL > 1 && !scene.pointcloud.IsEmpty())
 			scene.pointcloud.PrintStatistics(scene.images.data(), &scene.obb);
 		#endif
-		if (OPT::nArchiveType == ARCHIVE_MVS)
+		if ((ARCHIVE_TYPE)OPT::nArchiveType == ARCHIVE_MVS)
 			sparsePointCloud = scene.pointcloud;
 		TD_TIMER_START();
 		if (!scene.DenseReconstruction(OPT::nFusionMode, OPT::bCrop2ROI, OPT::fBorderROI)) {
@@ -420,12 +420,12 @@ int main(int argc, LPCTSTR* argv)
 
 	// save the final point-cloud
 	const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
-	scene.pointcloud.Save(baseFileName+_T(".ply"), OPT::nArchiveType==ARCHIVE_MVS);
+	scene.pointcloud.Save(baseFileName+_T(".ply"), (ARCHIVE_TYPE)OPT::nArchiveType == ARCHIVE_MVS);
 	#if TD_VERBOSE != TD_VERBOSE_OFF
 	if (VERBOSITY_LEVEL > 2)
 		scene.ExportCamerasMLP(baseFileName+_T(".mlp"), baseFileName+_T(".ply"));
 	#endif
-	if (OPT::nArchiveType == ARCHIVE_MVS)
+	if ((ARCHIVE_TYPE)OPT::nArchiveType == ARCHIVE_MVS)
 		scene.pointcloud.Swap(sparsePointCloud);
 	scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
 	return EXIT_SUCCESS;
diff --git a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
index fa9247ba5..5db3f8528 100644
--- a/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
+++ b/apps/InterfaceMVSNet/InterfaceMVSNet.cpp
@@ -465,7 +465,7 @@ bool ParseSceneNerfstudio(Scene& scene, const String& strPath)
 			(float)dMin, (float)dMax,
 			depthMap, normalMap, confMap, viewsMap))
 		{
-			VERBOSE("Unable to save dmap: %s", dmapPath);
+			VERBOSE("Unable to save dmap: %s", dmapPath.c_str());
 			continue;
 		}
 	}
@@ -633,7 +633,7 @@ bool ParseSceneRTMV(Scene& scene, const String& strPath)
 			(float)dMin, (float)dMax,
 			depthMap, normalMap, confMap, viewsMap))
 		{
-			VERBOSE("Unable to save dmap: %s", dmapPath);
+			VERBOSE("Unable to save dmap: %s", dmapPath.c_str());
 			continue;
 		}
 	}
diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index 0825e790d..cf9ece7bb 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -209,7 +209,7 @@ bool Application::Initialize(size_t argc, LPCTSTR* argv)
 	Util::ensureValidPath(OPT::strImportROIFileName);
 	Util::ensureValidPath(OPT::strImagePointsFileName);
 	Util::ensureValidPath(OPT::strMeshFileName);
-	if (OPT::strPointCloudFileName.empty() && OPT::nArchiveType == ARCHIVE_MVS)
+	if (OPT::strPointCloudFileName.empty() && (ARCHIVE_TYPE)OPT::nArchiveType == ARCHIVE_MVS)
 		OPT::strPointCloudFileName = Util::getFileFullName(OPT::strInputFileName) + _T(".ply");
 	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_mesh.mvs");
@@ -483,7 +483,7 @@ int main(int argc, LPCTSTR* argv)
 		if (VERBOSITY_LEVEL > 2)
 			scene.ExportCamerasMLP(baseFileName+_T(".mlp"), baseFileName+OPT::strExportType);
 		#endif
-		if (OPT::nArchiveType != ARCHIVE_MVS || sceneType != Scene::SCENE_INTERFACE)
+		if ((ARCHIVE_TYPE)OPT::nArchiveType != ARCHIVE_MVS || sceneType != Scene::SCENE_INTERFACE)
 			scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
 	}
 
diff --git a/apps/RefineMesh/RefineMesh.cpp b/apps/RefineMesh/RefineMesh.cpp
index daa16f206..3aa6230c5 100644
--- a/apps/RefineMesh/RefineMesh.cpp
+++ b/apps/RefineMesh/RefineMesh.cpp
@@ -182,7 +182,7 @@ bool Application::Initialize(size_t argc, LPCTSTR* argv)
 	// initialize optional options
 	Util::ensureValidPath(OPT::strMeshFileName);
 	Util::ensureValidPath(OPT::strOutputFileName);
-	if (OPT::strMeshFileName.empty() && OPT::nArchiveType == ARCHIVE_MVS)
+	if (OPT::strMeshFileName.empty() && (ARCHIVE_TYPE)OPT::nArchiveType == ARCHIVE_MVS)
 		OPT::strMeshFileName = Util::getFileFullName(OPT::strInputFileName) + _T(".ply");
 	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_refine.mvs");
@@ -259,7 +259,7 @@ int main(int argc, LPCTSTR* argv)
 	if (VERBOSITY_LEVEL > 2)
 		scene.ExportCamerasMLP(baseFileName+_T(".mlp"), baseFileName+OPT::strExportType);
 	#endif
-	if (OPT::nArchiveType != ARCHIVE_MVS || sceneType != Scene::SCENE_INTERFACE)
+	if ((ARCHIVE_TYPE)OPT::nArchiveType != ARCHIVE_MVS || sceneType != Scene::SCENE_INTERFACE)
 		scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
 	return EXIT_SUCCESS;
 }
diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index a4ef69935..703e4b1a8 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -203,7 +203,7 @@ bool Application::Initialize(size_t argc, LPCTSTR* argv)
 	Util::ensureValidPath(OPT::strMeshFileName);
 	Util::ensureValidPath(OPT::strOutputFileName);
 	Util::ensureValidPath(OPT::strViewsFileName);
-	if (OPT::strMeshFileName.empty() && OPT::nArchiveType == ARCHIVE_MVS)
+	if (OPT::strMeshFileName.empty() && (ARCHIVE_TYPE)OPT::nArchiveType == ARCHIVE_MVS)
 		OPT::strMeshFileName = Util::getFileFullName(OPT::strInputFileName) + _T(".ply");
 	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_texture.mvs");
@@ -318,7 +318,7 @@ int main(int argc, LPCTSTR* argv)
 	if (VERBOSITY_LEVEL > 2)
 		scene.ExportCamerasMLP(baseFileName+_T(".mlp"), baseFileName+OPT::strExportType);
 	#endif
-	if (OPT::nArchiveType != ARCHIVE_MVS || sceneType != Scene::SCENE_INTERFACE)
+	if ((ARCHIVE_TYPE)OPT::nArchiveType != ARCHIVE_MVS || sceneType != Scene::SCENE_INTERFACE)
 		scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
 	}
 
diff --git a/apps/TransformScene/TransformScene.cpp b/apps/TransformScene/TransformScene.cpp
index bdf78f054..b4dab28bc 100644
--- a/apps/TransformScene/TransformScene.cpp
+++ b/apps/TransformScene/TransformScene.cpp
@@ -188,7 +188,7 @@ bool Application::Initialize(size_t argc, LPCTSTR* argv)
 	Util::ensureValidPath(OPT::strPointCloudFileName);
 	Util::ensureValidPath(OPT::strMeshFileName);
 	Util::ensureValidPath(OPT::strOutputFileName);
-	if (OPT::strMeshFileName.empty() && OPT::nArchiveType == ARCHIVE_MVS && strInputFileNameExt == MVS_EXT)
+	if (OPT::strMeshFileName.empty() && (ARCHIVE_TYPE)OPT::nArchiveType == ARCHIVE_MVS && strInputFileNameExt == MVS_EXT)
 		OPT::strMeshFileName = Util::getFileFullName(OPT::strInputFileName) + _T(".ply");
 	if (OPT::strOutputFileName.empty())
 		OPT::strOutputFileName = Util::getFileName(OPT::strInputFileName) + _T("_transformed") MVS_EXT;
@@ -318,9 +318,9 @@ int main(int argc, LPCTSTR* argv)
 	// write transformed scene
 	if (scene.IsValid())
 		scene.Save(MAKE_PATH_SAFE(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
-	if (!scene.IsValid() || OPT::nArchiveType == ARCHIVE_MVS) {
+	if (!scene.IsValid() || (ARCHIVE_TYPE)OPT::nArchiveType == ARCHIVE_MVS) {
 		if (!scene.pointcloud.IsEmpty())
-			scene.pointcloud.Save(baseFileName + _T(".ply"), OPT::nArchiveType==ARCHIVE_MVS);
+			scene.pointcloud.Save(baseFileName + _T(".ply"), (ARCHIVE_TYPE)OPT::nArchiveType == ARCHIVE_MVS);
 		if (!scene.mesh.IsEmpty())
 			scene.mesh.Save(baseFileName + OPT::strExportType);
 	}
diff --git a/build/Utils.cmake b/build/Utils.cmake
index 9c2430faa..9897b1bf5 100644
--- a/build/Utils.cmake
+++ b/build/Utils.cmake
@@ -487,6 +487,7 @@ macro(optimize_default_compiler_settings)
 		add_extra_compiler_option(-Wno-delete-incomplete)
 		add_extra_compiler_option(-Wno-unnamed-type-template-args)
 		add_extra_compiler_option(-Wno-int-in-bool-context)
+		add_extra_compiler_option(-Wno-deprecated-declarations)
 	  endif()
 	  add_extra_compiler_option(-fdiagnostics-show-option)
 	  add_extra_compiler_option(-ftemplate-backtrace-limit=0)
diff --git a/libs/Common/Timer.cpp b/libs/Common/Timer.cpp
index 332c6e41b..56e6af0b7 100644
--- a/libs/Common/Timer.cpp
+++ b/libs/Common/Timer.cpp
@@ -120,7 +120,7 @@ LPTSTR Timer::GetClock(uint8_t* nHH, uint8_t* nMM, LPTSTR szChar) const
 	if (szChar == NULL)
 		return NULL;
 
-	_stprintf(szChar, "%.2d:%.2d:%.2d", m_nHH, m_nMM, m_nSS);
+	_sntprintf(szChar, 32, "%.2d:%.2d:%.2d", m_nHH, m_nMM, m_nSS);
 	return szChar;
 } // GetClock
 /*----------------------------------------------------------------*/
diff --git a/libs/Common/Util.h b/libs/Common/Util.h
index 95050e89f..76f947858 100644
--- a/libs/Common/Util.h
+++ b/libs/Common/Util.h
@@ -598,34 +598,34 @@ class GENERAL_API Util
 		uint32_t rez = (uint32_t)(sTime / ((int64_t)24*3600*1000));
 		if (rez) {
 			++nrNumbers;
-			len += _stprintf(buf+len, "%ud", rez);
+			len += _sntprintf(buf+len, 128, "%ud", rez);
 		}
 		if (nAproximate > 3 && nrNumbers > 0)
 			return buf;
 		rez = (uint32_t)((sTime%((int64_t)24*3600*1000)) / (3600*1000));
 		if (rez) {
 			++nrNumbers;
-			len += _stprintf(buf+len, "%uh", rez);
+			len += _sntprintf(buf+len, 128, "%uh", rez);
 		}
 		if (nAproximate > 2 && nrNumbers > 0)
 			return buf;
 		rez = (uint32_t)((sTime%((int64_t)3600*1000)) / (60*1000));
 		if (rez) {
 			++nrNumbers;
-			len += _stprintf(buf+len, "%um", rez);
+			len += _sntprintf(buf+len, 128, "%um", rez);
 		}
 		if (nAproximate > 1 && nrNumbers > 0)
 			return buf;
 		rez = (uint32_t)((sTime%((int64_t)60*1000)) / (1*1000));
 		if (rez) {
 			++nrNumbers;
-			len += _stprintf(buf+len, "%us", rez);
+			len += _sntprintf(buf+len, 128, "%us", rez);
 		}
 		if (nAproximate > 0 && nrNumbers > 0)
 			return buf;
 		rez = (uint32_t)(sTime%((int64_t)1*1000));
 		if (rez || !nrNumbers)
-			len += _stprintf(buf+len, "%ums", rez);
+			len += _sntprintf(buf+len, 128, "%ums", rez);
 
 		return String(buf, len);
 	}
diff --git a/libs/MVS/RectsBinPack.cpp b/libs/MVS/RectsBinPack.cpp
index 0f93358c8..3a3fef6e9 100644
--- a/libs/MVS/RectsBinPack.cpp
+++ b/libs/MVS/RectsBinPack.cpp
@@ -106,7 +106,7 @@ MaxRectsBinPack::RectWIdxArr MaxRectsBinPack::Insert(RectWIdxArr& unplacedRects,
 			IDX privBestRectIndex = NO_IDX;
 			Rect privBestNode;
 			#pragma omp for nowait
-			for (int_t i=0; i<(int_t)unplacedRects.GetSize(); ++i) {
+			for (int_t i=0; i<(int_t)unplacedRects.size(); ++i) {
 				int score1, score2;
 				Rect newNode(ScoreRect(unplacedRects[i].rect.width, unplacedRects[i].rect.height, method, score1, score2));
 				if (score1 < privBestScore1 || (score1 == privBestScore1 && score2 < privBestScore2)) {
@@ -127,9 +127,9 @@ MaxRectsBinPack::RectWIdxArr MaxRectsBinPack::Insert(RectWIdxArr& unplacedRects,
 			}
 		}
 		#else
-		FOREACH(i, rects) {
+		FOREACH(i, unplacedRects) {
 			int score1, score2;
-			Rect newNode(ScoreRect(rects[i].width, rects[i].height, method, score1, score2));
+			Rect newNode(ScoreRect(unplacedRects[i].rect.width, unplacedRects[i].rect.height, method, score1, score2));
 			if (score1 < bestScore1 || (score1 == bestScore1 && score2 < bestScore2)) {
 				bestScore1 = score1;
 				bestScore2 = score2;
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 4943cf4af..9f031d249 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -1926,8 +1926,6 @@ PointCloud Scene::BuildTowerMesh(const PointCloud& origPointCloud, const Point2f
 				const float aboveRad(circleRadii[ri - 1]);
 				float& circleRadius = circleRadii[ri];
 				const float belowRad(circleRadii[ri + 1]);
-				const float AbvCrtDeltaPrc = ABS(aboveRad - circleRadius) / aboveRad;
-				const float BelCrtDeltaPrc = ABS(circleRadius - belowRad) / circleRadius;
 				// set current radius as average of the most similar values in the closest 7 neighbors
 				if (ri > 2 && ri < circleRadii.size() - 5) {
 					FloatArr neighSeven(7);

From bc67cf9b4a7685d14aad70ff6ef68cd6b425e0c0 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 22 Nov 2023 05:02:44 +0200
Subject: [PATCH 228/252] dense: estimate normal-map from depth-map during
 fusion if requested

---
 apps/ReconstructMesh/ReconstructMesh.cpp |  4 +-
 libs/MVS/SceneDensify.cpp                | 83 +++++++++++++++++-------
 vcpkg.json                               |  3 +-
 3 files changed, 65 insertions(+), 25 deletions(-)

diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index cf9ece7bb..f7c0f6d83 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -350,7 +350,9 @@ int main(int argc, LPCTSTR* argv)
 		OPT::fSplitMaxArea > 0 || OPT::fDecimateMesh < 1 || OPT::nTargetFaceNum > 0 || !OPT::strImportROIFileName.empty()));
 	if (sceneType == Scene::SCENE_NA)
 		return EXIT_FAILURE;
-	if (!OPT::strPointCloudFileName.empty() && !scene.pointcloud.Load(MAKE_PATH_SAFE(OPT::strPointCloudFileName))) {
+	if (!OPT::strPointCloudFileName.empty() && (File::isFile(MAKE_PATH_SAFE(OPT::strPointCloudFileName)) ?
+		!scene.pointcloud.Load(MAKE_PATH_SAFE(OPT::strPointCloudFileName)) :
+		!scene.pointcloud.IsValid())) {
 		VERBOSE("error: cannot load point-cloud file");
 		return EXIT_FAILURE;
 	}
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 19b451d95..2a6d9bf3a 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -1389,33 +1389,72 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 	typedef SEACAVE::cList<ProjArr,const ProjArr&,1,65536> ProjsArr;
 
 	// find best connected images
-	IndexScoreArr connections(0, scene.images.GetSize());
+	IndexScoreArr connections(scene.images.size());
 	size_t nPointsEstimate(0);
 	bool bNormalMap(true);
-	FOREACH(i, scene.images) {
-		DepthData& depthData = arrDepthData[i];
+	#ifdef DENSE_USE_OPENMP
+	bool bAbort(false);
+	#pragma omp parallel for shared(connections, nPointsEstimate, bNormalMap, bAbort)
+	for (int64_t i=0; i<(int64_t)scene.images.size(); ++i) {
+		#pragma omp flush (bAbort)
+		if (bAbort)
+			continue;
+		const IIndex idxImage((IIndex)i);
+	#else
+	FOREACH(idxImage, scene.images) {
+	#endif
+		DepthData& depthData = arrDepthData[idxImage];
 		if (!depthData.IsValid())
 			continue;
-		if (depthData.IncRef(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap")) == 0)
+		const String fileName(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"));
+		if (depthData.IncRef(fileName) == 0) {
+			#ifdef DENSE_USE_OPENMP
+			bAbort = true;
+			#pragma omp flush (bAbort)
+			continue;
+			#else
 			return;
+			#endif
+		}
 		ASSERT(!depthData.IsEmpty());
-		IndexScore& connection = connections.AddEmpty();
-		connection.idx = i;
-		connection.score = (float)scene.images[i].neighbors.GetSize();
+		IndexScore& connection = connections[idxImage];
+		connection.idx = idxImage;
+		connection.score = (float)scene.images[idxImage].neighbors.size();
+		if (bEstimateNormal && depthData.normalMap.empty()) {
+			EstimateNormalMap(depthData.images.front().camera.K, depthData.depthMap, depthData.normalMap);
+			if (!depthData.Save(fileName)) {
+				#ifdef DENSE_USE_OPENMP
+				bAbort = true;
+				#pragma omp flush (bAbort)
+				continue;
+				#else
+				return;
+				#endif
+			}
+		}
+		#ifdef DENSE_USE_OPENMP
+		#pragma omp critical
+		#endif
+		{
 		nPointsEstimate += ROUND2INT(depthData.depthMap.area()*(0.5f/*valid*/*0.3f/*new*/));
 		if (depthData.normalMap.empty())
 			bNormalMap = false;
+		}
 	}
+	#ifdef DENSE_USE_OPENMP
+	if (bAbort)
+		return;
+	#endif
 	connections.Sort();
 
 	// fuse all depth-maps, processing the best connected images first
-	const unsigned nMinViewsFuse(MINF(OPTDENSE::nMinViewsFuse, scene.images.GetSize()));
+	const unsigned nMinViewsFuse(MINF(OPTDENSE::nMinViewsFuse, scene.images.size()));
 	const float normalError(COS(FD2R(OPTDENSE::fNormalDiffThreshold)));
 	CLISTDEF0(Depth*) invalidDepths(0, 32);
 	size_t nDepths(0);
 	typedef TImage<cuint32_t> DepthIndex;
 	typedef cList<DepthIndex> DepthIndexArr;
-	DepthIndexArr arrDepthIdx(scene.images.GetSize());
+	DepthIndexArr arrDepthIdx(scene.images.size());
 	ProjsArr projs(0, nPointsEstimate);
 	if (bEstimateNormal && !bNormalMap)
 		bEstimateNormal = false;
@@ -1426,13 +1465,13 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 		pointcloud.colors.Reserve(nPointsEstimate);
 	if (bEstimateNormal)
 		pointcloud.normals.Reserve(nPointsEstimate);
-	Util::Progress progress(_T("Fused depth-maps"), connections.GetSize());
+	Util::Progress progress(_T("Fused depth-maps"), connections.size());
 	GET_LOGCONSOLE().Pause();
-	FOREACHPTR(pConnection, connections) {
+	for (const IndexScore& connection: connections) {
 		TD_TIMER_STARTD();
-		const uint32_t idxImage(pConnection->idx);
+		const uint32_t idxImage(connection.idx);
 		const DepthData& depthData(arrDepthData[idxImage]);
-		ASSERT(!depthData.images.IsEmpty() && !depthData.neighbors.IsEmpty());
+		ASSERT(!depthData.images.empty() && !depthData.neighbors.empty());
 		for (const ViewScore& neighbor: depthData.neighbors) {
 			DepthIndex& depthIdxs = arrDepthIdx[neighbor.ID];
 			if (!depthIdxs.empty())
@@ -1445,14 +1484,14 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 		}
 		ASSERT(!depthData.IsEmpty());
 		const Image8U::Size sizeMap(depthData.depthMap.size());
-		const Image& imageData = *depthData.images.First().pImageData;
-		ASSERT(&imageData-scene.images.Begin() == idxImage);
+		const Image& imageData = *depthData.images.front().pImageData;
+		ASSERT(&imageData-scene.images.data() == idxImage);
 		DepthIndex& depthIdxs = arrDepthIdx[idxImage];
 		if (depthIdxs.empty()) {
 			depthIdxs.create(Image8U::Size(imageData.width, imageData.height));
 			depthIdxs.memset((uint8_t)NO_ID);
 		}
-		const size_t nNumPointsPrev(pointcloud.points.GetSize());
+		const size_t nNumPointsPrev(pointcloud.points.size());
 		for (int i=0; i<sizeMap.height; ++i) {
 			for (int j=0; j<sizeMap.width; ++j) {
 				const ImageRef x(j,i);
@@ -1465,14 +1504,14 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 				if (idxPoint != NO_ID)
 					continue;
 				// create the corresponding 3D point
-				idxPoint = (uint32_t)pointcloud.points.GetSize();
-				PointCloud::Point& point = pointcloud.points.AddEmpty();
+				idxPoint = (uint32_t)pointcloud.points.size();
+				PointCloud::Point& point = pointcloud.points.emplace_back();
 				point = imageData.camera.TransformPointI2W(Point3(Point2f(x),depth));
-				PointCloud::ViewArr& views = pointcloud.pointViews.AddEmpty();
+				PointCloud::ViewArr& views = pointcloud.pointViews.emplace_back();
 				views.Insert(idxImage);
-				PointCloud::WeightArr& weights = pointcloud.pointWeights.AddEmpty();
+				PointCloud::WeightArr& weights = pointcloud.pointWeights.emplace_back();
 				REAL confidence(weights.emplace_back(Conf2Weight(depthData.confMap.empty() ? 1.f : depthData.confMap(x),depth)));
-				ProjArr& pointProjs = projs.AddEmpty();
+				ProjArr& pointProjs = projs.emplace_back();
 				pointProjs.Insert(Proj(x));
 				const PointCloud::Normal normal(bNormalMap ? Cast<Normal::Type>(imageData.camera.R.t()*Cast<REAL>(depthData.normalMap(x))) : Normal(0,0,-1));
 				ASSERT(ISEQUAL(norm(normal), 1.f));
@@ -1555,7 +1594,7 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 		}
 		ASSERT(pointcloud.points.size() == pointcloud.pointViews.size() && pointcloud.points.size() == pointcloud.pointWeights.size() && pointcloud.points.size() == projs.size());
 		DEBUG_ULTIMATE("Depths map for reference image %3u fused using %u depths maps: %u new points (%s)", idxImage, depthData.images.size()-1, pointcloud.points.size()-nNumPointsPrev, TD_TIMER_GET_FMT().c_str());
-		progress.display(pConnection-connections.data());
+		progress.display(&connection-connections.data());
 	}
 	GET_LOGCONSOLE().Play();
 	progress.close();
diff --git a/vcpkg.json b/vcpkg.json
index 0c1542b1a..5414c7bc1 100644
--- a/vcpkg.json
+++ b/vcpkg.json
@@ -24,8 +24,7 @@
         "openexr"
       ]
     },
-    "opencv",
-	"opengl",
+    "opengl",
     "tiff",
     "vcglib",
     "zlib"

From 186eb29e4386f06ecd1b1f1e0cb952e63722371b Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 2 Dec 2023 14:39:30 +0200
Subject: [PATCH 229/252] interface: make depth import optional in polycam

---
 apps/InterfacePolycam/InterfacePolycam.cpp | 61 ++++++++++++----------
 1 file changed, 32 insertions(+), 29 deletions(-)

diff --git a/apps/InterfacePolycam/InterfacePolycam.cpp b/apps/InterfacePolycam/InterfacePolycam.cpp
index 2bc771175..46ba1b602 100644
--- a/apps/InterfacePolycam/InterfacePolycam.cpp
+++ b/apps/InterfacePolycam/InterfacePolycam.cpp
@@ -237,28 +237,30 @@ bool ParseImage(Scene& scene, const String& imagePath, const String& cameraPath,
 		}
 	}
 	// load and convert depth-map
-	DepthMap depthMap; {
-		constexpr double depthScale{1000.0};
-		const cv::Mat imgDepthMap = cv::imread(depthPath, cv::IMREAD_ANYDEPTH);
-		if (imgDepthMap.empty())
+	if (!depthPath.empty()) {
+		DepthMap depthMap; {
+			constexpr double depthScale{1000.0};
+			const cv::Mat imgDepthMap = cv::imread(depthPath, cv::IMREAD_ANYDEPTH);
+			if (imgDepthMap.empty())
+				return false;
+			imgDepthMap.convertTo(depthMap, CV_32FC1, 1.0/depthScale);
+		}
+		IIndexArr IDs = {imageData.ID};
+		IDs.JoinFunctor(imageData.neighbors.size(), [&imageData](IIndex i) {
+			return imageData.neighbors[i].ID;
+		});
+		double dMin, dMax;
+		cv::minMaxIdx(depthMap, &dMin, &dMax, NULL, NULL, depthMap > 0);
+		const NormalMap normalMap;
+		const ConfidenceMap confMap;
+		const ViewsMap viewsMap;
+		if (!ExportDepthDataRaw(MAKE_PATH(String::FormatString("depth%04u.dmap", imageData.ID)),
+			imageData.name, IDs, resolution,
+			camera.K, pose.R, pose.C,
+			(float)dMin, (float)dMax,
+			depthMap, normalMap, confMap, viewsMap))
 			return false;
-		imgDepthMap.convertTo(depthMap, CV_32FC1, 1.0/depthScale);
 	}
-	IIndexArr IDs = {imageData.ID};
-	IDs.JoinFunctor(imageData.neighbors.size(), [&imageData](IIndex i) {
-		return imageData.neighbors[i].ID;
-	});
-	double dMin, dMax;
-	cv::minMaxIdx(depthMap, &dMin, &dMax, NULL, NULL, depthMap > 0);
-	const NormalMap normalMap;
-	const ConfidenceMap confMap;
-	const ViewsMap viewsMap;
-	if (!ExportDepthDataRaw(MAKE_PATH(String::FormatString("depth%04u.dmap", imageData.ID)),
-		imageData.name, IDs, resolution,
-		camera.K, pose.R, pose.C,
-		(float)dMin, (float)dMax,
-		depthMap, normalMap, confMap, viewsMap))
-		return false;
 	return true;
 }
 
@@ -266,23 +268,24 @@ bool ParseImage(Scene& scene, const String& imagePath, const String& cameraPath,
 bool ParseScene(Scene& scene, const String& scenePath)
 {
 	#if defined(_SUPPORT_CPP17) && (!defined(__GNUC__) || (__GNUC__ > 7))
-	size_t numCorrectedFolders(0), numFolders(0);
+	size_t numCorrectedFolders(0), numCorrectedDepthFolders(0), numFolders(0), numDepthFolders(0);
 	for (const auto& file: std::filesystem::directory_iterator(scenePath.c_str())) {
 		if (file.path().stem() == "corrected_cameras" ||
-			file.path().stem() == "corrected_depth" ||
 			file.path().stem() == "corrected_images")
 			++numCorrectedFolders;
-		else
-		if (file.path().stem() == "cameras" ||
-			file.path().stem() == "depth" ||
+		else if (file.path().stem() == "corrected_depth")
+			++numCorrectedDepthFolders;
+		else if (file.path().stem() == "cameras" ||
 			file.path().stem() == "images")
 			++numFolders;
+		else if (file.path().stem() == "depth")
+			++numDepthFolders;
 	}
-	if (numFolders != 3) {
+	if (numFolders != 2) {
 		VERBOSE("Invalid scene folder");
 		return false;
 	}
-	if (numCorrectedFolders == 3) {
+	if (numCorrectedFolders == 2) {
 		// corrected data
 		CLISTDEFIDX(String, IIndex) imagePaths;
 		for (const auto& file: std::filesystem::directory_iterator((scenePath + "corrected_images").c_str()))
@@ -297,7 +300,7 @@ bool ParseScene(Scene& scene, const String& scenePath)
 		for (const String& imagePath: imagePaths) {
 			const String imageName = Util::getFileName(imagePath);
 			const String cameraPath(scenePath + "corrected_cameras" + PATH_SEPARATOR_STR + imageName + JSON_EXT);
-			const String depthPath(scenePath + "corrected_depth" + PATH_SEPARATOR_STR + imageName + DEPTH_EXT);
+			const String depthPath(numCorrectedDepthFolders ? scenePath + "corrected_depth" + PATH_SEPARATOR_STR + imageName + DEPTH_EXT : String());
 			if (!ParseImage(scene, imagePath, cameraPath, depthPath, mapImageName))
 				return false;
 		}
@@ -316,7 +319,7 @@ bool ParseScene(Scene& scene, const String& scenePath)
 		for (const String& imagePath: imagePaths) {
 			const String imageName = Util::getFileName(imagePath);
 			const String cameraPath(scenePath + "cameras" + PATH_SEPARATOR_STR + imageName + JSON_EXT);
-			const String depthPath(scenePath + "depth" + PATH_SEPARATOR_STR + imageName + DEPTH_EXT);
+			const String depthPath(numDepthFolders ? scenePath + "depth" + PATH_SEPARATOR_STR + imageName + DEPTH_EXT : String());
 			if (!ParseImage(scene, imagePath, cameraPath, depthPath, mapImageName))
 				return false;
 		}

From 6449134b634841371e16ae120152a754ff09c52a Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 7 Dec 2023 16:25:04 +0200
Subject: [PATCH 230/252] dense: use tower mode 4 by default

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp |  2 +-
 libs/MVS/Scene.cpp                           | 60 +++++++++-----------
 2 files changed, 27 insertions(+), 35 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 68fe70641..f314c7736 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -164,7 +164,7 @@ bool Application::Initialize(size_t argc, LPCTSTR* argv)
         ("estimate-roi", boost::program_options::value(&OPT::nEstimateROI)->default_value(2), "estimate and set region-of-interest (0 - disabled, 1 - enabled, 2 - adaptive)")
         ("crop-to-roi", boost::program_options::value(&OPT::bCrop2ROI)->default_value(true), "crop scene using the region-of-interest")
         ("remove-dmaps", boost::program_options::value(&bRemoveDmaps)->default_value(false), "remove depth-maps after fusion")
-		("tower-mode", boost::program_options::value(&OPT::nTowerMode)->default_value(3), "add a cylinder of points in the center of ROI; scene assume to be Z-up oriented (0 - disabled, 1 - replace, 2 - append, 3 - select neighbors, <0 - force tower mode)")
+		("tower-mode", boost::program_options::value(&OPT::nTowerMode)->default_value(4), "add a cylinder of points in the center of ROI; scene assume to be Z-up oriented (0 - disabled, 1 - replace, 2 - append, 3 - select neighbors, 4 - select neighbors & append, <0 - force tower mode)")
         ;
 
 	// hidden options, allowed both on command line and
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 9f031d249..3cc319dc5 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -935,9 +935,8 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 
 void Scene::SelectNeighborViews(unsigned nMinViews, unsigned nMinPointViews, float fOptimAngle, unsigned nInsideROI)
 {
-	#ifdef DENSE_USE_OPENMP
-	#pragma omp parallel for shared(data, bAbort)
-	for (int_t ID=0; ID<(int_t)images.GetSize(); ++ID) {
+	#ifdef SCENE_USE_OPENMP
+	for (int_t ID=0; ID<(int_t)images.size(); ++ID) {
 		const IIndex idxImage((IIndex)ID);
 	#else
 	FOREACH(idxImage, images) {
@@ -1847,7 +1846,6 @@ size_t Scene::DrawCircle(PointCloud& pc, PointCloud::PointArr& outCircle, const
 			pc.pointViews.emplace_back(views);
 			pc.normals.emplace_back(n);
 			pc.colors.emplace_back(Pixel8U::YELLOW);
-			pc.pointWeights.emplace_back(PointCloud::WeightArr{1.f});
 		}
 	}
 	return outCircle.size();
@@ -2007,15 +2005,17 @@ PointCloud Scene::BuildTowerMesh(const PointCloud& origPointCloud, const Point2f
 							mesh.faces.emplace_back(v0, v2, v1);
 					}
 				}
-				if (bInverted) {
+				if (bInverted)
 					topPoints.swap(botPoints);
-				}
 			}
 		}
-		mesh.Save("towermesh_dbg.ply");
-		towerPC.Save("cylinder.ply");
-	}
+		mesh.Save("tower_mesh.ply");
+	} else
 	#endif
+	{
+		mesh.Release();
+	}
+	towerPC.Save("tower.ply");
 	return towerPC;
 }
 
@@ -2031,17 +2031,12 @@ void Scene::InitTowerScene(const int towerMode)
 	Point2f centerPoint;
 	if (!ComputeTowerCylinder(centerPoint, fRadius, fROIRadius, zMin, zMax, minCamZ, towerMode))
 		return;
-	DEBUG("Scene camera positions identified ROI as a tower, select neighbors as if ROI is a tower");
 
 	// add nTargetPoints points on each circle
 	PointCloud towerPC(BuildTowerMesh(pointcloud, centerPoint, fRadius, fROIRadius, zMin, zMax, minCamZ, false));
+	mesh.Release();
 
-	switch (ABS(towerMode)) {
-	case 1: { // replace
-		pointcloud = std::move(towerPC);
-		break;
-	}
-	case 2: { // append
+	const auto AppendPointCloud = [this](const PointCloud& towerPC) {
 		bool bHasNormal(pointcloud.normals.size() == pointcloud.GetSize());
 		bool bHasColor(pointcloud.colors.size() == pointcloud.GetSize());
 		bool bHasWeights(pointcloud.pointWeights.size() == pointcloud.GetSize());
@@ -2055,32 +2050,29 @@ void Scene::InitTowerScene(const int towerMode)
 			if (bHasWeights)
 				pointcloud.pointWeights.emplace_back(towerPC.pointWeights[idxPoint]);
 		}
+	};
+
+	switch (ABS(towerMode)) {
+	case 1: // replace
+		pointcloud = std::move(towerPC);
+		VERBOSE("Scene identified as tower-like; replace existing point-cloud with detected tower point-cloud");
 		break;
-	}
-	case 3: { // select neighbors and remove added points
+	case 2: // append
+		AppendPointCloud(towerPC);
+		VERBOSE("Scene identified as tower-like; append to existing point-cloud the detected tower point-cloud");
+		break;
+	case 3: // select neighbors
 		pointcloud.Swap(towerPC);
 		SelectNeighborViews(OPTDENSE::nMinViews, OPTDENSE::nMinViewsTrustPoint>1?OPTDENSE::nMinViewsTrustPoint:2, FD2R(OPTDENSE::fOptimAngle), OPTDENSE::nPointInsideROI);
 		pointcloud.Swap(towerPC);
+		VERBOSE("Scene identified as tower-like; only select view neighbors from detected tower point-cloud");
 		break;
-	}
-	case 4: { // select neighbors
+	case 4: // select neighbors and append tower points
 		pointcloud.Swap(towerPC);
 		SelectNeighborViews(OPTDENSE::nMinViews, OPTDENSE::nMinViewsTrustPoint>1?OPTDENSE::nMinViewsTrustPoint:2, FD2R(OPTDENSE::fOptimAngle), OPTDENSE::nPointInsideROI);
 		pointcloud.Swap(towerPC);
-		bool bHasNormal(pointcloud.normals.size() == pointcloud.GetSize());
-		bool bHasColor(pointcloud.colors.size() == pointcloud.GetSize());
-		bool bHasWeights(pointcloud.pointWeights.size() == pointcloud.GetSize());
-		FOREACH(idxPoint, towerPC.points) {
-			pointcloud.points.emplace_back(towerPC.points[idxPoint]);
-			pointcloud.pointViews.emplace_back(towerPC.pointViews[idxPoint]);
-			if (bHasNormal)
-				pointcloud.normals.emplace_back(towerPC.normals[idxPoint]);
-			if (bHasColor)
-				pointcloud.colors.emplace_back(towerPC.colors[idxPoint]);
-			if (bHasWeights)
-				pointcloud.pointWeights.emplace_back(towerPC.pointWeights[idxPoint]);
-		}
+		AppendPointCloud(towerPC);
+		VERBOSE("Scene identified as tower-like; select view neighbors from detected tower point-cloud and next append it to existing point-cloud");
 		break;
 	}
-	}
 } // InitTowerScene

From 496c4a9599f199c0b2471d3b266085bfc4f6a0de Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 7 Dec 2023 17:01:57 +0200
Subject: [PATCH 231/252] viewer: add option to crop scene to bounding box

---
 apps/Viewer/Scene.cpp  | 12 ++++++++++++
 apps/Viewer/Scene.h    |  1 +
 apps/Viewer/Window.cpp |  6 +++++-
 apps/Viewer/Window.h   |  2 ++
 4 files changed, 20 insertions(+), 1 deletion(-)

diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index d4765ac32..161c33e17 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -331,6 +331,7 @@ bool Scene::Open(LPCTSTR fileName, LPCTSTR geometryFileName)
 	window.clbkCompilePointCloud = DELEGATEBINDCLASS(Window::ClbkCompilePointCloud, &Scene::CompilePointCloud, this);
 	window.clbkCompileMesh = DELEGATEBINDCLASS(Window::ClbkCompileMesh, &Scene::CompileMesh, this);
 	window.clbkTogleSceneBox = DELEGATEBINDCLASS(Window::ClbkTogleSceneBox, &Scene::TogleSceneBox, this);
+	window.clbkCropToBounds = DELEGATEBINDCLASS(Window::ClbkCropToBounds, &Scene::CropToBounds, this);
 	if (scene.IsBounded())
 		window.clbkCompileBounds = DELEGATEBINDCLASS(Window::ClbkCompileBounds, &Scene::CompileBounds, this);
 	if (!scene.IsEmpty())
@@ -511,6 +512,17 @@ void Scene::CompileBounds()
 	}
 }
 
+void Scene::CropToBounds()
+{
+	if (!IsOpen())
+		return;
+	if (!scene.IsBounded())
+		return;
+	scene.pointcloud.RemovePointsOutside(scene.obb);
+	scene.mesh.RemoveFacesOutside(scene.obb);
+	Center();
+}
+
 void Scene::Draw()
 {
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
diff --git a/apps/Viewer/Scene.h b/apps/Viewer/Scene.h
index e86574889..9315b35e8 100644
--- a/apps/Viewer/Scene.h
+++ b/apps/Viewer/Scene.h
@@ -93,6 +93,7 @@ class Scene
 	void CompilePointCloud();
 	void CompileMesh();
 	void CompileBounds();
+	void CropToBounds();
 
 	void Draw();
 	void Loop();
diff --git a/apps/Viewer/Window.cpp b/apps/Viewer/Window.cpp
index 85f64e923..cfd2f12ef 100644
--- a/apps/Viewer/Window.cpp
+++ b/apps/Viewer/Window.cpp
@@ -77,6 +77,7 @@ void Window::ReleaseClbk()
 	clbkCompileMesh.reset();
 	clbkCompileBounds.reset();
 	clbkTogleSceneBox.reset();
+	clbkCropToBounds.reset();
 }
 
 bool Window::Init(const cv::Size& _size, LPCTSTR name)
@@ -268,7 +269,10 @@ void Window::Key(int k, int /*scancode*/, int action, int mod)
 		break;
 	case GLFW_KEY_B:
 		if (action == GLFW_RELEASE) {
-			if (mod & GLFW_MOD_SHIFT) {
+			if (mod & GLFW_MOD_CONTROL) {
+				if (clbkCropToBounds != NULL)
+					clbkCropToBounds();
+			} else if (mod & GLFW_MOD_SHIFT) {
 				if (clbkTogleSceneBox != NULL)
 					clbkTogleSceneBox();
 			} else {
diff --git a/apps/Viewer/Window.h b/apps/Viewer/Window.h
index 34195ae31..ad9a957d0 100644
--- a/apps/Viewer/Window.h
+++ b/apps/Viewer/Window.h
@@ -110,6 +110,8 @@ class Window
 	ClbkCompileBounds clbkCompileBounds;
 	typedef DELEGATE<void (void)> ClbkTogleSceneBox;
 	ClbkTogleSceneBox clbkTogleSceneBox;
+	typedef DELEGATE<void (void)> ClbkCropToBounds;
+	ClbkCropToBounds clbkCropToBounds;
 
 	typedef std::unordered_map<GLFWwindow*,Window*> WindowsMap;
 	static WindowsMap g_mapWindows;

From add11b7b31828845976312f65f08f77946fcdf7d Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 9 Dec 2023 16:40:48 +0200
Subject: [PATCH 232/252] dense: fix fusion with invalid depth-map

---
 libs/MVS/SceneDensify.cpp | 50 +++++++++++++++++++++++----------------
 1 file changed, 30 insertions(+), 20 deletions(-)

diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 2a6d9bf3a..0c36a2c4a 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -1403,9 +1403,13 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 	#else
 	FOREACH(idxImage, scene.images) {
 	#endif
+		IndexScore& connection = connections[idxImage];
 		DepthData& depthData = arrDepthData[idxImage];
-		if (!depthData.IsValid())
+		if (!depthData.IsValid()) {
+			connection.idx = NO_ID;
+			connection.score = 0;
 			continue;
+		}
 		const String fileName(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"));
 		if (depthData.IncRef(fileName) == 0) {
 			#ifdef DENSE_USE_OPENMP
@@ -1417,7 +1421,6 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 			#endif
 		}
 		ASSERT(!depthData.IsEmpty());
-		IndexScore& connection = connections[idxImage];
 		connection.idx = idxImage;
 		connection.score = (float)scene.images[idxImage].neighbors.size();
 		if (bEstimateNormal && depthData.normalMap.empty()) {
@@ -1446,6 +1449,12 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 		return;
 	#endif
 	connections.Sort();
+	while (!connections.empty() && connections.back().score <= 0)
+		connections.pop_back();
+	if (connections.empty()) {
+		DEBUG("error: no valid depth-maps found");
+		return;
+	}
 
 	// fuse all depth-maps, processing the best connected images first
 	const unsigned nMinViewsFuse(MINF(OPTDENSE::nMinViewsFuse, scene.images.size()));
@@ -1458,13 +1467,13 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 	ProjsArr projs(0, nPointsEstimate);
 	if (bEstimateNormal && !bNormalMap)
 		bEstimateNormal = false;
-	pointcloud.points.Reserve(nPointsEstimate);
-	pointcloud.pointViews.Reserve(nPointsEstimate);
-	pointcloud.pointWeights.Reserve(nPointsEstimate);
+	pointcloud.points.reserve(nPointsEstimate);
+	pointcloud.pointViews.reserve(nPointsEstimate);
+	pointcloud.pointWeights.reserve(nPointsEstimate);
 	if (bEstimateColor)
-		pointcloud.colors.Reserve(nPointsEstimate);
+		pointcloud.colors.reserve(nPointsEstimate);
 	if (bEstimateNormal)
-		pointcloud.normals.Reserve(nPointsEstimate);
+		pointcloud.normals.reserve(nPointsEstimate);
 	Util::Progress progress(_T("Fused depth-maps"), connections.size());
 	GET_LOGCONSOLE().Pause();
 	for (const IndexScore& connection: connections) {
@@ -1508,18 +1517,18 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 				PointCloud::Point& point = pointcloud.points.emplace_back();
 				point = imageData.camera.TransformPointI2W(Point3(Point2f(x),depth));
 				PointCloud::ViewArr& views = pointcloud.pointViews.emplace_back();
-				views.Insert(idxImage);
+				views.emplace_back(idxImage);
 				PointCloud::WeightArr& weights = pointcloud.pointWeights.emplace_back();
 				REAL confidence(weights.emplace_back(Conf2Weight(depthData.confMap.empty() ? 1.f : depthData.confMap(x),depth)));
 				ProjArr& pointProjs = projs.emplace_back();
-				pointProjs.Insert(Proj(x));
+				pointProjs.emplace_back(Proj(x));
 				const PointCloud::Normal normal(bNormalMap ? Cast<Normal::Type>(imageData.camera.R.t()*Cast<REAL>(depthData.normalMap(x))) : Normal(0,0,-1));
 				ASSERT(ISEQUAL(norm(normal), 1.f));
 				// check the projection in the neighbor depth-maps
 				Point3 X(point*confidence);
 				Pixel32F C(Cast<float>(imageData.image(x))*confidence);
 				PointCloud::Normal N(normal*confidence);
-				invalidDepths.Empty();
+				invalidDepths.clear();
 				for (const ViewScore& neighbor: depthData.neighbors) {
 					const IIndex idxImageB(neighbor.ID);
 					DepthData& depthDataB = arrDepthData[idxImageB];
@@ -1562,7 +1571,7 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 					}
 					if (pt.z < depthB) {
 						// discard depth
-						invalidDepths.Insert(&depthB);
+						invalidDepths.emplace_back(&depthB);
 					}
 				}
 				if (views.size() < nMinViewsFuse) {
@@ -1573,10 +1582,10 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 						ASSERT(arrDepthIdx[idxImageB].isInside(x) && arrDepthIdx[idxImageB](x).idx != NO_ID);
 						arrDepthIdx[idxImageB](x).idx = NO_ID;
 					}
-					projs.RemoveLast();
-					pointcloud.pointWeights.RemoveLast();
-					pointcloud.pointViews.RemoveLast();
-					pointcloud.points.RemoveLast();
+					projs.pop_back();
+					pointcloud.pointWeights.pop_back();
+					pointcloud.pointViews.pop_back();
+					pointcloud.points.pop_back();
 				} else {
 					// this point is valid, store it
 					const REAL nrm(REAL(1)/confidence);
@@ -1600,7 +1609,8 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 	progress.close();
 	arrDepthIdx.Release();
 
-	DEBUG_EXTRA("Depth-maps fused and filtered: %u depth-maps, %u depths, %u points (%d%%%%) (%s)", connections.size(), nDepths, pointcloud.points.size(), ROUND2INT((100.f*pointcloud.points.size())/nDepths), TD_TIMER_GET_FMT().c_str());
+	DEBUG_EXTRA("Depth-maps fused and filtered: %u depth-maps, %u depths, %u points (%d%%%%) (%s)",
+		connections.size(), nDepths, pointcloud.points.size(), ROUND2INT((100.f*pointcloud.points.size())/nDepths), TD_TIMER_GET_FMT().c_str());
 
 	if (bEstimateNormal && !pointcloud.points.empty() && pointcloud.normals.empty()) {
 		// estimate normal also if requested (quite expensive if normal-maps not available)
@@ -1612,10 +1622,10 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 		#endif
 		for (int64_t i=0; i<nPoints; ++i) {
 			PointCloud::WeightArr& weights = pointcloud.pointWeights[i];
-			ASSERT(!weights.IsEmpty());
+			ASSERT(!weights.empty());
 			IIndex idxView(0);
-			float bestWeight = weights.First();
-			for (IIndex idx=1; idx<weights.GetSize(); ++idx) {
+			float bestWeight = weights.front();
+			for (IIndex idx=1; idx<weights.size(); ++idx) {
 				const PointCloud::Weight& weight = weights[idx];
 				if (bestWeight < weight) {
 					bestWeight = weight;
@@ -1626,7 +1636,7 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 			ASSERT(depthData.IsValid() && !depthData.IsEmpty());
 			depthData.GetNormal(projs[i][idxView].GetCoord(), pointcloud.normals[i]);
 		}
-		DEBUG_EXTRA("Normals estimated for the dense point-cloud: %u normals (%s)", pointcloud.points.GetSize(), TD_TIMER_GET_FMT().c_str());
+		DEBUG_EXTRA("Normals estimated for the dense point-cloud: %u normals (%s)", pointcloud.GetSize(), TD_TIMER_GET_FMT().c_str());
 	}
 
 	// release all depth-maps

From da4b76c42ed18e5920365695e94abd18f693e587 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 6 Jan 2024 22:22:03 +0200
Subject: [PATCH 233/252] v2.3.0

---
 CMakeLists.txt                 | 39 ++++++++++++++++------------------
 build/Utils.cmake              | 24 ++++++++++++++-------
 libs/Common/Types.h            |  4 ++--
 libs/Common/Types.inl          | 18 ++++++++--------
 libs/Common/Util.h             |  6 +++---
 libs/MVS/PythonWrapper.cpp     |  2 ++
 libs/MVS/SceneRefineCUDA.cpp   |  6 +++---
 libs/MVS/SceneTexture.cpp      |  4 ++--
 libs/MVS/SemiGlobalMatcher.cpp |  6 ++++--
 vcpkg.json                     |  2 +-
 10 files changed, 60 insertions(+), 51 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 83e3f733c..920e4c312 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -19,15 +19,15 @@ SET(OpenMVS_BUILD_TOOLS ON CACHE BOOL "Build example applications")
 SET(OpenMVS_USE_OPENMP ON CACHE BOOL "Enable OpenMP library")
 SET(OpenMVS_USE_OPENGL ON CACHE BOOL "Enable OpenGL library")
 SET(OpenMVS_USE_BREAKPAD ON CACHE BOOL "Enable BreakPad library")
-SET(OpenMVS_USE_PYTHON OFF CACHE BOOL "Enable Python library bindings")
+SET(OpenMVS_USE_PYTHON ON CACHE BOOL "Enable Python library bindings")
 SET(OpenMVS_USE_CERES OFF CACHE BOOL "Enable CERES optimization library")
 SET(OpenMVS_USE_CUDA ON CACHE BOOL "Enable CUDA library")
-SET(OpenMVS_USE_FAST_FLOAT2INT ON CACHE BOOL "Use an optimized code to convert real numbers to int")
+SET(OpenMVS_USE_FAST_FLOAT2INT OFF CACHE BOOL "Use an optimized code to convert real numbers to int")
 SET(OpenMVS_USE_FAST_INVSQRT OFF CACHE BOOL "Use an optimized code to compute the inverse square root (slower in fact on modern compilers)")
-SET(OpenMVS_USE_FAST_CBRT ON CACHE BOOL "Use an optimized code to compute the cubic root")
+SET(OpenMVS_USE_FAST_CBRT OFF CACHE BOOL "Use an optimized code to compute the cubic root")
+SET(OpenMVS_USE_SSE ON CACHE BOOL "Enable SSE optimizations")
 SET(OpenMVS_MAX_CUDA_COMPATIBILITY OFF CACHE BOOL "Build for maximum CUDA device compatibility")
 SET(OpenMVS_ENABLE_TESTS ON CACHE BOOL "Enable test code")
-SET(OpenMVS_USE_SSE ON CACHE BOOL "Enable SSE optimizations")
 
 # Load automatically VCPKG toolchain if available
 IF(NOT DEFINED CMAKE_TOOLCHAIN_FILE AND DEFINED ENV{VCPKG_ROOT})
@@ -52,7 +52,7 @@ ENDIF()
 PROJECT(OpenMVS)
 
 SET(OpenMVS_MAJOR_VERSION 2)
-SET(OpenMVS_MINOR_VERSION 2)
+SET(OpenMVS_MINOR_VERSION 3)
 SET(OpenMVS_PATCH_VERSION 0)
 SET(OpenMVS_VERSION ${OpenMVS_MAJOR_VERSION}.${OpenMVS_MINOR_VERSION}.${OpenMVS_PATCH_VERSION})
 
@@ -114,16 +114,15 @@ if(OpenMVS_USE_CUDA)
 		ENABLE_LANGUAGE(CUDA)
 		# CUDA-11.x can not be compiled using C++14 standard on Windows
 		string(REGEX MATCH "^[0-9]+" CUDA_MAJOR ${CMAKE_CUDA_COMPILER_VERSION})
-		if(${CUDA_MAJOR} GREATER 10 AND CMAKE_CXX_COMPILER MATCHES "MSVC" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL "19.29")
-			message("Working around windows build failure with visual studio. Visual studio 16.10 introduced a compiler bug with compilng CUDA code with C++14. Set the cuda standard to 17 as a workaround.")
-			set(CMAKE_CUDA_STANDARD 17)
+		if(${CUDA_MAJOR} GREATER 10)
+			SET(CMAKE_CUDA_STANDARD 17)
 		endif()
 		EXECUTE_PROCESS(COMMAND "${CMAKE_CUDA_COMPILER}" --list-gpu-arch 
 				OUTPUT_VARIABLE LIST_GPU_ARCH 
 				ERROR_QUIET)
 		if(NOT LIST_GPU_ARCH AND OpenMVS_MAX_CUDA_COMPATIBILITY)
 			message(WARNING "Cannot compile for max CUDA compatibility, nvcc does not support --list-gpu-arch")
-			set(OpenMVS_MAX_CUDA_COMPATIBILITY NO)
+			SET(OpenMVS_MAX_CUDA_COMPATIBILITY OFF)
 		endif()
 		if(NOT OpenMVS_MAX_CUDA_COMPATIBILITY)
 			if(NOT DEFINED CMAKE_CUDA_ARCHITECTURES)
@@ -179,19 +178,19 @@ endif()
 
 SET(Boost_EXTRA_COMPONENTS "")
 if(OpenMVS_USE_PYTHON)
-	FIND_PACKAGE(PythonLibs 3.0 REQUIRED)
-	if(PythonLibs_FOUND)
-		INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
-		LIST(APPEND OpenMVS_EXTRA_INCLUDES ${PYTHON_INCLUDE_DIRS})
-		LIST(APPEND OpenMVS_EXTRA_LIBS ${PYTHON_LIBRARIES})
-		LIST(APPEND Boost_EXTRA_COMPONENTS python3)
-		MESSAGE(STATUS "Python ${PYTHON_VERSION} found (include: ${PYTHON_INCLUDE_DIRS})")
+	FIND_PACKAGE(Python3 COMPONENTS Interpreter Development REQUIRED)
+	if(Python3_FOUND)
+		INCLUDE_DIRECTORIES(${Python3_INCLUDE_DIRS})
+		LIST(APPEND OpenMVS_EXTRA_INCLUDES ${Python3_INCLUDE_DIRS})
+		LIST(APPEND OpenMVS_EXTRA_LIBS ${Python3_LIBRARIES})
+		LIST(APPEND Boost_EXTRA_COMPONENTS python${Python3_VERSION_MAJOR}${Python3_VERSION_MINOR})
+		MESSAGE(STATUS "Python ${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR} found (include: ${Python3_INCLUDE_DIRS})")
 	else()
 		MESSAGE("-- Can't find Python. Continuing without it.")
 	endif()
 endif()
 
-FIND_PACKAGE(Boost REQUIRED COMPONENTS iostreams program_options system serialization ${Boost_EXTRA_COMPONENTS})
+FIND_PACKAGE(Boost REQUIRED COMPONENTS iostreams program_options system serialization OPTIONAL_COMPONENTS ${Boost_EXTRA_COMPONENTS})
 if(Boost_FOUND)
 	LIST(APPEND OpenMVS_EXTRA_INCLUDES ${Boost_INCLUDE_DIRS})
 	INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
@@ -202,10 +201,8 @@ if(Boost_FOUND)
 		LIST(APPEND Boost_LIBRARIES zstd)
 	endif()
 	SET(_USE_BOOST TRUE)
-	if(OpenMVS_USE_PYTHON)
-		if(Boost_python3_FOUND)
-			SET(_USE_BOOST_PYTHON TRUE)
-		endif()
+	if(OpenMVS_USE_PYTHON AND Boost_${Boost_EXTRA_COMPONENTS}_FOUND)
+		SET(_USE_BOOST_PYTHON TRUE)
 	endif()
 endif()
 
diff --git a/build/Utils.cmake b/build/Utils.cmake
index 9897b1bf5..86d3430d4 100644
--- a/build/Utils.cmake
+++ b/build/Utils.cmake
@@ -407,10 +407,13 @@ macro(optimize_default_compiler_settings)
 		else()
 			set(CXX_CHECK_PREFIX "--std=")
 		endif()
+		check_cxx_compiler_flag("${CXX_CHECK_PREFIX}c++20" SUPPORTS_STD_CXX20)
 		check_cxx_compiler_flag("${CXX_CHECK_PREFIX}c++17" SUPPORTS_STD_CXX17)
 		check_cxx_compiler_flag("${CXX_CHECK_PREFIX}c++14" SUPPORTS_STD_CXX14)
 		check_cxx_compiler_flag("${CXX_CHECK_PREFIX}c++11" SUPPORTS_STD_CXX11)
-		if(SUPPORTS_STD_CXX17)
+		if(SUPPORTS_STD_CXX20)
+			set(CMAKE_CXX_STANDARD 20)
+		elseif(SUPPORTS_STD_CXX17)
 			set(CMAKE_CXX_STANDARD 17)
 		elseif(SUPPORTS_STD_CXX14)
 			set(CMAKE_CXX_STANDARD 14)
@@ -418,22 +421,27 @@ macro(optimize_default_compiler_settings)
 			set(CMAKE_CXX_STANDARD 11)
 		endif()
 	else()
-		list(FIND CMAKE_CXX_COMPILE_FEATURES "cxx_std_17" CXX_STD_INDEX)
+		list(FIND CMAKE_CXX_COMPILE_FEATURES "cxx_std_20" CXX_STD_INDEX)
 		if(${CXX_STD_INDEX} GREATER -1)
-			set(CMAKE_CXX_STANDARD 17)
+			set(CMAKE_CXX_STANDARD 20)
 		else()
-			list(FIND CMAKE_CXX_COMPILE_FEATURES "cxx_std_14" CXX_STD_INDEX)
+			list(FIND CMAKE_CXX_COMPILE_FEATURES "cxx_std_17" CXX_STD_INDEX)
 			if(${CXX_STD_INDEX} GREATER -1)
-				set(CMAKE_CXX_STANDARD 14)
+				set(CMAKE_CXX_STANDARD 17)
 			else()
-				list(FIND CMAKE_CXX_COMPILE_FEATURES "cxx_std_11" CXX_STD_INDEX)
+				list(FIND CMAKE_CXX_COMPILE_FEATURES "cxx_std_14" CXX_STD_INDEX)
 				if(${CXX_STD_INDEX} GREATER -1)
-					set(CMAKE_CXX_STANDARD 11)
+					set(CMAKE_CXX_STANDARD 14)
+				else()
+					list(FIND CMAKE_CXX_COMPILE_FEATURES "cxx_std_11" CXX_STD_INDEX)
+					if(${CXX_STD_INDEX} GREATER -1)
+						set(CMAKE_CXX_STANDARD 11)
+					endif()
 				endif()
 			endif()
 		endif()
 	endif()
-	if(CLANG AND (CMAKE_CXX_STANDARD EQUAL 11 OR CMAKE_CXX_STANDARD EQUAL 14 OR CMAKE_CXX_STANDARD EQUAL 17))
+	if(CLANG AND (CMAKE_CXX_STANDARD EQUAL 11 OR CMAKE_CXX_STANDARD EQUAL 14 OR CMAKE_CXX_STANDARD EQUAL 17 OR CMAKE_CXX_STANDARD EQUAL 20))
 		set(CMAKE_EXE_LINKER_FLAGS "-stdlib=libc++")
 		add_extra_compiler_option(-stdlib=libc++)
 	endif()
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index aa3264ade..9339f2695 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -1298,7 +1298,7 @@ class TPoint2 : public cv::Point_<TYPE>
 	#endif
 
 	// conversion to another data type
-	template <typename T> inline operator TPoint2<T> () const { return TPoint2<T>(x,y); }
+	template <typename T> inline operator TPoint2<T> () const { return TPoint2<T>((T)x,(T)y); }
 
 	// pointer to the first element access
 	inline const TYPE* ptr() const { return &x; }
@@ -1391,7 +1391,7 @@ class TPoint3 : public cv::Point3_<TYPE>
 	#endif
 
 	// conversion to another data type
-	template <typename T> inline operator TPoint3<T> () const { return TPoint3<T>(x,y,z); }
+	template <typename T> inline operator TPoint3<T> () const { return TPoint3<T>((T)x,(T)y,(T)z); }
 
 	// pointer to the first element access
 	inline const TYPE* ptr() const { return &x; }
diff --git a/libs/Common/Types.inl b/libs/Common/Types.inl
index f2fdb27b2..b2d6ed292 100644
--- a/libs/Common/Types.inl
+++ b/libs/Common/Types.inl
@@ -574,33 +574,33 @@ FORCEINLINE bool ISEQUAL(const cv::Matx<TYPE,m,n>& v1, const cv::Matx<TYPE,m,n>&
 template <typename TYPE, typename INTTYPE=int>
 FORCEINLINE SEACAVE::TPoint2<INTTYPE> Floor2Int(const cv::Point_<TYPE>& v)
 {
-	return SEACAVE::TPoint2<INTTYPE>(FLOOR2INT(v.x), FLOOR2INT(v.y));
+	return SEACAVE::TPoint2<INTTYPE>(FLOOR2INT<INTTYPE>(v.x), FLOOR2INT<INTTYPE>(v.y));
 }
 template <typename TYPE, typename INTTYPE=int>
 FORCEINLINE SEACAVE::TPoint2<INTTYPE> Ceil2Int(const cv::Point_<TYPE>& v)
 {
-	return SEACAVE::TPoint2<INTTYPE>(CEIL2INT(v.x), CEIL2INT(v.y));
+	return SEACAVE::TPoint2<INTTYPE>(CEIL2INT<INTTYPE>(v.x), CEIL2INT<INTTYPE>(v.y));
 }
 template <typename TYPE, typename INTTYPE=int>
 FORCEINLINE SEACAVE::TPoint2<INTTYPE> Round2Int(const cv::Point_<TYPE>& v)
 {
-	return SEACAVE::TPoint2<INTTYPE>(ROUND2INT(v.x), ROUND2INT(v.y));
+	return SEACAVE::TPoint2<INTTYPE>(ROUND2INT<INTTYPE>(v.x), ROUND2INT<INTTYPE>(v.y));
 }
 
 template <typename TYPE, typename INTTYPE=int>
 FORCEINLINE SEACAVE::TPoint3<INTTYPE> Floor2Int(const cv::Point3_<TYPE>& v)
 {
-	return SEACAVE::TPoint3<INTTYPE>(FLOOR2INT(v.x), FLOOR2INT(v.y), FLOOR2INT(v.z));
+	return SEACAVE::TPoint3<INTTYPE>(FLOOR2INT<INTTYPE>(v.x), FLOOR2INT<INTTYPE>(v.y), FLOOR2INT<INTTYPE>(v.z));
 }
 template <typename TYPE, typename INTTYPE=int>
 FORCEINLINE SEACAVE::TPoint3<INTTYPE> Ceil2Int(const cv::Point3_<TYPE>& v)
 {
-	return SEACAVE::TPoint3<INTTYPE>(CEIL2INT(v.x), CEIL2INT(v.y), CEIL2INT(v.z));
+	return SEACAVE::TPoint3<INTTYPE>(CEIL2INT<INTTYPE>(v.x), CEIL2INT<INTTYPE>(v.y), CEIL2INT<INTTYPE>(v.z));
 }
 template <typename TYPE, typename INTTYPE=int>
 FORCEINLINE SEACAVE::TPoint3<INTTYPE> Round2Int(const cv::Point3_<TYPE>& v)
 {
-	return SEACAVE::TPoint3<INTTYPE>(ROUND2INT(v.x), ROUND2INT(v.y), ROUND2INT(v.z));
+	return SEACAVE::TPoint3<INTTYPE>(ROUND2INT<INTTYPE>(v.x), ROUND2INT<INTTYPE>(v.y), ROUND2INT<INTTYPE>(v.z));
 }
 
 template <typename TYPE, int m, int n, typename INTTYPE=int>
@@ -608,7 +608,7 @@ FORCEINLINE SEACAVE::TMatrix<INTTYPE,m,n> Floor2Int(const cv::Matx<TYPE,m,n>& v)
 {
 	SEACAVE::TMatrix<INTTYPE,m,n> nv;
 	for (int i=0; i<m*n; ++i)
-		nv.val[i] = Floor2Int(v.val[i]);
+		nv.val[i] = FLOOR2INT<INTTYPE>(v.val[i]);
 	return nv;
 }
 template <typename TYPE, int m, int n, typename INTTYPE=int>
@@ -616,7 +616,7 @@ FORCEINLINE SEACAVE::TMatrix<INTTYPE,m,n> Ceil2Int(const cv::Matx<TYPE,m,n>& v)
 {
 	SEACAVE::TMatrix<INTTYPE,m,n> nv;
 	for (int i=0; i<m*n; ++i)
-		nv.val[i] = Ceil2Int(v.val[i]);
+		nv.val[i] = CEIL2INT<INTTYPE>(v.val[i]);
 	return nv;
 }
 template <typename TYPE, int m, int n, typename INTTYPE=int>
@@ -624,7 +624,7 @@ FORCEINLINE SEACAVE::TMatrix<INTTYPE,m,n> Round2Int(const cv::Matx<TYPE,m,n>& v)
 {
 	SEACAVE::TMatrix<INTTYPE,m,n> nv;
 	for (int i=0; i<m*n; ++i)
-		nv.val[i] = Round2Int(v.val[i]);
+		nv.val[i] = ROUND2INT<INTTYPE>(v.val[i]);
 	return nv;
 }
 
diff --git a/libs/Common/Util.h b/libs/Common/Util.h
index 76f947858..fd313f903 100644
--- a/libs/Common/Util.h
+++ b/libs/Common/Util.h
@@ -205,9 +205,9 @@ class GENERAL_API Util
 public:
 	static String getAppName() {
 		#ifdef _MSC_VER
-		TCHAR buf[MAX_PATH+1];
-		GetModuleFileName(NULL, buf, MAX_PATH);
-		return ensureUnifySlash(String(buf));
+		String buf(MAX_PATH+1, '\0');
+		GetModuleFileName(NULL, &buf.front(), MAX_PATH);
+		return ensureUnifySlash(buf);
 		#else // _MSC_VER
 		LPTSTR home = getenv("HOME");
 		if (home == NULL)
diff --git a/libs/MVS/PythonWrapper.cpp b/libs/MVS/PythonWrapper.cpp
index 7838ca5a1..c7ef03b79 100644
--- a/libs/MVS/PythonWrapper.cpp
+++ b/libs/MVS/PythonWrapper.cpp
@@ -29,6 +29,8 @@
 *      containing it.
 */
 
+#include "ConfigLocal.h"
+
 #ifdef _USE_BOOST_PYTHON
 
 #undef _USRDLL
diff --git a/libs/MVS/SceneRefineCUDA.cpp b/libs/MVS/SceneRefineCUDA.cpp
index 2cade9ddc..5fee76e0f 100644
--- a/libs/MVS/SceneRefineCUDA.cpp
+++ b/libs/MVS/SceneRefineCUDA.cpp
@@ -2400,13 +2400,13 @@ void MeshRefineCUDA::SubdivideMesh(uint32_t maxArea, float fDecimate, unsigned n
 			ListFaceAreas(maxAreas);
 			ASSERT(!maxAreas.IsEmpty());
 
-			const float maxArea((float)(maxArea > 0 ? maxArea : 64));
+			const float maxAreaf((float)(maxArea > 0 ? maxArea : 64));
 			const float medianArea(6.f*(float)Mesh::AreaArr(maxAreas).GetMedian());
-			if (medianArea < maxArea) {
+			if (medianArea < maxAreaf) {
 				maxAreas.Empty();
 
 				// decimate to the auto detected resolution
-				scene.mesh.Clean(MAXF(0.1f, medianArea/maxArea), 0.f, false, nCloseHoles, 0u, 0.f, false);
+				scene.mesh.Clean(MAXF(0.1f, medianArea/maxAreaf), 0.f, false, nCloseHoles, 0u, 0.f, false);
 				scene.mesh.Clean(1.f, 0.f, false, nCloseHoles, 0u, 0.f, true);
 
 				#ifdef MESHOPT_ENSUREEDGESIZE
diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index 8235c6842..568393ecc 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -1125,7 +1125,7 @@ bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThr
 
 				#if TEXOPT_INFERENCE == TEXOPT_INFERENCE_LBP
 				// initialize inference structures
-				const LBPInference::EnergyType MaxEnergy(fRatioDataSmoothness*LBPInference::MaxEnergy);
+				const LBPInference::EnergyType MaxEnergy(fRatioDataSmoothness*(LBPInference::EnergyType)LBPInference::MaxEnergy);
 				LBPInference inference; {
 					inference.SetNumNodes(virtualFaces.size());
 					inference.SetSmoothCost(SmoothnessPotts);
@@ -1219,7 +1219,7 @@ bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThr
 
 				#if TEXOPT_INFERENCE == TEXOPT_INFERENCE_LBP
 				// initialize inference structures
-				const LBPInference::EnergyType MaxEnergy(fRatioDataSmoothness*LBPInference::MaxEnergy);
+				const LBPInference::EnergyType MaxEnergy(fRatioDataSmoothness*(LBPInference::EnergyType)LBPInference::MaxEnergy);
 				LBPInference inference; {
 					inference.SetNumNodes(faces.size());
 					inference.SetSmoothCost(SmoothnessPotts);
diff --git a/libs/MVS/SemiGlobalMatcher.cpp b/libs/MVS/SemiGlobalMatcher.cpp
index 9e1b43e5e..5a9366c21 100644
--- a/libs/MVS/SemiGlobalMatcher.cpp
+++ b/libs/MVS/SemiGlobalMatcher.cpp
@@ -1871,7 +1871,8 @@ void SemiGlobalMatcher::Disparity2DepthMap(const DisparityMap& disparityMap, con
 		auto pixel = [&](int, int r, int c) {
 			const ImageRef x(c,r); Point2f u;
 			ProjectVertex_3x3_2_2(H.val, x.ptr(), u.ptr());
-			u.x -= halfWindowSizeX; u.y -= halfWindowSizeY;
+			u.x -= (float)halfWindowSizeX;
+			u.y -= (float)halfWindowSizeY;
 			float disparity;
 			if (!disparityMap.sampleSafe(disparity, u, [](Disparity d) { return d != NO_DISP; })) {
 				depthMap(x) = 0;
@@ -1897,7 +1898,8 @@ void SemiGlobalMatcher::Disparity2DepthMap(const DisparityMap& disparityMap, con
 		auto pixel = [&](int, int r, int c) {
 			const ImageRef x(c,r); Point2f u;
 			ProjectVertex_3x3_2_2(H.val, x.ptr(), u.ptr());
-			u.x -= halfWindowSizeX; u.y -= halfWindowSizeY;
+			u.x -= (float)halfWindowSizeX;
+			u.y -= (float)halfWindowSizeY;
 			float disparity;
 			if (!disparityMap.sampleSafe(disparity, u, [](Disparity d) { return d != NO_DISP; }))
 				depthMap(x) = 0;
diff --git a/vcpkg.json b/vcpkg.json
index 5414c7bc1..6c4891c03 100644
--- a/vcpkg.json
+++ b/vcpkg.json
@@ -1,6 +1,6 @@
 {
   "name": "openmvs",
-  "version": "2.2.0",
+  "version": "2.3.0",
   "description": "OpenMVS: open Multi-View Stereo reconstruction library",
   "homepage": "https://cdcseacave.github.io/openMVS",
   "dependencies": [

From 8c454868462e23994f792d14949e31cd13c9d2fc Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 23 Jan 2024 14:46:28 +0200
Subject: [PATCH 234/252] common: fix file class to support files >2GB

---
 libs/Common/Config.h |  2 +-
 libs/Common/File.h   | 64 +++++++++++++++++++++++++++++++-------------
 2 files changed, 47 insertions(+), 19 deletions(-)

diff --git a/libs/Common/Config.h b/libs/Common/Config.h
index d74b5c8df..ead657f57 100644
--- a/libs/Common/Config.h
+++ b/libs/Common/Config.h
@@ -126,7 +126,7 @@
 #define GENERAL_TPL
 
 // Define platform type
-#if __x86_64__ || __ppc64__
+#if defined(__x86_64__) || defined(__ppc64__) || defined(__aarch64__) || defined(__arm64__) || defined(__mips64)
 #define _ENVIRONMENT64
 #else
 #define _ENVIRONMENT32
diff --git a/libs/Common/File.h b/libs/Common/File.h
index 2e431bccd..2356ba754 100644
--- a/libs/Common/File.h
+++ b/libs/Common/File.h
@@ -49,6 +49,20 @@
 #define W_OK 2
 #define R_OK 4
 // Posix-style macros for Windows
+#ifndef STATS
+#ifdef _WIN64
+#define STATS _stat64
+#else
+#define STATS stat
+#endif
+#endif
+#ifndef FSTAT
+#ifdef _WIN64
+#define FSTAT _fstat64
+#else
+#define FSTAT fstat
+#endif
+#endif
 #ifndef S_ISREG
 #define S_ISREG(mode)  ((mode & _S_IFMT) == _S_IFREG)
 #endif
@@ -73,6 +87,20 @@
 #else
 #include <unistd.h>
 #include <dirent.h>
+#ifndef STATS
+#if defined(_ENVIRONMENT64) && !defined(__APPLE__)
+#define STATS stat64
+#else
+#define STATS stat
+#endif
+#endif
+#ifndef FSTAT
+#if defined(_ENVIRONMENT64) && !defined(__APPLE__)
+#define FSTAT fstat64
+#else
+#define FSTAT fstat
+#endif
+#endif
 #define _taccess access
 #endif
 #ifdef __APPLE__
@@ -480,16 +508,16 @@ class GENERAL_API File : public IOStream {
 
 	uint32_t getLastModified() {
 		ASSERT(isOpen());
-		struct stat s;
-		if (::fstat(h, &s) == -1)
+		struct STATS s;
+		if (::FSTAT(h, &s) == -1)
 			return 0;
 		return (uint32_t)s.st_mtime;
 	}
 
 	size_f_t getSize() const override {
 		ASSERT(isOpen());
-		struct stat s;
-		if (::fstat(h, &s) == -1)
+		struct STATS s;
+		if (::FSTAT(h, &s) == -1)
 			return SIZE_NA;
 		return (size_f_t)s.st_size;
 	}
@@ -569,8 +597,8 @@ class GENERAL_API File : public IOStream {
 	}
 
 	static size_f_t getSize(LPCTSTR aFileName) {
-		struct stat buf;
-		if (stat(aFileName, &buf) != 0)
+		struct STATS buf;
+		if (STATS(aFileName, &buf) != 0)
 			return SIZE_NA;
 		return buf.st_size;
 	}
@@ -580,16 +608,16 @@ class GENERAL_API File : public IOStream {
 	// test for whether there's something (i.e. folder or file) with this name
 	// and what access mode is supported
 	static bool isPresent(LPCTSTR path) {
-		struct stat buf;
-		return stat(path, &buf) == 0;
+		struct STATS buf;
+		return STATS(path, &buf) == 0;
 	}
 	static bool access(LPCTSTR path, int mode=CA_EXIST) {
 		return ::_taccess(path, mode) == 0;
 	}
 	// test for whether there's something present and its a folder
 	static bool isFolder(LPCTSTR path) {
-		struct stat buf;
-		if (!(stat(path, &buf) == 0))
+		struct STATS buf;
+		if (!(STATS(path, &buf) == 0))
 			return false;
 		// If the object is present, see if it is a directory
 		// this is the Posix-approved way of testing
@@ -598,8 +626,8 @@ class GENERAL_API File : public IOStream {
 	// test for whether there's something present and its a file
 	// a file can be a regular file, a symbolic link, a FIFO or a socket, but not a device
 	static bool isFile(LPCTSTR path) {
-		struct stat buf;
-		if (!(stat(path, &buf) == 0))
+		struct STATS buf;
+		if (!(STATS(path, &buf) == 0))
 			return false;
 		// If the object is present, see if it is a file or file-like object
 		// Note that devices are neither folders nor files
@@ -609,20 +637,20 @@ class GENERAL_API File : public IOStream {
 
 	// time the file was originally created
 	static time_t getCreated(LPCTSTR path) {
-		struct stat buf;
-		if (stat(path, &buf) != 0) return 0;
+		struct STATS buf;
+		if (STATS(path, &buf) != 0) return 0;
 		return buf.st_ctime;
 	}
 	// time the file was last modified
 	static time_t getModified(LPCTSTR path) {
-		struct stat buf;
-		if (stat(path, &buf) != 0) return 0;
+		struct STATS buf;
+		if (STATS(path, &buf) != 0) return 0;
 		return buf.st_mtime;
 	}
 	// time the file was accessed
 	static time_t getAccessed(LPCTSTR path) {
-		struct stat buf;
-		if (stat(path, &buf) != 0) return 0;
+		struct STATS buf;
+		if (STATS(path, &buf) != 0) return 0;
 		return buf.st_atime;
 	}
 

From cd688d2a068881184e963926e5e867595cb7eafb Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 31 Jan 2024 13:48:37 +0200
Subject: [PATCH 235/252] texture: fix obj export

---
 libs/MVS/Mesh.cpp | 40 ++++++++++++++++++++++------------------
 1 file changed, 22 insertions(+), 18 deletions(-)

diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 589ad880a..1b26bc53e 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -1320,12 +1320,12 @@ bool Mesh::LoadOBJ(const String& fileName)
 	}
 
 	// store vertices
-	ASSERT(sizeof(ObjModel::Vertex) == sizeof(Vertex));
+	STATIC_ASSERT(sizeof(ObjModel::Vertex) == sizeof(Vertex));
 	ASSERT(model.get_vertices().size() < std::numeric_limits<VIndex>::max());
 	vertices.CopyOf(&model.get_vertices()[0], (VIndex)model.get_vertices().size());
 
 	// store vertex normals
-	ASSERT(sizeof(ObjModel::Normal) == sizeof(Normal));
+	STATIC_ASSERT(sizeof(ObjModel::Normal) == sizeof(Normal));
 	ASSERT(model.get_vertices().size() < std::numeric_limits<VIndex>::max());
 	if (!model.get_normals().empty()) {
 		ASSERT(model.get_normals().size() == model.get_vertices().size());
@@ -1333,6 +1333,7 @@ bool Mesh::LoadOBJ(const String& fileName)
 	}
 
 	// store faces
+	ASSERT_ARE_SAME_TYPE(ObjModel::TexCoord, TexCoord);
 	FOREACH(groupIdx, model.get_groups()) {
 		const auto& group = model.get_groups()[groupIdx];
 		ASSERT(group.faces.size() < std::numeric_limits<FIndex>::max());
@@ -1547,11 +1548,11 @@ bool Mesh::SaveOBJ(const String& fileName) const
 	ObjModel model;
 
 	// store vertices
-	ASSERT(sizeof(ObjModel::Vertex) == sizeof(Vertex));
+	STATIC_ASSERT(sizeof(ObjModel::Vertex) == sizeof(Vertex));
 	model.get_vertices().insert(model.get_vertices().begin(), vertices.begin(), vertices.end());
 
 	// store vertex normals
-	ASSERT(sizeof(ObjModel::Normal) == sizeof(Normal));
+	STATIC_ASSERT(sizeof(ObjModel::Normal) == sizeof(Normal));
 	ASSERT(model.get_vertices().size() < std::numeric_limits<VIndex>::max());
 	if (!vertexNormals.empty()) {
 		ASSERT(vertexNormals.size() == vertices.size());
@@ -1559,7 +1560,7 @@ bool Mesh::SaveOBJ(const String& fileName) const
 	}
 
 	// store face texture coordinates
-	ASSERT(sizeof(ObjModel::TexCoord) == sizeof(TexCoord));
+	STATIC_ASSERT(sizeof(ObjModel::TexCoord) == sizeof(TexCoord));
 	if (!faceTexcoords.empty()) {
 		// translate, normalize and flip Y axis of the texture coordinates
 		TexCoordArr normFaceTexcoords;
@@ -1569,14 +1570,13 @@ bool Mesh::SaveOBJ(const String& fileName) const
 	}
 
 	// store faces
-	FOREACH(idxTexture, texturesDiffuse) {
-		ObjModel::Group& group = model.AddGroup(_T("material_" + std::to_string(idxTexture)));
-		group.faces.reserve(faces.size());
+	TexIndex idxTexture(0);
+	do {
+		ObjModel::Group& group = model.AddGroup(HasTexture() ? String::FormatString("material_%02u", idxTexture) : String(""));
+		group.faces.reserve(texturesDiffuse.empty() ? faces.size() : faces.size()/texturesDiffuse.size());
 		FOREACH(idxFace, faces) {
-			const auto texIdx = faceTexindices[idxFace];
-			if (texIdx != idxTexture)
-			    continue;
-
+			if (!faceTexindices.empty() && faceTexindices[idxFace] != idxTexture)
+				continue;
 			const Face& face = faces[idxFace];
 			ObjModel::Face f;
 			memset(&f, 0xFF, sizeof(ObjModel::Face));
@@ -1587,12 +1587,16 @@ bool Mesh::SaveOBJ(const String& fileName) const
 				if (!vertexNormals.empty())
 					f.normals[i] = face[i];
 			}
-			group.faces.push_back(f);
+			group.faces.emplace_back(f);
 		}
-		ObjModel::MaterialLib::Material* pMaterial(model.GetMaterial(group.material_name));
-		ASSERT(pMaterial != NULL);
-		pMaterial->diffuse_map = texturesDiffuse[idxTexture];
-	}
+
+		// store texture
+		if (HasTexture()) {
+			ObjModel::MaterialLib::Material* pMaterial(model.GetMaterial(group.material_name));
+			ASSERT(pMaterial != NULL);
+			pMaterial->diffuse_map = texturesDiffuse[idxTexture];
+		}
+	} while (++idxTexture < texturesDiffuse.size());
 
 	return model.Save(fileName);
 }
@@ -3684,7 +3688,7 @@ void Mesh::ConvertTexturePerVertex(Mesh& mesh) const
 		// with the same position, but different texture coordinates
 		const Face& face = faces[idxF];
 		Face& newface = mesh.faces[idxF];
-		const TexIndex ti = !faceTexindices.empty() ? faceTexindices[idxF] : 0;
+		const TexIndex ti = GetFaceTextureIndex(idxF);
 		for (int i=0; i<3; ++i) {
 			const TexCoord& tc = faceTexcoords[idxF*3+i];
 			VIndex idxV(face[i]);

From 6803f2124dfa6cafc6a6ac6cdb51c5f51da20d15 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tom=C3=A1=C5=A1=20Sl=C3=A1ma?= <tomas@slama.dev>
Date: Fri, 2 Feb 2024 11:00:00 +0100
Subject: [PATCH 236/252] scripts: remove -o for TextureMesh (#1102)

---
 scripts/python/MvgMvsPipeline.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/scripts/python/MvgMvsPipeline.py b/scripts/python/MvgMvsPipeline.py
index fd380ebf6..587004c17 100644
--- a/scripts/python/MvgMvsPipeline.py
+++ b/scripts/python/MvgMvsPipeline.py
@@ -270,7 +270,7 @@ def __init__(self):
              ["scene_dense.mvs", "-m", "scene_dense_mesh.ply", "-o", "scene_dense_mesh_refine.mvs", "--scales", "1", "--gradient-step", "25.05", "-w", "\"%mvs_dir%\""]],
             ["Texture the mesh",             # 20
              os.path.join(OPENMVS_BIN, "TextureMesh"),
-             ["scene_dense.mvs", "-m", "scene_dense_mesh_refine.ply", "-o", "scene_dense_mesh_refine_texture.mvs", "--decimate", "0.5", "-w", "\"%mvs_dir%\""]],
+             ["scene_dense.mvs", "-m", "scene_dense_mesh_refine.ply", "--decimate", "0.5", "-w", "\"%mvs_dir%\""]],
             ["Estimate disparity-maps",      # 21
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
              ["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-1", "-w", "\"%mvs_dir%\""]],

From 2ccd08e464608e1e43c49a177d2771b45d89d6bd Mon Sep 17 00:00:00 2001
From: cdc <cdc.seacave@gmail.com>
Date: Wed, 6 Mar 2024 19:45:16 +0200
Subject: [PATCH 237/252] scripts: add model_aligner to COLMAP SfM pipeline

---
 scripts/python/MvgMvsPipeline.py | 94 ++++++++++++++++++--------------
 1 file changed, 54 insertions(+), 40 deletions(-)

diff --git a/scripts/python/MvgMvsPipeline.py b/scripts/python/MvgMvsPipeline.py
index 587004c17..1ef4e1a2a 100644
--- a/scripts/python/MvgMvsPipeline.py
+++ b/scripts/python/MvgMvsPipeline.py
@@ -13,7 +13,7 @@
                           [--12 12 [12 ...]] [--13 13 [13 ...]] [--14 14 [14 ...]]
                           [--15 15 [15 ...]] [--16 16 [16 ...]] [--17 17 [17 ...]]
                           [--18 18 [18 ...]] [--19 19 [19 ...]] [--20 20 [20 ...]]
-                          [--21 21 [21 ...]] [--22 22 [22 ...]]
+                          [--21 21 [21 ...]] [--22 22 [22 ...]] [--23 23 [23 ...]]
                           input_dir output_dir
 
 Photogrammetry reconstruction with these steps:
@@ -32,14 +32,15 @@
     12. Feature Extractor              colmap
     13. Exhaustive Matcher             colmap
     14. Mapper                         colmap
-    15. Image Undistorter              colmap
-    16. Export to openMVS              InterfaceCOLMAP
-    17. Densify point-cloud            DensifyPointCloud
-    18. Reconstruct the mesh           ReconstructMesh
-    19. Refine the mesh                RefineMesh
-    20. Texture the mesh               TextureMesh
-    21. Estimate disparity-maps        DensifyPointCloud
-    22. Fuse disparity-maps            DensifyPointCloud
+    15. Model Aligner                  colmap
+    16. Image Undistorter              colmap
+    17. Export to openMVS              InterfaceCOLMAP
+    18. Densify point-cloud            DensifyPointCloud
+    19. Reconstruct the mesh           ReconstructMesh
+    20. Refine the mesh                RefineMesh
+    21. Texture the mesh               TextureMesh
+    22. Estimate disparity-maps        DensifyPointCloud
+    23. Fuse disparity-maps            DensifyPointCloud
 
 positional arguments:
   input_dir                 the directory which contains the pictures set.
@@ -49,22 +50,22 @@
   -h, --help                show this help message and exit
   --steps STEPS [STEPS ...] steps to process
   --preset PRESET           steps list preset in
-                            SEQUENTIAL = [0, 1, 2, 3, 4, 5, 11, 17, 18, 19, 20]
-                            GLOBAL = [0, 1, 2, 3, 4, 6, 11, 17, 18, 19, 20]
+                            SEQUENTIAL = [0, 1, 2, 3, 4, 5, 11, 18, 19, 20, 21]
+                            GLOBAL = [0, 1, 2, 3, 4, 6, 11, 18, 19, 20, 21]
                             MVG_SEQ = [0, 1, 2, 3, 4, 5, 7, 8, 9, 11]
                             MVG_GLOBAL = [0, 1, 2, 3, 4, 6, 7, 8, 9, 11]
-                            COLMAP_MVS = [12, 13, 14, 15, 16, 17, 18, 19, 20]
-                            COLMAP = [12, 13, 14, 15, 16]
-                            MVS = [17, 18, 19, 20]
-                            MVS_SGM = [21, 22]
+                            COLMAP_MVS = [12, 13, 14, 15, 16, 17, 18, 19, 20, 21]
+                            COLMAP = [12, 13, 14, 15, 16, 17]
+                            MVS = [18, 19, 20, 21]
+                            MVS_SGM = [22, 23]
                             default : SEQUENTIAL
 
 Passthrough:
   Option to be passed to command lines (remove - in front of option names)
   e.g. --1 p ULTRA to use the ULTRA preset in openMVG_main_ComputeFeatures
   For example, running the script
-  [MvgMvsPipeline.py input_dir output_dir --steps 0 1 2 3 4 5 11 17 18 20 --1 p HIGH n 8 --3 n HNSWL2]
-  [--steps 0 1 2 3 4 5 11 17 18 20] runs only the desired steps
+  [MvgMvsPipeline.py input_dir output_dir --steps 0 1 2 3 4 5 11 18 19 21 --1 p HIGH n 8 --3 n HNSWL2]
+  [--steps 0 1 2 3 4 5 11 18 19 21] runs only the desired steps
   [--1 p HIGH n 8] where --1 refer to openMVG_main_ComputeFeatures,
   p refers to describerPreset option and set to HIGH, and n refers
   to numThreads and set to 8. The second step (Compute matches),
@@ -140,14 +141,14 @@ def find(afile):
 if sys.platform.startswith('win'):
     COLMAP_BIN += ".bat"
 
-PRESET = {'SEQUENTIAL': [0, 1, 2, 3, 4, 5, 11, 17, 18, 19, 20],
-          'GLOBAL': [0, 1, 2, 3, 4, 6, 11, 17, 18, 19, 20],
+PRESET = {'SEQUENTIAL': [0, 1, 2, 3, 4, 5, 11, 18, 19, 20, 21],
+          'GLOBAL': [0, 1, 2, 3, 4, 6, 11, 18, 19, 20, 21],
           'MVG_SEQ': [0, 1, 2, 3, 4, 5, 7, 8, 9, 11],
           'MVG_GLOBAL': [0, 1, 2, 3, 4, 6, 7, 8, 9, 11],
-          'COLMAP_MVS': [12, 13, 14, 15, 16, 17, 18, 19, 20],
-          'COLMAP': [12, 13, 14, 15, 16],
-          'MVS': [17, 18, 19, 20],
-          'MVS_SGM': [21, 22]}
+          'COLMAP_MVS': [12, 13, 14, 15, 16, 17, 18, 19, 20, 21],
+          'COLMAP': [12, 13, 14, 15, 16, 17],
+          'MVS': [18, 19, 20, 21],
+          'MVS_SGM': [22, 23]}
 
 PRESET_DEFAULT = 'SEQUENTIAL'
 
@@ -246,35 +247,38 @@ def __init__(self):
              ["-i", "%reconstruction_dir%"+FOLDER_DELIM+"sfm_data.bin", "-o", "%mvs_dir%"+FOLDER_DELIM+"scene.mvs", "-d", "%mvs_dir%"+FOLDER_DELIM+"images"]],
             ["Feature Extractor",            # 12
              COLMAP_BIN,
-             ["feature_extractor", "--database_path", "%matches_dir%"+FOLDER_DELIM+"database.db", "--image_path", "%input_dir%"]],
+             ["feature_extractor", "--database_path", "%matches_dir%"+FOLDER_DELIM+"database.db", "--image_path", "%input_dir%", "--ImageReader.single_camera=1", "--ImageReader.camera_model=OPENCV"]],
             ["Exhaustive Matcher",           # 13
              COLMAP_BIN,
              ["exhaustive_matcher", "--database_path", "%matches_dir%"+FOLDER_DELIM+"database.db"]],
             ["Mapper",                       # 14
              COLMAP_BIN,
              ["mapper", "--database_path", "%matches_dir%"+FOLDER_DELIM+"database.db", "--image_path", "%input_dir%", "--output_path", "%reconstruction_dir%"]],
-            ["Image Undistorter",            # 15
+            ["Model Aligner",                # 15
+             COLMAP_BIN,
+             ["model_aligner", "--input_path", "%reconstruction_dir%"+FOLDER_DELIM+"0", "--database_path", "%matches_dir%"+FOLDER_DELIM+"database.db", "--output_path", "%reconstruction_dir%"+FOLDER_DELIM+"0", "--ref_is_gps=1", "--robust_alignment_max_error=2.0", "--alignment_type=enu", "--transform_path", "%reconstruction_dir%"+FOLDER_DELIM+"transform.txt"]],
+            ["Image Undistorter",            # 16
              COLMAP_BIN,
              ["image_undistorter", "--image_path", "%input_dir%", "--input_path", "%reconstruction_dir%"+FOLDER_DELIM+"0", "--output_path", "%reconstruction_dir%"+FOLDER_DELIM+"dense", "--output_type", "COLMAP"]],
-            ["Export to openMVS",            # 16
+            ["Export to openMVS",            # 17
              os.path.join(OPENMVS_BIN, "InterfaceCOLMAP"),
              ["-i", "%reconstruction_dir%"+FOLDER_DELIM+"dense", "-o", "scene.mvs", "--image-folder", "%reconstruction_dir%"+FOLDER_DELIM+"dense"+FOLDER_DELIM+"images", "-w", "\"%mvs_dir%\""]],
-            ["Densify point cloud",          # 17
+            ["Densify point cloud",          # 18
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
              ["scene.mvs", "--dense-config-file", "Densify.ini", "--resolution-level", "1", "--number-views", "8", "-w", "\"%mvs_dir%\""]],
-            ["Reconstruct the mesh",         # 18
+            ["Reconstruct the mesh",         # 19
              os.path.join(OPENMVS_BIN, "ReconstructMesh"),
              ["scene_dense.mvs", "-p", "scene_dense.ply", "-w", "\"%mvs_dir%\""]],
-            ["Refine the mesh",              # 19
+            ["Refine the mesh",              # 20
              os.path.join(OPENMVS_BIN, "RefineMesh"),
              ["scene_dense.mvs", "-m", "scene_dense_mesh.ply", "-o", "scene_dense_mesh_refine.mvs", "--scales", "1", "--gradient-step", "25.05", "-w", "\"%mvs_dir%\""]],
-            ["Texture the mesh",             # 20
+            ["Texture the mesh",             # 21
              os.path.join(OPENMVS_BIN, "TextureMesh"),
              ["scene_dense.mvs", "-m", "scene_dense_mesh_refine.ply", "--decimate", "0.5", "-w", "\"%mvs_dir%\""]],
-            ["Estimate disparity-maps",      # 21
+            ["Estimate disparity-maps",      # 22
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
              ["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-1", "-w", "\"%mvs_dir%\""]],
-            ["Fuse disparity-maps",          # 22
+            ["Fuse disparity-maps",          # 23
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
              ["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-2", "-w", "\"%mvs_dir%\""]]
             ]
@@ -388,11 +392,11 @@ def mkdir_ine(dirname):
         STEPS.replace_opt(4, FOLDER_DELIM+"matches.f.bin", FOLDER_DELIM+"matches.e.bin")
         STEPS[4].opt.extend(["-g", "e"])
 
-if 20 in CONF.steps:    # TextureMesh
-    if 19 not in CONF.steps:  # RefineMesh
+if 21 in CONF.steps:    # TextureMesh
+    if 20 not in CONF.steps:  # RefineMesh
         # RefineMesh step is not run, use ReconstructMesh output
-        STEPS.replace_opt(20, "scene_dense_mesh_refine.ply", "scene_dense_mesh.ply")
-        STEPS.replace_opt(20, "scene_dense_mesh_refine_texture.mvs", "scene_dense_mesh_texture.mvs")
+        STEPS.replace_opt(21, "scene_dense_mesh_refine.ply", "scene_dense_mesh.ply")
+        STEPS.replace_opt(21, "scene_dense_mesh_refine_texture.mvs", "scene_dense_mesh_texture.mvs")
 
 for cstep in CONF.steps:
     printout("#%i. %s" % (cstep, STEPS[cstep].info), effect=INVERSE)
@@ -423,12 +427,22 @@ def mkdir_ine(dirname):
     if not DEBUG:
         # Launch the current step
         try:
-            pStep = subprocess.Popen(cmdline)
-            pStep.wait()
-            if pStep.returncode != 0:
+            if subprocess.run(cmdline, check=True).returncode != 0:
                 break
+        except subprocess.CalledProcessError:
+            # check if this COLMAP model-aligner step, retry using plane alignment instead of GPS
+            if cstep == 15 and "--ref_is_gps=1" in STEPS[cstep].opt:
+                printout("# Retry COLMAP model-aligner step using plane alignment instead of GPS", effect=INVERSE)
+                STEPS.replace_opt(15, "--ref_is_gps=1", "--ref_is_gps=0")
+                STEPS.replace_opt(15, "--alignment_type=enu", "--alignment_type=plane")
+                cmdline = [STEPS[cstep].cmd] + STEPS[cstep].opt + opt
+                print('Cmd: ' + ' '.join(cmdline))
+                if subprocess.run(cmdline, check=True).returncode != 0:
+                    break
+            else:
+                sys.exit('\r\nProcess failed at step %i' % cstep)
         except KeyboardInterrupt:
-            sys.exit('\r\nProcess canceled by user, all files remains')
+            sys.exit('\r\nProcess canceled by user at step %i, all files remains' % cstep)
     else:
         print('\t'.join(cmdline))
 

From 6f1a7877587f0899d3ed8feb085a0b6b9463c434 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sat, 27 Apr 2024 12:17:29 +0300
Subject: [PATCH 238/252] interface: add python DMAP save script

---
 scripts/python/MvsUtils.py | 69 +++++++++++++++++++++++++++++++++++++-
 1 file changed, 68 insertions(+), 1 deletion(-)

diff --git a/scripts/python/MvsUtils.py b/scripts/python/MvsUtils.py
index 9286cf13c..b368c3a62 100644
--- a/scripts/python/MvsUtils.py
+++ b/scripts/python/MvsUtils.py
@@ -1,7 +1,7 @@
 '''
 OpenMVS python utilities.
 
-E.g., from MvsUtils import loadDMAP, loadMVSInterface
+Ex: from MvsUtils import loadDMAP, saveDMAP, loadMVSInterface
 '''
 
 import numpy as np
@@ -69,6 +69,73 @@ def loadDMAP(dmap_path):
   
   return data
 
+
+def saveDMAP(data: dict, dmap_path: Path|str):
+  assert 'depth_map' in data, 'depth_map is required'
+  assert 'image_width' in data and data['image_width'] > 0, 'image_width is required'
+  assert 'image_height' in data and data['image_height'] > 0, 'image_height is required'
+  assert 'depth_width' in data and data['depth_width'] > 0, 'depth_width is required'
+  assert 'depth_height' in data and data['depth_height'] > 0, 'depth_height is required'
+
+  assert 'depth_min' in data, 'depth_min is required'
+  assert 'depth_max' in data, 'depth_max is required'
+
+  assert 'file_name' in data, 'file_name is required'
+  assert 'reference_view_id' in data, 'reference_view_id is required'
+  assert 'neighbor_view_ids' in data, 'neighbor_view_ids is required'
+
+  assert 'K' in data, 'K is required'
+  assert 'R' in data, 'R is required'
+  assert 'C' in data, 'C is required'
+
+  content_type = 1
+  if 'normal_map' in data:
+    content_type += 2
+  if 'confidence_map' in data:
+    content_type += 4
+  if 'views_map' in data:
+    content_type += 8
+
+  with open(dmap_path, 'wb') as dmap:
+    dmap.write('DR'.encode())
+
+    dmap.write(np.array([content_type], dtype=np.dtype('B')))
+    dmap.write(np.array([0], dtype=np.dtype('B')))
+
+    dmap.write(np.array([data['image_width'], data['image_height']], dtype=np.dtype('I')))
+    dmap.write(np.array([data['depth_width'], data['depth_height']], dtype=np.dtype('I')))
+
+    dmap.write(np.array([data['depth_min'], data['depth_max']], dtype=np.dtype('f')))
+
+    file_name = data['file_name']
+    dmap.write(np.array([len(file_name)], dtype=np.dtype('H')))
+    dmap.write(file_name.encode())
+
+    view_ids = [data['reference_view_id']] + data['neighbor_view_ids']
+    dmap.write(np.array([len(view_ids)], dtype=np.dtype('I')))
+    dmap.write(np.array(view_ids, dtype=np.dtype('I')))
+
+    K = data['K']
+    R = data['R']
+    C = data['C']
+    dmap.write(K.tobytes())
+    dmap.write(R.tobytes())
+    dmap.write(C.tobytes())
+
+    depth_map = data['depth_map']
+    dmap.write(depth_map.tobytes())
+
+    if 'normal_map' in data:
+      normal_map = data['normal_map']
+      dmap.write(normal_map.tobytes())
+    if 'confidence_map' in data:
+      confidence_map = data['confidence_map']
+      dmap.write(confidence_map.tobytes())
+    if 'views_map' in data:
+      views_map = data['views_map']
+      dmap.write(views_map.tobytes())
+
+
 def loadMVSInterface(archive_path):
   with open(archive_path, 'rb') as mvs:
     archive_type = mvs.read(4).decode()

From 36ffb22573b809c7632d2e4002c63e6a1e734f1c Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 8 May 2024 18:25:09 +0300
Subject: [PATCH 239/252] common: various small fixes and added asserts

---
 CMakeLists.txt                               |  3 ++
 apps/DensifyPointCloud/DensifyPointCloud.cpp | 10 +++---
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp     | 33 ++++++++++++++------
 libs/Common/Config.h                         |  8 ++---
 libs/MVS/Camera.cpp                          |  4 +++
 libs/MVS/Camera.h                            |  2 ++
 libs/MVS/DepthMap.cpp                        |  2 +-
 libs/MVS/Image.h                             |  2 +-
 libs/MVS/Scene.cpp                           |  2 +-
 libs/MVS/SceneDensify.cpp                    |  6 ++--
 scripts/python/MvgMvsPipeline.py             |  2 +-
 11 files changed, 49 insertions(+), 25 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 920e4c312..87534d7e2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -109,6 +109,9 @@ if(OpenMVS_USE_OPENGL)
 endif()
 
 if(OpenMVS_USE_CUDA)
+	if(POLICY CMP0146)
+		cmake_policy(SET CMP0146 NEW)
+	endif()
 	FIND_PACKAGE(CUDA)
 	if(CUDA_FOUND)
 		ENABLE_LANGUAGE(CUDA)
diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index f314c7736..757debefe 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -160,12 +160,12 @@ bool Application::Initialize(size_t argc, LPCTSTR* argv)
 		("postprocess-dmaps", boost::program_options::value(&nOptimize)->default_value(7), "flags used to filter the depth-maps after estimation (0 - disabled, 1 - remove-speckles, 2 - fill-gaps, 4 - adjust-filter)")
 		("filter-point-cloud", boost::program_options::value(&OPT::thFilterPointCloud)->default_value(0), "filter dense point-cloud based on visibility (0 - disabled)")
 		("export-number-views", boost::program_options::value(&OPT::nExportNumViews)->default_value(0), "export points with >= number of views (0 - disabled, <0 - save MVS project too)")
-        ("roi-border", boost::program_options::value(&OPT::fBorderROI)->default_value(0), "add a border to the region-of-interest when cropping the scene (0 - disabled, >0 - percentage, <0 - absolute)")
-        ("estimate-roi", boost::program_options::value(&OPT::nEstimateROI)->default_value(2), "estimate and set region-of-interest (0 - disabled, 1 - enabled, 2 - adaptive)")
-        ("crop-to-roi", boost::program_options::value(&OPT::bCrop2ROI)->default_value(true), "crop scene using the region-of-interest")
-        ("remove-dmaps", boost::program_options::value(&bRemoveDmaps)->default_value(false), "remove depth-maps after fusion")
+		("roi-border", boost::program_options::value(&OPT::fBorderROI)->default_value(0), "add a border to the region-of-interest when cropping the scene (0 - disabled, >0 - percentage, <0 - absolute)")
+		("estimate-roi", boost::program_options::value(&OPT::nEstimateROI)->default_value(2), "estimate and set region-of-interest (0 - disabled, 1 - enabled, 2 - adaptive)")
+		("crop-to-roi", boost::program_options::value(&OPT::bCrop2ROI)->default_value(true), "crop scene using the region-of-interest")
+		("remove-dmaps", boost::program_options::value(&bRemoveDmaps)->default_value(false), "remove depth-maps after fusion")
 		("tower-mode", boost::program_options::value(&OPT::nTowerMode)->default_value(4), "add a cylinder of points in the center of ROI; scene assume to be Z-up oriented (0 - disabled, 1 - replace, 2 - append, 3 - select neighbors, 4 - select neighbors & append, <0 - force tower mode)")
-        ;
+		;
 
 	// hidden options, allowed both on command line and
 	// in config file, but will not be shown to the user
diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index 571c5d1e7..d9ff4489c 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -294,6 +294,7 @@ struct Camera {
 		in >> ID >> model >> width >> height;
 		if (in.fail())
 			return false;
+		ASSERT(ID > 0);
 		--ID;
 		if (model != _T("PINHOLE"))
 			return false;
@@ -313,10 +314,12 @@ struct Camera {
 			numCameras = ReadBinaryLittleEndian<uint64_t>(&stream);
 		}
 
-		ID = ReadBinaryLittleEndian<camera_t>(&stream)-1;
+		ID = ReadBinaryLittleEndian<camera_t>(&stream);
 		model = mapCameraModel[ReadBinaryLittleEndian<int>(&stream)];
 		width = (uint32_t)ReadBinaryLittleEndian<uint64_t>(&stream);
 		height = (uint32_t)ReadBinaryLittleEndian<uint64_t>(&stream);
+		ASSERT(ID > 0);
+		--ID;
 		if (model != _T("PINHOLE"))
 			return false;
 		params.resize(4);
@@ -398,6 +401,7 @@ struct Image {
 			>> idCamera >> name;
 		if (in.fail())
 			return false;
+		ASSERT(ID > 0 && idCamera > 0);
 		--ID; --idCamera;
 		Util::ensureValidPath(name);
 		if (!NextLine(stream, in, false))
@@ -408,6 +412,7 @@ struct Image {
 			in >> proj.p(0) >> proj.p(1) >> (int&)proj.idPoint;
 			if (in.fail())
 				break;
+			ASSERT(proj.idPoint > 0);
 			--proj.idPoint;
 			projs.emplace_back(proj);
 		}
@@ -425,7 +430,7 @@ struct Image {
 			numRegImages = ReadBinaryLittleEndian<uint64_t>(&stream);
 		}
 
-		ID = ReadBinaryLittleEndian<image_t>(&stream)-1;
+		ID = ReadBinaryLittleEndian<image_t>(&stream);
 		q.w() = ReadBinaryLittleEndian<double>(&stream);
 		q.x() = ReadBinaryLittleEndian<double>(&stream);
 		q.y() = ReadBinaryLittleEndian<double>(&stream);
@@ -433,7 +438,9 @@ struct Image {
 		t(0) = ReadBinaryLittleEndian<double>(&stream);
 		t(1) = ReadBinaryLittleEndian<double>(&stream);
 		t(2) = ReadBinaryLittleEndian<double>(&stream);
-		idCamera = ReadBinaryLittleEndian<camera_t>(&stream)-1;
+		idCamera = ReadBinaryLittleEndian<camera_t>(&stream);
+		ASSERT(ID > 0 && idCamera > 0);
+		--ID; --idCamera;
 
 		name = "";
 		while (true) {
@@ -451,7 +458,9 @@ struct Image {
 			Proj proj;
 			proj.p(0) = (float)ReadBinaryLittleEndian<double>(&stream);
 			proj.p(1) = (float)ReadBinaryLittleEndian<double>(&stream);
-			proj.idPoint = (uint32_t)ReadBinaryLittleEndian<point3D_t>(&stream)-1;
+			proj.idPoint = (uint32_t)ReadBinaryLittleEndian<point3D_t>(&stream);
+			ASSERT(proj.idPoint > 0);
+			--proj.idPoint;
 			projs.emplace_back(proj);
 		}
 		return true;
@@ -549,6 +558,7 @@ struct Point {
 		c.z = CLAMP(r,0,255);
 		if (in.fail())
 			return false;
+		ASSERT(ID > 0);
 		--ID;
 		tracks.clear();
 		while (true) {
@@ -556,6 +566,7 @@ struct Point {
 			in >> track.idImage >> track.idProj;
 			if (in.fail())
 				break;
+			ASSERT(track.idImage > 0 && track.idProj > 0);
 			--track.idImage; --track.idProj;
 			tracks.emplace_back(track);
 		}
@@ -574,7 +585,7 @@ struct Point {
 		}
 
 		int r,g,b;
-		ID = (uint32_t)ReadBinaryLittleEndian<point3D_t>(&stream)-1;
+		ID = (uint32_t)ReadBinaryLittleEndian<point3D_t>(&stream);
 		p.x = (float)ReadBinaryLittleEndian<double>(&stream);
 		p.y = (float)ReadBinaryLittleEndian<double>(&stream);
 		p.z = (float)ReadBinaryLittleEndian<double>(&stream);
@@ -585,15 +596,19 @@ struct Point {
 		c.x = CLAMP(b,0,255);
 		c.y = CLAMP(g,0,255);
 		c.z = CLAMP(r,0,255);
-		
+		ASSERT(ID > 0);
+		--ID;
+
 		const size_t trackLength = ReadBinaryLittleEndian<uint64_t>(&stream);
 		tracks.clear();
 		for (size_t j = 0; j < trackLength; ++j) {
 			Track track;
-			track.idImage = ReadBinaryLittleEndian<image_t>(&stream)-1;
-			track.idProj = ReadBinaryLittleEndian<point2D_t>(&stream)-1;
+			track.idImage = ReadBinaryLittleEndian<image_t>(&stream);
+			track.idProj = ReadBinaryLittleEndian<point2D_t>(&stream);
+			ASSERT(track.idImage > 0 && track.idProj > 0);
+			--track.idImage; --track.idProj;
 			tracks.emplace_back(track);
-    	}
+		}
 		return !tracks.empty();
 	}
 
diff --git a/libs/Common/Config.h b/libs/Common/Config.h
index ead657f57..d5f7dddec 100644
--- a/libs/Common/Config.h
+++ b/libs/Common/Config.h
@@ -92,11 +92,11 @@
 /*----------------------------------------------------------------*/
 #ifdef _USRDLL
   #ifdef Common_EXPORTS
-    #define GENERAL_API EXPORT_API
-    #define GENERAL_TPL
+	#define GENERAL_API EXPORT_API
+	#define GENERAL_TPL
   #else
-    #define GENERAL_API IMPORT_API
-    #define GENERAL_TPL extern
+	#define GENERAL_API IMPORT_API
+	#define GENERAL_TPL extern
   #endif
 #else
   #define GENERAL_API
diff --git a/libs/MVS/Camera.cpp b/libs/MVS/Camera.cpp
index 17e049e4a..00bbdb791 100644
--- a/libs/MVS/Camera.cpp
+++ b/libs/MVS/Camera.cpp
@@ -73,6 +73,10 @@ Camera& Camera::operator= (const CameraIntern& camera)
 	C = camera.C;
 	return *this;
 }
+Camera Camera::GetScaled(REAL s) const
+{
+	return Camera(GetScaledK(s), R, C);
+}
 /*----------------------------------------------------------------*/
 
 
diff --git a/libs/MVS/Camera.h b/libs/MVS/Camera.h
index 8c49c35a1..edb9b00d4 100644
--- a/libs/MVS/Camera.h
+++ b/libs/MVS/Camera.h
@@ -272,6 +272,8 @@ class MVS_API Camera : public CameraIntern
 
 	Camera& operator= (const CameraIntern& camera);
 
+	Camera GetScaled(REAL s) const; // return a scaled camera
+
 	void ComposeP_RC(); // compose P from R and C only
 	void ComposeP(); // compose P from K, R and C
 	void DecomposeP_RC(); // decompose P in R and C, keep K unchanged
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index d2178b622..72df265ef 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -299,7 +299,7 @@ unsigned DepthData::DecRef()
 //  - pMask: optional output mask; if defined, the mask is returned in this image instead of the BitMatrix
 bool DepthEstimator::ImportIgnoreMask(const Image& image0, const Image8U::Size& size, uint16_t nIgnoreMaskLabel, BitMatrix& bmask, Image8U* pMask)
 {
-	ASSERT(image0.IsValid() && !image0.image.empty());
+	ASSERT(image0.IsValid());
 	const String maskFileName(image0.maskName.empty() ? Util::getFileFullName(image0.name)+".mask.png" : image0.maskName);
 	Image16U mask;
 	if (!mask.Load(maskFileName)) {
diff --git a/libs/MVS/Image.h b/libs/MVS/Image.h
index 6e8c46952..7b57bb5d4 100644
--- a/libs/MVS/Image.h
+++ b/libs/MVS/Image.h
@@ -64,7 +64,7 @@ class MVS_API Image
 	Camera camera; // view's pose
 	uint32_t width, height; // image size
 	Image8U3 image; // image color pixels
-	ViewScoreArr neighbors; // scored neighbor images
+	ViewScoreArr neighbors; // scored neighbor images (image indices ordered by score)
 	float scale; // image scale relative to the original size
 	float avgDepth; // average depth of the points seen by this camera
 
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 3cc319dc5..5364549b7 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -448,7 +448,7 @@ bool Scene::LoadViewNeighbors(const String& fileName)
 		FOREACH(i, imageData.neighbors) {
 			const IIndex nID(String::FromString<IIndex>(argv[i+1], NO_ID));
 			ASSERT(nID != NO_ID);
-			imageData.neighbors[i] = ViewScore{nID, 0, 1.f, FD2R(15.f), 0.5f, 3.f};
+			imageData.neighbors[i] = ViewScore{nID, 0, 1.f, FD2R(15.f), 0.5f, 2.f+(argc-i)*0.5f};
 		}
 	}
 
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 0c36a2c4a..cc13747ac 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -285,7 +285,8 @@ bool DepthMapsData::SelectViews(DepthData& depthData)
 	const float fMinScale(0.2f), fMaxScale(3.2f);
 	const float fMinAngle(FD2R(OPTDENSE::fMinAngle));
 	const float fMaxAngle(FD2R(OPTDENSE::fMaxAngle));
-	if (!Scene::FilterNeighborViews(depthData.neighbors, fMinArea, fMinScale, fMaxScale, fMinAngle, fMaxAngle, OPTDENSE::nMaxViews)) {
+	const unsigned nMaxViews(MAXF(OPTDENSE::nMaxViews, OPTDENSE::nNumViews));
+	if (!Scene::FilterNeighborViews(depthData.neighbors, fMinArea, fMinScale, fMaxScale, fMinAngle, fMaxAngle, nMaxViews)) {
 		DEBUG_EXTRA("error: reference image %3u has no good images in view", idxImage);
 		return false;
 	}
@@ -332,8 +333,7 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 	} else {
 		// initialize all neighbor views too (global reconstruction is used)
 		const float fMinScore(MAXF(depthData.neighbors.First().score*OPTDENSE::fViewMinScoreRatio, OPTDENSE::fViewMinScore));
-		FOREACH(idx, depthData.neighbors) {
-			const ViewScore& neighbor = depthData.neighbors[idx];
+		for (const ViewScore& neighbor: depthData.neighbors) {
 			if ((numNeighbors && depthData.images.GetSize() > numNeighbors) ||
 				(neighbor.score < fMinScore))
 				break;
diff --git a/scripts/python/MvgMvsPipeline.py b/scripts/python/MvgMvsPipeline.py
index 1ef4e1a2a..870b62be9 100644
--- a/scripts/python/MvgMvsPipeline.py
+++ b/scripts/python/MvgMvsPipeline.py
@@ -256,7 +256,7 @@ def __init__(self):
              ["mapper", "--database_path", "%matches_dir%"+FOLDER_DELIM+"database.db", "--image_path", "%input_dir%", "--output_path", "%reconstruction_dir%"]],
             ["Model Aligner",                # 15
              COLMAP_BIN,
-             ["model_aligner", "--input_path", "%reconstruction_dir%"+FOLDER_DELIM+"0", "--database_path", "%matches_dir%"+FOLDER_DELIM+"database.db", "--output_path", "%reconstruction_dir%"+FOLDER_DELIM+"0", "--ref_is_gps=1", "--robust_alignment_max_error=2.0", "--alignment_type=enu", "--transform_path", "%reconstruction_dir%"+FOLDER_DELIM+"transform.txt"]],
+             ["model_aligner", "--input_path", "%reconstruction_dir%"+FOLDER_DELIM+"0", "--database_path", "%matches_dir%"+FOLDER_DELIM+"database.db", "--output_path", "%reconstruction_dir%"+FOLDER_DELIM+"0", "--ref_is_gps=1", "--alignment_max_error=2.0", "--alignment_type=enu", "--transform_path", "%reconstruction_dir%"+FOLDER_DELIM+"transform.txt"]],
             ["Image Undistorter",            # 16
              COLMAP_BIN,
              ["image_undistorter", "--image_path", "%input_dir%", "--input_path", "%reconstruction_dir%"+FOLDER_DELIM+"0", "--output_path", "%reconstruction_dir%"+FOLDER_DELIM+"dense", "--output_type", "COLMAP"]],

From 9bd7ed42d75e5b4dea2ee274b63c8bfc02b0a665 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 26 Jun 2024 17:02:09 +0300
Subject: [PATCH 240/252] transform: add option to add noise to camera poses

---
 apps/TransformScene/TransformScene.cpp | 26 ++++++++++++++++++--------
 libs/MVS/Scene.cpp                     | 18 ++++++++++++++++++
 libs/MVS/Scene.h                       |  3 ++-
 3 files changed, 38 insertions(+), 9 deletions(-)

diff --git a/apps/TransformScene/TransformScene.cpp b/apps/TransformScene/TransformScene.cpp
index b4dab28bc..31b2fd2dd 100644
--- a/apps/TransformScene/TransformScene.cpp
+++ b/apps/TransformScene/TransformScene.cpp
@@ -56,6 +56,8 @@ namespace OPT {
 	String strTransferTextureFileName;
 	String strIndicesFileName;
 	bool bComputeVolume;
+	float fEpsNoisePosition;
+	float fEpsNoiseRotation;
 	float fPlaneThreshold;
 	float fSampleMesh;
 	unsigned nMaxResolution;
@@ -117,6 +119,8 @@ bool Application::Initialize(size_t argc, LPCTSTR* argv)
 		("transfer-texture-file", boost::program_options::value<std::string>(&OPT::strTransferTextureFileName), "input mesh filename to which the texture of the scene's mesh will be transfered to (the two meshes should be aligned and the new mesh to have UV-map)")
 		("indices-file", boost::program_options::value<std::string>(&OPT::strIndicesFileName), "input indices filename to be used with ex. texture transfer to select a subset of the scene's mesh")
 		("compute-volume", boost::program_options::value(&OPT::bComputeVolume)->default_value(false), "compute the volume of the given watertight mesh, or else try to estimate the ground plane and assume the mesh is bounded by it")
+		("eps-noise-position", boost::program_options::value(&OPT::fEpsNoisePosition)->default_value(0.f), "add noise to camera positions (0 - disabled)")
+		("eps-noise-rotation", boost::program_options::value(&OPT::fEpsNoiseRotation)->default_value(0.f), "add noise to camera rotations (0 - disabled)")
 		("plane-threshold", boost::program_options::value(&OPT::fPlaneThreshold)->default_value(0.f), "threshold used to estimate the ground plane (<0 - disabled, 0 - auto, >0 - desired threshold)")
 		("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(-300000.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
 		("max-resolution", boost::program_options::value(&OPT::nMaxResolution)->default_value(0), "make sure image resolution are not not larger than this (0 - disabled)")
@@ -229,6 +233,12 @@ int main(int argc, LPCTSTR* argv)
 		!OPT::strTransformFileName.empty() || !OPT::strTransferTextureFileName.empty() || OPT::bComputeVolume));
 	if (sceneType == Scene::SCENE_NA)
 		return EXIT_FAILURE;
+	if (OPT::fEpsNoisePosition > 0 || OPT::fEpsNoiseRotation > 0) {
+		scene.pointcloud.Release();
+		scene.AddNoiseCameraPoses(OPT::fEpsNoisePosition, FD2R(OPT::fEpsNoiseRotation));
+		scene.Save(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)) + _T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
+		return EXIT_SUCCESS;
+	}
 	if (!OPT::strPointCloudFileName.empty() && !scene.pointcloud.Load(MAKE_PATH_SAFE(OPT::strPointCloudFileName))) {
 		VERBOSE("error: cannot load point-cloud file");
 		return EXIT_FAILURE;
@@ -256,14 +266,14 @@ int main(int argc, LPCTSTR* argv)
 		std::vector<double> transformValues;
 		while (file >> value) {
 			double v;
-                        try {
-                                v = std::stod(value);
-                        }
-                        catch (...) {
-                                continue;
-                        }
-                        transformValues.push_back(v);
-                }
+			try {
+				v = std::stod(value);
+			}
+			catch (...) {
+				continue;
+			}
+			transformValues.push_back(v);
+		}
 		if (transformValues.size() != 12 &&
 			(transformValues.size() != 16 || transformValues[12] != 0 || transformValues[13] != 0 || transformValues[14] != 0 || transformValues[15] != 1)) {
 			VERBOSE("error: invalid transform");
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 5364549b7..0434395e0 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -1644,6 +1644,24 @@ REAL Scene::ComputeLeveledVolume(float planeThreshold, float sampleMesh, unsigne
 	}
 	return mesh.ComputeVolume();
 }
+
+// add noise to camera poses:
+//  - epsPosition: noise in camera position (in scene units)
+//  - epsRotation: noise in camera rotation (in radians)
+void Scene::AddNoiseCameraPoses(float epsPosition, float epsRotation)
+{
+	for (Platform& platform: platforms) {
+		for (Platform::Pose& pose: platform.poses) {
+			pose.C += Point3((Point3::EVec::Random() * epsPosition).eval());
+			pose.R = RMatrix(RMatrix::Vec(Point3((epsRotation * Point3::EVec::Random()).eval()))) * pose.R;
+		}
+	}
+	for (Image& imageData: images) {
+		if (!imageData.IsValid())
+			continue;
+		imageData.UpdateCamera(platforms);
+	}
+}
 /*----------------------------------------------------------------*/
 
 
diff --git a/libs/MVS/Scene.h b/libs/MVS/Scene.h
index 8eaa96369..c3a9198ca 100644
--- a/libs/MVS/Scene.h
+++ b/libs/MVS/Scene.h
@@ -100,7 +100,7 @@ class MVS_API Scene
 	bool ExportCamerasMLP(const String& fileName, const String& fileNameScene) const;
 	static bool ExportLinesPLY(const String& fileName, const CLISTDEF0IDX(Line3f,uint32_t)& lines, const Pixel8U* colors=NULL, bool bBinary=true);
 
-	// sub-scene split and save
+	// Sub-scene split and save
 	struct ImagesChunk {
 		std::unordered_set<IIndex> images;
 		AABB3f aabb;
@@ -117,6 +117,7 @@ class MVS_API Scene
 	void Transform(const Matrix3x4& transform);
 	bool AlignTo(const Scene&);
 	REAL ComputeLeveledVolume(float planeThreshold=0, float sampleMesh=-100000, unsigned upAxis=2, bool verbose=true);
+	void AddNoiseCameraPoses(float epsPosition, float epsRotation);
 
 	// Estimate and set region-of-interest
 	bool EstimateROI(int nEstimateROI=0, float scale=1.f);

From d7262111b10ff90687ed1686843e5e8dfd4f8954 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Fri, 26 Jul 2024 13:35:33 +0300
Subject: [PATCH 241/252] common: remove unused code

---
 COPYRIGHT.md                              |   19 -
 libs/Common/FastDelegate.h                | 2328 +++------------------
 libs/Common/FastDelegateBind.h            |  240 ---
 libs/Common/FastDelegateCPP11.h           |  379 ----
 libs/Common/HTMLDoc.h                     |  457 ----
 libs/Common/Types.h                       |   11 +-
 libs/MVS/DepthMap.cpp                     |    2 +-
 libs/MVS/SceneDensify.cpp                 |  136 --
 libs/MVS/SceneDensify.h                   |    1 -
 libs/MVS/SceneTexture.cpp                 |  135 --
 libs/Math/CMakeLists.txt                  |    6 -
 libs/Math/TRWS/CHANGES.TXT                |   13 -
 libs/Math/TRWS/LICENSE.TXT                |   31 -
 libs/Math/TRWS/MRFEnergy.h                |  246 ---
 libs/Math/TRWS/MRFEnergy.inl              |  255 ---
 libs/Math/TRWS/README.TXT                 |   21 -
 libs/Math/TRWS/instances.h                |   22 -
 libs/Math/TRWS/minimize.inl               |  299 ---
 libs/Math/TRWS/ordering.inl               |  151 --
 libs/Math/TRWS/treeProbabilities.inl      |   36 -
 libs/Math/TRWS/typeBinary.h               |  392 ----
 libs/Math/TRWS/typeBinaryFast.h           |  309 ---
 libs/Math/TRWS/typeGeneral.h              |  614 ------
 libs/Math/TRWS/typePotts.h                |  443 ----
 libs/Math/TRWS/typeTruncatedLinear.h      |  463 ----
 libs/Math/TRWS/typeTruncatedLinear2D.h    |  491 -----
 libs/Math/TRWS/typeTruncatedQuadratic.h   |  533 -----
 libs/Math/TRWS/typeTruncatedQuadratic2D.h |  574 -----
 28 files changed, 303 insertions(+), 8304 deletions(-)
 delete mode 100644 libs/Common/FastDelegateBind.h
 delete mode 100644 libs/Common/FastDelegateCPP11.h
 delete mode 100644 libs/Common/HTMLDoc.h
 delete mode 100644 libs/Math/TRWS/CHANGES.TXT
 delete mode 100644 libs/Math/TRWS/LICENSE.TXT
 delete mode 100644 libs/Math/TRWS/MRFEnergy.h
 delete mode 100644 libs/Math/TRWS/MRFEnergy.inl
 delete mode 100644 libs/Math/TRWS/README.TXT
 delete mode 100644 libs/Math/TRWS/instances.h
 delete mode 100644 libs/Math/TRWS/minimize.inl
 delete mode 100644 libs/Math/TRWS/ordering.inl
 delete mode 100644 libs/Math/TRWS/treeProbabilities.inl
 delete mode 100644 libs/Math/TRWS/typeBinary.h
 delete mode 100644 libs/Math/TRWS/typeBinaryFast.h
 delete mode 100644 libs/Math/TRWS/typeGeneral.h
 delete mode 100644 libs/Math/TRWS/typePotts.h
 delete mode 100644 libs/Math/TRWS/typeTruncatedLinear.h
 delete mode 100644 libs/Math/TRWS/typeTruncatedLinear2D.h
 delete mode 100644 libs/Math/TRWS/typeTruncatedQuadratic.h
 delete mode 100644 libs/Math/TRWS/typeTruncatedQuadratic2D.h

diff --git a/COPYRIGHT.md b/COPYRIGHT.md
index 81d77966f..5f48c453f 100644
--- a/COPYRIGHT.md
+++ b/COPYRIGHT.md
@@ -13,28 +13,14 @@ This program includes works distributed under the terms of another license(s) an
     Copyright (c) 2007 SEACAVE SRL.
     Licensed under a [Boost license](http://www.boost.org/users/license.html).
 
-*   __easyexif__<br />
-    [https://github.com/mayanklahiri/easyexif](https://github.com/mayanklahiri/easyexif)
-    Copyright (c) 2010 Mayank Lahiri.
-    Distributed under the [New BSD License](http://opensource.org/licenses/BSD-3-Clause).
-
 *   __histogram__<br />
     Copyright (c) Jansson Consulting & Pierre Moulon.
     Licensed under the [MPL2 license](http://opensource.org/licenses/MPL-2.0).
 
-*   __htmlDoc__<br />
-    Copyright (c) Pierre Moulon.
-    Licensed under the [MPL2 license](http://opensource.org/licenses/MPL-2.0).
-
 *   __ACRANSAC__<br />
     Copyright (c) Pierre Moulon.
     Licensed under the [MPL2 license](http://opensource.org/licenses/MPL-2.0).
 
-*   __stlplus3__<br />
-    [http://stlplus.sourceforge.net](http://stlplus.sourceforge.net)
-    Copyright (c) 1999-2004 Southampton University, 2004 onwards Andy Rushton. All rights reserved.
-    Licensed under the [BSD license](http://opensource.org/licenses/bsd-license.php).
-
 *   __rectangle-bin-packing__<br />
     [http://clb.demon.fi/projects/rectangle-bin-packing](http://clb.demon.fi/projects/rectangle-bin-packing)
     Copyright (c) Jukka Jylänki.
@@ -50,11 +36,6 @@ This program includes works distributed under the terms of another license(s) an
     Copyright (c) Joachim Wuttke.
     Licensed under the [FreeBSD license](http://opensource.org/licenses/BSD-2-Clause).
 
-*   __TRWS__<br />
-    [http://pub.ist.ac.at/~vnk/software.html](http://pub.ist.ac.at/~vnk/software.html)
-    Copyright (c) Vladimir Kolmogorov.
-    Licensed under the [MSR-SSLA license](http://research.microsoft.com/en-us/um/people/antr/vrr/vrr/license.htm).
-
 *   __ibfs__<br />
     [http://www.cs.tau.ac.il/~sagihed/ibfs](http://www.cs.tau.ac.il/~sagihed/ibfs)
     Copyright (c) Haim Kaplan and Sagi Hed.
diff --git a/libs/Common/FastDelegate.h b/libs/Common/FastDelegate.h
index de2b8bca7..26a565bfb 100644
--- a/libs/Common/FastDelegate.h
+++ b/libs/Common/FastDelegate.h
@@ -1,2105 +1,379 @@
-//						FastDelegate.h 
-//	Efficient delegates in C++ that generate only two lines of asm code!
-//  Documentation is found at http://www.codeproject.com/cpp/FastDelegate.asp
-//
-//						- Don Clugston, Mar 2004.
-//		Major contributions were made by Jody Hagins.
-// History:
-// 24-Apr-04 1.0  * Submitted to CodeProject. 
-// 28-Apr-04 1.1  * Prevent most unsafe uses of evil static function hack.
-//				  * Improved syntax for horrible_cast (thanks Paul Bludov).
-//				  * Tested on Metrowerks MWCC and Intel ICL (IA32)
-//				  * Compiled, but not run, on Comeau C++ and Intel Itanium ICL.
-//	27-Jun-04 1.2 * Now works on Borland C++ Builder 5.5
-//				  * Now works on /clr "managed C++" code on VC7, VC7.1
-//				  * Comeau C++ now compiles without warnings.
-//				  * Prevent the virtual inheritance case from being used on 
-//					  VC6 and earlier, which generate incorrect code.
-//				  * Improved warning and error messages. Non-standard hacks
-//					 now have compile-time checks to make them safer.
-//				  * implicit_cast used instead of static_cast in many cases.
-//				  * If calling a const member function, a const class pointer can be used.
-//				  * MakeDelegate() global helper function added to simplify pass-by-value.
-//				  * Added fastdelegate.clear()
-// 16-Jul-04 1.2.1* Workaround for gcc bug (const member function pointers in templates)
-// 30-Oct-04 1.3  * Support for (non-void) return values.
-//				  * No more workarounds in client code!
-//					 MSVC and Intel now use a clever hack invented by John Dlugosz:
-//				     - The FASTDELEGATEDECLARE workaround is no longer necessary.
-//					 - No more warning messages for VC6
-//				  * Less use of macros. Error messages should be more comprehensible.
-//				  * Added include guards
-//				  * Added FastDelegate::empty() to test if invocation is safe (Thanks Neville Franks).
-//				  * Now tested on VS 2005 Express Beta, PGI C++
-// 24-Dec-04 1.4  * Added DelegateMemento, to allow collections of disparate delegates.
-//                * <,>,<=,>= comparison operators to allow storage in ordered containers.
-//				  * Substantial reduction of code size, especially the 'Closure' class.
-//				  * Standardised all the compiler-specific workarounds.
-//                * MFP conversion now works for CodePlay (but not yet supported in the full code).
-//                * Now compiles without warnings on _any_ supported compiler, including BCC 5.5.1
-//				  * New syntax: FastDelegate< int (char *, double) >. 
-// 14-Feb-05 1.4.1* Now treats =0 as equivalent to .clear(), ==0 as equivalent to .empty(). (Thanks elfric).
-//				  * Now tested on Intel ICL for AMD64, VS2005 Beta for AMD64 and Itanium.
-// 30-Mar-05 1.5  * Safebool idiom: "if (dg)" is now equivalent to "if (!dg.empty())"
-//				  * Fully supported by CodePlay VectorC
-//                * Bugfix for Metrowerks: empty() was buggy because a valid MFP can be 0 on MWCC!
-//                * More optimal assignment,== and != operators for static function pointers.
-
-#ifndef FASTDELEGATE_H
-#define FASTDELEGATE_H
-
-#include <memory.h> // to allow <,> comparisons
-
-////////////////////////////////////////////////////////////////////////////////
-//						Configuration options
-//
-////////////////////////////////////////////////////////////////////////////////
-
-// Uncomment the following #define for optimally-sized delegates.
-// In this case, the generated asm code is almost identical to the code you'd get
-// if the compiler had native support for delegates.
-// It will not work on systems where sizeof(dataptr) < sizeof(codeptr). 
-// Thus, it will not work for DOS compilers using the medium model.
-// It will also probably fail on some DSP systems.
-#define FASTDELEGATE_USESTATICFUNCTIONHACK
-
-// Uncomment the next line to allow function declarator syntax.
-// It is automatically enabled for those compilers where it is known to work.
-//#define FASTDELEGATE_ALLOW_FUNCTION_TYPE_SYNTAX
-
-////////////////////////////////////////////////////////////////////////////////
-//						Compiler identification for workarounds
-//
-////////////////////////////////////////////////////////////////////////////////
-
-// Compiler identification. It's not easy to identify Visual C++ because
-// many vendors fraudulently define Microsoft's identifiers.
-#if defined(_MSC_VER) && !defined(__MWERKS__) && !defined(__VECTOR_C) && !defined(__ICL) && !defined(__BORLANDC__)
-#define FASTDLGT_ISMSVC
-
-#if (_MSC_VER <1300) // Many workarounds are required for VC6.
-#define FASTDLGT_VC6
-#pragma warning(disable:4786) // disable this ridiculous warning
+/** \file SRDelegate.hpp
+ *
+ * This is a C++11 implementation by janezz55(code.google) for the original "The Impossibly Fast C++ Delegates" authored by Sergey Ryazanov.
+ *
+ * This is a copy checkouted from https://code.google.com/p/cpppractice/source/browse/trunk/delegate.hpp on 2014/06/07.
+ *   Last change in the chunk was r370 on Feb 9, 2014.
+ *
+ * The following modifications were added by Benjamin YanXiang Huang
+ *  - replace light_ptr with std::shared_ptr
+ *  - renamed src file
+ *
+ * Reference:
+ *  - http://codereview.stackexchange.com/questions/14730/impossibly-fast-delegate-in-c11
+ *  - http://www.codeproject.com/Articles/11015/The-Impossibly-Fast-C-Delegates
+ *  - https://code.google.com/p/cpppractice/source/browse/trunk/delegate.hpp
+*/
+
+#pragma once
+#ifndef SRDELEGATE_HPP
+#define SRDELEGATE_HPP
+
+#include <cassert>
+#include <cstring>
+#include <memory>
+#include <new>
+#include <type_traits>
+#include <utility>
+
+// VC work around for constexpr and noexcept: VC2013 and below do not support these 2 keywords
+#if defined(_MSC_VER) && (_MSC_VER <= 1800)
+#define constexpr const
+#define noexcept throw()
 #endif
 
-#endif
-
-// Does the compiler uses Microsoft's member function pointer structure?
-// If so, it needs special treatment.
-// Metrowerks CodeWarrior, Intel, and CodePlay fraudulently define Microsoft's 
-// identifier, _MSC_VER. We need to filter Metrowerks out.
-#if defined(_MSC_VER) && !defined(__MWERKS__)
-#define FASTDLGT_MICROSOFT_MFP
-
-#if !defined(__VECTOR_C)
-// CodePlay doesn't have the __single/multi/virtual_inheritance keywords
-#define FASTDLGT_HASINHERITANCE_KEYWORDS
-#endif
-#endif
-
-// Does it allow function declarator syntax? The following compilers are known to work:
-#if defined(FASTDLGT_ISMSVC) && (_MSC_VER >=1310) // VC 7.1
-#define FASTDELEGATE_ALLOW_FUNCTION_TYPE_SYNTAX
-#endif
-
-// Gcc(2.95+), and versions of Digital Mars, Intel and Comeau in common use.
-#if defined (__DMC__) || defined(__GNUC__) || defined(__ICL) || defined(__COMO__)
-#define FASTDELEGATE_ALLOW_FUNCTION_TYPE_SYNTAX
-#endif
-
-// It works on Metrowerks MWCC 3.2.2. From boost.Config it should work on earlier ones too.
-#if defined (__MWERKS__)
-#define FASTDELEGATE_ALLOW_FUNCTION_TYPE_SYNTAX
-#endif
+namespace fastdelegate
+{
 
-#ifdef __GNUC__ // Workaround GCC bug #8271 
-	// At present, GCC doesn't recognize constness of MFPs in templates
-#define FASTDELEGATE_GCC_BUG_8271
-#endif
+template <typename T> class delegate;
 
+template<class R, class ...A>
+class delegate<R(A...)>
+{
+    using stub_ptr_type = R(*)(void *, A&&...);
 
+    delegate(void * const o, stub_ptr_type const m) noexcept : object_ptr_(o), stub_ptr_(m) {}
 
-////////////////////////////////////////////////////////////////////////////////
-//						General tricks used in this code
-//
-// (a) Error messages are generated by typdefing an array of negative size to
-//     generate compile-time errors.
-// (b) Warning messages on MSVC are generated by declaring unused variables, and
-//	    enabling the "variable XXX is never used" warning.
-// (c) Unions are used in a few compiler-specific cases to perform illegal casts.
-// (d) For Microsoft and Intel, when adjusting the 'this' pointer, it's cast to
-//     (char *) first to ensure that the correct number of *bytes* are added.
-//
-////////////////////////////////////////////////////////////////////////////////
-//						Helper templates
-//
-////////////////////////////////////////////////////////////////////////////////
-
-
-namespace fastdelegate {
-namespace detail {	// we'll hide the implementation details in a nested namespace.
-
-//		implicit_cast< >
-// I believe this was originally going to be in the C++ standard but 
-// was left out by accident. It's even milder than static_cast.
-// I use it instead of static_cast<> to emphasize that I'm not doing
-// anything nasty. 
-// Usage is identical to static_cast<>
-template <class OutputClass, class InputClass>
-inline OutputClass implicit_cast(InputClass input){
-	return input;
-}
+public:
+    delegate(void) = default;
 
-//		horrible_cast< >
-// This is truly evil. It completely subverts C++'s type system, allowing you 
-// to cast from any class to any other class. Technically, using a union 
-// to perform the cast is undefined behaviour (even in C). But we can see if
-// it is OK by checking that the union is the same size as each of its members.
-// horrible_cast<> should only be used for compiler-specific workarounds. 
-// Usage is identical to reinterpret_cast<>.
-
-// This union is declared outside the horrible_cast because BCC 5.5.1
-// can't inline a function with a nested class, and gives a warning.
-template <class OutputClass, class InputClass>
-union horrible_union{
-	OutputClass out;
-	InputClass in;
-};
+    delegate(delegate const &) = default;
 
-template <class OutputClass, class InputClass>
-inline OutputClass horrible_cast(const InputClass input){
-	horrible_union<OutputClass, InputClass> u;
-	// Cause a compile-time error if in, out and u are not the same size.
-	// If the compile fails here, it means the compiler has peculiar
-	// unions which would prevent the cast from working.
-	typedef int ERROR_CantUseHorrible_cast[sizeof(InputClass)==sizeof(u) 
-		&& sizeof(InputClass)==sizeof(OutputClass) ? 1 : -1];
-	u.in = input;
-	return u.out;
-}
+    delegate(delegate && d)
+        : object_ptr_(d.object_ptr_), stub_ptr_(d.stub_ptr_), deleter_(d.deleter_), store_(d.store_), store_size_(d.store_size_)
+    {
+        d.object_ptr_ = nullptr;
+        d.stub_ptr_   = nullptr;
+        d.deleter_    = nullptr;
+        d.store_      = nullptr;
+        d.store_size_ = 0;
+    }
 
-////////////////////////////////////////////////////////////////////////////////
-//						Workarounds
-//
-////////////////////////////////////////////////////////////////////////////////
+    delegate(::std::nullptr_t const) noexcept : delegate() { }
 
-// Backwards compatibility: This macro used to be necessary in the virtual inheritance
-// case for Intel and Microsoft. Now it just forward-declares the class.
-#define FASTDELEGATEDECLARE(CLASSNAME)	class CLASSNAME;
+    template <class C, typename = typename ::std::enable_if< ::std::is_class<C>::value, C>::type>
+    explicit delegate(C const * const o) noexcept :
+    object_ptr_(const_cast<C *>(o))
+    {}
 
-// Prevent use of the static function hack with the DOS medium model.
-#ifdef __MEDIUM__
-#undef FASTDELEGATE_USESTATICFUNCTIONHACK
-#endif
+    template <class C, typename = typename ::std::enable_if< ::std::is_class<C> {}>::type>
+    explicit delegate(C const & o) noexcept :
+    object_ptr_(const_cast<C *>(&o))
+    {}
 
-//			DefaultVoid - a workaround for 'void' templates in VC6.
-//
-//  (1) VC6 and earlier do not allow 'void' as a default template argument.
-//  (2) They also doesn't allow you to return 'void' from a function.
-//
-// Workaround for (1): Declare a dummy type 'DefaultVoid' which we use
-//   when we'd like to use 'void'. We convert it into 'void' and back
-//   using the templates DefaultVoidToVoid<> and VoidToDefaultVoid<>.
-// Workaround for (2): On VC6, the code for calling a void function is
-//   identical to the code for calling a non-void function in which the
-//   return value is never used, provided the return value is returned
-//   in the EAX register, rather than on the stack. 
-//   This is true for most fundamental types such as int, enum, void *.
-//   Const void * is the safest option since it doesn't participate 
-//   in any automatic conversions. But on a 16-bit compiler it might
-//   cause extra code to be generated, so we disable it for all compilers
-//   except for VC6 (and VC5).
-#ifdef FASTDLGT_VC6
-// VC6 workaround
-typedef const void * DefaultVoid;
-#else
-// On any other compiler, just use a normal void.
-typedef void DefaultVoid;
-#endif
+    template <class C>
+    delegate(C * const object_ptr, R(C::* const method_ptr)(A...))
+    {
+        *this = from(object_ptr, method_ptr);
+    }
 
-// Translate from 'DefaultVoid' to 'void'.
-// Everything else is unchanged
-template <class T>
-struct DefaultVoidToVoid { typedef T type; };
+    template <class C>
+    delegate(C * const object_ptr, R(C::* const method_ptr)(A...) const)
+    {
+        *this = from(object_ptr, method_ptr);
+    }
 
-template <>
-struct DefaultVoidToVoid<DefaultVoid> {	typedef void type; };
+    template <class C>
+    delegate(C & object, R(C::* const method_ptr)(A...))
+    {
+        *this = from(object, method_ptr);
+    }
 
-// Translate from 'void' into 'DefaultVoid'
-// Everything else is unchanged
-template <class T>
-struct VoidToDefaultVoid { typedef T type; };
+    template <class C>
+    delegate(C const & object, R(C::* const method_ptr)(A...) const)
+    {
+        *this = from(object, method_ptr);
+    }
 
-template <>
-struct VoidToDefaultVoid<void> { typedef DefaultVoid type; };
+    template <
+        typename T,
+        typename = typename ::std::enable_if<!::std::is_same<delegate, typename ::std::decay<T>::type>::value>::type
+    >
+    delegate(T&& f)
+        : store_(operator new(sizeof(typename ::std::decay<T>::type))
+        , functor_deleter<typename ::std::decay<T>::type>)
+        , store_size_(sizeof(typename ::std::decay<T>::type))
+    {
+        using functor_type = typename ::std::decay<T>::type;
+
+        new(store_.get()) functor_type(::std::forward<T>(f));
+        object_ptr_ = store_.get();
+
+        stub_ptr_ = functor_stub<functor_type>;
+        deleter_ = deleter_stub<functor_type>;
+    }
 
+    delegate & operator=(delegate const &) = default;
 
+    delegate & operator=(delegate&& d)
+    {
+        object_ptr_   = d.object_ptr_;
+        stub_ptr_     = d.stub_ptr_;
+        deleter_      = d.deleter_;
+        store_        = d.store_;
+        store_size_   = d.store_size_;
 
-////////////////////////////////////////////////////////////////////////////////
-//						Fast Delegates, part 1:
-//
-//		Conversion of member function pointer to a standard form
-//
-////////////////////////////////////////////////////////////////////////////////
+        d.object_ptr_ = nullptr;
+        d.stub_ptr_   = nullptr;
+        d.deleter_    = nullptr;
+        d.store_      = nullptr;
+        d.store_size_ = 0;
 
-// GenericClass is a fake class, ONLY used to provide a type.
-// It is vitally important that it is never defined, so that the compiler doesn't
-// think it can optimize the invocation. For example, Borland generates simpler
-// code if it knows the class only uses single inheritance.
+        return *this;
+    }
 
-// Compilers using Microsoft's structure need to be treated as a special case.
-#ifdef  FASTDLGT_MICROSOFT_MFP
+    template <class C>
+    delegate & operator=(R(C::* const rhs)(A...))
+    {
+        return *this = from(static_cast<C *>(object_ptr_), rhs);
+    }
 
-#ifdef FASTDLGT_HASINHERITANCE_KEYWORDS
-	// For Microsoft and Intel, we want to ensure that it's the most efficient type of MFP 
-	// (4 bytes), even when the /vmg option is used. Declaring an empty class 
-	// would give 16 byte pointers in this case....
-	class __single_inheritance GenericClass;
-#endif
-	// ...but for Codeplay, an empty class *always* gives 4 byte pointers.
-	// If compiled with the /clr option ("managed C++"), the JIT compiler thinks
-	// it needs to load GenericClass before it can call any of its functions,
-	// (compiles OK but crashes at runtime!), so we need to declare an 
-	// empty class to make it happy.
-	// Codeplay and VC4 can't cope with the unknown_inheritance case either.
-	class GenericClass {};
-#else
-	class GenericClass;
-#endif
+    template <class C>
+    delegate & operator=(R(C::* const rhs)(A...) const)
+    {
+        return *this = from(static_cast<C const *>(object_ptr_), rhs);
+    }
 
-// The size of a single inheritance member function pointer.
-const int SINGLE_MEMFUNCPTR_SIZE = sizeof(void (GenericClass::*)());
-
-//						SimplifyMemFunc< >::Convert()
-//
-//	A template function that converts an arbitrary member function pointer into the 
-//	simplest possible form of member function pointer, using a supplied 'this' pointer.
-//  According to the standard, this can be done legally with reinterpret_cast<>.
-//	For (non-standard) compilers which use member function pointers which vary in size 
-//  depending on the class, we need to use	knowledge of the internal structure of a 
-//  member function pointer, as used by the compiler. Template specialization is used
-//  to distinguish between the sizes. Because some compilers don't support partial 
-//	template specialisation, I use full specialisation of a wrapper struct.
-
-// general case -- don't know how to convert it. Force a compile failure
-template <int N>
-struct SimplifyMemFunc {
-	template <class X, class XFuncType, class GenericMemFuncType>
-	inline static GenericClass *Convert(X *pthis, XFuncType function_to_bind, 
-		GenericMemFuncType &bound_func) { 
-		// Unsupported member function type -- force a compile failure.
-	    // (it's illegal to have a array with negative size).
-		typedef char ERROR_Unsupported_member_function_pointer_on_this_compiler[N-100];
-		return 0; 
-	}
-};
+    template <
+        typename T
+        , typename = typename ::std::enable_if<!::std::is_same<delegate, typename ::std::decay<T>::type>::value>::type
+    >
+    delegate & operator=(T&& f)
+    {
+        using functor_type = typename ::std::decay<T>::type;
+
+        if ((sizeof(functor_type) > store_size_) || !store_.unique())
+        {
+            store_.reset(operator new(sizeof(functor_type)), functor_deleter<functor_type>);
+            store_size_ = sizeof(functor_type);
+        }
+        else
+            deleter_(store_.get());
 
-// For compilers where all member func ptrs are the same size, everything goes here.
-// For non-standard compilers, only single_inheritance classes go here.
-template <>
-struct SimplifyMemFunc<SINGLE_MEMFUNCPTR_SIZE>  {	
-	template <class X, class XFuncType, class GenericMemFuncType>
-	inline static GenericClass *Convert(X *pthis, XFuncType function_to_bind, 
-			GenericMemFuncType &bound_func) {
-#if defined __DMC__  
-		// Digital Mars doesn't allow you to cast between arbitrary PMF's, 
-		// even though the standard says you can. The 32-bit compiler lets you
-		// static_cast through an int, but the DOS compiler doesn't.
-		bound_func = horrible_cast<GenericMemFuncType>(function_to_bind);
-#else 
-        bound_func = reinterpret_cast<GenericMemFuncType>(function_to_bind);
-#endif
-        return reinterpret_cast<GenericClass *>(pthis);
-	}
-};
+        new(store_.get()) functor_type(::std::forward<T>(f));
+        object_ptr_ = store_.get();
 
-////////////////////////////////////////////////////////////////////////////////
-//						Fast Delegates, part 1b:
-//
-//					Workarounds for Microsoft and Intel
-//
-////////////////////////////////////////////////////////////////////////////////
-
-
-// Compilers with member function pointers which violate the standard (MSVC, Intel, Codeplay),
-// need to be treated as a special case.
-#ifdef FASTDLGT_MICROSOFT_MFP
-
-// We use unions to perform horrible_casts. I would like to use #pragma pack(push, 1)
-// at the start of each function for extra safety, but VC6 seems to ICE
-// intermittently if you do this inside a template.
-
-// __multiple_inheritance classes go here
-// Nasty hack for Microsoft and Intel (IA32 and Itanium)
-template<>
-struct SimplifyMemFunc< SINGLE_MEMFUNCPTR_SIZE + sizeof(int) >  {
-	template <class X, class XFuncType, class GenericMemFuncType>
-	inline static GenericClass *Convert(X *pthis, XFuncType function_to_bind, 
-		GenericMemFuncType &bound_func) { 
-		// We need to use a horrible_cast to do this conversion.
-		// In MSVC, a multiple inheritance member pointer is internally defined as:
-        union {
-			XFuncType func;
-			struct {	 
-				GenericMemFuncType funcaddress; // points to the actual member function
-				int delta;	     // #BYTES to be added to the 'this' pointer
-			}s;
-        } u;
-		// Check that the horrible_cast will work
-		typedef int ERROR_CantUsehorrible_cast[sizeof(function_to_bind)==sizeof(u.s)? 1 : -1];
-        u.func = function_to_bind;
-		bound_func = u.s.funcaddress;
-		return reinterpret_cast<GenericClass *>(reinterpret_cast<char *>(pthis) + u.s.delta); 
-	}
-};
+        stub_ptr_ = functor_stub<functor_type>;
+        deleter_ = deleter_stub<functor_type>;
 
-// virtual inheritance is a real nuisance. It's inefficient and complicated.
-// On MSVC and Intel, there isn't enough information in the pointer itself to
-// enable conversion to a closure pointer. Earlier versions of this code didn't
-// work for all cases, and generated a compile-time error instead.
-// But a very clever hack invented by John M. Dlugosz solves this problem.
-// My code is somewhat different to his: I have no asm code, and I make no 
-// assumptions about the calling convention that is used.
-
-// In VC++ and ICL, a virtual_inheritance member pointer 
-// is internally defined as:
-struct MicrosoftVirtualMFP {
-	void (GenericClass::*codeptr)(); // points to the actual member function
-	int delta;		// #bytes to be added to the 'this' pointer
-	int vtable_index; // or 0 if no virtual inheritance
-};
-// The CRUCIAL feature of Microsoft/Intel MFPs which we exploit is that the
-// m_codeptr member is *always* called, regardless of the values of the other
-// members. (This is *not* true for other compilers, eg GCC, which obtain the
-// function address from the vtable if a virtual function is being called).
-// Dlugosz's trick is to make the codeptr point to a probe function which
-// returns the 'this' pointer that was used.
-
-// Define a generic class that uses virtual inheritance.
-// It has a trivial member function that returns the value of the 'this' pointer.
-struct GenericVirtualClass : virtual public GenericClass
-{
-	typedef GenericVirtualClass * (GenericVirtualClass::*ProbePtrType)();
-	GenericVirtualClass * GetThis() { return this; }
-};
+        return *this;
+    }
 
-// __virtual_inheritance classes go here
-template <>
-struct SimplifyMemFunc<SINGLE_MEMFUNCPTR_SIZE + 2*sizeof(int) >
-{
+    template <R(* const function_ptr)(A...)>
+    static delegate from(void) noexcept
+    {
+        return { nullptr, function_stub<function_ptr> };
+    }
 
-	template <class X, class XFuncType, class GenericMemFuncType>
-	inline static GenericClass *Convert(X *pthis, XFuncType function_to_bind, 
-		GenericMemFuncType &bound_func) {
-		union {
-			XFuncType func;
-			GenericClass* (X::*ProbeFunc)();
-			MicrosoftVirtualMFP s;
-		} u;
-		u.func = function_to_bind;
-		bound_func = reinterpret_cast<GenericMemFuncType>(u.s.codeptr);
-		union {
-			GenericVirtualClass::ProbePtrType virtfunc;
-			MicrosoftVirtualMFP s;
-		} u2;
-		// Check that the horrible_cast<>s will work
-		typedef int ERROR_CantUsehorrible_cast[sizeof(function_to_bind)==sizeof(u.s)
-			&& sizeof(function_to_bind)==sizeof(u.ProbeFunc)
-			&& sizeof(u2.virtfunc)==sizeof(u2.s) ? 1 : -1];
-   // Unfortunately, taking the address of a MF prevents it from being inlined, so 
-   // this next line can't be completely optimised away by the compiler.
-		u2.virtfunc = &GenericVirtualClass::GetThis;
-		u.s.codeptr = u2.s.codeptr;
-		return (pthis->*u.ProbeFunc)();
-	}
-};
+    template <class C, R(C::* const method_ptr)(A...)>
+    static delegate from(C * const object_ptr) noexcept
+    {
+        return { object_ptr, method_stub<C, method_ptr> };
+    }
 
-#if (_MSC_VER <1300)
+    template <class C, R(C::* const method_ptr)(A...) const>
+    static delegate from(C const * const object_ptr) noexcept
+    {
+        return { const_cast<C *>(object_ptr), const_method_stub<C, method_ptr> };
+    }
 
-// Nasty hack for Microsoft Visual C++ 6.0
-// unknown_inheritance classes go here
-// There is a compiler bug in MSVC6 which generates incorrect code in this case!!
-template <>
-struct SimplifyMemFunc<SINGLE_MEMFUNCPTR_SIZE + 3*sizeof(int) >
-{
-	template <class X, class XFuncType, class GenericMemFuncType>
-	inline static GenericClass *Convert(X *pthis, XFuncType function_to_bind, 
-		GenericMemFuncType &bound_func) {
-		// There is an apalling but obscure compiler bug in MSVC6 and earlier:
-		// vtable_index and 'vtordisp' are always set to 0 in the 
-		// unknown_inheritance case!
-		// This means that an incorrect function could be called!!!
-		// Compiling with the /vmg option leads to potentially incorrect code.
-		// This is probably the reason that the IDE has a user interface for specifying
-		// the /vmg option, but it is disabled -  you can only specify /vmg on 
-		// the command line. In VC1.5 and earlier, the compiler would ICE if it ever
-		// encountered this situation.
-		// It is OK to use the /vmg option if /vmm or /vms is specified.
-
-		// Fortunately, the wrong function is only called in very obscure cases.
-		// It only occurs when a derived class overrides a virtual function declared 
-		// in a virtual base class, and the member function 
-		// points to the *Derived* version of that function. The problem can be
-		// completely averted in 100% of cases by using the *Base class* for the 
-		// member fpointer. Ie, if you use the base class as an interface, you'll
-		// stay out of trouble.
-		// Occasionally, you might want to point directly to a derived class function
-		// that isn't an override of a base class. In this case, both vtable_index 
-		// and 'vtordisp' are zero, but a virtual_inheritance pointer will be generated.
-		// We can generate correct code in this case. To prevent an incorrect call from
-		// ever being made, on MSVC6 we generate a warning, and call a function to 
-		// make the program crash instantly. 
-		typedef char ERROR_VC6CompilerBug[-100];
-		return 0; 
-	}
-};
+    template <class C, R(C::* const method_ptr)(A...)>
+    static delegate from(C & object) noexcept
+    {
+        return { &object, method_stub<C, method_ptr> };
+    }
 
+    template <class C, R(C::* const method_ptr)(A...) const>
+    static delegate from(C const & object) noexcept
+    {
+        return { const_cast<C *>(&object), const_method_stub<C, method_ptr> };
+    }
 
-#else 
+    template <typename T>
+    static delegate from(T && f)
+    {
+        return ::std::forward<T>(f);
+    }
 
-// Nasty hack for Microsoft and Intel (IA32 and Itanium)
-// unknown_inheritance classes go here 
-// This is probably the ugliest bit of code I've ever written. Look at the casts!
-// There is a compiler bug in MSVC6 which prevents it from using this code.
-template <>
-struct SimplifyMemFunc<SINGLE_MEMFUNCPTR_SIZE + 3*sizeof(int) >
-{
-	template <class X, class XFuncType, class GenericMemFuncType>
-	inline static GenericClass *Convert(X *pthis, XFuncType function_to_bind, 
-			GenericMemFuncType &bound_func) {
-		// The member function pointer is 16 bytes long. We can't use a normal cast, but
-		// we can use a union to do the conversion.
-		union {
-			XFuncType func;
-			// In VC++ and ICL, an unknown_inheritance member pointer 
-			// is internally defined as:
-			struct {
-				GenericMemFuncType m_funcaddress; // points to the actual member function
-				int delta;		// #bytes to be added to the 'this' pointer
-				int vtordisp;		// #bytes to add to 'this' to find the vtable
-				int vtable_index; // or 0 if no virtual inheritance
-			} s;
-		} u;
-		// Check that the horrible_cast will work
-		typedef int ERROR_CantUsehorrible_cast[sizeof(XFuncType)==sizeof(u.s)? 1 : -1];
-		u.func = function_to_bind;
-		bound_func = u.s.funcaddress;
-		int virtual_delta = 0;
-		if (u.s.vtable_index) { // Virtual inheritance is used
-			// First, get to the vtable. 
-			// It is 'vtordisp' bytes from the start of the class.
-			const int * vtable = *reinterpret_cast<const int *const*>(
-				reinterpret_cast<const char *>(pthis) + u.s.vtordisp );
-
-			// 'vtable_index' tells us where in the table we should be looking.
-			virtual_delta = u.s.vtordisp + *reinterpret_cast<const int *>( 
-				reinterpret_cast<const char *>(vtable) + u.s.vtable_index);
-		}
-		// The int at 'virtual_delta' gives us the amount to add to 'this'.
-        // Finally we can add the three components together. Phew!
-        return reinterpret_cast<GenericClass *>(
-			reinterpret_cast<char *>(pthis) + u.s.delta + virtual_delta);
-	};
-};
-#endif // MSVC 7 and greater
-
-#endif // MS/Intel hacks
-
-}  // namespace detail
-
-////////////////////////////////////////////////////////////////////////////////
-//						Fast Delegates, part 2:
-//
-//	Define the delegate storage, and cope with static functions
-//
-////////////////////////////////////////////////////////////////////////////////
-
-// DelegateMemento -- an opaque structure which can hold an arbitrary delegate.
-// It knows nothing about the calling convention or number of arguments used by
-// the function pointed to.
-// It supplies comparison operators so that it can be stored in STL collections.
-// It cannot be set to anything other than null, nor invoked directly: 
-//   it must be converted to a specific delegate.
-
-// Implementation:
-// There are two possible implementations: the Safe method and the Evil method.
-//				DelegateMemento - Safe version
-//
-// This implementation is standard-compliant, but a bit tricky.
-// A static function pointer is stored inside the class. 
-// Here are the valid values:
-// +-- Static pointer --+--pThis --+-- pMemFunc-+-- Meaning------+
-// |   0				|  0       |   0        | Empty          |
-// |   !=0              |(dontcare)|  Invoker   | Static function|
-// |   0                |  !=0     |  !=0*      | Method call    |
-// +--------------------+----------+------------+----------------+
-//  * For Metrowerks, this can be 0. (first virtual function in a 
-//       single_inheritance class).
-// When stored stored inside a specific delegate, the 'dontcare' entries are replaced
-// with a reference to the delegate itself. This complicates the = and == operators
-// for the delegate class.
-
-//				DelegateMemento - Evil version
-//
-// For compilers where data pointers are at least as big as code pointers, it is 
-// possible to store the function pointer in the this pointer, using another 
-// horrible_cast. In this case the DelegateMemento implementation is simple:
-// +--pThis --+-- pMemFunc-+-- Meaning---------------------+
-// |    0     |  0         | Empty                         |
-// |  !=0     |  !=0*      | Static function or method call|
-// +----------+------------+-------------------------------+
-//  * For Metrowerks, this can be 0. (first virtual function in a 
-//       single_inheritance class).
-// Note that the Sun C++ and MSVC documentation explicitly state that they 
-// support static_cast between void * and function pointers.
-
-class DelegateMemento {
-protected: 
-	// the data is protected, not private, because many
-	// compilers have problems with template friends.
-	typedef void (detail::GenericClass::*GenericMemFuncType)(); // arbitrary MFP.
-	detail::GenericClass *m_pthis;
-	GenericMemFuncType m_pFunction;
-
-#if !defined(FASTDELEGATE_USESTATICFUNCTIONHACK)
-	typedef void (*GenericFuncPtr)(); // arbitrary code pointer
-	GenericFuncPtr m_pStaticFunction;
-#endif
+    static delegate from(R(* const function_ptr)(A...))
+    {
+        return function_ptr;
+    }
 
-public:
-#if !defined(FASTDELEGATE_USESTATICFUNCTIONHACK)
-	DelegateMemento() : m_pthis(0), m_pFunction(0), m_pStaticFunction(0) {};
-	void clear() {
-		m_pthis=0; m_pFunction=0; m_pStaticFunction=0;
-	}
-#else
-	DelegateMemento() : m_pthis(0), m_pFunction(0) {};
-	void clear() {	m_pthis=0; m_pFunction=0;	}
-#endif
-public:
-#if !defined(FASTDELEGATE_USESTATICFUNCTIONHACK)
-	inline bool IsEqual (const DelegateMemento &x) const{
-	    // We have to cope with the static function pointers as a special case
-		if (m_pFunction!=x.m_pFunction) return false;
-		// the static function ptrs must either both be equal, or both be 0.
-		if (m_pStaticFunction!=x.m_pStaticFunction) return false;
-		if (m_pStaticFunction!=0) return m_pthis==x.m_pthis;
-		else return true;
-	}
-#else // Evil Method
-	inline bool IsEqual (const DelegateMemento &x) const{
-		return m_pthis==x.m_pthis && m_pFunction==x.m_pFunction;
-	}
-#endif
-	// Provide a strict weak ordering for DelegateMementos.
-	inline bool IsLess(const DelegateMemento &right) const {
-		// deal with static function pointers first
-#if !defined(FASTDELEGATE_USESTATICFUNCTIONHACK)
-		if (m_pStaticFunction !=0 || right.m_pStaticFunction!=0) 
-				return m_pStaticFunction < right.m_pStaticFunction;
-#endif
-		if (m_pthis !=right.m_pthis) return m_pthis < right.m_pthis;
-	// There are no ordering operators for member function pointers, 
-	// but we can fake one by comparing each byte. The resulting ordering is
-	// arbitrary (and compiler-dependent), but it permits storage in ordered STL containers.
-		return memcmp(&m_pFunction, &right.m_pFunction, sizeof(m_pFunction)) < 0;
-
-	}
-	// BUGFIX (Mar 2005):
-	// We can't just compare m_pFunction because on Metrowerks,
-	// m_pFunction can be zero even if the delegate is not empty!
-	inline bool operator ! () const		// Is it bound to anything?
-	{ return m_pthis==0 && m_pFunction==0; }
-	inline bool empty() const		// Is it bound to anything?
-	{ return m_pthis==0 && m_pFunction==0; }
-public:
-	DelegateMemento & operator = (const DelegateMemento &right)  {
-		SetMementoFrom(right); 
-		return *this;
-	}
-	inline bool operator <(const DelegateMemento &right) {
-		return IsLess(right);
-	}
-	inline bool operator >(const DelegateMemento &right) {
-		return right.IsLess(*this);
-	}
-	DelegateMemento (const DelegateMemento &right)  : 
-		m_pFunction(right.m_pFunction), m_pthis(right.m_pthis)
-#if !defined(FASTDELEGATE_USESTATICFUNCTIONHACK)
-		, m_pStaticFunction (right.m_pStaticFunction)
-#endif
-		{}
-protected:
-	void SetMementoFrom(const DelegateMemento &right)  {
-		m_pFunction = right.m_pFunction;
-		m_pthis = right.m_pthis;
-#if !defined(FASTDELEGATE_USESTATICFUNCTIONHACK)
-		m_pStaticFunction = right.m_pStaticFunction;
-#endif
-	}
-};
+    template <class C>
+    using member_pair = ::std::pair<C * const, R(C::* const)(A...)>;
 
+    template <class C>
+    using const_member_pair = ::std::pair<C const * const, R(C::* const)(A...) const>;
 
-//						ClosurePtr<>
-//
-// A private wrapper class that adds function signatures to DelegateMemento.
-// It's the class that does most of the actual work.
-// The signatures are specified by:
-// GenericMemFunc: must be a type of GenericClass member function pointer. 
-// StaticFuncPtr:  must be a type of function pointer with the same signature 
-//                 as GenericMemFunc.
-// UnvoidStaticFuncPtr: is the same as StaticFuncPtr, except on VC6
-//                 where it never returns void (returns DefaultVoid instead).
+    template <class C>
+    static delegate from(C * const object_ptr, R(C::* const method_ptr)(A...))
+    {
+        return member_pair<C>(object_ptr, method_ptr);
+    }
 
-// An outer class, FastDelegateN<>, handles the invoking and creates the
-// necessary typedefs.
-// This class does everything else.
+    template <class C>
+    static delegate from(C const * const object_ptr, R(C::* const method_ptr)(A...) const)
+    {
+        return const_member_pair<C>(object_ptr, method_ptr);
+    }
 
-namespace detail {
+    template <class C>
+    static delegate from(C & object, R(C::* const method_ptr)(A...))
+    {
+        return member_pair<C>(&object, method_ptr);
+    }
 
-template < class GenericMemFunc, class StaticFuncPtr, class UnvoidStaticFuncPtr>
-class ClosurePtr : public DelegateMemento {
-public:
-	// These functions are for setting the delegate to a member function.
-
-	// Here's the clever bit: we convert an arbitrary member function into a 
-	// standard form. XMemFunc should be a member function of class X, but I can't 
-	// enforce that here. It needs to be enforced by the wrapper class.
-	template < class X, class XMemFunc >
-	inline void bindmemfunc(X *pthis, XMemFunc function_to_bind ) {
-		m_pthis = SimplifyMemFunc< sizeof(function_to_bind) >
-			::Convert(pthis, function_to_bind, m_pFunction);
-#if !defined(FASTDELEGATE_USESTATICFUNCTIONHACK)
-		m_pStaticFunction = 0;
-#endif
-	}
-	// For const member functions, we only need a const class pointer.
-	// Since we know that the member function is const, it's safe to 
-	// remove the const qualifier from the 'this' pointer with a const_cast.
-	// VC6 has problems if we just overload 'bindmemfunc', so we give it a different name.
-	template < class X, class XMemFunc>
-	inline void bindconstmemfunc(const X *pthis, XMemFunc function_to_bind) {
-		m_pthis= SimplifyMemFunc< sizeof(function_to_bind) >
-			::Convert(const_cast<X*>(pthis), function_to_bind, m_pFunction);
-#if !defined(FASTDELEGATE_USESTATICFUNCTIONHACK)
-		m_pStaticFunction = 0;
-#endif
-	}
-#ifdef FASTDELEGATE_GCC_BUG_8271	// At present, GCC doesn't recognize constness of MFPs in templates
-	template < class X, class XMemFunc>
-	inline void bindmemfunc(const X *pthis, XMemFunc function_to_bind) {
-		bindconstmemfunc(pthis, function_to_bind);
-#if !defined(FASTDELEGATE_USESTATICFUNCTIONHACK)
-		m_pStaticFunction = 0;
-#endif
-	}
-#endif
-	// These functions are required for invoking the stored function
-	inline GenericClass *GetClosureThis() const { return m_pthis; }
-	inline GenericMemFunc GetClosureMemPtr() const { return reinterpret_cast<GenericMemFunc>(m_pFunction); }
-
-// There are a few ways of dealing with static function pointers.
-// There's a standard-compliant, but tricky method.
-// There's also a straightforward hack, that won't work on DOS compilers using the
-// medium memory model. It's so evil that I can't recommend it, but I've
-// implemented it anyway because it produces very nice asm code.
-
-#if !defined(FASTDELEGATE_USESTATICFUNCTIONHACK)
-
-//				ClosurePtr<> - Safe version
-//
-// This implementation is standard-compliant, but a bit tricky.
-// I store the function pointer inside the class, and the delegate then
-// points to itself. Whenever the delegate is copied, these self-references
-// must be transformed, and this complicates the = and == operators.
-public:
-	// The next two functions are for operator ==, =, and the copy constructor.
-	// We may need to convert the m_pthis pointers, so that
-	// they remain as self-references.
-	template< class DerivedClass >
-	inline void CopyFrom (DerivedClass *pParent, const DelegateMemento &x) {
-		SetMementoFrom(x);
-		if (m_pStaticFunction!=0) {
-			// transform self references...
-			m_pthis=reinterpret_cast<GenericClass *>(pParent);
-		}
-	}
-	// For static functions, the 'static_function_invoker' class in the parent 
-	// will be called. The parent then needs to call GetStaticFunction() to find out 
-	// the actual function to invoke.
-	template < class DerivedClass, class ParentInvokerSig >
-	inline void bindstaticfunc(DerivedClass *pParent, ParentInvokerSig static_function_invoker, 
-				StaticFuncPtr function_to_bind ) {
-		if (function_to_bind==0) { // cope with assignment to 0
-			m_pFunction=0;
-		} else { 
-			bindmemfunc(pParent, static_function_invoker);
-        }
-		m_pStaticFunction=reinterpret_cast<GenericFuncPtr>(function_to_bind);
-	}
-	inline UnvoidStaticFuncPtr GetStaticFunction() const { 
-		return reinterpret_cast<UnvoidStaticFuncPtr>(m_pStaticFunction); 
-	}
-#else
-
-//				ClosurePtr<> - Evil version
-//
-// For compilers where data pointers are at least as big as code pointers, it is 
-// possible to store the function pointer in the this pointer, using another 
-// horrible_cast. Invocation isn't any faster, but it saves 4 bytes, and
-// speeds up comparison and assignment. If C++ provided direct language support
-// for delegates, they would produce asm code that was almost identical to this.
-// Note that the Sun C++ and MSVC documentation explicitly state that they 
-// support static_cast between void * and function pointers.
-
-	template< class DerivedClass >
-	inline void CopyFrom (DerivedClass *pParent, const DelegateMemento &right) {
-		SetMementoFrom(right);
-	}
-	// For static functions, the 'static_function_invoker' class in the parent 
-	// will be called. The parent then needs to call GetStaticFunction() to find out 
-	// the actual function to invoke.
-	// ******** EVIL, EVIL CODE! *******
-	template < 	class DerivedClass, class ParentInvokerSig>
-	inline void bindstaticfunc(DerivedClass *pParent, ParentInvokerSig static_function_invoker, 
-				StaticFuncPtr function_to_bind) {
-		if (function_to_bind==0) { // cope with assignment to 0
-			m_pFunction=0;
-		} else { 
-		   // We'll be ignoring the 'this' pointer, but we need to make sure we pass
-		   // a valid value to bindmemfunc().
-			bindmemfunc(pParent, static_function_invoker);
-        }
+    template <class C>
+    static delegate from(C const & object, R(C::* const method_ptr)(A...) const)
+    {
+        return const_member_pair<C>(&object, method_ptr);
+    }
 
-		// WARNING! Evil hack. We store the function in the 'this' pointer!
-		// Ensure that there's a compilation failure if function pointers 
-		// and data pointers have different sizes.
-		// If you get this error, you need to #undef FASTDELEGATE_USESTATICFUNCTIONHACK.
-		typedef int ERROR_CantUseEvilMethod[sizeof(GenericClass *)==sizeof(function_to_bind) ? 1 : -1];
-		m_pthis = horrible_cast<GenericClass *>(function_to_bind);
-		// MSVC, SunC++ and DMC accept the following (non-standard) code:
-//		m_pthis = static_cast<GenericClass *>(static_cast<void *>(function_to_bind));
-		// BCC32, Comeau and DMC accept this method. MSVC7.1 needs __int64 instead of long
-//		m_pthis = reinterpret_cast<GenericClass *>(reinterpret_cast<long>(function_to_bind));
-	}
-	// ******** EVIL, EVIL CODE! *******
-	// This function will be called with an invalid 'this' pointer!!
-	// We're just returning the 'this' pointer, converted into
-	// a function pointer!
-	inline UnvoidStaticFuncPtr GetStaticFunction() const {
-		// Ensure that there's a compilation failure if function pointers 
-		// and data pointers have different sizes.
-		// If you get this error, you need to #undef FASTDELEGATE_USESTATICFUNCTIONHACK.
-		typedef int ERROR_CantUseEvilMethod[sizeof(UnvoidStaticFuncPtr)==sizeof(this) ? 1 : -1];
-		return horrible_cast<UnvoidStaticFuncPtr>(this);
-	}
-#endif // !defined(FASTDELEGATE_USESTATICFUNCTIONHACK)
-
-	// Does the closure contain this static function?
-	inline bool IsEqualToStaticFuncPtr(StaticFuncPtr funcptr){
-		if (funcptr==0) return empty(); 
-	// For the Evil method, if it doesn't actually contain a static function, this will return an arbitrary
-	// value that is not equal to any valid function pointer.
-		else return funcptr==reinterpret_cast<StaticFuncPtr>(GetStaticFunction());
-	}
-};
+    void reset(void)
+    {
+        stub_ptr_ = nullptr;
+        store_.reset();
+    }
 
+    void reset_stub(void) noexcept { stub_ptr_ = nullptr; }
 
-} // namespace detail
-
-////////////////////////////////////////////////////////////////////////////////
-//						Fast Delegates, part 3:
-//
-//				Wrapper classes to ensure type safety
-//
-////////////////////////////////////////////////////////////////////////////////
-
-
-// Once we have the member function conversion templates, it's easy to make the
-// wrapper classes. So that they will work with as many compilers as possible, 
-// the classes are of the form
-//   FastDelegate3<int, char *, double>
-// They can cope with any combination of parameters. The max number of parameters
-// allowed is 8, but it is trivial to increase this limit.
-// Note that we need to treat const member functions separately.
-// All this class does is to enforce type safety, and invoke the delegate with
-// the correct list of parameters.
-
-// Because of the weird rule about the class of derived member function pointers,
-// you sometimes need to apply a downcast to the 'this' pointer.
-// This is the reason for the use of "implicit_cast<X*>(pthis)" in the code below. 
-// If CDerivedClass is derived from CBaseClass, but doesn't override SimpleVirtualFunction,
-// without this trick you'd need to write:
-//		MyDelegate(static_cast<CBaseClass *>(&d), &CDerivedClass::SimpleVirtualFunction);
-// but with the trick you can write
-//		MyDelegate(&d, &CDerivedClass::SimpleVirtualFunction);
-
-// RetType is the type the compiler uses in compiling the template. For VC6,
-// it cannot be void. DesiredRetType is the real type which is returned from
-// all of the functions. It can be void.
-
-// Implicit conversion to "bool" is achieved using the safe_bool idiom,
-// using member data pointers (MDP). This allows "if (dg)..." syntax
-// Because some compilers (eg codeplay) don't have a unique value for a zero
-// MDP, an extra padding member is added to the SafeBool struct.
-// Some compilers (eg VC6) won't implicitly convert from 0 to an MDP, so
-// in that case the static function constructor is not made explicit; this
-// allows "if (dg==0) ..." to compile.
-
-//N=0
-template<class RetType=detail::DefaultVoid>
-class FastDelegate0 {
-private:
-	typedef typename detail::DefaultVoidToVoid<RetType>::type DesiredRetType;
-	typedef DesiredRetType (*StaticFunctionPtr)();
-	typedef RetType (*UnvoidStaticFunctionPtr)();
-	typedef RetType (detail::GenericClass::*GenericMemFn)();
-	typedef detail::ClosurePtr<GenericMemFn, StaticFunctionPtr, UnvoidStaticFunctionPtr> ClosureType;
-	ClosureType m_Closure;
-public:
-	// Typedefs to aid generic programming
-	typedef FastDelegate0 type;
-
-	// Construction and comparison functions
-	FastDelegate0() { clear(); }
-	FastDelegate0(const FastDelegate0 &x) {
-		m_Closure.CopyFrom(this, x.m_Closure); }
-	void operator = (const FastDelegate0 &x)  {
-		m_Closure.CopyFrom(this, x.m_Closure); }
-	bool operator ==(const FastDelegate0 &x) const {
-		return m_Closure.IsEqual(x.m_Closure);	}
-	bool operator !=(const FastDelegate0 &x) const {
-		return !m_Closure.IsEqual(x.m_Closure); }
-	bool operator <(const FastDelegate0 &x) const {
-		return m_Closure.IsLess(x.m_Closure);	}
-	bool operator >(const FastDelegate0 &x) const {
-		return x.m_Closure.IsLess(m_Closure);	}
-	// Binding to non-const member functions
-	template < class X, class Y >
-	FastDelegate0(Y *pthis, DesiredRetType (X::* function_to_bind)() ) {
-		m_Closure.bindmemfunc(detail::implicit_cast<X*>(pthis), function_to_bind); }
-	template < class X, class Y >
-	inline void bind(Y *pthis, DesiredRetType (X::* function_to_bind)()) {
-		m_Closure.bindmemfunc(detail::implicit_cast<X*>(pthis), function_to_bind);	}
-	// Binding to const member functions.
-	template < class X, class Y >
-	FastDelegate0(const Y *pthis, DesiredRetType (X::* function_to_bind)() const) {
-		m_Closure.bindconstmemfunc(detail::implicit_cast<const X*>(pthis), function_to_bind);	}
-	template < class X, class Y >
-	inline void bind(const Y *pthis, DesiredRetType (X::* function_to_bind)() const) {
-		m_Closure.bindconstmemfunc(detail::implicit_cast<const X *>(pthis), function_to_bind);	}
-	// Static functions. We convert them into a member function call.
-	// This constructor also provides implicit conversion
-	FastDelegate0(DesiredRetType (*function_to_bind)() ) {
-		bind(function_to_bind);	}
-	// for efficiency, prevent creation of a temporary
-	void operator = (DesiredRetType (*function_to_bind)() ) {
-		bind(function_to_bind);	}
-	inline void bind(DesiredRetType (*function_to_bind)()) {
-		m_Closure.bindstaticfunc(this, &FastDelegate0::InvokeStaticFunction, 
-			function_to_bind); }
-	// Invoke the delegate
-	RetType operator() () const {
-	return (m_Closure.GetClosureThis()->*(m_Closure.GetClosureMemPtr()))(); }
-	// Implicit conversion to "bool" using the safe_bool idiom
-private:
-	typedef struct SafeBoolStruct {
-		int a_data_pointer_to_this_is_0_on_buggy_compilers;
-		StaticFunctionPtr m_nonzero;
-	} UselessTypedef;
-    typedef StaticFunctionPtr SafeBoolStruct::*unspecified_bool_type;
-public:
-	operator unspecified_bool_type() const {
-        return empty()? 0: &SafeBoolStruct::m_nonzero;
-    }
-	// necessary to allow ==0 to work despite the safe_bool idiom
-	inline bool operator==(StaticFunctionPtr funcptr) {
-		return m_Closure.IsEqualToStaticFuncPtr(funcptr);	}
-	inline bool operator!=(StaticFunctionPtr funcptr) { 
-		return !m_Closure.IsEqualToStaticFuncPtr(funcptr);    }
-	inline bool operator ! () const	{	// Is it bound to anything?
-			return !m_Closure; }
-	inline bool empty() const	{
-			return !m_Closure; }
-	void clear() { m_Closure.clear();}
-	// Conversion to and from the DelegateMemento storage class
-	const DelegateMemento & GetMemento() { return m_Closure; }
-	void SetMemento(const DelegateMemento &any) { m_Closure.CopyFrom(this, any); }
-
-private:	// Invoker for static functions
-	RetType InvokeStaticFunction() const {
-	return (*(m_Closure.GetStaticFunction()))(); }
-};
+    void swap(delegate & other) noexcept { ::std::swap(*this, other); }
 
-//N=1
-template<class Param1, class RetType=detail::DefaultVoid>
-class FastDelegate1 {
-private:
-	typedef typename detail::DefaultVoidToVoid<RetType>::type DesiredRetType;
-	typedef DesiredRetType (*StaticFunctionPtr)(Param1 p1);
-	typedef RetType (*UnvoidStaticFunctionPtr)(Param1 p1);
-	typedef RetType (detail::GenericClass::*GenericMemFn)(Param1 p1);
-	typedef detail::ClosurePtr<GenericMemFn, StaticFunctionPtr, UnvoidStaticFunctionPtr> ClosureType;
-	ClosureType m_Closure;
-public:
-	// Typedefs to aid generic programming
-	typedef FastDelegate1 type;
-
-	// Construction and comparison functions
-	FastDelegate1() { clear(); }
-	FastDelegate1(const FastDelegate1 &x) {
-		m_Closure.CopyFrom(this, x.m_Closure); }
-	void operator = (const FastDelegate1 &x)  {
-		m_Closure.CopyFrom(this, x.m_Closure); }
-	bool operator ==(const FastDelegate1 &x) const {
-		return m_Closure.IsEqual(x.m_Closure);	}
-	bool operator !=(const FastDelegate1 &x) const {
-		return !m_Closure.IsEqual(x.m_Closure); }
-	bool operator <(const FastDelegate1 &x) const {
-		return m_Closure.IsLess(x.m_Closure);	}
-	bool operator >(const FastDelegate1 &x) const {
-		return x.m_Closure.IsLess(m_Closure);	}
-	// Binding to non-const member functions
-	template < class X, class Y >
-	FastDelegate1(Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1) ) {
-		m_Closure.bindmemfunc(detail::implicit_cast<X*>(pthis), function_to_bind); }
-	template < class X, class Y >
-	inline void bind(Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1)) {
-		m_Closure.bindmemfunc(detail::implicit_cast<X*>(pthis), function_to_bind);	}
-	// Binding to const member functions.
-	template < class X, class Y >
-	FastDelegate1(const Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1) const) {
-		m_Closure.bindconstmemfunc(detail::implicit_cast<const X*>(pthis), function_to_bind);	}
-	template < class X, class Y >
-	inline void bind(const Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1) const) {
-		m_Closure.bindconstmemfunc(detail::implicit_cast<const X *>(pthis), function_to_bind);	}
-	// Static functions. We convert them into a member function call.
-	// This constructor also provides implicit conversion
-	FastDelegate1(DesiredRetType (*function_to_bind)(Param1 p1) ) {
-		bind(function_to_bind);	}
-	// for efficiency, prevent creation of a temporary
-	void operator = (DesiredRetType (*function_to_bind)(Param1 p1) ) {
-		bind(function_to_bind);	}
-	inline void bind(DesiredRetType (*function_to_bind)(Param1 p1)) {
-		m_Closure.bindstaticfunc(this, &FastDelegate1::InvokeStaticFunction, 
-			function_to_bind); }
-	// Invoke the delegate
-	RetType operator() (Param1 p1) const {
-	return (m_Closure.GetClosureThis()->*(m_Closure.GetClosureMemPtr()))(p1); }
-	// Implicit conversion to "bool" using the safe_bool idiom
-private:
-	typedef struct SafeBoolStruct {
-		int a_data_pointer_to_this_is_0_on_buggy_compilers;
-		StaticFunctionPtr m_nonzero;
-	} UselessTypedef;
-    typedef StaticFunctionPtr SafeBoolStruct::*unspecified_bool_type;
-public:
-	operator unspecified_bool_type() const {
-        return empty()? 0: &SafeBoolStruct::m_nonzero;
+    bool operator==(delegate const & rhs) const noexcept
+    {
+        // comparison between functor and non-functor is left as undefined at the moment.
+        if (store_size_ && rhs.store_size_) // both functors
+            return (std::memcmp(store_.get(), rhs.store_.get(), store_size_) == 0) && (stub_ptr_ == rhs.stub_ptr_);
+        return (object_ptr_ == rhs.object_ptr_) && (stub_ptr_ == rhs.stub_ptr_);
     }
-	// necessary to allow ==0 to work despite the safe_bool idiom
-	inline bool operator==(StaticFunctionPtr funcptr) {
-		return m_Closure.IsEqualToStaticFuncPtr(funcptr);	}
-	inline bool operator!=(StaticFunctionPtr funcptr) { 
-		return !m_Closure.IsEqualToStaticFuncPtr(funcptr);    }
-	inline bool operator ! () const	{	// Is it bound to anything?
-			return !m_Closure; }
-	inline bool empty() const	{
-			return !m_Closure; }
-	void clear() { m_Closure.clear();}
-	// Conversion to and from the DelegateMemento storage class
-	const DelegateMemento & GetMemento() { return m_Closure; }
-	void SetMemento(const DelegateMemento &any) { m_Closure.CopyFrom(this, any); }
-
-private:	// Invoker for static functions
-	RetType InvokeStaticFunction(Param1 p1) const {
-	return (*(m_Closure.GetStaticFunction()))(p1); }
-};
 
-//N=2
-template<class Param1, class Param2, class RetType=detail::DefaultVoid>
-class FastDelegate2 {
-private:
-	typedef typename detail::DefaultVoidToVoid<RetType>::type DesiredRetType;
-	typedef DesiredRetType (*StaticFunctionPtr)(Param1 p1, Param2 p2);
-	typedef RetType (*UnvoidStaticFunctionPtr)(Param1 p1, Param2 p2);
-	typedef RetType (detail::GenericClass::*GenericMemFn)(Param1 p1, Param2 p2);
-	typedef detail::ClosurePtr<GenericMemFn, StaticFunctionPtr, UnvoidStaticFunctionPtr> ClosureType;
-	ClosureType m_Closure;
-public:
-	// Typedefs to aid generic programming
-	typedef FastDelegate2 type;
-
-	// Construction and comparison functions
-	FastDelegate2() { clear(); }
-	FastDelegate2(const FastDelegate2 &x) {
-		m_Closure.CopyFrom(this, x.m_Closure); }
-	void operator = (const FastDelegate2 &x)  {
-		m_Closure.CopyFrom(this, x.m_Closure); }
-	bool operator ==(const FastDelegate2 &x) const {
-		return m_Closure.IsEqual(x.m_Closure);	}
-	bool operator !=(const FastDelegate2 &x) const {
-		return !m_Closure.IsEqual(x.m_Closure); }
-	bool operator <(const FastDelegate2 &x) const {
-		return m_Closure.IsLess(x.m_Closure);	}
-	bool operator >(const FastDelegate2 &x) const {
-		return x.m_Closure.IsLess(m_Closure);	}
-	// Binding to non-const member functions
-	template < class X, class Y >
-	FastDelegate2(Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2) ) {
-		m_Closure.bindmemfunc(detail::implicit_cast<X*>(pthis), function_to_bind); }
-	template < class X, class Y >
-	inline void bind(Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2)) {
-		m_Closure.bindmemfunc(detail::implicit_cast<X*>(pthis), function_to_bind);	}
-	// Binding to const member functions.
-	template < class X, class Y >
-	FastDelegate2(const Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2) const) {
-		m_Closure.bindconstmemfunc(detail::implicit_cast<const X*>(pthis), function_to_bind);	}
-	template < class X, class Y >
-	inline void bind(const Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2) const) {
-		m_Closure.bindconstmemfunc(detail::implicit_cast<const X *>(pthis), function_to_bind);	}
-	// Static functions. We convert them into a member function call.
-	// This constructor also provides implicit conversion
-	FastDelegate2(DesiredRetType (*function_to_bind)(Param1 p1, Param2 p2) ) {
-		bind(function_to_bind);	}
-	// for efficiency, prevent creation of a temporary
-	void operator = (DesiredRetType (*function_to_bind)(Param1 p1, Param2 p2) ) {
-		bind(function_to_bind);	}
-	inline void bind(DesiredRetType (*function_to_bind)(Param1 p1, Param2 p2)) {
-		m_Closure.bindstaticfunc(this, &FastDelegate2::InvokeStaticFunction, 
-			function_to_bind); }
-	// Invoke the delegate
-	RetType operator() (Param1 p1, Param2 p2) const {
-	return (m_Closure.GetClosureThis()->*(m_Closure.GetClosureMemPtr()))(p1, p2); }
-	// Implicit conversion to "bool" using the safe_bool idiom
-private:
-	typedef struct SafeBoolStruct {
-		int a_data_pointer_to_this_is_0_on_buggy_compilers;
-		StaticFunctionPtr m_nonzero;
-	} UselessTypedef;
-    typedef StaticFunctionPtr SafeBoolStruct::*unspecified_bool_type;
-public:
-	operator unspecified_bool_type() const {
-        return empty()? 0: &SafeBoolStruct::m_nonzero;
+    bool operator!=(delegate const & rhs) const noexcept
+    {
+        return !operator==(rhs);
     }
-	// necessary to allow ==0 to work despite the safe_bool idiom
-	inline bool operator==(StaticFunctionPtr funcptr) {
-		return m_Closure.IsEqualToStaticFuncPtr(funcptr);	}
-	inline bool operator!=(StaticFunctionPtr funcptr) { 
-		return !m_Closure.IsEqualToStaticFuncPtr(funcptr);    }
-	inline bool operator ! () const	{	// Is it bound to anything?
-			return !m_Closure; }
-	inline bool empty() const	{
-			return !m_Closure; }
-	void clear() { m_Closure.clear();}
-	// Conversion to and from the DelegateMemento storage class
-	const DelegateMemento & GetMemento() { return m_Closure; }
-	void SetMemento(const DelegateMemento &any) { m_Closure.CopyFrom(this, any); }
-
-private:	// Invoker for static functions
-	RetType InvokeStaticFunction(Param1 p1, Param2 p2) const {
-	return (*(m_Closure.GetStaticFunction()))(p1, p2); }
-};
 
-//N=3
-template<class Param1, class Param2, class Param3, class RetType=detail::DefaultVoid>
-class FastDelegate3 {
-private:
-	typedef typename detail::DefaultVoidToVoid<RetType>::type DesiredRetType;
-	typedef DesiredRetType (*StaticFunctionPtr)(Param1 p1, Param2 p2, Param3 p3);
-	typedef RetType (*UnvoidStaticFunctionPtr)(Param1 p1, Param2 p2, Param3 p3);
-	typedef RetType (detail::GenericClass::*GenericMemFn)(Param1 p1, Param2 p2, Param3 p3);
-	typedef detail::ClosurePtr<GenericMemFn, StaticFunctionPtr, UnvoidStaticFunctionPtr> ClosureType;
-	ClosureType m_Closure;
-public:
-	// Typedefs to aid generic programming
-	typedef FastDelegate3 type;
-
-	// Construction and comparison functions
-	FastDelegate3() { clear(); }
-	FastDelegate3(const FastDelegate3 &x) {
-		m_Closure.CopyFrom(this, x.m_Closure); }
-	void operator = (const FastDelegate3 &x)  {
-		m_Closure.CopyFrom(this, x.m_Closure); }
-	bool operator ==(const FastDelegate3 &x) const {
-		return m_Closure.IsEqual(x.m_Closure);	}
-	bool operator !=(const FastDelegate3 &x) const {
-		return !m_Closure.IsEqual(x.m_Closure); }
-	bool operator <(const FastDelegate3 &x) const {
-		return m_Closure.IsLess(x.m_Closure);	}
-	bool operator >(const FastDelegate3 &x) const {
-		return x.m_Closure.IsLess(m_Closure);	}
-	// Binding to non-const member functions
-	template < class X, class Y >
-	FastDelegate3(Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3) ) {
-		m_Closure.bindmemfunc(detail::implicit_cast<X*>(pthis), function_to_bind); }
-	template < class X, class Y >
-	inline void bind(Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3)) {
-		m_Closure.bindmemfunc(detail::implicit_cast<X*>(pthis), function_to_bind);	}
-	// Binding to const member functions.
-	template < class X, class Y >
-	FastDelegate3(const Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3) const) {
-		m_Closure.bindconstmemfunc(detail::implicit_cast<const X*>(pthis), function_to_bind);	}
-	template < class X, class Y >
-	inline void bind(const Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3) const) {
-		m_Closure.bindconstmemfunc(detail::implicit_cast<const X *>(pthis), function_to_bind);	}
-	// Static functions. We convert them into a member function call.
-	// This constructor also provides implicit conversion
-	FastDelegate3(DesiredRetType (*function_to_bind)(Param1 p1, Param2 p2, Param3 p3) ) {
-		bind(function_to_bind);	}
-	// for efficiency, prevent creation of a temporary
-	void operator = (DesiredRetType (*function_to_bind)(Param1 p1, Param2 p2, Param3 p3) ) {
-		bind(function_to_bind);	}
-	inline void bind(DesiredRetType (*function_to_bind)(Param1 p1, Param2 p2, Param3 p3)) {
-		m_Closure.bindstaticfunc(this, &FastDelegate3::InvokeStaticFunction, 
-			function_to_bind); }
-	// Invoke the delegate
-	RetType operator() (Param1 p1, Param2 p2, Param3 p3) const {
-	return (m_Closure.GetClosureThis()->*(m_Closure.GetClosureMemPtr()))(p1, p2, p3); }
-	// Implicit conversion to "bool" using the safe_bool idiom
-private:
-	typedef struct SafeBoolStruct {
-		int a_data_pointer_to_this_is_0_on_buggy_compilers;
-		StaticFunctionPtr m_nonzero;
-	} UselessTypedef;
-    typedef StaticFunctionPtr SafeBoolStruct::*unspecified_bool_type;
-public:
-	operator unspecified_bool_type() const {
-        return empty()? 0: &SafeBoolStruct::m_nonzero;
+    bool operator<(delegate const & rhs) const noexcept
+    {
+        return (object_ptr_ < rhs.object_ptr_) ||
+               ((object_ptr_ == rhs.object_ptr_) && (stub_ptr_ < rhs.stub_ptr_));
     }
-	// necessary to allow ==0 to work despite the safe_bool idiom
-	inline bool operator==(StaticFunctionPtr funcptr) {
-		return m_Closure.IsEqualToStaticFuncPtr(funcptr);	}
-	inline bool operator!=(StaticFunctionPtr funcptr) { 
-		return !m_Closure.IsEqualToStaticFuncPtr(funcptr);    }
-	inline bool operator ! () const	{	// Is it bound to anything?
-			return !m_Closure; }
-	inline bool empty() const	{
-			return !m_Closure; }
-	void clear() { m_Closure.clear();}
-	// Conversion to and from the DelegateMemento storage class
-	const DelegateMemento & GetMemento() { return m_Closure; }
-	void SetMemento(const DelegateMemento &any) { m_Closure.CopyFrom(this, any); }
-
-private:	// Invoker for static functions
-	RetType InvokeStaticFunction(Param1 p1, Param2 p2, Param3 p3) const {
-	return (*(m_Closure.GetStaticFunction()))(p1, p2, p3); }
-};
 
-//N=4
-template<class Param1, class Param2, class Param3, class Param4, class RetType=detail::DefaultVoid>
-class FastDelegate4 {
-private:
-	typedef typename detail::DefaultVoidToVoid<RetType>::type DesiredRetType;
-	typedef DesiredRetType (*StaticFunctionPtr)(Param1 p1, Param2 p2, Param3 p3, Param4 p4);
-	typedef RetType (*UnvoidStaticFunctionPtr)(Param1 p1, Param2 p2, Param3 p3, Param4 p4);
-	typedef RetType (detail::GenericClass::*GenericMemFn)(Param1 p1, Param2 p2, Param3 p3, Param4 p4);
-	typedef detail::ClosurePtr<GenericMemFn, StaticFunctionPtr, UnvoidStaticFunctionPtr> ClosureType;
-	ClosureType m_Closure;
-public:
-	// Typedefs to aid generic programming
-	typedef FastDelegate4 type;
-
-	// Construction and comparison functions
-	FastDelegate4() { clear(); }
-	FastDelegate4(const FastDelegate4 &x) {
-		m_Closure.CopyFrom(this, x.m_Closure); }
-	void operator = (const FastDelegate4 &x)  {
-		m_Closure.CopyFrom(this, x.m_Closure); }
-	bool operator ==(const FastDelegate4 &x) const {
-		return m_Closure.IsEqual(x.m_Closure);	}
-	bool operator !=(const FastDelegate4 &x) const {
-		return !m_Closure.IsEqual(x.m_Closure); }
-	bool operator <(const FastDelegate4 &x) const {
-		return m_Closure.IsLess(x.m_Closure);	}
-	bool operator >(const FastDelegate4 &x) const {
-		return x.m_Closure.IsLess(m_Closure);	}
-	// Binding to non-const member functions
-	template < class X, class Y >
-	FastDelegate4(Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4) ) {
-		m_Closure.bindmemfunc(detail::implicit_cast<X*>(pthis), function_to_bind); }
-	template < class X, class Y >
-	inline void bind(Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4)) {
-		m_Closure.bindmemfunc(detail::implicit_cast<X*>(pthis), function_to_bind);	}
-	// Binding to const member functions.
-	template < class X, class Y >
-	FastDelegate4(const Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4) const) {
-		m_Closure.bindconstmemfunc(detail::implicit_cast<const X*>(pthis), function_to_bind);	}
-	template < class X, class Y >
-	inline void bind(const Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4) const) {
-		m_Closure.bindconstmemfunc(detail::implicit_cast<const X *>(pthis), function_to_bind);	}
-	// Static functions. We convert them into a member function call.
-	// This constructor also provides implicit conversion
-	FastDelegate4(DesiredRetType (*function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4) ) {
-		bind(function_to_bind);	}
-	// for efficiency, prevent creation of a temporary
-	void operator = (DesiredRetType (*function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4) ) {
-		bind(function_to_bind);	}
-	inline void bind(DesiredRetType (*function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4)) {
-		m_Closure.bindstaticfunc(this, &FastDelegate4::InvokeStaticFunction, 
-			function_to_bind); }
-	// Invoke the delegate
-	RetType operator() (Param1 p1, Param2 p2, Param3 p3, Param4 p4) const {
-	return (m_Closure.GetClosureThis()->*(m_Closure.GetClosureMemPtr()))(p1, p2, p3, p4); }
-	// Implicit conversion to "bool" using the safe_bool idiom
-private:
-	typedef struct SafeBoolStruct {
-		int a_data_pointer_to_this_is_0_on_buggy_compilers;
-		StaticFunctionPtr m_nonzero;
-	} UselessTypedef;
-    typedef StaticFunctionPtr SafeBoolStruct::*unspecified_bool_type;
-public:
-	operator unspecified_bool_type() const {
-        return empty()? 0: &SafeBoolStruct::m_nonzero;
+    bool operator==(::std::nullptr_t const) const noexcept
+    {
+        return !stub_ptr_;
     }
-	// necessary to allow ==0 to work despite the safe_bool idiom
-	inline bool operator==(StaticFunctionPtr funcptr) {
-		return m_Closure.IsEqualToStaticFuncPtr(funcptr);	}
-	inline bool operator!=(StaticFunctionPtr funcptr) { 
-		return !m_Closure.IsEqualToStaticFuncPtr(funcptr);    }
-	inline bool operator ! () const	{	// Is it bound to anything?
-			return !m_Closure; }
-	inline bool empty() const	{
-			return !m_Closure; }
-	void clear() { m_Closure.clear();}
-	// Conversion to and from the DelegateMemento storage class
-	const DelegateMemento & GetMemento() { return m_Closure; }
-	void SetMemento(const DelegateMemento &any) { m_Closure.CopyFrom(this, any); }
-
-private:	// Invoker for static functions
-	RetType InvokeStaticFunction(Param1 p1, Param2 p2, Param3 p3, Param4 p4) const {
-	return (*(m_Closure.GetStaticFunction()))(p1, p2, p3, p4); }
-};
 
-//N=5
-template<class Param1, class Param2, class Param3, class Param4, class Param5, class RetType=detail::DefaultVoid>
-class FastDelegate5 {
-private:
-	typedef typename detail::DefaultVoidToVoid<RetType>::type DesiredRetType;
-	typedef DesiredRetType (*StaticFunctionPtr)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5);
-	typedef RetType (*UnvoidStaticFunctionPtr)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5);
-	typedef RetType (detail::GenericClass::*GenericMemFn)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5);
-	typedef detail::ClosurePtr<GenericMemFn, StaticFunctionPtr, UnvoidStaticFunctionPtr> ClosureType;
-	ClosureType m_Closure;
-public:
-	// Typedefs to aid generic programming
-	typedef FastDelegate5 type;
-
-	// Construction and comparison functions
-	FastDelegate5() { clear(); }
-	FastDelegate5(const FastDelegate5 &x) {
-		m_Closure.CopyFrom(this, x.m_Closure); }
-	void operator = (const FastDelegate5 &x)  {
-		m_Closure.CopyFrom(this, x.m_Closure); }
-	bool operator ==(const FastDelegate5 &x) const {
-		return m_Closure.IsEqual(x.m_Closure);	}
-	bool operator !=(const FastDelegate5 &x) const {
-		return !m_Closure.IsEqual(x.m_Closure); }
-	bool operator <(const FastDelegate5 &x) const {
-		return m_Closure.IsLess(x.m_Closure);	}
-	bool operator >(const FastDelegate5 &x) const {
-		return x.m_Closure.IsLess(m_Closure);	}
-	// Binding to non-const member functions
-	template < class X, class Y >
-	FastDelegate5(Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5) ) {
-		m_Closure.bindmemfunc(detail::implicit_cast<X*>(pthis), function_to_bind); }
-	template < class X, class Y >
-	inline void bind(Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5)) {
-		m_Closure.bindmemfunc(detail::implicit_cast<X*>(pthis), function_to_bind);	}
-	// Binding to const member functions.
-	template < class X, class Y >
-	FastDelegate5(const Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5) const) {
-		m_Closure.bindconstmemfunc(detail::implicit_cast<const X*>(pthis), function_to_bind);	}
-	template < class X, class Y >
-	inline void bind(const Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5) const) {
-		m_Closure.bindconstmemfunc(detail::implicit_cast<const X *>(pthis), function_to_bind);	}
-	// Static functions. We convert them into a member function call.
-	// This constructor also provides implicit conversion
-	FastDelegate5(DesiredRetType (*function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5) ) {
-		bind(function_to_bind);	}
-	// for efficiency, prevent creation of a temporary
-	void operator = (DesiredRetType (*function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5) ) {
-		bind(function_to_bind);	}
-	inline void bind(DesiredRetType (*function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5)) {
-		m_Closure.bindstaticfunc(this, &FastDelegate5::InvokeStaticFunction, 
-			function_to_bind); }
-	// Invoke the delegate
-	RetType operator() (Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5) const {
-	return (m_Closure.GetClosureThis()->*(m_Closure.GetClosureMemPtr()))(p1, p2, p3, p4, p5); }
-	// Implicit conversion to "bool" using the safe_bool idiom
-private:
-	typedef struct SafeBoolStruct {
-		int a_data_pointer_to_this_is_0_on_buggy_compilers;
-		StaticFunctionPtr m_nonzero;
-	} UselessTypedef;
-    typedef StaticFunctionPtr SafeBoolStruct::*unspecified_bool_type;
-public:
-	operator unspecified_bool_type() const {
-        return empty()? 0: &SafeBoolStruct::m_nonzero;
+    bool operator!=(::std::nullptr_t const) const noexcept
+    {
+        return stub_ptr_;
     }
-	// necessary to allow ==0 to work despite the safe_bool idiom
-	inline bool operator==(StaticFunctionPtr funcptr) {
-		return m_Closure.IsEqualToStaticFuncPtr(funcptr);	}
-	inline bool operator!=(StaticFunctionPtr funcptr) { 
-		return !m_Closure.IsEqualToStaticFuncPtr(funcptr);    }
-	inline bool operator ! () const	{	// Is it bound to anything?
-			return !m_Closure; }
-	inline bool empty() const	{
-			return !m_Closure; }
-	void clear() { m_Closure.clear();}
-	// Conversion to and from the DelegateMemento storage class
-	const DelegateMemento & GetMemento() { return m_Closure; }
-	void SetMemento(const DelegateMemento &any) { m_Closure.CopyFrom(this, any); }
-
-private:	// Invoker for static functions
-	RetType InvokeStaticFunction(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5) const {
-	return (*(m_Closure.GetStaticFunction()))(p1, p2, p3, p4, p5); }
-};
 
-//N=6
-template<class Param1, class Param2, class Param3, class Param4, class Param5, class Param6, class RetType=detail::DefaultVoid>
-class FastDelegate6 {
-private:
-	typedef typename detail::DefaultVoidToVoid<RetType>::type DesiredRetType;
-	typedef DesiredRetType (*StaticFunctionPtr)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6);
-	typedef RetType (*UnvoidStaticFunctionPtr)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6);
-	typedef RetType (detail::GenericClass::*GenericMemFn)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6);
-	typedef detail::ClosurePtr<GenericMemFn, StaticFunctionPtr, UnvoidStaticFunctionPtr> ClosureType;
-	ClosureType m_Closure;
-public:
-	// Typedefs to aid generic programming
-	typedef FastDelegate6 type;
-
-	// Construction and comparison functions
-	FastDelegate6() { clear(); }
-	FastDelegate6(const FastDelegate6 &x) {
-		m_Closure.CopyFrom(this, x.m_Closure); }
-	void operator = (const FastDelegate6 &x)  {
-		m_Closure.CopyFrom(this, x.m_Closure); }
-	bool operator ==(const FastDelegate6 &x) const {
-		return m_Closure.IsEqual(x.m_Closure);	}
-	bool operator !=(const FastDelegate6 &x) const {
-		return !m_Closure.IsEqual(x.m_Closure); }
-	bool operator <(const FastDelegate6 &x) const {
-		return m_Closure.IsLess(x.m_Closure);	}
-	bool operator >(const FastDelegate6 &x) const {
-		return x.m_Closure.IsLess(m_Closure);	}
-	// Binding to non-const member functions
-	template < class X, class Y >
-	FastDelegate6(Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6) ) {
-		m_Closure.bindmemfunc(detail::implicit_cast<X*>(pthis), function_to_bind); }
-	template < class X, class Y >
-	inline void bind(Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6)) {
-		m_Closure.bindmemfunc(detail::implicit_cast<X*>(pthis), function_to_bind);	}
-	// Binding to const member functions.
-	template < class X, class Y >
-	FastDelegate6(const Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6) const) {
-		m_Closure.bindconstmemfunc(detail::implicit_cast<const X*>(pthis), function_to_bind);	}
-	template < class X, class Y >
-	inline void bind(const Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6) const) {
-		m_Closure.bindconstmemfunc(detail::implicit_cast<const X *>(pthis), function_to_bind);	}
-	// Static functions. We convert them into a member function call.
-	// This constructor also provides implicit conversion
-	FastDelegate6(DesiredRetType (*function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6) ) {
-		bind(function_to_bind);	}
-	// for efficiency, prevent creation of a temporary
-	void operator = (DesiredRetType (*function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6) ) {
-		bind(function_to_bind);	}
-	inline void bind(DesiredRetType (*function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6)) {
-		m_Closure.bindstaticfunc(this, &FastDelegate6::InvokeStaticFunction, 
-			function_to_bind); }
-	// Invoke the delegate
-	RetType operator() (Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6) const {
-	return (m_Closure.GetClosureThis()->*(m_Closure.GetClosureMemPtr()))(p1, p2, p3, p4, p5, p6); }
-	// Implicit conversion to "bool" using the safe_bool idiom
-private:
-	typedef struct SafeBoolStruct {
-		int a_data_pointer_to_this_is_0_on_buggy_compilers;
-		StaticFunctionPtr m_nonzero;
-	} UselessTypedef;
-    typedef StaticFunctionPtr SafeBoolStruct::*unspecified_bool_type;
-public:
-	operator unspecified_bool_type() const {
-        return empty()? 0: &SafeBoolStruct::m_nonzero;
+    explicit operator bool() const noexcept
+    {
+        return stub_ptr_;
     }
-	// necessary to allow ==0 to work despite the safe_bool idiom
-	inline bool operator==(StaticFunctionPtr funcptr) {
-		return m_Closure.IsEqualToStaticFuncPtr(funcptr);	}
-	inline bool operator!=(StaticFunctionPtr funcptr) { 
-		return !m_Closure.IsEqualToStaticFuncPtr(funcptr);    }
-	inline bool operator ! () const	{	// Is it bound to anything?
-			return !m_Closure; }
-	inline bool empty() const	{
-			return !m_Closure; }
-	void clear() { m_Closure.clear();}
-	// Conversion to and from the DelegateMemento storage class
-	const DelegateMemento & GetMemento() { return m_Closure; }
-	void SetMemento(const DelegateMemento &any) { m_Closure.CopyFrom(this, any); }
-
-private:	// Invoker for static functions
-	RetType InvokeStaticFunction(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6) const {
-	return (*(m_Closure.GetStaticFunction()))(p1, p2, p3, p4, p5, p6); }
-};
 
-//N=7
-template<class Param1, class Param2, class Param3, class Param4, class Param5, class Param6, class Param7, class RetType=detail::DefaultVoid>
-class FastDelegate7 {
-private:
-	typedef typename detail::DefaultVoidToVoid<RetType>::type DesiredRetType;
-	typedef DesiredRetType (*StaticFunctionPtr)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7);
-	typedef RetType (*UnvoidStaticFunctionPtr)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7);
-	typedef RetType (detail::GenericClass::*GenericMemFn)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7);
-	typedef detail::ClosurePtr<GenericMemFn, StaticFunctionPtr, UnvoidStaticFunctionPtr> ClosureType;
-	ClosureType m_Closure;
-public:
-	// Typedefs to aid generic programming
-	typedef FastDelegate7 type;
-
-	// Construction and comparison functions
-	FastDelegate7() { clear(); }
-	FastDelegate7(const FastDelegate7 &x) {
-		m_Closure.CopyFrom(this, x.m_Closure); }
-	void operator = (const FastDelegate7 &x)  {
-		m_Closure.CopyFrom(this, x.m_Closure); }
-	bool operator ==(const FastDelegate7 &x) const {
-		return m_Closure.IsEqual(x.m_Closure);	}
-	bool operator !=(const FastDelegate7 &x) const {
-		return !m_Closure.IsEqual(x.m_Closure); }
-	bool operator <(const FastDelegate7 &x) const {
-		return m_Closure.IsLess(x.m_Closure);	}
-	bool operator >(const FastDelegate7 &x) const {
-		return x.m_Closure.IsLess(m_Closure);	}
-	// Binding to non-const member functions
-	template < class X, class Y >
-	FastDelegate7(Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7) ) {
-		m_Closure.bindmemfunc(detail::implicit_cast<X*>(pthis), function_to_bind); }
-	template < class X, class Y >
-	inline void bind(Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7)) {
-		m_Closure.bindmemfunc(detail::implicit_cast<X*>(pthis), function_to_bind);	}
-	// Binding to const member functions.
-	template < class X, class Y >
-	FastDelegate7(const Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7) const) {
-		m_Closure.bindconstmemfunc(detail::implicit_cast<const X*>(pthis), function_to_bind);	}
-	template < class X, class Y >
-	inline void bind(const Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7) const) {
-		m_Closure.bindconstmemfunc(detail::implicit_cast<const X *>(pthis), function_to_bind);	}
-	// Static functions. We convert them into a member function call.
-	// This constructor also provides implicit conversion
-	FastDelegate7(DesiredRetType (*function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7) ) {
-		bind(function_to_bind);	}
-	// for efficiency, prevent creation of a temporary
-	void operator = (DesiredRetType (*function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7) ) {
-		bind(function_to_bind);	}
-	inline void bind(DesiredRetType (*function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7)) {
-		m_Closure.bindstaticfunc(this, &FastDelegate7::InvokeStaticFunction, 
-			function_to_bind); }
-	// Invoke the delegate
-	RetType operator() (Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7) const {
-	return (m_Closure.GetClosureThis()->*(m_Closure.GetClosureMemPtr()))(p1, p2, p3, p4, p5, p6, p7); }
-	// Implicit conversion to "bool" using the safe_bool idiom
-private:
-	typedef struct SafeBoolStruct {
-		int a_data_pointer_to_this_is_0_on_buggy_compilers;
-		StaticFunctionPtr m_nonzero;
-	} UselessTypedef;
-    typedef StaticFunctionPtr SafeBoolStruct::*unspecified_bool_type;
-public:
-	operator unspecified_bool_type() const {
-        return empty()? 0: &SafeBoolStruct::m_nonzero;
+    R operator()(A... args) const
+    {
+        //  assert(stub_ptr);
+        return stub_ptr_(object_ptr_, ::std::forward<A>(args)...);
     }
-	// necessary to allow ==0 to work despite the safe_bool idiom
-	inline bool operator==(StaticFunctionPtr funcptr) {
-		return m_Closure.IsEqualToStaticFuncPtr(funcptr);	}
-	inline bool operator!=(StaticFunctionPtr funcptr) { 
-		return !m_Closure.IsEqualToStaticFuncPtr(funcptr);    }
-	inline bool operator ! () const	{	// Is it bound to anything?
-			return !m_Closure; }
-	inline bool empty() const	{
-			return !m_Closure; }
-	void clear() { m_Closure.clear();}
-	// Conversion to and from the DelegateMemento storage class
-	const DelegateMemento & GetMemento() { return m_Closure; }
-	void SetMemento(const DelegateMemento &any) { m_Closure.CopyFrom(this, any); }
-
-private:	// Invoker for static functions
-	RetType InvokeStaticFunction(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7) const {
-	return (*(m_Closure.GetStaticFunction()))(p1, p2, p3, p4, p5, p6, p7); }
-};
 
-//N=8
-template<class Param1, class Param2, class Param3, class Param4, class Param5, class Param6, class Param7, class Param8, class RetType=detail::DefaultVoid>
-class FastDelegate8 {
-private:
-	typedef typename detail::DefaultVoidToVoid<RetType>::type DesiredRetType;
-	typedef DesiredRetType (*StaticFunctionPtr)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8);
-	typedef RetType (*UnvoidStaticFunctionPtr)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8);
-	typedef RetType (detail::GenericClass::*GenericMemFn)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8);
-	typedef detail::ClosurePtr<GenericMemFn, StaticFunctionPtr, UnvoidStaticFunctionPtr> ClosureType;
-	ClosureType m_Closure;
-public:
-	// Typedefs to aid generic programming
-	typedef FastDelegate8 type;
-
-	// Construction and comparison functions
-	FastDelegate8() { clear(); }
-	FastDelegate8(const FastDelegate8 &x) {
-		m_Closure.CopyFrom(this, x.m_Closure); }
-	void operator = (const FastDelegate8 &x)  {
-		m_Closure.CopyFrom(this, x.m_Closure); }
-	bool operator ==(const FastDelegate8 &x) const {
-		return m_Closure.IsEqual(x.m_Closure);	}
-	bool operator !=(const FastDelegate8 &x) const {
-		return !m_Closure.IsEqual(x.m_Closure); }
-	bool operator <(const FastDelegate8 &x) const {
-		return m_Closure.IsLess(x.m_Closure);	}
-	bool operator >(const FastDelegate8 &x) const {
-		return x.m_Closure.IsLess(m_Closure);	}
-	// Binding to non-const member functions
-	template < class X, class Y >
-	FastDelegate8(Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8) ) {
-		m_Closure.bindmemfunc(detail::implicit_cast<X*>(pthis), function_to_bind); }
-	template < class X, class Y >
-	inline void bind(Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8)) {
-		m_Closure.bindmemfunc(detail::implicit_cast<X*>(pthis), function_to_bind);	}
-	// Binding to const member functions.
-	template < class X, class Y >
-	FastDelegate8(const Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8) const) {
-		m_Closure.bindconstmemfunc(detail::implicit_cast<const X*>(pthis), function_to_bind);	}
-	template < class X, class Y >
-	inline void bind(const Y *pthis, DesiredRetType (X::* function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8) const) {
-		m_Closure.bindconstmemfunc(detail::implicit_cast<const X *>(pthis), function_to_bind);	}
-	// Static functions. We convert them into a member function call.
-	// This constructor also provides implicit conversion
-	FastDelegate8(DesiredRetType (*function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8) ) {
-		bind(function_to_bind);	}
-	// for efficiency, prevent creation of a temporary
-	void operator = (DesiredRetType (*function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8) ) {
-		bind(function_to_bind);	}
-	inline void bind(DesiredRetType (*function_to_bind)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8)) {
-		m_Closure.bindstaticfunc(this, &FastDelegate8::InvokeStaticFunction, 
-			function_to_bind); }
-	// Invoke the delegate
-	RetType operator() (Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8) const {
-	return (m_Closure.GetClosureThis()->*(m_Closure.GetClosureMemPtr()))(p1, p2, p3, p4, p5, p6, p7, p8); }
-	// Implicit conversion to "bool" using the safe_bool idiom
 private:
-	typedef struct SafeBoolStruct {
-		int a_data_pointer_to_this_is_0_on_buggy_compilers;
-		StaticFunctionPtr m_nonzero;
-	} UselessTypedef;
-    typedef StaticFunctionPtr SafeBoolStruct::*unspecified_bool_type;
-public:
-	operator unspecified_bool_type() const {
-        return empty()? 0: &SafeBoolStruct::m_nonzero;
-    }
-	// necessary to allow ==0 to work despite the safe_bool idiom
-	inline bool operator==(StaticFunctionPtr funcptr) {
-		return m_Closure.IsEqualToStaticFuncPtr(funcptr);	}
-	inline bool operator!=(StaticFunctionPtr funcptr) { 
-		return !m_Closure.IsEqualToStaticFuncPtr(funcptr);    }
-	inline bool operator ! () const	{	// Is it bound to anything?
-			return !m_Closure; }
-	inline bool empty() const	{
-			return !m_Closure; }
-	void clear() { m_Closure.clear();}
-	// Conversion to and from the DelegateMemento storage class
-	const DelegateMemento & GetMemento() { return m_Closure; }
-	void SetMemento(const DelegateMemento &any) { m_Closure.CopyFrom(this, any); }
-
-private:	// Invoker for static functions
-	RetType InvokeStaticFunction(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8) const {
-	return (*(m_Closure.GetStaticFunction()))(p1, p2, p3, p4, p5, p6, p7, p8); }
-};
-
-
-////////////////////////////////////////////////////////////////////////////////
-//						Fast Delegates, part 4:
-// 
-//				FastDelegate<> class (Original author: Jody Hagins)
-//	Allows boost::function style syntax like:
-//			FastDelegate< double (int, long) >
-// instead of:
-//			FastDelegate2< int, long, double >
-//
-////////////////////////////////////////////////////////////////////////////////
-
-#ifdef FASTDELEGATE_ALLOW_FUNCTION_TYPE_SYNTAX
-
-// Declare FastDelegate as a class template.  It will be specialized
-// later for all number of arguments.
-template <typename Signature>
-class FastDelegate;
-
-//N=0
-// Specialization to allow use of
-// FastDelegate< R (  ) >
-// instead of 
-// FastDelegate0 < R >
-template<typename R>
-class FastDelegate< R (  ) >
-  // Inherit from FastDelegate0 so that it can be treated just like a FastDelegate0
-  : public FastDelegate0 < R >
-{
-public:
-  // Make using the base type a bit easier via typedef.
-  typedef FastDelegate0 < R > BaseType;
-
-  // Allow users access to the specific type of this delegate.
-  typedef FastDelegate SelfType;
-
-  // Mimic the base class constructors.
-  FastDelegate() : BaseType() { }
-
-  template < class X, class Y >
-  FastDelegate(Y * pthis, 
-    R (X::* function_to_bind)(  ))
-    : BaseType(pthis, function_to_bind)  { }
-
-  template < class X, class Y >
-  FastDelegate(const Y *pthis,
-      R (X::* function_to_bind)(  ) const)
-    : BaseType(pthis, function_to_bind)
-  {  }
-
-  FastDelegate(R (*function_to_bind)(  ))
-    : BaseType(function_to_bind)  { }
-  void operator = (const BaseType &x)  {	  
-		*static_cast<BaseType*>(this) = x; }
-};
-
-//N=1
-// Specialization to allow use of
-// FastDelegate< R ( Param1 ) >
-// instead of 
-// FastDelegate1 < Param1, R >
-template<typename R, class Param1>
-class FastDelegate< R ( Param1 ) >
-  // Inherit from FastDelegate1 so that it can be treated just like a FastDelegate1
-  : public FastDelegate1 < Param1, R >
-{
-public:
-  // Make using the base type a bit easier via typedef.
-  typedef FastDelegate1 < Param1, R > BaseType;
-
-  // Allow users access to the specific type of this delegate.
-  typedef FastDelegate SelfType;
-
-  // Mimic the base class constructors.
-  FastDelegate() : BaseType() { }
-
-  template < class X, class Y >
-  FastDelegate(Y * pthis, 
-    R (X::* function_to_bind)( Param1 p1 ))
-    : BaseType(pthis, function_to_bind)  { }
-
-  template < class X, class Y >
-  FastDelegate(const Y *pthis,
-      R (X::* function_to_bind)( Param1 p1 ) const)
-    : BaseType(pthis, function_to_bind)
-  {  }
-
-  FastDelegate(R (*function_to_bind)( Param1 p1 ))
-    : BaseType(function_to_bind)  { }
-  void operator = (const BaseType &x)  {	  
-		*static_cast<BaseType*>(this) = x; }
-};
-
-//N=2
-// Specialization to allow use of
-// FastDelegate< R ( Param1, Param2 ) >
-// instead of 
-// FastDelegate2 < Param1, Param2, R >
-template<typename R, class Param1, class Param2>
-class FastDelegate< R ( Param1, Param2 ) >
-  // Inherit from FastDelegate2 so that it can be treated just like a FastDelegate2
-  : public FastDelegate2 < Param1, Param2, R >
-{
-public:
-  // Make using the base type a bit easier via typedef.
-  typedef FastDelegate2 < Param1, Param2, R > BaseType;
-
-  // Allow users access to the specific type of this delegate.
-  typedef FastDelegate SelfType;
-
-  // Mimic the base class constructors.
-  FastDelegate() : BaseType() { }
-
-  template < class X, class Y >
-  FastDelegate(Y * pthis, 
-    R (X::* function_to_bind)( Param1 p1, Param2 p2 ))
-    : BaseType(pthis, function_to_bind)  { }
-
-  template < class X, class Y >
-  FastDelegate(const Y *pthis,
-      R (X::* function_to_bind)( Param1 p1, Param2 p2 ) const)
-    : BaseType(pthis, function_to_bind)
-  {  }
-
-  FastDelegate(R (*function_to_bind)( Param1 p1, Param2 p2 ))
-    : BaseType(function_to_bind)  { }
-  void operator = (const BaseType &x)  {	  
-		*static_cast<BaseType*>(this) = x; }
-};
-
-//N=3
-// Specialization to allow use of
-// FastDelegate< R ( Param1, Param2, Param3 ) >
-// instead of 
-// FastDelegate3 < Param1, Param2, Param3, R >
-template<typename R, class Param1, class Param2, class Param3>
-class FastDelegate< R ( Param1, Param2, Param3 ) >
-  // Inherit from FastDelegate3 so that it can be treated just like a FastDelegate3
-  : public FastDelegate3 < Param1, Param2, Param3, R >
-{
-public:
-  // Make using the base type a bit easier via typedef.
-  typedef FastDelegate3 < Param1, Param2, Param3, R > BaseType;
-
-  // Allow users access to the specific type of this delegate.
-  typedef FastDelegate SelfType;
-
-  // Mimic the base class constructors.
-  FastDelegate() : BaseType() { }
-
-  template < class X, class Y >
-  FastDelegate(Y * pthis, 
-    R (X::* function_to_bind)( Param1 p1, Param2 p2, Param3 p3 ))
-    : BaseType(pthis, function_to_bind)  { }
-
-  template < class X, class Y >
-  FastDelegate(const Y *pthis,
-      R (X::* function_to_bind)( Param1 p1, Param2 p2, Param3 p3 ) const)
-    : BaseType(pthis, function_to_bind)
-  {  }
-
-  FastDelegate(R (*function_to_bind)( Param1 p1, Param2 p2, Param3 p3 ))
-    : BaseType(function_to_bind)  { }
-  void operator = (const BaseType &x)  {	  
-		*static_cast<BaseType*>(this) = x; }
-};
-
-//N=4
-// Specialization to allow use of
-// FastDelegate< R ( Param1, Param2, Param3, Param4 ) >
-// instead of 
-// FastDelegate4 < Param1, Param2, Param3, Param4, R >
-template<typename R, class Param1, class Param2, class Param3, class Param4>
-class FastDelegate< R ( Param1, Param2, Param3, Param4 ) >
-  // Inherit from FastDelegate4 so that it can be treated just like a FastDelegate4
-  : public FastDelegate4 < Param1, Param2, Param3, Param4, R >
-{
-public:
-  // Make using the base type a bit easier via typedef.
-  typedef FastDelegate4 < Param1, Param2, Param3, Param4, R > BaseType;
-
-  // Allow users access to the specific type of this delegate.
-  typedef FastDelegate SelfType;
-
-  // Mimic the base class constructors.
-  FastDelegate() : BaseType() { }
-
-  template < class X, class Y >
-  FastDelegate(Y * pthis, 
-    R (X::* function_to_bind)( Param1 p1, Param2 p2, Param3 p3, Param4 p4 ))
-    : BaseType(pthis, function_to_bind)  { }
-
-  template < class X, class Y >
-  FastDelegate(const Y *pthis,
-      R (X::* function_to_bind)( Param1 p1, Param2 p2, Param3 p3, Param4 p4 ) const)
-    : BaseType(pthis, function_to_bind)
-  {  }
-
-  FastDelegate(R (*function_to_bind)( Param1 p1, Param2 p2, Param3 p3, Param4 p4 ))
-    : BaseType(function_to_bind)  { }
-  void operator = (const BaseType &x)  {	  
-		*static_cast<BaseType*>(this) = x; }
-};
-
-//N=5
-// Specialization to allow use of
-// FastDelegate< R ( Param1, Param2, Param3, Param4, Param5 ) >
-// instead of 
-// FastDelegate5 < Param1, Param2, Param3, Param4, Param5, R >
-template<typename R, class Param1, class Param2, class Param3, class Param4, class Param5>
-class FastDelegate< R ( Param1, Param2, Param3, Param4, Param5 ) >
-  // Inherit from FastDelegate5 so that it can be treated just like a FastDelegate5
-  : public FastDelegate5 < Param1, Param2, Param3, Param4, Param5, R >
-{
-public:
-  // Make using the base type a bit easier via typedef.
-  typedef FastDelegate5 < Param1, Param2, Param3, Param4, Param5, R > BaseType;
-
-  // Allow users access to the specific type of this delegate.
-  typedef FastDelegate SelfType;
-
-  // Mimic the base class constructors.
-  FastDelegate() : BaseType() { }
-
-  template < class X, class Y >
-  FastDelegate(Y * pthis, 
-    R (X::* function_to_bind)( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5 ))
-    : BaseType(pthis, function_to_bind)  { }
-
-  template < class X, class Y >
-  FastDelegate(const Y *pthis,
-      R (X::* function_to_bind)( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5 ) const)
-    : BaseType(pthis, function_to_bind)
-  {  }
-
-  FastDelegate(R (*function_to_bind)( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5 ))
-    : BaseType(function_to_bind)  { }
-  void operator = (const BaseType &x)  {	  
-		*static_cast<BaseType*>(this) = x; }
-};
+    friend struct ::std::hash<delegate>;
 
-//N=6
-// Specialization to allow use of
-// FastDelegate< R ( Param1, Param2, Param3, Param4, Param5, Param6 ) >
-// instead of 
-// FastDelegate6 < Param1, Param2, Param3, Param4, Param5, Param6, R >
-template<typename R, class Param1, class Param2, class Param3, class Param4, class Param5, class Param6>
-class FastDelegate< R ( Param1, Param2, Param3, Param4, Param5, Param6 ) >
-  // Inherit from FastDelegate6 so that it can be treated just like a FastDelegate6
-  : public FastDelegate6 < Param1, Param2, Param3, Param4, Param5, Param6, R >
-{
-public:
-  // Make using the base type a bit easier via typedef.
-  typedef FastDelegate6 < Param1, Param2, Param3, Param4, Param5, Param6, R > BaseType;
-
-  // Allow users access to the specific type of this delegate.
-  typedef FastDelegate SelfType;
-
-  // Mimic the base class constructors.
-  FastDelegate() : BaseType() { }
-
-  template < class X, class Y >
-  FastDelegate(Y * pthis, 
-    R (X::* function_to_bind)( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6 ))
-    : BaseType(pthis, function_to_bind)  { }
-
-  template < class X, class Y >
-  FastDelegate(const Y *pthis,
-      R (X::* function_to_bind)( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6 ) const)
-    : BaseType(pthis, function_to_bind)
-  {  }
-
-  FastDelegate(R (*function_to_bind)( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6 ))
-    : BaseType(function_to_bind)  { }
-  void operator = (const BaseType &x)  {	  
-		*static_cast<BaseType*>(this) = x; }
-};
+    using deleter_type = void (*)(void *);
 
-//N=7
-// Specialization to allow use of
-// FastDelegate< R ( Param1, Param2, Param3, Param4, Param5, Param6, Param7 ) >
-// instead of 
-// FastDelegate7 < Param1, Param2, Param3, Param4, Param5, Param6, Param7, R >
-template<typename R, class Param1, class Param2, class Param3, class Param4, class Param5, class Param6, class Param7>
-class FastDelegate< R ( Param1, Param2, Param3, Param4, Param5, Param6, Param7 ) >
-  // Inherit from FastDelegate7 so that it can be treated just like a FastDelegate7
-  : public FastDelegate7 < Param1, Param2, Param3, Param4, Param5, Param6, Param7, R >
-{
-public:
-  // Make using the base type a bit easier via typedef.
-  typedef FastDelegate7 < Param1, Param2, Param3, Param4, Param5, Param6, Param7, R > BaseType;
-
-  // Allow users access to the specific type of this delegate.
-  typedef FastDelegate SelfType;
-
-  // Mimic the base class constructors.
-  FastDelegate() : BaseType() { }
-
-  template < class X, class Y >
-  FastDelegate(Y * pthis, 
-    R (X::* function_to_bind)( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7 ))
-    : BaseType(pthis, function_to_bind)  { }
-
-  template < class X, class Y >
-  FastDelegate(const Y *pthis,
-      R (X::* function_to_bind)( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7 ) const)
-    : BaseType(pthis, function_to_bind)
-  {  }
-
-  FastDelegate(R (*function_to_bind)( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7 ))
-    : BaseType(function_to_bind)  { }
-  void operator = (const BaseType &x)  {	  
-		*static_cast<BaseType*>(this) = x; }
-};
+    void * object_ptr_              = nullptr;
+    stub_ptr_type stub_ptr_         {};
 
-//N=8
-// Specialization to allow use of
-// FastDelegate< R ( Param1, Param2, Param3, Param4, Param5, Param6, Param7, Param8 ) >
-// instead of 
-// FastDelegate8 < Param1, Param2, Param3, Param4, Param5, Param6, Param7, Param8, R >
-template<typename R, class Param1, class Param2, class Param3, class Param4, class Param5, class Param6, class Param7, class Param8>
-class FastDelegate< R ( Param1, Param2, Param3, Param4, Param5, Param6, Param7, Param8 ) >
-  // Inherit from FastDelegate8 so that it can be treated just like a FastDelegate8
-  : public FastDelegate8 < Param1, Param2, Param3, Param4, Param5, Param6, Param7, Param8, R >
-{
-public:
-  // Make using the base type a bit easier via typedef.
-  typedef FastDelegate8 < Param1, Param2, Param3, Param4, Param5, Param6, Param7, Param8, R > BaseType;
-
-  // Allow users access to the specific type of this delegate.
-  typedef FastDelegate SelfType;
-
-  // Mimic the base class constructors.
-  FastDelegate() : BaseType() { }
-
-  template < class X, class Y >
-  FastDelegate(Y * pthis, 
-    R (X::* function_to_bind)( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8 ))
-    : BaseType(pthis, function_to_bind)  { }
-
-  template < class X, class Y >
-  FastDelegate(const Y *pthis,
-      R (X::* function_to_bind)( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8 ) const)
-    : BaseType(pthis, function_to_bind)
-  {  }
-
-  FastDelegate(R (*function_to_bind)( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8 ))
-    : BaseType(function_to_bind)  { }
-  void operator = (const BaseType &x)  {	  
-		*static_cast<BaseType*>(this) = x; }
-};
+    deleter_type deleter_           = nullptr;
 
+    ::std::shared_ptr<void> store_  = nullptr;
+    ::std::size_t store_size_       = 0;
 
-#endif //FASTDELEGATE_ALLOW_FUNCTION_TYPE_SYNTAX
-
-////////////////////////////////////////////////////////////////////////////////
-//						Fast Delegates, part 5:
-//
-//				MakeDelegate() helper function
-//
-//			MakeDelegate(&x, &X::func) returns a fastdelegate of the type
-//			necessary for calling x.func() with the correct number of arguments.
-//			This makes it possible to eliminate many typedefs from user code.
-//
-////////////////////////////////////////////////////////////////////////////////
-
-// Also declare overloads of a MakeDelegate() global function to 
-// reduce the need for typedefs.
-// We need separate overloads for const and non-const member functions.
-// Also, because of the weird rule about the class of derived member function pointers,
-// implicit downcasts may need to be applied later to the 'this' pointer.
-// That's why two classes (X and Y) appear in the definitions. Y must be implicitly
-// castable to X.
-
-// Workaround for VC6. VC6 needs void return types converted into DefaultVoid.
-// GCC 3.2 and later won't compile this unless it's preceded by 'typename',
-// but VC6 doesn't allow 'typename' in this context.
-// So, I have to use a macro.
-
-#ifdef FASTDLGT_VC6
-#define FASTDLGT_RETTYPE detail::VoidToDefaultVoid<RetType>::type
-#else 
-#define FASTDLGT_RETTYPE RetType
-#endif
-
-//N=0
-template <class X, class Y, class RetType>
-FastDelegate0<FASTDLGT_RETTYPE> MakeDelegate(Y* x, RetType (X::*func)()) { 
-	return FastDelegate0<FASTDLGT_RETTYPE>(x, func);
-}
-
-template <class X, class Y, class RetType>
-FastDelegate0<FASTDLGT_RETTYPE> MakeDelegate(Y* x, RetType (X::*func)() const) { 
-	return FastDelegate0<FASTDLGT_RETTYPE>(x, func);
-}
-
-//N=1
-template <class X, class Y, class Param1, class RetType>
-FastDelegate1<Param1, FASTDLGT_RETTYPE> MakeDelegate(Y* x, RetType (X::*func)(Param1 p1)) { 
-	return FastDelegate1<Param1, FASTDLGT_RETTYPE>(x, func);
-}
-
-template <class X, class Y, class Param1, class RetType>
-FastDelegate1<Param1, FASTDLGT_RETTYPE> MakeDelegate(Y* x, RetType (X::*func)(Param1 p1) const) { 
-	return FastDelegate1<Param1, FASTDLGT_RETTYPE>(x, func);
-}
-
-//N=2
-template <class X, class Y, class Param1, class Param2, class RetType>
-FastDelegate2<Param1, Param2, FASTDLGT_RETTYPE> MakeDelegate(Y* x, RetType (X::*func)(Param1 p1, Param2 p2)) { 
-	return FastDelegate2<Param1, Param2, FASTDLGT_RETTYPE>(x, func);
-}
-
-template <class X, class Y, class Param1, class Param2, class RetType>
-FastDelegate2<Param1, Param2, FASTDLGT_RETTYPE> MakeDelegate(Y* x, RetType (X::*func)(Param1 p1, Param2 p2) const) { 
-	return FastDelegate2<Param1, Param2, FASTDLGT_RETTYPE>(x, func);
-}
+    template <class T>
+    static void functor_deleter(void * const p)
+    {
+        static_cast<T *>(p)->~T();
+        operator delete(p);
+    }
 
-//N=3
-template <class X, class Y, class Param1, class Param2, class Param3, class RetType>
-FastDelegate3<Param1, Param2, Param3, FASTDLGT_RETTYPE> MakeDelegate(Y* x, RetType (X::*func)(Param1 p1, Param2 p2, Param3 p3)) { 
-	return FastDelegate3<Param1, Param2, Param3, FASTDLGT_RETTYPE>(x, func);
-}
+    template <class T>
+    static void deleter_stub(void * const p)
+    {
+        static_cast<T *>(p)->~T();
+    }
 
-template <class X, class Y, class Param1, class Param2, class Param3, class RetType>
-FastDelegate3<Param1, Param2, Param3, FASTDLGT_RETTYPE> MakeDelegate(Y* x, RetType (X::*func)(Param1 p1, Param2 p2, Param3 p3) const) { 
-	return FastDelegate3<Param1, Param2, Param3, FASTDLGT_RETTYPE>(x, func);
-}
+    template <R(*function_ptr)(A...)>
+    static R function_stub(void * const, A && ... args)
+    {
+        return function_ptr(::std::forward<A>(args)...);
+    }
 
-//N=4
-template <class X, class Y, class Param1, class Param2, class Param3, class Param4, class RetType>
-FastDelegate4<Param1, Param2, Param3, Param4, FASTDLGT_RETTYPE> MakeDelegate(Y* x, RetType (X::*func)(Param1 p1, Param2 p2, Param3 p3, Param4 p4)) { 
-	return FastDelegate4<Param1, Param2, Param3, Param4, FASTDLGT_RETTYPE>(x, func);
-}
+    template <class C, R(C::*method_ptr)(A...)>
+    static R method_stub(void * const object_ptr, A && ... args)
+    {
+        return (static_cast<C *>(object_ptr)->*method_ptr)(::std::forward<A>(args)...);
+    }
 
-template <class X, class Y, class Param1, class Param2, class Param3, class Param4, class RetType>
-FastDelegate4<Param1, Param2, Param3, Param4, FASTDLGT_RETTYPE> MakeDelegate(Y* x, RetType (X::*func)(Param1 p1, Param2 p2, Param3 p3, Param4 p4) const) { 
-	return FastDelegate4<Param1, Param2, Param3, Param4, FASTDLGT_RETTYPE>(x, func);
-}
+    template <class C, R(C::*method_ptr)(A...) const>
+    static R const_method_stub(void * const object_ptr, A && ... args)
+    {
+        return (static_cast<C const *>(object_ptr)->*method_ptr)(::std::forward<A>(args)...);
+    }
 
-//N=5
-template <class X, class Y, class Param1, class Param2, class Param3, class Param4, class Param5, class RetType>
-FastDelegate5<Param1, Param2, Param3, Param4, Param5, FASTDLGT_RETTYPE> MakeDelegate(Y* x, RetType (X::*func)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5)) { 
-	return FastDelegate5<Param1, Param2, Param3, Param4, Param5, FASTDLGT_RETTYPE>(x, func);
-}
+    template <typename>
+    struct is_member_pair : ::std::false_type { };
 
-template <class X, class Y, class Param1, class Param2, class Param3, class Param4, class Param5, class RetType>
-FastDelegate5<Param1, Param2, Param3, Param4, Param5, FASTDLGT_RETTYPE> MakeDelegate(Y* x, RetType (X::*func)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5) const) { 
-	return FastDelegate5<Param1, Param2, Param3, Param4, Param5, FASTDLGT_RETTYPE>(x, func);
-}
+    template <class C>
+    struct is_member_pair< ::std::pair<C * const, R(C::* const)(A...)> > : ::std::true_type {};
 
-//N=6
-template <class X, class Y, class Param1, class Param2, class Param3, class Param4, class Param5, class Param6, class RetType>
-FastDelegate6<Param1, Param2, Param3, Param4, Param5, Param6, FASTDLGT_RETTYPE> MakeDelegate(Y* x, RetType (X::*func)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6)) { 
-	return FastDelegate6<Param1, Param2, Param3, Param4, Param5, Param6, FASTDLGT_RETTYPE>(x, func);
-}
+    template <typename>
+    struct is_const_member_pair : ::std::false_type { };
 
-template <class X, class Y, class Param1, class Param2, class Param3, class Param4, class Param5, class Param6, class RetType>
-FastDelegate6<Param1, Param2, Param3, Param4, Param5, Param6, FASTDLGT_RETTYPE> MakeDelegate(Y* x, RetType (X::*func)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6) const) { 
-	return FastDelegate6<Param1, Param2, Param3, Param4, Param5, Param6, FASTDLGT_RETTYPE>(x, func);
-}
+    template <class C>
+    struct is_const_member_pair< ::std::pair<C const * const, R(C::* const)(A...) const> > : ::std::true_type {};
 
-//N=7
-template <class X, class Y, class Param1, class Param2, class Param3, class Param4, class Param5, class Param6, class Param7, class RetType>
-FastDelegate7<Param1, Param2, Param3, Param4, Param5, Param6, Param7, FASTDLGT_RETTYPE> MakeDelegate(Y* x, RetType (X::*func)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7)) { 
-	return FastDelegate7<Param1, Param2, Param3, Param4, Param5, Param6, Param7, FASTDLGT_RETTYPE>(x, func);
-}
+    template <typename T>
+    static typename ::std::enable_if<!(is_member_pair<T>::value || is_const_member_pair<T>::value), R>::type
+    functor_stub(void * const object_ptr, A && ... args)
+    {
+        return (*static_cast<T *>(object_ptr))(::std::forward<A>(args)...);
+    }
 
-template <class X, class Y, class Param1, class Param2, class Param3, class Param4, class Param5, class Param6, class Param7, class RetType>
-FastDelegate7<Param1, Param2, Param3, Param4, Param5, Param6, Param7, FASTDLGT_RETTYPE> MakeDelegate(Y* x, RetType (X::*func)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7) const) { 
-	return FastDelegate7<Param1, Param2, Param3, Param4, Param5, Param6, Param7, FASTDLGT_RETTYPE>(x, func);
-}
+    template <typename T>
+    static typename ::std::enable_if<is_member_pair<T>::value || is_const_member_pair<T>::value, R>::type
+    functor_stub(void * const object_ptr, A && ... args)
+    {
+        return (static_cast<T *>(object_ptr)->first->*static_cast<T *>(object_ptr)->second)(::std::forward<A>(args)...);
+    }
+};
 
-//N=8
-template <class X, class Y, class Param1, class Param2, class Param3, class Param4, class Param5, class Param6, class Param7, class Param8, class RetType>
-FastDelegate8<Param1, Param2, Param3, Param4, Param5, Param6, Param7, Param8, FASTDLGT_RETTYPE> MakeDelegate(Y* x, RetType (X::*func)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8)) { 
-	return FastDelegate8<Param1, Param2, Param3, Param4, Param5, Param6, Param7, Param8, FASTDLGT_RETTYPE>(x, func);
 }
 
-template <class X, class Y, class Param1, class Param2, class Param3, class Param4, class Param5, class Param6, class Param7, class Param8, class RetType>
-FastDelegate8<Param1, Param2, Param3, Param4, Param5, Param6, Param7, Param8, FASTDLGT_RETTYPE> MakeDelegate(Y* x, RetType (X::*func)(Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8) const) { 
-	return FastDelegate8<Param1, Param2, Param3, Param4, Param5, Param6, Param7, Param8, FASTDLGT_RETTYPE>(x, func);
+namespace std
+{
+template <typename R, typename ...A>
+struct hash<::fastdelegate::delegate<R(A...)> >
+{
+    size_t operator()(::fastdelegate::delegate<R(A...)> const & d) const noexcept
+    {
+        auto const seed(hash<void *>()(d.object_ptr_));
+        return hash<decltype(d.stub_ptr_)>()(d.stub_ptr_) + 0x9e3779b9 + (seed << 6) + (seed >> 2);
+    }
+};
 }
 
-
- // clean up after ourselves...
-#undef FASTDLGT_RETTYPE
-
-} // namespace fastdelegate
-
-#endif // !defined(FASTDELEGATE_H)
-
+#endif // SRDELEGATE_HPP
diff --git a/libs/Common/FastDelegateBind.h b/libs/Common/FastDelegateBind.h
deleted file mode 100644
index 95b017d3d..000000000
--- a/libs/Common/FastDelegateBind.h
+++ /dev/null
@@ -1,240 +0,0 @@
-//						FastDelegateBind.h 
-//  Helper file for FastDelegates. Provides bind() function, enabling
-//  FastDelegates to be rapidly compared to programs using boost::function and boost::bind.
-//
-//  Documentation is found at http://www.codeproject.com/cpp/FastDelegate.asp
-//
-//		Original author: Jody Hagins.
-//		 Minor changes by Don Clugston.
-//
-// Warning: The arguments to 'bind' are ignored! No actual binding is performed.
-// The behaviour is equivalent to boost::bind only when the basic placeholder 
-// arguments _1, _2, _3, etc are used in order.
-//
-// HISTORY:
-//	1.4 Dec 2004. Initial release as part of FastDelegate 1.4.
-
-
-#ifndef FASTDELEGATEBIND_H
-#define FASTDELEGATEBIND_H
-
-////////////////////////////////////////////////////////////////////////////////
-//						FastDelegate bind()
-//
-//				bind() helper function for boost compatibility.
-//				(Original author: Jody Hagins).
-//
-// Add another helper, so FastDelegate can be a dropin replacement
-// for boost::bind (in a fair number of cases).
-// Note the ellipsis, because boost::bind() takes place holders
-// but FastDelegate does not care about them.  Getting the place holder
-// mechanism to work, and play well with boost is a bit tricky, so
-// we do the "easy" thing...
-// Assume we have the following code...
-//      using boost::bind;
-//      bind(&Foo:func, &foo, _1, _2);
-// we should be able to replace the "using" with...
-//      using fastdelegate::bind;
-// and everything should work fine...
-////////////////////////////////////////////////////////////////////////////////
-
-#ifdef FASTDELEGATE_ALLOW_FUNCTION_TYPE_SYNTAX
-
-namespace fastdelegate {
-
-//N=0
-template <class X, class Y, class RetType>
-FastDelegate< RetType (  ) >
-bind(
-    RetType (X::*func)(  ),
-    Y * y,
-    ...)
-{ 
-  return FastDelegate< RetType (  ) >(y, func);
-}
-
-template <class X, class Y, class RetType>
-FastDelegate< RetType (  ) >
-bind(
-    RetType (X::*func)(  ) const,
-    Y * y,
-    ...)
-{ 
-  return FastDelegate< RetType (  ) >(y, func);
-}
-
-//N=1
-template <class X, class Y, class RetType, class Param1>
-FastDelegate< RetType ( Param1 p1 ) >
-bind(
-    RetType (X::*func)( Param1 p1 ),
-    Y * y,
-    ...)
-{ 
-  return FastDelegate< RetType ( Param1 p1 ) >(y, func);
-}
-
-template <class X, class Y, class RetType, class Param1>
-FastDelegate< RetType ( Param1 p1 ) >
-bind(
-    RetType (X::*func)( Param1 p1 ) const,
-    Y * y,
-    ...)
-{ 
-  return FastDelegate< RetType ( Param1 p1 ) >(y, func);
-}
-
-//N=2
-template <class X, class Y, class RetType, class Param1, class Param2>
-FastDelegate< RetType ( Param1 p1, Param2 p2 ) >
-bind(
-    RetType (X::*func)( Param1 p1, Param2 p2 ),
-    Y * y,
-    ...)
-{ 
-  return FastDelegate< RetType ( Param1 p1, Param2 p2 ) >(y, func);
-}
-
-template <class X, class Y, class RetType, class Param1, class Param2>
-FastDelegate< RetType ( Param1 p1, Param2 p2 ) >
-bind(
-    RetType (X::*func)( Param1 p1, Param2 p2 ) const,
-    Y * y,
-    ...)
-{ 
-  return FastDelegate< RetType ( Param1 p1, Param2 p2 ) >(y, func);
-}
-
-//N=3
-template <class X, class Y, class RetType, class Param1, class Param2, class Param3>
-FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3 ) >
-bind(
-    RetType (X::*func)( Param1 p1, Param2 p2, Param3 p3 ),
-    Y * y,
-    ...)
-{ 
-  return FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3 ) >(y, func);
-}
-
-template <class X, class Y, class RetType, class Param1, class Param2, class Param3>
-FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3 ) >
-bind(
-    RetType (X::*func)( Param1 p1, Param2 p2, Param3 p3 ) const,
-    Y * y,
-    ...)
-{ 
-  return FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3 ) >(y, func);
-}
-
-//N=4
-template <class X, class Y, class RetType, class Param1, class Param2, class Param3, class Param4>
-FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3, Param4 p4 ) >
-bind(
-    RetType (X::*func)( Param1 p1, Param2 p2, Param3 p3, Param4 p4 ),
-    Y * y,
-    ...)
-{ 
-  return FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3, Param4 p4 ) >(y, func);
-}
-
-template <class X, class Y, class RetType, class Param1, class Param2, class Param3, class Param4>
-FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3, Param4 p4 ) >
-bind(
-    RetType (X::*func)( Param1 p1, Param2 p2, Param3 p3, Param4 p4 ) const,
-    Y * y,
-    ...)
-{ 
-  return FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3, Param4 p4 ) >(y, func);
-}
-
-//N=5
-template <class X, class Y, class RetType, class Param1, class Param2, class Param3, class Param4, class Param5>
-FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5 ) >
-bind(
-    RetType (X::*func)( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5 ),
-    Y * y,
-    ...)
-{ 
-  return FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5 ) >(y, func);
-}
-
-template <class X, class Y, class RetType, class Param1, class Param2, class Param3, class Param4, class Param5>
-FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5 ) >
-bind(
-    RetType (X::*func)( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5 ) const,
-    Y * y,
-    ...)
-{ 
-  return FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5 ) >(y, func);
-}
-
-//N=6
-template <class X, class Y, class RetType, class Param1, class Param2, class Param3, class Param4, class Param5, class Param6>
-FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6 ) >
-bind(
-    RetType (X::*func)( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6 ),
-    Y * y,
-    ...)
-{ 
-  return FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6 ) >(y, func);
-}
-
-template <class X, class Y, class RetType, class Param1, class Param2, class Param3, class Param4, class Param5, class Param6>
-FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6 ) >
-bind(
-    RetType (X::*func)( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6 ) const,
-    Y * y,
-    ...)
-{ 
-  return FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6 ) >(y, func);
-}
-
-//N=7
-template <class X, class Y, class RetType, class Param1, class Param2, class Param3, class Param4, class Param5, class Param6, class Param7>
-FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7 ) >
-bind(
-    RetType (X::*func)( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7 ),
-    Y * y,
-    ...)
-{ 
-  return FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7 ) >(y, func);
-}
-
-template <class X, class Y, class RetType, class Param1, class Param2, class Param3, class Param4, class Param5, class Param6, class Param7>
-FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7 ) >
-bind(
-    RetType (X::*func)( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7 ) const,
-    Y * y,
-    ...)
-{ 
-  return FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7 ) >(y, func);
-}
-
-//N=8
-template <class X, class Y, class RetType, class Param1, class Param2, class Param3, class Param4, class Param5, class Param6, class Param7, class Param8>
-FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8 ) >
-bind(
-    RetType (X::*func)( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8 ),
-    Y * y,
-    ...)
-{ 
-  return FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8 ) >(y, func);
-}
-
-template <class X, class Y, class RetType, class Param1, class Param2, class Param3, class Param4, class Param5, class Param6, class Param7, class Param8>
-FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8 ) >
-bind(
-    RetType (X::*func)( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8 ) const,
-    Y * y,
-    ...)
-{ 
-  return FastDelegate< RetType ( Param1 p1, Param2 p2, Param3 p3, Param4 p4, Param5 p5, Param6 p6, Param7 p7, Param8 p8 ) >(y, func);
-}
-
-
-#endif //FASTDELEGATE_ALLOW_FUNCTION_TYPE_SYNTAX
-
-} // namespace fastdelegate
-
-#endif // !defined(FASTDELEGATEBIND_H)
-
diff --git a/libs/Common/FastDelegateCPP11.h b/libs/Common/FastDelegateCPP11.h
deleted file mode 100644
index 26a565bfb..000000000
--- a/libs/Common/FastDelegateCPP11.h
+++ /dev/null
@@ -1,379 +0,0 @@
-/** \file SRDelegate.hpp
- *
- * This is a C++11 implementation by janezz55(code.google) for the original "The Impossibly Fast C++ Delegates" authored by Sergey Ryazanov.
- *
- * This is a copy checkouted from https://code.google.com/p/cpppractice/source/browse/trunk/delegate.hpp on 2014/06/07.
- *   Last change in the chunk was r370 on Feb 9, 2014.
- *
- * The following modifications were added by Benjamin YanXiang Huang
- *  - replace light_ptr with std::shared_ptr
- *  - renamed src file
- *
- * Reference:
- *  - http://codereview.stackexchange.com/questions/14730/impossibly-fast-delegate-in-c11
- *  - http://www.codeproject.com/Articles/11015/The-Impossibly-Fast-C-Delegates
- *  - https://code.google.com/p/cpppractice/source/browse/trunk/delegate.hpp
-*/
-
-#pragma once
-#ifndef SRDELEGATE_HPP
-#define SRDELEGATE_HPP
-
-#include <cassert>
-#include <cstring>
-#include <memory>
-#include <new>
-#include <type_traits>
-#include <utility>
-
-// VC work around for constexpr and noexcept: VC2013 and below do not support these 2 keywords
-#if defined(_MSC_VER) && (_MSC_VER <= 1800)
-#define constexpr const
-#define noexcept throw()
-#endif
-
-namespace fastdelegate
-{
-
-template <typename T> class delegate;
-
-template<class R, class ...A>
-class delegate<R(A...)>
-{
-    using stub_ptr_type = R(*)(void *, A&&...);
-
-    delegate(void * const o, stub_ptr_type const m) noexcept : object_ptr_(o), stub_ptr_(m) {}
-
-public:
-    delegate(void) = default;
-
-    delegate(delegate const &) = default;
-
-    delegate(delegate && d)
-        : object_ptr_(d.object_ptr_), stub_ptr_(d.stub_ptr_), deleter_(d.deleter_), store_(d.store_), store_size_(d.store_size_)
-    {
-        d.object_ptr_ = nullptr;
-        d.stub_ptr_   = nullptr;
-        d.deleter_    = nullptr;
-        d.store_      = nullptr;
-        d.store_size_ = 0;
-    }
-
-    delegate(::std::nullptr_t const) noexcept : delegate() { }
-
-    template <class C, typename = typename ::std::enable_if< ::std::is_class<C>::value, C>::type>
-    explicit delegate(C const * const o) noexcept :
-    object_ptr_(const_cast<C *>(o))
-    {}
-
-    template <class C, typename = typename ::std::enable_if< ::std::is_class<C> {}>::type>
-    explicit delegate(C const & o) noexcept :
-    object_ptr_(const_cast<C *>(&o))
-    {}
-
-    template <class C>
-    delegate(C * const object_ptr, R(C::* const method_ptr)(A...))
-    {
-        *this = from(object_ptr, method_ptr);
-    }
-
-    template <class C>
-    delegate(C * const object_ptr, R(C::* const method_ptr)(A...) const)
-    {
-        *this = from(object_ptr, method_ptr);
-    }
-
-    template <class C>
-    delegate(C & object, R(C::* const method_ptr)(A...))
-    {
-        *this = from(object, method_ptr);
-    }
-
-    template <class C>
-    delegate(C const & object, R(C::* const method_ptr)(A...) const)
-    {
-        *this = from(object, method_ptr);
-    }
-
-    template <
-        typename T,
-        typename = typename ::std::enable_if<!::std::is_same<delegate, typename ::std::decay<T>::type>::value>::type
-    >
-    delegate(T&& f)
-        : store_(operator new(sizeof(typename ::std::decay<T>::type))
-        , functor_deleter<typename ::std::decay<T>::type>)
-        , store_size_(sizeof(typename ::std::decay<T>::type))
-    {
-        using functor_type = typename ::std::decay<T>::type;
-
-        new(store_.get()) functor_type(::std::forward<T>(f));
-        object_ptr_ = store_.get();
-
-        stub_ptr_ = functor_stub<functor_type>;
-        deleter_ = deleter_stub<functor_type>;
-    }
-
-    delegate & operator=(delegate const &) = default;
-
-    delegate & operator=(delegate&& d)
-    {
-        object_ptr_   = d.object_ptr_;
-        stub_ptr_     = d.stub_ptr_;
-        deleter_      = d.deleter_;
-        store_        = d.store_;
-        store_size_   = d.store_size_;
-
-        d.object_ptr_ = nullptr;
-        d.stub_ptr_   = nullptr;
-        d.deleter_    = nullptr;
-        d.store_      = nullptr;
-        d.store_size_ = 0;
-
-        return *this;
-    }
-
-    template <class C>
-    delegate & operator=(R(C::* const rhs)(A...))
-    {
-        return *this = from(static_cast<C *>(object_ptr_), rhs);
-    }
-
-    template <class C>
-    delegate & operator=(R(C::* const rhs)(A...) const)
-    {
-        return *this = from(static_cast<C const *>(object_ptr_), rhs);
-    }
-
-    template <
-        typename T
-        , typename = typename ::std::enable_if<!::std::is_same<delegate, typename ::std::decay<T>::type>::value>::type
-    >
-    delegate & operator=(T&& f)
-    {
-        using functor_type = typename ::std::decay<T>::type;
-
-        if ((sizeof(functor_type) > store_size_) || !store_.unique())
-        {
-            store_.reset(operator new(sizeof(functor_type)), functor_deleter<functor_type>);
-            store_size_ = sizeof(functor_type);
-        }
-        else
-            deleter_(store_.get());
-
-        new(store_.get()) functor_type(::std::forward<T>(f));
-        object_ptr_ = store_.get();
-
-        stub_ptr_ = functor_stub<functor_type>;
-        deleter_ = deleter_stub<functor_type>;
-
-        return *this;
-    }
-
-    template <R(* const function_ptr)(A...)>
-    static delegate from(void) noexcept
-    {
-        return { nullptr, function_stub<function_ptr> };
-    }
-
-    template <class C, R(C::* const method_ptr)(A...)>
-    static delegate from(C * const object_ptr) noexcept
-    {
-        return { object_ptr, method_stub<C, method_ptr> };
-    }
-
-    template <class C, R(C::* const method_ptr)(A...) const>
-    static delegate from(C const * const object_ptr) noexcept
-    {
-        return { const_cast<C *>(object_ptr), const_method_stub<C, method_ptr> };
-    }
-
-    template <class C, R(C::* const method_ptr)(A...)>
-    static delegate from(C & object) noexcept
-    {
-        return { &object, method_stub<C, method_ptr> };
-    }
-
-    template <class C, R(C::* const method_ptr)(A...) const>
-    static delegate from(C const & object) noexcept
-    {
-        return { const_cast<C *>(&object), const_method_stub<C, method_ptr> };
-    }
-
-    template <typename T>
-    static delegate from(T && f)
-    {
-        return ::std::forward<T>(f);
-    }
-
-    static delegate from(R(* const function_ptr)(A...))
-    {
-        return function_ptr;
-    }
-
-    template <class C>
-    using member_pair = ::std::pair<C * const, R(C::* const)(A...)>;
-
-    template <class C>
-    using const_member_pair = ::std::pair<C const * const, R(C::* const)(A...) const>;
-
-    template <class C>
-    static delegate from(C * const object_ptr, R(C::* const method_ptr)(A...))
-    {
-        return member_pair<C>(object_ptr, method_ptr);
-    }
-
-    template <class C>
-    static delegate from(C const * const object_ptr, R(C::* const method_ptr)(A...) const)
-    {
-        return const_member_pair<C>(object_ptr, method_ptr);
-    }
-
-    template <class C>
-    static delegate from(C & object, R(C::* const method_ptr)(A...))
-    {
-        return member_pair<C>(&object, method_ptr);
-    }
-
-    template <class C>
-    static delegate from(C const & object, R(C::* const method_ptr)(A...) const)
-    {
-        return const_member_pair<C>(&object, method_ptr);
-    }
-
-    void reset(void)
-    {
-        stub_ptr_ = nullptr;
-        store_.reset();
-    }
-
-    void reset_stub(void) noexcept { stub_ptr_ = nullptr; }
-
-    void swap(delegate & other) noexcept { ::std::swap(*this, other); }
-
-    bool operator==(delegate const & rhs) const noexcept
-    {
-        // comparison between functor and non-functor is left as undefined at the moment.
-        if (store_size_ && rhs.store_size_) // both functors
-            return (std::memcmp(store_.get(), rhs.store_.get(), store_size_) == 0) && (stub_ptr_ == rhs.stub_ptr_);
-        return (object_ptr_ == rhs.object_ptr_) && (stub_ptr_ == rhs.stub_ptr_);
-    }
-
-    bool operator!=(delegate const & rhs) const noexcept
-    {
-        return !operator==(rhs);
-    }
-
-    bool operator<(delegate const & rhs) const noexcept
-    {
-        return (object_ptr_ < rhs.object_ptr_) ||
-               ((object_ptr_ == rhs.object_ptr_) && (stub_ptr_ < rhs.stub_ptr_));
-    }
-
-    bool operator==(::std::nullptr_t const) const noexcept
-    {
-        return !stub_ptr_;
-    }
-
-    bool operator!=(::std::nullptr_t const) const noexcept
-    {
-        return stub_ptr_;
-    }
-
-    explicit operator bool() const noexcept
-    {
-        return stub_ptr_;
-    }
-
-    R operator()(A... args) const
-    {
-        //  assert(stub_ptr);
-        return stub_ptr_(object_ptr_, ::std::forward<A>(args)...);
-    }
-
-private:
-    friend struct ::std::hash<delegate>;
-
-    using deleter_type = void (*)(void *);
-
-    void * object_ptr_              = nullptr;
-    stub_ptr_type stub_ptr_         {};
-
-    deleter_type deleter_           = nullptr;
-
-    ::std::shared_ptr<void> store_  = nullptr;
-    ::std::size_t store_size_       = 0;
-
-    template <class T>
-    static void functor_deleter(void * const p)
-    {
-        static_cast<T *>(p)->~T();
-        operator delete(p);
-    }
-
-    template <class T>
-    static void deleter_stub(void * const p)
-    {
-        static_cast<T *>(p)->~T();
-    }
-
-    template <R(*function_ptr)(A...)>
-    static R function_stub(void * const, A && ... args)
-    {
-        return function_ptr(::std::forward<A>(args)...);
-    }
-
-    template <class C, R(C::*method_ptr)(A...)>
-    static R method_stub(void * const object_ptr, A && ... args)
-    {
-        return (static_cast<C *>(object_ptr)->*method_ptr)(::std::forward<A>(args)...);
-    }
-
-    template <class C, R(C::*method_ptr)(A...) const>
-    static R const_method_stub(void * const object_ptr, A && ... args)
-    {
-        return (static_cast<C const *>(object_ptr)->*method_ptr)(::std::forward<A>(args)...);
-    }
-
-    template <typename>
-    struct is_member_pair : ::std::false_type { };
-
-    template <class C>
-    struct is_member_pair< ::std::pair<C * const, R(C::* const)(A...)> > : ::std::true_type {};
-
-    template <typename>
-    struct is_const_member_pair : ::std::false_type { };
-
-    template <class C>
-    struct is_const_member_pair< ::std::pair<C const * const, R(C::* const)(A...) const> > : ::std::true_type {};
-
-    template <typename T>
-    static typename ::std::enable_if<!(is_member_pair<T>::value || is_const_member_pair<T>::value), R>::type
-    functor_stub(void * const object_ptr, A && ... args)
-    {
-        return (*static_cast<T *>(object_ptr))(::std::forward<A>(args)...);
-    }
-
-    template <typename T>
-    static typename ::std::enable_if<is_member_pair<T>::value || is_const_member_pair<T>::value, R>::type
-    functor_stub(void * const object_ptr, A && ... args)
-    {
-        return (static_cast<T *>(object_ptr)->first->*static_cast<T *>(object_ptr)->second)(::std::forward<A>(args)...);
-    }
-};
-
-}
-
-namespace std
-{
-template <typename R, typename ...A>
-struct hash<::fastdelegate::delegate<R(A...)> >
-{
-    size_t operator()(::fastdelegate::delegate<R(A...)> const & d) const noexcept
-    {
-        auto const seed(hash<void *>()(d.object_ptr_));
-        return hash<decltype(d.stub_ptr_)>()(d.stub_ptr_) + 0x9e3779b9 + (seed << 6) + (seed >> 2);
-    }
-};
-}
-
-#endif // SRDELEGATE_HPP
diff --git a/libs/Common/HTMLDoc.h b/libs/Common/HTMLDoc.h
deleted file mode 100644
index 8fd21b5a5..000000000
--- a/libs/Common/HTMLDoc.h
+++ /dev/null
@@ -1,457 +0,0 @@
-/*
- * Modified version of:
- *
- * @file htmlDoc.h
- * @brief Simple HTML document writer and SVG drawer
- * @author Pierre MOULON
- *
- * Copyright (c) 2011, 2012, 2013 Pierre MOULON
- * All rights reserved.
- *
- * This Source Code Form is subject to the terms of the Mozilla Public
- * License, v. 2.0. If a copy of the MPL was not distributed with this
- * file, You can obtain one at http://mozilla.org/MPL/2.0/.
- */
-
-#ifndef _HTMLDOC_H_
-#define _HTMLDOC_H_
-
-
-// I N C L U D E S /////////////////////////////////////////////////
-
-
-// D E F I N E S ///////////////////////////////////////////////////
-
-#define JSXCHART_BORDER 0.2f
-
-
-// S T R U C T S ///////////////////////////////////////////////////
-
-namespace HTML {
-
-inline const std::string htmlMarkup(const std::string& markup, const std::string& text) {
-	std::ostringstream os;
-	os << '<'<< markup<<'>' << text << "</"<<markup<<'>' <<"\n";
-	return os.str();
-}
-inline const std::string htmlMarkup(const std::string& markup, const std::string& attributes, const std::string& text) {
-	std::ostringstream os;
-	os << '<'<<markup<<' '<<attributes<<'>' << text << "</"<<markup<<'>' <<"\n";
-	return os.str();
-}
-inline const std::string htmlOpenMarkup(const std::string& markup, const std::string& attributes) {
-	std::ostringstream os;
-	os << '<'<<markup<<' '<<attributes<<"/>" <<"\n";
-	return os.str();
-}
-
-inline const std::string htmlComment(const std::string& text) {
-	std::ostringstream os;
-	os << "<!-- "<< text << " -->" << "\n";
-	return os.str();
-}
-
-/// Return a chain in the form attributes="val"
-template<typename T>
-inline const std::string quotedAttributes(const std::string& attributes, const T & val) {
-	std::ostringstream os;
-	os << attributes << "='" << val << '\'';
-	return os.str();
-}
-
-/// Return a chain of the value T
-template<typename T>
-inline const std::string toString(const T& val) {
-	std::ostringstream os;
-	os << val;
-	return os.str();
-}
-
-class htmlDocumentStream
-{
-public:
-	htmlDocumentStream(const std::string& title) {
-		htmlStream << "\n";
-		htmlStream << htmlMarkup("head",
-			"\n"
-			"<link rel='stylesheet' type='text/css' href='http://jsxgraph.uni-bayreuth.de/distrib/jsxgraph.css' />\n"
-			"<script type='text/javascript' src='http://jsxgraph.uni-bayreuth.de/distrib/jsxgraphcore-0.96.js'></script>\n");
-		htmlStream << htmlMarkup("title",title);
-	}
-
-	htmlDocumentStream(const std::string& title,
-		const std::vector<std::string>& vec_css,
-		const std::vector<std::string>& vec_js)
-	{
-		htmlStream << "\n<head>\n";
-		htmlStream << htmlMarkup("title",title);
-		// CSS and JS resources
-		for (std::vector<std::string>::const_iterator iter = vec_css.begin(); iter != vec_css.end(); ++iter)
-			htmlStream << "<link rel='stylesheet' type='text/css' href='" << *iter <<"' />\n";
-		for (std::vector<std::string>::const_iterator iter = vec_js.begin(); iter != vec_js.end(); ++iter)
-			htmlStream << "<script type='text/javascript' src='" << *iter <<"'> </script>\n";
-		htmlStream << "</head>\n";
-	}
-
-	void pushInfo(const std::string& text) {
-		htmlStream << text;
-	}
-
-	std::string getDoc() {
-		return htmlMarkup("html", htmlStream.str());
-	}
-
-	std::ostringstream htmlStream;
-};
-
-
-/// Class to draw with the JSXGraph library in HTML page.
-class JSXGraphWrapper
-{
-public:
-	typedef float TRANGE;
-	typedef std::pair< std::pair<TRANGE,TRANGE>, std::pair<TRANGE,TRANGE> > RANGE;
-
-	JSXGraphWrapper() {
-		cpt = 0;
-	}
-
-	void reset() {
-		stream.str("");
-		stream.precision(4);
-		//stream.setf(std::ios::fixed,std::ios::floatfield);
-		cpt = 0;
-	}
-
-	void init(unsigned W, unsigned H, LPCTSTR szGraphName=NULL) {
-		reset();
-		std::string strGraphName;
-		if (szGraphName == NULL) {
-			strGraphName = SEACAVE::Util::getUniqueName();
-			szGraphName = strGraphName.c_str();
-		}
-		stream <<
-			"\n"
-			"<div id='" << szGraphName << "' class='jxgbox' style='width:"<< W << "px; height:" << H <<"px;'></div>\n"
-			"<script type='text/javascript'>\n"
-			"var board = JXG.JSXGraph.initBoard('"<< szGraphName <<"', {axis:true,showCopyright:false});\n"
-			"board.suspendUpdate();\n";
-	}
-
-	template<typename VECTX, typename VECTY, typename STR>
-	void addXYChart(const VECTX& vec_x, const VECTY& vec_y, const STR& stype, LPCTSTR sface=_T("o"), LPCTSTR sizeStroke=_T("2"), LPCTSTR colFill=_T("#0077cc"), LPCTSTR colStroke=_T("#0044ee")) {
-		typedef typename VECTX::value_type TX;
-		typedef typename VECTY::value_type TY;
-		size_t index0 = cpt++;
-		size_t index1 = cpt++;
-		stream << "var data"<< index0<<"= [";
-		std::copy(vec_x.begin(), vec_x.end(), std::ostream_iterator<TX>(stream, ","));
-		stream << "];\n";
-		stream << "var data"<< index1<<"= [";
-		std::copy(vec_y.begin(), vec_y.end(), std::ostream_iterator<TY>(stream, ","));
-		stream << "];\n";
-		std::ostringstream osData;
-		osData << "[data" <<index0<<","<<"data"<<index1<<"]";
-		stream << "board.createElement('chart', " <<osData.str()
-			<< ", {chartStyle:'"<< stype << "',labels:" << osData.str() << ",face:'" << sface
-			<< "',strokeWidth:" << sizeStroke << ",fillColor:'" << colFill << "',highlightStrokeColor:'" << colStroke << "',fixed:true});\n";
-	}
-
-	template<typename VECTY, typename STR>
-	void addYChart(const VECTY& vec_y, const STR& stype, LPCTSTR sface=_T("o"), LPCTSTR sizeStroke=_T("2"), LPCTSTR colFill=_T("#0077cc"), LPCTSTR colStroke=_T("#0044ee")) {
-		typedef typename VECTY::value_type TY;
-		size_t index0 = cpt++;
-		stream << "var data"<< index0<<"= [";
-		std::copy(vec_y.begin(), vec_y.end(), std::ostream_iterator<TY>(stream, ","));
-		stream << "];\n";
-		stream << "board.createElement('chart', " << "data"<<index0
-			<< ", {chartStyle:'" << stype << "',labels:" << "data"<<index0 << ",face:'" << sface
-			<< "',strokeWidth:" << sizeStroke << ",fillColor:'" << colFill << "',highlightStrokeColor:'" << colStroke << "',fixed:true});\n";
-	}
-
-	template<typename TX, typename TY>
-	void addLine(TX x0, TY y0, TX x1, TY y1, LPCTSTR color=_T("#00ff00")) {
-		size_t index0 = cpt++;
-		size_t index1 = cpt++;
-		stream <<
-			"var p"<<index0<<" = board.create('point',["<<x0<<","<<y0<<"], {fixed:true});\n"
-			"var p"<<index1<<" = board.create('point',["<<x1<<","<<y1<<"], {fixed:true});\n"
-			"var li = board.create('line',[p"<<index0<<",p"<<index1<<"], "
-			"{strokeColor:'"<< color <<"',strokeWidth:2});\n";
-	}
-
-	void setViewport(const RANGE& range) {
-		stream
-			<< "board.setBoundingBox(["
-			<< range.first.first << ","<< range.second.second <<","
-			<< range.first.second << ","<< range.second.first <<"]);\n";
-	}
-
-	void UnsuspendUpdate() {
-		stream << "board.unsuspendUpdate();\n";
-	}
-	void close() {
-		stream << "</script>\n";
-	}
-
-	std::string toStr() const {
-		return stream.str();
-	}
-
-	template<typename TX, typename TY>
-	static inline RANGE autoViewport(TX maxValX, TY maxValY, TX minValX, TY minValY) {
-		//Use the value with a little margin
-		const TX rangeX = maxValX-minValX;
-		const TY rangeY = maxValY-minValY;
-		return std::make_pair(
-			std::make_pair(-JSXCHART_BORDER*rangeX+minValX,JSXCHART_BORDER*rangeX+maxValX),
-			std::make_pair(-JSXCHART_BORDER*rangeY+minValY,JSXCHART_BORDER*rangeY+maxValY));
-	}
-	template<typename VECTX, typename VECTY>
-	static RANGE autoViewport(const VECTX& vec_x, const VECTY& vec_y) {
-		typedef typename VECTX::value_type TX;
-		typedef typename VECTY::value_type TY;
-		if (vec_x.empty() || vec_y.empty() || vec_x.size() != vec_y.size())
-			return RANGE();
-		//For X values
-		const TX minValX = *std::min_element(vec_x.begin(), vec_x.end());
-		const TX maxValX = *std::max_element(vec_x.begin(), vec_x.end());
-		//For Y values
-		const TY minValY = *std::min_element(vec_y.begin(), vec_y.end());
-		const TY maxValY = *std::max_element(vec_y.begin(), vec_y.end());
-		return autoViewport(maxValX, maxValY, minValX, minValY);
-	}
-	template<typename T, typename VECTY>
-	static RANGE autoViewport(const VECTY& vec_y, bool bForceY0=true) {
-		typedef T TX;
-		typedef typename VECTY::value_type TY;
-		if (vec_y.empty())
-			return RANGE();
-		//For X values
-		const TX minValX = TX(0);
-		const TX maxValX = static_cast<TX>(vec_y.size());
-		//For Y values
-		const TY minValY = (bForceY0 ? TY(0) : *std::min_element(vec_y.begin(), vec_y.end()));
-		const TY maxValY = *std::max_element(vec_y.begin(), vec_y.end());
-		return autoViewport(maxValX, maxValY, minValX, minValY);
-	}
-
-	std::ostringstream stream;
-	size_t cpt; //increment for variable
-};
-/*----------------------------------------------------------------*/
-
-} // namespace HTML
-
-
-
-namespace SVG {
-
-/// Basic SVG style
-class svgStyle
-{
-public:
-	svgStyle():_sFillCol(""), _sStrokeCol("black"), _sToolTip(""), _fillOpacity(1.f), _strokeW(1.f), _strokeOpacity(1.f) {}
-
-	// Configure fill color
-	svgStyle& fill(const std::string& col, float opacity = 1.f)
-	{ _sFillCol = col; _fillOpacity = opacity; return *this; }
-
-	// Configure stroke color and width
-	svgStyle& stroke(const std::string& col, float witdh = 1.f, float opacity = 1.f)
-	{ _sStrokeCol = col; _strokeW = witdh; _strokeOpacity = opacity; return *this; }
-
-	// Configure with no stroke
-	svgStyle& noStroke()
-	{ _sStrokeCol = "";  _strokeW = 0.f; _strokeOpacity = 0.f; return *this; }
-
-	// Configure tooltip
-	svgStyle& tooltip(const std::string& sTooltip)
-	{ _sToolTip = sTooltip; return *this; }
-
-	const std::string getSvgStream() const {
-		std::ostringstream os;
-		if (!_sStrokeCol.empty()) {
-			os << " stroke='" << _sStrokeCol << "' stroke-width='" << _strokeW << "'";
-			if (_strokeOpacity < 1)
-				os << " stroke-opacity='" << _strokeOpacity << "'";
-		}
-		if (!_sFillCol.empty()) {
-			os << " fill='" << _sFillCol << "'";
-			if (_fillOpacity < 1)
-				os << " fill-opacity='" << _fillOpacity << "'";
-		} else {
-			os << " fill='none'";
-		}
-		if (!_sToolTip.empty()) {
-			os << " tooltip='enable'>" << "<title>" << _sToolTip << "</title>";
-		}
-		return os.str();
-	}
-
-	bool bTooltip() const { return !_sToolTip.empty();}
-
-	std::string _sFillCol, _sStrokeCol, _sToolTip;
-	float _fillOpacity, _strokeW, _strokeOpacity;
-};
-
-
-/// Basic class to handle simple SVG draw.
-/// You can draw line, square, rectangle, text and image (xlink)
-class svgDrawer
-{
-public:
-	///Constructor
-	svgDrawer(size_t W = 0, size_t H = 0) {
-		svgStream <<
-			"<?xml version='1.0' standalone='yes'?>\n"
-			"<!-- SVG graphic -->\n"
-			"<svg";
-
-		if (W > 0 && H > 0)
-			svgStream <<
-				" width='" << W << "px' height='"<< H << "px'"
-				" preserveAspectRatio='xMinYMin meet'"
-				" viewBox='0 0 " << W << ' ' << H <<"'";
-
-		svgStream <<
-			" xmlns='http://www.w3.org/2000/svg'"
-			" xmlns:xlink='http://www.w3.org/1999/xlink'"
-			" version='1.1'>\n";
-	}
-	///Circle draw -> x,y position and radius
-	void drawCircle(float cx, float cy, float r, const svgStyle& style) {
-		svgStream
-			<< "<circle cx='" << cx << "'" << " cy='" << cy << "'"
-			<< " r='" << r << "'"
-			<< style.getSvgStream() + (style.bTooltip() ? "</circle>\n" : "/>\n");
-	}
-	///Line draw -> start and end point
-	void drawLine(float ax, float ay, float bx, float by, const svgStyle& style) {
-		svgStream
-			<< "<line x1='"<<ax<< "' y1='"<<ay<< "' x2='"<<bx<< "' y2='"<<by<< "'"
-			<< style.getSvgStream() +  (style.bTooltip() ? "</line>\n" : "/>\n");
-	}
-
-	///Reference to an image (path must be relative to the SVG file)
-	void drawImage(const std::string& simagePath, int W, int H,
-		int posx = 0, int posy = 0, float opacity =1.f)
-	{
-		svgStream <<
-			"<image x='"<< posx << "'" << " y='"<< posy << "'"
-			" width='"<< W << "px'" << " height='"<< H << "px'"
-			" opacity='"<< opacity << "'"
-			" xlink:href='" << simagePath << "'/>\n";
-	}
-
-	///Square draw -> x,y position and size
-	void drawSquare(float cx, float cy, float W, const svgStyle& style) {
-		drawRectangle(cx, cy, W, W, style);
-	}
-
-	///Circle draw -> x,y position and width and height
-	void drawRectangle(float cx, float cy, float W, float H, const svgStyle& style) {
-		svgStream
-			<< "<rect x='" << cx << "'"
-			<< " y='" << cy << "'"
-			<< " width='" << W << "'"
-			<< " height='" << H << "'"
-			<< style.getSvgStream() + (style.bTooltip() ? "</rect>\n" : "/>\n");
-	}
-
-	///Text display -> x,y position, font size
-	void drawText(float cx, float cy, const std::string& stext, const std::string& scol = "", const std::string& sattr = "", float fontSize = 1.f) {
-		svgStream << "<text" << " x='" << cx << "'" << " y='" << cy << "'"
-			<< " font-size='" << fontSize << "'";
-		if (!sattr.empty())
-			svgStream << ' ' << sattr;
-		if (!scol.empty())
-			svgStream << " fill='" << scol << "'";
-		svgStream << ">" << stext << "</text>\n";
-	}
-	template< typename DataInputIteratorX, typename DataInputIteratorY>
-	void drawPolyline(DataInputIteratorX xStart, DataInputIteratorX xEnd,
-		DataInputIteratorY yStart, DataInputIteratorY /*yEnd*/,
-		const svgStyle& style)
-	{
-		svgStream << "<polyline points='";
-		DataInputIteratorY itery = yStart;
-		for(DataInputIteratorX iterx = xStart;
-			iterx != xEnd; std::advance(iterx, 1), std::advance(itery, 1))
-		{
-			svgStream << *iterx << ',' << *itery << ' ';
-		}
-		svgStream << "'" << style.getSvgStream() + (style.bTooltip() ? "</polyline>\n" : "/>\n");
-	}
-
-	///Close the svg tag.
-	std::ostringstream& closeSvgFile() {
-		svgStream << "</svg>";
-		return svgStream;
-	}
-
-	std::ostringstream svgStream;
-};
-
-/// Helper to draw a SVG histogram
-/// ____
-/// |  |   ___ |
-/// |  |__|  | |
-/// |  |  |  | |
-/// -----------|
-struct svgHisto
-{
-	template<typename VECT>
-	std::string draw(const VECT& vec_value,
-		const std::pair<float, float>& range,
-		float W, float H)
-	{
-		if (vec_value.empty())
-			return "";
-
-		//-- Max value
-		typedef typename VECT::value_type T;
-		const T maxi = *max_element(vec_value.begin(), vec_value.end());
-		const size_t n = vec_value.size();
-
-		const float scaleFactorY = H / static_cast<float>(maxi);
-		const float scaleFactorX = W / static_cast<float>(n);
-
-		svgDrawer svgStream;
-
-		for (typename VECT::const_iterator iter = vec_value.begin(); iter != vec_value.end(); ++iter)
-		{
-			const T dist = std::distance(vec_value.begin(), iter);
-			const T& val = *iter;
-			std::ostringstream os;
-			os << '(' << range.first + dist/float(n) * (range.second-range.first) << ',' << val << ')';
-			svgStyle style = svgStyle().fill("blue").stroke("black", 1.0).tooltip(os.str());
-			svgStream.drawRectangle(
-				scaleFactorX * dist, H-val * scaleFactorY,
-				scaleFactorX, val * scaleFactorY,
-				style);
-			//_________
-			//|       |_________
-			//|       ||       |
-			//|       ||       |
-			//|       ||       |
-			//0    sFactorX  2*sFactorX
-		}
-		svgStyle styleAxis = svgStyle().stroke("black", 1.0f);
-		// Draw X Axis
-		svgStream.drawText(.05f*W, 1.2f*H, HTML::toString(range.first), "black", "", .1f*H);
-		svgStream.drawText(W, 1.2*H, HTML::toString(range.second), "black", "", .1f*H);
-		svgStream.drawLine(0, 1.1f*H, W, 1.1f*H, styleAxis);
-		// Draw Y Axis
-		svgStream.drawText(1.2f*W, .1f*H, HTML::toString(maxi), "black", "", .1f*H);
-		svgStream.drawText(1.2f*W, H, "0", "black", "", .1f*H);
-		svgStream.drawLine(1.1f*W, 0, 1.1f*W, H, styleAxis);
-
-		return svgStream.closeSvgFile().str();
-	}
-};
-/*----------------------------------------------------------------*/
-
-} // namespace SVG
-
-#endif // _HTMLDOC_H_
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 9339f2695..0aa955aa4 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -72,18 +72,10 @@
 #endif
 
 // Function delegate functionality
-#ifdef _SUPPORT_CPP11
-#include "FastDelegateCPP11.h"
+#include "FastDelegate.h"
 #define DELEGATE fastdelegate::delegate
 #define DELEGATEBIND(DLGT, FNC) DLGT::from< FNC >()
 #define DELEGATEBINDCLASS(DLGT, FNC, OBJ) DLGT::from(*OBJ, FNC)
-#else
-#include "FastDelegate.h"
-#include "FastDelegateBind.h"
-#define DELEGATE fastdelegate::FastDelegate
-#define DELEGATEBIND(DLGT, FNC) fastdelegate::bind(FNC)
-#define DELEGATEBINDCLASS(DLGT, FNC, OBJ) fastdelegate::bind(FNC, OBJ)
-#endif
 
 // include usual boost libraries
 #ifdef _USE_BOOST
@@ -433,7 +425,6 @@ typedef class GENERAL_API cList<double, double, 0>      DoubleArr;
 #include "EventQueue.h"
 #include "SML.h"
 #include "ConfigTable.h"
-#include "HTMLDoc.h"
 
 
 // D E F I N E S ///////////////////////////////////////////////////
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 72df265ef..0a99d48b2 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -76,7 +76,7 @@ DEFVAR_OPTDENSE_uint32(nMinViewsFuse, "Min Views Fuse", "minimum number of image
 DEFVAR_OPTDENSE_uint32(nMinViewsFilter, "Min Views Filter", "minimum number of images that agrees with an estimate in order to consider it inlier", "2")
 MDEFVAR_OPTDENSE_uint32(nMinViewsFilterAdjust, "Min Views Filter Adjust", "minimum number of images that agrees with an estimate in order to consider it inlier (0 - disabled)", "1")
 MDEFVAR_OPTDENSE_uint32(nMinViewsTrustPoint, "Min Views Trust Point", "min-number of views so that the point is considered for approximating the depth-maps (<2 - random initialization)", "2")
-MDEFVAR_OPTDENSE_uint32(nNumViews, "Num Views", "Number of views used for depth-map estimation (0 - all views available)", "0", "1", "4")
+MDEFVAR_OPTDENSE_uint32(nNumViews, "Num Views", "Number of views used for depth-map estimation (0 - all views available)", "0", "4", "8")
 MDEFVAR_OPTDENSE_uint32(nPointInsideROI, "Point Inside ROI", "consider a point shared only if inside ROI when estimating the neighbor views (0 - ignore ROI, 1 - weight more ROI points, 2 - consider only ROI points)", "1")
 MDEFVAR_OPTDENSE_bool(bFilterAdjust, "Filter Adjust", "adjust depth estimates during filtering", "1")
 MDEFVAR_OPTDENSE_bool(bAddCorners, "Add Corners", "add support points at image corners with nearest neighbor disparities", "0")
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index cc13747ac..372e26057 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -33,8 +33,6 @@
 #include "Scene.h"
 #include "SceneDensify.h"
 #include "PatchMatchCUDA.h"
-// MRF: view selection
-#include "../Math/TRWS/MRFEnergy.h"
 
 using namespace MVS;
 
@@ -138,135 +136,6 @@ DepthMapsData::~DepthMapsData()
 } // destructor
 /*----------------------------------------------------------------*/
 
-
-// globally choose the best target view for each image,
-// trying in the same time the selected image pairs to cover the whole scene;
-// the map of selected neighbors for each image is returned in neighborsMap.
-// For each view a list of neighbor views ordered by number of shared sparse points and overlapped image area is given.
-// Next a graph is formed such that the vertices are the views and two vertices are connected by an edge if the two views have each other as neighbors.
-// For each vertex, a list of possible labels is created using the list of neighbor views and scored accordingly (the score is normalized by the average score).
-// For each existing edge, the score is defined such that pairing the same two views for any two vertices is discouraged (a constant high penalty is applied for such edges).
-// This primal-dual defined problem, even if NP hard, can be solved by a Belief Propagation like algorithm, obtaining in general a solution close enough to optimality.
-bool DepthMapsData::SelectViews(IIndexArr& images, IIndexArr& imagesMap, IIndexArr& neighborsMap)
-{
-	// find all pair of images valid for dense reconstruction
-	typedef std::unordered_map<uint64_t,float> PairAreaMap;
-	PairAreaMap edges;
-	double totScore(0);
-	unsigned numScores(0);
-	FOREACH(i, images) {
-		const IIndex idx(images[i]);
-		ASSERT(imagesMap[idx] != NO_ID);
-		const ViewScoreArr& neighbors(arrDepthData[idx].neighbors);
-		ASSERT(neighbors.size() <= OPTDENSE::nMaxViews);
-		// register edges
-		for (const ViewScore& neighbor: neighbors) {
-			const IIndex idx2(neighbor.ID);
-			ASSERT(imagesMap[idx2] != NO_ID);
-			edges[MakePairIdx(idx,idx2)] = neighbor.area;
-			totScore += neighbor.score;
-			++numScores;
-		}
-	}
-	if (edges.empty())
-		return false;
-	const float avgScore((float)(totScore/(double)numScores));
-
-	// run global optimization
-	const float fPairwiseMul = OPTDENSE::fPairwiseMul; // default 0.3
-	const float fEmptyUnaryMult = 6.f;
-	const float fEmptyPairwise = 8.f*OPTDENSE::fPairwiseMul;
-	const float fSamePairwise = 24.f*OPTDENSE::fPairwiseMul;
-	const IIndex _num_labels = OPTDENSE::nMaxViews+1; // N neighbors and an empty state
-	const IIndex _num_nodes = images.size();
-	typedef MRFEnergy<TypeGeneral> MRFEnergyType;
-	CAutoPtr<MRFEnergyType> energy(new MRFEnergyType(TypeGeneral::GlobalSize()));
-	CAutoPtrArr<MRFEnergyType::NodeId> nodes(new MRFEnergyType::NodeId[_num_nodes]);
-	typedef SEACAVE::cList<TypeGeneral::REAL, TypeGeneral::REAL, 0> EnergyCostArr;
-	// unary costs: inverse proportional to the image pair score
-	EnergyCostArr arrUnary(_num_labels);
-	for (IIndex n=0; n<_num_nodes; ++n) {
-		const ViewScoreArr& neighbors(arrDepthData[images[n]].neighbors);
-		FOREACH(k, neighbors)
-			arrUnary[k] = avgScore/neighbors[k].score; // use average score to normalize the values (not to depend so much on the number of features in the scene)
-		arrUnary[neighbors.size()] = fEmptyUnaryMult*(neighbors.empty()?avgScore*0.01f:arrUnary[neighbors.size()-1]);
-		nodes[n] = energy->AddNode(TypeGeneral::LocalSize(neighbors.size()+1), TypeGeneral::NodeData(arrUnary.data()));
-	}
-	// pairwise costs: as ratios between the area to be covered and the area actually covered
-	EnergyCostArr arrPairwise(_num_labels*_num_labels);
-	for (PairAreaMap::const_reference edge: edges) {
-		const PairIdx pair(edge.first);
-		const float area(edge.second);
-		const ViewScoreArr& neighborsI(arrDepthData[pair.i].neighbors);
-		const ViewScoreArr& neighborsJ(arrDepthData[pair.j].neighbors);
-		arrPairwise.Empty();
-		FOREACHPTR(pNj, neighborsJ) {
-			const IIndex i(pNj->ID);
-			const float areaJ(area/pNj->area);
-			FOREACHPTR(pNi, neighborsI) {
-				const IIndex j(pNi->ID);
-				const float areaI(area/pNi->area);
-				arrPairwise.Insert(pair.i == i && pair.j == j ? fSamePairwise : fPairwiseMul*(areaI+areaJ));
-			}
-			arrPairwise.Insert(fEmptyPairwise+fPairwiseMul*areaJ);
-		}
-		for (const ViewScore& Ni: neighborsI) {
-			const float areaI(area/Ni.area);
-			arrPairwise.Insert(fPairwiseMul*areaI+fEmptyPairwise);
-		}
-		arrPairwise.Insert(fEmptyPairwise*2);
-		const IIndex nodeI(imagesMap[pair.i]);
-		const IIndex nodeJ(imagesMap[pair.j]);
-		energy->AddEdge(nodes[nodeI], nodes[nodeJ], TypeGeneral::EdgeData(TypeGeneral::GENERAL, arrPairwise.Begin()));
-	}
-
-	// minimize energy
-	MRFEnergyType::Options options;
-	options.m_eps = OPTDENSE::fOptimizerEps;
-	options.m_iterMax = OPTDENSE::nOptimizerMaxIters;
-	#ifndef _RELEASE
-	options.m_printIter = 1;
-	options.m_printMinIter = 1;
-	#endif
-	#if 1
-	TypeGeneral::REAL energyVal, lowerBound;
-	energy->Minimize_TRW_S(options, lowerBound, energyVal);
-	#else
-	TypeGeneral::REAL energyVal;
-	energy->Minimize_BP(options, energyVal);
-	#endif
-
-	// extract optimized depth map
-	neighborsMap.Resize(_num_nodes);
-	for (IIndex n=0; n<_num_nodes; ++n) {
-		const ViewScoreArr& neighbors(arrDepthData[images[n]].neighbors);
-		IIndex& idxNeighbor = neighborsMap[n];
-		const IIndex label((IIndex)energy->GetSolution(nodes[n]));
-		ASSERT(label <= neighbors.GetSize());
-		if (label == neighbors.GetSize()) {
-			idxNeighbor = NO_ID; // empty
-		} else {
-			idxNeighbor = label;
-			DEBUG_ULTIMATE("\treference image %3u paired with target image %3u (idx %2u)", images[n], neighbors[label].ID, label);
-		}
-	}
-
-	// remove all images with no valid neighbors
-	RFOREACH(i, neighborsMap) {
-		if (neighborsMap[i] == NO_ID) {
-			// remove image with no neighbors
-			for (IIndex& imageMap: imagesMap)
-				if (imageMap != NO_ID && imageMap > i)
-					--imageMap;
-			imagesMap[images[i]] = NO_ID;
-			images.RemoveAtMove(i);
-			neighborsMap.RemoveAtMove(i);
-		}
-	}
-	return !images.IsEmpty();
-} // SelectViews
-/*----------------------------------------------------------------*/
-
 // compute visibility for the reference image (the first image in "images")
 // and select the best views for reconstructing the depth-map;
 // extract also all 3D points seen by the reference image
@@ -1859,11 +1728,6 @@ bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 			imagesMap[data.images[idx]] = NO_ID;
 			data.images.RemoveAt(idx);
 		}
-		// globally select a target view for each reference image
-		if (OPTDENSE::nNumViews == 1 && !data.depthMaps.SelectViews(data.images, imagesMap, data.neighborsMap)) {
-			VERBOSE("error: no valid images to be dense reconstructed");
-			return false;
-		}
 		ASSERT(!data.images.IsEmpty());
 		VERBOSE("Selecting images for dense reconstruction completed: %d images (%s)", data.images.GetSize(), TD_TIMER_GET_FMT().c_str());
 	}
diff --git a/libs/MVS/SceneDensify.h b/libs/MVS/SceneDensify.h
index 34078658f..024d0f1eb 100644
--- a/libs/MVS/SceneDensify.h
+++ b/libs/MVS/SceneDensify.h
@@ -55,7 +55,6 @@ class MVS_API DepthMapsData
 	DepthMapsData(Scene& _scene);
 	~DepthMapsData();
 
-	bool SelectViews(IIndexArr& images, IIndexArr& imagesMap, IIndexArr& neighborsMap);
 	bool SelectViews(DepthData& depthData);
 	bool InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex numNeighbors, bool loadImages, int loadDepthMaps);
 	bool InitDepthMap(DepthData& depthData);
diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index 568393ecc..0feb26996 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -62,7 +62,6 @@ using namespace MVS;
 
 // method used to find optimal view per face
 #define TEXOPT_INFERENCE_LBP 1
-#define TEXOPT_INFERENCE_TRWS 2
 #define TEXOPT_INFERENCE TEXOPT_INFERENCE_LBP
 
 // inference algorithm
@@ -76,54 +75,6 @@ LBPInference::EnergyType STCALL SmoothnessPotts(LBPInference::NodeID, LBPInferen
 }
 }
 #endif
-#if TEXOPT_INFERENCE == TEXOPT_INFERENCE_TRWS
-#include "../Math/TRWS/MRFEnergy.h"
-namespace MVS {
-// TRWS MRF energy using Potts model
-typedef unsigned NodeID;
-typedef unsigned LabelID;
-typedef TypePotts::REAL EnergyType;
-static const EnergyType MaxEnergy(1);
-struct TRWSInference {
-	typedef MRFEnergy<TypePotts> MRFEnergyType;
-	typedef MRFEnergy<TypePotts>::Options MRFOptions;
-
-	CAutoPtr<MRFEnergyType> mrf;
-	CAutoPtrArr<MRFEnergyType::NodeId> nodes;
-
-	inline TRWSInference() {}
-	void Init(NodeID nNodes, LabelID nLabels) {
-		mrf = new MRFEnergyType(TypePotts::GlobalSize(nLabels));
-		nodes = new MRFEnergyType::NodeId[nNodes];
-	}
-	inline bool IsEmpty() const {
-		return mrf == NULL;
-	}
-	inline void AddNode(NodeID n, const EnergyType* D) {
-		nodes[n] = mrf->AddNode(TypePotts::LocalSize(), TypePotts::NodeData(D));
-	}
-	inline void AddEdge(NodeID n1, NodeID n2) {
-		mrf->AddEdge(nodes[n1], nodes[n2], TypePotts::EdgeData(MaxEnergy));
-	}
-	EnergyType Optimize() {
-		MRFOptions options;
-		options.m_eps = 0.005;
-		options.m_iterMax = 1000;
-		#if 1
-		EnergyType lowerBound, energy;
-		mrf->Minimize_TRW_S(options, lowerBound, energy);
-		#else
-		EnergyType energy;
-		mrf->Minimize_BP(options, energy);
-		#endif
-		return energy;
-	}
-	inline LabelID GetLabel(NodeID n) const {
-		return mrf->GetSolution(nodes[n]);
-	}
-};
-}
-#endif
 
 
 // S T R U C T S ///////////////////////////////////////////////////
@@ -1260,92 +1211,6 @@ bool MeshTexture::FaceViewSelection(unsigned minCommonCameras, float fOutlierThr
 						labels[l] = label-1;
 				}
 				#endif
-
-				#if TEXOPT_INFERENCE == TEXOPT_INFERENCE_TRWS
-				// find connected components
-				ASSERT((FIndex)boost::num_vertices(graph) == faces.size());
-				components.resize(faces.size());
-				const FIndex nComponents(boost::connected_components(graph, components.data()));
-
-				// map face ID from global to component space
-				typedef cList<NodeID, NodeID, 0, 128, NodeID> NodeIDs;
-				NodeIDs nodeIDs(faces.size());
-				NodeIDs sizes(nComponents);
-				sizes.Memset(0);
-				FOREACH(c, components)
-					nodeIDs[c] = sizes[components[c]]++;
-
-				// initialize inference structures
-				const LabelID numLabels(images.size()+1);
-				CLISTDEFIDX(TRWSInference, FIndex) inferences(nComponents);
-				FOREACH(s, sizes) {
-					const NodeID numNodes(sizes[s]);
-					ASSERT(numNodes > 0);
-					if (numNodes <= 1)
-						continue;
-					TRWSInference& inference = inferences[s];
-					inference.Init(numNodes, numLabels);
-				}
-
-				// set data costs
-				{
-					// add nodes
-					CLISTDEF0(EnergyType) D(numLabels);
-					FOREACH(f, facesDatas) {
-						TRWSInference& inference = inferences[components[f]];
-						if (inference.IsEmpty())
-							continue;
-						D.MemsetValue(MaxEnergy);
-						const FaceDataArr& faceDatas = facesDatas[f];
-						for (const FaceData& faceData: faceDatas) {
-							const Label label((Label)faceData.idxView);
-							const float normalizedQuality(faceData.quality>=normQuality ? 1.f : faceData.quality/normQuality);
-							const EnergyType dataCost(MaxEnergy*(1.f-normalizedQuality));
-							D[label] = dataCost;
-						}
-						const NodeID nodeID(nodeIDs[f]);
-						inference.AddNode(nodeID, D.Begin());
-					}
-					// add edges
-					EdgeOutIter ei, eie;
-					FOREACH(f, faces) {
-						TRWSInference& inference = inferences[components[f]];
-						if (inference.IsEmpty())
-							continue;
-						for (boost::tie(ei, eie) = boost::out_edges(f, graph); ei != eie; ++ei) {
-							ASSERT(f == (FIndex)ei->m_source);
-							const FIndex fAdj((FIndex)ei->m_target);
-							ASSERT(components[f] == components[fAdj]);
-							if (f < fAdj) // add edges only once
-								inference.AddEdge(nodeIDs[f], nodeIDs[fAdj]);
-						}
-					}
-				}
-
-				// assign the optimal view (label) to each face
-				#ifdef TEXOPT_USE_OPENMP
-				#pragma omp parallel for schedule(dynamic)
-				for (int i=0; i<(int)inferences.size(); ++i) {
-				#else
-				FOREACH(i, inferences) {
-				#endif
-					TRWSInference& inference = inferences[i];
-					if (inference.IsEmpty())
-						continue;
-					inference.Optimize();
-				}
-				// extract resulting labeling
-				labels.Memset(0xFF);
-				FOREACH(l, labels) {
-					TRWSInference& inference = inferences[components[l]];
-					if (inference.IsEmpty())
-						continue;
-					const Label label(inference.GetLabel(nodeIDs[l]));
-					ASSERT(label >= 0 && label < numLabels);
-					if (label < images.size())
-						labels[l] = label;
-				}
-				#endif
 			}
 		}
 
diff --git a/libs/Math/CMakeLists.txt b/libs/Math/CMakeLists.txt
index 407e2e403..7891ef232 100644
--- a/libs/Math/CMakeLists.txt
+++ b/libs/Math/CMakeLists.txt
@@ -12,15 +12,10 @@ FILE(GLOB LMFit_LIBRARY_FILES_C "LMFit/*.cpp")
 FILE(GLOB LMFit_LIBRARY_FILES_H "LMFit/*.h" "LMFit/*.inl")
 SOURCE_GROUP("LMFit" FILES ${LMFit_LIBRARY_FILES_C} ${LMFit_LIBRARY_FILES_H})
 
-FILE(GLOB TRWS_LIBRARY_FILES_C "TRWS/*.cpp")
-FILE(GLOB TRWS_LIBRARY_FILES_H "TRWS/*.h" "TRWS/*.inl")
-SOURCE_GROUP("TRWS" FILES ${TRWS_LIBRARY_FILES_C} ${TRWS_LIBRARY_FILES_H})
-
 cxx_library_with_type(Math "Libs" "" "${cxx_default}"
 	${LIBRARY_FILES_C} ${LIBRARY_FILES_H}
 	${IBFS_LIBRARY_FILES_C} ${IBFS_LIBRARY_FILES_H}
 	${LMFit_LIBRARY_FILES_C} ${LMFit_LIBRARY_FILES_H}
-	${TRWS_LIBRARY_FILES_C} ${TRWS_LIBRARY_FILES_H}
 )
 
 # Manually set Common.h as the precompiled header
@@ -35,7 +30,6 @@ TARGET_LINK_LIBRARIES(Math Common)
 INSTALL(FILES ${LIBRARY_FILES_H} DESTINATION "${INSTALL_INCLUDE_DIR}/Math")
 INSTALL(FILES ${IBFS_LIBRARY_FILES_H} DESTINATION "${INSTALL_INCLUDE_DIR}/Math/IBFS")
 INSTALL(FILES ${LMFit_LIBRARY_FILES_H} DESTINATION "${INSTALL_INCLUDE_DIR}/Math/LMFit")
-INSTALL(FILES ${TRWS_LIBRARY_FILES_H} DESTINATION "${INSTALL_INCLUDE_DIR}/Math/TRWS")
 INSTALL(TARGETS Math
 	EXPORT OpenMVSTargets
 	LIBRARY DESTINATION "${INSTALL_LIB_DIR}"
diff --git a/libs/Math/TRWS/CHANGES.TXT b/libs/Math/TRWS/CHANGES.TXT
deleted file mode 100644
index b4d011fdc..000000000
--- a/libs/Math/TRWS/CHANGES.TXT
+++ /dev/null
@@ -1,13 +0,0 @@
-Changes from version 1.2:
-
-- Fixed bug in typeBinaryFast
-- Added the option of reading min_marginals
-- Added function AddRandomMessages()
-
-Changes from version 1.1:
-
-- Fixed bug in memory allocation
-
-Changes from version 1.0:
-
-- Modified syntax of 'friend' declarations to make it compile under unix
\ No newline at end of file
diff --git a/libs/Math/TRWS/LICENSE.TXT b/libs/Math/TRWS/LICENSE.TXT
deleted file mode 100644
index 42e0121bc..000000000
--- a/libs/Math/TRWS/LICENSE.TXT
+++ /dev/null
@@ -1,31 +0,0 @@
-Tree-reweighted max-product message passing algorithm (TRW-S), verstion 1.3.
-
---------------------------------------------------------------------------------
-
-This Microsoft Research Shared Source license agreement ("MSR-SSLA") is a legal agreement between you and Microsoft Corporation ("Microsoft" or "we") for the software or data identified above, which may include source code, and any associated materials, text or speech files, associated media and "online" or electronic documentation and any updates we provide in our discretion (together, the "Software"). 
-
-By installing, copying, or otherwise using this Software, found at http://research.microsoft.com/downloads, you agree to be bound by the terms of this MSR-SSLA. If you do not agree, do not install copy or use the Software. The Software is protected by copyright and other intellectual property laws and is licensed, not sold.    
-
-SCOPE OF RIGHTS:
-You may use, copy, reproduce, and distribute this Software for any non-commercial purpose, subject to the restrictions in this MSR-SSLA. Some purposes which can be non-commercial are teaching, academic research, public demonstrations and personal experimentation. You may also distribute this Software with books or other teaching materials, or publish the Software on websites, that are intended to teach the use of the Software for academic or other non-commercial purposes.
-You may not use or distribute this Software or any derivative works in any form for commercial purposes. Examples of commercial purposes would be running business operations, licensing, leasing, or selling the Software, distributing the Software for use with commercial products, using the Software in the creation or use of commercial products or any other activity which purpose is to procure a commercial gain to you or others.
-If the Software includes source code or data, you may create derivative works of such portions of the Software and distribute the modified Software for non-commercial purposes, as provided herein.
-
-In return, we simply require that you agree: 
-1. That you will not remove any copyright or other notices from the Software.
-2. That if any of the Software is in binary format, you will not attempt to modify such portions of the Software, or to reverse engineer or decompile them, except and only to the extent authorized by applicable law. 
-3. That if you distribute the Software or any derivative works of the Software, you will distribute them under the same terms and conditions as in this license, and you will not grant other rights to the Software or derivative works that are different from those provided by this MSR-SSLA. 
-4. That if you have created derivative works of the Software, and distribute such derivative works, you will cause the modified files to carry prominent notices so that recipients know that they are not receiving the original Software. Such notices must state: (i) that you have changed the Software; and (ii) the date of any changes.
-5. That Microsoft is granted back, without any restrictions or limitations, a non-exclusive, perpetual, irrevocable, royalty-free, assignable and sub-licensable license, to reproduce, publicly perform or display, install, use, modify, distribute, make and have made, sell and transfer your modifications to and/or derivative works of the Software source code or data, for any purpose.  
-6. That any feedback about the Software provided by you to us is voluntarily given, and Microsoft shall be free to use the feedback as it sees fit without obligation or restriction of any kind, even if the feedback is designated by you as confidential. 
-7. THAT THE SOFTWARE COMES "AS IS", WITH NO WARRANTIES. THIS MEANS NO EXPRESS, IMPLIED OR STATUTORY WARRANTY, INCLUDING WITHOUT LIMITATION, WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE, ANY WARRANTY AGAINST INTERFERENCE WITH YOUR ENJOYMENT OF THE SOFTWARE OR ANY WARRANTY OF TITLE OR NON-INFRINGEMENT. THERE IS NO WARRANTY THAT THIS SOFTWARE WILL FULFILL ANY OF YOUR PARTICULAR PURPOSES OR NEEDS. ALSO, YOU MUST PASS THIS DISCLAIMER ON WHENEVER YOU DISTRIBUTE THE SOFTWARE OR DERIVATIVE WORKS.
-8. THAT NEITHER MICROSOFT NOR ANY CONTRIBUTOR TO THE SOFTWARE WILL BE LIABLE FOR ANY DAMAGES RELATED TO THE SOFTWARE OR THIS MSR-SSLA, INCLUDING DIRECT, INDIRECT, SPECIAL, CONSEQUENTIAL OR INCIDENTAL DAMAGES, TO THE MAXIMUM EXTENT THE LAW PERMITS, NO MATTER WHAT LEGAL THEORY IT IS BASED ON. ALSO, YOU MUST PASS THIS LIMITATION OF LIABILITY ON WHENEVER YOU DISTRIBUTE THE SOFTWARE OR DERIVATIVE WORKS.
-9. That we have no duty of reasonable care or lack of negligence, and we are not obligated to (and will not) provide technical support for the Software.
-10. That if you breach this MSR-SSLA or if you sue anyone over patents that you think may apply to or read on the Software or anyone's use of the Software, this MSR-SSLA (and your license and rights obtained herein) terminate automatically.  Upon any such termination, you shall destroy all of your copies of the Software immediately.  Sections 5, 6, 7, 8, 9, 10, 13 and 14 of this MSR-SSLA shall survive any termination of this MSR-SSLA.
-11. That the patent rights, if any, granted to you in this MSR-SSLA only apply to the Software, not to any derivative works you make.
-12. That the Software may be subject to U.S. export jurisdiction at the time it is licensed to you, and it may be subject to additional export or import laws in other places. You agree to comply with all such laws and regulations that may apply to the Software after delivery of the software to you.
-13. That all rights not expressly granted to you in this MSR-SSLA are reserved.
-14. That this MSR-SSLA shall be construed and controlled by the laws of the State of Washington, USA, without regard to conflicts of law.  If any provision of this MSR-SSLA shall be deemed unenforceable or contrary to law, the rest of this MSR-SSLA shall remain in full effect and interpreted in an enforceable manner that most nearly captures the intent of the original language.
-
-
-Copyright © Microsoft Corporation. All rights reserved.
diff --git a/libs/Math/TRWS/MRFEnergy.h b/libs/Math/TRWS/MRFEnergy.h
deleted file mode 100644
index 084f6cc90..000000000
--- a/libs/Math/TRWS/MRFEnergy.h
+++ /dev/null
@@ -1,246 +0,0 @@
-/******************************************************************
-Vladimir Kolmogorov, 2005
-vnk@microsoft.com
-
-(c) Microsoft Corporation. All rights reserved. 
-*******************************************************************/
-
-#ifndef __MRFENERGY_H__
-#define __MRFENERGY_H__
-
-#include "instances.h"
-
-
-// After MRFEnergy is allocated, there are two phases:
-// 1. Energy construction. Only AddNode(), AddNodeData() and AddEdge() may be called.
-// 
-// Any call ZeroMessages(), SetAutomaticOrdering(), Minimize_TRW_S() or Minimize_BP()
-// completes graph construction; MRFEnergy goes to the second phase:
-// 2. Only functions AddNodeData(), ZeroMessages(), Minimize_TRW_S(), Minimize_BP()
-// or GetSolution() may be called. (The last function can be called only after
-// Minimize_TRW_S() or Minimize_BP()).
-
-
-template <class T> class MRFEnergy
-{
-private:
-	struct Node;
-
-public:
-	typedef typename T::Label      Label;
-	typedef typename T::REAL       REAL;
-	typedef typename T::GlobalSize GlobalSize;
-	typedef typename T::LocalSize  LocalSize;
-	typedef typename T::NodeData   NodeData;
-	typedef typename T::EdgeData   EdgeData;
-
-	typedef Node* NodeId;
-	typedef void (*ErrorFunction)(const char* msg);
-
-	// Constructor. Function errorFn is called with an error message, if an error occurs.
-	MRFEnergy(GlobalSize Kglobal, ErrorFunction errorFn = NULL);
-
-	// Destructor.
-	~MRFEnergy();
-
-	//////////////////////////////////////////////////////////
-	//                 Energy construction                  //
-	//////////////////////////////////////////////////////////
-
-	// Adds a node with parameters K and data 
-	// (see the corresponding message*.h file for description).
-	// Note: information in data is copied into internal memory.
-	// Cannot be called after energy construction is completed.
-	NodeId AddNode(LocalSize K, NodeData data);
-
-	// Modifies node parameter for existing node (namely, add information
-	// in data to existing parameter). May be called at any time.
-	// Node i must be NodeId returned by AddNode().
-	void AddNodeData(NodeId i, NodeData data);
-
-	// Adds an edge between i and j. data determines edge parameters
-	// (see the corresponding message*.h file for description).
-	// Note: information in data is copied into internal memory.
-	// Cannot be called after energy construction is completed.
-	void AddEdge(NodeId i, NodeId j, EdgeData data);
-
-	//////////////////////////////////////////////////////////
-	//                Energy construction end               //
-	//////////////////////////////////////////////////////////
-
-	// Clears all messages. Completes energy construction (if not completed yet).
-	void ZeroMessages();
-
-	// Adds to all message entries a value drawn uniformly from [min_value, max_value].
-	// Normally, min_value can be set to 0 (except for TypeBinaryFast, in which case min_value = -max_value)
-	void AddRandomMessages(unsigned int random_seed, REAL min_value, REAL max_value);
-
-	// The algorithm depends on the order of nodes.
-	// By default nodes are processed in the order in which they were added.
-	// The function below permutes this order using certain heuristics.
-	// It may speed up the algorithm if, for example, the original order is random.
-	// 
-	// Completes energy construction.
-	// Cannot be called after energy construction is completed.
-	void SetAutomaticOrdering();
-
-	// The structure below specifies (1) stopping criteria and 
-	// (2) how often to compute solution and print its energy.
-	struct Options
-	{
-		Options()
-		{
-			// default parameters
-			m_eps = -1; // not used
-			m_iterMax = 1000000;
-			m_printIter = 5;     // After 10 iterations start printing the lower bound
-			m_printMinIter = 10; // and the energy every 5 iterations.
-		}
-
-		// stopping criterion
-		REAL		m_eps; // stop if the increase in the lower bound during one iteration is less or equal than m_eps.
-						   // Used only if m_eps >= 0, and only for TRW-S algorithm.
-		int			m_iterMax; // maximum number of iterations
-
-		// Option for printing lower bound and the energy.
-		// Note: computing solution and its energy is slow
-		// (it is comparable to the cost of one iteration).
-		int		m_printIter; // print lower bound and energy every m_printIter iterations
-		int		m_printMinIter; // do not print lower bound and energy before m_printMinIter iterations
-	};
-
-	// Returns number of iterations. Sets lowerBound and energy.
-	// If the user provides array min_marginals, then the code
-	// sets this array accordingly. (The size of the array depends on the type
-	// used. Normally, it's (# nodes)*(# labels). Exception: for TypeBinaryFast it's (# nodes).
-	int Minimize_TRW_S(Options& options, REAL& lowerBound, REAL& energy, REAL* min_marginals = NULL);
-
-	// Returns number of iterations. Sets energy.
-	int Minimize_BP(Options& options, REAL& energy, REAL* min_marginals = NULL);
-
-	// Returns an integer in [0,Ki). Can be called only after Minimize().
-	Label GetSolution(NodeId i);
-
-
-
-
-
-
-
-
-
-
-
-
-
-	//////////////////////////////////////////////////////////
-	//////////////////////////////////////////////////////////
-	//////////////////////////////////////////////////////////
-	//                   Implementation                     //
-	//////////////////////////////////////////////////////////
-	//////////////////////////////////////////////////////////
-	//////////////////////////////////////////////////////////
-private:
-
-	typedef typename T::Vector Vector;
-	typedef typename T::Edge   Edge;
-
-	struct MRFEdge;
-	struct MallocBlock;
-
-	ErrorFunction	m_errorFn;
-	MallocBlock*	m_mallocBlockFirst;
-	Node*			m_nodeFirst;
-	Node*			m_nodeLast;
-	int				m_nodeNum;
-	int				m_edgeNum;
-	GlobalSize		m_Kglobal;
-	int				m_vectorMaxSizeInBytes;
-
-	bool			m_isEnergyConstructionCompleted;
-
-	char*			m_buf; // buffer of size m_vectorMaxSizeInBytes 
-					       //              + max(m_vectorMaxSizeInBytes, Edge::GetBufSizeInBytes(m_vectorMaxSizeInBytes))
-
-	void CompleteGraphConstruction(); // nodes and edges cannot be added after calling this function
-	void SetMonotonicTrees();
-
-	REAL ComputeSolutionAndEnergy(); // sets Node::m_solution, returns value of the energy
-
-
-
-	struct Node
-	{
-		int			m_ordering; // unique integer in [0,m_nodeNum-1)
-
-		MRFEdge*	m_firstForward; // first edge going to nodes with greater m_ordering
-		MRFEdge*	m_firstBackward; // first edge going to nodes with smaller m_ordering
-
-		Node*		m_prev; // previous and next
-		Node*		m_next; // nodes according to m_ordering
-
-		Label		m_solution; // integer in [0,m_D.m_K)
-		LocalSize	m_K; // local information about number of labels
-
-		Vector		m_D; // must be the last member in the struct since its size is not fixed
-	};
-
-	struct MRFEdge
-	{
-		MRFEdge*	m_nextForward; // next forward edge with the same tail
-		MRFEdge*	m_nextBackward; // next backward edge with the same head
-		Node*		m_tail;
-		Node*		m_head;
-
-		REAL		m_gammaForward; // = rho_{ij} / rho_{i} where i=m_tail, j=m_head
-		REAL		m_gammaBackward; // = rho_{ij} / rho_{j} where i=m_tail, j=m_head
-
-		Edge		m_message; // must be the last member in the struct since its size is not fixed.
-					           // Stores edge information and either forward or backward message.
-					           // Most of the time it's the backward message; it gets replaced
-					           // by the forward message only temporarily inside Minimize_TRW_S() and Minimize_BP().
-	};
-
-	// Use our own Malloc since 
-	// (a) new in C++ is slow and allocates minimum memory of 64 bytes (in Visual C++)
-	// (b) we want simple (one function) deallocation instead of going through every allocated element
-	struct MallocBlock
-	{
-		static const int minBlockSizeInBytes = 4096 - 3*sizeof(void*);
-		MallocBlock*	m_next;
-		char*			m_current; // first element of available memory in this block
-		char*			m_last; // first element outside of allocated memory for this block
-	};
-	char* Malloc(int bytesNum); 
-};
-
-
-
-
-template <class T> inline char* MRFEnergy<T>::Malloc(int bytesNum)
-{
-	if (!m_mallocBlockFirst || m_mallocBlockFirst->m_current+bytesNum > m_mallocBlockFirst->m_last)
-	{
-		int size = (bytesNum > MallocBlock::minBlockSizeInBytes) ? bytesNum : MallocBlock::minBlockSizeInBytes;
-		MallocBlock* b = (MallocBlock*) new char[sizeof(MallocBlock) + size];
-		if (!b) m_errorFn("Not enough memory");
-		b->m_current = (char*) b + sizeof(MallocBlock);
-		b->m_last    = b->m_current + size;
-
-		b->m_next = m_mallocBlockFirst;
-		m_mallocBlockFirst = b;
-	}
-
-	char* ptr = m_mallocBlockFirst->m_current;
-	m_mallocBlockFirst->m_current += bytesNum;
-	return ptr;
-}
-
-template <class T> inline typename T::Label MRFEnergy<T>::GetSolution(NodeId i)
-{
-	return i->m_solution;
-}
-
-#include "MRFEnergy.inl"
-
-#endif
diff --git a/libs/Math/TRWS/MRFEnergy.inl b/libs/Math/TRWS/MRFEnergy.inl
deleted file mode 100644
index 0e023c5a7..000000000
--- a/libs/Math/TRWS/MRFEnergy.inl
+++ /dev/null
@@ -1,255 +0,0 @@
-#include "minimize.inl"
-#include "ordering.inl"
-#include "treeProbabilities.inl"
-
-static void DefaultErrorFn(const char* msg)
-{
-	fprintf(stderr, "%s\n", msg);
-	exit(1);
-}
-
-template <class T> MRFEnergy<T>::MRFEnergy(GlobalSize Kglobal, ErrorFunction errorFn)
-	: m_errorFn(errorFn ? errorFn : DefaultErrorFn),
-	  m_mallocBlockFirst(NULL),
-	  m_nodeFirst(NULL),
-	  m_nodeLast(NULL),
-	  m_nodeNum(0),
-	  m_edgeNum(0),
-	  m_Kglobal(Kglobal),
-	  m_vectorMaxSizeInBytes(0),
-	  m_isEnergyConstructionCompleted(false),
-	  m_buf(NULL)
-{
-}
-
-template <class T> MRFEnergy<T>::~MRFEnergy()
-{
-	while (m_mallocBlockFirst)
-	{
-		MallocBlock* next = m_mallocBlockFirst->m_next;
-		delete m_mallocBlockFirst;
-		m_mallocBlockFirst = next;
-	}
-}
-
-template <class T> typename MRFEnergy<T>::NodeId MRFEnergy<T>::AddNode(LocalSize K, NodeData data)
-{
-	if (m_isEnergyConstructionCompleted)
-	{
-		m_errorFn("Error in AddNode(): graph construction completed - nodes cannot be added");
-	}
-
-	int actualVectorSize = Vector::GetSizeInBytes(m_Kglobal, K);
-	if (actualVectorSize < 0)
-	{
-		m_errorFn("Error in AddNode() (invalid parameter?)");
-	}
-	if (m_vectorMaxSizeInBytes < actualVectorSize)
-	{
-		m_vectorMaxSizeInBytes = actualVectorSize;
-	}
-	int nodeSize = sizeof(Node) - sizeof(Vector) + actualVectorSize;
-	Node* i = (Node *) Malloc(nodeSize);
-
-	i->m_K = K;
-	i->m_D.Initialize(m_Kglobal, K, data);
-
-	i->m_firstForward = NULL;
-	i->m_firstBackward = NULL;
-	i->m_prev = m_nodeLast;
-	if (m_nodeLast)
-	{
-		m_nodeLast->m_next = i;
-	}
-	else
-	{
-		m_nodeFirst = i;
-	}
-	m_nodeLast = i;
-	i->m_next = NULL;
-
-	i->m_ordering = m_nodeNum ++;
-
-	return i;
-}
-
-template <class T> void MRFEnergy<T>::AddNodeData(NodeId i, NodeData data)
-{
-	i->m_D.Add(m_Kglobal, i->m_K, data);
-}
-
-template <class T> void MRFEnergy<T>::AddEdge(NodeId i, NodeId j, EdgeData data)
-{
-	if (m_isEnergyConstructionCompleted)
-	{
-		m_errorFn("Error in AddNode(): graph construction completed - nodes cannot be added");
-	}
-
-	MRFEdge* e;
-
-	int actualEdgeSize = Edge::GetSizeInBytes(m_Kglobal, i->m_K, j->m_K, data);
-	if (actualEdgeSize < 0)
-	{
-		m_errorFn("Error in AddEdge() (invalid parameter?)");
-	}
-	int MRFedgeSize = sizeof(MRFEdge) - sizeof(Edge) + actualEdgeSize;
-	e = (MRFEdge*) Malloc(MRFedgeSize);
-
-	e->m_message.Initialize(m_Kglobal, i->m_K, j->m_K, data, &i->m_D, &j->m_D);
-
-	e->m_tail = i;
-	e->m_nextForward = i->m_firstForward;
-	i->m_firstForward = e;
-
-	e->m_head = j;
-	e->m_nextBackward = j->m_firstBackward;
-	j->m_firstBackward = e;
-
-	m_edgeNum ++;
-}
-
-/////////////////////////////////////////////////////////////////////////////////
-
-template <class T> void MRFEnergy<T>::ZeroMessages()
-{
-	Node* i;
-	MRFEdge* e;
-
-	if (!m_isEnergyConstructionCompleted)
-	{
-		CompleteGraphConstruction();
-	}
-
-	for (i=m_nodeFirst; i; i=i->m_next)
-	{
-		for (e=i->m_firstForward; e; e=e->m_nextForward)
-		{
-			e->m_message.GetMessagePtr()->SetZero(m_Kglobal, i->m_K);
-		}
-	}
-}
-
-template <class T> void MRFEnergy<T>::AddRandomMessages(unsigned int random_seed, REAL min_value, REAL max_value)
-{
-	Node* i;
-	MRFEdge* e;
-	int k;
-
-	if (!m_isEnergyConstructionCompleted)
-	{
-		CompleteGraphConstruction();
-	}
-
-	srand(random_seed);
-
-	for (i=m_nodeFirst; i; i=i->m_next)
-	{
-		for (e=i->m_firstForward; e; e=e->m_nextForward)
-		{
-			Vector* M = e->m_message.GetMessagePtr();
-			for (k=0; k<M->GetArraySize(m_Kglobal, i->m_K); k++)
-			{
-				REAL x = (REAL)( min_value + rand()/((double)RAND_MAX) * (max_value - min_value) );
-				x += M->GetArrayValue(m_Kglobal, i->m_K, k);
-				M->SetArrayValue(m_Kglobal, i->m_K, k, x);
-			}
-		}
-	}
-}
-
-/////////////////////////////////////////////////////////////////////////////////
-
-template <class T> void MRFEnergy<T>::CompleteGraphConstruction()
-{
-	Node* i;
-	Node* j;
-	MRFEdge* e;
-	MRFEdge* ePrev;
-
-	if (m_isEnergyConstructionCompleted)
-	{
-		m_errorFn("Fatal error in CompleteGraphConstruction");
-	}
-
-	printf("Completing graph construction... ");
-
-	if (m_buf)
-	{
-		m_errorFn("CompleteGraphConstruction(): fatal error");
-	}
-
-	m_buf = (char *) Malloc(m_vectorMaxSizeInBytes + 
-		( m_vectorMaxSizeInBytes > Edge::GetBufSizeInBytes(m_vectorMaxSizeInBytes) ?
-		  m_vectorMaxSizeInBytes : Edge::GetBufSizeInBytes(m_vectorMaxSizeInBytes) ) );
-
-	// set forward and backward edges properly
-#ifdef _DEBUG
-	int ordering;
-	for (i=m_nodeFirst, ordering=0; i; i=i->m_next, ordering++)
-	{
-		if ( (i->m_ordering != ordering)
-		  || (i->m_ordering == 0 && i->m_prev)
-		  || (i->m_ordering != 0 && i->m_prev->m_ordering != ordering-1) )
-		{
-			m_errorFn("CompleteGraphConstruction(): fatal error (wrong ordering)");
-		}
-	}
-	if (ordering != m_nodeNum)
-	{
-		m_errorFn("CompleteGraphConstruction(): fatal error");
-	}
-#endif
-	for (i=m_nodeFirst; i; i=i->m_next)
-	{
-		i->m_firstBackward = NULL;
-	}
-	for (i=m_nodeFirst; i; i=i->m_next)
-	{
-		ePrev = NULL;
-		for (e=i->m_firstForward; e; )
-		{
-			assert(i == e->m_tail);
-			j = e->m_head;
-
-			if (i->m_ordering < j->m_ordering)
-			{
-				e->m_nextBackward = j->m_firstBackward;
-				j->m_firstBackward = e;
-
-				ePrev = e;
-				e = e->m_nextForward;
-			}
-			else
-			{
-				e->m_message.Swap(m_Kglobal, i->m_K, j->m_K);
-				e->m_tail = j;
-				e->m_head = i;
-
-				MRFEdge* eNext = e->m_nextForward;
-
-				if (ePrev)
-				{
-					ePrev->m_nextForward = e->m_nextForward;
-				}
-				else
-				{
-					i->m_firstForward = e->m_nextForward;
-				}
-
-				e->m_nextForward = j->m_firstForward;
-				j->m_firstForward = e;
-
-				e->m_nextBackward = i->m_firstBackward;
-				i->m_firstBackward = e;
-
-				e = eNext;
-			}
-		}
-	}
-
-	m_isEnergyConstructionCompleted = true;
-
-	// ZeroMessages();
-
-	printf("done\n");
-}
diff --git a/libs/Math/TRWS/README.TXT b/libs/Math/TRWS/README.TXT
deleted file mode 100644
index ddb9bc334..000000000
--- a/libs/Math/TRWS/README.TXT
+++ /dev/null
@@ -1,21 +0,0 @@
-This software implements two algorithms for minimizing energy functions of the form 
-
-   E(x)   =   \sum_i D_i(x_i)   +   \sum_ij V_ij(x_i,x_j)
-   where x_i are discrete variables.
-
-The two algorithms are max-product belief propagation (BP, Pearl'88) and
-sequential tree-reweighted max-product message passing (TRW-S, Kolmogorov'05).
-
-For example usage look at one of the type*.h files
-(typeBinary.h, typeBinaryFast.h, typePotts.h, typeGeneral.h,
-typeTruncatedLinear.h, typeTruncatedQuadratic.h, typeTruncatedLinear2D.h, typeTruncatedQuadratic2D.h).
-If your energy function does not belong to the classes defined
-in these files but terms V_ij allow fast distance transforms, then
-it should be possible to extend the algorithms to your functions
-using files type*.h as examples.
-
-Written by Vladimir Kolmogorov (vnk@microsoft.com), 2005.
-Tested under Microsoft Visual Studio .NET (Windows)
-and GNU c++ compiler version 2.96 (Red Hat Linux 7.1).
-
-(c) Microsoft Corporation. All rights reserved. 
diff --git a/libs/Math/TRWS/instances.h b/libs/Math/TRWS/instances.h
deleted file mode 100644
index f97645f30..000000000
--- a/libs/Math/TRWS/instances.h
+++ /dev/null
@@ -1,22 +0,0 @@
-#ifndef __INSTANCES_H__
-#define __INSTANCES_H__
-
-
-#if defined(_MSC_VER)
-
-// C4661: '...' : no suitable definition provided for explicit template instantiation request
-#pragma warning(disable: 4661)
-
-#endif
-
-#include "typeBinary.h"
-#include "typeBinaryFast.h"
-#include "typePotts.h"
-#include "typeGeneral.h"
-#include "typeTruncatedLinear.h"
-#include "typeTruncatedQuadratic.h"
-#include "typeTruncatedLinear2D.h"
-#include "typeTruncatedQuadratic2D.h"
-
-
-#endif
diff --git a/libs/Math/TRWS/minimize.inl b/libs/Math/TRWS/minimize.inl
deleted file mode 100644
index 4bb020805..000000000
--- a/libs/Math/TRWS/minimize.inl
+++ /dev/null
@@ -1,299 +0,0 @@
-template <class T> int MRFEnergy<T>::Minimize_TRW_S(Options& options, REAL& lowerBound, REAL& energy, REAL* min_marginals)
-{
-	Node* i;
-	Node* j;
-	MRFEdge* e;
-	REAL vMin;
-	int iter;
-	REAL lowerBoundPrev;
-
-	if (!m_isEnergyConstructionCompleted)
-	{
-		CompleteGraphConstruction();
-	}
-
-	printf("TRW_S algorithm\n");
-
-	SetMonotonicTrees();
-
-	Vector* Di = (Vector*) m_buf;
-	void* buf = (void*) (m_buf + m_vectorMaxSizeInBytes);
-
-	iter = 0;
-	bool lastIter = false;
-
-	// main loop
-	for (iter=1; ; iter++)
-	{
-		if (iter >= options.m_iterMax) lastIter = true;
-
-		////////////////////////////////////////////////
-		//                forward pass                //
-		////////////////////////////////////////////////
-		REAL* min_marginals_ptr = min_marginals;
-
-		for (i=m_nodeFirst; i; i=i->m_next)
-		{
-			Di->Copy(m_Kglobal, i->m_K, &i->m_D);
-			for (e=i->m_firstForward; e; e=e->m_nextForward)
-			{
-				Di->Add(m_Kglobal, i->m_K, e->m_message.GetMessagePtr());
-			}
-			for (e=i->m_firstBackward; e; e=e->m_nextBackward)
-			{
-				Di->Add(m_Kglobal, i->m_K, e->m_message.GetMessagePtr());
-			}
-
-			// normalize Di, update lower bound
-			// vMin = Di->ComputeAndSubtractMin(m_Kglobal, i->m_K); // do not compute lower bound
-			// lowerBound += vMin;                                  // during the forward pass
-
-			// pass messages from i to nodes with higher m_ordering
-			for (e=i->m_firstForward; e; e=e->m_nextForward)
-			{
-				assert(e->m_tail == i);
-				j = e->m_head;
-
-				vMin = e->m_message.UpdateMessage(m_Kglobal, i->m_K, j->m_K, Di, e->m_gammaForward, 0, buf);
-
-				// lowerBound += vMin; // do not compute lower bound during the forward pass
-			}
-
-			if (lastIter && min_marginals)
-			{
-				min_marginals_ptr += Di->GetArraySize(m_Kglobal, i->m_K);
-			}
-		}
-
-		////////////////////////////////////////////////
-		//               backward pass                //
-		////////////////////////////////////////////////
-		lowerBound = 0;
-
-		for (i=m_nodeLast; i; i=i->m_prev)
-		{
-			Di->Copy(m_Kglobal, i->m_K, &i->m_D);
-			for (e=i->m_firstBackward; e; e=e->m_nextBackward)
-			{
-				Di->Add(m_Kglobal, i->m_K, e->m_message.GetMessagePtr());
-			}
-			for (e=i->m_firstForward; e; e=e->m_nextForward)
-			{
-				Di->Add(m_Kglobal, i->m_K, e->m_message.GetMessagePtr());
-			}
-
-			// normalize Di, update lower bound
-			vMin = Di->ComputeAndSubtractMin(m_Kglobal, i->m_K);
-			lowerBound += vMin;
-
-			// pass messages from i to nodes with smaller m_ordering
-			for (e=i->m_firstBackward; e; e=e->m_nextBackward)
-			{
-				assert(e->m_head == i);
-				j = e->m_tail;
-
-				vMin = e->m_message.UpdateMessage(m_Kglobal, i->m_K, j->m_K, Di, e->m_gammaBackward, 1, buf);
-
-				lowerBound += vMin;
-			}
-
-			if (lastIter && min_marginals)
-			{
-				min_marginals_ptr -= Di->GetArraySize(m_Kglobal, i->m_K);
-				for (int k=0; k<Di->GetArraySize(m_Kglobal, i->m_K); k++) 
-				{
-					min_marginals_ptr[k] = Di->GetArrayValue(m_Kglobal, i->m_K, k);
-				}
-			}
-		}
-
-		////////////////////////////////////////////////
-		//          check stopping criterion          //
-		////////////////////////////////////////////////
-
-		// print lower bound and energy, if necessary
-		if (  lastIter || 
-			( iter>=options.m_printMinIter && 
-			(options.m_printIter<1 || iter%options.m_printIter==0) )
-		)
-		{
-			energy = ComputeSolutionAndEnergy();
-			printf("iter %d: lower bound = %f, energy = %f\n", iter, lowerBound, energy);
-		}
-
-		if (lastIter) break;
-
-		// check convergence of lower bound
-		if (options.m_eps >= 0)
-		{
-			if (iter > 1 && lowerBound - lowerBoundPrev <= options.m_eps)
-			{
-				lastIter = true;
-			}
-			lowerBoundPrev = lowerBound;
-		}
-	}
-
-	return iter;
-}
-
-template <class T> int MRFEnergy<T>::Minimize_BP(Options& options, REAL& energy, REAL* min_marginals)
-{
-	Node* i;
-	Node* j;
-	MRFEdge* e;
-	REAL vMin;
-	int iter;
-
-	if (!m_isEnergyConstructionCompleted)
-	{
-		CompleteGraphConstruction();
-	}
-
-	printf("BP algorithm\n");
-
-	Vector* Di = (Vector*) m_buf;
-	void* buf = (void*) (m_buf + m_vectorMaxSizeInBytes);
-
-	iter = 0;
-	bool lastIter = false;
-
-	// main loop
-	for (iter=1; ; iter++)
-	{
-		if (iter >= options.m_iterMax) lastIter = true;
-
-		////////////////////////////////////////////////
-		//                forward pass                //
-		////////////////////////////////////////////////
-		REAL* min_marginals_ptr = min_marginals;
-
-		for (i=m_nodeFirst; i; i=i->m_next)
-		{
-			Di->Copy(m_Kglobal, i->m_K, &i->m_D);
-			for (e=i->m_firstForward; e; e=e->m_nextForward)
-			{
-				Di->Add(m_Kglobal, i->m_K, e->m_message.GetMessagePtr());
-			}
-			for (e=i->m_firstBackward; e; e=e->m_nextBackward)
-			{
-				Di->Add(m_Kglobal, i->m_K, e->m_message.GetMessagePtr());
-			}
-
-			// pass messages from i to nodes with higher m_ordering
-			for (e=i->m_firstForward; e; e=e->m_nextForward)
-			{
-				assert(i == e->m_tail);
-				j = e->m_head;
-
-				const REAL gamma = 1;
-
-				e->m_message.UpdateMessage(m_Kglobal, i->m_K, j->m_K, Di, gamma, 0, buf);
-			}
-
-			if (lastIter && min_marginals)
-			{
-				min_marginals_ptr += Di->GetArraySize(m_Kglobal, i->m_K);
-			}
-		}
-
-		////////////////////////////////////////////////
-		//               backward pass                //
-		////////////////////////////////////////////////
-
-		for (i=m_nodeLast; i; i=i->m_prev)
-		{
-			Di->Copy(m_Kglobal, i->m_K, &i->m_D);
-			for (e=i->m_firstBackward; e; e=e->m_nextBackward)
-			{
-				Di->Add(m_Kglobal, i->m_K, e->m_message.GetMessagePtr());
-			}
-			for (e=i->m_firstForward; e; e=e->m_nextForward)
-			{
-				Di->Add(m_Kglobal, i->m_K, e->m_message.GetMessagePtr());
-			}
-
-			// pass messages from i to nodes with smaller m_ordering
-			for (e=i->m_firstBackward; e; e=e->m_nextBackward)
-			{
-				assert(i == e->m_head);
-				j = e->m_tail;
-
-				const REAL gamma = 1;
-
-				vMin = e->m_message.UpdateMessage(m_Kglobal, i->m_K, j->m_K, Di, gamma, 1, buf);
-			}
-
-			if (lastIter && min_marginals)
-			{
-				min_marginals_ptr -= Di->GetArraySize(m_Kglobal, i->m_K);
-				for (int k=0; k<Di->GetArraySize(m_Kglobal, i->m_K); k++) 
-				{
-					min_marginals_ptr[k] = Di->GetArrayValue(m_Kglobal, i->m_K, k);
-				}
-			}
-		}
-
-		////////////////////////////////////////////////
-		//          check stopping criterion          //
-		////////////////////////////////////////////////
-
-		// print energy, if necessary
-		if ( lastIter || 
-			( iter>=options.m_printMinIter && 
-			(options.m_printIter<1 || iter%options.m_printIter==0) )
-		)
-		{
-			energy = ComputeSolutionAndEnergy();
-			printf("iter %d: energy = %f\n", iter, energy);
-		}
-
-		// if finishFlag==true terminate
-		if (lastIter) break;
-	}
-
-	return iter;
-}
-
-template <class T> typename T::REAL MRFEnergy<T>::ComputeSolutionAndEnergy()
-{
-	Node* i;
-	Node* j;
-	MRFEdge* e;
-	REAL E = 0;
-
-	Vector* DiBackward = (Vector*) m_buf; // cost of backward edges plus Di at the node
-	Vector* Di = (Vector*) (m_buf + m_vectorMaxSizeInBytes); // all edges plus Di at the node
-
-	for (i=m_nodeFirst; i; i=i->m_next)
-	{
-		// Set Ebackward[ki] to be the sum of V(ki,j->m_solution) for backward edges (i,j).
-		// Set Di[ki] to be the value of the energy corresponding to
-		// part of the graph considered so far, assuming that nodes u
-		// in this subgraph are fixed to u->m_solution
-
-		DiBackward->Copy(m_Kglobal, i->m_K, &i->m_D);
-		for (e=i->m_firstBackward; e; e=e->m_nextBackward)
-		{
-			assert(i == e->m_head);
-			j = e->m_tail;
-
-			e->m_message.AddColumn(m_Kglobal, j->m_K, i->m_K, j->m_solution, DiBackward, 0);
-		}
-
-		// add forward edges
-		Di->Copy(m_Kglobal, i->m_K, DiBackward);
-
-		for (e=i->m_firstForward; e; e=e->m_nextForward)
-		{
-			Di->Add(m_Kglobal, i->m_K, e->m_message.GetMessagePtr());
-		}
-
-		Di->ComputeMin(m_Kglobal, i->m_K, i->m_solution);
-
-		// update energy
-		E += DiBackward->GetValue(m_Kglobal, i->m_K, i->m_solution);
-	}
-
-	return E;
-}
diff --git a/libs/Math/TRWS/ordering.inl b/libs/Math/TRWS/ordering.inl
deleted file mode 100644
index 558f6adee..000000000
--- a/libs/Math/TRWS/ordering.inl
+++ /dev/null
@@ -1,151 +0,0 @@
-template <class T> void MRFEnergy<T>::SetAutomaticOrdering()
-{
-	int dMin;
-	Node* i;
-	Node* iMin;
-	Node* list;
-	Node* listBoundary;
-	MRFEdge* e;
-
-	if (m_isEnergyConstructionCompleted)
-	{
-		m_errorFn("Error in SetAutomaticOrdering(): function cannot be called after graph construction is completed");
-	}
-
-	printf("Setting automatic ordering... ");
-
-	list = m_nodeFirst;
-	listBoundary = NULL;
-	m_nodeFirst = m_nodeLast = NULL;
-	for (i=list; i; i=i->m_next)
-	{
-		i->m_ordering = 2*m_nodeNum; // will contain remaining degree mod m_nodeNum (i.e. number of edges connecting to nodes in 'listBoundary' and 'list')
-		                             // if i->m_ordering \in [2*m_nodeNum;  3*m_nodeNum) - not assigned yet, belongs to 'list'
-		                             // if i->m_ordering \in [m_nodeNum;    2*m_nodeNum) - not assigned yet, belongs to 'listBoundary'
-		                             // if i->m_ordering \in [0;            m_nodeNum  ) - assigned, belongs to 'm_nodeFirst'
-		for (e=i->m_firstForward; e; e=e->m_nextForward)
-		{
-			i->m_ordering ++;
-		}
-		for (e=i->m_firstBackward; e; e=e->m_nextBackward)
-		{
-			i->m_ordering ++;
-		}
-	}
-
-	while (list)
-	{
-		// find node with the smallest remaining degree in list
-		dMin = m_nodeNum;
-		for (i=list; i; i=i->m_next)
-		{
-			assert(i->m_ordering >= 2*m_nodeNum);
-			if (dMin > i->m_ordering - 2*m_nodeNum)
-			{
-				dMin = i->m_ordering - 2*m_nodeNum;
-				iMin = i;
-			}
-		}
-		i = iMin;
-
-		// remove i from list
-		if (i->m_prev) i->m_prev->m_next = i->m_next;
-		else           list              = i->m_next;
-		if (i->m_next) i->m_next->m_prev = i->m_prev;
-
-		// add i to listBoundary
-		listBoundary = i;
-		i->m_prev = NULL;
-		i->m_next = NULL;
-		i->m_ordering -= m_nodeNum;
-
-		while (listBoundary)
-		{
-			// find node with the smallest remaining degree in listBoundary
-			dMin = m_nodeNum;
-			for (i=listBoundary; i; i=i->m_next)
-			{
-				assert(i->m_ordering >= m_nodeNum && i->m_ordering < 2*m_nodeNum);
-				if (dMin > i->m_ordering - m_nodeNum)
-				{
-					dMin = i->m_ordering - m_nodeNum;
-					iMin = i;
-				}
-			}
-			i = iMin;
-
-			// remove i from listBoundary
-			if (i->m_prev) i->m_prev->m_next = i->m_next;
-			else           listBoundary      = i->m_next;
-			if (i->m_next) i->m_next->m_prev = i->m_prev;
-
-			// add i to m_nodeFirst
-			if (m_nodeLast)
-			{
-				m_nodeLast->m_next = i;
-				i->m_ordering = m_nodeLast->m_ordering + 1;
-			}
-			else
-			{
-				m_nodeFirst = i;
-				i->m_ordering = 0;
-			}
-			i->m_prev = m_nodeLast;
-			m_nodeLast = i;
-			i->m_next = NULL;
-
-			// process neighbors of i=m_nodeLast: decrease their remaining degree,
-			// put them into listBoundary (if they are in list)
-			for (e=m_nodeLast->m_firstForward; e; e=e->m_nextForward)
-			{
-				assert(m_nodeLast == e->m_tail);
-				i = e->m_head;
-				if (i->m_ordering >= m_nodeNum)
-				{
-					i->m_ordering --; // decrease remaining degree of i
-					if (i->m_ordering >= 2*m_nodeNum)
-					{
-						// remove i from list
-						if (i->m_prev) i->m_prev->m_next = i->m_next;
-						else           list              = i->m_next;
-						if (i->m_next) i->m_next->m_prev = i->m_prev;
-
-						// add i to listBoundary
-						if (listBoundary) listBoundary->m_prev = i;
-						i->m_prev = NULL;
-						i->m_next = listBoundary;
-						listBoundary = i;
-						i->m_ordering -= m_nodeNum;
-					}
-				}
-			}
-			for (e=m_nodeLast->m_firstBackward; e; e=e->m_nextBackward)
-			{
-				assert(m_nodeLast == e->m_head);
-				i = e->m_tail;
-				if (i->m_ordering >= m_nodeNum)
-				{
-					i->m_ordering --; // decrease remaining degree of i
-					if (i->m_ordering >= 2*m_nodeNum)
-					{
-						// remove i from list
-						if (i->m_prev) i->m_prev->m_next = i->m_next;
-						else           list              = i->m_next;
-						if (i->m_next) i->m_next->m_prev = i->m_prev;
-
-						// add i to listBoundary
-						if (listBoundary) listBoundary->m_prev = i;
-						i->m_prev = NULL;
-						i->m_next = listBoundary;
-						listBoundary = i;
-						i->m_ordering -= m_nodeNum;
-					}
-				}
-			}
-		}
-	}
-
-	printf("done\n");
-
-	CompleteGraphConstruction();
-}
diff --git a/libs/Math/TRWS/treeProbabilities.inl b/libs/Math/TRWS/treeProbabilities.inl
deleted file mode 100644
index a34eb0946..000000000
--- a/libs/Math/TRWS/treeProbabilities.inl
+++ /dev/null
@@ -1,36 +0,0 @@
-template <class T> void MRFEnergy<T>::SetMonotonicTrees()
-{
-	Node* i;
-	MRFEdge* e;
-
-	if (!m_isEnergyConstructionCompleted)
-	{
-		CompleteGraphConstruction();
-	}
-
-	for (i=m_nodeFirst; i; i=i->m_next)
-	{
-		REAL mu;
-
-		int nForward = 0, nBackward = 0;
-		for (e=i->m_firstForward; e; e=e->m_nextForward)
-		{
-			nForward ++;
-		}
-		for (e=i->m_firstBackward; e; e=e->m_nextBackward)
-		{
-			nBackward ++;
-		}
-		int ni = (nForward > nBackward) ? nForward : nBackward;
-
-		mu = (REAL)1 / ni;
-		for (e=i->m_firstBackward; e; e=e->m_nextBackward)
-		{
-			e->m_gammaBackward = mu;
-		}
-		for (e=i->m_firstForward; e; e=e->m_nextForward)
-		{
-			e->m_gammaForward = mu;
-		}
-	}
-}
diff --git a/libs/Math/TRWS/typeBinary.h b/libs/Math/TRWS/typeBinary.h
deleted file mode 100644
index a1d448690..000000000
--- a/libs/Math/TRWS/typeBinary.h
+++ /dev/null
@@ -1,392 +0,0 @@
-/******************************************************************
-typeBinary.h
-
-Energy function with binary labels:
-   E(x)   =   \sum_i D_i(x_i)   +   \sum_ij V_ij(x_i,x_j)
-   where x_i \in {0,1}.
-
-Example usage:
-
-Minimize function E(x,y) = Dx(x) + Dy(y) + V(x,y) where 
-  x,y \in {0,1},
-  Dx(0) = 0, Dx(1) = 1,
-  Dy(0) = 2, Dy(1) = 3,
-  V(0,0) = 4, V(0,1) = 5,
-  V(1,0) = 6, V(1,1) = 7,
-  [.] is 1 if it's argument is true, and 0 otherwise.
-
-
-
-#include <stdio.h>
-#include "MRFEnergy.h"
-
-void testBinary()
-{
-	MRFEnergy<TypeBinary>* mrf;
-	MRFEnergy<TypeBinary>::NodeId* nodes;
-	MRFEnergy<TypeBinary>::Options options;
-	TypeBinary::REAL energy, lowerBound;
-
-	const int nodeNum = 2; // number of nodes
-	int x, y;
-
-	mrf = new MRFEnergy<TypeBinary>(TypeBinary::GlobalSize(K));
-	nodes = new MRFEnergy<TypeBinary>::NodeId[nodeNum];
-
-	// construct energy
-	nodes[0] = mrf->AddNode(TypeBinary::LocalSize(), TypeBinary::NodeData(0, 1));
-	nodes[1] = mrf->AddNode(TypeBinary::LocalSize(), TypeBinary::NodeData(2, 3));
-	mrf->AddEdge(nodes[0], nodes[1], TypeBinary::EdgeData(4, 5, 6, 7));
-
-	// Function below is optional - it may help if, for example, nodes are added in a random order
-	// mrf->SetAutomaticOrdering();
-
-	/////////////////////// TRW-S algorithm //////////////////////
-	options.m_iterMax = 30; // maximum number of iterations
-	mrf->Minimize_TRW_S(options, lowerBound, energy);
-
-	// read solution
-	x = mrf->GetSolution(nodes[0]);
-	y = mrf->GetSolution(nodes[1]);
-
-	printf("Solution: %d %d\n", x, y);
-
-	//////////////////////// BP algorithm ////////////////////////
-	mrf->ZeroMessages(); // in general not necessary - it may be faster to start 
-	                     // with messages computed in previous iterations
-
-	options.m_iterMax = 30; // maximum number of iterations
-	mrf->Minimize_BP(options, energy);
-
-	// read solution
-	x = mrf->GetSolution(nodes[0]);
-	y = mrf->GetSolution(nodes[1]);
-
-	printf("Solution: %d %d\n", x, y);
-
-	// done
-	delete nodes;
-	delete mrf;
-}
-
-*******************************************************************/
-
-
-
-
-
-
-#ifndef __TYPEBINARY_H__
-#define __TYPEBINARY_H__
-
-#include <string.h>
-#include <assert.h>
-
-
-template <class T> class MRFEnergy;
-
-
-class TypeBinary
-{
-private:
-	struct Vector; // node parameters and messages
-	struct Edge; // stores edge information and either forward or backward message
-
-public:
-	// types declarations
-	typedef int Label;
-	typedef double REAL;
-	struct GlobalSize; // global information about number of labels
-	struct LocalSize; // local information about number of labels (stored at each node)
-	struct NodeData; // argument to MRFEnergy::AddNode()
-	struct EdgeData; // argument to MRFEnergy::AddEdge()
-
-
-	struct GlobalSize // always 2 labels - no need to store it
-	{
-	};
-
-	struct LocalSize // always 2 labels - no need to store it
-	{
-	};
-
-	struct NodeData
-	{
-		NodeData(REAL D0, REAL D1);
-
-	private:
-	friend struct Vector;
-	friend struct Edge;
-		REAL		m_data[2];
-	};
-
-	struct EdgeData
-	{
-		EdgeData(REAL V00, REAL V01, REAL V10, REAL V11);
-
-	private:
-	friend struct Vector;
-	friend struct Edge;
-		REAL		m_V[2][2];
-	};
-
-
-
-
-
-
-
-	//////////////////////////////////////////////////////////////////////////////////
-	////////////////////////// Visible only to MRFEnergy /////////////////////////////
-	//////////////////////////////////////////////////////////////////////////////////
-
-private:
-friend class MRFEnergy<TypeBinary>;
-
-	struct Vector
-	{
-		static int GetSizeInBytes(GlobalSize Kglobal, LocalSize K); // returns -1 if invalid K's
-		void Initialize(GlobalSize Kglobal, LocalSize K, NodeData data);  // called once when user adds a node
-		void Add(GlobalSize Kglobal, LocalSize K, NodeData data); // called once when user calls MRFEnergy::AddNodeData()
-
-		void SetZero(GlobalSize Kglobal, LocalSize K);                            // set this[k] = 0
-		void Copy(GlobalSize Kglobal, LocalSize K, Vector* V);                    // set this[k] = V[k]
-		void Add(GlobalSize Kglobal, LocalSize K, Vector* V);                     // set this[k] = this[k] + V[k]
-		REAL GetValue(GlobalSize Kglobal, LocalSize K, Label k);                  // return this[k]
-		REAL ComputeMin(GlobalSize Kglobal, LocalSize K, Label& kMin);            // return min_k { this[k] }, set kMin
-		REAL ComputeAndSubtractMin(GlobalSize Kglobal, LocalSize K);              // same as previous, but additionally set this[k] -= vMin (and kMin is not returned)
-
-		static int GetArraySize(GlobalSize Kglobal, LocalSize K);
-		REAL GetArrayValue(GlobalSize Kglobal, LocalSize K, int k); // note: k is an integer in [0..GetArraySize()-1].
-		                                                            // For Potts functions GetArrayValue() and GetValue() are the same,
-		                                                            // but they are different for, say, 2-dimensional labels.
-		void SetArrayValue(GlobalSize Kglobal, LocalSize K, int k, REAL x);
-
-	private:
-	friend struct Edge;
-		REAL		m_data[2];
-	};
-
-	struct Edge
-	{
-		static int GetSizeInBytes(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data); // returns -1 if invalid data
-		static int GetBufSizeInBytes(int vectorMaxSizeInBytes); // returns size of buffer need for UpdateMessage()
-		void Initialize(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data, Vector* Di, Vector* Dj); // called once when user adds an edge
-		Vector* GetMessagePtr();
-		void Swap(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj); // if the client calls this function, then the meaning of 'dir'
-								                                               // in distance transform functions is swapped
-
-		// When UpdateMessage() is called, edge contains message from dest to source.
-		// The function must replace it with the message from source to dest.
-		// The update rule is given below assuming that source corresponds to tail (i) and dest corresponds
-		// to head (j) (which is the case if dir==0).
-		//
-		// 1. Compute Di[ki] = gamma*source[ki] - message[ki].  (Note: message = message from j to i).
-		// 2. Compute distance transform: set
-		//       message[kj] = min_{ki} (Di[ki] + V(ki,kj)). (Note: message = message from i to j).
-		// 3. Compute vMin = min_{kj} m_message[kj].
-		// 4. Set m_message[kj] -= vMin.
-		// 5. Return vMin.
-		//
-		// If dir==1 then source corresponds to j, sink corresponds to i. Then the update rule is
-		//
-		// 1. Compute Dj[kj] = gamma*source[kj] - message[kj].  (Note: message = message from i to j).
-		// 2. Compute distance transform: set
-		//       message[ki] = min_{kj} (Dj[kj] + V(ki,kj)). (Note: message = message from j to i).
-		// 3. Compute vMin = min_{ki} m_message[ki].
-		// 4. Set m_message[ki] -= vMin.
-		// 5. Return vMin.
-		//
-		// If Edge::Swap has been called odd number of times, then the meaning of dir is swapped.
-		//
-		// Vector 'source' must not be modified. Function may use 'buf' as a temporary storage.
-		REAL UpdateMessage(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Vector* source, REAL gamma, int dir, void* buf);
-
-		// If dir==0, then sets dest[kj] += V(ksource,kj).
-		// If dir==1, then sets dest[ki] += V(ki,ksource).
-		// If Swap() has been called odd number of times, then the meaning of dir is swapped.
-		void AddColumn(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Label ksource, Vector* dest, int dir);
-
-	private:
-		// edge information
-		REAL		m_lambdaIsing;
-
-		// message
-		Vector		m_message;
-	};
-};
-
-
-
-
-//////////////////////////////////////////////////////////////////////////////////
-/////////////////////////////// Implementation ///////////////////////////////////
-//////////////////////////////////////////////////////////////////////////////////
-
-
-
-///////////////////// NodeData and EdgeData ///////////////////////
-
-inline TypeBinary::NodeData::NodeData(REAL D0, REAL D1)
-{
-	m_data[0] = D0;
-	m_data[1] = D1;
-}
-
-inline TypeBinary::EdgeData::EdgeData(REAL V00, REAL V01, REAL V10, REAL V11)
-{
-	m_V[0][0] = V00;
-	m_V[0][1] = V01;
-	m_V[1][0] = V10;
-	m_V[1][1] = V11;
-}
-
-///////////////////// Vector ///////////////////////
-
-inline int TypeBinary::Vector::GetSizeInBytes(GlobalSize Kglobal, LocalSize K)
-{
-	return sizeof(Vector);
-}
-inline void TypeBinary::Vector::Initialize(GlobalSize Kglobal, LocalSize K, NodeData data)
-{
-	m_data[0] = data.m_data[0];
-	m_data[1] = data.m_data[1];
-}
-
-inline void TypeBinary::Vector::Add(GlobalSize Kglobal, LocalSize K, NodeData data)
-{
-	m_data[0] += data.m_data[0];
-	m_data[1] += data.m_data[1];
-}
-
-inline void TypeBinary::Vector::SetZero(GlobalSize Kglobal, LocalSize K)
-{
-	m_data[0] = 0;
-	m_data[1] = 0;
-}
-
-inline void TypeBinary::Vector::Copy(GlobalSize Kglobal, LocalSize K, Vector* V)
-{
-	m_data[0] = V->m_data[0];
-	m_data[1] = V->m_data[1];
-}
-
-inline void TypeBinary::Vector::Add(GlobalSize Kglobal, LocalSize K, Vector* V)
-{
-	m_data[0] += V->m_data[0];
-	m_data[1] += V->m_data[1];
-}
-
-inline TypeBinary::REAL TypeBinary::Vector::GetValue(GlobalSize Kglobal, LocalSize K, Label k)
-{
-	assert(k>=0 && k<2);
-	return m_data[k];
-}
-
-inline TypeBinary::REAL TypeBinary::Vector::ComputeMin(GlobalSize Kglobal, LocalSize K, Label& kMin)
-{
-	kMin = (m_data[0] <= m_data[1]) ? 0 : 1;
-	return m_data[kMin];
-}
-
-inline TypeBinary::REAL TypeBinary::Vector::ComputeAndSubtractMin(GlobalSize Kglobal, LocalSize K)
-{
-	REAL vMin;
-
-	if (m_data[0] <= m_data[1])
-	{
-		vMin = m_data[0];
-		m_data[0] = 0;
-		m_data[1] -= vMin;
-	}
-	else
-	{
-		vMin = m_data[1];
-		m_data[1] = 0;
-		m_data[0] -= vMin;
-	}
-
-	return vMin;
-}
-
-inline int TypeBinary::Vector::GetArraySize(GlobalSize Kglobal, LocalSize K)
-{
-	return 2;
-}
-
-inline TypeBinary::REAL TypeBinary::Vector::GetArrayValue(GlobalSize Kglobal, LocalSize K, int k)
-{
-	assert(k>=0 && k<2);
-	return m_data[k];
-}
-
-inline void TypeBinary::Vector::SetArrayValue(GlobalSize Kglobal, LocalSize K, int k, REAL x)
-{
-	assert(k>=0 && k<2);
-	m_data[k] = x;
-}
-
-///////////////////// EdgeDataAndMessage implementation /////////////////////////
-
-inline int TypeBinary::Edge::GetSizeInBytes(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data)
-{
-	return sizeof(Edge);
-}
-
-inline int TypeBinary::Edge::GetBufSizeInBytes(int vectorMaxSizeInBytes)
-{
-	return 0;
-}
-
-inline void TypeBinary::Edge::Initialize(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data, Vector* Di, Vector* Dj)
-{
-	// V00 V01  = A B  = A A  +  0.5 * ( 0   0   + 0 P-Q  +  0   P+Q  )
-	// V10 V11    C D    D D             Q-P Q-P   0 P-Q     P+Q 0
-    // where P=B-A, Q=C-D
-	Di->m_data[0] += data.m_V[0][0];
-	Di->m_data[1] += data.m_V[1][1];
-	REAL P = data.m_V[0][1] - data.m_V[0][0], Q = data.m_V[1][0] - data.m_V[1][1];
-	REAL halfPplusQ = (REAL)0.5 * (P + Q);
-	REAL halfPminusQ = (REAL)0.5 * (P - Q);
-	Di->m_data[1] += -halfPminusQ;
-	Dj->m_data[1] += halfPminusQ;
-	m_lambdaIsing = halfPplusQ;
-	m_message.m_data[0] = 0;
-	m_message.m_data[1] = halfPminusQ + (data.m_V[0][0] - data.m_V[1][1]);
-}
-
-inline TypeBinary::Vector* TypeBinary::Edge::GetMessagePtr()
-{
-	return &m_message;
-}
-
-inline void TypeBinary::Edge::Swap(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj)
-{
-}
-
-inline TypeBinary::REAL TypeBinary::Edge::UpdateMessage(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Vector* source, REAL gamma, int dir, void* buf)
-{
-	REAL data[2], vMin;
-
-	data[0] = gamma*source->m_data[0] - m_message.m_data[0];
-	data[1] = gamma*source->m_data[1] - m_message.m_data[1];
-	m_message.m_data[0] = (data[0] < data[1] + m_lambdaIsing) ? data[0] : data[1] + m_lambdaIsing;
-	m_message.m_data[1] = (data[1] < data[0] + m_lambdaIsing) ? data[1] : data[0] + m_lambdaIsing;
-
-	vMin = (m_message.m_data[0] < m_message.m_data[1]) ? m_message.m_data[0] : m_message.m_data[1];
-	m_message.m_data[0] -= vMin;
-	m_message.m_data[1] -= vMin;
-	return vMin;
-}
-
-
-
-
-inline void TypeBinary::Edge::AddColumn(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Label ksource, Vector* dest, int dir)
-{
-	dest->m_data[1-ksource] += m_lambdaIsing;
-}
-
-//////////////////////////////////////////////////////////////////////////////////
-
-#endif
diff --git a/libs/Math/TRWS/typeBinaryFast.h b/libs/Math/TRWS/typeBinaryFast.h
deleted file mode 100644
index b46e403ae..000000000
--- a/libs/Math/TRWS/typeBinaryFast.h
+++ /dev/null
@@ -1,309 +0,0 @@
-/******************************************************************
-typeBinaryFast.h
-
-Same energy and interface as in typeBinary.h.
-Faster implementation; however, values of lower bound and energy are computed
-incorrectly. (Note that the solution is the same as with typeBinary.h).
-
-For example usage, see typeBinary.h (only replace TypeBinary with TypeBinaryFast).
-*******************************************************************/
-
-
-
-
-
-
-#ifndef __TYPEBINARYFAST_H__
-#define __TYPEBINARYFAST_H__
-
-#include <string.h>
-#include <assert.h>
-
-
-template <class T> class MRFEnergy;
-
-
-class TypeBinaryFast
-{
-private:
-	struct Vector; // node parameters and messages
-	struct Edge; // stores edge information and either forward or backward message
-
-public:
-	// types declarations
-	typedef int Label;
-	typedef double REAL;
-	struct GlobalSize; // global information about number of labels
-	struct LocalSize; // local information about number of labels (stored at each node)
-	struct NodeData; // argument to MRFEnergy::AddNode()
-	struct EdgeData; // argument to MRFEnergy::AddEdge()
-
-
-	struct GlobalSize // always 2 labels - no need to store it
-	{
-	};
-
-	struct LocalSize // always 2 labels - no need to store it
-	{
-	};
-
-	struct NodeData
-	{
-		NodeData(REAL D0, REAL D1);
-
-	private:
-	friend struct Vector;
-	friend struct Edge;
-		REAL		m_data[2];
-	};
-
-	struct EdgeData
-	{
-		EdgeData(REAL V00, REAL V01, REAL V10, REAL V11);
-
-	private:
-	friend struct Vector;
-	friend struct Edge;
-		REAL		m_V[2][2];
-	};
-
-
-
-
-
-
-
-	//////////////////////////////////////////////////////////////////////////////////
-	////////////////////////// Visible only to MRFEnergy /////////////////////////////
-	//////////////////////////////////////////////////////////////////////////////////
-
-private:
-friend class MRFEnergy<TypeBinaryFast>;
-
-	struct Vector
-	{
-		static int GetSizeInBytes(GlobalSize Kglobal, LocalSize K); // returns -1 if invalid K's
-		void Initialize(GlobalSize Kglobal, LocalSize K, NodeData data);  // called once when user adds a node
-		void Add(GlobalSize Kglobal, LocalSize K, NodeData data); // called once when user calls MRFEnergy::AddNodeData()
-
-		void SetZero(GlobalSize Kglobal, LocalSize K);                            // set this[k] = 0
-		void Copy(GlobalSize Kglobal, LocalSize K, Vector* V);                    // set this[k] = V[k]
-		void Add(GlobalSize Kglobal, LocalSize K, Vector* V);                     // set this[k] = this[k] + V[k]
-		REAL GetValue(GlobalSize Kglobal, LocalSize K, Label k);                  // return this[k]
-		REAL ComputeMin(GlobalSize Kglobal, LocalSize K, Label& kMin);            // return min_k { this[k] }, set kMin
-		REAL ComputeAndSubtractMin(GlobalSize Kglobal, LocalSize K);              // same as previous, but additionally set this[k] -= vMin (and kMin is not returned)
-
-		static int GetArraySize(GlobalSize Kglobal, LocalSize K);
-		REAL GetArrayValue(GlobalSize Kglobal, LocalSize K, int k); // note: k is an integer in [0..GetArraySize()-1].
-		                                                            // For Potts functions GetArrayValue() and GetValue() are the same,
-		                                                            // but they are different for, say, 2-dimensional labels.
-		void SetArrayValue(GlobalSize Kglobal, LocalSize K, int k, REAL x);
-
-	private:
-	friend struct Edge;
-		REAL		m_data; // = D[1] - D[0]
-	};
-
-	struct Edge
-	{
-		static int GetSizeInBytes(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data); // returns -1 if invalid data
-		static int GetBufSizeInBytes(int vectorMaxSizeInBytes); // returns size of buffer need for UpdateMessage()
-		void Initialize(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data, Vector* Di, Vector* Dj); // called once when user adds an edge
-		Vector* GetMessagePtr();
-		void Swap(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj); // if the client calls this function, then the meaning of 'dir'
-								                                               // in distance transform functions is swapped
-
-		// When UpdateMessage() is called, edge contains message from dest to source.
-		// The function must replace it with the message from source to dest.
-		// The update rule is given below assuming that source corresponds to tail (i) and dest corresponds
-		// to head (j) (which is the case if dir==0).
-		//
-		// 1. Compute Di[ki] = gamma*source[ki] - message[ki].  (Note: message = message from j to i).
-		// 2. Compute distance transform: set
-		//       message[kj] = min_{ki} (Di[ki] + V(ki,kj)). (Note: message = message from i to j).
-		// 3. Compute vMin = min_{kj} m_message[kj].
-		// 4. Set m_message[kj] -= vMin.
-		// 5. Return vMin.
-		//
-		// If dir==1 then source corresponds to j, sink corresponds to i. Then the update rule is
-		//
-		// 1. Compute Dj[kj] = gamma*source[kj] - message[kj].  (Note: message = message from i to j).
-		// 2. Compute distance transform: set
-		//       message[ki] = min_{kj} (Dj[kj] + V(ki,kj)). (Note: message = message from j to i).
-		// 3. Compute vMin = min_{ki} m_message[ki].
-		// 4. Set m_message[ki] -= vMin.
-		// 5. Return vMin.
-		//
-		// If Edge::Swap has been called odd number of times, then the meaning of dir is swapped.
-		//
-		// Vector 'source' must not be modified. Function may use 'buf' as a temporary storage.
-		REAL UpdateMessage(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Vector* source, REAL gamma, int dir, void* buf);
-
-		// If dir==0, then sets dest[kj] += V(ksource,kj).
-		// If dir==1, then sets dest[ki] += V(ki,ksource).
-		// If Swap() has been called odd number of times, then the meaning of dir is swapped.
-		void AddColumn(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Label ksource, Vector* dest, int dir);
-
-	private:
-		// edge information
-		REAL		m_lambdaIsing;
-
-		// message
-		Vector		m_message;
-	};
-};
-
-
-
-
-//////////////////////////////////////////////////////////////////////////////////
-/////////////////////////////// Implementation ///////////////////////////////////
-//////////////////////////////////////////////////////////////////////////////////
-
-
-
-///////////////////// NodeData and EdgeData ///////////////////////
-
-inline TypeBinaryFast::NodeData::NodeData(REAL D0, REAL D1)
-{
-	m_data[0] = D0;
-	m_data[1] = D1;
-}
-
-inline TypeBinaryFast::EdgeData::EdgeData(REAL V00, REAL V01, REAL V10, REAL V11)
-{
-	m_V[0][0] = V00;
-	m_V[0][1] = V01;
-	m_V[1][0] = V10;
-	m_V[1][1] = V11;
-}
-
-///////////////////// Vector ///////////////////////
-
-inline int TypeBinaryFast::Vector::GetSizeInBytes(GlobalSize Kglobal, LocalSize K)
-{
-	return sizeof(Vector);
-}
-inline void TypeBinaryFast::Vector::Initialize(GlobalSize Kglobal, LocalSize K, NodeData data)
-{
-	m_data = data.m_data[1] - data.m_data[0];
-}
-
-inline void TypeBinaryFast::Vector::Add(GlobalSize Kglobal, LocalSize K, NodeData data)
-{
-	m_data += data.m_data[1] - data.m_data[0];
-}
-
-inline void TypeBinaryFast::Vector::SetZero(GlobalSize Kglobal, LocalSize K)
-{
-	m_data = 0;
-}
-
-inline void TypeBinaryFast::Vector::Copy(GlobalSize Kglobal, LocalSize K, Vector* V)
-{
-	m_data = V->m_data;
-}
-
-inline void TypeBinaryFast::Vector::Add(GlobalSize Kglobal, LocalSize K, Vector* V)
-{
-	m_data += V->m_data;
-}
-
-inline TypeBinaryFast::REAL TypeBinaryFast::Vector::GetValue(GlobalSize Kglobal, LocalSize K, Label k)
-{
-	assert(k>=0 && k<2);
-	return (k == 0) ? 0 : m_data;
-}
-
-inline TypeBinaryFast::REAL TypeBinaryFast::Vector::ComputeMin(GlobalSize Kglobal, LocalSize K, Label& kMin)
-{
-	kMin = (m_data >= 0) ? 0 : 1;
-	return 0;
-}
-
-inline TypeBinaryFast::REAL TypeBinaryFast::Vector::ComputeAndSubtractMin(GlobalSize Kglobal, LocalSize K)
-{
-	return 0;
-}
-
-inline int TypeBinaryFast::Vector::GetArraySize(GlobalSize Kglobal, LocalSize K)
-{
-	return 1;
-}
-
-inline TypeBinaryFast::REAL TypeBinaryFast::Vector::GetArrayValue(GlobalSize Kglobal, LocalSize K, int k)
-{
-	assert(k==0);
-	return m_data;
-}
-
-inline void TypeBinaryFast::Vector::SetArrayValue(GlobalSize Kglobal, LocalSize K, int k, REAL x)
-{
-	assert(k==0);
-	m_data = x;
-}
-
-///////////////////// EdgeDataAndMessage implementation /////////////////////////
-
-inline int TypeBinaryFast::Edge::GetSizeInBytes(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data)
-{
-	return sizeof(Edge);
-}
-
-inline int TypeBinaryFast::Edge::GetBufSizeInBytes(int vectorMaxSizeInBytes)
-{
-	return 0;
-}
-
-inline void TypeBinaryFast::Edge::Initialize(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data, Vector* Di, Vector* Dj)
-{
-	// V00 V01  = A B  = A A  +  0.5 * ( 0   0   + 0 P-Q  +  0   P+Q  )
-	// V10 V11    C D    D D             Q-P Q-P   0 P-Q     P+Q 0
-    // where P=B-A, Q=C-D
-	Di->m_data += data.m_V[1][1] - data.m_V[0][0];
-	REAL P = data.m_V[0][1] - data.m_V[0][0], Q = data.m_V[1][0] - data.m_V[1][1];
-	REAL halfPplusQ = (REAL)0.5 * (P + Q);
-	REAL halfPminusQ = (REAL)0.5 * (P - Q);
-	Di->m_data += -halfPminusQ;
-	Dj->m_data += halfPminusQ;
-	m_lambdaIsing = halfPplusQ;
-	m_message.m_data = halfPminusQ + (data.m_V[0][0] - data.m_V[1][1]);
-}
-
-inline TypeBinaryFast::Vector* TypeBinaryFast::Edge::GetMessagePtr()
-{
-	return &m_message;
-}
-
-inline void TypeBinaryFast::Edge::Swap(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj)
-{
-}
-
-inline TypeBinaryFast::REAL TypeBinaryFast::Edge::UpdateMessage(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Vector* source, REAL gamma, int dir, void* buf)
-{
-	REAL s = gamma*source->m_data - m_message.m_data;
-
-	if (m_lambdaIsing >= 0)
-	{
-		if      (s >= m_lambdaIsing)  m_message.m_data = m_lambdaIsing;
-		else if (s <= -m_lambdaIsing) m_message.m_data = -m_lambdaIsing;
-		else                          m_message.m_data = s;
-	}
-	else
-	{
-		if      (s >= -m_lambdaIsing) m_message.m_data = m_lambdaIsing;
-		else if (s <= m_lambdaIsing)  m_message.m_data = -m_lambdaIsing;
-		else                          m_message.m_data = -s;
-	}
-
-	return 0;
-}
-
-inline void TypeBinaryFast::Edge::AddColumn(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Label ksource, Vector* dest, int dir)
-{
-	dest->m_data += (ksource == 0) ? m_lambdaIsing : -m_lambdaIsing;
-}
-
-//////////////////////////////////////////////////////////////////////////////////
-
-#endif
diff --git a/libs/Math/TRWS/typeGeneral.h b/libs/Math/TRWS/typeGeneral.h
deleted file mode 100644
index 3afd59459..000000000
--- a/libs/Math/TRWS/typeGeneral.h
+++ /dev/null
@@ -1,614 +0,0 @@
-/******************************************************************
-typeGeneral.h
-
-Energy function with general interactions:
-   E(x)   =   \sum_i D_i(x_i)   +   \sum_ij V_ij(x_i,x_j)
-   where x_i \in {0, 1, ..., Ki-1}
-   V_ij(ki, kj) are given either as matrices Ki*Kj, or as Potts terms 
-   (V_ij(ki, kj) = 0 if ki==kj, and lambda_ij otherwise, with non-negative lambda_ij).
-
-   Inefficient! If possible, use other type*.h files.
-
-
-Example usage:
-
-Minimize function E(x,y) = Dx(x) + Dy(y) + lambda*[x != y] + Dz(z) + V(y,z) where 
-  x,y \in {0,1,2}, z \in {0,1}
-  Dx(0) = 0, Dx(1) = 1, Dx(2) = 2,
-  Dy(0) = 3, Dy(1) = 4, Dy(2) = 5,
-  lambda = 6,
-  [.] is 1 if it's argument is true, and 0 otherwise.
-  Dz(0) = 7, Dz(1) = 8,
-  V(y,z) = y*y + z
-
-
-
-#include <stdio.h>
-#include "MRFEnergy.h"
-
-void testGeneral()
-{
-	MRFEnergy<TypeGeneral>* mrf;
-	MRFEnergy<TypeGeneral>::NodeId* nodes;
-	MRFEnergy<TypeGeneral>::Options options;
-	TypeGeneral::REAL energy, lowerBound;
-
-	const int nodeNum = 3; // number of nodes
-	TypeGeneral::REAL Dx[3];
-	TypeGeneral::REAL Dy[3];
-	TypeGeneral::REAL Dz[2];
-	TypeGeneral::REAL V[3*2];
-	int x, y, z;
-
-	mrf = new MRFEnergy<TypeGeneral>(TypeGeneral::GlobalSize());
-	nodes = new MRFEnergy<TypeGeneral>::NodeId[nodeNum];
-
-	// construct energy
-	Dx[0] = 0; Dx[1] = 1; Dx[2] = 2;
-	nodes[0] = mrf->AddNode(TypeGeneral::LocalSize(3), TypeGeneral::NodeData(Dx));
-	Dy[0] = 3; Dy[1] = 4; Dy[2] = 5;
-	nodes[1] = mrf->AddNode(TypeGeneral::LocalSize(3), TypeGeneral::NodeData(Dy));
-	mrf->AddEdge(nodes[0], nodes[1], TypeGeneral::EdgeData(TypeGeneral::POTTS, 6));
-	Dz[0] = 7; Dz[1] = 8;
-	nodes[2] = mrf->AddNode(TypeGeneral::LocalSize(2), TypeGeneral::NodeData(Dz));
-	for (y=0; y<3; y++)
-	{
-		for (z=0; z<2; z++)
-		{
-			V[y + z*3] = y*y + z;
-		}
-	}
-	mrf->AddEdge(nodes[1], nodes[2], TypeGeneral::EdgeData(TypeGeneral::GENERAL, V));
-
-	// Function below is optional - it may help if, for example, nodes are added in a random order
-	// mrf->SetAutomaticOrdering();
-
-	/////////////////////// TRW-S algorithm //////////////////////
-	options.m_iterMax = 30; // maximum number of iterations
-	mrf->Minimize_TRW_S(options, lowerBound, energy);
-
-	// read solution
-	x = mrf->GetSolution(nodes[0]);
-	y = mrf->GetSolution(nodes[1]);
-
-	printf("Solution: %d %d\n", x, y);
-
-	//////////////////////// BP algorithm ////////////////////////
-	mrf->ZeroMessages(); // in general not necessary - it may be faster to start 
-	                     // with messages computed in previous iterations
-
-	options.m_iterMax = 30; // maximum number of iterations
-	mrf->Minimize_BP(options, energy);
-
-	// read solution
-	x = mrf->GetSolution(nodes[0]);
-	y = mrf->GetSolution(nodes[1]);
-
-	printf("Solution: %d %d\n", x, y);
-
-	// done
-	delete nodes;
-	delete mrf;
-}
-
-*******************************************************************/
-
-
-
-
-
-
-
-
-
-
-
-
-#ifndef __TYPEGENERAL_H__
-#define __TYPEGENERAL_H__
-
-#include <string.h>
-#include <assert.h>
-
-
-template <class T> class MRFEnergy;
-
-
-class TypeGeneral
-{
-private:
-	struct Vector; // node parameters and messages
-	struct Edge; // stores edge information and either forward or backward message
-
-public:
-	typedef enum
-	{
-		GENERAL, // edge information is stored as Ki*Kj matrix. Inefficient!
-		POTTS    // edge information is stored as one number (lambdaPotts).
-	} Type;
-
-	// types declarations
-	typedef int Label;
-	typedef double REAL;
-	struct GlobalSize; // global information about number of labels
-	struct LocalSize; // local information about number of labels (stored at each node)
-	struct NodeData; // argument to MRFEnergy::AddNode()
-	struct EdgeData; // argument to MRFEnergy::AddEdge()
-
-
-	struct GlobalSize
-	{
-	};
-
-	struct LocalSize // number of labels is stored at MRFEnergy::m_Kglobal
-	{
-		LocalSize(int K);
-
-	private:
-	friend struct Vector;
-	friend struct Edge;
-		int		m_K; // number of labels
-	};
-
-	struct NodeData
-	{
-		NodeData(REAL* data); // data = pointer to array of size MRFEnergy::m_Kglobal
-
-	private:
-	friend struct Vector;
-	friend struct Edge;
-		REAL*		m_data;
-	};
-
-	struct EdgeData
-	{
-		EdgeData(Type type, REAL lambdaPotts); // type must be POTTS
-		EdgeData(Type type, REAL* data); // type must be GENERAL. data = pointer to array of size Ki*Kj
-		                                 // such that V(ki,kj) = data[ki + Ki*kj]
-
-	private:
-	friend struct Vector;
-	friend struct Edge;
-		Type		m_type;
-		union
-		{
-			REAL	m_lambdaPotts;
-			REAL*	m_dataGeneral;
-		};
-	};
-
-
-
-
-
-
-
-	//////////////////////////////////////////////////////////////////////////////////
-	////////////////////////// Visible only to MRFEnergy /////////////////////////////
-	//////////////////////////////////////////////////////////////////////////////////
-
-private:
-friend class MRFEnergy<TypeGeneral>;
-
-	struct Vector
-	{
-		static int GetSizeInBytes(GlobalSize Kglobal, LocalSize K); // returns -1 if invalid K's
-		void Initialize(GlobalSize Kglobal, LocalSize K, NodeData data);  // called once when user adds a node
-		void Add(GlobalSize Kglobal, LocalSize K, NodeData data); // called once when user calls MRFEnergy::AddNodeData()
-
-		void SetZero(GlobalSize Kglobal, LocalSize K);                            // set this[k] = 0
-		void Copy(GlobalSize Kglobal, LocalSize K, Vector* V);                    // set this[k] = V[k]
-		void Add(GlobalSize Kglobal, LocalSize K, Vector* V);                     // set this[k] = this[k] + V[k]
-		REAL GetValue(GlobalSize Kglobal, LocalSize K, Label k);                  // return this[k]
-		REAL ComputeMin(GlobalSize Kglobal, LocalSize K, Label& kMin);            // return min_k { this[k] }, set kMin
-		REAL ComputeAndSubtractMin(GlobalSize Kglobal, LocalSize K);              // same as previous, but additionally set this[k] -= vMin (and kMin is not returned)
-
-		static int GetArraySize(GlobalSize Kglobal, LocalSize K);
-		REAL GetArrayValue(GlobalSize Kglobal, LocalSize K, int k); // note: k is an integer in [0..GetArraySize()-1].
-		                                                            // For Potts functions GetArrayValue() and GetValue() are the same,
-		                                                            // but they are different for, say, 2-dimensional labels.
-		void SetArrayValue(GlobalSize Kglobal, LocalSize K, int k, REAL x);
-
-	private:
-	friend struct Edge;
-		REAL		m_data[1]; // actual size is MRFEnergy::m_Kglobal
-	};
-
-	struct Edge
-	{
-		static int GetSizeInBytes(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data); // returns -1 if invalid data
-		static int GetBufSizeInBytes(int vectorMaxSizeInBytes); // returns size of buffer need for UpdateMessage()
-		void Initialize(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data, Vector* Di, Vector* Dj); // called once when user adds an edge
-		Vector* GetMessagePtr();
-		void Swap(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj); // if the client calls this function, then the meaning of 'dir'
-								                                               // in distance transform functions is swapped
-
-		// When UpdateMessage() is called, edge contains message from dest to source.
-		// The function must replace it with the message from source to dest.
-		// The update rule is given below assuming that source corresponds to tail (i) and dest corresponds
-		// to head (j) (which is the case if dir==0).
-		//
-		// 1. Compute Di[ki] = gamma*source[ki] - message[ki].  (Note: message = message from j to i).
-		// 2. Compute distance transform: set
-		//       message[kj] = min_{ki} (Di[ki] + V(ki,kj)). (Note: message = message from i to j).
-		// 3. Compute vMin = min_{kj} m_message[kj].
-		// 4. Set m_message[kj] -= vMin.
-		// 5. Return vMin.
-		//
-		// If dir==1 then source corresponds to j, sink corresponds to i. Then the update rule is
-		//
-		// 1. Compute Dj[kj] = gamma*source[kj] - message[kj].  (Note: message = message from i to j).
-		// 2. Compute distance transform: set
-		//       message[ki] = min_{kj} (Dj[kj] + V(ki,kj)). (Note: message = message from j to i).
-		// 3. Compute vMin = min_{ki} m_message[ki].
-		// 4. Set m_message[ki] -= vMin.
-		// 5. Return vMin.
-		//
-		// If Edge::Swap has been called odd number of times, then the meaning of dir is swapped.
-		//
-		// Vector 'source' must not be modified. Function may use 'buf' as a temporary storage.
-		REAL UpdateMessage(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Vector* source, REAL gamma, int dir, void* buf);
-
-		// If dir==0, then sets dest[kj] += V(ksource,kj).
-		// If dir==1, then sets dest[ki] += V(ki,ksource).
-		// If Swap() has been called odd number of times, then the meaning of dir is swapped.
-		void AddColumn(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Label ksource, Vector* dest, int dir);
-
-	protected:
-
-		Type		m_type;
-
-		// message
-		Vector*		m_message;
-	};
-
-	struct EdgePotts : Edge
-	{
-	private:
-	friend struct Edge;
-		REAL	m_lambdaPotts;
-	};
-
-	struct EdgeGeneral : Edge
-	{
-	private:
-	friend struct Edge;
-		int		m_dir; // 0 if Swap() was called even number of times, 1 otherwise
-		REAL	m_data[1]; // array of size Ki*Kj
-	};
-};
-
-
-
-
-//////////////////////////////////////////////////////////////////////////////////
-/////////////////////////////// Implementation ///////////////////////////////////
-//////////////////////////////////////////////////////////////////////////////////
-
-
-inline TypeGeneral::LocalSize::LocalSize(int K)
-{
-	m_K = K;
-}
-
-///////////////////// NodeData and EdgeData ///////////////////////
-
-inline TypeGeneral::NodeData::NodeData(REAL* data)
-{
-	m_data = data;
-}
-
-inline TypeGeneral::EdgeData::EdgeData(Type type, REAL lambdaPotts)
-{
-	assert(type == POTTS);
-	m_type = type;
-	m_lambdaPotts = lambdaPotts;
-}
-
-inline TypeGeneral::EdgeData::EdgeData(Type type, REAL* data)
-{
-	assert(type == GENERAL);
-	m_type = type;
-	m_dataGeneral = data;
-}
-
-///////////////////// Vector ///////////////////////
-
-inline int TypeGeneral::Vector::GetSizeInBytes(GlobalSize Kglobal, LocalSize K)
-{
-	if (K.m_K < 1)
-	{
-		return -1;
-	}
-	return K.m_K*sizeof(REAL);
-}
-inline void TypeGeneral::Vector::Initialize(GlobalSize Kglobal, LocalSize K, NodeData data)
-{
-	memcpy(m_data, data.m_data, K.m_K*sizeof(REAL));
-}
-
-inline void TypeGeneral::Vector::Add(GlobalSize Kglobal, LocalSize K, NodeData data)
-{
-	for (int k=0; k<K.m_K; k++)
-	{
-		m_data[k] += data.m_data[k];
-	}
-}
-
-inline void TypeGeneral::Vector::SetZero(GlobalSize Kglobal, LocalSize K)
-{
-	memset(m_data, 0, K.m_K*sizeof(REAL));
-}
-
-inline void TypeGeneral::Vector::Copy(GlobalSize Kglobal, LocalSize K, Vector* V)
-{
-	memcpy(m_data, V->m_data, K.m_K*sizeof(REAL));
-}
-
-inline void TypeGeneral::Vector::Add(GlobalSize Kglobal, LocalSize K, Vector* V)
-{
-	for (int k=0; k<K.m_K; k++)
-	{
-		m_data[k] += V->m_data[k];
-	}
-}
-
-inline TypeGeneral::REAL TypeGeneral::Vector::GetValue(GlobalSize Kglobal, LocalSize K, Label k)
-{
-	assert(k>=0 && k<K.m_K);
-	return m_data[k];
-}
-
-inline TypeGeneral::REAL TypeGeneral::Vector::ComputeMin(GlobalSize Kglobal, LocalSize K, Label& kMin)
-{
-	REAL vMin = m_data[0];
-	kMin = 0;
-	for (int k=1; k<K.m_K; k++)
-	{
-		if (vMin > m_data[k])
-		{
-			vMin = m_data[k];
-			kMin = k;
-		}
-	}
-
-	return vMin;
-}
-
-inline TypeGeneral::REAL TypeGeneral::Vector::ComputeAndSubtractMin(GlobalSize Kglobal, LocalSize K)
-{
-	REAL vMin = m_data[0];
-	for (int k=1; k<K.m_K; k++)
-	{
-		if (vMin > m_data[k])
-		{
-			vMin = m_data[k];
-		}
-	}
-	for (int k=0; k<K.m_K; k++)
-	{
-		m_data[k] -= vMin;
-	}
-
-	return vMin;
-}
-
-inline int TypeGeneral::Vector::GetArraySize(GlobalSize Kglobal, LocalSize K)
-{
-	return K.m_K;
-}
-
-inline TypeGeneral::REAL TypeGeneral::Vector::GetArrayValue(GlobalSize Kglobal, LocalSize K, int k)
-{
-	assert(k>=0 && k<K.m_K);
-	return m_data[k];
-}
-
-inline void TypeGeneral::Vector::SetArrayValue(GlobalSize Kglobal, LocalSize K, int k, REAL x)
-{
-	assert(k>=0 && k<K.m_K);
-	m_data[k] = x;
-}
-
-///////////////////// EdgeDataAndMessage implementation /////////////////////////
-
-inline int TypeGeneral::Edge::GetSizeInBytes(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data)
-{
-	int messageSizeInBytes = ((Ki.m_K > Kj.m_K) ? Ki.m_K : Kj.m_K)*sizeof(REAL);
-
-	switch (data.m_type)
-	{
-		case POTTS:
-			if (Ki.m_K != Kj.m_K || data.m_lambdaPotts < 0)
-			{
-				return -1;
-			}
-			return sizeof(EdgePotts) + messageSizeInBytes;
-		case GENERAL:
-			return sizeof(EdgeGeneral) - sizeof(REAL) + Ki.m_K*Kj.m_K*sizeof(REAL) + messageSizeInBytes;
-		default:
-			return -1;
-	}
-}
-
-inline int TypeGeneral::Edge::GetBufSizeInBytes(int vectorMaxSizeInBytes)
-{
-	return vectorMaxSizeInBytes;
-}
-
-inline void TypeGeneral::Edge::Initialize(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data, Vector* Di, Vector* Dj)
-{
-	m_type = data.m_type;
-
-	switch (m_type)
-	{
-		case POTTS:
-			((EdgePotts*)this)->m_lambdaPotts = data.m_lambdaPotts;
-			m_message = (Vector*)((char*)this + sizeof(EdgePotts));
-			break;
-		case GENERAL:
-			((EdgeGeneral*)this)->m_dir = 0;
-			memcpy(((EdgeGeneral*)this)->m_data, data.m_dataGeneral, Ki.m_K*Kj.m_K*sizeof(REAL));
-			m_message = (Vector*)((char*)this + sizeof(EdgeGeneral) - sizeof(REAL) + Ki.m_K*Kj.m_K*sizeof(REAL));
-			break;
-		default:
-			assert(0);
-	}
-
-	memset(m_message->m_data, 0, ((Ki.m_K > Kj.m_K) ? Ki.m_K : Kj.m_K)*sizeof(REAL));
-}
-
-inline TypeGeneral::Vector* TypeGeneral::Edge::GetMessagePtr()
-{
-	return m_message;
-}
-
-inline void TypeGeneral::Edge::Swap(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj)
-{
-	if (m_type == GENERAL)
-	{
-		((EdgeGeneral*)this)->m_dir = 1 - ((EdgeGeneral*)this)->m_dir;
-	}
-}
-
-inline TypeGeneral::REAL TypeGeneral::Edge::UpdateMessage(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Vector* source, REAL gamma, int dir, void* _buf)
-{
-	Vector* buf = (Vector*) _buf;
-	REAL vMin;
-
-	if (m_type == POTTS)
-	{
-		assert(Ksource.m_K == Kdest.m_K);
-
-		int k;
-
-		m_message->m_data[0] = gamma*source->m_data[0] - m_message->m_data[0];
-		vMin = m_message->m_data[0];
-
-		for (k=1; k<Ksource.m_K; k++)
-		{
-			m_message->m_data[k] = gamma*source->m_data[k] - m_message->m_data[k];
-			vMin = buf->m_data[0];
-			if (vMin > m_message->m_data[k])
-			{
-				vMin = m_message->m_data[k];
-			}
-		}
-
-		for (k=0; k<Ksource.m_K; k++)
-		{
-			m_message->m_data[k] -= vMin;
-			if (m_message->m_data[k] > ((EdgePotts*)this)->m_lambdaPotts)
-			{
-				m_message->m_data[k] = ((EdgePotts*)this)->m_lambdaPotts;
-			}
-		}
-	}
-	else if (m_type == GENERAL)
-	{
-		int ksource, kdest;
-		REAL* data = ((EdgeGeneral*)this)->m_data;
-
-		for (ksource=0; ksource<Ksource.m_K; ksource++)
-		{
-			buf->m_data[ksource] = gamma*source->m_data[ksource] - m_message->m_data[ksource];
-		}
-
-		if (dir == ((EdgeGeneral*)this)->m_dir)
-		{
-			for (kdest=0; kdest<Kdest.m_K; kdest++)
-			{
-				vMin = buf->m_data[0] + data[0 + kdest*Ksource.m_K];
-				for (ksource=1; ksource<Ksource.m_K; ksource++)
-				{
-					if (vMin > buf->m_data[ksource] + data[ksource + kdest*Ksource.m_K])
-					{
-						vMin = buf->m_data[ksource] + data[ksource + kdest*Ksource.m_K];
-					}
-				}
-				m_message->m_data[kdest] = vMin;
-			}
-		}
-		else
-		{
-			for (kdest=0; kdest<Kdest.m_K; kdest++)
-			{
-				vMin = buf->m_data[0] + data[kdest + 0*Kdest.m_K];
-				for (ksource=1; ksource<Ksource.m_K; ksource++)
-				{
-					if (vMin > buf->m_data[ksource] + data[kdest + ksource*Kdest.m_K])
-					{
-						vMin = buf->m_data[ksource] + data[kdest + ksource*Kdest.m_K];
-					}
-				}
-				m_message->m_data[kdest] = vMin;
-			}
-		}
-
-		vMin = m_message->m_data[0];
-		for (kdest=1; kdest<Kdest.m_K; kdest++)
-		{
-			if (vMin > m_message->m_data[kdest])
-			{
-				vMin = m_message->m_data[kdest];
-			}
-		}
-
-		for (kdest=0; kdest<Kdest.m_K; kdest++)
-		{
-			m_message->m_data[kdest] -= vMin;
-		}
-	}
-	else
-	{
-		assert(0);
-	}
-
-	return vMin;
-}
-
-inline void TypeGeneral::Edge::AddColumn(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Label ksource, Vector* dest, int dir)
-{
-	assert(ksource>=0 && ksource<Ksource.m_K);
-
-	int k;
-
-	if (m_type == POTTS)
-	{
-		for (k=0; k<ksource; k++)
-		{
-			dest->m_data[k] += ((EdgePotts*)this)->m_lambdaPotts;
-		}
-		for (k++; k<Kdest.m_K; k++)
-		{
-			dest->m_data[k] += ((EdgePotts*)this)->m_lambdaPotts;
-		}
-	}
-	else if (m_type == GENERAL)
-	{
-		REAL* data = ((EdgeGeneral*)this)->m_data;
-
-		if (dir == ((EdgeGeneral*)this)->m_dir)
-		{
-			for (k=0; k<Kdest.m_K; k++)
-			{
-				dest->m_data[k] += data[ksource + k*Ksource.m_K];
-			}
-		}
-		else
-		{
-			for (k=0; k<Kdest.m_K; k++)
-			{
-				dest->m_data[k] += data[k + ksource*Kdest.m_K];
-			}
-		}
-	}
-	else
-	{
-		assert(0);
-	}
-}
-
-//////////////////////////////////////////////////////////////////////////////////
-
-#endif
diff --git a/libs/Math/TRWS/typePotts.h b/libs/Math/TRWS/typePotts.h
deleted file mode 100644
index 5631f0c22..000000000
--- a/libs/Math/TRWS/typePotts.h
+++ /dev/null
@@ -1,443 +0,0 @@
-/******************************************************************
-typePotts.h
-
-Energy function with Potts interactions:
-   E(x)   =   \sum_i D_i(x_i)   +   \sum_ij V_ij(x_i,x_j)
-   where x_i \in {0, 1, ..., K-1},
-   V_ij(ki, kj) = 0 if ki==kj, and lambda_ij otherwise.
-   lambda_ij must be non-negative.
-
-Example usage:
-
-Minimize function E(x,y) = Dx(x) + Dy(y) + lambda*[x != y] where 
-  x,y \in {0,1,2},
-  Dx(0) = 0, Dx(1) = 1, Dx(2) = 2,
-  Dy(0) = 3, Dy(1) = 4, Dy(2) = 5,
-  lambda = 6,
-  [.] is 1 if it's argument is true, and 0 otherwise.
-
-
-
-#include <stdio.h>
-#include "MRFEnergy.h"
-
-void testPotts()
-{
-	MRFEnergy<TypePotts>* mrf;
-	MRFEnergy<TypePotts>::NodeId* nodes;
-	MRFEnergy<TypePotts>::Options options;
-	TypePotts::REAL energy, lowerBound;
-
-	const int nodeNum = 2; // number of nodes
-	const int K = 3; // number of labels
-	TypePotts::REAL D[K];
-	int x, y;
-
-	mrf = new MRFEnergy<TypePotts>(TypePotts::GlobalSize(K));
-	nodes = new MRFEnergy<TypePotts>::NodeId[nodeNum];
-
-	// construct energy
-	D[0] = 0; D[1] = 1; D[2] = 2;
-	nodes[0] = mrf->AddNode(TypePotts::LocalSize(), TypePotts::NodeData(D));
-	D[0] = 3; D[1] = 4; D[2] = 5;
-	nodes[1] = mrf->AddNode(TypePotts::LocalSize(), TypePotts::NodeData(D));
-	mrf->AddEdge(nodes[0], nodes[1], TypePotts::EdgeData(6));
-
-	// Function below is optional - it may help if, for example, nodes are added in a random order
-	// mrf->SetAutomaticOrdering();
-
-	/////////////////////// TRW-S algorithm //////////////////////
-	options.m_iterMax = 30; // maximum number of iterations
-	mrf->Minimize_TRW_S(options, lowerBound, energy);
-
-	// read solution
-	x = mrf->GetSolution(nodes[0]);
-	y = mrf->GetSolution(nodes[1]);
-
-	printf("Solution: %d %d\n", x, y);
-
-	//////////////////////// BP algorithm ////////////////////////
-	mrf->ZeroMessages(); // in general not necessary - it may be faster to start 
-	                     // with messages computed in previous iterations
-
-	options.m_iterMax = 30; // maximum number of iterations
-	mrf->Minimize_BP(options, energy);
-
-	// read solution
-	x = mrf->GetSolution(nodes[0]);
-	y = mrf->GetSolution(nodes[1]);
-
-	printf("Solution: %d %d\n", x, y);
-
-	// done
-	delete nodes;
-	delete mrf;
-}
-
-*******************************************************************/
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-#ifndef __TYPEPOTTS_H__
-#define __TYPEPOTTS_H__
-
-#include <string.h>
-#include <assert.h>
-
-
-template <class T> class MRFEnergy;
-
-
-class TypePotts
-{
-private:
-	struct Vector; // node parameters and messages
-	struct Edge; // stores edge information and either forward or backward message
-
-public:
-	// types declarations
-	typedef int Label;
-	typedef double REAL;
-	struct GlobalSize; // global information about number of labels
-	struct LocalSize; // local information about number of labels (stored at each node)
-	struct NodeData; // argument to MRFEnergy::AddNode()
-	struct EdgeData; // argument to MRFEnergy::AddEdge()
-
-
-	struct GlobalSize
-	{
-		GlobalSize(int K);
-
-	private:
-	friend struct Vector;
-	friend struct Edge;
-		int		m_K; // number of labels
-	};
-
-	struct LocalSize // number of labels is stored at MRFEnergy::m_Kglobal
-	{
-	};
-
-	struct NodeData
-	{
-		NodeData(const REAL* data); // data = pointer to array of size MRFEnergy::m_Kglobal
-
-	private:
-	friend struct Vector;
-	friend struct Edge;
-		const REAL*	m_data;
-	};
-
-	struct EdgeData
-	{
-		EdgeData(REAL lambdaPotts);
-
-	private:
-	friend struct Vector;
-	friend struct Edge;
-		REAL		m_lambdaPotts;
-	};
-
-
-
-
-
-
-
-	//////////////////////////////////////////////////////////////////////////////////
-	////////////////////////// Visible only to MRFEnergy /////////////////////////////
-	//////////////////////////////////////////////////////////////////////////////////
-
-private:
-friend class MRFEnergy<TypePotts>;
-
-	struct Vector
-	{
-		static int GetSizeInBytes(GlobalSize Kglobal, LocalSize K); // returns -1 if invalid K's
-		void Initialize(GlobalSize Kglobal, LocalSize K, NodeData data);  // called once when user adds a node
-		void Add(GlobalSize Kglobal, LocalSize K, NodeData data); // called once when user calls MRFEnergy::AddNodeData()
-
-		void SetZero(GlobalSize Kglobal, LocalSize K);                            // set this[k] = 0
-		void Copy(GlobalSize Kglobal, LocalSize K, Vector* V);                    // set this[k] = V[k]
-		void Add(GlobalSize Kglobal, LocalSize K, Vector* V);                     // set this[k] = this[k] + V[k]
-		REAL GetValue(GlobalSize Kglobal, LocalSize K, Label k);                  // return this[k]
-		REAL ComputeMin(GlobalSize Kglobal, LocalSize K, Label& kMin);            // return vMin = min_k { this[k] }, set kMin
-		REAL ComputeAndSubtractMin(GlobalSize Kglobal, LocalSize K);              // same as previous, but additionally set this[k] -= vMin (and kMin is not returned)
-
-		static int GetArraySize(GlobalSize Kglobal, LocalSize K);
-		REAL GetArrayValue(GlobalSize Kglobal, LocalSize K, int k); // note: k is an integer in [0..GetArraySize()-1].
-		                                                            // For Potts functions GetArrayValue() and GetValue() are the same,
-		                                                            // but they are different for, say, 2-dimensional labels.
-		void SetArrayValue(GlobalSize Kglobal, LocalSize K, int k, REAL x);
-
-	private:
-	friend struct Edge;
-		REAL		m_data[1]; // actual size is MRFEnergy::m_Kglobal
-	};
-
-	struct Edge
-	{
-		static int GetSizeInBytes(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data); // returns -1 if invalid data
-		static int GetBufSizeInBytes(int vectorMaxSizeInBytes); // returns size of buffer need for UpdateMessage()
-		void Initialize(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data, Vector* Di, Vector* Dj); // called once when user adds an edge
-		Vector* GetMessagePtr();
-		void Swap(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj); // if the client calls this function, then the meaning of 'dir'
-								                                               // in distance transform functions is swapped
-
-		// When UpdateMessage() is called, edge contains message from dest to source.
-		// The function must replace it with the message from source to dest.
-		// The update rule is given below assuming that source corresponds to tail (i) and dest corresponds
-		// to head (j) (which is the case if dir==0).
-		//
-		// 1. Compute Di[ki] = gamma*source[ki] - message[ki].  (Note: message = message from j to i).
-		// 2. Compute distance transform: set
-		//       message[kj] = min_{ki} (Di[ki] + V(ki,kj)). (Note: message = message from i to j).
-		// 3. Compute vMin = min_{kj} m_message[kj].
-		// 4. Set m_message[kj] -= vMin.
-		// 5. Return vMin.
-		//
-		// If dir==1 then source corresponds to j, sink corresponds to i. Then the update rule is
-		//
-		// 1. Compute Dj[kj] = gamma*source[kj] - message[kj].  (Note: message = message from i to j).
-		// 2. Compute distance transform: set
-		//       message[ki] = min_{kj} (Dj[kj] + V(ki,kj)). (Note: message = message from j to i).
-		// 3. Compute vMin = min_{ki} m_message[ki].
-		// 4. Set m_message[ki] -= vMin.
-		// 5. Return vMin.
-		//
-		// If Edge::Swap has been called odd number of times, then the meaning of dir is swapped.
-		//
-		// Vector 'source' must not be modified. Function may use 'buf' as a temporary storage.
-		REAL UpdateMessage(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Vector* source, REAL gamma, int dir, void* buf);
-
-		// If dir==0, then sets dest[kj] += V(ksource,kj).
-		// If dir==1, then sets dest[ki] += V(ki,ksource).
-		// If Swap() has been called odd number of times, then the meaning of dir is swapped.
-		void AddColumn(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Label ksource, Vector* dest, int dir);
-
-	private:
-		// edge information
-		REAL		m_lambdaPotts;
-
-		// message
-		Vector		m_message;
-	};
-};
-
-
-
-
-//////////////////////////////////////////////////////////////////////////////////
-/////////////////////////////// Implementation ///////////////////////////////////
-//////////////////////////////////////////////////////////////////////////////////
-
-
-inline TypePotts::GlobalSize::GlobalSize(int K)
-{
-	m_K = K;
-}
-
-///////////////////// NodeData and EdgeData ///////////////////////
-
-inline TypePotts::NodeData::NodeData(const REAL* data)
-{
-	m_data = data;
-}
-
-inline TypePotts::EdgeData::EdgeData(REAL lambdaPotts)
-{
-	m_lambdaPotts = lambdaPotts;
-}
-
-///////////////////// Vector ///////////////////////
-
-inline int TypePotts::Vector::GetSizeInBytes(GlobalSize Kglobal, LocalSize K)
-{
-	if (Kglobal.m_K < 1)
-	{
-		return -1;
-	}
-	return Kglobal.m_K*sizeof(REAL);
-}
-inline void TypePotts::Vector::Initialize(GlobalSize Kglobal, LocalSize K, NodeData data)
-{
-	memcpy(m_data, data.m_data, Kglobal.m_K*sizeof(REAL));
-}
-
-inline void TypePotts::Vector::Add(GlobalSize Kglobal, LocalSize K, NodeData data)
-{
-	for (int k=0; k<Kglobal.m_K; k++)
-	{
-		m_data[k] += data.m_data[k];
-	}
-}
-
-inline void TypePotts::Vector::SetZero(GlobalSize Kglobal, LocalSize K)
-{
-	memset(m_data, 0, Kglobal.m_K*sizeof(REAL));
-}
-
-inline void TypePotts::Vector::Copy(GlobalSize Kglobal, LocalSize K, Vector* V)
-{
-	memcpy(m_data, V->m_data, Kglobal.m_K*sizeof(REAL));
-}
-
-inline void TypePotts::Vector::Add(GlobalSize Kglobal, LocalSize K, Vector* V)
-{
-	for (int k=0; k<Kglobal.m_K; k++)
-	{
-		m_data[k] += V->m_data[k];
-	}
-}
-
-inline TypePotts::REAL TypePotts::Vector::GetValue(GlobalSize Kglobal, LocalSize K, Label k)
-{
-	assert(k>=0 && k<Kglobal.m_K);
-	return m_data[k];
-}
-
-inline TypePotts::REAL TypePotts::Vector::ComputeMin(GlobalSize Kglobal, LocalSize K, Label& kMin)
-{
-	REAL vMin = m_data[0];
-	kMin = 0;
-	for (int k=1; k<Kglobal.m_K; k++)
-	{
-		if (vMin > m_data[k])
-		{
-			vMin = m_data[k];
-			kMin = k;
-		}
-	}
-
-	return vMin;
-}
-
-inline TypePotts::REAL TypePotts::Vector::ComputeAndSubtractMin(GlobalSize Kglobal, LocalSize K)
-{
-	REAL vMin = m_data[0];
-	for (int k=1; k<Kglobal.m_K; k++)
-	{
-		if (vMin > m_data[k])
-		{
-			vMin = m_data[k];
-		}
-	}
-	for (int k=0; k<Kglobal.m_K; k++)
-	{
-		m_data[k] -= vMin;
-	}
-
-	return vMin;
-}
-
-inline int TypePotts::Vector::GetArraySize(GlobalSize Kglobal, LocalSize K)
-{
-	return Kglobal.m_K;
-}
-
-inline TypePotts::REAL TypePotts::Vector::GetArrayValue(GlobalSize Kglobal, LocalSize K, int k)
-{
-	assert(k>=0 && k<Kglobal.m_K);
-	return m_data[k];
-}
-
-inline void TypePotts::Vector::SetArrayValue(GlobalSize Kglobal, LocalSize K, int k, REAL x)
-{
-	assert(k>=0 && k<Kglobal.m_K);
-	m_data[k] = x;
-}
-
-///////////////////// EdgeDataAndMessage implementation /////////////////////////
-
-inline int TypePotts::Edge::GetSizeInBytes(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data)
-{
-	if (data.m_lambdaPotts < 0)
-	{
-		return -1;
-	}
-	return sizeof(Edge) - sizeof(Vector) + Kglobal.m_K*sizeof(REAL);
-}
-
-inline int TypePotts::Edge::GetBufSizeInBytes(int vectorMaxSizeInBytes)
-{
-	return 0;
-}
-
-inline void TypePotts::Edge::Initialize(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data, Vector* Di, Vector* Dj)
-{
-	m_lambdaPotts = data.m_lambdaPotts;
-	memset(m_message.m_data, 0, Kglobal.m_K*sizeof(REAL));
-}
-
-inline TypePotts::Vector* TypePotts::Edge::GetMessagePtr()
-{
-	return &m_message;
-}
-
-inline void TypePotts::Edge::Swap(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj)
-{
-}
-
-inline TypePotts::REAL TypePotts::Edge::UpdateMessage(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Vector* source, REAL gamma, int dir, void* buf)
-{
-	int k;
-	REAL vMin;
-
-	m_message.m_data[0] = gamma*source->m_data[0] - m_message.m_data[0];
-	vMin = m_message.m_data[0];
-
-	for (k=1; k<Kglobal.m_K; k++)
-	{
-		m_message.m_data[k] = gamma*source->m_data[k] - m_message.m_data[k];
-		if (vMin > m_message.m_data[k])
-		{
-			vMin = m_message.m_data[k];
-		}
-	}
-
-	for (k=0; k<Kglobal.m_K; k++)
-	{
-		m_message.m_data[k] -= vMin;
-		if (m_message.m_data[k] > m_lambdaPotts)
-		{
-			m_message.m_data[k] = m_lambdaPotts;
-		}
-	}
-
-	return vMin;
-}
-
-inline void TypePotts::Edge::AddColumn(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Label ksource, Vector* dest, int dir)
-{
-	assert(ksource>=0 && ksource<Kglobal.m_K);
-
-	int k;
-
-	for (k=0; k<ksource; k++)
-	{
-		dest->m_data[k] += m_lambdaPotts;
-	}
-	for (k++; k<Kglobal.m_K; k++)
-	{
-		dest->m_data[k] += m_lambdaPotts;
-	}
-}
-
-//////////////////////////////////////////////////////////////////////////////////
-
-#endif
diff --git a/libs/Math/TRWS/typeTruncatedLinear.h b/libs/Math/TRWS/typeTruncatedLinear.h
deleted file mode 100644
index 6adbd1d97..000000000
--- a/libs/Math/TRWS/typeTruncatedLinear.h
+++ /dev/null
@@ -1,463 +0,0 @@
-/******************************************************************
-typeTruncatedLinear.h
-
-Energy function with truncated linear interactions:
-   E(x)   =   \sum_i D_i(x_i)   +   \sum_ij V_ij(x_i,x_j)
-   where x_i \in {0, 1, ..., K-1},
-   V_ij(ki, kj) = min { alpha_ij*|ki-kj|, lambda_ij }.
-   alpha_ij and lambda_ij must be non-negative.
-
-Example usage:
-
-Minimize function E(x,y) = Dx(x) + Dy(y) + min { alpha*|x - y| , lambda } where 
-  x,y \in {0,1,2},
-  Dx(0) = 0, Dx(1) = 1, Dx(2) = 2,
-  Dy(0) = 3, Dy(1) = 4, Dy(2) = 5,
-  alpha = 6,
-  lambda = 7
-
-
-
-
-#include <stdio.h>
-#include "MRFEnergy.h"
-
-void testTruncatedLinear()
-{
-	MRFEnergy<TypeTruncatedLinear>* mrf;
-	MRFEnergy<TypeTruncatedLinear>::NodeId* nodes;
-	MRFEnergy<TypeTruncatedLinear>::Options options;
-	TypeTruncatedLinear::REAL energy, lowerBound;
-
-	const int nodeNum = 2; // number of nodes
-	const int K = 3; // number of labels
-	TypeTruncatedLinear::REAL D[K];
-	int x, y;
-
-	mrf = new MRFEnergy<TypeTruncatedLinear>(TypeTruncatedLinear::GlobalSize(K));
-	nodes = new MRFEnergy<TypeTruncatedLinear>::NodeId[nodeNum];
-
-	// construct energy
-	D[0] = 0; D[1] = 1; D[2] = 2;
-	nodes[0] = mrf->AddNode(TypeTruncatedLinear::LocalSize(), TypeTruncatedLinear::NodeData(D));
-	D[0] = 3; D[1] = 4; D[2] = 5;
-	nodes[1] = mrf->AddNode(TypeTruncatedLinear::LocalSize(), TypeTruncatedLinear::NodeData(D));
-	mrf->AddEdge(nodes[0], nodes[1], TypeTruncatedLinear::EdgeData(6, 7));
-
-	// Function below is optional - it may help if, for example, nodes are added in a random order
-	// mrf->SetAutomaticOrdering();
-
-	/////////////////////// TRW-S algorithm //////////////////////
-	options.m_iterMax = 30; // maximum number of iterations
-	mrf->Minimize_TRW_S(options, lowerBound, energy);
-
-	// read solution
-	x = mrf->GetSolution(nodes[0]);
-	y = mrf->GetSolution(nodes[1]);
-
-	printf("Solution: %d %d\n", x, y);
-
-	//////////////////////// BP algorithm ////////////////////////
-	mrf->ZeroMessages(); // in general not necessary - it may be faster to start 
-	                     // with messages computed in previous iterations
-
-	options.m_iterMax = 30; // maximum number of iterations
-	mrf->Minimize_BP(options, energy);
-
-	// read solution
-	x = mrf->GetSolution(nodes[0]);
-	y = mrf->GetSolution(nodes[1]);
-
-	printf("Solution: %d %d\n", x, y);
-
-	// done
-	delete nodes;
-	delete mrf;
-}
-
-*******************************************************************/
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-#ifndef __TYPETRUNCATEDLINEAR_H__
-#define __TYPETRUNCATEDLINEAR_H__
-
-#include <string.h>
-#include <assert.h>
-
-
-template <class T> class MRFEnergy;
-
-
-class TypeTruncatedLinear
-{
-private:
-	struct Vector; // node parameters and messages
-	struct Edge; // stores edge information and either forward or backward message
-
-public:
-	// types declarations
-	typedef int Label;
-	typedef double REAL;
-	struct GlobalSize; // global information about number of labels
-	struct LocalSize; // local information about number of labels (stored at each node)
-	struct NodeData; // argument to MRFEnergy::AddNode()
-	struct EdgeData; // argument to MRFEnergy::AddEdge()
-
-
-	struct GlobalSize
-	{
-		GlobalSize(int K);
-
-	private:
-	friend struct Vector;
-	friend struct Edge;
-		int		m_K; // number of labels
-	};
-
-	struct LocalSize // number of labels is stored at MRFEnergy::m_Kglobal
-	{
-	};
-
-	struct NodeData
-	{
-		NodeData(REAL* data); // data = pointer to array of size MRFEnergy::m_Kglobal
-
-	private:
-	friend struct Vector;
-	friend struct Edge;
-		REAL*		m_data;
-	};
-
-	struct EdgeData
-	{
-		EdgeData(REAL alpha, REAL lambda);
-
-	private:
-	friend struct Vector;
-	friend struct Edge;
-		REAL		m_alpha;
-		REAL		m_lambda;
-	};
-
-
-
-
-
-
-
-	//////////////////////////////////////////////////////////////////////////////////
-	////////////////////////// Visible only to MRFEnergy /////////////////////////////
-	//////////////////////////////////////////////////////////////////////////////////
-
-private:
-friend class MRFEnergy<TypeTruncatedLinear>;
-
-	struct Vector
-	{
-		static int GetSizeInBytes(GlobalSize Kglobal, LocalSize K); // returns -1 if invalid K's
-		void Initialize(GlobalSize Kglobal, LocalSize K, NodeData data);  // called once when user adds a node
-		void Add(GlobalSize Kglobal, LocalSize K, NodeData data); // called once when user calls MRFEnergy::AddNodeData()
-
-		void SetZero(GlobalSize Kglobal, LocalSize K);                            // set this[k] = 0
-		void Copy(GlobalSize Kglobal, LocalSize K, Vector* V);                    // set this[k] = V[k]
-		void Add(GlobalSize Kglobal, LocalSize K, Vector* V);                     // set this[k] = this[k] + V[k]
-		REAL GetValue(GlobalSize Kglobal, LocalSize K, Label k);                  // return this[k]
-		REAL ComputeMin(GlobalSize Kglobal, LocalSize K, Label& kMin);            // return vMin = min_k { this[k] }, set kMin
-		REAL ComputeAndSubtractMin(GlobalSize Kglobal, LocalSize K);              // same as previous, but additionally set this[k] -= vMin (and kMin is not returned)
-
-		static int GetArraySize(GlobalSize Kglobal, LocalSize K);
-		REAL GetArrayValue(GlobalSize Kglobal, LocalSize K, int k); // note: k is an integer in [0..GetArraySize()-1].
-		                                                            // For Potts functions GetArrayValue() and GetValue() are the same,
-		                                                            // but they are different for, say, 2-dimensional labels.
-		void SetArrayValue(GlobalSize Kglobal, LocalSize K, int k, REAL x);
-
-	private:
-	friend struct Edge;
-		REAL		m_data[1]; // actual size is MRFEnergy::m_Kglobal
-	};
-
-	struct Edge
-	{
-		static int GetSizeInBytes(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data); // returns -1 if invalid data
-		static int GetBufSizeInBytes(int vectorMaxSizeInBytes); // returns size of buffer need for UpdateMessage()
-		void Initialize(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data, Vector* Di, Vector* Dj); // called once when user adds an edge
-		Vector* GetMessagePtr();
-		void Swap(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj); // if the client calls this function, then the meaning of 'dir'
-								                                               // in distance transform functions is swapped
-
-		// When UpdateMessage() is called, edge contains message from dest to source.
-		// The function must replace it with the message from source to dest.
-		// The update rule is given below assuming that source corresponds to tail (i) and dest corresponds
-		// to head (j) (which is the case if dir==0).
-		//
-		// 1. Compute Di[ki] = gamma*source[ki] - message[ki].  (Note: message = message from j to i).
-		// 2. Compute distance transform: set
-		//       message[kj] = min_{ki} (Di[ki] + V(ki,kj)). (Note: message = message from i to j).
-		// 3. Compute vMin = min_{kj} m_message[kj].
-		// 4. Set m_message[kj] -= vMin.
-		// 5. Return vMin.
-		//
-		// If dir==1 then source corresponds to j, sink corresponds to i. Then the update rule is
-		//
-		// 1. Compute Dj[kj] = gamma*source[kj] - message[kj].  (Note: message = message from i to j).
-		// 2. Compute distance transform: set
-		//       message[ki] = min_{kj} (Dj[kj] + V(ki,kj)). (Note: message = message from j to i).
-		// 3. Compute vMin = min_{ki} m_message[ki].
-		// 4. Set m_message[ki] -= vMin.
-		// 5. Return vMin.
-		//
-		// If Edge::Swap has been called odd number of times, then the meaning of dir is swapped.
-		//
-		// Vector 'source' must not be modified. Function may use 'buf' as a temporary storage.
-		REAL UpdateMessage(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Vector* source, REAL gamma, int dir, void* buf);
-
-		// If dir==0, then sets dest[kj] += V(ksource,kj).
-		// If dir==1, then sets dest[ki] += V(ki,ksource).
-		// If Swap() has been called odd number of times, then the meaning of dir is swapped.
-		void AddColumn(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Label ksource, Vector* dest, int dir);
-
-	private:
-		// edge information
-		REAL		m_alpha;
-		REAL		m_lambda;
-
-		// message
-		Vector		m_message;
-	};
-};
-
-
-
-
-//////////////////////////////////////////////////////////////////////////////////
-/////////////////////////////// Implementation ///////////////////////////////////
-//////////////////////////////////////////////////////////////////////////////////
-
-
-inline TypeTruncatedLinear::GlobalSize::GlobalSize(int K)
-{
-	m_K = K;
-}
-
-///////////////////// NodeData and EdgeData ///////////////////////
-
-inline TypeTruncatedLinear::NodeData::NodeData(REAL* data)
-{
-	m_data = data;
-}
-
-inline TypeTruncatedLinear::EdgeData::EdgeData(REAL alpha, REAL lambda)
-{
-	m_alpha = alpha;
-	m_lambda = lambda;
-}
-
-///////////////////// Vector ///////////////////////
-
-inline int TypeTruncatedLinear::Vector::GetSizeInBytes(GlobalSize Kglobal, LocalSize K)
-{
-	if (Kglobal.m_K < 1)
-	{
-		return -1;
-	}
-	return Kglobal.m_K*sizeof(REAL);
-}
-inline void TypeTruncatedLinear::Vector::Initialize(GlobalSize Kglobal, LocalSize K, NodeData data)
-{
-	memcpy(m_data, data.m_data, Kglobal.m_K*sizeof(REAL));
-}
-
-inline void TypeTruncatedLinear::Vector::Add(GlobalSize Kglobal, LocalSize K, NodeData data)
-{
-	for (int k=0; k<Kglobal.m_K; k++)
-	{
-		m_data[k] += data.m_data[k];
-	}
-}
-
-inline void TypeTruncatedLinear::Vector::SetZero(GlobalSize Kglobal, LocalSize K)
-{
-	memset(m_data, 0, Kglobal.m_K*sizeof(REAL));
-}
-
-inline void TypeTruncatedLinear::Vector::Copy(GlobalSize Kglobal, LocalSize K, Vector* V)
-{
-	memcpy(m_data, V->m_data, Kglobal.m_K*sizeof(REAL));
-}
-
-inline void TypeTruncatedLinear::Vector::Add(GlobalSize Kglobal, LocalSize K, Vector* V)
-{
-	for (int k=0; k<Kglobal.m_K; k++)
-	{
-		m_data[k] += V->m_data[k];
-	}
-}
-
-inline TypeTruncatedLinear::REAL TypeTruncatedLinear::Vector::GetValue(GlobalSize Kglobal, LocalSize K, Label k)
-{
-	assert(k>=0 && k<Kglobal.m_K);
-	return m_data[k];
-}
-
-inline TypeTruncatedLinear::REAL TypeTruncatedLinear::Vector::ComputeMin(GlobalSize Kglobal, LocalSize K, Label& kMin)
-{
-	REAL vMin = m_data[0];
-	kMin = 0;
-	for (int k=1; k<Kglobal.m_K; k++)
-	{
-		if (vMin > m_data[k])
-		{
-			vMin = m_data[k];
-			kMin = k;
-		}
-	}
-
-	return vMin;
-}
-
-inline TypeTruncatedLinear::REAL TypeTruncatedLinear::Vector::ComputeAndSubtractMin(GlobalSize Kglobal, LocalSize K)
-{
-	REAL vMin = m_data[0];
-	for (int k=1; k<Kglobal.m_K; k++)
-	{
-		if (vMin > m_data[k])
-		{
-			vMin = m_data[k];
-		}
-	}
-	for (int k=0; k<Kglobal.m_K; k++)
-	{
-		m_data[k] -= vMin;
-	}
-
-	return vMin;
-}
-
-inline int TypeTruncatedLinear::Vector::GetArraySize(GlobalSize Kglobal, LocalSize K)
-{
-	return Kglobal.m_K;
-}
-
-inline TypeTruncatedLinear::REAL TypeTruncatedLinear::Vector::GetArrayValue(GlobalSize Kglobal, LocalSize K, int k)
-{
-	assert(k>=0 && k<Kglobal.m_K);
-	return m_data[k];
-}
-
-inline void TypeTruncatedLinear::Vector::SetArrayValue(GlobalSize Kglobal, LocalSize K, int k, REAL x)
-{
-	assert(k>=0 && k<Kglobal.m_K);
-	m_data[k] = x;
-}
-
-///////////////////// EdgeDataAndMessage implementation /////////////////////////
-
-inline int TypeTruncatedLinear::Edge::GetSizeInBytes(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data)
-{
-	if (data.m_alpha < 0 || data.m_lambda < 0)
-	{
-		return -1;
-	}
-	return sizeof(Edge) - sizeof(Vector) + Kglobal.m_K*sizeof(REAL);
-}
-
-inline int TypeTruncatedLinear::Edge::GetBufSizeInBytes(int vectorMaxSizeInBytes)
-{
-	return 0;
-}
-
-inline void TypeTruncatedLinear::Edge::Initialize(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data, Vector* Di, Vector* Dj)
-{
-	m_alpha = data.m_alpha;
-	m_lambda = data.m_lambda;
-	memset(m_message.m_data, 0, Kglobal.m_K*sizeof(REAL));
-}
-
-inline TypeTruncatedLinear::Vector* TypeTruncatedLinear::Edge::GetMessagePtr()
-{
-	return &m_message;
-}
-
-inline void TypeTruncatedLinear::Edge::Swap(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj)
-{
-}
-
-inline TypeTruncatedLinear::REAL TypeTruncatedLinear::Edge::UpdateMessage(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Vector* source, REAL gamma, int dir, void* buf)
-{
-	int k;
-	REAL vMin;
-
-	m_message.m_data[0] = gamma*source->m_data[0] - m_message.m_data[0];
-	vMin = m_message.m_data[0];
-
-	for (k=1; k<Kglobal.m_K; k++)
-	{
-		m_message.m_data[k] = gamma*source->m_data[k] - m_message.m_data[k];
-		if (m_message.m_data[k] > m_message.m_data[k-1] + m_alpha)
-		{
-			m_message.m_data[k] = m_message.m_data[k-1] + m_alpha;
-		}
-		else if (vMin > m_message.m_data[k])
-		{
-			vMin = m_message.m_data[k];
-		}
-	}
-
-	k--;
-	m_message.m_data[k] -= vMin;
-	if (m_message.m_data[k] > m_lambda)
-	{
-		m_message.m_data[k] = m_lambda;
-	}
-
-	for (k--; k>=0; k--)
-	{
-		m_message.m_data[k] -= vMin;
-		if (m_message.m_data[k] > m_message.m_data[k+1] + m_alpha)
-		{
-			m_message.m_data[k] = m_message.m_data[k+1] + m_alpha;
-		}
-		if (m_message.m_data[k] > m_lambda)
-		{
-			m_message.m_data[k] = m_lambda;
-		}
-	}
-
-	return vMin;
-}
-
-inline void TypeTruncatedLinear::Edge::AddColumn(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Label ksource, Vector* dest, int dir)
-{
-	assert(ksource>=0 && ksource<Kglobal.m_K);
-
-	int k;
-
-	for (k=0; k<ksource; k++)
-	{
-		dest->m_data[k] += (ksource-k)*m_alpha < m_lambda ? (ksource-k)*m_alpha : m_lambda;
-	}
-	for (k++; k<Kglobal.m_K; k++)
-	{
-		dest->m_data[k] += m_alpha*(k-ksource) < m_lambda ? m_alpha*(k-ksource) : m_lambda;
-	}
-}
-
-//////////////////////////////////////////////////////////////////////////////////
-
-#endif
diff --git a/libs/Math/TRWS/typeTruncatedLinear2D.h b/libs/Math/TRWS/typeTruncatedLinear2D.h
deleted file mode 100644
index c2267d45b..000000000
--- a/libs/Math/TRWS/typeTruncatedLinear2D.h
+++ /dev/null
@@ -1,491 +0,0 @@
-/******************************************************************
-typeTruncatedLinear2D.h
-
-Energy function with 2-dimensional truncated linear interactions:
-   E(x)   =   \sum_i D_i(x_i)   +   \sum_ij V_ij(x_i,x_j)
-   where x_i \in {0, 1, ..., KX-1} x {0, 1, ..., KY-1}
-   (i.e. x_i = (x_i(1), x_i(2))).
-   V_ij(ki, kj) = min { alpha1_ij*|ki(1)-kj(2)| + alpha2_ij*|ki(2)-kj(2)|, lambda_ij }.
-   alpha1_ij, alpha2_ij and lambda_ij must be non-negative.
-
-Example usage:
-
-Minimize function E(x,y) = Dx(x) + Dy(y) + min { alpha1*|x(1) - y(1)| + alpha2*|x(2) - y(2)|, lambda } 
-where 
-  x,y \in {0,1} x {0,1,2}
-  Dx(0,0) = 0, Dx(0,1) = 1, Dx(0,2) = 2,
-  Dx(1,0) = 3, Dx(1,1) = 4, Dx(1,2) = 5,
-  Dy(y) = 0 for all y,
-  alpha1 = 6,
-  alpha2 = 7,
-  lambda = 8
-
-
-
-
-#include <stdio.h>
-#include "MRFEnergy.h"
-
-void testTruncatedLinear2D()
-{
-	MRFEnergy<TypeTruncatedLinear2D>* mrf;
-	MRFEnergy<TypeTruncatedLinear2D>::NodeId* nodes;
-	MRFEnergy<TypeTruncatedLinear2D>::Options options;
-	TypeTruncatedLinear2D::REAL energy, lowerBound;
-
-	const int nodeNum = 2; // number of nodes
-	const int KX = 2; //   label
-	const int KY = 3; // dimensions
-	const int K = KX*KY; // number of labels
-	TypeTruncatedLinear2D::REAL D[K];
-	TypeTruncatedLinear2D::Label x, y;
-
-	mrf = new MRFEnergy<TypeTruncatedLinear2D>(TypeTruncatedLinear2D::GlobalSize(KX, KY));
-	nodes = new MRFEnergy<TypeTruncatedLinear2D>::NodeId[nodeNum];
-
-	// construct energy
-	D[0] = 0; D[1] = 1; D[2] = 2;
-	D[3] = 3; D[4] = 4; D[5] = 5;
-	nodes[0] = mrf->AddNode(TypeTruncatedLinear2D::LocalSize(), TypeTruncatedLinear2D::NodeData(D));
-	D[0] = 0; D[1] = 0; D[2] = 0;
-	D[3] = 0; D[4] = 0; D[5] = 0;
-	nodes[1] = mrf->AddNode(TypeTruncatedLinear2D::LocalSize(), TypeTruncatedLinear2D::NodeData(D));
-	mrf->AddEdge(nodes[0], nodes[1], TypeTruncatedLinear2D::EdgeData(6, 7, 8));
-
-	// Function below is optional - it may help if, for example, nodes are added in a random order
-	// mrf->SetAutomaticOrdering();
-
-	/////////////////////// TRW-S algorithm //////////////////////
-	options.m_iterMax = 30; // maximum number of iterations
-	mrf->Minimize_TRW_S(options, lowerBound, energy);
-
-	// read solution
-	x = mrf->GetSolution(nodes[0]);
-	y = mrf->GetSolution(nodes[1]);
-
-	printf("Solution: %d %d\n", x, y);
-
-	//////////////////////// BP algorithm ////////////////////////
-	mrf->ZeroMessages(); // in general not necessary - it may be faster to start 
-	                     // with messages computed in previous iterations
-
-	options.m_iterMax = 30; // maximum number of iterations
-	mrf->Minimize_BP(options, energy);
-
-	// read solution
-	x = mrf->GetSolution(nodes[0]);
-	y = mrf->GetSolution(nodes[1]);
-
-	printf("Solution: (%d, %d) (%d, %d)\n", x.m_kx, x.m_ky, y.m_kx, y.m_ky);
-
-	// done
-	delete nodes;
-	delete mrf;
-}
-
-*******************************************************************/
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-#ifndef __TYPETRUNCATEDLINEAR2D_H__
-#define __TYPETRUNCATEDLINEAR2D_H__
-
-#include <string.h>
-#include <assert.h>
-
-
-template <class T> class MRFEnergy;
-
-
-class TypeTruncatedLinear2D
-{
-private:
-	struct Vector; // node parameters and messages
-	struct Edge; // stores edge information and either forward or backward message
-
-public:
-	// types declarations
-	struct Label
-	{
-		int		m_kx, m_ky;
-	};
-	typedef double REAL;
-	struct GlobalSize; // global information about number of labels
-	struct LocalSize; // local information about number of labels (stored at each node)
-	struct NodeData; // argument to MRFEnergy::AddNode()
-	struct EdgeData; // argument to MRFEnergy::AddEdge()
-
-
-	struct GlobalSize
-	{
-		GlobalSize(int KX, int KY);
-
-	private:
-	friend struct Vector;
-	friend struct Edge;
-		int		m_KX, m_KY; // label dimensions
-		int		m_K; // number of labels
-	};
-
-	struct LocalSize // number of labels is stored at MRFEnergy::m_Kglobal
-	{
-	};
-
-	struct NodeData
-	{
-		NodeData(REAL* data); // data = pointer to array of size MRFEnergy::m_Kglobal
-
-	private:
-	friend struct Vector;
-	friend struct Edge;
-		REAL*		m_data;
-	};
-
-	struct EdgeData
-	{
-		EdgeData(REAL alphaX, REAL alphaY, REAL lambda);
-
-	private:
-	friend struct Vector;
-	friend struct Edge;
-		REAL		m_alphaX, m_alphaY;
-		REAL		m_lambda;
-	};
-
-
-
-
-
-
-
-	//////////////////////////////////////////////////////////////////////////////////
-	////////////////////////// Visible only to MRFEnergy /////////////////////////////
-	//////////////////////////////////////////////////////////////////////////////////
-
-private:
-friend class MRFEnergy<TypeTruncatedLinear2D>;
-
-	struct Vector
-	{
-		static int GetSizeInBytes(GlobalSize Kglobal, LocalSize K); // returns -1 if invalid K's
-		void Initialize(GlobalSize Kglobal, LocalSize K, NodeData data);  // called once when user adds a node
-		void Add(GlobalSize Kglobal, LocalSize K, NodeData data); // called once when user calls MRFEnergy::AddNodeData()
-
-		void SetZero(GlobalSize Kglobal, LocalSize K);                            // set this[k] = 0
-		void Copy(GlobalSize Kglobal, LocalSize K, Vector* V);                    // set this[k] = V[k]
-		void Add(GlobalSize Kglobal, LocalSize K, Vector* V);                     // set this[k] = this[k] + V[k]
-		REAL GetValue(GlobalSize Kglobal, LocalSize K, Label k);                  // return this[k]
-		REAL ComputeMin(GlobalSize Kglobal, LocalSize K, Label& kMin);            // return vMin = min_k { this[k] }, set kMin
-		REAL ComputeAndSubtractMin(GlobalSize Kglobal, LocalSize K);              // same as previous, but additionally set this[k] -= vMin (and kMin is not returned)
-
-		static int GetArraySize(GlobalSize Kglobal, LocalSize K);
-		REAL GetArrayValue(GlobalSize Kglobal, LocalSize K, int k); // note: k is an integer in [0..GetArraySize()-1].
-		                                                            // For Potts functions GetArrayValue() and GetValue() are the same,
-		                                                            // but they are different for, say, 2-dimensional labels.
-		void SetArrayValue(GlobalSize Kglobal, LocalSize K, int k, REAL x);
-
-	private:
-	friend struct Edge;
-		REAL		m_data[1]; // actual size is MRFEnergy::m_Kglobal
-	};
-
-	struct Edge
-	{
-		static int GetSizeInBytes(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data); // returns -1 if invalid data
-		static int GetBufSizeInBytes(int vectorMaxSizeInBytes); // returns size of buffer need for UpdateMessage()
-		void Initialize(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data, Vector* Di, Vector* Dj); // called once when user adds an edge
-		Vector* GetMessagePtr();
-		void Swap(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj); // if the client calls this function, then the meaning of 'dir'
-								                                               // in distance transform functions is swapped
-
-		// When UpdateMessage() is called, edge contains message from dest to source.
-		// The function must replace it with the message from source to dest.
-		// The update rule is given below assuming that source corresponds to tail (i) and dest corresponds
-		// to head (j) (which is the case if dir==0).
-		//
-		// 1. Compute Di[ki] = gamma*source[ki] - message[ki].  (Note: message = message from j to i).
-		// 2. Compute distance transform: set
-		//       message[kj] = min_{ki} (Di[ki] + V(ki,kj)). (Note: message = message from i to j).
-		// 3. Compute vMin = min_{kj} m_message[kj].
-		// 4. Set m_message[kj] -= vMin.
-		// 5. Return vMin.
-		//
-		// If dir==1 then source corresponds to j, sink corresponds to i. Then the update rule is
-		//
-		// 1. Compute Dj[kj] = gamma*source[kj] - message[kj].  (Note: message = message from i to j).
-		// 2. Compute distance transform: set
-		//       message[ki] = min_{kj} (Dj[kj] + V(ki,kj)). (Note: message = message from j to i).
-		// 3. Compute vMin = min_{ki} m_message[ki].
-		// 4. Set m_message[ki] -= vMin.
-		// 5. Return vMin.
-		//
-		// If Edge::Swap has been called odd number of times, then the meaning of dir is swapped.
-		//
-		// Vector 'source' must not be modified. Function may use 'buf' as a temporary storage.
-		REAL UpdateMessage(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Vector* source, REAL gamma, int dir, void* buf);
-
-		// If dir==0, then sets dest[kj] += V(ksource,kj).
-		// If dir==1, then sets dest[ki] += V(ki,ksource).
-		// If Swap() has been called odd number of times, then the meaning of dir is swapped.
-		void AddColumn(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Label ksource, Vector* dest, int dir);
-
-	private:
-		// edge information
-		REAL		m_alphaX, m_alphaY;
-		REAL		m_lambda;
-
-		// message
-		Vector		m_message;
-	};
-};
-
-
-
-
-//////////////////////////////////////////////////////////////////////////////////
-/////////////////////////////// Implementation ///////////////////////////////////
-//////////////////////////////////////////////////////////////////////////////////
-
-
-inline TypeTruncatedLinear2D::GlobalSize::GlobalSize(int KX, int KY)
-{
-	m_KX = KX;
-	m_KY = KY;
-	m_K = KX*KY;
-}
-
-///////////////////// NodeData and EdgeData ///////////////////////
-
-inline TypeTruncatedLinear2D::NodeData::NodeData(REAL* data)
-{
-	m_data = data;
-}
-
-inline TypeTruncatedLinear2D::EdgeData::EdgeData(REAL alphaX, REAL alphaY, REAL lambda)
-{
-	m_alphaX = alphaX;
-	m_alphaY = alphaY;
-	m_lambda = lambda;
-}
-
-///////////////////// Vector ///////////////////////
-
-inline int TypeTruncatedLinear2D::Vector::GetSizeInBytes(GlobalSize Kglobal, LocalSize K)
-{
-	if (Kglobal.m_KX < 1 || Kglobal.m_KY < 2)
-	{
-		return -1;
-	}
-	return Kglobal.m_K*sizeof(REAL);
-}
-inline void TypeTruncatedLinear2D::Vector::Initialize(GlobalSize Kglobal, LocalSize K, NodeData data)
-{
-	memcpy(m_data, data.m_data, Kglobal.m_K*sizeof(REAL));
-}
-
-inline void TypeTruncatedLinear2D::Vector::Add(GlobalSize Kglobal, LocalSize K, NodeData data)
-{
-	for (int k=0; k<Kglobal.m_K; k++)
-	{
-		m_data[k] += data.m_data[k];
-	}
-}
-
-inline void TypeTruncatedLinear2D::Vector::SetZero(GlobalSize Kglobal, LocalSize K)
-{
-	memset(m_data, 0, Kglobal.m_K*sizeof(REAL));
-}
-
-inline void TypeTruncatedLinear2D::Vector::Copy(GlobalSize Kglobal, LocalSize K, Vector* V)
-{
-	memcpy(m_data, V->m_data, Kglobal.m_K*sizeof(REAL));
-}
-
-inline void TypeTruncatedLinear2D::Vector::Add(GlobalSize Kglobal, LocalSize K, Vector* V)
-{
-	for (int k=0; k<Kglobal.m_K; k++)
-	{
-		m_data[k] += V->m_data[k];
-	}
-}
-
-inline TypeTruncatedLinear2D::REAL TypeTruncatedLinear2D::Vector::GetValue(GlobalSize Kglobal, LocalSize K, Label k)
-{
-	assert(k.m_kx>=0 && k.m_kx<Kglobal.m_KX && k.m_ky>=0 && k.m_ky<Kglobal.m_KY);
-	return m_data[k.m_kx + k.m_ky*Kglobal.m_KX];
-}
-
-inline TypeTruncatedLinear2D::REAL TypeTruncatedLinear2D::Vector::ComputeMin(GlobalSize Kglobal, LocalSize K, Label& _kMin)
-{
-	REAL vMin = m_data[0];
-	int kMin = 0;
-	for (int k=1; k<Kglobal.m_K; k++)
-	{
-		if (vMin > m_data[k])
-		{
-			vMin = m_data[k];
-			kMin = k;
-		}
-	}
-
-	_kMin.m_ky = kMin / Kglobal.m_KX;
-	_kMin.m_kx = kMin - _kMin.m_ky * Kglobal.m_KX;
-
-	return vMin;
-}
-
-inline TypeTruncatedLinear2D::REAL TypeTruncatedLinear2D::Vector::ComputeAndSubtractMin(GlobalSize Kglobal, LocalSize K)
-{
-	REAL vMin = m_data[0];
-	for (int k=1; k<Kglobal.m_K; k++)
-	{
-		if (vMin > m_data[k])
-		{
-			vMin = m_data[k];
-		}
-	}
-	for (int k=0; k<Kglobal.m_K; k++)
-	{
-		m_data[k] -= vMin;
-	}
-
-	return vMin;
-}
-
-inline int TypeTruncatedLinear2D::Vector::GetArraySize(GlobalSize Kglobal, LocalSize K)
-{
-	return Kglobal.m_K;
-}
-
-inline TypeTruncatedLinear2D::REAL TypeTruncatedLinear2D::Vector::GetArrayValue(GlobalSize Kglobal, LocalSize K, int k)
-{
-	assert(k>=0 && k<Kglobal.m_K);
-	return m_data[k];
-}
-
-inline void TypeTruncatedLinear2D::Vector::SetArrayValue(GlobalSize Kglobal, LocalSize K, int k, REAL x)
-{
-	assert(k>=0 && k<Kglobal.m_K);
-	m_data[k] = x;
-}
-
-///////////////////// EdgeDataAndMessage implementation /////////////////////////
-
-inline int TypeTruncatedLinear2D::Edge::GetSizeInBytes(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data)
-{
-	if (data.m_alphaX < 0 || data.m_alphaY < 0 || data.m_lambda < 0)
-	{
-		return -1;
-	}
-	return sizeof(Edge) - sizeof(Vector) + Kglobal.m_K*sizeof(REAL);
-}
-
-inline int TypeTruncatedLinear2D::Edge::GetBufSizeInBytes(int vectorMaxSizeInBytes)
-{
-	return 0;
-}
-
-inline void TypeTruncatedLinear2D::Edge::Initialize(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data, Vector* Di, Vector* Dj)
-{
-	m_alphaX = data.m_alphaX;
-	m_alphaY = data.m_alphaY;
-	m_lambda = data.m_lambda;
-	memset(m_message.m_data, 0, Kglobal.m_K*sizeof(REAL));
-}
-
-inline TypeTruncatedLinear2D::Vector* TypeTruncatedLinear2D::Edge::GetMessagePtr()
-{
-	return &m_message;
-}
-
-inline void TypeTruncatedLinear2D::Edge::Swap(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj)
-{
-}
-
-inline TypeTruncatedLinear2D::REAL TypeTruncatedLinear2D::Edge::UpdateMessage(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Vector* source, REAL gamma, int dir, void* buf)
-{
-	Label k;
-	REAL vMin;
-	REAL* sourcePtr;
-	REAL* destPtr;
-
-	m_message.m_data[0] = gamma*source->m_data[0] - m_message.m_data[0];
-	vMin = m_message.m_data[0];
-
-	sourcePtr = source->m_data;
-	destPtr = m_message.m_data;
-	for (k.m_ky=0; k.m_ky<Kglobal.m_KY; k.m_ky++)
-	for (k.m_kx=0; k.m_kx<Kglobal.m_KX; k.m_kx++, sourcePtr++, destPtr++)
-	{
-		destPtr[0] = gamma*sourcePtr[0] - destPtr[0];
-		if (k.m_kx > 0 && destPtr[0] > destPtr[-1] + m_alphaX)
-		{
-			destPtr[0] = destPtr[-1] + m_alphaX;
-		}
-		if (k.m_ky > 0 && destPtr[0] > destPtr[-Kglobal.m_KX] + m_alphaY)
-		{
-			destPtr[0] = destPtr[-Kglobal.m_KX] + m_alphaY;
-		}
-		else if (vMin > destPtr[0])
-		{
-			vMin = destPtr[0];
-		}
-	}
-
-	destPtr--;
-	for (k.m_ky=Kglobal.m_KY-1; k.m_ky>=0; k.m_ky--)
-	for (k.m_kx=Kglobal.m_KX-1; k.m_kx>=0; k.m_kx--, destPtr--)
-	{
-		destPtr[0] -= vMin;
-		if (k.m_kx < Kglobal.m_KX-1 && destPtr[0] > destPtr[1] + m_alphaX)
-		{
-			destPtr[0] = destPtr[1] + m_alphaX;
-		}
-		if (k.m_ky < Kglobal.m_KY-1 && destPtr[0] > destPtr[Kglobal.m_KX] + m_alphaY)
-		{
-			destPtr[0] = destPtr[Kglobal.m_KX] + m_alphaY;
-		}
-		if (destPtr[0] > m_lambda)
-		{
-			destPtr[0] = m_lambda;
-		}
-	}
-
-	return vMin;
-}
-
-inline void TypeTruncatedLinear2D::Edge::AddColumn(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Label ksource, Vector* dest, int dir)
-{
-	assert(ksource.m_kx>=0 && ksource.m_kx<Kglobal.m_KX && ksource.m_ky>=0 && ksource.m_ky<Kglobal.m_KY);
-
-	REAL* destPtr;
-	Label k;
-
-	destPtr = dest->m_data;
-	for (k.m_ky=0; k.m_ky<Kglobal.m_KY; k.m_ky++)
-	for (k.m_kx=0; k.m_kx<Kglobal.m_KX; k.m_kx++, destPtr++)
-	{
-		REAL cost = m_alphaX*((k.m_kx > ksource.m_kx) ? k.m_kx - ksource.m_kx : ksource.m_kx - k.m_kx)
-		          + m_alphaY*((k.m_ky > ksource.m_ky) ? k.m_ky - ksource.m_ky : ksource.m_ky - k.m_ky);
-		destPtr[0] += (cost < m_lambda) ? cost : m_lambda;
-	}
-}
-
-//////////////////////////////////////////////////////////////////////////////////
-
-#endif
diff --git a/libs/Math/TRWS/typeTruncatedQuadratic.h b/libs/Math/TRWS/typeTruncatedQuadratic.h
deleted file mode 100644
index 61ec0962c..000000000
--- a/libs/Math/TRWS/typeTruncatedQuadratic.h
+++ /dev/null
@@ -1,533 +0,0 @@
-/******************************************************************
-typeTruncatedQuadratic.h
-
-Energy function with truncated quadratic interactions:
-   E(x)   =   \sum_i D_i(x_i)   +   \sum_ij V_ij(x_i,x_j)
-   where x_i \in {0, 1, ..., K-1},
-   V_ij(ki, kj) = min { alpha_ij*(ki-kj)^2, lambda_ij }.
-   alpha_ij and lambda_ij must be non-negative.
-
-Example usage:
-
-Minimize function E(x,y) = Dx(x) + Dy(y) + min { alpha*(x - y)^2 , lambda } where 
-  x,y \in {0,1,2},
-  Dx(0) = 0, Dx(1) = 1, Dx(2) = 2,
-  Dy(0) = 3, Dy(1) = 4, Dy(2) = 5,
-  alpha = 6,
-  lambda = 7
-
-
-
-
-#include <stdio.h>
-#include "MRFEnergy.h"
-
-void testTruncatedQuadratic()
-{
-	MRFEnergy<TypeTruncatedQuadratic>* mrf;
-	MRFEnergy<TypeTruncatedQuadratic>::NodeId* nodes;
-	MRFEnergy<TypeTruncatedQuadratic>::Options options;
-	TypeTruncatedQuadratic::REAL energy, lowerBound;
-
-	const int nodeNum = 2; // number of nodes
-	const int K = 3; // number of labels
-	TypeTruncatedQuadratic::REAL D[K];
-	int x, y;
-
-	mrf = new MRFEnergy<TypeTruncatedQuadratic>(TypeTruncatedQuadratic::GlobalSize(K));
-	nodes = new MRFEnergy<TypeTruncatedQuadratic>::NodeId[nodeNum];
-
-	// construct energy
-	D[0] = 0; D[1] = 1; D[2] = 2;
-	nodes[0] = mrf->AddNode(TypeTruncatedQuadratic::LocalSize(), TypeTruncatedQuadratic::NodeData(D));
-	D[0] = 3; D[1] = 4; D[2] = 5;
-	nodes[1] = mrf->AddNode(TypeTruncatedQuadratic::LocalSize(), TypeTruncatedQuadratic::NodeData(D));
-	mrf->AddEdge(nodes[0], nodes[1], TypeTruncatedQuadratic::EdgeData(6, 7));
-
-	// Function below is optional - it may help if, for example, nodes are added in a random order
-	// mrf->SetAutomaticOrdering();
-
-	/////////////////////// TRW-S algorithm //////////////////////
-	options.m_iterMax = 30; // maximum number of iterations
-	mrf->Minimize_TRW_S(options, lowerBound, energy);
-
-	// read solution
-	x = mrf->GetSolution(nodes[0]);
-	y = mrf->GetSolution(nodes[1]);
-
-	printf("Solution: %d %d\n", x, y);
-
-	//////////////////////// BP algorithm ////////////////////////
-	mrf->ZeroMessages(); // in general not necessary - it may be faster to start 
-	                     // with messages computed in previous iterations
-
-	options.m_iterMax = 30; // maximum number of iterations
-	mrf->Minimize_BP(options, energy);
-
-	// read solution
-	x = mrf->GetSolution(nodes[0]);
-	y = mrf->GetSolution(nodes[1]);
-
-	printf("Solution: %d %d\n", x, y);
-
-	// done
-	delete nodes;
-	delete mrf;
-}
-
-*******************************************************************/
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-#ifndef __TYPETRUNCATEDQUADRATIC_H__
-#define __TYPETRUNCATEDQUADRATIC_H__
-
-#include <string.h>
-#include <assert.h>
-
-
-template <class T> class MRFEnergy;
-
-
-class TypeTruncatedQuadratic
-{
-private:
-	struct Vector; // node parameters and messages
-	struct Edge; // stores edge information and either forward or backward message
-
-public:
-	// types declarations
-	typedef int Label;
-	typedef double REAL;
-	struct GlobalSize; // global information about number of labels
-	struct LocalSize; // local information about number of labels (stored at each node)
-	struct NodeData; // argument to MRFEnergy::AddNode()
-	struct EdgeData; // argument to MRFEnergy::AddEdge()
-
-
-	struct GlobalSize
-	{
-		GlobalSize(int K);
-
-	private:
-	friend struct Vector;
-	friend struct Edge;
-		int		m_K; // number of labels
-	};
-
-	struct LocalSize // number of labels is stored at MRFEnergy::m_Kglobal
-	{
-	};
-
-	struct NodeData
-	{
-		NodeData(REAL* data); // data = pointer to array of size MRFEnergy::m_Kglobal
-
-	private:
-	friend struct Vector;
-	friend struct Edge;
-		REAL*		m_data;
-	};
-
-	struct EdgeData
-	{
-		EdgeData(REAL alpha, REAL lambda);
-
-	private:
-	friend struct Vector;
-	friend struct Edge;
-		REAL		m_alpha;
-		REAL		m_lambda;
-	};
-
-
-
-
-
-
-
-	//////////////////////////////////////////////////////////////////////////////////
-	////////////////////////// Visible only to MRFEnergy /////////////////////////////
-	//////////////////////////////////////////////////////////////////////////////////
-
-private:
-friend class MRFEnergy<TypeTruncatedQuadratic>;
-
-	struct Vector
-	{
-		static int GetSizeInBytes(GlobalSize Kglobal, LocalSize K); // returns -1 if invalid K's
-		void Initialize(GlobalSize Kglobal, LocalSize K, NodeData data);  // called once when user adds a node
-		void Add(GlobalSize Kglobal, LocalSize K, NodeData data); // called once when user calls MRFEnergy::AddNodeData()
-
-		void SetZero(GlobalSize Kglobal, LocalSize K);                            // set this[k] = 0
-		void Copy(GlobalSize Kglobal, LocalSize K, Vector* V);                    // set this[k] = V[k]
-		void Add(GlobalSize Kglobal, LocalSize K, Vector* V);                     // set this[k] = this[k] + V[k]
-		REAL GetValue(GlobalSize Kglobal, LocalSize K, Label k);                  // return this[k]
-		REAL ComputeMin(GlobalSize Kglobal, LocalSize K, Label& kMin);            // return vMin = min_k { this[k] }, set kMin
-		REAL ComputeAndSubtractMin(GlobalSize Kglobal, LocalSize K);              // same as previous, but additionally set this[k] -= vMin (and kMin is not returned)
-
-		static int GetArraySize(GlobalSize Kglobal, LocalSize K);
-		REAL GetArrayValue(GlobalSize Kglobal, LocalSize K, int k); // note: k is an integer in [0..GetArraySize()-1].
-		                                                            // For Potts functions GetArrayValue() and GetValue() are the same,
-		                                                            // but they are different for, say, 2-dimensional labels.
-		void SetArrayValue(GlobalSize Kglobal, LocalSize K, int k, REAL x);
-
-	private:
-	friend struct Edge;
-		REAL		m_data[1]; // actual size is MRFEnergy::m_Kglobal
-	};
-
-	struct Edge
-	{
-		static int GetSizeInBytes(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data); // returns -1 if invalid data
-		static int GetBufSizeInBytes(int vectorMaxSizeInBytes); // returns size of buffer need for UpdateMessage()
-		void Initialize(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data, Vector* Di, Vector* Dj); // called once when user adds an edge
-		Vector* GetMessagePtr();
-		void Swap(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj); // if the client calls this function, then the meaning of 'dir'
-								                                               // in distance transform functions is swapped
-
-		// When UpdateMessage() is called, edge contains message from dest to source.
-		// The function must replace it with the message from source to dest.
-		// The update rule is given below assuming that source corresponds to tail (i) and dest corresponds
-		// to head (j) (which is the case if dir==0).
-		//
-		// 1. Compute Di[ki] = gamma*source[ki] - message[ki].  (Note: message = message from j to i).
-		// 2. Compute distance transform: set
-		//       message[kj] = min_{ki} (Di[ki] + V(ki,kj)). (Note: message = message from i to j).
-		// 3. Compute vMin = min_{kj} m_message[kj].
-		// 4. Set m_message[kj] -= vMin.
-		// 5. Return vMin.
-		//
-		// If dir==1 then source corresponds to j, sink corresponds to i. Then the update rule is
-		//
-		// 1. Compute Dj[kj] = gamma*source[kj] - message[kj].  (Note: message = message from i to j).
-		// 2. Compute distance transform: set
-		//       message[ki] = min_{kj} (Dj[kj] + V(ki,kj)). (Note: message = message from j to i).
-		// 3. Compute vMin = min_{ki} m_message[ki].
-		// 4. Set m_message[ki] -= vMin.
-		// 5. Return vMin.
-		//
-		// If Edge::Swap has been called odd number of times, then the meaning of dir is swapped.
-		//
-		// Vector 'source' must not be modified. Function may use 'buf' as a temporary storage.
-		REAL UpdateMessage(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Vector* source, REAL gamma, int dir, void* buf);
-
-		// If dir==0, then sets dest[kj] += V(ksource,kj).
-		// If dir==1, then sets dest[ki] += V(ki,ksource).
-		// If Swap() has been called odd number of times, then the meaning of dir is swapped.
-		void AddColumn(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Label ksource, Vector* dest, int dir);
-
-	private:
-		// parabolas must be array of size K
-		// intersections must be array of size K+1
-		void DistanceTransformL2(int K, REAL* source, REAL* dest, int* parabolas, int* intersections);
-
-		// edge information
-		REAL		m_alpha;
-		REAL		m_lambda;
-
-		// message
-		Vector		m_message;
-	};
-};
-
-
-
-
-//////////////////////////////////////////////////////////////////////////////////
-/////////////////////////////// Implementation ///////////////////////////////////
-//////////////////////////////////////////////////////////////////////////////////
-
-
-inline TypeTruncatedQuadratic::GlobalSize::GlobalSize(int K)
-{
-	m_K = K;
-}
-
-///////////////////// NodeData and EdgeData ///////////////////////
-
-inline TypeTruncatedQuadratic::NodeData::NodeData(REAL* data)
-{
-	m_data = data;
-}
-
-inline TypeTruncatedQuadratic::EdgeData::EdgeData(REAL alpha, REAL lambda)
-{
-	m_alpha = alpha;
-	m_lambda = lambda;
-}
-
-///////////////////// Vector ///////////////////////
-
-inline int TypeTruncatedQuadratic::Vector::GetSizeInBytes(GlobalSize Kglobal, LocalSize K)
-{
-	if (Kglobal.m_K < 1)
-	{
-		return -1;
-	}
-	return Kglobal.m_K*sizeof(REAL);
-}
-inline void TypeTruncatedQuadratic::Vector::Initialize(GlobalSize Kglobal, LocalSize K, NodeData data)
-{
-	memcpy(m_data, data.m_data, Kglobal.m_K*sizeof(REAL));
-}
-
-inline void TypeTruncatedQuadratic::Vector::Add(GlobalSize Kglobal, LocalSize K, NodeData data)
-{
-	for (int k=0; k<Kglobal.m_K; k++)
-	{
-		m_data[k] += data.m_data[k];
-	}
-}
-
-inline void TypeTruncatedQuadratic::Vector::SetZero(GlobalSize Kglobal, LocalSize K)
-{
-	memset(m_data, 0, Kglobal.m_K*sizeof(REAL));
-}
-
-inline void TypeTruncatedQuadratic::Vector::Copy(GlobalSize Kglobal, LocalSize K, Vector* V)
-{
-	memcpy(m_data, V->m_data, Kglobal.m_K*sizeof(REAL));
-}
-
-inline void TypeTruncatedQuadratic::Vector::Add(GlobalSize Kglobal, LocalSize K, Vector* V)
-{
-	for (int k=0; k<Kglobal.m_K; k++)
-	{
-		m_data[k] += V->m_data[k];
-	}
-}
-
-inline TypeTruncatedQuadratic::REAL TypeTruncatedQuadratic::Vector::GetValue(GlobalSize Kglobal, LocalSize K, Label k)
-{
-	assert(k>=0 && k<Kglobal.m_K);
-	return m_data[k];
-}
-
-inline TypeTruncatedQuadratic::REAL TypeTruncatedQuadratic::Vector::ComputeMin(GlobalSize Kglobal, LocalSize K, Label& kMin)
-{
-	REAL vMin = m_data[0];
-	kMin = 0;
-	for (int k=1; k<Kglobal.m_K; k++)
-	{
-		if (vMin > m_data[k])
-		{
-			vMin = m_data[k];
-			kMin = k;
-		}
-	}
-
-	return vMin;
-}
-
-inline TypeTruncatedQuadratic::REAL TypeTruncatedQuadratic::Vector::ComputeAndSubtractMin(GlobalSize Kglobal, LocalSize K)
-{
-	REAL vMin = m_data[0];
-	for (int k=1; k<Kglobal.m_K; k++)
-	{
-		if (vMin > m_data[k])
-		{
-			vMin = m_data[k];
-		}
-	}
-	for (int k=0; k<Kglobal.m_K; k++)
-	{
-		m_data[k] -= vMin;
-	}
-
-	return vMin;
-}
-
-inline int TypeTruncatedQuadratic::Vector::GetArraySize(GlobalSize Kglobal, LocalSize K)
-{
-	return Kglobal.m_K;
-}
-
-inline TypeTruncatedQuadratic::REAL TypeTruncatedQuadratic::Vector::GetArrayValue(GlobalSize Kglobal, LocalSize K, int k)
-{
-	assert(k>=0 && k<Kglobal.m_K);
-	return m_data[k];
-}
-
-inline void TypeTruncatedQuadratic::Vector::SetArrayValue(GlobalSize Kglobal, LocalSize K, int k, REAL x)
-{
-	assert(k>=0 && k<Kglobal.m_K);
-	m_data[k] = x;
-}
-
-///////////////////// EdgeDataAndMessage implementation /////////////////////////
-
-inline int TypeTruncatedQuadratic::Edge::GetSizeInBytes(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data)
-{
-	if (data.m_alpha < 0 || data.m_lambda < 0)
-	{
-		return -1;
-	}
-	return sizeof(Edge) - sizeof(Vector) + Kglobal.m_K*sizeof(REAL);
-}
-
-inline int TypeTruncatedQuadratic::Edge::GetBufSizeInBytes(int vectorMaxSizeInBytes)
-{
-	int K = vectorMaxSizeInBytes / sizeof(REAL);
-	return K*sizeof(REAL) + (2*K+1)*sizeof(int);
-}
-
-inline void TypeTruncatedQuadratic::Edge::Initialize(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data, Vector* Di, Vector* Dj)
-{
-	m_alpha = data.m_alpha;
-	m_lambda = data.m_lambda;
-	memset(m_message.m_data, 0, Kglobal.m_K*sizeof(REAL));
-}
-
-inline TypeTruncatedQuadratic::Vector* TypeTruncatedQuadratic::Edge::GetMessagePtr()
-{
-	return &m_message;
-}
-
-inline void TypeTruncatedQuadratic::Edge::Swap(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj)
-{
-}
-
-inline TypeTruncatedQuadratic::REAL TypeTruncatedQuadratic::Edge::UpdateMessage(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Vector* source, REAL gamma, int dir, void* _buf)
-{
-	REAL* buf = (REAL*) _buf;
-	int* parabolas = (int*) ((char*)_buf + Kglobal.m_K*sizeof(REAL));
-	int* intersections = (int*) ((char*)_buf + Kglobal.m_K*(sizeof(REAL) + sizeof(int)));
-	int k;
-	REAL vMin;
-
-	buf[0] = gamma*source->m_data[0] - m_message.m_data[0];
-	vMin = buf[0];
-
-	for (k=1; k<Kglobal.m_K; k++)
-	{
-		buf[k] = gamma*source->m_data[k] - m_message.m_data[k];
-		if (vMin > buf[k])
-		{
-			vMin = buf[k];
-		}
-	}
-
-	if (m_alpha == 0)
-	{
-		for (k=0; k<Kglobal.m_K; k++)
-		{
-			m_message.m_data[k] = 0;
-		}
-	}
-	else
-	{
-		DistanceTransformL2(Kglobal.m_K, buf, m_message.m_data, parabolas, intersections);
-
-		for (k=0; k<Kglobal.m_K; k++)
-		{
-			m_message.m_data[k] -= vMin;
-			if (m_message.m_data[k] > m_lambda)
-			{
-				m_message.m_data[k] = m_lambda;
-			}
-		}
-	}
-
-	return vMin;
-}
-
-inline void TypeTruncatedQuadratic::Edge::AddColumn(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Label ksource, Vector* dest, int dir)
-{
-	assert(ksource>=0 && ksource<Kglobal.m_K);
-
-	int k;
-
-	for (k=0; k<Kglobal.m_K; k++)
-	{
-		dest->m_data[k] += m_alpha*(k-ksource)*(k-ksource) < m_lambda ? m_alpha*(k-ksource)*(k-ksource) : m_lambda;
-	}
-}
-
-//////////////////////////////////////////////////////////////////////////////////
-
-
-
-
-
-
-
-
-
-inline void TypeTruncatedQuadratic::Edge::DistanceTransformL2(int K, REAL* source, REAL* dest, int* parabolas, int* intersections)
-{
-	assert(m_alpha > 0);
-
-	int i, j, k, p;
-	int r = 0; // = number of parabolas minus 1
-	// parabolas[p] will be base of parabola p (0<=p<=r)
-	// intersections[p] will be intersection between parabolas p-1 and p (1<=p<=r)
-	// intersections[0] will be always 0
-	parabolas[0] = 0;
-	intersections[0] = 0;
-
-	for (i=1; i<K; i++)
-	{
-		while ( 1 )
-		{
-			j = parabolas[r]; // base of previous rightmost visible parabola
-			// k is intersection of parabolas i and j
-			k = (int) ( 1 + ( (i + j)  +  (source[j] - source[i]) / (m_alpha * (j - i)) ) / 2);
-			if (k >= K)
-			{
-				// i is not visible
-				break;
-			}
-			if (k < 0)
-			{
-				k = 0;
-			}
-
-			if (k > intersections[r])
-			{
-				// intersection is rightmost, add it to end
-				r ++;
-				parabolas[r] = i;
-				intersections[r] = k;
-				break;
-			}
-			// j is not visible
-			if (r == 0)
-			{
-				parabolas[0] = i;
-				break;
-			}
-			r --;
-		}
-	}
-
-	intersections[r + 1] = K;
-
-	i = 0;
-	for (p=0; p<=r; p++)
-	{
-		j = parabolas[p];
-		// i values in [intersections[p], intersections[p+1]) are assigned to j
-		for ( ; i<intersections[p+1]; i++)
-		{
-			dest[i] = source[j] + m_alpha*(i-j)*(i-j);
-		}
-	}
-}
-
-#endif
diff --git a/libs/Math/TRWS/typeTruncatedQuadratic2D.h b/libs/Math/TRWS/typeTruncatedQuadratic2D.h
deleted file mode 100644
index 458c1eba8..000000000
--- a/libs/Math/TRWS/typeTruncatedQuadratic2D.h
+++ /dev/null
@@ -1,574 +0,0 @@
-/******************************************************************
-typeTruncatedQuadratic2D.h
-
-Energy function with 2-dimensional truncated quadratic interactions:
-   E(x)   =   \sum_i D_i(x_i)   +   \sum_ij V_ij(x_i,x_j)
-   where x_i \in {0, 1, ..., KX-1} x {0, 1, ..., KY-1}
-   (i.e. x_i = (x_i(1), x_i(2))).
-   V_ij(ki, kj) = min { alpha1_ij*(ki(1)-kj(2))^2 + alpha2_ij*(ki(2)-kj(2))^2, lambda_ij }.
-   alpha1_ij, alpha2_ij and lambda_ij must be non-negative.
-
-Example usage:
-
-Minimize function E(x,y) = Dx(x) + Dy(y) + min { alpha1*(x(1) - y(1))^2 + alpha2*(x(2) - y(2))^2, lambda } 
-where 
-  x,y \in {0,1} x {0,1,2}
-  Dx(0,0) = 0, Dx(0,1) = 1, Dx(0,2) = 2,
-  Dx(1,0) = 3, Dx(1,1) = 4, Dx(1,2) = 5,
-  Dy(y) = 0 for all y,
-  alpha1 = 6,
-  alpha2 = 7,
-  lambda = 8
-
-
-
-
-#include <stdio.h>
-#include "MRFEnergy.h"
-
-void testTruncatedQuadratic2D()
-{
-	MRFEnergy<TypeTruncatedQuadratic2D>* mrf;
-	MRFEnergy<TypeTruncatedQuadratic2D>::NodeId* nodes;
-	MRFEnergy<TypeTruncatedQuadratic2D>::Options options;
-	TypeTruncatedQuadratic2D::REAL energy, lowerBound;
-
-	const int nodeNum = 2; // number of nodes
-	const int KX = 2; //   label
-	const int KY = 3; // dimensions
-	const int K = KX*KY; // number of labels
-	TypeTruncatedQuadratic2D::REAL D[K];
-	TypeTruncatedQuadratic2D::Label x, y;
-
-	mrf = new MRFEnergy<TypeTruncatedQuadratic2D>(TypeTruncatedQuadratic2D::GlobalSize(KX, KY));
-	nodes = new MRFEnergy<TypeTruncatedQuadratic2D>::NodeId[nodeNum];
-
-	// construct energy
-	D[0] = 0; D[1] = 1; D[2] = 2;
-	D[3] = 3; D[4] = 4; D[5] = 5;
-	nodes[0] = mrf->AddNode(TypeTruncatedQuadratic2D::LocalSize(), TypeTruncatedQuadratic2D::NodeData(D));
-	D[0] = 0; D[1] = 0; D[2] = 0;
-	D[3] = 0; D[4] = 0; D[5] = 0;
-	nodes[1] = mrf->AddNode(TypeTruncatedQuadratic2D::LocalSize(), TypeTruncatedQuadratic2D::NodeData(D));
-	mrf->AddEdge(nodes[0], nodes[1], TypeTruncatedQuadratic2D::EdgeData(6, 7, 8));
-
-	// Function below is optional - it may help if, for example, nodes are added in a random order
-	// mrf->SetAutomaticOrdering();
-
-	/////////////////////// TRW-S algorithm //////////////////////
-	options.m_iterMax = 30; // maximum number of iterations
-	mrf->Minimize_TRW_S(options, lowerBound, energy);
-
-	// read solution
-	x = mrf->GetSolution(nodes[0]);
-	y = mrf->GetSolution(nodes[1]);
-
-	printf("Solution: %d %d\n", x, y);
-
-	//////////////////////// BP algorithm ////////////////////////
-	mrf->ZeroMessages(); // in general not necessary - it may be faster to start 
-	                     // with messages computed in previous iterations
-
-	options.m_iterMax = 30; // maximum number of iterations
-	mrf->Minimize_BP(options, energy);
-
-	// read solution
-	x = mrf->GetSolution(nodes[0]);
-	y = mrf->GetSolution(nodes[1]);
-
-	printf("Solution: (%d, %d) (%d, %d)\n", x.m_kx, x.m_ky, y.m_kx, y.m_ky);
-
-	// done
-	delete nodes;
-	delete mrf;
-}
-
-*******************************************************************/
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-#ifndef __TYPETRUNCATEDQUADRATIC2D_H__
-#define __TYPETRUNCATEDQUADRATIC2D_H__
-
-#include <string.h>
-#include <assert.h>
-
-
-template <class T> class MRFEnergy;
-
-
-class TypeTruncatedQuadratic2D
-{
-private:
-	struct Vector; // node parameters and messages
-	struct Edge; // stores edge information and either forward or backward message
-
-public:
-	// types declarations
-	struct Label
-	{
-		int		m_kx, m_ky;
-	};
-	typedef double REAL;
-	struct GlobalSize; // global information about number of labels
-	struct LocalSize; // local information about number of labels (stored at each node)
-	struct NodeData; // argument to MRFEnergy::AddNode()
-	struct EdgeData; // argument to MRFEnergy::AddEdge()
-
-
-	struct GlobalSize
-	{
-		GlobalSize(int KX, int KY);
-
-	private:
-	friend struct Vector;
-	friend struct Edge;
-		int		m_KX, m_KY; // label dimensions
-		int		m_K; // number of labels
-	};
-
-	struct LocalSize // number of labels is stored at MRFEnergy::m_Kglobal
-	{
-	};
-
-	struct NodeData
-	{
-		NodeData(REAL* data); // data = pointer to array of size MRFEnergy::m_Kglobal
-
-	private:
-	friend struct Vector;
-	friend struct Edge;
-		REAL*		m_data;
-	};
-
-	struct EdgeData
-	{
-		EdgeData(REAL alphaX, REAL alphaY, REAL lambda);
-
-	private:
-	friend struct Vector;
-	friend struct Edge;
-		REAL		m_alphaX, m_alphaY;
-		REAL		m_lambda;
-	};
-
-
-
-
-
-
-
-	//////////////////////////////////////////////////////////////////////////////////
-	////////////////////////// Visible only to MRFEnergy /////////////////////////////
-	//////////////////////////////////////////////////////////////////////////////////
-
-private:
-friend class MRFEnergy<TypeTruncatedQuadratic2D>;
-
-	struct Vector
-	{
-		static int GetSizeInBytes(GlobalSize Kglobal, LocalSize K); // returns -1 if invalid K's
-		void Initialize(GlobalSize Kglobal, LocalSize K, NodeData data);  // called once when user adds a node
-		void Add(GlobalSize Kglobal, LocalSize K, NodeData data); // called once when user calls MRFEnergy::AddNodeData()
-
-		void SetZero(GlobalSize Kglobal, LocalSize K);                            // set this[k] = 0
-		void Copy(GlobalSize Kglobal, LocalSize K, Vector* V);                    // set this[k] = V[k]
-		void Add(GlobalSize Kglobal, LocalSize K, Vector* V);                     // set this[k] = this[k] + V[k]
-		REAL GetValue(GlobalSize Kglobal, LocalSize K, Label k);                  // return this[k]
-		REAL ComputeMin(GlobalSize Kglobal, LocalSize K, Label& kMin);            // return vMin = min_k { this[k] }, set kMin
-		REAL ComputeAndSubtractMin(GlobalSize Kglobal, LocalSize K);              // same as previous, but additionally set this[k] -= vMin (and kMin is not returned)
-
-		static int GetArraySize(GlobalSize Kglobal, LocalSize K);
-		REAL GetArrayValue(GlobalSize Kglobal, LocalSize K, int k); // note: k is an integer in [0..GetArraySize()-1].
-		                                                            // For Potts functions GetArrayValue() and GetValue() are the same,
-		                                                            // but they are different for, say, 2-dimensional labels.
-		void SetArrayValue(GlobalSize Kglobal, LocalSize K, int k, REAL x);
-
-	private:
-	friend struct Edge;
-		REAL		m_data[1]; // actual size is MRFEnergy::m_Kglobal
-	};
-
-	struct Edge
-	{
-		static int GetSizeInBytes(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data); // returns -1 if invalid data
-		static int GetBufSizeInBytes(int vectorMaxSizeInBytes); // returns size of buffer need for UpdateMessage()
-		void Initialize(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data, Vector* Di, Vector* Dj); // called once when user adds an edge
-		Vector* GetMessagePtr();
-		void Swap(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj); // if the client calls this function, then the meaning of 'dir'
-								                                               // in distance transform functions is swapped
-
-		// When UpdateMessage() is called, edge contains message from dest to source.
-		// The function must replace it with the message from source to dest.
-		// The update rule is given below assuming that source corresponds to tail (i) and dest corresponds
-		// to head (j) (which is the case if dir==0).
-		//
-		// 1. Compute Di[ki] = gamma*source[ki] - message[ki].  (Note: message = message from j to i).
-		// 2. Compute distance transform: set
-		//       message[kj] = min_{ki} (Di[ki] + V(ki,kj)). (Note: message = message from i to j).
-		// 3. Compute vMin = min_{kj} m_message[kj].
-		// 4. Set m_message[kj] -= vMin.
-		// 5. Return vMin.
-		//
-		// If dir==1 then source corresponds to j, sink corresponds to i. Then the update rule is
-		//
-		// 1. Compute Dj[kj] = gamma*source[kj] - message[kj].  (Note: message = message from i to j).
-		// 2. Compute distance transform: set
-		//       message[ki] = min_{kj} (Dj[kj] + V(ki,kj)). (Note: message = message from j to i).
-		// 3. Compute vMin = min_{ki} m_message[ki].
-		// 4. Set m_message[ki] -= vMin.
-		// 5. Return vMin.
-		//
-		// If Edge::Swap has been called odd number of times, then the meaning of dir is swapped.
-		//
-		// Vector 'source' must not be modified. Function may use 'buf' as a temporary storage.
-		REAL UpdateMessage(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Vector* source, REAL gamma, int dir, void* buf);
-
-		// If dir==0, then sets dest[kj] += V(ksource,kj).
-		// If dir==1, then sets dest[ki] += V(ki,ksource).
-		// If Swap() has been called odd number of times, then the meaning of dir is swapped.
-		void AddColumn(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Label ksource, Vector* dest, int dir);
-
-	private:
-		// parabolas must be array of size K
-		// intersections must be array of size K+1
-		void DistanceTransformL2(int K, int stride, REAL alpha, REAL* source, REAL* dest, int* parabolas, int* intersections);
-
-		// edge information
-		REAL		m_alphaX, m_alphaY;
-		REAL		m_lambda;
-
-		// message
-		Vector		m_message;
-	};
-};
-
-
-
-
-//////////////////////////////////////////////////////////////////////////////////
-/////////////////////////////// Implementation ///////////////////////////////////
-//////////////////////////////////////////////////////////////////////////////////
-
-
-inline TypeTruncatedQuadratic2D::GlobalSize::GlobalSize(int KX, int KY)
-{
-	m_KX = KX;
-	m_KY = KY;
-	m_K = KX*KY;
-}
-
-///////////////////// NodeData and EdgeData ///////////////////////
-
-inline TypeTruncatedQuadratic2D::NodeData::NodeData(REAL* data)
-{
-	m_data = data;
-}
-
-inline TypeTruncatedQuadratic2D::EdgeData::EdgeData(REAL alphaX, REAL alphaY, REAL lambda)
-{
-	m_alphaX = alphaX;
-	m_alphaY = alphaY;
-	m_lambda = lambda;
-}
-
-///////////////////// Vector ///////////////////////
-
-inline int TypeTruncatedQuadratic2D::Vector::GetSizeInBytes(GlobalSize Kglobal, LocalSize K)
-{
-	if (Kglobal.m_KX < 1 || Kglobal.m_KY < 1)
-	{
-		return -1;
-	}
-	return Kglobal.m_K*sizeof(REAL);
-}
-inline void TypeTruncatedQuadratic2D::Vector::Initialize(GlobalSize Kglobal, LocalSize K, NodeData data)
-{
-	memcpy(m_data, data.m_data, Kglobal.m_K*sizeof(REAL));
-}
-
-inline void TypeTruncatedQuadratic2D::Vector::Add(GlobalSize Kglobal, LocalSize K, NodeData data)
-{
-	for (int k=0; k<Kglobal.m_K; k++)
-	{
-		m_data[k] += data.m_data[k];
-	}
-}
-
-inline void TypeTruncatedQuadratic2D::Vector::SetZero(GlobalSize Kglobal, LocalSize K)
-{
-	memset(m_data, 0, Kglobal.m_K*sizeof(REAL));
-}
-
-inline void TypeTruncatedQuadratic2D::Vector::Copy(GlobalSize Kglobal, LocalSize K, Vector* V)
-{
-	memcpy(m_data, V->m_data, Kglobal.m_K*sizeof(REAL));
-}
-
-inline void TypeTruncatedQuadratic2D::Vector::Add(GlobalSize Kglobal, LocalSize K, Vector* V)
-{
-	for (int k=0; k<Kglobal.m_K; k++)
-	{
-		m_data[k] += V->m_data[k];
-	}
-}
-
-inline TypeTruncatedQuadratic2D::REAL TypeTruncatedQuadratic2D::Vector::GetValue(GlobalSize Kglobal, LocalSize K, Label k)
-{
-	assert(k.m_kx>=0 && k.m_kx<Kglobal.m_KX && k.m_ky>=0 && k.m_ky<Kglobal.m_KY);
-	return m_data[k.m_kx + k.m_ky*Kglobal.m_KX];
-}
-
-inline TypeTruncatedQuadratic2D::REAL TypeTruncatedQuadratic2D::Vector::ComputeMin(GlobalSize Kglobal, LocalSize K, Label& _kMin)
-{
-	REAL vMin = m_data[0];
-	int kMin = 0;
-	for (int k=1; k<Kglobal.m_K; k++)
-	{
-		if (vMin > m_data[k])
-		{
-			vMin = m_data[k];
-			kMin = k;
-		}
-	}
-
-	_kMin.m_ky = kMin / Kglobal.m_KX;
-	_kMin.m_kx = kMin - _kMin.m_ky * Kglobal.m_KX;
-
-	return vMin;
-}
-
-inline TypeTruncatedQuadratic2D::REAL TypeTruncatedQuadratic2D::Vector::ComputeAndSubtractMin(GlobalSize Kglobal, LocalSize K)
-{
-	REAL vMin = m_data[0];
-	for (int k=1; k<Kglobal.m_K; k++)
-	{
-		if (vMin > m_data[k])
-		{
-			vMin = m_data[k];
-		}
-	}
-	for (int k=0; k<Kglobal.m_K; k++)
-	{
-		m_data[k] -= vMin;
-	}
-
-	return vMin;
-}
-
-inline int TypeTruncatedQuadratic2D::Vector::GetArraySize(GlobalSize Kglobal, LocalSize K)
-{
-	return Kglobal.m_K;
-}
-
-inline TypeTruncatedQuadratic2D::REAL TypeTruncatedQuadratic2D::Vector::GetArrayValue(GlobalSize Kglobal, LocalSize K, int k)
-{
-	assert(k>=0 && k<Kglobal.m_K);
-	return m_data[k];
-}
-
-inline void TypeTruncatedQuadratic2D::Vector::SetArrayValue(GlobalSize Kglobal, LocalSize K, int k, REAL x)
-{
-	assert(k>=0 && k<Kglobal.m_K);
-	m_data[k] = x;
-}
-
-///////////////////// EdgeDataAndMessage implementation /////////////////////////
-
-inline int TypeTruncatedQuadratic2D::Edge::GetSizeInBytes(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data)
-{
-	if (data.m_alphaX < 0 || data.m_alphaY < 0 || data.m_lambda < 0)
-	{
-		return -1;
-	}
-	return sizeof(Edge) - sizeof(Vector) + Kglobal.m_K*sizeof(REAL);
-}
-
-inline int TypeTruncatedQuadratic2D::Edge::GetBufSizeInBytes(int vectorMaxSizeInBytes)
-{
-	int K = vectorMaxSizeInBytes / sizeof(REAL);
-	return K*sizeof(REAL) + (2*K+1)*sizeof(int);
-}
-
-inline void TypeTruncatedQuadratic2D::Edge::Initialize(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj, EdgeData data, Vector* Di, Vector* Dj)
-{
-	m_alphaX = data.m_alphaX;
-	m_alphaY = data.m_alphaY;
-	m_lambda = data.m_lambda;
-	memset(m_message.m_data, 0, Kglobal.m_K*sizeof(REAL));
-}
-
-inline TypeTruncatedQuadratic2D::Vector* TypeTruncatedQuadratic2D::Edge::GetMessagePtr()
-{
-	return &m_message;
-}
-
-inline void TypeTruncatedQuadratic2D::Edge::Swap(GlobalSize Kglobal, LocalSize Ki, LocalSize Kj)
-{
-}
-
-inline TypeTruncatedQuadratic2D::REAL TypeTruncatedQuadratic2D::Edge::UpdateMessage(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Vector* source, REAL gamma, int dir, void* _buf)
-{
-	REAL* buf = (REAL*) _buf;
-	int* parabolas = (int*) ((char*)_buf + Kglobal.m_K*sizeof(REAL));
-	int* intersections = (int*) ((char*)_buf + Kglobal.m_K*(sizeof(REAL) + sizeof(int)));
-	Label k;
-	REAL vMin;
-	REAL* sourcePtr;
-	REAL* destPtr;
-
-	m_message.m_data[0] = gamma*source->m_data[0] - m_message.m_data[0];
-	vMin = m_message.m_data[0];
-
-	sourcePtr = source->m_data;
-	destPtr = m_message.m_data;
-	for (sourcePtr++, destPtr++ ; sourcePtr<&source->m_data[Kglobal.m_K]; sourcePtr++, destPtr++)
-	{
-		destPtr[0] = gamma*sourcePtr[0] - destPtr[0];
-		if (vMin > destPtr[0])
-		{
-			vMin = destPtr[0];
-		}
-	}
-
-	// distance transform in 'X' direction
-	for (k.m_ky=0; k.m_ky<Kglobal.m_KY; k.m_ky++)
-	{
-		DistanceTransformL2(Kglobal.m_KX, 1, m_alphaX, &m_message.m_data[k.m_ky*Kglobal.m_KX], buf+k.m_ky*Kglobal.m_KX, parabolas, intersections);
-	}
-
-	// distance transform in 'Y' direction
-	for (k.m_kx=0; k.m_kx<Kglobal.m_KX; k.m_kx++)
-	{
-		DistanceTransformL2(Kglobal.m_KY, Kglobal.m_KX, m_alphaY, buf+k.m_kx, &m_message.m_data[k.m_kx], parabolas, intersections);
-	}
-
-	for (destPtr=m_message.m_data; destPtr<&m_message.m_data[Kglobal.m_K]; destPtr++)
-	{
-		destPtr[0] -= vMin;
-		if (destPtr[0] > m_lambda)
-		{
-			destPtr[0] = m_lambda;
-		}
-	}
-
-	return vMin;
-}
-
-inline void TypeTruncatedQuadratic2D::Edge::AddColumn(GlobalSize Kglobal, LocalSize Ksource, LocalSize Kdest, Label ksource, Vector* dest, int dir)
-{
-	assert(ksource.m_kx>=0 && ksource.m_kx<Kglobal.m_KX && ksource.m_ky>=0 && ksource.m_ky<Kglobal.m_KY);
-
-	REAL* destPtr;
-	Label k;
-
-	destPtr = dest->m_data;
-	for (k.m_ky=0; k.m_ky<Kglobal.m_KY; k.m_ky++)
-	for (k.m_kx=0; k.m_kx<Kglobal.m_KX; k.m_kx++, destPtr++)
-	{
-		REAL cost = m_alphaX*(k.m_kx - ksource.m_kx)*(k.m_kx - ksource.m_kx)
-		          + m_alphaY*(k.m_ky - ksource.m_ky)*(k.m_ky - ksource.m_ky);
-		destPtr[0] += (cost < m_lambda) ? cost : m_lambda;
-	}
-}
-
-//////////////////////////////////////////////////////////////////////////////////
-
-
-
-inline void TypeTruncatedQuadratic2D::Edge::DistanceTransformL2(int K, int stride, REAL alpha, REAL* source, REAL* dest, int* parabolas, int* intersections)
-{
-	assert(alpha >= 0);
-
-	if (alpha == 0)
-	{
-		REAL* ptr;
-		REAL vMin = source[0];
-
-		for (ptr=source+stride; ptr<source+K*stride; ptr+=stride)
-		{
-			if (vMin > ptr[0])
-			{
-				vMin = ptr[0];
-			}
-		}
-		for (ptr=dest; ptr<dest+K*stride; ptr+=stride)
-		{
-			ptr[0] = vMin;
-		}
-		return;
-	}
-
-	int i, j, k, p;
-	int r = 0; // = number of parabolas minus 1
-	// parabolas[p] will be base of parabola p (0<=p<=r)
-	// intersections[p] will be intersection between parabolas p-1 and p (1<=p<=r)
-	// intersections[0] will be always 0
-	parabolas[0] = 0;
-	intersections[0] = 0;
-
-	for (i=1; i<K; i++)
-	{
-		while ( 1 )
-		{
-			j = parabolas[r]; // base of previous rightmost visible parabola
-			// k is intersection of parabolas i and j
-			k = (int) ( 1 + ( (i + j)  +  (source[stride*j] - source[stride*i]) / (alpha * (j - i)) ) / 2);
-			if (k >= K)
-			{
-				// i is not visible
-				break;
-			}
-			if (k < 0)
-			{
-				k = 0;
-			}
-
-			if (k > intersections[r])
-			{
-				// intersection is rightmost, add it to end
-				r ++;
-				parabolas[r] = i;
-				intersections[r] = k;
-				break;
-			}
-			// j is not visible
-			if (r == 0)
-			{
-				parabolas[0] = i;
-				break;
-			}
-			r --;
-		}
-	}
-
-	intersections[r + 1] = K;
-
-	i = 0;
-	for (p=0; p<=r; p++)
-	{
-		j = parabolas[p];
-		// i values in [intersections[p], intersections[p+1]) are assigned to j
-		for ( ; i<intersections[p+1]; i++)
-		{
-			dest[stride*i] = source[stride*j] + alpha*(i-j)*(i-j);
-		}
-	}
-}
-
-#endif

From 7b016221424556e4b6971e170848fc39f00ff00b Mon Sep 17 00:00:00 2001
From: cdc <cdc.seacave@gmail.com>
Date: Sat, 27 Jul 2024 16:54:35 +0300
Subject: [PATCH 242/252] build: update CI

---
 .github/workflows/continuous_integration.yml | 18 ++++++++++++------
 build/Utils.cmake                            |  3 +++
 2 files changed, 15 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/continuous_integration.yml b/.github/workflows/continuous_integration.yml
index 94e1b985d..861a054dd 100644
--- a/.github/workflows/continuous_integration.yml
+++ b/.github/workflows/continuous_integration.yml
@@ -32,33 +32,39 @@ jobs:
             triplet: x64-linux-release
             build-type: Release
           - os: macos-latest
-            triplet: x64-osx
+            triplet: arm64-osx
             build-type: Release
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Restore artifacts, or setup vcpkg for building artifacts
         uses: lukka/run-vcpkg@v11
         with:
           vcpkgDirectory: '${{ github.workspace }}/vcpkg'
-          vcpkgGitCommitId: '4a3c366f2d0d0eaf034bfa649124768df7cfe813'
+          vcpkgGitCommitId: '1de2026f28ead93ff1773e6e680387643e914ea1'
 
       - name: Install Ubuntu dependencies
         if: matrix.os == 'ubuntu-latest'
         run: |
           sudo apt-get update -y
-          sudo apt-get install -y autoconf-archive libxmu-dev libdbus-1-dev libxtst-dev libxi-dev libxinerama-dev libxcursor-dev xorg-dev libgl-dev libglu1-mesa-dev pkg-config
+          sudo apt-get install -y autoconf-archive libxmu-dev libdbus-1-dev libxtst-dev libxi-dev libxinerama-dev libxcursor-dev xorg-dev libgl-dev libglu1-mesa-dev pkg-config ninja-build
 
       - name: Install macOS dependencies
         if: matrix.os == 'macOS-latest'
         run: |
-          brew install automake autoconf-archive
+          brew install automake autoconf autoconf-archive libtool ninja
 
-      - name: Configure CMake
+      - name: Configure CMake for Windows
+        if: matrix.os == 'windows-latest'
         run: |
           cmake -S . -B make -DCMAKE_BUILD_TYPE=${{ matrix.build-type }} -DVCPKG_TARGET_TRIPLET=${{ matrix.triplet }} -DOpenMVS_USE_CUDA=OFF
 
+      - name: Configure CMake for Ubuntu and macOS
+        if: matrix.os != 'windows-latest'
+        run: |
+          cmake -S . -B make -DCMAKE_BUILD_TYPE=${{ matrix.build-type }} -DVCPKG_TARGET_TRIPLET=${{ matrix.triplet }} -DOpenMVS_USE_CUDA=OFF -G Ninja
+
       - name: Build
         working-directory: ./make
         run: |
diff --git a/build/Utils.cmake b/build/Utils.cmake
index 86d3430d4..6f724b2b4 100644
--- a/build/Utils.cmake
+++ b/build/Utils.cmake
@@ -496,6 +496,9 @@ macro(optimize_default_compiler_settings)
 		add_extra_compiler_option(-Wno-unnamed-type-template-args)
 		add_extra_compiler_option(-Wno-int-in-bool-context)
 		add_extra_compiler_option(-Wno-deprecated-declarations)
+		add_extra_compiler_option(-Wno-deprecated-anon-enum-enum-conversion)
+		add_extra_compiler_option(-Wno-deprecated-enum-compare-conditional)
+		add_extra_compiler_option(-Wno-deprecated-enum-enum-conversion)
 	  endif()
 	  add_extra_compiler_option(-fdiagnostics-show-option)
 	  add_extra_compiler_option(-ftemplate-backtrace-limit=0)

From b2a0d93c021dc8b069b49c984a04861a964a676f Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 31 Jul 2024 10:19:29 +0300
Subject: [PATCH 243/252] dense: automatic caching of depth-maps

---
 libs/Common/List.h        |   9 +-
 libs/Common/ListFIFO.h    | 115 ++++++++++++++++
 libs/Common/Types.h       |   5 +
 libs/Common/Types.inl     |  16 ++-
 libs/Common/Util.cpp      |  97 ++++++++------
 libs/Common/Util.h        |  10 ++
 libs/MVS/Camera.h         |   4 +
 libs/MVS/DMapCache.cpp    | 128 ++++++++++++++++++
 libs/MVS/DMapCache.h      | 115 ++++++++++++++++
 libs/MVS/DepthMap.cpp     |  19 +++
 libs/MVS/DepthMap.h       |   3 +
 libs/MVS/Scene.cpp        |   8 +-
 libs/MVS/SceneDensify.cpp | 268 +++++++++++++++++++++++++-------------
 libs/MVS/SceneDensify.h   |   2 +
 14 files changed, 662 insertions(+), 137 deletions(-)
 create mode 100644 libs/Common/ListFIFO.h
 create mode 100644 libs/MVS/DMapCache.cpp
 create mode 100644 libs/MVS/DMapCache.h

diff --git a/libs/Common/List.h b/libs/Common/List.h
index fbe108dfb..8725a2f5a 100644
--- a/libs/Common/List.h
+++ b/libs/Common/List.h
@@ -1257,10 +1257,15 @@ class cList
 	{
 		ASSERT(newVectorSize > _vectorSize);
 		// grow by 50% or at least to minNewVectorSize
-		const IDX expoVectorSize(_vectorSize + (_vectorSize>>1));
+		IDX expoVectorSize(_vectorSize + (_vectorSize>>1));
+		// cap growth for very large vectors
+		const IDX maxGrowCapacity(3*1024*1024*1024ull/*3GB*/);
+		const IDX growCapacity((expoVectorSize - _vectorSize) * sizeof(TYPE));
+		if (growCapacity > maxGrowCapacity)
+			expoVectorSize = _vectorSize + maxGrowCapacity / sizeof(TYPE);
+		// allocate a larger chunk of memory, copy the data and delete the old chunk
 		if (newVectorSize < expoVectorSize)
 			newVectorSize = expoVectorSize;
-		// allocate a larger chunk of memory, copy the data and delete the old chunk
 		TYPE* const tmp(_vector);
 		_vector = (TYPE*) operator new[] (newVectorSize * sizeof(TYPE));
 		_ArrayMoveConstruct<true>(_vector, tmp, _size);
diff --git a/libs/Common/ListFIFO.h b/libs/Common/ListFIFO.h
new file mode 100644
index 000000000..94a79dd58
--- /dev/null
+++ b/libs/Common/ListFIFO.h
@@ -0,0 +1,115 @@
+/*
+* ListFIFO.h
+*
+* Copyright (c) 2014-2024 SEACAVE
+*
+* Author(s):
+*
+*      cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*      You are required to preserve legal notices and author attributions in
+*      that material or in the Appropriate Legal Notices displayed by works
+*      containing it.
+*/
+
+#pragma once
+#ifndef _MVS_LISTFIFO_H_
+#define _MVS_LISTFIFO_H_
+
+
+// I N C L U D E S /////////////////////////////////////////////////
+
+#include <list>
+#include <unordered_map>
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+namespace SEACAVE {
+
+// Tracks accesses of some hash-able type T and records the least recently accessed.
+template<typename T>
+class ListFIFO {
+public:
+	// add or move an key to the front
+	void Put(const T& key) {
+		const auto it = map.find(key);
+		if (it != map.end()) {
+			// if key exists, remove it from its current position
+			order.erase(it->second);
+		}
+		// add the key to the front
+		order.push_front(key);
+		map[key] = order.begin();
+	}
+
+	// remove and return the least used key (from the back)
+	T Pop() {
+		ASSERT(!IsEmpty());
+		const T leastUsed = order.back();
+		order.pop_back();
+		map.erase(leastUsed);
+		return leastUsed;
+	}
+
+	// return the least used key (from the back)
+	const T& Back() {
+		ASSERT(!IsEmpty());
+		return order.back();
+	}
+
+	// check if the list is empty
+	bool IsEmpty() const {
+		return order.empty();
+	}
+
+	// get the size of the list
+	size_t Size() const {
+		return order.size();
+	}
+
+	// return true if the key is in the list
+	bool Contains(const T& key) const {
+		return map.find(key) != map.end();
+	}
+
+	// return the keys currently in cache
+	const std::list<T>& GetCachedValues() const {
+		return order;
+	}
+
+	// print the current order of elements
+	void PrintOrder() const {
+		std::cout << "Current order: ";
+		for (const auto& element : order) {
+			std::cout << element << " ";
+		}
+		std::cout << std::endl;
+	}
+
+private:
+	std::list<T> order;
+	std::unordered_map<T, typename std::list<T>::iterator> map;
+};
+/*----------------------------------------------------------------*/
+
+} // namespace SEACAVE
+
+#endif
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index 0aa955aa4..a0923b2b7 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -59,14 +59,17 @@
 #include <set>
 #include <unordered_map>
 #include <unordered_set>
+#include <optional>
 #include <vector>
 #include <list>
 #include <queue>
 #include <deque>
 #include <iterator>
+#include <chrono>
 #include <cmath>
 #include <ctime>
 #include <random>
+#include <thread>
 #ifdef _USE_OPENMP
 #include <omp.h>
 #endif
@@ -1604,6 +1607,8 @@ class TDMatrix : public cv::Mat_<TYPE>
 	inline size_t elem_stride() const { ASSERT(dims == 2 && step[1] == sizeof(TYPE)); return step[1]; }
 	/// Compute the area of the 2D matrix
 	inline int area() const { ASSERT(dims == 2); return cols*rows; }
+	/// Compute the memory size of this matrix (in bytes)
+	inline size_t memory_size() const { return cv::Mat::total() * cv::Mat::elemSize(); }
 
 	/// Is this coordinate inside the 2D matrix?
 	template <typename T>
diff --git a/libs/Common/Types.inl b/libs/Common/Types.inl
index b2d6ed292..360a7c0f1 100644
--- a/libs/Common/Types.inl
+++ b/libs/Common/Types.inl
@@ -13,7 +13,6 @@
 
 namespace std {
 
-//namespace tr1 {
 // Specializations for unordered containers
 template <> struct hash<SEACAVE::ImageRef>
 {
@@ -23,7 +22,20 @@ template <> struct hash<SEACAVE::ImageRef>
 		return std::hash<uint64_t>()((const uint64_t&)v);
 	}
 };
-//} // namespace tr1
+
+// Adds the given key-value pair in the map, overwriting the current value if the key exists
+template <typename Key, typename T>
+void MapPut(std::map<Key, T>* map, const Key& key, const T& value) {
+	auto result = map->emplace(key, value);
+	if (!result.second)
+		result.first->second = value;
+}
+template <typename Key, typename T>
+void MapPut(std::unordered_map<Key, T>* map, const Key& key, const T& value) {
+	auto result = map->emplace(key, value);
+	if (!result.second)
+		result.first->second = value;
+}
 
 } // namespace std
 
diff --git a/libs/Common/Util.cpp b/libs/Common/Util.cpp
index 1ae22cb66..176d43508 100644
--- a/libs/Common/Util.cpp
+++ b/libs/Common/Util.cpp
@@ -264,48 +264,12 @@ String Util::GetCPUInfo()
 	#endif
 	return cpu;
 }
-/*----------------------------------------------------------------*/
 
 String Util::GetRAMInfo()
 {
-	#if defined(_MSC_VER)
-
-	#ifdef _WIN64
-	MEMORYSTATUSEX memoryStatus;
-	memset(&memoryStatus, sizeof(MEMORYSTATUSEX), 0);
-	memoryStatus.dwLength = sizeof(memoryStatus);
-	::GlobalMemoryStatusEx(&memoryStatus);
-	const size_t nTotalPhys((size_t)memoryStatus.ullTotalPhys);
-	const size_t nTotalVirtual((size_t)memoryStatus.ullTotalVirtual);
-	#else
-	MEMORYSTATUS memoryStatus;
-	memset(&memoryStatus, sizeof(MEMORYSTATUS), 0);
-	memoryStatus.dwLength = sizeof(MEMORYSTATUS);
-	::GlobalMemoryStatus(&memoryStatus);
-	const size_t nTotalPhys((size_t)memoryStatus.dwTotalPhys);
-	const size_t nTotalVirtual((size_t)memoryStatus.dwTotalVirtual);
-	#endif
-
-	#elif defined(__APPLE__)
-
-	int mib[2] = {CTL_HW, HW_MEMSIZE};
-	const unsigned namelen = sizeof(mib) / sizeof(mib[0]);
-	size_t len = sizeof(size_t);
-	size_t nTotalPhys;
-	sysctl(mib, namelen, &nTotalPhys, &len, NULL, 0);
-	const size_t nTotalVirtual(nTotalPhys);
-
-	#else // __GNUC__
-
-	struct sysinfo info;
-	sysinfo(&info);
-	const size_t nTotalPhys((size_t)info.totalram);
-	const size_t nTotalVirtual((size_t)info.totalswap);
-
-	#endif // _MSC_VER
-	return formatBytes(nTotalPhys) + _T(" Physical Memory ") + formatBytes(nTotalVirtual) + _T(" Virtual Memory");
+	const MemoryInfo memInfo(GetMemoryInfo());
+	return formatBytes(memInfo.totalPhysical) + _T(" Physical Memory ") + formatBytes(memInfo.totalVirtual) + _T(" Virtual Memory");
 }
-/*----------------------------------------------------------------*/
 
 String Util::GetOSInfo()
 {
@@ -430,7 +394,6 @@ String Util::GetOSInfo()
 
 	#endif // _MSC_VER
 }
-/*----------------------------------------------------------------*/
 
 String Util::GetDiskInfo(const String& path)
 {
@@ -734,6 +697,62 @@ void Util::LogMemoryInfo()
 #endif // _PLATFORM_X86
 
 
+
+// get the total & free physical & virtual memory (in bytes)
+Util::MemoryInfo Util::GetMemoryInfo()
+{
+	#if defined(_MSC_VER)                   // windows
+
+	#ifdef _WIN64
+	MEMORYSTATUSEX status;
+	status.dwLength = sizeof(MEMORYSTATUSEX);
+	if (::GlobalMemoryStatusEx(&status) == FALSE) {
+		ASSERT(false);
+		return MemoryInfo();
+	}
+	return MemoryInfo(status.ullTotalPhys, status.ullAvailPhys, status.ullTotalVirtual, status.ullAvailVirtual);
+	#else
+	MEMORYSTATUS status;
+	status.dwLength = sizeof(MEMORYSTATUS);
+	if (::GlobalMemoryStatus(&status) == FALSE) {
+		ASSERT(false);
+		return MemoryInfo();
+	}
+	return MemoryInfo(status.dwTotalPhys, status.dwAvailPhys, status.dwTotalVirtual, status.dwAvailVirtual);
+	#endif
+
+
+	#elif defined(__APPLE__)                // mac
+
+	int mib[2] ={CTL_HW, HW_MEMSIZE};
+	u_int namelen = sizeof(mib) / sizeof(mib[0]);
+	size_t len = sizeof(size_t);
+	size_t total_mem;
+	if (sysctl(mib, namelen, &total_mem, &len, NULL, 0) < 0) {
+		ASSERT(false);
+		return MemoryInfo();
+	}
+	return MemoryInfo(total_mem);
+
+	#else // __GNUC__                       // linux
+
+	struct sysinfo info;
+	if (sysinfo(&info) != 0) {
+		ASSERT(false);
+		return MemoryInfo();
+	}
+	return MemoryInfo(
+		(size_t)info.totalram*(size_t)info.mem_unit,
+		(size_t)info.freeram*(size_t)info.mem_unit,
+		(size_t)info.totalswap*(size_t)info.mem_unit,
+		(size_t)info.freeswap*(size_t)info.mem_unit
+	);
+
+	#endif
+}
+/*----------------------------------------------------------------*/
+
+
 // Parses a ASCII command line string and returns an array of pointers to the command line arguments,
 // along with a count of such arguments, in a way that is similar to the standard C run-time
 // argv and argc values.
diff --git a/libs/Common/Util.h b/libs/Common/Util.h
index fd313f903..0f6af868b 100644
--- a/libs/Common/Util.h
+++ b/libs/Common/Util.h
@@ -759,6 +759,16 @@ class GENERAL_API Util
 	static void		LogBuild();
 	static void		LogMemoryInfo();
 
+	struct MemoryInfo {
+		size_t totalPhysical;
+		size_t freePhysical;
+		size_t totalVirtual;
+		size_t freeVirtual;
+		MemoryInfo(size_t tP = 0, size_t fP = 0, size_t tV = 0, size_t fV = 0)
+			: totalPhysical(tP), freePhysical(fP), totalVirtual(tV), freeVirtual(fV) {}
+	};
+	static MemoryInfo GetMemoryInfo();
+
 	static LPSTR* CommandLineToArgvA(LPCSTR CmdLine, size_t& _argc);
 	static String CommandLineToString(size_t argc, LPCTSTR* argv) {
 		String strCmdLine;
diff --git a/libs/MVS/Camera.h b/libs/MVS/Camera.h
index edb9b00d4..8e4c186fe 100644
--- a/libs/MVS/Camera.h
+++ b/libs/MVS/Camera.h
@@ -437,6 +437,10 @@ class MVS_API Camera : public CameraIntern
 
 	// compute the projection scale in this camera of the given world point
 	template <typename TYPE>
+	inline TYPE GetFootprintImage(TYPE depth) const {
+		return static_cast<TYPE>(GetFocalLength() / depth);
+	}
+	template <typename TYPE>
 	inline TYPE GetFootprintImage(const TPoint3<TYPE>& X) const {
 		#if 0
 		const TYPE fSphereRadius(1);
diff --git a/libs/MVS/DMapCache.cpp b/libs/MVS/DMapCache.cpp
new file mode 100644
index 000000000..4c2f56ed1
--- /dev/null
+++ b/libs/MVS/DMapCache.cpp
@@ -0,0 +1,128 @@
+/*
+* DMapCache.cpp
+*
+* Copyright (c) 2014-2024 SEACAVE
+*
+* Author(s):
+*
+*      cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*      You are required to preserve legal notices and author attributions in
+*      that material or in the Appropriate Legal Notices displayed by works
+*      containing it.
+*/
+
+#include "Common.h"
+#include "DMapCache.h"
+
+using namespace MVS;
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+DMapCache::DMapCache(DepthDataArr& _arrDepthData, unsigned _loadFlags, size_t _max_memory_bytes)
+	:
+	loadFlags(_loadFlags), arrDepthData(_arrDepthData),
+	maxMemory(_max_memory_bytes), disabledMaxMemory(0), usedMemory(0),
+	skipMemoryCheckIdxImage(NO_ID), numImageRead(0)
+{
+}
+
+void DMapCache::SetMaxMemory(size_t max_memory_bytes) {
+	maxMemory = max_memory_bytes;
+	ASSERT(skipMemoryCheckIdxImage == NO_ID);
+	Eject();
+}
+
+bool DMapCache::UseImage(IIndex idxImage) const {
+	ASSERT(idxImage < arrDepthData.size());
+	std::lock_guard<std::mutex> guard(mutex);
+	ASSERT(arrDepthData[idxImage].IsValid());
+	if (!arrDepthData[idxImage].IsEmpty()) {
+		fifo.Put(idxImage);
+		return false;
+	}
+	mutex.unlock();
+	const String fileName(ComposeDepthFilePath(arrDepthData[idxImage].GetView().GetID(), "dmap"));
+	while (!std::filesystem::is_regular_file(static_cast<const std::string&>(fileName)))
+		std::this_thread::sleep_for(std::chrono::milliseconds(100));
+	arrDepthData[idxImage].Load(fileName, loadFlags);
+	ASSERT(!arrDepthData[idxImage].IsEmpty());
+	mutex.lock();
+	++numImageRead;
+	usedMemory += arrDepthData[idxImage].GetMemorySize();
+	fifo.Put(idxImage);
+	Eject();
+	return true;
+}
+
+IIndexArr DMapCache::GetCachedImageIndices(bool ordered) const {
+	std::lock_guard<std::mutex> guard(mutex);
+	IIndexArr cachedImageIndices;
+	FOREACH(idxImage, arrDepthData)
+		if (!arrDepthData[idxImage].IsEmpty())
+			cachedImageIndices.push_back(idxImage);
+	if (ordered)
+		cachedImageIndices.Sort();
+	return cachedImageIndices;
+}
+
+bool DMapCache::IsImageCached(IIndex idxImage) const {
+	return fifo.Contains(idxImage);
+}
+
+void DMapCache::ClearCache() {
+	std::lock_guard<std::mutex> guard(mutex);
+	skipMemoryCheckIdxImage = NO_ID;
+	while (!IsEmpty())
+		EjectOldest();
+}
+
+size_t DMapCache::ComputeUsedMemory() const {
+	std::lock_guard<std::mutex> guard(mutex);
+	size_t computedUsedMemory = 0;
+	for (const auto& depthData : arrDepthData)
+		if (!depthData.IsEmpty())
+			computedUsedMemory += depthData.GetMemorySize();
+	ASSERT(computedUsedMemory == usedMemory);
+	return computedUsedMemory;
+}
+
+bool DMapCache::Eject() const {
+	if (maxMemory == 0)
+		return true;
+	while (usedMemory > maxMemory) {
+		if (!EjectOldest())
+			return false;
+	}
+	return true;
+}
+
+bool DMapCache::EjectOldest() const {
+	ASSERT(!fifo.IsEmpty());
+	if (fifo.Back() == skipMemoryCheckIdxImage)
+		return false;
+	const IIndex idxImage = fifo.Pop();
+	usedMemory -= arrDepthData[idxImage].GetMemorySize();
+	// release the depth-data; no need to save the depth-data to disk as it is already saved
+	arrDepthData[idxImage].Release();
+	return true;
+}
+/*----------------------------------------------------------------*/
diff --git a/libs/MVS/DMapCache.h b/libs/MVS/DMapCache.h
new file mode 100644
index 000000000..83834fc94
--- /dev/null
+++ b/libs/MVS/DMapCache.h
@@ -0,0 +1,115 @@
+/*
+* DMapCache.h
+*
+* Copyright (c) 2014-2024 SEACAVE
+*
+* Author(s):
+*
+*      cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*      You are required to preserve legal notices and author attributions in
+*      that material or in the Appropriate Legal Notices displayed by works
+*      containing it.
+*/
+
+#pragma once
+#ifndef _MVS_DMAPCACHE_H_
+#define _MVS_DMAPCACHE_H_
+
+
+// I N C L U D E S /////////////////////////////////////////////////
+
+#include "DepthMap.h"
+#include "../Common/ListFIFO.h"
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+namespace MVS {
+
+// Caches depth-maps to disk.
+class DMapCache {
+public:
+	explicit DMapCache(DepthDataArr& arrDepthData, unsigned loadFlags, size_t max_memory_bytes);
+
+	// check if the list is empty
+	bool IsEmpty() const { ASSERT((usedMemory == 0) == fifo.IsEmpty()); return fifo.IsEmpty(); }
+
+	// set the maximum memory usage (in bytes)
+	void SetMaxMemory(size_t max_memory_bytes = 0/*unlimited*/);
+
+	// enable/disable memory usage
+	void DisableMemoryCheck() { disabledMaxMemory = maxMemory; maxMemory = 0; }
+	void EnableMemoryCheck() { if (disabledMaxMemory) { maxMemory = disabledMaxMemory; disabledMaxMemory = 0; Eject(); } }
+
+	// skip memory check if this image index is to be ejected
+	void SkipMemoryCheckIdxImage(IIndex idxImage = NO_ID) { skipMemoryCheckIdxImage = idxImage; }
+
+	// ensure the depth-data is loaded and mark it as recently used:
+	// return true if the image was loaded from disk
+	bool UseImage(IIndex idxImage) const;
+
+	// get the image indices loaded in cache.
+	IIndexArr GetCachedImageIndices(bool ordered = false) const;
+
+	// return true if the key is in the cache
+	bool IsImageCached(IIndex idxImage) const;
+
+	// get the number of times images were read from disk
+	uint32_t GetNumImageReads() const { return numImageRead; }
+
+	// eject all images from the cache
+	void ClearCache();
+
+	// get the current memory usage (in bytes)
+	size_t GetUsedMemory() const { return usedMemory; }
+	size_t ComputeUsedMemory() const;
+
+private:
+	// eject the least recently used images if the cache size is above max-limit
+	bool Eject() const;
+	// eject the least recently used image
+	bool EjectOldest() const;
+
+private:
+	unsigned loadFlags;
+	DepthDataArr& arrDepthData;
+
+	// maximum and used memory (in bytes)
+	size_t maxMemory, disabledMaxMemory;
+	mutable size_t usedMemory;
+
+	// index of the image to skip memory check
+	IIndex skipMemoryCheckIdxImage;
+
+	// guard access to variables that are dynamically loaded from disk
+	mutable std::mutex mutex;
+
+	// track which images are last accessed
+	mutable ListFIFO<IIndex> fifo;
+
+	// number of times images were read from disk (debug only)
+	mutable uint32_t numImageRead;
+};
+/*----------------------------------------------------------------*/
+
+} // namespace MVS
+
+#endif
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 0a99d48b2..db39d19f5 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -129,6 +129,7 @@ DepthData::DepthData(const DepthData& srcDepthData) :
 	confMap(srcDepthData.confMap),
 	dMin(srcDepthData.dMin),
 	dMax(srcDepthData.dMax),
+	size(srcDepthData.size),
 	references(srcDepthData.references)
 {}
 
@@ -261,6 +262,7 @@ bool DepthData::Load(const String& fileName, unsigned flags)
 		return false;
 	ASSERT(!IsValid() || (IDs.size() == images.size() && IDs.front() == GetView().GetID()));
 	ASSERT(depthMap.size() == imageSize);
+	ASSERT(depthMap.size() == size);
 	return true;
 }
 /*----------------------------------------------------------------*/
@@ -290,6 +292,23 @@ unsigned DepthData::DecRef()
 /*----------------------------------------------------------------*/
 
 
+// Compute the memory size occupied by the depth-data images (in bytes)
+size_t MVS::DepthData::GetMemorySize() const
+{
+	if (IsEmpty())
+		return 0;
+	size_t nBytes = depthMap.memory_size();
+	if (!normalMap.empty())
+		nBytes += normalMap.memory_size();
+	if (!confMap.empty())
+		nBytes += confMap.memory_size();
+	if (!viewsMap.empty())
+		nBytes += viewsMap.memory_size();
+	return nBytes;
+}
+/*----------------------------------------------------------------*/
+
+
 
 // S T R U C T S ///////////////////////////////////////////////////
 
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 3bbd77c44..a5fabf2c8 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -214,6 +214,7 @@ struct MVS_API DepthData {
 	ConfidenceMap confMap; // confidence-map
 	ViewsMap viewsMap; // view-IDs map (indexing images vector starting after first view)
 	float dMin, dMax; // global depth range for this image
+	cv::Size size; // image size used to estimate this depth-map
 	unsigned references; // how many times this depth-map is referenced (on 0 can be safely unloaded)
 	CriticalSection cs; // used to count references
 
@@ -255,6 +256,8 @@ struct MVS_API DepthData {
 	unsigned IncRef(const String& fileName);
 	unsigned DecRef();
 
+	size_t GetMemorySize() const;
+
 	#ifdef _USE_BOOST
 	// implement BOOST serialization
 	template<class Archive>
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 0434395e0..5df98349f 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -845,15 +845,19 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 		++nPoints;
 		// score shared views
 		const Point3f V1(imageData.camera.C - Cast<REAL>(point));
-		const float footprint1(imageData.camera.GetFootprintImage(point));
+		const float footprint1(imageData.camera.GetFootprintImage(depth));
 		for (const PointCloud::View& view: views) {
 			if (view == ID)
 				continue;
 			const Image& imageData2 = images[view];
+			const Depth depth2((float)imageData2.camera.PointDepth(point));
+			ASSERT(depth2 > 0);
+			if (depth2 <= 0)
+				continue;
 			const Point3f V2(imageData2.camera.C - Cast<REAL>(point));
 			const float fAngle(ACOS(ComputeAngle(V1.ptr(), V2.ptr())));
 			const float wAngle(EXP(SQUARE(fAngle-fOptimAngle)*(fAngle<fOptimAngle?sigmaAngleSmall:sigmaAngleLarge)));
-			const float footprint2(imageData2.camera.GetFootprintImage(point));
+			const float footprint2(imageData2.camera.GetFootprintImage(depth2));
 			const float fScaleRatio(footprint1/footprint2);
 			float wScale;
 			if (fScaleRatio > 1.6f)
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 372e26057..157259331 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -33,6 +33,7 @@
 #include "Scene.h"
 #include "SceneDensify.h"
 #include "PatchMatchCUDA.h"
+#include "DMapCache.h"
 
 using namespace MVS;
 
@@ -242,6 +243,7 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 	viewRef.camera = viewRef.pImageData->camera;
 	if (loadImages)
 		viewRef.pImageData->image.toGray(viewRef.image, cv::COLOR_BGR2GRAY, true);
+	depthData.size = viewRef.pImageData->image.size();
 
 	// initialize views
 	for (IIndex i=1; i<depthData.images.size(); ++i) {
@@ -1169,6 +1171,59 @@ bool DepthMapsData::FilterDepthMap(DepthData& depthDataRef, const IIndexArr& idx
 /*----------------------------------------------------------------*/
 
 
+// estimate normal-maps based on the depth-maps;
+// loads and saves the depth-data from/to disk
+void DepthMapsData::EstimateNormalMaps()
+{
+	#ifdef DENSE_USE_OPENMP
+	bool bAbort(false);
+	#pragma omp parallel for shared(bAbort)
+	for (int64_t i=0; i<(int64_t)scene.images.size(); ++i) {
+		#pragma omp flush (bAbort)
+		if (bAbort)
+			continue;
+		const IIndex idxImage((IIndex)i);
+	#else
+	FOREACH(idxImage, scene.images) {
+	#endif
+		DepthData& depthData = arrDepthData[idxImage];
+		if (!depthData.IsValid())
+			continue;
+		const String fileName(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"));
+		const bool bEmpty(depthData.IsEmpty());
+		if (bEmpty && !depthData.Load(fileName)) {
+			#ifdef DENSE_USE_OPENMP
+			bAbort = true;
+			#pragma omp flush (bAbort)
+			continue;
+			#else
+			return;
+			#endif
+		}
+		ASSERT(!depthData.IsEmpty());
+		ASSERT(!scene.images[idxImage].neighbors.empty());
+		if (depthData.normalMap.empty()) {
+			EstimateNormalMap(depthData.images.front().camera.K, depthData.depthMap, depthData.normalMap);
+			if (!depthData.Save(fileName)) {
+				#ifdef DENSE_USE_OPENMP
+				bAbort = true;
+				#pragma omp flush (bAbort)
+				continue;
+				#else
+				return;
+				#endif
+			}
+		}
+		if (bEmpty)
+			depthData.Release();
+	}
+	#ifdef DENSE_USE_OPENMP
+	if (bAbort)
+		return;
+	#endif
+} // EstimateNormalMaps
+
+
 // fuse all depth-maps by simply projecting them in a 3D point cloud
 // in the world coordinate space
 void DepthMapsData::MergeDepthMaps(PointCloud& pointcloud, bool bEstimateColor, bool bEstimateNormal)
@@ -1200,6 +1255,8 @@ void DepthMapsData::MergeDepthMaps(PointCloud& pointcloud, bool bEstimateColor,
 		if (depthData.IncRef(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap")) == 0)
 			return;
 		ASSERT(!depthData.IsEmpty());
+		if (bEstimateNormal && depthData.normalMap.empty())
+			EstimateNormalMaps();
 		const DepthData::ViewData& image = depthData.GetView();
 		const size_t nNumPointsPrev(pointcloud.points.size());
 		for (int i=0; i<depthData.depthMap.rows; ++i) {
@@ -1235,6 +1292,70 @@ void DepthMapsData::MergeDepthMaps(PointCloud& pointcloud, bool bEstimateColor,
 } // MergeDepthMaps
 /*----------------------------------------------------------------*/
 
+
+// compute available memory to be used for depth-data caching
+//  - numDMapsReserveFusion: maximum number of depth-maps for which to reserve memory for fusion
+size_t GetAvailableMemory(const DepthDataArr& arrDepthData, const std::unordered_set<unsigned>& fusedDMaps, IIndex numDMapsReserveFusion, size_t currentCacheMemory = 0)
+{
+	size_t resolution(0);
+	IIndex numDMaps(0);
+	FOREACH(idxImage, arrDepthData) {
+		const DepthData& depthData = arrDepthData[idxImage];
+		if (!depthData.IsValid())
+			continue;
+		if (fusedDMaps.count(idxImage))
+			continue;
+		resolution += depthData.size.area();
+		if (++numDMaps >= numDMapsReserveFusion)
+			break;
+	}
+	if (numDMaps == 0)
+		return 0;
+	const Util::MemoryInfo memInfo(Util::GetMemoryInfo());
+	const size_t neededPointCloudMemory(ROUND2INT<size_t>(resolution * (1/*depth*/+1/*color*/+3/*normal*/+1/*confidence*/) * 4/*bytes*/ * 0.35/*unique pixels per depth-map*/));
+	const size_t freeMemory(currentCacheMemory + memInfo.freePhysical);
+	const size_t safetyMemory(MAXF(ROUND2INT<size_t>(memInfo.totalPhysical * 0.08), size_t(1*1024*1024*1024ull)/*1GB*/));
+	const size_t neededMemory(neededPointCloudMemory + safetyMemory);
+	const size_t minDMapsMemory(resolution / numDMaps * 8/*min dmaps in memory*/ * (1/*depth*/ + 3/*normal*/ + 1/*confidence*/) * 4/*bytes*/);
+	if (freeMemory < neededMemory) {
+		DEBUG("warning: not enough memory to cache depth-maps (%luMB needed, %luMB available)", neededMemory/1024/1024, freeMemory/1024/1024);
+		return MINF(currentCacheMemory, minDMapsMemory);
+	}
+	return freeMemory - neededMemory;
+} // GetAvailableMemory
+
+// finds the best depth-map to fuse next that maximizes the number of neighbors already in cache
+std::tuple<unsigned, unsigned, unsigned> FetchBestNextDMapIndex(const DepthDataArr& arrDepthData, DMapCache& cacheDMaps, std::unordered_set<unsigned>& fusedDMaps) {
+	const IIndexArr cachedImages = cacheDMaps.GetCachedImageIndices(true);
+	IIndex bestImageIdx = NO_ID;
+	unsigned bestImageScore = 0, bestImageSize = std::numeric_limits<unsigned>::max();
+	FOREACH(idxImage, arrDepthData) {
+		const DepthData& depthData = arrDepthData[idxImage];
+		if (!depthData.IsValid())
+			continue;
+		if (fusedDMaps.count(idxImage))
+			continue;
+		ASSERT(!depthData.neighbors.empty());
+		IIndexArr cachedNeighbors;
+		if (!cachedImages.empty()) {
+			IIndexArr neighbors(0, depthData.neighbors.size());
+			for (ViewScore& neighbor: depthData.neighbors)
+				neighbors.push_back(neighbor.ID);
+			neighbors.Sort();
+			std::set_intersection(neighbors.begin(), neighbors.end(),
+				cachedImages.begin(), cachedImages.end(),
+				std::back_inserter(cachedNeighbors));
+		}
+		if (bestImageScore < cachedNeighbors.size() ||
+			(bestImageScore == cachedNeighbors.size() && bestImageSize > depthData.neighbors.size())) {
+			bestImageScore = cachedNeighbors.size();
+			bestImageSize = depthData.neighbors.size();
+			bestImageIdx = idxImage;
+		}
+	}
+	return std::make_tuple(bestImageIdx, bestImageScore, static_cast<unsigned>(cachedImages.size()));
+} // FetchBestNextDMapIndex
+
 // fuse all valid depth-maps in the same 3D point cloud;
 // join points very likely to represent the same 3D point and
 // filter out points blocking the view
@@ -1257,121 +1378,81 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 	typedef SEACAVE::cList<Proj,const Proj&,0,4,uint32_t> ProjArr;
 	typedef SEACAVE::cList<ProjArr,const ProjArr&,1,65536> ProjsArr;
 
-	// find best connected images
-	IndexScoreArr connections(scene.images.size());
-	size_t nPointsEstimate(0);
-	bool bNormalMap(true);
-	#ifdef DENSE_USE_OPENMP
-	bool bAbort(false);
-	#pragma omp parallel for shared(connections, nPointsEstimate, bNormalMap, bAbort)
-	for (int64_t i=0; i<(int64_t)scene.images.size(); ++i) {
-		#pragma omp flush (bAbort)
-		if (bAbort)
-			continue;
-		const IIndex idxImage((IIndex)i);
-	#else
-	FOREACH(idxImage, scene.images) {
-	#endif
-		IndexScore& connection = connections[idxImage];
-		DepthData& depthData = arrDepthData[idxImage];
-		if (!depthData.IsValid()) {
-			connection.idx = NO_ID;
-			connection.score = 0;
-			continue;
-		}
-		const String fileName(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"));
-		if (depthData.IncRef(fileName) == 0) {
-			#ifdef DENSE_USE_OPENMP
-			bAbort = true;
-			#pragma omp flush (bAbort)
-			continue;
-			#else
-			return;
-			#endif
-		}
-		ASSERT(!depthData.IsEmpty());
-		connection.idx = idxImage;
-		connection.score = (float)scene.images[idxImage].neighbors.size();
-		if (bEstimateNormal && depthData.normalMap.empty()) {
-			EstimateNormalMap(depthData.images.front().camera.K, depthData.depthMap, depthData.normalMap);
-			if (!depthData.Save(fileName)) {
-				#ifdef DENSE_USE_OPENMP
-				bAbort = true;
-				#pragma omp flush (bAbort)
-				continue;
-				#else
-				return;
-				#endif
-			}
-		}
-		#ifdef DENSE_USE_OPENMP
-		#pragma omp critical
-		#endif
-		{
-		nPointsEstimate += ROUND2INT(depthData.depthMap.area()*(0.5f/*valid*/*0.3f/*new*/));
-		if (depthData.normalMap.empty())
-			bNormalMap = false;
-		}
-	}
-	#ifdef DENSE_USE_OPENMP
-	if (bAbort)
-		return;
-	#endif
-	connections.Sort();
-	while (!connections.empty() && connections.back().score <= 0)
-		connections.pop_back();
-	if (connections.empty()) {
-		DEBUG("error: no valid depth-maps found");
-		return;
-	}
-
 	// fuse all depth-maps, processing the best connected images first
 	const unsigned nMinViewsFuse(MINF(OPTDENSE::nMinViewsFuse, scene.images.size()));
 	const float normalError(COS(FD2R(OPTDENSE::fNormalDiffThreshold)));
+	const IIndex numDMapsReserveFusion(10);
 	CLISTDEF0(Depth*) invalidDepths(0, 32);
 	size_t nDepths(0);
 	typedef TImage<cuint32_t> DepthIndex;
 	typedef cList<DepthIndex> DepthIndexArr;
 	DepthIndexArr arrDepthIdx(scene.images.size());
+	const size_t nPointsEstimate(scene.images.size() * 9000); //TODO: better estimate number of points
 	ProjsArr projs(0, nPointsEstimate);
-	if (bEstimateNormal && !bNormalMap)
-		bEstimateNormal = false;
 	pointcloud.points.reserve(nPointsEstimate);
 	pointcloud.pointViews.reserve(nPointsEstimate);
 	pointcloud.pointWeights.reserve(nPointsEstimate);
+	unsigned depthDataLoadFlags(HeaderDepthDataRaw::HAS_DEPTH | HeaderDepthDataRaw::HAS_CONF);
 	if (bEstimateColor)
 		pointcloud.colors.reserve(nPointsEstimate);
-	if (bEstimateNormal)
+	if (bEstimateNormal) {
 		pointcloud.normals.reserve(nPointsEstimate);
-	Util::Progress progress(_T("Fused depth-maps"), connections.size());
+		depthDataLoadFlags |= HeaderDepthDataRaw::HAS_NORMAL;
+	}
+	Util::Progress progress(_T("Fused depth-maps"), scene.images.size());
 	GET_LOGCONSOLE().Pause();
-	for (const IndexScore& connection: connections) {
+	std::unordered_set<IIndex> fusedDMaps;
+	DMapCache cacheDMaps(arrDepthData, depthDataLoadFlags, GetAvailableMemory(arrDepthData, fusedDMaps, numDMapsReserveFusion));
+	unsigned totalNumImageNeighborsInCache = 0, totalNumImagesInCache = 0;
+	while (fusedDMaps.size() < arrDepthData.size()) {
 		TD_TIMER_STARTD();
-		const uint32_t idxImage(connection.idx);
+		// find the best depth-map to fuse next as the one with the most neighbors already in cache
+		const auto [idxImage, numImageNeighborsInCache, numImagesInCache] = FetchBestNextDMapIndex(arrDepthData, cacheDMaps, fusedDMaps);
+		if (idxImage == NO_ID)
+			break; // no more depth-maps to fuse (only invalid depth-maps left)
+		totalNumImageNeighborsInCache += numImageNeighborsInCache;
+		totalNumImagesInCache += numImagesInCache;
+		fusedDMaps.emplace(idxImage);
+		// fuse depth-map
+		cacheDMaps.UseImage(idxImage);
+		cacheDMaps.SkipMemoryCheckIdxImage(idxImage);
 		const DepthData& depthData(arrDepthData[idxImage]);
+		ASSERT(depthData.GetView().GetLocalID(scene.images) == idxImage);
+		ASSERT(!depthData.IsEmpty());
+		if (bEstimateNormal && depthData.normalMap.empty())
+			EstimateNormalMaps();
 		ASSERT(!depthData.images.empty() && !depthData.neighbors.empty());
+		#ifdef DENSE_USE_OPENMP
+		#pragma omp parallel for
+		for (int64_t i=0; i<(int64_t)depthData.neighbors.size(); ++i) {
+			const ViewScore& neighbor = depthData.neighbors[(IIndex)i];
+		#else
 		for (const ViewScore& neighbor: depthData.neighbors) {
-			DepthIndex& depthIdxs = arrDepthIdx[neighbor.ID];
-			if (!depthIdxs.empty())
-				continue;
+		#endif
 			const DepthData& depthDataB(arrDepthData[neighbor.ID]);
+			if (!depthDataB.IsValid())
+				continue;
+			cacheDMaps.UseImage(neighbor.ID);
 			if (depthDataB.IsEmpty())
 				continue;
+			DepthIndex& depthIdxs = arrDepthIdx[neighbor.ID];
+			if (!depthIdxs.empty())
+				continue;
 			depthIdxs.create(depthDataB.depthMap.size());
 			depthIdxs.memset((uint8_t)NO_ID);
 		}
 		ASSERT(!depthData.IsEmpty());
-		const Image8U::Size sizeMap(depthData.depthMap.size());
+		ASSERT(depthData.depthMap.size() == depthData.size);
 		const Image& imageData = *depthData.images.front().pImageData;
 		ASSERT(&imageData-scene.images.data() == idxImage);
 		DepthIndex& depthIdxs = arrDepthIdx[idxImage];
 		if (depthIdxs.empty()) {
-			depthIdxs.create(Image8U::Size(imageData.width, imageData.height));
+			depthIdxs.create(imageData.GetSize());
 			depthIdxs.memset((uint8_t)NO_ID);
 		}
 		const size_t nNumPointsPrev(pointcloud.points.size());
-		for (int i=0; i<sizeMap.height; ++i) {
-			for (int j=0; j<sizeMap.width; ++j) {
+		for (int i=0; i<depthData.size.height; ++i) {
+			for (int j=0; j<depthData.size.width; ++j) {
 				const ImageRef x(j,i);
 				const Depth depth(depthData.depthMap(x));
 				if (depth == 0)
@@ -1391,7 +1472,7 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 				REAL confidence(weights.emplace_back(Conf2Weight(depthData.confMap.empty() ? 1.f : depthData.confMap(x),depth)));
 				ProjArr& pointProjs = projs.emplace_back();
 				pointProjs.emplace_back(Proj(x));
-				const PointCloud::Normal normal(bNormalMap ? Cast<Normal::Type>(imageData.camera.R.t()*Cast<REAL>(depthData.normalMap(x))) : Normal(0,0,-1));
+				const PointCloud::Normal normal(!depthData.normalMap.empty() ? Cast<Normal::Type>(imageData.camera.R.t() * Cast<REAL>(depthData.normalMap(x))) : Normal(0, 0, -1));
 				ASSERT(ISEQUAL(norm(normal), 1.f));
 				// check the projection in the neighbor depth-maps
 				Point3 X(point*confidence);
@@ -1419,7 +1500,7 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 						continue;
 					if (IsDepthSimilar(pt.z, depthB, OPTDENSE::fDepthDiffThreshold)) {
 						// check if normals agree
-						const PointCloud::Normal normalB(bNormalMap ? Cast<Normal::Type>(imageDataB.camera.R.t()*Cast<REAL>(depthDataB.normalMap(xB))) : Normal(0,0,-1));
+						const PointCloud::Normal normalB(!depthData.normalMap.empty() ? Cast<Normal::Type>(imageDataB.camera.R.t() * Cast<REAL>(depthDataB.normalMap(xB))) : Normal(0, 0, -1));
 						ASSERT(ISEQUAL(norm(normalB), 1.f));
 						if (normal.dot(normalB) > normalError) {
 							// add view to the 3D point
@@ -1471,15 +1552,23 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 			}
 		}
 		ASSERT(pointcloud.points.size() == pointcloud.pointViews.size() && pointcloud.points.size() == pointcloud.pointWeights.size() && pointcloud.points.size() == projs.size());
-		DEBUG_ULTIMATE("Depths map for reference image %3u fused using %u depths maps: %u new points (%s)", idxImage, depthData.images.size()-1, pointcloud.points.size()-nNumPointsPrev, TD_TIMER_GET_FMT().c_str());
-		progress.display(&connection-connections.data());
+		DEBUG_ULTIMATE("Depths map for reference image %3u fused using %u depths maps: %u new points, %u/%u cached images (%s)",
+			idxImage, depthData.images.size()-1, pointcloud.points.size()-nNumPointsPrev, numImageNeighborsInCache, numImagesInCache, TD_TIMER_GET_FMT().c_str());
+		progress.display(fusedDMaps.size());
+		// ensure enough memory is available for the next depth-maps chunk
+		cacheDMaps.SkipMemoryCheckIdxImage();
+		if (fusedDMaps.size() % numDMapsReserveFusion == 0)
+			cacheDMaps.SetMaxMemory(GetAvailableMemory(arrDepthData, fusedDMaps, numDMapsReserveFusion, cacheDMaps.GetUsedMemory()));
 	}
 	GET_LOGCONSOLE().Play();
 	progress.close();
 	arrDepthIdx.Release();
+	cacheDMaps.ClearCache();	
 
-	DEBUG_EXTRA("Depth-maps fused and filtered: %u depth-maps, %u depths, %u points (%d%%%%) (%s)",
-		connections.size(), nDepths, pointcloud.points.size(), ROUND2INT((100.f*pointcloud.points.size())/nDepths), TD_TIMER_GET_FMT().c_str());
+	DEBUG_EXTRA("Depth-maps fused and filtered: %u depth-maps, %u depths, %u points (%d%%%%), %.2f hits in %.2f cached (%s)",
+		fusedDMaps.size(), nDepths, pointcloud.points.size(), ROUND2INT((100.f*pointcloud.points.size())/nDepths),
+		static_cast<double>(totalNumImageNeighborsInCache) / fusedDMaps.size(),
+		static_cast<double>(totalNumImagesInCache) / fusedDMaps.size(), TD_TIMER_GET_FMT().c_str());
 
 	if (bEstimateNormal && !pointcloud.points.empty() && pointcloud.normals.empty()) {
 		// estimate normal also if requested (quite expensive if normal-maps not available)
@@ -1507,11 +1596,6 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 		}
 		DEBUG_EXTRA("Normals estimated for the dense point-cloud: %u normals (%s)", pointcloud.GetSize(), TD_TIMER_GET_FMT().c_str());
 	}
-
-	// release all depth-maps
-	for (DepthData& depthData: arrDepthData)
-		if (depthData.IsValid())
-			depthData.DecRef();
 } // FuseDepthMaps
 /*----------------------------------------------------------------*/
 
diff --git a/libs/MVS/SceneDensify.h b/libs/MVS/SceneDensify.h
index 024d0f1eb..74f29764a 100644
--- a/libs/MVS/SceneDensify.h
+++ b/libs/MVS/SceneDensify.h
@@ -63,6 +63,8 @@ class MVS_API DepthMapsData
 	bool RemoveSmallSegments(DepthData& depthData);
 	bool GapInterpolation(DepthData& depthData);
 
+	void EstimateNormalMaps();
+
 	bool FilterDepthMap(DepthData& depthData, const IIndexArr& idxNeighbors, bool bAdjust=true);
 	void MergeDepthMaps(PointCloud& pointcloud, bool bEstimateColor, bool bEstimateNormal);
 	void FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, bool bEstimateNormal);

From adaeecc4758c1ca499237cbf5905ed287914f973 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 6 Aug 2024 17:18:54 +0300
Subject: [PATCH 244/252] dense: implement dense fusion

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp |   5 +-
 apps/Tests/Tests.cpp                         |   8 +-
 libs/Common/Types.h                          |  20 +-
 libs/MVS/DepthMap.cpp                        |  10 +-
 libs/MVS/DepthMap.h                          |  11 +
 libs/MVS/SceneDensify.cpp                    | 301 +++++++++++++++++--
 libs/MVS/SceneDensify.h                      |   1 +
 7 files changed, 325 insertions(+), 31 deletions(-)

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 757debefe..82b7d5daa 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -131,6 +131,7 @@ bool Application::Initialize(size_t argc, LPCTSTR* argv)
 	unsigned nEstimationGeometricIters;
 	unsigned nEstimateColors;
 	unsigned nEstimateNormals;
+	unsigned nFuseFilter;
 	unsigned nOptimize;
 	int nIgnoreMaskLabel;
 	bool bRemoveDmaps;
@@ -146,7 +147,7 @@ bool Application::Initialize(size_t argc, LPCTSTR* argv)
 		("min-resolution", boost::program_options::value(&nMinResolution)->default_value(640), "do not scale images lower than this resolution")
 		("sub-resolution-levels", boost::program_options::value(&nSubResolutionLevels)->default_value(2), "number of patch-match sub-resolution iterations (0 - disabled)")
 		("number-views", boost::program_options::value(&nNumViews)->default_value(nNumViewsDefault), "number of views used for depth-map estimation (0 - all neighbor views available)")
-		("number-views-fuse", boost::program_options::value(&nMinViewsFuse)->default_value(3), "minimum number of images that agrees with an estimate during fusion in order to consider it inlier (<2 - only merge depth-maps)")
+		("number-views-fuse", boost::program_options::value(&nMinViewsFuse)->default_value(2), "minimum number of images that agrees with an estimate during fusion in order to consider it inlier (<2 - only merge depth-maps)")
 		("ignore-mask-label", boost::program_options::value(&nIgnoreMaskLabel)->default_value(-1), "label value to ignore in the image mask, stored in the MVS scene or next to each image with '.mask.png' extension (<0 - disabled)")
 		("mask-path", boost::program_options::value<std::string>(&OPT::strMaskPath), "path to folder containing mask images with '.mask.png' extension")
 		("iters", boost::program_options::value(&nEstimationIters)->default_value(numIters), "number of patch-match iterations")
@@ -157,6 +158,7 @@ bool Application::Initialize(size_t argc, LPCTSTR* argv)
 		("sub-scene-area", boost::program_options::value(&OPT::fMaxSubsceneArea)->default_value(0.f), "split the scene in sub-scenes such that each sub-scene surface does not exceed the given maximum sampling area (0 - disabled)")
 		("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(0.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
 		("fusion-mode", boost::program_options::value(&OPT::nFusionMode)->default_value(0), "depth-maps fusion mode (-2 - fuse disparity-maps, -1 - export disparity-maps only, 0 - depth-maps & fusion, 1 - export depth-maps only)")
+		("fusion-filter", boost::program_options::value(&nFuseFilter)->default_value(2), "filter used to fuse the depth-maps (0 - merge, 1 - fuse, 2 - dense-fuse)")
 		("postprocess-dmaps", boost::program_options::value(&nOptimize)->default_value(7), "flags used to filter the depth-maps after estimation (0 - disabled, 1 - remove-speckles, 2 - fill-gaps, 4 - adjust-filter)")
 		("filter-point-cloud", boost::program_options::value(&OPT::thFilterPointCloud)->default_value(0), "filter dense point-cloud based on visibility (0 - disabled)")
 		("export-number-views", boost::program_options::value(&OPT::nExportNumViews)->default_value(0), "export points with >= number of views (0 - disabled, <0 - save MVS project too)")
@@ -248,6 +250,7 @@ bool Application::Initialize(size_t argc, LPCTSTR* argv)
 	OPTDENSE::nEstimationGeometricIters = nEstimationGeometricIters;
 	OPTDENSE::nEstimateColors = nEstimateColors;
 	OPTDENSE::nEstimateNormals = nEstimateNormals;
+	OPTDENSE::nFuseFilter = nFuseFilter;
 	OPTDENSE::nOptimize = nOptimize;
 	OPTDENSE::nIgnoreMaskLabel = nIgnoreMaskLabel;
 	OPTDENSE::bRemoveDmaps = bRemoveDmaps;
diff --git a/apps/Tests/Tests.cpp b/apps/Tests/Tests.cpp
index f0f8365b8..b8af6437d 100644
--- a/apps/Tests/Tests.cpp
+++ b/apps/Tests/Tests.cpp
@@ -82,21 +82,21 @@ bool PipelineTest(bool verbose=false)
 	}
 	OPTDENSE::init();
 	OPTDENSE::bRemoveDmaps = true;
-	if (!scene.DenseReconstruction() || scene.pointcloud.GetSize() < 200000u) {
+	if (!scene.DenseReconstruction() || scene.pointcloud.GetSize() < 50000u) {
 		VERBOSE("ERROR: TestDataset failed estimating dense point cloud!");
 		return false;
 	}
 	if (verbose)
 		scene.pointcloud.Save(MAKE_PATH("scene_dense.ply"));
-	if (!scene.ReconstructMesh() || scene.mesh.faces.size() < 75000u) {
+	if (!scene.ReconstructMesh() || scene.mesh.faces.size() < 40000u) {
 		VERBOSE("ERROR: TestDataset failed reconstructing the mesh!");
 		return false;
 	}
 	if (verbose)
 		scene.mesh.Save(MAKE_PATH("scene_dense_mesh.ply"));
-	constexpr float decimate = 0.5f;
+	constexpr float decimate = 0.7f;
 	scene.mesh.Clean(decimate);
-	if (!ISINSIDE(scene.mesh.faces.size(), 35000u, 45000u)) {
+	if (!ISINSIDE(scene.mesh.faces.size(), 25000u, 45000u)) {
 		VERBOSE("ERROR: TestDataset failed cleaning the mesh!");
 		return false;
 	}
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index a0923b2b7..a34499a62 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -1298,9 +1298,15 @@ class TPoint2 : public cv::Point_<TYPE>
 	inline const TYPE* ptr() const { return &x; }
 	inline TYPE* ptr() { return &x; }
 
+	// iterator base access to enable range-based for loops
+	inline const TYPE* begin() const { return &x; }
+	inline const TYPE* end() const { return &x+3; }
+
 	// 1D element access
-	inline const TYPE& operator [](size_t i) const { ASSERT(i>=0 && i<2); return ptr()[i]; }
-	inline TYPE& operator [](size_t i) { ASSERT(i>=0 && i<2); return ptr()[i]; }
+	inline const TYPE& operator ()(int i) const { ASSERT(i>=0 && i<2); return ptr()[i]; }
+	inline TYPE& operator ()(int i) { ASSERT(i>=0 && i<2); return ptr()[i]; }
+	inline const TYPE& operator [](int i) const { ASSERT(i>=0 && i<2); return ptr()[i]; }
+	inline TYPE& operator [](int i) { ASSERT(i>=0 && i<2); return ptr()[i]; }
 
 	// Access point as Size equivalent
 	inline operator const Size& () const { return *((const Size*)this); }
@@ -1391,9 +1397,15 @@ class TPoint3 : public cv::Point3_<TYPE>
 	inline const TYPE* ptr() const { return &x; }
 	inline TYPE* ptr() { return &x; }
 
+	// iterator base access to enable range-based for loops
+	inline const TYPE* begin() const { return &x; }
+	inline const TYPE* end() const { return &x+3; }
+
 	// 1D element access
-	inline const TYPE& operator [](BYTE i) const { ASSERT(i<3); return ptr()[i]; }
-	inline TYPE& operator [](BYTE i) { ASSERT(i<3); return ptr()[i]; }
+	inline const TYPE& operator ()(int i) const { ASSERT(i>=0 && i<3); return ptr()[i]; }
+	inline TYPE& operator ()(int i) { ASSERT(i>=0 && i<3); return ptr()[i]; }
+	inline const TYPE& operator [](int i) const { ASSERT(i>=0 && i<3); return ptr()[i]; }
+	inline TYPE& operator [](int i) { ASSERT(i>=0 && i<3); return ptr()[i]; }
 
 	// Access point as vector equivalent
 	inline operator const Vec& () const { return *reinterpret_cast<const Vec*>(this); }
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index db39d19f5..5e4a7eca1 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -72,11 +72,15 @@ MDEFVAR_OPTDENSE_uint32(nMinResolution, "Min Resolution", "Do not scale images l
 DEFVAR_OPTDENSE_uint32(nSubResolutionLevels, "SubResolution levels", "Number of lower resolution levels to estimate the depth and normals", "2")
 DEFVAR_OPTDENSE_uint32(nMinViews, "Min Views", "minimum number of agreeing views to validate a depth", "2")
 MDEFVAR_OPTDENSE_uint32(nMaxViews, "Max Views", "maximum number of neighbor images used to compute the depth-map for the reference image", "12")
-DEFVAR_OPTDENSE_uint32(nMinViewsFuse, "Min Views Fuse", "minimum number of images that agrees with an estimate during fusion in order to consider it inlier (<2 - only merge depth-maps)", "2")
+DEFVAR_OPTDENSE_uint32(nMinViewsFuse, "Min Views Fuse", "minimum number of images that agrees with an estimate during fusion in order to consider it inlier", "2")
+MDEFVAR_OPTDENSE_uint32(nMaxViewsFuse, "Max Views Fuse", "maximum number of neighbor depth-maps used during fusion", "32")
 DEFVAR_OPTDENSE_uint32(nMinViewsFilter, "Min Views Filter", "minimum number of images that agrees with an estimate in order to consider it inlier", "2")
 MDEFVAR_OPTDENSE_uint32(nMinViewsFilterAdjust, "Min Views Filter Adjust", "minimum number of images that agrees with an estimate in order to consider it inlier (0 - disabled)", "1")
 MDEFVAR_OPTDENSE_uint32(nMinViewsTrustPoint, "Min Views Trust Point", "min-number of views so that the point is considered for approximating the depth-maps (<2 - random initialization)", "2")
 MDEFVAR_OPTDENSE_uint32(nNumViews, "Num Views", "Number of views used for depth-map estimation (0 - all views available)", "0", "4", "8")
+MDEFVAR_OPTDENSE_uint32(nMinPixelsFuse, "Min Pixels Fuse", "minimum number of depth-estimates that agree during fusion in order to consider it (multiple pixels can be from the same depth-map)", "5")
+MDEFVAR_OPTDENSE_uint32(nMaxPointsFuse, "Max Points Fuse", "maximum number of pixels to fuse into a single point", "1000")
+MDEFVAR_OPTDENSE_uint32(nMaxFuseDepth, "Max Fuse Depth", "maximum depth in fusion graph traversal", "100")
 MDEFVAR_OPTDENSE_uint32(nPointInsideROI, "Point Inside ROI", "consider a point shared only if inside ROI when estimating the neighbor views (0 - ignore ROI, 1 - weight more ROI points, 2 - consider only ROI points)", "1")
 MDEFVAR_OPTDENSE_bool(bFilterAdjust, "Filter Adjust", "adjust depth estimates during filtering", "1")
 MDEFVAR_OPTDENSE_bool(bAddCorners, "Add Corners", "add support points at image corners with nearest neighbor disparities", "0")
@@ -89,6 +93,7 @@ MDEFVAR_OPTDENSE_float(fMinAngle, "Min Angle", "Min angle for accepting the dept
 MDEFVAR_OPTDENSE_float(fOptimAngle, "Optim Angle", "Optimal angle for computing the depth triangulation", "12.0")
 MDEFVAR_OPTDENSE_float(fMaxAngle, "Max Angle", "Max angle for accepting the depth triangulation", "65.0")
 MDEFVAR_OPTDENSE_float(fDescriptorMinMagnitudeThreshold, "Descriptor Min Magnitude Threshold", "minimum patch texture variance accepted when matching two patches (0 - disabled)", "0.02") // 0.02: pixels with patch texture variance below 0.0004 (0.02^2) will be removed from depthmap; 0.12: patch texture variance below 0.02 (0.12^2) is considered texture-less
+MDEFVAR_OPTDENSE_float(fDepthReprojectionErrorThreshold, "Depth Reprojection Error Threshold", "maximum relative difference between measured and depth projected pixel", "1.2")
 MDEFVAR_OPTDENSE_float(fDepthDiffThreshold, "Depth Diff Threshold", "maximum variance allowed for the depths during refinement", "0.01")
 MDEFVAR_OPTDENSE_float(fNormalDiffThreshold, "Normal Diff Threshold", "maximum variance allowed for the normal during fusion (degrees)", "25")
 MDEFVAR_OPTDENSE_float(fPairwiseMul, "Pairwise Mul", "pairwise cost scale to match the unary cost", "0.3")
@@ -98,8 +103,9 @@ MDEFVAR_OPTDENSE_uint32(nSpeckleSize, "Speckle Size", "maximal size of a speckle
 MDEFVAR_OPTDENSE_uint32(nIpolGapSize, "Interpolate Gap Size", "interpolate small gaps (left<->right, top<->bottom)", "7")
 MDEFVAR_OPTDENSE_int32(nIgnoreMaskLabel, "Ignore Mask Label", "label id used during ignore mask filter (<0 - disabled)", "-1")
 DEFVAR_OPTDENSE_uint32(nOptimize, "Optimize", "should we filter the extracted depth-maps?", "7") // see DepthFlags
+DEFVAR_OPTDENSE_uint32(nFuseFilter, "Fuse Filter", "how to fuse the depth-maps into one dense point-cloud?", "2", "0", "1") // see FuseMode
 MDEFVAR_OPTDENSE_uint32(nEstimateColors, "Estimate Colors", "should we estimate the colors for the dense point-cloud?", "2", "0", "1")
-MDEFVAR_OPTDENSE_uint32(nEstimateNormals, "Estimate Normals", "should we estimate the normals for the dense point-cloud?", "0", "1", "2")
+MDEFVAR_OPTDENSE_uint32(nEstimateNormals, "Estimate Normals", "should we estimate the normals for the dense point-cloud?", "2", "0", "1")
 MDEFVAR_OPTDENSE_float(fNCCThresholdKeep, "NCC Threshold Keep", "Maximum 1-NCC score accepted for a match", "0.9", "0.5")
 DEFVAR_OPTDENSE_uint32(nEstimationIters, "Estimation Iters", "Number of patch-match iterations", "3")
 DEFVAR_OPTDENSE_uint32(nEstimationGeometricIters, "Estimation Geometric Iters", "Number of geometric consistent patch-match iterations (0 - disabled)", "2")
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index a5fabf2c8..52ed84cd5 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -90,6 +90,11 @@ enum DepthFlags {
 	ADJUST_FILTER	= (1 << 2),
 	OPTIMIZE		= (REMOVE_SPECKLES|FILL_GAPS)
 };
+enum FuseMode {
+	FUSE_NOFILTER = 0,
+	FUSE_FILTER,
+	FUSE_DENSEFILTER,
+};
 extern unsigned nResolutionLevel;
 extern unsigned nMaxResolution;
 extern unsigned nMinResolution;
@@ -97,10 +102,14 @@ extern unsigned nSubResolutionLevels;
 extern unsigned nMinViews;
 extern unsigned nMaxViews;
 extern unsigned nMinViewsFuse;
+extern unsigned nMaxViewsFuse;
 extern unsigned nMinViewsFilter;
 extern unsigned nMinViewsFilterAdjust;
 extern unsigned nMinViewsTrustPoint;
 extern unsigned nNumViews;
+extern unsigned nMinPixelsFuse;
+extern unsigned nMaxPointsFuse;
+extern unsigned nMaxFuseDepth;
 extern unsigned nPointInsideROI;
 extern bool bFilterAdjust;
 extern bool bAddCorners;
@@ -113,6 +122,7 @@ extern float fMinAngle;
 extern float fOptimAngle;
 extern float fMaxAngle;
 extern float fDescriptorMinMagnitudeThreshold;
+extern float fDepthReprojectionErrorThreshold;
 extern float fDepthDiffThreshold;
 extern float fNormalDiffThreshold;
 extern float fPairwiseMul;
@@ -122,6 +132,7 @@ extern unsigned nSpeckleSize;
 extern unsigned nIpolGapSize;
 extern int nIgnoreMaskLabel;
 extern unsigned nOptimize;
+extern unsigned nFuseFilter;
 extern unsigned nEstimateColors;
 extern unsigned nEstimateNormals;
 extern float fNCCThresholdKeep;
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 157259331..9a1f1bf1b 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -1295,7 +1295,7 @@ void DepthMapsData::MergeDepthMaps(PointCloud& pointcloud, bool bEstimateColor,
 
 // compute available memory to be used for depth-data caching
 //  - numDMapsReserveFusion: maximum number of depth-maps for which to reserve memory for fusion
-size_t GetAvailableMemory(const DepthDataArr& arrDepthData, const std::unordered_set<unsigned>& fusedDMaps, IIndex numDMapsReserveFusion, size_t currentCacheMemory = 0)
+size_t GetAvailableMemory(const DepthDataArr& arrDepthData, const BoolArr& fusedDMaps, IIndex numDMapsReserveFusion, size_t currentCacheMemory = 0)
 {
 	size_t resolution(0);
 	IIndex numDMaps(0);
@@ -1303,7 +1303,7 @@ size_t GetAvailableMemory(const DepthDataArr& arrDepthData, const std::unordered
 		const DepthData& depthData = arrDepthData[idxImage];
 		if (!depthData.IsValid())
 			continue;
-		if (fusedDMaps.count(idxImage))
+		if (fusedDMaps[idxImage])
 			continue;
 		resolution += depthData.size.area();
 		if (++numDMaps >= numDMapsReserveFusion)
@@ -1325,7 +1325,7 @@ size_t GetAvailableMemory(const DepthDataArr& arrDepthData, const std::unordered
 } // GetAvailableMemory
 
 // finds the best depth-map to fuse next that maximizes the number of neighbors already in cache
-std::tuple<unsigned, unsigned, unsigned> FetchBestNextDMapIndex(const DepthDataArr& arrDepthData, DMapCache& cacheDMaps, std::unordered_set<unsigned>& fusedDMaps) {
+std::tuple<unsigned, unsigned, unsigned> FetchBestNextDMapIndex(const DepthDataArr& arrDepthData, const DMapCache& cacheDMaps, const BoolArr& fusedDMaps) {
 	const IIndexArr cachedImages = cacheDMaps.GetCachedImageIndices(true);
 	IIndex bestImageIdx = NO_ID;
 	unsigned bestImageScore = 0, bestImageSize = std::numeric_limits<unsigned>::max();
@@ -1333,7 +1333,7 @@ std::tuple<unsigned, unsigned, unsigned> FetchBestNextDMapIndex(const DepthDataA
 		const DepthData& depthData = arrDepthData[idxImage];
 		if (!depthData.IsValid())
 			continue;
-		if (fusedDMaps.count(idxImage))
+		if (fusedDMaps[idxImage])
 			continue;
 		ASSERT(!depthData.neighbors.empty());
 		IIndexArr cachedNeighbors;
@@ -1379,15 +1379,15 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 	typedef SEACAVE::cList<ProjArr,const ProjArr&,1,65536> ProjsArr;
 
 	// fuse all depth-maps, processing the best connected images first
-	const unsigned nMinViewsFuse(MINF(OPTDENSE::nMinViewsFuse, scene.images.size()));
+	const unsigned nMinViewsFuse(MINF(OPTDENSE::nMinViewsFuse, arrDepthData.size()));
 	const float normalError(COS(FD2R(OPTDENSE::fNormalDiffThreshold)));
 	const IIndex numDMapsReserveFusion(10);
 	CLISTDEF0(Depth*) invalidDepths(0, 32);
 	size_t nDepths(0);
 	typedef TImage<cuint32_t> DepthIndex;
 	typedef cList<DepthIndex> DepthIndexArr;
-	DepthIndexArr arrDepthIdx(scene.images.size());
-	const size_t nPointsEstimate(scene.images.size() * 9000); //TODO: better estimate number of points
+	DepthIndexArr arrDepthIdx(arrDepthData.size());
+	const size_t nPointsEstimate(arrDepthData.size() * 9000); //TODO: better estimate number of points
 	ProjsArr projs(0, nPointsEstimate);
 	pointcloud.points.reserve(nPointsEstimate);
 	pointcloud.pointViews.reserve(nPointsEstimate);
@@ -1399,12 +1399,14 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 		pointcloud.normals.reserve(nPointsEstimate);
 		depthDataLoadFlags |= HeaderDepthDataRaw::HAS_NORMAL;
 	}
-	Util::Progress progress(_T("Fused depth-maps"), scene.images.size());
+	Util::Progress progress(_T("Fused depth-maps"), arrDepthData.size());
 	GET_LOGCONSOLE().Pause();
-	std::unordered_set<IIndex> fusedDMaps;
+	BoolArr fusedDMaps(arrDepthData.size());
+	fusedDMaps.Memset(0);
 	DMapCache cacheDMaps(arrDepthData, depthDataLoadFlags, GetAvailableMemory(arrDepthData, fusedDMaps, numDMapsReserveFusion));
 	unsigned totalNumImageNeighborsInCache = 0, totalNumImagesInCache = 0;
-	while (fusedDMaps.size() < arrDepthData.size()) {
+	IIndex numDMapsFused = 0;
+	for (; numDMapsFused < arrDepthData.size(); ++numDMapsFused) {
 		TD_TIMER_STARTD();
 		// find the best depth-map to fuse next as the one with the most neighbors already in cache
 		const auto [idxImage, numImageNeighborsInCache, numImagesInCache] = FetchBestNextDMapIndex(arrDepthData, cacheDMaps, fusedDMaps);
@@ -1412,7 +1414,6 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 			break; // no more depth-maps to fuse (only invalid depth-maps left)
 		totalNumImageNeighborsInCache += numImageNeighborsInCache;
 		totalNumImagesInCache += numImagesInCache;
-		fusedDMaps.emplace(idxImage);
 		// fuse depth-map
 		cacheDMaps.UseImage(idxImage);
 		cacheDMaps.SkipMemoryCheckIdxImage(idxImage);
@@ -1422,6 +1423,7 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 		if (bEstimateNormal && depthData.normalMap.empty())
 			EstimateNormalMaps();
 		ASSERT(!depthData.images.empty() && !depthData.neighbors.empty());
+		IIndex numNeighbors(0);
 		#ifdef DENSE_USE_OPENMP
 		#pragma omp parallel for
 		for (int64_t i=0; i<(int64_t)depthData.neighbors.size(); ++i) {
@@ -1435,6 +1437,12 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 			cacheDMaps.UseImage(neighbor.ID);
 			if (depthDataB.IsEmpty())
 				continue;
+			if (++numNeighbors >= OPTDENSE::nMaxViewsFuse)
+				#ifdef DENSE_USE_OPENMP
+				continue;
+				#else
+				break;
+				#endif
 			DepthIndex& depthIdxs = arrDepthIdx[neighbor.ID];
 			if (!depthIdxs.empty())
 				continue;
@@ -1442,12 +1450,12 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 			depthIdxs.memset((uint8_t)NO_ID);
 		}
 		ASSERT(!depthData.IsEmpty());
-		ASSERT(depthData.depthMap.size() == depthData.size);
 		const Image& imageData = *depthData.images.front().pImageData;
 		ASSERT(&imageData-scene.images.data() == idxImage);
+		ASSERT(depthData.depthMap.size() == depthData.size && imageData.GetSize() == depthData.size);
 		DepthIndex& depthIdxs = arrDepthIdx[idxImage];
 		if (depthIdxs.empty()) {
-			depthIdxs.create(imageData.GetSize());
+			depthIdxs.create(depthData.size);
 			depthIdxs.memset((uint8_t)NO_ID);
 		}
 		const size_t nNumPointsPrev(pointcloud.points.size());
@@ -1551,13 +1559,14 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 				}
 			}
 		}
+		fusedDMaps[idxImage] = true;
 		ASSERT(pointcloud.points.size() == pointcloud.pointViews.size() && pointcloud.points.size() == pointcloud.pointWeights.size() && pointcloud.points.size() == projs.size());
 		DEBUG_ULTIMATE("Depths map for reference image %3u fused using %u depths maps: %u new points, %u/%u cached images (%s)",
 			idxImage, depthData.images.size()-1, pointcloud.points.size()-nNumPointsPrev, numImageNeighborsInCache, numImagesInCache, TD_TIMER_GET_FMT().c_str());
-		progress.display(fusedDMaps.size());
+		progress.display(numDMapsFused);
 		// ensure enough memory is available for the next depth-maps chunk
 		cacheDMaps.SkipMemoryCheckIdxImage();
-		if (fusedDMaps.size() % numDMapsReserveFusion == 0)
+		if (numDMapsFused % numDMapsReserveFusion == 0)
 			cacheDMaps.SetMaxMemory(GetAvailableMemory(arrDepthData, fusedDMaps, numDMapsReserveFusion, cacheDMaps.GetUsedMemory()));
 	}
 	GET_LOGCONSOLE().Play();
@@ -1566,9 +1575,9 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 	cacheDMaps.ClearCache();	
 
 	DEBUG_EXTRA("Depth-maps fused and filtered: %u depth-maps, %u depths, %u points (%d%%%%), %.2f hits in %.2f cached (%s)",
-		fusedDMaps.size(), nDepths, pointcloud.points.size(), ROUND2INT((100.f*pointcloud.points.size())/nDepths),
-		static_cast<double>(totalNumImageNeighborsInCache) / fusedDMaps.size(),
-		static_cast<double>(totalNumImagesInCache) / fusedDMaps.size(), TD_TIMER_GET_FMT().c_str());
+		numDMapsFused, nDepths, pointcloud.points.size(), ROUND2INT((100.f*pointcloud.points.size())/nDepths),
+		static_cast<double>(totalNumImageNeighborsInCache) / numDMapsFused,
+		static_cast<double>(totalNumImagesInCache) / numDMapsFused, TD_TIMER_GET_FMT().c_str());
 
 	if (bEstimateNormal && !pointcloud.points.empty() && pointcloud.normals.empty()) {
 		// estimate normal also if requested (quite expensive if normal-maps not available)
@@ -1597,6 +1606,252 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 		DEBUG_EXTRA("Normals estimated for the dense point-cloud: %u normals (%s)", pointcloud.GetSize(), TD_TIMER_GET_FMT().c_str());
 	}
 } // FuseDepthMaps
+
+
+// fuse all valid depth-maps in the same 3D point cloud;
+// join points very likely to represent the same 3D point and
+// filter out points blocking the view
+void DepthMapsData::DenseFuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, bool _bEstimateNormal)
+{
+	TD_TIMER_STARTD();
+
+	typedef SEACAVE::BitMatrix UseMask;
+	typedef CLISTDEFIDX(UseMask,IIndex) UseMaskArr;
+
+	// fuse all depth-maps, processing the best connected images first
+	const unsigned nMinViewsFuse(MINF(OPTDENSE::nMinViewsFuse, arrDepthData.size()));
+	const float normalError(COS(FD2R(OPTDENSE::fNormalDiffThreshold)));
+	const float minConfidence(1.f - OPTDENSE::fNCCThresholdKeep);
+	const float maxReprojErrorSq(SQUARE(OPTDENSE::fDepthReprojectionErrorThreshold));
+	const IIndex numDMapsReserveFusion(10);
+	const bool bEstimateNormal(true); // always estimate normals as they are needed for the fusion
+	size_t nDepths(0);
+	UseMaskArr arrUseMask(arrDepthData.size());
+	const size_t nPointsEstimate(arrDepthData.size() * 9000); //TODO: better estimate number of points
+	pointcloud.points.reserve(nPointsEstimate);
+	pointcloud.pointViews.reserve(nPointsEstimate);
+	pointcloud.pointWeights.reserve(nPointsEstimate);
+	unsigned depthDataLoadFlags(HeaderDepthDataRaw::HAS_DEPTH | HeaderDepthDataRaw::HAS_CONF);
+	if (bEstimateColor)
+		pointcloud.colors.reserve(nPointsEstimate);
+	if (bEstimateNormal) {
+		pointcloud.normals.reserve(nPointsEstimate);
+		depthDataLoadFlags |= HeaderDepthDataRaw::HAS_NORMAL;
+	}
+	Util::Progress progress(_T("Dense fused depth-maps"), arrDepthData.size());
+	GET_LOGCONSOLE().Pause();
+	BoolArr fusedDMaps(arrDepthData.size());
+	fusedDMaps.Memset(0);
+	DMapCache cacheDMaps(arrDepthData, depthDataLoadFlags, GetAvailableMemory(arrDepthData, fusedDMaps, numDMapsReserveFusion));
+	unsigned totalNumImageNeighborsInCache = 0, totalNumImagesInCache = 0;
+	BoolArr neighbors(arrDepthData.size());
+	PointCloud::Point refPoint;
+	PointCloud::Normal refNormal;
+	CLISTDEF0IDX(float, unsigned) fusedPoints[3];
+	PointCloud::ViewArr fusedViews;
+	FloatArr fusedWeights;
+	Point3d fusedNormal;
+	Pixel32F fusedColor;
+	const auto FusePoint = [&](IIndex ID, const ImageRef& x, unsigned fuseDepth) -> void {
+		const auto lambda = [&](IIndex ID, const ImageRef& x, unsigned fuseDepth, const auto& FusePointImpl) -> void {
+			const DepthData& depthData = arrDepthData[ID];
+			if (!Image8U::isInside(x, depthData.size))
+				return;
+			// ignore pixel if not estimated
+			ASSERT(depthData.depthMap.size() == depthData.size);
+			const Depth depth = depthData.depthMap(x);
+			if (depth <= Depth(0))
+				return;
+			ASSERT(ISINSIDE(depth, depthData.dMin * 0.95f, depthData.dMax * 1.05f));
+			// ignore pixel if already fused
+			UseMask& useMask = arrUseMask[ID];
+			if (useMask(x))
+				return;
+			// ignore pixel if not confident
+			const float conf(depthData.confMap.empty() ? 1.f : depthData.confMap(x));
+			if (conf < minConfidence)
+				return;
+			const DepthData::ViewData& image = depthData.GetView();
+			// if the fusion depth is greater than zero, the initial reference pixel
+			// has already been added and we need to check for consistency
+			PointCloud::Normal normal;
+			if (fuseDepth > 0) {
+				// project reference point into current view
+				const Point3f pt(image.camera.ProjectPointP3(refPoint));
+				// check if depth agrees with current depth
+				ASSERT(pt.z > Depth(0) || !IsDepthSimilar(depth, pt.z, OPTDENSE::fDepthDiffThreshold));
+				if (!IsDepthSimilar(depth, pt.z, OPTDENSE::fDepthDiffThreshold))
+					return;
+				// check reprojection error of the reference point in the current view
+				const Point2f diff(pt.x / pt.z - float(x.x), pt.y / pt.z - float(x.y));
+				if (normSq(diff) > maxReprojErrorSq)
+					return;
+				// check if normals agree
+				normal = image.camera.R.t() * Cast<REAL>(depthData.normalMap(x));
+				ASSERT(ISEQUAL(norm(normal), 1.f));
+				if (refNormal.dot(normal) < normalError)
+					return;
+			} else {
+				normal = image.camera.R.t() * Cast<REAL>(depthData.normalMap(x));
+				ASSERT(ISEQUAL(norm(normal), 1.f));
+			}
+			// set the current pixel as visited
+			useMask.set(x);
+			// compute 3D location of the current depth
+			const PointCloud::Point X(image.camera.TransformPointI2W(Point3(REAL(x.x), REAL(x.y), REAL(depth))));
+			// accumulate statistics for fused point
+			{
+				fusedPoints[0].push_back(X(0));
+				fusedPoints[1].push_back(X(1));
+				fusedPoints[2].push_back(X(2));
+				const float weight(Conf2Weight(conf, depth));
+				const auto it(fusedViews.InsertSortUnique(ID));
+				if (it.second)
+					fusedWeights[it.first] += weight;
+				else
+					fusedWeights.InsertAt(it.first, weight);
+				if (bEstimateNormal)
+					fusedNormal += Cast<double>(normal);
+				if (bEstimateColor)
+					fusedColor += Cast<float>(image.pImageData->image(x));
+			}
+			// remember the first pixel as the reference.
+			if (fuseDepth == 0) {
+				refPoint = X;
+				refNormal = normal;
+			}
+			// do not traverse the graph infinitely in one branch and
+			// limit the maximum number of pixels fused in one point
+			// to avoid stack overflow
+			if (++fuseDepth >= OPTDENSE::nMaxFuseDepth || fusedPoints[0].size() >= OPTDENSE::nMaxPointsFuse)
+				return;
+			// traverse the neighbors graph by projecting the point into other views
+			for (const ViewScore& neighbor : image.pImageData->neighbors) {
+				const IIndex nextID(neighbor.ID);
+				ASSERT(nextID != ID);
+				if (!neighbors[nextID])
+					continue;
+				const DepthData& nextDepthData = arrDepthData[nextID];
+				const ImageRef nextx(ROUND2INT(nextDepthData.GetCamera().ProjectPointP(X)));
+				FusePointImpl(nextID, nextx, fuseDepth, FusePointImpl);
+			}
+		};
+		lambda(ID, x, fuseDepth, lambda);
+	};
+	// loop over each depth-map
+	IIndex numDMapsFused = 0;
+	for (; numDMapsFused < arrDepthData.size(); ++numDMapsFused) {
+		TD_TIMER_STARTD();
+		// find the best depth-map to fuse next as the one with the most neighbors already in cache
+		const auto [idxImage, numImageNeighborsInCache, numImagesInCache] = FetchBestNextDMapIndex(arrDepthData, cacheDMaps, fusedDMaps);
+		if (idxImage == NO_ID)
+			break; // no more depth-maps to fuse (only invalid depth-maps left)
+		totalNumImageNeighborsInCache += numImageNeighborsInCache;
+		totalNumImagesInCache += numImagesInCache;
+		// fuse depth-map
+		cacheDMaps.UseImage(idxImage);
+		cacheDMaps.SkipMemoryCheckIdxImage(idxImage);
+		const DepthData& depthData(arrDepthData[idxImage]);
+		ASSERT(depthData.GetView().GetLocalID(scene.images) == idxImage);
+		ASSERT(!depthData.IsEmpty());
+		if (bEstimateNormal && depthData.normalMap.empty())
+			EstimateNormalMaps();
+		// make sure all neighbors are cached
+		neighbors.Memset(0);
+		neighbors[idxImage] = true;
+		IIndex numNeighbors(0);
+		ASSERT(!depthData.images.empty() && !depthData.neighbors.empty());
+		#ifdef DENSE_USE_OPENMP
+		#pragma omp parallel for
+		for (int64_t i=0; i<(int64_t)depthData.neighbors.size(); ++i) {
+			const ViewScore& neighbor = depthData.neighbors[(IIndex)i];
+		#else
+		for (const ViewScore& neighbor: depthData.neighbors) {
+		#endif
+			const DepthData& depthDataB(arrDepthData[neighbor.ID]);
+			if (!depthDataB.IsValid())
+				continue;
+			cacheDMaps.UseImage(neighbor.ID);
+			if (depthDataB.IsEmpty())
+				continue;
+			neighbors[neighbor.ID] = true;
+			if (++numNeighbors >= OPTDENSE::nMaxViewsFuse)
+				#ifdef DENSE_USE_OPENMP
+				continue;
+				#else
+				break;
+				#endif
+			UseMask& useMask = arrUseMask[neighbor.ID];
+			if (!useMask.empty())
+				continue;
+			useMask.create(depthDataB.depthMap.size());
+			useMask.memset(0);
+		}
+		ASSERT(!depthData.IsEmpty());
+		const Image& imageData = *depthData.images.front().pImageData;
+		ASSERT(&imageData-scene.images.data() == idxImage);
+		ASSERT(depthData.depthMap.size() == depthData.size && imageData.GetSize() == depthData.size);
+		UseMask& useMask = arrUseMask[idxImage];
+		if (useMask.empty()) {
+			useMask.create(depthData.size);
+			useMask.memset(0);
+		}
+		// try to fuse each depth estimate
+		const size_t nNumPointsPrev(pointcloud.points.size());
+		for (int i=0; i<depthData.size.height; ++i) {
+			for (int j=0; j<depthData.size.width; ++j) {
+				FusePoint(idxImage, ImageRef(j,i), 0);
+				if (fusedPoints[0].size() >= OPTDENSE::nMinPixelsFuse && fusedViews.size() >= nMinViewsFuse) {
+					// create the corresponding 3D point
+					pointcloud.points.emplace_back(
+						fusedPoints[0].GetMedian(),
+						fusedPoints[1].GetMedian(),
+						fusedPoints[2].GetMedian()
+					);
+					ASSERT(fusedViews.size() == fusedWeights.size());
+					PointCloud::WeightArr& weights = pointcloud.pointWeights.AddEmpty();
+					for (float weight: fusedWeights)
+						weights.push_back(weight);
+					pointcloud.pointViews.emplace_back(fusedViews);
+					if (bEstimateNormal)
+						pointcloud.normals.emplace_back(normalized(fusedNormal));
+					if (bEstimateColor)
+						pointcloud.colors.emplace_back((fusedColor/(float)fusedPoints[0].size()).cast<uint8_t>());
+				}
+				if (!fusedViews.empty()) {
+					nDepths += fusedViews.size();
+					fusedPoints[0].clear();
+					fusedPoints[1].clear();
+					fusedPoints[2].clear();
+					fusedViews.clear();
+					fusedWeights.clear();
+					fusedNormal = Point3d::ZERO;
+					fusedColor = Pixel32F::BLACK;
+				}
+			}
+		}
+		fusedDMaps[idxImage] = true;
+		ASSERT(pointcloud.points.size() == pointcloud.pointViews.size() && pointcloud.points.size() == pointcloud.pointWeights.size());
+		DEBUG_ULTIMATE("Depths map for reference image %3u fused using %u depths maps: %u new points, %u/%u cached images (%s)",
+			idxImage, depthData.images.size() - 1, pointcloud.points.size() - nNumPointsPrev, numImageNeighborsInCache, numImagesInCache, TD_TIMER_GET_FMT().c_str());
+		progress.display(numDMapsFused);
+		// ensure enough memory is available for the next depth-maps chunk
+		cacheDMaps.SkipMemoryCheckIdxImage();
+		if (numDMapsFused % numDMapsReserveFusion == 0)
+			cacheDMaps.SetMaxMemory(GetAvailableMemory(arrDepthData, fusedDMaps, numDMapsReserveFusion, cacheDMaps.GetUsedMemory()));
+	}
+	GET_LOGCONSOLE().Play();
+	progress.close();
+	arrUseMask.Release();
+	cacheDMaps.ClearCache();
+	if (!_bEstimateNormal)
+		pointcloud.normals.Release();
+
+	DEBUG_EXTRA("Depth-maps dense fused and filtered: %u depth-maps, %u depths, %u points (%d%%%%), %.2f hits in %.2f cached (%s)",
+		numDMapsFused, nDepths, pointcloud.points.size(), ROUND2INT((100.f*pointcloud.points.size())/nDepths),
+		static_cast<double>(totalNumImageNeighborsInCache) / numDMapsFused,
+		static_cast<double>(totalNumImagesInCache) / numDMapsFused, TD_TIMER_GET_FMT().c_str());
+} // DenseFuseDepthMaps
 /*----------------------------------------------------------------*/
 
 
@@ -1645,12 +1900,18 @@ bool Scene::DenseReconstruction(int nFusionMode, bool bCrop2ROI, float fBorderRO
 
 	// fuse all depth-maps
 	pointcloud.Release();
-	if (OPTDENSE::nMinViewsFuse < 2) {
+	switch (OPTDENSE::nFuseFilter) {
+	case OPTDENSE::FUSE_NOFILTER:
 		// merge depth-maps
 		data.depthMaps.MergeDepthMaps(pointcloud, OPTDENSE::nEstimateColors == 2, OPTDENSE::nEstimateNormals == 2);
-	} else {
+		break;
+	case OPTDENSE::FUSE_FILTER:
 		// fuse depth-maps
 		data.depthMaps.FuseDepthMaps(pointcloud, OPTDENSE::nEstimateColors == 2, OPTDENSE::nEstimateNormals == 2);
+		break;
+	case OPTDENSE::FUSE_DENSEFILTER:
+		// dense fuse depth-maps
+		data.depthMaps.DenseFuseDepthMaps(pointcloud, OPTDENSE::nEstimateColors == 2, OPTDENSE::nEstimateNormals == 2);
 	}
 	#if TD_VERBOSE != TD_VERBOSE_OFF
 	if (g_nVerbosityLevel > 2) {
diff --git a/libs/MVS/SceneDensify.h b/libs/MVS/SceneDensify.h
index 74f29764a..7934ed8e9 100644
--- a/libs/MVS/SceneDensify.h
+++ b/libs/MVS/SceneDensify.h
@@ -68,6 +68,7 @@ class MVS_API DepthMapsData
 	bool FilterDepthMap(DepthData& depthData, const IIndexArr& idxNeighbors, bool bAdjust=true);
 	void MergeDepthMaps(PointCloud& pointcloud, bool bEstimateColor, bool bEstimateNormal);
 	void FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, bool bEstimateNormal);
+	void DenseFuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, bool bEstimateNormal);
 
 	static DepthData ScaleDepthData(const DepthData& inputDeptData, float scale);
 

From a759b87aaedb90a97576827b13e5e4eefe719e10 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Wed, 21 Aug 2024 14:34:19 +0300
Subject: [PATCH 245/252] common: add CUDA utils for device

(cherry picked from commit 8d097a76ea1f74017fdd23794742df09133f3c35)
---
 libs/Common/UtilCUDA.cpp     | 22 +++++-----
 libs/Common/UtilCUDA.h       | 20 +++------
 libs/Common/UtilCUDADevice.h | 85 ++++++++++++++++++++++++++++++++++++
 libs/MVS/PatchMatchCUDA.cpp  | 42 +++++++++---------
 4 files changed, 122 insertions(+), 47 deletions(-)
 create mode 100644 libs/Common/UtilCUDADevice.h

diff --git a/libs/Common/UtilCUDA.cpp b/libs/Common/UtilCUDA.cpp
index dddc6d5a4..5b79679dc 100644
--- a/libs/Common/UtilCUDA.cpp
+++ b/libs/Common/UtilCUDA.cpp
@@ -123,10 +123,10 @@ CUresult _gpuGetMaxGflopsDeviceId(Device& bestDevice)
 		if (device.major > 0 && device.major < 9999) {
 			best_SM_arch = MAXF(best_SM_arch, device.major);
 			device.ID = (CUdevice)current_device;
-			devices.Insert(device);
+			devices.emplace_back(std::move(device));
 		}
 	}
-	if (devices.IsEmpty()) {
+	if (devices.empty()) {
 		VERBOSE("CUDA error: all devices have compute mode prohibited");
 		return CUDA_ERROR_PROFILER_DISABLED;
 	}
@@ -134,22 +134,22 @@ CUresult _gpuGetMaxGflopsDeviceId(Device& bestDevice)
 	// Find the best CUDA capable GPU device
 	Device* max_perf_device = NULL;
 	size_t max_compute_perf = 0;
-	FOREACHPTR(pDevice, devices) {
-		ASSERT(pDevice->computeMode != CU_COMPUTEMODE_PROHIBITED);
-		int sm_per_multiproc = _convertSMVer2Cores(pDevice->major, pDevice->minor);
+	for (Device& device: devices) {
+		ASSERT(device.computeMode != CU_COMPUTEMODE_PROHIBITED);
+		int sm_per_multiproc = _convertSMVer2Cores(device.major, device.minor);
 		int multiProcessorCount;
-		if (reportCudaError(cuDeviceGetAttribute(&multiProcessorCount, CU_DEVICE_ATTRIBUTE_MULTIPROCESSOR_COUNT, (CUdevice)pDevice->ID)) != CUDA_SUCCESS)
+		if (reportCudaError(cuDeviceGetAttribute(&multiProcessorCount, CU_DEVICE_ATTRIBUTE_MULTIPROCESSOR_COUNT, device.ID)) != CUDA_SUCCESS)
 			continue;
 		int clockRate;
-		if (reportCudaError(cuDeviceGetAttribute(&clockRate, CU_DEVICE_ATTRIBUTE_CLOCK_RATE, pDevice->ID)) != CUDA_SUCCESS)
+		if (reportCudaError(cuDeviceGetAttribute(&clockRate, CU_DEVICE_ATTRIBUTE_CLOCK_RATE, device.ID)) != CUDA_SUCCESS)
 			continue;
 		size_t compute_perf = (size_t)multiProcessorCount * sm_per_multiproc * clockRate;
 		if (compute_perf > max_compute_perf &&
 			(best_SM_arch < 3 || // if we find GPU with SM major > 2, search only these
-			 pDevice->major == best_SM_arch) ) // if our device==dest_SM_arch, choose this, or else pass
+			 device.major == best_SM_arch) ) // if our device==dest_SM_arch, choose this, or else pass
 		{
 			max_compute_perf = compute_perf;
-			max_perf_device  = pDevice;
+			max_perf_device  = &device;
 		}
 	}
 	if (max_perf_device == NULL)
@@ -180,8 +180,8 @@ CUresult initDevice(int deviceID)
 		VERBOSE("CUDA error: compute capability 3.2 or greater required (available %d.%d for device[%d])", device.ID, device.major, device.minor);
 		return CUDA_ERROR_INVALID_DEVICE;
 	}
-	devices.Insert(device);
-	checkCudaError(cuCtxCreate(&devices.Last().ctx, CU_CTX_SCHED_AUTO, device.ID));
+	devices.emplace_back(device);
+	checkCudaError(cuCtxCreate(&devices.back().ctx, CU_CTX_SCHED_AUTO, device.ID));
 
 	#if TD_VERBOSE != TD_VERBOSE_OFF
 	char name[2048];
diff --git a/libs/Common/UtilCUDA.h b/libs/Common/UtilCUDA.h
index 44d869d6b..d04b04717 100644
--- a/libs/Common/UtilCUDA.h
+++ b/libs/Common/UtilCUDA.h
@@ -23,6 +23,8 @@
 #include <curand_kernel.h>
 #include <vector_types.h>
 
+#include "UtilCUDADevice.h"
+
 
 // D E F I N E S ///////////////////////////////////////////////////
 
@@ -66,7 +68,6 @@ inline CUresult __reportCudaError(CUresult result, LPCSTR errorMessage) {
 	return result;
 }
 #define reportCudaError(val) CUDA::__reportCudaError(val, #val)
-
 #define checkCudaError(val) { const CUresult ret(CUDA::__reportCudaError(val, #val)); if (ret != CUDA_SUCCESS) return ret; }
 
 // outputs the proper CUDA error code and abort in the event that a CUDA host call returns an error
@@ -77,18 +78,7 @@ inline void __ensureCudaResult(CUresult result, LPCSTR errorMessage) {
 	exit(EXIT_FAILURE);
 }
 #define ensureCudaResult(val) CUDA::__ensureCudaResult(val, #val)
-
-inline void checkCudaCall(const cudaError_t error) {
-	if (error == cudaSuccess)
-		return;
-	#ifdef _DEBUG
-	VERBOSE("CUDA error at %s:%d: %s (code %d)", __FILE__, __LINE__, cudaGetErrorString(error), error);
-	#else
-	DEBUG("CUDA error: %s (code %d)", cudaGetErrorString(error), error);
-	#endif
-	ASSERT("CudaError" == NULL);
-	exit(EXIT_FAILURE);
-}
+/*----------------------------------------------------------------*/
 
 // rounds up addr to the align boundary
 template <typename T>
@@ -478,7 +468,7 @@ class TArrayRT
 
 public:
 	inline TArrayRT() : hArray(NULL) {}
-	inline TArrayRT(const Image8U::Size& size, unsigned flags=0) : hArray(NULL) { reportCudaError(Reset(size, flags)); }
+	inline TArrayRT(const cv::Size& size, unsigned flags=0) : hArray(NULL) { reportCudaError(Reset(size, flags)); }
 	inline TArrayRT(unsigned width, unsigned height, unsigned depth=0, unsigned flags=0) : hArray(NULL) { reportCudaError(Reset(width, height, depth, flags)); }
 	inline ~TArrayRT() { Release(); }
 
@@ -498,7 +488,7 @@ class TArrayRT
 			hArray = NULL;
 		}
 	}
-	inline CUresult Reset(const Image8U::Size& size, unsigned flags=0) {
+	inline CUresult Reset(const cv::Size& size, unsigned flags=0) {
 		return Reset((unsigned)size.width, (unsigned)size.height, 0, flags);
 	}
 	CUresult Reset(unsigned width, unsigned height, unsigned depth=0, unsigned flags=0) {
diff --git a/libs/Common/UtilCUDADevice.h b/libs/Common/UtilCUDADevice.h
new file mode 100644
index 000000000..46933650d
--- /dev/null
+++ b/libs/Common/UtilCUDADevice.h
@@ -0,0 +1,85 @@
+////////////////////////////////////////////////////////////////////
+// UtilCUDADevice.h
+//
+// Copyright 2024 cDc@seacave
+// Distributed under the Boost Software License, Version 1.0
+// (See http://www.boost.org/LICENSE_1_0.txt)
+
+#ifndef  __SEACAVE_CUDA_DEVICE_H__
+#define  __SEACAVE_CUDA_DEVICE_H__
+
+
+// I N C L U D E S /////////////////////////////////////////////////
+
+#include "Config.h"
+
+// CUDA driver
+#include <cuda.h>
+
+// CUDA toolkit
+#include <cuda_runtime.h>
+
+#include <memory>
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+#ifndef VERBOSE
+#define DEFINE_VERBOSE 1
+#define VERBOSE(...) fprintf(stderr, __VA_ARGS__)
+#endif
+
+// check for CUDA errors following a CUDA call
+#define CUDA_CHECK(condition) SEACAVE::CUDA::checkCudaCall(condition)
+
+// check cudaGetLastError() for success
+#define CUDA_CHECK_LAST_ERROR CUDA_CHECK(cudaGetLastError());
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+namespace SEACAVE {
+
+namespace CUDA {
+
+inline void checkCudaCall(const cudaError_t error) {
+	if (error == cudaSuccess)
+		return;
+	VERBOSE("CUDA error at %s:%d: %s (code %d)", __FILE__, __LINE__, cudaGetErrorString(error), error);
+	ASSERT("CudaError" == NULL);
+	exit(EXIT_FAILURE);
+}
+
+// define smart pointers for CUDA stream
+struct CudaStreamDestructor {
+	void operator()(cudaStream_t s) {
+		if (s)
+			CUDA_CHECK(cudaStreamDestroy(s));
+	}
+};
+
+typedef std::unique_ptr<std::remove_pointer<cudaStream_t>::type, CudaStreamDestructor> CudaStreamPtr;
+inline CudaStreamPtr CreateStream() {
+	cudaStream_t stream;
+	CUDA_CHECK(cudaStreamCreate(&stream));
+	return CudaStreamPtr(stream, CudaStreamDestructor());
+}
+
+typedef std::shared_ptr<std::remove_pointer<cudaStream_t>::type> CudaStreamSharedPtr;
+inline CudaStreamSharedPtr CreateSharedStream() {
+	cudaStream_t stream;
+	CUDA_CHECK(cudaStreamCreate(&stream));
+	return CudaStreamSharedPtr(stream, CudaStreamDestructor());
+}
+/*----------------------------------------------------------------*/
+
+} // namespace CUDA
+
+} // namespace SEACAVE
+
+#ifdef DEFINE_VERBOSE
+#undef DEFINE_VERBOSE
+#undef VERBOSE
+#endif
+
+#endif // __SEACAVE_CUDA_DEVICE_H__
diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
index 814e73e9c..ea12344de 100644
--- a/libs/MVS/PatchMatchCUDA.cpp
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -108,18 +108,18 @@ void PatchMatchCUDA::Init(bool bGeomConsistency)
 void PatchMatchCUDA::AllocatePatchMatchCUDA(const cv::Mat1f& image)
 {
 	const size_t num_images = images.size();
-	CUDA::checkCudaCall(cudaMalloc((void**)&cudaTextureImages, sizeof(cudaTextureObject_t) * num_images));
-	CUDA::checkCudaCall(cudaMalloc((void**)&cudaCameras, sizeof(Camera) * num_images));
+	CUDA_CHECK(cudaMalloc((void**)&cudaTextureImages, sizeof(cudaTextureObject_t) * num_images));
+	CUDA_CHECK(cudaMalloc((void**)&cudaCameras, sizeof(Camera) * num_images));
 	if (params.bGeomConsistency)
-		CUDA::checkCudaCall(cudaMalloc((void**)&cudaTextureDepths, sizeof(cudaTextureObject_t) * (num_images-1)));
+		CUDA_CHECK(cudaMalloc((void**)&cudaTextureDepths, sizeof(cudaTextureObject_t) * (num_images-1)));
 
 	const size_t size = image.size().area();
 	depthNormalEstimates = new Point4[size];
-	CUDA::checkCudaCall(cudaMalloc((void**)&cudaDepthNormalEstimates, sizeof(Point4) * size));
+	CUDA_CHECK(cudaMalloc((void**)&cudaDepthNormalEstimates, sizeof(Point4) * size));
 
-	CUDA::checkCudaCall(cudaMalloc((void**)&cudaDepthNormalCosts, sizeof(float) * size));
-	CUDA::checkCudaCall(cudaMalloc((void**)&cudaSelectedViews, sizeof(unsigned) * size));
-	CUDA::checkCudaCall(cudaMalloc((void**)&cudaRandStates, sizeof(curandState) * size));
+	CUDA_CHECK(cudaMalloc((void**)&cudaDepthNormalCosts, sizeof(float) * size));
+	CUDA_CHECK(cudaMalloc((void**)&cudaSelectedViews, sizeof(unsigned) * size));
+	CUDA_CHECK(cudaMalloc((void**)&cudaRandStates, sizeof(curandState) * size));
 }
 
 void PatchMatchCUDA::AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bInitImage, bool bInitDepthMap)
@@ -127,7 +127,7 @@ void PatchMatchCUDA::AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bI
 	const cudaChannelFormatDesc channelDesc = cudaCreateChannelDesc(32, 0, 0, 0, cudaChannelFormatKindFloat);
 
 	if (bInitImage) {
-		CUDA::checkCudaCall(cudaMallocArray(&cudaImageArrays[i], &channelDesc, image.cols, image.rows));
+		CUDA_CHECK(cudaMallocArray(&cudaImageArrays[i], &channelDesc, image.cols, image.rows));
 
 		struct cudaResourceDesc resDesc;
 		memset(&resDesc, 0, sizeof(cudaResourceDesc));
@@ -142,7 +142,7 @@ void PatchMatchCUDA::AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bI
 		texDesc.readMode  = cudaReadModeElementType;
 		texDesc.normalizedCoords = 0;
 
-		CUDA::checkCudaCall(cudaCreateTextureObject(&textureImages[i], &resDesc, &texDesc, NULL));
+		CUDA_CHECK(cudaCreateTextureObject(&textureImages[i], &resDesc, &texDesc, NULL));
 	}
 
 	if (params.bGeomConsistency && i > 0) {
@@ -152,7 +152,7 @@ void PatchMatchCUDA::AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bI
 			return;
 		}
 
-		CUDA::checkCudaCall(cudaMallocArray(&cudaDepthArrays[i-1], &channelDesc, image.cols, image.rows));
+		CUDA_CHECK(cudaMallocArray(&cudaDepthArrays[i-1], &channelDesc, image.cols, image.rows));
 
 		struct cudaResourceDesc resDesc;
 		memset(&resDesc, 0, sizeof(cudaResourceDesc));
@@ -167,7 +167,7 @@ void PatchMatchCUDA::AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bI
 		texDesc.readMode  = cudaReadModeElementType;
 		texDesc.normalizedCoords = 0;
 
-		CUDA::checkCudaCall(cudaCreateTextureObject(&textureDepths[i-1], &resDesc, &texDesc, NULL));
+		CUDA_CHECK(cudaCreateTextureObject(&textureDepths[i-1], &resDesc, &texDesc, NULL));
 	}
 }
 
@@ -213,7 +213,7 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 			cv::resize(lowResDepthMap, depthData.depthMap, size, 0, 0, cv::INTER_LINEAR);
 			cv::resize(lowResNormalMap, depthData.normalMap, size, 0, 0, cv::INTER_NEAREST);
 			cv::resize(lowResViewsMap, depthData.viewsMap, size, 0, 0, cv::INTER_NEAREST);
-			CUDA::checkCudaCall(cudaMalloc((void**)&cudaLowDepths, sizeof(float) * size.area()));
+			CUDA_CHECK(cudaMalloc((void**)&cudaLowDepths, sizeof(float) * size.area()));
 		} else {
 			if (totalScaleNumber > 0) {
 				// smallest resolution, when multi-resolution is enabled
@@ -289,13 +289,13 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 				}
 				AllocateImageCUDA(i, image, false, !view.depthMap.empty());
 			}
-			CUDA::checkCudaCall(cudaMemcpy2DToArray(cudaImageArrays[i], 0, 0, image.ptr<float>(), image.step[0], image.cols * sizeof(float), image.rows, cudaMemcpyHostToDevice));
+			CUDA_CHECK(cudaMemcpy2DToArray(cudaImageArrays[i], 0, 0, image.ptr<float>(), image.step[0], image.cols * sizeof(float), image.rows, cudaMemcpyHostToDevice));
 			if (params.bGeomConsistency && i > 0 && !view.depthMap.empty()) {
 				// set previously computed depth-map
 				DepthMap depthMap(view.depthMap);
 				if (depthMap.size() != image.size())
 					cv::resize(depthMap, depthMap, image.size(), 0, 0, cv::INTER_LINEAR);
-				CUDA::checkCudaCall(cudaMemcpy2DToArray(cudaDepthArrays[i-1], 0, 0, depthMap.ptr<float>(), depthMap.step[0], sizeof(float) * depthMap.cols, depthMap.rows, cudaMemcpyHostToDevice));
+				CUDA_CHECK(cudaMemcpy2DToArray(cudaDepthArrays[i-1], 0, 0, depthMap.ptr<float>(), depthMap.step[0], sizeof(float) * depthMap.cols, depthMap.rows, cudaMemcpyHostToDevice));
 			}
 			images[i] = std::move(image);
 			cameras[i] = std::move(camera);
@@ -323,12 +323,12 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 		prevNumImages = numImages;
 
 		// setup CUDA memory
-		CUDA::checkCudaCall(cudaMemcpy(cudaTextureImages, textureImages.data(), sizeof(cudaTextureObject_t) * numImages, cudaMemcpyHostToDevice));
-		CUDA::checkCudaCall(cudaMemcpy(cudaCameras, cameras.data(), sizeof(Camera) * numImages, cudaMemcpyHostToDevice));
+		CUDA_CHECK(cudaMemcpy(cudaTextureImages, textureImages.data(), sizeof(cudaTextureObject_t) * numImages, cudaMemcpyHostToDevice));
+		CUDA_CHECK(cudaMemcpy(cudaCameras, cameras.data(), sizeof(Camera) * numImages, cudaMemcpyHostToDevice));
 		if (params.bGeomConsistency) {
 			// set previously computed depth-maps
 			ASSERT(depthData.depthMap.size() == depthData.GetView().image.size());
-			CUDA::checkCudaCall(cudaMemcpy(cudaTextureDepths, textureDepths.data(), sizeof(cudaTextureObject_t) * params.nNumViews, cudaMemcpyHostToDevice));
+			CUDA_CHECK(cudaMemcpy(cudaTextureDepths, textureDepths.data(), sizeof(cudaTextureObject_t) * params.nNumViews, cudaMemcpyHostToDevice));
 		}
 
 		// load depth-map and normal-map into CUDA memory
@@ -342,20 +342,20 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 				depthNormal.w() = depthData.depthMap(r, c);
 			}
 		}
-		CUDA::checkCudaCall(cudaMemcpy(cudaDepthNormalEstimates, depthNormalEstimates, sizeof(Point4) * depthData.depthMap.size().area(), cudaMemcpyHostToDevice));
+		CUDA_CHECK(cudaMemcpy(cudaDepthNormalEstimates, depthNormalEstimates, sizeof(Point4) * depthData.depthMap.size().area(), cudaMemcpyHostToDevice));
 
 		// load low resolution depth-map into CUDA memory
 		if (params.bLowResProcessed) {
 			ASSERT(depthData.depthMap.isContinuous());
-			CUDA::checkCudaCall(cudaMemcpy(cudaLowDepths, depthData.depthMap.ptr<float>(), sizeof(float) * depthData.depthMap.size().area(), cudaMemcpyHostToDevice));
+			CUDA_CHECK(cudaMemcpy(cudaLowDepths, depthData.depthMap.ptr<float>(), sizeof(float) * depthData.depthMap.size().area(), cudaMemcpyHostToDevice));
 		}
 
 		// run CUDA patch-match
 		ASSERT(!depthData.viewsMap.empty());
 		RunCUDA(depthData.confMap.getData(), (uint32_t*)depthData.viewsMap.getData());
-		CUDA::checkCudaCall(cudaGetLastError());
+		CUDA_CHECK(cudaGetLastError());
 		if (params.bLowResProcessed)
-			CUDA::checkCudaCall(cudaFree(cudaLowDepths));
+			CUDA_CHECK(cudaFree(cudaLowDepths));
 
 		// load depth-map, normal-map and confidence-map from CUDA memory
 		for (int r = 0; r < depthData.depthMap.rows; ++r) {

From 8e42439152cf71de8f0c5f7a50364629c5cc82e7 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Thu, 22 Aug 2024 17:30:37 +0300
Subject: [PATCH 246/252] dense: refactor PatchMatchCUDA::Camera into a stand
 alone structure

---
 apps/DensifyPointCloud/DensifyPointCloud.cpp |   2 +-
 apps/ReconstructMesh/ReconstructMesh.cpp     |   2 +-
 apps/RefineMesh/RefineMesh.cpp               |   4 +-
 apps/TextureMesh/TextureMesh.cpp             |   2 +-
 libs/Common/Config.h                         |  18 +-
 libs/Common/FastDelegate.h                   |   6 -
 libs/Common/UtilCUDA.h                       |   6 +-
 libs/Common/UtilCUDADevice.h                 |   6 +
 libs/MVS/CameraCUDA.h                        | 171 +++++++++++++++++++
 libs/MVS/Mesh.h                              |   4 +-
 libs/MVS/PatchMatchCUDA.cpp                  |  44 ++---
 libs/MVS/PatchMatchCUDA.cu                   | 132 ++++++--------
 libs/MVS/PatchMatchCUDA.inl                  |  46 +----
 libs/MVS/SceneDensify.cpp                    |   6 +-
 libs/MVS/SceneDensify.h                      |   6 +-
 libs/MVS/SceneRefineCUDA.cpp                 | 100 +++++------
 16 files changed, 340 insertions(+), 215 deletions(-)
 create mode 100644 libs/MVS/CameraCUDA.h

diff --git a/apps/DensifyPointCloud/DensifyPointCloud.cpp b/apps/DensifyPointCloud/DensifyPointCloud.cpp
index 82b7d5daa..7637e60bb 100644
--- a/apps/DensifyPointCloud/DensifyPointCloud.cpp
+++ b/apps/DensifyPointCloud/DensifyPointCloud.cpp
@@ -109,7 +109,7 @@ bool Application::Initialize(size_t argc, LPCTSTR* argv)
 			), "verbosity level")
 		#endif
 		#ifdef _USE_CUDA
-		("cuda-device", boost::program_options::value(&CUDA::desiredDeviceID)->default_value(-1), "CUDA device number to be used for depth-map estimation (-2 - CPU processing, -1 - best GPU, >=0 - device index)")
+		("cuda-device", boost::program_options::value(&SEACAVE::CUDA::desiredDeviceID)->default_value(-1), "CUDA device number to be used for depth-map estimation (-2 - CPU processing, -1 - best GPU, >=0 - device index)")
 		#endif
 		;
 
diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index f7c0f6d83..e4fc7bf6a 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -118,7 +118,7 @@ bool Application::Initialize(size_t argc, LPCTSTR* argv)
 			), "verbosity level")
 		#endif
 		#ifdef _USE_CUDA
-		("cuda-device", boost::program_options::value(&CUDA::desiredDeviceID)->default_value(-1), "CUDA device number to be used to reconstruct the mesh (-2 - CPU processing, -1 - best GPU, >=0 - device index)")
+		("cuda-device", boost::program_options::value(&SEACAVE::CUDA::desiredDeviceID)->default_value(-1), "CUDA device number to be used to reconstruct the mesh (-2 - CPU processing, -1 - best GPU, >=0 - device index)")
 		#endif
 		;
 
diff --git a/apps/RefineMesh/RefineMesh.cpp b/apps/RefineMesh/RefineMesh.cpp
index 3aa6230c5..88c2dc05b 100644
--- a/apps/RefineMesh/RefineMesh.cpp
+++ b/apps/RefineMesh/RefineMesh.cpp
@@ -108,7 +108,7 @@ bool Application::Initialize(size_t argc, LPCTSTR* argv)
 			), "verbosity level")
 		#endif
 		#ifdef _USE_CUDA
-		("cuda-device", boost::program_options::value(&CUDA::desiredDeviceID)->default_value(-2), "CUDA device number to be used for mesh refinement (-2 - CPU processing, -1 - best GPU, >=0 - device index)")
+		("cuda-device", boost::program_options::value(&SEACAVE::CUDA::desiredDeviceID)->default_value(-2), "CUDA device number to be used for mesh refinement (-2 - CPU processing, -1 - best GPU, >=0 - device index)")
 		#endif
 		;
 
@@ -229,7 +229,7 @@ int main(int argc, LPCTSTR* argv)
 	}
 	TD_TIMER_START();
 	#ifdef _USE_CUDA
-	if (CUDA::desiredDeviceID < -1 ||
+	if (SEACAVE::CUDA::desiredDeviceID < -1 ||
 		!scene.RefineMeshCUDA(OPT::nResolutionLevel, OPT::nMinResolution, OPT::nMaxViews,
 							  OPT::fDecimateMesh, OPT::nCloseHoles, OPT::nEnsureEdgeSize,
 							  OPT::nMaxFaceArea,
diff --git a/apps/TextureMesh/TextureMesh.cpp b/apps/TextureMesh/TextureMesh.cpp
index 703e4b1a8..75cb0f50d 100644
--- a/apps/TextureMesh/TextureMesh.cpp
+++ b/apps/TextureMesh/TextureMesh.cpp
@@ -110,7 +110,7 @@ bool Application::Initialize(size_t argc, LPCTSTR* argv)
 			), "verbosity level")
 		#endif
 		#ifdef _USE_CUDA
-		("cuda-device", boost::program_options::value(&CUDA::desiredDeviceID)->default_value(-1), "CUDA device number to be used to texture the mesh (-2 - CPU processing, -1 - best GPU, >=0 - device index)")
+		("cuda-device", boost::program_options::value(&SEACAVE::CUDA::desiredDeviceID)->default_value(-1), "CUDA device number to be used to texture the mesh (-2 - CPU processing, -1 - best GPU, >=0 - device index)")
 		#endif
 		;
 
diff --git a/libs/Common/Config.h b/libs/Common/Config.h
index d5f7dddec..e22f946a7 100644
--- a/libs/Common/Config.h
+++ b/libs/Common/Config.h
@@ -206,9 +206,6 @@
 #	define FORCEINLINE inline
 #endif
 
-#ifndef _SUPPORT_CPP11
-#	define constexpr inline
-#endif
 #ifdef _SUPPORT_CPP17
 #	undef MAYBEUNUSED
 #	define MAYBEUNUSED [[maybe_unused]]
@@ -224,37 +221,36 @@
 
 #ifdef _MSC_VER
 #define _DEBUGINFO
-#define _CRTDBG_MAP_ALLOC	//enable this to show also the filename (DEBUG_NEW should also be defined in each file)
+#define _CRTDBG_MAP_ALLOC //enable this to show also the filename (DEBUG_NEW should also be defined in each file)
 #include <cstdlib>
 #include <crtdbg.h>
 #ifdef _INC_CRTDBG
-#define ASSERT(exp)	{if (!(exp) && 1 == _CrtDbgReport(_CRT_ASSERT, __FILE__, __LINE__, NULL, #exp)) _CrtDbgBreak();}
+#define ASSERT(exp, ...) {if (!(exp) && 1 == _CrtDbgReport(_CRT_ASSERT, __FILE__, __LINE__, NULL, #exp)) _CrtDbgBreak();}
 #else
-#define ASSERT(exp)	{if (!(exp)) __debugbreak();}
+#define ASSERT(exp, ...) {if (!(exp)) __debugbreak();}
 #endif // _INC_CRTDBG
 #define TRACE(...) {TCHAR buffer[2048];	_sntprintf(buffer, 2048, __VA_ARGS__); OutputDebugString(buffer);}
 #else // _MSC_VER
 #include <assert.h>
-#define ASSERT(exp)	assert(exp)
+#define ASSERT(exp, ...) assert(exp)
 #define TRACE(...)
 #endif // _MSC_VER
 
 #else
 
 #ifdef _RELEASE
-#define ASSERT(exp)
+#define ASSERT(exp, ...)
 #else
 #ifdef _MSC_VER
-#define ASSERT(exp) {if (!(exp)) __debugbreak();}
+#define ASSERT(exp, ...) {if (!(exp)) __debugbreak();}
 #else // _MSC_VER
-#define ASSERT(exp) {if (!(exp)) __builtin_trap();}
+#define ASSERT(exp, ...) {if (!(exp)) __builtin_trap();}
 #endif // _MSC_VER
 #endif
 #define TRACE(...)
 
 #endif // _DEBUG
 
-#define ASSERTM(exp, msg) ASSERT(exp)
 
 namespace SEACAVE_ASSERT
 {
diff --git a/libs/Common/FastDelegate.h b/libs/Common/FastDelegate.h
index 26a565bfb..72206cb35 100644
--- a/libs/Common/FastDelegate.h
+++ b/libs/Common/FastDelegate.h
@@ -26,12 +26,6 @@
 #include <type_traits>
 #include <utility>
 
-// VC work around for constexpr and noexcept: VC2013 and below do not support these 2 keywords
-#if defined(_MSC_VER) && (_MSC_VER <= 1800)
-#define constexpr const
-#define noexcept throw()
-#endif
-
 namespace fastdelegate
 {
 
diff --git a/libs/Common/UtilCUDA.h b/libs/Common/UtilCUDA.h
index d04b04717..6cdbb86a3 100644
--- a/libs/Common/UtilCUDA.h
+++ b/libs/Common/UtilCUDA.h
@@ -67,8 +67,8 @@ inline CUresult __reportCudaError(CUresult result, LPCSTR errorMessage) {
 	ASSERT("CudaError" == NULL);
 	return result;
 }
-#define reportCudaError(val) CUDA::__reportCudaError(val, #val)
-#define checkCudaError(val) { const CUresult ret(CUDA::__reportCudaError(val, #val)); if (ret != CUDA_SUCCESS) return ret; }
+#define reportCudaError(val) SEACAVE::CUDA::__reportCudaError(val, #val)
+#define checkCudaError(val) { const CUresult ret(SEACAVE::CUDA::__reportCudaError(val, #val)); if (ret != CUDA_SUCCESS) return ret; }
 
 // outputs the proper CUDA error code and abort in the event that a CUDA host call returns an error
 inline void __ensureCudaResult(CUresult result, LPCSTR errorMessage) {
@@ -77,7 +77,7 @@ inline void __ensureCudaResult(CUresult result, LPCSTR errorMessage) {
 	ASSERT("CudaAbort" == NULL);
 	exit(EXIT_FAILURE);
 }
-#define ensureCudaResult(val) CUDA::__ensureCudaResult(val, #val)
+#define ensureCudaResult(val) SEACAVE::CUDA::__ensureCudaResult(val, #val)
 /*----------------------------------------------------------------*/
 
 // rounds up addr to the align boundary
diff --git a/libs/Common/UtilCUDADevice.h b/libs/Common/UtilCUDADevice.h
index 46933650d..40791f8a1 100644
--- a/libs/Common/UtilCUDADevice.h
+++ b/libs/Common/UtilCUDADevice.h
@@ -24,6 +24,12 @@
 
 // D E F I N E S ///////////////////////////////////////////////////
 
+#if __CUDA_ARCH__ > 0
+#define __CDC__CUDA__ARCH__ 1
+#else
+#undef __CDC__CUDA__ARCH__
+#endif
+
 #ifndef VERBOSE
 #define DEFINE_VERBOSE 1
 #define VERBOSE(...) fprintf(stderr, __VA_ARGS__)
diff --git a/libs/MVS/CameraCUDA.h b/libs/MVS/CameraCUDA.h
new file mode 100644
index 000000000..c4260ebf4
--- /dev/null
+++ b/libs/MVS/CameraCUDA.h
@@ -0,0 +1,171 @@
+/*
+* CameraCUDA.h
+*
+* Copyright (c) 2014-2024 SEACAVE
+*
+* Author(s):
+*
+*	  cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*	  You are required to preserve legal notices and author attributions in
+*	  that material or in the Appropriate Legal Notices displayed by works
+*	  containing it.
+*/
+
+#ifndef _MVS_CAMERACUDA_H_
+#define _MVS_CAMERACUDA_H_
+
+
+// I N C L U D E S /////////////////////////////////////////////////
+
+#define _USE_MATH_DEFINES
+#include <cmath>
+#include <cstdint>
+#include <float.h>
+#include <string>
+#include <vector>
+
+// Eigen
+#define EIGEN_DEFAULT_DENSE_INDEX_TYPE int
+#include <Eigen/Dense>
+
+// CUDA toolkit
+#include <cuda_runtime.h>
+#include <cuda_runtime_api.h>
+#include <cuda_texture_types.h>
+#include <curand_kernel.h>
+#include <vector_types.h>
+
+#include "../Common/UtilCUDADevice.h"
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+namespace MVS {
+
+namespace CUDA {
+
+typedef Eigen::Matrix<int,2,1> Point2i;
+typedef Eigen::Matrix<float,2,1> Point2;
+typedef Eigen::Matrix<float,3,1> Point3;
+typedef Eigen::Matrix<float,4,1> Point4;
+typedef Eigen::Matrix<float,3,3> Matrix3;
+
+// Linear camera model
+struct LinearCameraModel {
+	Point2 f; // focal length
+	Point2 p; // principal point
+
+	__host__ __device__ LinearCameraModel() {}
+	__host__ __device__ LinearCameraModel(float fx, float fy, float cx, float cy) :
+		f(fx, fy), p(cx, cy) {}
+	__host__ __device__ LinearCameraModel(const Matrix3& K) :
+		f(K(0,0), K(1,1)), p(K(0,2), K(1,2)) { ASSERT(K(0,1) == 0); }
+
+	__host__ __device__ inline Matrix3 K() const {
+		Matrix3 M; M <<
+			f.x(), 0, p.x(),
+			0, f.y(), p.y(),
+			0, 0, 1;
+		return M;
+	}
+
+	// transform a point in image space to camera space
+	__host__ __device__ inline Point2 NormalizePoint(const Point2& x) const {
+		return Point2(
+			(x.x() - p.x()) / f.x(),
+			(x.y() - p.y()) / f.y());
+	}
+
+	// project a point in camera space to image space
+	__host__ __device__ inline Point2 TransformPointC2I(const Point3& X) const {
+		return Point2(
+			f.x() * X.x() / X.z() + p.x(),
+			f.y() * X.y() / X.z() + p.y());
+	}
+
+	// back-project a point in image space to camera space
+	__host__ __device__ inline Point3 TransformPointI2C(const Point2& x, const float depth = 1.f) const {
+		return Point3(
+			depth * (x.x() - p.x()) / f.x(),
+			depth * (x.y() - p.y()) / f.y(),
+			depth);
+	}
+
+	// compute camera ray direction for the given pixel
+	__host__ __device__ inline Point3 ViewDirection(const Point2i& x) const {
+		return TransformPointI2C(x.cast<float>()).normalized();
+	}
+};
+/*----------------------------------------------------------------*/
+
+// Camera pose
+struct Pose {
+	Matrix3 R; // rotation matrix
+	Point3 C; // camera center
+
+	__host__ __device__ Pose() {}
+	__host__ __device__ Pose(const Matrix3& R, const Point3& C) :
+		R(R), C(C) {}
+
+	// transform a 3D point from world space to camera space
+	__host__ __device__ inline Point3 TransformPointW2C(const Point3& X) const {
+		return R * (X - C);
+	}
+
+	// transform a 3D point in camera space to world space
+	__host__ __device__ inline Point3 TransformPointC2W(const Point3& X) const {
+		return R.transpose() * X + C;
+	}
+};
+/*----------------------------------------------------------------*/
+
+// Camera view
+struct Camera {
+	LinearCameraModel model;
+	Pose pose;
+	Point2i size;
+
+	__host__ __device__ Camera() {}
+	__host__ __device__ Camera(const LinearCameraModel& model, const Pose& pose, int width=0, int height=0) :
+		model(model), pose(pose), size(width, height) {}
+	__host__ __device__ Camera(const Matrix3& K, const Matrix3& R, const Point3& C, int width=0, int height=0) :
+		model(K), pose(R, C), size(width, height) {}
+
+	// project a 3D point in world space to image space
+	__host__ __device__ inline Point2 TransformPointW2I(const Point3& X) const {
+		return model.TransformPointC2I(pose.TransformPointW2C(X));
+	}
+
+	// back-project a point in image space to 3D point in world space
+	__host__ __device__ inline Point3 TransformPointI2W(const Point2& x, const float depth = 1.f) const {
+		return pose.TransformPointC2W(model.TransformPointI2C(x, depth));
+	}
+};
+/*----------------------------------------------------------------*/
+
+} // namespace CUDA
+
+} // namespace MVS
+
+#endif // _MVS_CAMERACUDA_H_
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 648504994..8e6df53f0 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -137,13 +137,13 @@ class MVS_API Mesh
 	Image8U3Arr texturesDiffuse; // textures containing the diffuse color (optional)
 
 	#ifdef _USE_CUDA
-	static CUDA::KernelRT kernelComputeFaceNormal;
+	static SEACAVE::CUDA::KernelRT kernelComputeFaceNormal;
 	#endif
 
 public:
 	#ifdef _USE_CUDA
 	inline Mesh() {
-		InitKernels(CUDA::desiredDeviceID);
+		InitKernels(SEACAVE::CUDA::desiredDeviceID);
 	}
 	#endif
 
diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
index ea12344de..5677f64b5 100644
--- a/libs/MVS/PatchMatchCUDA.cpp
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -1,5 +1,5 @@
 /*
-* PatchMatchCUDA.cpp
+* PatchMatch.cpp
 *
 * Copyright (c) 2014-2021 SEACAVE
 *
@@ -35,7 +35,6 @@
 
 #ifdef _USE_CUDA
 
-using namespace MVS;
 
 
 // D E F I N E S ///////////////////////////////////////////////////
@@ -43,19 +42,23 @@ using namespace MVS;
 
 // S T R U C T S ///////////////////////////////////////////////////
 
-PatchMatchCUDA::PatchMatchCUDA(int device)
+namespace MVS {
+
+namespace CUDA {
+
+PatchMatch::PatchMatch(int device)
 {
 	// initialize CUDA device if needed
-	if (CUDA::devices.IsEmpty())
-		CUDA::initDevice(device);
+	if (SEACAVE::CUDA::devices.IsEmpty())
+		SEACAVE::CUDA::initDevice(device);
 }
 
-PatchMatchCUDA::~PatchMatchCUDA()
+PatchMatch::~PatchMatch()
 {
 	Release();
 }
 
-void PatchMatchCUDA::Release()
+void PatchMatch::Release()
 {
 	if (images.empty())
 		return;
@@ -80,7 +83,7 @@ void PatchMatchCUDA::Release()
 	ReleaseCUDA();
 }
 
-void PatchMatchCUDA::ReleaseCUDA()
+void PatchMatch::ReleaseCUDA()
 {
 	cudaFree(cudaTextureImages);
 	cudaFree(cudaCameras);
@@ -94,7 +97,7 @@ void PatchMatchCUDA::ReleaseCUDA()
 	delete[] depthNormalEstimates;
 }
 
-void PatchMatchCUDA::Init(bool bGeomConsistency)
+void PatchMatch::Init(bool bGeomConsistency)
 {
 	if (bGeomConsistency) {
 		params.bGeomConsistency = true;
@@ -105,7 +108,7 @@ void PatchMatchCUDA::Init(bool bGeomConsistency)
 	}
 }
 
-void PatchMatchCUDA::AllocatePatchMatchCUDA(const cv::Mat1f& image)
+void PatchMatch::AllocatePatchMatchCUDA(const cv::Mat1f& image)
 {
 	const size_t num_images = images.size();
 	CUDA_CHECK(cudaMalloc((void**)&cudaTextureImages, sizeof(cudaTextureObject_t) * num_images));
@@ -122,7 +125,7 @@ void PatchMatchCUDA::AllocatePatchMatchCUDA(const cv::Mat1f& image)
 	CUDA_CHECK(cudaMalloc((void**)&cudaRandStates, sizeof(curandState) * size));
 }
 
-void PatchMatchCUDA::AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bInitImage, bool bInitDepthMap)
+void PatchMatch::AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bInitImage, bool bInitDepthMap)
 {
 	const cudaChannelFormatDesc channelDesc = cudaCreateChannelDesc(32, 0, 0, 0, cudaChannelFormatKindFloat);
 
@@ -171,7 +174,7 @@ void PatchMatchCUDA::AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bI
 	}
 }
 
-void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
+void PatchMatch::EstimateDepthMap(DepthData& depthData)
 {
 	TD_TIMER_STARTD();
 
@@ -253,13 +256,12 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 
 		for (IIndex i = 0; i < numImages; ++i) {
 			const DepthData::ViewData& view = depthData.images[i];
-			Image32F image = view.image;
-			Camera camera;
-			camera.K = Eigen::Map<const SEACAVE::Matrix3x3::EMat>(view.camera.K.val).cast<float>();
-			camera.R = Eigen::Map<const SEACAVE::Matrix3x3::EMat>(view.camera.R.val).cast<float>();
-			camera.C = Eigen::Map<const SEACAVE::Point3::EVec>(view.camera.C.ptr()).cast<float>();
-			camera.height = image.rows;
-			camera.width = image.cols;
+			const Image32F image = view.image;
+			const Camera camera(
+				Eigen::Map<const SEACAVE::Matrix3x3::EMat>(view.camera.K.val).cast<float>(),
+				Eigen::Map<const SEACAVE::Matrix3x3::EMat>(view.camera.R.val).cast<float>(),
+				Eigen::Map<const SEACAVE::Point3::EVec>(view.camera.C.ptr()).cast<float>(),
+				image.rows, image.cols);
 			// store camera and image
 			if (i == 0 && (prevNumImages < numImages || images[0].size() != image.size())) {
 				// allocate/reallocate PatchMatch CUDA memory
@@ -416,4 +418,8 @@ void PatchMatchCUDA::EstimateDepthMap(DepthData& depthData)
 }
 /*----------------------------------------------------------------*/
 
+} // namespace CUDA
+
+} // namespace MVS
+
 #endif // _USE_CUDA
diff --git a/libs/MVS/PatchMatchCUDA.cu b/libs/MVS/PatchMatchCUDA.cu
index 26a9c15d6..4531f8456 100644
--- a/libs/MVS/PatchMatchCUDA.cu
+++ b/libs/MVS/PatchMatchCUDA.cu
@@ -43,32 +43,29 @@
 // patch stepping
 #define nSizeStep 2
 
-using namespace MVS;
 
-typedef Eigen::Matrix<int,2,1> Point2i;
-typedef Eigen::Matrix<float,2,1> Point2;
-typedef Eigen::Matrix<float,3,1> Point3;
-typedef Eigen::Matrix<float,4,1> Point4;
-typedef Eigen::Matrix<float,3,3> Matrix3;
+namespace MVS {
+
+namespace CUDA {
 
 #define ImagePixels cudaTextureObject_t
 #define RandState curandState
 
 // square the given value
-__device__ inline constexpr float Square(float v) {
+__device__ constexpr float Square(float v) {
 	return v * v;
 }
 
 // set/check a bit
-__device__ inline constexpr void SetBit(unsigned& input, unsigned i) {
+__device__ constexpr void SetBit(unsigned& input, unsigned i) {
 	input |= (1u << i);
 }
-__device__ inline constexpr int IsBitSet(unsigned input, unsigned i) {
+__device__ constexpr int IsBitSet(unsigned input, unsigned i) {
 	return (input >> i) & 1u;
 }
 
 // swap the given values
-__device__ inline constexpr void Swap(float& v0, float& v1) {
+__device__ constexpr void Swap(float& v0, float& v1) {
 	const float tmp = v0;
 	v0 = v1;
 	v1 = tmp;
@@ -82,27 +79,6 @@ __device__ inline Point2i Idx2Point(int idx, int width) {
 	return Point2i(idx % width, idx / width);
 }
 
-// project and back-project a 3D point
-__device__ inline Point2 ProjectPoint(const PatchMatchCUDA::Camera& camera, const Point3& X) {
-	const Point3 x = camera.K * camera.R * (X - camera.C);
-	return x.hnormalized();
-}
-__device__ inline Point3 BackProjectPointCamera(const PatchMatchCUDA::Camera& camera, const Point2& p, const float depth = 1.f) {
-	return Point3(
-		depth * (p.x() - camera.K(0,2)) / camera.K(0,0),
-		depth * (p.y() - camera.K(1,2)) / camera.K(1,1),
-		depth);
-}
-__device__ inline Point3 BackProjectPoint(const PatchMatchCUDA::Camera& camera, const Point2& p, const float depth) {
-	const Point3 camX = BackProjectPointCamera(camera, p, depth);
-	return camera.R.transpose() * camX + camera.C;
-}
-
-// compute camera ray direction for the given pixel
-__device__ inline Point3 ViewDirection(const PatchMatchCUDA::Camera& camera, const Point2i& p) {
-	return BackProjectPointCamera(camera, p.cast<float>()).normalized();
-}
-
 // sort the given values array using bubble sort algorithm
 __device__ inline void Sort(const float* values, float* sortedValues, int n) {
 	for (int i = 0; i < n; ++i)
@@ -149,7 +125,7 @@ __device__ inline void PDF2CDF(float* probs, const int numProbs) {
 
 
 // generate a random normal
-__device__ inline Point3 GenerateRandomNormal(const PatchMatchCUDA::Camera& camera, const Point2i& p, RandState* randState)
+__device__ inline Point3 GenerateRandomNormal(const CUDA::Camera& camera, const Point2i& p, RandState* randState)
 {
 	float q1, q2, s;
 	do {
@@ -163,16 +139,16 @@ __device__ inline Point3 GenerateRandomNormal(const PatchMatchCUDA::Camera& came
 		2.f * q2 * sq,
 		1.f - 2.f * s);
 
-	const Point3 viewDirection = ViewDirection(camera, p);
+	const Point3 viewDirection = camera.model.ViewDirection(p);
 	if (normal.dot(viewDirection) > 0.f)
 		normal = -normal;
 	return normal.normalized();
 }
 
 // randomly perturb a normal
-__device__ inline Point3 GeneratePerturbedNormal(const PatchMatchCUDA::Camera& camera, const Point2i& p, const Point3& normal, RandState* randState, const float perturbation)
+__device__ inline Point3 GeneratePerturbedNormal(const CUDA::Camera& camera, const Point2i& p, const Point3& normal, RandState* randState, const float perturbation)
 {
-	const Point3 viewDirection = ViewDirection(camera, p);
+	const Point3 viewDirection = camera.model.ViewDirection(p);
 
 	const float a1 = (curand_uniform(randState) - 0.5f) * perturbation;
 	const float a2 = (curand_uniform(randState) - 0.5f) * perturbation;
@@ -203,7 +179,7 @@ __device__ inline Point3 GeneratePerturbedNormal(const PatchMatchCUDA::Camera& c
 }
 
 // randomly perturb a normal
-__device__ inline float GeneratePerturbedDepth(float depth, RandState* randState, const float perturbation, const PatchMatchCUDA::Params& params)
+__device__ inline float GeneratePerturbedDepth(float depth, RandState* randState, const float perturbation, const PatchMatch::Params& params)
 {
 	const float depthMinPerturbed = (1.f - perturbation) * depth;
 	const float depthMaxPerturbed = (1.f + perturbation) * depth;
@@ -215,34 +191,34 @@ __device__ inline float GeneratePerturbedDepth(float depth, RandState* randState
 }
 
 // interpolate given pixel's estimate to the current position
-__device__ inline float InterpolatePixel(const PatchMatchCUDA::Camera& camera, const Point2i& p, const Point2i& np, float depth, const Point3& normal, const PatchMatchCUDA::Params& params)
+__device__ inline float InterpolatePixel(const CUDA::Camera& camera, const Point2i& p, const Point2i& np, float depth, const Point3& normal, const PatchMatch::Params& params)
 {
 	float depthNew;
 	if (p.x() == np.x()) {
-		const float nx1 = (p.y() - camera.K(1,2)) / camera.K(1,1);
+		const float nx1 = (p.y() - camera.model.p.y()) / camera.model.f.y();
 		const float denom = normal.z() + nx1 * normal.y();
 		if (abs(denom) < FLT_EPSILON)
 			return depth;
-		const float x1 = (np.y() - camera.K(1,2)) / camera.K(1,1);
+		const float x1 = (np.y() - camera.model.p.y()) / camera.model.f.y();
 		const float nom = depth * (normal.z() + x1 * normal.y());
 		depthNew = nom / denom;
 	} else if (p.y() == np.y()) {
-		const float nx1 = (p.x() - camera.K(0,2)) / camera.K(0,0);
+		const float nx1 = (p.x() - camera.model.p.x()) / camera.model.f.x();
 		const float denom = normal.z() + nx1 * normal.x();
 		if (abs(denom) < FLT_EPSILON)
 			return depth;
-		const float x1 = (np.x() - camera.K(0,2)) / camera.K(0,0);
+		const float x1 = (np.x() - camera.model.p.x()) / camera.model.f.x();
 		const float nom = depth * (normal.z() + x1 * normal.x());
 		depthNew = nom / denom;
 	} else {
-		const float planeD = normal.dot(BackProjectPointCamera(camera, np.cast<float>(), depth));
-		depthNew = planeD / normal.dot(BackProjectPointCamera(camera, p.cast<float>()));
+		const float planeD = normal.dot(camera.model.TransformPointI2C(np.cast<float>(), depth));
+		depthNew = planeD / normal.dot(camera.model.TransformPointI2C(p.cast<float>()));
 	}
 	return (depthNew >= params.fDepthMin && depthNew <= params.fDepthMax) ? depthNew : depth;
 }
 
 // compute normal to the surface given the 4 neighbors
-__device__ inline Point3 ComputeDepthGradient(const Matrix3& K, float depth, const Point2i& pos, const Point4& ndepth) {
+__device__ inline Point3 ComputeDepthGradient(const LinearCameraModel& model, float depth, const Point2i& pos, const Point4& ndepth) {
 	constexpr float2 nposg[4] = {{0,-1}, {0,1}, {-1,0}, {1,0}};
 	Point2 dg(0,0);
 	// add neighbor depths at the gradient locations
@@ -252,19 +228,19 @@ __device__ inline Point3 ComputeDepthGradient(const Matrix3& K, float depth, con
 	const Point2 d = dg*0.5f;
 	// compute normal from depth gradient
 	return Point3(
-		K(0,0)*d.x(),
-		K(1,1)*d.y(),
-		(K(0,2)-pos.x())*d.x()+(K(1,2)-pos.y())*d.y()-depth).normalized();
+		model.f.x()*d.x(),
+		model.f.y()*d.y(),
+		(model.p.x()-pos.x())*d.x()+(model.p.y()-pos.y())*d.y()-depth).normalized();
 }
 
 // compose tho homography matrix that transforms a point from reference to source camera through the given plane
-__device__ inline Matrix3 ComputeHomography(const PatchMatchCUDA::Camera& refCamera, const PatchMatchCUDA::Camera& trgCamera, const Point2& p, const Point4& plane)
+__device__ inline Matrix3 ComputeHomography(const CUDA::Camera& refCamera, const CUDA::Camera& trgCamera, const Point2& p, const Point4& plane)
 {
-	const Point3 X = BackProjectPointCamera(refCamera, p, plane.w());
+	const Point3 X = refCamera.model.TransformPointI2C(p, plane.w());
 	const Point3 normal = plane.topLeftCorner<3,1>();
-	const Point3 t = (refCamera.C - trgCamera.C) / (normal.dot(X));
-	const Matrix3 H = trgCamera.R * (refCamera.R.transpose() + t*normal.transpose());
-	return trgCamera.K * H * refCamera.K.inverse();
+	const Point3 t = (refCamera.pose.C - trgCamera.pose.C) / (normal.dot(X));
+	const Matrix3 H = trgCamera.pose.R * (refCamera.pose.R.transpose() + t*normal.transpose());
+	return trgCamera.model.K() * H * refCamera.model.K().inverse();
 }
 
 // weight a neighbor texel based on color similarity and distance to the center texel
@@ -278,31 +254,31 @@ __device__ inline float ComputeBilateralWeight(int xDist, int yDist, float pix,
 }
 
 // compute the geometric consistency weight
-__device__ inline float GeometricConsistencyWeight(const ImagePixels depthImage, const PatchMatchCUDA::Camera& refCamera, const PatchMatchCUDA::Camera& trgCamera, const Point4& plane, const Point2i& p)
+__device__ inline float GeometricConsistencyWeight(const ImagePixels depthImage, const CUDA::Camera& refCamera, const CUDA::Camera& trgCamera, const Point4& plane, const Point2i& p)
 {
 	if (depthImage == NULL)
 		return 0.f;
 	constexpr float maxDist = 4.f;
-	const Point3 forwardPoint = BackProjectPoint(refCamera, p.cast<float>(), plane.w());
-	const Point2 trgPt = ProjectPoint(trgCamera, forwardPoint);
+	const Point3 forwardPoint = refCamera.TransformPointI2W(p.cast<float>(), plane.w());
+	const Point2 trgPt = trgCamera.TransformPointW2I(forwardPoint);
 	const float trgDepth = tex2D<float>(depthImage, trgPt.x() + 0.5f, trgPt.y() + 0.5f);
 	if (trgDepth == 0.f)
 		return maxDist;
-	const Point3 trgX = BackProjectPoint(trgCamera, trgPt, trgDepth);
-	const Point2 backwardPoint = ProjectPoint(refCamera, trgX);
+	const Point3 trgX = trgCamera.TransformPointI2W(trgPt, trgDepth);
+	const Point2 backwardPoint = refCamera.TransformPointW2I(trgX);
 	const Point2 diff = p.cast<float>() - backwardPoint;
 	const float dist = diff.norm();
 	return min(maxDist, sqrt(dist*(dist+2.f)));
 }
 
 // compute photometric score using weighted ZNCC
-__device__ float ScorePlane(const ImagePixels refImage, const PatchMatchCUDA::Camera& refCamera, const ImagePixels trgImage, const PatchMatchCUDA::Camera& trgCamera, const Point2i& p, const Point4& plane, const float lowDepth, const PatchMatchCUDA::Params& params)
+__device__ float ScorePlane(const ImagePixels refImage, const CUDA::Camera& refCamera, const ImagePixels trgImage, const CUDA::Camera& trgCamera, const Point2i& p, const Point4& plane, const float lowDepth, const PatchMatch::Params& params)
 {
 	constexpr float maxCost = 1.2f;
 	
 	Matrix3 H = ComputeHomography(refCamera, trgCamera, p.cast<float>(), plane);
 	const Point2 pt = (H * p.cast<float>().homogeneous()).hnormalized();
-	if (pt.x() >= trgCamera.width || pt.x() < 0.f || pt.y() >= trgCamera.height || pt.y() < 0.f)
+	if (pt.x() >= trgCamera.size.x() || pt.x() < 0.f || pt.y() >= trgCamera.size.y() || pt.y() < 0.f)
 		return maxCost;
 	Point3 X = H * Point2(p.x()-nSizeHalfWindow, p.y()-nSizeHalfWindow).homogeneous();
 	Point3 baseX(X);
@@ -358,7 +334,7 @@ __device__ float ScorePlane(const ImagePixels refImage, const PatchMatchCUDA::Ca
 }
 
 // compute photometric score for all neighbor images
-__device__ inline void MultiViewScorePlane(const ImagePixels *images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, const Point2i& p, const Point4& plane, const float lowDepth, float* costVector, const PatchMatchCUDA::Params& params)
+__device__ inline void MultiViewScorePlane(const ImagePixels *images, const ImagePixels* depthImages, const CUDA::Camera* cameras, const Point2i& p, const Point4& plane, const float lowDepth, float* costVector, const PatchMatch::Params& params)
 {
 	for (int imgId = 1; imgId <= params.nNumViews; ++imgId)
 		costVector[imgId-1] = ScorePlane(images[0], cameras[0], images[imgId], cameras[imgId], p, plane, lowDepth, params);
@@ -367,7 +343,7 @@ __device__ inline void MultiViewScorePlane(const ImagePixels *images, const Imag
 			costVector[imgId] += 0.1f * GeometricConsistencyWeight(depthImages[imgId], cameras[0], cameras[imgId+1], plane, p);
 }
 // same as above, but interpolate the plane to current pixel position
-__device__ inline float MultiViewScoreNeighborPlane(const ImagePixels* images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, const Point2i& p, const Point2i& np, Point4 plane, const float lowDepth, float* costVector, const PatchMatchCUDA::Params& params)
+__device__ inline float MultiViewScoreNeighborPlane(const ImagePixels* images, const ImagePixels* depthImages, const CUDA::Camera* cameras, const Point2i& p, const Point2i& np, Point4 plane, const float lowDepth, float* costVector, const PatchMatch::Params& params)
 {
 	plane.w() = InterpolatePixel(cameras[0], p, np, plane.w(), plane.topLeftCorner<3,1>(), params);
 	MultiViewScorePlane(images, depthImages, cameras, p, plane, lowDepth, costVector, params);
@@ -386,10 +362,10 @@ __device__ inline float AggregateMultiViewScores(const unsigned* viewWeights, co
 
 // propagate and refine the plane estimate for the current pixel employing the asymmetric approach described in:
 // "Multi-View Stereo with Asymmetric Checkerboard Propagation and Multi-Hypothesis Joint View Selection", 2018
-__device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, RandState* randStates, unsigned* selectedViews, const Point2i& p, const PatchMatchCUDA::Params& params, const int iter)
+__device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depthImages, const CUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, RandState* randStates, unsigned* selectedViews, const Point2i& p, const PatchMatch::Params& params, const int iter)
 {
-	int width = cameras[0].width;
-	int height = cameras[0].height;
+	const int width = cameras[0].size.x();
+	const int height = cameras[0].size.y();
 	if (p.x() >= width || p.y() >= height)
 		return;
 	const int idx = Point2Idx(p, width);
@@ -527,7 +503,7 @@ __device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depth
 			planes[neighborPositions[2]].w(),
 			planes[neighborPositions[3]].w()
 		);
-		surfaceNormal = ComputeDepthGradient(cameras[0].K, depth, p, ndepths);
+		surfaceNormal = ComputeDepthGradient(cameras[0].model, depth, p, ndepths);
 		numValidPlanes = 4;
 	}
 	constexpr int numPlanes = 4;
@@ -547,10 +523,10 @@ __device__ void ProcessPixel(const ImagePixels* images, const ImagePixels* depth
 }
 
 // compute the score of the current plane estimate
-__device__ void InitializePixelScore(const ImagePixels *images, const ImagePixels* depthImages, const PatchMatchCUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, RandState* randStates, unsigned* selectedViews, const Point2i& p, const PatchMatchCUDA::Params params)
+__device__ void InitializePixelScore(const ImagePixels *images, const ImagePixels* depthImages, const CUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, RandState* randStates, unsigned* selectedViews, const Point2i& p, const PatchMatch::Params params)
 {
-	const int width = cameras[0].width;
-	const int height = cameras[0].height;
+	const int width = cameras[0].size.x();
+	const int height = cameras[0].size.y();
 	if (p.x() >= width || p.y() >= height)
 		return;
 	const int idx = Point2Idx(p, width);
@@ -566,7 +542,7 @@ __device__ void InitializePixelScore(const ImagePixels *images, const ImagePixel
 		// generate random plane
 		plane.topLeftCorner<3,1>() = GenerateRandomNormal(cameras[0], p, randState);
 		plane.w() = curand_uniform(randState) * (params.fDepthMax - params.fDepthMin) + params.fDepthMin;
-	} else if (plane.topLeftCorner<3,1>().dot(ViewDirection(cameras[0], p)) >= 0.f) {
+	} else if (plane.topLeftCorner<3,1>().dot(cameras[0].model.ViewDirection(p)) >= 0.f) {
 		// generate random normal
 		plane.topLeftCorner<3,1>() = GenerateRandomNormal(cameras[0], p, randState);
 	}
@@ -587,20 +563,20 @@ __device__ void InitializePixelScore(const ImagePixels *images, const ImagePixel
 			SetBit(selectedView, imgId);
 	costs[idx] = cost / params.nInitTopK;
 }
-__global__ void InitializeScore(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const PatchMatchCUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params)
+__global__ void InitializeScore(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const CUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatch::Params params)
 {
 	const Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
 	InitializePixelScore((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, lowDepths, costs, (RandState*)randStates, selectedViews, p, params);
 }
 
 // traverse image in a back/red checkerboard pattern
-__global__ void BlackPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const PatchMatchCUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params, const int iter)
+__global__ void BlackPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const CUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatch::Params params, const int iter)
 {
 	Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
 	p.y() = p.y() * 2 + (threadIdx.x % 2 == 0 ? 0 : 1);
 	ProcessPixel((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, lowDepths, costs, (RandState*)randStates, selectedViews, p, params, iter);
 }
-__global__ void RedPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const PatchMatchCUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatchCUDA::Params params, const int iter)
+__global__ void RedPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const CUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatch::Params params, const int iter)
 {
 	Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
 	p.y() = p.y() * 2 + (threadIdx.x % 2 == 0 ? 1 : 0);
@@ -608,7 +584,7 @@ __global__ void RedPixelProcess(const cudaTextureObject_t* textureImages, const
 }
 
 // filter depth/normals
-__global__ void FilterPlanes(Point4* planes, float* costs, unsigned* selectedViews, int width, int height, const PatchMatchCUDA::Params params)
+__global__ void FilterPlanes(Point4* planes, float* costs, unsigned* selectedViews, int width, int height, const PatchMatch::Params params)
 {
 	const Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
 	if (p.x() >= width || p.y() >= height)
@@ -626,10 +602,10 @@ __global__ void FilterPlanes(Point4* planes, float* costs, unsigned* selectedVie
 /*----------------------------------------------------------------*/
 
 
-__host__ void PatchMatchCUDA::RunCUDA(float* ptrCostMap, uint32_t* ptrViewsMap)
+__host__ void PatchMatch::RunCUDA(float* ptrCostMap, uint32_t* ptrViewsMap)
 {
-	const unsigned width = cameras[0].width;
-	const unsigned height = cameras[0].height;
+	const unsigned width = cameras[0].size.x();
+	const unsigned height = cameras[0].size.y();
 
 	constexpr unsigned BLOCK_W = 32;
 	constexpr unsigned BLOCK_H = (BLOCK_W / 2);
@@ -660,3 +636,7 @@ __host__ void PatchMatchCUDA::RunCUDA(float* ptrCostMap, uint32_t* ptrViewsMap)
 	cudaDeviceSynchronize();
 }
 /*----------------------------------------------------------------*/
+
+} // namespace CUDA
+
+} // namespace MVS
diff --git a/libs/MVS/PatchMatchCUDA.inl b/libs/MVS/PatchMatchCUDA.inl
index 349cc33d7..c1db82ab9 100644
--- a/libs/MVS/PatchMatchCUDA.inl
+++ b/libs/MVS/PatchMatchCUDA.inl
@@ -35,23 +35,7 @@
 
 // I N C L U D E S /////////////////////////////////////////////////
 
-#define _USE_MATH_DEFINES
-#include <cmath>
-#include <cstdint>
-#include <float.h>
-#include <string>
-#include <vector>
-
-// Eigen
-#define EIGEN_DEFAULT_DENSE_INDEX_TYPE int
-#include <Eigen/Dense>
-
-// CUDA toolkit
-#include <cuda_runtime.h>
-#include <cuda_runtime_api.h>
-#include <cuda_texture_types.h>
-#include <curand_kernel.h>
-#include <vector_types.h>
+#include "CameraCUDA.h"
 
 // OpenCV
 #include <opencv2/core.hpp>
@@ -65,20 +49,12 @@
 
 namespace MVS {
 
-#if __CUDA_ARCH__ > 0
-#define __CDC__CUDA__ARCH__ 1
-#else
-#undef __CDC__CUDA__ARCH__
-#endif
-
 struct DepthData;
 
-class PatchMatchCUDA {
-public:
-	typedef Eigen::Matrix<float,3,1> Point3;
-	typedef Eigen::Matrix<float,4,1> Point4;
-	typedef Eigen::Matrix<float,3,3> Matrix3;
+namespace CUDA {
 
+class PatchMatch {
+public:
 	struct Params {
 		int nNumViews = 5;
 		int nEstimationIters = 3;
@@ -90,17 +66,9 @@ public:
 		float fThresholdKeepCost = 0;
 	};
 
-	struct Camera {
-		Matrix3 K;
-		Matrix3 R;
-		Point3 C;
-		int height;
-		int width;
-	};
-
 public:
-	PatchMatchCUDA(int device=0);
-	~PatchMatchCUDA();
+	PatchMatch(int device=0);
+	~PatchMatch();
 
 	void Init(bool bGeomConsistency);
 	void Release();
@@ -138,6 +106,8 @@ public:
 };
 /*----------------------------------------------------------------*/
 
+} // namespace CUDA
+
 } // namespace MVS
 
 #endif // _MVS_PATCHMATCHCUDA_INL_
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 9a1f1bf1b..f137feebc 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -2080,9 +2080,9 @@ bool Scene::ComputeDepthMaps(DenseDepthMapData& data)
 
 	#ifdef _USE_CUDA
 	// initialize CUDA
-	if (CUDA::desiredDeviceID >= -1 && data.nFusionMode >= 0) {
-		data.depthMaps.pmCUDA = new PatchMatchCUDA(CUDA::desiredDeviceID);
-		if (CUDA::devices.IsEmpty())
+	if (SEACAVE::CUDA::desiredDeviceID >= -1 && data.nFusionMode >= 0) {
+		data.depthMaps.pmCUDA = new MVS::CUDA::PatchMatch(SEACAVE::CUDA::desiredDeviceID);
+		if (SEACAVE::CUDA::devices.IsEmpty())
 			data.depthMaps.pmCUDA.Release();
 		else
 			data.depthMaps.pmCUDA->Init(false);
diff --git a/libs/MVS/SceneDensify.h b/libs/MVS/SceneDensify.h
index 7934ed8e9..97fc9cbbf 100644
--- a/libs/MVS/SceneDensify.h
+++ b/libs/MVS/SceneDensify.h
@@ -45,7 +45,9 @@ namespace MVS {
 // Forward declarations
 class MVS_API Scene;
 #ifdef _USE_CUDA
-class PatchMatchCUDA;
+namespace CUDA {
+class PatchMatch;
+} // namespace CUDA
 #endif // _USE_CUDA
 
 // structure used to compute all depth-maps
@@ -90,7 +92,7 @@ class MVS_API DepthMapsData
 
 	#ifdef _USE_CUDA
 	// used internally to estimate the depth-maps using CUDA
-	CAutoPtr<PatchMatchCUDA> pmCUDA;
+	CAutoPtr<MVS::CUDA::PatchMatch> pmCUDA;
 	#endif // _USE_CUDA
 };
 /*----------------------------------------------------------------*/
diff --git a/libs/MVS/SceneRefineCUDA.cpp b/libs/MVS/SceneRefineCUDA.cpp
index 5fee76e0f..a8c671e4e 100644
--- a/libs/MVS/SceneRefineCUDA.cpp
+++ b/libs/MVS/SceneRefineCUDA.cpp
@@ -1951,10 +1951,10 @@ class MeshRefineCUDA {
 	struct View {
 		Image32F imageHost; // store temporarily the image pixels
 		Image8U::Size size;
-		CUDA::ArrayRT16F image;
-		CUDA::MemDevice depthMap;
-		CUDA::MemDevice faceMap;
-		CUDA::MemDevice baryMap;
+		SEACAVE::CUDA::ArrayRT16F image;
+		SEACAVE::CUDA::MemDevice depthMap;
+		SEACAVE::CUDA::MemDevice faceMap;
+		SEACAVE::CUDA::MemDevice baryMap;
 		inline View() {}
 		inline View(View&) {}
 	};
@@ -2000,8 +2000,8 @@ class MeshRefineCUDA {
 	void ImageMeshWarp(
 		const Camera& cameraA, const Camera& cameraB, const Image8U::Size& size,
 		uint32_t idxImageA, uint32_t idxImageB);
-	void ComputeLocalVariance(const CUDA::ArrayRT16F& image, const Image8U::Size& size,
-		CUDA::MemDevice& imageMean, CUDA::MemDevice& imageVar);
+	void ComputeLocalVariance(const SEACAVE::CUDA::ArrayRT16F& image, const Image8U::Size& size,
+		SEACAVE::CUDA::MemDevice& imageMean, SEACAVE::CUDA::MemDevice& imageVar);
 	void ComputeLocalZNCC(const Image8U::Size& size);
 	void ComputePhotometricGradient(const Camera& cameraA, const Camera& cameraB, const Image8U::Size& size,
 		uint32_t idxImageA, uint32_t idxImageB, uint32_t numVertices, float RegularizationScale);
@@ -2023,45 +2023,45 @@ class MeshRefineCUDA {
 	ViewsArr views; // views' data
 	PairIdxArr pairs; // image pairs used to refine the mesh
 
-	CUDA::ModuleRTPtr module;
-	CUDA::KernelRT kernelProjectMesh;
-	CUDA::KernelRT kernelCrossCheckProjection;
-	CUDA::KernelRT kernelImageMeshWarp;
-	CUDA::KernelRT kernelComputeImageMean;
-	CUDA::KernelRT kernelComputeImageVar;
-	CUDA::KernelRT kernelComputeImageCov;
-	CUDA::KernelRT kernelComputeImageZNCC;
-	CUDA::KernelRT kernelComputeImageDZNCC;
-	CUDA::KernelRT kernelComputePhotometricGradient;
-	CUDA::KernelRT kernelUpdatePhotoGradNorm;
-	CUDA::KernelRT kernelComputeSmoothnessGradient;
-	CUDA::KernelRT kernelCombineGradients;
-	CUDA::KernelRT kernelCombineAllGradients;
-
-	CUDA::MemDevice vertices;
-	CUDA::MemDevice vertexVertices;
-	CUDA::MemDevice faces;
-	CUDA::MemDevice faceNormals;
-	CUDA::TextureRT16F texImageRef;
-	CUDA::SurfaceRT16F surfImageRef;
-	CUDA::SurfaceRT16F surfImageProjRef;
-	CUDA::MemDevice mask;
-	CUDA::MemDevice imageMeanA;
-	CUDA::MemDevice imageVarA;
-	CUDA::ArrayRT16F imageAB;
-	CUDA::MemDevice imageMeanAB;
-	CUDA::MemDevice imageVarAB;
-	CUDA::MemDevice imageCov;
-	CUDA::MemDevice imageZNCC;
-	CUDA::MemDevice imageDZNCC;
-	CUDA::MemDevice photoGrad;
-	CUDA::MemDevice photoGradNorm;
-	CUDA::MemDevice photoGradPixels;
-	CUDA::MemDevice vertexVerticesCont;
-	CUDA::MemDevice vertexVerticesSizes;
-	CUDA::MemDevice vertexVerticesPointers;
-	CUDA::MemDevice smoothGrad1;
-	CUDA::MemDevice smoothGrad2;
+	SEACAVE::CUDA::ModuleRTPtr module;
+	SEACAVE::CUDA::KernelRT kernelProjectMesh;
+	SEACAVE::CUDA::KernelRT kernelCrossCheckProjection;
+	SEACAVE::CUDA::KernelRT kernelImageMeshWarp;
+	SEACAVE::CUDA::KernelRT kernelComputeImageMean;
+	SEACAVE::CUDA::KernelRT kernelComputeImageVar;
+	SEACAVE::CUDA::KernelRT kernelComputeImageCov;
+	SEACAVE::CUDA::KernelRT kernelComputeImageZNCC;
+	SEACAVE::CUDA::KernelRT kernelComputeImageDZNCC;
+	SEACAVE::CUDA::KernelRT kernelComputePhotometricGradient;
+	SEACAVE::CUDA::KernelRT kernelUpdatePhotoGradNorm;
+	SEACAVE::CUDA::KernelRT kernelComputeSmoothnessGradient;
+	SEACAVE::CUDA::KernelRT kernelCombineGradients;
+	SEACAVE::CUDA::KernelRT kernelCombineAllGradients;
+
+	SEACAVE::CUDA::MemDevice vertices;
+	SEACAVE::CUDA::MemDevice vertexVertices;
+	SEACAVE::CUDA::MemDevice faces;
+	SEACAVE::CUDA::MemDevice faceNormals;
+	SEACAVE::CUDA::TextureRT16F texImageRef;
+	SEACAVE::CUDA::SurfaceRT16F surfImageRef;
+	SEACAVE::CUDA::SurfaceRT16F surfImageProjRef;
+	SEACAVE::CUDA::MemDevice mask;
+	SEACAVE::CUDA::MemDevice imageMeanA;
+	SEACAVE::CUDA::MemDevice imageVarA;
+	SEACAVE::CUDA::ArrayRT16F imageAB;
+	SEACAVE::CUDA::MemDevice imageMeanAB;
+	SEACAVE::CUDA::MemDevice imageVarAB;
+	SEACAVE::CUDA::MemDevice imageCov;
+	SEACAVE::CUDA::MemDevice imageZNCC;
+	SEACAVE::CUDA::MemDevice imageDZNCC;
+	SEACAVE::CUDA::MemDevice photoGrad;
+	SEACAVE::CUDA::MemDevice photoGradNorm;
+	SEACAVE::CUDA::MemDevice photoGradPixels;
+	SEACAVE::CUDA::MemDevice vertexVerticesCont;
+	SEACAVE::CUDA::MemDevice vertexVerticesSizes;
+	SEACAVE::CUDA::MemDevice vertexVerticesPointers;
+	SEACAVE::CUDA::MemDevice smoothGrad1;
+	SEACAVE::CUDA::MemDevice smoothGrad2;
 
 	enum { HalfSize = 2 }; // half window size used to compute ZNCC
 };
@@ -2076,7 +2076,7 @@ MeshRefineCUDA::MeshRefineCUDA(Scene& _scene, unsigned _nAlternatePair, float _w
 	scene(_scene),
 	images(_scene.images)
 {
-	if (!InitKernels(CUDA::desiredDeviceID))
+	if (!InitKernels(SEACAVE::CUDA::desiredDeviceID))
 		return;
 	// keep only best neighbor views for each image
 	std::unordered_set<uint64_t> mapPairs;
@@ -2110,13 +2110,13 @@ bool MeshRefineCUDA::InitKernels(int device)
 	STATIC_ASSERT(sizeof(CameraCUDA) == 176);
 
 	// initialize CUDA device if needed
-	if (CUDA::devices.IsEmpty() && CUDA::initDevice(device) != CUDA_SUCCESS)
+	if (SEACAVE::CUDA::devices.IsEmpty() && SEACAVE::CUDA::initDevice(device) != CUDA_SUCCESS)
 		return false;
 
 	// initialize CUDA kernels
 	if (module != NULL && module->IsValid())
 		return true;
-	module = new CUDA::ModuleRT(g_szMeshRefineModule);
+	module = new SEACAVE::CUDA::ModuleRT(g_szMeshRefineModule);
 	if (!module->IsValid()) {
 		module.Release();
 		return false;
@@ -2615,8 +2615,8 @@ void MeshRefineCUDA::ImageMeshWarp(
 }
 
 // compute local variance for each image pixel
-void MeshRefineCUDA::ComputeLocalVariance(const CUDA::ArrayRT16F& image, const Image8U::Size& size,
-	CUDA::MemDevice& imageMean, CUDA::MemDevice& imageVar)
+void MeshRefineCUDA::ComputeLocalVariance(const SEACAVE::CUDA::ArrayRT16F& image, const Image8U::Size& size,
+	SEACAVE::CUDA::MemDevice& imageMean, SEACAVE::CUDA::MemDevice& imageVar)
 {
 	surfImageRef.Bind(image);
 	reportCudaError(kernelComputeImageMean(size,

From b1d8f0d77c6aab956d780c9f22e73716c2c3c62f Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 26 Aug 2024 18:06:05 +0300
Subject: [PATCH 247/252] mvs: split CameraCUDA in Maths and Camera

---
 libs/Common/Config.h                     |   5 +-
 libs/Common/List.h                       |  12 +
 libs/MVS/CMakeLists.txt                  |   8 +
 libs/MVS/{CameraCUDA.h => CUDA/Camera.h} |  25 +-
 libs/MVS/CUDA/Maths.h                    | 312 +++++++++++++++++++++++
 libs/MVS/Camera.cpp                      |   4 +
 libs/MVS/Camera.h                        |   3 +-
 libs/MVS/PatchMatchCUDA.cpp              |   4 +-
 libs/MVS/PatchMatchCUDA.cu               |  28 +-
 libs/MVS/PatchMatchCUDA.h                |   3 -
 libs/MVS/PatchMatchCUDA.inl              |   2 +-
 11 files changed, 349 insertions(+), 57 deletions(-)
 rename libs/MVS/{CameraCUDA.h => CUDA/Camera.h} (88%)
 create mode 100644 libs/MVS/CUDA/Maths.h

diff --git a/libs/Common/Config.h b/libs/Common/Config.h
index e22f946a7..1165bfdc2 100644
--- a/libs/Common/Config.h
+++ b/libs/Common/Config.h
@@ -163,8 +163,7 @@
 #endif
 
 
-
-//optimization flags
+// optimization flags
 #if defined(_MSC_VER)
 #	define ALIGN(n) __declspec(align(n))
 #	define NOINITVTABLE __declspec(novtable) //disable generating code to initialize the vfptr in the constructor(s) and destructor of the class
@@ -229,7 +228,7 @@
 #else
 #define ASSERT(exp, ...) {if (!(exp)) __debugbreak();}
 #endif // _INC_CRTDBG
-#define TRACE(...) {TCHAR buffer[2048];	_sntprintf(buffer, 2048, __VA_ARGS__); OutputDebugString(buffer);}
+#define TRACE(...) {TCHAR buffer[2048]; _sntprintf(buffer, 2048, __VA_ARGS__); OutputDebugString(buffer);}
 #else // _MSC_VER
 #include <assert.h>
 #define ASSERT(exp, ...) assert(exp)
diff --git a/libs/Common/List.h b/libs/Common/List.h
index 8725a2f5a..7bbd5c078 100644
--- a/libs/Common/List.h
+++ b/libs/Common/List.h
@@ -12,6 +12,7 @@
 // I N C L U D E S /////////////////////////////////////////////////
 
 #include <utility>
+#include <type_traits>
 
 
 // D E F I N E S ///////////////////////////////////////////////////
@@ -1154,6 +1155,17 @@ class cList
 		}
 	}
 
+	// remove duplicated values; the values are expected to be sorted, set bSort if not
+	template <bool bSort=true>
+	inline void		RemoveDuplicates()
+	{
+		if (bSort)
+			Sort();
+		const IDX index(std::unique(Begin(), End()) - Begin());
+		if (index < _size)
+			RemoveLast(_size-index);
+	}
+
 	inline void		RemoveAtMove(IDX index)
 	{
 		ASSERT(index < _size);
diff --git a/libs/MVS/CMakeLists.txt b/libs/MVS/CMakeLists.txt
index 853386508..c2e3bae01 100644
--- a/libs/MVS/CMakeLists.txt
+++ b/libs/MVS/CMakeLists.txt
@@ -31,12 +31,20 @@ if(_USE_CUDA)
 	FILE(GLOB LIBRARY_FILES_CUDA "*.cu")
 	LIST(APPEND LIBRARY_FILES_C ${LIBRARY_FILES_CUDA})
 endif()
+FILE(GLOB CUDA_LIBRARY_FILES_C "CUDA/*.cpp")
+FILE(GLOB CUDA_LIBRARY_FILES_H "CUDA/*.h" "CUDA/*.inl")
+if(_USE_CUDA)
+	FILE(GLOB CUDA_LIBRARY_FILES_CUDA "CUDA/*.cu")
+	LIST(APPEND CUDA_LIBRARY_FILES_C ${CUDA_LIBRARY_FILES_CUDA})
+endif()
+SOURCE_GROUP("CUDA" FILES ${CUDA_LIBRARY_FILES_C} ${CUDA_LIBRARY_FILES_H})
 
 GET_FILENAME_COMPONENT(PATH_PythonWrapper_cpp ${CMAKE_CURRENT_SOURCE_DIR}/PythonWrapper.cpp ABSOLUTE)
 LIST(REMOVE_ITEM LIBRARY_FILES_C "${PATH_PythonWrapper_cpp}")
 
 cxx_library_with_type(MVS "Libs" "" "${cxx_default}"
 	${LIBRARY_FILES_C} ${LIBRARY_FILES_H}
+	${CUDA_LIBRARY_FILES_C} ${CUDA_LIBRARY_FILES_H}
 )
 
 # Manually set Common.h as the precompiled header
diff --git a/libs/MVS/CameraCUDA.h b/libs/MVS/CUDA/Camera.h
similarity index 88%
rename from libs/MVS/CameraCUDA.h
rename to libs/MVS/CUDA/Camera.h
index c4260ebf4..b2ecde9eb 100644
--- a/libs/MVS/CameraCUDA.h
+++ b/libs/MVS/CUDA/Camera.h
@@ -1,5 +1,5 @@
 /*
-* CameraCUDA.h
+* Camera.h
 *
 * Copyright (c) 2014-2024 SEACAVE
 *
@@ -35,25 +35,10 @@
 
 // I N C L U D E S /////////////////////////////////////////////////
 
-#define _USE_MATH_DEFINES
-#include <cmath>
-#include <cstdint>
-#include <float.h>
 #include <string>
 #include <vector>
 
-// Eigen
-#define EIGEN_DEFAULT_DENSE_INDEX_TYPE int
-#include <Eigen/Dense>
-
-// CUDA toolkit
-#include <cuda_runtime.h>
-#include <cuda_runtime_api.h>
-#include <cuda_texture_types.h>
-#include <curand_kernel.h>
-#include <vector_types.h>
-
-#include "../Common/UtilCUDADevice.h"
+#include "Maths.h"
 
 
 // D E F I N E S ///////////////////////////////////////////////////
@@ -65,12 +50,6 @@ namespace MVS {
 
 namespace CUDA {
 
-typedef Eigen::Matrix<int,2,1> Point2i;
-typedef Eigen::Matrix<float,2,1> Point2;
-typedef Eigen::Matrix<float,3,1> Point3;
-typedef Eigen::Matrix<float,4,1> Point4;
-typedef Eigen::Matrix<float,3,3> Matrix3;
-
 // Linear camera model
 struct LinearCameraModel {
 	Point2 f; // focal length
diff --git a/libs/MVS/CUDA/Maths.h b/libs/MVS/CUDA/Maths.h
new file mode 100644
index 000000000..71f3632ea
--- /dev/null
+++ b/libs/MVS/CUDA/Maths.h
@@ -0,0 +1,312 @@
+/*
+* Maths.h
+*
+* Copyright (c) 2014-2024 SEACAVE
+*
+* Author(s):
+*
+*	  cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*	  You are required to preserve legal notices and author attributions in
+*	  that material or in the Appropriate Legal Notices displayed by works
+*	  containing it.
+*/
+
+#pragma once
+
+#ifndef _MVS_MATHSCUDA_H_
+#define _MVS_MATHSCUDA_H_
+
+
+// I N C L U D E S /////////////////////////////////////////////////
+
+#define _USE_MATH_DEFINES
+#include <cmath>
+#include <cstdint>
+#include <float.h>
+
+// CUDA toolkit
+#include <cuda_runtime.h>
+#include <math_constants.h>  // next to cuda_runtime.h
+#include <cuda_runtime_api.h>
+#include <cuda_texture_types.h>
+#include <curand_kernel.h>
+#include <vector_types.h>
+
+// Eigen
+#ifdef __CUDACC__
+#pragma push_macro("EIGEN_DEFAULT_DENSE_INDEX_TYPE")
+#undef EIGEN_DEFAULT_DENSE_INDEX_TYPE
+#define EIGEN_DEFAULT_DENSE_INDEX_TYPE int
+#endif
+#include <Eigen/Dense>
+#include <Eigen/Geometry>
+#ifdef __CUDACC__
+#pragma pop_macro("EIGEN_DEFAULT_DENSE_INDEX_TYPE")
+#endif
+
+#include "../../Common/UtilCUDADevice.h"
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+#ifndef __CUDACC__
+// host implementations of CUDA functions
+constexpr int max(int a, int b) {
+	return a > b ? a : b;
+}
+constexpr int min(int a, int b) {
+	return a < b ? a : b;
+}
+
+inline float rsqrtf(float x) {
+	return 1.f / sqrtf(x);
+}
+#endif
+
+// CUDA helper math functions
+inline __host__ __device__ float2 make_float2(float s) {
+	return make_float2(s, s);
+}
+inline __host__ __device__ float2 make_float2(int2 a) {
+	return make_float2(float(a.x), float(a.y));
+}
+inline __host__ __device__ float3 make_float3(int3 a) {
+	return make_float3(float(a.x), float(a.y), float(a.z));
+}
+inline __device__ __host__ int clamp(int f, int a, int b) {
+	return max(a, min(f, b));
+}
+inline __host__ __device__ float2 operator-(float2& a) {
+	return make_float2(-a.x, -a.y);
+}
+inline __host__ __device__ int2 operator-(int2& a) {
+	return make_int2(-a.x, -a.y);
+}
+inline __host__ __device__ float3 operator-(float3& a) {
+	return make_float3(-a.x, -a.y, -a.z);
+}
+inline __host__ __device__ int3 operator-(int3& a) {
+	return make_int3(-a.x, -a.y, -a.z);
+}
+inline __host__ __device__ int3 operator-(int3 a, int b) {
+	return make_int3(a.x - b, a.y - b, a.z - b);
+}
+inline __host__ __device__ float2 operator-(float2 a, float2 b) {
+	return make_float2(a.x - b.x, a.y - b.y);
+}
+inline __host__ __device__ float3 operator-(float3 a, float b) {
+	return make_float3(a.x - b, a.y - b, a.z - b);
+}
+inline __host__ __device__ float3 operator-(float3 a, float3 b) {
+	return make_float3(a.x - b.x, a.y - b.y, a.z - b.z);
+}
+inline __host__ __device__ float2 operator+(float2 a, float b) {
+	return make_float2(a.x + b, a.y + b);
+}
+inline __host__ __device__ float3 operator+(float3 a, float b) {
+	return make_float3(a.x + b, a.y + b, a.z + b);
+}
+inline __host__ __device__ int2 operator+(int2 a, int2 b) {
+	return make_int2(a.x + b.x, a.y + b.y);
+}
+inline __host__ __device__ int3 operator+(int3 a, int3 b) {
+	return make_int3(a.x + b.x, a.y + b.y, a.z + b.z);
+}
+inline __host__ __device__ float3 operator+(float3 a, float3 b) {
+	return make_float3(a.x + b.x, a.y + b.y, a.z + b.z);
+}
+inline __host__ __device__ float2 operator*(float2 a, float b) {
+	return make_float2(a.x * b, a.y * b);
+}
+inline __host__ __device__ float3 operator*(float3 a, float b) {
+	return make_float3(a.x * b, a.y * b, a.z * b);
+}
+inline __host__ __device__ float2 operator/(float2 a, float b) {
+	return make_float2(a.x / b, a.y / b);
+}
+inline __host__ __device__ float3 operator/(float3 a, float b) {
+	return make_float3(a.x / b, a.y / b, a.z / b);
+}
+inline __host__ __device__ float dot(float2 a, float2 b) {
+	return a.x * b.x + a.y * b.y;
+}
+inline __host__ __device__ float dot(float3 a, float3 b) {
+	return a.x * b.x + a.y * b.y + a.z * b.z;
+}
+inline __host__ __device__ float length(float2 v) {
+	return sqrtf(dot(v, v));
+}
+inline __host__ __device__ float length(float3 v) {
+	return sqrtf(dot(v, v));
+}
+inline __host__ __device__ float2 normalize(float2 v) {
+	return v * rsqrtf(dot(v, v));
+}
+inline __host__ __device__ float3 normalize(float3 v) {
+	return v * rsqrtf(dot(v, v));
+}
+inline __host__ __device__ float3 cross(float3 a, float3 b) {
+	return make_float3(a.y*b.z - a.z*b.y, a.z*b.x - a.x*b.z, a.x*b.y - a.y*b.x);
+}
+/*----------------------------------------------------------------*/
+
+
+namespace MVS {
+
+namespace CUDA {
+
+// common point and matrix types
+typedef Eigen::Matrix<int, 2, 1> Point2i;
+typedef Eigen::Matrix<int, 3, 1> Point3i;
+typedef Eigen::Matrix<float, 2, 1> Point2;
+typedef Eigen::Matrix<float, 3, 1> Point3;
+typedef Eigen::Matrix<float, 4, 1> Point4;
+typedef Eigen::Matrix<float, 3, 3> Matrix3;
+
+// convert between float2 and Point2
+__host__ __device__ inline float2 Convert(const MVS::CUDA::Point2 m) {
+	return make_float2(m[0], m[1]);
+}
+__host__ __device__ inline MVS::CUDA::Point2 Convert(const float2 m) {
+	return MVS::CUDA::Point2(m.x, m.y);
+}
+// convert between float3 and Point3
+__host__ __device__ inline float3 Convert(const MVS::CUDA::Point3 m) {
+	return make_float3(m[0], m[1], m[2]);
+}
+__host__ __device__ inline MVS::CUDA::Point3 Convert(const float3 m) {
+	return MVS::CUDA::Point3(m.x, m.y, m.z);
+}
+// convert between int2 and Point2i
+__host__ __device__ inline int2 Convert(const MVS::CUDA::Point2i m) {
+	return make_int2(m[0], m[1]);
+}
+__host__ __device__ inline MVS::CUDA::Point2i Convert(const int2 m) {
+	return MVS::CUDA::Point2i(m.x, m.y);
+}
+// convert between int3 and Point3i
+__host__ __device__ inline int3 Convert(const MVS::CUDA::Point3i m) {
+	return make_int3(m[0], m[1], m[2]);
+}
+__host__ __device__ inline MVS::CUDA::Point3i Convert(const int3 m) {
+	return MVS::CUDA::Point3i(m.x, m.y, m.z);
+}
+/*----------------------------------------------------------------*/
+
+
+#ifdef __CUDACC__
+// round and clamp to uint8
+__device__ inline uint8_t RoundAndClampToUint8(const float x) {
+	return clamp(__float2int_rn(x), 0, 255);
+}
+
+// round and floor to int
+__device__ inline Point2i RoundToInt2(const Point2& v) {
+	return Point2i(__float2int_rn(v.x()), __float2int_rn(v.y()));
+}
+__device__ inline Point2i FloorToInt2(const Point2& v) {
+	return Point2i(__float2int_rd(v.x()), __float2int_rd(v.y()));
+}
+
+__device__ inline Point3i RoundToInt3(const Point3& v) {
+	return Point3i(__float2int_rn(v.x()), __float2int_rn(v.y()), __float2int_rn(v.z()));
+}
+__device__ inline Point3i FloorToInt3(const Point3& v) {
+	return Point3i(__float2int_rd(v.x()), __float2int_rd(v.y()), __float2int_rd(v.z()));
+}
+#endif
+
+
+template <typename T>
+__device__ constexpr T Square(const T x) {
+	return x * x;
+}
+
+template <typename T>
+__device__ constexpr void Swap(T& a, T& b) {
+	const T c(a);
+	a = b;
+	b = c;
+}
+
+// mod is always positive, whereas % is the remainder, which can be positive or negative
+template <typename T>
+__device__ T inline Mod(T a, T b) {
+	const T result = a % b;
+	if (result < 0)
+		return result + b;
+	return result;
+}
+
+// linear interpolation
+inline __device__ __host__ float lerp(float a, float b, float t) {
+	return a + (b-a) * t;
+}
+inline __device__ __host__ Point3 lerp(Point3 a, Point3 b, float t) {
+	return a + (b-a) * t;
+}
+
+#ifdef __CUDACC__
+// thread index
+inline __device__ int GetThreadIndex() {
+	return blockIdx.x * blockDim.x + threadIdx.x;
+}
+
+inline __device__ Point2i GetThreadIndex2() {
+	return Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
+}
+
+inline __device__ Point3i GetThreadIndex3() {
+	return Point3i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y, blockIdx.z * blockDim.z + threadIdx.z);
+}
+#endif
+
+// convert 2D to 1D coordinates and back
+__device__ inline int Point2Idx(const Point2i& p, int width) {
+	return p.y() * width + p.x();
+}
+__device__ inline int Point2Idx(int stride, const Point2i& pixel, int numChannels = 1) {
+	return pixel.y() * stride + pixel.x() * numChannels;
+}
+__device__ inline int Point2Idx(int width, int channels, const Point2i& pixel) {
+	return pixel.y() * (width * channels) + pixel.x() * channels;
+}
+__device__ inline Point2i Idx2Point(int idx, int width) {
+	return Point2i(idx % width, idx / width);
+}
+
+// check if a pixel is inside the image
+__device__ inline bool IsInImage(const int x, const int y, const int width, const int height) {
+	return x >= 0 && y >= 0 && x < width && y < height;
+}
+__device__ inline bool IsInImage(const Point2i& pixel, const Point2i& size) {
+	return pixel.x() >= 0 && pixel.y() >= 0 && pixel.x() < size.x() && pixel.y() < size.y();
+}
+/*----------------------------------------------------------------*/
+
+} // namespace CUDA
+
+} // namespace MVS
+
+#endif // _MVS_MATHSCUDA_H_
diff --git a/libs/MVS/Camera.cpp b/libs/MVS/Camera.cpp
index 00bbdb791..ebc2e43de 100644
--- a/libs/MVS/Camera.cpp
+++ b/libs/MVS/Camera.cpp
@@ -77,6 +77,10 @@ Camera Camera::GetScaled(REAL s) const
 {
 	return Camera(GetScaledK(s), R, C);
 }
+Camera Camera::GetScaled(const cv::Size& size, const cv::Size& newSize) const
+{
+	return Camera(GetScaledK(size, newSize), R, C);
+}
 /*----------------------------------------------------------------*/
 
 
diff --git a/libs/MVS/Camera.h b/libs/MVS/Camera.h
index 8e4c186fe..f7bad6738 100644
--- a/libs/MVS/Camera.h
+++ b/libs/MVS/Camera.h
@@ -272,7 +272,8 @@ class MVS_API Camera : public CameraIntern
 
 	Camera& operator= (const CameraIntern& camera);
 
-	Camera GetScaled(REAL s) const; // return a scaled camera
+	Camera GetScaled(REAL s) const; // return a camera scaled by the given factor
+	Camera GetScaled(const cv::Size& size, const cv::Size& newSize) const; // return a camera scaled to the given resolution
 
 	void ComposeP_RC(); // compose P from R and C only
 	void ComposeP(); // compose P from K, R and C
diff --git a/libs/MVS/PatchMatchCUDA.cpp b/libs/MVS/PatchMatchCUDA.cpp
index 5677f64b5..12e25512d 100644
--- a/libs/MVS/PatchMatchCUDA.cpp
+++ b/libs/MVS/PatchMatchCUDA.cpp
@@ -1,5 +1,5 @@
 /*
-* PatchMatch.cpp
+* PatchMatchCUDA.cpp
 *
 * Copyright (c) 2014-2021 SEACAVE
 *
@@ -261,7 +261,7 @@ void PatchMatch::EstimateDepthMap(DepthData& depthData)
 				Eigen::Map<const SEACAVE::Matrix3x3::EMat>(view.camera.K.val).cast<float>(),
 				Eigen::Map<const SEACAVE::Matrix3x3::EMat>(view.camera.R.val).cast<float>(),
 				Eigen::Map<const SEACAVE::Point3::EVec>(view.camera.C.ptr()).cast<float>(),
-				image.rows, image.cols);
+				image.cols, image.rows);
 			// store camera and image
 			if (i == 0 && (prevNumImages < numImages || images[0].size() != image.size())) {
 				// allocate/reallocate PatchMatch CUDA memory
diff --git a/libs/MVS/PatchMatchCUDA.cu b/libs/MVS/PatchMatchCUDA.cu
index 4531f8456..f4192ed9a 100644
--- a/libs/MVS/PatchMatchCUDA.cu
+++ b/libs/MVS/PatchMatchCUDA.cu
@@ -51,11 +51,6 @@ namespace CUDA {
 #define ImagePixels cudaTextureObject_t
 #define RandState curandState
 
-// square the given value
-__device__ constexpr float Square(float v) {
-	return v * v;
-}
-
 // set/check a bit
 __device__ constexpr void SetBit(unsigned& input, unsigned i) {
 	input |= (1u << i);
@@ -64,21 +59,6 @@ __device__ constexpr int IsBitSet(unsigned input, unsigned i) {
 	return (input >> i) & 1u;
 }
 
-// swap the given values
-__device__ constexpr void Swap(float& v0, float& v1) {
-	const float tmp = v0;
-	v0 = v1;
-	v1 = tmp;
-}
-
-// convert 2d to 1d coordinates and back
-__device__ inline int Point2Idx(const Point2i& p, int width) {
-	return p.y() * width + p.x();
-}
-__device__ inline Point2i Idx2Point(int idx, int width) {
-	return Point2i(idx % width, idx / width);
-}
-
 // sort the given values array using bubble sort algorithm
 __device__ inline void Sort(const float* values, float* sortedValues, int n) {
 	for (int i = 0; i < n; ++i)
@@ -565,20 +545,20 @@ __device__ void InitializePixelScore(const ImagePixels *images, const ImagePixel
 }
 __global__ void InitializeScore(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const CUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatch::Params params)
 {
-	const Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
+	const Point2i p = GetThreadIndex2();
 	InitializePixelScore((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, lowDepths, costs, (RandState*)randStates, selectedViews, p, params);
 }
 
 // traverse image in a back/red checkerboard pattern
 __global__ void BlackPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const CUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatch::Params params, const int iter)
 {
-	Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
+	Point2i p = GetThreadIndex2();
 	p.y() = p.y() * 2 + (threadIdx.x % 2 == 0 ? 0 : 1);
 	ProcessPixel((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, lowDepths, costs, (RandState*)randStates, selectedViews, p, params, iter);
 }
 __global__ void RedPixelProcess(const cudaTextureObject_t* textureImages, const cudaTextureObject_t* textureDepths, const CUDA::Camera* cameras, Point4* planes, const float* lowDepths, float* costs, curandState* randStates, unsigned* selectedViews, const PatchMatch::Params params, const int iter)
 {
-	Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
+	Point2i p = GetThreadIndex2();
 	p.y() = p.y() * 2 + (threadIdx.x % 2 == 0 ? 1 : 0);
 	ProcessPixel((const ImagePixels*)textureImages, (const ImagePixels*)textureDepths, cameras, planes, lowDepths, costs, (RandState*)randStates, selectedViews, p, params, iter);
 }
@@ -586,7 +566,7 @@ __global__ void RedPixelProcess(const cudaTextureObject_t* textureImages, const
 // filter depth/normals
 __global__ void FilterPlanes(Point4* planes, float* costs, unsigned* selectedViews, int width, int height, const PatchMatch::Params params)
 {
-	const Point2i p = Point2i(blockIdx.x * blockDim.x + threadIdx.x, blockIdx.y * blockDim.y + threadIdx.y);
+	const Point2i p = GetThreadIndex2();
 	if (p.x() >= width || p.y() >= height)
 		return;
 	const int idx = Point2Idx(p, width);
diff --git a/libs/MVS/PatchMatchCUDA.h b/libs/MVS/PatchMatchCUDA.h
index 22680c90d..8497e6ebd 100644
--- a/libs/MVS/PatchMatchCUDA.h
+++ b/libs/MVS/PatchMatchCUDA.h
@@ -38,10 +38,7 @@
 // I N C L U D E S /////////////////////////////////////////////////
 
 #include "SceneDensify.h"
-#pragma push_macro("EIGEN_DEFAULT_DENSE_INDEX_TYPE")
-#undef EIGEN_DEFAULT_DENSE_INDEX_TYPE
 #include "PatchMatchCUDA.inl"
-#pragma pop_macro("EIGEN_DEFAULT_DENSE_INDEX_TYPE")
 
 
 // D E F I N E S ///////////////////////////////////////////////////
diff --git a/libs/MVS/PatchMatchCUDA.inl b/libs/MVS/PatchMatchCUDA.inl
index c1db82ab9..a769ba6b7 100644
--- a/libs/MVS/PatchMatchCUDA.inl
+++ b/libs/MVS/PatchMatchCUDA.inl
@@ -35,7 +35,7 @@
 
 // I N C L U D E S /////////////////////////////////////////////////
 
-#include "CameraCUDA.h"
+#include "CUDA/Camera.h"
 
 // OpenCV
 #include <opencv2/core.hpp>

From 2090fa9e18458ad12d9cf5dce961c7b1c3abcf76 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Sun, 1 Sep 2024 16:55:50 +0300
Subject: [PATCH 248/252] mesh: implement RemoveDegenerateFaces() and
 RemoveDuplicatedVertices()

---
 apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp |  11 +-
 apps/ReconstructMesh/ReconstructMesh.cpp |   2 +-
 apps/Viewer/Scene.cpp                    |   2 +-
 libs/Common/List.h                       |  74 +++----
 libs/Common/Types.inl                    |  62 +++++-
 libs/MVS/Mesh.cpp                        | 245 ++++++++++++++++++++---
 libs/MVS/Mesh.h                          |  16 +-
 libs/MVS/SceneRefine.cpp                 |   4 +-
 libs/MVS/SceneRefineCUDA.cpp             |   4 +-
 libs/MVS/SceneTexture.cpp                |   6 +-
 10 files changed, 337 insertions(+), 89 deletions(-)

diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
index d9ff4489c..2a8ded5a2 100644
--- a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
+++ b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -256,13 +256,12 @@ struct Camera {
 
 	struct CameraHash {
 		size_t operator()(const Camera& camera) const {
-			const size_t h1(std::hash<String>()(camera.model));
-			const size_t h2(std::hash<uint32_t>()(camera.width));
-			const size_t h3(std::hash<uint32_t>()(camera.height));
-			size_t h(h1 ^ ((h2 ^ (h3 << 1)) << 1));
+			size_t seed = std::hash<String>()(camera.model);
+			std::hash_combine(seed, camera.width);
+			std::hash_combine(seed, camera.height);
 			for (REAL p: camera.params)
-				h = std::hash<REAL>()(p) ^ (h << 1);
-			return h;
+				std::hash_combine(seed, p);
+			return seed;
 		}
 	};
 	struct CameraEqualTo {
diff --git a/apps/ReconstructMesh/ReconstructMesh.cpp b/apps/ReconstructMesh/ReconstructMesh.cpp
index e4fc7bf6a..7d3e9853a 100644
--- a/apps/ReconstructMesh/ReconstructMesh.cpp
+++ b/apps/ReconstructMesh/ReconstructMesh.cpp
@@ -315,7 +315,7 @@ bool Export3DProjections(Scene& scene, const String& inputFileName) {
 	const Mesh::Octree octree(scene.mesh.vertices, [](Mesh::Octree::IDX_TYPE size, Mesh::Octree::Type /*radius*/) {
 		return size > 256;
 	});
-	scene.mesh.ListIncidenteFaces();
+	scene.mesh.ListIncidentFaces();
 
 	// save 3D coord in the output file
 	const Image& imgToExport = scene.images[imgID];
diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index 161c33e17..8053bb5cc 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -84,7 +84,7 @@ class EVTComputeOctree : public Event
 			Scene::OctreeMesh octMesh(scene.mesh.vertices, [](Scene::OctreeMesh::IDX_TYPE size, Scene::OctreeMesh::Type /*radius*/) {
 				return size > 256;
 			});
-			scene.mesh.ListIncidenteFaces();
+			scene.mesh.ListIncidentFaces();
 			pScene->octMesh.Swap(octMesh);
 		} else
 		if (!scene.pointcloud.IsEmpty()) {
diff --git a/libs/Common/List.h b/libs/Common/List.h
index 7bbd5c078..bf45e47a2 100644
--- a/libs/Common/List.h
+++ b/libs/Common/List.h
@@ -122,14 +122,14 @@ class cList
 	}
 
 	// construct a list containing size initialized elements
-	cList(IDX size) : _size(size), _vectorSize(size), _vector((TYPE*)operator new[] (size * sizeof(TYPE)))
+	cList(IDX size) : _size(size), _vectorSize(size), _vector((TYPE*)operator new[] (static_cast<size_t>(size) * sizeof(TYPE)))
 	{
 		ASSERT(size > 0 && size < NO_INDEX);
 		_ArrayConstruct(_vector, size);
 	}
 
 	// construct a list containing size initialized elements and allocated space for _reserved elements
-	cList(IDX size, IDX _reserved) : _size(size), _vectorSize(_reserved), _vector((TYPE*)operator new[] (_reserved * sizeof(TYPE)))
+	cList(IDX size, IDX _reserved) : _size(size), _vectorSize(_reserved), _vector((TYPE*)operator new[] (static_cast<size_t>(_reserved) * sizeof(TYPE)))
 	{
 		ASSERT(_reserved >= size && _reserved < NO_INDEX);
 		_ArrayConstruct(_vector, size);
@@ -142,23 +142,21 @@ class cList
 			ASSERT(_size == 0);
 			return;
 		}
-		_vector = (TYPE*)(operator new[] (_vectorSize * sizeof(TYPE)));
+		_vector = (TYPE*)(operator new[] (static_cast<size_t>(_vectorSize) * sizeof(TYPE)));
 		_ArrayCopyConstruct(_vector, rList._vector, _size);
 	}
-	#ifdef _SUPPORT_CPP11
-	// copy constructor: creates a move-copy of the given list
+	// move constructor: creates a move-copy of the given list
 	cList(cList&& rList) : _size(rList._size), _vectorSize(rList._vectorSize), _vector(rList._vector)
 	{
 		rList._Init();
 	}
-	#endif
 
 	// constructor a list from a raw data array
 	explicit inline cList(TYPE* pDataBegin, TYPE* pDataEnd) : _size((IDX)(pDataEnd-pDataBegin)), _vectorSize(_size)
 	{
 		if (_vectorSize == 0)
 			return;
-		_vector = (TYPE*) operator new[] (_vectorSize * sizeof(TYPE));
+		_vector = (TYPE*) operator new[] (static_cast<size_t>(_vectorSize) * sizeof(TYPE));
 		_ArrayCopyConstruct(_vector, pDataBegin, _size);
 	}
 
@@ -172,6 +170,11 @@ class cList
 		_Release();
 	}
 
+	// move the content from the given list
+	inline cList&	operator=(cList&& rList)
+	{
+		return CopyOfRemove(rList);
+	}
 	// copy the content from the given list
 	inline cList&	operator=(const cList& rList)
 	{
@@ -185,16 +188,14 @@ class cList
 		if (bForceResize || _vectorSize < rList._vectorSize) {
 			_Release();
 			_vectorSize = rList._vectorSize;
-			_vector = (TYPE*) operator new[] (_vectorSize * sizeof(TYPE));
+			_vector = (TYPE*) operator new[] (static_cast<size_t>(_vectorSize) * sizeof(TYPE));
 			_ArrayCopyConstruct(_vector, rList._vector, rList._size);
+		} else if (_size >= rList._size) {
+			_ArrayDestruct(_vector+rList._size, _size-rList._size);
+			_ArrayCopyRestrict(_vector, rList._vector, rList._size);
 		} else {
-			if (_size >= rList._size) {
-				_ArrayDestruct(_vector+rList._size, _size-rList._size);
-				_ArrayCopyRestrict(_vector, rList._vector, rList._size);
-			} else {
-				_ArrayCopyRestrict(_vector, rList._vector, _size);
-				_ArrayCopyConstruct(_vector+_size, rList._vector+_size, rList._size-_size);
-			}
+			_ArrayCopyRestrict(_vector, rList._vector, _size);
+			_ArrayCopyConstruct(_vector+_size, rList._vector+_size, rList._size-_size);
 		}
 		_size = rList._size;
 		return *this;
@@ -207,16 +208,14 @@ class cList
 		if (bForceResize || _vectorSize < nSize) {
 			_Release();
 			_vectorSize = nSize;
-			_vector = (TYPE*) operator new[] (_vectorSize * sizeof(TYPE));
+			_vector = (TYPE*) operator new[] (static_cast<size_t>(_vectorSize) * sizeof(TYPE));
 			_ArrayCopyConstruct(_vector, pData, nSize);
+		} else if (_size >= nSize) {
+			_ArrayDestruct(_vector+nSize, _size-nSize);
+			_ArrayCopyRestrict(_vector, pData, nSize);
 		} else {
-			if (_size >= nSize) {
-				_ArrayDestruct(_vector+nSize, _size-nSize);
-				_ArrayCopyRestrict(_vector, pData, nSize);
-			} else {
-				_ArrayCopyRestrict(_vector, pData, _size);
-				_ArrayCopyConstruct(_vector+_size, pData+_size, nSize-_size);
-			}
+			_ArrayCopyRestrict(_vector, pData, _size);
+			_ArrayCopyConstruct(_vector+_size, pData+_size, nSize-_size);
 		}
 		_size = nSize;
 		return *this;
@@ -231,8 +230,7 @@ class cList
 		_size = rList._size;
 		_vectorSize = rList._vectorSize;
 		_vector = rList._vector;
-		rList._vector = NULL;
-		rList._size = rList._vectorSize = 0;
+		rList._Init();
 		return *this;
 	}
 
@@ -318,7 +316,7 @@ class cList
 	// Set the allocated memory (normally used for types without constructor).
 	inline void		Memset(uint8_t val)
 	{
-		memset(_vector, val, _size * sizeof(TYPE));
+		memset(_vector, val, static_cast<size_t>(_size) * sizeof(TYPE));
 	}
 	inline void		MemsetValue(ARG_TYPE val)
 	{
@@ -336,7 +334,7 @@ class cList
 			_vector = NULL;
 			return;
 		}
-		_vector = (TYPE*) operator new[] (newSize * sizeof(TYPE));
+		_vector = (TYPE*) operator new[] (static_cast<size_t>(newSize) * sizeof(TYPE));
 		_ArrayConstruct(_vector, newSize);
 	}
 
@@ -408,7 +406,11 @@ class cList
 	}
 	inline size_t	GetDataSize() const
 	{
-		return sizeof(TYPE)*_size;
+		return sizeof(TYPE)*static_cast<size_t>(_size);
+	}
+	inline size_t	GetMemorySize() const
+	{
+		return sizeof(cList)+sizeof(TYPE)*static_cast<size_t>(_vectorSize);
 	}
 
 	inline TYPE*	Begin() const
@@ -1271,15 +1273,15 @@ class cList
 		// grow by 50% or at least to minNewVectorSize
 		IDX expoVectorSize(_vectorSize + (_vectorSize>>1));
 		// cap growth for very large vectors
-		const IDX maxGrowCapacity(3*1024*1024*1024ull/*3GB*/);
-		const IDX growCapacity((expoVectorSize - _vectorSize) * sizeof(TYPE));
+		const size_t maxGrowCapacity(3*1024*1024*1024ull/*3GB*/);
+		const size_t growCapacity(static_cast<size_t>(expoVectorSize - _vectorSize) * sizeof(TYPE));
 		if (growCapacity > maxGrowCapacity)
-			expoVectorSize = _vectorSize + maxGrowCapacity / sizeof(TYPE);
+			expoVectorSize = _vectorSize + static_cast<IDX>(maxGrowCapacity / sizeof(TYPE));
 		// allocate a larger chunk of memory, copy the data and delete the old chunk
 		if (newVectorSize < expoVectorSize)
 			newVectorSize = expoVectorSize;
 		TYPE* const tmp(_vector);
-		_vector = (TYPE*) operator new[] (newVectorSize * sizeof(TYPE));
+		_vector = (TYPE*) operator new[] (static_cast<size_t>(newVectorSize) * sizeof(TYPE));
 		_ArrayMoveConstruct<true>(_vector, tmp, _size);
 		_vectorSize = newVectorSize;
 		operator delete[] (tmp);
@@ -1301,7 +1303,7 @@ class cList
 			_vector = NULL;
 		} else {
 			TYPE* const tmp(_vector);
-			_vector = (TYPE*) operator new[] (_vectorSize * sizeof(TYPE));
+			_vector = (TYPE*) operator new[] (static_cast<size_t>(_vectorSize) * sizeof(TYPE));
 			_ArrayMoveConstruct<true>(_vector, tmp, _vectorSize);
 			operator delete[] (tmp);
 		}
@@ -1363,7 +1365,7 @@ class cList
 				(src+n)->~TYPE();
 			}
 		} else {
-			const size_t _size(sizeof(TYPE)*n);
+			const size_t _size(sizeof(TYPE)*static_cast<size_t>(n));
 			if (bRestrict)
 				memcpy((void*)dst, (const void*)src, _size);
 			else
@@ -1380,7 +1382,7 @@ class cList
 				(src+n)->~TYPE();
 			}
 		} else {
-			const size_t _size(sizeof(TYPE)*n);
+			const size_t _size(sizeof(TYPE)*static_cast<size_t>(n));
 			if (useConstruct == 1)
 				while (n--)
 					(dst+n)->~TYPE();
@@ -1410,7 +1412,7 @@ class cList
 	typedef std::vector<Type> VectorType;
 	inline cList(const VectorType& rList) { CopyOf(&rList[0], rList.size()); }
 	#ifdef _SUPPORT_CPP11
-	inline cList(std::initializer_list<Type> l) : _size(0), _vectorSize((size_type)l.size()), _vector(NULL) { ASSERT(l.size()<NO_INDEX); if (_vectorSize == 0) return; _vector = (Type*) operator new[] (_vectorSize*sizeof(Type)); const Type* first(l.begin()); do new(_vector + _size++) Type(*first++); while (first!=l.end()); }
+	inline cList(std::initializer_list<Type> l) : _size(0), _vectorSize((size_type)l.size()), _vector(NULL) { ASSERT(l.size()<NO_INDEX); if (_vectorSize == 0) return; _vector = (Type*) operator new[] (static_cast<size_t>(_vectorSize)*sizeof(Type)); const Type* first(l.begin()); do new(_vector + _size++) Type(*first++); while (first!=l.end()); }
 	#endif
 	inline bool empty() const { return IsEmpty(); }
 	inline size_type size() const { return GetSize(); }
diff --git a/libs/Common/Types.inl b/libs/Common/Types.inl
index 360a7c0f1..c0ca1e8fe 100644
--- a/libs/Common/Types.inl
+++ b/libs/Common/Types.inl
@@ -13,17 +13,63 @@
 
 namespace std {
 
-// Specializations for unordered containers
-template <> struct hash<SEACAVE::ImageRef>
-{
-	typedef SEACAVE::ImageRef argument_type;
-	typedef size_t result_type;
-	result_type operator()(const argument_type& v) const {
-		return std::hash<uint64_t>()((const uint64_t&)v);
+// combine hash values (as in boost)
+namespace {
+template <class T>
+inline void hash_combine(std::size_t& seed, T const& v) {
+	seed ^= std::hash<T>()(v) + 0x9e3779b9 + (seed << 6) + (seed >> 2);
+}
+template <class Tuple, size_t Index = std::tuple_size<Tuple>::value - 1>
+struct HashValueImpl {
+	static void apply(size_t& seed, Tuple const& tuple) {
+		HashValueImpl<Tuple, Index - 1>::apply(seed, tuple);
+		hash_combine(seed, std::get<Index>(tuple));
+	}
+};
+template <class Tuple>
+struct HashValueImpl<Tuple, 0> {
+	static void apply(size_t& seed, Tuple const& tuple) { hash_combine(seed, std::get<0>(tuple)); }
+};
+} // namespace
+
+// hash specialization for pairs/tuples
+template <typename T, typename U>
+struct hash<std::pair<T, U>> {
+	std::size_t operator()(const std::pair<T, U>& x) const {
+		size_t seed = std::hash<T>()(x.first);
+		hash_combine<U>(seed, x.second);
+		return seed;
+	}
+};
+template <typename... T>
+struct hash<std::tuple<T...>> {
+	size_t operator()(const std::tuple<T...>& t) const {
+		size_t seed = 0;
+		HashValueImpl<std::tuple<T...>>::apply(seed, t);
+		return seed;
+	}
+};
+
+// hash specializations for OpenCV points
+template <typename T>
+struct hash<cv::Point_<T>> {
+	size_t operator()(const cv::Point_<T>& v) const {
+		size_t seed = std::hash<T>()(v.x);
+		std::hash_combine(seed, v.y);
+		return seed;
+	}
+};
+template <typename T>
+struct hash<cv::Point3_<T>> {
+	size_t operator()(const cv::Point3_<T>& v) const {
+		size_t seed = std::hash<T>()(v.x);
+		std::hash_combine(seed, v.y);
+		std::hash_combine(seed, v.z);
+		return seed;
 	}
 };
 
-// Adds the given key-value pair in the map, overwriting the current value if the key exists
+// adds the given key-value pair in the map, overwriting the current value if the key exists
 template <typename Key, typename T>
 void MapPut(std::map<Key, T>* map, const Key& key, const T& value) {
 	auto result = map->emplace(key, value);
diff --git a/libs/MVS/Mesh.cpp b/libs/MVS/Mesh.cpp
index 1b26bc53e..936f6db60 100644
--- a/libs/MVS/Mesh.cpp
+++ b/libs/MVS/Mesh.cpp
@@ -110,15 +110,19 @@ void Mesh::Release()
 } // Release
 void Mesh::ReleaseExtra()
 {
+	ReleaseComputable();
 	vertexNormals.Release();
-	vertexVertices.Release();
-	vertexFaces.Release();
-	vertexBoundary.Release();
 	faceNormals.Release();
-	faceFaces.Release();
 	faceTexcoords.Release();
 	texturesDiffuse.Release();
 } // ReleaseExtra
+void Mesh::ReleaseComputable()
+{
+	vertexVertices.Release();
+	vertexFaces.Release();
+	vertexBoundary.Release();
+	faceFaces.Release();
+} // ReleaseComputable
 void Mesh::EmptyExtra()
 {
 	vertexNormals.Empty();
@@ -130,7 +134,7 @@ void Mesh::EmptyExtra()
 	faceTexcoords.Empty();
 	texturesDiffuse.Empty();
 } // EmptyExtra
-void Mesh::Swap(Mesh& rhs)
+Mesh& Mesh::Swap(Mesh& rhs)
 {
 	vertices.Swap(rhs.vertices);
 	faces.Swap(rhs.faces);
@@ -143,18 +147,21 @@ void Mesh::Swap(Mesh& rhs)
 	faceTexcoords.Swap(rhs.faceTexcoords);
 	faceTexindices.Swap(rhs.faceTexindices);
 	std::swap(texturesDiffuse, rhs.texturesDiffuse);
+	return *this;
 } // Swap
 // combine this mesh with the given mesh, without removing duplicate vertices
-void Mesh::Join(const Mesh& mesh)
+Mesh& Mesh::Join(const Mesh& mesh)
 {
 	ASSERT(!HasTexture() && !mesh.HasTexture());
+	if (mesh.IsEmpty())
+		return *this;
 	vertexVertices.Release();
 	vertexFaces.Release();
 	vertexBoundary.Release();
 	faceFaces.Release();
 	if (IsEmpty()) {
 		*this = mesh;
-		return;
+		return *this;
 	}
 	const VIndex offsetV(vertices.size());
 	vertices.Join(mesh.vertices);
@@ -163,6 +170,7 @@ void Mesh::Join(const Mesh& mesh)
 	for (const Face& face: mesh.faces)
 		faces.emplace_back(face.x+offsetV, face.y+offsetV, face.z+offsetV);
 	faceNormals.Join(mesh.faceNormals);
+	return *this;
 }
 /*----------------------------------------------------------------*/
 
@@ -171,7 +179,7 @@ bool Mesh::IsWatertight()
 {
 	if (vertexBoundary.empty()) {
 		if (vertexFaces.empty())
-			ListIncidenteFaces();
+			ListIncidentFaces();
 		ListBoundaryVertices();
 	}
 	for (const bool b : vertexBoundary)
@@ -219,7 +227,7 @@ Mesh::Vertex Mesh::GetCenter() const
 
 
 // extract array of vertices incident to each vertex
-void Mesh::ListIncidenteVertices()
+void Mesh::ListIncidentVertices()
 {
 	vertexVertices.clear();
 	vertexVertices.resize(vertices.size());
@@ -237,15 +245,17 @@ void Mesh::ListIncidenteVertices()
 }
 
 // extract the (ordered) array of triangles incident to each vertex
-void Mesh::ListIncidenteFaces()
+void Mesh::ListIncidentFaces()
 {
 	vertexFaces.clear();
 	vertexFaces.resize(vertices.size());
-	FOREACH(i, faces) {
-		const Face& face = faces[i];
+	FOREACH(iF, faces) {
+		const Face& face = faces[iF];
 		for (int v=0; v<3; ++v) {
-			ASSERT(vertexFaces[face[v]].Find(i) == FaceIdxArr::NO_INDEX);
-			vertexFaces[face[v]].emplace_back(i);
+			FaceIdxArr& vfs = vertexFaces[face[v]];
+			ASSERT(vfs.Find(iF) == FaceIdxArr::NO_INDEX || vfs.Find(iF) == vfs.size()-1/*for degenerate faces*/);
+			if (vfs.empty() || vfs.back() != iF)
+				vfs.emplace_back(iF);
 		}
 	}
 }
@@ -254,7 +264,7 @@ void Mesh::ListIncidenteFaces()
 // each triple describes the adjacent face triangles for a given face
 // in the following edge order: v1v2, v2v3, v3v1;
 // NO_ID indicates there is no adjacent face on that edge
-void Mesh::ListIncidenteFaceFaces()
+void Mesh::ListIncidentFaceFaces()
 {
 	ASSERT(vertexFaces.size() == vertices.size());
 	struct inserter_data_t {
@@ -291,7 +301,7 @@ void Mesh::ListIncidenteFaceFaces()
 }
 
 // check each vertex if it is at the boundary or not
-// (make sure you called ListIncidenteFaces() before)
+// (make sure you called ListIncidentFaces() before)
 void Mesh::ListBoundaryVertices()
 {
 	vertexBoundary.clear();
@@ -408,9 +418,9 @@ void Mesh::SmoothNormalFaces(float fMaxGradient, float fOriginalWeight, unsigned
 	if (faceNormals.size() != faces.size())
 		ComputeNormalFaces();
 	if (vertexFaces.size() != vertices.size())
-		ListIncidenteFaces();
+		ListIncidentFaces();
 	if (faceFaces.size() != faces.size())
-		ListIncidenteFaceFaces();
+		ListIncidentFaceFaces();
 	const float cosMaxGradient = COS(FD2R(fMaxGradient));
 	for (unsigned rep = 0; rep < nIterations; ++rep) {
 		NormalArr newFaceNormals(faceNormals.size());
@@ -560,7 +570,7 @@ unsigned Mesh::FixNonManifold(float magDisplacementDuplicateVertices, VertexIdxA
 {
 	ASSERT(!vertices.empty() && !faces.empty());
 	if (vertexFaces.size() != vertices.size())
-		ListIncidenteFaces();
+		ListIncidentFaces();
 	// iterate over all vertices and separates the components
 	// incident to the same vertex by duplicating the vertex
 	unsigned numNonManifoldIssues(0);
@@ -665,7 +675,10 @@ unsigned Mesh::FixNonManifold(float magDisplacementDuplicateVertices, VertexIdxA
 			}
 		}
 	}
-	vertexFaces.Release();
+	if (numNonManifoldIssues > 0) {
+		vertexFaces.Release();
+		DEBUG_ULTIMATE("Removed %u non-manifold issues", numNonManifoldIssues);
+	}
 	return numNonManifoldIssues;
 }
 /*----------------------------------------------------------------*/
@@ -1484,7 +1497,7 @@ bool Mesh::SavePLY(const String& fileName, const cList<String>& comments, bool b
 	// export texture file name as comment if needed
 	if (HasTexture()) {
 		FOREACH(texId, texturesDiffuse) {
-		    const String textureFileName(Util::getFileFullName(fileName) + std::to_string(texId).c_str() + (bTexLossless?_T(".png"):_T(".jpg")));
+		    const String textureFileName(Util::getFileFullName(fileName) + std::to_string((unsigned)texId).c_str() + (bTexLossless?_T(".png"):_T(".jpg")));
 		    ply.append_comment((_T("TextureFile ")+Util::getFileNameExt(textureFileName)).c_str());
 		    texturesDiffuse[texId].Save(textureFileName);
 		}
@@ -3538,6 +3551,135 @@ void Mesh::CloseHoleQuality(VertexIdxArr& verts)
 }
 /*----------------------------------------------------------------*/
 
+
+// remove degenerate faces, with one or more identical vertices or very close vertices (0 - disabled);
+// unreferenced vertices and non-manifold edges/vertices can be created,
+// so should be followed by RemoveUnreferencedVertices() and FixNonManifold()
+Mesh::FIndex Mesh::RemoveDegenerateFaces(Type thArea) {
+	if (vertexFaces.size() != vertices.size())
+		ListIncidentFaces();
+	const Type thDoubleAreaSq = SQUARE(thArea * 2);
+	FaceIdxArr facesRemove;
+	typedef std::pair<VIndex/*replace with*/, VIndex> Vertex2Vertex;
+	CLISTDEF0(Vertex2Vertex) vertexPairs;
+	RFOREACH(idxFace, faces) {
+		const Face& face = faces[idxFace];
+		// check first case when one or more vertices have same index
+		if (face[0] == face[1] || face[0] == face[2] || face[1] == face[2]) {
+			// just remove the face
+			facesRemove.emplace_back(idxFace);
+			continue;
+		}
+		if (thDoubleAreaSq <= 0)
+			continue;
+		// check if the face has almost 0 area (see EdgeFunction())
+		const Vertex& v0 = vertices[face[0]];
+		const Vertex& v1 = vertices[face[1]];
+		const Vertex& v2 = vertices[face[2]];
+		const Vertex A(v2 - v0);
+		const Vertex B(v1 - v0);
+		const Type doubleAreaSq = normSq(B.cross(A));
+		if (doubleAreaSq <= thDoubleAreaSq) {
+			// remove the face
+			facesRemove.emplace_back(idxFace);
+			const Type lenghSqA = normSq(A);
+			const Type lenghSqB = normSq(B);
+			const Type lenghSqC = normSq(v2 - v1);
+			// remove two of the vertices,
+			// moving all adjacent face to the remaining vertex
+			if (lenghSqA <= thArea && lenghSqB <= thArea) {
+				vertexPairs.emplace_back(face[2], face[0]);
+				vertexPairs.emplace_back(face[1], face[0]);
+			}
+			else if (lenghSqA <= thArea && lenghSqC <= thArea) {
+				vertexPairs.emplace_back(face[0], face[2]);
+				vertexPairs.emplace_back(face[1], face[2]);
+			}
+			else if (lenghSqB <= thArea && lenghSqC <= thArea) {
+				vertexPairs.emplace_back(face[0], face[1]);
+				vertexPairs.emplace_back(face[2], face[1]);
+			} else
+			// remove one of the vertices,
+			// moving all adjacent face to the closest remaining vertices
+			if (lenghSqA <= thArea) {
+				vertexPairs.emplace_back(face[2], face[0]);
+			}
+			else if (lenghSqB <= thArea) {
+				vertexPairs.emplace_back(face[1], face[0]);
+			}
+			else if (lenghSqC <= thArea) {
+				vertexPairs.emplace_back(face[1], face[2]);
+			} else {
+				// the vertices are (almost) collinear, remove the smallest edge
+				if (lenghSqA < lenghSqB) {
+					if (lenghSqA < lenghSqC)
+						vertexPairs.emplace_back(face[2], face[0]);
+					else
+						vertexPairs.emplace_back(face[2], face[1]);
+				} else {
+					if (lenghSqB < lenghSqC)
+						vertexPairs.emplace_back(face[1], face[0]);
+					else
+						vertexPairs.emplace_back(face[2], face[1]);
+				}
+			}
+		}
+	}
+	if (facesRemove.empty())
+		return 0;
+	RemoveFaces(facesRemove, true);
+	if (vertexPairs.empty()) {
+		DEBUG("Removed %u degenerate faces", facesRemove.size());
+		return facesRemove.size();
+	}
+	// replace first vertex with the second
+	VertexIdxArr mapRemovedVerts(vertices.size());
+	mapRemovedVerts.MemsetValue(NO_ID);
+	const auto TraceMovedVertex = [&mapRemovedVerts](IIndex idx) {
+		while (mapRemovedVerts[idx] != NO_ID)
+			idx = mapRemovedVerts[idx];
+		return idx;
+	};
+	vertexPairs.RemoveDuplicates();
+	RFOREACHPTR(ptrIdxPair, vertexPairs) {
+		Vertex2Vertex p = *ptrIdxPair;
+		p.first = TraceMovedVertex(p.first);
+		p.second = TraceMovedVertex(p.second);
+		if (p.first == p.second)
+			continue;
+		FaceIdxArr& firstVfs = vertexFaces[p.first];
+		for (const FIndex idxFace : firstVfs) {
+			Face& face = faces[idxFace];
+			for (VIndex i = 0; i < 3; ++i)
+				if (face[i] == p.first)
+					face[i] = p.second;
+		}
+		FaceIdxArr& secondVfs = vertexFaces[p.second];
+		secondVfs.Join(firstVfs);
+		secondVfs.RemoveDuplicates();
+		firstVfs.Release();
+		mapRemovedVerts[p.first] = p.second;
+	}
+	const FIndex numRemovedFaces = facesRemove.size() + RemoveDegenerateFaces(0.f);
+	if (numRemovedFaces > 0)
+		DEBUG_ULTIMATE("Removed %u zero-area faces", numRemovedFaces);
+	return numRemovedFaces;
+}
+
+// removing zero-area-faces can generate some new zero-area-faces,
+// so iterate till no zero-area faces are encountered or max number of iterations is reached
+Mesh::FIndex Mesh::RemoveDegenerateFaces(unsigned maxIterations, Type thArea) {
+	FIndex totalNumRemovedFaces = 0;
+	for (unsigned iter=0; iter<maxIterations; ++iter) {
+		const FIndex numRemovedFaces = RemoveDegenerateFaces(thArea);
+		if (numRemovedFaces == 0)
+			break;
+		totalNumRemovedFaces += numRemovedFaces;
+	}
+	return totalNumRemovedFaces;
+}
+/*----------------------------------------------------------------*/
+
 // crop mesh such that none of its faces is touching or outside the given bounding-box
 void Mesh::RemoveFacesOutside(const OBB3f& obb) {
 	ASSERT(obb.IsValid());
@@ -3547,7 +3689,7 @@ void Mesh::RemoveFacesOutside(const OBB3f& obb) {
 			vertexRemove.emplace_back(i);
 	if (!vertexRemove.empty()) {
 		if (vertices.size() != vertexFaces.size())
-			ListIncidenteFaces();
+			ListIncidentFaces();
 		RemoveVertices(vertexRemove, true);
 	}
 }
@@ -3654,6 +3796,60 @@ void Mesh::RemoveVertices(VertexIdxArr& vertexRemove, bool bUpdateLists)
 		RemoveFaces(facesRemove);
 }
 
+// remove duplicate vertices (equal coordinates);
+// return the number of removed vertices, and optionally the list of duplicated vertices
+Mesh::VIndex Mesh::RemoveDuplicatedVertices(VertexIdxArr* duplicatedVertices) {
+	// create a map of unique vertices
+	VIndex numUniqueVertices(0);
+    VertexIdxArr mapVertices(vertices.size()); {
+		std::unordered_map<Vertex,VIndex,std::hash<Vertex::Base>> mapVertexIndex;
+		FOREACH(i, vertices) {
+			const Vertex& vertex = vertices[i];
+			const auto ret = mapVertexIndex.emplace(vertex, (VIndex)mapVertexIndex.size());
+			if (ret.second) {
+				// new vertex found
+				mapVertices[i] = i;
+			} else {
+				// duplicate vertex found
+				mapVertices[i] = ret.first->second;
+				if (duplicatedVertices)
+					duplicatedVertices->push_back(i);
+			}
+		}
+		numUniqueVertices = (VIndex)mapVertexIndex.size();
+		if (numUniqueVertices == vertices.size())
+			return 0;
+		ReleaseComputable();
+	}
+    // update the vertices and vertexNormals arrays
+    VertexArr newVertices(0, numUniqueVertices);
+    VertexArr newVertexNormals;
+	if (!vertexNormals.empty())
+		newVertexNormals.reserve(numUniqueVertices);
+	FOREACH(i, vertices) {
+		VIndex& uniqueIndex = mapVertices[i];
+		if (uniqueIndex != i)
+			continue;
+		uniqueIndex = newVertices.size();
+        newVertices.emplace_back(vertices[i]);
+		if (!vertexNormals.empty())
+			newVertexNormals.emplace_back(vertexNormals[i]);
+    }
+    vertices = std::move(newVertices);
+	if (!vertexNormals.empty())
+		vertexNormals = std::move(newVertexNormals);
+    // update the vertex indices in the faces
+    for (Face& face: faces) {
+        for (int i = 0; i < 3; ++i) {
+            face[i] = mapVertices[face[i]];
+			ASSERT(face[i] != NO_ID);
+        }
+    }
+    const VIndex numDuplicated(mapVertices.size() - vertices.size());
+	DEBUG_ULTIMATE("Removed %u duplicated vertices", numDuplicated);
+	return numDuplicated;
+}
+
 // remove all vertices that are not assigned to any face
 // (require vertexFaces)
 Mesh::VIndex Mesh::RemoveUnreferencedVertices(bool bUpdateLists)
@@ -3667,6 +3863,7 @@ Mesh::VIndex Mesh::RemoveUnreferencedVertices(bool bUpdateLists)
 	if (vertexRemove.empty())
 		return 0;
 	RemoveVertices(vertexRemove, bUpdateLists);
+	DEBUG_ULTIMATE("Removed %u unreferenced vertices", vertexRemove.size());
 	return vertexRemove.size();
 }
 
@@ -4149,7 +4346,7 @@ Mesh Mesh::SubMesh(const FaceIdxArr& chunk) const
 				mesh.faceTexcoords.emplace_back(tri[i]);
 		}
 	}
-	mesh.ListIncidenteFaces();
+	mesh.ListIncidentFaces();
 	mesh.RemoveUnreferencedVertices();
 	mesh.FixNonManifold();
 	return mesh;
@@ -4239,7 +4436,7 @@ bool Mesh::TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices, unsi
 		// the two meshes are different, transfer the texture by finding the closest point
 		// on the two surfaces
 		if (vertexFaces.size() != vertices.size())
-			ListIncidenteFaces();
+			ListIncidentFaces();
 		if (mesh.vertexNormals.size() != mesh.vertices.size())
 			mesh.ComputeNormalVertices();
 		#if USE_MESH_INT == USE_MESH_BVH
diff --git a/libs/MVS/Mesh.h b/libs/MVS/Mesh.h
index 8e6df53f0..9e54ff806 100644
--- a/libs/MVS/Mesh.h
+++ b/libs/MVS/Mesh.h
@@ -149,9 +149,10 @@ class MVS_API Mesh
 
 	void Release();
 	void ReleaseExtra();
+	void ReleaseComputable();
 	void EmptyExtra();
-	void Swap(Mesh&);
-	void Join(const Mesh&);
+	Mesh& Swap(Mesh&);
+	Mesh& Join(const Mesh&);
 	bool IsEmpty() const { return vertices.empty(); }
 	bool IsWatertight();
 	bool HasTexture() const { return HasTextureCoordinates() && !texturesDiffuse.empty(); }
@@ -162,9 +163,9 @@ class MVS_API Mesh
 	Box GetAABB(const Box& bound) const;
 	Vertex GetCenter() const;
 
-	void ListIncidenteVertices();
-	void ListIncidenteFaces();
-	void ListIncidenteFaceFaces();
+	void ListIncidentVertices();
+	void ListIncidentFaces();
+	void ListIncidentFaceFaces();
 	void ListBoundaryVertices();
 	void ComputeNormalFaces();
 	void ComputeNormalVertices();
@@ -179,7 +180,7 @@ class MVS_API Mesh
 	void GetAdjVertices(VIndex, VertexIdxArr&) const;
 	void GetAdjVertexFaces(VIndex, VIndex, FaceIdxArr&) const;
 
-	unsigned FixNonManifold(float magDisplacementDuplicateVertices = 0.01f, VertexIdxArr* duplicatedVertices = NULL);
+	unsigned FixNonManifold(float magDisplacementDuplicateVertices=0.01f, VertexIdxArr* duplicatedVertices=NULL);
 	void Clean(float fDecimate=0.7f, float fSpurious=10.f, bool bRemoveSpikes=true, unsigned nCloseHoles=30, unsigned nSmoothMesh=2, float fEdgeLength=0, bool bLastClean=true);
 
 	void EnsureEdgeSize(float minEdge=-0.5f, float maxEdge=-4.f, float collapseRatio=0.2, float degenerate_angle_deg=150, int mode=1, int max_iters=50);
@@ -189,9 +190,12 @@ class MVS_API Mesh
 	void Decimate(VertexIdxArr& verticesRemove);
 	void CloseHole(VertexIdxArr& vertsLoop);
 	void CloseHoleQuality(VertexIdxArr& vertsLoop);
+	FIndex RemoveDegenerateFaces(Type thArea=1e-5f);
+	FIndex RemoveDegenerateFaces(unsigned maxIterations, Type thArea=1e-5f);
 	void RemoveFacesOutside(const OBB3f&);
 	void RemoveFaces(FaceIdxArr& facesRemove, bool bUpdateLists=false);
 	void RemoveVertices(VertexIdxArr& vertexRemove, bool bUpdateLists=false);
+	VIndex RemoveDuplicatedVertices(VertexIdxArr* duplicatedVertices=NULL);
 	VIndex RemoveUnreferencedVertices(bool bUpdateLists=false);
 	std::vector<Mesh> SplitMeshPerTextureBlob() const;
 	void ConvertTexturePerVertex(Mesh&) const;
diff --git a/libs/MVS/SceneRefine.cpp b/libs/MVS/SceneRefine.cpp
index 8628351dd..c7ae91790 100644
--- a/libs/MVS/SceneRefine.cpp
+++ b/libs/MVS/SceneRefine.cpp
@@ -399,11 +399,11 @@ bool MeshRefine::InitImages(Real scale, Real sigma)
 void MeshRefine::ListVertexFacesPre()
 {
 	scene.mesh.EmptyExtra();
-	scene.mesh.ListIncidenteFaces();
+	scene.mesh.ListIncidentFaces();
 }
 void MeshRefine::ListVertexFacesPost()
 {
-	scene.mesh.ListIncidenteVertices();
+	scene.mesh.ListIncidentVertices();
 	scene.mesh.ListBoundaryVertices();
 }
 
diff --git a/libs/MVS/SceneRefineCUDA.cpp b/libs/MVS/SceneRefineCUDA.cpp
index a8c671e4e..4e56af3bf 100644
--- a/libs/MVS/SceneRefineCUDA.cpp
+++ b/libs/MVS/SceneRefineCUDA.cpp
@@ -2259,12 +2259,12 @@ bool MeshRefineCUDA::InitImages(float scale, float sigma)
 void MeshRefineCUDA::ListVertexFacesPre()
 {
 	scene.mesh.EmptyExtra();
-	scene.mesh.ListIncidenteFaces();
+	scene.mesh.ListIncidentFaces();
 	reportCudaError(faces.Reset(scene.mesh.faces));
 }
 void MeshRefineCUDA::ListVertexFacesPost()
 {
-	scene.mesh.ListIncidenteVertices();
+	scene.mesh.ListIncidentVertices();
 	scene.mesh.ListBoundaryVertices();
 	ASSERT(!scene.mesh.vertices.IsEmpty() && scene.mesh.vertices.GetSize() == scene.mesh.vertexVertices.GetSize());
 	// set vertex vertices
diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp
index 0feb26996..4b3c63e04 100644
--- a/libs/MVS/SceneTexture.cpp
+++ b/libs/MVS/SceneTexture.cpp
@@ -409,9 +409,9 @@ MeshTexture::~MeshTexture()
 void MeshTexture::ListVertexFaces()
 {
 	scene.mesh.EmptyExtra();
-	scene.mesh.ListIncidenteFaces();
+	scene.mesh.ListIncidentFaces();
 	scene.mesh.ListBoundaryVertices();
-	scene.mesh.ListIncidenteFaceFaces();
+	scene.mesh.ListIncidentFaceFaces();
 }
 
 // extract array of faces viewed by each image
@@ -1660,7 +1660,7 @@ void MeshTexture::ProcessMask(Image8U& mask, int stripWidth)
 	// compute the set of valid pixels at the border of the texture patch
 	#define ISEMPTY(mask, x,y) (mask(y,x) == empty)
 	const int width(mask.width()), height(mask.height());
-	typedef std::unordered_set<ImageRef> PixelSet;
+	typedef std::unordered_set<ImageRef,std::hash<ImageRef::Base>> PixelSet;
 	PixelSet borderPixels;
 	for (int y=0; y<height; ++y) {
 		for (int x=0; x<width; ++x) {

From aa86191fd81003ce3e8033fb95daf8b2cffe94c9 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 9 Sep 2024 11:50:10 +0300
Subject: [PATCH 249/252] common: refactor CUDA support in CMake

(cherry picked from commit b96dd573680262e6b94f6d7e53d80c994074cc96)
---
 CMakeLists.txt    | 35 ++++++++++++++++++++++-------------
 build/Utils.cmake | 21 +++++++++++++--------
 2 files changed, 35 insertions(+), 21 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 87534d7e2..b9d301cba 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,16 +3,22 @@
 ########################################################################
 #
 # Project-wide settings
-CMAKE_MINIMUM_REQUIRED(VERSION 3.8.2)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.10)
 IF(POLICY CMP0011)
 	CMAKE_POLICY(SET CMP0011 NEW)
 ENDIF()
+IF(POLICY CMP0072)
+	CMAKE_POLICY(SET CMP0072 NEW)
+ENDIF()
 IF(POLICY CMP0074)
 	CMAKE_POLICY(SET CMP0074 NEW)
 ENDIF()
 IF(POLICY CMP0104)
 	CMAKE_POLICY(SET CMP0104 NEW)
 ENDIF()
+IF(POLICY CMP0146)
+	CMAKE_POLICY(SET CMP0146 OLD) # not required, but forced by OpenCV old support for CUDA
+ENDIF()
 
 # List configuration options
 SET(OpenMVS_BUILD_TOOLS ON CACHE BOOL "Build example applications")
@@ -49,14 +55,14 @@ ENDIF()
 # CMake files in this project can refer to the root source directory
 # as ${OpenMVS_SOURCE_DIR} and to the root binary directory as
 # ${OpenMVS_BINARY_DIR}.
-PROJECT(OpenMVS)
+PROJECT(OpenMVS LANGUAGES CXX)
 
 SET(OpenMVS_MAJOR_VERSION 2)
 SET(OpenMVS_MINOR_VERSION 3)
 SET(OpenMVS_PATCH_VERSION 0)
 SET(OpenMVS_VERSION ${OpenMVS_MAJOR_VERSION}.${OpenMVS_MINOR_VERSION}.${OpenMVS_PATCH_VERSION})
 
-# Disable SSE on unsuported platforms
+# Disable SSE on unsupported platforms
 IF(CMAKE_SYSTEM_PROCESSOR MATCHES "^(arm|ARM|aarch64|AARCH64)")
 	SET(OpenMVS_USE_SSE OFF)
 ENDIF()
@@ -95,9 +101,6 @@ if(OpenMVS_USE_OPENMP)
 endif()
 
 if(OpenMVS_USE_OPENGL)
-	if(POLICY CMP0072)
-		cmake_policy(SET CMP0072 NEW)
-	endif()
 	FIND_PACKAGE(OpenGL)
 	if(OPENGL_FOUND)
 		INCLUDE_DIRECTORIES(${OPENGL_INCLUDE_DIR})
@@ -109,15 +112,20 @@ if(OpenMVS_USE_OPENGL)
 endif()
 
 if(OpenMVS_USE_CUDA)
-	if(POLICY CMP0146)
-		cmake_policy(SET CMP0146 NEW)
-	endif()
-	FIND_PACKAGE(CUDA)
-	if(CUDA_FOUND)
+	INCLUDE(CheckLanguage)
+	CHECK_LANGUAGE(CUDA)
+	if(CMAKE_CUDA_COMPILER)
+		SET(CUDA_FOUND TRUE)
+		if(NOT DEFINED CMAKE_CUDA_ARCHITECTURES)
+			SET(CMAKE_CUDA_ARCHITECTURES "native")
+		endif()
 		ENABLE_LANGUAGE(CUDA)
+		# not required, but forced by OpenCV old support for CUDA
+		FIND_PACKAGE(CUDA REQUIRED)
 		# CUDA-11.x can not be compiled using C++14 standard on Windows
-		string(REGEX MATCH "^[0-9]+" CUDA_MAJOR ${CMAKE_CUDA_COMPILER_VERSION})
-		if(${CUDA_MAJOR} GREATER 10)
+		string(REGEX MATCH "^[0-9]+" CUDA_VERSION_MAJOR ${CMAKE_CUDA_COMPILER_VERSION})
+		string(REGEX REPLACE "([0-9]+)\\.([0-9]+).*" "\\2" CUDA_VERSION_MINOR ${CMAKE_CUDA_COMPILER_VERSION})
+		if(${CUDA_VERSION_MAJOR} GREATER 10)
 			SET(CMAKE_CUDA_STANDARD 17)
 		endif()
 		EXECUTE_PROCESS(COMMAND "${CMAKE_CUDA_COMPILER}" --list-gpu-arch 
@@ -159,6 +167,7 @@ if(OpenMVS_USE_CUDA)
 		SET(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} --expt-relaxed-constexpr")
 		INCLUDE_DIRECTORIES(${CUDA_INCLUDE_DIRS})
 		SET(_USE_CUDA TRUE)
+		MESSAGE("-- Found CUDA: " ${CMAKE_CUDA_COMPILER_VERSION} " with GPU arch: " ${CMAKE_CUDA_ARCHITECTURES})
 	else()
 		SET(CUDA_CUDA_LIBRARY "")
 		MESSAGE("-- Can't find CUDA. Continuing without it.")
diff --git a/build/Utils.cmake b/build/Utils.cmake
index 6f724b2b4..61a2fcc0c 100644
--- a/build/Utils.cmake
+++ b/build/Utils.cmake
@@ -360,14 +360,17 @@ macro(add_extra_compiler_option option)
   if(CMAKE_BUILD_TYPE)
     set(CMAKE_TRY_COMPILE_CONFIGURATION ${CMAKE_BUILD_TYPE})
   endif()
-  _check_flag_support(CXX "${option}" _varname "${BUILD_EXTRA_CXX_FLAGS} ${ARGN}")
-  if(${_varname})
-    set(BUILD_EXTRA_CXX_FLAGS "${BUILD_EXTRA_CXX_FLAGS} ${option}")
+  if(CMAKE_CXX_COMPILER_ID)
+    _check_flag_support(CXX "${option}" _varname "${BUILD_EXTRA_CXX_FLAGS} ${ARGN}")
+    if(${_varname})
+      set(BUILD_EXTRA_CXX_FLAGS "${BUILD_EXTRA_CXX_FLAGS} ${option}")
+    endif()
   endif()
-
-  _check_flag_support(C "${option}" _varname "${BUILD_EXTRA_C_FLAGS} ${ARGN}")
-  if(${_varname})
-    set(BUILD_EXTRA_C_FLAGS "${BUILD_EXTRA_C_FLAGS} ${option}")
+  if(CMAKE_C_COMPILER_ID)
+    _check_flag_support(C "${option}" _varname "${BUILD_EXTRA_C_FLAGS} ${ARGN}")
+    if(${_varname})
+      set(BUILD_EXTRA_C_FLAGS "${BUILD_EXTRA_C_FLAGS} ${option}")
+    endif()
   endif()
 endmacro()
 
@@ -707,7 +710,9 @@ macro(optimize_default_compiler_settings)
 		string(REPLACE "/Zm1000" "" ${flags} "${${flags}}")
 	  endforeach()
 	endif()
-	CHECK_INCLUDE_FILE("inttypes.h" HAVE_INTTYPES_H)
+	if(CMAKE_C_COMPILER_ID)
+		CHECK_INCLUDE_FILE("inttypes.h" HAVE_INTTYPES_H)
+	endif()
 endmacro()
 
 

From b0b04bb9a6abba7d15657690a3119584efcbabc0 Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Tue, 17 Sep 2024 13:18:06 +0300
Subject: [PATCH 250/252] common: add plane Transform()

(cherry picked from commit 681037620cc9cf088f2bba6aa8bbf548c55f15e6)
---
 apps/InterfacePolycam/InterfacePolycam.cpp |  4 +++-
 build/Templates/ConfigLocal.h.in           |  3 ---
 build/Utils.cmake                          |  3 ---
 libs/Common/AABB.h                         |  9 +++++--
 libs/Common/AABB.inl                       | 28 ++++++++++++++++++----
 libs/Common/Plane.h                        |  4 ++++
 libs/Common/Plane.inl                      | 23 +++++++++++++++---
 libs/MVS/Camera.cpp                        | 26 ++++++++++++++++----
 libs/MVS/Camera.h                          |  2 ++
 9 files changed, 82 insertions(+), 20 deletions(-)

diff --git a/apps/InterfacePolycam/InterfacePolycam.cpp b/apps/InterfacePolycam/InterfacePolycam.cpp
index 46ba1b602..ee7b3f159 100644
--- a/apps/InterfacePolycam/InterfacePolycam.cpp
+++ b/apps/InterfacePolycam/InterfacePolycam.cpp
@@ -137,8 +137,8 @@ bool Application::Initialize(size_t argc, LPCTSTR* argv)
 	LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
 
 	// validate input
-	Util::ensureValidFolderPath(OPT::strInputFileName);
 	const bool bInvalidCommand(OPT::strInputFileName.empty());
+	Util::ensureValidFolderPath(OPT::strInputFileName);
 	if (OPT::vm.count("help") || bInvalidCommand) {
 		boost::program_options::options_description visible("Available options");
 		visible.add(generic).add(config);
@@ -225,6 +225,7 @@ bool ParseImage(Scene& scene, const String& imagePath, const String& cameraPath,
 	const Point3d t = P.topRightCorner<3, 1>().eval();
 	pose.C = pose.R.t() * (-t);
 	imageData.camera = platform.GetCamera(imageData.cameraID, imageData.poseID);
+	++scene.nCalibratedImages;
 	// set image neighbors if available
 	nlohmann::json::const_iterator itNeighbors = data.find("neighbors");
 	if (itNeighbors != data.end()) {
@@ -285,6 +286,7 @@ bool ParseScene(Scene& scene, const String& scenePath)
 		VERBOSE("Invalid scene folder");
 		return false;
 	}
+	scene.nCalibratedImages = 0;
 	if (numCorrectedFolders == 2) {
 		// corrected data
 		CLISTDEFIDX(String, IIndex) imagePaths;
diff --git a/build/Templates/ConfigLocal.h.in b/build/Templates/ConfigLocal.h.in
index 39ac2925a..0ca0e239a 100644
--- a/build/Templates/ConfigLocal.h.in
+++ b/build/Templates/ConfigLocal.h.in
@@ -6,9 +6,6 @@
 // OpenMVS compiled as static or dynamic libs
 #cmakedefine BUILD_SHARED_LIBS
 
-// Define to 1 if you have the <inttypes.h> header file
-#cmakedefine01 HAVE_INTTYPES_H
-
 // Define to 1 if exceptions are enabled
 #cmakedefine01 _HAS_EXCEPTIONS
 
diff --git a/build/Utils.cmake b/build/Utils.cmake
index 61a2fcc0c..7cfec3e92 100644
--- a/build/Utils.cmake
+++ b/build/Utils.cmake
@@ -710,9 +710,6 @@ macro(optimize_default_compiler_settings)
 		string(REPLACE "/Zm1000" "" ${flags} "${${flags}}")
 	  endforeach()
 	endif()
-	if(CMAKE_C_COMPILER_ID)
-		CHECK_INCLUDE_FILE("inttypes.h" HAVE_INTTYPES_H)
-	endif()
 endmacro()
 
 
diff --git a/libs/Common/AABB.h b/libs/Common/AABB.h
index da291f321..84099691e 100644
--- a/libs/Common/AABB.h
+++ b/libs/Common/AABB.h
@@ -29,6 +29,7 @@ class TAABB
 	typedef TYPE Type;
 	typedef Eigen::Matrix<TYPE,DIMS,1> POINT;
 	typedef Eigen::Matrix<TYPE,DIMS,DIMS,Eigen::RowMajor> MATRIX;
+	typedef Eigen::AlignedBox<TYPE,DIMS> ALIGNEDBOX;
 	enum { numChildren = (2<<(DIMS-1)) };
 	enum { numCorners = (DIMS==1 ? 2 : (DIMS==2 ? 4 : 8)) }; // 2^DIMS
 	enum { numScalar = (2*DIMS) };
@@ -39,18 +40,20 @@ class TAABB
 
 	inline TAABB() {}
 	inline TAABB(bool);
-	inline TAABB(const POINT& _pt);
+	inline TAABB(const POINT& pt);
 	inline TAABB(const POINT& _ptMin, const POINT& _ptMax);
 	inline TAABB(const POINT& center, const TYPE& radius);
+	inline TAABB(const ALIGNEDBOX& box);
 	template <typename TPoint>
 	inline TAABB(const TPoint* pts, size_t n);
 	template <typename CTYPE>
 	inline TAABB(const TAABB<CTYPE, DIMS>&);
 
 	inline void Reset();
-	inline void Set(const POINT& _pt);
+	inline void Set(const POINT& pt);
 	inline void Set(const POINT& _ptMin, const POINT& _ptMax);
 	inline void Set(const POINT& center, const TYPE& radius);
+	inline void Set(const ALIGNEDBOX& box);
 	template <typename TPoint>
 	inline void Set(const TPoint* pts, size_t n);
 
@@ -67,6 +70,8 @@ class TAABB
 	inline void Translate(const POINT&);
 	inline void Transform(const MATRIX&);
 
+	inline ALIGNEDBOX GetAlignedBox() const;
+
 	inline POINT GetCenter() const;
 	inline void GetCenter(POINT&) const;
 
diff --git a/libs/Common/AABB.inl b/libs/Common/AABB.inl
index b645ef12d..3ebcef5dd 100644
--- a/libs/Common/AABB.inl
+++ b/libs/Common/AABB.inl
@@ -19,9 +19,9 @@ inline TAABB<TYPE,DIMS>::TAABB(bool)
 {
 }
 template <typename TYPE, int DIMS>
-inline TAABB<TYPE,DIMS>::TAABB(const POINT& _pt)
+inline TAABB<TYPE,DIMS>::TAABB(const POINT& pt)
 	:
-	ptMin(_pt), ptMax(_pt)
+	ptMin(pt), ptMax(pt)
 {
 }
 template <typename TYPE, int DIMS>
@@ -37,6 +37,12 @@ inline TAABB<TYPE,DIMS>::TAABB(const POINT& center, const TYPE& radius)
 {
 }
 template <typename TYPE, int DIMS>
+inline TAABB<TYPE,DIMS>::TAABB(const ALIGNEDBOX& box)
+	:
+	ptMin(box.min()), ptMax(box.max())
+{
+}
+template <typename TYPE, int DIMS>
 template <typename TPoint>
 inline TAABB<TYPE,DIMS>::TAABB(const TPoint* pts, size_t n)
 {
@@ -59,9 +65,9 @@ inline void TAABB<TYPE,DIMS>::Reset()
 	ptMax = POINT::Constant(std::numeric_limits<TYPE>::lowest());
 }
 template <typename TYPE, int DIMS>
-inline void TAABB<TYPE,DIMS>::Set(const POINT& _pt)
+inline void TAABB<TYPE,DIMS>::Set(const POINT& pt)
 {
-	ptMin = ptMax = _pt;
+	ptMin = ptMax = pt;
 }
 template <typename TYPE, int DIMS>
 inline void TAABB<TYPE,DIMS>::Set(const POINT& _ptMin, const POINT& _ptMax)
@@ -76,6 +82,12 @@ inline void TAABB<TYPE,DIMS>::Set(const POINT& center, const TYPE& radius)
 	ptMax = center+POINT::Constant(radius);
 }
 template <typename TYPE, int DIMS>
+inline void TAABB<TYPE,DIMS>::Set(const ALIGNEDBOX& box)
+{
+	ptMin = box.min();
+	ptMax = box.max();
+}
+template <typename TYPE, int DIMS>
 template <typename TPoint>
 inline void TAABB<TYPE,DIMS>::Set(const TPoint* pts, size_t n)
 {
@@ -116,6 +128,14 @@ inline TAABB<TYPE,DIMS>& TAABB<TYPE,DIMS>::EnlargePercent(TYPE x)
 /*----------------------------------------------------------------*/
 
 
+template <typename TYPE, int DIMS>
+inline typename TAABB<TYPE,DIMS>::ALIGNEDBOX TAABB<TYPE,DIMS>::GetAlignedBox() const
+{
+	return ALIGNEDBOX(ptMin, ptMax);
+} // GetAlignedBox
+/*----------------------------------------------------------------*/
+
+
 template <typename TYPE, int DIMS>
 inline typename TAABB<TYPE,DIMS>::POINT TAABB<TYPE,DIMS>::GetCenter() const
 {
diff --git a/libs/Common/Plane.h b/libs/Common/Plane.h
index 7b396e961..ea7abeb28 100644
--- a/libs/Common/Plane.h
+++ b/libs/Common/Plane.h
@@ -27,6 +27,7 @@ class TPlane
 	STATIC_ASSERT(DIMS > 0 && DIMS <= 3);
 
 public:
+	typedef Eigen::Matrix<TYPE,DIMS+1,DIMS+1,Eigen::RowMajor> MATRIX;
 	typedef Eigen::Matrix<TYPE,DIMS,1> VECTOR;
 	typedef Eigen::Matrix<TYPE,DIMS,1> POINT;
 	typedef SEACAVE::TAABB<TYPE,DIMS> AABB;
@@ -62,6 +63,9 @@ class TPlane
 	inline void Negate();
 	inline TPlane Negated() const;
 
+	inline TPlane Transformed(const MATRIX&) const;
+	inline TPlane& Transform(const MATRIX&);
+
 	inline TYPE Distance(const TPlane&) const;
 	inline TYPE Distance(const POINT&) const;
 	inline TYPE DistanceAbs(const POINT&) const;
diff --git a/libs/Common/Plane.inl b/libs/Common/Plane.inl
index e1956cb87..03f456ef8 100644
--- a/libs/Common/Plane.inl
+++ b/libs/Common/Plane.inl
@@ -1,3 +1,4 @@
+#include "Plane.h"
 ////////////////////////////////////////////////////////////////////
 // Plane.inl
 //
@@ -175,6 +176,22 @@ inline TPlane<TYPE,DIMS> TPlane<TYPE,DIMS>::Negated() const
 /*----------------------------------------------------------------*/
 
 
+// transform plane from one coordinate system to another
+template <typename TYPE, int DIMS>
+inline TPlane<TYPE,DIMS> TPlane<TYPE,DIMS>::Transformed(const MATRIX& m) const
+{
+	const POINT p(m_vN * -m_fD);
+	const POINT pt((m * p.homogeneous()).hnormalized());
+	return TPlane(m.template topLeftCorner<DIMS,DIMS>() * m_vN, pt);
+} // Transformed
+template <typename TYPE, int DIMS>
+inline TPlane<TYPE,DIMS>& TPlane<TYPE,DIMS>::Transform(const MATRIX& m)
+{
+	return *this = Transformed(m);
+} // Transform
+/*----------------------------------------------------------------*/
+
+
 template <typename TYPE, int DIMS>
 inline TYPE TPlane<TYPE,DIMS>::Distance(const TPlane& p) const
 {
@@ -210,8 +227,8 @@ template <typename TYPE, int DIMS>
 inline GCLASS TPlane<TYPE,DIMS>::Classify(const POINT& p) const
 {
 	const TYPE f(Distance(p));
-	if (f >  ZEROTOLERANCE<TYPE,DIMS>()) return FRONT;
-	if (f < -ZEROTOLERANCE<TYPE,DIMS>()) return BACK;
+	if (f >  ZEROTOLERANCE<TYPE>()) return FRONT;
+	if (f < -ZEROTOLERANCE<TYPE>()) return BACK;
 	return PLANAR;
 }
 /*----------------------------------------------------------------*/
@@ -266,7 +283,7 @@ bool TPlane<TYPE,DIMS>::Intersects(const TPlane& plane, RAY& ray) const
 	// if crossproduct of normals 0 than planes parallel
 	const VECTOR vCross(m_vN.cross(plane.m_vN));
 	const TYPE fSqrLength(vCross.squaredNorm());
-	if (fSqrLength < ZEROTOLERANCE<TYPE,DIMS>()) 
+	if (fSqrLength < ZEROTOLERANCE<TYPE>()) 
 		return false;
 
 	// find line of intersection
diff --git a/libs/MVS/Camera.cpp b/libs/MVS/Camera.cpp
index ebc2e43de..0422c571f 100644
--- a/libs/MVS/Camera.cpp
+++ b/libs/MVS/Camera.cpp
@@ -84,12 +84,32 @@ Camera Camera::GetScaled(const cv::Size& size, const cv::Size& newSize) const
 /*----------------------------------------------------------------*/
 
 
+Matrix4x4 Camera::GetP() const {
+	Matrix4x4 P4;
+	for (int i = 0; i < 3; ++i)
+		for (int j = 0; j < 4; ++j)
+			P4(i, j) = P(i, j);
+	P4(3, 0) = P4(3, 1) = P4(3, 2) = 0;
+	P4(3, 3) = 1;
+	return P4;
+} // GetP
+Matrix4x4 Camera::GetRC() const {
+	Matrix3x4 P3;
+	AssembleProjectionMatrix(R, C, P3);
+	Matrix4x4 RC4;
+	for (int i = 0; i < 3; ++i)
+		for (int j = 0; j < 4; ++j)
+			RC4(i, j) = P3(i, j);
+	RC4(3, 0) = RC4(3, 1) = RC4(3, 2) = 0;
+	RC4(3, 3) = 1;
+	return RC4;
+} // GetRC
+/*----------------------------------------------------------------*/
+
 void Camera::ComposeP_RC()
 {
 	AssembleProjectionMatrix(R, C, P);
 } // ComposeP_RC
-/*----------------------------------------------------------------*/
-
 void Camera::ComposeP()
 {
 	AssembleProjectionMatrix(K, R, C, P);
@@ -100,8 +120,6 @@ void Camera::DecomposeP_RC()
 {
 	DecomposeProjectionMatrix(P, R, C);
 } // DecomposeP_RC
-/*----------------------------------------------------------------*/
-
 void Camera::DecomposeP()
 {
 	DecomposeProjectionMatrix(P, K, R, C);
diff --git a/libs/MVS/Camera.h b/libs/MVS/Camera.h
index f7bad6738..c1f93f40d 100644
--- a/libs/MVS/Camera.h
+++ b/libs/MVS/Camera.h
@@ -275,6 +275,8 @@ class MVS_API Camera : public CameraIntern
 	Camera GetScaled(REAL s) const; // return a camera scaled by the given factor
 	Camera GetScaled(const cv::Size& size, const cv::Size& newSize) const; // return a camera scaled to the given resolution
 
+	Matrix4x4 GetP() const; // the composed projection matrix (4x4) assuming valid P
+	Matrix4x4 GetRC() const; // the composed transform matrix (4x4)
 	void ComposeP_RC(); // compose P from R and C only
 	void ComposeP(); // compose P from K, R and C
 	void DecomposeP_RC(); // decompose P in R and C, keep K unchanged

From efce2f6ada79ebab928b8cbf05527f9f0623982f Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 23 Sep 2024 13:25:43 +0300
Subject: [PATCH 251/252] dense: unify confidence between [0,1] for
 FilterDepthMap() too

(cherry picked from commit a4b0802450cff65dbedd044aa54158ca4eb43a32)
---
 libs/MVS/SceneDensify.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index f137feebc..8a6a84622 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -1069,7 +1069,7 @@ bool DepthMapsData::FilterDepthMap(DepthData& depthDataRef, const IIndexArr& idx
 				if (nPosViews >= nMinViewsAdjust && posConf > negConf && ISINSIDE(avgDepth/=posConf, depthDataRef.dMin, depthDataRef.dMax)) {
 					// consider this pixel an inlier
 					newDepthMap(xRef) = avgDepth;
-					newConfMap(xRef) = posConf - negConf;
+					newConfMap(xRef) = 1.f - MINF(((negConf+0.2f) * nPosViews) / (posConf * MAXF(nNegViews,1u)), 1.f);
 				} else {
 					// consider this pixel an outlier
 					DiscardDepth:

From 208a441bd1fa017bea2c22643f96b3f779ceb37a Mon Sep 17 00:00:00 2001
From: cDc <cdc.seacave@gmail.com>
Date: Mon, 23 Sep 2024 20:45:43 +0300
Subject: [PATCH 252/252] common: implement assert with message

---
 apps/Tests/Tests.cpp      |   8 +-
 libs/Common/Common.h      |   8 +-
 libs/Common/Config.h      |  18 +++--
 libs/Common/Rotation.inl  |  12 +--
 libs/Common/Types.h       |  23 +++++-
 libs/Common/Util.inl      |   4 +-
 libs/MVS/DepthMap.cpp     | 157 ++++++++++----------------------------
 libs/MVS/DepthMap.h       |   4 +-
 libs/MVS/Scene.cpp        |   2 +-
 libs/MVS/SceneDensify.cpp |  10 +--
 10 files changed, 105 insertions(+), 141 deletions(-)

diff --git a/apps/Tests/Tests.cpp b/apps/Tests/Tests.cpp
index b8af6437d..ebc730cbd 100644
--- a/apps/Tests/Tests.cpp
+++ b/apps/Tests/Tests.cpp
@@ -75,6 +75,10 @@ bool UnitTests()
 bool PipelineTest(bool verbose=false)
 {
 	TD_TIMER_START();
+	#if 0 && defined(_USE_CUDA)
+	// force CPU for testing even if CUDA is available
+	SEACAVE::CUDA::desiredDeviceID = -2;
+	#endif
 	Scene scene;
 	if (!scene.Load(MAKE_PATH("scene.mvs"))) {
 		VERBOSE("ERROR: TestDataset failed loading the scene!");
@@ -88,7 +92,7 @@ bool PipelineTest(bool verbose=false)
 	}
 	if (verbose)
 		scene.pointcloud.Save(MAKE_PATH("scene_dense.ply"));
-	if (!scene.ReconstructMesh() || scene.mesh.faces.size() < 40000u) {
+	if (!scene.ReconstructMesh() || scene.mesh.faces.size() < 25000u) {
 		VERBOSE("ERROR: TestDataset failed reconstructing the mesh!");
 		return false;
 	}
@@ -96,7 +100,7 @@ bool PipelineTest(bool verbose=false)
 		scene.mesh.Save(MAKE_PATH("scene_dense_mesh.ply"));
 	constexpr float decimate = 0.7f;
 	scene.mesh.Clean(decimate);
-	if (!ISINSIDE(scene.mesh.faces.size(), 25000u, 45000u)) {
+	if (!ISINSIDE(scene.mesh.faces.size(), 20000u, 30000u)) {
 		VERBOSE("ERROR: TestDataset failed cleaning the mesh!");
 		return false;
 	}
diff --git a/libs/Common/Common.h b/libs/Common/Common.h
index eba19aeae..0decd1ace 100644
--- a/libs/Common/Common.h
+++ b/libs/Common/Common.h
@@ -78,6 +78,12 @@ namespace SEACAVE { extern int g_nVerbosityLevel; }
 #define LOG_ERR() GET_LOG() //or std::cerr
 
 
+#ifdef PRINT_ASSERT_MSG
+#undef PRINT_ASSERT_MSG
+#define PRINT_ASSERT_MSG(exp, ...) {std::cout << SEACAVE::PrintMessageToString("ASSERTION FAILED: (" #exp ") ", __VA_ARGS__) << std::endl;}
+#endif
+
+
 // macros simplifying the task of composing file paths;
 // WORKING_FOLDER and WORKING_FOLDER_FULL must be defined as strings
 // containing the relative/full path to the working folder
@@ -86,7 +92,7 @@ namespace SEACAVE {
 class String;
 extern String g_strWorkingFolder; // empty by default (current folder)
 extern String g_strWorkingFolderFull; // full path to current folder
-}
+} // namespace SEACAVE
 #define WORKING_FOLDER		g_strWorkingFolder // empty by default (current folder)
 #define WORKING_FOLDER_FULL	g_strWorkingFolderFull // full path to current folder
 #endif
diff --git a/libs/Common/Config.h b/libs/Common/Config.h
index 1165bfdc2..69363eae9 100644
--- a/libs/Common/Config.h
+++ b/libs/Common/Config.h
@@ -216,6 +216,8 @@
 #define SAFE_RELEASE(p)		{ if (p!=NULL) { (p)->Release(); (p)=NULL; } }
 
 
+#define PRINT_ASSERT_MSG(exp, ...)
+
 #ifdef _DEBUG
 
 #ifdef _MSC_VER
@@ -224,26 +226,32 @@
 #include <cstdlib>
 #include <crtdbg.h>
 #ifdef _INC_CRTDBG
-#define ASSERT(exp, ...) {if (!(exp) && 1 == _CrtDbgReport(_CRT_ASSERT, __FILE__, __LINE__, NULL, #exp)) _CrtDbgBreak();}
+#define SIMPLE_ASSERT(exp) {if (!(exp) && 1 == _CrtDbgReport(_CRT_ASSERT, __FILE__, __LINE__, NULL, #exp)) _CrtDbgBreak();}
+#define ASSERT(exp, ...) {static bool bIgnore(false); if (!bIgnore && !(exp)) {PRINT_ASSERT_MSG(exp, __VA_ARGS__); if (!(bIgnore = !(1 == _CrtDbgReport(_CRT_ASSERT, __FILE__, __LINE__, NULL, #exp)))) _CrtDbgBreak();}}
 #else
-#define ASSERT(exp, ...) {if (!(exp)) __debugbreak();}
+#define SIMPLE_ASSERT(exp) {if (!(exp)) __debugbreak();}
+#define ASSERT(exp, ...) {if (!(exp)) {PRINT_ASSERT_MSG(exp, __VA_ARGS__); __debugbreak();}}
 #endif // _INC_CRTDBG
 #define TRACE(...) {TCHAR buffer[2048]; _sntprintf(buffer, 2048, __VA_ARGS__); OutputDebugString(buffer);}
 #else // _MSC_VER
 #include <assert.h>
-#define ASSERT(exp, ...) assert(exp)
+#define SIMPLE_ASSERT(exp) {if (!(exp)) assert(exp);}
+#define ASSERT(exp, ...) {if (!(exp)) {PRINT_ASSERT_MSG(exp, __VA_ARGS__); assert(exp);}}
 #define TRACE(...)
 #endif // _MSC_VER
 
 #else
 
 #ifdef _RELEASE
+#define SIMPLE_ASSERT(exp)
 #define ASSERT(exp, ...)
 #else
 #ifdef _MSC_VER
-#define ASSERT(exp, ...) {if (!(exp)) __debugbreak();}
+#define SIMPLE_ASSERT(exp) {if (!(exp)) __debugbreak();}
+#define ASSERT(exp, ...) {if (!(exp)) {PRINT_ASSERT_MSG(exp, __VA_ARGS__); __debugbreak();}}
 #else // _MSC_VER
-#define ASSERT(exp, ...) {if (!(exp)) __builtin_trap();}
+#define SIMPLE_ASSERT(exp) {if (!(exp)) __builtin_trap();}
+#define ASSERT(exp, ...) {if (!(exp)) {PRINT_ASSERT_MSG(exp, __VA_ARGS__); __builtin_trap();}}
 #endif // _MSC_VER
 #endif
 #define TRACE(...)
diff --git a/libs/Common/Rotation.inl b/libs/Common/Rotation.inl
index 81b2d0097..ca0a8d11c 100644
--- a/libs/Common/Rotation.inl
+++ b/libs/Common/Rotation.inl
@@ -1176,8 +1176,8 @@ void TRMatrixBase<TYPE>::SetFromHV(const Vec& xxx, const Vec& yyy)
 template <typename TYPE>
 TRMatrixBase<TYPE>& TRMatrixBase<TYPE>::SetFromDir2Dir(const Vec& dir0, const Vec& dir1)
 {
-	ASSERT(ISEQUAL(norm(dir0), TYPE(1)));
-	ASSERT(ISEQUAL(norm(dir1), TYPE(1)));
+	ASSERT(ISEQUAL(norm(dir0), TYPE(1)), "Norm = ", norm(dir0));
+	ASSERT(ISEQUAL(norm(dir1), TYPE(1)), "Norm = ", norm(dir1));
 	const TYPE cos01(CLAMP(dir1.dot(dir0), TYPE(-1), TYPE(1)));
 	const TYPE sin01Sq(TYPE(1) - SQUARE(cos01));
 	if (sin01Sq > EPSILONTOLERANCE<TYPE>()) {
@@ -1203,8 +1203,8 @@ TRMatrixBase<TYPE>& TRMatrixBase<TYPE>::SetFromDir2Dir(const Vec& dir0, const Ve
 template <typename TYPE>
 void TRMatrixBase<TYPE>::SetFromDirUpGL(const Vec& viewDir, const Vec& viewUp)
 {
-	ASSERT(ISEQUAL(norm(viewDir), TYPE(1)));
-	ASSERT(ISEQUAL(norm(viewUp), TYPE(1)));
+	ASSERT(ISEQUAL(norm(viewDir), TYPE(1)), "Norm = ", norm(viewDir));
+	ASSERT(ISEQUAL(norm(viewUp), TYPE(1)), "Norm = ", norm(viewUp));
 	const Vec right(normalized(cross(viewDir, viewUp)));
 	const Vec up(normalized(cross(right, viewDir)));
 	const Vec forward(viewDir * TYPE(-1)); // convert to right handed system
@@ -1214,8 +1214,8 @@ void TRMatrixBase<TYPE>::SetFromDirUpGL(const Vec& viewDir, const Vec& viewUp)
 template <typename TYPE>
 void TRMatrixBase<TYPE>::SetFromDirUp(const Vec& viewDir, const Vec& viewUp)
 {
-	ASSERT(ISEQUAL(norm(viewDir), TYPE(1)));
-	ASSERT(ISEQUAL(norm(viewUp), TYPE(1)));
+	ASSERT(ISEQUAL(norm(viewDir), TYPE(1)), "Norm = ", norm(viewDir));
+	ASSERT(ISEQUAL(norm(viewUp), TYPE(1)), "Norm = ", norm(viewUp));
 	const Vec right(normalized(cross(viewDir, viewUp)));
 	const Vec up(normalized(cross(viewDir, right)));
 	const Vec& forward(viewDir);
diff --git a/libs/Common/Types.h b/libs/Common/Types.h
index a34499a62..625ae6af1 100644
--- a/libs/Common/Types.h
+++ b/libs/Common/Types.h
@@ -378,6 +378,25 @@ typedef TAliasCast<double,int32_t> CastD2I;
 #endif
 
 
+// functions simplifying the task of printing messages
+namespace SEACAVE {
+// print the given message composed of any number of arguments to the given stream
+template<typename... Args>
+std::ostringstream& PrintMessageToStream(std::ostringstream& oss, Args&&... args) {
+	// fold expression to insert all arguments into the stream
+	(oss << ... << args);
+	return oss;
+}
+// print the given message composed of any number of arguments to a string
+template<typename... Args>
+std::string PrintMessageToString(Args&&... args) {
+	std::ostringstream oss;
+	(oss << ... << args);
+	return oss.str();
+}
+} // namespace SEACAVE
+
+
 // I N C L U D E S /////////////////////////////////////////////////
 
 #include "Strings.h"
@@ -681,13 +700,13 @@ constexpr T factorial(T n) {
 }
 template<typename T>
 constexpr T combinations(const T& n, const T& k) {
-	ASSERT(n >= k);
+	SIMPLE_ASSERT(n >= k);
 	#if 1
 	T num = n;
 	const T den = factorial(k);
 	for (T i=n-k+1; i<n; ++i)
 		num *= i;
-	ASSERT(num%den == 0);
+	SIMPLE_ASSERT(num%den == 0);
 	return num/den;
 	#else
 	return factorial(n) / (factorial(k)*factorial(n-k));
diff --git a/libs/Common/Util.inl b/libs/Common/Util.inl
index b0ffa0ff1..beba6d838 100644
--- a/libs/Common/Util.inl
+++ b/libs/Common/Util.inl
@@ -752,7 +752,7 @@ inline TPoint3<TYPE> PerspectiveCorrectBarycentricCoordinates(const TPoint3<TYPE
 // Encodes/decodes a normalized 3D vector in two parameters for the direction
 template<typename T, typename TR>
 inline void Normal2Dir(const TPoint3<T>& d, TPoint2<TR>& p) {
-	ASSERT(ISEQUAL(norm(d), T(1)));
+	ASSERT(ISEQUAL(norm(d), T(1)), "Norm = ", norm(d));
 	p.x = TR(atan2(d.y, d.x));
 	p.y = TR(acos(d.z));
 }
@@ -762,7 +762,7 @@ inline void Dir2Normal(const TPoint2<T>& p, TPoint3<TR>& d) {
 	d.x = TR(cos(p.x)*siny);
 	d.y = TR(sin(p.x)*siny);
 	d.z = TR(cos(p.y));
-	ASSERT(ISEQUAL(norm(d), TR(1)));
+	ASSERT(ISEQUAL(norm(d), TR(1)), "Norm = ", norm(d));
 }
 // Encodes/decodes a 3D vector in two parameters for the direction and one parameter for the scale
 template<typename T, typename TR>
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 5e4a7eca1..3a64232e9 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -663,130 +663,57 @@ void DepthEstimator::ProcessPixel(IDX idx)
 	#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
 	neighborsClose.Empty();
 	#endif
-	if (dir == LT2RB) {
-		// direction from left-top to right-bottom corner
-		if (x0.x > nSizeHalfWindow) {
-			const ImageRef nx(x0.x-1, x0.y);
-			const Depth ndepth(depthMap0(nx));
-			if (ndepth > 0) {
-				#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
-				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
-				neighbors.emplace_back(nx);
-				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
-					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
-					, Cast<float>(image0.camera.TransformPointI2C(Point3(nx, ndepth)))
-					#endif
-				});
-				#else
-				neighbors.emplace_back(NeighborData{nx,ndepth,normalMap0(nx)});
+	const auto AddDirectionNeighbor = [this] (const ImageRef& nx) {
+		const Depth ndepth(depthMap0(nx));
+		if (ndepth > 0) {
+			#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
+			ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f), "Norm = ", norm(normalMap0(nx)));
+			neighbors.emplace_back(nx);
+			neighborsClose.emplace_back(NeighborEstimate{ndepth, normalMap0(nx)
+				#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
+				, Cast<float>(image0.camera.TransformPointI2C(Point3(nx, ndepth)))
 				#endif
-			}
+			});
+			#else
+			neighbors.emplace_back(NeighborData{nx,ndepth,normalMap0(nx)});
+			#endif
 		}
-		if (x0.y > nSizeHalfWindow) {
-			const ImageRef nx(x0.x, x0.y-1);
-			const Depth ndepth(depthMap0(nx));
-			if (ndepth > 0) {
-				#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
-				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
-				neighbors.emplace_back(nx);
-				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
-					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
-					, Cast<float>(image0.camera.TransformPointI2C(Point3(nx, ndepth)))
-					#endif
-				});
-				#else
-				neighbors.emplace_back(NeighborData{nx,ndepth,normalMap0(nx)});
+	};
+	const auto AddDirection = [this] (const ImageRef& nx) {
+		const Depth ndepth(depthMap0(nx));
+		if (ndepth > 0) {
+			ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f), "Norm = ", norm(normalMap0(nx)));
+			neighborsClose.emplace_back(NeighborEstimate{ndepth, normalMap0(nx)
+				#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
+				, Cast<float>(image0.camera.TransformPointI2C(Point3(nx, ndepth)))
 				#endif
-			}
-		}
-		#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
-		if (x0.x < size.width-nSizeHalfWindow) {
-			const ImageRef nx(x0.x+1, x0.y);
-			const Depth ndepth(depthMap0(nx));
-			if (ndepth > 0) {
-				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
-				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
-					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
-					, Cast<float>(image0.camera.TransformPointI2C(Point3(nx, ndepth)))
-					#endif
-				});
-			}
-		}
-		if (x0.y < size.height-nSizeHalfWindow) {
-			const ImageRef nx(x0.x, x0.y+1);
-			const Depth ndepth(depthMap0(nx));
-			if (ndepth > 0) {
-				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
-				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
-					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
-					, Cast<float>(image0.camera.TransformPointI2C(Point3(nx, ndepth)))
-					#endif
 				});
-			}
 		}
+ 	};
+	if (dir == LT2RB) {
+		// direction from left-top to right-bottom corner
+		if (x0.x > nSizeHalfWindow)
+			AddDirectionNeighbor(ImageRef(x0.x-1, x0.y));
+		if (x0.y > nSizeHalfWindow)
+			AddDirectionNeighbor(ImageRef(x0.x, x0.y-1));
+		#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
+		if (x0.x < size.width-nSizeHalfWindow)
+			AddDirection(ImageRef(x0.x+1, x0.y));
+		if (x0.y < size.height-nSizeHalfWindow)
+			AddDirection(ImageRef(x0.x, x0.y+1));
 		#endif
 	} else {
 		ASSERT(dir == RB2LT);
 		// direction from right-bottom to left-top corner
-		if (x0.x < size.width-nSizeHalfWindow) {
-			const ImageRef nx(x0.x+1, x0.y);
-			const Depth ndepth(depthMap0(nx));
-			if (ndepth > 0) {
-				#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
-				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
-				neighbors.emplace_back(nx);
-				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
-					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
-					, Cast<float>(image0.camera.TransformPointI2C(Point3(nx, ndepth)))
-					#endif
-				});
-				#else
-				neighbors.emplace_back(NeighborData{nx,ndepth,normalMap0(nx)});
-				#endif
-			}
-		}
-		if (x0.y < size.height-nSizeHalfWindow) {
-			const ImageRef nx(x0.x, x0.y+1);
-			const Depth ndepth(depthMap0(nx));
-			if (ndepth > 0) {
-				#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
-				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
-				neighbors.emplace_back(nx);
-				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
-					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
-					, Cast<float>(image0.camera.TransformPointI2C(Point3(nx, ndepth)))
-					#endif
-				});
-				#else
-				neighbors.emplace_back(NeighborData{nx,ndepth,normalMap0(nx)});
-				#endif
-			}
-		}
+		if (x0.x < size.width-nSizeHalfWindow)
+			AddDirectionNeighbor(ImageRef(x0.x+1, x0.y));
+		if (x0.y < size.height-nSizeHalfWindow)
+			AddDirectionNeighbor(ImageRef(x0.x, x0.y+1));
 		#if DENSE_SMOOTHNESS != DENSE_SMOOTHNESS_NA
-		if (x0.x > nSizeHalfWindow) {
-			const ImageRef nx(x0.x-1, x0.y);
-			const Depth ndepth(depthMap0(nx));
-			if (ndepth > 0) {
-				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
-				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
-					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
-					, Cast<float>(image0.camera.TransformPointI2C(Point3(nx, ndepth)))
-					#endif
-				});
-			}
-		}
-		if (x0.y > nSizeHalfWindow) {
-			const ImageRef nx(x0.x, x0.y-1);
-			const Depth ndepth(depthMap0(nx));
-			if (ndepth > 0) {
-				ASSERT(ISEQUAL(norm(normalMap0(nx)), 1.f));
-				neighborsClose.emplace_back(NeighborEstimate{ndepth,normalMap0(nx)
-					#if DENSE_SMOOTHNESS == DENSE_SMOOTHNESS_PLANE
-					, Cast<float>(image0.camera.TransformPointI2C(Point3(nx, ndepth)))
-					#endif
-				});
-			}
-		}
+		if (x0.x > nSizeHalfWindow)
+			AddDirection(ImageRef(x0.x-1, x0.y));
+		if (x0.y > nSizeHalfWindow)
+			AddDirection(ImageRef(x0.x, x0.y-1));
 		#endif
 	}
 	float& conf = confMap0(x0);
@@ -1027,7 +954,7 @@ DepthEstimator::PixelEstimate DepthEstimator::PerturbEstimate(const PixelEstimat
 		}
 		perturbation *= 0.5f;
 	}
-	ASSERT(ISEQUAL(norm(ptbEst.normal), 1.f));
+	ASSERT(ISEQUAL(norm(ptbEst.normal), 1.f), "Norm = ", norm(ptbEst.normal));
 
 	return ptbEst;
 }
diff --git a/libs/MVS/DepthMap.h b/libs/MVS/DepthMap.h
index 52ed84cd5..7246d2a5c 100644
--- a/libs/MVS/DepthMap.h
+++ b/libs/MVS/DepthMap.h
@@ -453,7 +453,7 @@ struct MVS_API DepthEstimator {
 	inline Normal RandomNormal(const Point3f& viewRay) {
 		Normal normal;
 		Dir2Normal(Point2f(rnd.randomRange(FD2R(0.f),FD2R(180.f)), rnd.randomRange(FD2R(90.f),FD2R(180.f))), normal);
-		ASSERT(ISEQUAL(norm(normal), 1.f));
+		ASSERT(ISEQUAL(norm(normal), 1.f), "Norm = ", norm(normal));
 		return normal.dot(viewRay) > 0 ? -normal : normal;
 	}
 
@@ -463,7 +463,7 @@ struct MVS_API DepthEstimator {
 		const float cosAngLen(normal.dot(viewDir));
 		if (cosAngLen >= 0)
 			normal = RMatrixBaseF(normal.cross(viewDir), MINF((ACOS(cosAngLen/norm(viewDir))-FD2R(90.f))*1.01f, -0.001f)) * normal;
-		ASSERT(ISEQUAL(norm(normal), 1.f));
+		ASSERT(ISEQUAL(norm(normal), 1.f), "Norm = ", norm(normal));
 	}
 
 	static bool ImportIgnoreMask(const Image&, const Image8U::Size&, uint16_t nIgnoreMaskLabel, BitMatrix&, Image8U* =NULL);
diff --git a/libs/MVS/Scene.cpp b/libs/MVS/Scene.cpp
index 5df98349f..a81bd46d3 100644
--- a/libs/MVS/Scene.cpp
+++ b/libs/MVS/Scene.cpp
@@ -1847,7 +1847,7 @@ size_t Scene::DrawCircle(PointCloud& pc, PointCloud::PointArr& outCircle, const
 		const float fAngle(fStartAngle + fAngleBetweenPoints * pIdx);
 		ASSERT(fAngle <= FTWO_PI);
 		const Normal n(cos(fAngle), sin(fAngle), 0);
-		ASSERT(ISEQUAL(norm(n), 1.f));
+		ASSERT(ISEQUAL(norm(n), 1.f), "Norm = ", norm(n));
 		const Point3f newPoint(circleCenter + circleRadius * n);
 		// select cameras seeing this point
 		PointCloud::ViewArr views;
diff --git a/libs/MVS/SceneDensify.cpp b/libs/MVS/SceneDensify.cpp
index 8a6a84622..96f321d30 100644
--- a/libs/MVS/SceneDensify.cpp
+++ b/libs/MVS/SceneDensify.cpp
@@ -381,7 +381,7 @@ void* STCALL DepthMapsData::ScoreDepthMapTmp(void* arg)
 			// replace invalid normal with random values
 			normal = estimator.RandomNormal(viewDir);
 		}
-		ASSERT(ISEQUAL(norm(normal), 1.f));
+		ASSERT(ISEQUAL(norm(normal), 1.f), "Norm = ", norm(normal));
 		estimator.confMap0(x) = estimator.ScorePixel(depth, normal);
 	}
 	return NULL;
@@ -1481,7 +1481,7 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 				ProjArr& pointProjs = projs.emplace_back();
 				pointProjs.emplace_back(Proj(x));
 				const PointCloud::Normal normal(!depthData.normalMap.empty() ? Cast<Normal::Type>(imageData.camera.R.t() * Cast<REAL>(depthData.normalMap(x))) : Normal(0, 0, -1));
-				ASSERT(ISEQUAL(norm(normal), 1.f));
+				ASSERT(ISEQUAL(norm(normal), 1.f), "Norm = ", norm(normal));
 				// check the projection in the neighbor depth-maps
 				Point3 X(point*confidence);
 				Pixel32F C(Cast<float>(imageData.image(x))*confidence);
@@ -1509,7 +1509,7 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
 					if (IsDepthSimilar(pt.z, depthB, OPTDENSE::fDepthDiffThreshold)) {
 						// check if normals agree
 						const PointCloud::Normal normalB(!depthData.normalMap.empty() ? Cast<Normal::Type>(imageDataB.camera.R.t() * Cast<REAL>(depthDataB.normalMap(xB))) : Normal(0, 0, -1));
-						ASSERT(ISEQUAL(norm(normalB), 1.f));
+						ASSERT(ISEQUAL(norm(normalB), 1.f), "Norm = ", norm(normalB));
 						if (normal.dot(normalB) > normalError) {
 							// add view to the 3D point
 							ASSERT(views.FindFirst(idxImageB) == PointCloud::ViewArr::NO_INDEX);
@@ -1688,12 +1688,12 @@ void DepthMapsData::DenseFuseDepthMaps(PointCloud& pointcloud, bool bEstimateCol
 					return;
 				// check if normals agree
 				normal = image.camera.R.t() * Cast<REAL>(depthData.normalMap(x));
-				ASSERT(ISEQUAL(norm(normal), 1.f));
+				ASSERT(ISEQUAL(norm(normal), 1.f), "Norm = ", norm(normal));
 				if (refNormal.dot(normal) < normalError)
 					return;
 			} else {
 				normal = image.camera.R.t() * Cast<REAL>(depthData.normalMap(x));
-				ASSERT(ISEQUAL(norm(normal), 1.f));
+				ASSERT(ISEQUAL(norm(normal), 1.f), "Norm = ", norm(normal));
 			}
 			// set the current pixel as visited
 			useMask.set(x);