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     # remove outdated versions
     - vcpkg remove --outdated --recurse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(${OpenMVS_DEFINITIONS})
+endif()
+
+add_executable(your_project source_code.cpp)
+target_link_libraries(your_project PRIVATE OpenMVS::MVS)
+```
diff --git a/CMakeLists.txt b/CMakeLists.txt
index fff705bda..074e153b5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,12 +4,23 @@
 #
 # Project-wide settings
 CMAKE_MINIMUM_REQUIRED(VERSION 3.8.0)
-if(POLICY CMP0011)
-	cmake_policy(SET CMP0011 NEW)
-endif()
-if(POLICY CMP0074)
-	cmake_policy(SET CMP0074 NEW)
-endif()
+IF(POLICY CMP0011)
+	CMAKE_POLICY(SET CMP0011 NEW)
+ENDIF()
+IF(POLICY CMP0074)
+	CMAKE_POLICY(SET CMP0074 NEW)
+ENDIF()
+IF(POLICY CMP0104)
+	CMAKE_POLICY(SET CMP0104 NEW)
+ENDIF()
+
+# Load automatically VCPKG toolchain if available
+IF(NOT DEFINED CMAKE_TOOLCHAIN_FILE AND DEFINED ENV{VCPKG_ROOT})
+	SET(CMAKE_TOOLCHAIN_FILE "$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 1)
+SET(OpenMVS_MINOR_VERSION 1)
+SET(OpenMVS_PATCH_VERSION 1)
+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")