diff --git a/plugin/README.md b/plugin/README.md
index 9adcb16..52e4f11 100644
--- a/plugin/README.md
+++ b/plugin/README.md
@@ -7,7 +7,7 @@ The `spectacularAI_depthaiPlugin` package is required. For non-commercial purpos
 ## Building (Windows)
 ```
 mkdir target && cd target
-cmake -Ddepthai_DIR=path\to\spectacularAI_depthaiPlugin_cpp_non-commercial_1.36.0\Windows\lib\cmake\depthai -DspectacularAI_depthaiPlugin_DIR=path\to\spectacularAI_depthaiPlugin_cpp_non-commercial_1.36.0\Windows\lib\cmake\spectacularAI ..
+cmake -Ddepthai_DIR=path\to\spectacularAI_depthaiPlugin_cpp_non-commercial_1.39.0\Windows\lib\cmake\depthai -DspectacularAI_depthaiPlugin_DIR=path\to\spectacularAI_depthaiPlugin_cpp_non-commercial_1.39.0\Windows\lib\cmake\spectacularAI ..
 cmake --build . --config Release
 ```
 
@@ -16,7 +16,7 @@ Replace the existing `spectacularAI_unity.dll` [here](https://github.com/Spectac
 ## Building (Linux)
 ```
 mkdir target && cd target
-cmake -Ddepthai_DIR=path/to/spectacularAI_depthaiPlugin_cpp_non-commercial_1.36.0/Linux_Ubuntu_x86-64/lib/cmake/depthai -DspectacularAI_depthaiPlugin_DIR=path/to/spectacularAI_depthaiPlugin_cpp_non-commercial_1.36.0/Linux_Ubuntu_x86-64/lib/cmake/spectacularAI ..
+cmake -Ddepthai_DIR=path/to/spectacularAI_depthaiPlugin_cpp_non-commercial_1.39.0/Linux_Ubuntu_x86-64/lib/cmake/depthai -DspectacularAI_depthaiPlugin_DIR=path/to/spectacularAI_depthaiPlugin_cpp_non-commercial_1.39.0/Linux_Ubuntu_x86-64/lib/cmake/spectacularAI ..
 make
 ```
 Replace the existing `libspectacularAI_unity.so` [here](https://github.com/SpectacularAI/unity-wrapper/tree/main/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64).
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new file mode 100644
index 0000000..36c3781
--- /dev/null
+++ b/unity-examples/Assets/DefaultVolumeProfile.asset
@@ -0,0 +1,15 @@
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diff --git a/unity-examples/Assets/DefaultVolumeProfile.asset.meta b/unity-examples/Assets/DefaultVolumeProfile.asset.meta
new file mode 100644
index 0000000..9accd69
--- /dev/null
+++ b/unity-examples/Assets/DefaultVolumeProfile.asset.meta
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index 5d69650..beb4383 100644
--- a/unity-examples/Assets/SpectacularAI/Examples/AprilTag/Images/TagStandard41h12/Materials/0.mat
+++ b/unity-examples/Assets/SpectacularAI/Examples/AprilTag/Images/TagStandard41h12/Materials/0.mat
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index fb4d863..d0fb816 100644
--- a/unity-examples/Assets/SpectacularAI/Examples/AprilTag/Images/TagStandard41h12/Materials/1.mat
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index e12de50..401e05f 100644
--- a/unity-examples/Assets/SpectacularAI/Examples/AprilTag/Images/TagStandard41h12/Materials/2.mat
+++ b/unity-examples/Assets/SpectacularAI/Examples/AprilTag/Images/TagStandard41h12/Materials/2.mat
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index de9e765..ae70fbd 100644
--- a/unity-examples/Assets/SpectacularAI/Examples/AprilTag/Images/TagStandard41h12/Materials/3.mat
+++ b/unity-examples/Assets/SpectacularAI/Examples/AprilTag/Images/TagStandard41h12/Materials/3.mat
@@ -19,7 +19,8 @@ Material:
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index bc978ca..2120b9d 100644
--- a/unity-examples/Assets/SpectacularAI/Examples/Common/Materials/Blue.mat
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index 841157a..84f6088 100644
--- a/unity-examples/Assets/SpectacularAI/Examples/Common/Materials/Green.mat
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@@ -19,7 +19,8 @@ Material:
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diff --git a/unity-examples/Assets/SpectacularAI/Examples/Common/Materials/Red.mat b/unity-examples/Assets/SpectacularAI/Examples/Common/Materials/Red.mat
index 59425c6..779b499 100644
--- a/unity-examples/Assets/SpectacularAI/Examples/Common/Materials/Red.mat
+++ b/unity-examples/Assets/SpectacularAI/Examples/Common/Materials/Red.mat
@@ -19,7 +19,8 @@ Material:
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diff --git a/unity-examples/Assets/SpectacularAI/Examples/Common/Settings/URP-Balanced.asset b/unity-examples/Assets/SpectacularAI/Examples/Common/Settings/URP-Balanced.asset
index aef05b8..f39bad3 100644
--- a/unity-examples/Assets/SpectacularAI/Examples/Common/Settings/URP-Balanced.asset
+++ b/unity-examples/Assets/SpectacularAI/Examples/Common/Settings/URP-Balanced.asset
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@@ -33,6 +33,14 @@ MonoBehaviour:
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diff --git a/unity-examples/Assets/SpectacularAI/Examples/Common/Settings/URP-HighFidelity-Renderer.asset b/unity-examples/Assets/SpectacularAI/Examples/Common/Settings/URP-HighFidelity-Renderer.asset
index d9cfc00..c02db2f 100644
--- a/unity-examples/Assets/SpectacularAI/Examples/Common/Settings/URP-HighFidelity-Renderer.asset
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diff --git a/unity-examples/Assets/SpectacularAI/Examples/Common/Settings/URP-HighFidelity.asset b/unity-examples/Assets/SpectacularAI/Examples/Common/Settings/URP-HighFidelity.asset
index 627e0eb..2b7f35d 100644
--- a/unity-examples/Assets/SpectacularAI/Examples/Common/Settings/URP-HighFidelity.asset
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+        m_setupCS: {fileID: 7200000, guid: 33be2e9a5506b2843bdb2bdff9cad5e1, type: 3}
+        m_preTaaCS: {fileID: 7200000, guid: a679dba8ec4d9ce45884a270b0e22dda, type: 3}
+        m_taaCS: {fileID: 7200000, guid: 3923900e2b41b5e47bc25bfdcbcdc9e6, type: 3}
diff --git a/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/LICENSE b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/LICENSE
index 19f8601..868f21b 100644
--- a/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/LICENSE
+++ b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/LICENSE
@@ -1,63 +1,63 @@
-Spectacular AI SDK for OAK (Depth AI), version 1.34.0
-(c) Spectacular AI Ltd, 2024
+Spectacular AI SDK for OAK (Depth AI), version 1.39.0
+(c) Spectacular AI Ltd, 2025
 All rights reserved
 
 All redistributions must retain the following copyright notices:
 
 ========== Eigen/COPYING.MINPACK ==========
 
-Minpack Copyright Notice (1999) University of Chicago.  All rights reserved
-
-Redistribution and use in source and binary forms, with or
-without modification, are permitted provided that the
-following conditions are met:
-
-1. Redistributions of source code must retain the above
-copyright notice, this list of conditions and the following
-disclaimer.
-
-2. Redistributions in binary form must reproduce the above
-copyright notice, this list of conditions and the following
-disclaimer in the documentation and/or other materials
-provided with the distribution.
-
-3. The end-user documentation included with the
-redistribution, if any, must include the following
-acknowledgment:
-
-   "This product includes software developed by the
-   University of Chicago, as Operator of Argonne National
-   Laboratory.
-
-Alternately, this acknowledgment may appear in the software
-itself, if and wherever such third-party acknowledgments
-normally appear.
-
-4. WARRANTY DISCLAIMER. THE SOFTWARE IS SUPPLIED "AS IS"
-WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT HOLDER, THE
-UNITED STATES, THE UNITED STATES DEPARTMENT OF ENERGY, AND
-THEIR EMPLOYEES: (1) DISCLAIM ANY WARRANTIES, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES
-OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE
-OR NON-INFRINGEMENT, (2) DO NOT ASSUME ANY LEGAL LIABILITY
-OR RESPONSIBILITY FOR THE ACCURACY, COMPLETENESS, OR
-USEFULNESS OF THE SOFTWARE, (3) DO NOT REPRESENT THAT USE OF
-THE SOFTWARE WOULD NOT INFRINGE PRIVATELY OWNED RIGHTS, (4)
-DO NOT WARRANT THAT THE SOFTWARE WILL FUNCTION
-UNINTERRUPTED, THAT IT IS ERROR-FREE OR THAT ANY ERRORS WILL
-BE CORRECTED.
-
-5. LIMITATION OF LIABILITY. IN NO EVENT WILL THE COPYRIGHT
-HOLDER, THE UNITED STATES, THE UNITED STATES DEPARTMENT OF
-ENERGY, OR THEIR EMPLOYEES: BE LIABLE FOR ANY INDIRECT,
-INCIDENTAL, CONSEQUENTIAL, SPECIAL OR PUNITIVE DAMAGES OF
-ANY KIND OR NATURE, INCLUDING BUT NOT LIMITED TO LOSS OF
-PROFITS OR LOSS OF DATA, FOR ANY REASON WHATSOEVER, WHETHER
-SUCH LIABILITY IS ASSERTED ON THE BASIS OF CONTRACT, TORT
-(INCLUDING NEGLIGENCE OR STRICT LIABILITY), OR OTHERWISE,
-EVEN IF ANY OF SAID PARTIES HAS BEEN WARNED OF THE
-POSSIBILITY OF SUCH LOSS OR DAMAGES.
-
+Minpack Copyright Notice (1999) University of Chicago.  All rights reserved
+
+Redistribution and use in source and binary forms, with or
+without modification, are permitted provided that the
+following conditions are met:
+
+1. Redistributions of source code must retain the above
+copyright notice, this list of conditions and the following
+disclaimer.
+
+2. Redistributions in binary form must reproduce the above
+copyright notice, this list of conditions and the following
+disclaimer in the documentation and/or other materials
+provided with the distribution.
+
+3. The end-user documentation included with the
+redistribution, if any, must include the following
+acknowledgment:
+
+   "This product includes software developed by the
+   University of Chicago, as Operator of Argonne National
+   Laboratory.
+
+Alternately, this acknowledgment may appear in the software
+itself, if and wherever such third-party acknowledgments
+normally appear.
+
+4. WARRANTY DISCLAIMER. THE SOFTWARE IS SUPPLIED "AS IS"
+WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT HOLDER, THE
+UNITED STATES, THE UNITED STATES DEPARTMENT OF ENERGY, AND
+THEIR EMPLOYEES: (1) DISCLAIM ANY WARRANTIES, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES
+OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE
+OR NON-INFRINGEMENT, (2) DO NOT ASSUME ANY LEGAL LIABILITY
+OR RESPONSIBILITY FOR THE ACCURACY, COMPLETENESS, OR
+USEFULNESS OF THE SOFTWARE, (3) DO NOT REPRESENT THAT USE OF
+THE SOFTWARE WOULD NOT INFRINGE PRIVATELY OWNED RIGHTS, (4)
+DO NOT WARRANT THAT THE SOFTWARE WILL FUNCTION
+UNINTERRUPTED, THAT IT IS ERROR-FREE OR THAT ANY ERRORS WILL
+BE CORRECTED.
+
+5. LIMITATION OF LIABILITY. IN NO EVENT WILL THE COPYRIGHT
+HOLDER, THE UNITED STATES, THE UNITED STATES DEPARTMENT OF
+ENERGY, OR THEIR EMPLOYEES: BE LIABLE FOR ANY INDIRECT,
+INCIDENTAL, CONSEQUENTIAL, SPECIAL OR PUNITIVE DAMAGES OF
+ANY KIND OR NATURE, INCLUDING BUT NOT LIMITED TO LOSS OF
+PROFITS OR LOSS OF DATA, FOR ANY REASON WHATSOEVER, WHETHER
+SUCH LIABILITY IS ASSERTED ON THE BASIS OF CONTRACT, TORT
+(INCLUDING NEGLIGENCE OR STRICT LIABILITY), OR OTHERWISE,
+EVEN IF ANY OF SAID PARTIES HAS BEEN WARNED OF THE
+POSSIBILITY OF SUCH LOSS OR DAMAGES.
+
 
 ========== Eigen/COPYING.MPL2 ==========
 
diff --git a/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libdepthai-core.so b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libdepthai-core.so
index 4081a87..c1aeaf4 100644
Binary files a/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libdepthai-core.so and b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libdepthai-core.so differ
diff --git a/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libdepthai-core.so.meta b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libdepthai-core.so.meta
index b04954e..f4a7886 100644
--- a/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libdepthai-core.so.meta
+++ b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libdepthai-core.so.meta
@@ -1,27 +1,2 @@
 fileFormatVersion: 2
-guid: bf823ae2b1c59db40b1a0db115a10ada
-PluginImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  iconMap: {}
-  executionOrder: {}
-  defineConstraints: []
-  isPreloaded: 0
-  isOverridable: 0
-  isExplicitlyReferenced: 0
-  validateReferences: 1
-  platformData:
-  - first:
-      Any: 
-    second:
-      enabled: 1
-      settings: {}
-  - first:
-      Editor: Editor
-    second:
-      enabled: 0
-      settings:
-        DefaultValueInitialized: true
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
+guid: bf823ae2b1c59db40b1a0db115a10ada
\ No newline at end of file
diff --git a/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_depthaiPlugin.so b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_depthaiPlugin.so
new file mode 120000
index 0000000..12e466d
--- /dev/null
+++ b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_depthaiPlugin.so
@@ -0,0 +1 @@
+libspectacularAI_depthaiPlugin.so.1
\ No newline at end of file
diff --git a/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_depthaiPlugin.so.1 b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_depthaiPlugin.so.1
deleted file mode 100644
index 1749f53..0000000
Binary files a/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_depthaiPlugin.so.1 and /dev/null differ
diff --git a/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_depthaiPlugin.so.1 b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_depthaiPlugin.so.1
new file mode 120000
index 0000000..4bf0e25
--- /dev/null
+++ b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_depthaiPlugin.so.1
@@ -0,0 +1 @@
+libspectacularAI_depthaiPlugin.so.1.39.0
\ No newline at end of file
diff --git a/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_depthaiPlugin.so.1.39.0 b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_depthaiPlugin.so.1.39.0
new file mode 100644
index 0000000..0e7bb8a
Binary files /dev/null and b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_depthaiPlugin.so.1.39.0 differ
diff --git a/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_depthaiPlugin.so.1.39.0.meta b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_depthaiPlugin.so.1.39.0.meta
new file mode 100644
index 0000000..19c3ae8
--- /dev/null
+++ b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_depthaiPlugin.so.1.39.0.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: f16f4f199b117ad84b02a474086ed737
\ No newline at end of file
diff --git a/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_depthaiPlugin.so.1.meta b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_depthaiPlugin.so.1.meta
index e46b053..ed875c1 100644
--- a/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_depthaiPlugin.so.1.meta
+++ b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_depthaiPlugin.so.1.meta
@@ -1,27 +1,2 @@
 fileFormatVersion: 2
-guid: 4d2e6919a46f581428a446026e528866
-PluginImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  iconMap: {}
-  executionOrder: {}
-  defineConstraints: []
-  isPreloaded: 0
-  isOverridable: 0
-  isExplicitlyReferenced: 0
-  validateReferences: 1
-  platformData:
-  - first:
-      Any: 
-    second:
-      enabled: 1
-      settings: {}
-  - first:
-      Editor: Editor
-    second:
-      enabled: 0
-      settings:
-        DefaultValueInitialized: true
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
+guid: 4d2e6919a46f581428a446026e528866
\ No newline at end of file
diff --git a/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_depthaiPlugin.so.meta b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_depthaiPlugin.so.meta
new file mode 100644
index 0000000..2a01851
--- /dev/null
+++ b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_depthaiPlugin.so.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 446e048e22aae19eeb7f89d005d496e7
\ No newline at end of file
diff --git a/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_unity.so b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_unity.so
old mode 100755
new mode 100644
index dfc9377..56f47b6
Binary files a/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_unity.so and b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_unity.so differ
diff --git a/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_unity.so.meta b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_unity.so.meta
index 7367735..d8b3c15 100644
--- a/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_unity.so.meta
+++ b/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64/libspectacularAI_unity.so.meta
@@ -1,27 +1,2 @@
 fileFormatVersion: 2
-guid: 7c758cb5ba0bfb7428b3baae633f97be
-PluginImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  iconMap: {}
-  executionOrder: {}
-  defineConstraints: []
-  isPreloaded: 0
-  isOverridable: 0
-  isExplicitlyReferenced: 0
-  validateReferences: 1
-  platformData:
-  - first:
-      Any: 
-    second:
-      enabled: 1
-      settings: {}
-  - first:
-      Editor: Editor
-    second:
-      enabled: 0
-      settings:
-        DefaultValueInitialized: true
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
+guid: 7c758cb5ba0bfb7428b3baae633f97be
\ No newline at end of file
diff --git a/unity-examples/Assets/SpectacularAI/Plugins/Windows/LICENSE b/unity-examples/Assets/SpectacularAI/Plugins/Windows/LICENSE
index 9c0f06a..868f21b 100644
--- a/unity-examples/Assets/SpectacularAI/Plugins/Windows/LICENSE
+++ b/unity-examples/Assets/SpectacularAI/Plugins/Windows/LICENSE
@@ -1,467 +1,467 @@
-Spectacular AI SDK for OAK (Depth AI), version 1.34.0
-(c) Spectacular AI Ltd, 2024
+Spectacular AI SDK for OAK (Depth AI), version 1.39.0
+(c) Spectacular AI Ltd, 2025
 All rights reserved
 
 All redistributions must retain the following copyright notices:
 
 ========== Eigen/COPYING.MINPACK ==========
 
-Minpack Copyright Notice (1999) University of Chicago.  All rights reserved
-
-Redistribution and use in source and binary forms, with or
-without modification, are permitted provided that the
-following conditions are met:
-
-1. Redistributions of source code must retain the above
-copyright notice, this list of conditions and the following
-disclaimer.
-
-2. Redistributions in binary form must reproduce the above
-copyright notice, this list of conditions and the following
-disclaimer in the documentation and/or other materials
-provided with the distribution.
-
-3. The end-user documentation included with the
-redistribution, if any, must include the following
-acknowledgment:
-
-   "This product includes software developed by the
-   University of Chicago, as Operator of Argonne National
-   Laboratory.
-
-Alternately, this acknowledgment may appear in the software
-itself, if and wherever such third-party acknowledgments
-normally appear.
-
-4. WARRANTY DISCLAIMER. THE SOFTWARE IS SUPPLIED "AS IS"
-WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT HOLDER, THE
-UNITED STATES, THE UNITED STATES DEPARTMENT OF ENERGY, AND
-THEIR EMPLOYEES: (1) DISCLAIM ANY WARRANTIES, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES
-OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE
-OR NON-INFRINGEMENT, (2) DO NOT ASSUME ANY LEGAL LIABILITY
-OR RESPONSIBILITY FOR THE ACCURACY, COMPLETENESS, OR
-USEFULNESS OF THE SOFTWARE, (3) DO NOT REPRESENT THAT USE OF
-THE SOFTWARE WOULD NOT INFRINGE PRIVATELY OWNED RIGHTS, (4)
-DO NOT WARRANT THAT THE SOFTWARE WILL FUNCTION
-UNINTERRUPTED, THAT IT IS ERROR-FREE OR THAT ANY ERRORS WILL
-BE CORRECTED.
-
-5. LIMITATION OF LIABILITY. IN NO EVENT WILL THE COPYRIGHT
-HOLDER, THE UNITED STATES, THE UNITED STATES DEPARTMENT OF
-ENERGY, OR THEIR EMPLOYEES: BE LIABLE FOR ANY INDIRECT,
-INCIDENTAL, CONSEQUENTIAL, SPECIAL OR PUNITIVE DAMAGES OF
-ANY KIND OR NATURE, INCLUDING BUT NOT LIMITED TO LOSS OF
-PROFITS OR LOSS OF DATA, FOR ANY REASON WHATSOEVER, WHETHER
-SUCH LIABILITY IS ASSERTED ON THE BASIS OF CONTRACT, TORT
-(INCLUDING NEGLIGENCE OR STRICT LIABILITY), OR OTHERWISE,
-EVEN IF ANY OF SAID PARTIES HAS BEEN WARNED OF THE
-POSSIBILITY OF SUCH LOSS OR DAMAGES.
-
+Minpack Copyright Notice (1999) University of Chicago.  All rights reserved
+
+Redistribution and use in source and binary forms, with or
+without modification, are permitted provided that the
+following conditions are met:
+
+1. Redistributions of source code must retain the above
+copyright notice, this list of conditions and the following
+disclaimer.
+
+2. Redistributions in binary form must reproduce the above
+copyright notice, this list of conditions and the following
+disclaimer in the documentation and/or other materials
+provided with the distribution.
+
+3. The end-user documentation included with the
+redistribution, if any, must include the following
+acknowledgment:
+
+   "This product includes software developed by the
+   University of Chicago, as Operator of Argonne National
+   Laboratory.
+
+Alternately, this acknowledgment may appear in the software
+itself, if and wherever such third-party acknowledgments
+normally appear.
+
+4. WARRANTY DISCLAIMER. THE SOFTWARE IS SUPPLIED "AS IS"
+WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT HOLDER, THE
+UNITED STATES, THE UNITED STATES DEPARTMENT OF ENERGY, AND
+THEIR EMPLOYEES: (1) DISCLAIM ANY WARRANTIES, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES
+OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE
+OR NON-INFRINGEMENT, (2) DO NOT ASSUME ANY LEGAL LIABILITY
+OR RESPONSIBILITY FOR THE ACCURACY, COMPLETENESS, OR
+USEFULNESS OF THE SOFTWARE, (3) DO NOT REPRESENT THAT USE OF
+THE SOFTWARE WOULD NOT INFRINGE PRIVATELY OWNED RIGHTS, (4)
+DO NOT WARRANT THAT THE SOFTWARE WILL FUNCTION
+UNINTERRUPTED, THAT IT IS ERROR-FREE OR THAT ANY ERRORS WILL
+BE CORRECTED.
+
+5. LIMITATION OF LIABILITY. IN NO EVENT WILL THE COPYRIGHT
+HOLDER, THE UNITED STATES, THE UNITED STATES DEPARTMENT OF
+ENERGY, OR THEIR EMPLOYEES: BE LIABLE FOR ANY INDIRECT,
+INCIDENTAL, CONSEQUENTIAL, SPECIAL OR PUNITIVE DAMAGES OF
+ANY KIND OR NATURE, INCLUDING BUT NOT LIMITED TO LOSS OF
+PROFITS OR LOSS OF DATA, FOR ANY REASON WHATSOEVER, WHETHER
+SUCH LIABILITY IS ASSERTED ON THE BASIS OF CONTRACT, TORT
+(INCLUDING NEGLIGENCE OR STRICT LIABILITY), OR OTHERWISE,
+EVEN IF ANY OF SAID PARTIES HAS BEEN WARNED OF THE
+POSSIBILITY OF SUCH LOSS OR DAMAGES.
+
 
 ========== Eigen/COPYING.MPL2 ==========
 
-Mozilla Public License Version 2.0
-==================================
-
-1. Definitions
---------------
-
-1.1. "Contributor"
-    means each individual or legal entity that creates, contributes to
-    the creation of, or owns Covered Software.
-
-1.2. "Contributor Version"
-    means the combination of the Contributions of others (if any) used
-    by a Contributor and that particular Contributor's Contribution.
-
-1.3. "Contribution"
-    means Covered Software of a particular Contributor.
-
-1.4. "Covered Software"
-    means Source Code Form to which the initial Contributor has attached
-    the notice in Exhibit A, the Executable Form of such Source Code
-    Form, and Modifications of such Source Code Form, in each case
-    including portions thereof.
-
-1.5. "Incompatible With Secondary Licenses"
-    means
-
-    (a) that the initial Contributor has attached the notice described
-        in Exhibit B to the Covered Software; or
-
-    (b) that the Covered Software was made available under the terms of
-        version 1.1 or earlier of the License, but not also under the
-        terms of a Secondary License.
-
-1.6. "Executable Form"
-    means any form of the work other than Source Code Form.
-
-1.7. "Larger Work"
-    means a work that combines Covered Software with other material, in 
-    a separate file or files, that is not Covered Software.
-
-1.8. "License"
-    means this document.
-
-1.9. "Licensable"
-    means having the right to grant, to the maximum extent possible,
-    whether at the time of the initial grant or subsequently, any and
-    all of the rights conveyed by this License.
-
-1.10. "Modifications"
-    means any of the following:
-
-    (a) any file in Source Code Form that results from an addition to,
-        deletion from, or modification of the contents of Covered
-        Software; or
-
-    (b) any new file in Source Code Form that contains any Covered
-        Software.
-
-1.11. "Patent Claims" of a Contributor
-    means any patent claim(s), including without limitation, method,
-    process, and apparatus claims, in any patent Licensable by such
-    Contributor that would be infringed, but for the grant of the
-    License, by the making, using, selling, offering for sale, having
-    made, import, or transfer of either its Contributions or its
-    Contributor Version.
-
-1.12. "Secondary License"
-    means either the GNU General Public License, Version 2.0, the GNU
-    Lesser General Public License, Version 2.1, the GNU Affero General
-    Public License, Version 3.0, or any later versions of those
-    licenses.
-
-1.13. "Source Code Form"
-    means the form of the work preferred for making modifications.
-
-1.14. "You" (or "Your")
-    means an individual or a legal entity exercising rights under this
-    License. For legal entities, "You" includes any entity that
-    controls, is controlled by, or is under common control with You. For
-    purposes of this definition, "control" means (a) the power, direct
-    or indirect, to cause the direction or management of such entity,
-    whether by contract or otherwise, or (b) ownership of more than
-    fifty percent (50%) of the outstanding shares or beneficial
-    ownership of such entity.
-
-2. License Grants and Conditions
---------------------------------
-
-2.1. Grants
-
-Each Contributor hereby grants You a world-wide, royalty-free,
-non-exclusive license:
-
-(a) under intellectual property rights (other than patent or trademark)
-    Licensable by such Contributor to use, reproduce, make available,
-    modify, display, perform, distribute, and otherwise exploit its
-    Contributions, either on an unmodified basis, with Modifications, or
-    as part of a Larger Work; and
-
-(b) under Patent Claims of such Contributor to make, use, sell, offer
-    for sale, have made, import, and otherwise transfer either its
-    Contributions or its Contributor Version.
-
-2.2. Effective Date
-
-The licenses granted in Section 2.1 with respect to any Contribution
-become effective for each Contribution on the date the Contributor first
-distributes such Contribution.
-
-2.3. Limitations on Grant Scope
-
-The licenses granted in this Section 2 are the only rights granted under
-this License. No additional rights or licenses will be implied from the
-distribution or licensing of Covered Software under this License.
-Notwithstanding Section 2.1(b) above, no patent license is granted by a
-Contributor:
-
-(a) for any code that a Contributor has removed from Covered Software;
-    or
-
-(b) for infringements caused by: (i) Your and any other third party's
-    modifications of Covered Software, or (ii) the combination of its
-    Contributions with other software (except as part of its Contributor
-    Version); or
-
-(c) under Patent Claims infringed by Covered Software in the absence of
-    its Contributions.
-
-This License does not grant any rights in the trademarks, service marks,
-or logos of any Contributor (except as may be necessary to comply with
-the notice requirements in Section 3.4).
-
-2.4. Subsequent Licenses
-
-No Contributor makes additional grants as a result of Your choice to
-distribute the Covered Software under a subsequent version of this
-License (see Section 10.2) or under the terms of a Secondary License (if
-permitted under the terms of Section 3.3).
-
-2.5. Representation
-
-Each Contributor represents that the Contributor believes its
-Contributions are its original creation(s) or it has sufficient rights
-to grant the rights to its Contributions conveyed by this License.
-
-2.6. Fair Use
-
-This License is not intended to limit any rights You have under
-applicable copyright doctrines of fair use, fair dealing, or other
-equivalents.
-
-2.7. Conditions
-
-Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted
-in Section 2.1.
-
-3. Responsibilities
--------------------
-
-3.1. Distribution of Source Form
-
-All distribution of Covered Software in Source Code Form, including any
-Modifications that You create or to which You contribute, must be under
-the terms of this License. You must inform recipients that the Source
-Code Form of the Covered Software is governed by the terms of this
-License, and how they can obtain a copy of this License. You may not
-attempt to alter or restrict the recipients' rights in the Source Code
-Form.
-
-3.2. Distribution of Executable Form
-
-If You distribute Covered Software in Executable Form then:
-
-(a) such Covered Software must also be made available in Source Code
-    Form, as described in Section 3.1, and You must inform recipients of
-    the Executable Form how they can obtain a copy of such Source Code
-    Form by reasonable means in a timely manner, at a charge no more
-    than the cost of distribution to the recipient; and
-
-(b) You may distribute such Executable Form under the terms of this
-    License, or sublicense it under different terms, provided that the
-    license for the Executable Form does not attempt to limit or alter
-    the recipients' rights in the Source Code Form under this License.
-
-3.3. Distribution of a Larger Work
-
-You may create and distribute a Larger Work under terms of Your choice,
-provided that You also comply with the requirements of this License for
-the Covered Software. If the Larger Work is a combination of Covered
-Software with a work governed by one or more Secondary Licenses, and the
-Covered Software is not Incompatible With Secondary Licenses, this
-License permits You to additionally distribute such Covered Software
-under the terms of such Secondary License(s), so that the recipient of
-the Larger Work may, at their option, further distribute the Covered
-Software under the terms of either this License or such Secondary
-License(s).
-
-3.4. Notices
-
-You may not remove or alter the substance of any license notices
-(including copyright notices, patent notices, disclaimers of warranty,
-or limitations of liability) contained within the Source Code Form of
-the Covered Software, except that You may alter any license notices to
-the extent required to remedy known factual inaccuracies.
-
-3.5. Application of Additional Terms
-
-You may choose to offer, and to charge a fee for, warranty, support,
-indemnity or liability obligations to one or more recipients of Covered
-Software. However, You may do so only on Your own behalf, and not on
-behalf of any Contributor. You must make it absolutely clear that any
-such warranty, support, indemnity, or liability obligation is offered by
-You alone, and You hereby agree to indemnify every Contributor for any
-liability incurred by such Contributor as a result of warranty, support,
-indemnity or liability terms You offer. You may include additional
-disclaimers of warranty and limitations of liability specific to any
-jurisdiction.
-
-4. Inability to Comply Due to Statute or Regulation
----------------------------------------------------
-
-If it is impossible for You to comply with any of the terms of this
-License with respect to some or all of the Covered Software due to
-statute, judicial order, or regulation then You must: (a) comply with
-the terms of this License to the maximum extent possible; and (b)
-describe the limitations and the code they affect. Such description must
-be placed in a text file included with all distributions of the Covered
-Software under this License. Except to the extent prohibited by statute
-or regulation, such description must be sufficiently detailed for a
-recipient of ordinary skill to be able to understand it.
-
-5. Termination
---------------
-
-5.1. The rights granted under this License will terminate automatically
-if You fail to comply with any of its terms. However, if You become
-compliant, then the rights granted under this License from a particular
-Contributor are reinstated (a) provisionally, unless and until such
-Contributor explicitly and finally terminates Your grants, and (b) on an
-ongoing basis, if such Contributor fails to notify You of the
-non-compliance by some reasonable means prior to 60 days after You have
-come back into compliance. Moreover, Your grants from a particular
-Contributor are reinstated on an ongoing basis if such Contributor
-notifies You of the non-compliance by some reasonable means, this is the
-first time You have received notice of non-compliance with this License
-from such Contributor, and You become compliant prior to 30 days after
-Your receipt of the notice.
-
-5.2. If You initiate litigation against any entity by asserting a patent
-infringement claim (excluding declaratory judgment actions,
-counter-claims, and cross-claims) alleging that a Contributor Version
-directly or indirectly infringes any patent, then the rights granted to
-You by any and all Contributors for the Covered Software under Section
-2.1 of this License shall terminate.
-
-5.3. In the event of termination under Sections 5.1 or 5.2 above, all
-end user license agreements (excluding distributors and resellers) which
-have been validly granted by You or Your distributors under this License
-prior to termination shall survive termination.
-
-************************************************************************
-*                                                                      *
-*  6. Disclaimer of Warranty                                           *
-*  -------------------------                                           *
-*                                                                      *
-*  Covered Software is provided under this License on an "as is"       *
-*  basis, without warranty of any kind, either expressed, implied, or  *
-*  statutory, including, without limitation, warranties that the       *
-*  Covered Software is free of defects, merchantable, fit for a        *
-*  particular purpose or non-infringing. The entire risk as to the     *
-*  quality and performance of the Covered Software is with You.        *
-*  Should any Covered Software prove defective in any respect, You     *
-*  (not any Contributor) assume the cost of any necessary servicing,   *
-*  repair, or correction. This disclaimer of warranty constitutes an   *
-*  essential part of this License. No use of any Covered Software is   *
-*  authorized under this License except under this disclaimer.         *
-*                                                                      *
-************************************************************************
-
-************************************************************************
-*                                                                      *
-*  7. Limitation of Liability                                          *
-*  --------------------------                                          *
-*                                                                      *
-*  Under no circumstances and under no legal theory, whether tort      *
-*  (including negligence), contract, or otherwise, shall any           *
-*  Contributor, or anyone who distributes Covered Software as          *
-*  permitted above, be liable to You for any direct, indirect,         *
-*  special, incidental, or consequential damages of any character      *
-*  including, without limitation, damages for lost profits, loss of    *
-*  goodwill, work stoppage, computer failure or malfunction, or any    *
-*  and all other commercial damages or losses, even if such party      *
-*  shall have been informed of the possibility of such damages. This   *
-*  limitation of liability shall not apply to liability for death or   *
-*  personal injury resulting from such party's negligence to the       *
-*  extent applicable law prohibits such limitation. Some               *
-*  jurisdictions do not allow the exclusion or limitation of           *
-*  incidental or consequential damages, so this exclusion and          *
-*  limitation may not apply to You.                                    *
-*                                                                      *
-************************************************************************
-
-8. Litigation
--------------
-
-Any litigation relating to this License may be brought only in the
-courts of a jurisdiction where the defendant maintains its principal
-place of business and such litigation shall be governed by laws of that
-jurisdiction, without reference to its conflict-of-law provisions.
-Nothing in this Section shall prevent a party's ability to bring
-cross-claims or counter-claims.
-
-9. Miscellaneous
-----------------
-
-This License represents the complete agreement concerning the subject
-matter hereof. If any provision of this License is held to be
-unenforceable, such provision shall be reformed only to the extent
-necessary to make it enforceable. Any law or regulation which provides
-that the language of a contract shall be construed against the drafter
-shall not be used to construe this License against a Contributor.
-
-10. Versions of the License
----------------------------
-
-10.1. New Versions
-
-Mozilla Foundation is the license steward. Except as provided in Section
-10.3, no one other than the license steward has the right to modify or
-publish new versions of this License. Each version will be given a
-distinguishing version number.
-
-10.2. Effect of New Versions
-
-You may distribute the Covered Software under the terms of the version
-of the License under which You originally received the Covered Software,
-or under the terms of any subsequent version published by the license
-steward.
-
-10.3. Modified Versions
-
-If you create software not governed by this License, and you want to
-create a new license for such software, you may create and use a
-modified version of this License if you rename the license and remove
-any references to the name of the license steward (except to note that
-such modified license differs from this License).
-
-10.4. Distributing Source Code Form that is Incompatible With Secondary
-Licenses
-
-If You choose to distribute Source Code Form that is Incompatible With
-Secondary Licenses under the terms of this version of the License, the
-notice described in Exhibit B of this License must be attached.
-
-Exhibit A - Source Code Form License Notice
--------------------------------------------
-
-  This Source Code Form is subject to the terms of the Mozilla Public
-  License, v. 2.0. If a copy of the MPL was not distributed with this
-  file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-If it is not possible or desirable to put the notice in a particular
-file, then You may include the notice in a location (such as a LICENSE
-file in a relevant directory) where a recipient would be likely to look
-for such a notice.
-
-You may add additional accurate notices of copyright ownership.
-
-Exhibit B - "Incompatible With Secondary Licenses" Notice
----------------------------------------------------------
-
-  This Source Code Form is "Incompatible With Secondary Licenses", as
-  defined by the Mozilla Public License, v. 2.0.
+Mozilla Public License Version 2.0
+==================================
+
+1. Definitions
+--------------
+
+1.1. "Contributor"
+    means each individual or legal entity that creates, contributes to
+    the creation of, or owns Covered Software.
+
+1.2. "Contributor Version"
+    means the combination of the Contributions of others (if any) used
+    by a Contributor and that particular Contributor's Contribution.
+
+1.3. "Contribution"
+    means Covered Software of a particular Contributor.
+
+1.4. "Covered Software"
+    means Source Code Form to which the initial Contributor has attached
+    the notice in Exhibit A, the Executable Form of such Source Code
+    Form, and Modifications of such Source Code Form, in each case
+    including portions thereof.
+
+1.5. "Incompatible With Secondary Licenses"
+    means
+
+    (a) that the initial Contributor has attached the notice described
+        in Exhibit B to the Covered Software; or
+
+    (b) that the Covered Software was made available under the terms of
+        version 1.1 or earlier of the License, but not also under the
+        terms of a Secondary License.
+
+1.6. "Executable Form"
+    means any form of the work other than Source Code Form.
+
+1.7. "Larger Work"
+    means a work that combines Covered Software with other material, in 
+    a separate file or files, that is not Covered Software.
+
+1.8. "License"
+    means this document.
+
+1.9. "Licensable"
+    means having the right to grant, to the maximum extent possible,
+    whether at the time of the initial grant or subsequently, any and
+    all of the rights conveyed by this License.
+
+1.10. "Modifications"
+    means any of the following:
+
+    (a) any file in Source Code Form that results from an addition to,
+        deletion from, or modification of the contents of Covered
+        Software; or
+
+    (b) any new file in Source Code Form that contains any Covered
+        Software.
+
+1.11. "Patent Claims" of a Contributor
+    means any patent claim(s), including without limitation, method,
+    process, and apparatus claims, in any patent Licensable by such
+    Contributor that would be infringed, but for the grant of the
+    License, by the making, using, selling, offering for sale, having
+    made, import, or transfer of either its Contributions or its
+    Contributor Version.
+
+1.12. "Secondary License"
+    means either the GNU General Public License, Version 2.0, the GNU
+    Lesser General Public License, Version 2.1, the GNU Affero General
+    Public License, Version 3.0, or any later versions of those
+    licenses.
+
+1.13. "Source Code Form"
+    means the form of the work preferred for making modifications.
+
+1.14. "You" (or "Your")
+    means an individual or a legal entity exercising rights under this
+    License. For legal entities, "You" includes any entity that
+    controls, is controlled by, or is under common control with You. For
+    purposes of this definition, "control" means (a) the power, direct
+    or indirect, to cause the direction or management of such entity,
+    whether by contract or otherwise, or (b) ownership of more than
+    fifty percent (50%) of the outstanding shares or beneficial
+    ownership of such entity.
+
+2. License Grants and Conditions
+--------------------------------
+
+2.1. Grants
+
+Each Contributor hereby grants You a world-wide, royalty-free,
+non-exclusive license:
+
+(a) under intellectual property rights (other than patent or trademark)
+    Licensable by such Contributor to use, reproduce, make available,
+    modify, display, perform, distribute, and otherwise exploit its
+    Contributions, either on an unmodified basis, with Modifications, or
+    as part of a Larger Work; and
+
+(b) under Patent Claims of such Contributor to make, use, sell, offer
+    for sale, have made, import, and otherwise transfer either its
+    Contributions or its Contributor Version.
+
+2.2. Effective Date
+
+The licenses granted in Section 2.1 with respect to any Contribution
+become effective for each Contribution on the date the Contributor first
+distributes such Contribution.
+
+2.3. Limitations on Grant Scope
+
+The licenses granted in this Section 2 are the only rights granted under
+this License. No additional rights or licenses will be implied from the
+distribution or licensing of Covered Software under this License.
+Notwithstanding Section 2.1(b) above, no patent license is granted by a
+Contributor:
+
+(a) for any code that a Contributor has removed from Covered Software;
+    or
+
+(b) for infringements caused by: (i) Your and any other third party's
+    modifications of Covered Software, or (ii) the combination of its
+    Contributions with other software (except as part of its Contributor
+    Version); or
+
+(c) under Patent Claims infringed by Covered Software in the absence of
+    its Contributions.
+
+This License does not grant any rights in the trademarks, service marks,
+or logos of any Contributor (except as may be necessary to comply with
+the notice requirements in Section 3.4).
+
+2.4. Subsequent Licenses
+
+No Contributor makes additional grants as a result of Your choice to
+distribute the Covered Software under a subsequent version of this
+License (see Section 10.2) or under the terms of a Secondary License (if
+permitted under the terms of Section 3.3).
+
+2.5. Representation
+
+Each Contributor represents that the Contributor believes its
+Contributions are its original creation(s) or it has sufficient rights
+to grant the rights to its Contributions conveyed by this License.
+
+2.6. Fair Use
+
+This License is not intended to limit any rights You have under
+applicable copyright doctrines of fair use, fair dealing, or other
+equivalents.
+
+2.7. Conditions
+
+Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted
+in Section 2.1.
+
+3. Responsibilities
+-------------------
+
+3.1. Distribution of Source Form
+
+All distribution of Covered Software in Source Code Form, including any
+Modifications that You create or to which You contribute, must be under
+the terms of this License. You must inform recipients that the Source
+Code Form of the Covered Software is governed by the terms of this
+License, and how they can obtain a copy of this License. You may not
+attempt to alter or restrict the recipients' rights in the Source Code
+Form.
+
+3.2. Distribution of Executable Form
+
+If You distribute Covered Software in Executable Form then:
+
+(a) such Covered Software must also be made available in Source Code
+    Form, as described in Section 3.1, and You must inform recipients of
+    the Executable Form how they can obtain a copy of such Source Code
+    Form by reasonable means in a timely manner, at a charge no more
+    than the cost of distribution to the recipient; and
+
+(b) You may distribute such Executable Form under the terms of this
+    License, or sublicense it under different terms, provided that the
+    license for the Executable Form does not attempt to limit or alter
+    the recipients' rights in the Source Code Form under this License.
+
+3.3. Distribution of a Larger Work
+
+You may create and distribute a Larger Work under terms of Your choice,
+provided that You also comply with the requirements of this License for
+the Covered Software. If the Larger Work is a combination of Covered
+Software with a work governed by one or more Secondary Licenses, and the
+Covered Software is not Incompatible With Secondary Licenses, this
+License permits You to additionally distribute such Covered Software
+under the terms of such Secondary License(s), so that the recipient of
+the Larger Work may, at their option, further distribute the Covered
+Software under the terms of either this License or such Secondary
+License(s).
+
+3.4. Notices
+
+You may not remove or alter the substance of any license notices
+(including copyright notices, patent notices, disclaimers of warranty,
+or limitations of liability) contained within the Source Code Form of
+the Covered Software, except that You may alter any license notices to
+the extent required to remedy known factual inaccuracies.
+
+3.5. Application of Additional Terms
+
+You may choose to offer, and to charge a fee for, warranty, support,
+indemnity or liability obligations to one or more recipients of Covered
+Software. However, You may do so only on Your own behalf, and not on
+behalf of any Contributor. You must make it absolutely clear that any
+such warranty, support, indemnity, or liability obligation is offered by
+You alone, and You hereby agree to indemnify every Contributor for any
+liability incurred by such Contributor as a result of warranty, support,
+indemnity or liability terms You offer. You may include additional
+disclaimers of warranty and limitations of liability specific to any
+jurisdiction.
+
+4. Inability to Comply Due to Statute or Regulation
+---------------------------------------------------
+
+If it is impossible for You to comply with any of the terms of this
+License with respect to some or all of the Covered Software due to
+statute, judicial order, or regulation then You must: (a) comply with
+the terms of this License to the maximum extent possible; and (b)
+describe the limitations and the code they affect. Such description must
+be placed in a text file included with all distributions of the Covered
+Software under this License. Except to the extent prohibited by statute
+or regulation, such description must be sufficiently detailed for a
+recipient of ordinary skill to be able to understand it.
+
+5. Termination
+--------------
+
+5.1. The rights granted under this License will terminate automatically
+if You fail to comply with any of its terms. However, if You become
+compliant, then the rights granted under this License from a particular
+Contributor are reinstated (a) provisionally, unless and until such
+Contributor explicitly and finally terminates Your grants, and (b) on an
+ongoing basis, if such Contributor fails to notify You of the
+non-compliance by some reasonable means prior to 60 days after You have
+come back into compliance. Moreover, Your grants from a particular
+Contributor are reinstated on an ongoing basis if such Contributor
+notifies You of the non-compliance by some reasonable means, this is the
+first time You have received notice of non-compliance with this License
+from such Contributor, and You become compliant prior to 30 days after
+Your receipt of the notice.
+
+5.2. If You initiate litigation against any entity by asserting a patent
+infringement claim (excluding declaratory judgment actions,
+counter-claims, and cross-claims) alleging that a Contributor Version
+directly or indirectly infringes any patent, then the rights granted to
+You by any and all Contributors for the Covered Software under Section
+2.1 of this License shall terminate.
+
+5.3. In the event of termination under Sections 5.1 or 5.2 above, all
+end user license agreements (excluding distributors and resellers) which
+have been validly granted by You or Your distributors under this License
+prior to termination shall survive termination.
+
+************************************************************************
+*                                                                      *
+*  6. Disclaimer of Warranty                                           *
+*  -------------------------                                           *
+*                                                                      *
+*  Covered Software is provided under this License on an "as is"       *
+*  basis, without warranty of any kind, either expressed, implied, or  *
+*  statutory, including, without limitation, warranties that the       *
+*  Covered Software is free of defects, merchantable, fit for a        *
+*  particular purpose or non-infringing. The entire risk as to the     *
+*  quality and performance of the Covered Software is with You.        *
+*  Should any Covered Software prove defective in any respect, You     *
+*  (not any Contributor) assume the cost of any necessary servicing,   *
+*  repair, or correction. This disclaimer of warranty constitutes an   *
+*  essential part of this License. No use of any Covered Software is   *
+*  authorized under this License except under this disclaimer.         *
+*                                                                      *
+************************************************************************
+
+************************************************************************
+*                                                                      *
+*  7. Limitation of Liability                                          *
+*  --------------------------                                          *
+*                                                                      *
+*  Under no circumstances and under no legal theory, whether tort      *
+*  (including negligence), contract, or otherwise, shall any           *
+*  Contributor, or anyone who distributes Covered Software as          *
+*  permitted above, be liable to You for any direct, indirect,         *
+*  special, incidental, or consequential damages of any character      *
+*  including, without limitation, damages for lost profits, loss of    *
+*  goodwill, work stoppage, computer failure or malfunction, or any    *
+*  and all other commercial damages or losses, even if such party      *
+*  shall have been informed of the possibility of such damages. This   *
+*  limitation of liability shall not apply to liability for death or   *
+*  personal injury resulting from such party's negligence to the       *
+*  extent applicable law prohibits such limitation. Some               *
+*  jurisdictions do not allow the exclusion or limitation of           *
+*  incidental or consequential damages, so this exclusion and          *
+*  limitation may not apply to You.                                    *
+*                                                                      *
+************************************************************************
+
+8. Litigation
+-------------
+
+Any litigation relating to this License may be brought only in the
+courts of a jurisdiction where the defendant maintains its principal
+place of business and such litigation shall be governed by laws of that
+jurisdiction, without reference to its conflict-of-law provisions.
+Nothing in this Section shall prevent a party's ability to bring
+cross-claims or counter-claims.
+
+9. Miscellaneous
+----------------
+
+This License represents the complete agreement concerning the subject
+matter hereof. If any provision of this License is held to be
+unenforceable, such provision shall be reformed only to the extent
+necessary to make it enforceable. Any law or regulation which provides
+that the language of a contract shall be construed against the drafter
+shall not be used to construe this License against a Contributor.
+
+10. Versions of the License
+---------------------------
+
+10.1. New Versions
+
+Mozilla Foundation is the license steward. Except as provided in Section
+10.3, no one other than the license steward has the right to modify or
+publish new versions of this License. Each version will be given a
+distinguishing version number.
+
+10.2. Effect of New Versions
+
+You may distribute the Covered Software under the terms of the version
+of the License under which You originally received the Covered Software,
+or under the terms of any subsequent version published by the license
+steward.
+
+10.3. Modified Versions
+
+If you create software not governed by this License, and you want to
+create a new license for such software, you may create and use a
+modified version of this License if you rename the license and remove
+any references to the name of the license steward (except to note that
+such modified license differs from this License).
+
+10.4. Distributing Source Code Form that is Incompatible With Secondary
+Licenses
+
+If You choose to distribute Source Code Form that is Incompatible With
+Secondary Licenses under the terms of this version of the License, the
+notice described in Exhibit B of this License must be attached.
+
+Exhibit A - Source Code Form License Notice
+-------------------------------------------
+
+  This Source Code Form is subject to the terms of the Mozilla Public
+  License, v. 2.0. If a copy of the MPL was not distributed with this
+  file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+If it is not possible or desirable to put the notice in a particular
+file, then You may include the notice in a location (such as a LICENSE
+file in a relevant directory) where a recipient would be likely to look
+for such a notice.
+
+You may add additional accurate notices of copyright ownership.
+
+Exhibit B - "Incompatible With Secondary Licenses" Notice
+---------------------------------------------------------
+
+  This Source Code Form is "Incompatible With Secondary Licenses", as
+  defined by the Mozilla Public License, v. 2.0.
 
 ========== IsoOctree ==========
 
-Copyright (c) 2007, Michael Kazhdan
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without modification,
-are permitted provided that the following conditions are met:
-
-Redistributions of source code must retain the above copyright notice, this list of
-conditions and the following disclaimer. Redistributions in binary form must reproduce
-the above copyright notice, this list of conditions and the following disclaimer
-in the documentation and/or other materials provided with the distribution.
-
-Neither the name of the Johns Hopkins University nor the names of its contributors
-may be used to endorse or promote products derived from this software without specific
-prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
-EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
-OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
-SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
-TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
-BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
-DAMAGE.
+Copyright (c) 2007, Michael Kazhdan
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of
+conditions and the following disclaimer. Redistributions in binary form must reproduce
+the above copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the distribution.
+
+Neither the name of the Johns Hopkins University nor the names of its contributors
+may be used to endorse or promote products derived from this software without specific
+prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.
 
 ========== Loguru ==========
 
@@ -469,92 +469,92 @@ Public Domain
 
 ========== PicoSHA2 ==========
 
-MIT License
-
-Copyright (c) 2017 okdshin
-
-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.
+MIT License
+
+Copyright (c) 2017 okdshin
+
+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.
 
 ========== TheiaSfM ==========
 
-// Copyright (C) 2013 The Regents of the University of California (Regents).
-// All rights reserved.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are
-// met:
-//
-//     * Redistributions of source code must retain the above copyright
-//       notice, this list of conditions and the following disclaimer.
-//
-//     * Redistributions in binary form must reproduce the above
-//       copyright notice, this list of conditions and the following
-//       disclaimer in the documentation and/or other materials provided
-//       with the distribution.
-//
-//     * Neither the name of The Regents or University of California nor the
-//       names of its contributors may be used to endorse or promote products
-//       derived from this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE 
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-//
-// Please contact the author of this library if you have any questions.
-// Author: Chris Sweeney (cmsweeney@cs.ucsb.edu)
-
+// Copyright (C) 2013 The Regents of the University of California (Regents).
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//
+//     * Redistributions in binary form must reproduce the above
+//       copyright notice, this list of conditions and the following
+//       disclaimer in the documentation and/or other materials provided
+//       with the distribution.
+//
+//     * Neither the name of The Regents or University of California nor the
+//       names of its contributors may be used to endorse or promote products
+//       derived from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE 
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Please contact the author of this library if you have any questions.
+// Author: Chris Sweeney (cmsweeney@cs.ucsb.edu)
+
 
 ========== apriltag ==========
 
-BSD 2-Clause License
-
-Copyright (C) 2013-2016, The Regents of The University of Michigan.
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
-
-2. Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+BSD 2-Clause License
+
+Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 ========== boost ==========
 
@@ -584,159 +584,159 @@ DEALINGS IN THE SOFTWARE.
 
 ========== cxxopts ==========
 
-Copyright (c) 2014 Jarryd Beck
-
-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.
+Copyright (c) 2014 Jarryd Beck
+
+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.
 
 ========== depthai ==========
 
-MIT License
-
-Copyright (c) 2020 Luxonis LLC
-
-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.
+MIT License
+
+Copyright (c) 2020 Luxonis LLC
+
+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.
 
 See lib/cmake/depthai/dependencies/licenses/ for the licenses of the DepthAI dependencies
 
 ========== json ==========
 
-MIT License 
-
-Copyright (c) 2013-2020 Niels Lohmann
-
-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.
+MIT License 
+
+Copyright (c) 2013-2020 Niels Lohmann
+
+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.
 
 ========== libnabo ==========
 
-BSD 3-Clause License
-
-Copyright (c) 2010-2021, the Nabo authors
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
-
-2. Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
-
-3. Neither the name of the copyright holder nor the names of its
-   contributors may be used to endorse or promote products derived from
-   this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+BSD 3-Clause License
+
+Copyright (c) 2010-2021, the Nabo authors
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 ========== libpointmatcher ==========
 
-BSD 3-Clause License
-
-Copyright (c) 2010-2021, the libpointmatcher authors
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
-
-2. Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
-
-3. Neither the name of the copyright holder nor the names of its
-   contributors may be used to endorse or promote products derived from
-   this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+BSD 3-Clause License
+
+Copyright (c) 2010-2021, the libpointmatcher authors
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 ========== yaml-cpp ==========
 
-Copyright (c) 2008-2015 Jesse Beder.
-
-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.
+Copyright (c) 2008-2015 Jesse Beder.
+
+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.
 
diff --git a/unity-examples/Assets/SpectacularAI/Plugins/Windows/depthai-core.dll b/unity-examples/Assets/SpectacularAI/Plugins/Windows/depthai-core.dll
index e67dc46..10bc1f3 100644
Binary files a/unity-examples/Assets/SpectacularAI/Plugins/Windows/depthai-core.dll and b/unity-examples/Assets/SpectacularAI/Plugins/Windows/depthai-core.dll differ
diff --git a/unity-examples/Assets/SpectacularAI/Plugins/Windows/depthai-core.dll.meta b/unity-examples/Assets/SpectacularAI/Plugins/Windows/depthai-core.dll.meta
index 50522c3..9e95113 100644
--- a/unity-examples/Assets/SpectacularAI/Plugins/Windows/depthai-core.dll.meta
+++ b/unity-examples/Assets/SpectacularAI/Plugins/Windows/depthai-core.dll.meta
@@ -1,27 +1,2 @@
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-guid: 6ad7d090e68cb50458518e6ce0c0166a
-PluginImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  iconMap: {}
-  executionOrder: {}
-  defineConstraints: []
-  isPreloaded: 0
-  isOverridable: 0
-  isExplicitlyReferenced: 0
-  validateReferences: 1
-  platformData:
-  - first:
-      Any: 
-    second:
-      enabled: 1
-      settings: {}
-  - first:
-      Editor: Editor
-    second:
-      enabled: 0
-      settings:
-        DefaultValueInitialized: true
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
+guid: 6ad7d090e68cb50458518e6ce0c0166a
\ No newline at end of file
diff --git a/unity-examples/Assets/SpectacularAI/Plugins/Windows/libusb-1.0.dll b/unity-examples/Assets/SpectacularAI/Plugins/Windows/libusb-1.0.dll
index f572114..1788610 100644
Binary files a/unity-examples/Assets/SpectacularAI/Plugins/Windows/libusb-1.0.dll and b/unity-examples/Assets/SpectacularAI/Plugins/Windows/libusb-1.0.dll differ
diff --git a/unity-examples/Assets/SpectacularAI/Plugins/Windows/libusb-1.0.dll.meta b/unity-examples/Assets/SpectacularAI/Plugins/Windows/libusb-1.0.dll.meta
index 279ecb9..7c0e81f 100644
--- a/unity-examples/Assets/SpectacularAI/Plugins/Windows/libusb-1.0.dll.meta
+++ b/unity-examples/Assets/SpectacularAI/Plugins/Windows/libusb-1.0.dll.meta
@@ -1,27 +1,2 @@
 fileFormatVersion: 2
-guid: 185d0f338a3acb246b984793c59a4271
-PluginImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  iconMap: {}
-  executionOrder: {}
-  defineConstraints: []
-  isPreloaded: 0
-  isOverridable: 0
-  isExplicitlyReferenced: 0
-  validateReferences: 1
-  platformData:
-  - first:
-      Any: 
-    second:
-      enabled: 1
-      settings: {}
-  - first:
-      Editor: Editor
-    second:
-      enabled: 0
-      settings:
-        DefaultValueInitialized: true
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
+guid: 185d0f338a3acb246b984793c59a4271
\ No newline at end of file
diff --git a/unity-examples/Assets/SpectacularAI/Plugins/Windows/spectacularAI_depthaiPlugin.dll b/unity-examples/Assets/SpectacularAI/Plugins/Windows/spectacularAI_depthaiPlugin.dll
index 7a064b0..0dcf5c2 100644
Binary files a/unity-examples/Assets/SpectacularAI/Plugins/Windows/spectacularAI_depthaiPlugin.dll and b/unity-examples/Assets/SpectacularAI/Plugins/Windows/spectacularAI_depthaiPlugin.dll differ
diff --git a/unity-examples/Assets/SpectacularAI/Plugins/Windows/spectacularAI_depthaiPlugin.dll.meta b/unity-examples/Assets/SpectacularAI/Plugins/Windows/spectacularAI_depthaiPlugin.dll.meta
index 85b7322..e569742 100644
--- a/unity-examples/Assets/SpectacularAI/Plugins/Windows/spectacularAI_depthaiPlugin.dll.meta
+++ b/unity-examples/Assets/SpectacularAI/Plugins/Windows/spectacularAI_depthaiPlugin.dll.meta
@@ -1,27 +1,2 @@
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-guid: 267f8eb30b6613146b903e8c51dbeb09
-PluginImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  iconMap: {}
-  executionOrder: {}
-  defineConstraints: []
-  isPreloaded: 0
-  isOverridable: 0
-  isExplicitlyReferenced: 0
-  validateReferences: 1
-  platformData:
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-      Any: 
-    second:
-      enabled: 1
-      settings: {}
-  - first:
-      Editor: Editor
-    second:
-      enabled: 0
-      settings:
-        DefaultValueInitialized: true
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
+guid: 267f8eb30b6613146b903e8c51dbeb09
\ No newline at end of file
diff --git a/unity-examples/Assets/SpectacularAI/Plugins/Windows/spectacularAI_unity.dll b/unity-examples/Assets/SpectacularAI/Plugins/Windows/spectacularAI_unity.dll
index e198762..94e8d18 100644
Binary files a/unity-examples/Assets/SpectacularAI/Plugins/Windows/spectacularAI_unity.dll and b/unity-examples/Assets/SpectacularAI/Plugins/Windows/spectacularAI_unity.dll differ
diff --git a/unity-examples/Assets/SpectacularAI/Plugins/Windows/spectacularAI_unity.dll.meta b/unity-examples/Assets/SpectacularAI/Plugins/Windows/spectacularAI_unity.dll.meta
index 1506108..ecf883e 100644
--- a/unity-examples/Assets/SpectacularAI/Plugins/Windows/spectacularAI_unity.dll.meta
+++ b/unity-examples/Assets/SpectacularAI/Plugins/Windows/spectacularAI_unity.dll.meta
@@ -1,27 +1,2 @@
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-guid: c1ebf59b14bed1b448f489475df40146
-PluginImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  iconMap: {}
-  executionOrder: {}
-  defineConstraints: []
-  isPreloaded: 0
-  isOverridable: 0
-  isExplicitlyReferenced: 0
-  validateReferences: 1
-  platformData:
-  - first:
-      Any: 
-    second:
-      enabled: 1
-      settings: {}
-  - first:
-      Editor: Editor
-    second:
-      enabled: 0
-      settings:
-        DefaultValueInitialized: true
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
+guid: c1ebf59b14bed1b448f489475df40146
\ No newline at end of file
diff --git a/unity-examples/Packages/manifest.json b/unity-examples/Packages/manifest.json
index 037fd02..060520c 100644
--- a/unity-examples/Packages/manifest.json
+++ b/unity-examples/Packages/manifest.json
@@ -1,16 +1,16 @@
 {
   "dependencies": {
-    "com.unity.collab-proxy": "2.5.1",
+    "com.unity.collab-proxy": "2.7.1",
     "com.unity.ide.rider": "3.0.31",
     "com.unity.ide.visualstudio": "2.0.22",
-    "com.unity.ide.vscode": "1.2.5",
-    "com.unity.render-pipelines.universal": "14.0.11",
-    "com.unity.test-framework": "1.1.33",
-    "com.unity.textmeshpro": "3.0.7",
-    "com.unity.timeline": "1.7.6",
-    "com.unity.toolchain.linux-x86_64": "2.0.9",
-    "com.unity.ugui": "1.0.0",
-    "com.unity.visualscripting": "1.9.4",
+    "com.unity.multiplayer.center": "1.0.0",
+    "com.unity.render-pipelines.universal": "17.0.4",
+    "com.unity.test-framework": "1.5.1",
+    "com.unity.timeline": "1.8.7",
+    "com.unity.toolchain.linux-x86_64": "2.0.10",
+    "com.unity.ugui": "2.0.0",
+    "com.unity.visualscripting": "1.9.6",
+    "com.unity.modules.accessibility": "1.0.0",
     "com.unity.modules.ai": "1.0.0",
     "com.unity.modules.androidjni": "1.0.0",
     "com.unity.modules.animation": "1.0.0",
diff --git a/unity-examples/Packages/packages-lock.json b/unity-examples/Packages/packages-lock.json
index 1091ea2..08149db 100644
--- a/unity-examples/Packages/packages-lock.json
+++ b/unity-examples/Packages/packages-lock.json
@@ -1,8 +1,8 @@
 {
   "dependencies": {
     "com.unity.burst": {
-      "version": "1.8.17",
-      "depth": 1,
+      "version": "1.8.19",
+      "depth": 2,
       "source": "registry",
       "dependencies": {
         "com.unity.mathematics": "1.2.1",
@@ -11,19 +11,30 @@
       "url": "https://packages.unity.com"
     },
     "com.unity.collab-proxy": {
-      "version": "2.5.1",
+      "version": "2.7.1",
       "depth": 0,
       "source": "registry",
       "dependencies": {},
       "url": "https://packages.unity.com"
     },
-    "com.unity.ext.nunit": {
-      "version": "1.0.6",
-      "depth": 1,
+    "com.unity.collections": {
+      "version": "2.5.1",
+      "depth": 2,
       "source": "registry",
-      "dependencies": {},
+      "dependencies": {
+        "com.unity.burst": "1.8.17",
+        "com.unity.test-framework": "1.4.5",
+        "com.unity.nuget.mono-cecil": "1.11.4",
+        "com.unity.test-framework.performance": "3.0.3"
+      },
       "url": "https://packages.unity.com"
     },
+    "com.unity.ext.nunit": {
+      "version": "2.0.5",
+      "depth": 1,
+      "source": "builtin",
+      "dependencies": {}
+    },
     "com.unity.ide.rider": {
       "version": "3.0.31",
       "depth": 0,
@@ -42,65 +53,85 @@
       },
       "url": "https://packages.unity.com"
     },
-    "com.unity.ide.vscode": {
-      "version": "1.2.5",
-      "depth": 0,
+    "com.unity.mathematics": {
+      "version": "1.3.2",
+      "depth": 2,
       "source": "registry",
       "dependencies": {},
       "url": "https://packages.unity.com"
     },
-    "com.unity.mathematics": {
-      "version": "1.2.6",
-      "depth": 1,
+    "com.unity.multiplayer.center": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.uielements": "1.0.0"
+      }
+    },
+    "com.unity.nuget.mono-cecil": {
+      "version": "1.11.4",
+      "depth": 3,
       "source": "registry",
       "dependencies": {},
       "url": "https://packages.unity.com"
     },
     "com.unity.render-pipelines.core": {
-      "version": "14.0.11",
+      "version": "17.0.4",
       "depth": 1,
       "source": "builtin",
       "dependencies": {
-        "com.unity.ugui": "1.0.0",
+        "com.unity.burst": "1.8.14",
+        "com.unity.mathematics": "1.3.2",
+        "com.unity.ugui": "2.0.0",
+        "com.unity.collections": "2.4.3",
         "com.unity.modules.physics": "1.0.0",
         "com.unity.modules.terrain": "1.0.0",
-        "com.unity.modules.jsonserialize": "1.0.0"
+        "com.unity.modules.jsonserialize": "1.0.0",
+        "com.unity.rendering.light-transport": "1.0.1"
       }
     },
     "com.unity.render-pipelines.universal": {
-      "version": "14.0.11",
+      "version": "17.0.4",
       "depth": 0,
       "source": "builtin",
       "dependencies": {
-        "com.unity.mathematics": "1.2.1",
-        "com.unity.burst": "1.8.9",
-        "com.unity.render-pipelines.core": "14.0.11",
-        "com.unity.shadergraph": "14.0.11",
-        "com.unity.render-pipelines.universal-config": "14.0.9"
+        "com.unity.render-pipelines.core": "17.0.4",
+        "com.unity.shadergraph": "17.0.4",
+        "com.unity.render-pipelines.universal-config": "17.0.3"
       }
     },
     "com.unity.render-pipelines.universal-config": {
-      "version": "14.0.10",
+      "version": "17.0.3",
       "depth": 1,
       "source": "builtin",
       "dependencies": {
-        "com.unity.render-pipelines.core": "14.0.10"
+        "com.unity.render-pipelines.core": "17.0.3"
+      }
+    },
+    "com.unity.rendering.light-transport": {
+      "version": "1.0.1",
+      "depth": 2,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.collections": "2.2.0",
+        "com.unity.mathematics": "1.2.4",
+        "com.unity.modules.terrain": "1.0.0"
       }
     },
     "com.unity.searcher": {
-      "version": "4.9.2",
+      "version": "4.9.3",
       "depth": 2,
       "source": "registry",
       "dependencies": {},
       "url": "https://packages.unity.com"
     },
     "com.unity.shadergraph": {
-      "version": "14.0.11",
+      "version": "17.0.4",
       "depth": 1,
       "source": "builtin",
       "dependencies": {
-        "com.unity.render-pipelines.core": "14.0.11",
-        "com.unity.searcher": "4.9.2"
+        "com.unity.render-pipelines.core": "17.0.4",
+        "com.unity.searcher": "4.9.3"
       }
     },
     "com.unity.sysroot": {
@@ -120,39 +151,39 @@
       "url": "https://packages.unity.com"
     },
     "com.unity.test-framework": {
-      "version": "1.1.33",
+      "version": "1.5.1",
       "depth": 0,
-      "source": "registry",
+      "source": "builtin",
       "dependencies": {
-        "com.unity.ext.nunit": "1.0.6",
+        "com.unity.ext.nunit": "2.0.3",
         "com.unity.modules.imgui": "1.0.0",
         "com.unity.modules.jsonserialize": "1.0.0"
-      },
-      "url": "https://packages.unity.com"
+      }
     },
-    "com.unity.textmeshpro": {
-      "version": "3.0.7",
-      "depth": 0,
+    "com.unity.test-framework.performance": {
+      "version": "3.0.3",
+      "depth": 3,
       "source": "registry",
       "dependencies": {
-        "com.unity.ugui": "1.0.0"
+        "com.unity.test-framework": "1.1.31",
+        "com.unity.modules.jsonserialize": "1.0.0"
       },
       "url": "https://packages.unity.com"
     },
     "com.unity.timeline": {
-      "version": "1.7.6",
+      "version": "1.8.7",
       "depth": 0,
       "source": "registry",
       "dependencies": {
+        "com.unity.modules.audio": "1.0.0",
         "com.unity.modules.director": "1.0.0",
         "com.unity.modules.animation": "1.0.0",
-        "com.unity.modules.audio": "1.0.0",
         "com.unity.modules.particlesystem": "1.0.0"
       },
       "url": "https://packages.unity.com"
     },
     "com.unity.toolchain.linux-x86_64": {
-      "version": "2.0.9",
+      "version": "2.0.10",
       "depth": 0,
       "source": "registry",
       "dependencies": {
@@ -162,7 +193,7 @@
       "url": "https://packages.unity.com"
     },
     "com.unity.ugui": {
-      "version": "1.0.0",
+      "version": "2.0.0",
       "depth": 0,
       "source": "builtin",
       "dependencies": {
@@ -171,7 +202,7 @@
       }
     },
     "com.unity.visualscripting": {
-      "version": "1.9.4",
+      "version": "1.9.6",
       "depth": 0,
       "source": "registry",
       "dependencies": {
@@ -180,6 +211,12 @@
       },
       "url": "https://packages.unity.com"
     },
+    "com.unity.modules.accessibility": {
+      "version": "1.0.0",
+      "depth": 0,
+      "source": "builtin",
+      "dependencies": {}
+    },
     "com.unity.modules.ai": {
       "version": "1.0.0",
       "depth": 0,
@@ -227,6 +264,12 @@
         "com.unity.modules.animation": "1.0.0"
       }
     },
+    "com.unity.modules.hierarchycore": {
+      "version": "1.0.0",
+      "depth": 1,
+      "source": "builtin",
+      "dependencies": {}
+    },
     "com.unity.modules.imageconversion": {
       "version": "1.0.0",
       "depth": 0,
@@ -315,7 +358,8 @@
       "dependencies": {
         "com.unity.modules.ui": "1.0.0",
         "com.unity.modules.imgui": "1.0.0",
-        "com.unity.modules.jsonserialize": "1.0.0"
+        "com.unity.modules.jsonserialize": "1.0.0",
+        "com.unity.modules.hierarchycore": "1.0.0"
       }
     },
     "com.unity.modules.umbra": {
diff --git a/unity-examples/ProjectSettings/EditorBuildSettings.asset b/unity-examples/ProjectSettings/EditorBuildSettings.asset
index 0147887..4c43626 100644
--- a/unity-examples/ProjectSettings/EditorBuildSettings.asset
+++ b/unity-examples/ProjectSettings/EditorBuildSettings.asset
@@ -4,5 +4,9 @@
 EditorBuildSettings:
   m_ObjectHideFlags: 0
   serializedVersion: 2
-  m_Scenes: []
+  m_Scenes:
+  - enabled: 1
+    path: Assets/SpectacularAI/Examples/HelloDepthAI/Scenes/HelloDepthAI.unity
+    guid: 297a1c4c0fad9334bb4e6c1691e40d63
   m_configObjects: {}
+  m_UseUCBPForAssetBundles: 0
diff --git a/unity-examples/ProjectSettings/GraphicsSettings.asset b/unity-examples/ProjectSettings/GraphicsSettings.asset
index 56859a2..49ee382 100644
--- a/unity-examples/ProjectSettings/GraphicsSettings.asset
+++ b/unity-examples/ProjectSettings/GraphicsSettings.asset
@@ -3,7 +3,7 @@
 --- !u!30 &1
 GraphicsSettings:
   m_ObjectHideFlags: 0
-  serializedVersion: 14
+  serializedVersion: 16
   m_Deferred:
     m_Mode: 1
     m_Shader: {fileID: 69, guid: 0000000000000000f000000000000000, type: 0}
@@ -13,9 +13,6 @@ GraphicsSettings:
   m_ScreenSpaceShadows:
     m_Mode: 1
     m_Shader: {fileID: 64, guid: 0000000000000000f000000000000000, type: 0}
-  m_LegacyDeferred:
-    m_Mode: 1
-    m_Shader: {fileID: 63, guid: 0000000000000000f000000000000000, type: 0}
   m_DepthNormals:
     m_Mode: 1
     m_Shader: {fileID: 62, guid: 0000000000000000f000000000000000, type: 0}
@@ -51,6 +48,7 @@ GraphicsSettings:
   m_LightmapStripping: 0
   m_FogStripping: 0
   m_InstancingStripping: 0
+  m_BrgStripping: 0
   m_LightmapKeepPlain: 1
   m_LightmapKeepDirCombined: 1
   m_LightmapKeepDynamicPlain: 1
@@ -61,10 +59,12 @@ GraphicsSettings:
   m_FogKeepExp: 1
   m_FogKeepExp2: 1
   m_AlbedoSwatchInfos: []
+  m_RenderPipelineGlobalSettingsMap:
+    UnityEngine.Rendering.Universal.UniversalRenderPipeline: {fileID: 11400000, guid: 18dc0cd2c080841dea60987a38ce93fa,
+      type: 2}
   m_LightsUseLinearIntensity: 1
   m_LightsUseColorTemperature: 1
-  m_DefaultRenderingLayerMask: 1
   m_LogWhenShaderIsCompiled: 0
-  m_SRPDefaultSettings:
-    UnityEngine.Rendering.Universal.UniversalRenderPipeline: {fileID: 11400000, guid: 18dc0cd2c080841dea60987a38ce93fa,
-      type: 2}
+  m_LightProbeOutsideHullStrategy: 0
+  m_CameraRelativeLightCulling: 0
+  m_CameraRelativeShadowCulling: 0
diff --git a/unity-examples/ProjectSettings/MultiplayerManager.asset b/unity-examples/ProjectSettings/MultiplayerManager.asset
new file mode 100644
index 0000000..2a93664
--- /dev/null
+++ b/unity-examples/ProjectSettings/MultiplayerManager.asset
@@ -0,0 +1,7 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!655991488 &1
+MultiplayerManager:
+  m_ObjectHideFlags: 0
+  m_EnableMultiplayerRoles: 0
+  m_StrippingTypes: {}
diff --git a/unity-examples/ProjectSettings/ProjectVersion.txt b/unity-examples/ProjectSettings/ProjectVersion.txt
index d30043b..2795afa 100644
--- a/unity-examples/ProjectSettings/ProjectVersion.txt
+++ b/unity-examples/ProjectSettings/ProjectVersion.txt
@@ -1,2 +1,2 @@
-m_EditorVersion: 2022.3.47f1
-m_EditorVersionWithRevision: 2022.3.47f1 (88c277b85d21)
+m_EditorVersion: 6000.0.45f1
+m_EditorVersionWithRevision: 6000.0.45f1 (d91bd3d4e081)
diff --git a/unity-examples/ProjectSettings/ShaderGraphSettings.asset b/unity-examples/ProjectSettings/ShaderGraphSettings.asset
index 3250b06..e66042a 100644
--- a/unity-examples/ProjectSettings/ShaderGraphSettings.asset
+++ b/unity-examples/ProjectSettings/ShaderGraphSettings.asset
@@ -15,3 +15,4 @@ MonoBehaviour:
   shaderVariantLimit: 128
   customInterpolatorErrorThreshold: 32
   customInterpolatorWarningThreshold: 16
+  customHeatmapValues: {fileID: 0}
diff --git a/unity-examples/ProjectSettings/TagManager.asset b/unity-examples/ProjectSettings/TagManager.asset
index 1c92a78..b00eabb 100644
--- a/unity-examples/ProjectSettings/TagManager.asset
+++ b/unity-examples/ProjectSettings/TagManager.asset
@@ -2,7 +2,7 @@
 %TAG !u! tag:unity3d.com,2011:
 --- !u!78 &1
 TagManager:
-  serializedVersion: 2
+  serializedVersion: 3
   tags: []
   layers:
   - Default
@@ -41,3 +41,12 @@ TagManager:
   - name: Default
     uniqueID: 0
     locked: 0
+  m_RenderingLayers:
+  - Default
+  - Light Layer 1
+  - Light Layer 2
+  - Light Layer 3
+  - Light Layer 4
+  - Light Layer 5
+  - Light Layer 6
+  - Light Layer 7
diff --git a/unity-examples/ProjectSettings/URPProjectSettings.asset b/unity-examples/ProjectSettings/URPProjectSettings.asset
index cd7fd8c..08faf03 100644
--- a/unity-examples/ProjectSettings/URPProjectSettings.asset
+++ b/unity-examples/ProjectSettings/URPProjectSettings.asset
@@ -12,4 +12,4 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 247994e1f5a72c2419c26a37e9334c01, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  m_LastMaterialVersion: 7
+  m_LastMaterialVersion: 9