Add vcpkg support for easier dependency management

[eclipse0922]

This PR adds native vcpkg support to Open3D, enabling easier builds with vcpkg-managed dependencies.

Note: This is Phase 1 of vcpkg support - upstream changes to Open3D's build system. Phase 2 (creating the actual vcpkg port in microsoft/vcpkg) will follow after this PR is merged.

Changes

• Add vcpkg toolchain auto-detection in CMakeLists.txt
• Auto-enable USE_SYSTEM_* options when vcpkg is detected
• Fix find_package() for vcpkg compatibility:
  • jsoncpp: Add JsonCpp::JsonCpp target (vcpkg naming)
  • curl: Use find_package(CURL) instead of pkg-config
  • zeromq: Use find_package(ZeroMQ) instead of pkg-config
  • minizip: Use find_package(unofficial-minizip) instead of pkg-config
• Fix CURL_STATICLIB redefinition warning in Download.cpp
• Add vcpkg.json manifest for dependency specification
• Fix typo: USE_USE_SYSTEM_ZEROMQ -> USE_SYSTEM_ZEROMQ
• Update stdgpu for CUDA 13 support (cccl/thrust path change)

All changes are backwards compatible - non-vcpkg builds work as before.

Roadmap for Full vcpkg Support

Phase	Description	Status
Phase 1	Upstream changes to Open3D (this PR)	🔄 In Progress
Phase 2	Create vcpkg port in microsoft/vcpkg	⏳ Pending Phase 1
Phase 3	Add GUI support (requires Filament port)	⏳ Future

Note: CUDA is supported in Phase 1 - just install CUDA Toolkit separately and use -DBUILD_CUDA_MODULE=ON

Type

• Bug fix (non-breaking change which fixes an issue): Fixes #
• New feature (non-breaking change which adds functionality). Resolves Add vcpkg support #767, oh my god ,why cannot find Opne3d on vcpkg ,please support it ,will benifit all cpper #7182
• Breaking change (fix or feature that would cause existing functionality to not work as expected) Resolves #

Motivation and Context

vcpkg is a popular C++ package manager used by many developers, but Open3D has lacked native vcpkg support since 2019 (#767). Previous attempts (microsoft/vcpkg#17423) failed due to pkg-config path issues and missing CMake target compatibility.

This PR enables Open3D to build seamlessly with vcpkg-managed dependencies by:

1. Auto-detecting vcpkg toolchain and enabling system dependencies
2. Fixing find_package() compatibility for vcpkg's CMake targets
3. Providing a vcpkg.json manifest for easy dependency management

Checklist:

• I have run python util/check_style.py --apply to apply Open3D code style
  to my code.
• This PR changes Open3D behavior or adds new functionality.
  • Both C++ (Doxygen) and Python (Sphinx / Google style) documentation is
    updated accordingly.
  • I have added or updated C++ and / or Python unit tests OR included test
    results (e.g. screenshots or numbers) here.
• I will follow up and update the code if CI fails.
• For fork PRs, I have selected Allow edits from maintainers.

Description

Changes Made

File	Change
CMakeLists.txt	vcpkg auto-detection + auto-enable USE_SYSTEM_*
3rdparty/find_dependencies.cmake	Fix find_package() for jsoncpp, curl, zeromq, minizip
3rdparty/stdgpu/stdgpu.cmake	Update stdgpu for CUDA 13 cccl/thrust path support
cpp/open3d/utility/Download.cpp	Fix CURL_STATICLIB redefinition
vcpkg.json	New manifest file for vcpkg dependencies

Test Results

Successfully built on Ubuntu 22.04 with vcpkg:

# Without CUDA
cmake -DCMAKE_TOOLCHAIN_FILE=~/vcpkg/scripts/buildsystems/vcpkg.cmake \
      -DBUILD_PYTHON_MODULE=OFF -DBUILD_GUI=OFF ..
cmake --build . --parallel 16
# [100%] Built target Open3D

# With CUDA 13
cmake -DCMAKE_TOOLCHAIN_FILE=~/vcpkg/scripts/buildsystems/vcpkg.cmake \
      -DBUILD_PYTHON_MODULE=OFF -DBUILD_GUI=OFF -DBUILD_CUDA_MODULE=ON ..
cmake --build . --parallel 16
# [100%] Built target Open3D

Current Scope (Phase 1)

• ✅ C++ core library
• ✅ Basic 3D processing (point clouds, meshes, IO)
• ✅ CUDA support (tested with CUDA 13 - requires CUDA Toolkit installed separately)
• ❌ GUI (requires Filament - not in vcpkg)
• ❌ Python bindings (not needed for vcpkg C++ port)

Dependencies from vcpkg (verified working)

assimp, curl, eigen3, fmt, glew, glfw3, jpeg, jsoncpp, msgpack, nanoflann, openssl, png, qhull, tbb, tinyobjloader, zeromq, cppzmq, minizip

Backwards Compatibility

All changes include fallbacks - non-vcpkg builds work exactly as before.

Next Steps After This PR

1. Merge this PR
2. Create vcpkg port PR at microsoft/vcpkg
3. (Future) Add Filament vcpkg port for GUI support

[update-docs]

Thanks for submitting this pull request! The maintainers of this repository would appreciate if you could update the CHANGELOG.md based on your changes.