diff --git a/3rdparty/flann/CMakeLists.txt b/3rdparty/flann/CMakeLists.txt
index b4e735aaae..8e41fd4d46 100644
--- a/3rdparty/flann/CMakeLists.txt
+++ b/3rdparty/flann/CMakeLists.txt
@@ -12,22 +12,17 @@ project(flann)
 
 include_directories(
    ${CMAKE_CURRENT_SOURCE_DIR}
-   ${CMAKE_CURRENT_SOURCE_DIR}/algorithms
-   ${CMAKE_CURRENT_SOURCE_DIR}/util
-   ${CMAKE_CURRENT_SOURCE_DIR}/nn
    "${CMAKE_CURRENT_SOURCE_DIR}/../include/flann"
    )
 
 # The .cpp files:
-file(GLOB_RECURSE flann_sources_cpp *.cpp)
-file(GLOB_RECURSE flann_sources_h1 "${CMAKE_CURRENT_SOURCE_DIR}/../include/flann/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/../include/flann/*.hpp")
-file(GLOB_RECURSE flann_sources_h2 *.h *.hpp)
+file(GLOB flann_sources *.cpp *.h *.hpp)
+file(GLOB flann_h "${CMAKE_CURRENT_SOURCE_DIR}/../include/flann/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/../include/flann/*.hpp")
 
-source_group("Src" FILES ${flann_sources_cpp})
-source_group("Include\\External" FILES ${flann_sources_h1})
-source_group("Include\\Internal" FILES ${flann_sources_h2})
+source_group("Src" FILES ${flann_sources})
+source_group("Include" FILES ${flann_h})
 
-set(flann_sources ${flann_sources_cpp} ${flann_sources_h1} ${flann_sources_h2})
+set(flann_sources ${flann_sources} ${flann_h})
 
 # ----------------------------------------------------------------------------------
 #           Define the library target:
diff --git a/3rdparty/flann/util/allocator.h b/3rdparty/flann/allocator.h
similarity index 100%
rename from 3rdparty/flann/util/allocator.h
rename to 3rdparty/flann/allocator.h
diff --git a/3rdparty/flann/algorithms/autotuned_index.h b/3rdparty/flann/autotuned_index.h
similarity index 100%
rename from 3rdparty/flann/algorithms/autotuned_index.h
rename to 3rdparty/flann/autotuned_index.h
diff --git a/3rdparty/flann/util/common.h b/3rdparty/flann/common.h
similarity index 100%
rename from 3rdparty/flann/util/common.h
rename to 3rdparty/flann/common.h
diff --git a/3rdparty/flann/algorithms/composite_index.h b/3rdparty/flann/composite_index.h
similarity index 100%
rename from 3rdparty/flann/algorithms/composite_index.h
rename to 3rdparty/flann/composite_index.h
diff --git a/3rdparty/flann/algorithms/dist.cpp b/3rdparty/flann/dist.cpp
similarity index 100%
rename from 3rdparty/flann/algorithms/dist.cpp
rename to 3rdparty/flann/dist.cpp
diff --git a/3rdparty/flann/algorithms/dist.h b/3rdparty/flann/dist.h
similarity index 100%
rename from 3rdparty/flann/algorithms/dist.h
rename to 3rdparty/flann/dist.h
diff --git a/3rdparty/flann/nn/ground_truth.h b/3rdparty/flann/ground_truth.h
similarity index 100%
rename from 3rdparty/flann/nn/ground_truth.h
rename to 3rdparty/flann/ground_truth.h
diff --git a/3rdparty/flann/util/heap.h b/3rdparty/flann/heap.h
similarity index 100%
rename from 3rdparty/flann/util/heap.h
rename to 3rdparty/flann/heap.h
diff --git a/3rdparty/flann/nn/index_testing.cpp b/3rdparty/flann/index_testing.cpp
similarity index 100%
rename from 3rdparty/flann/nn/index_testing.cpp
rename to 3rdparty/flann/index_testing.cpp
diff --git a/3rdparty/flann/nn/index_testing.h b/3rdparty/flann/index_testing.h
similarity index 100%
rename from 3rdparty/flann/nn/index_testing.h
rename to 3rdparty/flann/index_testing.h
diff --git a/3rdparty/flann/algorithms/kdtree_index.h b/3rdparty/flann/kdtree_index.h
similarity index 100%
rename from 3rdparty/flann/algorithms/kdtree_index.h
rename to 3rdparty/flann/kdtree_index.h
diff --git a/3rdparty/flann/algorithms/kmeans_index.h b/3rdparty/flann/kmeans_index.h
similarity index 100%
rename from 3rdparty/flann/algorithms/kmeans_index.h
rename to 3rdparty/flann/kmeans_index.h
diff --git a/3rdparty/flann/algorithms/linear_index.h b/3rdparty/flann/linear_index.h
similarity index 100%
rename from 3rdparty/flann/algorithms/linear_index.h
rename to 3rdparty/flann/linear_index.h
diff --git a/3rdparty/flann/util/logger.cpp b/3rdparty/flann/logger.cpp
similarity index 100%
rename from 3rdparty/flann/util/logger.cpp
rename to 3rdparty/flann/logger.cpp
diff --git a/3rdparty/flann/util/logger.h b/3rdparty/flann/logger.h
similarity index 100%
rename from 3rdparty/flann/util/logger.h
rename to 3rdparty/flann/logger.h
diff --git a/3rdparty/flann/util/matrix.h b/3rdparty/flann/matrix.h
similarity index 100%
rename from 3rdparty/flann/util/matrix.h
rename to 3rdparty/flann/matrix.h
diff --git a/3rdparty/flann/algorithms/nn_index.h b/3rdparty/flann/nn_index.h
similarity index 100%
rename from 3rdparty/flann/algorithms/nn_index.h
rename to 3rdparty/flann/nn_index.h
diff --git a/3rdparty/flann/util/object_factory.h b/3rdparty/flann/object_factory.h
similarity index 100%
rename from 3rdparty/flann/util/object_factory.h
rename to 3rdparty/flann/object_factory.h
diff --git a/3rdparty/flann/util/random.cpp b/3rdparty/flann/random.cpp
similarity index 100%
rename from 3rdparty/flann/util/random.cpp
rename to 3rdparty/flann/random.cpp
diff --git a/3rdparty/flann/util/random.h b/3rdparty/flann/random.h
similarity index 100%
rename from 3rdparty/flann/util/random.h
rename to 3rdparty/flann/random.h
diff --git a/3rdparty/flann/util/result_set.h b/3rdparty/flann/result_set.h
similarity index 100%
rename from 3rdparty/flann/util/result_set.h
rename to 3rdparty/flann/result_set.h
diff --git a/3rdparty/flann/util/saving.cpp b/3rdparty/flann/saving.cpp
similarity index 100%
rename from 3rdparty/flann/util/saving.cpp
rename to 3rdparty/flann/saving.cpp
diff --git a/3rdparty/flann/util/saving.h b/3rdparty/flann/saving.h
similarity index 100%
rename from 3rdparty/flann/util/saving.h
rename to 3rdparty/flann/saving.h
diff --git a/3rdparty/flann/nn/simplex_downhill.h b/3rdparty/flann/simplex_downhill.h
similarity index 100%
rename from 3rdparty/flann/nn/simplex_downhill.h
rename to 3rdparty/flann/simplex_downhill.h
diff --git a/3rdparty/flann/util/timer.h b/3rdparty/flann/timer.h
similarity index 100%
rename from 3rdparty/flann/util/timer.h
rename to 3rdparty/flann/timer.h
diff --git a/3rdparty/zlib/gzguts.h b/3rdparty/zlib/gzguts.h
index 0f8fb79f87..b69438794e 100644
--- a/3rdparty/zlib/gzguts.h
+++ b/3rdparty/zlib/gzguts.h
@@ -19,7 +19,7 @@
 #endif
 
 #include <stdio.h>
-#include "zlib.h"
+#include "zutil.h"
 #ifdef STDC
 #  include <string.h>
 #  include <stdlib.h>
@@ -36,6 +36,10 @@
 #  define vsnprintf _vsnprintf
 #endif
 
+#ifdef __GNUC__
+#include <unistd.h>
+#endif
+
 #ifndef local
 #  define local static
 #endif
diff --git a/3rdparty/zlib/zutil.h b/3rdparty/zlib/zutil.h
index 258fa88799..97a5f2a874 100644
--- a/3rdparty/zlib/zutil.h
+++ b/3rdparty/zlib/zutil.h
@@ -21,6 +21,13 @@
 
 #include "zlib.h"
 
+#ifdef __arm__
+#  define z_off64_t z_off_t
+#endif
+#ifndef Z_TREES
+#define Z_TREES 6
+#endif
+
 #ifdef STDC
 #  if !(defined(_WIN32_WCE) && defined(_MSC_VER))
 #    include <stddef.h>