Add apriltag support to windows

patch/ros-jazzy-apriltag-detector-mit.win.patch

@@ -0,0 +1,26 @@
+diff --git a/apriltag_detector_mit/CMakeLists.txt b/apriltag_detector_mit/CMakeLists.txt
+index d2d0b53..c204871 100644
+--- a/apriltag_detector_mit/CMakeLists.txt
++++ b/apriltag_detector_mit/CMakeLists.txt
+@@ -16,7 +16,10 @@
+ cmake_minimum_required(VERSION 3.16)
+ project(apriltag_detector_mit)
+
+-add_compile_options(-Wall -Wextra -Wpedantic -Werror)
++if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
++  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
++endif()
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+ # find dependencies
+ find_package(ament_cmake REQUIRED)
+@@ -62,8 +65,7 @@ ament_export_libraries(${PROJECT_NAME})
+
+ install(
+   TARGETS ${PROJECT_NAME}
+-  EXPORT ${PROJECT_NAME}_export
+-  DESTINATION lib)
++  EXPORT ${PROJECT_NAME}_export)
+
+ if(BUILD_TESTING)
+   find_package(ament_cmake REQUIRED)

patch/ros-jazzy-apriltag-detector-umich.win.patch

@@ -0,0 +1,26 @@
+diff --git a/apriltag_detector_umich/CMakeLists.txt b/apriltag_detector_umich/CMakeLists.txt
+index 1899f1e..18d8fbd 100644
+--- a/apriltag_detector_umich/CMakeLists.txt
++++ b/apriltag_detector_umich/CMakeLists.txt
+@@ -16,7 +16,10 @@
+ cmake_minimum_required(VERSION 3.16)
+ project(apriltag_detector_umich)
+
+-add_compile_options(-Wall -Wextra -Wpedantic -Werror)
++if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
++  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
++endif()
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+ # find dependencies
+ find_package(ament_cmake REQUIRED)
+@@ -64,8 +67,7 @@ ament_export_libraries(${PROJECT_NAME})
+
+ install(
+   TARGETS ${PROJECT_NAME}
+-  EXPORT ${PROJECT_NAME}_export
+-  DESTINATION lib)
++  EXPORT ${PROJECT_NAME}_export)
+
+ if(BUILD_TESTING)
+   find_package(ament_cmake REQUIRED)

patch/ros-jazzy-apriltag-mit.win.patch

@@ -0,0 +1,33 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 31c98e5..5ac04e1 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -9,6 +9,10 @@ project(apriltag_mit VERSION 1.0.0 LANGUAGES CXX)
+ include(CMakePackageConfigHelpers)
+ include(GNUInstallDirs)
+
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++
++add_compile_definitions(_USE_MATH_DEFINES)
++
+ # set(CMAKE_CXX_CLANG_TIDY clang-tidy)
+
+ find_package(Eigen3 REQUIRED)
+diff --git a/src/TagFamily.cc b/src/TagFamily.cc
+index 023094b..0226a43 100644
+--- a/src/TagFamily.cc
++++ b/src/TagFamily.cc
+@@ -102,6 +102,13 @@ code_t Rotate90DegCwise(code_t w, int d) {
+   return wr;
+ }
+
++#ifdef _MSC_VER
++#  include <intrin.h> 
++unsigned __builtin_popcountll( unsigned long long data){
++  return __popcnt(data) + __popcnt(data >> 32);
++}
++#endif
++
+ unsigned HammingDistance(code_t a, code_t b) {
+   // Because code_t is unsigned long long
+   return __builtin_popcountll(a ^ b);

vinca_win.yaml

@@ -134,6 +134,11 @@ packages_select_by_deps:
 
   - apriltag_detector
 
+  - apriltag_detector_umich
+
+  - apriltag_detector_mit
+
+
   - ament_cmake_black
 
   - behaviortree_cpp