Scrap pthreadwin32 and use pthreads_cross instead

.gitignore

@@ -131,3 +131,5 @@ _deps
 
 *.a
 *.cmake
+
+native_build/

.gitmodules

@@ -1,6 +1,3 @@
-[submodule "pthread-win32"]
-	path = pthread-win32
-	url = https://github.com/GerHobbelt/pthread-win32
 [submodule "apriltag"]
 	path = apriltag
 	url = https://github.com/AprilRobotics/apriltag/

CMakeLists.txt

@@ -5,7 +5,7 @@
 # your build.
 
 cmake_minimum_required(VERSION 3.5)
-set(CMAKE_CXX_STANDARD 20)
+set(CMAKE_CXX_STANDARD 11)
 
 project("apriltag")
 
@@ -23,11 +23,6 @@ if("${ARCH}" STREQUAL "x86_64")
     set(ARCH "amd64")
 endif()
 
-if(WIN32)
-    # Add the pthread-win32 subdirectory
-    add_subdirectory(pthread-win32)
-endif()
-
 message(STATUS "Target architecture: ${ARCH}")
 
 message(STATUS $ENV{JAVA_HOME})
@@ -63,6 +58,7 @@ add_library( # Specifies the name of the library.
              apriltag/common/svd22.c
              apriltag/common/time_util.c
              apriltag/common/unionfind.c
+             apriltag/common/pthreads_cross.c # EOCV-AprilTag-Plugin does not add this, but it is needed for windows...
              apriltag/common/workerpool.c
              apriltag/common/zarray.c
              apriltag/common/zhash.c
@@ -76,16 +72,17 @@ add_library( # Specifies the name of the library.
              apriltag/tagCircle21h7.c
              apriltag/tagStandard41h12.c)
 
+
+# VROOOOOOOM
+target_compile_options(apriltag PRIVATE
+        "$<$<CONFIG:RELEASE>:-O3>"
+        "$<$<CONFIG:DEBUG>:-O3>"
+        )
+
 set_target_properties(apriltag PROPERTIES OUTPUT_NAME "apriltag_${ARCH}")
 
 include_directories(
     apriltag
     apriltag/common
     ${JNI_INCLUDE_DIRS}
-)
-
-# If on Windows, link pthread to apriltag
-if(WIN32)
-  # Choose one of the pthread-win32 libraries depending on your use case:
-  target_link_libraries(apriltag pthreadVC3)  # Or pthreadVSE3 or pthreadVCE3 depending on your build
-endif()
+)

build.gradle

@@ -8,7 +8,7 @@ plugins {
 }
 
 group 'com.github.deltacv'
-version '2.1.0-A'
+version '2.1.0-B'
 
 java {
     toolchain {

build_native_win.bat

@@ -0,0 +1,5 @@
+@echo off
+mkdir native_build
+cd native_build
+cmake -T ClangCL ..
+cmake --build .

example/src/main/java/io/github/deltacv/apriltag/example/AprilTagExample.java

@@ -31,10 +31,12 @@ public class AprilTagExample {
     // UNITS ARE METERS
     public static double TAG_SIZE = 0.166;
 
-    public static void main(String[] args) {
+    public static void main(String[] args) throws InterruptedException {
         long detector = AprilTagDetectorJNI.createApriltagDetector(AprilTagDetectorJNI.TagFamily.TAG_36h11.string, 3, 3);
         System.out.println("Created apriltag detector " + detector);
 
+        AprilTagDetectorJNI.setApriltagDetectorDecimation(detector, 4);
+
         VideoCapture camera = new VideoCapture();
 
         System.out.print("Enter camera index: ");
@@ -64,6 +66,13 @@ public static void main(String[] args) {
             for(AprilTagDetection detection : detections) {
                 System.out.printf("detected apriltag %d at x=%.2f y=%.2f z=%.2f\n", detection.id, detection.pose.x, detection.pose.y, detection.pose.z);
             }
+
+            Thread.sleep(1000);
+
+            if(true) {
+                AprilTagDetectorJNI.releaseApriltagDetector(detector);
+                return;
+            }
         }
 
         // not necessary since our program will exit at this point, just to show off the apriltag api

src/main/java/io/github/deltacv/apriltag/AprilTagLibLoader.java

@@ -73,7 +73,8 @@ public static void load() {
         String osArch = osName + " (" + arch + ")";
 
         String name = prefix + "apriltag" + extension;
-        String version = Integer.toUnsignedString(Build.versionString.hashCode());
+        // generate a unique version string based on the build date and version, for the temp folder name
+        String version = Integer.toUnsignedString((Build.versionString + Build.buildDate).hashCode());
 
         String tmpDir = System.getProperty("java.io.tmpdir");