[upstream_utils] Upgrade apriltag to latest master (take 2) (#7018)

2026-07-04 03:11:43 +00:00 · 2024-09-04 10:12:51 -04:00
parent 86f1bfd710
commit b38e06c7cb
40 changed files with 368 additions and 575 deletions
--- a/upstream_utils/apriltag.py
+++ b/upstream_utils/apriltag.py
@@ -39,6 +39,7 @@ def copy_upstream_src(wpilib_root):
    src_files = walk_cwd_and_copy_if(
        lambda dp, f: (f.endswith(".c") or f.endswith(".cpp"))
        and not dp.startswith(os.path.join(".", "example"))
+        and not dp.startswith(os.path.join(".", "test"))
        and not f.endswith("getopt.c")
        and not "py" in f
        and not remove_tag(f),
@@ -69,7 +70,7 @@ def copy_upstream_src(wpilib_root):
 def main():
    name = "apriltag"
    url = "https://github.com/AprilRobotics/apriltag.git"
-    tag = "ebdb2017e04b8e36f7d8a12ce60060416a905e12"
+    tag = "3806edf38ac4400153677e510c9f9dcb81f472c8"

    patch_options = {
        "ignore_whitespace": True,
--- a/upstream_utils/apriltag_patches/0001-apriltag_pose.c-Set-NULL-when-second-solution-could-.patch
+++ b/upstream_utils/apriltag_patches/0001-apriltag_pose.c-Set-NULL-when-second-solution-could-.patch
@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Peter Johnson <johnson.peter@gmail.com>
 Date: Sun, 4 Dec 2022 11:01:56 -0800
-Subject: [PATCH 1/9] apriltag_pose.c: Set NULL when second solution could not
+Subject: [PATCH 1/8] apriltag_pose.c: Set NULL when second solution could not
 be determined

 ---
--- a/upstream_utils/apriltag_patches/0002-Avoid-unused-variable-warnings-in-release-builds.patch
+++ b/upstream_utils/apriltag_patches/0002-Avoid-unused-variable-warnings-in-release-builds.patch
@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Peter Johnson <johnson.peter@gmail.com>
 Date: Sun, 4 Dec 2022 11:42:13 -0800
-Subject: [PATCH 3/9] Avoid unused variable warnings in release builds
+Subject: [PATCH 2/8] Avoid unused variable warnings in release builds

 ---
 common/matd.c        | 4 +++-
@@ -11,10 +11,10 @@ Subject: [PATCH 3/9] Avoid unused variable warnings in release builds
 4 files changed, 6 insertions(+), 1 deletion(-)

 diff --git a/common/matd.c b/common/matd.c
-index 54449d9f27a4dae6d1422c37c71bdeeb046c94ba..f426890416dd021d7392b78bd19959c70f44247b 100644
+index 6b8a0405ce094536c395ad667fa640bda335fb6a..7c9088235aed537f5ecdc95f49424e362fb842eb 100644
 --- a/common/matd.c
 +++ b/common/matd.c
-@@ -874,7 +874,8 @@ double matd_vec_dist_n(const matd_t *a, const matd_t *b, int n)
+@@ -870,7 +870,8 @@ double matd_vec_dist_n(const matd_t *a, const matd_t *b, int n)
 
     int lena = a->nrows*a->ncols;
     int lenb = b->nrows*b->ncols;
@@ -22,18 +22,18 @@ index 54449d9f27a4dae6d1422c37c71bdeeb046c94ba..f426890416dd021d7392b78bd19959c7
 +    (void) lena;
 +    (void) lenb;
     assert(n <= lena && n <= lenb);
- 
-     double mag = 0.0;
-@@ -909,6 +910,7 @@ double matd_vec_dot_product(const matd_t *a, const matd_t *b)
+     (void)lena;
+     (void)lenb;
+@@ -907,6 +908,7 @@ double matd_vec_dot_product(const matd_t *a, const matd_t *b)
     assert(matd_is_vector(a) && matd_is_vector(b));
     int adim = a->ncols*a->nrows;
     int bdim = b->ncols*b->nrows;
 +    (void) bdim;
     assert(adim == bdim);
+     (void)bdim;
 
-     double acc = 0;
 diff --git a/common/pjpeg.c b/common/pjpeg.c
-index 7e3d089ad849df67549a58873eb6574c85fda6ee..4a5dd028ee8a3d79fbe7a5abed30886cc6e40dae 100644
+index 924ac04dd7602aea2eaad76076002785c7b32ba2..d410c11bf84b12fca6a38544d05b446879f8a38b 100644
 --- a/common/pjpeg.c
 +++ b/common/pjpeg.c
@@ -863,6 +863,7 @@ pjpeg_t *pjpeg_create_from_buffer(uint8_t *buf, int buflen, uint32_t flags, int
@@ -42,29 +42,29 @@ index 7e3d089ad849df67549a58873eb6574c85fda6ee..4a5dd028ee8a3d79fbe7a5abed30886c
         int result = pjpeg_decode_buffer(&pjd);
 +        (void) result;
         assert(result == 0);
+         (void)result;
     }
- 
 diff --git a/common/string_util.c b/common/string_util.c
-index 4f0c98056b084af62a9a04bc8425e16dbdf9041a..3d86eb2f2d602a5b00c29952808368dc73c0b0cd 100644
+index 16a9ffb7b02e37df6f09231e67914422af89f2a4..492eabfa09ef6219c6e74bfc7de6d4407ed913c7 100644
 --- a/common/string_util.c
 +++ b/common/string_util.c
-@@ -552,6 +552,7 @@ void string_feeder_require(string_feeder_t *sf, const char *str)
+@@ -550,6 +550,7 @@ void string_feeder_require(string_feeder_t *sf, const char *str)
 
-     for (int i = 0; i < len; i++) {
+     for (size_t i = 0; i < len; i++) {
         char c = string_feeder_next(sf);
 +        (void) c;
         assert(c == str[i]);
+         (void)c;
     }
- }
 diff --git a/common/zmaxheap.c b/common/zmaxheap.c
-index e410664fd57dfa5ebd30e0680d77b008bb41801c..2c671236bf07ed4c43e15c02f4bf10df76880cb9 100644
+index 75de99502a70ec88b4dc51fda567c7e0c7bd852c..abbb549e41b6073f581b5c3216f024ed370b9212 100644
 --- a/common/zmaxheap.c
 +++ b/common/zmaxheap.c
-@@ -399,6 +399,7 @@ void zmaxheap_test()
-             float outfv;
+@@ -397,6 +397,7 @@ void zmaxheap_test()
+             float outfv = 0;
             int res = zmaxheap_remove_max(heap, &outv, &outfv);
             if (sz == 0) {
 +                (void) res;
                 assert(res == 0);
+                 (void)res;
             } else {
- //                printf("%d %d %d %f\n", sz, maxv, outv, outfv);
--- a/upstream_utils/apriltag_patches/0002-zmaxheapify-Avoid-return-of-void-expression.patch
+++ b/upstream_utils/apriltag_patches/0002-zmaxheapify-Avoid-return-of-void-expression.patch
@@ -1,23 +0,0 @@
-From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
-From: Peter Johnson <johnson.peter@gmail.com>
-Date: Sun, 4 Dec 2022 11:25:12 -0800
-Subject: [PATCH 2/9] zmaxheapify: Avoid return of void expression
-
---
- common/zmaxheap.c | 3 ++-
- 1 file changed, 2 insertions(+), 1 deletion(-)
-
-diff --git a/common/zmaxheap.c b/common/zmaxheap.c
-index e04d03efa8a79163293eb306e9f4beab6e4a27df..e410664fd57dfa5ebd30e0680d77b008bb41801c 100644
--- a/common/zmaxheap.c
-+++ b/common/zmaxheap.c
-@@ -320,7 +320,8 @@ static void maxheapify(zmaxheap_t *heap, int parent)
- 
-     if (betterchild != parent) {
-         heap->swap(heap, parent, betterchild);
-        return maxheapify(heap, betterchild);
-+        maxheapify(heap, betterchild);
-+        return;
-     }
- }
- 
--- a/upstream_utils/apriltag_patches/0003-Make-orthogonal_iteration-exit-early-upon-convergenc.patch
+++ b/upstream_utils/apriltag_patches/0003-Make-orthogonal_iteration-exit-early-upon-convergenc.patch
@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Tyler Veness <calcmogul@gmail.com>
 Date: Tue, 10 Jan 2023 18:36:36 -0800
-Subject: [PATCH 4/9] Make orthogonal_iteration() exit early upon convergence
+Subject: [PATCH 3/8] Make orthogonal_iteration() exit early upon convergence

 The current approach wastes iterations doing no work. Exiting early can
 give lower latencies and higher FPS.
@@ -86,7 +86,7 @@ index f0003a2d187df13236992026ee6ff7f9d6f7aff9..782729225c3555edcfebb7d8a21f847a
         pose->R = pose1.R;
         pose->t = pose1.t;
 diff --git a/apriltag_pose.h b/apriltag_pose.h
-index 07ee37b2cb4185bcbdb46d1c9ccec306f0f2e96d..72993f11514199754c452369bad32157b6d64eb1 100644
+index 07ee37b2cb4185bcbdb46d1c9ccec306f0f2e96d..6bbe4a4e000402f990b0a13b8b87e6becc8c48a8 100644
 --- a/apriltag_pose.h
 +++ b/apriltag_pose.h
@@ -63,7 +63,8 @@ void estimate_tag_pose_orthogonal_iteration(
@@ -94,13 +94,13 @@ index 07ee37b2cb4185bcbdb46d1c9ccec306f0f2e96d..72993f11514199754c452369bad32157
         double* err2,
         apriltag_pose_t* pose2,
 -        int nIters);
-+        int nIters, 
+        int nIters,
 +        double min_improvement_per_iteration);
 
 /**
  * Estimate tag pose.
 diff --git a/example/apriltag_demo.c b/example/apriltag_demo.c
-index 6de90540fe2f22f5160f725bce03d50bb3967c74..841d7788756011b0c7237e989242d87de76b14ef 100644
+index 6de90540fe2f22f5160f725bce03d50bb3967c74..ccd55cdceeaf46712891a7fab971b8b3c6afa950 100644
 --- a/example/apriltag_demo.c
 +++ b/example/apriltag_demo.c
@@ -42,6 +42,7 @@ either expressed or implied, of the Regents of The University of Michigan.
@@ -124,13 +124,13 @@ index 6de90540fe2f22f5160f725bce03d50bb3967c74..841d7788756011b0c7237e989242d87d
 +                int nIters = 200;
 +                estimate_tag_pose_orthogonal_iteration(&info, &err1, &pose1, &err2, &pose2, nIters, 1e-7);
 +
-+                printf("Primary translation %f %f %f\nerror: %f\n", 
+                printf("Primary translation %f %f %f\nerror: %f\n",
 +                    pose1.t->data[0],
 +                    pose1.t->data[1],
 +                    pose1.t->data[2],
 +                    err1
 +                );
-+                printf("Alt translation %f %f %f\nerror: %f\n", 
+                printf("Alt translation %f %f %f\nerror: %f\n",
 +                    pose2.t->data[0],
 +                    pose2.t->data[1],
 +                    pose2.t->data[2],
--- a/upstream_utils/apriltag_patches/0004-Fix-signed-left-shift-warning.patch
+++ b/upstream_utils/apriltag_patches/0004-Fix-signed-left-shift-warning.patch
@@ -1,14 +1,14 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Peter Johnson <johnson.peter@gmail.com>
 Date: Wed, 19 Jul 2023 20:48:21 -0700
-Subject: [PATCH 5/9] Fix signed left shift warning
+Subject: [PATCH 4/8] Fix signed left shift warning

 ---
 common/pjpeg.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

 diff --git a/common/pjpeg.c b/common/pjpeg.c
-index 4a5dd028ee8a3d79fbe7a5abed30886cc6e40dae..1941c27b7752a6a2420e8370451b0d29268f324d 100644
+index d410c11bf84b12fca6a38544d05b446879f8a38b..dca5368f98e91307b58ed62f6f39c4494c0b0c74 100644
 --- a/common/pjpeg.c
 +++ b/common/pjpeg.c
@@ -594,7 +594,7 @@ static int pjpeg_decode_buffer(struct pjpeg_decode_state *pjd)
--- a/upstream_utils/apriltag_patches/0005-Avoid-incompatible-pointer-warning.patch
+++ b/upstream_utils/apriltag_patches/0005-Avoid-incompatible-pointer-warning.patch
@@ -1,14 +1,14 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Peter Johnson <johnson.peter@gmail.com>
 Date: Wed, 19 Jul 2023 21:28:43 -0700
-Subject: [PATCH 6/9] Avoid incompatible pointer warning
+Subject: [PATCH 5/8] Avoid incompatible pointer warning

 ---
 common/getopt.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

 diff --git a/common/getopt.c b/common/getopt.c
-index 7613b69c346f3f818688bb9f4704463367d877f6..71ae57bd83b2ed50c7f80f3e3952ddfcc53cb7bc 100644
+index 21ec6fb1ed2a72343206716d87c283196511b50b..339d43f171b50af97201e934e8bfdafc0fc833cc 100644
 --- a/common/getopt.c
 +++ b/common/getopt.c
@@ -76,8 +76,9 @@ getopt_t *getopt_create()
--- a/upstream_utils/apriltag_patches/0006-Remove-calls-to-postscript_image.patch
+++ b/upstream_utils/apriltag_patches/0006-Remove-calls-to-postscript_image.patch
@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Tyler Veness <calcmogul@gmail.com>
 Date: Fri, 19 Jul 2024 21:45:29 -0700
-Subject: [PATCH 8/9] Remove calls to postscript_image()
+Subject: [PATCH 6/8] Remove calls to postscript_image()

 ---
 apriltag.c             | 5 -----
@@ -9,19 +9,19 @@ Subject: [PATCH 8/9] Remove calls to postscript_image()
 2 files changed, 8 deletions(-)

 diff --git a/apriltag.c b/apriltag.c
-index 3086228868281eaad5cc5382d305227757d4a5cf..b514d974971827e6a4f4f0a4fa12e6b0392d7282 100644
+index a513cb98b69b9cc1b7b74ecc10ce5ab1feccc541..2f9846437619897c871d267963f143886f71b577 100644
 --- a/apriltag.c
 +++ b/apriltag.c
-@@ -51,8 +51,6 @@ either expressed or implied, of the Regents of The University of Michigan.
+@@ -52,8 +52,6 @@ either expressed or implied, of the Regents of The University of Michigan.
 
 #include "apriltag_math.h"
 
 -#include "common/postscript_utils.h"
 -
- #ifndef M_PI
- # define M_PI 3.141592653589793238462643383279502884196
- #endif
-@@ -1282,7 +1280,6 @@ zarray_t *apriltag_detector_detect(apriltag_detector_t *td, image_u8_t *im_orig)
+ #ifdef _WIN32
+ static inline void srandom(unsigned int seed)
+ {
+@@ -1283,7 +1281,6 @@ zarray_t *apriltag_detector_detect(apriltag_detector_t *td, image_u8_t *im_orig)
         fprintf(f, "%f %f scale\n", scale, scale);
         fprintf(f, "0 %d translate\n", darker->height);
         fprintf(f, "1 -1 scale\n");
@@ -39,10 +39,10 @@ index 3086228868281eaad5cc5382d305227757d4a5cf..b514d974971827e6a4f4f0a4fa12e6b0
 
         for (int i = 0; i < zarray_size(quads); i++) {
 diff --git a/apriltag_quad_thresh.c b/apriltag_quad_thresh.c
-index 735520c6b1dd7387c837e8922d2ecd68130b9b5c..677f365765493bcbf043b0841bb28016a0d3acde 100644
+index 2b57774065d231abd5129acbc97e1a63e9e53d95..f8f6aff721ced5edad460512db7bb953296b92c6 100644
 --- a/apriltag_quad_thresh.c
 +++ b/apriltag_quad_thresh.c
-@@ -40,7 +40,6 @@ either expressed or implied, of the Regents of The University of Michigan.
+@@ -41,7 +41,6 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include "common/unionfind.h"
 #include "common/timeprofile.h"
 #include "common/zmaxheap.h"
@@ -50,7 +50,7 @@ index 735520c6b1dd7387c837e8922d2ecd68130b9b5c..677f365765493bcbf043b0841bb28016
 #include "common/math_util.h"
 
 #ifdef _WIN32
-@@ -1979,8 +1978,6 @@ zarray_t *apriltag_quad_thresh(apriltag_detector_t *td, image_u8_t *im)
+@@ -1961,8 +1960,6 @@ zarray_t *apriltag_quad_thresh(apriltag_detector_t *td, image_u8_t *im)
         fprintf(f, "0 %d translate\n", im2->height);
         fprintf(f, "1 -1 scale\n");
 
--- a/upstream_utils/apriltag_patches/0007-Fix-GCC-14-calloc-warning.patch
+++ b/upstream_utils/apriltag_patches/0007-Fix-GCC-14-calloc-warning.patch
@@ -1,32 +0,0 @@
-From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
-From: Tyler Veness <calcmogul@gmail.com>
-Date: Sun, 23 Jun 2024 05:53:42 -0700
-Subject: [PATCH 7/9] Fix GCC 14 calloc() warning
-MIME-Version: 1.0
-Content-Type: text/plain; charset=UTF-8
-Content-Transfer-Encoding: 8bit
-
-```
-/home/tav/frc/wpilib/allwpilib/build-cmake-release/_deps/apriltaglib-src/common/zmaxheap.c: In function ‘zmaxheap_test’:
-/home/tav/frc/wpilib/allwpilib/build-cmake-release/_deps/apriltaglib-src/common/zmaxheap.c:365:35: error: ‘calloc’ sizes specified with ‘sizeof’ in the earlier argument and not in the later argument [-Werror=calloc-transposed-args]
-  365 |     int32_t *vals = calloc(sizeof(int32_t), cap);
-      |                                   ^~~~~~~
-/home/tav/frc/wpilib/allwpilib/build-cmake-release/_deps/apriltaglib-src/common/zmaxheap.c:365:35: note: earlier argument should specify number of elements, later size of each element
-```
---
- common/zmaxheap.c | 2 +-
- 1 file changed, 1 insertion(+), 1 deletion(-)
-
-diff --git a/common/zmaxheap.c b/common/zmaxheap.c
-index 2c671236bf07ed4c43e15c02f4bf10df76880cb9..ed271420d229a98b56c7027f47d9830a78a97db1 100644
--- a/common/zmaxheap.c
-+++ b/common/zmaxheap.c
-@@ -362,7 +362,7 @@ void zmaxheap_test()
- {
-     int cap = 10000;
-     int sz = 0;
-    int32_t *vals = calloc(sizeof(int32_t), cap);
-+    int32_t *vals = calloc(cap, sizeof(int32_t));
- 
-     zmaxheap_t *heap = zmaxheap_create(sizeof(int32_t));
- 
--- a/upstream_utils/apriltag_patches/0007-Fix-clang-16-warnings.patch
+++ b/upstream_utils/apriltag_patches/0007-Fix-clang-16-warnings.patch
@@ -1,56 +1,51 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Peter Johnson <johnson.peter@gmail.com>
 Date: Thu, 29 Jun 2023 22:14:05 -0700
-Subject: [PATCH 9/9] Fix clang 16 warnings
+Subject: [PATCH 7/8] Fix clang 16 warnings

 ---
- apriltag.c                | 2 +-
- apriltag.h                | 2 +-
- common/g2d.c              | 2 +-
- common/g2d.h              | 2 +-
- common/getopt.c           | 2 +-
- common/getopt.h           | 2 +-
- common/math_util.h        | 4 ++--
- common/pthreads_cross.cpp | 6 +++---
- common/pthreads_cross.h   | 2 +-
- common/string_util.c      | 2 +-
- common/string_util.h      | 2 +-
- common/time_util.c        | 4 ++--
- common/time_util.h        | 4 ++--
- common/timeprofile.h      | 2 +-
- common/workerpool.c       | 8 ++++----
- common/workerpool.h       | 2 +-
- common/zarray.c           | 2 +-
- common/zarray.h           | 2 +-
- common/zhash.c            | 8 ++++----
- common/zhash.h            | 8 ++++----
- common/zmaxheap.c         | 4 ++--
- common/zmaxheap.h         | 2 +-
- tag16h5.c                 | 2 +-
- tag16h5.h                 | 2 +-
- tag25h9.c                 | 2 +-
- tag25h9.h                 | 2 +-
- tag36h10.c                | 2 +-
- tag36h10.h                | 2 +-
- tag36h11.c                | 2 +-
- tag36h11.h                | 2 +-
- tagCircle21h7.c           | 2 +-
- tagCircle21h7.h           | 2 +-
- tagCircle49h12.c          | 2 +-
- tagCircle49h12.h          | 2 +-
- tagCustom48h12.c          | 2 +-
- tagCustom48h12.h          | 2 +-
- tagStandard41h12.c        | 2 +-
- tagStandard41h12.h        | 2 +-
- tagStandard52h13.c        | 2 +-
- tagStandard52h13.h        | 2 +-
- 40 files changed, 55 insertions(+), 55 deletions(-)
+ apriltag.c              | 2 +-
+ apriltag.h              | 2 +-
+ common/g2d.c            | 2 +-
+ common/g2d.h            | 2 +-
+ common/getopt.c         | 2 +-
+ common/getopt.h         | 2 +-
+ common/math_util.h      | 4 ++--
+ common/pthreads_cross.c | 6 +++---
+ common/pthreads_cross.h | 2 +-
+ common/string_util.c    | 2 +-
+ common/string_util.h    | 2 +-
+ common/time_util.c      | 4 ++--
+ common/time_util.h      | 4 ++--
+ common/timeprofile.h    | 2 +-
+ common/workerpool.c     | 2 +-
+ common/workerpool.h     | 2 +-
+ common/zmaxheap.c       | 2 +-
+ tag16h5.c               | 2 +-
+ tag16h5.h               | 2 +-
+ tag25h9.c               | 2 +-
+ tag25h9.h               | 2 +-
+ tag36h10.c              | 2 +-
+ tag36h10.h              | 2 +-
+ tag36h11.c              | 2 +-
+ tag36h11.h              | 2 +-
+ tagCircle21h7.c         | 2 +-
+ tagCircle21h7.h         | 2 +-
+ tagCircle49h12.c        | 2 +-
+ tagCircle49h12.h        | 2 +-
+ tagCustom48h12.c        | 2 +-
+ tagCustom48h12.h        | 2 +-
+ tagStandard41h12.c      | 2 +-
+ tagStandard41h12.h      | 2 +-
+ tagStandard52h13.c      | 2 +-
+ tagStandard52h13.h      | 2 +-
+ 35 files changed, 40 insertions(+), 40 deletions(-)

 diff --git a/apriltag.c b/apriltag.c
-index b514d974971827e6a4f4f0a4fa12e6b0392d7282..bfff1ea9d502b8ef08d00e61d4c75a967c06462b 100644
+index 2f9846437619897c871d267963f143886f71b577..b7e24c4bc279643f478d810d494345216be991f1 100644
 --- a/apriltag.c
 +++ b/apriltag.c
-@@ -352,7 +352,7 @@ void apriltag_detector_clear_families(apriltag_detector_t *td)
+@@ -349,7 +349,7 @@ void apriltag_detector_clear_families(apriltag_detector_t *td)
     zarray_clear(td->tag_families);
 }
 
@@ -60,7 +55,7 @@ index b514d974971827e6a4f4f0a4fa12e6b0392d7282..bfff1ea9d502b8ef08d00e61d4c75a96
     apriltag_detector_t *td = (apriltag_detector_t*) calloc(1, sizeof(apriltag_detector_t));
 
 diff --git a/apriltag.h b/apriltag.h
-index 2d772cda60185de81fb279e83134074284b8e491..eb58a71d976ee84b94a232e3c778120a52f2b609 100644
+index 164ad8618f10ab2cbe489b813c9eed64be6e96e0..895b3459b8a84064989378fe533fd676964a1687 100644
 --- a/apriltag.h
 +++ b/apriltag.h
@@ -231,7 +231,7 @@ struct apriltag_detection
@@ -73,10 +68,10 @@ index 2d772cda60185de81fb279e83134074284b8e491..eb58a71d976ee84b94a232e3c778120a
 // add a family to the apriltag detector. caller still "owns" the family.
 // a single instance should only be provided to one apriltag detector instance.
 diff --git a/common/g2d.c b/common/g2d.c
-index 4645f206e52ff14c20c04ec9601d20725339197b..e0106437717b872b8b9823135c076da7ba0a1e84 100644
+index ebb85e55975fd91c6fd6cde7830efa5185580e98..64c9b1b3342cc4b56de91733d720098bc9f09fff 100644
 --- a/common/g2d.c
 +++ b/common/g2d.c
-@@ -45,7 +45,7 @@ double g2d_distance(const double a[2], const double b[2])
+@@ -38,7 +38,7 @@ double g2d_distance(const double a[2], const double b[2])
     return sqrtf(sq(a[0]-b[0]) + sq(a[1]-b[1]));
 }
 
@@ -99,7 +94,7 @@ index 21c21ac64d8988578f3c2d108a7a07d54e780954..5a0dd0b59869099e24453eda78ada1e5
 void g2d_polygon_add(zarray_t *poly, double v[2]);
 
 diff --git a/common/getopt.c b/common/getopt.c
-index 71ae57bd83b2ed50c7f80f3e3952ddfcc53cb7bc..458ef7705019b73dcd4c9fa03fe15555ea087fcf 100644
+index 339d43f171b50af97201e934e8bfdafc0fc833cc..51fe9b9a8f61708cfd0704673fb95cac1b66ec75 100644
 --- a/common/getopt.c
 +++ b/common/getopt.c
@@ -64,7 +64,7 @@ struct getopt
@@ -112,7 +107,7 @@ index 71ae57bd83b2ed50c7f80f3e3952ddfcc53cb7bc..458ef7705019b73dcd4c9fa03fe15555
     getopt_t *gopt = (getopt_t*) calloc(1, sizeof(getopt_t));
 
 diff --git a/common/getopt.h b/common/getopt.h
-index 69dbb05c8286a9d5d301382fc44fdea8c8f7875e..75266f033a0485b22cc34ec08e894781b6658894 100644
+index 1f0366283bf5edd4f01b4dfcd9254ec2cc2abd8e..1b2d69c982d6ba0ca4a960eea9e03340ba753e0e 100644
 --- a/common/getopt.h
 +++ b/common/getopt.h
@@ -36,7 +36,7 @@ extern "C" {
@@ -122,13 +117,13 @@ index 69dbb05c8286a9d5d301382fc44fdea8c8f7875e..75266f033a0485b22cc34ec08e894781
 -getopt_t *getopt_create();
 +getopt_t *getopt_create(void);
 void getopt_destroy(getopt_t *gopt);
+ void getopt_option_destroy_void(void *goo);
 
- // Parse args. Returns 1 on success
 diff --git a/common/math_util.h b/common/math_util.h
-index 9271a01834501a311f28525ca460f61117524eab..5434355a512c1a6225bbfbf335caa279d17ed7aa 100644
+index aa08883608a8aca5cc7828134ecb4cd6e9f06a61..a68ed8bf8eda0a9e23cc4d2784ccc6b7d82701c4 100644
 --- a/common/math_util.h
 +++ b/common/math_util.h
-@@ -86,13 +86,13 @@ static inline double sgn(double v)
+@@ -74,13 +74,13 @@ static inline double sgn(double v)
 }
 
 // random number between [0, 1)
@@ -144,11 +139,11 @@ index 9271a01834501a311f28525ca460f61117524eab..5434355a512c1a6225bbfbf335caa279
 {
     return randf()*2 - 1;
 }
-diff --git a/common/pthreads_cross.cpp b/common/pthreads_cross.cpp
-index f7721912f9088bf84224943aa836a69356949f18..09d6ce6e97074f4ffbcef1ef6e06fd53ee22ff0f 100644
--- a/common/pthreads_cross.cpp
-+++ b/common/pthreads_cross.cpp
-@@ -216,7 +216,7 @@ int pthread_rwlock_unlock(pthread_rwlock_t *rwlock)
+diff --git a/common/pthreads_cross.c b/common/pthreads_cross.c
+index 3403863f385c96d089db9652079b038fea3e5f51..d48b81a1bbafa15f1c8a5b4fec6a755847947ce6 100644
+--- a/common/pthreads_cross.c
+++ b/common/pthreads_cross.c
+@@ -218,7 +218,7 @@ int pthread_rwlock_unlock(pthread_rwlock_t *rwlock)
     return 0;
 }
 
@@ -157,8 +152,8 @@ index f7721912f9088bf84224943aa836a69356949f18..09d6ce6e97074f4ffbcef1ef6e06fd53
     return (int)SwitchToThread();
 }
 
-@@ -241,7 +241,7 @@ unsigned int timespec_to_ms(const struct timespec *abstime)
-     return t;
+@@ -238,7 +238,7 @@ unsigned int timespec_to_ms(const struct timespec *abstime)
+     return ((abstime->tv_sec - time(NULL)) * 1000) + (abstime->tv_nsec / 1000000);
 }
 
 -unsigned int pcthread_get_num_procs()
@@ -166,7 +161,7 @@ index f7721912f9088bf84224943aa836a69356949f18..09d6ce6e97074f4ffbcef1ef6e06fd53
 {
     SYSTEM_INFO sysinfo;
 
-@@ -252,7 +252,7 @@ unsigned int pcthread_get_num_procs()
+@@ -249,7 +249,7 @@ unsigned int pcthread_get_num_procs()
 #else
 
 #include <unistd.h>
@@ -176,10 +171,10 @@ index f7721912f9088bf84224943aa836a69356949f18..09d6ce6e97074f4ffbcef1ef6e06fd53
     return (unsigned int)sysconf(_SC_NPROCESSORS_ONLN);
 }
 diff --git a/common/pthreads_cross.h b/common/pthreads_cross.h
-index 897a333573e88263b6ba58ec3d31031304c50e54..209c28f855efcbdf41424f11a302ba2794836796 100644
+index 5970c679316037505ee4dc1e96ab9fda1f4f60d5..89ff7cc79ba93a5676fbc8663fcd7127cd1757d9 100644
 --- a/common/pthreads_cross.h
 +++ b/common/pthreads_cross.h
-@@ -70,7 +70,7 @@ int sched_yield(void);
+@@ -71,7 +71,7 @@ int sched_yield(void);
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -189,7 +184,7 @@ index 897a333573e88263b6ba58ec3d31031304c50e54..209c28f855efcbdf41424f11a302ba27
 void ms_to_timespec(struct timespec *ts, unsigned int ms);
 unsigned int timespec_to_ms(const struct timespec *abstime);
 diff --git a/common/string_util.c b/common/string_util.c
-index 3d86eb2f2d602a5b00c29952808368dc73c0b0cd..14726e7a7f66a330b28ef326734cd7fd25e8d4dd 100644
+index 492eabfa09ef6219c6e74bfc7de6d4407ed913c7..f7da2b8d77960febe07c52f770a9c4e3bbda29f0 100644
 --- a/common/string_util.c
 +++ b/common/string_util.c
@@ -314,7 +314,7 @@ char *str_touppercase(char *s)
@@ -202,7 +197,7 @@ index 3d86eb2f2d602a5b00c29952808368dc73c0b0cd..14726e7a7f66a330b28ef326734cd7fd
     string_buffer_t *sb = (string_buffer_t*) calloc(1, sizeof(string_buffer_t));
     assert(sb != NULL);
 diff --git a/common/string_util.h b/common/string_util.h
-index 9a7cd1e4509e3eba102316330cd50df918f56aed..d0363b03f23a94c35ed3581ea40f6d8f3f2d4110 100644
+index 6b5835553617ba16fc987edee5d2bc19e2824766..765f5a1d75e9327e6005e6d04db0c1da864ae91d 100644
 --- a/common/string_util.h
 +++ b/common/string_util.h
@@ -262,7 +262,7 @@ char *str_replace(const char *haystack, const char *needle, const char *replacem
@@ -237,10 +232,10 @@ index 7a25f424068d798a8c65c69c6c17dd05b2e2b950..f3e3b0849bb8442ca1be6fda29ffcc79
     struct timeval tv;
     gettimeofday (&tv, NULL); // blacklist-ignore
 diff --git a/common/time_util.h b/common/time_util.h
-index 207e95838126a503567bf21b4bc8a3f32774afd8..c42466b3a0acdd322bd33aa9c77df09adc6585f1 100644
+index c1840495a370e196e30d0ab432ddda12f4cc4819..58da911010f0030e81c2a33d6a5002f671d38145 100644
 --- a/common/time_util.h
 +++ b/common/time_util.h
-@@ -56,10 +56,10 @@ extern "C" {
+@@ -58,10 +58,10 @@ extern "C" {
 #endif
 
 typedef struct timeutil_rest timeutil_rest_t;
@@ -267,42 +262,17 @@ index 8016386ed214de371eae619f4e887aef01852408..197d6ceb330a4414483bd9db66e091d4
     timeprofile_t *tp = (timeprofile_t*) calloc(1, sizeof(timeprofile_t));
     tp->stamps = zarray_create(sizeof(struct timeprofile_entry));
 diff --git a/common/workerpool.c b/common/workerpool.c
-index a0170ef87978cb4cd2d3d8a198ffea471b6e40b2..23415eb5610751ae7f861f1deb7b25c8e56774a3 100644
+index 6b73541c09025ef907e2c3c598343955a14c3e7e..25dccd0a341cfb3991e735d7a3b2bd6b8f6c299a 100644
 --- a/common/workerpool.c
 +++ b/common/workerpool.c
-@@ -66,7 +66,7 @@ void *worker_thread(void *p)
- {
-     workerpool_t *wp = (workerpool_t*) p;
- 
-    int cnt = 0;
-+//    int cnt = 0;
- 
-     while (1) {
-         struct task *task;
-@@ -77,13 +77,13 @@ void *worker_thread(void *p)
- //          printf("%"PRId64" thread %d did %d\n", utime_now(), pthread_self(), cnt);
-             pthread_cond_broadcast(&wp->endcond);
-             pthread_cond_wait(&wp->startcond, &wp->mutex);
-            cnt = 0;
-+//            cnt = 0;
- //            printf("%"PRId64" thread %d awake\n", utime_now(), pthread_self());
-         }
- 
-         zarray_get_volatile(wp->tasks, wp->taskspos, &task);
-         wp->taskspos++;
-        cnt++;
-+//        cnt++;
-         pthread_mutex_unlock(&wp->mutex);
- //        pthread_yield();
-         sched_yield();
-@@ -203,7 +203,7 @@ void workerpool_run(workerpool_t *wp)
+@@ -213,7 +213,7 @@ void workerpool_run(workerpool_t *wp)
     }
 }
 
 -int workerpool_get_nprocs()
 +int workerpool_get_nprocs(void)
 {
- #ifdef WIN32
+ #ifdef _WIN32
     SYSTEM_INFO sysinfo;
 diff --git a/common/workerpool.h b/common/workerpool.h
 index 2c32ab1eb7f9fe1e803aef187d4af3aea9284238..070a983cbb0ce24450297dba2f58a903977c5a24 100644
@@ -314,126 +284,11 @@ index 2c32ab1eb7f9fe1e803aef187d4af3aea9284238..070a983cbb0ce24450297dba2f58a903
 
 -int workerpool_get_nprocs();
 +int workerpool_get_nprocs(void);
-diff --git a/common/zarray.c b/common/zarray.c
-index 43e6a7e0c6fb6d06414d6910e511d362ccc35354..fa1f8a25b6cad5661d70aa81b40b991126a9ac7c 100644
--- a/common/zarray.c
-+++ b/common/zarray.c
-@@ -41,7 +41,7 @@ int zstrcmp(const void * a_pp, const void * b_pp)
-     return strcmp(a,b);
- }
- 
-void zarray_vmap(zarray_t *za, void (*f)())
-+void zarray_vmap(zarray_t *za, void (*f)(void*))
- {
-     assert(za != NULL);
-     assert(f != NULL);
-diff --git a/common/zarray.h b/common/zarray.h
-index 22b4c2bb4773d5d80e33c14a7b4945ab18586939..411ee7b6495b4b37813d08dc42848ce96734fb39 100644
--- a/common/zarray.h
-+++ b/common/zarray.h
-@@ -355,7 +355,7 @@ static inline void zarray_map(zarray_t *za, void (*f)(void*))
-  *
-  * void map_function(element_type *element)
-  */
-    void zarray_vmap(zarray_t *za, void (*f)());
-+    void zarray_vmap(zarray_t *za, void (*f)(void*));
- 
- /**
-  * Removes all elements from the array and sets its size to zero. Pointers to
-diff --git a/common/zhash.c b/common/zhash.c
-index faf52233ed92f64b87ddbab255121c8202b13019..10eb6eb8a6e3ce70e51a117009dcbea3aa381d4c 100644
--- a/common/zhash.c
-+++ b/common/zhash.c
-@@ -352,7 +352,7 @@ void zhash_iterator_remove(zhash_iterator_t *zit)
-     zit->last_entry--;
- }
- 
-void zhash_map_keys(zhash_t *zh, void (*f)())
-+void zhash_map_keys(zhash_t *zh, void (*f)(void *))
- {
-     assert(zh != NULL);
-     if (f == NULL)
-@@ -368,7 +368,7 @@ void zhash_map_keys(zhash_t *zh, void (*f)())
-     }
- }
- 
-void zhash_vmap_keys(zhash_t * zh, void (*f)())
-+void zhash_vmap_keys(zhash_t * zh, void (*f)(void *))
- {
-     assert(zh != NULL);
-     if (f == NULL)
-@@ -385,7 +385,7 @@ void zhash_vmap_keys(zhash_t * zh, void (*f)())
-     }
- }
- 
-void zhash_map_values(zhash_t * zh, void (*f)())
-+void zhash_map_values(zhash_t * zh, void (*f)(void *))
- {
-     assert(zh != NULL);
-     if (f == NULL)
-@@ -400,7 +400,7 @@ void zhash_map_values(zhash_t * zh, void (*f)())
-     }
- }
- 
-void zhash_vmap_values(zhash_t * zh, void (*f)())
-+void zhash_vmap_values(zhash_t * zh, void (*f)(void *))
- {
-     assert(zh != NULL);
-     if (f == NULL)
-diff --git a/common/zhash.h b/common/zhash.h
-index f3dee1aa40f6f2717fa23d7e7f856bd8864a99b3..9993a66e4aed22d998d58e10a5d0db0193fcff95 100644
--- a/common/zhash.h
-+++ b/common/zhash.h
-@@ -259,7 +259,7 @@ void zhash_iterator_remove(zhash_iterator_t *zit);
-  * for the key, which the caller should not modify, as the hash table will not be
-  * re-indexed. The function may be NULL, in which case no action is taken.
-  */
-void zhash_map_keys(zhash_t *zh, void (*f)());
-+void zhash_map_keys(zhash_t *zh, void (*f)(void *));
- 
- /**
-  * Calls the supplied function with a pointer to every value in the hash table in
-@@ -267,7 +267,7 @@ void zhash_map_keys(zhash_t *zh, void (*f)());
-  * for the value, which the caller may safely modify. The function may be NULL,
-  * in which case no action is taken.
-  */
-void zhash_map_values(zhash_t *zh, void (*f)());
-+void zhash_map_values(zhash_t *zh, void (*f)(void *));
- 
- /**
-  * Calls the supplied function with a copy of every key in the hash table in
-@@ -280,7 +280,7 @@ void zhash_map_values(zhash_t *zh, void (*f)());
-  * Use with non-pointer keys (i.e. integer, double, etc.) will likely cause a
-  * segmentation fault.
-  */
-void zhash_vmap_keys(zhash_t *vh, void (*f)());
-+void zhash_vmap_keys(zhash_t *vh, void (*f)(void *));
- 
- /**
-  * Calls the supplied function with a copy of every value in the hash table in
-@@ -293,7 +293,7 @@ void zhash_vmap_keys(zhash_t *vh, void (*f)());
-  * Use with non-pointer values (i.e. integer, double, etc.) will likely cause a
-  * segmentation fault.
-  */
-void zhash_vmap_values(zhash_t *vh, void (*f)());
-+void zhash_vmap_values(zhash_t *vh, void (*f)(void *));
- 
- /**
-  * Returns an array which contains copies of all of the hash table's keys, in no
 diff --git a/common/zmaxheap.c b/common/zmaxheap.c
-index ed271420d229a98b56c7027f47d9830a78a97db1..a073ae5a17fdd5f11f4e17d56cc05548113f6a6c 100644
+index abbb549e41b6073f581b5c3216f024ed370b9212..af0cc1eedfc63670c51e5818444b6bc2d67d2c3a 100644
 --- a/common/zmaxheap.c
 +++ b/common/zmaxheap.c
-@@ -167,7 +167,7 @@ void zmaxheap_add(zmaxheap_t *heap, void *p, float v)
-     }
- }
- 
-void zmaxheap_vmap(zmaxheap_t *heap, void (*f)())
-+void zmaxheap_vmap(zmaxheap_t *heap, void (*f)(void*))
- {
-     assert(heap != NULL);
-     assert(f != NULL);
-@@ -358,7 +358,7 @@ void zmaxheap_iterator_finish(zmaxheap_iterator_t *it)
+@@ -357,7 +357,7 @@ void zmaxheap_iterator_finish(zmaxheap_iterator_t *it)
         maxheapify(heap, i);
 }
 
@@ -442,19 +297,6 @@ index ed271420d229a98b56c7027f47d9830a78a97db1..a073ae5a17fdd5f11f4e17d56cc05548
 {
     int cap = 10000;
     int sz = 0;
-diff --git a/common/zmaxheap.h b/common/zmaxheap.h
-index f0020f92e7a46c4814f30d77c189931e0e276d18..af9d1458c518e365828a5dd3bb7050cf57d2ce9b 100644
--- a/common/zmaxheap.h
-+++ b/common/zmaxheap.h
-@@ -39,7 +39,7 @@ struct zmaxheap_iterator {
- 
- zmaxheap_t *zmaxheap_create(size_t el_sz);
- 
-void zmaxheap_vmap(zmaxheap_t *heap, void (*f)());
-+void zmaxheap_vmap(zmaxheap_t *heap, void (*f)(void*));
- 
- void zmaxheap_destroy(zmaxheap_t *heap);
- 
 diff --git a/tag16h5.c b/tag16h5.c
 index 775f33c7e2d91af83e4a62949cadebdce34e3eb9..e38302a1d2ca2a2344a775569aed266d063a8861 100644
 --- a/tag16h5.c
@@ -508,10 +350,10 @@ index 9197c8b367d4b2047cb7d9882dfc11092f0b3dce..6e0107d28f3c3da6ae148a9005077427
 
 #ifdef __cplusplus
 diff --git a/tag36h10.c b/tag36h10.c
-index 44a129e74b135e803e2324cea179ac3001718e14..843dc4e9dcb3fbde3d86ce0a7d18703f7c358c15 100644
+index 9c02c34c5db82f693191acc8975ef514f04588d5..e103748df2ac11201959747e182a17c3f4710b11 100644
 --- a/tag36h10.c
 +++ b/tag36h10.c
-@@ -2323,7 +2323,7 @@ static uint64_t codedata[2320] = {
+@@ -2350,7 +2350,7 @@ static uint64_t codedata[2320] = {
    0x0000000447b9e7acUL,
    0x0000000d9f564f30UL,
 };
--- a/upstream_utils/apriltag_patches/0008-Remove-GCC-diagnostic-pragmas-on-windows.patch
+++ b/upstream_utils/apriltag_patches/0008-Remove-GCC-diagnostic-pragmas-on-windows.patch
@@ -0,0 +1,24 @@
+From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
+From: Ryan Blue <ryanzblue@gmail.com>
+Date: Fri, 23 Aug 2024 02:50:24 -0400
+Subject: [PATCH 8/8] Remove GCC diagnostic pragmas on windows
+
+---
+ common/pthreads_cross.c | 3 ---
+ 1 file changed, 3 deletions(-)
+
+diff --git a/common/pthreads_cross.c b/common/pthreads_cross.c
+index d48b81a1bbafa15f1c8a5b4fec6a755847947ce6..907fa62f3cf11f8afbe51a3ca5a492111720d707 100644
+--- a/common/pthreads_cross.c
+++ b/common/pthreads_cross.c
+@@ -44,10 +44,7 @@ int pthread_create(pthread_t *thread, pthread_attr_t *attr, void *(*start_routin
+     if (thread == NULL || start_routine == NULL)
+         return 1;
+ 
+-#pragma GCC diagnostic push
+-#pragma GCC diagnostic ignored "-Wcast-function-type"
+     *thread = (HANDLE) CreateThread(NULL, 0, (LPTHREAD_START_ROUTINE)start_routine, arg, 0, NULL);
+-#pragma GCC diagnostic pop
+     if (*thread == NULL)
+         return 1;
+     return 0;