ros-noetic-moveit-ros-perception.win.patch

diff --git a/moveit_ros/perception/CMakeLists.txt b/moveit_ros/perception/CMakeLists.txt
index 73f692e68..d17ed79d0 100644
--- a/moveit_ros/perception/CMakeLists.txt
+++ b/moveit_ros/perception/CMakeLists.txt
@@ -26,6 +26,9 @@ if(WITH_OPENGL)
   set(gl_LIBS ${gl_LIBS} ${OPENGL_LIBRARIES})
   set(perception_GL_INCLUDE_DIRS "mesh_filter/include" "depth_image_octomap_updater/include")
   set(SYSTEM_GL_INCLUDE_DIRS ${GLEW_INCLUDE_DIR} ${GLUT_INCLUDE_DIR})
+  if(TARGET GLEW::glew)
+    set(GLEW_LIBRARIES GLEW::glew)
+  endif()
 endif(WITH_OPENGL)
 
 if(APPLE)
@@ -18,6 +18,12 @@ if(WITH_OPENGL)
   set(SYSTEM_GL_INCLUDE_DIRS ${GLEW_INCLUDE_DIR} ${GLUT_INCLUDE_DIR})
 endif(WITH_OPENGL)
 
+if(MSVC AND ${MSVC_VERSION} GREATER_EQUAL 1915)
+  # You must acknowledge that you understand MSVC resolved a byte alignment issue in this compiler
+  # We get this due to using Eigen objects and allocating those objects with make_shared
+  add_compile_definitions(_ENABLE_EXTENDED_ALIGNED_STORAGE)
+endif()
+
 if(APPLE)
   find_package(X11 REQUIRED)
 endif(APPLE)
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/stereo_camera_model.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/stereo_camera_model.h
index 5ffd8174d..6445b8d37 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/stereo_camera_model.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/stereo_camera_model.h
@@ -39,6 +39,18 @@
 #include <moveit/mesh_filter/sensor_model.h>
 #include <string>
 
+// Import/export for windows dll's and visibility for gcc shared libraries.
+
+#ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries
+  #ifdef moveit_mesh_filter_EXPORTS // we are building a shared lib/dll
+    #define MOVEIT_MESH_FILTER_DECL ROS_HELPER_EXPORT
+  #else // we are using shared lib/dll
+    #define MOVEIT_MESH_FILTER_DECL ROS_HELPER_IMPORT
+  #endif
+#else // ros is being built around static libraries
+  #define MOVEIT_MESH_FILTER_DECL
+#endif
+
 namespace mesh_filter
 {
 /**
@@ -148,18 +160,18 @@ public:
   };
 
   /** \brief predefined sensor model for OpenNI compatible devices (e.g., PrimeSense, Kinect, Asus Xtion) */
-  static const StereoCameraModel::Parameters& REGISTERED_PSDK_PARAMS;  // NOLINT(readability-identifier-naming)
+  MOVEIT_MESH_FILTER_DECL static const StereoCameraModel::Parameters& REGISTERED_PSDK_PARAMS;  // NOLINT(readability-identifier-naming)
 
   /** \brief source code of the vertex shader used to render the meshes*/
-  static const std::string RENDER_VERTEX_SHADER_SOURCE;
+  MOVEIT_MESH_FILTER_DECL static const std::string RENDER_VERTEX_SHADER_SOURCE;
 
   /** \brief source code of the fragment shader used to render the meshes*/
-  static const std::string RENDER_FRAGMENT_SHADER_SOURCE;
+  MOVEIT_MESH_FILTER_DECL static const std::string RENDER_FRAGMENT_SHADER_SOURCE;
 
   /** \brief source code of the vertex shader used to filter the depth map*/
-  static const std::string FILTER_VERTEX_SHADER_SOURCE;
+  MOVEIT_MESH_FILTER_DECL static const std::string FILTER_VERTEX_SHADER_SOURCE;
 
   /** \brief source code of the fragment shader used to filter the depth map*/
-  static const std::string FILTER_FRAGMENT_SHADER_SOURCE;
+  MOVEIT_MESH_FILTER_DECL static const std::string FILTER_FRAGMENT_SHADER_SOURCE;
 };
 }  // namespace mesh_filter
diff --git a/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp b/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp
index 4f351b53e..93086ba74 100644
--- a/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp
+++ b/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp
@@ -52,7 +52,7 @@
 
 using namespace std;
 
-mesh_filter::GLRenderer::GLRenderer(unsigned width, unsigned height, float near, float far)
+mesh_filter::GLRenderer::GLRenderer(unsigned width, unsigned height, float _near, float _far)
   : width_(width)
   , height_(height)
   , fbo_id_(0)
@@ -60,8 +60,8 @@ mesh_filter::GLRenderer::GLRenderer(unsigned width, unsigned height, float near,
   , rgb_id_(0)
   , depth_id_(0)
   , program_(0)
-  , near_(near)
-  , far_(far)
+  , near_(_near)
+  , far_(_far)
   , fx_(width >> 1)  // 90 degree wide angle
   , fy_(fx_)
   , cx_(width >> 1)
@@ -89,14 +89,14 @@ void mesh_filter::GLRenderer::setBufferSize(unsigned width, unsigned height)
   }
 }
 
-void mesh_filter::GLRenderer::setClippingRange(float near, float far)
+void mesh_filter::GLRenderer::setClippingRange(float _near, float _far)
 {
   if (near_ <= 0)
     throw runtime_error("near clipping plane distance needs to be larger than 0");
   if (far_ <= near_)
     throw runtime_error("far clipping plane needs to be larger than near clipping plane distance");
-  near_ = near;
-  far_ = far;
+  near_ = _near;
+  far_ = _far;
 }
 
 void mesh_filter::GLRenderer::setCameraParameters(float fx, float fy, float cx, float cy)
diff --git a/moveit_ros/perception/mesh_filter/src/stereo_camera_model.cpp b/moveit_ros/perception/mesh_filter/src/stereo_camera_model.cpp
index 5881faffd..7ae0d76b0 100644
--- a/moveit_ros/perception/mesh_filter/src/stereo_camera_model.cpp
+++ b/moveit_ros/perception/mesh_filter/src/stereo_camera_model.cpp
@@ -34,6 +34,7 @@
 
 /* Author: Suat Gedikli */
 
+#include <ros/ros.h>
 #include <moveit/mesh_filter/stereo_camera_model.h>
 #include <moveit/mesh_filter/gl_renderer.h>