diff --git a/3rdparty/apriltag/common/pthreads_cross.c b/3rdparty/apriltag/common/pthreads_cross.c
index 3403863f38..a2aaeebe16 100644
--- a/3rdparty/apriltag/common/pthreads_cross.c
+++ b/3rdparty/apriltag/common/pthreads_cross.c
@@ -22,7 +22,8 @@ SOFTWARE.
 
 #include "common/pthreads_cross.h"
 
-#ifdef _WIN32
+//#ifdef _WIN32
+#if defined(_WIN32) && !defined(__MINGW32__)
 
 typedef struct {
     SRWLOCK lock;
@@ -246,11 +247,11 @@ unsigned int pcthread_get_num_procs()
     return sysinfo.dwNumberOfProcessors;
 }
 
-#else
+//#else
 
-#include <unistd.h>
-unsigned int pcthread_get_num_procs()
-{
-    return (unsigned int)sysconf(_SC_NPROCESSORS_ONLN);
-}
+//#include <unistd.h>
+//unsigned int pcthread_get_num_procs()
+//{
+//    return (unsigned int)sysconf(_SC_NPROCESSORS_ONLN);
+//}
 #endif
diff --git a/3rdparty/apriltag/common/pthreads_cross.h b/3rdparty/apriltag/common/pthreads_cross.h
index 5970c67931..043bd8ada3 100644
--- a/3rdparty/apriltag/common/pthreads_cross.h
+++ b/3rdparty/apriltag/common/pthreads_cross.h
@@ -23,7 +23,8 @@ SOFTWARE.
 #ifndef __CPTHREAD_H__
 #define __CPTHREAD_H__
 
-#ifdef _WIN32
+//#ifdef _WIN32
+#if defined(_WIN32) && !defined(__MINGW32__)
 #include <stdbool.h>
 #include <windows.h>
 #else
@@ -32,7 +33,8 @@ SOFTWARE.
 #endif
 #include <time.h>
 
-#ifdef _WIN32
+//#ifdef _WIN32
+#if defined(_WIN32) && !defined(__MINGW32__)
 
 typedef CRITICAL_SECTION pthread_mutex_t;
 typedef void pthread_mutexattr_t;
diff --git a/3rdparty/apriltag/common/time_util.h b/3rdparty/apriltag/common/time_util.h
index c1840495a3..1c438fea17 100644
--- a/3rdparty/apriltag/common/time_util.h
+++ b/3rdparty/apriltag/common/time_util.h
@@ -36,7 +36,8 @@ either expressed or implied, of the Regents of The University of Michigan.
 typedef long long suseconds_t;
 #endif
 
-#ifdef _MSC_VER
+//#ifdef _MSC_VER
+#if defined(_MSC_VER) && defined(__MINGW32__)
 
 inline int gettimeofday(struct timeval* tp, void* tzp)
 {