Merge "Make v4l2reader support rockpi"
diff --git a/third_party/apriltag/.github/ISSUE_TEMPLATE/bug_report.md b/third_party/apriltag/.github/ISSUE_TEMPLATE/bug_report.md
new file mode 100644
index 0000000..21ae48d
--- /dev/null
+++ b/third_party/apriltag/.github/ISSUE_TEMPLATE/bug_report.md
@@ -0,0 +1,36 @@
+---
+name: Bug report
+about: Create a report to help improve AprilTag
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+[e.g. Run apriltag_demo on the attached input image.]
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+** Input Image**
+If applicable, please attach the input image that reproduces the problem.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Operating Sytem**
+[e.g. Ubuntu, iOS, Windows]
+
+** Installation Method**
+[e.g. I built AprilTag from source following the instructions in the README]
+
+** Code version **
+What does the version tag in package.xml say? Or, if you have downloaded the code from github right now, say current github HEAD.
+
+**Additional context**
+Add any other context about the problem here.
diff --git a/third_party/apriltag/.github/workflows/industrial_ci_action.yml b/third_party/apriltag/.github/workflows/industrial_ci_action.yml
new file mode 100644
index 0000000..b5105b1
--- /dev/null
+++ b/third_party/apriltag/.github/workflows/industrial_ci_action.yml
@@ -0,0 +1,34 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: ROS-CI
+
+# This determines when this workflow is run
+on: [push, pull_request] # on all pushes and PRs
+
+jobs:
+ CI:
+ strategy:
+ matrix:
+ env:
+ # ROS 1
+ - {ROS_DISTRO: kinetic}
+ - {ROS_DISTRO: melodic}
+ - {ROS_DISTRO: noetic}
+ # ROS 2
+ - {ROS_DISTRO: galactic}
+ env:
+ CCACHE_DIR: /github/home/.ccache # Enable ccache
+ runs-on: ubuntu-latest
+ steps:
+ - uses: actions/checkout@v2
+ with:
+ submodules: recursive
+ # This step will fetch/store the directory used by ccache before/after the ci run
+ - uses: actions/cache@v2
+ with:
+ path: ${{ env.CCACHE_DIR }}
+ key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+ # Run industrial_ci
+ - uses: 'ros-industrial/industrial_ci@master'
+ env: ${{ matrix.env }}
diff --git a/third_party/apriltag/.github/workflows/ros_workspace.yml b/third_party/apriltag/.github/workflows/ros_workspace.yml
new file mode 100644
index 0000000..7315b26
--- /dev/null
+++ b/third_party/apriltag/.github/workflows/ros_workspace.yml
@@ -0,0 +1,153 @@
+name: ROS workspace CI
+
+on: [push, pull_request]
+
+jobs:
+ # build on Ubuntu docker images
+ build_linux:
+ name: Ubuntu (${{ matrix.ros_distribution }}, ${{ matrix.config }})
+
+ runs-on: ubuntu-latest
+
+ strategy:
+ matrix:
+ ros_distribution: [melodic, noetic, humble]
+ config: ["default"] # nice name
+ cmake_args: ['[ ]'] # empty list of options
+ include:
+ - docker_image: ubuntu:18.04
+ ros_distribution: melodic
+ ros_version: 1
+
+ - docker_image: ubuntu:20.04
+ ros_distribution: noetic
+ ros_version: 1
+
+ - docker_image: ubuntu:22.04
+ ros_distribution: humble
+ ros_version: 2
+
+ # build static library, this will set BUILD_PYTHON_WRAPPER to OFF
+ - docker_image: ubuntu:22.04
+ ros_distribution: humble
+ ros_version: 2
+ config: "static"
+ cmake_args: '[ "-DBUILD_SHARED_LIBS=OFF" ]'
+
+ container:
+ image: ${{ matrix.docker_image }}
+
+ steps:
+ - name: install core dependencies
+ run: |
+ apt update
+ apt install --no-install-recommends -y git ca-certificates
+
+ - uses: actions/checkout@v3
+ #with:
+ # submodules: recursive
+
+ - name: Setup ROS environment
+ uses: ros-tooling/setup-ros@v0.4
+
+ - name: ROS 1 CI Action
+ if: ${{ matrix.ros_version == 1 }}
+ uses: ros-tooling/action-ros-ci@v0.2
+ with:
+ package-name: apriltag
+ target-ros1-distro: ${{ matrix.ros_distribution }}
+
+ - name: ROS 2 CI Action
+ if: ${{ matrix.ros_version == 2 }}
+ uses: ros-tooling/action-ros-ci@v0.2
+ with:
+ package-name: apriltag
+ target-ros2-distro: ${{ matrix.ros_distribution }}
+ colcon-defaults: |
+ {
+ "build": {
+ "cmake-args": ${{ matrix.cmake_args }}
+ }
+ }
+
+
+ # build on Windows native
+ build_windows:
+ name: Windows (${{ matrix.ros_distribution }})
+
+ runs-on: windows-2019
+
+ strategy:
+ matrix:
+ ros_distribution: [noetic, humble]
+ include:
+ - ros_distribution: noetic
+ ros_version: 1
+
+ - ros_distribution: humble
+ ros_version: 2
+
+ steps:
+ - uses: actions/checkout@v3
+ with:
+ submodules: recursive
+
+ - name: Setup ROS environment
+ uses: ros-tooling/setup-ros@v0.4
+
+ - name: ROS 1 CI Action
+ if: ${{ matrix.ros_version == 1 }}
+ uses: ros-tooling/action-ros-ci@v0.2
+ with:
+ package-name: apriltag
+ target-ros1-distro: ${{ matrix.ros_distribution }}
+ colcon-defaults: |
+ {
+ "build": {
+ "cmake-args": [ "-DBUILD_SHARED_LIBS=OFF" ]
+ }
+ }
+
+ - name: ROS 2 CI Action
+ if: ${{ matrix.ros_version == 2 }}
+ uses: ros-tooling/action-ros-ci@v0.2
+ with:
+ package-name: apriltag
+ target-ros2-distro: ${{ matrix.ros_distribution }}
+ colcon-defaults: |
+ {
+ "build": {
+ "cmake-args": [ "-DBUILD_SHARED_LIBS=OFF" ]
+ }
+ }
+
+ # build on macOS native
+ build_macos:
+ name: macOS (${{ matrix.ros_distribution }})
+
+ runs-on: macos-latest
+
+ strategy:
+ fail-fast: false
+ matrix:
+ ros_distribution: [humble]
+
+ steps:
+ - uses: actions/checkout@v3
+ with:
+ submodules: recursive
+
+ - name: Setup ROS environment
+ uses: ros-tooling/setup-ros@v0.4
+
+ - name: ROS 2 CI Action
+ uses: ros-tooling/action-ros-ci@v0.2
+ with:
+ package-name: apriltag
+ target-ros2-distro: ${{ matrix.ros_distribution }}
+ colcon-defaults: |
+ {
+ "build": {
+ "cmake-args": [ "-DBUILD_PYTHON_WRAPPER=OFF" ]
+ }
+ }
diff --git a/third_party/apriltag/.gitignore b/third_party/apriltag/.gitignore
new file mode 100644
index 0000000..8a45d70
--- /dev/null
+++ b/third_party/apriltag/.gitignore
@@ -0,0 +1,8 @@
+*.a
+*.so
+*.o
+*.swp
+example/opencv_demo
+example/apriltag_demo
+build/
+
diff --git a/third_party/apriltag/CMake/apriltagConfig.cmake.in b/third_party/apriltag/CMake/apriltagConfig.cmake.in
new file mode 100644
index 0000000..205bf90
--- /dev/null
+++ b/third_party/apriltag/CMake/apriltagConfig.cmake.in
@@ -0,0 +1,17 @@
+@PACKAGE_INIT@
+
+if(NOT MSVC)
+ include(CMakeFindDependencyMacro)
+ find_dependency(Threads)
+endif()
+
+include("${CMAKE_CURRENT_LIST_DIR}/@targets_export_name@.cmake")
+check_required_components("@PROJECT_NAME@")
+
+if(NOT TARGET apriltag AND ${CMAKE_VERSION} VERSION_GREATER "3.10.99")
+ # Make imported target globally visible in order to create an ALIAS
+ # IMPORTED_GLOBAL is only available in CMake 3.11+
+ set_target_properties(apriltag::apriltag PROPERTIES IMPORTED_GLOBAL TRUE)
+ # Create alias for backwards compatibility with 3.1.2 and earlier (will be removed in the future - please migrate to apriltag::apriltag)
+ add_library(apriltag ALIAS apriltag::apriltag)
+endif()
diff --git a/third_party/apriltag/CMakeLists.txt b/third_party/apriltag/CMakeLists.txt
new file mode 100644
index 0000000..886edb9
--- /dev/null
+++ b/third_party/apriltag/CMakeLists.txt
@@ -0,0 +1,187 @@
+cmake_minimum_required(VERSION 3.1)
+project(apriltag VERSION 3.3.0 LANGUAGES C CXX)
+
+if(POLICY CMP0077)
+ cmake_policy(SET CMP0077 NEW)
+endif()
+option(BUILD_SHARED_LIBS "Build shared libraries" ON)
+option(ASAN "Use AddressSanitizer for debug builds to detect memory issues" OFF)
+
+if (ASAN)
+ set(ASAN_FLAGS "\
+ -fsanitize=address \
+ -fsanitize=bool \
+ -fsanitize=bounds \
+ -fsanitize=enum \
+ -fsanitize=float-cast-overflow \
+ -fsanitize=float-divide-by-zero \
+ -fsanitize=nonnull-attribute \
+ -fsanitize=returns-nonnull-attribute \
+ -fsanitize=signed-integer-overflow \
+ -fsanitize=undefined \
+ -fsanitize=vla-bound \
+ -fno-sanitize=alignment \
+ -fsanitize=leak \
+ -fsanitize=object-size \
+ ")
+ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${ASAN_FLAGS}")
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${ASAN_FLAGS}")
+endif()
+
+# Set a default build type if none was specified
+set(default_build_type "Release")
+
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+ message(STATUS "Setting build type to '${default_build_type}' as none was specified.")
+ set(CMAKE_BUILD_TYPE "${default_build_type}" CACHE STRING "Choose the type of build." FORCE)
+ # Set the possible values of build type for cmake-gui
+ set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
+endif()
+
+aux_source_directory(common COMMON_SRC)
+set(APRILTAG_SRCS apriltag.c apriltag_pose.c apriltag_quad_thresh.c)
+
+# Library
+file(GLOB TAG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/tag*.c)
+add_library(${PROJECT_NAME} ${APRILTAG_SRCS} ${COMMON_SRC} ${TAG_FILES})
+
+if (MSVC)
+ add_compile_definitions("_CRT_SECURE_NO_WARNINGS")
+else()
+ find_package(Threads REQUIRED)
+ target_link_libraries(${PROJECT_NAME} PUBLIC Threads::Threads m)
+endif()
+
+set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION 3 VERSION ${PROJECT_VERSION})
+set_target_properties(${PROJECT_NAME} PROPERTIES DEBUG_POSTFIX "d")
+
+include(GNUInstallDirs)
+target_include_directories(${PROJECT_NAME} PUBLIC
+ "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/>"
+ "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>"
+ "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>/apriltag")
+
+
+# install header file hierarchy
+file(GLOB HEADER_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} *.h common/*.h)
+list(REMOVE_ITEM HEADER_FILES apriltag_detect.docstring.h apriltag_py_type.docstring.h)
+
+foreach(HEADER ${HEADER_FILES})
+ string(REGEX MATCH "(.*)[/\\]" DIR ${HEADER})
+ install(FILES ${HEADER} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME}/${DIR})
+endforeach()
+
+# export library
+set(generated_dir "${CMAKE_CURRENT_BINARY_DIR}/generated")
+set(version_config "${generated_dir}/${PROJECT_NAME}ConfigVersion.cmake")
+set(project_config "${generated_dir}/${PROJECT_NAME}Config.cmake")
+set(targets_export_name "${PROJECT_NAME}Targets")
+set(config_install_dir "share/${PROJECT_NAME}/cmake")
+
+# Include module with fuction 'write_basic_package_version_file'
+include(CMakePackageConfigHelpers)
+
+# Configure '<PROJECT-NAME>Config.cmake'
+# Use variables:
+# * targets_export_name
+# * PROJECT_NAME
+configure_package_config_file(
+ "CMake/apriltagConfig.cmake.in"
+ "${project_config}"
+ INSTALL_DESTINATION "${config_install_dir}"
+)
+
+# Configure '<PROJECT-NAME>ConfigVersion.cmake'
+# Note: PROJECT_VERSION is used as a VERSION
+write_basic_package_version_file("${version_config}" COMPATIBILITY SameMajorVersion)
+
+
+# install library
+install(TARGETS ${PROJECT_NAME} EXPORT ${targets_export_name}
+ LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+ ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+ )
+
+install(EXPORT ${targets_export_name}
+ NAMESPACE apriltag::
+ DESTINATION ${config_install_dir})
+
+install(FILES ${project_config} ${version_config} DESTINATION ${config_install_dir})
+
+export(TARGETS apriltag
+ NAMESPACE apriltag::
+ FILE ${generated_dir}/${targets_export_name}.cmake)
+
+
+# install pkgconfig file
+configure_file(${PROJECT_NAME}.pc.in ${PROJECT_NAME}.pc @ONLY)
+install(FILES "${CMAKE_BINARY_DIR}/${PROJECT_NAME}.pc"
+ DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig")
+
+
+# Python wrapper
+include(CMakeDependentOption)
+cmake_dependent_option(BUILD_PYTHON_WRAPPER "Builds Python wrapper" ON BUILD_SHARED_LIBS OFF)
+
+if(BUILD_PYTHON_WRAPPER)
+ SET(Python_ADDITIONAL_VERSIONS 3)
+ find_package(PythonLibs)
+ execute_process(COMMAND which python3 OUTPUT_QUIET RESULT_VARIABLE Python3_NOT_FOUND)
+ execute_process(COMMAND python3 -c "import numpy" RESULT_VARIABLE Numpy_NOT_FOUND)
+endif(BUILD_PYTHON_WRAPPER)
+
+if (NOT Python3_NOT_FOUND AND NOT Numpy_NOT_FOUND AND PYTHONLIBS_FOUND AND BUILD_PYTHON_WRAPPER)
+ # TODO deal with both python2/3
+ execute_process(COMMAND python3 ${CMAKE_CURRENT_SOURCE_DIR}/python_build_flags.py OUTPUT_VARIABLE PY_OUT)
+ set(PY_VARS CFLAGS LDFLAGS LINKER EXT_SUFFIX)
+ cmake_parse_arguments(PY "" "${PY_VARS}" "" ${PY_OUT})
+ separate_arguments(PY_CFLAGS)
+ list(REMOVE_ITEM PY_CFLAGS -flto)
+ separate_arguments(PY_LDFLAGS)
+
+ foreach(X detect py_type)
+ add_custom_command(OUTPUT ${PROJECT_BINARY_DIR}/apriltag_${X}.docstring.h
+ COMMAND < ${CMAKE_CURRENT_SOURCE_DIR}/apriltag_${X}.docstring sed 's/\"/\\\\\"/g\; s/^/\"/\; s/$$/\\\\n\"/\;' > apriltag_${X}.docstring.h
+ WORKING_DIRECTORY ${PROJECT_BINARY_DIR})
+ endforeach()
+
+ add_custom_command(OUTPUT apriltag_pywrap.o
+ COMMAND ${CMAKE_C_COMPILER} ${PY_CFLAGS} -I${PROJECT_BINARY_DIR} -c -o apriltag_pywrap.o ${CMAKE_CURRENT_SOURCE_DIR}/apriltag_pywrap.c
+ DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/apriltag_pywrap.c ${PROJECT_BINARY_DIR}/apriltag_detect.docstring.h ${PROJECT_BINARY_DIR}/apriltag_py_type.docstring.h)
+ add_custom_command(OUTPUT apriltag${PY_EXT_SUFFIX}
+ COMMAND ${PY_LINKER} ${PY_LDFLAGS} -Wl,-rpath,lib apriltag_pywrap.o $<TARGET_FILE:apriltag> -o apriltag${PY_EXT_SUFFIX}
+ DEPENDS ${PROJECT_NAME} apriltag_pywrap.o)
+ add_custom_target(apriltag_python ALL
+ DEPENDS apriltag${PY_EXT_SUFFIX})
+
+execute_process(COMMAND python3 -m site --user-site OUTPUT_VARIABLE PY_DEST)
+string(STRIP ${PY_DEST} PY_DEST)
+install(FILES ${PROJECT_BINARY_DIR}/apriltag${PY_EXT_SUFFIX} DESTINATION ${PY_DEST})
+endif (NOT Python3_NOT_FOUND AND NOT Numpy_NOT_FOUND AND PYTHONLIBS_FOUND AND BUILD_PYTHON_WRAPPER)
+
+# Examples
+# apriltag_demo
+add_executable(apriltag_demo example/apriltag_demo.c)
+target_link_libraries(apriltag_demo ${PROJECT_NAME})
+
+# opencv_demo
+set(_OpenCV_REQUIRED_COMPONENTS core imgproc videoio highgui)
+find_package(OpenCV COMPONENTS ${_OpenCV_REQUIRED_COMPONENTS} QUIET CONFIG)
+if(OpenCV_FOUND)
+ # NB: contrib required for TickMeter in OpenCV 2.4. This is only required for 16.04 backwards compatibility and can be removed in the future.
+ # If we add it to the find_package initially, the demo won't build for newer OpenCV versions
+ if(OpenCV_VERSION VERSION_LESS "3.0.0")
+ list(APPEND _OpenCV_REQUIRED_COMPONENTS contrib)
+ find_package(OpenCV COMPONENTS ${_OpenCV_REQUIRED_COMPONENTS} CONFIG)
+ endif()
+
+ add_executable(opencv_demo example/opencv_demo.cc)
+ target_link_libraries(opencv_demo apriltag ${OpenCV_LIBRARIES})
+ set_target_properties(opencv_demo PROPERTIES CXX_STANDARD 11)
+ install(TARGETS opencv_demo RUNTIME DESTINATION bin)
+else()
+ message(STATUS "OpenCV not found: Not building demo")
+endif(OpenCV_FOUND)
+
+# install example programs
+install(TARGETS apriltag_demo RUNTIME DESTINATION bin)
diff --git a/third_party/apriltag/LICENSE.md b/third_party/apriltag/LICENSE.md
new file mode 100644
index 0000000..566078f
--- /dev/null
+++ b/third_party/apriltag/LICENSE.md
@@ -0,0 +1,25 @@
+BSD 2-Clause License
+
+Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/third_party/apriltag/Makefile b/third_party/apriltag/Makefile
new file mode 100644
index 0000000..32574ad
--- /dev/null
+++ b/third_party/apriltag/Makefile
@@ -0,0 +1,41 @@
+PREFIX ?= /usr/local
+
+CC = gcc
+AR = ar
+
+CFLAGS = -std=gnu99 -fPIC -Wall -Wno-unused-parameter -Wno-unused-function
+CFLAGS += -I. -O3 -fno-strict-overflow
+
+#APRILTAG_SRCS := $(shell ls *.c common/*.c)
+APRILTAG_SRCS := apriltag.c apriltag_pose.c apriltag_quad_thresh.c common/g2d.c common/getopt.c common/homography.c common/image_u8.c common/image_u8x3.c common/image_u8x4.c common/matd.c common/pam.c common/pjpeg.c common/pjpeg-idct.c common/pnm.c common/string_util.c common/svd22.c common/time_util.c common/unionfind.c common/workerpool.c common/zarray.c common/zhash.c common/zmaxheap.c tag16h5.c tag25h9.c tag36h11.c tagCircle21h7.c tagCircle49h12.c tagCustom48h12.c tagStandard41h12.c tagStandard52h13.c
+APRILTAG_HEADERS := $(shell ls *.h common/*.h)
+APRILTAG_OBJS := $(APRILTAG_SRCS:%.c=%.o)
+TARGETS := libapriltag.a libapriltag.so
+
+.PHONY: all
+all: $(TARGETS)
+ @$(MAKE) -C example all
+
+.PHONY: install
+install: libapriltag.so
+ @chmod +x install.sh
+ @./install.sh $(PREFIX)/lib libapriltag.so
+ @./install.sh $(PREFIX)/include/apriltag $(APRILTAG_HEADERS)
+ @ldconfig
+
+libapriltag.a: $(APRILTAG_OBJS)
+ @echo " [$@]"
+ @$(AR) -cq $@ $(APRILTAG_OBJS)
+
+libapriltag.so: $(APRILTAG_OBJS)
+ @echo " [$@]"
+ @$(CC) -fPIC -shared -o $@ $^
+
+%.o: %.c
+ @echo " $@"
+ @$(CC) -o $@ -c $< $(CFLAGS)
+
+.PHONY: clean
+clean:
+ @rm -rf *.o common/*.o $(TARGETS)
+ @$(MAKE) -C example clean
diff --git a/third_party/apriltag/README.md b/third_party/apriltag/README.md
new file mode 100644
index 0000000..11fa75a
--- /dev/null
+++ b/third_party/apriltag/README.md
@@ -0,0 +1,89 @@
+AprilTag 3
+==========
+AprilTag is a visual fiducial system popular in robotics research. This repository contains the most recent version of AprilTag, AprilTag 3, which includes a faster (>2x) detector, improved detection rate on small tags, flexible tag layouts, and pose estimation. AprilTag consists of a small C library with minimal dependencies.
+
+You can find tag images for the pre-generated layouts [here](https://github.com/AprilRobotics/apriltag-imgs). We recommend using the tagStandard41h12 layout.
+
+Papers
+======
+AprilTag is the subject of the following papers.
+
+[AprilTag: A robust and flexible visual fiducial system](https://april.eecs.umich.edu/papers/details.php?name=olson2011tags)
+
+[AprilTag 2: Efficient and robust fiducial detection](https://april.eecs.umich.edu/papers/details.php?name=wang2016iros)
+
+[Flexible Layouts for Fiducial Tags](https://april.eecs.umich.edu/papers/details.php?name=krogius2019iros)
+
+
+
+Usage
+=====
+[User Guide](https://github.com/AprilRobotics/apriltag/wiki/AprilTag-User-Guide)
+
+Install
+=======
+
+Officially only Linux operating systems are supported, although users have had success installing on Windows too.
+
+The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
+
+## cmake
+If you have CMake installed, then do:
+```
+cmake -B build -DCMAKE_BUILD_TYPE=Release
+cmake --build build --target install
+```
+This will build shared (\*.so) libraries by default. If you need static (\*.a) libraries set `BUILD_SHARED_LIBS` to `OFF`:
+```
+cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF
+cmake --build build --target install
+```
+
+If you have Ninja (`sudo apt install ninja-build`) installed, you can use:
+```
+cmake -B build -GNinja -DCMAKE_BUILD_TYPE=Release
+cmake --build build --target install
+```
+to generate and compile via the ninja build script. It will be much faster than with cmake's default Makefile generator.
+
+You can omit `--target install` if you only want to use this locally without installing.
+
+## make
+Otherwise, we have a handwritten makefile you can use (be warned it will do slightly different things):
+```
+make -j
+sudo make install
+```
+
+To install to a different directory than /usr/local:
+
+ $ PREFIX=/some/path sudo make install
+
+Debugging
+=========
+
+You can enable [AddressSanitizer](https://clang.llvm.org/docs/AddressSanitizer.html) to debug memory issues for Debug builds by setting the `ASAN` option:
+```
+cmake -B build -GNinja -DCMAKE_BUILD_TYPE=Debug -DASAN=ON
+cmake --build build
+```
+
+Mostly you can then run your executables as usual and inspect the sanitiser output. If you get a message like `ASan runtime does not come first in initial library list; you should either link runtime to your application or manually preload it with LD_PRELOAD.` you have to preload the corresponding `libasan.so.5` like this:
+```
+LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libasan.so.5 ./build/opencv_demo
+```
+
+Flexible Layouts
+================
+AprilTag 3 supports a wide variety of possible tag layouts in addition to the classic layout supported in AprilTag 2. The tag's data bits can now go outside of the tag border, and it is also possible to define layouts with "holes" inside of the tag border where there are no data bits. In this repo we have included:
+
+* Two families of the new standard layout. This layout adds a layer of data bits around the outside of the tag border, increasing data density, and the number of possible tags, at the cost of a slight decrease in detection distance.
+* Two families of circular tags.
+* One family which has a hole in the middle. This could be used for example for drone applications by placing different sized tags inside of each other to allow detection over a wide range of distances.
+
+You can generate your own tag families using our other repo, [AprilTag-Generation](https://github.com/AprilRobotics/apriltag-generation).
+
+
+Support
+=======
+Please create an issue on this GitHub for any questions instead of sending a private message. This allows other people with the same question to find your answer.
diff --git a/third_party/apriltag/apriltag.c b/third_party/apriltag/apriltag.c
new file mode 100644
index 0000000..3086228
--- /dev/null
+++ b/third_party/apriltag/apriltag.c
@@ -0,0 +1,1453 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include "apriltag.h"
+
+#include <math.h>
+#include <assert.h>
+#include <stdint.h>
+#include <string.h>
+#include <stdio.h>
+#include <errno.h>
+
+#include "common/image_u8.h"
+#include "common/image_u8x3.h"
+#include "common/zarray.h"
+#include "common/matd.h"
+#include "common/homography.h"
+#include "common/timeprofile.h"
+#include "common/math_util.h"
+#include "common/g2d.h"
+#include "common/debug_print.h"
+
+#include "apriltag_math.h"
+
+#include "common/postscript_utils.h"
+
+#ifndef M_PI
+# define M_PI 3.141592653589793238462643383279502884196
+#endif
+
+#ifdef _WIN32
+static inline void srandom(unsigned int seed)
+{
+ srand(seed);
+}
+
+static inline long int random(void)
+{
+ return rand();
+}
+#endif
+
+#define APRILTAG_U64_ONE ((uint64_t) 1)
+
+extern zarray_t *apriltag_quad_thresh(apriltag_detector_t *td, image_u8_t *im);
+
+// Regresses a model of the form:
+// intensity(x,y) = C0*x + C1*y + CC2
+// The J matrix is the:
+// J = [ x1 y1 1 ]
+// [ x2 y2 1 ]
+// [ ... ]
+// The A matrix is J'J
+
+struct graymodel
+{
+ double A[3][3];
+ double B[3];
+ double C[3];
+};
+
+static void graymodel_init(struct graymodel *gm)
+{
+ memset(gm, 0, sizeof(struct graymodel));
+}
+
+static void graymodel_add(struct graymodel *gm, double x, double y, double gray)
+{
+ // update upper right entries of A = J'J
+ gm->A[0][0] += x*x;
+ gm->A[0][1] += x*y;
+ gm->A[0][2] += x;
+ gm->A[1][1] += y*y;
+ gm->A[1][2] += y;
+ gm->A[2][2] += 1;
+
+ // update B = J'gray
+ gm->B[0] += x * gray;
+ gm->B[1] += y * gray;
+ gm->B[2] += gray;
+}
+
+static void graymodel_solve(struct graymodel *gm)
+{
+ mat33_sym_solve((double*) gm->A, gm->B, gm->C);
+}
+
+static double graymodel_interpolate(struct graymodel *gm, double x, double y)
+{
+ return gm->C[0]*x + gm->C[1]*y + gm->C[2];
+}
+
+struct quick_decode_entry
+{
+ uint64_t rcode; // the queried code
+ uint16_t id; // the tag ID (a small integer)
+ uint8_t hamming; // how many errors corrected?
+ uint8_t rotation; // number of rotations [0, 3]
+};
+
+struct quick_decode
+{
+ int nentries;
+ struct quick_decode_entry *entries;
+};
+
+/**
+ * Assuming we are drawing the image one quadrant at a time, what would the rotated image look like?
+ * Special care is taken to handle the case where there is a middle pixel of the image.
+ */
+static uint64_t rotate90(uint64_t w, int numBits)
+{
+ int p = numBits;
+ uint64_t l = 0;
+ if (numBits % 4 == 1) {
+ p = numBits - 1;
+ l = 1;
+ }
+ w = ((w >> l) << (p/4 + l)) | (w >> (3 * p/ 4 + l) << l) | (w & l);
+ w &= ((APRILTAG_U64_ONE << numBits) - 1);
+ return w;
+}
+
+static void quad_destroy(struct quad *quad)
+{
+ if (!quad)
+ return;
+
+ matd_destroy(quad->H);
+ matd_destroy(quad->Hinv);
+ free(quad);
+}
+
+static struct quad *quad_copy(struct quad *quad)
+{
+ struct quad *q = calloc(1, sizeof(struct quad));
+ memcpy(q, quad, sizeof(struct quad));
+ if (quad->H)
+ q->H = matd_copy(quad->H);
+ if (quad->Hinv)
+ q->Hinv = matd_copy(quad->Hinv);
+ return q;
+}
+
+static void quick_decode_add(struct quick_decode *qd, uint64_t code, int id, int hamming)
+{
+ uint32_t bucket = code % qd->nentries;
+
+ while (qd->entries[bucket].rcode != UINT64_MAX) {
+ bucket = (bucket + 1) % qd->nentries;
+ }
+
+ qd->entries[bucket].rcode = code;
+ qd->entries[bucket].id = id;
+ qd->entries[bucket].hamming = hamming;
+}
+
+static void quick_decode_uninit(apriltag_family_t *fam)
+{
+ if (!fam->impl)
+ return;
+
+ struct quick_decode *qd = (struct quick_decode*) fam->impl;
+ free(qd->entries);
+ free(qd);
+ fam->impl = NULL;
+}
+
+static void quick_decode_init(apriltag_family_t *family, int maxhamming)
+{
+ assert(family->impl == NULL);
+ assert(family->ncodes < 65536);
+
+ struct quick_decode *qd = calloc(1, sizeof(struct quick_decode));
+ int capacity = family->ncodes;
+
+ int nbits = family->nbits;
+
+ if (maxhamming >= 1)
+ capacity += family->ncodes * nbits;
+
+ if (maxhamming >= 2)
+ capacity += family->ncodes * nbits * (nbits-1);
+
+ if (maxhamming >= 3)
+ capacity += family->ncodes * nbits * (nbits-1) * (nbits-2);
+
+ qd->nentries = capacity * 3;
+
+// debug_print("capacity %d, size: %.0f kB\n",
+// capacity, qd->nentries * sizeof(struct quick_decode_entry) / 1024.0);
+
+ qd->entries = calloc(qd->nentries, sizeof(struct quick_decode_entry));
+ if (qd->entries == NULL) {
+ debug_print("Failed to allocate hamming decode table\n");
+ // errno already set to ENOMEM (Error No MEMory) by calloc() failure
+ return;
+ }
+
+ for (int i = 0; i < qd->nentries; i++)
+ qd->entries[i].rcode = UINT64_MAX;
+
+ errno = 0;
+
+ for (int i = 0; i < family->ncodes; i++) {
+ uint64_t code = family->codes[i];
+
+ // add exact code (hamming = 0)
+ quick_decode_add(qd, code, i, 0);
+
+ if (maxhamming >= 1) {
+ // add hamming 1
+ for (int j = 0; j < nbits; j++)
+ quick_decode_add(qd, code ^ (APRILTAG_U64_ONE << j), i, 1);
+ }
+
+ if (maxhamming >= 2) {
+ // add hamming 2
+ for (int j = 0; j < nbits; j++)
+ for (int k = 0; k < j; k++)
+ quick_decode_add(qd, code ^ (APRILTAG_U64_ONE << j) ^ (APRILTAG_U64_ONE << k), i, 2);
+ }
+
+ if (maxhamming >= 3) {
+ // add hamming 3
+ for (int j = 0; j < nbits; j++)
+ for (int k = 0; k < j; k++)
+ for (int m = 0; m < k; m++)
+ quick_decode_add(qd, code ^ (APRILTAG_U64_ONE << j) ^ (APRILTAG_U64_ONE << k) ^ (APRILTAG_U64_ONE << m), i, 3);
+ }
+
+ if (maxhamming > 3) {
+ debug_print("\"maxhamming\" beyond 3 not supported\n");
+ // set errno to Error INvalid VALue
+ errno = EINVAL;
+ return;
+ }
+ }
+
+ family->impl = qd;
+
+ #if 0
+ int longest_run = 0;
+ int run = 0;
+ int run_sum = 0;
+ int run_count = 0;
+
+ // This accounting code doesn't check the last possible run that
+ // occurs at the wrap-around. That's pretty insignificant.
+ for (int i = 0; i < qd->nentries; i++) {
+ if (qd->entries[i].rcode == UINT64_MAX) {
+ if (run > 0) {
+ run_sum += run;
+ run_count ++;
+ }
+ run = 0;
+ } else {
+ run ++;
+ longest_run = imax(longest_run, run);
+ }
+ }
+
+ printf("quick decode: longest run: %d, average run %.3f\n", longest_run, 1.0 * run_sum / run_count);
+ #endif
+}
+
+// returns an entry with hamming set to 255 if no decode was found.
+static void quick_decode_codeword(apriltag_family_t *tf, uint64_t rcode,
+ struct quick_decode_entry *entry)
+{
+ struct quick_decode *qd = (struct quick_decode*) tf->impl;
+
+ // qd might be null if detector_add_family_bits() failed
+ for (int ridx = 0; qd != NULL && ridx < 4; ridx++) {
+
+ for (int bucket = rcode % qd->nentries;
+ qd->entries[bucket].rcode != UINT64_MAX;
+ bucket = (bucket + 1) % qd->nentries) {
+
+ if (qd->entries[bucket].rcode == rcode) {
+ *entry = qd->entries[bucket];
+ entry->rotation = ridx;
+ return;
+ }
+ }
+
+ rcode = rotate90(rcode, tf->nbits);
+ }
+
+ entry->rcode = 0;
+ entry->id = 65535;
+ entry->hamming = 255;
+ entry->rotation = 0;
+}
+
+static inline int detection_compare_function(const void *_a, const void *_b)
+{
+ apriltag_detection_t *a = *(apriltag_detection_t**) _a;
+ apriltag_detection_t *b = *(apriltag_detection_t**) _b;
+
+ return a->id - b->id;
+}
+
+void apriltag_detector_remove_family(apriltag_detector_t *td, apriltag_family_t *fam)
+{
+ quick_decode_uninit(fam);
+ zarray_remove_value(td->tag_families, &fam, 0);
+}
+
+void apriltag_detector_add_family_bits(apriltag_detector_t *td, apriltag_family_t *fam, int bits_corrected)
+{
+ zarray_add(td->tag_families, &fam);
+
+ if (!fam->impl)
+ quick_decode_init(fam, bits_corrected);
+}
+
+void apriltag_detector_clear_families(apriltag_detector_t *td)
+{
+ for (int i = 0; i < zarray_size(td->tag_families); i++) {
+ apriltag_family_t *fam;
+ zarray_get(td->tag_families, i, &fam);
+ quick_decode_uninit(fam);
+ }
+ zarray_clear(td->tag_families);
+}
+
+apriltag_detector_t *apriltag_detector_create()
+{
+ apriltag_detector_t *td = (apriltag_detector_t*) calloc(1, sizeof(apriltag_detector_t));
+
+ td->nthreads = 1;
+ td->quad_decimate = 2.0;
+ td->quad_sigma = 0.0;
+
+ td->qtp.max_nmaxima = 10;
+ td->qtp.min_cluster_pixels = 5;
+
+ td->qtp.max_line_fit_mse = 10.0;
+ td->qtp.cos_critical_rad = cos(10 * M_PI / 180);
+ td->qtp.deglitch = false;
+ td->qtp.min_white_black_diff = 5;
+
+ td->tag_families = zarray_create(sizeof(apriltag_family_t*));
+
+ pthread_mutex_init(&td->mutex, NULL);
+
+ td->tp = timeprofile_create();
+
+ td->refine_edges = true;
+ td->decode_sharpening = 0.25;
+
+
+ td->debug = false;
+
+ // NB: defer initialization of td->wp so that the user can
+ // override td->nthreads.
+
+ return td;
+}
+
+void apriltag_detector_destroy(apriltag_detector_t *td)
+{
+ timeprofile_destroy(td->tp);
+ workerpool_destroy(td->wp);
+
+ apriltag_detector_clear_families(td);
+
+ zarray_destroy(td->tag_families);
+ free(td);
+}
+
+struct quad_decode_task
+{
+ int i0, i1;
+ zarray_t *quads;
+ apriltag_detector_t *td;
+
+ image_u8_t *im;
+ zarray_t *detections;
+
+ image_u8_t *im_samples;
+};
+
+struct evaluate_quad_ret
+{
+ int64_t rcode;
+ double score;
+ matd_t *H, *Hinv;
+
+ int decode_status;
+ struct quick_decode_entry e;
+};
+
+static matd_t* homography_compute2(double c[4][4]) {
+ double A[] = {
+ c[0][0], c[0][1], 1, 0, 0, 0, -c[0][0]*c[0][2], -c[0][1]*c[0][2], c[0][2],
+ 0, 0, 0, c[0][0], c[0][1], 1, -c[0][0]*c[0][3], -c[0][1]*c[0][3], c[0][3],
+ c[1][0], c[1][1], 1, 0, 0, 0, -c[1][0]*c[1][2], -c[1][1]*c[1][2], c[1][2],
+ 0, 0, 0, c[1][0], c[1][1], 1, -c[1][0]*c[1][3], -c[1][1]*c[1][3], c[1][3],
+ c[2][0], c[2][1], 1, 0, 0, 0, -c[2][0]*c[2][2], -c[2][1]*c[2][2], c[2][2],
+ 0, 0, 0, c[2][0], c[2][1], 1, -c[2][0]*c[2][3], -c[2][1]*c[2][3], c[2][3],
+ c[3][0], c[3][1], 1, 0, 0, 0, -c[3][0]*c[3][2], -c[3][1]*c[3][2], c[3][2],
+ 0, 0, 0, c[3][0], c[3][1], 1, -c[3][0]*c[3][3], -c[3][1]*c[3][3], c[3][3],
+ };
+
+ double epsilon = 1e-10;
+
+ // Eliminate.
+ for (int col = 0; col < 8; col++) {
+ // Find best row to swap with.
+ double max_val = 0;
+ int max_val_idx = -1;
+ for (int row = col; row < 8; row++) {
+ double val = fabs(A[row*9 + col]);
+ if (val > max_val) {
+ max_val = val;
+ max_val_idx = row;
+ }
+ }
+
+ if (max_val < epsilon) {
+ debug_print("WRN: Matrix is singular.\n");
+ return NULL;
+ }
+
+ // Swap to get best row.
+ if (max_val_idx != col) {
+ for (int i = col; i < 9; i++) {
+ double tmp = A[col*9 + i];
+ A[col*9 + i] = A[max_val_idx*9 + i];
+ A[max_val_idx*9 + i] = tmp;
+ }
+ }
+
+ // Do eliminate.
+ for (int i = col + 1; i < 8; i++) {
+ double f = A[i*9 + col]/A[col*9 + col];
+ A[i*9 + col] = 0;
+ for (int j = col + 1; j < 9; j++) {
+ A[i*9 + j] -= f*A[col*9 + j];
+ }
+ }
+ }
+
+ // Back solve.
+ for (int col = 7; col >=0; col--) {
+ double sum = 0;
+ for (int i = col + 1; i < 8; i++) {
+ sum += A[col*9 + i]*A[i*9 + 8];
+ }
+ A[col*9 + 8] = (A[col*9 + 8] - sum)/A[col*9 + col];
+ }
+ return matd_create_data(3, 3, (double[]) { A[8], A[17], A[26], A[35], A[44], A[53], A[62], A[71], 1 });
+}
+
+// returns non-zero if an error occurs (i.e., H has no inverse)
+static int quad_update_homographies(struct quad *quad)
+{
+ //zarray_t *correspondences = zarray_create(sizeof(float[4]));
+
+ double corr_arr[4][4];
+
+ for (int i = 0; i < 4; i++) {
+ corr_arr[i][0] = (i==0 || i==3) ? -1 : 1;
+ corr_arr[i][1] = (i==0 || i==1) ? -1 : 1;
+ corr_arr[i][2] = quad->p[i][0];
+ corr_arr[i][3] = quad->p[i][1];
+ }
+
+ if (quad->H)
+ matd_destroy(quad->H);
+ if (quad->Hinv)
+ matd_destroy(quad->Hinv);
+
+ // XXX Tunable
+ quad->H = homography_compute2(corr_arr);
+ if (quad->H != NULL) {
+ quad->Hinv = matd_inverse(quad->H);
+ if (quad->Hinv != NULL) {
+ // Success!
+ return 0;
+ }
+ matd_destroy(quad->H);
+ quad->H = NULL;
+ }
+ return -1;
+}
+
+static double value_for_pixel(image_u8_t *im, double px, double py) {
+ int x1 = floor(px - 0.5);
+ int x2 = ceil(px - 0.5);
+ double x = px - 0.5 - x1;
+ int y1 = floor(py - 0.5);
+ int y2 = ceil(py - 0.5);
+ double y = py - 0.5 - y1;
+ if (x1 < 0 || x2 >= im->width || y1 < 0 || y2 >= im->height) {
+ return -1;
+ }
+ return im->buf[y1*im->stride + x1]*(1-x)*(1-y) +
+ im->buf[y1*im->stride + x2]*x*(1-y) +
+ im->buf[y2*im->stride + x1]*(1-x)*y +
+ im->buf[y2*im->stride + x2]*x*y;
+}
+
+static void sharpen(apriltag_detector_t* td, double* values, int size) {
+ double *sharpened = malloc(sizeof(double)*size*size);
+ double kernel[9] = {
+ 0, -1, 0,
+ -1, 4, -1,
+ 0, -1, 0
+ };
+
+ for (int y = 0; y < size; y++) {
+ for (int x = 0; x < size; x++) {
+ sharpened[y*size + x] = 0;
+ for (int i = 0; i < 3; i++) {
+ for (int j = 0; j < 3; j++) {
+ if ((y + i - 1) < 0 || (y + i - 1) > size - 1 || (x + j - 1) < 0 || (x + j - 1) > size - 1) {
+ continue;
+ }
+ sharpened[y*size + x] += values[(y + i - 1)*size + (x + j - 1)]*kernel[i*3 + j];
+ }
+ }
+ }
+ }
+
+
+ for (int y = 0; y < size; y++) {
+ for (int x = 0; x < size; x++) {
+ values[y*size + x] = values[y*size + x] + td->decode_sharpening*sharpened[y*size + x];
+ }
+ }
+
+ free(sharpened);
+}
+
+// returns the decision margin. Return < 0 if the detection should be rejected.
+static float quad_decode(apriltag_detector_t* td, apriltag_family_t *family, image_u8_t *im, struct quad *quad, struct quick_decode_entry *entry, image_u8_t *im_samples)
+{
+ // decode the tag binary contents by sampling the pixel
+ // closest to the center of each bit cell.
+
+ // We will compute a threshold by sampling known white/black cells around this tag.
+ // This sampling is achieved by considering a set of samples along lines.
+ //
+ // coordinates are given in bit coordinates. ([0, fam->border_width]).
+ //
+ // { initial x, initial y, delta x, delta y, WHITE=1 }
+ float patterns[] = {
+ // left white column
+ -0.5, 0.5,
+ 0, 1,
+ 1,
+
+ // left black column
+ 0.5, 0.5,
+ 0, 1,
+ 0,
+
+ // right white column
+ family->width_at_border + 0.5, .5,
+ 0, 1,
+ 1,
+
+ // right black column
+ family->width_at_border - 0.5, .5,
+ 0, 1,
+ 0,
+
+ // top white row
+ 0.5, -0.5,
+ 1, 0,
+ 1,
+
+ // top black row
+ 0.5, 0.5,
+ 1, 0,
+ 0,
+
+ // bottom white row
+ 0.5, family->width_at_border + 0.5,
+ 1, 0,
+ 1,
+
+ // bottom black row
+ 0.5, family->width_at_border - 0.5,
+ 1, 0,
+ 0
+
+ // XXX double-counts the corners.
+ };
+
+ struct graymodel whitemodel, blackmodel;
+ graymodel_init(&whitemodel);
+ graymodel_init(&blackmodel);
+
+ for (int pattern_idx = 0; pattern_idx < sizeof(patterns)/(5*sizeof(float)); pattern_idx ++) {
+ float *pattern = &patterns[pattern_idx * 5];
+
+ int is_white = pattern[4];
+
+ for (int i = 0; i < family->width_at_border; i++) {
+ double tagx01 = (pattern[0] + i*pattern[2]) / (family->width_at_border);
+ double tagy01 = (pattern[1] + i*pattern[3]) / (family->width_at_border);
+
+ double tagx = 2*(tagx01-0.5);
+ double tagy = 2*(tagy01-0.5);
+
+ double px, py;
+ homography_project(quad->H, tagx, tagy, &px, &py);
+
+ // don't round
+ int ix = px;
+ int iy = py;
+ if (ix < 0 || iy < 0 || ix >= im->width || iy >= im->height)
+ continue;
+
+ int v = im->buf[iy*im->stride + ix];
+
+ if (im_samples) {
+ im_samples->buf[iy*im_samples->stride + ix] = (1-is_white)*255;
+ }
+
+ if (is_white)
+ graymodel_add(&whitemodel, tagx, tagy, v);
+ else
+ graymodel_add(&blackmodel, tagx, tagy, v);
+ }
+ }
+
+ if (family->width_at_border > 1) {
+ graymodel_solve(&whitemodel);
+ graymodel_solve(&blackmodel);
+ } else {
+ graymodel_solve(&whitemodel);
+ blackmodel.C[0] = 0;
+ blackmodel.C[1] = 0;
+ blackmodel.C[2] = blackmodel.B[2]/4;
+ }
+
+ // XXX Tunable
+ if ((graymodel_interpolate(&whitemodel, 0, 0) - graymodel_interpolate(&blackmodel, 0, 0) < 0) != family->reversed_border) {
+ return -1;
+ }
+
+ // compute the average decision margin (how far was each bit from
+ // the decision boundary?
+ //
+ // we score this separately for white and black pixels and return
+ // the minimum average threshold for black/white pixels. This is
+ // to penalize thresholds that are too close to an extreme.
+ float black_score = 0, white_score = 0;
+ float black_score_count = 1, white_score_count = 1;
+
+ double *values = calloc(family->total_width*family->total_width, sizeof(double));
+
+ int min_coord = (family->width_at_border - family->total_width)/2;
+ for (int i = 0; i < family->nbits; i++) {
+ int bity = family->bit_y[i];
+ int bitx = family->bit_x[i];
+
+ double tagx01 = (bitx + 0.5) / (family->width_at_border);
+ double tagy01 = (bity + 0.5) / (family->width_at_border);
+
+ // scale to [-1, 1]
+ double tagx = 2*(tagx01-0.5);
+ double tagy = 2*(tagy01-0.5);
+
+ double px, py;
+ homography_project(quad->H, tagx, tagy, &px, &py);
+
+ double v = value_for_pixel(im, px, py);
+
+ if (v == -1) {
+ continue;
+ }
+
+ double thresh = (graymodel_interpolate(&blackmodel, tagx, tagy) + graymodel_interpolate(&whitemodel, tagx, tagy)) / 2.0;
+ values[family->total_width*(bity - min_coord) + bitx - min_coord] = v - thresh;
+
+ if (im_samples) {
+ int ix = px;
+ int iy = py;
+ im_samples->buf[iy*im_samples->stride + ix] = (v < thresh) * 255;
+ }
+ }
+
+ sharpen(td, values, family->total_width);
+
+ uint64_t rcode = 0;
+ for (int i = 0; i < family->nbits; i++) {
+ int bity = family->bit_y[i];
+ int bitx = family->bit_x[i];
+ rcode = (rcode << 1);
+ double v = values[(bity - min_coord)*family->total_width + bitx - min_coord];
+
+ if (v > 0) {
+ white_score += v;
+ white_score_count++;
+ rcode |= 1;
+ } else {
+ black_score -= v;
+ black_score_count++;
+ }
+ }
+
+ quick_decode_codeword(family, rcode, entry);
+ free(values);
+ return fmin(white_score / white_score_count, black_score / black_score_count);
+}
+
+static void refine_edges(apriltag_detector_t *td, image_u8_t *im_orig, struct quad *quad)
+{
+ double lines[4][4]; // for each line, [Ex Ey nx ny]
+
+ for (int edge = 0; edge < 4; edge++) {
+ int a = edge, b = (edge + 1) & 3; // indices of the end points.
+
+ // compute the normal to the current line estimate
+ double nx = quad->p[b][1] - quad->p[a][1];
+ double ny = -quad->p[b][0] + quad->p[a][0];
+ double mag = sqrt(nx*nx + ny*ny);
+ nx /= mag;
+ ny /= mag;
+
+ if (quad->reversed_border) {
+ nx = -nx;
+ ny = -ny;
+ }
+
+ // we will now fit a NEW line by sampling points near
+ // our original line that have large gradients. On really big tags,
+ // we're willing to sample more to get an even better estimate.
+ int nsamples = imax(16, mag / 8); // XXX tunable
+
+ // stats for fitting a line...
+ double Mx = 0, My = 0, Mxx = 0, Mxy = 0, Myy = 0, N = 0;
+
+ for (int s = 0; s < nsamples; s++) {
+ // compute a point along the line... Note, we're avoiding
+ // sampling *right* at the corners, since those points are
+ // the least reliable.
+ double alpha = (1.0 + s) / (nsamples + 1);
+ double x0 = alpha*quad->p[a][0] + (1-alpha)*quad->p[b][0];
+ double y0 = alpha*quad->p[a][1] + (1-alpha)*quad->p[b][1];
+
+ // search along the normal to this line, looking at the
+ // gradients along the way. We're looking for a strong
+ // response.
+ double Mn = 0;
+ double Mcount = 0;
+
+ // XXX tunable: how far to search? We want to search far
+ // enough that we find the best edge, but not so far that
+ // we hit other edges that aren't part of the tag. We
+ // shouldn't ever have to search more than quad_decimate,
+ // since otherwise we would (ideally) have started our
+ // search on another pixel in the first place. Likewise,
+ // for very small tags, we don't want the range to be too
+ // big.
+ double range = td->quad_decimate + 1;
+
+ // XXX tunable step size.
+ for (double n = -range; n <= range; n += 0.25) {
+ // Because of the guaranteed winding order of the
+ // points in the quad, we will start inside the white
+ // portion of the quad and work our way outward.
+ //
+ // sample to points (x1,y1) and (x2,y2) XXX tunable:
+ // how far +/- to look? Small values compute the
+ // gradient more precisely, but are more sensitive to
+ // noise.
+ double grange = 1;
+ int x1 = x0 + (n + grange)*nx;
+ int y1 = y0 + (n + grange)*ny;
+ if (x1 < 0 || x1 >= im_orig->width || y1 < 0 || y1 >= im_orig->height)
+ continue;
+
+ int x2 = x0 + (n - grange)*nx;
+ int y2 = y0 + (n - grange)*ny;
+ if (x2 < 0 || x2 >= im_orig->width || y2 < 0 || y2 >= im_orig->height)
+ continue;
+
+ int g1 = im_orig->buf[y1*im_orig->stride + x1];
+ int g2 = im_orig->buf[y2*im_orig->stride + x2];
+
+ if (g1 < g2) // reject points whose gradient is "backwards". They can only hurt us.
+ continue;
+
+ double weight = (g2 - g1)*(g2 - g1); // XXX tunable. What shape for weight=f(g2-g1)?
+
+ // compute weighted average of the gradient at this point.
+ Mn += weight*n;
+ Mcount += weight;
+ }
+
+ // what was the average point along the line?
+ if (Mcount == 0)
+ continue;
+
+ double n0 = Mn / Mcount;
+
+ // where is the point along the line?
+ double bestx = x0 + n0*nx;
+ double besty = y0 + n0*ny;
+
+ // update our line fit statistics
+ Mx += bestx;
+ My += besty;
+ Mxx += bestx*bestx;
+ Mxy += bestx*besty;
+ Myy += besty*besty;
+ N++;
+ }
+
+ // fit a line
+ double Ex = Mx / N, Ey = My / N;
+ double Cxx = Mxx / N - Ex*Ex;
+ double Cxy = Mxy / N - Ex*Ey;
+ double Cyy = Myy / N - Ey*Ey;
+
+ // TODO: Can replace this with same code as in fit_line.
+ double normal_theta = .5 * atan2f(-2*Cxy, (Cyy - Cxx));
+ nx = cosf(normal_theta);
+ ny = sinf(normal_theta);
+ lines[edge][0] = Ex;
+ lines[edge][1] = Ey;
+ lines[edge][2] = nx;
+ lines[edge][3] = ny;
+ }
+
+ // now refit the corners of the quad
+ for (int i = 0; i < 4; i++) {
+
+ // solve for the intersection of lines (i) and (i+1)&3.
+ double A00 = lines[i][3], A01 = -lines[(i+1)&3][3];
+ double A10 = -lines[i][2], A11 = lines[(i+1)&3][2];
+ double B0 = -lines[i][0] + lines[(i+1)&3][0];
+ double B1 = -lines[i][1] + lines[(i+1)&3][1];
+
+ double det = A00 * A11 - A10 * A01;
+
+ // inverse.
+ if (fabs(det) > 0.001) {
+ // solve
+ double W00 = A11 / det, W01 = -A01 / det;
+
+ double L0 = W00*B0 + W01*B1;
+
+ // Compute intersection. Note that line i represents the line from corner i to (i+1)&3, so
+ // the intersection of line i with line (i+1)&3 represents corner (i+1)&3.
+ quad->p[(i+1)&3][0] = lines[i][0] + L0*A00;
+ quad->p[(i+1)&3][1] = lines[i][1] + L0*A10;
+ } else {
+ // this is a bad sign. We'll just keep the corner we had.
+// debug_print("bad det: %15f %15f %15f %15f %15f\n", A00, A11, A10, A01, det);
+ }
+ }
+}
+
+static void quad_decode_task(void *_u)
+{
+ struct quad_decode_task *task = (struct quad_decode_task*) _u;
+ apriltag_detector_t *td = task->td;
+ image_u8_t *im = task->im;
+
+ for (int quadidx = task->i0; quadidx < task->i1; quadidx++) {
+ struct quad *quad_original;
+ zarray_get_volatile(task->quads, quadidx, &quad_original);
+
+ // refine edges is not dependent upon the tag family, thus
+ // apply this optimization BEFORE the other work.
+ //if (td->quad_decimate > 1 && td->refine_edges) {
+ if (td->refine_edges) {
+ refine_edges(td, im, quad_original);
+ }
+
+ // make sure the homographies are computed...
+ if (quad_update_homographies(quad_original) != 0)
+ continue;
+
+ for (int famidx = 0; famidx < zarray_size(td->tag_families); famidx++) {
+ apriltag_family_t *family;
+ zarray_get(td->tag_families, famidx, &family);
+
+ if (family->reversed_border != quad_original->reversed_border) {
+ continue;
+ }
+
+ // since the geometry of tag families can vary, start any
+ // optimization process over with the original quad.
+ struct quad *quad = quad_copy(quad_original);
+
+ struct quick_decode_entry entry;
+
+ float decision_margin = quad_decode(td, family, im, quad, &entry, task->im_samples);
+
+ if (decision_margin >= 0 && entry.hamming < 255) {
+ apriltag_detection_t *det = calloc(1, sizeof(apriltag_detection_t));
+
+ det->family = family;
+ det->id = entry.id;
+ det->hamming = entry.hamming;
+ det->decision_margin = decision_margin;
+
+ double theta = entry.rotation * M_PI / 2.0;
+ double c = cos(theta), s = sin(theta);
+
+ // Fix the rotation of our homography to properly orient the tag
+ matd_t *R = matd_create(3,3);
+ MATD_EL(R, 0, 0) = c;
+ MATD_EL(R, 0, 1) = -s;
+ MATD_EL(R, 1, 0) = s;
+ MATD_EL(R, 1, 1) = c;
+ MATD_EL(R, 2, 2) = 1;
+
+ det->H = matd_op("M*M", quad->H, R);
+
+ matd_destroy(R);
+
+ homography_project(det->H, 0, 0, &det->c[0], &det->c[1]);
+
+ // [-1, -1], [1, -1], [1, 1], [-1, 1], Desired points
+ // [-1, 1], [1, 1], [1, -1], [-1, -1], FLIP Y
+ // adjust the points in det->p so that they correspond to
+ // counter-clockwise around the quad, starting at -1,-1.
+ for (int i = 0; i < 4; i++) {
+ int tcx = (i == 1 || i == 2) ? 1 : -1;
+ int tcy = (i < 2) ? 1 : -1;
+
+ double p[2];
+
+ homography_project(det->H, tcx, tcy, &p[0], &p[1]);
+
+ det->p[i][0] = p[0];
+ det->p[i][1] = p[1];
+ }
+
+ pthread_mutex_lock(&td->mutex);
+ zarray_add(task->detections, &det);
+ pthread_mutex_unlock(&td->mutex);
+ }
+
+ quad_destroy(quad);
+ }
+ }
+}
+
+void apriltag_detection_destroy(apriltag_detection_t *det)
+{
+ if (det == NULL)
+ return;
+
+ matd_destroy(det->H);
+ free(det);
+}
+
+static int prefer_smaller(int pref, double q0, double q1)
+{
+ if (pref) // already prefer something? exit.
+ return pref;
+
+ if (q0 < q1)
+ return -1; // we now prefer q0
+ if (q1 < q0)
+ return 1; // we now prefer q1
+
+ // no preference
+ return 0;
+}
+
+zarray_t *apriltag_detector_detect(apriltag_detector_t *td, image_u8_t *im_orig)
+{
+ if (zarray_size(td->tag_families) == 0) {
+ zarray_t *s = zarray_create(sizeof(apriltag_detection_t*));
+ debug_print("No tag families enabled\n");
+ return s;
+ }
+
+ if (td->wp == NULL || td->nthreads != workerpool_get_nthreads(td->wp)) {
+ workerpool_destroy(td->wp);
+ td->wp = workerpool_create(td->nthreads);
+ if (td->wp == NULL) {
+ // creating workerpool failed - return empty zarray
+ return zarray_create(sizeof(apriltag_detection_t*));
+ }
+ }
+
+ timeprofile_clear(td->tp);
+ timeprofile_stamp(td->tp, "init");
+
+ ///////////////////////////////////////////////////////////
+ // Step 1. Detect quads according to requested image decimation
+ // and blurring parameters.
+ image_u8_t *quad_im = im_orig;
+ if (td->quad_decimate > 1) {
+ quad_im = image_u8_decimate(im_orig, td->quad_decimate);
+
+ timeprofile_stamp(td->tp, "decimate");
+ }
+
+ if (td->quad_sigma != 0) {
+ // compute a reasonable kernel width by figuring that the
+ // kernel should go out 2 std devs.
+ //
+ // max sigma ksz
+ // 0.499 1 (disabled)
+ // 0.999 3
+ // 1.499 5
+ // 1.999 7
+
+ float sigma = fabsf((float) td->quad_sigma);
+
+ int ksz = 4 * sigma; // 2 std devs in each direction
+ if ((ksz & 1) == 0)
+ ksz++;
+
+ if (ksz > 1) {
+
+ if (td->quad_sigma > 0) {
+ // Apply a blur
+ image_u8_gaussian_blur(quad_im, sigma, ksz);
+ } else {
+ // SHARPEN the image by subtracting the low frequency components.
+ image_u8_t *orig = image_u8_copy(quad_im);
+ image_u8_gaussian_blur(quad_im, sigma, ksz);
+
+ for (int y = 0; y < orig->height; y++) {
+ for (int x = 0; x < orig->width; x++) {
+ int vorig = orig->buf[y*orig->stride + x];
+ int vblur = quad_im->buf[y*quad_im->stride + x];
+
+ int v = 2*vorig - vblur;
+ if (v < 0)
+ v = 0;
+ if (v > 255)
+ v = 255;
+
+ quad_im->buf[y*quad_im->stride + x] = (uint8_t) v;
+ }
+ }
+ image_u8_destroy(orig);
+ }
+ }
+ }
+
+ timeprofile_stamp(td->tp, "blur/sharp");
+
+ if (td->debug)
+ image_u8_write_pnm(quad_im, "debug_preprocess.pnm");
+
+ zarray_t *quads = apriltag_quad_thresh(td, quad_im);
+
+ // adjust centers of pixels so that they correspond to the
+ // original full-resolution image.
+ if (td->quad_decimate > 1) {
+ for (int i = 0; i < zarray_size(quads); i++) {
+ struct quad *q;
+ zarray_get_volatile(quads, i, &q);
+
+ for (int j = 0; j < 4; j++) {
+ if (td->quad_decimate == 1.5) {
+ q->p[j][0] *= td->quad_decimate;
+ q->p[j][1] *= td->quad_decimate;
+ } else {
+ q->p[j][0] = (q->p[j][0] - 0.5)*td->quad_decimate + 0.5;
+ q->p[j][1] = (q->p[j][1] - 0.5)*td->quad_decimate + 0.5;
+ }
+ }
+ }
+ }
+
+ if (quad_im != im_orig)
+ image_u8_destroy(quad_im);
+
+ zarray_t *detections = zarray_create(sizeof(apriltag_detection_t*));
+
+ td->nquads = zarray_size(quads);
+
+ timeprofile_stamp(td->tp, "quads");
+
+ if (td->debug) {
+ image_u8_t *im_quads = image_u8_copy(im_orig);
+ image_u8_darken(im_quads);
+ image_u8_darken(im_quads);
+
+ srandom(0);
+
+ for (int i = 0; i < zarray_size(quads); i++) {
+ struct quad *quad;
+ zarray_get_volatile(quads, i, &quad);
+
+ const int bias = 100;
+ int color = bias + (random() % (255-bias));
+
+ image_u8_draw_line(im_quads, quad->p[0][0], quad->p[0][1], quad->p[1][0], quad->p[1][1], color, 1);
+ image_u8_draw_line(im_quads, quad->p[1][0], quad->p[1][1], quad->p[2][0], quad->p[2][1], color, 1);
+ image_u8_draw_line(im_quads, quad->p[2][0], quad->p[2][1], quad->p[3][0], quad->p[3][1], color, 1);
+ image_u8_draw_line(im_quads, quad->p[3][0], quad->p[3][1], quad->p[0][0], quad->p[0][1], color, 1);
+ }
+
+ image_u8_write_pnm(im_quads, "debug_quads_raw.pnm");
+ image_u8_destroy(im_quads);
+ }
+
+ ////////////////////////////////////////////////////////////////
+ // Step 2. Decode tags from each quad.
+ if (1) {
+ image_u8_t *im_samples = td->debug ? image_u8_copy(im_orig) : NULL;
+
+ int chunksize = 1 + zarray_size(quads) / (APRILTAG_TASKS_PER_THREAD_TARGET * td->nthreads);
+
+ struct quad_decode_task *tasks = malloc(sizeof(struct quad_decode_task)*(zarray_size(quads) / chunksize + 1));
+
+ int ntasks = 0;
+ for (int i = 0; i < zarray_size(quads); i+= chunksize) {
+ tasks[ntasks].i0 = i;
+ tasks[ntasks].i1 = imin(zarray_size(quads), i + chunksize);
+ tasks[ntasks].quads = quads;
+ tasks[ntasks].td = td;
+ tasks[ntasks].im = im_orig;
+ tasks[ntasks].detections = detections;
+
+ tasks[ntasks].im_samples = im_samples;
+
+ workerpool_add_task(td->wp, quad_decode_task, &tasks[ntasks]);
+ ntasks++;
+ }
+
+ workerpool_run(td->wp);
+
+ free(tasks);
+
+ if (im_samples != NULL) {
+ image_u8_write_pnm(im_samples, "debug_samples.pnm");
+ image_u8_destroy(im_samples);
+ }
+ }
+
+ if (td->debug) {
+ image_u8_t *im_quads = image_u8_copy(im_orig);
+ image_u8_darken(im_quads);
+ image_u8_darken(im_quads);
+
+ srandom(0);
+
+ for (int i = 0; i < zarray_size(quads); i++) {
+ struct quad *quad;
+ zarray_get_volatile(quads, i, &quad);
+
+ const int bias = 100;
+ int color = bias + (random() % (255-bias));
+
+ image_u8_draw_line(im_quads, quad->p[0][0], quad->p[0][1], quad->p[1][0], quad->p[1][1], color, 1);
+ image_u8_draw_line(im_quads, quad->p[1][0], quad->p[1][1], quad->p[2][0], quad->p[2][1], color, 1);
+ image_u8_draw_line(im_quads, quad->p[2][0], quad->p[2][1], quad->p[3][0], quad->p[3][1], color, 1);
+ image_u8_draw_line(im_quads, quad->p[3][0], quad->p[3][1], quad->p[0][0], quad->p[0][1], color, 1);
+
+ }
+
+ image_u8_write_pnm(im_quads, "debug_quads_fixed.pnm");
+ image_u8_destroy(im_quads);
+ }
+
+ timeprofile_stamp(td->tp, "decode+refinement");
+
+ ////////////////////////////////////////////////////////////////
+ // Step 3. Reconcile detections--- don't report the same tag more
+ // than once. (Allow non-overlapping duplicate detections.)
+ if (1) {
+ zarray_t *poly0 = g2d_polygon_create_zeros(4);
+ zarray_t *poly1 = g2d_polygon_create_zeros(4);
+
+ for (int i0 = 0; i0 < zarray_size(detections); i0++) {
+
+ apriltag_detection_t *det0;
+ zarray_get(detections, i0, &det0);
+
+ for (int k = 0; k < 4; k++)
+ zarray_set(poly0, k, det0->p[k], NULL);
+
+ for (int i1 = i0+1; i1 < zarray_size(detections); i1++) {
+
+ apriltag_detection_t *det1;
+ zarray_get(detections, i1, &det1);
+
+ if (det0->id != det1->id || det0->family != det1->family)
+ continue;
+
+ for (int k = 0; k < 4; k++)
+ zarray_set(poly1, k, det1->p[k], NULL);
+
+ if (g2d_polygon_overlaps_polygon(poly0, poly1)) {
+ // the tags overlap. Delete one, keep the other.
+
+ int pref = 0; // 0 means undecided which one we'll keep.
+ pref = prefer_smaller(pref, det0->hamming, det1->hamming); // want small hamming
+ pref = prefer_smaller(pref, -det0->decision_margin, -det1->decision_margin); // want bigger margins
+
+ // if we STILL don't prefer one detection over the other, then pick
+ // any deterministic criterion.
+ for (int i = 0; i < 4; i++) {
+ pref = prefer_smaller(pref, det0->p[i][0], det1->p[i][0]);
+ pref = prefer_smaller(pref, det0->p[i][1], det1->p[i][1]);
+ }
+
+ if (pref == 0) {
+ // at this point, we should only be undecided if the tag detections
+ // are *exactly* the same. How would that happen?
+ debug_print("uh oh, no preference for overlappingdetection\n");
+ }
+
+ if (pref < 0) {
+ // keep det0, destroy det1
+ apriltag_detection_destroy(det1);
+ zarray_remove_index(detections, i1, 1);
+ i1--; // retry the same index
+ goto retry1;
+ } else {
+ // keep det1, destroy det0
+ apriltag_detection_destroy(det0);
+ zarray_remove_index(detections, i0, 1);
+ i0--; // retry the same index.
+ goto retry0;
+ }
+ }
+
+ retry1: ;
+ }
+
+ retry0: ;
+ }
+
+ zarray_destroy(poly0);
+ zarray_destroy(poly1);
+ }
+
+ timeprofile_stamp(td->tp, "reconcile");
+
+ ////////////////////////////////////////////////////////////////
+ // Produce final debug output
+ if (td->debug) {
+
+ image_u8_t *darker = image_u8_copy(im_orig);
+ image_u8_darken(darker);
+ image_u8_darken(darker);
+
+ // assume letter, which is 612x792 points.
+ FILE *f = fopen("debug_output.ps", "w");
+ fprintf(f, "%%!PS\n\n");
+ double scale = fmin(612.0/darker->width, 792.0/darker->height);
+ fprintf(f, "%f %f scale\n", scale, scale);
+ fprintf(f, "0 %d translate\n", darker->height);
+ fprintf(f, "1 -1 scale\n");
+ postscript_image(f, darker);
+
+ image_u8_destroy(darker);
+
+ for (int i = 0; i < zarray_size(detections); i++) {
+ apriltag_detection_t *det;
+ zarray_get(detections, i, &det);
+
+ float rgb[3];
+ int bias = 100;
+
+ for (int j = 0; j < 3; j++) {
+ rgb[j] = bias + (random() % (255-bias));
+ }
+
+ fprintf(f, "%f %f %f setrgbcolor\n", rgb[0]/255.0f, rgb[1]/255.0f, rgb[2]/255.0f);
+ fprintf(f, "%f %f moveto %f %f lineto %f %f lineto %f %f lineto %f %f lineto stroke\n",
+ det->p[0][0], det->p[0][1],
+ det->p[1][0], det->p[1][1],
+ det->p[2][0], det->p[2][1],
+ det->p[3][0], det->p[3][1],
+ det->p[0][0], det->p[0][1]);
+ }
+
+ fprintf(f, "showpage\n");
+ fclose(f);
+ }
+
+ if (td->debug) {
+ image_u8_t *darker = image_u8_copy(im_orig);
+ image_u8_darken(darker);
+ image_u8_darken(darker);
+
+ image_u8x3_t *out = image_u8x3_create(darker->width, darker->height);
+ for (int y = 0; y < im_orig->height; y++) {
+ for (int x = 0; x < im_orig->width; x++) {
+ out->buf[y*out->stride + 3*x + 0] = darker->buf[y*darker->stride + x];
+ out->buf[y*out->stride + 3*x + 1] = darker->buf[y*darker->stride + x];
+ out->buf[y*out->stride + 3*x + 2] = darker->buf[y*darker->stride + x];
+ }
+ }
+
+ image_u8_destroy(darker);
+
+ for (int i = 0; i < zarray_size(detections); i++) {
+ apriltag_detection_t *det;
+ zarray_get(detections, i, &det);
+
+ float rgb[3];
+ int bias = 100;
+
+ for (int j = 0; j < 3; j++) {
+ rgb[j] = bias + (random() % (255-bias));
+ }
+
+ for (int j = 0; j < 4; j++) {
+ int k = (j + 1) & 3;
+ image_u8x3_draw_line(out,
+ det->p[j][0], det->p[j][1], det->p[k][0], det->p[k][1],
+ (uint8_t[]) { rgb[0], rgb[1], rgb[2] },
+ 1);
+ }
+ }
+
+ image_u8x3_write_pnm(out, "debug_output.pnm");
+ image_u8x3_destroy(out);
+ }
+
+ // deallocate
+ if (td->debug) {
+ FILE *f = fopen("debug_quads.ps", "w");
+ fprintf(f, "%%!PS\n\n");
+
+ image_u8_t *darker = image_u8_copy(im_orig);
+ image_u8_darken(darker);
+ image_u8_darken(darker);
+
+ // assume letter, which is 612x792 points.
+ double scale = fmin(612.0/darker->width, 792.0/darker->height);
+ fprintf(f, "%f %f scale\n", scale, scale);
+ fprintf(f, "0 %d translate\n", darker->height);
+ fprintf(f, "1 -1 scale\n");
+
+ postscript_image(f, darker);
+
+ image_u8_destroy(darker);
+
+ for (int i = 0; i < zarray_size(quads); i++) {
+ struct quad *q;
+ zarray_get_volatile(quads, i, &q);
+
+ float rgb[3];
+ int bias = 100;
+
+ for (int j = 0; j < 3; j++) {
+ rgb[j] = bias + (random() % (255-bias));
+ }
+
+ fprintf(f, "%f %f %f setrgbcolor\n", rgb[0]/255.0f, rgb[1]/255.0f, rgb[2]/255.0f);
+ fprintf(f, "%f %f moveto %f %f lineto %f %f lineto %f %f lineto %f %f lineto stroke\n",
+ q->p[0][0], q->p[0][1],
+ q->p[1][0], q->p[1][1],
+ q->p[2][0], q->p[2][1],
+ q->p[3][0], q->p[3][1],
+ q->p[0][0], q->p[0][1]);
+ }
+
+ fprintf(f, "showpage\n");
+ fclose(f);
+ }
+
+ timeprofile_stamp(td->tp, "debug output");
+
+ for (int i = 0; i < zarray_size(quads); i++) {
+ struct quad *quad;
+ zarray_get_volatile(quads, i, &quad);
+ matd_destroy(quad->H);
+ matd_destroy(quad->Hinv);
+ }
+
+ zarray_destroy(quads);
+
+ zarray_sort(detections, detection_compare_function);
+ timeprofile_stamp(td->tp, "cleanup");
+
+ return detections;
+}
+
+
+// Call this method on each of the tags returned by apriltag_detector_detect
+void apriltag_detections_destroy(zarray_t *detections)
+{
+ for (int i = 0; i < zarray_size(detections); i++) {
+ apriltag_detection_t *det;
+ zarray_get(detections, i, &det);
+
+ apriltag_detection_destroy(det);
+ }
+
+ zarray_destroy(detections);
+}
+
+image_u8_t *apriltag_to_image(apriltag_family_t *fam, int idx)
+{
+ assert(fam != NULL);
+ assert(idx >= 0 && idx < fam->ncodes);
+
+ uint64_t code = fam->codes[idx];
+
+ image_u8_t *im = image_u8_create(fam->total_width, fam->total_width);
+
+ int white_border_width = fam->width_at_border + (fam->reversed_border ? 0 : 2);
+ int white_border_start = (fam->total_width - white_border_width)/2;
+ // Make 1px white border
+ for (int i = 0; i < white_border_width - 1; i += 1) {
+ im->buf[white_border_start*im->stride + white_border_start + i] = 255;
+ im->buf[(white_border_start + i)*im->stride + fam->total_width - 1 - white_border_start] = 255;
+ im->buf[(fam->total_width - 1 - white_border_start)*im->stride + white_border_start + i + 1] = 255;
+ im->buf[(white_border_start + 1 + i)*im->stride + white_border_start] = 255;
+ }
+
+ int border_start = (fam->total_width - fam->width_at_border)/2;
+ for (int i = 0; i < fam->nbits; i++) {
+ if (code & (APRILTAG_U64_ONE << (fam->nbits - i - 1))) {
+ im->buf[(fam->bit_y[i] + border_start)*im->stride + fam->bit_x[i] + border_start] = 255;
+ }
+ }
+ return im;
+}
diff --git a/third_party/apriltag/apriltag.h b/third_party/apriltag/apriltag.h
new file mode 100644
index 0000000..2d772cd
--- /dev/null
+++ b/third_party/apriltag/apriltag.h
@@ -0,0 +1,276 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdlib.h>
+
+#include "common/matd.h"
+#include "common/image_u8.h"
+#include "common/zarray.h"
+#include "common/workerpool.h"
+#include "common/timeprofile.h"
+#include "common/pthreads_cross.h"
+
+#define APRILTAG_TASKS_PER_THREAD_TARGET 10
+
+struct quad
+{
+ float p[4][2]; // corners
+
+ bool reversed_border;
+
+ // H: tag coordinates ([-1,1] at the black corners) to pixels
+ // Hinv: pixels to tag
+ matd_t *H, *Hinv;
+};
+
+// Represents a tag family. Every tag belongs to a tag family. Tag
+// families are generated by the Java tool
+// april.tag.TagFamilyGenerator and can be converted to C using
+// april.tag.TagToC.
+typedef struct apriltag_family apriltag_family_t;
+struct apriltag_family
+{
+ // How many codes are there in this tag family?
+ uint32_t ncodes;
+
+ // The codes in the family.
+ uint64_t *codes;
+
+ int width_at_border;
+ int total_width;
+ bool reversed_border;
+
+ // The bit locations.
+ uint32_t nbits;
+ uint32_t *bit_x;
+ uint32_t *bit_y;
+
+ // minimum hamming distance between any two codes. (e.g. 36h11 => 11)
+ uint32_t h;
+
+ // a human-readable name, e.g., "tag36h11"
+ char *name;
+
+ // some detector implementations may preprocess codes in order to
+ // accelerate decoding. They put their data here. (Do not use the
+ // same apriltag_family instance in more than one implementation)
+ void *impl;
+};
+
+
+struct apriltag_quad_thresh_params
+{
+ // reject quads containing too few pixels
+ int min_cluster_pixels;
+
+ // how many corner candidates to consider when segmenting a group
+ // of pixels into a quad.
+ int max_nmaxima;
+
+ // Reject quads where pairs of edges have angles that are close to
+ // straight or close to 180 degrees. Zero means that no quads are
+ // rejected. (In radians).
+ float critical_rad;
+ float cos_critical_rad;
+
+ // When fitting lines to the contours, what is the maximum mean
+ // squared error allowed? This is useful in rejecting contours
+ // that are far from being quad shaped; rejecting these quads "early"
+ // saves expensive decoding processing.
+ float max_line_fit_mse;
+
+ // When we build our model of black & white pixels, we add an
+ // extra check that the white model must be (overall) brighter
+ // than the black model. How much brighter? (in pixel values,
+ // [0,255]). .
+ int min_white_black_diff;
+
+ // should the thresholded image be deglitched? Only useful for
+ // very noisy images
+ int deglitch;
+};
+
+// Represents a detector object. Upon creating a detector, all fields
+// are set to reasonable values, but can be overridden by accessing
+// these fields.
+typedef struct apriltag_detector apriltag_detector_t;
+struct apriltag_detector
+{
+ ///////////////////////////////////////////////////////////////
+ // User-configurable parameters.
+
+ // How many threads should be used?
+ int nthreads;
+
+ // detection of quads can be done on a lower-resolution image,
+ // improving speed at a cost of pose accuracy and a slight
+ // decrease in detection rate. Decoding the binary payload is
+ // still done at full resolution. .
+ float quad_decimate;
+
+ // What Gaussian blur should be applied to the segmented image
+ // (used for quad detection?) Parameter is the standard deviation
+ // in pixels. Very noisy images benefit from non-zero values
+ // (e.g. 0.8).
+ float quad_sigma;
+
+ // When true, the edges of the each quad are adjusted to "snap
+ // to" strong gradients nearby. This is useful when decimation is
+ // employed, as it can increase the quality of the initial quad
+ // estimate substantially. Generally recommended to be on (true).
+ //
+ // Very computationally inexpensive. Option is ignored if
+ // quad_decimate = 1.
+ bool refine_edges;
+
+ // How much sharpening should be done to decoded images? This
+ // can help decode small tags but may or may not help in odd
+ // lighting conditions or low light conditions.
+ //
+ // The default value is 0.25.
+ double decode_sharpening;
+
+ // When true, write a variety of debugging images to the
+ // current working directory at various stages through the
+ // detection process. (Somewhat slow).
+ bool debug;
+
+ struct apriltag_quad_thresh_params qtp;
+
+ ///////////////////////////////////////////////////////////////
+ // Statistics relating to last processed frame
+ timeprofile_t *tp;
+
+ uint32_t nedges;
+ uint32_t nsegments;
+ uint32_t nquads;
+
+ ///////////////////////////////////////////////////////////////
+ // Internal variables below
+
+ // Not freed on apriltag_destroy; a tag family can be shared
+ // between multiple users. The user should ultimately destroy the
+ // tag family passed into the constructor.
+ zarray_t *tag_families;
+
+ // Used to manage multi-threading.
+ workerpool_t *wp;
+
+ // Used for thread safety.
+ pthread_mutex_t mutex;
+};
+
+// Represents the detection of a tag. These are returned to the user
+// and must be individually destroyed by the user.
+typedef struct apriltag_detection apriltag_detection_t;
+struct apriltag_detection
+{
+ // a pointer for convenience. not freed by apriltag_detection_destroy.
+ apriltag_family_t *family;
+
+ // The decoded ID of the tag
+ int id;
+
+ // How many error bits were corrected? Note: accepting large numbers of
+ // corrected errors leads to greatly increased false positive rates.
+ // NOTE: As of this implementation, the detector cannot detect tags with
+ // a hamming distance greater than 2.
+ int hamming;
+
+ // A measure of the quality of the binary decoding process: the
+ // average difference between the intensity of a data bit versus
+ // the decision threshold. Higher numbers roughly indicate better
+ // decodes. This is a reasonable measure of detection accuracy
+ // only for very small tags-- not effective for larger tags (where
+ // we could have sampled anywhere within a bit cell and still
+ // gotten a good detection.)
+ float decision_margin;
+
+ // The 3x3 homography matrix describing the projection from an
+ // "ideal" tag (with corners at (-1,1), (1,1), (1,-1), and (-1,
+ // -1)) to pixels in the image. This matrix will be freed by
+ // apriltag_detection_destroy.
+ matd_t *H;
+
+ // The center of the detection in image pixel coordinates.
+ double c[2];
+
+ // The corners of the tag in image pixel coordinates. These always
+ // wrap counter-clock wise around the tag.
+ double p[4][2];
+};
+
+// don't forget to add a family!
+apriltag_detector_t *apriltag_detector_create();
+
+// add a family to the apriltag detector. caller still "owns" the family.
+// a single instance should only be provided to one apriltag detector instance.
+void apriltag_detector_add_family_bits(apriltag_detector_t *td, apriltag_family_t *fam, int bits_corrected);
+
+// Tunable, but really, 2 is a good choice. Values of >=3
+// consume prohibitively large amounts of memory, and otherwise
+// you want the largest value possible.
+static inline void apriltag_detector_add_family(apriltag_detector_t *td, apriltag_family_t *fam)
+{
+ apriltag_detector_add_family_bits(td, fam, 2);
+}
+
+// does not deallocate the family.
+void apriltag_detector_remove_family(apriltag_detector_t *td, apriltag_family_t *fam);
+
+// unregister all families, but does not deallocate the underlying tag family objects.
+void apriltag_detector_clear_families(apriltag_detector_t *td);
+
+// Destroy the april tag detector (but not the underlying
+// apriltag_family_t used to initialize it.)
+void apriltag_detector_destroy(apriltag_detector_t *td);
+
+// Detect tags from an image and return an array of
+// apriltag_detection_t*. You can use apriltag_detections_destroy to
+// free the array and the detections it contains, or call
+// _detection_destroy and zarray_destroy yourself.
+zarray_t *apriltag_detector_detect(apriltag_detector_t *td, image_u8_t *im_orig);
+
+// Call this method on each of the tags returned by apriltag_detector_detect
+void apriltag_detection_destroy(apriltag_detection_t *det);
+
+// destroys the array AND the detections within it.
+void apriltag_detections_destroy(zarray_t *detections);
+
+// Renders the apriltag.
+// Caller is responsible for calling image_u8_destroy on the image
+image_u8_t *apriltag_to_image(apriltag_family_t *fam, int idx);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/apriltag/apriltag.pc.in b/third_party/apriltag/apriltag.pc.in
new file mode 100644
index 0000000..75dfe56
--- /dev/null
+++ b/third_party/apriltag/apriltag.pc.in
@@ -0,0 +1,10 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+exec_prefix=${prefix}
+includedir=${prefix}/include
+libdir=${exec_prefix}/lib
+
+Name: @PROJECT_NAME@
+Description: AprilTag is a visual fiducial system popular for robotics research.
+Version: @PROJECT_VERSION@
+Cflags: -I${includedir}
+Libs: -L${libdir} -lapriltag
diff --git a/third_party/apriltag/apriltag_detect.docstring b/third_party/apriltag/apriltag_detect.docstring
new file mode 100644
index 0000000..0f9bca5
--- /dev/null
+++ b/third_party/apriltag/apriltag_detect.docstring
@@ -0,0 +1,60 @@
+AprilTag detector
+
+SYNOPSIS
+
+ import cv2
+ import numpy as np
+ from apriltag import apriltag
+
+ imagepath = '/tmp/tst.jpg'
+ image = cv2.imread(imagepath, cv2.IMREAD_GRAYSCALE)
+ detector = apriltag("tag36h11")
+
+ detections = detector.detect(image)
+
+ print("Saw tags {} at\n{}". \
+ format([d['id'] for d in detections],
+ np.array([d['center'] for d in detections])))
+
+ ----> Saw tags [3, 5, 7, 8, 10, 10, 14] at
+ [[582.42911184 172.90587335]
+ [703.32149701 271.50587376]
+ [288.1462089 227.01502779]
+ [463.63679264 227.91185418]
+ [ 93.88534443 241.61109765]
+ [121.94062798 237.97010936]
+ [356.46940849 260.20169159]]
+
+DESCRIPTION
+
+The AprilTags visual fiducial system project page is here:
+https://april.eecs.umich.edu/software/apriltag
+
+This is a Python class to provide AprilTags functionality in Python programs. To
+run the detector you
+
+1. Construct an object of type apriltag.apriltag()
+
+2. Invoke the detect() method on this object
+
+The detect() method takes a single argument: an image array. The return value is
+a tuple containing the detections. Each detection is a dict with keys:
+
+- id: integer identifying each detected tag
+
+- center: pixel coordinates of the center of each detection
+
+- lb-rb-rt-lt: pixel coordinates of the 4 corners of each detection. The order
+ is left-bottom, right-bottom, right-top, left-top
+
+- hamming: How many error bits were corrected? Note: accepting large numbers of
+ corrected errors leads to greatly increased false positive rates. NOTE: As of
+ this implementation, the detector cannot detect tags with a hamming distance
+ greater than 2.
+
+- margin: A measure of the quality of the binary decoding process: the average
+ difference between the intensity of a data bit versus the decision threshold.
+ Higher numbers roughly indicate better decodes. This is a reasonable measure
+ of detection accuracy only for very small tags-- not effective for larger tags
+ (where we could have sampled anywhere within a bit cell and still gotten a
+ good detection.)
diff --git a/third_party/apriltag/apriltag_math.h b/third_party/apriltag/apriltag_math.h
new file mode 100644
index 0000000..60bf907
--- /dev/null
+++ b/third_party/apriltag/apriltag_math.h
@@ -0,0 +1,101 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#include <math.h>
+
+// Computes the cholesky factorization of A, putting the lower
+// triangular matrix into R.
+static inline void mat33_chol(const double *A,
+ double *R)
+{
+ // A[0] = R[0]*R[0]
+ R[0] = sqrt(A[0]);
+
+ // A[1] = R[0]*R[3];
+ R[3] = A[1] / R[0];
+
+ // A[2] = R[0]*R[6];
+ R[6] = A[2] / R[0];
+
+ // A[4] = R[3]*R[3] + R[4]*R[4]
+ R[4] = sqrt(A[4] - R[3]*R[3]);
+
+ // A[5] = R[3]*R[6] + R[4]*R[7]
+ R[7] = (A[5] - R[3]*R[6]) / R[4];
+
+ // A[8] = R[6]*R[6] + R[7]*R[7] + R[8]*R[8]
+ R[8] = sqrt(A[8] - R[6]*R[6] - R[7]*R[7]);
+
+ R[1] = 0;
+ R[2] = 0;
+ R[5] = 0;
+}
+
+static inline void mat33_lower_tri_inv(const double *A,
+ double *R)
+{
+ // A[0]*R[0] = 1
+ R[0] = 1 / A[0];
+
+ // A[3]*R[0] + A[4]*R[3] = 0
+ R[3] = -A[3]*R[0] / A[4];
+
+ // A[4]*R[4] = 1
+ R[4] = 1 / A[4];
+
+ // A[6]*R[0] + A[7]*R[3] + A[8]*R[6] = 0
+ R[6] = (-A[6]*R[0] - A[7]*R[3]) / A[8];
+
+ // A[7]*R[4] + A[8]*R[7] = 0
+ R[7] = -A[7]*R[4] / A[8];
+
+ // A[8]*R[8] = 1
+ R[8] = 1 / A[8];
+}
+
+
+static inline void mat33_sym_solve(const double *A,
+ const double *B,
+ double *R)
+{
+ double L[9];
+ mat33_chol(A, L);
+
+ double M[9];
+ mat33_lower_tri_inv(L, M);
+
+ double tmp[3];
+ tmp[0] = M[0]*B[0];
+ tmp[1] = M[3]*B[0] + M[4]*B[1];
+ tmp[2] = M[6]*B[0] + M[7]*B[1] + M[8]*B[2];
+
+ R[0] = M[0]*tmp[0] + M[3]*tmp[1] + M[6]*tmp[2];
+ R[1] = M[4]*tmp[1] + M[7]*tmp[2];
+ R[2] = M[8]*tmp[2];
+}
diff --git a/third_party/apriltag/apriltag_pose.c b/third_party/apriltag/apriltag_pose.c
new file mode 100644
index 0000000..6043cb8
--- /dev/null
+++ b/third_party/apriltag/apriltag_pose.c
@@ -0,0 +1,547 @@
+#include <math.h>
+#include <stdio.h>
+
+#include "common/debug_print.h"
+#include "apriltag_pose.h"
+#include "common/homography.h"
+
+
+/**
+ * Calculate projection operator from image points.
+ */
+matd_t* calculate_F(matd_t* v) {
+ matd_t* outer_product = matd_op("MM'", v, v, v, v);
+ matd_t* inner_product = matd_op("M'M", v, v);
+ matd_scale_inplace(outer_product, 1.0/inner_product->data[0]);
+ matd_destroy(inner_product);
+ return outer_product;
+}
+
+/**
+ * Returns the value of the supplied scalar matrix 'a' and destroys the matrix.
+ */
+double matd_to_double(matd_t *a)
+{
+ assert(matd_is_scalar(a));
+ double d = a->data[0];
+ matd_destroy(a);
+ return d;
+}
+
+/**
+ * @param v Image points on the image plane.
+ * @param p Object points in object space.
+ * @outparam t Optimal translation.
+ * @param R In/Outparam. Should be set to initial guess at R. Will be modified to be the optimal translation.
+ * @param n_points Number of points.
+ * @param n_steps Number of iterations.
+ *
+ * @return Object-space error after iteration.
+ *
+ * Implementation of Orthogonal Iteration from Lu, 2000.
+ */
+double orthogonal_iteration(matd_t** v, matd_t** p, matd_t** t, matd_t** R, int n_points, int n_steps) {
+ matd_t* p_mean = matd_create(3, 1);
+ for (int i = 0; i < n_points; i++) {
+ matd_add_inplace(p_mean, p[i]);
+ }
+ matd_scale_inplace(p_mean, 1.0/n_points);
+
+ matd_t** p_res = malloc(sizeof(matd_t *)*n_points);
+ for (int i = 0; i < n_points; i++) {
+ p_res[i] = matd_op("M-M", p[i], p_mean);
+ }
+
+ // Compute M1_inv.
+ matd_t** F = malloc(sizeof(matd_t *)*n_points);
+ matd_t *avg_F = matd_create(3, 3);
+ for (int i = 0; i < n_points; i++) {
+ F[i] = calculate_F(v[i]);
+ matd_add_inplace(avg_F, F[i]);
+ }
+ matd_scale_inplace(avg_F, 1.0/n_points);
+ matd_t *I3 = matd_identity(3);
+ matd_t *M1 = matd_subtract(I3, avg_F);
+ matd_t *M1_inv = matd_inverse(M1);
+ matd_destroy(avg_F);
+ matd_destroy(M1);
+
+ double prev_error = HUGE_VAL;
+ // Iterate.
+ for (int i = 0; i < n_steps; i++) {
+ // Calculate translation.
+ matd_t *M2 = matd_create(3, 1);
+ for (int j = 0; j < n_points; j++) {
+ matd_t* M2_update = matd_op("(M - M)*M*M", F[j], I3, *R, p[j]);
+ matd_add_inplace(M2, M2_update);
+ matd_destroy(M2_update);
+ }
+ matd_scale_inplace(M2, 1.0/n_points);
+ matd_destroy(*t);
+ *t = matd_multiply(M1_inv, M2);
+ matd_destroy(M2);
+
+ // Calculate rotation.
+ matd_t** q = malloc(sizeof(matd_t *)*n_points);
+ matd_t* q_mean = matd_create(3, 1);
+ for (int j = 0; j < n_points; j++) {
+ q[j] = matd_op("M*(M*M+M)", F[j], *R, p[j], *t);
+ matd_add_inplace(q_mean, q[j]);
+ }
+ matd_scale_inplace(q_mean, 1.0/n_points);
+
+ matd_t* M3 = matd_create(3, 3);
+ for (int j = 0; j < n_points; j++) {
+ matd_t *M3_update = matd_op("(M-M)*M'", q[j], q_mean, p_res[j]);
+ matd_add_inplace(M3, M3_update);
+ matd_destroy(M3_update);
+ }
+ matd_svd_t M3_svd = matd_svd(M3);
+ matd_destroy(M3);
+ matd_destroy(*R);
+ *R = matd_op("M*M'", M3_svd.U, M3_svd.V);
+ double R_det = matd_det(*R);
+ if (R_det < 0) {
+ matd_put(*R, 0, 2, - matd_get(*R, 0, 2));
+ matd_put(*R, 1, 2, - matd_get(*R, 1, 2));
+ matd_put(*R, 2, 2, - matd_get(*R, 2, 2));
+ }
+ matd_destroy(M3_svd.U);
+ matd_destroy(M3_svd.S);
+ matd_destroy(M3_svd.V);
+ matd_destroy(q_mean);
+ for (int j = 0; j < n_points; j++) {
+ matd_destroy(q[j]);
+ }
+
+ double error = 0;
+ for (int j = 0; j < 4; j++) {
+ matd_t* err_vec = matd_op("(M-M)(MM+M)", I3, F[j], *R, p[j], *t);
+ error += matd_to_double(matd_op("M'M", err_vec, err_vec));
+ matd_destroy(err_vec);
+ }
+ prev_error = error;
+
+ free(q);
+ }
+
+ matd_destroy(I3);
+ matd_destroy(M1_inv);
+ for (int i = 0; i < n_points; i++) {
+ matd_destroy(p_res[i]);
+ matd_destroy(F[i]);
+ }
+ free(p_res);
+ free(F);
+ matd_destroy(p_mean);
+ return prev_error;
+}
+
+/**
+ * Evaluates polynomial p at x.
+ */
+double polyval(double* p, int degree, double x) {
+ double ret = 0;
+ for (int i = 0; i <= degree; i++) {
+ ret += p[i]*pow(x, i);
+ }
+ return ret;
+}
+
+/**
+ * Numerically solve small degree polynomials. This is a customized method. It
+ * ignores roots larger than 1000 and only gives small roots approximately.
+ *
+ * @param p Array of parameters s.t. p(x) = p[0] + p[1]*x + ...
+ * @param degree The degree of p(x).
+ * @outparam roots
+ * @outparam n_roots
+ */
+void solve_poly_approx(double* p, int degree, double* roots, int* n_roots) {
+ static const int MAX_ROOT = 1000;
+ if (degree == 1) {
+ if (fabs(p[0]) > MAX_ROOT*fabs(p[1])) {
+ *n_roots = 0;
+ } else {
+ roots[0] = -p[0]/p[1];
+ *n_roots = 1;
+ }
+ return;
+ }
+
+ // Calculate roots of derivative.
+ double *p_der = malloc(sizeof(double)*degree);
+ for (int i = 0; i < degree; i++) {
+ p_der[i] = (i + 1) * p[i+1];
+ }
+
+ double *der_roots = malloc(sizeof(double)*(degree - 1));
+ int n_der_roots;
+ solve_poly_approx(p_der, degree - 1, der_roots, &n_der_roots);
+
+
+ // Go through all possibilities for roots of the polynomial.
+ *n_roots = 0;
+ for (int i = 0; i <= n_der_roots; i++) {
+ double min;
+ if (i == 0) {
+ min = -MAX_ROOT;
+ } else {
+ min = der_roots[i - 1];
+ }
+
+ double max;
+ if (i == n_der_roots) {
+ max = MAX_ROOT;
+ } else {
+ max = der_roots[i];
+ }
+
+ if (polyval(p, degree, min)*polyval(p, degree, max) < 0) {
+ // We have a zero-crossing in this interval, use a combination of Newton' and bisection.
+ // Some thanks to Numerical Recipes in C.
+
+ double lower;
+ double upper;
+ if (polyval(p, degree, min) < polyval(p, degree, max)) {
+ lower = min;
+ upper = max;
+ } else {
+ lower = max;
+ upper = min;
+ }
+ double root = 0.5*(lower + upper);
+ double dx_old = upper - lower;
+ double dx = dx_old;
+ double f = polyval(p, degree, root);
+ double df = polyval(p_der, degree - 1, root);
+
+ for (int j = 0; j < 100; j++) {
+ if (((f + df*(upper - root))*(f + df*(lower - root)) > 0)
+ || (fabs(2*f) > fabs(dx_old*df))) {
+ dx_old = dx;
+ dx = 0.5*(upper - lower);
+ root = lower + dx;
+ } else {
+ dx_old = dx;
+ dx = -f/df;
+ root += dx;
+ }
+
+ if (root == upper || root == lower) {
+ break;
+ }
+
+ f = polyval(p, degree, root);
+ df = polyval(p_der, degree - 1, root);
+
+ if (f > 0) {
+ upper = root;
+ } else {
+ lower = root;
+ }
+ }
+
+ roots[(*n_roots)++] = root;
+ } else if(polyval(p, degree, max) == 0) {
+ // Double/triple root.
+ roots[(*n_roots)++] = max;
+ }
+ }
+
+ free(der_roots);
+ free(p_der);
+}
+
+/**
+ * Given a local minima of the pose error tries to find the other minima.
+ */
+matd_t* fix_pose_ambiguities(matd_t** v, matd_t** p, matd_t* t, matd_t* R, int n_points) {
+ matd_t* I3 = matd_identity(3);
+
+ // 1. Find R_t
+ matd_t* R_t_3 = matd_vec_normalize(t);
+
+ matd_t* e_x = matd_create(3, 1);
+ MATD_EL(e_x, 0, 0) = 1;
+ matd_t* R_t_1_tmp = matd_op("M-(M'*M)*M", e_x, e_x, R_t_3, R_t_3);
+ matd_t* R_t_1 = matd_vec_normalize(R_t_1_tmp);
+ matd_destroy(e_x);
+ matd_destroy(R_t_1_tmp);
+
+ matd_t* R_t_2 = matd_crossproduct(R_t_3, R_t_1);
+
+ matd_t* R_t = matd_create_data(3, 3, (double[]) {
+ MATD_EL(R_t_1, 0, 0), MATD_EL(R_t_1, 0, 1), MATD_EL(R_t_1, 0, 2),
+ MATD_EL(R_t_2, 0, 0), MATD_EL(R_t_2, 0, 1), MATD_EL(R_t_2, 0, 2),
+ MATD_EL(R_t_3, 0, 0), MATD_EL(R_t_3, 0, 1), MATD_EL(R_t_3, 0, 2)});
+ matd_destroy(R_t_1);
+ matd_destroy(R_t_2);
+ matd_destroy(R_t_3);
+
+ // 2. Find R_z
+ matd_t* R_1_prime = matd_multiply(R_t, R);
+ double r31 = MATD_EL(R_1_prime, 2, 0);
+ double r32 = MATD_EL(R_1_prime, 2, 1);
+ double hypotenuse = sqrt(r31*r31 + r32*r32);
+ if (hypotenuse < 1e-100) {
+ r31 = 1;
+ r32 = 0;
+ hypotenuse = 1;
+ }
+ matd_t* R_z = matd_create_data(3, 3, (double[]) {
+ r31/hypotenuse, -r32/hypotenuse, 0,
+ r32/hypotenuse, r31/hypotenuse, 0,
+ 0, 0, 1});
+
+ // 3. Calculate parameters of Eos
+ matd_t* R_trans = matd_multiply(R_1_prime, R_z);
+ double sin_gamma = -MATD_EL(R_trans, 0, 1);
+ double cos_gamma = MATD_EL(R_trans, 1, 1);
+ matd_t* R_gamma = matd_create_data(3, 3, (double[]) {
+ cos_gamma, -sin_gamma, 0,
+ sin_gamma, cos_gamma, 0,
+ 0, 0, 1});
+
+ double sin_beta = -MATD_EL(R_trans, 2, 0);
+ double cos_beta = MATD_EL(R_trans, 2, 2);
+ double t_initial = atan2(sin_beta, cos_beta);
+ matd_destroy(R_trans);
+
+ matd_t** v_trans = malloc(sizeof(matd_t *)*n_points);
+ matd_t** p_trans = malloc(sizeof(matd_t *)*n_points);
+ matd_t** F_trans = malloc(sizeof(matd_t *)*n_points);
+ matd_t* avg_F_trans = matd_create(3, 3);
+ for (int i = 0; i < n_points; i++) {
+ p_trans[i] = matd_op("M'*M", R_z, p[i]);
+ v_trans[i] = matd_op("M*M", R_t, v[i]);
+ F_trans[i] = calculate_F(v_trans[i]);
+ matd_add_inplace(avg_F_trans, F_trans[i]);
+ }
+ matd_scale_inplace(avg_F_trans, 1.0/n_points);
+
+ matd_t* G = matd_op("(M-M)^-1", I3, avg_F_trans);
+ matd_scale_inplace(G, 1.0/n_points);
+
+ matd_t* M1 = matd_create_data(3, 3, (double[]) {
+ 0, 0, 2,
+ 0, 0, 0,
+ -2, 0, 0});
+ matd_t* M2 = matd_create_data(3, 3, (double[]) {
+ -1, 0, 0,
+ 0, 1, 0,
+ 0, 0, -1});
+
+ matd_t* b0 = matd_create(3, 1);
+ matd_t* b1 = matd_create(3, 1);
+ matd_t* b2 = matd_create(3, 1);
+ for (int i = 0; i < n_points; i++) {
+ matd_t* op_tmp1 = matd_op("(M-M)MM", F_trans[i], I3, R_gamma, p_trans[i]);
+ matd_t* op_tmp2 = matd_op("(M-M)MMM", F_trans[i], I3, R_gamma, M1, p_trans[i]);
+ matd_t* op_tmp3 = matd_op("(M-M)MMM", F_trans[i], I3, R_gamma, M2, p_trans[i]);
+
+ matd_add_inplace(b0, op_tmp1);
+ matd_add_inplace(b1, op_tmp2);
+ matd_add_inplace(b2, op_tmp3);
+
+ matd_destroy(op_tmp1);
+ matd_destroy(op_tmp2);
+ matd_destroy(op_tmp3);
+ }
+ matd_t* b0_ = matd_multiply(G, b0);
+ matd_t* b1_ = matd_multiply(G, b1);
+ matd_t* b2_ = matd_multiply(G, b2);
+
+ double a0 = 0;
+ double a1 = 0;
+ double a2 = 0;
+ double a3 = 0;
+ double a4 = 0;
+ for (int i = 0; i < n_points; i++) {
+ matd_t* c0 = matd_op("(M-M)(MM+M)", I3, F_trans[i], R_gamma, p_trans[i], b0_);
+ matd_t* c1 = matd_op("(M-M)(MMM+M)", I3, F_trans[i], R_gamma, M1, p_trans[i], b1_);
+ matd_t* c2 = matd_op("(M-M)(MMM+M)", I3, F_trans[i], R_gamma, M2, p_trans[i], b2_);
+
+ a0 += matd_to_double(matd_op("M'M", c0, c0));
+ a1 += matd_to_double(matd_op("2M'M", c0, c1));
+ a2 += matd_to_double(matd_op("M'M+2M'M", c1, c1, c0, c2));
+ a3 += matd_to_double(matd_op("2M'M", c1, c2));
+ a4 += matd_to_double(matd_op("M'M", c2, c2));
+
+ matd_destroy(c0);
+ matd_destroy(c1);
+ matd_destroy(c2);
+ }
+
+ matd_destroy(b0);
+ matd_destroy(b1);
+ matd_destroy(b2);
+ matd_destroy(b0_);
+ matd_destroy(b1_);
+ matd_destroy(b2_);
+
+ for (int i = 0; i < n_points; i++) {
+ matd_destroy(p_trans[i]);
+ matd_destroy(v_trans[i]);
+ matd_destroy(F_trans[i]);
+ }
+ free(p_trans);
+ free(v_trans);
+ free(F_trans);
+ matd_destroy(avg_F_trans);
+ matd_destroy(G);
+
+
+ // 4. Solve for minima of Eos.
+ double p0 = a1;
+ double p1 = 2*a2 - 4*a0;
+ double p2 = 3*a3 - 3*a1;
+ double p3 = 4*a4 - 2*a2;
+ double p4 = -a3;
+
+ double roots[4];
+ int n_roots;
+ solve_poly_approx((double []) {p0, p1, p2, p3, p4}, 4, roots, &n_roots);
+
+ double minima[4];
+ int n_minima = 0;
+ for (int i = 0; i < n_roots; i++) {
+ double t1 = roots[i];
+ double t2 = t1*t1;
+ double t3 = t1*t2;
+ double t4 = t1*t3;
+ double t5 = t1*t4;
+ // Check extrema is a minima.
+ if (a2 - 2*a0 + (3*a3 - 6*a1)*t1 + (6*a4 - 8*a2 + 10*a0)*t2 + (-8*a3 + 6*a1)*t3 + (-6*a4 + 3*a2)*t4 + a3*t5 >= 0) {
+ // And that it corresponds to an angle different than the known minimum.
+ double t_cur = 2*atan(roots[i]);
+ // We only care about finding a second local minima which is qualitatively
+ // different than the first.
+ if (fabs(t_cur - t_initial) > 0.1) {
+ minima[n_minima++] = roots[i];
+ }
+ }
+ }
+
+ // 5. Get poses for minima.
+ matd_t* ret = NULL;
+ if (n_minima == 1) {
+ double t_cur = minima[0];
+ matd_t* R_beta = matd_copy(M2);
+ matd_scale_inplace(R_beta, t_cur);
+ matd_add_inplace(R_beta, M1);
+ matd_scale_inplace(R_beta, t_cur);
+ matd_add_inplace(R_beta, I3);
+ matd_scale_inplace(R_beta, 1/(1 + t_cur*t_cur));
+ ret = matd_op("M'MMM'", R_t, R_gamma, R_beta, R_z);
+ matd_destroy(R_beta);
+ } else if (n_minima > 1) {
+ // This can happen if our prior pose estimate was not very good.
+ debug_print("Error, more than one new minimum found.\n");
+ }
+ matd_destroy(I3);
+ matd_destroy(M1);
+ matd_destroy(M2);
+ matd_destroy(R_t);
+ matd_destroy(R_gamma);
+ matd_destroy(R_z);
+ matd_destroy(R_1_prime);
+ return ret;
+}
+
+/**
+ * Estimate pose of the tag using the homography method.
+ */
+void estimate_pose_for_tag_homography(apriltag_detection_info_t* info, apriltag_pose_t* solution) {
+ double scale = info->tagsize/2.0;
+
+ matd_t *M_H = homography_to_pose(info->det->H, -info->fx, info->fy, info->cx, info->cy);
+ MATD_EL(M_H, 0, 3) *= scale;
+ MATD_EL(M_H, 1, 3) *= scale;
+ MATD_EL(M_H, 2, 3) *= scale;
+
+ matd_t* fix = matd_create(4, 4);
+ MATD_EL(fix, 0, 0) = 1;
+ MATD_EL(fix, 1, 1) = -1;
+ MATD_EL(fix, 2, 2) = -1;
+ MATD_EL(fix, 3, 3) = 1;
+
+ matd_t* initial_pose = matd_multiply(fix, M_H);
+ matd_destroy(M_H);
+ matd_destroy(fix);
+
+ solution->R = matd_create(3, 3);
+ for (int i = 0; i < 3; i++) {
+ for (int j = 0; j < 3; j++) {
+ MATD_EL(solution->R, i, j) = MATD_EL(initial_pose, i, j);
+ }
+ }
+
+ solution->t = matd_create(3, 1);
+ for (int i = 0; i < 3; i++) {
+ MATD_EL(solution->t, i, 0) = MATD_EL(initial_pose, i, 3);
+ }
+ matd_destroy(initial_pose);
+}
+
+/**
+ * Estimate tag pose using orthogonal iteration.
+ */
+void estimate_tag_pose_orthogonal_iteration(
+ apriltag_detection_info_t* info,
+ double* err1,
+ apriltag_pose_t* solution1,
+ double* err2,
+ apriltag_pose_t* solution2,
+ int nIters) {
+ double scale = info->tagsize/2.0;
+ matd_t* p[4] = {
+ matd_create_data(3, 1, (double[]) {-scale, scale, 0}),
+ matd_create_data(3, 1, (double[]) {scale, scale, 0}),
+ matd_create_data(3, 1, (double[]) {scale, -scale, 0}),
+ matd_create_data(3, 1, (double[]) {-scale, -scale, 0})};
+ matd_t* v[4];
+ for (int i = 0; i < 4; i++) {
+ v[i] = matd_create_data(3, 1, (double[]) {
+ (info->det->p[i][0] - info->cx)/info->fx, (info->det->p[i][1] - info->cy)/info->fy, 1});
+ }
+
+ estimate_pose_for_tag_homography(info, solution1);
+ *err1 = orthogonal_iteration(v, p, &solution1->t, &solution1->R, 4, nIters);
+ solution2->R = fix_pose_ambiguities(v, p, solution1->t, solution1->R, 4);
+ if (solution2->R) {
+ solution2->t = matd_create(3, 1);
+ *err2 = orthogonal_iteration(v, p, &solution2->t, &solution2->R, 4, nIters);
+ } else {
+ *err2 = HUGE_VAL;
+ }
+
+ for (int i = 0; i < 4; i++) {
+ matd_destroy(p[i]);
+ matd_destroy(v[i]);
+ }
+}
+
+/**
+ * Estimate tag pose.
+ */
+double estimate_tag_pose(apriltag_detection_info_t* info, apriltag_pose_t* pose) {
+ double err1, err2;
+ apriltag_pose_t pose1, pose2;
+ estimate_tag_pose_orthogonal_iteration(info, &err1, &pose1, &err2, &pose2, 50);
+ if (err1 <= err2) {
+ pose->R = pose1.R;
+ pose->t = pose1.t;
+ if (pose2.R) {
+ matd_destroy(pose2.t);
+ }
+ matd_destroy(pose2.R);
+ return err1;
+ } else {
+ pose->R = pose2.R;
+ pose->t = pose2.t;
+ matd_destroy(pose1.R);
+ matd_destroy(pose1.t);
+ return err2;
+ }
+}
diff --git a/third_party/apriltag/apriltag_pose.h b/third_party/apriltag/apriltag_pose.h
new file mode 100644
index 0000000..7ef5565
--- /dev/null
+++ b/third_party/apriltag/apriltag_pose.h
@@ -0,0 +1,75 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+#include "apriltag.h"
+#include "common/matd.h"
+
+typedef struct {
+ apriltag_detection_t* det;
+ double tagsize; // In meters.
+ double fx; // In pixels.
+ double fy; // In pixels.
+ double cx; // In pixels.
+ double cy; // In pixels.
+} apriltag_detection_info_t;
+
+typedef struct {
+ matd_t* R;
+ matd_t* t;
+} apriltag_pose_t;
+
+/**
+ * Estimate pose of the tag using the homography method described in [1].
+ * @outparam pose
+ */
+void estimate_pose_for_tag_homography(
+ apriltag_detection_info_t* info,
+ apriltag_pose_t* pose);
+
+/**
+ * Estimate pose of the tag. This returns one or two possible poses for the
+ * tag, along with the object-space error of each.
+ *
+ * This uses the homography method described in [1] for the initial estimate.
+ * Then Orthogonal Iteration [2] is used to refine this estimate. Then [3] is
+ * used to find a potential second local minima and Orthogonal Iteration is
+ * used to refine this second estimate.
+ *
+ * [1]: E. Olson, “Apriltag: A robust and flexible visual fiducial system,” in
+ * 2011 IEEE International Conference on Robotics and Automation,
+ * May 2011, pp. 3400–3407.
+ * [2]: Lu, G. D. Hager and E. Mjolsness, "Fast and globally convergent pose
+ * estimation from video images," in IEEE Transactions on Pattern Analysis
+ * and Machine Intelligence, vol. 22, no. 6, pp. 610-622, June 2000.
+ * doi: 10.1109/34.862199
+ * [3]: Schweighofer and A. Pinz, "Robust Pose Estimation from a Planar Target,"
+ * in IEEE Transactions on Pattern Analysis and Machine Intelligence,
+ * vol. 28, no. 12, pp. 2024-2030, Dec. 2006. doi: 10.1109/TPAMI.2006.252
+ *
+ * @outparam err1, pose1, err2, pose2
+ */
+void estimate_tag_pose_orthogonal_iteration(
+ apriltag_detection_info_t* info,
+ double* err1,
+ apriltag_pose_t* pose1,
+ double* err2,
+ apriltag_pose_t* pose2,
+ int nIters);
+
+/**
+ * Estimate tag pose.
+ * This method is an easier to use interface to estimate_tag_pose_orthogonal_iteration.
+ *
+ * @outparam pose
+ * @return Object-space error of returned pose.
+ */
+double estimate_tag_pose(apriltag_detection_info_t* info, apriltag_pose_t* pose);
+
+#ifdef __cplusplus
+}
+#endif
+
diff --git a/third_party/apriltag/apriltag_py_type.docstring b/third_party/apriltag/apriltag_py_type.docstring
new file mode 100644
index 0000000..97612e3
--- /dev/null
+++ b/third_party/apriltag/apriltag_py_type.docstring
@@ -0,0 +1,80 @@
+AprilTag detector
+
+SYNOPSIS
+
+ import cv2
+ import numpy as np
+ from apriltag import apriltag
+
+ imagepath = '/tmp/tst.jpg'
+ image = cv2.imread(imagepath, cv2.IMREAD_GRAYSCALE)
+ detector = apriltag("tag36h11")
+
+ detections = detector.detect(image)
+
+ print("Saw tags {} at\n{}". \
+ format([d['id'] for d in detections],
+ np.array([d['center'] for d in detections])))
+
+ ----> Saw tags [3, 5, 7, 8, 10, 10, 14] at
+ [[582.42911184 172.90587335]
+ [703.32149701 271.50587376]
+ [288.1462089 227.01502779]
+ [463.63679264 227.91185418]
+ [ 93.88534443 241.61109765]
+ [121.94062798 237.97010936]
+ [356.46940849 260.20169159]]
+
+DESCRIPTION
+
+The AprilTags visual fiducial system project page is here:
+https://april.eecs.umich.edu/software/apriltag
+
+This is a Python class to provide AprilTags functionality in Python programs. To
+run the detector you
+
+1. Construct an object of type apriltag.apriltag()
+
+2. Invoke the detect() method on this object
+
+The constructor takes a number of arguments:
+
+- family: a string for the tag type we're detecting. This argument is required.
+ If an invalid string is given, the known list of tag families will be
+ reported. At the time of this writing the known families are:
+
+ - "tag36h11"
+ - "tag25h9"
+ - "tag16h5"
+ - "tagCircle21h7"
+ - "tagCircle49h12"
+ - "tagStandard41h12"
+ - "tagStandard52h13"
+ - "tagCustom48h12"
+
+All the other arguments are optional:
+
+- Nthreads: how many threads the detector should use. Default is 1
+
+- maxhamming: max number of corrected bits. Larger values guzzle RAM. Default is
+ 1
+
+- decimate: detection of quads can be done on a lower-resolution image,
+ improving speed at a cost of pose accuracy and a slight decrease in detection
+ rate. Decoding the binary payload is still done at full resolution. Default is 1.0
+
+- blur: What Gaussian blur should be applied to the segmented image (used for
+ quad detection?) Parameter is the standard deviation in pixels. Very noisy
+ images benefit from non-zero values (e.g. 0.8). Default is 0.0
+
+- refine_edges: When non-zero, the edges of the each quad are adjusted to "snap
+ to" strong gradients nearby. This is useful when decimation is employed, as it
+ can increase the quality of the initial quad estimate substantially. Generally
+ recommended to be on. Very computationally inexpensive. Option is ignored if
+ decimate == 1. Default is True
+
+- debug: When non-zero, write a variety of debugging images to the current
+ working directory at various stages through the detection process. (Somewhat
+ slow). Default is False
+
+The detect() method takes a single argument: an image array
diff --git a/third_party/apriltag/apriltag_pywrap.c b/third_party/apriltag/apriltag_pywrap.c
new file mode 100644
index 0000000..e17d48e
--- /dev/null
+++ b/third_party/apriltag/apriltag_pywrap.c
@@ -0,0 +1,381 @@
+#define NPY_NO_DEPRECATED_API NPY_API_VERSION
+
+#include <stdbool.h>
+#include <Python.h>
+#include <structmember.h>
+#include <numpy/arrayobject.h>
+#include <signal.h>
+
+#include "apriltag.h"
+#include "tag36h10.h"
+#include "tag36h11.h"
+#include "tag25h9.h"
+#include "tag16h5.h"
+#include "tagCircle21h7.h"
+#include "tagCircle49h12.h"
+#include "tagCustom48h12.h"
+#include "tagStandard41h12.h"
+#include "tagStandard52h13.h"
+
+
+#define SUPPORTED_TAG_FAMILIES(_) \
+ _(tag36h10) \
+ _(tag36h11) \
+ _(tag25h9) \
+ _(tag16h5) \
+ _(tagCircle21h7) \
+ _(tagCircle49h12) \
+ _(tagStandard41h12) \
+ _(tagStandard52h13) \
+ _(tagCustom48h12)
+
+#define TAG_CREATE_FAMILY(name) \
+ else if (0 == strcmp(family, #name)) self->tf = name ## _create();
+#define TAG_SET_DESTROY_FUNC(name) \
+ else if (0 == strcmp(family, #name)) self->destroy_func = name ## _destroy;
+#define FAMILY_STRING(name) " " #name "\n"
+
+
+// Python is silly. There's some nuance about signal handling where it sets a
+// SIGINT (ctrl-c) handler to just set a flag, and the python layer then reads
+// this flag and does the thing. Here I'm running C code, so SIGINT would set a
+// flag, but not quit, so I can't interrupt the solver. Thus I reset the SIGINT
+// handler to the default, and put it back to the python-specific version when
+// I'm done
+#define SET_SIGINT() struct sigaction sigaction_old; \
+do { \
+ if( 0 != sigaction(SIGINT, \
+ &(struct sigaction){ .sa_handler = SIG_DFL }, \
+ &sigaction_old) ) \
+ { \
+ PyErr_SetString(PyExc_RuntimeError, "sigaction() failed"); \
+ goto done; \
+ } \
+} while(0)
+#define RESET_SIGINT() do { \
+ if( 0 != sigaction(SIGINT, \
+ &sigaction_old, NULL )) \
+ PyErr_SetString(PyExc_RuntimeError, "sigaction-restore failed"); \
+} while(0)
+
+#define PYMETHODDEF_ENTRY(function_prefix, name, args) {#name, \
+ (PyCFunction)function_prefix ## name, \
+ args, \
+ function_prefix ## name ## _docstring}
+
+typedef struct {
+ PyObject_HEAD
+
+ apriltag_family_t* tf;
+ apriltag_detector_t* td;
+ void (*destroy_func)(apriltag_family_t *tf);
+} apriltag_py_t;
+
+
+static PyObject *
+apriltag_new(PyTypeObject *type, PyObject *args, PyObject *kwargs)
+{
+ bool success = false;
+
+ apriltag_py_t* self = (apriltag_py_t*)type->tp_alloc(type, 0);
+ if(self == NULL) goto done;
+
+ self->tf = NULL;
+ self->td = NULL;
+
+ const char* family = NULL;
+ int Nthreads = 1;
+ int maxhamming = 1;
+ float decimate = 1.0;
+ float blur = 0.0;
+ bool refine_edges = true;
+ bool debug = false;
+ PyObject* py_refine_edges = NULL;
+ PyObject* py_debug = NULL;
+
+ char* keywords[] = {"family",
+ "threads",
+ "maxhamming",
+ "decimate",
+ "blur",
+ "refine_edges",
+ "debug",
+ NULL };
+
+ if(!PyArg_ParseTupleAndKeywords( args, kwargs, "s|iiffOO",
+ keywords,
+ &family,
+ &Nthreads,
+ &maxhamming,
+ &decimate,
+ &blur,
+ &py_refine_edges,
+ &py_debug ))
+ {
+ goto done;
+ }
+
+ if(py_refine_edges != NULL)
+ refine_edges = PyObject_IsTrue(py_refine_edges);
+ if(py_debug != NULL)
+ debug = PyObject_IsTrue(py_debug);
+
+
+ if(0) ; SUPPORTED_TAG_FAMILIES(TAG_SET_DESTROY_FUNC)
+ else
+ {
+ PyErr_Format(PyExc_RuntimeError, "Unrecognized tag family name: '%s'. Families I know about:\n%s",
+ family, SUPPORTED_TAG_FAMILIES(FAMILY_STRING));
+ goto done;
+ }
+
+ if(0) ; SUPPORTED_TAG_FAMILIES(TAG_CREATE_FAMILY);
+
+ self->td = apriltag_detector_create();
+ if(self->td == NULL)
+ {
+ PyErr_SetString(PyExc_RuntimeError, "apriltag_detector_create() failed!");
+ goto done;
+ }
+
+ apriltag_detector_add_family_bits(self->td, self->tf, maxhamming);
+ self->td->quad_decimate = decimate;
+ self->td->quad_sigma = blur;
+ self->td->nthreads = Nthreads;
+ self->td->refine_edges = refine_edges;
+ self->td->debug = debug;
+
+ switch(errno){
+ case EINVAL:
+ PyErr_SetString(PyExc_RuntimeError, "Unable to add family to detector. \"maxhamming\" parameter should not exceed 3");
+ break;
+ case ENOMEM:
+ PyErr_Format(PyExc_RuntimeError, "Unable to add family to detector due to insufficient memory to allocate the tag-family decoder. Try reducing \"maxhamming\" from %d or choose an alternative tag family",maxhamming);
+ break;
+ default:
+ success = true;
+ }
+
+ done:
+ if(!success)
+ {
+ if(self != NULL)
+ {
+ if(self->td != NULL)
+ {
+ apriltag_detector_destroy(self->td);
+ self->td = NULL;
+ }
+ if(self->tf != NULL)
+ {
+ self->destroy_func(self->tf);
+ self->tf = NULL;
+ }
+ Py_DECREF(self);
+ }
+ return NULL;
+ }
+
+ return (PyObject*)self;
+}
+
+static void apriltag_dealloc(apriltag_py_t* self)
+{
+ if(self == NULL)
+ return;
+ if(self->td != NULL)
+ {
+ apriltag_detector_destroy(self->td);
+ self->td = NULL;
+ }
+ if(self->tf != NULL)
+ {
+ self->destroy_func(self->tf);
+ self->tf = NULL;
+ }
+
+ Py_TYPE(self)->tp_free((PyObject*)self);
+}
+
+static PyObject* apriltag_detect(apriltag_py_t* self,
+ PyObject* args)
+{
+ PyObject* result = NULL;
+ PyArrayObject* xy_c = NULL;
+ PyArrayObject* xy_lb_rb_rt_lt = NULL;
+ PyArrayObject* image = NULL;
+ PyObject* detections_tuple = NULL;
+
+ SET_SIGINT();
+ if(!PyArg_ParseTuple( args, "O&",
+ PyArray_Converter, &image ))
+ goto done;
+
+ npy_intp* dims = PyArray_DIMS (image);
+ npy_intp* strides = PyArray_STRIDES(image);
+ int ndims = PyArray_NDIM (image);
+ if( ndims != 2 )
+ {
+ PyErr_Format(PyExc_RuntimeError, "The input image array must have exactly 2 dims; got %d",
+ ndims);
+ goto done;
+ }
+ if( PyArray_TYPE(image) != NPY_UINT8 )
+ {
+ PyErr_SetString(PyExc_RuntimeError, "The input image array must contain 8-bit unsigned data");
+ goto done;
+ }
+ if( strides[ndims-1] != 1 )
+ {
+ PyErr_SetString(PyExc_RuntimeError, "Image rows must live in contiguous memory");
+ goto done;
+ }
+
+
+ image_u8_t im = {.width = dims[1],
+ .height = dims[0],
+ .stride = strides[0],
+ .buf = PyArray_DATA(image)};
+
+ zarray_t* detections = apriltag_detector_detect(self->td, &im);
+ int N = zarray_size(detections);
+
+ if (N == 0 && errno == EAGAIN){
+ PyErr_Format(PyExc_RuntimeError, "Unable to create %d threads for detector", self->td->nthreads);
+ goto done;
+ }
+
+ detections_tuple = PyTuple_New(N);
+ if(detections_tuple == NULL)
+ {
+ PyErr_Format(PyExc_RuntimeError, "Error creating output tuple of size %d", N);
+ goto done;
+ }
+
+ for (int i=0; i < N; i++)
+ {
+ xy_c = (PyArrayObject*)PyArray_SimpleNew(1, ((npy_intp[]){2}), NPY_FLOAT64);
+ if(xy_c == NULL)
+ {
+ PyErr_SetString(PyExc_RuntimeError, "Could not allocate xy_c array");
+ goto done;
+ }
+ xy_lb_rb_rt_lt = (PyArrayObject*)PyArray_SimpleNew(2, ((npy_intp[]){4,2}), NPY_FLOAT64);
+ if(xy_lb_rb_rt_lt == NULL)
+ {
+ PyErr_SetString(PyExc_RuntimeError, "Could not allocate xy_lb_rb_rt_lt array");
+ goto done;
+ }
+
+ apriltag_detection_t* det;
+ zarray_get(detections, i, &det);
+
+ *(double*)PyArray_GETPTR1(xy_c, 0) = det->c[0];
+ *(double*)PyArray_GETPTR1(xy_c, 1) = det->c[1];
+
+ for(int j=0; j<4; j++)
+ {
+ *(double*)PyArray_GETPTR2(xy_lb_rb_rt_lt, j, 0) = det->p[j][0];
+ *(double*)PyArray_GETPTR2(xy_lb_rb_rt_lt, j, 1) = det->p[j][1];
+ }
+
+ PyTuple_SET_ITEM(detections_tuple, i,
+ Py_BuildValue("{s:i,s:f,s:i,s:N,s:N}",
+ "hamming", det->hamming,
+ "margin", det->decision_margin,
+ "id", det->id,
+ "center", xy_c,
+ "lb-rb-rt-lt", xy_lb_rb_rt_lt));
+ xy_c = NULL;
+ xy_lb_rb_rt_lt = NULL;
+ }
+ apriltag_detections_destroy(detections);
+
+ result = detections_tuple;
+ detections_tuple = NULL;
+
+ done:
+ Py_XDECREF(xy_c);
+ Py_XDECREF(xy_lb_rb_rt_lt);
+ Py_XDECREF(image);
+ Py_XDECREF(detections_tuple);
+
+ RESET_SIGINT();
+ return result;
+}
+
+
+static const char apriltag_detect_docstring[] =
+#include "apriltag_detect.docstring.h"
+ ;
+static const char apriltag_type_docstring[] =
+#include "apriltag_py_type.docstring.h"
+ ;
+
+static PyMethodDef apriltag_methods[] =
+ { PYMETHODDEF_ENTRY(apriltag_, detect, METH_VARARGS),
+ {}
+ };
+
+static PyTypeObject apriltagType =
+{
+ PyVarObject_HEAD_INIT(NULL, 0)
+ .tp_name = "apriltag",
+ .tp_basicsize = sizeof(apriltag_py_t),
+ .tp_new = apriltag_new,
+ .tp_dealloc = (destructor)apriltag_dealloc,
+ .tp_methods = apriltag_methods,
+ .tp_flags = Py_TPFLAGS_DEFAULT,
+ .tp_doc = apriltag_type_docstring
+};
+
+static PyMethodDef methods[] =
+ { {}
+ };
+
+
+#if PY_MAJOR_VERSION == 2
+
+PyMODINIT_FUNC initapriltag(void)
+{
+ if (PyType_Ready(&apriltagType) < 0)
+ return;
+
+ PyObject* module = Py_InitModule3("apriltag", methods,
+ "AprilTags visual fiducial system detector");
+
+ Py_INCREF(&apriltagType);
+ PyModule_AddObject(module, "apriltag", (PyObject *)&apriltagType);
+
+ import_array();
+}
+
+#else
+
+static struct PyModuleDef module_def =
+ {
+ PyModuleDef_HEAD_INIT,
+ "apriltag",
+ "AprilTags visual fiducial system detector",
+ -1,
+ methods
+ };
+
+PyMODINIT_FUNC PyInit_apriltag(void)
+{
+ if (PyType_Ready(&apriltagType) < 0)
+ return NULL;
+
+ PyObject* module =
+ PyModule_Create(&module_def);
+
+ Py_INCREF(&apriltagType);
+ PyModule_AddObject(module, "apriltag", (PyObject *)&apriltagType);
+
+ import_array();
+
+ return module;
+}
+
+#endif
+
diff --git a/third_party/apriltag/apriltag_quad_thresh.c b/third_party/apriltag/apriltag_quad_thresh.c
new file mode 100644
index 0000000..09dc202
--- /dev/null
+++ b/third_party/apriltag/apriltag_quad_thresh.c
@@ -0,0 +1,1933 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+// limitation: image size must be <32768 in width and height. This is
+// because we use a fixed-point 16 bit integer representation with one
+// fractional bit.
+#include <math.h>
+#include <assert.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdint.h>
+
+#include "apriltag.h"
+#include "common/image_u8x3.h"
+#include "common/zarray.h"
+#include "common/unionfind.h"
+#include "common/timeprofile.h"
+#include "common/zmaxheap.h"
+#include "common/postscript_utils.h"
+#include "common/math_util.h"
+
+#ifdef _WIN32
+static inline long int random(void)
+{
+ return rand();
+}
+#endif
+
+static inline uint32_t u64hash_2(uint64_t x) {
+ return (2654435761 * x) >> 32;
+}
+
+struct uint64_zarray_entry
+{
+ uint64_t id;
+ zarray_t *cluster;
+
+ struct uint64_zarray_entry *next;
+};
+
+#ifndef M_PI
+# define M_PI 3.141592653589793238462643383279502884196
+#endif
+
+struct pt
+{
+ // Note: these represent 2*actual value.
+ uint16_t x, y;
+ int16_t gx, gy;
+
+ float slope;
+};
+
+struct unionfind_task
+{
+ int y0, y1;
+ int w, h, s;
+ unionfind_t *uf;
+ image_u8_t *im;
+};
+
+struct quad_task
+{
+ zarray_t *clusters;
+ int cidx0, cidx1; // [cidx0, cidx1)
+ zarray_t *quads;
+ apriltag_detector_t *td;
+ int w, h;
+
+ image_u8_t *im;
+ int tag_width;
+ bool normal_border;
+ bool reversed_border;
+};
+
+
+struct cluster_task
+{
+ int y0;
+ int y1;
+ int w;
+ int s;
+ int nclustermap;
+ unionfind_t* uf;
+ image_u8_t* im;
+ zarray_t* clusters;
+};
+
+struct remove_vertex
+{
+ int i; // which vertex to remove?
+ int left, right; // left vertex, right vertex
+
+ double err;
+};
+
+struct segment
+{
+ int is_vertex;
+
+ // always greater than zero, but right can be > size, which denotes
+ // a wrap around back to the beginning of the points. and left < right.
+ int left, right;
+};
+
+struct line_fit_pt
+{
+ double Mx, My;
+ double Mxx, Myy, Mxy;
+ double W; // total weight
+};
+
+struct cluster_hash
+{
+ uint32_t hash;
+ uint64_t id;
+ zarray_t* data;
+};
+
+
+// lfps contains *cumulative* moments for N points, with
+// index j reflecting points [0,j] (inclusive).
+//
+// fit a line to the points [i0, i1] (inclusive). i0, i1 are both [0,
+// sz) if i1 < i0, we treat this as a wrap around.
+void fit_line(struct line_fit_pt *lfps, int sz, int i0, int i1, double *lineparm, double *err, double *mse)
+{
+ assert(i0 != i1);
+ assert(i0 >= 0 && i1 >= 0 && i0 < sz && i1 < sz);
+
+ double Mx, My, Mxx, Myy, Mxy, W;
+ int N; // how many points are included in the set?
+
+ if (i0 < i1) {
+ N = i1 - i0 + 1;
+
+ Mx = lfps[i1].Mx;
+ My = lfps[i1].My;
+ Mxx = lfps[i1].Mxx;
+ Mxy = lfps[i1].Mxy;
+ Myy = lfps[i1].Myy;
+ W = lfps[i1].W;
+
+ if (i0 > 0) {
+ Mx -= lfps[i0-1].Mx;
+ My -= lfps[i0-1].My;
+ Mxx -= lfps[i0-1].Mxx;
+ Mxy -= lfps[i0-1].Mxy;
+ Myy -= lfps[i0-1].Myy;
+ W -= lfps[i0-1].W;
+ }
+
+ } else {
+ // i0 > i1, e.g. [15, 2]. Wrap around.
+ assert(i0 > 0);
+
+ Mx = lfps[sz-1].Mx - lfps[i0-1].Mx;
+ My = lfps[sz-1].My - lfps[i0-1].My;
+ Mxx = lfps[sz-1].Mxx - lfps[i0-1].Mxx;
+ Mxy = lfps[sz-1].Mxy - lfps[i0-1].Mxy;
+ Myy = lfps[sz-1].Myy - lfps[i0-1].Myy;
+ W = lfps[sz-1].W - lfps[i0-1].W;
+
+ Mx += lfps[i1].Mx;
+ My += lfps[i1].My;
+ Mxx += lfps[i1].Mxx;
+ Mxy += lfps[i1].Mxy;
+ Myy += lfps[i1].Myy;
+ W += lfps[i1].W;
+
+ N = sz - i0 + i1 + 1;
+ }
+
+ assert(N >= 2);
+
+ double Ex = Mx / W;
+ double Ey = My / W;
+ double Cxx = Mxx / W - Ex*Ex;
+ double Cxy = Mxy / W - Ex*Ey;
+ double Cyy = Myy / W - Ey*Ey;
+
+ //if (1) {
+ // // on iOS about 5% of total CPU spent in these trig functions.
+ // // 85 ms per frame on 5S, example.pnm
+ // //
+ // // XXX this was using the double-precision atan2. Was there a case where
+ // // we needed that precision? Seems doubtful.
+ // double normal_theta = .5 * atan2f(-2*Cxy, (Cyy - Cxx));
+ // nx_old = cosf(normal_theta);
+ // ny_old = sinf(normal_theta);
+ //}
+
+ // Instead of using the above cos/sin method, pose it as an eigenvalue problem.
+ double eig_small = 0.5*(Cxx + Cyy - sqrtf((Cxx - Cyy)*(Cxx - Cyy) + 4*Cxy*Cxy));
+
+ if (lineparm) {
+ lineparm[0] = Ex;
+ lineparm[1] = Ey;
+
+ double eig = 0.5*(Cxx + Cyy + sqrtf((Cxx - Cyy)*(Cxx - Cyy) + 4*Cxy*Cxy));
+ double nx1 = Cxx - eig;
+ double ny1 = Cxy;
+ double M1 = nx1*nx1 + ny1*ny1;
+ double nx2 = Cxy;
+ double ny2 = Cyy - eig;
+ double M2 = nx2*nx2 + ny2*ny2;
+
+ double nx, ny, M;
+ if (M1 > M2) {
+ nx = nx1;
+ ny = ny1;
+ M = M1;
+ } else {
+ nx = nx2;
+ ny = ny2;
+ M = M2;
+ }
+
+ double length = sqrtf(M);
+ lineparm[2] = nx/length;
+ lineparm[3] = ny/length;
+ }
+
+ // sum of squared errors =
+ //
+ // SUM_i ((p_x - ux)*nx + (p_y - uy)*ny)^2
+ // SUM_i nx*nx*(p_x - ux)^2 + 2nx*ny(p_x -ux)(p_y-uy) + ny*ny*(p_y-uy)*(p_y-uy)
+ // nx*nx*SUM_i((p_x -ux)^2) + 2nx*ny*SUM_i((p_x-ux)(p_y-uy)) + ny*ny*SUM_i((p_y-uy)^2)
+ //
+ // nx*nx*N*Cxx + 2nx*ny*N*Cxy + ny*ny*N*Cyy
+
+ // sum of squared errors
+ if (err)
+ *err = N*eig_small;
+
+ // mean squared error
+ if (mse)
+ *mse = eig_small;
+}
+
+float pt_compare_angle(struct pt *a, struct pt *b) {
+ return a->slope - b->slope;
+}
+
+int err_compare_descending(const void *_a, const void *_b)
+{
+ const double *a = _a;
+ const double *b = _b;
+
+ return ((*a) < (*b)) ? 1 : -1;
+}
+
+/*
+
+ 1. Identify A) white points near a black point and B) black points near a white point.
+
+ 2. Find the connected components within each of the classes above,
+ yielding clusters of "white-near-black" and
+ "black-near-white". (These two classes are kept separate). Each
+ segment has a unique id.
+
+ 3. For every pair of "white-near-black" and "black-near-white"
+ clusters, find the set of points that are in one and adjacent to the
+ other. In other words, a "boundary" layer between the two
+ clusters. (This is actually performed by iterating over the pixels,
+ rather than pairs of clusters.) Critically, this helps keep nearby
+ edges from becoming connected.
+*/
+int quad_segment_maxima(apriltag_detector_t *td, zarray_t *cluster, struct line_fit_pt *lfps, int indices[4])
+{
+ int sz = zarray_size(cluster);
+
+ // ksz: when fitting points, how many points on either side do we consider?
+ // (actual "kernel" width is 2ksz).
+ //
+ // This value should be about: 0.5 * (points along shortest edge).
+ //
+ // If all edges were equally-sized, that would give a value of
+ // sz/8. We make it somewhat smaller to account for tags at high
+ // aspects.
+
+ // XXX Tunable. Maybe make a multiple of JPEG block size to increase robustness
+ // to JPEG compression artifacts?
+ int ksz = imin(20, sz / 12);
+
+ // can't fit a quad if there are too few points.
+ if (ksz < 2)
+ return 0;
+
+ double *errs = malloc(sizeof(double)*sz);
+
+ for (int i = 0; i < sz; i++) {
+ fit_line(lfps, sz, (i + sz - ksz) % sz, (i + ksz) % sz, NULL, &errs[i], NULL);
+ }
+
+ // apply a low-pass filter to errs
+ if (1) {
+ double *y = malloc(sizeof(double)*sz);
+
+ // how much filter to apply?
+
+ // XXX Tunable
+ double sigma = 1; // was 3
+
+ // cutoff = exp(-j*j/(2*sigma*sigma));
+ // log(cutoff) = -j*j / (2*sigma*sigma)
+ // log(cutoff)*2*sigma*sigma = -j*j;
+
+ // how big a filter should we use? We make our kernel big
+ // enough such that we represent any values larger than
+ // 'cutoff'.
+
+ // XXX Tunable (though not super useful to change)
+ double cutoff = 0.05;
+ int fsz = sqrt(-log(cutoff)*2*sigma*sigma) + 1;
+ fsz = 2*fsz + 1;
+
+ // For default values of cutoff = 0.05, sigma = 3,
+ // we have fsz = 17.
+ float *f = malloc(sizeof(float)*fsz);
+
+ for (int i = 0; i < fsz; i++) {
+ int j = i - fsz / 2;
+ f[i] = exp(-j*j/(2*sigma*sigma));
+ }
+
+ for (int iy = 0; iy < sz; iy++) {
+ double acc = 0;
+
+ for (int i = 0; i < fsz; i++) {
+ acc += errs[(iy + i - fsz / 2 + sz) % sz] * f[i];
+ }
+ y[iy] = acc;
+ }
+
+ memcpy(errs, y, sizeof(double)*sz);
+ free(y);
+ free(f);
+ }
+
+ int *maxima = malloc(sizeof(int)*sz);
+ double *maxima_errs = malloc(sizeof(double)*sz);
+ int nmaxima = 0;
+
+ for (int i = 0; i < sz; i++) {
+ if (errs[i] > errs[(i+1)%sz] && errs[i] > errs[(i+sz-1)%sz]) {
+ maxima[nmaxima] = i;
+ maxima_errs[nmaxima] = errs[i];
+ nmaxima++;
+ }
+ }
+ free(errs);
+
+ // if we didn't get at least 4 maxima, we can't fit a quad.
+ if (nmaxima < 4){
+ free(maxima);
+ free(maxima_errs);
+ return 0;
+ }
+
+ // select only the best maxima if we have too many
+ int max_nmaxima = td->qtp.max_nmaxima;
+
+ if (nmaxima > max_nmaxima) {
+ double *maxima_errs_copy = malloc(sizeof(double)*nmaxima);
+ memcpy(maxima_errs_copy, maxima_errs, sizeof(double)*nmaxima);
+
+ // throw out all but the best handful of maxima. Sorts descending.
+ qsort(maxima_errs_copy, nmaxima, sizeof(double), err_compare_descending);
+
+ double maxima_thresh = maxima_errs_copy[max_nmaxima];
+ int out = 0;
+ for (int in = 0; in < nmaxima; in++) {
+ if (maxima_errs[in] <= maxima_thresh)
+ continue;
+ maxima[out++] = maxima[in];
+ }
+ nmaxima = out;
+ free(maxima_errs_copy);
+ }
+ free(maxima_errs);
+
+ int best_indices[4];
+ double best_error = HUGE_VALF;
+
+ double err01, err12, err23, err30;
+ double mse01, mse12, mse23, mse30;
+ double params01[4], params12[4], params23[4], params30[4];
+
+ // disallow quads where the angle is less than a critical value.
+ double max_dot = td->qtp.cos_critical_rad; //25*M_PI/180);
+
+ for (int m0 = 0; m0 < nmaxima - 3; m0++) {
+ int i0 = maxima[m0];
+
+ for (int m1 = m0+1; m1 < nmaxima - 2; m1++) {
+ int i1 = maxima[m1];
+
+ fit_line(lfps, sz, i0, i1, params01, &err01, &mse01);
+
+ if (mse01 > td->qtp.max_line_fit_mse)
+ continue;
+
+ for (int m2 = m1+1; m2 < nmaxima - 1; m2++) {
+ int i2 = maxima[m2];
+
+ fit_line(lfps, sz, i1, i2, params12, &err12, &mse12);
+ if (mse12 > td->qtp.max_line_fit_mse)
+ continue;
+
+ double dot = params01[2]*params12[2] + params01[3]*params12[3];
+ if (fabs(dot) > max_dot)
+ continue;
+
+ for (int m3 = m2+1; m3 < nmaxima; m3++) {
+ int i3 = maxima[m3];
+
+ fit_line(lfps, sz, i2, i3, params23, &err23, &mse23);
+ if (mse23 > td->qtp.max_line_fit_mse)
+ continue;
+
+ fit_line(lfps, sz, i3, i0, params30, &err30, &mse30);
+ if (mse30 > td->qtp.max_line_fit_mse)
+ continue;
+
+ double err = err01 + err12 + err23 + err30;
+ if (err < best_error) {
+ best_error = err;
+ best_indices[0] = i0;
+ best_indices[1] = i1;
+ best_indices[2] = i2;
+ best_indices[3] = i3;
+ }
+ }
+ }
+ }
+ }
+
+ free(maxima);
+
+ if (best_error == HUGE_VALF)
+ return 0;
+
+ for (int i = 0; i < 4; i++)
+ indices[i] = best_indices[i];
+
+ if (best_error / sz < td->qtp.max_line_fit_mse)
+ return 1;
+ return 0;
+}
+
+// returns 0 if the cluster looks bad.
+int quad_segment_agg(apriltag_detector_t *td, zarray_t *cluster, struct line_fit_pt *lfps, int indices[4])
+{
+ int sz = zarray_size(cluster);
+
+ zmaxheap_t *heap = zmaxheap_create(sizeof(struct remove_vertex*));
+
+ // We will initially allocate sz rvs. We then have two types of
+ // iterations: some iterations that are no-ops in terms of
+ // allocations, and those that remove a vertex and allocate two
+ // more children. This will happen at most (sz-4) times. Thus we
+ // need: sz + 2*(sz-4) entries.
+
+ int rvalloc_pos = 0;
+ int rvalloc_size = 3*sz;
+ struct remove_vertex *rvalloc = calloc(rvalloc_size, sizeof(struct remove_vertex));
+
+ struct segment *segs = calloc(sz, sizeof(struct segment));
+
+ // populate with initial entries
+ for (int i = 0; i < sz; i++) {
+ struct remove_vertex *rv = &rvalloc[rvalloc_pos++];
+ rv->i = i;
+ if (i == 0) {
+ rv->left = sz-1;
+ rv->right = 1;
+ } else {
+ rv->left = i-1;
+ rv->right = (i+1) % sz;
+ }
+
+ fit_line(lfps, sz, rv->left, rv->right, NULL, NULL, &rv->err);
+
+ zmaxheap_add(heap, &rv, -rv->err);
+
+ segs[i].left = rv->left;
+ segs[i].right = rv->right;
+ segs[i].is_vertex = 1;
+ }
+
+ int nvertices = sz;
+
+ while (nvertices > 4) {
+ assert(rvalloc_pos < rvalloc_size);
+
+ struct remove_vertex *rv;
+ float err;
+
+ int res = zmaxheap_remove_max(heap, &rv, &err);
+ if (!res)
+ return 0;
+ assert(res);
+
+ // is this remove_vertex valid? (Or has one of the left/right
+ // vertices changes since we last looked?)
+ if (!segs[rv->i].is_vertex ||
+ !segs[rv->left].is_vertex ||
+ !segs[rv->right].is_vertex) {
+ continue;
+ }
+
+ // we now merge.
+ assert(segs[rv->i].is_vertex);
+
+ segs[rv->i].is_vertex = 0;
+ segs[rv->left].right = rv->right;
+ segs[rv->right].left = rv->left;
+
+ // create the join to the left
+ if (1) {
+ struct remove_vertex *child = &rvalloc[rvalloc_pos++];
+ child->i = rv->left;
+ child->left = segs[rv->left].left;
+ child->right = rv->right;
+
+ fit_line(lfps, sz, child->left, child->right, NULL, NULL, &child->err);
+
+ zmaxheap_add(heap, &child, -child->err);
+ }
+
+ // create the join to the right
+ if (1) {
+ struct remove_vertex *child = &rvalloc[rvalloc_pos++];
+ child->i = rv->right;
+ child->left = rv->left;
+ child->right = segs[rv->right].right;
+
+ fit_line(lfps, sz, child->left, child->right, NULL, NULL, &child->err);
+
+ zmaxheap_add(heap, &child, -child->err);
+ }
+
+ // we now have one less vertex
+ nvertices--;
+ }
+
+ free(rvalloc);
+ zmaxheap_destroy(heap);
+
+ int idx = 0;
+ for (int i = 0; i < sz; i++) {
+ if (segs[i].is_vertex) {
+ indices[idx++] = i;
+ }
+ }
+
+ free(segs);
+
+ return 1;
+}
+
+/**
+ * Compute statistics that allow line fit queries to be
+ * efficiently computed for any contiguous range of indices.
+ */
+struct line_fit_pt* compute_lfps(int sz, zarray_t* cluster, image_u8_t* im) {
+ struct line_fit_pt *lfps = calloc(sz, sizeof(struct line_fit_pt));
+
+ for (int i = 0; i < sz; i++) {
+ struct pt *p;
+ zarray_get_volatile(cluster, i, &p);
+
+ if (i > 0) {
+ memcpy(&lfps[i], &lfps[i-1], sizeof(struct line_fit_pt));
+ }
+
+ {
+ // we now undo our fixed-point arithmetic.
+ double delta = 0.5; // adjust for pixel center bias
+ double x = p->x * .5 + delta;
+ double y = p->y * .5 + delta;
+ int ix = x, iy = y;
+ double W = 1;
+
+ if (ix > 0 && ix+1 < im->width && iy > 0 && iy+1 < im->height) {
+ int grad_x = im->buf[iy * im->stride + ix + 1] -
+ im->buf[iy * im->stride + ix - 1];
+
+ int grad_y = im->buf[(iy+1) * im->stride + ix] -
+ im->buf[(iy-1) * im->stride + ix];
+
+ // XXX Tunable. How to shape the gradient magnitude?
+ W = sqrt(grad_x*grad_x + grad_y*grad_y) + 1;
+ }
+
+ double fx = x, fy = y;
+ lfps[i].Mx += W * fx;
+ lfps[i].My += W * fy;
+ lfps[i].Mxx += W * fx * fx;
+ lfps[i].Mxy += W * fx * fy;
+ lfps[i].Myy += W * fy * fy;
+ lfps[i].W += W;
+ }
+ }
+ return lfps;
+}
+
+static inline void ptsort(struct pt *pts, int sz)
+{
+#define MAYBE_SWAP(arr,apos,bpos) \
+ if (pt_compare_angle(&(arr[apos]), &(arr[bpos])) > 0) { \
+ tmp = arr[apos]; arr[apos] = arr[bpos]; arr[bpos] = tmp; \
+ };
+
+ if (sz <= 1)
+ return;
+
+ if (sz == 2) {
+ struct pt tmp;
+ MAYBE_SWAP(pts, 0, 1);
+ return;
+ }
+
+ // NB: Using less-branch-intensive sorting networks here on the
+ // hunch that it's better for performance.
+ if (sz == 3) { // 3 element bubble sort is optimal
+ struct pt tmp;
+ MAYBE_SWAP(pts, 0, 1);
+ MAYBE_SWAP(pts, 1, 2);
+ MAYBE_SWAP(pts, 0, 1);
+ return;
+ }
+
+ if (sz == 4) { // 4 element optimal sorting network.
+ struct pt tmp;
+ MAYBE_SWAP(pts, 0, 1); // sort each half, like a merge sort
+ MAYBE_SWAP(pts, 2, 3);
+ MAYBE_SWAP(pts, 0, 2); // minimum value is now at 0.
+ MAYBE_SWAP(pts, 1, 3); // maximum value is now at end.
+ MAYBE_SWAP(pts, 1, 2); // that only leaves the middle two.
+ return;
+ }
+ if (sz == 5) {
+ // this 9-step swap is optimal for a sorting network, but two
+ // steps slower than a generic sort.
+ struct pt tmp;
+ MAYBE_SWAP(pts, 0, 1); // sort each half (3+2), like a merge sort
+ MAYBE_SWAP(pts, 3, 4);
+ MAYBE_SWAP(pts, 1, 2);
+ MAYBE_SWAP(pts, 0, 1);
+ MAYBE_SWAP(pts, 0, 3); // minimum element now at 0
+ MAYBE_SWAP(pts, 2, 4); // maximum element now at end
+ MAYBE_SWAP(pts, 1, 2); // now resort the three elements 1-3.
+ MAYBE_SWAP(pts, 2, 3);
+ MAYBE_SWAP(pts, 1, 2);
+ return;
+ }
+
+#undef MAYBE_SWAP
+
+ // a merge sort with temp storage.
+
+ struct pt *tmp = malloc(sizeof(struct pt) * sz);
+
+ memcpy(tmp, pts, sizeof(struct pt) * sz);
+
+ int asz = sz/2;
+ int bsz = sz - asz;
+
+ struct pt *as = &tmp[0];
+ struct pt *bs = &tmp[asz];
+
+ ptsort(as, asz);
+ ptsort(bs, bsz);
+
+ #define MERGE(apos,bpos) \
+ if (pt_compare_angle(&(as[apos]), &(bs[bpos])) < 0) \
+ pts[outpos++] = as[apos++]; \
+ else \
+ pts[outpos++] = bs[bpos++];
+
+ int apos = 0, bpos = 0, outpos = 0;
+ while (apos + 8 < asz && bpos + 8 < bsz) {
+ MERGE(apos,bpos); MERGE(apos,bpos); MERGE(apos,bpos); MERGE(apos,bpos);
+ MERGE(apos,bpos); MERGE(apos,bpos); MERGE(apos,bpos); MERGE(apos,bpos);
+ }
+
+ while (apos < asz && bpos < bsz) {
+ MERGE(apos,bpos);
+ }
+
+ if (apos < asz)
+ memcpy(&pts[outpos], &as[apos], (asz-apos)*sizeof(struct pt));
+ if (bpos < bsz)
+ memcpy(&pts[outpos], &bs[bpos], (bsz-bpos)*sizeof(struct pt));
+
+ free(tmp);
+
+#undef MERGE
+}
+
+// return 1 if the quad looks okay, 0 if it should be discarded
+int fit_quad(
+ apriltag_detector_t *td,
+ image_u8_t *im,
+ zarray_t *cluster,
+ struct quad *quad,
+ int tag_width,
+ bool normal_border,
+ bool reversed_border) {
+ int res = 0;
+
+ int sz = zarray_size(cluster);
+ if (sz < 24) // Synchronize with later check.
+ return 0;
+
+ /////////////////////////////////////////////////////////////
+ // Step 1. Sort points so they wrap around the center of the
+ // quad. We will constrain our quad fit to simply partition this
+ // ordered set into 4 groups.
+
+ // compute a bounding box so that we can order the points
+ // according to their angle WRT the center.
+ struct pt *p1;
+ zarray_get_volatile(cluster, 0, &p1);
+ uint16_t xmax = p1->x;
+ uint16_t xmin = p1->x;
+ uint16_t ymax = p1->y;
+ uint16_t ymin = p1->y;
+ for (int pidx = 1; pidx < zarray_size(cluster); pidx++) {
+ struct pt *p;
+ zarray_get_volatile(cluster, pidx, &p);
+
+ if (p->x > xmax) {
+ xmax = p->x;
+ } else if (p->x < xmin) {
+ xmin = p->x;
+ }
+
+ if (p->y > ymax) {
+ ymax = p->y;
+ } else if (p->y < ymin) {
+ ymin = p->y;
+ }
+ }
+
+ if ((xmax - xmin)*(ymax - ymin) < tag_width) {
+ return 0;
+ }
+
+ // add some noise to (cx,cy) so that pixels get a more diverse set
+ // of theta estimates. This will help us remove more points.
+ // (Only helps a small amount. The actual noise values here don't
+ // matter much at all, but we want them [-1, 1]. (XXX with
+ // fixed-point, should range be bigger?)
+ float cx = (xmin + xmax) * 0.5 + 0.05118;
+ float cy = (ymin + ymax) * 0.5 + -0.028581;
+
+ float dot = 0;
+
+ float quadrants[2][2] = {{-1*(2 << 15), 0}, {2*(2 << 15), 2 << 15}};
+
+ for (int pidx = 0; pidx < zarray_size(cluster); pidx++) {
+ struct pt *p;
+ zarray_get_volatile(cluster, pidx, &p);
+
+ float dx = p->x - cx;
+ float dy = p->y - cy;
+
+ dot += dx*p->gx + dy*p->gy;
+
+ float quadrant = quadrants[dy > 0][dx > 0];
+ if (dy < 0) {
+ dy = -dy;
+ dx = -dx;
+ }
+
+ if (dx < 0) {
+ float tmp = dx;
+ dx = dy;
+ dy = -tmp;
+ }
+ p->slope = quadrant + dy/dx;
+ }
+
+ // Ensure that the black border is inside the white border.
+ quad->reversed_border = dot < 0;
+ if (!reversed_border && quad->reversed_border) {
+ return 0;
+ }
+ if (!normal_border && !quad->reversed_border) {
+ return 0;
+ }
+
+ // we now sort the points according to theta. This is a prepatory
+ // step for segmenting them into four lines.
+ if (1) {
+ ptsort((struct pt*) cluster->data, zarray_size(cluster));
+
+ // remove duplicate points. (A byproduct of our segmentation system.)
+ if (1) {
+ int outpos = 1;
+
+ struct pt *last;
+ zarray_get_volatile(cluster, 0, &last);
+
+ for (int i = 1; i < sz; i++) {
+
+ struct pt *p;
+ zarray_get_volatile(cluster, i, &p);
+
+ if (p->x != last->x || p->y != last->y) {
+
+ if (i != outpos) {
+ struct pt *out;
+ zarray_get_volatile(cluster, outpos, &out);
+ memcpy(out, p, sizeof(struct pt));
+ }
+
+ outpos++;
+ }
+
+ last = p;
+ }
+
+ cluster->size = outpos;
+ sz = outpos;
+ }
+
+ }
+
+ if (sz < 24)
+ return 0;
+
+
+ struct line_fit_pt *lfps = compute_lfps(sz, cluster, im);
+
+ int indices[4];
+ if (1) {
+ if (!quad_segment_maxima(td, cluster, lfps, indices))
+ goto finish;
+ } else {
+ if (!quad_segment_agg(td, cluster, lfps, indices))
+ goto finish;
+ }
+
+
+ double lines[4][4];
+
+ for (int i = 0; i < 4; i++) {
+ int i0 = indices[i];
+ int i1 = indices[(i+1)&3];
+
+ double err;
+ fit_line(lfps, sz, i0, i1, lines[i], NULL, &err);
+
+ if (err > td->qtp.max_line_fit_mse) {
+ res = 0;
+ goto finish;
+ }
+ }
+
+ for (int i = 0; i < 4; i++) {
+ // solve for the intersection of lines (i) and (i+1)&3.
+ // p0 + lambda0*u0 = p1 + lambda1*u1, where u0 and u1
+ // are the line directions.
+ //
+ // lambda0*u0 - lambda1*u1 = (p1 - p0)
+ //
+ // rearrange (solve for lambdas)
+ //
+ // [u0_x -u1_x ] [lambda0] = [ p1_x - p0_x ]
+ // [u0_y -u1_y ] [lambda1] [ p1_y - p0_y ]
+ //
+ // remember that lines[i][0,1] = p, lines[i][2,3] = NORMAL vector.
+ // We want the unit vector, so we need the perpendiculars. Thus, below
+ // we have swapped the x and y components and flipped the y components.
+
+ double A00 = lines[i][3], A01 = -lines[(i+1)&3][3];
+ double A10 = -lines[i][2], A11 = lines[(i+1)&3][2];
+ double B0 = -lines[i][0] + lines[(i+1)&3][0];
+ double B1 = -lines[i][1] + lines[(i+1)&3][1];
+
+ double det = A00 * A11 - A10 * A01;
+
+ // inverse.
+ double W00 = A11 / det, W01 = -A01 / det;
+ if (fabs(det) < 0.001) {
+ res = 0;
+ goto finish;
+ }
+
+ // solve
+ double L0 = W00*B0 + W01*B1;
+
+ // compute intersection
+ quad->p[i][0] = lines[i][0] + L0*A00;
+ quad->p[i][1] = lines[i][1] + L0*A10;
+
+ res = 1;
+ }
+
+ // reject quads that are too small
+ if (1) {
+ double area = 0;
+
+ // get area of triangle formed by points 0, 1, 2, 0
+ double length[3], p;
+ for (int i = 0; i < 3; i++) {
+ int idxa = i; // 0, 1, 2,
+ int idxb = (i+1) % 3; // 1, 2, 0
+ length[i] = sqrt(sq(quad->p[idxb][0] - quad->p[idxa][0]) +
+ sq(quad->p[idxb][1] - quad->p[idxa][1]));
+ }
+ p = (length[0] + length[1] + length[2]) / 2;
+
+ area += sqrt(p*(p-length[0])*(p-length[1])*(p-length[2]));
+
+ // get area of triangle formed by points 2, 3, 0, 2
+ for (int i = 0; i < 3; i++) {
+ int idxs[] = { 2, 3, 0, 2 };
+ int idxa = idxs[i];
+ int idxb = idxs[i+1];
+ length[i] = sqrt(sq(quad->p[idxb][0] - quad->p[idxa][0]) +
+ sq(quad->p[idxb][1] - quad->p[idxa][1]));
+ }
+ p = (length[0] + length[1] + length[2]) / 2;
+
+ area += sqrt(p*(p-length[0])*(p-length[1])*(p-length[2]));
+
+ if (area < 0.95*tag_width*tag_width) {
+ res = 0;
+ goto finish;
+ }
+ }
+
+ // reject quads whose cumulative angle change isn't equal to 2PI
+ if (1) {
+ for (int i = 0; i < 4; i++) {
+ int i0 = i, i1 = (i+1)&3, i2 = (i+2)&3;
+
+ double dx1 = quad->p[i1][0] - quad->p[i0][0];
+ double dy1 = quad->p[i1][1] - quad->p[i0][1];
+ double dx2 = quad->p[i2][0] - quad->p[i1][0];
+ double dy2 = quad->p[i2][1] - quad->p[i1][1];
+ double cos_dtheta = (dx1*dx2 + dy1*dy2)/sqrt((dx1*dx1 + dy1*dy1)*(dx2*dx2 + dy2*dy2));
+
+ if ((cos_dtheta > td->qtp.cos_critical_rad || cos_dtheta < -td->qtp.cos_critical_rad) || dx1*dy2 < dy1*dx2) {
+ res = 0;
+ goto finish;
+ }
+ }
+ }
+
+ finish:
+
+ free(lfps);
+
+ return res;
+}
+
+#define DO_UNIONFIND2(dx, dy) if (im->buf[(y + dy)*s + x + dx] == v) unionfind_connect(uf, y*w + x, (y + dy)*w + x + dx);
+
+static void do_unionfind_first_line(unionfind_t *uf, image_u8_t *im, int h, int w, int s)
+{
+ int y = 0;
+ uint8_t v;
+
+ for (int x = 1; x < w - 1; x++) {
+ v = im->buf[y*s + x];
+
+ if (v == 127)
+ continue;
+
+ DO_UNIONFIND2(-1, 0);
+ }
+}
+
+static void do_unionfind_line2(unionfind_t *uf, image_u8_t *im, int h, int w, int s, int y)
+{
+ assert(y > 0);
+
+ uint8_t v_m1_m1;
+ uint8_t v_0_m1 = im->buf[(y - 1)*s];
+ uint8_t v_1_m1 = im->buf[(y - 1)*s + 1];
+ uint8_t v_m1_0;
+ uint8_t v = im->buf[y*s];
+
+ for (int x = 1; x < w - 1; x++) {
+ v_m1_m1 = v_0_m1;
+ v_0_m1 = v_1_m1;
+ v_1_m1 = im->buf[(y - 1)*s + x + 1];
+ v_m1_0 = v;
+ v = im->buf[y*s + x];
+
+ if (v == 127)
+ continue;
+
+ // (dx,dy) pairs for 8 connectivity:
+ // (-1, -1) (0, -1) (1, -1)
+ // (-1, 0) (REFERENCE)
+ DO_UNIONFIND2(-1, 0);
+
+ if (x == 1 || !((v_m1_0 == v_m1_m1) && (v_m1_m1 == v_0_m1))) {
+ DO_UNIONFIND2(0, -1);
+ }
+
+ if (v == 255) {
+ if (x == 1 || !(v_m1_0 == v_m1_m1 || v_0_m1 == v_m1_m1) ) {
+ DO_UNIONFIND2(-1, -1);
+ }
+ if (!(v_0_m1 == v_1_m1)) {
+ DO_UNIONFIND2(1, -1);
+ }
+ }
+ }
+}
+#undef DO_UNIONFIND2
+
+static void do_unionfind_task2(void *p)
+{
+ struct unionfind_task *task = (struct unionfind_task*) p;
+
+ for (int y = task->y0; y < task->y1; y++) {
+ do_unionfind_line2(task->uf, task->im, task->h, task->w, task->s, y);
+ }
+}
+
+static void do_quad_task(void *p)
+{
+ struct quad_task *task = (struct quad_task*) p;
+
+ zarray_t *clusters = task->clusters;
+ zarray_t *quads = task->quads;
+ apriltag_detector_t *td = task->td;
+ int w = task->w, h = task->h;
+
+ for (int cidx = task->cidx0; cidx < task->cidx1; cidx++) {
+
+ zarray_t *cluster;
+ zarray_get(clusters, cidx, &cluster);
+
+ if (zarray_size(cluster) < td->qtp.min_cluster_pixels)
+ continue;
+
+ // a cluster should contain only boundary points around the
+ // tag. it cannot be bigger than the whole screen. (Reject
+ // large connected blobs that will be prohibitively slow to
+ // fit quads to.) A typical point along an edge is added three
+ // times (because it has 3 neighbors). The maximum perimeter
+ // is 2w+2h.
+ if (zarray_size(cluster) > 3*(2*w+2*h)) {
+ continue;
+ }
+
+ struct quad quad;
+ memset(&quad, 0, sizeof(struct quad));
+
+ if (fit_quad(td, task->im, cluster, &quad, task->tag_width, task->normal_border, task->reversed_border)) {
+ pthread_mutex_lock(&td->mutex);
+ zarray_add(quads, &quad);
+ pthread_mutex_unlock(&td->mutex);
+ }
+ }
+}
+
+image_u8_t *threshold(apriltag_detector_t *td, image_u8_t *im)
+{
+ int w = im->width, h = im->height, s = im->stride;
+ assert(w < 32768);
+ assert(h < 32768);
+
+ image_u8_t *threshim = image_u8_create_alignment(w, h, s);
+ assert(threshim->stride == s);
+
+ // The idea is to find the maximum and minimum values in a
+ // window around each pixel. If it's a contrast-free region
+ // (max-min is small), don't try to binarize. Otherwise,
+ // threshold according to (max+min)/2.
+ //
+ // Mark low-contrast regions with value 127 so that we can skip
+ // future work on these areas too.
+
+ // however, computing max/min around every pixel is needlessly
+ // expensive. We compute max/min for tiles. To avoid artifacts
+ // that arise when high-contrast features appear near a tile
+ // edge (and thus moving from one tile to another results in a
+ // large change in max/min value), the max/min values used for
+ // any pixel are computed from all 3x3 surrounding tiles. Thus,
+ // the max/min sampling area for nearby pixels overlap by at least
+ // one tile.
+ //
+ // The important thing is that the windows be large enough to
+ // capture edge transitions; the tag does not need to fit into
+ // a tile.
+
+ // XXX Tunable. Generally, small tile sizes--- so long as they're
+ // large enough to span a single tag edge--- seem to be a winner.
+ const int tilesz = 4;
+
+ // the last (possibly partial) tiles along each row and column will
+ // just use the min/max value from the last full tile.
+ int tw = w / tilesz;
+ int th = h / tilesz;
+
+ uint8_t *im_max = calloc(tw*th, sizeof(uint8_t));
+ uint8_t *im_min = calloc(tw*th, sizeof(uint8_t));
+
+ // first, collect min/max statistics for each tile
+ for (int ty = 0; ty < th; ty++) {
+ for (int tx = 0; tx < tw; tx++) {
+ uint8_t max = 0, min = 255;
+
+ for (int dy = 0; dy < tilesz; dy++) {
+
+ for (int dx = 0; dx < tilesz; dx++) {
+
+ uint8_t v = im->buf[(ty*tilesz+dy)*s + tx*tilesz + dx];
+ if (v < min)
+ min = v;
+ if (v > max)
+ max = v;
+ }
+ }
+
+ im_max[ty*tw+tx] = max;
+ im_min[ty*tw+tx] = min;
+ }
+ }
+
+ // second, apply 3x3 max/min convolution to "blur" these values
+ // over larger areas. This reduces artifacts due to abrupt changes
+ // in the threshold value.
+ if (1) {
+ uint8_t *im_max_tmp = calloc(tw*th, sizeof(uint8_t));
+ uint8_t *im_min_tmp = calloc(tw*th, sizeof(uint8_t));
+
+ for (int ty = 0; ty < th; ty++) {
+ for (int tx = 0; tx < tw; tx++) {
+ uint8_t max = 0, min = 255;
+
+ for (int dy = -1; dy <= 1; dy++) {
+ if (ty+dy < 0 || ty+dy >= th)
+ continue;
+ for (int dx = -1; dx <= 1; dx++) {
+ if (tx+dx < 0 || tx+dx >= tw)
+ continue;
+
+ uint8_t m = im_max[(ty+dy)*tw+tx+dx];
+ if (m > max)
+ max = m;
+ m = im_min[(ty+dy)*tw+tx+dx];
+ if (m < min)
+ min = m;
+ }
+ }
+
+ im_max_tmp[ty*tw + tx] = max;
+ im_min_tmp[ty*tw + tx] = min;
+ }
+ }
+ free(im_max);
+ free(im_min);
+ im_max = im_max_tmp;
+ im_min = im_min_tmp;
+ }
+
+ for (int ty = 0; ty < th; ty++) {
+ for (int tx = 0; tx < tw; tx++) {
+
+ int min = im_min[ty*tw + tx];
+ int max = im_max[ty*tw + tx];
+
+ // low contrast region? (no edges)
+ if (max - min < td->qtp.min_white_black_diff) {
+ for (int dy = 0; dy < tilesz; dy++) {
+ int y = ty*tilesz + dy;
+
+ for (int dx = 0; dx < tilesz; dx++) {
+ int x = tx*tilesz + dx;
+
+ threshim->buf[y*s+x] = 127;
+ }
+ }
+ continue;
+ }
+
+ // otherwise, actually threshold this tile.
+
+ // argument for biasing towards dark; specular highlights
+ // can be substantially brighter than white tag parts
+ uint8_t thresh = min + (max - min) / 2;
+
+ for (int dy = 0; dy < tilesz; dy++) {
+ int y = ty*tilesz + dy;
+
+ for (int dx = 0; dx < tilesz; dx++) {
+ int x = tx*tilesz + dx;
+
+ uint8_t v = im->buf[y*s+x];
+ if (v > thresh)
+ threshim->buf[y*s+x] = 255;
+ else
+ threshim->buf[y*s+x] = 0;
+ }
+ }
+ }
+ }
+
+ // we skipped over the non-full-sized tiles above. Fix those now.
+ if (1) {
+ for (int y = 0; y < h; y++) {
+
+ // what is the first x coordinate we need to process in this row?
+
+ int x0;
+
+ if (y >= th*tilesz) {
+ x0 = 0; // we're at the bottom; do the whole row.
+ } else {
+ x0 = tw*tilesz; // we only need to do the right most part.
+ }
+
+ // compute tile coordinates and clamp.
+ int ty = y / tilesz;
+ if (ty >= th)
+ ty = th - 1;
+
+ for (int x = x0; x < w; x++) {
+ int tx = x / tilesz;
+ if (tx >= tw)
+ tx = tw - 1;
+
+ int max = im_max[ty*tw + tx];
+ int min = im_min[ty*tw + tx];
+ int thresh = min + (max - min) / 2;
+
+ uint8_t v = im->buf[y*s+x];
+ if (v > thresh)
+ threshim->buf[y*s+x] = 255;
+ else
+ threshim->buf[y*s+x] = 0;
+ }
+ }
+ }
+
+ free(im_min);
+ free(im_max);
+
+ // this is a dilate/erode deglitching scheme that does not improve
+ // anything as far as I can tell.
+ if (td->qtp.deglitch) {
+ image_u8_t *tmp = image_u8_create(w, h);
+
+ for (int y = 1; y + 1 < h; y++) {
+ for (int x = 1; x + 1 < w; x++) {
+ uint8_t max = 0;
+ for (int dy = -1; dy <= 1; dy++) {
+ for (int dx = -1; dx <= 1; dx++) {
+ uint8_t v = threshim->buf[(y+dy)*s + x + dx];
+ if (v > max)
+ max = v;
+ }
+ }
+ tmp->buf[y*s+x] = max;
+ }
+ }
+
+ for (int y = 1; y + 1 < h; y++) {
+ for (int x = 1; x + 1 < w; x++) {
+ uint8_t min = 255;
+ for (int dy = -1; dy <= 1; dy++) {
+ for (int dx = -1; dx <= 1; dx++) {
+ uint8_t v = tmp->buf[(y+dy)*s + x + dx];
+ if (v < min)
+ min = v;
+ }
+ }
+ threshim->buf[y*s+x] = min;
+ }
+ }
+
+ image_u8_destroy(tmp);
+ }
+
+ timeprofile_stamp(td->tp, "threshold");
+
+ return threshim;
+}
+
+// basically the same as threshold(), but assumes the input image is a
+// bayer image. It collects statistics separately for each 2x2 block
+// of pixels. NOT WELL TESTED.
+image_u8_t *threshold_bayer(apriltag_detector_t *td, image_u8_t *im)
+{
+ int w = im->width, h = im->height, s = im->stride;
+
+ image_u8_t *threshim = image_u8_create_alignment(w, h, s);
+ assert(threshim->stride == s);
+
+ int tilesz = 32;
+ assert((tilesz & 1) == 0); // must be multiple of 2
+
+ int tw = w/tilesz + 1;
+ int th = h/tilesz + 1;
+
+ uint8_t *im_max[4], *im_min[4];
+ for (int i = 0; i < 4; i++) {
+ im_max[i] = calloc(tw*th, sizeof(uint8_t));
+ im_min[i] = calloc(tw*th, sizeof(uint8_t));
+ }
+
+ for (int ty = 0; ty < th; ty++) {
+ for (int tx = 0; tx < tw; tx++) {
+
+ uint8_t max[4] = { 0, 0, 0, 0};
+ uint8_t min[4] = { 255, 255, 255, 255 };
+
+ for (int dy = 0; dy < tilesz; dy++) {
+ if (ty*tilesz+dy >= h)
+ continue;
+
+ for (int dx = 0; dx < tilesz; dx++) {
+ if (tx*tilesz+dx >= w)
+ continue;
+
+ // which bayer element is this pixel?
+ int idx = (2*(dy&1) + (dx&1));
+
+ uint8_t v = im->buf[(ty*tilesz+dy)*s + tx*tilesz + dx];
+ if (v < min[idx])
+ min[idx] = v;
+ if (v > max[idx])
+ max[idx] = v;
+ }
+ }
+
+ for (int i = 0; i < 4; i++) {
+ im_max[i][ty*tw+tx] = max[i];
+ im_min[i][ty*tw+tx] = min[i];
+ }
+ }
+ }
+
+ for (int ty = 0; ty < th; ty++) {
+ for (int tx = 0; tx < tw; tx++) {
+
+ uint8_t max[4] = { 0, 0, 0, 0};
+ uint8_t min[4] = { 255, 255, 255, 255 };
+
+ for (int dy = -1; dy <= 1; dy++) {
+ if (ty+dy < 0 || ty+dy >= th)
+ continue;
+ for (int dx = -1; dx <= 1; dx++) {
+ if (tx+dx < 0 || tx+dx >= tw)
+ continue;
+
+ for (int i = 0; i < 4; i++) {
+ uint8_t m = im_max[i][(ty+dy)*tw+tx+dx];
+ if (m > max[i])
+ max[i] = m;
+ m = im_min[i][(ty+dy)*tw+tx+dx];
+ if (m < min[i])
+ min[i] = m;
+ }
+ }
+ }
+
+ // XXX CONSTANT
+// if (max - min < 30)
+// continue;
+
+ // argument for biasing towards dark: specular highlights
+ // can be substantially brighter than white tag parts
+ uint8_t thresh[4];
+ for (int i = 0; i < 4; i++) {
+ thresh[i] = min[i] + (max[i] - min[i]) / 2;
+ }
+
+ for (int dy = 0; dy < tilesz; dy++) {
+ int y = ty*tilesz + dy;
+ if (y >= h)
+ continue;
+
+ for (int dx = 0; dx < tilesz; dx++) {
+ int x = tx*tilesz + dx;
+ if (x >= w)
+ continue;
+
+ // which bayer element is this pixel?
+ int idx = (2*(y&1) + (x&1));
+
+ uint8_t v = im->buf[y*s+x];
+ threshim->buf[y*s+x] = v > thresh[idx];
+ }
+ }
+ }
+ }
+
+ for (int i = 0; i < 4; i++) {
+ free(im_min[i]);
+ free(im_max[i]);
+ }
+
+ timeprofile_stamp(td->tp, "threshold");
+
+ return threshim;
+}
+
+unionfind_t* connected_components(apriltag_detector_t *td, image_u8_t* threshim, int w, int h, int ts) {
+ unionfind_t *uf = unionfind_create(w * h);
+
+ if (td->nthreads <= 1) {
+ do_unionfind_first_line(uf, threshim, h, w, ts);
+ for (int y = 1; y < h; y++) {
+ do_unionfind_line2(uf, threshim, h, w, ts, y);
+ }
+ } else {
+ do_unionfind_first_line(uf, threshim, h, w, ts);
+
+ int sz = h;
+ int chunksize = 1 + sz / (APRILTAG_TASKS_PER_THREAD_TARGET * td->nthreads);
+ struct unionfind_task *tasks = malloc(sizeof(struct unionfind_task)*(sz / chunksize + 1));
+
+ int ntasks = 0;
+
+ for (int i = 1; i < sz; i += chunksize) {
+ // each task will process [y0, y1). Note that this attaches
+ // each cell to the right and down, so row y1 *is* potentially modified.
+ //
+ // for parallelization, make sure that each task doesn't touch rows
+ // used by another thread.
+ tasks[ntasks].y0 = i;
+ tasks[ntasks].y1 = imin(sz, i + chunksize - 1);
+ tasks[ntasks].h = h;
+ tasks[ntasks].w = w;
+ tasks[ntasks].s = ts;
+ tasks[ntasks].uf = uf;
+ tasks[ntasks].im = threshim;
+
+ workerpool_add_task(td->wp, do_unionfind_task2, &tasks[ntasks]);
+ ntasks++;
+ }
+
+ workerpool_run(td->wp);
+
+ // XXX stitch together the different chunks.
+ for (int i = 1; i < ntasks; i++) {
+ do_unionfind_line2(uf, threshim, h, w, ts, tasks[i].y0 - 1);
+ }
+
+ free(tasks);
+ }
+ return uf;
+}
+
+zarray_t* do_gradient_clusters(image_u8_t* threshim, int ts, int y0, int y1, int w, int nclustermap, unionfind_t* uf, zarray_t* clusters) {
+ struct uint64_zarray_entry **clustermap = calloc(nclustermap, sizeof(struct uint64_zarray_entry*));
+
+ int mem_chunk_size = 2048;
+ struct uint64_zarray_entry** mem_pools = malloc(sizeof(struct uint64_zarray_entry *)*(1 + 2 * nclustermap / mem_chunk_size)); // SmodeTech: avoid memory corruption when nclustermap < mem_chunk_size
+ int mem_pool_idx = 0;
+ int mem_pool_loc = 0;
+ mem_pools[mem_pool_idx] = calloc(mem_chunk_size, sizeof(struct uint64_zarray_entry));
+
+ for (int y = y0; y < y1; y++) {
+ for (int x = 1; x < w-1; x++) {
+
+ uint8_t v0 = threshim->buf[y*ts + x];
+ if (v0 == 127)
+ continue;
+
+ // XXX don't query this until we know we need it?
+ uint64_t rep0 = unionfind_get_representative(uf, y*w + x);
+ if (unionfind_get_set_size(uf, rep0) < 25) {
+ continue;
+ }
+
+ // whenever we find two adjacent pixels such that one is
+ // white and the other black, we add the point half-way
+ // between them to a cluster associated with the unique
+ // ids of the white and black regions.
+ //
+ // We additionally compute the gradient direction (i.e., which
+ // direction was the white pixel?) Note: if (v1-v0) == 255, then
+ // (dx,dy) points towards the white pixel. if (v1-v0) == -255, then
+ // (dx,dy) points towards the black pixel. p.gx and p.gy will thus
+ // be -255, 0, or 255.
+ //
+ // Note that any given pixel might be added to multiple
+ // different clusters. But in the common case, a given
+ // pixel will be added multiple times to the same cluster,
+ // which increases the size of the cluster and thus the
+ // computational costs.
+ //
+ // A possible optimization would be to combine entries
+ // within the same cluster.
+
+#define DO_CONN(dx, dy) \
+ if (1) { \
+ uint8_t v1 = threshim->buf[(y + dy)*ts + x + dx]; \
+ \
+ if (v0 + v1 == 255) { \
+ uint64_t rep1 = unionfind_get_representative(uf, (y + dy)*w + x + dx); \
+ if (unionfind_get_set_size(uf, rep1) > 24) { \
+ uint64_t clusterid; \
+ if (rep0 < rep1) \
+ clusterid = (rep1 << 32) + rep0; \
+ else \
+ clusterid = (rep0 << 32) + rep1; \
+ \
+ /* XXX lousy hash function */ \
+ uint32_t clustermap_bucket = u64hash_2(clusterid) % nclustermap; \
+ struct uint64_zarray_entry *entry = clustermap[clustermap_bucket]; \
+ while (entry && entry->id != clusterid) { \
+ entry = entry->next; \
+ } \
+ \
+ if (!entry) { \
+ if (mem_pool_loc == mem_chunk_size) { \
+ mem_pool_loc = 0; \
+ mem_pool_idx++; \
+ mem_pools[mem_pool_idx] = calloc(mem_chunk_size, sizeof(struct uint64_zarray_entry)); \
+ } \
+ entry = mem_pools[mem_pool_idx] + mem_pool_loc; \
+ mem_pool_loc++; \
+ \
+ entry->id = clusterid; \
+ entry->cluster = zarray_create(sizeof(struct pt)); \
+ entry->next = clustermap[clustermap_bucket]; \
+ clustermap[clustermap_bucket] = entry; \
+ } \
+ \
+ struct pt p = { .x = 2*x + dx, .y = 2*y + dy, .gx = dx*((int) v1-v0), .gy = dy*((int) v1-v0)}; \
+ zarray_add(entry->cluster, &p); \
+ } \
+ } \
+ }
+
+ // do 4 connectivity. NB: Arguments must be [-1, 1] or we'll overflow .gx, .gy
+ DO_CONN(1, 0);
+ DO_CONN(0, 1);
+
+ // do 8 connectivity
+ DO_CONN(-1, 1);
+ DO_CONN(1, 1);
+ }
+ }
+#undef DO_CONN
+
+ for (int i = 0; i < nclustermap; i++) {
+ int start = zarray_size(clusters);
+ for (struct uint64_zarray_entry *entry = clustermap[i]; entry; entry = entry->next) {
+ struct cluster_hash* cluster_hash = malloc(sizeof(struct cluster_hash));
+ cluster_hash->hash = u64hash_2(entry->id) % nclustermap;
+ cluster_hash->id = entry->id;
+ cluster_hash->data = entry->cluster;
+ zarray_add(clusters, &cluster_hash);
+ }
+ int end = zarray_size(clusters);
+
+ // Do a quick bubblesort on the secondary key.
+ int n = end - start;
+ for (int j = 0; j < n - 1; j++) {
+ for (int k = 0; k < n - j - 1; k++) {
+ struct cluster_hash* hash1;
+ struct cluster_hash* hash2;
+ zarray_get(clusters, start + k, &hash1);
+ zarray_get(clusters, start + k + 1, &hash2);
+ if (hash1->id > hash2->id) {
+ struct cluster_hash tmp = *hash2;
+ *hash2 = *hash1;
+ *hash1 = tmp;
+ }
+ }
+ }
+ }
+ for (int i = 0; i <= mem_pool_idx; i++) {
+ free(mem_pools[i]);
+ }
+ free(mem_pools);
+ free(clustermap);
+
+ return clusters;
+}
+
+static void do_cluster_task(void *p)
+{
+ struct cluster_task *task = (struct cluster_task*) p;
+
+ do_gradient_clusters(task->im, task->s, task->y0, task->y1, task->w, task->nclustermap, task->uf, task->clusters);
+}
+
+zarray_t* merge_clusters(zarray_t* c1, zarray_t* c2) {
+ zarray_t* ret = zarray_create(sizeof(struct cluster_hash*));
+ zarray_ensure_capacity(ret, zarray_size(c1) + zarray_size(c2));
+
+ int i1 = 0;
+ int i2 = 0;
+ int l1 = zarray_size(c1);
+ int l2 = zarray_size(c2);
+
+ while (i1 < l1 && i2 < l2) {
+ struct cluster_hash* h1;
+ struct cluster_hash* h2;
+ zarray_get(c1, i1, &h1);
+ zarray_get(c2, i2, &h2);
+
+ if (h1->hash == h2->hash && h1->id == h2->id) {
+ zarray_add_all(h1->data, h2->data);
+ zarray_add(ret, &h1);
+ i1++;
+ i2++;
+ zarray_destroy(h2->data);
+ free(h2);
+ } else if (h2->hash < h1->hash || (h2->hash == h1->hash && h2->id < h1->id)) {
+ zarray_add(ret, &h2);
+ i2++;
+ } else {
+ zarray_add(ret, &h1);
+ i1++;
+ }
+ }
+
+ for (; i1 < l1; i1++) {
+ struct cluster_hash* h1;
+ zarray_get(c1, i1, &h1);
+ zarray_add(ret, &h1);
+ }
+
+ for (; i2 < l2; i2++) {
+ struct cluster_hash* h2;
+ zarray_get(c2, i2, &h2);
+ zarray_add(ret, &h2);
+ }
+
+ zarray_destroy(c1);
+ zarray_destroy(c2);
+
+ return ret;
+}
+
+zarray_t* gradient_clusters(apriltag_detector_t *td, image_u8_t* threshim, int w, int h, int ts, unionfind_t* uf) {
+ zarray_t* clusters;
+ int nclustermap = 0.2*w*h;
+
+ int sz = h - 1;
+ int chunksize = 1 + sz / (APRILTAG_TASKS_PER_THREAD_TARGET * td->nthreads);
+ struct cluster_task *tasks = malloc(sizeof(struct cluster_task)*(sz / chunksize + 1));
+
+ int ntasks = 0;
+
+ for (int i = 1; i < sz; i += chunksize) {
+ // each task will process [y0, y1). Note that this processes
+ // each cell to the right and down.
+ tasks[ntasks].y0 = i;
+ tasks[ntasks].y1 = imin(sz, i + chunksize);
+ tasks[ntasks].w = w;
+ tasks[ntasks].s = ts;
+ tasks[ntasks].uf = uf;
+ tasks[ntasks].im = threshim;
+ tasks[ntasks].nclustermap = nclustermap/(sz / chunksize + 1);
+ tasks[ntasks].clusters = zarray_create(sizeof(struct cluster_hash*));
+
+ workerpool_add_task(td->wp, do_cluster_task, &tasks[ntasks]);
+ ntasks++;
+ }
+
+ workerpool_run(td->wp);
+
+ zarray_t** clusters_list = malloc(sizeof(zarray_t *)*ntasks);
+ for (int i = 0; i < ntasks; i++) {
+ clusters_list[i] = tasks[i].clusters;
+ }
+
+ int length = ntasks;
+ while (length > 1) {
+ int write = 0;
+ for (int i = 0; i < length - 1; i += 2) {
+ clusters_list[write] = merge_clusters(clusters_list[i], clusters_list[i + 1]);
+ write++;
+ }
+
+ if (length % 2) {
+ clusters_list[write] = clusters_list[length - 1];
+ }
+
+ length = (length >> 1) + length % 2;
+ }
+
+ clusters = zarray_create(sizeof(zarray_t*));
+ zarray_ensure_capacity(clusters, zarray_size(clusters_list[0]));
+ for (int i = 0; i < zarray_size(clusters_list[0]); i++) {
+ struct cluster_hash* hash;
+ zarray_get(clusters_list[0], i, &hash);
+ zarray_add(clusters, &hash->data);
+ free(hash);
+ }
+ zarray_destroy(clusters_list[0]);
+ free(clusters_list);
+ free(tasks);
+ return clusters;
+}
+
+zarray_t* fit_quads(apriltag_detector_t *td, int w, int h, zarray_t* clusters, image_u8_t* im) {
+ zarray_t *quads = zarray_create(sizeof(struct quad));
+
+ bool normal_border = false;
+ bool reversed_border = false;
+ int min_tag_width = 1000000;
+ for (int i = 0; i < zarray_size(td->tag_families); i++) {
+ apriltag_family_t* family;
+ zarray_get(td->tag_families, i, &family);
+ if (family->width_at_border < min_tag_width) {
+ min_tag_width = family->width_at_border;
+ }
+ normal_border |= !family->reversed_border;
+ reversed_border |= family->reversed_border;
+ }
+ min_tag_width /= td->quad_decimate;
+ if (min_tag_width < 3) {
+ min_tag_width = 3;
+ }
+
+ int sz = zarray_size(clusters);
+ int chunksize = 1 + sz / (APRILTAG_TASKS_PER_THREAD_TARGET * td->nthreads);
+ struct quad_task *tasks = malloc(sizeof(struct quad_task)*(sz / chunksize + 1));
+
+ int ntasks = 0;
+ for (int i = 0; i < sz; i += chunksize) {
+ tasks[ntasks].td = td;
+ tasks[ntasks].cidx0 = i;
+ tasks[ntasks].cidx1 = imin(sz, i + chunksize);
+ tasks[ntasks].h = h;
+ tasks[ntasks].w = w;
+ tasks[ntasks].quads = quads;
+ tasks[ntasks].clusters = clusters;
+ tasks[ntasks].im = im;
+ tasks[ntasks].tag_width = min_tag_width;
+ tasks[ntasks].normal_border = normal_border;
+ tasks[ntasks].reversed_border = reversed_border;
+
+ workerpool_add_task(td->wp, do_quad_task, &tasks[ntasks]);
+ ntasks++;
+ }
+
+ workerpool_run(td->wp);
+
+ free(tasks);
+
+ return quads;
+}
+
+zarray_t *apriltag_quad_thresh(apriltag_detector_t *td, image_u8_t *im)
+{
+ ////////////////////////////////////////////////////////
+ // step 1. threshold the image, creating the edge image.
+
+ int w = im->width, h = im->height;
+
+ image_u8_t *threshim = threshold(td, im);
+ int ts = threshim->stride;
+
+ if (td->debug)
+ image_u8_write_pnm(threshim, "debug_threshold.pnm");
+
+
+ ////////////////////////////////////////////////////////
+ // step 2. find connected components.
+ unionfind_t* uf = connected_components(td, threshim, w, h, ts);
+
+ // make segmentation image.
+ if (td->debug) {
+ image_u8x3_t *d = image_u8x3_create(w, h);
+
+ uint32_t *colors = (uint32_t*) calloc(w*h, sizeof(*colors));
+
+ for (int y = 0; y < h; y++) {
+ for (int x = 0; x < w; x++) {
+ uint32_t v = unionfind_get_representative(uf, y*w+x);
+
+ if (unionfind_get_set_size(uf, v) < td->qtp.min_cluster_pixels)
+ continue;
+
+ uint32_t color = colors[v];
+ uint8_t r = color >> 16,
+ g = color >> 8,
+ b = color;
+
+ if (color == 0) {
+ const int bias = 50;
+ r = bias + (random() % (200-bias));
+ g = bias + (random() % (200-bias));
+ b = bias + (random() % (200-bias));
+ colors[v] = (r << 16) | (g << 8) | b;
+ }
+
+ d->buf[y*d->stride + 3*x + 0] = r;
+ d->buf[y*d->stride + 3*x + 1] = g;
+ d->buf[y*d->stride + 3*x + 2] = b;
+ }
+ }
+
+ free(colors);
+
+ image_u8x3_write_pnm(d, "debug_segmentation.pnm");
+ image_u8x3_destroy(d);
+ }
+
+
+ timeprofile_stamp(td->tp, "unionfind");
+
+ zarray_t* clusters = gradient_clusters(td, threshim, w, h, ts, uf);
+
+ if (td->debug) {
+ image_u8x3_t *d = image_u8x3_create(w, h);
+
+ for (int i = 0; i < zarray_size(clusters); i++) {
+ zarray_t *cluster;
+ zarray_get(clusters, i, &cluster);
+
+ uint32_t r, g, b;
+
+ if (1) {
+ const int bias = 50;
+ r = bias + (random() % (200-bias));
+ g = bias + (random() % (200-bias));
+ b = bias + (random() % (200-bias));
+ }
+
+ for (int j = 0; j < zarray_size(cluster); j++) {
+ struct pt *p;
+ zarray_get_volatile(cluster, j, &p);
+
+ int x = p->x / 2;
+ int y = p->y / 2;
+ d->buf[y*d->stride + 3*x + 0] = r;
+ d->buf[y*d->stride + 3*x + 1] = g;
+ d->buf[y*d->stride + 3*x + 2] = b;
+ }
+ }
+
+ image_u8x3_write_pnm(d, "debug_clusters.pnm");
+ image_u8x3_destroy(d);
+ }
+
+
+ image_u8_destroy(threshim);
+ timeprofile_stamp(td->tp, "make clusters");
+
+ ////////////////////////////////////////////////////////
+ // step 3. process each connected component.
+
+ zarray_t* quads = fit_quads(td, w, h, clusters, im);
+
+ if (td->debug) {
+ FILE *f = fopen("debug_lines.ps", "w");
+ fprintf(f, "%%!PS\n\n");
+
+ image_u8_t *im2 = image_u8_copy(im);
+ image_u8_darken(im2);
+ image_u8_darken(im2);
+
+ // assume letter, which is 612x792 points.
+ double scale = fmin(612.0/im->width, 792.0/im2->height);
+ fprintf(f, "%.15f %.15f scale\n", scale, scale);
+ fprintf(f, "0 %d translate\n", im2->height);
+ fprintf(f, "1 -1 scale\n");
+
+ postscript_image(f, im2);
+
+ image_u8_destroy(im2);
+
+ for (int i = 0; i < zarray_size(quads); i++) {
+ struct quad *q;
+ zarray_get_volatile(quads, i, &q);
+
+ float rgb[3];
+ int bias = 100;
+
+ for (int j = 0; j < 3; j++)
+ rgb[j] = bias + (random() % (255-bias));
+
+ fprintf(f, "%f %f %f setrgbcolor\n", rgb[0]/255.0f, rgb[1]/255.0f, rgb[2]/255.0f);
+ fprintf(f, "%.15f %.15f moveto %.15f %.15f lineto %.15f %.15f lineto %.15f %.15f lineto %.15f %.15f lineto stroke\n",
+ q->p[0][0], q->p[0][1],
+ q->p[1][0], q->p[1][1],
+ q->p[2][0], q->p[2][1],
+ q->p[3][0], q->p[3][1],
+ q->p[0][0], q->p[0][1]);
+ }
+
+ fclose(f);
+ }
+
+ timeprofile_stamp(td->tp, "fit quads to clusters");
+
+ unionfind_destroy(uf);
+
+ for (int i = 0; i < zarray_size(clusters); i++) {
+ zarray_t *cluster;
+ zarray_get(clusters, i, &cluster);
+ zarray_destroy(cluster);
+ }
+ zarray_destroy(clusters);
+
+ return quads;
+}
diff --git a/third_party/apriltag/common/debug_print.h b/third_party/apriltag/common/debug_print.h
new file mode 100644
index 0000000..77e0d78
--- /dev/null
+++ b/third_party/apriltag/common/debug_print.h
@@ -0,0 +1,41 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+#pragma once
+
+#if !defined(NDEBUG) || defined(_DEBUG)
+
+#include <string.h>
+#include <stdio.h>
+#define DEBUG 1
+
+#else
+#define DEBUG 0
+#endif
+
+#define debug_print(fmt, ...) \
+ do { if (DEBUG) fprintf(stderr, "%s:%d:%s(): " fmt, strrchr("/"__FILE__,'/')+1, \
+ __LINE__, __func__, ##__VA_ARGS__); fflush(stderr);} while (0)
diff --git a/third_party/apriltag/common/doubles.h b/third_party/apriltag/common/doubles.h
new file mode 100644
index 0000000..fd5fc82
--- /dev/null
+++ b/third_party/apriltag/common/doubles.h
@@ -0,0 +1,32 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#define TNAME double
+#include "doubles_floats_impl.h"
+#undef TNAME
diff --git a/third_party/apriltag/common/doubles_floats_impl.h b/third_party/apriltag/common/doubles_floats_impl.h
new file mode 100644
index 0000000..1817e08
--- /dev/null
+++ b/third_party/apriltag/common/doubles_floats_impl.h
@@ -0,0 +1,1036 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <stdio.h>
+#include <math.h>
+#include <string.h>
+#include <float.h>
+
+#include "matd.h"
+#include "math_util.h"
+
+// XXX Write unit tests for me!
+// XXX Rewrite matd_coords in terms of this.
+
+/*
+ This file provides conversions between the following formats:
+
+ quaternion (TNAME[4], { w, x, y, z})
+
+ xyt (translation in x, y, and rotation in radians.)
+
+ xytcov (xyt as a TNAME[3] followed by covariance TNAME[9])
+
+ xy, xyz (translation in x, y, and z)
+
+ mat44 (4x4 rigid-body transformation matrix, row-major
+ order. Conventions: We assume points are projected via right
+ multiplication. E.g., p' = Mp.) Note: some functions really do rely
+ on it being a RIGID, scale=1 transform.
+
+ angleaxis (TNAME[4], { angle-rads, x, y, z }
+
+ xyzrpy (translation x, y, z, euler angles)
+
+ Roll Pitch Yaw are evaluated in the order: roll, pitch, then yaw. I.e.,
+ rollPitchYawToMatrix(rpy) = rotateZ(rpy[2]) * rotateY(rpy[1]) * Rotatex(rpy[0])
+*/
+
+#define TRRFN(root, suffix) root ## suffix
+#define TRFN(root, suffix) TRRFN(root, suffix)
+#define TFN(suffix) TRFN(TNAME, suffix)
+
+// if V is null, returns null.
+static inline TNAME *TFN(s_dup)(const TNAME *v, int len)
+{
+ if (!v)
+ return NULL;
+
+ TNAME *r = (TNAME*)malloc(len * sizeof(TNAME));
+ memcpy(r, v, len * sizeof(TNAME));
+ return r;
+}
+
+static inline void TFN(s_print)(const TNAME *a, int len, const char *fmt)
+{
+ for (int i = 0; i < len; i++)
+ printf(fmt, a[i]);
+ printf("\n");
+}
+
+static inline void TFN(s_print_mat)(const TNAME *a, int nrows, int ncols, const char *fmt)
+{
+ for (int i = 0; i < nrows * ncols; i++) {
+ printf(fmt, a[i]);
+ if ((i % ncols) == (ncols - 1))
+ printf("\n");
+ }
+}
+
+static inline void TFN(s_print_mat44)(const TNAME *a, const char *fmt)
+{
+ for (int i = 0; i < 4 * 4; i++) {
+ printf(fmt, a[i]);
+ if ((i % 4) == 3)
+ printf("\n");
+ }
+}
+
+static inline void TFN(s_add)(const TNAME *a, const TNAME *b, int len, TNAME *r)
+{
+ for (int i = 0; i < len; i++)
+ r[i] = a[i] + b[i];
+}
+
+static inline void TFN(s_subtract)(const TNAME *a, const TNAME *b, int len, TNAME *r)
+{
+ for (int i = 0; i < len; i++)
+ r[i] = a[i] - b[i];
+}
+
+static inline void TFN(s_scale)(TNAME s, const TNAME *v, int len, TNAME *r)
+{
+ for (int i = 0; i < len; i++)
+ r[i] = s * v[i];
+}
+
+static inline TNAME TFN(s_dot)(const TNAME *a, const TNAME *b, int len)
+{
+ TNAME acc = 0;
+ for (int i = 0; i < len; i++)
+ acc += a[i] * b[i];
+ return acc;
+}
+
+static inline TNAME TFN(s_distance)(const TNAME *a, const TNAME *b, int len)
+{
+ TNAME acc = 0;
+ for (int i = 0; i < len; i++)
+ acc += (a[i] - b[i])*(a[i] - b[i]);
+ return (TNAME)sqrt(acc);
+}
+
+static inline TNAME TFN(s_squared_distance)(const TNAME *a, const TNAME *b, int len)
+{
+ TNAME acc = 0;
+ for (int i = 0; i < len; i++)
+ acc += (a[i] - b[i])*(a[i] - b[i]);
+ return acc;
+}
+
+static inline TNAME TFN(s_squared_magnitude)(const TNAME *v, int len)
+{
+ TNAME acc = 0;
+ for (int i = 0; i < len; i++)
+ acc += v[i]*v[i];
+ return acc;
+}
+
+static inline TNAME TFN(s_magnitude)(const TNAME *v, int len)
+{
+ TNAME acc = 0;
+ for (int i = 0; i < len; i++)
+ acc += v[i]*v[i];
+ return (TNAME)sqrt(acc);
+}
+
+static inline void TFN(s_normalize)(const TNAME *v, int len, TNAME *r)
+{
+ TNAME mag = TFN(s_magnitude)(v, len);
+ for (int i = 0; i < len; i++)
+ r[i] = v[i] / mag;
+}
+
+static inline void TFN(s_normalize_self)(TNAME *v, int len)
+{
+ TNAME mag = TFN(s_magnitude)(v, len);
+ for (int i = 0; i < len; i++)
+ v[i] /= mag;
+}
+
+static inline void TFN(s_scale_self)(TNAME *v, int len, double scale)
+{
+ for (int i = 0; i < len; i++)
+ v[i] = (TNAME)(v[i] * scale);
+}
+
+static inline void TFN(s_quat_rotate)(const TNAME q[4], const TNAME v[3], TNAME r[3])
+{
+ TNAME t2, t3, t4, t5, t6, t7, t8, t9, t10;
+
+ t2 = q[0]*q[1];
+ t3 = q[0]*q[2];
+ t4 = q[0]*q[3];
+ t5 = -q[1]*q[1];
+ t6 = q[1]*q[2];
+ t7 = q[1]*q[3];
+ t8 = -q[2]*q[2];
+ t9 = q[2]*q[3];
+ t10 = -q[3]*q[3];
+
+ r[0] = 2*((t8+t10)*v[0] + (t6-t4)*v[1] + (t3+t7)*v[2]) + v[0];
+ r[1] = 2*((t4+t6)*v[0] + (t5+t10)*v[1] + (t9-t2)*v[2]) + v[1];
+ r[2] = 2*((t7-t3)*v[0] + (t2+t9)*v[1] + (t5+t8)*v[2]) + v[2];
+}
+
+static inline void TFN(s_quat_multiply)(const TNAME a[4], const TNAME b[4], TNAME r[4])
+{
+ r[0] = a[0]*b[0] - a[1]*b[1] - a[2]*b[2] - a[3]*b[3];
+ r[1] = a[0]*b[1] + a[1]*b[0] + a[2]*b[3] - a[3]*b[2];
+ r[2] = a[0]*b[2] - a[1]*b[3] + a[2]*b[0] + a[3]*b[1];
+ r[3] = a[0]*b[3] + a[1]*b[2] - a[2]*b[1] + a[3]*b[0];
+}
+
+static inline void TFN(s_quat_inverse)(const TNAME q[4], TNAME r[4])
+{
+ TNAME mag = TFN(s_magnitude)(q, 4);
+ r[0] = q[0]/mag;
+ r[1] = -q[1]/mag;
+ r[2] = -q[2]/mag;
+ r[3] = -q[3]/mag;
+}
+
+static inline void TFN(s_copy)(const TNAME *src, TNAME *dst, int n)
+{
+ memcpy(dst, src, n * sizeof(TNAME));
+}
+
+static inline void TFN(s_xyt_copy)(const TNAME xyt[3], TNAME r[3])
+{
+ TFN(s_copy)(xyt, r, 3);
+}
+
+static inline void TFN(s_xyt_to_mat44)(const TNAME xyt[3], TNAME r[16])
+{
+ TNAME s = (TNAME)sin(xyt[2]), c = (TNAME)cos(xyt[2]);
+ memset(r, 0, sizeof(TNAME)*16);
+ r[0] = c;
+ r[1] = -s;
+ r[3] = xyt[0];
+ r[4] = s;
+ r[5] = c;
+ r[7] = xyt[1];
+ r[10] = 1;
+ r[15] = 1;
+}
+
+static inline void TFN(s_xyt_transform_xy)(const TNAME xyt[3], const TNAME xy[2], TNAME r[2])
+{
+ TNAME s = (TNAME)sin(xyt[2]), c = (TNAME)cos(xyt[2]);
+ r[0] = c*xy[0] - s*xy[1] + xyt[0];
+ r[1] = s*xy[0] + c*xy[1] + xyt[1];
+}
+
+static inline void TFN(s_mat_transform_xyz)(const TNAME M[16], const TNAME xyz[3], TNAME r[3])
+{
+ r[0] = M[0]*xyz[0] + M[1]*xyz[1] + M[2]*xyz[2] + M[3];
+ r[1] = M[4]*xyz[0] + M[5]*xyz[1] + M[6]*xyz[2] + M[7];
+ r[2] = M[8]*xyz[0] + M[9]*xyz[1] + M[10]*xyz[2] + M[11];
+}
+
+static inline void TFN(s_quat_to_angleaxis)(const TNAME _q[4], TNAME r[4])
+{
+ TNAME q[4];
+ TFN(s_normalize)(_q, 4, q);
+
+ // be polite: return an angle from [-pi, pi]
+ // use atan2 to be 4-quadrant safe
+ TNAME mag = TFN(s_magnitude)(&q[1], 3);
+ r[0] = (TNAME)mod2pi(2 * atan2(mag, q[0]));
+ if (mag != 0) {
+ r[1] = q[1] / mag;
+ r[2] = q[2] / mag;
+ r[3] = q[3] / mag;
+ } else {
+ r[1] = 1;
+ r[2] = 0;
+ r[3] = 0;
+ }
+}
+
+static inline void TFN(s_angleaxis_to_quat)(const TNAME aa[4], TNAME q[4])
+{
+ TNAME rad = aa[0];
+ q[0] = (TNAME)cos(rad / 2.0);
+ TNAME s = (TNAME)sin(rad / 2.0);
+
+ TNAME v[3] = { aa[1], aa[2], aa[3] };
+ TFN(s_normalize)(v, 3, v);
+
+ q[1] = s * v[0];
+ q[2] = s * v[1];
+ q[3] = s * v[2];
+}
+
+static inline void TFN(s_quat_to_mat44)(const TNAME q[4], TNAME r[16])
+{
+ TNAME w = q[0], x = q[1], y = q[2], z = q[3];
+
+ r[0] = w*w + x*x - y*y - z*z;
+ r[1] = 2*x*y - 2*w*z;
+ r[2] = 2*x*z + 2*w*y;
+ r[3] = 0;
+
+ r[4] = 2*x*y + 2*w*z;
+ r[5] = w*w - x*x + y*y - z*z;
+ r[6] = 2*y*z - 2*w*x;
+ r[7] = 0;
+
+ r[8] = 2*x*z - 2*w*y;
+ r[9] = 2*y*z + 2*w*x;
+ r[10] = w*w - x*x - y*y + z*z;
+ r[11] = 0;
+
+ r[12] = 0;
+ r[13] = 0;
+ r[14] = 0;
+ r[15] = 1;
+}
+
+/* Returns the skew-symmetric matrix V such that V*w = v x w (cross product).
+ Sometimes denoted [v]_x or \hat{v}.
+ [ 0 -v3 v2
+ v3 0 -v1
+ -v2 v1 0]
+ */
+static inline void TFN(s_cross_matrix)(const TNAME v[3], TNAME V[9])
+{
+ V[0] = 0;
+ V[1] = -v[2];
+ V[2] = v[1];
+ V[3] = v[2];
+ V[4] = 0;
+ V[5] = -v[0];
+ V[6] = -v[1];
+ V[7] = v[0];
+ V[8] = 0;
+}
+
+static inline void TFN(s_angleaxis_to_mat44)(const TNAME aa[4], TNAME r[16])
+{
+ TNAME q[4];
+
+ TFN(s_angleaxis_to_quat)(aa, q);
+ TFN(s_quat_to_mat44)(q, r);
+}
+
+static inline void TFN(s_quat_xyz_to_mat44)(const TNAME q[4], const TNAME xyz[3], TNAME r[16])
+{
+ TFN(s_quat_to_mat44)(q, r);
+
+ if (xyz != NULL) {
+ r[3] = xyz[0];
+ r[7] = xyz[1];
+ r[11] = xyz[2];
+ }
+}
+
+static inline void TFN(s_rpy_to_quat)(const TNAME rpy[3], TNAME quat[4])
+{
+ TNAME roll = rpy[0], pitch = rpy[1], yaw = rpy[2];
+
+ TNAME halfroll = roll / 2;
+ TNAME halfpitch = pitch / 2;
+ TNAME halfyaw = yaw / 2;
+
+ TNAME sin_r2 = (TNAME)sin(halfroll);
+ TNAME sin_p2 = (TNAME)sin(halfpitch);
+ TNAME sin_y2 = (TNAME)sin(halfyaw);
+
+ TNAME cos_r2 = (TNAME)cos(halfroll);
+ TNAME cos_p2 = (TNAME)cos(halfpitch);
+ TNAME cos_y2 = (TNAME)cos(halfyaw);
+
+ quat[0] = cos_r2 * cos_p2 * cos_y2 + sin_r2 * sin_p2 * sin_y2;
+ quat[1] = sin_r2 * cos_p2 * cos_y2 - cos_r2 * sin_p2 * sin_y2;
+ quat[2] = cos_r2 * sin_p2 * cos_y2 + sin_r2 * cos_p2 * sin_y2;
+ quat[3] = cos_r2 * cos_p2 * sin_y2 - sin_r2 * sin_p2 * cos_y2;
+}
+
+// Reference: "A tutorial on SE(3) transformation parameterizations and
+// on-manifold optimization" by Jose-Luis Blanco
+static inline void TFN(s_quat_to_rpy)(const TNAME q[4], TNAME rpy[3])
+{
+ const TNAME qr = q[0];
+ const TNAME qx = q[1];
+ const TNAME qy = q[2];
+ const TNAME qz = q[3];
+
+ TNAME disc = qr*qy - qx*qz;
+
+ if (fabs(disc+0.5) < DBL_EPSILON) { // near -1/2
+ rpy[0] = 0;
+ rpy[1] = (TNAME)(-M_PI/2);
+ rpy[2] = (TNAME)(2 * atan2(qx, qr));
+ }
+ else if (fabs(disc-0.5) < DBL_EPSILON) { // near 1/2
+ rpy[0] = 0;
+ rpy[1] = (TNAME)(M_PI/2);
+ rpy[2] = (TNAME)(-2 * atan2(qx, qr));
+ }
+ else {
+ // roll
+ TNAME roll_a = 2 * (qr*qx + qy*qz);
+ TNAME roll_b = 1 - 2 * (qx*qx + qy*qy);
+ rpy[0] = (TNAME)atan2(roll_a, roll_b);
+
+ // pitch
+ rpy[1] = (TNAME)asin(2*disc);
+
+ // yaw
+ TNAME yaw_a = 2 * (qr*qz + qx*qy);
+ TNAME yaw_b = 1 - 2 * (qy*qy + qz*qz);
+ rpy[2] = (TNAME)atan2(yaw_a, yaw_b);
+ }
+}
+
+static inline void TFN(s_rpy_to_mat44)(const TNAME rpy[3], TNAME M[16])
+{
+ TNAME q[4];
+ TFN(s_rpy_to_quat)(rpy, q);
+ TFN(s_quat_to_mat44)(q, M);
+}
+
+
+static inline void TFN(s_xyzrpy_to_mat44)(const TNAME xyzrpy[6], TNAME M[16])
+{
+ TFN(s_rpy_to_mat44)(&xyzrpy[3], M);
+ M[3] = xyzrpy[0];
+ M[7] = xyzrpy[1];
+ M[11] = xyzrpy[2];
+}
+
+static inline void TFN(s_mat44_transform_xyz)(const TNAME M[16], const TNAME in[3], TNAME out[3])
+{
+ for (int i = 0; i < 3; i++)
+ out[i] = M[4*i + 0]*in[0] + M[4*i + 1]*in[1] + M[4*i + 2]*in[2] + M[4*i + 3];
+}
+
+// out = (upper 3x3 of M) * in
+static inline void TFN(s_mat44_rotate_vector)(const TNAME M[16], const TNAME in[3], TNAME out[3])
+{
+ for (int i = 0; i < 3; i++)
+ out[i] = M[4*i + 0]*in[0] + M[4*i + 1]*in[1] + M[4*i + 2]*in[2];
+}
+
+static inline void TFN(s_mat44_to_xyt)(const TNAME M[16], TNAME xyt[3])
+{
+ // c -s
+ // s c
+ xyt[0] = M[3];
+ xyt[1] = M[7];
+ xyt[2] = (TNAME)atan2(M[4], M[0]);
+}
+
+static inline void TFN(s_mat_to_xyz)(const TNAME M[16], TNAME xyz[3])
+{
+ xyz[0] = M[3];
+ xyz[1] = M[7];
+ xyz[2] = M[11];
+}
+
+static inline void TFN(s_mat_to_quat)(const TNAME M[16], TNAME q[4])
+{
+ double T = M[0] + M[5] + M[10] + 1.0;
+ double S;
+
+ if (T > 0.0000001) {
+ S = sqrt(T) * 2;
+ q[0] = (TNAME)(0.25 * S);
+ q[1] = (TNAME)((M[9] - M[6]) / S);
+ q[2] = (TNAME)((M[2] - M[8]) / S);
+ q[3] = (TNAME)((M[4] - M[1]) / S);
+ } else if (M[0] > M[5] && M[0] > M[10]) { // Column 0:
+ S = sqrt(1.0 + M[0] - M[5] - M[10]) * 2;
+ q[0] = (TNAME)((M[9] - M[6]) / S);
+ q[1] = (TNAME)(0.25 * S);
+ q[2] = (TNAME)((M[4] + M[1]) / S);
+ q[3] = (TNAME)((M[2] + M[8]) / S);
+ } else if (M[5] > M[10]) { // Column 1:
+ S = sqrt(1.0 + M[5] - M[0] - M[10]) * 2;
+ q[0] = (TNAME)((M[2] - M[8]) / S);
+ q[1] = (TNAME)((M[4] + M[1]) / S);
+ q[2] = (TNAME)(0.25 * S);
+ q[3] = (TNAME)((M[9] + M[6]) / S);
+ } else { // Column 2:
+ S = sqrt(1.0 + M[10] - M[0] - M[5]);
+ q[0] = (TNAME)((M[4] - M[1]) / S);
+ q[1] = (TNAME)((M[2] + M[8]) / S);
+ q[2] = (TNAME)((M[9] + M[6]) / S);
+ q[3] = (TNAME)(0.25 * S);
+ }
+
+ TFN(s_normalize)(q, 4, q);
+}
+
+static inline void TFN(s_quat_xyz_to_xyt)(const TNAME q[4], const TNAME xyz[3], TNAME xyt[3])
+{
+ TNAME M[16];
+ TFN(s_quat_xyz_to_mat44)(q, xyz, M);
+ TFN(s_mat44_to_xyt)(M, xyt);
+}
+
+// xytr = xyta * xytb;
+static inline void TFN(s_xyt_mul)(const TNAME xyta[3], const TNAME xytb[3], TNAME xytr[3])
+{
+ TNAME xa = xyta[0], ya = xyta[1], ta = xyta[2];
+ TNAME s = (TNAME)sin(ta), c = (TNAME)cos(ta);
+
+ xytr[0] = c*xytb[0] - s*xytb[1] + xa;
+ xytr[1] = s*xytb[0] + c*xytb[1] + ya;
+ xytr[2] = ta + xytb[2];
+}
+
+static inline void TFN(s_xytcov_copy)(const TNAME xyta[3], const TNAME Ca[9],
+ TNAME xytr[3], TNAME Cr[9])
+{
+ memcpy(xytr, xyta, 3 * sizeof(TNAME));
+ memcpy(Cr, Ca, 9 * sizeof(TNAME));
+}
+
+static inline void TFN(s_xytcov_mul)(const TNAME xyta[3], const TNAME Ca[9],
+ const TNAME xytb[3], const TNAME Cb[9],
+ TNAME xytr[3], TNAME Cr[9])
+{
+ TNAME xa = xyta[0], ya = xyta[1], ta = xyta[2];
+ TNAME xb = xytb[0], yb = xytb[1];
+
+ TNAME sa = (TNAME)sin(ta), ca = (TNAME)cos(ta);
+
+ TNAME P11 = Ca[0], P12 = Ca[1], P13 = Ca[2];
+ TNAME P22 = Ca[4], P23 = Ca[5];
+ TNAME P33 = Ca[8];
+
+ TNAME Q11 = Cb[0], Q12 = Cb[1], Q13 = Cb[2];
+ TNAME Q22 = Cb[4], Q23 = Cb[5];
+ TNAME Q33 = Cb[8];
+
+ TNAME JA13 = -sa*xb - ca*yb;
+ TNAME JA23 = ca*xb - sa*yb;
+ TNAME JB11 = ca;
+ TNAME JB12 = -sa;
+ TNAME JB21 = sa;
+ TNAME JB22 = ca;
+
+ Cr[0] = P33*JA13*JA13 + 2*P13*JA13 + Q11*JB11*JB11 + 2*Q12*JB11*JB12 + Q22*JB12*JB12 + P11;
+ Cr[1] = P12 + JA23*(P13 + JA13*P33) + JA13*P23 + JB21*(JB11*Q11 + JB12*Q12) + JB22*(JB11*Q12 + JB12*Q22);
+ Cr[2] = P13 + JA13*P33 + JB11*Q13 + JB12*Q23;
+ Cr[3] = Cr[1];
+ Cr[4] = P33*JA23*JA23 + 2*P23*JA23 + Q11*JB21*JB21 + 2*Q12*JB21*JB22 + Q22*JB22*JB22 + P22;
+ Cr[5] = P23 + JA23*P33 + JB21*Q13 + JB22*Q23;
+ Cr[6] = Cr[2];
+ Cr[7] = Cr[5];
+ Cr[8] = P33 + Q33;
+
+ xytr[0] = ca*xb - sa*yb + xa;
+ xytr[1] = sa*xb + ca*yb + ya;
+ xytr[2] = xyta[2] + xytb[2];
+
+/*
+ // the code above is just an unrolling of the following:
+
+ TNAME JA[][] = new TNAME[][] { { 1, 0, -sa*xb - ca*yb },
+ { 0, 1, ca*xb - sa*yb },
+ { 0, 0, 1 } };
+ TNAME JB[][] = new TNAME[][] { { ca, -sa, 0 },
+ { sa, ca, 0 },
+ { 0, 0, 1 } };
+
+ newge.P = LinAlg.add(LinAlg.matrixABCt(JA, P, JA),
+ LinAlg.matrixABCt(JB, ge.P, JB));
+*/
+}
+
+
+static inline void TFN(s_xyt_inv)(const TNAME xyta[3], TNAME xytr[3])
+{
+ TNAME s = (TNAME)sin(xyta[2]), c = (TNAME)cos(xyta[2]);
+ xytr[0] = -s*xyta[1] - c*xyta[0];
+ xytr[1] = -c*xyta[1] + s*xyta[0];
+ xytr[2] = -xyta[2];
+}
+
+static inline void TFN(s_xytcov_inv)(const TNAME xyta[3], const TNAME Ca[9],
+ TNAME xytr[3], TNAME Cr[9])
+{
+ TNAME x = xyta[0], y = xyta[1], theta = xyta[2];
+ TNAME s = (TNAME)sin(theta), c = (TNAME)cos(theta);
+
+ TNAME J11 = -c, J12 = -s, J13 = -c*y + s*x;
+ TNAME J21 = s, J22 = -c, J23 = s*y + c*x;
+
+ TNAME P11 = Ca[0], P12 = Ca[1], P13 = Ca[2];
+ TNAME P22 = Ca[4], P23 = Ca[5];
+ TNAME P33 = Ca[8];
+
+ Cr[0] = P11*J11*J11 + 2*P12*J11*J12 + 2*P13*J11*J13 +
+ P22*J12*J12 + 2*P23*J12*J13 + P33*J13*J13;
+ Cr[1] = J21*(J11*P11 + J12*P12 + J13*P13) +
+ J22*(J11*P12 + J12*P22 + J13*P23) +
+ J23*(J11*P13 + J12*P23 + J13*P33);
+ Cr[2] = - J11*P13 - J12*P23 - J13*P33;
+ Cr[3] = Cr[1];
+ Cr[4] = P11*J21*J21 + 2*P12*J21*J22 + 2*P13*J21*J23 +
+ P22*J22*J22 + 2*P23*J22*J23 + P33*J23*J23;
+ Cr[5] = - J21*P13 - J22*P23 - J23*P33;
+ Cr[6] = Cr[2];
+ Cr[7] = Cr[5];
+ Cr[8] = P33;
+
+ /*
+ // the code above is just an unrolling of the following:
+
+ TNAME J[][] = new TNAME[][] { { -c, -s, -c*y + s*x },
+ { s, -c, s*y + c*x },
+ { 0, 0, -1 } };
+ ge.P = LinAlg.matrixABCt(J, P, J);
+ */
+
+ xytr[0] = -s*y - c*x;
+ xytr[1] = -c*y + s*x;
+ xytr[2] = -xyta[2];
+}
+
+// xytr = inv(xyta) * xytb
+static inline void TFN(s_xyt_inv_mul)(const TNAME xyta[3], const TNAME xytb[3], TNAME xytr[3])
+{
+ TNAME theta = xyta[2];
+ TNAME ca = (TNAME)cos(theta);
+ TNAME sa = (TNAME)sin(theta);
+ TNAME dx = xytb[0] - xyta[0];
+ TNAME dy = xytb[1] - xyta[1];
+
+ xytr[0] = ca*dx + sa*dy;
+ xytr[1] = -sa*dx + ca*dy;
+ xytr[2]= xytb[2] - xyta[2];
+}
+
+static inline void TFN(s_mat_add)(const TNAME *A, int Arows, int Acols,
+ const TNAME *B, int Brows, int Bcols,
+ TNAME *R, int Rrows, int Rcols)
+{
+ assert(Arows == Brows);
+ assert(Arows == Rrows);
+ assert(Bcols == Bcols);
+ assert(Bcols == Rcols);
+
+ for (int i = 0; i < Arows; i++)
+ for (int j = 0; j < Bcols; j++)
+ R[i*Acols + j] = A[i*Acols + j] + B[i*Acols + j];
+}
+
+// matrix should be in row-major order, allocated in a single packed
+// array. (This is compatible with matd.)
+static inline void TFN(s_mat_AB)(const TNAME *A, int Arows, int Acols,
+ const TNAME *B, int Brows, int Bcols,
+ TNAME *R, int Rrows, int Rcols)
+{
+ assert(Acols == Brows);
+ assert(Rrows == Arows);
+ assert(Bcols == Rcols);
+
+ for (int Rrow = 0; Rrow < Rrows; Rrow++) {
+ for (int Rcol = 0; Rcol < Rcols; Rcol++) {
+ TNAME acc = 0;
+ for (int i = 0; i < Acols; i++)
+ acc += A[Rrow*Acols + i] * B[i*Bcols + Rcol];
+ R[Rrow*Rcols + Rcol] = acc;
+ }
+ }
+}
+
+// matrix should be in row-major order, allocated in a single packed
+// array. (This is compatible with matd.)
+static inline void TFN(s_mat_ABt)(const TNAME *A, int Arows, int Acols,
+ const TNAME *B, int Brows, int Bcols,
+ TNAME *R, int Rrows, int Rcols)
+{
+ assert(Acols == Bcols);
+ assert(Rrows == Arows);
+ assert(Brows == Rcols);
+
+ for (int Rrow = 0; Rrow < Rrows; Rrow++) {
+ for (int Rcol = 0; Rcol < Rcols; Rcol++) {
+ TNAME acc = 0;
+ for (int i = 0; i < Acols; i++)
+ acc += A[Rrow*Acols + i] * B[Rcol*Bcols + i];
+ R[Rrow*Rcols + Rcol] = acc;
+ }
+ }
+}
+
+static inline void TFN(s_mat_ABC)(const TNAME *A, int Arows, int Acols,
+ const TNAME *B, int Brows, int Bcols,
+ const TNAME *C, int Crows, int Ccols,
+ TNAME *R, int Rrows, int Rcols)
+{
+ TNAME *tmp = malloc(sizeof(TNAME)*Arows*Bcols);
+
+ TFN(s_mat_AB)(A, Arows, Acols, B, Brows, Bcols, tmp, Arows, Bcols);
+ TFN(s_mat_AB)(tmp, Arows, Bcols, C, Crows, Ccols, R, Rrows, Rcols);
+ free(tmp);
+}
+
+static inline void TFN(s_mat_Ab)(const TNAME *A, int Arows, int Acols,
+ const TNAME *B, int Blength,
+ TNAME *R, int Rlength)
+{
+ assert(Acols == Blength);
+ assert(Arows == Rlength);
+
+ for (int Ridx = 0; Ridx < Rlength; Ridx++) {
+ TNAME acc = 0;
+ for (int i = 0; i < Blength; i++)
+ acc += A[Ridx*Acols + i] * B[i];
+ R[Ridx] = acc;
+ }
+}
+
+static inline void TFN(s_mat_AtB)(const TNAME *A, int Arows, int Acols,
+ const TNAME *B, int Brows, int Bcols,
+ TNAME *R, int Rrows, int Rcols)
+{
+ assert(Arows == Brows);
+ assert(Rrows == Acols);
+ assert(Bcols == Rcols);
+
+ for (int Rrow = 0; Rrow < Rrows; Rrow++) {
+ for (int Rcol = 0; Rcol < Rcols; Rcol++) {
+ TNAME acc = 0;
+ for (int i = 0; i < Acols; i++)
+ acc += A[i*Acols + Rrow] * B[i*Bcols + Rcol];
+ R[Rrow*Rcols + Rcol] = acc;
+ }
+ }
+}
+
+static inline void TFN(s_quat_slerp)(const TNAME q0[4], const TNAME _q1[4], TNAME r[4], TNAME w)
+{
+ TNAME dot = TFN(s_dot)(q0, _q1, 4);
+
+ TNAME q1[4];
+ memcpy(q1, _q1, sizeof(TNAME) * 4);
+
+ if (dot < 0) {
+ // flip sign on one of them so we don't spin the "wrong
+ // way" around. This doesn't change the rotation that the
+ // quaternion represents.
+ dot = -dot;
+ for (int i = 0; i < 4; i++)
+ q1[i] *= -1;
+ }
+
+ // if large dot product (1), slerp will scale both q0 and q1
+ // by 0, and normalization will blow up.
+ if (dot > 0.95) {
+
+ for (int i = 0; i < 4; i++)
+ r[i] = q0[i]*(1-w) + q1[i]*w;
+
+ } else {
+ TNAME angle = (TNAME)acos(dot);
+
+ TNAME w0 = (TNAME)sin(angle*(1-w)), w1 = (TNAME)sin(angle*w);
+
+ for (int i = 0; i < 4; i++)
+ r[i] = q0[i]*w0 + q1[i]*w1;
+
+ TFN(s_normalize)(r, 4, r);
+ }
+}
+
+static inline void TFN(s_cross_product)(const TNAME v1[3], const TNAME v2[3], TNAME r[3])
+{
+ r[0] = v1[1]*v2[2] - v1[2]*v2[1];
+ r[1] = v1[2]*v2[0] - v1[0]*v2[2];
+ r[2] = v1[0]*v2[1] - v1[1]*v2[0];
+}
+
+////////////////////
+static inline void TFN(s_mat44_identity)(TNAME out[16])
+{
+ memset(out, 0, 16 * sizeof(TNAME));
+ out[0] = 1;
+ out[5] = 1;
+ out[10] = 1;
+ out[15] = 1;
+}
+
+static inline void TFN(s_mat44_translate)(const TNAME txyz[3], TNAME out[16])
+{
+ TFN(s_mat44_identity)(out);
+
+ for (int i = 0; i < 3; i++)
+ out[4*i + 3] += txyz[i];
+}
+
+static inline void TFN(s_mat44_scale)(const TNAME sxyz[3], TNAME out[16])
+{
+ TFN(s_mat44_identity)(out);
+
+ for (int i = 0; i < 3; i++)
+ out[4*i + i] = sxyz[i];
+}
+
+static inline void TFN(s_mat44_rotate_z)(TNAME rad, TNAME out[16])
+{
+ TFN(s_mat44_identity)(out);
+ TNAME s = (TNAME)sin(rad), c = (TNAME)cos(rad);
+ out[0*4 + 0] = c;
+ out[0*4 + 1] = -s;
+ out[1*4 + 0] = s;
+ out[1*4 + 1] = c;
+}
+
+static inline void TFN(s_mat44_rotate_y)(TNAME rad, TNAME out[16])
+{
+ TFN(s_mat44_identity)(out);
+ TNAME s = (TNAME)sin(rad), c = (TNAME)cos(rad);
+ out[0*4 + 0] = c;
+ out[0*4 + 2] = s;
+ out[2*4 + 0] = -s;
+ out[2*4 + 2] = c;
+}
+
+static inline void TFN(s_mat44_rotate_x)(TNAME rad, TNAME out[16])
+{
+ TFN(s_mat44_identity)(out);
+ TNAME s = (TNAME)sin(rad), c = (TNAME)cos(rad);
+ out[1*4 + 1] = c;
+ out[1*4 + 2] = -s;
+ out[2*4 + 1] = s;
+ out[2*4 + 2] = c;
+}
+
+// out = out * translate(txyz)
+static inline void TFN(s_mat44_translate_self)(const TNAME txyz[3], TNAME out[16])
+{
+ TNAME tmp[16], prod[16];
+ TFN(s_mat44_translate(txyz, tmp));
+ TFN(s_mat_AB)(out, 4, 4, tmp, 4, 4, prod, 4, 4);
+ memcpy(out, prod, sizeof(TNAME)*16);
+}
+
+static inline void TFN(s_mat44_scale_self)(const TNAME sxyz[3], TNAME out[16])
+{
+ TNAME tmp[16], prod[16];
+ TFN(s_mat44_scale(sxyz, tmp));
+ TFN(s_mat_AB)(out, 4, 4, tmp, 4, 4, prod, 4, 4);
+ memcpy(out, prod, sizeof(TNAME)*16);
+}
+
+static inline void TFN(s_mat44_rotate_z_self)(TNAME rad, TNAME out[16])
+{
+ TNAME tmp[16], prod[16];
+ TFN(s_mat44_rotate_z(rad, tmp));
+ TFN(s_mat_AB)(out, 4, 4, tmp, 4, 4, prod, 4, 4);
+ memcpy(out, prod, sizeof(TNAME)*16);
+}
+
+// out = inv(M)*in. Note: this assumes that mat44 is a rigid-body transformation.
+static inline void TFN(s_mat44_inv)(const TNAME M[16], TNAME out[16])
+{
+// NB: M = T*R, inv(M) = inv(R) * inv(T)
+
+ // transpose of upper-left corner
+ for (int i = 0; i < 3; i++)
+ for (int j = 0; j < 3; j++)
+ out[4*i + j] = M[4*j + i];
+
+ out[4*0 + 3] = 0;
+ out[4*1 + 3] = 0;
+ out[4*2 + 3] = 0;
+
+ for (int i = 0; i < 3; i++)
+ for (int j = 0; j < 3; j++)
+ out[4*i + 3] -= out[4*i + j] * M[4*j + 3];
+
+ out[4*3 + 0] = 0;
+ out[4*3 + 1] = 0;
+ out[4*3 + 2] = 0;
+ out[4*3 + 3] = 1;
+
+/* TNAME tmp[16];
+ TFN(s_mat_AB)(M, 4, 4, out, 4, 4, tmp, 4, 4);
+ printf("identity: ");
+ TFN(s_print_mat)(tmp, 4, 4, "%15f"); */
+}
+
+// out = inv(M)*in
+static inline void TFN(s_mat44_inv_transform_xyz)(const TNAME M[16], const TNAME in[3], TNAME out[3])
+{
+ TNAME T[16];
+ TFN(s_mat44_inv)(M, T);
+
+ TFN(s_mat44_transform_xyz)(T, in, out);
+}
+
+// out = (upper 3x3 of inv(M)) * in
+static inline void TFN(s_mat44_inv_rotate_vector)(const TNAME M[16], const TNAME in[3], TNAME out[3])
+{
+ TNAME T[16];
+ TFN(s_mat44_inv)(M, T);
+
+ TFN(s_mat44_rotate_vector)(T, in, out);
+}
+
+static inline void TFN(s_elu_to_mat44)(const TNAME eye[3], const TNAME lookat[3], const TNAME _up[3],
+ TNAME M[16])
+{
+ TNAME f[3];
+ TFN(s_subtract)(lookat, eye, 3, f);
+ TFN(s_normalize)(f, 3, f);
+
+ TNAME up[3];
+
+ // remove any component of 'up' that isn't perpendicular to the look direction.
+ TFN(s_normalize)(_up, 3, up);
+
+ TNAME up_dot = TFN(s_dot)(f, up, 3);
+ for (int i = 0; i < 3; i++)
+ up[i] -= up_dot*f[i];
+
+ TFN(s_normalize_self)(up, 3);
+
+ TNAME s[3], u[3];
+ TFN(s_cross_product)(f, up, s);
+ TFN(s_cross_product)(s, f, u);
+
+ TNAME R[16] = { s[0], s[1], s[2], 0,
+ u[0], u[1], u[2], 0,
+ -f[0], -f[1], -f[2], 0,
+ 0, 0, 0, 1};
+
+ TNAME T[16] = {1, 0, 0, -eye[0],
+ 0, 1, 0, -eye[1],
+ 0, 0, 1, -eye[2],
+ 0, 0, 0, 1};
+
+ // M is the extrinsics matrix [R | t] where t = -R*c
+ TNAME tmp[16];
+ TFN(s_mat_AB)(R, 4, 4, T, 4, 4, tmp, 4, 4);
+ TFN(s_mat44_inv)(tmp, M);
+}
+
+// Computes the cholesky factorization of A, putting the lower
+// triangular matrix into R.
+static inline void TFN(s_mat33_chol)(const TNAME *A, int Arows, int Acols,
+ TNAME *R, int Brows, int Bcols)
+{
+ assert(Arows == Brows);
+ assert(Bcols == Bcols);
+
+ // A[0] = R[0]*R[0]
+ R[0] = (TNAME)sqrt(A[0]);
+
+ // A[1] = R[0]*R[3];
+ R[3] = A[1] / R[0];
+
+ // A[2] = R[0]*R[6];
+ R[6] = A[2] / R[0];
+
+ // A[4] = R[3]*R[3] + R[4]*R[4]
+ R[4] = (TNAME)sqrt(A[4] - R[3]*R[3]);
+
+ // A[5] = R[3]*R[6] + R[4]*R[7]
+ R[7] = (A[5] - R[3]*R[6]) / R[4];
+
+ // A[8] = R[6]*R[6] + R[7]*R[7] + R[8]*R[8]
+ R[8] = (TNAME)sqrt(A[8] - R[6]*R[6] - R[7]*R[7]);
+
+ R[1] = 0;
+ R[2] = 0;
+ R[5] = 0;
+}
+
+static inline void TFN(s_mat33_lower_tri_inv)(const TNAME *A, int Arows, int Acols,
+ TNAME *R, int Rrows, int Rcols)
+{
+ // A[0]*R[0] = 1
+ R[0] = 1 / A[0];
+
+ // A[3]*R[0] + A[4]*R[3] = 0
+ R[3] = -A[3]*R[0] / A[4];
+
+ // A[4]*R[4] = 1
+ R[4] = 1 / A[4];
+
+ // A[6]*R[0] + A[7]*R[3] + A[8]*R[6] = 0
+ R[6] = (-A[6]*R[0] - A[7]*R[3]) / A[8];
+
+ // A[7]*R[4] + A[8]*R[7] = 0
+ R[7] = -A[7]*R[4] / A[8];
+
+ // A[8]*R[8] = 1
+ R[8] = 1 / A[8];
+}
+
+
+static inline void TFN(s_mat33_sym_solve)(const TNAME *A, int Arows, int Acols,
+ const TNAME *B, int Brows, int Bcols,
+ TNAME *R, int Rrows, int Rcols)
+{
+ assert(Arows == Acols);
+ assert(Acols == 3);
+ assert(Brows == 3);
+ assert(Bcols == 1);
+ assert(Rrows == 3);
+ assert(Rcols == 1);
+
+ TNAME L[9];
+ TFN(s_mat33_chol)(A, 3, 3, L, 3, 3);
+
+ TNAME M[9];
+ TFN(s_mat33_lower_tri_inv)(L, 3, 3, M, 3, 3);
+
+ double tmp[3];
+ tmp[0] = M[0]*B[0];
+ tmp[1] = M[3]*B[0] + M[4]*B[1];
+ tmp[2] = M[6]*B[0] + M[7]*B[1] + M[8]*B[2];
+
+ R[0] = (TNAME)(M[0]*tmp[0] + M[3]*tmp[1] + M[6]*tmp[2]);
+ R[1] = (TNAME)(M[4]*tmp[1] + M[7]*tmp[2]);
+ R[2] = (TNAME)(M[8]*tmp[2]);
+}
+
+/*
+// solve Ax = B. Assumes A is symmetric; uses cholesky factorization
+static inline void TFN(s_mat_solve_chol)(const TNAME *A, int Arows, int Acols,
+ const TNAME *B, int Brows, int Bcols,
+ TNAME *R, int Rrows, int Rcols)
+{
+ assert(Arows == Acols);
+ assert(Arows == Brows);
+ assert(Acols == Rrows);
+ assert(Bcols == Rcols);
+
+ //
+}
+*/
+#undef TRRFN
+#undef TRFN
+#undef TFN
diff --git a/third_party/apriltag/common/floats.h b/third_party/apriltag/common/floats.h
new file mode 100644
index 0000000..22f839f
--- /dev/null
+++ b/third_party/apriltag/common/floats.h
@@ -0,0 +1,32 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#define TNAME float
+#include "doubles_floats_impl.h"
+#undef TNAME
diff --git a/third_party/apriltag/common/g2d.c b/third_party/apriltag/common/g2d.c
new file mode 100644
index 0000000..4645f20
--- /dev/null
+++ b/third_party/apriltag/common/g2d.c
@@ -0,0 +1,919 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <assert.h>
+#include <math.h>
+#include <stdio.h>
+#include <string.h>
+
+#include "g2d.h"
+#include "common/math_util.h"
+
+#ifdef _WIN32
+static inline long int random(void)
+{
+ return rand();
+}
+#endif
+
+double g2d_distance(const double a[2], const double b[2])
+{
+ return sqrtf(sq(a[0]-b[0]) + sq(a[1]-b[1]));
+}
+
+zarray_t *g2d_polygon_create_empty()
+{
+ return zarray_create(sizeof(double[2]));
+}
+
+void g2d_polygon_add(zarray_t *poly, double v[2])
+{
+ zarray_add(poly, v);
+}
+
+zarray_t *g2d_polygon_create_data(double v[][2], int sz)
+{
+ zarray_t *points = g2d_polygon_create_empty();
+
+ for (int i = 0; i < sz; i++)
+ g2d_polygon_add(points, v[i]);
+
+ return points;
+}
+
+zarray_t *g2d_polygon_create_zeros(int sz)
+{
+ zarray_t *points = zarray_create(sizeof(double[2]));
+
+ double z[2] = { 0, 0 };
+
+ for (int i = 0; i < sz; i++)
+ zarray_add(points, z);
+
+ return points;
+}
+
+void g2d_polygon_make_ccw(zarray_t *poly)
+{
+ // Step one: we want the points in counter-clockwise order.
+ // If the points are in clockwise order, we'll reverse them.
+ double total_theta = 0;
+ double last_theta = 0;
+
+ // Count the angle accumulated going around the polygon. If
+ // the sum is +2pi, it's CCW. Otherwise, we'll get -2pi.
+ int sz = zarray_size(poly);
+
+ for (int i = 0; i <= sz; i++) {
+ double p0[2], p1[2];
+ zarray_get(poly, i % sz, &p0);
+ zarray_get(poly, (i+1) % sz, &p1);
+
+ double this_theta = atan2(p1[1]-p0[1], p1[0]-p0[0]);
+
+ if (i > 0) {
+ double dtheta = mod2pi(this_theta-last_theta);
+ total_theta += dtheta;
+ }
+
+ last_theta = this_theta;
+ }
+
+ int ccw = (total_theta > 0);
+
+ // reverse order if necessary.
+ if (!ccw) {
+ for (int i = 0; i < sz / 2; i++) {
+ double a[2], b[2];
+
+ zarray_get(poly, i, a);
+ zarray_get(poly, sz-1-i, b);
+ zarray_set(poly, i, b, NULL);
+ zarray_set(poly, sz-1-i, a, NULL);
+ }
+ }
+}
+
+int g2d_polygon_contains_point_ref(const zarray_t *poly, double q[2])
+{
+ // use winding. If the point is inside the polygon, we'll wrap
+ // around it (accumulating 6.28 radians). If we're outside the
+ // polygon, we'll accumulate zero.
+ int psz = zarray_size(poly);
+
+ double acc_theta = 0;
+
+ double last_theta;
+
+ for (int i = 0; i <= psz; i++) {
+ double p[2];
+
+ zarray_get(poly, i % psz, &p);
+
+ double this_theta = atan2(q[1]-p[1], q[0]-p[0]);
+
+ if (i != 0)
+ acc_theta += mod2pi(this_theta - last_theta);
+
+ last_theta = this_theta;
+ }
+
+ return acc_theta > M_PI;
+}
+
+/*
+// sort by x coordinate, ascending
+static int g2d_convex_hull_sort(const void *_a, const void *_b)
+{
+ double *a = (double*) _a;
+ double *b = (double*) _b;
+
+ if (a[0] < b[0])
+ return -1;
+ if (a[0] == b[0])
+ return 0;
+ return 1;
+}
+*/
+
+/*
+zarray_t *g2d_convex_hull2(const zarray_t *points)
+{
+ zarray_t *hull = zarray_copy(points);
+
+ zarray_sort(hull, g2d_convex_hull_sort);
+
+ int hsz = zarray_size(hull);
+ int hout = 0;
+
+ for (int hin = 1; hin < hsz; hin++) {
+ double *p;
+ zarray_get_volatile(hull, i, &p);
+
+ // Everything to the right of hin is already convex. We now
+ // add one point, p, which begins "connected" by two
+ // (coincident) edges from the last right-most point to p.
+ double *last;
+ zarray_get_volatile(hull, hout, &last);
+
+ // We now remove points from the convex hull by moving
+ }
+
+ return hull;
+}
+*/
+
+// creates and returns a zarray(double[2]). The resulting polygon is
+// CCW and implicitly closed. Unnecessary colinear points are omitted.
+zarray_t *g2d_convex_hull(const zarray_t *points)
+{
+ zarray_t *hull = zarray_create(sizeof(double[2]));
+
+ // gift-wrap algorithm.
+
+ // step 1: find left most point.
+ int insz = zarray_size(points);
+
+ // must have at least 2 points. (XXX need 3?)
+ assert(insz >= 2);
+
+ double *pleft = NULL;
+ for (int i = 0; i < insz; i++) {
+ double *p;
+ zarray_get_volatile(points, i, &p);
+
+ if (pleft == NULL || p[0] < pleft[0])
+ pleft = p;
+ }
+
+ // cannot be NULL since there must be at least one point.
+ assert(pleft != NULL);
+
+ zarray_add(hull, pleft);
+
+ // step 2. gift wrap. Keep searching for points that make the
+ // smallest-angle left-hand turn. This implementation is carefully
+ // written to use only addition/subtraction/multiply. No division
+ // or sqrts. This guarantees exact results for integer-coordinate
+ // polygons (no rounding/precision problems).
+ double *p = pleft;
+
+ while (1) {
+ assert(p != NULL);
+
+ double *q = NULL;
+ double n0 = 0, n1 = 0; // the normal to the line (p, q) (not
+ // necessarily unit length).
+
+ // Search for the point q for which the line (p,q) is most "to
+ // the right of" the other points. (i.e., every time we find a
+ // point that is to the right of our current line, we change
+ // lines.)
+ for (int i = 0; i < insz; i++) {
+ double *thisq;
+ zarray_get_volatile(points, i, &thisq);
+
+ if (thisq == p)
+ continue;
+
+ // the first time we find another point, we initialize our
+ // value of q, forming the line (p,q)
+ if (q == NULL) {
+ q = thisq;
+ n0 = q[1] - p[1];
+ n1 = -q[0] + p[0];
+ } else {
+ // we already have a line (p,q). is point thisq RIGHT OF line (p, q)?
+ double e0 = thisq[0] - p[0], e1 = thisq[1] - p[1];
+ double dot = e0*n0 + e1*n1;
+
+ if (dot > 0) {
+ // it is. change our line.
+ q = thisq;
+ n0 = q[1] - p[1];
+ n1 = -q[0] + p[0];
+ }
+ }
+ }
+
+ // we must have elected *some* line, so long as there are at
+ // least 2 points in the polygon.
+ assert(q != NULL);
+
+ // loop completed?
+ if (q == pleft)
+ break;
+
+ int colinear = 0;
+
+ // is this new point colinear with the last two?
+ if (zarray_size(hull) > 1) {
+ double *o;
+ zarray_get_volatile(hull, zarray_size(hull) - 2, &o);
+
+ double e0 = o[0] - p[0];
+ double e1 = o[1] - p[1];
+
+ if (n0*e0 + n1*e1 == 0)
+ colinear = 1;
+ }
+
+ // if it is colinear, overwrite the last one.
+ if (colinear)
+ zarray_set(hull, zarray_size(hull)-1, q, NULL);
+ else
+ zarray_add(hull, q);
+
+ p = q;
+ }
+
+ return hull;
+}
+
+// Find point p on the boundary of poly that is closest to q.
+void g2d_polygon_closest_boundary_point(const zarray_t *poly, const double q[2], double *p)
+{
+ int psz = zarray_size(poly);
+ double min_dist = HUGE_VALF;
+
+ for (int i = 0; i < psz; i++) {
+ double *p0, *p1;
+
+ zarray_get_volatile(poly, i, &p0);
+ zarray_get_volatile(poly, (i+1) % psz, &p1);
+
+ g2d_line_segment_t seg;
+ g2d_line_segment_init_from_points(&seg, p0, p1);
+
+ double thisp[2];
+ g2d_line_segment_closest_point(&seg, q, thisp);
+
+ double dist = g2d_distance(q, thisp);
+ if (dist < min_dist) {
+ memcpy(p, thisp, sizeof(double[2]));
+ min_dist = dist;
+ }
+ }
+}
+
+int g2d_polygon_contains_point(const zarray_t *poly, double q[2])
+{
+ // use winding. If the point is inside the polygon, we'll wrap
+ // around it (accumulating 6.28 radians). If we're outside the
+ // polygon, we'll accumulate zero.
+ int psz = zarray_size(poly);
+ assert(psz > 0);
+
+ int last_quadrant;
+ int quad_acc = 0;
+
+ for (int i = 0; i <= psz; i++) {
+ double *p;
+
+ zarray_get_volatile(poly, i % psz, &p);
+
+ // p[0] < q[0] p[1] < q[1] quadrant
+ // 0 0 0
+ // 0 1 3
+ // 1 0 1
+ // 1 1 2
+
+ // p[1] < q[1] p[0] < q[0] quadrant
+ // 0 0 0
+ // 0 1 1
+ // 1 0 3
+ // 1 1 2
+
+ int quadrant;
+ if (p[0] < q[0])
+ quadrant = (p[1] < q[1]) ? 2 : 1;
+ else
+ quadrant = (p[1] < q[1]) ? 3 : 0;
+
+ if (i > 0) {
+ int dquadrant = quadrant - last_quadrant;
+
+ // encourage a jump table by mapping to small positive integers.
+ switch (dquadrant) {
+ case -3:
+ case 1:
+ quad_acc ++;
+ break;
+ case -1:
+ case 3:
+ quad_acc --;
+ break;
+ case 0:
+ break;
+ case -2:
+ case 2:
+ {
+ // get the previous point.
+ double *p0;
+ zarray_get_volatile(poly, i-1, &p0);
+
+ // Consider the points p0 and p (the points around the
+ //polygon that we are tracing) and the query point q.
+ //
+ // If we've moved diagonally across quadrants, we want
+ // to measure whether we have rotated +PI radians or
+ // -PI radians. We can test this by computing the dot
+ // product of vector (p0-q) with the vector
+ // perpendicular to vector (p-q)
+ double nx = p[1] - q[1];
+ double ny = -p[0] + q[0];
+
+ double dot = nx*(p0[0]-q[0]) + ny*(p0[1]-q[1]);
+ if (dot < 0)
+ quad_acc -= 2;
+ else
+ quad_acc += 2;
+
+ break;
+ }
+ }
+ }
+
+ last_quadrant = quadrant;
+ }
+
+ int v = (quad_acc >= 2) || (quad_acc <= -2);
+
+ #if 0
+ if (v != g2d_polygon_contains_point_ref(poly, q)) {
+ printf("FAILURE %d %d\n", v, quad_acc);
+ exit(-1);
+ }
+ #endif
+
+ return v;
+}
+
+void g2d_line_init_from_points(g2d_line_t *line, const double p0[2], const double p1[2])
+{
+ line->p[0] = p0[0];
+ line->p[1] = p0[1];
+ line->u[0] = p1[0]-p0[0];
+ line->u[1] = p1[1]-p0[1];
+ double mag = sqrtf(sq(line->u[0]) + sq(line->u[1]));
+
+ line->u[0] /= mag;
+ line->u[1] /= mag;
+}
+
+double g2d_line_get_coordinate(const g2d_line_t *line, const double q[2])
+{
+ return (q[0]-line->p[0])*line->u[0] + (q[1]-line->p[1])*line->u[1];
+}
+
+// Compute intersection of two line segments. If they intersect,
+// result is stored in p and 1 is returned. Otherwise, zero is
+// returned. p may be NULL.
+int g2d_line_intersect_line(const g2d_line_t *linea, const g2d_line_t *lineb, double *p)
+{
+ // this implementation is many times faster than the original,
+ // mostly due to avoiding a general-purpose LU decomposition in
+ // Matrix.inverse().
+ double m00, m01, m10, m11;
+ double i00, i01;
+ double b00, b10;
+
+ m00 = linea->u[0];
+ m01= -lineb->u[0];
+ m10 = linea->u[1];
+ m11= -lineb->u[1];
+
+ // determinant of m
+ double det = m00*m11-m01*m10;
+
+ // parallel lines?
+ if (fabs(det) < 0.00000001)
+ return 0;
+
+ // inverse of m
+ i00 = m11/det;
+ i01 = -m01/det;
+
+ b00 = lineb->p[0] - linea->p[0];
+ b10 = lineb->p[1] - linea->p[1];
+
+ double x00; //, x10;
+ x00 = i00*b00+i01*b10;
+
+ if (p != NULL) {
+ p[0] = linea->u[0]*x00 + linea->p[0];
+ p[1] = linea->u[1]*x00 + linea->p[1];
+ }
+
+ return 1;
+}
+
+
+void g2d_line_segment_init_from_points(g2d_line_segment_t *seg, const double p0[2], const double p1[2])
+{
+ g2d_line_init_from_points(&seg->line, p0, p1);
+ seg->p1[0] = p1[0];
+ seg->p1[1] = p1[1];
+}
+
+// Find the point p on segment seg that is closest to point q.
+void g2d_line_segment_closest_point(const g2d_line_segment_t *seg, const double *q, double *p)
+{
+ double a = g2d_line_get_coordinate(&seg->line, seg->line.p);
+ double b = g2d_line_get_coordinate(&seg->line, seg->p1);
+ double c = g2d_line_get_coordinate(&seg->line, q);
+
+ if (a < b)
+ c = dclamp(c, a, b);
+ else
+ c = dclamp(c, b, a);
+
+ p[0] = seg->line.p[0] + c * seg->line.u[0];
+ p[1] = seg->line.p[1] + c * seg->line.u[1];
+}
+
+// Compute intersection of two line segments. If they intersect,
+// result is stored in p and 1 is returned. Otherwise, zero is
+// returned. p may be NULL.
+int g2d_line_segment_intersect_segment(const g2d_line_segment_t *sega, const g2d_line_segment_t *segb, double *p)
+{
+ double tmp[2];
+
+ if (!g2d_line_intersect_line(&sega->line, &segb->line, tmp))
+ return 0;
+
+ double a = g2d_line_get_coordinate(&sega->line, sega->line.p);
+ double b = g2d_line_get_coordinate(&sega->line, sega->p1);
+ double c = g2d_line_get_coordinate(&sega->line, tmp);
+
+ // does intersection lie on the first line?
+ if ((c<a && c<b) || (c>a && c>b))
+ return 0;
+
+ a = g2d_line_get_coordinate(&segb->line, segb->line.p);
+ b = g2d_line_get_coordinate(&segb->line, segb->p1);
+ c = g2d_line_get_coordinate(&segb->line, tmp);
+
+ // does intersection lie on second line?
+ if ((c<a && c<b) || (c>a && c>b))
+ return 0;
+
+ if (p != NULL) {
+ p[0] = tmp[0];
+ p[1] = tmp[1];
+ }
+
+ return 1;
+}
+
+// Compute intersection of a line segment and a line. If they
+// intersect, result is stored in p and 1 is returned. Otherwise, zero
+// is returned. p may be NULL.
+int g2d_line_segment_intersect_line(const g2d_line_segment_t *seg, const g2d_line_t *line, double *p)
+{
+ double tmp[2];
+
+ if (!g2d_line_intersect_line(&seg->line, line, tmp))
+ return 0;
+
+ double a = g2d_line_get_coordinate(&seg->line, seg->line.p);
+ double b = g2d_line_get_coordinate(&seg->line, seg->p1);
+ double c = g2d_line_get_coordinate(&seg->line, tmp);
+
+ // does intersection lie on the first line?
+ if ((c<a && c<b) || (c>a && c>b))
+ return 0;
+
+ if (p != NULL) {
+ p[0] = tmp[0];
+ p[1] = tmp[1];
+ }
+
+ return 1;
+}
+
+// do the edges of polya and polyb collide? (Does NOT test for containment).
+int g2d_polygon_intersects_polygon(const zarray_t *polya, const zarray_t *polyb)
+{
+ // do any of the line segments collide? If so, the answer is no.
+
+ // dumb N^2 method.
+ for (int ia = 0; ia < zarray_size(polya); ia++) {
+ double pa0[2], pa1[2];
+ zarray_get(polya, ia, pa0);
+ zarray_get(polya, (ia+1)%zarray_size(polya), pa1);
+
+ g2d_line_segment_t sega;
+ g2d_line_segment_init_from_points(&sega, pa0, pa1);
+
+ for (int ib = 0; ib < zarray_size(polyb); ib++) {
+ double pb0[2], pb1[2];
+ zarray_get(polyb, ib, pb0);
+ zarray_get(polyb, (ib+1)%zarray_size(polyb), pb1);
+
+ g2d_line_segment_t segb;
+ g2d_line_segment_init_from_points(&segb, pb0, pb1);
+
+ if (g2d_line_segment_intersect_segment(&sega, &segb, NULL))
+ return 1;
+ }
+ }
+
+ return 0;
+}
+
+// does polya completely contain polyb?
+int g2d_polygon_contains_polygon(const zarray_t *polya, const zarray_t *polyb)
+{
+ // do any of the line segments collide? If so, the answer is no.
+ if (g2d_polygon_intersects_polygon(polya, polyb))
+ return 0;
+
+ // if none of the edges cross, then the polygon is either fully
+ // contained or fully outside.
+ double p[2];
+ zarray_get(polyb, 0, p);
+
+ return g2d_polygon_contains_point(polya, p);
+}
+
+// compute a point that is inside the polygon. (It may not be *far* inside though)
+void g2d_polygon_get_interior_point(const zarray_t *poly, double *p)
+{
+ // take the first three points, which form a triangle. Find the middle point
+ double a[2], b[2], c[2];
+
+ zarray_get(poly, 0, a);
+ zarray_get(poly, 1, b);
+ zarray_get(poly, 2, c);
+
+ p[0] = (a[0]+b[0]+c[0])/3;
+ p[1] = (a[1]+b[1]+c[1])/3;
+}
+
+int g2d_polygon_overlaps_polygon(const zarray_t *polya, const zarray_t *polyb)
+{
+ // do any of the line segments collide? If so, the answer is yes.
+ if (g2d_polygon_intersects_polygon(polya, polyb))
+ return 1;
+
+ // if none of the edges cross, then the polygon is either fully
+ // contained or fully outside.
+ double p[2];
+ g2d_polygon_get_interior_point(polyb, p);
+
+ if (g2d_polygon_contains_point(polya, p))
+ return 1;
+
+ g2d_polygon_get_interior_point(polya, p);
+
+ if (g2d_polygon_contains_point(polyb, p))
+ return 1;
+
+ return 0;
+}
+
+static int double_sort_up(const void *_a, const void *_b)
+{
+ double a = *((double*) _a);
+ double b = *((double*) _b);
+
+ if (a < b)
+ return -1;
+
+ if (a == b)
+ return 0;
+
+ return 1;
+}
+
+// Compute the crossings of the polygon along line y, storing them in
+// the array x. X must be allocated to be at least as long as
+// zarray_size(poly). X will be sorted, ready for
+// rasterization. Returns the number of intersections (and elements
+// written to x).
+/*
+ To rasterize, do something like this:
+
+ double res = 0.099;
+ for (double y = y0; y < y1; y += res) {
+ double xs[zarray_size(poly)];
+
+ int xsz = g2d_polygon_rasterize(poly, y, xs);
+ int xpos = 0;
+ int inout = 0; // start off "out"
+
+ for (double x = x0; x < x1; x += res) {
+ while (x > xs[xpos] && xpos < xsz) {
+ xpos++;
+ inout ^= 1;
+ }
+
+ if (inout)
+ printf("y");
+ else
+ printf(" ");
+ }
+ printf("\n");
+*/
+
+// returns the number of x intercepts
+int g2d_polygon_rasterize(const zarray_t *poly, double y, double *x)
+{
+ int sz = zarray_size(poly);
+
+ g2d_line_t line;
+ if (1) {
+ double p0[2] = { 0, y };
+ double p1[2] = { 1, y };
+
+ g2d_line_init_from_points(&line, p0, p1);
+ }
+
+ int xpos = 0;
+
+ for (int i = 0; i < sz; i++) {
+ g2d_line_segment_t seg;
+ double *p0, *p1;
+ zarray_get_volatile(poly, i, &p0);
+ zarray_get_volatile(poly, (i+1)%sz, &p1);
+
+ g2d_line_segment_init_from_points(&seg, p0, p1);
+
+ double q[2];
+ if (g2d_line_segment_intersect_line(&seg, &line, q))
+ x[xpos++] = q[0];
+ }
+
+ qsort(x, xpos, sizeof(double), double_sort_up);
+
+ return xpos;
+}
+
+/*
+ /---(1,5)
+ (-2,4)-/ |
+ \ |
+ \ (1,2)--(2,2)\
+ \ \
+ \ \
+ (0,0)------------------(4,0)
+*/
+#if 0
+
+#include "timeprofile.h"
+
+int main(int argc, char *argv[])
+{
+ timeprofile_t *tp = timeprofile_create();
+
+ zarray_t *polya = g2d_polygon_create_data((double[][2]) {
+ { 0, 0},
+ { 4, 0},
+ { 2, 2},
+ { 1, 2},
+ { 1, 5},
+ { -2,4} }, 6);
+
+ zarray_t *polyb = g2d_polygon_create_data((double[][2]) {
+ { .1, .1},
+ { .5, .1},
+ { .1, .5 } }, 3);
+
+ zarray_t *polyc = g2d_polygon_create_data((double[][2]) {
+ { 3, 0},
+ { 5, 0},
+ { 5, 1} }, 3);
+
+ zarray_t *polyd = g2d_polygon_create_data((double[][2]) {
+ { 5, 5},
+ { 6, 6},
+ { 5, 6} }, 3);
+
+/*
+ 5 L---K
+ 4 |I--J
+ 3 |H-G
+ 2 |E-F
+ 1 |D--C
+ 0 A---B
+ 01234
+*/
+ zarray_t *polyE = g2d_polygon_create_data((double[][2]) {
+ {0,0}, {4,0}, {4, 1}, {1,1},
+ {1,2}, {3,2}, {3,3}, {1,3},
+ {1,4}, {4,4}, {4,5}, {0,5}}, 12);
+
+ srand(0);
+
+ timeprofile_stamp(tp, "begin");
+
+ if (1) {
+ int niters = 100000;
+
+ for (int i = 0; i < niters; i++) {
+ double q[2];
+ q[0] = 10.0f * random() / RAND_MAX - 2;
+ q[1] = 10.0f * random() / RAND_MAX - 2;
+
+ g2d_polygon_contains_point(polyE, q);
+ }
+
+ timeprofile_stamp(tp, "fast");
+
+ for (int i = 0; i < niters; i++) {
+ double q[2];
+ q[0] = 10.0f * random() / RAND_MAX - 2;
+ q[1] = 10.0f * random() / RAND_MAX - 2;
+
+ g2d_polygon_contains_point_ref(polyE, q);
+ }
+
+ timeprofile_stamp(tp, "slow");
+
+ for (int i = 0; i < niters; i++) {
+ double q[2];
+ q[0] = 10.0f * random() / RAND_MAX - 2;
+ q[1] = 10.0f * random() / RAND_MAX - 2;
+
+ int v0 = g2d_polygon_contains_point(polyE, q);
+ int v1 = g2d_polygon_contains_point_ref(polyE, q);
+ assert(v0 == v1);
+ }
+
+ timeprofile_stamp(tp, "both");
+ timeprofile_display(tp);
+ }
+
+ if (1) {
+ zarray_t *poly = polyE;
+
+ double res = 0.399;
+ for (double y = 5.2; y >= -.5; y -= res) {
+ double xs[zarray_size(poly)];
+
+ int xsz = g2d_polygon_rasterize(poly, y, xs);
+ int xpos = 0;
+ int inout = 0; // start off "out"
+ for (double x = -3; x < 6; x += res) {
+ while (x > xs[xpos] && xpos < xsz) {
+ xpos++;
+ inout ^= 1;
+ }
+
+ if (inout)
+ printf("y");
+ else
+ printf(" ");
+ }
+ printf("\n");
+
+ for (double x = -3; x < 6; x += res) {
+ double q[2] = {x, y};
+ if (g2d_polygon_contains_point(poly, q))
+ printf("X");
+ else
+ printf(" ");
+ }
+ printf("\n");
+ }
+ }
+
+
+
+/*
+// CW order
+double p[][2] = { { 0, 0},
+{ -2, 4},
+{1, 5},
+{1, 2},
+{2, 2},
+{4, 0} };
+*/
+
+ double q[2] = { 10, 10 };
+ printf("0==%d\n", g2d_polygon_contains_point(polya, q));
+
+ q[0] = 1; q[1] = 1;
+ printf("1==%d\n", g2d_polygon_contains_point(polya, q));
+
+ q[0] = 3; q[1] = .5;
+ printf("1==%d\n", g2d_polygon_contains_point(polya, q));
+
+ q[0] = 1.2; q[1] = 2.1;
+ printf("0==%d\n", g2d_polygon_contains_point(polya, q));
+
+ printf("0==%d\n", g2d_polygon_contains_polygon(polya, polyb));
+
+ printf("0==%d\n", g2d_polygon_contains_polygon(polya, polyc));
+
+ printf("0==%d\n", g2d_polygon_contains_polygon(polya, polyd));
+
+ ////////////////////////////////////////////////////////
+ // Test convex hull
+ if (1) {
+ zarray_t *hull = g2d_convex_hull(polyE);
+
+ for (int k = 0; k < zarray_size(hull); k++) {
+ double *h;
+ zarray_get_volatile(hull, k, &h);
+
+ printf("%15f, %15f\n", h[0], h[1]);
+ }
+ }
+
+ for (int i = 0; i < 100000; i++) {
+ zarray_t *points = zarray_create(sizeof(double[2]));
+
+ for (int j = 0; j < 100; j++) {
+ double q[2];
+ q[0] = 10.0f * random() / RAND_MAX - 2;
+ q[1] = 10.0f * random() / RAND_MAX - 2;
+
+ zarray_add(points, q);
+ }
+
+ zarray_t *hull = g2d_convex_hull(points);
+ for (int j = 0; j < zarray_size(points); j++) {
+ double *q;
+ zarray_get_volatile(points, j, &q);
+
+ int on_edge;
+
+ double p[2];
+ g2d_polygon_closest_boundary_point(hull, q, p);
+ if (g2d_distance(q, p) < .00001)
+ on_edge = 1;
+
+ assert(on_edge || g2d_polygon_contains_point(hull, q));
+ }
+
+ zarray_destroy(hull);
+ zarray_destroy(points);
+ }
+}
+#endif
diff --git a/third_party/apriltag/common/g2d.h b/third_party/apriltag/common/g2d.h
new file mode 100644
index 0000000..21c21ac
--- /dev/null
+++ b/third_party/apriltag/common/g2d.h
@@ -0,0 +1,124 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "zarray.h"
+
+// This library tries to avoid needless proliferation of types.
+//
+// A point is a double[2]. (Note that when passing a double[2] as an
+// argument, it is passed by pointer, not by value.)
+//
+// A polygon is a zarray_t of double[2]. (Note that in this case, the
+// zarray contains the actual vertex data, and not merely a pointer to
+// some other data. IMPORTANT: A polygon must be specified in CCW
+// order. It is implicitly closed (do not list the same point at the
+// beginning at the end.
+//
+// Where sensible, it is assumed that objects should be allocated
+// sparingly; consequently "init" style methods, rather than "create"
+// methods are used.
+
+////////////////////////////////////////////////////////////////////
+// Lines
+
+typedef struct
+{
+ // Internal representation: a point that the line goes through (p) and
+ // the direction of the line (u).
+ double p[2];
+ double u[2]; // always a unit vector
+} g2d_line_t;
+
+// initialize a line object.
+void g2d_line_init_from_points(g2d_line_t *line, const double p0[2], const double p1[2]);
+
+// The line defines a one-dimensional coordinate system whose origin
+// is p. Where is q? (If q is not on the line, the point nearest q is
+// returned.
+double g2d_line_get_coordinate(const g2d_line_t *line, const double q[2]);
+
+// Intersect two lines. The intersection, if it exists, is written to
+// p (if not NULL), and 1 is returned. Else, zero is returned.
+int g2d_line_intersect_line(const g2d_line_t *linea, const g2d_line_t *lineb, double *p);
+
+////////////////////////////////////////////////////////////////////
+// Line Segments. line.p is always one endpoint; p1 is the other
+// endpoint.
+typedef struct
+{
+ g2d_line_t line;
+ double p1[2];
+} g2d_line_segment_t;
+
+void g2d_line_segment_init_from_points(g2d_line_segment_t *seg, const double p0[2], const double p1[2]);
+
+// Intersect two segments. The intersection, if it exists, is written
+// to p (if not NULL), and 1 is returned. Else, zero is returned.
+int g2d_line_segment_intersect_segment(const g2d_line_segment_t *sega, const g2d_line_segment_t *segb, double *p);
+
+void g2d_line_segment_closest_point(const g2d_line_segment_t *seg, const double *q, double *p);
+double g2d_line_segment_closest_point_distance(const g2d_line_segment_t *seg, const double *q);
+
+////////////////////////////////////////////////////////////////////
+// Polygons
+
+zarray_t *g2d_polygon_create_data(double v[][2], int sz);
+
+zarray_t *g2d_polygon_create_zeros(int sz);
+
+zarray_t *g2d_polygon_create_empty();
+
+void g2d_polygon_add(zarray_t *poly, double v[2]);
+
+// Takes a polygon in either CW or CCW and modifies it (if necessary)
+// to be CCW.
+void g2d_polygon_make_ccw(zarray_t *poly);
+
+// Return 1 if point q lies within poly.
+int g2d_polygon_contains_point(const zarray_t *poly, double q[2]);
+
+// Do the edges of the polygons cross? (Does not test for containment).
+int g2d_polygon_intersects_polygon(const zarray_t *polya, const zarray_t *polyb);
+
+// Does polya completely contain polyb?
+int g2d_polygon_contains_polygon(const zarray_t *polya, const zarray_t *polyb);
+
+// Is there some point which is in both polya and polyb?
+int g2d_polygon_overlaps_polygon(const zarray_t *polya, const zarray_t *polyb);
+
+// returns the number of points written to x. see comments.
+int g2d_polygon_rasterize(const zarray_t *poly, double y, double *x);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/apriltag/common/getopt.c b/third_party/apriltag/common/getopt.c
new file mode 100644
index 0000000..e645089
--- /dev/null
+++ b/third_party/apriltag/common/getopt.c
@@ -0,0 +1,548 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <assert.h>
+#include <string.h>
+#include <ctype.h>
+#include <errno.h>
+
+#include "zhash.h"
+#include "zarray.h"
+#include "getopt.h"
+#include "common/math_util.h"
+
+#define GOO_BOOL_TYPE 1
+#define GOO_STRING_TYPE 2
+
+typedef struct getopt_option getopt_option_t;
+
+struct getopt_option
+{
+ char *sname;
+ char *lname;
+ char *svalue;
+
+ char *help;
+ int type;
+
+ int spacer;
+
+ int was_specified;
+};
+
+struct getopt
+{
+ zhash_t *lopts;
+ zhash_t *sopts;
+ zarray_t *extraargs;
+ zarray_t *options;
+};
+
+getopt_t *getopt_create()
+{
+ getopt_t *gopt = (getopt_t*) calloc(1, sizeof(getopt_t));
+
+ gopt->lopts = zhash_create(sizeof(char*), sizeof(getopt_option_t*), zhash_str_hash, zhash_str_equals);
+ gopt->sopts = zhash_create(sizeof(char*), sizeof(getopt_option_t*), zhash_str_hash, zhash_str_equals);
+ gopt->options = zarray_create(sizeof(getopt_option_t*));
+ gopt->extraargs = zarray_create(sizeof(char*));
+
+ return gopt;
+}
+
+void getopt_option_destroy(getopt_option_t *goo)
+{
+ free(goo->sname);
+ free(goo->lname);
+ free(goo->svalue);
+ free(goo->help);
+ memset(goo, 0, sizeof(getopt_option_t));
+ free(goo);
+}
+
+void getopt_destroy(getopt_t *gopt)
+{
+ // free the extra arguments and container
+ zarray_vmap(gopt->extraargs, free);
+ zarray_destroy(gopt->extraargs);
+
+ // deep free of the getopt_option structs. Also frees key/values, so
+ // after this loop, hash tables will no longer work
+ zarray_vmap(gopt->options, getopt_option_destroy);
+ zarray_destroy(gopt->options);
+
+ // free tables
+ zhash_destroy(gopt->lopts);
+ zhash_destroy(gopt->sopts);
+
+ memset(gopt, 0, sizeof(getopt_t));
+ free(gopt);
+}
+
+static void getopt_modify_string(char **str, char *newvalue)
+{
+ char *old = *str;
+ *str = newvalue;
+ if (old != NULL)
+ free(old);
+}
+
+static char *get_arg_assignment(char *arg)
+{
+ // not an arg starting with "--"?
+ if (!str_starts_with(arg, "--")) {
+ return NULL;
+ }
+
+ int eq_index = str_indexof(arg, "=");
+
+ // no assignment?
+ if (eq_index == -1) {
+ return NULL;
+ }
+
+ // no quotes allowed before '=' in "--key=value" option specification.
+ // quotes can be used in value string, or by extra arguments
+ for (int i = 0; i < eq_index; i++) {
+ if (arg[i] == '\'' || arg[i] == '"') {
+ return NULL;
+ }
+ }
+
+ return &arg[eq_index];
+}
+
+// returns 1 if no error
+int getopt_parse(getopt_t *gopt, int argc, char *argv[], int showErrors)
+{
+ int okay = 1;
+ zarray_t *toks = zarray_create(sizeof(char*));
+
+ // take the input stream and chop it up into tokens
+ for (int i = 1; i < argc; i++) {
+
+ char *arg = strdup(argv[i]);
+ char *eq = get_arg_assignment(arg);
+
+ // no equal sign? Push the whole thing.
+ if (eq == NULL) {
+ zarray_add(toks, &arg);
+ } else {
+ // there was an equal sign. Push the part
+ // before and after the equal sign
+ char *val = strdup(&eq[1]);
+ eq[0] = 0;
+ zarray_add(toks, &arg);
+
+ // if the part after the equal sign is
+ // enclosed by quotation marks, strip them.
+ if (val[0]=='\"') {
+ size_t last = strlen(val) - 1;
+ if (val[last]=='\"')
+ val[last] = 0;
+ char *valclean = strdup(&val[1]);
+ zarray_add(toks, &valclean);
+ free(val);
+ } else {
+ zarray_add(toks, &val);
+ }
+ }
+ }
+
+ // now loop over the elements and evaluate the arguments
+ unsigned int i = 0;
+
+ char *tok = NULL;
+
+ while (i < zarray_size(toks)) {
+
+ // rather than free statement throughout this while loop
+ if (tok != NULL)
+ free(tok);
+
+ zarray_get(toks, i, &tok);
+
+ if (!strncmp(tok,"--", 2)) {
+ char *optname = &tok[2];
+ getopt_option_t *goo = NULL;
+ zhash_get(gopt->lopts, &optname, &goo);
+ if (goo == NULL) {
+ okay = 0;
+ if (showErrors)
+ printf("Unknown option --%s\n", optname);
+ i++;
+ continue;
+ }
+
+ goo->was_specified = 1;
+
+ if (goo->type == GOO_BOOL_TYPE) {
+ if ((i+1) < zarray_size(toks)) {
+ char *val = NULL;
+ zarray_get(toks, i+1, &val);
+
+ if (!strcmp(val,"true")) {
+ i+=2;
+ getopt_modify_string(&goo->svalue, val);
+ continue;
+ }
+ if (!strcmp(val,"false")) {
+ i+=2;
+ getopt_modify_string(&goo->svalue, val);
+ continue;
+ }
+ }
+ getopt_modify_string(&goo->svalue, strdup("true"));
+ i++;
+ continue;
+ }
+
+ if (goo->type == GOO_STRING_TYPE) {
+ // TODO: check whether next argument is an option, denoting missing argument
+ if ((i+1) < zarray_size(toks)) {
+ char *val = NULL;
+ zarray_get(toks, i+1, &val);
+ i+=2;
+ getopt_modify_string(&goo->svalue, val);
+ continue;
+ }
+
+ okay = 0;
+ if (showErrors)
+ printf("Option %s requires a string argument.\n",optname);
+ }
+ }
+
+ if (!strncmp(tok,"-",1) && strncmp(tok,"--",2)) {
+ size_t len = strlen(tok);
+ int pos;
+ for (pos = 1; pos < len; pos++) {
+ char sopt[2];
+ sopt[0] = tok[pos];
+ sopt[1] = 0;
+ char *sopt_ptr = (char*) &sopt;
+ getopt_option_t *goo = NULL;
+ zhash_get(gopt->sopts, &sopt_ptr, &goo);
+
+ if (goo==NULL) {
+ // is the argument a numerical literal that happens to be negative?
+ if (pos==1 && isdigit(tok[pos])) {
+ zarray_add(gopt->extraargs, &tok);
+ tok = NULL;
+ break;
+ } else {
+ okay = 0;
+ if (showErrors)
+ printf("Unknown option -%c\n", tok[pos]);
+ i++;
+ continue;
+ }
+ }
+
+ goo->was_specified = 1;
+
+ if (goo->type == GOO_BOOL_TYPE) {
+ getopt_modify_string(&goo->svalue, strdup("true"));
+ continue;
+ }
+
+ if (goo->type == GOO_STRING_TYPE) {
+ if ((i+1) < zarray_size(toks)) {
+ char *val = NULL;
+ zarray_get(toks, i+1, &val);
+ // TODO: allow negative numerical values for short-name options ?
+ if (val[0]=='-')
+ {
+ okay = 0;
+ if (showErrors)
+ printf("Ran out of arguments for option block %s\n", tok);
+ }
+ i++;
+ getopt_modify_string(&goo->svalue, val);
+ continue;
+ }
+
+ okay = 0;
+ if (showErrors)
+ printf("Option -%c requires a string argument.\n", tok[pos]);
+ }
+ }
+ i++;
+ continue;
+ }
+
+ // it's not an option-- it's an argument.
+ zarray_add(gopt->extraargs, &tok);
+ tok = NULL;
+ i++;
+ }
+ if (tok != NULL)
+ free(tok);
+
+ zarray_destroy(toks);
+
+ return okay;
+}
+
+void getopt_add_spacer(getopt_t *gopt, const char *s)
+{
+ getopt_option_t *goo = (getopt_option_t*) calloc(1, sizeof(getopt_option_t));
+ goo->spacer = 1;
+ goo->help = strdup(s);
+ zarray_add(gopt->options, &goo);
+}
+
+void getopt_add_bool(getopt_t *gopt, char sopt, const char *lname, int def, const char *help)
+{
+ char sname[2];
+ sname[0] = sopt;
+ sname[1] = 0;
+ char *sname_ptr = (char*) &sname;
+
+ if (strlen(lname) < 1) { // must have long name
+ fprintf (stderr, "getopt_add_bool(): must supply option name\n");
+ exit (EXIT_FAILURE);
+ }
+
+ if (sopt == '-') { // short name cannot be '-' (no way to reference)
+ fprintf (stderr, "getopt_add_bool(): invalid option character: '%c'\n", sopt);
+ exit (EXIT_FAILURE);
+ }
+
+ if (zhash_contains(gopt->lopts, &lname)) {
+ fprintf (stderr, "getopt_add_bool(): duplicate option name: --%s\n", lname);
+ exit (EXIT_FAILURE);
+ }
+
+ if (sopt != '\0' && zhash_contains(gopt->sopts, &sname_ptr)) {
+ fprintf (stderr, "getopt_add_bool(): duplicate option: -%s ('%s')\n", sname, lname);
+ exit (EXIT_FAILURE);
+ }
+
+ getopt_option_t *goo = (getopt_option_t*) calloc(1, sizeof(getopt_option_t));
+ goo->sname=strdup(sname);
+ goo->lname=strdup(lname);
+ goo->svalue=strdup(def ? "true" : "false");
+ goo->type=GOO_BOOL_TYPE;
+ goo->help=strdup(help);
+
+ zhash_put(gopt->lopts, &goo->lname, &goo, NULL, NULL);
+ zhash_put(gopt->sopts, &goo->sname, &goo, NULL, NULL);
+ zarray_add(gopt->options, &goo);
+}
+
+void getopt_add_int(getopt_t *gopt, char sopt, const char *lname, const char *def, const char *help)
+{
+ getopt_add_string(gopt, sopt, lname, def, help);
+}
+
+void
+getopt_add_double (getopt_t *gopt, char sopt, const char *lname, const char *def, const char *help)
+{
+ getopt_add_string (gopt, sopt, lname, def, help);
+}
+
+void getopt_add_string(getopt_t *gopt, char sopt, const char *lname, const char *def, const char *help)
+{
+ char sname[2];
+ sname[0] = sopt;
+ sname[1] = 0;
+ char *sname_ptr = (char*) &sname;
+
+ if (strlen(lname) < 1) { // must have long name
+ fprintf (stderr, "getopt_add_string(): must supply option name\n");
+ exit (EXIT_FAILURE);
+ }
+
+ if (sopt == '-') { // short name cannot be '-' (no way to reference)
+ fprintf (stderr, "getopt_add_string(): invalid option character: '%c'\n", sopt);
+ exit (EXIT_FAILURE);
+ }
+
+ if (zhash_contains(gopt->lopts, &lname)) {
+ fprintf (stderr, "getopt_add_string(): duplicate option name: --%s\n", lname);
+ exit (EXIT_FAILURE);
+ }
+
+ if (sopt != '\0' && zhash_contains(gopt->sopts, &sname_ptr)) {
+ fprintf (stderr, "getopt_add_string(): duplicate option: -%s ('%s')\n", sname, lname);
+ exit (EXIT_FAILURE);
+ }
+
+ getopt_option_t *goo = (getopt_option_t*) calloc(1, sizeof(getopt_option_t));
+ goo->sname=strdup(sname);
+ goo->lname=strdup(lname);
+ goo->svalue=strdup(def);
+ goo->type=GOO_STRING_TYPE;
+ goo->help=strdup(help);
+
+ zhash_put(gopt->lopts, &goo->lname, &goo, NULL, NULL);
+ zhash_put(gopt->sopts, &goo->sname, &goo, NULL, NULL);
+ zarray_add(gopt->options, &goo);
+}
+
+const char *getopt_get_string(getopt_t *gopt, const char *lname)
+{
+ getopt_option_t *goo = NULL;
+ zhash_get(gopt->lopts, &lname, &goo);
+ // could return null, but this would be the only
+ // method that doesn't assert on a missing key
+ assert (goo != NULL);
+ return goo->svalue;
+}
+
+int getopt_get_int(getopt_t *getopt, const char *lname)
+{
+ const char *v = getopt_get_string(getopt, lname);
+ assert(v != NULL);
+
+ errno = 0;
+ char *endptr = (char *) v;
+ long val = strtol(v, &endptr, 10);
+
+ if (errno != 0) {
+ fprintf (stderr, "--%s argument: strtol failed: %s\n", lname, strerror(errno));
+ exit (EXIT_FAILURE);
+ }
+
+ if (endptr == v) {
+ fprintf (stderr, "--%s argument cannot be parsed as an int\n", lname);
+ exit (EXIT_FAILURE);
+ }
+
+ return (int) val;
+}
+
+int getopt_get_bool(getopt_t *getopt, const char *lname)
+{
+ const char *v = getopt_get_string(getopt, lname);
+ assert (v!=NULL);
+ int val = !strcmp(v, "true");
+ return val;
+}
+
+double getopt_get_double (getopt_t *getopt, const char *lname)
+{
+ const char *v = getopt_get_string (getopt, lname);
+ assert (v!=NULL);
+
+ errno = 0;
+ char *endptr = (char *) v;
+ double d = strtod (v, &endptr);
+
+ if (errno != 0) {
+ fprintf (stderr, "--%s argument: strtod failed: %s\n", lname, strerror(errno));
+ exit (EXIT_FAILURE);
+ }
+
+ if (endptr == v) {
+ fprintf (stderr, "--%s argument cannot be parsed as a double\n", lname);
+ exit (EXIT_FAILURE);
+ }
+
+ return d;
+}
+
+int getopt_was_specified(getopt_t *getopt, const char *lname)
+{
+ getopt_option_t *goo = NULL;
+ zhash_get(getopt->lopts, &lname, &goo);
+ if (goo == NULL)
+ return 0;
+
+ return goo->was_specified;
+}
+
+const zarray_t *getopt_get_extra_args(getopt_t *gopt)
+{
+ return gopt->extraargs;
+}
+
+void getopt_do_usage(getopt_t * gopt)
+{
+ char * usage = getopt_get_usage(gopt);
+ printf("%s", usage);
+ free(usage);
+}
+
+char * getopt_get_usage(getopt_t *gopt)
+{
+ string_buffer_t * sb = string_buffer_create();
+
+ int leftmargin=2;
+ int longwidth=12;
+ int valuewidth=10;
+
+ for (unsigned int i = 0; i < zarray_size(gopt->options); i++) {
+ getopt_option_t *goo = NULL;
+ zarray_get(gopt->options, i, &goo);
+
+ if (goo->spacer)
+ continue;
+
+ longwidth = max(longwidth, (int) strlen(goo->lname));
+
+ if (goo->type == GOO_STRING_TYPE)
+ valuewidth = max(valuewidth, (int) strlen(goo->svalue));
+ }
+
+ for (unsigned int i = 0; i < zarray_size(gopt->options); i++) {
+ getopt_option_t *goo = NULL;
+ zarray_get(gopt->options, i, &goo);
+
+ if (goo->spacer)
+ {
+ if (goo->help==NULL || strlen(goo->help)==0)
+ string_buffer_appendf(sb,"\n");
+ else
+ string_buffer_appendf(sb,"\n%*s%s\n\n", leftmargin, "", goo->help);
+ continue;
+ }
+
+ string_buffer_appendf(sb,"%*s", leftmargin, "");
+
+ if (goo->sname[0]==0)
+ string_buffer_appendf(sb," ");
+ else
+ string_buffer_appendf(sb,"-%c | ", goo->sname[0]);
+
+ string_buffer_appendf(sb,"--%*s ", -longwidth, goo->lname);
+
+ string_buffer_appendf(sb," [ %s ]", goo->svalue); // XXX: displays current value rather than default value
+
+ string_buffer_appendf(sb,"%*s", (int) (valuewidth-strlen(goo->svalue)), "");
+
+ string_buffer_appendf(sb," %s ", goo->help);
+ string_buffer_appendf(sb,"\n");
+ }
+
+ char * usage = string_buffer_to_string(sb);
+ string_buffer_destroy(sb);
+ return usage;
+}
diff --git a/third_party/apriltag/common/getopt.h b/third_party/apriltag/common/getopt.h
new file mode 100644
index 0000000..69dbb05
--- /dev/null
+++ b/third_party/apriltag/common/getopt.h
@@ -0,0 +1,64 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#include "zarray.h"
+#include "string_util.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct getopt getopt_t;
+
+getopt_t *getopt_create();
+void getopt_destroy(getopt_t *gopt);
+
+// Parse args. Returns 1 on success
+int getopt_parse(getopt_t *gopt, int argc, char *argv[], int showErrors);
+void getopt_do_usage(getopt_t *gopt);
+
+// Returns a string containing the usage. Must be freed by caller
+char * getopt_get_usage(getopt_t *gopt);
+
+void getopt_add_spacer(getopt_t *gopt, const char *s);
+void getopt_add_bool(getopt_t *gopt, char sopt, const char *lname, int def, const char *help);
+void getopt_add_int(getopt_t *gopt, char sopt, const char *lname, const char *def, const char *help);
+void getopt_add_string(getopt_t *gopt, char sopt, const char *lname, const char *def, const char *help);
+void getopt_add_double(getopt_t *gopt, char sopt, const char *lname, const char *def, const char *help);
+
+const char *getopt_get_string(getopt_t *gopt, const char *lname);
+int getopt_get_int(getopt_t *getopt, const char *lname);
+int getopt_get_bool(getopt_t *getopt, const char *lname);
+double getopt_get_double(getopt_t *getopt, const char *lname);
+int getopt_was_specified(getopt_t *gopt, const char *lname);
+const zarray_t *getopt_get_extra_args(getopt_t *gopt);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/apriltag/common/homography.c b/third_party/apriltag/common/homography.c
new file mode 100644
index 0000000..48e7f02
--- /dev/null
+++ b/third_party/apriltag/common/homography.c
@@ -0,0 +1,479 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <math.h>
+
+#include "common/matd.h"
+#include "common/zarray.h"
+#include "common/homography.h"
+#include "common/math_util.h"
+
+// correspondences is a list of float[4]s, consisting of the points x
+// and y concatenated. We will compute a homography such that y = Hx
+matd_t *homography_compute(zarray_t *correspondences, int flags)
+{
+ // compute centroids of both sets of points (yields a better
+ // conditioned information matrix)
+ double x_cx = 0, x_cy = 0;
+ double y_cx = 0, y_cy = 0;
+
+ for (int i = 0; i < zarray_size(correspondences); i++) {
+ float *c;
+ zarray_get_volatile(correspondences, i, &c);
+
+ x_cx += c[0];
+ x_cy += c[1];
+ y_cx += c[2];
+ y_cy += c[3];
+ }
+
+ int sz = zarray_size(correspondences);
+ x_cx /= sz;
+ x_cy /= sz;
+ y_cx /= sz;
+ y_cy /= sz;
+
+ // NB We don't normalize scale; it seems implausible that it could
+ // possibly make any difference given the dynamic range of IEEE
+ // doubles.
+
+ matd_t *A = matd_create(9,9);
+ for (int i = 0; i < zarray_size(correspondences); i++) {
+ float *c;
+ zarray_get_volatile(correspondences, i, &c);
+
+ // (below world is "x", and image is "y")
+ double worldx = c[0] - x_cx;
+ double worldy = c[1] - x_cy;
+ double imagex = c[2] - y_cx;
+ double imagey = c[3] - y_cy;
+
+ double a03 = -worldx;
+ double a04 = -worldy;
+ double a05 = -1;
+ double a06 = worldx*imagey;
+ double a07 = worldy*imagey;
+ double a08 = imagey;
+
+ MATD_EL(A, 3, 3) += a03*a03;
+ MATD_EL(A, 3, 4) += a03*a04;
+ MATD_EL(A, 3, 5) += a03*a05;
+ MATD_EL(A, 3, 6) += a03*a06;
+ MATD_EL(A, 3, 7) += a03*a07;
+ MATD_EL(A, 3, 8) += a03*a08;
+ MATD_EL(A, 4, 4) += a04*a04;
+ MATD_EL(A, 4, 5) += a04*a05;
+ MATD_EL(A, 4, 6) += a04*a06;
+ MATD_EL(A, 4, 7) += a04*a07;
+ MATD_EL(A, 4, 8) += a04*a08;
+ MATD_EL(A, 5, 5) += a05*a05;
+ MATD_EL(A, 5, 6) += a05*a06;
+ MATD_EL(A, 5, 7) += a05*a07;
+ MATD_EL(A, 5, 8) += a05*a08;
+ MATD_EL(A, 6, 6) += a06*a06;
+ MATD_EL(A, 6, 7) += a06*a07;
+ MATD_EL(A, 6, 8) += a06*a08;
+ MATD_EL(A, 7, 7) += a07*a07;
+ MATD_EL(A, 7, 8) += a07*a08;
+ MATD_EL(A, 8, 8) += a08*a08;
+
+ double a10 = worldx;
+ double a11 = worldy;
+ double a12 = 1;
+ double a16 = -worldx*imagex;
+ double a17 = -worldy*imagex;
+ double a18 = -imagex;
+
+ MATD_EL(A, 0, 0) += a10*a10;
+ MATD_EL(A, 0, 1) += a10*a11;
+ MATD_EL(A, 0, 2) += a10*a12;
+ MATD_EL(A, 0, 6) += a10*a16;
+ MATD_EL(A, 0, 7) += a10*a17;
+ MATD_EL(A, 0, 8) += a10*a18;
+ MATD_EL(A, 1, 1) += a11*a11;
+ MATD_EL(A, 1, 2) += a11*a12;
+ MATD_EL(A, 1, 6) += a11*a16;
+ MATD_EL(A, 1, 7) += a11*a17;
+ MATD_EL(A, 1, 8) += a11*a18;
+ MATD_EL(A, 2, 2) += a12*a12;
+ MATD_EL(A, 2, 6) += a12*a16;
+ MATD_EL(A, 2, 7) += a12*a17;
+ MATD_EL(A, 2, 8) += a12*a18;
+ MATD_EL(A, 6, 6) += a16*a16;
+ MATD_EL(A, 6, 7) += a16*a17;
+ MATD_EL(A, 6, 8) += a16*a18;
+ MATD_EL(A, 7, 7) += a17*a17;
+ MATD_EL(A, 7, 8) += a17*a18;
+ MATD_EL(A, 8, 8) += a18*a18;
+
+ double a20 = -worldx*imagey;
+ double a21 = -worldy*imagey;
+ double a22 = -imagey;
+ double a23 = worldx*imagex;
+ double a24 = worldy*imagex;
+ double a25 = imagex;
+
+ MATD_EL(A, 0, 0) += a20*a20;
+ MATD_EL(A, 0, 1) += a20*a21;
+ MATD_EL(A, 0, 2) += a20*a22;
+ MATD_EL(A, 0, 3) += a20*a23;
+ MATD_EL(A, 0, 4) += a20*a24;
+ MATD_EL(A, 0, 5) += a20*a25;
+ MATD_EL(A, 1, 1) += a21*a21;
+ MATD_EL(A, 1, 2) += a21*a22;
+ MATD_EL(A, 1, 3) += a21*a23;
+ MATD_EL(A, 1, 4) += a21*a24;
+ MATD_EL(A, 1, 5) += a21*a25;
+ MATD_EL(A, 2, 2) += a22*a22;
+ MATD_EL(A, 2, 3) += a22*a23;
+ MATD_EL(A, 2, 4) += a22*a24;
+ MATD_EL(A, 2, 5) += a22*a25;
+ MATD_EL(A, 3, 3) += a23*a23;
+ MATD_EL(A, 3, 4) += a23*a24;
+ MATD_EL(A, 3, 5) += a23*a25;
+ MATD_EL(A, 4, 4) += a24*a24;
+ MATD_EL(A, 4, 5) += a24*a25;
+ MATD_EL(A, 5, 5) += a25*a25;
+ }
+
+ // make symmetric
+ for (int i = 0; i < 9; i++)
+ for (int j = i+1; j < 9; j++)
+ MATD_EL(A, j, i) = MATD_EL(A, i, j);
+
+ matd_t *H = matd_create(3,3);
+
+ if (flags & HOMOGRAPHY_COMPUTE_FLAG_INVERSE) {
+ // compute singular vector by (carefully) inverting the rank-deficient matrix.
+
+ if (1) {
+ matd_t *Ainv = matd_inverse(A);
+ double scale = 0;
+
+ for (int i = 0; i < 9; i++)
+ scale += sq(MATD_EL(Ainv, i, 0));
+ scale = sqrt(scale);
+
+ for (int i = 0; i < 3; i++)
+ for (int j = 0; j < 3; j++)
+ MATD_EL(H, i, j) = MATD_EL(Ainv, 3*i+j, 0) / scale;
+
+ matd_destroy(Ainv);
+ } else {
+
+ matd_t *b = matd_create_data(9, 1, (double[]) { 1, 0, 0, 0, 0, 0, 0, 0, 0 });
+ matd_t *Ainv = NULL;
+
+ if (0) {
+ matd_plu_t *lu = matd_plu(A);
+ Ainv = matd_plu_solve(lu, b);
+ matd_plu_destroy(lu);
+ } else {
+ matd_chol_t *chol = matd_chol(A);
+ Ainv = matd_chol_solve(chol, b);
+ matd_chol_destroy(chol);
+ }
+
+ double scale = 0;
+
+ for (int i = 0; i < 9; i++)
+ scale += sq(MATD_EL(Ainv, i, 0));
+ scale = sqrt(scale);
+
+ for (int i = 0; i < 3; i++)
+ for (int j = 0; j < 3; j++)
+ MATD_EL(H, i, j) = MATD_EL(Ainv, 3*i+j, 0) / scale;
+
+ matd_destroy(b);
+ matd_destroy(Ainv);
+ }
+
+ } else {
+ // compute singular vector using SVD. A bit slower, but more accurate.
+ matd_svd_t svd = matd_svd_flags(A, MATD_SVD_NO_WARNINGS);
+
+ for (int i = 0; i < 3; i++)
+ for (int j = 0; j < 3; j++)
+ MATD_EL(H, i, j) = MATD_EL(svd.U, 3*i+j, 8);
+
+ matd_destroy(svd.U);
+ matd_destroy(svd.S);
+ matd_destroy(svd.V);
+
+ }
+
+ matd_t *Tx = matd_identity(3);
+ MATD_EL(Tx,0,2) = -x_cx;
+ MATD_EL(Tx,1,2) = -x_cy;
+
+ matd_t *Ty = matd_identity(3);
+ MATD_EL(Ty,0,2) = y_cx;
+ MATD_EL(Ty,1,2) = y_cy;
+
+ matd_t *H2 = matd_op("M*M*M", Ty, H, Tx);
+
+ matd_destroy(A);
+ matd_destroy(Tx);
+ matd_destroy(Ty);
+ matd_destroy(H);
+
+ return H2;
+}
+
+
+// assuming that the projection matrix is:
+// [ fx 0 cx 0 ]
+// [ 0 fy cy 0 ]
+// [ 0 0 1 0 ]
+//
+// And that the homography is equal to the projection matrix times the
+// model matrix, recover the model matrix (which is returned). Note
+// that the third column of the model matrix is missing in the
+// expresison below, reflecting the fact that the homography assumes
+// all points are at z=0 (i.e., planar) and that the element of z is
+// thus omitted. (3x1 instead of 4x1).
+//
+// [ fx 0 cx 0 ] [ R00 R01 TX ] [ H00 H01 H02 ]
+// [ 0 fy cy 0 ] [ R10 R11 TY ] = [ H10 H11 H12 ]
+// [ 0 0 1 0 ] [ R20 R21 TZ ] = [ H20 H21 H22 ]
+// [ 0 0 1 ]
+//
+// fx*R00 + cx*R20 = H00 (note, H only known up to scale; some additional adjustments required; see code.)
+// fx*R01 + cx*R21 = H01
+// fx*TX + cx*TZ = H02
+// fy*R10 + cy*R20 = H10
+// fy*R11 + cy*R21 = H11
+// fy*TY + cy*TZ = H12
+// R20 = H20
+// R21 = H21
+// TZ = H22
+
+matd_t *homography_to_pose(const matd_t *H, double fx, double fy, double cx, double cy)
+{
+ // Note that every variable that we compute is proportional to the scale factor of H.
+ double R20 = MATD_EL(H, 2, 0);
+ double R21 = MATD_EL(H, 2, 1);
+ double TZ = MATD_EL(H, 2, 2);
+ double R00 = (MATD_EL(H, 0, 0) - cx*R20) / fx;
+ double R01 = (MATD_EL(H, 0, 1) - cx*R21) / fx;
+ double TX = (MATD_EL(H, 0, 2) - cx*TZ) / fx;
+ double R10 = (MATD_EL(H, 1, 0) - cy*R20) / fy;
+ double R11 = (MATD_EL(H, 1, 1) - cy*R21) / fy;
+ double TY = (MATD_EL(H, 1, 2) - cy*TZ) / fy;
+
+ // compute the scale by requiring that the rotation columns are unit length
+ // (Use geometric average of the two length vectors we have)
+ double length1 = sqrtf(R00*R00 + R10*R10 + R20*R20);
+ double length2 = sqrtf(R01*R01 + R11*R11 + R21*R21);
+ double s = 1.0 / sqrtf(length1 * length2);
+
+ // get sign of S by requiring the tag to be in front the camera;
+ // we assume camera looks in the -Z direction.
+ if (TZ > 0)
+ s *= -1;
+
+ R20 *= s;
+ R21 *= s;
+ TZ *= s;
+ R00 *= s;
+ R01 *= s;
+ TX *= s;
+ R10 *= s;
+ R11 *= s;
+ TY *= s;
+
+ // now recover [R02 R12 R22] by noting that it is the cross product of the other two columns.
+ double R02 = R10*R21 - R20*R11;
+ double R12 = R20*R01 - R00*R21;
+ double R22 = R00*R11 - R10*R01;
+
+ // Improve rotation matrix by applying polar decomposition.
+ if (1) {
+ // do polar decomposition. This makes the rotation matrix
+ // "proper", but probably increases the reprojection error. An
+ // iterative alignment step would be superior.
+
+ matd_t *R = matd_create_data(3, 3, (double[]) { R00, R01, R02,
+ R10, R11, R12,
+ R20, R21, R22 });
+
+ matd_svd_t svd = matd_svd(R);
+ matd_destroy(R);
+
+ R = matd_op("M*M'", svd.U, svd.V);
+
+ matd_destroy(svd.U);
+ matd_destroy(svd.S);
+ matd_destroy(svd.V);
+
+ R00 = MATD_EL(R, 0, 0);
+ R01 = MATD_EL(R, 0, 1);
+ R02 = MATD_EL(R, 0, 2);
+ R10 = MATD_EL(R, 1, 0);
+ R11 = MATD_EL(R, 1, 1);
+ R12 = MATD_EL(R, 1, 2);
+ R20 = MATD_EL(R, 2, 0);
+ R21 = MATD_EL(R, 2, 1);
+ R22 = MATD_EL(R, 2, 2);
+
+ matd_destroy(R);
+ }
+
+ return matd_create_data(4, 4, (double[]) { R00, R01, R02, TX,
+ R10, R11, R12, TY,
+ R20, R21, R22, TZ,
+ 0, 0, 0, 1 });
+}
+
+// Similar to above
+// Recover the model view matrix assuming that the projection matrix is:
+//
+// [ F 0 A 0 ] (see glFrustrum)
+// [ 0 G B 0 ]
+// [ 0 0 C D ]
+// [ 0 0 -1 0 ]
+
+matd_t *homography_to_model_view(const matd_t *H, double F, double G, double A, double B, double C, double D)
+{
+ // Note that every variable that we compute is proportional to the scale factor of H.
+ double R20 = -MATD_EL(H, 2, 0);
+ double R21 = -MATD_EL(H, 2, 1);
+ double TZ = -MATD_EL(H, 2, 2);
+ double R00 = (MATD_EL(H, 0, 0) - A*R20) / F;
+ double R01 = (MATD_EL(H, 0, 1) - A*R21) / F;
+ double TX = (MATD_EL(H, 0, 2) - A*TZ) / F;
+ double R10 = (MATD_EL(H, 1, 0) - B*R20) / G;
+ double R11 = (MATD_EL(H, 1, 1) - B*R21) / G;
+ double TY = (MATD_EL(H, 1, 2) - B*TZ) / G;
+
+ // compute the scale by requiring that the rotation columns are unit length
+ // (Use geometric average of the two length vectors we have)
+ double length1 = sqrtf(R00*R00 + R10*R10 + R20*R20);
+ double length2 = sqrtf(R01*R01 + R11*R11 + R21*R21);
+ double s = 1.0 / sqrtf(length1 * length2);
+
+ // get sign of S by requiring the tag to be in front of the camera
+ // (which is Z < 0) for our conventions.
+ if (TZ > 0)
+ s *= -1;
+
+ R20 *= s;
+ R21 *= s;
+ TZ *= s;
+ R00 *= s;
+ R01 *= s;
+ TX *= s;
+ R10 *= s;
+ R11 *= s;
+ TY *= s;
+
+ // now recover [R02 R12 R22] by noting that it is the cross product of the other two columns.
+ double R02 = R10*R21 - R20*R11;
+ double R12 = R20*R01 - R00*R21;
+ double R22 = R00*R11 - R10*R01;
+
+ // TODO XXX: Improve rotation matrix by applying polar decomposition.
+
+ return matd_create_data(4, 4, (double[]) { R00, R01, R02, TX,
+ R10, R11, R12, TY,
+ R20, R21, R22, TZ,
+ 0, 0, 0, 1 });
+}
+
+// Only uses the upper 3x3 matrix.
+/*
+static void matrix_to_quat(const matd_t *R, double q[4])
+{
+ // see: "from quaternion to matrix and back"
+
+ // trace: get the same result if R is 4x4 or 3x3:
+ double T = MATD_EL(R, 0, 0) + MATD_EL(R, 1, 1) + MATD_EL(R, 2, 2) + 1;
+ double S = 0;
+
+ double m0 = MATD_EL(R, 0, 0);
+ double m1 = MATD_EL(R, 1, 0);
+ double m2 = MATD_EL(R, 2, 0);
+ double m4 = MATD_EL(R, 0, 1);
+ double m5 = MATD_EL(R, 1, 1);
+ double m6 = MATD_EL(R, 2, 1);
+ double m8 = MATD_EL(R, 0, 2);
+ double m9 = MATD_EL(R, 1, 2);
+ double m10 = MATD_EL(R, 2, 2);
+
+ if (T > 0.0000001) {
+ S = sqrtf(T) * 2;
+ q[1] = -( m9 - m6 ) / S;
+ q[2] = -( m2 - m8 ) / S;
+ q[3] = -( m4 - m1 ) / S;
+ q[0] = 0.25 * S;
+ } else if ( m0 > m5 && m0 > m10 ) { // Column 0:
+ S = sqrtf( 1.0 + m0 - m5 - m10 ) * 2;
+ q[1] = -0.25 * S;
+ q[2] = -(m4 + m1 ) / S;
+ q[3] = -(m2 + m8 ) / S;
+ q[0] = (m9 - m6 ) / S;
+ } else if ( m5 > m10 ) { // Column 1:
+ S = sqrtf( 1.0 + m5 - m0 - m10 ) * 2;
+ q[1] = -(m4 + m1 ) / S;
+ q[2] = -0.25 * S;
+ q[3] = -(m9 + m6 ) / S;
+ q[0] = (m2 - m8 ) / S;
+ } else {
+ // Column 2:
+ S = sqrtf( 1.0 + m10 - m0 - m5 ) * 2;
+ q[1] = -(m2 + m8 ) / S;
+ q[2] = -(m9 + m6 ) / S;
+ q[3] = -0.25 * S;
+ q[0] = (m4 - m1 ) / S;
+ }
+
+ double mag2 = 0;
+ for (int i = 0; i < 4; i++)
+ mag2 += q[i]*q[i];
+ double norm = 1.0 / sqrtf(mag2);
+ for (int i = 0; i < 4; i++)
+ q[i] *= norm;
+}
+*/
+
+// overwrites upper 3x3 area of matrix M. Doesn't touch any other elements of M.
+void quat_to_matrix(const double q[4], matd_t *M)
+{
+ double w = q[0], x = q[1], y = q[2], z = q[3];
+
+ MATD_EL(M, 0, 0) = w*w + x*x - y*y - z*z;
+ MATD_EL(M, 0, 1) = 2*x*y - 2*w*z;
+ MATD_EL(M, 0, 2) = 2*x*z + 2*w*y;
+
+ MATD_EL(M, 1, 0) = 2*x*y + 2*w*z;
+ MATD_EL(M, 1, 1) = w*w - x*x + y*y - z*z;
+ MATD_EL(M, 1, 2) = 2*y*z - 2*w*x;
+
+ MATD_EL(M, 2, 0) = 2*x*z - 2*w*y;
+ MATD_EL(M, 2, 1) = 2*y*z + 2*w*x;
+ MATD_EL(M, 2, 2) = w*w - x*x - y*y + z*z;
+}
diff --git a/third_party/apriltag/common/homography.h b/third_party/apriltag/common/homography.h
new file mode 100644
index 0000000..c92193f
--- /dev/null
+++ b/third_party/apriltag/common/homography.h
@@ -0,0 +1,183 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#include "matd.h"
+#include "zarray.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+ /** Given a 3x3 homography matrix and the focal lengths of the
+ * camera, compute the pose of the tag. The focal lengths should
+ * be given in pixels. For example, if the camera's focal length
+ * is twice the width of the sensor, and the sensor is 600 pixels
+ * across, the focal length in pixels is 2*600. Note that the
+ * focal lengths in the fx and fy direction will be approximately
+ * equal for most lenses, and is not a function of aspect ratio.
+ *
+ * Theory: The homography matrix is the product of the camera
+ * projection matrix and the tag's pose matrix (the matrix that
+ * projects points from the tag's local coordinate system to the
+ * camera's coordinate frame).
+ *
+ * [ h00 h01 h02 h03] = [ fx 0 cx 0 ] [ R00 R01 R02 TX ]
+ * [ h10 h11 h12 h13] = [ 0 fy cy 0 ] [ R10 R11 R12 TY ]
+ * [ h20 h21 h22 h23] = [ 0 0 s 0 ] [ R20 R21 R22 TZ ]
+ * [ 0 0 0 1 ]
+ *
+ * fx is the focal length in the x direction of the camera
+ * (typically measured in pixels), fy is the focal length. cx and
+ * cy give the focal center (usually the middle of the image), and
+ * s is either +1 or -1, depending on the conventions you use. (We
+ * use 1.)
+
+ * When observing a tag, the points we project in world space all
+ * have z=0, so we can form a 3x3 matrix by eliminating the 3rd
+ * column of the pose matrix.
+ *
+ * [ h00 h01 h02 ] = [ fx 0 cx 0 ] [ R00 R01 TX ]
+ * [ h10 h11 h12 ] = [ 0 fy cy 0 ] [ R10 R11 TY ]
+ * [ h20 h21 h22 ] = [ 0 0 s 0 ] [ R20 R21 TZ ]
+ * [ 0 0 1 ]
+ *
+ * (note that these h's are different from the ones above.)
+ *
+ * We can multiply the right-hand side to yield a set of equations
+ * relating the values of h to the values of the pose matrix.
+ *
+ * There are two wrinkles. The first is that the homography matrix
+ * is known only up to scale. We recover the unknown scale by
+ * constraining the magnitude of the first two columns of the pose
+ * matrix to be 1. We use the geometric average scale. The sign of
+ * the scale factor is recovered by constraining the observed tag
+ * to be in front of the camera. Once scaled, we recover the first
+ * two colmuns of the rotation matrix. The third column is the
+ * cross product of these.
+ *
+ * The second wrinkle is that the computed rotation matrix might
+ * not be exactly orthogonal, so we perform a polar decomposition
+ * to find a good pure rotation approximation.
+ *
+ * Tagsize is the size of the tag in your desired units. I.e., if
+ * your tag measures 0.25m along the side, your tag size is
+ * 0.25. (The homography is computed in terms of *half* the tag
+ * size, i.e., that a tag is 2 units wide as it spans from -1 to
+ * +1, but this code makes the appropriate adjustment.)
+ *
+ * A note on signs:
+ *
+ * The code below incorporates no additional negative signs, but
+ * respects the sign of any parameters that you pass in. Flipping
+ * the signs allows you to modify the projection to suit a wide
+ * variety of conditions.
+ *
+ * In the "pure geometry" projection matrix, the image appears
+ * upside down; i.e., the x and y coordinates on the left hand
+ * side are the opposite of those on the right of the camera
+ * projection matrix. This would happen for all parameters
+ * positive: recall that points in front of the camera have
+ * negative Z values, which will cause the sign of all points to
+ * flip.
+ *
+ * However, most cameras flip things so that the image appears
+ * "right side up" as though you were looking through the lens
+ * directly. This means that the projected points should have the
+ * same sign as the points on the right of the camera projection
+ * matrix. To achieve this, flip fx and fy.
+ *
+ * One further complication: cameras typically put y=0 at the top
+ * of the image, instead of the bottom. Thus you generally want to
+ * flip y yet again (so it's now positive again).
+ *
+ * General advice: you probably want fx negative, fy positive, cx
+ * and cy positive, and s=1.
+ **/
+
+// correspondences is a list of float[4]s, consisting of the points x
+// and y concatenated. We will compute a homography such that y = Hx
+// Specifically, float [] { a, b, c, d } where x = [a b], y = [c d].
+
+
+#define HOMOGRAPHY_COMPUTE_FLAG_INVERSE 1
+#define HOMOGRAPHY_COMPUTE_FLAG_SVD 0
+
+matd_t *homography_compute(zarray_t *correspondences, int flags);
+
+//void homography_project(const matd_t *H, double x, double y, double *ox, double *oy);
+static inline void homography_project(const matd_t *H, double x, double y, double *ox, double *oy)
+{
+ double xx = MATD_EL(H, 0, 0)*x + MATD_EL(H, 0, 1)*y + MATD_EL(H, 0, 2);
+ double yy = MATD_EL(H, 1, 0)*x + MATD_EL(H, 1, 1)*y + MATD_EL(H, 1, 2);
+ double zz = MATD_EL(H, 2, 0)*x + MATD_EL(H, 2, 1)*y + MATD_EL(H, 2, 2);
+
+ *ox = xx / zz;
+ *oy = yy / zz;
+}
+
+// assuming that the projection matrix is:
+// [ fx 0 cx 0 ]
+// [ 0 fy cy 0 ]
+// [ 0 0 1 0 ]
+//
+// And that the homography is equal to the projection matrix times the model matrix,
+// recover the model matrix (which is returned). Note that the third column of the model
+// matrix is missing in the expresison below, reflecting the fact that the homography assumes
+// all points are at z=0 (i.e., planar) and that the element of z is thus omitted.
+// (3x1 instead of 4x1).
+//
+// [ fx 0 cx 0 ] [ R00 R01 TX ] [ H00 H01 H02 ]
+// [ 0 fy cy 0 ] [ R10 R11 TY ] = [ H10 H11 H12 ]
+// [ 0 0 1 0 ] [ R20 R21 TZ ] = [ H20 H21 H22 ]
+// [ 0 0 1 ]
+//
+// fx*R00 + cx*R20 = H00 (note, H only known up to scale; some additional adjustments required; see code.)
+// fx*R01 + cx*R21 = H01
+// fx*TX + cx*TZ = H02
+// fy*R10 + cy*R20 = H10
+// fy*R11 + cy*R21 = H11
+// fy*TY + cy*TZ = H12
+// R20 = H20
+// R21 = H21
+// TZ = H22
+matd_t *homography_to_pose(const matd_t *H, double fx, double fy, double cx, double cy);
+
+// Similar to above
+// Recover the model view matrix assuming that the projection matrix is:
+//
+// [ F 0 A 0 ] (see glFrustrum)
+// [ 0 G B 0 ]
+// [ 0 0 C D ]
+// [ 0 0 -1 0 ]
+
+matd_t *homography_to_model_view(const matd_t *H, double F, double G, double A, double B, double C, double D);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/apriltag/common/image_types.h b/third_party/apriltag/common/image_types.h
new file mode 100644
index 0000000..58e5258
--- /dev/null
+++ b/third_party/apriltag/common/image_types.h
@@ -0,0 +1,84 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#include <stdint.h>
+
+// to support conversions between different types, we define all image
+// types at once. Type-specific implementations can then #include this
+// file, assured that the basic types of each image are known.
+
+typedef struct image_u8 image_u8_t;
+struct image_u8
+{
+ const int32_t width;
+ const int32_t height;
+ const int32_t stride;
+
+ uint8_t *buf;
+};
+
+typedef struct image_u8x3 image_u8x3_t;
+struct image_u8x3
+{
+ const int32_t width;
+ const int32_t height;
+ const int32_t stride; // bytes per line
+
+ uint8_t *buf;
+};
+
+typedef struct image_u8x4 image_u8x4_t;
+struct image_u8x4
+{
+ const int32_t width;
+ const int32_t height;
+ const int32_t stride; // bytes per line
+
+ uint8_t *buf;
+};
+
+typedef struct image_f32 image_f32_t;
+struct image_f32
+{
+ const int32_t width;
+ const int32_t height;
+ const int32_t stride; // floats per line
+
+ float *buf; // indexed as buf[y*stride + x]
+};
+
+typedef struct image_u32 image_u32_t;
+struct image_u32
+{
+ const int32_t width;
+ const int32_t height;
+ const int32_t stride; // int32_ts per line
+
+ uint32_t *buf; // indexed as buf[y*stride + x]
+};
diff --git a/third_party/apriltag/common/image_u8.c b/third_party/apriltag/common/image_u8.c
new file mode 100644
index 0000000..eef6c04
--- /dev/null
+++ b/third_party/apriltag/common/image_u8.c
@@ -0,0 +1,557 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include "common/image_u8.h"
+#include "common/pnm.h"
+#include "common/math_util.h"
+
+// least common multiple of 64 (sandy bridge cache line) and 24 (stride
+// needed for RGB in 8-wide vector processing)
+#define DEFAULT_ALIGNMENT_U8 96
+
+image_u8_t *image_u8_create_stride(unsigned int width, unsigned int height, unsigned int stride)
+{
+ uint8_t *buf = calloc(height*stride, sizeof(uint8_t));
+
+ // const initializer
+ image_u8_t tmp = { .width = width, .height = height, .stride = stride, .buf = buf };
+
+ image_u8_t *im = calloc(1, sizeof(image_u8_t));
+ memcpy(im, &tmp, sizeof(image_u8_t));
+ return im;
+}
+
+image_u8_t *image_u8_create(unsigned int width, unsigned int height)
+{
+ return image_u8_create_alignment(width, height, DEFAULT_ALIGNMENT_U8);
+}
+
+image_u8_t *image_u8_create_alignment(unsigned int width, unsigned int height, unsigned int alignment)
+{
+ int stride = width;
+
+ if ((stride % alignment) != 0)
+ stride += alignment - (stride % alignment);
+
+ return image_u8_create_stride(width, height, stride);
+}
+
+image_u8_t *image_u8_copy(const image_u8_t *in)
+{
+ uint8_t *buf = malloc(in->height*in->stride*sizeof(uint8_t));
+ memcpy(buf, in->buf, in->height*in->stride*sizeof(uint8_t));
+
+ // const initializer
+ image_u8_t tmp = { .width = in->width, .height = in->height, .stride = in->stride, .buf = buf };
+
+ image_u8_t *copy = calloc(1, sizeof(image_u8_t));
+ memcpy(copy, &tmp, sizeof(image_u8_t));
+ return copy;
+}
+
+void image_u8_destroy(image_u8_t *im)
+{
+ if (!im)
+ return;
+
+ free(im->buf);
+ free(im);
+}
+
+////////////////////////////////////////////////////////////
+// PNM file i/o
+image_u8_t *image_u8_create_from_pnm(const char *path)
+{
+ return image_u8_create_from_pnm_alignment(path, DEFAULT_ALIGNMENT_U8);
+}
+
+image_u8_t *image_u8_create_from_pnm_alignment(const char *path, int alignment)
+{
+ pnm_t *pnm = pnm_create_from_file(path);
+ if (pnm == NULL)
+ return NULL;
+
+ image_u8_t *im = NULL;
+
+ switch (pnm->format) {
+ case PNM_FORMAT_GRAY: {
+ im = image_u8_create_alignment(pnm->width, pnm->height, alignment);
+
+ if (pnm->max == 255) {
+ for (int y = 0; y < im->height; y++)
+ memcpy(&im->buf[y*im->stride], &pnm->buf[y*im->width], im->width);
+ } else if (pnm->max == 65535) {
+ for (int y = 0; y < im->height; y++)
+ for (int x = 0; x < im->width; x++)
+ im->buf[y*im->stride + x] = pnm->buf[2*(y*im->width + x)];
+ } else {
+ assert(0);
+ }
+
+ break;
+ }
+
+ case PNM_FORMAT_RGB: {
+ im = image_u8_create_alignment(pnm->width, pnm->height, alignment);
+
+ if (pnm->max == 255) {
+ // Gray conversion for RGB is gray = (r + g + g + b)/4
+ for (int y = 0; y < im->height; y++) {
+ for (int x = 0; x < im->width; x++) {
+ uint8_t gray = (pnm->buf[y*im->width*3 + 3*x+0] + // r
+ pnm->buf[y*im->width*3 + 3*x+1] + // g
+ pnm->buf[y*im->width*3 + 3*x+1] + // g
+ pnm->buf[y*im->width*3 + 3*x+2]) // b
+ / 4;
+
+ im->buf[y*im->stride + x] = gray;
+ }
+ }
+ } else if (pnm->max == 65535) {
+ for (int y = 0; y < im->height; y++) {
+ for (int x = 0; x < im->width; x++) {
+ int r = pnm->buf[6*(y*im->width + x) + 0];
+ int g = pnm->buf[6*(y*im->width + x) + 2];
+ int b = pnm->buf[6*(y*im->width + x) + 4];
+
+ im->buf[y*im->stride + x] = (r + g + g + b) / 4;
+ }
+ }
+ } else {
+ assert(0);
+ }
+
+ break;
+ }
+
+ case PNM_FORMAT_BINARY: {
+ im = image_u8_create_alignment(pnm->width, pnm->height, alignment);
+
+ // image is padded to be whole bytes on each row.
+
+ // how many bytes per row on the input?
+ int pbmstride = (im->width + 7) / 8;
+
+ for (int y = 0; y < im->height; y++) {
+ for (int x = 0; x < im->width; x++) {
+ int byteidx = y * pbmstride + x / 8;
+ int bitidx = 7 - (x & 7);
+
+ // ack, black is one according to pbm docs!
+ if ((pnm->buf[byteidx] >> bitidx) & 1)
+ im->buf[y*im->stride + x] = 0;
+ else
+ im->buf[y*im->stride + x] = 255;
+ }
+ }
+ break;
+ }
+ }
+
+ pnm_destroy(pnm);
+ return im;
+}
+
+image_u8_t *image_u8_create_from_f32(image_f32_t *fim)
+{
+ image_u8_t *im = image_u8_create(fim->width, fim->height);
+
+ for (int y = 0; y < fim->height; y++) {
+ for (int x = 0; x < fim->width; x++) {
+ float v = fim->buf[y*fim->stride + x];
+ im->buf[y*im->stride + x] = (int) (255 * v);
+ }
+ }
+
+ return im;
+}
+
+
+int image_u8_write_pnm(const image_u8_t *im, const char *path)
+{
+ FILE *f = fopen(path, "wb");
+ int res = 0;
+
+ if (f == NULL) {
+ res = -1;
+ goto finish;
+ }
+
+ // Only outputs to grayscale
+ fprintf(f, "P5\n%d %d\n255\n", im->width, im->height);
+
+ for (int y = 0; y < im->height; y++) {
+ if (im->width != fwrite(&im->buf[y*im->stride], 1, im->width, f)) {
+ res = -2;
+ goto finish;
+ }
+ }
+
+ finish:
+ if (f != NULL)
+ fclose(f);
+
+ return res;
+}
+
+void image_u8_draw_circle(image_u8_t *im, float x0, float y0, float r, int v)
+{
+ r = r*r;
+
+ for (int y = y0-r; y <= y0+r; y++) {
+ for (int x = x0-r; x <= x0+r; x++) {
+ float d = (x-x0)*(x-x0) + (y-y0)*(y-y0);
+ if (d > r)
+ continue;
+
+ if (x >= 0 && x < im->width && y >= 0 && y < im->height) {
+ int idx = y*im->stride + x;
+ im->buf[idx] = v;
+ }
+ }
+ }
+}
+
+void image_u8_draw_annulus(image_u8_t *im, float x0, float y0, float r0, float r1, int v)
+{
+ r0 = r0*r0;
+ r1 = r1*r1;
+
+ assert(r0 < r1);
+
+ for (int y = y0-r1; y <= y0+r1; y++) {
+ for (int x = x0-r1; x <= x0+r1; x++) {
+ float d = (x-x0)*(x-x0) + (y-y0)*(y-y0);
+ if (d < r0 || d > r1)
+ continue;
+
+ int idx = y*im->stride + x;
+ im->buf[idx] = v;
+ }
+ }
+}
+
+// only widths 1 and 3 supported (and 3 only badly)
+void image_u8_draw_line(image_u8_t *im, float x0, float y0, float x1, float y1, int v, int width)
+{
+ double dist = sqrtf((y1-y0)*(y1-y0) + (x1-x0)*(x1-x0));
+ double delta = 0.5 / dist;
+
+ // terrible line drawing code
+ for (float f = 0; f <= 1; f += delta) {
+ int x = ((int) (x1 + (x0 - x1) * f));
+ int y = ((int) (y1 + (y0 - y1) * f));
+
+ if (x < 0 || y < 0 || x >= im->width || y >= im->height)
+ continue;
+
+ int idx = y*im->stride + x;
+ im->buf[idx] = v;
+ if (width > 1) {
+ im->buf[idx+1] = v;
+ im->buf[idx+im->stride] = v;
+ im->buf[idx+1+im->stride] = v;
+ }
+ }
+}
+
+void image_u8_darken(image_u8_t *im)
+{
+ for (int y = 0; y < im->height; y++) {
+ for (int x = 0; x < im->width; x++) {
+ im->buf[im->stride*y+x] /= 2;
+ }
+ }
+}
+
+static void convolve(const uint8_t *x, uint8_t *y, int sz, const uint8_t *k, int ksz)
+{
+ assert((ksz&1)==1);
+
+ for (int i = 0; i < ksz/2 && i < sz; i++)
+ y[i] = x[i];
+
+ for (int i = 0; i < sz - ksz; i++) {
+ uint32_t acc = 0;
+
+ for (int j = 0; j < ksz; j++)
+ acc += k[j]*x[i+j];
+
+ y[ksz/2 + i] = acc >> 8;
+ }
+
+ for (int i = sz - ksz + ksz/2; i < sz; i++)
+ y[i] = x[i];
+}
+
+void image_u8_convolve_2D(image_u8_t *im, const uint8_t *k, int ksz)
+{
+ assert((ksz & 1) == 1); // ksz must be odd.
+
+ for (int y = 0; y < im->height; y++) {
+
+ uint8_t *x = malloc(sizeof(uint8_t)*im->stride);
+ memcpy(x, &im->buf[y*im->stride], im->stride);
+
+ convolve(x, &im->buf[y*im->stride], im->width, k, ksz);
+ free(x);
+ }
+
+ for (int x = 0; x < im->width; x++) {
+ uint8_t *xb = malloc(sizeof(uint8_t)*im->height);
+ uint8_t *yb = malloc(sizeof(uint8_t)*im->height);
+
+ for (int y = 0; y < im->height; y++)
+ xb[y] = im->buf[y*im->stride + x];
+
+ convolve(xb, yb, im->height, k, ksz);
+ free(xb);
+
+ for (int y = 0; y < im->height; y++)
+ im->buf[y*im->stride + x] = yb[y];
+ free(yb);
+ }
+}
+
+void image_u8_gaussian_blur(image_u8_t *im, double sigma, int ksz)
+{
+ if (sigma == 0)
+ return;
+
+ assert((ksz & 1) == 1); // ksz must be odd.
+
+ // build the kernel.
+ double *dk = malloc(sizeof(double)*ksz);
+
+ // for kernel of length 5:
+ // dk[0] = f(-2), dk[1] = f(-1), dk[2] = f(0), dk[3] = f(1), dk[4] = f(2)
+ for (int i = 0; i < ksz; i++) {
+ int x = -ksz/2 + i;
+ double v = exp(-.5*sq(x / sigma));
+ dk[i] = v;
+ }
+
+ // normalize
+ double acc = 0;
+ for (int i = 0; i < ksz; i++)
+ acc += dk[i];
+
+ for (int i = 0; i < ksz; i++)
+ dk[i] /= acc;
+
+ uint8_t *k = malloc(sizeof(uint8_t)*ksz);
+ for (int i = 0; i < ksz; i++)
+ k[i] = dk[i]*255;
+
+ if (0) {
+ for (int i = 0; i < ksz; i++)
+ printf("%d %15f %5d\n", i, dk[i], k[i]);
+ }
+ free(dk);
+
+ image_u8_convolve_2D(im, k, ksz);
+ free(k);
+}
+
+image_u8_t *image_u8_rotate(const image_u8_t *in, double rad, uint8_t pad)
+{
+ int iwidth = in->width, iheight = in->height;
+ rad = -rad; // interpret y as being "down"
+
+ float c = cos(rad), s = sin(rad);
+
+ float p[][2] = { { 0, 0}, { iwidth, 0 }, { iwidth, iheight }, { 0, iheight} };
+
+ float xmin = HUGE_VALF, xmax = -HUGE_VALF, ymin = HUGE_VALF, ymax = -HUGE_VALF;
+ float icx = iwidth / 2.0, icy = iheight / 2.0;
+
+ for (int i = 0; i < 4; i++) {
+ float px = p[i][0] - icx;
+ float py = p[i][1] - icy;
+
+ float nx = px*c - py*s;
+ float ny = px*s + py*c;
+
+ xmin = fmin(xmin, nx);
+ xmax = fmax(xmax, nx);
+ ymin = fmin(ymin, ny);
+ ymax = fmax(ymax, ny);
+ }
+
+ int owidth = ceil(xmax-xmin), oheight = ceil(ymax - ymin);
+ image_u8_t *out = image_u8_create(owidth, oheight);
+
+ // iterate over output pixels.
+ for (int oy = 0; oy < oheight; oy++) {
+ for (int ox = 0; ox < owidth; ox++) {
+ // work backwards from destination coordinates...
+ // sample pixel centers.
+ float sx = ox - owidth / 2.0 + .5;
+ float sy = oy - oheight / 2.0 + .5;
+
+ // project into input-image space
+ int ix = floor(sx*c + sy*s + icx);
+ int iy = floor(-sx*s + sy*c + icy);
+
+ if (ix >= 0 && iy >= 0 && ix < iwidth && iy < iheight)
+ out->buf[oy*out->stride+ox] = in->buf[iy*in->stride + ix];
+ else
+ out->buf[oy*out->stride+ox] = pad;
+ }
+ }
+
+ return out;
+}
+
+image_u8_t *image_u8_decimate(image_u8_t *im, float ffactor)
+{
+ int width = im->width, height = im->height;
+
+ if (ffactor == 1.5) {
+ int swidth = width / 3 * 2, sheight = height / 3 * 2;
+
+ image_u8_t *decim = image_u8_create(swidth, sheight);
+
+ int y = 0, sy = 0;
+ while (sy < sheight) {
+ int x = 0, sx = 0;
+ while (sx < swidth) {
+
+ // a b c
+ // d e f
+ // g h i
+ uint8_t a = im->buf[(y+0)*im->stride + (x+0)];
+ uint8_t b = im->buf[(y+0)*im->stride + (x+1)];
+ uint8_t c = im->buf[(y+0)*im->stride + (x+2)];
+
+ uint8_t d = im->buf[(y+1)*im->stride + (x+0)];
+ uint8_t e = im->buf[(y+1)*im->stride + (x+1)];
+ uint8_t f = im->buf[(y+1)*im->stride + (x+2)];
+
+ uint8_t g = im->buf[(y+2)*im->stride + (x+0)];
+ uint8_t h = im->buf[(y+2)*im->stride + (x+1)];
+ uint8_t i = im->buf[(y+2)*im->stride + (x+2)];
+
+ decim->buf[(sy+0)*decim->stride + (sx + 0)] =
+ (4*a+2*b+2*d+e)/9;
+ decim->buf[(sy+0)*decim->stride + (sx + 1)] =
+ (4*c+2*b+2*f+e)/9;
+
+ decim->buf[(sy+1)*decim->stride + (sx + 0)] =
+ (4*g+2*d+2*h+e)/9;
+ decim->buf[(sy+1)*decim->stride + (sx + 1)] =
+ (4*i+2*f+2*h+e)/9;
+
+ x += 3;
+ sx += 2;
+ }
+
+ y += 3;
+ sy += 2;
+ }
+
+ return decim;
+ }
+
+ int factor = (int) ffactor;
+
+ int swidth = 1 + (width - 1)/factor;
+ int sheight = 1 + (height - 1)/factor;
+ image_u8_t *decim = image_u8_create(swidth, sheight);
+ int sy = 0;
+ for (int y = 0; y < height; y += factor) {
+ int sx = 0;
+ for (int x = 0; x < width; x += factor) {
+ decim->buf[sy*decim->stride + sx] = im->buf[y*im->stride + x];
+ sx++;
+ }
+ sy++;
+ }
+ return decim;
+}
+
+void image_u8_fill_line_max(image_u8_t *im, const image_u8_lut_t *lut, const float *xy0, const float *xy1)
+{
+ // what is the maximum distance that will result in drawing into our LUT?
+ float max_dist2 = (lut->nvalues-1)/lut->scale;
+ float max_dist = sqrt(max_dist2);
+
+ // the orientation of the line
+ double theta = atan2(xy1[1]-xy0[1], xy1[0]-xy0[0]);
+ double v = sin(theta), u = cos(theta);
+
+ int ix0 = iclamp(fmin(xy0[0], xy1[0]) - max_dist, 0, im->width-1);
+ int ix1 = iclamp(fmax(xy0[0], xy1[0]) + max_dist, 0, im->width-1);
+
+ int iy0 = iclamp(fmin(xy0[1], xy1[1]) - max_dist, 0, im->height-1);
+ int iy1 = iclamp(fmax(xy0[1], xy1[1]) + max_dist, 0, im->height-1);
+
+ // the line segment xy0---xy1 can be parameterized in terms of line coordinates.
+ // We fix xy0 to be at line coordinate 0.
+ float xy1_line_coord = (xy1[0]-xy0[0])*u + (xy1[1]-xy0[1])*v;
+
+ float min_line_coord = fmin(0, xy1_line_coord);
+ float max_line_coord = fmax(0, xy1_line_coord);
+
+ for (int iy = iy0; iy <= iy1; iy++) {
+ float y = iy+.5;
+
+ for (int ix = ix0; ix <= ix1; ix++) {
+ float x = ix+.5;
+
+ // compute line coordinate of this pixel.
+ float line_coord = (x - xy0[0])*u + (y - xy0[1])*v;
+
+ // find point on line segment closest to our current pixel.
+ if (line_coord < min_line_coord)
+ line_coord = min_line_coord;
+ else if (line_coord > max_line_coord)
+ line_coord = max_line_coord;
+
+ float px = xy0[0] + line_coord*u;
+ float py = xy0[1] + line_coord*v;
+
+ double dist2 = (x-px)*(x-px) + (y-py)*(y-py);
+
+ // not in our LUT?
+ int idx = dist2 * lut->scale;
+ if (idx >= lut->nvalues)
+ continue;
+
+ uint8_t lut_value = lut->values[idx];
+ uint8_t old_value = im->buf[iy*im->stride + ix];
+ if (lut_value > old_value)
+ im->buf[iy*im->stride + ix] = lut_value;
+ }
+ }
+}
diff --git a/third_party/apriltag/common/image_u8.h b/third_party/apriltag/common/image_u8.h
new file mode 100644
index 0000000..a0e151f
--- /dev/null
+++ b/third_party/apriltag/common/image_u8.h
@@ -0,0 +1,90 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#include <stdint.h>
+#include "image_types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct image_u8_lut image_u8_lut_t;
+struct image_u8_lut
+{
+ // When drawing, we compute the squared distance between a given pixel and a filled region.
+ // int idx = squared_distance * scale;
+ // We then index into values[idx] to obtain the color. (If we must index beyond nvalues,
+ // no drawing is performed.)
+ float scale;
+
+ int nvalues;
+ uint8_t *values;
+};
+
+
+// Create or load an image. returns NULL on failure. Uses default
+// stride alignment.
+image_u8_t *image_u8_create_stride(unsigned int width, unsigned int height, unsigned int stride);
+image_u8_t *image_u8_create(unsigned int width, unsigned int height);
+image_u8_t *image_u8_create_alignment(unsigned int width, unsigned int height, unsigned int alignment);
+image_u8_t *image_u8_create_from_f32(image_f32_t *fim);
+
+image_u8_t *image_u8_create_from_pnm(const char *path);
+ image_u8_t *image_u8_create_from_pnm_alignment(const char *path, int alignment);
+
+image_u8_t *image_u8_copy(const image_u8_t *in);
+void image_u8_draw_line(image_u8_t *im, float x0, float y0, float x1, float y1, int v, int width);
+void image_u8_draw_circle(image_u8_t *im, float x0, float y0, float r, int v);
+void image_u8_draw_annulus(image_u8_t *im, float x0, float y0, float r0, float r1, int v);
+
+void image_u8_fill_line_max(image_u8_t *im, const image_u8_lut_t *lut, const float *xy0, const float *xy1);
+
+void image_u8_clear(image_u8_t *im);
+void image_u8_darken(image_u8_t *im);
+void image_u8_convolve_2D(image_u8_t *im, const uint8_t *k, int ksz);
+void image_u8_gaussian_blur(image_u8_t *im, double sigma, int k);
+
+// 1.5, 2, 3, 4, ... supported
+image_u8_t *image_u8_decimate(image_u8_t *im, float factor);
+
+void image_u8_destroy(image_u8_t *im);
+
+// Write a pnm. Returns 0 on success
+// Currently only supports GRAY and RGBA. Does not write out alpha for RGBA
+int image_u8_write_pnm(const image_u8_t *im, const char *path);
+
+// rotate the image by 'rad' radians. (Rotated in the "intuitive
+// sense", i.e., if Y were up. When input values are unavailable, the
+// value 'pad' is inserted instead. The geometric center of the output
+// image corresponds to the geometric center of the input image.
+image_u8_t *image_u8_rotate(const image_u8_t *in, double rad, uint8_t pad);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/apriltag/common/image_u8x3.c b/third_party/apriltag/common/image_u8x3.c
new file mode 100644
index 0000000..1463e5f
--- /dev/null
+++ b/third_party/apriltag/common/image_u8x3.c
@@ -0,0 +1,274 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include "math_util.h"
+#include "pnm.h"
+
+#include "image_u8x3.h"
+
+// least common multiple of 64 (sandy bridge cache line) and 48 (stride needed
+// for 16byte-wide RGB processing). (It's possible that 48 would be enough).
+#define DEFAULT_ALIGNMENT_U8X3 192
+
+image_u8x3_t *image_u8x3_create(unsigned int width, unsigned int height)
+{
+ return image_u8x3_create_alignment(width, height, DEFAULT_ALIGNMENT_U8X3);
+}
+
+image_u8x3_t *image_u8x3_create_alignment(unsigned int width, unsigned int height, unsigned int alignment)
+{
+ int stride = 3*width;
+
+ if ((stride % alignment) != 0)
+ stride += alignment - (stride % alignment);
+
+ uint8_t *buf = calloc(height*stride, sizeof(uint8_t));
+
+ // const initializer
+ image_u8x3_t tmp = { .width = width, .height = height, .stride = stride, .buf = buf };
+
+ image_u8x3_t *im = calloc(1, sizeof(image_u8x3_t));
+ memcpy(im, &tmp, sizeof(image_u8x3_t));
+ return im;
+}
+
+image_u8x3_t *image_u8x3_copy(const image_u8x3_t *in)
+{
+ uint8_t *buf = malloc(in->height*in->stride*sizeof(uint8_t));
+ memcpy(buf, in->buf, in->height*in->stride*sizeof(uint8_t));
+
+ // const initializer
+ image_u8x3_t tmp = { .width = in->width, .height = in->height, .stride = in->stride, .buf = buf };
+
+ image_u8x3_t *copy = calloc(1, sizeof(image_u8x3_t));
+ memcpy(copy, &tmp, sizeof(image_u8x3_t));
+ return copy;
+}
+
+void image_u8x3_destroy(image_u8x3_t *im)
+{
+ if (!im)
+ return;
+
+ free(im->buf);
+ free(im);
+}
+
+////////////////////////////////////////////////////////////
+// PNM file i/o
+
+// Create an RGB image from PNM
+image_u8x3_t *image_u8x3_create_from_pnm(const char *path)
+{
+ pnm_t *pnm = pnm_create_from_file(path);
+ if (pnm == NULL)
+ return NULL;
+
+ image_u8x3_t *im = NULL;
+
+ switch (pnm->format) {
+ case PNM_FORMAT_GRAY: {
+ im = image_u8x3_create(pnm->width, pnm->height);
+
+ for (int y = 0; y < im->height; y++) {
+ for (int x = 0; x < im->width; x++) {
+ uint8_t gray = pnm->buf[y*im->width + x];
+ im->buf[y*im->stride + x*3 + 0] = gray;
+ im->buf[y*im->stride + x*3 + 1] = gray;
+ im->buf[y*im->stride + x*3 + 2] = gray;
+ }
+ }
+
+ break;
+ }
+
+ case PNM_FORMAT_RGB: {
+ im = image_u8x3_create(pnm->width, pnm->height);
+
+ for (int y = 0; y < im->height; y++) {
+ for (int x = 0; x < im->width; x++) {
+ uint8_t r = pnm->buf[y*im->width*3 + 3*x];
+ uint8_t g = pnm->buf[y*im->width*3 + 3*x+1];
+ uint8_t b = pnm->buf[y*im->width*3 + 3*x+2];
+
+ im->buf[y*im->stride + x*3 + 0] = r;
+ im->buf[y*im->stride + x*3 + 1] = g;
+ im->buf[y*im->stride + x*3 + 2] = b;
+ }
+ }
+
+ break;
+ }
+ }
+
+ pnm_destroy(pnm);
+ return im;
+}
+
+int image_u8x3_write_pnm(const image_u8x3_t *im, const char *path)
+{
+ FILE *f = fopen(path, "wb");
+ int res = 0;
+
+ if (f == NULL) {
+ res = -1;
+ goto finish;
+ }
+
+ // Only outputs to RGB
+ fprintf(f, "P6\n%d %d\n255\n", im->width, im->height);
+ int linesz = im->width * 3;
+ for (int y = 0; y < im->height; y++) {
+ if (linesz != fwrite(&im->buf[y*im->stride], 1, linesz, f)) {
+ res = -1;
+ goto finish;
+ }
+ }
+
+finish:
+ if (f != NULL)
+ fclose(f);
+
+ return res;
+}
+
+// only width 1 supported
+void image_u8x3_draw_line(image_u8x3_t *im, float x0, float y0, float x1, float y1, uint8_t rgb[3], int width)
+{
+ double dist = sqrtf((y1-y0)*(y1-y0) + (x1-x0)*(x1-x0));
+ double delta = 0.5 / dist;
+
+ // terrible line drawing code
+ for (float f = 0; f <= 1; f += delta) {
+ int x = ((int) (x1 + (x0 - x1) * f));
+ int y = ((int) (y1 + (y0 - y1) * f));
+
+ if (x < 0 || y < 0 || x >= im->width || y >= im->height)
+ continue;
+
+ int idx = y*im->stride + 3*x;
+ for (int i = 0; i < 3; i++)
+ im->buf[idx + i] = rgb[i];
+ }
+}
+
+static void convolve(const uint8_t *x, uint8_t *y, int sz, const uint8_t *k, int ksz)
+{
+ assert((ksz&1)==1);
+
+ for (int i = 0; i < ksz/2 && i < sz; i++)
+ y[i] = x[i];
+
+ for (int i = 0; i < sz - ksz; i++) {
+ uint32_t acc = 0;
+
+ for (int j = 0; j < ksz; j++)
+ acc += k[j]*x[i+j];
+
+ y[ksz/2 + i] = acc >> 8;
+ }
+
+ for (int i = sz - ksz + ksz/2; i < sz; i++)
+ y[i] = x[i];
+}
+
+void image_u8x3_gaussian_blur(image_u8x3_t *im, double sigma, int ksz)
+{
+ if (sigma == 0)
+ return;
+
+ assert((ksz & 1) == 1); // ksz must be odd.
+
+ // build the kernel.
+ double *dk = malloc(sizeof(double)*ksz);
+
+ // for kernel of length 5:
+ // dk[0] = f(-2), dk[1] = f(-1), dk[2] = f(0), dk[3] = f(1), dk[4] = f(2)
+ for (int i = 0; i < ksz; i++) {
+ int x = -ksz/2 + i;
+ double v = exp(-.5*sq(x / sigma));
+ dk[i] = v;
+ }
+
+ // normalize
+ double acc = 0;
+ for (int i = 0; i < ksz; i++)
+ acc += dk[i];
+
+ for (int i = 0; i < ksz; i++)
+ dk[i] /= acc;
+
+ uint8_t *k = malloc(sizeof(uint8_t)*ksz);
+ for (int i = 0; i < ksz; i++)
+ k[i] = dk[i]*255;
+
+ if (0) {
+ for (int i = 0; i < ksz; i++)
+ printf("%d %15f %5d\n", i, dk[i], k[i]);
+ }
+ free(dk);
+
+ for (int c = 0; c < 3; c++) {
+ for (int y = 0; y < im->height; y++) {
+
+ uint8_t *in = malloc(sizeof(uint8_t)*im->stride);
+ uint8_t *out = malloc(sizeof(uint8_t)*im->stride);
+
+ for (int x = 0; x < im->width; x++)
+ in[x] = im->buf[y*im->stride + 3 * x + c];
+
+ convolve(in, out, im->width, k, ksz);
+ free(in);
+
+ for (int x = 0; x < im->width; x++)
+ im->buf[y*im->stride + 3 * x + c] = out[x];
+ free(out);
+ }
+
+ for (int x = 0; x < im->width; x++) {
+ uint8_t *in = malloc(sizeof(uint8_t)*im->height);
+ uint8_t *out = malloc(sizeof(uint8_t)*im->height);
+
+ for (int y = 0; y < im->height; y++)
+ in[y] = im->buf[y*im->stride + 3*x + c];
+
+ convolve(in, out, im->height, k, ksz);
+ free(in);
+
+ for (int y = 0; y < im->height; y++)
+ im->buf[y*im->stride + 3*x + c] = out[y];
+ free(out);
+ }
+ }
+ free(k);
+}
diff --git a/third_party/apriltag/common/image_u8x3.h b/third_party/apriltag/common/image_u8x3.h
new file mode 100644
index 0000000..4d1713d
--- /dev/null
+++ b/third_party/apriltag/common/image_u8x3.h
@@ -0,0 +1,64 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#include <stdint.h>
+#include "image_types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/////////////////////////////////////
+// IMPORTANT NOTE ON BYTE ORDER
+//
+// Format conversion routines will (unless otherwise specified) assume
+// R, G, B, ordering of bytes. This is consistent with GTK, PNM, etc.
+//
+/////////////////////////////////////
+
+// Create or load an image. returns NULL on failure
+image_u8x3_t *image_u8x3_create(unsigned int width, unsigned int height);
+image_u8x3_t *image_u8x3_create_alignment(unsigned int width, unsigned int height, unsigned int alignment);
+image_u8x3_t *image_u8x3_create_from_pnm(const char *path);
+
+image_u8x3_t *image_u8x3_copy(const image_u8x3_t *in);
+
+void image_u8x3_gaussian_blur(image_u8x3_t *im, double sigma, int ksz);
+
+void image_u8x3_destroy(image_u8x3_t *im);
+
+int image_u8x3_write_pnm(const image_u8x3_t *im, const char *path);
+
+// only width 1 supported
+void image_u8x3_draw_line(image_u8x3_t *im, float x0, float y0, float x1, float y1, uint8_t rgb[3], int width);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/apriltag/common/image_u8x4.c b/third_party/apriltag/common/image_u8x4.c
new file mode 100644
index 0000000..3520537
--- /dev/null
+++ b/third_party/apriltag/common/image_u8x4.c
@@ -0,0 +1,233 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "pam.h"
+#include "pnm.h"
+#include "image_u8x4.h"
+
+// least common multiple of 64 (sandy bridge cache line) and 64 (stride needed
+// for 16byte-wide RGBA processing).
+#define DEFAULT_ALIGNMENT_U8X4 64
+
+image_u8x4_t *image_u8x4_create(unsigned int width, unsigned int height)
+{
+ return image_u8x4_create_alignment(width, height, DEFAULT_ALIGNMENT_U8X4);
+}
+
+image_u8x4_t *image_u8x4_create_alignment(unsigned int width, unsigned int height, unsigned int alignment)
+{
+ int stride = 4*width;
+
+ if ((stride % alignment) != 0)
+ stride += alignment - (stride % alignment);
+
+ uint8_t *buf = calloc(height*stride, sizeof(uint8_t));
+
+ // const initializer
+ image_u8x4_t tmp = { .width = width, .height = height, .stride = stride, .buf = buf };
+
+ image_u8x4_t *im = calloc(1, sizeof(image_u8x4_t));
+ memcpy(im, &tmp, sizeof(image_u8x4_t));
+ return im;
+}
+
+image_u8x4_t *image_u8x4_copy(const image_u8x4_t *in)
+{
+ uint8_t *buf = malloc(in->height*in->stride*sizeof(uint8_t));
+ memcpy(buf, in->buf, in->height*in->stride*sizeof(uint8_t));
+
+ // const initializer
+ image_u8x4_t tmp = { .width = in->width, .height = in->height, .stride = in->stride, .buf = buf };
+
+ image_u8x4_t *copy = calloc(1, sizeof(image_u8x4_t));
+ memcpy(copy, &tmp, sizeof(image_u8x4_t));
+ return copy;
+}
+
+void image_u8x4_destroy(image_u8x4_t *im)
+{
+ if (!im)
+ return;
+
+ free(im->buf);
+ free(im);
+}
+
+////////////////////////////////////////////////////////////
+image_u8x4_t *image_u8x4_create_from_pam(const char *inpath)
+{
+ pam_t *pam = pam_create_from_file(inpath);
+ if (!pam)
+ return NULL;
+
+ image_u8x4_t *im = image_u8x4_create(pam->width, pam->height);
+
+ for (int y = 0; y < pam->height; y++) {
+ if (pam->depth == 1) {
+ for (int x = 0; x < pam->width; x++) {
+ im->buf[y*im->stride + 4*x + 0] = pam->data[pam->width*y + x + 0];
+ im->buf[y*im->stride + 4*x + 1] = pam->data[pam->width*y + x + 0];
+ im->buf[y*im->stride + 4*x + 2] = pam->data[pam->width*y + x + 0];
+ im->buf[y*im->stride + 4*x + 3] = 255;
+ }
+ } else if (pam->depth == 3) {
+ for (int x = 0; x < pam->width; x++) {
+ im->buf[y*im->stride + 4*x + 0] = pam->data[3*pam->width*y + 3*x + 0];
+ im->buf[y*im->stride + 4*x + 1] = pam->data[3*pam->width*y + 3*x + 1];
+ im->buf[y*im->stride + 4*x + 2] = pam->data[3*pam->width*y + 3*x + 2];
+ im->buf[y*im->stride + 4*x + 3] = 255;
+ }
+ } else if (pam->depth == 4) {
+ memcpy(&im->buf[y*im->stride], &pam->data[4*pam->width*y], 4*pam->width);
+ } else {
+ assert(0); // not implemented
+ }
+ }
+
+ pam_destroy(pam);
+ return im;
+}
+////////////////////////////////////////////////////////////
+// PNM file i/o
+
+// Create an RGBA image from PNM
+image_u8x4_t *image_u8x4_create_from_pnm(const char *path)
+{
+ pnm_t *pnmp = pnm_create_from_file(path);
+ if (pnmp == NULL)
+ return NULL;
+
+ pnm_t pnm = *pnmp;
+ image_u8x4_t *imp = NULL;
+
+ switch (pnm.format) {
+ case PNM_FORMAT_GRAY: {
+ imp = image_u8x4_create(pnm.width, pnm.height);
+
+ // copy struct by value for common subexpression elimination
+ const image_u8x4_t im = *imp;
+
+ for (int y = 0; y < im.height; y++) {
+ for (int x = 0; x < im.width; x++) {
+ uint8_t gray = pnm.buf[y*pnm.width + x];
+ im.buf[y*im.stride + 4*x + 0] = gray;
+ im.buf[y*im.stride + 4*x + 1] = gray;
+ im.buf[y*im.stride + 4*x + 2] = gray;
+ im.buf[y*im.stride + 4*x + 3] = 0xff;
+ }
+ }
+
+ break;
+ }
+
+ case PNM_FORMAT_RGB: {
+ imp = image_u8x4_create(pnm.width, pnm.height);
+
+ // copy struct by value for common subexpression elimination
+ const image_u8x4_t im = *imp;
+
+ // Gray conversion for RGB is gray = (r + g + g + b)/4
+ for (int y = 0; y < im.height; y++) {
+ for (int x = 0; x < im.width; x++) {
+
+ uint8_t r = pnm.buf[y*pnm.width*3 + 3*x + 0];
+ uint8_t g = pnm.buf[y*pnm.width*3 + 3*x + 1];
+ uint8_t b = pnm.buf[y*pnm.width*3 + 3*x + 2];
+
+ im.buf[y*im.stride + 4*x + 0] = r;
+ im.buf[y*im.stride + 4*x + 1] = g;
+ im.buf[y*im.stride + 4*x + 2] = b;
+ im.buf[y*im.stride + 4*x + 3] = 0xff;
+ }
+ }
+
+ break;
+ }
+ }
+
+ pnm_destroy(pnmp);
+ return imp;
+}
+
+int image_u8x4_write_pnm(const image_u8x4_t *imp, const char *path)
+{
+ // copy struct by value to ensure common subexpression elimination occurs
+ const image_u8x4_t im = *imp;
+
+ FILE *f = fopen(path, "wb");
+ int res = 0;
+
+ if (f == NULL) {
+ res = -1;
+ goto finish;
+ }
+
+ // Only outputs to RGB
+ fprintf(f, "P6\n%d %d\n255\n", im.width, im.height);
+
+ for (int y = im.height-1; y >= 0; y--) {
+ for (int x = 0; x < im.width; x++) {
+
+ uint8_t r = im.buf[y*im.stride + 4*x + 0];
+ uint8_t g = im.buf[y*im.stride + 4*x + 1];
+ uint8_t b = im.buf[y*im.stride + 4*x + 2];
+
+ fwrite(&r, 1, 1, f);
+ fwrite(&g, 1, 1, f);
+ fwrite(&b, 1, 1, f);
+ }
+ }
+
+ finish:
+ if (f != NULL)
+ fclose(f);
+
+ return res;
+}
+
+void image_u8x4_write_pam(const image_u8x4_t *im, const char *path)
+{
+ FILE *f = fopen(path, "w");
+ fprintf(f, "P7\n");
+ fprintf(f, "WIDTH %d\n", im->width);
+ fprintf(f, "HEIGHT %d\n", im->height);
+ fprintf(f, "DEPTH 4\n");
+ fprintf(f, "MAXVAL 255\n");
+ fprintf(f, "TUPLTYPE RGB_ALPHA\n");
+ fprintf(f, "ENDHDR\n");
+
+ for (int y = 0; y < im->height; y++)
+ fwrite(&im->buf[y*im->stride], 1, 4*im->width, f);
+
+ fclose(f);
+
+}
diff --git a/third_party/apriltag/common/image_u8x4.h b/third_party/apriltag/common/image_u8x4.h
new file mode 100644
index 0000000..89820a2
--- /dev/null
+++ b/third_party/apriltag/common/image_u8x4.h
@@ -0,0 +1,65 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#include <stdint.h>
+#include "image_types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/////////////////////////////////////
+// IMPORTANT NOTE ON BYTE ORDER
+//
+// Format conversion routines will (unless otherwise specified) assume
+// R, G, B, A ordering of bytes.
+//
+/////////////////////////////////////
+
+// Create or load an image. returns NULL on failure
+image_u8x4_t *image_u8x4_create(unsigned int width, unsigned int height);
+image_u8x4_t *image_u8x4_create_alignment(unsigned int width, unsigned int height, unsigned int alignment);
+image_u8x4_t *image_u8x4_create_from_pnm(const char *path);
+
+image_u8x4_t *image_u8x4_copy(const image_u8x4_t *in);
+
+void image_u8x4_destroy(image_u8x4_t *im);
+
+// Write a pnm. Return 0 on success.
+// Currently supports GRAY and RGB
+int image_u8x4_write_pnm(const image_u8x4_t *im, const char *path);
+
+image_u8x4_t *image_u8x4_create_from_pam(const char *path);
+
+ void image_u8x4_write_pam(const image_u8x4_t *im, const char *path);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/apriltag/common/matd.c b/third_party/apriltag/common/matd.c
new file mode 100644
index 0000000..54449d9
--- /dev/null
+++ b/third_party/apriltag/common/matd.c
@@ -0,0 +1,2027 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdarg.h>
+#include <assert.h>
+#include <math.h>
+#include <float.h>
+
+#include "common/math_util.h"
+#include "common/svd22.h"
+#include "common/matd.h"
+#include "common/debug_print.h"
+
+// a matd_t with rows=0 cols=0 is a SCALAR.
+
+// to ease creating mati, matf, etc. in the future.
+#define TYPE double
+
+matd_t *matd_create(int rows, int cols)
+{
+ assert(rows >= 0);
+ assert(cols >= 0);
+
+ if (rows == 0 || cols == 0)
+ return matd_create_scalar(0);
+
+ matd_t *m = calloc(1, sizeof(matd_t) + (rows*cols*sizeof(double)));
+ m->nrows = rows;
+ m->ncols = cols;
+
+ return m;
+}
+
+matd_t *matd_create_scalar(TYPE v)
+{
+ matd_t *m = calloc(1, sizeof(matd_t) + sizeof(double));
+ m->nrows = 0;
+ m->ncols = 0;
+ m->data[0] = v;
+
+ return m;
+}
+
+matd_t *matd_create_data(int rows, int cols, const TYPE *data)
+{
+ if (rows == 0 || cols == 0)
+ return matd_create_scalar(data[0]);
+
+ matd_t *m = matd_create(rows, cols);
+ for (int i = 0; i < rows * cols; i++)
+ m->data[i] = data[i];
+
+ return m;
+}
+
+matd_t *matd_create_dataf(int rows, int cols, const float *data)
+{
+ if (rows == 0 || cols == 0)
+ return matd_create_scalar(data[0]);
+
+ matd_t *m = matd_create(rows, cols);
+ for (int i = 0; i < rows * cols; i++)
+ m->data[i] = (double)data[i];
+
+ return m;
+}
+
+matd_t *matd_identity(int dim)
+{
+ if (dim == 0)
+ return matd_create_scalar(1);
+
+ matd_t *m = matd_create(dim, dim);
+ for (int i = 0; i < dim; i++)
+ MATD_EL(m, i, i) = 1;
+
+ return m;
+}
+
+// row and col are zero-based
+TYPE matd_get(const matd_t *m, int row, int col)
+{
+ assert(m != NULL);
+ assert(!matd_is_scalar(m));
+ assert(row >= 0);
+ assert(row < m->nrows);
+ assert(col >= 0);
+ assert(col < m->ncols);
+
+ return MATD_EL(m, row, col);
+}
+
+// row and col are zero-based
+void matd_put(matd_t *m, int row, int col, TYPE value)
+{
+ assert(m != NULL);
+
+ if (matd_is_scalar(m)) {
+ matd_put_scalar(m, value);
+ return;
+ }
+
+ assert(row >= 0);
+ assert(row < m->nrows);
+ assert(col >= 0);
+ assert(col < m->ncols);
+
+ MATD_EL(m, row, col) = value;
+}
+
+TYPE matd_get_scalar(const matd_t *m)
+{
+ assert(m != NULL);
+ assert(matd_is_scalar(m));
+
+ return (m->data[0]);
+}
+
+void matd_put_scalar(matd_t *m, TYPE value)
+{
+ assert(m != NULL);
+ assert(matd_is_scalar(m));
+
+ m->data[0] = value;
+}
+
+matd_t *matd_copy(const matd_t *m)
+{
+ assert(m != NULL);
+
+ matd_t *x = matd_create(m->nrows, m->ncols);
+ if (matd_is_scalar(m))
+ x->data[0] = m->data[0];
+ else
+ memcpy(x->data, m->data, sizeof(TYPE)*m->ncols*m->nrows);
+
+ return x;
+}
+
+matd_t *matd_select(const matd_t * a, int r0, int r1, int c0, int c1)
+{
+ assert(a != NULL);
+
+ assert(r0 >= 0 && r0 < a->nrows);
+ assert(c0 >= 0 && c0 < a->ncols);
+
+ int nrows = r1 - r0 + 1;
+ int ncols = c1 - c0 + 1;
+
+ matd_t * r = matd_create(nrows, ncols);
+
+ for (int row = r0; row <= r1; row++)
+ for (int col = c0; col <= c1; col++)
+ MATD_EL(r,row-r0,col-c0) = MATD_EL(a,row,col);
+
+ return r;
+}
+
+void matd_print(const matd_t *m, const char *fmt)
+{
+ assert(m != NULL);
+ assert(fmt != NULL);
+
+ if (matd_is_scalar(m)) {
+ printf(fmt, MATD_EL(m, 0, 0));
+ printf("\n");
+ } else {
+ for (int i = 0; i < m->nrows; i++) {
+ for (int j = 0; j < m->ncols; j++) {
+ printf(fmt, MATD_EL(m, i, j));
+ }
+ printf("\n");
+ }
+ }
+}
+
+void matd_print_transpose(const matd_t *m, const char *fmt)
+{
+ assert(m != NULL);
+ assert(fmt != NULL);
+
+ if (matd_is_scalar(m)) {
+ printf(fmt, MATD_EL(m, 0, 0));
+ printf("\n");
+ } else {
+ for (int j = 0; j < m->ncols; j++) {
+ for (int i = 0; i < m->nrows; i++) {
+ printf(fmt, MATD_EL(m, i, j));
+ }
+ printf("\n");
+ }
+ }
+}
+
+void matd_destroy(matd_t *m)
+{
+ if (!m)
+ return;
+
+ assert(m != NULL);
+ free(m);
+}
+
+matd_t *matd_multiply(const matd_t *a, const matd_t *b)
+{
+ assert(a != NULL);
+ assert(b != NULL);
+
+ if (matd_is_scalar(a))
+ return matd_scale(b, a->data[0]);
+ if (matd_is_scalar(b))
+ return matd_scale(a, b->data[0]);
+
+ assert(a->ncols == b->nrows);
+ matd_t *m = matd_create(a->nrows, b->ncols);
+
+ for (int i = 0; i < m->nrows; i++) {
+ for (int j = 0; j < m->ncols; j++) {
+ TYPE acc = 0;
+ for (int k = 0; k < a->ncols; k++) {
+ acc += MATD_EL(a, i, k) * MATD_EL(b, k, j);
+ }
+ MATD_EL(m, i, j) = acc;
+ }
+ }
+
+ return m;
+}
+
+matd_t *matd_scale(const matd_t *a, double s)
+{
+ assert(a != NULL);
+
+ if (matd_is_scalar(a))
+ return matd_create_scalar(a->data[0] * s);
+
+ matd_t *m = matd_create(a->nrows, a->ncols);
+
+ for (int i = 0; i < m->nrows; i++) {
+ for (int j = 0; j < m->ncols; j++) {
+ MATD_EL(m, i, j) = s * MATD_EL(a, i, j);
+ }
+ }
+
+ return m;
+}
+
+void matd_scale_inplace(matd_t *a, double s)
+{
+ assert(a != NULL);
+
+ if (matd_is_scalar(a)) {
+ a->data[0] *= s;
+ return;
+ }
+
+ for (int i = 0; i < a->nrows; i++) {
+ for (int j = 0; j < a->ncols; j++) {
+ MATD_EL(a, i, j) *= s;
+ }
+ }
+}
+
+matd_t *matd_add(const matd_t *a, const matd_t *b)
+{
+ assert(a != NULL);
+ assert(b != NULL);
+ assert(a->nrows == b->nrows);
+ assert(a->ncols == b->ncols);
+
+ if (matd_is_scalar(a))
+ return matd_create_scalar(a->data[0] + b->data[0]);
+
+ matd_t *m = matd_create(a->nrows, a->ncols);
+
+ for (int i = 0; i < m->nrows; i++) {
+ for (int j = 0; j < m->ncols; j++) {
+ MATD_EL(m, i, j) = MATD_EL(a, i, j) + MATD_EL(b, i, j);
+ }
+ }
+
+ return m;
+}
+
+void matd_add_inplace(matd_t *a, const matd_t *b)
+{
+ assert(a != NULL);
+ assert(b != NULL);
+ assert(a->nrows == b->nrows);
+ assert(a->ncols == b->ncols);
+
+ if (matd_is_scalar(a)) {
+ a->data[0] += b->data[0];
+ return;
+ }
+
+ for (int i = 0; i < a->nrows; i++) {
+ for (int j = 0; j < a->ncols; j++) {
+ MATD_EL(a, i, j) += MATD_EL(b, i, j);
+ }
+ }
+}
+
+
+matd_t *matd_subtract(const matd_t *a, const matd_t *b)
+{
+ assert(a != NULL);
+ assert(b != NULL);
+ assert(a->nrows == b->nrows);
+ assert(a->ncols == b->ncols);
+
+ if (matd_is_scalar(a))
+ return matd_create_scalar(a->data[0] - b->data[0]);
+
+ matd_t *m = matd_create(a->nrows, a->ncols);
+
+ for (int i = 0; i < m->nrows; i++) {
+ for (int j = 0; j < m->ncols; j++) {
+ MATD_EL(m, i, j) = MATD_EL(a, i, j) - MATD_EL(b, i, j);
+ }
+ }
+
+ return m;
+}
+
+void matd_subtract_inplace(matd_t *a, const matd_t *b)
+{
+ assert(a != NULL);
+ assert(b != NULL);
+ assert(a->nrows == b->nrows);
+ assert(a->ncols == b->ncols);
+
+ if (matd_is_scalar(a)) {
+ a->data[0] -= b->data[0];
+ return;
+ }
+
+ for (int i = 0; i < a->nrows; i++) {
+ for (int j = 0; j < a->ncols; j++) {
+ MATD_EL(a, i, j) -= MATD_EL(b, i, j);
+ }
+ }
+}
+
+
+matd_t *matd_transpose(const matd_t *a)
+{
+ assert(a != NULL);
+
+ if (matd_is_scalar(a))
+ return matd_create_scalar(a->data[0]);
+
+ matd_t *m = matd_create(a->ncols, a->nrows);
+
+ for (int i = 0; i < a->nrows; i++) {
+ for (int j = 0; j < a->ncols; j++) {
+ MATD_EL(m, j, i) = MATD_EL(a, i, j);
+ }
+ }
+ return m;
+}
+
+static
+double matd_det_general(const matd_t *a)
+{
+ // Use LU decompositon to calculate the determinant
+ matd_plu_t *mlu = matd_plu(a);
+ matd_t *L = matd_plu_l(mlu);
+ matd_t *U = matd_plu_u(mlu);
+
+ // The determinants of the L and U matrices are the products of
+ // their respective diagonal elements
+ double detL = 1; double detU = 1;
+ for (int i = 0; i < a->nrows; i++) {
+ detL *= matd_get(L, i, i);
+ detU *= matd_get(U, i, i);
+ }
+
+ // The determinant of a can be calculated as
+ // epsilon*det(L)*det(U),
+ // where epsilon is just the sign of the corresponding permutation
+ // (which is +1 for an even number of permutations and is −1
+ // for an uneven number of permutations).
+ double det = mlu->pivsign * detL * detU;
+
+ // Cleanup
+ matd_plu_destroy(mlu);
+ matd_destroy(L);
+ matd_destroy(U);
+
+ return det;
+}
+
+double matd_det(const matd_t *a)
+{
+ assert(a != NULL);
+ assert(a->nrows == a->ncols);
+
+ switch(a->nrows) {
+ case 0:
+ // scalar: invalid
+ assert(a->nrows > 0);
+ break;
+
+ case 1:
+ // 1x1 matrix
+ return a->data[0];
+
+ case 2:
+ // 2x2 matrix
+ return a->data[0] * a->data[3] - a->data[1] * a->data[2];
+
+ case 3:
+ // 3x3 matrix
+ return a->data[0]*a->data[4]*a->data[8]
+ - a->data[0]*a->data[5]*a->data[7]
+ + a->data[1]*a->data[5]*a->data[6]
+ - a->data[1]*a->data[3]*a->data[8]
+ + a->data[2]*a->data[3]*a->data[7]
+ - a->data[2]*a->data[4]*a->data[6];
+
+ case 4: {
+ // 4x4 matrix
+ double m00 = MATD_EL(a,0,0), m01 = MATD_EL(a,0,1), m02 = MATD_EL(a,0,2), m03 = MATD_EL(a,0,3);
+ double m10 = MATD_EL(a,1,0), m11 = MATD_EL(a,1,1), m12 = MATD_EL(a,1,2), m13 = MATD_EL(a,1,3);
+ double m20 = MATD_EL(a,2,0), m21 = MATD_EL(a,2,1), m22 = MATD_EL(a,2,2), m23 = MATD_EL(a,2,3);
+ double m30 = MATD_EL(a,3,0), m31 = MATD_EL(a,3,1), m32 = MATD_EL(a,3,2), m33 = MATD_EL(a,3,3);
+
+ return m00 * m11 * m22 * m33 - m00 * m11 * m23 * m32 -
+ m00 * m21 * m12 * m33 + m00 * m21 * m13 * m32 + m00 * m31 * m12 * m23 -
+ m00 * m31 * m13 * m22 - m10 * m01 * m22 * m33 +
+ m10 * m01 * m23 * m32 + m10 * m21 * m02 * m33 -
+ m10 * m21 * m03 * m32 - m10 * m31 * m02 * m23 +
+ m10 * m31 * m03 * m22 + m20 * m01 * m12 * m33 -
+ m20 * m01 * m13 * m32 - m20 * m11 * m02 * m33 +
+ m20 * m11 * m03 * m32 + m20 * m31 * m02 * m13 -
+ m20 * m31 * m03 * m12 - m30 * m01 * m12 * m23 +
+ m30 * m01 * m13 * m22 + m30 * m11 * m02 * m23 -
+ m30 * m11 * m03 * m22 - m30 * m21 * m02 * m13 +
+ m30 * m21 * m03 * m12;
+ }
+
+ default:
+ return matd_det_general(a);
+ }
+
+ assert(0);
+ return 0;
+}
+
+// returns NULL if the matrix is (exactly) singular. Caller is
+// otherwise responsible for knowing how to cope with badly
+// conditioned matrices.
+matd_t *matd_inverse(const matd_t *x)
+{
+ matd_t *m = NULL;
+
+ assert(x != NULL);
+ assert(x->nrows == x->ncols);
+
+ if (matd_is_scalar(x)) {
+ if (x->data[0] == 0)
+ return NULL;
+
+ return matd_create_scalar(1.0 / x->data[0]);
+ }
+
+ switch(x->nrows) {
+ case 1: {
+ double det = x->data[0];
+ if (det == 0)
+ return NULL;
+
+ double invdet = 1.0 / det;
+
+ m = matd_create(x->nrows, x->nrows);
+ MATD_EL(m, 0, 0) = 1.0 * invdet;
+ return m;
+ }
+
+ case 2: {
+ double det = x->data[0] * x->data[3] - x->data[1] * x->data[2];
+ if (det == 0)
+ return NULL;
+
+ double invdet = 1.0 / det;
+
+ m = matd_create(x->nrows, x->nrows);
+ MATD_EL(m, 0, 0) = MATD_EL(x, 1, 1) * invdet;
+ MATD_EL(m, 0, 1) = - MATD_EL(x, 0, 1) * invdet;
+ MATD_EL(m, 1, 0) = - MATD_EL(x, 1, 0) * invdet;
+ MATD_EL(m, 1, 1) = MATD_EL(x, 0, 0) * invdet;
+ return m;
+ }
+
+ default: {
+ matd_plu_t *plu = matd_plu(x);
+
+ matd_t *inv = NULL;
+ if (!plu->singular) {
+ matd_t *ident = matd_identity(x->nrows);
+ inv = matd_plu_solve(plu, ident);
+ matd_destroy(ident);
+ }
+
+ matd_plu_destroy(plu);
+
+ return inv;
+ }
+ }
+
+ return NULL; // unreachable
+}
+
+
+
+// TODO Optimization: Some operations we could perform in-place,
+// saving some memory allocation work. E.g., ADD, SUBTRACT. Just need
+// to make sure that we don't do an in-place modification on a matrix
+// that was an input argument!
+
+// handle right-associative operators, greedily consuming them. These
+// include transpose and inverse. This is called by the main recursion
+// method.
+static inline matd_t *matd_op_gobble_right(const char *expr, int *pos, matd_t *acc, matd_t **garb, int *garbpos)
+{
+ while (expr[*pos] != 0) {
+
+ switch (expr[*pos]) {
+
+ case '\'': {
+ assert(acc != NULL); // either a syntax error or a math op failed, producing null
+ matd_t *res = matd_transpose(acc);
+ garb[*garbpos] = res;
+ (*garbpos)++;
+ acc = res;
+
+ (*pos)++;
+ break;
+ }
+
+ // handle inverse ^-1. No other exponents are allowed.
+ case '^': {
+ assert(acc != NULL);
+ assert(expr[*pos+1] == '-');
+ assert(expr[*pos+2] == '1');
+
+ matd_t *res = matd_inverse(acc);
+ garb[*garbpos] = res;
+ (*garbpos)++;
+ acc = res;
+
+ (*pos)+=3;
+ break;
+ }
+
+ default:
+ return acc;
+ }
+ }
+
+ return acc;
+}
+
+// @garb, garbpos A list of every matrix allocated during evaluation... used to assist cleanup.
+// @oneterm: we should return at the end of this term (i.e., stop at a PLUS, MINUS, LPAREN).
+static matd_t *matd_op_recurse(const char *expr, int *pos, matd_t *acc, matd_t **args, int *argpos,
+ matd_t **garb, int *garbpos, int oneterm)
+{
+ while (expr[*pos] != 0) {
+
+ switch (expr[*pos]) {
+
+ case '(': {
+ if (oneterm && acc != NULL)
+ return acc;
+ (*pos)++;
+ matd_t *rhs = matd_op_recurse(expr, pos, NULL, args, argpos, garb, garbpos, 0);
+ rhs = matd_op_gobble_right(expr, pos, rhs, garb, garbpos);
+
+ if (acc == NULL) {
+ acc = rhs;
+ } else {
+ matd_t *res = matd_multiply(acc, rhs);
+ garb[*garbpos] = res;
+ (*garbpos)++;
+ acc = res;
+ }
+
+ break;
+ }
+
+ case ')': {
+ if (oneterm)
+ return acc;
+
+ (*pos)++;
+ return acc;
+ }
+
+ case '*': {
+ (*pos)++;
+
+ matd_t *rhs = matd_op_recurse(expr, pos, NULL, args, argpos, garb, garbpos, 1);
+ rhs = matd_op_gobble_right(expr, pos, rhs, garb, garbpos);
+
+ if (acc == NULL) {
+ acc = rhs;
+ } else {
+ matd_t *res = matd_multiply(acc, rhs);
+ garb[*garbpos] = res;
+ (*garbpos)++;
+ acc = res;
+ }
+
+ break;
+ }
+
+ case 'F': {
+ matd_t *rhs = args[*argpos];
+ garb[*garbpos] = rhs;
+ (*garbpos)++;
+
+ (*pos)++;
+ (*argpos)++;
+
+ rhs = matd_op_gobble_right(expr, pos, rhs, garb, garbpos);
+
+ if (acc == NULL) {
+ acc = rhs;
+ } else {
+ matd_t *res = matd_multiply(acc, rhs);
+ garb[*garbpos] = res;
+ (*garbpos)++;
+ acc = res;
+ }
+
+ break;
+ }
+
+ case 'M': {
+ matd_t *rhs = args[*argpos];
+
+ (*pos)++;
+ (*argpos)++;
+
+ rhs = matd_op_gobble_right(expr, pos, rhs, garb, garbpos);
+
+ if (acc == NULL) {
+ acc = rhs;
+ } else {
+ matd_t *res = matd_multiply(acc, rhs);
+ garb[*garbpos] = res;
+ (*garbpos)++;
+ acc = res;
+ }
+
+ break;
+ }
+
+/*
+ case 'D': {
+ int rows = expr[*pos+1]-'0';
+ int cols = expr[*pos+2]-'0';
+
+ matd_t *rhs = matd_create(rows, cols);
+
+ break;
+ }
+*/
+ // a constant (SCALAR) defined inline. Treat just like M, creating a matd_t on the fly.
+ case '0':
+ case '1':
+ case '2':
+ case '3':
+ case '4':
+ case '5':
+ case '6':
+ case '7':
+ case '8':
+ case '9':
+ case '.': {
+ const char *start = &expr[*pos];
+ char *end;
+ double s = strtod(start, &end);
+ (*pos) += (end - start);
+ matd_t *rhs = matd_create_scalar(s);
+ garb[*garbpos] = rhs;
+ (*garbpos)++;
+
+ rhs = matd_op_gobble_right(expr, pos, rhs, garb, garbpos);
+
+ if (acc == NULL) {
+ acc = rhs;
+ } else {
+ matd_t *res = matd_multiply(acc, rhs);
+ garb[*garbpos] = res;
+ (*garbpos)++;
+ acc = res;
+ }
+
+ break;
+ }
+
+ case '+': {
+ if (oneterm && acc != NULL)
+ return acc;
+
+ // don't support unary plus
+ assert(acc != NULL);
+ (*pos)++;
+ matd_t *rhs = matd_op_recurse(expr, pos, NULL, args, argpos, garb, garbpos, 1);
+ rhs = matd_op_gobble_right(expr, pos, rhs, garb, garbpos);
+
+ matd_t *res = matd_add(acc, rhs);
+
+ garb[*garbpos] = res;
+ (*garbpos)++;
+ acc = res;
+ break;
+ }
+
+ case '-': {
+ if (oneterm && acc != NULL)
+ return acc;
+
+ if (acc == NULL) {
+ // unary minus
+ (*pos)++;
+ matd_t *rhs = matd_op_recurse(expr, pos, NULL, args, argpos, garb, garbpos, 1);
+ rhs = matd_op_gobble_right(expr, pos, rhs, garb, garbpos);
+
+ matd_t *res = matd_scale(rhs, -1);
+ garb[*garbpos] = res;
+ (*garbpos)++;
+ acc = res;
+ } else {
+ // subtract
+ (*pos)++;
+ matd_t *rhs = matd_op_recurse(expr, pos, NULL, args, argpos, garb, garbpos, 1);
+ rhs = matd_op_gobble_right(expr, pos, rhs, garb, garbpos);
+
+ matd_t *res = matd_subtract(acc, rhs);
+ garb[*garbpos] = res;
+ (*garbpos)++;
+ acc = res;
+ }
+ break;
+ }
+
+ case ' ': {
+ // nothing to do. spaces are meaningless.
+ (*pos)++;
+ break;
+ }
+
+ default: {
+ debug_print("Unknown character: '%c'\n", expr[*pos]);
+ assert(expr[*pos] != expr[*pos]);
+ }
+ }
+ }
+ return acc;
+}
+
+// always returns a new matrix.
+matd_t *matd_op(const char *expr, ...)
+{
+ int nargs = 0;
+ int exprlen = 0;
+
+ assert(expr != NULL);
+
+ for (const char *p = expr; *p != 0; p++) {
+ if (*p == 'M' || *p == 'F')
+ nargs++;
+ exprlen++;
+ }
+
+ assert(nargs > 0);
+
+ if (!exprlen) // expr = ""
+ return NULL;
+
+ va_list ap;
+ va_start(ap, expr);
+
+ matd_t **args = malloc(sizeof(matd_t*)*nargs);
+ for (int i = 0; i < nargs; i++) {
+ args[i] = va_arg(ap, matd_t*);
+ // XXX: sanity check argument; emit warning/error if args[i]
+ // doesn't look like a matd_t*.
+ }
+
+ va_end(ap);
+
+ int pos = 0;
+ int argpos = 0;
+ int garbpos = 0;
+
+ // can't create more than 2 new result per character
+ // one result, and possibly one argument to free
+ matd_t **garb = malloc(sizeof(matd_t*)*2*exprlen);
+
+ matd_t *res = matd_op_recurse(expr, &pos, NULL, args, &argpos, garb, &garbpos, 0);
+ free(args);
+
+ // 'res' may need to be freed as part of garbage collection (i.e. expr = "F")
+ matd_t *res_copy = (res ? matd_copy(res) : NULL);
+
+ for (int i = 0; i < garbpos; i++) {
+ matd_destroy(garb[i]);
+ }
+ free(garb);
+
+ return res_copy;
+}
+
+double matd_vec_mag(const matd_t *a)
+{
+ assert(a != NULL);
+ assert(matd_is_vector(a));
+
+ double mag = 0.0;
+ int len = a->nrows*a->ncols;
+ for (int i = 0; i < len; i++)
+ mag += sq(a->data[i]);
+ return sqrt(mag);
+}
+
+double matd_vec_dist(const matd_t *a, const matd_t *b)
+{
+ assert(a != NULL);
+ assert(b != NULL);
+ assert(matd_is_vector(a) && matd_is_vector(b));
+ assert(a->nrows*a->ncols == b->nrows*b->ncols);
+
+ int lena = a->nrows*a->ncols;
+ return matd_vec_dist_n(a, b, lena);
+}
+
+double matd_vec_dist_n(const matd_t *a, const matd_t *b, int n)
+{
+ assert(a != NULL);
+ assert(b != NULL);
+ assert(matd_is_vector(a) && matd_is_vector(b));
+
+ int lena = a->nrows*a->ncols;
+ int lenb = b->nrows*b->ncols;
+
+ assert(n <= lena && n <= lenb);
+
+ double mag = 0.0;
+ for (int i = 0; i < n; i++)
+ mag += sq(a->data[i] - b->data[i]);
+ return sqrt(mag);
+}
+
+// find the index of the off-diagonal element with the largest mag
+static inline int max_idx(const matd_t *A, int row, int maxcol)
+{
+ int maxi = 0;
+ double maxv = -1;
+
+ for (int i = 0; i < maxcol; i++) {
+ if (i == row)
+ continue;
+ double v = fabs(MATD_EL(A, row, i));
+ if (v > maxv) {
+ maxi = i;
+ maxv = v;
+ }
+ }
+
+ return maxi;
+}
+
+double matd_vec_dot_product(const matd_t *a, const matd_t *b)
+{
+ assert(a != NULL);
+ assert(b != NULL);
+ assert(matd_is_vector(a) && matd_is_vector(b));
+ int adim = a->ncols*a->nrows;
+ int bdim = b->ncols*b->nrows;
+ assert(adim == bdim);
+
+ double acc = 0;
+ for (int i = 0; i < adim; i++) {
+ acc += a->data[i] * b->data[i];
+ }
+ return acc;
+}
+
+
+matd_t *matd_vec_normalize(const matd_t *a)
+{
+ assert(a != NULL);
+ assert(matd_is_vector(a));
+
+ double mag = matd_vec_mag(a);
+ assert(mag > 0);
+
+ matd_t *b = matd_create(a->nrows, a->ncols);
+
+ int len = a->nrows*a->ncols;
+ for(int i = 0; i < len; i++)
+ b->data[i] = a->data[i] / mag;
+
+ return b;
+}
+
+matd_t *matd_crossproduct(const matd_t *a, const matd_t *b)
+{ // only defined for vecs (col or row) of length 3
+ assert(a != NULL);
+ assert(b != NULL);
+ assert(matd_is_vector_len(a, 3) && matd_is_vector_len(b, 3));
+
+ matd_t * r = matd_create(a->nrows, a->ncols);
+
+ r->data[0] = a->data[1] * b->data[2] - a->data[2] * b->data[1];
+ r->data[1] = a->data[2] * b->data[0] - a->data[0] * b->data[2];
+ r->data[2] = a->data[0] * b->data[1] - a->data[1] * b->data[0];
+
+ return r;
+}
+
+TYPE matd_err_inf(const matd_t *a, const matd_t *b)
+{
+ assert(a->nrows == b->nrows);
+ assert(a->ncols == b->ncols);
+
+ TYPE maxf = 0;
+
+ for (int i = 0; i < a->nrows; i++) {
+ for (int j = 0; j < a->ncols; j++) {
+ TYPE av = MATD_EL(a, i, j);
+ TYPE bv = MATD_EL(b, i, j);
+
+ TYPE err = fabs(av - bv);
+ maxf = fmax(maxf, err);
+ }
+ }
+
+ return maxf;
+}
+
+// Computes an SVD for square or tall matrices. This code doesn't work
+// for wide matrices, because the bidiagonalization results in one
+// non-zero element too far to the right for us to rotate away.
+//
+// Caller is responsible for destroying U, S, and V.
+static matd_svd_t matd_svd_tall(matd_t *A, int flags)
+{
+ matd_t *B = matd_copy(A);
+
+ // Apply householder reflections on each side to reduce A to
+ // bidiagonal form. Specifically:
+ //
+ // A = LS*B*RS'
+ //
+ // Where B is bidiagonal, and LS/RS are unitary.
+ //
+ // Why are we doing this? Some sort of transformation is necessary
+ // to reduce the matrix's nz elements to a square region. QR could
+ // work too. We need nzs confined to a square region so that the
+ // subsequent iterative process, which is based on rotations, can
+ // work. (To zero out a term at (i,j), our rotations will also
+ // affect (j,i).
+ //
+ // We prefer bidiagonalization over QR because it gets us "closer"
+ // to the SVD, which should mean fewer iterations.
+
+ // LS: cumulative left-handed transformations
+ matd_t *LS = matd_identity(A->nrows);
+
+ // RS: cumulative right-handed transformations.
+ matd_t *RS = matd_identity(A->ncols);
+
+ for (int hhidx = 0; hhidx < A->nrows; hhidx++) {
+
+ if (hhidx < A->ncols) {
+ // We construct the normal of the reflection plane: let u
+ // be the vector to reflect, x =[ M 0 0 0 ] the target
+ // location for u (u') after reflection (with M = ||u||).
+ //
+ // The normal vector is then n = (u - x), but since we
+ // could equally have the target location be x = [-M 0 0 0
+ // ], we could use n = (u + x).
+ //
+ // We then normalize n. To ensure a reasonable magnitude,
+ // we select the sign of M so as to maximize the magnitude
+ // of the first element of (x +/- M). (Otherwise, we could
+ // end up with a divide-by-zero if u[0] and M cancel.)
+ //
+ // The householder reflection matrix is then H=(I - nn'), and
+ // u' = Hu.
+ //
+ //
+ int vlen = A->nrows - hhidx;
+
+ double *v = malloc(sizeof(double)*vlen);
+
+ double mag2 = 0;
+ for (int i = 0; i < vlen; i++) {
+ v[i] = MATD_EL(B, hhidx+i, hhidx);
+ mag2 += v[i]*v[i];
+ }
+
+ double oldv0 = v[0];
+ if (oldv0 < 0)
+ v[0] -= sqrt(mag2);
+ else
+ v[0] += sqrt(mag2);
+
+ mag2 += -oldv0*oldv0 + v[0]*v[0];
+
+ // normalize v
+ double mag = sqrt(mag2);
+
+ // this case arises with matrices of all zeros, for example.
+ if (mag == 0) {
+ free(v);
+ continue;
+ }
+
+ for (int i = 0; i < vlen; i++)
+ v[i] /= mag;
+
+ // Q = I - 2vv'
+ //matd_t *Q = matd_identity(A->nrows);
+ //for (int i = 0; i < vlen; i++)
+ // for (int j = 0; j < vlen; j++)
+ // MATD_EL(Q, i+hhidx, j+hhidx) -= 2*v[i]*v[j];
+
+
+ // LS = matd_op("F*M", LS, Q);
+ // Implementation: take each row of LS, compute dot product with n,
+ // subtract n (scaled by dot product) from it.
+ for (int i = 0; i < LS->nrows; i++) {
+ double dot = 0;
+ for (int j = 0; j < vlen; j++)
+ dot += MATD_EL(LS, i, hhidx+j) * v[j];
+ for (int j = 0; j < vlen; j++)
+ MATD_EL(LS, i, hhidx+j) -= 2*dot*v[j];
+ }
+
+ // B = matd_op("M*F", Q, B); // should be Q', but Q is symmetric.
+ for (int i = 0; i < B->ncols; i++) {
+ double dot = 0;
+ for (int j = 0; j < vlen; j++)
+ dot += MATD_EL(B, hhidx+j, i) * v[j];
+ for (int j = 0; j < vlen; j++)
+ MATD_EL(B, hhidx+j, i) -= 2*dot*v[j];
+ }
+
+ free(v);
+ }
+
+ if (hhidx+2 < A->ncols) {
+ int vlen = A->ncols - hhidx - 1;
+
+ double *v = malloc(sizeof(double)*vlen);
+
+ double mag2 = 0;
+ for (int i = 0; i < vlen; i++) {
+ v[i] = MATD_EL(B, hhidx, hhidx+i+1);
+ mag2 += v[i]*v[i];
+ }
+
+ double oldv0 = v[0];
+ if (oldv0 < 0)
+ v[0] -= sqrt(mag2);
+ else
+ v[0] += sqrt(mag2);
+
+ mag2 += -oldv0*oldv0 + v[0]*v[0];
+
+ // compute magnitude of ([1 0 0..]+v)
+ double mag = sqrt(mag2);
+
+ // this case can occur when the vectors are already perpendicular
+ if (mag == 0) {
+ free(v);
+ continue;
+ }
+
+ for (int i = 0; i < vlen; i++)
+ v[i] /= mag;
+
+ // TODO: optimize these multiplications
+ // matd_t *Q = matd_identity(A->ncols);
+ // for (int i = 0; i < vlen; i++)
+ // for (int j = 0; j < vlen; j++)
+ // MATD_EL(Q, i+1+hhidx, j+1+hhidx) -= 2*v[i]*v[j];
+
+ // RS = matd_op("F*M", RS, Q);
+ for (int i = 0; i < RS->nrows; i++) {
+ double dot = 0;
+ for (int j = 0; j < vlen; j++)
+ dot += MATD_EL(RS, i, hhidx+1+j) * v[j];
+ for (int j = 0; j < vlen; j++)
+ MATD_EL(RS, i, hhidx+1+j) -= 2*dot*v[j];
+ }
+
+ // B = matd_op("F*M", B, Q); // should be Q', but Q is symmetric.
+ for (int i = 0; i < B->nrows; i++) {
+ double dot = 0;
+ for (int j = 0; j < vlen; j++)
+ dot += MATD_EL(B, i, hhidx+1+j) * v[j];
+ for (int j = 0; j < vlen; j++)
+ MATD_EL(B, i, hhidx+1+j) -= 2*dot*v[j];
+ }
+
+ free(v);
+ }
+ }
+
+ // empirically, we find a roughly linear worst-case number of iterations
+ // as a function of rows*cols. maxiters ~= 1.5*nrows*ncols
+ // we're a bit conservative below.
+ int maxiters = 200 + 2 * A->nrows * A->ncols;
+ assert(maxiters > 0); // reassure clang
+ int iter;
+
+ double maxv; // maximum non-zero value being reduced this iteration
+
+ double tol = 1E-10;
+
+ // which method will we use to find the largest off-diagonal
+ // element of B?
+ const int find_max_method = 1; //(B->ncols < 6) ? 2 : 1;
+
+ // for each of the first B->ncols rows, which index has the
+ // maximum absolute value? (used by method 1)
+ int *maxrowidx = malloc(sizeof(int)*B->ncols);
+ int lastmaxi, lastmaxj;
+
+ if (find_max_method == 1) {
+ for (int i = 2; i < B->ncols; i++)
+ maxrowidx[i] = max_idx(B, i, B->ncols);
+
+ // note that we started the array at 2. That's because by setting
+ // these values below, we'll recompute first two entries on the
+ // first iteration!
+ lastmaxi = 0, lastmaxj = 1;
+ }
+
+ for (iter = 0; iter < maxiters; iter++) {
+
+ // No diagonalization required for 0x0 and 1x1 matrices.
+ if (B->ncols < 2)
+ break;
+
+ // find the largest off-diagonal element of B, and put its
+ // coordinates in maxi, maxj.
+ int maxi, maxj;
+
+ if (find_max_method == 1) {
+ // method 1 is the "smarter" method which does at least
+ // 4*ncols work. More work might be needed (up to
+ // ncols*ncols), depending on data. Thus, this might be a
+ // bit slower than the default method for very small
+ // matrices.
+ maxi = -1;
+ maxv = -1;
+
+ // every iteration, we must deal with the fact that rows
+ // and columns lastmaxi and lastmaxj have been
+ // modified. Update maxrowidx accordingly.
+
+ // now, EVERY row also had columns lastmaxi and lastmaxj modified.
+ for (int rowi = 0; rowi < B->ncols; rowi++) {
+
+ // the magnitude of the largest off-diagonal element
+ // in this row.
+ double thismaxv;
+
+ // row 'lastmaxi' and 'lastmaxj' have been completely
+ // changed. compute from scratch.
+ if (rowi == lastmaxi || rowi == lastmaxj) {
+ maxrowidx[rowi] = max_idx(B, rowi, B->ncols);
+ thismaxv = fabs(MATD_EL(B, rowi, maxrowidx[rowi]));
+ goto endrowi;
+ }
+
+ // our maximum entry was just modified. We don't know
+ // if it went up or down, and so we don't know if it
+ // is still the maximum. We have to update from
+ // scratch.
+ if (maxrowidx[rowi] == lastmaxi || maxrowidx[rowi] == lastmaxj) {
+ maxrowidx[rowi] = max_idx(B, rowi, B->ncols);
+ thismaxv = fabs(MATD_EL(B, rowi, maxrowidx[rowi]));
+ goto endrowi;
+ }
+
+ // This row is unchanged, except for columns
+ // 'lastmaxi' and 'lastmaxj', and those columns were
+ // not previously the largest entry... just check to
+ // see if they are now the maximum entry in their
+ // row. (Remembering to consider off-diagonal entries
+ // only!)
+ thismaxv = fabs(MATD_EL(B, rowi, maxrowidx[rowi]));
+
+ // check column lastmaxi. Is it now the maximum?
+ if (lastmaxi != rowi) {
+ double v = fabs(MATD_EL(B, rowi, lastmaxi));
+ if (v > thismaxv) {
+ thismaxv = v;
+ maxrowidx[rowi] = lastmaxi;
+ }
+ }
+
+ // check column lastmaxj
+ if (lastmaxj != rowi) {
+ double v = fabs(MATD_EL(B, rowi, lastmaxj));
+ if (v > thismaxv) {
+ thismaxv = v;
+ maxrowidx[rowi] = lastmaxj;
+ }
+ }
+
+ // does this row have the largest value we've seen so far?
+ endrowi:
+ if (thismaxv > maxv) {
+ maxv = thismaxv;
+ maxi = rowi;
+ }
+ }
+
+ assert(maxi >= 0);
+ maxj = maxrowidx[maxi];
+
+ // save these for the next iteration.
+ lastmaxi = maxi;
+ lastmaxj = maxj;
+
+ if (maxv < tol)
+ break;
+
+ } else if (find_max_method == 2) {
+ // brute-force (reference) version.
+ maxv = -1;
+
+ // only search top "square" portion
+ for (int i = 0; i < B->ncols; i++) {
+ for (int j = 0; j < B->ncols; j++) {
+ if (i == j)
+ continue;
+
+ double v = fabs(MATD_EL(B, i, j));
+
+ if (v > maxv) {
+ maxi = i;
+ maxj = j;
+ maxv = v;
+ }
+ }
+ }
+
+ // termination condition.
+ if (maxv < tol)
+ break;
+ } else {
+ assert(0);
+ }
+
+// printf(">>> %5d %3d, %3d %15g\n", maxi, maxj, iter, maxv);
+
+ // Now, solve the 2x2 SVD problem for the matrix
+ // [ A0 A1 ]
+ // [ A2 A3 ]
+ double A0 = MATD_EL(B, maxi, maxi);
+ double A1 = MATD_EL(B, maxi, maxj);
+ double A2 = MATD_EL(B, maxj, maxi);
+ double A3 = MATD_EL(B, maxj, maxj);
+
+ if (1) {
+ double AQ[4];
+ AQ[0] = A0;
+ AQ[1] = A1;
+ AQ[2] = A2;
+ AQ[3] = A3;
+
+ double U[4], S[2], V[4];
+ svd22(AQ, U, S, V);
+
+/* Reference (slow) implementation...
+
+ // LS = LS * ROT(theta) = LS * QL
+ matd_t *QL = matd_identity(A->nrows);
+ MATD_EL(QL, maxi, maxi) = U[0];
+ MATD_EL(QL, maxi, maxj) = U[1];
+ MATD_EL(QL, maxj, maxi) = U[2];
+ MATD_EL(QL, maxj, maxj) = U[3];
+
+ matd_t *QR = matd_identity(A->ncols);
+ MATD_EL(QR, maxi, maxi) = V[0];
+ MATD_EL(QR, maxi, maxj) = V[1];
+ MATD_EL(QR, maxj, maxi) = V[2];
+ MATD_EL(QR, maxj, maxj) = V[3];
+
+ LS = matd_op("F*M", LS, QL);
+ RS = matd_op("F*M", RS, QR); // remember we'll transpose RS.
+ B = matd_op("M'*F*M", QL, B, QR);
+
+ matd_destroy(QL);
+ matd_destroy(QR);
+*/
+
+ // LS = matd_op("F*M", LS, QL);
+ for (int i = 0; i < LS->nrows; i++) {
+ double vi = MATD_EL(LS, i, maxi);
+ double vj = MATD_EL(LS, i, maxj);
+
+ MATD_EL(LS, i, maxi) = U[0]*vi + U[2]*vj;
+ MATD_EL(LS, i, maxj) = U[1]*vi + U[3]*vj;
+ }
+
+ // RS = matd_op("F*M", RS, QR); // remember we'll transpose RS.
+ for (int i = 0; i < RS->nrows; i++) {
+ double vi = MATD_EL(RS, i, maxi);
+ double vj = MATD_EL(RS, i, maxj);
+
+ MATD_EL(RS, i, maxi) = V[0]*vi + V[2]*vj;
+ MATD_EL(RS, i, maxj) = V[1]*vi + V[3]*vj;
+ }
+
+ // B = matd_op("M'*F*M", QL, B, QR);
+ // The QL matrix mixes rows of B.
+ for (int i = 0; i < B->ncols; i++) {
+ double vi = MATD_EL(B, maxi, i);
+ double vj = MATD_EL(B, maxj, i);
+
+ MATD_EL(B, maxi, i) = U[0]*vi + U[2]*vj;
+ MATD_EL(B, maxj, i) = U[1]*vi + U[3]*vj;
+ }
+
+ // The QR matrix mixes columns of B.
+ for (int i = 0; i < B->nrows; i++) {
+ double vi = MATD_EL(B, i, maxi);
+ double vj = MATD_EL(B, i, maxj);
+
+ MATD_EL(B, i, maxi) = V[0]*vi + V[2]*vj;
+ MATD_EL(B, i, maxj) = V[1]*vi + V[3]*vj;
+ }
+ }
+ }
+
+ free(maxrowidx);
+
+ if (!(flags & MATD_SVD_NO_WARNINGS) && iter == maxiters) {
+ debug_print("WARNING: maximum iters (maximum = %d, matrix %d x %d, max=%.15f)\n",
+ iter, A->nrows, A->ncols, maxv);
+
+// matd_print(A, "%15f");
+ }
+
+ // them all positive by flipping the corresponding columns of
+ // U/LS.
+ int *idxs = malloc(sizeof(int)*A->ncols);
+ double *vals = malloc(sizeof(double)*A->ncols);
+ for (int i = 0; i < A->ncols; i++) {
+ idxs[i] = i;
+ vals[i] = MATD_EL(B, i, i);
+ }
+
+ // A bubble sort. Seriously.
+ int changed;
+ do {
+ changed = 0;
+
+ for (int i = 0; i + 1 < A->ncols; i++) {
+ if (fabs(vals[i+1]) > fabs(vals[i])) {
+ int tmpi = idxs[i];
+ idxs[i] = idxs[i+1];
+ idxs[i+1] = tmpi;
+
+ double tmpv = vals[i];
+ vals[i] = vals[i+1];
+ vals[i+1] = tmpv;
+
+ changed = 1;
+ }
+ }
+ } while (changed);
+
+ matd_t *LP = matd_identity(A->nrows);
+ matd_t *RP = matd_identity(A->ncols);
+
+ for (int i = 0; i < A->ncols; i++) {
+ MATD_EL(LP, idxs[i], idxs[i]) = 0; // undo the identity above
+ MATD_EL(RP, idxs[i], idxs[i]) = 0;
+
+ MATD_EL(LP, idxs[i], i) = vals[i] < 0 ? -1 : 1;
+ MATD_EL(RP, idxs[i], i) = 1; //vals[i] < 0 ? -1 : 1;
+ }
+ free(idxs);
+ free(vals);
+
+ // we've factored:
+ // LP*(something)*RP'
+
+ // solve for (something)
+ B = matd_op("M'*F*M", LP, B, RP);
+
+ // update LS and RS, remembering that RS will be transposed.
+ LS = matd_op("F*M", LS, LP);
+ RS = matd_op("F*M", RS, RP);
+
+ matd_destroy(LP);
+ matd_destroy(RP);
+
+ matd_svd_t res;
+ memset(&res, 0, sizeof(res));
+
+ // make B exactly diagonal
+
+ for (int i = 0; i < B->nrows; i++) {
+ for (int j = 0; j < B->ncols; j++) {
+ if (i != j)
+ MATD_EL(B, i, j) = 0;
+ }
+ }
+
+ res.U = LS;
+ res.S = B;
+ res.V = RS;
+
+ return res;
+}
+
+matd_svd_t matd_svd(matd_t *A)
+{
+ return matd_svd_flags(A, 0);
+}
+
+matd_svd_t matd_svd_flags(matd_t *A, int flags)
+{
+ matd_svd_t res;
+
+ if (A->ncols <= A->nrows) {
+ res = matd_svd_tall(A, flags);
+ } else {
+ matd_t *At = matd_transpose(A);
+
+ // A =U S V'
+ // A'=V S' U'
+
+ matd_svd_t tmp = matd_svd_tall(At, flags);
+
+ memset(&res, 0, sizeof(res));
+ res.U = tmp.V; //matd_transpose(tmp.V);
+ res.S = matd_transpose(tmp.S);
+ res.V = tmp.U; //matd_transpose(tmp.U);
+
+ matd_destroy(tmp.S);
+ matd_destroy(At);
+ }
+
+/*
+ matd_t *check = matd_op("M*M*M'-M", res.U, res.S, res.V, A);
+ double maxerr = 0;
+
+ for (int i = 0; i < check->nrows; i++)
+ for (int j = 0; j < check->ncols; j++)
+ maxerr = fmax(maxerr, fabs(MATD_EL(check, i, j)));
+
+ matd_destroy(check);
+
+ if (maxerr > 1e-7) {
+ printf("bad maxerr: %15f\n", maxerr);
+ }
+
+ if (maxerr > 1e-5) {
+ printf("bad maxerr: %15f\n", maxerr);
+ matd_print(A, "%15f");
+ assert(0);
+ }
+
+*/
+ return res;
+}
+
+
+matd_plu_t *matd_plu(const matd_t *a)
+{
+ unsigned int *piv = calloc(a->nrows, sizeof(unsigned int));
+ int pivsign = 1;
+ matd_t *lu = matd_copy(a);
+
+ // only for square matrices.
+ assert(a->nrows == a->ncols);
+
+ matd_plu_t *mlu = calloc(1, sizeof(matd_plu_t));
+
+ for (int i = 0; i < a->nrows; i++)
+ piv[i] = i;
+
+ for (int j = 0; j < a->ncols; j++) {
+ for (int i = 0; i < a->nrows; i++) {
+ int kmax = i < j ? i : j; // min(i,j)
+
+ // compute dot product of row i with column j (up through element kmax)
+ double acc = 0;
+ for (int k = 0; k < kmax; k++)
+ acc += MATD_EL(lu, i, k) * MATD_EL(lu, k, j);
+
+ MATD_EL(lu, i, j) -= acc;
+ }
+
+ // find pivot and exchange if necessary.
+ int p = j;
+ if (1) {
+ for (int i = j+1; i < lu->nrows; i++) {
+ if (fabs(MATD_EL(lu,i,j)) > fabs(MATD_EL(lu, p, j))) {
+ p = i;
+ }
+ }
+ }
+
+ // swap rows p and j?
+ if (p != j) {
+ TYPE *tmp = malloc(sizeof(TYPE)*lu->ncols);
+ memcpy(tmp, &MATD_EL(lu, p, 0), sizeof(TYPE) * lu->ncols);
+ memcpy(&MATD_EL(lu, p, 0), &MATD_EL(lu, j, 0), sizeof(TYPE) * lu->ncols);
+ memcpy(&MATD_EL(lu, j, 0), tmp, sizeof(TYPE) * lu->ncols);
+ int k = piv[p];
+ piv[p] = piv[j];
+ piv[j] = k;
+ pivsign = -pivsign;
+ free(tmp);
+ }
+
+ double LUjj = MATD_EL(lu, j, j);
+
+ // If our pivot is very small (which means the matrix is
+ // singular or nearly singular), replace with a new pivot of the
+ // right sign.
+ if (fabs(LUjj) < MATD_EPS) {
+/*
+ if (LUjj < 0)
+ LUjj = -MATD_EPS;
+ else
+ LUjj = MATD_EPS;
+
+ MATD_EL(lu, j, j) = LUjj;
+*/
+ mlu->singular = 1;
+ }
+
+ if (j < lu->ncols && j < lu->nrows && LUjj != 0) {
+ LUjj = 1.0 / LUjj;
+ for (int i = j+1; i < lu->nrows; i++)
+ MATD_EL(lu, i, j) *= LUjj;
+ }
+ }
+
+ mlu->lu = lu;
+ mlu->piv = piv;
+ mlu->pivsign = pivsign;
+
+ return mlu;
+}
+
+void matd_plu_destroy(matd_plu_t *mlu)
+{
+ matd_destroy(mlu->lu);
+ free(mlu->piv);
+ memset(mlu, 0, sizeof(matd_plu_t));
+ free(mlu);
+}
+
+double matd_plu_det(const matd_plu_t *mlu)
+{
+ matd_t *lu = mlu->lu;
+ double det = mlu->pivsign;
+
+ if (lu->nrows == lu->ncols) {
+ for (int i = 0; i < lu->ncols; i++)
+ det *= MATD_EL(lu, i, i);
+ }
+
+ return det;
+}
+
+matd_t *matd_plu_p(const matd_plu_t *mlu)
+{
+ matd_t *lu = mlu->lu;
+ matd_t *P = matd_create(lu->nrows, lu->nrows);
+
+ for (int i = 0; i < lu->nrows; i++) {
+ MATD_EL(P, mlu->piv[i], i) = 1;
+ }
+
+ return P;
+}
+
+matd_t *matd_plu_l(const matd_plu_t *mlu)
+{
+ matd_t *lu = mlu->lu;
+
+ matd_t *L = matd_create(lu->nrows, lu->ncols);
+ for (int i = 0; i < lu->nrows; i++) {
+ MATD_EL(L, i, i) = 1;
+
+ for (int j = 0; j < i; j++) {
+ MATD_EL(L, i, j) = MATD_EL(lu, i, j);
+ }
+ }
+
+ return L;
+}
+
+matd_t *matd_plu_u(const matd_plu_t *mlu)
+{
+ matd_t *lu = mlu->lu;
+
+ matd_t *U = matd_create(lu->ncols, lu->ncols);
+ for (int i = 0; i < lu->ncols; i++) {
+ for (int j = 0; j < lu->ncols; j++) {
+ if (i <= j)
+ MATD_EL(U, i, j) = MATD_EL(lu, i, j);
+ }
+ }
+
+ return U;
+}
+
+// PLU = A
+// Ax = B
+// PLUx = B
+// LUx = P'B
+matd_t *matd_plu_solve(const matd_plu_t *mlu, const matd_t *b)
+{
+ matd_t *x = matd_copy(b);
+
+ // permute right hand side
+ for (int i = 0; i < mlu->lu->nrows; i++)
+ memcpy(&MATD_EL(x, i, 0), &MATD_EL(b, mlu->piv[i], 0), sizeof(TYPE) * b->ncols);
+
+ // solve Ly = b
+ for (int k = 0; k < mlu->lu->nrows; k++) {
+ for (int i = k+1; i < mlu->lu->nrows; i++) {
+ double LUik = -MATD_EL(mlu->lu, i, k);
+ for (int t = 0; t < b->ncols; t++)
+ MATD_EL(x, i, t) += MATD_EL(x, k, t) * LUik;
+ }
+ }
+
+ // solve Ux = y
+ for (int k = mlu->lu->ncols-1; k >= 0; k--) {
+ double LUkk = 1.0 / MATD_EL(mlu->lu, k, k);
+ for (int t = 0; t < b->ncols; t++)
+ MATD_EL(x, k, t) *= LUkk;
+
+ for (int i = 0; i < k; i++) {
+ double LUik = -MATD_EL(mlu->lu, i, k);
+ for (int t = 0; t < b->ncols; t++)
+ MATD_EL(x, i, t) += MATD_EL(x, k, t) *LUik;
+ }
+ }
+
+ return x;
+}
+
+matd_t *matd_solve(matd_t *A, matd_t *b)
+{
+ matd_plu_t *mlu = matd_plu(A);
+ matd_t *x = matd_plu_solve(mlu, b);
+
+ matd_plu_destroy(mlu);
+ return x;
+}
+
+#if 0
+
+static int randi()
+{
+ int v = random()&31;
+ v -= 15;
+ return v;
+}
+
+static double randf()
+{
+ double v = 1.0 *random() / RAND_MAX;
+ return 2*v - 1;
+}
+
+int main(int argc, char *argv[])
+{
+ if (1) {
+ int maxdim = 16;
+ matd_t *A = matd_create(maxdim, maxdim);
+
+ for (int iter = 0; 1; iter++) {
+ srand(iter);
+
+ if (iter % 1000 == 0)
+ printf("%d\n", iter);
+
+ int m = 1 + (random()%(maxdim-1));
+ int n = 1 + (random()%(maxdim-1));
+
+ for (int i = 0; i < m*n; i++)
+ A->data[i] = randi();
+
+ A->nrows = m;
+ A->ncols = n;
+
+// printf("%d %d ", m, n);
+ matd_svd_t svd = matd_svd(A);
+ matd_destroy(svd.U);
+ matd_destroy(svd.S);
+ matd_destroy(svd.V);
+
+ }
+
+/* matd_t *A = matd_create_data(2, 5, (double[]) { 1, 5, 2, 6,
+ 3, 3, 0, 7,
+ 1, 1, 0, -2,
+ 4, 0, 9, 9, 2, 6, 1, 3, 2, 5, 5, 4, -1, 2, 5, 9, 8, 2 });
+
+ matd_svd(A);
+*/
+ return 0;
+ }
+
+
+ struct svd22 s;
+
+ srand(0);
+
+ matd_t *A = matd_create(2, 2);
+ MATD_EL(A,0,0) = 4;
+ MATD_EL(A,0,1) = 7;
+ MATD_EL(A,1,0) = 2;
+ MATD_EL(A,1,1) = 6;
+
+ matd_t *U = matd_create(2, 2);
+ matd_t *V = matd_create(2, 2);
+ matd_t *S = matd_create(2, 2);
+
+ for (int iter = 0; 1; iter++) {
+ if (iter % 100000 == 0)
+ printf("%d\n", iter);
+
+ MATD_EL(A,0,0) = randf();
+ MATD_EL(A,0,1) = randf();
+ MATD_EL(A,1,0) = randf();
+ MATD_EL(A,1,1) = randf();
+
+ matd_svd22_impl(A->data, &s);
+
+ memcpy(U->data, s.U, 4*sizeof(double));
+ memcpy(V->data, s.V, 4*sizeof(double));
+ MATD_EL(S,0,0) = s.S[0];
+ MATD_EL(S,1,1) = s.S[1];
+
+ assert(s.S[0] >= s.S[1]);
+ assert(s.S[0] >= 0);
+ assert(s.S[1] >= 0);
+ if (s.S[0] == 0) {
+// printf("*"); fflush(NULL);
+// printf("%15f %15f %15f %15f\n", MATD_EL(A,0,0), MATD_EL(A,0,1), MATD_EL(A,1,0), MATD_EL(A,1,1));
+ }
+ if (s.S[1] == 0) {
+// printf("#"); fflush(NULL);
+ }
+
+ matd_t *USV = matd_op("M*M*M'", U, S, V);
+
+ double maxerr = 0;
+ for (int i = 0; i < 4; i++)
+ maxerr = fmax(maxerr, fabs(USV->data[i] - A->data[i]));
+
+ if (0) {
+ printf("------------------------------------\n");
+ printf("A:\n");
+ matd_print(A, "%15f");
+ printf("\nUSV':\n");
+ matd_print(USV, "%15f");
+ printf("maxerr: %.15f\n", maxerr);
+ printf("\n\n");
+ }
+
+ matd_destroy(USV);
+
+ assert(maxerr < 0.00001);
+ }
+}
+
+#endif
+
+// XXX NGV Cholesky
+/*static double *matd_cholesky_raw(double *A, int n)
+ {
+ double *L = (double*)calloc(n * n, sizeof(double));
+
+ for (int i = 0; i < n; i++) {
+ for (int j = 0; j < (i+1); j++) {
+ double s = 0;
+ for (int k = 0; k < j; k++)
+ s += L[i * n + k] * L[j * n + k];
+ L[i * n + j] = (i == j) ?
+ sqrt(A[i * n + i] - s) :
+ (1.0 / L[j * n + j] * (A[i * n + j] - s));
+ }
+ }
+
+ return L;
+ }
+
+ matd_t *matd_cholesky(const matd_t *A)
+ {
+ assert(A->nrows == A->ncols);
+ double *L_data = matd_cholesky_raw(A->data, A->nrows);
+ matd_t *L = matd_create_data(A->nrows, A->ncols, L_data);
+ free(L_data);
+ return L;
+ }*/
+
+// NOTE: The below implementation of Cholesky is different from the one
+// used in NGV.
+matd_chol_t *matd_chol(matd_t *A)
+{
+ assert(A->nrows == A->ncols);
+ int N = A->nrows;
+
+ // make upper right
+ matd_t *U = matd_copy(A);
+
+ // don't actually need to clear lower-left... we won't touch it.
+/* for (int i = 0; i < U->nrows; i++) {
+ for (int j = 0; j < i; j++) {
+// assert(MATD_EL(U, i, j) == MATD_EL(U, j, i));
+MATD_EL(U, i, j) = 0;
+}
+}
+*/
+ int is_spd = 1; // (A->nrows == A->ncols);
+
+ for (int i = 0; i < N; i++) {
+ double d = MATD_EL(U, i, i);
+ is_spd &= (d > 0);
+
+ if (d < MATD_EPS)
+ d = MATD_EPS;
+ d = 1.0 / sqrt(d);
+
+ for (int j = i; j < N; j++)
+ MATD_EL(U, i, j) *= d;
+
+ for (int j = i+1; j < N; j++) {
+ double s = MATD_EL(U, i, j);
+
+ if (s == 0)
+ continue;
+
+ for (int k = j; k < N; k++) {
+ MATD_EL(U, j, k) -= MATD_EL(U, i, k)*s;
+ }
+ }
+ }
+
+ matd_chol_t *chol = calloc(1, sizeof(matd_chol_t));
+ chol->is_spd = is_spd;
+ chol->u = U;
+ return chol;
+}
+
+void matd_chol_destroy(matd_chol_t *chol)
+{
+ matd_destroy(chol->u);
+ free(chol);
+}
+
+// Solve: (U')x = b, U is upper triangular
+void matd_ltransposetriangle_solve(matd_t *u, const TYPE *b, TYPE *x)
+{
+ int n = u->ncols;
+ memcpy(x, b, n*sizeof(TYPE));
+ for (int i = 0; i < n; i++) {
+ x[i] /= MATD_EL(u, i, i);
+
+ for (int j = i+1; j < u->ncols; j++) {
+ x[j] -= x[i] * MATD_EL(u, i, j);
+ }
+ }
+}
+
+// Solve: Lx = b, L is lower triangular
+void matd_ltriangle_solve(matd_t *L, const TYPE *b, TYPE *x)
+{
+ int n = L->ncols;
+
+ for (int i = 0; i < n; i++) {
+ double acc = b[i];
+
+ for (int j = 0; j < i; j++) {
+ acc -= MATD_EL(L, i, j)*x[j];
+ }
+
+ x[i] = acc / MATD_EL(L, i, i);
+ }
+}
+
+// solve Ux = b, U is upper triangular
+void matd_utriangle_solve(matd_t *u, const TYPE *b, TYPE *x)
+{
+ for (int i = u->ncols-1; i >= 0; i--) {
+ double bi = b[i];
+
+ double diag = MATD_EL(u, i, i);
+
+ for (int j = i+1; j < u->ncols; j++)
+ bi -= MATD_EL(u, i, j)*x[j];
+
+ x[i] = bi / diag;
+ }
+}
+
+matd_t *matd_chol_solve(const matd_chol_t *chol, const matd_t *b)
+{
+ matd_t *u = chol->u;
+
+ matd_t *x = matd_copy(b);
+
+ // LUx = b
+
+ // solve Ly = b ==> (U')y = b
+
+ for (int i = 0; i < u->nrows; i++) {
+ for (int j = 0; j < i; j++) {
+ // b[i] -= L[i,j]*x[j]... replicated across columns of b
+ // ==> i.e., ==>
+ // b[i,k] -= L[i,j]*x[j,k]
+ for (int k = 0; k < b->ncols; k++) {
+ MATD_EL(x, i, k) -= MATD_EL(u, j, i)*MATD_EL(x, j, k);
+ }
+ }
+ // x[i] = b[i] / L[i,i]
+ for (int k = 0; k < b->ncols; k++) {
+ MATD_EL(x, i, k) /= MATD_EL(u, i, i);
+ }
+ }
+
+ // solve Ux = y
+ for (int k = u->ncols-1; k >= 0; k--) {
+ double LUkk = 1.0 / MATD_EL(u, k, k);
+ for (int t = 0; t < b->ncols; t++)
+ MATD_EL(x, k, t) *= LUkk;
+
+ for (int i = 0; i < k; i++) {
+ double LUik = -MATD_EL(u, i, k);
+ for (int t = 0; t < b->ncols; t++)
+ MATD_EL(x, i, t) += MATD_EL(x, k, t) *LUik;
+ }
+ }
+
+ return x;
+}
+
+/*void matd_chol_solve(matd_chol_t *chol, const TYPE *b, TYPE *x)
+ {
+ matd_t *u = chol->u;
+
+ TYPE y[u->ncols];
+ matd_ltransposetriangle_solve(u, b, y);
+ matd_utriangle_solve(u, y, x);
+ }
+*/
+// only sensible on PSD matrices. had expected it to be faster than
+// inverse via LU... for now, doesn't seem to be.
+matd_t *matd_chol_inverse(matd_t *a)
+{
+ assert(a->nrows == a->ncols);
+
+ matd_chol_t *chol = matd_chol(a);
+
+ matd_t *eye = matd_identity(a->nrows);
+ matd_t *inv = matd_chol_solve(chol, eye);
+ matd_destroy(eye);
+ matd_chol_destroy(chol);
+
+ return inv;
+}
+
+double matd_max(matd_t *m)
+{
+ double d = -DBL_MAX;
+ for(int x=0; x<m->nrows; x++) {
+ for(int y=0; y<m->ncols; y++) {
+ if(MATD_EL(m, x, y) > d)
+ d = MATD_EL(m, x, y);
+ }
+ }
+
+ return d;
+}
diff --git a/third_party/apriltag/common/matd.h b/third_party/apriltag/common/matd.h
new file mode 100644
index 0000000..3a79c56
--- /dev/null
+++ b/third_party/apriltag/common/matd.h
@@ -0,0 +1,446 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#include <assert.h>
+#include <stddef.h>
+#include <string.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Defines a matrix structure for holding double-precision values with
+ * data in row-major order (i.e. index = row*ncols + col).
+ *
+ * nrows and ncols are 1-based counts with the exception that a scalar (non-matrix)
+ * is represented with nrows=0 and/or ncols=0.
+ */
+typedef struct
+{
+ unsigned int nrows, ncols;
+ double data[];
+// double *data;
+} matd_t;
+
+#define MATD_ALLOC(name, nrows, ncols) double name ## _storage [nrows*ncols]; matd_t name = { .nrows = nrows, .ncols = ncols, .data = &name ## _storage };
+
+/**
+ * Defines a small value which can be used in place of zero for approximating
+ * calculations which are singular at zero values (i.e. inverting a matrix with
+ * a zero or near-zero determinant).
+ */
+#define MATD_EPS 1e-8
+
+/**
+ * A macro to reference a specific matd_t data element given it's zero-based
+ * row and column indexes. Suitable for both retrieval and assignment.
+ */
+#define MATD_EL(m, row, col) (m)->data[((row)*(m)->ncols + (col))]
+
+/**
+ * Creates a double matrix with the given number of rows and columns (or a scalar
+ * in the case where rows=0 and/or cols=0). All data elements will be initialized
+ * to zero. It is the caller's responsibility to call matd_destroy() on the
+ * returned matrix.
+ */
+matd_t *matd_create(int rows, int cols);
+
+/**
+ * Creates a double matrix with the given number of rows and columns (or a scalar
+ * in the case where rows=0 and/or cols=0). All data elements will be initialized
+ * using the supplied array of data, which must contain at least rows*cols elements,
+ * arranged in row-major order (i.e. index = row*ncols + col). It is the caller's
+ * responsibility to call matd_destroy() on the returned matrix.
+ */
+matd_t *matd_create_data(int rows, int cols, const double *data);
+
+/**
+ * Creates a double matrix with the given number of rows and columns (or a scalar
+ * in the case where rows=0 and/or cols=0). All data elements will be initialized
+ * using the supplied array of float data, which must contain at least rows*cols elements,
+ * arranged in row-major order (i.e. index = row*ncols + col). It is the caller's
+ * responsibility to call matd_destroy() on the returned matrix.
+ */
+matd_t *matd_create_dataf(int rows, int cols, const float *data);
+
+/**
+ * Creates a square identity matrix with the given number of rows (and
+ * therefore columns), or a scalar with value 1 in the case where dim=0.
+ * It is the caller's responsibility to call matd_destroy() on the
+ * returned matrix.
+ */
+matd_t *matd_identity(int dim);
+
+/**
+ * Creates a scalar with the supplied value 'v'. It is the caller's responsibility
+ * to call matd_destroy() on the returned matrix.
+ *
+ * NOTE: Scalars are different than 1x1 matrices (implementation note:
+ * they are encoded as 0x0 matrices). For example: for matrices A*B, A
+ * and B must both have specific dimensions. However, if A is a
+ * scalar, there are no restrictions on the size of B.
+ */
+matd_t *matd_create_scalar(double v);
+
+/**
+ * Retrieves the cell value for matrix 'm' at the given zero-based row and column index.
+ * Performs more thorough validation checking than MATD_EL().
+ */
+double matd_get(const matd_t *m, int row, int col);
+
+/**
+ * Assigns the given value to the matrix cell at the given zero-based row and
+ * column index. Performs more thorough validation checking than MATD_EL().
+ */
+void matd_put(matd_t *m, int row, int col, double value);
+
+/**
+ * Retrieves the scalar value of the given element ('m' must be a scalar).
+ * Performs more thorough validation checking than MATD_EL().
+ */
+double matd_get_scalar(const matd_t *m);
+
+/**
+ * Assigns the given value to the supplied scalar element ('m' must be a scalar).
+ * Performs more thorough validation checking than MATD_EL().
+ */
+void matd_put_scalar(matd_t *m, double value);
+
+/**
+ * Creates an exact copy of the supplied matrix 'm'. It is the caller's
+ * responsibility to call matd_destroy() on the returned matrix.
+ */
+matd_t *matd_copy(const matd_t *m);
+
+/**
+ * Creates a copy of a subset of the supplied matrix 'a'. The subset will include
+ * rows 'r0' through 'r1', inclusive ('r1' >= 'r0'), and columns 'c0' through 'c1',
+ * inclusive ('c1' >= 'c0'). All parameters are zero-based (i.e. matd_select(a, 0, 0, 0, 0)
+ * will return only the first cell). Cannot be used on scalars or to extend
+ * beyond the number of rows/columns of 'a'. It is the caller's responsibility to
+ * call matd_destroy() on the returned matrix.
+ */
+matd_t *matd_select(const matd_t *a, int r0, int r1, int c0, int c1);
+
+/**
+ * Prints the supplied matrix 'm' to standard output by applying the supplied
+ * printf format specifier 'fmt' for each individual element. Each row will
+ * be printed on a separate newline.
+ */
+void matd_print(const matd_t *m, const char *fmt);
+
+/**
+ * Prints the transpose of the supplied matrix 'm' to standard output by applying
+ * the supplied printf format specifier 'fmt' for each individual element. Each
+ * row will be printed on a separate newline.
+ */
+void matd_print_transpose(const matd_t *m, const char *fmt);
+
+/**
+ * Adds the two supplied matrices together, cell-by-cell, and returns the results
+ * as a new matrix of the same dimensions. The supplied matrices must have
+ * identical dimensions. It is the caller's responsibility to call matd_destroy()
+ * on the returned matrix.
+ */
+matd_t *matd_add(const matd_t *a, const matd_t *b);
+
+/**
+ * Adds the values of 'b' to matrix 'a', cell-by-cell, and overwrites the
+ * contents of 'a' with the results. The supplied matrices must have
+ * identical dimensions.
+ */
+void matd_add_inplace(matd_t *a, const matd_t *b);
+
+/**
+ * Subtracts matrix 'b' from matrix 'a', cell-by-cell, and returns the results
+ * as a new matrix of the same dimensions. The supplied matrices must have
+ * identical dimensions. It is the caller's responsibility to call matd_destroy()
+ * on the returned matrix.
+ */
+matd_t *matd_subtract(const matd_t *a, const matd_t *b);
+
+/**
+ * Subtracts the values of 'b' from matrix 'a', cell-by-cell, and overwrites the
+ * contents of 'a' with the results. The supplied matrices must have
+ * identical dimensions.
+ */
+void matd_subtract_inplace(matd_t *a, const matd_t *b);
+
+/**
+ * Scales all cell values of matrix 'a' by the given scale factor 's' and
+ * returns the result as a new matrix of the same dimensions. It is the caller's
+ * responsibility to call matd_destroy() on the returned matrix.
+ */
+matd_t *matd_scale(const matd_t *a, double s);
+
+/**
+ * Scales all cell values of matrix 'a' by the given scale factor 's' and
+ * overwrites the contents of 'a' with the results.
+ */
+void matd_scale_inplace(matd_t *a, double s);
+
+/**
+ * Multiplies the two supplied matrices together (matrix product), and returns the
+ * results as a new matrix. The supplied matrices must have dimensions such that
+ * columns(a) = rows(b). The returned matrix will have a row count of rows(a)
+ * and a column count of columns(b). It is the caller's responsibility to call
+ * matd_destroy() on the returned matrix.
+ */
+matd_t *matd_multiply(const matd_t *a, const matd_t *b);
+
+/**
+ * Creates a matrix which is the transpose of the supplied matrix 'a'. It is the
+ * caller's responsibility to call matd_destroy() on the returned matrix.
+ */
+matd_t *matd_transpose(const matd_t *a);
+
+/**
+ * Calculates the determinant of the supplied matrix 'a'.
+ */
+double matd_det(const matd_t *a);
+
+/**
+ * Attempts to compute an inverse of the supplied matrix 'a' and return it as
+ * a new matrix. This is strictly only possible if the determinant of 'a' is
+ * non-zero (matd_det(a) != 0).
+ *
+ * If the determinant is zero, NULL is returned. It is otherwise the
+ * caller's responsibility to cope with the results caused by poorly
+ * conditioned matrices. (E.g.., if such a situation is likely to arise, compute
+ * the pseudo-inverse from the SVD.)
+ **/
+matd_t *matd_inverse(const matd_t *a);
+
+static inline void matd_set_data(matd_t *m, const double *data)
+{
+ memcpy(m->data, data, m->nrows * m->ncols * sizeof(double));
+}
+
+/**
+ * Determines whether the supplied matrix 'a' is a scalar (positive return) or
+ * not (zero return, indicating a matrix of dimensions at least 1x1).
+ */
+static inline int matd_is_scalar(const matd_t *a)
+{
+ assert(a != NULL);
+ return a->ncols <= 1 && a->nrows <= 1;
+}
+
+/**
+ * Determines whether the supplied matrix 'a' is a row or column vector
+ * (positive return) or not (zero return, indicating either 'a' is a scalar or a
+ * matrix with at least one dimension > 1).
+ */
+static inline int matd_is_vector(const matd_t *a)
+{
+ assert(a != NULL);
+ return a->ncols == 1 || a->nrows == 1;
+}
+
+/**
+ * Determines whether the supplied matrix 'a' is a row or column vector
+ * with a dimension of 'len' (positive return) or not (zero return).
+ */
+static inline int matd_is_vector_len(const matd_t *a, int len)
+{
+ assert(a != NULL);
+ return (a->ncols == 1 && a->nrows == (unsigned int)len) || (a->ncols == (unsigned int)len && a->nrows == 1);
+}
+
+/**
+ * Calculates the magnitude of the supplied matrix 'a'.
+ */
+double matd_vec_mag(const matd_t *a);
+
+/**
+ * Calculates the magnitude of the distance between the points represented by
+ * matrices 'a' and 'b'. Both 'a' and 'b' must be vectors and have the same
+ * dimension (although one may be a row vector and one may be a column vector).
+ */
+double matd_vec_dist(const matd_t *a, const matd_t *b);
+
+
+/**
+ * Same as matd_vec_dist, but only uses the first 'n' terms to compute distance
+ */
+double matd_vec_dist_n(const matd_t *a, const matd_t *b, int n);
+
+/**
+ * Calculates the dot product of two vectors. Both 'a' and 'b' must be vectors
+ * and have the same dimension (although one may be a row vector and one may be
+ * a column vector).
+ */
+double matd_vec_dot_product(const matd_t *a, const matd_t *b);
+
+/**
+ * Calculates the normalization of the supplied vector 'a' (i.e. a unit vector
+ * of the same dimension and orientation as 'a' with a magnitude of 1) and returns
+ * it as a new vector. 'a' must be a vector of any dimension and must have a
+ * non-zero magnitude. It is the caller's responsibility to call matd_destroy()
+ * on the returned matrix.
+ */
+matd_t *matd_vec_normalize(const matd_t *a);
+
+/**
+ * Calculates the cross product of supplied matrices 'a' and 'b' (i.e. a x b)
+ * and returns it as a new matrix. Both 'a' and 'b' must be vectors of dimension
+ * 3, but can be either row or column vectors. It is the caller's responsibility
+ * to call matd_destroy() on the returned matrix.
+ */
+matd_t *matd_crossproduct(const matd_t *a, const matd_t *b);
+
+double matd_err_inf(const matd_t *a, const matd_t *b);
+
+/**
+ * Creates a new matrix by applying a series of matrix operations, as expressed
+ * in 'expr', to the supplied list of matrices. Each matrix to be operated upon
+ * must be represented in the expression by a separate matrix placeholder, 'M',
+ * and there must be one matrix supplied as an argument for each matrix
+ * placeholder in the expression. All rules and caveats of the corresponding
+ * matrix operations apply to the operated-on matrices. It is the caller's
+ * responsibility to call matd_destroy() on the returned matrix.
+ *
+ * Available operators (in order of increasing precedence):
+ * M+M add two matrices together
+ * M-M subtract one matrix from another
+ * M*M multiply two matrices together (matrix product)
+ * MM multiply two matrices together (matrix product)
+ * -M negate a matrix
+ * M^-1 take the inverse of a matrix
+ * M' take the transpose of a matrix
+ *
+ * Expressions can be combined together and grouped by enclosing them in
+ * parenthesis, i.e.:
+ * -M(M+M+M)-(M*M)^-1
+ *
+ * Scalar values can be generated on-the-fly, i.e.:
+ * M*2.2 scales M by 2.2
+ * -2+M adds -2 to all elements of M
+ *
+ * All whitespace in the expression is ignored.
+ */
+matd_t *matd_op(const char *expr, ...);
+
+/**
+ * Frees the memory associated with matrix 'm', being the result of an earlier
+ * call to a matd_*() function, after which 'm' will no longer be usable.
+ */
+void matd_destroy(matd_t *m);
+
+typedef struct
+{
+ matd_t *U;
+ matd_t *S;
+ matd_t *V;
+} matd_svd_t;
+
+/** Compute a complete SVD of a matrix. The SVD exists for all
+ * matrices. For a matrix MxN, we will have:
+ *
+ * A = U*S*V'
+ *
+ * where A is MxN, U is MxM (and is an orthonormal basis), S is MxN
+ * (and is diagonal up to machine precision), and V is NxN (and is an
+ * orthonormal basis).
+ *
+ * The caller is responsible for destroying U, S, and V.
+ **/
+matd_svd_t matd_svd(matd_t *A);
+
+#define MATD_SVD_NO_WARNINGS 1
+ matd_svd_t matd_svd_flags(matd_t *A, int flags);
+
+////////////////////////////////
+// PLU Decomposition
+
+// All square matrices (even singular ones) have a partially-pivoted
+// LU decomposition such that A = PLU, where P is a permutation
+// matrix, L is a lower triangular matrix, and U is an upper
+// triangular matrix.
+//
+typedef struct
+{
+ // was the input matrix singular? When a zero pivot is found, this
+ // flag is set to indicate that this has happened.
+ int singular;
+
+ unsigned int *piv; // permutation indices
+ int pivsign; // either +1 or -1
+
+ // The matd_plu_t object returned "owns" the enclosed LU matrix. It
+ // is not expected that the returned object is itself useful to
+ // users: it contains the L and U information all smushed
+ // together.
+ matd_t *lu; // combined L and U matrices, permuted so they can be triangular.
+} matd_plu_t;
+
+matd_plu_t *matd_plu(const matd_t *a);
+void matd_plu_destroy(matd_plu_t *mlu);
+double matd_plu_det(const matd_plu_t *lu);
+matd_t *matd_plu_p(const matd_plu_t *lu);
+matd_t *matd_plu_l(const matd_plu_t *lu);
+matd_t *matd_plu_u(const matd_plu_t *lu);
+matd_t *matd_plu_solve(const matd_plu_t *mlu, const matd_t *b);
+
+// uses LU decomposition internally.
+matd_t *matd_solve(matd_t *A, matd_t *b);
+
+////////////////////////////////
+// Cholesky Factorization
+
+/**
+ * Creates a double matrix with the Cholesky lower triangular matrix
+ * of A. A must be symmetric, positive definite. It is the caller's
+ * responsibility to call matd_destroy() on the returned matrix.
+ */
+//matd_t *matd_cholesky(const matd_t *A);
+
+typedef struct
+{
+ int is_spd;
+ matd_t *u;
+} matd_chol_t;
+
+matd_chol_t *matd_chol(matd_t *A);
+matd_t *matd_chol_solve(const matd_chol_t *chol, const matd_t *b);
+void matd_chol_destroy(matd_chol_t *chol);
+// only sensible on PSD matrices
+matd_t *matd_chol_inverse(matd_t *a);
+
+void matd_ltransposetriangle_solve(matd_t *u, const double *b, double *x);
+void matd_ltriangle_solve(matd_t *u, const double *b, double *x);
+void matd_utriangle_solve(matd_t *u, const double *b, double *x);
+
+
+double matd_max(matd_t *m);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/apriltag/common/math_util.h b/third_party/apriltag/common/math_util.h
new file mode 100644
index 0000000..9271a01
--- /dev/null
+++ b/third_party/apriltag/common/math_util.h
@@ -0,0 +1,216 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#include <math.h>
+#include <float.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <assert.h>
+#include <string.h> // memcpy
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef M_TWOPI
+# define M_TWOPI 6.2831853071795862319959 /* 2*pi */
+#endif
+
+#ifndef M_PI
+# define M_PI 3.141592653589793238462643383279502884196
+#endif
+
+#define to_radians(x) ( (x) * (M_PI / 180.0 ))
+#define to_degrees(x) ( (x) * (180.0 / M_PI ))
+
+#define max(A, B) (A < B ? B : A)
+#define min(A, B) (A < B ? A : B)
+
+ /* DEPRECATE, threshold meaningless without context.
+static inline int dequals(double a, double b)
+{
+ double thresh = 1e-9;
+ return (fabs(a-b) < thresh);
+}
+ */
+
+static inline int dequals_mag(double a, double b, double thresh)
+{
+ return (fabs(a-b) < thresh);
+}
+
+static inline int isq(int v)
+{
+ return v*v;
+}
+
+static inline float fsq(float v)
+{
+ return v*v;
+}
+
+static inline double sq(double v)
+{
+ return v*v;
+}
+
+static inline double sgn(double v)
+{
+ return (v>=0) ? 1 : -1;
+}
+
+// random number between [0, 1)
+static inline float randf()
+{
+ return (float)(rand() / (RAND_MAX + 1.0));
+}
+
+
+static inline float signed_randf()
+{
+ return randf()*2 - 1;
+}
+
+// return a random integer between [0, bound)
+static inline int irand(int bound)
+{
+ int v = (int) (randf()*bound);
+ if (v == bound)
+ return (bound-1);
+ //assert(v >= 0);
+ //assert(v < bound);
+ return v;
+}
+
+/** Map vin to [0, 2*PI) **/
+static inline double mod2pi_positive(double vin)
+{
+ return vin - M_TWOPI * floor(vin / M_TWOPI);
+}
+
+/** Map vin to [-PI, PI) **/
+static inline double mod2pi(double vin)
+{
+ return mod2pi_positive(vin + M_PI) - M_PI;
+}
+
+/** Return vin such that it is within PI degrees of ref **/
+static inline double mod2pi_ref(double ref, double vin)
+{
+ return ref + mod2pi(vin - ref);
+}
+
+/** Map vin to [0, 360) **/
+static inline double mod360_positive(double vin)
+{
+ return vin - 360 * floor(vin / 360);
+}
+
+/** Map vin to [-180, 180) **/
+static inline double mod360(double vin)
+{
+ return mod360_positive(vin + 180) - 180;
+}
+
+static inline int mod_positive(int vin, int mod) {
+ return (vin % mod + mod) % mod;
+}
+
+static inline int theta_to_int(double theta, int max)
+{
+ theta = mod2pi_ref(M_PI, theta);
+ int v = (int) (theta / M_TWOPI * max);
+
+ if (v == max)
+ v = 0;
+
+ assert (v >= 0 && v < max);
+
+ return v;
+}
+
+static inline int imin(int a, int b)
+{
+ return (a < b) ? a : b;
+}
+
+static inline int imax(int a, int b)
+{
+ return (a > b) ? a : b;
+}
+
+static inline int64_t imin64(int64_t a, int64_t b)
+{
+ return (a < b) ? a : b;
+}
+
+static inline int64_t imax64(int64_t a, int64_t b)
+{
+ return (a > b) ? a : b;
+}
+
+static inline int iclamp(int v, int minv, int maxv)
+{
+ return imax(minv, imin(v, maxv));
+}
+
+static inline double dclamp(double a, double min, double max)
+{
+ if (a < min)
+ return min;
+ if (a > max)
+ return max;
+ return a;
+}
+
+static inline int fltcmp (float f1, float f2)
+{
+ float epsilon = f1-f2;
+ if (epsilon < 0.0)
+ return -1;
+ else if (epsilon > 0.0)
+ return 1;
+ else
+ return 0;
+}
+
+static inline int dblcmp (double d1, double d2)
+{
+ double epsilon = d1-d2;
+ if (epsilon < 0.0)
+ return -1;
+ else if (epsilon > 0.0)
+ return 1;
+ else
+ return 0;
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/apriltag/common/pam.c b/third_party/apriltag/common/pam.c
new file mode 100644
index 0000000..2076d39
--- /dev/null
+++ b/third_party/apriltag/common/pam.c
@@ -0,0 +1,256 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <assert.h>
+
+#include "pam.h"
+
+pam_t *pam_create_from_file(const char *inpath)
+{
+ FILE *infile = fopen(inpath, "r");
+ if (infile == NULL) {
+ printf("pam.c: couldn't open input file: %s\n", inpath);
+ return NULL;
+ }
+
+ pam_t *pam = calloc(1, sizeof(pam_t));
+ pam->width = -1;
+ pam->height = -1;
+ pam->depth = -1;
+ pam->maxval = -1;
+ pam->type = -1;
+
+ int linenumber = 0;
+
+ while (1) {
+ char line[1024];
+ if (!fgets(line, sizeof(line), infile)) {
+ printf("pam.c: unexpected EOF\n");
+ goto fail;
+ }
+ linenumber++;
+
+ char *tok0 = line;
+ char *tok1 = NULL;
+
+ if (line[0] == '#') // comment
+ continue;
+
+ size_t linelen = strlen(line);
+ for (int idx = 0; idx < linelen; idx++) {
+ if (line[idx] == ' ') {
+ line[idx] = 0;
+ if (tok1) {
+ printf("pam.c: More than two tokens, %s:%d\n", inpath, linenumber);
+ }
+
+ tok1 = &line[idx+1];
+ }
+ if (line[idx] == '\n')
+ line[idx] = 0;
+ }
+
+ if (!strcmp(tok0, "P7"))
+ continue;
+
+ if (!strcmp(tok0, "ENDHDR"))
+ break;
+
+ if (!strcmp(tok0, "WIDTH") && tok1) {
+ pam->width = atoi(tok1);
+ continue;
+ }
+
+ if (!strcmp(tok0, "HEIGHT") && tok1) {
+ pam->height = atoi(tok1);
+ continue;
+ }
+
+ if (!strcmp(tok0, "DEPTH") && tok1) {
+ pam->depth = atoi(tok1);
+ continue;
+ }
+
+ if (!strcmp(tok0, "MAXVAL") && tok1) {
+ pam->maxval = atoi(tok1);
+ continue;
+ }
+
+ if (!strcmp(tok0, "TUPLTYPE") && tok1) {
+ if (!strcmp(tok1, "GRAYSCALE_ALPHA")) {
+ pam->type = PAM_GRAYSCALE_ALPHA;
+ continue;
+ }
+
+ if (!strcmp(tok1, "RGB_ALPHA")) {
+ pam->type = PAM_RGB_ALPHA;
+ continue;
+ }
+
+ if (!strcmp(tok1, "RGB")) {
+ pam->type = PAM_RGB;
+ continue;
+ }
+
+ if (!strcmp(tok1, "GRAYSCALE")) {
+ pam->type = PAM_GRAYSCALE;
+ continue;
+ }
+
+ printf("pam.c: unrecognized tupl type %s\n", tok1);
+ continue;
+ }
+
+ printf("pam.c: unrecognized attribute %s\n", tok0);
+ }
+
+ if (pam->width < 0 || pam->height < 0 || pam->depth < 0 ||
+ pam->maxval < 0 || pam->type < 0) {
+ printf("pam.c: missing required metadata field\n");
+ goto fail;
+ }
+
+ assert(pam->maxval == 255);
+
+ pam->datalen = pam->width * pam->height * pam->depth;
+ pam->data = malloc(pam->datalen);
+ if (pam->datalen != fread(pam->data, 1, pam->datalen, infile)) {
+ printf("pam.c: couldn't read body\n");
+ goto fail;
+ }
+
+ fclose(infile);
+ return pam;
+
+ fail:
+ free(pam);
+ fclose(infile);
+ return NULL;
+}
+
+int pam_write_file(pam_t *pam, const char *outpath)
+{
+ FILE *f = fopen(outpath, "w+");
+ if (!f)
+ return -1;
+
+ const char *tupl = NULL;
+ switch (pam->type) {
+ case PAM_GRAYSCALE_ALPHA:
+ tupl = "GRAYSCALE_ALPHA";
+ break;
+ case PAM_RGB_ALPHA:
+ tupl = "RGB_ALPHA";
+ break;
+ case PAM_RGB:
+ tupl = "RGB";
+ break;
+ case PAM_GRAYSCALE:
+ tupl = "GRAYSCALE";
+ break;
+ default:
+ assert(0);
+ }
+
+ fprintf(f, "P7\nWIDTH %d\nHEIGHT %d\nDEPTH %d\nMAXVAL %d\nTUPLTYPE %s\nENDHDR\n",
+ pam->width, pam->height, pam->depth, pam->maxval, tupl);
+ int len = pam->width * pam->height * pam->depth;
+ if (len != fwrite(pam->data, 1, len, f)) {
+ fclose(f);
+ return -2;
+ }
+
+ fclose(f);
+
+ return 0;
+}
+
+void pam_destroy(pam_t *pam)
+{
+ if (!pam)
+ return;
+
+ free(pam->data);
+ free(pam);
+}
+
+pam_t *pam_copy(pam_t *pam)
+{
+ pam_t *copy = calloc(1, sizeof(pam_t));
+ copy->width = pam->width;
+ copy->height = pam->height;
+ copy->depth = pam->depth;
+ copy->maxval = pam->maxval;
+ copy->type = pam->type;
+
+ copy->datalen = pam->datalen;
+ copy->data = malloc(pam->datalen);
+ memcpy(copy->data, pam->data, pam->datalen);
+
+ return copy;
+}
+
+pam_t *pam_convert(pam_t *in, int type)
+{
+ if (type == in->type)
+ return pam_copy(in);
+
+ assert(type == PAM_RGB_ALPHA); // we don't support a lot yet
+ assert(in->maxval == 255);
+
+ int w = in->width;
+ int h = in->height;
+
+ pam_t *out = calloc(1, sizeof(pam_t));
+ out->type = type;
+ out->width = w;
+ out->height = h;
+ out->maxval = in->maxval;
+ out->depth = 4;
+ out->datalen = 4 * w * h;
+ out->data = malloc(out->datalen);
+
+ if (in->type == PAM_RGB) {
+ assert(in->depth == 3);
+ for (int y = 0; y < h; y++) {
+ for (int x = 0; x < w; x++) {
+ out->data[y*4*w + 4*x + 0] = in->data[y*3*w + 3*x + 0];
+ out->data[y*4*w + 4*x + 1] = in->data[y*3*w + 3*x + 1];
+ out->data[y*4*w + 4*x + 2] = in->data[y*3*w + 3*x + 2];
+ out->data[y*4*w + 4*x + 3] = 255;
+ }
+ }
+ } else {
+ printf("pam.c unsupported type %d\n", in->type);
+ assert(0);
+ }
+
+ return out;
+}
diff --git a/third_party/apriltag/common/pam.h b/third_party/apriltag/common/pam.h
new file mode 100644
index 0000000..67fff67
--- /dev/null
+++ b/third_party/apriltag/common/pam.h
@@ -0,0 +1,54 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#include <stdint.h>
+
+enum { PAM_GRAYSCALE_ALPHA = 5000, PAM_RGB_ALPHA, PAM_RGB, PAM_GRAYSCALE };
+
+typedef struct pam pam_t;
+struct pam
+{
+ int type; // one of PAM_*
+
+ int width, height; // note, stride always width.
+ int depth; // bytes per pixel
+ int maxval; // maximum value per channel, e.g. 255 for 8bpp
+
+ int datalen; // in bytes
+ uint8_t *data;
+};
+
+pam_t *pam_create_from_file(const char *inpath);
+int pam_write_file(pam_t *pam, const char *outpath);
+void pam_destroy(pam_t *pam);
+
+pam_t *pam_copy(pam_t *pam);
+
+// NB doesn't handle many conversions yet.
+pam_t *pam_convert(pam_t *in, int type);
diff --git a/third_party/apriltag/common/pjpeg-idct.c b/third_party/apriltag/common/pjpeg-idct.c
new file mode 100644
index 0000000..ddbdde5
--- /dev/null
+++ b/third_party/apriltag/common/pjpeg-idct.c
@@ -0,0 +1,388 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <math.h>
+#include <stdint.h>
+
+#ifndef M_PI
+# define M_PI 3.141592653589793238462643383279502884196
+#endif
+
+// 8 bits of fixed-point output
+//
+// This implementation has a worst-case complexity of 22 multiplies
+// and 64 adds. This makes it significantly worse (about 2x) than the
+// best-known fast inverse cosine transform methods. HOWEVER, zero
+// coefficients can be skipped over, and since that's common (often
+// more than half the coefficients are zero).
+//
+// The output is scaled by a factor of 256 (due to our fixed-point
+// integer arithmetic)..
+static inline void idct_1D_u32(int32_t *in, int instride, int32_t *out, int outstride)
+{
+ for (int x = 0; x < 8; x++)
+ out[x*outstride] = 0;
+
+ int32_t c;
+
+ c = in[0*instride];
+ if (c) {
+ // 181 181 181 181 181 181 181 181
+ int32_t c181 = c * 181;
+ out[0*outstride] += c181;
+ out[1*outstride] += c181;
+ out[2*outstride] += c181;
+ out[3*outstride] += c181;
+ out[4*outstride] += c181;
+ out[5*outstride] += c181;
+ out[6*outstride] += c181;
+ out[7*outstride] += c181;
+ }
+
+ c = in[1*instride];
+ if (c) {
+ // 251 212 142 49 -49 -142 -212 -251
+ int32_t c251 = c * 251;
+ int32_t c212 = c * 212;
+ int32_t c142 = c * 142;
+ int32_t c49 = c * 49;
+ out[0*outstride] += c251;
+ out[1*outstride] += c212;
+ out[2*outstride] += c142;
+ out[3*outstride] += c49;
+ out[4*outstride] -= c49;
+ out[5*outstride] -= c142;
+ out[6*outstride] -= c212;
+ out[7*outstride] -= c251;
+ }
+
+ c = in[2*instride];
+ if (c) {
+ // 236 97 -97 -236 -236 -97 97 236
+ int32_t c236 = c*236;
+ int32_t c97 = c*97;
+ out[0*outstride] += c236;
+ out[1*outstride] += c97;
+ out[2*outstride] -= c97;
+ out[3*outstride] -= c236;
+ out[4*outstride] -= c236;
+ out[5*outstride] -= c97;
+ out[6*outstride] += c97;
+ out[7*outstride] += c236;
+ }
+
+ c = in[3*instride];
+ if (c) {
+ // 212 -49 -251 -142 142 251 49 -212
+ int32_t c212 = c*212;
+ int32_t c49 = c*49;
+ int32_t c251 = c*251;
+ int32_t c142 = c*142;
+ out[0*outstride] += c212;
+ out[1*outstride] -= c49;
+ out[2*outstride] -= c251;
+ out[3*outstride] -= c142;
+ out[4*outstride] += c142;
+ out[5*outstride] += c251;
+ out[6*outstride] += c49;
+ out[7*outstride] -= c212;
+ }
+
+ c = in[4*instride];
+ if (c) {
+ // 181 -181 -181 181 181 -181 -181 181
+ int32_t c181 = c*181;
+ out[0*outstride] += c181;
+ out[1*outstride] -= c181;
+ out[2*outstride] -= c181;
+ out[3*outstride] += c181;
+ out[4*outstride] += c181;
+ out[5*outstride] -= c181;
+ out[6*outstride] -= c181;
+ out[7*outstride] += c181;
+ }
+
+ c = in[5*instride];
+ if (c) {
+ // 142 -251 49 212 -212 -49 251 -142
+ int32_t c142 = c*142;
+ int32_t c251 = c*251;
+ int32_t c49 = c*49;
+ int32_t c212 = c*212;
+ out[0*outstride] += c142;
+ out[1*outstride] -= c251;
+ out[2*outstride] += c49;
+ out[3*outstride] += c212;
+ out[4*outstride] -= c212;
+ out[5*outstride] -= c49;
+ out[6*outstride] += c251;
+ out[7*outstride] -= c142;
+ }
+
+ c = in[6*instride];
+ if (c) {
+ // 97 -236 236 -97 -97 236 -236 97
+ int32_t c97 = c*97;
+ int32_t c236 = c*236;
+ out[0*outstride] += c97;
+ out[1*outstride] -= c236;
+ out[2*outstride] += c236;
+ out[3*outstride] -= c97;
+ out[4*outstride] -= c97;
+ out[5*outstride] += c236;
+ out[6*outstride] -= c236;
+ out[7*outstride] += c97;
+ }
+
+ c = in[7*instride];
+ if (c) {
+ // 49 -142 212 -251 251 -212 142 -49
+ int32_t c49 = c*49;
+ int32_t c142 = c*142;
+ int32_t c212 = c*212;
+ int32_t c251 = c*251;
+ out[0*outstride] += c49;
+ out[1*outstride] -= c142;
+ out[2*outstride] += c212;
+ out[3*outstride] -= c251;
+ out[4*outstride] += c251;
+ out[5*outstride] -= c212;
+ out[6*outstride] += c142;
+ out[7*outstride] -= c49;
+ }
+}
+
+void pjpeg_idct_2D_u32(int32_t in[64], uint8_t *out, uint32_t outstride)
+{
+ int32_t tmp[64];
+
+ // idct on rows
+ for (int y = 0; y < 8; y++)
+ idct_1D_u32(&in[8*y], 1, &tmp[8*y], 1);
+
+ int32_t tmp2[64];
+
+ // idct on columns
+ for (int x = 0; x < 8; x++)
+ idct_1D_u32(&tmp[x], 8, &tmp2[x], 8);
+
+ // scale, adjust bias, and clamp
+ for (int y = 0; y < 8; y++) {
+ for (int x = 0; x < 8; x++) {
+ int i = 8*y + x;
+
+ // Shift of 18: the divide by 4 as part of the idct, and a shift by 16
+ // to undo the fixed-point arithmetic. (We accumulated 8 bits of
+ // fractional precision during each of the row and column IDCTs)
+ //
+ // Originally:
+ // int32_t v = (tmp2[i] >> 18) + 128;
+ //
+ // Move the add before the shift and we can do rounding at
+ // the same time.
+ const int32_t offset = (128 << 18) + (1 << 17);
+ int32_t v = (tmp2[i] + offset) >> 18;
+
+ if (v < 0)
+ v = 0;
+ if (v > 255)
+ v = 255;
+
+ out[y*outstride + x] = v;
+ }
+ }
+}
+
+///////////////////////////////////////////////////////
+// Below: a "as straight-forward as I can make" implementation.
+static inline void idct_1D_double(double *in, int instride, double *out, int outstride)
+{
+ for (int x = 0; x < 8; x++)
+ out[x*outstride] = 0;
+
+ // iterate over IDCT coefficients
+ double Cu = 1/sqrt(2);
+
+ for (int u = 0; u < 8; u++, Cu = 1) {
+
+ double coeff = in[u*instride];
+ if (coeff == 0)
+ continue;
+
+ for (int x = 0; x < 8; x++)
+ out[x*outstride] += Cu*cos((2*x+1)*u*M_PI/16) * coeff;
+ }
+}
+
+void pjpeg_idct_2D_double(int32_t in[64], uint8_t *out, uint32_t outstride)
+{
+ double din[64], dout[64];
+ for (int i = 0; i < 64; i++)
+ din[i] = in[i];
+
+ double tmp[64];
+
+ // idct on rows
+ for (int y = 0; y < 8; y++)
+ idct_1D_double(&din[8*y], 1, &tmp[8*y], 1);
+
+ // idct on columns
+ for (int x = 0; x < 8; x++)
+ idct_1D_double(&tmp[x], 8, &dout[x], 8);
+
+ // scale, adjust bias, and clamp
+ for (int y = 0; y < 8; y++) {
+ for (int x = 0; x < 8; x++) {
+ int i = 8*y + x;
+
+ dout[i] = (dout[i] / 4) + 128;
+ if (dout[i] < 0)
+ dout[i] = 0;
+ if (dout[i] > 255)
+ dout[i] = 255;
+
+ // XXX round by adding +.5?
+ out[y*outstride + x] = dout[i];
+ }
+ }
+}
+
+//////////////////////////////////////////////
+static inline unsigned char njClip(const int x) {
+ return (x < 0) ? 0 : ((x > 0xFF) ? 0xFF : (unsigned char) x);
+}
+
+#define W1 2841
+#define W2 2676
+#define W3 2408
+#define W5 1609
+#define W6 1108
+#define W7 565
+
+static inline void njRowIDCT(int* blk) {
+ int x0, x1, x2, x3, x4, x5, x6, x7, x8;
+ if (!((x1 = blk[4] << 11)
+ | (x2 = blk[6])
+ | (x3 = blk[2])
+ | (x4 = blk[1])
+ | (x5 = blk[7])
+ | (x6 = blk[5])
+ | (x7 = blk[3])))
+ {
+ blk[0] = blk[1] = blk[2] = blk[3] = blk[4] = blk[5] = blk[6] = blk[7] = blk[0] << 3;
+ return;
+ }
+ x0 = (blk[0] << 11) + 128;
+ x8 = W7 * (x4 + x5);
+ x4 = x8 + (W1 - W7) * x4;
+ x5 = x8 - (W1 + W7) * x5;
+ x8 = W3 * (x6 + x7);
+ x6 = x8 - (W3 - W5) * x6;
+ x7 = x8 - (W3 + W5) * x7;
+ x8 = x0 + x1;
+ x0 -= x1;
+ x1 = W6 * (x3 + x2);
+ x2 = x1 - (W2 + W6) * x2;
+ x3 = x1 + (W2 - W6) * x3;
+ x1 = x4 + x6;
+ x4 -= x6;
+ x6 = x5 + x7;
+ x5 -= x7;
+ x7 = x8 + x3;
+ x8 -= x3;
+ x3 = x0 + x2;
+ x0 -= x2;
+ x2 = (181 * (x4 + x5) + 128) >> 8;
+ x4 = (181 * (x4 - x5) + 128) >> 8;
+ blk[0] = (x7 + x1) >> 8;
+ blk[1] = (x3 + x2) >> 8;
+ blk[2] = (x0 + x4) >> 8;
+ blk[3] = (x8 + x6) >> 8;
+ blk[4] = (x8 - x6) >> 8;
+ blk[5] = (x0 - x4) >> 8;
+ blk[6] = (x3 - x2) >> 8;
+ blk[7] = (x7 - x1) >> 8;
+}
+
+static inline void njColIDCT(const int* blk, unsigned char *out, int stride) {
+ int x0, x1, x2, x3, x4, x5, x6, x7, x8;
+ if (!((x1 = blk[8*4] << 8)
+ | (x2 = blk[8*6])
+ | (x3 = blk[8*2])
+ | (x4 = blk[8*1])
+ | (x5 = blk[8*7])
+ | (x6 = blk[8*5])
+ | (x7 = blk[8*3])))
+ {
+ x1 = njClip(((blk[0] + 32) >> 6) + 128);
+ for (x0 = 8; x0; --x0) {
+ *out = (unsigned char) x1;
+ out += stride;
+ }
+ return;
+ }
+ x0 = (blk[0] << 8) + 8192;
+ x8 = W7 * (x4 + x5) + 4;
+ x4 = (x8 + (W1 - W7) * x4) >> 3;
+ x5 = (x8 - (W1 + W7) * x5) >> 3;
+ x8 = W3 * (x6 + x7) + 4;
+ x6 = (x8 - (W3 - W5) * x6) >> 3;
+ x7 = (x8 - (W3 + W5) * x7) >> 3;
+ x8 = x0 + x1;
+ x0 -= x1;
+ x1 = W6 * (x3 + x2) + 4;
+ x2 = (x1 - (W2 + W6) * x2) >> 3;
+ x3 = (x1 + (W2 - W6) * x3) >> 3;
+ x1 = x4 + x6;
+ x4 -= x6;
+ x6 = x5 + x7;
+ x5 -= x7;
+ x7 = x8 + x3;
+ x8 -= x3;
+ x3 = x0 + x2;
+ x0 -= x2;
+ x2 = (181 * (x4 + x5) + 128) >> 8;
+ x4 = (181 * (x4 - x5) + 128) >> 8;
+ *out = njClip(((x7 + x1) >> 14) + 128); out += stride;
+ *out = njClip(((x3 + x2) >> 14) + 128); out += stride;
+ *out = njClip(((x0 + x4) >> 14) + 128); out += stride;
+ *out = njClip(((x8 + x6) >> 14) + 128); out += stride;
+ *out = njClip(((x8 - x6) >> 14) + 128); out += stride;
+ *out = njClip(((x0 - x4) >> 14) + 128); out += stride;
+ *out = njClip(((x3 - x2) >> 14) + 128); out += stride;
+ *out = njClip(((x7 - x1) >> 14) + 128);
+}
+
+void pjpeg_idct_2D_nanojpeg(int32_t in[64], uint8_t *out, uint32_t outstride)
+{
+ int coef;
+
+ for (coef = 0; coef < 64; coef += 8)
+ njRowIDCT(&in[coef]);
+ for (coef = 0; coef < 8; ++coef)
+ njColIDCT(&in[coef], &out[coef], outstride);
+}
diff --git a/third_party/apriltag/common/pjpeg.c b/third_party/apriltag/common/pjpeg.c
new file mode 100644
index 0000000..acc61f0
--- /dev/null
+++ b/third_party/apriltag/common/pjpeg.c
@@ -0,0 +1,893 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <assert.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "pjpeg.h"
+
+#include "image_u8.h"
+#include "image_u8x3.h"
+#include "debug_print.h"
+
+// https://www.w3.org/Graphics/JPEG/itu-t81.pdf
+
+void pjpeg_idct_2D_double(int32_t in[64], uint8_t *out, uint32_t outstride);
+void pjpeg_idct_2D_u32(int32_t in[64], uint8_t *out, uint32_t outstride);
+void pjpeg_idct_2D_nanojpeg(int32_t in[64], uint8_t *out, uint32_t outstride);
+
+struct pjpeg_huffman_code
+{
+ uint8_t nbits; // how many bits should we actually consume?
+ uint8_t code; // what is the symbol that was encoded? (not actually a DCT coefficient; see encoding)
+};
+
+struct pjpeg_decode_state
+{
+ int error;
+
+ uint32_t width, height;
+ uint8_t *in;
+ uint32_t inlen;
+
+ uint32_t flags;
+
+ // to decode, we load the next 16 bits of input (generally more
+ // than we need). We then look up in our code book how many bits
+ // we have actually consumed. For example, if there was a code
+ // whose bit sequence was "0", the first 32768 entries would all
+ // be copies of {.bits=1, .value=XX}; no matter what the following
+ // 15 bits are, we would get the correct decode.
+ //
+ // Can be up to 8 tables; computed as (ACDC * 2 + htidx)
+ struct pjpeg_huffman_code huff_codes[4][65536];
+ int huff_codes_present[4];
+
+ uint8_t qtab[4][64];
+
+ int ncomponents;
+ pjpeg_component_t *components;
+
+ int reset_interval;
+ int reset_count;
+ int reset_next; // What reset marker do we expect next? (add 0xd0)
+
+ int debug;
+};
+
+// from K.3.3.1 (page 158)
+static uint8_t mjpeg_dht[] = { // header
+ 0xFF,0xC4,0x01,0xA2,
+
+ /////////////////////////////////////////////////////////////
+ // luminance dc coefficients.
+ // DC table 0
+ 0x00,
+ // code lengths
+ 0x00,0x01,0x05,0x01,0x01,0x01,0x01,0x01,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+ // values
+ 0x00,0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08,0x09,0x0A,0x0B,
+
+ /////////////////////////////////////////////////////////////
+ // chrominance DC coefficents
+ // DC table 1
+ 0x01,
+ // code lengths
+ 0x00,0x03,0x01,0x01,0x01,0x01,0x01,0x01,0x01,0x01,0x01,0x00,0x00,0x00,0x00,0x00,
+ // values
+ 0x00,0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08,0x09,0x0A,0x0B,
+
+ /////////////////////////////////////////////////////////////
+ // luminance AC coefficients
+ // AC table 0
+ 0x10,
+ // code lengths
+ 0x00,0x02,0x01,0x03,0x03,0x02,0x04,0x03,0x05,0x05,0x04,0x04,0x00,0x00,0x01,0x7D,
+ // codes
+ 0x01,0x02,0x03,0x00,0x04,0x11,0x05,0x12,0x21,0x31,0x41,0x06,0x13,0x51,0x61,
+ 0x07,0x22,0x71,0x14,0x32,0x81,0x91,0xA1,0x08,0x23,0x42,0xB1,0xC1,0x15,0x52,0xD1,0xF0,0x24,
+ 0x33,0x62,0x72,0x82,0x09,0x0A,0x16,0x17,0x18,0x19,0x1A,0x25,0x26,0x27,0x28,0x29,0x2A,0x34,
+ 0x35,0x36,0x37,0x38,0x39,0x3A,0x43,0x44,0x45,0x46,0x47,0x48,0x49,0x4A,0x53,0x54,0x55,0x56,
+ 0x57,0x58,0x59,0x5A,0x63,0x64,0x65,0x66,0x67,0x68,0x69,0x6A,0x73,0x74,0x75,0x76,0x77,0x78,
+ 0x79,0x7A,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,
+ 0x9A,0xA2,0xA3,0xA4,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,
+ 0xBA,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,
+ 0xDA,0xE1,0xE2,0xE3,0xE4,0xE5,0xE6,0xE7,0xE8,0xE9,0xEA,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,
+ 0xF8,0xF9,0xFA,
+
+ /////////////////////////////////////////////////////////////
+ // chrominance DC coefficients
+ // DC table 1
+ 0x11,
+ // code lengths
+ 0x00,0x02,0x01,0x02,0x04,0x04,0x03,0x04,0x07,0x05,0x04,0x04,0x00,0x01,0x02,0x77,
+ // values
+ 0x00,0x01,0x02,0x03,0x11,0x04,0x05,0x21,0x31,0x06,0x12,0x41,0x51,0x07,0x61,0x71,
+ 0x13,0x22,0x32,0x81,0x08,0x14,0x42,0x91,0xA1,0xB1,0xC1,0x09,0x23,0x33,0x52,0xF0,0x15,0x62,
+ 0x72,0xD1,0x0A,0x16,0x24,0x34,0xE1,0x25,0xF1,0x17,0x18,0x19,0x1A,0x26,0x27,0x28,0x29,0x2A,
+ 0x35,0x36,0x37,0x38,0x39,0x3A,0x43,0x44,0x45,0x46,0x47,0x48,0x49,0x4A,0x53,0x54,0x55,0x56,
+ 0x57,0x58,0x59,0x5A,0x63,0x64,0x65,0x66,0x67,0x68,0x69,0x6A,0x73,0x74,0x75,0x76,0x77,0x78,
+ 0x79,0x7A,0x82,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x92,0x93,0x94,0x95,0x96,0x97,0x98,
+ 0x99,0x9A,0xA2,0xA3,0xA4,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,
+ 0xB9,0xBA,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,
+ 0xD9,0xDA,0xE2,0xE3,0xE4,0xE5,0xE6,0xE7,0xE8,0xE9,0xEA,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,
+ 0xF9,0xFA
+};
+
+static inline uint8_t max_u8(uint8_t a, uint8_t b)
+{
+ return a > b ? a : b;
+}
+
+// order of coefficients in each DC block
+static const char ZZ[64] = { 0, 1, 8, 16, 9, 2, 3, 10,
+ 17, 24, 32, 25, 18, 11, 4, 5,
+ 12, 19, 26, 33, 40, 48, 41, 34,
+ 27, 20, 13, 6, 7, 14, 21, 28,
+ 35, 42, 49, 56, 57, 50, 43, 36,
+ 29, 22, 15, 23, 30, 37, 44, 51,
+ 58, 59, 52, 45, 38, 31, 39, 46,
+ 53, 60, 61, 54, 47, 55, 62, 63 };
+
+
+
+struct bit_decoder
+{
+ uint8_t *in;
+ uint32_t inpos;
+ uint32_t inlen;
+
+ uint32_t bits; // the low order bits contain the next nbits_avail bits.
+
+ int nbits_avail; // how many bits in 'bits' (left aligned) are valid?
+
+ int error;
+};
+
+// ensure that at least 'nbits' of data is available in the bit decoder.
+static inline void bd_ensure(struct bit_decoder *bd, int nbits)
+{
+ while (bd->nbits_avail < nbits) {
+
+ if (bd->inpos >= bd->inlen) {
+ printf("hallucinating 1s!\n");
+ // we hit end of stream hallucinate an infinite stream of 1s
+ bd->bits = (bd->bits << 8) | 0xff;
+ bd->nbits_avail += 8;
+ continue;
+ }
+
+ uint8_t nextbyte = bd->in[bd->inpos];
+ bd->inpos++;
+
+ if (nextbyte == 0xff && bd->inpos < bd->inlen && bd->in[bd->inpos] == 0x00) {
+ // a stuffed byte
+ nextbyte = 0xff;
+ bd->inpos++;
+ }
+
+ // it's an ordinary byte
+ bd->bits = (bd->bits << 8) | nextbyte;
+ bd->nbits_avail += 8;
+ }
+}
+
+static inline uint32_t bd_peek_bits(struct bit_decoder *bd, int nbits)
+{
+ bd_ensure(bd, nbits);
+
+ return (bd->bits >> (bd->nbits_avail - nbits)) & ((1 << nbits) - 1);
+}
+
+static inline uint32_t bd_consume_bits(struct bit_decoder *bd, int nbits)
+{
+ assert(nbits < 32);
+
+ bd_ensure(bd, nbits);
+
+ uint32_t v = (bd->bits >> (bd->nbits_avail - nbits)) & ((1 << nbits) - 1);
+
+ bd->nbits_avail -= nbits;
+
+ return v;
+}
+
+// discard without regard for byte stuffing!
+static inline void bd_discard_bytes(struct bit_decoder *bd, int nbytes)
+{
+ assert(bd->nbits_avail == 0);
+ bd->inpos += nbytes;
+}
+
+static inline int bd_has_more(struct bit_decoder *bd)
+{
+ return bd->nbits_avail > 0 || bd->inpos < bd->inlen;
+}
+
+// throw away up to 7 bits of data so that the next data returned
+// began on a byte boundary.
+static inline void bd_discard_to_byte_boundary(struct bit_decoder *bd)
+{
+ bd->nbits_avail -= (bd->nbits_avail & 7);
+}
+
+static inline uint32_t bd_get_offset(struct bit_decoder *bd)
+{
+ return bd->inpos - bd->nbits_avail / 8;
+}
+
+static int pjpeg_decode_buffer(struct pjpeg_decode_state *pjd)
+{
+ // XXX TODO Include sanity check that this is actually a JPG
+
+ struct bit_decoder bd;
+ memset(&bd, 0, sizeof(struct bit_decoder));
+ bd.in = pjd->in;
+ bd.inpos = 0;
+ bd.inlen = pjd->inlen;
+
+ int marker_sync_skipped = 0;
+ int marker_sync_skipped_from_offset = 0;
+
+ while (bd_has_more(&bd)) {
+
+ uint32_t marker_offset = bd_get_offset(&bd);
+
+ // Look for the 0xff that signifies the beginning of a marker
+ bd_discard_to_byte_boundary(&bd);
+
+ while (bd_consume_bits(&bd, 8) != 0xff) {
+ if (marker_sync_skipped == 0)
+ marker_sync_skipped_from_offset = marker_offset;
+ marker_sync_skipped++;
+ continue;
+ }
+
+ if (marker_sync_skipped) {
+ printf("%08x: skipped %04x bytes\n", marker_sync_skipped_from_offset, marker_sync_skipped);
+ marker_sync_skipped = 0;
+ }
+
+ uint8_t marker = bd_consume_bits(&bd, 8);
+
+// printf("marker %08x : %02x\n", marker_offset, marker);
+
+ switch (marker) {
+
+ case 0xd8: // start of image. Great, continue.
+ continue;
+
+ // below are the markers that A) we don't care about
+ // that B) encode length as two bytes.
+ //
+ // Note: Other unknown fields should not be added since
+ // we should be able to skip over them by looking for
+ // the next marker byte.
+ case 0xe0: // JFIF header.
+ case 0xe1: // EXIF header (Yuck: Payload may contain 0xff 0xff!)
+ case 0xe2: // ICC Profile. (Yuck: payload may contain 0xff 0xff!)
+ case 0xe6: // some other common header
+ case 0xfe: // Comment
+ {
+ uint16_t length = bd_consume_bits(&bd, 16);
+ bd_discard_bytes(&bd, length - 2);
+ continue;
+ }
+
+ case 0xdb: { // DQT Define Quantization Table
+ uint16_t length = bd_consume_bits(&bd, 16);
+
+ if (((length-2) % 65) != 0)
+ return PJPEG_ERR_DQT;
+
+ // can contain multiple DQTs
+ for (int offset = 0; offset < length - 2; offset += 65) {
+
+ // pq: quant table element precision. 0=8bit, 1=16bit.
+ // tq: quant table destination id.
+ uint8_t pqtq = bd_consume_bits(&bd, 8);
+
+ if ((pqtq & 0xf0) != 0 || (pqtq & 0x0f) >= 4)
+ return PJPEG_ERR_DQT;
+
+ uint8_t id = pqtq & 3;
+
+ for (int i = 0; i < 64; i++)
+ pjd->qtab[id][i] = bd_consume_bits(&bd, 8);
+ }
+
+ break;
+ }
+
+ case 0xc0: { // SOF, non-differential, huffman, baseline
+ uint16_t length = bd_consume_bits(&bd, 16);
+ (void) length;
+
+ uint8_t p = bd_consume_bits(&bd, 8); // precision
+ if (p != 8)
+ return PJPEG_ERR_SOF;
+
+ pjd->height = bd_consume_bits(&bd, 16);
+ pjd->width = bd_consume_bits(&bd, 16);
+
+// printf("%d x %d\n", pjd->height, pjd->width);
+
+ int nf = bd_consume_bits(&bd, 8); // # image components
+
+ if (nf < 1 || nf > 3)
+ return PJPEG_ERR_SOF;
+
+ pjd->ncomponents = nf;
+ pjd->components = calloc(nf, sizeof(struct pjpeg_component));
+
+ for (int i = 0; i < nf; i++) {
+ // comp. identifier
+ pjd->components[i].id = bd_consume_bits(&bd, 8);
+
+ // horiz/vert sampling
+ pjd->components[i].hv = bd_consume_bits(&bd, 8);
+ pjd->components[i].scaley = pjd->components[i].hv & 0x0f;
+ pjd->components[i].scalex = pjd->components[i].hv >> 4;
+
+ // which quant table?
+ pjd->components[i].tq = bd_consume_bits(&bd, 8);
+ }
+ break;
+ }
+
+ case 0xc1: // SOF, non-differential, huffman, extended DCT
+ case 0xc2: // SOF, non-differential, huffman, progressive DCT
+ case 0xc3: // SOF, non-differential, huffman, lossless
+ case 0xc5: // SOF, differential, huffman, baseline DCT
+ case 0xc6: // SOF, differential, huffman, progressive
+ case 0xc7: // SOF, differential, huffman, lossless
+ case 0xc8: // reserved
+ case 0xc9: // SOF, non-differential, arithmetic, extended
+ case 0xca: // SOF, non-differential, arithmetic, progressive
+ case 0xcb: // SOF, non-differential, arithmetic, lossless
+ case 0xcd: // SOF, differential, arithmetic, sequential
+ case 0xce: // SOF, differential, arithmetic, progressive
+ case 0xcf: // SOF, differential, arithmetic, lossless
+ {
+ printf("pjepg.c: unsupported JPEG type %02x\n", marker);
+ return PJEPG_ERR_UNSUPPORTED;
+ }
+
+ case 0xc4: { // DHT Define Huffman Tables
+ // [ED: the encoding of these tables is really quite
+ // clever!]
+ uint16_t length = bd_consume_bits(&bd, 16);
+ length = length - 2;
+
+ while (length > 0) {
+ uint8_t TcTh = bd_consume_bits(&bd, 8);
+ length--;
+ uint8_t Tc = (TcTh >> 4);
+ int Th = TcTh & 0x0f; // which index are we using?
+
+ if (Tc >= 2 || Th >= 2)
+ // Tc must be either AC=1 or DC=0.
+ // Th must be less than 2
+ return PJPEG_ERR_DHT;
+
+ int htidx = Tc*2 + Th;
+
+ uint8_t L[17]; // how many symbols of each bit length?
+ L[0] = 0; // no 0 bit codes :)
+ for (int nbits = 1; nbits <= 16; nbits++) {
+ L[nbits] = bd_consume_bits(&bd, 8);
+ length -= L[nbits];
+ }
+ length -= 16;
+
+ uint32_t code_pos = 0;
+
+ for (int nbits = 1; nbits <= 16; nbits++) {
+ int nvalues = L[nbits];
+
+ // how many entries will we fill?
+ // (a 1 bit code will fill 32768, a 2 bit code 16384, ...)
+ uint32_t ncodes = (1 << (16 - nbits));
+
+ // consume the values...
+ for (int vi = 0; vi < nvalues; vi++) {
+ uint8_t code = bd_consume_bits(&bd, 8);
+
+ if (code_pos + ncodes > 0xffff)
+ return PJPEG_ERR_DHT;
+
+ for (int ci = 0; ci < ncodes; ci++) {
+ pjd->huff_codes[htidx][code_pos].nbits = nbits;
+ pjd->huff_codes[htidx][code_pos].code = code;
+ code_pos++;
+ }
+ }
+ }
+ pjd->huff_codes_present[htidx] = 1;
+ }
+ break;
+ }
+
+ // a sequentially-encoded JPG has one SOS segment. A
+ // progressive JPG will have multiple SOS segments.
+ case 0xda: { // Start Of Scan (SOS)
+
+ // Note that this marker frame (and its encoded
+ // length) does NOT include the bitstream that
+ // follows.
+
+ uint16_t length = bd_consume_bits(&bd, 16);
+ (void) length;
+
+ // number of components in this scan
+ uint8_t ns = bd_consume_bits(&bd, 8);
+
+ // for each component, what is the index into our pjd->components[] array?
+ uint8_t *comp_idx = calloc(ns, sizeof(uint8_t));
+
+ for (int i = 0; i < ns; i++) {
+ // component name
+ uint8_t cs = bd_consume_bits(&bd, 8);
+
+ int found = 0;
+ for (int j = 0; j < pjd->ncomponents; j++) {
+
+ if (cs == pjd->components[j].id) {
+ // which huff tables will we use for
+ // DC (high 4 bits) and AC (low 4 bits)
+ pjd->components[j].tda = bd_consume_bits(&bd, 8);
+ comp_idx[i] = j;
+ found = 1;
+ break;
+ }
+ }
+
+ if (!found)
+ return PJPEG_ERR_SOS;
+ }
+
+ // start of spectral selection. baseline == 0
+ uint8_t ss = bd_consume_bits(&bd, 8);
+
+ // end of spectral selection. baseline == 0x3f
+ uint8_t se = bd_consume_bits(&bd, 8);
+
+ // successive approximation bits. baseline == 0
+ uint8_t Ahl = bd_consume_bits(&bd, 8);
+
+ if (ss != 0 || se != 0x3f || Ahl != 0x00)
+ return PJPEG_ERR_SOS;
+
+ // compute the dimensions of each MCU in pixels
+ int maxmcux = 0, maxmcuy = 0;
+ for (int i = 0; i < ns; i++) {
+ struct pjpeg_component *comp = &pjd->components[comp_idx[i]];
+
+ maxmcux = max_u8(maxmcux, comp->scalex * 8);
+ maxmcuy = max_u8(maxmcuy, comp->scaley * 8);
+ }
+
+ // how many MCU blocks are required to encode the whole image?
+ int mcus_x = (pjd->width + maxmcux - 1) / maxmcux;
+ int mcus_y = (pjd->height + maxmcuy - 1) / maxmcuy;
+
+ if (0)
+ printf("Image has %d x %d MCU blocks, each %d x %d pixels\n",
+ mcus_x, mcus_y, maxmcux, maxmcuy);
+
+ // allocate output storage
+ for (int i = 0; i < ns; i++) {
+ struct pjpeg_component *comp = &pjd->components[comp_idx[i]];
+ comp->width = mcus_x * comp->scalex * 8;
+ comp->height = mcus_y * comp->scaley * 8;
+ comp->stride = comp->width;
+
+ int alignment = 32;
+ if ((comp->stride % alignment) != 0)
+ comp->stride += alignment - (comp->stride % alignment);
+
+ comp->data = calloc(comp->height * comp->stride, 1);
+ }
+
+
+ // each component has its own DC prediction
+ int32_t *dcpred = calloc(ns, sizeof(int32_t));
+
+ pjd->reset_count = 0;
+
+ for (int mcu_y = 0; mcu_y < mcus_y; mcu_y++) {
+ for (int mcu_x = 0; mcu_x < mcus_x; mcu_x++) {
+
+ // the next two bytes in the input stream
+ // should be 0xff 0xdN, where N is the next
+ // reset counter.
+ //
+ // Our bit decoder may have already shifted
+ // these into the buffer. Consequently, we
+ // want to use our bit decoding functions to
+ // check for the marker. But we must first
+ // discard any fractional bits left.
+ if (pjd->reset_interval > 0 && pjd->reset_count == pjd->reset_interval) {
+
+ // RST markers are byte-aligned, so force
+ // the bit-decoder to the next byte
+ // boundary.
+ bd_discard_to_byte_boundary(&bd);
+
+ while (1) {
+ int32_t value = bd_consume_bits(&bd, 8);
+ if (bd.inpos > bd.inlen)
+ return PJPEG_ERR_EOF;
+ if (value == 0xff)
+ break;
+ printf("RST SYNC\n");
+ }
+
+ int32_t marker_32 = bd_consume_bits(&bd, 8);
+
+// printf("%04x: RESET? %02x\n", *bd.inpos, marker_32);
+ if (marker_32 != (0xd0 + pjd->reset_next))
+ return PJPEG_ERR_RESET;
+
+ pjd->reset_count = 0;
+ pjd->reset_next = (pjd->reset_next + 1) & 0x7;
+
+ memset(dcpred, 0, sizeof(*dcpred));
+ }
+
+ for (int nsidx = 0; nsidx < ns; nsidx++) {
+
+ struct pjpeg_component *comp = &pjd->components[comp_idx[nsidx]];
+
+ int32_t block[64];
+
+ int qtabidx = comp->tq; // which quant table?
+
+ for (int sby = 0; sby < comp->scaley; sby++) {
+ for (int sbx = 0; sbx < comp->scalex; sbx++) {
+ // decode block for component nsidx
+ memset(block, 0, sizeof(block));
+
+ int dc_huff_table_idx = comp->tda >> 4;
+ int ac_huff_table_idx = 2 + (comp->tda & 0x0f);
+
+ if (!pjd->huff_codes_present[dc_huff_table_idx] ||
+ !pjd->huff_codes_present[ac_huff_table_idx])
+ return PJPEG_ERR_MISSING_DHT; // probably an MJPEG.
+
+
+ if (1) {
+ // do DC coefficient
+ uint32_t next16 = bd_peek_bits(&bd, 16);
+ struct pjpeg_huffman_code *huff_code = &pjd->huff_codes[dc_huff_table_idx][next16];
+ bd_consume_bits(&bd, huff_code->nbits);
+
+ int ssss = huff_code->code & 0x0f; // ssss == number of additional bits to read
+ int32_t value = bd_consume_bits(&bd, ssss);
+
+ // if high bit is clear, it's negative
+ if ((value & (1 << (ssss-1))) == 0)
+ value += ((-1) << ssss) + 1;
+
+ dcpred[nsidx] += value;
+ block[0] = dcpred[nsidx] * pjd->qtab[qtabidx][0];
+ }
+
+ if (1) {
+ // do AC coefficients
+ for (int coeff = 1; coeff < 64; coeff++) {
+
+ uint32_t next16 = bd_peek_bits(&bd, 16);
+
+ struct pjpeg_huffman_code *huff_code = &pjd->huff_codes[ac_huff_table_idx][next16];
+ bd_consume_bits(&bd, huff_code->nbits);
+
+ if (huff_code->code == 0) {
+ break; // EOB
+ }
+
+ int rrrr = huff_code->code >> 4; // run length of zeros
+ int ssss = huff_code->code & 0x0f;
+
+ int32_t value = bd_consume_bits(&bd, ssss);
+
+ // if high bit is clear, it's negative
+ if ((value & (1 << (ssss-1))) == 0)
+ value += ((-1) << ssss) + 1;
+
+ coeff += rrrr;
+
+ block[(int) ZZ[coeff]] = value * pjd->qtab[qtabidx][coeff];
+ }
+ }
+
+ // do IDCT
+
+ // output block's upper-left
+ // coordinate (in pixels) is
+ // (comp_x, comp_y).
+ uint32_t comp_x = (mcu_x * comp->scalex + sbx) * 8;
+ uint32_t comp_y = (mcu_y * comp->scaley + sby) * 8;
+ uint32_t dataidx = comp_y * comp->stride + comp_x;
+
+// pjpeg_idct_2D_u32(block, &comp->data[dataidx], comp->stride);
+ pjpeg_idct_2D_nanojpeg(block, &comp->data[dataidx], comp->stride);
+ }
+ }
+ }
+
+ pjd->reset_count++;
+// printf("%04x: reset count %d / %d\n", pjd->inpos, pjd->reset_count, pjd->reset_interval);
+
+ }
+ }
+
+ free(dcpred);
+ free(comp_idx);
+
+ break;
+ }
+
+ case 0xd9: { // EOI End of Image
+ goto got_end_of_image;
+ }
+
+ case 0xdd: { // Define Restart Interval
+ uint16_t length = bd_consume_bits(&bd, 16);
+ if (length != 4)
+ return PJPEG_ERR_DRI;
+
+ // reset interval measured in the number of MCUs
+ pjd->reset_interval = bd_consume_bits(&bd, 16);
+
+ break;
+ }
+
+ default: {
+ printf("pjepg: Unknown marker %02x at offset %04x\n", marker, marker_offset);
+
+ // try to skip it.
+ uint16_t length = bd_consume_bits(&bd, 16);
+ bd_discard_bytes(&bd, length - 2);
+ continue;
+ }
+ } // switch (marker)
+ } // while inpos < inlen
+
+ got_end_of_image:
+
+ return PJPEG_OKAY;
+}
+
+void pjpeg_destroy(pjpeg_t *pj)
+{
+ if (!pj)
+ return;
+
+ for (int i = 0; i < pj->ncomponents; i++)
+ free(pj->components[i].data);
+ free(pj->components);
+
+ free(pj);
+}
+
+
+// just grab the first component.
+image_u8_t *pjpeg_to_u8_baseline(pjpeg_t *pj)
+{
+ assert(pj->ncomponents > 0);
+
+ pjpeg_component_t *comp = &pj->components[0];
+
+ assert(comp->width >= pj->width && comp->height >= pj->height);
+
+ image_u8_t *im = image_u8_create(pj->width, pj->height);
+ for (int y = 0; y < im->height; y++)
+ memcpy(&im->buf[y*im->stride], &comp->data[y*comp->stride], pj->width);
+
+ return im;
+}
+
+static inline uint8_t clampd(double v)
+{
+ if (v < 0)
+ return 0;
+ if (v > 255)
+ return 255;
+
+ return (uint8_t) v;
+}
+
+static inline uint8_t clamp_u8(int32_t v)
+{
+ if (v < 0)
+ return 0;
+ if (v > 255)
+ return 255;
+ return v;
+}
+
+// color conversion formulas taken from JFIF spec v 1.02
+image_u8x3_t *pjpeg_to_u8x3_baseline(pjpeg_t *pj)
+{
+ assert(pj->ncomponents == 3);
+
+ pjpeg_component_t *Y = &pj->components[0];
+ pjpeg_component_t *Cb = &pj->components[1];
+ pjpeg_component_t *Cr = &pj->components[2];
+
+ int Cb_factor_y = Y->height / Cb->height;
+ int Cb_factor_x = Y->width / Cb->width;
+
+ int Cr_factor_y = Y->height / Cr->height;
+ int Cr_factor_x = Y->width / Cr->width;
+
+ image_u8x3_t *im = image_u8x3_create(pj->width, pj->height);
+
+ if (Cr_factor_y == 1 && Cr_factor_x == 1 && Cb_factor_y == 1 && Cb_factor_x == 1) {
+
+ for (int y = 0; y < pj->height; y++) {
+ for (int x = 0; x < pj->width; x++) {
+ int32_t y_val = Y->data[y*Y->stride + x] * 65536;
+ int32_t cb_val = Cb->data[y*Cb->stride + x] - 128;
+ int32_t cr_val = Cr->data[y*Cr->stride + x] - 128;
+
+ int32_t r_val = y_val + 91881 * cr_val;
+ int32_t g_val = y_val + -22554 * cb_val - 46802 * cr_val;
+ int32_t b_val = y_val + 116130 * cb_val;
+
+ im->buf[y*im->stride + 3*x + 0 ] = clamp_u8(r_val >> 16);
+ im->buf[y*im->stride + 3*x + 1 ] = clamp_u8(g_val >> 16);
+ im->buf[y*im->stride + 3*x + 2 ] = clamp_u8(b_val >> 16);
+ }
+ }
+ } else if (Cb_factor_y == Cr_factor_y && Cb_factor_x == Cr_factor_x) {
+ for (int by = 0; by < pj->height / Cb_factor_y; by++) {
+ for (int bx = 0; bx < pj->width / Cb_factor_x; bx++) {
+
+ int32_t cb_val = Cb->data[by*Cb->stride + bx] - 128;
+ int32_t cr_val = Cr->data[by*Cr->stride + bx] - 128;
+
+ int32_t r0 = 91881 * cr_val;
+ int32_t g0 = -22554 * cb_val - 46802 * cr_val;
+ int32_t b0 = 116130 * cb_val;
+
+ for (int dy = 0; dy < Cb_factor_y; dy++) {
+ int y = by*Cb_factor_y + dy;
+
+ for (int dx = 0; dx < Cb_factor_x; dx++) {
+ int x = bx*Cb_factor_x + dx;
+
+ int32_t y_val = Y->data[y*Y->stride + x] * 65536;
+
+ int32_t r_val = r0 + y_val;
+ int32_t g_val = g0 + y_val;
+ int32_t b_val = b0 + y_val;
+
+ im->buf[y*im->stride + 3*x + 0 ] = clamp_u8(r_val >> 16);
+ im->buf[y*im->stride + 3*x + 1 ] = clamp_u8(g_val >> 16);
+ im->buf[y*im->stride + 3*x + 2 ] = clamp_u8(b_val >> 16);
+ }
+ }
+ }
+ }
+ } else {
+
+ for (int y = 0; y < pj->height; y++) {
+ for (int x = 0; x < pj->width; x++) {
+ int32_t y_val = Y->data[y*Y->stride + x];
+ int32_t cb_val = Cb->data[(y / Cb_factor_y)*Cb->stride + (x / Cb_factor_x)] - 128;
+ int32_t cr_val = Cr->data[(y / Cr_factor_y)*Cr->stride + (x / Cr_factor_x)] - 128;
+
+ uint8_t r_val = clampd(y_val + 1.402 * cr_val);
+ uint8_t g_val = clampd(y_val - 0.34414 * cb_val - 0.71414 * cr_val);
+ uint8_t b_val = clampd(y_val + 1.772 * cb_val);
+
+ im->buf[y*im->stride + 3*x + 0 ] = r_val;
+ im->buf[y*im->stride + 3*x + 1 ] = g_val;
+ im->buf[y*im->stride + 3*x + 2 ] = b_val;
+ }
+ }
+ }
+
+ return im;
+}
+
+///////////////////////////////////////////////////////////////////
+// returns NULL if file loading fails.
+pjpeg_t *pjpeg_create_from_file(const char *path, uint32_t flags, int *error)
+{
+ FILE *f = fopen(path, "rb");
+ if (f == NULL)
+ return NULL;
+
+ fseek(f, 0, SEEK_END);
+ long buflen = ftell(f);
+
+ uint8_t *buf = malloc(buflen);
+ fseek(f, 0, SEEK_SET);
+ int res = fread(buf, 1, buflen, f);
+
+ if ( ferror(f) ){
+ debug_print ("Read failed");
+ clearerr(f);
+ }
+
+ fclose(f);
+ if (res != buflen) {
+ free(buf);
+ if (error)
+ *error = PJPEG_ERR_FILE;
+ return NULL;
+ }
+
+ pjpeg_t *pj = pjpeg_create_from_buffer(buf, buflen, flags, error);
+
+ free(buf);
+ return pj;
+}
+
+pjpeg_t *pjpeg_create_from_buffer(uint8_t *buf, int buflen, uint32_t flags, int *error)
+{
+ struct pjpeg_decode_state pjd;
+ memset(&pjd, 0, sizeof(pjd));
+
+ if (flags & PJPEG_MJPEG) {
+ pjd.in = mjpeg_dht;
+ pjd.inlen = sizeof(mjpeg_dht);
+ int result = pjpeg_decode_buffer(&pjd);
+ assert(result == 0);
+ }
+
+ pjd.in = buf;
+ pjd.inlen = buflen;
+ pjd.flags = flags;
+
+ int result = pjpeg_decode_buffer(&pjd);
+ if (error)
+ *error = result;
+
+ if (result) {
+ for (int i = 0; i < pjd.ncomponents; i++)
+ free(pjd.components[i].data);
+ free(pjd.components);
+
+ return NULL;
+ }
+
+ pjpeg_t *pj = calloc(1, sizeof(pjpeg_t));
+
+ pj->width = pjd.width;
+ pj->height = pjd.height;
+ pj->ncomponents = pjd.ncomponents;
+ pj->components = pjd.components;
+
+ return pj;
+}
diff --git a/third_party/apriltag/common/pjpeg.h b/third_party/apriltag/common/pjpeg.h
new file mode 100644
index 0000000..c9ba9c8
--- /dev/null
+++ b/third_party/apriltag/common/pjpeg.h
@@ -0,0 +1,103 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#include "image_u8.h"
+#include "image_u8x3.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct pjpeg_component pjpeg_component_t;
+struct pjpeg_component
+{
+ // resolution of this component (which is smaller than the
+ // dimensions of the image if the channel has been sub-sampled.)
+ uint32_t width, height;
+
+ // number of bytes per row. May be larger than width for alignment
+ // reasons.
+ uint32_t stride;
+
+ // data[y*stride + x]
+ uint8_t *data;
+
+ ////////////////////////////////////////////////////////////////
+ // These items probably not of great interest to most
+ // applications.
+ uint8_t id; // the identifier associated with this component
+ uint8_t hv; // horiz scale (high 4 bits) / vert scale (low 4 bits)
+ uint8_t scalex, scaley; // derived from hv above
+ uint8_t tq; // quantization table index
+
+ // this filled in at the last moment by SOS
+ uint8_t tda; // which huff tables will we use for DC (high 4 bits) and AC (low 4 bits)
+};
+
+typedef struct pjpeg pjpeg_t;
+struct pjpeg
+{
+ // status of the decode is put here. Non-zero means error.
+ int error;
+
+ uint32_t width, height; // pixel dimensions
+
+ int ncomponents;
+ pjpeg_component_t *components;
+};
+
+enum PJPEG_FLAGS {
+ PJPEG_STRICT = 1, // Don't try to recover from errors.
+ PJPEG_MJPEG = 2, // Support JPGs with missing DHT segments.
+};
+
+enum PJPEG_ERROR {
+ PJPEG_OKAY = 0,
+ PJPEG_ERR_FILE, // something wrong reading file
+ PJPEG_ERR_DQT, // something wrong with DQT marker
+ PJPEG_ERR_SOF, // something wrong with SOF marker
+ PJPEG_ERR_DHT, // something wrong with DHT marker
+ PJPEG_ERR_SOS, // something wrong with SOS marker
+ PJPEG_ERR_MISSING_DHT, // missing a necessary huffman table
+ PJPEG_ERR_DRI, // something wrong with DRI marker
+ PJPEG_ERR_RESET, // didn't get a reset marker where we expected. Corruption?
+ PJPEG_ERR_EOF, // ran out of bytes while decoding
+ PJEPG_ERR_UNSUPPORTED, // an unsupported format
+};
+
+pjpeg_t *pjpeg_create_from_file(const char *path, uint32_t flags, int *error);
+pjpeg_t *pjpeg_create_from_buffer(uint8_t *buf, int buflen, uint32_t flags, int *error);
+void pjpeg_destroy(pjpeg_t *pj);
+
+image_u8_t *pjpeg_to_u8_baseline(pjpeg_t *pj);
+image_u8x3_t *pjpeg_to_u8x3_baseline(pjpeg_t *pj);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/apriltag/common/pnm.c b/third_party/apriltag/common/pnm.c
new file mode 100644
index 0000000..fe77dde
--- /dev/null
+++ b/third_party/apriltag/common/pnm.c
@@ -0,0 +1,154 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "pnm.h"
+
+pnm_t *pnm_create_from_file(const char *path)
+{
+ FILE *f = fopen(path, "rb");
+ if (f == NULL)
+ return NULL;
+
+ pnm_t *pnm = calloc(1, sizeof(pnm_t));
+ pnm->format = -1;
+
+ char tmp[1024];
+ int nparams = 0; // will be 3 when we're all done.
+ int params[3];
+
+ while (nparams < 3 && !(pnm->format == PNM_FORMAT_BINARY && nparams == 2)) {
+ if (fgets(tmp, sizeof(tmp), f) == NULL)
+ goto error;
+
+ // skip comments
+ if (tmp[0]=='#')
+ continue;
+
+ char *p = tmp;
+
+ if (pnm->format == -1 && tmp[0]=='P') {
+ pnm->format = tmp[1]-'0';
+ assert(pnm->format == PNM_FORMAT_GRAY || pnm->format == PNM_FORMAT_RGB || pnm->format == PNM_FORMAT_BINARY);
+ p = &tmp[2];
+ }
+
+ // pull integers out of this line until there are no more.
+ while (nparams < 3 && *p!=0) {
+ while (*p==' ')
+ p++;
+
+ // encounter rubbish? (End of line?)
+ if (*p < '0' || *p > '9')
+ break;
+
+ int acc = 0;
+ while (*p >= '0' && *p <= '9') {
+ acc = acc*10 + *p - '0';
+ p++;
+ }
+
+ params[nparams++] = acc;
+ p++;
+ }
+ }
+
+ pnm->width = params[0];
+ pnm->height = params[1];
+ pnm->max = params[2];
+
+ switch (pnm->format) {
+ case PNM_FORMAT_BINARY: {
+ // files in the wild sometimes simply don't set max
+ pnm->max = 1;
+
+ pnm->buflen = pnm->height * ((pnm->width + 7) / 8);
+ pnm->buf = malloc(pnm->buflen);
+ size_t len = fread(pnm->buf, 1, pnm->buflen, f);
+ if (len != pnm->buflen)
+ goto error;
+
+ fclose(f);
+ return pnm;
+ }
+
+ case PNM_FORMAT_GRAY: {
+ if (pnm->max == 255)
+ pnm->buflen = pnm->width * pnm->height;
+ else if (pnm->max == 65535)
+ pnm->buflen = 2 * pnm->width * pnm->height;
+ else
+ assert(0);
+
+ pnm->buf = malloc(pnm->buflen);
+ size_t len = fread(pnm->buf, 1, pnm->buflen, f);
+ if (len != pnm->buflen)
+ goto error;
+
+ fclose(f);
+ return pnm;
+ }
+
+ case PNM_FORMAT_RGB: {
+ if (pnm->max == 255)
+ pnm->buflen = pnm->width * pnm->height * 3;
+ else if (pnm->max == 65535)
+ pnm->buflen = 2 * pnm->width * pnm->height * 3;
+ else
+ assert(0);
+
+ pnm->buf = malloc(pnm->buflen);
+ size_t len = fread(pnm->buf, 1, pnm->buflen, f);
+ if (len != pnm->buflen)
+ goto error;
+ fclose(f);
+ return pnm;
+ }
+ }
+
+error:
+ fclose(f);
+
+ if (pnm != NULL) {
+ free(pnm->buf);
+ free(pnm);
+ }
+
+ return NULL;
+}
+
+void pnm_destroy(pnm_t *pnm)
+{
+ if (pnm == NULL)
+ return;
+
+ free(pnm->buf);
+ free(pnm);
+}
diff --git a/third_party/apriltag/common/pnm.h b/third_party/apriltag/common/pnm.h
new file mode 100644
index 0000000..4d8f46e
--- /dev/null
+++ b/third_party/apriltag/common/pnm.h
@@ -0,0 +1,58 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define PNM_FORMAT_BINARY 4
+#define PNM_FORMAT_GRAY 5
+#define PNM_FORMAT_RGB 6
+
+// supports ppm, pnm, pgm
+
+typedef struct pnm pnm_t;
+struct pnm
+{
+ int width, height;
+ int format;
+ int max; // 1 = binary, 255 = one byte, 65535 = two bytes
+
+ uint32_t buflen;
+ uint8_t *buf; // if max=65535, in big endian
+};
+
+pnm_t *pnm_create_from_file(const char *path);
+void pnm_destroy(pnm_t *pnm);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/apriltag/common/postscript_utils.h b/third_party/apriltag/common/postscript_utils.h
new file mode 100644
index 0000000..b561c5b
--- /dev/null
+++ b/third_party/apriltag/common/postscript_utils.h
@@ -0,0 +1,53 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+// write commands in postscript language to render an image in the current
+// graphics environment. The image will be rendered in one pixel per unit
+// with Y up coordinate axis (e.g. upside down).
+static void postscript_image(FILE *f, image_u8_t *im)
+{
+// fprintf(f, "/readstring {\n currentfile exch readhexstring pop\n} bind def\n");
+ fprintf(f, "/picstr %d string def\n", im->width);
+
+ fprintf(f, "%d %d 8 [1 0 0 1 0 0]\n",
+ im->width, im->height);
+
+ fprintf(f, "{currentfile picstr readhexstring pop}\nimage\n");
+
+ for (int y = 0; y < im->height; y++) {
+ for (int x = 0; x < im->width; x++) {
+ uint8_t v = im->buf[y*im->stride + x];
+ fprintf(f, "%02x", v);
+ if ((x % 32)==31)
+ fprintf(f, "\n");
+ }
+ }
+
+ fprintf(f, "\n");
+}
diff --git a/third_party/apriltag/common/pthreads_cross.cpp b/third_party/apriltag/common/pthreads_cross.cpp
new file mode 100644
index 0000000..f772191
--- /dev/null
+++ b/third_party/apriltag/common/pthreads_cross.cpp
@@ -0,0 +1,259 @@
+/**
+Copyright John Schember <john@nachtimwald.com>
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+of the Software, and to permit persons to whom the Software is furnished to do
+so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+ */
+
+#include "common/pthreads_cross.h"
+#include <time.h>
+
+#ifdef _WIN32
+
+typedef struct {
+ SRWLOCK lock;
+ bool exclusive;
+} pthread_rwlock_t;
+
+int pthread_rwlock_init(pthread_rwlock_t *rwlock, const pthread_rwlockattr_t *attr);
+int pthread_rwlock_destroy(pthread_rwlock_t *rwlock);
+int pthread_rwlock_rdlock(pthread_rwlock_t *rwlock);
+int pthread_rwlock_tryrdlock(pthread_rwlock_t *rwlock);
+int pthread_rwlock_wrlock(pthread_rwlock_t *rwlock);
+int pthread_rwlock_trywrlock(pthread_rwlock_t *rwlock);
+int pthread_rwlock_unlock(pthread_rwlock_t *rwlock);
+
+int pthread_create(pthread_t *thread, pthread_attr_t *attr, void *(*start_routine)(void *), void *arg)
+{
+ (void) attr;
+
+ if (thread == NULL || start_routine == NULL)
+ return 1;
+
+ *thread = (HANDLE) CreateThread(NULL, 0, (LPTHREAD_START_ROUTINE)start_routine, arg, 0, NULL);
+ if (*thread == NULL)
+ return 1;
+ return 0;
+}
+
+int pthread_join(pthread_t thread, void **value_ptr)
+{
+ (void)value_ptr;
+ WaitForSingleObject(thread, INFINITE);
+ CloseHandle(thread);
+ return 0;
+}
+
+int pthread_detach(pthread_t thread)
+{
+ CloseHandle(thread);
+ return 0;
+}
+
+int pthread_mutex_init(pthread_mutex_t *mutex, pthread_mutexattr_t *attr)
+{
+ (void)attr;
+
+ if (mutex == NULL)
+ return 1;
+
+ InitializeCriticalSection(mutex);
+ return 0;
+}
+
+int pthread_mutex_destroy(pthread_mutex_t *mutex)
+{
+ if (mutex == NULL)
+ return 1;
+ DeleteCriticalSection(mutex);
+ return 0;
+}
+
+int pthread_mutex_lock(pthread_mutex_t *mutex)
+{
+ if (mutex == NULL)
+ return 1;
+ EnterCriticalSection(mutex);
+ return 0;
+}
+
+int pthread_mutex_unlock(pthread_mutex_t *mutex)
+{
+ if (mutex == NULL)
+ return 1;
+ LeaveCriticalSection(mutex);
+ return 0;
+}
+
+int pthread_cond_init(pthread_cond_t *cond, pthread_condattr_t *attr)
+{
+ (void)attr;
+ if (cond == NULL)
+ return 1;
+ InitializeConditionVariable(cond);
+ return 0;
+}
+
+int pthread_cond_destroy(pthread_cond_t *cond)
+{
+ /* Windows does not have a destroy for conditionals */
+ (void)cond;
+ return 0;
+}
+
+int pthread_cond_wait(pthread_cond_t *cond, pthread_mutex_t *mutex)
+{
+ if (cond == NULL || mutex == NULL)
+ return 1;
+ return pthread_cond_timedwait(cond, mutex, NULL);
+}
+
+int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex,
+ const struct timespec *abstime)
+{
+ if (cond == NULL || mutex == NULL)
+ return 1;
+ if (!SleepConditionVariableCS(cond, mutex, timespec_to_ms(abstime)))
+ return 1;
+ return 0;
+}
+
+int pthread_cond_signal(pthread_cond_t *cond)
+{
+ if (cond == NULL)
+ return 1;
+ WakeConditionVariable(cond);
+ return 0;
+}
+
+int pthread_cond_broadcast(pthread_cond_t *cond)
+{
+ if (cond == NULL)
+ return 1;
+ WakeAllConditionVariable(cond);
+ return 0;
+}
+
+int pthread_rwlock_init(pthread_rwlock_t *rwlock, const pthread_rwlockattr_t *attr)
+{
+ (void)attr;
+ if (rwlock == NULL)
+ return 1;
+ InitializeSRWLock(&(rwlock->lock));
+ rwlock->exclusive = false;
+ return 0;
+}
+
+int pthread_rwlock_destroy(pthread_rwlock_t *rwlock)
+{
+ (void)rwlock;
+ return 0;
+}
+
+int pthread_rwlock_rdlock(pthread_rwlock_t *rwlock)
+{
+ if (rwlock == NULL)
+ return 1;
+ AcquireSRWLockShared(&(rwlock->lock));
+ return 0;
+}
+
+int pthread_rwlock_tryrdlock(pthread_rwlock_t *rwlock)
+{
+ if (rwlock == NULL)
+ return 1;
+ return !TryAcquireSRWLockShared(&(rwlock->lock));
+}
+
+int pthread_rwlock_wrlock(pthread_rwlock_t *rwlock)
+{
+ if (rwlock == NULL)
+ return 1;
+ AcquireSRWLockExclusive(&(rwlock->lock));
+ rwlock->exclusive = true;
+ return 0;
+}
+
+int pthread_rwlock_trywrlock(pthread_rwlock_t *rwlock)
+{
+ BOOLEAN ret;
+
+ if (rwlock == NULL)
+ return 1;
+
+ ret = TryAcquireSRWLockExclusive(&(rwlock->lock));
+ if (ret)
+ rwlock->exclusive = true;
+ return ret;
+}
+
+int pthread_rwlock_unlock(pthread_rwlock_t *rwlock)
+{
+ if (rwlock == NULL)
+ return 1;
+
+ if (rwlock->exclusive) {
+ rwlock->exclusive = false;
+ ReleaseSRWLockExclusive(&(rwlock->lock));
+ } else {
+ ReleaseSRWLockShared(&(rwlock->lock));
+ }
+ return 0;
+}
+
+int sched_yield() {
+ return (int)SwitchToThread();
+}
+
+void ms_to_timespec(struct timespec *ts, unsigned int ms)
+{
+ if (ts == NULL)
+ return;
+ ts->tv_sec = (ms / 1000) + time(NULL);
+ ts->tv_nsec = (ms % 1000) * 1000000;
+}
+
+unsigned int timespec_to_ms(const struct timespec *abstime)
+{
+ DWORD t;
+
+ if (abstime == NULL)
+ return INFINITE;
+
+ t = ((abstime->tv_sec - time(NULL)) * 1000) + (abstime->tv_nsec / 1000000);
+ if (t < 0)
+ t = 1;
+ return t;
+}
+
+unsigned int pcthread_get_num_procs()
+{
+ SYSTEM_INFO sysinfo;
+
+ GetSystemInfo(&sysinfo);
+ return sysinfo.dwNumberOfProcessors;
+}
+
+#else
+
+#include <unistd.h>
+unsigned int pcthread_get_num_procs()
+{
+ return (unsigned int)sysconf(_SC_NPROCESSORS_ONLN);
+}
+#endif
diff --git a/third_party/apriltag/common/pthreads_cross.h b/third_party/apriltag/common/pthreads_cross.h
new file mode 100644
index 0000000..897a333
--- /dev/null
+++ b/third_party/apriltag/common/pthreads_cross.h
@@ -0,0 +1,81 @@
+/**
+Copyright John Schember <john@nachtimwald.com>
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+of the Software, and to permit persons to whom the Software is furnished to do
+so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+#ifndef __CPTHREAD_H__
+#define __CPTHREAD_H__
+
+#ifdef _WIN32
+#include <stdbool.h>
+#include <windows.h>
+#else
+#include <pthread.h>
+#include <sched.h>
+#endif
+
+#ifdef _WIN32
+
+typedef CRITICAL_SECTION pthread_mutex_t;
+typedef void pthread_mutexattr_t;
+typedef void pthread_attr_t;
+typedef void pthread_condattr_t;
+typedef void pthread_rwlockattr_t;
+typedef HANDLE pthread_t;
+typedef CONDITION_VARIABLE pthread_cond_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+int pthread_create(pthread_t *thread, pthread_attr_t *attr, void *(*start_routine)(void *), void *arg);
+int pthread_join(pthread_t thread, void **value_ptr);
+int pthread_detach(pthread_t);
+
+int pthread_mutex_init(pthread_mutex_t *mutex, pthread_mutexattr_t *attr);
+int pthread_mutex_destroy(pthread_mutex_t *mutex);
+int pthread_mutex_lock(pthread_mutex_t *mutex);
+int pthread_mutex_unlock(pthread_mutex_t *mutex);
+
+int pthread_cond_init(pthread_cond_t *cond, pthread_condattr_t *attr);
+int pthread_cond_destroy(pthread_cond_t *cond);
+int pthread_cond_wait(pthread_cond_t *cond, pthread_mutex_t *mutex);
+int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex, const struct timespec *abstime);
+int pthread_cond_signal(pthread_cond_t *cond);
+int pthread_cond_broadcast(pthread_cond_t *cond);
+
+int sched_yield(void);
+#ifdef __cplusplus
+}
+#endif
+#endif
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+unsigned int pcthread_get_num_procs();
+
+void ms_to_timespec(struct timespec *ts, unsigned int ms);
+unsigned int timespec_to_ms(const struct timespec *abstime);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CPTHREAD_H__ */
diff --git a/third_party/apriltag/common/string_util.c b/third_party/apriltag/common/string_util.c
new file mode 100644
index 0000000..7c64c13
--- /dev/null
+++ b/third_party/apriltag/common/string_util.c
@@ -0,0 +1,771 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <assert.h>
+#include <ctype.h>
+#include <string.h>
+#include <stdarg.h>
+#include <stdlib.h>
+#include <stdio.h>
+
+#include "string_util.h"
+#include "zarray.h"
+
+struct string_buffer
+{
+ char *s;
+ int alloc;
+ size_t size; // as if strlen() was called; not counting terminating \0
+};
+
+#define MIN_PRINTF_ALLOC 16
+
+char *sprintf_alloc(const char *fmt, ...)
+{
+ assert(fmt != NULL);
+
+ va_list args;
+
+ va_start(args,fmt);
+ char *buf = vsprintf_alloc(fmt, args);
+ va_end(args);
+
+ return buf;
+}
+
+char *vsprintf_alloc(const char *fmt, va_list orig_args)
+{
+ assert(fmt != NULL);
+
+ int size = MIN_PRINTF_ALLOC;
+ char *buf = malloc(size * sizeof(char));
+
+ int returnsize;
+ va_list args;
+
+ va_copy(args, orig_args);
+ returnsize = vsnprintf(buf, size, fmt, args);
+ va_end(args);
+
+ // it was successful
+ if (returnsize < size) {
+ return buf;
+ }
+
+ // otherwise, we should try again
+ free(buf);
+ size = returnsize + 1;
+ buf = malloc(size * sizeof(char));
+
+ va_copy(args, orig_args);
+ returnsize = vsnprintf(buf, size, fmt, args);
+ va_end(args);
+
+ assert(returnsize <= size);
+ return buf;
+}
+
+char *_str_concat_private(const char *first, ...)
+{
+ size_t len = 0;
+
+ // get the total length (for the allocation)
+ {
+ va_list args;
+ va_start(args, first);
+ const char *arg = first;
+ while(arg != NULL) {
+ len += strlen(arg);
+ arg = va_arg(args, const char *);
+ }
+ va_end(args);
+ }
+
+ // write the string
+ char *str = malloc(len*sizeof(char) + 1);
+ char *ptr = str;
+ {
+ va_list args;
+ va_start(args, first);
+ const char *arg = first;
+ while(arg != NULL) {
+ while(*arg)
+ *ptr++ = *arg++;
+ arg = va_arg(args, const char *);
+ }
+ *ptr = '\0';
+ va_end(args);
+ }
+
+ return str;
+}
+
+// Returns the index of the first character that differs:
+int str_diff_idx(const char * a, const char * b)
+{
+ assert(a != NULL);
+ assert(b != NULL);
+
+ int i = 0;
+
+ size_t lena = strlen(a);
+ size_t lenb = strlen(b);
+
+ size_t minlen = lena < lenb ? lena : lenb;
+
+ for (; i < minlen; i++)
+ if (a[i] != b[i])
+ break;
+
+ return i;
+}
+
+
+zarray_t *str_split(const char *str, const char *delim)
+{
+ assert(str != NULL);
+ assert(delim != NULL);
+
+ zarray_t *parts = zarray_create(sizeof(char*));
+ string_buffer_t *sb = string_buffer_create();
+
+ size_t delim_len = strlen(delim);
+ size_t len = strlen(str);
+ size_t pos = 0;
+
+ while (pos < len) {
+ if (str_starts_with(&str[pos], delim) && delim_len > 0) {
+ pos += delim_len;
+ // never add empty strings (repeated tokens)
+ if (string_buffer_size(sb) > 0) {
+ char *part = string_buffer_to_string(sb);
+ zarray_add(parts, &part);
+ }
+ string_buffer_reset(sb);
+ } else {
+ string_buffer_append(sb, str[pos]);
+ pos++;
+ }
+ }
+
+ if (string_buffer_size(sb) > 0) {
+ char *part = string_buffer_to_string(sb);
+ zarray_add(parts, &part);
+ }
+
+ string_buffer_destroy(sb);
+ return parts;
+}
+
+// split on one or more spaces.
+zarray_t *str_split_spaces(const char *str)
+{
+ zarray_t *parts = zarray_create(sizeof(char*));
+ size_t len = strlen(str);
+ size_t pos = 0;
+
+ while (pos < len) {
+
+ while (pos < len && str[pos] == ' ')
+ pos++;
+
+ // produce a token?
+ if (pos < len) {
+ // yes!
+ size_t off0 = pos;
+ while (pos < len && str[pos] != ' ')
+ pos++;
+ size_t off1 = pos;
+
+ size_t len_off = off1 - off0;
+ char *tok = malloc(len_off + 1);
+ memcpy(tok, &str[off0], len_off);
+ tok[len_off] = 0;
+ zarray_add(parts, &tok);
+ }
+ }
+
+ return parts;
+}
+
+void str_split_destroy(zarray_t *za)
+{
+ if (!za)
+ return;
+
+ zarray_vmap(za, free);
+ zarray_destroy(za);
+}
+
+char *str_trim(char *str)
+{
+ assert(str != NULL);
+
+ return str_lstrip(str_rstrip(str));
+}
+
+char *str_lstrip(char *str)
+{
+ assert(str != NULL);
+
+ char *ptr = str;
+ char *end = str + strlen(str);
+ for(; ptr != end && isspace(*ptr); ptr++);
+ // shift the string to the left so the original pointer still works
+ memmove(str, ptr, strlen(ptr)+1);
+ return str;
+}
+
+char *str_rstrip(char *str)
+{
+ assert(str != NULL);
+
+ char *ptr = str + strlen(str) - 1;
+ for(; ptr+1 != str && isspace(*ptr); ptr--);
+ *(ptr+1) = '\0';
+ return str;
+}
+
+int str_indexof(const char *haystack, const char *needle)
+{
+ assert(haystack != NULL);
+ assert(needle != NULL);
+
+ // use signed types for hlen/nlen because hlen - nlen can be negative.
+ int hlen = (int) strlen(haystack);
+ int nlen = (int) strlen(needle);
+
+ if (nlen > hlen) return -1;
+
+ for (int i = 0; i <= hlen - nlen; i++) {
+ if (!strncmp(&haystack[i], needle, nlen))
+ return i;
+ }
+
+ return -1;
+}
+
+int str_last_indexof(const char *haystack, const char *needle)
+{
+ assert(haystack != NULL);
+ assert(needle != NULL);
+
+ // use signed types for hlen/nlen because hlen - nlen can be negative.
+ int hlen = (int) strlen(haystack);
+ int nlen = (int) strlen(needle);
+
+ int last_index = -1;
+ for (int i = 0; i <= hlen - nlen; i++) {
+ if (!strncmp(&haystack[i], needle, nlen))
+ last_index = i;
+ }
+
+ return last_index;
+}
+
+// in-place modification.
+char *str_tolowercase(char *s)
+{
+ assert(s != NULL);
+
+ size_t slen = strlen(s);
+ for (int i = 0; i < slen; i++) {
+ if (s[i] >= 'A' && s[i] <= 'Z')
+ s[i] = s[i] + 'a' - 'A';
+ }
+
+ return s;
+}
+
+char *str_touppercase(char *s)
+{
+ assert(s != NULL);
+
+ size_t slen = strlen(s);
+ for (int i = 0; i < slen; i++) {
+ if (s[i] >= 'a' && s[i] <= 'z')
+ s[i] = s[i] - ('a' - 'A');
+ }
+
+ return s;
+}
+
+string_buffer_t* string_buffer_create()
+{
+ string_buffer_t *sb = (string_buffer_t*) calloc(1, sizeof(string_buffer_t));
+ assert(sb != NULL);
+ sb->alloc = 32;
+ sb->s = calloc(sb->alloc, 1);
+ return sb;
+}
+
+void string_buffer_destroy(string_buffer_t *sb)
+{
+ if (sb == NULL)
+ return;
+
+ if (sb->s)
+ free(sb->s);
+
+ memset(sb, 0, sizeof(string_buffer_t));
+ free(sb);
+}
+
+void string_buffer_append(string_buffer_t *sb, char c)
+{
+ assert(sb != NULL);
+
+ if (sb->size+2 >= sb->alloc) {
+ sb->alloc *= 2;
+ sb->s = realloc(sb->s, sb->alloc);
+ }
+
+ sb->s[sb->size++] = c;
+ sb->s[sb->size] = 0;
+}
+
+char string_buffer_pop_back(string_buffer_t *sb) {
+ assert(sb != NULL);
+ if (sb->size == 0)
+ return 0;
+
+ char back = sb->s[--sb->size];
+ sb->s[sb->size] = 0;
+ return back;
+}
+
+void string_buffer_appendf(string_buffer_t *sb, const char *fmt, ...)
+{
+ assert(sb != NULL);
+ assert(fmt != NULL);
+
+ int size = MIN_PRINTF_ALLOC;
+ char *buf = malloc(size * sizeof(char));
+
+ int returnsize;
+ va_list args;
+
+ va_start(args,fmt);
+ returnsize = vsnprintf(buf, size, fmt, args);
+ va_end(args);
+
+ if (returnsize >= size) {
+ // otherwise, we should try again
+ free(buf);
+ size = returnsize + 1;
+ buf = malloc(size * sizeof(char));
+
+ va_start(args, fmt);
+ returnsize = vsnprintf(buf, size, fmt, args);
+ va_end(args);
+
+ assert(returnsize <= size);
+ }
+
+ string_buffer_append_string(sb, buf);
+ free(buf);
+}
+
+void string_buffer_append_string(string_buffer_t *sb, const char *str)
+{
+ assert(sb != NULL);
+ assert(str != NULL);
+
+ size_t len = strlen(str);
+
+ while (sb->size+len + 1 >= sb->alloc) {
+ sb->alloc *= 2;
+ sb->s = realloc(sb->s, sb->alloc);
+ }
+
+ memcpy(&sb->s[sb->size], str, len);
+ sb->size += len;
+ sb->s[sb->size] = 0;
+}
+
+bool string_buffer_ends_with(string_buffer_t *sb, const char *str)
+{
+ assert(sb != NULL);
+ assert(str != NULL);
+
+ return str_ends_with(sb->s, str);
+}
+
+char *string_buffer_to_string(string_buffer_t *sb)
+{
+ assert(sb != NULL);
+
+ return strdup(sb->s);
+}
+
+// returns length of string (not counting \0)
+size_t string_buffer_size(string_buffer_t *sb)
+{
+ assert(sb != NULL);
+
+ return sb->size;
+}
+
+void string_buffer_reset(string_buffer_t *sb)
+{
+ assert(sb != NULL);
+
+ sb->s[0] = 0;
+ sb->size = 0;
+}
+
+string_feeder_t *string_feeder_create(const char *str)
+{
+ assert(str != NULL);
+
+ string_feeder_t *sf = (string_feeder_t*) calloc(1, sizeof(string_feeder_t));
+ sf->s = strdup(str);
+ sf->len = strlen(sf->s);
+ sf->line = 1;
+ sf->col = 0;
+ sf->pos = 0;
+ return sf;
+}
+
+int string_feeder_get_line(string_feeder_t *sf)
+{
+ assert(sf != NULL);
+ return sf->line;
+}
+
+int string_feeder_get_column(string_feeder_t *sf)
+{
+ assert(sf != NULL);
+ return sf->col;
+}
+
+void string_feeder_destroy(string_feeder_t *sf)
+{
+ if (sf == NULL)
+ return;
+
+ free(sf->s);
+ memset(sf, 0, sizeof(string_feeder_t));
+ free(sf);
+}
+
+bool string_feeder_has_next(string_feeder_t *sf)
+{
+ assert(sf != NULL);
+
+ return sf->s[sf->pos] != 0 && sf->pos <= sf->len;
+}
+
+char string_feeder_next(string_feeder_t *sf)
+{
+ assert(sf != NULL);
+ assert(sf->pos <= sf->len);
+
+ char c = sf->s[sf->pos++];
+ if (c == '\n') {
+ sf->line++;
+ sf->col = 0;
+ } else {
+ sf->col++;
+ }
+
+ return c;
+}
+
+char *string_feeder_next_length(string_feeder_t *sf, size_t length)
+{
+ assert(sf != NULL);
+ assert(length >= 0);
+ assert(sf->pos <= sf->len);
+
+ if (sf->pos + length > sf->len)
+ length = sf->len - sf->pos;
+
+ char *substr = calloc(length+1, sizeof(char));
+ for (int i = 0 ; i < length ; i++)
+ substr[i] = string_feeder_next(sf);
+ return substr;
+}
+
+char string_feeder_peek(string_feeder_t *sf)
+{
+ assert(sf != NULL);
+ assert(sf->pos <= sf->len);
+
+ return sf->s[sf->pos];
+}
+
+char *string_feeder_peek_length(string_feeder_t *sf, size_t length)
+{
+ assert(sf != NULL);
+ assert(length >= 0);
+ assert(sf->pos <= sf->len);
+
+ if (sf->pos + length > sf->len)
+ length = sf->len - sf->pos;
+
+ char *substr = calloc(length+1, sizeof(char));
+ memcpy(substr, &sf->s[sf->pos], length*sizeof(char));
+ return substr;
+}
+
+bool string_feeder_starts_with(string_feeder_t *sf, const char *str)
+{
+ assert(sf != NULL);
+ assert(str != NULL);
+ assert(sf->pos <= sf->len);
+
+ return str_starts_with(&sf->s[sf->pos], str);
+}
+
+void string_feeder_require(string_feeder_t *sf, const char *str)
+{
+ assert(sf != NULL);
+ assert(str != NULL);
+ assert(sf->pos <= sf->len);
+
+ size_t len = strlen(str);
+
+ for (int i = 0; i < len; i++) {
+ char c = string_feeder_next(sf);
+ assert(c == str[i]);
+ }
+}
+
+////////////////////////////////////////////
+bool str_ends_with(const char *haystack, const char *needle)
+{
+ assert(haystack != NULL);
+ assert(needle != NULL);
+
+ size_t lens = strlen(haystack);
+ size_t lenneedle = strlen(needle);
+
+ if (lenneedle > lens)
+ return false;
+
+ return !strncmp(&haystack[lens - lenneedle], needle, lenneedle);
+}
+
+#ifndef _MSC_VER
+inline
+#endif
+bool str_starts_with(const char *haystack, const char *needle)
+{
+ assert(haystack != NULL);
+ assert(needle != NULL);
+
+ // haystack[pos] doesn't have to be compared to zero; if it were
+ // zero, it either doesn't match needle (in which case the loop
+ // terminates) or it matches needle[pos] (in which case the loop
+ // terminates).
+ int pos = 0;
+ while (haystack[pos] == needle[pos] && needle[pos] != 0)
+ pos++;
+
+ return (needle[pos] == 0);
+}
+
+bool str_starts_with_any(const char *haystack, const char **needles, int num_needles)
+{
+ assert(haystack != NULL);
+ assert(needles != NULL);
+ assert(num_needles >= 0);
+
+ for (int i = 0; i < num_needles; i++) {
+ assert(needles[i] != NULL);
+ if (str_starts_with(haystack, needles[i]))
+ return true;
+ }
+
+ return false;
+}
+
+bool str_matches_any(const char *haystack, const char **needles, int num_needles)
+{
+ assert(haystack != NULL);
+ assert(needles != NULL);
+ assert(num_needles >= 0);
+
+ for (int i = 0; i < num_needles; i++) {
+ assert(needles[i] != NULL);
+ if (!strcmp(haystack, needles[i]))
+ return true;
+ }
+
+ return false;
+}
+
+char *str_substring(const char *str, size_t startidx, long endidx)
+{
+ assert(str != NULL);
+ assert(startidx >= 0 && startidx <= strlen(str)+1);
+ assert(endidx < 0 || endidx >= startidx);
+ assert(endidx < 0 || endidx <= strlen(str)+1);
+
+ if (endidx < 0)
+ endidx = (long) strlen(str);
+
+ size_t blen = endidx - startidx; // not counting \0
+ char *b = malloc(blen + 1);
+ memcpy(b, &str[startidx], blen);
+ b[blen] = 0;
+ return b;
+}
+
+char *str_replace(const char *haystack, const char *needle, const char *replacement)
+{
+ assert(haystack != NULL);
+ assert(needle != NULL);
+ assert(replacement != NULL);
+
+ string_buffer_t *sb = string_buffer_create();
+ size_t haystack_len = strlen(haystack);
+ size_t needle_len = strlen(needle);
+
+ int pos = 0;
+ while (pos < haystack_len) {
+ if (needle_len > 0 && str_starts_with(&haystack[pos], needle)) {
+ string_buffer_append_string(sb, replacement);
+ pos += needle_len;
+ } else {
+ string_buffer_append(sb, haystack[pos]);
+ pos++;
+ }
+ }
+ if (needle_len == 0 && haystack_len == 0)
+ string_buffer_append_string(sb, replacement);
+
+ char *res = string_buffer_to_string(sb);
+ string_buffer_destroy(sb);
+ return res;
+}
+
+char *str_replace_many(const char *_haystack, ...)
+{
+ va_list ap;
+ va_start(ap, _haystack);
+
+ char *haystack = strdup(_haystack);
+
+ while (true) {
+ char *needle = va_arg(ap, char*);
+ if (!needle)
+ break;
+
+ char *replacement = va_arg(ap, char*);
+ char *tmp = str_replace(haystack, needle, replacement);
+ free(haystack);
+ haystack = tmp;
+ }
+
+ va_end(ap);
+
+ return haystack;
+}
+
+static void buffer_appendf(char **_buf, int *bufpos, void *fmt, ...)
+{
+ char *buf = *_buf;
+ va_list ap;
+
+ int salloc = 128;
+ char *s = malloc(salloc);
+
+ va_start(ap, fmt);
+ int slen = vsnprintf(s, salloc, fmt, ap);
+ va_end(ap);
+
+ if (slen >= salloc) {
+ s = realloc(s, slen + 1);
+ va_start(ap, fmt);
+ vsprintf((char*) s, fmt, ap);
+ va_end(ap);
+ }
+
+ buf = realloc(buf, *bufpos + slen + 1);
+ *_buf = buf;
+
+ memcpy(&buf[*bufpos], s, slen + 1); // get trailing \0
+ (*bufpos) += slen;
+
+ free(s);
+}
+
+static int is_variable_character(char c)
+{
+ if (c >= 'a' && c <= 'z')
+ return 1;
+
+ if (c >= 'A' && c <= 'Z')
+ return 1;
+
+ if (c >= '0' && c <= '9')
+ return 1;
+
+ if (c == '_')
+ return 1;
+
+ return 0;
+}
+
+char *str_expand_envs(const char *in)
+{
+ size_t inlen = strlen(in);
+ size_t inpos = 0;
+
+ char *out = NULL;
+ int outpos = 0;
+
+ while (inpos < inlen) {
+
+ if (in[inpos] != '$') {
+ buffer_appendf(&out, &outpos, "%c", in[inpos]);
+ inpos++;
+ continue;
+
+ } else {
+ inpos++; // consume '$'
+
+ char *varname = NULL;
+ int varnamepos = 0;
+
+ while (inpos < inlen && is_variable_character(in[inpos])) {
+ buffer_appendf(&varname, &varnamepos, "%c", in[inpos]);
+ inpos++;
+ }
+
+ char *env = getenv(varname);
+ if (env)
+ buffer_appendf(&out, &outpos, "%s", env);
+
+ free(varname);
+ }
+ }
+
+ return out;
+}
diff --git a/third_party/apriltag/common/string_util.h b/third_party/apriltag/common/string_util.h
new file mode 100644
index 0000000..2625838
--- /dev/null
+++ b/third_party/apriltag/common/string_util.h
@@ -0,0 +1,465 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#include <stdio.h>
+#include <stdarg.h>
+#include <stdbool.h>
+#include <ctype.h>
+
+#include "zarray.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+typedef struct string_buffer string_buffer_t;
+
+typedef struct string_feeder string_feeder_t;
+struct string_feeder
+{
+ char *s;
+ size_t len;
+ size_t pos;
+
+ int line, col;
+};
+
+/**
+ * Similar to sprintf(), except that it will malloc() enough space for the
+ * formatted string which it returns. It is the caller's responsibility to call
+ * free() on the returned string when it is no longer needed.
+ */
+char *sprintf_alloc(const char *fmt, ...)
+#ifndef _MSC_VER
+__attribute__ ((format (printf, 1, 2)))
+#endif
+;
+
+/**
+ * Similar to vsprintf(), except that it will malloc() enough space for the
+ * formatted string which it returns. It is the caller's responsibility to call
+ * free() on the returned string when it is no longer needed.
+ */
+char *vsprintf_alloc(const char *fmt, va_list args);
+
+/**
+ * Concatenates 1 or more strings together and returns the result, which will be a
+ * newly allocated string which it is the caller's responsibility to free.
+ */
+#define str_concat(...) _str_concat_private(__VA_ARGS__, NULL)
+char *_str_concat_private(const char *first, ...);
+
+
+// Returns the index of the first character that differs:
+int str_diff_idx(const char * a, const char * b);
+
+/**
+ * Splits the supplied string into an array of strings by subdividing it at
+ * each occurrence of the supplied delimiter string. The split strings will not
+ * contain the delimiter. The original string will remain unchanged.
+ * If str is composed of all delimiters, an empty array will be returned.
+ *
+ * It is the caller's responsibilty to free the returned zarray, as well as
+ * the strings contained within it, e.g.:
+ *
+ * zarray_t *za = str_split("this is a haystack", " ");
+ * => ["this", "is", "a", "haystack"]
+ * zarray_vmap(za, free);
+ * zarray_destroy(za);
+ */
+zarray_t *str_split(const char *str, const char *delim);
+
+zarray_t *str_split_spaces(const char *str);
+
+void str_split_destroy(zarray_t *s);
+
+/*
+ * Determines if str1 exactly matches str2 (more efficient than strcmp(...) == 0)
+ */
+static inline bool streq(const char *str1, const char* str2)
+{
+ int i;
+ for (i = 0 ; str1[i] != '\0' ; i++) {
+ if (str1[i] != str2[i])
+ return false;
+ }
+
+ return str2[i] == '\0';
+}
+
+/**
+ * Determines if str1 exactly matches str2, ignoring case (more efficient than
+ * strcasecmp(...) == 0)
+ */
+static inline bool strcaseeq(const char *str1, const char* str2)
+{
+ int i;
+ for (i = 0 ; str1[i] != '\0' ; i++) {
+ if (str1[i] == str2[i])
+ continue;
+ else if (islower(str1[i]) && (str1[i] - 32) == str2[i])
+ continue;
+ else if (isupper(str1[i]) && (str1[i] + 32) == str2[i])
+ continue;
+
+ return false;
+ }
+
+ return str2[i] == '\0';
+}
+
+/**
+ * Trims whitespace characters (i.e. matching isspace()) from the beginning and/or
+ * end of the supplied string. This change affects the supplied string in-place.
+ * The supplied/edited string is returned to enable chained reference.
+ *
+ * Note: do not pass a string literal to this function
+ */
+char *str_trim(char *str);
+
+/**
+ * Trims whitespace characters (i.e. matching isspace()) from the beginning
+ * of the supplied string. This change affects the supplied string in-place.
+ * The supplied/edited string is returned to enable chained reference.
+ *
+ * Note: do not pass a string literal to this function
+ */
+char *str_lstrip(char *str);
+
+/**
+ * Trims whitespace characters (i.e. matching isspace()) from the end of the
+ * supplied string. This change affects the supplied string in-place.
+ * The supplied/edited string is returned to enable chained reference.
+ *
+ * Note: do not pass a string literal to this function
+ */
+char *str_rstrip(char *str);
+
+/**
+ * Returns true if the end of string 'haystack' matches 'needle', else false.
+ *
+ * Note: An empty needle ("") will match any source.
+ */
+bool str_ends_with(const char *haystack, const char *needle);
+
+/**
+ * Returns true if the start of string 'haystack' matches 'needle', else false.
+ *
+ * Note: An empty needle ("") will match any source.
+ */
+bool str_starts_with(const char *haystack, const char *needle);
+
+/**
+ * Returns true if the start of string 'haystack' matches any needle, else false.
+ *
+ * Note: An empty needle ("") will match any source.
+ */
+bool str_starts_with_any(const char *haystack, const char **needles, int num_needles);
+
+/**
+ * Returns true if the string 'haystack' matches any needle, else false.
+ */
+bool str_matches_any(const char *haystack, const char **needles, int num_needles);
+
+/**
+ * Retrieves a (newly-allocated) substring of the given string, 'str', starting
+ * from character index 'startidx' through index 'endidx' - 1 (inclusive).
+ * An 'endidx' value -1 is equivalent to strlen(str).
+ *
+ * It is the caller's responsibility to free the returned string.
+ *
+ * Examples:
+ * str_substring("string", 1, 3) = "tr"
+ * str_substring("string", 2, -1) = "ring"
+ * str_substring("string", 3, 3) = ""
+ *
+ * Note: startidx must be >= endidx
+ */
+char *str_substring(const char *str, size_t startidx, long endidx);
+
+/**
+ * Retrieves the zero-based index of the beginning of the supplied substring
+ * (needle) within the search string (haystack) if it exists.
+ *
+ * Returns -1 if the supplied needle is not found within the haystack.
+ */
+int str_indexof(const char *haystack, const char *needle);
+
+ static inline int str_contains(const char *haystack, const char *needle) {
+ return str_indexof(haystack, needle) >= 0;
+ }
+
+// same as above, but returns last match
+int str_last_indexof(const char *haystack, const char *needle);
+
+/**
+ * Replaces all upper-case characters within the supplied string with their
+ * lower-case counterparts, modifying the original string's contents.
+ *
+ * Returns the supplied / modified string.
+ */
+char *str_tolowercase(char *s);
+
+/**
+ * Replaces all lower-case characters within the supplied string with their
+ * upper-case counterparts, modifying the original string's contents.
+ *
+ * Returns the supplied / modified string.
+ */
+char *str_touppercase(char *s);
+
+/**
+ * Replaces all occurrences of 'needle' in the string 'haystack', substituting
+ * for them the value of 'replacement', and returns the result as a newly-allocated
+ * string. The original strings remain unchanged.
+ *
+ * It is the caller's responsibility to free the returned string.
+ *
+ * Examples:
+ * str_replace("string", "ri", "u") = "stung"
+ * str_replace("singing", "ing", "") = "s"
+ * str_replace("string", "foo", "bar") = "string"
+ *
+ * Note: An empty needle will match only an empty haystack
+ */
+char *str_replace(const char *haystack, const char *needle, const char *replacement);
+
+ char *str_replace_many(const char *_haystack, ...);
+//////////////////////////////////////////////////////
+// String Buffer
+
+/**
+ * Creates and initializes a string buffer object which can be used with any of
+ * the string_buffer_*() functions.
+ *
+ * It is the caller's responsibility to free the string buffer resources with
+ * a call to string_buffer_destroy() when it is no longer needed.
+ */
+string_buffer_t *string_buffer_create();
+
+/**
+ * Frees the resources associated with a string buffer object, including space
+ * allocated for any appended characters / strings.
+ */
+void string_buffer_destroy(string_buffer_t *sb);
+
+/**
+ * Appends a single character to the end of the supplied string buffer.
+ */
+void string_buffer_append(string_buffer_t *sb, char c);
+
+/**
+ * Removes a single character from the end of the string and
+ * returns it. Does nothing if string is empty and returns NULL
+ */
+char string_buffer_pop_back(string_buffer_t *sb);
+
+/**
+ * Appends the supplied string to the end of the supplied string buffer.
+ */
+void string_buffer_append_string(string_buffer_t *sb, const char *str);
+
+/**
+ * Formats the supplied string and arguments in a manner akin to printf(), and
+ * appends the resulting string to the end of the supplied string buffer.
+ */
+void string_buffer_appendf(string_buffer_t *sb, const char *fmt, ...)
+#ifndef _MSC_VER
+__attribute__ ((format (printf, 2, 3)))
+#endif
+;
+
+/**
+ * Determines whether the character contents held by the supplied string buffer
+ * ends with the supplied string.
+ *
+ * Returns true if the string buffer's contents ends with 'str', else false.
+ */
+bool string_buffer_ends_with(string_buffer_t *sb, const char *str);
+
+/**
+ * Returns the string-length of the contents of the string buffer (not counting \0).
+ * Equivalent to calling strlen() on the string returned by string_buffer_to_string(sb).
+ */
+size_t string_buffer_size(string_buffer_t *sb);
+
+/**
+ * Returns the contents of the string buffer in a newly-allocated string, which
+ * it is the caller's responsibility to free once it is no longer needed.
+ */
+char *string_buffer_to_string(string_buffer_t *sb);
+
+/**
+ * Clears the contents of the string buffer, setting its length to zero.
+ */
+void string_buffer_reset(string_buffer_t *sb);
+
+//////////////////////////////////////////////////////
+// String Feeder
+
+/**
+ * Creates a string feeder object which can be used to traverse the supplied
+ * string using the string_feeder_*() functions. A local copy of the string's
+ * contents will be stored so that future changes to 'str' will not be
+ * reflected by the string feeder object.
+ *
+ * It is the caller's responsibility to call string_feeder_destroy() on the
+ * returned object when it is no longer needed.
+ */
+string_feeder_t *string_feeder_create(const char *str);
+
+/**
+ * Frees resources associated with the supplied string feeder object, after
+ * which it will no longer be valid for use.
+ */
+void string_feeder_destroy(string_feeder_t *sf);
+
+/**
+ * Determines whether any characters remain to be retrieved from the string
+ * feeder's string (not including the terminating '\0').
+ *
+ * Returns true if at least one more character can be retrieved with calls to
+ * string_feeder_next(), string_feeder_peek(), string_feeder_peek(), or
+ * string_feeder_consume(), else false.
+ */
+bool string_feeder_has_next(string_feeder_t *sf);
+
+/**
+ * Retrieves the next available character from the supplied string feeder
+ * (which may be the terminating '\0' character) and advances the feeder's
+ * position to the next character in the string.
+ *
+ * Note: Attempts to read past the end of the string will throw an assertion.
+ */
+char string_feeder_next(string_feeder_t *sf);
+
+/**
+ * Retrieves a series of characters from the supplied string feeder. The number
+ * of characters returned will be 'length' or the number of characters
+ * remaining in the string, whichever is shorter. The string feeder's position
+ * will be advanced by the number of characters returned.
+ *
+ * It is the caller's responsibility to free the returned string when it is no
+ * longer needed.
+ *
+ * Note: Calling once the end of the string has already been read will throw an assertion.
+ */
+char *string_feeder_next_length(string_feeder_t *sf, size_t length);
+
+/**
+ * Retrieves the next available character from the supplied string feeder
+ * (which may be the terminating '\0' character), but does not advance
+ * the feeder's position so that subsequent calls to _next() or _peek() will
+ * retrieve the same character.
+ *
+ * Note: Attempts to peek past the end of the string will throw an assertion.
+ */
+char string_feeder_peek(string_feeder_t *sf);
+
+/**
+ * Retrieves a series of characters from the supplied string feeder. The number
+ * of characters returned will be 'length' or the number of characters
+ * remaining in the string, whichever is shorter. The string feeder's position
+ * will not be advanced.
+ *
+ * It is the caller's responsibility to free the returned string when it is no
+ * longer needed.
+ *
+ * Note: Calling once the end of the string has already been read will throw an assertion.
+ */
+char *string_feeder_peek_length(string_feeder_t *sf, size_t length);
+
+/**
+ * Retrieves the line number of the current position in the supplied
+ * string feeder, which will be incremented whenever a newline is consumed.
+ *
+ * Examples:
+ * prior to reading 1st character: line = 1, column = 0
+ * after reading 1st non-newline character: line = 1, column = 1
+ * after reading 2nd non-newline character: line = 1, column = 2
+ * after reading 1st newline character: line = 2, column = 0
+ * after reading 1st character after 1st newline: line = 2, column = 1
+ * after reading 2nd newline character: line = 3, column = 0
+ */
+int string_feeder_get_line(string_feeder_t *sf);
+
+/**
+ * Retrieves the column index in the current line for the current position
+ * in the supplied string feeder, which will be incremented with each
+ * non-newline character consumed, and reset to 0 whenever a newline (\n) is
+ * consumed.
+ *
+ * Examples:
+ * prior to reading 1st character: line = 1, column = 0
+ * after reading 1st non-newline character: line = 1, column = 1
+ * after reading 2nd non-newline character: line = 1, column = 2
+ * after reading 1st newline character: line = 2, column = 0
+ * after reading 1st character after 1st newline: line = 2, column = 1
+ * after reading 2nd newline character: line = 3, column = 0
+ */
+int string_feeder_get_column(string_feeder_t *sf);
+
+/**
+ * Determines whether the supplied string feeder's remaining contents starts
+ * with the given string.
+ *
+ * Returns true if the beginning of the string feeder's remaining contents matches
+ * the supplied string exactly, else false.
+ */
+bool string_feeder_starts_with(string_feeder_t *sf, const char *str);
+
+/**
+ * Consumes from the string feeder the number of characters contained in the
+ * given string (not including the terminating '\0').
+ *
+ * Throws an assertion if the consumed characters do not exactly match the
+ * contents of the supplied string.
+ */
+void string_feeder_require(string_feeder_t *sf, const char *str);
+
+/*#ifndef strdup
+ static inline char *strdup(const char *s) {
+ int len = strlen(s);
+ char *out = malloc(len+1);
+ memcpy(out, s, len + 1);
+ return out;
+ }
+#endif
+*/
+
+
+// find everything that looks like an env variable and expand it
+// using getenv. Caller should free the result.
+// e.g. "$HOME/abc" ==> "/home/ebolson/abc"
+char *str_expand_envs(const char *in);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/apriltag/common/svd22.c b/third_party/apriltag/common/svd22.c
new file mode 100644
index 0000000..ba7486d
--- /dev/null
+++ b/third_party/apriltag/common/svd22.c
@@ -0,0 +1,258 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <math.h>
+
+/** SVD 2x2.
+
+ Computes singular values and vectors without squaring the input
+ matrix. With double precision math, results are accurate to about
+ 1E-16.
+
+ U = [ cos(theta) -sin(theta) ]
+ [ sin(theta) cos(theta) ]
+
+ S = [ e 0 ]
+ [ 0 f ]
+
+ V = [ cos(phi) -sin(phi) ]
+ [ sin(phi) cos(phi) ]
+
+
+ Our strategy is basically to analytically multiply everything out
+ and then rearrange so that we can solve for theta, phi, e, and
+ f. (Derivation by ebolson@umich.edu 5/2016)
+
+ V' = [ CP SP ]
+ [ -SP CP ]
+
+USV' = [ CT -ST ][ e*CP e*SP ]
+ [ ST CT ][ -f*SP f*CP ]
+
+ = [e*CT*CP + f*ST*SP e*CT*SP - f*ST*CP ]
+ [e*ST*CP - f*SP*CT e*SP*ST + f*CP*CT ]
+
+A00+A11 = e*CT*CP + f*ST*SP + e*SP*ST + f*CP*CT
+ = e*(CP*CT + SP*ST) + f*(SP*ST + CP*CT)
+ = (e+f)(CP*CT + SP*ST)
+B0 = (e+f)*cos(P-T)
+
+A00-A11 = e*CT*CP + f*ST*SP - e*SP*ST - f*CP*CT
+ = e*(CP*CT - SP*ST) - f*(-ST*SP + CP*CT)
+ = (e-f)(CP*CT - SP*ST)
+B1 = (e-f)*cos(P+T)
+
+A01+A10 = e*CT*SP - f*ST*CP + e*ST*CP - f*SP*CT
+ = e(CT*SP + ST*CP) - f*(ST*CP + SP*CT)
+ = (e-f)*(CT*SP + ST*CP)
+B2 = (e-f)*sin(P+T)
+
+A01-A10 = e*CT*SP - f*ST*CP - e*ST*CP + f*SP*CT
+ = e*(CT*SP - ST*CP) + f(SP*CT - ST*CP)
+ = (e+f)*(CT*SP - ST*CP)
+B3 = (e+f)*sin(P-T)
+
+B0 = (e+f)*cos(P-T)
+B1 = (e-f)*cos(P+T)
+B2 = (e-f)*sin(P+T)
+B3 = (e+f)*sin(P-T)
+
+B3/B0 = tan(P-T)
+
+B2/B1 = tan(P+T)
+ **/
+void svd22(const double A[4], double U[4], double S[2], double V[4])
+{
+ double A00 = A[0];
+ double A01 = A[1];
+ double A10 = A[2];
+ double A11 = A[3];
+
+ double B0 = A00 + A11;
+ double B1 = A00 - A11;
+ double B2 = A01 + A10;
+ double B3 = A01 - A10;
+
+ double PminusT = atan2(B3, B0);
+ double PplusT = atan2(B2, B1);
+
+ double P = (PminusT + PplusT) / 2;
+ double T = (-PminusT + PplusT) / 2;
+
+ double CP = cos(P), SP = sin(P);
+ double CT = cos(T), ST = sin(T);
+
+ U[0] = CT;
+ U[1] = -ST;
+ U[2] = ST;
+ U[3] = CT;
+
+ V[0] = CP;
+ V[1] = -SP;
+ V[2] = SP;
+ V[3] = CP;
+
+ // C0 = e+f. There are two ways to compute C0; we pick the one
+ // that is better conditioned.
+ double CPmT = cos(P-T), SPmT = sin(P-T);
+ double C0 = 0;
+ if (fabs(CPmT) > fabs(SPmT))
+ C0 = B0 / CPmT;
+ else
+ C0 = B3 / SPmT;
+
+ // C1 = e-f. There are two ways to compute C1; we pick the one
+ // that is better conditioned.
+ double CPpT = cos(P+T), SPpT = sin(P+T);
+ double C1 = 0;
+ if (fabs(CPpT) > fabs(SPpT))
+ C1 = B1 / CPpT;
+ else
+ C1 = B2 / SPpT;
+
+ // e and f are the singular values
+ double e = (C0 + C1) / 2;
+ double f = (C0 - C1) / 2;
+
+ if (e < 0) {
+ e = -e;
+ U[0] = -U[0];
+ U[2] = -U[2];
+ }
+
+ if (f < 0) {
+ f = -f;
+ U[1] = -U[1];
+ U[3] = -U[3];
+ }
+
+ // sort singular values.
+ if (e > f) {
+ // already in big-to-small order.
+ S[0] = e;
+ S[1] = f;
+ } else {
+ // Curiously, this code never seems to get invoked. Why is it
+ // that S[0] always ends up the dominant vector? However,
+ // this code has been tested (flipping the logic forces us to
+ // sort the singular values in ascending order).
+ //
+ // P = [ 0 1 ; 1 0 ]
+ // USV' = (UP)(PSP)(PV')
+ // = (UP)(PSP)(VP)'
+ // = (UP)(PSP)(P'V')'
+ S[0] = f;
+ S[1] = e;
+
+ // exchange columns of U and V
+ double tmp[2];
+ tmp[0] = U[0];
+ tmp[1] = U[2];
+ U[0] = U[1];
+ U[2] = U[3];
+ U[1] = tmp[0];
+ U[3] = tmp[1];
+
+ tmp[0] = V[0];
+ tmp[1] = V[2];
+ V[0] = V[1];
+ V[2] = V[3];
+ V[1] = tmp[0];
+ V[3] = tmp[1];
+ }
+
+ /*
+ double SM[4] = { S[0], 0, 0, S[1] };
+
+ doubles_print_mat(U, 2, 2, "%20.10g");
+ doubles_print_mat(SM, 2, 2, "%20.10g");
+ doubles_print_mat(V, 2, 2, "%20.10g");
+ printf("A:\n");
+ doubles_print_mat(A, 2, 2, "%20.10g");
+
+ double SVt[4];
+ doubles_mat_ABt(SM, 2, 2, V, 2, 2, SVt, 2, 2);
+ double USVt[4];
+ doubles_mat_AB(U, 2, 2, SVt, 2, 2, USVt, 2, 2);
+
+ printf("USVt\n");
+ doubles_print_mat(USVt, 2, 2, "%20.10g");
+
+ double diff[4];
+ for (int i = 0; i < 4; i++)
+ diff[i] = A[i] - USVt[i];
+
+ printf("diff\n");
+ doubles_print_mat(diff, 2, 2, "%20.10g");
+
+ */
+
+}
+
+
+// for the matrix [a b; b d]
+void svd_sym_singular_values(double A00, double A01, double A11,
+ double *Lmin, double *Lmax)
+{
+ double A10 = A01;
+
+ double B0 = A00 + A11;
+ double B1 = A00 - A11;
+ double B2 = A01 + A10;
+ double B3 = A01 - A10;
+
+ double PminusT = atan2(B3, B0);
+ double PplusT = atan2(B2, B1);
+
+ double P = (PminusT + PplusT) / 2;
+ double T = (-PminusT + PplusT) / 2;
+
+ // C0 = e+f. There are two ways to compute C0; we pick the one
+ // that is better conditioned.
+ double CPmT = cos(P-T), SPmT = sin(P-T);
+ double C0 = 0;
+ if (fabs(CPmT) > fabs(SPmT))
+ C0 = B0 / CPmT;
+ else
+ C0 = B3 / SPmT;
+
+ // C1 = e-f. There are two ways to compute C1; we pick the one
+ // that is better conditioned.
+ double CPpT = cos(P+T), SPpT = sin(P+T);
+ double C1 = 0;
+ if (fabs(CPpT) > fabs(SPpT))
+ C1 = B1 / CPpT;
+ else
+ C1 = B2 / SPpT;
+
+ // e and f are the singular values
+ double e = (C0 + C1) / 2;
+ double f = (C0 - C1) / 2;
+
+ *Lmin = fmin(e, f);
+ *Lmax = fmax(e, f);
+}
diff --git a/third_party/apriltag/common/svd22.h b/third_party/apriltag/common/svd22.h
new file mode 100644
index 0000000..5277f8b
--- /dev/null
+++ b/third_party/apriltag/common/svd22.h
@@ -0,0 +1,34 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+void svd22(const double A[4], double U[4], double S[2], double V[4]);
+
+// for the matrix [a b; b d]
+void svd_sym_singular_values(double A00, double A01, double A11,
+ double *Lmin, double *Lmax);
diff --git a/third_party/apriltag/common/time_util.c b/third_party/apriltag/common/time_util.c
new file mode 100644
index 0000000..7a25f42
--- /dev/null
+++ b/third_party/apriltag/common/time_util.c
@@ -0,0 +1,162 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <stdlib.h>
+#include <math.h>
+#include "time_util.h"
+
+struct timeutil_rest
+{
+ int64_t acc_time;
+ int64_t start_time;
+};
+
+timeutil_rest_t *timeutil_rest_create()
+{
+ timeutil_rest_t *rest = calloc(1, sizeof(timeutil_rest_t));
+ return rest;
+}
+
+void timeutil_rest_destroy(timeutil_rest_t *rest)
+{
+ free(rest);
+}
+
+int64_t utime_now() // blacklist-ignore
+{
+ struct timeval tv;
+ gettimeofday (&tv, NULL); // blacklist-ignore
+ return (int64_t) tv.tv_sec * 1000000 + tv.tv_usec;
+}
+
+int64_t utime_get_seconds(int64_t v)
+{
+ return v/1000000;
+}
+
+int64_t utime_get_useconds(int64_t v)
+{
+ return v%1000000;
+}
+
+void utime_to_timeval(int64_t v, struct timeval *tv)
+{
+ tv->tv_sec = (time_t) utime_get_seconds(v);
+ tv->tv_usec = (suseconds_t) utime_get_useconds(v);
+}
+
+void utime_to_timespec(int64_t v, struct timespec *ts)
+{
+ ts->tv_sec = (time_t) utime_get_seconds(v);
+ ts->tv_nsec = (suseconds_t) utime_get_useconds(v)*1000;
+}
+
+int32_t timeutil_usleep(int64_t useconds)
+{
+#ifdef _WIN32
+ Sleep(useconds/1000);
+ return 0;
+#else
+ // unistd.h function, but usleep is obsoleted in POSIX.1-2008.
+ // TODO: Eventually, rewrite this to use nanosleep
+ return usleep(useconds);
+#endif
+}
+
+uint32_t timeutil_sleep(unsigned int seconds)
+{
+#ifdef _WIN32
+ Sleep(seconds*1000);
+ return 0;
+#else
+ // unistd.h function
+ return sleep(seconds);
+#endif
+}
+
+int32_t timeutil_sleep_hz(timeutil_rest_t *rest, double hz)
+{
+ int64_t max_delay = 1000000L/hz;
+ int64_t curr_time = utime_now();
+ int64_t diff = curr_time - rest->start_time;
+ int64_t delay = max_delay - diff;
+ if (delay < 0) delay = 0;
+
+ int32_t ret = timeutil_usleep(delay);
+ rest->start_time = utime_now();
+
+ return ret;
+}
+
+void timeutil_timer_reset(timeutil_rest_t *rest)
+{
+ rest->start_time = utime_now();
+ rest->acc_time = 0;
+}
+
+void timeutil_timer_start(timeutil_rest_t *rest)
+{
+ rest->start_time = utime_now();
+}
+
+void timeutil_timer_stop(timeutil_rest_t *rest)
+{
+ int64_t curr_time = utime_now();
+ int64_t diff = curr_time - rest->start_time;
+
+ rest->acc_time += diff;
+}
+
+bool timeutil_timer_timeout(timeutil_rest_t *rest, double timeout_s)
+{
+ int64_t timeout_us = (int64_t)(1000000L*timeout_s);
+ return rest->acc_time > timeout_us;
+}
+
+int64_t time_util_hhmmss_ss_to_utime(double time)
+{
+ int64_t utime = 0;
+
+ int itime = ((int) time);
+
+ double seconds = fmod(time, 100.0);
+ uint8_t minutes = (itime % 10000) / 100;
+ uint8_t hours = itime / 10000;
+
+ utime += seconds * 100;
+ utime += minutes * 6000;
+ utime += hours *360000;
+
+ utime *= 10000;
+
+ return utime;
+}
+
+int64_t timeutil_ms_to_us(int32_t ms)
+{
+ return ((int64_t) ms) * 1000;
+}
diff --git a/third_party/apriltag/common/time_util.h b/third_party/apriltag/common/time_util.h
new file mode 100644
index 0000000..207e958
--- /dev/null
+++ b/third_party/apriltag/common/time_util.h
@@ -0,0 +1,83 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <time.h>
+
+#ifdef _WIN32
+#include <windows.h>
+typedef long long suseconds_t;
+#endif
+
+#ifdef _MSC_VER
+
+inline int gettimeofday(struct timeval* tp, void* tzp)
+{
+ unsigned long t;
+ t = time(NULL);
+ tp->tv_sec = t / 1000;
+ tp->tv_usec = t % 1000;
+ return 0;
+}
+#else
+#include <sys/time.h>
+#include <unistd.h>
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct timeutil_rest timeutil_rest_t;
+timeutil_rest_t *timeutil_rest_create();
+void timeutil_rest_destroy(timeutil_rest_t * rest);
+
+int64_t utime_now(); // blacklist-ignore
+int64_t utime_get_seconds(int64_t v);
+int64_t utime_get_useconds(int64_t v);
+void utime_to_timeval(int64_t v, struct timeval *tv);
+void utime_to_timespec(int64_t v, struct timespec *ts);
+
+int32_t timeutil_usleep(int64_t useconds);
+uint32_t timeutil_sleep(unsigned int seconds);
+int32_t timeutil_sleep_hz(timeutil_rest_t *rest, double hz);
+
+void timeutil_timer_reset(timeutil_rest_t *rest);
+void timeutil_timer_start(timeutil_rest_t *rest);
+void timeutil_timer_stop(timeutil_rest_t *rest);
+bool timeutil_timer_timeout(timeutil_rest_t *rest, double timeout_s);
+
+int64_t time_util_hhmmss_ss_to_utime(double time);
+
+int64_t timeutil_ms_to_us(int32_t ms);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/apriltag/common/timeprofile.h b/third_party/apriltag/common/timeprofile.h
new file mode 100644
index 0000000..8016386
--- /dev/null
+++ b/third_party/apriltag/common/timeprofile.h
@@ -0,0 +1,120 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdio.h>
+#include <string.h>
+#include <stdint.h>
+
+#include "time_util.h"
+#include "zarray.h"
+
+struct timeprofile_entry
+{
+ char name[32];
+ int64_t utime;
+};
+
+typedef struct timeprofile timeprofile_t;
+struct timeprofile
+{
+ int64_t utime;
+ zarray_t *stamps;
+};
+
+static inline timeprofile_t *timeprofile_create()
+{
+ timeprofile_t *tp = (timeprofile_t*) calloc(1, sizeof(timeprofile_t));
+ tp->stamps = zarray_create(sizeof(struct timeprofile_entry));
+
+ tp->utime = utime_now();
+
+ return tp;
+}
+
+static inline void timeprofile_destroy(timeprofile_t *tp)
+{
+ zarray_destroy(tp->stamps);
+ free(tp);
+}
+
+static inline void timeprofile_clear(timeprofile_t *tp)
+{
+ zarray_clear(tp->stamps);
+ tp->utime = utime_now();
+}
+
+static inline void timeprofile_stamp(timeprofile_t *tp, const char *name)
+{
+ struct timeprofile_entry tpe;
+
+ strncpy(tpe.name, name, sizeof(tpe.name));
+ tpe.name[sizeof(tpe.name)-1] = 0;
+ tpe.utime = utime_now();
+
+ zarray_add(tp->stamps, &tpe);
+}
+
+static inline void timeprofile_display(timeprofile_t *tp)
+{
+ int64_t lastutime = tp->utime;
+
+ for (int i = 0; i < zarray_size(tp->stamps); i++) {
+ struct timeprofile_entry *stamp;
+
+ zarray_get_volatile(tp->stamps, i, &stamp);
+
+ double cumtime = (stamp->utime - tp->utime)/1000000.0;
+
+ double parttime = (stamp->utime - lastutime)/1000000.0;
+
+ printf("%2d %32s %15f ms %15f ms\n", i, stamp->name, parttime*1000, cumtime*1000);
+
+ lastutime = stamp->utime;
+ }
+}
+
+static inline uint64_t timeprofile_total_utime(timeprofile_t *tp)
+{
+ if (zarray_size(tp->stamps) == 0)
+ return 0;
+
+ struct timeprofile_entry *first, *last;
+ zarray_get_volatile(tp->stamps, 0, &first);
+ zarray_get_volatile(tp->stamps, zarray_size(tp->stamps) - 1, &last);
+
+ return last->utime - first->utime;
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/apriltag/common/unionfind.c b/third_party/apriltag/common/unionfind.c
new file mode 100644
index 0000000..ae42991
--- /dev/null
+++ b/third_party/apriltag/common/unionfind.c
@@ -0,0 +1,30 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include "unionfind.h"
+#include <stdlib.h>
+#include <assert.h>
diff --git a/third_party/apriltag/common/unionfind.h b/third_party/apriltag/common/unionfind.h
new file mode 100644
index 0000000..f3530a7
--- /dev/null
+++ b/third_party/apriltag/common/unionfind.h
@@ -0,0 +1,146 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#include <stdint.h>
+#include <stdlib.h>
+
+typedef struct unionfind unionfind_t;
+
+struct unionfind
+{
+ uint32_t maxid;
+ struct ufrec *data;
+};
+
+struct ufrec
+{
+ // the parent of this node. If a node's parent is its own index,
+ // then it is a root.
+ uint32_t parent;
+
+ // for the root of a connected component, the number of components
+ // connected to it. For intermediate values, it's not meaningful.
+ uint32_t size;
+};
+
+static inline unionfind_t *unionfind_create(uint32_t maxid)
+{
+ unionfind_t *uf = (unionfind_t*) calloc(1, sizeof(unionfind_t));
+ uf->maxid = maxid;
+ uf->data = (struct ufrec*) malloc((maxid+1) * sizeof(struct ufrec));
+ for (uint32_t i = 0; i <= maxid; i++) {
+ uf->data[i].size = 1;
+ uf->data[i].parent = i;
+ }
+ return uf;
+}
+
+static inline void unionfind_destroy(unionfind_t *uf)
+{
+ free(uf->data);
+ free(uf);
+}
+
+/*
+static inline uint32_t unionfind_get_representative(unionfind_t *uf, uint32_t id)
+{
+ // base case: a node is its own parent
+ if (uf->data[id].parent == id)
+ return id;
+
+ // otherwise, recurse
+ uint32_t root = unionfind_get_representative(uf, uf->data[id].parent);
+
+ // short circuit the path. [XXX This write prevents tail recursion]
+ uf->data[id].parent = root;
+
+ return root;
+}
+*/
+
+// this one seems to be every-so-slightly faster than the recursive
+// version above.
+static inline uint32_t unionfind_get_representative(unionfind_t *uf, uint32_t id)
+{
+ uint32_t root = id;
+
+ // chase down the root
+ while (uf->data[root].parent != root) {
+ root = uf->data[root].parent;
+ }
+
+ // go back and collapse the tree.
+ while (uf->data[id].parent != root) {
+ uint32_t tmp = uf->data[id].parent;
+ uf->data[id].parent = root;
+ id = tmp;
+ }
+
+ return root;
+}
+
+static inline uint32_t unionfind_get_set_size(unionfind_t *uf, uint32_t id)
+{
+ uint32_t repid = unionfind_get_representative(uf, id);
+ return uf->data[repid].size;
+}
+
+static inline uint32_t unionfind_connect(unionfind_t *uf, uint32_t aid, uint32_t bid)
+{
+ uint32_t aroot = unionfind_get_representative(uf, aid);
+ uint32_t broot = unionfind_get_representative(uf, bid);
+
+ if (aroot == broot)
+ return aroot;
+
+ // we don't perform "union by rank", but we perform a similar
+ // operation (but probably without the same asymptotic guarantee):
+ // We join trees based on the number of *elements* (as opposed to
+ // rank) contained within each tree. I.e., we use size as a proxy
+ // for rank. In my testing, it's often *faster* to use size than
+ // rank, perhaps because the rank of the tree isn't that critical
+ // if there are very few nodes in it.
+ uint32_t asize = uf->data[aroot].size;
+ uint32_t bsize = uf->data[broot].size;
+
+ // optimization idea: We could shortcut some or all of the tree
+ // that is grafted onto the other tree. Pro: those nodes were just
+ // read and so are probably in cache. Con: it might end up being
+ // wasted effort -- the tree might be grafted onto another tree in
+ // a moment!
+ if (asize > bsize) {
+ uf->data[broot].parent = aroot;
+ uf->data[aroot].size += bsize;
+ return aroot;
+ } else {
+ uf->data[aroot].parent = broot;
+ uf->data[broot].size += asize;
+ return broot;
+ }
+}
diff --git a/third_party/apriltag/common/workerpool.c b/third_party/apriltag/common/workerpool.c
new file mode 100644
index 0000000..a0170ef
--- /dev/null
+++ b/third_party/apriltag/common/workerpool.c
@@ -0,0 +1,215 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+#include <errno.h>
+
+#define _GNU_SOURCE // Possible fix for 16.04
+#define __USE_GNU
+#include "common/pthreads_cross.h"
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+#ifdef _WIN32
+#include <windows.h>
+#else
+#include <unistd.h>
+#endif
+
+#include "workerpool.h"
+#include "debug_print.h"
+
+struct workerpool {
+ int nthreads;
+ zarray_t *tasks;
+ int taskspos;
+
+ pthread_t *threads;
+ int *status;
+
+ pthread_mutex_t mutex;
+ pthread_cond_t startcond; // used to signal the availability of work
+ pthread_cond_t endcond; // used to signal completion of all work
+
+ int end_count; // how many threads are done?
+};
+
+struct task
+{
+ void (*f)(void *p);
+ void *p;
+};
+
+void *worker_thread(void *p)
+{
+ workerpool_t *wp = (workerpool_t*) p;
+
+ int cnt = 0;
+
+ while (1) {
+ struct task *task;
+
+ pthread_mutex_lock(&wp->mutex);
+ while (wp->taskspos == zarray_size(wp->tasks)) {
+ wp->end_count++;
+// 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;
+// printf("%"PRId64" thread %d awake\n", utime_now(), pthread_self());
+ }
+
+ zarray_get_volatile(wp->tasks, wp->taskspos, &task);
+ wp->taskspos++;
+ cnt++;
+ pthread_mutex_unlock(&wp->mutex);
+// pthread_yield();
+ sched_yield();
+
+ // we've been asked to exit.
+ if (task->f == NULL)
+ return NULL;
+
+ task->f(task->p);
+ }
+
+ return NULL;
+}
+
+workerpool_t *workerpool_create(int nthreads)
+{
+ assert(nthreads > 0);
+
+ workerpool_t *wp = calloc(1, sizeof(workerpool_t));
+ wp->nthreads = nthreads;
+ wp->tasks = zarray_create(sizeof(struct task));
+
+ if (nthreads > 1) {
+ wp->threads = calloc(wp->nthreads, sizeof(pthread_t));
+
+ pthread_mutex_init(&wp->mutex, NULL);
+ pthread_cond_init(&wp->startcond, NULL);
+ pthread_cond_init(&wp->endcond, NULL);
+
+ for (int i = 0; i < nthreads; i++) {
+ int res = pthread_create(&wp->threads[i], NULL, worker_thread, wp);
+ if (res != 0) {
+ debug_print("Insufficient system resources to create workerpool threads\n");
+ // errno already set to EAGAIN by pthread_create() failure
+ return NULL;
+ }
+ }
+ }
+
+ return wp;
+}
+
+void workerpool_destroy(workerpool_t *wp)
+{
+ if (wp == NULL)
+ return;
+
+ // force all worker threads to exit.
+ if (wp->nthreads > 1) {
+ for (int i = 0; i < wp->nthreads; i++)
+ workerpool_add_task(wp, NULL, NULL);
+
+ pthread_mutex_lock(&wp->mutex);
+ pthread_cond_broadcast(&wp->startcond);
+ pthread_mutex_unlock(&wp->mutex);
+
+ for (int i = 0; i < wp->nthreads; i++)
+ pthread_join(wp->threads[i], NULL);
+
+ pthread_mutex_destroy(&wp->mutex);
+ pthread_cond_destroy(&wp->startcond);
+ pthread_cond_destroy(&wp->endcond);
+ free(wp->threads);
+ }
+
+ zarray_destroy(wp->tasks);
+ free(wp);
+}
+
+int workerpool_get_nthreads(workerpool_t *wp)
+{
+ return wp->nthreads;
+}
+
+void workerpool_add_task(workerpool_t *wp, void (*f)(void *p), void *p)
+{
+ struct task t;
+ t.f = f;
+ t.p = p;
+
+ zarray_add(wp->tasks, &t);
+}
+
+void workerpool_run_single(workerpool_t *wp)
+{
+ for (int i = 0; i < zarray_size(wp->tasks); i++) {
+ struct task *task;
+ zarray_get_volatile(wp->tasks, i, &task);
+ task->f(task->p);
+ }
+
+ zarray_clear(wp->tasks);
+}
+
+// runs all added tasks, waits for them to complete.
+void workerpool_run(workerpool_t *wp)
+{
+ if (wp->nthreads > 1) {
+ wp->end_count = 0;
+
+ pthread_mutex_lock(&wp->mutex);
+ pthread_cond_broadcast(&wp->startcond);
+
+ while (wp->end_count < wp->nthreads) {
+// printf("caught %d\n", wp->end_count);
+ pthread_cond_wait(&wp->endcond, &wp->mutex);
+ }
+
+ pthread_mutex_unlock(&wp->mutex);
+
+ wp->taskspos = 0;
+
+ zarray_clear(wp->tasks);
+
+ } else {
+ workerpool_run_single(wp);
+ }
+}
+
+int workerpool_get_nprocs()
+{
+#ifdef WIN32
+ SYSTEM_INFO sysinfo;
+ GetSystemInfo(&sysinfo);
+ return sysinfo.dwNumberOfProcessors;
+#else
+ return sysconf (_SC_NPROCESSORS_ONLN);
+#endif
+}
diff --git a/third_party/apriltag/common/workerpool.h b/third_party/apriltag/common/workerpool.h
new file mode 100644
index 0000000..2c32ab1
--- /dev/null
+++ b/third_party/apriltag/common/workerpool.h
@@ -0,0 +1,49 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#include "zarray.h"
+
+typedef struct workerpool workerpool_t;
+
+// as a special case, if nthreads==1, no additional threads are
+// created, and workerpool_run will run synchronously.
+workerpool_t *workerpool_create(int nthreads);
+void workerpool_destroy(workerpool_t *wp);
+
+void workerpool_add_task(workerpool_t *wp, void (*f)(void *p), void *p);
+
+// runs all added tasks, waits for them to complete.
+void workerpool_run(workerpool_t *wp);
+
+// same as workerpool_run, except always single threaded. (mostly for debugging).
+void workerpool_run_single(workerpool_t *wp);
+
+int workerpool_get_nthreads(workerpool_t *wp);
+
+int workerpool_get_nprocs();
diff --git a/third_party/apriltag/common/zarray.c b/third_party/apriltag/common/zarray.c
new file mode 100644
index 0000000..43e6a7e
--- /dev/null
+++ b/third_party/apriltag/common/zarray.c
@@ -0,0 +1,55 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <string.h>
+#include <assert.h>
+
+#include "zarray.h"
+
+int zstrcmp(const void * a_pp, const void * b_pp)
+{
+ assert(a_pp != NULL);
+ assert(b_pp != NULL);
+
+ char * a = *(void**)a_pp;
+ char * b = *(void**)b_pp;
+
+ return strcmp(a,b);
+}
+
+void zarray_vmap(zarray_t *za, void (*f)())
+{
+ assert(za != NULL);
+ assert(f != NULL);
+ assert(za->el_sz == sizeof(void*));
+
+ for (int idx = 0; idx < za->size; idx++) {
+ void *pp = &za->data[idx*za->el_sz];
+ void *p = *(void**) pp;
+ f(p);
+ }
+}
diff --git a/third_party/apriltag/common/zarray.h b/third_party/apriltag/common/zarray.h
new file mode 100644
index 0000000..1a882c2
--- /dev/null
+++ b/third_party/apriltag/common/zarray.h
@@ -0,0 +1,464 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#include <stddef.h>
+#include <assert.h>
+#include <stdlib.h>
+#include <string.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Defines a structure which acts as a resize-able array ala Java's ArrayList.
+ */
+typedef struct zarray zarray_t;
+struct zarray
+{
+ size_t el_sz; // size of each element
+
+ int size; // how many elements?
+ int alloc; // we've allocated storage for how many elements?
+ char *data;
+};
+
+/**
+ * Creates and returns a variable array structure capable of holding elements of
+ * the specified size. It is the caller's responsibility to call zarray_destroy()
+ * on the returned array when it is no longer needed.
+ */
+static inline zarray_t *zarray_create(size_t el_sz)
+{
+ assert(el_sz > 0);
+
+ zarray_t *za = (zarray_t*) calloc(1, sizeof(zarray_t));
+ za->el_sz = el_sz;
+ return za;
+}
+
+/**
+ * Frees all resources associated with the variable array structure which was
+ * created by zarray_create(). After calling, 'za' will no longer be valid for storage.
+ */
+static inline void zarray_destroy(zarray_t *za)
+{
+ if (za == NULL)
+ return;
+
+ if (za->data != NULL)
+ free(za->data);
+ memset(za, 0, sizeof(zarray_t));
+ free(za);
+}
+
+/** Allocate a new zarray that contains a copy of the data in the argument. **/
+static inline zarray_t *zarray_copy(const zarray_t *za)
+{
+ assert(za != NULL);
+
+ zarray_t *zb = (zarray_t*) calloc(1, sizeof(zarray_t));
+ zb->el_sz = za->el_sz;
+ zb->size = za->size;
+ zb->alloc = za->alloc;
+ zb->data = (char*) malloc(zb->alloc * zb->el_sz);
+ memcpy(zb->data, za->data, za->size * za->el_sz);
+ return zb;
+}
+
+static int iceillog2(int v)
+{
+ v--;
+ v |= v >> 1;
+ v |= v >> 2;
+ v |= v >> 4;
+ v |= v >> 8;
+ v |= v >> 16;
+ v++;
+ return v;
+}
+
+/**
+ * Allocate a new zarray that contains a subset of the original
+ * elements. NOTE: end index is EXCLUSIVE, that is one past the last
+ * element you want.
+ */
+static inline zarray_t *zarray_copy_subset(const zarray_t *za,
+ int start_idx,
+ int end_idx_exclusive)
+{
+ zarray_t *out = (zarray_t*) calloc(1, sizeof(zarray_t));
+ out->el_sz = za->el_sz;
+ out->size = end_idx_exclusive - start_idx;
+ out->alloc = iceillog2(out->size); // round up pow 2
+ out->data = (char*) malloc(out->alloc * out->el_sz);
+ memcpy(out->data, za->data +(start_idx*out->el_sz), out->size*out->el_sz);
+ return out;
+}
+
+/**
+ * Retrieves the number of elements currently being contained by the passed
+ * array, which may be different from its capacity. The index of the last element
+ * in the array will be one less than the returned value.
+ */
+static inline int zarray_size(const zarray_t *za)
+{
+ assert(za != NULL);
+
+ return za->size;
+}
+
+/**
+ * Returns 1 if zarray_size(za) == 0,
+ * returns 0 otherwise.
+ */
+/*
+JUST CALL zarray_size
+int zarray_isempty(const zarray_t *za)
+{
+ assert(za != NULL);
+ if (za->size <= 0)
+ return 1;
+ else
+ return 0;
+}
+*/
+
+
+/**
+ * Allocates enough internal storage in the supplied variable array structure to
+ * guarantee that the supplied number of elements (capacity) can be safely stored.
+ */
+static inline void zarray_ensure_capacity(zarray_t *za, int capacity)
+{
+ assert(za != NULL);
+
+ if (capacity <= za->alloc)
+ return;
+
+ while (za->alloc < capacity) {
+ za->alloc *= 2;
+ if (za->alloc < 8)
+ za->alloc = 8;
+ }
+
+ za->data = (char*) realloc(za->data, za->alloc * za->el_sz);
+}
+
+/**
+ * Adds a new element to the end of the supplied array, and sets its value
+ * (by copying) from the data pointed to by the supplied pointer 'p'.
+ * Automatically ensures that enough storage space is available for the new element.
+ */
+static inline void zarray_add(zarray_t *za, const void *p)
+{
+ assert(za != NULL);
+ assert(p != NULL);
+
+ zarray_ensure_capacity(za, za->size + 1);
+
+ memcpy(&za->data[za->size*za->el_sz], p, za->el_sz);
+ za->size++;
+}
+
+/**
+ * Retrieves the element from the supplied array located at the zero-based
+ * index of 'idx' and copies its value into the variable pointed to by the pointer
+ * 'p'.
+ */
+static inline void zarray_get(const zarray_t *za, int idx, void *p)
+{
+ assert(za != NULL);
+ assert(p != NULL);
+ assert(idx >= 0);
+ assert(idx < za->size);
+
+ memcpy(p, &za->data[idx*za->el_sz], za->el_sz);
+}
+
+/**
+ * Similar to zarray_get(), but returns a "live" pointer to the internal
+ * storage, avoiding a memcpy. This pointer is not valid across
+ * operations which might move memory around (i.e. zarray_remove_value(),
+ * zarray_remove_index(), zarray_insert(), zarray_sort(), zarray_clear()).
+ * 'p' should be a pointer to the pointer which will be set to the internal address.
+ */
+inline static void zarray_get_volatile(const zarray_t *za, int idx, void *p)
+{
+ assert(za != NULL);
+ assert(p != NULL);
+ assert(idx >= 0);
+ assert(idx < za->size);
+
+ *((void**) p) = &za->data[idx*za->el_sz];
+}
+
+inline static void zarray_truncate(zarray_t *za, int sz)
+{
+ assert(za != NULL);
+ assert(sz <= za->size);
+ za->size = sz;
+}
+
+/**
+ * Removes the entry at index 'idx'.
+ * If shuffle is true, the last element in the array will be placed in
+ * the newly-open space; if false, the zarray is compacted.
+ */
+static inline void zarray_remove_index(zarray_t *za, int idx, int shuffle)
+{
+ assert(za != NULL);
+ assert(idx >= 0);
+ assert(idx < za->size);
+
+ if (shuffle) {
+ if (idx < za->size-1)
+ memcpy(&za->data[idx*za->el_sz], &za->data[(za->size-1)*za->el_sz], za->el_sz);
+ za->size--;
+ return;
+ } else {
+ // size = 10, idx = 7. Should copy 2 entries (at idx=8 and idx=9).
+ // size = 10, idx = 9. Should copy 0 entries.
+ int ncopy = za->size - idx - 1;
+ if (ncopy > 0)
+ memmove(&za->data[idx*za->el_sz], &za->data[(idx+1)*za->el_sz], ncopy*za->el_sz);
+ za->size--;
+ return;
+ }
+}
+
+/**
+ * Remove the entry whose value is equal to the value pointed to by 'p'.
+ * If shuffle is true, the last element in the array will be placed in
+ * the newly-open space; if false, the zarray is compacted. At most
+ * one element will be removed.
+ *
+ * Note that objects will be compared using memcmp over the full size
+ * of the value. If the value is a struct that contains padding,
+ * differences in the padding bytes can cause comparisons to
+ * fail. Thus, it remains best practice to bzero all structs so that
+ * the padding is set to zero.
+ *
+ * Returns the number of elements removed (0 or 1).
+ */
+// remove the entry whose value is equal to the value pointed to by p.
+// if shuffle is true, the last element in the array will be placed in
+// the newly-open space; if false, the zarray is compacted.
+static inline int zarray_remove_value(zarray_t *za, const void *p, int shuffle)
+{
+ assert(za != NULL);
+ assert(p != NULL);
+
+ for (int idx = 0; idx < za->size; idx++) {
+ if (!memcmp(p, &za->data[idx*za->el_sz], za->el_sz)) {
+ zarray_remove_index(za, idx, shuffle);
+ return 1;
+ }
+ }
+
+ return 0;
+}
+
+
+/**
+ * Creates a new entry and inserts it into the array so that it will have the
+ * index 'idx' (i.e. before the item which currently has that index). The value
+ * of the new entry is set to (copied from) the data pointed to by 'p'. 'idx'
+ * can be one larger than the current max index to place the new item at the end
+ * of the array, or zero to add it to an empty array.
+ */
+static inline void zarray_insert(zarray_t *za, int idx, const void *p)
+{
+ assert(za != NULL);
+ assert(p != NULL);
+ assert(idx >= 0);
+ assert(idx <= za->size);
+
+ zarray_ensure_capacity(za, za->size + 1);
+ // size = 10, idx = 7. Should copy three entries (idx=7, idx=8, idx=9)
+ int ncopy = za->size - idx;
+
+ memmove(&za->data[(idx+1)*za->el_sz], &za->data[idx*za->el_sz], ncopy*za->el_sz);
+ memcpy(&za->data[idx*za->el_sz], p, za->el_sz);
+
+ za->size++;
+}
+
+
+/**
+ * Sets the value of the current element at index 'idx' by copying its value from
+ * the data pointed to by 'p'. The previous value of the changed element will be
+ * copied into the data pointed to by 'outp' if it is not null.
+ */
+static inline void zarray_set(zarray_t *za, int idx, const void *p, void *outp)
+{
+ assert(za != NULL);
+ assert(p != NULL);
+ assert(idx >= 0);
+ assert(idx < za->size);
+
+ if (outp != NULL)
+ memcpy(outp, &za->data[idx*za->el_sz], za->el_sz);
+
+ memcpy(&za->data[idx*za->el_sz], p, za->el_sz);
+}
+
+/**
+ * Calls the supplied function for every element in the array in index order.
+ * The map function will be passed a pointer to each element in turn and must
+ * have the following format:
+ *
+ * void map_function(element_type *element)
+ */
+static inline void zarray_map(zarray_t *za, void (*f)(void*))
+{
+ assert(za != NULL);
+ assert(f != NULL);
+
+ for (int idx = 0; idx < za->size; idx++)
+ f(&za->data[idx*za->el_sz]);
+}
+
+/**
+ * Calls the supplied function for every element in the array in index order.
+ * HOWEVER values are passed to the function, not pointers to values. In the
+ * case where the zarray stores object pointers, zarray_vmap allows you to
+ * pass in the object's destroy function (or free) directly. Can only be used
+ * with zarray's which contain pointer data. The map function should have the
+ * following format:
+ *
+ * void map_function(element_type *element)
+ */
+ void zarray_vmap(zarray_t *za, void (*f)());
+
+/**
+ * Removes all elements from the array and sets its size to zero. Pointers to
+ * any data elements obtained i.e. by zarray_get_volatile() will no longer be
+ * valid.
+ */
+static inline void zarray_clear(zarray_t *za)
+{
+ assert(za != NULL);
+ za->size = 0;
+}
+
+/**
+ * Determines whether any element in the array has a value which matches the
+ * data pointed to by 'p'.
+ *
+ * Returns 1 if a match was found anywhere in the array, else 0.
+ */
+static inline int zarray_contains(const zarray_t *za, const void *p)
+{
+ assert(za != NULL);
+ assert(p != NULL);
+
+ for (int idx = 0; idx < za->size; idx++) {
+ if (!memcmp(p, &za->data[idx*za->el_sz], za->el_sz)) {
+ return 1;
+ }
+ }
+
+ return 0;
+}
+
+/**
+ * Uses qsort() to sort the elements contained by the array in ascending order.
+ * Uses the supplied comparison function to determine the appropriate order.
+ *
+ * The comparison function will be passed a pointer to two elements to be compared
+ * and should return a measure of the difference between them (see strcmp()).
+ * I.e. it should return a negative number if the first element is 'less than'
+ * the second, zero if they are equivalent, and a positive number if the first
+ * element is 'greater than' the second. The function should have the following format:
+ *
+ * int comparison_function(const element_type *first, const element_type *second)
+ *
+ * zstrcmp() can be used as the comparison function for string elements, which
+ * will call strcmp() internally.
+ */
+static inline void zarray_sort(zarray_t *za, int (*compar)(const void*, const void*))
+{
+ assert(za != NULL);
+ assert(compar != NULL);
+ if (za->size == 0)
+ return;
+
+ qsort(za->data, za->size, za->el_sz, compar);
+}
+
+/**
+ * A comparison function for comparing strings which can be used by zarray_sort()
+ * to sort arrays with char* elements.
+ */
+ int zstrcmp(const void * a_pp, const void * b_pp);
+
+/**
+ * Find the index of an element, or return -1 if not found. Remember that p is
+ * a pointer to the element.
+ **/
+// returns -1 if not in array. Remember p is a pointer to the item.
+static inline int zarray_index_of(const zarray_t *za, const void *p)
+{
+ assert(za != NULL);
+ assert(p != NULL);
+
+ for (int i = 0; i < za->size; i++) {
+ if (!memcmp(p, &za->data[i*za->el_sz], za->el_sz))
+ return i;
+ }
+
+ return -1;
+}
+
+
+
+/**
+ * Add all elements from 'source' into 'dest'. el_size must be the same
+ * for both lists
+ **/
+static inline void zarray_add_all(zarray_t * dest, const zarray_t * source)
+{
+ assert(dest->el_sz == source->el_sz);
+
+ // Don't allocate on stack because el_sz could be larger than ~8 MB
+ // stack size
+ char *tmp = (char*)calloc(1, dest->el_sz);
+
+ for (int i = 0; i < zarray_size(source); i++) {
+ zarray_get(source, i, tmp);
+ zarray_add(dest, tmp);
+ }
+
+ free(tmp);
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/apriltag/common/zhash.c b/third_party/apriltag/common/zhash.c
new file mode 100644
index 0000000..914f530
--- /dev/null
+++ b/third_party/apriltag/common/zhash.c
@@ -0,0 +1,563 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <assert.h>
+
+#include "zhash.h"
+
+// force a rehash when our capacity is less than this many times the size
+#define ZHASH_FACTOR_CRITICAL 2
+
+// When resizing, how much bigger do we want to be? (should be greater than _CRITICAL)
+#define ZHASH_FACTOR_REALLOC 4
+
+struct zhash
+{
+ size_t keysz, valuesz;
+ int entrysz; // valid byte (1) + keysz + values
+
+ uint32_t(*hash)(const void *a);
+
+ // returns 1 if equal
+ int(*equals)(const void *a, const void *b);
+
+ int size; // # of items in hash table
+
+ char *entries; // each entry of size entrysz;
+ int nentries; // how many entries are allocated? Never 0.
+};
+
+zhash_t *zhash_create_capacity(size_t keysz, size_t valuesz,
+ uint32_t(*hash)(const void *a), int(*equals)(const void *a, const void*b),
+ int capacity)
+{
+ assert(hash != NULL);
+ assert(equals != NULL);
+
+ // resize...
+ int _nentries = ZHASH_FACTOR_REALLOC * capacity;
+ if (_nentries < 8)
+ _nentries = 8;
+
+ // to a power of 2.
+ int nentries = _nentries;
+ if ((nentries & (nentries - 1)) != 0) {
+ nentries = 8;
+ while (nentries < _nentries)
+ nentries *= 2;
+ }
+
+ zhash_t *zh = (zhash_t*) calloc(1, sizeof(zhash_t));
+ zh->keysz = keysz;
+ zh->valuesz = valuesz;
+ zh->hash = hash;
+ zh->equals = equals;
+ zh->nentries = nentries;
+
+ zh->entrysz = 1 + zh->keysz + zh->valuesz;
+
+ zh->entries = calloc(zh->nentries, zh->entrysz);
+ zh->nentries = nentries;
+
+ return zh;
+}
+
+zhash_t *zhash_create(size_t keysz, size_t valuesz,
+ uint32_t(*hash)(const void *a), int(*equals)(const void *a, const void *b))
+{
+ return zhash_create_capacity(keysz, valuesz, hash, equals, 8);
+}
+
+void zhash_destroy(zhash_t *zh)
+{
+ if (zh == NULL)
+ return;
+
+ free(zh->entries);
+ free(zh);
+}
+
+int zhash_size(const zhash_t *zh)
+{
+ return zh->size;
+}
+
+void zhash_clear(zhash_t *zh)
+{
+ memset(zh->entries, 0, zh->nentries * zh->entrysz);
+ zh->size = 0;
+}
+
+int zhash_get_volatile(const zhash_t *zh, const void *key, void *out_value)
+{
+ uint32_t code = zh->hash(key);
+ uint32_t entry_idx = code & (zh->nentries - 1);
+
+ while (zh->entries[entry_idx * zh->entrysz]) {
+ void *this_key = &zh->entries[entry_idx * zh->entrysz + 1];
+ if (zh->equals(key, this_key)) {
+ *((void**) out_value) = &zh->entries[entry_idx * zh->entrysz + 1 + zh->keysz];
+ return 1;
+ }
+
+ entry_idx = (entry_idx + 1) & (zh->nentries - 1);
+ }
+
+ return 0;
+}
+
+int zhash_get(const zhash_t *zh, const void *key, void *out_value)
+{
+ void *tmp;
+ if (zhash_get_volatile(zh, key, &tmp)) {
+ memcpy(out_value, tmp, zh->valuesz);
+ return 1;
+ }
+
+ return 0;
+}
+
+int zhash_put(zhash_t *zh, const void *key, const void *value, void *oldkey, void *oldvalue)
+{
+ uint32_t code = zh->hash(key);
+ uint32_t entry_idx = code & (zh->nentries - 1);
+
+ while (zh->entries[entry_idx * zh->entrysz]) {
+ void *this_key = &zh->entries[entry_idx * zh->entrysz + 1];
+ void *this_value = &zh->entries[entry_idx * zh->entrysz + 1 + zh->keysz];
+
+ if (zh->equals(key, this_key)) {
+ // replace
+ if (oldkey)
+ memcpy(oldkey, this_key, zh->keysz);
+ if (oldvalue)
+ memcpy(oldvalue, this_value, zh->valuesz);
+ memcpy(this_key, key, zh->keysz);
+ memcpy(this_value, value, zh->valuesz);
+ zh->entries[entry_idx * zh->entrysz] = 1; // mark valid
+ return 1;
+ }
+
+ entry_idx = (entry_idx + 1) & (zh->nentries - 1);
+ }
+
+ // add the entry
+ zh->entries[entry_idx * zh->entrysz] = 1;
+ memcpy(&zh->entries[entry_idx * zh->entrysz + 1], key, zh->keysz);
+ memcpy(&zh->entries[entry_idx * zh->entrysz + 1 + zh->keysz], value, zh->valuesz);
+ zh->size++;
+
+ if (zh->nentries < ZHASH_FACTOR_CRITICAL * zh->size) {
+ zhash_t *newhash = zhash_create_capacity(zh->keysz, zh->valuesz,
+ zh->hash, zh->equals,
+ zh->size);
+
+ for (int idx = 0; idx < zh->nentries; idx++) {
+
+ if (zh->entries[idx * zh->entrysz]) {
+ void *this_key = &zh->entries[idx * zh->entrysz + 1];
+ void *this_value = &zh->entries[idx * zh->entrysz + 1 + zh->keysz];
+ if (zhash_put(newhash, this_key, this_value, NULL, NULL))
+ assert(0); // shouldn't already be present.
+ }
+ }
+
+ // play switch-a-roo
+ zhash_t tmp;
+ memcpy(&tmp, zh, sizeof(zhash_t));
+ memcpy(zh, newhash, sizeof(zhash_t));
+ memcpy(newhash, &tmp, sizeof(zhash_t));
+ zhash_destroy(newhash);
+ }
+
+ return 0;
+}
+
+int zhash_remove(zhash_t *zh, const void *key, void *old_key, void *old_value)
+{
+ uint32_t code = zh->hash(key);
+ uint32_t entry_idx = code & (zh->nentries - 1);
+
+ while (zh->entries[entry_idx * zh->entrysz]) {
+ void *this_key = &zh->entries[entry_idx * zh->entrysz + 1];
+ void *this_value = &zh->entries[entry_idx * zh->entrysz + 1 + zh->keysz];
+
+ if (zh->equals(key, this_key)) {
+ if (old_key)
+ memcpy(old_key, this_key, zh->keysz);
+ if (old_value)
+ memcpy(old_value, this_value, zh->valuesz);
+
+ // mark this entry as available
+ zh->entries[entry_idx * zh->entrysz] = 0;
+ zh->size--;
+
+ // reinsert any consecutive entries that follow
+ while (1) {
+ entry_idx = (entry_idx + 1) & (zh->nentries - 1);
+
+ if (zh->entries[entry_idx * zh->entrysz]) {
+ // completely remove this entry
+ char *tmp = malloc(sizeof(char)*zh->entrysz);
+ memcpy(tmp, &zh->entries[entry_idx * zh->entrysz], zh->entrysz);
+ zh->entries[entry_idx * zh->entrysz] = 0;
+ zh->size--;
+ // reinsert it
+ if (zhash_put(zh, &tmp[1], &tmp[1+zh->keysz], NULL, NULL))
+ assert(0);
+ free(tmp);
+ } else {
+ break;
+ }
+ }
+ return 1;
+ }
+
+ entry_idx = (entry_idx + 1) & (zh->nentries - 1);
+ }
+
+ return 0;
+}
+
+zhash_t *zhash_copy(const zhash_t *zh)
+{
+ zhash_t *newhash = zhash_create_capacity(zh->keysz, zh->valuesz,
+ zh->hash, zh->equals,
+ zh->size);
+
+ for (int entry_idx = 0; entry_idx < zh->nentries; entry_idx++) {
+ if (zh->entries[entry_idx * zh->entrysz]) {
+ void *this_key = &zh->entries[entry_idx * zh->entrysz + 1];
+ void *this_value = &zh->entries[entry_idx * zh->entrysz + 1 + zh->keysz];
+ if (zhash_put(newhash, this_key, this_value, NULL, NULL))
+ assert(0); // shouldn't already be present.
+ }
+ }
+
+ return newhash;
+}
+
+int zhash_contains(const zhash_t *zh, const void *key)
+{
+ void *tmp;
+ return zhash_get_volatile(zh, key, &tmp);
+}
+
+void zhash_iterator_init(zhash_t *zh, zhash_iterator_t *zit)
+{
+ zit->zh = zh;
+ zit->czh = zh;
+ zit->last_entry = -1;
+}
+
+void zhash_iterator_init_const(const zhash_t *zh, zhash_iterator_t *zit)
+{
+ zit->zh = NULL;
+ zit->czh = zh;
+ zit->last_entry = -1;
+}
+
+int zhash_iterator_next_volatile(zhash_iterator_t *zit, void *outkey, void *outvalue)
+{
+ const zhash_t *zh = zit->czh;
+
+ while (1) {
+ if (zit->last_entry + 1 >= zh->nentries)
+ return 0;
+
+ zit->last_entry++;
+
+ if (zh->entries[zit->last_entry * zh->entrysz]) {
+ void *this_key = &zh->entries[zit->last_entry * zh->entrysz + 1];
+ void *this_value = &zh->entries[zit->last_entry * zh->entrysz + 1 + zh->keysz];
+
+ if (outkey != NULL)
+ *((void**) outkey) = this_key;
+ if (outvalue != NULL)
+ *((void**) outvalue) = this_value;
+
+ return 1;
+ }
+ }
+}
+
+int zhash_iterator_next(zhash_iterator_t *zit, void *outkey, void *outvalue)
+{
+ const zhash_t *zh = zit->czh;
+
+ void *outkeyp, *outvaluep;
+
+ if (!zhash_iterator_next_volatile(zit, &outkeyp, &outvaluep))
+ return 0;
+
+ if (outkey != NULL)
+ memcpy(outkey, outkeyp, zh->keysz);
+ if (outvalue != NULL)
+ memcpy(outvalue, outvaluep, zh->valuesz);
+
+ return 1;
+}
+
+void zhash_iterator_remove(zhash_iterator_t *zit)
+{
+ assert(zit->zh); // can't call _remove on a iterator with const zhash
+ zhash_t *zh = zit->zh;
+
+ zh->entries[zit->last_entry * zh->entrysz] = 0;
+ zh->size--;
+
+ // re-insert following entries
+ int entry_idx = (zit->last_entry + 1) & (zh->nentries - 1);
+ while (zh->entries[entry_idx *zh->entrysz]) {
+ // completely remove this entry
+ char *tmp = malloc(sizeof(char)*zh->entrysz);
+ memcpy(tmp, &zh->entries[entry_idx * zh->entrysz], zh->entrysz);
+ zh->entries[entry_idx * zh->entrysz] = 0;
+ zh->size--;
+
+ // reinsert it
+ if (zhash_put(zh, &tmp[1], &tmp[1+zh->keysz], NULL, NULL))
+ assert(0);
+ free(tmp);
+
+ entry_idx = (entry_idx + 1) & (zh->nentries - 1);
+ }
+
+ zit->last_entry--;
+}
+
+void zhash_map_keys(zhash_t *zh, void (*f)())
+{
+ assert(zh != NULL);
+ if (f == NULL)
+ return;
+
+ zhash_iterator_t itr;
+ zhash_iterator_init(zh, &itr);
+
+ void *key, *value;
+
+ while(zhash_iterator_next_volatile(&itr, &key, &value)) {
+ f(key);
+ }
+}
+
+void zhash_vmap_keys(zhash_t * zh, void (*f)())
+{
+ assert(zh != NULL);
+ if (f == NULL)
+ return;
+
+ zhash_iterator_t itr;
+ zhash_iterator_init(zh, &itr);
+
+ void *key, *value;
+
+ while(zhash_iterator_next_volatile(&itr, &key, &value)) {
+ void *p = *(void**) key;
+ f(p);
+ }
+}
+
+void zhash_map_values(zhash_t * zh, void (*f)())
+{
+ assert(zh != NULL);
+ if (f == NULL)
+ return;
+
+ zhash_iterator_t itr;
+ zhash_iterator_init(zh, &itr);
+
+ void *key, *value;
+ while(zhash_iterator_next_volatile(&itr, &key, &value)) {
+ f(value);
+ }
+}
+
+void zhash_vmap_values(zhash_t * zh, void (*f)())
+{
+ assert(zh != NULL);
+ if (f == NULL)
+ return;
+
+ zhash_iterator_t itr;
+ zhash_iterator_init(zh, &itr);
+
+ void *key, *value;
+ while(zhash_iterator_next_volatile(&itr, &key, &value)) {
+ void *p = *(void**) value;
+ f(p);
+ }
+}
+
+zarray_t *zhash_keys(const zhash_t *zh)
+{
+ assert(zh != NULL);
+
+ zarray_t *za = zarray_create(zh->keysz);
+
+ zhash_iterator_t itr;
+ zhash_iterator_init_const(zh, &itr);
+
+ void *key, *value;
+ while(zhash_iterator_next_volatile(&itr, &key, &value)) {
+ zarray_add(za, key);
+ }
+
+ return za;
+}
+
+zarray_t *zhash_values(const zhash_t *zh)
+{
+ assert(zh != NULL);
+
+ zarray_t *za = zarray_create(zh->valuesz);
+
+ zhash_iterator_t itr;
+ zhash_iterator_init_const(zh, &itr);
+
+ void *key, *value;
+ while(zhash_iterator_next_volatile(&itr, &key, &value)) {
+ zarray_add(za, value);
+ }
+
+ return za;
+}
+
+
+uint32_t zhash_uint32_hash(const void *_a)
+{
+ assert(_a != NULL);
+
+ uint32_t a = *((uint32_t*) _a);
+ return a;
+}
+
+int zhash_uint32_equals(const void *_a, const void *_b)
+{
+ assert(_a != NULL);
+ assert(_b != NULL);
+
+ uint32_t a = *((uint32_t*) _a);
+ uint32_t b = *((uint32_t*) _b);
+
+ return a==b;
+}
+
+uint32_t zhash_uint64_hash(const void *_a)
+{
+ assert(_a != NULL);
+
+ uint64_t a = *((uint64_t*) _a);
+ return (uint32_t) (a ^ (a >> 32));
+}
+
+int zhash_uint64_equals(const void *_a, const void *_b)
+{
+ assert(_a != NULL);
+ assert(_b != NULL);
+
+ uint64_t a = *((uint64_t*) _a);
+ uint64_t b = *((uint64_t*) _b);
+
+ return a==b;
+}
+
+
+union uintpointer
+{
+ const void *p;
+ uint32_t i;
+};
+
+uint32_t zhash_ptr_hash(const void *a)
+{
+ assert(a != NULL);
+
+ union uintpointer ip;
+ ip.p = * (void**)a;
+
+ // compute a hash from the lower 32 bits of the pointer (on LE systems)
+ uint32_t hash = ip.i;
+ hash ^= (hash >> 7);
+
+ return hash;
+}
+
+
+int zhash_ptr_equals(const void *a, const void *b)
+{
+ assert(a != NULL);
+ assert(b != NULL);
+
+ const void * ptra = * (void**)a;
+ const void * ptrb = * (void**)b;
+ return ptra == ptrb;
+}
+
+
+int zhash_str_equals(const void *_a, const void *_b)
+{
+ assert(_a != NULL);
+ assert(_b != NULL);
+
+ char *a = * (char**)_a;
+ char *b = * (char**)_b;
+
+ return !strcmp(a, b);
+}
+
+uint32_t zhash_str_hash(const void *_a)
+{
+ assert(_a != NULL);
+
+ char *a = * (char**)_a;
+
+ uint32_t hash = 0;
+ while (*a != 0) {
+ // optimization of hash x FNV_prime
+ hash += (hash << 1) + (hash << 4) + (hash << 7) + (hash << 8) + (hash << 24);
+ hash ^= *a;
+ a++;
+ }
+
+ return hash;
+}
+
+
+void zhash_debug(zhash_t *zh)
+{
+ for (int entry_idx = 0; entry_idx < zh->nentries; entry_idx++) {
+ char *k, *v;
+ memcpy(&k, &zh->entries[entry_idx * zh->entrysz + 1], sizeof(char*));
+ memcpy(&v, &zh->entries[entry_idx * zh->entrysz + 1 + zh->keysz], sizeof(char*));
+ printf("%d: %d, %s => %s\n", entry_idx, zh->entries[entry_idx * zh->entrysz], k, v);
+ }
+}
diff --git a/third_party/apriltag/common/zhash.h b/third_party/apriltag/common/zhash.h
new file mode 100644
index 0000000..f3dee1a
--- /dev/null
+++ b/third_party/apriltag/common/zhash.h
@@ -0,0 +1,432 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "zarray.h"
+
+
+/**
+ * A hash table for structs and primitive types that stores entries by value.
+ * - The size of the key/values must be known at instantiation time, and remain fixed.
+ * e.g. for pointers: zhash_create(sizeof(void*), sizeof(void*)....)
+ * for structs: zhash_create(sizeof(struct key_struct), sizeof(struct value_struct)...)
+ * for bytes: zhash_create(sizeof(uint8_t), sizeof(uint8_t)...)
+ * - Entries are copied by value. This means you must always pass a reference to the start
+ * of 'key_size' and 'value_size' bytes, which you have already malloc'd or stack allocated
+ * - This data structure can be used to store types of any size, from bytes & doubles to
+ * user defined structs
+ * Note: if zhash stores pointers, user must be careful to manually manage the lifetime
+ * of the memory they point to.
+ *
+ */
+
+typedef struct zhash zhash_t;
+
+// The contents of the iterator should be considered private. However,
+// since our usage model prefers stack-based allocation of iterators,
+// we must publicly declare them.
+struct zhash_iterator
+{
+ zhash_t *zh;
+ const zhash_t *czh;
+ int last_entry; // points to the last entry returned by _next
+};
+
+typedef struct zhash_iterator zhash_iterator_t;
+
+/**
+ * Create, initializes, and returns an empty hash table structure. It is the
+ * caller's responsibility to call zhash_destroy() on the returned array when it
+ * is no longer needed.
+ *
+ * The size of values used in the hash and equals function must match 'keysz'.
+ * I.e. if keysz = sizeof(uint64_t), then hash() and equals() should accept
+ * parameters as *uint64_t.
+ */
+zhash_t *zhash_create(size_t keysz, size_t valuesz,
+ uint32_t(*hash)(const void *a),
+ int(*equals)(const void *a, const void *b));
+
+/**
+ * Frees all resources associated with the hash table structure which was
+ * created by zhash_create(). After calling, 'zh' will no longer be valid for storage.
+ *
+ * If 'zh' contains pointer data, it is the caller's responsibility to manage
+ * the resources pointed to by those pointers.
+ */
+void zhash_destroy(zhash_t *zh);
+
+/**
+ * Creates and returns a new identical copy of the zhash (i.e. a "shallow" copy).
+ * If you're storing pointers, be sure not to double free their pointees!
+ * It is the caller's responsibility to call zhash_destroy() on the returned array
+ * when it is no longer needed (in addition to the zhash_destroy() call for the
+ * original zhash).
+ */
+zhash_t * zhash_copy(const zhash_t* other);
+
+/**
+ * Determines whether the supplied key value exists as an entry in the zhash
+ * table. If zhash stores pointer types as keys, this function can differentiate
+ * between a non-existent key and a key mapped to NULL.
+ * Returns 1 if the supplied key exists in the zhash table, else 0.
+ */
+int zhash_contains(const zhash_t *zh, const void *key);
+
+/**
+ * Retrieves the value for the given key, if it exists, by copying its contents
+ * into the space pointed to by 'out_value', which must already be allocated.
+ * Returns 1 if the supplied key exists in the table, else 0, in which case
+ * the contents of 'out_value' will be unchanged.
+ */
+int zhash_get(const zhash_t *zh, const void *key, void *out_value);
+
+/**
+ * Similar to zhash_get(), but more dangerous. Provides a pointer to the zhash's
+ * internal storage. This can be used to make simple modifications to
+ * the underlying data while avoiding the memcpys associated with
+ * zhash_get and zhash_put. However, some zhash operations (that
+ * resize the underlying storage, in particular) render this pointer
+ * invalid. For maximum safety, call no other zhash functions for the
+ * period during which you intend to use the pointer.
+ * 'out_p' should be a pointer to the pointer which will be set to the internal
+ * data address.
+ */
+int zhash_get_volatile(const zhash_t *zh, const void *key, void *out_p);
+
+/**
+ * Adds a key/value pair to the hash table, if the supplied key does not already
+ * exist in the table, or overwrites the value for the supplied key if it does
+ * already exist. In the latter case, the previous contents of the key and value
+ * will be copied into the spaces pointed to by 'oldkey' and 'oldvalue', respectively,
+ * if they are not NULL.
+ *
+ * The key/value is added to / updated in the hash table by copying 'keysz' bytes
+ * from the data pointed to by 'key' and 'valuesz' bytes from the data pointed
+ * to by 'value'. It is up to the caller to manage the memory allocation of the
+ * passed-in values, zhash will store and manage a copy.
+ *
+ * NOTE: If the key is a pointer type (such as a string), the contents of the
+ * data that it points to must not be modified after the call to zhash_put(),
+ * or future zhash calls will not successfully locate the key (using either its
+ * previous or new value).
+ *
+ * NOTE: When using array data as a key (such as a string), the array should not
+ * be passed directly or it will cause a segmentation fault when it is dereferenced.
+ * Instead, pass a pointer which points to the array location, i.e.:
+ * char key[strlen];
+ * char *keyptr = key;
+ * zhash_put(zh, &keyptr, ...)
+ *
+ * Example:
+ * char * key = ...;
+ * zarray_t * val = ...;
+ * char * old_key = NULL;
+ * zarray_t * old_val = NULL;
+ * if (zhash_put(zh, &key, &val, &old_key, &old_value))
+ * // manage resources for old_key and old_value
+ *
+ * Returns 1 if the supplied key previously existed in the table, else 0, in
+ * which case the data pointed to by 'oldkey' and 'oldvalue' will be set to zero
+ * if they are not NULL.
+ */
+int zhash_put(zhash_t *zh, const void *key, const void *value, void *oldkey, void *oldvalue);
+
+/**
+ * Removes from the zhash table the key/value pair for the supplied key, if
+ * it exists. If it does, the contents of the key and value will be copied into
+ * the spaces pointed to by 'oldkey' and 'oldvalue', respectively, if they are
+ * not NULL. If the key does not exist, the data pointed to by 'oldkey' and
+ * 'oldvalue' will be set to zero if they are not NULL.
+ *
+ * Returns 1 if the key existed and was removed, else 0, indicating that the
+ * table contents were not changed.
+ */
+int zhash_remove(zhash_t *zh, const void *key, void *oldkey, void *oldvalue);
+
+/**
+ * Removes all entries in the has table to create the equivalent of starting from
+ * a zhash_create(), using the same size parameters. If any elements need to be
+ * freed manually, this will need to occur before calling clear.
+ */
+void zhash_clear(zhash_t *zh);
+
+/**
+ * Retrieves the current number of key/value pairs currently contained in the
+ * zhash table, or 0 if the table is empty.
+ */
+int zhash_size(const zhash_t *zh);
+
+/**
+ * Initializes an iterator which can be used to traverse the key/value pairs of
+ * the supplied zhash table via successive calls to zhash_iterator_next() or
+ * zhash_iterator_next_volatile(). The iterator can also be used to remove elements
+ * from the zhash with zhash_iterator_remove().
+ *
+ * Any modifications to the zhash table structure will invalidate the
+ * iterator, with the exception of zhash_iterator_remove().
+ */
+void zhash_iterator_init(zhash_t *zh, zhash_iterator_t *zit);
+
+/**
+ * Initializes an iterator which can be used to traverse the key/value pairs of
+ * the supplied zhash table via successive calls to zhash_iterator_next() or
+ * zhash_iterator_next_volatile().
+ *
+ * An iterator initialized with this function cannot be used with
+ * zhash_iterator_remove(). For that you must use zhash_iterator_init().
+ *
+ * Any modifications to the zhash table structure will invalidate the
+ * iterator.
+ */
+void zhash_iterator_init_const(const zhash_t *zh, zhash_iterator_t *zit);
+
+/**
+ * Retrieves the next key/value pair from a zhash table via the (previously-
+ * initialized) iterator. Copies the key and value data into the space
+ * pointed to by outkey and outvalue, respectively, if they are not NULL.
+ *
+ * Returns 1 if the call retrieved the next available key/value pair, else 0
+ * indicating that no entries remain, in which case the contents of outkey and
+ * outvalue will remain unchanged.
+ */
+int zhash_iterator_next(zhash_iterator_t *zit, void *outkey, void *outvalue);
+
+/**
+ * Similar to zhash_iterator_next() except that it retrieves a pointer to zhash's
+ * internal storage. This can be used to avoid the memcpys associated with
+ * zhash_iterator_next(). Call no other zhash functions for the
+ * period during which you intend to use the pointer.
+ * 'outkey' and 'outvalue' should be pointers to the pointers which will be set
+ * to the internal data addresses.
+ *
+ * Example:
+ * key_t *outkey;
+ * value_t *outvalue;
+ * if (zhash_iterator_next_volatile(&zit, &outkey, &outvalue))
+ * // access internal key and value storage via outkey and outvalue
+ *
+ * Returns 1 if the call retrieved the next available key/value pair, else 0
+ * indicating that no entries remain, in which case the pointers outkey and
+ * outvalue will remain unchanged.
+ */
+int zhash_iterator_next_volatile(zhash_iterator_t *zit, void *outkey, void *outvalue);
+
+/**
+ * Removes from the zhash table the key/value pair most recently returned via
+ * a call to zhash_iterator_next() or zhash_iterator_next_volatile() for the
+ * supplied iterator.
+ *
+ * Requires that the iterator was initialized with zhash_iterator_init(),
+ * not zhash_iterator_init_const().
+ */
+void zhash_iterator_remove(zhash_iterator_t *zit);
+
+/**
+ * Calls the supplied function with a pointer to every key in the hash table in
+ * turn. The function will be passed a pointer to the table's internal storage
+ * 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)());
+
+/**
+ * Calls the supplied function with a pointer to every value in the hash table in
+ * turn. The function will be passed a pointer to the table's internal storage
+ * 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)());
+
+/**
+ * Calls the supplied function with a copy of every key in the hash table in
+ * turn. While zhash_map_keys() passes a pointer to internal storage, this function
+ * passes a copy of the actual storage. If the zhash stores pointers to data,
+ * functions like free() can be used directly with zhash_vmap_keys().
+ * The function may be NULL, in which case no action is taken.
+ *
+ * NOTE: zhash_vmap_keys() can only be used with pointer-data keys.
+ * 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)());
+
+/**
+ * Calls the supplied function with a copy of every value in the hash table in
+ * turn. While zhash_map_values() passes a pointer to internal storage, this function
+ * passes a copy of the actual storage. If the zhash stores pointers to data,
+ * functions like free() can be used directly with zhash_vmap_values().
+ * The function may be NULL, in which case no action is taken.
+ *
+ * NOTE: zhash_vmap_values() can only be used with pointer-data values.
+ * 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)());
+
+/**
+ * Returns an array which contains copies of all of the hash table's keys, in no
+ * particular order. It is the caller's responsibility to call zarray_destroy()
+ * on the returned structure when it is no longer needed.
+ */
+zarray_t *zhash_keys(const zhash_t *zh);
+
+/**
+ * Returns an array which contains copies of all of the hash table's values, in no
+ * particular order. It is the caller's responsibility to call zarray_destroy()
+ * on the returned structure when it is no longer needed.
+ */
+zarray_t *zhash_values(const zhash_t *zh);
+
+/**
+ * Defines a hash function which will calculate a zhash value for uint32_t input
+ * data. Can be used with zhash_create() for a key size of sizeof(uint32_t).
+ */
+uint32_t zhash_uint32_hash(const void *a);
+
+/**
+ * Defines a function to compare zhash values for uint32_t input data.
+ * Can be used with zhash_create() for a key size of sizeof(uint32_t).
+ */
+int zhash_uint32_equals(const void *a, const void *b);
+
+/**
+ * Defines a hash function which will calculate a zhash value for uint64_t input
+ * data. Can be used with zhash_create() for a key size of sizeof(uint64_t).
+ */
+uint32_t zhash_uint64_hash(const void *a);
+
+/**
+ * Defines a function to compare zhash values for uint64_t input data.
+ * Can be used with zhash_create() for a key size of sizeof(uint64_t).
+ */
+int zhash_uint64_equals(const void *a, const void *b);
+
+/////////////////////////////////////////////////////
+// functions for keys that can be compared via their pointers.
+/**
+ * Defines a hash function which will calculate a zhash value for pointer input
+ * data. Can be used with zhash_create() for a key size of sizeof(void*). Will
+ * use only the pointer value itself for computing the hash value.
+ */
+uint32_t zhash_ptr_hash(const void *a);
+
+/**
+ * Defines a function to compare zhash values for pointer input data.
+ * Can be used with zhash_create() for a key size of sizeof(void*).
+ */
+int zhash_ptr_equals(const void *a, const void *b);
+
+/////////////////////////////////////////////////////
+// Functions for string-typed keys
+/**
+ * Defines a hash function which will calculate a zhash value for string input
+ * data. Can be used with zhash_create() for a key size of sizeof(char*). Will
+ * use the contents of the string in computing the hash value.
+ */
+uint32_t zhash_str_hash(const void *a);
+
+/**
+ * Defines a function to compare zhash values for string input data.
+ * Can be used with zhash_create() for a key size of sizeof(char*).
+ */
+int zhash_str_equals(const void *a, const void *b);
+
+void zhash_debug(zhash_t *zh);
+
+ static inline zhash_t *zhash_str_str_create(void)
+ {
+ return zhash_create(sizeof(char*), sizeof(char*),
+ zhash_str_hash, zhash_str_equals);
+ }
+
+
+
+// for zhashes that map strings to strings, this is a convenience
+// function that allows easier retrieval of values. NULL is returned
+// if the key is not found.
+static inline char *zhash_str_str_get(zhash_t *zh, const char *key)
+{
+ char *value;
+ if (zhash_get(zh, &key, &value))
+ return value;
+ return NULL;
+}
+
+ static inline void zhash_str_str_put(zhash_t *zh, char *key, char *value)
+ {
+ char *oldkey, *oldval;
+ if (zhash_put(zh, &key, &value, &oldkey, &oldval)) {
+ free(oldkey);
+ free(oldval);
+ }
+ }
+
+ static inline void zhash_str_str_destroy(zhash_t *zh)
+ {
+ zhash_iterator_t zit;
+ zhash_iterator_init(zh, &zit);
+
+ char *key, *value;
+ while (zhash_iterator_next(&zit, &key, &value)) {
+ free(key);
+ free(value);
+ }
+
+ zhash_destroy(zh);
+ }
+
+
+static inline uint32_t zhash_int_hash(const void *_a)
+{
+ assert(_a != NULL);
+
+ uint32_t a = *((int*) _a);
+ return a;
+}
+
+static inline int zhash_int_equals(const void *_a, const void *_b)
+{
+ assert(_a != NULL);
+ assert(_b != NULL);
+
+ int a = *((int*) _a);
+ int b = *((int*) _b);
+
+ return a==b;
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/apriltag/common/zmaxheap.c b/third_party/apriltag/common/zmaxheap.c
new file mode 100644
index 0000000..e04d03e
--- /dev/null
+++ b/third_party/apriltag/common/zmaxheap.c
@@ -0,0 +1,422 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <math.h>
+#include <assert.h>
+#include <stdint.h>
+
+#include "zmaxheap.h"
+#include "debug_print.h"
+
+#ifdef _WIN32
+static inline long int random(void)
+{
+ return rand();
+}
+#endif
+
+// 0
+// 1 2
+// 3 4 5 6
+// 7 8 9 10 11 12 13 14
+//
+// Children of node i: 2*i+1, 2*i+2
+// Parent of node i: (i-1) / 2
+//
+// Heap property: a parent is greater than (or equal to) its children.
+
+#define MIN_CAPACITY 16
+
+struct zmaxheap
+{
+ size_t el_sz;
+
+ int size;
+ int alloc;
+
+ float *values;
+ char *data;
+
+ void (*swap)(zmaxheap_t *heap, int a, int b);
+};
+
+static inline void swap_default(zmaxheap_t *heap, int a, int b)
+{
+ float t = heap->values[a];
+ heap->values[a] = heap->values[b];
+ heap->values[b] = t;
+
+ char *tmp = malloc(sizeof(char)*heap->el_sz);
+ memcpy(tmp, &heap->data[a*heap->el_sz], heap->el_sz);
+ memcpy(&heap->data[a*heap->el_sz], &heap->data[b*heap->el_sz], heap->el_sz);
+ memcpy(&heap->data[b*heap->el_sz], tmp, heap->el_sz);
+ free(tmp);
+}
+
+static inline void swap_pointer(zmaxheap_t *heap, int a, int b)
+{
+ float t = heap->values[a];
+ heap->values[a] = heap->values[b];
+ heap->values[b] = t;
+
+ void **pp = (void**) heap->data;
+ void *tmp = pp[a];
+ pp[a] = pp[b];
+ pp[b] = tmp;
+}
+
+
+zmaxheap_t *zmaxheap_create(size_t el_sz)
+{
+ zmaxheap_t *heap = calloc(1, sizeof(zmaxheap_t));
+ heap->el_sz = el_sz;
+
+ heap->swap = swap_default;
+
+ if (el_sz == sizeof(void*))
+ heap->swap = swap_pointer;
+
+ return heap;
+}
+
+void zmaxheap_destroy(zmaxheap_t *heap)
+{
+ free(heap->values);
+ free(heap->data);
+ memset(heap, 0, sizeof(zmaxheap_t));
+ free(heap);
+}
+
+int zmaxheap_size(zmaxheap_t *heap)
+{
+ return heap->size;
+}
+
+void zmaxheap_ensure_capacity(zmaxheap_t *heap, int capacity)
+{
+ if (heap->alloc >= capacity)
+ return;
+
+ int newcap = heap->alloc;
+
+ while (newcap < capacity) {
+ if (newcap < MIN_CAPACITY) {
+ newcap = MIN_CAPACITY;
+ continue;
+ }
+
+ newcap *= 2;
+ }
+
+ heap->values = realloc(heap->values, newcap * sizeof(float));
+ heap->data = realloc(heap->data, newcap * heap->el_sz);
+ heap->alloc = newcap;
+}
+
+void zmaxheap_add(zmaxheap_t *heap, void *p, float v)
+{
+
+ assert (isfinite(v) && "zmaxheap_add: Trying to add non-finite number to heap. NaN's prohibited, could allow INF with testing");
+ zmaxheap_ensure_capacity(heap, heap->size + 1);
+
+ int idx = heap->size;
+
+ heap->values[idx] = v;
+ memcpy(&heap->data[idx*heap->el_sz], p, heap->el_sz);
+
+ heap->size++;
+
+ while (idx > 0) {
+
+ int parent = (idx - 1) / 2;
+
+ // we're done!
+ if (heap->values[parent] >= v)
+ break;
+
+ // else, swap and recurse upwards.
+ heap->swap(heap, idx, parent);
+ idx = parent;
+ }
+}
+
+void zmaxheap_vmap(zmaxheap_t *heap, void (*f)())
+{
+ assert(heap != NULL);
+ assert(f != NULL);
+ assert(heap->el_sz == sizeof(void*));
+
+ for (int idx = 0; idx < heap->size; idx++) {
+ void *p = NULL;
+ memcpy(&p, &heap->data[idx*heap->el_sz], heap->el_sz);
+ if (p == NULL) {
+ debug_print("Warning: zmaxheap_vmap item %d is NULL\n", idx);
+ }
+ f(p);
+ }
+}
+
+// Removes the item in the heap at the given index. Returns 1 if the
+// item existed. 0 Indicates an invalid idx (heap is smaller than
+// idx). This is mostly intended to be used by zmaxheap_remove_max.
+int zmaxheap_remove_index(zmaxheap_t *heap, int idx, void *p, float *v)
+{
+ if (idx >= heap->size)
+ return 0;
+
+ // copy out the requested element from the heap.
+ if (v != NULL)
+ *v = heap->values[idx];
+ if (p != NULL)
+ memcpy(p, &heap->data[idx*heap->el_sz], heap->el_sz);
+
+ heap->size--;
+
+ // If this element is already the last one, then there's nothing
+ // for us to do.
+ if (idx == heap->size)
+ return 1;
+
+ // copy last element to first element. (which probably upsets
+ // the heap property).
+ heap->values[idx] = heap->values[heap->size];
+ memcpy(&heap->data[idx*heap->el_sz], &heap->data[heap->el_sz * heap->size], heap->el_sz);
+
+ // now fix the heap. Note, as we descend, we're "pushing down"
+ // the same node the entire time. Thus, while the index of the
+ // parent might change, the parent_score doesn't.
+ int parent = idx;
+ float parent_score = heap->values[idx];
+
+ // descend, fixing the heap.
+ while (parent < heap->size) {
+
+ int left = 2*parent + 1;
+ int right = left + 1;
+
+// assert(parent_score == heap->values[parent]);
+
+ float left_score = (left < heap->size) ? heap->values[left] : -INFINITY;
+ float right_score = (right < heap->size) ? heap->values[right] : -INFINITY;
+
+ // put the biggest of (parent, left, right) as the parent.
+
+ // already okay?
+ if (parent_score >= left_score && parent_score >= right_score)
+ break;
+
+ // if we got here, then one of the children is bigger than the parent.
+ if (left_score >= right_score) {
+ assert(left < heap->size);
+ heap->swap(heap, parent, left);
+ parent = left;
+ } else {
+ // right_score can't be less than left_score if right_score is -INFINITY.
+ assert(right < heap->size);
+ heap->swap(heap, parent, right);
+ parent = right;
+ }
+ }
+
+ return 1;
+}
+
+int zmaxheap_remove_max(zmaxheap_t *heap, void *p, float *v)
+{
+ return zmaxheap_remove_index(heap, 0, p, v);
+}
+
+void zmaxheap_iterator_init(zmaxheap_t *heap, zmaxheap_iterator_t *it)
+{
+ memset(it, 0, sizeof(zmaxheap_iterator_t));
+ it->heap = heap;
+ it->in = 0;
+ it->out = 0;
+}
+
+int zmaxheap_iterator_next(zmaxheap_iterator_t *it, void *p, float *v)
+{
+ zmaxheap_t *heap = it->heap;
+
+ if (it->in >= zmaxheap_size(heap))
+ return 0;
+
+ *v = heap->values[it->in];
+ memcpy(p, &heap->data[it->in*heap->el_sz], heap->el_sz);
+
+ if (it->in != it->out) {
+ heap->values[it->out] = heap->values[it->in];
+ memcpy(&heap->data[it->out*heap->el_sz], &heap->data[it->in*heap->el_sz], heap->el_sz);
+ }
+
+ it->in++;
+ it->out++;
+ return 1;
+}
+
+int zmaxheap_iterator_next_volatile(zmaxheap_iterator_t *it, void *p, float *v)
+{
+ zmaxheap_t *heap = it->heap;
+
+ if (it->in >= zmaxheap_size(heap))
+ return 0;
+
+ *v = heap->values[it->in];
+ *((void**) p) = &heap->data[it->in*heap->el_sz];
+
+ if (it->in != it->out) {
+ heap->values[it->out] = heap->values[it->in];
+ memcpy(&heap->data[it->out*heap->el_sz], &heap->data[it->in*heap->el_sz], heap->el_sz);
+ }
+
+ it->in++;
+ it->out++;
+ return 1;
+}
+
+void zmaxheap_iterator_remove(zmaxheap_iterator_t *it)
+{
+ it->out--;
+}
+
+static void maxheapify(zmaxheap_t *heap, int parent)
+{
+ int left = 2*parent + 1;
+ int right = 2*parent + 2;
+
+ int betterchild = parent;
+
+ if (left < heap->size && heap->values[left] > heap->values[betterchild])
+ betterchild = left;
+ if (right < heap->size && heap->values[right] > heap->values[betterchild])
+ betterchild = right;
+
+ if (betterchild != parent) {
+ heap->swap(heap, parent, betterchild);
+ return maxheapify(heap, betterchild);
+ }
+}
+
+#if 0 //won't compile if defined but not used
+// test the heap property
+static void validate(zmaxheap_t *heap)
+{
+ for (int parent = 0; parent < heap->size; parent++) {
+ int left = 2*parent + 1;
+ int right = 2*parent + 2;
+
+ if (left < heap->size) {
+ assert(heap->values[parent] > heap->values[left]);
+ }
+
+ if (right < heap->size) {
+ assert(heap->values[parent] > heap->values[right]);
+ }
+ }
+}
+#endif
+void zmaxheap_iterator_finish(zmaxheap_iterator_t *it)
+{
+ // if nothing was removed, no work to do.
+ if (it->in == it->out)
+ return;
+
+ zmaxheap_t *heap = it->heap;
+
+ heap->size = it->out;
+
+ // restore heap property
+ for (int i = heap->size/2 - 1; i >= 0; i--)
+ maxheapify(heap, i);
+}
+
+void zmaxheap_test()
+{
+ int cap = 10000;
+ int sz = 0;
+ int32_t *vals = calloc(sizeof(int32_t), cap);
+
+ zmaxheap_t *heap = zmaxheap_create(sizeof(int32_t));
+
+ int maxsz = 0;
+ int zcnt = 0;
+
+ for (int iter = 0; iter < 5000000; iter++) {
+ assert(sz == heap->size);
+
+ if ((random() & 1) == 0 && sz < cap) {
+ // add a value
+ int32_t v = (int32_t) (random() / 1000);
+ float fv = v;
+ assert(v == fv);
+
+ vals[sz] = v;
+ zmaxheap_add(heap, &v, fv);
+ sz++;
+
+// printf("add %d %f\n", v, fv);
+ } else {
+ // remove a value
+ int maxv = -1, maxi = -1;
+
+ for (int i = 0; i < sz; i++) {
+ if (vals[i] > maxv) {
+ maxv = vals[i];
+ maxi = i;
+ }
+ }
+
+
+ int32_t outv;
+ float outfv;
+ int res = zmaxheap_remove_max(heap, &outv, &outfv);
+ if (sz == 0) {
+ assert(res == 0);
+ } else {
+// printf("%d %d %d %f\n", sz, maxv, outv, outfv);
+ assert(outv == outfv);
+ assert(maxv == outv);
+
+ // shuffle erase the maximum from our list.
+ vals[maxi] = vals[sz - 1];
+ sz--;
+ }
+ }
+
+ if (sz > maxsz)
+ maxsz = sz;
+
+ if (maxsz > 0 && sz == 0)
+ zcnt++;
+ }
+
+ printf("max size: %d, zcount %d\n", maxsz, zcnt);
+ free (vals);
+}
diff --git a/third_party/apriltag/common/zmaxheap.h b/third_party/apriltag/common/zmaxheap.h
new file mode 100644
index 0000000..f0020f9
--- /dev/null
+++ b/third_party/apriltag/common/zmaxheap.h
@@ -0,0 +1,76 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#pragma once
+
+#include <stdio.h>
+
+typedef struct zmaxheap zmaxheap_t;
+
+typedef struct zmaxheap_iterator zmaxheap_iterator_t;
+struct zmaxheap_iterator {
+ zmaxheap_t *heap;
+ int in, out;
+};
+
+zmaxheap_t *zmaxheap_create(size_t el_sz);
+
+void zmaxheap_vmap(zmaxheap_t *heap, void (*f)());
+
+void zmaxheap_destroy(zmaxheap_t *heap);
+
+void zmaxheap_add(zmaxheap_t *heap, void *p, float v);
+
+int zmaxheap_size(zmaxheap_t *heap);
+
+// returns 0 if the heap is empty, so you can do
+// while (zmaxheap_remove_max(...)) { }
+int zmaxheap_remove_max(zmaxheap_t *heap, void *p, float *v);
+
+////////////////////////////////////////////
+// This is a peculiar iterator intended to support very specific (and
+// unusual) applications, and the heap is not necessarily in a valid
+// state until zmaxheap_iterator_finish is called. Consequently, do
+// not call any other methods on the heap while iterating through.
+
+// you must provide your own storage for the iterator, and pass in a
+// pointer.
+void zmaxheap_iterator_init(zmaxheap_t *heap, zmaxheap_iterator_t *it);
+
+// Traverses the heap in top-down/left-right order. makes a copy of
+// the content into memory (p) that you provide.
+int zmaxheap_iterator_next(zmaxheap_iterator_t *it, void *p, float *v);
+
+// will set p to be a pointer to the heap's internal copy of the dfata.
+int zmaxheap_iterator_next_volatile(zmaxheap_iterator_t *it, void *p, float *v);
+
+// remove the current element.
+void zmaxheap_iterator_remove(zmaxheap_iterator_t *it);
+
+// call after all iterator operations are done. After calling this,
+// the iterator should no longer be used, but the heap methods can be.
+void zmaxheap_iterator_finish(zmaxheap_iterator_t *it);
diff --git a/third_party/apriltag/example/.gitignore b/third_party/apriltag/example/.gitignore
new file mode 100644
index 0000000..1cef2e8
--- /dev/null
+++ b/third_party/apriltag/example/.gitignore
@@ -0,0 +1 @@
+apriltag_demo
diff --git a/third_party/apriltag/example/Makefile b/third_party/apriltag/example/Makefile
new file mode 100644
index 0000000..6027428
--- /dev/null
+++ b/third_party/apriltag/example/Makefile
@@ -0,0 +1,32 @@
+CC = gcc
+CXX = g++
+
+CPPFLAGS = -I.. `pkg-config --cflags opencv4`
+CFLAGS = -g -std=gnu99 -Wall -Wno-unused-parameter -Wno-unused-function -O3
+CXXFLAGS = -g -Wall -O3
+LDFLAGS = -lpthread -lm
+
+TARGETS := apriltag_demo opencv_demo
+
+.PHONY: all
+all: apriltag_demo opencv_demo
+
+apriltag_demo: apriltag_demo.o ../libapriltag.a
+ @echo " [$@]"
+ @$(CC) -o $@ $^ $(LDFLAGS)
+
+opencv_demo: opencv_demo.o ../libapriltag.a
+ @echo " [$@]"
+ @$(CXX) -o $@ $^ $(LDFLAGS) `pkg-config --libs opencv4`
+
+%.o: %.c
+ @echo " $@"
+ @$(CC) -o $@ -c $< $(CFLAGS) $(CPPFLAGS)
+
+%.o: %.cc
+ @echo " $@"
+ @$(CXX) -o $@ -c $< $(CXXFLAGS) $(CPPFLAGS)
+
+.PHONY: clean
+clean:
+ @rm -rf *.o $(TARGETS)
diff --git a/third_party/apriltag/example/README b/third_party/apriltag/example/README
new file mode 100644
index 0000000..5b3167d
--- /dev/null
+++ b/third_party/apriltag/example/README
@@ -0,0 +1 @@
+These example programs are meant for distribution, and thus will not build in the april2 tree without modifications.
diff --git a/third_party/apriltag/example/apriltag_demo.c b/third_party/apriltag/example/apriltag_demo.c
new file mode 100644
index 0000000..6de9054
--- /dev/null
+++ b/third_party/apriltag/example/apriltag_demo.c
@@ -0,0 +1,284 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <stdio.h>
+#include <stdint.h>
+#include <inttypes.h>
+#include <ctype.h>
+#include <math.h>
+#include <errno.h>
+
+#ifdef __linux__
+ #include <unistd.h>
+#endif
+
+#include "apriltag.h"
+#include "tag36h11.h"
+#include "tag25h9.h"
+#include "tag16h5.h"
+#include "tagCircle21h7.h"
+#include "tagCircle49h12.h"
+#include "tagCustom48h12.h"
+#include "tagStandard41h12.h"
+#include "tagStandard52h13.h"
+
+#include "common/getopt.h"
+#include "common/image_u8.h"
+#include "common/pjpeg.h"
+#include "common/zarray.h"
+
+#define HAMM_HIST_MAX 10
+
+int main(int argc, char *argv[])
+{
+ getopt_t *getopt = getopt_create();
+
+ getopt_add_bool(getopt, 'h', "help", 0, "Show this help");
+ getopt_add_bool(getopt, 'd', "debug", 0, "Enable debugging output (slow)");
+ getopt_add_bool(getopt, 'q', "quiet", 0, "Reduce output");
+ getopt_add_string(getopt, 'f', "family", "tag36h11", "Tag family to use");
+ getopt_add_int(getopt, 'i', "iters", "1", "Repeat processing on input set this many times");
+ getopt_add_int(getopt, 't', "threads", "1", "Use this many CPU threads");
+ getopt_add_int(getopt, 'a', "hamming", "1", "Detect tags with up to this many bit errors.");
+ getopt_add_double(getopt, 'x', "decimate", "2.0", "Decimate input image by this factor");
+ getopt_add_double(getopt, 'b', "blur", "0.0", "Apply low-pass blur to input; negative sharpens");
+ getopt_add_bool(getopt, '0', "refine-edges", 1, "Spend more time trying to align edges of tags");
+
+ if (!getopt_parse(getopt, argc, argv, 1) || getopt_get_bool(getopt, "help")) {
+ printf("Usage: %s [options] <input files>\n", argv[0]);
+ getopt_do_usage(getopt);
+ exit(0);
+ }
+
+ const zarray_t *inputs = getopt_get_extra_args(getopt);
+
+ apriltag_family_t *tf = NULL;
+ const char *famname = getopt_get_string(getopt, "family");
+ if (!strcmp(famname, "tag36h11")) {
+ tf = tag36h11_create();
+ } else if (!strcmp(famname, "tag25h9")) {
+ tf = tag25h9_create();
+ } else if (!strcmp(famname, "tag16h5")) {
+ tf = tag16h5_create();
+ } else if (!strcmp(famname, "tagCircle21h7")) {
+ tf = tagCircle21h7_create();
+ } else if (!strcmp(famname, "tagCircle49h12")) {
+ tf = tagCircle49h12_create();
+ } else if (!strcmp(famname, "tagStandard41h12")) {
+ tf = tagStandard41h12_create();
+ } else if (!strcmp(famname, "tagStandard52h13")) {
+ tf = tagStandard52h13_create();
+ } else if (!strcmp(famname, "tagCustom48h12")) {
+ tf = tagCustom48h12_create();
+ } else {
+ printf("Unrecognized tag family name. Use e.g. \"tag36h11\".\n");
+ exit(-1);
+ }
+
+ apriltag_detector_t *td = apriltag_detector_create();
+ apriltag_detector_add_family_bits(td, tf, getopt_get_int(getopt, "hamming"));
+
+ switch(errno){
+ case EINVAL:
+ printf("\"hamming\" parameter is out-of-range.\n");
+ exit(-1);
+ case ENOMEM:
+ printf("Unable to add family to detector due to insufficient memory to allocate the tag-family decoder. Try reducing \"hamming\" from %d or choose an alternative tag family.\n", getopt_get_int(getopt, "hamming"));
+ exit(-1);
+ }
+
+ td->quad_decimate = getopt_get_double(getopt, "decimate");
+ td->quad_sigma = getopt_get_double(getopt, "blur");
+ td->nthreads = getopt_get_int(getopt, "threads");
+ td->debug = getopt_get_bool(getopt, "debug");
+ td->refine_edges = getopt_get_bool(getopt, "refine-edges");
+
+ int quiet = getopt_get_bool(getopt, "quiet");
+
+ int maxiters = getopt_get_int(getopt, "iters");
+
+ for (int iter = 0; iter < maxiters; iter++) {
+
+ int total_quads = 0;
+ int total_hamm_hist[HAMM_HIST_MAX];
+ memset(total_hamm_hist, 0, sizeof(int)*HAMM_HIST_MAX);
+ double total_time = 0;
+
+ if (maxiters > 1)
+ printf("iter %d / %d\n", iter + 1, maxiters);
+
+ for (int input = 0; input < zarray_size(inputs); input++) {
+
+ int hamm_hist[HAMM_HIST_MAX];
+ memset(hamm_hist, 0, sizeof(hamm_hist));
+
+ char *path;
+ zarray_get(inputs, input, &path);
+ if (!quiet)
+ printf("loading %s\n", path);
+ else
+ printf("%20s ", path);
+
+ image_u8_t *im = NULL;
+ if (str_ends_with(path, "pnm") || str_ends_with(path, "PNM") ||
+ str_ends_with(path, "pgm") || str_ends_with(path, "PGM"))
+ im = image_u8_create_from_pnm(path);
+ else if (str_ends_with(path, "jpg") || str_ends_with(path, "JPG")) {
+ int err = 0;
+ pjpeg_t *pjpeg = pjpeg_create_from_file(path, 0, &err);
+ if (pjpeg == NULL) {
+ printf("pjpeg failed to load: %s, error %d\n", path, err);
+ continue;
+ }
+
+ if (1) {
+ im = pjpeg_to_u8_baseline(pjpeg);
+ } else {
+ printf("illumination invariant\n");
+
+ image_u8x3_t *imc = pjpeg_to_u8x3_baseline(pjpeg);
+
+ im = image_u8_create(imc->width, imc->height);
+
+ for (int y = 0; y < imc->height; y++) {
+ for (int x = 0; x < imc->width; x++) {
+ double r = imc->buf[y*imc->stride + 3*x + 0] / 255.0;
+ double g = imc->buf[y*imc->stride + 3*x + 1] / 255.0;
+ double b = imc->buf[y*imc->stride + 3*x + 2] / 255.0;
+
+ double alpha = 0.42;
+ double v = 0.5 + log(g) - alpha*log(b) - (1-alpha)*log(r);
+ int iv = v * 255;
+ if (iv < 0)
+ iv = 0;
+ if (iv > 255)
+ iv = 255;
+
+ im->buf[y*im->stride + x] = iv;
+ }
+ }
+ image_u8x3_destroy(imc);
+ if (td->debug)
+ image_u8_write_pnm(im, "debug_invariant.pnm");
+ }
+
+ pjpeg_destroy(pjpeg);
+ }
+
+ if (im == NULL) {
+ printf("couldn't load %s\n", path);
+ continue;
+ }
+
+ printf("image: %s %dx%d\n", path, im->width, im->height);
+
+ zarray_t *detections = apriltag_detector_detect(td, im);
+
+ if (errno == EAGAIN) {
+ printf("Unable to create the %d threads requested.\n",td->nthreads);
+ exit(-1);
+ }
+
+ for (int i = 0; i < zarray_size(detections); i++) {
+ apriltag_detection_t *det;
+ zarray_get(detections, i, &det);
+
+ if (!quiet)
+ printf("detection %3d: id (%2dx%2d)-%-4d, hamming %d, margin %8.3f\n",
+ i, det->family->nbits, det->family->h, det->id, det->hamming, det->decision_margin);
+
+ hamm_hist[det->hamming]++;
+ total_hamm_hist[det->hamming]++;
+ }
+
+ apriltag_detections_destroy(detections);
+
+ if (!quiet) {
+ timeprofile_display(td->tp);
+ }
+
+ total_quads += td->nquads;
+
+ if (!quiet)
+ printf("hamm ");
+
+ for (int i = 0; i < HAMM_HIST_MAX; i++)
+ printf("%5d ", hamm_hist[i]);
+
+ double t = timeprofile_total_utime(td->tp) / 1.0E3;
+ total_time += t;
+ printf("%12.3f ", t);
+ printf("%5d", td->nquads);
+
+ printf("\n");
+
+ image_u8_destroy(im);
+ }
+
+
+ printf("Summary\n");
+
+ printf("hamm ");
+
+ for (int i = 0; i < HAMM_HIST_MAX; i++)
+ printf("%5d ", total_hamm_hist[i]);
+ printf("%12.3f ", total_time);
+ printf("%5d", total_quads);
+ printf("\n");
+
+ }
+
+ // don't deallocate contents of inputs; those are the argv
+ apriltag_detector_destroy(td);
+
+ if (!strcmp(famname, "tag36h11")) {
+ tag36h11_destroy(tf);
+ } else if (!strcmp(famname, "tag25h9")) {
+ tag25h9_destroy(tf);
+ } else if (!strcmp(famname, "tag16h5")) {
+ tag16h5_destroy(tf);
+ } else if (!strcmp(famname, "tagCircle21h7")) {
+ tagCircle21h7_destroy(tf);
+ } else if (!strcmp(famname, "tagCircle49h12")) {
+ tagCircle49h12_destroy(tf);
+ } else if (!strcmp(famname, "tagStandard41h12")) {
+ tagStandard41h12_destroy(tf);
+ } else if (!strcmp(famname, "tagStandard52h13")) {
+ tagStandard52h13_destroy(tf);
+ } else if (!strcmp(famname, "tagCustom48h12")) {
+ tagCustom48h12_destroy(tf);
+ }
+
+ getopt_destroy(getopt);
+
+ return 0;
+}
diff --git a/third_party/apriltag/example/opencv_demo.cc b/third_party/apriltag/example/opencv_demo.cc
new file mode 100644
index 0000000..b43a46e
--- /dev/null
+++ b/third_party/apriltag/example/opencv_demo.cc
@@ -0,0 +1,217 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <iostream>
+#include <iomanip>
+
+#include "opencv2/opencv.hpp"
+
+extern "C" {
+#include "apriltag.h"
+#include "tag36h11.h"
+#include "tag25h9.h"
+#include "tag16h5.h"
+#include "tagCircle21h7.h"
+#include "tagCircle49h12.h"
+#include "tagCustom48h12.h"
+#include "tagStandard41h12.h"
+#include "tagStandard52h13.h"
+#include "common/getopt.h"
+}
+
+using namespace std;
+using namespace cv;
+
+
+int main(int argc, char *argv[])
+{
+ getopt_t *getopt = getopt_create();
+
+ getopt_add_bool(getopt, 'h', "help", 0, "Show this help");
+ getopt_add_int(getopt, 'c', "camera", "0", "camera ID");
+ getopt_add_bool(getopt, 'd', "debug", 0, "Enable debugging output (slow)");
+ getopt_add_bool(getopt, 'q', "quiet", 0, "Reduce output");
+ getopt_add_string(getopt, 'f', "family", "tag36h11", "Tag family to use");
+ getopt_add_int(getopt, 't', "threads", "1", "Use this many CPU threads");
+ getopt_add_double(getopt, 'x', "decimate", "2.0", "Decimate input image by this factor");
+ getopt_add_double(getopt, 'b', "blur", "0.0", "Apply low-pass blur to input");
+ getopt_add_bool(getopt, '0', "refine-edges", 1, "Spend more time trying to align edges of tags");
+
+ if (!getopt_parse(getopt, argc, argv, 1) ||
+ getopt_get_bool(getopt, "help")) {
+ printf("Usage: %s [options]\n", argv[0]);
+ getopt_do_usage(getopt);
+ exit(0);
+ }
+
+ cout << "Enabling video capture" << endl;
+
+ TickMeter meter;
+ meter.start();
+
+ // Initialize camera
+ VideoCapture cap(getopt_get_int(getopt, "camera"));
+ if (!cap.isOpened()) {
+ cerr << "Couldn't open video capture device" << endl;
+ return -1;
+ }
+
+ // Initialize tag detector with options
+ apriltag_family_t *tf = NULL;
+ const char *famname = getopt_get_string(getopt, "family");
+ if (!strcmp(famname, "tag36h11")) {
+ tf = tag36h11_create();
+ } else if (!strcmp(famname, "tag25h9")) {
+ tf = tag25h9_create();
+ } else if (!strcmp(famname, "tag16h5")) {
+ tf = tag16h5_create();
+ } else if (!strcmp(famname, "tagCircle21h7")) {
+ tf = tagCircle21h7_create();
+ } else if (!strcmp(famname, "tagCircle49h12")) {
+ tf = tagCircle49h12_create();
+ } else if (!strcmp(famname, "tagStandard41h12")) {
+ tf = tagStandard41h12_create();
+ } else if (!strcmp(famname, "tagStandard52h13")) {
+ tf = tagStandard52h13_create();
+ } else if (!strcmp(famname, "tagCustom48h12")) {
+ tf = tagCustom48h12_create();
+ } else {
+ printf("Unrecognized tag family name. Use e.g. \"tag36h11\".\n");
+ exit(-1);
+ }
+
+
+ apriltag_detector_t *td = apriltag_detector_create();
+ apriltag_detector_add_family(td, tf);
+
+ if (errno == ENOMEM) {
+ printf("Unable to add family to detector due to insufficient memory to allocate the tag-family decoder with the default maximum hamming value of 2. Try choosing an alternative tag family.\n");
+ exit(-1);
+ }
+
+ td->quad_decimate = getopt_get_double(getopt, "decimate");
+ td->quad_sigma = getopt_get_double(getopt, "blur");
+ td->nthreads = getopt_get_int(getopt, "threads");
+ td->debug = getopt_get_bool(getopt, "debug");
+ td->refine_edges = getopt_get_bool(getopt, "refine-edges");
+
+ float frame_counter = 0.0f;
+ meter.stop();
+ cout << "Detector " << famname << " initialized in "
+ << std::fixed << std::setprecision(3) << meter.getTimeSec() << " seconds" << endl;
+#if CV_MAJOR_VERSION > 3
+ cout << " " << cap.get(CAP_PROP_FRAME_WIDTH ) << "x" <<
+ cap.get(CAP_PROP_FRAME_HEIGHT ) << " @" <<
+ cap.get(CAP_PROP_FPS) << "FPS" << endl;
+#else
+ cout << " " << cap.get(CV_CAP_PROP_FRAME_WIDTH ) << "x" <<
+ cap.get(CV_CAP_PROP_FRAME_HEIGHT ) << " @" <<
+ cap.get(CV_CAP_PROP_FPS) << "FPS" << endl;
+#endif
+ meter.reset();
+
+ Mat frame, gray;
+ while (true) {
+ errno = 0;
+ cap >> frame;
+ cvtColor(frame, gray, COLOR_BGR2GRAY);
+
+ // Make an image_u8_t header for the Mat data
+ image_u8_t im = { .width = gray.cols,
+ .height = gray.rows,
+ .stride = gray.cols,
+ .buf = gray.data
+ };
+
+ zarray_t *detections = apriltag_detector_detect(td, &im);
+
+ if (errno == EAGAIN) {
+ printf("Unable to create the %d threads requested.\n",td->nthreads);
+ exit(-1);
+ }
+
+ // Draw detection outlines
+ for (int i = 0; i < zarray_size(detections); i++) {
+ apriltag_detection_t *det;
+ zarray_get(detections, i, &det);
+ line(frame, Point(det->p[0][0], det->p[0][1]),
+ Point(det->p[1][0], det->p[1][1]),
+ Scalar(0, 0xff, 0), 2);
+ line(frame, Point(det->p[0][0], det->p[0][1]),
+ Point(det->p[3][0], det->p[3][1]),
+ Scalar(0, 0, 0xff), 2);
+ line(frame, Point(det->p[1][0], det->p[1][1]),
+ Point(det->p[2][0], det->p[2][1]),
+ Scalar(0xff, 0, 0), 2);
+ line(frame, Point(det->p[2][0], det->p[2][1]),
+ Point(det->p[3][0], det->p[3][1]),
+ Scalar(0xff, 0, 0), 2);
+
+ stringstream ss;
+ ss << det->id;
+ String text = ss.str();
+ int fontface = FONT_HERSHEY_SCRIPT_SIMPLEX;
+ double fontscale = 1.0;
+ int baseline;
+ Size textsize = getTextSize(text, fontface, fontscale, 2,
+ &baseline);
+ putText(frame, text, Point(det->c[0]-textsize.width/2,
+ det->c[1]+textsize.height/2),
+ fontface, fontscale, Scalar(0xff, 0x99, 0), 2);
+ }
+ apriltag_detections_destroy(detections);
+
+ imshow("Tag Detections", frame);
+ if (waitKey(30) >= 0)
+ break;
+ }
+
+ apriltag_detector_destroy(td);
+
+ if (!strcmp(famname, "tag36h11")) {
+ tag36h11_destroy(tf);
+ } else if (!strcmp(famname, "tag25h9")) {
+ tag25h9_destroy(tf);
+ } else if (!strcmp(famname, "tag16h5")) {
+ tag16h5_destroy(tf);
+ } else if (!strcmp(famname, "tagCircle21h7")) {
+ tagCircle21h7_destroy(tf);
+ } else if (!strcmp(famname, "tagCircle49h12")) {
+ tagCircle49h12_destroy(tf);
+ } else if (!strcmp(famname, "tagStandard41h12")) {
+ tagStandard41h12_destroy(tf);
+ } else if (!strcmp(famname, "tagStandard52h13")) {
+ tagStandard52h13_destroy(tf);
+ } else if (!strcmp(famname, "tagCustom48h12")) {
+ tagCustom48h12_destroy(tf);
+ }
+
+
+ getopt_destroy(getopt);
+
+ return 0;
+}
diff --git a/third_party/apriltag/install.sh b/third_party/apriltag/install.sh
new file mode 100755
index 0000000..04bb5b2
--- /dev/null
+++ b/third_party/apriltag/install.sh
@@ -0,0 +1,16 @@
+#!/bin/sh -e
+
+# Usage: install.sh TARGET [RELATIVE PATHS ...]
+#
+# e.g. ./install.sh /usr/local foo/file1 foo/file2 ...
+# This creates the files /usr/local/foo/file1 and /usr/local/foo/file2
+
+TARGETDIR=$1
+shift
+
+for src in "$@"; do
+ dest=$TARGETDIR/$src
+ mkdir -p $(dirname $dest)
+ cp $src $dest
+ echo $dest
+done
diff --git a/third_party/apriltag/package.xml b/third_party/apriltag/package.xml
new file mode 100644
index 0000000..07007a0
--- /dev/null
+++ b/third_party/apriltag/package.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>apriltag</name>
+ <version>3.3.0</version>
+ <description>AprilTag detector library</description>
+
+ <maintainer email="mkrogius@umich.edu">Max Krogius</maintainer>
+ <maintainer email="opensource@wolfgangmerkt.com">Wolfgang Merkt</maintainer>
+
+ <author email="ebolson@umich.edu">Edwin Olson</author>
+ <author email="mkrogius@umich.edu">Max Krogius</author>
+
+ <license>BSD</license>
+ <url>https://april.eecs.umich.edu/software/apriltag.html</url>
+
+ <buildtool_depend>cmake</buildtool_depend>
+ <build_depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</build_depend>
+
+ <!-- Specify test dependency on OpenCV such that examples are built on the test server-->
+ <test_depend>libopencv-dev</test_depend>
+
+ <export>
+ <build_type>cmake</build_type>
+ </export>
+</package>
diff --git a/third_party/apriltag/python_build_flags.py b/third_party/apriltag/python_build_flags.py
new file mode 100644
index 0000000..f3f0e79
--- /dev/null
+++ b/third_party/apriltag/python_build_flags.py
@@ -0,0 +1,34 @@
+from __future__ import print_function
+import sysconfig
+import re
+import numpy as np
+conf = sysconfig.get_config_vars()
+
+print('CFLAGS', end=';')
+c_flags = []
+# Grab compiler flags minus the compiler itself.
+c_flags.extend(conf.get('CC', '').split()[2:])
+c_flags.extend(conf.get('CFLAGS', '').split())
+c_flags.extend(conf.get('CCSHARED', '').split())
+c_flags.append('-I{}'.format(conf.get('INCLUDEPY', '')))
+c_flags.append('-I{}'.format(np.get_include()))
+c_flags.append('-Wno-strict-prototypes')
+c_flags = [x for x in c_flags if not x.startswith('-O')]
+print(' '.join(c_flags), end=';')
+
+
+print('LINKER', end=';')
+print(conf.get('BLDSHARED', '').split()[0], end=';')
+
+print('LDFLAGS', end=';')
+print(' '.join(conf.get('BLDSHARED', '').split()[1:]) + ' ' + conf.get('BLDLIBRARY', '') + ' ' + conf.get('LDFLAGS', ''), end=';')
+
+print('EXT_SUFFIX', end=';')
+ext_suffix = '.so'
+if 'EXT_SUFFIX' in conf:
+ ext_suffix = conf['EXT_SUFFIX']
+elif 'MULTIARCH' in conf:
+ ext_suffix = '.' + conf['MULTIARCH'] + '.so'
+
+print(ext_suffix, end=';')
+
diff --git a/third_party/apriltag/tag16h5.c b/third_party/apriltag/tag16h5.c
new file mode 100644
index 0000000..775f33c
--- /dev/null
+++ b/third_party/apriltag/tag16h5.c
@@ -0,0 +1,117 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <stdlib.h>
+#include "tag16h5.h"
+
+static uint64_t codedata[30] = {
+ 0x00000000000027c8UL,
+ 0x00000000000031b6UL,
+ 0x0000000000003859UL,
+ 0x000000000000569cUL,
+ 0x0000000000006c76UL,
+ 0x0000000000007ddbUL,
+ 0x000000000000af09UL,
+ 0x000000000000f5a1UL,
+ 0x000000000000fb8bUL,
+ 0x0000000000001cb9UL,
+ 0x00000000000028caUL,
+ 0x000000000000e8dcUL,
+ 0x0000000000001426UL,
+ 0x0000000000005770UL,
+ 0x0000000000009253UL,
+ 0x000000000000b702UL,
+ 0x000000000000063aUL,
+ 0x0000000000008f34UL,
+ 0x000000000000b4c0UL,
+ 0x00000000000051ecUL,
+ 0x000000000000e6f0UL,
+ 0x0000000000005fa4UL,
+ 0x000000000000dd43UL,
+ 0x0000000000001aaaUL,
+ 0x000000000000e62fUL,
+ 0x0000000000006dbcUL,
+ 0x000000000000b6ebUL,
+ 0x000000000000de10UL,
+ 0x000000000000154dUL,
+ 0x000000000000b57aUL,
+};
+apriltag_family_t *tag16h5_create()
+{
+ apriltag_family_t *tf = calloc(1, sizeof(apriltag_family_t));
+ tf->name = strdup("tag16h5");
+ tf->h = 5;
+ tf->ncodes = 30;
+ tf->codes = codedata;
+ tf->nbits = 16;
+ tf->bit_x = calloc(16, sizeof(uint32_t));
+ tf->bit_y = calloc(16, sizeof(uint32_t));
+ tf->bit_x[0] = 1;
+ tf->bit_y[0] = 1;
+ tf->bit_x[1] = 2;
+ tf->bit_y[1] = 1;
+ tf->bit_x[2] = 3;
+ tf->bit_y[2] = 1;
+ tf->bit_x[3] = 2;
+ tf->bit_y[3] = 2;
+ tf->bit_x[4] = 4;
+ tf->bit_y[4] = 1;
+ tf->bit_x[5] = 4;
+ tf->bit_y[5] = 2;
+ tf->bit_x[6] = 4;
+ tf->bit_y[6] = 3;
+ tf->bit_x[7] = 3;
+ tf->bit_y[7] = 2;
+ tf->bit_x[8] = 4;
+ tf->bit_y[8] = 4;
+ tf->bit_x[9] = 3;
+ tf->bit_y[9] = 4;
+ tf->bit_x[10] = 2;
+ tf->bit_y[10] = 4;
+ tf->bit_x[11] = 3;
+ tf->bit_y[11] = 3;
+ tf->bit_x[12] = 1;
+ tf->bit_y[12] = 4;
+ tf->bit_x[13] = 1;
+ tf->bit_y[13] = 3;
+ tf->bit_x[14] = 1;
+ tf->bit_y[14] = 2;
+ tf->bit_x[15] = 2;
+ tf->bit_y[15] = 3;
+ tf->width_at_border = 6;
+ tf->total_width = 8;
+ tf->reversed_border = false;
+ return tf;
+}
+
+void tag16h5_destroy(apriltag_family_t *tf)
+{
+ free(tf->bit_x);
+ free(tf->bit_y);
+ free(tf->name);
+ free(tf);
+}
diff --git a/third_party/apriltag/tag16h5.h b/third_party/apriltag/tag16h5.h
new file mode 100644
index 0000000..d868c81
--- /dev/null
+++ b/third_party/apriltag/tag16h5.h
@@ -0,0 +1,44 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#ifndef _TAG16H5
+#define _TAG16H5
+
+#include "apriltag.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+apriltag_family_t *tag16h5_create();
+void tag16h5_destroy(apriltag_family_t *tf);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/third_party/apriltag/tag25h9.c b/third_party/apriltag/tag25h9.c
new file mode 100644
index 0000000..ddf31a2
--- /dev/null
+++ b/third_party/apriltag/tag25h9.c
@@ -0,0 +1,140 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <stdlib.h>
+#include "tag25h9.h"
+
+static uint64_t codedata[35] = {
+ 0x000000000156f1f4UL,
+ 0x0000000001f28cd5UL,
+ 0x00000000016ce32cUL,
+ 0x0000000001ea379cUL,
+ 0x0000000001390f89UL,
+ 0x000000000034fad0UL,
+ 0x00000000007dcdb5UL,
+ 0x000000000119ba95UL,
+ 0x0000000001ae9daaUL,
+ 0x0000000000df02aaUL,
+ 0x000000000082fc15UL,
+ 0x0000000000465123UL,
+ 0x0000000000ceee98UL,
+ 0x0000000001f17260UL,
+ 0x00000000014429cdUL,
+ 0x00000000017248a8UL,
+ 0x00000000016ad452UL,
+ 0x00000000009670adUL,
+ 0x00000000016f65b2UL,
+ 0x0000000000b8322bUL,
+ 0x00000000005d715bUL,
+ 0x0000000001a1c7e7UL,
+ 0x0000000000d7890dUL,
+ 0x0000000001813522UL,
+ 0x0000000001c9c611UL,
+ 0x000000000099e4a4UL,
+ 0x0000000000855234UL,
+ 0x00000000017b81c0UL,
+ 0x0000000000c294bbUL,
+ 0x000000000089fae3UL,
+ 0x000000000044df5fUL,
+ 0x0000000001360159UL,
+ 0x0000000000ec31e8UL,
+ 0x0000000001bcc0f6UL,
+ 0x0000000000a64f8dUL,
+};
+apriltag_family_t *tag25h9_create()
+{
+ apriltag_family_t *tf = calloc(1, sizeof(apriltag_family_t));
+ tf->name = strdup("tag25h9");
+ tf->h = 9;
+ tf->ncodes = 35;
+ tf->codes = codedata;
+ tf->nbits = 25;
+ tf->bit_x = calloc(25, sizeof(uint32_t));
+ tf->bit_y = calloc(25, sizeof(uint32_t));
+ tf->bit_x[0] = 1;
+ tf->bit_y[0] = 1;
+ tf->bit_x[1] = 2;
+ tf->bit_y[1] = 1;
+ tf->bit_x[2] = 3;
+ tf->bit_y[2] = 1;
+ tf->bit_x[3] = 4;
+ tf->bit_y[3] = 1;
+ tf->bit_x[4] = 2;
+ tf->bit_y[4] = 2;
+ tf->bit_x[5] = 3;
+ tf->bit_y[5] = 2;
+ tf->bit_x[6] = 5;
+ tf->bit_y[6] = 1;
+ tf->bit_x[7] = 5;
+ tf->bit_y[7] = 2;
+ tf->bit_x[8] = 5;
+ tf->bit_y[8] = 3;
+ tf->bit_x[9] = 5;
+ tf->bit_y[9] = 4;
+ tf->bit_x[10] = 4;
+ tf->bit_y[10] = 2;
+ tf->bit_x[11] = 4;
+ tf->bit_y[11] = 3;
+ tf->bit_x[12] = 5;
+ tf->bit_y[12] = 5;
+ tf->bit_x[13] = 4;
+ tf->bit_y[13] = 5;
+ tf->bit_x[14] = 3;
+ tf->bit_y[14] = 5;
+ tf->bit_x[15] = 2;
+ tf->bit_y[15] = 5;
+ tf->bit_x[16] = 4;
+ tf->bit_y[16] = 4;
+ tf->bit_x[17] = 3;
+ tf->bit_y[17] = 4;
+ tf->bit_x[18] = 1;
+ tf->bit_y[18] = 5;
+ tf->bit_x[19] = 1;
+ tf->bit_y[19] = 4;
+ tf->bit_x[20] = 1;
+ tf->bit_y[20] = 3;
+ tf->bit_x[21] = 1;
+ tf->bit_y[21] = 2;
+ tf->bit_x[22] = 2;
+ tf->bit_y[22] = 4;
+ tf->bit_x[23] = 2;
+ tf->bit_y[23] = 3;
+ tf->bit_x[24] = 3;
+ tf->bit_y[24] = 3;
+ tf->width_at_border = 7;
+ tf->total_width = 9;
+ tf->reversed_border = false;
+ return tf;
+}
+
+void tag25h9_destroy(apriltag_family_t *tf)
+{
+ free(tf->bit_x);
+ free(tf->bit_y);
+ free(tf->name);
+ free(tf);
+}
diff --git a/third_party/apriltag/tag25h9.h b/third_party/apriltag/tag25h9.h
new file mode 100644
index 0000000..9197c8b
--- /dev/null
+++ b/third_party/apriltag/tag25h9.h
@@ -0,0 +1,44 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#ifndef _TAG25H9
+#define _TAG25H9
+
+#include "apriltag.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+apriltag_family_t *tag25h9_create();
+void tag25h9_destroy(apriltag_family_t *tf);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/third_party/apriltag/tag36h10.c b/third_party/apriltag/tag36h10.c
new file mode 100644
index 0000000..44a129e
--- /dev/null
+++ b/third_party/apriltag/tag36h10.c
@@ -0,0 +1,2420 @@
+#include <stdlib.h>
+#include "tag36h10.h"
+
+static uint64_t codedata[2320] = {
+ 0x00000001a42f9469UL,
+ 0x000000021a48c08dUL,
+ 0x000000026dfdbc5dUL,
+ 0x00000002d19b78fbUL,
+ 0x000000031c5557dfUL,
+ 0x00000003f2b3d349UL,
+ 0x00000003e6d4a7a5UL,
+ 0x000000043d6dfb6dUL,
+ 0x00000005688d2affUL,
+ 0x000000054663b474UL,
+ 0x000000067fd759e4UL,
+ 0x000000073b196d82UL,
+ 0x00000007de71c630UL,
+ 0x00000008492722d4UL,
+ 0x0000000835407afaUL,
+ 0x0000000893a6fe16UL,
+ 0x000000095668d348UL,
+ 0x00000009c20e37a4UL,
+ 0x0000000a19bb676cUL,
+ 0x0000000ad1355c1bUL,
+ 0x0000000b2ab4ac53UL,
+ 0x0000000b14f27095UL,
+ 0x0000000bef6b014dUL,
+ 0x0000000c9ecbadc7UL,
+ 0x0000000e1996a6bdUL,
+ 0x0000000edc588fcbUL,
+ 0x0000000f26d9d7a1UL,
+ 0x0000000035e79c1aUL,
+ 0x00000001644f74a8UL,
+ 0x00000001bfda85e0UL,
+ 0x000000020573db2aUL,
+ 0x000000027614bfd6UL,
+ 0x00000002daf26b72UL,
+ 0x0000000332930a98UL,
+ 0x00000003176c5674UL,
+ 0x00000003892ad2d0UL,
+ 0x00000003fd4d26acUL,
+ 0x00000004b88a1fcaUL,
+ 0x0000000555b6b579UL,
+ 0x00000006103880d7UL,
+ 0x00000006045e58fbUL,
+ 0x00000006dedf28a3UL,
+ 0x000000072766f249UL,
+ 0x00000007e4a0c77fUL,
+ 0x0000000973ba8e61UL,
+ 0x0000000965fd5285UL,
+ 0x00000009d99bd6a9UL,
+ 0x0000000a221264e6UL,
+ 0x0000000a1455fccaUL,
+ 0x0000000a7cb3193eUL,
+ 0x0000000aead44d92UL,
+ 0x0000000ad50ac954UL,
+ 0x0000000b2f0bb19cUL,
+ 0x0000000cba043aa2UL,
+ 0x0000000d73d7f6b4UL,
+ 0x0000000d6d189310UL,
+ 0x0000000f41278885UL,
+ 0x00000001c45306afUL,
+ 0x0000000222b4420bUL,
+ 0x00000002d70ceeb1UL,
+ 0x0000000392cb439fUL,
+ 0x000000045d1179eeUL,
+ 0x000000057a79d05cUL,
+ 0x000000062bc91dd6UL,
+ 0x000000073ca773c0UL,
+ 0x00000008b3da6eb0UL,
+ 0x00000009c5a521c7UL,
+ 0x0000000a812a1881UL,
+ 0x0000000adeab4859UL,
+ 0x0000000b3402b213UL,
+ 0x0000000b9171667fUL,
+ 0x0000000f5ac6918cUL,
+ 0x00000000549b1cfcUL,
+ 0x00000000b2744a58UL,
+ 0x00000000ae12ceb4UL,
+ 0x00000002f8aaab94UL,
+ 0x000000038db1c43bUL,
+ 0x00000004be190989UL,
+ 0x000000051bef9565UL,
+ 0x0000000505a8d1c3UL,
+ 0x0000000575ce25bfUL,
+ 0x000000068ac14eb1UL,
+ 0x00000006fd1bca45UL,
+ 0x0000000854752994UL,
+ 0x00000009e96b442aUL,
+ 0x0000000afb308f74UL,
+ 0x0000000cd9c8ca44UL,
+ 0x0000000d23c9b28eUL,
+ 0x0000000d07277423UL,
+ 0x0000000e8b3a6959UL,
+ 0x0000000f44bc546fUL,
+ 0x000000010e4aa7f3UL,
+ 0x000000029971cc68UL,
+ 0x000000062d7b0b94UL,
+ 0x00000008c22aac77UL,
+ 0x00000008b46d70d3UL,
+ 0x0000000a43373b0dUL,
+ 0x0000000e2efd2c74UL,
+ 0x0000000f5f4587e6UL,
+ 0x000000001b82bfa0UL,
+ 0x00000000642bef7aUL,
+ 0x00000001e576f881UL,
+ 0x00000002a290cda7UL,
+ 0x00000003b1ae80b1UL,
+ 0x000000053b9317e3UL,
+ 0x00000005833ac709UL,
+ 0x00000005f25d3ff5UL,
+ 0x0000000648fcef3dUL,
+ 0x000000068d6350d6UL,
+ 0x00000008064a4da6UL,
+ 0x000000092b76e736UL,
+ 0x00000009157102b0UL,
+ 0x00000009eef0de60UL,
+ 0x0000000b098e9306UL,
+ 0x0000000b63e94718UL,
+ 0x0000000c1241e99bUL,
+ 0x0000000eab42b39fUL,
+ 0x0000000fca2a422dUL,
+ 0x0000000007f86a4bUL,
+ 0x0000000124962550UL,
+ 0x00000001fe977988UL,
+ 0x0000000300a8b4c4UL,
+ 0x000000076c2b21a1UL,
+ 0x0000000932f76619UL,
+ 0x00000009994e9b51UL,
+ 0x0000000a634fcb8bUL,
+ 0x0000000b6d92c074UL,
+ 0x0000000bcbf53858UL,
+ 0x0000000c0c3a0d7eUL,
+ 0x000000001c31a9c3UL,
+ 0x00000000d5a694d5UL,
+ 0x000000012f2fc41dUL,
+ 0x00000005a342598aUL,
+ 0x00000006466af138UL,
+ 0x000000081eb68f22UL,
+ 0x000000098e885eb6UL,
+ 0x0000000ab594f405UL,
+ 0x0000000b19f201a1UL,
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+ 0x00000005d19a752aUL,
+ 0x0000000fa5fce591UL,
+ 0x00000005380ec50cUL,
+ 0x0000000dea0d752dUL,
+ 0x00000001faf5309bUL,
+ 0x0000000e3b7a775eUL,
+ 0x0000000173d59edbUL,
+ 0x0000000b8e38cca5UL,
+ 0x00000001e43cad4eUL,
+ 0x000000027dedf623UL,
+ 0x0000000da72d480fUL,
+ 0x000000099434d76fUL,
+ 0x00000008e06320e5UL,
+ 0x000000012cc5d9b3UL,
+ 0x0000000d4ec00d0aUL,
+ 0x00000008fa256ec8UL,
+ 0x00000002a7755b41UL,
+ 0x0000000649598f17UL,
+ 0x0000000048a9ea61UL,
+ 0x0000000b749bbe4dUL,
+ 0x000000059e4c9da2UL,
+ 0x000000050395f36cUL,
+ 0x00000006b07149d2UL,
+ 0x00000004f9406d7fUL,
+ 0x000000092febe987UL,
+ 0x0000000d7bf93ed2UL,
+ 0x00000001e66cc0f3UL,
+ 0x00000006c48e37c0UL,
+ 0x00000003ad8159d5UL,
+ 0x000000048f41fbc8UL,
+ 0x0000000cd5f40d31UL,
+ 0x00000004d9d50e50UL,
+ 0x0000000377552d44UL,
+ 0x0000000d6400b5bfUL,
+ 0x0000000205260a56UL,
+ 0x0000000c319eaf12UL,
+ 0x0000000bb3016818UL,
+ 0x0000000194c9caa5UL,
+ 0x00000003205df053UL,
+ 0x00000008dbf64dc8UL,
+ 0x00000005cc34b609UL,
+ 0x00000007d2367f18UL,
+ 0x000000020d6cee2eUL,
+ 0x0000000c9f86c18eUL,
+ 0x0000000e2b1f4620UL,
+ 0x000000009c52f03eUL,
+ 0x000000007d8b9b31UL,
+ 0x00000002b85f049fUL,
+ 0x0000000e0b542614UL,
+ 0x0000000d0f06b745UL,
+ 0x0000000df7b0f962UL,
+ 0x0000000d7b41890fUL,
+ 0x000000024baf7927UL,
+ 0x0000000cc63c5347UL,
+ 0x0000000c9dbe3e8eUL,
+ 0x000000052b1c7225UL,
+ 0x000000073f558c8dUL,
+ 0x0000000542702b85UL,
+ 0x0000000578f18fddUL,
+ 0x0000000a76cf36efUL,
+ 0x0000000a3cb92407UL,
+ 0x0000000b7ad6cd05UL,
+ 0x00000006d0f34533UL,
+ 0x0000000416083d1bUL,
+ 0x00000002bdb7fab0UL,
+ 0x000000029619e1d2UL,
+ 0x0000000fe824f4c1UL,
+ 0x00000007a5ff22b9UL,
+ 0x00000005be7f7ce2UL,
+ 0x00000004140ddebeUL,
+ 0x0000000ec104f338UL,
+ 0x00000003c6ea6417UL,
+ 0x00000004c68c4841UL,
+ 0x0000000738550624UL,
+ 0x000000095d52ffbeUL,
+ 0x00000001211a3407UL,
+ 0x000000085c2667c7UL,
+ 0x0000000d3fcfc70aUL,
+ 0x000000062c79fa03UL,
+ 0x0000000e5a01d1deUL,
+ 0x000000021a6f78c0UL,
+ 0x000000067a9d08d0UL,
+ 0x00000003521d86a9UL,
+ 0x0000000821858962UL,
+ 0x00000000238c9ab4UL,
+ 0x0000000d377e444eUL,
+ 0x00000009b4db4370UL,
+ 0x0000000326d40d28UL,
+ 0x0000000cca399d64UL,
+ 0x000000029e717061UL,
+ 0x000000081c257536UL,
+ 0x0000000b5398ff6fUL,
+ 0x00000006246d505dUL,
+ 0x000000052de44206UL,
+ 0x0000000d4bfe70a7UL,
+ 0x00000001256f3bbfUL,
+ 0x0000000e18dca845UL,
+ 0x0000000cadc6270eUL,
+ 0x0000000ceecebcf9UL,
+ 0x000000030490b131UL,
+ 0x00000003499eae73UL,
+ 0x0000000e407687b5UL,
+ 0x00000000d16a1b5cUL,
+ 0x00000000aed4fc7cUL,
+ 0x0000000977235aceUL,
+ 0x0000000e45bc089cUL,
+ 0x0000000d1c7e8b0fUL,
+ 0x0000000c801f2a62UL,
+ 0x00000009bb982febUL,
+ 0x0000000c2ade21d5UL,
+ 0x0000000e664c4cdcUL,
+ 0x0000000b5b1b7d8dUL,
+ 0x000000057e319e42UL,
+ 0x0000000a62708260UL,
+ 0x00000004d49e8e90UL,
+ 0x00000000cb5f349aUL,
+ 0x000000097f8c8487UL,
+ 0x0000000bf26ecbd1UL,
+ 0x00000006a22fc93fUL,
+ 0x0000000f40123ad5UL,
+ 0x0000000f2864b84fUL,
+ 0x000000052b894393UL,
+ 0x0000000aeac3e443UL,
+ 0x000000064a6e37e9UL,
+ 0x00000005ff905511UL,
+ 0x00000000f9368ae9UL,
+ 0x0000000304c961d1UL,
+ 0x0000000901e3d5efUL,
+ 0x00000003d9c9e1eaUL,
+ 0x000000014af08310UL,
+ 0x0000000f7d5f48faUL,
+ 0x00000004cc90c712UL,
+ 0x000000093eb3c4f2UL,
+ 0x0000000c64af2ee0UL,
+ 0x0000000ee9b0b880UL,
+ 0x000000059e9f00c4UL,
+ 0x0000000f0e385a56UL,
+ 0x0000000013e3176aUL,
+ 0x000000022cefe2bfUL,
+ 0x0000000e8d646da2UL,
+ 0x0000000fa07e9914UL,
+ 0x000000064a342dc3UL,
+ 0x0000000029436fdeUL,
+ 0x00000003f436a788UL,
+ 0x0000000ebce59d33UL,
+ 0x0000000d1cc417e5UL,
+ 0x0000000bdabb3afcUL,
+ 0x00000002b075aa91UL,
+ 0x0000000cf479bc86UL,
+ 0x00000001bc69c922UL,
+ 0x0000000f70bed102UL,
+ 0x000000073fba7412UL,
+ 0x0000000dad289c99UL,
+ 0x000000025fa19a7eUL,
+ 0x0000000a5a248105UL,
+ 0x000000059c85904fUL,
+ 0x0000000587368f7aUL,
+ 0x00000006ddf6cd9bUL,
+ 0x0000000276aaeac2UL,
+ 0x000000039793390eUL,
+ 0x0000000ee79121bdUL,
+ 0x000000043b22f813UL,
+ 0x0000000137d42357UL,
+ 0x000000067857c8bdUL,
+ 0x000000046cf4e741UL,
+ 0x00000001d18cd171UL,
+ 0x0000000a9806c31fUL,
+ 0x000000006605176cUL,
+ 0x00000000f592c1acUL,
+ 0x00000007265a10a4UL,
+ 0x0000000e89d3f153UL,
+ 0x0000000b2c1d25d5UL,
+ 0x0000000fc221a68cUL,
+ 0x000000021bc5cb0fUL,
+ 0x00000007d8865a48UL,
+ 0x000000014fb6a9c1UL,
+ 0x0000000826702ff5UL,
+ 0x0000000c875eecddUL,
+ 0x0000000334906e55UL,
+ 0x0000000e75f38920UL,
+ 0x0000000e68cc8585UL,
+ 0x0000000e21989dadUL,
+ 0x0000000991c0a54fUL,
+ 0x0000000afc2e4db2UL,
+ 0x000000049215ae09UL,
+ 0x00000004414dd21cUL,
+ 0x0000000270102c2bUL,
+ 0x0000000d74d46724UL,
+ 0x0000000d8ba0e6cfUL,
+ 0x00000004924c591cUL,
+ 0x000000014a218727UL,
+ 0x0000000ec649a317UL,
+ 0x000000040506e864UL,
+ 0x00000004a5fce324UL,
+ 0x0000000432da3920UL,
+ 0x0000000be6c87867UL,
+ 0x000000096d47ab50UL,
+ 0x000000013b26554aUL,
+ 0x000000042d294c1aUL,
+ 0x000000043a8f4537UL,
+ 0x0000000ec9981703UL,
+ 0x00000009d23e9feaUL,
+ 0x0000000a5e63c741UL,
+ 0x0000000b590555a7UL,
+ 0x0000000af5cc76d0UL,
+ 0x000000036f6807beUL,
+ 0x0000000d9e7509baUL,
+ 0x000000008e7485e6UL,
+ 0x0000000ca410c173UL,
+ 0x000000034c0efac9UL,
+ 0x0000000aa8dd95f8UL,
+ 0x000000092ff8e340UL,
+ 0x00000002fcf617e5UL,
+ 0x0000000f4ee3deeaUL,
+ 0x0000000ec3675f06UL,
+ 0x000000011d3034ccUL,
+ 0x000000053d80da67UL,
+ 0x00000002ffd3e2edUL,
+ 0x0000000701c5dbcaUL,
+ 0x0000000fd41bd301UL,
+ 0x0000000176d0d999UL,
+ 0x000000084a7a607aUL,
+ 0x00000003a4cd4f6eUL,
+ 0x000000029fd854f3UL,
+ 0x0000000239143be4UL,
+ 0x0000000c1d83b7ceUL,
+ 0x00000003998e35f9UL,
+ 0x0000000c9cade2feUL,
+ 0x000000067a7ce5f8UL,
+ 0x000000058096eb5eUL,
+ 0x0000000129003b1aUL,
+ 0x000000058cd60dd3UL,
+ 0x00000007ec9c978cUL,
+ 0x00000008209b7fc6UL,
+ 0x0000000b1a07b065UL,
+ 0x00000002f8c5d980UL,
+ 0x0000000ec68f5262UL,
+ 0x00000009f6738ae8UL,
+ 0x0000000e240da32dUL,
+ 0x000000029a692dd3UL,
+ 0x000000093a2fc212UL,
+ 0x000000090a7ad415UL,
+ 0x000000038462d719UL,
+ 0x000000088d09ed64UL,
+ 0x0000000629414143UL,
+ 0x0000000f37f54627UL,
+ 0x0000000f654223daUL,
+ 0x00000009866d0462UL,
+ 0x000000039b7e344bUL,
+ 0x0000000e29b0d31eUL,
+ 0x00000004d26f996bUL,
+ 0x0000000ca999e2d4UL,
+ 0x000000048244cecaUL,
+ 0x0000000db430a091UL,
+ 0x0000000b20a09f71UL,
+ 0x000000089d7a977dUL,
+ 0x0000000d0c7d781fUL,
+ 0x000000045dbd608bUL,
+ 0x00000005f0eaf573UL,
+ 0x00000004b72a881eUL,
+ 0x00000006721d71acUL,
+ 0x0000000aea5b5257UL,
+ 0x0000000729da786eUL,
+ 0x0000000b7bbb055eUL,
+ 0x000000033c26e035UL,
+ 0x0000000bbb1faaf3UL,
+ 0x0000000a7acc30bcUL,
+ 0x00000001ce0841a4UL,
+ 0x0000000244d1d408UL,
+ 0x0000000cde684816UL,
+ 0x00000000f8fb4cdaUL,
+ 0x0000000706c97e43UL,
+ 0x0000000c971d3afbUL,
+ 0x0000000fda0d9c09UL,
+ 0x0000000016b86da3UL,
+ 0x0000000fad3fd2e5UL,
+ 0x0000000bac1633c9UL,
+ 0x00000002309feea7UL,
+ 0x00000000033737bbUL,
+ 0x00000009aed89097UL,
+ 0x000000068538abb5UL,
+ 0x0000000828f7850dUL,
+ 0x000000072432d95dUL,
+ 0x0000000261a8e5a9UL,
+ 0x0000000a200eb1b2UL,
+ 0x0000000c3de7f043UL,
+ 0x0000000bf74c5970UL,
+ 0x00000006dd1481b8UL,
+ 0x0000000aa94bbef6UL,
+ 0x0000000da7e65697UL,
+ 0x0000000bc3ab5693UL,
+ 0x0000000fac70dbecUL,
+ 0x000000011c7b546dUL,
+ 0x0000000f2f1877aeUL,
+ 0x0000000ddfd559cbUL,
+ 0x0000000213843237UL,
+ 0x0000000d35629a71UL,
+ 0x000000066b966ff8UL,
+ 0x0000000f7c3d2b42UL,
+ 0x0000000d2a9bf013UL,
+ 0x000000082aade491UL,
+ 0x000000080a74d66aUL,
+ 0x0000000c23180cd5UL,
+ 0x000000013bc699afUL,
+ 0x0000000568f373afUL,
+ 0x00000004e8f6cb22UL,
+ 0x00000000236593daUL,
+ 0x0000000c06d419daUL,
+ 0x0000000fb63c9338UL,
+ 0x0000000c58ea0e62UL,
+ 0x00000003f129af28UL,
+ 0x00000001bc5d8e7cUL,
+ 0x00000005a0cce5a2UL,
+ 0x000000012138fcc9UL,
+ 0x00000006475b47b3UL,
+ 0x000000036127061cUL,
+ 0x0000000a66ea1c90UL,
+ 0x0000000c7622d06fUL,
+ 0x00000007b06f9883UL,
+ 0x000000017f9dd0f5UL,
+ 0x00000004f7d20a59UL,
+ 0x000000080ca1778dUL,
+ 0x000000034bf99f09UL,
+ 0x0000000b1f6b20ffUL,
+ 0x0000000ddc248171UL,
+ 0x000000079adedf2dUL,
+ 0x0000000e7b8ec414UL,
+ 0x00000001660b1a2aUL,
+ 0x0000000596131143UL,
+ 0x0000000ed5876f22UL,
+ 0x0000000ccf196212UL,
+ 0x00000005a7da3ed3UL,
+ 0x00000005d7c1c564UL,
+ 0x0000000ebf3b80d4UL,
+ 0x00000000fbb5da08UL,
+ 0x0000000751b26b7fUL,
+ 0x0000000f646e15e0UL,
+ 0x000000048cf268f5UL,
+ 0x0000000681ff913eUL,
+ 0x00000008a60709eeUL,
+ 0x0000000ee8aa3c19UL,
+ 0x0000000d74c7190bUL,
+ 0x0000000403a516f6UL,
+ 0x000000043859f5e7UL,
+ 0x0000000674b05601UL,
+ 0x000000029dc78f7bUL,
+ 0x0000000f871a0d9cUL,
+ 0x0000000149cd7e80UL,
+ 0x0000000e0ebb3dadUL,
+ 0x0000000cfd60dc21UL,
+ 0x0000000fcac192f3UL,
+ 0x0000000da0bb9f49UL,
+ 0x0000000377891815UL,
+ 0x00000008cf831888UL,
+ 0x0000000d8ad9cff2UL,
+ 0x000000066ef37c63UL,
+ 0x0000000289532c5dUL,
+ 0x000000045d8a5400UL,
+ 0x0000000452111b4dUL,
+ 0x0000000be9b62af0UL,
+ 0x00000004a7fa60afUL,
+ 0x0000000f38ab400eUL,
+ 0x0000000329b05789UL,
+ 0x00000005edba3023UL,
+ 0x00000005f48632e5UL,
+ 0x0000000c44562244UL,
+ 0x0000000781f865e7UL,
+ 0x00000004868de42dUL,
+ 0x0000000b7d2aafddUL,
+ 0x00000000652863c6UL,
+ 0x00000009c8c0a919UL,
+ 0x0000000a566fd21eUL,
+ 0x0000000d42a60c7aUL,
+ 0x00000003b2fa8afeUL,
+ 0x00000004feead808UL,
+ 0x00000004e08205a5UL,
+ 0x00000002ca3d8a2fUL,
+ 0x0000000983fc5a57UL,
+ 0x0000000c23db45c9UL,
+ 0x0000000a37e0ba04UL,
+ 0x00000005f510ba05UL,
+ 0x00000001601a2ff1UL,
+ 0x000000030cccbfe0UL,
+ 0x00000003880f5176UL,
+ 0x00000000ea5aee4fUL,
+ 0x0000000b1b166fdbUL,
+ 0x00000007b3ca3761UL,
+ 0x000000064fae3ebfUL,
+ 0x0000000447b9e7acUL,
+ 0x0000000d9f564f30UL,
+};
+apriltag_family_t *tag36h10_create()
+{
+ apriltag_family_t *tf = calloc(1, sizeof(apriltag_family_t));
+ tf->name = strdup("tag36h10");
+ tf->h = 10;
+ tf->ncodes = 2320;
+ tf->codes = codedata;
+ tf->nbits = 36;
+ tf->bit_x = calloc(36, sizeof(uint32_t));
+ tf->bit_y = calloc(36, sizeof(uint32_t));
+ tf->bit_x[0] = 1;
+ tf->bit_y[0] = 1;
+ tf->bit_x[1] = 2;
+ tf->bit_y[1] = 1;
+ tf->bit_x[2] = 3;
+ tf->bit_y[2] = 1;
+ tf->bit_x[3] = 4;
+ tf->bit_y[3] = 1;
+ tf->bit_x[4] = 5;
+ tf->bit_y[4] = 1;
+ tf->bit_x[5] = 2;
+ tf->bit_y[5] = 2;
+ tf->bit_x[6] = 3;
+ tf->bit_y[6] = 2;
+ tf->bit_x[7] = 4;
+ tf->bit_y[7] = 2;
+ tf->bit_x[8] = 3;
+ tf->bit_y[8] = 3;
+ tf->bit_x[9] = 6;
+ tf->bit_y[9] = 1;
+ tf->bit_x[10] = 6;
+ tf->bit_y[10] = 2;
+ tf->bit_x[11] = 6;
+ tf->bit_y[11] = 3;
+ tf->bit_x[12] = 6;
+ tf->bit_y[12] = 4;
+ tf->bit_x[13] = 6;
+ tf->bit_y[13] = 5;
+ tf->bit_x[14] = 5;
+ tf->bit_y[14] = 2;
+ tf->bit_x[15] = 5;
+ tf->bit_y[15] = 3;
+ tf->bit_x[16] = 5;
+ tf->bit_y[16] = 4;
+ tf->bit_x[17] = 4;
+ tf->bit_y[17] = 3;
+ tf->bit_x[18] = 6;
+ tf->bit_y[18] = 6;
+ tf->bit_x[19] = 5;
+ tf->bit_y[19] = 6;
+ tf->bit_x[20] = 4;
+ tf->bit_y[20] = 6;
+ tf->bit_x[21] = 3;
+ tf->bit_y[21] = 6;
+ tf->bit_x[22] = 2;
+ tf->bit_y[22] = 6;
+ tf->bit_x[23] = 5;
+ tf->bit_y[23] = 5;
+ tf->bit_x[24] = 4;
+ tf->bit_y[24] = 5;
+ tf->bit_x[25] = 3;
+ tf->bit_y[25] = 5;
+ tf->bit_x[26] = 4;
+ tf->bit_y[26] = 4;
+ tf->bit_x[27] = 1;
+ tf->bit_y[27] = 6;
+ tf->bit_x[28] = 1;
+ tf->bit_y[28] = 5;
+ tf->bit_x[29] = 1;
+ tf->bit_y[29] = 4;
+ tf->bit_x[30] = 1;
+ tf->bit_y[30] = 3;
+ tf->bit_x[31] = 1;
+ tf->bit_y[31] = 2;
+ tf->bit_x[32] = 2;
+ tf->bit_y[32] = 5;
+ tf->bit_x[33] = 2;
+ tf->bit_y[33] = 4;
+ tf->bit_x[34] = 2;
+ tf->bit_y[34] = 3;
+ tf->bit_x[35] = 3;
+ tf->bit_y[35] = 4;
+ tf->width_at_border = 8;
+ tf->total_width = 10;
+ tf->reversed_border = false;
+ return tf;
+}
+
+void tag36h10_destroy(apriltag_family_t *tf)
+{
+ free(tf->bit_x);
+ free(tf->bit_y);
+ free(tf->name);
+ free(tf);
+}
diff --git a/third_party/apriltag/tag36h10.h b/third_party/apriltag/tag36h10.h
new file mode 100644
index 0000000..a60ae6c
--- /dev/null
+++ b/third_party/apriltag/tag36h10.h
@@ -0,0 +1,44 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#ifndef _TAG36H10
+#define _TAG36H10
+
+#include "apriltag.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+apriltag_family_t *tag36h10_create();
+void tag36h10_destroy(apriltag_family_t *tf);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/third_party/apriltag/tag36h11.c b/third_party/apriltag/tag36h11.c
new file mode 100644
index 0000000..94acaca
--- /dev/null
+++ b/third_party/apriltag/tag36h11.c
@@ -0,0 +1,714 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <stdlib.h>
+#include "tag36h11.h"
+
+static uint64_t codedata[587] = {
+ 0x0000000d7e00984bUL,
+ 0x0000000dda664ca7UL,
+ 0x0000000dc4a1c821UL,
+ 0x0000000e17b470e9UL,
+ 0x0000000ef91d01b1UL,
+ 0x0000000f429cdd73UL,
+ 0x000000005da29225UL,
+ 0x00000001106cba43UL,
+ 0x0000000223bed79dUL,
+ 0x000000021f51213cUL,
+ 0x000000033eb19ca6UL,
+ 0x00000003f76eb0f8UL,
+ 0x0000000469a97414UL,
+ 0x000000045dcfe0b0UL,
+ 0x00000004a6465f72UL,
+ 0x000000051801db96UL,
+ 0x00000005eb946b4eUL,
+ 0x000000068a7cc2ecUL,
+ 0x00000006f0ba2652UL,
+ 0x000000078765559dUL,
+ 0x000000087b83d129UL,
+ 0x000000086cc4a5c5UL,
+ 0x00000008b64df90fUL,
+ 0x00000009c577b611UL,
+ 0x0000000a3810f2f5UL,
+ 0x0000000af4d75b83UL,
+ 0x0000000b59a03fefUL,
+ 0x0000000bb1096f85UL,
+ 0x0000000d1b92fc76UL,
+ 0x0000000d0dd509d2UL,
+ 0x0000000e2cfda160UL,
+ 0x00000002ff497c63UL,
+ 0x000000047240671bUL,
+ 0x00000005047a2e55UL,
+ 0x0000000635ca87c7UL,
+ 0x0000000691254166UL,
+ 0x000000068f43d94aUL,
+ 0x00000006ef24bdb6UL,
+ 0x00000008cdd8f886UL,
+ 0x00000009de96b718UL,
+ 0x0000000aff6e5a8aUL,
+ 0x0000000bae46f029UL,
+ 0x0000000d225b6d59UL,
+ 0x0000000df8ba8c01UL,
+ 0x0000000e3744a22fUL,
+ 0x0000000fbb59375dUL,
+ 0x000000018a916828UL,
+ 0x000000022f29c1baUL,
+ 0x0000000286887d58UL,
+ 0x000000041392322eUL,
+ 0x000000075d18ecd1UL,
+ 0x000000087c302743UL,
+ 0x00000008c6317ba9UL,
+ 0x00000009e40f36d7UL,
+ 0x0000000c0e5a806aUL,
+ 0x0000000cc78cb87cUL,
+ 0x000000012d2f2d01UL,
+ 0x0000000379f36a21UL,
+ 0x00000006973f59acUL,
+ 0x00000007789ea9f4UL,
+ 0x00000008f1c73e84UL,
+ 0x00000008dd287a20UL,
+ 0x000000094a4eee4cUL,
+ 0x0000000a455379b5UL,
+ 0x0000000a9e92987dUL,
+ 0x0000000bd25cb40bUL,
+ 0x0000000be98d3582UL,
+ 0x0000000d3d5972b2UL,
+ 0x000000014c53d7c7UL,
+ 0x00000004f1796936UL,
+ 0x00000004e71fed1aUL,
+ 0x000000066d46fae0UL,
+ 0x0000000a55abb933UL,
+ 0x0000000ebee1accaUL,
+ 0x00000001ad4ba6a4UL,
+ 0x0000000305b17571UL,
+ 0x0000000553611351UL,
+ 0x000000059ca62775UL,
+ 0x00000007819cb6a1UL,
+ 0x0000000edb7bc9ebUL,
+ 0x00000005b2694212UL,
+ 0x000000072e12d185UL,
+ 0x0000000ed6152e2cUL,
+ 0x00000005bcdadbf3UL,
+ 0x000000078e0aa0c6UL,
+ 0x0000000c60a0b909UL,
+ 0x0000000ef9a34b0dUL,
+ 0x0000000398a6621aUL,
+ 0x0000000a8a27c944UL,
+ 0x00000004b564304eUL,
+ 0x000000052902b4e2UL,
+ 0x0000000857280b56UL,
+ 0x0000000a91b2c84bUL,
+ 0x0000000e91df939bUL,
+ 0x00000001fa405f28UL,
+ 0x000000023793ab86UL,
+ 0x000000068c17729fUL,
+ 0x00000009fbf3b840UL,
+ 0x000000036922413cUL,
+ 0x00000004eb5f946eUL,
+ 0x0000000533fe2404UL,
+ 0x000000063de7d35eUL,
+ 0x0000000925eddc72UL,
+ 0x000000099b8b3896UL,
+ 0x0000000aace4c708UL,
+ 0x0000000c22994af0UL,
+ 0x00000008f1eae41bUL,
+ 0x0000000d95fb486cUL,
+ 0x000000013fb77857UL,
+ 0x00000004fe0983a3UL,
+ 0x0000000d559bf8a9UL,
+ 0x0000000e1855d78dUL,
+ 0x0000000fec8daaadUL,
+ 0x000000071ecb6d95UL,
+ 0x0000000dc9e50e4cUL,
+ 0x0000000ca3a4c259UL,
+ 0x0000000740d12bbfUL,
+ 0x0000000aeedd18e0UL,
+ 0x0000000b509b9c8eUL,
+ 0x00000005232fea1cUL,
+ 0x000000019282d18bUL,
+ 0x000000076c22d67bUL,
+ 0x0000000936beb34bUL,
+ 0x000000008a5ea8ddUL,
+ 0x0000000679eadc28UL,
+ 0x0000000a08e119c5UL,
+ 0x000000020a6e3e24UL,
+ 0x00000007eab9c239UL,
+ 0x000000096632c32eUL,
+ 0x0000000470d06e44UL,
+ 0x00000008a70212fbUL,
+ 0x00000000a7e4251bUL,
+ 0x00000009ec762cc0UL,
+ 0x0000000d8a3a1f48UL,
+ 0x0000000db680f346UL,
+ 0x00000004a1e93a9dUL,
+ 0x0000000638ddc04fUL,
+ 0x00000004c2fcc993UL,
+ 0x000000001ef28c95UL,
+ 0x0000000bf0d9792dUL,
+ 0x00000006d27557c3UL,
+ 0x0000000623f977f4UL,
+ 0x000000035b43be57UL,
+ 0x0000000bb0c428d5UL,
+ 0x0000000a6f01474dUL,
+ 0x00000005a70c9749UL,
+ 0x000000020ddabc3bUL,
+ 0x00000002eabd78cfUL,
+ 0x000000090aa18f88UL,
+ 0x0000000a9ea89350UL,
+ 0x00000003cdb39b22UL,
+ 0x0000000839a08f34UL,
+ 0x0000000169bb814eUL,
+ 0x00000001a575ab08UL,
+ 0x0000000a04d3d5a2UL,
+ 0x0000000bf7902f2bUL,
+ 0x0000000095a5e65cUL,
+ 0x000000092e8fce94UL,
+ 0x000000067ef48d12UL,
+ 0x00000006400dbcacUL,
+ 0x0000000b12d8fb9fUL,
+ 0x00000000347f45d3UL,
+ 0x0000000b35826f56UL,
+ 0x0000000c546ac6e4UL,
+ 0x000000081cc35b66UL,
+ 0x000000041d14bd57UL,
+ 0x00000000c052b168UL,
+ 0x00000007d6ce5018UL,
+ 0x0000000ab4ed5edeUL,
+ 0x00000005af817119UL,
+ 0x0000000d1454b182UL,
+ 0x00000002badb090bUL,
+ 0x000000003fcb4c0cUL,
+ 0x00000002f1c28fd8UL,
+ 0x000000093608c6f7UL,
+ 0x00000004c93ba2b5UL,
+ 0x000000007d950a5dUL,
+ 0x0000000e54b3d3fcUL,
+ 0x000000015560cf9dUL,
+ 0x0000000189e4958aUL,
+ 0x000000062140e9d2UL,
+ 0x0000000723bc1cdbUL,
+ 0x00000002063f26faUL,
+ 0x0000000fa08ab19fUL,
+ 0x00000007955641dbUL,
+ 0x0000000646b01daaUL,
+ 0x000000071cd427ccUL,
+ 0x000000009a42f7d4UL,
+ 0x0000000717edc643UL,
+ 0x000000015eb94367UL,
+ 0x00000008392e6bb2UL,
+ 0x0000000832408542UL,
+ 0x00000002b9b874beUL,
+ 0x0000000b21f4730dUL,
+ 0x0000000b5d8f24c9UL,
+ 0x00000007dbaf6931UL,
+ 0x00000001b4e33629UL,
+ 0x000000013452e710UL,
+ 0x0000000e974af612UL,
+ 0x00000001df61d29aUL,
+ 0x000000099f2532adUL,
+ 0x0000000e50ec71b4UL,
+ 0x00000005df0a36e8UL,
+ 0x00000004934e4ceaUL,
+ 0x0000000e34a0b4bdUL,
+ 0x0000000b7b26b588UL,
+ 0x00000000f255118dUL,
+ 0x0000000d0c8fa31eUL,
+ 0x000000006a50c94fUL,
+ 0x0000000f28aa9f06UL,
+ 0x0000000131d194d8UL,
+ 0x0000000622e3da79UL,
+ 0x0000000ac7478303UL,
+ 0x0000000c8f2521d7UL,
+ 0x00000006c9c881f5UL,
+ 0x000000049e38b60aUL,
+ 0x0000000513d8df65UL,
+ 0x0000000d7c2b0785UL,
+ 0x00000009f6f9d75aUL,
+ 0x00000009f6966020UL,
+ 0x00000001e1a54e33UL,
+ 0x0000000c04d63419UL,
+ 0x0000000946e04cd7UL,
+ 0x00000001bdac5902UL,
+ 0x000000056469b830UL,
+ 0x0000000ffad59569UL,
+ 0x000000086970e7d8UL,
+ 0x00000008a4b41e12UL,
+ 0x0000000ad4688e3bUL,
+ 0x000000085f8f5df4UL,
+ 0x0000000d833a0893UL,
+ 0x00000002a36fdd7cUL,
+ 0x0000000d6a857cf2UL,
+ 0x00000008829bc35cUL,
+ 0x00000005e50d79bcUL,
+ 0x0000000fbb8035e4UL,
+ 0x0000000c1a95bebfUL,
+ 0x0000000036b0baf8UL,
+ 0x0000000e0da964eaUL,
+ 0x0000000b6483689bUL,
+ 0x00000007c8e2f4c1UL,
+ 0x00000005b856a23bUL,
+ 0x00000002fc183995UL,
+ 0x0000000e914b6d70UL,
+ 0x0000000b31041969UL,
+ 0x00000001bb478493UL,
+ 0x0000000063e2b456UL,
+ 0x0000000f2a082b9cUL,
+ 0x00000008e5e646eaUL,
+ 0x000000008172f8f6UL,
+ 0x00000000dacd923eUL,
+ 0x0000000e5dcf0e2eUL,
+ 0x0000000bf9446baeUL,
+ 0x00000004822d50d1UL,
+ 0x000000026e710bf5UL,
+ 0x0000000b90ba2a24UL,
+ 0x0000000f3b25aa73UL,
+ 0x0000000809ad589bUL,
+ 0x000000094cc1e254UL,
+ 0x00000005334a3adbUL,
+ 0x0000000592886b2fUL,
+ 0x0000000bf64704aaUL,
+ 0x0000000566dbf24cUL,
+ 0x000000072203e692UL,
+ 0x000000064e61e809UL,
+ 0x0000000d7259aad6UL,
+ 0x00000007b924aedcUL,
+ 0x00000002df2184e8UL,
+ 0x0000000353d1eca7UL,
+ 0x0000000fce30d7ceUL,
+ 0x0000000f7b0f436eUL,
+ 0x000000057e8d8f68UL,
+ 0x00000008c79e60dbUL,
+ 0x00000009c8362b2bUL,
+ 0x000000063a5804f2UL,
+ 0x00000009298353dcUL,
+ 0x00000006f98a71c8UL,
+ 0x0000000a5731f693UL,
+ 0x000000021ca5c870UL,
+ 0x00000001c2107fd3UL,
+ 0x00000006181f6c39UL,
+ 0x000000019e574304UL,
+ 0x0000000329937606UL,
+ 0x0000000043d5c70dUL,
+ 0x00000009b18ff162UL,
+ 0x00000008e2ccfebfUL,
+ 0x000000072b7b9b54UL,
+ 0x00000009b71f4f3cUL,
+ 0x0000000935d7393eUL,
+ 0x000000065938881aUL,
+ 0x00000006a5bd6f2dUL,
+ 0x0000000a19783306UL,
+ 0x0000000e6472f4d7UL,
+ 0x000000081163df5aUL,
+ 0x0000000a838e1cbdUL,
+ 0x0000000982748477UL,
+ 0x0000000050c54febUL,
+ 0x00000000d82fbb58UL,
+ 0x00000002c4c72799UL,
+ 0x000000097d259ad6UL,
+ 0x000000022d9a43edUL,
+ 0x0000000fdb162a9fUL,
+ 0x00000000cb4a727dUL,
+ 0x00000004fae2e371UL,
+ 0x0000000535b5be8bUL,
+ 0x000000048795908aUL,
+ 0x0000000ce7c18962UL,
+ 0x00000004ea154d80UL,
+ 0x000000050c064889UL,
+ 0x00000008d97fc75dUL,
+ 0x0000000c8bd9ec61UL,
+ 0x000000083ee8e8bbUL,
+ 0x0000000c8431419aUL,
+ 0x00000001aa78079dUL,
+ 0x00000008111aa4a5UL,
+ 0x0000000dfa3a69feUL,
+ 0x000000051630d83fUL,
+ 0x00000002d930fb3fUL,
+ 0x00000002133116e5UL,
+ 0x0000000ae5395522UL,
+ 0x0000000bc07a4e8aUL,
+ 0x000000057bf08ba0UL,
+ 0x00000006cb18036aUL,
+ 0x0000000f0e2e4b75UL,
+ 0x00000003eb692b6fUL,
+ 0x0000000d8178a3faUL,
+ 0x0000000238cce6a6UL,
+ 0x0000000e97d5cdd7UL,
+ 0x0000000fe10d8d5eUL,
+ 0x0000000b39584a1dUL,
+ 0x0000000ca03536fdUL,
+ 0x0000000aa61f3998UL,
+ 0x000000072ff23ec2UL,
+ 0x000000015aa7d770UL,
+ 0x000000057a3a1282UL,
+ 0x0000000d1f3902dcUL,
+ 0x00000006554c9388UL,
+ 0x0000000fd01283c7UL,
+ 0x0000000e8baa42c5UL,
+ 0x000000072cee6adfUL,
+ 0x0000000f6614b3faUL,
+ 0x000000095c3778a2UL,
+ 0x00000007da4cea7aUL,
+ 0x0000000d18a5912cUL,
+ 0x0000000d116426e5UL,
+ 0x000000027c17bc1cUL,
+ 0x0000000b95b53bc1UL,
+ 0x0000000c8f937a05UL,
+ 0x0000000ed220c9bdUL,
+ 0x00000000c97d72abUL,
+ 0x00000008fb1217aeUL,
+ 0x000000025ca8a5a1UL,
+ 0x0000000b261b871bUL,
+ 0x00000001bef0a056UL,
+ 0x0000000806a51179UL,
+ 0x0000000eed249145UL,
+ 0x00000003f82aecebUL,
+ 0x0000000cc56e9acfUL,
+ 0x00000002e78d01ebUL,
+ 0x0000000102cee17fUL,
+ 0x000000037caad3d5UL,
+ 0x000000016ac5b1eeUL,
+ 0x00000002af164eceUL,
+ 0x0000000d4cd81dc9UL,
+ 0x000000012263a7e7UL,
+ 0x000000057ac7d117UL,
+ 0x00000009391d9740UL,
+ 0x00000007aedaa77fUL,
+ 0x00000009675a3c72UL,
+ 0x0000000277f25191UL,
+ 0x0000000ebb6e64b9UL,
+ 0x00000007ad3ef747UL,
+ 0x000000012759b181UL,
+ 0x0000000948257d4dUL,
+ 0x0000000b63a850f6UL,
+ 0x00000003a52a8f75UL,
+ 0x00000004a019532cUL,
+ 0x0000000a021a7529UL,
+ 0x0000000cc661876dUL,
+ 0x00000004085afd05UL,
+ 0x0000000e7048e089UL,
+ 0x00000003f979cdc6UL,
+ 0x0000000d9da9071bUL,
+ 0x0000000ed2fc5b68UL,
+ 0x000000079d64c3a1UL,
+ 0x0000000fd44e2361UL,
+ 0x00000008eea46a74UL,
+ 0x000000042233b9c2UL,
+ 0x0000000ae4d1765dUL,
+ 0x00000007303a094cUL,
+ 0x00000002d7033abeUL,
+ 0x00000003dcc2b0b4UL,
+ 0x00000000f0967d09UL,
+ 0x000000006f0cd7deUL,
+ 0x000000009807aca0UL,
+ 0x00000003a295cad3UL,
+ 0x00000002b106b202UL,
+ 0x00000003f38a828eUL,
+ 0x000000078af46596UL,
+ 0x0000000bda2dc713UL,
+ 0x00000009a8c8c9d9UL,
+ 0x00000006a0f2ddceUL,
+ 0x0000000a76af6fe2UL,
+ 0x0000000086f66fa4UL,
+ 0x0000000d52d63f8dUL,
+ 0x000000089f7a6e73UL,
+ 0x0000000cc6b23362UL,
+ 0x0000000b4ebf3c39UL,
+ 0x0000000564f300faUL,
+ 0x0000000e8de3a706UL,
+ 0x000000079a033b61UL,
+ 0x0000000765e160c5UL,
+ 0x0000000a266a4f85UL,
+ 0x0000000a68c38c24UL,
+ 0x0000000dca0711fbUL,
+ 0x000000085fba85baUL,
+ 0x000000037a207b46UL,
+ 0x0000000158fcc4d0UL,
+ 0x00000000569d79b3UL,
+ 0x00000007b1a25555UL,
+ 0x0000000a8ae22468UL,
+ 0x00000007c592bdfdUL,
+ 0x00000000c59a5f66UL,
+ 0x0000000b1115daa3UL,
+ 0x0000000f17c87177UL,
+ 0x00000006769d766bUL,
+ 0x00000002b637356dUL,
+ 0x000000013d8685acUL,
+ 0x0000000f24cb6ec0UL,
+ 0x00000000bd0b56d1UL,
+ 0x000000042ff0e26dUL,
+ 0x0000000b41609267UL,
+ 0x000000096f9518afUL,
+ 0x0000000c56f96636UL,
+ 0x00000004a8e10349UL,
+ 0x0000000863512171UL,
+ 0x0000000ea455d86cUL,
+ 0x0000000bd0e25279UL,
+ 0x0000000e65e3f761UL,
+ 0x000000036c84a922UL,
+ 0x000000085fd1b38fUL,
+ 0x0000000657c91539UL,
+ 0x000000015033fe04UL,
+ 0x000000009051c921UL,
+ 0x0000000ab27d80d8UL,
+ 0x0000000f92f7d0a1UL,
+ 0x00000008eb6bb737UL,
+ 0x000000010b5b0f63UL,
+ 0x00000006c9c7ad63UL,
+ 0x0000000f66fe70aeUL,
+ 0x0000000ca579bd92UL,
+ 0x0000000956198e4dUL,
+ 0x000000029e4405e5UL,
+ 0x0000000e44eb885cUL,
+ 0x000000041612456cUL,
+ 0x0000000ea45e0abfUL,
+ 0x0000000d326529bdUL,
+ 0x00000007b2c33cefUL,
+ 0x000000080bc9b558UL,
+ 0x00000007169b9740UL,
+ 0x0000000c37f99209UL,
+ 0x000000031ff6dab9UL,
+ 0x0000000c795190edUL,
+ 0x0000000a7636e95fUL,
+ 0x00000009df075841UL,
+ 0x000000055a083932UL,
+ 0x0000000a7cbdf630UL,
+ 0x0000000409ea4ef0UL,
+ 0x000000092a1991b6UL,
+ 0x00000004b078dee9UL,
+ 0x0000000ae18ce9e4UL,
+ 0x00000005a6e1ef35UL,
+ 0x00000001a403bd59UL,
+ 0x000000031ea70a83UL,
+ 0x00000002bc3c4f3aUL,
+ 0x00000005c921b3cbUL,
+ 0x0000000042da05c5UL,
+ 0x00000001f667d16bUL,
+ 0x0000000416a368cfUL,
+ 0x0000000fbc0a7a3bUL,
+ 0x00000009419f0c7cUL,
+ 0x000000081be2fa03UL,
+ 0x000000034e2c172fUL,
+ 0x000000028648d8aeUL,
+ 0x0000000c7acbb885UL,
+ 0x000000045f31eb6aUL,
+ 0x0000000d1cfc0a7bUL,
+ 0x000000042c4d260dUL,
+ 0x0000000cf6584097UL,
+ 0x000000094b132b14UL,
+ 0x00000003c5c5df75UL,
+ 0x00000008ae596fefUL,
+ 0x0000000aea8054ebUL,
+ 0x00000000ae9cc573UL,
+ 0x0000000496fb731bUL,
+ 0x0000000ebf105662UL,
+ 0x0000000af9c83a37UL,
+ 0x0000000c0d64cd6bUL,
+ 0x00000007b608159aUL,
+ 0x0000000e74431642UL,
+ 0x0000000d6fb9d900UL,
+ 0x0000000291e99de0UL,
+ 0x000000010500ba9aUL,
+ 0x00000005cd05d037UL,
+ 0x0000000a87254fb2UL,
+ 0x00000009d7824a37UL,
+ 0x00000008b2c7b47cUL,
+ 0x000000030c788145UL,
+ 0x00000002f4e5a8beUL,
+ 0x0000000badb884daUL,
+ 0x0000000026e0d5c9UL,
+ 0x00000006fdbaa32eUL,
+ 0x000000034758eb31UL,
+ 0x0000000565cd1b4fUL,
+ 0x00000002bfd90fb0UL,
+ 0x0000000093052a6bUL,
+ 0x0000000d3c13c4b9UL,
+ 0x00000002daea43bfUL,
+ 0x0000000a279762bcUL,
+ 0x0000000f1bd9f22cUL,
+ 0x00000004b7fec94fUL,
+ 0x0000000545761d5aUL,
+ 0x00000007327df411UL,
+ 0x00000001b52a442eUL,
+ 0x000000049b0ce108UL,
+ 0x000000024c764bc8UL,
+ 0x0000000374563045UL,
+ 0x0000000a3e8f91c6UL,
+ 0x00000000e6bd2241UL,
+ 0x0000000e0e52ee3cUL,
+ 0x000000007e8e3caaUL,
+ 0x000000096c2b7372UL,
+ 0x000000033acbdfdaUL,
+ 0x0000000b15d91e54UL,
+ 0x0000000464759ac1UL,
+ 0x00000006886a1998UL,
+ 0x000000057f5d3958UL,
+ 0x00000005a1f5c1f5UL,
+ 0x00000000b58158adUL,
+ 0x0000000e712053fbUL,
+ 0x00000005352ddb25UL,
+ 0x0000000414b98ea0UL,
+ 0x000000074f89f546UL,
+ 0x000000038a56b3c3UL,
+ 0x000000038db0dc17UL,
+ 0x0000000aa016a755UL,
+ 0x0000000dc72366f5UL,
+ 0x00000000cee93d75UL,
+ 0x0000000b2fe7a56bUL,
+ 0x0000000a847ed390UL,
+ 0x00000008713ef88cUL,
+ 0x0000000a217cc861UL,
+ 0x00000008bca25d7bUL,
+ 0x0000000455526818UL,
+ 0x0000000ea3a7a180UL,
+ 0x0000000a9536e5e0UL,
+ 0x00000009b64a1975UL,
+ 0x00000005bfc756bcUL,
+ 0x0000000046aa169bUL,
+ 0x000000053a17f76fUL,
+ 0x00000004d6815274UL,
+ 0x0000000cca9cf3f6UL,
+ 0x00000004013fcb8bUL,
+ 0x00000003d26cdfa5UL,
+ 0x00000005786231f7UL,
+ 0x00000007d4ab09abUL,
+ 0x0000000960b5ffbcUL,
+ 0x00000008914df0d4UL,
+ 0x00000002fc6f2213UL,
+ 0x0000000ac235637eUL,
+ 0x0000000151b28ed3UL,
+ 0x000000046f79b6dbUL,
+ 0x00000001382e0c9fUL,
+ 0x000000053abf983aUL,
+ 0x0000000383c47adeUL,
+ 0x00000003fcf88978UL,
+ 0x0000000eb9079df7UL,
+ 0x000000009af0714dUL,
+ 0x0000000da19d1bb7UL,
+ 0x00000009a02749f8UL,
+ 0x00000001c62dab9bUL,
+ 0x00000001a137e44bUL,
+ 0x00000002867718c7UL,
+ 0x000000035815525bUL,
+ 0x00000007cd35c550UL,
+ 0x00000002164f73a0UL,
+ 0x0000000e8b772fe0UL,
+};
+apriltag_family_t *tag36h11_create()
+{
+ apriltag_family_t *tf = calloc(1, sizeof(apriltag_family_t));
+ tf->name = strdup("tag36h11");
+ tf->h = 11;
+ tf->ncodes = 587;
+ tf->codes = codedata;
+ tf->nbits = 36;
+ tf->bit_x = calloc(36, sizeof(uint32_t));
+ tf->bit_y = calloc(36, sizeof(uint32_t));
+ tf->bit_x[0] = 1;
+ tf->bit_y[0] = 1;
+ tf->bit_x[1] = 2;
+ tf->bit_y[1] = 1;
+ tf->bit_x[2] = 3;
+ tf->bit_y[2] = 1;
+ tf->bit_x[3] = 4;
+ tf->bit_y[3] = 1;
+ tf->bit_x[4] = 5;
+ tf->bit_y[4] = 1;
+ tf->bit_x[5] = 2;
+ tf->bit_y[5] = 2;
+ tf->bit_x[6] = 3;
+ tf->bit_y[6] = 2;
+ tf->bit_x[7] = 4;
+ tf->bit_y[7] = 2;
+ tf->bit_x[8] = 3;
+ tf->bit_y[8] = 3;
+ tf->bit_x[9] = 6;
+ tf->bit_y[9] = 1;
+ tf->bit_x[10] = 6;
+ tf->bit_y[10] = 2;
+ tf->bit_x[11] = 6;
+ tf->bit_y[11] = 3;
+ tf->bit_x[12] = 6;
+ tf->bit_y[12] = 4;
+ tf->bit_x[13] = 6;
+ tf->bit_y[13] = 5;
+ tf->bit_x[14] = 5;
+ tf->bit_y[14] = 2;
+ tf->bit_x[15] = 5;
+ tf->bit_y[15] = 3;
+ tf->bit_x[16] = 5;
+ tf->bit_y[16] = 4;
+ tf->bit_x[17] = 4;
+ tf->bit_y[17] = 3;
+ tf->bit_x[18] = 6;
+ tf->bit_y[18] = 6;
+ tf->bit_x[19] = 5;
+ tf->bit_y[19] = 6;
+ tf->bit_x[20] = 4;
+ tf->bit_y[20] = 6;
+ tf->bit_x[21] = 3;
+ tf->bit_y[21] = 6;
+ tf->bit_x[22] = 2;
+ tf->bit_y[22] = 6;
+ tf->bit_x[23] = 5;
+ tf->bit_y[23] = 5;
+ tf->bit_x[24] = 4;
+ tf->bit_y[24] = 5;
+ tf->bit_x[25] = 3;
+ tf->bit_y[25] = 5;
+ tf->bit_x[26] = 4;
+ tf->bit_y[26] = 4;
+ tf->bit_x[27] = 1;
+ tf->bit_y[27] = 6;
+ tf->bit_x[28] = 1;
+ tf->bit_y[28] = 5;
+ tf->bit_x[29] = 1;
+ tf->bit_y[29] = 4;
+ tf->bit_x[30] = 1;
+ tf->bit_y[30] = 3;
+ tf->bit_x[31] = 1;
+ tf->bit_y[31] = 2;
+ tf->bit_x[32] = 2;
+ tf->bit_y[32] = 5;
+ tf->bit_x[33] = 2;
+ tf->bit_y[33] = 4;
+ tf->bit_x[34] = 2;
+ tf->bit_y[34] = 3;
+ tf->bit_x[35] = 3;
+ tf->bit_y[35] = 4;
+ tf->width_at_border = 8;
+ tf->total_width = 10;
+ tf->reversed_border = false;
+ return tf;
+}
+
+void tag36h11_destroy(apriltag_family_t *tf)
+{
+ free(tf->bit_x);
+ free(tf->bit_y);
+ free(tf->name);
+ free(tf);
+}
diff --git a/third_party/apriltag/tag36h11.h b/third_party/apriltag/tag36h11.h
new file mode 100644
index 0000000..6203878
--- /dev/null
+++ b/third_party/apriltag/tag36h11.h
@@ -0,0 +1,44 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#ifndef _TAG36H11
+#define _TAG36H11
+
+#include "apriltag.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+apriltag_family_t *tag36h11_create();
+void tag36h11_destroy(apriltag_family_t *tf);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/third_party/apriltag/tagCircle21h7.c b/third_party/apriltag/tagCircle21h7.c
new file mode 100644
index 0000000..8dad3fe
--- /dev/null
+++ b/third_party/apriltag/tagCircle21h7.c
@@ -0,0 +1,135 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <stdlib.h>
+#include "tagCircle21h7.h"
+
+static uint64_t codedata[38] = {
+ 0x0000000000157863UL,
+ 0x0000000000047e28UL,
+ 0x00000000001383edUL,
+ 0x000000000000953cUL,
+ 0x00000000000da68bUL,
+ 0x00000000001cac50UL,
+ 0x00000000000bb215UL,
+ 0x000000000016ceeeUL,
+ 0x000000000005d4b3UL,
+ 0x00000000001ff751UL,
+ 0x00000000000efd16UL,
+ 0x0000000000072b3eUL,
+ 0x0000000000163103UL,
+ 0x0000000000106e56UL,
+ 0x00000000001996b9UL,
+ 0x00000000000c0234UL,
+ 0x00000000000624d2UL,
+ 0x00000000001fa985UL,
+ 0x00000000000344a5UL,
+ 0x00000000000762fbUL,
+ 0x000000000019e92bUL,
+ 0x0000000000043755UL,
+ 0x000000000001a4f4UL,
+ 0x000000000010fad8UL,
+ 0x0000000000001b52UL,
+ 0x000000000017e59fUL,
+ 0x00000000000e6f70UL,
+ 0x00000000000ed47aUL,
+ 0x00000000000c9931UL,
+ 0x0000000000014df2UL,
+ 0x00000000000a06f1UL,
+ 0x00000000000e5041UL,
+ 0x000000000012ec03UL,
+ 0x000000000016724eUL,
+ 0x00000000000af1a5UL,
+ 0x000000000008a8acUL,
+ 0x0000000000015b39UL,
+ 0x00000000001ec1e3UL,
+};
+apriltag_family_t *tagCircle21h7_create()
+{
+ apriltag_family_t *tf = calloc(1, sizeof(apriltag_family_t));
+ tf->name = strdup("tagCircle21h7");
+ tf->h = 7;
+ tf->ncodes = 38;
+ tf->codes = codedata;
+ tf->nbits = 21;
+ tf->bit_x = calloc(21, sizeof(uint32_t));
+ tf->bit_y = calloc(21, sizeof(uint32_t));
+ tf->bit_x[0] = 1;
+ tf->bit_y[0] = -2;
+ tf->bit_x[1] = 2;
+ tf->bit_y[1] = -2;
+ tf->bit_x[2] = 3;
+ tf->bit_y[2] = -2;
+ tf->bit_x[3] = 1;
+ tf->bit_y[3] = 1;
+ tf->bit_x[4] = 2;
+ tf->bit_y[4] = 1;
+ tf->bit_x[5] = 6;
+ tf->bit_y[5] = 1;
+ tf->bit_x[6] = 6;
+ tf->bit_y[6] = 2;
+ tf->bit_x[7] = 6;
+ tf->bit_y[7] = 3;
+ tf->bit_x[8] = 3;
+ tf->bit_y[8] = 1;
+ tf->bit_x[9] = 3;
+ tf->bit_y[9] = 2;
+ tf->bit_x[10] = 3;
+ tf->bit_y[10] = 6;
+ tf->bit_x[11] = 2;
+ tf->bit_y[11] = 6;
+ tf->bit_x[12] = 1;
+ tf->bit_y[12] = 6;
+ tf->bit_x[13] = 3;
+ tf->bit_y[13] = 3;
+ tf->bit_x[14] = 2;
+ tf->bit_y[14] = 3;
+ tf->bit_x[15] = -2;
+ tf->bit_y[15] = 3;
+ tf->bit_x[16] = -2;
+ tf->bit_y[16] = 2;
+ tf->bit_x[17] = -2;
+ tf->bit_y[17] = 1;
+ tf->bit_x[18] = 1;
+ tf->bit_y[18] = 3;
+ tf->bit_x[19] = 1;
+ tf->bit_y[19] = 2;
+ tf->bit_x[20] = 2;
+ tf->bit_y[20] = 2;
+ tf->width_at_border = 5;
+ tf->total_width = 9;
+ tf->reversed_border = true;
+ return tf;
+}
+
+void tagCircle21h7_destroy(apriltag_family_t *tf)
+{
+ free(tf->bit_x);
+ free(tf->bit_y);
+ free(tf->name);
+ free(tf);
+}
diff --git a/third_party/apriltag/tagCircle21h7.h b/third_party/apriltag/tagCircle21h7.h
new file mode 100644
index 0000000..a051db6
--- /dev/null
+++ b/third_party/apriltag/tagCircle21h7.h
@@ -0,0 +1,44 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#ifndef _TAGCircle21H7
+#define _TAGCircle21H7
+
+#include "apriltag.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+apriltag_family_t *tagCircle21h7_create();
+void tagCircle21h7_destroy(apriltag_family_t *tf);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/third_party/apriltag/tagCircle49h12.c b/third_party/apriltag/tagCircle49h12.c
new file mode 100644
index 0000000..02456fa
--- /dev/null
+++ b/third_party/apriltag/tagCircle49h12.c
@@ -0,0 +1,65688 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <stdlib.h>
+#include "tagCircle49h12.h"
+
+static uint64_t codedata[65535] = {
+ 0x0000c6c921d8614aUL,
+ 0x0000c6c95c67670fUL,
+ 0x0000c6c996f66cd4UL,
+ 0x0000c6c9d1857299UL,
+ 0x0000c6ca813283e8UL,
+ 0x0000c6cabbc189adUL,
+ 0x0000c6caf6508f72UL,
+ 0x0000c6cb30df9537UL,
+ 0x0000c6cb6b6e9afcUL,
+ 0x0000c6cba5fda0c1UL,
+ 0x0000c6cbe08ca686UL,
+ 0x0000c6cc1b1bac4bUL,
+ 0x0000c6cc55aab210UL,
+ 0x0000c6cc9039b7d5UL,
+ 0x0000c6cccac8bd9aUL,
+ 0x0000c6cd0557c35fUL,
+ 0x0000c6cd3fe6c924UL,
+ 0x0000c6cd7a75cee9UL,
+ 0x0000c6cdb504d4aeUL,
+ 0x0000c6cdef93da73UL,
+ 0x0000c6ce2a22e038UL,
+ 0x0000c6ce64b1e5fdUL,
+ 0x0000c6ce9f40ebc2UL,
+ 0x0000c6cf4eedfd11UL,
+ 0x0000c6cf897d02d6UL,
+ 0x0000c6cfc40c089bUL,
+ 0x0000c6d0392a1425UL,
+ 0x0000c6d073b919eaUL,
+ 0x0000c6d0ae481fafUL,
+ 0x0000c6d0e8d72574UL,
+ 0x0000c6d123662b39UL,
+ 0x0000c6d15df530feUL,
+ 0x0000c6d1988436c3UL,
+ 0x0000c6d1d3133c88UL,
+ 0x0000c6d20da2424dUL,
+ 0x0000c6d248314812UL,
+ 0x0000c6d2bd4f539cUL,
+ 0x0000c6d2f7de5961UL,
+ 0x0000c6d3326d5f26UL,
+ 0x0000c6d36cfc64ebUL,
+ 0x0000c6d3a78b6ab0UL,
+ 0x0000c6d3e21a7075UL,
+ 0x0000c6d41ca9763aUL,
+ 0x0000c6d491c781c4UL,
+ 0x0000c6d4cc568789UL,
+ 0x0000c6d506e58d4eUL,
+ 0x0000c6d541749313UL,
+ 0x0000c6d57c0398d8UL,
+ 0x0000c6d5b6929e9dUL,
+ 0x0000c6d5f121a462UL,
+ 0x0000c6d62bb0aa27UL,
+ 0x0000c6d6663fafecUL,
+ 0x0000c6d6a0ceb5b1UL,
+ 0x0000c6d6db5dbb76UL,
+ 0x0000c6d715ecc13bUL,
+ 0x0000c6d7507bc700UL,
+ 0x0000c6d78b0accc5UL,
+ 0x0000c6d7c599d28aUL,
+ 0x0000c6d83ab7de14UL,
+ 0x0000c6d87546e3d9UL,
+ 0x0000c6d8afd5e99eUL,
+ 0x0000c6d8ea64ef63UL,
+ 0x0000c6d924f3f528UL,
+ 0x0000c6d95f82faedUL,
+ 0x0000c6d99a1200b2UL,
+ 0x0000c6d9d4a10677UL,
+ 0x0000c6da49bf1201UL,
+ 0x0000c6da844e17c6UL,
+ 0x0000c6daf96c2350UL,
+ 0x0000c6db33fb2915UL,
+ 0x0000c6db6e8a2edaUL,
+ 0x0000c6dba919349fUL,
+ 0x0000c6dc1e374029UL,
+ 0x0000c6dc58c645eeUL,
+ 0x0000c6dc93554bb3UL,
+ 0x0000c6dccde45178UL,
+ 0x0000c6dd7d9162c7UL,
+ 0x0000c6ddf2af6e51UL,
+ 0x0000c6de2d3e7416UL,
+ 0x0000c6dedceb8565UL,
+ 0x0000c6df520990efUL,
+ 0x0000c6df8c9896b4UL,
+ 0x0000c6dfc7279c79UL,
+ 0x0000c6e076d4adc8UL,
+ 0x0000c6e0b163b38dUL,
+ 0x0000c6e0ebf2b952UL,
+ 0x0000c6e16110c4dcUL,
+ 0x0000c6e19b9fcaa1UL,
+ 0x0000c6e1d62ed066UL,
+ 0x0000c6e210bdd62bUL,
+ 0x0000c6e285dbe1b5UL,
+ 0x0000c6e2c06ae77aUL,
+ 0x0000c6e2faf9ed3fUL,
+ 0x0000c6e37017f8c9UL,
+ 0x0000c6e3aaa6fe8eUL,
+ 0x0000c6e3e5360453UL,
+ 0x0000c6e494e315a2UL,
+ 0x0000c6e50a01212cUL,
+ 0x0000c6e5449026f1UL,
+ 0x0000c6e57f1f2cb6UL,
+ 0x0000c6e5b9ae327bUL,
+ 0x0000c6e5f43d3840UL,
+ 0x0000c6e6695b43caUL,
+ 0x0000c6e6a3ea498fUL,
+ 0x0000c6e6de794f54UL,
+ 0x0000c6e719085519UL,
+ 0x0000c6e753975adeUL,
+ 0x0000c6e7c8b56668UL,
+ 0x0000c6e83dd371f2UL,
+ 0x0000c6e8ed808341UL,
+ 0x0000c6e9280f8906UL,
+ 0x0000c6e99d2d9490UL,
+ 0x0000c6e9d7bc9a55UL,
+ 0x0000c6ea124ba01aUL,
+ 0x0000c6ea4cdaa5dfUL,
+ 0x0000c6eafc87b72eUL,
+ 0x0000c6eb3716bcf3UL,
+ 0x0000c6ebac34c87dUL,
+ 0x0000c6ec5be1d9ccUL,
+ 0x0000c6ecd0ffe556UL,
+ 0x0000c6ed0b8eeb1bUL,
+ 0x0000c6edf5cb022fUL,
+ 0x0000c6ee305a07f4UL,
+ 0x0000c6eee0071943UL,
+ 0x0000c6ef1a961f08UL,
+ 0x0000c6ef552524cdUL,
+ 0x0000c6f03f613be1UL,
+ 0x0000c6f079f041a6UL,
+ 0x0000c6f0b47f476bUL,
+ 0x0000c6f0ef0e4d30UL,
+ 0x0000c6f1299d52f5UL,
+ 0x0000c6f1642c58baUL,
+ 0x0000c6f19ebb5e7fUL,
+ 0x0000c6f1d94a6444UL,
+ 0x0000c6f213d96a09UL,
+ 0x0000c6f288f77593UL,
+ 0x0000c6f2c3867b58UL,
+ 0x0000c6f2fe15811dUL,
+ 0x0000c6f373338ca7UL,
+ 0x0000c6f3e8519831UL,
+ 0x0000c6f45d6fa3bbUL,
+ 0x0000c6f50d1cb50aUL,
+ 0x0000c6f5bcc9c659UL,
+ 0x0000c6f6e194e332UL,
+ 0x0000c6f79141f481UL,
+ 0x0000c6f8b60d115aUL,
+ 0x0000c6f965ba22a9UL,
+ 0x0000c6f9dad82e33UL,
+ 0x0000c6fa4ff639bdUL,
+ 0x0000c6faffa34b0cUL,
+ 0x0000c6fb74c15696UL,
+ 0x0000c6fbaf505c5bUL,
+ 0x0000c6fc5efd6daaUL,
+ 0x0000c6fcd41b7934UL,
+ 0x0000c6fd493984beUL,
+ 0x0000c6fd83c88a83UL,
+ 0x0000c6fee322ad21UL,
+ 0x0000c6ffcd5ec435UL,
+ 0x0000c700427ccfbfUL,
+ 0x0000c7007d0bd584UL,
+ 0x0000c700b79adb49UL,
+ 0x0000c7012cb8e6d3UL,
+ 0x0000c7016747ec98UL,
+ 0x0000c701a1d6f25dUL,
+ 0x0000c701dc65f822UL,
+ 0x0000c702518403acUL,
+ 0x0000c7028c130971UL,
+ 0x0000c702c6a20f36UL,
+ 0x0000c703013114fbUL,
+ 0x0000c703764f2085UL,
+ 0x0000c703b0de264aUL,
+ 0x0000c703eb6d2c0fUL,
+ 0x0000c704608b3799UL,
+ 0x0000c7049b1a3d5eUL,
+ 0x0000c704d5a94323UL,
+ 0x0000c705103848e8UL,
+ 0x0000c7054ac74eadUL,
+ 0x0000c70585565472UL,
+ 0x0000c705bfe55a37UL,
+ 0x0000c705fa745ffcUL,
+ 0x0000c7066f926b86UL,
+ 0x0000c706aa21714bUL,
+ 0x0000c706e4b07710UL,
+ 0x0000c7071f3f7cd5UL,
+ 0x0000c70759ce829aUL,
+ 0x0000c707945d885fUL,
+ 0x0000c708440a99aeUL,
+ 0x0000c7087e999f73UL,
+ 0x0000c708b928a538UL,
+ 0x0000c708f3b7aafdUL,
+ 0x0000c7092e46b0c2UL,
+ 0x0000c70968d5b687UL,
+ 0x0000c709ddf3c211UL,
+ 0x0000c70a1882c7d6UL,
+ 0x0000c70a5311cd9bUL,
+ 0x0000c70a8da0d360UL,
+ 0x0000c70ac82fd925UL,
+ 0x0000c70b02bedeeaUL,
+ 0x0000c70b3d4de4afUL,
+ 0x0000c70b77dcea74UL,
+ 0x0000c70bb26bf039UL,
+ 0x0000c70becfaf5feUL,
+ 0x0000c70c9ca8074dUL,
+ 0x0000c70cd7370d12UL,
+ 0x0000c70d4c55189cUL,
+ 0x0000c70d86e41e61UL,
+ 0x0000c70dc1732426UL,
+ 0x0000c70dfc0229ebUL,
+ 0x0000c70e36912fb0UL,
+ 0x0000c70e71203575UL,
+ 0x0000c70eabaf3b3aUL,
+ 0x0000c70ee63e40ffUL,
+ 0x0000c70f20cd46c4UL,
+ 0x0000c70f95eb524eUL,
+ 0x0000c70fd07a5813UL,
+ 0x0000c71080276962UL,
+ 0x0000c710bab66f27UL,
+ 0x0000c710f54574ecUL,
+ 0x0000c7116a638076UL,
+ 0x0000c711a4f2863bUL,
+ 0x0000c7121a1091c5UL,
+ 0x0000c712549f978aUL,
+ 0x0000c7128f2e9d4fUL,
+ 0x0000c712c9bda314UL,
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+ 0x0000f4e78ae74457UL,
+ 0x00013652fbb43914UL,
+ 0x0001dceb7d25255bUL,
+ 0x0001c847a79c8135UL,
+ 0x00008c1448fe10d2UL,
+ 0x000018c0d11132fcUL,
+ 0x00012c397b4f4adaUL,
+ 0x000057acf8e537a1UL,
+ 0x0001cae83910a029UL,
+ 0x0000fa898d9af509UL,
+ 0x000097751fa1dcd1UL,
+ 0x000166c7e0551613UL,
+ 0x0001fcf69fe41394UL,
+ 0x000048ed5e391447UL,
+ 0x0000915c91c30f54UL,
+ 0x0000b336916be205UL,
+ 0x000160c7f841a9f3UL,
+ 0x0001de0f995a8a9eUL,
+ 0x000110fb6584e0adUL,
+ 0x00009c2dd017c1ceUL,
+ 0x00011d9f64a5a87dUL,
+ 0x00002fd1de359d01UL,
+ 0x00004e79a576d215UL,
+ 0x0001eb18d0e432d7UL,
+ 0x0000e804a5ae850cUL,
+ 0x0001ca20fd399c78UL,
+ 0x0001ba364ce21a10UL,
+ 0x00012dc6a4e1e4dcUL,
+ 0x0001f69087663fcaUL,
+ 0x000152a2b6897e12UL,
+ 0x0001c40451af35eaUL,
+ 0x000010a56bb0f32bUL,
+ 0x00001d1acf642fbeUL,
+ 0x0001a231fbef0be5UL,
+ 0x0000fa09012b85b3UL,
+ 0x00013199accff806UL,
+ 0x00004c805a7e758bUL,
+ 0x00007e97ca31e577UL,
+ 0x0001e04bcfa20da2UL,
+ 0x00001a77806437e9UL,
+ 0x00003050b6bc3ebeUL,
+ 0x0000e6fd8a32c77bUL,
+ 0x0000ed0b75487014UL,
+ 0x00013c343176089fUL,
+ 0x00016dc29c82f898UL,
+ 0x0000adb614d8dc3cUL,
+ 0x0001ca97e32050ceUL,
+ 0x000095373699f88fUL,
+ 0x00004b9d28567302UL,
+ 0x000145df19b2963eUL,
+ 0x0000b74848befabfUL,
+ 0x00000b733857e186UL,
+ 0x000042a271fcba07UL,
+ 0x0000e8c5d5621c4eUL,
+ 0x00015b90af3b77fcUL,
+ 0x0001c2a9b90ddc0aUL,
+ 0x0000e4f160547659UL,
+ 0x00013f1dd960dfe7UL,
+ 0x00002589a800af8bUL,
+ 0x000100fdd95ddff5UL,
+ 0x000114ea66da68f7UL,
+ 0x000118a52eca7afdUL,
+ 0x00012223d357f607UL,
+ 0x0001ab60eb4b6c5bUL,
+ 0x0001af9738eba9edUL,
+ 0x0000487608fe722eUL,
+ 0x0000b1b525e6fc36UL,
+ 0x0001242eae553c37UL,
+ 0x00005efe4ba8933cUL,
+ 0x0000f75e8e3cd731UL,
+ 0x0001a984f5fe3147UL,
+ 0x00009fabd235c584UL,
+ 0x000175e10d8da503UL,
+ 0x0001a4cf4e1c429cUL,
+ 0x0001d909368089f1UL,
+ 0x0000333ab7d7726dUL,
+ 0x0001719f5eec237fUL,
+ 0x0001e520c2997b43UL,
+};
+apriltag_family_t *tagCircle49h12_create()
+{
+ apriltag_family_t *tf = calloc(1, sizeof(apriltag_family_t));
+ tf->name = strdup("tagCircle49h12");
+ tf->h = 12;
+ tf->ncodes = 65535;
+ tf->codes = codedata;
+ tf->nbits = 49;
+ tf->bit_x = calloc(49, sizeof(uint32_t));
+ tf->bit_y = calloc(49, sizeof(uint32_t));
+ tf->bit_x[0] = 1;
+ tf->bit_y[0] = -3;
+ tf->bit_x[1] = 2;
+ tf->bit_y[1] = -3;
+ tf->bit_x[2] = 3;
+ tf->bit_y[2] = -3;
+ tf->bit_x[3] = -1;
+ tf->bit_y[3] = -2;
+ tf->bit_x[4] = 0;
+ tf->bit_y[4] = -2;
+ tf->bit_x[5] = 1;
+ tf->bit_y[5] = -2;
+ tf->bit_x[6] = 2;
+ tf->bit_y[6] = -2;
+ tf->bit_x[7] = 3;
+ tf->bit_y[7] = -2;
+ tf->bit_x[8] = 4;
+ tf->bit_y[8] = -2;
+ tf->bit_x[9] = 5;
+ tf->bit_y[9] = -2;
+ tf->bit_x[10] = 1;
+ tf->bit_y[10] = 1;
+ tf->bit_x[11] = 2;
+ tf->bit_y[11] = 1;
+ tf->bit_x[12] = 7;
+ tf->bit_y[12] = 1;
+ tf->bit_x[13] = 7;
+ tf->bit_y[13] = 2;
+ tf->bit_x[14] = 7;
+ tf->bit_y[14] = 3;
+ tf->bit_x[15] = 6;
+ tf->bit_y[15] = -1;
+ tf->bit_x[16] = 6;
+ tf->bit_y[16] = 0;
+ tf->bit_x[17] = 6;
+ tf->bit_y[17] = 1;
+ tf->bit_x[18] = 6;
+ tf->bit_y[18] = 2;
+ tf->bit_x[19] = 6;
+ tf->bit_y[19] = 3;
+ tf->bit_x[20] = 6;
+ tf->bit_y[20] = 4;
+ tf->bit_x[21] = 6;
+ tf->bit_y[21] = 5;
+ tf->bit_x[22] = 3;
+ tf->bit_y[22] = 1;
+ tf->bit_x[23] = 3;
+ tf->bit_y[23] = 2;
+ tf->bit_x[24] = 3;
+ tf->bit_y[24] = 7;
+ tf->bit_x[25] = 2;
+ tf->bit_y[25] = 7;
+ tf->bit_x[26] = 1;
+ tf->bit_y[26] = 7;
+ tf->bit_x[27] = 5;
+ tf->bit_y[27] = 6;
+ tf->bit_x[28] = 4;
+ tf->bit_y[28] = 6;
+ tf->bit_x[29] = 3;
+ tf->bit_y[29] = 6;
+ tf->bit_x[30] = 2;
+ tf->bit_y[30] = 6;
+ tf->bit_x[31] = 1;
+ tf->bit_y[31] = 6;
+ tf->bit_x[32] = 0;
+ tf->bit_y[32] = 6;
+ tf->bit_x[33] = -1;
+ tf->bit_y[33] = 6;
+ tf->bit_x[34] = 3;
+ tf->bit_y[34] = 3;
+ tf->bit_x[35] = 2;
+ tf->bit_y[35] = 3;
+ tf->bit_x[36] = -3;
+ tf->bit_y[36] = 3;
+ tf->bit_x[37] = -3;
+ tf->bit_y[37] = 2;
+ tf->bit_x[38] = -3;
+ tf->bit_y[38] = 1;
+ tf->bit_x[39] = -2;
+ tf->bit_y[39] = 5;
+ tf->bit_x[40] = -2;
+ tf->bit_y[40] = 4;
+ tf->bit_x[41] = -2;
+ tf->bit_y[41] = 3;
+ tf->bit_x[42] = -2;
+ tf->bit_y[42] = 2;
+ tf->bit_x[43] = -2;
+ tf->bit_y[43] = 1;
+ tf->bit_x[44] = -2;
+ tf->bit_y[44] = 0;
+ tf->bit_x[45] = -2;
+ tf->bit_y[45] = -1;
+ tf->bit_x[46] = 1;
+ tf->bit_y[46] = 3;
+ tf->bit_x[47] = 1;
+ tf->bit_y[47] = 2;
+ tf->bit_x[48] = 2;
+ tf->bit_y[48] = 2;
+ tf->width_at_border = 5;
+ tf->total_width = 11;
+ tf->reversed_border = true;
+ return tf;
+}
+
+void tagCircle49h12_destroy(apriltag_family_t *tf)
+{
+ free(tf->bit_x);
+ free(tf->bit_y);
+ free(tf->name);
+ free(tf);
+}
diff --git a/third_party/apriltag/tagCircle49h12.h b/third_party/apriltag/tagCircle49h12.h
new file mode 100644
index 0000000..4b4c084
--- /dev/null
+++ b/third_party/apriltag/tagCircle49h12.h
@@ -0,0 +1,44 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#ifndef _TAGCircle49H12
+#define _TAGCircle49H12
+
+#include "apriltag.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+apriltag_family_t *tagCircle49h12_create();
+void tagCircle49h12_destroy(apriltag_family_t *tf);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/third_party/apriltag/tagCustom48h12.c b/third_party/apriltag/tagCustom48h12.c
new file mode 100644
index 0000000..cd908e1
--- /dev/null
+++ b/third_party/apriltag/tagCustom48h12.c
@@ -0,0 +1,42362 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <stdlib.h>
+#include "tagCustom48h12.h"
+
+static uint64_t codedata[42211] = {
+ 0x0000d6c8ae76dff0UL,
+ 0x0000d6c8e905e5b5UL,
+ 0x0000d6c92394eb7aUL,
+ 0x0000d6c95e23f13fUL,
+ 0x0000d6c998b2f704UL,
+ 0x0000d6c9d341fcc9UL,
+ 0x0000d6ca0dd1028eUL,
+ 0x0000d6ca48600853UL,
+ 0x0000d6ca82ef0e18UL,
+ 0x0000d6cabd7e13ddUL,
+ 0x0000d6caf80d19a2UL,
+ 0x0000d6cb329c1f67UL,
+ 0x0000d6cb6d2b252cUL,
+ 0x0000d6cba7ba2af1UL,
+ 0x0000d6cc1cd8367bUL,
+ 0x0000d6cc57673c40UL,
+ 0x0000d6cc91f64205UL,
+ 0x0000d6cccc8547caUL,
+ 0x0000d6cd41a35354UL,
+ 0x0000d6cdb6c15edeUL,
+ 0x0000d6cdf15064a3UL,
+ 0x0000d6ce2bdf6a68UL,
+ 0x0000d6ce666e702dUL,
+ 0x0000d6cea0fd75f2UL,
+ 0x0000d6cedb8c7bb7UL,
+ 0x0000d6cf161b817cUL,
+ 0x0000d6cf50aa8741UL,
+ 0x0000d6cf8b398d06UL,
+ 0x0000d6cfc5c892cbUL,
+ 0x0000d6d000579890UL,
+ 0x0000d6d03ae69e55UL,
+ 0x0000d6d07575a41aUL,
+ 0x0000d6d0b004a9dfUL,
+ 0x0000d6d0ea93afa4UL,
+ 0x0000d6d12522b569UL,
+ 0x0000d6d19a40c0f3UL,
+ 0x0000d6d1d4cfc6b8UL,
+ 0x0000d6d249edd242UL,
+ 0x0000d6d2f99ae391UL,
+ 0x0000d6d33429e956UL,
+ 0x0000d6d36eb8ef1bUL,
+ 0x0000d6d3a947f4e0UL,
+ 0x0000d6d3e3d6faa5UL,
+ 0x0000d6d41e66006aUL,
+ 0x0000d6d458f5062fUL,
+ 0x0000d6d493840bf4UL,
+ 0x0000d6d4ce1311b9UL,
+ 0x0000d6d543311d43UL,
+ 0x0000d6d57dc02308UL,
+ 0x0000d6d5f2de2e92UL,
+ 0x0000d6d62d6d3457UL,
+ 0x0000d6d667fc3a1cUL,
+ 0x0000d6d6dd1a45a6UL,
+ 0x0000d6d717a94b6bUL,
+ 0x0000d6d752385130UL,
+ 0x0000d6d7c7565cbaUL,
+ 0x0000d6d801e5627fUL,
+ 0x0000d6d83c746844UL,
+ 0x0000d6d8b19273ceUL,
+ 0x0000d6d8ec217993UL,
+ 0x0000d6d9d65d90a7UL,
+ 0x0000d6da10ec966cUL,
+ 0x0000d6da4b7b9c31UL,
+ 0x0000d6dac099a7bbUL,
+ 0x0000d6dafb28ad80UL,
+ 0x0000d6db35b7b345UL,
+ 0x0000d6db7046b90aUL,
+ 0x0000d6dbaad5becfUL,
+ 0x0000d6dbe564c494UL,
+ 0x0000d6dc1ff3ca59UL,
+ 0x0000d6dc9511d5e3UL,
+ 0x0000d6dd7f4decf7UL,
+ 0x0000d6ddb9dcf2bcUL,
+ 0x0000d6de2efafe46UL,
+ 0x0000d6de698a040bUL,
+ 0x0000d6dea41909d0UL,
+ 0x0000d6df1937155aUL,
+ 0x0000d6df8e5520e4UL,
+ 0x0000d6e003732c6eUL,
+ 0x0000d6e0789137f8UL,
+ 0x0000d6e0b3203dbdUL,
+ 0x0000d6e1283e4947UL,
+ 0x0000d6e162cd4f0cUL,
+ 0x0000d6e19d5c54d1UL,
+ 0x0000d6e1d7eb5a96UL,
+ 0x0000d6e2127a605bUL,
+ 0x0000d6e2c22771aaUL,
+ 0x0000d6e2fcb6776fUL,
+ 0x0000d6e337457d34UL,
+ 0x0000d6e3ac6388beUL,
+ 0x0000d6e3e6f28e83UL,
+ 0x0000d6e421819448UL,
+ 0x0000d6e45c109a0dUL,
+ 0x0000d6e4969f9fd2UL,
+ 0x0000d6e4d12ea597UL,
+ 0x0000d6e50bbdab5cUL,
+ 0x0000d6e5464cb121UL,
+ 0x0000d6e580dbb6e6UL,
+ 0x0000d6e5f5f9c270UL,
+ 0x0000d6e63088c835UL,
+ 0x0000d6e66b17cdfaUL,
+ 0x0000d6e6e035d984UL,
+ 0x0000d6e71ac4df49UL,
+ 0x0000d6e75553e50eUL,
+ 0x0000d6e7ca71f098UL,
+ 0x0000d6e8b4ae07acUL,
+ 0x0000d6e8ef3d0d71UL,
+ 0x0000d6e929cc1336UL,
+ 0x0000d6e9645b18fbUL,
+ 0x0000d6ea14082a4aUL,
+ 0x0000d6ea892635d4UL,
+ 0x0000d6eac3b53b99UL,
+ 0x0000d6eafe44415eUL,
+ 0x0000d6eb73624ce8UL,
+ 0x0000d6ec5d9e63fcUL,
+ 0x0000d6ec982d69c1UL,
+ 0x0000d6ed0d4b754bUL,
+ 0x0000d6ed47da7b10UL,
+ 0x0000d6ed826980d5UL,
+ 0x0000d6edf7878c5fUL,
+ 0x0000d6ee32169224UL,
+ 0x0000d6eee1c3a373UL,
+ 0x0000d6ef56e1aefdUL,
+ 0x0000d6efcbffba87UL,
+ 0x0000d6f0411dc611UL,
+ 0x0000d6f07baccbd6UL,
+ 0x0000d6f0b63bd19bUL,
+ 0x0000d6f0f0cad760UL,
+ 0x0000d6f12b59dd25UL,
+ 0x0000d6f1db06ee74UL,
+ 0x0000d6f28ab3ffc3UL,
+ 0x0000d6f2c5430588UL,
+ 0x0000d6f2ffd20b4dUL,
+ 0x0000d6f33a611112UL,
+ 0x0000d6f3ea0e2261UL,
+ 0x0000d6f4249d2826UL,
+ 0x0000d6f45f2c2debUL,
+ 0x0000d6f499bb33b0UL,
+ 0x0000d6f5496844ffUL,
+ 0x0000d6f5be865089UL,
+ 0x0000d6f5f915564eUL,
+ 0x0000d6f633a45c13UL,
+ 0x0000d6f6a8c2679dUL,
+ 0x0000d6f7586f78ecUL,
+ 0x0000d6f7cd8d8476UL,
+ 0x0000d6f842ab9000UL,
+ 0x0000d6f87d3a95c5UL,
+ 0x0000d6f8b7c99b8aUL,
+ 0x0000d6f92ce7a714UL,
+ 0x0000d6f96776acd9UL,
+ 0x0000d6f9dc94b863UL,
+ 0x0000d6fa1723be28UL,
+ 0x0000d6fa51b2c3edUL,
+ 0x0000d6fac6d0cf77UL,
+ 0x0000d6fbb10ce68bUL,
+ 0x0000d6fbeb9bec50UL,
+ 0x0000d6fc9b48fd9fUL,
+ 0x0000d6fd10670929UL,
+ 0x0000d6fdc0141a78UL,
+ 0x0000d6fdfaa3203dUL,
+ 0x0000d6ff1f6e3d16UL,
+ 0x0000d6ff948c48a0UL,
+ 0x0000d70009aa542aUL,
+ 0x0000d700443959efUL,
+ 0x0000d7007ec85fb4UL,
+ 0x0000d700b9576579UL,
+ 0x0000d700f3e66b3eUL,
+ 0x0000d7012e757103UL,
+ 0x0000d701690476c8UL,
+ 0x0000d701a3937c8dUL,
+ 0x0000d701de228252UL,
+ 0x0000d70218b18817UL,
+ 0x0000d70253408ddcUL,
+ 0x0000d7028dcf93a1UL,
+ 0x0000d702c85e9966UL,
+ 0x0000d70302ed9f2bUL,
+ 0x0000d7033d7ca4f0UL,
+ 0x0000d703780baab5UL,
+ 0x0000d703b29ab07aUL,
+ 0x0000d703ed29b63fUL,
+ 0x0000d70427b8bc04UL,
+ 0x0000d7046247c1c9UL,
+ 0x0000d704d765cd53UL,
+ 0x0000d70511f4d318UL,
+ 0x0000d7054c83d8ddUL,
+ 0x0000d7058712dea2UL,
+ 0x0000d705c1a1e467UL,
+ 0x0000d705fc30ea2cUL,
+ 0x0000d70636bfeff1UL,
+ 0x0000d706714ef5b6UL,
+ 0x0000d706abddfb7bUL,
+ 0x0000d70720fc0705UL,
+ 0x0000d7075b8b0ccaUL,
+ 0x0000d707961a128fUL,
+ 0x0000d707d0a91854UL,
+ 0x0000d7080b381e19UL,
+ 0x0000d70845c723deUL,
+ 0x0000d708805629a3UL,
+ 0x0000d708bae52f68UL,
+ 0x0000d708f574352dUL,
+ 0x0000d7096a9240b7UL,
+ 0x0000d709a521467cUL,
+ 0x0000d709dfb04c41UL,
+ 0x0000d70a1a3f5206UL,
+ 0x0000d70a54ce57cbUL,
+ 0x0000d70a8f5d5d90UL,
+ 0x0000d70ac9ec6355UL,
+ 0x0000d70b047b691aUL,
+ 0x0000d70b3f0a6edfUL,
+ 0x0000d70b799974a4UL,
+ 0x0000d70bb4287a69UL,
+ 0x0000d70beeb7802eUL,
+ 0x0000d70c294685f3UL,
+ 0x0000d70c63d58bb8UL,
+ 0x0000d70cd8f39742UL,
+ 0x0000d70d13829d07UL,
+ 0x0000d70d4e11a2ccUL,
+ 0x0000d70d88a0a891UL,
+ 0x0000d70dc32fae56UL,
+ 0x0000d70dfdbeb41bUL,
+ 0x0000d70e72dcbfa5UL,
+ 0x0000d70ead6bc56aUL,
+ 0x0000d70ee7facb2fUL,
+ 0x0000d70f2289d0f4UL,
+ 0x0000d70f5d18d6b9UL,
+ 0x0000d70f97a7dc7eUL,
+ 0x0000d71081e3f392UL,
+ 0x0000d710bc72f957UL,
+ 0x0000d711319104e1UL,
+ 0x0000d711a6af106bUL,
+ 0x0000d711e13e1630UL,
+ 0x0000d712565c21baUL,
+ 0x0000d71290eb277fUL,
+ 0x0000d71306093309UL,
+ 0x0000d713409838ceUL,
+ 0x0000d7137b273e93UL,
+ 0x0000d713b5b64458UL,
+ 0x0000d713f0454a1dUL,
+ 0x0000d7142ad44fe2UL,
+ 0x0000d714656355a7UL,
+ 0x0000d7149ff25b6cUL,
+ 0x0000d714da816131UL,
+ 0x0000d715151066f6UL,
+ 0x0000d7154f9f6cbbUL,
+ 0x0000d715ff4c7e0aUL,
+ 0x0000d71639db83cfUL,
+ 0x0000d716746a8994UL,
+ 0x0000d716e988951eUL,
+ 0x0000d71724179ae3UL,
+ 0x0000d7175ea6a0a8UL,
+ 0x0000d7179935a66dUL,
+ 0x0000d717d3c4ac32UL,
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+ 0x0000b71b73ba6949UL,
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+ 0x0000665c9530831eUL,
+ 0x00004e69052e5916UL,
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+ 0x000046b3d09b4fb8UL,
+ 0x00008953f227c70cUL,
+ 0x000030b8e483cb8aUL,
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+ 0x0000443003c6978dUL,
+ 0x0000b6d12d66cb6eUL,
+ 0x0000d334e34dc73eUL,
+ 0x0000e7b869853024UL,
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+ 0x0000c2db9a0846a9UL,
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+ 0x00002f3dddefdfc8UL,
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+ 0x000041189e701713UL,
+ 0x000020c349717d15UL,
+ 0x0000184bc961e904UL,
+ 0x00004cbfcbade9cfUL,
+ 0x00005a5a6110fd2dUL,
+ 0x0000b697cbcb7de6UL,
+ 0x0000904f568bcc9cUL,
+ 0x0000b01154abc38bUL,
+ 0x0000c87158f58a99UL,
+ 0x0000ac92da9a7773UL,
+ 0x00008fd65cda9d94UL,
+ 0x0000d30048bca22dUL,
+ 0x0000bc7f591ba61aUL,
+ 0x000078a8b2577e07UL,
+ 0x0000ba202547ba46UL,
+ 0x00007d60c8bf7eefUL,
+ 0x0000c22e3940d8daUL,
+ 0x0000534d96ff3580UL,
+ 0x0000c721deecb1d9UL,
+ 0x0000d7e7de7fc37dUL,
+ 0x00005c1cabf44bd1UL,
+ 0x0000cd5c05d7affaUL,
+ 0x0000d2cb904fc40cUL,
+ 0x0000d1ff9bf9a5a3UL,
+ 0x0000da71e0a6a345UL,
+ 0x0000ee3c6ee6cca1UL,
+ 0x0000b402d8fe1ef1UL,
+ 0x0000bfdb4347a6a8UL,
+ 0x000059949ce6f0d3UL,
+ 0x0000d69b47556af2UL,
+ 0x00002db8fc92b52aUL,
+ 0x000007598a5ea76eUL,
+ 0x0000893c6f7ab20bUL,
+ 0x00004debd6859346UL,
+ 0x000019573bce43b7UL,
+ 0x0000c29a5ee57e05UL,
+ 0x0000d4c50a628ee4UL,
+ 0x000032470be20a94UL,
+ 0x0000faa4a6858f4bUL,
+ 0x0000b83fefafe64cUL,
+ 0x000041a3b00e2badUL,
+ 0x00007eea68c8b0d5UL,
+ 0x0000e4cb277643bbUL,
+ 0x0000f62694c8e968UL,
+ 0x00002b6ca9f596a4UL,
+ 0x0000965b79a4b586UL,
+ 0x0000bae10592bc1bUL,
+ 0x0000157649f6665fUL,
+ 0x0000333634b8bd28UL,
+ 0x00004661b2ae40aeUL,
+ 0x0000736d5af65e50UL,
+ 0x000082ded6aadd22UL,
+ 0x000087d87d6859e2UL,
+ 0x0000eb486b3d44b3UL,
+ 0x0000e22e5df6a682UL,
+ 0x0000f4037c814993UL,
+ 0x0000e6d1ab615770UL,
+ 0x000028d49892455aUL,
+ 0x00007e83a0a13dccUL,
+ 0x00007e6d77e6fc6bUL,
+ 0x0000159aecbef9b0UL,
+ 0x0000957439849406UL,
+ 0x000007bd9b272e26UL,
+ 0x0000dd439000bc70UL,
+ 0x000099c7947b7d1cUL,
+ 0x0000bb8c4e2f373cUL,
+ 0x000018bccac8b0f5UL,
+};
+apriltag_family_t *tagCustom48h12_create()
+{
+ apriltag_family_t *tf = calloc(1, sizeof(apriltag_family_t));
+ tf->name = strdup("tagCustom48h12");
+ tf->h = 12;
+ tf->ncodes = 42211;
+ tf->codes = codedata;
+ tf->nbits = 48;
+ tf->bit_x = calloc(48, sizeof(uint32_t));
+ tf->bit_y = calloc(48, sizeof(uint32_t));
+ tf->bit_x[0] = -2;
+ tf->bit_y[0] = -2;
+ tf->bit_x[1] = -1;
+ tf->bit_y[1] = -2;
+ tf->bit_x[2] = 0;
+ tf->bit_y[2] = -2;
+ tf->bit_x[3] = 1;
+ tf->bit_y[3] = -2;
+ tf->bit_x[4] = 2;
+ tf->bit_y[4] = -2;
+ tf->bit_x[5] = 3;
+ tf->bit_y[5] = -2;
+ tf->bit_x[6] = 4;
+ tf->bit_y[6] = -2;
+ tf->bit_x[7] = 5;
+ tf->bit_y[7] = -2;
+ tf->bit_x[8] = 6;
+ tf->bit_y[8] = -2;
+ tf->bit_x[9] = 1;
+ tf->bit_y[9] = 1;
+ tf->bit_x[10] = 2;
+ tf->bit_y[10] = 1;
+ tf->bit_x[11] = 3;
+ tf->bit_y[11] = 1;
+ tf->bit_x[12] = 7;
+ tf->bit_y[12] = -2;
+ tf->bit_x[13] = 7;
+ tf->bit_y[13] = -1;
+ tf->bit_x[14] = 7;
+ tf->bit_y[14] = 0;
+ tf->bit_x[15] = 7;
+ tf->bit_y[15] = 1;
+ tf->bit_x[16] = 7;
+ tf->bit_y[16] = 2;
+ tf->bit_x[17] = 7;
+ tf->bit_y[17] = 3;
+ tf->bit_x[18] = 7;
+ tf->bit_y[18] = 4;
+ tf->bit_x[19] = 7;
+ tf->bit_y[19] = 5;
+ tf->bit_x[20] = 7;
+ tf->bit_y[20] = 6;
+ tf->bit_x[21] = 4;
+ tf->bit_y[21] = 1;
+ tf->bit_x[22] = 4;
+ tf->bit_y[22] = 2;
+ tf->bit_x[23] = 4;
+ tf->bit_y[23] = 3;
+ tf->bit_x[24] = 7;
+ tf->bit_y[24] = 7;
+ tf->bit_x[25] = 6;
+ tf->bit_y[25] = 7;
+ tf->bit_x[26] = 5;
+ tf->bit_y[26] = 7;
+ tf->bit_x[27] = 4;
+ tf->bit_y[27] = 7;
+ tf->bit_x[28] = 3;
+ tf->bit_y[28] = 7;
+ tf->bit_x[29] = 2;
+ tf->bit_y[29] = 7;
+ tf->bit_x[30] = 1;
+ tf->bit_y[30] = 7;
+ tf->bit_x[31] = 0;
+ tf->bit_y[31] = 7;
+ tf->bit_x[32] = -1;
+ tf->bit_y[32] = 7;
+ tf->bit_x[33] = 4;
+ tf->bit_y[33] = 4;
+ tf->bit_x[34] = 3;
+ tf->bit_y[34] = 4;
+ tf->bit_x[35] = 2;
+ tf->bit_y[35] = 4;
+ tf->bit_x[36] = -2;
+ tf->bit_y[36] = 7;
+ tf->bit_x[37] = -2;
+ tf->bit_y[37] = 6;
+ tf->bit_x[38] = -2;
+ tf->bit_y[38] = 5;
+ tf->bit_x[39] = -2;
+ tf->bit_y[39] = 4;
+ tf->bit_x[40] = -2;
+ tf->bit_y[40] = 3;
+ tf->bit_x[41] = -2;
+ tf->bit_y[41] = 2;
+ tf->bit_x[42] = -2;
+ tf->bit_y[42] = 1;
+ tf->bit_x[43] = -2;
+ tf->bit_y[43] = 0;
+ tf->bit_x[44] = -2;
+ tf->bit_y[44] = -1;
+ tf->bit_x[45] = 1;
+ tf->bit_y[45] = 4;
+ tf->bit_x[46] = 1;
+ tf->bit_y[46] = 3;
+ tf->bit_x[47] = 1;
+ tf->bit_y[47] = 2;
+ tf->width_at_border = 6;
+ tf->total_width = 10;
+ tf->reversed_border = true;
+ return tf;
+}
+
+void tagCustom48h12_destroy(apriltag_family_t *tf)
+{
+ free(tf->bit_x);
+ free(tf->bit_y);
+ free(tf->name);
+ free(tf);
+}
diff --git a/third_party/apriltag/tagCustom48h12.h b/third_party/apriltag/tagCustom48h12.h
new file mode 100644
index 0000000..564a98a
--- /dev/null
+++ b/third_party/apriltag/tagCustom48h12.h
@@ -0,0 +1,44 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#ifndef _TAGCustom48H12
+#define _TAGCustom48H12
+
+#include "apriltag.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+apriltag_family_t *tagCustom48h12_create();
+void tagCustom48h12_destroy(apriltag_family_t *tf);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/third_party/apriltag/tagStandard41h12.c b/third_party/apriltag/tagStandard41h12.c
new file mode 100644
index 0000000..6d77eb9
--- /dev/null
+++ b/third_party/apriltag/tagStandard41h12.c
@@ -0,0 +1,2252 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <stdlib.h>
+#include "tagStandard41h12.h"
+
+static uint64_t codedata[2115] = {
+ 0x000001bd8a64ad10UL,
+ 0x000001bdc4f3b2d5UL,
+ 0x000001bdff82b89aUL,
+ 0x000001be3a11be5fUL,
+ 0x000001be74a0c424UL,
+ 0x000001beaf2fc9e9UL,
+ 0x000001bee9becfaeUL,
+ 0x000001bf244dd573UL,
+ 0x000001bf5edcdb38UL,
+ 0x000001bf996be0fdUL,
+ 0x000001bfd3fae6c2UL,
+ 0x000001c00e89ec87UL,
+ 0x000001c04918f24cUL,
+ 0x000001c0be36fdd6UL,
+ 0x000001c0f8c6039bUL,
+ 0x000001c133550960UL,
+ 0x000001c16de40f25UL,
+ 0x000001c21d912074UL,
+ 0x000001c258202639UL,
+ 0x000001c292af2bfeUL,
+ 0x000001c307cd3788UL,
+ 0x000001c37ceb4312UL,
+ 0x000001c3b77a48d7UL,
+ 0x000001c3f2094e9cUL,
+ 0x000001c42c985461UL,
+ 0x000001c4a1b65febUL,
+ 0x000001c4dc4565b0UL,
+ 0x000001c516d46b75UL,
+ 0x000001c55163713aUL,
+ 0x000001c63b9f884eUL,
+ 0x000001c6762e8e13UL,
+ 0x000001c6eb4c999dUL,
+ 0x000001c725db9f62UL,
+ 0x000001c7606aa527UL,
+ 0x000001c7d588b0b1UL,
+ 0x000001c81017b676UL,
+ 0x000001c84aa6bc3bUL,
+ 0x000001c88535c200UL,
+ 0x000001c8bfc4c7c5UL,
+ 0x000001c96f71d914UL,
+ 0x000001c9e48fe49eUL,
+ 0x000001ca1f1eea63UL,
+ 0x000001ca59adf028UL,
+ 0x000001cb095b0177UL,
+ 0x000001cb43ea073cUL,
+ 0x000001cbb90812c6UL,
+ 0x000001cc68b52415UL,
+ 0x000001cca34429daUL,
+ 0x000001ccddd32f9fUL,
+ 0x000001cd18623564UL,
+ 0x000001cd8d8040eeUL,
+ 0x000001cdc80f46b3UL,
+ 0x000001ce029e4c78UL,
+ 0x000001ce77bc5802UL,
+ 0x000001ceb24b5dc7UL,
+ 0x000001ceecda638cUL,
+ 0x000001cf27696951UL,
+ 0x000001cf9c8774dbUL,
+ 0x000001d086c38befUL,
+ 0x000001d136709d3eUL,
+ 0x000001d1ab8ea8c8UL,
+ 0x000001d25b3bba17UL,
+ 0x000001d295cabfdcUL,
+ 0x000001d30ae8cb66UL,
+ 0x000001d3f524e27aUL,
+ 0x000001d42fb3e83fUL,
+ 0x000001d46a42ee04UL,
+ 0x000001d4a4d1f3c9UL,
+ 0x000001d519efff53UL,
+ 0x000001d5547f0518UL,
+ 0x000001d5c99d10a2UL,
+ 0x000001d6042c1667UL,
+ 0x000001d6794a21f1UL,
+ 0x000001d6ee682d7bUL,
+ 0x000001d763863905UL,
+ 0x000001d7d8a4448fUL,
+ 0x000001d813334a54UL,
+ 0x000001d84dc25019UL,
+ 0x000001d8885155deUL,
+ 0x000001d8c2e05ba3UL,
+ 0x000001d8fd6f6168UL,
+ 0x000001d9e7ab787cUL,
+ 0x000001da5cc98406UL,
+ 0x000001da975889cbUL,
+ 0x000001db0c769555UL,
+ 0x000001db47059b1aUL,
+ 0x000001dbbc23a6a4UL,
+ 0x000001dbf6b2ac69UL,
+ 0x000001dca65fbdb8UL,
+ 0x000001dce0eec37dUL,
+ 0x000001ddcb2ada91UL,
+ 0x000001df651402f4UL,
+ 0x000001df9fa308b9UL,
+ 0x000001e014c11443UL,
+ 0x000001e223c84830UL,
+ 0x000001e25e574df5UL,
+ 0x000001e383226aceUL,
+ 0x000001e3bdb17093UL,
+ 0x000001e4a7ed87a7UL,
+ 0x000001e4e27c8d6cUL,
+ 0x000001e51d0b9331UL,
+ 0x000001e592299ebbUL,
+ 0x000001e60747aa45UL,
+ 0x000001e67c65b5cfUL,
+ 0x000001e6b6f4bb94UL,
+ 0x000001e766a1cce3UL,
+ 0x000001e9008af546UL,
+ 0x000001e9eac70c5aUL,
+ 0x000001ea2556121fUL,
+ 0x000001ead503236eUL,
+ 0x000001eb84b034bdUL,
+ 0x000001edce466e6fUL,
+ 0x000001eeb8828583UL,
+ 0x000001eef3118b48UL,
+ 0x000001ef2da0910dUL,
+ 0x000001f0526bade6UL,
+ 0x000001f10218bf35UL,
+ 0x000001f1b1c5d084UL,
+ 0x000001f226e3dc0eUL,
+ 0x000001f34baef8e7UL,
+ 0x000001f3c0cd0471UL,
+ 0x000001f435eb0ffbUL,
+ 0x000001f55ab62cd4UL,
+ 0x000001f5cfd4385eUL,
+ 0x000001f67f8149adUL,
+ 0x000001f7dedb6c4bUL,
+ 0x000001f88e887d9aUL,
+ 0x000001f8c917835fUL,
+ 0x000001f903a68924UL,
+ 0x000001f9b3539a73UL,
+ 0x000001fa9d8fb187UL,
+ 0x000001fd21b4f0feUL,
+ 0x000001fd5c43f6c3UL,
+ 0x000001fe0bf10812UL,
+ 0x00000000558741c4UL,
+ 0x00000000caa54d4eUL,
+ 0x000000013fc358d8UL,
+ 0x00000002d9ac813bUL,
+ 0x000000034eca8cc5UL,
+ 0x000000038959928aUL,
+ 0x000000043906a3d9UL,
+ 0x00000004ae24af63UL,
+ 0x00000004e8b3b528UL,
+ 0x000000052342baedUL,
+ 0x0000000857150bb3UL,
+ 0x00000009b66f2e51UL,
+ 0x0000000adb3a4b2aUL,
+ 0x0000000b8ae75c79UL,
+ 0x0000000e499ba1b5UL,
+ 0x0000000f6e66be8eUL,
+ 0x00000010cdc0e12cUL,
+ 0x0000001142deecb6UL,
+ 0x0000001351e620a3UL,
+ 0x000000143c2237b7UL,
+ 0x00000017356582b8UL,
+ 0x00000017aa838e42UL,
+ 0x000000181fa199ccUL,
+ 0x00000018cf4eab1bUL,
+ 0x00000019446cb6a5UL,
+ 0x0000001aa3c6d943UL,
+ 0x0000001b8e02f057UL,
+ 0x0000001bc891f61cUL,
+ 0x0000001e4cb73593UL,
+ 0x00000022303697a8UL,
+ 0x000000231a72aebcUL,
+ 0x00000023ca1fc00bUL,
+ 0x0000002688d40547UL,
+ 0x00000026c3630b0cUL,
+ 0x0000002738811696UL,
+ 0x00000027e82e27e5UL,
+ 0x000000290cf944beUL,
+ 0x0000002b568f7e70UL,
+ 0x0000002b911e8435UL,
+ 0x0000002c063c8fbfUL,
+ 0x0000002cb5e9a10eUL,
+ 0x0000002d2b07ac98UL,
+ 0x0000002e1543c3acUL,
+ 0x0000002e4fd2c971UL,
+ 0x0000002f3a0ee085UL,
+ 0x00000031f8c325c1UL,
+ 0x000000326de1314bUL,
+ 0x00000035a1b38211UL,
+ 0x0000003651609360UL,
+ 0x000000368bef9925UL,
+ 0x000000373b9caa74UL,
+ 0x00000037b0bab5feUL,
+ 0x0000003b1f1c0c89UL,
+ 0x0000003b59ab124eUL,
+ 0x0000003bcec91dd8UL,
+ 0x0000003c0958239dUL,
+ 0x0000003d68b2463bUL,
+ 0x0000003e185f578aUL,
+ 0x0000003e52ee5d4fUL,
+ 0x00000042366dbf64UL,
+ 0x0000004320a9d678UL,
+ 0x000000435b38dc3dUL,
+ 0x0000004395c7e202UL,
+ 0x000000444574f351UL,
+ 0x000000452fb10a65UL,
+ 0x00000045a4cf15efUL,
+ 0x0000004aad1994ddUL,
+ 0x0000004e5609f12dUL,
+ 0x000000506511251aUL,
+ 0x00000052e9366491UL,
+ 0x000000535e54701bUL,
+ 0x00000053d3727ba5UL,
+ 0x00000054831f8cf4UL,
+ 0x000000565797bb1cUL,
+ 0x0000005bd5004594UL,
+ 0x0000005c0f8f4b59UL,
+ 0x0000005de4077981UL,
+ 0x0000005f08d2965aUL,
+ 0x000000602d9db333UL,
+ 0x00000064c0ca2697UL,
+ 0x0000006535e83221UL,
+ 0x00000065e5954370UL,
+ 0x000000665ab34efaUL,
+ 0x00000066cfd15a84UL,
+ 0x00000067ba0d7198UL,
+ 0x000000682f2b7d22UL,
+ 0x0000006953f699fbUL,
+ 0x00000069c914a585UL,
+ 0x0000006a03a3ab4aUL,
+ 0x0000006b286ec823UL,
+ 0x0000006c87c8eac1UL,
+ 0x0000006d720501d5UL,
+ 0x0000006f810c35c2UL,
+ 0x0000006fbb9b3b87UL,
+ 0x00000071caa26f74UL,
+ 0x00000073648b97d7UL,
+ 0x000000741438a926UL,
+ 0x000000757392cbc4UL,
+ 0x0000007dea3ea13dUL,
+ 0x0000007ed47ab851UL,
+ 0x000000827d6b14a1UL,
+ 0x00000082f289202bUL,
+ 0x000000832d1825f0UL,
+ 0x0000008367a72bb5UL,
+ 0x00000083dcc5373fUL,
+ 0x000000886ff1aaa3UL,
+ 0x0000008a09dad306UL,
+ 0x0000008a4469d8cbUL,
+ 0x0000008cc88f1842UL,
+ 0x0000008d3dad23ccUL,
+ 0x0000008ded5a351bUL,
+ 0x0000008f87435d7eUL,
+ 0x00000090717f7492UL,
+ 0x000000915bbb8ba6UL,
+ 0x00000092f5a4b409UL,
+ 0x000000974e4221a8UL,
+ 0x0000009997d85b5aUL,
+ 0x0000009a47856ca9UL,
+ 0x0000009e2b04cebeUL,
+ 0x000000a0e9b913faUL,
+ 0x000000a36dde5371UL,
+ 0x000000a8b0b7d824UL,
+ 0x000000a8eb46dde9UL,
+ 0x000000aa1011fac2UL,
+ 0x000000ac59a83474UL,
+ 0x000000afc8098affUL,
+ 0x000000b24c2eca76UL,
+ 0x000000b2fbdbdbc5UL,
+ 0x000000b3e617f2d9UL,
+ 0x000000b545721577UL,
+ 0x000000ba132d8ea0UL,
+ 0x000000c005b424a2UL,
+ 0x000000c3e93386b7UL,
+ 0x000000c5488da955UL,
+ 0x000000c5f83abaa4UL,
+ 0x000000c9669c112fUL,
+ 0x000000cdbf397eceUL,
+ 0x000000ce34578a58UL,
+ 0x000000cea97595e2UL,
+ 0x000000d426de205aUL,
+ 0x000000dbeddce484UL,
+ 0x000000ddc25512acUL,
+ 0x000000e75dcc04feUL,
+ 0x000000ebb669729dUL,
+ 0x000000ef99e8d4b2UL,
+ 0x000000f0f942f750UL,
+ 0x000000f342d93102UL,
+ 0x000000f6ebc98d52UL,
+ 0x000000fa1f9bde18UL,
+ 0x000000fb09d7f52cUL,
+ 0x000000fbf4140c40UL,
+ 0x000000feed575741UL,
+ 0x0000010345f4c4e0UL,
+ 0x000001051a6cf308UL,
+ 0x000001084e3f43ceUL,
+ 0x00000109387b5ae2UL,
+ 0x00000109e8286c31UL,
+ 0x0000010a5d4677bbUL,
+ 0x0000010b0cf3890aUL,
+ 0x0000010c31bea5e3UL,
+ 0x0000010d5689c2bcUL,
+ 0x0000010e0636d40bUL,
+ 0x000001129963476fUL,
+ 0x00000113839f5e83UL,
+ 0x0000011a25d305d4UL,
+ 0x0000011b4a9e22adUL,
+ 0x0000011bbfbc2e37UL,
+ 0x0000011dcec36224UL,
+ 0x0000011ef38e7efdUL,
+ 0x0000011f68ac8a87UL,
+ 0x0000011fddca9611UL,
+ 0x0000012018599bd6UL,
+ 0x0000012052e8a19bUL,
+ 0x0000012a9e0ca53cUL,
+ 0x0000013056043579UL,
+ 0x0000013523bfaea2UL,
+ 0x00000140ce3dd4e1UL,
+ 0x00000142dd4508ceUL,
+ 0x0000014a2f25c16eUL,
+ 0x0000014aded2d2bdUL,
+ 0x0000014e12a52383UL,
+ 0x00000152a5d196e7UL,
+ 0x00000153557ea836UL,
+ 0x00000154052bb985UL,
+ 0x00000154b4d8cad4UL,
+ 0x00000154ef67d099UL,
+ 0x00000157ae1c15d5UL,
+ 0x00000157e8ab1b9aUL,
+ 0x0000015b1c7d6c60UL,
+ 0x00000162e37c308aUL,
+ 0x00000169c03edda0UL,
+ 0x0000016ec8895c8eUL,
+ 0x0000016f3da76818UL,
+ 0x00000171121f9640UL,
+ 0x00000182af245281UL,
+ 0x0000018aeb412235UL,
+ 0x0000018b9aee3384UL,
+ 0x000001920292d510UL,
+ 0x00000195e6123725UL,
+ 0x0000019ab3cdb04eUL,
+ 0x0000019bd898cd27UL,
+ 0x0000019d37f2efc5UL,
+ 0x000001a2b55b7a3dUL,
+ 0x000001a6d369e217UL,
+ 0x000001adeabb94f2UL,
+ 0x000001b3dd422af4UL,
+ 0x000001ba7f75d245UL,
+ 0x000001bb2f22e394UL,
+ 0x000001c15c387f5bUL,
+ 0x000001c6d9a109d3UL,
+ 0x000001cc91989a10UL,
+ 0x000001d83c16c04fUL,
+ 0x000001e127e0a152UL,
+ 0x000001e42123ec53UL,
+ 0x000001e6dfd8318fUL,
+ 0x000001e879c159f2UL,
+ 0x000001f75811d0f7UL,
+ 0x000001f87cdcedd0UL,
+ 0x000001f8f1faf95aUL,
+ 0x0000000168a6ced3UL,
+ 0x0000000a19e1aa11UL,
+ 0x0000000b3eacc6eaUL,
+ 0x0000000e37f011ebUL,
+ 0x0000001081864b9dUL,
+ 0x000000188314158cUL,
+ 0x0000001f5fd6c2a2UL,
+ 0x000000216eddf68fUL,
+ 0x00000038fe6948d2UL,
+ 0x0000003fa09cf023UL,
+ 0x00000041ea3329d5UL,
+ 0x0000004caa753900UL,
+ 0x0000004dcf4055d9UL,
+ 0x00000052d78ad4c7UL,
+ 0x00000056807b3117UL,
+ 0x00000058ca116ac9UL,
+ 0x0000005ebc9800cbUL,
+ 0x0000006265885d1bUL,
+ 0x00000070942bc2d1UL,
+ 0x000000738d6f0dd2UL,
+ 0x0000007adf4fc672UL,
+ 0x00000085da20db62UL,
+ 0x0000008a6d4d4ec6UL,
+ 0x0000008ae26b5a50UL,
+ 0x0000008b92186b9fUL,
+ 0x0000008ec5eabc65UL,
+ 0x00000096525a7acaUL,
+ 0x000000a0d80d8430UL,
+ 0x000000a5a5c8fd59UL,
+ 0x000000a9142a53e4UL,
+ 0x000000b48419745eUL,
+ 0x000000b86798d673UL,
+ 0x000000c6963c3c29UL,
+ 0x000000ca3f2c9879UL,
+ 0x000000f0e7976786UL,
+ 0x000000f41b69b84cUL,
+ 0x000000fe668dbbedUL,
+ 0x000000ff163acd3cUL,
+ 0x000001015fd106eeUL,
+ 0x0000010fc9037269UL,
+ 0x0000011e6cc4e3a9UL,
+ 0x00000136716e4176UL,
+ 0x0000013f97c7283eUL,
+ 0x00000142567b6d7aUL,
+ 0x00000148f8af14cbUL,
+ 0x0000014a92983d2eUL,
+ 0x0000014ca19f711bUL,
+ 0x0000014d16bd7ca5UL,
+ 0x00000157d6ff8bd0UL,
+ 0x0000015eee513eabUL,
+ 0x0000016ca7d698d7UL,
+ 0x00000174a96462c6UL,
+ 0x0000017593a079daUL,
+ 0x00000177a2a7adc7UL,
+ 0x000001808e718ecaUL,
+ 0x00000181038f9a54UL,
+ 0x00000190918d22a8UL,
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+ 0x00000054f111c2e2UL,
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+ 0x000001ec92ece825UL,
+ 0x0000000112998bc8UL,
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+ 0x00000149f696fd0fUL,
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+ 0x000001a3b030519cUL,
+ 0x000001e1d806bfcdUL,
+ 0x0000000bc65b06e8UL,
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+ 0x00000151f5a1ae96UL,
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+ 0x000001f06d2b5a4dUL,
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+ 0x0000007ece8719c7UL,
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+ 0x000000b920dbfa1eUL,
+ 0x00000077c3d750efUL,
+ 0x000000c8a77b91e5UL,
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+ 0x0000005c151f0386UL,
+ 0x000000f36c123216UL,
+ 0x000000733590bd56UL,
+ 0x000000134800baf0UL,
+ 0x00000166cf1de51fUL,
+ 0x00000117dd06e881UL,
+ 0x00000129a0921efbUL,
+ 0x000000a6ff0ca5c4UL,
+ 0x0000008ea200b050UL,
+ 0x00000034f9387b94UL,
+ 0x000001d3723ad2deUL,
+ 0x0000018e5af2b62eUL,
+ 0x0000010bd979c6dfUL,
+ 0x0000014d339607a4UL,
+ 0x000001b88544514aUL,
+ 0x0000003a4450d2d8UL,
+ 0x000001a61117a18fUL,
+ 0x000001e21725e539UL,
+ 0x00000123cf7364fdUL,
+ 0x00000179908b5b01UL,
+ 0x00000069ec91a349UL,
+ 0x000000945679ec02UL,
+ 0x000000e6a4ca1b53UL,
+ 0x0000007e2c612da0UL,
+ 0x000001f568f32763UL,
+ 0x000001b564f98a0fUL,
+ 0x00000020e11f4d89UL,
+ 0x00000090c3ea1433UL,
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+ 0x000000dc4e4b061fUL,
+ 0x000001c813886671UL,
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+ 0x000000fe30e80a8fUL,
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+ 0x000000e53c335255UL,
+ 0x00000174d9bd2dc8UL,
+ 0x0000007d39cfa317UL,
+ 0x000001c0992c6850UL,
+ 0x00000112351c0a60UL,
+ 0x000001e0d5e6cd44UL,
+ 0x000000667998400cUL,
+ 0x00000042dfaef259UL,
+ 0x0000019abbd3ed08UL,
+ 0x0000014ad9c7ab72UL,
+ 0x00000056389ff426UL,
+ 0x0000019427c1236cUL,
+ 0x000001a4063a9d61UL,
+ 0x000000af87f97b4dUL,
+ 0x000001666612b513UL,
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+ 0x000001e873a1cf84UL,
+ 0x000001701f1aeddcUL,
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+ 0x000001ddc760ab43UL,
+ 0x00000022da169d55UL,
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+ 0x000000ee14c0e6dbUL,
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+ 0x000000c2b99da72cUL,
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+ 0x000001f1d4b1d98dUL,
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+ 0x0000016e46996bb3UL,
+ 0x000000d907071ae1UL,
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+ 0x0000006632db9a04UL,
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+ 0x0000006b859327f2UL,
+ 0x0000018f08bb0ad5UL,
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+ 0x0000001e8c644d0dUL,
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+ 0x000000bfbda5d84cUL,
+ 0x0000017fdf137ad8UL,
+ 0x000000777ffe01dbUL,
+ 0x0000013b9a93d0a6UL,
+ 0x00000032bde748a4UL,
+ 0x00000104f87c4ba8UL,
+ 0x000001102e5438a0UL,
+ 0x000001790599f8b8UL,
+ 0x0000006e0e97a55cUL,
+ 0x000000980d898e6bUL,
+ 0x0000014035825c86UL,
+ 0x00000199ded7a4bfUL,
+ 0x00000138ab0050f4UL,
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+ 0x00000129ad4d2a65UL,
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+ 0x000001332c5d323cUL,
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+ 0x000001c66d9f5293UL,
+ 0x0000017e232d0d9aUL,
+ 0x0000009976915862UL,
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+ 0x000000b2ba534e99UL,
+ 0x00000160d1bf0cf7UL,
+ 0x0000000eb9922d30UL,
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+ 0x000001d158a6dfbeUL,
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+ 0x00000132d8c19753UL,
+ 0x0000014b4f73c0c3UL,
+ 0x0000001f33b28cfdUL,
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+ 0x000001514364455cUL,
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+ 0x00000167cedc2d26UL,
+ 0x000001bb3c039f02UL,
+ 0x00000144f9f06518UL,
+ 0x00000086d324dd1cUL,
+ 0x0000012c4eb26f57UL,
+ 0x00000078ea843219UL,
+ 0x0000006a55f7e6b6UL,
+ 0x0000006d7b34c6e0UL,
+ 0x000001016cfeb2ecUL,
+ 0x0000004215676871UL,
+ 0x00000156b12b4c31UL,
+ 0x000000586fdbe5d9UL,
+ 0x00000030212d8b7bUL,
+ 0x000001cc7382e8cdUL,
+ 0x0000006ca5a2d1ecUL,
+ 0x000000875c7a96f2UL,
+ 0x000001710b90c031UL,
+ 0x00000010d1d8c47aUL,
+ 0x000001bf01e51bb9UL,
+ 0x000000c1793e8778UL,
+ 0x000001b326c2d7e2UL,
+ 0x000000c5310a5aabUL,
+ 0x0000011cd7b3c8e5UL,
+ 0x0000018d5912ebaaUL,
+ 0x0000017450d723c4UL,
+ 0x000000ab2fa34dcdUL,
+ 0x0000012c7246a7bcUL,
+ 0x000001b365296a34UL,
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+ 0x00000050467ba354UL,
+ 0x0000002cc0b816e1UL,
+ 0x0000017598c4f17dUL,
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+ 0x0000005a5d5379ecUL,
+ 0x000001aaecddc00dUL,
+ 0x000001325e99894fUL,
+ 0x0000003935af6226UL,
+ 0x0000018450e1eebeUL,
+ 0x0000009adfe3a3d0UL,
+ 0x00000079383c9291UL,
+ 0x0000002212102d63UL,
+ 0x00000153d2be7427UL,
+ 0x000000fb53f1bb55UL,
+ 0x000000918bed2982UL,
+ 0x0000010f53f0d799UL,
+ 0x000000526ff4d1b3UL,
+ 0x000000bc90635acdUL,
+ 0x000001453b55ba1dUL,
+ 0x000001079d69bec4UL,
+ 0x000001af3934bd83UL,
+ 0x000000b29697fc3fUL,
+ 0x00000108533de8ddUL,
+ 0x0000012968f67594UL,
+ 0x0000011cbe9cb3edUL,
+ 0x0000000bac4e20c3UL,
+ 0x00000134251aba54UL,
+ 0x0000014eaaa20df5UL,
+ 0x000001528aec9718UL,
+ 0x00000170983cc1ecUL,
+ 0x0000002f097e68c8UL,
+ 0x0000005f746b9d5cUL,
+ 0x000001ca56b310f3UL,
+ 0x0000003972530948UL,
+ 0x0000009ba80f3bceUL,
+ 0x0000016c5f86f30dUL,
+ 0x00000119664abd83UL,
+ 0x0000016fdda25a23UL,
+ 0x0000017631d1a1d3UL,
+ 0x0000003d72d2b20dUL,
+ 0x0000011f52f5697bUL,
+ 0x0000001d6b6d864fUL,
+ 0x00000043d6422f0aUL,
+ 0x0000016ef1aa2e0cUL,
+ 0x000000e1a3790b11UL,
+ 0x000000f1667a531dUL,
+ 0x0000011cc7bbbcdaUL,
+ 0x000001ace1b03f19UL,
+ 0x0000018bd83b1d52UL,
+ 0x0000008a5de68db4UL,
+ 0x0000018fbf08cfefUL,
+ 0x00000082019639ccUL,
+ 0x000000ab6b9a8d3bUL,
+ 0x000001fc4a838fbaUL,
+ 0x00000104f0d67db1UL,
+ 0x000001e4bd144895UL,
+ 0x0000010493faac76UL,
+ 0x0000006f1ac45d00UL,
+ 0x0000001b845ac503UL,
+ 0x000001a071baaaefUL,
+ 0x0000017ce5822109UL,
+ 0x000001a7b9992debUL,
+ 0x000001641ad2afd1UL,
+ 0x000001983f74b6eeUL,
+ 0x0000011dd4491184UL,
+ 0x000001597809c70cUL,
+ 0x000001c9ee207a02UL,
+ 0x000001fb967dbcceUL,
+ 0x00000013dd5d0740UL,
+ 0x000001f04a7cf90aUL,
+ 0x000000bda526f2c0UL,
+ 0x0000000a290afad5UL,
+ 0x000001f74ef5e0edUL,
+ 0x000000ad155bc8deUL,
+ 0x00000008a74e0d64UL,
+ 0x000001e26d6d2095UL,
+ 0x000001efe9d3f3feUL,
+ 0x000000b7bb790080UL,
+ 0x000000e83eb7940bUL,
+ 0x000000195a6721deUL,
+ 0x000001697162ecc6UL,
+ 0x000001a822424eccUL,
+ 0x000000bb9409ef14UL,
+ 0x00000088dc8af7deUL,
+ 0x0000001a109fbdf8UL,
+ 0x000001263a6224e1UL,
+ 0x0000019762451a46UL,
+ 0x00000123f8087a5dUL,
+ 0x000001ee61da2ff8UL,
+ 0x000001050f8b67b3UL,
+ 0x0000005bd05e0ad3UL,
+ 0x0000017f3054510bUL,
+ 0x000001f0a65cbe49UL,
+ 0x000000c38f39ecfbUL,
+ 0x000001b186adf1caUL,
+ 0x00000003c9d6cb25UL,
+ 0x000000b0d33343b8UL,
+ 0x0000008cb15b5077UL,
+ 0x00000083960895ddUL,
+ 0x000000a4f544f26cUL,
+ 0x0000014637fba5b5UL,
+ 0x000000c8a7c5184dUL,
+ 0x00000109ef503b91UL,
+ 0x00000110cc27f58cUL,
+ 0x000001dd15e9f124UL,
+ 0x000001eddb2ca0d9UL,
+ 0x000000aafbfcea5bUL,
+ 0x0000003f14f93014UL,
+ 0x000001c8249b99d9UL,
+ 0x0000007c3667f5b3UL,
+ 0x000001a62b640f70UL,
+ 0x000001eec6a22d2aUL,
+ 0x000000855be93f97UL,
+ 0x000000c7af091027UL,
+ 0x0000010a7ffe2790UL,
+ 0x000001042e09ea4cUL,
+ 0x00000076db25a8e1UL,
+ 0x000001654d706d3fUL,
+ 0x000000260b3a5e33UL,
+ 0x00000088f9419e9eUL,
+ 0x000001d68917df54UL,
+ 0x000001188549820dUL,
+ 0x00000158d48169b9UL,
+ 0x0000019e93fcdd73UL,
+ 0x0000016b91a47690UL,
+ 0x000001fba468bd65UL,
+ 0x000000bb64a6d60fUL,
+ 0x00000157432e4097UL,
+ 0x00000088a4f70f06UL,
+ 0x000000f091d83cf0UL,
+ 0x000001c4a6fbc192UL,
+ 0x000000ada88c3e7dUL,
+ 0x000000e531e141b5UL,
+ 0x000001237b66171cUL,
+ 0x0000012749c7c2f4UL,
+ 0x000000e2cee269f9UL,
+ 0x000000260340689fUL,
+ 0x0000019500504a28UL,
+ 0x0000014432099794UL,
+ 0x00000047cbdd04d3UL,
+ 0x0000001af023fdbeUL,
+ 0x000001eee99e354eUL,
+ 0x00000012649e3affUL,
+ 0x000001a7f7a49cbfUL,
+ 0x000000e43793e465UL,
+ 0x0000006209ca0402UL,
+ 0x000001eadfe92cffUL,
+ 0x0000003dacced0bcUL,
+ 0x00000097a15758c0UL,
+ 0x000001fcd58aeaaeUL,
+ 0x000000ff774c923fUL,
+ 0x0000007a5654482cUL,
+ 0x000001b492028846UL,
+ 0x0000015c12bf403fUL,
+ 0x000001e7575219b9UL,
+ 0x000000342bb31b5cUL,
+ 0x000001a8052db35eUL,
+ 0x000000e8274ad0dbUL,
+ 0x0000000f1a937c8aUL,
+ 0x00000094b5e48ed7UL,
+ 0x000000352cb6ab16UL,
+ 0x0000015cff6a6f12UL,
+ 0x000001ee40155a64UL,
+};
+apriltag_family_t *tagStandard41h12_create()
+{
+ apriltag_family_t *tf = calloc(1, sizeof(apriltag_family_t));
+ tf->name = strdup("tagStandard41h12");
+ tf->h = 12;
+ tf->ncodes = 2115;
+ tf->codes = codedata;
+ tf->nbits = 41;
+ tf->bit_x = calloc(41, sizeof(uint32_t));
+ tf->bit_y = calloc(41, sizeof(uint32_t));
+ tf->bit_x[0] = -2;
+ tf->bit_y[0] = -2;
+ tf->bit_x[1] = -1;
+ tf->bit_y[1] = -2;
+ tf->bit_x[2] = 0;
+ tf->bit_y[2] = -2;
+ tf->bit_x[3] = 1;
+ tf->bit_y[3] = -2;
+ tf->bit_x[4] = 2;
+ tf->bit_y[4] = -2;
+ tf->bit_x[5] = 3;
+ tf->bit_y[5] = -2;
+ tf->bit_x[6] = 4;
+ tf->bit_y[6] = -2;
+ tf->bit_x[7] = 5;
+ tf->bit_y[7] = -2;
+ tf->bit_x[8] = 1;
+ tf->bit_y[8] = 1;
+ tf->bit_x[9] = 2;
+ tf->bit_y[9] = 1;
+ tf->bit_x[10] = 6;
+ tf->bit_y[10] = -2;
+ tf->bit_x[11] = 6;
+ tf->bit_y[11] = -1;
+ tf->bit_x[12] = 6;
+ tf->bit_y[12] = 0;
+ tf->bit_x[13] = 6;
+ tf->bit_y[13] = 1;
+ tf->bit_x[14] = 6;
+ tf->bit_y[14] = 2;
+ tf->bit_x[15] = 6;
+ tf->bit_y[15] = 3;
+ tf->bit_x[16] = 6;
+ tf->bit_y[16] = 4;
+ tf->bit_x[17] = 6;
+ tf->bit_y[17] = 5;
+ tf->bit_x[18] = 3;
+ tf->bit_y[18] = 1;
+ tf->bit_x[19] = 3;
+ tf->bit_y[19] = 2;
+ tf->bit_x[20] = 6;
+ tf->bit_y[20] = 6;
+ tf->bit_x[21] = 5;
+ tf->bit_y[21] = 6;
+ tf->bit_x[22] = 4;
+ tf->bit_y[22] = 6;
+ tf->bit_x[23] = 3;
+ tf->bit_y[23] = 6;
+ tf->bit_x[24] = 2;
+ tf->bit_y[24] = 6;
+ tf->bit_x[25] = 1;
+ tf->bit_y[25] = 6;
+ tf->bit_x[26] = 0;
+ tf->bit_y[26] = 6;
+ tf->bit_x[27] = -1;
+ tf->bit_y[27] = 6;
+ tf->bit_x[28] = 3;
+ tf->bit_y[28] = 3;
+ tf->bit_x[29] = 2;
+ tf->bit_y[29] = 3;
+ tf->bit_x[30] = -2;
+ tf->bit_y[30] = 6;
+ tf->bit_x[31] = -2;
+ tf->bit_y[31] = 5;
+ tf->bit_x[32] = -2;
+ tf->bit_y[32] = 4;
+ tf->bit_x[33] = -2;
+ tf->bit_y[33] = 3;
+ tf->bit_x[34] = -2;
+ tf->bit_y[34] = 2;
+ tf->bit_x[35] = -2;
+ tf->bit_y[35] = 1;
+ tf->bit_x[36] = -2;
+ tf->bit_y[36] = 0;
+ tf->bit_x[37] = -2;
+ tf->bit_y[37] = -1;
+ tf->bit_x[38] = 1;
+ tf->bit_y[38] = 3;
+ tf->bit_x[39] = 1;
+ tf->bit_y[39] = 2;
+ tf->bit_x[40] = 2;
+ tf->bit_y[40] = 2;
+ tf->width_at_border = 5;
+ tf->total_width = 9;
+ tf->reversed_border = true;
+ return tf;
+}
+
+void tagStandard41h12_destroy(apriltag_family_t *tf)
+{
+ free(tf->bit_x);
+ free(tf->bit_y);
+ free(tf->name);
+ free(tf);
+}
diff --git a/third_party/apriltag/tagStandard41h12.h b/third_party/apriltag/tagStandard41h12.h
new file mode 100644
index 0000000..7f2c33b
--- /dev/null
+++ b/third_party/apriltag/tagStandard41h12.h
@@ -0,0 +1,44 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#ifndef _TAGStandard41H12
+#define _TAGStandard41H12
+
+#include "apriltag.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+apriltag_family_t *tagStandard41h12_create();
+void tagStandard41h12_destroy(apriltag_family_t *tf);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/third_party/apriltag/tagStandard52h13.c b/third_party/apriltag/tagStandard52h13.c
new file mode 100644
index 0000000..30e2b62
--- /dev/null
+++ b/third_party/apriltag/tagStandard52h13.c
@@ -0,0 +1,48873 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <stdlib.h>
+#include "tagStandard52h13.h"
+
+static uint64_t codedata[48714] = {
+ 0x0004064a19651ff1UL,
+ 0x0004064a53f425b6UL,
+ 0x0004064a8e832b7bUL,
+ 0x0004064ac9123140UL,
+ 0x0004064b03a13705UL,
+ 0x0004064b3e303ccaUL,
+ 0x0004064b78bf428fUL,
+ 0x0004064bb34e4854UL,
+ 0x0004064beddd4e19UL,
+ 0x0004064c286c53deUL,
+ 0x0004064c62fb59a3UL,
+ 0x0004064c9d8a5f68UL,
+ 0x0004064d12a86af2UL,
+ 0x0004064d4d3770b7UL,
+ 0x0004064dc2557c41UL,
+ 0x0004064dfce48206UL,
+ 0x0004064e377387cbUL,
+ 0x0004064e72028d90UL,
+ 0x0004064eac919355UL,
+ 0x0004064f21af9edfUL,
+ 0x0004064fd15cb02eUL,
+ 0x000406500bebb5f3UL,
+ 0x00040650467abbb8UL,
+ 0x00040650bb98c742UL,
+ 0x00040650f627cd07UL,
+ 0x000406516b45d891UL,
+ 0x00040651a5d4de56UL,
+ 0x000406521af2e9e0UL,
+ 0x000406525581efa5UL,
+ 0x00040653052f00f4UL,
+ 0x000406533fbe06b9UL,
+ 0x000406537a4d0c7eUL,
+ 0x00040653ef6b1808UL,
+ 0x0004065429fa1dcdUL,
+ 0x0004065464892392UL,
+ 0x000406549f182957UL,
+ 0x00040654d9a72f1cUL,
+ 0x00040655143634e1UL,
+ 0x000406554ec53aa6UL,
+ 0x000406558954406bUL,
+ 0x00040655c3e34630UL,
+ 0x00040655fe724bf5UL,
+ 0x000406567390577fUL,
+ 0x00040656ae1f5d44UL,
+ 0x00040657233d68ceUL,
+ 0x00040657985b7458UL,
+ 0x00040657d2ea7a1dUL,
+ 0x00040658480885a7UL,
+ 0x00040658bd269131UL,
+ 0x00040659e1f1ae0aUL,
+ 0x0004065a919ebf59UL,
+ 0x0004065bb669dc32UL,
+ 0x0004065bf0f8e1f7UL,
+ 0x0004065cdb34f90bUL,
+ 0x0004065d15c3fed0UL,
+ 0x0004065d50530495UL,
+ 0x0004065e3a8f1ba9UL,
+ 0x0004065eea3c2cf8UL,
+ 0x0004066049964f96UL,
+ 0x000406608425555bUL,
+ 0x00040660beb45b20UL,
+ 0x0004066133d266aaUL,
+ 0x00040661e37f77f9UL,
+ 0x000406621e0e7dbeUL,
+ 0x00040662932c8948UL,
+ 0x00040662cdbb8f0dUL,
+ 0x00040663084a94d2UL,
+ 0x0004066342d99a97UL,
+ 0x000406637d68a05cUL,
+ 0x00040663f286abe6UL,
+ 0x0004066467a4b770UL,
+ 0x00040664a233bd35UL,
+ 0x00040664dcc2c2faUL,
+ 0x000406651751c8bfUL,
+ 0x0004066551e0ce84UL,
+ 0x00040666b13af122UL,
+ 0x00040666ebc9f6e7UL,
+ 0x0004066760e80271UL,
+ 0x00040668109513c0UL,
+ 0x000406684b241985UL,
+ 0x00040668fad12ad4UL,
+ 0x000406696fef365eUL,
+ 0x00040669aa7e3c23UL,
+ 0x00040669e50d41e8UL,
+ 0x0004066bb9857010UL,
+ 0x0004066bf41475d5UL,
+ 0x0004066c6932815fUL,
+ 0x0004066ca3c18724UL,
+ 0x0004066d536e9873UL,
+ 0x0004066dc88ca3fdUL,
+ 0x0004066e031ba9c2UL,
+ 0x0004066eb2c8bb11UL,
+ 0x000406704cb1e374UL,
+ 0x00040670c1cfeefeUL,
+ 0x00040670fc5ef4c3UL,
+ 0x0004067136edfa88UL,
+ 0x00040671ac0c0612UL,
+ 0x00040673bb1339ffUL,
+ 0x000406746ac04b4eUL,
+ 0x00040676b4568500UL,
+ 0x00040676eee58ac5UL,
+ 0x000406776403964fUL,
+ 0x00040678fdecbeb2UL,
+ 0x0004067b4782f864UL,
+ 0x0004067c6c4e153dUL,
+ 0x0004067ce16c20c7UL,
+ 0x0004067d568a2c51UL,
+ 0x0004067eb5e44eefUL,
+ 0x0004067f2b025a79UL,
+ 0x0004067f6591603eUL,
+ 0x000406808a5c7d17UL,
+ 0x00040680c4eb82dcUL,
+ 0x00040680ff7a88a1UL,
+ 0x000406817498942bUL,
+ 0x00040681e9b69fb5UL,
+ 0x000406825ed4ab3fUL,
+ 0x00040682d3f2b6c9UL,
+ 0x000406834910c253UL,
+ 0x00040683be2ecdddUL,
+ 0x000406846ddbdf2cUL,
+ 0x00040684a86ae4f1UL,
+ 0x00040684e2f9eab6UL,
+ 0x000406855817f640UL,
+ 0x0004068592a6fc05UL,
+ 0x00040685cd3601caUL,
+ 0x000406867ce31319UL,
+ 0x00040686b77218deUL,
+ 0x00040687671f2a2dUL,
+ 0x00040687a1ae2ff2UL,
+ 0x00040688515b4141UL,
+ 0x000406888bea4706UL,
+ 0x00040689eb4469a4UL,
+ 0x0004068a6062752eUL,
+ 0x0004068a9af17af3UL,
+ 0x0004068ad58080b8UL,
+ 0x0004068b100f867dUL,
+ 0x0004068b4a9e8c42UL,
+ 0x0004068b852d9207UL,
+ 0x0004068c34daa356UL,
+ 0x0004068ce487b4a5UL,
+ 0x0004068d9434c5f4UL,
+ 0x0004068dcec3cbb9UL,
+ 0x0004068f68acf41cUL,
+ 0x0004069052e90b30UL,
+ 0x00040691b2432dceUL,
+ 0x00040691ecd23393UL,
+ 0x0004069261f03f1dUL,
+ 0x000406929c7f44e2UL,
+ 0x00040692d70e4aa7UL,
+ 0x00040693119d506cUL,
+ 0x000406934c2c5631UL,
+ 0x0004069386bb5bf6UL,
+ 0x00040693c14a61bbUL,
+ 0x0004069436686d45UL,
+ 0x000406955b338a1eUL,
+ 0x0004069595c28fe3UL,
+ 0x00040695d05195a8UL,
+ 0x000406960ae09b6dUL,
+ 0x00040696f51cb281UL,
+ 0x000406972fabb846UL,
+ 0x0004069819e7cf5aUL,
+ 0x000406988f05dae4UL,
+ 0x000406993eb2ec33UL,
+ 0x00040699b3d0f7bdUL,
+ 0x0004069ad89c1496UL,
+ 0x0004069b4dba2020UL,
+ 0x0004069d22324e48UL,
+ 0x0004069dd1df5f97UL,
+ 0x0004069f6bc887faUL,
+ 0x0004069fa6578dbfUL,
+ 0x000406a09093a4d3UL,
+ 0x000406a105b1b05dUL,
+ 0x000406a2650bd2fbUL,
+ 0x000406a2da29de85UL,
+ 0x000406a4741306e8UL,
+ 0x000406a4aea20cadUL,
+ 0x000406a4e9311272UL,
+ 0x000406a598de23c1UL,
+ 0x000406a60dfc2f4bUL,
+ 0x000406a6bda9409aUL,
+ 0x000406a7a7e557aeUL,
+ 0x000406a7e2745d73UL,
+ 0x000406a8579268fdUL,
+ 0x000406a97c5d85d6UL,
+ 0x000406a9b6ec8b9bUL,
+ 0x000406ac75a0d0d7UL,
+ 0x000406acb02fd69cUL,
+ 0x000406af34551613UL,
+ 0x000406afa973219dUL,
+ 0x000406b0592032ecUL,
+ 0x000406b093af38b1UL,
+ 0x000406b0ce3e3e76UL,
+ 0x000406b1435c4a00UL,
+ 0x000406b17deb4fc5UL,
+ 0x000406b2682766d9UL,
+ 0x000406b2a2b66c9eUL,
+ 0x000406b2dd457263UL,
+ 0x000406b3c7818977UL,
+ 0x000406b61117c329UL,
+ 0x000406b64ba6c8eeUL,
+ 0x000406b6c0c4d478UL,
+ 0x000406b7e58ff151UL,
+ 0x000406b85aadfcdbUL,
+ 0x000406b944ea13efUL,
+ 0x000406ba2f262b03UL,
+ 0x000406baa444368dUL,
+ 0x000406bb53f147dcUL,
+ 0x000406bcb34b6a7aUL,
+ 0x000406be87c398a2UL,
+ 0x000406bf3770a9f1UL,
+ 0x000406c14677dddeUL,
+ 0x000406c1bb95e968UL,
+ 0x000406c47a4a2ea4UL,
+ 0x000406c5648645b8UL,
+ 0x000406c64ec25cccUL,
+ 0x000406c8233a8af4UL,
+ 0x000406c89858967eUL,
+ 0x000406c9f7b2b91cUL,
+ 0x000406caa75fca6bUL,
+ 0x000406cae1eed030UL,
+ 0x000406cb570cdbbaUL,
+ 0x000406cbcc2ae744UL,
+ 0x000406cda0a3156cUL,
+ 0x000406cf751b4394UL,
+ 0x000406d1f940830bUL,
+ 0x000406d68c6cf66fUL,
+ 0x000406d7b1381348UL,
+ 0x000406dc446486acUL,
+ 0x000406dd692fa385UL,
+ 0x000406de8dfac05eUL,
+ 0x000406dfed54e2fcUL,
+ 0x000406e1873e0b5fUL,
+ 0x000406e40b634ad6UL,
+ 0x000406e5302e67afUL,
+ 0x000406e56abd6d74UL,
+ 0x000406e73f359b9cUL,
+ 0x000406e94e3ccf89UL,
+ 0x000406ea7307ec62UL,
+ 0x000406eaad96f227UL,
+ 0x000406ec0cf114c5UL,
+ 0x000406ef40c3658bUL,
+ 0x000406f0658e8264UL,
+ 0x000406f1153b93b3UL,
+ 0x000406f1c4e8a502UL,
+ 0x000406f658151866UL,
+ 0x000406f742512f7aUL,
+ 0x000406f8dc3a57ddUL,
+ 0x000406fa010574b6UL,
+ 0x000406fb25d0918fUL,
+ 0x000407018d75331bUL,
+ 0x00040702eccf55b9UL,
+ 0x00040703275e5b7eUL,
+ 0x0004070361ed6143UL,
+ 0x00040704119a7292UL,
+ 0x0004070486b87e1cUL,
+ 0x00040704c14783e1UL,
+ 0x000407065b30ac44UL,
+ 0x00040706d04eb7ceUL,
+ 0x00040707ba8acee2UL,
+ 0x00040708a4c6e5f6UL,
+ 0x0004070919e4f180UL,
+ 0x0004070ab3ce19e3UL,
+ 0x0004070b9e0a30f7UL,
+ 0x0004070de7a06aa9UL,
+ 0x0004070e974d7bf8UL,
+ 0x0004070f0c6b8782UL,
+ 0x000407103136a45bUL,
+ 0x00040712b55be3d2UL,
+ 0x00040712efeae997UL,
+ 0x00040713da2700abUL,
+ 0x000407144f450c35UL,
+ 0x00040714c46317bfUL,
+ 0x00040715ae9f2ed3UL,
+ 0x00040715e92e3498UL,
+ 0x000407170df95171UL,
+ 0x0004071783175cfbUL,
+ 0x00040717bda662c0UL,
+ 0x00040719578f8b23UL,
+ 0x00040719921e90e8UL,
+ 0x00040719ccad96adUL,
+ 0x0004071a073c9c72UL,
+ 0x0004071b6696bf10UL,
+ 0x0004071ba125c4d5UL,
+ 0x0004071bdbb4ca9aUL,
+ 0x0004071c50d2d624UL,
+ 0x0004071d007fe773UL,
+ 0x0004071d3b0eed38UL,
+ 0x0004071d759df2fdUL,
+ 0x0004071e5fda0a11UL,
+ 0x0004071f4a162125UL,
+ 0x0004071ff9c33274UL,
+ 0x00040720a97043c3UL,
+ 0x00040721591d5512UL,
+ 0x0004072193ac5ad7UL,
+ 0x00040721ce3b609cUL,
+ 0x0004072208ca6661UL,
+ 0x0004072243596c26UL,
+ 0x00040723682488ffUL,
+ 0x00040723dd429489UL,
+ 0x000407245260a013UL,
+ 0x00040725020db162UL,
+ 0x00040725772bbcecUL,
+ 0x00040725ec49c876UL,
+ 0x0004072626d8ce3bUL,
+ 0x000407269bf6d9c5UL,
+ 0x00040726d685df8aUL,
+ 0x000407274ba3eb14UL,
+ 0x00040728e58d1377UL,
+ 0x0004072a44e73615UL,
+ 0x0004072a7f763bdaUL,
+ 0x0004072b2f234d29UL,
+ 0x0004072bded05e78UL,
+ 0x0004072c195f643dUL,
+ 0x0004072c8e7d6fc7UL,
+ 0x0004072d78b986dbUL,
+ 0x0004072e62f59defUL,
+ 0x0004072ed813a979UL,
+ 0x00040730e71add66UL,
+ 0x0004073196c7eeb5UL,
+ 0x00040732f6221153UL,
+ 0x00040733e05e2867UL,
+ 0x000407341aed2e2cUL,
+ 0x00040734557c33f1UL,
+ 0x00040735b4d6568fUL,
+ 0x0004073629f46219UL,
+ 0x000407369f126da3UL,
+ 0x000407371430792dUL,
+ 0x00040737c3dd8a7cUL,
+ 0x0004073c919903a5UL,
+ 0x0004073ccc28096aUL,
+ 0x0004073ea0a03792UL,
+ 0x0004073edb2f3d57UL,
+ 0x0004073f15be431cUL,
+ 0x0004073f504d48e1UL,
+ 0x0004073fc56b546bUL,
+ 0x0004074199e38293UL,
+ 0x00040741d4728858UL,
+ 0x00040742841f99a7UL,
+ 0x00040742f93da531UL,
+ 0x000407436e5bb0bbUL,
+ 0x00040746a22e0181UL,
+ 0x00040746dcbd0746UL,
+ 0x00040747174c0d0bUL,
+ 0x0004074a85ad6396UL,
+ 0x0004074ac03c695bUL,
+ 0x0004074baa78806fUL,
+ 0x0004074c1f968bf9UL,
+ 0x0004074df40eba21UL,
+ 0x00040753e6955023UL,
+ 0x00040754212455e8UL,
+ 0x00040759d91be625UL,
+ 0x0004075bad94144dUL,
+ 0x0004075d820c4275UL,
+ 0x0004075dbc9b483aUL,
+ 0x000407650e7c00daUL,
+ 0x00040765839a0c64UL,
+ 0x00040765be291229UL,
+ 0x0004076758123a8cUL,
+ 0x00040769a1a8743eUL,
+ 0x0004076a5155858dUL,
+ 0x0004076b3b919ca1UL,
+ 0x0004076d4a98d08eUL,
+ 0x0004076ee481f8f1UL,
+ 0x0004077168a73868UL,
+ 0x00040772185449b7UL,
+ 0x00040773029060cbUL,
+ 0x00040774d7088ef3UL,
+ 0x00040775119794b8UL,
+ 0x000407796a350257UL,
+ 0x0004077a19e213a6UL,
+ 0x0004077a8f001f30UL,
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+ 0x0005c342c896811aUL,
+ 0x0008c482d3a5f6f1UL,
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+ 0x000e378576bcb2e8UL,
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+ 0x0001740d958a644cUL,
+ 0x000268f67d30a4e3UL,
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+ 0x00074f163d3edd8dUL,
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+ 0x000992115a9b3f68UL,
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+ 0x00081e5aa053e6e2UL,
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+ 0x00067b40d4abb8d3UL,
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+ 0x000c96277b4616ddUL,
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+ 0x000def2c8148fbc4UL,
+ 0x000ffb51173a35f3UL,
+ 0x000113814cc0472cUL,
+ 0x0005283daafe3131UL,
+ 0x000af17c7875fe9eUL,
+ 0x000c1d89e80a164aUL,
+ 0x0001bd135b5be589UL,
+ 0x000cb75d401d93beUL,
+ 0x0001691e43d4e42eUL,
+ 0x0004952577c85254UL,
+ 0x00056f34d19a5a46UL,
+ 0x000a7c8b43f7a496UL,
+ 0x000016068319b7b8UL,
+ 0x00036a704bcac35fUL,
+ 0x00065ec17c7e0504UL,
+ 0x000966ba9b130ccfUL,
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+ 0x00019ccd8f34be51UL,
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+ 0x0002c873d4d1abeeUL,
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+ 0x000cd076ee5c845bUL,
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+ 0x0000d903ad4d1182UL,
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+ 0x00074e370dba069bUL,
+ 0x00082090cb3d9b09UL,
+ 0x000927030b942c72UL,
+ 0x000c75edd1d197b6UL,
+ 0x000fe5174f35500dUL,
+ 0x000178e623cc6227UL,
+ 0x0002563aecf3ec5aUL,
+ 0x0002940f9c9d7460UL,
+ 0x0005b98eb09a2340UL,
+ 0x000635bc81673fdbUL,
+ 0x000ecdcf4784bc79UL,
+ 0x0005d4f6fbd209a7UL,
+ 0x0005f31cd5be71a3UL,
+ 0x0005f6d1ab27eda7UL,
+ 0x00065df4c58f4f91UL,
+ 0x00001bd7a7fa8338UL,
+ 0x00031038dbc958bbUL,
+ 0x000c413ecdb29f17UL,
+ 0x000f189606e8049bUL,
+ 0x000129d02bbf7b6cUL,
+ 0x00020177487acc40UL,
+ 0x0002a5ae3d93b679UL,
+ 0x00034f88ce83dc35UL,
+ 0x0004ed7750f84719UL,
+ 0x00059bc493069d8fUL,
+ 0x000a503bd4575486UL,
+ 0x000b3cc26be11d9aUL,
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+ 0x000c80c09e380c53UL,
+ 0x000e3dabc53308caUL,
+ 0x000075e15da6baf2UL,
+ 0x0001003d5cbb8203UL,
+ 0x0006ac88d4e91aa0UL,
+ 0x000e2a904b1eb6b4UL,
+ 0x00004ef32f376bcfUL,
+ 0x00016356c539a8fcUL,
+ 0x000343f8a0286fd8UL,
+ 0x0007317f70e26510UL,
+ 0x000e52478c2e1066UL,
+ 0x0000ae05de4a0546UL,
+ 0x0003eb6193df8f7bUL,
+ 0x000bf3531ef0b966UL,
+ 0x0005da1a0e504c1cUL,
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+ 0x00085b9320c2e371UL,
+ 0x000bf990ad8bbd60UL,
+ 0x000086177ee715d5UL,
+ 0x00011b9950190992UL,
+ 0x000204aa346b8f06UL,
+ 0x0008ae6ac098ff90UL,
+ 0x000b8a0516b7e5beUL,
+ 0x000c24b2e1904b87UL,
+ 0x000d2fdb4dd4b3adUL,
+ 0x000edcdaae381ea2UL,
+ 0x0000a69349fe04f1UL,
+ 0x00026c9d3d700b03UL,
+ 0x00070ae70c456236UL,
+ 0x000b0972fec4a176UL,
+ 0x000d546b8bdc8a77UL,
+ 0x000d5b30befe4e34UL,
+ 0x000e9c1c0f77b5bdUL,
+ 0x000029bd1ec5ef88UL,
+ 0x00081f62e30b3e19UL,
+ 0x000b8188b53bb537UL,
+ 0x000e417dadbd4e19UL,
+ 0x000e8e61dbfbb392UL,
+ 0x000eaa0d2c1f96e0UL,
+ 0x000f2a7443d03c0eUL,
+ 0x00000d751f7ad73dUL,
+ 0x0002f9722eb50715UL,
+ 0x000302165fb7fc38UL,
+ 0x000700b49ee90908UL,
+ 0x000819789957a95fUL,
+ 0x000f67590030bd69UL,
+ 0x000f6a5c5410bc45UL,
+ 0x00012690f137bca6UL,
+ 0x0002a43dfdd1953bUL,
+ 0x0007adc3b29ca3a5UL,
+ 0x000ad32afc7efa7dUL,
+ 0x0005c9abeaad30f6UL,
+ 0x000d85f442cdfe0dUL,
+ 0x0000503c2651fc19UL,
+ 0x00019185ef87b273UL,
+ 0x0001fdd62860a342UL,
+ 0x000560290aa08af9UL,
+ 0x0006e6eca7949d75UL,
+ 0x000c81a182aa969eUL,
+ 0x000c96492d278f1aUL,
+ 0x000d740e0c10245fUL,
+ 0x00000fbb0fdaa335UL,
+ 0x0000e92c1f1112a3UL,
+ 0x000559ba14e3e3ebUL,
+ 0x00076fb107dcd8caUL,
+ 0x0007928a1473cc82UL,
+ 0x000a88fc990cc8b7UL,
+ 0x000b6691e3c0adecUL,
+ 0x000bab80de605bf3UL,
+ 0x000cad24ee1fb8d2UL,
+ 0x000ef6d3a1992229UL,
+ 0x000f8536cf378246UL,
+ 0x000222e102a22c16UL,
+ 0x000688e8d04d8bd4UL,
+ 0x0007e6ff80f1adb6UL,
+ 0x000861e5fc458a1eUL,
+ 0x00087de0ac463f73UL,
+ 0x00089fef82fd46e7UL,
+ 0x000b5c8aeaff61d0UL,
+ 0x0000efc9116a1a14UL,
+ 0x0003b14eccbb2f2eUL,
+ 0x000457623b900b56UL,
+ 0x00098f9f67ea6a27UL,
+ 0x0009e6fd9eb40f61UL,
+ 0x000d87d60279eaf7UL,
+ 0x0000c26ee5bbd152UL,
+ 0x0005462bc7e57cabUL,
+ 0x00099df7e852dd8cUL,
+ 0x0009f84bb9772776UL,
+ 0x000ae246d9e0c0eaUL,
+ 0x000f195589a55866UL,
+ 0x0000619eda7391b8UL,
+ 0x0000c970b7b02b8eUL,
+ 0x000acf24f827cd48UL,
+ 0x000d2aceee8ac0abUL,
+ 0x000e214cb70ee554UL,
+ 0x000e951419b12292UL,
+ 0x000f88167706735eUL,
+ 0x0001f22581c679e7UL,
+ 0x0002b667b6519f0eUL,
+ 0x000301bcbba9b0b2UL,
+ 0x0003402913bb29ebUL,
+ 0x0003ac81fdcef5f8UL,
+ 0x000a34daaf1bd2d0UL,
+ 0x000a9ab67409f487UL,
+ 0x000bf7d6c8fad0a0UL,
+ 0x00005a57bb883c07UL,
+ 0x00007d414058cf27UL,
+ 0x0005591233730a81UL,
+ 0x0007e590621e9577UL,
+ 0x0007f24940a1780dUL,
+ 0x0009c01c41dedc0cUL,
+ 0x000c0e50dd645ac1UL,
+ 0x000fe9e138f03f16UL,
+ 0x0000c5ea8e90213cUL,
+ 0x0003268d06e57486UL,
+ 0x000b1bde623dd490UL,
+ 0x000dcd2a1be5a2faUL,
+ 0x000040995ee52534UL,
+ 0x000152e243354f22UL,
+ 0x0003bcefb40c2d48UL,
+ 0x000896b339dba405UL,
+ 0x000bc46509c01a58UL,
+ 0x000c75f98f9c2137UL,
+ 0x0002e3eb878a15b8UL,
+ 0x00046eca7431bcf8UL,
+ 0x00065eb2ee59cfbcUL,
+ 0x0007e8392312804dUL,
+ 0x000fe31a6e362bacUL,
+ 0x0001abf9bb3ca8edUL,
+ 0x0006f2679a03f1abUL,
+ 0x0007fa4e05542e1bUL,
+ 0x0003e7ebb64f3310UL,
+ 0x0006f8a612db0cb9UL,
+ 0x00071561d262c78aUL,
+ 0x000cdda24299853fUL,
+ 0x00058f6572d0f3e3UL,
+ 0x0007594b59355090UL,
+ 0x0007728cd259545dUL,
+ 0x000ab76395378d16UL,
+ 0x000729386bc861d0UL,
+ 0x0007aec465cdc62fUL,
+ 0x0007b34cd1ff1b04UL,
+ 0x0004677dda2eb585UL,
+ 0x0004cc7f6621571aUL,
+ 0x000655b63afd35a4UL,
+ 0x0008c489a04e78a0UL,
+ 0x000ec85564841220UL,
+ 0x000074b6ef69f01bUL,
+ 0x0001c836c51dfb46UL,
+ 0x0005bb60f720263cUL,
+ 0x000888a72639a436UL,
+ 0x000e31ca01769188UL,
+ 0x000204532016be85UL,
+ 0x0002ef85584efe89UL,
+ 0x00094939c8fa6f9eUL,
+ 0x0000afbf6d6322deUL,
+ 0x000242f70eb04f4fUL,
+ 0x00055edc8032da57UL,
+ 0x0005c2419ed7d975UL,
+ 0x0007915c301d836cUL,
+ 0x000a4ba0bd7e9db3UL,
+ 0x000c56ae41d8590eUL,
+ 0x000edc2fe22eac0dUL,
+ 0x000f75559b7270dcUL,
+ 0x000fd5f6134b9df8UL,
+ 0x00029019eac87f34UL,
+ 0x0003cb03d65b6db8UL,
+ 0x0004f535b66faa89UL,
+ 0x0009cf1b16ee772aUL,
+ 0x000b8b3ae33e6a84UL,
+ 0x000c81927875cbaaUL,
+ 0x000ce43d64567262UL,
+ 0x000fd8609abe2c5aUL,
+ 0x00022c568f81722eUL,
+ 0x0007c2ddce320903UL,
+ 0x000ab10bf9de8184UL,
+ 0x000b3e3550f9f5d5UL,
+ 0x000083dc2db3a315UL,
+ 0x0002cfaa260b930fUL,
+ 0x0006a94d5512e048UL,
+ 0x000c71b51d617e59UL,
+ 0x0001699a999dfafdUL,
+ 0x00059174472e02d2UL,
+ 0x000ba1ff8c1a2639UL,
+ 0x000c73d80bf5fedeUL,
+ 0x00028571ebcdcba0UL,
+ 0x000cac908b4b4083UL,
+ 0x000ce1f1c2f1a04fUL,
+ 0x000502b1f2b17db9UL,
+ 0x0005359c840ebaecUL,
+ 0x000bc287ecb0f03aUL,
+ 0x000da191034270efUL,
+ 0x0001279347956a6bUL,
+ 0x0001e55adb2024b3UL,
+ 0x000983e4bddab9a2UL,
+ 0x000c121fd5291a55UL,
+ 0x00022032d9e2f2c0UL,
+ 0x0002d2b3704e3bc7UL,
+ 0x0007293c5950c44fUL,
+ 0x000897090f422bdcUL,
+ 0x000939968d352ac1UL,
+ 0x000cca055b1d0f97UL,
+ 0x000f72fae4449847UL,
+ 0x00026a31ac36eabeUL,
+ 0x0005705bd0065501UL,
+ 0x000daa99674a1dd6UL,
+ 0x000f9fe9545a7ebaUL,
+ 0x000a16a3847adc76UL,
+ 0x000b08bffe5686e1UL,
+ 0x000bed69a179fc15UL,
+ 0x000c0d162da0e26dUL,
+ 0x000cdc7a163acc66UL,
+};
+apriltag_family_t *tagStandard52h13_create()
+{
+ apriltag_family_t *tf = calloc(1, sizeof(apriltag_family_t));
+ tf->name = strdup("tagStandard52h13");
+ tf->h = 13;
+ tf->ncodes = 48714;
+ tf->codes = codedata;
+ tf->nbits = 52;
+ tf->bit_x = calloc(52, sizeof(uint32_t));
+ tf->bit_y = calloc(52, sizeof(uint32_t));
+ tf->bit_x[0] = -2;
+ tf->bit_y[0] = -2;
+ tf->bit_x[1] = -1;
+ tf->bit_y[1] = -2;
+ tf->bit_x[2] = 0;
+ tf->bit_y[2] = -2;
+ tf->bit_x[3] = 1;
+ tf->bit_y[3] = -2;
+ tf->bit_x[4] = 2;
+ tf->bit_y[4] = -2;
+ tf->bit_x[5] = 3;
+ tf->bit_y[5] = -2;
+ tf->bit_x[6] = 4;
+ tf->bit_y[6] = -2;
+ tf->bit_x[7] = 5;
+ tf->bit_y[7] = -2;
+ tf->bit_x[8] = 6;
+ tf->bit_y[8] = -2;
+ tf->bit_x[9] = 1;
+ tf->bit_y[9] = 1;
+ tf->bit_x[10] = 2;
+ tf->bit_y[10] = 1;
+ tf->bit_x[11] = 3;
+ tf->bit_y[11] = 1;
+ tf->bit_x[12] = 2;
+ tf->bit_y[12] = 2;
+ tf->bit_x[13] = 7;
+ tf->bit_y[13] = -2;
+ tf->bit_x[14] = 7;
+ tf->bit_y[14] = -1;
+ tf->bit_x[15] = 7;
+ tf->bit_y[15] = 0;
+ tf->bit_x[16] = 7;
+ tf->bit_y[16] = 1;
+ tf->bit_x[17] = 7;
+ tf->bit_y[17] = 2;
+ tf->bit_x[18] = 7;
+ tf->bit_y[18] = 3;
+ tf->bit_x[19] = 7;
+ tf->bit_y[19] = 4;
+ tf->bit_x[20] = 7;
+ tf->bit_y[20] = 5;
+ tf->bit_x[21] = 7;
+ tf->bit_y[21] = 6;
+ tf->bit_x[22] = 4;
+ tf->bit_y[22] = 1;
+ tf->bit_x[23] = 4;
+ tf->bit_y[23] = 2;
+ tf->bit_x[24] = 4;
+ tf->bit_y[24] = 3;
+ tf->bit_x[25] = 3;
+ tf->bit_y[25] = 2;
+ tf->bit_x[26] = 7;
+ tf->bit_y[26] = 7;
+ tf->bit_x[27] = 6;
+ tf->bit_y[27] = 7;
+ tf->bit_x[28] = 5;
+ tf->bit_y[28] = 7;
+ tf->bit_x[29] = 4;
+ tf->bit_y[29] = 7;
+ tf->bit_x[30] = 3;
+ tf->bit_y[30] = 7;
+ tf->bit_x[31] = 2;
+ tf->bit_y[31] = 7;
+ tf->bit_x[32] = 1;
+ tf->bit_y[32] = 7;
+ tf->bit_x[33] = 0;
+ tf->bit_y[33] = 7;
+ tf->bit_x[34] = -1;
+ tf->bit_y[34] = 7;
+ tf->bit_x[35] = 4;
+ tf->bit_y[35] = 4;
+ tf->bit_x[36] = 3;
+ tf->bit_y[36] = 4;
+ tf->bit_x[37] = 2;
+ tf->bit_y[37] = 4;
+ tf->bit_x[38] = 3;
+ tf->bit_y[38] = 3;
+ tf->bit_x[39] = -2;
+ tf->bit_y[39] = 7;
+ tf->bit_x[40] = -2;
+ tf->bit_y[40] = 6;
+ tf->bit_x[41] = -2;
+ tf->bit_y[41] = 5;
+ tf->bit_x[42] = -2;
+ tf->bit_y[42] = 4;
+ tf->bit_x[43] = -2;
+ tf->bit_y[43] = 3;
+ tf->bit_x[44] = -2;
+ tf->bit_y[44] = 2;
+ tf->bit_x[45] = -2;
+ tf->bit_y[45] = 1;
+ tf->bit_x[46] = -2;
+ tf->bit_y[46] = 0;
+ tf->bit_x[47] = -2;
+ tf->bit_y[47] = -1;
+ tf->bit_x[48] = 1;
+ tf->bit_y[48] = 4;
+ tf->bit_x[49] = 1;
+ tf->bit_y[49] = 3;
+ tf->bit_x[50] = 1;
+ tf->bit_y[50] = 2;
+ tf->bit_x[51] = 2;
+ tf->bit_y[51] = 3;
+ tf->width_at_border = 6;
+ tf->total_width = 10;
+ tf->reversed_border = true;
+ return tf;
+}
+
+void tagStandard52h13_destroy(apriltag_family_t *tf)
+{
+ free(tf->bit_x);
+ free(tf->bit_y);
+ free(tf->name);
+ free(tf);
+}
diff --git a/third_party/apriltag/tagStandard52h13.h b/third_party/apriltag/tagStandard52h13.h
new file mode 100644
index 0000000..aeeb8e3
--- /dev/null
+++ b/third_party/apriltag/tagStandard52h13.h
@@ -0,0 +1,44 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#ifndef _TAGStandard52H13
+#define _TAGStandard52H13
+
+#include "apriltag.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+apriltag_family_t *tagStandard52h13_create();
+void tagStandard52h13_destroy(apriltag_family_t *tf);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif