├── AprilTag5x7.png ├── README.md ├── XP └── config │ ├── algorithm_param.yaml │ ├── depth_param.yaml │ ├── ir_depth_param.yaml │ ├── navigation_param.yaml │ ├── navigation_param_gyroor.yaml │ └── thread_param │ ├── odroidxu4.yaml │ ├── pc.yaml │ └── rk3399.yaml ├── apps ├── CMakeLists.txt ├── app_tracking │ ├── CMakeLists.txt │ ├── app_guide_receiver.cpp │ ├── app_pose_receiver.cpp │ ├── app_tracking.cpp │ ├── msg │ │ ├── XpDriverImage.msg │ │ └── XpDriverImu.msg │ ├── plotting_utils.cpp │ ├── plotting_utils.h │ ├── xp_driver_interface.cc │ └── xp_driver_interface.h ├── cam_calibration │ ├── CMakeLists.txt │ ├── cam_calibration.cpp │ └── verification.cpp └── xp_sensor_logger │ ├── CMakeLists.txt │ └── xp_sensor_logger.cpp ├── bin └── pre_navigation.py ├── calib_params ├── 054AC6A9044F.calib.yaml ├── 408C392FF83F.calib.yaml ├── 4924E006C82A.calib.yaml ├── 505FC7C0497A.calib.yaml ├── 7E92FAF26363.calib.yaml ├── 8219C930E5FC.calib.yaml ├── 8E1BC83F0421.calib.yaml ├── 93312E057D22.calib.yaml ├── A72F4DA6A92D.calib.yaml ├── BAAFF337329A.calib.yaml ├── BDC4FA571539.calib.yaml ├── BK171200024.yaml ├── BK171200025.yaml ├── BK171200026.yaml ├── BK171200028.yaml ├── BK171200034.yaml ├── BK171200039.yaml ├── DFCDC2D10CD9.calib.yaml ├── FC329CAD406E.calib.yaml ├── XP0000008.calib.yaml ├── XP0020001.calib.yaml ├── XP0020002.yaml ├── XPIC2C000162560032.yaml ├── XPIC2C000163560003.yaml ├── XPIC2C000163560005.yaml ├── XPIC2C000163560011.yaml ├── XPIC2C000163560015.yaml ├── XPIC2C000163560018.yaml ├── XPIC2C000163560021.calib.yaml ├── XPIC2C000163560023.calib.yaml ├── XPIC2C000163560031.yaml ├── XPIC2C000163560035.yaml ├── XPIC2C000163560038.yaml ├── XPIC2C000163560041.yaml ├── XPIC2C000163560043.yaml ├── XPIC2C000163560045.yaml ├── XPIRL2S-180400002-ir.yaml ├── XPIRL2S-180400002.yaml ├── XPIRL2_XPI000001.yaml ├── XPIRL3_000001.yaml ├── XPIRL3_000001_ir.yaml ├── XPIRL_000001.yaml ├── XPIRL_000003.yaml ├── XPIRL_000004.yaml ├── XP_DILILI_201.calib.yaml ├── XP_FE_001.calib.yaml ├── XP_FE_002.calib.yaml ├── Z165105863.yaml ├── Z165105866.yaml ├── Z171200024.yaml ├── Z173711423.yaml ├── Z173711426.yaml ├── Z173711430.yaml ├── Z173711434.yaml ├── Z173711446.yaml ├── Z173711449.yaml ├── Z173711450.yaml ├── Z173711524.yaml ├── Z173711527.yaml ├── Z173711528.yaml ├── Z173711531.yaml ├── Z173711533.yaml ├── Z173711534.yaml ├── Z173711536.yaml ├── Z173711537.yaml ├── Z173711539.yaml ├── Z173711543.yaml ├── Z173711545.yaml ├── Z173711546.yaml ├── Z173711553.yaml ├── Z173711556.yaml ├── Z173711559.yaml ├── Z173711560.yaml └── car_calib.yaml ├── cmake ├── XP_custom_3rdparty_helper.cmake ├── XP_lib_helper.cmake └── XP_sys_3rdparty_helper.cmake ├── config_environment.sh ├── docs ├── actuator.md ├── calibration.md ├── navigation.md └── record.md ├── include ├── 3rdparty │ └── TagDetector │ │ └── include │ │ ├── apriltag.h │ │ ├── g2d.h │ │ ├── getopt.h │ │ ├── homography.h │ │ ├── image_f32.h │ │ ├── image_u32.h │ │ ├── image_u8.h │ │ ├── matd.h │ │ ├── math_util.h │ │ ├── pnm.h │ │ ├── postscript_utils.h │ │ ├── string_util.h │ │ ├── svd22.h │ │ ├── tag16h5.h │ │ ├── tag25h7.h │ │ ├── tag25h9.h │ │ ├── tag36artoolkit.h │ │ ├── tag36h10.h │ │ ├── tag36h11.h │ │ ├── thash_impl.h │ │ ├── time_util.h │ │ ├── timeprofile.h │ │ ├── unionfind.h │ │ ├── workerpool.h │ │ ├── xp_utilities.h │ │ ├── zarray.h │ │ ├── zhash.h │ │ └── zmaxheap.h ├── XP │ ├── app_api │ │ ├── pose_packet.h │ │ └── xp_tracker.h │ ├── data_atom │ │ └── basic_datatype.h │ ├── depth │ │ └── depth_utils.h │ ├── helper │ │ ├── file_io.h │ │ ├── param.h │ │ ├── param_internal.h │ │ ├── serial-lib.h │ │ ├── shared_queue.h │ │ ├── tag_detector.h │ │ └── timer.h │ ├── util │ │ ├── aip │ │ │ ├── base │ │ │ │ ├── base.h │ │ │ │ ├── base64.h │ │ │ │ ├── http.h │ │ │ │ └── utils.h │ │ │ ├── face.h │ │ │ ├── image_classify.h │ │ │ ├── ocr.h │ │ │ └── speech.h │ │ ├── base64.h │ │ ├── calibration_utils.h │ │ ├── feature_utils.h │ │ └── image_utils.h │ └── worker │ │ ├── actuator.h │ │ ├── actuator_impl.h │ │ ├── scanner.h │ │ └── scanner_impl.h ├── driver │ ├── AR0141_aec_table.h │ ├── XP_sensor.h │ ├── XP_sensor_driver.h │ ├── base_sensor_driver.h │ ├── basic_datatype.h │ ├── firmware_config.h │ ├── helper │ │ ├── base │ │ │ └── base64.h │ │ ├── basic_image_utils.h │ │ ├── counter_32_to_64.h │ │ ├── ring_buffer.h │ │ ├── shared_queue.h │ │ ├── sync_shared_queue.h │ │ ├── timer.h │ │ └── xp_logging.h │ ├── rk_sensor.h │ ├── rk_sensor_driver.h │ ├── rkisp_interface.h │ ├── v4l2.h │ ├── v4l2_rk.h │ ├── xp_aec_table.h │ ├── xp_driver_config.h │ ├── xp_driver_utils.h │ └── xp_sensors_wb_table.h └── navigation │ └── navigation_type.h └── scripts ├── calib_compute.sh ├── calib_data.sh ├── folders.sh ├── navi.sh └── record.sh /AprilTag5x7.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/baidu/boteye/HEAD/AprilTag5x7.png 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