├── img ├── frames.png ├── io_diagram.png ├── opencv.png ├── ros.png ├── rosgraph.png └── tag_follower.png ├── readme.md └── src ├── CMakeLists.txt ├── apriltag ├── CMakeCache.txt ├── CMakeLists.txt ├── LICENSE.md ├── Makefile ├── README.md ├── apriltag.c ├── apriltag.cpython-36m-x86_64-linux-gnu.so ├── apriltag.h ├── apriltag.pc ├── apriltag.pc.in ├── apriltag_demo ├── apriltag_detect.docstring ├── apriltag_pose.c ├── apriltag_pose.h ├── apriltag_py_type.docstring ├── apriltag_py_type.docstring.h ├── apriltag_pywrap.c ├── apriltag_pywrap.o ├── apriltag_quad_thresh.c ├── cmake_install.cmake ├── common │ ├── doubles.h │ ├── doubles_floats_impl.h │ ├── floats.h │ ├── g2d.c │ ├── g2d.h │ ├── getopt.c │ ├── getopt.h │ ├── homography.c │ ├── homography.h │ ├── image_types.h │ ├── image_u8.c │ ├── image_u8.h │ ├── image_u8x3.c │ ├── image_u8x3.h │ ├── image_u8x4.c │ ├── image_u8x4.h │ ├── matd.c │ ├── matd.h │ ├── math_util.h │ ├── pam.c │ ├── pam.h │ ├── pjpeg-idct.c │ ├── pjpeg.c │ ├── pjpeg.h │ ├── pnm.c │ ├── pnm.h │ ├── postscript_utils.h │ ├── string_util.c │ ├── string_util.h │ ├── svd22.c │ ├── svd22.h │ ├── time_util.c │ ├── time_util.h │ ├── timeprofile.h │ ├── unionfind.c │ ├── unionfind.h │ ├── workerpool.c │ ├── workerpool.h │ ├── zarray.c │ ├── zarray.h │ ├── zhash.c │ ├── zhash.h │ ├── zmaxheap.c │ └── zmaxheap.h ├── example │ ├── Makefile │ ├── README │ ├── apriltag_demo.c │ └── opencv_demo.cc ├── install.sh ├── install_manifest.txt ├── lib │ └── libapriltag.so.3.1.0 ├── opencv_demo ├── package.xml ├── python_build_flags.py ├── tag16h5.c ├── tag16h5.h ├── tag25h9.c ├── tag25h9.h ├── tag36h11.c ├── tag36h11.h ├── tagCircle21h7.c ├── tagCircle21h7.h ├── tagCircle49h12.c ├── tagCircle49h12.h ├── tagCustom48h12.c ├── tagCustom48h12.h ├── tagStandard41h12.c ├── tagStandard41h12.h ├── tagStandard52h13.c └── tagStandard52h13.h ├── apriltag_localization_simulations ├── CMakeLists.txt ├── config │ ├── base_local_planner_params.yaml │ ├── costmap_common_params.yaml │ ├── global_costmap_params.yaml │ └── local_costmap_params.yaml ├── launch │ ├── gazebo_detect_simulation.launch │ ├── gazebo_rviz_display.launch │ ├── qrcode_detecter_simulations.launch │ └── rviz_display.launch ├── map │ ├── gazebo_gmapping.pgm │ └── map.yaml ├── package.xml ├── rviz │ └── rviz.rviz ├── src │ ├── qrcode_detecter.cpp │ ├── tag_tf_follower.cpp │ ├── tag_tf_follower_rgbd.cpp │ ├── tag_tf_follower_v2.cpp │ └── tag_tf_listener.cpp ├── urdf │ ├── car.urdf │ ├── my_robot.xacro │ ├── my_robot_rviz.xacro │ └── robot.xacro └── worlds │ ├── block_1.world │ ├── competition_v1.world │ ├── competition_v2.world │ ├── empty.world │ └── tag.world ├── apriltag_ros ├── LICENSE ├── README.md └── apriltag_ros │ ├── CMakeLists.txt │ ├── config │ ├── settings.yaml │ └── tags.yaml │ ├── include │ └── apriltag_ros │ │ ├── common_functions.h │ │ ├── continuous_detector.h │ │ └── single_image_detector.h │ ├── launch │ ├── continuous_detection.launch │ ├── my_continuous_detection.launch │ ├── single_image_client.launch │ └── single_image_server.launch │ ├── msg │ ├── AprilTagDetection.msg │ └── AprilTagDetectionArray.msg │ ├── nodelet_plugins.xml │ ├── package.xml │ ├── rviz │ └── rviz.rviz │ ├── scripts │ ├── analyze_image │ └── calibrate_bundle.m │ ├── src │ ├── apriltag_ros_continuous_node.cpp │ ├── apriltag_ros_single_image_client_node.cpp │ ├── apriltag_ros_single_image_server_node.cpp │ ├── common_functions.cpp │ ├── continuous_detector.cpp │ └── single_image_detector.cpp │ └── srv │ └── AnalyzeSingleImage.srv ├── bluefox2 ├── CMakeLists.txt ├── README.md ├── cfg │ └── Bluefox2Dyn.cfg ├── cmake │ └── FindmvIMPACT.cmake ├── include │ └── bluefox2 │ │ ├── bluefox2.h │ │ ├── bluefox2_ros.h │ │ ├── bluefox2_setting.h │ │ ├── multi_node.h │ │ ├── single_node.h │ │ └── stereo_node.h ├── install │ └── install.bash ├── launch │ ├── multi_node.launch │ ├── single_node.launch │ ├── single_nodelet.launch │ ├── stereo_node.launch │ ├── stereo_nodelet.launch │ └── trinocular.launch ├── mvIMPACT │ ├── README │ ├── include │ │ ├── DriverBase │ │ │ └── Include │ │ │ │ ├── mvCustomCommandDataTypes.h │ │ │ │ ├── mvDriverBaseEnums.h │ │ │ │ └── mvVersionInfo.h │ │ ├── common │ │ │ ├── auto_array_ptr.h │ │ │ └── crt │ │ │ │ └── mvstring.h │ │ ├── mvDeviceManager │ │ │ └── Include │ │ │ │ └── mvDeviceManager.h │ │ ├── mvIMPACT_CPP │ │ │ ├── mvIMPACT_acquire.h │ │ │ ├── mvIMPACT_acquire_GenICam.h │ │ │ ├── mvIMPACT_acquire_GenICam_CustomCommands.h │ │ │ ├── mvIMPACT_acquire_GenICam_FileStream.h │ │ │ └── versionInfo.txt │ │ └── mvPropHandling │ │ │ └── Include │ │ │ └── mvPropHandlingDatatypes.h │ ├── lib │ │ ├── aarch64 │ │ │ ├── libmvBlueFOX.so.2.27.0 │ │ │ ├── libmvDeviceManager.so.2.27.0 │ │ │ ├── libmvPropHandling.so.2.27.0 │ │ │ ├── libmvVirtualDevice.so.2.27.0 │ │ │ └── libusb-1.0.so.0.0.0 │ │ ├── armv7l │ │ │ ├── libmvBlueFOX.so.2.27.0 │ │ │ ├── libmvDeviceManager.so.2.27.0 │ │ │ ├── libmvPropHandling.so.2.27.0 │ │ │ ├── libmvVirtualDevice.so.2.27.0 │ │ │ └── libusb-1.0.so.0.0.0 │ │ └── x86_64 │ │ │ ├── libmvBlueFOX.so.2.27.0 │ │ │ ├── libmvDeviceManager.so.2.27.0 │ │ │ ├── libmvPropHandling.so.2.27.0 │ │ │ └── libusb-1.0.so.0.0.0 │ └── script │ │ └── 51-mvbf.rules ├── nodelet_plugins.xml ├── package.xml ├── src │ ├── CMakeLists.txt │ ├── bluefox2.cpp │ ├── bluefox2_ros.cpp │ ├── bluefox2_setting.cpp │ ├── list_cameras.cpp │ ├── multi │ │ ├── multi_main.cpp │ │ └── multi_node.cpp │ ├── single │ │ ├── single_main.cpp │ │ ├── single_node.cpp │ │ └── single_nodelet.cpp │ └── stereo │ │ ├── stereo_main.cpp │ │ ├── stereo_node.cpp │ │ └── stereo_nodelet.cpp └── srv │ └── SetExposeSrv.srv ├── camera_base ├── CMakeLists.txt ├── README.md ├── include │ └── camera_base │ │ ├── camera_node_base.h │ │ └── camera_ros_base.h ├── launch │ └── extras.launch └── package.xml ├── image_pipeline ├── README.md ├── camera_calibration │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── button.jpg │ ├── doc │ │ ├── conf.py │ │ └── index.rst │ ├── mainpage.dox │ ├── nodes │ │ ├── cameracalibrator.py │ │ └── cameracheck.py │ ├── package.xml │ ├── rosdoc.yaml │ ├── scripts │ │ └── tarfile_calibration.py │ ├── setup.py │ ├── src │ │ └── camera_calibration │ │ │ ├── calibrator.py │ │ │ ├── calibrator.pyc │ │ │ ├── camera_calibrator.py │ │ │ ├── camera_calibrator.pyc │ │ │ └── camera_checker.py │ └── test │ │ ├── directed.py │ │ └── multiple_boards.py ├── depth_image_proc │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── depth_image_proc │ │ │ ├── depth_conversions.h │ │ │ └── depth_traits.h │ ├── mainpage.dox │ ├── nodelet_plugins.xml │ ├── package.xml │ └── src │ │ └── nodelets │ │ ├── convert_metric.cpp │ │ ├── crop_foremost.cpp │ │ ├── disparity.cpp │ │ ├── point_cloud_xyz.cpp │ │ ├── point_cloud_xyz_radial.cpp │ │ ├── point_cloud_xyzi.cpp │ │ ├── point_cloud_xyzi_radial.cpp │ │ ├── point_cloud_xyzrgb.cpp │ │ └── register.cpp ├── image_pipeline │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── image_proc │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ ├── CropDecimate.cfg │ │ ├── Debayer.cfg │ │ ├── Rectify.cfg │ │ └── Resize.cfg │ ├── include │ │ └── image_proc │ │ │ ├── advertisement_checker.h │ │ │ └── processor.h │ ├── launch │ │ └── image_proc.launch │ ├── mainpage.dox │ ├── nodelet_plugins.xml │ ├── package.xml │ ├── src │ │ ├── libimage_proc │ │ │ ├── advertisement_checker.cpp │ │ │ └── processor.cpp │ │ ├── nodelets │ │ │ ├── crop_decimate.cpp │ │ │ ├── crop_non_zero.cpp │ │ │ ├── debayer.cpp │ │ │ ├── edge_aware.cpp │ │ │ ├── edge_aware.h │ │ │ ├── rectify.cpp │ │ │ └── resize.cpp │ │ └── nodes │ │ │ └── image_proc.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── rostest.cpp │ │ ├── test_bayer.xml │ │ ├── test_rectify.cpp │ │ └── test_rectify.xml ├── image_publisher │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── ImagePublisher.cfg │ ├── nodelet_plugins.xml │ ├── package.xml │ └── src │ │ ├── node │ │ └── image_publisher.cpp │ │ └── nodelet │ │ └── image_publisher_nodelet.cpp ├── image_rotate │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── ImageRotate.cfg │ ├── mainpage.dox │ ├── nodelet_plugins.xml │ ├── package.xml │ └── src │ │ ├── node │ │ └── image_rotate.cpp │ │ └── nodelet │ │ └── image_rotate_nodelet.cpp ├── image_view │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── ImageView.cfg │ ├── mainpage.dox │ ├── nodelet_plugins.xml │ ├── package.xml │ ├── rosdoc.yaml │ ├── scripts │ │ └── extract_images_sync │ └── src │ │ ├── nodelets │ │ ├── disparity_nodelet.cpp │ │ ├── image_nodelet.cpp │ │ ├── window_thread.cpp │ │ └── window_thread.h │ │ └── nodes │ │ ├── disparity_view.cpp │ │ ├── extract_images.cpp │ │ ├── image_saver.cpp │ │ ├── image_view.cpp │ │ ├── stereo_view.cpp │ │ └── video_recorder.cpp ├── stereo_image_proc │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── Disparity.cfg │ ├── doc │ │ ├── mainpage.dox │ │ └── stereo_frames.svg │ ├── include │ │ └── stereo_image_proc │ │ │ └── processor.h │ ├── launch │ │ └── stereo_image_proc.launch │ ├── nodelet_plugins.xml │ ├── package.xml │ ├── rosdoc.yaml │ └── src │ │ ├── libstereo_image_proc │ │ └── processor.cpp │ │ ├── nodelets │ │ ├── disparity.cpp │ │ └── point_cloud2.cpp │ │ └── nodes │ │ └── stereo_image_proc.cpp └── wiki_files │ ├── dcam-driver.svg │ ├── image_proc.svg │ ├── image_proc_dual.svg │ ├── stereo_image_proc.svg │ ├── stereo_image_proc_stereo.svg │ ├── stereocam-driver.svg │ └── stoc.svg ├── launch ├── gazebo_detect_simulation.launch ├── gazebo_run.launch ├── gazebo_rviz_display.launch ├── octomap_navigation.launch └── rviz_display.launch ├── map └── gazebo_gmapping.pgm ├── rviz └── rviz.rviz ├── src ├── tag_tf_follower.cpp ├── tag_tf_follower_rgbd.cpp ├── tag_tf_follower_v2.cpp └── tag_tf_listener.cpp ├── urdf ├── car.urdf ├── my_robot.xacro ├── my_robot_rviz.xacro └── robot.xacro └── worlds ├── block_1.world ├── block_2.world ├── block_3.world ├── empty.world └── tag.world /img/frames.png: 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