├── .gitignore ├── README.md ├── apriltags_ws ├── .catkin_workspace └── src │ ├── CMakeLists.txt │ ├── apriltags │ ├── .gitignore │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── include │ │ └── apriltags.h │ ├── launch │ │ └── usb_cam_apriltags.launch │ ├── mainpage.dox │ ├── msg │ │ ├── AprilTagDetection.msg │ │ └── AprilTagDetections.msg │ ├── package.xml │ ├── src │ │ ├── apriltags-back.cpp │ │ ├── apriltags.cpp │ │ └── apriltags │ │ │ ├── __init__.py │ │ │ └── apriltags.py │ └── tags │ │ └── 36h11.ps │ └── usb_cam │ ├── .gitignore │ ├── .travis.yml │ ├── AUTHORS.md │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── camera_info │ └── head_camera.yaml │ ├── include │ └── usb_cam │ │ └── usb_cam.h │ ├── launch │ └── usb_cam-test.launch │ ├── mainpage.dox │ ├── nodes │ └── usb_cam_node.cpp │ ├── package.xml │ └── src │ ├── LICENSE │ └── usb_cam.cpp ├── environment.sh └── software ├── apriltags-cpp ├── .gitignore ├── CMakeLists.txt ├── README.md ├── cmake │ └── apriltagscppConfig.cmake.in ├── images │ ├── clipboard │ │ ├── 1-debug_0_0.png │ │ ├── 10-debug_0_0.png │ │ ├── 2-debug_0_0.png │ │ ├── 3-debug_0_0.png │ │ ├── 4-debug_0_0.png │ │ ├── 5-debug_0_0.png │ │ ├── 6-debug_0_0.png │ │ ├── 7-debug_0_0.png │ │ ├── 8-debug_0_0.png │ │ └── 9-debug_0_0.png │ └── iphonecam │ │ ├── IMG_0612.jpg │ │ ├── IMG_0613.jpg │ │ ├── IMG_0614.jpg │ │ ├── IMG_0615.jpg │ │ └── IMG_0617.jpg ├── include │ ├── AprilTypes.h │ ├── CameraUtil.h │ ├── DebugImage.h │ ├── Geometry.h │ ├── GrayModel.h │ ├── MathUtil.h │ ├── Profiler.h │ ├── Refine.h │ ├── TagDetection.h │ ├── TagDetector.h │ ├── TagFamily.h │ └── UnionFindSimple.h ├── package.xml └── src │ ├── CMakeLists.txt │ ├── CameraUtil.cpp │ ├── DebugImage.cpp │ ├── Geometry.cpp │ ├── GrayModel.cpp │ ├── MathUtil.cpp │ ├── Refine.cpp │ ├── TagDetector.cpp │ ├── TagFamilies.cpp │ ├── TagFamily.cpp │ ├── UnionFindSimple.cpp │ ├── camtest.cpp │ ├── gltest.cpp │ ├── maketags.cpp │ ├── quadtest.cpp │ └── 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