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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. 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399) maketag +(april.tag.Tag36h11, id = 400) maketag +(april.tag.Tag36h11, id = 401) maketag +(april.tag.Tag36h11, id = 402) maketag +(april.tag.Tag36h11, id = 403) maketag +(april.tag.Tag36h11, id = 404) maketag +(april.tag.Tag36h11, id = 405) maketag +(april.tag.Tag36h11, id = 406) maketag +(april.tag.Tag36h11, id = 407) maketag +(april.tag.Tag36h11, id = 408) maketag +(april.tag.Tag36h11, id = 409) maketag +(april.tag.Tag36h11, id = 410) maketag +(april.tag.Tag36h11, id = 411) maketag +(april.tag.Tag36h11, id = 412) maketag +(april.tag.Tag36h11, id = 413) maketag +(april.tag.Tag36h11, id = 414) maketag +(april.tag.Tag36h11, id = 415) maketag +(april.tag.Tag36h11, id = 416) maketag +(april.tag.Tag36h11, id = 417) maketag +(april.tag.Tag36h11, id = 418) maketag +(april.tag.Tag36h11, id = 419) maketag +(april.tag.Tag36h11, id = 420) maketag +(april.tag.Tag36h11, id = 421) maketag +(april.tag.Tag36h11, id = 422) maketag +(april.tag.Tag36h11, id = 423) maketag +(april.tag.Tag36h11, id = 424) maketag +(april.tag.Tag36h11, id = 425) maketag +(april.tag.Tag36h11, id = 426) maketag +(april.tag.Tag36h11, id = 427) maketag +(april.tag.Tag36h11, id = 428) maketag +(april.tag.Tag36h11, id = 429) maketag +(april.tag.Tag36h11, id = 430) maketag +(april.tag.Tag36h11, id = 431) maketag +(april.tag.Tag36h11, id = 432) maketag +(april.tag.Tag36h11, id = 433) maketag +(april.tag.Tag36h11, id = 434) maketag +(april.tag.Tag36h11, id = 435) maketag +(april.tag.Tag36h11, id = 436) maketag +(april.tag.Tag36h11, id = 437) maketag +(april.tag.Tag36h11, id = 438) maketag +(april.tag.Tag36h11, id = 439) maketag +(april.tag.Tag36h11, id = 440) maketag +(april.tag.Tag36h11, id = 441) maketag +(april.tag.Tag36h11, id = 442) maketag +(april.tag.Tag36h11, id = 443) maketag +(april.tag.Tag36h11, id = 444) maketag +(april.tag.Tag36h11, id = 445) maketag +(april.tag.Tag36h11, id = 446) maketag +(april.tag.Tag36h11, id = 447) maketag +(april.tag.Tag36h11, id = 448) maketag +(april.tag.Tag36h11, id = 449) maketag +(april.tag.Tag36h11, id = 450) maketag +(april.tag.Tag36h11, id = 451) maketag +(april.tag.Tag36h11, id = 452) maketag +(april.tag.Tag36h11, id = 453) maketag +(april.tag.Tag36h11, id = 454) maketag +(april.tag.Tag36h11, id = 455) maketag +(april.tag.Tag36h11, id = 456) maketag +(april.tag.Tag36h11, id = 457) maketag +(april.tag.Tag36h11, id = 458) maketag +(april.tag.Tag36h11, id = 459) maketag +(april.tag.Tag36h11, id = 460) maketag +(april.tag.Tag36h11, id = 461) maketag +(april.tag.Tag36h11, id = 462) maketag +(april.tag.Tag36h11, id = 463) maketag +(april.tag.Tag36h11, id = 464) maketag +(april.tag.Tag36h11, id = 465) maketag +(april.tag.Tag36h11, id = 466) maketag +(april.tag.Tag36h11, id = 467) maketag +(april.tag.Tag36h11, id = 468) maketag +(april.tag.Tag36h11, id = 469) maketag +(april.tag.Tag36h11, id = 470) maketag +(april.tag.Tag36h11, id = 471) maketag +(april.tag.Tag36h11, id = 472) maketag +(april.tag.Tag36h11, id = 473) maketag +(april.tag.Tag36h11, id = 474) maketag +(april.tag.Tag36h11, id = 475) maketag +(april.tag.Tag36h11, id = 476) maketag +(april.tag.Tag36h11, id = 477) maketag +(april.tag.Tag36h11, id = 478) maketag +(april.tag.Tag36h11, id = 479) maketag +(april.tag.Tag36h11, id = 480) maketag +(april.tag.Tag36h11, id = 481) maketag +(april.tag.Tag36h11, id = 482) maketag +(april.tag.Tag36h11, id = 483) maketag +(april.tag.Tag36h11, id = 484) maketag +(april.tag.Tag36h11, id = 485) maketag +(april.tag.Tag36h11, id = 486) maketag +(april.tag.Tag36h11, id = 487) maketag +(april.tag.Tag36h11, id = 488) maketag +(april.tag.Tag36h11, id = 489) maketag +(april.tag.Tag36h11, id = 490) maketag +(april.tag.Tag36h11, id = 491) maketag +(april.tag.Tag36h11, id = 492) maketag +(april.tag.Tag36h11, id = 493) maketag +(april.tag.Tag36h11, id = 494) maketag +(april.tag.Tag36h11, id = 495) maketag +(april.tag.Tag36h11, id = 496) maketag +(april.tag.Tag36h11, id = 497) maketag +(april.tag.Tag36h11, id = 498) maketag +(april.tag.Tag36h11, id = 499) maketag +(april.tag.Tag36h11, id = 500) maketag +(april.tag.Tag36h11, id = 501) maketag +(april.tag.Tag36h11, id = 502) maketag +(april.tag.Tag36h11, id = 503) maketag +(april.tag.Tag36h11, id = 504) maketag +(april.tag.Tag36h11, id = 505) maketag +(april.tag.Tag36h11, id = 506) maketag +(april.tag.Tag36h11, id = 507) maketag +(april.tag.Tag36h11, id = 508) maketag +(april.tag.Tag36h11, id = 509) maketag +(april.tag.Tag36h11, id = 510) maketag +(april.tag.Tag36h11, id = 511) maketag +(april.tag.Tag36h11, id = 512) maketag +(april.tag.Tag36h11, id = 513) maketag +(april.tag.Tag36h11, id = 514) maketag +(april.tag.Tag36h11, id = 515) maketag +(april.tag.Tag36h11, id = 516) maketag +(april.tag.Tag36h11, id = 517) maketag +(april.tag.Tag36h11, id = 518) maketag +(april.tag.Tag36h11, id = 519) maketag +(april.tag.Tag36h11, id = 520) maketag +(april.tag.Tag36h11, id = 521) maketag +(april.tag.Tag36h11, id = 522) maketag +(april.tag.Tag36h11, id = 523) maketag +(april.tag.Tag36h11, id = 524) maketag +(april.tag.Tag36h11, id = 525) maketag +(april.tag.Tag36h11, id = 526) maketag +(april.tag.Tag36h11, id = 527) maketag +(april.tag.Tag36h11, id = 528) maketag +(april.tag.Tag36h11, id = 529) maketag +(april.tag.Tag36h11, id = 530) maketag +(april.tag.Tag36h11, id = 531) maketag +(april.tag.Tag36h11, id = 532) maketag +(april.tag.Tag36h11, id = 533) maketag +(april.tag.Tag36h11, id = 534) maketag +(april.tag.Tag36h11, id = 535) maketag +(april.tag.Tag36h11, id = 536) maketag +(april.tag.Tag36h11, id = 537) maketag +(april.tag.Tag36h11, id = 538) maketag +(april.tag.Tag36h11, id = 539) maketag +(april.tag.Tag36h11, id = 540) maketag +(april.tag.Tag36h11, id = 541) maketag +(april.tag.Tag36h11, id = 542) maketag +(april.tag.Tag36h11, id = 543) maketag +(april.tag.Tag36h11, id = 544) maketag +(april.tag.Tag36h11, id = 545) maketag +(april.tag.Tag36h11, id = 546) maketag +(april.tag.Tag36h11, id = 547) maketag +(april.tag.Tag36h11, id = 548) maketag +(april.tag.Tag36h11, id = 549) maketag +(april.tag.Tag36h11, id = 550) maketag +(april.tag.Tag36h11, id = 551) maketag +(april.tag.Tag36h11, id = 552) maketag +(april.tag.Tag36h11, id = 553) maketag +(april.tag.Tag36h11, id = 554) maketag +(april.tag.Tag36h11, id = 555) maketag +(april.tag.Tag36h11, id = 556) maketag +(april.tag.Tag36h11, id = 557) maketag +(april.tag.Tag36h11, id = 558) maketag +(april.tag.Tag36h11, id = 559) maketag +(april.tag.Tag36h11, id = 560) maketag +(april.tag.Tag36h11, id = 561) maketag +(april.tag.Tag36h11, id = 562) maketag +(april.tag.Tag36h11, id = 563) maketag +(april.tag.Tag36h11, id = 564) maketag +(april.tag.Tag36h11, id = 565) maketag +(april.tag.Tag36h11, id = 566) maketag +(april.tag.Tag36h11, id = 567) maketag +(april.tag.Tag36h11, id = 568) maketag +(april.tag.Tag36h11, id = 569) maketag +(april.tag.Tag36h11, id = 570) maketag +(april.tag.Tag36h11, id = 571) maketag +(april.tag.Tag36h11, id = 572) maketag +(april.tag.Tag36h11, id = 573) maketag +(april.tag.Tag36h11, id = 574) maketag +(april.tag.Tag36h11, id = 575) maketag +(april.tag.Tag36h11, id = 576) maketag +(april.tag.Tag36h11, id = 577) maketag +(april.tag.Tag36h11, id = 578) maketag +(april.tag.Tag36h11, id = 579) maketag +(april.tag.Tag36h11, id = 580) maketag +(april.tag.Tag36h11, id = 581) maketag +(april.tag.Tag36h11, id = 582) maketag +(april.tag.Tag36h11, id = 583) maketag +(april.tag.Tag36h11, id = 584) maketag +(april.tag.Tag36h11, id = 585) maketag +(april.tag.Tag36h11, id = 586) maketag diff --git a/lib/components_elixir/apriltag.ex b/lib/components_elixir/apriltag.ex index 118a639..6087c07 100644 --- a/lib/components_elixir/apriltag.ex +++ b/lib/components_elixir/apriltag.ex @@ -8,8 +8,9 @@ defmodule ComponentsElixir.AprilTag do import Ecto.Query + alias ComponentsElixir.AprilTag.Tag36h11 + @tag36h11_count 587 - @apriltag_size 200 @doc """ Returns the total number of available AprilTags in the tag36h11 family. @@ -116,43 +117,11 @@ defmodule ComponentsElixir.AprilTag do @doc """ Generates an SVG string for an AprilTag with the given ID. - This creates a basic SVG representation of the AprilTag pattern - with the ID displayed below it for human readability. - - Note: This is a simplified implementation. For production use, - you'd want to use the actual AprilTag generation algorithm or - pre-generated assets. + This creates an actual AprilTag pattern using real tag36h11 data + when available, or falls back to a placeholder pattern. """ def generate_apriltag_svg(apriltag_id, opts \\ []) do - size = Keyword.get(opts, :size, @apriltag_size) - margin = Keyword.get(opts, :margin, div(size, 10)) - - # For now, create a placeholder square pattern - # In a real implementation, you'd generate the actual AprilTag pattern - square_size = size - (2 * margin) - - """ - - - - - - - - - - - - - - ID: #{String.pad_leading(to_string(apriltag_id), 3, "0")} - - - """ + Tag36h11.generate_apriltag_svg(apriltag_id, opts) end @doc """ diff --git a/lib/components_elixir/apriltag/tag36h11.ex b/lib/components_elixir/apriltag/tag36h11.ex new file mode 100644 index 0000000..d73fa64 --- /dev/null +++ b/lib/components_elixir/apriltag/tag36h11.ex @@ -0,0 +1,243 @@ +defmodule ComponentsElixir.AprilTag.Tag36h11 do + @moduledoc """ + Tag36h11 AprilTag family data and generation. + + Contains the actual bit patterns for all 587 tags in the tag36h11 family, + sourced from the AprilRobotics apriltag-imgs repository. + """ + + import Bitwise + + # PostScript file path containing all tag36h11 patterns + @patterns_file "apriltags.ps" + + # Parse a PostScript line like: (april.tag.Tag36h11, id = 42) maketag + defp parse_ps_line(line) do + case Regex.run(~r/\(april\.tag\.Tag36h11, id = (\d+)\) <([0-9a-fA-F]+)> maketag/, line) do + [_, id_str, hex_pattern] -> + {String.to_integer(id_str), String.downcase(hex_pattern)} + _ -> + nil + end + end + + # Extract patterns from PostScript file at compile time + @all_patterns ( + path = Path.join([File.cwd!(), "apriltags.ps"]) + + if File.exists?(path) do + File.read!(path) + |> String.split("\n") + |> Enum.filter(&String.contains?(&1, "april.tag.Tag36h11")) + |> Enum.map(fn line -> + case Regex.run(~r/\(april\.tag\.Tag36h11, id = (\d+)\) <([0-9a-fA-F]+)> maketag/, line) do + [_, id_str, hex_pattern] -> + {String.to_integer(id_str), String.downcase(hex_pattern)} + _ -> + nil + end + end) + |> Enum.reject(&is_nil/1) + |> Map.new() + else + raise "Error: apriltags.ps file not found in project root. This file is required for AprilTag pattern generation." + end + ) + + # Sample of real tag36h11 hex patterns from AprilRobotics repository + # This will be populated with patterns extracted from the PostScript file + @tag36h11_patterns @all_patterns + + @doc """ + Extracts all tag36h11 hex patterns from the PostScript file. + + Returns a map of {id => hex_pattern} for all 587 tags. + """ + def extract_patterns_from_ps_file(file_path \\ nil) do + path = file_path || Path.join([File.cwd!(), @patterns_file]) + + if File.exists?(path) do + File.read!(path) + |> String.split("\n") + |> Enum.filter(&String.contains?(&1, "april.tag.Tag36h11")) + |> Enum.map(&parse_ps_line/1) + |> Enum.reject(&is_nil/1) + |> Map.new() + else + %{} # Return empty map if file not found, will fall back to hardcoded patterns + end + end + + @doc """ + Gets the hex pattern for a given AprilTag ID. + + Returns nil if the ID is not available in our pattern data. + """ + def get_hex_pattern(id) when is_integer(id) and id >= 0 and id < 587 do + Map.get(@tag36h11_patterns, id) + end + def get_hex_pattern(_), do: nil + + @doc """ + Converts a PostScript hex pattern to a 10x10 binary matrix using 2-bits-per-pixel + with proper row padding handling. + + PostScript pads each scanline to byte boundary: 10 pixels × 2 bits = 20 bits, + rounded up to 24 bits = 3 bytes per row. The last 2 pixels per row are padding. + + Returns a list of lists where true = black pixel, false = white pixel. + """ + def hex_to_binary_matrix_2bpp(hex_string) when is_binary(hex_string) do + clean_hex = + hex_string + |> String.replace(~r/[<>\s]/, "") + |> String.upcase() + + bytes = Base.decode16!(clean_hex, case: :mixed) + + # Each scanline is padded to a byte boundary: 3 bytes per 10 pixels (2 bpp) + row_bytes = 3 + rows = + for row <- 0..9 do + <<_::binary-size(row * row_bytes), r::binary-size(row_bytes), _::binary>> = bytes + <> = r + + samples = + [ + b0 >>> 6 &&& 0x3, b0 >>> 4 &&& 0x3, b0 >>> 2 &&& 0x3, b0 &&& 0x3, + b1 >>> 6 &&& 0x3, b1 >>> 4 &&& 0x3, b1 >>> 2 &&& 0x3, b1 &&& 0x3, + b2 >>> 6 &&& 0x3, b2 >>> 4 &&& 0x3, b2 >>> 2 &&& 0x3, b2 &&& 0x3 + ] + |> Enum.take(10) # drop the 2 padding samples at end of row + |> Enum.map(&(&1 == 0)) # 0 = black, 3 = white → boolean + + samples + end + + rows + end + + @doc """ + Legacy method - kept for backward compatibility. + Use hex_to_binary_matrix_2bpp/1 for correct AprilTag parsing. + """ + def hex_to_binary_matrix(hex_string) when is_binary(hex_string) do + hex_to_binary_matrix_2bpp(hex_string) + end + + @doc """ + Generates an SVG string from a binary matrix. + + Takes a 10x10 binary matrix and converts it to an SVG representation + using integer coordinates with viewBox scaling to eliminate seams. + Only black modules are drawn over a white background. + """ + def binary_matrix_to_svg(binary_matrix, opts \\ []) do + size = Keyword.get(opts, :size, 200) # final CSS size in px + id_text = Keyword.get(opts, :id_text, "") + + # binary_matrix is 10x10 of booleans: true=black, false=white + modules_w = 10 + modules_h = 10 + + # Build rects only for black modules, aligned to integer coords in the viewBox space + black_cells = + binary_matrix + |> Enum.with_index() + |> Enum.flat_map(fn {row, y} -> + row + |> Enum.with_index() + |> Enum.filter(fn {is_black, _x} -> is_black end) + |> Enum.map(fn {_is_black, x} -> + ~s() + end) + end) + |> Enum.join() + + """ + + + + + + + + + + #{black_cells} + + + + #{if id_text != "" do + ~s(#{id_text}) + else "" end} + + """ + end + + @doc """ + Generates a complete AprilTag SVG for a given ID. + + This is the main function that combines hex pattern lookup, + binary conversion, and SVG generation. + """ + def generate_apriltag_svg(id, opts \\ []) do + case get_hex_pattern(id) do + nil -> + # Fallback to placeholder for IDs we don't have patterns for yet + generate_placeholder_svg(id, opts) + + hex_pattern -> + binary_matrix = hex_to_binary_matrix_2bpp(hex_pattern) + id_text = "ID: #{String.pad_leading(to_string(id), 3, "0")}" + opts_with_id = Keyword.put(opts, :id_text, id_text) + binary_matrix_to_svg(binary_matrix, opts_with_id) + end + end # Generate a placeholder pattern for IDs we don't have real data for yet + defp generate_placeholder_svg(id, opts) do + size = Keyword.get(opts, :size, 200) + margin = Keyword.get(opts, :margin, div(size, 10)) + square_size = size - (2 * margin) + + """ + + + + + + + + + + + + + + ID: #{String.pad_leading(to_string(id), 3, "0")} (Placeholder) + + + """ + end + + @doc """ + Returns the list of AprilTag IDs that have real pattern data available. + """ + def available_patterns do + Map.keys(@tag36h11_patterns) |> Enum.sort() + end + + @doc """ + Returns whether a real pattern is available for the given ID. + """ + def has_real_pattern?(id) do + Map.has_key?(@tag36h11_patterns, id) + end +end diff --git a/priv/static/apriltags/tag36h11_id_000.svg b/priv/static/apriltags/tag36h11_id_000.svg index ea286fb..397a201 100644 --- a/priv/static/apriltags/tag36h11_id_000.svg +++ b/priv/static/apriltags/tag36h11_id_000.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 000 - + + + + + + + + + + + + + + ID: 000 diff --git a/priv/static/apriltags/tag36h11_id_001.svg b/priv/static/apriltags/tag36h11_id_001.svg index 2267688..eef1862 100644 --- a/priv/static/apriltags/tag36h11_id_001.svg +++ b/priv/static/apriltags/tag36h11_id_001.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 001 - + + + + + + + + + + + + + + ID: 001 diff --git a/priv/static/apriltags/tag36h11_id_002.svg b/priv/static/apriltags/tag36h11_id_002.svg index aa79672..023f345 100644 --- a/priv/static/apriltags/tag36h11_id_002.svg +++ b/priv/static/apriltags/tag36h11_id_002.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 002 - + + + + + + + + + + + + + + ID: 002 diff --git a/priv/static/apriltags/tag36h11_id_003.svg b/priv/static/apriltags/tag36h11_id_003.svg index 305d294..ebb9d42 100644 --- a/priv/static/apriltags/tag36h11_id_003.svg +++ b/priv/static/apriltags/tag36h11_id_003.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 003 - + + + + + + + + + + + + + + ID: 003 diff --git a/priv/static/apriltags/tag36h11_id_004.svg b/priv/static/apriltags/tag36h11_id_004.svg index b404163..3441628 100644 --- a/priv/static/apriltags/tag36h11_id_004.svg +++ b/priv/static/apriltags/tag36h11_id_004.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 004 - + + + + + + + + + + + + + + ID: 004 diff --git a/priv/static/apriltags/tag36h11_id_005.svg b/priv/static/apriltags/tag36h11_id_005.svg index 2cddc18..d4ac3dc 100644 --- a/priv/static/apriltags/tag36h11_id_005.svg +++ b/priv/static/apriltags/tag36h11_id_005.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 005 - + + + + + + + + + + + + + + ID: 005 diff --git a/priv/static/apriltags/tag36h11_id_006.svg b/priv/static/apriltags/tag36h11_id_006.svg index f730207..ca54ef6 100644 --- a/priv/static/apriltags/tag36h11_id_006.svg +++ b/priv/static/apriltags/tag36h11_id_006.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 006 - + + + + + + + + + + + + + + ID: 006 diff --git a/priv/static/apriltags/tag36h11_id_007.svg b/priv/static/apriltags/tag36h11_id_007.svg index e301ad5..dc24092 100644 --- a/priv/static/apriltags/tag36h11_id_007.svg +++ b/priv/static/apriltags/tag36h11_id_007.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 007 - + + + + + + + + + + + + + + ID: 007 diff --git a/priv/static/apriltags/tag36h11_id_008.svg b/priv/static/apriltags/tag36h11_id_008.svg index 072f6ae..2e15f46 100644 --- a/priv/static/apriltags/tag36h11_id_008.svg +++ b/priv/static/apriltags/tag36h11_id_008.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 008 - + + + + + + + + + + + + + + ID: 008 diff --git a/priv/static/apriltags/tag36h11_id_009.svg b/priv/static/apriltags/tag36h11_id_009.svg index 6735786..dfaf81b 100644 --- a/priv/static/apriltags/tag36h11_id_009.svg +++ b/priv/static/apriltags/tag36h11_id_009.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 009 - + + + + + + + + + + + + + + ID: 009 diff --git a/priv/static/apriltags/tag36h11_id_010.svg b/priv/static/apriltags/tag36h11_id_010.svg index de7a32d..8ee66fc 100644 --- a/priv/static/apriltags/tag36h11_id_010.svg +++ b/priv/static/apriltags/tag36h11_id_010.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 010 - + + + + + + + + + + + + + + ID: 010 diff --git a/priv/static/apriltags/tag36h11_id_011.svg b/priv/static/apriltags/tag36h11_id_011.svg index 986d8f2..22939d1 100644 --- a/priv/static/apriltags/tag36h11_id_011.svg +++ b/priv/static/apriltags/tag36h11_id_011.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 011 - + + + + + + + + + + + + + + ID: 011 diff --git a/priv/static/apriltags/tag36h11_id_012.svg b/priv/static/apriltags/tag36h11_id_012.svg index fa7ced6..18ceb18 100644 --- a/priv/static/apriltags/tag36h11_id_012.svg +++ b/priv/static/apriltags/tag36h11_id_012.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 012 - + + + + + + + + + + + + + + ID: 012 diff --git a/priv/static/apriltags/tag36h11_id_013.svg b/priv/static/apriltags/tag36h11_id_013.svg index 32d5e4d..692d579 100644 --- a/priv/static/apriltags/tag36h11_id_013.svg +++ b/priv/static/apriltags/tag36h11_id_013.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 013 - + + + + + + + + + + + + + + ID: 013 diff --git a/priv/static/apriltags/tag36h11_id_014.svg b/priv/static/apriltags/tag36h11_id_014.svg index de9f2a8..1a14789 100644 --- a/priv/static/apriltags/tag36h11_id_014.svg +++ b/priv/static/apriltags/tag36h11_id_014.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 014 - + + + + + + + + + + + + + + ID: 014 diff --git a/priv/static/apriltags/tag36h11_id_015.svg b/priv/static/apriltags/tag36h11_id_015.svg index ca8dbbf..bd5ba1f 100644 --- a/priv/static/apriltags/tag36h11_id_015.svg +++ b/priv/static/apriltags/tag36h11_id_015.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 015 - + + + + + + + + + + + + + + ID: 015 diff --git a/priv/static/apriltags/tag36h11_id_016.svg b/priv/static/apriltags/tag36h11_id_016.svg index 4dd3327..e1b84ae 100644 --- a/priv/static/apriltags/tag36h11_id_016.svg +++ b/priv/static/apriltags/tag36h11_id_016.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 016 - + + + + + + + + + + + + + + ID: 016 diff --git a/priv/static/apriltags/tag36h11_id_017.svg b/priv/static/apriltags/tag36h11_id_017.svg index 48a889e..e86c1ca 100644 --- a/priv/static/apriltags/tag36h11_id_017.svg +++ b/priv/static/apriltags/tag36h11_id_017.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 017 - + + + + + + + + + + + + + + ID: 017 diff --git a/priv/static/apriltags/tag36h11_id_018.svg b/priv/static/apriltags/tag36h11_id_018.svg index fe22e01..97fa3e7 100644 --- a/priv/static/apriltags/tag36h11_id_018.svg +++ b/priv/static/apriltags/tag36h11_id_018.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 018 - + + + + + + + + + + + + + + ID: 018 diff --git a/priv/static/apriltags/tag36h11_id_019.svg b/priv/static/apriltags/tag36h11_id_019.svg index 6775b25..f57dccf 100644 --- a/priv/static/apriltags/tag36h11_id_019.svg +++ b/priv/static/apriltags/tag36h11_id_019.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 019 - + + + + + + + + + + + + + + ID: 019 diff --git a/priv/static/apriltags/tag36h11_id_020.svg b/priv/static/apriltags/tag36h11_id_020.svg index a181aa3..15ec0bc 100644 --- a/priv/static/apriltags/tag36h11_id_020.svg +++ b/priv/static/apriltags/tag36h11_id_020.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 020 - + + + + + + + + + + + + + + ID: 020 diff --git a/priv/static/apriltags/tag36h11_id_021.svg b/priv/static/apriltags/tag36h11_id_021.svg index 39fdbe9..72e4831 100644 --- a/priv/static/apriltags/tag36h11_id_021.svg +++ b/priv/static/apriltags/tag36h11_id_021.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 021 - + + + + + + + + + + + + + + ID: 021 diff --git a/priv/static/apriltags/tag36h11_id_022.svg b/priv/static/apriltags/tag36h11_id_022.svg index 415b37c..0d83fcc 100644 --- a/priv/static/apriltags/tag36h11_id_022.svg +++ b/priv/static/apriltags/tag36h11_id_022.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 022 - + + + + + + + + + + + + + + ID: 022 diff --git a/priv/static/apriltags/tag36h11_id_023.svg b/priv/static/apriltags/tag36h11_id_023.svg index 3c2affc..4e8113e 100644 --- a/priv/static/apriltags/tag36h11_id_023.svg +++ b/priv/static/apriltags/tag36h11_id_023.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 023 - + + + + + + + + + + + + + + ID: 023 diff --git a/priv/static/apriltags/tag36h11_id_024.svg b/priv/static/apriltags/tag36h11_id_024.svg index 730725c..db7684f 100644 --- a/priv/static/apriltags/tag36h11_id_024.svg +++ b/priv/static/apriltags/tag36h11_id_024.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 024 - + + + + + + + + + + + + + + ID: 024 diff --git a/priv/static/apriltags/tag36h11_id_025.svg b/priv/static/apriltags/tag36h11_id_025.svg index 161c21b..ba58bf3 100644 --- a/priv/static/apriltags/tag36h11_id_025.svg +++ b/priv/static/apriltags/tag36h11_id_025.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 025 - + + + + + + + + + + + + + + ID: 025 diff --git a/priv/static/apriltags/tag36h11_id_026.svg b/priv/static/apriltags/tag36h11_id_026.svg index 4459dc8..29aadcd 100644 --- a/priv/static/apriltags/tag36h11_id_026.svg +++ b/priv/static/apriltags/tag36h11_id_026.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 026 - + + + + + + + + + + + + + + ID: 026 diff --git a/priv/static/apriltags/tag36h11_id_027.svg b/priv/static/apriltags/tag36h11_id_027.svg index 03e50ff..28ce27e 100644 --- a/priv/static/apriltags/tag36h11_id_027.svg +++ b/priv/static/apriltags/tag36h11_id_027.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 027 - + + + + + + + + + + + + + + ID: 027 diff --git a/priv/static/apriltags/tag36h11_id_028.svg b/priv/static/apriltags/tag36h11_id_028.svg index 39f9fb6..03ca1d2 100644 --- a/priv/static/apriltags/tag36h11_id_028.svg +++ b/priv/static/apriltags/tag36h11_id_028.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 028 - + + + + + + + + + + + + + + ID: 028 diff --git a/priv/static/apriltags/tag36h11_id_029.svg b/priv/static/apriltags/tag36h11_id_029.svg index 40b7661..272e7f1 100644 --- a/priv/static/apriltags/tag36h11_id_029.svg +++ b/priv/static/apriltags/tag36h11_id_029.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 029 - + + + + + + + + + + + + + + ID: 029 diff --git a/priv/static/apriltags/tag36h11_id_030.svg b/priv/static/apriltags/tag36h11_id_030.svg index a221df2..c14a9b0 100644 --- a/priv/static/apriltags/tag36h11_id_030.svg +++ b/priv/static/apriltags/tag36h11_id_030.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 030 - + + + + + + + + + + + + + + ID: 030 diff --git a/priv/static/apriltags/tag36h11_id_031.svg b/priv/static/apriltags/tag36h11_id_031.svg index 11616d0..ce5a6ba 100644 --- a/priv/static/apriltags/tag36h11_id_031.svg +++ b/priv/static/apriltags/tag36h11_id_031.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 031 - + + + + + + + + + + + + + + ID: 031 diff --git a/priv/static/apriltags/tag36h11_id_032.svg b/priv/static/apriltags/tag36h11_id_032.svg index 0df7118..c02c81c 100644 --- a/priv/static/apriltags/tag36h11_id_032.svg +++ b/priv/static/apriltags/tag36h11_id_032.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 032 - + + + + + + + + + + + + + + ID: 032 diff --git a/priv/static/apriltags/tag36h11_id_033.svg b/priv/static/apriltags/tag36h11_id_033.svg index 92247a6..07035a8 100644 --- a/priv/static/apriltags/tag36h11_id_033.svg +++ b/priv/static/apriltags/tag36h11_id_033.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 033 - + + + + + + + + + + + + + + ID: 033 diff --git a/priv/static/apriltags/tag36h11_id_034.svg b/priv/static/apriltags/tag36h11_id_034.svg index 793b594..af245f6 100644 --- a/priv/static/apriltags/tag36h11_id_034.svg +++ b/priv/static/apriltags/tag36h11_id_034.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 034 - + + + + + + + + + + + + + + ID: 034 diff --git a/priv/static/apriltags/tag36h11_id_035.svg b/priv/static/apriltags/tag36h11_id_035.svg index cf37fc1..b37d19a 100644 --- a/priv/static/apriltags/tag36h11_id_035.svg +++ b/priv/static/apriltags/tag36h11_id_035.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 035 - + + + + + + + + + + + + + + ID: 035 diff --git a/priv/static/apriltags/tag36h11_id_036.svg b/priv/static/apriltags/tag36h11_id_036.svg index c6717d0..5673733 100644 --- a/priv/static/apriltags/tag36h11_id_036.svg +++ b/priv/static/apriltags/tag36h11_id_036.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 036 - + + + + + + + + + + + + + + ID: 036 diff --git a/priv/static/apriltags/tag36h11_id_037.svg b/priv/static/apriltags/tag36h11_id_037.svg index 1020f86..1397a2f 100644 --- a/priv/static/apriltags/tag36h11_id_037.svg +++ b/priv/static/apriltags/tag36h11_id_037.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 037 - + + + + + + + + + + + + + + ID: 037 diff --git a/priv/static/apriltags/tag36h11_id_038.svg b/priv/static/apriltags/tag36h11_id_038.svg index 036cb0a..521e70f 100644 --- a/priv/static/apriltags/tag36h11_id_038.svg +++ b/priv/static/apriltags/tag36h11_id_038.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 038 - + + + + + + + + + + + + + + ID: 038 diff --git a/priv/static/apriltags/tag36h11_id_039.svg b/priv/static/apriltags/tag36h11_id_039.svg index 58f4858..26a54f7 100644 --- a/priv/static/apriltags/tag36h11_id_039.svg +++ b/priv/static/apriltags/tag36h11_id_039.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 039 - + + + + + + + + + + + + + + ID: 039 diff --git a/priv/static/apriltags/tag36h11_id_040.svg b/priv/static/apriltags/tag36h11_id_040.svg index 0b0857f..4fbfbad 100644 --- a/priv/static/apriltags/tag36h11_id_040.svg +++ b/priv/static/apriltags/tag36h11_id_040.svg @@ -1,20 +1,19 @@ - - - - - - - - - - - - - - ID: 040 - + + + + + + + + + + + + + + ID: 040 diff --git a/priv/static/apriltags/tag36h11_id_041.svg b/priv/static/apriltags/tag36h11_id_041.svg index 9beb8d5..36f916c 100644 --- a/priv/static/apriltags/tag36h11_id_041.svg +++ b/priv/static/apriltags/tag36h11_id_041.svg @@ -1,20 +1,19 @@ - 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