/* 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 #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); }