added apriltag dictionaries

jingruchenmax · Sep 12, 2022 · 8d8eea0 · 8d8eea0
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diff --git a/src/dictionaries/apriltag_16h5.js b/src/dictionaries/apriltag_16h5.js
@@ -0,0 +1,35 @@
+/* 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, [email protected]. 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.
+*/
+
+//Dictionary extracted from https://github.com/AprilRobotics/apriltag-generation/blob/master/src/april/tag/Tag16h5.java
+
+var AR = this.AR || require('../aruco').AR;
+AR.DICTIONARIES['APRILTAG_16h5'] = {
+  nBits: 16,
+  tau: 5,
+  codeList: [0x231b,0x2ea5,0x346a,0x45b9,0x79a6,0x7f6b,0xb358,0xe745,0xfe59,0x156d,0x380b,0xf0ab,0xd84,0x4736,0x8c72,0xaf10,0x93c,0x93b4,0xa503,0x468f,0xe137,0x5795,0xdf42,0x1c1d,0xe9dc,0x73ad,0xad5f,0xd530,0x7ca,0xaf2e]
+};
diff --git a/src/dictionaries/apriltag_25h7.js b/src/dictionaries/apriltag_25h7.js
@@ -0,0 +1,36 @@
+/**
+Copyright 2017 Rafael Muñoz Salinas. 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. 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 Rafael Muñoz Salinas ''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 Rafael Muñoz Salinas 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 Rafael Muñoz Salinas.
+*/
+
+//Dictionary extracted from https://sourceforge.net/projects/aruco/files/3.1.12/
+
+var AR = this.AR || require('../aruco').AR;
+AR.DICTIONARIES['APRILTAG_25h7'] = {
+  nBits: 25,
+  tau: 7,
+  codeList: [0x4b770d,0x11693e6,0x1a599ab,0xc3a535,0x152aafa,0xaccd98,0x1cad922,0x2c2fad,0xbb3572,0x14a3b37,0x186524b,0xc99d4c,0x23bfea,0x141cb74,0x1d0d139,0x1670aeb,0x851675,0x150334e,0x6e3ed8,0xfd449d,0xaa55ec,0x1c86176,0x15e9b28,0x7ca6b2,0x147c38b,0x1d6c950,0x8b0e8c,0x11a1451,0x1562b65,0x13f53c8,0xd58d7a,0x829ec9,0xfaccf1,0x136e405,0x7a2f06,0x10934cb,0x16a8b56,0x1a6a26a,0xf85545,0x195c2e4,0x24c8a9,0x12bfc96,0x16813aa,0x1a42abe,0x1573424,0x1044573,0xb156c2,0x5e6811,0x1659bfe,0x1d55a63,0x5bf065,0xe28667,0x1e9ba54,0x17d7c5a,0x1f5aa82,0x1a2bbd1,0x1ae9f9,0x1259e51,0x134062b,0xe1177a,0xed07a8,0x162be24,0x59128b,0x1663e8f,0x1a83cb,0x45bb59,0x189065a,0x4bb370,0x16fb711,0x122c077,0xeca17a,0xdbc1f4,0x88d343,0x58ac5d,0xba02e8,0x1a1d9d,0x1c72eec,0x924bc5,0xdccab3,0x886d15,0x178c965,0x5bc69a,0x1716261,0x174e2cc,0x1ed10f4,0x156aa8,0x3e2a8a,0x2752ed,0x153c651,0x1741670,0x765b05,0x119c0bb,0x172a783,0x4faca1,0xf31257,0x12441fc,0xd3748,0xc21f15,0xac5037,0x180e592,0x7d3210,0xa27187,0x2beeaf,0x26ff57,0x690e82,0x77765c,0x1a9e1d7,0x140be1a,0x1aa1e3a,0x1944f5c,0x19b5032,0x169897,0x1068eb9,0xf30dbc,0x106a151,0x1d53e95,0x1348cee,0xcf4fca,0x1728bb5,0xdc1eec,0x69e8db,0x16e1523,0x105fa25,0x18abb0c,0xc4275d,0x6d8e76,0xe8d6db,0xe16fd7,0x1ac2682,0x77435b,0xa359dd,0x3a9c4e,0x123919a,0x1e25817,0x2a836,0x1545a4,0x1209c8d,0xbb5f69,0x1dc1f02,0x5d5f7e,0x12d0581,0x13786c2,0xe15409,0x1aa3599,0x139aad8,0xb09d2a,0x54488f,0x13c351c,0x976079,0xb25b12,0x1addb34,0x1cb23ae,0x1175738,0x1303bb8,0xd47716,0x188ceea,0xbaf967,0x1226d39,0x135e99b,0x34adc5,0x2e384d,0x90d3fa,0x232713,0x17d49b1,0xaa84d6,0xc2ddf8,0x1665646,0x4f345f,0x2276b1,0x1255dd7,0x16f4ccc,0x4aaffc,0xc46da6,0x85c7b3,0x1311fcb,0x9c6c4f,0x187d947,0x8578e4,0xe2bf0b,0xa01b4c,0xa1493b,0x7ad766,0xccfe82,0x1981b5b,0x1cacc85,0x562cdb,0x15b0e78,0x8f66c5,0x3332bf,0x12ce754,0x96a76,0x1d5e3ba,0x27ea41,0x14412df,0x67b9b4,0xdaa51a,0x1dcb17,0x4d4afd,0x6335d5,0xee2334,0x17d4e55,0x1b8b0f0,0x14999e3,0x1513dfa,0x765cf2,0x56af90,0x12e16ac,0x1d3d86c,0xff279b,0x18822dd,0x99d478,0x8dc0d2,0x34b666,0xcf9526,0x186443d,0x7a8e29,0x19c6aa5,0x1f2a27d,0x12b2136,0xd0cd0d,0x12cb320,0x17ddb0b,0x5353b,0x15b2caf,0x1e5a507,0x120f1e5,0x114605a,0x14efe4c,0x568134,0x11b9f92,0x174d2a7,0x692b1d,0x39e4fe,0xaaff3d,0x96224c,0x13c9f77,0x110ee8f,0xf17bea,0x99fb5d,0x337141,0x2b54d,0x1233a70]
+};
diff --git a/src/dictionaries/apriltag_25h9.js b/src/dictionaries/apriltag_25h9.js
@@ -0,0 +1,35 @@
+/* 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, [email protected]. 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.
+*/
+
+//Dictionary extracted from https://github.com/AprilRobotics/apriltag-generation/blob/master/src/april/tag/Tag25h9.java
+
+var AR = this.AR || require('../aruco').AR;
+AR.DICTIONARIES['APRILTAG_25h9'] = {
+  nBits: 25,
+  tau: 9,
+  codeList: [0x155cbf1,0x1e4d1b6,0x17b0b68,0x1eac9cd,0x12e14ce,0x3548bb,0x7757e6,0x1065dab,0x1baa2e7,0xdea688,0x81d927,0x51b241,0xdbc8ae,0x1e50e19,0x15819d2,0x16d8282,0x163e035,0x9d9b81,0x173eec4,0xae3a09,0x5f7c51,0x1a137fc,0xdc9562,0x1802e45,0x1c3542c,0x870fa4,0x914709,0x16684f0,0xc8f2a5,0x833ebb,0x59717f,0x13cd050,0xfa0ad1,0x1b763b0,0xb991ce]
+};
diff --git a/src/dictionaries/apriltag_36h10.js b/src/dictionaries/apriltag_36h10.js
diff --git a/src/dictionaries/apriltag_36h11.js b/src/dictionaries/apriltag_36h11.js
diff --git a/src/dictionaries/apriltag_36h9.js b/src/dictionaries/apriltag_36h9.js