From e4f36cccd790a4d68d1db5e3797ccefd197f901b Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Tue, 12 Jul 2022 17:31:53 +0200
Subject: [PATCH] add tag detection script and files

---
 config/make_tag/LICENSE             | 202 ++++++++++++++++++++++++++++
 config/make_tag/README.md           |  19 +++
 config/make_tag/make_tag.py         | 196 +++++++++++++++++++++++++++
 config/make_tag/tags-24mm-28-75.pdf | Bin 0 -> 28512 bytes
 config/make_tag/tags-52mm-16-27.pdf | Bin 0 -> 24909 bytes
 config/make_tag/tags-52mm-4-15.pdf  | Bin 0 -> 24985 bytes
 config/make_tag/tags-80mm-0-3.pdf   | Bin 0 -> 22470 bytes
 7 files changed, 417 insertions(+)
 create mode 100644 config/make_tag/LICENSE
 create mode 100644 config/make_tag/README.md
 create mode 100644 config/make_tag/make_tag.py
 create mode 100644 config/make_tag/tags-24mm-28-75.pdf
 create mode 100644 config/make_tag/tags-52mm-16-27.pdf
 create mode 100644 config/make_tag/tags-52mm-4-15.pdf
 create mode 100644 config/make_tag/tags-80mm-0-3.pdf

diff --git a/config/make_tag/LICENSE b/config/make_tag/LICENSE
new file mode 100644
index 0000000..861ea08
--- /dev/null
+++ b/config/make_tag/LICENSE
@@ -0,0 +1,202 @@
+
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diff --git a/config/make_tag/README.md b/config/make_tag/README.md
new file mode 100644
index 0000000..ad3e774
--- /dev/null
+++ b/config/make_tag/README.md
@@ -0,0 +1,19 @@
+# make_tag
+
+taken from [https://github.com/berndpfrommer/tagslam](https://github.com/berndpfrommer/tagslam/blob/master/src/make_tag.py) under Apache 2.0 license.
+
+base tags (0-3):
+```
+python make_tag.py --draw_box --nx 2 --ny 2 --no-symm_corners --tsize 0.08 --borderbits 1 --startid 0 --tspace 0.03 --tfam t36h11 tags.pdf
+```
+
+large tags (4-27):
+```
+python make_tag.py --draw_box --nx 3 --ny 4 --no-symm_corners --tsize 0.052 --borderbits 1 --startid 4 --tspace 0.03 --tfam t36h11 tags.pdf
+python make_tag.py --draw_box --nx 3 --ny 4 --no-symm_corners --tsize 0.052 --borderbits 1 --startid 16 --tspace 0.03 --tfam t36h11 tags.pdf
+```
+
+small tags (28-75):
+```
+python make_tag.py --draw_box --nx 6 --ny 8 --no-symm_corners --tsize 0.024 --borderbits 1 --startid 28 --tspace 0.06 --tfam t36h11 tags.pdf
+```
\ No newline at end of file
diff --git a/config/make_tag/make_tag.py b/config/make_tag/make_tag.py
new file mode 100644
index 0000000..62e6686
--- /dev/null
+++ b/config/make_tag/make_tag.py
@@ -0,0 +1,196 @@
+#!/usr/bin/python
+# Thomas Schneider, Sept 2013
+# Codes from AprilTags C++ Library (http://people.csail.mit.edu/kaess/apriltags/)
+
+from pyx import *
+import argparse
+import sys
+import importlib
+
+import math
+import numpy as np
+
+class AprilTagCodes:
+    t16h5=[0x231b, 0x2ea5, 0x346a, 0x45b9, 0x79a6, 0x7f6b, 0xb358, 0xe745, 0xfe59, 0x156d, 0x380b, 0xf0ab, 0x0d84, 0x4736, 0x8c72, 0xaf10, 0x093c, 0x93b4, 0xa503, 0x468f, 0xe137, 0x5795, 0xdf42, 0x1c1d, 0xe9dc, 0x73ad, 0xad5f, 0xd530, 0x07ca, 0xaf2e]
+    t25h7=[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, 0x0d3748, 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, 0x02a836, 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, 0x096a76, 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, 0x05353b, 0x15b2caf, 0x1e5a507, 0x120f1e5, 0x114605a, 0x14efe4c, 0x568134, 0x11b9f92, 0x174d2a7, 0x692b1d, 0x39e4fe, 0xaaff3d, 0x96224c, 0x13c9f77, 0x110ee8f, 0xf17bea, 0x99fb5d, 0x337141, 0x02b54d, 0x1233a70]
+    t25h9=[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]
+    t36h11=[0xd5d628584, 0xd97f18b49, 0xdd280910e, 0xe479e9c98, 0xebcbca822, 0xf31dab3ac, 0x056a5d085, 0x10652e1d4, 0x22b1dfead, 0x265ad0472, 0x34fe91b86, 0x3ff962cd5, 0x43a25329a, 0x474b4385f, 0x4e9d243e9, 0x5246149ae, 0x5997f5538, 0x683bb6c4c, 0x6be4a7211, 0x7e3158eea, 0x81da494af, 0x858339a74, 0x8cd51a5fe, 0x9f21cc2d7, 0xa2cabc89c, 0xadc58d9eb, 0xb16e7dfb0, 0xb8c05eb3a, 0xd25ef139d, 0xd607e1962, 0xe4aba3076, 0x2dde6a3da, 0x43d40c678, 0x5620be351, 0x64c47fa65, 0x686d7002a, 0x6c16605ef, 0x6fbf50bb4, 0x8d06d39dc, 0x9f53856b5, 0xadf746dc9, 0xbc9b084dd, 0xd290aa77b, 0xd9e28b305, 0xe4dd5c454, 0xfad2fe6f2, 0x181a8151a, 0x26be42c2e, 0x2e10237b8, 0x405cd5491, 0x7742eab1c, 0x85e6ac230, 0x8d388cdba, 0x9f853ea93, 0xc41ea2445, 0xcf1973594, 0x14a34a333, 0x31eacd15b, 0x6c79d2dab, 0x73cbb3935, 0x89c155bd3, 0x8d6a46198, 0x91133675d, 0xa708d89fb, 0xae5ab9585, 0xb9558a6d4, 0xb98743ab2, 0xd6cec68da, 0x1506bcaef, 0x4becd217a, 0x4f95c273f, 0x658b649dd, 0xa76c4b1b7, 0xecf621f56, 0x1c8a56a57, 0x3628e92ba, 0x53706c0e2, 0x5e6b3d231, 0x7809cfa94, 0xe97eead6f, 0x5af40604a, 0x7492988ad, 0xed5994712, 0x5eceaf9ed, 0x7c1632815, 0xc1a0095b4, 0xe9e25d52b, 0x3a6705419, 0xa8333012f, 0x4ce5704d0, 0x508e60a95, 0x877476120, 0xa864e950d, 0xea45cfce7, 0x19da047e8, 0x24d4d5937, 0x6e079cc9b, 0x99f2e11d7, 0x33aa50429, 0x499ff26c7, 0x50f1d3251, 0x66e7754ef, 0x96ad633ce, 0x9a5653993, 0xaca30566c, 0xc298a790a, 0x8be44b65d, 0xdc68f354b, 0x16f7f919b, 0x4dde0e826, 0xd548cbd9f, 0xe0439ceee, 0xfd8b1fd16, 0x76521bb7b, 0xd92375742, 0xcab16d40c, 0x730c9dd72, 0xad9ba39c2, 0xb14493f87, 0x52b15651f, 0x185409cad, 0x77ae2c68d, 0x94f5af4b5, 0x0a13bad55, 0x61ea437cd, 0xa022399e2, 0x203b163d1, 0x7bba8f40e, 0x95bc9442d, 0x41c0b5358, 0x8e9c6cc81, 0x0eb549670, 0x9da3a0b51, 0xd832a67a1, 0xdcd4350bc, 0x4aa05fdd2, 0x60c7bb44e, 0x4b358b96c, 0x067299b45, 0xb9c89b5fa, 0x6975acaea, 0x62b8f7afa, 0x33567c3d7, 0xbac139950, 0xa5927c62a, 0x5c916e6a4, 0x260ecb7d5, 0x29b7bbd9a, 0x903205f26, 0xae72270a4, 0x3d2ec51a7, 0x82ea55324, 0x11a6f3427, 0x1ca1c4576, 0xa40c81aef, 0xbddccd730, 0x0e617561e, 0x969317b0f, 0x67f781364, 0x610912f96, 0xb2549fdfc, 0x06e5aaa6b, 0xb6c475339, 0xc56836a4d, 0x844e351eb, 0x4647f83b4, 0x0908a04f5, 0x7f51034c9, 0xaee537fca, 0x5e92494ba, 0xd445808f4, 0x28d68b563, 0x04d25374b, 0x2bc065f65, 0x96dc3ea0c, 0x4b2ade817, 0x07c3fd502, 0xe768b5caf, 0x17605cf6c, 0x182741ee4, 0x62846097c, 0x72b5ebf80, 0x263da6e13, 0xfa841bcb5, 0x7e45e8c69, 0x653c81fa0, 0x7443b5e70, 0x0a5234afd, 0x74756f24e, 0x157ebf02a, 0x82ef46939, 0x80d420264, 0x2aeed3e98, 0xb0a1dd4f8, 0xb5436be13, 0x7b7b4b13b, 0x1ce80d6d3, 0x16c08427d, 0xee54462dd, 0x1f7644cce, 0x9c7b5cc92, 0xe369138f8, 0x5d5a66e91, 0x485d62f49, 0xe6e819e94, 0xb1f340eb5, 0x09d198ce2, 0xd60717437, 0x0196b856c, 0xf0a6173a5, 0x12c0e1ec6, 0x62b82d5cf, 0xad154c067, 0xce3778832, 0x6b0a7b864, 0x4c7686694, 0x5058ff3ec, 0xd5e21ea23, 0x9ff4a76ee, 0x9dd981019, 0x1bad4d30a, 0xc601896d1, 0x973439b48, 0x1ce7431a8, 0x57a8021d6, 0xf9dba96e6, 0x83a2e4e7c, 0x8ea585380, 0xaf6c0e744, 0x875b73bab, 0xda34ca901, 0x2ab9727ef, 0xd39f21b9a, 0x8a10b742f, 0x5f8952dba, 0xf8da71ab0, 0xc25f9df96, 0x06f8a5d94, 0xe42e63e1a, 0xb78409d1b, 0x792229add, 0x5acf8c455, 0x2fc29a9b0, 0xea486237b, 0xb0c9685a0, 0x1ad748a47, 0x03b4712d5, 0xf29216d30, 0x8dad65e49, 0x0a2cf09dd, 0x0b5f174c6, 0xe54f57743, 0xb9cf54d78, 0x4a312a88a, 0x27babc962, 0xb86897111, 0xf2ff6c116, 0x82274bd8a, 0x97023505e, 0x52d46edd1, 0x585c1f538, 0xbddd00e43, 0x5590b74df, 0x729404a1f, 0x65320855e, 0xd3d4b6956, 0x7ae374f14, 0x2d7a60e06, 0x315cd9b5e, 0xfd36b4eac, 0xf1df7642b, 0x55db27726, 0x8f15ebc19, 0x992f8c531, 0x62dea2a40, 0x928275cab, 0x69c263cb9, 0xa774cca9e, 0x266b2110e, 0x1b14acbb8, 0x624b8a71b, 0x1c539406b, 0x3086d529b, 0x0111dd66e, 0x98cd630bf, 0x8b9d1ffdc, 0x72b2f61e7, 0x9ed9d672b, 0x96cdd15f3, 0x6366c2504, 0x6ca9df73a, 0xa066d60f0, 0xe7a4b8add, 0x8264647ef, 0xaa195bf81, 0x9a3db8244, 0x014d2df6a, 0x0b63265b7, 0x2f010de73, 0x97e774986, 0x248affc29, 0xfb57dcd11, 0x0b1a7e4d9, 0x4bfa2d07d, 0x54e5cdf96, 0x4c15c1c86, 0xcd9c61166, 0x499380b2a, 0x540308d09, 0x8b63fe66f, 0xc81aeb35e, 0x86fe0bd5c, 0xce2480c2a, 0x1ab29ee60, 0x8048daa15, 0xdbfeb2d39, 0x567c9858c, 0x2b6edc5bc, 0x2078fca82, 0xadacc22aa, 0xb92486f49, 0x51fac5964, 0x691ee6420, 0xf63b3e129, 0x39be7e572, 0xda2ce6c74, 0x20cf17a5c, 0xee55f9b6e, 0xfb8572726, 0xb2c2de548, 0xcaa9bce92, 0xae9182db3, 0x74b6e5bd1, 0x137b252af, 0x51f686881, 0xd672f6c02, 0x654146ce4, 0xf944bc825, 0xe8327f809, 0x76a73fd59, 0xf79da4cb4, 0x956f8099b, 0x7b5f2655c, 0xd06b114a6, 0xd0697ca50, 0x27c390797, 0xbc61ed9b2, 0xcc12dd19b, 0xeb7818d2c, 0x092fcecda, 0x89ded4ea1, 0x256a0ba34, 0xb6948e627, 0x1ef6b1054, 0x8639294a2, 0xeda3780a4, 0x39ee2af1d, 0xcd257edc5, 0x2d9d6bc22, 0x121d3b47d, 0x37e23f8ad, 0x119f31cf6, 0x2c97f4f09, 0xd502abfe0, 0x10bc3ca77, 0x53d7190ef, 0x90c3e62a6, 0x7e9ebf675, 0x979ce23d1, 0x27f0c98e9, 0xeafb4ae59, 0x7ca7fe2bd, 0x1490ca8f6, 0x9123387ba, 0xb3bc73888, 0x3ea87e325, 0x4888964aa, 0xa0188a6b9, 0xcd383c666, 0x40029a3fd, 0xe1c00ac5c, 0x39e6f2b6e, 0xde664f622, 0xe979a75e8, 0x7c6b4c86c, 0xfd492e071, 0x8fbb35118, 0x40b4a09b7, 0xaf80bd6da, 0x70e0b2521, 0x2f5c54d93, 0x3f4a118d5, 0x09c1897b9, 0x079776eac, 0x084b00b17, 0x3a95ad90e, 0x28c544095, 0x39d457c05, 0x7a3791a78, 0xbb770e22e, 0x9a822bd6c, 0x68a4b1fed, 0xa5fd27b3b, 0x0c3995b79, 0xd1519dff1, 0x8e7eee359, 0xcd3ca50b1, 0xb73b8b793, 0x57aca1c43, 0xec2655277, 0x785a2c1b3, 0x75a07985a, 0xa4b01eb69, 0xa18a11347, 0xdb1f28ca3, 0x877ec3e25, 0x31f6341b8, 0x1363a3a4c, 0x075d8b9ba, 0x7ae0792a9, 0xa83a21651, 0x7f08f9fb5, 0x0d0cf73a9, 0xb04dcc98e, 0xf65c7b0f8, 0x65ddaf69a, 0x2cf9b86b3, 0x14cb51e25, 0xf48027b5b, 0x0ec26ea8b, 0x44bafd45c, 0xb12c7c0c4, 0x959fd9d82, 0xc77c9725a, 0x48a22d462, 0x8398e8072, 0xec89b05ce, 0xbb682d4c9, 0xe5a86d2ff, 0x358f01134, 0x8556ddcf6, 0x67584b6e2, 0x11609439f, 0x08488816e, 0xaaf1a2c46, 0xf879898cf, 0x8bbe5e2f7, 0x101eee363, 0x690f69377, 0xf5bd93cd9, 0xcea4c2bf6, 0x9550be706, 0x2c5b38a60, 0xe72033547, 0x4458b0629, 0xee8d9ed41, 0xd2f918d72, 0x78dc39fd3, 0x8212636f6, 0x7450a72a7, 0xc4f0cf4c6, 0x367bcddcd, 0xc1caf8cc6, 0xa7f5b853d, 0x9d536818b, 0x535e021b0, 0xa7eb8729e, 0x422a67b49, 0x929e928a6, 0x48e8aefcc, 0xa9897393c, 0x5eb81d37e, 0x1e80287b7, 0x34770d903, 0x2eef86728, 0x59266ccb6, 0x0110bba61, 0x1dfd284ef, 0x447439d1b, 0xfece0e599, 0x9309f3703, 0x80764d1dd, 0x353f1e6a0, 0x2c1c12dcc, 0xc1d21b9d7, 0x457ee453e, 0xd66faf540, 0x44831e652, 0xcfd49a848, 0x9312d4133, 0x3f097d3ee, 0x8c9ebef7a, 0xa99e29e88, 0x0e9fab22c, 0x4e748f4fb, 0xecdee4288, 0xabce5f1d0, 0xc42f6876c, 0x7ed402ea0, 0xe5c4242c3, 0xd5b2c31ae, 0x286863be6, 0x160444d94, 0x5f0f5808e, 0xae3d44b2a, 0x9f5c5d109, 0x8ad9316d7, 0x3422ba064, 0x2fed11d56, 0xbea6e3e04, 0x04b029eec, 0x6deed7435, 0x3718ce17c, 0x55857f5e2, 0x2edac7b62, 0x085d6c512, 0xd6ca88e0f, 0x2b7e1fc69, 0xa699d5c1b, 0xf05ad74de, 0x4cf5fb56d, 0x5725e07e1, 0x72f18a2de, 0x1cec52609, 0x48534243c, 0x2523a4d69, 0x35c1b80d1, 0xa4d7338a7, 0x0db1af012, 0xe61a9475d, 0x05df03f91, 0x97ae260bb, 0x32d627fef, 0xb640f73c2, 0x45a1ac9c6, 0x6a2202de1, 0x57d3e25f2, 0x5aa9f986e, 0x0cc859d8a, 0xe3ec6cca8, 0x54e95e1ae, 0x446887b06, 0x7516732be, 0x3817ac8f5, 0x3e26d938c, 0xaa81bc235, 0xdf387ca1b, 0x0f3a3b3f2, 0xb4bf69677, 0xae21868ed, 0x81e1d2d9d, 0xa0a9ea14c, 0x8eee297a9, 0x4740c0559, 0xe8b141837, 0xac69e0a3d, 0x9ed83a1e1, 0x5edb55ecb, 0x07340fe81, 0x50dfbc6bf, 0x4f583508a, 0xcb1fb78bc, 0x4025ced2f, 0x39791ebec, 0x53ee388f1, 0x7d6c0bd23, 0x93a995fbe, 0x8a41728de, 0x2fe70e053, 0xab3db443a, 0x1364edb05, 0x47b6eeed6, 0x12e71af01, 0x52ff83587, 0x3a1575dd8, 0x3feaa3564, 0xeacf78ba7, 0x0872b94f8, 0xda8ddf9a2, 0x9aa920d2b, 0x1f350ed36, 0x18a5e861f, 0x2c35b89c3, 0x3347ac48a, 0x7f23e022e, 0x2459068fb, 0xe83be4b73]
+    #     t36h9=[0x131b29eda, 0x16c41a49f, 0x1a6d0aa64, 0x1e15fb029, 0x21beeb5ee, 0x2567dbbb3, 0x2910cc178, 0x340b9d2c7, 0x37b48d88c, 0x42af5e9db, 0x4a013f565, 0x54fc106b4, 0x58a500c79, 0x6748c238d, 0x6e9aa2f17, 0x75ec83aa1, 0x799574066, 0x7d3e6462b, 0x80e754bf0, 0x88393577a, 0x8be225d3f, 0x9a85e7453, 0x9e2ed7a18, 0xa580b85a2, 0xa929a8b67, 0xacd29912c, 0xb07b896f1, 0xb42479cb6, 0xbb765a840, 0xbf1f4ae05, 0xc6712b98f, 0xca1a1bf54, 0xd514ed0a3, 0xd8bddd668, 0xf60560490, 0xf9ae50a55, 0x085212169, 0x0bfb0272e, 0x1e47b4407, 0x294285556, 0x2ceb75b1b, 0x37e646c6a, 0x4a32f8943, 0x552dc9a92, 0x58d6ba057, 0x677a7b76b, 0x6b236bd30, 0x72754c8ba, 0x81190dfce, 0x84c1fe593, 0x886aeeb58, 0x8c13df11d, 0x970eb026c, 0xad045250a, 0xb45633094, 0xc6a2e4d6d, 0xca4bd5332, 0xd19db5ebc, 0xd546a6481, 0xdc988700b, 0xe3ea67b95, 0xe7935815a, 0xeee538ce4, 0x0131ea9bd, 0x0c2cbbb0c, 0x0fd5ac0d1, 0x137e9c696, 0x17278cc5b, 0x22225ddaa, 0x2d1d2eef9, 0x346f0fa83, 0x3f69e0bd2, 0x4312d1197, 0x4e0da22e6, 0x51b6928ab, 0x590873435, 0x5cb1639fa, 0x605a53fbf, 0x67ac34b49, 0x6b552510e, 0x6efe156d3, 0x764ff625d, 0x889ca7f36, 0x8c45984fb, 0x939779085, 0x97406964a, 0xa5e42ad5e, 0xc6d49e14b, 0xce267ecd5, 0xd9214fe24, 0xdcca403e9, 0xe7c511538, 0xf668d2c4c, 0x13b055a74, 0x29a5f7d12, 0x2d4ee82d7, 0x3849b9426, 0x3bf2a99eb, 0x43448a575, 0x46ed7ab3a, 0x51e84bc89, 0x6b86de4ec, 0x6f2fceab1, 0x72d8bf076, 0x7681af63b, 0x852570d4f, 0x8c77518d9, 0x93c932463, 0x9ec4035b2, 0xad67c4cc6, 0xb110b528b, 0xb4b9a5850, 0xcaaf47aee, 0xce58380b3, 0xd5aa18c3d, 0xe0a4e9d8c, 0xe44dda351, 0xe7f6ca916, 0xef48ab4a0, 0xf2f19ba65, 0xf69a8c02a, 0x10391e88d, 0x1b33ef9dc, 0x262ec0b2b, 0x29d7b10f0, 0x2d80a16b5, 0x312991c7a, 0x3c2462dc9, 0x437643953, 0x521a05067, 0x55c2f562c, 0x6466b6d40, 0x730a78454, 0x76b368a19, 0x7a5c58fde, 0x7e05495a3, 0x85572a12d, 0x9051fb27c, 0x97a3dbe06, 0x9ef5bc990, 0xa29eacf55, 0xa6479d51a, 0xb1426e669, 0xb4eb5ec2e, 0xb8944f1f3, 0xce89f1491, 0xd5dbd201b, 0xd984c25e0, 0xe0d6a316a, 0xf32354e43, 0xfa75359cd, 0x0918f70e1, 0x106ad7c6b, 0x17bcb87f5, 0x22b789944, 0x38ad2bbe2, 0x4750ed2f6, 0x4af9dd8bb, 0x6f934126d, 0x8931d3ad0, 0x8cdac4095, 0x9083b465a, 0x9b7e857a9, 0xa2d066333, 0xa679568f8, 0xadcb37482, 0xb8c6085d1, 0xc017e915b, 0xc769c9ce5, 0xe85a3d0d2, 0xec032d697, 0xefac1dc5c, 0xf3550e221, 0xfaa6eedab, 0x01f8cf935, 0x22e942d22, 0x4782a66d4, 0x4b2b96c99, 0x4ed48725e, 0x5d7848972, 0x64ca294fc, 0x687319ac1, 0x6fc4fa64b, 0x736deac10, 0x7abfcb79a, 0x85ba9c8e9, 0x89638ceae, 0xa6ab0fcd6, 0xaa540029b, 0xb1a5e0e25, 0xbca0b1f74, 0xc049a2539, 0xcb4473688, 0xceed63c4d, 0xd29654212, 0xdd9125361, 0xe13a15926, 0xe88bf64b0, 0xec34e6a75, 0xfad8a8189, 0xfe819874e, 0x097c6989d, 0x26c3ec6c5, 0x2a6cdcc8a, 0x2e15cd24f, 0x31bebd814, 0x4b5d50077, 0x5a011178b, 0x5daa01d50, 0x6c4dc3464, 0x6ff6b3a29, 0x7748945b3, 0x89954628c, 0x90e726e16, 0xa333d8aef, 0xa6dcc90b4, 0xc07b5b917, 0xc4244bedc, 0xcb762ca66, 0xd670fdbb5, 0xe16bced04, 0xf76170fa2, 0x14a8f3dca, 0x1bfad4954, 0x2a9e96068, 0x2e478662d, 0x31f076bf2, 0x39425777c, 0x52e0e9fdf, 0x5689da5a4, 0x5ddbbb12e, 0x68d68c27d, 0x94c1d07b9, 0x986ac0d7e, 0x9fbca1908, 0xa36591ecd, 0xaab772a57, 0xc0ad14cf5, 0xcba7e5e44, 0xd2f9c69ce, 0xd6a2b6f93, 0xda4ba7558, 0xddf497b1d, 0xec9859231, 0xfee50af0a, 0x0636eba94, 0x14daad1a8, 0x397410b5a, 0x40c5f16e4, 0x4817d226e, 0x655f55096, 0x69084565b, 0x94f389b97, 0x989c7a15c, 0x9fee5ace6, 0xaae92be35, 0xb98ced549, 0xcbd99f222, 0xd32b7fdac, 0xecca1260f, 0xf07302bd4, 0x02bfb48ad, 0x0a1195437, 0x0dba859fc, 0x18b556b4b, 0x2eaaf8de9, 0x35fcd9973, 0x3d4eba4fd, 0x4bf27bc11, 0x56ed4cd60, 0x61e81deaf, 0x6939fea39, 0x82d89129c, 0x917c529b0, 0x952542f75, 0xa3c904689, 0xa771f4c4e, 0xb26cc5d9d, 0xc4b977a76, 0xcfb448bc5, 0xdaaf19d14, 0xe952db428, 0xf44dac577, 0x153e1f964, 0x278ad163d, 0x3285a278c, 0x39d783316, 0x487b44a2a, 0x5e70e6cc8, 0x6219d728d, 0x696bb7e17, 0x746688f66, 0x830a4a67a, 0x91ae0bd8e, 0xa051cd4a2, 0xab4c9e5f1, 0xb6476f740, 0xbd99502ca, 0xc89421419, 0xcc3d119de, 0xd737e2b2d, 0xe5dba4241, 0xf82855f1a, 0x156fd8d42, 0x1cc1b98cc, 0x2b657afe0, 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0xe53a6a20f, 0x3999bbaa0, 0x1281bf25d, 0x7337f274f, 0xcb40345a5, 0x68d24d19a, 0xd2fd56ca0, 0x0d30b94e9, 0xbb57cfe9e, 0xd74b11569, 0xe2db0e252, 0x5fe026216, 0xb47130e85, 0xfe076a9a5, 0x9415e9632, 0x3367854f5, 0x50af0831d, 0x49f25332d, 0x7739a837b, 0x099f36a43, 0xc8537be03, 0x3e06b323d, 0xf9a733bd2, 0x312a441ac, 0x335508feb, 0x7db227a83, 0x3ebb1bcab, 0x7a1106873, 0x5486d3f20, 0xa1628b849, 0xb64543ed2, 0xe293fabca, 0xd1d512de1, 0x47884a21b, 0x4a406b83f, 0x7aa35466d, 0x6542ddf69, 0x348c210e9, 0x2aed60aac, 0xe9d35f24a, 0x2bbc14dd9, 0xf2891fc9b, 0x72a9cba3f, 0x409ecd462, 0x712ba02b9, 0x1b149ab0f, 0xaf6b65883, 0xf68306512, 0x20e84ff13, 0x88beaabb1, 0x7456d2803, 0xa04216d3f, 0x83f33226d, 0x394a0eb38, 0x65670c452, 0xa5903ed13, 0x473689a3e, 0x142b1dd56, 0x53bf24a7d, 0x88585a655, 0xe62c824fa, 0x1bc6257dd, 0x266d228da, 0x9d18f806a, 0x26a6ab06d, 0xb90c39735, 0xd844f8c09, 0x4ebf14fbb, 0x5c720772e, 0xe033d46e2, 0x2d72fe7c7, 0x11878c4b1, 0xa075e3992, 0xf4dd045d8, 0x9caad8759, 0xf5b387cba, 0x20dfb6633, 0xe7511e0ee, 0xc3e9e1225, 0xf6d332299, 0x43aee9bc2, 0x4882318bb, 0x958fa25c2, 0x6c9dd71f2, 0xda71d12bd, 0xead515c9f, 0x5622a7b24, 0xb1a220b61, 0x5e3b6d626, 0x95533c08f, 0xaf093c411, 0x364a0f961, 0x6dc550b86, 0x43cb48cf6, 0x01331bd0e, 0x55926d59f, 0xddfd98223, 0x509d0ac32, 0xdd3e82660, 0x72f15dee6, 0x114a5ba53, 0x70d637811, 0xbf7172408, 0xca9dfc935, 0x2b082b18a, 0x9e227de74, 0x084d8797a, 0xd91cc5635, 0xd9b9c0584, 0xe6a5cdd7f, 0x606567f3a, 0x30121d876, 0xed40680fb, 0x9e498a0fd, 0xf6e6f7aed, 0x7bd31c1d5, 0x7fadc5b78, 0x430399853, 0xd6937f64f, 0xe9755cec2, 0x336f0919e, 0x62d953c76, 0x6eccc311b, 0xa7725ba74, 0x6b2ba1f0b, 0xd9c680f4e, 0x0b4bf20fb, 0x7d247fb92, 0xe2dfb415b, 0xaa41eabb7, 0xdde282439, 0x19cd98b9b, 0xc169b393e, 0x7057af26b, 0x621760313, 0x091e4f51c, 0x712e3294d, 0xba60f9cb1, 0xcac43e693, 0x49ba92d03, 0x3ec790f69, 0x6b4fd03f4, 0x1753f131f, 0x140e73516, 0xb235b7ca5, 0x1d27a6723, 0x3102222ec, 0xc0b75e745, 0x3a1b554f9, 0xc313dc962, 0xa323d6c80, 0xccca0aabe, 0xa61580a37, 0xea4b16079, 0x6b2ad79e0, 0xb766b661a, 0xe22f727d7, 0xe4304d5ed, 0x24376523a, 0xf853f00b3, 0x6592be5e4, 0x553748fb7, 0x6852aefbd, 0x73e2abca6, 0x5fb45c08b, 0x635d4c650, 0x0e0d2be1e, 0x60ee51f29, 0x38ddb7390, 0xa300f1ae1, 0x22efe44a7, 0x628bba583, 0x4b17ecb5f, 0x55c6b9011, 0xe1a14bac7, 0xe427b3d0d, 0x46100dce8, 0x04cc2245d, 0x84c2e41d8, 0x0919dcd26, 0x8d1d01822, 0x2e26515fe, 0xf7ab7dae4, 0x7768b70cc, 0xe94913f18, 0x0f3e883dc, 0x3b8d3f0d4, 0xd67ea41c4, 0x99d477e9f, 0x3fb10f974, 0x02a370e93, 0x17768adb2, 0xd6329f527, 0x3bbc1a712, 0x1b052fab8, 0x1a4619ef5, 0x00b725dfc, 0x78f0c547c, 0xadbbb4432, 0xe1cf5cbda, 0xd70644e69, 0xab4cb9d0b, 0x5fcd12ef4, 0xe396af25d, 0x2d9ff9ca3, 0x4ef3df84c, 0xc7ec94a8f, 0x6b18da2f5, 0xa63d0badf, 0xf91662835, 0x3410a9ff6, 0x7ed13b24a, 0xf95f89732, 0xce74b2901, 0x695679287, 0x4843eb226, 0x5a66b2ed6, 0xa86cc1f33, 0x16d5e7b98, 0x748025a14, 0x3397dd590, 0x7bafeb92a, 0xb45584283, 0xd54dc6a25, 0xaf2e68538, 0x220f32a8f, 0x44f8b18dd, 0x51814c91c, 0x8bb4af165, 0xbcd6adb56, 0x82e4a2e55, 0xcd4990ca2, 0xef32a23e5, 0x688ec9de4, 0x2aba4638b, 0x16f7382e1, 0xbdfe274ea, 0x2164acc4b, 0xaad044fda, 0x64559f29a, 0x5a9c9339e, 0x6a0739a2a, 0x8f993b732, 0xa90de3f6c, 0xace88d90f, 0x36a7f9cf0, 0xdbef65c2b, 0x69bb34d8d, 0x6f095cd61, 0x3bdbd6405, 0x34600b852, 0x0d1e24fe6, 0xcc994f31e, 0xccfcc1ada, 0x106b721a4, 0xad3e751d6, 0xab0903242, 0xb60ba3746, 0xc5b7a191a, 0xc7da973a4, 0xf45b0747a, 0xba92e67a2, 0xb93ea5045, 0x011d2ac4c, 0x564361455, 0x420d42485, 0x47e0f7889, 0x110a80968, 0x7a3cec118, 0xd058e2ed7, 0x1dc9c639a, 0x42de0a027, 0xe5530907f, 0xaffabd8e4, 0xb08fe947e, 0x5ba33b408, 0xd5f80115d, 0xe6298c761, 0x893b86708, 0x85b1d3017, 0xf2ac6bc60, 0xfa9378384, 0x3f538c40b, 0x21b0661dc, 0xe762b80d4, 0x16f6ecbd5, 0x1264fca24, 0xf39f4e476, 0x51cc3b982, 0x757c9f748, 0x311d200dd, 0x2563393cb, 0x1b05631cb, 0x9a547cea2, 0x35fd287a0, 0x25460fd6c, 0x8d4e23de8, 0xd56e01537, 0x4714d5bf0, 0xce7f93169, 0xf16142c02, 0xf88939763, 0x42b49ee1d, 0x8495855f7, 0xade7e53e3, 0xea99e0abd, 0xd5a4abf2a, 0xe8868979d, 0xde8c25d59, 0x24796f2b4, 0x588d17a5c, 0x23446aa2b, 0xd7930a836, 0xa1ad628b6, 0x8502da9dd, 0x1abd85618, 0x044a252ff, 0xd33f9442d, 0x0711e508d, 0xb8548f822, 0x9298a3af1, 0x397d78086, 0x26d522fa6, 0x744606469, 0xab2c1baf4, 0x24568a115, 0x233bd114b, 0x68f7612c8, 0x391ef6edf, 0x03c6ab744, 0xe248dbb72, 0x7511dc9f6, 0x53309a668, 0x5438d7128, 0x57e1c76ed, 0x61c9aec27, 0x4b1219026, 0x6d5e9cf25, 0x2242688ca, 0xaa10985ff, 0x8454ac8ce, 0x23a648791, 0xb8d396be7, 0x482d2fc39, 0x62fde8f85, 0x84bd1069f, 0x1aa1a5303, 0x434f3adeb, 0xc99f3f39a, 0x744f1eb68, 0x9cd2ca627, 0x472428c4e, 0xdbacacda0, 0x310c6bd3c, 0xa84d6d066, 0x6ba340d41, 0x7aaa74c11, 0xe21d5d0f3, 0x8e84f07da, 0x3b260c654, 0xdb704686d, 0xf197a1ee9, 0xcb4e599d3, 0x2c67ff681, 0xedaa7c03c, 0xb859ffc56, 0x320eeccbc, 0x8014fbd19, 0x32e57039e, 0x5e196e0cc, 0xa02c0dc84, 0x29f06b67a, 0xe48da0b64, 0x47f4262c5, 0x3abc13e2d, 0x57afc2c03, 0x9437d42b4, 0x57f8e9b00, 0xd0644255e, 0xb9f0e2245, 0xf68892060, 0x11b4ee7b3, 0x26f34a243, 0xd92e92d2e, 0xc3c36f4d5, 0x057a6bc86, 0xc1e1d1593, 0xf36f11af5, 0x926cd9966, 0x66fc75705, 0x6cc85b754, 0x373e56bdb, 0x9a7322f5e, 0x948cf1650, 0x11f57bdd0, 0x662314283, 0x8e2901cc7, 0x9a5dc8cb4, 0x3b6718a90, 0xfa4d1722e, 0x19d6cc9b4, 0x0fa2e07dd, 0xe0483446f, 0xcee973997, 0xcab326bed, 0x8653a7582, 0x07d8331ed, 0x916db55a5, 0xac0cb5513, 0x445d66afe, 0x265e9d4c8, 0x543b1e0b0, 0xfc6c649ed, 0x02a38c5ad, 0xae31be812, 0x46f85eac3, 0x38b531dcb, 0x046cf24a5, 0xf77637b55, 0xf07d1c632, 0xe05b2f798, 0x10d5860e5, 0xe42b2bfe6, 0xbfc381a12, 0xad645382f, 0x762a6a152, 0x58336fed1, 0x5c88f9b4f, 0x64b15ddbb, 0x9cd938699, 0xf3c6c1525, 0x2362c53db, 0xd40874c21, 0x2fc1763f1, 0xfbf6f4b46, 0xe9fb3911f, 0x692346b6d, 0x52e96efe7, 0xbe0d16e43, 0xcd144ad13, 0xd497e4c7b, 0x280b58b80, 0x443ff1d93, 0x2f528c5b5, 0x3ef6bb3d4, 0xb806de136, 0x9600a3394, 0x0bdae6a57, 0x7ac6bbd4c, 0x17364c5c2, 0xec5344b46, 0x0bf745b8b, 0x72718fd17, 0xe2fdab406, 0x7cc4b8dc2, 0x4f5379d4b, 0xde49a05e1, 0x5e9c05763, 0xed58a3866, 0x80535dac8, 0x6affa7d8e, 0x4e7f09ede, 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+    
+    TagFamilies = { 't16h5':   (t16h5,16),
+                    't25h7':   (t25h7,25),
+                    't25h9':   (t25h9,25),
+                    #'t36h9':   (t36h9, 36),
+                    't36h11':  (t36h11,36)}
+
+    def __init__(self, chosenTagFamiliy):
+        try:
+            self.chosenTagFamiliy = chosenTagFamiliy
+            self.tagCodes = AprilTagCodes.TagFamilies[chosenTagFamiliy][0]
+            self.totalBits = AprilTagCodes.TagFamilies[chosenTagFamiliy][1]
+        except:
+            print("[ERROR]: Unknown tag familiy.")
+            sys.exit(0)
+
+#borderBits must be consitent with the variable "blackBorder" in the detector code in file ethz_apriltag2/src/TagFamily.cc
+def generateAprilTag(canvas, position, metricSize, tagSpacing, tagID, tagFamililyData, rotation=2, symmCorners=True, borderBits=2, ccolor=color.rgb.black, drawBox=False):
+    #get the tag code
+    try:
+        tagCode=tagFamililyData.tagCodes[tagID]
+    except:
+        print("[ERROR]: Requested tag ID of {0} not available in the {1} TagFamiliy".format(tagID, tagFamililyData.chosenTagFamiliy))
+
+    #calculate the bit size of the tag
+    sqrtBits = (math.sqrt(tagFamililyData.totalBits))
+    bitSquareSize = metricSize / (sqrtBits+borderBits*2)
+    
+    #position of tag
+    xPos = position[0]
+    yPos = position[1]
+    
+    #borders (2x bit size)
+    borderSize = borderBits/2*bitSquareSize
+
+    c.fill(path.rect(xPos + borderSize, yPos + borderSize, metricSize-2*borderSize, borderSize),[ccolor]) #bottom
+    c.fill(path.rect(xPos + borderSize, yPos+metricSize-2*borderSize, metricSize-2*borderSize, borderSize),[ccolor]) #top
+    c.fill(path.rect(xPos+metricSize-2*borderSize, yPos + borderSize, borderSize, metricSize-2*borderSize),[ccolor]) #left
+    c.fill(path.rect(xPos + borderSize, yPos + borderSize, borderSize, metricSize-2*borderSize),[ccolor]) #right
+
+    # draw name
+    c.text(xPos + metricSize/2, yPos + 0.1*bitSquareSize, r"\tiny{" + str(tagID) + r"}", [text.halign.boxcenter])
+
+    # draw margins
+    if drawBox:
+        c.stroke(path.rect(xPos, yPos, metricSize, metricSize), [style.linewidth(0.000001*unit.w_cm), ccolor])
+
+    #create numpy matrix of code
+    codeMatrix = np.zeros((int(sqrtBits), int(sqrtBits)))
+    for i in range(0, int(sqrtBits)):
+        for j in range(0, int(sqrtBits)):
+            if not tagCode & (1 << int(sqrtBits)*i+j):
+                codeMatrix[i,j] = 1 
+                 
+    #rotation
+    codeMatrix = np.rot90(codeMatrix, rotation)
+    
+    #bits
+    for i in range(0, int(sqrtBits)):
+        for j in range(0, int(sqrtBits)):
+            if codeMatrix[i,j]:
+                c.fill(path.rect(xPos+(j+borderBits)*bitSquareSize, yPos+((borderBits-1)+sqrtBits-i)*bitSquareSize, bitSquareSize, bitSquareSize),[ccolor])
+                
+    #add squares to make corners symmetric (decreases the effect of motion blur in the subpix refinement...)
+    if symmCorners:
+        metricSquareSize = tagSpacing*metricSize
+        
+        corners = [ 
+                    [xPos-metricSquareSize, yPos-metricSquareSize ],
+                    [xPos+metricSize, yPos-metricSquareSize],
+                    [xPos+metricSize, yPos+metricSize],
+                    [xPos-metricSquareSize, yPos+metricSize] 
+                  ]
+        
+        for point in corners:
+            c.fill(path.rect(point[0], point[1], metricSquareSize, metricSquareSize),[ccolor])
+
+#tagSpaceing in % of tagSize
+def generateAprilBoard(canvas, n_cols, n_rows, margx, margy, tagSize, tagSpacing=0.25, tagFamily="t36h11",
+                       acolor = "Black", startid = 0,borderBits=2, symmCorners=False, drawBox=False):
+    if(tagSpacing<0 or tagSpacing>1.0):
+        print("[ERROR]: Invalid tagSpacing specified.  [0-1.0] of tagSize")
+        sys.exit(0)
+        
+    #convert to cm
+    tagSize = tagSize*100.0
+
+    #correct tag size assuming 8x8 pixels in tag
+    originalTagSize = tagSize
+    tagSize += tagSize/4
+       
+    #get the tag family data
+    tagFamilyData = AprilTagCodes(tagFamily)
+    
+    #create one tag
+    numTags = n_cols*n_rows
+
+    # draw margins
+    ccolor = getattr(color.cmyk, acolor)
+    if drawBox:
+        # need to add to box space if symm corners are printed, subtract if not
+        fringeSpace = tagSize * (tagSpacing if symmCorners else -tagSpacing)
+        xmax = 2 * margx * 100 + n_cols * (1+tagSpacing)*tagSize + fringeSpace
+        ymax = 2 * margy * 100 + n_rows * (1+tagSpacing)*tagSize + fringeSpace
+        boundrect = path.rect(0, 0, xmax, ymax)
+        c.stroke(boundrect, [style.linewidth(0.000001*unit.w_cm), ccolor])
+    
+    #draw tags
+    for y in range(0,n_rows):
+        for x in range(0,n_cols):
+            id = startid + n_cols * y + x
+            x_off = tagSpacing * (tagSize if symmCorners else 0)
+            y_off = x_off
+            pos = (margx*100 + x*(1+tagSpacing)*tagSize + x_off,
+                   margy*100 + y*(1+tagSpacing)*tagSize + y_off)
+            generateAprilTag(canvas, pos, tagSize, tagSpacing, id, tagFamilyData, rotation=2, borderBits=borderBits*2, ccolor=ccolor, symmCorners=symmCorners, drawBox=drawBox)
+            #c.text(pos[0]+0.45*tagSize, pos[1]-0.7*tagSize*tagSpacing, "{0}".format(id))
+            
+    #draw axis
+    drawLegend = True
+    if drawLegend:
+        #text
+        caption = "{0}x{1} tags, tag size={2}cm, box size={3}cm".format(n_cols,n_rows,originalTagSize,tagSize)
+        c.text(0, -0.6, caption)
+
+
+if __name__ == "__main__":
+
+    # This code was lifted from Kalibr at some point...
+
+    usage="""
+        make_tag.py --nx 6 --ny 6 --tsize 0.08 --tspace 0.3
+    """
+    
+    #setup the argument list
+    parser = argparse.ArgumentParser(description='Generate apriltag PDF.', usage=usage)
+    
+    outputOptions = parser.add_argument_group('Output options')    
+    outputOptions.add_argument('output', nargs="?", default="target", help='Output filename')
+    
+    genericOptions = parser.add_argument_group('Generic grid options')    
+    genericOptions.add_argument('--nx', type=int, default=6, dest='n_cols', help='The number of tags in x direction (default: %(default)s)\n')
+    genericOptions.add_argument('--ny', type=int, default=7, dest='n_rows', help='The number of tags in y direction (default: %(default)s)')
+    genericOptions.add_argument('--marginx', type=float, default=0, dest='marginx', help='Margin [m] in x direction (default: %(default)s)')
+    genericOptions.add_argument('--marginy', type=float, default=0, dest='marginy', help='Margin [m] in y direction (default: %(default)s)')
+    genericOptions.add_argument('--color', default="Black", dest='color', help='Color in cmyk space (default: %(default)s)')
+
+    aprilOptions = parser.add_argument_group('Apriltag arguments')    
+    aprilOptions.add_argument('--tsize', type=float, default=0.08, dest='tsize', help='The size of one tag [m] (default: %(default)s)')
+    aprilOptions.add_argument('--tspace', type=float, default=0.3, dest='tagspacing', help='The space between the tags in fraction of the edge size [0..1] (default: %(default)s)')
+    aprilOptions.add_argument('--tfam', default='t36h11', dest='tagfamiliy', help='Familiy of April tags {0} (default: %(default)s)'.format(AprilTagCodes.TagFamilies.keys()))
+    aprilOptions.add_argument('--startid', default=0, type=int, dest='startid', help='Start number for apriltag (default: %(default)s)')
+    aprilOptions.add_argument('--borderbits', default=2, type=int, dest='borderBits', help='number of bits used for black border (default: %(default)s)')
+    aprilOptions.add_argument('--symm_corners', dest='symmCorners', action='store_true', help='add black corner squares')
+    aprilOptions.add_argument('--no-symm_corners', dest='symmCorners', action='store_false', help='do not add black corner squares (default)')
+    aprilOptions.add_argument('--draw_box', dest='drawBox', action='store_true', help='draw thin black bounding box')
+    aprilOptions.add_argument('--no-draw_box', dest='drawBox', action='store_false', help='do not draw thin black bounding box (default)')
+    aprilOptions.set_defaults(symmCorners = False)
+    aprilOptions.set_defaults(drawBox = False)
+
+    
+    if len(sys.argv)==1:
+        parser.print_help()
+        sys.exit(0)
+        
+    #Parser the argument list
+    try:
+        parsed = parser.parse_args()
+    except:
+        sys.exit(0)
+ 
+    #open a new canvas
+    c = canvas.canvas()
+
+    generateAprilBoard(canvas, parsed.n_cols, parsed.n_rows, parsed.marginx, parsed.marginy, parsed.tsize, parsed.tagspacing, parsed.tagfamiliy, parsed.color, parsed.startid, borderBits=parsed.borderBits, symmCorners=parsed.symmCorners, drawBox=parsed.drawBox)
+            
+    #write to file
+    c.writePDFfile(parsed.output)
diff --git a/config/make_tag/tags-24mm-28-75.pdf b/config/make_tag/tags-24mm-28-75.pdf
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diff --git a/config/make_tag/tags-52mm-16-27.pdf b/config/make_tag/tags-52mm-16-27.pdf
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diff --git a/config/make_tag/tags-52mm-4-15.pdf b/config/make_tag/tags-52mm-4-15.pdf
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diff --git a/config/make_tag/tags-80mm-0-3.pdf b/config/make_tag/tags-80mm-0-3.pdf
new file mode 100644
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literal 0
HcmV?d00001

-- 
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