tag36h10.c

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/* 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 <stdlib.h>
#include "tag36h10.h"
 
static uint64_t codedata[2320] = {
   0x00000001a42f9469UL,
   0x000000021a48c08dUL,
   0x000000026dfdbc5dUL,
   0x00000002d19b78fbUL,
   0x000000031c5557dfUL,
   0x00000003f2b3d349UL,
   0x00000003e6d4a7a5UL,
   0x000000043d6dfb6dUL,
   0x00000005688d2affUL,
   0x000000054663b474UL,
   0x000000067fd759e4UL,
   0x000000073b196d82UL,
   0x00000007de71c630UL,
   0x00000008492722d4UL,
   0x0000000835407afaUL,
   0x0000000893a6fe16UL,
   0x000000095668d348UL,
   0x00000009c20e37a4UL,
   0x0000000a19bb676cUL,
   0x0000000ad1355c1bUL,
   0x0000000b2ab4ac53UL,
   0x0000000b14f27095UL,
   0x0000000bef6b014dUL,
   0x0000000c9ecbadc7UL,
   0x0000000e1996a6bdUL,
   0x0000000edc588fcbUL,
   0x0000000f26d9d7a1UL,
   0x0000000035e79c1aUL,
   0x00000001644f74a8UL,
   0x00000001bfda85e0UL,
   0x000000020573db2aUL,
   0x000000027614bfd6UL,
   0x00000002daf26b72UL,
   0x0000000332930a98UL,
   0x00000003176c5674UL,
   0x00000003892ad2d0UL,
   0x00000003fd4d26acUL,
   0x00000004b88a1fcaUL,
   0x0000000555b6b579UL,
   0x00000006103880d7UL,
   0x00000006045e58fbUL,
   0x00000006dedf28a3UL,
   0x000000072766f249UL,
   0x00000007e4a0c77fUL,
   0x0000000973ba8e61UL,
   0x0000000965fd5285UL,
   0x00000009d99bd6a9UL,
   0x0000000a221264e6UL,
   0x0000000a1455fccaUL,
   0x0000000a7cb3193eUL,
   0x0000000aead44d92UL,
   0x0000000ad50ac954UL,
   0x0000000b2f0bb19cUL,
   0x0000000cba043aa2UL,
   0x0000000d73d7f6b4UL,
   0x0000000d6d189310UL,
   0x0000000f41278885UL,
   0x00000001c45306afUL,
   0x0000000222b4420bUL,
   0x00000002d70ceeb1UL,
   0x0000000392cb439fUL,
   0x000000045d1179eeUL,
   0x000000057a79d05cUL,
   0x000000062bc91dd6UL,
   0x000000073ca773c0UL,
   0x00000008b3da6eb0UL,
   0x00000009c5a521c7UL,
   0x0000000a812a1881UL,
   0x0000000adeab4859UL,
   0x0000000b3402b213UL,
   0x0000000b9171667fUL,
   0x0000000f5ac6918cUL,
   0x00000000549b1cfcUL,
   0x00000000b2744a58UL,
   0x00000000ae12ceb4UL,
   0x00000002f8aaab94UL,
   0x000000038db1c43bUL,
   0x00000004be190989UL,
   0x000000051bef9565UL,
   0x0000000505a8d1c3UL,
   0x0000000575ce25bfUL,
   0x000000068ac14eb1UL,
   0x00000006fd1bca45UL,
   0x0000000854752994UL,
   0x00000009e96b442aUL,
   0x0000000afb308f74UL,
   0x0000000cd9c8ca44UL,
   0x0000000d23c9b28eUL,
   0x0000000d07277423UL,
   0x0000000e8b3a6959UL,
   0x0000000f44bc546fUL,
   0x000000010e4aa7f3UL,
   0x000000029971cc68UL,
   0x000000062d7b0b94UL,
   0x00000008c22aac77UL,
   0x00000008b46d70d3UL,
   0x0000000a43373b0dUL,
   0x0000000e2efd2c74UL,
   0x0000000f5f4587e6UL,
   0x000000001b82bfa0UL,
   0x00000000642bef7aUL,
   0x00000001e576f881UL,
   0x00000002a290cda7UL,
   0x00000003b1ae80b1UL,
   0x000000053b9317e3UL,
   0x00000005833ac709UL,
   0x00000005f25d3ff5UL,
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   0x0000000c1241e99bUL,
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   0x0000000fca2a422dUL,
   0x0000000007f86a4bUL,
   0x0000000124962550UL,
   0x00000001fe977988UL,
   0x0000000300a8b4c4UL,
   0x000000076c2b21a1UL,
   0x0000000932f76619UL,
   0x00000009994e9b51UL,
   0x0000000a634fcb8bUL,
   0x0000000b6d92c074UL,
   0x0000000bcbf53858UL,
   0x0000000c0c3a0d7eUL,
   0x000000001c31a9c3UL,
   0x00000000d5a694d5UL,
   0x000000012f2fc41dUL,
   0x00000005a342598aUL,
   0x00000006466af138UL,
   0x000000081eb68f22UL,
   0x000000098e885eb6UL,
   0x0000000ab594f405UL,
   0x0000000b19f201a1UL,
   0x0000000d44832643UL,
   0x0000000fdc915802UL,
   0x00000000ee4f05dcUL,
   0x00000003043aa2a6UL,
   0x00000003765d7a9aUL,
   0x00000005468500abUL,
   0x000000059d38dc6bUL,
   0x000000060b5e288fUL,
   0x00000009539ba6dfUL,
   0x00000009a93219d2UL,
   0x0000000ad81ab160UL,
   0x0000000abe7d650cUL,
   0x0000000beb8dd89eUL,
   0x0000000bd5432e10UL,
   0x000000009aafb509UL,
   0x000000014f535a9bUL,
   0x0000000202956e9dUL,
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   0x00000005babe994eUL,
   0x00000006d1c1e752UL,
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   0x0000000a7f4dd4c9UL,
   0x0000000d6ab9426bUL,
   0x0000000da6766828UL,
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   0x0000000ef012435cUL,
   0x00000006ecd2fc10UL,
   0x0000000749a519f4UL,
   0x000000091b715e4cUL,
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   0x0000000975d0ae16UL,
   0x00000009ced1f6deUL,
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   0x0000000d77fa492bUL,
   0x0000000de0bdcdc7UL,
   0x0000000e2472e389UL,
   0x000000039ee6b70eUL,
   0x00000007a8ad48b3UL,
   0x0000000b4ee1682eUL,
   0x0000000bb8a7ec82UL,
   0x000000007cd0404dUL,
   0x000000011d68ecc7UL,
   0x000000046cbd039dUL,
   0x00000004b634dd1aUL,
   0x000000063c6d44e0UL,
   0x0000000981a82ea0UL,
   0x0000000a93f25d5fUL,
   0x0000000a8795d9fbUL,
   0x0000000b5d3c69a3UL,
   0x0000000f56912854UL,
   0x00000001f86096b4UL,
   0x00000001ee865210UL,
   0x000000024bf5c67cUL,
   0x000000037a5d0beeUL,
   0x00000003c2fcd384UL,
   0x00000005324bc851UL,
   0x00000005886a7099UL,
   0x0000000b72fa2c2cUL,
   0x0000000fc92eb5b5UL,
   0x0000000422e4a0c6UL,
   0x000000059b17b310UL,
   0x00000008e7d2e941UL,
   0x0000000943f50c2dUL,
   0x000000093db38889UL,
   0x0000000d3c56115cUL,
   0x0000000ec3097940UL,
   0x0000000f0c8e4c64UL,
   0x000000015a1a2b44UL,
   0x000000031885e859UL,
   0x00000003c77ec56fUL,
   0x0000000665489b09UL,
   0x0000000ac8831e70UL,
   0x0000000b0559325eUL,
   0x0000000d9d4e401bUL,
   0x00000001618bca4bUL,
   0x00000006cd54c849UL,
   0x0000000717d5b003UL,
   0x0000000acb7e0f3dUL,
   0x0000000db2c90514UL,
   0x0000000edb75ab84UL,
   0x00000002d2d82857UL,
   0x000000095fb613c6UL,
   0x00000009c1f187c8UL,
   0x0000000b1521d0f9UL,
   0x0000000f252b178dUL,
   0x00000003fe0f8640UL,
   0x00000005ca93c171UL,
   0x00000009dad88605UL,
   0x0000000b32a795d4UL,
   0x0000000d0273d2e4UL,
   0x0000000d7034b6d8UL,
   0x000000021d211a8bUL,
   0x000000032f7b66d5UL,
   0x000000097f46e061UL,
   0x0000000a3a80d947UL,
   0x0000000af24f7511UL,
   0x000000017760c682UL,
   0x00000002f17d53f8UL,
   0x00000005768d8553UL,
   0x00000005ccac399bUL,
   0x0000000b363443b6UL,
   0x000000086e868835UL,
   0x0000000d1f31c586UL,
   0x0000000e3c1f8c18UL,
   0x0000000dfb29b8f1UL,
   0x000000012545997cUL,
   0x00000003c9b87c9cUL,
   0x0000000650afcedaUL,
   0x00000007cc5d2d4dUL,
   0x0000000e97f2c6b4UL,
   0x0000000bcf094d17UL,
   0x0000000c2b6fd1b3UL,
   0x000000055b7539e1UL,
   0x00000006563c3099UL,
   0x00000006cbcaa475UL,
   0x0000000711ebf8bfUL,
   0x0000000beacf0872UL,
   0x0000000152bf7dd3UL,
   0x00000002d9e666a9UL,
   0x00000008aadf624cUL,
   0x0000000ae04840c3UL,
   0x0000000b89fceccbUL,
   0x0000000391534881UL,
   0x00000006d3b626f3UL,
   0x0000000b8cd3f384UL,
   0x000000056e622ea0UL,
   0x000000072da9effcUL,
   0x00000009d9dc3195UL,
   0x00000009b5bab5bbUL,
   0x0000000a2255635fUL,
   0x0000000b3d6b2a41UL,
   0x0000000e1e78a0caUL,
   0x00000006f166d850UL,
   0x00000006ed013c3cUL,
   0x0000000974124e7aUL,
   0x0000000b9c237103UL,
   0x000000012a55c948UL,
   0x00000006e6e02db3UL,
   0x0000000bb970b4aeUL,
   0x0000000cb5e92956UL,
   0x000000024a8a8519UL,
   0x00000005e4e6a504UL,
   0x0000000cce402a5bUL,
   0x0000000ead45ac6bUL,
   0x0000000b7e065329UL,
   0x00000002c9b38934UL,
   0x0000000550a5f272UL,
   0x00000009af15026bUL,
   0x0000000c43acbba9UL,
   0x000000003c4f2ed0UL,
   0x00000005a6df5a79UL,
   0x0000000acf8a733eUL,
   0x0000000e05408ed3UL,
   0x000000060787293bUL,
   0x000000089e95533fUL,
   0x0000000dcb673abcUL,
   0x0000000e0ea10fdaUL,
   0x0000000efa4f932eUL,
   0x000000045e988b2bUL,
   0x00000005d2c11c5eUL,
   0x0000000b84be5c13UL,
   0x000000050629a003UL,
   0x00000005e11c1dd3UL,
   0x000000012111629fUL,
   0x00000002365f3381UL,
   0x00000004cf5d41c0UL,
   0x00000008d957e5b5UL,
   0x000000025b88ce2cUL,
   0x000000041ec563d3UL,
   0x0000000c3884919fUL,
   0x00000004ffd91f28UL,
   0x0000000d6211be2eUL,
   0x00000002c6c33e2bUL,
   0x00000009b062517dUL,
   0x00000009a605d5d1UL,
   0x0000000c93615ffbUL,
   0x00000000587aa508UL,
   0x0000000ae741eba5UL,
   0x00000004b232ba75UL,
   0x00000009d68187b1UL,
   0x0000000a253c3b79UL,
   0x0000000bae55c0a6UL,
   0x0000000d0eaa3172UL,
   0x0000000c0c2dbd49UL,
   0x0000000d1d37d23fUL,
   0x0000000e952ecf4fUL,
   0x0000000a51239d5eUL,
   0x0000000f6e416099UL,
   0x0000000da4923cf8UL,
   0x000000055cd5bbbfUL,
   0x000000067fad4a0dUL,
   0x00000006f802d5abUL,
   0x00000004c90df6abUL,
   0x0000000cc0aad0e1UL,
   0x0000000745207f2bUL,
   0x0000000b516ad892UL,
   0x00000008da9ca7d8UL,
   0x0000000ba7517799UL,
   0x0000000b13811fcdUL,
   0x00000000328436caUL,
   0x00000005965ad68fUL,
   0x0000000e6b65823fUL,
   0x0000000951a1abf3UL,
   0x000000095cce7616UL,
   0x0000000ca003fe57UL,
   0x0000000d5ee5d32bUL,
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   0x0000000bee25c778UL,
   0x000000021cac7ed2UL,
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   0x0000000237a92d3eUL,
   0x000000065c2a898aUL,
   0x00000002a67c67d0UL,
   0x0000000492c37445UL,
   0x0000000e66713585UL,
   0x0000000adb041611UL,
   0x00000009b5ed4c88UL,
   0x0000000f2f751a83UL,
   0x000000005a5db231UL,
   0x00000008478d5037UL,
   0x00000005e2954c13UL,
   0x00000000d8597d1dUL,
   0x0000000537116e24UL,
   0x00000007ce063461UL,
   0x0000000a79a20302UL,
   0x0000000b8016f46aUL,
   0x0000000ebeb44bdcUL,
   0x0000000206e7cff7UL,
   0x00000000d2870a69UL,
   0x00000004e21e723aUL,
   0x00000006a59590e7UL,
   0x0000000a522a2e9bUL,
   0x0000000c2ec8f44fUL,
   0x000000003e51273cUL,
   0x000000056bab7c9bUL,
   0x0000000b3a92fa7eUL,
   0x0000000f4a993d4bUL,
   0x00000008b80884b7UL,
   0x00000008a5339f30UL,
   0x0000000690c7389dUL,
   0x00000009f34cb283UL,
   0x0000000cd0febc20UL,
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   0x000000068fddad38UL,
   0x00000007ca529286UL,
   0x0000000df93cd25bUL,
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   0x0000000febd825c0UL,
   0x0000000898d72da2UL,
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   0x000000038a56d5b3UL,
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   0x00000000b9385f3aUL,
   0x0000000ba42a64f5UL,
   0x0000000938bb73f3UL,
   0x0000000a7691cb01UL,
   0x000000086a986dadUL,
   0x0000000447ed963bUL,
   0x0000000b6bcab900UL,
   0x0000000a348c9079UL,
   0x000000071812b90bUL,
   0x0000000be867b1a9UL,
   0x00000007807672aeUL,
   0x0000000f52c97520UL,
   0x000000005f6dabb7UL,
   0x00000001321e1472UL,
   0x0000000e44ab0b16UL,
   0x000000031b1b920fUL,
   0x0000000e7a916c37UL,
   0x0000000ec3a095ddUL,
   0x0000000e1cc9b481UL,
   0x000000046209b37bUL,
   0x000000047f0aa439UL,
   0x00000000d7b31befUL,
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   0x0000000ed3b35ea8UL,
   0x00000005b1f58572UL,
   0x0000000acf866c7dUL,
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   0x0000000bcf8fe9b1UL,
   0x0000000fdfc4ac80UL,
   0x0000000a0aef3457UL,
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   0x0000000a314ac7faUL,
   0x0000000b52221849UL,
   0x0000000b5d908dacUL,
   0x0000000ec20c9ce2UL,
   0x0000000da5563b12UL,
   0x000000057257c59bUL,
   0x0000000ef0e8f782UL,
   0x0000000f9d2b3dc4UL,
   0x0000000ab8097620UL,
   0x0000000b99a08acaUL,
   0x0000000064fe5b8bUL,
   0x000000019255e746UL,
   0x0000000aab6d88b0UL,
   0x0000000e011adc1bUL,
   0x00000003214f657cUL,
   0x0000000093f917b4UL,
   0x000000091f0c7859UL,
   0x0000000bcd3a5171UL,
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   0x00000002ae32d017UL,
   0x000000067af72a45UL,
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   0x00000002f2500693UL,
   0x0000000868a4733cUL,
   0x00000005dd4c95d9UL,
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   0x000000023f0de89fUL,
   0x000000084ce8a4b5UL,
   0x000000034eb80e3dUL,
   0x0000000532c70decUL,
   0x000000013b90cb54UL,
   0x0000000c3dfe6cb7UL,
   0x00000008b03d0badUL,
   0x000000090bacd3e5UL,
   0x0000000afa0bc824UL,
   0x0000000a38fe08f8UL,
   0x0000000fa758ea36UL,
   0x0000000fe0862d3cUL,
   0x00000001ace4f7edUL,
   0x0000000e04bac135UL,
   0x000000063e99b95aUL,
   0x0000000b010d68e1UL,
   0x0000000ce9352b2bUL,
   0x000000082838db6fUL,
   0x0000000d3bf04d59UL,
   0x0000000c9df5aec3UL,
   0x0000000a4e8aafeeUL,
   0x00000006b1db1459UL,
   0x00000006ba3217d0UL,
   0x0000000e5c73549cUL,
   0x000000037c2679dfUL,
   0x0000000732d69874UL,
   0x000000073ce98c9eUL,
   0x00000004cc0f5c5eUL,
   0x000000008f1b8c73UL,
   0x0000000ef1b22865UL,
   0x000000006f5eb759UL,
   0x00000001476bea11UL,
   0x000000078ba48850UL,
   0x000000074ac468d5UL,
   0x00000008ed2a2869UL,
   0x0000000a0d4f4fcdUL,
   0x00000002401bcfacUL,
   0x0000000af4852356UL,
   0x0000000e49487115UL,
   0x0000000678ebe495UL,
   0x00000003afec50b5UL,
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   0x0000000ca35def53UL,
   0x000000087328bda4UL,
   0x0000000d258703b5UL,
   0x000000071152a781UL,
   0x00000004dd323e43UL,
   0x00000004812c5a59UL,
   0x000000057bd1d082UL,
   0x0000000456266e15UL,
   0x00000006b9fccad6UL,
   0x00000004abe3b07bUL,
   0x0000000baf59cfceUL,
   0x000000056d6932fcUL,
   0x0000000fd158446cUL,
   0x0000000363f31ca6UL,
   0x000000093c9eecceUL,
   0x000000033930d57fUL,
   0x000000062c9dcfbbUL,
   0x00000006f52475c4UL,
   0x0000000950d51d55UL,
   0x000000095c430b37UL,
   0x00000007424acdf9UL,
   0x00000005e59f504fUL,
   0x00000007abe9fe84UL,
   0x00000001462e4fb3UL,
   0x00000005b346387fUL,
   0x0000000adcf80432UL,
   0x0000000dbcf4c50eUL,
   0x0000000213274059UL,
   0x00000007d0da7a11UL,
   0x0000000d9c5de950UL,
   0x0000000334edcf91UL,
   0x0000000eaadbf8b8UL,
   0x00000004fd450926UL,
   0x00000009a8af56b0UL,
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   0x000000092fd1710eUL,
   0x0000000f55801505UL,
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   0x0000000411731a19UL,
   0x0000000ee3ccd9e5UL,
   0x0000000865688814UL,
   0x000000084c59bdd7UL,
   0x0000000bdf4f34e2UL,
   0x0000000192b2633cUL,
   0x0000000f7c30ff94UL,
   0x0000000bbd0187c5UL,
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   0x0000000149b6cd96UL,
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   0x00000005380ec50cUL,
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   0x00000001e43cad4eUL,
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   0x00000007b3ca3761UL,
   0x000000064fae3ebfUL,
   0x0000000447b9e7acUL,
   0x0000000d9f564f30UL,
};
apriltag_family_t *tag36h10_create()
{
   apriltag_family_t *tf = calloc(1, sizeof(apriltag_family_t));
   tf->name = strdup("tag36h10");
   tf->h = 10;
   tf->ncodes = 2320;
   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 tag36h10_destroy(apriltag_family_t *tf)
{
   free(tf->bit_x);
   free(tf->bit_y);
   free(tf->name);
   free(tf);
}