Jacob Repp

I didn't see this PR and did a very minimalist pass for CMake just to support my own needs initially. https://github.com/jrepp/RHash/tree/cmake-support @JPeterMugaas A few changes I would propose to your...

I have been able to reproduce the results in the PR using the author's original test bed. I used a branch of apriltag that has [diagnostics tracing code](https://github.com/jrepp/apriltag/tree/diagnostics) embedded which...

Do you have more test inputs and verifiable outputs? Would you be open to adapting your testbed into a new test harness? From what I've seen running your test framework...

What are these extra parameters you're passing to detect()? Is the request to get access to the estimate pose functionality of apriltag from python? I don't see those APIs exposed...

I was able to reproduce this locally, use image magic to convert to pnm `convert bad-homography.png bad-homography.pnm` then make sure to use the same parameters as python detect `apriltag_demo bad-homography.pnm...

It might be useful to get a trace from apriltag_demo for a single frame on both systems. We are going to be running tests with apriltag3 on jetson hardware. If...

Happy to re-run this. The specific case I'm able to reproduce is in the line fitting using the eigenvalue solution. When Cxx or Cyy exactly equal the eigenvalue it forces...

``` ./apriltag_demo crash-april.pnm -x 1 ../common/zhash.c:545:22: runtime error: left shift of 211382645 by 7 places cannot be represented in type 'int' loading crash-april.pnm image: crash-april.pnm 2448x2048 ../apriltag_quad_thresh.c:244:25: runtime error: division...

The output I provided is before my proposed fix - after the fix I still get two div/0 which I will track down and add to this PR. If the...

Sorry, I've lost some of the context of this change and I need some time to address your feedback. I'll get back to you soon.