Staubsaugroboter Challenge

// ============================================================ // ArUco / AprilTag Marker Tiles – Parametric // // TWO-COLOR PRINT – no AMS required: // z 0 … base_h → BLACK filament // z base_h … top → WHITE filament (pause & swap at first layer above base_h) // // Use the Customizer panel (Window → Customizer) to pick a // dictionary, ID range, and physical dimensions. // Set first_id = last_id for a single marker, or a range for a grid. // ============================================================ /* [Marker] */ // Marker dictionary marker_dict = 5; // [0:AprilTag 16h5, 1:AprilTag 25h9, 2:AprilTag 36h10, 3:AprilTag 36h11, 4:ArUco Original, 5:DICT_4X4_1000, 6:DICT_5X5_1000, 7:DICT_6X6_1000, 8:DICT_7X7_1000, 9:MIP 36h12] // First marker ID to generate first_id = 0; // Last marker ID to generate (set equal to first_id for a single marker) last_id = 0; // Columns in the output grid (0 = auto-square) grid_cols = 0; /* [Dimensions] */ // Cell size in mm (one data cell) cell_size = 10; // Quiet-zone margin around the marker in mm margin = 6; // Height of the black base layer in mm base_h = 2; // Height of the white top layer in mm top_h = 1.2; /* [Layout] */ // Gap between tiles in mm gap = 5; /* [Export] */ // Which part to render – export each separately, then combine in Bambu Studio render_part = 0; // [0:Both (preview), 1:Black base, 2:White top] eps = 0.01; /* [Hidden] */ // ── Dictionary data (raw bytes, MSB-first, row-major) ────────────── // AprilTag 16h5: 30 markers, 4×4 data grid APRIL_16H5_DATA = [ [35,27], [46,165], [52,106], [69,185], [121,166], [127,107], [179,88], [231,69], [254,89], [21,109], [56,11], [240,171], [13,132], [71,54], [140,114], [175,16], [9,60], [147,180], [165,3], [70,143], [225,55], [87,149], [223,66], [28,29], [233,220], [115,173], [173,95], [213,48], [7,202], [175,46] ]; // AprilTag 25h9: 35 markers, 5×5 data grid APRIL_25H9_DATA = [ [170,229,248,1], [242,104,219,0], [189,133,180,0], [245,100,230,1], [151,10,103,0], [26,164,93,1], [59,171,243,0], [131,46,213,1], [221,81,115,1], [111,83,68,0], [64,236,147,1], [40,217,32,1], [109,228,87,0], [242,135,12,1], [172,12,233,0], [182,193,65,0], [177,240,26,1], [78,205,192,1], [185,247,98,0], [87,29,4,1], [47,190,40,1], [208,155,254,0], [110,74,177,0], [192,23,34,1], [225,170,22,0], [67,135,210,0], [72,163,132,1], [179,66,120,0], [100,121,82,1], [65,159,93,1], [44,184,191,1], [158,104,40,0], [125,5,104,1], [219,177,216,0], [92,200,231,0] ]; // AprilTag 36h10: 2320 markers, 6×6 data grid APRIL_36H10_DATA = [ [28,169,42,104,7], [32,82,26,196,12], [39,163,251,125,6], [43,76,235,217,11], [54,71,188,238,10], [57,240,173,74,15], [61,153,157,167,4], [68,235,126,95,14], [83,143,63,209,2], [87,56,48,45,7], [101,219,241,158,11], [112,214,194,179,10], [127,122,132,36,14], [131,35,116,129,3], [134,204,100,221,8], [138,117,85,57,13], [149,112,38,78,12], [153,25,22,171,1], [160,106,247,99,11], [171,101,200,120,10], [178,183,169,49,4], [182,96,153,141,9], [189,178,122,70,3], [204,86,59,183,7], [226,75,221,225,5], [237,70,174,246,4], [244,152,143,174,14], [6,229,65,124,7], [21,137,2,237,11], [28,218,227,166,5], [36,44,196,94,15], [39,213,180,187,4], [43,126,165,23,9], [50,208,133,208,3], [54,121,118,44,8], [58,34,102,136,13], [61,203,86,229,2], [72,198,39,250,1], [87,105,233,107,5], [98,100,186,128,4], [102,13,170,220,9], [109,95,139,149,3], [116,177,108,77,13], [127,172,61,98,12], [145,248,239,48,5], [149,161,223,140,10], [153,74,207,232,15], [160,156,176,161,9], [164,69,160,253,14], [167,238,145,90,3], [171,151,129,182,8], [175,64,114,18,13], [182,146,82,203,7], [200,223,4,153,0], [211,217,213,173,15], [215,130,198,10,4], [241,33,88,144,7], [29,12,156,228,3], [32,181,141,64,8], [47,89,78,177,12], [58,84,31,198,11], [69,78,240,219,10], [83,242,178,76,14], [98,150,115,190,2], [116,227,37,139,11], [138,216,199,181,9], [157,37,121,131,2], [168,32,74,152,1], [175,114,43,80,11], [182,196,12,9,5], [186,108,252,101,10], [241,83,17,206,5], [7,72,179,248,3], [10,241,164,84,8], [14,154,148,176,13], [43,226,23,147,5], [62,46,201,96,14], [76,210,138,210,2], [80,123,123,46,7], [84,36,107,138,12], [87,205,91,231,1], [106,26,13,180,10], [109,194,254,16,15], [135,97,144,151,2], [153,174,66,100,11], [171,250,244,50,4], [201,66,119,20,12], [208,148,87,205,6], [212,61,72,41,11], [234,50,234,83,9], [245,45,187,104,8], [22,30,46,167,5], [40,106,224,116,14], [102,162,214,150,3], [139,60,58,49,5], [142,229,42,141,10], [161,49,220,91,3], [230,187,179,53,2], [245,95,116,166,6], [0,90,69,187,5], [7,172,38,115,15], [29,161,200,157,13], [40,156,153,178,12], [58,233,75,128,5], [80,222,237,170,3], [88,48,206,98,13], [91,217,190,191,2], [99,43,159,119,12], [110,38,112,140,11], [132,28,18,182,9], [146,191,212,39,13], [150,104,196,132,2], [157,186,165,60,12], [176,7,87,10,5], [179,176,71,102,10], [194,84,8,215,14], [234,150,92,207,5], [249,58,30,64,9], [4,52,239,85,8], [22,129,161,35,1], [29,211,129,219,11], [48,32,51,169,4], [117,170,10,131,3], [146,241,141,101,11], [154,67,110,30,5], [161,149,78,214,15], [183,138,241,0,13], [187,51,225,93,2], [198,46,178,114,1], [4,102,168,147,6], [15,97,121,168,5], [22,179,90,96,15], [88,148,64,222,9], [103,56,2,79,13], [132,127,133,50,5], [158,30,23,184,8], [172,193,217,41,12], [176,106,201,134,1], [213,4,45,33,3], [253,70,129,24,10], [15,147,50,230,3], [52,44,150,129,5], [55,213,134,221,10], [85,29,9,192,2], [92,110,234,120,12], [96,23,218,213,1], [147,84,255,225,7], [154,166,224,154,1], [169,74,162,11,5], [172,243,146,103,10], [187,151,83,216,14], [191,64,68,53,3], [8,115,11,107,7], [23,22,204,220,11], [34,17,157,241,10], [63,89,32,212,2], [88,247,179,90,5], [107,68,101,39,14], [151,47,169,123,10], [158,129,138,52,4], [165,211,106,236,14], [209,190,175,64,10], [220,185,128,85,9], [246,88,18,219,12], [19,159,149,190,4], [107,118,30,101,12], [111,31,14,194,1], [166,5,36,42,12], [228,61,26,76,1], [41,198,241,38,0], [56,106,178,151,4], [78,96,84,193,2], [140,152,74,226,7], [151,147,27,247,6], [158,228,252,176,0], [210,34,33,188,6], [228,110,211,137,15], [235,192,180,66,9], [111,130,129,61,13], [115,43,113,154,2], [144,114,244,124,10], [148,27,228,216,15], [151,196,213,53,4], [159,22,181,237,14], [184,181,72,116,1], [210,83,218,250,4], [213,252,203,86,9], [217,165,187,178,14], [228,160,140,199,13], [60,119,21,111,5], [122,175,11,144,10], [181,62,17,85,10], [184,231,1,177,15], [5,194,185,68,8], [20,102,122,181,12], [71,163,159,194,2], [78,245,128,122,12], [100,235,34,164,10], [152,40,71,177,0], [170,116,249,126,9], [174,29,233,218,14], [181,111,202,147,8], [247,80,177,17,2], [27,234,20,172,4], [31,147,5,8,9], [35,59,245,100,14], [49,223,182,214,2], [57,49,151,142,12], [82,208,42,20,15], [90,34,10,205,9], [177,248,147,117,1], [251,43,90,171,5], [64,181,49,133,4], [90,83,196,11,7], [141,144,233,23,13], [145,57,217,116,2], [148,226,201,208,7], [214,195,176,78,1], [233,16,98,27,10], [244,11,51,48,9], [17,82,182,19,1], [50,67,41,81,14], [61,61,250,102,13], [101,128,78,94,4], [171,10,37,56,3], [182,4,246,77,2], [222,71,74,68,9], [17,132,111,80,15], [109,3,232,84,12], [116,85,201,13,6], [171,59,222,118,1], [218,208,19,38,2], [233,115,212,151,6], [43,84,187,21,0], [149,119,245,138,1], [153,32,229,230,6], [182,104,104,200,14], [244,160,94,234,3], [61,211,38,32,7], [91,26,169,2,15], [153,82,159,36,4], [178,241,49,170,7], [208,56,180,140,15], [211,225,164,233,4], [36,102,76,216,2], [54,178,254,165,11], [149,219,104,5,13], [160,214,57,26,12], [171,209,10,47,11], [21,244,68,164,12], [43,233,230,206,10], [87,213,43,34,6], [95,39,11,219,0], [182,253,148,130,8], [135,155,25,16,5], [212,118,208,162,14], [230,195,130,112,7], [219,250,106,153,6], [22,137,112,94,6], [59,34,211,249,8], [99,101,39,240,15], [125,3,186,119,2], [238,120,213,164,13], [191,22,90,50,10], [194,191,74,142,15], [81,123,232,159,2], [103,113,138,201,0], [107,26,123,37,5], [114,108,91,221,15], [187,159,35,20,3], [19,117,171,187,11], [41,107,77,229,9], [136,147,183,69,11], [169,132,42,132,8], [184,39,235,245,12], [56,64,200,148,11], [107,125,237,161,1], [188,2,149,143,15], [85,186,4,181,1], [118,170,119,243,14], [155,67,219,143,0], [158,236,203,235,5], [162,149,188,71,10], [180,226,110,21,3], [228,118,162,197,4], [107,225,96,28,13], [111,138,80,121,2], [151,204,164,112,9], [188,102,8,11,11], [16,147,160,86,14], [111,188,9,183,0], [184,238,208,237,4], [206,228,115,23,2], [35,18,11,98,5], [93,161,17,39,5], [207,22,44,85,0], [236,143,104,117,6], [181,219,12,74,9], [43,42,209,18,7], [83,109,37,9,14], [156,159,236,64,2], [193,57,79,219,4], [6,195,38,181,3], [94,153,175,92,11], [175,30,87,75,9], [230,4,108,180,4], [102,29,73,83,3], [142,95,157,74,10], [219,59,84,221,3], [230,54,37,242,2], [233,223,22,78,7], [69,94,143,82,4], [91,84,49,124,2], [190,37,139,56,9], [84,52,10,1,6], [91,133,234,186,0], [18,132,220,193,10], [36,209,142,143,3], [77,19,226,134,10], [139,75,216,167,15], [33,90,87,112,12], [70,87,45,135,10], [194,199,25,202,4], [77,218,199,126,2], 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[11,66,154,127,10], [84,216,212,49,10], [125,27,40,41,1], [161,230,69,2,1], [184,13,160,105,13], [238,243,181,210,8], [38,61,61,182,15], [9,89,45,80,3], [75,157,134,73,9], [108,141,249,136,6], [163,116,14,241,1], [196,150,59,109,12], [6,218,148,103,2], [83,182,75,249,11], [178,222,181,89,13], [241,22,171,123,2], [138,206,26,160,4], [142,168,196,58,7], [106,65,25,221,3], [153,213,78,141,4], [201,105,131,61,5], [245,84,199,145,1], [58,222,158,107,0], [110,27,195,119,6], [121,22,148,140,5], [219,231,238,72,12], [121,72,77,202,3], [249,146,227,167,0], [136,79,129,183,3], [198,135,119,216,8], [96,62,230,253,10], [114,139,152,203,3], [177,39,1,104,4], [213,242,30,65,4], [5,134,82,241,5], [45,200,166,232,12], [71,103,57,110,15], [184,220,84,156,10], [243,107,90,97,10], [13,9,236,231,13], [221,167,113,117,10], [5,233,197,109,1], [115,231,169,124,5], [178,31,159,157,10], [222,60,157,47,4], [105,80,74,227,2], [119,244,12,84,6], [237,18,23,222,6], [58,31,136,174,13], [230,35,169,161,8], 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[118,82,27,183,11], [217,35,117,116,2], [202,177,109,64,12], [115,12,157,215,2], [173,155,163,156,2], [177,68,147,248,7], [82,177,86,81,15], [24,84,9,202,13], [119,174,44,104,13], [148,245,175,75,5], [10,19,186,213,5], [97,234,67,124,13], [160,34,57,158,2], [32,59,22,61,1], [123,186,143,64,14], [149,188,148,66,13], [65,192,181,53,8], [142,156,108,200,1], [14,181,73,103,0], [157,163,160,181,1], [216,50,166,122,1], [220,212,53,11,12], [74,160,95,221,2], [96,199,187,68,14], [75,53,139,150,12], [6,114,153,180,5], [185,200,155,95,10], [105,117,172,174,10], [98,184,247,175,10], [51,86,124,61,7], [186,193,57,149,0], [165,146,124,98,10], [92,145,110,106,4], [38,14,203,125,5], [41,183,187,217,10], [144,50,5,242,6], [174,114,39,10,4], [61,46,197,26,7], [130,234,85,50,4], [17,166,243,66,7], [28,161,196,87,6], [164,12,129,174,15], [189,220,205,115,0], [14,97,117,97,14], [150,147,23,176,15], [103,247,129,54,4], [97,9,18,249,6], [178,84,159,223,12], [6,229,170,166,11], [182,196,117,51,9], [197,104,54,164,13], [132,78,53,30,11], [70,71,248,59,4], [9,8,160,79,5], [127,81,3,76,9], [174,229,55,252,10], [94,146,73,75,10], [212,69,128,143,4], [40,214,139,86,3], [4,210,83,116,11], [43,192,101,246,5], [150,220,62,160,12], [75,42,222,129,7], [7,195,253,80,2], [231,104,181,202,15], [23,96,92,246,12], [24,39,65,238,4], [98,132,96,151,12], [114,181,235,248,0], [38,61,166,225,3], [250,132,27,203,5], [126,69,232,198,9], [101,60,129,250,0], [116,67,181,231,0], [10,82,52,175,13], [116,117,111,36,14], [21,126,191,2,10], [130,239,70,147,9], [128,212,32,38,4], [42,238,211,233,8], [176,161,221,79,8], [181,67,107,225,3], [123,123,75,19,11], [28,232,13,109,3], [22,192,132,39,13], [238,84,70,45,13], [31,118,68,204,14], [156,123,92,201,2], [227,105,19,143,8], [93,90,102,233,1], [72,93,98,244,9], [230,232,25,233,4], [177,243,64,235,5], [9,209,152,206,2], [214,7,23,67,7], [1,150,184,86,12], [240,166,23,58,5], [18,192,225,236,6], [98,184,45,92,15], [173,21,76,6,7], [206,55,120,131,2], [107,10,123,134,4], [76,118,134,105,4], [80,88,255,62,12], [213,226,30,162,3], [159,244,167,110,14], [157,217,129,1,9], [27,173,77,48,10], [198,1,137,109,1], [151,52,57,180,8], [28,231,67,26,8], [87,168,2,29,6], [249,219,169,110,6], [131,162,228,231,12], [142,165,133,56,0], [175,108,14,116,4], [135,91,115,186,11], [218,52,202,144,1], [42,185,114,126,15], [211,159,33,185,10], [138,16,183,66,15], [95,137,82,219,10], [248,218,113,171,0], [194,95,157,249,6], [6,248,165,217,4], [228,46,99,225,10], [183,132,9,209,11], [121,34,41,173,13], [90,207,140,69,5], [47,194,154,155,0], [234,72,98,55,11], [176,201,104,90,0], [26,215,72,164,7], [3,180,113,45,5], [242,146,22,211,0], [141,173,101,228,9], [10,44,240,157,13], [11,95,23,76,6], [229,79,87,116,3], [185,207,84,215,8], [74,49,42,136,10], [39,186,188,150,2], [184,104,151,17,1], [242,255,108,17,6], [130,39,75,216,10], [151,2,53,5,14], [82,212,110,221,1], [88,92,31,83,8], [189,221,0,228,3], [85,144,183,77,15], [114,148,4,161,15], [101,50,8,85,14], [211,212,182,149,6], [122,227,116,241,4], [45,122,96,224,6], [49,92,217,181,14], [253,54,180,234,12], [241,223,118,66,11], [85,219,39,114,6], [143,21,235,193,9], [153,47,140,83,1], [98,222,162,164,0], [146,130,117,202,11], [105,194,99,203,9], [167,116,204,169,14], [38,107,33,16,14], [27,20,172,187,8], [98,75,138,113,11], [28,83,148,6,11], [48,134,213,41,11], [1,17,221,102,14], [152,205,99,11,15], [139,157,31,253,12], [114,178,246,30,7], [158,217,214,114,11], [150,205,209,95,3], [99,102,194,80,4], [108,169,223,115,10], [160,102,214,15,0], [231,164,184,173,13], [130,100,100,126,15], [170,25,91,248,1], [154,61,184,36,4], [1,77,45,246,10], [11,99,38,91,7], [47,1,13,231,3], [151,231,116,152,6], [36,138,255,194,9], [251,87,220,209,1], [11,26,126,77,9], [75,250,45,7,13], [84,229,205,249,6], [76,21,193,200,6], [205,156,97,22,6], [73,147,128,178,10], [84,3,8,208,9], [139,99,254,102,15], [200,26,235,53,14], [134,254,11,213,12], [206,36,128,194,10], [26,178,158,230,0], [128,72,218,161,5], [219,254,178,211,9], [86,124,152,88,12], [43,110,220,91,12], [32,120,252,168,2], [173,172,194,42,10], [185,36,134,244,9], [81,250,197,150,4], [105,30,230,66,0], [246,59,62,18,9], [57,190,126,87,2], [218,44,230,199,4], [32,207,23,165,12], [238,85,249,182,14], [251,133,114,114,6], [178,194,222,84,8], [202,169,188,233,2], [174,145,130,219,3], [116,182,229,189,1], [19,123,37,42,15], [81,246,134,136,1], [214,114,246,192,2], [101,65,70,206,4], [249,68,188,130,5], [232,50,127,128,9], [118,167,63,213,9], [247,157,164,203,4], [149,111,128,153,11], [123,95,38,85,12], [208,107,17,74,6], [208,105,124,165,0], [39,195,144,121,7], [188,97,237,155,2], [204,18,221,25,11], [235,120,24,210,12], [9,47,206,205,10], [137,222,212,234,1], [37,106,11,163,4], [182,148,142,98,7], [30,246,177,5,4], [134,57,41,74,2], [237,163,120,10,4], [57,238,42,241,13], [205,37,126,220,5], [45,157,107,194,2], [18,29,59,71,13], [55,226,63,138,13], [17,159,49,207,6], [44,151,244,240,9], [213,2,171,254,0], [16,188,60,167,7], [83,215,25,14,15], [144,195,230,42,6], [126,158,191,103,5], [151,156,226,61,1], [39,240,201,142,9], [234,251,74,229,9], [124,167,254,43,13], [20,144,202,143,6], [145,35,56,123,10], [179,188,115,136,8], [62,168,126,50,5], [72,136,150,74,10], [160,24,138,107,9], [205,56,60,102,6], [64,2,154,63,13], [225,192,10,197,12], [57,230,242,182,14], [222,102,79,98,2], [233,121,167,94,8], [124,107,76,134,12], [253,73,46,7,1], [143,187,53,17,8], [64,180,160,155,7], [175,128,189,109,10], [112,224,178,82,1], [47,92,84,217,3], [63,74,17,141,5], [9,193,137,123,9], [7,151,118,234,12], [8,75,0,177,7], [58,149,173,144,14], [40,197,68,9,5], [57,212,87,192,5], [122,55,145,167,8], [187,119,14,34,14], [154,130,43,214,12], [104,164,177,254,13], [165,253,39,179,11], [12,57,149,183,9], [209,81,157,255,1], [142,126,238,53,9], [205,60,165,11,1], [183,59,139,121,3], [87,172,161,196,3], [236,38,85,39,7], [120,90,44,27,3], [117,160,121,133,10], [164,176,30,182,9], [161,138,17,52,7], [219,31,40,202,3], [135,126,195,226,5], [49,246,52,27,8], [19,99,163,164,12], [7,93,139,155,10], [122,224,121,42,9], [168,58,33,101,1], [127,8,249,251,5], [13,12,247,58,9], [176,77,204,152,14], [246,92,123,15,8], [101,221,175,105,10], [44,249,184,107,3], [20,203,81,226,5], [244,128,39,181,11], [14,194,110,168,11], [68,186,253,69,12], [177,44,124,12,4], [149,159,217,216,2], [199,124,151,37,10], [72,162,45,70,2], [131,152,232,7,2], [236,137,176,92,14], [187,104,45,76,9], [229,168,109,47,15], [53,143,1,19,4], [133,86,221,207,6], [103,88,75,110,2], [17,96,148,57,15], [8,72,136,22,14], [170,241,162,196,6], [248,121,137,140,15], [139,190,94,47,7], [16,30,238,54,3], [105,15,105,55,7], [245,189,147,205,9], [206,164,194,191,6], [149,80,190,112,6], [44,91,56,166,0], [231,32,51,84,7], [68,88,176,98,9], [238,141,158,212,1], [210,249,24,215,2], [120,220,57,253,3], [130,18,99,111,6], [116,80,167,42,7], [196,240,207,76,6], [54,123,205,220,13], [193,202,248,204,6], [167,245,184,83,13], [157,83,104,24,11], [83,94,2,27,0], [167,235,135,41,14], [66,42,103,180,9], [146,158,146,138,6], [72,232,174,252,12], [169,137,115,147,12], [94,184,29,55,14], [30,128,40,123,7], [52,119,13,144,3], [46,239,134,114,8], [89,38,108,203,6], [1,16,187,166,1], [29,253,40,78,15], [68,116,57,209,11], [254,206,14,89,9], [147,9,243,112,3], [128,118,77,29,13], [53,63,30,106,0], [44,28,18,220,12], [193,210,27,157,7], [69,126,228,83,14], [214,111,175,84,0], [68,131,30,101,2], [207,212,154,132,8], [147,18,212,19,3], [63,9,125,62,14], [140,158,190,247,10], [169,158,41,232,8], [14,159,171,34,12], [78,116,143,79,11], [236,222,228,40,8], [171,206,95,29,0], [196,47,104,118,12], [126,212,2,234,0], [229,196,36,44,3], [213,178,195,26,14], [40,104,99,190,6], [22,4,68,217,4], [95,15,88,8,14], [174,61,68,178,10], [159,92,93,16,9], [138,217,49,109,7], [52,34,186,6,4], [47,237,17,213,6], [190,166,227,224,4], [4,176,41,238,12], [109,238,215,67,5], [55,24,206,23,12], [85,133,127,94,2], [46,218,199,182,2], [8,93,108,81,2], [214,202,136,224,15], [43,126,31,198,9], [166,153,213,193,11], [240,90,215,77,14], [76,245,251,86,13], [87,37,224,126,1], [114,241,138,45,14], [28,236,82,96,9], [72,83,66,67,12], [37,35,164,214,9], [53,193,184,13,1], [164,215,51,138,7], [13,177,175,1,2], [230,26,148,117,13], [5,223,3,249,1], [151,174,38,11,11], [50,214,39,254,15], [182,64,247,60,2], [69,161,172,156,6], [106,34,2,222,1], [87,211,226,95,2], [90,169,249,134,14], [12,200,89,216,10], [227,236,108,202,8], [84,233,94,26,14], [68,104,135,176,6], [117,22,115,43,14], [56,23,172,143,5], [62,38,217,56,12], [170,129,188,35,5], [223,56,124,161,11], [15,58,59,63,2], [180,191,105,103,7], [174,33,134,142,13], [129,225,210,217,13], [160,169,234,20,12], [142,238,41,122,9], [71,64,192,85,9], [232,177,65,131,7], [172,105,224,163,13], [158,216,58,30,1], [94,219,85,236,11], [7,52,15,232,1], [80,223,188,107,15], [79,88,53,8,10], [203,31,183,139,12], [64,37,206,210,15], [57,121,30,190,12], [83,238,56,143,1], [125,108,11,210,3], [147,169,149,251,14], [138,65,114,141,14], [47,231,14,5,3], [171,61,180,67,10], [19,100,237,176,5], [71,182,238,237,6], [18,231,26,240,1], [82,255,131,88,7], [58,21,117,221,8], [63,234,163,86,4], [234,207,120,186,7], [8,114,185,79,8], [218,141,223,154,2], [154,169,32,210,11], [31,53,14,211,6], [24,165,232,97,15], [44,53,184,156,3], [51,71,172,72,10], [127,35,224,34,14], [36,89,6,143,11], [232,59,228,183,3] ]; // ArUco Original: 1024 markers, 5×5 data grid ARUCO_DATA = [ [132,33,8,0], [132,33,11,1], [132,33,4,1], [132,33,7,0], [132,33,120,0], [132,33,123,1], [132,33,116,1], [132,33,119,0], [132,32,152,0], [132,32,155,1], [132,32,148,1], [132,32,151,0], [132,32,232,0], [132,32,235,1], [132,32,228,1], [132,32,231,0], [132,47,8,0], [132,47,11,1], [132,47,4,1], [132,47,7,0], [132,47,120,0], [132,47,123,1], [132,47,116,1], [132,47,119,0], [132,46,152,0], [132,46,155,1], [132,46,148,1], [132,46,151,0], [132,46,232,0], [132,46,235,1], [132,46,228,1], [132,46,231,0], [132,19,8,0], 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[114,111,8,0], [114,111,11,1], [114,111,4,1], [114,111,7,0], [114,111,120,0], [114,111,123,1], [114,111,116,1], [114,111,119,0], [114,110,152,0], [114,110,155,1], [114,110,148,1], [114,110,151,0], [114,110,232,0], [114,110,235,1], [114,110,228,1], [114,110,231,0], [114,83,8,0], [114,83,11,1], [114,83,4,1], [114,83,7,0], [114,83,120,0], [114,83,123,1], [114,83,116,1], [114,83,119,0], [114,82,152,0], [114,82,155,1], [114,82,148,1], [114,82,151,0], [114,82,232,0], [114,82,235,1], [114,82,228,1], [114,82,231,0], [114,93,8,0], [114,93,11,1], [114,93,4,1], [114,93,7,0], [114,93,120,0], [114,93,123,1], [114,93,116,1], [114,93,119,0], [114,92,152,0], [114,92,155,1], [114,92,148,1], [114,92,151,0], [114,92,232,0], [114,92,235,1], [114,92,228,1], [114,92,231,0], [115,161,8,0], [115,161,11,1], [115,161,4,1], [115,161,7,0], [115,161,120,0], [115,161,123,1], [115,161,116,1], [115,161,119,0], [115,160,152,0], [115,160,155,1], [115,160,148,1], [115,160,151,0], [115,160,232,0], [115,160,235,1], [115,160,228,1], [115,160,231,0], [115,175,8,0], [115,175,11,1], [115,175,4,1], [115,175,7,0], [115,175,120,0], [115,175,123,1], [115,175,116,1], [115,175,119,0], [115,174,152,0], [115,174,155,1], [115,174,148,1], [115,174,151,0], [115,174,232,0], [115,174,235,1], [115,174,228,1], [115,174,231,0], [115,147,8,0], [115,147,11,1], [115,147,4,1], [115,147,7,0], [115,147,120,0], [115,147,123,1], [115,147,116,1], [115,147,119,0], [115,146,152,0], [115,146,155,1], [115,146,148,1], [115,146,151,0], [115,146,232,0], [115,146,235,1], [115,146,228,1], [115,146,231,0], [115,157,8,0], [115,157,11,1], [115,157,4,1], [115,157,7,0], [115,157,120,0], [115,157,123,1], [115,157,116,1], [115,157,119,0], [115,156,152,0], [115,156,155,1], [115,156,148,1], [115,156,151,0], [115,156,232,0], [115,156,235,1], [115,156,228,1], [115,156,231,0] ]; // DICT_4X4_1000: 1000 markers, 4×4 data grid _4X4_1000_DATA = [ [181,50], [15,154], [51,45], [153,70], [84,158], [121,205], [158,46], [196,242], [254,218], [207,86], [249,145], [17,167], [14,183], [42,15], [36,177], [38,62], [70,101], [102,0], [108,94], [118,175], [134,139], [176,43], [204,213], [221,130], [254,71], [148,113], [172,228], [165,84], [33,35], [52,111], [68,21], [87,178], [158,207], [240,203], [8,174], [9,41], [24,117], [4,255], [13,246], [28,90], [23,24], [42,40], [50,140], [56,178], [36,232], [46,235], [45,63], [75,100], [80,46], [80,19], [81,148], [85,104], [93,65], [95,151], [104,1], [104,103], [97,36], [97,233], [107,18], [111,229], [103,223], [126,27], [128,160], [131,68], [139,162], [147,122], [132,108], [133,42], [133,156], [156,137], [159,161], [187,124], [188,4], [182,91], [191,200], [183,171], [202,31], [201,98], [217,88], [211,213], [204,152], [199,160], [197,55], [233,93], [249,37], [251,187], [238,42], [247,77], [53,117], [138,173], [118,23], [10,207], [6,75], [45,193], [73,216], [67,244], [79,54], [79,211], [105,228], [112,199], [122,110], [180,234], [237,79], [252,231], [254,166], [0,37], [0,67], [10,136], [10,134], [2,111], [0,28], [0,151], [8,55], [10,49], [9,198], [11,1], [9,251], [11,88], [16,130], [24,45], [16,120], [16,115], [18,116], [18,177], [26,249], [19,6], [12,14], [12,241], [4,51], [12,159], [14,242], [14,253], [7,76], [15,164], [7,47], [5,181], [15,145], [7,219], [30,228], [20,57], [29,128], [21,200], [31,139], [21,186], [29,177], [32,128], [40,233], [34,162], [40,83], [42,240], [34,247], [41,64], [33,70], [41,185], [43,156], [43,178], [56,202], [56,46], [48,7], [56,231], [58,73], [58,101], [50,93], [59,136], [57,29], [59,211], [38,71], [39,128], [47,170], [45,20], [37,222], [37,83], [47,119], [52,72], [60,168], [60,65], [52,13], [52,251], [54,154], [61,224], [53,106], [61,9], [61,237], [63,196], [63,108], [55,206], [61,92], [61,118], [55,176], [63,23], [63,255], [72,229], [66,104], [74,45], [65,96], [73,81], [65,221], [75,223], [88,79], [90,72], [88,22], [80,93], [90,250], [90,181], [81,35], [91,138], [89,25], [81,53], [76,105], [70,193], [78,11], [68,95], [78,89], [77,131], [77,125], [71,216], [71,115], [92,133], [94,68], [86,43], [92,187], [85,195], [95,110], [95,235], [93,18], [85,94], [98,112], [98,21], [97,194], [107,32], [99,69], [107,92], [107,91], [120,12], [122,207], [120,127], [121,128], [113,229], [113,116], [121,182], [113,211], [123,51], [100,106], [102,168], [110,167], [110,145], [101,34], [109,203], [103,141], [109,49], [126,128], [126,226], [126,141], [116,210], [124,50], [126,53], [117,171], [119,5], [127,43], [125,218], [127,146], [128,117], [128,243], [129,166], [137,237], [129,252], [152,166], [154,32], [145,67], [153,249], [145,147], [155,212], [132,9], [132,107], [134,196], [142,100], [134,26], [133,78], [141,203], [133,103], [133,175], [133,215], [135,179], [156,225], [156,242], [148,23], [149,0], [149,162], [157,35], [159,98], [157,82], [149,218], [160,197], [170,205], [162,216], [162,87], [169,61], [169,87], [171,82], [163,54], [163,89], [176,244], [184,18], [176,191], [178,157], [187,237], [185,114], [185,150], [164,195], [172,210], [174,177], [165,130], [175,101], [165,123], [175,250], [180,100], [188,98], [180,129], [182,160], [190,238], [190,13], [188,217], [190,248], [181,40], [183,9], [183,210], [192,234], [192,25], [192,253], [200,211], [202,90], [193,77], [201,180], [193,87], [195,152], [195,29], [216,128], [216,239], [218,43], [208,30], [209,5], [211,173], [219,167], [196,201], [204,120], [205,69], [197,11], [207,207], [220,172], [212,2], [220,99], [212,39], [212,245], [214,120], [222,184], [221,230], [213,93], [221,189], [223,29], [226,202], [234,107], [224,180], [226,56], [226,212], [227,34], [225,216], [240,3], [242,204], [248,246], [241,73], [243,234], [241,156], [249,245], [241,59], [236,141], [238,201], [230,15], [228,247], [231,96], [239,232], [237,178], [229,21], [239,209], [244,134], [252,1], [246,195], [244,124], [252,147], [245,66], [253,152], [245,61], [2,189], [0,225], [2,226], [2,174], [8,120], [0,116], [8,158], [8,209], [8,125], [10,50], [10,222], [2,81], [1,162], [3,128], [11,131], [11,75], [11,39], [11,239], [9,182], [9,89], [9,147], [11,248], [3,217], [3,241], [16,196], [24,171], [26,160], [26,4], [26,108], [26,174], [18,137], [16,23], [26,243], [25,64], [17,2], [17,43], [17,207], [27,34], [19,46], [17,21], [19,187], [12,32], [12,201], [12,220], [12,54], [6,20], [6,114], [13,97], [5,13], [13,143], [15,224], [15,73], [7,133], [5,144], [13,51], [15,150], [15,118], [20,96], [28,141], [20,218], [28,115], [30,148], [30,186], [22,217], [30,61], [22,251], [29,233], [29,254], [31,159], [40,139], [32,175], [34,14], [34,169], [42,141], [42,163], [42,239], [40,144], [40,59], [42,88], [34,51], [33,160], [33,2], [33,165], [33,199], [43,3], [35,103], [41,48], [41,210], [43,25], [43,155], [43,151], [56,40], [56,165], [58,134], [50,1], [56,159], [50,210], [58,153], [58,213], [57,232], [59,193], [51,67], [59,231], [49,154], [51,144], [59,158], [36,196], [44,74], [44,173], [44,207], [44,103], [38,234], [46,229], [44,112], [46,18], [46,209], [46,57], [37,100], [37,231], [47,204], [45,188], [45,113], [37,213], [37,155], [39,16], [47,124], [39,242], [39,58], [47,182], [39,211], [47,179], [39,31], [60,75], [54,192], [54,238], [62,233], [52,184], [60,20], [60,82], [52,114], [52,126], [52,191], [62,113], [62,83], [61,140], [53,162], [53,46], [53,45], [55,172], [53,112], [55,250], [63,241], [63,219], [72,196], [72,233], [74,194], [74,65], [66,235], [72,19], [74,216], [66,253], [74,23], [73,99], [67,110], [65,58], [73,177], [65,61], [75,146], [75,155], [67,63], [88,34], [80,170], [88,39], [82,200], [82,132], [82,10], [90,15], [88,152], [88,92], [80,219], [80,247], [90,244], [81,236], [81,66], [81,13], [91,3], [83,235], [81,118], [89,113], [81,147], [83,249], [91,179], [83,151], [76,76], [68,75], [76,35], [70,140], [78,39], [70,144], [78,212], [69,206], [69,229], [69,39], [79,193], [71,5], [69,52], [69,114], [92,200], [92,14], [84,235], [86,137], [86,67], [94,231], [92,112], [84,178], [94,121], [86,243], [93,163], [93,242], [85,29], [93,157], [87,252], [87,210], [95,115], [104,45], [104,195], [104,135], [106,74], [98,105], [96,185], [104,255], [106,220], [106,218], [106,62], [106,81], [106,49], [98,215], [97,204], [107,130], [107,227], [105,58], [97,158], [97,149], [97,117], [105,95], [105,55], [99,218], [112,2], [120,99], [112,79], [114,202], [122,173], [112,123], [122,20], [122,249], [122,211], [122,187], [121,226], [113,41], [123,103], [113,208], [121,57], [115,48], [115,185], [115,83], [115,255], [108,136], [100,9], [108,67], [102,6], [102,131], [100,176], [100,218], [110,159], [103,200], [111,238], [109,59], [111,210], [116,128], [124,171], [126,104], [126,2], [124,156], [116,54], [124,17], [126,222], [126,182], [118,219], [125,196], [125,138], [117,109], [119,136], [119,32], [119,65], [117,56], [117,190], [125,155], [119,87], [136,40], [128,172], [136,13], [136,103], [130,78], [138,161], [130,43], [128,24], [136,249], [128,157], [138,156], [130,49], [138,117], [130,151], [129,9], [129,235], [129,7], [139,40], [139,172], [131,46], [131,229], [129,80], [137,50], [139,122], [139,150], [131,125], [144,135], [154,252], [146,245], [145,170], [147,65], [147,37], [155,235], [153,52], [145,247], [155,218], [147,86], [132,66], [140,129], [140,79], [134,72], [134,166], [142,3], [134,227], [134,111], [142,175], [132,94], [132,119], [134,250], [142,30], [142,55], [135,10], [143,138], [143,38], [135,33], [135,13], [133,114], [135,62], [156,67], [158,97], [148,88], [148,248], [156,50], [148,118], [148,177], [148,221], [148,155], [156,219], [158,156], [158,210], [150,25], [158,177], [149,105], [159,109], [151,43], [149,182], [149,185], [157,61], [157,87], [168,236], [168,37], [162,172], [162,2], [170,102], [170,143], [170,231], [168,48], [168,122], [168,246], [168,147], [162,20], [170,52], [162,114], [170,242], [162,241], [161,64], [169,10], [161,38], [169,197], [169,207], [161,52], [169,18], [161,250], [171,152], [163,247], [176,6], [176,69], [184,141], [178,132], [184,240], [184,85], [178,118], [186,145], [178,113], [185,192], [185,66], [185,42], [179,140], [179,202], [187,102], [179,15], [177,218], [187,20], [187,246], [179,19], [164,104], [172,44], [172,161], [172,235], [172,199], [164,103], [166,192], [174,224], [166,35], [173,232], [165,204], [167,236], [173,124], [165,26], [165,145], [173,25], [165,151], [180,109], [190,203], [188,58], [188,245], [190,189], [190,243], [181,37], [181,143], [183,104], [191,228], [189,254], [189,157], [181,245], [181,243], [191,176], [183,90], [191,62], [183,57], [191,213], [183,29], [191,53], [183,127], [200,1], [192,165], [194,130], [200,189], [194,252], [202,145], [194,91], [201,68], [193,42], [195,192], [201,122], [193,185], [201,117], [193,247], [203,177], [208,108], [216,135], [208,175], [218,196], [210,12], [218,9], [208,48], [216,148], [208,58], [208,182], [208,117], [210,118], [218,93], [218,53], [210,23], [217,2], [211,232], [211,229], [209,154], [209,246], [209,81], [219,20], [211,62], [211,211], [196,96], [204,167], [198,66], [198,71], 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[245,188], [253,246], [245,217], [253,151], [253,63], [255,156], [255,90], [247,254], [255,17], [247,191] ]; // DICT_5X5_1000: 1000 markers, 5×5 data grid _5X5_1000_DATA = [ [162,217,94,0], [14,3,115,0], [215,135,110,1], [129,202,251,1], [215,90,146,0], [234,4,22,1], [105,235,246,0], [113,10,53,1], [134,176,153,0], [152,159,210,1], [158,119,1,1], [209,109,96,0], [243,21,136,1], [47,56,179,0], [254,126,84,0], [40,241,191,1], [75,211,172,0], [95,81,55,1], [123,38,226,0], [131,14,244,0], [150,237,58,1], [168,114,32,0], [181,134,80,1], [93,9,111,0], [206,104,17,1], [210,204,185,0], [225,231,69,1], [17,33,35,0], [29,203,57,0], [18,17,29,1], [19,155,183,0], [27,68,57,1], [32,104,103,0], [37,85,100,0], [35,33,221,0], [61,55,245,0], [76,197,86,0], [65,104,128,1], [77,86,142,1], [67,30,57,0], [86,148,18,1], [82,151,207,0], [108,36,251,1], [97,132,236,1], [109,63,24,1], [116,177,61,0], [116,220,203,1], [124,164,3,0], [122,200,146,1], [123,91,235,1], [141,172,114,0], [141,105,60,1], [143,28,5,1], 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[16,98,139,1], [24,157,182,0], [24,109,0,1], [28,118,42,0], [24,95,228,1], [28,66,22,0], [17,60,169,0], [17,152,57,1], [21,58,99,0], [21,18,117,1], [21,222,162,0], [21,106,24,1], [29,209,40,0], [29,113,148,1], [18,57,139,1], [18,5,152,0], [22,2,152,1], [26,52,127,1], [30,220,239,1], [30,112,115,0], [26,67,149,0], [26,126,27,1], [23,173,194,0], [19,25,222,1], [27,168,147,1], [27,147,73,1], [27,208,27,0], [31,66,219,1], [32,185,170,0], [36,196,186,0], [40,173,5,0], [44,35,100,1], [44,14,154,1], [44,81,3,1], [37,197,207,1], [37,200,211,1], [33,119,232,1], [34,141,218,1], [34,10,238,0], [46,134,44,0], [42,182,47,1], [39,60,45,0], [39,157,74,0], [39,155,7,1], [35,87,132,0], [35,78,67,1], [47,171,185,1], [48,176,46,1], [48,40,122,0], [52,253,160,1], [60,214,137,0], [56,126,182,0], [49,0,109,0], [49,23,219,1], [49,167,119,1], [61,128,10,1], [61,226,157,0], [54,106,119,1], [54,199,190,1], [62,187,41,0], [62,104,154,0], [62,95,2,1], [58,86,206,1], [62,95,252,0], [51,185,172,0], [51,84,174,0], [63,25,160,0], [59,173,97,1], [59,112,47,1], [59,235,58,1], [64,83,90,0], [65,152,22,0], [65,143,177,0], [69,217,33,1], [69,235,1,0], [73,157,82,0], [66,56,79,1], [74,166,163,1], [74,197,42,1], [74,200,115,0], [71,180,198,1], [67,147,93,0], [67,120,117,0], [79,58,175,1], [79,135,68,1], [79,135,223,0], [79,196,222,1], [84,31,71,0], [80,31,148,0], [92,145,67,0], [88,189,239,1], [92,221,7,1], [92,102,88,1], [92,219,50,1], [85,69,212,0], [81,68,62,0], [81,231,230,0], [89,11,167,0], [93,186,56,1], [93,166,55,1], [89,249,149,0], [93,255,236,0], [82,157,58,0], [86,58,151,0], [82,99,34,0], [82,203,49,1], [90,139,204,1], [83,33,106,0], [87,245,17,0], [95,220,33,0], [96,140,28,0], [96,162,213,1], [96,222,5,1], [108,76,110,0], [104,82,12,0], [101,59,167,0], [97,170,234,0], [101,113,110,1], [101,124,89,1], [105,131,46,1], [109,196,12,0], [109,210,20,1], [98,150,165,1], [98,117,38,1], [98,100,214,1], [98,91,220,1], [110,51,2,1], [110,90,137,0], [99,209,212,0], [99,75,129,1], [107,56,145,1], [107,122,42,0], [116,56,51,0], [112,6,44,0], [116,170,141,1], [116,76,143,0], [124,183,167,0], [120,3,22,1], [124,199,198,1], [117,182,4,1], [113,254,101,0], [113,79,154,1], [121,32,119,0], [125,121,205,0], [125,67,92,0], [125,127,59,0], [118,85,8,0], [122,152,199,0], [126,19,192,0], [126,94,89,1], [115,36,132,0], [115,46,39,1], [115,139,84,1], [132,4,34,0], [128,232,46,0], [128,237,48,0], [140,53,96,0], [140,120,240,1], [136,194,128,1], [129,26,100,1], [129,38,163,0], [133,154,140,1], [137,19,23,1], [130,9,37,0], [130,183,201,1], [142,185,191,1], [138,159,236,0], [142,228,226,0], [135,32,232,0], [135,205,96,1], [135,71,172,1], [139,10,91,0], [139,92,190,1], [143,213,180,0], [139,118,41,0], [148,51,175,0], [144,85,72,1], [156,62,39,0], [152,151,159,0], [152,88,144,1], [149,182,31,0], [145,64,55,0], [157,179,128,0], [153,65,137,1], [146,173,38,0], [146,101,228,1], [146,111,141,1], [150,94,153,0], [154,11,77,0], [154,221,17,0], [147,246,156,1], [159,52,189,1], [159,80,9,0], [160,153,27,1], [164,15,234,0], [160,15,83,1], [168,2,105,1], [172,27,205,1], [172,135,77,0], [172,118,200,0], [165,68,167,0], [161,244,92,0], [169,157,169,0], [169,135,255,0], [169,71,98,1], [166,129,114,1], [166,249,172,1], [162,196,38,0], [170,53,101,1], [170,168,102,0], [170,200,143,0], [167,110,148,1], [175,4,36,1], [176,65,44,0], [176,208,227,0], [176,237,129,1], [180,231,236,0], [184,160,236,1], [184,188,60,1], [177,102,224,1], [189,49,10,1], [189,63,186,1], [185,190,220,0], [178,58,240,1], [182,207,169,0], [186,35,226,1], [183,36,171,1], [183,41,251,0], [179,174,8,0], [183,86,202,1], [191,168,244,0], [191,148,18,1], [191,122,64,1], [196,133,200,0], [192,14,9,1], [192,112,254,0], [204,116,17,0], [193,8,90,1], [193,47,130,1], [193,35,120,0], [198,52,219,1], [198,164,244,1], [194,228,25,0], [195,29,35,0], [195,242,196,1], [199,95,223,0], [203,101,189,0], [203,199,15,1], [207,246,185,0], [212,84,239,0], [212,251,220,0], [220,232,84,0], [213,177,150,0], [209,159,7,1], [209,93,126,1], [217,164,134,1], [221,9,48,1], [217,180,57,1], [221,171,105,1], [217,203,66,0], [210,33,13,0], [214,73,4,0], [210,216,219,0], [218,63,69,1], [218,125,218,0], [218,211,230,0], [211,51,189,0], [215,225,237,1], [219,197,122,0], [224,128,59,1], [224,207,105,1], [228,71,48,1], [232,29,86,1], [232,243,72,1], [232,254,175,0], [236,231,159,0], [225,60,212,1], [229,204,106,1], [233,175,154,0], [227,0,237,0], [231,177,14,0], [227,192,126,0], [235,140,163,0], [235,159,109,1], [239,65,11,0], [239,194,195,0], [240,168,32,0], [244,25,211,0], [244,133,191,1], [240,106,204,0], [240,123,107,1], [244,251,170,0], [252,198,47,0], [248,111,16,0], [252,127,120,1], [241,171,217,0], [245,81,143,1], [241,248,166,1], [241,86,24,0], [253,132,196,0], [249,141,114,1], [253,15,85,1], [242,156,111,1], [246,136,24,1], [246,7,197,0], [242,65,215,0], [246,241,27,0], [242,230,203,1], [250,213,32,1], [254,67,233,0], [243,251,142,0], [255,187,218,0], [251,201,14,1] ]; // DICT_6X6_1000: 1000 markers, 6×6 data grid _6X6_1000_DATA = [ [30,61,216,42,6], [14,251,163,137,1], [21,144,126,172,13], [201,27,48,105,14], [214,7,214,225,5], [216,232,224,230,8], [66,104,180,31,5], [136,165,15,41,10], [48,125,82,79,13], [60,47,52,179,12], [69,223,199,78,3], [72,216,91,37,7], [113,5,88,252,6], [134,220,250,208,7], [141,114,169,63,6], [162,184,157,205,14], [9,253,30,156,4], [21,77,189,24,15], [48,10,49,14,2], [72,7,239,175,13], [86,223,17,219,6], [102,136,50,116,12], [118,232,203,120,1], [154,83,217,207,3], [169,203,132,2,4], [198,117,73,73,0], [193,210,136,148,1], [231,72,8,82,11], [234,47,202,132,8], [233,99,183,123,1], [250,54,101,42,15], [6,91,255,123,13], [5,65,215,45,6], [12,247,36,106,2], [19,56,163,158,11], [21,168,147,231,4], [58,65,126,233,14], [79,17,226,108,0], [83,13,182,210,0], [88,155,250,227,4], [100,9,232,160,11], [96,83,122,137,1], [97,89,6,155,10], [107,255,120,215,11], [112,173,150,164,15], [117,132,111,113,10], [122,149,25,47,12], [134,9,118,10,10], [138,45,68,195,15], [147,235,120,177,4], [152,141,168,77,4], [158,222,43,60,8], [165,41,224,123,8], [181,147,184,85,15], [183,248,228,38,15], [188,32,82,37,14], [192,68,135,118,5], [196,195,36,37,9], [197,169,27,216,13], [206,115,230,178,12], [205,12,166,39,2], [201,67,93,68,13], [207,190,128,243,4], [229,125,21,135,7], [239,198,133,142,9], [247,126,243,119,2], [44,228,63,37,4], [43,220,255,75,3], [55,199,221,189,10], [161,162,84,224,15], [169,130,193,187,5], [216,27,73,176,8], [3,88,41,248,6], [7,196,9,95,12], [15,226,102,23,11], [20,72,54,68,1], [16,173,95,251,7], [18,130,149,83,15], [22,225,49,132,12], [24,122,73,107,0], [26,232,134,17,2], [25,19,174,10,1], [27,103,181,161,7], [37,220,149,240,11], [40,137,97,247,6], [51,84,20,106,10], [49,193,108,31,7], [51,203,24,198,6], [62,207,228,144,15], [70,69,24,163,15], [68,186,112,182,7], [65,156,98,62,8], [72,209,145,74,1], [84,244,153,246,13], [87,90,156,129,3], [85,131,85,178,12], [87,183,118,16,15], [92,52,54,254,4], [92,72,252,119,14], [94,110,239,64,2], [95,35,59,111,15], [91,116,42,99,2], [101,15,163,58,14], [101,211,23,92,12], [106,156,36,90,14], [105,197,243,4,2], [105,210,72,78,10], [116,121,226,222,6], [114,207,35,234,11], [119,177,220,65,4], [126,12,7,33,7], [122,105,112,100,7], [120,178,216,112,7], [121,197,133,121,4], [134,111,89,252,6], [130,246,114,127,5], [133,78,47,65,4], [154,17,133,147,4], [156,113,96,201,7], [157,209,148,253,8], [162,30,18,227,8], [174,112,28,130,12], [173,1,33,156,1], [176,53,31,158,14], [182,74,216,13,4], [181,55,49,75,4], [190,170,199,227,11], [187,104,61,188,15], [198,114,247,44,1], [193,231,77,186,11], [203,85,238,89,13], [203,160,83,114,4], [208,9,15,207,1], [208,108,58,213,4], [211,241,32,87,4], [230,227,59,26,7], [227,83,62,164,10], [232,6,142,177,4], [236,7,192,89,7], [234,243,128,61,10], [246,59,39,216,8], [243,7,152,55,9], [254,75,186,155,9], [171,165,125,134,11], [192,209,98,90,11], [19,206,123,174,7], [78,129,253,97,7], [86,224,118,50,0], [106,112,138,84,0], [114,168,152,161,8], [129,93,66,248,0], [207,76,195,213,15], [214,187,101,134,4], [236,211,19,163,1], [245,33,245,32,7], [249,31,165,223,7], [0,36,244,122,7], [0,8,77,136,2], [4,60,194,242,9], [4,123,80,33,1], [6,122,228,193,13], [0,170,150,138,3], [4,209,56,233,4], [5,16,168,13,10], [1,64,176,0,7], [1,157,156,238,1], [8,16,87,227,11], [8,107,151,182,6], [14,232,184,96,10], [11,108,118,185,11], [15,220,185,140,11], [15,202,207,58,0], [20,36,159,217,8], [20,7,32,31,13], [21,9,16,213,7], [19,92,215,48,7], [17,71,154,187,6], [28,185,169,35,8], [28,221,7,118,6], [31,46,124,36,11], [25,102,66,71,7], [25,87,212,200,4], [31,168,244,240,4], [27,130,70,237,8], [27,174,225,15,14], [34,164,182,60,10], [34,191,144,18,15], [35,44,21,180,0], [37,90,169,102,12], [39,165,175,169,7], [37,244,14,66,5], [40,102,85,205,14], [44,66,126,14,0], [42,185,124,189,0], [41,70,225,210,3], [45,166,40,65,0], [43,251,32,154,6], [54,140,214,107,12], [52,135,119,124,7], [52,221,235,132,0], [55,145,247,111,1], [58,34,142,23,5], [62,19,189,64,8], [60,152,67,202,2], [57,88,157,23,9], [57,116,218,238,11], [63,109,188,115,1], [61,107,192,80,12], [57,171,39,73,7], [70,2,78,37,14], [70,130,186,11,12], [66,233,205,90,14], [68,201,183,179,15], [64,199,212,30,9], [70,210,180,204,14], [67,25,83,86,11], [65,34,230,221,9], [71,83,165,154,11], [78,30,241,224,8], [78,74,192,150,0], [78,95,170,6,15], [74,141,50,148,3], [73,21,148,179,9], [77,77,219,98,1], [75,167,97,232,1], [73,212,131,216,14], [86,41,14,246,12], [83,126,213,255,12], [85,245,167,175,10], [85,213,234,100,15], [88,27,171,29,10], [94,190,146,109,13], [95,16,249,155,5], [93,30,223,165,12], [95,113,141,240,2], [93,225,30,70,8], [96,51,187,36,7], [100,88,26,254,1], [99,200,221,167,6], [97,218,61,143,13], [110,58,34,175,10], [110,97,5,183,1], [106,137,169,232,12], [106,151,34,79,5], [107,18,195,128,1], [107,104,75,34,10], [111,148,193,87,9], [109,166,254,160,13], [111,234,202,69,7], [112,61,56,166,0], [118,108,53,231,8], [112,74,13,255,6], [117,120,169,200,0], [113,74,112,19,8], [117,127,140,187,9], [124,35,104,51,1], [124,181,167,211,1], [124,248,44,237,14], [127,36,226,52,15], [127,71,41,141,8], [134,216,3,209,9], [131,139,27,161,3], [135,162,121,197,9], [138,67,100,140,14], [136,147,59,76,8], [143,33,223,78,3], [141,132,53,114,9], [141,136,215,31,13], [137,159,120,252,13], [146,107,22,121,12], [148,142,34,241,2], [144,229,230,49,7], [150,216,133,42,1], [149,57,59,164,6], [149,60,251,77,13], [145,62,170,18,6], [151,111,90,175,9], [145,178,41,253,10], [145,211,250,118,1], [154,112,134,200,8], [152,142,205,3,1], [152,199,16,151,10], [157,203,235,70,6], [164,40,245,182,14], [163,55,241,121,3], [163,68,64,245,10], [161,127,173,133,8], [167,210,150,35,13], [168,69,112,43,11], [174,72,127,160,9], [172,79,182,214,8], [168,168,211,133,3], [169,139,10,203,8], [173,254,140,222,2], [180,239,46,46,14], [183,153,137,199,0], [190,12,162,14,12], [188,112,34,122,9], [190,188,47,145,10], [184,233,10,152,3], [189,10,48,236,8], [194,2,224,243,1], [194,107,50,227,7], [198,202,66,106,8], [199,30,238,104,14], [199,125,46,145,3], [206,60,32,116,2], [204,74,185,197,7], [206,247,99,220,13], [205,67,34,202,2], [207,183,204,29,0], [201,206,200,53,10], [207,243,75,113,3], [214,46,123,112,13], [212,23,75,59,4], [215,141,250,151,14], [209,216,245,85,1], [213,207,225,211,9], [218,22,168,204,9], [216,76,68,133,9], [220,217,114,142,13], [223,103,17,126,8], [219,153,125,230,7], [221,171,142,49,14], [224,25,8,76,13], [230,54,218,82,1], [226,172,199,155,0], [228,141,33,98,0], [226,254,208,197,1], [225,58,125,2,10], [231,208,91,142,5], [236,48,156,107,5], [236,170,73,210,0], [238,179,122,196,6], [232,224,103,46,2], [234,229,213,36,12], [237,107,28,44,2], [235,200,175,29,6], [242,5,98,212,5], [246,25,188,251,2], [246,163,92,109,11], [244,241,189,15,0], [241,106,155,67,5], [241,178,145,41,14], [250,84,91,243,5], [254,110,134,124,6], [249,13,185,67,2], [249,105,102,43,13], [251,65,203,72,4], [253,87,191,152,5], [251,152,144,126,6], [255,234,33,198,3], [163,165,111,69,0], [161,152,104,48,2], [15,55,131,43,0], [38,236,72,39,2], [65,152,184,168,15], [78,181,67,138,4], [99,197,227,123,10], [110,89,221,230,12], [128,212,89,240,8], [152,8,136,159,13], [163,6,103,166,15], [2,25,166,20,7], [2,21,202,78,2], [0,104,204,57,9], [0,161,19,254,8], [2,185,86,117,5], [2,198,187,83,2], [2,243,31,29,9], [7,42,193,126,3], [7,55,141,151,2], [1,111,31,231,5], [1,119,48,21,5], [7,149,114,65,10], [7,200,163,134,14], [5,254,251,247,9], [12,21,243,16,1], [10,68,98,226,14], [8,94,55,238,9], [8,82,222,18,13], [12,102,136,3,9], [8,140,186,71,15], [12,172,39,30,5], [8,179,56,11,15], [12,162,165,217,4], [8,227,82,192,1], [14,255,68,245,14], [14,255,93,234,11], [11,52,109,201,14], [13,9,254,187,3], [15,16,170,146,6], [13,31,101,167,14], [15,177,95,160,0], [13,162,5,35,3], [13,175,35,219,11], [11,240,165,238,4], [13,200,153,251,14], [15,253,48,39,7], [11,199,93,86,2], [18,47,163,1,13], [18,117,72,114,5], [16,79,174,98,7], [16,140,138,232,11], [16,243,244,46,14], [19,55,238,112,2], [23,11,35,235,0], [21,2,111,27,11], [17,161,171,203,2], [19,166,74,200,13], [23,142,53,205,3], [21,139,229,157,12], [23,166,249,125,4], [21,220,164,180,4], [17,223,5,67,12], [21,210,1,147,5], [24,31,173,250,10], [28,64,14,171,13], [30,76,93,61,2], [24,111,246,127,9], [24,87,52,184,15], [30,86,137,227,4], [26,149,209,132,5], [24,167,255,2,10], [24,158,177,201,14], [28,178,10,96,10], [28,146,53,136,1], [28,147,183,214,13], [26,202,188,88,1], [28,226,172,181,8], [27,121,237,6,4], [31,106,57,19,2], [29,152,56,117,0], [32,13,193,3,15], [38,53,212,232,0], [38,117,44,47,8], [32,83,133,143,6], [34,136,31,122,3], [39,44,250,229,5], [33,107,76,67,11], [37,188,103,11,10], [33,163,233,176,14], [33,150,242,145,15], [39,162,43,140,10], [39,159,72,50,8], [35,226,188,201,7], [33,194,87,244,1], [39,207,186,248,11], [42,47,189,228,11], [42,84,58,140,12], [42,209,187,151,15], [40,255,58,99,1], [43,84,197,185,8], [45,97,175,26,10], [43,188,219,62,6], 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[185,136,183,154,126,192,1], [184,156,165,183,60,206,0], [186,207,131,167,229,28,1], [184,231,17,147,88,172,1], [189,114,116,100,13,206,1], [188,125,134,57,75,186,1], [195,30,73,175,1,169,1], [192,46,91,239,41,95,0], [193,78,242,15,34,121,1], [193,129,72,108,154,70,1], [193,153,177,237,205,191,1], [193,146,177,38,19,223,1], [195,183,213,56,210,51,1], [193,215,25,188,235,129,1], [193,246,67,78,186,232,1], [196,56,145,7,35,108,1], [198,77,74,227,205,183,0], [199,83,172,246,95,75,1], [197,126,74,113,2,75,0], [198,116,217,128,138,199,1], [197,136,152,47,230,202,1], [197,174,39,8,53,94,1], [199,188,103,248,187,33,1], [196,190,140,164,243,99,0], [203,15,36,114,82,53,0], [201,72,89,111,111,39,1], [200,85,15,64,161,129,0], [203,90,139,223,86,169,0], [200,115,24,175,214,16,0], [201,159,158,95,56,56,0], [202,191,51,44,49,240,0], [201,233,181,7,221,84,0], [203,240,30,59,146,129,0], [204,2,72,129,217,10,0], [206,44,78,124,45,3,1], [205,131,179,65,153,204,1], [206,128,171,157,219,17,1], [204,183,70,234,75,14,1], [207,228,35,113,192,123,1], [205,246,59,148,188,171,1], [211,23,149,186,69,222,1], [208,58,34,105,80,179,0], [211,54,150,219,2,36,1], [210,86,224,221,145,27,0], [210,188,170,228,3,129,0], [211,196,238,80,249,166,0], [211,228,7,252,5,226,1], [211,252,28,167,191,2,0], [215,68,167,168,172,223,0], [214,159,244,68,89,83,0], [212,175,147,230,193,68,0], [217,18,102,139,15,210,1], [216,81,88,45,224,190,1], [216,99,102,115,129,229,0], [219,108,88,112,132,206,1], [217,99,155,60,255,211,0], [216,138,98,229,71,244,0], [217,153,210,99,213,126,1], [217,162,40,145,224,209,0], [219,244,50,154,65,205,0], [220,29,107,96,189,237,0], [222,26,217,103,197,109,0], [221,114,161,214,214,204,1], [221,116,213,91,237,200,1], [221,134,26,161,4,19,1], [223,175,27,5,181,189,1], [222,176,237,214,204,22,1], [223,230,10,66,93,241,0], [221,251,88,81,243,143,0], [227,22,68,69,140,160,0], [226,26,171,99,248,21,1], [226,90,168,144,16,221,1], [224,126,198,224,106,118,1], [225,117,204,107,230,146,0], [224,221,231,62,185,106,0], [231,26,89,61,43,68,0], [230,61,186,78,33,23,0], [231,80,110,107,241,111,0], [229,83,212,72,59,179,0], [228,120,9,177,15,166,1], [229,122,161,185,186,74,1], [231,124,180,146,88,174,1], [230,164,245,240,132,66,1], [229,213,42,118,142,25,1], [231,215,202,210,228,123,1], [228,239,89,211,239,61,1], [235,27,228,239,142,205,0], [233,50,9,4,85,129,1], [235,52,254,217,172,58,1], [234,78,19,245,78,30,0], [233,176,103,32,6,254,0], [234,213,177,80,109,191,0], [239,10,161,134,54,174,0], [237,54,239,15,39,238,1], [237,74,130,29,33,213,0], [236,96,189,109,140,6,0], [239,130,202,100,252,71,0], [238,161,127,189,151,92,0], [238,209,152,137,82,229,1], [241,9,85,233,4,138,1], [243,42,138,178,12,104,1], [243,71,148,129,100,1,1], [243,136,79,37,132,41,1], [240,162,31,6,126,77,1], [243,170,11,255,165,205,0], [240,175,124,121,142,228,0], [240,217,16,212,202,31,1], [245,75,179,178,85,245,1], [246,81,96,41,26,234,1], [246,117,82,145,217,185,1], [245,114,198,173,192,65,0], [247,124,210,85,227,70,0], [246,132,78,31,171,28,0], [248,61,136,57,165,1,1], [251,54,195,223,220,215,1], [248,76,172,3,76,20,1], [251,160,208,185,211,75,1], [250,195,132,204,125,54,1], [249,231,61,60,30,97,1], [248,255,88,101,6,119,1], [253,11,219,85,100,56,1], [253,22,174,228,229,62,1], [254,73,163,120,194,52,0], [253,132,226,198,107,168,1], [252,149,79,148,230,207,0], [254,165,35,88,48,164,1], [254,168,217,255,176,118,0], [255,195,135,255,162,252,1], [95,114,124,241,17,248,0], [135,81,63,164,61,190,1], [198,147,77,53,31,189,0], [231,230,150,226,6,159,1] ]; // MIP 36h12: 250 markers, 6×6 data grid MIP_36H12_DATA = [ [210,182,58,9,13], [96,1,19,78,5], [18,6,251,231,2], [255,138,214,203,4], [133,218,155,196,9], [180,97,175,233,12], [109,181,31,225,3], [82,72,197,65,15], [0,143,52,80,3], [142,164,98,236,14], [234,194,190,118,13], [26,246,21,196,4], [180,138,73,242,7], [46,78,18,131,11], [120,177,242,250,8], [39,211,79,87,14], [137,34,47,255,1], [76,22,105,64,6], [191,73,179,81,1], [220,25,28,213,13], [17,215,195,248,5], [22,161,48,227,5], [226,159,39,239,15], [66,141,138,224,12], [144,213,72,71,7], [35,25,203,201,3], [195,176,195,223,12], [4,36,188,204,9], [42,8,29,99,0], [118,39,67,217,6], [208,100,91,241,9], [243,141,127,214,0], [198,203,249,161,0], [60,27,231,198,5], [39,111,117,230,3], [68,144,163,246,3], [218,96,172,213,2], [60,198,141,245,9], [171,70,249,218,14], [136,213,51,215,8], [182,214,46,194,1], [179,192,43,100,6], [34,229,109,64,8], [172,95,87,112,10], [170,169,147,246,6], [76,170,7,200,13], [92,155,79,123,0], [170,158,240,224,5], [7,5,197,117,0], [172,129,245,69,14], [115,91,145,231,4], [140,195,92,238,4], [228,70,148,208,4], [181,225,33,222,0], [38,16,23,208,15], [241,212,57,235,5], [161,163,58,201,6], [23,76,98,192,2], [30,226,127,113,6], [139,28,94,206,9], [106,5,176,198,10], [13,5,104,223,12], [25,45,37,229,15], [26,219,236,204,8], [207,236,135,240,0], [208,185,221,231,10], [136,220,239,129,14], [68,86,129,203,9], [219,178,255,200,3], [164,141,150,223,1], [183,44,194,231,13], [12,41,91,83,15], [244,152,50,112,4], [153,104,237,194,9], [158,78,26,248,5], [134,131,226,209,11], [129,11,69,192,4], [106,196,75,254,2], [100,83,70,97,5], [57,144,189,89,8], [28,158,208,246,10], [194,103,41,214,5], [131,153,63,121,5], [58,192,90,197,13], [53,122,223,243,11], [13,92,5,86,5], [47,84,126,244,4], [134,193,21,4,1], [100,15,217,229,15], [206,8,187,207,7], [16,155,179,67,14], [194,20,53,201,2], [53,180,223,206,4], [69,151,82,207,2], [236,145,91,130,12], [81,136,30,237,0], [45,218,125,201,7], [46,1,66,20,4], [66,232,144,249,9], [154,136,86,82,7], [142,128,217,216,0], [137,28,188,243,4], [37,221,130,65,0], [35,149,81,211,4], [143,232,240,199,0], [148,16,106,151,0], [130,96,155,64,12], [15,201,202,243,6], [104,129,129,209,1], [113,134,19,192,8], [15,26,183,98,9], [163,87,191,193,8], [76,3,183,164,6], [32,77,237,206,6], [173,99,0,211,7], [132,204,76,208,9], [66,22,14,92,4], [135,210,173,250,8], [120,80,231,116,9], [78,117,15,199,12], [191,46,93,253,10], [216,131,36,218,5], [35,75,82,248,0], [55,130,4,81,4], [171,223,42,213,3], [54,94,120,239,9], [73,202,166,202,2], [3,195,157,223,3], [198,140,83,133,13], [91,252,187,246,7], [98,50,65,226,1], [171,201,13,92,12], [56,140,111,232,5], [218,14,45,98,13], [16,133,93,254,9], [77,70,239,214,11], [118,234,18,214,1], [157,179,119,211,13], [238,208,239,167,1], [230,236,58,226,15], [68,31,174,232,3], [186,25,200,255,5], [49,48,53,234,11], [108,232,247,98,5], [136,13,171,88,13], [141,52,9,224,13], [43,233,46,226,1], [214,3,2,198,12], [70,159,252,114,4], [135,238,190,237,3], [66,88,126,247,10], [122,140,196,229,2], [118,164,55,101,0], [153,158,65,239,4], [125,9,105,228,2], [192,43,175,70,11], [146,89,243,228,7], [33,22,161,220,0], [159,45,228,216,4], [0,239,250,194,9], [123,55,31,248,12], [102,131,57,218,9], [208,16,174,227,15], [28,208,11,76,0], [149,7,15,195,11], [248,76,154,119,0], [56,248,99,215,6], [54,70,255,4,5], [206,27,150,65,2], [122,93,69,218,8], [20,224,14,246,12], [94,149,171,253,8], [178,233,203,114,9], [3,108,71,221,7], [184,238,151,198,11], [14,158,143,101,7], [212,173,46,241,10], [136,17,199,243,2], [71,189,231,195,1], [58,218,223,182,4], [110,91,40,87,4], [51,230,124,217,1], [42,185,253,210,13], [138,250,103,242,11], [230,162,143,197,14], [114,4,156,219,13], [174,101,218,193,2], [18,81,164,82,6], [16,137,171,132,1], [226,240,150,238,0], [176,202,238,87,3], [253,102,119,232,6], [68,75,63,81,8], [190,139,58,86,10], [104,10,117,207,12], [172,2,186,234,8], [151,216,21,225,12], [29,67,134,224,8], [26,20,245,176,14], [230,88,168,216,1], [163,134,142,250,7], [54,104,169,103,3], [232,252,83,216,5], [46,43,126,221,5], [139,36,112,241,3], [246,151,149,243,2], [69,137,255,200,14], [46,32,128,201,12], [6,66,101,247,13], [61,113,77,209,0], [22,146,198,239,1], [62,103,242,244,9], [80,65,218,214,3], [26,21,3,65,5], [100,193,140,116,2], [10,114,238,195,5], [31,15,157,198,0], [169,85,155,198,7], [243,41,17,208,13], [33,192,212,255,12], [224,28,239,91,0], [78,35,163,82,0], [170,79,4,228,9], [225,196,252,196,3], [32,142,143,110,8], [132,134,119,74,5], [158,152,199,85,8], [44,89,251,125,12], [148,70,164,97,3], [130,146,220,194,14], [0,77,97,99,1], [208,85,39,128,9], [160,22,56,82,13], [143,101,127,99,9], [204,166,195,227,7], [203,19,107,199,10], [252,90,131,229,3], [154,164,79,195,0], [189,236,27,211,12], [224,32,185,247,12], [75,143,53,251,0], [184,22,95,99,7], [51,220,136,214,9], [16,162,247,228,13], [200,203,95,245,3], [222,37,159,246,11], [70,208,112,221,4], [50,211,185,116,1], [112,117,241,192,4], [77,88,219,234,0] ]; // ── Utility functions ───────────────────────────────────────────────────────── // Data grid size (N for NxN inner data area) per dictionary function _grid_size(d) = d==0 ? 4 : d==1 ? 5 : d==2 ? 6 : d==3 ? 6 : d==4 ? 5 : d==5 ? 4 : d==6 ? 5 : d==7 ? 6 : d==8 ? 7 : d==9 ? 6 : 4; // Raw byte array for a given dictionary index and marker id function _marker_bytes(d, id) = d==0 ? APRIL_16H5_DATA[id] : d==1 ? APRIL_25H9_DATA[id] : d==2 ? APRIL_36H10_DATA[id] : d==3 ? APRIL_36H11_DATA[id] : d==4 ? ARUCO_DATA[id] : d==5 ? _4X4_1000_DATA[id] : d==6 ? _5X5_1000_DATA[id] : d==7 ? _6X6_1000_DATA[id] : d==8 ? _7X7_1000_DATA[id] : d==9 ? MIP_36H12_DATA[id] : undef; // Number of markers in a dictionary function dict_size(d) = d==0 ? 30 : d==1 ? 35 : d==2 ? 2320 : d==3 ? 587 : d==4 ? 1024 : d==5 ? 1000 : d==6 ? 1000 : d==7 ? 1000 : d==8 ? 1000 : d==9 ? 250 : 0; // Extract one data bit (1=white, 0=black). // Bits are packed MSB-first, row-major: bit index = row*gs + col. function _bit(bytes, row, col, gs) = let(idx = row*gs + col, b = floor(idx/8), pos = 7 - idx%8) floor(bytes[b] / pow(2, pos)) % 2; // ── Marker modules ──────────────────────────────────────────────────────────── // // Two separate modules so each part can be exported as its own STL: // aruco_marker_base() → black base plate // aruco_marker_top() → white top (quiet-zone frame + data cells) // aruco_marker() → both together (preview) // // Workflow for Bambu Studio: // 1. Set render_part = 1, export STL → import as "black" object // 2. Set render_part = 2, export STL → import as "white" object module aruco_marker_base(d, id, cs=cell_size, mg=margin, bh=base_h, th=top_h) { gs = _grid_size(d); n_cells = gs + 2; tile_dim = n_cells * cs + 2 * mg; color("black") cube([tile_dim, tile_dim, bh]); } module aruco_marker_top(d, id, cs=cell_size, mg=margin, bh=base_h, th=top_h) { gs = _grid_size(d); n_cells = gs + 2; tile_dim = n_cells * cs + 2 * mg; bytes = _marker_bytes(d, id); color("white") translate([0, 0, bh]) { // Quiet-zone frame difference() { cube([tile_dim, tile_dim, th]); translate([mg - eps, mg - eps, -eps]) cube([n_cells*cs + 2*eps, n_cells*cs + 2*eps, th + 2*eps]); } // White data cells // ArUco row 0 = top of image → largest y in OpenSCAD // cell (row, col) → x = mg + (col+1)*cs // y = mg + (gs-row)*cs for (row = [0:gs-1]) for (col = [0:gs-1]) if (_bit(bytes, row, col, gs) == 1) translate([mg + (col+1)*cs, mg + (gs-row)*cs, 0]) cube([cs, cs, th]); } } module aruco_marker(d, id, cs=cell_size, mg=margin, bh=base_h, th=top_h) { aruco_marker_base(d, id, cs, mg, bh, th); aruco_marker_top(d, id, cs, mg, bh, th); } // ── Output ──────────────────────────────────────────────────────────────────── // Grid of markers from first_id to last_id _count = last_id - first_id + 1; _cols = grid_cols > 0 ? grid_cols : max(1, ceil(sqrt(_count))); _gs = _grid_size(marker_dict); _tw = (_gs + 2) * cell_size + 2 * margin; // tile width & height for (i = [0:_count-1]) { _col = i % _cols; _row = floor(i / _cols); translate([_col * (_tw + gap), _row * (_tw + gap), 0]) { if (render_part == 1) aruco_marker_base(marker_dict, first_id + i); else if (render_part == 2) aruco_marker_top(marker_dict, first_id + i); else aruco_marker(marker_dict, first_id + i); } }

// ============================================= // Cleaning Robot Challenge — Winner Medal // Lego Mindstorms Edition // ============================================= // Award medal / keychain for winning the // Mindstorms cleaning robot challenge. // Icon: sweeping broom + laurel wreath + star. // // Print face-UP (face on top, flat back on bed). // No supports needed. // ~40 mm diameter, ~6 mm total height // ============================================= $fn = 72; /* ─── Medal body ────────────────────────────── */ M_R = 20; // radius (mm) → 40 mm diameter M_H = 5; // base thickness /* ─── Raised rim on face ─────────────────────── */ RIM_H = 1.0; // rim height above face RIM_W = 1.8; // rim radial width /* ─── Keychain hole (through face, near top) ─── */ K_R = 2.8; // hole radius (fits standard split ring) K_WALL = 1.8; // minimum wall around hole HOLE_Y = M_R - K_R - K_WALL; // = 15.4 /* ─── Standard relief height above face ─────── */ REL = 0.9; /* ─── Broom icon ─────────────────────────────── */ BROOM_A = -30; // tilt angle (negative = clockwise, handle upper-right) BROOM_Y = -1; // broom geometric centre y on medal face HANDLE_W = 1.8; // handle rod width HANDLE_L = 11.0; // handle rod length BIND_H = 1.8; // binding collar height BIND_W = 8.0; // binding collar width BRIST_H = 5.0; // bristle block height BRIST_TW = 7.0; // bristle width at top (narrow end, at binding) BRIST_BW = 13.0; // bristle width at base (wide sweep end) /* ─── Laurel wreath ──────────────────────────── */ LEAF_R = M_R * 0.78; // arc radius for leaves /* ─── Year label ─────────────────────────────── */ YEAR_Y = -14.0; // centre y of "26" text YEAR_SZ = 5.0; // font size /* ════════════════ 2D helpers ════════════════ */ module rrect(w, h, r) { hull() { translate([ w/2 - r, h/2 - r]) circle(r = r); translate([-w/2 + r, h/2 - r]) circle(r = r); translate([ w/2 - r, -h/2 + r]) circle(r = r); translate([-w/2 + r, -h/2 + r]) circle(r = r); } } /* ════════════════ Medal base ════════════════ */ module medal_base() { difference() { cylinder(r = M_R, h = M_H); } } module medal_rim() { translate([0, 0, M_H]) difference() { cylinder(r = M_R, h = RIM_H); cylinder(r = M_R - RIM_W, h = RIM_H + 0.1); } } // Through-hole for keyring / ribbon (subtracted in assembly) module keychain_hole() { translate([0, HOLE_Y, -0.1]) cylinder(r = K_R, h = M_H + RIM_H + 0.2); } // Raised ring that reinforces and frames the keychain hole module hole_boss() { translate([0, HOLE_Y, M_H]) difference() { cylinder(r = K_R + K_WALL, h = RIM_H); cylinder(r = K_R, h = RIM_H + 0.1); } } /* ════════════════ Broom icon ════════════════ Raised silhouette: handle rod + binding collar + tapered bristle head. ═════════════════════════════════════════════ */ module broom_icon() { translate([0, BROOM_Y, M_H]) rotate([0, 0, BROOM_A]) linear_extrude(height = REL) union() { // Handle rod translate([0, BIND_H/2 + HANDLE_L/2]) square([HANDLE_W, HANDLE_L], center = true); // Binding collar square([BIND_W, BIND_H], center = true); // Bristle head (trapezoid — wide at sweep end) translate([0, -(BIND_H/2 + BRIST_H/2)]) polygon([ [-BRIST_TW/2, BRIST_H/2], [ BRIST_TW/2, BRIST_H/2], [ BRIST_BW/2, -BRIST_H/2], [-BRIST_BW/2, -BRIST_H/2] ]); } // Extra raised band on the binding collar for emphasis translate([0, BROOM_Y, M_H + REL]) rotate([0, 0, BROOM_A]) linear_extrude(height = REL * 0.5) square([BIND_W, BIND_H * 0.5], center = true); } /* ════════════════ Decorations ════════════════ */ module laurel_branch(side) { // 5 oval leaves swept along an arc at radius LEAF_R for (i = [0 : 4]) { a = side * (62 + i * 20); translate([LEAF_R * sin(a), LEAF_R * cos(a), M_H]) rotate([0, 0, a + 90]) // long axis follows arc tangent linear_extrude(height = 0.7) scale([0.5, 1, 1]) circle(r = 2.0); } } module year_label() { translate([0, YEAR_Y, M_H]) linear_extrude(height = REL * 1.4) text("26", size = YEAR_SZ, halign = "center", valign = "center", font = "Liberation Sans:style=Bold"); } /* ════════════════ Assembly ════════════════ */ module trophy_medal() { difference() { union() { color("white") medal_base(); color("brown") medal_rim(); color("brown") hole_boss(); color("brown") broom_icon(); color("brown") laurel_branch( 1); color("brown") laurel_branch(-1); color("brown") year_label(); } keychain_hole(); } } trophy_medal();