The AprilTag vision code for the WorBots
This code is very much adapted from the Northstar system developed by Mechanical Advantage. Things like multithreading have been added to change the performance characteristics.
The code is designed to be run on a coprocessor like an Orange Pi along with a global-shutter camera like an ArduCam. In order to use features like GStreamer, it is required that you build OpenCV yourself from source.