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README.md

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+# Stereolabs ZED - ArUco sample
+
+This sample shows how to reset the ZED camera tracking to a known reference using an ArUco marker.
+
+![http://chev.me/arucogen/](6x6_1000-25.png)
+
+## Mono
+
+The Mono camera sample located in the [mono folder](./mono) provides an easy way to reset the positional tracking using a marker as a known fixed position in space.
+
+## Multi Camera
+
+The [multi camera sample](./multi-camera) use the marker location to calibrates multiples ZED camera in space. By pointing all the camera to a unique marker, the position of each can be deduced.
+The point cloud of every camera is then displayed in the same referential.
+
+## Other
+
+Feel free to modify either sample to fit your need, the marker detection is very convenient and robust and can be used to a number of application where an external position has to be known.
+
+## ArUco markers
+
+This [website](http://chev.me/arucogen/) can be used to easily display Aruco patterns.
+
+The sample is expecting a `6x6 Aruco` Dictionary with a 160mm marker by default. The bigger the marker, the better the camera position will be.
+It's important to make sure that the real-world size of the marker matches the size set in the samples (160mm) to avoid scale issues in the tracking.
+
+## ArUco detection
+
+The Aruco detection code is taken from OpenCV Contrib module, please refer to the source files for the license information (BSD 3).

mono/CMakeLists.txt

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+SET(ProjectName ZED_Reloc_Aruco)
+CMAKE_MINIMUM_REQUIRED(VERSION 2.4)
+PROJECT(${ProjectName})
+
+option(LINK_SHARED_ZED "Link with the ZED SDK shared executable" ON)
+
+if (NOT LINK_SHARED_ZED AND MSVC)
+    message(FATAL_ERROR "LINK_SHARED_ZED OFF : ZED SDK static libraries not available on Windows")
+endif()
+
+if(COMMAND cmake_policy)
+	cmake_policy(SET CMP0003 OLD)
+	cmake_policy(SET CMP0015 OLD)
+endif(COMMAND cmake_policy)
+
+SET(EXECUTABLE_OUTPUT_PATH ".")
+
+find_package(ZED 2 REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(CUDA ${ZED_CUDA_VERSION} EXACT REQUIRED)
+
+include_directories(${CUDA_INCLUDE_DIRS})
+include_directories(${ZED_INCLUDE_DIRS})
+include_directories(${OPENCV_INCLUDE_DIRS})
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
+
+link_directories(${ZED_LIBRARY_DIR})
+link_directories(${OpenCV_LIBRARY_DIRS})
+link_directories(${CUDA_LIBRARY_DIRS})
+
+FILE(GLOB_RECURSE SRC_FILES src/*.cpp)
+FILE(GLOB_RECURSE HDR_FILES include/*.hpp)
+
+ADD_EXECUTABLE(${ProjectName} ${HDR_FILES} ${SRC_FILES})
+add_definitions(-std=c++11 -O3)
+
+if (LINK_SHARED_ZED)
+    SET(ZED_LIBS ${ZED_LIBRARIES} ${CUDA_CUDA_LIBRARY} ${CUDA_CUDART_LIBRARY} ${CUDA_NPP_LIBRARIES_ZED})
+else()
+    SET(ZED_LIBS ${ZED_STATIC_LIBRARIES} ${CUDA_CUDA_LIBRARY} ${CUDA_LIBRARY})
+endif()
+
+TARGET_LINK_LIBRARIES(${ProjectName} ${ZED_LIBS} ${OpenCV_LIBRARIES})

mono/README.md

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+# Stereolabs ZED - ArUco Positional Tracking sample
+
+This sample shows how to reset the ZED camera tracking to a known reference using an ArUco marker.
+
+![http://chev.me/arucogen/](../6x6_1000-25.png)
+
+Point the camera to this marker and press the space bar to reset the positional tracking reference.
+This feature can be useful to avoid accumulating drift when moving the camera or to get multiple cameras in the same referential.
+
+
+## Getting started
+
+- First, download the latest version of the ZED SDK on [stereolabs.com](https://www.stereolabs.com).
+- For more information, read the ZED [API documentation](https://www.stereolabs.com/developers/documentation/API/).
+
+### Prerequisites
+
+- Windows 7 64bits or later, Ubuntu 16.04 or later
+- [ZED SDK](https://www.stereolabs.com/developers/) and its dependencies ([CUDA](https://developer.nvidia.com/cuda-downloads))
+
+## Build the program
+
+Download the sample and follow the instructions below: [More](https://www.stereolabs.com/docs/getting-started/application-development/)
+
+### Build for Windows
+
+- Create a "build" folder in the source folder
+- Open cmake-gui and select the source and build folders
+- Generate the Visual Studio `Win64` solution
+- Open the resulting solution and change configuration to `Release`
+- Build solution
+
+### Build for Linux
+
+Open a terminal in the sample directory and execute the following command:
+
+    mkdir build
+    cd build
+    cmake ..
+    make
+
+## Run the program
+
+- Navigate to the build directory and launch the executable file
+- Or open a terminal in the build directory and run the sample :
+
+        ./ZED_Reloc_Aruco
+
+
+## ArUco markers
+
+This [website](http://chev.me/arucogen/) can be used to easily display Aruco patterns.
+
+The sample is expecting a `6x6 Aruco` Dictionary with a 160mm marker by default. The bigger the marker, the better the camera position will be.
+It's important to make sure that the real-world size of the marker matches the size set in the samples (160mm) to avoid scale issues in the tracking.
+
+## ArUco detection
+
+The Aruco detection code is taken from OpenCV Contrib module, please refer to the source files for the license information (BSD 3).