diff --git a/.gitmodules b/.gitmodules
deleted file mode 100644
index 2a08d306..00000000
--- a/.gitmodules
+++ /dev/null
@@ -1,3 +0,0 @@
-[submodule "submodules/opencv"]
-	path = submodules/opencv
-	url = https://github.com/opencv/opencv
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9b20ddf3..76fa1af7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,61 +1,24 @@
-cmake_minimum_required(VERSION 3.16)
-project(Stag)
+cmake_minimum_required(VERSION 3.2)
+PROJECT(STag VERSION 0.0.0 LANGUAGES CXX)
 
-IF(NOT CMAKE_BUILD_TYPE)
-  SET(CMAKE_BUILD_TYPE Release)
-ENDIF()
+set(THREADS_PREFER_PTHREAD_FLAG ON)
+set(BUILD_TESTING OFF)
 
-MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
+find_package(OpenCV REQUIRED)
+include_directories(${PROJECT_SOURCE_DIR}/include)
 
-IF (WIN32)
-  set(CMAKE_DEBUG_POSTFIX "d")
-  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
-ENDIF (WIN32)
+FILE(GLOB_RECURSE SOURCE_FILES ${PROJECT_SOURCE_DIR}/src/*.cpp)
 
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall -w  ")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -w ")
+add_library(${PROJECT_NAME} SHARED ${SOURCE_FILES})
+target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})
 
-# Check C++11 or C++0x support
-include(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
-CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+if(BUILD_TESTING)
+        add_executable(stag_main ${PROJECT_SOURCE_DIR}/src/example.cpp)
+        target_link_libraries(stag_main ${OpenCV_LIBS} ${PROJECT_NAME})
+endif()
 
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+install(TARGETS ${PROJECT_NAME}
+        DESTINATION lib)
 
-find_package(OpenCV 4 REQUIRED)
-
-file(GLOB SRC_FILE1 "src/*.c*")
-file(GLOB SRC_FILE2 "src/ED/*.c*")
-
-include_directories(
-    ${OpenCV_INCLUDE_DIRS}
-    src/
-    src/ED/
-)
-add_library(
-    staglib
-    ${SRC_FILE1}
-    ${SRC_FILE2}
-        src/Stag.cpp
-        src/Stag.h
-)
-target_link_libraries(
-    staglib
-    ${OpenCV_LIBS}
-)
-
-add_executable(
-    stag_example
-    main.cpp
-)
-
-target_link_libraries(
-    stag_example
-    staglib
-)
-
-IF (MSVC)
-  set_target_properties(stag_example PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR})
-  set_target_properties(stag_example PROPERTIES RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PROJECT_BINARY_DIR})
-  set_target_properties(stag_example PROPERTIES RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PROJECT_BINARY_DIR})
-ENDIF (MSVC)
+install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/
+        DESTINATION include)
\ No newline at end of file
diff --git a/README.md b/README.md
index 54cff774..f5ef82d6 100644
--- a/README.md
+++ b/README.md
@@ -1,95 +1,63 @@
-# STag - A Stable, Occlusion-Resistant Fiducial Marker System
+# STag: A Stable Fiducial Marker System
 
-This repository is an improved and updated fork of the [stable fiducial marker system](https://github.com/bbenligiray/stag), using __OpenCV 4__.
+Code used in the following paper:
 
-> [!NOTE]
-> For the corresponding __Python__ package, refer to: https://github.com/ManfredStoiber/stag-python.
+[B. Benligiray; C. Topal; C. Akinlar, "STag: A Stable Fiducial Marker System," Image and Vision Computing (Accepted), 2019.](https://arxiv.org/abs/1707.06292)
 
-## 📊 Comparison Between Different Marker Systems:
-[<img src="https://github.com/ManfredStoiber/stag/assets/47210077/668ca457-33dd-4ce7-8b94-662c7a5bb4d9" width="400" height="200" />](https://www.youtube.com/watch?v=vnHI3GzLVrY)
+Markers (will provide a generation script in the future):
 
-## 📖 Usage
-```c++
-// load image
-cv::Mat image = cv::imread("example.jpg");
+https://drive.google.com/drive/folders/0ByNTNYCAhWbIV1RqdU9vRnd2Vnc
 
-// set HD library
-int libraryHD = 21;
+### TODO:
+* Add a makefile
+* Write Matlab and Python wrappers
 
-auto corners = std::vector<std::vector<cv::Point2f>>();
-auto ids = std::vector<int>();
-auto rejectedImgPoints = std::vector<std::vector<cv::Point2f>>(); // optional, helpful for debugging
+[![Supplementary Video](https://user-images.githubusercontent.com/19530665/57184379-6a250580-6ec3-11e9-8ab3-7e139966f13b.png)](https://www.youtube.com/watch?v=vnHI3GzLVrY) 
 
-// detect markers
-stag::detectMarkers(image, libraryHD, corners, ids, rejectedImgPoints);
+Some figures from the paper:
 
-// draw and save results
-stag::drawDetectedMarkers(image, corners, ids);
-cv::imwrite("example_result.jpg", image);
-```
-
-For an explanation of `libraryHD = 21` refer to [Configuration](#-configuration)
-
-## 🏷 Markers
-
-- Markers are downloadable here: [Drive](https://drive.google.com/drive/folders/0ByNTNYCAhWbIV1RqdU9vRnd2Vnc?resourcekey=0-9ipvecbezW8EWUva5GBQTQ&usp=sharing)
-- Reference code for Marker Generator: [ref/marker_generator](https://github.com/ManfredStoiber/stag/tree/master/ref/marker_generator)
-
-## 📋 Getting Started
-0. __Install__ Prerequisites
+<p align="center">
+  <img src="https://user-images.githubusercontent.com/19530665/57179654-c0c11e00-6e88-11e9-9ca5-0c0153b28c91.png"/>
+</p>
 
-    [__CMake__ >= 3.16](https://cmake.org/getting-started/)
-    - On Linux: `apt install cmake`
+<p align="center">
+  <img src="https://user-images.githubusercontent.com/19530665/57179660-cae31c80-6e88-11e9-8f80-bf8e24e59957.png"/>
+</p>
 
-    [__OpenCV__ 4](https://opencv.org/get-started/) for C++
-    - On Linux: `apt install libopencv-dev`
-1. __Clone__ this repository
-   
-    - `git clone https://github.com/ManfredStoiber/stag`
-2. __Build__ the project.
+## Dockerfile and example code:
 
-   In the project directory, run the following commands:
-    1. `mkdir build`
-    2. `cd build`
-    3. `cmake ..`
-    4. `cmake --build .`
-3. __Run__ the example
-    - On Linux: Run `./stag_example`
-    - On Windows: Run `stag_example.exe`
+Set BUILD_TESTING in CMakeLists to ON, and build the Dockerfile
 
-   This example application detects the markers in `../example.jpg` and saves the visualized results to `example_result.jpg`
+### Dockerfile
 
-> [!NOTE]
-> The library is created as static by default. If you want to create a shared library instead, use the cmake option `BUILD_SHARED_LIBS=ON`.
+``` Dockerfile
+# syntax=docker/dockerfile:1
 
-## 🛠 Configuration
-When initializing the library, following parameters can be specified:
-- __`libraryHD`__:
-  - Sets the "family" or "type" of used STag markers
-    - Each library has a different amount of markers
-    - Only the markers of the chosen library will be detected
-  - The following HD libraries are possible:
+# Use an official Ubuntu runtime as the base image
+FROM ubuntu:22.04
 
-    | __HD__           | 11     | 13    | 15  | 17  | 19 | 21 | 23 |
-    |------------------|--------|-------|-----|-----|----|----|----|
-    | __Library Size__ | 22,309 | 2,884 | 766 | 157 | 38 | 12 | 6  |
+# Update the system
+RUN apt-get update -y && apt-get upgrade -y
 
-  - Specifies the used Hamming Distance, for further information refer to the [original paper](https://arxiv.org/abs/1707.06292)
+# Install OpenCV
+RUN DEBIAN_FRONTEND=noninteractive apt-get install -y libopencv-dev cmake g++
+# RUN apt-get install -y g++
 
+# Copy the current directory contents into the container at /app
+COPY . /app
 
-- __`errorCorrection`__: 
-   - Sets the amount of error correction
-   - Has to be in range `0 <= errorCorrection <= (libraryHD-1)/2`
-   - For further information refer to the [original paper](https://arxiv.org/abs/1707.06292)
+# Set the working directory to /app
+WORKDIR /app
 
-## 📰 Originally Published in the Following Paper:
+# Create a build directory and navigate into it
+RUN mkdir build && cd build
 
-[B. Benligiray; C. Topal; C. Akinlar, "STag: A Stable Fiducial Marker System," Image and Vision Computing, 2019.](https://arxiv.org/abs/1707.06292)
+# Run CMake to generate the Makefile
+RUN cmake .
 
-<p align="center">
-  <img src="https://user-images.githubusercontent.com/19530665/57179654-c0c11e00-6e88-11e9-9ca5-0c0153b28c91.png"/>
-</p>
+# Build the project
+RUN make
 
-<p align="center">
-  <img src="https://user-images.githubusercontent.com/19530665/57179660-cae31c80-6e88-11e9-8f80-bf8e24e59957.png"/>
-</p>
+# Run the compiled binary
+CMD ["./stag_main"]
+```
diff --git a/example.jpg b/example.jpg
deleted file mode 100644
index fdc567e1..00000000
Binary files a/example.jpg and /dev/null differ
diff --git a/example/STag-HD23.jpg b/example/STag-HD23.jpg
new file mode 100644
index 00000000..8fe414a4
Binary files /dev/null and b/example/STag-HD23.jpg differ
diff --git a/example/STag-HDS23-detected-markers.png b/example/STag-HDS23-detected-markers.png
new file mode 100644
index 00000000..13ced617
Binary files /dev/null and b/example/STag-HDS23-detected-markers.png differ
diff --git a/src/Decoder.h b/include/stag/Decoder.h
similarity index 100%
rename from src/Decoder.h
rename to include/stag/Decoder.h
diff --git a/src/Drawer.h b/include/stag/Drawer.h
similarity index 100%
rename from src/Drawer.h
rename to include/stag/Drawer.h
diff --git a/src/ED/ED.h b/include/stag/ED/ED.h
similarity index 100%
rename from src/ED/ED.h
rename to include/stag/ED/ED.h
diff --git a/src/ED/EDInternals.h b/include/stag/ED/EDInternals.h
similarity index 100%
rename from src/ED/EDInternals.h
rename to include/stag/ED/EDInternals.h
diff --git a/src/ED/EDLines.h b/include/stag/ED/EDLines.h
similarity index 100%
rename from src/ED/EDLines.h
rename to include/stag/ED/EDLines.h
diff --git a/src/ED/EdgeMap.h b/include/stag/ED/EdgeMap.h
similarity index 100%
rename from src/ED/EdgeMap.h
rename to include/stag/ED/EdgeMap.h
diff --git a/src/ED/GradientOperators.h b/include/stag/ED/GradientOperators.h
similarity index 100%
rename from src/ED/GradientOperators.h
rename to include/stag/ED/GradientOperators.h
diff --git a/src/ED/GradientOperatorsCV.h b/include/stag/ED/GradientOperatorsCV.h
similarity index 100%
rename from src/ED/GradientOperatorsCV.h
rename to include/stag/ED/GradientOperatorsCV.h
diff --git a/src/ED/ImageSmooth.h b/include/stag/ED/ImageSmooth.h
similarity index 100%
rename from src/ED/ImageSmooth.h
rename to include/stag/ED/ImageSmooth.h
diff --git a/src/ED/ImageSmoothCV.h b/include/stag/ED/ImageSmoothCV.h
similarity index 100%
rename from src/ED/ImageSmoothCV.h
rename to include/stag/ED/ImageSmoothCV.h
diff --git a/src/ED/LineSegment.h b/include/stag/ED/LineSegment.h
similarity index 100%
rename from src/ED/LineSegment.h
rename to include/stag/ED/LineSegment.h
diff --git a/src/ED/MyMath.h b/include/stag/ED/MyMath.h
similarity index 100%
rename from src/ED/MyMath.h
rename to include/stag/ED/MyMath.h
diff --git a/src/ED/NFA.h b/include/stag/ED/NFA.h
similarity index 100%
rename from src/ED/NFA.h
rename to include/stag/ED/NFA.h
diff --git a/src/ED/Timer.h b/include/stag/ED/Timer.h
similarity index 100%
rename from src/ED/Timer.h
rename to include/stag/ED/Timer.h
diff --git a/src/ED/Utilities.h b/include/stag/ED/Utilities.h
similarity index 100%
rename from src/ED/Utilities.h
rename to include/stag/ED/Utilities.h
diff --git a/src/ED/ValidateEdgeSegments.h b/include/stag/ED/ValidateEdgeSegments.h
similarity index 100%
rename from src/ED/ValidateEdgeSegments.h
rename to include/stag/ED/ValidateEdgeSegments.h
diff --git a/src/EDInterface.h b/include/stag/EDInterface.h
similarity index 100%
rename from src/EDInterface.h
rename to include/stag/EDInterface.h
diff --git a/src/Ellipse.h b/include/stag/Ellipse.h
similarity index 100%
rename from src/Ellipse.h
rename to include/stag/Ellipse.h
diff --git a/src/Marker.h b/include/stag/Marker.h
similarity index 100%
rename from src/Marker.h
rename to include/stag/Marker.h
diff --git a/src/MarkerIDs.h b/include/stag/MarkerIDs.h
similarity index 100%
rename from src/MarkerIDs.h
rename to include/stag/MarkerIDs.h
diff --git a/src/PoseRefiner.h b/include/stag/PoseRefiner.h
similarity index 100%
rename from src/PoseRefiner.h
rename to include/stag/PoseRefiner.h
diff --git a/src/Quad.h b/include/stag/Quad.h
similarity index 100%
rename from src/Quad.h
rename to include/stag/Quad.h
diff --git a/src/QuadDetector.h b/include/stag/QuadDetector.h
similarity index 100%
rename from src/QuadDetector.h
rename to include/stag/QuadDetector.h
diff --git a/src/Stag.h b/include/stag/Stag.h
similarity index 100%
rename from src/Stag.h
rename to include/stag/Stag.h
diff --git a/src/StagDetector.h b/include/stag/StagDetector.h
similarity index 100%
rename from src/StagDetector.h
rename to include/stag/StagDetector.h
diff --git a/src/colors.h b/include/stag/colors.h
similarity index 100%
rename from src/colors.h
rename to include/stag/colors.h
diff --git a/src/utility.h b/include/stag/utility.h
similarity index 100%
rename from src/utility.h
rename to include/stag/utility.h
diff --git a/main.cpp b/main.cpp
deleted file mode 100644
index 6c288b27..00000000
--- a/main.cpp
+++ /dev/null
@@ -1,25 +0,0 @@
-#include "src/Stag.h"
-#include <opencv2/imgcodecs.hpp>
-#include <vector>
-using cv::Mat;
-
-int main() {
-    // load image
-    cv::Mat image = cv::imread("../example.jpg");
-
-	// set HD library
-	int libraryHD = 21;
-
-    auto corners = std::vector<std::vector<cv::Point2f>>();
-    auto ids = std::vector<int>();
-	auto rejectedImgPoints = std::vector<std::vector<cv::Point2f>>(); // optional, helpful for debugging
-
-    // detect markers
-    stag::detectMarkers(image, libraryHD, corners, ids, rejectedImgPoints);
-
-	// draw and save results
-	stag::drawDetectedMarkers(image, corners, ids);
-	cv::imwrite("example_result.jpg", image);
-
-    return 0;
-}
\ No newline at end of file
diff --git a/ref/marker_generator/App.config b/ref/marker_generator/App.config
deleted file mode 100644
index 8e156463..00000000
--- a/ref/marker_generator/App.config
+++ /dev/null
@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<configuration>
-    <startup> 
-        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5" />
-    </startup>
-</configuration>
\ No newline at end of file
diff --git a/ref/marker_generator/EDMarker Generator.csproj b/ref/marker_generator/EDMarker Generator.csproj
deleted file mode 100644
index 23c2f1d0..00000000
--- a/ref/marker_generator/EDMarker Generator.csproj	
+++ /dev/null
@@ -1,90 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<Project ToolsVersion="4.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
-  <PropertyGroup>
-    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
-    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
-    <ProjectGuid>{1FDD4F46-1393-432C-B38A-0E3693F5A169}</ProjectGuid>
-    <OutputType>WinExe</OutputType>
-    <AppDesignerFolder>Properties</AppDesignerFolder>
-    <RootNamespace>EDMarker_Generator</RootNamespace>
-    <AssemblyName>EDMarker Generator</AssemblyName>
-    <TargetFrameworkVersion>v4.5</TargetFrameworkVersion>
-    <FileAlignment>512</FileAlignment>
-  </PropertyGroup>
-  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
-    <PlatformTarget>AnyCPU</PlatformTarget>
-    <DebugSymbols>true</DebugSymbols>
-    <DebugType>full</DebugType>
-    <Optimize>false</Optimize>
-    <OutputPath>bin\Debug\</OutputPath>
-    <DefineConstants>DEBUG;TRACE</DefineConstants>
-    <ErrorReport>prompt</ErrorReport>
-    <WarningLevel>4</WarningLevel>
-    <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
-  </PropertyGroup>
-  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
-    <PlatformTarget>AnyCPU</PlatformTarget>
-    <DebugType>pdbonly</DebugType>
-    <Optimize>true</Optimize>
-    <OutputPath>bin\Release\</OutputPath>
-    <DefineConstants>TRACE</DefineConstants>
-    <ErrorReport>prompt</ErrorReport>
-    <WarningLevel>4</WarningLevel>
-    <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
-  </PropertyGroup>
-  <ItemGroup>
-    <Reference Include="System" />
-    <Reference Include="System.Core" />
-    <Reference Include="System.Xml.Linq" />
-    <Reference Include="System.Data.DataSetExtensions" />
-    <Reference Include="Microsoft.CSharp" />
-    <Reference Include="System.Data" />
-    <Reference Include="System.Deployment" />
-    <Reference Include="System.Drawing" />
-    <Reference Include="System.Windows.Forms" />
-    <Reference Include="System.Xml" />
-  </ItemGroup>
-  <ItemGroup>
-    <Compile Include="Form1.cs">
-      <SubType>Form</SubType>
-    </Compile>
-    <Compile Include="Form1.Designer.cs">
-      <DependentUpon>Form1.cs</DependentUpon>
-    </Compile>
-    <Compile Include="Program.cs" />
-    <Compile Include="Properties\AssemblyInfo.cs" />
-    <EmbeddedResource Include="Form1.resx">
-      <DependentUpon>Form1.cs</DependentUpon>
-    </EmbeddedResource>
-    <EmbeddedResource Include="Properties\Resources.resx">
-      <Generator>ResXFileCodeGenerator</Generator>
-      <LastGenOutput>Resources.Designer.cs</LastGenOutput>
-      <SubType>Designer</SubType>
-    </EmbeddedResource>
-    <Compile Include="Properties\Resources.Designer.cs">
-      <AutoGen>True</AutoGen>
-      <DependentUpon>Resources.resx</DependentUpon>
-    </Compile>
-    <None Include="Properties\Settings.settings">
-      <Generator>SettingsSingleFileGenerator</Generator>
-      <LastGenOutput>Settings.Designer.cs</LastGenOutput>
-    </None>
-    <Compile Include="Properties\Settings.Designer.cs">
-      <AutoGen>True</AutoGen>
-      <DependentUpon>Settings.settings</DependentUpon>
-      <DesignTimeSharedInput>True</DesignTimeSharedInput>
-    </Compile>
-  </ItemGroup>
-  <ItemGroup>
-    <None Include="App.config" />
-  </ItemGroup>
-  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
-  <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
-       Other similar extension points exist, see Microsoft.Common.targets.
-  <Target Name="BeforeBuild">
-  </Target>
-  <Target Name="AfterBuild">
-  </Target>
-  -->
-</Project>
\ No newline at end of file
diff --git a/ref/marker_generator/Form1.Designer.cs b/ref/marker_generator/Form1.Designer.cs
deleted file mode 100644
index 091dc9e1..00000000
--- a/ref/marker_generator/Form1.Designer.cs
+++ /dev/null
@@ -1,63 +0,0 @@
-namespace EDMarker_Generator
-{
-    partial class Form1
-    {
-        /// <summary>
-        /// Required designer variable.
-        /// </summary>
-        private System.ComponentModel.IContainer components = null;
-
-        /// <summary>
-        /// Clean up any resources being used.
-        /// </summary>
-        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
-        protected override void Dispose(bool disposing)
-        {
-            if (disposing && (components != null))
-            {
-                components.Dispose();
-            }
-            base.Dispose(disposing);
-        }
-
-        #region Windows Form Designer generated code
-
-        /// <summary>
-        /// Required method for Designer support - do not modify
-        /// the contents of this method with the code editor.
-        /// </summary>
-        private void InitializeComponent()
-        {
-            this.label1 = new System.Windows.Forms.Label();
-            this.SuspendLayout();
-            // 
-            // label1
-            // 
-            this.label1.AutoSize = true;
-            this.label1.Font = new System.Drawing.Font("Microsoft Sans Serif", 72F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.label1.Location = new System.Drawing.Point(12, 9);
-            this.label1.Name = "label1";
-            this.label1.Size = new System.Drawing.Size(349, 108);
-            this.label1.TabIndex = 0;
-            this.label1.Text = "DONE!";
-            // 
-            // Form1
-            // 
-            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
-            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(353, 123);
-            this.Controls.Add(this.label1);
-            this.Name = "Form1";
-            this.Text = "Form1";
-            this.Load += new System.EventHandler(this.Form1_Load);
-            this.ResumeLayout(false);
-            this.PerformLayout();
-
-        }
-
-        #endregion
-
-        private System.Windows.Forms.Label label1;
-    }
-}
-
diff --git a/ref/marker_generator/Form1.cs b/ref/marker_generator/Form1.cs
deleted file mode 100644
index d8acd90b..00000000
--- a/ref/marker_generator/Form1.cs
+++ /dev/null
@@ -1,484 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.ComponentModel;
-using System.Data;
-using System.Drawing;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-using System.Windows.Forms;
-using System.IO;
-using System.Drawing.Imaging;
-
-
-namespace EDMarker_Generator
-{
-
-    public unsafe partial class Form1 : Form
-    {
-        // number of bits in a marker
-        int noOfBits = 48;
-
-        // following values are in ratios, where a marker edge length is 1
-
-        // border width
-        float border = 0.125f;
-        
-        // radius of the circle border 
-        float outerCircleRadius = 0.4f;
-        // radius of the circle that encloses code bits
-        float innerCircleRadius = 0.35f;
-        // radius of the code circles (in ratio to innerCircleRadius)
-        float codeRadius = 0.062482177287080f;
-        // radius of the filler code circles (in ratio to codeRadius)
-        float fillerCodeRadius = 0.7f;
-
-        // following values are in pixels
-
-        int fileSize = 1000;
-
-        float markerSize;
-        float borderSize;
-
-        float outerCircleDiameterSize;
-        float innerCircleDiameterSize;
-        float outerCircleTopLeft;
-        float innerCircleTopLeft;
-        float codeCircleDiameterSize;
-        float fillerCircleDiameterSize;
-
-
-        // code related stuff
-        
-        int HD;
-        List<List<Byte>> codes;
-        List<doublePoint> codeLocs;
-        List<List<int>> nearbyCodes;
-
-
-        Font largeFont, smallFont;
-        Pen grayPen;
-        
-        
-
-        public Form1()
-        {
-            InitializeComponent();
-
-            markerSize = fileSize / (1 + border * 2);
-            borderSize = markerSize * border;
-
-            outerCircleDiameterSize = 2 * markerSize * outerCircleRadius;
-            innerCircleDiameterSize = 2 * markerSize * innerCircleRadius;
-            outerCircleTopLeft = (fileSize - outerCircleDiameterSize) / 2;
-            innerCircleTopLeft = (fileSize - innerCircleDiameterSize) / 2;
-            codeCircleDiameterSize = 2 * innerCircleDiameterSize * codeRadius;
-            fillerCircleDiameterSize = codeCircleDiameterSize * fillerCodeRadius;
-
-            largeFont = new Font("Century Gothic", 72);
-            smallFont = new Font("Century Gothic", 20);
-            grayPen = new Pen(Color.Gray, 3);
-
-            fillLocs();
-
-            for (HD = 11; HD <= 23; HD += 2)
-            {
-                readCodeList();
-                drawMarkers();
-            }
-                
-
-        }
-
-        public void fillLocs()
-        {
-            codeLocs = new List<doublePoint>();
-
-            for (int i = 0; i < 4; i++)
-            {
-                codeLocs.Add(polarToCart(0.088363142525988, 0.785398163397448 + i * (Math.PI / 2)));
-
-                codeLocs.Add(polarToCart(0.206935928182607, 0.459275804122858 + i * (Math.PI / 2)));
-                codeLocs.Add(polarToCart(0.206935928182607, (Math.PI / 2) - 0.459275804122858 + i * (Math.PI / 2)));
-
-                codeLocs.Add(polarToCart(0.313672146827381, 0.200579720495241 + i * (Math.PI / 2)));
-                codeLocs.Add(polarToCart(0.327493143484516, 0.591687617505840 + i * (Math.PI / 2)));
-                codeLocs.Add(polarToCart(0.327493143484516, (Math.PI / 2) - 0.591687617505840 + i * (Math.PI / 2)));
-                codeLocs.Add(polarToCart(0.313672146827381, (Math.PI / 2) - 0.200579720495241 + i * (Math.PI / 2)));
-
-                codeLocs.Add(polarToCart(0.437421957035861, 0.145724938287167 + i * (Math.PI / 2)));
-                codeLocs.Add(polarToCart(0.437226762361658, 0.433363129825345 + i * (Math.PI / 2)));
-                codeLocs.Add(polarToCart(0.430628029742607, 0.785398163397448 + i * (Math.PI / 2)));
-                codeLocs.Add(polarToCart(0.437226762361658, (Math.PI / 2) - 0.433363129825345 + i * (Math.PI / 2)));
-                codeLocs.Add(polarToCart(0.437421957035861, (Math.PI / 2) - 0.145724938287167 + i * (Math.PI / 2)));
-            }
-
-            nearbyCodes = new List<List<int>>();
-
-            for (int i = 0; i < noOfBits; i++)
-            {
-                nearbyCodes.Add(new List<int>());
-
-                for (int j = 0; j < noOfBits; j++)
-                {
-                    if (i == j)
-                        continue;
-                    if (distanceBetweenDoublePoints(codeLocs[i], codeLocs[j]) < codeRadius * 4)
-                        nearbyCodes[i].Add(j);
-                }
-            }
-        }
-
-        public void drawMarkers()
-        {
-            String dirName = "HD" + HD.ToString();
-            System.IO.Directory.CreateDirectory(dirName);
-
-            Bitmap img = new Bitmap(fileSize, fileSize);
-            Graphics g = Graphics.FromImage(img);
-            g.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.AntiAlias;
-            g.TextRenderingHint = System.Drawing.Text.TextRenderingHint.AntiAlias;
-            
-            for (int i = 0; i < codes.Count; i++)
-            {
-                // we are working with the same bitmap, so clear it
-                g.Clear(Color.White);
-
-                // draw the outer rectangle
-                g.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.None;
-                g.FillRectangle(Brushes.Black, borderSize, borderSize, markerSize, markerSize);
-                g.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.AntiAlias;
-
-                // draw the outer circle
-                g.FillEllipse(Brushes.White, outerCircleTopLeft, outerCircleTopLeft, outerCircleDiameterSize, outerCircleDiameterSize);
-
-                // turn off antialiasing to apply morphological operations
-                g.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.None;
-
-                // apply black code circles
-                for (int j = 0; j < noOfBits; j++)
-                    if (codes[i][j] == 1)
-                        g.FillEllipse(Brushes.Black, innerCircleTopLeft + innerCircleDiameterSize * (float)codeLocs[j].x - codeCircleDiameterSize / 2, innerCircleTopLeft + innerCircleDiameterSize * (float)codeLocs[j].y - codeCircleDiameterSize / 2, codeCircleDiameterSize, codeCircleDiameterSize);
-                // apply filler circles
-                for (int j = 0; j < noOfBits; j++)
-                    for (int k = j + 1; k < noOfBits; k++)
-                        if ((codes[i][j] == 1) && (codes[i][k] == 1))
-                            if (nearbyCodes[j].Contains(k))
-                                g.FillEllipse(Brushes.Black, innerCircleTopLeft + innerCircleDiameterSize * (float)((codeLocs[j].x + codeLocs[k].x) / 2) - fillerCircleDiameterSize / 2, innerCircleTopLeft + innerCircleDiameterSize * (float)((codeLocs[j].y + codeLocs[k].y) / 2) - fillerCircleDiameterSize / 2, fillerCircleDiameterSize, fillerCircleDiameterSize);
-                // apply white code circles
-                for (int j = 0; j < noOfBits; j++)
-                    if (codes[i][j] == 0)
-                        g.FillEllipse(Brushes.White, innerCircleTopLeft + innerCircleDiameterSize * (float)codeLocs[j].x - codeCircleDiameterSize / 2, innerCircleTopLeft + innerCircleDiameterSize * (float)codeLocs[j].y - codeCircleDiameterSize / 2, codeCircleDiameterSize, codeCircleDiameterSize);
-   
-                //erode, dilate
-                int rad = 12;
-                for (int j = 0; j < 5; j++)
-                {
-                    dilateBitmap(ref img, 5, rad);
-                    erodeBitmap(ref img, 5, rad);
-                }
-                
-                // smooth and recode
-                smoothBitmap(ref img);
-                g.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.HighQuality;
-                // apply black code circles
-                for (int j = 0; j < noOfBits; j++)
-                    if (codes[i][j] == 1)
-                        g.FillEllipse(Brushes.Black, innerCircleTopLeft + innerCircleDiameterSize * (float)codeLocs[j].x - codeCircleDiameterSize / 2, innerCircleTopLeft + innerCircleDiameterSize * (float)codeLocs[j].y - codeCircleDiameterSize / 2, codeCircleDiameterSize, codeCircleDiameterSize);
-                // apply white code circles
-                for (int j = 0; j < noOfBits; j++)
-                    if (codes[i][j] == 0)
-                        g.FillEllipse(Brushes.White, innerCircleTopLeft + innerCircleDiameterSize * (float)codeLocs[j].x - codeCircleDiameterSize / 2, innerCircleTopLeft + innerCircleDiameterSize * (float)codeLocs[j].y - codeCircleDiameterSize / 2, codeCircleDiameterSize, codeCircleDiameterSize);
-
-                // clear the space between the inner and outer circle
-                Bitmap ringImg = new Bitmap(fileSize, fileSize);
-                Graphics gRing = Graphics.FromImage(ringImg);
-                gRing.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.HighQuality;
-                gRing.FillRectangle(Brushes.Black, 0, 0, fileSize, fileSize);
-                gRing.FillEllipse(Brushes.White, outerCircleTopLeft, outerCircleTopLeft, outerCircleDiameterSize, outerCircleDiameterSize);
-                gRing.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.None;
-                gRing.FillEllipse(Brushes.Black, innerCircleTopLeft - 1, innerCircleTopLeft - 1, innerCircleDiameterSize + 2, innerCircleDiameterSize + 2);
-                gRing.Dispose();
-                ringImg.MakeTransparent(Color.Black);
-                g.DrawImage(ringImg, 0, 0);
-
-                // In case we want crosshair
-                /*
-                g.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.None;
-                g.FillEllipse(Brushes.White, (float)(outputSize / 2 - 8), (float)(outputSize / 2 - 8), 16, 16);
-                g.DrawLine(pen, (float)(outputSize / 2 - 7), (float)(outputSize / 2 ), (float)(outputSize / 2 + 8), (float)(outputSize / 2 ));
-                g.DrawLine(pen, (float)(outputSize / 2), (float)(outputSize / 2 - 7 ), (float)(outputSize / 2), (float)(outputSize / 2 + 8 ));
-                g.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.HighQuality;
-                */
-
-                // write the strings
-                SizeF sz = g.VisibleClipBounds.Size;
-                float centerString = (float)(2.375 * borderSize);
-                g.TranslateTransform(centerString, centerString);
-                g.RotateTransform(315);
-                sz = g.MeasureString(createIndexString(i), largeFont);
-                g.DrawString(createIndexString(i), largeFont, Brushes.White, -(sz.Width / 2), -(sz.Height / 2));
-                g.ResetTransform();
-
-                centerString = (float)(1.875 * borderSize);
-                g.TranslateTransform(centerString, centerString);
-                g.RotateTransform(315);
-                sz = g.MeasureString("HD" + HD.ToString(), smallFont);
-                g.DrawString("HD" + HD.ToString(), smallFont, Brushes.White, -(sz.Width / 2), -(sz.Height / 2));
-                g.ResetTransform();
-
-                // save image
-                String idStr = createIndexString(i);
-                while (idStr.Length < 5)
-                    idStr = "0" + idStr;
-                img.Save(dirName + "/" + idStr + ".png", System.Drawing.Imaging.ImageFormat.Png);
-            }
-        }
-
-        public double distanceBetweenDoublePoints(doublePoint p1, doublePoint p2)
-        {
-            return Math.Sqrt((p1.x - p2.x) * (p1.x - p2.x) + (p1.y - p2.y) * (p1.y - p2.y));
-        }
-
-        public String createIndexString(int index)
-        {
-            String s = index.ToString();
-
-            while (s.Length != codes.Count.ToString().Length)
-                s = "0" + s;
-
-            return s;
-        }
-
-        public doublePoint polarToCart(double radius, double radians)
-        {
-            return new doublePoint(0.5 + Math.Cos(radians) * radius, 0.5 - Math.Sin(radians) * radius);
-        }
-
-        public void erodeBitmap(ref Bitmap b, int thres, int radius)
-        {
-            Rectangle rect = new Rectangle(0, 0, fileSize, fileSize);
-            BitmapData imgData = b.LockBits(rect, ImageLockMode.WriteOnly, b.PixelFormat);
-
-
-            Bitmap refImage = (Bitmap)b.Clone();
-            BitmapData refData = refImage.LockBits(rect, ImageLockMode.ReadOnly, refImage.PixelFormat);
-
-            List<Point> list = generateBallMask(radius);
-
-            int border = (int)outerCircleTopLeft;
-
-            for (int j = border; j < fileSize - border; j++)
-            {
-                for (int k = border; k < fileSize - border; k++)
-                {
-                    if (!isWhite(refData, j, k))
-                    {
-                        int tot = countNonPixels(refData, j, k, true, list);
-                      
-
-                        if (tot > list.Count / 2)
-                        {
-                            *((byte*)(imgData.Scan0 + k * imgData.Stride + j * 4)) = 255;
-                            *((byte*)(imgData.Scan0 + k * imgData.Stride + j * 4) + 1) = 255;
-                            *((byte*)(imgData.Scan0 + k * imgData.Stride + j * 4) + 2) = 255;
-                            *((byte*)(imgData.Scan0 + k * imgData.Stride + j * 4) + 3) = 255;
-                        }
-                    }
-                }
-            }
-            refImage.UnlockBits(refData);
-            refImage.Dispose();
-            b.UnlockBits(imgData);
-        }
-
-        public void dilateBitmap(ref Bitmap b, int thres, int radius)
-        {
-            Rectangle rect = new Rectangle(0, 0, fileSize, fileSize);
-            BitmapData imgData = b.LockBits(rect, ImageLockMode.WriteOnly, b.PixelFormat);
-
-
-            Bitmap refImage = (Bitmap)b.Clone();
-            BitmapData refData = refImage.LockBits(rect, ImageLockMode.ReadOnly, refImage.PixelFormat);
-
-            List<Point> list = generateBallMask(radius);
-
-            int border = (int)outerCircleTopLeft;
-
-            for (int j = border; j < fileSize - border; j++)
-            {
-                for (int k = border; k < fileSize - border; k++)
-                {
-                    if (!isBlack(refData, j, k))
-                    {
-                        int tot = countNonPixels(refData, j, k, false, list);
-
-                        if (tot > list.Count / 2)
-                        {
-                            *((byte*)(imgData.Scan0 + k * imgData.Stride + j * 4)) = 0;
-                            *((byte*)(imgData.Scan0 + k * imgData.Stride + j * 4) + 1) = 0;
-                            *((byte*)(imgData.Scan0 + k * imgData.Stride + j * 4) + 2) = 0;
-                            *((byte*)(imgData.Scan0 + k * imgData.Stride + j * 4) + 3) = 255;
-                        }
-                    }
-                }
-            }
-            refImage.UnlockBits(refData);
-            refImage.Dispose();
-            b.UnlockBits(imgData);
-        }
-
-        public void smoothBitmap(ref Bitmap b)
-        {
-
-            Rectangle rect = new Rectangle(0, 0, fileSize, fileSize);
-            BitmapData imgData = b.LockBits(rect, ImageLockMode.WriteOnly, b.PixelFormat);
-
-
-            Bitmap refImage = (Bitmap)b.Clone();
-            BitmapData refData = refImage.LockBits(rect, ImageLockMode.ReadOnly, refImage.PixelFormat);
-
-            for (int i = 0; i < b.Width; i++)
-            {
-                for (int j = 0; j < b.Height; j++)
-                {
-                    if (Math.Sqrt((i - b.Width / 2) * (i - b.Width / 2) + (j - b.Height / 2) * (j - b.Height / 2)) < b.Width / 2 - outerCircleTopLeft - 10)
-                    {
-                        if (isBlack(refData, i, j))
-                        {
-                            bool hasWhite = false;
-                            int total = 0;
-                            int maskRad = 1;
-                            for (int n1 = -maskRad; n1 < maskRad + 1; n1++)
-                            {
-                                for (int n2 = -maskRad; n2 < maskRad + 1; n2++)
-                                {
-                                    if ((isWhite(refData, i + n1, j + n2)) && (Math.Abs(n1 + n2) <2))
-                                        hasWhite = true;
-
-
-                                    total += readPix(refData, i + n1, j + n2); 
-                                }
-                            }
-                            if (hasWhite)
-                            {
-                                *((byte*)(imgData.Scan0 + j * imgData.Stride + i * 4)) = (byte)((double)total / ((maskRad * 2 + 1) * (maskRad * 2 + 1)));
-                                *((byte*)(imgData.Scan0 + j * imgData.Stride + i * 4) + 1) = (byte)((double)total / ((maskRad * 2 + 1) * (maskRad * 2 + 1)));
-                                *((byte*)(imgData.Scan0 + j * imgData.Stride + i * 4) + 2) = (byte)((double)total / ((maskRad * 2 + 1) * (maskRad * 2 + 1)));
-                                *((byte*)(imgData.Scan0 + j * imgData.Stride + i * 4) + 3) = 255;
-                            }
-                        }
-                    }
-                }
-            }
-
-
-                b.UnlockBits(imgData);
-                refImage.UnlockBits(refData);
-                refImage.Dispose();
-        }
-
-        public int countNonPixels(BitmapData bd, int x, int y, bool nonBlack, List<Point> list)
-        {
-            int tot = 0;
-
-
-            for (int i = 0; i < list.Count; i++)
-            {
-                if (nonBlack) // count non-black pixels
-                {
-                    if (!isBlack(bd, x + list[i].X, y + list[i].Y))
-                        tot++;
-                }
-                else
-                {
-                    if (!isWhite(bd, x + list[i].X, y + list[i].Y))
-                        tot++;
-                }
-            }
-
-
-                return tot;
-        }
-
-        public List<Point> generateBallMask(int r)
-        {
-            List<Point> maskList = new List<Point>();
-
-            for (int i = -r; i <= r; i++)
-            {
-                for (int j = -r; j <= r; j++)
-                {
-                    if ((i == 0) && (j == 0))
-                        continue;
-                    if (i * i + j * j <= r * r)
-                        maskList.Add(new Point(i, j));
-                }
-            }
-
-                return maskList;
-        }
-
-        //BGRA
-        public bool isWhite(BitmapData bd, int x, int y)
-        {
-            byte* b = (byte*)bd.Scan0 + y * bd.Stride + x * 4;
-
-            if ((*(b) != 255) || (*(b + 1) != 255) || (*(b + 2) != 255))
-                return false;
-            else
-                return true;
-        }
-        public bool isBlack(BitmapData bd, int x, int y)
-        {
-            byte* b = (byte*)bd.Scan0 + y * bd.Stride + x * 4;
-
-            if ((*(b) != 0) || (*(b + 1) != 0) || (*(b + 2) != 0))
-                return false;
-            else
-                return true;
-        }
-        public int readPix(BitmapData bd, int x, int y)
-        {
-            byte* b = (byte*)bd.Scan0 + y * bd.Stride + x * 4;
-
-            return (int)(*(b));
-        }
-        public void readCodeList()
-        {
-            codes = new List<List<byte>>();
-            StreamReader sr = new StreamReader("HD" + HD.ToString() + ".txt");
-
-            while(true)
-            {
-                String s = sr.ReadLine();
-                if (s == null)
-                {
-                    break;
-                }
-                    
-                List<byte> line = new List<byte>();
-                for (int j = 0; j < noOfBits; j++)
-                {
-                    line.Add((byte)(Convert.ToInt32(s[j]) - 48));
-                }
-                codes.Add(line);
-            }
-        }
-
-        private void Form1_Load(object sender, EventArgs e)
-        {
-
-        }
-    }
-
-    public class doublePoint
-    {
-        public double x, y;
-        public doublePoint(double inpX, double inpY)
-        {
-            x = inpX;
-            y = inpY;
-        }
-    };
-}
diff --git a/ref/marker_generator/Form1.resx b/ref/marker_generator/Form1.resx
deleted file mode 100644
index 1af7de15..00000000
--- a/ref/marker_generator/Form1.resx
+++ /dev/null
@@ -1,120 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<root>
-  <!-- 
-    Microsoft ResX Schema 
-    
-    Version 2.0
-    
-    The primary goals of this format is to allow a simple XML format 
-    that is mostly human readable. The generation and parsing of the 
-    various data types are done through the TypeConverter classes 
-    associated with the data types.
-    
-    Example:
-    
-    ... ado.net/XML headers & schema ...
-    <resheader name="resmimetype">text/microsoft-resx</resheader>
-    <resheader name="version">2.0</resheader>
-    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
-    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
-    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
-    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
-    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
-        <value>[base64 mime encoded serialized .NET Framework object]</value>
-    </data>
-    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
-        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
-        <comment>This is a comment</comment>
-    </data>
-                
-    There are any number of "resheader" rows that contain simple 
-    name/value pairs.
-    
-    Each data row contains a name, and value. The row also contains a 
-    type or mimetype. Type corresponds to a .NET class that support 
-    text/value conversion through the TypeConverter architecture. 
-    Classes that don't support this are serialized and stored with the 
-    mimetype set.
-    
-    The mimetype is used for serialized objects, and tells the 
-    ResXResourceReader how to depersist the object. This is currently not 
-    extensible. For a given mimetype the value must be set accordingly:
-    
-    Note - application/x-microsoft.net.object.binary.base64 is the format 
-    that the ResXResourceWriter will generate, however the reader can 
-    read any of the formats listed below.
-    
-    mimetype: application/x-microsoft.net.object.binary.base64
-    value   : The object must be serialized with 
-            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
-            : and then encoded with base64 encoding.
-    
-    mimetype: application/x-microsoft.net.object.soap.base64
-    value   : The object must be serialized with 
-            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
-            : and then encoded with base64 encoding.
-
-    mimetype: application/x-microsoft.net.object.bytearray.base64
-    value   : The object must be serialized into a byte array 
-            : using a System.ComponentModel.TypeConverter
-            : and then encoded with base64 encoding.
-    -->
-  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
-    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
-    <xsd:element name="root" msdata:IsDataSet="true">
-      <xsd:complexType>
-        <xsd:choice maxOccurs="unbounded">
-          <xsd:element name="metadata">
-            <xsd:complexType>
-              <xsd:sequence>
-                <xsd:element name="value" type="xsd:string" minOccurs="0" />
-              </xsd:sequence>
-              <xsd:attribute name="name" use="required" type="xsd:string" />
-              <xsd:attribute name="type" type="xsd:string" />
-              <xsd:attribute name="mimetype" type="xsd:string" />
-              <xsd:attribute ref="xml:space" />
-            </xsd:complexType>
-          </xsd:element>
-          <xsd:element name="assembly">
-            <xsd:complexType>
-              <xsd:attribute name="alias" type="xsd:string" />
-              <xsd:attribute name="name" type="xsd:string" />
-            </xsd:complexType>
-          </xsd:element>
-          <xsd:element name="data">
-            <xsd:complexType>
-              <xsd:sequence>
-                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
-                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
-              </xsd:sequence>
-              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
-              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
-              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
-              <xsd:attribute ref="xml:space" />
-            </xsd:complexType>
-          </xsd:element>
-          <xsd:element name="resheader">
-            <xsd:complexType>
-              <xsd:sequence>
-                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
-              </xsd:sequence>
-              <xsd:attribute name="name" type="xsd:string" use="required" />
-            </xsd:complexType>
-          </xsd:element>
-        </xsd:choice>
-      </xsd:complexType>
-    </xsd:element>
-  </xsd:schema>
-  <resheader name="resmimetype">
-    <value>text/microsoft-resx</value>
-  </resheader>
-  <resheader name="version">
-    <value>2.0</value>
-  </resheader>
-  <resheader name="reader">
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diff --git a/ref/marker_generator/HD11.txt b/ref/marker_generator/HD11.txt
deleted file mode 100644
index 21d107ab..00000000
--- a/ref/marker_generator/HD11.txt
+++ /dev/null
@@ -1,22309 +0,0 @@
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\ No newline at end of file
diff --git a/ref/marker_generator/HD13.txt b/ref/marker_generator/HD13.txt
deleted file mode 100644
index b8fdb905..00000000
--- a/ref/marker_generator/HD13.txt
+++ /dev/null
@@ -1,2884 +0,0 @@
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\ No newline at end of file
diff --git a/ref/marker_generator/HD15.txt b/ref/marker_generator/HD15.txt
deleted file mode 100644
index eda29f1d..00000000
--- a/ref/marker_generator/HD15.txt
+++ /dev/null
@@ -1,766 +0,0 @@
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\ No newline at end of file
diff --git a/ref/marker_generator/HD17.txt b/ref/marker_generator/HD17.txt
deleted file mode 100644
index ea90316d..00000000
--- a/ref/marker_generator/HD17.txt
+++ /dev/null
@@ -1,157 +0,0 @@
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-011000000100011101000011000011101101100011011110
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-011010100110000111110001000110001000000010111111
-101111001000100010110100010000100110000110011100
-000000101000010100001010101101110101100011000111
-101001011110010011101100100100001011000000010100
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-100101001010011101001001011011100010100001001000
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-000100110010000010010001001101111110110000110100
-101111100110001010100100000101100001010000001011
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-000011100110010110001111001000111000000001001101
-001001100100001010110100001100010111000010110101
-011010001100010000111110011001000001010001001011
-010000101100001111110100001001101000110010000110
-111010111100000110100101001111000000010001100000
-111010011000001010001101001000000100110000011111
-011001001010010000011011010000111100110011000010
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-110101000000001101010111000000001110110000010010
-001100111110000001110100000010111000100000010001
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-000010100000010001001011010110001110100000101110
-101010010100011100010000000100001111000000111010
-000000010100010101111010010000001110100011010001
-101000110010010000100001000010001111000011001101
-111010010000001001010001000110100010100011100100
-011000100110000101001010010100100011000001111000
-010010110100000011101010000011100001000011000101
-111000010010000110110011000001100000100001011001
-100010100000001111100001010100101101000011010000
-001000000110001010111000010110101100100001001100
\ No newline at end of file
diff --git a/ref/marker_generator/HD19.txt b/ref/marker_generator/HD19.txt
deleted file mode 100644
index 6338203b..00000000
--- a/ref/marker_generator/HD19.txt
+++ /dev/null
@@ -1,38 +0,0 @@
-101101111100101111011100010101101111000110100100
-100111110000011111111010100000110111100011111010
-101101111010010000011011100001101011001100011111
-110000100010100100111010111001110111110100011011
-001110110110000010010100111111100010100011111011
-010000011100010110111000111011111101000011111100
-111010110100010001011101100111110110010010001110
-011101101110011111001010011001100111000001010011
-110111110010000111111111010011101001010000001010
-100010101110011110111110001011101110110000100001
-100010101000010011011101011001001011010011111111
-100010100011011011000111100101101010100111001010
-100010111100010101100011000011111000001111100011
-010100101000110001110011001101110000100101111110
-001010101110111001101001000001100101110110110100
-101100101010000010100111010010111111000011000111
-100001110110010101000111001100110101100001001111
-101000111100001100111111011000100100010011011010
-110001011110011011110011000001010011110000010101
-011001111110000110001001000010110111110010101001
-101011001100000111001011010101011101110010010010
-111010110110000001111001010101001111100001100001
-011000100100001111110011000111001100000010111111
-110010010010001110001010010110001011100011011111
-101000011100111000010001010111001010010100111010
-111111010100011100001100000000001110110001101100
-000101100110011000110100010101001101010011010110
-010100001110001101011101010111110010000001101000
-010011100000001101110101011010110110100010000011
-111001010010001100101101001101010011000010100110
-001001111000001001101011010110010000110001100111
-111011001110000001110000000010011001010011101110
-001000110100011111010110110010010011010000100000
-101100100010011010011000011100010100010000101011
-100110011000000000110110000111011101100000111000
-101001000110000011101110011010110010100000011000
-001000111110000000001110001111001011010001001100
-100000011010001011010101001110001100110010000110
\ No newline at end of file
diff --git a/ref/marker_generator/HD21.txt b/ref/marker_generator/HD21.txt
deleted file mode 100644
index 271e3642..00000000
--- a/ref/marker_generator/HD21.txt
+++ /dev/null
@@ -1,12 +0,0 @@
-001100111000110010110111010111100001011011110001
-000010100100110011110010111110010110110101011011
-101101111010101000111100000001001010000110100011
-010110010100000011111110101111000000100011100100
-010100001010011010011001110011101111010010000100
-111001010010010000010111001011111000100001001110
-111010001100011000101100011001000001010011010111
-110000111010000001100110001100000111110000111110
-010001111010011111001011000001010000110001110001
-100001011100000010101000010111111100110011011000
-101011001100001110110011010100010110010000100101
-011011101110000101110000000010011001010011101010
\ No newline at end of file
diff --git a/ref/marker_generator/HD23.txt b/ref/marker_generator/HD23.txt
deleted file mode 100644
index a1fe6dea..00000000
--- a/ref/marker_generator/HD23.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-001000111110110000101111001011011010001001011001
-010010101100101011001101011110110100001010110010
-110110111100010001000010001011000010111110100111
-101100101110001010100000011110101100111101001100
-000100110100111110010110010111110111010100000001
-011110100110100101110100000010011001010111101010
\ No newline at end of file
diff --git a/ref/marker_generator/Program.cs b/ref/marker_generator/Program.cs
deleted file mode 100644
index 8b557e20..00000000
--- a/ref/marker_generator/Program.cs
+++ /dev/null
@@ -1,22 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Threading.Tasks;
-using System.Windows.Forms;
-
-namespace EDMarker_Generator
-{
-    static class Program
-    {
-        /// <summary>
-        /// The main entry point for the application.
-        /// </summary>
-        [STAThread]
-        static void Main()
-        {
-            Application.EnableVisualStyles();
-            Application.SetCompatibleTextRenderingDefault(false);
-            Application.Run(new Form1());
-        }
-    }
-}
diff --git a/ref/marker_generator/Properties/AssemblyInfo.cs b/ref/marker_generator/Properties/AssemblyInfo.cs
deleted file mode 100644
index 28926401..00000000
--- a/ref/marker_generator/Properties/AssemblyInfo.cs
+++ /dev/null
@@ -1,36 +0,0 @@
-using System.Reflection;
-using System.Runtime.CompilerServices;
-using System.Runtime.InteropServices;
-
-// General Information about an assembly is controlled through the following 
-// set of attributes. Change these attribute values to modify the information
-// associated with an assembly.
-[assembly: AssemblyTitle("EDMarker Generator")]
-[assembly: AssemblyDescription("")]
-[assembly: AssemblyConfiguration("")]
-[assembly: AssemblyCompany("")]
-[assembly: AssemblyProduct("EDMarker Generator")]
-[assembly: AssemblyCopyright("Copyright ©  2014")]
-[assembly: AssemblyTrademark("")]
-[assembly: AssemblyCulture("")]
-
-// Setting ComVisible to false makes the types in this assembly not visible 
-// to COM components.  If you need to access a type in this assembly from 
-// COM, set the ComVisible attribute to true on that type.
-[assembly: ComVisible(false)]
-
-// The following GUID is for the ID of the typelib if this project is exposed to COM
-[assembly: Guid("b1dcb003-f511-4146-b457-6dcceab70336")]
-
-// Version information for an assembly consists of the following four values:
-//
-//      Major Version
-//      Minor Version 
-//      Build Number
-//      Revision
-//
-// You can specify all the values or you can default the Build and Revision Numbers 
-// by using the '*' as shown below:
-// [assembly: AssemblyVersion("1.0.*")]
-[assembly: AssemblyVersion("1.0.0.0")]
-[assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/ref/marker_generator/Properties/Resources.Designer.cs b/ref/marker_generator/Properties/Resources.Designer.cs
deleted file mode 100644
index e3a61008..00000000
--- a/ref/marker_generator/Properties/Resources.Designer.cs
+++ /dev/null
@@ -1,71 +0,0 @@
-//------------------------------------------------------------------------------
-// <auto-generated>
-//     This code was generated by a tool.
-//     Runtime Version:4.0.30319.18052
-//
-//     Changes to this file may cause incorrect behavior and will be lost if
-//     the code is regenerated.
-// </auto-generated>
-//------------------------------------------------------------------------------
-
-namespace EDMarker_Generator.Properties
-{
-
-
-    /// <summary>
-    ///   A strongly-typed resource class, for looking up localized strings, etc.
-    /// </summary>
-    // This class was auto-generated by the StronglyTypedResourceBuilder
-    // class via a tool like ResGen or Visual Studio.
-    // To add or remove a member, edit your .ResX file then rerun ResGen
-    // with the /str option, or rebuild your VS project.
-    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "4.0.0.0")]
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
-    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
-    internal class Resources
-    {
-
-        private static global::System.Resources.ResourceManager resourceMan;
-
-        private static global::System.Globalization.CultureInfo resourceCulture;
-
-        [global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
-        internal Resources()
-        {
-        }
-
-        /// <summary>
-        ///   Returns the cached ResourceManager instance used by this class.
-        /// </summary>
-        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
-        internal static global::System.Resources.ResourceManager ResourceManager
-        {
-            get
-            {
-                if ((resourceMan == null))
-                {
-                    global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("EDMarker_Generator.Properties.Resources", typeof(Resources).Assembly);
-                    resourceMan = temp;
-                }
-                return resourceMan;
-            }
-        }
-
-        /// <summary>
-        ///   Overrides the current thread's CurrentUICulture property for all
-        ///   resource lookups using this strongly typed resource class.
-        /// </summary>
-        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
-        internal static global::System.Globalization.CultureInfo Culture
-        {
-            get
-            {
-                return resourceCulture;
-            }
-            set
-            {
-                resourceCulture = value;
-            }
-        }
-    }
-}
diff --git a/ref/marker_generator/Properties/Resources.resx b/ref/marker_generator/Properties/Resources.resx
deleted file mode 100644
index af7dbebb..00000000
--- a/ref/marker_generator/Properties/Resources.resx
+++ /dev/null
@@ -1,117 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<root>
-  <!-- 
-    Microsoft ResX Schema 
-    
-    Version 2.0
-    
-    The primary goals of this format is to allow a simple XML format 
-    that is mostly human readable. The generation and parsing of the 
-    various data types are done through the TypeConverter classes 
-    associated with the data types.
-    
-    Example:
-    
-    ... ado.net/XML headers & schema ...
-    <resheader name="resmimetype">text/microsoft-resx</resheader>
-    <resheader name="version">2.0</resheader>
-    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
-    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
-    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
-    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
-    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
-        <value>[base64 mime encoded serialized .NET Framework object]</value>
-    </data>
-    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
-        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
-        <comment>This is a comment</comment>
-    </data>
-                
-    There are any number of "resheader" rows that contain simple 
-    name/value pairs.
-    
-    Each data row contains a name, and value. The row also contains a 
-    type or mimetype. Type corresponds to a .NET class that support 
-    text/value conversion through the TypeConverter architecture. 
-    Classes that don't support this are serialized and stored with the 
-    mimetype set.
-    
-    The mimetype is used for serialized objects, and tells the 
-    ResXResourceReader how to depersist the object. This is currently not 
-    extensible. For a given mimetype the value must be set accordingly:
-    
-    Note - application/x-microsoft.net.object.binary.base64 is the format 
-    that the ResXResourceWriter will generate, however the reader can 
-    read any of the formats listed below.
-    
-    mimetype: application/x-microsoft.net.object.binary.base64
-    value   : The object must be serialized with 
-            : System.Serialization.Formatters.Binary.BinaryFormatter
-            : and then encoded with base64 encoding.
-    
-    mimetype: application/x-microsoft.net.object.soap.base64
-    value   : The object must be serialized with 
-            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
-            : and then encoded with base64 encoding.
-
-    mimetype: application/x-microsoft.net.object.bytearray.base64
-    value   : The object must be serialized into a byte array 
-            : using a System.ComponentModel.TypeConverter
-            : and then encoded with base64 encoding.
-    -->
-  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
-    <xsd:element name="root" msdata:IsDataSet="true">
-      <xsd:complexType>
-        <xsd:choice maxOccurs="unbounded">
-          <xsd:element name="metadata">
-            <xsd:complexType>
-              <xsd:sequence>
-                <xsd:element name="value" type="xsd:string" minOccurs="0" />
-              </xsd:sequence>
-              <xsd:attribute name="name" type="xsd:string" />
-              <xsd:attribute name="type" type="xsd:string" />
-              <xsd:attribute name="mimetype" type="xsd:string" />
-            </xsd:complexType>
-          </xsd:element>
-          <xsd:element name="assembly">
-            <xsd:complexType>
-              <xsd:attribute name="alias" type="xsd:string" />
-              <xsd:attribute name="name" type="xsd:string" />
-            </xsd:complexType>
-          </xsd:element>
-          <xsd:element name="data">
-            <xsd:complexType>
-              <xsd:sequence>
-                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
-                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
-              </xsd:sequence>
-              <xsd:attribute name="name" type="xsd:string" msdata:Ordinal="1" />
-              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
-              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
-            </xsd:complexType>
-          </xsd:element>
-          <xsd:element name="resheader">
-            <xsd:complexType>
-              <xsd:sequence>
-                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
-              </xsd:sequence>
-              <xsd:attribute name="name" type="xsd:string" use="required" />
-            </xsd:complexType>
-          </xsd:element>
-        </xsd:choice>
-      </xsd:complexType>
-    </xsd:element>
-  </xsd:schema>
-  <resheader name="resmimetype">
-    <value>text/microsoft-resx</value>
-  </resheader>
-  <resheader name="version">
-    <value>2.0</value>
-  </resheader>
-  <resheader name="reader">
-    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </resheader>
-  <resheader name="writer">
-    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </resheader>
-</root>
\ No newline at end of file
diff --git a/ref/marker_generator/Properties/Settings.Designer.cs b/ref/marker_generator/Properties/Settings.Designer.cs
deleted file mode 100644
index 65d2bf39..00000000
--- a/ref/marker_generator/Properties/Settings.Designer.cs
+++ /dev/null
@@ -1,30 +0,0 @@
-//------------------------------------------------------------------------------
-// <auto-generated>
-//     This code was generated by a tool.
-//     Runtime Version:4.0.30319.18052
-//
-//     Changes to this file may cause incorrect behavior and will be lost if
-//     the code is regenerated.
-// </auto-generated>
-//------------------------------------------------------------------------------
-
-namespace EDMarker_Generator.Properties
-{
-
-
-    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
-    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "11.0.0.0")]
-    internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase
-    {
-
-        private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
-
-        public static Settings Default
-        {
-            get
-            {
-                return defaultInstance;
-            }
-        }
-    }
-}
diff --git a/ref/marker_generator/Properties/Settings.settings b/ref/marker_generator/Properties/Settings.settings
deleted file mode 100644
index 39645652..00000000
--- a/ref/marker_generator/Properties/Settings.settings
+++ /dev/null
@@ -1,7 +0,0 @@
-<?xml version='1.0' encoding='utf-8'?>
-<SettingsFile xmlns="http://schemas.microsoft.com/VisualStudio/2004/01/settings" CurrentProfile="(Default)">
-  <Profiles>
-    <Profile Name="(Default)" />
-  </Profiles>
-  <Settings />
-</SettingsFile>
diff --git a/ref/marker_generator/README.md b/ref/marker_generator/README.md
deleted file mode 100644
index 29553f33..00000000
--- a/ref/marker_generator/README.md
+++ /dev/null
@@ -1,4 +0,0 @@
-# Marker generator
-
-I was meant to port this to C++, but couldn't get around to it due to current commitments.
-You can use this project (`Form1.cs` in particular) as reference if you need to generate the markers yourself for some reason.
diff --git a/src/Decoder.cpp b/src/Decoder.cpp
index 9bebd804..89124b59 100644
--- a/src/Decoder.cpp
+++ b/src/Decoder.cpp
@@ -1,4 +1,4 @@
-#include "Decoder.h"
+#include "stag/Decoder.h"
 
 #include <fstream>
 #include <string>
diff --git a/src/Drawer.cpp b/src/Drawer.cpp
index 05270f62..aa77a06a 100644
--- a/src/Drawer.cpp
+++ b/src/Drawer.cpp
@@ -1,5 +1,5 @@
-#include "Drawer.h"
-#include "colors.h"
+#include "stag/Drawer.h"
+#include "stag/colors.h"
 
 using cv::Mat;
 using cv::Point2d;
diff --git a/src/ED/ED.cpp b/src/ED/ED.cpp
index 6339a0dc..14131c31 100644
--- a/src/ED/ED.cpp
+++ b/src/ED/ED.cpp
@@ -13,14 +13,14 @@
 
 //#include "EDDLL.h"
 
-#include "EDInternals.h"
-#include "ED.h"
-#include "ImageSmooth.h"
-#include "GradientOperators.h"
-#include "ValidateEdgeSegments.h"
-
-#include "Utilities.h"
-#include "Timer.h"
+#include "stag/ED/EDInternals.h"
+#include "stag/ED/ED.h"
+#include "stag/ED/ImageSmooth.h"
+#include "stag/ED/GradientOperators.h"
+#include "stag/ED/ValidateEdgeSegments.h"
+
+#include "stag/ED/Utilities.h"
+#include "stag/ED/Timer.h"
 
 //Burak - won't be needing this
 //#include "ImageVideoLib.h"
diff --git a/src/ED/EDInternals.cpp b/src/ED/EDInternals.cpp
index 79dff54e..83d5f9b8 100644
--- a/src/ED/EDInternals.cpp
+++ b/src/ED/EDInternals.cpp
@@ -3,7 +3,7 @@
 #include <math.h>
 #include <limits.h>
 
-#include "EDInternals.h"
+#include "stag/ED/EDInternals.h"
 
 /// Special defines
 #define EDGE_VERTICAL   1
diff --git a/src/ED/EDLines.cpp b/src/ED/EDLines.cpp
index bf216bb2..690d5077 100644
--- a/src/ED/EDLines.cpp
+++ b/src/ED/EDLines.cpp
@@ -4,16 +4,16 @@
 #include <stdio.h>
 #include <float.h>
 
-#include "EDInternals.h"
-#include "ImageSmooth.h"
-#include "GradientOperators.h"
-
-#include "ED.h"
-#include "EDLines.h"
-#include "LineSegment.h"
-#include "NFA.h"
-#include "MyMath.h"
-#include "Timer.h"
+#include "stag/ED/EDInternals.h"
+#include "stag/ED/ImageSmooth.h"
+#include "stag/ED/GradientOperators.h"
+
+#include "stag/ED/ED.h"
+#include "stag/ED/EDLines.h"
+#include "stag/ED/LineSegment.h"
+#include "stag/ED/NFA.h"
+#include "stag/ED/MyMath.h"
+#include "stag/ED/Timer.h"
 
 /** PI */
 #ifndef M_PI
diff --git a/src/ED/GradientOperators.cpp b/src/ED/GradientOperators.cpp
index d26d19d5..47c2d042 100644
--- a/src/ED/GradientOperators.cpp
+++ b/src/ED/GradientOperators.cpp
@@ -1,9 +1,9 @@
 #include <stdlib.h>
 #include <math.h>
 
-#include "GradientOperators.h"
-#include "GradientOperatorsCV.h"
-#include "Utilities.h"
+#include "stag/ED/GradientOperators.h"
+#include "stag/ED/GradientOperatorsCV.h"
+#include "stag/ED/Utilities.h"
 
 /// Special defines
 #define EDGE_VERTICAL   1
diff --git a/src/ED/ImageSmooth.cpp b/src/ED/ImageSmooth.cpp
index 32d65812..a811580e 100644
--- a/src/ED/ImageSmooth.cpp
+++ b/src/ED/ImageSmooth.cpp
@@ -5,8 +5,8 @@
 #include <opencv2/imgproc/types_c.h>
 #include <opencv2/imgproc/imgproc_c.h>
 
-#include "ImageSmooth.h"
-#include "ImageSmoothCV.h"
+#include "stag/ED/ImageSmooth.h"
+#include "stag/ED/ImageSmoothCV.h"
 
 ///----------------------------------------------------------
 /// Copy from our buffer to Ipl image buffer taking care of the alignment
diff --git a/src/ED/LineSegment.cpp b/src/ED/LineSegment.cpp
index 7b4fbc1d..5159966c 100644
--- a/src/ED/LineSegment.cpp
+++ b/src/ED/LineSegment.cpp
@@ -1,6 +1,6 @@
 #include <stdio.h>
 #include <math.h>
-#include "LineSegment.h"
+#include "stag/ED/LineSegment.h"
 
 ///------------------------------------------------------------------
 /// Rounds a double number to its closest integer part.
diff --git a/src/ED/MyMath.cpp b/src/ED/MyMath.cpp
index 6522be91..68e20303 100644
--- a/src/ED/MyMath.cpp
+++ b/src/ED/MyMath.cpp
@@ -1,5 +1,5 @@
 #include <math.h>
-#include "MyMath.h"
+#include "stag/ED/MyMath.h"
 
 #define PI 3.14159265358979323846
 
@@ -106,7 +106,7 @@ double fastsqrt (double y) {
 	tempf = y;
 	*tfptr = (0xbfcdd90a - *tfptr)>>1; /* estimate of 1/sqrt(y) */
 	x =  tempf;
-	z =  y*0.5;                        /* hoist out the �/2�    */
+	z =  y*0.5;                        /* hoist out the "/2"    */
 	x = (1.5*x) - (x*x)*(x*z);         /* iteration formula     */
 	x = (1.5*x) - (x*x)*(x*z);
 	x = (1.5*x) - (x*x)*(x*z);
diff --git a/src/ED/NFA.cpp b/src/ED/NFA.cpp
index 68d94a02..e80dfcd6 100644
--- a/src/ED/NFA.cpp
+++ b/src/ED/NFA.cpp
@@ -2,7 +2,7 @@
 #include <limits.h>
 #include <float.h>
 #include <math.h>
-#include "NFA.h"
+#include "stag/ED/NFA.h"
 
 /// nfa function prototype
 double nfa(int n, int k, double p, double logNT);
diff --git a/src/ED/Utilities.cpp b/src/ED/Utilities.cpp
index cf13f648..42c99688 100644
--- a/src/ED/Utilities.cpp
+++ b/src/ED/Utilities.cpp
@@ -12,13 +12,13 @@
 
 // Burak - commented the line below
 //#include "ImageVideoLib.h"
-#include "Timer.h"
+#include "stag/ED/Timer.h"
 
 #ifndef BUILD_MACOS
 #include <windows.h>
 #endif // DEBUG
 
-#include "Utilities.h"
+#include "stag/ED/Utilities.h"
 
 // Burak - suppresses _CRT_SECURE_NO_DEPRECATE warnings
 #pragma warning(disable : 4996)
diff --git a/src/ED/ValidateEdgeSegments.cpp b/src/ED/ValidateEdgeSegments.cpp
index f42500ac..0aa7a243 100644
--- a/src/ED/ValidateEdgeSegments.cpp
+++ b/src/ED/ValidateEdgeSegments.cpp
@@ -3,7 +3,7 @@
 #include <memory.h>
 #include <math.h>
 
-#include "ValidateEdgeSegments.h"
+#include "stag/ED/ValidateEdgeSegments.h"
 
 #define MAX_GRAD_VALUE 128*256
 
diff --git a/src/EDInterface.cpp b/src/EDInterface.cpp
index d90c740c..28383db0 100644
--- a/src/EDInterface.cpp
+++ b/src/EDInterface.cpp
@@ -1,7 +1,7 @@
 #include <algorithm>
 #include <vector>
-#include "EDInterface.h"
-#include "utility.h"
+#include "stag/EDInterface.h"
+#include "stag/utility.h"
 
 using std::vector;
 using std::max;
diff --git a/src/Ellipse.cpp b/src/Ellipse.cpp
index b5dec2cb..f141afde 100644
--- a/src/Ellipse.cpp
+++ b/src/Ellipse.cpp
@@ -7,7 +7,7 @@
 inline double FastSinHP(double x);
 inline double FastCosHP(double x);
 
-#include "Ellipse.h"
+#include "stag/Ellipse.h"
 
 #define pi 3.14159265
 #define BOOKSTEIN 0       // method1
diff --git a/src/Marker.cpp b/src/Marker.cpp
index 77701acc..ffd9583f 100644
--- a/src/Marker.cpp
+++ b/src/Marker.cpp
@@ -1,4 +1,4 @@
-#include "Marker.h"
+#include "stag/Marker.h"
 
 using cv::Point2d;
 
diff --git a/src/PoseRefiner.cpp b/src/PoseRefiner.cpp
index 64bb5964..58c7e835 100644
--- a/src/PoseRefiner.cpp
+++ b/src/PoseRefiner.cpp
@@ -1,7 +1,7 @@
 #include <numeric>
-#include "PoseRefiner.h"
-#include "Ellipse.h"
-#include "utility.h"
+#include "stag/PoseRefiner.h"
+#include "stag/Ellipse.h"
+#include "stag/utility.h"
 
 using cv::Point2d;
 using cv::Mat;
diff --git a/src/Quad.cpp b/src/Quad.cpp
index 567f9721..d276fb30 100644
--- a/src/Quad.cpp
+++ b/src/Quad.cpp
@@ -1,5 +1,5 @@
-#include "Quad.h"
-#include "utility.h"
+#include "stag/Quad.h"
+#include "stag/utility.h"
 
 using cv::Point2d;
 using cv::Point3d;
diff --git a/src/QuadDetector.cpp b/src/QuadDetector.cpp
index 3e544c40..5aa6e16e 100644
--- a/src/QuadDetector.cpp
+++ b/src/QuadDetector.cpp
@@ -2,8 +2,8 @@
 #include <algorithm>
 #include "opencv2/opencv.hpp"
 
-#include "QuadDetector.h"
-#include "utility.h"
+#include "stag/QuadDetector.h"
+#include "stag/utility.h"
 
 using cv::Point2d;
 
diff --git a/src/Stag.cpp b/src/Stag.cpp
index cc42bad7..ef45b087 100644
--- a/src/Stag.cpp
+++ b/src/Stag.cpp
@@ -1,5 +1,5 @@
-#include "Stag.h"
-#include "StagDetector.h"
+#include "stag/Stag.h"
+#include "stag/StagDetector.h"
 
 namespace {
 	void detectMarkers( const cv::Mat& image,
diff --git a/src/StagDetector.cpp b/src/StagDetector.cpp
index fed821f4..e65e6056 100644
--- a/src/StagDetector.cpp
+++ b/src/StagDetector.cpp
@@ -1,6 +1,6 @@
-#include "StagDetector.h"
-#include "Ellipse.h"
-#include "utility.h"
+#include "stag/StagDetector.h"
+#include "stag/Ellipse.h"
+#include "stag/utility.h"
 
 #define HALF_PI 1.570796326794897
 
diff --git a/src/example.cpp b/src/example.cpp
new file mode 100644
index 00000000..eabd0b0b
--- /dev/null
+++ b/src/example.cpp
@@ -0,0 +1,17 @@
+#include "opencv2/opencv.hpp"
+#include "stag/Stag.h"
+#include "stag/StagDetector.h"
+
+
+int main(int argc, char** argv)
+{
+	cv::Mat image = cv::imread("/path/to/examples/STag-HD23.jpg", cv::IMREAD_GRAYSCALE);
+
+	auto corners = std::vector<std::vector<cv::Point2f>>();
+    auto ids = std::vector<int>();
+
+    StagDetector stag(23, 9);
+
+	stag.detectMarkers(image);
+	stag.logResults("/path/to/examples/output/");
+}
diff --git a/src/utility.cpp b/src/utility.cpp
index a679ab95..2bfdc59c 100644
--- a/src/utility.cpp
+++ b/src/utility.cpp
@@ -1,4 +1,4 @@
-#include "utility.h"
+#include "stag/utility.h"
 
 using cv::Mat;
 using cv::Point2i;