diff --git a/.github/workflows/ros_workspace.yml b/.github/workflows/ros_workspace.yml
index 15fe40af..e2fbd93c 100644
--- a/.github/workflows/ros_workspace.yml
+++ b/.github/workflows/ros_workspace.yml
@@ -152,7 +152,7 @@ jobs:
           submodules: recursive
 
       - name: Setup ROS environment
-        uses: ros-tooling/setup-ros@v0.3
+        uses: ros-tooling/setup-ros@v0.4
 
       - name: ROS 1 CI Action
         if: ${{ matrix.ros_version == 1 }}
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 886edb90..982f8d76 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,10 +1,16 @@
-cmake_minimum_required(VERSION 3.1)
+cmake_minimum_required(VERSION 3.5)
 project(apriltag VERSION 3.3.0 LANGUAGES C CXX)
 
+if (MSVC)
+    add_compile_definitions("_CRT_SECURE_NO_WARNINGS")
+endif()
+
 if(POLICY CMP0077)
     cmake_policy(SET CMP0077 NEW)
 endif()
+
 option(BUILD_SHARED_LIBS "Build shared libraries" ON)
+option(BUILD_EXAMPLES "Build example binaries" ON)
 option(ASAN "Use AddressSanitizer for debug builds to detect memory issues" OFF)
 
 if (ASAN)
@@ -38,150 +44,20 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
     set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS  "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
 endif()
 
-aux_source_directory(common COMMON_SRC)
-set(APRILTAG_SRCS apriltag.c apriltag_pose.c apriltag_quad_thresh.c)
-
-# Library
-file(GLOB TAG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/tag*.c)
-add_library(${PROJECT_NAME} ${APRILTAG_SRCS} ${COMMON_SRC} ${TAG_FILES})
-
-if (MSVC)
-    add_compile_definitions("_CRT_SECURE_NO_WARNINGS")
-else()
-    find_package(Threads REQUIRED)
-    target_link_libraries(${PROJECT_NAME} PUBLIC Threads::Threads m)
-endif()
-
-set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION 3 VERSION ${PROJECT_VERSION})
-set_target_properties(${PROJECT_NAME} PROPERTIES DEBUG_POSTFIX "d")
-
-include(GNUInstallDirs)
-target_include_directories(${PROJECT_NAME} PUBLIC
-    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/>"
-    "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>"
-    "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>/apriltag")
-
-
-# install header file hierarchy
-file(GLOB HEADER_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} *.h common/*.h)
-list(REMOVE_ITEM HEADER_FILES apriltag_detect.docstring.h apriltag_py_type.docstring.h)
-
-foreach(HEADER ${HEADER_FILES})
-    string(REGEX MATCH "(.*)[/\\]" DIR ${HEADER})
-    install(FILES ${HEADER} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME}/${DIR})
-endforeach()
-
-# export library
-set(generated_dir "${CMAKE_CURRENT_BINARY_DIR}/generated")
-set(version_config "${generated_dir}/${PROJECT_NAME}ConfigVersion.cmake")
-set(project_config "${generated_dir}/${PROJECT_NAME}Config.cmake")
-set(targets_export_name "${PROJECT_NAME}Targets")
-set(config_install_dir "share/${PROJECT_NAME}/cmake")
-
-# Include module with fuction 'write_basic_package_version_file'
-include(CMakePackageConfigHelpers)
-
-# Configure '<PROJECT-NAME>Config.cmake'
-# Use variables:
-#   * targets_export_name
-#   * PROJECT_NAME
-configure_package_config_file(
-        "CMake/apriltagConfig.cmake.in"
-        "${project_config}"
-        INSTALL_DESTINATION "${config_install_dir}"
-)
+# build main library
+add_subdirectory(libs/apriltag)
 
-# Configure '<PROJECT-NAME>ConfigVersion.cmake'
-# Note: PROJECT_VERSION is used as a VERSION
-write_basic_package_version_file("${version_config}" COMPATIBILITY SameMajorVersion)
-
-
-# install library
-install(TARGETS ${PROJECT_NAME} EXPORT ${targets_export_name}
-        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
-        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
-        )
-
-install(EXPORT ${targets_export_name}
-    NAMESPACE apriltag::
-    DESTINATION ${config_install_dir})
-
-install(FILES ${project_config} ${version_config} DESTINATION ${config_install_dir})
-
-export(TARGETS apriltag
-    NAMESPACE apriltag::
-    FILE ${generated_dir}/${targets_export_name}.cmake)
-
-
-# install pkgconfig file
-configure_file(${PROJECT_NAME}.pc.in ${PROJECT_NAME}.pc @ONLY)
-install(FILES "${CMAKE_BINARY_DIR}/${PROJECT_NAME}.pc"
-        DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig")
-
-
-# Python wrapper
+## Python wrapper
 include(CMakeDependentOption)
 cmake_dependent_option(BUILD_PYTHON_WRAPPER "Builds Python wrapper" ON BUILD_SHARED_LIBS OFF)
 
 if(BUILD_PYTHON_WRAPPER)
-    SET(Python_ADDITIONAL_VERSIONS 3)
-    find_package(PythonLibs)
-    execute_process(COMMAND which python3 OUTPUT_QUIET RESULT_VARIABLE Python3_NOT_FOUND)
-    execute_process(COMMAND python3 -c "import numpy" RESULT_VARIABLE Numpy_NOT_FOUND)
-endif(BUILD_PYTHON_WRAPPER)
-
-if (NOT Python3_NOT_FOUND AND NOT Numpy_NOT_FOUND AND PYTHONLIBS_FOUND AND BUILD_PYTHON_WRAPPER)
-    # TODO deal with both python2/3
-    execute_process(COMMAND python3 ${CMAKE_CURRENT_SOURCE_DIR}/python_build_flags.py OUTPUT_VARIABLE PY_OUT)
-    set(PY_VARS CFLAGS LDFLAGS LINKER EXT_SUFFIX)
-    cmake_parse_arguments(PY "" "${PY_VARS}" "" ${PY_OUT})
-    separate_arguments(PY_CFLAGS)
-    list(REMOVE_ITEM PY_CFLAGS -flto)
-    separate_arguments(PY_LDFLAGS)
-
-    foreach(X detect py_type)
-    add_custom_command(OUTPUT ${PROJECT_BINARY_DIR}/apriltag_${X}.docstring.h
-        COMMAND < ${CMAKE_CURRENT_SOURCE_DIR}/apriltag_${X}.docstring sed 's/\"/\\\\\"/g\; s/^/\"/\; s/$$/\\\\n\"/\;' > apriltag_${X}.docstring.h
-        WORKING_DIRECTORY ${PROJECT_BINARY_DIR})
-    endforeach()
-
-    add_custom_command(OUTPUT apriltag_pywrap.o
-        COMMAND ${CMAKE_C_COMPILER} ${PY_CFLAGS} -I${PROJECT_BINARY_DIR} -c -o apriltag_pywrap.o ${CMAKE_CURRENT_SOURCE_DIR}/apriltag_pywrap.c
-        DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/apriltag_pywrap.c ${PROJECT_BINARY_DIR}/apriltag_detect.docstring.h ${PROJECT_BINARY_DIR}/apriltag_py_type.docstring.h)
-    add_custom_command(OUTPUT apriltag${PY_EXT_SUFFIX}
-        COMMAND ${PY_LINKER} ${PY_LDFLAGS} -Wl,-rpath,lib apriltag_pywrap.o $<TARGET_FILE:apriltag> -o apriltag${PY_EXT_SUFFIX}
-        DEPENDS ${PROJECT_NAME} apriltag_pywrap.o)
-    add_custom_target(apriltag_python ALL
-        DEPENDS apriltag${PY_EXT_SUFFIX})
-
-execute_process(COMMAND python3 -m site --user-site OUTPUT_VARIABLE PY_DEST)
-string(STRIP ${PY_DEST} PY_DEST)
-install(FILES ${PROJECT_BINARY_DIR}/apriltag${PY_EXT_SUFFIX} DESTINATION ${PY_DEST})
-endif (NOT Python3_NOT_FOUND AND NOT Numpy_NOT_FOUND AND PYTHONLIBS_FOUND AND BUILD_PYTHON_WRAPPER)
+    # build python wrapper
+    add_subdirectory(libs/apriltag_python)
+endif()
 
 # Examples
-# apriltag_demo
-add_executable(apriltag_demo example/apriltag_demo.c)
-target_link_libraries(apriltag_demo ${PROJECT_NAME})
-
-# opencv_demo
-set(_OpenCV_REQUIRED_COMPONENTS core imgproc videoio highgui)
-find_package(OpenCV COMPONENTS ${_OpenCV_REQUIRED_COMPONENTS} QUIET CONFIG)
-if(OpenCV_FOUND)
-    # NB: contrib required for TickMeter in OpenCV 2.4. This is only required for 16.04 backwards compatibility and can be removed in the future.
-    #     If we add it to the find_package initially, the demo won't build for newer OpenCV versions
-    if(OpenCV_VERSION VERSION_LESS "3.0.0")
-        list(APPEND _OpenCV_REQUIRED_COMPONENTS contrib)
-        find_package(OpenCV COMPONENTS ${_OpenCV_REQUIRED_COMPONENTS} CONFIG)
-    endif()
-
-    add_executable(opencv_demo example/opencv_demo.cc)
-    target_link_libraries(opencv_demo apriltag ${OpenCV_LIBRARIES})
-    set_target_properties(opencv_demo PROPERTIES CXX_STANDARD 11)
-    install(TARGETS opencv_demo RUNTIME DESTINATION bin)
-else()
-    message(STATUS "OpenCV not found: Not building demo")
-endif(OpenCV_FOUND)
-
-# install example programs
-install(TARGETS apriltag_demo RUNTIME DESTINATION bin)
+if(BUILD_EXAMPLES)
+    # build examples
+    add_subdirectory(example)
+endif()
\ No newline at end of file
diff --git a/Makefile b/Makefile
index 32574ad3..fcd3ca68 100644
--- a/Makefile
+++ b/Makefile
@@ -6,9 +6,13 @@ AR = ar
 CFLAGS = -std=gnu99 -fPIC -Wall -Wno-unused-parameter -Wno-unused-function
 CFLAGS += -I. -O3 -fno-strict-overflow
 
+ROOT := $(shell pwd)
+APRILTAG_DIR := $(ROOT)/libs/apriltag
+APRILTAG_SRC_DIR := $(APRILTAG_DIR)/src
+
 #APRILTAG_SRCS := $(shell ls *.c common/*.c)
-APRILTAG_SRCS := apriltag.c apriltag_pose.c apriltag_quad_thresh.c common/g2d.c common/getopt.c common/homography.c common/image_u8.c common/image_u8x3.c common/image_u8x4.c common/matd.c common/pam.c common/pjpeg.c common/pjpeg-idct.c common/pnm.c common/string_util.c common/svd22.c common/time_util.c common/unionfind.c common/workerpool.c common/zarray.c common/zhash.c common/zmaxheap.c tag16h5.c tag25h9.c tag36h11.c tagCircle21h7.c tagCircle49h12.c tagCustom48h12.c tagStandard41h12.c tagStandard52h13.c
-APRILTAG_HEADERS := $(shell ls *.h common/*.h)
+APRILTAG_SRCS := $(APRILTAG_SRC_DIR)/apriltag.c $(APRILTAG_SRC_DIR)/apriltag_pose.c $(APRILTAG_SRC_DIR)/apriltag_quad_thresh.c $(APRILTAG_SRC_DIR)/common/g2d.c $(APRILTAG_SRC_DIR)/common/getopt.c $(APRILTAG_SRC_DIR)/common/homography.c $(APRILTAG_SRC_DIR)/common/image_u8.c $(APRILTAG_SRC_DIR)/common/image_u8x3.c $(APRILTAG_SRC_DIR)/common/image_u8x4.c $(APRILTAG_SRC_DIR)/common/matd.c $(APRILTAG_SRC_DIR)/common/pam.c $(APRILTAG_SRC_DIR)/common/pjpeg.c $(APRILTAG_SRC_DIR)/common/pjpeg-idct.c $(APRILTAG_SRC_DIR)/common/pnm.c $(APRILTAG_SRC_DIR)/common/string_util.c $(APRILTAG_SRC_DIR)/common/svd22.c $(APRILTAG_SRC_DIR)/common/time_util.c $(APRILTAG_SRC_DIR)/common/workerpool.c $(APRILTAG_SRC_DIR)/common/zarray.c $(APRILTAG_SRC_DIR)/common/zhash.c $(APRILTAG_SRC_DIR)/common/zmaxheap.c $(APRILTAG_SRC_DIR)/tag16h5.c $(APRILTAG_SRC_DIR)/tag25h9.c $(APRILTAG_SRC_DIR)/tag36h11.c $(APRILTAG_SRC_DIR)/tagCircle21h7.c $(APRILTAG_SRC_DIR)/tagCircle49h12.c $(APRILTAG_SRC_DIR)/tagCustom48h12.c $(APRILTAG_SRC_DIR)/tagStandard41h12.c $(APRILTAG_SRC_DIR)/tagStandard52h13.c
+APRILTAG_HEADERS := $(shell ls $(APRILTAG_DIR)/include/apriltag/*.h $(APRILTAG_DIR)/include/apriltag/common/*.h)
 APRILTAG_OBJS := $(APRILTAG_SRCS:%.c=%.o)
 TARGETS := libapriltag.a libapriltag.so
 
@@ -20,7 +24,7 @@ all: $(TARGETS)
 install: libapriltag.so
 	@chmod +x install.sh
 	@./install.sh $(PREFIX)/lib libapriltag.so
-	@./install.sh $(PREFIX)/include/apriltag $(APRILTAG_HEADERS)
+	@./install.sh $(PREFIX)/ $(APRILTAG_HEADERS)
 	@ldconfig
 
 libapriltag.a: $(APRILTAG_OBJS)
@@ -37,5 +41,5 @@ libapriltag.so: $(APRILTAG_OBJS)
 
 .PHONY: clean
 clean:
-	@rm -rf *.o common/*.o $(TARGETS)
+	@rm -rf $(APRILTAG_SRC_DIR)/*.o $(APRILTAG_SRC_DIR)/common/*.o $(TARGETS)
 	@$(MAKE) -C example clean
diff --git a/README.md b/README.md
index 11fa75ac..cca437fb 100644
--- a/README.md
+++ b/README.md
@@ -15,7 +15,6 @@ AprilTag is the subject of the following papers.
 [Flexible Layouts for Fiducial Tags](https://april.eecs.umich.edu/papers/details.php?name=krogius2019iros)
 
 
-
 Usage
 =====
 [User Guide](https://github.com/AprilRobotics/apriltag/wiki/AprilTag-User-Guide)
@@ -25,7 +24,7 @@ Install
 
 Officially only Linux operating systems are supported, although users have had success installing on Windows too.
 
-The default installation will place headers in /usr/local/include and shared library in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
+The default installation will place headers in /usr/local/include and shared libraries in /usr/local/lib. It also installs a pkg-config script into /usr/local/lib/pkgconfig and will install a python wrapper if python3 is installed.
 
 ## cmake
 If you have CMake installed, then do:
diff --git a/common/unionfind.c b/common/unionfind.c
deleted file mode 100644
index ae429910..00000000
--- a/common/unionfind.c
+++ /dev/null
@@ -1,30 +0,0 @@
-/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
-All rights reserved.
-This software was developed in the APRIL Robotics Lab under the
-direction of Edwin Olson, ebolson@umich.edu. This software may be
-available under alternative licensing terms; contact the address above.
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
-2. Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-The views and conclusions contained in the software and documentation are those
-of the authors and should not be interpreted as representing official policies,
-either expressed or implied, of the Regents of The University of Michigan.
-*/
-
-#include "unionfind.h"
-#include <stdlib.h>
-#include <assert.h>
diff --git a/example/CMakeLists.txt b/example/CMakeLists.txt
new file mode 100644
index 00000000..79eeeb65
--- /dev/null
+++ b/example/CMakeLists.txt
@@ -0,0 +1,34 @@
+## Build Examples
+
+### Note
+# apriltag targets are in the same build tree so can be used directly without installation 
+# or including the build-generated apriltagsTargets.cmake file 
+#
+# Typical usage would be to build and *install* the apriltag libraries and then, for your project use
+#       find_package(apriltag REQUIRED)
+#       target_link_libraries(my_application PRIVATE apriltag::detector apriltag::utils apriltag::tags)
+
+# apriltag_demo
+add_executable(apriltag_demo apriltag_demo.c)
+target_link_libraries(apriltag_demo PRIVATE apriltag-detector apriltag-utils apriltag-tags)
+
+set(_OpenCV_REQUIRED_COMPONENTS core imgproc videoio highgui)
+find_package(OpenCV COMPONENTS ${_OpenCV_REQUIRED_COMPONENTS} QUIET CONFIG)
+if(OpenCV_FOUND)
+    # NB: contrib required for TickMeter in OpenCV 2.4. This is only required for 16.04 backwards compatibility and can be removed in the future.
+    #     If we add it to the find_package initially, the demo won't build for newer OpenCV versions
+    if(OpenCV_VERSION VERSION_LESS "3.0.0")
+        list(APPEND _OpenCV_REQUIRED_COMPONENTS contrib)
+        find_package(OpenCV COMPONENTS ${_OpenCV_REQUIRED_COMPONENTS} CONFIG)
+    endif()
+
+    add_executable(opencv_demo opencv_demo.cc)
+    target_link_libraries(opencv_demo apriltag-detector apriltag-tags apriltag-utils ${OpenCV_LIBRARIES})
+    set_target_properties(opencv_demo PROPERTIES CXX_STANDARD 11)
+    install(TARGETS opencv_demo RUNTIME DESTINATION bin)
+else()
+    message(STATUS "OpenCV not found: Not building demo")
+endif(OpenCV_FOUND)
+
+# install example programs
+install(TARGETS apriltag_demo RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
\ No newline at end of file
diff --git a/example/apriltag_demo.c b/example/apriltag_demo.c
index 6de90540..273f0212 100644
--- a/example/apriltag_demo.c
+++ b/example/apriltag_demo.c
@@ -41,20 +41,20 @@ either expressed or implied, of the Regents of The University of Michigan.
     #include <unistd.h>
 #endif
 
-#include "apriltag.h"
-#include "tag36h11.h"
-#include "tag25h9.h"
-#include "tag16h5.h"
-#include "tagCircle21h7.h"
-#include "tagCircle49h12.h"
-#include "tagCustom48h12.h"
-#include "tagStandard41h12.h"
-#include "tagStandard52h13.h"
-
-#include "common/getopt.h"
-#include "common/image_u8.h"
-#include "common/pjpeg.h"
-#include "common/zarray.h"
+#include "apriltag/apriltag.h"
+#include "apriltag/tag36h11.h"
+#include "apriltag/tag25h9.h"
+#include "apriltag/tag16h5.h"
+#include "apriltag/tagCircle21h7.h"
+#include "apriltag/tagCircle49h12.h"
+#include "apriltag/tagCustom48h12.h"
+#include "apriltag/tagStandard41h12.h"
+#include "apriltag/tagStandard52h13.h"
+
+#include "apriltag/common/getopt.h"
+#include "apriltag/common/image_u8.h"
+#include "apriltag/common/pjpeg.h"
+#include "apriltag/common/zarray.h"
 
 #define  HAMM_HIST_MAX 10
 
diff --git a/example/opencv_demo.cc b/example/opencv_demo.cc
index b43a46eb..856563de 100644
--- a/example/opencv_demo.cc
+++ b/example/opencv_demo.cc
@@ -31,16 +31,16 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include "opencv2/opencv.hpp"
 
 extern "C" {
-#include "apriltag.h"
-#include "tag36h11.h"
-#include "tag25h9.h"
-#include "tag16h5.h"
-#include "tagCircle21h7.h"
-#include "tagCircle49h12.h"
-#include "tagCustom48h12.h"
-#include "tagStandard41h12.h"
-#include "tagStandard52h13.h"
-#include "common/getopt.h"
+#include "apriltag/apriltag.h"
+#include "apriltag/tag36h11.h"
+#include "apriltag/tag25h9.h"
+#include "apriltag/tag16h5.h"
+#include "apriltag/tagCircle21h7.h"
+#include "apriltag/tagCircle49h12.h"
+#include "apriltag/tagCustom48h12.h"
+#include "apriltag/tagStandard41h12.h"
+#include "apriltag/tagStandard52h13.h"
+#include "apriltag/common/getopt.h"
 }
 
 using namespace std;
diff --git a/CMake/apriltagConfig.cmake.in b/libs/apriltag/CMake/apriltagConfig.cmake.in
similarity index 100%
rename from CMake/apriltagConfig.cmake.in
rename to libs/apriltag/CMake/apriltagConfig.cmake.in
diff --git a/libs/apriltag/CMake/apriltagHelperFunctions.cmake b/libs/apriltag/CMake/apriltagHelperFunctions.cmake
new file mode 100644
index 00000000..cec8884f
--- /dev/null
+++ b/libs/apriltag/CMake/apriltagHelperFunctions.cmake
@@ -0,0 +1,28 @@
+# Helper Functions
+function(set_apriltag_lib_property_defaults target_name)
+    set_target_properties(${target_name} PROPERTIES SOVERSION 3 VERSION ${PROJECT_VERSION})
+    set_target_properties(${target_name} PROPERTIES DEBUG_POSTFIX "d")
+    set_target_properties(${target_name} PROPERTIES POSITION_INDEPENDENT_CODE ON)
+endfunction()
+
+function(set_apriltag_named_exports_only target_name)
+    set_target_properties(${target_name} PROPERTIES 
+        C_VISIBILITY_PRESET hidden 
+        CXX_VISIBILITY_PRESET hidden
+        VISIBILITY_INLINES_HIDDEN ON
+        WINDOWS_EXPORT_ALL_SYMBOLS OFF
+        # multiple libs sharing same auto-generated header so override default to use apriltag_EXPORTS
+        DEFINE_SYMBOL apriltag_EXPORTS
+    )
+endfunction()
+
+function(set_apriltag_export_all target_name)
+    set_target_properties(${target_name} PROPERTIES 
+        C_VISIBILITY_PRESET default 
+        CXX_VISIBILITY_PRESET default
+        VISIBILITY_INLINES_HIDDEN OFF
+        WINDOWS_EXPORT_ALL_SYMBOLS ON
+        # multiple libs sharing same auto-generated header so override default to use apriltag_EXPORTS
+        DEFINE_SYMBOL apriltag_EXPORTS
+    )
+endfunction()
\ No newline at end of file
diff --git a/libs/apriltag/CMakeLists.txt b/libs/apriltag/CMakeLists.txt
new file mode 100644
index 00000000..b4e18406
--- /dev/null
+++ b/libs/apriltag/CMakeLists.txt
@@ -0,0 +1,298 @@
+include(GNUInstallDirs)
+include(GenerateExportHeader)
+include(CMake/apriltagHelperFunctions.cmake)
+
+### Build Apriltag Libraries
+## The following targets are built
+##      apriltag-detector (Apriltag's core functionality with only API functions exported)
+##      apriltag-tags (Apriltag's tag libraries)
+##      apriltag-<tag_family_name> e.g apriltag-tagStandard41h12 (Individual libraries for each tag family)
+##      apriltag-utils (Utility functions used in the examples)
+##      apriltag *(Legacy build with all functionality (detector, tags, utils) exported)
+
+### Notes
+# CMake Object Libraries are used where possible to minimize repeat compilation of common code
+# *except* where object libraries would break the export definitions, especially on Windows 
+# (https://gitlab.kitware.com/cmake/cmake/-/issues/20057)
+# CMake Interface targets are used to share properties with other targets
+
+set(HEADERS_DIR ${CMAKE_CURRENT_SOURCE_DIR}/include)
+set(HEADERS_COMMON_DIR ${HEADERS_DIR}/apriltag/common)
+
+# Common Souce
+
+set(HEADERS_COMMON
+    ${HEADERS_COMMON_DIR}/debug_print.h
+    ${HEADERS_COMMON_DIR}/image_types.h
+    ${HEADERS_COMMON_DIR}/image_u8.h
+    ${HEADERS_COMMON_DIR}/image_u8x3.h
+    ${HEADERS_COMMON_DIR}/math_util.h
+    ${HEADERS_COMMON_DIR}/pnm.h
+    ${HEADERS_COMMON_DIR}/time_util.h
+    ${HEADERS_COMMON_DIR}/zarray.h
+)
+
+set(SRC_COMMON
+    src/common/image_u8.c
+    src/common/image_u8x3.c
+    src/common/pnm.c
+    src/common/time_util.c
+)
+
+add_library(common OBJECT  ${SRC_COMMON} ${HEADERS_COMMON})
+
+set_target_properties(common PROPERTIES POSITION_INDEPENDENT_CODE ON)
+set_apriltag_export_all(common)
+target_include_directories(common 
+    PUBLIC
+        "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME}>"
+        "$<BUILD_INTERFACE:${HEADERS_DIR}>"
+)
+
+# includes interface target 
+# used to overcome object libraries not passing on their include_dirs
+add_library(${PROJECT_NAME}-include INTERFACE)
+
+target_include_directories(${PROJECT_NAME}-include
+   INTERFACE
+   "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>/${PROJECT_NAME}"
+   "$<BUILD_INTERFACE:${HEADERS_DIR}>"
+   # include cmake-generated apriltag_export.h
+   "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>"
+)
+
+set_target_properties(${PROJECT_NAME}-include PROPERTIES EXPORT_NAME includes)
+
+# Use interface targets to manage dependencies for different targets
+add_library(${PROJECT_NAME}-link-libs INTERFACE)
+add_library(${PROJECT_NAME}-utils-link-libs INTERFACE)
+if (MSVC)
+    add_compile_definitions("_CRT_SECURE_NO_WARNINGS")
+else()
+    find_package(Threads REQUIRED)
+    target_link_libraries(${PROJECT_NAME}-link-libs INTERFACE Threads::Threads m)
+    target_link_libraries(${PROJECT_NAME}-utils-link-libs INTERFACE m)
+endif()
+
+# Detector Library
+set(HEADERS_DETECTOR_DIR ${CMAKE_CURRENT_SOURCE_DIR}/include/apriltag)
+
+set(HEADERS_DETECTOR
+    ${HEADERS_DETECTOR_DIR}/apriltag.h
+    ${HEADERS_DETECTOR_DIR}/apriltag_pose.h
+    ${HEADERS_DETECTOR_DIR}/common/g2d.h
+    ${HEADERS_DETECTOR_DIR}/common/homography.h
+    ${HEADERS_DETECTOR_DIR}/common/matd.h
+    ${HEADERS_DETECTOR_DIR}/common/postscript_utils.h
+    ${HEADERS_DETECTOR_DIR}/common/pthreads_cross.h
+    ${HEADERS_DETECTOR_DIR}/common/svd22.h
+    ${HEADERS_DETECTOR_DIR}/common/timeprofile.h
+    ${HEADERS_DETECTOR_DIR}/common/unionfind.h
+    ${HEADERS_DETECTOR_DIR}/common/workerpool.h
+    ${HEADERS_DETECTOR_DIR}/common/zmaxheap.h
+)
+
+SET(SRC_DETECTOR
+    src/apriltag.c 
+    src/apriltag_pose.c 
+    src/apriltag_quad_thresh.c
+    src/common/g2d.c
+    src/common/homography.c
+    src/common/matd.c
+    src/common/pthreads_cross.cpp
+    src/common/svd22.c
+    src/common/workerpool.c
+    src/common/zmaxheap.c
+    ${HEADERS_DETECTOR}
+)
+
+add_library(${PROJECT_NAME}-detector 
+    ${SRC_COMMON}
+    ${SRC_DETECTOR}
+    ${HEADERS_COMMON}
+    ${HEADERS_DETECTOR}
+)
+
+target_link_libraries(${PROJECT_NAME}-detector 
+    PUBLIC
+        ${PROJECT_NAME}-include 
+        ${PROJECT_NAME}-link-libs
+)
+
+set_apriltag_lib_property_defaults(${PROJECT_NAME}-detector)
+set_apriltag_named_exports_only(${PROJECT_NAME}-detector)
+set_target_properties(${PROJECT_NAME}-detector PROPERTIES EXPORT_NAME detector)
+# auto generate headers used for all libs here - ensure this call after
+# set_apriltag_named_exports_only() as that fn overrides DEFINE_SYMBOL
+generate_export_header(${PROJECT_NAME}-detector BASE_NAME apriltag)
+
+# Tag Family Libraries
+set(TAG_FAMILIES
+    tag16h5
+    tag25h9
+    tag36h10
+    tag36h11
+    tagCircle21h7
+    tagCircle49h12
+    tagCustom48h12
+    tagStandard41h12
+    tagStandard52h13
+)
+
+set(TARGETS_TAGS "")
+set(HEADERS_TAGS "")
+set(SRC_TAGS "")
+
+foreach(TAG_FAMILY ${TAG_FAMILIES})
+    # for each tag family
+    set(TAG_FAMILY_HEADER ${HEADERS_DETECTOR_DIR}/${TAG_FAMILY}.h)
+    set(TAG_FAMILY_SRC src/${TAG_FAMILY}.c)
+
+    set(TAG_TARGET ${PROJECT_NAME}-${TAG_FAMILY})
+
+    # create Tag-Family object target
+    add_library(${TAG_TARGET} ${TAG_FAMILY_SRC} ${TAG_FAMILY_HEADER})
+    set_apriltag_lib_property_defaults(${TAG_TARGET})
+    set_apriltag_named_exports_only(${TAG_TARGET})
+    set_target_properties(${TAG_TARGET} PROPERTIES EXPORT_NAME ${TAG_FAMILY})
+    target_link_libraries(${TAG_TARGET} PUBLIC ${PROJECT_NAME}-include)
+
+    LIST(APPEND TARGETS_TAGS ${TAG_TARGET})
+    LIST(APPEND HEADERS_TAGS ${TAG_FAMILY_HEADER})
+    LIST(APPEND SRC_TAGS ${TAG_FAMILY_SRC})
+endforeach()
+
+# All-Tag-Families library
+add_library(${PROJECT_NAME}-tags ${SRC_TAGS} ${SRC_HEADERS})
+
+set_target_properties(${PROJECT_NAME}-tags PROPERTIES EXPORT_NAME tags)
+set_apriltag_lib_property_defaults(${PROJECT_NAME}-tags)
+set_apriltag_named_exports_only(${PROJECT_NAME}-tags)
+target_link_libraries(${PROJECT_NAME}-tags PUBLIC ${PROJECT_NAME}-include)
+
+# Utils Library
+add_library(utils-object OBJECT)
+
+set_target_properties(utils-object PROPERTIES POSITION_INDEPENDENT_CODE ON)
+set_apriltag_export_all(utils-object)
+target_include_directories(utils-object PRIVATE "$<TARGET_PROPERTY:common,INTERFACE_INCLUDE_DIRECTORIES>")
+
+set(HEADERS_UTIL
+    ${HEADERS_COMMON_DIR}/getopt.h
+    ${HEADERS_COMMON_DIR}/image_u8x4.h
+    ${HEADERS_COMMON_DIR}/pam.h
+    ${HEADERS_COMMON_DIR}/pjpeg.h
+    ${HEADERS_COMMON_DIR}/string_util.h
+    ${HEADERS_COMMON_DIR}/zhash.h
+)
+
+target_sources(utils-object 
+    PRIVATE
+        src/common/string_util.c
+        src/common/pjpeg-idct.c
+        src/common/pjpeg.c
+        src/common/image_u8x4.c
+        src/common/getopt.c
+        src/common/pam.c
+        src/common/zhash.c
+        src/common/zarray.c
+        ${HEADERS_UTIL}
+)
+
+add_library(${PROJECT_NAME}-utils "$<TARGET_OBJECTS:utils-object>" "$<TARGET_OBJECTS:common>")
+
+set_apriltag_lib_property_defaults(${PROJECT_NAME}-utils)
+set_apriltag_export_all(${PROJECT_NAME}-utils)
+set_target_properties(${PROJECT_NAME}-utils PROPERTIES EXPORT_NAME utils)
+target_link_libraries(${PROJECT_NAME}-utils 
+    PUBLIC 
+        ${PROJECT_NAME}-include
+        ${PROJECT_NAME}-utils-link-libs
+)
+
+# install library header file hierarchy
+install(DIRECTORY ${HEADERS_DIR}/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+
+#install apriltag_exports.h
+install(FILES "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/apriltag_export.h>" DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME}/)
+
+# Combined Apriltag Library to support legacy builds
+add_library(${PROJECT_NAME} 
+        ${SRC_DETECTOR}
+        ${SRC_TAGS}
+        ${HEADERS_DETECTOR}
+        ${HEADERS_TAGS}
+        "$<TARGET_OBJECTS:utils-object>"
+        "$<TARGET_OBJECTS:common>"
+)
+
+target_link_libraries(${PROJECT_NAME} 
+    PUBLIC
+    ${PROJECT_NAME}-include
+    ${PROJECT_NAME}-link-libs
+    ${PROJECT_NAME}-utils-link-libs
+)
+
+set_apriltag_lib_property_defaults(${PROJECT_NAME})
+set_apriltag_export_all(${PROJECT_NAME})
+
+# export library
+set(generated_dir ${CMAKE_CURRENT_BINARY_DIR}/generated)
+set(version_config ${generated_dir}/${PROJECT_NAME}ConfigVersion.cmake)
+set(project_config ${generated_dir}/${PROJECT_NAME}Config.cmake)
+set(targets_export_name ${PROJECT_NAME}Targets)
+set(config_install_dir share/${PROJECT_NAME}/cmake)
+
+# Include module with fuction 'write_basic_package_version_file'
+include(CMakePackageConfigHelpers)
+
+# Configure '<PROJECT-NAME>Config.cmake'
+# Use variables:
+#   * targets_export_name
+#   * PROJECT_NAME
+configure_package_config_file(
+        "CMake/apriltagConfig.cmake.in"
+        "${project_config}"
+        INSTALL_DESTINATION "${config_install_dir}"
+)
+
+# Configure '<PROJECT-NAME>ConfigVersion.cmake'
+# Note: PROJECT_VERSION is used as a VERSION
+write_basic_package_version_file("${version_config}" COMPATIBILITY SameMajorVersion)
+
+
+set(APRILTAG_INSTALL_TARGETS
+    ${PROJECT_NAME}-include
+    ${PROJECT_NAME}-link-libs
+    ${PROJECT_NAME}-utils-link-libs
+    ${PROJECT_NAME}-detector
+    ${PROJECT_NAME}-tags
+    ${TARGETS_TAGS}
+    ${PROJECT_NAME}-utils
+    ${PROJECT_NAME}
+)
+
+# install library
+install(TARGETS ${APRILTAG_INSTALL_TARGETS} EXPORT ${targets_export_name}
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+        INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+)
+
+install(EXPORT ${targets_export_name}
+    NAMESPACE apriltag::
+    DESTINATION ${config_install_dir})
+
+install(FILES ${project_config} ${version_config} DESTINATION ${config_install_dir})
+
+export(TARGETS ${APRILTAG_INSTALL_TARGETS}
+    NAMESPACE apriltag::
+    FILE ${generated_dir}/${targets_export_name}.cmake
+)
+
+# install pkgconfig file
+configure_file(${PROJECT_NAME}.pc.in ${PROJECT_NAME}.pc @ONLY)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.pc
+        DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig
+)
\ No newline at end of file
diff --git a/apriltag.pc.in b/libs/apriltag/apriltag.pc.in
similarity index 100%
rename from apriltag.pc.in
rename to libs/apriltag/apriltag.pc.in
diff --git a/apriltag.h b/libs/apriltag/include/apriltag/apriltag.h
similarity index 88%
rename from apriltag.h
rename to libs/apriltag/include/apriltag/apriltag.h
index 2d772cda..f0cb36d5 100644
--- a/apriltag.h
+++ b/libs/apriltag/include/apriltag/apriltag.h
@@ -40,6 +40,8 @@ extern "C" {
 #include "common/timeprofile.h"
 #include "common/pthreads_cross.h"
 
+#include "apriltag_export.h"
+
 #define APRILTAG_TASKS_PER_THREAD_TARGET 10
 
 struct quad
@@ -231,45 +233,45 @@ struct apriltag_detection
 };
 
 // don't forget to add a family!
-apriltag_detector_t *apriltag_detector_create();
+APRILTAG_EXPORT apriltag_detector_t *apriltag_detector_create();
 
 // add a family to the apriltag detector. caller still "owns" the family.
 // a single instance should only be provided to one apriltag detector instance.
-void apriltag_detector_add_family_bits(apriltag_detector_t *td, apriltag_family_t *fam, int bits_corrected);
+APRILTAG_EXPORT void apriltag_detector_add_family_bits(apriltag_detector_t *td, apriltag_family_t *fam, int bits_corrected);
 
-// Tunable, but really, 2 is a good choice. Values of >=3
-// consume prohibitively large amounts of memory, and otherwise
-// you want the largest value possible.
-static inline void apriltag_detector_add_family(apriltag_detector_t *td, apriltag_family_t *fam)
-{
-    apriltag_detector_add_family_bits(td, fam, 2);
-}
+APRILTAG_EXPORT void apriltag_detector_add_family(apriltag_detector_t *td, apriltag_family_t *fam);
 
 // does not deallocate the family.
-void apriltag_detector_remove_family(apriltag_detector_t *td, apriltag_family_t *fam);
+APRILTAG_EXPORT void apriltag_detector_remove_family(apriltag_detector_t *td, apriltag_family_t *fam);
 
 // unregister all families, but does not deallocate the underlying tag family objects.
-void apriltag_detector_clear_families(apriltag_detector_t *td);
+APRILTAG_EXPORT void apriltag_detector_clear_families(apriltag_detector_t *td);
 
 // Destroy the april tag detector (but not the underlying
 // apriltag_family_t used to initialize it.)
-void apriltag_detector_destroy(apriltag_detector_t *td);
+APRILTAG_EXPORT void apriltag_detector_destroy(apriltag_detector_t *td);
 
 // Detect tags from an image and return an array of
 // apriltag_detection_t*. You can use apriltag_detections_destroy to
 // free the array and the detections it contains, or call
 // _detection_destroy and zarray_destroy yourself.
-zarray_t *apriltag_detector_detect(apriltag_detector_t *td, image_u8_t *im_orig);
+APRILTAG_EXPORT zarray_t *apriltag_detector_detect(apriltag_detector_t *td, image_u8_t *im_orig);
 
 // Call this method on each of the tags returned by apriltag_detector_detect
-void apriltag_detection_destroy(apriltag_detection_t *det);
+APRILTAG_EXPORT void apriltag_detection_destroy(apriltag_detection_t *det);
 
 // destroys the array AND the detections within it.
-void apriltag_detections_destroy(zarray_t *detections);
+APRILTAG_EXPORT void apriltag_detections_destroy(zarray_t *detections);
 
 // Renders the apriltag.
 // Caller is responsible for calling image_u8_destroy on the image
-image_u8_t *apriltag_to_image(apriltag_family_t *fam, int idx);
+APRILTAG_EXPORT image_u8_t *apriltag_to_image(apriltag_family_t *fam, unsigned int idx);
+
+// Add exported calls to allow image to be destroyed
+APRILTAG_EXPORT void apriltag_image_destroy(image_u8_t * im);
+
+// Add exported calls to allow image to be written to pnm file
+APRILTAG_EXPORT int apriltag_image_write_pnm(image_u8_t * im, const char* path);
 
 #ifdef __cplusplus
 }
diff --git a/apriltag_pose.h b/libs/apriltag/include/apriltag/apriltag_pose.h
similarity index 95%
rename from apriltag_pose.h
rename to libs/apriltag/include/apriltag/apriltag_pose.h
index 7ef55656..0c16bb5b 100644
--- a/apriltag_pose.h
+++ b/libs/apriltag/include/apriltag/apriltag_pose.h
@@ -4,9 +4,7 @@
 extern "C" {
 #endif
 
-
 #include "apriltag.h"
-#include "common/matd.h"
 
 typedef struct {
     apriltag_detection_t* det;
@@ -67,7 +65,7 @@ void estimate_tag_pose_orthogonal_iteration(
  * @outparam pose 
  * @return Object-space error of returned pose.
  */
-double estimate_tag_pose(apriltag_detection_info_t* info, apriltag_pose_t* pose);
+APRILTAG_EXPORT double estimate_tag_pose(apriltag_detection_info_t* info, apriltag_pose_t* pose);
 
 #ifdef __cplusplus
 }
diff --git a/common/debug_print.h b/libs/apriltag/include/apriltag/common/debug_print.h
similarity index 100%
rename from common/debug_print.h
rename to libs/apriltag/include/apriltag/common/debug_print.h
diff --git a/common/g2d.h b/libs/apriltag/include/apriltag/common/g2d.h
similarity index 100%
rename from common/g2d.h
rename to libs/apriltag/include/apriltag/common/g2d.h
diff --git a/common/getopt.h b/libs/apriltag/include/apriltag/common/getopt.h
similarity index 100%
rename from common/getopt.h
rename to libs/apriltag/include/apriltag/common/getopt.h
diff --git a/common/homography.h b/libs/apriltag/include/apriltag/common/homography.h
similarity index 100%
rename from common/homography.h
rename to libs/apriltag/include/apriltag/common/homography.h
diff --git a/common/image_types.h b/libs/apriltag/include/apriltag/common/image_types.h
similarity index 100%
rename from common/image_types.h
rename to libs/apriltag/include/apriltag/common/image_types.h
diff --git a/common/image_u8.h b/libs/apriltag/include/apriltag/common/image_u8.h
similarity index 100%
rename from common/image_u8.h
rename to libs/apriltag/include/apriltag/common/image_u8.h
diff --git a/common/image_u8x3.h b/libs/apriltag/include/apriltag/common/image_u8x3.h
similarity index 100%
rename from common/image_u8x3.h
rename to libs/apriltag/include/apriltag/common/image_u8x3.h
diff --git a/common/image_u8x4.h b/libs/apriltag/include/apriltag/common/image_u8x4.h
similarity index 100%
rename from common/image_u8x4.h
rename to libs/apriltag/include/apriltag/common/image_u8x4.h
diff --git a/common/matd.h b/libs/apriltag/include/apriltag/common/matd.h
similarity index 100%
rename from common/matd.h
rename to libs/apriltag/include/apriltag/common/matd.h
diff --git a/common/math_util.h b/libs/apriltag/include/apriltag/common/math_util.h
similarity index 100%
rename from common/math_util.h
rename to libs/apriltag/include/apriltag/common/math_util.h
diff --git a/common/pam.h b/libs/apriltag/include/apriltag/common/pam.h
similarity index 100%
rename from common/pam.h
rename to libs/apriltag/include/apriltag/common/pam.h
diff --git a/common/pjpeg.h b/libs/apriltag/include/apriltag/common/pjpeg.h
similarity index 100%
rename from common/pjpeg.h
rename to libs/apriltag/include/apriltag/common/pjpeg.h
diff --git a/common/pnm.h b/libs/apriltag/include/apriltag/common/pnm.h
similarity index 100%
rename from common/pnm.h
rename to libs/apriltag/include/apriltag/common/pnm.h
diff --git a/common/postscript_utils.h b/libs/apriltag/include/apriltag/common/postscript_utils.h
similarity index 100%
rename from common/postscript_utils.h
rename to libs/apriltag/include/apriltag/common/postscript_utils.h
diff --git a/common/pthreads_cross.h b/libs/apriltag/include/apriltag/common/pthreads_cross.h
similarity index 97%
rename from common/pthreads_cross.h
rename to libs/apriltag/include/apriltag/common/pthreads_cross.h
index 897a3335..779091df 100644
--- a/common/pthreads_cross.h
+++ b/libs/apriltag/include/apriltag/common/pthreads_cross.h
@@ -1,81 +1,81 @@
-/**
-Copyright John Schember <john@nachtimwald.com>
-
-Permission is hereby granted, free of charge, to any person obtaining a copy of
-this software and associated documentation files (the "Software"), to deal in
-the Software without restriction, including without limitation the rights to
-use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
-of the Software, and to permit persons to whom the Software is furnished to do
-so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-*/
-
-#ifndef __CPTHREAD_H__
-#define __CPTHREAD_H__
-
-#ifdef _WIN32
-#include <stdbool.h>
-#include <windows.h>
-#else
-#include <pthread.h>
-#include <sched.h>
-#endif
-
-#ifdef _WIN32
-
-typedef CRITICAL_SECTION pthread_mutex_t;
-typedef void pthread_mutexattr_t;
-typedef void pthread_attr_t;
-typedef void pthread_condattr_t;
-typedef void pthread_rwlockattr_t;
-typedef HANDLE pthread_t;
-typedef CONDITION_VARIABLE pthread_cond_t;
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-int pthread_create(pthread_t *thread, pthread_attr_t *attr, void *(*start_routine)(void *), void *arg);
-int pthread_join(pthread_t thread, void **value_ptr);
-int pthread_detach(pthread_t);
-
-int pthread_mutex_init(pthread_mutex_t *mutex, pthread_mutexattr_t *attr);
-int pthread_mutex_destroy(pthread_mutex_t *mutex);
-int pthread_mutex_lock(pthread_mutex_t *mutex);
-int pthread_mutex_unlock(pthread_mutex_t *mutex);
-
-int pthread_cond_init(pthread_cond_t *cond, pthread_condattr_t *attr);
-int pthread_cond_destroy(pthread_cond_t *cond);
-int pthread_cond_wait(pthread_cond_t *cond, pthread_mutex_t *mutex);
-int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex, const struct timespec *abstime);
-int pthread_cond_signal(pthread_cond_t *cond);
-int pthread_cond_broadcast(pthread_cond_t *cond);
-
-int sched_yield(void);
-#ifdef __cplusplus
-}
-#endif
-#endif
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-unsigned int pcthread_get_num_procs();
-
-void ms_to_timespec(struct timespec *ts, unsigned int ms);
-unsigned int timespec_to_ms(const struct timespec *abstime);
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __CPTHREAD_H__ */
+/**
+Copyright John Schember <john@nachtimwald.com>
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+of the Software, and to permit persons to whom the Software is furnished to do
+so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+#ifndef __CPTHREAD_H__
+#define __CPTHREAD_H__
+
+#ifdef _WIN32
+#include <stdbool.h>
+#include <windows.h>
+#else
+#include <pthread.h>
+#include <sched.h>
+#endif
+
+#ifdef _WIN32
+
+typedef CRITICAL_SECTION pthread_mutex_t;
+typedef void pthread_mutexattr_t;
+typedef void pthread_attr_t;
+typedef void pthread_condattr_t;
+typedef void pthread_rwlockattr_t;
+typedef HANDLE pthread_t;
+typedef CONDITION_VARIABLE pthread_cond_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+int pthread_create(pthread_t *thread, pthread_attr_t *attr, void *(*start_routine)(void *), void *arg);
+int pthread_join(pthread_t thread, void **value_ptr);
+int pthread_detach(pthread_t);
+
+int pthread_mutex_init(pthread_mutex_t *mutex, pthread_mutexattr_t *attr);
+int pthread_mutex_destroy(pthread_mutex_t *mutex);
+int pthread_mutex_lock(pthread_mutex_t *mutex);
+int pthread_mutex_unlock(pthread_mutex_t *mutex);
+
+int pthread_cond_init(pthread_cond_t *cond, pthread_condattr_t *attr);
+int pthread_cond_destroy(pthread_cond_t *cond);
+int pthread_cond_wait(pthread_cond_t *cond, pthread_mutex_t *mutex);
+int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex, const struct timespec *abstime);
+int pthread_cond_signal(pthread_cond_t *cond);
+int pthread_cond_broadcast(pthread_cond_t *cond);
+
+int sched_yield(void);
+#ifdef __cplusplus
+}
+#endif
+#endif
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+unsigned int pcthread_get_num_procs();
+
+void ms_to_timespec(struct timespec *ts, unsigned int ms);
+unsigned int timespec_to_ms(const struct timespec *abstime);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CPTHREAD_H__ */
diff --git a/common/string_util.h b/libs/apriltag/include/apriltag/common/string_util.h
similarity index 100%
rename from common/string_util.h
rename to libs/apriltag/include/apriltag/common/string_util.h
diff --git a/common/svd22.h b/libs/apriltag/include/apriltag/common/svd22.h
similarity index 100%
rename from common/svd22.h
rename to libs/apriltag/include/apriltag/common/svd22.h
diff --git a/common/time_util.h b/libs/apriltag/include/apriltag/common/time_util.h
similarity index 100%
rename from common/time_util.h
rename to libs/apriltag/include/apriltag/common/time_util.h
diff --git a/common/timeprofile.h b/libs/apriltag/include/apriltag/common/timeprofile.h
similarity index 100%
rename from common/timeprofile.h
rename to libs/apriltag/include/apriltag/common/timeprofile.h
diff --git a/common/unionfind.h b/libs/apriltag/include/apriltag/common/unionfind.h
similarity index 100%
rename from common/unionfind.h
rename to libs/apriltag/include/apriltag/common/unionfind.h
diff --git a/common/workerpool.h b/libs/apriltag/include/apriltag/common/workerpool.h
similarity index 100%
rename from common/workerpool.h
rename to libs/apriltag/include/apriltag/common/workerpool.h
diff --git a/common/zarray.h b/libs/apriltag/include/apriltag/common/zarray.h
similarity index 100%
rename from common/zarray.h
rename to libs/apriltag/include/apriltag/common/zarray.h
diff --git a/common/zhash.h b/libs/apriltag/include/apriltag/common/zhash.h
similarity index 100%
rename from common/zhash.h
rename to libs/apriltag/include/apriltag/common/zhash.h
diff --git a/common/zmaxheap.h b/libs/apriltag/include/apriltag/common/zmaxheap.h
similarity index 100%
rename from common/zmaxheap.h
rename to libs/apriltag/include/apriltag/common/zmaxheap.h
diff --git a/tag16h5.h b/libs/apriltag/include/apriltag/tag16h5.h
similarity index 94%
rename from tag16h5.h
rename to libs/apriltag/include/apriltag/tag16h5.h
index d868c818..068f36ea 100644
--- a/tag16h5.h
+++ b/libs/apriltag/include/apriltag/tag16h5.h
@@ -34,8 +34,8 @@ either expressed or implied, of the Regents of The University of Michigan.
 extern "C" {
 #endif
 
-apriltag_family_t *tag16h5_create();
-void tag16h5_destroy(apriltag_family_t *tf);
+APRILTAG_EXPORT apriltag_family_t *tag16h5_create();
+APRILTAG_EXPORT void tag16h5_destroy(apriltag_family_t *tf);
 
 #ifdef __cplusplus
 }
diff --git a/tag25h9.h b/libs/apriltag/include/apriltag/tag25h9.h
similarity index 94%
rename from tag25h9.h
rename to libs/apriltag/include/apriltag/tag25h9.h
index 9197c8b3..834bfa3b 100644
--- a/tag25h9.h
+++ b/libs/apriltag/include/apriltag/tag25h9.h
@@ -34,8 +34,8 @@ either expressed or implied, of the Regents of The University of Michigan.
 extern "C" {
 #endif
 
-apriltag_family_t *tag25h9_create();
-void tag25h9_destroy(apriltag_family_t *tf);
+APRILTAG_EXPORT apriltag_family_t *tag25h9_create();
+APRILTAG_EXPORT void tag25h9_destroy(apriltag_family_t *tf);
 
 #ifdef __cplusplus
 }
diff --git a/tag36h10.h b/libs/apriltag/include/apriltag/tag36h10.h
similarity index 94%
rename from tag36h10.h
rename to libs/apriltag/include/apriltag/tag36h10.h
index a60ae6c5..0f125ae3 100644
--- a/tag36h10.h
+++ b/libs/apriltag/include/apriltag/tag36h10.h
@@ -34,8 +34,8 @@ either expressed or implied, of the Regents of The University of Michigan.
 extern "C" {
 #endif
 
-apriltag_family_t *tag36h10_create();
-void tag36h10_destroy(apriltag_family_t *tf);
+APRILTAG_EXPORT apriltag_family_t *tag36h10_create();
+APRILTAG_EXPORT void tag36h10_destroy(apriltag_family_t *tf);
 
 #ifdef __cplusplus
 }
diff --git a/tag36h11.h b/libs/apriltag/include/apriltag/tag36h11.h
similarity index 94%
rename from tag36h11.h
rename to libs/apriltag/include/apriltag/tag36h11.h
index 62038782..1cb5ab0e 100644
--- a/tag36h11.h
+++ b/libs/apriltag/include/apriltag/tag36h11.h
@@ -34,8 +34,8 @@ either expressed or implied, of the Regents of The University of Michigan.
 extern "C" {
 #endif
 
-apriltag_family_t *tag36h11_create();
-void tag36h11_destroy(apriltag_family_t *tf);
+APRILTAG_EXPORT apriltag_family_t *tag36h11_create();
+APRILTAG_EXPORT void tag36h11_destroy(apriltag_family_t *tf);
 
 #ifdef __cplusplus
 }
diff --git a/tagCircle21h7.h b/libs/apriltag/include/apriltag/tagCircle21h7.h
similarity index 93%
rename from tagCircle21h7.h
rename to libs/apriltag/include/apriltag/tagCircle21h7.h
index a051db64..e58af0a8 100644
--- a/tagCircle21h7.h
+++ b/libs/apriltag/include/apriltag/tagCircle21h7.h
@@ -34,8 +34,8 @@ either expressed or implied, of the Regents of The University of Michigan.
 extern "C" {
 #endif
 
-apriltag_family_t *tagCircle21h7_create();
-void tagCircle21h7_destroy(apriltag_family_t *tf);
+APRILTAG_EXPORT apriltag_family_t *tagCircle21h7_create();
+APRILTAG_EXPORT void tagCircle21h7_destroy(apriltag_family_t *tf);
 
 #ifdef __cplusplus
 }
diff --git a/tagCircle49h12.h b/libs/apriltag/include/apriltag/tagCircle49h12.h
similarity index 93%
rename from tagCircle49h12.h
rename to libs/apriltag/include/apriltag/tagCircle49h12.h
index 4b4c0846..e922b039 100644
--- a/tagCircle49h12.h
+++ b/libs/apriltag/include/apriltag/tagCircle49h12.h
@@ -34,8 +34,8 @@ either expressed or implied, of the Regents of The University of Michigan.
 extern "C" {
 #endif
 
-apriltag_family_t *tagCircle49h12_create();
-void tagCircle49h12_destroy(apriltag_family_t *tf);
+APRILTAG_EXPORT apriltag_family_t *tagCircle49h12_create();
+APRILTAG_EXPORT void tagCircle49h12_destroy(apriltag_family_t *tf);
 
 #ifdef __cplusplus
 }
diff --git a/tagCustom48h12.h b/libs/apriltag/include/apriltag/tagCustom48h12.h
similarity index 93%
rename from tagCustom48h12.h
rename to libs/apriltag/include/apriltag/tagCustom48h12.h
index 564a98a6..a749266b 100644
--- a/tagCustom48h12.h
+++ b/libs/apriltag/include/apriltag/tagCustom48h12.h
@@ -34,8 +34,8 @@ either expressed or implied, of the Regents of The University of Michigan.
 extern "C" {
 #endif
 
-apriltag_family_t *tagCustom48h12_create();
-void tagCustom48h12_destroy(apriltag_family_t *tf);
+APRILTAG_EXPORT apriltag_family_t *tagCustom48h12_create();
+APRILTAG_EXPORT void tagCustom48h12_destroy(apriltag_family_t *tf);
 
 #ifdef __cplusplus
 }
diff --git a/tagStandard41h12.h b/libs/apriltag/include/apriltag/tagStandard41h12.h
similarity index 93%
rename from tagStandard41h12.h
rename to libs/apriltag/include/apriltag/tagStandard41h12.h
index 7f2c33b2..d8c7130b 100644
--- a/tagStandard41h12.h
+++ b/libs/apriltag/include/apriltag/tagStandard41h12.h
@@ -34,8 +34,8 @@ either expressed or implied, of the Regents of The University of Michigan.
 extern "C" {
 #endif
 
-apriltag_family_t *tagStandard41h12_create();
-void tagStandard41h12_destroy(apriltag_family_t *tf);
+APRILTAG_EXPORT apriltag_family_t *tagStandard41h12_create();
+APRILTAG_EXPORT void tagStandard41h12_destroy(apriltag_family_t *tf);
 
 #ifdef __cplusplus
 }
diff --git a/tagStandard52h13.h b/libs/apriltag/include/apriltag/tagStandard52h13.h
similarity index 93%
rename from tagStandard52h13.h
rename to libs/apriltag/include/apriltag/tagStandard52h13.h
index aeeb8e3e..168d5f7d 100644
--- a/tagStandard52h13.h
+++ b/libs/apriltag/include/apriltag/tagStandard52h13.h
@@ -34,8 +34,8 @@ either expressed or implied, of the Regents of The University of Michigan.
 extern "C" {
 #endif
 
-apriltag_family_t *tagStandard52h13_create();
-void tagStandard52h13_destroy(apriltag_family_t *tf);
+APRILTAG_EXPORT apriltag_family_t *tagStandard52h13_create();
+APRILTAG_EXPORT void tagStandard52h13_destroy(apriltag_family_t *tf);
 
 #ifdef __cplusplus
 }
diff --git a/apriltag.c b/libs/apriltag/src/apriltag.c
similarity index 97%
rename from apriltag.c
rename to libs/apriltag/src/apriltag.c
index 30862288..86cafc5c 100644
--- a/apriltag.c
+++ b/libs/apriltag/src/apriltag.c
@@ -30,7 +30,7 @@ of the authors and should not be interpreted as representing official policies,
 either expressed or implied, of the Regents of The University of Michigan.
 */
 
-#include "apriltag.h"
+#include "apriltag/apriltag.h"
 
 #include <math.h>
 #include <assert.h>
@@ -39,20 +39,19 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include <stdio.h>
 #include <errno.h>
 
-#include "common/image_u8.h"
-#include "common/image_u8x3.h"
-#include "common/zarray.h"
-#include "common/matd.h"
-#include "common/homography.h"
-#include "common/timeprofile.h"
-#include "common/math_util.h"
-#include "common/g2d.h"
-#include "common/debug_print.h"
+#include "apriltag/common/image_u8.h"
+#include "apriltag/common/image_u8x3.h"
+#include "apriltag/common/zarray.h"
+#include "apriltag/common/matd.h"
+#include "apriltag/common/homography.h"
+#include "apriltag/common/timeprofile.h"
+#include "apriltag/common/math_util.h"
+#include "apriltag/common/g2d.h"
+#include "apriltag/common/debug_print.h"
+#include "apriltag/common/postscript_utils.h"
 
 #include "apriltag_math.h"
 
-#include "common/postscript_utils.h"
-
 #ifndef M_PI
 # define M_PI 3.141592653589793238462643383279502884196
 #endif
@@ -344,6 +343,14 @@ void apriltag_detector_add_family_bits(apriltag_detector_t *td, apriltag_family_
         quick_decode_init(fam, bits_corrected);
 }
 
+void apriltag_detector_add_family(apriltag_detector_t *td, apriltag_family_t *fam)
+{
+    // Tunable, but really, 2 is a good choice. Values of >=3
+    // consume prohibitively large amounts of memory, and otherwise
+    // you want the largest value possible.
+    apriltag_detector_add_family_bits(td, fam, 2);
+}
+
 void apriltag_detector_clear_families(apriltag_detector_t *td)
 {
     for (int i = 0; i < zarray_size(td->tag_families); i++) {
@@ -1424,14 +1431,17 @@ void apriltag_detections_destroy(zarray_t *detections)
     zarray_destroy(detections);
 }
 
-image_u8_t *apriltag_to_image(apriltag_family_t *fam, int idx)
+image_u8_t *apriltag_to_image(apriltag_family_t *fam, unsigned int idx)
 {
-    assert(fam != NULL);
-    assert(idx >= 0 && idx < fam->ncodes);
+    image_u8_t *im = NULL;
+
+    if(fam == NULL || idx >= fam->ncodes){
+        return im;
+    }
 
     uint64_t code = fam->codes[idx];
 
-    image_u8_t *im = image_u8_create(fam->total_width, fam->total_width);
+    im = image_u8_create(fam->total_width, fam->total_width);
 
     int white_border_width = fam->width_at_border + (fam->reversed_border ? 0 : 2);
     int white_border_start = (fam->total_width - white_border_width)/2;
@@ -1451,3 +1461,11 @@ image_u8_t *apriltag_to_image(apriltag_family_t *fam, int idx)
     }
     return im;
 }
+
+void apriltag_image_destroy(image_u8_t * im){
+    image_u8_destroy(im);
+}
+
+int apriltag_image_write_pnm(image_u8_t * im, const char* path){
+    return image_u8_write_pnm(im,path);
+}
\ No newline at end of file
diff --git a/apriltag_math.h b/libs/apriltag/src/apriltag_math.h
similarity index 100%
rename from apriltag_math.h
rename to libs/apriltag/src/apriltag_math.h
diff --git a/apriltag_pose.c b/libs/apriltag/src/apriltag_pose.c
similarity index 99%
rename from apriltag_pose.c
rename to libs/apriltag/src/apriltag_pose.c
index 6043cb85..79dd5c18 100644
--- a/apriltag_pose.c
+++ b/libs/apriltag/src/apriltag_pose.c
@@ -1,9 +1,9 @@
 #include <math.h>
 #include <stdio.h>
 
-#include "common/debug_print.h"
-#include "apriltag_pose.h"
-#include "common/homography.h"
+#include "apriltag/apriltag_pose.h"
+#include "apriltag/common/debug_print.h"
+#include "apriltag/common/homography.h"
 
 
 /**
diff --git a/apriltag_quad_thresh.c b/libs/apriltag/src/apriltag_quad_thresh.c
similarity index 99%
rename from apriltag_quad_thresh.c
rename to libs/apriltag/src/apriltag_quad_thresh.c
index 3317a50c..3a1dfa2f 100644
--- a/apriltag_quad_thresh.c
+++ b/libs/apriltag/src/apriltag_quad_thresh.c
@@ -34,14 +34,14 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include <stdio.h>
 #include <stdint.h>
 
-#include "apriltag.h"
-#include "common/image_u8x3.h"
-#include "common/zarray.h"
-#include "common/unionfind.h"
-#include "common/timeprofile.h"
-#include "common/zmaxheap.h"
-#include "common/postscript_utils.h"
-#include "common/math_util.h"
+#include "apriltag/apriltag.h"
+#include "apriltag/common/image_u8x3.h"
+#include "apriltag/common/zarray.h"
+#include "apriltag/common/unionfind.h"
+#include "apriltag/common/timeprofile.h"
+#include "apriltag/common/zmaxheap.h"
+#include "apriltag/common/postscript_utils.h"
+#include "apriltag/common/math_util.h"
 
 #ifdef _WIN32
 static inline long int random(void)
diff --git a/common/doubles.h b/libs/apriltag/src/common/doubles.h
similarity index 97%
rename from common/doubles.h
rename to libs/apriltag/src/common/doubles.h
index fd5fc829..1cb2bc15 100644
--- a/common/doubles.h
+++ b/libs/apriltag/src/common/doubles.h
@@ -28,5 +28,5 @@ either expressed or implied, of the Regents of The University of Michigan.
 #pragma once
 
 #define TNAME double
-#include "doubles_floats_impl.h"
+#include "common/doubles_floats_impl.h"
 #undef TNAME
diff --git a/common/doubles_floats_impl.h b/libs/apriltag/src/common/doubles_floats_impl.h
similarity index 99%
rename from common/doubles_floats_impl.h
rename to libs/apriltag/src/common/doubles_floats_impl.h
index 1817e083..49dec55b 100644
--- a/common/doubles_floats_impl.h
+++ b/libs/apriltag/src/common/doubles_floats_impl.h
@@ -30,8 +30,8 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include <string.h>
 #include <float.h>
 
-#include "matd.h"
-#include "math_util.h"
+#include "common/matd.h"
+#include "common/math_util.h"
 
 // XXX Write unit tests for me!
 // XXX Rewrite matd_coords in terms of this.
diff --git a/common/floats.h b/libs/apriltag/src/common/floats.h
similarity index 97%
rename from common/floats.h
rename to libs/apriltag/src/common/floats.h
index 22f839fa..ee3bc533 100644
--- a/common/floats.h
+++ b/libs/apriltag/src/common/floats.h
@@ -28,5 +28,5 @@ either expressed or implied, of the Regents of The University of Michigan.
 #pragma once
 
 #define TNAME float
-#include "doubles_floats_impl.h"
+#include "common/doubles_floats_impl.h"
 #undef TNAME
diff --git a/common/g2d.c b/libs/apriltag/src/common/g2d.c
similarity index 99%
rename from common/g2d.c
rename to libs/apriltag/src/common/g2d.c
index 4645f206..d2bf09c2 100644
--- a/common/g2d.c
+++ b/libs/apriltag/src/common/g2d.c
@@ -30,8 +30,8 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include <stdio.h>
 #include <string.h>
 
-#include "g2d.h"
-#include "common/math_util.h"
+#include "apriltag/common/g2d.h"
+#include "apriltag/common/math_util.h"
 
 #ifdef _WIN32
 static inline long int random(void)
diff --git a/common/getopt.c b/libs/apriltag/src/common/getopt.c
similarity index 99%
rename from common/getopt.c
rename to libs/apriltag/src/common/getopt.c
index e6450897..80319f5d 100644
--- a/common/getopt.c
+++ b/libs/apriltag/src/common/getopt.c
@@ -32,10 +32,10 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include <ctype.h>
 #include <errno.h>
 
-#include "zhash.h"
-#include "zarray.h"
-#include "getopt.h"
-#include "common/math_util.h"
+#include "apriltag/common/zhash.h"
+#include "apriltag/common/zarray.h"
+#include "apriltag/common/getopt.h"
+#include "apriltag/common/math_util.h"
 
 #define GOO_BOOL_TYPE 1
 #define GOO_STRING_TYPE 2
diff --git a/common/homography.c b/libs/apriltag/src/common/homography.c
similarity index 99%
rename from common/homography.c
rename to libs/apriltag/src/common/homography.c
index 48e7f02d..704152e8 100644
--- a/common/homography.c
+++ b/libs/apriltag/src/common/homography.c
@@ -27,10 +27,10 @@ either expressed or implied, of the Regents of The University of Michigan.
 
 #include <math.h>
 
-#include "common/matd.h"
-#include "common/zarray.h"
-#include "common/homography.h"
-#include "common/math_util.h"
+#include "apriltag/common/matd.h"
+#include "apriltag/common/zarray.h"
+#include "apriltag/common/homography.h"
+#include "apriltag/common/math_util.h"
 
 // correspondences is a list of float[4]s, consisting of the points x
 // and y concatenated. We will compute a homography such that y = Hx
diff --git a/common/image_u8.c b/libs/apriltag/src/common/image_u8.c
similarity index 99%
rename from common/image_u8.c
rename to libs/apriltag/src/common/image_u8.c
index eef6c046..1f06c948 100644
--- a/common/image_u8.c
+++ b/libs/apriltag/src/common/image_u8.c
@@ -31,9 +31,9 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include <string.h>
 #include <math.h>
 
-#include "common/image_u8.h"
-#include "common/pnm.h"
-#include "common/math_util.h"
+#include "apriltag/common/image_u8.h"
+#include "apriltag/common/pnm.h"
+#include "apriltag/common/math_util.h"
 
 // least common multiple of 64 (sandy bridge cache line) and 24 (stride
 // needed for RGB in 8-wide vector processing)
@@ -202,7 +202,7 @@ int image_u8_write_pnm(const image_u8_t *im, const char *path)
     FILE *f = fopen(path, "wb");
     int res = 0;
 
-    if (f == NULL) {
+    if (f == NULL || im == NULL) {
         res = -1;
         goto finish;
     }
diff --git a/common/image_u8x3.c b/libs/apriltag/src/common/image_u8x3.c
similarity index 98%
rename from common/image_u8x3.c
rename to libs/apriltag/src/common/image_u8x3.c
index 1463e5f1..13ff9c3d 100644
--- a/common/image_u8x3.c
+++ b/libs/apriltag/src/common/image_u8x3.c
@@ -31,10 +31,9 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include <string.h>
 #include <math.h>
 
-#include "math_util.h"
-#include "pnm.h"
-
-#include "image_u8x3.h"
+#include "apriltag/common/image_u8x3.h"
+#include "apriltag/common/math_util.h"
+#include "apriltag/common/pnm.h"
 
 // least common multiple of 64 (sandy bridge cache line) and 48 (stride needed
 // for 16byte-wide RGB processing). (It's possible that 48 would be enough).
diff --git a/common/image_u8x4.c b/libs/apriltag/src/common/image_u8x4.c
similarity index 98%
rename from common/image_u8x4.c
rename to libs/apriltag/src/common/image_u8x4.c
index 35205374..4e8aa812 100644
--- a/common/image_u8x4.c
+++ b/libs/apriltag/src/common/image_u8x4.c
@@ -30,9 +30,9 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include <stdlib.h>
 #include <string.h>
 
-#include "pam.h"
-#include "pnm.h"
-#include "image_u8x4.h"
+#include "apriltag/common/pam.h"
+#include "apriltag/common/pnm.h"
+#include "apriltag/common/image_u8x4.h"
 
 // least common multiple of 64 (sandy bridge cache line) and 64 (stride needed
 // for 16byte-wide RGBA processing).
diff --git a/common/matd.c b/libs/apriltag/src/common/matd.c
similarity index 99%
rename from common/matd.c
rename to libs/apriltag/src/common/matd.c
index 54449d9f..22924114 100644
--- a/common/matd.c
+++ b/libs/apriltag/src/common/matd.c
@@ -33,10 +33,10 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include <math.h>
 #include <float.h>
 
-#include "common/math_util.h"
-#include "common/svd22.h"
-#include "common/matd.h"
-#include "common/debug_print.h"
+#include "apriltag/common/math_util.h"
+#include "apriltag/common/svd22.h"
+#include "apriltag/common/matd.h"
+#include "apriltag/common/debug_print.h"
 
 // a matd_t with rows=0 cols=0 is a SCALAR.
 
diff --git a/common/pam.c b/libs/apriltag/src/common/pam.c
similarity index 99%
rename from common/pam.c
rename to libs/apriltag/src/common/pam.c
index 2076d396..c827591b 100644
--- a/common/pam.c
+++ b/libs/apriltag/src/common/pam.c
@@ -30,7 +30,7 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include <stdlib.h>
 #include <assert.h>
 
-#include "pam.h"
+#include "apriltag/common/pam.h"
 
 pam_t *pam_create_from_file(const char *inpath)
 {
diff --git a/common/pjpeg-idct.c b/libs/apriltag/src/common/pjpeg-idct.c
similarity index 100%
rename from common/pjpeg-idct.c
rename to libs/apriltag/src/common/pjpeg-idct.c
diff --git a/common/pjpeg.c b/libs/apriltag/src/common/pjpeg.c
similarity index 99%
rename from common/pjpeg.c
rename to libs/apriltag/src/common/pjpeg.c
index acc61f07..3c622b38 100644
--- a/common/pjpeg.c
+++ b/libs/apriltag/src/common/pjpeg.c
@@ -31,11 +31,11 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include <stdint.h>
 #include <string.h>
 
-#include "pjpeg.h"
+#include "apriltag/common/pjpeg.h"
 
-#include "image_u8.h"
-#include "image_u8x3.h"
-#include "debug_print.h"
+#include "apriltag/common/image_u8.h"
+#include "apriltag/common/image_u8x3.h"
+#include "apriltag/common/debug_print.h"
 
 // https://www.w3.org/Graphics/JPEG/itu-t81.pdf
 
diff --git a/common/pnm.c b/libs/apriltag/src/common/pnm.c
similarity index 99%
rename from common/pnm.c
rename to libs/apriltag/src/common/pnm.c
index fe77dde6..72936792 100644
--- a/common/pnm.c
+++ b/libs/apriltag/src/common/pnm.c
@@ -29,7 +29,7 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include <stdio.h>
 #include <stdlib.h>
 
-#include "pnm.h"
+#include "apriltag/common/pnm.h"
 
 pnm_t *pnm_create_from_file(const char *path)
 {
diff --git a/common/pthreads_cross.cpp b/libs/apriltag/src/common/pthreads_cross.cpp
similarity index 95%
rename from common/pthreads_cross.cpp
rename to libs/apriltag/src/common/pthreads_cross.cpp
index f7721912..2fa2c752 100644
--- a/common/pthreads_cross.cpp
+++ b/libs/apriltag/src/common/pthreads_cross.cpp
@@ -1,259 +1,259 @@
-/**
-Copyright John Schember <john@nachtimwald.com>
-
-Permission is hereby granted, free of charge, to any person obtaining a copy of
-this software and associated documentation files (the "Software"), to deal in
-the Software without restriction, including without limitation the rights to
-use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
-of the Software, and to permit persons to whom the Software is furnished to do
-so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
- */
-
-#include "common/pthreads_cross.h"
-#include <time.h>
-
-#ifdef _WIN32
-
-typedef struct {
-    SRWLOCK lock;
-    bool    exclusive;
-} pthread_rwlock_t;
-
-int pthread_rwlock_init(pthread_rwlock_t *rwlock, const pthread_rwlockattr_t *attr);
-int pthread_rwlock_destroy(pthread_rwlock_t *rwlock);
-int pthread_rwlock_rdlock(pthread_rwlock_t *rwlock);
-int pthread_rwlock_tryrdlock(pthread_rwlock_t *rwlock);
-int pthread_rwlock_wrlock(pthread_rwlock_t *rwlock);
-int pthread_rwlock_trywrlock(pthread_rwlock_t  *rwlock);
-int pthread_rwlock_unlock(pthread_rwlock_t *rwlock);
-
-int pthread_create(pthread_t *thread, pthread_attr_t *attr, void *(*start_routine)(void *), void *arg)
-{
-    (void) attr;
-
-    if (thread == NULL || start_routine == NULL)
-        return 1;
-
-    *thread = (HANDLE) CreateThread(NULL, 0, (LPTHREAD_START_ROUTINE)start_routine, arg, 0, NULL);
-    if (*thread == NULL)
-        return 1;
-    return 0;
-}
-
-int pthread_join(pthread_t thread, void **value_ptr)
-{
-    (void)value_ptr;
-    WaitForSingleObject(thread, INFINITE);
-    CloseHandle(thread);
-    return 0;
-}
-
-int pthread_detach(pthread_t thread)
-{
-    CloseHandle(thread);
-    return 0;
-}
-
-int pthread_mutex_init(pthread_mutex_t *mutex, pthread_mutexattr_t *attr)
-{
-    (void)attr;
-
-    if (mutex == NULL)
-        return 1;
-
-    InitializeCriticalSection(mutex);
-    return 0;
-}
-
-int pthread_mutex_destroy(pthread_mutex_t *mutex)
-{
-    if (mutex == NULL)
-        return 1;
-    DeleteCriticalSection(mutex);
-    return 0;
-}
-
-int pthread_mutex_lock(pthread_mutex_t *mutex)
-{
-    if (mutex == NULL)
-        return 1;
-    EnterCriticalSection(mutex);
-    return 0;
-}
-
-int pthread_mutex_unlock(pthread_mutex_t *mutex)
-{
-    if (mutex == NULL)
-        return 1;
-    LeaveCriticalSection(mutex);
-    return 0;
-}
-
-int pthread_cond_init(pthread_cond_t *cond, pthread_condattr_t *attr)
-{
-    (void)attr;
-    if (cond == NULL)
-        return 1;
-    InitializeConditionVariable(cond);
-    return 0;
-}
-
-int pthread_cond_destroy(pthread_cond_t *cond)
-{
-    /* Windows does not have a destroy for conditionals */
-    (void)cond;
-    return 0;
-}
-
-int pthread_cond_wait(pthread_cond_t *cond, pthread_mutex_t *mutex)
-{
-    if (cond == NULL || mutex == NULL)
-        return 1;
-    return pthread_cond_timedwait(cond, mutex, NULL);
-}
-
-int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex,
-        const struct timespec *abstime)
-{
-    if (cond == NULL || mutex == NULL)
-        return 1;
-    if (!SleepConditionVariableCS(cond, mutex, timespec_to_ms(abstime)))
-        return 1;
-    return 0;
-}
-
-int pthread_cond_signal(pthread_cond_t *cond)
-{
-    if (cond == NULL)
-        return 1;
-    WakeConditionVariable(cond);
-    return 0;
-}
-
-int pthread_cond_broadcast(pthread_cond_t *cond)
-{
-    if (cond == NULL)
-        return 1;
-    WakeAllConditionVariable(cond);
-    return 0;
-}
-
-int pthread_rwlock_init(pthread_rwlock_t *rwlock, const pthread_rwlockattr_t *attr)
-{
-    (void)attr;
-    if (rwlock == NULL)
-        return 1;
-    InitializeSRWLock(&(rwlock->lock));
-    rwlock->exclusive = false;
-    return 0;
-}
-
-int pthread_rwlock_destroy(pthread_rwlock_t *rwlock)
-{
-    (void)rwlock;
-    return 0;
-}
-
-int pthread_rwlock_rdlock(pthread_rwlock_t *rwlock)
-{
-    if (rwlock == NULL)
-        return 1;
-    AcquireSRWLockShared(&(rwlock->lock));
-    return 0;
-}
-
-int pthread_rwlock_tryrdlock(pthread_rwlock_t *rwlock)
-{
-    if (rwlock == NULL)
-        return 1;
-    return !TryAcquireSRWLockShared(&(rwlock->lock));
-}
-
-int pthread_rwlock_wrlock(pthread_rwlock_t *rwlock)
-{
-    if (rwlock == NULL)
-        return 1;
-    AcquireSRWLockExclusive(&(rwlock->lock));
-    rwlock->exclusive = true;
-    return 0;
-}
-
-int pthread_rwlock_trywrlock(pthread_rwlock_t  *rwlock)
-{
-    BOOLEAN ret;
-
-    if (rwlock == NULL)
-        return 1;
-
-    ret = TryAcquireSRWLockExclusive(&(rwlock->lock));
-    if (ret)
-        rwlock->exclusive = true;
-    return ret;
-}
-
-int pthread_rwlock_unlock(pthread_rwlock_t *rwlock)
-{
-    if (rwlock == NULL)
-        return 1;
-
-    if (rwlock->exclusive) {
-        rwlock->exclusive = false;
-        ReleaseSRWLockExclusive(&(rwlock->lock));
-    } else {
-        ReleaseSRWLockShared(&(rwlock->lock));
-    }
-    return 0;
-}
-
-int sched_yield() {
-    return (int)SwitchToThread();
-}
-
-void ms_to_timespec(struct timespec *ts, unsigned int ms)
-{
-    if (ts == NULL)
-        return;
-    ts->tv_sec = (ms / 1000) + time(NULL);
-    ts->tv_nsec = (ms % 1000) * 1000000;
-}
-
-unsigned int timespec_to_ms(const struct timespec *abstime)
-{
-    DWORD t;
-
-    if (abstime == NULL)
-        return INFINITE;
-
-    t = ((abstime->tv_sec - time(NULL)) * 1000) + (abstime->tv_nsec / 1000000);
-    if (t < 0)
-        t = 1;
-    return t;
-}
-
-unsigned int pcthread_get_num_procs()
-{
-    SYSTEM_INFO sysinfo;
-
-    GetSystemInfo(&sysinfo);
-    return sysinfo.dwNumberOfProcessors;
-}
-
-#else
-
-#include <unistd.h>
-unsigned int pcthread_get_num_procs()
-{
-    return (unsigned int)sysconf(_SC_NPROCESSORS_ONLN);
-}
-#endif
+/**
+Copyright John Schember <john@nachtimwald.com>
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+of the Software, and to permit persons to whom the Software is furnished to do
+so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+ */
+
+#include "apriltag/common/pthreads_cross.h"
+#include <time.h>
+
+#ifdef _WIN32
+
+typedef struct {
+    SRWLOCK lock;
+    bool    exclusive;
+} pthread_rwlock_t;
+
+int pthread_rwlock_init(pthread_rwlock_t *rwlock, const pthread_rwlockattr_t *attr);
+int pthread_rwlock_destroy(pthread_rwlock_t *rwlock);
+int pthread_rwlock_rdlock(pthread_rwlock_t *rwlock);
+int pthread_rwlock_tryrdlock(pthread_rwlock_t *rwlock);
+int pthread_rwlock_wrlock(pthread_rwlock_t *rwlock);
+int pthread_rwlock_trywrlock(pthread_rwlock_t  *rwlock);
+int pthread_rwlock_unlock(pthread_rwlock_t *rwlock);
+
+int pthread_create(pthread_t *thread, pthread_attr_t *attr, void *(*start_routine)(void *), void *arg)
+{
+    (void) attr;
+
+    if (thread == NULL || start_routine == NULL)
+        return 1;
+
+    *thread = (HANDLE) CreateThread(NULL, 0, (LPTHREAD_START_ROUTINE)start_routine, arg, 0, NULL);
+    if (*thread == NULL)
+        return 1;
+    return 0;
+}
+
+int pthread_join(pthread_t thread, void **value_ptr)
+{
+    (void)value_ptr;
+    WaitForSingleObject(thread, INFINITE);
+    CloseHandle(thread);
+    return 0;
+}
+
+int pthread_detach(pthread_t thread)
+{
+    CloseHandle(thread);
+    return 0;
+}
+
+int pthread_mutex_init(pthread_mutex_t *mutex, pthread_mutexattr_t *attr)
+{
+    (void)attr;
+
+    if (mutex == NULL)
+        return 1;
+
+    InitializeCriticalSection(mutex);
+    return 0;
+}
+
+int pthread_mutex_destroy(pthread_mutex_t *mutex)
+{
+    if (mutex == NULL)
+        return 1;
+    DeleteCriticalSection(mutex);
+    return 0;
+}
+
+int pthread_mutex_lock(pthread_mutex_t *mutex)
+{
+    if (mutex == NULL)
+        return 1;
+    EnterCriticalSection(mutex);
+    return 0;
+}
+
+int pthread_mutex_unlock(pthread_mutex_t *mutex)
+{
+    if (mutex == NULL)
+        return 1;
+    LeaveCriticalSection(mutex);
+    return 0;
+}
+
+int pthread_cond_init(pthread_cond_t *cond, pthread_condattr_t *attr)
+{
+    (void)attr;
+    if (cond == NULL)
+        return 1;
+    InitializeConditionVariable(cond);
+    return 0;
+}
+
+int pthread_cond_destroy(pthread_cond_t *cond)
+{
+    /* Windows does not have a destroy for conditionals */
+    (void)cond;
+    return 0;
+}
+
+int pthread_cond_wait(pthread_cond_t *cond, pthread_mutex_t *mutex)
+{
+    if (cond == NULL || mutex == NULL)
+        return 1;
+    return pthread_cond_timedwait(cond, mutex, NULL);
+}
+
+int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex,
+        const struct timespec *abstime)
+{
+    if (cond == NULL || mutex == NULL)
+        return 1;
+    if (!SleepConditionVariableCS(cond, mutex, timespec_to_ms(abstime)))
+        return 1;
+    return 0;
+}
+
+int pthread_cond_signal(pthread_cond_t *cond)
+{
+    if (cond == NULL)
+        return 1;
+    WakeConditionVariable(cond);
+    return 0;
+}
+
+int pthread_cond_broadcast(pthread_cond_t *cond)
+{
+    if (cond == NULL)
+        return 1;
+    WakeAllConditionVariable(cond);
+    return 0;
+}
+
+int pthread_rwlock_init(pthread_rwlock_t *rwlock, const pthread_rwlockattr_t *attr)
+{
+    (void)attr;
+    if (rwlock == NULL)
+        return 1;
+    InitializeSRWLock(&(rwlock->lock));
+    rwlock->exclusive = false;
+    return 0;
+}
+
+int pthread_rwlock_destroy(pthread_rwlock_t *rwlock)
+{
+    (void)rwlock;
+    return 0;
+}
+
+int pthread_rwlock_rdlock(pthread_rwlock_t *rwlock)
+{
+    if (rwlock == NULL)
+        return 1;
+    AcquireSRWLockShared(&(rwlock->lock));
+    return 0;
+}
+
+int pthread_rwlock_tryrdlock(pthread_rwlock_t *rwlock)
+{
+    if (rwlock == NULL)
+        return 1;
+    return !TryAcquireSRWLockShared(&(rwlock->lock));
+}
+
+int pthread_rwlock_wrlock(pthread_rwlock_t *rwlock)
+{
+    if (rwlock == NULL)
+        return 1;
+    AcquireSRWLockExclusive(&(rwlock->lock));
+    rwlock->exclusive = true;
+    return 0;
+}
+
+int pthread_rwlock_trywrlock(pthread_rwlock_t  *rwlock)
+{
+    BOOLEAN ret;
+
+    if (rwlock == NULL)
+        return 1;
+
+    ret = TryAcquireSRWLockExclusive(&(rwlock->lock));
+    if (ret)
+        rwlock->exclusive = true;
+    return ret;
+}
+
+int pthread_rwlock_unlock(pthread_rwlock_t *rwlock)
+{
+    if (rwlock == NULL)
+        return 1;
+
+    if (rwlock->exclusive) {
+        rwlock->exclusive = false;
+        ReleaseSRWLockExclusive(&(rwlock->lock));
+    } else {
+        ReleaseSRWLockShared(&(rwlock->lock));
+    }
+    return 0;
+}
+
+int sched_yield() {
+    return (int)SwitchToThread();
+}
+
+void ms_to_timespec(struct timespec *ts, unsigned int ms)
+{
+    if (ts == NULL)
+        return;
+    ts->tv_sec = (ms / 1000) + time(NULL);
+    ts->tv_nsec = (ms % 1000) * 1000000;
+}
+
+unsigned int timespec_to_ms(const struct timespec *abstime)
+{
+    DWORD t;
+
+    if (abstime == NULL)
+        return INFINITE;
+
+    t = ((abstime->tv_sec - time(NULL)) * 1000) + (abstime->tv_nsec / 1000000);
+    if (t < 0)
+        t = 1;
+    return t;
+}
+
+unsigned int pcthread_get_num_procs()
+{
+    SYSTEM_INFO sysinfo;
+
+    GetSystemInfo(&sysinfo);
+    return sysinfo.dwNumberOfProcessors;
+}
+
+#else
+
+#include <unistd.h>
+unsigned int pcthread_get_num_procs()
+{
+    return (unsigned int)sysconf(_SC_NPROCESSORS_ONLN);
+}
+#endif
diff --git a/common/string_util.c b/libs/apriltag/src/common/string_util.c
similarity index 99%
rename from common/string_util.c
rename to libs/apriltag/src/common/string_util.c
index 7c64c131..07ae8868 100644
--- a/common/string_util.c
+++ b/libs/apriltag/src/common/string_util.c
@@ -32,8 +32,8 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include <stdlib.h>
 #include <stdio.h>
 
-#include "string_util.h"
-#include "zarray.h"
+#include "apriltag/common/string_util.h"
+#include "apriltag/common/zarray.h"
 
 struct string_buffer
 {
diff --git a/common/svd22.c b/libs/apriltag/src/common/svd22.c
similarity index 100%
rename from common/svd22.c
rename to libs/apriltag/src/common/svd22.c
diff --git a/common/time_util.c b/libs/apriltag/src/common/time_util.c
similarity index 99%
rename from common/time_util.c
rename to libs/apriltag/src/common/time_util.c
index 7a25f424..0c6d3b4f 100644
--- a/common/time_util.c
+++ b/libs/apriltag/src/common/time_util.c
@@ -27,7 +27,7 @@ either expressed or implied, of the Regents of The University of Michigan.
 
 #include <stdlib.h>
 #include <math.h>
-#include "time_util.h"
+#include "apriltag/common/time_util.h"
 
 struct timeutil_rest
 {
diff --git a/common/workerpool.c b/libs/apriltag/src/common/workerpool.c
similarity index 97%
rename from common/workerpool.c
rename to libs/apriltag/src/common/workerpool.c
index a0170ef8..095e9a69 100644
--- a/common/workerpool.c
+++ b/libs/apriltag/src/common/workerpool.c
@@ -28,7 +28,7 @@ either expressed or implied, of the Regents of The University of Michigan.
 
 #define _GNU_SOURCE  // Possible fix for 16.04
 #define __USE_GNU
-#include "common/pthreads_cross.h"
+#include "apriltag/common/pthreads_cross.h"
 #include <assert.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -38,8 +38,8 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include <unistd.h>
 #endif
 
-#include "workerpool.h"
-#include "debug_print.h"
+#include "apriltag/common/workerpool.h"
+#include "apriltag/common/debug_print.h"
 
 struct workerpool {
     int nthreads;
diff --git a/common/zarray.c b/libs/apriltag/src/common/zarray.c
similarity index 98%
rename from common/zarray.c
rename to libs/apriltag/src/common/zarray.c
index 43e6a7e0..ee80a6e4 100644
--- a/common/zarray.c
+++ b/libs/apriltag/src/common/zarray.c
@@ -28,7 +28,7 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include <string.h>
 #include <assert.h>
 
-#include "zarray.h"
+#include "apriltag/common/zarray.h"
 
 int zstrcmp(const void * a_pp, const void * b_pp)
 {
diff --git a/common/zhash.c b/libs/apriltag/src/common/zhash.c
similarity index 99%
rename from common/zhash.c
rename to libs/apriltag/src/common/zhash.c
index 914f530e..4061a237 100644
--- a/common/zhash.c
+++ b/libs/apriltag/src/common/zhash.c
@@ -30,7 +30,7 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include <string.h>
 #include <assert.h>
 
-#include "zhash.h"
+#include "apriltag/common/zhash.h"
 
 // force a rehash when our capacity is less than this many times the size
 #define ZHASH_FACTOR_CRITICAL 2
diff --git a/common/zmaxheap.c b/libs/apriltag/src/common/zmaxheap.c
similarity index 99%
rename from common/zmaxheap.c
rename to libs/apriltag/src/common/zmaxheap.c
index e04d03ef..51861458 100644
--- a/common/zmaxheap.c
+++ b/libs/apriltag/src/common/zmaxheap.c
@@ -32,8 +32,8 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include <assert.h>
 #include <stdint.h>
 
-#include "zmaxheap.h"
-#include "debug_print.h"
+#include "apriltag/common/zmaxheap.h"
+#include "apriltag/common/debug_print.h"
 
 #ifdef _WIN32
 static inline long int random(void)
diff --git a/tag16h5.c b/libs/apriltag/src/tag16h5.c
similarity index 99%
rename from tag16h5.c
rename to libs/apriltag/src/tag16h5.c
index 775f33c7..75f9a154 100644
--- a/tag16h5.c
+++ b/libs/apriltag/src/tag16h5.c
@@ -26,7 +26,7 @@ either expressed or implied, of the Regents of The University of Michigan.
 */
 
 #include <stdlib.h>
-#include "tag16h5.h"
+#include "apriltag/tag16h5.h"
 
 static uint64_t codedata[30] = {
    0x00000000000027c8UL,
diff --git a/tag25h9.c b/libs/apriltag/src/tag25h9.c
similarity index 99%
rename from tag25h9.c
rename to libs/apriltag/src/tag25h9.c
index ddf31a2e..0317b279 100644
--- a/tag25h9.c
+++ b/libs/apriltag/src/tag25h9.c
@@ -26,7 +26,7 @@ either expressed or implied, of the Regents of The University of Michigan.
 */
 
 #include <stdlib.h>
-#include "tag25h9.h"
+#include "apriltag/tag25h9.h"
 
 static uint64_t codedata[35] = {
    0x000000000156f1f4UL,
diff --git a/tag36h10.c b/libs/apriltag/src/tag36h10.c
similarity index 99%
rename from tag36h10.c
rename to libs/apriltag/src/tag36h10.c
index 44a129e7..e294089c 100644
--- a/tag36h10.c
+++ b/libs/apriltag/src/tag36h10.c
@@ -1,5 +1,5 @@
 #include <stdlib.h>
-#include "tag36h10.h"
+#include "apriltag/tag36h10.h"
 
 static uint64_t codedata[2320] = {
    0x00000001a42f9469UL,
diff --git a/tag36h11.c b/libs/apriltag/src/tag36h11.c
similarity index 99%
rename from tag36h11.c
rename to libs/apriltag/src/tag36h11.c
index 94acacaa..d21c5bb9 100644
--- a/tag36h11.c
+++ b/libs/apriltag/src/tag36h11.c
@@ -26,7 +26,7 @@ either expressed or implied, of the Regents of The University of Michigan.
 */
 
 #include <stdlib.h>
-#include "tag36h11.h"
+#include "apriltag/tag36h11.h"
 
 static uint64_t codedata[587] = {
    0x0000000d7e00984bUL,
diff --git a/tagCircle21h7.c b/libs/apriltag/src/tagCircle21h7.c
similarity index 99%
rename from tagCircle21h7.c
rename to libs/apriltag/src/tagCircle21h7.c
index 8dad3feb..cbafec19 100644
--- a/tagCircle21h7.c
+++ b/libs/apriltag/src/tagCircle21h7.c
@@ -26,7 +26,7 @@ either expressed or implied, of the Regents of The University of Michigan.
 */
 
 #include <stdlib.h>
-#include "tagCircle21h7.h"
+#include "apriltag/tagCircle21h7.h"
 
 static uint64_t codedata[38] = {
    0x0000000000157863UL,
diff --git a/tagCircle49h12.c b/libs/apriltag/src/tagCircle49h12.c
similarity index 99%
rename from tagCircle49h12.c
rename to libs/apriltag/src/tagCircle49h12.c
index 02456fab..8816e84c 100644
--- a/tagCircle49h12.c
+++ b/libs/apriltag/src/tagCircle49h12.c
@@ -26,7 +26,7 @@ either expressed or implied, of the Regents of The University of Michigan.
 */
 
 #include <stdlib.h>
-#include "tagCircle49h12.h"
+#include "apriltag/tagCircle49h12.h"
 
 static uint64_t codedata[65535] = {
    0x0000c6c921d8614aUL,
diff --git a/tagCustom48h12.c b/libs/apriltag/src/tagCustom48h12.c
similarity index 99%
rename from tagCustom48h12.c
rename to libs/apriltag/src/tagCustom48h12.c
index cd908e10..906582f3 100644
--- a/tagCustom48h12.c
+++ b/libs/apriltag/src/tagCustom48h12.c
@@ -26,7 +26,7 @@ either expressed or implied, of the Regents of The University of Michigan.
 */
 
 #include <stdlib.h>
-#include "tagCustom48h12.h"
+#include "apriltag/tagCustom48h12.h"
 
 static uint64_t codedata[42211] = {
    0x0000d6c8ae76dff0UL,
diff --git a/tagStandard41h12.c b/libs/apriltag/src/tagStandard41h12.c
similarity index 99%
rename from tagStandard41h12.c
rename to libs/apriltag/src/tagStandard41h12.c
index 6d77eb95..5d9c4bda 100644
--- a/tagStandard41h12.c
+++ b/libs/apriltag/src/tagStandard41h12.c
@@ -26,7 +26,7 @@ either expressed or implied, of the Regents of The University of Michigan.
 */
 
 #include <stdlib.h>
-#include "tagStandard41h12.h"
+#include "apriltag/tagStandard41h12.h"
 
 static uint64_t codedata[2115] = {
    0x000001bd8a64ad10UL,
diff --git a/tagStandard52h13.c b/libs/apriltag/src/tagStandard52h13.c
similarity index 99%
rename from tagStandard52h13.c
rename to libs/apriltag/src/tagStandard52h13.c
index 30e2b62f..320f5001 100644
--- a/tagStandard52h13.c
+++ b/libs/apriltag/src/tagStandard52h13.c
@@ -26,7 +26,7 @@ either expressed or implied, of the Regents of The University of Michigan.
 */
 
 #include <stdlib.h>
-#include "tagStandard52h13.h"
+#include "apriltag/tagStandard52h13.h"
 
 static uint64_t codedata[48714] = {
    0x0004064a19651ff1UL,
diff --git a/libs/apriltag_python/CMakeLists.txt b/libs/apriltag_python/CMakeLists.txt
new file mode 100644
index 00000000..87296e3d
--- /dev/null
+++ b/libs/apriltag_python/CMakeLists.txt
@@ -0,0 +1,44 @@
+## Build Python Wrapper
+
+# Build list of include directives
+get_target_property(APRILTAG_INCLUDES_LIST ${PROJECT_NAME}-include INTERFACE_INCLUDE_DIRECTORIES)
+set(ADDITIONAL_INCLUDE_DIRECTIVES "")
+foreach(ITEM ${APRILTAG_INCLUDES_LIST})
+    LIST(APPEND ADDITIONAL_INCLUDE_DIRECTIVES "-I\"${ITEM}\"")
+endforeach()
+
+if(BUILD_PYTHON_WRAPPER)
+    SET(Python_ADDITIONAL_VERSIONS 3)
+    find_package(PythonLibs)
+    execute_process(COMMAND which python3 OUTPUT_QUIET RESULT_VARIABLE Python3_NOT_FOUND)
+    execute_process(COMMAND python3 -c "import numpy" RESULT_VARIABLE Numpy_NOT_FOUND)
+endif(BUILD_PYTHON_WRAPPER)
+
+if (NOT Python3_NOT_FOUND AND NOT Numpy_NOT_FOUND AND PYTHONLIBS_FOUND AND BUILD_PYTHON_WRAPPER)
+    # TODO deal with both python2/3
+    execute_process(COMMAND python3 ${CMAKE_CURRENT_SOURCE_DIR}/python_build_flags.py OUTPUT_VARIABLE PY_OUT)
+    set(PY_VARS CFLAGS LDFLAGS LINKER EXT_SUFFIX)
+    cmake_parse_arguments(PY "" "${PY_VARS}" "" ${PY_OUT})
+    separate_arguments(PY_CFLAGS)
+    list(REMOVE_ITEM PY_CFLAGS -flto)
+    separate_arguments(PY_LDFLAGS)
+
+    foreach(X detect py_type)
+    add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/apriltag_${X}.docstring.h
+        COMMAND < ${CMAKE_CURRENT_SOURCE_DIR}/apriltag_${X}.docstring sed 's/\"/\\\\\"/g\; s/^/\"/\; s/$$/\\\\n\"/\;' > apriltag_${X}.docstring.h
+        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
+    endforeach()
+
+    add_custom_command(OUTPUT apriltag_pywrap.o
+        COMMAND ${CMAKE_C_COMPILER} ${PY_CFLAGS} -I${CMAKE_CURRENT_BINARY_DIR} ${ADDITIONAL_INCLUDE_DIRECTIVES} -c -o apriltag_pywrap.o ${CMAKE_CURRENT_SOURCE_DIR}/apriltag_pywrap.c
+        DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/apriltag_pywrap.c ${CMAKE_CURRENT_BINARY_DIR}/apriltag_detect.docstring.h ${CMAKE_CURRENT_BINARY_DIR}/apriltag_py_type.docstring.h)
+    add_custom_command(OUTPUT apriltag${PY_EXT_SUFFIX}
+        COMMAND ${PY_LINKER} ${PY_LDFLAGS} -lm -Wl,-rpath,lib apriltag_pywrap.o "$<TARGET_FILE:apriltag-detector>" "$<TARGET_FILE:apriltag-tags>" -o apriltag${PY_EXT_SUFFIX}
+        DEPENDS ${PROJECT_NAME} apriltag_pywrap.o)
+    add_custom_target(apriltag_python ALL
+        DEPENDS apriltag${PY_EXT_SUFFIX})
+
+execute_process(COMMAND python3 -m site --user-site OUTPUT_VARIABLE PY_DEST)
+string(STRIP ${PY_DEST} PY_DEST)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/apriltag${PY_EXT_SUFFIX} DESTINATION ${PY_DEST})
+endif (NOT Python3_NOT_FOUND AND NOT Numpy_NOT_FOUND AND PYTHONLIBS_FOUND AND BUILD_PYTHON_WRAPPER)
diff --git a/apriltag_detect.docstring b/libs/apriltag_python/apriltag_detect.docstring
similarity index 100%
rename from apriltag_detect.docstring
rename to libs/apriltag_python/apriltag_detect.docstring
diff --git a/apriltag_py_type.docstring b/libs/apriltag_python/apriltag_py_type.docstring
similarity index 100%
rename from apriltag_py_type.docstring
rename to libs/apriltag_python/apriltag_py_type.docstring
diff --git a/apriltag_pywrap.c b/libs/apriltag_python/apriltag_pywrap.c
similarity index 97%
rename from apriltag_pywrap.c
rename to libs/apriltag_python/apriltag_pywrap.c
index e17d48ec..01ed76a2 100644
--- a/apriltag_pywrap.c
+++ b/libs/apriltag_python/apriltag_pywrap.c
@@ -6,16 +6,16 @@
 #include <numpy/arrayobject.h>
 #include <signal.h>
 
-#include "apriltag.h"
-#include "tag36h10.h"
-#include "tag36h11.h"
-#include "tag25h9.h"
-#include "tag16h5.h"
-#include "tagCircle21h7.h"
-#include "tagCircle49h12.h"
-#include "tagCustom48h12.h"
-#include "tagStandard41h12.h"
-#include "tagStandard52h13.h"
+#include "apriltag/apriltag.h"
+#include "apriltag/tag36h10.h"
+#include "apriltag/tag36h11.h"
+#include "apriltag/tag25h9.h"
+#include "apriltag/tag16h5.h"
+#include "apriltag/tagCircle21h7.h"
+#include "apriltag/tagCircle49h12.h"
+#include "apriltag/tagCustom48h12.h"
+#include "apriltag/tagStandard41h12.h"
+#include "apriltag/tagStandard52h13.h"
 
 
 #define SUPPORTED_TAG_FAMILIES(_)           \
diff --git a/python_build_flags.py b/libs/apriltag_python/python_build_flags.py
similarity index 100%
rename from python_build_flags.py
rename to libs/apriltag_python/python_build_flags.py