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Backport most of the changes from main AprilTag repo as of 188c0e0 version #1658

Backport most of the changes from main AprilTag repo as of 188c0e0 version

Backport most of the changes from main AprilTag repo as of 188c0e0 version #1658

Triggered via pull request July 15, 2024 12:13
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Invalid workflow file: .github/workflows/ios.yml#L38
You have an error in your yaml syntax on line 38