Adding support for AprilTag v3 library

[matlabbe]

Adding support for the official implementation of apriltag: https://github.com/AprilRobotics/apriltag

Should build with cmake -DWITH_APRILTAG=ON ..

Set parameter Marker/Strategy=1.

TODO:

• For multi-cameras, only do detection once (on stitched image)
• Expose apriltag parameters (e..g, nthreads, quad_decimation...)
• Make Marker/Dictionary working for both OpenCV and AprilTag libraries (Some aruco dictionaries seem supported in apriltag library too)
• Rename Marker/CornerRefinementMethod -> MarkerOpenCV/CornerRefinementMethod
• Add config to detect only selected IDs, with length per marker ID, or a length for a specific range of markers. Examples:
  • 12 0.08|14 0.12|30:40 0.10: Detect only tag 12 and 14 with length 8 cm and 12 cm respectively, and tags 30 up to 40 (included) with length of 10 cm.
• Convert to grayscale
• With AprilTag library, we can load multiple families of tags at the same time, we could extend the format with specify family of tags for each entry. Out of scope of this PR
• Not related exactly to this change, but optimization is currently asserting if there are landmarks in the map and iSAM2 is enabled.
• Test both opencv and apriltag modes with iPad data
• Test both opencv and apriltag modes with multicam robot data
• Also test that Marker/Length works as expected (<0 , =0, or >0).
• Test that all tag families work (aruco + apriltag) for opencv and apriltag lib (built with aruco support)