CI: use ubuntu arm runners instead of QEMU (#1771)

* CI: use ubuntu arm runners instead of QEMU

* removed focal deps docker image ci

* run tests in docker ci

* revert temporary test

* trigger ci jobs with modified files

* ldconfig

* arm64 ldconfig order

* No response filtering here: cv::goodFeaturesToTrack() already applies GFTT/QualityLevel, relative to the best corner's measure. Re-applying it as an absolute floor on KeyPoint::response double-filtered (~86% of keypoints ropped on OpenCV 4.5), and dropped *every* keypoint on OpenCV < 4.5, whose GFTTDetector leaves response at 0.

* fixing ExtractXYZCorrespondencesRANSAC ci error

* increased windows timeout (probably caused by gftt fix now extracting more features)

docker/resolute/deps/Dockerfile

@@ -107,6 +107,10 @@ RUN git clone https://github.com/laurentkneip/opengv.git && \
     cd && \
     rm -r opengv
 
+# ld.so.conf.d is read in filename order: <arch>-linux-gnu.conf sorts before
+# libc.conf (/usr/local/lib) on arm64, so source builds lose to the distro ones.
+RUN echo /usr/local/lib > /etc/ld.so.conf.d/00-usr-local.conf && ldconfig
+
 RUN rm /bin/sh && ln -s /bin/bash /bin/sh
 
 RUN echo -e '#!/bin/bash\nset -e\n\n# setup ros2 environment\nsource "/opt/ros/lyrical/setup.bash" --\nexec "$@"' > /ros_entrypoint.sh