Adding support for AprilTag v3 library

CMakeLists.txt

@@ -230,6 +230,7 @@ option(WITH_FASTCV        "Include FastCV support"               ON)
 option(WITH_OPENMP        "Include OpenMP support"               ON)
 option(WITH_OPENGV        "Include OpenGV support"               ON)
 option(BUILD_OPENGV       "Build OpenGV internally instead of using the system one" OFF)
+option(WITH_APRILTAG      "Include AprilTag support"             OFF)
 IF(MOBILE_BUILD)
 option(PCL_OMP            "With PCL OMP implementations"         OFF)
 ELSE()
@@ -866,6 +867,13 @@ IF(WITH_FASTCV)
     ENDIF(FastCV_FOUND)
 ENDIF(WITH_FASTCV)
 
+IF(WITH_APRILTAG)
+    FIND_PACKAGE(apriltag QUIET)
+    IF(apriltag_FOUND)
+       MESSAGE(STATUS "Found apriltag")
+    ENDIF(apriltag_FOUND)
+ENDIF(WITH_APRILTAG)
+
 IF(WITH_OPENGV OR okvis_FOUND)
    if(NOT BUILD_OPENGV)
       FIND_PACKAGE(opengv QUIET)
@@ -1066,6 +1074,9 @@ ENDIF(NOT Open3D_FOUND)
 IF(NOT FastCV_FOUND)
    SET(FASTCV "//")
 ENDIF(NOT FastCV_FOUND)
+IF(NOT apriltag_FOUND)
+   SET(APRILTAG "//")
+ENDIF(NOT apriltag_FOUND)
 IF(NOT opengv_FOUND OR NOT WITH_OPENGV)
    SET(OPENGV "//")
 ENDIF(NOT opengv_FOUND OR NOT WITH_OPENGV)
@@ -1571,6 +1582,14 @@ ELSE()
 MESSAGE(STATUS "  With FastCV               = NO (FastCV not found)")
 ENDIF()
 
+IF(apriltag_FOUND)
+MESSAGE(STATUS "  With AprilTag ${apriltag_VERSION}       = YES (License: BSD 2-Clause License)")
+ELSEIF(NOT WITH_APRILTAG)
+MESSAGE(STATUS "  With AprilTag             = NO (WITH_APRILTAG=OFF)")
+ELSE()
+MESSAGE(STATUS "  With AprilTag             = NO (apriltag not found)")
+ENDIF()
+
 IF(PDAL_FOUND)
 MESSAGE(STATUS "  With PDAL ${PDAL_VERSION}           = YES (License: BSD)")
 ELSEIF(NOT WITH_PDAL)