Adding support for AprilTag v3 library (#1702)

* Adding support for AprilTag v3 library

* New parameter: Marker/Strategy (default opencv-aruco as before). Optimized multicameras marker detection (do only once with stitched image)

* Exposed all AprilTag parameters. Sharing Marker/Dictionary between opencv and apriltag implementation. Added new Marker/Lengths parameter.

* Support AprilTAg library not built with aruco

* cleanup

* Added marker range support

* Make apriltag detection in same orientation than opencv

* fixed shenanigans when rendering markers with multi cameras

* Don't update odom cache (localization mode) when not moving (detecting loop/landmark or not)

* fixed some quirks (camera viewer + tag working)

* Setting quad decimate to 1 by default

* typo

* Implemented OptimizerG2O::loadGraph()

* added apriltag's aruco support info in the cmake config summary

* fixed warning

* fixed isam2 assert when using landmarks

* Fixed homography on multicam

* Adding marker detection time for convenience

* Added missing MIP 36h12 tag family in UI

corelib/include/rtabmap/core/optimizer/OptimizerG2O.h

@@ -41,6 +41,12 @@ public:
 	static bool isCSparseAvailable();
 	static bool isCholmodAvailable();
 
+public:
+	static bool loadGraph(
+			const std::string & fileName,
+			std::map<int, Transform> & poses,
+			std::multimap<int, Link> & edgeConstraints);
+
 public:
 	OptimizerG2O(const ParametersMap & parameters = ParametersMap());
 	virtual ~OptimizerG2O() {}

corelib/include/rtabmap/core/optimizer/OptimizerGTSAM.h

@@ -77,6 +77,7 @@ private:
 	std::vector<ConstraintToFactor> lastAddedConstraints_;
 	int lastSwitchId_;
 	std::set<int> addedPoses_;
+	std::map<int, bool> isLandmarkWithRotation_; // persists across iSAM2 incremental calls
 	std::pair<int, std::uint64_t> lastRootFactorIndex_;
 };