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/src/Graph.cpp

@@ -218,7 +218,14 @@ bool importPoses(
 	else if(format == 4) // g2o
 	{
 		std::multimap<int, Link> constraintsTmp;
-		UERROR("Cannot import from g2o format because it is not yet supported!");
+		if(OptimizerG2O::loadGraph(filePath, poses, constraintsTmp))
+		{
+			if(constraints)
+			{
+				*constraints = constraintsTmp;
+			}
+			return true;
+		}
 		return false;
 	}
 	else