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/Rtabmap.cpp

@@ -4504,8 +4504,7 @@ bool Rtabmap::process(
 			(smallDisplacement || tooFastMovement) &&
 			_loopClosureHypothesis.first == 0 &&
 			lastProximitySpaceClosureId == 0 &&
-			!delayedLocalization &&
-			(rejectedLoopClosure || landmarksDetected.empty()))
+			!delayedLocalization)
 	{
 		_odomCachePoses.erase(signatureRemoved);
 		for(std::multimap<int, Link>::iterator iter=_odomCacheConstraints.begin(); iter!=_odomCacheConstraints.end();)