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

guilib/include/rtabmap/gui/CameraViewer.h

@@ -77,6 +77,7 @@ private:
 	QElapsedTimer fpsTimer_;
 	double lastCapturePeriod_;
 	double previousCaptureStamp_;
+	std::map<int, float> _landmarksSize;
 };
 
 } /* namespace rtabmap */

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -364,6 +364,7 @@ private Q_SLOTS:
 	void updateStereoDisparityVisibility();
 	void updateFeatureMatchingVisibility();
 	void updateGlobalDescriptorVisibility();
+	void updateAvailableMarkerDictionaries();
 	void updateOdometryStackedIndex(int index);
 	void useOdomFeatures();
 	void changeWorkingDirectory();