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/src/MainWindow.cpp

@@ -5239,6 +5239,7 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
 
 void MainWindow::drawLandmarks(cv::Mat & image, const Signature & signature)
 {
+	UDEBUG("%ld landmarks", signature.getLandmarks().size());
 	for(std::map<int, Link>::const_iterator iter=signature.getLandmarks().begin(); iter!=signature.getLandmarks().end(); ++iter)
 	{
 		// Project in all cameras in which the landmark is visible
@@ -5295,6 +5296,9 @@ void MainWindow::drawLandmarks(cv::Mat & image, const Signature & signature)
 							{
 								imagePoints[j].x += i*model.imageWidth();
 							}
+							// Make sure the frame origin is visible
+							valid = imagePoints[0].x >= i*model.imageWidth() && imagePoints[0].x < (i+1)*model.imageWidth() &&
+									imagePoints[0].y >= 0 && imagePoints[0].y < image.rows;
 						}
 					}
 					if(valid)