Initial AprilTag support (#458)

(Very) beta AprilTag support in PhotonVision. Disables Picam GPU acceleration until we can debug auto exposure in the MMAL driver.

Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>
Co-authored-by: Chris <chrisgerth010592@gmail.com>
Co-authored-by: mdurrani808 <mdurrani808@gmail.com>

photon-lib/src/main/native/include/frc/geometry/Quaternion.h

@@ -0,0 +1,114 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2022 PhotonVision
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#pragma once
+
+#include <frc/EigenCore.h>
+#include <wpi/SymbolExports.h>
+
+namespace frc {
+
+class WPILIB_DLLEXPORT Quaternion {
+ public:
+  /**
+   * Constructs a quaternion with a default angle of 0 degrees.
+   */
+  Quaternion() = default;
+
+  /**
+   * Constructs a quaternion with the given components.
+   *
+   * @param w W component of the quaternion.
+   * @param x X component of the quaternion.
+   * @param y Y component of the quaternion.
+   * @param z Z component of the quaternion.
+   */
+  Quaternion(double w, double x, double y, double z);
+
+  /**
+   * Multiply with another quaternion.
+   *
+   * @param other The other quaternion.
+   */
+  Quaternion operator*(const Quaternion& other) const;
+
+  /**
+   * Checks equality between this Quaternion and another object.
+   *
+   * @param other The other object.
+   * @return Whether the two objects are equal.
+   */
+  bool operator==(const Quaternion& other) const;
+
+  /**
+   * Checks inequality between this Quaternion and another object.
+   *
+   * @param other The other object.
+   * @return Whether the two objects are not equal.
+   */
+  bool operator!=(const Quaternion& other) const;
+
+  /**
+   * Returns the inverse of the quaternion.
+   */
+  Quaternion Inverse() const;
+
+  /**
+   * Normalizes the quaternion.
+   */
+  Quaternion Normalize() const;
+
+  /**
+   * Returns W component of the quaternion.
+   */
+  double W() const;
+
+  /**
+   * Returns X component of the quaternion.
+   */
+  double X() const;
+
+  /**
+   * Returns Y component of the quaternion.
+   */
+  double Y() const;
+
+  /**
+   * Returns Z component of the quaternion.
+   */
+  double Z() const;
+
+  /**
+   * Returns the rotation vector representation of this quaternion.
+   *
+   * This is also the log operator of SO(3).
+   */
+  Eigen::Vector3d ToRotationVector() const;
+
+ private:
+  double m_r = 1.0;
+  Eigen::Vector3d m_v{0.0, 0.0, 0.0};
+};
+
+}  // namespace frc