Re-enable OpenCV ArUco detector for AprilTags (#916)

- Fixes ArUco on picam
- Adds `ArucoPoseEstimatorPipe` for single-tag pose estimation
  - Previously, `Aruco.estimatePoseSingleMarkers()` was used for tag pose estimation. This uses the default `SOLVEPNP_ITERATIVE` solver and I believe the method is removed in opencv 4.8. The `SOLVEPNP_IPPE_SQUARE` solver implemented is more appropriate for markers.
- Pipeline architecture cleanup
- Re-enables ArUco pipeline in UI
- Multi-tag support

ArUco detector support is still considered experimental at this time. This should enable a baseline of support for initial testing, but expect some quirks to remain across platforms.

photon-client/src/components/dashboard/CameraAndPipelineSelectCard.vue

@@ -151,8 +151,8 @@ const pipelineTypesWrapper = computed<{ name: string; value: number }[]>(() => {
   const pipelineTypes = [
     { name: "Reflective", value: WebsocketPipelineType.Reflective },
     { name: "Colored Shape", value: WebsocketPipelineType.ColoredShape },
-    { name: "AprilTag", value: WebsocketPipelineType.AprilTag }
-    // { name: "Aruco", value: WebsocketPipelineType.Aruco }
+    { name: "AprilTag", value: WebsocketPipelineType.AprilTag },
+    { name: "Aruco", value: WebsocketPipelineType.Aruco }
   ];
 
   if (useCameraSettingsStore().isDriverMode) {
@@ -353,8 +353,8 @@ useCameraSettingsStore().$subscribe((mutation, state) => {
             :items="[
               { name: 'Reflective', value: WebsocketPipelineType.Reflective },
               { name: 'Colored Shape', value: WebsocketPipelineType.ColoredShape },
-              { name: 'AprilTag', value: WebsocketPipelineType.AprilTag }
-              // { name: 'Aruco', value: WebsocketPipelineType.Aruco }
+              { name: 'AprilTag', value: WebsocketPipelineType.AprilTag },
+              { name: 'Aruco', value: WebsocketPipelineType.Aruco }
             ]"
           />
         </v-card-text>