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/tabs/OutputTab.vue

@@ -86,7 +86,8 @@ const interactiveCols = computed(
     />
     <pv-switch
       v-if="
-        currentPipelineSettings.pipelineType === PipelineType.AprilTag &&
+        (currentPipelineSettings.pipelineType === PipelineType.AprilTag ||
+          currentPipelineSettings.pipelineType === PipelineType.Aruco) &&
         useCameraSettingsStore().isCurrentVideoFormatCalibrated &&
         useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
       "
@@ -99,7 +100,8 @@ const interactiveCols = computed(
     />
     <pv-switch
       v-if="
-        currentPipelineSettings.pipelineType === PipelineType.AprilTag &&
+        (currentPipelineSettings.pipelineType === PipelineType.AprilTag ||
+          currentPipelineSettings.pipelineType === PipelineType.Aruco) &&
         useCameraSettingsStore().isCurrentVideoFormatCalibrated &&
         useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
       "