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/types/PipelineTypes.ts

@@ -245,11 +245,22 @@ export const DefaultAprilTagPipelineSettings: AprilTagPipelineSettings = {
 
 export interface ArucoPipelineSettings extends PipelineSettings {
   pipelineType: PipelineType.Aruco;
-  decimate: number;
-  threads: number;
-  numIterations: number;
-  cornerAccuracy: number;
+
+  tagFamily: AprilTagFamily;
+
+  threshWinSizes: WebsocketNumberPair | [number, number];
+  threshStepSize: number;
+  threshConstant: number;
+  debugThreshold: boolean;
+
+  useCornerRefinement: boolean;
+
   useAruco3: boolean;
+  aruco3MinMarkerSideRatio: number;
+  aruco3MinCanonicalImgSide: number;
+
+  doMultiTarget: boolean;
+  doSingleTargetAlways: boolean;
 }
 export type ConfigurableArucoPipelineSettings = Partial<Omit<ArucoPipelineSettings, "pipelineType">> &
   ConfigurablePipelineSettings;
@@ -262,11 +273,17 @@ export const DefaultArucoPipelineSettings: ArucoPipelineSettings = {
   ledMode: false,
   pipelineType: PipelineType.Aruco,
 
-  decimate: 1,
-  threads: 2,
-  numIterations: 100,
-  cornerAccuracy: 25,
-  useAruco3: true
+  tagFamily: AprilTagFamily.Family16h5,
+  threshWinSizes: { first: 11, second: 91 },
+  threshStepSize: 40,
+  threshConstant: 10,
+  debugThreshold: false,
+  useCornerRefinement: true,
+  useAruco3: false,
+  aruco3MinMarkerSideRatio: 0.02,
+  aruco3MinCanonicalImgSide: 32,
+  doMultiTarget: false,
+  doSingleTargetAlways: false
 };
 
 export type ActivePipelineSettings =