[apriltag] Add C++ wrappers, rewrite Java/JNI to match (#4842)

This provides a consistent class-based interface to the underlying C
library from both C++ and Java.

Co-authored-by: Matt <matthew.morley.ca@gmail.com>

apriltag/src/dev/java/edu/wpi/first/apriltag/DevMain.java

@@ -4,14 +4,16 @@
 
 package edu.wpi.first.apriltag;
 
-import edu.wpi.first.apriltag.jni.AprilTagJNI;
-
 public final class DevMain {
   /** Main entry point. */
   public static void main(String[] args) {
     System.out.println("Hello World!");
-    var detector = AprilTagJNI.aprilTagCreate("tag16h5", 2.0, 0.0, 1, false, false);
-    AprilTagJNI.aprilTagDestroy(detector);
+    AprilTagDetector detector = new AprilTagDetector();
+    detector.addFamily("tag16h5");
+    AprilTagDetector.Config config = new AprilTagDetector.Config();
+    config.refineEdges = false;
+    detector.setConfig(config);
+    detector.close();
   }
 
   private DevMain() {}

apriltag/src/dev/native/cpp/main.cpp

@@ -2,4 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-int main() {}
+#include "frc/apriltag/AprilTagDetector.h"
+
+int main() {
+  frc::AprilTagDetector detector;
+  detector.AddFamily("tag16h5");
+  detector.SetConfig({.refineEdges = false});
+}