Adding ChAruco board detection functionality

[jaberkebile]

Using the current Aruco implementation as a reference for ChAruco targets

[marip8]

rct_image_tools is a ROS-independent, pure CMake package such that it can support usage in ROS1 and ROS2. Please remove the dependency on catkin and ROS1 from the latest commit. You should be able specify local file directories via an interface target in the CMakeLists.txt.

Here is an example from tesseract:

• Specification of interface target where the directory TESSERACT_SUPPORT_DIR is defined as a variable.
• Link your executable against this interface target
• Usage of the variable provided by the interface target

[marip8]

It also appears that the build is failing on Xenial

  /root/target_ws/src/robot_cal_tools/rct_image_tools/src/rct_image_tools/charuco_finder.cpp:15:17: error: ‘struct cv::aruco::DetectorParameters’ has no member named ‘doCornerRefinement’

       parameters->doCornerRefinement = false;