Fiducial Improvements

[MattFiler]

Summary

This MR adds the improvements I've worked on over the past couple days for TrackingMarkerObject to improve stability vs the current plugin implementation. Instead of just using the latest fiducial frame from the service as the truth for position, it's now a bit smarter and reconstructs the AprilTag frames Unity side. Using the reconstructed frames it figures out the position the object should be in by averaging the location of every tracked marker, with a bias towards the marker considered to have the least error from the platform (a value used at platform level and validated to be useful).

These changes have made a significant improvement to robustness in Barista - video can be found in the #sick_marker_demos channel!

Hopefully this is in a mergable state! I've left some debug visualisation stuff in as I feel it's useful to see what's happening under the hood, but feel free to remove it if you'd rather not have it there. If you select the object in scene you'll see:

• A label on each tracked marker to show the error value
• A label to show the AprilTag FPS
• All marker root positions & forwards
• The average forward and position used for positioning

Also if your markers have a child MeshRenderer they'll get updated to colours to represent their tracked state - green shows the one with bias, and orange shows tracked.

Contributor Tasks

• [ ] Create or edit test cases here
• [ ] Add a CHANGELOG entry for this change.
• [ ] Ensure documentation requirements are met e.g., public API is commented.
• [ ] Consider any licensing/other legal implications for this MR e.g. notices required by any new libraries.

Test Cycle

Link to the test cycle here.

Reviewer Tasks

• [ ] Code reviewed.
• [ ] Non-code assets e.g. Unity assets/scenes reviewed.
• [ ] All tests must be ran and cover all scenarios (If not, add new tests to the cycle and run them).
• [ ] Documentation has been reviewed.
• [ ] Approve with a comment of any additional tests run or any observations.

Related JIRA Issues

If this MR closes any JIRA issues list them below in the form Closes PROJECT-#

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[MattFiler]

One thing that needs fixing: if an object is not at 0,0,0 in the scene the offsets will go weird.

Additionally there should probs be a check to make sure the transform the user sets as the target transform isn't the object itself or any of its children :)