Publish a debug image from the tag detector to show aruco thresholding

[qhdwight]

The first step in ArUco detection is to threshold the image (using adaptive thresholding)

We would like to be able to visualize this to tune the adaptive thresholding parameters better

This should be done first before tuning parameters in later steps

[qhdwight]

There is no way to get OpenCV to get us this information so we have to read its source code and then replicate what it does for that step