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Backport most of the changes from main AprilTag repo as of 188c0e0 version #2005

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Backport most of the changes from main AprilTag repo as of 188c0e0 version

Backport most of the changes from main AprilTag repo as of 188c0e0 version #2005

Triggered via pull request July 6, 2024 23:03
@s-trinhs-trinh
synchronize #1440
s-trinh:update_apriltag_as_of_188c0e0
Status Failure
Total duration 4m 17s
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build-ubuntu-valgrind
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Process completed with exit code 2.