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Add ArUco families support #291

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Run time

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Job	Run time
ubuntu:24.04 (jazzy)	2m 17s
almalinux:9 (jazzy)	2m 12s
ubuntu:22.04 (humble)	2m 18s
ubuntu:20.04 (noetic)	3m 20s
macOS (jazzy)	7m 12s
macOS (humble)	6m 32s
almalinux:8 (humble)	2m 18s
	26m 9s

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