Finish update of Tag Detection

[Byrdman32]

Near the end of the 2022 season we decided that it would prove useful to know how many times a tag was detected during the leg. In the process of implementing this verification step to tag detection issue #115 was formed. Ideally this issue would also solve and end up closing issue #115.

The implementation of this update to tag detection should include a minimum of:

• Tag Class which holds:
  • ArUco Tag ID
  • Lat and Lon calculated from rover position and ZED depth perception
  • Center Point
  • Number of times detected in leg
  • Distance and Angle of the Tag

The goal of this is to prevent the rover from getting confused if it sees a tag where there isn't one. The rover shouldn't enter approaching marker/gate unless the tag has been detected at least 5 times.