Choose a different barcode type (and implement it)

[floogulinc]

Currently we are using 3x3 AR barcodes. These have some limitations so we should probably change to a different type.

Here is a chart of barcode types (from artoolkitx):

Matrix code type	Maximum number of markers	Number of bit errors that can be detected	Number of bit errors that can be corrected
AR_MATRIX_CODE_5x5_BCH_22_7_7	127	6	3
AR_MATRIX_CODE_4x4_BCH_13_5_5	32	4	2
AR_MATRIX_CODE_5x5_22_12_5	4095	4	2
AR_MATRIX_CODE_3x3_HAMMING63	8	2	1
AR_MATRIX_CODE_4x4_BCH_13_9_3	512	2	1
AR_MATRIX_CODE_3x3_PARITY65	32	1	0
AR_MATRIX_CODE_3x3	64	0	0
AR_MATRIX_CODE_4x4	8192	0	0
AR_MATRIX_CODE_5x5	4194304	0	0

You can see from this chart that the type we are currently using, AR_MATRIX_CODE_3x3, only allows up to 64 markers. Since we are using 1-16 for flowers and reserving 0, that leaves only 47 markers left for nests, which for the majority of cases would be enough but could be an issue in particularly large environments. Aside from that the 3x3 barcodes without any parity we are using have no error correction and thus a hamming distance of 0. This means there is a higher chance of a marker being misrecognized as a different ID.

I propose we use the AR_MATRIX_CODE_5x5_BCH_22_7_7 type as it provides 127 markers, which would give us up to 111 nests and it has the greatest hamming distance between markers and ability to correct for errors in reading. This seems to be the most recommended one in general as well.

[floogulinc]

Update: because threear doesn't support 5x5 barcode markers we have chosen to go with AR_MATRIX_CODE_4x4_BCH_13_9_3