Multi-tag pnp in robot code (#787)

---------

Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com>
Co-authored-by: Joseph Farkas <16584585+MrRedness@users.noreply.github.com>

photon-lib/src/main/native/include/photonlib/PhotonCamera.h

@@ -28,6 +28,7 @@
 #include <string>
 
 #include <networktables/BooleanTopic.h>
+#include <networktables/DoubleArrayTopic.h>
 #include <networktables/DoubleTopic.h>
 #include <networktables/IntegerTopic.h>
 #include <networktables/MultiSubscriber.h>
@@ -40,6 +41,10 @@
 
 #include "photonlib/PhotonPipelineResult.h"
 
+namespace cv {
+class Mat;
+}  // namespace cv
+
 namespace photonlib {
 
 enum LEDMode : int { kDefault = -1, kOff = 0, kOn = 1, kBlink = 2 };
@@ -144,6 +149,9 @@ class PhotonCamera {
    */
   const std::string_view GetCameraName() const;
 
+  std::optional<cv::Mat> GetCameraMatrix();
+  std::optional<cv::Mat> GetDistCoeffs();
+
   /**
    * Returns whether the latest target result has targets.
    * This method is deprecated; {@link PhotonPipelineResult#hasTargets()} should
@@ -178,6 +186,9 @@ class PhotonCamera {
   nt::IntegerSubscriber ledModeSub;
   nt::StringSubscriber versionEntry;
 
+  nt::DoubleArraySubscriber cameraIntrinsicsSubscriber;
+  nt::DoubleArraySubscriber cameraDistortionSubscriber;
+
   nt::BooleanSubscriber driverModeSubscriber;
   nt::BooleanPublisher driverModePublisher;
   nt::IntegerSubscriber ledModeSubscriber;