[photonlib] Simulation robustness (#874)

- `PNPResults` can now be empty (`isPresent` = false)
- solvePNP methods actually handle errors and return empty `PNPResults`
  - This reveals an odd error where some inputs to `solvePNP_SQUARE()` resulted in an estimated transform with NaN values, and attempts to handle it
- Overwrites java changes from #817 since #742 had duplicate fixes
- Minor bugfixes

photon-lib/src/main/java/org/photonvision/simulation/VisionSystemSim.java

@@ -355,7 +355,7 @@ public class VisionSystemSim {
 
             // use camera pose from the image capture timestamp
             Pose3d lateRobotPose = getRobotPose(timestampCapture);
-            Pose3d lateCameraPose = lateRobotPose.plus(getRobotToCamera(camSim).get());
+            Pose3d lateCameraPose = lateRobotPose.plus(getRobotToCamera(camSim, timestampCapture).get());
             cameraPose2ds.add(lateCameraPose.toPose2d());
 
             // process a PhotonPipelineResult with visible targets