[WIP] Simulation Overhaul (#742)

### What does this do?

- Deprecates previous sim classes
- Has a `CameraProperties` class for describing a camera's basic/calibration info, and performance values for simulation. Calibration values can be loaded from the `config.json` in the settings exported by photonvision.
- `OpenCVHelp` provides convenience functions for using opencv methods with wpilib/photonvision classes, mainly to project 3d points to a camera's 2d image and perform solvePnP with the above camera calibration info.
  - `TargetModel`s describe the 3d shape of a target, both for projecting into the camera's 2d image and use in solvePnP.
- `PhotonCameraSim` uses camera properties to simulate how 3d targets would appear in its view, and has simulated noise, latency, and FPS. For apriltags, the best/alternate camera-to-target transform is also estimated with solvePnP.
  - `VideoSimUtil` has helper functions for drawing apriltags to a simulated raw and processed MJPEG stream for each camera using the projected tag corners.
- `VisionSystemSim` stores `VisionTargetSim`s and `PhotonCameraSim`s, and is periodically updated with the robot's simulated pose. When updating, camera sims are automatically processed and published with their visible targets from their respective poses with proper latency.

### What's still not working?

- Mac Arm builds are broken
- More examples
- Update website/docs

photon-lib/src/main/java/org/photonvision/PhotonCamera.java

@@ -51,10 +51,10 @@ import org.photonvision.common.hardware.VisionLEDMode;
 import org.photonvision.targeting.PhotonPipelineResult;
 
 /** Represents a camera that is connected to PhotonVision. */
-public class PhotonCamera {
-    static final String kTableName = "photonvision";
+public class PhotonCamera implements AutoCloseable {
+    public static final String kTableName = "photonvision";
 
-    protected final NetworkTable cameraTable;
+    private final NetworkTable cameraTable;
     RawSubscriber rawBytesEntry;
     BooleanPublisher driverModePublisher;
     BooleanSubscriber driverModeSubscriber;
@@ -73,6 +73,7 @@ public class PhotonCamera {
     private DoubleArraySubscriber cameraIntrinsicsSubscriber;
     private DoubleArraySubscriber cameraDistortionSubscriber;
 
+    @Override
     public void close() {
         rawBytesEntry.close();
         driverModePublisher.close();
@@ -151,9 +152,7 @@ public class PhotonCamera {
 
         m_topicNameSubscriber =
                 new MultiSubscriber(
-                        instance,
-                        new String[] {"/photonvision/"},
-                        new PubSubOption[] {PubSubOption.topicsOnly(true)});
+                        instance, new String[] {"/photonvision/"}, PubSubOption.topicsOnly(true));
     }
 
     /**
@@ -186,7 +185,7 @@ public class PhotonCamera {
         ret.createFromPacket(packet);
 
         // Set the timestamp of the result.
-        // getLatestChange returns in microseconds so we divide by 1e6 to convert to seconds.
+        // getLatestChange returns in microseconds, so we divide by 1e6 to convert to seconds.
         ret.setTimestampSeconds((rawBytesEntry.getLastChange() / 1e6) - ret.getLatencyMillis() / 1e3);
 
         // Return result.
@@ -334,6 +333,14 @@ public class PhotonCamera {
         } else return Optional.empty();
     }
 
+    /**
+     * Gets the NetworkTable representing this camera's subtable. You probably don't ever need to call
+     * this.
+     */
+    public final NetworkTable getCameraTable() {
+        return cameraTable;
+    }
+
     private void verifyVersion() {
         if (!VERSION_CHECK_ENABLED) return;