[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/simulation/VisionTargetSim.java

@@ -0,0 +1,94 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) PhotonVision
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+package org.photonvision.simulation;
+
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Translation3d;
+import java.util.List;
+import org.photonvision.estimation.TargetModel;
+
+/** Describes a vision target located somewhere on the field that your vision system can detect. */
+public class VisionTargetSim {
+    private Pose3d pose;
+    private TargetModel model;
+
+    public final int fiducialID;
+
+    /**
+     * Describes a vision target located somewhere on the field that your vision system can detect.
+     *
+     * @param pose Pose3d of the tag in field-relative coordinates
+     * @param model TargetModel which describes the shape of the target
+     */
+    public VisionTargetSim(Pose3d pose, TargetModel model) {
+        this.pose = pose;
+        this.model = model;
+        this.fiducialID = -1;
+    }
+
+    /**
+     * Describes a fiducial tag located somewhere on the field that your vision system can detect.
+     *
+     * @param pose Pose3d of the tag in field-relative coordinates
+     * @param model TargetModel which describes the shape of the target(tag)
+     * @param id The ID of this fiducial tag
+     */
+    public VisionTargetSim(Pose3d pose, TargetModel model, int id) {
+        this.pose = pose;
+        this.model = model;
+        this.fiducialID = id;
+    }
+
+    public void setPose(Pose3d pose) {
+        this.pose = pose;
+    }
+
+    public void setModel(TargetModel model) {
+        this.model = model;
+    }
+
+    public Pose3d getPose() {
+        return pose;
+    }
+
+    public TargetModel getModel() {
+        return model;
+    }
+
+    /** This target's vertices offset from its field pose. */
+    public List<Translation3d> getFieldVertices() {
+        return model.getFieldVertices(pose);
+    }
+
+    @Override
+    public boolean equals(Object obj) {
+        if (this == obj) return true;
+        if (obj instanceof VisionTargetSim) {
+            var o = (VisionTargetSim) obj;
+            return pose.equals(o.pose) && model.equals(o.model);
+        }
+        return false;
+    }
+}