* Make MultiTagPNPResult and PNPResult singular
* add java tests
* Formatting fixes
* bring in the rest of the little stuff
* final things
* Formatting fixes
* add multisubscriber back
* Formatting fixes
* make comments better about x and y relationship
### 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
