Convert cameras to subsystems, add vision-only pose estimate for pose-seek #117
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…stimate, use it in pose-seek.
…independent-vision-pose-estimation
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Each
Camerais now its own subsystem. Inperiodic(), pipeline results are applied to eachCamera'sPhotonPoseEstimator, and its currentEstimatedRobotPoseis calculated. This pose is also used by theSwerveDrivePoseEstimatorto correct odometry drift as before. The pose-seek logic now usesVision.getEstimatedGlobalPose(), which returns the camera-only pose estimate that has the lowest maximum error component.Needs testing before merging into main.