Refactored how the vision works - renamed SimpleViewer to Framehandler,
which now is constructed by VisionRunner which is the main class that
runs the vision. Also addeda Main package with a Main method that starts
off the vision. Also added a PitchConstants class for all the pitch
related constants like cropepd size
test2 and defend - dunno what has changed , also adding pitchcosntants
and visionrunner
commenting out kmeans
Merge remote-tracking branch 'origin/vision' into kmeans