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Add Transformer classes (#2225)

* initial

* add TransformDirection enum, fix cython compiler issues

* make RPCTransformWarning more generic

* include GDALGCP* in gdal.pxi

* add GCPTransformer

* typo

* move xy and rowcol to TransformerBase

* change existing transform methods to use new *Transformer classes

* normalize transform direction, update docstrings

* update docstrings

* make subsubheadings of Coordinate Transform subheading

* Add new docs transform topic

* add to index

* update docstrings

* update docstring

* Add rasterio.rpc to docs

* update georeferencing.rst

* update transform.srst

* relax isinstance check for RPCTransformer

* catch invalid transform input to get_transformer

* replace None with identity transform so we test the correct ValueError

* update AffineTransformer

* add tests

* rename method to map singleton coordinate to array-like and validate all coordiantes have same dimensions

* update test

* add more tests

* update docstring of GCPTransformer init

* fix copy+paste error

* relax check on xy transformed values due to floating point precision

* remove unused imports

* fix tests and address comments

Co-authored-by: Sean Gillies <sean@mapbox.com>

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