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* Implement unrectifyImage()

Closes #355.

* Add K and P args to [un]rectifyPoint, projectPixelTo3dRay

This allows using different matrices than K_ and P_ (which already
include binning and ROI), and is required for unrectifyImage.

* initRectificationMaps: Handle empty roi size correctly

According to REP 104, roi.height (resp. roi.width) = 0 should be treated
the same as full resolution.
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vision_opencv

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Packages for interfacing ROS with OpenCV, a library of programming functions for real time computer vision.