Points must use homogeneous projective coordinates

[vadixidav]

Currently, WorldPoint, CameraPoint, and the various triangulators all use 3d coordinates. This is not particularly numerically stable for coordinates which are far away in coordinate space. Additionally, triangulators natively output projective coordinates, and then they are divided by their W component to make the 3d coordinates in use in cv-core. This is not how it should be done. Everything should be changed to use projective coordinates.