Controlling Using Image Coordinates

[canondetortugas]

Anything using image coordinates to generate control signals for the robot should scale coordinates based on the size of the image. This will allow us to arbitrarily insert an image scaler at different points in image processing to increase speed without requiring controls parameters to be re-tuned. I added an image_rows and image_cols to the MatchedShapeArray message so that anything doing processing downstream from the shape matcher node can perform this transformation, but this should be something that is consistent across all image processing nodes.