Add conversions for image/camera data types #23
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Add CISST-to-ROS conversions for prmImageFrame, prmCameraInfo, and prmDepthMap.
No ROS-to-CISST conversion for now - doesn't really make sense for prmDepthMap since, but could be implemented for prmImageFrame and prmCameraInfo if needed in the future.
Depends on jhu-cisst/cisst#101 to add the data types to cisstParameterTypes.