Added Thin Prism Distortion Model

Only the code.
Thin prism distortion model added doc

Thin prism distortion model added to the
camera_calibration_and_3d_reconstruction.rst
Fixed undistort.cpp
distCoeffs0 cols to 12
Indentation ok
Indentation Ok
Added constants to gen_java.py
Merge pull request #511 from aritzlc:master