revid: panic when Config.Outputs is nil

Currently, revid callers (such as revid-cli) are required to set Config.Outputs to a slice of length 1 (or greater), else revid panics.

Revid should also handle Config.Outputs being nil, i.e., the corner case when no output is requested.

This can be reproduced by removing the following line from revid_test.go:TestRaspivid():

    c.Outputs = make([]uint8, 1)

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