Cleaned up the directory structure.
Fixed compatibility with NumPy <= 1.7.1.
Cleaned up the Makefile.
Added support for Eigen transformations.
Only import once to avoid generating warnings.
Added a CMakeLists file.
Removed the GLog dependency.
Removed old build scripts.
Removed hard-coded paths.
Removed another test line.
Add to library search path.
Added an install step.