Correct the corr. cam transform solver, put tracklets in camera coords.

In the future we want to put tracklets in camera coords at a lower,
earlier level, in the routine that generates them, but for now
need to work on other things.
Merge branch 'master' of https://github.com/JudsonWilson/cs231a_proj1
Merge branch 'master' of https://github.com/JudsonWilson/cs231a_proj1
Merge branch 'master' of https://github.com/JudsonWilson/cs231a_proj1
Correspondence angle mod 2*pi.
Convert camera orientation votes to theta,r,theta.
Merge branch 'master' of https://github.com/JudsonWilson/cs231a_proj1