Update gtest
Port KRt_From_P. Possible not needed since this just calls decomposeProjectionMatrix from calib3d.
Fix compilation for reconstruct.cpp.
Make the test rotation in P_From_KRt more interesting than identity. Test for det(R) == 1 not necessary since this is implicitly checked when comparing with the original R.
Fix compilation error in test_precomp.hpp.
Port preconditionerFromPoints.
Port applyTransformationToPoints.
Implement test for normalizeIsotropicPoints. Possibly not needed.
Change function signature for normalizePoints to use Matx instead of Mat.
Port isotropic normalization. Possibly not needed.
Port motionFromEssential.
Add enforceFundamentalRank2Constraint function.
Port normalizedEightPointSolver.
Port essentialFromRt.
Remove unneeded comments.
Update TODO list.