Merge pull request #8 from kartikmohta/master

Adding triangulateSimple and triangulation covariance estimation
Changed triangulate to use LS instead of SVD
Merge branch 'master' of github.com:KumarRobotics/kr_math
Merged changes, added KM to authors
Added geometry include, required for quaternion. Added method for covariance of triangulated point.
Eigen Geometry required for quaternion
Merge pull request #10 from gareth-cross/master

Updated some docs, converted triangulate to LS method, added method for calculating point covariance from depth