Added two view info estimation for calibrated cameras

Change-Id: Ib75f4856badacdba0f4bab4c3eef49854b3568dd
uncalibrated relative pose estimator

Change-Id: I58763f236cc8bbf46fbd583be69b874a0f7dd820
Remove debug statements

Change-Id: Id5026001c9ac2c32e489a12ba6cbe86ab0ae815a
uncalibrated relative pose estimation

Change-Id: I192073148b45a2b180e654b8ebae611314c463fa
added uncalibrated relative pose estimation to two view info estimation

Change-Id: I16babababb2bf12d2c5a59cc0357d7b0d11a9dc9
Some cmake improvments to speed up the build process

Change-Id: I66f9be3295aa2adc94697b8deb3dfbd666f178a2
New root finding algorithm based on jenkins traub iterative solver

Change-Id: I590faa3fd59c511bd119eb56a3d9738314483ff6
Use jenkins traub for find roots in 5 pt algorithm. Results in a 2x speedup.

Change-Id: Ib722b8a749466d72d9b4bcbacb8f0b83a424748e
Updated documentaiton for Jenkins Traub polynomial solver

Change-Id: I411cb145db69e045fa3b0470e2a3ac564172eaa6
Changed triangulation interface to be homogeneous 3d point.

Change-Id: I8e78cf359ca6657105fae21f71da74f2fb59f467
Changed name of Agast struct to avoid OpenCV clashing

Change-Id: Ib6f490c5ee95d871d315c2261c5e1ddbdb9eb968
New reader/writer for model class. Updated methods to properly read files from Bundler into the model class. Updated visualizer for models.

Change-Id: I30d01c9d43aa5dd6a00ef88eda8f0d1096b0d9fb
EXIF reader for extracting focal lengths.

Change-Id: I7de3ea0cb017df23b86304417876fbcddf4bbcdd
Refactor of 5pt solver with added detection of degeneracy

Change-Id: I5b41fe0ce884b349df391fe432f09217cfd4e988
Removed MLESAC and made mle part of the ransac options

Change-Id: I3151ebad72088e7cd79bd66f1ab7c74061a9778a
Fixed camera test

Change-Id: Iab52945c02eef0257ecc55842ab1c45d6db57bd3
Updated ransac solvers for better performance.

Change-Id: Ie7090beadb13bc6d214af3420b64d61804bb17ce
New 5pt solver that is more stable than the fast 5pt. Also updated pose ransac methods to pass unit tests

Change-Id: Ife869f624675dbf508e1cf204cd522762cd26db4
Fixed a bug in estimating ransac iterations caused by integer overflow

Change-Id: I5464b53cac35a1a4d688723fa771d76aa4e95846
Updated documentation for 5 point algorithm.

Change-Id: Ifc6506e8c25cc4cded501d319421cf344c9a8597