essential matrix estimation from 5 pt alg in vxl
split camera intrinsics conversion functions out for reuse
updated interface to accept either 1 or 2 calibration matrices
make API similar to estimate_homography
added inlier computation
register vxl estimate essential matrix
added cross product matrix function
swapped role of left and right points
corrected equation + should be *
need to take absolute value of distance
added tests for essential matrix estimation
added test with noisy points
use more than 8 test points
add config parameters to essential matrix estimation
Merge branch 'dev/add-v0.5.0-rel-notes' into dev/estimate-essential-matrix

* dev/add-v0.5.0-rel-notes:
  Created initial release notes file for v0.5.0
Added release notes for essential matrix estimation
Merge pull request #20 from mleotta/dev/estimate-essential-matrix

Dev/estimate essential matrix