DecomposeEssential 
Decomposed the essential matrix into a rigid body motion; rotation and translation.

DecomposeHomography 
Decomposes a homography matrix to extract its internal geometric structure.

GeoTestingOps 
Operations useful for unit tests

LowLevelMultiViewOps 
Lists of operations used by various multiview algorithms, but not of use to the typical user.

MultiViewOps 
Contains commonly used operations used in 2view and 3view perspective geometry.

NormalizationPoint2D 
Describes how to normalize a set of points such that they have zero mean and variance.

NormalizedToPixelError 
Simple function for converting error in normalized image coordinates to pixels using
intrinsic camera parameters.

PerspectiveOps 
Functions related to perspective geometry and intrinsic camera calibration.

PositiveDepthConstraintCheck 
Given two views of the same point and a known 3D transform checks to see if the point is in front
of both cameras.

RectifyImageOps 
Operations related to rectifying stereo image pairs.

RodriguesRotationJacobian_F32 
Computes the rotation matrix derivative for Rodrigues coordinates
which have been parameterized by a 3 vector.

RodriguesRotationJacobian_F64 
Computes the rotation matrix derivative for Rodrigues coordinates
which have been parameterized by a 3 vector.

WorldToCameraToPixel 
Convenience class which will take a point in world coordinates, translate it to camera reference frame,
then project onto the image plane and compute its pixels.
