Add homography matrix routines to cv-pinhole

[vadixidav]

Currently, cv-pinhole has the essential matrix and various methods designed to help people extract pose from it, among other things. The same thing needs to be done for the homography matrix.

[UnkDevE]

Hi, I would like to give this a go!

[vadixidav]

Hi, I would like to give this a go!

Excellent, I will assign you to the issue. If you are on the Discord server, feel free to ask me more questions on there. In essence we need to be able to decompose homography matrix into pose (rotation and translation), and we also need an estimator. See the eight-point crate for an example of an estimator. The definition of HomographyMatrix should go into cv-pinhole.