shawnle

add Eigen library; also print K*T/T(3,4)

add imagelist_creator; in CMakeLists, remove nonfree, change to compile in Ubuntu

working on adding offline model/template

added utils.hpp to repos

added new simple interface GeoMatch::detect

using namespace for code clarity && iterate a folder with .gt (groundtruth) extention && change main.cpp to use namespace and .gt test && clean up code

revisit May 2017 with CMake build and a main.cpp

works with pyramid have already passed tests && pyramids are also applied to search steps dx,dy,dr