Adds the UCL ring matcher to autocnet (#237)

* Adds a CPU baseg ring matching implementation

* Fixes rounding in doctest on new travis systems.

* Fixes rounding in doctest on new travis systems.

* Ammending last commit - typo.

* adds conditional use of OpenCV Sift/Surf

* Updated tutorial for API changes

* Stubs for AutoCNet Service

* Testing autocnet as a service

* Fixes camera identity

* Updates to generalize data structures for autocnet server

* Updates fundamental and adds trifocal properly

* Backing out camera stuff that belongs someplace else

* Updates tests for API changes.

* Updates findFundamentalMat for OpenCV API Change

* Updates for @acpaquette

* Fixes np array comparison tobe canonical and worth with mixed types

* Updates docstring test with spaces causing failures