Code cleanup

[haho12]

Hi,
I really liked your implementation and I will use it for my lectures / exercises at Hannover University of Applied Sciences, Germany.
Here's some suggestions:

• make it run "out-of-the-box".
• more readable different cases
• use essential matrix E (working with normalized camera coordinates) instead of fundamental matrix (working with image coordinates)
• decompose E to get rotation matrix R and translation vector t
  Btw. I also like your pictures very much. Would you add a license to use them, e.g. CC share-alike?
  Greetings,
  Hanno