Prior implementation only used the K() portion of all Cal3 calibrations
for the linear triangulation of points with triangulatePoint3.
- Added tests for triangulation with non-Cal3_S2 calibrations.
- Added skew to the test Cal3_S2 calibration.
- Added an undistortMeasurements step to triangulatePoint3 so that
linear triangulation works for calibrations with distortion
coefficients.

- added undistort for cameras version of triangulatePoint3
- changed to 2 space indent
- changed to calibration from shared calibration

- new code in triangulation and testTriangulation
- clean up doc number and typos