Homography SNL

Слиты nikitronn запросил слияние github/fork/vicdoval/homography_snl в master

Created by: vicdoval

image

  • Code changes complete.
  • Code documentation complete.
  • Documentation for users complete (or not required, if user never sees these changes).
  • Manual testing done.
  • Unit-tests implemented.
  • Ready for merge.