Cholesky decomposition is stable; It is not necessary to carry it out
internally at double precision if the result will be truncated to single
precision when stored.

biicode docs added with fixes
fixed biicode docs

added biicode docs
added biicode docs

fixed #include typos

fixed whitespaces and tabs in indent

fixed whitespaces

small fixes

fixed trailing whitespace

trial fix #includes

fixed #includes

fixed link and branch name

- Switched to the extremely fast, while simple and high-quality,
xorshift128+ PRNG algorithm by Sebastiano Vigna in "Further scramblings
of Marsaglia's xorshift generators. CoRR, abs/1402.6246, 2014" (2^128-1
period, passes BigCrush tests). Performance improved by 10% over
random().
- Added an API to allow seeding with a specified seed, rather than using
rand() or random(). This allows deterministic, reproducible results in
tests using our algorithm (although findHomography() does not yet
support passing an entropy source on its own end).