Implement functions for Milestone 4: findHomography, Rodrigues, solvePnP, solvePnPRansac

[kalwalt]

Description

Implement the following calibration and 3D geometry functions for Milestone 4 in purecv:

• findHomography
• Rodrigues
• solvePnP
• solvePnPRansac

Refer to the OpenCV Calibration and 3D Geometry documentation for behavior and interface specifications.

Acceptance Criteria

• Each function should match the expected API usage as specified in OpenCV's documentation.
• Proper unit tests should be written for each function covering typical and edge cases.
• Clear documentation and code comments for each algorithm.

References

• OpenCV Calib3d module documentation

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This addresses requirements for 📌 Milestone 4: Camera Calibration & 3D Geometry.