CameraPose, WorldPose, and RelativeCameraPose are bad names

[vadixidav]

CameraPose and WorldPose are bad names. It caused issue #4, which resulted in much lost time. It isn't clear what they are without reading the documentation.

These need to instead be named CameraToWorld, WorldToCamera, and CameraToCamera. This will put exactly what the thing is right into the name, so this issue doesn't come up again.