Implement PoincareNormalize

[facaiy]

Fix #10

[seanpmorgan]

LGTM. Needs a decision on the discussion from #19 though I believe

[facaiy]

Thank you, Sean :-)

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[seanpmorgan]

@facaiy Are you okay with the changes to #19 and #20? If so I'll merge and we can make another issue for building a registration mechanism.

[facaiy]

Good idea! Looks greater, thanks, Sean :-)