├── .gitignore ├── C++ ├── CMakeLists.txt ├── README.md ├── robot_test.cpp ├── src │ ├── MarkerPose │ │ └── markerpose_model.cpp │ ├── ellipsegnet │ │ ├── CMakeLists.txt │ │ ├── dataset.cpp │ │ ├── dataset.hpp │ │ └── ellipsegnet_model.cpp │ ├── models.hpp │ ├── superpoint │ │ ├── CMakeLists.txt │ │ ├── dataset.cpp │ │ ├── dataset.hpp │ │ └── superpoint_model.cpp │ ├── transformations │ │ ├── CMakeLists.txt │ │ ├── mask_trans.cpp │ │ ├── pixel_trans.cpp │ │ ├── points_trans.cpp │ │ └── transformations.hpp │ └── utils │ │ ├── CMakeLists.txt │ │ ├── ellipsegnet_metrics.cpp │ │ ├── image_list.cpp │ │ ├── markerpose_utils.cpp │ │ ├── superpoint_utils.cpp │ │ └── utils.hpp ├── train_ellipsegnet.cpp └── train_superpoint.cpp ├── LICENSE ├── Python ├── README.md ├── modules │ ├── __init__.py │ ├── dataset.py │ ├── models.py │ ├── transformations.py │ └── utils.py ├── robot_test.py ├── train_ellipsegnet.py └── train_superpoint.py ├── README.md └── figures ├── 3DUSpose.gif ├── MarkerPose.png ├── 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