major refactor, added three method of doing pose estimation

Author: alexlin2

README.md

@@ -56,7 +56,7 @@ img_pts, obj_pts = obj.match_image_points(rgb_image, mask)
 real_pts, valid_indices = obj.estimate3d(img_pts, depth_image, camera_matrix)
 
 # Estimate transformation
-R, t = obj.estimate_transform(obj_pts[valid_indices], real_pts)
+R, t = obj.estimate_transform(obj_pts[valid_indices], real_pts[valid_indices])
 ```
 
 ## File Structure

momped/__init__.py

@@ -1,5 +1,5 @@
 from .object3d import Object3D
-from .utils import detect_sift_features, find_matching_points
+from .utils import *
 
 __version__ = "0.1.0"
 __all__ = ['Object3D', 'detect_sift_features', 'find_matching_points']