Incorporating handrail segmentation into ISAAC

[eynsai]

What is this PR

This PR contains no changes outside of the addition of astrobee/localization/cnn_object_localization and astrobee/localization/lightweight_cnn_object_detection. It serves to incorporate the work done by Aryan Naveen on MRCNN-based detection and localization of handrails on the ISS., as well as some cleanup, integration, and experimental work that builds on it.

Things this PR depends on

The code in this PR expects the following changes within the Astrobee repo for cnn_object_localization to run in simulation. For a minimal "quick-fix" example of these changes, see this comparison.

• Addition of a publisher for color dock-cam images
• Updating of the dock-cam camera parameters used in gazebo simulation

Additionally, the following data is not included in this PR, but is associated with handrail segmentation. These materials are currently located on bartlett:/usr/local/home/mnsun/CNN_LOCALIZATION_RESOURCES.

• Synthetically generated dataset
• Manually labelled dataset for fine-tuning
• Small image dataset of demo results
• Pretrained checkpoints/models
• Reference pointclouds for ICP
• Compiled libtorch and libtorchvision binaries for armv7l