Regions For Scene Graphs

[harelb]

• Take an existing scene graph and add manual regions (bounding boxes drawn by hand)
• Can we move from drawing a bounding box/language label or can we make an ortho view of the scene graph and draw polygons/more streamlined editing interface
• Fully observed annotations over the scene graph to add interesting language

[harelb]

Offline annotation, with an initial prior for localization from GPS

[GoldenZephyr]

See #245 for a work-in-progress solution