Feature: Semantic Segmentation in Masking

[aparrapo]

Foreground masks act as a rough proxy to objects in the scene. Significant work on semantic segmentation (re: https://github.com/facebookresearch/Detectron) has been done, although they have not been thoroughly integrated with our pipeline to improve results.

The current behavior and new feature

Render (Foreground masks): A weighted sum of a traditional foreground mask and semantic segmentation can be used to obtain a more accurate set of masks for the scene. This can even be extended to have a multi-planar image if the semantic segmentation is accurate enough.

Expected use cases

Significant research effort.