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@brief The scene interpreter for the puzzle playing task
The scene interpreter will split the scene into three four layers:
1. Background (tabletop) layer
2. Human layer
3. Robot arm layer
4. Puzzle piece layer
The first three relys on their own segmenter, and the puzzle piece layer
is assumed to be the residual.
The interpreter will provide the following additional functions:
1. Bird-eye-view rectification
@author: Yiye Chen yychen2019@gatech.edu
@date: 09/16/2021
============================== scene ===============================
