[WIP]Detecting objectness feature#132

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mqcmd196 wants to merge 10 commits intoros-perception:indigofrom

mqcmd196:PR/feature/objectness

Commits on Apr 12, 2022

[objectness] initial commit. succeeded in executing, error in https://github.com/opencv/opencv_contrib/blob/86342522b0eb2b16fa851c020cc4e0fef4e010b7/modules/saliency/src/BING/FilterTIG.cpp#L74
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[objectness] change the way to load the training_path, remove BING parameter to fix, and worked well
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[objectness] rename var, add max objectness number, change init cv bing function way, change rect color
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[objectness] fix coding style based on clang-format
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[objectness] add test
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[objectness] don't build on OpenCV < 3.2 env
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[objectness] change default objectness num, topic name
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[objectness] publish debug image
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[objectness] add default training_path arg to pass the test and add FATAL when no training path were given
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[objectness] fix coding style based on clang-tidy
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