feat(compressors): add object scoring and selection for SAM masks

mini-nav/compressors/object_score/config.py

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+from dataclasses import dataclass
+
+
+@dataclass(frozen=True)
+class MaskScoringConfig:
+    min_area_ratio: float = 0.003
+    max_area_ratio: float = 0.70
+    max_aspect_ratio: float = 6.0
+    min_fill_ratio_hard: float = 0.08
+    max_components: int = 6
+    min_largest_component_ratio: float = 0.60
+    reject_edge_touch_count: int = 4
+    reject_large_edge_touch_count: int = 3
+    reject_large_edge_area_ratio: float = 0.25
+
+    area_score_low: float = 0.02
+    area_score_high: float = 0.35
+    fill_score_low: float = 0.25
+    fill_score_high: float = 0.90
+    soft_aspect_ratio: float = 2.5
+    hole_penalty_step: float = 0.05
+    max_hole_penalty_count: int = 5
+
+    weight_area: float = 0.35
+    weight_shape: float = 0.25
+    weight_fragment: float = 0.25
+    weight_boundary: float = 0.15