RCN example (#96)

* notebook for running rcn using pgmax

* notebook for running rcn using pgmax

* addressing PR comments. making it a single notebook

* minor edits

* fixing type hints

* adding docustrings to the public functions

* visualization changes

* addressing all comments. adding support for training with 100 templates

* Updates

* More tweaks

* Edits

* addressed comments around styling

* added more explanations

* adding joblib to dependency and other comments

* comment

* Fix MAP inference

* Update examples/rcn.py

Co-authored-by: Swaroop Guntupalli <swaroopgj@gmail.com>

Co-authored-by: Shrinu Kushagra <skushagra@ldp-skushagra.corp.vicarious.com>
Co-authored-by: stannis <stannis@vicarious.com>
Co-authored-by: Shrinu Kushagra <skushagra@robotics-gputest.corp.vicarious.com>
Co-authored-by: Guangyao Zhou <StannisZhou@users.noreply.github.com>
Co-authored-by: Swaroop Guntupalli <swaroopgj@gmail.com>