Modified basic shapes detection including identifying the object(s)

try to implement halcon shape based matching, refer to machine vision algorithms and applications, page 317 3.11.5, written by halcon engineers

FREAK: Fast Retina Keypoint

2D shape match location rotation

Edge based Template Matching

Ciratefi (Circular, Radial and Template-Matching Filter) is a template matching technique invariant to rotation, scale, translation, brightness and contrast.

Own implementation of a shape detection program in C++ that outputs similar results as the OpenCV Canny edge detector

use ARM Mali GPU on ODROID-XU4 and OpenCL acceleration to achieve real time shape and orientation detection of fast moving objects