added hough lines p
started work on velocity estimator
still working on obj tracking, canny needs to be calibrated
estimates average pixel change of detected features divided by framerate, also has a neat little function to sharpen image based on guassian filter
added primitive msg output with location of object
clears object feature vector after detecting object
some cleaning
fixed conflicts, added invert image mod, optical flow mod, sharpen image mod and beginning of tracking mod