Merge pull request #5 from Nebulai/master

Implemented geometry calibration.
Merge pull request #6 from Nebulai/master

Author cleanup of shapredetector
Fixing indentation and refactoring code style of shapedetector
Conflicts merged
More cleanup and refactoring
Removed printf:s and changed so we know if we found courners or just canceled the shape detector
Fixed minor formatting error in the code
Added a frame counter to the shapedetector