CSP objects recognition.
Exaple task is in tasks/example.xml. It takse some primitive (triangle, quadrilateral, pentagon) models from TestData/primitives.xml. It operates on images from TestData/*.png. To run it, just type from tasks directory:
discode -L2 -T example.xml
See: http://robotyka.ia.pw.edu.pl/twiki/bin/viewfile/Publications/WebHome?rev=1;filename=2009_Lukasz_Czajka_mgr.pdf (CSP code stolen from Łukasz Czajka's Master Thesis)
CvBasic