Add classical filter implementation

[prajithv]

Description

Added implementation of a classical filter based on previous implementation that thresholds for red regions, computes rotated bounding boxes, and finds the center between two bounding boxes that are similar in size and angle.

Example

output.mp4

[azhangvo]

lgtm

[azhangvo]

it would be nice to know what really changed here, but since you guys will be making a ros node later, I'll ask during that PR and have you explain the whole algorithm there instead. lgtm otherwise.