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The video scenes are carefully picked that 
can show the effect of image processing techniques 
to the full.

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Here is the grayscale switches that are required.

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This is the gaussian blur, increasing the 
filter kernel will take adjacent pixel gray 
values into account, the bigger kernel you 
have, the larger this range of "merging" 
will be.

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Bilateral filter can blur the images while 
preserving the boundary features. Especially 
for objects like comb,tree stems, textures 
on the surfaces were blurred while edges 
were preserved.

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To grab the orange, color thresholding was 
used to pick out designated colors.

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Improvement was made by applying morphological 
open operation and we show it in cyan.

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For Sobel,we first use CV_16U unsigned, thus 
only two gradient-dropping edges will be 
detected (right, bottom)

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Then we change to CV_16S signed, then all 
edges will be detected (up,bottom,left,right), 
we can also increase delta value to make 
the edge easier to be detected.

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Lastly, we can increase the scale of sobel 
to make gradient drop/climb even more drastic 
to address the presence of boundaries.

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Here we first use small threshold values 
for only bottlecap, with three different 
setups, first is with a resolution scaling 
rate 1 and circle distance one-fourth of 
the image height. We can see bottlecap got 
captured correctly and without redundant 
circles.

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Second, we use a very low circle center distances, 
clearly a lot of redundant circles roughly 
at same place were detected.

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Then we roll back circle distances and give 
scaling factor 10, which scales video frames 
to one-tenth the original resolution. Obviously 
with a lower resolution, more false circles 
are detected.

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Here we change the threshold to higher values 
to capture orange and avoid bottlecap. First, 
we use a low param2 value which gives us 
multiple circles, lower param2 value means 
loose restriction.

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Then we raise param2 to a more reasonable 
value, which gives us perfect orange detection.

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Lastly, we switch between high param1 and 
normal param1, when increasing param1, less 
circles are detected, which means a more 
strict requirement for circle detection.

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Now we draw the attention of audience with 
flashy/colorful bounding box to our target, 
the bottlecap.

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