| openCV formatimage = convertOpenCV (image_received) |
| image = convert2OpenCV (BLACK_WHITE_CODE, image) |
| image = openCV Equalize(image) |
| Mat Format image_2 = convertMatFormat(image) |
| Erode(image_2) |
| Dilate(image_2) |
| for pixel_i do //This if for all pixels in the image |
| if (isTooFar(pixeli)) then |
| pixel_i ← 0 |
| else |
| pixel_i ← 1 |
| end if |
| end for |
| contour_selected ← getBiggerContour(arrayContours) |
| get BoundigBox(contour_selected) |
| correlate(image_2, models, results) |
| Point extrema = getExtrema(results) |
| if ((extrema.x > extrema.y)OR(extrema.x > extrema.z)OR(rangeFullFills())) then print(“ObjectDetected!”) |
| end if |
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