void runObjDetection(Mat& Input, string name, ObjectDetection& go, int imgIndex){

  Input = imread(name);

  if (!Input.empty()){
    int start_s = clock();
    go.setVariables(addweight_whites, addweight_blues, addweight_reds, whiteMinArea, whiteErodeArea, blueMinArea, blueErodeArea);

    Point test = go.getRobot_XY();
    int stop_s = clock();
    double execTime = (stop_s-start_s)/double(CLOCKS_PER_SEC);

    totaltime = totaltime + execTime;

    cout << setw(8) << left << imgIndex << " " << execTime << " point returned " << test << " : ";

    const string objfound = "objfound";

    // namedWindow(objfound, WINDOW_NORMAL);
    imshow(objfound, go.FindStuff(Input));
    // resizeWindow(objfound, 640, 480);
  }

}