// Create an image to hold a grayscale version
        IplImage grayImage = IplImage.create(grabbedImage.width(), grabbedImage.height(),
            opencv_core.IPL_DEPTH_8U, 1);

        IplImage cannyOutput = IplImage.create(grabbedImage.width(), grabbedImage.height(),
            opencv_core.IPL_DEPTH_8U, 1);
        IplImage color_dst = IplImage.create(grabbedImage.width(), grabbedImage.height(),
                opencv_core.IPL_DEPTH_8U, 3);

        //
        IplImage tmpl = cvLoadImage("vision_target.png");

        IplImage tmplp = IplImage.create(tmpl.width(), tmpl.height(),IPL_DEPTH_8U, 1);
        cvCvtColor(tmpl, tmplp, CV_RGB2GRAY);
        ObjectFinder matcher = new ObjectFinder(tmplp);

        CvSeq lines = new CvSeq();

        while ((grabbedImage = grabber.grab()) != null && keepGoing) {
            if (grabbedImage != null) {



                // Convert image to grayscale.
                cvCvtColor(grabbedImage, grayImage, CV_BGR2GRAY);


                /*double[] results = matcher.find(grayImage);
                if (results != null) {
                	System.out.print("Hooray!");

                	for (int i = 0; i < results.length; i++) {
                		System.out.print(" " + (int)results[i]);
                	}

                	for (int i = 0; i < results.length; i+=2) {
                        cvCircle(grabbedImage, cvPoint((int)results[i], (int)results[i + 1]),3, CvScalar.YELLOW, -1, CV_AA,
                                0);

                	}

                	System.out.println();
                } else {
                	System.out.println("Fail :(");
                }*/

                // Run the pattern matcher
                /*CvSeq faces = cvHaarDetectObjects(grayImage, cascade, storage, 1.1, 1, 0);

                // iterate over the discovered faces and draw yellow
                // rectangles around them.
                for (int i = 0; i < faces.total(); i++) {
                    CvRect r = new CvRect(cvGetSeqElem(faces, i));
                    cvRectangle(grabbedImage, cvPoint(r.x(), r.y()),
                        cvPoint(r.x() + r.width(), r.y() + r.height()), CvScalar.YELLOW, 1, CV_AA,
                        0);
                }*/

                cvCanny(grayImage, cannyOutput, 100, 230, 3);
                cvCvtColor( cannyOutput, color_dst, CV_GRAY2BGR );
                lines = cvHoughLines2(cannyOutput, storage, CV_HOUGH_PROBABILISTIC, 1, Math.PI / 180, 50, 10, 3);

                for (int i = 0; i <= lines.total(); i++) {
                    // from JavaCPP, the equivalent of the C code:
                    // CvPoint* line = (CvPoint*)cvGetSeqElem(lines,i);
                    // CvPoint first=line[0], second=line[1]
                    // is:
                    // CvPoint first=line.position(0), secon=line.position(1);

                    Pointer line = cvGetSeqElem(lines, i);

                    if (line == null || line.isNull())
                    	break;

                    CvPoint pt1  = new CvPoint(line).position(0);
                    CvPoint pt2  = new CvPoint(line).position(1);

                    System.out.println("Line spotted: ");
                    System.out.println("\t pt1: " + pt1);
                    System.out.println("\t pt2: " + pt2);
                    cvLine(color_dst, pt1, pt2, CV_RGB(255, 0, 0), 3, CV_AA, 0); // draw the segment on the image
                }
                /*    HoughLinesP( dst, lines, 1, CV_PI/180, 80, 30, 10 );
    for( size_t i = 0; i < lines.size(); i++ )
    {
        line( color_dst, Point(lines[i][0], lines[i][1]),
            Point(lines[i][2], lines[i][3]), Scalar(0,0,255), 3, 8 );
    }*/


                // Display it
                frame.showImage(color_dst);
            }
        }

        // Clean up
        grabber.release();