// Edited within StageSwitchingPipeline
 private static float offsetX = -1.10f/8f;//changing this moves the three rects and the three circles left or right, range : (-2, 2) not inclusive
    private static float offsetY = 1.35f/8f;//changing this moves the three rects and circles up or down, range: (-4, 4) not inclusive


    public void initSample() {
        int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());


        phoneCam = OpenCvCameraFactory.getInstance().createInternalCamera(OpenCvInternalCamera.CameraDirection.BACK, cameraMonitorViewId);


        phoneCam.openCameraDevice();//open camera
        phoneCam.setPipeline(new StageSwitchingPipeline());
        phoneCam.startStreaming(StageSwitchingPipeline.rows, StageSwitchingPipeline.cols, OpenCvCameraRotation.UPSIDE_DOWN);//our phone is upside down, camera upside down

    }

    public void Sample() {

        sleep(1000); // Gives time for camera to start and see stones

        // 0 if skystone, 255 if stone
        if (StageSwitchingPipeline.valLeft == 0)
        {
            skyStoneFound = true;
            skyStonePosition = 'L';
        }
        else if (StageSwitchingPipeline.valRight == 0)
        {
            skyStoneFound = true;
            skyStonePosition = 'R';
        }
        else if (StageSwitchingPipeline.valMid == 0)
        {
            skyStoneFound = true;
            skyStonePosition = 'C';
        }
        else // stone not found
        {
            skyStoneFound = true;
            skyStonePosition = 'X';
        }
        phoneCam.closeCameraDevice(); // closes after found
    }