void videoProcessing(Mat& camera_input, Mat& original_img)
{
    camera_input.copyTo(original_img);
    // object color
    // H: 25 - 90
    // S: 0  - 255
    // V: 50 - 255

    cvtColor(camera_input, camera_input, COLOR_BGR2HSV); //Convert the captured frame

    inRange(camera_input, Scalar(25, 0, 50), Scalar(90, 255, 255), camera_input);
    //imshow("camera_ranged", camera_input);  // debug: HSV colorspace image


    //morphological operations
    erode(camera_input, camera_input, getStructuringElement(MORPH_ELLIPSE, Size(5, 5)));
    dilate(camera_input, camera_input, getStructuringElement(MORPH_RECT, Size(10, 10)));
    dilate(camera_input, camera_input, getStructuringElement(MORPH_ELLIPSE, Size(10, 10)));
    //imshow("camera_morph", camera_input);  // debug: morph image

    vector < vector <Point>> contours;
    findContours(camera_input, contours, RETR_LIST, CHAIN_APPROX_NONE, Point(0, 0));
    Mat drawing = Mat::zeros(camera_input.size(), CV_8UC3);

    for (size_t i = 0; i < contours.size(); i++)
    {
        Scalar color = Scalar(121, 113, 96);
        drawContours(drawing, contours, i, color, -1);
        //imshow("contour", drawing);  // debug: show contours
    }


    gl_obj_decected = false;
    // Find areas
    vector <double> areas;
    for (size_t i = 0; i < contours.size(); i++)
    {
        areas.push_back(contourArea(contours[i], false));
        //printf("--------------contour #%d area:%f\n", i, areas[i]); // debug
        if (areas[i] >= 40000)
        {
            if (counterFound > 3)
            {
                gl_obj_decected = true;
            }
        }
    }

    // prevent bouncing
    if (counterFound > 3)
    {
        if ((gl_obj_decected == true) && (gl_obj_last_state == false))
        {
            printf("[FOUND] Open solenoid...\n");
            gl_obj_last_state = true;
        }
        else if ((gl_obj_decected == false) && (gl_obj_last_state == true))
        {
            printf("[NOT FOUND] Close solenoid\n");
            gl_obj_last_state = false;
        }
        counterFound = 0;
    }
    counterFound++;

    if (gl_obj_decected)
    {
        // show some text on initial image
        printVideoOverlay(original_img);
    }
}


int main(int argc, char* argv[])
{
    Mat camera_input, camera_input_orig;
    VideoCapture cap;

    //----------------------
    int64 e1, e2; // testing clock counts for operations
    double time;
    //----------------------

    cap.open(0);

    if (!cap.isOpened())
    {
        cerr << "ERROR! Unable to open camera\n";
        system("pause"); //wait for any key press
        return -1;
    }

    cout << "Start grabbing" << endl;

    for (;;)
    {
        cap.read(camera_input);
        if (camera_input.empty())
        {
            cerr << "ERROR! blank frame grabbed\n";
            system("pause"); //wait for any key press
            return -1;
        }

        imshow(camera_live, camera_input); // debug: original capture

        e1 = getTickCount(); // test algoritm speed
        videoProcessing(camera_input, camera_input_orig);
        e2 = getTickCount(); // test algoritm speed
        time = (e2 - e1) / getTickFrequency(); // test algoritm speed (total time)

        // exit
        if (waitKey(5) >= 0)
        {
            break;
        }
    }
}