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OpenCvSharp HoughCircles

using OpenCvSharp;
using OpenCvSharp.Demo;
using UnityEngine;

public class RealTimeFilter : WebCamera
{
    private Mat dstMat = new Mat ();

    protected override void Awake ()
    {
        base.Awake ();
    }

    // Our sketch generation function
    protected override bool ProcessTexture (WebCamTexture input, ref Texture2D output)
    {
        Mat img = OpenCvSharp.Unity.TextureToMat (input, TextureParameters);

        Mat blurMat = new Mat ();
        Cv2.MedianBlur (img, blurMat, 5);
        Mat grayMat = new Mat ();
        Cv2.CvtColor (blurMat, grayMat, ColorConversionCodes.BGR2GRAY);

        Mat thresh = new Mat ();
        Cv2.Threshold (grayMat, thresh, 127, 255, ThresholdTypes.BinaryInv);

        CircleSegment[] circles = Cv2.HoughCircles (thresh, HoughMethods.Gradient, 1, 20, 50, 30, 0, 0);

        for (int i = 0; i < circles.Length; i++)
        {
            Cv2.Circle (img, circles[i].Center, (int) circles[i].Radius, new Scalar (0, 255, 0), 3);
        }

        output = OpenCvSharp.Unity.MatToTexture (img, output);
        return true;
    }
}