function Centroid = Path_find_yellow(im);

% % camera1 =imread('http://172.16.6.1/axis-cgi/jpg/image.cgi?resolution=800X600');

% % camera2 =imread('http://172.16.6.2/axis-cgi/jpg/image.cgi?resolution=800X600');

% % camera3 =imread('http://172.16.6.3/axis-cgi/jpg/image.cgi?resolution=800X600');

% % camera4 = zeros(size(camera1));

% % camera5 = zeros(size(camera1));

% % camera6 = zeros(size(camera1));

% % 

% % camera6 = camera6(1:560,1:90,1:end);

% % camera3 = camera3(1:560,1:472,1:end);

% % camera4 = camera4(110:end,1:455,1:end);

% % camera1 = camera1(1:560,18:end,1:end);

% % camera5 = camera5(1:560,661:end,1:end);

% % camera2 = camera2(110:end,1:end,1:end);

% % 

% % camera_full = [camera3,camera1;camera4,camera2];%

% % camera_full=imresize(camera_full,.5);

% % rgb_img = imread('http://172.16.6.1/axis-cgi/jpg/image.cgi?resolution=800X600');

% % im = camera_full;

% % clear all

% % close all

% % clc

%% Read img

%   camera1 = 'http://172.16.6.2/axis-cgi/jpg/image.cgi?resolution=800X600';  

%   im = imread(camera1);

%  pause

% im = imread('yellow.jpg');

% load('im.mat')

%im = rgb_img;

% Find Black crop them!

imblack =0.5*im(:,:,1)+0.5*im(:,:,2)+0.5*im(:,:,3);

black = im2bw(imblack,0.4);

black = bwareaopen(black,30);

figure(1),imshow(black)

Real_Area=zeros(2,1);

Real_Centroid =zeros(2);

stats_black = regionprops(black,'BoundingBox');

j=1;

%% Find Yellow Centroid

 for i = 1: numel(stats_black)

    % Find yellow using RGB matrix

    imfid = imcrop(im,stats_black(i).BoundingBox);

    if(length(imfid)>100)

    else

%     imshow(imfid);

%     pause 

        imyellow = 0.7*imfid(:,:,1) + 0.5*imfid(:,:,2) - 0.4*imfid(:,:,3);

        yellow = im2bw(imyellow,0.5);

        yellow = bwareaopen(yellow,5);

        stats_yellow = regionprops(yellow,'Area','Centroid');

        for(x = 1:length(stats_yellow))

            if(stats_yellow(x).Area>20)

                Real_Area (j)= stats_yellow(x).Area;

                Real_Centroid (j,:)= stats_black(i).BoundingBox(1:2)+stats_yellow(x).Centroid;          

                j=j+1;

            end

        end

    end

 end

 %% Post process

 x = find(Real_Centroid == 0);

 Real_Centroid(x) = [];

 %

 if(Real_Area(1)>Real_Area(2))

 else %swap

     temp = Real_Centroid(2,:);

     Real_Centroid(2,:) = Real_Centroid(1,:);

     Real_Centroid(1,:) = temp;

 end

 Centroid = Real_Centroid;

%  

%  %% Grab only BLACK pixels

% empty_intensity = 0*rgb2gray(im); % create an empty intensity matrix

% black_indices = find(50 < rgb_img(:,:,1) < 60 & 50 < rgb_img(:,:,2) < 60 & 50 <rgb_img(:,:,3) < 60);

% empty_intensity(black_indices) = 255; % operate on matrix like column vector

% bw = im2bw(empty_intensity,0.5); % threshold image to produce pure black/white

% imshow(bw); % show result

% 

% %% Remove noise... not necessary for this image, but might be later

% % remove all object containing fewer than 30 pixels

%  sbw = bwareaopen(bw,15);

% % 

% % % fill a gap in the pen's cap

%  se = strel('disk',2);

%  bw = imclose(sbw,se);

% % 

% % % fill any holes, so that regionprops can be used to estimate

% % % the area enclosed by each of the boundaries

%  bw = imfill(bw,'holes');

% % 

% % imshow(bw)

% 

% %% Find boundaries so that we can get region properties

% [B,L] = bwboundaries(bw,'noholes');

% 

% % Display the label matrix and draw each boundary

% % %imshow(label2rgb(L, @jet, [.5 .5 .5])) 

% % hold on

% % for k = 1:length(B)

% %   boundary = B{k};

% %   plot(boundary(:,2), boundary(:,1), 'w', 'LineWidth', 2)

% % end

% 

% % %% Find the centroid position

%  s  = regionprops(bw, 'centroid','orientation','MajorAxisLength');

%  centroids = cat(1, s.Centroid);

% % 

% % stats_black = regionprops(bw,'BoundingBox');

% imcrop(im,[round(centroids(1))+30,round(centroids(2))+30,60,60]);

% figure

% imshow(imcrop)