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From the openCV documentation,

First of all, you should use only cvInRangeS for using the Scalar limits. The reason you are getting the exception is that, the destination Matrix should be of single channel. You are creating it as a 3 channel.

Change the following line of code from this

IplImage* imageMask = cvCreateImage(cvGetSize(frame), IPL_DEPTH_8U, 3);

To

IplImage* imageMask = cvCreateImage(cvGetSize(frame), IPL_DEPTH_8U, 1);

And use cvInRangeS, it works. And move to C++ interface of openCV, developers here mostly not using c interface and you may not get the answers.