class ForgroundDetector {
  public:
        cv::Mat& getForegroundMask(cv::Mat const& sourceImage8 ) {
                // Remove NODEPTH because it is at maximum distance
                cv::Mat frame8withoutNODEPTH;
                cv::threshold(sourceImage8, frame8withoutNODEPTH, 250,250, cv::THRESH_TOZERO_INV);
                // Compare for new maximum distances
                cv::max(m_calculatedBackground, frame8withoutNODEPTH, m_calculatedBackground);
                // Add small Tolerance
                cv::Mat backgroundWithTolerance;
                cv::add(m_calculatedBackground, cvScalarAll(-1), backgroundWithTolerance);
                // Find foreground:
                cv::compare(sourceImage8, backgroundWithTolerance, m_foregroundMask, cv::CMP_LT);
                return m_foregroundMask;
        }
  private:
        cv::Mat m_calculatedBackground;
        cv::Mat m_foregroundMask;
};