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