int main(int argc, char** argv)
{
    const char* filename = 0;
    IplImage* rawImage = 0, *yuvImage = 0; 
    IplImage *ImaskCodeBook = 0,*ImaskCodeBookCC = 0;
    CvCapture* capture = 0;

    int c, n, nframes = 0;
    int nframesToLearnBG = 300;

    model = cvCreateBGCodeBookModel();
    
   
    model->modMin[0] = 3;
    model->modMin[1] = model->modMin[2] = 3;
    model->modMax[0] = 10;
    model->modMax[1] = model->modMax[2] = 10;
    model->cbBounds[0] = model->cbBounds[1] = model->cbBounds[2] = 10;

    bool pause = false;
    bool singlestep = false;

    for( n = 1; n < argc; n++ )
    {
        static const char* nframesOpt = "--nframes=";
        if( strncmp(argv[n], nframesOpt, strlen(nframesOpt))==0 )
        {
            if( sscanf(argv[n] + strlen(nframesOpt), "%d", &nframesToLearnBG) == 0 )
            {
                help();
                return -1;
            }
        }
        else
            filename = argv[n];
    }

    if( !filename )
    {
        printf("Capture from camera\n");
        capture = cvCaptureFromCAM( 0 );
    }
    else
    {
        printf("Capture from file %s\n",filename);
        capture = cvCreateFileCapture( filename );
    }

    if( !capture )
    {
        printf( "Can not initialize video capturing\n\n" );
        help();
        return -1;
    }

   
    for(;;)
    {
        if( !pause )
        {
            rawImage = cvQueryFrame( capture );
            ++nframes;
            if(!rawImage) 
                break;
        }
        if( singlestep )
            pause = true;
        
       
        if( nframes == 1 && rawImage )
        {
            // CODEBOOK METHOD ALLOCATION
            yuvImage = cvCloneImage(rawImage);
            ImaskCodeBook = cvCreateImage( cvGetSize(rawImage), IPL_DEPTH_8U, 1 );
            ImaskCodeBookCC = cvCreateImage( cvGetSize(rawImage), IPL_DEPTH_8U, 1 );
            cvSet(ImaskCodeBook,cvScalar(255));
            
            cvNamedWindow( "Raw", 1 );
            cvNamedWindow( "ForegroundCodeBook",1);
            cvNamedWindow( "CodeBook_ConnectComp",1);
        }

     
        if( rawImage )
        {
            cvCvtColor( rawImage, yuvImage, CV_BGR2YCrCb );
        
            if( !pause && nframes-1 < nframesToLearnBG  )
                cvBGCodeBookUpdate( model, yuvImage );

            if( nframes-1 == nframesToLearnBG  )
                cvBGCodeBookClearStale( model, model->t/2 );
            
           
            if( nframes-1 >= nframesToLearnBG  )
            {
              
                cvBGCodeBookDiff( model, yuvImage, ImaskCodeBook );
               centers if desired
                cvCopy(ImaskCodeBook,ImaskCodeBookCC);	
                cvSegmentFGMask( ImaskCodeBookCC );
            
                cvShowImage( "CodeBook_ConnectComp",ImaskCodeBookCC);
                detect(ImaskCodeBookCC,rawImage);
                
            }
           
            cvShowImage( "Raw", rawImage );
            cvShowImage( "ForegroundCodeBook",ImaskCodeBook);
            
        }

    
        c = cvWaitKey(10)&0xFF;
        c = tolower(c);
       
        if(c == 27 || c == 'q')
            break;
 
        switch( c )
        {
        case 'h':
            help();
            break;
        case 'p':
            pause = !pause;
            break;
        case 's':
            singlestep = !singlestep;
            pause = false;
            break;
        case 'r':
            pause = false;
            singlestep = false;
            break;
        case ' ':
            cvBGCodeBookClearStale( model, 0 );
            nframes = 0;
            break;
    
        case 'y': case '0':
        case 'u': case '1':
        case 'v': case '2':
        case 'a': case '3':
        case 'b': 
            ch[0] = c == 'y' || c == '0' || c == 'a' || c == '3';
            ch[1] = c == 'u' || c == '1' || c == 'a' || c == '3' || c == 'b';
            ch[2] = c == 'v' || c == '2' || c == 'a' || c == '3' || c == 'b';
            printf("CodeBook YUV Channels active: %d, %d, %d\n", ch[0], ch[1], ch[2] );
            break;
        case 'i': 
        case 'o': 
        case 'k': 
        case 'l': 
            {
            uchar* ptr = c == 'i' || c == 'o' ? model->modMax : model->modMin;
            for(n=0; n<NCHANNELS; n++)
            {
                if( ch[n] )
                {
                    int v = ptr[n] + (c == 'i' || c == 'l' ? 1 : -1);
                    ptr[n] = CV_CAST_8U(v);
                }
                printf("%d,", ptr[n]);
            }
            printf(" CodeBook %s Side\n", c == 'i' || c == 'o' ? "High" : "Low" );
            }
            break;
        }
    }		
    
    cvReleaseCapture( &capture );
    cvDestroyWindow( "Raw" );
    cvDestroyWindow( "ForegroundCodeBook");
    cvDestroyWindow( "CodeBook_ConnectComp");
    return 0;
}