// minimalistic foreground-background segmentation sample, based off OpenCV's bgfg_segm sample

 #include "BackgroundSubtractorSuBSENSE.h"

 #include <opencv2/core/core.hpp>

 #include <opencv2/imgproc/imgproc.hpp>

 #include <opencv2/video/background_segm.hpp>

 #include <opencv2/highgui/highgui.hpp>

 #include <stdio.h>

 static void help() {

     printf("\nMinimalistic example of foreground-background segmentation in a video sequence using\n"

             "OpenCV's BackgroundSubtractor interface; will analyze frames from the default camera\n"

             "or from a specified file.\n\n"

             "Usage: \n"

             "  ./bgfg_segm [--camera]=<use camera, true/false>, [--file]=<path to file> \n\n");

 }

 const char* keys = {

     "{c  |camera   |true     | use camera or not}"

     "{f  |file     |tree.avi | movie file path  }"

 };

 int main(int argc, const char** argv) {

     help();

     cv::CommandLineParser parser(argc, argv, keys);

     const bool bUseDefaultCamera = parser.get<bool>("camera");

     const std::string sVideoFilePath = parser.get<std::string>("file");

     cv::VideoCapture oVideoInput;

     cv::Mat oCurrInputFrame, oCurrSegmMask, oCurrReconstrBGImg;

     if(bUseDefaultCamera) {

         oVideoInput.open();

         oVideoInput >> oCurrInputFrame;

     }

     else {

         oVideoInput.open(sVideoFilePath);

         oVideoInput >> oCurrInputFrame;

         oVideoInput.set(CV_CAP_PROP_POS_FRAMES,);

     }

     parser.printParams();

     if(!oVideoInput.isOpened() || oCurrInputFrame.empty()) {

         if(bUseDefaultCamera)

             printf("Could not open default camera.\n");

         else

             printf("Could not open video file at '%s'.\n",sVideoFilePath.c_str());

         return -;

     }

     oCurrSegmMask.create(oCurrInputFrame.size(),CV_8UC1);

     oCurrReconstrBGImg.create(oCurrInputFrame.size(),oCurrInputFrame.type());

     cv::Mat oSequenceROI(oCurrInputFrame.size(),CV_8UC1,cv::Scalar_<uchar>()); // for optimal results, pass a constrained ROI to the algorithm (ex: for CDnet, use ROI.bmp)

     cv::namedWindow("input",cv::WINDOW_NORMAL);

     cv::namedWindow("segmentation mask",cv::WINDOW_NORMAL);

     cv::namedWindow("reconstructed background",cv::WINDOW_NORMAL);

     BackgroundSubtractorSuBSENSE oBGSAlg;

     oBGSAlg.initialize(oCurrInputFrame,oSequenceROI);

     for(int k=;;++k) {

         oVideoInput >> oCurrInputFrame;

         if(oCurrInputFrame.empty())

             break;

         oBGSAlg(oCurrInputFrame,oCurrSegmMask,double(k<=)); // lower rate in the early frames helps bootstrap the model when foreground is present

         oBGSAlg.getBackgroundImage(oCurrReconstrBGImg);

         imshow("input",oCurrInputFrame);

         imshow("segmentation mask",oCurrSegmMask);

         imshow("reconstructed background",oCurrReconstrBGImg);

         if(cv::waitKey()==)

             break;

     }

     return ;

 }