if (m_meanShiftAlgoOn)
  {
    cv::Mat hsv;
    vector<cv::Mat> v;
    int minSat=65;
    cv::Mat result1;
    cv::Mat result2;
    ObjectFinder finder;
    int ch[1]={0};

    if (m_firstFrame)
    {
      m_firstFrame = false;
      // Define ROI
      cv::Mat imageROI= m_currentFrame(cv::Rect(m_meanShift_xPos,m_meanShift_yPos,
                            m_meanShift_width,m_meanShift_height));
      cv::rectangle(m_currentFrame,    cv::Rect(m_meanShift_xPos,m_meanShift_yPos,m_meanShift_width,
                            m_meanShift_height),cv::Scalar(0,0,255));
      // Get the Hue histogram
      ColorHistogram hc;
      cv::MatND colorhist= hc.getHueHistogram(imageROI,minSat);

      finder.setHistogram(colorhist);
      finder.setThreshold(0.2f);

      // Convert to HSV space
      cv::cvtColor(m_currentFrame, hsv, CV_BGR2HSV);

      // Split the image
      cv::split(hsv,v);

      // Eliminate pixels with low saturation
      cv::threshold(v[1],v[1],minSat,255,cv::THRESH_BINARY);
      // for debug only: shows the frame with threshold
      //m_currentFrame = v[1];

      // Get back-projection of hue histogram
      result1= finder.find(hsv,0.0f,180.0f,ch,1);
      // for debug only: shows the frame with back-projection of hue histogram
      //m_currentFrame = result1;

      cv::bitwise_and(result1,v[1],result1);
      // for debug only: shows the frame with bitwise_and of src1 and src2
      //m_currentFrame = result1;
    }
    else
    {
      // Second frame

      // Convert to HSV space
      cv::cvtColor(m_currentFrame, hsv, CV_BGR2HSV);

      // Split the frame
      cv::split(hsv,v);

      // Eliminate pixels with low saturation
      cv::threshold(v[1],v[1],minSat,255,cv::THRESH_BINARY);
      // for debug only: shows the frame with eliminated pixels with low saturation
      //m_currentFrame = v[1];

      // Get back-projection of hue histogram
      result2= finder.find(hsv,0.0f,180.0f,ch,1);         //Hier gibt es einen Absturz...
      // for debug only: shows the frame with back-projection of hue histogram
      //m_currentFrame = result2;

      // Eliminate low stauration pixels
      cv::bitwise_and(result2,v[1],result2);

      // Get back-projection of hue histogram
      finder.setThreshold(-1.0f);
      result2= finder.find(hsv,0.0f,180.0f,ch,1);
      cv::bitwise_and(result2,v[1],result2);

      cv::Rect rect(m_meanShift_xPos,m_meanShift_yPos,m_meanShift_width,m_meanShift_height);
      cv::rectangle(m_currentFrame, rect, cv::Scalar(0,0,255));

      cv::TermCriteria criteria(cv::TermCriteria::MAX_ITER,10,0.01);
     
      cv::rectangle(m_currentFrame, rect, cv::Scalar(0,255,0));

    }
  }
  else
    m_firstFrame = true;

void cv::calcBackProject( const Mat* images, int nimages, const int* channels,
                          InputArray _hist, OutputArray _backProject,
                          const float** ranges, double scale, bool uniform )
{
    Mat hist = _hist.getMat();
    vector<uchar*> ptrs;
    vector<int> deltas;
    vector<double> uniranges;
    Size imsize;
    int dims = hist.dims == 2 && hist.size[1] == 1 ? 1 : hist.dims;
    
    CV_Assert( dims > 0 && hist.data );                                    // line 1163
    _backProject.create( images[0].size(), images[0].depth() );
    Mat backProject = _backProject.getMat();
    histPrepareImages( images, nimages, channels, backProject, dims, hist.size, ranges,
                       uniform, ptrs, deltas, imsize, uniranges );
    const double* _uniranges = uniform ? &uniranges[0] : 0;
    
    int depth = images[0].depth();
    if( depth == CV_8U )
        calcBackProj_8u(ptrs, deltas, imsize, hist, dims, ranges, _uniranges, (float)scale, uniform);
    else if( depth == CV_16U )
        calcBackProj_<ushort, ushort>(ptrs, deltas, imsize, hist, dims, ranges, _uniranges, (float)scale, uniform );
    else if( depth == CV_32F )
        calcBackProj_<float, float>(ptrs, deltas, imsize, hist, dims, ranges, _uniranges, (float)scale, uniform );
    else
        CV_Error(CV_StsUnsupportedFormat, "");
}